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Issue #1712: improve movable obstacle behaviour, regenerate victims …
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…when scoring run starts
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@bjost2s
bjost2s committed Dec 16, 2024
1 parent 8c61090 commit 519ceac
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Showing 6 changed files with 75 additions and 21 deletions.
2 changes: 1 addition & 1 deletion OpenRobertaServer/staticResources/js/app/simulation/simulationLogic/simulation.objects.js
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2 changes: 1 addition & 1 deletion OpenRobertaServer/staticResources/js/app/simulation/simulationLogic/simulation.roberta.js
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Large diffs are not rendered by default.

2 changes: 1 addition & 1 deletion OpenRobertaServer/staticResources/js/app/simulation/simulationLogic/simulation.scene.js
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Large diffs are not rendered by default.

11 changes: 8 additions & 3 deletions OpenRobertaWeb/src/app/simulation/simulationLogic/simulation.objects.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -656,6 +656,7 @@ export class CircleSimulationObject extends BaseSimulationObject implements IMov
corners: Corner[] = [];
private collisions: Point[] = [];
private lastMoveBumped: boolean = false;
private lastMoveBumpedOld: boolean = false;
private lastMove: Point;
private observers: IObserver[] = [];
inEvacuationZone: boolean = false;
Expand Down Expand Up @@ -870,6 +871,10 @@ export class CircleSimulationObject extends BaseSimulationObject implements IMov
this.x += dx;
this.y += dy;
this.updateCorners();
if (this.movable) {
this.lastMoveBumpedOld = false;
this.lastMoveBumped = false;
}
//TODO redraw
}
}
Expand Down Expand Up @@ -912,8 +917,7 @@ export class CircleSimulationObject extends BaseSimulationObject implements IMov
return false;
}
this.collisions.push(dist);
if (this.lastMoveBumped) {
//this.lastMoveBumped = false;
if (this.lastMoveBumpedOld) {
return false;
}
return true;
Expand All @@ -923,6 +927,8 @@ export class CircleSimulationObject extends BaseSimulationObject implements IMov
if (!this.movable) {
return;
}
this.lastMoveBumpedOld = this.lastMoveBumped;
this.lastMoveBumped = false;
let locationColor = uCtx.getImageData(this.x, this.y, 1, 1).data;
this.inEvacuationZone = locationColor.toString() === [0, 0, 0, 255].toString();

Expand Down Expand Up @@ -981,7 +987,6 @@ export class CircleSimulationObject extends BaseSimulationObject implements IMov
this.moveTo({ x: this.x + diffP.x, y: this.y + diffP.y });
}
} else {
this.lastMoveBumped = false;
this.moveTo({ x: this.x + diffP.x, y: this.y + diffP.y });
}
}
Expand Down
50 changes: 39 additions & 11 deletions OpenRobertaWeb/src/app/simulation/simulationLogic/simulation.roberta.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ import * as HUEBEE from 'huebee';
// @ts-ignore
import * as Blockly from 'blockly';
import * as NN_CTRL from 'nn.controller';
import { SimulationScene } from 'simulation.scene';
import { IObservableSimulationObject, SimulationScene } from 'simulation.scene';
import { SelectionListener } from 'robot.base';
import {
BaseSimulationObject,
Expand All @@ -30,6 +30,7 @@ import {
} from 'simulation.objects';
import { Pose } from 'robot.base.mobile';
import { Simulation } from 'progSim.controller';
import * as SIMATH from 'simulation.math';

export class SimulationRoberta implements Simulation {
private static _instance: SimulationRoberta;
Expand Down Expand Up @@ -1011,15 +1012,25 @@ export class SimulationRoberta implements Simulation {
let victims = configData.victims;
let rcjVictimsList = [];
let zone: Rectangle = {
x: Math.min(evacuationZone[0], evacuationZone[2]) * sim.TILE_SIZE,
y: Math.min(evacuationZone[1], evacuationZone[3]) * sim.TILE_SIZE,
w: (Math.max(evacuationZone[0], evacuationZone[2]) - Math.min(evacuationZone[0], evacuationZone[2]) + 1) * sim.TILE_SIZE,
h: (Math.max(evacuationZone[1], evacuationZone[3]) - Math.min(evacuationZone[1], evacuationZone[3]) + 1) * sim.TILE_SIZE,
x: Math.min(evacuationZone[0], evacuationZone[2]) * sim.TILE_SIZE - sim.TILE_SIZE / 2,
y: Math.min(evacuationZone[1], evacuationZone[3]) * sim.TILE_SIZE - sim.TILE_SIZE / 2,
w: (Math.max(evacuationZone[0], evacuationZone[2]) - Math.min(evacuationZone[0], evacuationZone[2]) + 1) * sim.TILE_SIZE + sim.TILE_SIZE,
h: (Math.max(evacuationZone[1], evacuationZone[3]) - Math.min(evacuationZone[1], evacuationZone[3]) + 1) * sim.TILE_SIZE + sim.TILE_SIZE,
};
const createVictim = (color) => {
let p = { x: zone.x + Math.random() * zone.w, y: zone.y + Math.random() * zone.h };
let i = 0;
while (i < rcjVictimsList.length) {
if (SIMATH.getDistance(p, rcjVictimsList[i].p) < 200) {
p = { x: zone.x + Math.random() * zone.w, y: zone.y + Math.random() * zone.h };
i = 0;
} else {
i++;
}
}
let victim = {
id: sim.scene.uniqueObjectId,
p: { x: zone.x + Math.random() * zone.w, y: zone.y + Math.random() * zone.h },
p: p,
params: [7, 1], // 7 is the radius, 1 is movable = true
theta: 0,
color: color,
Expand Down Expand Up @@ -1047,6 +1058,24 @@ export class SimulationRoberta implements Simulation {
image.height = canvas.height;
return image;
};
let evacuationVictimsZone = [];
const resetVictims = () => {
let obstaclesToDelete: BaseSimulationObject[] = sim.scene.obstacleList.filter((obstacle) => {
return obstacle.movable;
});
obstaclesToDelete.forEach((obstacle) => {
obstacle.selected = true;
(obstacle as any as IObservableSimulationObject).removeObserver(sim.scene.rcjScoringTool);
sim.scene.deleteSelectedObject();
});
let newVictims = getRcjVictims(evacuationVictimsZone);
sim.scene.addSomeObstacles(newVictims);
sim.scene.obstacleList.forEach((obstacle) => {
if (obstacle['addObserver'] && typeof obstacle['addObserver'] === 'function') {
(obstacle as CircleSimulationObject).addObserver(sim.scene.rcjScoringTool);
}
});
};
preloadAll(imgArray).then(
function (images) {
let ctx = canvas.getContext('2d');
Expand All @@ -1057,14 +1086,13 @@ export class SimulationRoberta implements Simulation {
let evacuationBottom = [];
let evacuationLeft = [];
let importObstacles = [];
let evacuationVctimsZone = [];
imgArray.forEach((img, index) => {
if (img['tileType']['image'].startsWith('ev')) {
let ev = img['tileType']['image'].replace('.png', '');
switch (ev) {
case 'ev1':
evacuationVctimsZone.push(img['x']);
evacuationVctimsZone.push(img['y']);
evacuationVictimsZone.push(img['x']);
evacuationVictimsZone.push(img['y']);
// evacuation zone tile without walls
break;
case 'ev2': // one wall
Expand Down Expand Up @@ -1236,12 +1264,12 @@ export class SimulationRoberta implements Simulation {
let image = createBackgroundImage();
sim.scene.imgBackgroundList.push(image);
sim.setBackground(sim.scene.imgBackgroundList.length - 1);
sim.scene.addImportObstacle(importObstacles.concat(getRcjVictims(evacuationVctimsZone)));
sim.scene.addImportObstacle(importObstacles.concat(getRcjVictims(evacuationVictimsZone)));
sim.scene.addImportRcjLabel(rcjLabel);
sim.scene.drawRcjLabel();
sim.importPoses = [[startPose, startPose]];
sim.scene.setRobotPoses(sim.importPoses);
sim.scene.setRcjScoringTool(sim.scene.robots[0], configData);
sim.scene.setRcjScoringTool(sim.scene.robots[0], configData, resetVictims);
$('#simCompetition').show();
resolve(result);
} else {
Expand Down
29 changes: 25 additions & 4 deletions OpenRobertaWeb/src/app/simulation/simulationLogic/simulation.scene.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -76,10 +76,12 @@ export class RcjScoringTool implements IObserver {
private rescueMulti: number;
private lastCheckPointIndex: number;
private wasOnLineOnce: boolean = false;
private resetObstaclesCallback: Function;

constructor(robot: RobotBase, configData: any) {
constructor(robot: RobotBase, configData: any, resetObstaclesCallback: Function) {
this.configData = configData;
this.robot = robot as RobotBaseMobile;
this.resetObstaclesCallback = resetObstaclesCallback;
this.init();
let rcj = this;
$('#rcjStartStop')
Expand All @@ -88,6 +90,7 @@ export class RcjScoringTool implements IObserver {
if ($(this).text().indexOf('Start') >= 0) {
$(this).html('Stop<br>Scoring Run');
rcj.init();
rcj.resetObstaclesCallback();
$('#rcjStartStop').addClass('running');
return false;
} else {
Expand Down Expand Up @@ -427,7 +430,7 @@ export class SimulationScene {
private readonly aCtx: CanvasRenderingContext2D;
private readonly udCanvas: HTMLCanvasElement;
readonly uCanvas: HTMLCanvasElement;
private rcjScoringTool: RcjScoringTool;
rcjScoringTool: RcjScoringTool;
private _scoring: boolean = false;

constructor(sim: SimulationRoberta) {
Expand Down Expand Up @@ -564,6 +567,24 @@ export class SimulationScene {
this.obstacleList = newObstacleList;
}

addSomeObstacles(importObstacleList: any[]) {
let that = this;
importObstacleList.forEach((obj) => {
let newObject = SimObjectFactory.getSimObject(
obj.id,
this,
this.sim.selectionListener,
obj.shape,
SimObjectType.Obstacle,
obj.p,
null,
obj.color,
...obj.params
);
that.obstacleList.push(newObject);
});
}

addImportRcjLabel(importRcjLabelList: any[]) {
let newRcjList = [];
importRcjLabelList.forEach((obj) => {
Expand Down Expand Up @@ -1225,8 +1246,8 @@ export class SimulationScene {
this._redrawMarkers = true;
}

setRcjScoringTool(robot: RobotBase, configData) {
this.rcjScoringTool = new RcjScoringTool(robot, configData);
setRcjScoringTool(robot: RobotBase, configData, resetObstacles: Function) {
this.rcjScoringTool = new RcjScoringTool(robot, configData, resetObstacles);
this.scoring = true;
let scene = this;
$('#simCompetition').show();
Expand Down

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