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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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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}");
// }
}