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Brady Bodily
2020-12-16 04:02:37 -07:00
parent cf432a348b
commit f8ce6d0c83
27 changed files with 587 additions and 163 deletions
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7
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@@ -34,12 +34,19 @@
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131
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@@ -18,29 +18,29 @@
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<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 +228,7 @@
<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="69552000" />
</task> </task>
<servers /> <servers />
</component> </component>
@@ -240,33 +268,18 @@
</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&lt;HexCore.Coordinate2D&gt;(optimalPath).Items[0]" />
<watch expression="Math.Abs(nextOptimal.X - _vehicle.CurrentHexCell.X) &gt; 1 || Math.Abs(nextOptimal.Y - _vehicle.CurrentHexCell.Y) &gt; 1" language="C#" />
</configuration>
</watches-manager>
</component> </component>
</project> </project>

7
ConsoleApp/ConsoleApp.csproj
View File

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

26
ConsoleApp/Maps/HexMap.cs
View File

@@ -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);
} }

2
ConsoleApp/Maps/IHexMap.cs
View File

@@ -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; }
} }
} }

1
ConsoleApp/Maps/IMapFactory.cs
View File

@@ -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();

3
ConsoleApp/Maps/IMineMap.cs
View File

@@ -3,5 +3,8 @@ namespace ConsoleApp.Maps
public interface IMineMap public interface IMineMap
{ {
bool[,] Map { get; } bool[,] Map { get; }
int TotalBombs { get; }
bool GetCell(int x, int y);
} }
} }

1
ConsoleApp/Maps/MapExtensions.cs
View File

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

18
ConsoleApp/Maps/MapFactory.cs
View File

@@ -10,7 +10,6 @@ namespace ConsoleApp.Maps
private int _defaultWidth; 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;

32
ConsoleApp/Maps/MineMap.cs
View File

@@ -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 +11,44 @@ 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; }
private List<Cell> _placedMines;
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();
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];
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));
}
} }
} }
} }

17
ConsoleApp/Maps/SquareMap.cs
View File

@@ -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/DetectedMines.txt Normal file
View File

@@ -0,0 +1,7 @@
8 5
8 6
5 11
9 10
13 9
13 14
10 13

8
ConsoleApp/Output/Mines.txt Normal file
View File

@@ -0,0 +1,8 @@
5 11
8 6
13 14
9 10
13 9
10 13
10 6
8 5

150
ConsoleApp/Output/SavedList.txt Normal file
View File

@@ -0,0 +1,150 @@
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
19 1
19 2
19 3
18 3
17 3
16 3
15 3
14 3
13 3
12 3
11 3
10 3
9 3
9 2
8 2
7 2
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
5 7
6 8
6 9
7 9
14 6
15 6
16 6
17 6
18 6
19 6
19 7
19 8
19 9
18 9
17 9
16 9
15 9
16 10
15 11
15 12
14 12
15 12
15 13
16 14
15 15
15 16
14 17
13 17
12 17
11 17
11 16
10 15
10 16
9 16
8 15
8 14
7 13
6 14
5 14
4 14
3 13
3 12
2 11
3 10
3 9
1 9
0 9
1 10
0 11
0 12
1 12
2 12
3 12
3 13
4 14
4 15
5 16
5 17
6 17
7 17
8 17
9 17
10 17
11 17
12 17
13 17
14 17
15 16
15 15
16 14
15 13
15 12
17 12
18 12
19 12
19 13
19 14
19 15
18 15
17 15
16 15
15 15
15 16
14 17
13 17
12 17
11 17
11 16
10 16
9 16
8 15
6 15
5 15
4 15
3 15
2 15
1 15
0 15

BIN
ConsoleApp/Output/test.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 31 KiB

2
ConsoleApp/PathPlanners/IReactivePathPlanner.cs
View File

@@ -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);
} }
} }

45
ConsoleApp/PathPlanners/PathPlanner.cs
View File

@@ -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);
} }
} }

32
ConsoleApp/PathPlanners/ReactivePathPlanner.cs
View File

@@ -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);
}
} }
} }
} }

28
ConsoleApp/Program.cs
View File

@@ -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
@@ -13,9 +17,33 @@ namespace ConsoleApp
_bootstrapper = BootStrapper.BootstrapSystem(new CoreModule()); _bootstrapper = BootStrapper.BootstrapSystem(new CoreModule());
_userConsole = new UserConsole(); _userConsole = new UserConsole();
Initialization(); Initialization();
GenerateImages();
Console.WriteLine("Program Completed"); 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() private static void Initialization()
{ {
_userConsole.PrintStartMenu(); _userConsole.PrintStartMenu();

11
ConsoleApp/Sim/DetectionHead.cs
View File

@@ -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,

7
ConsoleApp/Sim/IVehicle.cs
View File

@@ -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; }
} }
} }

24
ConsoleApp/Sim/Vehicle.cs
View File

@@ -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");
} }
} }
} }

1
ConsoleApp/Sim/VehicleConfiguration.cs
View File

@@ -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; }
} }
} }

7
ConsoleApp/Sim/VehicleConfiguration.json
View File

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

126
ConsoleApp/SimRunner.cs
View File

@@ -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
{ {
@@ -14,16 +19,15 @@ 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>();
public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner, IReactivePathPlanner reactivePathPlanner) public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner, IReactivePathPlanner reactivePathPlanner)
{ {
_cellWidth = mapFactory.CellWidth;
_mapFactory = mapFactory; _mapFactory = mapFactory;
_vehicle = vehicle; _vehicle = vehicle;
_pathPlanner = pathPlanner; _pathPlanner = pathPlanner;
@@ -44,7 +48,121 @@ 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 minimumMoves = optimalPath.Count;
var finished = false;
var totalMoves = 0;
while (!finished)
{
totalMoves += 1;
testingPath.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;
}
var replan = false;
//if the next optimal cell is blocked then we need to replan around it.
while (hexMap.Graph.IsCellBlocked(nextOptimal))
{
replan = true;
if (optimalPath.TryDequeue(out nextOptimal)) continue;
finished = true;
break;
}
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;
}
}
//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}");
}
private int CoveredCells()
{
var hexMap = _mapFactory.GetHexMap();
//for()
return 0;
}
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);
// //debugging
// foreach (var celllll in cellsToBlock)
// {
// Console.WriteLine($"({celllll.X}, {celllll.Y}) Blocked: {hexMap.Graph.GetCellState(celllll).IsBlocked}");
// }
} }

4
ConsoleApp/UserConsole.cs
View File

@@ -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))

39
ConsoleApp/plot.py Normal file
View File

@@ -0,0 +1,39 @@
import numpy as np
import matplotlib.pyplot as plt
import matplotlib
if __name__ == "__main__":
xc = []
yc = []
xm = []
ym = []
xf = []
yf = []
with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SavedList.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/DetectedMines.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('test 9')
plt.legend(loc='lower left', fontsize='xx-small')
matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/test.png')
plt.close(fig)