#350

Committed 22 Aug 2025 03:44PM UTC coverage: 57.73% (+0.6%) from 57.15%

Build # #350

Build Type

push

github

Committed by

srs-mate

Commit Message

refactor: update robot action logic to use default max retries and binary search duration threshold

Run Details

1 of 3 new or added lines in 2 files covered. (33.33%)

85 existing lines in 10 files now uncovered.

1109 of 1921 relevant lines covered (57.73%)

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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.controller.message.RobotProposal
import io.github.srs.controller.protocol.Event
import io.github.srs.model.*
import io.github.srs.model.SimulationConfig.SimulationStatus.{ PAUSED, RUNNING, STOPPED }
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.EqualityGivenInstances.given_CanEqual_Event_Event

/**
 * 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]:

        /**
         * Starts the controller with the initial state.
         * @param initialState
         *   the initial state of the simulation.
         * @return
         *   an [[IO]] task that completes when the controller is started.
         */
        override def start(initialState: S): IO[Unit] =
          for
            queueSim <- Queue.unbounded[IO, Event]
            _ <- context.view.init(queueSim)
            _ <- runBehavior(queueSim, initialState)
            _ <- simulationLoop(initialState, queueSim)
          yield ()

        /**
         * 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.
         */
        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 == RUNNING)
              events <- queue.tryTakeN(Some(50))
              newState <- handleEvents(state, events)
              _ <- context.view.render(newState)
              nextState <- nextStep(newState, startTime)
              endTime <- Clock[IO].realTime.map(_.toMillis)
              _ <- if debugMode then IO.println(s"Simulation loop took ${endTime - startTime} ms") else IO.unit
              _ <- if stopCondition(nextState) then IO.unit else loop(nextState)
            yield ()

          loop(s)

        /**
         * Checks if the simulation should stop based on the current state.
         * @param state
         *   the current state of the simulation.
         * @return
         *   a boolean indicating whether the simulation should stop.
         */
        private def stopCondition(state: S): Boolean =
          state.simulationStatus == STOPPED ||
            elapsedTimeReached(state.simulationTime, state.elapsedTime)

        /**
         * Checks if the elapsed time has reached the maximum simulation time.
         * @param simulationTime
         *   the maximum simulation time, if defined.
         * @param elapsedTime
         *   the elapsed time since the simulation started.
         * @return
         *   a boolean indicating whether the elapsed time has reached the maximum simulation time.
         */
        private def elapsedTimeReached(simulationTime: Option[FiniteDuration], elapsedTime: FiniteDuration): Boolean =
          simulationTime.exists(max => elapsedTime >= max)

        /**
         * Processes the next step in the simulation based on the current state and start time.
         * @param state
         *   the current state of the simulation.
         * @param startTime
         *   the start time of the current simulation step in milliseconds.
         * @return
         *   the next state of the simulation wrapped in an [[IO]] task.
         */
        private def nextStep(state: S, startTime: Long): IO[S] =
          state.simulationStatus match
            case RUNNING =>
              tickEvents(startTime, state.simulationSpeed.tickSpeed, state)

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

            case STOPPED =>
              IO.pure(state)

        /**
         * Runs the behavior of all robots in the environment and collects their action proposals.
         * @param queue
         *   the queue to which the proposals will be offered through the [[Event.RobotActionProposals]] event.
         * @param state
         *   the current state of the simulation.
         * @return
         *   an [[IO]] task that completes when the behavior has been run.
         */
        private def runBehavior(queue: Queue[IO, Event], state: S): IO[Unit] =
          for
            proposals <- state.environment.entities.collect { case robot: Robot => robot }.toList.parTraverse { robot =>
              for
                sensorReadings <- robot.senseAll[IO](state.environment)
                action = robot.behavior.run(sensorReadings)
              yield RobotProposal(robot, action)
            }
            _ <- queue.offer(Event.RobotActionProposals(proposals))
          yield ()

        /**
         * Processes tick events, adjusting the tick speed based on the elapsed time since the last tick.
         * @param start
         *   the start time of the current tick in milliseconds.
         * @param tickSpeed
         *   the speed of the tick in [[FiniteDuration]].
         * @param state
         *   the current state of the simulation.
         * @return
         *   the next state of the simulation wrapped in an [[IO]] task.
         */
        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

        /**
         * Handles a sequence of events, processing them in the order they were received.
         * @param state
         *   the current state of the simulation.
         * @param events
         *   the sequence of events to be processed.
         * @return
         *   the final state of the simulation after processing all events, wrapped in an [[IO]] task.
         */
        private def handleEvents(state: S, events: Seq[Event]): IO[S] =
          for finalState <- events.foldLeft(IO.pure(state)) { (taskState, event) =>
              for
                currentState <- taskState
                newState <- handleEvent(currentState, event)
              yield newState
            }
          yield finalState

        /**
         * Handles a single event and updates the state accordingly.
         * @param state
         *   the current state of the simulation.
         * @param event
         *   the event to be processed.
         * @return
         *   the updated state of the simulation after processing the event, wrapped in an [[IO]] task.
         */
        private def handleEvent(state: S, event: Event): IO[S] =
          event match
            case Event.Tick(deltaTime) => 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.RobotActionProposals(proposals) => context.model.handleRobotActionsProposals(state, proposals)

      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.controller.message.RobotProposal
10	import io.github.srs.controller.protocol.Event
11	import io.github.srs.model.*
12	import io.github.srs.model.SimulationConfig.SimulationStatus.{ PAUSED, RUNNING, STOPPED }
13	import io.github.srs.model.UpdateLogic.*
14	import io.github.srs.model.entity.dynamicentity.Robot
15	import io.github.srs.model.entity.dynamicentity.sensor.Sensor.senseAll
16	import io.github.srs.model.logic.*
17	import io.github.srs.utils.SimulationDefaults.debugMode
18	import io.github.srs.utils.EqualityGivenInstances.given_CanEqual_Event_Event
19
20	/**
21	* Module that defines the controller logic for the Scala Robotics Simulator.
22	*/
23	object ControllerModule:
UNCOV 24		×
25	/**
26	* Controller trait that defines the interface for the controller.
27	*
28	* @tparam S
29	* the type of the state, which must extend [[ModelModule.State]].
30	*/
31	trait Controller[S <: ModelModule.State]:
UNCOV 32	/**	×
33	* Starts the controller with the initial state.
34	*
35	* @param initialState
36	* the initial state of the simulation.
37	*/
38	def start(initialState: S): IO[Unit]
39
40	/**
41	* Runs the simulation loop, processing events from the queue and updating the state.
42	*
43	* @param s
44	* the current state of the simulation.
45	* @param queue
46	* a concurrent queue that holds events to be processed.
47	* @return
48	* an [[IO]] task that completes when the simulation loop ends.
49	*/
50	def simulationLoop(s: S, queue: Queue[IO, Event]): IO[Unit]
51
52	end Controller
53
54	/**
55	* Provider trait that defines the interface for providing a controller.
56	*
57	* @tparam S
58	* the type of the state, which must extend [[ModelModule.State]].
59	*/
60	trait Provider[S <: ModelModule.State]:
61	val controller: Controller[S]
62
63	/**
64	* Defines the dependencies required by the controller module. In particular, it requires a
65	* [[io.github.srs.view.ViewModule.Provider]] and a [[io.github.srs.model.ModelModule.Provider]].
66	*/
67	type Requirements[S <: ModelModule.State] =
68	io.github.srs.view.ViewModule.Provider[S] & io.github.srs.model.ModelModule.Provider[S]
69
70	/**
71	* Component trait that defines the interface for creating a controller.
72	*
73	* @tparam S
74	* the type of the simulation state, which must extend [[ModelModule.State]].
75	*/
76	trait Component[S <: ModelModule.State]:
UNCOV 77	context: Requirements[S] =>	×
78
79	object Controller:
UNCOV 80		×
81	/**
82	* Creates a controller instance.
83	*
84	* @return
85	* a [[Controller]] instance.
86	*/
87	def apply()(using bundle: LogicsBundle[S]): Controller[S] = new ControllerImpl
UNCOV 88		×
89	/**
90	* Private controller implementation that delegates the simulation loop to the provided model and view.
91	*/
92	private class ControllerImpl(using bundle: LogicsBundle[S]) extends Controller[S]:
UNCOV 93		×
94	/**
95	* Starts the controller with the initial state.
96	* @param initialState
97	* the initial state of the simulation.
98	* @return
99	* an [[IO]] task that completes when the controller is started.
100	*/
101	override def start(initialState: S): IO[Unit] =
102	for	×
103	queueSim <- Queue.unbounded[IO, Event]	×
104	_ <- context.view.init(queueSim)	×
105	_ <- runBehavior(queueSim, initialState)
106	_ <- simulationLoop(initialState, queueSim)
107	yield ()
UNCOV 108		×
109	/**
110	* Runs the simulation loop, processing events from the queue and updating the state.
111	* @param s
112	* the current state of the simulation.
113	* @param queue
114	* a concurrent queue that holds events to be processed.
115	* @return
116	* an [[IO]] task that completes when the simulation loop ends.
117	*/
118	override def simulationLoop(s: S, queue: Queue[IO, Event]): IO[Unit] =
UNCOV 119	def loop(state: S): IO[Unit] =	×
UNCOV 120	for	×
UNCOV 121	startTime <- Clock[IO].realTime.map(_.toMillis)	×
UNCOV 122	_ <- runBehavior(queue, state).whenA(state.simulationStatus == RUNNING)	×
123	events <- queue.tryTakeN(Some(50))	×
124	newState <- handleEvents(state, events)
125	_ <- context.view.render(newState)
126	nextState <- nextStep(newState, startTime)
127	endTime <- Clock[IO].realTime.map(_.toMillis)
128	_ <- if debugMode then IO.println(s"Simulation loop took ${endTime - startTime} ms") else IO.unit
129	_ <- if stopCondition(nextState) then IO.unit else loop(nextState)
130	yield ()
131		×
132	loop(s)
UNCOV 133		×
134	/**
135	* Checks if the simulation should stop based on the current state.
136	* @param state
137	* the current state of the simulation.
138	* @return
139	* a boolean indicating whether the simulation should stop.
140	*/
141	private def stopCondition(state: S): Boolean =
142	state.simulationStatus == STOPPED \|\|	×
143	elapsedTimeReached(state.simulationTime, state.elapsedTime)	×
144		×
145	/**
146	* Checks if the elapsed time has reached the maximum simulation time.
147	* @param simulationTime
148	* the maximum simulation time, if defined.
149	* @param elapsedTime
150	* the elapsed time since the simulation started.
151	* @return
152	* a boolean indicating whether the elapsed time has reached the maximum simulation time.
153	*/
154	private def elapsedTimeReached(simulationTime: Option[FiniteDuration], elapsedTime: FiniteDuration): Boolean =
UNCOV 155	simulationTime.exists(max => elapsedTime >= max)	×
UNCOV 156		×
157	/**
158	* Processes the next step in the simulation based on the current state and start time.
159	* @param state
160	* the current state of the simulation.
161	* @param startTime
162	* the start time of the current simulation step in milliseconds.
163	* @return
164	* the next state of the simulation wrapped in an [[IO]] task.
165	*/
166	private def nextStep(state: S, startTime: Long): IO[S] =
167	state.simulationStatus match	×
UNCOV 168	case RUNNING =>	×
UNCOV 169	tickEvents(startTime, state.simulationSpeed.tickSpeed, state)	×
UNCOV 170		×
171	case PAUSED =>
172	IO.sleep(50.millis).as(state)	×
173		×
174	case STOPPED =>
175	IO.pure(state)	×
176		×
177	/**
178	* Runs the behavior of all robots in the environment and collects their action proposals.
179	* @param queue
180	* the queue to which the proposals will be offered through the [[Event.RobotActionProposals]] event.
181	* @param state
182	* the current state of the simulation.
183	* @return
184	* an [[IO]] task that completes when the behavior has been run.
185	*/
186	private def runBehavior(queue: Queue[IO, Event], state: S): IO[Unit] =
187	for	×
188	proposals <- state.environment.entities.collect { case robot: Robot => robot }.toList.parTraverse { robot =>	×
189	for	×
190	sensorReadings <- robot.senseAll[IO](state.environment)
191	action = robot.behavior.run(sensorReadings)
192	yield RobotProposal(robot, action)
193	}
UNCOV 194	_ <- queue.offer(Event.RobotActionProposals(proposals))	×
195	yield ()
UNCOV 196		×
197	/**
198	* Processes tick events, adjusting the tick speed based on the elapsed time since the last tick.
199	* @param start
200	* the start time of the current tick in milliseconds.
201	* @param tickSpeed
202	* the speed of the tick in [[FiniteDuration]].
203	* @param state
204	* the current state of the simulation.
205	* @return
206	* the next state of the simulation wrapped in an [[IO]] task.
207	*/
208	private def tickEvents(start: Long, tickSpeed: FiniteDuration, state: S): IO[S] =
UNCOV 209	for	×
UNCOV 210	now <- Clock[IO].realTime.map(_.toMillis)	×
UNCOV 211	timeToNextTick = tickSpeed.toMillis - (now - start)	×
212	adjustedTickSpeed = if timeToNextTick > 0 then timeToNextTick else 0L
213	sleepTime = FiniteDuration(adjustedTickSpeed, MILLISECONDS)
UNCOV 214	_ <- IO.sleep(sleepTime)	×
215	tick <- handleEvent(state, Event.Tick(tickSpeed))
216	yield tick
UNCOV 217		×
218	/**
219	* Handles a sequence of events, processing them in the order they were received.
220	* @param state
221	* the current state of the simulation.
222	* @param events
223	* the sequence of events to be processed.
224	* @return
225	* the final state of the simulation after processing all events, wrapped in an [[IO]] task.
226	*/
227	private def handleEvents(state: S, events: Seq[Event]): IO[S] =
UNCOV 228	for finalState <- events.foldLeft(IO.pure(state)) { (taskState, event) =>	×
UNCOV 229	for	×
230	currentState <- taskState
231	newState <- handleEvent(currentState, event)
232	yield newState
233	}
UNCOV 234	yield finalState	×
UNCOV 235		×
236	/**
237	* Handles a single event and updates the state accordingly.
238	* @param state
239	* the current state of the simulation.
240	* @param event
241	* the event to be processed.
242	* @return
243	* the updated state of the simulation after processing the event, wrapped in an [[IO]] task.
244	*/
245	private def handleEvent(state: S, event: Event): IO[S] =
UNCOV 246	event match	×
UNCOV 247	case Event.Tick(deltaTime) => context.model.tick(state, deltaTime)	×
UNCOV 248	case Event.TickSpeed(speed) => context.model.tickSpeed(state, speed)	×
UNCOV 249	case Event.Random(rng) => context.model.random(state, rng)	×
UNCOV 250	case Event.Pause => context.model.pause(state)	×
UNCOV 251	case Event.Resume => context.model.resume(state)	×
UNCOV 252	case Event.Stop => context.model.stop(state)	×
UNCOV 253	case Event.RobotActionProposals(proposals) => context.model.handleRobotActionsProposals(state, proposals)	×
UNCOV 254		×
255	end ControllerImpl
256
257	end Controller
258
259	end Component
260
261	/**
262	* Interface trait that combines the provider and component traits for the controller module.
263	*
264	* @tparam S
265	* the type of the simulation state, which must extend [[ModelModule.State]].
266	*/
267	trait Interface[S <: ModelModule.State] extends Provider[S] with Component[S]:
268	self: Requirements[S] =>
269	end ControllerModule

Scala-Robotics-Simulator / PPS-22-srs / #350

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