#392

Committed 27 Aug 2025 08:44AM UTC coverage: 45.321% (-0.4%) from 45.671%

Build # #392

Build Type

Pull #58

github

Committed by

GiuliaNardicchia

Commit Message

refactor: remove unused methods and imports from SimulationDSLTest

Pull Request Pull Request #58: feat: command line interface and dsl simulation

Run Details

57 of 268 new or added lines in 15 files covered. (21.27%)

7 existing lines in 5 files now uncovered.

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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.behavior.BehaviorContext
import io.github.srs.model.entity.dynamicentity.sensor.Sensor.senseAll
import io.github.srs.model.logic.*
import io.github.srs.utils.EqualityGivenInstances.given_CanEqual_Event_Event
import io.github.srs.utils.SimulationDefaults.debugMode

/**
 * 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[S]

    /**
     * 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[S]

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

        /**
         * 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[S] =
          def loop(state: S): IO[S] =
            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)
              result <-
                if stopCondition(newState) then IO.pure(newState)
                else
                  for
                    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
                    res <- loop(nextState)
                  yield res
            yield result

          loop(s)

        end simulationLoop

        /**
         * 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)
                ctx = BehaviorContext(sensorReadings, state.simulationRNG)
                (action, rng) = robot.behavior.run[IO](ctx)
                _ <- queue.offer(Event.Random(rng))
              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(state.dt))
          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.behavior.BehaviorContext
16	import io.github.srs.model.entity.dynamicentity.sensor.Sensor.senseAll
17	import io.github.srs.model.logic.*
18	import io.github.srs.utils.EqualityGivenInstances.given_CanEqual_Event_Event
19	import io.github.srs.utils.SimulationDefaults.debugMode
20
21	/**
22	* Module that defines the controller logic for the Scala Robotics Simulator.
23	*/
24	object ControllerModule:
25		×
26	/**
27	* Controller trait that defines the interface for the controller.
28	*
29	* @tparam S
30	* the type of the state, which must extend [[ModelModule.State]].
31	*/
32	trait Controller[S <: ModelModule.State]:
33	/**	×
34	* Starts the controller with the initial state.
35	*
36	* @param initialState
37	* the initial state of the simulation.
38	*/
39	def start(initialState: S): IO[S]
40
41	/**
42	* Runs the simulation loop, processing events from the queue and updating the state.
43	*
44	* @param s
45	* the current state of the simulation.
46	* @param queue
47	* a concurrent queue that holds events to be processed.
48	* @return
49	* an [[IO]] task that completes when the simulation loop ends.
50	*/
51	def simulationLoop(s: S, queue: Queue[IO, Event]): IO[S]
52
53	end Controller
54
55	/**
56	* Provider trait that defines the interface for providing a controller.
57	*
58	* @tparam S
59	* the type of the state, which must extend [[ModelModule.State]].
60	*/
61	trait Provider[S <: ModelModule.State]:
62	val controller: Controller[S]
63
64	/**
65	* Defines the dependencies required by the controller module. In particular, it requires a
66	* [[io.github.srs.view.ViewModule.Provider]] and a [[io.github.srs.model.ModelModule.Provider]].
67	*/
68	type Requirements[S <: ModelModule.State] =
69	io.github.srs.view.ViewModule.Provider[S] & io.github.srs.model.ModelModule.Provider[S]
70
71	/**
72	* Component trait that defines the interface for creating a controller.
73	*
74	* @tparam S
75	* the type of the simulation state, which must extend [[ModelModule.State]].
76	*/
77	trait Component[S <: ModelModule.State]:
78	context: Requirements[S] =>	×
79
80	object Controller:
81		×
82	/**
83	* Creates a controller instance.
84	*
85	* @return
86	* a [[Controller]] instance.
87	*/
88	def apply()(using bundle: LogicsBundle[S]): Controller[S] = new ControllerImpl
89		×
90	/**
91	* Private controller implementation that delegates the simulation loop to the provided model and view.
92	*/
93	private class ControllerImpl(using bundle: LogicsBundle[S]) extends Controller[S]:
94		×
95	/**
96	* Starts the controller with the initial state.
97	* @param initialState
98	* the initial state of the simulation.
99	* @return
100	* an [[IO]] task that completes when the controller is started.
101	*/
102	override def start(initialState: S): IO[S] =
103	for	×
104	queueSim <- Queue.unbounded[IO, Event]	×
105	_ <- context.view.init(queueSim)	×
106	_ <- runBehavior(queueSim, initialState)
107	result <- simulationLoop(initialState, queueSim)
108	yield result
UNCOV 109		×
110	/**
111	* Runs the simulation loop, processing events from the queue and updating the state.
112	* @param s
113	* the current state of the simulation.
114	* @param queue
115	* a concurrent queue that holds events to be processed.
116	* @return
117	* an [[IO]] task that completes when the simulation loop ends.
118	*/
119	override def simulationLoop(s: S, queue: Queue[IO, Event]): IO[S] =
NEW 120	def loop(state: S): IO[S] =	×
121	for	×
122	startTime <- Clock[IO].realTime.map(_.toMillis)	×
123	_ <- runBehavior(queue, state).whenA(state.simulationStatus == RUNNING)	×
124	events <- queue.tryTakeN(Some(50))	×
125	newState <- handleEvents(state, events)
126	_ <- context.view.render(newState)
127	result <-
128	if stopCondition(newState) then IO.pure(newState)
129	else
130	for
131	nextState <- nextStep(newState, startTime)
132	endTime <- Clock[IO].realTime.map(_.toMillis)
133	_ <- if debugMode then IO.println(s"Simulation loop took ${endTime - startTime} ms") else IO.unit
134	res <- loop(nextState)
135	yield res
136	yield result
UNCOV 137		×
138	loop(s)
139		×
140	end simulationLoop
141
142	/**
143	* Checks if the simulation should stop based on the current state.
144	* @param state
145	* the current state of the simulation.
146	* @return
147	* a boolean indicating whether the simulation should stop.
148	*/
149	private def stopCondition(state: S): Boolean =
150	state.simulationStatus == STOPPED \|\|	×
151	elapsedTimeReached(state.simulationTime, state.elapsedTime)	×
152		×
153	/**
154	* Checks if the elapsed time has reached the maximum simulation time.
155	* @param simulationTime
156	* the maximum simulation time, if defined.
157	* @param elapsedTime
158	* the elapsed time since the simulation started.
159	* @return
160	* a boolean indicating whether the elapsed time has reached the maximum simulation time.
161	*/
162	private def elapsedTimeReached(simulationTime: Option[FiniteDuration], elapsedTime: FiniteDuration): Boolean =
163	simulationTime.exists(max => elapsedTime >= max)	×
164		×
165	/**
166	* Processes the next step in the simulation based on the current state and start time.
167	* @param state
168	* the current state of the simulation.
169	* @param startTime
170	* the start time of the current simulation step in milliseconds.
171	* @return
172	* the next state of the simulation wrapped in an [[IO]] task.
173	*/
174	private def nextStep(state: S, startTime: Long): IO[S] =
175	state.simulationStatus match	×
176	case RUNNING =>	×
177	tickEvents(startTime, state.simulationSpeed.tickSpeed, state)	×
178		×
179	case PAUSED =>
180	IO.sleep(50.millis).as(state)	×
181		×
182	case STOPPED =>
183	IO.pure(state)	×
184		×
185	/**
186	* Runs the behavior of all robots in the environment and collects their action proposals.
187	* @param queue
188	* the queue to which the proposals will be offered through the [[Event.RobotActionProposals]] event.
189	* @param state
190	* the current state of the simulation.
191	* @return
192	* an [[IO]] task that completes when the behavior has been run.
193	*/
194	private def runBehavior(queue: Queue[IO, Event], state: S): IO[Unit] =
195	for	×
196	proposals <- state.environment.entities.collect { case robot: Robot => robot }.toList.parTraverse { robot =>	×
197	for	×
198	sensorReadings <- robot.senseAll[IO](state.environment)
199	ctx = BehaviorContext(sensorReadings, state.simulationRNG)
200	(action, rng) = robot.behavior.run[IO](ctx)
201	_ <- queue.offer(Event.Random(rng))
202	yield RobotProposal(robot, action)
203	}
204	_ <- queue.offer(Event.RobotActionProposals(proposals))	×
205	yield ()
206		×
207	/**
208	* Processes tick events, adjusting the tick speed based on the elapsed time since the last tick.
209	* @param start
210	* the start time of the current tick in milliseconds.
211	* @param tickSpeed
212	* the speed of the tick in [[FiniteDuration]].
213	* @param state
214	* the current state of the simulation.
215	* @return
216	* the next state of the simulation wrapped in an [[IO]] task.
217	*/
218	private def tickEvents(start: Long, tickSpeed: FiniteDuration, state: S): IO[S] =
219	for	×
220	now <- Clock[IO].realTime.map(_.toMillis)	×
221	timeToNextTick = tickSpeed.toMillis - (now - start)	×
222	adjustedTickSpeed = if timeToNextTick > 0 then timeToNextTick else 0L
223	sleepTime = FiniteDuration(adjustedTickSpeed, MILLISECONDS)
224	_ <- IO.sleep(sleepTime)	×
225	tick <- handleEvent(state, Event.Tick(state.dt))
226	yield tick
227		×
228	/**
229	* Handles a sequence of events, processing them in the order they were received.
230	* @param state
231	* the current state of the simulation.
232	* @param events
233	* the sequence of events to be processed.
234	* @return
235	* the final state of the simulation after processing all events, wrapped in an [[IO]] task.
236	*/
237	private def handleEvents(state: S, events: Seq[Event]): IO[S] =
238	for finalState <- events.foldLeft(IO.pure(state)) { (taskState, event) =>	×
239	for	×
240	currentState <- taskState
241	newState <- handleEvent(currentState, event)
242	yield newState
243	}
244	yield finalState	×
245		×
246	/**
247	* Handles a single event and updates the state accordingly.
248	* @param state
249	* the current state of the simulation.
250	* @param event
251	* the event to be processed.
252	* @return
253	* the updated state of the simulation after processing the event, wrapped in an [[IO]] task.
254	*/
255	private def handleEvent(state: S, event: Event): IO[S] =
256	event match	×
257	case Event.Tick(deltaTime) => context.model.tick(state, deltaTime)	×
258	case Event.TickSpeed(speed) => context.model.tickSpeed(state, speed)	×
259	case Event.Random(rng) => context.model.random(state, rng)	×
260	case Event.Pause => context.model.pause(state)	×
261	case Event.Resume => context.model.resume(state)	×
262	case Event.Stop => context.model.stop(state)	×
263	case Event.RobotActionProposals(proposals) => context.model.handleRobotActionsProposals(state, proposals)	×
264		×
265	end ControllerImpl
266
267	end Controller
268
269	end Component
270
271	/**
272	* Interface trait that combines the provider and component traits for the controller module.
273	*
274	* @tparam S
275	* the type of the simulation state, which must extend [[ModelModule.State]].
276	*/
277	trait Interface[S <: ModelModule.State] extends Provider[S] with Component[S]:
278	self: Requirements[S] =>
279	end ControllerModule

Scala-Robotics-Simulator / PPS-22-srs / #392

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