#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%)

8.09 hits per line

Source File
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88.79

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

package io.github.srs.utils

import java.util.UUID

import scala.concurrent.duration.DurationInt

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
  val binarySearchDurationThreshold = 1.microseconds

  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 defaultMaxRetries = 10

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

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

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