Merge branch 'AddLogicToReactivePlanner' into main
This commit is contained in:
@@ -7,9 +7,11 @@
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|||||||
<e p="Bootstrapper.cs" t="Include" />
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<e p="Bootstrapper.cs" t="Include" />
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<e p="ConsoleApp.csproj" t="IncludeRecursive" />
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<e p="ConsoleApp.csproj" t="IncludeRecursive" />
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||||||
<e p="CoreModule.cs" t="Include" />
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<e p="CoreModule.cs" t="Include" />
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||||||
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<e p="HexPlot.py" t="Include" />
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||||||
<e p="IJsonDeserializor.cs" t="Include" />
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<e p="IJsonDeserializor.cs" t="Include" />
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||||||
<e p="IModule.cs" t="Include" />
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<e p="IModule.cs" t="Include" />
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||||||
<e p="ISimRunner.cs" t="Include" />
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<e p="ISimRunner.cs" t="Include" />
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||||||
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<e p="ISimulationResults.cs" t="Include" />
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||||||
<e p="IUserConsole.cs" t="Include" />
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<e p="IUserConsole.cs" t="Include" />
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||||||
<e p="JsonDeserializor.cs" t="Include" />
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<e p="JsonDeserializor.cs" t="Include" />
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||||||
<e p="Maps" t="Include">
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<e p="Maps" t="Include">
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||||||
@@ -34,6 +36,12 @@
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|||||||
</e>
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</e>
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||||||
</e>
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</e>
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||||||
</e>
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</e>
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||||||
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<e p="Output" t="Include">
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||||||
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<e p="Data.txt" t="Include" />
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||||||
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<e p="HexDetectedMines.txt" t="Include" />
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||||||
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<e p="HexPath.txt" t="Include" />
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||||||
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<e p="HexTest.png" t="Include" />
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||||||
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</e>
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||||||
<e p="PathPlanners" t="Include">
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<e p="PathPlanners" t="Include">
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||||||
<e p="IPathPlanner.cs" t="Include" />
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<e p="IPathPlanner.cs" t="Include" />
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||||||
<e p="IReactivePathPlanner.cs" t="Include" />
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<e p="IReactivePathPlanner.cs" t="Include" />
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||||||
@@ -49,6 +57,7 @@
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|||||||
<e p="VehicleConfiguration.json" t="Include" />
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<e p="VehicleConfiguration.json" t="Include" />
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||||||
</e>
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</e>
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||||||
<e p="SimRunner.cs" t="Include" />
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<e p="SimRunner.cs" t="Include" />
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||||||
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<e p="SimulationResults.cs" t="Include" />
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||||||
<e p="UserConsole.cs" t="Include" />
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<e p="UserConsole.cs" t="Include" />
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||||||
</e>
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||||||
<e p="packages" t="ExcludeRecursive" />
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<e p="packages" t="ExcludeRecursive" />
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||||||
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|||||||
135
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generated
135
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@@ -18,29 +18,21 @@
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||||||
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||||||
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||||||
<change afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" afterDir="false" />
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||||||
<change beforePath="$PROJECT_DIR$/ConsoleApp/Program.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Program.cs" afterDir="false" />
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<change beforePath="$PROJECT_DIR$/ConsoleApp/Program.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Program.cs" afterDir="false" />
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||||||
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||||||
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||||||
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|
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||||||
<change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" afterDir="false" />
|
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||||||
<change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" afterDir="false" />
|
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||||||
<change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.cs" afterDir="false" />
|
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||||||
<change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.json" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" afterDir="false" />
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||||||
</list>
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||||||
<option name="SHOW_DIALOG" value="false" />
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<option name="SHOW_DIALOG" value="false" />
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||||||
<option name="HIGHLIGHT_CONFLICTS" value="true" />
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<option name="HIGHLIGHT_CONFLICTS" value="true" />
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||||||
@@ -58,31 +50,56 @@
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|||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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@@ -95,34 +112,39 @@
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<option value="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" />
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<option value="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" />
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<option value="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" />
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<option value="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" />
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<option value="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" />
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||||||
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<option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" />
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<option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" />
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<option value="$PROJECT_DIR$/ConsoleApp/Vehicle/DetectionHead.cs" />
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<option value="$PROJECT_DIR$/ConsoleApp/Vehicle/DetectionHead.cs" />
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<option value="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.cs" />
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|
||||||
<option value="$PROJECT_DIR$/ConsoleApp/Vehicle/IVehicle.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/Cell.cs" />
|
||||||
<option value="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" />
|
<option value="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" />
|
||||||
<option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" />
|
<option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" />
|
||||||
<option value="$PROJECT_DIR$/ConsoleApp/ConsoleApp.csproj" />
|
<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/CellExtensions.cs" />
|
||||||
<option value="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.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/SquareMap.cs" />
|
||||||
<option value="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" />
|
<option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
|
||||||
<option value="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.cs" />
|
|
||||||
<option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
|
<option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
|
||||||
<option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" />
|
<option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" />
|
||||||
<option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
|
<option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.cs" />
|
||||||
<option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.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/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>
|
</changedPaths>
|
||||||
</component>
|
</component>
|
||||||
<component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
|
<component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
|
||||||
@@ -140,7 +162,7 @@
|
|||||||
<property name="WebServerToolWindowFactoryState" value="false" />
|
<property name="WebServerToolWindowFactoryState" value="false" />
|
||||||
<property name="nodejs_package_manager_path" value="npm" />
|
<property name="nodejs_package_manager_path" value="npm" />
|
||||||
<property name="restartRequiresConfirmation" value="false" />
|
<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" />
|
<property name="vue.rearranger.settings.migration" value="true" />
|
||||||
</component>
|
</component>
|
||||||
<component name="RunManager" selected=".NET Project.ConsoleApp">
|
<component name="RunManager" selected=".NET Project.ConsoleApp">
|
||||||
@@ -200,7 +222,7 @@
|
|||||||
<workItem from="1607982179018" duration="634000" />
|
<workItem from="1607982179018" duration="634000" />
|
||||||
<workItem from="1607983288378" duration="86000" />
|
<workItem from="1607983288378" duration="86000" />
|
||||||
<workItem from="1607983862958" duration="7777000" />
|
<workItem from="1607983862958" duration="7777000" />
|
||||||
<workItem from="1607993290571" duration="36241000" />
|
<workItem from="1607993290571" duration="72449000" />
|
||||||
</task>
|
</task>
|
||||||
<servers />
|
<servers />
|
||||||
</component>
|
</component>
|
||||||
@@ -240,33 +262,18 @@
|
|||||||
</properties>
|
</properties>
|
||||||
<option name="timeStamp" value="24" />
|
<option name="timeStamp" value="24" />
|
||||||
</line-breakpoint>
|
</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" />
|
|
||||||
</startOffsets>
|
|
||||||
<endOffsets>
|
|
||||||
<option value="3612" />
|
|
||||||
</endOffsets>
|
|
||||||
</properties>
|
|
||||||
<option name="timeStamp" value="46" />
|
|
||||||
</line-breakpoint>
|
|
||||||
</breakpoints>
|
</breakpoints>
|
||||||
</breakpoint-manager>
|
</breakpoint-manager>
|
||||||
|
<pin-to-top-manager>
|
||||||
|
<pinned-members>
|
||||||
|
<PinnedItemInfo parentTag="Frame#ConsoleApp.PathPlanners.PathPlanner.GenerateOptimalHexPath" memberName="path" />
|
||||||
|
</pinned-members>
|
||||||
|
</pin-to-top-manager>
|
||||||
|
<watches-manager>
|
||||||
|
<configuration name="DotNetProject">
|
||||||
|
<watch expression="new System.Collections.Generic.QueueDebugView<HexCore.Coordinate2D>(optimalPath).Items[0]" />
|
||||||
|
<watch expression="Math.Abs(nextOptimal.X - _vehicle.CurrentHexCell.X) > 1 || Math.Abs(nextOptimal.Y - _vehicle.CurrentHexCell.Y) > 1" language="C#" />
|
||||||
|
</configuration>
|
||||||
|
</watches-manager>
|
||||||
</component>
|
</component>
|
||||||
</project>
|
</project>
|
||||||
@@ -22,6 +22,13 @@
|
|||||||
<None Update="Sim\VehicleConfiguration.json">
|
<None Update="Sim\VehicleConfiguration.json">
|
||||||
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
|
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
|
||||||
</None>
|
</None>
|
||||||
|
<None Update="HexPlot.py">
|
||||||
|
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
|
||||||
|
</None>
|
||||||
|
</ItemGroup>
|
||||||
|
|
||||||
|
<ItemGroup>
|
||||||
|
<Folder Include="Output" />
|
||||||
</ItemGroup>
|
</ItemGroup>
|
||||||
|
|
||||||
</Project>
|
</Project>
|
||||||
|
|||||||
@@ -15,6 +15,7 @@ namespace ConsoleApp
|
|||||||
container.Register<IJsonDeserializor, JsonDeserializor>(Reuse.Singleton);
|
container.Register<IJsonDeserializor, JsonDeserializor>(Reuse.Singleton);
|
||||||
container.Register<IPathPlanner, PathPlanner>(Reuse.Singleton);
|
container.Register<IPathPlanner, PathPlanner>(Reuse.Singleton);
|
||||||
container.Register<IReactivePathPlanner, ReactivePathPlanner>(Reuse.Singleton);
|
container.Register<IReactivePathPlanner, ReactivePathPlanner>(Reuse.Singleton);
|
||||||
|
container.Register<ISimulationResults, SimulationResults>(Reuse.Singleton);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
39
ConsoleApp/HexPlot.py
Normal file
39
ConsoleApp/HexPlot.py
Normal 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
19
ConsoleApp/ISimulationResults.cs
Normal 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; }
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -17,6 +17,9 @@ namespace ConsoleApp.Maps
|
|||||||
|
|
||||||
public OffsetTypes OffsetType { get; }
|
public OffsetTypes OffsetType { get; }
|
||||||
public MovementType DefaultMovement { get; }
|
public MovementType DefaultMovement { get; }
|
||||||
|
public TerrainType ClearedTerrain { get; }
|
||||||
|
|
||||||
|
public TerrainType UnclearedTerrain { get; }
|
||||||
|
|
||||||
|
|
||||||
/// <summary>
|
/// <summary>
|
||||||
@@ -28,33 +31,26 @@ namespace ConsoleApp.Maps
|
|||||||
{
|
{
|
||||||
//Set Offset Type for 2d -> 3d conversion
|
//Set Offset Type for 2d -> 3d conversion
|
||||||
OffsetType = OffsetTypes.OddRowsRight;
|
OffsetType = OffsetTypes.OddRowsRight;
|
||||||
//convert to cm
|
|
||||||
x *= 100;
|
|
||||||
y *= 100;
|
|
||||||
|
|
||||||
//calculate number of cells on x and y axis
|
Height = y;
|
||||||
var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
|
Width = x;
|
||||||
var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
|
|
||||||
|
|
||||||
Height = yCellCount;
|
UnclearedTerrain = new TerrainType(1, "uncleared");
|
||||||
Width = xCellCount;
|
ClearedTerrain = new TerrainType(2, "cleared");
|
||||||
|
|
||||||
var unclearedTerrain = new TerrainType(1, "uncleared");
|
|
||||||
var clearedTerrain = new TerrainType(2, "cleared");
|
|
||||||
|
|
||||||
DefaultMovement = new MovementType(1, "default");
|
DefaultMovement = new MovementType(1, "default");
|
||||||
var movementTypes = new MovementTypes(
|
var movementTypes = new MovementTypes(
|
||||||
new ITerrainType[] { unclearedTerrain, clearedTerrain },
|
new ITerrainType[] { UnclearedTerrain, ClearedTerrain },
|
||||||
new Dictionary<IMovementType, Dictionary<ITerrainType, int>>
|
new Dictionary<IMovementType, Dictionary<ITerrainType, int>>
|
||||||
{
|
{
|
||||||
[DefaultMovement] = new Dictionary<ITerrainType, int>
|
[DefaultMovement] = new Dictionary<ITerrainType, int>
|
||||||
{
|
{
|
||||||
[unclearedTerrain] = 1,
|
[UnclearedTerrain] = 1,
|
||||||
[clearedTerrain] = 2
|
[ClearedTerrain] = 2
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
);
|
);
|
||||||
Graph = GraphFactory.CreateRectangularGraph(Width, Height, movementTypes, unclearedTerrain);
|
Graph = GraphFactory.CreateRectangularGraph(Width, Height, movementTypes, UnclearedTerrain);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
@@ -9,5 +9,7 @@ namespace ConsoleApp.Maps
|
|||||||
int Width { get; }
|
int Width { get; }
|
||||||
int Height { get; }
|
int Height { get; }
|
||||||
MovementType DefaultMovement { get; }
|
MovementType DefaultMovement { get; }
|
||||||
|
public TerrainType ClearedTerrain { get; }
|
||||||
|
public TerrainType UnclearedTerrain { get; }
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -7,7 +7,6 @@ namespace ConsoleApp.Maps
|
|||||||
{
|
{
|
||||||
int Height { get; }
|
int Height { get; }
|
||||||
int Width { get; }
|
int Width { get; }
|
||||||
int CellWidth { get; }
|
|
||||||
void GenerateMaps(int x, int y, double minePercentage);
|
void GenerateMaps(int x, int y, double minePercentage);
|
||||||
IHexMap GetHexMap();
|
IHexMap GetHexMap();
|
||||||
ISquareMap GetSquareMap();
|
ISquareMap GetSquareMap();
|
||||||
|
|||||||
@@ -1,7 +1,13 @@
|
|||||||
|
using System.Collections.Generic;
|
||||||
|
|
||||||
namespace ConsoleApp.Maps
|
namespace ConsoleApp.Maps
|
||||||
{
|
{
|
||||||
public interface IMineMap
|
public interface IMineMap
|
||||||
{
|
{
|
||||||
bool[,] Map { get; }
|
bool[,] Map { get; }
|
||||||
|
|
||||||
|
int TotalBombs { get; }
|
||||||
|
bool GetCell(int x, int y);
|
||||||
|
List<Cell> PlacedMines { get; }
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -15,6 +15,5 @@ namespace ConsoleApp.Maps
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -10,7 +10,6 @@ namespace ConsoleApp.Maps
|
|||||||
private int _defaultWidth;
|
private int _defaultWidth;
|
||||||
public int Height { get; protected set; }
|
public int Height { get; protected set; }
|
||||||
public int Width { 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)
|
public void GenerateMaps(int x, int y, double minePercentage)
|
||||||
{
|
{
|
||||||
Width = x;
|
//convert to cm
|
||||||
Height = y;
|
x *= 100;
|
||||||
_squareMap = new SquareMap(x, y);
|
y *= 100;
|
||||||
_hexMap = new HexMap(x, y);
|
//calculate number of cells on x and y axis
|
||||||
_mineMap = new MineMap(x, y, minePercentage);
|
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 IHexMap GetHexMap() => _hexMap ?? throw new NullReferenceException("hex map not initialized");
|
||||||
public ISquareMap GetSquareMap() => _squareMap ?? throw new NullReferenceException("square 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)
|
public MapFactory(IVehicle vehicle)
|
||||||
{
|
{
|
||||||
CellWidth = vehicle.Width/2;
|
|
||||||
_defaultHeight = 0;
|
_defaultHeight = 0;
|
||||||
_defaultWidth = 0;
|
_defaultWidth = 0;
|
||||||
Height = _defaultHeight;
|
Height = _defaultHeight;
|
||||||
|
|||||||
@@ -1,5 +1,7 @@
|
|||||||
using System;
|
using System;
|
||||||
using System.Collections.Generic;
|
using System.Collections.Generic;
|
||||||
|
using System.IO;
|
||||||
|
using HexCore;
|
||||||
|
|
||||||
namespace ConsoleApp.Maps
|
namespace ConsoleApp.Maps
|
||||||
{
|
{
|
||||||
@@ -9,24 +11,40 @@ namespace ConsoleApp.Maps
|
|||||||
private int _x;
|
private int _x;
|
||||||
private int _y;
|
private int _y;
|
||||||
public bool[,] Map { get; }
|
public bool[,] Map { get; }
|
||||||
|
public int TotalBombs { get; }
|
||||||
|
public List<Cell> PlacedMines { get; }
|
||||||
|
|
||||||
public MineMap(int x, int y, double minePercentage)
|
public MineMap(int x, int y, double minePercentage)
|
||||||
{
|
{
|
||||||
_x = x;
|
_x = x;
|
||||||
_y = y;
|
_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 = new bool[x, y];
|
||||||
Map.Fill2DArray(false);
|
Map.Fill2DArray(false);
|
||||||
PlaceMines();
|
PlaceMines();
|
||||||
|
|
||||||
}
|
}
|
||||||
|
public bool GetCell(int x, int y) => Map[x,y];
|
||||||
|
|
||||||
|
|
||||||
private void PlaceMines()
|
private void PlaceMines()
|
||||||
{
|
{
|
||||||
var rand = new Random();
|
var rand = new Random();
|
||||||
for (int i = 0; i < _mineCount; i++)
|
for (var i = 0; i < _mineCount; i++)
|
||||||
{
|
{
|
||||||
var x = rand.Next(_x);
|
var x = rand.Next(5,_x-5);
|
||||||
var y = rand.Next(_y);
|
var y = rand.Next(5,_y-5);
|
||||||
Map[x, y] = true;
|
if (Map[x, y] == true)
|
||||||
|
{
|
||||||
|
i--;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
Map[x, y] = true;
|
||||||
|
PlacedMines.Add(new Cell(x,y));
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -19,26 +19,21 @@ namespace ConsoleApp.Maps
|
|||||||
/// <param name="y"></param>
|
/// <param name="y"></param>
|
||||||
public SquareMap(int x, int y)
|
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
|
//set Width and height Properties
|
||||||
Width = xCellCount-1;
|
Width = x-1;
|
||||||
Height = yCellCount-1;
|
Height = y-1;
|
||||||
|
|
||||||
|
|
||||||
//Initialize Map
|
//Initialize Map
|
||||||
Map = new Cell[xCellCount, yCellCount];
|
Map = new Cell[x, y];
|
||||||
|
|
||||||
//set last cell;
|
//set last cell;
|
||||||
StartingCell = Map[0, 0];
|
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);
|
Map[i,j] = new Cell(i, j);
|
||||||
}
|
}
|
||||||
|
|||||||
7
ConsoleApp/Output/Data.txt
Normal file
7
ConsoleApp/Output/Data.txt
Normal 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
0
ConsoleApp/Output/HexDetectedMines.txt
Normal file
927
ConsoleApp/Output/HexPath.txt
Normal file
927
ConsoleApp/Output/HexPath.txt
Normal 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
|
||||||
|
38 0
|
||||||
|
39 0
|
||||||
|
40 0
|
||||||
|
41 0
|
||||||
|
42 0
|
||||||
|
43 0
|
||||||
|
44 0
|
||||||
|
45 0
|
||||||
|
46 0
|
||||||
|
47 0
|
||||||
|
47 1
|
||||||
|
47 2
|
||||||
|
47 3
|
||||||
|
46 3
|
||||||
|
45 3
|
||||||
|
44 3
|
||||||
|
43 3
|
||||||
|
42 3
|
||||||
|
41 3
|
||||||
|
40 3
|
||||||
|
39 3
|
||||||
|
38 3
|
||||||
|
37 3
|
||||||
|
36 3
|
||||||
|
35 3
|
||||||
|
34 3
|
||||||
|
33 3
|
||||||
|
32 3
|
||||||
|
31 3
|
||||||
|
30 3
|
||||||
|
29 3
|
||||||
|
28 3
|
||||||
|
27 3
|
||||||
|
26 3
|
||||||
|
25 3
|
||||||
|
24 3
|
||||||
|
23 3
|
||||||
|
22 3
|
||||||
|
21 3
|
||||||
|
20 3
|
||||||
|
19 3
|
||||||
|
18 3
|
||||||
|
17 3
|
||||||
|
16 3
|
||||||
|
15 3
|
||||||
|
14 3
|
||||||
|
13 3
|
||||||
|
12 3
|
||||||
|
11 3
|
||||||
|
10 3
|
||||||
|
9 3
|
||||||
|
8 3
|
||||||
|
7 3
|
||||||
|
6 3
|
||||||
|
5 3
|
||||||
|
4 3
|
||||||
|
3 3
|
||||||
|
2 3
|
||||||
|
1 3
|
||||||
|
0 3
|
||||||
|
1 4
|
||||||
|
0 5
|
||||||
|
0 6
|
||||||
|
1 6
|
||||||
|
2 6
|
||||||
|
3 6
|
||||||
|
4 6
|
||||||
|
5 6
|
||||||
|
6 6
|
||||||
|
7 6
|
||||||
|
6 5
|
||||||
|
7 4
|
||||||
|
8 4
|
||||||
|
9 4
|
||||||
|
10 4
|
||||||
|
10 5
|
||||||
|
11 6
|
||||||
|
12 6
|
||||||
|
13 6
|
||||||
|
14 6
|
||||||
|
15 6
|
||||||
|
16 6
|
||||||
|
17 6
|
||||||
|
18 6
|
||||||
|
19 6
|
||||||
|
20 6
|
||||||
|
21 6
|
||||||
|
20 5
|
||||||
|
21 4
|
||||||
|
22 4
|
||||||
|
23 4
|
||||||
|
24 4
|
||||||
|
24 5
|
||||||
|
25 6
|
||||||
|
26 6
|
||||||
|
27 6
|
||||||
|
28 6
|
||||||
|
29 6
|
||||||
|
30 6
|
||||||
|
31 6
|
||||||
|
32 6
|
||||||
|
33 6
|
||||||
|
34 6
|
||||||
|
35 6
|
||||||
|
36 6
|
||||||
|
37 6
|
||||||
|
38 6
|
||||||
|
39 6
|
||||||
|
40 6
|
||||||
|
41 6
|
||||||
|
42 6
|
||||||
|
43 6
|
||||||
|
44 6
|
||||||
|
45 6
|
||||||
|
46 6
|
||||||
|
47 6
|
||||||
|
47 7
|
||||||
|
47 8
|
||||||
|
47 9
|
||||||
|
46 9
|
||||||
|
45 9
|
||||||
|
44 9
|
||||||
|
43 9
|
||||||
|
42 9
|
||||||
|
41 9
|
||||||
|
40 9
|
||||||
|
39 9
|
||||||
|
38 9
|
||||||
|
37 9
|
||||||
|
36 9
|
||||||
|
35 9
|
||||||
|
34 9
|
||||||
|
33 9
|
||||||
|
32 9
|
||||||
|
31 9
|
||||||
|
30 9
|
||||||
|
29 9
|
||||||
|
28 9
|
||||||
|
27 9
|
||||||
|
27 8
|
||||||
|
26 8
|
||||||
|
25 8
|
||||||
|
24 9
|
||||||
|
24 9
|
||||||
|
24 10
|
||||||
|
23 10
|
||||||
|
23 11
|
||||||
|
23 12
|
||||||
|
22 12
|
||||||
|
21 12
|
||||||
|
20 12
|
||||||
|
19 11
|
||||||
|
19 10
|
||||||
|
18 9
|
||||||
|
17 9
|
||||||
|
16 9
|
||||||
|
15 9
|
||||||
|
14 9
|
||||||
|
13 9
|
||||||
|
12 9
|
||||||
|
12 9
|
||||||
|
13 10
|
||||||
|
12 11
|
||||||
|
12 12
|
||||||
|
13 12
|
||||||
|
13 13
|
||||||
|
13 14
|
||||||
|
12 15
|
||||||
|
12 16
|
||||||
|
11 16
|
||||||
|
10 16
|
||||||
|
9 16
|
||||||
|
8 15
|
||||||
|
8 14
|
||||||
|
7 13
|
||||||
|
7 12
|
||||||
|
6 11
|
||||||
|
6 10
|
||||||
|
5 9
|
||||||
|
4 9
|
||||||
|
3 9
|
||||||
|
2 9
|
||||||
|
1 9
|
||||||
|
0 9
|
||||||
|
1 10
|
||||||
|
0 11
|
||||||
|
0 12
|
||||||
|
1 12
|
||||||
|
2 12
|
||||||
|
3 12
|
||||||
|
4 12
|
||||||
|
5 12
|
||||||
|
6 12
|
||||||
|
7 12
|
||||||
|
8 12
|
||||||
|
8 12
|
||||||
|
7 13
|
||||||
|
8 14
|
||||||
|
8 15
|
||||||
|
9 16
|
||||||
|
10 16
|
||||||
|
11 16
|
||||||
|
12 16
|
||||||
|
12 15
|
||||||
|
13 14
|
||||||
|
13 13
|
||||||
|
13 12
|
||||||
|
14 12
|
||||||
|
15 12
|
||||||
|
16 12
|
||||||
|
17 12
|
||||||
|
18 12
|
||||||
|
19 12
|
||||||
|
20 12
|
||||||
|
21 12
|
||||||
|
22 12
|
||||||
|
22 12
|
||||||
|
21 13
|
||||||
|
21 14
|
||||||
|
20 13
|
||||||
|
19 13
|
||||||
|
19 14
|
||||||
|
18 15
|
||||||
|
18 16
|
||||||
|
18 17
|
||||||
|
19 18
|
||||||
|
19 19
|
||||||
|
20 19
|
||||||
|
21 19
|
||||||
|
22 19
|
||||||
|
23 18
|
||||||
|
23 17
|
||||||
|
23 18
|
||||||
|
23 19
|
||||||
|
24 19
|
||||||
|
25 19
|
||||||
|
26 19
|
||||||
|
27 18
|
||||||
|
27 17
|
||||||
|
28 16
|
||||||
|
28 15
|
||||||
|
29 14
|
||||||
|
29 13
|
||||||
|
30 12
|
||||||
|
31 12
|
||||||
|
32 12
|
||||||
|
33 12
|
||||||
|
34 12
|
||||||
|
35 12
|
||||||
|
36 12
|
||||||
|
37 12
|
||||||
|
38 12
|
||||||
|
39 12
|
||||||
|
40 12
|
||||||
|
41 12
|
||||||
|
42 12
|
||||||
|
43 12
|
||||||
|
44 12
|
||||||
|
45 12
|
||||||
|
46 12
|
||||||
|
47 12
|
||||||
|
47 13
|
||||||
|
47 14
|
||||||
|
47 15
|
||||||
|
46 15
|
||||||
|
45 15
|
||||||
|
44 15
|
||||||
|
43 15
|
||||||
|
42 15
|
||||||
|
41 15
|
||||||
|
41 14
|
||||||
|
40 14
|
||||||
|
39 14
|
||||||
|
38 15
|
||||||
|
37 15
|
||||||
|
36 15
|
||||||
|
35 15
|
||||||
|
34 15
|
||||||
|
33 15
|
||||||
|
32 15
|
||||||
|
31 15
|
||||||
|
30 15
|
||||||
|
29 15
|
||||||
|
28 15
|
||||||
|
27 15
|
||||||
|
27 15
|
||||||
|
28 16
|
||||||
|
27 17
|
||||||
|
27 18
|
||||||
|
26 19
|
||||||
|
25 19
|
||||||
|
24 19
|
||||||
|
23 19
|
||||||
|
22 19
|
||||||
|
21 19
|
||||||
|
20 19
|
||||||
|
19 19
|
||||||
|
19 18
|
||||||
|
18 17
|
||||||
|
18 16
|
||||||
|
18 15
|
||||||
|
17 15
|
||||||
|
16 15
|
||||||
|
15 15
|
||||||
|
14 15
|
||||||
|
13 15
|
||||||
|
12 15
|
||||||
|
12 15
|
||||||
|
12 16
|
||||||
|
11 16
|
||||||
|
10 16
|
||||||
|
9 16
|
||||||
|
8 15
|
||||||
|
7 15
|
||||||
|
6 15
|
||||||
|
5 15
|
||||||
|
4 15
|
||||||
|
3 15
|
||||||
|
2 15
|
||||||
|
1 15
|
||||||
|
0 15
|
||||||
|
1 16
|
||||||
|
0 17
|
||||||
|
0 18
|
||||||
|
1 18
|
||||||
|
2 18
|
||||||
|
3 18
|
||||||
|
4 18
|
||||||
|
5 18
|
||||||
|
6 18
|
||||||
|
5 17
|
||||||
|
6 16
|
||||||
|
7 16
|
||||||
|
8 16
|
||||||
|
9 16
|
||||||
|
9 17
|
||||||
|
10 16
|
||||||
|
11 16
|
||||||
|
12 16
|
||||||
|
12 17
|
||||||
|
13 18
|
||||||
|
14 18
|
||||||
|
15 18
|
||||||
|
16 18
|
||||||
|
17 18
|
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|
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|
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|
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|
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|
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|
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|
0 45
|
||||||
BIN
ConsoleApp/Output/HexTest.png
Normal file
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ConsoleApp/Output/HexTest.png
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After Width: | Height: | Size: 34 KiB |
@@ -1,4 +1,5 @@
|
|||||||
using System.Collections.Generic;
|
using System.Collections.Generic;
|
||||||
|
using ConsoleApp.Maps;
|
||||||
using HexCore;
|
using HexCore;
|
||||||
|
|
||||||
namespace ConsoleApp.PathPlanners
|
namespace ConsoleApp.PathPlanners
|
||||||
@@ -6,5 +7,6 @@ namespace ConsoleApp.PathPlanners
|
|||||||
public interface IReactivePathPlanner
|
public interface IReactivePathPlanner
|
||||||
{
|
{
|
||||||
Queue<Coordinate2D> ReactiveHexPath { get; }
|
Queue<Coordinate2D> ReactiveHexPath { get; }
|
||||||
|
void GenerateReactiveHexPath(IHexMap hexMap, Queue<Coordinate2D> optimalPath, Coordinate2D vehicleCurrentHexCell);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -64,16 +64,17 @@ namespace ConsoleApp.PathPlanners
|
|||||||
var path = new List<Coordinate2D>();
|
var path = new List<Coordinate2D>();
|
||||||
while (!finished)
|
while (!finished)
|
||||||
{
|
{
|
||||||
|
//Heading East
|
||||||
if (currentHeading == GlobalDirection.East)
|
if (currentHeading == GlobalDirection.East)
|
||||||
{
|
{
|
||||||
path.AddRange(hexMap.Graph.GetShortestPath(
|
path.AddRange(hexMap.Graph.GetShortestPath(
|
||||||
currentPostion,
|
currentPostion,
|
||||||
new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType),
|
new Coordinate2D(hexMap.Width-1, currentPostion.Y, hexMap.OffsetType),
|
||||||
hexMap.DefaultMovement));
|
hexMap.DefaultMovement));
|
||||||
currentPostion = new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType);
|
currentPostion = new Coordinate2D(hexMap.Width-1, currentPostion.Y, hexMap.OffsetType);
|
||||||
}
|
}
|
||||||
|
//Heading West
|
||||||
else if(currentHeading == GlobalDirection.West)
|
else if (currentHeading == GlobalDirection.West)
|
||||||
{
|
{
|
||||||
path.AddRange(hexMap.Graph.GetShortestPath(
|
path.AddRange(hexMap.Graph.GetShortestPath(
|
||||||
currentPostion,
|
currentPostion,
|
||||||
@@ -83,36 +84,24 @@ namespace ConsoleApp.PathPlanners
|
|||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
if (currentPostion.Y + vehicle.DetectorRadius * 2 > hexMap.Height)
|
//Check for finish
|
||||||
|
if (currentPostion.Y + (vehicle.DetectorRadius * 2) >= hexMap.Height - 1)
|
||||||
{
|
{
|
||||||
finished = true;
|
finished = true;
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
|
|
||||||
Coordinate2D tmpPosition;
|
//Move Up edges of map
|
||||||
if(currentHeading == GlobalDirection.East)
|
var tmpPosition = currentPostion;
|
||||||
tmpPosition = new Coordinate3D(
|
var range = hexMap.Graph.GetRange(currentPostion, vehicle.DetectorRadius * 2);
|
||||||
currentPostion.To3D().X-1,
|
for (var i = currentPostion.Y; i < currentPostion.Y + vehicle.DetectorRadius * 2; i++)
|
||||||
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))
|
|
||||||
{
|
{
|
||||||
if(currentHeading == GlobalDirection.East)
|
var newCoord = new Coordinate2D(currentPostion.X, i, hexMap.OffsetType);
|
||||||
tmpPosition = new Coordinate3D(
|
if (range.Contains(newCoord))
|
||||||
tmpPosition.To3D().X-1,
|
tmpPosition = newCoord;
|
||||||
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);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
path.AddRange(hexMap.Graph.GetShortestPath(
|
path.AddRange(hexMap.Graph.GetShortestPath(
|
||||||
currentPostion,
|
currentPostion,
|
||||||
tmpPosition,
|
tmpPosition,
|
||||||
@@ -124,7 +113,9 @@ namespace ConsoleApp.PathPlanners
|
|||||||
currentHeading = GlobalDirection.East;
|
currentHeading = GlobalDirection.East;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
return new Queue<Coordinate2D>(path);
|
return new Queue<Coordinate2D>(path);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -1,20 +1,44 @@
|
|||||||
using System.Collections.Generic;
|
using System.Collections.Generic;
|
||||||
|
using ConsoleApp.Maps;
|
||||||
using HexCore;
|
using HexCore;
|
||||||
|
|
||||||
namespace ConsoleApp.PathPlanners
|
namespace ConsoleApp.PathPlanners
|
||||||
{
|
{
|
||||||
public class ReactivePathPlanner : IReactivePathPlanner
|
public class ReactivePathPlanner : IReactivePathPlanner
|
||||||
{
|
{
|
||||||
public Queue<Coordinate2D> ReactiveHexPath { get; }
|
private Queue<Coordinate2D> _reactiveHexPath;
|
||||||
|
public Queue<Coordinate2D> ReactiveHexPath => _reactiveHexPath;
|
||||||
|
|
||||||
|
|
||||||
public ReactivePathPlanner()
|
public ReactivePathPlanner()
|
||||||
{
|
{
|
||||||
ReactiveHexPath = new Queue<Coordinate2D>();
|
_reactiveHexPath = new Queue<Coordinate2D>();
|
||||||
}
|
}
|
||||||
|
public void GenerateReactiveHexPath(IHexMap hexMap, Queue<Coordinate2D> optimalPath,
|
||||||
public void GenerateReactiveHexPath(Graph graph, ref List<Coordinate3D> optimalPath, Coordinate2D minePosition)
|
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);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -1,4 +1,8 @@
|
|||||||
using System;
|
using System;
|
||||||
|
using System.Diagnostics;
|
||||||
|
using System.IO;
|
||||||
|
using System.Reflection;
|
||||||
|
using System.Threading;
|
||||||
using ConsoleApp.Maps;
|
using ConsoleApp.Maps;
|
||||||
|
|
||||||
namespace ConsoleApp
|
namespace ConsoleApp
|
||||||
@@ -11,11 +15,15 @@ namespace ConsoleApp
|
|||||||
static void Main(string[] args)
|
static void Main(string[] args)
|
||||||
{
|
{
|
||||||
_bootstrapper = BootStrapper.BootstrapSystem(new CoreModule());
|
_bootstrapper = BootStrapper.BootstrapSystem(new CoreModule());
|
||||||
|
var simResults = _bootstrapper.Resolve<ISimulationResults>();
|
||||||
_userConsole = new UserConsole();
|
_userConsole = new UserConsole();
|
||||||
Initialization();
|
Initialization();
|
||||||
|
simResults.WriteResults();
|
||||||
Console.WriteLine("Program Completed");
|
Console.WriteLine("Program Completed");
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
private static void Initialization()
|
private static void Initialization()
|
||||||
{
|
{
|
||||||
_userConsole.PrintStartMenu();
|
_userConsole.PrintStartMenu();
|
||||||
|
|||||||
@@ -10,7 +10,16 @@ namespace ConsoleApp.Sim
|
|||||||
Graph graph,
|
Graph graph,
|
||||||
Coordinate2D centerCoordinate,
|
Coordinate2D centerCoordinate,
|
||||||
int detectorRadius,
|
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(
|
public static List<Cell> GetCoveredCells(
|
||||||
ISquareMap squareMap,
|
ISquareMap squareMap,
|
||||||
|
|||||||
@@ -1,4 +1,5 @@
|
|||||||
using ConsoleApp.Maps;
|
using ConsoleApp.Maps;
|
||||||
|
using HexCore;
|
||||||
|
|
||||||
namespace ConsoleApp.Sim
|
namespace ConsoleApp.Sim
|
||||||
{
|
{
|
||||||
@@ -6,11 +7,9 @@ namespace ConsoleApp.Sim
|
|||||||
{
|
{
|
||||||
int Length { get; }
|
int Length { get; }
|
||||||
int Width { get; }
|
int Width { get; }
|
||||||
int DetectorOffset { get;}
|
int TurnRadius { get; }
|
||||||
int DetectorRadius { get;}
|
int DetectorRadius { get;}
|
||||||
HexCore.Coordinate2D CurrentHexCell { get; set; }
|
Coordinate2D CurrentHexCell { get; set; }
|
||||||
Heading HexHeading { get; set; }
|
|
||||||
Heading SquareHeading { get; set; }
|
|
||||||
ICell CurrentSquareCell { get; set; }
|
ICell CurrentSquareCell { get; set; }
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -1,3 +1,5 @@
|
|||||||
|
using System;
|
||||||
|
using System.Collections.Generic;
|
||||||
using ConsoleApp.Maps;
|
using ConsoleApp.Maps;
|
||||||
|
|
||||||
namespace ConsoleApp.Sim
|
namespace ConsoleApp.Sim
|
||||||
@@ -6,12 +8,9 @@ namespace ConsoleApp.Sim
|
|||||||
{
|
{
|
||||||
public int Length { get; }
|
public int Length { get; }
|
||||||
public int Width { get; }
|
public int Width { get; }
|
||||||
|
public int TurnRadius { get; }
|
||||||
public int DetectorOffset { get;}
|
|
||||||
public int DetectorRadius { get;}
|
public int DetectorRadius { get;}
|
||||||
public HexCore.Coordinate2D CurrentHexCell { get; set; }
|
public HexCore.Coordinate2D CurrentHexCell { get; set; }
|
||||||
public Heading HexHeading { get; set; }
|
|
||||||
public Heading SquareHeading { get; set; }
|
|
||||||
public ICell CurrentSquareCell { get; set; }
|
public ICell CurrentSquareCell { get; set; }
|
||||||
|
|
||||||
|
|
||||||
@@ -20,12 +19,17 @@ namespace ConsoleApp.Sim
|
|||||||
public Vehicle(IJsonDeserializor jsonDeserializor)
|
public Vehicle(IJsonDeserializor jsonDeserializor)
|
||||||
{
|
{
|
||||||
var config = jsonDeserializor.DeserializeObject<VehicleConfiguration>("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Sim/VehicleConfiguration.json");
|
var config = jsonDeserializor.DeserializeObject<VehicleConfiguration>("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Sim/VehicleConfiguration.json");
|
||||||
Length = config.Length;
|
var length = config.Length;
|
||||||
Width = config.Width;
|
length *= 100;
|
||||||
DetectorRadius = config.DetectorRadius;
|
Length = (int)Math.Ceiling((decimal)length/ 25);
|
||||||
DetectorOffset = config.DetectorOffset;
|
var width = config.Width;
|
||||||
CurrentHexCell = default;
|
width *= 100;
|
||||||
CurrentSquareCell = default;
|
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");
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -5,6 +5,5 @@ namespace ConsoleApp.Sim
|
|||||||
public int Length { get; set; }
|
public int Length { get; set; }
|
||||||
public int Width { get; set; }
|
public int Width { get; set; }
|
||||||
public int DetectorRadius { get; set; }
|
public int DetectorRadius { get; set; }
|
||||||
public int DetectorOffset { get; set; }
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -1,6 +1,5 @@
|
|||||||
{
|
{
|
||||||
"Length": 3,
|
"Length": 1,
|
||||||
"Width": 2,
|
"Width": 1,
|
||||||
"DetectorRadius": 3,
|
"DetectorRadius": 1
|
||||||
"DetectorOffset": 2
|
|
||||||
}
|
}
|
||||||
@@ -1,11 +1,16 @@
|
|||||||
using System;
|
using System;
|
||||||
using System.Collections.Generic;
|
using System.Collections.Generic;
|
||||||
|
using System.IO;
|
||||||
|
using System.Linq;
|
||||||
|
using System.Net;
|
||||||
using System.Threading;
|
using System.Threading;
|
||||||
using System.Threading.Tasks;
|
using System.Threading.Tasks;
|
||||||
using ConsoleApp.Maps;
|
using ConsoleApp.Maps;
|
||||||
using ConsoleApp.PathPlanners;
|
using ConsoleApp.PathPlanners;
|
||||||
using ConsoleApp.Sim;
|
using ConsoleApp.Sim;
|
||||||
using HexCore;
|
using HexCore;
|
||||||
|
using ImTools;
|
||||||
|
using Microsoft.VisualBasic;
|
||||||
|
|
||||||
namespace ConsoleApp
|
namespace ConsoleApp
|
||||||
{
|
{
|
||||||
@@ -14,25 +19,28 @@ namespace ConsoleApp
|
|||||||
private IMapFactory _mapFactory;
|
private IMapFactory _mapFactory;
|
||||||
private IVehicle _vehicle;
|
private IVehicle _vehicle;
|
||||||
|
|
||||||
private int _cellWidth;
|
|
||||||
private IPathPlanner _pathPlanner;
|
private IPathPlanner _pathPlanner;
|
||||||
private IMineMap _mineMap;
|
private IMineMap _mineMap;
|
||||||
private IReactivePathPlanner _reactivePathPlanner;
|
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;
|
_mapFactory = mapFactory;
|
||||||
_vehicle = vehicle;
|
_vehicle = vehicle;
|
||||||
_pathPlanner = pathPlanner;
|
_pathPlanner = pathPlanner;
|
||||||
_reactivePathPlanner = reactivePathPlanner;
|
_reactivePathPlanner = reactivePathPlanner;
|
||||||
|
_simulationResults = simulationResults;
|
||||||
}
|
}
|
||||||
|
|
||||||
public void Run()
|
public void Run()
|
||||||
{
|
{
|
||||||
_mineMap = _mapFactory.GetMineMap();
|
_mineMap = _mapFactory.GetMineMap();
|
||||||
|
_simulationResults.Mines = _mineMap.PlacedMines;
|
||||||
|
_simulationResults.TotalBombs = _mineMap.TotalBombs;
|
||||||
SquareSimulation();
|
SquareSimulation();
|
||||||
HexSimulation();
|
HexSimulation();
|
||||||
// while(!squareTask.IsCompleted && !hexTask.IsCompleted){Thread.Sleep(500);}
|
// while(!squareTask.IsCompleted && !hexTask.IsCompleted){Thread.Sleep(500);}
|
||||||
@@ -44,7 +52,90 @@ namespace ConsoleApp
|
|||||||
var hexMap = _mapFactory.GetHexMap();
|
var hexMap = _mapFactory.GetHexMap();
|
||||||
_vehicle.CurrentHexCell = new Coordinate2D(0, 0, OffsetTypes.OddRowsRight);
|
_vehicle.CurrentHexCell = new Coordinate2D(0, 0, OffsetTypes.OddRowsRight);
|
||||||
var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
|
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);
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
104
ConsoleApp/SimulationResults.cs
Normal file
104
ConsoleApp/SimulationResults.cs
Normal 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}");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -22,9 +22,9 @@ namespace ConsoleApp
|
|||||||
|
|
||||||
public static void PrintInvalidInput() => Console.WriteLine($"Invalid input try again \n");
|
public static void PrintInvalidInput() => Console.WriteLine($"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();
|
var x = GetUserInput();
|
||||||
|
|
||||||
if (!int.TryParse(x, out var width))
|
if (!int.TryParse(x, out var width))
|
||||||
|
|||||||
Reference in New Issue
Block a user