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Optimizations and Cleanup #191

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Jan 14, 2025
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Optimizations and Cleanup #191

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14 changes: 7 additions & 7 deletions Assets/EditTests/CoverageCalculatorTests.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -36,18 +36,18 @@ namespace EditTests
public class CoverageCalculatorTest
{

private CoverageCalculator<ExplorationCell> _coverageCalculator;
private CoverageCalculator _coverageCalculator;
private SimulationMap<Tile> _collisionMap;
private SimulationMap<ExplorationCell> _explorationMap;
private SimulationMap<Cell> _explorationMap;
private const int RandomSeed = 123;
private const int Width = 50, Height = 50;

[SetUp]
public void InitializeCalculatorAndMaps()
{
_collisionMap = GenerateCollisionMap();
_explorationMap = _collisionMap.FMap(tile => new ExplorationCell(!Tile.IsWall(tile.Type)));
_coverageCalculator = new CoverageCalculator<ExplorationCell>(_explorationMap, _collisionMap);
_explorationMap = _collisionMap.FMap(tile => new Cell(!Tile.IsWall(tile.Type)));
_coverageCalculator = new CoverageCalculator(_explorationMap, _collisionMap);
}

// Generates a collision map where only the edge tiles are solid
Expand Down Expand Up @@ -114,7 +114,7 @@ public void AdjacentTilesAreCoveredTest(float robotX, float robotY)
var robotWorldPos = new Vector2(robotX, robotY);

// Find all cells that are immediate neighbours of tile currently occupied by the robot
var cells = new List<ExplorationCell>();
var cells = new List<Cell>();
for (var x = -1; x < 1; x++)
{
for (var y = -1; y < 1; y++)
Expand Down Expand Up @@ -177,7 +177,7 @@ public void CoverageTimeUpdateTest()
public void TilesAreMarkedCoverableCorrectly()
{
// Copy the existing exploration map and to get a new map where all CanBeCovered flags are true
var freshExplorationMap = _explorationMap.FMap((cell) => new ExplorationCell(cell.IsExplorable));
var freshExplorationMap = _explorationMap.FMap((cell) => new Cell(cell.IsExplorable));
for (var x = 0; x < Width; x++)
{
for (var y = 0; y < Height; y++)
Expand All @@ -186,7 +186,7 @@ public void TilesAreMarkedCoverableCorrectly()
}
}

new CoverageCalculator<ExplorationCell>(freshExplorationMap, _collisionMap);
new CoverageCalculator(freshExplorationMap, _collisionMap);
// Pass the new exploration map to the coverage calculator which should cause the solid tiles to be
// marked as non-coverable
for (var x = 0; x < Width; x++)
Expand Down
10 changes: 5 additions & 5 deletions Assets/PlayModeTests/EstimateTickTest/EstimateTestTurnsPath.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -17,18 +17,18 @@ namespace PlayModeTests.EstimateTickTest
using MySimulationScenario = ExplorationSimulationScenario;
using MySimulator = ExplorationSimulator;

[TestFixture(0.5f, 5, 5, -42)]
[TestFixture(0.5f, 10, 10, -39)]
[TestFixture(0.5f, 5, 5, -41)]
[TestFixture(0.5f, 10, 10, -42)]
[TestFixture(0.5f, 20, 20, -31)]
[TestFixture(0.5f, 15, 15, -31)]

[TestFixture(1.0f, 5, 5, -17)]
[TestFixture(1.0f, 10, 10, -27)]
[TestFixture(1.0f, 10, 10, -33)]
[TestFixture(1.0f, 20, 20, -29)]
[TestFixture(1.0f, 15, 15, -23)]

[TestFixture(1.5f, 5, 5, -36)]
[TestFixture(1.5f, 10, 10, -43)]
[TestFixture(1.5f, 5, 5, -46)]
[TestFixture(1.5f, 10, 10, -53)]
[TestFixture(1.5f, 15, 15, -39)]

public class EstimateTestTurnsPath
Expand Down
3 changes: 1 addition & 2 deletions Assets/Scripts/CustomScriptsAssembly.asmdef
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Original file line number Diff line number Diff line change
Expand Up @@ -3,11 +3,10 @@
"rootNamespace": "Maes",
"references": [
"GUID:acf5d101701ab1987b7babf0fae71e0a",
"GUID:b3f49edfedc855a48aa1a9e5d3cba438",
"GUID:625bfc588fb96c74696858f2c467e978",
"GUID:1da8e23352f14494396eac5033ba9894",
"GUID:ba58c43074cf72549aa2ac5937dae44b",
"GUID:5db6cbfd5d0e86a46862a70f4b4067f2",
"GUID:1da8e23352f14494396eac5033ba9894",
"GUID:6055be8ebefd69e48b49212b09b47b2f",
"GUID:6a9ab44e5e0403d4ebaf2dee2f9f1172",
"GUID:dd8043639e4014317a7246f064330196"
Expand Down
3 changes: 2 additions & 1 deletion Assets/Scripts/ExplorationAlgorithm/HenrikAlgo/HenrikExplorationAlgorithm.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
// - Proposed fix: When finding the nearest unexplored tile, the robot could exclude tiles which are close to other robots.
// - The anti-wall collision 'CollisionCorrector()' is primitive.

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
Expand Down Expand Up @@ -66,7 +67,7 @@ private void ShareSlamMap()
{
Debug.Log("Received slam");
var combinedMessage = receivedHeartbeats[0];
foreach (var message in receivedHeartbeats[1..])
foreach (var message in receivedHeartbeats.AsSpan(1))
{
combinedMessage = combinedMessage.Combine(message, _logicTicks);
}
Expand Down
65 changes: 34 additions & 31 deletions Assets/Scripts/ExplorationAlgorithm/Minotaur/EdgeDetector.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -34,22 +34,12 @@ namespace Maes.ExplorationAlgorithm.Minotaur
{
internal class EdgeDetector
{
public EdgeState State => UpdateState();
public bool isStuck => GetTilesAroundPoint(_edgeSize, _defaultLimitors).Where(tile => _coarseMap.GetTileStatus(tile) != SlamTileStatus.Open).Any();

private readonly SlamMap _slamMap;
private readonly CoarseGrainedMap _coarseMap;
private readonly int _edgeSize;
private readonly int _visionRange;
private readonly List<SlamTileStatus> _defaultLimitors = new List<SlamTileStatus> { SlamTileStatus.Solid };
private Vector2Int _robotPosition => _coarseMap.GetCurrentPosition();

public enum EdgeState
{
Forward,
ForwardLeft,
ForwardRight,
}
private static readonly SlamTileStatus[] _defaultLimiters = { SlamTileStatus.Solid };
private Vector2Int RobotPosition => _coarseMap.GetCurrentPosition();

public EdgeDetector(SlamMap map, float visionRange)
{
Expand All @@ -59,11 +49,6 @@ public EdgeDetector(SlamMap map, float visionRange)
_visionRange = (int)visionRange;
}

private EdgeState UpdateState()
{
return EdgeState.ForwardRight;
}

public Vector2Int? GetNearestUnseenTile()
{
var angles = Enumerable.Range(0, 360).ToList();
Expand All @@ -74,7 +59,7 @@ private EdgeState UpdateState()
var removedAngles = new List<int>();
foreach (var angle in angles)
{
var tile = GetFurthestTileAroundPoint(_coarseMap.GetApproximateGlobalDegrees() + angle, range, _defaultLimitors);
var tile = GetFurthestTileAroundPoint(_coarseMap.GetApproximateGlobalDegrees() + angle, range, _defaultLimiters);

if (_coarseMap.GetTileStatus(tile) == SlamTileStatus.Solid)
{
Expand All @@ -92,7 +77,7 @@ private EdgeState UpdateState()
}
if (unseenTiles.Any())
{
return unseenTiles.OrderBy(tile => Vector2.Distance(_robotPosition, tile)).First();
return unseenTiles.OrderBy(tile => Vector2.Distance(RobotPosition, tile)).First();
}
range++;
}
Expand All @@ -102,15 +87,15 @@ private EdgeState UpdateState()
/// <summary>
/// Gets the tiles around the robot by casting 360-<paramref name="startAngle"/> rays. These rays expand from the robot and out being stopped by the <paramref name="limiters"/>.
/// <para></para>
/// If only one ray is desired, consider <seealso cref="GetFurthestTileAroundPoint(float, int, List{SlamTileStatus}, Vector2Int?, bool, bool)"/>
/// If only one ray is desired, consider <seealso cref="GetFurthestTileAroundPoint(float, int, SlamTileStatus[], Vector2Int?, bool, bool)"/>
/// </summary>
/// <param name="range">The distance of the ray</param>
/// <param name="limiters">What tiles should stop the rays</param>
/// <param name="point"></param>
/// <param name="slamPrecision">Target slam tiles instead of coarse tiles</param>
/// <param name="startAngle">If set above 0 then this will create arcs instead of circles around the robot, based on <see cref="Vector2.right"/> counter-clockwise</param>
/// <returns>The unique tiles that were hit</returns>
public HashSet<Vector2Int> GetTilesAroundPoint(int range, List<SlamTileStatus> limiters, Vector2Int? point = null, bool slamPrecision = false, int startAngle = 0)
public HashSet<Vector2Int> GetTilesAroundPoint(int range, SlamTileStatus[] limiters, Vector2Int? point = null, bool slamPrecision = false, int startAngle = 0)
{
IPathFindingMap map = slamPrecision ? _slamMap : _coarseMap;
var tiles = new HashSet<Vector2Int>();
Expand All @@ -126,7 +111,7 @@ public HashSet<Vector2Int> GetTilesAroundPoint(int range, List<SlamTileStatus> l
return tiles;
}

public Vector2Int GetFurthestTileAroundPoint(float angle, int range, List<SlamTileStatus> limiters, Vector2Int? point = null, bool snapToGrid = false, bool slamPrecision = false)
public Vector2Int GetFurthestTileAroundPoint(float angle, int range, SlamTileStatus[] limiters, Vector2Int? point = null, bool snapToGrid = false, bool slamPrecision = false)
{
Vector2Int position;
if (point.HasValue)
Expand All @@ -135,7 +120,7 @@ public Vector2Int GetFurthestTileAroundPoint(float angle, int range, List<SlamTi
}
else
{
position = slamPrecision ? _slamMap.GetCurrentPosition() : _robotPosition;
position = slamPrecision ? _slamMap.GetCurrentPosition() : RobotPosition;
}
IPathFindingMap map = slamPrecision ? _slamMap : _coarseMap;
var tile = position;
Expand All @@ -160,20 +145,38 @@ public Vector2Int GetFurthestTileAroundPoint(float angle, int range, List<SlamTi

public IEnumerable<Vector2Int> GetBoxAroundRobot()
{
var boxTileList = new List<Vector2Int>();
for (var x = -_edgeSize; x <= _edgeSize; x++)
{
for (var y = _edgeSize; y <= _edgeSize + 1; y++)
{
boxTileList.Add(_robotPosition + new Vector2Int(x, y));
boxTileList.Add(_robotPosition + new Vector2Int(x, -y));
boxTileList.Add(_robotPosition + new Vector2Int(y, x));
boxTileList.Add(_robotPosition + new Vector2Int(-y, x));
var rx = RobotPosition.x;
var ry = RobotPosition.y;

var xy = new Vector2Int(rx + x, ry + y);
if (_coarseMap.IsWithinBounds(xy))
{
yield return xy;
}

var xmy = new Vector2Int(rx + x, ry - y);
if (_coarseMap.IsWithinBounds(xmy))
{
yield return xmy;
}

var yx = new Vector2Int(rx + y, ry + x);
if (_coarseMap.IsWithinBounds(yx))
{
yield return yx;
}

var myx = new Vector2Int(rx - y, ry + x);
if (_coarseMap.IsWithinBounds(myx))
{
yield return myx;
}
}
}
return boxTileList.Where(tile => _coarseMap.IsWithinBounds(tile));
}


}
}
4 changes: 2 additions & 2 deletions Assets/Scripts/ExplorationAlgorithm/Minotaur/Messages/BiddingMessage.cs
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Expand Up @@ -46,7 +46,7 @@ public BiddingMessage Combine(BiddingMessage biddingMessage, MinotaurAlgorithm m
{
if (biddingMessage._doorway == _doorway && biddingMessage._requestorRobotID == _requestorRobotID)
{
foreach ((var key, var value) in biddingMessage._allBids)
foreach (var (key, value) in biddingMessage._allBids)
{
_allBids[key] = value; //This would overwrite bid values for the requestor and doorway, if it somehow changes, through it shouldnt
}
Expand All @@ -73,7 +73,7 @@ public IMinotaurMessage Process(MinotaurAlgorithm minotaur)
{
var orderedBids = _allBids.OrderBy(key => key.Value);
var winnerbids = orderedBids.Take((_allBids.Count + 1) / 2);
foreach ((var key, var value) in winnerbids)
foreach (var (key, value) in winnerbids)
{
winnerIDList.Add(key);
}
Expand Down
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