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now room configurations can read from files

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This commit is contained in:
MaximZaitsev
2016-09-05 15:12:46 +03:00
parent 23caaf6ef9
commit 92836b838f
6 changed files with 128 additions and 99 deletions
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car_srv/kotlinSrv/src/Main.kt
+16 -6
View File
@@ -20,11 +20,11 @@ fun main(args: Array<String>) {
println("incorrect config format!")
js("process.exit(1)")
}
val clArgs = js("process.argv")
var runAsEmulator = false
var runTests = false
var nextSeed = false
var room: Room = Room.testRoom1()
for (arg in clArgs) {
if (nextSeed) {
Rng.SEED = parseInt(arg, 10).toLong()
@@ -34,17 +34,27 @@ fun main(args: Array<String>) {
when (arg) {
"-t" -> runTests = true
"-e" -> runAsEmulator = true
"-tr1" -> Room.walls = Room.testRoom1()
"-tr2" -> Room.walls = Room.testRoom2()
"-tr3" -> Room.walls = Room.testRoom3()
"-r" -> Room.randomOn()
"-tr1" -> room = Room.testRoom1()
"-tr2" -> room = Room.testRoom2()
"-tr3" -> room = Room.testRoom3()
"-r" -> Rng.ADD_RANDOM = true
"-s" -> nextSeed = true
}
if (arg.toString().contains("--room=")) {
val pathToFile = arg.toString().split("=")[1].replace("\"", "")
val data: String = fs.readFileSync(pathToFile, "utf8")
val roomOrNull = Room.roomFromString(data)
if (roomOrNull == null) {
println("error parsing string $data \nto room")
return
}
room = roomOrNull
}
}
val carController =
if (runAsEmulator) {
McState.instance.connect("")
ControllerEmulator()
ControllerEmulator(room)
} else {
ControllerToUsb()
}
car_srv/kotlinSrv/src/Test.kt
+1 -1
View File
@@ -6,7 +6,7 @@ fun runTests() {
}
private fun testCarEmulator() {
val controller = ControllerEmulator()
val controller = ControllerEmulator(Room.testRoom1())
var sonarRequest = SonarRequest.BuilderSonarRequest(IntArray(2, { x -> x * 90 }), IntArray(0), 0, SonarRequest.Smoothing.NONE).build()
var sonarResponse = SonarResponse.BuilderSonarResponse(IntArray(0)).build()
controller.executeRequestSensorData(sonarRequest, { bytes ->
car_srv/kotlinSrv/src/control/emulator/ControllerEmulator.kt
+5 -16
View File
@@ -4,8 +4,8 @@ import CarState
import RouteMetricRequest
import RouteRequest
import RouteResponse
import SonarRequest
import SonarExploreAngleRequest
import SonarRequest
import SonarResponse
import control.Controller
import encodeProtoBuf
@@ -14,7 +14,7 @@ import geometry.Vector
import room.Room
import kotlin.Pair
class ControllerEmulator : Controller {
class ControllerEmulator(val room: Room) : Controller {
private val MOVE_VELOCITY = 0.05//sm/ms
private val ROTATION_VELOCITY = 0.05//degrees/ms
@@ -111,7 +111,7 @@ class ControllerEmulator : Controller {
if (distance == -1) {
distances.add(distance)
} else {
val delta = if (Room.ADD_RANDOM) Rng.nextInt(-2, 2) else 0//return one of -2 -1 0 1 or 2
val delta = if (Rng.ADD_RANDOM) Rng.nextInt(-2, 2) else 0//return one of -2 -1 0 1 or 2
distances.add(distance + delta)
}
}
@@ -122,7 +122,7 @@ class ControllerEmulator : Controller {
private fun getDistance(xSensor0: Int, ySensor0: Int, sensorLine: Line, sensorVector: Vector): Int {
var result = Int.MAX_VALUE
for (wall in Room.walls) {
for (wall in room.walls) {
val wallLine = wall.line
val slope = sensorLine.A * wallLine.B - sensorLine.B * wallLine.A
if (Math.abs(slope) < 0.01) {
@@ -148,9 +148,6 @@ class ControllerEmulator : Controller {
result = currentDistance
}
}
// if (result < 5 || result > 500) {
// return -1
// }
return result
}
@@ -163,14 +160,6 @@ class ControllerEmulator : Controller {
return angleTmp % 360
}
//return random int from array
private fun getRandomIntFrom(values: IntArray): Int {
val randomValue = (Math.random() * 1000).toInt()//value in [0,999]
val randomArrayIdx = randomValue * values.size / 1000//index in [0, values.size-1]
return values[randomArrayIdx]
}
fun executeCommand(commands: List<Pair<MoveDirection, Double>>, currentCommandIdx: Int, callBack: (ByteArray) -> Unit) {
if (currentCommandIdx == commands.size) {
val responseMessage = RouteResponse.BuilderRouteResponse(0).build()
@@ -182,7 +171,7 @@ class ControllerEmulator : Controller {
//refresh car state
val carInstance = CarState.instance
val commandDistance = currentCommand.second
val coef = if (Room.ADD_RANDOM) Rng.nextInt(900, 1100).toDouble() / 1000.0 else 1.0
val coef = if (Rng.ADD_RANDOM) Rng.nextInt(900, 1100).toDouble() / 1000.0 else 1.0
val commandDistanceIncludeRandom = (commandDistance * coef).toInt()
when (currentCommand.first) {
MoveDirection.FORWARD -> carInstance.moving(commandDistanceIncludeRandom)
car_srv/kotlinSrv/src/control/emulator/Rng.kt
+2
View File
@@ -7,6 +7,8 @@ object Rng {
val c = 1013904223L
val mod = 2147483648L
var ADD_RANDOM = false
fun abs(value: Long): Long {
if (value < 0)
return -value
car_srv/kotlinSrv/src/room/Room.kt
+72 -75
View File
@@ -2,86 +2,83 @@ package room
import geometry.Line
object Room {
class Room() {
val walls = arrayListOf<Wall>()
var walls = testRoom1()
var ADD_RANDOM = false
/*
_________
| |
| |
|________|
*/
fun randomOn() {
ADD_RANDOM = true
constructor(walls: Collection<Wall>) : this() {
this.walls.addAll(walls)
}
fun testRoom1(): List<Wall> {
val upLine = Line(0.0, 1.0, -300.0)
val leftLine = Line(1.0, 0.0, 150.0)
val bottomLine = Line(0.0, 1.0, 45.0)
val rightLine = Line(1.0, 0.0, -200.0)
//
val walls = listOf<Wall>(Wall(upLine, 200, -150, 300, 300),
Wall(leftLine, -150, -150, 300, -45),
Wall(bottomLine, -150, 200, -45, -45),
Wall(rightLine, 200, 200, -45, 300)
)
return walls
companion object {
fun roomFromString(roomString: String): Room? {
val result = Room()
roomString.split("\n").forEach { wallString ->
if (!wallString.equals("")) {
val wall = Wall.wallFromString(wallString) ?: return null
result.walls.add(wall)
}
}
return result
}
fun testRoom1(): Room {
val upLine = Line(0.0, 1.0, -300.0)
val leftLine = Line(1.0, 0.0, 150.0)
val bottomLine = Line(0.0, 1.0, 45.0)
val rightLine = Line(1.0, 0.0, -200.0)
val walls = listOf(Wall(upLine, 200, -150, 300, 300),
Wall(leftLine, -150, -150, 300, -45),
Wall(bottomLine, -150, 200, -45, -45),
Wall(rightLine, 200, 200, -45, 300)
)
return Room(walls)
}
fun testRoom2(): Room {
val upLine = Line(0.0, 1.0, -300.0)
val leftLine = Line(1.0, 0.0, 150.0)
val bottomLine = Line(0.0, 1.0, 45.0)
val rightLine = Line(1.0, 0.0, -200.0)
val bottomLine2 = Line(0.0, 1.0, -100.0)
val rightLine2 = Line(1.0, 0.0, -300.0)
val walls = listOf(Wall(upLine, 300, -150, 300, 300),
Wall(leftLine, -150, -150, 300, -45),
Wall(bottomLine, -150, 200, -45, -45),
Wall(rightLine, 200, 200, -45, 100),
Wall(bottomLine2, 200, 300, 100, 100),
Wall(rightLine2, 300, 300, 100, 300)
)
return Room(walls)
}
fun testRoom3(): Room {
val upLine = Line(0.0, 1.0, -300.0)
val leftLine = Line(1.0, 0.0, 150.0)
val bottomLine = Line(0.0, 1.0, 20.0)
val rightLine = Line(-1.2, 1.0, 140.0)
val rightLine2 = Line(1.0, 0.0, -200.0)
val walls = listOf(Wall(upLine, 200, -150, 300, 300),
Wall(leftLine, -150, -150, 300, -20),
Wall(bottomLine, -150, 100, -20, -20),
Wall(rightLine, 100, 200, -20, 100),
Wall(rightLine2, 200, 200, 100, 300)
)
return Room(walls)
}
}
fun testRoom2(): List<Wall> {
/*
________
| |
| ___|
|___|
*/
val upLine = Line(0.0, 1.0, -300.0)
val leftLine = Line(1.0, 0.0, 150.0)
val bottomLine = Line(0.0, 1.0, 45.0)
val rightLine = Line(1.0, 0.0, -200.0)
val bottomLine2 = Line(0.0, 1.0, -100.0)
val rightLine2 = Line(1.0, 0.0, -300.0)
val walls = listOf<Wall>(Wall(upLine, 300, -150, 300, 300),
Wall(leftLine, -150, -150, 300, -45),
Wall(bottomLine, -150, 200, -45, -45),
Wall(rightLine, 200, 200, -45, 100),
Wall(bottomLine2, 200, 300, 100, 100),
Wall(rightLine2, 300, 300, 100, 300)
)
return walls
fun roomToString(): String {
var result = ""
walls.forEach {
result += it.wallToString() + "\n"
}
return result
}
fun testRoom3(): List<Wall> {
/*
_______
| |
|____/
*/
val upLine = Line(0.0, 1.0, -300.0)
val leftLine = Line(1.0, 0.0, 150.0)
val bottomLine = Line(0.0, 1.0, 20.0)
val rightLine = Line(-1.2, 1.0, 140.0)
val rightLine2 = Line(1.0, 0.0, -200.0)
val walls = listOf<Wall>(Wall(upLine, 200, -150, 300, 300),
Wall(leftLine, -150, -150, 300, -20),
Wall(bottomLine, -150, 100, -20, -20),
Wall(rightLine, 100, 200, -20, 100),
Wall(rightLine2, 200, 200, 100, 300)
)
return walls
}
}
car_srv/kotlinSrv/src/room/Wall.kt
+32 -1
View File
@@ -4,4 +4,35 @@ import geometry.Line
class Wall constructor(val line: Line, val xFrom: Int, val xTo: Int, val yFrom: Int, val yTo: Int) {
}
companion object {
fun wallFromString(wall: String): Wall? {
val points = wall.replace(" ", "").split(",")
var xFrom = 0
var xTo = 0
var yTo = 0
var yFrom = 0
points.forEach {
val keyValue = it.split(":")
if (keyValue.size != 2) {
return null
}
try {
when (keyValue[0]) {
"xFrom" -> xFrom = parseInt(keyValue[1])
"yFrom" -> yFrom = parseInt(keyValue[1])
"xTo" -> xTo = parseInt(keyValue[1])
"yTo" -> yTo = parseInt(keyValue[1])
}
} catch (e: Exception) {
return null
}
}
val line = Line((yFrom - yTo).toDouble(), (xTo - xFrom).toDouble(), (xFrom * yTo - yFrom * xTo).toDouble())
return Wall(line, xFrom, xTo, yFrom, yTo)
}
}
fun wallToString(): String {
return "xFrom: $xFrom, yFrom: $yFrom, xTo: $xTo, yTo: $yTo"
}
}