Random fixes

- Optimizations
- Bug fixes
- Cleanup
- Speed up tests

Assets/EditTests/CoverageCalculatorTests.cs

@@ -54,8 +54,8 @@ public void InitializeCalculatorAndMaps()
         private static SimulationMap<Tile> GenerateCollisionMap()
         {
             var tiles = new SimulationMapTile<Tile>[Width, Height];
-            Tile.Rand = new Random(RandomSeed);
-            var wall = Tile.GetRandomWall();
+            var random = new Random(RandomSeed);
+            var wall = Tile.GetRandomWall(random);
             for (var x = 0; x < Width; x++)
             {
                 for (var y = 0; y < Height; y++)

Assets/PlayModeTests/CommunicationTest.cs

@@ -51,8 +51,8 @@ public class CommunicationTest
             var bitmap = new Tile[MapWidth, MapHeight];
             var firstWallRowY = MapHeight / 2;
             var lastWallRowY = firstWallRowY + wallThicknessInTiles;
-            Tile.Rand = new Random(RandomSeed);
-            var wall = Tile.GetRandomWall();
+            var random = new Random(RandomSeed);
+            var wall = Tile.GetRandomWall(random);
 
             for (var x = 0; x < MapWidth; x++)
             {

Assets/PlayModeTests/ExplorationCsvDataWriterTest.cs

@@ -29,7 +29,6 @@ public void SetUp()
             {
                 System.IO.Directory.CreateDirectory(Directory);
             }
-
         }
 
         [TearDown]
@@ -60,11 +59,11 @@ private void InitSimulator()
         [Test]
         public void ExplorationSnapshotToCsvTest()
         {
-            _explorationSimulation.ExplorationTracker.snapShots.Add(new ExplorationSnapShot(1, 0.1f, 0.1f, 1f));
-            _explorationSimulation.ExplorationTracker.snapShots.Add(new ExplorationSnapShot(2, 0.2f, 0.2f, 5f));
-            _explorationSimulation.ExplorationTracker.snapShots.Add(new ExplorationSnapShot(3, 0.5f, 0.3f, 10f));
-            _explorationSimulation.ExplorationTracker.snapShots.Add(new ExplorationSnapShot(4, 0.7f, 0.4f, 10f));
-            _explorationSimulation.ExplorationTracker.snapShots.Add(new ExplorationSnapShot(5, 0.9f, 0.5f, 5f));
+            _explorationSimulation.ExplorationTracker.SnapShots.Add(new ExplorationSnapShot(1, 0.1f, 0.1f, 1f));
+            _explorationSimulation.ExplorationTracker.SnapShots.Add(new ExplorationSnapShot(2, 0.2f, 0.2f, 5f));
+            _explorationSimulation.ExplorationTracker.SnapShots.Add(new ExplorationSnapShot(3, 0.5f, 0.3f, 10f));
+            _explorationSimulation.ExplorationTracker.SnapShots.Add(new ExplorationSnapShot(4, 0.7f, 0.4f, 10f));
+            _explorationSimulation.ExplorationTracker.SnapShots.Add(new ExplorationSnapShot(5, 0.9f, 0.5f, 5f));
 
             _explorationSimulation.CommunicationManager.CommunicationTracker.InterconnectionSnapShot.Add(1, true);
             _explorationSimulation.CommunicationManager.CommunicationTracker.InterconnectionSnapShot.Add(3, false);
@@ -87,7 +86,7 @@ public void ExplorationSnapshotToCsvTest()
             var writer = new ExplorationCsvDataWriter(_explorationSimulation, filename);
             writer.CreateCsvFile(Delimiter);
 
-            var lines = File.ReadAllLines(filename + ".csv");
+            var lines = File.ReadAllLines($"{filename}.csv");
             Assert.AreEqual(expectedExplorationSnapShots.Count, lines.Length - 1); // -1 because of header
             for (var i = 0; i < expectedExplorationSnapShots.Count; i++)
             {

Assets/PlayModeTests/MaterialCommunicationTest.cs

@@ -52,8 +52,8 @@ public class MaterialCommunicationTest
             var bitmap = new Tile[MapWidth, MapHeight];
             const int firstWallRowY = MapHeight / 2;
             var lastWallRowY = firstWallRowY + wallThicknessInTiles;
-            Tile.Rand = new Random(RandomSeed);
-            var wall = Tile.GetRandomWall();
+            var random = new Random(RandomSeed);
+            var wall = Tile.GetRandomWall(random);
 
             for (var x = 0; x < MapWidth; x++)
             {

Assets/PlayModeTests/MinotaurDoorwayTest.cs

@@ -130,7 +130,6 @@ public IEnumerator BlankMap()
         {
             InitSimulator("blank", new List<Vector2Int> { new Vector2Int(0, 0) });
 
-            _maes.PressPlayButton();
             _maes.SimulationManager.AttemptSetPlayState(Maes.UI.SimulationPlayState.FastAsPossible);
             return AssertDoorsWhenFinished(0);
         }
@@ -140,7 +139,6 @@ public IEnumerator SingleDoorway()
         {
             InitSimulator("doorway", new List<Vector2Int> { new Vector2Int(0, 0) });
 
-            _maes.PressPlayButton();
             _maes.SimulationManager.AttemptSetPlayState(Maes.UI.SimulationPlayState.FastAsPossible);
             return AssertDoorsWhenFinished(1);
         }
@@ -150,7 +148,6 @@ public IEnumerator Corner()
         {
             InitSimulator("doorway_corner", new List<Vector2Int> { new Vector2Int(0, 0) });
 
-            _maes.PressPlayButton();
             _maes.SimulationManager.AttemptSetPlayState(Maes.UI.SimulationPlayState.FastAsPossible);
             return AssertDoorsWhenFinished(1);
         }
@@ -160,7 +157,6 @@ public IEnumerator Hallway()
         {
             InitSimulator("hallway", new List<Vector2Int> { new Vector2Int(0, -24) });
 
-            _maes.PressPlayButton();
             _maes.SimulationManager.AttemptSetPlayState(Maes.UI.SimulationPlayState.FastAsPossible);
             return AssertDoorsWhenFinished(1);
         }

Assets/PlayModeTests/Robot2DControllerTest.cs

@@ -26,6 +26,7 @@
 using Maes.Robot.Task;
 using Maes.Simulation;
 using Maes.Simulation.SimulationScenarios;
+using Maes.UI;
 
 using NUnit.Framework;
 
@@ -106,7 +107,7 @@ public IEnumerator MoveTo_IsDistanceCorrectTest(float movementDistance)
             var startingPosition = transform.position;
             var expectedEndingPosition = startingPosition + (controller.GetForwardDirectionVector() * movementDistance);
 
-            _maes.PressPlayButton();
+            _maes.SimulationManager.AttemptSetPlayState(SimulationPlayState.FastAsPossible);
 
             // Wait until the robot has started and completed the movement task
             while (_testAlgorithm.Tick < 10 || _testAlgorithm.Controller.GetStatus() != RobotStatus.Idle)
@@ -155,7 +156,7 @@ public IEnumerator Rotate_RotatesCorrectAmountOfDegrees(float degreesToRotate)
 
             expectedAngle %= 360;
 
-            _maes.PressPlayButton();
+            _maes.SimulationManager.AttemptSetPlayState(SimulationPlayState.FastAsPossible);
 
             // Wait until the robot has started and completed the movement task
             while (_testAlgorithm.Tick < 10 || _testAlgorithm.Controller.GetStatus() != RobotStatus.Idle)

Assets/Scripts/ExperimentSimulations/ExplorationExperimentBase.cs

@@ -51,6 +51,9 @@ public class ExplorationExperimentBase : MonoBehaviour
         /// <param name="algorithmName"></param>
         /// <param name="constraintName"></param>
         /// <param name="mapSize"></param>
+        /// <param name="mapIterations"></param>
+        /// <param name="desiredSeed"></param>
+        /// <param name="desiredRobots"></param>
         public void RunSimulation(string mapType, string algorithmName, string constraintName, string mapSize, int mapIterations, int? desiredSeed = null, int? desiredRobots = null)
         {
             var constraintsDict = new Dictionary<string, RobotConstraints>();

Assets/Scripts/ExperimentSimulations/ExplorationTimeoutTest.cs

@@ -21,7 +21,6 @@
 
 using System.Collections.Generic;
 using System.Linq;
-using System.Text.RegularExpressions;
 
 using Maes.Algorithms;
 using Maes.ExplorationAlgorithm.Greed;
@@ -139,7 +138,6 @@ public void MinosVsGreedSimulation(string constraintName, string amount)
                 {
                     var robotCount = amountOfRobots;
 
-                    var regex = new Regex($@"{algorithmName}-seed-{mapConfig.RandomSeed}-mapConfig\.HeightInTiles-{mapConfig.HeightInTiles}-comms-{constraintName}-robots-{robotCount}-SpawnTogether_.*\.csv");
                     if (robotCount == 5 && mapConfig.RandomSeed == 585462)
                     {
                         simulator.EnqueueScenario(new MySimulationScenario(seed: 123,
@@ -173,33 +171,16 @@ public void MinosVsGreedSimulation(string constraintName, string amount)
                         spawningPosHashSet.Add(new Vector2Int(random.Next(-mapConfig.HeightInTiles / 2, mapConfig.HeightInTiles / 2), random.Next(-mapConfig.HeightInTiles / 2, mapConfig.HeightInTiles / 2)));
                     }
 
-                    regex = new Regex($@"{algorithmName}-seed-{mapConfig.RandomSeed}-mapConfig\.HeightInTiles-{mapConfig.HeightInTiles}-comms-{constraintName}-robots-{robotCount}-SpawnApart_.*\.csv");
-                    if (false)
-                    {
-                        simulator.EnqueueScenario(new MySimulationScenario(seed: 123,
-                                            mapSpawner: generator => generator.GenerateMap(mapConfig),
-                                            robotSpawner: (buildingConfig, spawner) => spawner.SpawnRobotsAtPositions(
-                                                collisionMap: buildingConfig,
-                                                seed: 123,
-                                                numberOfRobots: robotCount,
-                                                spawnPositions: spawningPosHashSet.ToList(),
-                                                createAlgorithmDelegate: algorithms[algorithmName]),
-                                            statisticsFileName: $"{algorithmName}-seed-{mapConfig.RandomSeed}-mapConfig.HeightInTiles-{mapConfig.HeightInTiles}-comms-{constraintName}-robots-{robotCount}-SpawnApart",
-                                            robotConstraints: constraintsDict[constraintName]));
-                    }
-                    else
-                    {
-                        simulator.EnqueueScenario(new MySimulationScenario(seed: 123,
-                                        mapSpawner: generator => generator.GenerateMap(mapConfig),
-                                        robotSpawner: (buildingConfig, spawner) => spawner.SpawnRobotsAtPositions(
-                                            collisionMap: buildingConfig,
-                                            seed: 123,
-                                            numberOfRobots: robotCount,
-                                            spawnPositions: spawningPosHashSet.ToList(),
-                                            createAlgorithmDelegate: algorithms[algorithmName]),
-                                        statisticsFileName: $"{algorithmName}-seed-{mapConfig.RandomSeed}-mapConfig.HeightInTiles-{mapConfig.HeightInTiles}-comms-{constraintName}-robots-{robotCount}-SpawnApart",
-                                        robotConstraints: constraintsDict[constraintName]));
-                    }
+                    simulator.EnqueueScenario(new MySimulationScenario(seed: 123,
+                                    mapSpawner: generator => generator.GenerateMap(mapConfig),
+                                    robotSpawner: (buildingConfig, spawner) => spawner.SpawnRobotsAtPositions(
+                                        collisionMap: buildingConfig,
+                                        seed: 123,
+                                        numberOfRobots: robotCount,
+                                        spawnPositions: spawningPosHashSet.ToList(),
+                                        createAlgorithmDelegate: algorithms[algorithmName]),
+                                    statisticsFileName: $"{algorithmName}-seed-{mapConfig.RandomSeed}-mapConfig.HeightInTiles-{mapConfig.HeightInTiles}-comms-{constraintName}-robots-{robotCount}-SpawnApart",
+                                    robotConstraints: constraintsDict[constraintName]));
                 }
             }
 

Assets/Scripts/ExplorationAlgorithm/CircleTestAlgorithm.cs

@@ -60,7 +60,7 @@ public void SetController(Robot2DController controller)
         public void UpdateLogic()
         {
             // Don't collect data if dragging against the wall
-            if (_controller.IsCurrentlyColliding())
+            if (_controller.IsCurrentlyColliding)
             {
                 _controller.StopCurrentTask();
                 _shouldEnd = true;

Assets/Scripts/ExplorationAlgorithm/FollowWaypoints/FollowWaypointsAlgorithm.cs

@@ -1,3 +1,5 @@
+using System.Text;
+
 using Maes.Algorithms;
 using Maes.Map;
 using Maes.Robot;
@@ -12,15 +14,15 @@ public class FollowWaypointsAlgorithm : IExplorationAlgorithm
         private Robot2DController _controller = null!;
         // Set by SetController
         private CoarseGrainedMap _map = null!;
-        private readonly Waypoint[] _waypoints = {
+        private static readonly Waypoint[] Waypoints = {
             new(new Vector2Int(5,5)),
             new(new Vector2Int(10,10)),
             new(new Vector2Int(20,20)),
             new(new Vector2Int(30,30))
         };
         private int _currentWaypointIndex;
 
-        private struct Waypoint
+        private readonly struct Waypoint
         {
             public readonly Vector2Int Destination;
 
@@ -32,7 +34,7 @@ public Waypoint(Vector2Int destination)
 
         public void UpdateLogic()
         {
-            if (_currentWaypointIndex >= _waypoints.Length)
+            if (_currentWaypointIndex >= Waypoints.Length)
             {
                 _controller.StopCurrentTask();
                 return;
@@ -41,13 +43,13 @@ public void UpdateLogic()
             if (IsDestinationReached())
             {
                 _currentWaypointIndex++;
-                if (_currentWaypointIndex >= _waypoints.Length)
+                if (_currentWaypointIndex >= Waypoints.Length)
                 {
                     _controller.StopCurrentTask();
                     return;
                 }
             }
-            _controller.PathAndMoveTo(_waypoints[_currentWaypointIndex].Destination);
+            _controller.PathAndMoveTo(Waypoints[_currentWaypointIndex].Destination);
         }
 
         public void SetController(Robot2DController controller)
@@ -58,17 +60,25 @@ public void SetController(Robot2DController controller)
 
         public string GetDebugInfo()
         {
-            return $"currentWaypointIndex: {_currentWaypointIndex}" +
-                   $"\nCoarse Map Position: {_map.GetApproximatePosition()}" +
-                   $"\nCurrent Tile: {_map.GetCurrentTile()}" +
-                   $"\nCurrent position: {_map.GetCurrentPosition()}" +
-                   $"\nDestination: {_waypoints[_currentWaypointIndex].Destination}" +
-                   $"\nStatus: {_controller.GetStatus()}";
+            return
+                new StringBuilder().Append("currentWaypointIndex: ")
+                    .Append(_currentWaypointIndex)
+                    .Append("\nCoarse Map Position: ")
+                    .Append(_map.GetApproximatePosition())
+                    .Append("\nCurrent Tile: ")
+                    .Append(_map.GetCurrentTile())
+                    .Append("\nCurrent position: ")
+                    .Append(_map.GetCurrentPosition())
+                    .Append("\nDestination: ")
+                    .Append(Waypoints[_currentWaypointIndex].Destination)
+                    .Append("\nStatus: ")
+                    .Append(_controller.GetStatus())
+                    .ToString();
         }
 
         private bool IsDestinationReached()
         {
-            return _map.GetTileCenterRelativePosition(_waypoints[_currentWaypointIndex].Destination).Distance < 0.5f;
+            return _map.GetTileCenterRelativePosition(Waypoints[_currentWaypointIndex].Destination).Distance < 0.5f;
         }
     }
 }

Assets/Scripts/ExplorationAlgorithm/Greed/Greed.cs

@@ -136,7 +136,7 @@ public void UpdateLogic()
                 }
             }
 
-            if (_controller.IsCurrentlyColliding())
+            if (_controller.IsCurrentlyColliding)
             {
                 if (_controller.GetStatus() != Robot.Task.RobotStatus.Idle)
                 {

Assets/Scripts/ExplorationAlgorithm/Minotaur/EdgeDetector.cs

@@ -102,22 +102,28 @@ 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}, bool, bool)"/>
+        /// If only one ray is desired, consider <seealso cref="GetFurthestTileAroundPoint(float, int, List{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 IEnumerable<Vector2Int> GetTilesAroundPoint(int range, List<SlamTileStatus> limiters, Vector2Int? point = null, bool slamPrecision = false, int startAngle = 0)
+        public HashSet<Vector2Int> GetTilesAroundPoint(int range, List<SlamTileStatus> limiters, Vector2Int? point = null, bool slamPrecision = false, int startAngle = 0)
         {
             IPathFindingMap map = slamPrecision ? _slamMap : _coarseMap;
-            var tiles = new List<Vector2Int>();
+            var tiles = new HashSet<Vector2Int>();
             for (var angle = startAngle; angle < 360; angle++)
             {
-                tiles.Add(GetFurthestTileAroundPoint(_coarseMap.GetApproximateGlobalDegrees() + angle, range, limiters, slamPrecision: slamPrecision));
+                var tile = GetFurthestTileAroundPoint(_coarseMap.GetApproximateGlobalDegrees() + angle, range, limiters, slamPrecision: slamPrecision);
+                if (map.IsWithinBounds(tile))
+                {
+                    tiles.Add(tile);
+                }
             }
-            return tiles.Distinct().Where(tile => map.IsWithinBounds(tile));
+
+            return tiles;
         }
 
         public Vector2Int GetFurthestTileAroundPoint(float angle, int range, List<SlamTileStatus> limiters, Vector2Int? point = null, bool snapToGrid = false, bool slamPrecision = false)

Assets/Scripts/ExplorationAlgorithm/Minotaur/Messages/DoorwayFoundMessage.cs

@@ -19,6 +19,7 @@
 // 
 // Original repository: https://github.com/Molitany/MAES
 
+using System;
 using System.Collections.Generic;
 
 using Maes.Algorithms;
@@ -52,17 +53,17 @@ public IMinotaurMessage Combine(IMinotaurMessage otherMessage, MinotaurAlgorithm
             public IMinotaurMessage? Process(MinotaurAlgorithm minotaur)
             {
                 var doorwayTile = CoarseGrainedMap.FromSlamMapCoordinate(_doorway.Center);
-                var pathLengthToDoorway = minotaur._map.GetPath(doorwayTile, false, false);
+                var pathLengthToDoorway = minotaur._map.GetPath(doorwayTile, false);
                 if (pathLengthToDoorway != null)
                 {
                     foreach (var knownDoorway in minotaur._doorways)
                     {
-                        if (pathLengthToDoorway.Contains(CoarseGrainedMap.FromSlamMapCoordinate(knownDoorway.Center)))
+                        if (Array.IndexOf(pathLengthToDoorway, CoarseGrainedMap.FromSlamMapCoordinate(knownDoorway.Center)) != -1)
                         {
                             return null;
                         }
                     }
-                    var bid = new Dictionary<int, int>() { { minotaur._controller.GetRobotID(), pathLengthToDoorway.Count } };
+                    var bid = new Dictionary<int, int>() { { minotaur._controller.GetRobotID(), pathLengthToDoorway.Length } };
                     minotaur._doorways.Add(_doorway);
                     return new BiddingMessage(_requesterID, bid, _doorway);
                 }