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cs-24-sw-9-xx · Nov 11, 2024 · d5f7be5 · d5f7be5
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Showing 105 changed files with 1,789 additions and 594 deletions.
diff --git a/Assets/EditTests/CoverageCalculatorTests.cs b/Assets/EditTests/CoverageCalculatorTests.cs
@@ -53,12 +53,12 @@ public void InitializeCalculatorAndMaps()
         // Generates a collision map where only the edge tiles are solid
         private static SimulationMap<Tile> GenerateCollisionMap()
         {
-            SimulationMapTile<Tile>[,] tiles = new SimulationMapTile<Tile>[Width, Height];
+            var tiles = new SimulationMapTile<Tile>[Width, Height];
             Tile.Rand = new Random(RandomSeed);
             var wall = Tile.GetRandomWall();
-            for (int x = 0; x < Width; x++)
+            for (var x = 0; x < Width; x++)
             {
-                for (int y = 0; y < Height; y++)
+                for (var y = 0; y < Height; y++)
                 {
                     var tile = IsGeneratedTileSolid(new Vector2Int(x, y)) ? wall : new Tile(TileType.Room);
                     tiles[x, y] = new SimulationMapTile<Tile>(() => tile);
@@ -115,9 +115,9 @@ public void AdjacentTilesAreCoveredTest(float robotX, float robotY)
 
             // Find all cells that are immediate neighbours of tile currently occupied by the robot
             var cells = new List<ExplorationCell>();
-            for (int x = -1; x < 1; x++)
+            for (var x = -1; x < 1; x++)
             {
-                for (int y = -1; y < 1; y++)
+                for (var y = -1; y < 1; y++)
                 {
                     var xOffset = x * 0.5f;
                     var yOffset = y * 0.5f;
@@ -130,7 +130,9 @@ public void AdjacentTilesAreCoveredTest(float robotX, float robotY)
 
             // Assert that none of cells are covered in advance
             foreach (var cell in cells)
+            {
                 Assert.IsFalse(cell.IsCovered);
+            }
 
             // Register coverage for the testing robot 
             _coverageCalculator.UpdateRobotCoverage(robotWorldPos, 1, (_, _, _, _) =>
@@ -139,7 +141,9 @@ public void AdjacentTilesAreCoveredTest(float robotX, float robotY)
 
             // Assert that the status of the tiles has now changed
             foreach (var cell in cells)
+            {
                 Assert.IsTrue(cell.IsCovered);
+            }
         }
 
 
@@ -174,9 +178,9 @@ 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));
-            for (int x = 0; x < Width; x++)
+            for (var x = 0; x < Width; x++)
             {
-                for (int y = 0; y < Height; y++)
+                for (var y = 0; y < Height; y++)
                 {
                     Assert.IsTrue(freshExplorationMap.GetTileByLocalCoordinate(x, y).IsTrueForAll(cell => cell.CanBeCovered));
                 }
@@ -185,9 +189,9 @@ public void TilesAreMarkedCoverableCorrectly()
             new CoverageCalculator<ExplorationCell>(freshExplorationMap, _collisionMap);
             // Pass the new exploration map to the coverage calculator which should cause the solid tiles to be
             // marked as non-coverable
-            for (int x = 0; x < Width; x++)
+            for (var x = 0; x < Width; x++)
             {
-                for (int y = 0; y < Height; y++)
+                for (var y = 0; y < Height; y++)
                 {
                     // We now expect the tiles have a 'CanBeCovered' status that is opposite to the solid status of tile
                     // (ie. solid tiles cannot be covered and non-solid ones can be covered)

diff --git a/Assets/PlayModeTests/CommunicationTest.cs b/Assets/PlayModeTests/CommunicationTest.cs
@@ -48,15 +48,15 @@ public class CommunicationTest
 
         private Tile[,] GenerateMapWithHorizontalWallInMiddle(int wallThicknessInTiles)
         {
-            Tile[,] bitmap = new Tile[MapWidth, MapHeight];
-            int firstWallRowY = MapHeight / 2;
-            int lastWallRowY = firstWallRowY + wallThicknessInTiles;
+            var bitmap = new Tile[MapWidth, MapHeight];
+            var firstWallRowY = MapHeight / 2;
+            var lastWallRowY = firstWallRowY + wallThicknessInTiles;
             Tile.Rand = new Random(RandomSeed);
             var wall = Tile.GetRandomWall();
 
-            for (int x = 0; x < MapWidth; x++)
+            for (var x = 0; x < MapWidth; x++)
             {
-                for (int y = 0; y < MapHeight; y++)
+                for (var y = 0; y < MapHeight; y++)
                 {
                     var isSolid = y >= firstWallRowY && y <= lastWallRowY - 1;
                     bitmap[x, y] = isSolid ? wall : new Tile(TileType.Room);
@@ -97,7 +97,10 @@ private void InitSimulator(MapFactory mapFactory,
             // The first robot will broadcast immediatealy
             _robotTestAlgorithms[0].UpdateFunction = (tick, controller) =>
             {
-                if (tick == 0) controller.Broadcast("Test Message");
+                if (tick == 0)
+                {
+                    controller.Broadcast("Test Message");
+                }
             };
 
             // The second robot will continuously receive broadcasts
@@ -116,19 +119,25 @@ public IEnumerator Broadcast_TransmissionSuccessTest()
                 new List<Vector2Int> { new(2, 2), new(6, 6) });
 
             string receivedMessage = null;
-            string sentMessage = "message sent between robots 1 and 2";
+            var sentMessage = "message sent between robots 1 and 2";
             var algorithm1 = _robotTestAlgorithms[0];
             var algorithm2 = _robotTestAlgorithms[1];
 
             algorithm1.UpdateFunction = (tick, controller) =>
             {
-                if (tick == 0) controller.Broadcast(sentMessage);
+                if (tick == 0)
+                {
+                    controller.Broadcast(sentMessage);
+                }
             };
 
             algorithm2.UpdateFunction = (_, controller) =>
             {
                 var results = controller.ReceiveBroadcast();
-                if (results.Count != 0) receivedMessage = results[0] as string;
+                if (results.Count != 0)
+                {
+                    receivedMessage = results[0] as string;
+                }
             };
 
             _maes.PressPlayButton();
@@ -149,19 +158,25 @@ public IEnumerator Broadcast_TransmissionFailedTest()
                 new List<Vector2Int> { new(2, 2), new(6, 6) });
 
             string receivedMessage = null;
-            string sentMessage = "message sent between robots 1 and 2";
+            var sentMessage = "message sent between robots 1 and 2";
             var algorithm1 = _robotTestAlgorithms[0];
             var algorithm2 = _robotTestAlgorithms[1];
 
             algorithm1.UpdateFunction = (tick, controller) =>
             {
-                if (tick == 0) controller.Broadcast(sentMessage);
+                if (tick == 0)
+                {
+                    controller.Broadcast(sentMessage);
+                }
             };
 
             algorithm2.UpdateFunction = (_, controller) =>
             {
                 var results = controller.ReceiveBroadcast();
-                if (results.Count != 0) receivedMessage = results[0] as string;
+                if (results.Count != 0)
+                {
+                    receivedMessage = results[0] as string;
+                }
             };
 
             _maes.PressPlayButton();
@@ -177,7 +192,7 @@ public IEnumerator Broadcast_TransmissionFailedTest()
         [Test(ExpectedResult = null)]
         public IEnumerator Broadcast_NoWallsCommunicationTest()
         {
-            float foundWallDistance = float.PositiveInfinity;
+            var foundWallDistance = float.PositiveInfinity;
 
             InitSimulator(StandardTestingConfiguration.EmptyCaveMapSpawner(RandomSeed),
                 (_, wallDistance) =>
@@ -206,10 +221,10 @@ public IEnumerator Broadcast_NoWallsCommunicationTest()
         [TestCase(-5, -5, ExpectedResult = null)]
         public IEnumerator Broadcast_CorrectDistanceCalculation(int secondRobotX, int secondRobotY)
         {
-            float transmissionDistance = float.PositiveInfinity;
+            var transmissionDistance = float.PositiveInfinity;
             var firstRobotPosition = new Vector2Int(0, 0);
             var secondRobotPosition = new Vector2Int(secondRobotX, secondRobotY);
-            float actualDistance = (firstRobotPosition - secondRobotPosition).magnitude;
+            var actualDistance = (firstRobotPosition - secondRobotPosition).magnitude;
 
             InitSimulator(StandardTestingConfiguration.EmptyCaveMapSpawner(RandomSeed),
                 (distance, _) =>
@@ -238,7 +253,7 @@ public IEnumerator Broadcast_CorrectDistanceCalculation(int secondRobotX, int se
         [TestCase(10, ExpectedResult = null)]
         public IEnumerator Broadcast_WallDistanceIsApproximatelyCorrect(int wallThickness)
         {
-            float foundWallDistance = float.PositiveInfinity;
+            var foundWallDistance = float.PositiveInfinity;
             InitSimulator(
                 generator => generator.GenerateMap(GenerateMapWithHorizontalWallInMiddle(wallThickness), RandomSeed, borderSize: 2),
                     transmissionSuccessCalculatorFunc:

diff --git a/Assets/PlayModeTests/MaterialCommunicationTest.cs b/Assets/PlayModeTests/MaterialCommunicationTest.cs
@@ -124,7 +124,10 @@ private void InitSimulator(MapFactory mapFactory,
             // The first robot will broadcast immediately
             _robotTestAlgorithms[0].UpdateFunction = (tick, controller) =>
             {
-                if (tick == 0) controller.Broadcast("Test Message");
+                if (tick == 0)
+                {
+                    controller.Broadcast("Test Message");
+                }
             };
 
             // The second robot will continuously receive broadcasts
@@ -148,13 +151,19 @@ public IEnumerator Broadcast_TransmissionSuccessTest()
 
             algorithm1.UpdateFunction = (tick, controller) =>
             {
-                if (tick == 0) controller.Broadcast(sentMessage);
+                if (tick == 0)
+                {
+                    controller.Broadcast(sentMessage);
+                }
             };
 
             algorithm2.UpdateFunction = (_, controller) =>
             {
                 var results = controller.ReceiveBroadcast();
-                if (results.Count != 0) receivedMessage = results[0] as string;
+                if (results.Count != 0)
+                {
+                    receivedMessage = results[0] as string;
+                }
             };
 
             _maes.PressPlayButton();
@@ -193,14 +202,18 @@ public IEnumerator Broadcast_TransmissionFailedTest()
             algorithm1.UpdateFunction = (tick, controller) =>
             {
                 if (tick == 0)
+                {
                     controller.Broadcast(sentMessage);
+                }
             };
 
             algorithm2.UpdateFunction = (_, controller) =>
             {
                 var results = controller.ReceiveBroadcast();
                 if (results.Count != 0)
+                {
                     receivedMessage = results[0] as string;
+                }
             };
 
             _maes.PressPlayButton();
@@ -307,7 +320,7 @@ public IEnumerator Broadcast_CorrectDistanceCalculation(int secondRobotX, int se
         [TestCase(10, ExpectedResult = null)]
         public IEnumerator Broadcast_WallDistanceIsApproximatelyCorrect(int wallThickness)
         {
-            float foundWallDistance = float.PositiveInfinity;
+            var foundWallDistance = float.PositiveInfinity;
             InitSimulator(
                 generator => generator.GenerateMap(GenerateMapWithHorizontalWallInMiddle(wallThickness), RandomSeed, borderSize: 2),
                 new List<Vector2Int> { new(0, -2), new(0, 3 + wallThickness) },

diff --git a/Assets/PlayModeTests/MinotaurDoorwayTest.cs b/Assets/PlayModeTests/MinotaurDoorwayTest.cs
@@ -113,7 +113,10 @@ private void InitSimulator(string mapName, List<Vector2Int> robotSpawnPositions)
         private IEnumerator AssertDoorsWhenFinished(int doorAmount)
         {
             if (_explorationSimulation.SimulatedLogicTicks > 36000)
+            {
                 yield return false;
+            }
+
             while (_explorationSimulation.ExplorationTracker.ExploredProportion < 0.999f)
             {
                 yield return null;

diff --git a/Assets/PlayModeTests/Robot2DControllerTest.cs b/Assets/PlayModeTests/Robot2DControllerTest.cs
@@ -94,7 +94,10 @@ public IEnumerator MoveTo_IsDistanceCorrectTest(float movementDistance)
         {
             _testAlgorithm.UpdateFunction = (tick, controller) =>
             {
-                if (tick == 0) controller.Move(movementDistance);
+                if (tick == 0)
+                {
+                    controller.Move(movementDistance);
+                }
             };
             var controller = _robot.Controller;
 
@@ -114,7 +117,10 @@ public IEnumerator MoveTo_IsDistanceCorrectTest(float movementDistance)
             //  Wait 1 second (10 ticks) for the robot to stand completely still
             var movementTaskEndTick = _simulationBase.SimulatedLogicTicks;
             const int ticksToWait = 10;
-            while (_simulationBase.SimulatedLogicTicks < movementTaskEndTick + ticksToWait) yield return null;
+            while (_simulationBase.SimulatedLogicTicks < movementTaskEndTick + ticksToWait)
+            {
+                yield return null;
+            }
 
             // Assert that the actual final position approximately matches the expected final position
             var endingPosition = _robot.transform.position;
@@ -136,24 +142,33 @@ public IEnumerator MoveTo_IsDistanceCorrectTest(float movementDistance)
         [TestCase(-180.0f, ExpectedResult = null)]
         public IEnumerator Rotate_RotatesCorrectAmountOfDegrees(float degreesToRotate)
         {
-            _testAlgorithm.UpdateFunction = (tick, controller) => { if (tick == 1) controller.Rotate(degreesToRotate); };
+            _testAlgorithm.UpdateFunction = (tick, controller) => { if (tick == 1) { controller.Rotate(degreesToRotate); } };
 
             // Register the starting position and calculate the expected position
             var transform = _robot.transform;
             var startingRotation = transform.rotation.eulerAngles.z;
             var expectedAngle = startingRotation + degreesToRotate;
-            while (expectedAngle < 0) expectedAngle += 360;
+            while (expectedAngle < 0)
+            {
+                expectedAngle += 360;
+            }
+
             expectedAngle %= 360;
 
             _maes.PressPlayButton();
 
             // Wait until the robot has started and completed the movement task
             while (_testAlgorithm.Tick < 10 || _testAlgorithm.Controller.GetStatus() != RobotStatus.Idle)
+            {
                 yield return null;
+            }
             //  Wait 1 second (10 ticks) for the robot to stand completely still
             var movementTaskEndTick = _simulationBase.SimulatedLogicTicks;
             const int ticksToWait = 10;
-            while (_simulationBase.SimulatedLogicTicks < movementTaskEndTick + ticksToWait) yield return null;
+            while (_simulationBase.SimulatedLogicTicks < movementTaskEndTick + ticksToWait)
+            {
+                yield return null;
+            }
 
             // Assert that the actual final rotation approximately matches the expected angle
             var actualAngle = _robot.transform.rotation.eulerAngles.z;

diff --git a/Assets/PlayModeTests/TestingAlgorithm.cs b/Assets/PlayModeTests/TestingAlgorithm.cs
@@ -40,7 +40,7 @@ public void UpdateLogic()
 
         public void SetController(Robot2DController controller)
         {
-            this.Controller = controller;
+            Controller = controller;
         }
 
         public string GetDebugInfo()

diff --git a/Assets/Scripts/ExperimentSimulations/AvariceExperiment.cs b/Assets/Scripts/ExperimentSimulations/AvariceExperiment.cs
@@ -98,7 +98,7 @@ private void Start()
 
             var random = new System.Random(1234);
             var randNumbers = new List<int>();
-            for (int i = 0; i < 100; i++)
+            for (var i = 0; i < 100; i++)
             {
                 var val = random.Next(0, 1000000);
                 randNumbers.Add(val);
@@ -107,7 +107,7 @@ private void Start()
             var buildingConfigList50 = new List<BuildingMapConfig>();
             var buildingConfigList75 = new List<BuildingMapConfig>();
             var buildingConfigList100 = new List<BuildingMapConfig>();
-            foreach (int val in randNumbers)
+            foreach (var val in randNumbers)
             {
                 buildingConfigList50.Add(new BuildingMapConfig(val, widthInTiles: 50, heightInTiles: 50));
                 buildingConfigList75.Add(new BuildingMapConfig(val, widthInTiles: 75, heightInTiles: 75));

diff --git a/Assets/Scripts/ExperimentSimulations/AvariceExploratoryExperiment.cs b/Assets/Scripts/ExperimentSimulations/AvariceExploratoryExperiment.cs
@@ -57,7 +57,7 @@ private void Start()
 
             var mapFromFile = PgmMapFileLoader.LoadMapFromFileIfPresent("blank_100.pgm");
             var random = new System.Random(1234);
-            for (int i = 0; i < 10; i++)
+            for (var i = 0; i < 10; i++)
             {
                 var val = random.Next(0, 1000000);
                 simulator.EnqueueScenario(new MySimulationScenario(val,

diff --git a/Assets/Scripts/ExperimentSimulations/ConscientiousReactiveExperiment.cs b/Assets/Scripts/ExperimentSimulations/ConscientiousReactiveExperiment.cs
@@ -106,7 +106,7 @@ private void Start()
             var simulator = new MySimulator();
             var random = new System.Random(12345);
             var randNumbers = new List<int>();
-            for (int i = 0; i < 100; i++)
+            for (var i = 0; i < 100; i++)
             {
                 var val = random.Next(0, 1000000);
                 randNumbers.Add(val);
@@ -116,7 +116,7 @@ private void Start()
             var robotConstraints = constraintsDict[constraintName];
 
             var buildingConfigList100 = new List<BuildingMapConfig>();
-            foreach (int val in randNumbers)
+            foreach (var val in randNumbers)
             {
                 buildingConfigList100.Add(new BuildingMapConfig(val, widthInTiles: 100, heightInTiles: 100));
             }

diff --git a/Assets/Scripts/ExperimentSimulations/ExampleProgram.cs b/Assets/Scripts/ExperimentSimulations/ExampleProgram.cs
@@ -95,7 +95,7 @@ private void Start()
             var simulator = new MySimulator();
             var random = new System.Random(1234);
             var randNumbers = new List<int>();
-            for (int i = 0; i < 100; i++)
+            for (var i = 0; i < 100; i++)
             {
                 var val = random.Next(0, 1000000);
                 randNumbers.Add(val);
@@ -107,7 +107,7 @@ private void Start()
             var buildingConfigList50 = new List<BuildingMapConfig>();
             var buildingConfigList75 = new List<BuildingMapConfig>();
             var buildingConfigList100 = new List<BuildingMapConfig>();
-            foreach (int val in randNumbers)
+            foreach (var val in randNumbers)
             {
                 buildingConfigList50.Add(new BuildingMapConfig(val, widthInTiles: 50, heightInTiles: 50));
                 buildingConfigList75.Add(new BuildingMapConfig(val, widthInTiles: 75, heightInTiles: 75));