refactor car clients

hugoppp-uni · May 22, 2023 · 362eb9a · 362eb9a
1 parent acbbca2
commit 362eb9a
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Showing 14 changed files with 591 additions and 146 deletions.
diff --git a/src/Solution1/ConsoleApp1/Program.cs b/src/Solution1/ConsoleApp1/Program.cs
@@ -43,18 +43,29 @@
 var physicalWorld = new PhysicalWorld(graph, parkerCount, cruiserCount);
 
 // sim meta data
-var simDataTask = await SimDataClient.Create(mqttClientFactory, physicalWorld, simDataPublishInterval);
+//var simDataTask = await SimDataClient.Create(mqttClientFactory, physicalWorld, simDataPublishInterval);
 
+ParkingGuidanceSystem pgs = new ParkingGuidanceSystem(physicalWorld, new NearestParkingStrategy(), false);
 // init cruisers 
+/*
 var cruiserClients = Enumerable.Range(0, cruiserCount)
     .Select(i => CruiserClient.Create(mqttClientFactory, i, physicalWorld, false));
 var cruisers = await Task.WhenAll(cruiserClients);
+*/
+var cruiserClients = Enumerable.Range(0, cruiserCount)
+    .Select(i => CarClient.Create(mqttClientFactory, new CruiserClientBehaviour(), physicalWorld, pgs, i, false));
+var cruisers = await Task.WhenAll(cruiserClients);
+
+var parkerClients = Enumerable.Range(0, parkerCount)
+    .Select(i => CarClient.Create(mqttClientFactory, new RandomParkerClientBehaviour(), physicalWorld, pgs, i, true));
+var parkers = await Task.WhenAll(parkerClients);
 
 // init parkers 
-ParkingGuidanceSystem pgs = new ParkingGuidanceSystem(physicalWorld, new NearestParkingStrategy(), false);
+/*
 var parkerClients = Enumerable.Range(0, parkerCount)
     .Select(i => ParkerClient.Create(mqttClientFactory, i, physicalWorld, pgs, true, true));
 var parkers = await Task.WhenAll(parkerClients);
+*/
 
 // cancel with 'q'
 while (Console.ReadKey().Key != ConsoleKey.Q)

diff --git a/src/Solution1/ConsoleApp1/clients/CarClient.cs b/src/Solution1/ConsoleApp1/clients/CarClient.cs
@@ -1,124 +1,87 @@
-using ConsoleApp1.sim;
-using ConsoleApp1.sim.graph;
-using ConsoleApp1.util;
-using MQTTnet.Client;
-using QuickGraph.Algorithms;
-
-namespace ConsoleApp1.clients;
-
-public abstract class CarClient : BaseClient
-{
-    protected int Id { get; }
-    protected PhysicalWorld PhysicalWorld { get; }
-    protected StreetPosition Position { get; set; }
-    protected IEnumerable<StreetEdge> Path { get; set; }
-    protected StreetNode Destination { get; set; }
-
-    protected CarClientStatus Status { get; set; }
-
-    protected bool Logging { get; set; }
-
-    public override string ToString() => $"[CAR\t{Id},\t{Status}\t]";
-
-    protected abstract void HandleDestinationReached();
-    protected abstract Task HandleNodeReached();
-    protected abstract void TurnOnNextStreetEdge();
-    protected abstract void UpdateDestination();
-
-    protected CarClient(IMqttClient mqttClient, PhysicalWorld physicalWorld, int id, bool logging) : base(mqttClient)
-    {
-        Id = id;
-        PhysicalWorld = physicalWorld;
-        Logging = logging;
-        Path = Enumerable.Empty<StreetEdge>();
-
-        // init position
-        Position = StreetPosition.WithRandomDistance(physicalWorld.StreetEdges.RandomElement());
-        Position.StreetEdge.IncrementCarCount();
-
-        // get initial dest
-        UpdateDestination();
-    }
-
-    protected void HandlePathingFailed()
-    {
-        RespawnAtRandom();
-    }
-
-    protected void RespawnAtRandom()
-    {
-        Position.StreetEdge.DecrementCarCount();
-        Position = StreetPosition.WithRandomDistance(PhysicalWorld.StreetEdges.RandomElement());
-        Position.StreetEdge.IncrementCarCount();
-        UpdateDestination();
-    }
-
-    protected async Task HandleDriving()
-    {
-        if (DestinationReached()) // car reached destination after driving
-        {
-            HandleDestinationReached();
-        }
-        else 
-        {
-            await DriveAccordingToPath();
-        }
-    }
-
-
-    private bool DestinationReached()
-    {
-        return !Path.Any() && Destination == Position.StreetEdge.Target &&
-               Position.DistanceFromSource >= Position.StreetEdge.Length;
-    }
-
-    protected async Task DriveAccordingToPath()
-    {
-        if (Position.DistanceFromSource < Position.StreetEdge.Length) // driving on street
-        {
-            UpdatePosition();
-        }
-        else
-        {
-            await HandleNodeReached();
-        }
-    }
-
-    private void UpdatePosition()
-    {
-        double speed = Position.StreetEdge.CurrentMaxSpeed();
-        Position = new StreetPosition(Position.StreetEdge, Position.DistanceFromSource + MathUtil.KmhToMs(speed));
-
-        if (Logging)
-        {
-            Console.WriteLine($"{this}\ttick | {Position.ToString()} | dest: {Destination.Id} | car count: {Position.StreetEdge.CarCount} | driving at {speed:F2}kmh/{Position.StreetEdge.SpeedLimit:F2}kmh");
-        }
-
-    }
-
-    protected void UpdatePath()
-    {
-        var shortestPaths = PhysicalWorld.Graph.ShortestPathsDijkstra(
-            edge => 100 - edge.SpeedLimit,
-            Position.StreetEdge.Source);
-
-        if (shortestPaths.Invoke(Destination, out var path))
-        {
-            Path = path.ToList();
-            if (Logging)
-            {
-                Console.WriteLine($"{this}\tpath: {string.Join(',', Path.Select(p => p.StreetName))}");
-            }
-        }
-        else
-        {
-            if (Logging)
-            {
-                Console.WriteLine($"{this}\tno path found [destination: {Destination.Id}, position: {Position}, node: {Position.StreetEdge.Source.Id}]");
-            }
-            Path = Enumerable.Empty<StreetEdge>();
-            Status = CarClientStatus.PathingFailed;
-        }
-    }
-
+using ConsoleApp1.pgs;
+using ConsoleApp1.sim;
+using ConsoleApp1.sim.graph;
+using ConsoleApp1.util;
+using MQTTnet.Client;
+
+namespace ConsoleApp1.clients;
+
+public class CarClient: BaseClient
+{
+    protected CarClient(IMqttClient mqttClient, ICarClientBehaviour behaviour, PhysicalWorld world, ParkingGuidanceSystem pgs, int id, bool logging) : base(mqttClient)
+    {
+        Behaviour = behaviour;
+        var kpiManager = new KpiManager(mqttClient, Car);
+        Car = new MockCar(id, world, kpiManager, logging);
+        Pgs = pgs;
+
+        // get initial dest
+        Car.Status = CarStatus.Driving;
+        Car.KpiManager.Reset();
+        Behaviour.UpdateDestination(Car);
+    }
+
+    public ParkingGuidanceSystem Pgs { get; set; }
+
+    private ICarClientBehaviour Behaviour { get; set; }
+
+    public MockCar Car { get; set; }
+
+    /*
+     * Creation through factory
+     */
+    public static async Task<CarClient> Create(MqttClientFactory clientFactory, ICarClientBehaviour behaviour,
+        PhysicalWorld physicalWorld, ParkingGuidanceSystem pgs, int id, bool logging)
+    {
+        var client = await clientFactory.CreateClient(builder => builder.WithTopicFilter("tickgen/tick"));
+        return new CarClient(client, behaviour, physicalWorld, pgs, id, logging);
+    }
+
+    /**
+     * Main state machine
+     */
+    protected override async Task MqttClientOnApplicationMessageReceivedAsync(MqttApplicationMessageReceivedEventArgs arg)
+    {
+        switch (Car.Status)
+        {
+            case CarStatus.PathingFailed:
+                Car.Status = CarStatus.Driving;
+                Car.RespawnAtRandom();
+                Behaviour.UpdateDestination(Car);
+                break;
+
+            case CarStatus.Driving: 
+                if (Car.DestinationReached()) 
+                {
+                    Car.Status = CarStatus.Parking;
+                }
+                else 
+                {
+                    Behaviour.DriveAlongPath(Car);
+                }
+                break;
+
+            case CarStatus.Parking:
+                Car.KpiManager.TicksSpentParking++;
+                Behaviour.SeekParkingSpot(Car);
+                new CruiserClientBehaviour().DriveAlongPath(Car);
+                if (Behaviour.AttemptLocalParking(Car))
+                {
+                    Car.Status = CarStatus.Parked;
+                }
+                break;
+
+            case CarStatus.Parked:
+                if (!Behaviour.StayParked(Car))
+                {
+                    Car.Status = CarStatus.Driving;
+                    Behaviour.UpdateDestination(Car);
+                }
+                break;
+
+            default:
+                throw new InvalidOperationException($"{this}\tInvalid status: {Car.Status}");
+        }
+    }
+
 }
diff --git a/src/Solution1/ConsoleApp1/clients/CarClientDeprecated.cs b/src/Solution1/ConsoleApp1/clients/CarClientDeprecated.cs
@@ -0,0 +1,123 @@
+using ConsoleApp1.sim;
+using ConsoleApp1.sim.graph;
+using ConsoleApp1.util;
+using MQTTnet.Client;
+using QuickGraph.Algorithms;
+
+namespace ConsoleApp1.clients;
+
+public abstract class CarClientDeprecated : BaseClient
+{
+    protected int Id { get; }
+    protected PhysicalWorld PhysicalWorld { get; }
+    protected StreetPosition Position { get; set; }
+    protected IEnumerable<StreetEdge> Path { get; set; }
+    protected StreetNode Destination { get; set; }
+
+    protected CarStatus Status { get; set; }
+
+    protected bool Logging { get; set; }
+
+    public override string ToString() => $"[CAR\t{Id},\t{Status}\t]";
+
+    protected abstract void HandleDestinationReached();
+    protected abstract Task HandleNodeReached();
+    protected abstract void TurnOnNextStreetEdge();
+    protected abstract void UpdateDestination();
+
+    protected CarClientDeprecated(IMqttClient mqttClient, PhysicalWorld physicalWorld, int id, bool logging) : base(mqttClient)
+    {
+        Id = id;
+        PhysicalWorld = physicalWorld;
+        Logging = logging;
+        Path = Enumerable.Empty<StreetEdge>();
+
+        // init position
+        Position = StreetPosition.WithRandomDistance(physicalWorld.StreetEdges.RandomElement());
+        Position.StreetEdge.IncrementCarCount();
+
+        // get initial dest
+        UpdateDestination();
+    }
+
+    protected void HandlePathingFailed()
+    {
+        RespawnAtRandom();
+    }
+
+    protected void RespawnAtRandom()
+    {
+        Position.StreetEdge.DecrementCarCount();
+        Position = StreetPosition.WithRandomDistance(PhysicalWorld.StreetEdges.RandomElement());
+        Position.StreetEdge.IncrementCarCount();
+        UpdateDestination();
+    }
+
+    protected async Task HandleDriving()
+    {
+        if (DestinationReached()) // car reached destination after driving
+        {
+            HandleDestinationReached();
+        }
+        else 
+        {
+            await DriveAccordingToPath();
+        }
+    }
+
+
+    private bool DestinationReached()
+    {
+        return !Path.Any() && Destination == Position.StreetEdge.Target &&
+               Position.DistanceFromSource >= Position.StreetEdge.Length;
+    }
+
+    protected async Task DriveAccordingToPath()
+    {
+        if (Position.DistanceFromSource < Position.StreetEdge.Length) // driving on street
+        {
+            UpdatePosition();
+        }
+        else
+        {
+            await HandleNodeReached();
+        }
+    }
+
+    private void UpdatePosition()
+    {
+        double speed = Position.StreetEdge.CurrentMaxSpeed();
+        Position = new StreetPosition(Position.StreetEdge, Position.DistanceFromSource + MathUtil.KmhToMs(speed));
+
+        if (Logging)
+        {
+            Console.WriteLine($"{this}\ttick | {Position.ToString()} | dest: {Destination.Id} | car count: {Position.StreetEdge.CarCount} | driving at {speed:F2}kmh/{Position.StreetEdge.SpeedLimit:F2}kmh");
+        }
+    }
+
+    protected void UpdatePath()
+    {
+        var shortestPaths = PhysicalWorld.Graph.ShortestPathsDijkstra(
+            edge => 100 - edge.SpeedLimit,
+            Position.StreetEdge.Source);
+
+        if (shortestPaths.Invoke(Destination, out var path))
+        {
+            Path = path.ToList();
+            if (Logging)
+            {
+                Console.WriteLine($"{this}\tpath: {string.Join(',', Path.Select(p => p.StreetName))}");
+            }
+        }
+        else
+        {
+            if (Logging)
+            {
+                Console.WriteLine($"{this}\tno path found [destination: {Destination.Id}, position: {Position}, node: {Position.StreetEdge.Source.Id}]");
+            }
+            Path = Enumerable.Empty<StreetEdge>();
+            Status = CarStatus.PathingFailed;
+        }
+    }
+
+}
diff --git a/...n1/ConsoleApp1/clients/CarClientStatus.cs → ...olution1/ConsoleApp1/clients/CarStatus.cs b/...n1/ConsoleApp1/clients/CarClientStatus.cs → ...olution1/ConsoleApp1/clients/CarStatus.cs
@@ -1,6 +1,6 @@
 namespace ConsoleApp1.clients;
 
-public enum CarClientStatus
+public enum CarStatus
 {
     Driving,
     Parking,