AUTHORS; perf sensor; ui improvement

AUTHORS

@@ -0,0 +1,3 @@
+8inf846
+THOR16119403 Robin Thoni <robin@rthoni.com>
+TIBP18039507 Pierre-Antoine Tible <zhajor@zhajor.com>

README.md

@@ -71,6 +71,7 @@ FakeEnv implementation starts one thread for the environment and another one for
 
 Agent logic is in `Agent/*.cs`  
 Agent sensors and effectors interfaces are in `Agent/Interfaces/*`  
+Agent sensors that do not directly rely on physical sensors are in `Agent/Sensors/*.cs`  
 Agent FakeEnv client implementation is in `Agent/FakeEnv/*`  
 FakeEnv client, server, protocol and configuration are defined in `Common/*.cs`  
 FakeEnv server implementation is in `Environment/*.cs`  

uqac-ia-aspirobot/Agent/AgAgent.cs

@@ -9,6 +9,7 @@ using uqac_ia_aspirobot.Agent.FakeEnv.Effectors;
 using uqac_ia_aspirobot.Agent.FakeEnv.Sensors;
 using uqac_ia_aspirobot.Agent.Interfaces.Effectors;
 using uqac_ia_aspirobot.Agent.Interfaces.Sensors;
+using uqac_ia_aspirobot.Agent.Sensors;
 using uqac_ia_aspirobot.Common;
 using uqac_ia_aspirobot.Extensions;
 using uqac_ia_aspirobot.Interfaces;
@@ -44,6 +45,7 @@ namespace uqac_ia_aspirobot.Agent
             agServices.AddSingleton<IAgBatterySensor, AgBatterySensor>();
             agServices.AddSingleton<IAgVaccumSensor, AgVaccumSensor>();
             agServices.AddSingleton<IAgPickedSensor, AgPickedSensor>();
+            agServices.AddSingleton<IAgPerformanceSensor, AgPerformanceSensor>();
 
             agServices.AddSingleton<IAgVaccumEffector, AgVaccumEffector>();
             agServices.AddSingleton<IAgEngineEffector, AgEngineEffector>();
@@ -127,13 +129,14 @@ namespace uqac_ia_aspirobot.Agent
 
         public void Think()
         {
-            if (_state.LastThinkTime.AddMilliseconds(_state.ThinkTimeInterval) <= DateTime.Now)
+            var now = DateTime.Now;
+            if (_state.LastThinkTime.AddMilliseconds(_state.ThinkTimeInterval) <= now)
             {
                 if (_state.Destination == null && _state.DustyRooms.Any())
                 {
                     _state.Destination = _state.DustyRooms.OrderBy(room => room.Distance(_engineEffector)).First();
                 }
-                _state.LastThinkTime = DateTime.Now;
+                _state.LastThinkTime = now;
             }
         }
 

uqac-ia-aspirobot/Agent/FakeEnv/AgEnvironment.cs

@@ -10,10 +10,11 @@ namespace uqac_ia_aspirobot.Agent.FakeEnv
 {
     public class AgEnvironment : IEnvironment
     {
-        private readonly IAgDustSensor _agDustSensor;
-        private readonly IAgBatterySensor _agBatterySensor;
-        private readonly IAgPickedSensor _agPickedSensor;
-        private readonly IAgVaccumSensor _agVaccumSensor;
+        private IAgDustSensor _agDustSensor;
+        private IAgBatterySensor _agBatterySensor;
+        private IAgPickedSensor _agPickedSensor;
+        private IAgVaccumSensor _agVaccumSensor;
+        private IAgPerformanceSensor _agPerformanceSensor;
 
         private readonly IServiceProvider _serviceProvider;
 
@@ -25,19 +26,20 @@ namespace uqac_ia_aspirobot.Agent.FakeEnv
 
         private readonly IDictionary<string, IRoom> _rooms = new Dictionary<string, IRoom>();
 
-        public AgEnvironment(IServiceProvider serviceProvider, ArClient arClient,
-            IAgDustSensor agDustSensor, IAgBatterySensor agBatterySensor, IAgPickedSensor agPickedSensor, IAgVaccumSensor agVaccumSensor)
+        public AgEnvironment(IServiceProvider serviceProvider, ArClient arClient)
         {
             _serviceProvider = serviceProvider;
             _arClient = arClient;
-            _agDustSensor = agDustSensor;
-            _agBatterySensor = agBatterySensor;
-            _agPickedSensor = agPickedSensor;
-            _agVaccumSensor = agVaccumSensor;
         }
 
         public void Setup()
         {
+            _agDustSensor = _serviceProvider.GetService<IAgDustSensor>();
+            _agBatterySensor = _serviceProvider.GetService<IAgBatterySensor>();
+            _agPickedSensor = _serviceProvider.GetService<IAgPickedSensor>();
+            _agVaccumSensor = _serviceProvider.GetService<IAgVaccumSensor>();
+            _agPerformanceSensor = _serviceProvider.GetService<IAgPerformanceSensor>();
+
             _arClient.Setup();
             _width = _arClient.GetEnvWidth();
             _height = _arClient.GetEnvWidth();
@@ -65,6 +67,7 @@ namespace uqac_ia_aspirobot.Agent.FakeEnv
             _agBatterySensor.Update();
             _agPickedSensor.Update();
             _agVaccumSensor.Update();
+            _agPerformanceSensor.Update();
         }
 
         protected string GetKey(int x, int y)

uqac-ia-aspirobot/Agent/FakeEnv/Sensors/AgDustSensor.cs

@@ -1,17 +1,9 @@
 using uqac_ia_aspirobot.Agent.Interfaces.Sensors;
-using uqac_ia_aspirobot.Interfaces;
 
 namespace uqac_ia_aspirobot.Agent.FakeEnv.Sensors
 {
     public class AgDustSensor : IAgDustSensor
     {
-        private readonly AgEnvironment _environment;
-
-        public AgDustSensor(IEnvironment environment)
-        {
-            _environment = environment as AgEnvironment;
-        }
-
         public void Update()
         {
         }

uqac-ia-aspirobot/Agent/Interfaces/Sensors/IAgPerformanceSensor.cs

@@ -0,0 +1,7 @@
+namespace uqac_ia_aspirobot.Agent.Interfaces.Sensors
+{
+    public interface IAgPerformanceSensor : ISensor
+    {
+        float Performance { get; }
+    }
+}

uqac-ia-aspirobot/Agent/Sensors/AgPerformanceSensor.cs

@@ -0,0 +1,34 @@
+using uqac_ia_aspirobot.Agent.Interfaces.Sensors;
+using uqac_ia_aspirobot.Extensions;
+using uqac_ia_aspirobot.Interfaces;
+
+namespace uqac_ia_aspirobot.Agent.Sensors
+{
+    public class AgPerformanceSensor : IAgPerformanceSensor
+    {
+        private readonly IAgBatterySensor _agBatterySensor;
+
+        private readonly IAgPickedSensor _agPickedSensor;
+
+        private readonly IAgVaccumSensor _agVaccumSensor;
+        private readonly IEnvironment _environment;
+
+        public float Performance { get; protected set; }
+
+        public AgPerformanceSensor(IAgBatterySensor agBatterySensor, IAgPickedSensor agPickedSensor,
+            IAgVaccumSensor agVaccumSensor, IEnvironment environment)
+        {
+            _agBatterySensor = agBatterySensor;
+            _agPickedSensor = agPickedSensor;
+            _agVaccumSensor = agVaccumSensor;
+            _environment = environment;
+        }
+
+        public void Update()
+        {
+            var dustyCount = _environment.FindDustyRooms().Count;
+            var sum = _agPickedSensor.Picked + _agVaccumSensor.Vaccumed;
+            Performance = (_agBatterySensor.Spent == 0 ? 0 : (float)sum / _agBatterySensor.Spent) - dustyCount;
+        }
+    }
+}

uqac-ia-aspirobot/UI/UiConsole.cs

@@ -16,9 +16,10 @@ namespace uqac_ia_aspirobot.UI
         private readonly IAgBatterySensor _agBatterySensor;
         private readonly IAgVaccumSensor _agVaccumSensor;
         private readonly AgState _agState;
+        private readonly IAgPerformanceSensor _agPerformanceSensor;
 
         public UiConsole(IEnvironment environment, IAgEngineEffector agEngineEffector, IAgPickedSensor agPickedSensor,
-            IAgBatterySensor agBatterySensor, IAgVaccumSensor agVaccumSensor, AgState agState)
+            IAgBatterySensor agBatterySensor, IAgVaccumSensor agVaccumSensor, AgState agState, IAgPerformanceSensor agPerformanceSensor)
         {
             _environment = environment;
             _agEngineEffector = agEngineEffector;
@@ -26,6 +27,7 @@ namespace uqac_ia_aspirobot.UI
             _agBatterySensor = agBatterySensor;
             _agVaccumSensor = agVaccumSensor;
             _agState = agState;
+            _agPerformanceSensor = agPerformanceSensor;
         }
 
         public void SetBackgroundColor(ConsoleColor? color)
@@ -186,10 +188,13 @@ namespace uqac_ia_aspirobot.UI
                 Console.WriteLine("|");
             }
             SetBackgroundColor(bgColor);
+            var nextThink = Math.Max(0, (_agState.LastThinkTime.AddMilliseconds(_agState.ThinkTimeInterval) - DateTime.Now).TotalMilliseconds);
             Console.WriteLine($"Battery: {_agBatterySensor.Spent}");
             Console.WriteLine($"Vaccumed: {_agVaccumSensor.Vaccumed}");
             Console.WriteLine($"Picked: {_agPickedSensor.Picked}");
-            Console.WriteLine($"Think: {_agState.ThinkTimeInterval}ms");
+            Console.WriteLine($"Think Interval: {_agState.ThinkTimeInterval}ms");
+            Console.WriteLine($"Next Think: {nextThink}ms");
+            Console.WriteLine($"Performance: {_agPerformanceSensor.Performance}");
         }
     }
 }