#643

Committed 14 Oct 2025 09:07AM UTC coverage: 78.136% (+0.005%) from 78.131%

Build # #643

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github

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GiuliaNardicchia

Commit Message

chore: fix logging issues

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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 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.*
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
import cats.implicits.*
import io.github.srs.utils.random.RNG
import com.typesafe.scalalogging.Logger

/**
 * 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 [[io.github.srs.model.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 [[cats.effect.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 [[io.github.srs.model.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 [[io.github.srs.model.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]:

        private val logger = Logger(getClass.getName)

        /**
         * 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(None)
              newState <- handleEvents(state, events)
              _ <- context.view.render(newState)
              result <- handleStopCondition(newState) match
                case Some(io) => io
                case None =>
                  for
                    nextState <- nextStep(newState, startTime)
                    endTime <- Clock[IO].realTime.map(_.toMillis)
                    _ <- IO.blocking(logger.debug(s"Simulation loop took ${endTime - startTime} ms"))
                    res <- loop(nextState)
                  yield res
            yield result

          loop(s)

        end simulationLoop

        private def handleStopCondition(state: S): Option[IO[S]] =
          state.simulationStatus match
            case STOPPED =>
              Some(context.view.close() *> IO.pure(state))
            case ELAPSED_TIME =>
              Some(context.view.timeElapsed(state) *> IO.pure(state))
            case _ =>
              None

        /**
         * 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 _ =>
              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] =
          val robots = state.environment.entities.collect { case r: Robot => r }.sortBy(_.id.toString)

          def process(remaining: List[Robot], rng: RNG, acc: List[RobotProposal]): IO[(List[RobotProposal], RNG)] =
            remaining match
              case Nil => IO.pure((acc.reverse, rng))
              case robot :: tail =>
                for
                  sensorReadings <- robot.senseAll[IO](state.environment)
                  ctx = BehaviorContext(sensorReadings, rng)
                  (action, newRng) = robot.behavior.run[IO](ctx)
                  _ <- queue.offer(Event.Random(newRng))
                  next <- process(tail, newRng, RobotProposal(robot, action) :: acc)
                yield next

          for
            (proposals, _) <- process(robots, state.simulationRNG, Nil)
            _ <- 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 [[io.github.srs.model.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 io.github.srs.controller.message.RobotProposal
9	import io.github.srs.controller.protocol.Event
10	import io.github.srs.model.*
11	import io.github.srs.model.SimulationConfig.SimulationStatus.*
12	import io.github.srs.model.entity.dynamicentity.Robot
13	import io.github.srs.model.entity.dynamicentity.behavior.BehaviorContext
14	import io.github.srs.model.entity.dynamicentity.sensor.Sensor.senseAll
15	import io.github.srs.model.logic.*
16	import io.github.srs.utils.EqualityGivenInstances.given
17	import cats.implicits.*
18	import io.github.srs.utils.random.RNG
19	import com.typesafe.scalalogging.Logger
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 [[io.github.srs.model.ModelModule.State]].
31	*/
32	trait Controller[S <: ModelModule.State]:
33	/**	5✔
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 [[cats.effect.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 [[io.github.srs.model.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 [[io.github.srs.model.ModelModule.State]].
76	*/
77	trait Component[S <: ModelModule.State]:
78	context: Requirements[S] =>	1✔
79
80	object Controller:
81		5✔
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		9✔
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		8✔
95	private val logger = Logger(getClass.getName)
96		8✔
97	/**
98	* Starts the controller with the initial state.
99	* @param initialState
100	* the initial state of the simulation.
101	* @return
102	* an [[IO]] task that completes when the controller is started.
103	*/
104	override def start(initialState: S): IO[S] =
105	for
106	queueSim <- Queue.unbounded[IO, Event]
107	_ <- context.view.init(queueSim)	10✔
108	_ <- runBehavior(queueSim, initialState)
109	result <- simulationLoop(initialState, queueSim)
110	yield result
111
112	/**
113	* Runs the simulation loop, processing events from the queue and updating the state.
114	* @param s
115	* the current state of the simulation.
116	* @param queue
117	* a concurrent queue that holds events to be processed.
118	* @return
119	* an [[IO]] task that completes when the simulation loop ends.
120	*/
121	override def simulationLoop(s: S, queue: Queue[IO, Event]): IO[S] =
122	def loop(state: S): IO[S] =
123	for
124	startTime <- Clock[IO].realTime.map(_.toMillis)
125	_ <- runBehavior(queue, state).whenA(state.simulationStatus == RUNNING)	15✔
126	events <- queue.tryTakeN(None)	5✔
127	newState <- handleEvents(state, events)
128	_ <- context.view.render(newState)
129	result <- handleStopCondition(newState) match
130	case Some(io) => io
131	case None =>
132	for
133	nextState <- nextStep(newState, startTime)
134	endTime <- Clock[IO].realTime.map(_.toMillis)
135	_ <- IO.blocking(logger.debug(s"Simulation loop took ${endTime - startTime} ms"))
136	res <- loop(nextState)	8✔
137	yield res
138	yield result
139
140	loop(s)
141		5✔
142	end simulationLoop
143
144	private def handleStopCondition(state: S): Option[IO[S]] =
145	state.simulationStatus match
146	case STOPPED =>	3✔
147	Some(context.view.close() *> IO.pure(state))	8✔
148	case ELAPSED_TIME =>	×
149	Some(context.view.timeElapsed(state) *> IO.pure(state))	8✔
150	case _ =>	14✔
151	None
152		2✔
153	/**
154	* Processes the next step in the simulation based on the current state and start time.
155	* @param state
156	* the current state of the simulation.
157	* @param startTime
158	* the start time of the current simulation step in milliseconds.
159	* @return
160	* the next state of the simulation wrapped in an [[IO]] task.
161	*/
162	private def nextStep(state: S, startTime: Long): IO[S] =
163	state.simulationStatus match
164	case RUNNING =>	3✔
165	tickEvents(startTime, state.simulationSpeed.tickSpeed, state)	8✔
166		8✔
167	case PAUSED =>
168	IO.sleep(50.millis).as(state)	×
169		×
170	case _ =>
171	IO.pure(state)
172		×
173	/**
174	* Runs the behavior of all robots in the environment and collects their action proposals.
175	* @param queue
176	* the queue to which the proposals will be offered through the [[Event.RobotActionProposals]] event.
177	* @param state
178	* the current state of the simulation.
179	* @return
180	* an [[IO]] task that completes when the behavior has been run.
181	*/
182	private def runBehavior(queue: Queue[IO, Event], state: S): IO[Unit] =
183	val robots = state.environment.entities.collect { case r: Robot => r }.sortBy(_.id.toString)
184		35✔
185	def process(remaining: List[Robot], rng: RNG, acc: List[RobotProposal]): IO[(List[RobotProposal], RNG)] =
186	remaining match
187	case Nil => IO.pure((acc.reverse, rng))	2✔
188	case robot :: tail =>	17✔
189	for	15✔
190	sensorReadings <- robot.senseAll[IO](state.environment)
191	ctx = BehaviorContext(sensorReadings, rng)	24✔
192	(action, newRng) = robot.behavior.run[IO](ctx)
193	_ <- queue.offer(Event.Random(newRng))
194	next <- process(tail, newRng, RobotProposal(robot, action) :: acc)
195	yield next
196		×
197	for
198	(proposals, _) <- process(robots, state.simulationRNG, Nil)
199	_ <- queue.offer(Event.RobotActionProposals(proposals))	12✔
200	yield ()
201
202	/**
203	* Processes tick events, adjusting the tick speed based on the elapsed time since the last tick.
204	* @param start
205	* the start time of the current tick in milliseconds.
206	* @param tickSpeed
207	* the speed of the tick in [[FiniteDuration]].
208	* @param state
209	* the current state of the simulation.
210	* @return
211	* the next state of the simulation wrapped in an [[IO]] task.
212	*/
213	private def tickEvents(start: Long, tickSpeed: FiniteDuration, state: S): IO[S] =
214	for
215	now <- Clock[IO].realTime.map(_.toMillis)
216	timeToNextTick = tickSpeed.toMillis - (now - start)	18✔
217	adjustedTickSpeed = if timeToNextTick > 0 then timeToNextTick else 0L
218	sleepTime = FiniteDuration(adjustedTickSpeed, MILLISECONDS)
219	_ <- IO.sleep(sleepTime)
220	tick <- handleEvent(state, Event.Tick(state.dt))
221	yield tick
222
223	/**
224	* Handles a sequence of events, processing them in the order they were received.
225	* @param state
226	* the current state of the simulation.
227	* @param events
228	* the sequence of events to be processed.
229	* @return
230	* the final state of the simulation after processing all events, wrapped in an [[IO]] task.
231	*/
232	private def handleEvents(state: S, events: Seq[Event]): IO[S] =
233	for finalState <- events.foldLeft(IO.pure(state)) { (taskState, event) =>
234	for	11✔
235	currentState <- taskState
236	newState <- handleEvent(currentState, event)
237	yield newState
238	}
239	yield finalState
240
241	/**
242	* Handles a single event and updates the state accordingly.
243	* @param state
244	* the current state of the simulation.
245	* @param event
246	* the event to be processed.
247	* @return
248	* the updated state of the simulation after processing the event, wrapped in an [[IO]] task.
249	*/
250	private def handleEvent(state: S, event: Event): IO[S] =
251	event match
252	case Event.Tick(deltaTime) =>	2✔
253	context.model.update(state)(using s => bundle.tickLogic.tick(s, deltaTime))	15✔
254	case Event.TickSpeed(speed) =>	11✔
255	context.model.update(state)(using s => bundle.tickLogic.tickSpeed(s, speed))	3✔
256	case Event.Random(rng) =>	×
257	context.model.update(state)(using s => bundle.randomLogic.random(s, rng))	15✔
258	case Event.Pause =>	11✔
259	context.model.update(state)(using s => bundle.pauseLogic.pause(s))	8✔
260	case Event.Resume =>	×
261	context.model.update(state)(using s => bundle.resumeLogic.resume(s))	8✔
262	case Event.Stop =>	×
263	context.model.update(state)(using s => bundle.stopLogic.stop(s))	8✔
264	case Event.RobotActionProposals(proposals) =>	×
265	context.model.update(state)(using s => bundle.robotActionsLogic.handleRobotActionsProposals(s, proposals))	15✔
266		13✔
267	end ControllerImpl
268
269	end Controller
270
271	end Component
272
273	/**
274	* Interface trait that combines the provider and component traits for the controller module.
275	*
276	* @tparam S
277	* the type of the simulation state, which must extend [[io.github.srs.model.ModelModule.State]].
278	*/
279	trait Interface[S <: ModelModule.State] extends Provider[S] with Component[S]:
280	self: Requirements[S] =>
281	end ControllerModule

Scala-Robotics-Simulator / PPS-22-srs / #643

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