#247

Committed 09 Aug 2025 05:15PM UTC coverage: 75.676% (+1.6%) from 74.056%

Build # #247

Build Type

push

github

Committed by

srs-mate

Commit Message

feat(config): implement serialization of environment

Run Details

21 of 26 new or added lines in 8 files covered. (80.77%)

11 existing lines in 4 files now uncovered.

980 of 1295 relevant lines covered (75.68%)

10.84 hits per line

Source File
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90.77

/src/main/scala/io/github/srs/utils/SimulationDefaults.scala

package io.github.srs.utils

import io.github.srs.model.entity.*
import io.github.srs.model.entity.dynamicentity.Robot
import io.github.srs.model.entity.dynamicentity.actuator.{ Actuator, Wheel as ActWheel }
import io.github.srs.model.entity.dynamicentity.sensor.{ ProximitySensor, Sensor }
import io.github.srs.model.environment.Environment

object SimulationDefaults:

  val duration: Option[Int] = None
  val seed: Option[Long] = None

  object SimulationConfig:
    val maxCount = 10_000

  object Environment:
    val defaultWidth: Int = 10
    val minWidth: Int = 1
    val maxWidth: Int = 500

    val defaultHeight: Int = 10
    val minHeight: Int = 1
    val maxHeight: Int = 500

    val defaultEntities: Set[Entity] = Set.empty
    val maxEntities: Int = 200

  object StaticEntity:

    object Obstacle:
      val defaultPosition: Point2D = (0.0, 0.0)
      val defaultOrientation: Orientation = Orientation(0.0)
      val defaultWidth: Double = 1.0
      val defaultHeight: Double = 1.0

    object Light:
      val defaultPosition: Point2D = (0.0, 0.0)
      val defaultOrientation: Orientation = Orientation(0.0)
      val defaultRadius: Double = 0.05
      val defaultIlluminationRadius: Double = 1.0
      val defaultIntensity: Double = 1.0
      val defaultAttenuation: Double = 1.0

    object Boundary:
      val defaultPosition: Point2D = (0.0, 0.0)
      val defaultOrientation: Orientation = Orientation(0.0)
      val defaultWidth: Double = 1.0
      val defaultHeight: Double = 1.0

  end StaticEntity

  object DynamicEntity:
    val zeroSpeed: Double = 0.0
    val minSpeed: Double = -1.0
    val maxSpeed: Double = 1.0
    val halfSpeed: Double = 0.5

    object Actuator:

      object DifferentialWheelMotor:
        val defaultWheel: ActWheel = ActWheel()

        object Wheel:
          val defaultSpeed: Double = 1.0
          val defaultShape: ShapeType.Circle = ShapeType.Circle(0.1)

    object Sensor:

      object ProximitySensor:
        val defaultOffset: Double = 0.0
        val defaultDistance: Double = 0.5
        val defaultRange: Double = 5.0

    object Robot:
      import SimulationDefaults.DynamicEntity.Robot.defaultShape.radius

      val defaultPosition: Point2D = (0.0, 0.0)
      val defaultShape: ShapeType.Circle = ShapeType.Circle(0.5)
      val defaultOrientation: Orientation = Orientation(0.0)
      val defaultActuators: Seq[Actuator[Robot]] = Seq.empty
      val defaultSensors: Vector[Sensor[Robot, Environment]] = Vector.empty

      val stdProximitySensors: Vector[Sensor[Robot, Environment]] = Vector(
        ProximitySensor(Orientation(0.0), radius, 5.0),
        ProximitySensor(Orientation(45.0), radius, 5.0),
        ProximitySensor(Orientation(90.0), radius, 5.0),
        ProximitySensor(Orientation(135.0), radius, 5.0),
        ProximitySensor(Orientation(180.0), radius, 5.0),
        ProximitySensor(Orientation(225.0), radius, 5.0),
        ProximitySensor(Orientation(270.0), radius, 5.0),
        ProximitySensor(Orientation(315.0), radius, 5.0),
      )

      // TODO: Add light sensors when implemented
      val stdLightSensors: Vector[Sensor[Robot, Environment]] = Vector.empty
    end Robot
  end DynamicEntity
end SimulationDefaults

1	package io.github.srs.utils
2
3	import io.github.srs.model.entity.*
4	import io.github.srs.model.entity.dynamicentity.Robot
5	import io.github.srs.model.entity.dynamicentity.actuator.{ Actuator, Wheel as ActWheel }
6	import io.github.srs.model.entity.dynamicentity.sensor.{ ProximitySensor, Sensor }
7	import io.github.srs.model.environment.Environment
8
9	object SimulationDefaults:
10		×
11	val duration: Option[Int] = None
12	val seed: Option[Long] = None	8✔
13		5✔
14	object SimulationConfig:
UNCOV 15	val maxCount = 10_000	×
UNCOV 16		×
17	object Environment:
18	val defaultWidth: Int = 10	3✔
19	val minWidth: Int = 1	8✔
20	val maxWidth: Int = 500	4✔
21		4✔
22	val defaultHeight: Int = 10
23	val minHeight: Int = 1	4✔
24	val maxHeight: Int = 500	4✔
25		4✔
26	val defaultEntities: Set[Entity] = Set.empty
27	val maxEntities: Int = 200	10✔
28		5✔
29	object StaticEntity:
UNCOV 30		×
31	object Obstacle:
32	val defaultPosition: Point2D = (0.0, 0.0)	3✔
33	val defaultOrientation: Orientation = Orientation(0.0)	12✔
34	val defaultWidth: Double = 1.0	10✔
35	val defaultHeight: Double = 1.0	4✔
36		5✔
37	object Light:
38	val defaultPosition: Point2D = (0.0, 0.0)	3✔
39	val defaultOrientation: Orientation = Orientation(0.0)	12✔
40	val defaultRadius: Double = 0.05	10✔
41	val defaultIlluminationRadius: Double = 1.0	4✔
42	val defaultIntensity: Double = 1.0	4✔
43	val defaultAttenuation: Double = 1.0	4✔
44		5✔
45	object Boundary:
46	val defaultPosition: Point2D = (0.0, 0.0)	3✔
47	val defaultOrientation: Orientation = Orientation(0.0)	12✔
48	val defaultWidth: Double = 1.0	10✔
49	val defaultHeight: Double = 1.0	4✔
50		5✔
51	end StaticEntity
52
53	object DynamicEntity:
54	val zeroSpeed: Double = 0.0	3✔
55	val minSpeed: Double = -1.0	8✔
56	val maxSpeed: Double = 1.0	4✔
57	val halfSpeed: Double = 0.5	4✔
58		5✔
59	object Actuator:
UNCOV 60		×
61	object DifferentialWheelMotor:
62	val defaultWheel: ActWheel = ActWheel()	3✔
63		22✔
64	object Wheel:
65	val defaultSpeed: Double = 1.0	3✔
66	val defaultShape: ShapeType.Circle = ShapeType.Circle(0.1)	8✔
67		7✔
68	object Sensor:
UNCOV 69		×
70	object ProximitySensor:
71	val defaultOffset: Double = 0.0	3✔
72	val defaultDistance: Double = 0.5	8✔
73	val defaultRange: Double = 5.0	4✔
74		5✔
75	object Robot:
76	import SimulationDefaults.DynamicEntity.Robot.defaultShape.radius	3✔
77
78	val defaultPosition: Point2D = (0.0, 0.0)
79	val defaultShape: ShapeType.Circle = ShapeType.Circle(0.5)	12✔
80	val defaultOrientation: Orientation = Orientation(0.0)	6✔
81	val defaultActuators: Seq[Actuator[Robot]] = Seq.empty	10✔
82	val defaultSensors: Vector[Sensor[Robot, Environment]] = Vector.empty	11✔
83		10✔
84	val stdProximitySensors: Vector[Sensor[Robot, Environment]] = Vector(
85	ProximitySensor(Orientation(0.0), radius, 5.0),	6✔
86	ProximitySensor(Orientation(45.0), radius, 5.0),	24✔
87	ProximitySensor(Orientation(90.0), radius, 5.0),	16✔
88	ProximitySensor(Orientation(135.0), radius, 5.0),	16✔
89	ProximitySensor(Orientation(180.0), radius, 5.0),	16✔
90	ProximitySensor(Orientation(225.0), radius, 5.0),	16✔
91	ProximitySensor(Orientation(270.0), radius, 5.0),	16✔
92	ProximitySensor(Orientation(315.0), radius, 5.0),	16✔
93	)	16✔
94		3✔
95	// TODO: Add light sensors when implemented
96	val stdLightSensors: Vector[Sensor[Robot, Environment]] = Vector.empty
97	end Robot	11✔
98	end DynamicEntity
99	end SimulationDefaults

Scala-Robotics-Simulator / PPS-22-srs / #247

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