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This commit is contained in:
Brady Bodily
2020-12-16 18:04:26 -07:00
parent e335ce3c68
commit 74035a16eb
23 changed files with 4312 additions and 947 deletions
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.DS_Store vendored
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3
.idea/.idea.RobotIntelFinal/.idea/contentModel.xml generated
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@@ -7,7 +7,6 @@
<e p="Bootstrapper.cs" t="Include" />
<e p="ConsoleApp.csproj" t="IncludeRecursive" />
<e p="CoreModule.cs" t="Include" />
<e p="HexPlot.py" t="Include" />
<e p="IJsonDeserializor.cs" t="Include" />
<e p="IModule.cs" t="Include" />
<e p="ISimRunner.cs" t="Include" />
@@ -51,6 +50,7 @@
<e p="SquarePath.txt" t="Include" />
<e p="SquareTest.png" t="Include" />
</e>
<e p="Output 2.zip" t="Include" />
<e p="Output.zip" t="Include" />
<e p="PathPlanners" t="Include">
<e p="IPathPlanner.cs" t="Include" />
@@ -58,6 +58,7 @@
<e p="PathPlanner.cs" t="Include" />
<e p="ReactivePathPlanner.cs" t="Include" />
</e>
<e p="plotGraphs.py" t="Include" />
<e p="Program.cs" t="Include" />
<e p="Sim" t="Include">
<e p="DetectionHead.cs" t="Include" />

38
.idea/.idea.RobotIntelFinal/.idea/workspace.xml generated
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@@ -18,30 +18,24 @@
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<change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/SimulationResults.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimulationResults.cs" afterDir="false" />
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<option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -115,7 +109,6 @@
<option value="$PROJECT_DIR$/ConsoleApp/Maps/CellExtensions.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" />
@@ -129,7 +122,6 @@
<option value="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/AstarSquareSearch.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/Cell.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
@@ -139,8 +131,10 @@
<option value="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" />
<option value="$PROJECT_DIR$/ConsoleApp/HexPlot.py" />
<option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/HexPlot.py" />
<option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
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<component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
@@ -152,7 +146,7 @@
<option name="showLibraryContents" value="true" />
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<property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
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@@ -220,7 +214,7 @@
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ConsoleApp/ConsoleApp.csproj
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@@ -22,7 +22,7 @@
<None Update="Sim\VehicleConfiguration.json">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
<None Update="HexPlot.py">
<None Update="plotGraphs.py">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
</ItemGroup>

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ConsoleApp/Output/Data.txt
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@@ -1,14 +1,14 @@
General:
Total Mines: 23
Total Mines: 36
Hex:
Total Moves: 420
Bombs Found: 23
Cleared Cell Count: 2263
Uncleared Cell Count: 41
Percentage Cleared: 98.22048611111111
Total Moves: 687
Bombs Found: 35
Cleared Cell Count: 3591
Uncleared Cell Count: 9
Percentage Cleared: 99.75
Square:
Total Moves: 553
Bombs Found: 20
Cleared Cell Count: 1996
Uncleared Cell Count: 308
Percentage Cleared: 86.63194444444444
Total Moves: 1045
Bombs Found: 34
Cleared Cell Count: 3251
Uncleared Cell Count: 349
Percentage Cleared: 90.30555555555554

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ConsoleApp/Output/HexDetectedMines.txt
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@@ -1,23 +1,35 @@
39 7
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21 19
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10 36
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12 8
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6 22
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9 31
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16 39
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26 49
12 49

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@@ -46,32 +46,59 @@
45 0
46 0
47 0
47 1
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48 0
49 0
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@@ -86,18 +113,18 @@
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@@ -124,16 +151,11 @@
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@@ -144,27 +166,26 @@
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@@ -172,72 +193,113 @@
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ConsoleApp/Output/Mines.txt
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ConsoleApp/Output/SquareDetectedMines.txt
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39 7
17 8
12 11
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9 29
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20 21
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ConsoleApp/PathPlanners/PathPlanner.cs
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@@ -42,9 +42,9 @@ namespace ConsoleApp.PathPlanners
path.AddRange(
map.GetShortestPath(
currentPostion,
map.GetCell(currentPostion.X, currentPostion.Y + vehicle.DetectorRadius * 2 - 1)));
map.GetCell(currentPostion.X, currentPostion.Y + (vehicle.DetectorRadius * 2) - 1)));
currentPostion = new Cell(currentPostion.X, currentPostion.Y + (vehicle.DetectorRadius * 2 - 1));
currentPostion = new Cell(currentPostion.X, currentPostion.Y + (vehicle.DetectorRadius * 2) -1);
if (currentHeading == GlobalDirection.East)
currentHeading = GlobalDirection.West;
else

19
ConsoleApp/Program.cs
View File

@@ -27,19 +27,10 @@ namespace ConsoleApp
private static void Initialization()
{
_userConsole.PrintStartMenu();
var input = UserConsole.GetUserInput();
if (input == "1")
{
var (x,y) = _userConsole.GetMapDimensions();
var minePercentage = UserConsole.GetMinePercentage();
RunSimulation(x, y, minePercentage);
}
else
{
UserConsole.PrintInvalidInput();
Initialization();
}
var (x,y) = _userConsole.GetMapDimensions();
var minePercentage = 1;
RunSimulation(x, y, minePercentage);
}
private static void RunSimulation(int x, int y, double minePercentage)
@@ -53,7 +44,7 @@ namespace ConsoleApp
private static void GenerateImages()
{
var file = Path.Combine("./",Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), @"HexPlot.py");
var file = Path.Combine("./",Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), @"plotGraphs.py");
ProcessStartInfo startInfo = new ProcessStartInfo()
{
FileName = "python3",

8
ConsoleApp/UserConsole.cs
View File

@@ -24,18 +24,18 @@ namespace ConsoleApp
public (int width, int height) GetMapDimensions()
{
Console.WriteLine($"Enter map width: ");
Console.WriteLine($"Enter map width (5-15) meters: ");
var x = GetUserInput();
if (!int.TryParse(x, out var width))
if (!int.TryParse(x, out var width) && width >= 5 && width <= 15)
{
PrintInvalidInput();
GetMapDimensions();
}
Console.WriteLine($"Enter map height: ");
Console.WriteLine($"Enter map height (5-15) meters: ");
var y = GetUserInput();
if (int.TryParse(y, out var height)) return (width, height);
if (int.TryParse(y, out var height) && height >= 5 && height <= 15) return (width, height);
PrintInvalidInput();
GetMapDimensions();
return (width, height);

22
ConsoleApp/HexPlot.py → ConsoleApp/plotGraphs.py
View File

@@ -68,10 +68,9 @@ if __name__ == "__main__":
yf.append(int(y))
fig = plt.figure(1)
plt.plot(xc, yc)
plt.plot(xc, yc, 'o', label='vehicle', color='blue')
plt.plot(xm, ym, 'o', label='all mines', color='red')
plt.plot(xf, yf, 'o', label='detected mines', color='orange')
plt.plot(xc, yc, 'h', label='vehicle', color='blue', linestyle='None')
plt.plot(xm, ym, 'h', label='all mines', color='red', linestyle='None')
plt.plot(xf, yf, 'h', label='detected mines', color='orange', linestyle='None')
plt.title('Hex Simulation')
plt.legend(loc='lower left', fontsize='xx-small')
matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexTest.png')
@@ -80,10 +79,9 @@ if __name__ == "__main__":
plt.close(fig)
fig = plt.figure(2)
plt.plot(sxc, syc)
plt.plot(sxc, syc, 'o', label='vehicle', color='blue')
plt.plot(sxm, sym, 'o', label='all mines', color='red')
plt.plot(sxf, syf, 'o', label='detected mines', color='orange')
plt.plot(sxc, syc, 's', label='vehicle', color='blue', linestyle='None')
plt.plot(sxm, sym, 's', label='all mines', color='red', linestyle='None')
plt.plot(sxf, syf, 's', label='detected mines', color='orange', linestyle='None')
plt.title('Square Simulation')
plt.legend(loc='lower left', fontsize='xx-small')
matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquareTest.png')
@@ -91,8 +89,8 @@ if __name__ == "__main__":
plt.close(fig)
fig = plt.figure(3)
plt.plot(hccx, hccy, 'o', label='covered cells', color='red')
plt.plot(xf, xy, 'o', label='detected mines', color='blue')
plt.plot(hccx, hccy, 'h', label='covered cells', color='red', linestyle='None')
plt.plot(xf, yf, 'h', label='detected mines', color='blue', linestyle='None')
plt.title('Hex Coverage')
plt.legend(loc='lower left', fontsize='xx-small')
matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexCoverage.png')
@@ -100,8 +98,8 @@ if __name__ == "__main__":
plt.close(fig)
fig = plt.figure(4)
plt.plot(sccx, sccy, 'o', label='covered cells', color='red')
plt.plot(sxf, syf, 'o', label='detected mines', color='blue')
plt.plot(sccx, sccy, 's', label='covered cells', color='red', linestyle='None')
plt.plot(sxf, syf, 's', label='detected mines', color='blue', linestyle='None')
plt.title('Square Coverage')
plt.legend(loc='lower left', fontsize='xx-small')
matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquareCoverage.png')