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Optimal path for square map

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This commit is contained in:
Brady Bodily
2020-12-14 18:24:10 -07:00
parent 80ea690330
commit 5bb82f7579
11 changed files with 209 additions and 79 deletions
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7
.idea/.idea.RobotIntelFinal/.idea/contentModel.xml generated
View File

@@ -9,13 +9,14 @@
<e p="CoreModule.cs" t="Include" />
<e p="IJsonDeserializor.cs" t="Include" />
<e p="IModule.cs" t="Include" />
<e p="IPathPlanner.cs" t="Include" />
<e p="ISimRunner.cs" t="Include" />
<e p="IUserConsole.cs" t="Include" />
<e p="IVehicle.cs" t="Include" />
<e p="JsonDeserializor.cs" t="Include" />
<e p="Maps" t="Include">
<e p="Cell.cs" t="Include" />
<e p="Direction.cs" t="Include" />
<e p="GlobalDirection.cs" t="Include" />
<e p="Heading.cs" t="Include" />
<e p="HexMap.cs" t="Include" />
<e p="ICell.cs" t="Include" />
@@ -27,12 +28,13 @@
<e p="SquareMap.cs" t="Include" />
</e>
<e p="obj" t="ExcludeRecursive">
<e p="Release" t="Include">
<e p="Debug" t="Include">
<e p="netcoreapp3.1" t="Include">
<e p="ConsoleApp.AssemblyInfo.cs" t="Include" />
</e>
</e>
</e>
<e p="PathPlanner.cs" t="Include" />
<e p="Program.cs" t="Include" />
<e p="SimRunner.cs" t="Include" />
<e p="UserConsole.cs" t="Include" />
@@ -43,6 +45,7 @@
<e p="packages" t="ExcludeRecursive" />
<e p="RobotIntelFinal.sln" t="IncludeFlat" />
</e>
<e p="$APPLICATION_CONFIG_DIR$/consoles/ide" t="IncludeRecursive" />
<e p="$USER_HOME$/Library/Caches/JetBrains/Rider2020.3/extResources" t="IncludeRecursive" />
<e p="$USER_HOME$/Library/Caches/JetBrains/Rider2020.3/resharper-host/local/Transient/Rider/v203/SolutionCaches/_RobotIntelFinal.-1349721189.00" t="ExcludeRecursive" />
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95
.idea/.idea.RobotIntelFinal/.idea/workspace.xml generated
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@@ -18,24 +18,18 @@
</component>
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<change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/GlobalDirection.cs" afterDir="false" />
<change afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" afterDir="false" />
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<change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/Direction.cs" beforeDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/Heading.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/Heading.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/HexCell.cs" beforeDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IHexCell.cs" beforeDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/ISquareCell.cs" beforeDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/SquareCell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/Cell.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/RobotIntelFinal.sln.DotSettings.user" beforeDir="false" afterPath="$PROJECT_DIR$/RobotIntelFinal.sln.DotSettings.user" afterDir="false" />
</list>
<option name="SHOW_DIALOG" value="false" />
<option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -53,11 +47,29 @@
<option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
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<setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
<setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
<setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
<setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/8B2EA1A3-95EB-49F7-AF97-CA55CE776F10/4/Container.cs" root0="SKIP_HIGHLIGHTING" />
<setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
<setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
<setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
<setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
</component>
<component name="IdeDocumentHistory">
<changedPaths>
<option value="$PROJECT_DIR$/ConsoleApp/Maps/Heading.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/Direction.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/GlobalDirection.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/IPathPlanner.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" />
</changedPaths>
</component>
<component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
@@ -74,14 +86,15 @@
<property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
<property name="WebServerToolWindowFactoryState" value="false" />
<property name="nodejs_package_manager_path" value="npm" />
<property name="settings.editor.selected.configurable" value="SolutionBuilderGeneralOptionsPageId" />
<property name="restartRequiresConfirmation" value="false" />
<property name="settings.editor.selected.configurable" value="project.propDebugger" />
<property name="vue.rearranger.settings.migration" value="true" />
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<component name="RunManager" selected=".NET Project.ConsoleApp">
<configuration name="ConsoleApp" type="DotNetProject" factoryName=".NET Project">
<option name="EXE_PATH" value="" />
<option name="EXE_PATH" value="$PROJECT_DIR$/ConsoleApp/bin/Debug/netcoreapp3.1/ConsoleApp.dll" />
<option name="PROGRAM_PARAMETERS" value="" />
<option name="WORKING_DIRECTORY" value="" />
<option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/ConsoleApp/bin/Debug/netcoreapp3.1" />
<option name="PASS_PARENT_ENVS" value="1" />
<option name="USE_EXTERNAL_CONSOLE" value="0" />
<option name="USE_MONO" value="0" />
@@ -91,7 +104,7 @@
<option name="PROJECT_ARGUMENTS_TRACKING" value="1" />
<option name="PROJECT_WORKING_DIRECTORY_TRACKING" value="1" />
<option name="PROJECT_KIND" value="DotNetCore" />
<option name="PROJECT_TFM" value="" />
<option name="PROJECT_TFM" value=".NETCoreApp,Version=v3.1" />
<method v="2">
<option name="Build" />
</method>
@@ -114,6 +127,10 @@
<option name="Build" />
</method>
</configuration>
<list>
<item itemvalue=".NET Project.ConsoleApp" />
<item itemvalue=".NET Project.Simulator" />
</list>
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<component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
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@@ -129,7 +146,8 @@
<workItem from="1607640550443" duration="19992000" />
<workItem from="1607982179018" duration="634000" />
<workItem from="1607983288378" duration="86000" />
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<workItem from="1607993290571" duration="1876000" />
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<servers />
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@@ -153,4 +171,49 @@
<component name="VcsManagerConfiguration">
<option name="CLEAR_INITIAL_COMMIT_MESSAGE" value="true" />
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<url>file://$PROJECT_DIR$/ConsoleApp/SimRunner.cs</url>
<line>49</line>
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<option value="1400" />
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<line>47</line>
<properties documentPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" initialLine="47" containingFunctionPresentation="method 'SquareSimulation'">
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<option value="1340" />
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<option name="timeStamp" value="19" />
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<url>file://$PROJECT_DIR$/ConsoleApp/PathPlanner.cs</url>
<line>34</line>
<properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" initialLine="34" containingFunctionPresentation="method 'GenerateOptimalSquarePath'">
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<option value="1420" />
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<option name="timeStamp" value="24" />
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1
ConsoleApp/CoreModule.cs
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@@ -13,6 +13,7 @@ namespace ConsoleApp
container.Register<ISimRunner, SimRunner>(Reuse.Singleton);
container.Register<IVehicle, Vehicle>(Reuse.Singleton);
container.Register<IJsonDeserializor, JsonDeserializor>(Reuse.Singleton);
container.Register<IPathPlanner, PathPlanner>(Reuse.Singleton);
}

11
ConsoleApp/IPathPlanner.cs
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@@ -1,4 +1,11 @@
$HEADER$namespace $NAMESPACE$
using System.Collections.Generic;
using ConsoleApp.Maps;
namespace ConsoleApp
{
public interface $INTERFACE$ {$END$}
public interface IPathPlanner
{
Queue<ICell> GenerateOptimalSquarePath(SquareMap map, IVehicle vehicle);
}
}

7
ConsoleApp/Maps/GlobalDirection.cs
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@@ -1,7 +1,10 @@
namespace ConsoleApp.Maps
{
public enum Direction
public enum GlobalDirection
{
North,
South,
East,
West
}
}

2
ConsoleApp/Maps/Heading.cs
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@@ -1,5 +1,3 @@
using System.Net.NetworkInformation;
namespace ConsoleApp.Maps
{
public class Oreientation

10
ConsoleApp/Maps/HexMap.cs
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@@ -6,8 +6,8 @@ namespace ConsoleApp.Maps
public class HexMap : IHexMap
{
public Cell[,] Map { get; }
public ICell StartingCell { get; }
public ICell LastCell { get; }
public Cell StartingCell { get; }
public Cell LastCell { get; }
/// <summary>
/// Generate Hex map with cells of 25cm X 25cm
@@ -23,9 +23,11 @@ namespace ConsoleApp.Maps
var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
//Initialize Map
Map = new Cell[xCellCount, yCellCount];
//set last cell;
StartingCell = Map[0, 0];
Map = new Cell[xCellCount, yCellCount];
for (int r = 0; r < yCellCount; r++) {
int r_offset = Convert.ToInt32(Math.Floor(Convert.ToDouble(r)/2));
for (int q = r_offset; q < xCellCount - r_offset; q++) {
@@ -35,7 +37,7 @@ namespace ConsoleApp.Maps
}
}
public List<ICell> PossibleMoves(ICell currentCell)
public List<GlobalDirection> PossibleMoves(ICell currentCell)
{
throw new NotImplementedException();
}

6
ConsoleApp/Maps/IMap.cs
View File

@@ -6,8 +6,8 @@ namespace ConsoleApp.Maps
public interface IMap
{
public Cell[,] Map { get; }
ICell StartingCell { get; }
ICell LastCell { get; }
public List<ICell> PossibleMoves(ICell currentCell);
Cell StartingCell { get; }
Cell LastCell { get; }
public List<GlobalDirection> PossibleMoves(ICell currentCell);
}
}

47
ConsoleApp/Maps/SquareMap.cs
View File

@@ -6,9 +6,14 @@ namespace ConsoleApp.Maps
public class SquareMap : ISquareMap
{
public Cell[,] Map { get;}
public ICell StartingCell { get; }
public ICell LastCell { get; }
public Cell StartingCell { get; }
public Cell LastCell { get; }
public int Height { get; }
public int Width { get; }
private int _mapWidth;
private int _mapHeight;
public SquareMap(int x, int y)
{
//convert to cm
@@ -18,31 +23,43 @@ namespace ConsoleApp.Maps
var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
//set Width and height fields
_mapWidth = xCellCount-1;
_mapHeight = yCellCount-1;
Height = _mapHeight;
Width = _mapWidth;
//Initialize Map
Map = new Cell[xCellCount, yCellCount];
//set last cell;
StartingCell = Map[0, 0];
Map = new Cell[xCellCount, yCellCount];
for (int i = 0; i < x; i++)
for (int i = 0; i < xCellCount; i++)
{
for (int j = 0; j < y; j++)
for (int j = 0; j < yCellCount; j++)
{
Map[i,j] = new Cell(i, j);
}
}
}
public List<ICell> PossibleMoves(ICell currentCell)
public List<GlobalDirection> PossibleMoves(ICell currentCell)
{
var forward = (currentCell.X , currentCell.Y + 1);
var backwards= (currentCell.X , currentCell.Y - 1);
var right = (currentCell.X + 1, currentCell.Y);
var left = (currentCell.X - 1, currentCell.Y);
var possibles = new List<ICell>();
possibles.Add(Map[forward.Item1, forward.Item2]);
possibles.Add(Map[backwards.Item1, backwards.Item2]);
possibles.Add(Map[right.Item1, right.Item2]);
possibles.Add(Map[left.Item1, left.Item2]);
var possibles = new List<GlobalDirection>();
if (currentCell.X != 0)
possibles.Add(GlobalDirection.West);
if (currentCell.X != _mapWidth)
possibles.Add(GlobalDirection.East);
if (currentCell.Y != _mapHeight)
possibles.Add(GlobalDirection.North);
if (currentCell.Y != 0)
possibles.Add(GlobalDirection.South);
return possibles;
}
public Cell this[in int x, in int y] => Map[x, y];
}
}

56
ConsoleApp/PathPlanner.cs
View File

@@ -1,4 +1,56 @@
$HEADER$namespace $NAMESPACE$
using System;
using System.Collections.Generic;
using ConsoleApp.Maps;
namespace ConsoleApp
{
public class $CLASS$ {$END$}
public class PathPlanner : IPathPlanner
{
public Queue<ICell> GenerateOptimalSquarePath(SquareMap map, IVehicle vehicle)
{
var path = new Queue<ICell>();
var myCell = map.StartingCell;
var finished = false;
var width_cm = (double)(vehicle.DetectorWidth) * 100;
var swathOffset = (int)Math.Floor((decimal) (width_cm) / 25) + 1;
var currentHeading = GlobalDirection.North;
while (!finished)
{
var availableMoves = map.PossibleMoves(myCell);
if (availableMoves.Contains(GlobalDirection.North) && currentHeading == GlobalDirection.North &&
myCell.Y != map.Height)
{
path.Enqueue(map[myCell.X, myCell.Y + 1]);
myCell = map[myCell.X, myCell.Y + 1];
}
else if (availableMoves.Contains(GlobalDirection.South) && currentHeading == GlobalDirection.South && myCell.Y != 0)
{
path.Enqueue(map[myCell.X, myCell.Y - 1]);
myCell = map[myCell.X, myCell.Y - 1];
}
else
{
if (myCell.X + swathOffset >= map.Width)
{
finished = true;
}
else
{
for (int i = myCell.X; i < myCell.X + swathOffset; i++)
{
path.Enqueue(map[i, myCell.Y]);
}
myCell = map[myCell.X+swathOffset, myCell.Y];
if (currentHeading == GlobalDirection.North)
currentHeading = GlobalDirection.South;
else if (currentHeading == GlobalDirection.South)
currentHeading = GlobalDirection.North;
}
}
}
return path;
}
}
}

44
ConsoleApp/SimRunner.cs
View File

@@ -10,58 +10,42 @@ namespace ConsoleApp
{
private IMapFactory _mapFactory;
private IVehicle _vehicle;
private IMap _squareMap;
private IMap _hexMap;
private int _cellWidth;
private IPathPlanner _pathPlanner;
public SimRunner(IMapFactory mapFactory, IVehicle vehicle)
public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner)
{
_squareMap = mapFactory.Maps["SquareMap"];
_hexMap = mapFactory.Maps["HexMap"];
_cellWidth = mapFactory.CellWidth;
_mapFactory = mapFactory;
_vehicle = vehicle;
_pathPlanner = pathPlanner;
}
public void Run()
{
_vehicle.CurrentHexCell = _hexMap.StartingCell;
_vehicle.CurrentSquareCell = _squareMap.StartingCell;
var squareTask = Task.Run(() => SquareSimulation());
var hexTask = Task.Run(() => HexSimulation());
while(!squareTask.IsCompleted && !hexTask.IsCompleted){Thread.Sleep(500);}
SquareSimulation();
// var hexTask = Task.Run(() => HexSimulation());
// while(!squareTask.IsCompleted && !hexTask.IsCompleted){Thread.Sleep(500);}
}
private void HexSimulation()
{
var optimalPath = GenerateHexPath();
var hexMap = (HexMap)_mapFactory.Maps["HexMap"];
_vehicle.CurrentHexCell = hexMap.StartingCell;
}
private void SquareSimulation()
{
var optimalPath = GenerateSquarePath();
var squareMap = (SquareMap)_mapFactory.Maps["SquareMap"];
_vehicle.CurrentSquareCell = squareMap.StartingCell;
var optimalPath = _pathPlanner.GenerateOptimalSquarePath(squareMap, _vehicle);
}
private object GenerateSquarePath()
{
throw new NotImplementedException();
}
private Queue<ICell> GenerateHexPath()
{
var path = new Queue<ICell>();
var currentCell = _vehicle.CurrentHexCell;
var possibles = _hexMap.PossibleMoves(currentCell);
while (currentCell != _hexMap.LastCell)
{
}
return path;
}
}
}