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Hex is done and working

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This commit is contained in:
Brady Bodily
2020-12-16 04:50:21 -07:00
parent f8ce6d0c83
commit e8ffbd3151
19 changed files with 1123 additions and 282 deletions
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2
ConsoleApp/ConsoleApp.csproj
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@@ -22,7 +22,7 @@
<None Update="Sim\VehicleConfiguration.json">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
<None Update="plot.py">
<None Update="HexPlot.py">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
</ItemGroup>

1
ConsoleApp/CoreModule.cs
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@@ -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);
}

8
ConsoleApp/plot.py → ConsoleApp/HexPlot.py
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@@ -10,7 +10,7 @@ if __name__ == "__main__":
ym = []
xf = []
yf = []
with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SavedList.txt") as c:
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))
@@ -22,7 +22,7 @@ if __name__ == "__main__":
xm.append(int(x))
ym.append(int(y))
with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/DetectedMines.txt") as f:
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))
@@ -32,8 +32,8 @@ if __name__ == "__main__":
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('test 9')
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/test.png')
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
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@@ -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; }
}
}

3
ConsoleApp/Maps/IMineMap.cs
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@@ -1,3 +1,5 @@
using System.Collections.Generic;
namespace ConsoleApp.Maps
{
public interface IMineMap
@@ -6,5 +8,6 @@ namespace ConsoleApp.Maps
int TotalBombs { get; }
bool GetCell(int x, int y);
List<Cell> PlacedMines { get; }
}
}

12
ConsoleApp/Maps/MineMap.cs
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@@ -12,23 +12,19 @@ namespace ConsoleApp.Maps
private int _y;
public bool[,] Map { get; }
public int TotalBombs { get; }
private List<Cell> _placedMines;
public List<Cell> PlacedMines { get; }
public MineMap(int x, int y, double minePercentage)
{
_x = x;
_y = y;
_placedMines = new List<Cell>();
PlacedMines = new List<Cell>();
_mineCount = (int)(x*y*(minePercentage/100));
TotalBombs = _mineCount;
Map = new bool[x, y];
Map.Fill2DArray(false);
PlaceMines();
using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/Mines.txt"))
{
foreach (var s in _placedMines)
tw.WriteLine($"{s.X} {s.Y}");
}
}
public bool GetCell(int x, int y) => Map[x,y];
@@ -47,7 +43,7 @@ namespace ConsoleApp.Maps
else
{
Map[x, y] = true;
_placedMines.Add(new Cell(x,y));
PlacedMines.Add(new Cell(x,y));
}
}
}

7
ConsoleApp/Output/Data.txt Normal file
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@@ -0,0 +1,7 @@
General:
Total Mines: 23
Hex:
Total Moves: 927
Bombs Found: 23
Cleared Cell Count: 2295
Uncleared Cell Count: 9

7
ConsoleApp/Output/DetectedMines.txt
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@@ -1,7 +0,0 @@
8 5
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5 11
9 10
13 9
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10 13

0
ConsoleApp/Output/HexDetectedMines.txt Normal file
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927
ConsoleApp/Output/HexPath.txt Normal file
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@@ -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
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ConsoleApp/Output/HexTest.png Normal file
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8
ConsoleApp/Output/Mines.txt
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@@ -1,8 +0,0 @@
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ConsoleApp/Output/SavedList.txt
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@@ -1,150 +0,0 @@
0 0
1 0
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ConsoleApp/Output/test.png
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26
ConsoleApp/Program.cs
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@@ -15,34 +15,14 @@ namespace ConsoleApp
static void Main(string[] args)
{
_bootstrapper = BootStrapper.BootstrapSystem(new CoreModule());
var simResults = _bootstrapper.Resolve<ISimulationResults>();
_userConsole = new UserConsole();
Initialization();
GenerateImages();
simResults.WriteResults();
Console.WriteLine("Program Completed");
}
private static void GenerateImages()
{
// var generateMap= "python3 ConsoleApp/plot.py";
// System.Diagnostics.Process.Start("CMD.exe",generateMap);
//
var file = Path.Combine("./",Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), @"plot.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 static void Initialization()
{

81
ConsoleApp/SimRunner.cs
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@@ -24,19 +24,23 @@ namespace ConsoleApp
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)
{
_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);}
@@ -48,13 +52,12 @@ namespace ConsoleApp
var hexMap = _mapFactory.GetHexMap();
_vehicle.CurrentHexCell = new Coordinate2D(0, 0, OffsetTypes.OddRowsRight);
var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
var minimumMoves = optimalPath.Count;
var finished = false;
var totalMoves = 0;
while (!finished)
{
totalMoves += 1;
testingPath.Add(_vehicle.CurrentHexCell);
_simulationResults.HexPath.Add(_vehicle.CurrentHexCell);
var detectionCells = DetectionHead.GetCoveredCells(hexMap.Graph, _vehicle.CurrentHexCell, _vehicle.DetectorRadius, _vehicle.TurnRadius);
//Check Cells for mine
@@ -80,63 +83,38 @@ namespace ConsoleApp
break;
}
var replan = false;
//if the next optimal cell is blocked then we need to replan around it.
while (hexMap.Graph.IsCellBlocked(nextOptimal))
if (hexMap.Graph.IsCellBlocked(nextOptimal))
{
replan = true;
if (optimalPath.TryDequeue(out nextOptimal)) continue;
finished = true;
break;
_reactivePathPlanner.GenerateReactiveHexPath(hexMap, optimalPath, _vehicle.CurrentHexCell);
}
if(replan)
{
var tmpPath =
hexMap.Graph.GetShortestPath(_vehicle.CurrentHexCell, nextOptimal, hexMap.DefaultMovement);
if (Math.Abs(_vehicle.CurrentHexCell.X - nextOptimal.X) > 1 || Math.Abs(_vehicle.CurrentHexCell.Y - nextOptimal.Y) > 1)
optimalPath.Dequeue();
tmpPath.AddRange(optimalPath);
optimalPath.Clear();
foreach (var cell in tmpPath)
{
optimalPath.Enqueue(cell);
}
optimalPath.TryDequeue(out nextOptimal);
}
var last = testingPath[testingPath.Count-1];
if (Math.Abs(last.X - nextOptimal.X) > 1 || Math.Abs(last.Y - nextOptimal.Y) > 1)
Console.WriteLine("To big of a gap");
_vehicle.CurrentHexCell = nextOptimal;
else
_vehicle.CurrentHexCell = nextOptimal;
}
}
//Debugging information
using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SavedList.txt"))
{
foreach (Coordinate2D s in testingPath)
tw.WriteLine($"{s.X} {s.Y}");
}
using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/DetectedMines.txt"))
{
foreach (Coordinate2D s in hexBombsFound)
tw.WriteLine($"{s.X} {s.Y}");
}
var covered = CoveredCells();
Console.WriteLine($"Total cells traversed: {totalMoves} \n" +
$"Minimum required: {minimumMoves}");
Console.WriteLine($"Total bombs found: {hexBombsFound.Count}/{_mineMap.TotalBombs}");
var (cleared, uncleared) = CoveredCells();
_simulationResults.HexClearedCells = cleared;
_simulationResults.HexUnClearedCells = uncleared;
_simulationResults.HexTotalMoves = totalMoves;
_simulationResults.HexBombsFound = hexBombsFound.Count;
}
private int CoveredCells()
private (int, int) CoveredCells()
{
var cleared = 0;
var uncleared = 0;
var hexMap = _mapFactory.GetHexMap();
//for()
return 0;
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);
}
@@ -158,11 +136,6 @@ namespace ConsoleApp
var cellsToBlock = hexMap.Graph.GetRange(cell, _vehicle.Width / 2);
hexMap.Graph.BlockCells(cellsToBlock);
// //debugging
// foreach (var celllll in cellsToBlock)
// {
// Console.WriteLine($"({celllll.X}, {celllll.Y}) Blocked: {hexMap.Graph.GetCellState(celllll).IsBlocked}");
// }
}

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}");
}
}
}
}