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copied emulator logic to main server, add parsing cl args, add JSAP lib

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This commit is contained in:
MaximZaitsev
2016-09-07 17:39:39 +03:00
parent c7a0f0760d
commit ba70a330f3
20 changed files with 428 additions and 42 deletions
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server/build.gradle
+3
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@@ -46,12 +46,15 @@ jar {
"Main-Class": "ServerMainKt")
}
from { configurations.compile.collect { it.isDirectory() ? it : zipTree(it) } }
}
dependencies {
compile "org.jetbrains.kotlin:kotlin-stdlib:$kotlin_version"
compile "org.jetbrains.kotlin:kotlin-reflect:$kotlin_version"
compile group: 'org.asynchttpclient', name: 'async-http-client', version: '2.0.0-RC9'
compile group: "com.martiansoftware", name: "jsap", version: "2.1"
compile files ("../proto/compiler/build/protokot-runtime.jar")
}
server/room_config_example.xml
+9
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@@ -0,0 +1,9 @@
<room>
<walls>
<wall startX="200" startY="300" endX="-150" endY="300"/>
<wall startX="-150" startY="300" endX="-150" endY="-45"/>
<wall startX="-150" startY="-45" endX="200" endY="-45"/>
<wall startX="200" startY="-45" endX="200" endY="300"/>
</walls>
</room>
server/src/main/java/ClUtils.kt
+33
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@@ -0,0 +1,33 @@
import com.martiansoftware.jsap.FlaggedOption
import com.martiansoftware.jsap.JSAP
import com.martiansoftware.jsap.StringParser
import com.martiansoftware.jsap.Switch
fun setClOptions(clParser: JSAP) {
val optEmulator = Switch("emulator", 'e', "emulator")
val optUseRandom = Switch("random", 'r', "random")
val optSeedForRandom = getOption("seed", JSAP.LONG_PARSER, "1111", 's', "seed")
val optTestRoom = getOption("test room", JSAP.STRING_PARSER, "", null, "room")
val optHelp = getOption("help", JSAP.BOOLEAN_PARSER, "false", null, "help")
clParser.registerParameter(optEmulator)
clParser.registerParameter(optUseRandom)
clParser.registerParameter(optSeedForRandom)
clParser.registerParameter(optTestRoom)
clParser.registerParameter(optHelp)
}
fun getOption(name: String, parser: StringParser, default: String, shortFlag: Char?, longFlag: String, required: Boolean = false): FlaggedOption {
val result = FlaggedOption(name)
.setStringParser(parser)
.setDefault(default)
.setRequired(required)
if (shortFlag != null) {
result.setShortFlag(shortFlag)
}
if (!longFlag.equals("")) {
result.setLongFlag(longFlag)
}
return result
}
server/src/main/java/ServerMain.kt
+32 -4
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@@ -1,11 +1,36 @@
import roomScanner.CarController
import roomScanner.RoomScanner
import clInterface.DebugClInterface
import com.martiansoftware.jsap.JSAP
import net.car.Dropper
import net.car.client.Client
import objects.CarReal
import objects.Environment
import objects.emulator.CarEmulator
import objects.emulator.EmulatedRoom
import objects.emulator.Rng
import roomScanner.CarController
import roomScanner.RoomScanner
fun main(args: Array<String>) {
val clParser = JSAP()
setClOptions(clParser)
val argsConfig = clParser.parse(args)
if (!argsConfig.success() || argsConfig.getBoolean("help")) {
println(clParser.getHelp())
return
}
if (argsConfig.getBoolean("emulator")) {
val pathToRoomConfig = argsConfig.getString("test room")
val randomSeed = argsConfig.getLong("seed")
val useRandom = argsConfig.getBoolean("random")
val carUid = 1
val emulatedRoom = EmulatedRoom.EmulatedRoomFromFile(pathToRoomConfig)
if (emulatedRoom == null) {
println("error parsin room from file $pathToRoomConfig")
return
}
Environment.map.put(carUid, CarEmulator(carUid, emulatedRoom, useRandom, Rng(randomSeed)))
}
var roomScanner: RoomScanner? = null
val carServer = net.car.server.Server.createCarServerThread()
val webServer = net.web.server.Server.createWebServerThread()
@@ -16,8 +41,10 @@ fun main(args: Array<String>) {
if (args.contains("--scan")) {
Environment.onCarConnect { car ->
roomScanner = RoomScanner(CarController(car))
roomScanner!!.start()
if (car is CarReal) {
roomScanner = RoomScanner(CarController(car))
roomScanner!!.start()
}
}
}
@@ -29,4 +56,5 @@ fun main(args: Array<String>) {
Client.shutDownClient()
roomScanner?.interrupt()
}
server/src/main/java/algorithm/AbstractAlgorithm.kt
+1
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@@ -7,6 +7,7 @@ import SonarResponse
import algorithm.geometry.Angle
import algorithm.geometry.AngleData
import objects.Car
import objects.CarReal
import roomScanner.CarController.Direction.*
import java.util.*
import java.util.concurrent.TimeUnit
server/src/main/java/clInterface/executor/DebugInformation.kt
+4
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@@ -6,6 +6,7 @@ import DebugResponseMemoryStats
import DebugResponseSonarStats
import roomScanner.serialize
import net.car.client.Client
import objects.CarReal
import objects.Environment
import java.rmi.UnexpectedException
@@ -14,6 +15,9 @@ class DebugInformation : CommandExecutor {
override fun execute(command: String) {
val params = command.split(" ")
val car = Environment.map[params[1].toInt()]!!
if (!(car is CarReal)) {
return
}
val type = DebugRequest.Type.fromIntToType(params[2].toInt())
val request = DebugRequest.BuilderDebugRequest(type).build()
server/src/main/java/clInterface/executor/Explore.kt
+4
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@@ -5,6 +5,7 @@ import roomScanner.serialize
import SonarExploreAngleRequest
import SonarExploreAngleResponse
import net.car.client.Client
import objects.CarReal
import objects.Environment
class Explore : CommandExecutor {
@@ -12,6 +13,9 @@ class Explore : CommandExecutor {
override fun execute(command: String) {
val params = command.split(" ")
val car = Environment.map[params[1].toInt()]!!
if (!(car is CarReal)) {
return
}
val angle = params[2].toInt()
val window = params[3].toInt()
server/src/main/java/clInterface/executor/RouteMetric.kt
+6 -1
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@@ -4,6 +4,7 @@ import CodedOutputStream
import RouteMetricRequest
import net.car.client.Client
import objects.Car
import objects.CarReal
import objects.Environment
import java.net.ConnectException
@@ -39,7 +40,11 @@ class RouteMetric : CommandExecutor {
val requestBytes = ByteArray(routeMessage.getSizeNoTag())
routeMessage.writeTo(CodedOutputStream(requestBytes))
try {
car.carConnection.sendRequest(Client.Request.ROUTE_METRIC, requestBytes)
routeMessage.distances.forEachIndexed { idx, distance ->
val direction = roomScanner.CarController.Direction.values()
.filter { it.id == routeMessage.directions[idx] }.first()
car.moveCar(distance, direction).get()
}
} catch (e: ConnectException) {
synchronized(Environment, {
Environment.map.remove(id)
server/src/main/java/clInterface/executor/Sonar.kt
+1 -2
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@@ -2,7 +2,6 @@ package clInterface.executor
import CodedOutputStream
import SonarRequest
import net.car.client.Client
import objects.Car
import objects.Environment
import java.net.ConnectException
@@ -35,7 +34,7 @@ class Sonar : CommandExecutor {
val requestBytes = ByteArray(requestMessage.getSizeNoTag())
requestMessage.writeTo(CodedOutputStream(requestBytes))
try {
car.carConnection.sendRequest(Client.Request.SONAR, requestBytes)
car.scan(requestMessage.angles, requestMessage.attempts.first(), requestMessage.windowSize, requestMessage.smoothing)
} catch (e: ConnectException) {
synchronized(Environment, {
Environment.map.remove(id)
server/src/main/java/net/car/Dropper.kt
+4
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@@ -1,6 +1,7 @@
package net.car
import net.car.client.Client
import objects.CarReal
import objects.Environment
import java.net.ConnectException
import kotlin.concurrent.thread
@@ -34,6 +35,9 @@ object Dropper {
for (key in environment.map.keys) {
try {
val carValue = environment.map[key] ?: continue
if (!(carValue is CarReal)) {
continue
}
carValue.carConnection.sendRequest(Client.Request.PING, ByteArray(0))
} catch (e: ConnectException) {
environment.map.remove(key)
server/src/main/java/objects/Car.kt
+4 -31
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@@ -1,44 +1,17 @@
package objects
import CodedOutputStream
import RouteMetricRequest
import SonarRequest
import net.car.client.Client
import org.asynchttpclient.ListenableFuture
import org.asynchttpclient.Response
import roomScanner.CarController.Direction
import roomScanner.serialize
import roomScanner.CarController
class Car constructor(val uid: Int, host: String, port: Int) {
private val CHARGE_CORRECTION = 1.0//on full charge ok is 0.83 - 0.86
abstract class Car(val uid: Int) {
var x = 0.0
var y = 0.0
var angle = 0.0
val carConnection = CarConnection(host, port)
fun moveCar(distance: Int, direction: Direction): ListenableFuture<Response> {
abstract fun moveCar(distance: Int, direction: CarController.Direction): ListenableFuture<Response>
val route = RouteMetricRequest.BuilderRouteMetricRequest(
IntArray(1, { (distance * CHARGE_CORRECTION).toInt() }), IntArray(1, { direction.id }))
val bytesRoute = ByteArray(route.getSizeNoTag())
route.writeTo(CodedOutputStream(bytesRoute))
return carConnection.sendRequest(Client.Request.ROUTE_METRIC, bytesRoute)
}
fun scan(angles: IntArray, attempts: Int, windowSize: Int, smoothing: SonarRequest.Smoothing): ListenableFuture<Response> {
val message = SonarRequest.BuilderSonarRequest(
angles = angles,
attempts = IntArray(angles.size, { attempts }),
smoothing = smoothing,
windowSize = windowSize)
.build()
val data = serialize(message.getSizeNoTag(), { message.writeTo(it) })
return carConnection.sendRequest(Client.Request.SONAR, data)
}
override fun toString(): String {
return "$uid ; x:$x; y:$y; target:$angle"
}
abstract fun scan(angles: IntArray, attempts: Int, windowSize: Int, smoothing: SonarRequest.Smoothing): ListenableFuture<Response>
}
server/src/main/java/objects/CarReal.kt
+40
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@@ -0,0 +1,40 @@
package objects
import CodedOutputStream
import RouteMetricRequest
import SonarRequest
import net.car.client.Client
import org.asynchttpclient.ListenableFuture
import org.asynchttpclient.Response
import roomScanner.CarController.Direction
import roomScanner.serialize
class CarReal(uid: Int, host: String, port: Int) : Car(uid) {
private val CHARGE_CORRECTION = 1.0//on full charge ok is 0.83 - 0.86
val carConnection = CarConnection(host, port)
override fun moveCar(distance: Int, direction: Direction): ListenableFuture<Response> {
val route = RouteMetricRequest.BuilderRouteMetricRequest(
IntArray(1, { (distance * CHARGE_CORRECTION).toInt() }), IntArray(1, { direction.id }))
val bytesRoute = ByteArray(route.getSizeNoTag())
route.writeTo(CodedOutputStream(bytesRoute))
return carConnection.sendRequest(Client.Request.ROUTE_METRIC, bytesRoute)
}
override fun scan(angles: IntArray, attempts: Int, windowSize: Int, smoothing: SonarRequest.Smoothing): ListenableFuture<Response> {
val message = SonarRequest.BuilderSonarRequest(
angles = angles,
attempts = IntArray(angles.size, { attempts }),
smoothing = smoothing,
windowSize = windowSize)
.build()
val data = serialize(message.getSizeNoTag(), { message.writeTo(it) })
return carConnection.sendRequest(Client.Request.SONAR, data)
}
override fun toString(): String {
return "$uid ; x:$x; y:$y; target:$angle"
}
}
server/src/main/java/objects/Environment.kt
+1 -1
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@@ -8,7 +8,7 @@ object Environment {
@Synchronized
fun connectCar(host: String, port: Int): Int {
uid++
val car = Car(uid, host, port)
val car = CarReal(uid, host, port)
onConnect.forEach { it(car) }
map.put(uid, car)
return uid
server/src/main/java/objects/emulator/CarEmulator.kt
+130
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@@ -0,0 +1,130 @@
package objects.emulator
import SonarRequest
import SonarResponse
import algorithm.geometry.Angle
import algorithm.geometry.Line
import algorithm.geometry.Vector
import objects.Car
import org.asynchttpclient.ListenableFuture
import org.asynchttpclient.Response
import roomScanner.CarController
import roomScanner.CarController.Direction.*
import roomScanner.serialize
class CarEmulator(uid: Int, val testRoom: EmulatedRoom, val useRandom: Boolean, val randomGenerator: Rng) : Car(uid) {
private var xReal = 0
private var yReal = 0
private var angleReal = Angle(0)
override fun moveCar(distance: Int, direction: CarController.Direction): ListenableFuture<Response> {
val coef = if (useRandom) randomGenerator.nextInt(900, 1100).toDouble() / 1000.0 else 1.0
val distanceWithRandom = (coef * distance).toInt()
when (direction) {
FORWARD -> {
xReal += (Math.cos(angleReal.rads()) * distanceWithRandom).toInt()
yReal += (Math.sin(angleReal.rads()) * distanceWithRandom).toInt()
}
BACKWARD -> {
xReal -= (Math.cos(angleReal.rads()) * distanceWithRandom).toInt()
yReal -= (Math.sin(angleReal.rads()) * distanceWithRandom).toInt()
}
LEFT -> angleReal += Angle(distanceWithRandom)
RIGHT -> angleReal -= Angle(distanceWithRandom)
}
println("x=$xReal y=$yReal angle=${angleReal.degs()}")
return ListenableFutureImpl(ByteArray(0))
}
override fun scan(angles: IntArray, attempts: Int, windowSize: Int, smoothing: SonarRequest.Smoothing): ListenableFuture<Response> {
val xSensor0 = xReal.toInt()
val ySensor0 = yReal.toInt()
val carAngle = angleReal
val distances = arrayListOf<Int>()
angles.forEach { angle ->
val angleFinal = getSensorAngle(angle, carAngle.degs())
val xSensor1: Int
val ySensor1: Double
//tg can be equal to inf if angle = 90 or 270. it vertical line. x1 = x0, y1 = y0+-[any number. eg 1]
when (angleFinal) {
90 -> {
xSensor1 = xSensor0
ySensor1 = (ySensor0 + 1).toDouble()
}
270 -> {
xSensor1 = xSensor0
ySensor1 = (ySensor0 - 1).toDouble()
}
in (90..270) -> {
xSensor1 = xSensor0 - 1
ySensor1 = ySensor0 + (xSensor1 - xSensor0) * Math.tan(angleFinal * Math.PI / 180)
}
else -> {
xSensor1 = xSensor0 + 1
ySensor1 = ySensor0 + (xSensor1 - xSensor0) * Math.tan(angleFinal * Math.PI / 180)
}
}
val sensorLine = Line(ySensor0 - ySensor1, xSensor1.toDouble() - xSensor0,
xSensor0 * ySensor1 - ySensor0 * xSensor1)
val sensorVector = Vector(xSensor0.toDouble(), ySensor0.toDouble(), xSensor1.toDouble(), ySensor1)
val distance = getDistance(xSensor0, ySensor0, sensorLine, sensorVector)
if (distance == -1) {
distances.add(distance)
} else {
val delta = if (useRandom) randomGenerator.nextInt(-2, 2) else 0//return one of -2 -1 0 1 or 2
distances.add(distance + delta)
}
}
val responseMessage = SonarResponse.BuilderSonarResponse(distances.toIntArray()).build()
val bytes = serialize(responseMessage.getSizeNoTag(), { responseMessage.writeTo(it) })
return ListenableFutureImpl(bytes)
}
private fun getDistance(xSensor0: Int, ySensor0: Int, sensorLine: Line, sensorVector: Vector): Int {
var result = Long.MAX_VALUE
for (wall in testRoom.emulatedWalls) {
val wallLine = wall.line
val slope = sensorLine.A * wallLine.B - sensorLine.B * wallLine.A
if (Math.abs(slope) < 0.01) {
//line is parallel.
continue
}
val xIntersection = (sensorLine.B * wallLine.C - wallLine.B * sensorLine.C) / slope
val yIntersection = (sensorLine.C * wallLine.A - wallLine.C * sensorLine.A) / slope
//filters by direction and intersection position
val intersectionVector = Vector(xSensor0.toDouble(), ySensor0.toDouble(), xIntersection, yIntersection)
if (intersectionVector.scalarProduct(sensorVector) < 0) {
continue
}
val wallVector1 = Vector(xIntersection, yIntersection, wall.xTo.toDouble(), wall.yTo.toDouble())
val wallVector2 = Vector(xIntersection, yIntersection, wall.xFrom.toDouble(), wall.yFrom.toDouble())
if (wallVector1.scalarProduct(wallVector2) > 0) {
continue
}
val currentDistance = Math.round(Math.sqrt(Math.pow(xIntersection - xSensor0, 2.0)
+ Math.pow(yIntersection - ySensor0, 2.0)))
if (currentDistance < result) {
result = currentDistance
}
}
return result.toInt()
}
private fun getSensorAngle(requestAngle: Int, carAngle: Int): Int {
var angleTmp = carAngle - requestAngle
while (angleTmp < 0) {
angleTmp += 360
}
return angleTmp % 360
}
}
server/src/main/java/objects/emulator/EmulatedRoom.kt
+44
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@@ -0,0 +1,44 @@
package objects.emulator
import org.w3c.dom.Node
import java.io.File
import javax.xml.parsers.DocumentBuilderFactory
class EmulatedRoom() {
val emulatedWalls = arrayListOf<EmulatedWall>()
constructor(EmulatedWalls: Collection<EmulatedWall>) : this() {
this.emulatedWalls.addAll(EmulatedWalls)
}
companion object {
fun EmulatedRoomFromFile(pathToFile: String): EmulatedRoom? {
val factory = DocumentBuilderFactory.newInstance()
val builder = factory.newDocumentBuilder()
val doc = builder.parse(File(pathToFile))
val root = doc.getDocumentElement()
val rootChild = root.childNodes
var walls: Node? = null
for (i in 0..rootChild.length - 1) {
val node = rootChild.item(i)
if (node.nodeType == Node.ELEMENT_NODE) {
walls = node
break
}
}
walls ?: return null
val wallsChild = walls.childNodes
val result = EmulatedRoom()
for (i in 0..wallsChild.length - 1) {
val wall = wallsChild.item(i)
if (wall.nodeType != Node.ELEMENT_NODE) {
continue
}
val EmulatedWall = EmulatedWall.wallFromXml(wall) ?: return null
result.emulatedWalls.add(EmulatedWall)
}
return result
}
}
}
server/src/main/java/objects/emulator/EmulatedWall.kt
+27
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@@ -0,0 +1,27 @@
package objects.emulator
import algorithm.geometry.Line
import org.w3c.dom.Node
class EmulatedWall constructor(val line: Line, val xFrom: Int, val xTo: Int, val yFrom: Int, val yTo: Int) {
companion object {
fun wallFromXml(wall: Node): EmulatedWall? {
val points = wall.attributes
val startX: Int
val endX: Int
val endY: Int
val startY: Int
try {
startX = points.getNamedItem("startX").nodeValue.toInt()
startY = points.getNamedItem("startY").nodeValue.toInt()
endX = points.getNamedItem("endX").nodeValue.toInt()
endY = points.getNamedItem("endY").nodeValue.toInt()
} catch (e: NumberFormatException) {
return null
}
val line = Line((startY - endY).toDouble(), (endX - startX).toDouble(), (startX * endY - startY * endX).toDouble())
return EmulatedWall(line, startX, endX, startY, endY)
}
}
}
server/src/main/java/objects/emulator/ListenableFutureImpl.kt
+54
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@@ -0,0 +1,54 @@
package objects.emulator
import io.netty.buffer.ByteBuf
import io.netty.buffer.Unpooled
import org.asynchttpclient.ListenableFuture
import org.asynchttpclient.Response
import org.asynchttpclient.netty.EagerResponseBodyPart
import org.asynchttpclient.netty.NettyResponse
import java.util.concurrent.CompletableFuture
import java.util.concurrent.Executor
import java.util.concurrent.TimeUnit
class ListenableFutureImpl(bytes: ByteArray) : ListenableFuture<Response> {
val response = NettyResponse(null, null, listOf(EagerResponseBodyPart(Unpooled.copiedBuffer(bytes), true)))
override fun done() {
}
override fun cancel(p0: Boolean): Boolean {
return false
}
override fun touch() {
}
override fun get(): Response {
return response
}
override fun get(p0: Long, p1: TimeUnit): Response {
return response
}
override fun addListener(listener: Runnable?, exec: Executor?): ListenableFuture<Response> {
return this
}
override fun abort(t: Throwable?) {
}
override fun isDone(): Boolean {
return true
}
override fun toCompletableFuture(): CompletableFuture<Response> {
throw UnsupportedOperationException("not implemented")
}
override fun isCancelled(): Boolean {
return false
}
}
server/src/main/java/objects/emulator/Rng.kt
+28
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@@ -0,0 +1,28 @@
package objects.emulator
class Rng(seed: Long) {
var curState = seed
val a = 1664525L
val c = 1013904223L
val mod = 2147483648L
fun abs(value: Long): Long {
if (value < 0)
return -value
return value
}
fun nextInt(): Int {
val res = curState
curState = abs(a * curState + c) % mod
return (res % mod).toInt()
}
fun nextInt(min_val: Int, max_val: Int): Int {
val rand = nextInt()
val size = max_val - min_val + 1
val randInRange = rand % size
val res = randInRange + min_val
return res
}
}
server/src/main/java/roomScanner/CarController.kt
+2 -2
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@@ -5,9 +5,9 @@ import RouteMetricRequest
import SonarRequest
import SonarResponse
import net.car.client.Client
import objects.Car
import objects.CarReal
class CarController(var car: Car) {
class CarController(var car: CarReal) {
enum class Direction(val id: Int) {
FORWARD(0),
BACKWARD(1),
server/src/main/java/roomScanner/RoomScanner.kt
+1 -1
View File
@@ -6,7 +6,7 @@ class RoomScanner(val controller: CarController) : Thread() {
private val GHOST_LEVEL = 50
override fun run() {
println("Car connected ${controller.car.carConnection.host}")
println("CarReal connected ${controller.car.carConnection.host}")
for (i in 1..100) {
step()
println(plot(points))