#802

Committed 27 Oct 2025 11:25AM UTC coverage: 73.259% (-3.3%) from 76.593%

Build # #802

Build Type

Pull #131

github

Committed by

sceredi

Commit Message

chore: format python

Pull Request Pull Request #131: feat: q-learning implementation of obstacle avoidance

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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.IO
import cats.effect.unsafe.implicits.global
import io.github.srs.model.entity.*
import io.github.srs.model.entity.dynamicentity.actuator.{ Actuator, Wheel as ActWheel }
import io.github.srs.model.entity.dynamicentity.agent.Agent
import io.github.srs.model.entity.dynamicentity.agent.reward.Reward
import io.github.srs.model.entity.dynamicentity.robot.Robot
import io.github.srs.model.entity.dynamicentity.robot.behavior.Policy
import io.github.srs.model.entity.dynamicentity.sensor.*
import io.github.srs.model.environment.Environment
import io.github.srs.model.illumination.LightMap
import io.github.srs.model.illumination.engine.SquidLibFovEngine
import io.github.srs.model.illumination.model.ScaleFactor
import io.github.srs.model.entity.dynamicentity.agent.termination.Termination
import io.github.srs.model.entity.dynamicentity.agent.truncation.Truncation

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 [[io.github.srs.model.illumination.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 [[io.github.srs.model.illumination.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 [[io.github.srs.model.illumination.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: List[Entity] = List.empty
    val MaxEntities: Int = 50

  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 DefaultMaxRetries = 10

    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 Agent:
      val DefaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000003")
      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[Agent]] = Seq.empty
      val DefaultSensors: Vector[Sensor[Agent, Environment]] = Vector.empty
      val MinRadius: Double = 0.01
      val MaxRadius: Double = 0.5
      val DefaultReward: Reward = Reward.NoReward
      val DefaultTermination: Termination = Termination.NeverTerminate
      val DefaultTruncation: Truncation = Truncation.NeverTruncate

      val StdProximitySensors: Vector[Sensor[Agent, 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[Agent, 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)),
      )

      object CollisionAvoidance:
        val CollisionTriggerDistance: Double = 0.01

    end Agent

    object Robot:

      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 GridDSL:
    val ObstacleSize: Double = 0.999999
    val IncrementToCenterPos: Point2D = Point2D(0.5, 0.5)

  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"

        object Agent:
          val Self: String = "agent"
          val Radius: String = "radius"
          val Speed: String = "speed"
          val WithProximitySensors: String = "withProximitySensors"
          val WithLightSensors: String = "withLightSensors"
          val Reward: String = "reward"
          val Termination: String = "termination"
          val Truncation: String = "truncation"

    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.IO
9	import cats.effect.unsafe.implicits.global
10	import io.github.srs.model.entity.*
11	import io.github.srs.model.entity.dynamicentity.actuator.{ Actuator, Wheel as ActWheel }
12	import io.github.srs.model.entity.dynamicentity.agent.Agent
13	import io.github.srs.model.entity.dynamicentity.agent.reward.Reward
14	import io.github.srs.model.entity.dynamicentity.robot.Robot
15	import io.github.srs.model.entity.dynamicentity.robot.behavior.Policy
16	import io.github.srs.model.entity.dynamicentity.sensor.*
17	import io.github.srs.model.environment.Environment
18	import io.github.srs.model.illumination.LightMap
19	import io.github.srs.model.illumination.engine.SquidLibFovEngine
20	import io.github.srs.model.illumination.model.ScaleFactor
21	import io.github.srs.model.entity.dynamicentity.agent.termination.Termination
22	import io.github.srs.model.entity.dynamicentity.agent.truncation.Truncation
23
24	object SimulationDefaults:
25		×
26	object Illumination:
27		3✔
28	val GridThreshold = 10_000
29	val LightThreshold = 2	8✔
30		5✔
31	object Occlusion:
32	val FullRotation: Double = 90.0	3✔
33	val AlmostZero: Double = 1e-6	8✔
34		5✔
35	object Behaviors:
36		×
37	object Prioritized:
38	val DangerDist: Double = 0.40	3✔
39	val LightThreshold: Double = 0.05	8✔
40		5✔
41	object Phototaxis:
42	val Epsilon: Double = 1e-9	3✔
43	val MinForwardBias: Double = 0.4	8✔
44	val TurnGain: Double = 1.0	4✔
45		5✔
46	object ObstacleAvoidance:
47	val CruiseSpeed: Double = 0.35	3✔
48	val WarnSpeed: Double = 0.15	8✔
49	val WarnTurnSpeed: Double = 0.55	4✔
50	val BackBoost: Double = 0.20	4✔
51	val SafeDist: Double = 0.5	4✔
52	val CriticalDist: Double = 0.35	4✔
53		5✔
54	object RandomWalk:
55	val MinForwardFactor: Double = 0.35	3✔
56	val MaxForwardExtra: Double = 0.35	8✔
57	val MinTurnOfBase: Double = 0.35	4✔
58	val MaxTurnOfBase: Double = 1.15	4✔
59	val TurnExponent: Double = 1.2	4✔
60	val PivotBoostProb: Double = 0.20	4✔
61	val PivotBoostAbs: Double = 0.15	4✔
62		5✔
63	end Behaviors
64
65	object UI:
66		×
67	object SimulationViewConstants:
68	val IdDisplayLength = 8	×
69	val PositionDecimals = 2	×
70	val OrientationDecimals = 1	×
71	val DefaultRobotInfo = "Select a robot to view details"	×
72	val StopConfirmMessage = "Are you sure you want to stop the simulation?\n\nClick Yes to stop, No to continue."	×
73	val StopConfirmTitle = "Stop Simulation"	×
74		×
75	object Colors:
76	@inline private def rgb(r: Int, g: Int, b: Int) = new java.awt.Color(r, g, b)	×
77	@inline private def rgba(r: Int, g: Int, b: Int, a: Int) = new java.awt.Color(r, g, b, a)	×
78	def backgroundLight: Color = rgb(250, 250, 250)	×
79	def backgroundMedium: Color = rgb(245, 245, 245)	×
80	def border: Color = rgb(200, 200, 200)	×
81	def text: Color = rgb(60, 60, 60)	×
82	def obstacleGradientStart: Color = rgb(120, 120, 120)	×
83	def obstacleGradientEnd: Color = rgb(80, 80, 80)	×
84	def obstacleBorder: Color = rgb(60, 60, 60)	×
85	def robotDefault: Color = rgb(100, 150, 255)	×
86	def robotDefaultDark: Color = rgb(50, 100, 200)	×
87	def robotDefaultBorder: Color = rgb(0, 50, 150)	×
88	def robotSelected: Color = rgb(255, 100, 100)	×
89	def robotSelectedDark: Color = rgb(200, 50, 50)	×
90	def robotSelectedBorder: Color = rgb(150, 0, 0)	×
91	def robotShadow: Color = rgba(0, 0, 0, 50)	×
92	def lightCenter: Color = rgba(255, 255, 200, 200)	×
93	def lightEdge: Color = rgba(255, 140, 0, 80)	×
94	def buttonHover: Color = rgb(230, 230, 230)	×
95	def buttonPressed: Color = rgb(220, 235, 250)	×
96	def timeDisplay: Color = rgb(50, 50, 50)	×
97		×
98	end Colors
99
100	object Fonts:
101	val FontSize = 12	×
102	val TitleSize = 12	×
103		×
104	object Spacing:
105	val StandardPadding = 10	×
106	val InnerPadding = 5	×
107	val ComponentGap = 10	×
108		×
109	object Dimensions:
110	val ButtonWidth = 150	×
111	val ButtonHeight = 30	×
112	val RobotListWidth = 250	×
113	val RobotListHeight = 300	×
114	val InfoAreaRows = 6	×
115	val InfoAreaColumns = 25	×
116		×
117	object Strokes:
118	val ObstacleStroke = 1.5f	×
119	val RobotShadowStroke = 3f	×
120		×
121	object Icons:
122	val Play = "\u25B6"	×
123	val Stop = "\u23F9"	×
124	val Pause = "\u23F8"	×
125	end UI	×
126
127	val Duration: Option[Long] = None
128	val Seed: Option[Long] = None	8✔
129	val DebugMode = false	4✔
130	val BinarySearchDurationThreshold: FiniteDuration = 1.microseconds	4✔
131		11✔
132	/**
133	* Alternative light map configurations for different use cases
134	*/
135	object LightMapConfigs:
136		3✔
137	/**
138	* Default light map with caching enabled Uses scale factor 10 for a good balance of performance and precision
139	*/
140	lazy val BaseLightMap: LightMap[IO] =
141	LightMap	11✔
142	.create[IO](ScaleFactor.default, SquidLibFovEngine)	27✔
143	.unsafeRunSync()	7✔
144		63✔
145	/**
146	* High-precision light map for detailed rendering Uses scale factor 100 for maximum precision.
147	*
148	* @return
149	* A [[io.github.srs.model.illumination.LightMap]] configured for high precision, or the default light map if the
150	* scale factor is invalid.
151	*/
152	def HPLightMap: LightMap[IO] =
153	ScaleFactor
154	.validate(80)	×
155	.map { scale =>	×
156	LightMap	×
157	.create[IO](scale, SquidLibFovEngine)
158	.unsafeRunSync()
159	}
160	.getOrElse(BaseLightMap)
161		×
162	/**
163	* Fast light map for real-time simulation Uses scale factor 5 for maximum performance.
164	*
165	* @return
166	* A [[io.github.srs.model.illumination.LightMap]] configured for fast computation, or the default light map if
167	* the scale factor is invalid.
168	*/
169	def fastLightMap: LightMap[IO] =
170	ScaleFactor
171	.validate(10)	×
172	.map { scale =>	×
173	LightMap	×
174	.create[IO](scale, SquidLibFovEngine)
175	.unsafeRunSync()
176	}
177	.getOrElse(BaseLightMap)
178		×
179	/**
180	* Custom light map with specific scale factor Curried for better composition.
181	*
182	* @param scaleFactor
183	* The desired scale factor (cells per meter).
184	* @return
185	* A [[io.github.srs.model.illumination.LightMap]] configured with the specified scale factor, or the default
186	* light map if the scale factor is invalid.
187	*/
188	def withScale(scaleFactor: Int): LightMap[IO] =
189	ScaleFactor
190	.validate(scaleFactor)	×
191	.map { scale =>	×
192	LightMap	×
193	.create[IO](scale, SquidLibFovEngine)
194	.unsafeRunSync()
195	}
196	.getOrElse(BaseLightMap)
197		×
198	end LightMapConfigs
199
200	object SimulationConfig:
201	val MaxCount = 10_000	×
202		×
203	object Environment:
204	val DefaultWidth: Int = 10	3✔
205	val MinWidth: Int = 1	8✔
206	val MaxWidth: Int = 500	4✔
207		4✔
208	val DefaultHeight: Int = 10
209	val MinHeight: Int = 1	4✔
210	val MaxHeight: Int = 500	4✔
211		4✔
212	val DefaultEntities: List[Entity] = List.empty
213	val MaxEntities: Int = 50	6✔
214		5✔
215	object StaticEntity:
216		×
217	object Obstacle:
218	val DefaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000000")	3✔
219	val DefaultPosition: Point2D = (0.0, 0.0)	9✔
220	val DefaultOrientation: Orientation = Orientation(0.0)	8✔
221	val DefaultWidth: Double = 1.0	6✔
222	val DefaultHeight: Double = 1.0	4✔
223		5✔
224	object Light:
225	val DefaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000001")	3✔
226	val DefaultPosition: Point2D = (0.0, 0.0)	9✔
227	val DefaultOrientation: Orientation = Orientation(0.0)	8✔
228	val DefaultRadius: Double = 0.05	6✔
229	val DefaultIlluminationRadius: Double = 1.0	4✔
230	val DefaultIntensity: Double = 1.0	4✔
231	val DefaultAttenuation: Double = 1.0	4✔
232		5✔
233	object Boundary:
234	val DefaultPosition: Point2D = (0.0, 0.0)	3✔
235	val DefaultOrientation: Orientation = Orientation(0.0)	12✔
236	val DefaultWidth: Double = 1.0	6✔
237	val DefaultHeight: Double = 1.0	4✔
238		5✔
239	end StaticEntity
240
241	object DynamicEntity:
242	val DefaultMaxRetries = 10	3✔
243		8✔
244	val ZeroSpeed: Double = 0.0
245	val MinSpeed: Double = -1.0	4✔
246	val MaxSpeed: Double = 1.0	4✔
247	val HalfSpeed: Double = 0.5	4✔
248		5✔
249	object Actuator:
250		×
251	object DifferentialWheelMotor:
252	val DefaultWheel: ActWheel = ActWheel()	×
253		×
254	object Wheel:
255	val DefaultSpeed: Double = 1.0	3✔
256	val DefaultShape: ShapeType.Circle = ShapeType.Circle(0.1)	8✔
257	val MinSpeed: Double = -1.0	6✔
258	val MaxSpeed: Double = 1.0	4✔
259		5✔
260	object Sensor:
261		×
262	object ProximitySensor:
263	val DefaultOffset: Double = 0.0	3✔
264	val DefaultRange: Double = 1.0	8✔
265		5✔
266	object Agent:
267	val DefaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000003")	3✔
268	val DefaultPosition: Point2D = (0.0, 0.0)	7✔
269	val DefaultShape: ShapeType.Circle = ShapeType.Circle(0.25)	8✔
270	val DefaultOrientation: Orientation = Orientation(0.0)	6✔
271	val DefaultActuators: Seq[Actuator[Agent]] = Seq.empty	6✔
272	val DefaultSensors: Vector[Sensor[Agent, Environment]] = Vector.empty	7✔
273	val MinRadius: Double = 0.01	6✔
274	val MaxRadius: Double = 0.5	4✔
275	val DefaultReward: Reward = Reward.NoReward	4✔
276	val DefaultTermination: Termination = Termination.NeverTerminate	4✔
277	val DefaultTruncation: Truncation = Truncation.NeverTruncate	4✔
278		4✔
279	val StdProximitySensors: Vector[Sensor[Agent, Environment]] = Vector(
280	ProximitySensor(Orientation(0.0)),	5✔
281	ProximitySensor(Orientation(45.0)),	15✔
282	ProximitySensor(Orientation(90.0)),	10✔
283	ProximitySensor(Orientation(135.0)),	10✔
284	ProximitySensor(Orientation(180.0)),	10✔
285	ProximitySensor(Orientation(225.0)),	10✔
286	ProximitySensor(Orientation(270.0)),	10✔
287	ProximitySensor(Orientation(315.0)),	10✔
288	)	11✔
289
290	val StdLightSensors: Vector[Sensor[Agent, Environment]] = Vector(
291	LightSensor(Orientation(0.0)),	6✔
292	LightSensor(Orientation(45.0)),	13✔
293	LightSensor(Orientation(90.0)),	8✔
294	LightSensor(Orientation(135.0)),	8✔
295	LightSensor(Orientation(180.0)),	8✔
296	LightSensor(Orientation(225.0)),	8✔
297	LightSensor(Orientation(270.0)),	8✔
298	LightSensor(Orientation(315.0)),	8✔
299	)	9✔
300
301	object CollisionAvoidance:
NEW 302	val CollisionTriggerDistance: Double = 0.01	×
NEW 303		×
304	end Agent
305
306	object Robot:
307		3✔
308	val DefaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000002")
309	val DefaultPosition: Point2D = (0.0, 0.0)	9✔
310	val DefaultShape: ShapeType.Circle = ShapeType.Circle(0.25)	8✔
311	val DefaultOrientation: Orientation = Orientation(0.0)	6✔
312	val DefaultActuators: Seq[Actuator[Robot]] = Seq.empty	6✔
313	val DefaultSensors: Vector[Sensor[Robot, Environment]] = Vector.empty	7✔
314	val MinRadius: Double = 0.01	6✔
315	val MaxRadius: Double = 0.5	4✔
316		4✔
317	val SelectionStroke: Float = 3f
318	val NormalStroke: Float = 1f	2✔
319	val ArrowLengthFactor: Double = 0.6	2✔
320	val ArrowWidthFactor: Double = 0.3	2✔
321	val MinArrowWidth: Float = 2f	2✔
322		2✔
323	val StdProximitySensors: Vector[Sensor[Robot, Environment]] = Vector(
324	ProximitySensor(Orientation(0.0)),	5✔
325	ProximitySensor(Orientation(45.0)),	15✔
326	ProximitySensor(Orientation(90.0)),	10✔
327	ProximitySensor(Orientation(135.0)),	10✔
328	ProximitySensor(Orientation(180.0)),	10✔
329	ProximitySensor(Orientation(225.0)),	10✔
330	ProximitySensor(Orientation(270.0)),	10✔
331	ProximitySensor(Orientation(315.0)),	10✔
332	)	11✔
333
334	val StdLightSensors: Vector[Sensor[Robot, Environment]] = Vector(
335	LightSensor(Orientation(0.0)),	5✔
336	LightSensor(Orientation(45.0)),	13✔
337	LightSensor(Orientation(90.0)),	8✔
338	LightSensor(Orientation(135.0)),	8✔
339	LightSensor(Orientation(180.0)),	8✔
340	LightSensor(Orientation(225.0)),	8✔
341	LightSensor(Orientation(270.0)),	8✔
342	LightSensor(Orientation(315.0)),	8✔
343	)	9✔
344	val DefaultPolicy: Policy = Policy.AlwaysForward
345	end Robot	5✔
346	end DynamicEntity
347
348	object GridDSL:
349	val ObstacleSize: Double = 0.999999	3✔
350	val IncrementToCenterPos: Point2D = Point2D(0.5, 0.5)	8✔
351		8✔
352	object Fields:
353		×
354	object Simulation:
355	val Self: String = "simulation"	3✔
356	val Duration: String = "duration"	8✔
357	val Seed: String = "seed"	4✔
358		5✔
359	object Environment:
360	val Self: String = "environment"	3✔
361	val Width: String = "width"	8✔
362	val Height: String = "height"	4✔
363	val Entities: String = "entities"	4✔
364		5✔
365	object Entity:
366	val Id: String = "id"	3✔
367	val Position: String = "position"	8✔
368	val X: String = "x"	4✔
369	val Y: String = "y"	2✔
370	val Orientation: String = "orientation"	2✔
371		5✔
372	object StaticEntity:
373		×
374	object Obstacle:
375	val Self: String = "obstacle"	3✔
376	val Width: String = "width"	8✔
377	val Height: String = "height"	4✔
378		5✔
379	object Light:
380	val Self: String = "light"	3✔
381	val Radius: String = "radius"	8✔
382	val IlluminationRadius: String = "illuminationRadius"	4✔
383	val Intensity: String = "intensity"	4✔
384	val Attenuation: String = "attenuation"	4✔
385		5✔
386	object DynamicEntity:
387		×
388	object Robot:
389	val Self: String = "robot"	3✔
390	val Radius: String = "radius"	8✔
391	val Speed: String = "speed"	4✔
392	val WithProximitySensors: String = "withProximitySensors"	4✔
393	val WithLightSensors: String = "withLightSensors"	4✔
394	val Behavior: String = "behavior"	4✔
395		5✔
396	object Agent:
397	val Self: String = "agent"	3✔
398	val Radius: String = "radius"	8✔
399	val Speed: String = "speed"	4✔
400	val WithProximitySensors: String = "withProximitySensors"	4✔
401	val WithLightSensors: String = "withLightSensors"	4✔
402	val Reward: String = "reward"	4✔
403	val Termination: String = "termination"	4✔
404	val Truncation: String = "truncation"	4✔
405		5✔
406	end Entity
407	end Fields
408
409	object Layout:
410	val SplitPaneWeight: Double = 0.8	×
411	val SplitPaneLocation: Double = 0.8	×
412		×
413	object Frame:
414	val MinWidth = 800	×
415	val MinHeight = 600	×
416	val PrefWidth = 1200	×
417	val PrefHeight = 720	×
418	val SplitWeight = 0.8	×
419	val CanvasBorder: Int = 2	×
420		×
421	object Canvas:
422	val BorderSize = 2	×
423	val MinZoom = 0.2	×
424	val MaxZoom = 5.0	×
425	val ZoomInFactor = 1.2	×
426	val ZoomOutFactor = 0.8	×
427	val DesiredLabelPixels = 40.0	×
428	val GridStrokeWidth = 1f	×
429	val LabelDesiredPx: Double = 40.0	×
430	val MinLightSize: Int = 12	×
431	val LightStroke: Float = 2f	×
432	val LabelBottomOffset: Int = 4	×
433	val LabelYOffset: Int = 12	×
434	val LabelXOffset: Int = 2	×
435		×
436	val LabelStepSequence: List[Int] = List(1, 2, 5)
437	val LabelScaleBase: Int = 10	×
438	val DiameterFactor: Double = 2.0	×
439		×
440	object Sensors:
441	val LineStrokeWidth: Float = 1.0f	×
442	val DotSize: Int = 3	×
443		×
444	object LightFX:
445		×
446	val GradientFraction0: Float = 0f
447	val GradientFraction1: Float = 0.55f	×
448	val GradientFraction2: Float = 0.9f	×
449	val GradientFraction3: Float = 1f	×
450		×
451	val CoreFractionStart: Float = 0f
452	val CoreFractionEnd: Float = 1f	×
453		×
454	val GradientRadiusDivisor: Float = 2f
455	val MinLightPixels: Int = 1	×
456	val PostGlowAlpha: Float = 0.015f	×
457		×
458	val RingStrokeWidth: Float = 0.8f
459	val RingStrokeMiterLimit: Float = 10f	×
460	val RingStrokeDash1: Float = 4f	×
461	val RingStrokeDash2: Float = 6f	×
462	val RingStrokeDashPhase: Float = 0f	×
463		×
464	val GradientColor: Array[Color] = Array(
465	new Color(255, 200, 0, 28),	×
466	new Color(255, 180, 0, 16),	×
467	new Color(255, 160, 0, 6),	×
468	new Color(255, 140, 0, 0),	×
469	)	×
470
471	end LightFX
472
473	object Arrow:
474	val TriangleVertices: Int = 3	×
475		×
476	object RobotBody:
477	val GradientFractionStart: Float = 0f	×
478	val GradientFractionEnd: Float = 1f	×
479		×
480	end Canvas
481
482	object ControlsPanel:
483	val StartStopButtonText: String = "Start/Stop"	×
484		×
485	end SimulationDefaults

Scala-Robotics-Simulator / PPS-22-srs / #802

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