#336

Committed 22 Aug 2025 08:10AM UTC coverage: 57.135% (+0.4%) from 56.785%

Build # #336

Build Type

Pull #51

github

Committed by

sceredi

Commit Message

chore: remove tostring from warts

It is the only way to serialize behaviors

Pull Request Pull Request #51: feat: serialization/parsing of behavior

Run Details

17 of 20 new or added lines in 9 files covered. (85.0%)

1 existing line in 1 file now uncovered.

1105 of 1934 relevant lines covered (57.14%)

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

package io.github.srs.controller

import scala.concurrent.duration.{ DurationInt, FiniteDuration, MILLISECONDS }
import scala.language.postfixOps

import cats.effect.std.Queue
import cats.effect.{ Clock, IO }
import cats.syntax.all.*
import io.github.srs.model.*
import io.github.srs.model.SimulationConfig.SimulationStatus
import io.github.srs.model.UpdateLogic.*
import io.github.srs.model.entity.dynamicentity.Robot
import io.github.srs.model.entity.dynamicentity.sensor.Sensor.senseAll
import io.github.srs.model.logic.*
import io.github.srs.utils.SimulationDefaults.debugMode
import io.github.srs.utils.random.RNG
import io.github.srs.utils.random.RandomDSL.{ generate, shuffle }

/**
 * Module that defines the controller logic for the Scala Robotics Simulator.
 */
object ControllerModule:

  /**
   * Controller trait that defines the interface for the controller.
   *
   * @tparam S
   *   the type of the state, which must extend [[ModelModule.State]].
   */
  trait Controller[S <: ModelModule.State]:
    /**
     * Starts the controller with the initial state.
     *
     * @param initialState
     *   the initial state of the simulation.
     */
    def start(initialState: S): IO[Unit]

    /**
     * Runs the simulation loop, processing events from the queue and updating the state.
     *
     * @param s
     *   the current state of the simulation.
     * @param queue
     *   a concurrent queue that holds events to be processed.
     * @return
     *   an [[IO]] task that completes when the simulation loop ends.
     */
    def simulationLoop(s: S, queue: Queue[IO, Event]): IO[Unit]

  end Controller

  /**
   * Provider trait that defines the interface for providing a controller.
   *
   * @tparam S
   *   the type of the state, which must extend [[ModelModule.State]].
   */
  trait Provider[S <: ModelModule.State]:
    val controller: Controller[S]

  /**
   * Defines the dependencies required by the controller module. In particular, it requires a
   * [[io.github.srs.view.ViewModule.Provider]] and a [[io.github.srs.model.ModelModule.Provider]].
   */
  type Requirements[S <: ModelModule.State] =
    io.github.srs.view.ViewModule.Provider[S] & io.github.srs.model.ModelModule.Provider[S]

  /**
   * Component trait that defines the interface for creating a controller.
   *
   * @tparam S
   *   the type of the simulation state, which must extend [[ModelModule.State]].
   */
  trait Component[S <: ModelModule.State]:
    context: Requirements[S] =>

    object Controller:

      /**
       * Creates a controller instance.
       *
       * @return
       *   a [[Controller]] instance.
       */
      def apply()(using bundle: LogicsBundle[S]): Controller[S] = new ControllerImpl

      /**
       * Private controller implementation that delegates the simulation loop to the provided model and view.
       */
      private class ControllerImpl(using bundle: LogicsBundle[S]) extends Controller[S]:

        override def start(initialState: S): IO[Unit] =
          for
            queueSim <- Queue.unbounded[IO, Event]
            _ <- context.view.init(queueSim)
            _ <- runBehavior(queueSim, initialState)
            _ <- simulationLoop(initialState, queueSim)
          yield ()

        override def simulationLoop(s: S, queue: Queue[IO, Event]): IO[Unit] =
          def loop(state: S): IO[Unit] =
            for
              startTime <- Clock[IO].realTime.map(_.toMillis)
              _ <- runBehavior(queue, state).whenA(state.simulationStatus == SimulationStatus.RUNNING)

              events <- queue.tryTakeN(Some(50))
              shuffledEvents <- shuffleEvents(queue, state, events)
              newState <- handleEvents(state, shuffledEvents)

              _ <- context.view.render(newState)

              nextState <- nextStep(newState, startTime)

              stop = newState.simulationStatus == SimulationStatus.STOPPED ||
                newState.simulationTime.exists(max => newState.elapsedTime >= max)

              endTime <- Clock[IO].realTime.map(_.toMillis)
              _ <- if debugMode then IO.println(s"Simulation loop took ${endTime - startTime} ms") else IO.unit

              _ <- if stop then IO.unit else loop(nextState)
            yield ()

          loop(s)

        end simulationLoop

        private def nextStep(state: S, startTime: Long): IO[S] =
          state.simulationStatus match
            case SimulationStatus.RUNNING =>
              tickEvents(startTime, state.simulationSpeed.tickSpeed, state)

            case SimulationStatus.PAUSED =>
              IO.sleep(50.millis).as(state)

            case SimulationStatus.STOPPED =>
              IO.pure(state)

        private def runBehavior(queue: Queue[IO, Event], state: S): IO[Unit] =
          state.environment.entities.collect { case robot: Robot =>
            for
              sensorReadings <- robot.senseAll[IO](state.environment)
              action = robot.behavior.run(sensorReadings)
              _ <- queue.offer(Event.RobotAction(queue, robot, action))
            yield ()
          }.toList.parSequence.void

        private def tickEvents(start: Long, tickSpeed: FiniteDuration, state: S): IO[S] =
          for
            now <- Clock[IO].realTime.map(_.toMillis)
            timeToNextTick = tickSpeed.toMillis - (now - start)
            adjustedTickSpeed = if timeToNextTick > 0 then timeToNextTick else 0L
            sleepTime = FiniteDuration(adjustedTickSpeed, MILLISECONDS)
            _ <- IO.sleep(sleepTime)
            tick <- handleEvent(state, Event.Tick(tickSpeed))
          yield tick

        private def shuffleEvents(queue: Queue[IO, Event], state: S, events: Seq[Event]): IO[Seq[Event]] =
          val (controllerEvents, otherEvents) = events.partition:
            case _: Event.RobotAction => false
            case _ => true
          val (shuffledEvents, nextRNG: RNG) = state.simulationRNG generate (otherEvents shuffle)
          queue.offer(Event.Random(nextRNG)).as(controllerEvents ++ shuffledEvents)

        private def handleEvents(state: S, shuffledEvents: Seq[Event]): IO[S] =
          for finalState <- shuffledEvents.foldLeft(IO.pure(state)) { (taskState, event) =>
              for
                currentState <- taskState
                newState <- handleEvent(currentState, event)
              yield newState
            }
          yield finalState

        private def handleEvent(state: S, event: Event): IO[S] =
          event match
            case Event.Increment if state.simulationStatus == SimulationStatus.RUNNING =>
              context.model.increment(state)
            case Event.Tick(deltaTime) if state.simulationStatus == SimulationStatus.RUNNING =>
              context.model.tick(state, deltaTime)
            case Event.TickSpeed(speed) => context.model.tickSpeed(state, speed)
            case Event.Random(rng) => context.model.random(state, rng)
            case Event.Pause => context.model.pause(state)
            case Event.Resume => context.model.resume(state)
            case Event.Stop => context.model.stop(state)
            case Event.RobotAction(queue, robot, action) => context.model.handleRobotAction(state, queue, robot, action)
            case Event.CollisionDetected(queue, robot, updatedRobot) =>
              context.model.handleCollision(state, queue, robot, updatedRobot)
            case _ => IO.pure(state)

      end ControllerImpl

    end Controller

  end Component

  /**
   * Interface trait that combines the provider and component traits for the controller module.
   *
   * @tparam S
   *   the type of the simulation state, which must extend [[ModelModule.State]].
   */
  trait Interface[S <: ModelModule.State] extends Provider[S] with Component[S]:
    self: Requirements[S] =>
end ControllerModule

1	package io.github.srs.controller
2
3	import scala.concurrent.duration.{ DurationInt, FiniteDuration, MILLISECONDS }
4	import scala.language.postfixOps
5
6	import cats.effect.std.Queue
7	import cats.effect.{ Clock, IO }
8	import cats.syntax.all.*
9	import io.github.srs.model.*
10	import io.github.srs.model.SimulationConfig.SimulationStatus
11	import io.github.srs.model.UpdateLogic.*
12	import io.github.srs.model.entity.dynamicentity.Robot
13	import io.github.srs.model.entity.dynamicentity.sensor.Sensor.senseAll
14	import io.github.srs.model.logic.*
15	import io.github.srs.utils.SimulationDefaults.debugMode
16	import io.github.srs.utils.random.RNG
17	import io.github.srs.utils.random.RandomDSL.{ generate, shuffle }
18
19	/**
20	* Module that defines the controller logic for the Scala Robotics Simulator.
21	*/
22	object ControllerModule:
23		×
24	/**
25	* Controller trait that defines the interface for the controller.
26	*
27	* @tparam S
28	* the type of the state, which must extend [[ModelModule.State]].
29	*/
30	trait Controller[S <: ModelModule.State]:
31	/**	×
32	* Starts the controller with the initial state.
33	*
34	* @param initialState
35	* the initial state of the simulation.
36	*/
37	def start(initialState: S): IO[Unit]
38
39	/**
40	* Runs the simulation loop, processing events from the queue and updating the state.
41	*
42	* @param s
43	* the current state of the simulation.
44	* @param queue
45	* a concurrent queue that holds events to be processed.
46	* @return
47	* an [[IO]] task that completes when the simulation loop ends.
48	*/
49	def simulationLoop(s: S, queue: Queue[IO, Event]): IO[Unit]
50
51	end Controller
52
53	/**
54	* Provider trait that defines the interface for providing a controller.
55	*
56	* @tparam S
57	* the type of the state, which must extend [[ModelModule.State]].
58	*/
59	trait Provider[S <: ModelModule.State]:
60	val controller: Controller[S]
61
62	/**
63	* Defines the dependencies required by the controller module. In particular, it requires a
64	* [[io.github.srs.view.ViewModule.Provider]] and a [[io.github.srs.model.ModelModule.Provider]].
65	*/
66	type Requirements[S <: ModelModule.State] =
67	io.github.srs.view.ViewModule.Provider[S] & io.github.srs.model.ModelModule.Provider[S]
68
69	/**
70	* Component trait that defines the interface for creating a controller.
71	*
72	* @tparam S
73	* the type of the simulation state, which must extend [[ModelModule.State]].
74	*/
75	trait Component[S <: ModelModule.State]:
76	context: Requirements[S] =>	×
77
78	object Controller:
79		×
80	/**
81	* Creates a controller instance.
82	*
83	* @return
84	* a [[Controller]] instance.
85	*/
86	def apply()(using bundle: LogicsBundle[S]): Controller[S] = new ControllerImpl
87		×
88	/**
89	* Private controller implementation that delegates the simulation loop to the provided model and view.
90	*/
91	private class ControllerImpl(using bundle: LogicsBundle[S]) extends Controller[S]:
92		×
93	override def start(initialState: S): IO[Unit] =
94	for	×
95	queueSim <- Queue.unbounded[IO, Event]	×
96	_ <- context.view.init(queueSim)	×
97	_ <- runBehavior(queueSim, initialState)
98	_ <- simulationLoop(initialState, queueSim)
99	yield ()
100		×
101	override def simulationLoop(s: S, queue: Queue[IO, Event]): IO[Unit] =
102	def loop(state: S): IO[Unit] =	×
103	for	×
104	startTime <- Clock[IO].realTime.map(_.toMillis)	×
105	_ <- runBehavior(queue, state).whenA(state.simulationStatus == SimulationStatus.RUNNING)	×
106		×
107	events <- queue.tryTakeN(Some(50))
108	shuffledEvents <- shuffleEvents(queue, state, events)
109	newState <- handleEvents(state, shuffledEvents)
110
111	_ <- context.view.render(newState)
112
113	nextState <- nextStep(newState, startTime)
114
115	stop = newState.simulationStatus == SimulationStatus.STOPPED \|\|
116	newState.simulationTime.exists(max => newState.elapsedTime >= max)
117
118	endTime <- Clock[IO].realTime.map(_.toMillis)
119	_ <- if debugMode then IO.println(s"Simulation loop took ${endTime - startTime} ms") else IO.unit
120
121	_ <- if stop then IO.unit else loop(nextState)
122	yield ()
123		×
124	loop(s)
125		×
126	end simulationLoop
127
128	private def nextStep(state: S, startTime: Long): IO[S] =
129	state.simulationStatus match	×
130	case SimulationStatus.RUNNING =>	×
131	tickEvents(startTime, state.simulationSpeed.tickSpeed, state)	×
132		×
133	case SimulationStatus.PAUSED =>
134	IO.sleep(50.millis).as(state)	×
135		×
136	case SimulationStatus.STOPPED =>
137	IO.pure(state)	×
138		×
139	private def runBehavior(queue: Queue[IO, Event], state: S): IO[Unit] =
140	state.environment.entities.collect { case robot: Robot =>	×
141	for	×
142	sensorReadings <- robot.senseAll[IO](state.environment)	×
NEW 143	action = robot.behavior.run(sensorReadings)	×
UNCOV 144	_ <- queue.offer(Event.RobotAction(queue, robot, action))	×
145	yield ()
146	}.toList.parSequence.void	×
147		×
148	private def tickEvents(start: Long, tickSpeed: FiniteDuration, state: S): IO[S] =
149	for	×
150	now <- Clock[IO].realTime.map(_.toMillis)	×
151	timeToNextTick = tickSpeed.toMillis - (now - start)	×
152	adjustedTickSpeed = if timeToNextTick > 0 then timeToNextTick else 0L
153	sleepTime = FiniteDuration(adjustedTickSpeed, MILLISECONDS)
154	_ <- IO.sleep(sleepTime)	×
155	tick <- handleEvent(state, Event.Tick(tickSpeed))
156	yield tick
157		×
158	private def shuffleEvents(queue: Queue[IO, Event], state: S, events: Seq[Event]): IO[Seq[Event]] =
159	val (controllerEvents, otherEvents) = events.partition:	×
160	case _: Event.RobotAction => false	×
161	case _ => true	×
162	val (shuffledEvents, nextRNG: RNG) = state.simulationRNG generate (otherEvents shuffle)	×
163	queue.offer(Event.Random(nextRNG)).as(controllerEvents ++ shuffledEvents)	×
164		×
165	private def handleEvents(state: S, shuffledEvents: Seq[Event]): IO[S] =
166	for finalState <- shuffledEvents.foldLeft(IO.pure(state)) { (taskState, event) =>	×
167	for	×
168	currentState <- taskState
169	newState <- handleEvent(currentState, event)
170	yield newState
171	}
172	yield finalState	×
173		×
174	private def handleEvent(state: S, event: Event): IO[S] =
175	event match	×
176	case Event.Increment if state.simulationStatus == SimulationStatus.RUNNING =>	×
177	context.model.increment(state)	×
178	case Event.Tick(deltaTime) if state.simulationStatus == SimulationStatus.RUNNING =>	×
179	context.model.tick(state, deltaTime)	×
180	case Event.TickSpeed(speed) => context.model.tickSpeed(state, speed)	×
181	case Event.Random(rng) => context.model.random(state, rng)	×
182	case Event.Pause => context.model.pause(state)	×
183	case Event.Resume => context.model.resume(state)	×
184	case Event.Stop => context.model.stop(state)	×
185	case Event.RobotAction(queue, robot, action) => context.model.handleRobotAction(state, queue, robot, action)	×
186	case Event.CollisionDetected(queue, robot, updatedRobot) =>	×
187	context.model.handleCollision(state, queue, robot, updatedRobot)	×
188	case _ => IO.pure(state)	×
189		×
190	end ControllerImpl
191
192	end Controller
193
194	end Component
195
196	/**
197	* Interface trait that combines the provider and component traits for the controller module.
198	*
199	* @tparam S
200	* the type of the simulation state, which must extend [[ModelModule.State]].
201	*/
202	trait Interface[S <: ModelModule.State] extends Provider[S] with Component[S]:
203	self: Requirements[S] =>
204	end ControllerModule

Scala-Robotics-Simulator / PPS-22-srs / #336

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