#345

Committed 22 Aug 2025 12:35PM UTC coverage: 57.15% (+0.4%) from 56.785%

Build # #345

Build Type

push

github

Committed by

srs-mate

Commit Message

refactor: make behaviors to policy companion object

Run Details

14 of 15 new or added lines in 1 file covered. (93.33%)

105 existing lines in 9 files now uncovered.

1107 of 1937 relevant lines covered (57.15%)

7.99 hits per line

Source File
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88.6

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

package io.github.srs.utils

import java.util.UUID

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
import io.github.srs.model.entity.dynamicentity.sensor.LightSensor
import io.github.srs.model.entity.dynamicentity.behavior.Policy

object SimulationDefaults:

  val duration: Option[Long] = 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),
        ProximitySensor(Orientation(45.0), radius),
        ProximitySensor(Orientation(90.0), radius),
        ProximitySensor(Orientation(135.0), radius),
        ProximitySensor(Orientation(180.0), radius),
        ProximitySensor(Orientation(225.0), radius),
        ProximitySensor(Orientation(270.0), radius),
        ProximitySensor(Orientation(315.0), radius),
      )

      val stdLightSensors: Vector[Sensor[Robot, Environment]] = Vector(
        LightSensor(Orientation(0.0)),
        LightSensor(Orientation(45.0)),
        LightSensor(Orientation(90.0)),
        LightSensor(Orientation(135.0)),
        LightSensor(Orientation(180.0)),
        LightSensor(Orientation(225.0)),
        LightSensor(Orientation(270.0)),
        LightSensor(Orientation(315.0)),
      )
      val defaultPolicy: Policy = Policy.AlwaysForward
    end Robot
  end DynamicEntity

  object Fields:

    object Simulation:
      val self: String = "simulation"
      val duration: String = "duration"
      val seed: String = "seed"

    object Environment:
      val self: String = "environment"
      val width: String = "width"
      val height: String = "height"
      val entities: String = "entities"

    object Entity:
      val id: String = "id"
      val position: String = "position"
      val x: String = "x"
      val y: String = "y"
      val orientation: String = "orientation"

      object StaticEntity:

        object Obstacle:
          val self: String = "obstacle"
          val width: String = "width"
          val height: String = "height"

        object Light:
          val self: String = "light"
          val radius: String = "radius"
          val illuminationRadius: String = "illuminationRadius"
          val intensity: String = "intensity"
          val attenuation: String = "attenuation"

      object DynamicEntity:

        object Robot:
          val self: String = "robot"
          val radius: String = "radius"
          val speed: String = "speed"
          val withProximitySensors: String = "withProximitySensors"
          val withLightSensors: String = "withLightSensors"
          val behavior: String = "behavior"
    end Entity
  end Fields
end SimulationDefaults

1	package io.github.srs.utils
2
3	import java.util.UUID
4
5	import io.github.srs.model.entity.*
6	import io.github.srs.model.entity.dynamicentity.Robot
7	import io.github.srs.model.entity.dynamicentity.actuator.{ Actuator, Wheel as ActWheel }
8	import io.github.srs.model.entity.dynamicentity.sensor.{ ProximitySensor, Sensor }
9	import io.github.srs.model.environment.Environment
10	import io.github.srs.model.entity.dynamicentity.sensor.LightSensor
11	import io.github.srs.model.entity.dynamicentity.behavior.Policy
12
13	object SimulationDefaults:
UNCOV 14		×
15	val duration: Option[Long] = None
16	val seed: Option[Long] = None	8✔
17	val debugMode = true	4✔
18		3✔
19	object SimulationConfig:
UNCOV 20	val maxCount = 10_000	×
UNCOV 21		×
22	object Environment:
23	val defaultWidth: Int = 10	3✔
24	val minWidth: Int = 1	8✔
25	val maxWidth: Int = 500	4✔
26		4✔
27	val defaultHeight: Int = 10
28	val minHeight: Int = 1	4✔
29	val maxHeight: Int = 500	4✔
30		4✔
31	val defaultEntities: Set[Entity] = Set.empty
32	val maxEntities: Int = 200	10✔
33		5✔
34	object StaticEntity:
UNCOV 35		×
36	object Obstacle:
37	val defaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000000")	3✔
38	val defaultPosition: Point2D = (0.0, 0.0)	13✔
39	val defaultOrientation: Orientation = Orientation(0.0)	8✔
40	val defaultWidth: Double = 1.0	10✔
41	val defaultHeight: Double = 1.0	4✔
42		5✔
43	object Light:
44	val defaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000001")	3✔
45	val defaultPosition: Point2D = (0.0, 0.0)	13✔
46	val defaultOrientation: Orientation = Orientation(0.0)	8✔
47	val defaultRadius: Double = 0.05	10✔
48	val defaultIlluminationRadius: Double = 1.0	4✔
49	val defaultIntensity: Double = 1.0	4✔
50	val defaultAttenuation: Double = 1.0	4✔
51		5✔
52	object Boundary:
53	val defaultPosition: Point2D = (0.0, 0.0)	3✔
54	val defaultOrientation: Orientation = Orientation(0.0)	12✔
55	val defaultWidth: Double = 1.0	10✔
56	val defaultHeight: Double = 1.0	4✔
57		5✔
58	end StaticEntity
59
60	object DynamicEntity:
61	val zeroSpeed: Double = 0.0	3✔
62	val minSpeed: Double = -1.0	8✔
63	val maxSpeed: Double = 1.0	4✔
64	val halfSpeed: Double = 0.5	4✔
65		5✔
66	object Actuator:
UNCOV 67		×
68	object DifferentialWheelMotor:
69	val defaultWheel: ActWheel = ActWheel()	3✔
70		22✔
71	object Wheel:
72	val defaultSpeed: Double = 1.0	3✔
73	val defaultShape: ShapeType.Circle = ShapeType.Circle(0.1)	8✔
74		7✔
75	object Sensor:
UNCOV 76		×
77	object ProximitySensor:
UNCOV 78	val defaultOffset: Double = 0.0	×
79	val defaultDistance: Double = 0.5	×
UNCOV 80	val defaultRange: Double = 5.0	×
81		×
82	object Robot:
83	import SimulationDefaults.DynamicEntity.Robot.defaultShape.radius	3✔
84
85	val defaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000002")
86	val defaultPosition: Point2D = (0.0, 0.0)	13✔
87	val defaultShape: ShapeType.Circle = ShapeType.Circle(0.5)	8✔
88	val defaultOrientation: Orientation = Orientation(0.0)	6✔
89	val defaultActuators: Seq[Actuator[Robot]] = Seq.empty	10✔
90	val defaultSensors: Vector[Sensor[Robot, Environment]] = Vector.empty	11✔
91		10✔
92	val stdProximitySensors: Vector[Sensor[Robot, Environment]] = Vector(
93	ProximitySensor(Orientation(0.0), radius),	6✔
94	ProximitySensor(Orientation(45.0), radius),	23✔
95	ProximitySensor(Orientation(90.0), radius),	15✔
96	ProximitySensor(Orientation(135.0), radius),	15✔
97	ProximitySensor(Orientation(180.0), radius),	15✔
98	ProximitySensor(Orientation(225.0), radius),	15✔
99	ProximitySensor(Orientation(270.0), radius),	15✔
100	ProximitySensor(Orientation(315.0), radius),	15✔
101	)	15✔
102		3✔
103	val stdLightSensors: Vector[Sensor[Robot, Environment]] = Vector(
104	LightSensor(Orientation(0.0)),	6✔
105	LightSensor(Orientation(45.0)),	20✔
106	LightSensor(Orientation(90.0)),	12✔
107	LightSensor(Orientation(135.0)),	12✔
108	LightSensor(Orientation(180.0)),	12✔
109	LightSensor(Orientation(225.0)),	12✔
110	LightSensor(Orientation(270.0)),	12✔
111	LightSensor(Orientation(315.0)),	12✔
112	)	12✔
113	val defaultPolicy: Policy = Policy.AlwaysForward	3✔
114	end Robot	5✔
115	end DynamicEntity
116
117	object Fields:
UNCOV 118		×
119	object Simulation:
120	val self: String = "simulation"	3✔
121	val duration: String = "duration"	8✔
122	val seed: String = "seed"	4✔
123		5✔
124	object Environment:
125	val self: String = "environment"	3✔
126	val width: String = "width"	8✔
127	val height: String = "height"	4✔
128	val entities: String = "entities"	4✔
129		5✔
130	object Entity:
131	val id: String = "id"	3✔
132	val position: String = "position"	8✔
133	val x: String = "x"	4✔
134	val y: String = "y"	2✔
135	val orientation: String = "orientation"	2✔
136		5✔
137	object StaticEntity:
UNCOV 138		×
139	object Obstacle:
140	val self: String = "obstacle"	3✔
141	val width: String = "width"	8✔
142	val height: String = "height"	4✔
143		5✔
144	object Light:
145	val self: String = "light"	3✔
146	val radius: String = "radius"	8✔
147	val illuminationRadius: String = "illuminationRadius"	4✔
148	val intensity: String = "intensity"	4✔
149	val attenuation: String = "attenuation"	4✔
150		5✔
151	object DynamicEntity:
UNCOV 152		×
153	object Robot:
154	val self: String = "robot"	3✔
155	val radius: String = "radius"	8✔
156	val speed: String = "speed"	4✔
157	val withProximitySensors: String = "withProximitySensors"	4✔
158	val withLightSensors: String = "withLightSensors"	4✔
159	val behavior: String = "behavior"	4✔
160	end Entity	5✔
161	end Fields
162	end SimulationDefaults

Scala-Robotics-Simulator / PPS-22-srs / #345

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