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server: room scaner algorithm boilerplate

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This commit is contained in:
e5l
2016-08-29 10:42:01 +03:00
parent bb1d91ac62
commit 014523984c
7 changed files with 111 additions and 12 deletions
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server/src/main/java/DebugClInterface.kt
+4 -4
View File
@@ -1,13 +1,13 @@
import Exceptions.InactiveCarException
import algorithm.AbstractAlgorithm
import algorithm.RoomBypassingAlgorithm
import algorithm.RoomModel
import algorithm.RoomTest
import car.client.Client
import io.netty.buffer.Unpooled
import io.netty.handler.codec.http.*
import objects.Car
import java.util.concurrent.Exchanger
import algorithm.RoomTest
object DebugClInterface {
@@ -268,7 +268,7 @@ object DebugClInterface {
}
private fun getRouteMessage(): RouteRequest? {
println("print way points in polar coordinate als [distance] [rotation angle] in metres and degrees." +
println("print way points in polar coordinate als [distance] [rotation target] in metres and degrees." +
"after enter all points print \"done\". for reset route print \"reset\"")
println("e.g. for move from (x,y) to (x+1,y) and back to (x,y) you need enter:" +
"1 0[enter] 1 180[enter] done")
@@ -292,7 +292,7 @@ object DebugClInterface {
distances.add(distance)
angles.add(angle)
} catch (e: NumberFormatException) {
println("error in converting angle or distance to int. try again")
println("error in converting target or distance to int. try again")
} catch (e: IndexOutOfBoundsException) {
println("format error, u must print two number separated by spaces. Try again")
}
server/src/main/java/RoomScanner/CarController.kt
+50
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@@ -0,0 +1,50 @@
package RoomScanner
import objects.Car
class CarController(var car: Car) {
enum class Direction(val id: Int) {
FORWARD(0),
BACKWARD(1),
LEFT(2),
RIGHT(3);
}
val WALL_DISTANCE = 50
var position = Pair(0.0, 0.0)
private set
private var angle = 0.0
fun moveTo(to: Pair<Double, Double>) {
val oldAngle = angle
rotateOn(estimateAngle(position, to))
drive(Direction.FORWARD, Math.max(0.0, distance(position, to)).toInt() - WALL_DISTANCE)
rotateOn(oldAngle)
}
fun rotateOn(target: Double) {
val rotateAngle = angleDistance(angle, target)
val direction = if (rotateAngle > 0) Direction.RIGHT else Direction.LEFT
drive(direction, rotateAngle.toInt())
angle = rotateAngle
}
private fun drive(direction: Direction, distance: Int) {
when (direction) {
Direction.BACKWARD -> {}
Direction.FORWARD -> {}
Direction.LEFT -> {}
Direction.RIGHT -> {}
}
}
fun scan(angles: IntArray): MutableList<Pair<Double, Double>> {
throw UnsupportedOperationException()
}
}
server/src/main/java/RoomScanner/RoomScanner.kt
+30
View File
@@ -0,0 +1,30 @@
package RoomScanner
class RoomScanner(val controller: CarController) {
private val points = mutableListOf<Pair<Double, Double>>()
fun run() {
while (true) {
scan()
println("[${points.joinToString { "[${it.first}, ${it.second}]" }}}]")
}
}
fun scan() {
val horizon = IntArray(180 / 5, { it * 5 })
controller.rotateOn(0.0)
val iterationPoints = controller.scan(horizon)
controller.rotateOn(180.0)
iterationPoints.addAll(controller.scan(horizon))
points.addAll(iterationPoints)
val target = iterationPoints.maxBy { distance(controller.position, it) }
target ?: return
controller.moveTo(target)
}
}
server/src/main/java/RoomScanner/utils.kt
+21
View File
@@ -0,0 +1,21 @@
package RoomScanner
fun distance(first: Pair<Double, Double>, second: Pair<Double, Double>): Double {
val xDistance = first.first - second.first
val yDistance = first.second - second.second
return Math.sqrt(xDistance * xDistance + yDistance * yDistance)
}
fun estimateAngle(from: Pair<Double, Double>, to: Pair<Double, Double>): Double =
Math.atan2(to.first - from.first, to.second - from.second)
fun angleDistance(from: Double, to: Double): Double {
val min = Math.min(from, to)
val max = Math.max(from, to)
val up = max - min
val down = 360 - max + min
if (Math.abs(up) < Math.abs(down)) return up else return down
}
server/src/main/java/algorithm/RoomBypassingAlgorithm.kt
+1 -3
View File
@@ -4,7 +4,6 @@ import RouteRequest
import algorithm.geometry.Line
import algorithm.geometry.Vector
import objects.Car
import java.util.*
import java.util.concurrent.Exchanger
class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : AbstractAlgorithm(thisCar, exchanger) {
@@ -26,7 +25,6 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
val dist0 = anglesDistances[0]
val dist90 = anglesDistances[90]
if (dist90 == null || dist90 > 85) {
//best analysis of outer angle is check minimum in values 60,70,80,90,100,...
requiredAngles = getIntArray(0, 60, 90, 120, 180)
return CarState.OUTER
}
@@ -169,7 +167,7 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
return resultBuilder.build()
}
CarState.OUTER -> {
//todo calculate angle
//todo calculate target
resultBuilder.setDirections(getIntArray(RIGHT, FORWARD, RIGHT))
resultBuilder.setTimes(getIntArray((45 / ROTATION_VELOCITY).toInt(),
(40 / MOVE_VELOCITY).toInt(), (45 / ROTATION_VELOCITY).toInt()))
server/src/main/java/objects/Car.kt
+1 -1
View File
@@ -24,6 +24,6 @@ class Car constructor(uid: Int, host: String, port: Int) {
}
override fun toString(): String {
return "$uid ; x:$x; y:$y; angle:$angle"
return "$uid ; x:$x; y:$y; target:$angle"
}
}
server/src/main/java/web/server/Handler.kt
+4 -4
View File
@@ -43,7 +43,7 @@ class Handler : SimpleChannelInboundHandler<Any>() {
response.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, response.content().readableBytes())
response.headers().add("Access-Control-Allow-Origin", "*");
response.headers().add("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,OPTIONS");
response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Type, Content-Length");
response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Direction, Content-Length");
ctx.writeAndFlush(response).addListener(io.netty.channel.ChannelFutureListener.CLOSE)
}
Constants.getWaypointsURL -> {
@@ -63,7 +63,7 @@ class Handler : SimpleChannelInboundHandler<Any>() {
response.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, response.content().readableBytes())
response.headers().add("Access-Control-Allow-Origin", "*");
response.headers().add("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,OPTIONS");
response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Type, Content-Length");
response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Direction, Content-Length");
ctx.writeAndFlush(response).addListener(io.netty.channel.ChannelFutureListener.CLOSE)
}
Constants.directionOrderURL -> {
@@ -94,7 +94,7 @@ class Handler : SimpleChannelInboundHandler<Any>() {
response.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, response.content().readableBytes())
response.headers().add("Access-Control-Allow-Origin", "*");
response.headers().add("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,OPTIONS");
response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Type, Content-Length");
response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Direction, Content-Length");
ctx.writeAndFlush(response).addListener(io.netty.channel.ChannelFutureListener.CLOSE)
}
Constants.getDebug -> {
@@ -110,7 +110,7 @@ class Handler : SimpleChannelInboundHandler<Any>() {
response.headers().setInt(HttpHeaderNames.CONTENT_LENGTH, response.content().readableBytes())
response.headers().add("Access-Control-Allow-Origin", "*");
response.headers().add("Access-Control-Allow-Methods", "GET,POST,PUT,DELETE,OPTIONS");
response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Type, Content-Length");
response.headers().add("Access-Control-Allow-Headers", "X-Requested-With, Content-Direction, Content-Length");
ctx.writeAndFlush(response).addListener(io.netty.channel.ChannelFutureListener.CLOSE)
}
}