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Merge branch 'SquareMap' into main

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Brady Bodily
2020-12-15 18:19:48 -07:00
parent 927fd0f64d 4edcef4664
commit cf432a348b
39 changed files with 941 additions and 181 deletions
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<line>34</line>
<properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" initialLine="34" containingFunctionPresentation="method 'GenerateOptimalSquarePath'">
<startOffsets>
<option value="1527" />
</startOffsets>
<endOffsets>
<option value="1543" />
</endOffsets>
</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" />
</startOffsets>
<endOffsets>
<option value="3612" />
</endOffsets>
</properties>
<option name="timeStamp" value="46" />
</line-breakpoint>
</breakpoints>
</breakpoint-manager>
</component>
</project>

15
ConsoleApp/ConsoleApp.csproj
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@@ -5,8 +5,23 @@
<TargetFramework>netcoreapp3.1</TargetFramework>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
<DebugType>full</DebugType>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
<DebugType>full</DebugType>
</PropertyGroup>
<ItemGroup>
<PackageReference Include="DryIoc.dll" Version="4.5.2" />
<PackageReference Include="HexCore" Version="4.1.0" />
</ItemGroup>
<ItemGroup>
<None Update="Sim\VehicleConfiguration.json">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
</ItemGroup>
</Project>

20
ConsoleApp/CoreModule.cs
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@@ -1,17 +1,23 @@
using System.Threading;
using ConsoleApp;
using ConsoleApp.Maps;
using ConsoleApp.PathPlanners;
using ConsoleApp.Sim;
using DryIoc;
using Module = ConsoleApp.Module;
namespace Final
namespace ConsoleApp
{
public class CoreModule : Module
public class CoreModule : IModule
{
public virtual void Register(IContainer container, ExecutionContext executionContext)
public virtual void Register(IContainer container)
{
//container.Register<IUserConsole, UserConsole>(Reuse.Singleton);
container.Register<IMapFactory, MapFactory>(Reuse.Singleton);
container.Register<ISimRunner, SimRunner>(Reuse.Singleton);
container.Register<IVehicle, Vehicle>(Reuse.Singleton);
container.Register<IJsonDeserializor, JsonDeserializor>(Reuse.Singleton);
container.Register<IPathPlanner, PathPlanner>(Reuse.Singleton);
container.Register<IReactivePathPlanner, ReactivePathPlanner>(Reuse.Singleton);
}
public virtual void Resolve(IContainer container)
{

7
ConsoleApp/IJsonDeserializor.cs Normal file
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@@ -0,0 +1,7 @@
namespace ConsoleApp
{
public interface IJsonDeserializor
{
T DeserializeObject<T>(string filePath);
}
}

15
ConsoleApp/JsonDeserializor.cs Normal file
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@@ -0,0 +1,15 @@
using System;
using System.IO;
using System.Text.Json;
namespace ConsoleApp
{
public class JsonDeserializor : IJsonDeserializor
{
public T DeserializeObject<T>(string filePath)
{
var jString = File.ReadAllText(filePath);
return JsonSerializer.Deserialize<T>(jString);
}
}
}

25
ConsoleApp/Maps/Cell.cs Normal file
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@@ -0,0 +1,25 @@
using System;
namespace ConsoleApp.Maps
{
public enum Coverage
{
Uncoverd,
Covered
}
public struct Cell : ICell
{
public int X { get; }
public int Y { get; }
public Coverage Coverage { get; set; }
public Cell(int x, int y)
{
X = x;
Y = y;
Coverage = Coverage.Uncoverd;
}
}
}

14
ConsoleApp/Maps/GlobalDirection.cs Normal file
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@@ -0,0 +1,14 @@
namespace ConsoleApp.Maps
{
public enum GlobalDirection
{
North,
South,
East,
West,
NorthEast,
SouthEast,
NorthWest,
SouthWest
}
}

50
ConsoleApp/Maps/Heading.cs Normal file
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@@ -0,0 +1,50 @@
namespace ConsoleApp.Maps
{
public class Oreientation
{
public static (int, int) Forward = (0, 1);
public static (int, int) Backward = (0, -1);
public static (int, int) Left = (-1, 0);
public static (int, int) Right = (1, 0);
public static (int, int) LeftBack = (-1, -1);
public static (int, int) LeftForward = (-1, 1);
public static (int, int) RightBack = (1, -1);
public static (int, int) RightForward = (1, 1);
}
public class Heading
{
private (int, int) _currentHeading;
public (int, int) CurrentHeading { get; }
public void SetHeading((int,int)frontAxel, (int,int)backAxel)
{
var x = frontAxel.Item1 - backAxel.Item1;
var y = frontAxel.Item2 - backAxel.Item2;
//forward
if (x == 0 && y >= 1) _currentHeading = Oreientation.Forward;
//backward
if (x == 0 && y <= -1) _currentHeading = Oreientation.Backward;
//right
if (x >= 1 && y == 0) _currentHeading = Oreientation.Right;
//left
if (x <= -1 && y == 0) _currentHeading = Oreientation.Left;
//left, back
if (x <= -1 && y <= -1) _currentHeading = Oreientation.LeftBack;
//right, forward
if (x >= 1 && y >= 1) _currentHeading = Oreientation.RightForward;
//left, forward
if (x <= -1 && y >= 1) _currentHeading = Oreientation.LeftForward;
//right, back
if (x >= 1 && y <= -1) _currentHeading = Oreientation.RightBack;
}
public Heading()
{
_currentHeading = Oreientation.Forward;
CurrentHeading = _currentHeading;
}
}
}

7
ConsoleApp/Maps/HexCell.cs
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@@ -1,7 +0,0 @@
namespace ConsoleApp
{
public class HexCell
{
}
}

57
ConsoleApp/Maps/HexMap.cs
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@@ -1,7 +1,62 @@
using System;
using System.Collections.Generic;
using System.Linq;
using HexCore;
using ImTools;
namespace ConsoleApp.Maps
{
public class HexMap
public class HexMap : IHexMap
{
public int Width { get; }
public int Height { get; }
public Graph Graph { get; }
public OffsetTypes OffsetType { get; }
public MovementType DefaultMovement { get; }
/// <summary>
/// Generate Hex map with cells of 25cm X 25cm
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
public HexMap(int x, int y)
{
//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;
var unclearedTerrain = new TerrainType(1, "uncleared");
var clearedTerrain = new TerrainType(2, "cleared");
DefaultMovement = new MovementType(1, "default");
var movementTypes = new MovementTypes(
new ITerrainType[] { unclearedTerrain, clearedTerrain },
new Dictionary<IMovementType, Dictionary<ITerrainType, int>>
{
[DefaultMovement] = new Dictionary<ITerrainType, int>
{
[unclearedTerrain] = 1,
[clearedTerrain] = 2
}
}
);
Graph = GraphFactory.CreateRectangularGraph(Width, Height, movementTypes, unclearedTerrain);
}
}
}

9
ConsoleApp/Maps/ICell.cs Normal file
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@@ -0,0 +1,9 @@
namespace ConsoleApp.Maps
{
public interface ICell
{
int X { get; }
int Y { get; }
Coverage Coverage { get; set; }
}
}

7
ConsoleApp/Maps/IHexCell.cs
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@@ -1,7 +0,0 @@
namespace ConsoleApp.Maps
{
public interface IHexCell
{
}
}

8
ConsoleApp/Maps/IHexMap.cs
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@@ -1,7 +1,13 @@
using HexCore;
namespace ConsoleApp.Maps
{
public interface IHexMap
{
Graph Graph { get; }
OffsetTypes OffsetType { get; }
int Width { get; }
int Height { get; }
MovementType DefaultMovement { get; }
}
}

8
ConsoleApp/Maps/IMapFactory.cs
View File

@@ -1,3 +1,4 @@
using System.Collections.Generic;
using System.Dynamic;
namespace ConsoleApp.Maps
@@ -6,7 +7,10 @@ namespace ConsoleApp.Maps
{
int Height { get; }
int Width { get; }
SquareMap SquareMap { get; }
void GenerateMaps(int x, int y);
int CellWidth { get; }
void GenerateMaps(int x, int y, double minePercentage);
IHexMap GetHexMap();
ISquareMap GetSquareMap();
IMineMap GetMineMap();
}
}

7
ConsoleApp/Maps/IMineMap.cs Normal file
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@@ -0,0 +1,7 @@
namespace ConsoleApp.Maps
{
public interface IMineMap
{
bool[,] Map { get; }
}
}

7
ConsoleApp/Maps/ISquareCell.cs
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@@ -1,7 +0,0 @@
namespace ConsoleApp.Maps
{
public interface ISquareCell
{
}
}

12
ConsoleApp/Maps/ISquareMap.cs
View File

@@ -1,7 +1,17 @@
using System.Collections.Generic;
using HexCore;
namespace ConsoleApp.Maps
{
public interface ISquareMap
{
Cell[,] Map { get; }
Cell StartingCell { get; }
Cell LastCell { get; }
List<GlobalDirection> PossibleMoves(ICell currentCell);
Cell GetCell(int x, int y);
int Height { get; }
int Width { get; }
List<Cell> GetRange(Cell centerCell, int radius);
}
}

20
ConsoleApp/Maps/MapExtensions.cs Normal file
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@@ -0,0 +1,20 @@
namespace ConsoleApp.Maps
{
public static class MapExtensions
{
public static void Fill2DArray<T>(this T[,] arr, T value)
{
int numRows = arr.GetLength(0);
int numCols = arr.GetLength(1);
for (int i = 0; i < numRows; ++i)
{
for (int j = 0; j < numCols; ++j)
{
arr[i, j] = value;
}
}
}
}
}

28
ConsoleApp/Maps/MapFactory.cs
View File

@@ -1,3 +1,7 @@
using System;
using System.Collections.Generic;
using ConsoleApp.Sim;
namespace ConsoleApp.Maps
{
public class MapFactory : IMapFactory
@@ -6,23 +10,37 @@ namespace ConsoleApp.Maps
private int _defaultWidth;
public int Height { get; protected set; }
public int Width { get; protected set; }
public SquareMap SquareMap { get; }
public HexMap HexMap { get; }
public int CellWidth { get; }
public void GenerateMaps(int x, int y)
private ISquareMap _squareMap;
private IHexMap _hexMap;
private IMineMap _mineMap;
public void GenerateMaps(int x, int y, double minePercentage)
{
Width = x;
Height = y;
throw new System.NotImplementedException();
_squareMap = new SquareMap(x, y);
_hexMap = new HexMap(x, y);
_mineMap = new MineMap(x, y, minePercentage);
}
public IHexMap GetHexMap() => _hexMap ?? throw new NullReferenceException("hex map not initialized");
public ISquareMap GetSquareMap() => _squareMap ?? throw new NullReferenceException("square map not initialized");
public IMineMap GetMineMap() => _mineMap ?? throw new NullReferenceException("mine map not initialized");
public MapFactory()
public MapFactory(IVehicle vehicle)
{
CellWidth = vehicle.Width/2;
_defaultHeight = 0;
_defaultWidth = 0;
Height = _defaultHeight;
Width = _defaultWidth;
_hexMap = default;
_squareMap = default;
}
}

33
ConsoleApp/Maps/MineMap.cs Normal file
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@@ -0,0 +1,33 @@
using System;
using System.Collections.Generic;
namespace ConsoleApp.Maps
{
public class MineMap : IMineMap
{
private int _mineCount;
private int _x;
private int _y;
public bool[,] Map { get; }
public MineMap(int x, int y, double minePercentage)
{
_x = x;
_y = y;
_mineCount = x*y*((int)minePercentage/100);
Map = new bool[x, y];
Map.Fill2DArray(false);
PlaceMines();
}
private void PlaceMines()
{
var rand = new Random();
for (int i = 0; i < _mineCount; i++)
{
var x = rand.Next(_x);
var y = rand.Next(_y);
Map[x, y] = true;
}
}
}
}

7
ConsoleApp/Maps/SquareCell.cs
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@@ -1,7 +0,0 @@
namespace ConsoleApp.Maps
{
public class SquareCell
{
}
}

106
ConsoleApp/Maps/SquareMap.cs
View File

@@ -1,7 +1,111 @@
using System;
using System.Collections.Generic;
namespace ConsoleApp.Maps
{
public class SquareMap
public class SquareMap : ISquareMap
{
public Cell[,] Map { get;}
public Cell StartingCell { get; }
public Cell LastCell { get; }
public int Height { get; }
public int Width { get; }
/// <summary>
/// Returns a map with square cells
/// </summary>
/// <param name="x"></param>
/// <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;
//Initialize Map
Map = new Cell[xCellCount, yCellCount];
//set last cell;
StartingCell = Map[0, 0];
for (int i = 0; i < xCellCount; i++)
{
for (int j = 0; j < yCellCount; j++)
{
Map[i,j] = new Cell(i, j);
}
}
}
public List<GlobalDirection> PossibleMoves(ICell currentCell)
{
var possibles = new List<GlobalDirection>();
if (currentCell.X != 0)
possibles.Add(GlobalDirection.West);
if (currentCell.X != Width)
possibles.Add(GlobalDirection.East);
if (currentCell.Y != Height)
possibles.Add(GlobalDirection.North);
if (currentCell.Y != 0)
possibles.Add(GlobalDirection.South);
return possibles;
}
public List<Cell> GetRange(Cell centerCell, int radius)
{
var inRange = new List<Cell>();
var cx = centerCell.X;
var cy = centerCell.Y;
var topLeft = GetTopCellInBoundingBox(cx, cy, radius);
var bottomRight = GetBottomCellInBoundingBox(cx, cy, radius);
for (var i = topLeft.X; i < bottomRight.X; i++)
{
for (var j = bottomRight.Y; j < topLeft.Y; j++)
{
if (Math.Pow(i - cx, 2) + Math.Pow(j - cy, 2) < Math.Pow(radius,2))
{
inRange.Add(Map[i,j]);
}
}
}
return inRange;
}
private Cell GetTopCellInBoundingBox(int cx, int cy, int radius)
{
int topX, topY;
if (cy + radius > Height) topY = Height;
else
topY = cy + radius;
if (cx - radius < 0) topX = 0;
else
topX = cx - radius;
return Map[topX, topY];
}
private Cell GetBottomCellInBoundingBox(int cx, int cy, int radius)
{
int bottomX, bottomY;
if (cy - radius > 0) bottomY = 0;
else
bottomY = cy - radius;
if (cx + radius < Width) bottomX = Width;
else
bottomX = cx + radius;
return Map[bottomX, bottomY];
}
public Cell GetCell(int x, int y) => Map[x, y];
}
}

21
ConsoleApp/Module.cs
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@@ -1,21 +0,0 @@
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using System.Collections.Generic;
using DryIoc;
namespace ConsoleApp
{
public abstract class Module : IModule
{
public virtual void Register(IContainer container)
{
}
public virtual void Resolve(IContainer container)
{
}
}
}

14
ConsoleApp/PathPlanners/IPathPlanner.cs Normal file
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@@ -0,0 +1,14 @@
using System.Collections.Generic;
using ConsoleApp.Maps;
using ConsoleApp.Sim;
using HexCore;
namespace ConsoleApp.PathPlanners
{
public interface IPathPlanner
{
Queue<ICell> GenerateOptimalSquarePath(ISquareMap map, IVehicle vehicle);
Queue<Coordinate2D> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle);
}
}

10
ConsoleApp/PathPlanners/IReactivePathPlanner.cs Normal file
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@@ -0,0 +1,10 @@
using System.Collections.Generic;
using HexCore;
namespace ConsoleApp.PathPlanners
{
public interface IReactivePathPlanner
{
Queue<Coordinate2D> ReactiveHexPath { get; }
}
}

131
ConsoleApp/PathPlanners/PathPlanner.cs Normal file
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@@ -0,0 +1,131 @@
using System;
using System.Collections.Generic;
using System.Linq;
using ConsoleApp.Maps;
using ConsoleApp.Sim;
using HexCore;
namespace ConsoleApp.PathPlanners
{
public class PathPlanner : IPathPlanner
{
public Queue<ICell> GenerateOptimalSquarePath(ISquareMap map, IVehicle vehicle)
{
var path = new Queue<ICell>();
var myCell = map.StartingCell;
var finished = false;
var width_cm = (double)(vehicle.DetectorRadius) * 100 * 2;
var swathOffset = (int)Math.Floor((decimal) (width_cm) / 25) + 1;
var currentHeading = GlobalDirection.North;
while (!finished)
{
var availableMoves = map.PossibleMoves(myCell);
if (availableMoves.Contains(GlobalDirection.North) && currentHeading == GlobalDirection.North &&
myCell.Y != map.Height)
{
path.Enqueue(map.GetCell(myCell.X, myCell.Y + 1));
myCell = map.GetCell(myCell.X, myCell.Y + 1);
}
else if (availableMoves.Contains(GlobalDirection.South) && currentHeading == GlobalDirection.South && myCell.Y != 0)
{
path.Enqueue(map.GetCell(myCell.X, myCell.Y - 1));
myCell = map.GetCell(myCell.X, myCell.Y - 1);
}
else
{
if (myCell.X + swathOffset >= map.Width)
{
finished = true;
}
else
{
for (int i = myCell.X; i < myCell.X + swathOffset; i++)
{
path.Enqueue(map.GetCell(i, myCell.Y));
}
myCell = map.GetCell(myCell.X+swathOffset, myCell.Y);
if (currentHeading == GlobalDirection.North)
currentHeading = GlobalDirection.South;
else if (currentHeading == GlobalDirection.South)
currentHeading = GlobalDirection.North;
}
}
}
return path;
}
public Queue<Coordinate2D> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle)
{
var currentPostion = vehicle.CurrentHexCell;
var currentHeading = GlobalDirection.East;
var finished = false;
var path = new List<Coordinate2D>();
while (!finished)
{
if (currentHeading == GlobalDirection.East)
{
path.AddRange(hexMap.Graph.GetShortestPath(
currentPostion,
new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType),
hexMap.DefaultMovement));
currentPostion = new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType);
}
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)
{
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))
{
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);
}
path.AddRange(hexMap.Graph.GetShortestPath(
currentPostion,
tmpPosition,
hexMap.DefaultMovement));
currentPostion = tmpPosition;
if (currentHeading == GlobalDirection.East)
currentHeading = GlobalDirection.West;
else
currentHeading = GlobalDirection.East;
}
return new Queue<Coordinate2D>(path);
}
}
}

20
ConsoleApp/PathPlanners/ReactivePathPlanner.cs Normal file
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@@ -0,0 +1,20 @@
using System.Collections.Generic;
using HexCore;
namespace ConsoleApp.PathPlanners
{
public class ReactivePathPlanner : IReactivePathPlanner
{
public Queue<Coordinate2D> ReactiveHexPath { get; }
public ReactivePathPlanner()
{
ReactiveHexPath = new Queue<Coordinate2D>();
}
public void GenerateReactiveHexPath(Graph graph, ref List<Coordinate3D> optimalPath, Coordinate2D minePosition)
{
}
}
}

22
ConsoleApp/Program.cs
View File

@@ -10,33 +10,35 @@ namespace ConsoleApp
static void Main(string[] args)
{
_bootstrapper = new BootStrapper();
_bootstrapper = BootStrapper.BootstrapSystem(new CoreModule());
_userConsole = new UserConsole();
StartSimulation();
Initialization();
Console.WriteLine("Program Completed");
}
private static void StartSimulation()
private static void Initialization()
{
_userConsole.PrintStartMenu();
var input = _userConsole.GetUserInput();
var input = UserConsole.GetUserInput();
if (input == "1")
{
var (x,y) = _userConsole.GetMapDimensions();
RunSimulation(x, y);
var minePercentage = UserConsole.GetMinePercentage();
RunSimulation(x, y, minePercentage);
}
else
{
_userConsole.PrintInvalidInput();
StartSimulation();
UserConsole.PrintInvalidInput();
Initialization();
}
}
private static void RunSimulation(int x,int y)
private static void RunSimulation(int x, int y, double minePercentage)
{
var simRunner = _bootstrapper.Resolve<ISimRunner>();
var mapFactory = _bootstrapper.Resolve<IMapFactory>();
var simRunner = _bootstrapper.Resolve<ISimRunner>();
mapFactory.GenerateMaps(x, y);
mapFactory.GenerateMaps(x, y, minePercentage);
simRunner.Run();
}

20
ConsoleApp/Sim/DetectionHead.cs Normal file
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@@ -0,0 +1,20 @@
using System.Collections.Generic;
using ConsoleApp.Maps;
using HexCore;
namespace ConsoleApp.Sim
{
public static class DetectionHead
{
public static List<Coordinate2D> GetCoveredCells(
Graph graph,
Coordinate2D centerCoordinate,
int detectorRadius,
GlobalDirection direction) => graph.GetRange(centerCoordinate, detectorRadius);
public static List<Cell> GetCoveredCells(
ISquareMap squareMap,
Cell centerCell,
int detectorRadius) => squareMap.GetRange(centerCell, detectorRadius);
}
}

16
ConsoleApp/Sim/IVehicle.cs Normal file
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@@ -0,0 +1,16 @@
using ConsoleApp.Maps;
namespace ConsoleApp.Sim
{
public interface IVehicle
{
int Length { get; }
int Width { get; }
int DetectorOffset { get;}
int DetectorRadius { get;}
HexCore.Coordinate2D CurrentHexCell { get; set; }
Heading HexHeading { get; set; }
Heading SquareHeading { get; set; }
ICell CurrentSquareCell { get; set; }
}
}

31
ConsoleApp/Sim/Vehicle.cs Normal file
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@@ -0,0 +1,31 @@
using ConsoleApp.Maps;
namespace ConsoleApp.Sim
{
public class Vehicle : IVehicle
{
public int Length { get; }
public int Width { get; }
public int DetectorOffset { 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; }
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;
}
}
}

10
ConsoleApp/Sim/VehicleConfiguration.cs Normal file
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@@ -0,0 +1,10 @@
namespace ConsoleApp.Sim
{
public class VehicleConfiguration
{
public int Length { get; set; }
public int Width { get; set; }
public int DetectorRadius { get; set; }
public int DetectorOffset { get; set; }
}
}

6
ConsoleApp/Sim/VehicleConfiguration.json Normal file
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@@ -0,0 +1,6 @@
{
"Length": 3,
"Width": 2,
"DetectorRadius": 3,
"DetectorOffset": 2
}

44
ConsoleApp/SimRunner.cs
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@@ -1,19 +1,59 @@
using System;
using System.Collections.Generic;
using System.Threading;
using System.Threading.Tasks;
using ConsoleApp.Maps;
using ConsoleApp.PathPlanners;
using ConsoleApp.Sim;
using HexCore;
namespace ConsoleApp
{
public class SimRunner : ISimRunner
{
private IMapFactory _mapFactory;
private IVehicle _vehicle;
public SimRunner(IMapFactory mapFactory)
private int _cellWidth;
private IPathPlanner _pathPlanner;
private IMineMap _mineMap;
private IReactivePathPlanner _reactivePathPlanner;
public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner, IReactivePathPlanner reactivePathPlanner)
{
_cellWidth = mapFactory.CellWidth;
_mapFactory = mapFactory;
_vehicle = vehicle;
_pathPlanner = pathPlanner;
_reactivePathPlanner = reactivePathPlanner;
}
public void Run()
{
throw new System.NotImplementedException();
_mineMap = _mapFactory.GetMineMap();
SquareSimulation();
HexSimulation();
// while(!squareTask.IsCompleted && !hexTask.IsCompleted){Thread.Sleep(500);}
}
private void HexSimulation()
{
var hexMap = _mapFactory.GetHexMap();
_vehicle.CurrentHexCell = new Coordinate2D(0, 0, OffsetTypes.OddRowsRight);
var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
var reactivePath = _reactivePathPlanner.ReactiveHexPath;
}
private void SquareSimulation()
{
var squareMap = _mapFactory.GetSquareMap();
_vehicle.CurrentSquareCell = squareMap.StartingCell;
var optimalPath = _pathPlanner.GenerateOptimalSquarePath(squareMap, _vehicle);
}
}
}

39
ConsoleApp/UserConsole.cs
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@@ -1,4 +1,5 @@
using System;
using System.Collections.Generic;
using System.Linq;
using ConsoleApp.Maps;
@@ -6,8 +7,6 @@ namespace ConsoleApp
{
public class UserConsole : IUserConsole
{
private IMapFactory _mapFactory;
public UserConsole()
{
}
@@ -19,28 +18,40 @@ namespace ConsoleApp
$"\t 2: Load custom map. \n");
}
public string GetUserInput() => Console.ReadLine();
public static string GetUserInput() => Console.ReadLine();
public void PrintInvalidInput()
{
Console.WriteLine($"Invalid input try again \n");
}
public static void PrintInvalidInput() => Console.WriteLine($"Invalid input try again \n");
public (int width, int height) GetMapDimensions()
{
Console.WriteLine($"Enter Dimensions of map/area to clear as (x, y)");
var input = GetUserInput();
var numbers = input.Split();
if (numbers.Length != 4)
Console.WriteLine($"Enter map height: ");
var x = GetUserInput();
if (!int.TryParse(x, out var width))
{
PrintInvalidInput();
GetMapDimensions();
}
var parsedNumbers = numbers.Where(x => !(x.Equals("(") || x.Equals(")"))).ToList();
int.TryParse(parsedNumbers[0], out var width);
int.TryParse(parsedNumbers[1], out var height);
Console.WriteLine($"Enter map height: ");
var y = GetUserInput();
if (int.TryParse(y, out var height)) return (width, height);
PrintInvalidInput();
GetMapDimensions();
return (width, height);
}
public static double GetMinePercentage()
{
Console.WriteLine($"Enter desired percentage of mines: ");
var x = GetUserInput();
if (double.TryParse(x, out var percent)) return percent;
PrintInvalidInput();
GetMinePercentage();
return percent;
}
}
}

4
RobotIntelFinal.sln.DotSettings.user Normal file
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<s:String x:Key="/Default/Environment/Hierarchy/Build/BuildTool/DotNetCliExePath/@EntryValue">/Users/brady.bodily/.dotnet/dotnet</s:String>
<s:String x:Key="/Default/Environment/Hierarchy/Build/BuildTool/CustomBuildToolPath/@EntryValue">/Users/brady.bodily/.dotnet/sdk/3.1.402/MSBuild.dll</s:String></wpf:ResourceDictionary>