#410

Committed 28 Aug 2025 12:05AM UTC coverage: 45.097%. First build

Build # #410

Build Type

Pull #67

github

Committed by

davidcohenDC

Commit Message

feat(alwaysForwardBehavior): add AlwaysForwardBehavior with decision logic

Pull Request Pull Request #67: feat(obstacleAvoidance): implement obstacle avoidance behavior in policy

Run Details

32 of 48 new or added lines in 8 files covered. (66.67%)

1136 of 2519 relevant lines covered (45.1%)

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Source File
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58.14

/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 Behaviors:

    object ObstacleAvoidance:
      val SafeDist: Double = 0.85
      val CriticalDist: Double = 0.35
      val MinForward: Double = 0.20
      val PivotSpeedFactor: Double = 0.80
      val ResultantEps: Double = 1e-9
      val SideDeltaEps: Double = 1e-3
      val FallbackLeftDeg: Double = 90.0

    object RandomWalk:
      val MinForwardFactor: Double = 0.35
      val MaxForwardExtra: Double = 0.35
      val MinTurnOfBase: Double = 0.35
      val MaxTurnOfBase: Double = 1.15
      val TurnExponent: Double = 1.2
      val PivotBoostProb: Double = 0.20
      val PivotBoostAbs: Double = 0.15

  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 Behaviors:
NEW 23		×
24	object ObstacleAvoidance:
25	val SafeDist: Double = 0.85	3✔
26	val CriticalDist: Double = 0.35	8✔
27	val MinForward: Double = 0.20	4✔
28	val PivotSpeedFactor: Double = 0.80	2✔
29	val ResultantEps: Double = 1e-9	4✔
30	val SideDeltaEps: Double = 1e-3	4✔
31	val FallbackLeftDeg: Double = 90.0	4✔
32		5✔
33	object RandomWalk:
34	val MinForwardFactor: Double = 0.35	3✔
35	val MaxForwardExtra: Double = 0.35	8✔
36	val MinTurnOfBase: Double = 0.35	4✔
37	val MaxTurnOfBase: Double = 1.15	4✔
38	val TurnExponent: Double = 1.2	4✔
39	val PivotBoostProb: Double = 0.20	4✔
40	val PivotBoostAbs: Double = 0.15	4✔
41		5✔
42	object UI:
43		×
44	object SimulationViewConstants:
45	val IdDisplayLength = 8	×
46	val PositionDecimals = 2	×
47	val OrientationDecimals = 1	×
48	val DefaultRobotInfo = "Select a robot to view details"	×
49	val StopConfirmMessage = "Are you sure you want to stop the simulation?\n\nClick Yes to stop, No to continue."	×
50	val StopConfirmTitle = "Stop Simulation"	×
51		×
52	object Colors:
53	@inline private def rgb(r: Int, g: Int, b: Int) = new java.awt.Color(r, g, b)	×
54	@inline private def rgba(r: Int, g: Int, b: Int, a: Int) = new java.awt.Color(r, g, b, a)	×
55	def backgroundLight: Color = rgb(250, 250, 250)	×
56	def backgroundMedium: Color = rgb(245, 245, 245)	×
57	def border: Color = rgb(200, 200, 200)	×
58	def text: Color = rgb(60, 60, 60)	×
59	def obstacleGradientStart: Color = rgb(120, 120, 120)	×
60	def obstacleGradientEnd: Color = rgb(80, 80, 80)	×
61	def obstacleBorder: Color = rgb(60, 60, 60)	×
62	def robotDefault: Color = rgb(100, 150, 255)	×
63	def robotDefaultDark: Color = rgb(50, 100, 200)	×
64	def robotDefaultBorder: Color = rgb(0, 50, 150)	×
65	def robotSelected: Color = rgb(255, 100, 100)	×
66	def robotSelectedDark: Color = rgb(200, 50, 50)	×
67	def robotSelectedBorder: Color = rgb(150, 0, 0)	×
68	def robotShadow: Color = rgba(0, 0, 0, 50)	×
69	def lightCenter: Color = rgba(255, 255, 200, 200)	×
70	def lightEdge: Color = rgba(255, 140, 0, 80)	×
71	def buttonHover: Color = rgb(230, 230, 230)	×
72	def buttonPressed: Color = rgb(220, 235, 250)	×
73	def timeDisplay: Color = rgb(50, 50, 50)	×
74		×
75	end Colors
76
77	object Fonts:
78	val fontSize = 12	×
79	val titleSize = 12	×
80		×
81	object Spacing:
82	val standardPadding = 10	×
83	val innerPadding = 5	×
84	val componentGap = 10	×
85		×
86	object Dimensions:
87	val buttonWidth = 150	×
88	val buttonHeight = 30	×
89	val robotListWidth = 250	×
90	val robotListHeight = 300	×
91	val infoAreaRows = 6	×
92	val infoAreaColumns = 25	×
93		×
94	object Strokes:
95	val obstacleStroke = 1.5f	×
96	val robotShadowStroke = 3f	×
97		×
98	object Icons:
99	val play = "\u25B6"	×
100	val stop = "\u23F9"	×
101	val pause = "\u23F8"	×
102	end UI	×
103
104	val duration: Option[Long] = None
105	val seed: Option[Long] = None	8✔
106	val debugMode = true	4✔
107	val binarySearchDurationThreshold: FiniteDuration = 1.microseconds	2✔
108	val lightMap: LightMap[IO] = LightMap.create[IO](SquidLibFovEngine, ScaleFactor.default).unsafeRunSync()	12✔
109		36✔
110	object SimulationConfig:
111	val maxCount = 10_000	×
112		×
113	object Environment:
114	val defaultWidth: Int = 10	3✔
115	val minWidth: Int = 1	8✔
116	val maxWidth: Int = 500	4✔
117		4✔
118	val defaultHeight: Int = 10
119	val minHeight: Int = 1	4✔
120	val maxHeight: Int = 500	4✔
121		4✔
122	val defaultEntities: Set[Entity] = Set.empty
123	val maxEntities: Int = 200	10✔
124		5✔
125	object StaticEntity:
126		×
127	object Obstacle:
128	val defaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000000")	3✔
129	val defaultPosition: Point2D = (0.0, 0.0)	13✔
130	val defaultOrientation: Orientation = Orientation(0.0)	8✔
131	val defaultWidth: Double = 1.0	10✔
132	val defaultHeight: Double = 1.0	4✔
133		5✔
134	object Light:
135	val defaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000001")	3✔
136	val defaultPosition: Point2D = (0.0, 0.0)	13✔
137	val defaultOrientation: Orientation = Orientation(0.0)	8✔
138	val defaultRadius: Double = 0.05	10✔
139	val defaultIlluminationRadius: Double = 1.0	4✔
140	val defaultIntensity: Double = 1.0	4✔
141	val defaultAttenuation: Double = 1.0	4✔
142		5✔
143	object Boundary:
144	val defaultPosition: Point2D = (0.0, 0.0)	3✔
145	val defaultOrientation: Orientation = Orientation(0.0)	12✔
146	val defaultWidth: Double = 1.0	10✔
147	val defaultHeight: Double = 1.0	4✔
148		5✔
149	end StaticEntity
150
151	object DynamicEntity:
152	val zeroSpeed: Double = 0.0	3✔
153	val MinSpeed: Double = -1.0	8✔
154	val MaxSpeed: Double = 1.0	4✔
155	val halfSpeed: Double = 0.5	4✔
156		5✔
157	object Actuator:
158		×
159	object DifferentialWheelMotor:
160	val defaultWheel: ActWheel = ActWheel()	3✔
161		22✔
162	object Wheel:
163	val defaultSpeed: Double = 1.0	3✔
164	val defaultShape: ShapeType.Circle = ShapeType.Circle(0.1)	8✔
165		7✔
166	object Sensor:
167		×
168	object ProximitySensor:
169	val defaultOffset: Double = 0.0	×
170	val defaultRange: Double = 5.0	×
171		×
172	object Robot:
173	import SimulationDefaults.DynamicEntity.Robot.defaultShape.radius	3✔
174
175	val defaultMaxRetries = 10
176		6✔
177	val defaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000002")
178	val defaultPosition: Point2D = (0.0, 0.0)	9✔
179	val defaultShape: ShapeType.Circle = ShapeType.Circle(0.5)	8✔
180	val defaultOrientation: Orientation = Orientation(0.0)	6✔
181	val defaultActuators: Seq[Actuator[Robot]] = Seq.empty	10✔
182	val defaultSensors: Vector[Sensor[Robot, Environment]] = Vector.empty	11✔
183		10✔
184	val selectionStroke: Float = 3f
185	val normalStroke: Float = 1f	2✔
186	val arrowLengthFactor: Double = 0.6	2✔
187	val arrowWidthFactor: Double = 0.3	2✔
188	val minArrowWidth: Float = 2f	2✔
189		2✔
190	val stdProximitySensors: Vector[Sensor[Robot, Environment]] = Vector(
191	ProximitySensor(Orientation(0.0), radius),	6✔
192	ProximitySensor(Orientation(45.0), radius),	23✔
193	ProximitySensor(Orientation(90.0), radius),	15✔
194	ProximitySensor(Orientation(135.0), radius),	15✔
195	ProximitySensor(Orientation(180.0), radius),	15✔
196	ProximitySensor(Orientation(225.0), radius),	15✔
197	ProximitySensor(Orientation(270.0), radius),	15✔
198	ProximitySensor(Orientation(315.0), radius),	15✔
199	)	15✔
200		3✔
201	val stdLightSensors: Vector[Sensor[Robot, Environment]] = Vector(
202	LightSensor(Orientation(0.0)),	6✔
203	LightSensor(Orientation(45.0)),	20✔
204	LightSensor(Orientation(90.0)),	12✔
205	LightSensor(Orientation(135.0)),	12✔
206	LightSensor(Orientation(180.0)),	12✔
207	LightSensor(Orientation(225.0)),	12✔
208	LightSensor(Orientation(270.0)),	12✔
209	LightSensor(Orientation(315.0)),	12✔
210	)	12✔
211	val defaultPolicy: Policy = Policy.AlwaysForward	3✔
212	end Robot	5✔
213	end DynamicEntity
214
215	object Fields:
216		×
217	object Simulation:
218	val self: String = "simulation"	3✔
219	val duration: String = "duration"	8✔
220	val seed: String = "seed"	4✔
221		5✔
222	object Environment:
223	val self: String = "environment"	3✔
224	val width: String = "width"	8✔
225	val height: String = "height"	4✔
226	val entities: String = "entities"	4✔
227		5✔
228	object Entity:
229	val id: String = "id"	3✔
230	val position: String = "position"	8✔
231	val x: String = "x"	4✔
232	val y: String = "y"	2✔
233	val orientation: String = "orientation"	2✔
234		5✔
235	object StaticEntity:
236		×
237	object Obstacle:
238	val self: String = "obstacle"	3✔
239	val width: String = "width"	8✔
240	val height: String = "height"	4✔
241		5✔
242	object Light:
243	val self: String = "light"	3✔
244	val radius: String = "radius"	8✔
245	val illuminationRadius: String = "illuminationRadius"	4✔
246	val intensity: String = "intensity"	4✔
247	val attenuation: String = "attenuation"	4✔
248		5✔
249	object DynamicEntity:
250		×
251	object Robot:
252	val self: String = "robot"	3✔
253	val radius: String = "radius"	8✔
254	val speed: String = "speed"	4✔
255	val withProximitySensors: String = "withProximitySensors"	4✔
256	val withLightSensors: String = "withLightSensors"	4✔
257	val behavior: String = "behavior"	4✔
258	end Entity	5✔
259	end Fields
260
261	object Layout:
262	val splitPaneWeight: Double = 0.8	×
263	val splitPaneLocation: Double = 0.8	×
264		×
265	object Frame:
266	val minWidth = 800	×
267	val minHeight = 600	×
268	val prefWidth = 1200	×
269	val prefHeight = 720	×
270	val splitWeight = 0.8	×
271	val canvasBorder: Int = 2	×
272		×
273	object Canvas:
274	val borderSize = 2	×
275	val minZoom = 0.2	×
276	val maxZoom = 5.0	×
277	val zoomInFactor = 1.2	×
278	val zoomOutFactor = 0.8	×
279	val desiredLabelPixels = 40.0	×
280	val gridStrokeWidth = 1f	×
281	val labelDesiredPx: Double = 40.0	×
282	val minLightSize: Int = 12	×
283	val lightStroke: Float = 2f	×
284	val labelBottomOffset: Int = 4	×
285	val labelYOffset: Int = 12	×
286	val labelXOffset: Int = 2	×
287		×
288	object ControlsPanel:
289	val startStopButtonText: String = "Start/Stop"	×
290		×
291	end SimulationDefaults

Scala-Robotics-Simulator / PPS-22-srs / #410

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