#115

Committed 27 Jul 2025 01:52PM UTC coverage: 63.061% (+14.0%) from 49.091%

Build # #115

Build Type

Pull #12

github

Committed by

davidcohenDC

Commit Message

refactor: reorder import statements in LightStateTest

Pull Request Pull Request #12: feat: control the diffusion of the lights on the enviroment

Run Details

257 of 395 new or added lines in 22 files covered. (65.06%)

4 existing lines in 2 files now uncovered.

309 of 490 relevant lines covered (63.06%)

9.02 hits per line

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0.0

/src/main/scala/io/github/srs/controller/ControllerModule.scala

package io.github.srs.controller

import io.github.srs.model.Cell
import io.github.srs.model.entity.Orientation
import io.github.srs.model.entity.staticentity.StaticEntity.{ Light, Obstacle }
import io.github.srs.model.environment.Environment
import io.github.srs.model.lighting.{ LightState, ShadowFovDiffuser }
import io.github.srs.view.ViewModule

object ControllerModule:

  /** Public controller interface */
  trait Controller:
    def start(): Unit

  /** Will be mixed in by the launcher to provide a `controller` */
  trait Provider:
    val controller: Controller

  /** The dependencies this module needs: a View and a Model */
  type Requirements = ViewModule.Provider & io.github.srs.model.ModelModule.Provider

  /** The implementation */
  trait Component:
    context: Requirements =>

    object Controller:
      def apply(): Controller = new ControllerImpl

      private class ControllerImpl extends Controller:

        def start(): Unit =
          context.view.init()
          showLightMap()

        private def showLightMap(): Unit =
          import io.github.srs.model.environment.view
          import io.github.srs.model.entity.Point2D.toCell

          // 1) build & validate environment
          val env = Environment(
            width = 10,
            height = 10,
            entities = Set(
              Obstacle((2.0, 1.0), Orientation(0), 1, 1),
              Obstacle((2.0, 2.0), Orientation(0), 1, 1),
              Obstacle((6.0, 4.0), Orientation(0), 1, 1),
              Light((0.0, 0.0), Orientation(0), 8.0, intensity = 1.0, attenuation = 0.2),
              Light((9.0, 9.0), Orientation(0), 2.0, intensity = 1.0, attenuation = 0.2),
            ),
          ).fold(err => sys.error(err.errorMessage), identity)

          val view = env.view
          val diffuser = ShadowFovDiffuser()
          val lightInit = LightState.empty(view.width, view.height)
          val lightMap = diffuser.step(view)(lightInit)

          val obstacles = env.entities.collect { case Obstacle((x, y), _, w, h) =>
            f"(${x}%.2f, ${y}%.2f)  size=${w}×$h"
          }.toVector

          val lights = env.entities.collect { case Light((x, y), _, r, i, k) =>
            f"(${x}%.2f, ${y}%.2f)  r=$r%.1f  I=$i%.1f  k=$k%.2f"
          }.toVector

          val header =
            s"""|Grid      : ${env.width}×${env.height}
                |
                |Obstacles : ${obstacles.size}
                |${obstacles.map("  • " + _).mkString("\n")}
                |
                |Lights    : ${lights.size}
                |${lights.map("  • " + _).mkString("\n")}
                |
                |Legend
                |  #  obstacle
                |  L  light source
                |  .░▒▓█  darkest → brightest
                |
                |""".stripMargin

          val asciiRaw = lightMap.render(view)
          val numeric = lightMap.render(view, ascii = false)

          val lightCells = view.lights.map(_.position.toCell).toSet
          val ascii = overlayLights(asciiRaw, lightCells)

          context.view.plotData(
            header +
              ascii + "\n\n" +
              numeric,
          )

        end showLightMap

        /** Replace the shade‐char at each light‐cell with 'L' */
        private def overlayLights(ascii: String, lights: Set[Cell]): String =
          ascii.linesIterator.zipWithIndex.map { case (line, y) =>
            line.zipWithIndex.map { case (ch, x) =>
              if lights.contains(Cell(x, y)) then 'L' else ch
            }.mkString
          }
            .mkString("\n")

      end ControllerImpl

    end Controller

  end Component

  /** Glue the provider + component together */
  trait Interface extends Provider with Component:
    self: Requirements =>
end ControllerModule

1	package io.github.srs.controller
2
3	import io.github.srs.model.Cell
4	import io.github.srs.model.entity.Orientation
5	import io.github.srs.model.entity.staticentity.StaticEntity.{ Light, Obstacle }
6	import io.github.srs.model.environment.Environment
7	import io.github.srs.model.lighting.{ LightState, ShadowFovDiffuser }
8	import io.github.srs.view.ViewModule
9
10	object ControllerModule:
11		×
12	/** Public controller interface */
13	trait Controller:
14	def start(): Unit	×
15
16	/** Will be mixed in by the launcher to provide a `controller` */
17	trait Provider:
18	val controller: Controller
19
20	/** The dependencies this module needs: a View and a Model */
21	type Requirements = ViewModule.Provider & io.github.srs.model.ModelModule.Provider
22
23	/** The implementation */
24	trait Component:
25	context: Requirements =>	×
26		×
27	object Controller:
28	def apply(): Controller = new ControllerImpl	×
29		×
30	private class ControllerImpl extends Controller:
31		×
32	def start(): Unit =
33	context.view.init()	×
NEW 34	showLightMap()	×
NEW 35		×
36	private def showLightMap(): Unit =
NEW 37	import io.github.srs.model.environment.view	×
38	import io.github.srs.model.entity.Point2D.toCell
39
40	// 1) build & validate environment
41	val env = Environment(
NEW 42	width = 10,	×
NEW 43	height = 10,	×
NEW 44	entities = Set(	×
NEW 45	Obstacle((2.0, 1.0), Orientation(0), 1, 1),	×
NEW 46	Obstacle((2.0, 2.0), Orientation(0), 1, 1),	×
NEW 47	Obstacle((6.0, 4.0), Orientation(0), 1, 1),	×
NEW 48	Light((0.0, 0.0), Orientation(0), 8.0, intensity = 1.0, attenuation = 0.2),	×
NEW 49	Light((9.0, 9.0), Orientation(0), 2.0, intensity = 1.0, attenuation = 0.2),	×
NEW 50	),	×
NEW 51	).fold(err => sys.error(err.errorMessage), identity)	×
NEW 52		×
53	val view = env.view
NEW 54	val diffuser = ShadowFovDiffuser()	×
NEW 55	val lightInit = LightState.empty(view.width, view.height)	×
NEW 56	val lightMap = diffuser.step(view)(lightInit)	×
NEW 57		×
58	val obstacles = env.entities.collect { case Obstacle((x, y), _, w, h) =>
NEW 59	f"(${x}%.2f, ${y}%.2f) size=${w}×$h"	×
NEW 60	}.toVector	×
NEW 61		×
62	val lights = env.entities.collect { case Light((x, y), _, r, i, k) =>
NEW 63	f"(${x}%.2f, ${y}%.2f) r=$r%.1f I=$i%.1f k=$k%.2f"	×
NEW 64	}.toVector	×
NEW 65		×
66	val header =
67	s"""\|Grid : ${env.width}×${env.height}
NEW 68	\|	×
69	\|Obstacles : ${obstacles.size}
NEW 70	\|${obstacles.map(" • " + _).mkString("\n")}	×
NEW 71	\|	×
72	\|Lights : ${lights.size}
NEW 73	\|${lights.map(" • " + _).mkString("\n")}	×
NEW 74	\|	×
75	\|Legend
76	\| # obstacle
77	\| L light source
78	\| .░▒▓█ darkest → brightest
79	\|
80	\|""".stripMargin
NEW 81		×
82	val asciiRaw = lightMap.render(view)
NEW 83	val numeric = lightMap.render(view, ascii = false)	×
NEW 84		×
85	val lightCells = view.lights.map(_.position.toCell).toSet
NEW 86	val ascii = overlayLights(asciiRaw, lightCells)	×
NEW 87		×
88	context.view.plotData(
NEW 89	header +	×
NEW 90	ascii + "\n\n" +	×
NEW 91	numeric,	×
NEW 92	)	×
NEW 93		×
94	end showLightMap
95
96	/** Replace the shade‐char at each light‐cell with 'L' */
97	private def overlayLights(ascii: String, lights: Set[Cell]): String =
NEW 98	ascii.linesIterator.zipWithIndex.map { case (line, y) =>	×
NEW 99	line.zipWithIndex.map { case (ch, x) =>	×
100	if lights.contains(Cell(x, y)) then 'L' else ch
101	}.mkString
102	}
NEW 103	.mkString("\n")	×
NEW 104		×
105	end ControllerImpl
106
107	end Controller
108
109	end Component
110
111	/** Glue the provider + component together */
112	trait Interface extends Provider with Component:
113	self: Requirements =>
114	end ControllerModule

Scala-Robotics-Simulator / PPS-22-srs / #115

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