#415

Committed 28 Aug 2025 07:57AM UTC coverage: 46.066% (+0.5%) from 45.534%

Build # #415

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push

github

Committed by

srs-mate

Commit Message

refactor: fix rebase conflict

Run Details

1 of 10 new or added lines in 2 files covered. (10.0%)

66 existing lines in 6 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.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.update(state)(using s => bundle.tickLogic.tick(s, deltaTime))
            case Event.TickSpeed(speed) =>
              context.model.update(state)(using s => bundle.tickLogic.tickSpeed(s, speed))
            case Event.Random(rng) =>
              context.model.update(state)(using s => bundle.randomLogic.random(s, rng))
            case Event.Pause =>
              context.model.update(state)(using s => bundle.pauseLogic.pause(s))
            case Event.Resume =>
              context.model.update(state)(using s => bundle.resumeLogic.resume(s))
            case Event.Stop =>
              context.model.update(state)(using s => bundle.stopLogic.stop(s))
            case Event.RobotActionProposals(proposals) =>
              context.model.update(state)(using s => bundle.robotActionsLogic.handleRobotActionsProposals(s, 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.entity.dynamicentity.Robot
14	import io.github.srs.model.entity.dynamicentity.behavior.BehaviorContext
15	import io.github.srs.model.entity.dynamicentity.sensor.Sensor.senseAll
16	import io.github.srs.model.logic.*
17	import io.github.srs.utils.EqualityGivenInstances.given_CanEqual_Event_Event
18	import io.github.srs.utils.SimulationDefaults.debugMode
19
20	/**
21	* Module that defines the controller logic for the Scala Robotics Simulator.
22	*/
23	object ControllerModule:
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]:
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[S]
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[S]
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]:
77	context: Requirements[S] =>	×
78
79	object Controller:
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
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]:
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[S] =
102	for	×
103	queueSim <- Queue.unbounded[IO, Event]	×
104	_ <- context.view.init(queueSim)	×
105	_ <- runBehavior(queueSim, initialState)
106	result <- simulationLoop(initialState, queueSim)
107	yield result
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[S] =
119	def loop(state: S): IO[S] =	×
120	for	×
121	startTime <- Clock[IO].realTime.map(_.toMillis)	×
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	result <-
127	if stopCondition(newState) then IO.pure(newState)
128	else
129	for
130	nextState <- nextStep(newState, startTime)
131	endTime <- Clock[IO].realTime.map(_.toMillis)
132	_ <- if debugMode then IO.println(s"Simulation loop took ${endTime - startTime} ms") else IO.unit
133	res <- loop(nextState)
134	yield res
135	yield result
UNCOV 136		×
137	loop(s)
UNCOV 138		×
139	end simulationLoop
140
141	/**
142	* Checks if the simulation should stop based on the current state.
143	* @param state
144	* the current state of the simulation.
145	* @return
146	* a boolean indicating whether the simulation should stop.
147	*/
148	private def stopCondition(state: S): Boolean =
UNCOV 149	state.simulationStatus == STOPPED \|\|	×
UNCOV 150	elapsedTimeReached(state.simulationTime, state.elapsedTime)	×
UNCOV 151		×
152	/**
153	* Checks if the elapsed time has reached the maximum simulation time.
154	* @param simulationTime
155	* the maximum simulation time, if defined.
156	* @param elapsedTime
157	* the elapsed time since the simulation started.
158	* @return
159	* a boolean indicating whether the elapsed time has reached the maximum simulation time.
160	*/
161	private def elapsedTimeReached(simulationTime: Option[FiniteDuration], elapsedTime: FiniteDuration): Boolean =
UNCOV 162	simulationTime.exists(max => elapsedTime >= max)	×
UNCOV 163		×
164	/**
165	* Processes the next step in the simulation based on the current state and start time.
166	* @param state
167	* the current state of the simulation.
168	* @param startTime
169	* the start time of the current simulation step in milliseconds.
170	* @return
171	* the next state of the simulation wrapped in an [[IO]] task.
172	*/
173	private def nextStep(state: S, startTime: Long): IO[S] =
UNCOV 174	state.simulationStatus match	×
175	case RUNNING =>	×
176	tickEvents(startTime, state.simulationSpeed.tickSpeed, state)	×
UNCOV 177		×
178	case PAUSED =>
UNCOV 179	IO.sleep(50.millis).as(state)	×
UNCOV 180		×
181	case STOPPED =>
UNCOV 182	IO.pure(state)	×
UNCOV 183		×
184	/**
185	* Runs the behavior of all robots in the environment and collects their action proposals.
186	* @param queue
187	* the queue to which the proposals will be offered through the [[Event.RobotActionProposals]] event.
188	* @param state
189	* the current state of the simulation.
190	* @return
191	* an [[IO]] task that completes when the behavior has been run.
192	*/
193	private def runBehavior(queue: Queue[IO, Event], state: S): IO[Unit] =
UNCOV 194	for	×
UNCOV 195	proposals <- state.environment.entities.collect { case robot: Robot => robot }.toList.parTraverse { robot =>	×
196	for	×
197	sensorReadings <- robot.senseAll[IO](state.environment)
198	ctx = BehaviorContext(sensorReadings, state.simulationRNG)
199	(action, rng) = robot.behavior.run[IO](ctx)
200	_ <- queue.offer(Event.Random(rng))
201	yield RobotProposal(robot, action)
202	}
UNCOV 203	_ <- queue.offer(Event.RobotActionProposals(proposals))	×
204	yield ()
UNCOV 205		×
206	/**
207	* Processes tick events, adjusting the tick speed based on the elapsed time since the last tick.
208	* @param start
209	* the start time of the current tick in milliseconds.
210	* @param tickSpeed
211	* the speed of the tick in [[FiniteDuration]].
212	* @param state
213	* the current state of the simulation.
214	* @return
215	* the next state of the simulation wrapped in an [[IO]] task.
216	*/
217	private def tickEvents(start: Long, tickSpeed: FiniteDuration, state: S): IO[S] =
UNCOV 218	for	×
219	now <- Clock[IO].realTime.map(_.toMillis)	×
UNCOV 220	timeToNextTick = tickSpeed.toMillis - (now - start)	×
221	adjustedTickSpeed = if timeToNextTick > 0 then timeToNextTick else 0L
222	sleepTime = FiniteDuration(adjustedTickSpeed, MILLISECONDS)
UNCOV 223	_ <- IO.sleep(sleepTime)	×
224	tick <- handleEvent(state, Event.Tick(state.dt))
225	yield tick
UNCOV 226		×
227	/**
228	* Handles a sequence of events, processing them in the order they were received.
229	* @param state
230	* the current state of the simulation.
231	* @param events
232	* the sequence of events to be processed.
233	* @return
234	* the final state of the simulation after processing all events, wrapped in an [[IO]] task.
235	*/
236	private def handleEvents(state: S, events: Seq[Event]): IO[S] =
237	for finalState <- events.foldLeft(IO.pure(state)) { (taskState, event) =>	×
UNCOV 238	for	×
239	currentState <- taskState
240	newState <- handleEvent(currentState, event)
241	yield newState
242	}
UNCOV 243	yield finalState	×
UNCOV 244		×
245	/**
246	* Handles a single event and updates the state accordingly.
247	* @param state
248	* the current state of the simulation.
249	* @param event
250	* the event to be processed.
251	* @return
252	* the updated state of the simulation after processing the event, wrapped in an [[IO]] task.
253	*/
254	private def handleEvent(state: S, event: Event): IO[S] =
255	event match	×
256	case Event.Tick(deltaTime) =>	×
257	context.model.update(state)(using s => bundle.tickLogic.tick(s, deltaTime))	×
258	case Event.TickSpeed(speed) =>	×
259	context.model.update(state)(using s => bundle.tickLogic.tickSpeed(s, speed))	×
260	case Event.Random(rng) =>	×
261	context.model.update(state)(using s => bundle.randomLogic.random(s, rng))	×
262	case Event.Pause =>	×
263	context.model.update(state)(using s => bundle.pauseLogic.pause(s))	×
UNCOV 264	case Event.Resume =>	×
UNCOV 265	context.model.update(state)(using s => bundle.resumeLogic.resume(s))	×
UNCOV 266	case Event.Stop =>	×
UNCOV 267	context.model.update(state)(using s => bundle.stopLogic.stop(s))	×
UNCOV 268	case Event.RobotActionProposals(proposals) =>	×
UNCOV 269	context.model.update(state)(using s => bundle.robotActionsLogic.handleRobotActionsProposals(s, proposals))	×
UNCOV 270		×
271	end ControllerImpl
272
273	end Controller
274
275	end Component
276
277	/**
278	* Interface trait that combines the provider and component traits for the controller module.
279	*
280	* @tparam S
281	* the type of the simulation state, which must extend [[ModelModule.State]].
282	*/
283	trait Interface[S <: ModelModule.State] extends Provider[S] with Component[S]:
284	self: Requirements[S] =>
285	end ControllerModule

Scala-Robotics-Simulator / PPS-22-srs / #415

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