Create PoC of SLAM functionality using Gaia

gaia_slam/.clang-format

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+BasedOnStyle: LLVM
+UseCRLF: false
+UseTab: Never
+IndentWidth: 4
+ColumnLimit: 0
+# The following configuration encodes the BreakBeforeBraces Allman style
+# but for BeforeLambdaBody to allow one-liner lambdas.
+# See discussion here about customizing BreakBeforeBraces: https://reviews.llvm.org/D94906#2505095.
+BreakBeforeBraces: Custom
+BraceWrapping:
+  AfterCaseLabel:  true
+  AfterClass:      true
+  AfterControlStatement: Always
+  AfterEnum:       true
+  AfterFunction:   true
+  AfterNamespace:  true
+  AfterObjCDeclaration: true
+  AfterStruct:     true
+  AfterUnion:      true
+  AfterExternBlock: true
+  BeforeCatch:     true
+  BeforeElse:      true
+  BeforeLambdaBody: false
+  BeforeWhile:     false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+
+# Force pointers to the type for C++.
+DerivePointerAlignment: false
+PointerAlignment: Left
+
+# Align public/final/protected on the left.
+AccessModifierOffset: -4
+
+# From clang-format-11 there are more fine grained options for this setting.
+AlignOperands: DontAlign
+BreakBeforeBinaryOperators: None
+BreakBeforeTernaryOperators: true
+
+AllowAllConstructorInitializersOnNextLine: true
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+BreakConstructorInitializers: BeforeComma
+ConstructorInitializerIndentWidth: 4
+
+AllowShortFunctionsOnASingleLine: None
+# Merge lambda into a single line if argument of a function.
+AllowShortLambdasOnASingleLine: Inline
+# (clang-format-13) Align lambda body relative to the indentation level of the outer scope the lambda signature resides in.
+# LambdaBodyIndentation: OuterScope
+
+# If false, all arguments will either be all on the same line or will have one line each.
+BinPackArguments: true
+BinPackParameters: true
+AlignAfterOpenBracket: DontAlign
+AllowAllArgumentsOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+
+# Merge multiple #include blocks together and sort as one. Then split into groups based on category priority:
+# 1. Associated file header (XYZ.hpp)
+# 2. C system headers. (Priority: 1-2)
+# 3. C++ standard library headers (Priority: 5)
+# 4. third party library headers (Priority: 10)
+# 5. your other project headers (Priority: 20-22 + 30)
+# Note this could break the code, read: https://stackoverflow.com/questions/37927553/can-clang-format-break-my-code
+IncludeBlocks: Regroup
+IncludeCategories:
+  # Public Gaia headers.
+  - Regex: 'gaia\/'
+    Priority: 20
+  # Internal Gaia headers.
+  - Regex: 'gaia_internal\/'
+    Priority: 21
+  # Internal Gaia headers.
+  - Regex: 'gaia_spdlog\/'
+    Priority: 22
+  # Internal Gaia headers.
+  - Regex: 'gaia_spdlog_setup\/'
+    Priority: 22
+  # Third-party headers.
+  - Regex: '[flatbuffers|gtest|libexplain|llvm|pybind11|rocksdb|spdlog|tabulate]\/'
+    Priority: 10
+    SortPriority: 10
+  - Regex: 'backward'
+    Priority: 10
+    SortPriority: 11
+  - Regex: 'cpptoml'
+    Priority: 10
+    SortPriority: 12
+  - Regex: 'liburing'
+    Priority: 10
+    SortPriority: 13
+  - Regex: 'json\.hpp'
+    Priority: 10
+    SortPriority: 14
+  # C system headers.
+  - Regex: '^<.*\.h>'
+    Priority: 1
+  - Regex: '^<c.*'
+    Priority: 2
+  # C++ library headers.
+  - Regex: '^<.*'
+    Priority: 5
+  # Component-only headers.
+  - Regex: '.*'
+    Priority: 30
+
+KeepEmptyLinesAtTheStartOfBlocks: true
+SpaceAfterCStyleCast: false
+ContinuationIndentWidth: 4
+AlignTrailingComments: false

gaia_slam/.clang-tidy

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+# Complete list of checks: https://clang.llvm.org/extra/clang-tidy/checks/list.html
+Checks: '-*,
+clang-analyzer-*,
+performance-*,
+modernize-*,
+readability-identifier-naming,
+cppcoreguidelines-macro-usage,
+cppcoreguidelines-narrowing-conversions,
+cppcoreguidelines-no-malloc,
+cppcoreguidelines-pro-type-cstyle-cast,
+cppcoreguidelines-pro-type-const-cast,
+google-readability-namespace-comments,
+google-default-arguments,
+google-explicit-constructor,
+google-runtime-operator,
+google-readability-casting,
+-performance-unnecessary-value-param,
+-modernize-use-trailing-return-type,
+-modernize-avoid-c-arrays,
+-modernize-concat-nested-namespaces,
+-modernize-use-using,
+-modernize-use-nodiscard
+'
+
+# TODO: headers are disabled for now, they produce too many warnings.
+#HeaderFilterRegex: "GaiaPlatform/production/.*inc/.*(hpp|inc|h)$"
+
+CheckOptions:
+  #  - { key: readability-identifier-naming.ClassSuffix,           value: _t } can't do this because of exceptions
+  - { key: readability-identifier-naming.PrivateMemberPrefix,             value: m_ }
+  - { key: readability-identifier-naming.StructSuffix,                    value: _t }
+  - { key: readability-identifier-naming.GlobalVariablePrefix,            value: g_ }
+  - { key: readability-identifier-naming.GlobalConstantPrefix,            value: c_ }
+  - { key: readability-identifier-naming.ConstantPrefix,                  value: c_ }
+  - { key: readability-identifier-naming.ConstexprVariablePrefix,         value: c_ }
+  - { key: readability-identifier-naming.TypeTemplateParameterPrefix,     value: T_ }
+  - { key: readability-identifier-naming.AbstractClassCase,               value: lower_case }
+  - { key: readability-identifier-naming.ClassCase,                       value: lower_case }
+  - { key: readability-identifier-naming.ClassConstantCase,               value: lower_case }
+  - { key: readability-identifier-naming.ClassMemberCase,                 value: lower_case }
+  - { key: readability-identifier-naming.ClassMethodCase,                 value: lower_case }
+  - { key: readability-identifier-naming.ConstantCase,                    value: lower_case }
+  - { key: readability-identifier-naming.ConstexprFunctionCase,           value: lower_case }
+  - { key: readability-identifier-naming.ConstexprMethodCase,             value: lower_case }
+  - { key: readability-identifier-naming.ConstexprVariableCase,           value: lower_case }
+  - { key: readability-identifier-naming.EnumCase,                        value: lower_case }
+  - { key: readability-identifier-naming.EnumConstantCase,                value: lower_case }
+  - { key: readability-identifier-naming.FunctionCase,                    value: lower_case }
+  - { key: readability-identifier-naming.GlobalConstantCase,              value: lower_case }
+  - { key: readability-identifier-naming.GlobalFunctionCase,              value: lower_case }
+  - { key: readability-identifier-naming.GlobalVariableCase,              value: lower_case }
+  - { key: readability-identifier-naming.InlineNamespaceCase,             value: lower_case }
+  - { key: readability-identifier-naming.LocalConstantCase,               value: lower_case }
+  - { key: readability-identifier-naming.LocalVariableCase,               value: lower_case }
+  - { key: readability-identifier-naming.MemberCase,                      value: lower_case }
+  - { key: readability-identifier-naming.ConstantMemberCase,              value: lower_case }
+  - { key: readability-identifier-naming.PublicMemberCase,                value: lower_case }
+  - { key: readability-identifier-naming.MethodCase,                      value: lower_case }
+  - { key: readability-identifier-naming.NamespaceCase,                   value: lower_case }
+  - { key: readability-identifier-naming.ParameterCase,                   value: lower_case }
+  - { key: readability-identifier-naming.ConstantParameterCase,           value: lower_case }
+  - { key: readability-identifier-naming.ParameterPackCase,               value: lower_case }
+  - { key: readability-identifier-naming.PureFunctionCase,                value: lower_case }
+  - { key: readability-identifier-naming.PureMethodCase,                  value: lower_case }
+  - { key: readability-identifier-naming.StaticConstantCase,              value: lower_case }
+  - { key: readability-identifier-naming.StaticVariableCase,              value: lower_case }
+  - { key: readability-identifier-naming.StructCase,                      value: lower_case }
+  - { key: readability-identifier-naming.TemplateParameterCase,           value: lower_case }
+  - { key: readability-identifier-naming.TemplateTemplateParameterCase,   value: lower_case }
+  - { key: readability-identifier-naming.TemplateUsingCase,               value: lower_case }
+  - { key: readability-identifier-naming.TypeTemplateParameterCase,       value: lower_case }
+  - { key: readability-identifier-naming.TypedefCase,                     value: lower_case }
+  - { key: readability-identifier-naming.UnionCase,                       value: lower_case }
+  - { key: readability-identifier-naming.UsingCase,                       value: lower_case }
+  - { key: readability-identifier-naming.ValueTemplateParameterCase,      value: lower_case }
+  - { key: readability-identifier-naming.VariableCase,                    value: lower_case }
+  - { key: readability-identifier-naming.VirtualMethodCase,               value: lower_case }

gaia_slam/.gitignore

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+logs/
+.gaia_slam_db
+cmake-*
+.idea

gaia_slam/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)
+
+project(gaia_slam)
+project(gaia_slam)
+
+set(CMAKE_CXX_STANDARD 17)
+
+# 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")
+
+# --- Generate Direct Access classes from DDL---
+process_schema(
+  DDL_FILE ${PROJECT_SOURCE_DIR}/gaia/gaia_slam.ddl
+  DATABASE_NAME gaia_slam
+)
+
+# -- Translate ruleset into CPP --
+translate_ruleset(
+  RULESET_FILE ${PROJECT_SOURCE_DIR}/gaia/gaia_slam.ruleset
+  DATABASE_NAME gaia_slam
+  CLANG_PARAMS
+    -I ${PROJECT_SOURCE_DIR}/include
+)
+
+#
+# Direct Access Example
+#
+add_executable(gaia_slam_direct_access
+  src/main_direct_access.cpp
+  src/graph.cpp
+)
+
+target_add_gaia_generated_sources(gaia_slam_direct_access)
+
+target_include_directories(gaia_slam_direct_access PRIVATE
+  ${GAIA_INC}
+  ${PROJECT_SOURCE_DIR}/include
+)
+
+target_link_libraries(gaia_slam_direct_access PRIVATE
+  ${GAIA_LIB}
+  Threads::Threads
+)
+
+#
+# Rules Example
+#
+add_executable(gaia_slam_rules
+  src/main_rules.cpp
+  src/graph.cpp
+)
+
+target_add_gaia_generated_sources(gaia_slam_rules)
+
+target_include_directories(gaia_slam_rules PRIVATE
+  ${GAIA_INC}
+  ${PROJECT_SOURCE_DIR}/include
+)
+
+target_link_libraries(gaia_slam_rules PRIVATE
+  ${GAIA_LIB}
+  Threads::Threads
+)

gaia_slam/gaia/gaia_slam.ddl

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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.
+----------------------------------------------------
+
+database gaia_slam
+
+table graph
+(
+    uuid string unique,
+    vertices references vertex[],
+    edges references edge[]
+)
+
+table vertex
+(
+    id uint64 unique,
+    type uint8,
+    data uint8[],
+    pose_x double,
+    pose_y double,
+
+    -- Relationships
+    graph_uuid string,
+    graph references graph
+        using vertices
+        where vertex.graph_uuid = graph.uuid,
+
+    in_edges references edge[],
+    out_edges references edge[]
+)
+
+table edge
+(
+    id uint64 unique,
+
+    -- Relationships
+    graph_uuid string,
+    graph references graph
+        where edge.graph_uuid = graph.uuid,
+
+    dest_id uint64,
+    dest references vertex
+        using in_edges
+        where edge.dest_id = vertex.id,
+
+    src_id uint64,
+    src references vertex
+        using out_edges
+        where edge.src_id = vertex.id
+)
+
+------------------------------------------------------------------------
+-- Example table. For this example, assume that an entry is made into
+--  the 'incoming_data_event' table when a new packet of data arrives. 
+table incoming_data_event
+(
+    id uint64 unique,
+    type uint8,
+    data uint8[],
+    pose_x double,
+    pose_y double
+)