#728

Committed 21 Oct 2025 09:16AM UTC coverage: 76.144% (-2.2%) from 78.302%

Build # #728

Build Type

Pull #113

github

Committed by

sceredi

Commit Message

feat: add rewards management to rl controller

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

Run Details

139 of 233 new or added lines in 22 files covered. (59.66%)

6 existing lines in 3 files now uncovered.

1497 of 1966 relevant lines covered (76.14%)

8.43 hits per line

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92.86

/src/main/scala/io/github/srs/model/BaseSimulationState.scala

package io.github.srs.model

import scala.concurrent.duration.{ FiniteDuration, MILLISECONDS }

import io.github.srs.config.SimulationConfig
import io.github.srs.model.environment.ValidEnvironment
import io.github.srs.utils.random.{ RNG, SimpleRNG }

/**
 * Simulation state case class that holds the current state of the simulation.
 * @param simulationTime
 *   the current simulation time, if applicable.
 * @param elapsedTime
 *   the elapsed time since the start of the simulation.
 * @param dt
 *   the time step for each simulation update.
 * @param simulationSpeed
 *   the speed at which the simulation is running.
 * @param simulationRNG
 *   the random number generator used in the simulation.
 * @param simulationStatus
 *   the current status of the simulation.
 * @param environment
 *   the current environment of the simulation.
 */
final case class BaseSimulationState(
    override val simulationTime: Option[FiniteDuration],
    override val elapsedTime: FiniteDuration = FiniteDuration(0, MILLISECONDS),
    override val dt: FiniteDuration = FiniteDuration(100, MILLISECONDS),
    override val simulationRNG: RNG,
    override val environment: ValidEnvironment,
) extends ModelModule.BaseState

/**
 * Companion methods for the [[ModelModule.State]] to provide pretty-printing functionality.
 */
object BaseSimulationState:

  /**
   * Creates the initial state of the simulation based on the provided configuration.
   *
   * @param cfg
   *   the simulation configuration to use for initializing the state
   * @return
   *   the initial state of the simulation
   */
  def from(cfg: SimulationConfig[ValidEnvironment]): BaseSimulationState =
    val rng = SimpleRNG(cfg.simulation.seed.getOrElse(42))
    from(cfg, rng)

  def from(cfg: SimulationConfig[ValidEnvironment], rng: RNG): BaseSimulationState =
    BaseSimulationState(
      simulationTime = cfg.simulation.duration.map(FiniteDuration(_, MILLISECONDS)),
      simulationRNG = rng,
      environment = cfg.environment,
    )
end BaseSimulationState

1	package io.github.srs.model
2
3	import scala.concurrent.duration.{ FiniteDuration, MILLISECONDS }
4
5	import io.github.srs.config.SimulationConfig
6	import io.github.srs.model.environment.ValidEnvironment
7	import io.github.srs.utils.random.{ RNG, SimpleRNG }
8
9	/**
10	* Simulation state case class that holds the current state of the simulation.
11	* @param simulationTime
12	* the current simulation time, if applicable.
13	* @param elapsedTime
14	* the elapsed time since the start of the simulation.
15	* @param dt
16	* the time step for each simulation update.
17	* @param simulationSpeed
18	* the speed at which the simulation is running.
19	* @param simulationRNG
20	* the random number generator used in the simulation.
21	* @param simulationStatus
22	* the current status of the simulation.
23	* @param environment
24	* the current environment of the simulation.
25	*/
26	final case class BaseSimulationState(
27	override val simulationTime: Option[FiniteDuration],	64✔
28	override val elapsedTime: FiniteDuration = FiniteDuration(0, MILLISECONDS),	6✔
29	override val dt: FiniteDuration = FiniteDuration(100, MILLISECONDS),	12✔
30	override val simulationRNG: RNG,	12✔
31	override val environment: ValidEnvironment,	6✔
32	) extends ModelModule.BaseState	6✔
33
34	/**
35	* Companion methods for the [[ModelModule.State]] to provide pretty-printing functionality.
36	*/
37	object BaseSimulationState:
NEW 38		×
39	/**
40	* Creates the initial state of the simulation based on the provided configuration.
41	*
42	* @param cfg
43	* the simulation configuration to use for initializing the state
44	* @return
45	* the initial state of the simulation
46	*/
47	def from(cfg: SimulationConfig[ValidEnvironment]): BaseSimulationState =
48	val rng = SimpleRNG(cfg.simulation.seed.getOrElse(42))	5✔
49	from(cfg, rng)	11✔
50		5✔
51	def from(cfg: SimulationConfig[ValidEnvironment], rng: RNG): BaseSimulationState =
52	BaseSimulationState(
53	simulationTime = cfg.simulation.duration.map(FiniteDuration(_, MILLISECONDS)),	9✔
54	simulationRNG = rng,	7✔
55	environment = cfg.environment,	1✔
56	)	5✔
57	end BaseSimulationState

Scala-Robotics-Simulator / PPS-22-srs / #728

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