Trislam1

trislam/.gitignore

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+tmp
+*.o
+.*.swp
+build

trislam/CMakeLists.txt

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+###################################################
+# Copyright (c) Gaia Platform LLC
+#
+# Use of this source code is governed by the MIT
+# license that can be found in the LICENSE.txt file
+# or at https://opensource.org/licenses/MIT.
+###################################################
+
+cmake_minimum_required(VERSION 3.16)
+
+enable_testing()
+
+project(slam_sim)
+
+set(CMAKE_CXX_STANDARD 17)
+
+set(GAIA_COMPILE_FLAGS "-c -Wall -Wextra -ggdb")
+set(GAIA_LINK_FLAGS "-ggdb")
+
+# We need pthreads support.
+set(CMAKE_THREAD_PREFER_PTHREAD TRUE)
+set(THREADS_PREFER_PTHREAD_FLAG TRUE)
+find_package(Threads REQUIRED)
+
+include("/opt/gaia/cmake/gaia.cmake")
+
+# Default compiler/linker flags.
+add_compile_options(-c -Wall -Wextra -ggdb)
+
+# --- Generate Direct Access classes from DDL---
+process_schema(
+  DDL_FILE ${PROJECT_SOURCE_DIR}/gaia/slam.ddl
+  DATABASE_NAME slam
+)
+
+# -- Translate ruleset into CPP --
+translate_ruleset(
+  RULESET_FILE ${PROJECT_SOURCE_DIR}/gaia/slam.ruleset
+  DATABASE_NAME slam
+  CLANG_PARAMS
+    -I ${PROJECT_SOURCE_DIR}/include
+)
+
+# Application
+
+add_executable(slam_sim
+  src/analyze.cpp
+  src/occupancy.cpp
+  src/paths.cpp
+  src/rule_api.cpp
+  src/slam_sim.cpp
+  src/utils/coord_list.cpp
+  src/utils/line_segment.cpp
+)
+
+target_add_gaia_generated_sources(slam_sim)
+
+target_include_directories(slam_sim PRIVATE
+  ${GAIA_INC}
+  ${PROJECT_SOURCE_DIR}/include
+  ${PROJECT_SOURCE_DIR}/gaia/slam
+)
+
+target_link_directories(slam_sim PRIVATE ${GAIA_LIB_DIR})
+target_link_libraries(slam_sim PRIVATE ${GAIA_LIB} rt Threads::Threads)
+
+
+########################################################################
+# Tests
+
+################################
+add_executable(test_coord_list
+  tests/test_coord_list.cpp
+  src/utils/coord_list.cpp
+)
+
+set_target_properties(test_coord_list PROPERTIES COMPILE_FLAGS "${GAIA_COMPILE_FLAGS}")
+set_target_properties(test_coord_list PROPERTIES LINK_FLAGS "${GAIA_LINK_FLAGS}")
+target_include_directories(test_coord_list PRIVATE ${PROJECT_SOURCE_DIR}/include)
+target_link_libraries(test_coord_list PRIVATE rt)
+
+add_test(NAME test_coord_list COMMAND test_coord_list)
+
+
+################################
+add_executable(test_line_segment
+  tests/test_line_segment.cpp
+  src/utils/line_segment.cpp
+)
+
+set_target_properties(test_line_segment PROPERTIES COMPILE_FLAGS "${GAIA_COMPILE_FLAGS}")
+set_target_properties(test_line_segment PROPERTIES LINK_FLAGS "${GAIA_LINK_FLAGS}")
+target_include_directories(test_line_segment PRIVATE ${PROJECT_SOURCE_DIR}/include)
+target_link_libraries(test_line_segment PRIVATE rt)
+
+add_test(NAME test_line_segment COMMAND test_line_segment)
+
+
+################################
+add_executable(test_analyze
+  tests/test_analyze.cpp
+  src/analyze.cpp
+  src/occupancy.cpp
+  src/paths.cpp
+  src/rule_api.cpp
+  src/utils/coord_list.cpp
+  src/utils/line_segment.cpp
+)
+target_add_gaia_generated_sources(test_analyze)
+
+set_target_properties(test_analyze PROPERTIES COMPILE_FLAGS "${GAIA_COMPILE_FLAGS}")
+set_target_properties(test_analyze PROPERTIES LINK_FLAGS "${GAIA_LINK_FLAGS}")
+target_include_directories(test_analyze PRIVATE ${GAIA_INC})
+target_include_directories(test_analyze PRIVATE ${PROJECT_SOURCE_DIR}/include)
+target_link_libraries(test_analyze PRIVATE ${GAIA_LIB} rt)
+
+add_test(NAME test_analyze COMMAND test_analyze)

trislam/Makefile

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+
+all:
+	mkdir -p build && cd build && cmake .. && make -j 4
+
+run: 
+	cd src && make run
+
+# At present there's no method to delete the contents of the database
+#   from w/in the program, so add a way to do so outside.
+refresh_db:
+	gaiac gaia/slam.ddl --db-name slam -g -o /tmp/slam
+
+refresh: clean all
+
+clean:
+	rm -Rf build
+

trislam/data/map.json

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+{
+  "description": "4 rooms, 3 with table",
+  "width": 15.0,
+  "height": 10.0,
+  "world": [
+    {
+      "name": "Walls",
+      "vertices": [
+        { "x": -6.9, "y":  4.9 },
+        { "x": -0.1, "y":  4.9 },
+        { "x": -0.1, "y":  0.1 },
+        { "x": -1.5, "y":  0.1 },
+        { "x": -1.5, "y": -0.1 },
+        { "x": -0.1, "y": -0.1 },
+        { "x": -0.1, "y": -3.0 },
+        { "x":  0.1, "y": -3.0 },
+        { "x":  0.1, "y":  4.9 },
+        { "x":  6.9, "y":  4.9 },
+        { "x":  6.9, "y": -1.9 },
+        { "x":  2.1, "y":  0.1 },
+        { "x":  2.1, "y": -0.1 },
+        { "x":  6.9, "y": -2.1 },
+        { "x":  6.9, "y": -4.9 },
+        { "x": -6.9, "y": -4.9 },
+        { "x": -6.9, "y": -0.1 },
+        { "x": -3.4, "y": -0.1 },
+        { "x": -3.4, "y":  0.1 },
+        { "x": -6.9, "y":  0.1 },
+        { "x": -6.9, "y":  4.9 }
+      ]
+    },
+    {
+      "name": "Table-1",
+      "vertices": [
+        { "x": -5.5, "y":  3.5 },
+        { "x": -4.0, "y":  3.5 },
+        { "x": -4.0, "y":  2.5 },
+        { "x": -5.5, "y":  2.5 },
+        { "x": -5.5, "y":  3.5 }
+      ]
+    },
+    {
+      "name": "Table-2",
+      "vertices": [
+        { "x":  2.5, "y": -2.5 },
+        { "x":  3.8, "y": -3.5 },
+        { "x":  1.2, "y": -3.5 },
+        { "x":  2.5, "y": -2.5 }
+      ]
+    },
+    {
+      "name": "Table-3",
+      "vertices": [
+        { "x":  3.0, "y":  3.0 },
+        { "x":  4.0, "y":  3.0 },
+        { "x":  4.0, "y":  2.0 },
+        { "x":  3.0, "y":  2.0 },
+        { "x":  3.0, "y":  3.0 }
+      ]
+    }
+  ],
+  "landmarks": [
+        { "x":   -3.5, "y":   4.9,  "id": 1, "name": "mark-1" },
+        { "x":    3.5, "y":   4.9,  "id": 2, "name": "mark-2" },
+        { "x":   -3.5, "y":  -4.9,  "id": 2, "name": "mark-3" },
+        { "x":    3.5, "y":  -4.9,  "id": 2, "name": "mark-4" },
+        { "x":    6.0, "y":  -0.0,  "id": 2, "name": "mark-5" }
+  ]
+}

trislam/data/path.txt

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+-4 4
+-3 4
+-2.5 3.5
+-2.2 3.2
+-2 2.5
+-2.3 2.2
+-3 2.0
+-4 2
+-4.5 1.5
+-4.4 1
+-4 1
+-3 1
+-2.5 0.5
+-2.4 0
+-2.3 -1
+-2.8 -1.2
+-3.5 -1.3
+-4.0 -2.0
+-4.0 -3.0
+-3.5 -3.5
+-2.5 -4.0
+-1.5 -4.0
+-0.5 -4
+0.5 -3.9
+0.8 -3.2
+1.5 -2
+1.9 -1.5
+1.2 -0.5
+1.0 0.5
+1.5 1.5
+1.8 2.5
+2.1 3.5
+3 4
+4 4
+5 4
+5.5 3.5

trislam/data/test_coords.txt

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+1.0   1.0 
+ 1.0 2.0
+-1 2.0
+-5 -2.0
+  5 -2

trislam/gaia/Makefile

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+
+RULES_CPP = slam_rules.cpp
+DB_NAME = slam
+INC = -I/opt/gaia/include/ -Islam/ -I../include/
+
+OBJS = slam_rules.o slam/gaia_slam.o
+
+all:
+	gaiac slam.ddl -g --db-name $(DB_NAME) -o $(DB_NAME)
+	gaiat slam.ruleset -output $(RULES_CPP) -- -I/usr/lib/clang/10/include $(INC)
+
+refresh: clean all
+
+clean:
+	rm -f *.o $(RULES_CPP)
+	rm -rf $(DB_NAME)
+