/* Author: LukArToDo Created: 10.dec 2018 Legend of commands: MOV F 2 - move forward 2 point MOV B 1 - move back 1 point TRN L - turn left 15 degree TRN R - turn right 15 degree RCK - pick up the rock RLS - release the rock ANL - analyze the rocks in the container PIC - capture and show a picture LOG - display all executed commands REP - missions report (current status) Size of container for rocks = 5 Size of the picture storage = 10 */ import java.util.ArrayList; import java.util.Collections; import java.util.List; import java.util.Random; import java.util.Stack; public class MarsRover { public static void main(String[] args) { displayHead(" ROVER_01 "); Mission MER=new Mission(). setMisionName("MER [Mars Exploration Rovers Mission]").setPlateauSize(10, 10). setRoverName ("Opportunity").setRoverPos(2, 2); String command="TRN L MOV F 7 RLS PIC RCK MOV B 4 TRN R PIC MOV D 1 ANL LOG REP"; for(String cmd: command.split("(?=MOV|TRN|LOG|RCK|RLS|ANL|REP|PIC)")) MER.setCommand(cmd).execute(); displayHead(" ROVER_02 - random commands "); Mission MERrandom=new Mission(). setMisionName("MER [Mars Exploration Rovers Mission]").setPlateauSize(10, 15). setRoverName("Spirit").setRoverPos(5, 10); MERrandom.setRandomCommands(6). execute(); } static void displayHead(String head) { head=String.join(head, Collections.nCopies(2, "*****")); String line=new String(new char[head.length()]).replace("\0", "*"); System.out.println("\n"+line+"\n"+head +"\n"+line); } } class Mission{ String missionName; Plateau P; Rover R; CPM control; Status S; Rocks r; String roverName; Picture pic; Mission(){ S=new Status(); r=new Rocks(); pic= new Picture(); } Mission setMisionName(String name) { missionName=name; return this; } Mission setPlateauSize(double x, double y) { P=new Plateau(x,y); return this; } Mission setRoverName(String name){ roverName = name; return this; } Mission setRoverPos(double x,double y) { R=new Rover(x,y,P); return this; } Mission setCommand(String s) { control=new CPM().setCmd(s); return this; } Mission setRandomCommands(int n) { control=new CPM().setRandomCmd(n); return this; } void execute() { if(control==null) System.out.println("No any command to execute"); else control.execute(P,R,S,r,pic,this); } public String toString() { String report= "Mision name:" + missionName+ "\nRover name: "+roverName+ "\nPlateau size: " + P.plateauSize()+ "]\nStart position of rover: " + R.getStartPosition()+ "\nCurrent position of rover: " + R.getCurrentPosition() + "\nTotal distance: " + R.getTotalDistance() + "\nCollected rocks: " + r.collected() + "\nReleased rocks: " + r.released() + "\nRocks in container: " + r.getNumOfRocks() + "\nCollected pictures: "+ pic.stored(); return report; } } // Command Processing Module class CPM { // declaring class variable, list of commands List cmd; CPM(){ // instantiating list of commands cmd=new ArrayList(); } /** * Method for creating and setting random commands to CPM * @param numOfCmd - number of random commands * @return */ CPM setRandomCmd(int numOfCmd) { Random r=new Random(); // Array of all possible commands String[]cmds= {"MOV","TRN","RCK","RLS","PIC","ANL","LOG"}; int i, lenOfCMDS=cmds.length; for(i=0;i "+command); // let the command execution status be "... done". This status will be changed to "... rejected + reason" or "... invalid command" depending on whether the command is executed or not. String status="...done."; // we will define "done" as true. This means that the command has been executed and can be placed on a list of executable commands (LOG) // only if the status of the command is "invalid command", "done" will be false and will not be put into the list of executed commands (LOG). boolean done=true; // let's check the first three characters of each command: switch(command.substring(0, 3)) { case "RCK": { // pick rock form current position of rover System.out.print("Collect rock to container from position "+R.getCurrentPosition()); // if container is already full, command will be rejected if(!r.push()) status="...rejected. Container is full."; break; } case "RLS": { // release rock to current position of rover System.out.print("Release last rock from conatiner at position "+R.getCurrentPosition()); // if container is already is empty, command will be rejected if(!r.pop()) status="...rejected. Container is empty."; break; } case "LOG": { // check if list of executable commands is empty or not: if(S.LOG.isEmpty()) System.out.println("...No stored executions"); else { System.out.println(); S.print(); } // do not display command status and do not place this command in the list of executed commands (LOG) status=""; done=false; break; } case "ANL": { // check if container of rocks is empty or not. If container is not empty, show analysis of rock(s) if(r.container.isEmpty()) status="...rejected. Container is empty. There is no rocks for analysis."; else r.getAnalysis().forEach(System.out::println); break; } case "MOV":{ // the rover movement command consists of the key commands MOV, direction of movement (F or B) and distance. // let's split this command by space: String[]cms=command.split("\\s"); // check the command's correctness. The command consists of 3 parts, the first part is MOV, the second part of the letter F or B, and the third part is the integer // if command is incorrect, then status will be "...invalid command" and this command will not be placed in the list of executed commands(LOG) if(cms.length!=3||"FB".indexOf(cms[1])<0||!cms[2].matches("[\\d]+")) { status="...invalid command."; done=false; } // if command is correct, set new position of rover // if new position is inside given plateau, status of command will be "...done". Otherwise, status of command will be "...rejected" and rover will stay on current position else if(!R.setNewPosition(cms[1],Integer.parseInt(cms[2]))) { status="...rejected. New position is outside plateau."; } break; } case "TRN":{ // the angle of rover movement command consists of the key commands TRN, angle of movement (L=15 degree or R=-15 degree). // let's split this command by space: String[]cms=command.split("\\s"); // check the command's correctness. The command consists of 2 parts, the first part is TRN, the second part of the letter L or R // if command is incorrect, then status will be "...invalid command" and this command will not be placed in the list of executed commands(LOG) if(cms.length!=2||"LR".indexOf (cms[1])<0) { status="...invalid command."; done=false; } // if command is correct, set new angle of rover movement else R.setAngle(cms[1]); break; } case "PIC":{ // create an image based on the initial position of the rover and the current angle of the rover movement. Each change in motion angle of rover moves the picture L or R for 2 positions: int pos_angle=(int)(R.getStartPosition().x+2*R.getAngle()/15); // if store of pictures is already full, status of command will be "...rejected". Otherwise, show and store the picture. if(pic.capture(pos_angle)) System.out.println(pic.P); else status="...rejected. The store is full."; break; } case "REP":{ // do not display command status and do not place this command in the list of executed commands (LOG) status=""; done=false; // display the mission report System.out.println("Report(current status):\n\n"+mission); // if the rover was moved, display the graphic trajectory of the rover if(R.totalDistance>0) R.plot(); break; } default: { // if the first three letter of command are not found within the defined commands, it is invalid command // do not place this command in the list of executed commands (LOG) status="...invalid command."; done=false; } } // show command status, and if "done" is true, place this command in the list of executed commands(LOG) System.out.println(status); if(done) S.add(new Status(command,status)); } } } class Plateau { Coordinates max; // set the plateau size (max coordinates) Plateau(double x, double y){ max=new Coordinates(x,y); } /** * Method to check if the point (x,y) is inside plateau * @param x given number along the horizontal axis X * @param y given number along the vertical axis Y * @return true (allowed, inside plateau) or false(not allowed, outside plateau) */ boolean allowsCoordinates(double x, double y) { return x >= 0 && x <= max.x && y >= 0 && y <= max.y; } String plateauSize() { return "[(0,0),(0,"+max.y+"),"+max.toString()+",("+max.x+",0)]"; } public String toString() { return max.toString(); } } class Rover{ // pos - current position of rover // starPos - start position of rover Coordinates pos,startPos; // grid - plot (graphical view) of rover motion Coordinates[][] grid; // paths - store the all coordinates of rover motion between two position // points - store the all coordinates of positions of rover List paths, points; // defined plateau Plateau P; // angle - current angle of rover movement // distance - distance crossed by the current angle // totalDistance - total distance from the start double X,Y,angle,distance, totalDistance; /** * Constructor of rover * @param x given number along the horizontal axis X * @param y given number along the vertical axis Y * @param p defined plateau (size of plateau) */ Rover(double x, double y, Plateau p){ // set current position (x,y) pos=new Coordinates(x,y); // if start position is not already defined then current position is start position if(startPos==null) startPos=pos; // initializing of classes variables: X=x; Y=y; angle=0; distance=0; totalDistance=0; P=p; paths=new ArrayList(); points=new ArrayList(); setGrid(); // add start position of rover points.add(grid[(int)X][(int)Y]); } /** * Method to set angle of rover movement * When invoking this method, the previous movement angle changes. * This means that we have to reset the distance and starting position for the calculation of next movement. * @param direction (L=left=15 degree or R=right=-15 degree) * @return */ Rover setAngle(String direction){ System.out.print("Turn "+(direction.equals("L")? "LEFT":"RIGHT")+" for 15 degree, from "+angle); angle+=15*(direction.equals("L")? 1:-1); System.out.print(" to "+angle+" degree"); X=pos.x; // pos.x = current x Y=pos.y; // pos.y = current y distance=0; return this; } /** * Method for calculating a new rover position. * For calculating is used the distance which rover must cross and the current angle of movement * @param direction (F=forwards or B=backwards) * @param steps (distance to cross) * @return true if new position is inside plateau, otherwise returns false */ boolean setNewPosition(String direction, int steps) { double x,y; int temp=steps; if(direction.equals("B")) steps=-steps; if(distance+steps>0){ // for example, case: from (4,4) to (5,8) y=Math.sin(Math.PI/(180/angle))*(distance+steps); x=Math.cos(Math.PI/(180/angle))*(distance+steps); }else{ // for example, case: from (4,4) to (2,3) y=Math.cos(Math.PI/(180/angle))*(distance+steps); x=Math.sin(Math.PI/(180/angle))*(distance+steps); } // check if new position is inside plateau if(P.allowsCoordinates(X+x, Y+y)) { totalDistance+=temp; // total distance from the beginning of the mission distance+=steps; // distance under the last given angle System.out.print("Move from: "+pos); int x0,y0,x1,y1; x0=(int)Math.round(pos.x); y0=(int)Math.round(pos.y); // set new position pos=new Coordinates(X+x,Y+y); System.out.print(" to "+pos); x1=(int)Math.round(pos.x); y1=(int)Math.round(pos.y); // store new position to points list points.add(grid[x1][y1]); // calculate and store the path from last to the new position setPaths(x0,y0,x1,y1); return true; // means that the new position is set because it is inside plateau } return false; // the new position is outside plateau, moving is rejected } /** * Method for initializing the grid according plateau size * @return */ Rover setGrid() { int rows=1+(int)Math.round(P.max.x); int cols=1+(int)Math.round(P.max.y); grid=new Coordinates[rows][cols]; for (int i = 0; i < rows; i++) for (int j = 0; j < cols; j++) grid[i][j] = new Coordinates(i,j); return this; } /** * Method to calculate paths between two position of rover using Bresenham's line algorithm * @param x0 current rover position(along the horizontal axis X) * @param y0 current rover position (along the vertical axis Y) * @param x1 new rover position (along the horizontal axis X) * @param y1 new rover position (along the vertical axis Y) * @return */ Rover setPaths(int x0, int y0, int x1, int y1) { int dx = Math.abs(x1 - x0); int dy = Math.abs(y1 - y0); int sx = x0 < x1 ? 1 : -1; int sy = y0 < y1 ? 1 : -1; int err = dx-dy; int err2; while (true){ paths.add(grid[x0][y0]); if (x0 == x1 && y0 == y1) break; err2 = 2 * err; if (err2 > -dy) { err = err - dy; x0 = x0 + sx; } if (err2 < dx){ err = err + dx; y0 = y0 + sy; } } return this; } /** * Method for graphical (coordinate system) display of rover movement */ void plot(){ int rows = grid.length; int cols = grid[0].length; System.out.println("\nRover's paths : \n"); String plotX="", plotXY; for (int i = cols-1; i >=0; i--){ if(i==cols-1) System.out.println(" ^y"); for (int j = 0; j < rows; j++){ if(points.contains(grid[j][i])) plotXY=points.indexOf(grid[j][i])+" "; else if (paths.contains(grid[j][i])) plotXY="* "; else if(j==0) plotXY=String.format("%2d|", i); else if(i==0) { plotXY="- "; plotX += String.format("%2d",j); } else plotXY=" "; System.out.print(plotXY); } if(i==0) plotX=">x\n "+plotX; System.out.println(plotX); } } /** * @return current angle */ double getAngle() { return angle; } /** * @return total distance which crossed by rover */ double getTotalDistance() { return totalDistance; } /** * @return start position of rover */ Coordinates getStartPosition() { return startPos; } /** * @return current position of rover */ Coordinates getCurrentPosition() { return pos; } public String toString() { return pos.toString(); } } class Coordinates{ double x,y; /** * Constructor - set coordinates (x,y) * @param x - given number along the horizontal axis X * @param y - given number along the vertical axis Y */ Coordinates(double x, double y){ this.x=x; this.y=y; } public String toString() { Format f=new Format(); return "("+f.round(x)+","+f.round(y)+")"; } } class Rocks{ // declare class variables: // container - store for rocks collecting // collected - total number of collected rocks // released - total number of released rocks // max - maximal size of container is 5 Stack container; int collected, released, max=5; // constructor: initializing of class variables Rocks(){ container=new Stack(); collected=0;released=0; } // Method for adding the rocks in the container, but instead of the rocks, we put the analysis of collected rocks into the container boolean push() { // check if container already full if(container.size()==max)return false; collected++; container.push(new Analysis().analyze(container.size()+1)); return true; } //Method for releasing the last rock collected boolean pop() { // check if container is empty if(container.isEmpty()) return false; container.pop(); released++; return true; } Stack getAnalysis() { return container; } // return number of rocks in the container int getNumOfRocks() { return container.size(); } // return total number of collected rocks int collected() { return collected; } // return total number of released rocks int released() { return released; } public String toString() { return container.toString(); } } class Analysis{ String a; ChEl[]elements=new ChEl[] {ChEl.SiO2,ChEl.TiO2,ChEl.Al2O3,ChEl.Fe2O3,ChEl.FeO,ChEl.MnO,ChEl.MgO,ChEl.CaO,ChEl.Na2O,ChEl.K2O,ChEl.H2O}; Analysis ANL; Analysis(){ ANL=null; } Analysis(String string) { a=string; } Analysis analyze(int rock) { String format="|%1$-10s|%2$-10s|\n", line="----------"; String analyse="ROCK_0"+rock+":\n"+ String.format(format, "elements","values")+ String.format(format, line,line); for(int i=0;iLOG; String com; String status; Status(String c,String s){ com=c; status=s; } void add(Status newStatus) { LOG.add(newStatus); } Status() { LOG=new ArrayList(); } void print(){ System.out.println(" Command status"); LOG.forEach(System.out::println); System.out.println(); } public String toString() { return String.format(" %s%."+(10-com.length())+"s%s", com,"..........",status); } } class Picture{ int max=10; String[] pStr=new String[13]; Picture P; List

Mars Rover