bradybod-usu/robot_intelligence_final_project
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Merge branch 'AddLogicToReactivePlanner' into main

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This commit is contained in:
Brady Bodily
2020-12-16 04:50:40 -07:00
parent cf432a348b e8ffbd3151
commit a792de99f3
30 changed files with 1434 additions and 169 deletions
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9
.idea/.idea.RobotIntelFinal/.idea/contentModel.xml generated
View File

@@ -7,9 +7,11 @@
<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" />
<e p="ISimulationResults.cs" t="Include" />
<e p="IUserConsole.cs" t="Include" />
<e p="JsonDeserializor.cs" t="Include" />
<e p="Maps" t="Include">
@@ -34,6 +36,12 @@
</e>
</e>
</e>
<e p="Output" t="Include">
<e p="Data.txt" t="Include" />
<e p="HexDetectedMines.txt" t="Include" />
<e p="HexPath.txt" t="Include" />
<e p="HexTest.png" t="Include" />
</e>
<e p="PathPlanners" t="Include">
<e p="IPathPlanner.cs" t="Include" />
<e p="IReactivePathPlanner.cs" t="Include" />
@@ -49,6 +57,7 @@
<e p="VehicleConfiguration.json" t="Include" />
</e>
<e p="SimRunner.cs" t="Include" />
<e p="SimulationResults.cs" t="Include" />
<e p="UserConsole.cs" t="Include" />
</e>
<e p="packages" t="ExcludeRecursive" />

135
.idea/.idea.RobotIntelFinal/.idea/workspace.xml generated
View File

@@ -18,29 +18,21 @@
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<change afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" afterDir="false" />
<change afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" afterDir="false" />
<change afterPath="$PROJECT_DIR$/ConsoleApp/ISimulationResults.cs" afterDir="false" />
<change afterPath="$PROJECT_DIR$/ConsoleApp/SimulationResults.cs" afterDir="false" />
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<change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" afterDir="false" />
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<change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" afterDir="false" />
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<change beforePath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" afterDir="false" />
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<change beforePath="$PROJECT_DIR$/ConsoleApp/Output/DetectedMines.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/DetectedMines.txt" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Output/Mines.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/Mines.txt" afterDir="false" />
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<change beforePath="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/DetectionHead.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.cs" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.json" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ConsoleApp/plot.py" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/HexPlot.py" afterDir="false" />
</list>
<option name="SHOW_DIALOG" value="false" />
<option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -58,31 +50,56 @@
<option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
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<setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/8B2EA1A3-95EB-49F7-AF97-CA55CE776F10/4/Container.cs" root0="SKIP_HIGHLIGHTING" />
<setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/B5/Random.cs" root0="SKIP_HIGHLIGHTING" />
<setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
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<setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/1C5C65AB-6C84-402C-B333-F3A5A7121EFE/D/Queue.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>
@@ -95,34 +112,39 @@
<option value="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Vehicle/DetectionHead.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Vehicle/Vehicle.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Vehicle/IVehicle.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/Cell.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/ConsoleApp.csproj" />
<option value="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" />
<option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/CellExtensions.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.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" />
<option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" />
<option value="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/plot.py" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/ISimulationResults.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
<option value="$PROJECT_DIR$/ConsoleApp/SimulationResults.cs" />
</changedPaths>
</component>
<component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
@@ -140,7 +162,7 @@
<property name="WebServerToolWindowFactoryState" value="false" />
<property name="nodejs_package_manager_path" value="npm" />
<property name="restartRequiresConfirmation" value="false" />
<property name="settings.editor.selected.configurable" value="project.propDebugger" />
<property name="settings.editor.selected.configurable" value="configurable.group.build" />
<property name="vue.rearranger.settings.migration" value="true" />
</component>
<component name="RunManager" selected=".NET Project.ConsoleApp">
@@ -200,7 +222,7 @@
<workItem from="1607982179018" duration="634000" />
<workItem from="1607983288378" duration="86000" />
<workItem from="1607983862958" duration="7777000" />
<workItem from="1607993290571" duration="36241000" />
<workItem from="1607993290571" duration="72449000" />
</task>
<servers />
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@@ -240,33 +262,18 @@
</properties>
<option name="timeStamp" value="24" />
</line-breakpoint>
<line-breakpoint enabled="true" type="DotNet Breakpoints">
<url>file://$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs</url>
<line>87</line>
<properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" initialLine="87" containingFunctionPresentation="method 'GenerateOptimalHexPath'">
<startOffsets>
<option value="3651" />
</startOffsets>
<endOffsets>
<option value="3667" />
</endOffsets>
</properties>
<option name="timeStamp" value="44" />
</line-breakpoint>
<line-breakpoint enabled="true" type="DotNet Breakpoints">
<url>file://$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs</url>
<line>85</line>
<properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" initialLine="85" containingFunctionPresentation="method 'GenerateOptimalHexPath'">
<startOffsets>
<option value="3546" />
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<endOffsets>
<option value="3612" />
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<option name="timeStamp" value="46" />
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<PinnedItemInfo parentTag="Frame#ConsoleApp.PathPlanners.PathPlanner.GenerateOptimalHexPath" memberName="path" />
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<watches-manager>
<configuration name="DotNetProject">
<watch expression="new System.Collections.Generic.QueueDebugView&lt;HexCore.Coordinate2D&gt;(optimalPath).Items[0]" />
<watch expression="Math.Abs(nextOptimal.X - _vehicle.CurrentHexCell.X) &gt; 1 || Math.Abs(nextOptimal.Y - _vehicle.CurrentHexCell.Y) &gt; 1" language="C#" />
</configuration>
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7
ConsoleApp/ConsoleApp.csproj
View File

@@ -22,6 +22,13 @@
<None Update="Sim\VehicleConfiguration.json">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
<None Update="HexPlot.py">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
</ItemGroup>
<ItemGroup>
<Folder Include="Output" />
</ItemGroup>
</Project>

1
ConsoleApp/CoreModule.cs
View File

@@ -15,6 +15,7 @@ namespace ConsoleApp
container.Register<IJsonDeserializor, JsonDeserializor>(Reuse.Singleton);
container.Register<IPathPlanner, PathPlanner>(Reuse.Singleton);
container.Register<IReactivePathPlanner, ReactivePathPlanner>(Reuse.Singleton);
container.Register<ISimulationResults, SimulationResults>(Reuse.Singleton);
}

39
ConsoleApp/HexPlot.py Normal file
View File

@@ -0,0 +1,39 @@
import numpy as np
import matplotlib.pyplot as plt
import matplotlib
if __name__ == "__main__":
xc = []
yc = []
xm = []
ym = []
xf = []
yf = []
with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexPath.txt") as c:
for line in c:
x, y = line.split()
xc.append(int(x))
yc.append(int(y))
with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/Mines.txt") as m:
for line in m:
x, y = line.split()
xm.append(int(x))
ym.append(int(y))
with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexDetectedMines.txt") as f:
for line in f:
x, y = line.split()
xf.append(int(x))
yf.append(int(y))
fig = plt.figure()
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.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')
plt.close(fig)

19
ConsoleApp/ISimulationResults.cs Normal file
View File

@@ -0,0 +1,19 @@
using System.Collections.Generic;
using ConsoleApp.Maps;
using HexCore;
namespace ConsoleApp
{
public interface ISimulationResults
{
void WriteResults();
int HexTotalMoves { get; set; }
int HexBombsFound { get; set; }
int TotalBombs { get; set; }
List<Coordinate2D> HexPath { get; set; }
List<Coordinate2D> HexMappedBombs { get; set; }
List<Cell> Mines { get; set; }
int HexClearedCells { get; set; }
int HexUnClearedCells { get; set; }
}
}

28
ConsoleApp/Maps/HexMap.cs
View File

@@ -17,6 +17,9 @@ namespace ConsoleApp.Maps
public OffsetTypes OffsetType { get; }
public MovementType DefaultMovement { get; }
public TerrainType ClearedTerrain { get; }
public TerrainType UnclearedTerrain { get; }
/// <summary>
@@ -28,35 +31,28 @@ namespace ConsoleApp.Maps
{
//Set Offset Type for 2d -> 3d conversion
OffsetType = OffsetTypes.OddRowsRight;
//convert to cm
x *= 100;
y *= 100;
//calculate number of cells on x and y axis
var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
Height = yCellCount;
Width = xCellCount;
Height = y;
Width = x;
var unclearedTerrain = new TerrainType(1, "uncleared");
var clearedTerrain = new TerrainType(2, "cleared");
UnclearedTerrain = new TerrainType(1, "uncleared");
ClearedTerrain = new TerrainType(2, "cleared");
DefaultMovement = new MovementType(1, "default");
var movementTypes = new MovementTypes(
new ITerrainType[] { unclearedTerrain, clearedTerrain },
new ITerrainType[] { UnclearedTerrain, ClearedTerrain },
new Dictionary<IMovementType, Dictionary<ITerrainType, int>>
{
[DefaultMovement] = new Dictionary<ITerrainType, int>
{
[unclearedTerrain] = 1,
[clearedTerrain] = 2
[UnclearedTerrain] = 1,
[ClearedTerrain] = 2
}
}
);
Graph = GraphFactory.CreateRectangularGraph(Width, Height, movementTypes, unclearedTerrain);
Graph = GraphFactory.CreateRectangularGraph(Width, Height, movementTypes, UnclearedTerrain);
}
}
}

2
ConsoleApp/Maps/IHexMap.cs
View File

@@ -9,5 +9,7 @@ namespace ConsoleApp.Maps
int Width { get; }
int Height { get; }
MovementType DefaultMovement { get; }
public TerrainType ClearedTerrain { get; }
public TerrainType UnclearedTerrain { get; }
}
}

1
ConsoleApp/Maps/IMapFactory.cs
View File

@@ -7,7 +7,6 @@ namespace ConsoleApp.Maps
{
int Height { get; }
int Width { get; }
int CellWidth { get; }
void GenerateMaps(int x, int y, double minePercentage);
IHexMap GetHexMap();
ISquareMap GetSquareMap();

6
ConsoleApp/Maps/IMineMap.cs
View File

@@ -1,7 +1,13 @@
using System.Collections.Generic;
namespace ConsoleApp.Maps
{
public interface IMineMap
{
bool[,] Map { get; }
int TotalBombs { get; }
bool GetCell(int x, int y);
List<Cell> PlacedMines { get; }
}
}

1
ConsoleApp/Maps/MapExtensions.cs
View File

@@ -15,6 +15,5 @@ namespace ConsoleApp.Maps
}
}
}
}
}

18
ConsoleApp/Maps/MapFactory.cs
View File

@@ -10,7 +10,6 @@ namespace ConsoleApp.Maps
private int _defaultWidth;
public int Height { get; protected set; }
public int Width { get; protected set; }
public int CellWidth { get; }
@@ -22,11 +21,17 @@ namespace ConsoleApp.Maps
public void GenerateMaps(int x, int y, double minePercentage)
{
Width = x;
Height = y;
_squareMap = new SquareMap(x, y);
_hexMap = new HexMap(x, y);
_mineMap = new MineMap(x, y, minePercentage);
//convert to cm
x *= 100;
y *= 100;
//calculate number of cells on x and y axis
var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
Width = xCellCount;
Height = yCellCount;
_squareMap = new SquareMap(xCellCount, yCellCount);
_hexMap = new HexMap(xCellCount, yCellCount);
_mineMap = new MineMap(xCellCount, yCellCount, minePercentage);
}
public IHexMap GetHexMap() => _hexMap ?? throw new NullReferenceException("hex map not initialized");
public ISquareMap GetSquareMap() => _squareMap ?? throw new NullReferenceException("square map not initialized");
@@ -34,7 +39,6 @@ namespace ConsoleApp.Maps
public MapFactory(IVehicle vehicle)
{
CellWidth = vehicle.Width/2;
_defaultHeight = 0;
_defaultWidth = 0;
Height = _defaultHeight;

28
ConsoleApp/Maps/MineMap.cs
View File

@@ -1,5 +1,7 @@
using System;
using System.Collections.Generic;
using System.IO;
using HexCore;
namespace ConsoleApp.Maps
{
@@ -9,24 +11,40 @@ namespace ConsoleApp.Maps
private int _x;
private int _y;
public bool[,] Map { get; }
public int TotalBombs { get; }
public List<Cell> PlacedMines { get; }
public MineMap(int x, int y, double minePercentage)
{
_x = x;
_y = y;
_mineCount = x*y*((int)minePercentage/100);
PlacedMines = new List<Cell>();
_mineCount = (int)(x*y*(minePercentage/100));
TotalBombs = _mineCount;
Map = new bool[x, y];
Map.Fill2DArray(false);
PlaceMines();
}
public bool GetCell(int x, int y) => Map[x,y];
private void PlaceMines()
{
var rand = new Random();
for (int i = 0; i < _mineCount; i++)
for (var i = 0; i < _mineCount; i++)
{
var x = rand.Next(_x);
var y = rand.Next(_y);
Map[x, y] = true;
var x = rand.Next(5,_x-5);
var y = rand.Next(5,_y-5);
if (Map[x, y] == true)
{
i--;
}
else
{
Map[x, y] = true;
PlacedMines.Add(new Cell(x,y));
}
}
}
}

17
ConsoleApp/Maps/SquareMap.cs
View File

@@ -19,26 +19,21 @@ namespace ConsoleApp.Maps
/// <param name="y"></param>
public SquareMap(int x, int y)
{
//convert to cm
x *= 100;
y *= 100;
//calculate number of cells on x and y axis
var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
//set Width and height Properties
Width = xCellCount-1;
Height = yCellCount-1;
Width = x-1;
Height = y-1;
//Initialize Map
Map = new Cell[xCellCount, yCellCount];
Map = new Cell[x, y];
//set last cell;
StartingCell = Map[0, 0];
for (int i = 0; i < xCellCount; i++)
for (int i = 0; i < x; i++)
{
for (int j = 0; j < yCellCount; j++)
for (int j = 0; j < y; j++)
{
Map[i,j] = new Cell(i, j);
}

7
ConsoleApp/Output/Data.txt Normal file
View File

@@ -0,0 +1,7 @@
General:
Total Mines: 23
Hex:
Total Moves: 927
Bombs Found: 23
Cleared Cell Count: 2295
Uncleared Cell Count: 9

0
ConsoleApp/Output/HexDetectedMines.txt Normal file
View File

927
ConsoleApp/Output/HexPath.txt Normal file
View File

@@ -0,0 +1,927 @@
0 0
1 0
2 0
3 0
4 0
5 0
6 0
7 0
8 0
9 0
10 0
11 0
12 0
13 0
14 0
15 0
16 0
17 0
18 0
19 0
20 0
21 0
22 0
23 0
24 0
25 0
26 0
27 0
28 0
29 0
30 0
31 0
32 0
33 0
34 0
35 0
36 0
37 0
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39 0
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47 1
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BIN
ConsoleApp/Output/HexTest.png Normal file
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After

Width:  |  Height:  |  Size: 34 KiB

2
ConsoleApp/PathPlanners/IReactivePathPlanner.cs
View File

@@ -1,4 +1,5 @@
using System.Collections.Generic;
using ConsoleApp.Maps;
using HexCore;
namespace ConsoleApp.PathPlanners
@@ -6,5 +7,6 @@ namespace ConsoleApp.PathPlanners
public interface IReactivePathPlanner
{
Queue<Coordinate2D> ReactiveHexPath { get; }
void GenerateReactiveHexPath(IHexMap hexMap, Queue<Coordinate2D> optimalPath, Coordinate2D vehicleCurrentHexCell);
}
}

53
ConsoleApp/PathPlanners/PathPlanner.cs
View File

@@ -55,7 +55,7 @@ namespace ConsoleApp.PathPlanners
return path;
}
public Queue<Coordinate2D> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle)
{
var currentPostion = vehicle.CurrentHexCell;
@@ -64,55 +64,44 @@ namespace ConsoleApp.PathPlanners
var path = new List<Coordinate2D>();
while (!finished)
{
//Heading East
if (currentHeading == GlobalDirection.East)
{
path.AddRange(hexMap.Graph.GetShortestPath(
currentPostion,
new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType),
new Coordinate2D(hexMap.Width-1, currentPostion.Y, hexMap.OffsetType),
hexMap.DefaultMovement));
currentPostion = new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType);
currentPostion = new Coordinate2D(hexMap.Width-1, currentPostion.Y, hexMap.OffsetType);
}
else if(currentHeading == GlobalDirection.West)
//Heading West
else if (currentHeading == GlobalDirection.West)
{
path.AddRange(hexMap.Graph.GetShortestPath(
currentPostion,
new Coordinate2D(0, currentPostion.Y, hexMap.OffsetType),
hexMap.DefaultMovement));
currentPostion = new Coordinate2D(0, currentPostion.Y, hexMap.OffsetType);
}
if (currentPostion.Y + vehicle.DetectorRadius * 2 > hexMap.Height)
//Check for finish
if (currentPostion.Y + (vehicle.DetectorRadius * 2) >= hexMap.Height - 1)
{
finished = true;
break;
}
Coordinate2D tmpPosition;
if(currentHeading == GlobalDirection.East)
tmpPosition = new Coordinate3D(
currentPostion.To3D().X-1,
currentPostion.To3D().Y,
currentPostion.To3D().Z+1).To2D(hexMap.OffsetType);
else
tmpPosition = new Coordinate3D(
currentPostion.To3D().X,
currentPostion.To3D().Y-1,
currentPostion.To3D().Z+1).To2D(hexMap.OffsetType);
while (hexMap.Graph.GetRange(currentPostion, vehicle.DetectorRadius*2).Contains(tmpPosition))
//Move Up edges of map
var tmpPosition = currentPostion;
var range = hexMap.Graph.GetRange(currentPostion, vehicle.DetectorRadius * 2);
for (var i = currentPostion.Y; i < currentPostion.Y + vehicle.DetectorRadius * 2; i++)
{
if(currentHeading == GlobalDirection.East)
tmpPosition = new Coordinate3D(
tmpPosition.To3D().X-1,
tmpPosition.To3D().Y,
tmpPosition.To3D().Z+1).To2D(hexMap.OffsetType);
else
tmpPosition = new Coordinate3D(
tmpPosition.To3D().X,
tmpPosition.To3D().Y-1,
tmpPosition.To3D().Z+1).To2D(hexMap.OffsetType);
var newCoord = new Coordinate2D(currentPostion.X, i, hexMap.OffsetType);
if (range.Contains(newCoord))
tmpPosition = newCoord;
}
path.AddRange(hexMap.Graph.GetShortestPath(
currentPostion,
tmpPosition,
@@ -122,9 +111,11 @@ namespace ConsoleApp.PathPlanners
currentHeading = GlobalDirection.West;
else
currentHeading = GlobalDirection.East;
}
return new Queue<Coordinate2D>(path);
}
}

32
ConsoleApp/PathPlanners/ReactivePathPlanner.cs
View File

@@ -1,20 +1,44 @@
using System.Collections.Generic;
using ConsoleApp.Maps;
using HexCore;
namespace ConsoleApp.PathPlanners
{
public class ReactivePathPlanner : IReactivePathPlanner
{
public Queue<Coordinate2D> ReactiveHexPath { get; }
private Queue<Coordinate2D> _reactiveHexPath;
public Queue<Coordinate2D> ReactiveHexPath => _reactiveHexPath;
public ReactivePathPlanner()
{
ReactiveHexPath = new Queue<Coordinate2D>();
_reactiveHexPath = new Queue<Coordinate2D>();
}
public void GenerateReactiveHexPath(Graph graph, ref List<Coordinate3D> optimalPath, Coordinate2D minePosition)
public void GenerateReactiveHexPath(IHexMap hexMap, Queue<Coordinate2D> optimalPath,
Coordinate2D vehicleCurrentHexCell)
{
//Clean out any old path
_reactiveHexPath.Clear();
//If the optimal path is empty well we are done, otherwise pop 1
if (!optimalPath.TryDequeue(out var convergentPoint))
return;
//Dequeue until the cell is not blocked
while (hexMap.Graph.IsCellBlocked(convergentPoint))
{
//if optimal path is empty were done and we can not clear around this position, otherwise
//lest pop another.
if (!optimalPath.TryDequeue(out convergentPoint))
return;
}
var reactivePath = hexMap.Graph.GetShortestPath(vehicleCurrentHexCell, convergentPoint, hexMap.DefaultMovement);
foreach (var node in reactivePath)
{
_reactiveHexPath.Enqueue(node);
}
}
}
}

8
ConsoleApp/Program.cs
View File

@@ -1,4 +1,8 @@
using System;
using System.Diagnostics;
using System.IO;
using System.Reflection;
using System.Threading;
using ConsoleApp.Maps;
namespace ConsoleApp
@@ -11,11 +15,15 @@ namespace ConsoleApp
static void Main(string[] args)
{
_bootstrapper = BootStrapper.BootstrapSystem(new CoreModule());
var simResults = _bootstrapper.Resolve<ISimulationResults>();
_userConsole = new UserConsole();
Initialization();
simResults.WriteResults();
Console.WriteLine("Program Completed");
}
private static void Initialization()
{
_userConsole.PrintStartMenu();

11
ConsoleApp/Sim/DetectionHead.cs
View File

@@ -10,7 +10,16 @@ namespace ConsoleApp.Sim
Graph graph,
Coordinate2D centerCoordinate,
int detectorRadius,
GlobalDirection direction) => graph.GetRange(centerCoordinate, detectorRadius);
int vehicleTurnRadius)
{
var detectorCells = graph.GetRange(centerCoordinate, detectorRadius);
// var vehicleCells = graph.GetRange(centerCoordinate, vehicleTurnRadius);
// foreach (var vehicleCell in vehicleCells)
// {
// detectorCells.Remove(vehicleCell);
// }
return detectorCells;
}
public static List<Cell> GetCoveredCells(
ISquareMap squareMap,

7
ConsoleApp/Sim/IVehicle.cs
View File

@@ -1,4 +1,5 @@
using ConsoleApp.Maps;
using HexCore;
namespace ConsoleApp.Sim
{
@@ -6,11 +7,9 @@ namespace ConsoleApp.Sim
{
int Length { get; }
int Width { get; }
int DetectorOffset { get;}
int TurnRadius { get; }
int DetectorRadius { get;}
HexCore.Coordinate2D CurrentHexCell { get; set; }
Heading HexHeading { get; set; }
Heading SquareHeading { get; set; }
Coordinate2D CurrentHexCell { get; set; }
ICell CurrentSquareCell { get; set; }
}
}

24
ConsoleApp/Sim/Vehicle.cs
View File

@@ -1,3 +1,5 @@
using System;
using System.Collections.Generic;
using ConsoleApp.Maps;
namespace ConsoleApp.Sim
@@ -6,12 +8,9 @@ namespace ConsoleApp.Sim
{
public int Length { get; }
public int Width { get; }
public int DetectorOffset { get;}
public int TurnRadius { get; }
public int DetectorRadius { get;}
public HexCore.Coordinate2D CurrentHexCell { get; set; }
public Heading HexHeading { get; set; }
public Heading SquareHeading { get; set; }
public ICell CurrentSquareCell { get; set; }
@@ -20,12 +19,17 @@ namespace ConsoleApp.Sim
public Vehicle(IJsonDeserializor jsonDeserializor)
{
var config = jsonDeserializor.DeserializeObject<VehicleConfiguration>("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Sim/VehicleConfiguration.json");
Length = config.Length;
Width = config.Width;
DetectorRadius = config.DetectorRadius;
DetectorOffset = config.DetectorOffset;
CurrentHexCell = default;
CurrentSquareCell = default;
var length = config.Length;
length *= 100;
Length = (int)Math.Ceiling((decimal)length/ 25);
var width = config.Width;
width *= 100;
Width = (int)Math.Ceiling((decimal)width/ 25);
DetectorRadius = (int)Math.Floor(((decimal)config.DetectorRadius * 100)/25)/2;
TurnRadius = (int)Math.Ceiling(Math.Sqrt(Math.Pow(config.Length, 2) * Math.Pow(config.Width, 2))/2);
// if (DetectorRadius <= TurnRadius)
// throw new ArgumentException("Detection radius must be larger than the vehicle turn radius");
}
}
}

1
ConsoleApp/Sim/VehicleConfiguration.cs
View File

@@ -5,6 +5,5 @@ namespace ConsoleApp.Sim
public int Length { get; set; }
public int Width { get; set; }
public int DetectorRadius { get; set; }
public int DetectorOffset { get; set; }
}
}

9
ConsoleApp/Sim/VehicleConfiguration.json
View File

@@ -1,6 +1,5 @@
{
"Length": 3,
"Width": 2,
"DetectorRadius": 3,
"DetectorOffset": 2
}
"Length": 1,
"Width": 1,
"DetectorRadius": 1
}

103
ConsoleApp/SimRunner.cs
View File

@@ -1,11 +1,16 @@
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Net;
using System.Threading;
using System.Threading.Tasks;
using ConsoleApp.Maps;
using ConsoleApp.PathPlanners;
using ConsoleApp.Sim;
using HexCore;
using ImTools;
using Microsoft.VisualBasic;
namespace ConsoleApp
{
@@ -14,25 +19,28 @@ namespace ConsoleApp
private IMapFactory _mapFactory;
private IVehicle _vehicle;
private int _cellWidth;
private IPathPlanner _pathPlanner;
private IMineMap _mineMap;
private IReactivePathPlanner _reactivePathPlanner;
private HashSet<Coordinate2D> hexBombsFound = new HashSet<Coordinate2D>();
private List<Coordinate2D> testingPath = new List<Coordinate2D>();
private ISimulationResults _simulationResults;
public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner, IReactivePathPlanner reactivePathPlanner)
public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner, IReactivePathPlanner reactivePathPlanner, ISimulationResults simulationResults)
{
_cellWidth = mapFactory.CellWidth;
_mapFactory = mapFactory;
_vehicle = vehicle;
_pathPlanner = pathPlanner;
_reactivePathPlanner = reactivePathPlanner;
_simulationResults = simulationResults;
}
public void Run()
{
_mineMap = _mapFactory.GetMineMap();
_simulationResults.Mines = _mineMap.PlacedMines;
_simulationResults.TotalBombs = _mineMap.TotalBombs;
SquareSimulation();
HexSimulation();
// while(!squareTask.IsCompleted && !hexTask.IsCompleted){Thread.Sleep(500);}
@@ -44,9 +52,92 @@ namespace ConsoleApp
var hexMap = _mapFactory.GetHexMap();
_vehicle.CurrentHexCell = new Coordinate2D(0, 0, OffsetTypes.OddRowsRight);
var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
var reactivePath = _reactivePathPlanner.ReactiveHexPath;
var finished = false;
var totalMoves = 0;
while (!finished)
{
totalMoves += 1;
_simulationResults.HexPath.Add(_vehicle.CurrentHexCell);
var detectionCells = DetectionHead.GetCoveredCells(hexMap.Graph, _vehicle.CurrentHexCell, _vehicle.DetectorRadius, _vehicle.TurnRadius);
//Check Cells for mine
var detection = CheckCells(detectionCells);
//mark as cleared
hexMap.Graph.SetCellsTerrainType(detectionCells, hexMap.ClearedTerrain);
//Handle any detections
if (detection)
{
_reactivePathPlanner.GenerateReactiveHexPath(hexMap, optimalPath, _vehicle.CurrentHexCell);
}
//If the reactive Planner is not empty, empty it before the optimal.
if (_reactivePathPlanner.ReactiveHexPath.TryDequeue(out var next))
_vehicle.CurrentHexCell = next;
//Else we will work off of the optimal path
else
{
//If the optimal path is empty we are done otherwise pop.
if (!optimalPath.TryDequeue(out var nextOptimal))
{
finished = true;
break;
}
if (hexMap.Graph.IsCellBlocked(nextOptimal))
{
_reactivePathPlanner.GenerateReactiveHexPath(hexMap, optimalPath, _vehicle.CurrentHexCell);
}
else
_vehicle.CurrentHexCell = nextOptimal;
}
}
//Debugging information
var (cleared, uncleared) = CoveredCells();
_simulationResults.HexClearedCells = cleared;
_simulationResults.HexUnClearedCells = uncleared;
_simulationResults.HexTotalMoves = totalMoves;
_simulationResults.HexBombsFound = hexBombsFound.Count;
}
private (int, int) CoveredCells()
{
var cleared = 0;
var uncleared = 0;
var hexMap = _mapFactory.GetHexMap();
foreach (var cellState in hexMap.Graph.GetAllCells())
{
if (cellState.TerrainType.Id == hexMap.ClearedTerrain.Id)
cleared++;
if (cellState.TerrainType.Id == hexMap.UnclearedTerrain.Id)
uncleared++;
}
return (cleared, uncleared);
}
private bool CheckCells(List<Coordinate2D> detectionCells)
{
var found = false;
foreach (var cell in detectionCells.Where(cell => _mineMap.GetCell(cell.X, cell.Y)))
{
if (!hexBombsFound.Add(cell)) continue;
BlockCells(cell);
found = true;
}
return found;
}
private void BlockCells(Coordinate2D cell)
{
var hexMap = _mapFactory.GetHexMap();
var cellsToBlock = hexMap.Graph.GetRange(cell, _vehicle.Width / 2);
hexMap.Graph.BlockCells(cellsToBlock);
}
private void SquareSimulation()
{

104
ConsoleApp/SimulationResults.cs Normal file
View File

@@ -0,0 +1,104 @@
using System.Collections.Generic;
using System.Diagnostics;
using System.IO;
using System.Reflection;
using System.Threading;
using ConsoleApp.Maps;
using HexCore;
namespace ConsoleApp
{
public class SimulationResults : ISimulationResults
{
public int HexTotalMoves { get; set; }
public int HexBombsFound { get; set; }
public int TotalBombs { get; set; }
public List<Coordinate2D> HexPath { get; set; }
public List<Coordinate2D> HexMappedBombs { get; set; }
public List<Cell> Mines { get; set; }
public int HexClearedCells { get; set; }
public int HexUnClearedCells { get; set; }
public SimulationResults()
{
HexTotalMoves = 0;
HexBombsFound = 0;
TotalBombs = 0;
HexPath = new List<Coordinate2D>();
HexMappedBombs = new List<Coordinate2D>();
Mines = new List<Cell>();
HexClearedCells = 0;
HexUnClearedCells = 0;
}
public void WriteResults()
{
WriteData();
WriteMines();
WritePaths();
WriteDetectedMines();
GenerateImages();
}
private static void GenerateImages()
{
var file = Path.Combine("./",Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), @"HexPlot.py");
ProcessStartInfo startInfo = new ProcessStartInfo()
{
FileName = "python3",
Arguments = file,
UseShellExecute = true
};
Process proc = new Process()
{
StartInfo = startInfo,
};
proc.Start();
while (!proc.HasExited)
{
Thread.Sleep(500);
}
}
private void WriteData()
{
using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/Data.txt"))
{
tw.WriteLine($"General:");
tw.WriteLine($"\t Total Mines: {TotalBombs}");
tw.WriteLine($"Hex: ");
tw.WriteLine($"\t Total Moves: {HexTotalMoves}");
tw.WriteLine($"\t Bombs Found: {HexBombsFound}");
tw.WriteLine($"\t Cleared Cell Count: {HexClearedCells}");
tw.WriteLine($"\t Uncleared Cell Count: {HexUnClearedCells}");
}
}
private void WriteMines()
{
using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/Mines.txt"))
{
foreach (var s in Mines)
tw.WriteLine($"{s.X} {s.Y}");
}
}
private void WriteDetectedMines()
{
using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexDetectedMines.txt"))
{
foreach (Coordinate2D s in HexMappedBombs)
tw.WriteLine($"{s.X} {s.Y}");
}
}
private void WritePaths()
{
using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexPath.txt"))
{
foreach (Coordinate2D s in HexPath)
tw.WriteLine($"{s.X} {s.Y}");
}
}
}
}

4
ConsoleApp/UserConsole.cs
View File

@@ -22,9 +22,9 @@ namespace ConsoleApp
public static void PrintInvalidInput() => Console.WriteLine($"Invalid input try again \n");
public (int width, int height) GetMapDimensions()
public (int width, int height) GetMapDimensions()
{
Console.WriteLine($"Enter map height: ");
Console.WriteLine($"Enter map width: ");
var x = GetUserInput();
if (!int.TryParse(x, out var width))