RoboidControl-cpp/Perception.cpp

#include "Perception.h"
#include "Angle.h"
#include "DistanceSensor.h"
#include "Switch.h"

#include <math.h>

Perception::Perception() {}

Perception::Perception(Placement* sensors, unsigned int sensorCount) {
  this->sensorCount = sensorCount;
  this->sensorPlacements = (Placement*)sensors;
}

unsigned int Perception::GetSensorCount() {
  return this->sensorCount;
}

Sensor* Perception::GetSensor(unsigned int sensorId) {
  if (sensorId >= this->sensorCount)
    return nullptr;

  Thing* thing = this->sensorPlacements[sensorId].thing;
  if (thing->IsSensor())
    return (Sensor*)thing;

  return nullptr;
}
/*
float Perception::DistanceForward(float angle) {
  float minDistance = INFINITY;
  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement placement = sensorPlacements[sensorIx];
    Sensor* sensor = (Sensor*)placement.thing;
    if (sensor->IsSensor())
      continue;

    DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
    if (placement.verticalDirection > -angle &&
        placement.verticalDirection < angle &&
        placement.horizontalDirection > -angle &&
        placement.horizontalDirection < angle) {
      minDistance = fmin(minDistance, distanceSensor->GetDistance());
    }
  }
  return minDistance;
}

float Perception::DistanceLeft(float angle) {
  float minDistance = INFINITY;
  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement placement = sensorPlacements[sensorIx];
    Sensor* sensor = (Sensor*)placement.thing;
    if (sensor->IsSensor())
      continue;

    DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
    float sensorAngle = placement.horizontalDirection;
    if (sensorAngle < 0 && sensorAngle > -angle) {
      minDistance = fmin(minDistance, distanceSensor->GetDistance());
    }
  }
  return minDistance;
}

float Perception::DistanceRight(float angle) {
  float minDistance = INFINITY;
  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement placement = sensorPlacements[sensorIx];
    Sensor* sensor = (Sensor*)placement.thing;
    if (sensor->type != Thing::DistanceSensorType)
      continue;

    DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
    float sensorAngle = placement.horizontalDirection;
    if (sensorAngle > 0 && sensorAngle < angle) {
      minDistance = fmin(minDistance, distanceSensor->GetDistance());
    }
  }
  return minDistance;
}

float Perception::DistanceUp(float angle) {
  float minDistance = INFINITY;
  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement placement = sensorPlacements[sensorIx];
    Sensor* sensor = (Sensor*)placement.thing;
    if (sensor->IsSensor())
      continue;

    DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
    float sensorAngle = placement.verticalDirection;
    if (sensorAngle > 0 && sensorAngle < angle) {
      minDistance = fmin(minDistance, distanceSensor->GetDistance());
    }
  }
  return minDistance;
}

float Perception::DistanceDown(float angle) {
  float minDistance = INFINITY;
  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement placement = sensorPlacements[sensorIx];
    Sensor* sensor = (Sensor*)placement.thing;
    if (sensor->IsSensor())
      continue;

    DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
    float sensorAngle = placement.verticalDirection;
    if (sensorAngle < 0 && sensorAngle > -angle) {
      minDistance = fmin(minDistance, distanceSensor->GetDistance());
    }
  }
  return minDistance;
}
*/

float Perception::GetDistance(float fromAngle, float toAngle) {
  float minDistance = INFINITY;
  if (toAngle < fromAngle)
    // Hmm. Can't look backward properly for now
    return minDistance;

  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement placement = sensorPlacements[sensorIx];
    float angle = placement.horizontalDirection;
    if (angle > fromAngle && angle < toAngle) {
      Thing* thing = placement.thing;
      if (thing == nullptr)
        continue;

      if (thing->type == Thing::DistanceSensorType) {
        DistanceSensor* distanceSensor = (DistanceSensor*)thing;
        if (distanceSensor != nullptr && distanceSensor->IsOn())
          minDistance = fmin(minDistance, distanceSensor->GetDistance());
      }
    }
  }
  return minDistance;
}

float Perception::GetDistance(float fromHorizontalAngle,
                              float toHorizontalAngle,
                              float fromVerticalAngle,
                              float toVerticalAngle) {
  float minDistance = INFINITY;
  if (toHorizontalAngle < fromHorizontalAngle ||
      toVerticalAngle < fromVerticalAngle)
    // Hmm. Can't look backward properly for now
    return minDistance;

  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement placement = sensorPlacements[sensorIx];
    if (placement.horizontalDirection > fromHorizontalAngle &&
        placement.horizontalDirection < toHorizontalAngle &&
        placement.verticalDirection > fromVerticalAngle &&
        placement.verticalDirection < toVerticalAngle) {
      Thing* thing = placement.thing;
      if (thing == nullptr)
        continue;

      if (thing->type == Thing::DistanceSensorType) {
        DistanceSensor* distanceSensor = (DistanceSensor*)thing;
        if (distanceSensor != nullptr && distanceSensor->IsOn())
          minDistance = fmin(minDistance, distanceSensor->GetDistance());
      }
    }
  }
  return minDistance;
}

bool Perception::ObjectNearby(float fromAngle, float toAngle) {
  if (toAngle < fromAngle)
    return false;

  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
    Placement placement = sensorPlacements[sensorIx];
    float angle = placement.horizontalDirection;
    if (angle > fromAngle && angle < toAngle) {
      Thing* thing = placement.thing;
      if (thing == nullptr)
        continue;

      if (thing->type == Thing::DistanceSensorType) {
        DistanceSensor* distanceSensor = (DistanceSensor*)thing;
        if (distanceSensor != nullptr && distanceSensor->ObjectNearby())
          return true;
      } else if (thing->type == Thing::SwitchType) {
        Switch* switchSensor = (Switch*)thing;
        if (switchSensor != nullptr && switchSensor->IsOn())
          return true;
      }
    }
  }
  return false;
}