/* NOTE : To let the rover object generate commands for itself, leave the input empty. : Autonomous behaviour has a success rate of about 90%. ^_^; : You can try sample inputs from the code comments. Those work. The following program is a simulator that will simulate the actions of an unmanned rover on Mars, which receives commands through an established network from Earth. The program will display a visualization of the rover's actions, and a report of the tested specimens and photos. For details on the technical terms and other cool information, please refer to the References Section in the code comments. */ // Constants for fine tuning. const unsigned int net_length = 16, net_width = 38, rd_cmd_max = 16, max_cmd_ln = 8; #include // function #include // cout, cin #include // put_time, setw #include // stringstream #include // vector #include // string #include // shared_ptr #include // system_clock #define _USE_MATH_DEFINES #include // mt19937, etc. #define sc static_cast using sys_clock = std::chrono::system_clock; const std::vector earth_months = { 31,28.25,31,30,31,30,31,31,30,31,30,31 }; const std::vector rocks = { "Conglomerate", "Ventifact", "External", "Igneous", "Basalt", "Clay", "Andesite" }; const std::vector elements = { "SiO2,FeO,CaCO3", "Na,Al,K,KAlSi3O8", "SiO4,SiAl04,FeNi", "Ca,Fe,K,S", "Fe2O3,FeSiO4", "H2O,Fe2O3,SiO2", "TiO2,Al2O3,FeO,SiO2" }; std::unordered_map special = { {"Conglomerate","Sedimentary. Probably " "Part \n of Goulburn, " "Link Outcrops. "}, {"Ventifact","Similar to Jake Matijevic," "\n formed by strong dry " "winds. "}, {"External","Probably the remains of a" "\n Meteorite. Rich in " "FeNi."}, {"Igneous","Formed due to volcanic" "\n activity a long time " "ago. "}, {"Basalt","Smooth and common, rich in \n" " iron. Indicates water " "flow. "}, {"Clay","Formed mainly by withering.\n" " Has thin veins of " "water."}, {"Andesite","A large extrusive igneous" "\n rock, like Barnacle " "Bill. "} }; std::mt19937 mt_engine{static_cast (sys_clock::now().time_since_epoch().count())}; // Returns a random variable from // a specified range. int random(int rmin, int rmax) { std::uniform_int_distribution rnd(rmin,rmax); return rnd(mt_engine); } /// Functions to provide details for /// time conversion. /// The function must return a tuple to /// 2 doubles and a string. /// @return : The ratio the duration. /// (Earth hours/Planet hours) /// The number of days per year. /// The date of epoch to start. /// (If empty, epoch: 01/01/1900). /* For purposes of enumerating Mars years and facilitating data comparisons, one system used in the scientific literature counts Mars years relative to a Mars Year 1 (MY1) beginning on the northern spring equinox (Ls 0) that occurred on April 11, 1955.*/ /* Note that the mars_time conversion is inaccurate and not completely reliable, due to the narrowing conversions and the ignorance of the eccentricity of the mars' orbit. */ constexpr auto earth_time = []() { return std::make_tuple(1.00000, 365.25,"01/01/1900"); }; constexpr auto mars_time = []() { return std::make_tuple(0.97339, 668.6,"11/04/1955"); }; // Convert Degree to Radians constexpr auto to_rad(size_t deg) noexcept { return (deg*(M_PI))/180.0; } // Structure to handle coordinates struct Coordinate { short X,Y; enum class Direction : unsigned short { Forward=0, Backward, Left, Right }; constexpr Coordinate(int cx=0, int cy=0) : X(cx), Y(cy) {} constexpr bool operator< (const Coordinate& C2) const noexcept { return ((X*X)+(Y*Y))<((C2.X* C2.X)+(C2.Y*C2.Y)); } constexpr bool operator> (const Coordinate& C2) const noexcept { return ((X*X)+(Y*Y))>((C2.X* C2.X)+(C2.Y*C2.Y)); } constexpr bool operator== (const Coordinate& C2) const noexcept { return C2.X==X&&C2.Y==Y; } constexpr Coordinate operator- (const Coordinate& C2) const noexcept { return {X-C2.X,Y-C2.Y}; } constexpr double operator* (const Coordinate& C2) const noexcept { return abs((X*C2.Y)-(Y*C2.X)); } Coordinate reset() { if(X>sc(net_width)) { X=net_width; } if(X<1) { X=1; } if(Y>sc(net_length)) { Y=net_length; } if(Y<1) { Y=1; } return *this; } Coordinate move_to(short mag, short ang, const Direction& orient) { Coordinate pos(*this); if(orient==Direction::Left ||orient==Direction::Right) ang+=90; ang%=360; auto dx = fabs(mag*cos(to_rad(ang))); auto dy = fabs(mag*sin(to_rad(ang))); if(orient==Direction::Forward) { if(ang>= 0&&ang< 90) { pos.X+=dx; pos.Y-=dy; } if(ang>= 90&&ang<180) { pos.X-=dx; pos.Y-=dy; } if(ang>=180&&ang<270) { pos.X-=dx; pos.Y+=dy; } if(ang>=270) { pos.X+=dx; pos.Y+=dy; } } else if(orient==Direction::Backward) { if(ang>= 0&&ang< 90) { pos.X-=dx; pos.Y+=dy; } if(ang>= 90&&ang<180) { pos.X+=dx; pos.Y+=dy; } if(ang>=180&&ang<270) { pos.X+=dx; pos.Y-=dy; } if(ang>=270) { pos.X-=dx; pos.Y-=dy; } } else if(orient==Direction::Left) { if(ang>= 0&&ang< 90) { pos.X+=dx; pos.Y-=dy; } if(ang>= 90&&ang<180) { pos.X-=dx; pos.Y-=dy; } if(ang>=180&&ang<270) { pos.X-=dx; pos.Y+=dy; } if(ang>=270) { pos.X+=dx; pos.Y+=dy; } } else if(orient==Direction::Right) { if(ang>= 0&&ang< 90) { pos.X-=dx; pos.Y+=dy; } if(ang>= 90&&ang<180) { pos.X+=dx; pos.Y+=dy; } if(ang>=180&&ang<270) { pos.X+=dx; pos.Y-=dy; } if(ang>=270) { pos.X-=dx; pos.Y-=dy; } } else; return pos; } }; std::ostream& operator<< (std::ostream& os, const Coordinate& C) { os<<"("<=1&&c.X<=sc(net_width))&& (c.Y>=1&&c.Y<=sc(net_length)); } // Returns distance between two Coordinates. short dist(const Coordinate& C1, const Coordinate& C2) { return sc(sqrt(((C2.X-C1.X)*(C2.X-C1.X)) +((C2.Y-C1.Y)*(C2.Y-C1.Y)))); } // Class to represent planets. class Planet { std::function(void)> time_engine; unsigned int sx, sy; char** area; std::string nm, dnm; public: template explicit Planet(std::string name, std::string day_name, unsigned int dx=10, unsigned int dy=10, Fx f = earth_time) : time_engine(f), sx(dx), sy(dy), nm(name), dnm(day_name) { area = new char*[sx+2]; for(unsigned int i=0;itime_engine(); if(epoch.empty()||epoch.size()!=10) epoch = "01/01/1900"; short ed,em,ey; char dump; std::stringstream(epoch)>>ed >>dump>>em>>dump>>ey; auto tp = sys_clock::to_time_t (sys_clock::now()); auto t_info = *localtime(&tp); t_info.tm_year-=static_cast (ey-1900); for(short i=0;i<(em-1);i++) ed+=earth_months[i]; auto diff = t_info.tm_yday-ed-2; if(diff<=0) { t_info.tm_year--; diff+=365.25; } t_info.tm_yday = diff; size_t days = df*(t_info.tm_yday+ (t_info.tm_year*365.25)); size_t y = std::floor(days/yf); size_t d = days-(y*yf); return std::make_pair(d+1,y+1); } // Puts a marker on the map at // the specified coordinate. void mark(Coordinate C, char marker='*') { area[C.Y][C.X] = marker; } // Draws a line on the planet // map between specified coordinates, // using Bresenham's Algorithm. void plot(Coordinate C1, Coordinate C2, char boundary = '.') noexcept { area[C1.Y][C1.X] = boundary; area[C2.Y][C2.X] = boundary; int dx,dy,D,r=1,x,y; bool orient = false; if(abs(C2.Y-C1.Y)0) { y+=r; D-=2*dx; } D+=2*dy; } } else { if(dx<0){ dx=-dx; r=-1; } D=2*dx-dy; x=C1.X; for(y=C1.Y;y<=C2.Y;y++) { area[y][x] = boundary; if(D>0) { x+=r; D-=2*dy; } D+=2*dx; } } } // Prints the planet area. void show() const noexcept { std::cout<<"\n"; for(unsigned int i=0;i link; bool status, input, new_coord; std::vector msgs; Coordinate pos,prev_pos; std::vector pics, rcks; std::vector is_analyzed; std::string prev_cmd; public: explicit Rover() : smpl_ct(0), pic_ct(0), rock_ct(0), spec_ct(0), cmd_ct(0), dir(0), input(false), new_coord(true), pos(1,net_length), prev_pos(pos), is_analyzed({0,0,0,0,0}) { } void deployed_to(Planet& planet) { link = std::make_shared (planet); } void disp_log() const noexcept { unsigned int inst = 0; std::cout<<"Rover Command Log : \n"; std::cout.fill('0'); for(const auto& msg:msgs) std::cout<<"#" < \n"; } bool retrieve(std::string& cmd) { if(cmd_ct==0) { bool state = static_cast (getline(std::cin,cmd)); if(state&&!cmd.empty()) { input = true; ++cmd_ct; return state; } } if(input) { return (++cmd_ct&& getline(std::cin,cmd) &&!cmd.empty()); } else { if(cmd_ct==rd_cmd_max-1) cmd = "LOG"; else { if(new_coord) { if(rock_ct&& is_analyzed[rock_ct-1]) { cmd = "RLS"; new_coord = false; } else if(rock_ct) { cmd = "ANL"; } else { bool ch = random(0,50)&1; if(ch&&(pic_ct<10)) { cmd = "PIC"; new_coord = false; } else { cmd = "RCK"; } } } else { bool ch1 = random(0,50)&1; if(ch1) { cmd = "MOV"; auto d1 = dist(pos,pos.move_to(42,dir, Coordinate::Direction::Forward).reset()); auto d2 = dist(pos,pos.move_to(42,dir, Coordinate::Direction::Backward).reset()); if(d1<0||d1>42) d1=0; if(d2<0||d2>42) d2=0; cmd+=(d1>d2?(" F "+std::to_string(random (1,(d1)/2))):(" B "+std::to_string (random(1,(d2)/2)))); new_coord = true; } else { cmd = "TRN"; auto d1 = dist(pos,pos.move_to(42,dir, Coordinate::Direction::Left).reset()); auto d2 = dist(pos,pos.move_to(42,dir, Coordinate::Direction::Right).reset()); if(d1<0||d1>42) d1=0; if(d2<0||d2>42) d2=0; cmd+=(d1>d2?" L":" R"); } } } return ((cmd_ct++)=7) { prev_pos=pos; std::stringstream ss(command.substr(5)); size_t dist=0; ss>>dist; if(dist==0) { std::cout<<"Rover : " "Movement Magnitude is " "Zero.\n"; msgs.push_back(command+ std::string(max_cmd_ln -command.size(),' ')+ " (FAILURE) " "[NoDistError]"); return; } if(command[4]=='F') { Coordinate pos2 = pos.move_to(dist,dir, Coordinate::Direction ::Forward); if(check(pos2)) { link->plot(pos,pos2); pos=pos2; std::cout<<"Rover : " "Moved +"+std:: to_string(dist) +"kms. in a "+std:: to_string(dir) +std::string(1, char(248))+ " vector.\n"; msgs.push_back (command+ std::string (max_cmd_ln -command.size(),' ')+ " (SUCCESS) [Mv(+" +std::to_string (dist)+"," +std::to_string(dir) +std::string(1, char(248))+")]"); } else { pos2.reset(); link->plot(pos,pos2); pos=pos2; status=0; std::cout<<"Rover : " "Network Lost. " "Mission Failed.\n"; msgs.push_back (command+ std::string (max_cmd_ln -command.size(),' ')+ " (FAILURE) " "[NetworkError]"); throw *this; } } else if(command[4]=='B') { Coordinate pos2 = pos.move_to(dist,dir, Coordinate::Direction ::Backward); if(check(pos2)) { link->plot(pos,pos2); pos=pos2; std::cout<<"Rover : " "Moved -"+std:: to_string(dist) +"kms. in a "+std:: to_string(dir) +std::string(1, char(248))+ " vector.\n"; msgs.push_back (command+ std::string (max_cmd_ln -command.size(),' ')+ " (SUCCESS) [Mv(-" +std::to_string (dist)+"," +std::to_string(dir) +std::string(1, char(248))+")]"); } else { pos2.reset(); link->plot(pos,pos2); pos=pos2; status=0; std::cout<<"Rover : " "Network Lost. " "Mission Failed.\n"; msgs.push_back (command+std::string (max_cmd_ln -command.size(),' ')+ " (FAILURE) " "[NetworkError]"); throw *this; } } else { std::cout<<"Rover : " "Invalid Movement" " Direction.\n"; msgs.push_back(command+ std::string(max_cmd_ln -command.size(),' ')+ " (FAILURE) " "[MovtDirError]"); } } else if(cmd=="TRN") { if(command[4]=='L') { dir+=15; std::cout<<"NavCam : " "Vector Rotated by +15" +std::string(1, char(248))+".\n"; msgs.push_back(command+ std::string(max_cmd_ln -command.size(),' ')+ " (SUCCESS) [NewDir@"+ std::to_string(dir)+ std::string(1, char(248))+"]"); } else if(command[4]=='R') { dir-=15; std::cout<<"NavCam : " "Vector Rotated by -15" +std::string(1, char(248))+".\n"; msgs.push_back(command+ std::string(max_cmd_ln -command.size(),' ')+ " (SUCCESS) [NewDir@"+ std::to_string(dir)+ std::string(1, char(248))+"]"); } else { std::cout<<"NavCam : " "Specified " "Direction Invalid.\n"; msgs.push_back(command+ std::string(max_cmd_ln -command.size(),' ')+ " (FALIURE) " "[DirRotError]"); } } else if(cmd=="ANL") { if(rock_ct==0) { std::cout<<"CheMin : No " "Rock in Tray for " "analysis.\n"; msgs.push_back(command+ std::string(max_cmd_ln -command.size(),' ')+ " (FALIURE) " "[TrayANLError]"); } else if(is_analyzed [rock_ct-1]) { std::cout<<"CheMin : " "Rock "<0) { std::cout<<"Rover : " <disp_log(); } else { prev_pos=pos; std::cout<<"Rover : "<< (command.empty()?"No ": "Invalid ") <<"Command Specified.\n"; std::string m = (command.size()==0?"No":""); msgs.push_back(command+ std::string(max_cmd_ln -command.size(),' ')+ " (FAILURE) " "["+m+"CmdError]"); } } else { prev_pos=pos; std::cout<<"Rover : Invalid" " Command Specified.\n"; msgs.push_back(command+ std::string(max_cmd_ln -command.size(),' ')+ " (FAILURE) [CmdError]"); } } void finish() noexcept { prev_pos=pos; status = true; for(const auto& c:pics) { link->mark(c,'o'); } for(const auto& c:rcks) { link->mark(c); } link->mark(pos,char(178)); } void report() noexcept { if(not status) { link->show(); } std::cout<<"Mission Report : \n" "--------------\n\n"; auto tp = sys_clock::to_time_t (sys_clock::now()); auto t_info = localtime(&tp); auto [d,y] = link->date(); std::cout<day()<<" "<name()<<" Year " <> Mission Location : " <name()<<"\n"; std::cout<<">> Mission Status : " <<(status?"SUCCESS":"FAILURE")<<"\n"; std::cout<<">> Atmospheric " "Composition : \n CO2(96%), " "Ar(<2%), N2(<2%), Oth(<1%)\n"; std::cout<<">> Total Number of " "Pictures Taken : "<> Number of Rocks in " "Tray : "<> Total Number of " "Rocks Tested : "<> Total Number of Spec" "imens found : "<> "; this->disp_log(); } }; // The real operation begins, here. int main() { try { Planet Mars("Mars", "Sol", net_length, net_width, mars_time); Rover Curiosity; Curiosity.deployed_to(Mars); std::string command; while(Curiosity.retrieve(command)) { std::cout<<">> "<

Challenge - Mars Rover CPM