Refactor code formatting and optimize robot movement

mini-mecha-code/example/1.mini

@@ -1,19 +1,19 @@
 let void entry () {
-    var number count = 0
-    loop count < 5
-    {
-        count = count + 1
-        square()
-    }
+  var number count = 0
+  loop count < 5
+  {
+    count = count + 1
+    square()
+  }
 }
 
 let void square(){
-    Forward 30 cm
-    Clock 90
-    Forward 300 mm
-    Clock 90
-    Forward 30 cm
-    Clock 90
-    Forward 300 mm
-    Clock 90
+  Forward 30 cm
+  Clock 90
+  Forward 300 mm
+  Clock 90
+  Forward 30 cm
+  Clock 90
+  Forward 300 mm
+  Clock 90
 }

mini-mecha-code/example/2.mini

@@ -1,11 +1,11 @@
 let void entry () {
-    setSpeed(200 mm) // distance per second (here 200mm/s)
-    var number time = getTimestamp()
-    loop time < 60000
-    {
-        var number dist = getDistance() in cm
-        Forward dist - 25 in cm
-        Clock 90
-        time = getTimestamp()
-    }
+  setSpeed(200 mm) // distance per second (here 200mm/s)
+  var number time = getTimestamp()
+  loop time < 60000
+  {
+    var number dist = getDistance() in cm
+    Forward dist - 25 in cm
+    Clock 90
+    time = getTimestamp()
+  }
 }

mini-mecha-code/example/3.mini

@@ -3,19 +3,19 @@ let void entry () {
   setSpeed(10)
   loop count < 4
   {	
-      Forward 3000
-      Clock 90
+    Forward 3000
+    Clock 90
 
-      count = count + 1
+    count = count + 1
   }
   Clock 180
   Forward 1500
   count = 0
   loop count < 20
   {	
-      Forward 400
-      Clock 18
-      count = count + 1
+    Forward 400
+    Clock 18
+    count = count + 1
   }
   return
 }

mini-mecha-code/example/4.mini

@@ -0,0 +1,8 @@
+let void entry () {
+  setSpeed(10)
+  loop getDistance() > 100
+  {	
+    Forward 100
+  }
+  return
+}

mini-mecha-code/example/5.mini

@@ -0,0 +1,16 @@
+let void entry () {
+  var number count = 0
+  setSpeed(10)
+  Clock 30
+  loop count < 500
+  {	
+    loop getDistance() < 500
+    {
+      Clock 5
+    }
+    Forward 500
+
+    count = count + 1
+  }
+  return
+}

mini-mecha-code/src/interpretor/interpretor.ts

@@ -278,6 +278,7 @@ function evaluateExpression(
  * @return {number} - The distance between the robot and the closest obstacle.
  */
 function handleGetDistance(scene: Scene): number {
+  console.log(scene.robot.getForwardDist());
   return scene.robot.getForwardDist();
 }
 

mini-mecha-code/src/simulator/entities.ts

@@ -1,7 +1,6 @@
 import { Vector, Ray } from "./utils.js";
 import { Scene } from "./scene.js";
 
-
 export interface Entities {
   type: string;
   pos: Vector;
@@ -32,11 +31,31 @@ export class Robot implements Entities {
   }
 
   getForwardDist(): number {
-    return 100;
+    // get all walls
+    const walls = this.scene.entities.filter(
+      (x) => x.type === "Wall"
+    ) as Wall[];
+
+    const forwardRay = this.getRay();
+
+    // find the nearest wall that the forward ray intersects
+    let minDist = Infinity;
+    for (const wall of walls) {
+      const intersectionPoints = wall.intersect(forwardRay);
+      for (const point of intersectionPoints) {
+        const dist = this.pos.dist(point);
+        if (dist < minDist) {
+          minDist = dist;
+        }
+      }
+    }
+
+    return minDist;
   }
 
   intersect(ray: Ray): Vector[] {
-    return [] as Vector[];
+    const poi = ray.getPoiFinder()(this.pos, this.size);
+    return poi ? ([poi] as Vector[]) : ([] as Vector[]);
   }
 
   turn(angle: number): void {
@@ -114,8 +133,8 @@ export class Block implements Entities {
 
 export class Wall implements Entities {
   type: string = "Wall";
-  pos: Vector;
-  size: Vector;
+  pos: Vector; // top left corner
+  size: Vector; // bottom right corner
 
   constructor(p1: Vector, p2: Vector) {
     this.pos = p1;

mini-mecha-code/src/simulator/scene.ts

@@ -1,44 +1,65 @@
-import * as Entities from "./entities.js"
-import { Vector } from "./utils.js"
+import * as Entities from "./entities.js";
+import { Vector } from "./utils.js";
 
-export interface Scene{
-    size:Vector;
-    entities:Entities.Entities[];
-    robot: Entities.Robot;
-    time:number;
-    timestamps:Array<Entities.Timestamp>;
+export interface Scene {
+  size: Vector;
+  entities: Entities.Entities[];
+  robot: Entities.Robot;
+  time: number;
+  timestamps: Array<Entities.Timestamp>;
 
-    reset():void;
+  reset(): void;
 }
 
-export class BaseScene{
-    size:Vector;
-    entities:Entities.Entities[] = [];
-    robot: Entities.Robot;
-    time:number = 0;
-    timestamps:Array<Entities.Timestamp> = [];
+export class BaseScene {
+  size: Vector;
+  entities: Entities.Entities[] = [];
+  robot: Entities.Robot;
+  time: number = 0;
+  timestamps: Array<Entities.Timestamp> = [];
 
-    constructor(size:Vector = new Vector(10000,10000)){
-        this.size = size;
-        this.robot = new Entities.Robot(this.size.scale(0.5), new Vector(250,250), 0, 30, this)
-        this.entities.push(new Entities.Wall(Vector.null(), this.size.projX()));
-        this.entities.push(new Entities.Wall(Vector.null(), this.size.projY()));
-        this.entities.push(new Entities.Wall(this.size,     this.size.projY()));
-        this.entities.push(new Entities.Wall(this.size,     this.size.projX()));
-        this.timestamps.push(new Entities.Timestamp(0, this.robot));
-    }
+  constructor(size: Vector = new Vector(10000, 10000)) {
+    this.size = size;
+    this.robot = new Entities.Robot(
+      this.size.scale(0.5),
+      new Vector(250, 250),
+      0,
+      30,
+      this
+    );
+    this.entities.push(new Entities.Wall(Vector.null(), this.size.projX()));
+    this.entities.push(new Entities.Wall(Vector.null(), this.size.projY()));
+    this.entities.push(new Entities.Wall(this.size, this.size.projY()));
+    this.entities.push(new Entities.Wall(this.size, this.size.projX()));
+    this.timestamps.push(new Entities.Timestamp(0, this.robot));
+  }
 
-    reset(){
-        this.robot = new Entities.Robot(this.size.scale(0.5), new Vector(250,250), 0, 30, this)
-        this.entities = [];
-        this.entities.push(new Entities.Wall(Vector.null(), this.size.projX()));
-        this.entities.push(new Entities.Wall(Vector.null(), this.size.projY()));
-        this.entities.push(new Entities.Wall(this.size,     this.size.projY()));
-        this.entities.push(new Entities.Wall(this.size,     this.size.projX()));
-        this.timestamps = [];
-        this.timestamps.push(new Entities.Timestamp(0, this.robot));
-        this.time = 0;
-    }
+  reset() {
+    this.robot = new Entities.Robot(
+      this.size.scale(0.5),
+      new Vector(250, 250),
+      0,
+      30,
+      this
+    );
+    this.entities = [];
+    const X = this.size.x;
+    const Y = this.size.y;
+    this.entities.push(new Entities.Wall(Vector.null(), this.size.projX()));
+    this.entities.push(new Entities.Wall(Vector.null(), this.size.projY()));
+    this.entities.push(new Entities.Wall(this.size, this.size.projY()));
+    this.entities.push(new Entities.Wall(this.size, this.size.projX()));
+    this.entities.push(
+      new Entities.Wall(new Vector(0.4 * X, Y), new Vector(0.2 * X, 0.7 * Y))
+    );
+    // opposite side :
+    this.entities.push(
+      new Entities.Wall(new Vector(0.6 * X, 0), new Vector(0.8 * X, 0.3 * Y))
+    );
+    this.timestamps = [];
+    this.timestamps.push(new Entities.Timestamp(0, this.robot));
+    this.time = 0;
+  }
 }
 
 // You can add new Scenes here

mini-mecha-code/src/simulator/utils.ts

@@ -29,6 +29,12 @@ export class Vector {
     return new Vector(this.x * factor, this.y * factor);
   }
 
+  dist(other: Vector): number {
+    const dx = other.x - this.x;
+    const dy = other.y - this.y;
+    return Math.sqrt(dx * dx + dy * dy);
+  }
+
   projX(): Vector {
     return new Vector(this.x, 0);
   }

mini-mecha-code/static/simulator/robot.js

@@ -35,20 +35,14 @@ class Robot {
     translate(canvasX, canvasY);
     rotate(this.angle);
     stroke(255, 255, 255);
+    fill(255, 255, 255);
     const realWidth = this.width * zoom;
     const realHeight = this.height * zoom;
     rect(-realHeight / 2, -realWidth / 2, realHeight, realWidth);
-    stroke(255, 0, 0);
-    fill(255, 0, 0);
+    stroke(171, 157, 242);
+    fill(171, 157, 242);
     const h = (Math.sqrt(3) / 2) * (realWidth / 3);
-    triangle(
-      -0.5 * h,
-      -(realHeight / 6),
-      -0.5 * h,
-      realHeight / 6,
-      0.5 * h,
-      0
-    );
+    triangle(-0.5 * h, -(realHeight / 6), -0.5 * h, realHeight / 6, 0.5 * h, 0);
     pop();
   }