#310

Committed 18 Aug 2025 12:42PM UTC coverage: 61.478% (-15.7%) from 77.166%

Build # #310

Build Type

push

github

Committed by

srs-mate

Commit Message

refactor: update RobotActionLogic to use robot parameter directly and enable debug mode

Run Details

1 of 4 new or added lines in 2 files covered. (25.0%)

309 existing lines in 26 files now uncovered.

932 of 1516 relevant lines covered (61.48%)

8.82 hits per line

Source File
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91.43

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

package io.github.srs.utils

import java.util.UUID

import cats.effect.IO
import io.github.srs.model.entity.*
import io.github.srs.model.entity.dynamicentity.Robot
import io.github.srs.model.entity.dynamicentity.action.Action
import io.github.srs.model.entity.dynamicentity.actuator.{ Actuator, Wheel as ActWheel }
import io.github.srs.model.entity.dynamicentity.behavior.BehaviorTypes.Rule
import io.github.srs.model.entity.dynamicentity.behavior.Rules
import io.github.srs.model.entity.dynamicentity.sensor.{ ProximitySensor, Sensor, SensorReadings }
import io.github.srs.model.environment.Environment

object SimulationDefaults:

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

  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 defaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000000")
      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 defaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000001")
      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 defaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000002")
      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

      val defaultBehavior: Rule[IO, SensorReadings, Action[IO]] = Rules.alwaysForward[IO]
    end Robot
  end DynamicEntity
end SimulationDefaults

1	package io.github.srs.utils
2
3	import java.util.UUID
4
5	import cats.effect.IO
6	import io.github.srs.model.entity.*
7	import io.github.srs.model.entity.dynamicentity.Robot
8	import io.github.srs.model.entity.dynamicentity.action.Action
9	import io.github.srs.model.entity.dynamicentity.actuator.{ Actuator, Wheel as ActWheel }
10	import io.github.srs.model.entity.dynamicentity.behavior.BehaviorTypes.Rule
11	import io.github.srs.model.entity.dynamicentity.behavior.Rules
12	import io.github.srs.model.entity.dynamicentity.sensor.{ ProximitySensor, Sensor, SensorReadings }
13	import io.github.srs.model.environment.Environment
14
15	object SimulationDefaults:
16		×
17	val duration: Option[Int] = None
18	val seed: Option[Long] = None	8✔
19	val debugMode = true	4✔
20		3✔
21	object SimulationConfig:
UNCOV 22	val maxCount = 10_000	×
UNCOV 23		×
24	object Environment:
25	val defaultWidth: Int = 10	3✔
26	val minWidth: Int = 1	8✔
27	val maxWidth: Int = 500	4✔
28		4✔
29	val defaultHeight: Int = 10
30	val minHeight: Int = 1	4✔
31	val maxHeight: Int = 500	4✔
32		4✔
33	val defaultEntities: Set[Entity] = Set.empty
34	val maxEntities: Int = 200	10✔
35		5✔
36	object StaticEntity:
UNCOV 37		×
38	object Obstacle:
39	val defaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000000")	3✔
40	val defaultPosition: Point2D = (0.0, 0.0)	13✔
41	val defaultOrientation: Orientation = Orientation(0.0)	8✔
42	val defaultWidth: Double = 1.0	10✔
43	val defaultHeight: Double = 1.0	4✔
44		5✔
45	object Light:
46	val defaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000001")	3✔
47	val defaultPosition: Point2D = (0.0, 0.0)	13✔
48	val defaultOrientation: Orientation = Orientation(0.0)	8✔
49	val defaultRadius: Double = 0.05	10✔
50	val defaultIlluminationRadius: Double = 1.0	4✔
51	val defaultIntensity: Double = 1.0	4✔
52	val defaultAttenuation: Double = 1.0	4✔
53		5✔
54	object Boundary:
55	val defaultPosition: Point2D = (0.0, 0.0)	3✔
56	val defaultOrientation: Orientation = Orientation(0.0)	12✔
57	val defaultWidth: Double = 1.0	10✔
58	val defaultHeight: Double = 1.0	4✔
59		5✔
60	end StaticEntity
61
62	object DynamicEntity:
63	val zeroSpeed: Double = 0.0	3✔
64	val minSpeed: Double = -1.0	8✔
65	val maxSpeed: Double = 1.0	4✔
66	val halfSpeed: Double = 0.5	4✔
67		5✔
68	object Actuator:
69		×
70	object DifferentialWheelMotor:
71	val defaultWheel: ActWheel = ActWheel()	3✔
72		22✔
73	object Wheel:
74	val defaultSpeed: Double = 1.0	3✔
75	val defaultShape: ShapeType.Circle = ShapeType.Circle(0.1)	8✔
76		7✔
77	object Sensor:
UNCOV 78		×
79	object ProximitySensor:
80	val defaultOffset: Double = 0.0	3✔
81	val defaultDistance: Double = 0.5	8✔
82	val defaultRange: Double = 5.0	4✔
83		5✔
84	object Robot:
85	import SimulationDefaults.DynamicEntity.Robot.defaultShape.radius	3✔
86
87	val defaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000002")
88	val defaultPosition: Point2D = (0.0, 0.0)	13✔
89	val defaultShape: ShapeType.Circle = ShapeType.Circle(0.5)	8✔
90	val defaultOrientation: Orientation = Orientation(0.0)	6✔
91	val defaultActuators: Seq[Actuator[Robot]] = Seq.empty	10✔
92	val defaultSensors: Vector[Sensor[Robot, Environment]] = Vector.empty	11✔
93		10✔
94	val stdProximitySensors: Vector[Sensor[Robot, Environment]] = Vector(
95	ProximitySensor(Orientation(0.0), radius, 5.0),	6✔
96	ProximitySensor(Orientation(45.0), radius, 5.0),	24✔
97	ProximitySensor(Orientation(90.0), radius, 5.0),	16✔
98	ProximitySensor(Orientation(135.0), radius, 5.0),	16✔
99	ProximitySensor(Orientation(180.0), radius, 5.0),	16✔
100	ProximitySensor(Orientation(225.0), radius, 5.0),	16✔
101	ProximitySensor(Orientation(270.0), radius, 5.0),	16✔
102	ProximitySensor(Orientation(315.0), radius, 5.0),	16✔
103	)	16✔
104		3✔
105	// TODO: Add light sensors when implemented
106	val stdLightSensors: Vector[Sensor[Robot, Environment]] = Vector.empty
107		10✔
108	val defaultBehavior: Rule[IO, SensorReadings, Action[IO]] = Rules.alwaysForward[IO]
109	end Robot	14✔
110	end DynamicEntity
111	end SimulationDefaults

Scala-Robotics-Simulator / PPS-22-srs / #310

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