Add a main that uses all of the functional programming principles (#26)

functional_programming_tests/CMakeLists.txt

@@ -11,6 +11,9 @@ find_package(example_srvs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 
+add_executable(main test/main.cpp)
+ament_target_dependencies(main rclcpp std_msgs example_srvs)
+
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_cmake_gmock REQUIRED)

functional_programming_tests/test/main.cpp

@@ -0,0 +1,268 @@
+#include <chrono>
+#include <cmath>
+#include <iostream>
+#include <memory>
+#include <optional>
+#include <vector>
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <example_srvs/srv/get_path.hpp>
+#include <example_srvs/srv/set_map.hpp>
+#include <gtest/gtest.h>
+#include <std_msgs/msg/u_int8_multi_array.hpp>
+
+// production_code.h/cc
+// X, Y position
+struct Position {
+  size_t x;
+  size_t y;
+};
+
+template <typename T>
+class Map {
+ public:
+  Map(){};
+  Map(std::vector<std::vector<T>> data) : data_{data} {};
+  T at(Position const& pos) const { return data_.at(pos.y).at(pos.x); }
+  std::vector<std::vector<T>>& get_data() { return data_; }
+  const std::vector<std::vector<T>>& get_data() const { return data_; }
+  bool empty() { return data_.empty(); }
+
+ private:
+  std::vector<std::vector<T>> data_;
+};
+
+using Path = std::vector<Position>;
+
+// Operator overload to print path
+std::ostream& operator<<(std::ostream& os, std::vector<Position> const& path) {
+  for (auto const& pose : path) {
+    os << "(" << pose.x << ", " << pose.y << ")\n";
+  }
+  return os;
+}
+
+// Operator overload for position comparison
+bool operator==(Position const& lhs, Position const& rhs) {
+  return lhs.x == rhs.x && lhs.y == rhs.y;
+}
+
+namespace pathing {
+
+using PathingGeneratorFunctionType = std::function<std::optional<Path>(
+    Position const&, Position const&, Map<unsigned char> const&)>;
+
+/**
+ * @brief      Generates a path
+ *
+ * @param      start          The start position
+ * @param      goal           The goal position
+ * @param      occupancy_map  The occupancy_map
+ *
+ * @return     std::optional containing the Path
+ */
+std::optional<Path> generate_global_path(
+    Position const& start, Position const& goal,
+    Map<unsigned char> const& occupancy_map) {  // Calculation
+  // Some cool and nifty algorithm
+  // What is the delta in position
+  int const del_x = goal.x - start.x;
+  int const del_y = goal.y - start.y;
+
+  // What direction to move in for each dimension
+  int const del_x_sign = std::copysign(1.0, del_x);
+  int const del_y_sign = std::copysign(1.0, del_y);
+
+  // Push start onto the path
+  std::optional<Path> path;
+  path.value().push_back(start);
+
+  auto const is_occupied = [&occupancy_map](auto const x,
+                                            auto const y) -> bool {
+    return occupancy_map.at(Position{x, y}) == 255;
+  };
+
+  auto const repeat = [](size_t n, auto f) {
+    while (n--) f();
+  };
+
+  auto const move = [&is_occupied, &path](int const x_dir, int const y_dir) {
+    if (!path) {
+      return;
+    }
+    if (is_occupied(path.value().back().x + x_dir,
+                    path.value().back().y + y_dir)) {
+      path = std::nullopt;
+      return;
+    }
+    path.value().push_back(
+        {path.value().back().x + x_dir, path.value().back().y + y_dir});
+  };
+
+  // Fails if there is any obstacle in the way
+  // Move horizontally
+  repeat(std::abs(del_x), [&move, &del_x_sign]() { move(del_x_sign, 0); });
+  // Move vertically
+  repeat(std::abs(del_y), [&move, &del_y_sign]() { move(0, del_y_sign); });
+
+  return path;
+}
+
+namespace utilities {
+
+std::optional<Map<unsigned char>> parseSetMapRequest(
+    std::shared_ptr<example_srvs::srv::SetMap::Request> const request) {
+  auto const occupancy_map = request->map;
+  ;
+  // Get the occupancy_map from a ros topic
+  // Check that map layout makes sense
+  if ((occupancy_map.layout.dim[0].size * occupancy_map.layout.dim[1].size) !=
+      occupancy_map.layout.dim[0].stride) {
+    return std::nullopt;
+  }
+  if (occupancy_map.layout.dim[0].stride != occupancy_map.data.size()) {
+    return std::nullopt;
+  }
+  auto const begin = std::begin(occupancy_map.data);
+
+  // Populate the map
+  Map<unsigned char> map;
+  for (size_t row = 0; row < occupancy_map.layout.dim[0].size; row++) {
+    auto const row_beginning = begin + row * occupancy_map.layout.dim[1].size;
+    auto const row_end = begin + (row + 1) * occupancy_map.layout.dim[1].size;
+    map.get_data().push_back({row_beginning, row_end});
+  }
+  return map;
+}
+
+std_msgs::msg::UInt8MultiArray createUInt8MultiArrayMessageFromPath(
+    const Path& path) {
+  auto message = std_msgs::msg::UInt8MultiArray();
+
+  message.layout.dim.resize(3, std_msgs::msg::MultiArrayDimension());
+
+  message.layout.dim[0].label = "rows";
+  message.layout.dim[0].size = path.size();
+  message.layout.dim[0].stride = path.size() * 2;
+
+  message.layout.dim[1].label = "columns";
+  message.layout.dim[1].size = 2;
+  message.layout.dim[1].stride = 1;
+
+  message.layout.dim[2].label = "channel";
+  message.layout.dim[2].size = 1;
+  message.layout.dim[2].stride = 1;
+
+  // Start pushing back the path only if there is one
+  if (path.size() > 0) {
+    for (auto const& position : path) {
+      message.data.push_back(position.x);
+      message.data.push_back(position.y);
+    }
+  }
+  return message;
+}
+};  // namespace utilities
+};  // namespace pathing
+
+// TODO: Set the return  to be a std::expected with the various errors ()
+// TODO: Make a function that takes the error
+std::shared_ptr<example_srvs::srv::GetPath::Response> generate_path_callback(
+    std::shared_ptr<example_srvs::srv::GetPath::Request> const request,
+    Map<unsigned char> const& occupancy_map,
+    pathing::PathingGeneratorFunctionType path_generater) {
+  auto const empty_response = []() {
+    auto response = std::make_shared<example_srvs::srv::GetPath::Response>();
+    response->success.data = false;
+    response->path = std_msgs::msg::UInt8MultiArray();
+    return response;
+  };
+
+  if (occupancy_map.get_data().size() == 0) {
+    return empty_response();
+  }
+  // Check to make sure start and goal fields of the request are of size 2
+  if (request->start.data.size() != 2) {
+    return empty_response();
+  }
+  if (request->goal.data.size() != 2) {
+    return empty_response();
+  }
+
+  auto const start = Position{request->start.data[0], request->start.data[1]};
+  auto const goal = Position{request->goal.data[0], request->goal.data[1]};
+
+  // Generate the path using the path generator function that was input
+  auto const path = path_generater(start, goal, occupancy_map);
+
+  if (!path.has_value()) {
+    return empty_response();
+  }
+
+  auto const response =
+      std::make_shared<example_srvs::srv::GetPath::Response>();
+  response->success.data = path.has_value();
+  response->path =
+      pathing::utilities::createUInt8MultiArrayMessageFromPath(path.value());
+
+  return response;
+}
+
+struct MainObject {
+  MainObject()
+      : set_costmap_wrapper_{[this](const std::shared_ptr<
+                                        example_srvs::srv::SetMap::Request>
+                                        request,
+                                    std::shared_ptr<
+                                        example_srvs::srv::SetMap::Response>
+                                        response) -> void {
+          const auto path = pathing::utilities::parseSetMapRequest(request);
+          if (path) this->map_ = path.value();
+          response->success.data = path.has_value();
+        }},
+        generate_path_wrapper_{
+            [this](
+                const std::shared_ptr<example_srvs::srv::GetPath::Request>
+                    request,
+                std::shared_ptr<example_srvs::srv::GetPath::Response> response)
+                -> void {
+              response = generate_path_callback(request, this->map_,
+                                                pathing::generate_global_path);
+            }} {}
+
+  std::function<void(const std::shared_ptr<example_srvs::srv::SetMap::Request>,
+                     std::shared_ptr<example_srvs::srv::SetMap::Response>)>
+      set_costmap_wrapper_;
+
+  std::function<void(const std::shared_ptr<example_srvs::srv::GetPath::Request>,
+                     std::shared_ptr<example_srvs::srv::GetPath::Response>)>
+      generate_path_wrapper_;
+
+  Map<unsigned char> map_;
+};
+
+int main(int argc, char** argv) {
+  // Turned everything into a pure function
+  // Used a closure to capture the costmap (Is it a true closure?)
+  // Using a higher order function to change the functionality of the generate
+  // path callback Using monads (hopefully) to process errors
+
+  MainObject mo;
+
+  rclcpp::init(argc, argv);
+
+  const auto node = std::make_shared<rclcpp::Node>("PathGenerator");
+
+  rclcpp::Service<example_srvs::srv::SetMap>::SharedPtr set_map_service =
+      node->create_service<example_srvs::srv::SetMap>("set_costmap",
+                                                      mo.set_costmap_wrapper_);
+
+  rclcpp::Service<example_srvs::srv::GetPath>::SharedPtr get_path_service =
+      node->create_service<example_srvs::srv::GetPath>(
+          "generate_global_path", mo.generate_path_wrapper_);
+
+  rclcpp::spin(node);
+  rclcpp::shutdown();
+  return EXIT_SUCCESS;
+}