#387

Committed 26 Aug 2025 06:11PM UTC coverage: 45.024% (-0.6%) from 45.667%

Build # #387

Build Type

Pull #63

github

Committed by

davidcohenDC

Commit Message

feat(simulation): add TimePanel for displaying simulation timing information

Pull Request Pull Request #63: refactor: enhance simulation gui

Run Details

13 of 69 new or added lines in 8 files covered. (18.84%)

3 existing lines in 3 files now uncovered.

1113 of 2472 relevant lines covered (45.02%)

6.22 hits per line

Source File
Press 'n' to go to next uncovered line, 'b' for previous

55.05

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

package io.github.srs.utils

import java.awt.Color
import java.util.UUID

import scala.concurrent.duration.{ DurationInt, FiniteDuration }

import cats.effect.unsafe.implicits.global
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.behavior.Policy
import io.github.srs.model.entity.dynamicentity.sensor.*
import io.github.srs.model.environment.Environment
import cats.effect.IO
import io.github.srs.model.illumination.LightMap
import io.github.srs.model.illumination.engine.SquidLibFovEngine
import io.github.srs.model.illumination.model.ScaleFactor

object SimulationDefaults:

  object UI:

    object SimulationViewConstants:
      val IdDisplayLength = 8
      val PositionDecimals = 2
      val OrientationDecimals = 1
      val DefaultRobotInfo = "Select a robot to view details"
      val StopConfirmMessage = "Are you sure you want to stop the simulation?\n\nClick Yes to stop, No to continue."
      val StopConfirmTitle = "Stop Simulation"

    object Colors:
      @inline private def rgb(r: Int, g: Int, b: Int) = new java.awt.Color(r, g, b)
      @inline private def rgba(r: Int, g: Int, b: Int, a: Int) = new java.awt.Color(r, g, b, a)
      def backgroundLight: Color = rgb(250, 250, 250)
      def backgroundMedium: Color = rgb(245, 245, 245)
      def border: Color = rgb(200, 200, 200)
      def text: Color = rgb(60, 60, 60)
      def obstacleGradientStart: Color = rgb(120, 120, 120)
      def obstacleGradientEnd: Color = rgb(80, 80, 80)
      def obstacleBorder: Color = rgb(60, 60, 60)
      def robotDefault: Color = rgb(100, 150, 255)
      def robotDefaultDark: Color = rgb(50, 100, 200)
      def robotDefaultBorder: Color = rgb(0, 50, 150)
      def robotSelected: Color = rgb(255, 100, 100)
      def robotSelectedDark: Color = rgb(200, 50, 50)
      def robotSelectedBorder: Color = rgb(150, 0, 0)
      def robotShadow: Color = rgba(0, 0, 0, 50)
      def lightCenter: Color = rgba(255, 255, 200, 200)
      def lightEdge: Color = rgba(255, 140, 0, 80)
      def buttonHover: Color = rgb(230, 230, 230)
      def buttonPressed: Color = rgb(220, 235, 250)
      def timeDisplay: Color = rgb(50, 50, 50)

    end Colors

    object Fonts:
      val fontSize = 12
      val titleSize = 12

    object Spacing:
      val standardPadding = 10
      val innerPadding = 5
      val componentGap = 10

    object Dimensions:
      val buttonWidth = 150
      val buttonHeight = 30
      val robotListWidth = 250
      val robotListHeight = 300
      val infoAreaRows = 6
      val infoAreaColumns = 25

    object Strokes:
      val obstacleStroke = 1.5f
      val robotShadowStroke = 3f

    object Icons:
      val play = "\u25B6"
      val stop = "\u23F9"
      val pause = "\u23F8"
  end UI

  val duration: Option[Long] = None
  val seed: Option[Long] = None
  val debugMode = true
  val binarySearchDurationThreshold: FiniteDuration = 1.microseconds
  val lightMap: LightMap[IO] = LightMap.create[IO](SquidLibFovEngine, ScaleFactor.default).unsafeRunSync()

  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 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 selectionStroke: Float = 3f
      val normalStroke: Float = 1f
      val arrowLengthFactor: Double = 0.6
      val arrowWidthFactor: Double = 0.3
      val minArrowWidth: Float = 2f

      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

  object Layout:
    val splitPaneWeight: Double = 0.8
    val splitPaneLocation: Double = 0.8

  object Frame:
    val minWidth = 800
    val minHeight = 600
    val prefWidth = 1200
    val prefHeight = 720
    val splitWeight = 0.8
    val canvasBorder: Int = 2

  object Canvas:
    val borderSize = 2
    val minZoom = 0.2
    val maxZoom = 5.0
    val zoomInFactor = 1.2
    val zoomOutFactor = 0.8
    val desiredLabelPixels = 40.0
    val gridStrokeWidth = 1f
    val labelDesiredPx: Double = 40.0
    val minLightSize: Int = 12
    val lightStroke: Float = 2f
    val labelBottomOffset: Int = 4
    val labelYOffset: Int = 12
    val labelXOffset: Int = 2

  object ControlsPanel:
    val startStopButtonText: String = "Start/Stop"

end SimulationDefaults

1	package io.github.srs.utils
2
3	import java.awt.Color
4	import java.util.UUID
5
6	import scala.concurrent.duration.{ DurationInt, FiniteDuration }
7
8	import cats.effect.unsafe.implicits.global
9	import io.github.srs.model.entity.*
10	import io.github.srs.model.entity.dynamicentity.Robot
11	import io.github.srs.model.entity.dynamicentity.actuator.{ Actuator, Wheel as ActWheel }
12	import io.github.srs.model.entity.dynamicentity.behavior.Policy
13	import io.github.srs.model.entity.dynamicentity.sensor.*
14	import io.github.srs.model.environment.Environment
15	import cats.effect.IO
16	import io.github.srs.model.illumination.LightMap
17	import io.github.srs.model.illumination.engine.SquidLibFovEngine
18	import io.github.srs.model.illumination.model.ScaleFactor
19
20	object SimulationDefaults:
21		×
22	object UI:
23		×
24	object SimulationViewConstants:
25	val IdDisplayLength = 8	×
26	val PositionDecimals = 2	×
27	val OrientationDecimals = 1	×
28	val DefaultRobotInfo = "Select a robot to view details"	×
29	val StopConfirmMessage = "Are you sure you want to stop the simulation?\n\nClick Yes to stop, No to continue."	×
30	val StopConfirmTitle = "Stop Simulation"	×
31		×
32	object Colors:
33	@inline private def rgb(r: Int, g: Int, b: Int) = new java.awt.Color(r, g, b)	×
34	@inline private def rgba(r: Int, g: Int, b: Int, a: Int) = new java.awt.Color(r, g, b, a)	×
35	def backgroundLight: Color = rgb(250, 250, 250)	×
36	def backgroundMedium: Color = rgb(245, 245, 245)	×
37	def border: Color = rgb(200, 200, 200)	×
38	def text: Color = rgb(60, 60, 60)	×
39	def obstacleGradientStart: Color = rgb(120, 120, 120)	×
40	def obstacleGradientEnd: Color = rgb(80, 80, 80)	×
41	def obstacleBorder: Color = rgb(60, 60, 60)	×
42	def robotDefault: Color = rgb(100, 150, 255)	×
43	def robotDefaultDark: Color = rgb(50, 100, 200)	×
44	def robotDefaultBorder: Color = rgb(0, 50, 150)	×
45	def robotSelected: Color = rgb(255, 100, 100)	×
46	def robotSelectedDark: Color = rgb(200, 50, 50)	×
47	def robotSelectedBorder: Color = rgb(150, 0, 0)	×
48	def robotShadow: Color = rgba(0, 0, 0, 50)	×
49	def lightCenter: Color = rgba(255, 255, 200, 200)	×
50	def lightEdge: Color = rgba(255, 140, 0, 80)	×
51	def buttonHover: Color = rgb(230, 230, 230)	×
52	def buttonPressed: Color = rgb(220, 235, 250)	×
NEW 53	def timeDisplay: Color = rgb(50, 50, 50)	×
UNCOV 54		×
55	end Colors
56
57	object Fonts:
NEW 58	val fontSize = 12	×
59	val titleSize = 12	×
60		×
61	object Spacing:
62	val standardPadding = 10	×
63	val innerPadding = 5	×
64	val componentGap = 10	×
65		×
66	object Dimensions:
67	val buttonWidth = 150	×
68	val buttonHeight = 30	×
69	val robotListWidth = 250	×
70	val robotListHeight = 300	×
71	val infoAreaRows = 6	×
72	val infoAreaColumns = 25	×
73		×
74	object Strokes:
75	val obstacleStroke = 1.5f	×
76	val robotShadowStroke = 3f	×
77		×
78	object Icons:
79	val play = "\u25B6"	×
80	val stop = "\u23F9"	×
81	val pause = "\u23F8"	×
82	end UI	×
83
84	val duration: Option[Long] = None
85	val seed: Option[Long] = None	8✔
86	val debugMode = true	4✔
87	val binarySearchDurationThreshold: FiniteDuration = 1.microseconds	2✔
88	val lightMap: LightMap[IO] = LightMap.create[IO](SquidLibFovEngine, ScaleFactor.default).unsafeRunSync()	12✔
89		36✔
90	object SimulationConfig:
91	val maxCount = 10_000	×
92		×
93	object Environment:
94	val defaultWidth: Int = 10	3✔
95	val minWidth: Int = 1	8✔
96	val maxWidth: Int = 500	4✔
97		4✔
98	val defaultHeight: Int = 10
99	val minHeight: Int = 1	4✔
100	val maxHeight: Int = 500	4✔
101		4✔
102	val defaultEntities: Set[Entity] = Set.empty
103	val maxEntities: Int = 200	10✔
104		5✔
105	object StaticEntity:
106		×
107	object Obstacle:
108	val defaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000000")	3✔
109	val defaultPosition: Point2D = (0.0, 0.0)	13✔
110	val defaultOrientation: Orientation = Orientation(0.0)	8✔
111	val defaultWidth: Double = 1.0	10✔
112	val defaultHeight: Double = 1.0	4✔
113		5✔
114	object Light:
115	val defaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000001")	3✔
116	val defaultPosition: Point2D = (0.0, 0.0)	13✔
117	val defaultOrientation: Orientation = Orientation(0.0)	8✔
118	val defaultRadius: Double = 0.05	10✔
119	val defaultIlluminationRadius: Double = 1.0	4✔
120	val defaultIntensity: Double = 1.0	4✔
121	val defaultAttenuation: Double = 1.0	4✔
122		5✔
123	object Boundary:
124	val defaultPosition: Point2D = (0.0, 0.0)	3✔
125	val defaultOrientation: Orientation = Orientation(0.0)	12✔
126	val defaultWidth: Double = 1.0	10✔
127	val defaultHeight: Double = 1.0	4✔
128		5✔
129	end StaticEntity
130
131	object DynamicEntity:
132	val zeroSpeed: Double = 0.0	3✔
133	val minSpeed: Double = -1.0	8✔
134	val maxSpeed: Double = 1.0	4✔
135	val halfSpeed: Double = 0.5	4✔
136		5✔
137	object Actuator:
138		×
139	object DifferentialWheelMotor:
140	val defaultWheel: ActWheel = ActWheel()	3✔
141		22✔
142	object Wheel:
143	val defaultSpeed: Double = 1.0	3✔
144	val defaultShape: ShapeType.Circle = ShapeType.Circle(0.1)	8✔
145		7✔
146	object Sensor:
147		×
148	object ProximitySensor:
149	val defaultOffset: Double = 0.0	×
150	val defaultRange: Double = 5.0	×
151		×
152	object Robot:
153	import SimulationDefaults.DynamicEntity.Robot.defaultShape.radius	3✔
154
155	val defaultMaxRetries = 10
156		6✔
157	val defaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000002")
158	val defaultPosition: Point2D = (0.0, 0.0)	9✔
159	val defaultShape: ShapeType.Circle = ShapeType.Circle(0.5)	8✔
160	val defaultOrientation: Orientation = Orientation(0.0)	6✔
161	val defaultActuators: Seq[Actuator[Robot]] = Seq.empty	10✔
162	val defaultSensors: Vector[Sensor[Robot, Environment]] = Vector.empty	11✔
163		10✔
164	val selectionStroke: Float = 3f
165	val normalStroke: Float = 1f	2✔
166	val arrowLengthFactor: Double = 0.6	2✔
167	val arrowWidthFactor: Double = 0.3	2✔
168	val minArrowWidth: Float = 2f	2✔
169		2✔
170	val stdProximitySensors: Vector[Sensor[Robot, Environment]] = Vector(
171	ProximitySensor(Orientation(0.0), radius),	6✔
172	ProximitySensor(Orientation(45.0), radius),	23✔
173	ProximitySensor(Orientation(90.0), radius),	15✔
174	ProximitySensor(Orientation(135.0), radius),	15✔
175	ProximitySensor(Orientation(180.0), radius),	15✔
176	ProximitySensor(Orientation(225.0), radius),	15✔
177	ProximitySensor(Orientation(270.0), radius),	15✔
178	ProximitySensor(Orientation(315.0), radius),	15✔
179	)	15✔
180		3✔
181	val stdLightSensors: Vector[Sensor[Robot, Environment]] = Vector(
182	LightSensor(Orientation(0.0)),	6✔
183	LightSensor(Orientation(45.0)),	20✔
184	LightSensor(Orientation(90.0)),	12✔
185	LightSensor(Orientation(135.0)),	12✔
186	LightSensor(Orientation(180.0)),	12✔
187	LightSensor(Orientation(225.0)),	12✔
188	LightSensor(Orientation(270.0)),	12✔
189	LightSensor(Orientation(315.0)),	12✔
190	)	12✔
191	val defaultPolicy: Policy = Policy.AlwaysForward	3✔
192	end Robot	5✔
193	end DynamicEntity
194
195	object Fields:
196		×
197	object Simulation:
198	val self: String = "simulation"	3✔
199	val duration: String = "duration"	8✔
200	val seed: String = "seed"	4✔
201		5✔
202	object Environment:
203	val self: String = "environment"	3✔
204	val width: String = "width"	8✔
205	val height: String = "height"	4✔
206	val entities: String = "entities"	4✔
207		5✔
208	object Entity:
209	val id: String = "id"	3✔
210	val position: String = "position"	8✔
211	val x: String = "x"	4✔
212	val y: String = "y"	2✔
213	val orientation: String = "orientation"	2✔
214		5✔
215	object StaticEntity:
216		×
217	object Obstacle:
218	val self: String = "obstacle"	3✔
219	val width: String = "width"	8✔
220	val height: String = "height"	4✔
221		5✔
222	object Light:
223	val self: String = "light"	3✔
224	val radius: String = "radius"	8✔
225	val illuminationRadius: String = "illuminationRadius"	4✔
226	val intensity: String = "intensity"	4✔
227	val attenuation: String = "attenuation"	4✔
228		5✔
229	object DynamicEntity:
230		×
231	object Robot:
232	val self: String = "robot"	3✔
233	val radius: String = "radius"	8✔
234	val speed: String = "speed"	4✔
235	val withProximitySensors: String = "withProximitySensors"	4✔
236	val withLightSensors: String = "withLightSensors"	4✔
237	val behavior: String = "behavior"	4✔
238	end Entity	5✔
239	end Fields
240
241	object Layout:
242	val splitPaneWeight: Double = 0.8	×
243	val splitPaneLocation: Double = 0.8	×
244		×
245	object Frame:
246	val minWidth = 800	×
247	val minHeight = 600	×
248	val prefWidth = 1200	×
249	val prefHeight = 720	×
250	val splitWeight = 0.8	×
251	val canvasBorder: Int = 2	×
252		×
253	object Canvas:
254	val borderSize = 2	×
255	val minZoom = 0.2	×
256	val maxZoom = 5.0	×
257	val zoomInFactor = 1.2	×
258	val zoomOutFactor = 0.8	×
259	val desiredLabelPixels = 40.0	×
260	val gridStrokeWidth = 1f	×
261	val labelDesiredPx: Double = 40.0	×
262	val minLightSize: Int = 12	×
263	val lightStroke: Float = 2f	×
264	val labelBottomOffset: Int = 4	×
265	val labelYOffset: Int = 12	×
266	val labelXOffset: Int = 2	×
267		×
268	object ControlsPanel:
269	val startStopButtonText: String = "Start/Stop"	×
270		×
271	end SimulationDefaults

Scala-Robotics-Simulator / PPS-22-srs / #387

Source File Press 'n' to go to next uncovered line, 'b' for previous

Source File
Press 'n' to go to next uncovered line, 'b' for previous