Slam tri

slam_sim/.gitignore

@@ -5,3 +5,10 @@ out2
 slam_sim
 *.o
 logs
+*.pgm
+*.pnm
+test_analyze
+test_blob_cache
+test_line_segment
+z*
+*mp4

slam_sim/Makefile

@@ -1,17 +1,17 @@
 
 all:
-	mkdir -p build && cd build && cmake .. && make -j 4
+	cd gaia && make
+	cd src && make
 
 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
+drun: 
+	cd src && make drun
 
 refresh: clean all
 
 clean:
-	rm -Rf build
+	cd gaia && make clean
+	cd src && make clean
 

slam_sim/Makefile.inc

@@ -2,10 +2,12 @@ ROOT := $(dir $(lastword $(MAKEFILE_LIST)))
 
 WFLAGS = -Wall -Werror
 DEBUG_FLAG = -g
-#OPTIMIZATION_FLAG = -O3
+
+# Disable optimization for now -- using it generates a segfault at
+#   gaia/slam/gaia_slam.cpp:734
+#OPTIMIZATION_FLAG = -O1
+
 MISC_FLAGS = --std=c++17 
 INC = -I/opt/gaia/include/ -I$(ROOT)gaia/ -I$(ROOT)gaia/slam/ -I$(ROOT)include/
 
-LIB_SLAM_UTILS = $(ROOT)src/utils/slam_utils.a
-
-CPPFLAGS = $(WFLAGS) $(DEBUG_FLAG) $(OPTIMIZATION_FLAG) $(MISC_FLAGS) $(INC)
+CPPFLAGS = $(WFLAGS) $(DEBUG_FLAG) $(MISC_FLAGS) $(INC)

slam_sim/data/map.json

@@ -59,11 +59,8 @@
       ]
     }
   ],
-  "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" }
+  "destinations": [
+      { "x":  5.0, "y":  0.5 },
+      { "x":  -5.7, "y":  4.1 }
   ]
 }

slam_sim/data/maze.json

@@ -0,0 +1,47 @@
+{
+  "description": "Simple maze",
+  "width": 18.0,
+  "height": 10.0,
+  "world": [
+    {
+      "name": "Walls",
+      "vertices": [
+          { "x": -8.9, "y":  4.9 },
+          { "x": -6.1, "y":  4.9 },
+          { "x": -6.1, "y": -0.1 },
+          { "x": -2.9, "y": -0.1 },
+          { "x": -2.9, "y":  0.1 },
+          { "x": -5.9, "y":  0.1 },
+          { "x": -5.9, "y":  4.9 },
+          { "x":  2.9, "y":  4.9 },
+          { "x":  2.9, "y":  0.1 },
+          { "x": -0.1, "y":  0.1 },
+          { "x": -0.1, "y": -0.1 },
+          { "x":  3.1, "y": -0.1 },
+          { "x":  3.1, "y":  4.9 },
+          { "x":  5.9, "y":  4.9 },
+          { "x":  5.9, "y": -2.6 },
+          { "x":  6.1, "y": -2.6 },
+          { "x":  6.1, "y":  4.9 },
+          { "x":  8.9, "y":  4.9 },
+          { "x":  8.9, "y": -4.9 },
+          { "x": -8.9, "y": -4.9 },
+          { "x": -8.9, "y":  4.9 }
+      ]
+    },
+    {
+      "name": "Island",
+      "vertices": [
+        { "x": -3.1, "y":  2.6 },
+        { "x":  0.1, "y":  2.6 },
+        { "x":  0.1, "y":  2.4 },
+        { "x": -3.1, "y":  2.4 },
+        { "x": -3.1, "y":  2.6 }
+      ]
+    }
+  ],
+  "destinations": [
+      { "x":  7.5, "y":  4.0 },
+      { "x":  -4.5, "y":  4.0 }
+  ]
+}

slam_sim/data/maze2.json

@@ -0,0 +1,30 @@
+{
+  "description": "Simple maze",
+  "width": 10.0,
+  "height": 8.0,
+  "world": [
+    {
+      "name": "Walls",
+      "vertices": [
+          { "x": -4.9, "y":  3.9 },
+          { "x": -2.1, "y":  3.9 },
+          { "x": -2.1, "y": -2.1 },
+          { "x": -1.9, "y": -2.1 },
+          { "x": -1.9, "y":  3.9 },
+          { "x":  1.9, "y":  3.9 },
+          { "x":  1.9, "y": -2.1 },
+          { "x":  2.1, "y": -2.1 },
+
+          { "x":  2.1, "y":  3.9 },
+          { "x":  4.9, "y":  3.9 },
+          { "x":  4.9, "y": -3.9 },
+          { "x": -4.9, "y": -3.9 },
+          { "x": -4.9, "y":  3.9 }
+      ]
+    }
+  ],
+  "destinations": [
+      { "x":  3.5, "y":  3.0 },
+      { "x":  0.0, "y":  3.0 }
+  ]
+}

slam_sim/data/maze3.json

@@ -0,0 +1,57 @@
+{
+  "description": "Square maze",
+  "width": 15.0,
+  "height": 15.0,
+  "world": [
+    {
+      "name": "Walls",
+      "vertices": [
+        { "x":  0.1, "y":   0.1},
+        { "x": 14.9, "y":   0.1},
+        { "x": 14.9, "y":   2.9},
+        { "x": 11.9, "y":   2.9},
+        { "x": 11.9, "y":  11.9},
+        { "x":  9.1, "y":  11.9},
+        { "x":  9.1, "y":   2.9},
+        { "x":  8.9, "y":   2.9},
+        { "x":  8.9, "y":  11.9},
+        { "x":  2.9, "y":  11.9},
+        { "x":  2.9, "y":  12.1},
+        { "x": 12.1, "y":  12.1},
+        { "x": 12.1, "y":   3.1},
+        { "x": 14.9, "y":   3.1},
+        { "x": 14.9, "y":  14.9},
+        { "x":  0.1, "y":  14.9},
+        { "x":  0.1, "y":   0.1}
+      ]
+    },
+    {
+      "name": "Island",
+      "vertices": [
+        { "x":  2.9, "y":   2.9},
+        { "x":  6.1, "y":   2.9},
+        { "x":  6.1, "y":   3.1},
+        { "x":  2.9, "y":   3.1},
+        { "x":  2.9, "y":   2.9}
+      ]
+    },
+    {
+      "name": "Cup",
+      "vertices": [
+        { "x":  2.9, "y":   5.9},
+        { "x":  3.1, "y":   5.9},
+        { "x":  3.1, "y":   8.9},
+        { "x":  5.9, "y":   8.9},
+        { "x":  5.9, "y":   5.9},
+        { "x":  6.1, "y":   5.9},
+        { "x":  6.1, "y":   9.1},
+        { "x":  2.9, "y":   9.1},
+        { "x":  2.9, "y":   5.9}
+      ]
+    }
+  ],
+  "destinations": [
+    { "x":  13.5, "y":  4.5 },
+    { "x":   4.5, "y":  7.5 }
+  ]
+}

slam_sim/gaia/Makefile

@@ -3,17 +3,18 @@ include ../Makefile.inc
 RULES_CPP = slam_rules.cpp
 DB_NAME = slam
 
-OBJS = slam_rules.o slam/gaia_slam.o
+OBJS = slam/gaia_slam.o
+#OBJS = slam_rules.o slam/gaia_slam.o
 
-all: rules all_procedure_subshell
 
-gaiac:
-	gaiac slam.ddl -g --db-name $(DB_NAME) -o $(DB_NAME)
+all: all_gaia all_procedure_subshell
 
-rules: gaiac
-	gaiat slam.ruleset -output $(RULES_CPP) -- -I/usr/lib/clang/10/include $(INC)
+all_gaia:
+	gaiac slam.ddl -g --db-name $(DB_NAME) -o $(DB_NAME)
+	#gaiat slam.ruleset -output $(RULES_CPP) -- -I/usr/lib/clang/10/include $(INC)
+
 
-# when freshly making, rules.cpp may not exist (e.g., if 'make clean'
+# when freshly making, slam_rules.cpp may not exist (e.g., if 'make clean'
 # 	was just run). drop into subshell for making local procedural files
 # 	as that will induce a scan of local files
 all_procedure_subshell: