#495

Committed 01 Sep 2025 09:21PM UTC coverage: 54.596% (+8.1%) from 46.492%

Build # #495

Build Type

Pull #75

github

Committed by

GiuliaNardicchia

Commit Message

refactor: enhance GridDSL to support new robot behaviors and update GridDSLTest

Pull Request Pull Request #75: refactor: dsl simulation

Run Details

79 of 80 new or added lines in 7 files covered. (98.75%)

18 existing lines in 2 files now uncovered.

1562 of 2861 relevant lines covered (54.6%)

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/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 Illumination:

    val GridThreshold = 10_000
    val LightThreshold = 2

    object Occlusion:
      val FullRotation: Double = 90.0
      val AlmostZero: Double = 1e-6

  object Behaviors:

    object Prioritized:
      val DangerDist: Double = 0.40
      val LightThreshold: Double = 0.05

    object Phototaxis:
      val Epsilon: Double = 1e-9
      val MinForwardBias: Double = 0.4
      val TurnGain: Double = 1.0

    object ObstacleAvoidance:
      val CruiseSpeed: Double = 0.35
      val WarnSpeed: Double = 0.15
      val WarnTurnSpeed: Double = 0.55
      val BackBoost: Double = 0.20
      val SafeDist: Double = 0.5
      val CriticalDist: Double = 0.35

    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

  end Behaviors

  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 = false
  val BinarySearchDurationThreshold: FiniteDuration = 1.microseconds

  /**
   * Alternative light map configurations for different use cases
   */
  object LightMapConfigs:

    /**
     * Default light map with caching enabled Uses scale factor 10 for a good balance of performance and precision
     */
    lazy val BaseLightMap: LightMap[IO] =
      LightMap
        .create[IO](ScaleFactor.default, SquidLibFovEngine)
        .unsafeRunSync()

    /**
     * High-precision light map for detailed rendering Uses scale factor 100 for maximum precision.
     *
     * @return
     *   A [[LightMap]] configured for high precision, or the default light map if the scale factor is invalid.
     */
    def HPLightMap: LightMap[IO] =
      ScaleFactor
        .validate(80)
        .map { scale =>
          LightMap
            .create[IO](scale, SquidLibFovEngine)
            .unsafeRunSync()
        }
        .getOrElse(BaseLightMap)

    /**
     * Fast light map for real-time simulation Uses scale factor 5 for maximum performance.
     *
     * @return
     *   A [[LightMap]] configured for fast computation, or the default light map if the scale factor is invalid.
     */
    def fastLightMap: LightMap[IO] =
      ScaleFactor
        .validate(10)
        .map { scale =>
          LightMap
            .create[IO](scale, SquidLibFovEngine)
            .unsafeRunSync()
        }
        .getOrElse(BaseLightMap)

    /**
     * Custom light map with specific scale factor Curried for better composition.
     *
     * @param scaleFactor
     *   The desired scale factor (cells per meter).
     * @return
     *   A [[LightMap]] configured with the specified scale factor, or the default light map if the scale factor is
     *   invalid.
     */
    def withScale(scaleFactor: Int): LightMap[IO] =
      ScaleFactor
        .validate(scaleFactor)
        .map { scale =>
          LightMap
            .create[IO](scale, SquidLibFovEngine)
            .unsafeRunSync()
        }
        .getOrElse(BaseLightMap)

  end LightMapConfigs

  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)
          val MinSpeed: Double = -1.0
          val MaxSpeed: Double = 1.0

    object Sensor:

      object ProximitySensor:
        val DefaultOffset: Double = 0.0
        val DefaultRange: Double = 1.0

    object Robot:

      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(0.25)
      val DefaultOrientation: Orientation = Orientation(0.0)
      val DefaultActuators: Seq[Actuator[Robot]] = Seq.empty
      val DefaultSensors: Vector[Sensor[Robot, Environment]] = Vector.empty
      val MinRadius: Double = 0.01
      val MaxRadius: Double = 0.5

      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)),
        ProximitySensor(Orientation(45.0)),
        ProximitySensor(Orientation(90.0)),
        ProximitySensor(Orientation(135.0)),
        ProximitySensor(Orientation(180.0)),
        ProximitySensor(Orientation(225.0)),
        ProximitySensor(Orientation(270.0)),
        ProximitySensor(Orientation(315.0)),
      )

      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

    val LabelStepSequence: List[Int] = List(1, 2, 5)
    val LabelScaleBase: Int = 10
    val DiameterFactor: Double = 2.0

    object Sensors:
      val LineStrokeWidth: Float = 1.0f
      val DotSize: Int = 3

    object LightFX:

      val GradientFraction0: Float = 0f
      val GradientFraction1: Float = 0.55f
      val GradientFraction2: Float = 0.9f
      val GradientFraction3: Float = 1f

      val CoreFractionStart: Float = 0f
      val CoreFractionEnd: Float = 1f

      val GradientRadiusDivisor: Float = 2f
      val MinLightPixels: Int = 1
      val PostGlowAlpha: Float = 0.015f

      val RingStrokeWidth: Float = 0.8f
      val RingStrokeMiterLimit: Float = 10f
      val RingStrokeDash1: Float = 4f
      val RingStrokeDash2: Float = 6f
      val RingStrokeDashPhase: Float = 0f

      val GradientColor: Array[Color] = Array(
        new Color(255, 200, 0, 28),
        new Color(255, 180, 0, 16),
        new Color(255, 160, 0, 6),
        new Color(255, 140, 0, 0),
      )

    end LightFX

    object Arrow:
      val TriangleVertices: Int = 3

    object RobotBody:
      val GradientFractionStart: Float = 0f
      val GradientFractionEnd: Float = 1f

  end Canvas

  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 Illumination:
23		3✔
24	val GridThreshold = 10_000
25	val LightThreshold = 2	8✔
26		5✔
27	object Occlusion:
28	val FullRotation: Double = 90.0	3✔
29	val AlmostZero: Double = 1e-6	8✔
30		5✔
31	object Behaviors:
32		×
33	object Prioritized:
34	val DangerDist: Double = 0.40	3✔
35	val LightThreshold: Double = 0.05	8✔
36		5✔
37	object Phototaxis:
38	val Epsilon: Double = 1e-9	3✔
39	val MinForwardBias: Double = 0.4	8✔
40	val TurnGain: Double = 1.0	4✔
41		5✔
42	object ObstacleAvoidance:
43	val CruiseSpeed: Double = 0.35	3✔
44	val WarnSpeed: Double = 0.15	8✔
45	val WarnTurnSpeed: Double = 0.55	4✔
46	val BackBoost: Double = 0.20	4✔
47	val SafeDist: Double = 0.5	4✔
48	val CriticalDist: Double = 0.35	4✔
49		5✔
50	object RandomWalk:
51	val MinForwardFactor: Double = 0.35	3✔
52	val MaxForwardExtra: Double = 0.35	8✔
53	val MinTurnOfBase: Double = 0.35	4✔
54	val MaxTurnOfBase: Double = 1.15	4✔
55	val TurnExponent: Double = 1.2	4✔
56	val PivotBoostProb: Double = 0.20	4✔
57	val PivotBoostAbs: Double = 0.15	4✔
58		5✔
59	end Behaviors
60
61	object UI:
62		×
63	object SimulationViewConstants:
64	val IdDisplayLength = 8	×
65	val PositionDecimals = 2	×
66	val OrientationDecimals = 1	×
67	val DefaultRobotInfo = "Select a robot to view details"	×
68	val StopConfirmMessage = "Are you sure you want to stop the simulation?\n\nClick Yes to stop, No to continue."	×
69	val StopConfirmTitle = "Stop Simulation"	×
70		×
71	object Colors:
72	@inline private def rgb(r: Int, g: Int, b: Int) = new java.awt.Color(r, g, b)	×
73	@inline private def rgba(r: Int, g: Int, b: Int, a: Int) = new java.awt.Color(r, g, b, a)	×
74	def backgroundLight: Color = rgb(250, 250, 250)	×
75	def backgroundMedium: Color = rgb(245, 245, 245)	×
76	def border: Color = rgb(200, 200, 200)	×
77	def text: Color = rgb(60, 60, 60)	×
78	def obstacleGradientStart: Color = rgb(120, 120, 120)	×
79	def obstacleGradientEnd: Color = rgb(80, 80, 80)	×
80	def obstacleBorder: Color = rgb(60, 60, 60)	×
81	def robotDefault: Color = rgb(100, 150, 255)	×
82	def robotDefaultDark: Color = rgb(50, 100, 200)	×
83	def robotDefaultBorder: Color = rgb(0, 50, 150)	×
84	def robotSelected: Color = rgb(255, 100, 100)	×
85	def robotSelectedDark: Color = rgb(200, 50, 50)	×
86	def robotSelectedBorder: Color = rgb(150, 0, 0)	×
87	def robotShadow: Color = rgba(0, 0, 0, 50)	×
88	def lightCenter: Color = rgba(255, 255, 200, 200)	×
89	def lightEdge: Color = rgba(255, 140, 0, 80)	×
90	def buttonHover: Color = rgb(230, 230, 230)	×
91	def buttonPressed: Color = rgb(220, 235, 250)	×
92	def timeDisplay: Color = rgb(50, 50, 50)	×
93		×
94	end Colors
95
96	object Fonts:
97	val FontSize = 12	×
98	val TitleSize = 12	×
99		×
100	object Spacing:
101	val StandardPadding = 10	×
102	val InnerPadding = 5	×
103	val ComponentGap = 10	×
104		×
105	object Dimensions:
106	val ButtonWidth = 150	×
107	val ButtonHeight = 30	×
108	val RobotListWidth = 250	×
109	val RobotListHeight = 300	×
110	val InfoAreaRows = 6	×
111	val InfoAreaColumns = 25	×
112		×
113	object Strokes:
114	val ObstacleStroke = 1.5f	×
115	val RobotShadowStroke = 3f	×
116		×
117	object Icons:
118	val Play = "\u25B6"	×
119	val Stop = "\u23F9"	×
120	val Pause = "\u23F8"	×
121	end UI	×
122
123	val Duration: Option[Long] = None
124	val Seed: Option[Long] = None	8✔
125	val DebugMode = false	4✔
126	val BinarySearchDurationThreshold: FiniteDuration = 1.microseconds	4✔
127		15✔
128	/**
129	* Alternative light map configurations for different use cases
130	*/
131	object LightMapConfigs:
132		3✔
133	/**
134	* Default light map with caching enabled Uses scale factor 10 for a good balance of performance and precision
135	*/
136	lazy val BaseLightMap: LightMap[IO] =
137	LightMap	11✔
138	.create[IO](ScaleFactor.default, SquidLibFovEngine)	30✔
139	.unsafeRunSync()	19✔
140		68✔
141	/**
142	* High-precision light map for detailed rendering Uses scale factor 100 for maximum precision.
143	*
144	* @return
145	* A [[LightMap]] configured for high precision, or the default light map if the scale factor is invalid.
146	*/
147	def HPLightMap: LightMap[IO] =
148	ScaleFactor	×
149	.validate(80)	×
150	.map { scale =>	×
151	LightMap	×
152	.create[IO](scale, SquidLibFovEngine)
153	.unsafeRunSync()
154	}
155	.getOrElse(BaseLightMap)	×
156		×
157	/**
158	* Fast light map for real-time simulation Uses scale factor 5 for maximum performance.
159	*
160	* @return
161	* A [[LightMap]] configured for fast computation, or the default light map if the scale factor is invalid.
162	*/
163	def fastLightMap: LightMap[IO] =
164	ScaleFactor	×
165	.validate(10)	×
166	.map { scale =>	×
167	LightMap	×
168	.create[IO](scale, SquidLibFovEngine)
169	.unsafeRunSync()
170	}
171	.getOrElse(BaseLightMap)	×
172		×
173	/**
174	* Custom light map with specific scale factor Curried for better composition.
175	*
176	* @param scaleFactor
177	* The desired scale factor (cells per meter).
178	* @return
179	* A [[LightMap]] configured with the specified scale factor, or the default light map if the scale factor is
180	* invalid.
181	*/
182	def withScale(scaleFactor: Int): LightMap[IO] =
183	ScaleFactor	×
184	.validate(scaleFactor)	×
185	.map { scale =>	×
186	LightMap	×
187	.create[IO](scale, SquidLibFovEngine)
188	.unsafeRunSync()
189	}
190	.getOrElse(BaseLightMap)	×
191		×
192	end LightMapConfigs
193
194	object SimulationConfig:
195	val MaxCount = 10_000	×
196		×
197	object Environment:
198	val DefaultWidth: Int = 10	3✔
199	val MinWidth: Int = 1	8✔
200	val MaxWidth: Int = 500	4✔
201		4✔
202	val DefaultHeight: Int = 10
203	val MinHeight: Int = 1	4✔
204	val MaxHeight: Int = 500	4✔
205		4✔
206	val DefaultEntities: Set[Entity] = Set.empty
207	val MaxEntities: Int = 200	10✔
208		5✔
209	object StaticEntity:
210		×
211	object Obstacle:
212	val DefaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000000")	3✔
213	val DefaultPosition: Point2D = (0.0, 0.0)	13✔
214	val DefaultOrientation: Orientation = Orientation(0.0)	8✔
215	val DefaultWidth: Double = 1.0	10✔
216	val DefaultHeight: Double = 1.0	4✔
217		5✔
218	object Light:
219	val DefaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000001")	3✔
220	val DefaultPosition: Point2D = (0.0, 0.0)	13✔
221	val DefaultOrientation: Orientation = Orientation(0.0)	8✔
222	val DefaultRadius: Double = 0.05	10✔
223	val DefaultIlluminationRadius: Double = 1.0	4✔
224	val DefaultIntensity: Double = 1.0	4✔
225	val DefaultAttenuation: Double = 1.0	4✔
226		5✔
227	object Boundary:
228	val DefaultPosition: Point2D = (0.0, 0.0)	3✔
229	val DefaultOrientation: Orientation = Orientation(0.0)	12✔
230	val DefaultWidth: Double = 1.0	10✔
231	val DefaultHeight: Double = 1.0	4✔
232		5✔
233	end StaticEntity
234
235	object DynamicEntity:
236	val ZeroSpeed: Double = 0.0	3✔
237	val MinSpeed: Double = -1.0	8✔
238	val MaxSpeed: Double = 1.0	4✔
239	val HalfSpeed: Double = 0.5	4✔
240		5✔
241	object Actuator:
242		×
243	object DifferentialWheelMotor:
244	val DefaultWheel: ActWheel = ActWheel()	3✔
245		22✔
246	object Wheel:
247	val DefaultSpeed: Double = 1.0	3✔
248	val DefaultShape: ShapeType.Circle = ShapeType.Circle(0.1)	8✔
249	val MinSpeed: Double = -1.0	6✔
250	val MaxSpeed: Double = 1.0	4✔
251		5✔
252	object Sensor:
253		×
254	object ProximitySensor:
255	val DefaultOffset: Double = 0.0	3✔
256	val DefaultRange: Double = 1.0	8✔
257		5✔
258	object Robot:
259		3✔
260	val DefaultMaxRetries = 10
261		8✔
262	val DefaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000002")
263	val DefaultPosition: Point2D = (0.0, 0.0)	9✔
264	val DefaultShape: ShapeType.Circle = ShapeType.Circle(0.25)	8✔
265	val DefaultOrientation: Orientation = Orientation(0.0)	6✔
266	val DefaultActuators: Seq[Actuator[Robot]] = Seq.empty	10✔
267	val DefaultSensors: Vector[Sensor[Robot, Environment]] = Vector.empty	11✔
268	val MinRadius: Double = 0.01	10✔
269	val MaxRadius: Double = 0.5	4✔
270		4✔
271	val SelectionStroke: Float = 3f
272	val NormalStroke: Float = 1f	2✔
273	val ArrowLengthFactor: Double = 0.6	2✔
274	val ArrowWidthFactor: Double = 0.3	2✔
275	val MinArrowWidth: Float = 2f	2✔
276		2✔
277	val StdProximitySensors: Vector[Sensor[Robot, Environment]] = Vector(
278	ProximitySensor(Orientation(0.0)),	6✔
279	ProximitySensor(Orientation(45.0)),	26✔
280	ProximitySensor(Orientation(90.0)),	18✔
281	ProximitySensor(Orientation(135.0)),	18✔
282	ProximitySensor(Orientation(180.0)),	18✔
283	ProximitySensor(Orientation(225.0)),	18✔
284	ProximitySensor(Orientation(270.0)),	18✔
285	ProximitySensor(Orientation(315.0)),	18✔
286	)	18✔
287		3✔
288	val StdLightSensors: Vector[Sensor[Robot, Environment]] = Vector(
289	LightSensor(Orientation(0.0)),	6✔
290	LightSensor(Orientation(45.0)),	20✔
291	LightSensor(Orientation(90.0)),	12✔
292	LightSensor(Orientation(135.0)),	12✔
293	LightSensor(Orientation(180.0)),	12✔
294	LightSensor(Orientation(225.0)),	12✔
295	LightSensor(Orientation(270.0)),	12✔
296	LightSensor(Orientation(315.0)),	12✔
297	)	12✔
298	val DefaultPolicy: Policy = Policy.AlwaysForward	3✔
299	end Robot	5✔
300	end DynamicEntity
301
302	object Fields:
303		×
304	object Simulation:
305	val Self: String = "simulation"	3✔
306	val Duration: String = "duration"	8✔
307	val Seed: String = "seed"	4✔
308		5✔
309	object Environment:
310	val Self: String = "environment"	3✔
311	val Width: String = "width"	8✔
312	val Height: String = "height"	4✔
313	val Entities: String = "entities"	4✔
314		5✔
315	object Entity:
316	val Id: String = "id"	3✔
317	val Position: String = "position"	8✔
318	val X: String = "x"	4✔
319	val Y: String = "y"	2✔
320	val Orientation: String = "orientation"	2✔
321		5✔
322	object StaticEntity:
UNCOV 323		×
324	object Obstacle:
325	val Self: String = "obstacle"	3✔
326	val Width: String = "width"	8✔
327	val Height: String = "height"	4✔
328		5✔
329	object Light:
330	val Self: String = "light"	3✔
331	val Radius: String = "radius"	8✔
332	val IlluminationRadius: String = "illuminationRadius"	4✔
333	val Intensity: String = "intensity"	4✔
334	val Attenuation: String = "attenuation"	4✔
335		5✔
336	object DynamicEntity:
UNCOV 337		×
338	object Robot:
339	val Self: String = "robot"	3✔
340	val Radius: String = "radius"	8✔
341	val Speed: String = "speed"	4✔
342	val WithProximitySensors: String = "withProximitySensors"	4✔
343	val WithLightSensors: String = "withLightSensors"	4✔
344	val Behavior: String = "behavior"	4✔
345	end Entity	5✔
346	end Fields
347
348	object Layout:
UNCOV 349	val SplitPaneWeight: Double = 0.8	×
UNCOV 350	val SplitPaneLocation: Double = 0.8	×
UNCOV 351		×
352	object Frame:
353	val MinWidth = 800	×
354	val MinHeight = 600	×
355	val PrefWidth = 1200	×
UNCOV 356	val PrefHeight = 720	×
357	val SplitWeight = 0.8	×
358	val CanvasBorder: Int = 2	×
359		×
360	object Canvas:
361	val BorderSize = 2	×
362	val MinZoom = 0.2	×
363	val MaxZoom = 5.0	×
UNCOV 364	val ZoomInFactor = 1.2	×
365	val ZoomOutFactor = 0.8	×
366	val DesiredLabelPixels = 40.0	×
367	val GridStrokeWidth = 1f	×
368	val LabelDesiredPx: Double = 40.0	×
369	val MinLightSize: Int = 12	×
370	val LightStroke: Float = 2f	×
371	val LabelBottomOffset: Int = 4	×
372	val LabelYOffset: Int = 12	×
373	val LabelXOffset: Int = 2	×
374		×
375	val LabelStepSequence: List[Int] = List(1, 2, 5)
376	val LabelScaleBase: Int = 10	×
377	val DiameterFactor: Double = 2.0	×
378		×
379	object Sensors:
380	val LineStrokeWidth: Float = 1.0f	×
381	val DotSize: Int = 3	×
382		×
383	object LightFX:
384		×
385	val GradientFraction0: Float = 0f
386	val GradientFraction1: Float = 0.55f	×
UNCOV 387	val GradientFraction2: Float = 0.9f	×
388	val GradientFraction3: Float = 1f	×
UNCOV 389		×
390	val CoreFractionStart: Float = 0f
391	val CoreFractionEnd: Float = 1f	×
392		×
393	val GradientRadiusDivisor: Float = 2f
UNCOV 394	val MinLightPixels: Int = 1	×
395	val PostGlowAlpha: Float = 0.015f	×
396		×
397	val RingStrokeWidth: Float = 0.8f
398	val RingStrokeMiterLimit: Float = 10f	×
399	val RingStrokeDash1: Float = 4f	×
400	val RingStrokeDash2: Float = 6f	×
UNCOV 401	val RingStrokeDashPhase: Float = 0f	×
402		×
403	val GradientColor: Array[Color] = Array(
404	new Color(255, 200, 0, 28),	×
405	new Color(255, 180, 0, 16),	×
406	new Color(255, 160, 0, 6),	×
UNCOV 407	new Color(255, 140, 0, 0),	×
408	)	×
409		×
410	end LightFX
411
412	object Arrow:
413	val TriangleVertices: Int = 3	×
UNCOV 414		×
415	object RobotBody:
UNCOV 416	val GradientFractionStart: Float = 0f	×
417	val GradientFractionEnd: Float = 1f	×
418		×
419	end Canvas
420
421	object ControlsPanel:
422	val StartStopButtonText: String = "Start/Stop"	×
UNCOV 423		×
424	end SimulationDefaults

Scala-Robotics-Simulator / PPS-22-srs / #495

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