#699

Committed 20 Oct 2025 10:09AM UTC coverage: 75.196% (-2.7%) from 77.925%

Build # #699

Build Type

Pull #113

github

Committed by

sceredi

Commit Message

chore: fix metal only compiling protobuf project

Pull Request Pull Request #113: feat: create reinforcement learning controller

Run Details

49 of 129 new or added lines in 14 files covered. (37.98%)

6 existing lines in 3 files now uncovered.

1340 of 1782 relevant lines covered (75.2%)

8.42 hits per line

Source File
Press 'n' to go to next uncovered line, 'b' for previous

71.43

/src/main/scala/io/github/srs/controller/RLControllerModule.scala

package io.github.srs.controller

import cats.effect.unsafe.implicits.global
import io.github.srs.model.ModelModule
import io.github.srs.config.SimulationConfig
import io.github.srs.model.environment.ValidEnvironment
import io.github.srs.utils.random.RNG
import io.github.srs.model.entity.dynamicentity.DynamicEntity
import io.github.srs.model.entity.dynamicentity.action.Action
import cats.Id
import io.github.srs.model.Simulation.simulation
import io.github.srs.model.logic.RLLogicsBundle
import io.github.srs.model.entity.dynamicentity.sensor.SensorReadings
import io.github.srs.model.entity.dynamicentity.Robot
import io.github.srs.model.entity.dynamicentity.sensor.Sensor.senseAll
import io.github.srs.view.rendering.EnvironmentRenderer

object RLControllerModule:

  type Observations = Map[DynamicEntity, SensorReadings]
  type Infos = Map[DynamicEntity, String]

  /**
   * The resonse after each simulation step.
   */
  case class StepResponse private (
      observations: Observations,
      rewards: Map[DynamicEntity, Double],
      terminateds: Map[DynamicEntity, Boolean],
      truncateds: Map[DynamicEntity, Boolean],
      infos: Infos,
  )

  /**
   * Controller trait defines the interface for a Reinforcement Learning controller.
   */
  trait Controller[S <: ModelModule.BaseState]:

    type StepResponse

    /**
     * The type of the image used for rendering the simulation on the RL client.
     */
    type Image = Array[Byte]

    /**
     * The initial state of the controller.
     */
    def initialState: S

    /**
     * The current state of the controller.
     */
    def state: S

    /**
     * Initializes the controller with the given simulation configuration.
     *
     * @param config
     *   the simulation configuration to initialize the controller.
     */
    def init(config: SimulationConfig[ValidEnvironment]): Unit

    /**
     * Resets the controller to its initial state using the provided random number generator.
     *
     * @param rng
     *   the random number generator to use for reproducibility in the next run.
     */
    def reset(rng: RNG): (Observations, Infos)

    /**
     * Performs a simulation step using the provided actions for each agent.
     *
     * @param actions
     *   a map of agents to their corresponding actions to be performed in this step.
     * @return
     *   a response containing the results of the simulation step.
     */
    def step(actions: Map[DynamicEntity, Action[Id]]): StepResponse

    /**
     * Renders the current state of the simulation to an image for the RL client.
     *
     * @param width
     *   the width of the rendered image.
     * @param height
     *   the height of the rendered image.
     *
     * @return
     *   an image representing the current state of the simulation.
     */
    def render(width: Int, height: Int): Image
  end Controller

  trait Provider[S <: ModelModule.BaseState]:
    val controller: Controller[S]

  type Requirements[S <: ModelModule.BaseState] = ModelModule.Provider[S]

  trait Component[S <: ModelModule.BaseState]:
    context: Requirements[S] =>

    object Controller:
      def apply()(using bundle: RLLogicsBundle[S]): Controller[S] = new ControllerImpl

      private class ControllerImpl(using bundle: RLLogicsBundle[S]) extends Controller[S]:

        type StepResponse = String

        var _initialState: S =
          bundle.stateLogic.createState(SimulationConfig(simulation, ValidEnvironment.empty))

        var _state: S = initialState

        override def initialState: S = _initialState

        override def state: S = _state

        override def init(config: SimulationConfig[ValidEnvironment]): Unit =
          _initialState = bundle.stateLogic.createState(config)
          _state = _initialState

        override def reset(rng: RNG): (Observations, Infos) =
          _state = context.model.update(state)(using _ => bundle.stateLogic.updateState(initialState, rng))
          state.environment.entities.collect {
            // TODO: will be agent
            case r: Robot => (r, r.senseAll[Id](state.environment), "")
          }.map { case (robot, readings, info) =>
            (robot -> readings, robot -> info)
          }.unzip match
            case (obsList, infosList) => (obsList.toMap, infosList.toMap)

        override def step(actions: Map[DynamicEntity, Action[Id]]): StepResponse =
          _state = context.model.update(state)(using s => bundle.tickLogic.tick(s, state.dt)).unsafeRunSync()
          "Called step"

        override def render(width: Int, height: Int): Image =
          EnvironmentRenderer.renderToPNG(state.environment, width, height)
      end ControllerImpl
    end Controller
  end Component

  trait Interface[S <: ModelModule.BaseState] extends Provider[S] with Component[S]:
    self: Requirements[S] =>
end RLControllerModule

1	package io.github.srs.controller
2
3	import cats.effect.unsafe.implicits.global
4	import io.github.srs.model.ModelModule
5	import io.github.srs.config.SimulationConfig
6	import io.github.srs.model.environment.ValidEnvironment
7	import io.github.srs.utils.random.RNG
8	import io.github.srs.model.entity.dynamicentity.DynamicEntity
9	import io.github.srs.model.entity.dynamicentity.action.Action
10	import cats.Id
11	import io.github.srs.model.Simulation.simulation
12	import io.github.srs.model.logic.RLLogicsBundle
13	import io.github.srs.model.entity.dynamicentity.sensor.SensorReadings
14	import io.github.srs.model.entity.dynamicentity.Robot
15	import io.github.srs.model.entity.dynamicentity.sensor.Sensor.senseAll
16	import io.github.srs.view.rendering.EnvironmentRenderer
17
18	object RLControllerModule:
NEW 19		×
20	type Observations = Map[DynamicEntity, SensorReadings]
21	type Infos = Map[DynamicEntity, String]	5✔
22
23	/**
24	* The resonse after each simulation step.
25	*/
26	case class StepResponse private (
NEW 27	observations: Observations,	×
NEW 28	rewards: Map[DynamicEntity, Double],	×
NEW 29	terminateds: Map[DynamicEntity, Boolean],	×
NEW 30	truncateds: Map[DynamicEntity, Boolean],	×
NEW 31	infos: Infos,	×
NEW 32	)	×
33
34	/**
35	* Controller trait defines the interface for a Reinforcement Learning controller.
36	*/
37	trait Controller[S <: ModelModule.BaseState]:
38
39	type StepResponse
40
41	/**
42	* The type of the image used for rendering the simulation on the RL client.
43	*/
44	type Image = Array[Byte]
45
46	/**
47	* The initial state of the controller.
48	*/
49	def initialState: S
50
51	/**
52	* The current state of the controller.
53	*/
54	def state: S
55
56	/**
57	* Initializes the controller with the given simulation configuration.
58	*
59	* @param config
60	* the simulation configuration to initialize the controller.
61	*/
62	def init(config: SimulationConfig[ValidEnvironment]): Unit
63
64	/**
65	* Resets the controller to its initial state using the provided random number generator.
66	*
67	* @param rng
68	* the random number generator to use for reproducibility in the next run.
69	*/
70	def reset(rng: RNG): (Observations, Infos)
71
72	/**
73	* Performs a simulation step using the provided actions for each agent.
74	*
75	* @param actions
76	* a map of agents to their corresponding actions to be performed in this step.
77	* @return
78	* a response containing the results of the simulation step.
79	*/
80	def step(actions: Map[DynamicEntity, Action[Id]]): StepResponse
81
82	/**
83	* Renders the current state of the simulation to an image for the RL client.
84	*
85	* @param width
86	* the width of the rendered image.
87	* @param height
88	* the height of the rendered image.
89	*
90	* @return
91	* an image representing the current state of the simulation.
92	*/
93	def render(width: Int, height: Int): Image
94	end Controller
95
96	trait Provider[S <: ModelModule.BaseState]:
97	val controller: Controller[S]
98
99	type Requirements[S <: ModelModule.BaseState] = ModelModule.Provider[S]
100
101	trait Component[S <: ModelModule.BaseState]:
NEW 102	context: Requirements[S] =>	×
103
104	object Controller:
105	def apply()(using bundle: RLLogicsBundle[S]): Controller[S] = new ControllerImpl	5✔
106		9✔
107	private class ControllerImpl(using bundle: RLLogicsBundle[S]) extends Controller[S]:
108		8✔
109	type StepResponse = String
110
111	var _initialState: S =
112	bundle.stateLogic.createState(SimulationConfig(simulation, ValidEnvironment.empty))	4✔
113		14✔
114	var _state: S = initialState
115		12✔
116	override def initialState: S = _initialState
117		3✔
118	override def state: S = _state
119		3✔
120	override def init(config: SimulationConfig[ValidEnvironment]): Unit =
121	_initialState = bundle.stateLogic.createState(config)
122	_state = _initialState	7✔
123		5✔
124	override def reset(rng: RNG): (Observations, Infos) =
125	_state = context.model.update(state)(using _ => bundle.stateLogic.updateState(initialState, rng))
126	state.environment.entities.collect {	13✔
127	// TODO: will be agent	12✔
128	case r: Robot => (r, r.senseAll[Id](state.environment), "")
129	}.map { case (robot, readings, info) =>	37✔
130	(robot -> readings, robot -> info)	2✔
131	}.unzip match
132	case (obsList, infosList) => (obsList.toMap, infosList.toMap)	4✔
133		19✔
134	override def step(actions: Map[DynamicEntity, Action[Id]]): StepResponse =
135	_state = context.model.update(state)(using s => bundle.tickLogic.tick(s, state.dt)).unsafeRunSync()
136	"Called step"	16✔
137		2✔
138	override def render(width: Int, height: Int): Image =
139	EnvironmentRenderer.renderToPNG(state.environment, width, height)
140	end ControllerImpl	2✔
141	end Controller
142	end Component
143
144	trait Interface[S <: ModelModule.BaseState] extends Provider[S] with Component[S]:
145	self: Requirements[S] =>
146	end RLControllerModule

Scala-Robotics-Simulator / PPS-22-srs / #699

Source File Press 'n' to go to next uncovered line, 'b' for previous

Source File
Press 'n' to go to next uncovered line, 'b' for previous