feature(#183): Stochastic flocking

- Initial implementation - Requires injection of global swarm state each timestep, which is kind of icky, but the quickest/most computationally efficient way to do it.
jharwell · Mar 28, 2023 · e1c31ae · e1c31ae
1 parent 10142a4
commit e1c31ae
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diff --git a/.dir-locals.el b/.dir-locals.el
@@ -35,23 +35,51 @@
                     (add-to-list 'flycheck-clang-args "-fPIC")
                     (add-to-list 'flycheck-clang-args "-std=c++17")
                     (add-to-list 'flycheck-clang-args "-Wno-pragma-once-outside-header")
-                    (add-to-list 'flycheck-clang-definitions "COSM_ENABLE_PAL_TARGET_ROS")
+                    (add-to-list 'flycheck-clang-definitions
+                                 "COSM_ENABLE_PAL_TARGET_ARGOS")
+                    ;; (add-to-list 'flycheck-clang-definitions
+                    ;;              "COSM_HAL_TARGET=COSM_HAL_TARGET_ARGOS_FOOTBOT")
+                    (add-to-list 'flycheck-clang-definitions
+                                 "COSM_HAL_TARGET=COSM_HAL_TARGET_ARGOS_DRONE")
+                    (add-to-list 'flycheck-clang-definitions
+                                 "COSM_HAL_TARGET_HAS_QUADROTOR")
+                    (add-to-list 'flycheck-clang-definitions
+                                 "COSM_HAL_TARGET_HAS_2D_BINDINGS")
+                    (add-to-list 'flycheck-clang-definitions
+                                 "COSM_HAL_TARGET_HAS_3D_BINDINGS")
 
-                    (add-to-list 'flycheck-clang-definitions "LIBRA_ER=LIBRA_ER_ALL")
-                    (add-to-list 'flycheck-clang-definitions "RCPPSW_ER_SYSTEM_LOG4CXX")
-                    (add-to-list 'flycheck-clang-args (concat "-isystem" (substitute-in-file-name
-                                                                          "$localroot/system/include")))
+                    (add-to-list 'flycheck-clang-definitions
+                                 "LIBRA_ER=LIBRA_ER_ALL")
+                    (add-to-list 'flycheck-clang-definitions
+                                 "RCPPSW_ER_SYSTEM_LOG4CXX")
+                    (add-to-list 'flycheck-clang-args
+                                 (concat "-isystem" (substitute-in-file-name
+                                                     "$localroot/system/include")))
 
 
                     (setq flycheck-gcc-include-path includes-list)
                     (add-to-list 'flycheck-gcc-args "-fPIC")
                     (add-to-list 'flycheck-gcc-args "-std=c++17")
-                    (add-to-list 'flycheck-gcc-definitions "COSM_ENABLE_PAL_TARGET_ROS")
-                    (add-to-list 'flycheck-gcc-definitions "RCPPSW_ER_SYSTEM_LOG4CXX")
-                    (add-to-list 'flycheck-gcc-definitions "LIBRA_ER=LIBRA_ER_ALL")
+                    (add-to-list 'flycheck-gcc-definitions
+                                 "COSM_ENABLE_PAL_TARGET_ARGOS")
+                    (add-to-list 'flycheck-gcc-definitions
+                                 "COSM_HAL_TARGET=COSM_HAL_TARGET_ARGOS_DRONE")
+                    (add-to-list 'flycheck-gcc-definitions
+                                 "COSM_HAL_TARGET_HAS_QUADROTOR")
+                    (add-to-list 'flycheck-gcc-definitions
+                                 "COSM_HAL_TARGET_HAS_2D_BINDINGS")
+                    (add-to-list 'flycheck-gcc-definitions
+                                 "COSM_HAL_TARGET_HAS_3D_BINDINGS")
+                    ;; (add-to-list 'flycheck-gcc-definitions
+                    ;;              "COSM_HAL_TARGET=COSM_HAL_TARGET_ARGOS_FOOTBOT")
+                    (add-to-list 'flycheck-gcc-definitions
+                                 "RCPPSW_ER_SYSTEM_LOG4CXX")
+                    (add-to-list 'flycheck-gcc-definitions
+                                 "LIBRA_ER=LIBRA_ER_ALL")
 
-                    (add-to-list 'flycheck-gcc-args (concat "-isystem" (substitute-in-file-name
-                                                                        "$localroot/system/include")))
+                    (add-to-list 'flycheck-gcc-args
+                                 (concat "-isystem" (substitute-in-file-name
+                                                     "$localroot/system/include")))
 
                     (let ((cc-search-dirs (list (concat (projectile-project-root) "include/cosm/*/*")
                                                 (concat (projectile-project-root) "src/*/*")
@@ -61,6 +89,15 @@
                     )
               )
          ))
-      ))
+      )
+ (nil . ((eval .
+               (progn
+                 (add-to-list 'projectile-globally-ignored-directories
+                              "docs/doxyoutput")
+                 )
+               ))
+      )
+
+ )
 
 ;;; end of .dir-locals.el
diff --git a/.github/actions/rcppsw-setup/action.yml b/.github/actions/rcppsw-setup/action.yml
@@ -0,0 +1,36 @@
+name: 'Setup RCPPSW'
+description: 'Setup RCPPSW for CI and testing'
+inputs:
+  cmake_extra_args:  # id of input
+    description: 'Extra arguments to pass to cmake'
+    required: True
+# outputs:
+#   time: # id of output
+#     description: 'The time we greeted you'
+runs:
+  using: 'composite'
+  steps:
+    - name: Install RCPPSW
+      shell: bash
+      run: |
+        echo ${{ inputs.cmake_extra_args }}
+
+        mkdir -p build && cd build
+        git clone https://github.com/jharwell/rcppsw.git
+        cd rcppsw
+
+        git config --global --add safe.directory $PWD
+        git checkout devel
+        git submodule update --init --remote --recursive
+        mkdir build && cd build
+
+        cmake \
+        -DCMAKE_INSTALL_PREFIX=/usr/local \
+        -DLIBRA_DEPS_PREFIX=/usr/local \
+        -DCMAKE_BUILD_TYPE=DEV \
+        -DLIBRA_ER=ALL ${{ inputs.cmake_extra_args }} \
+        ..
+
+        JOBS=$(grep -c ^processor /proc/cpuinfo)
+        make ticpp
+        make -j${JOBS} install
diff --git a/.github/actions/rcsw-setup/action.yml b/.github/actions/rcsw-setup/action.yml
@@ -0,0 +1,33 @@
+name: 'Setup RCSW'
+description: 'Setup RCSW for CI and testing'
+# inputs:
+  # who-to-greet:  # id of input
+  #   description: 'Who to greet'
+  #   required: true
+  #   default: 'World'
+# outputs:
+#   time: # id of output
+#     description: 'The time we greeted you'
+runs:
+  using: 'composite'
+  steps:
+    - name: Install RCSW
+      shell: bash
+      run: |
+        mkdir -p build && cd build
+        git clone https://github.com/jharwell/rcsw.git
+        cd rcsw
+
+        git config --global --add safe.directory $PWD
+        git checkout devel
+        git submodule update --init --remote --recursive
+        mkdir build && cd build
+
+        cmake \
+        -DCMAKE_INSTALL_PREFIX=/usr/local \
+        -DLIBRA_DEPS_PREFIX=/usr/local \
+        -DCMAKE_BUILD_TYPE=DEV \
+        ..
+
+        JOBS=$(grep -c ^processor /proc/cpuinfo)
+        make -j${JOBS} install
diff --git a/.github/actions/rosbridge-setup/action.yml b/.github/actions/rosbridge-setup/action.yml
@@ -0,0 +1,28 @@
+name: 'Setup a sensor for the ROS Extended Turtlebot3'
+description: 'Setup a sensor for the ROS Extended Turtlebot3'
+# inputs:
+#   repo:  # id of input
+#     description: 'The github repo'
+#     required: true
+
+# outputs:
+#   time: # id of output
+#     description: 'The time we greeted you'
+runs:
+  using: 'composite'
+  steps:
+    - name: Install the ROSbridge
+      shell: bash
+      run: |
+        source /opt/ros/noetic/setup.bash
+        pip3 install catkin_tools
+
+        mkdir -p build && cd build
+        git clone https://github.com/jharwell/rosbridge.git
+        cd rosbridge
+        git checkout devel
+        ls -alh src/
+        catkin init
+        catkin config --extend /opt/ros/noetic
+        catkin config --install -DCMAKE_INSTALL_PREFIX=/usr/local
+        catkin build sr04us tsl2591
diff --git a/.github/workflows/ci-argos.yml b/.github/workflows/ci-argos.yml
@@ -0,0 +1,43 @@
+name: ARGoS build and test
+
+on:
+  workflow_call:
+  workflow_dispatch:
+
+jobs:
+  build-and-test:
+    runs-on: ubuntu-latest
+    container:
+      image: jharwell/ubuntu22.04:2023-03-23
+    strategy:
+      matrix:
+        CMAKE_BUILD_TYPE:
+          - OPT
+          - DEV
+        COSM_BUILD_FOR:
+          - ARGOS_FOOTBOT
+          - ARGOS_DRONE
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ./.github/actions/rcsw-setup
+      - uses: ./.github/actions/rcppsw-setup
+        with:
+          cmake_extra_args: ''
+      - name: Build=${{ matrix.CMAKE_BUILD_TYPE }} HAL_TARGET=${{ matrix.COSM_BUILD_FOR }}
+        shell: bash
+        run: |
+
+          git config --global --add safe.directory $PWD
+          git submodule update --init --remote --recursive
+          mkdir -p build && cd build
+
+          cmake  \
+          -DCMAKE_INSTALL_PREFIX=/usr/local \
+          -DLIBRA_DEPS_PREFIX=/usr/local \
+          -DCMAKE_BUILD_TYPE=${{ matrix.CMAKE_BUILD_TYPE }} \
+          -DLIBRA_ER=ALL \
+          -DCOSM_BUILD_FOR=${{ matrix.COSM_BUILD_FOR }} \
+          ..
+
+          make -j$(nproc)
diff --git a/.github/workflows/ci-ros1.yml b/.github/workflows/ci-ros1.yml
@@ -0,0 +1,45 @@
+name: ROS1 build and test
+
+on:
+  workflow_dispatch:
+  workflow_call:
+
+jobs:
+  build-and-test:
+    runs-on: ubuntu-latest
+    container:
+      image: jharwell/ubuntu20.04:2023-03-28
+    strategy:
+      matrix:
+        CMAKE_BUILD_TYPE:
+          - OPT
+          - DEV
+        COSM_BUILD_FOR:
+          - ROS_ETURTLEBOT3
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ./.github/actions/rcsw-setup
+      - uses: ./.github/actions/rcppsw-setup
+        with:
+          cmake_extra_args: '-DRCPPSW_ER_OLD_LOG4CXX=YES'
+      - uses: ./.github/actions/rosbridge-setup
+      - name: Build=${{ matrix.CMAKE_BUILD_TYPE }} HAL_TARGET=${{ matrix.COSM_BUILD_FOR }}
+        shell: bash
+        run: |
+
+          git config --global --add safe.directory $PWD
+          git submodule update --init --remote --recursive
+          mkdir -p build && cd build
+
+          source /opt/ros/noetic/setup.bash
+
+          cmake  \
+          -DCMAKE_INSTALL_PREFIX=/usr/local \
+          -DLIBRA_DEPS_PREFIX=/usr/local \
+          -DCMAKE_BUILD_TYPE=${{ matrix.CMAKE_BUILD_TYPE }} \
+          -DLIBRA_ER=ALL \
+          -DCOSM_BUILD_FOR=${{ matrix.COSM_BUILD_FOR }} \
+          ..
+
+          make -j$(nproc)
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -0,0 +1,61 @@
+name: Build and test
+
+on:
+  push:
+    branches:
+      - master
+      - devel
+
+concurrency:
+  group: ${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  ci-argos:
+    uses: ./.github/workflows/ci-argos.yml
+  ci-ros1:
+    uses: ./.github/workflows/ci-ros1.yml
+
+  docs:
+    uses: ./.github/workflows/pages.yml
+    needs:
+      - ci-argos
+      - ci-ros1
+    secrets: inherit
+
+  tag-release:
+    runs-on: ubuntu-latest
+    needs:
+      - ci-argos
+      - ci-ros1
+
+    container:
+      image: jharwell/ubuntu22.04:2023-03-23
+    env:
+      GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Push tag
+        shell: bash
+        run: |
+          git config --global --add safe.directory $PWD
+          git config --global user.email "${{ github.event.pusher.email }}"
+          git config --global user.name "${{ github.event.pusher.name }}"
+
+          git submodule update --init --remote --recursive
+
+          VERSION_MAJOR=$(sed -nE 's/.*PROJECT_VERSION_MAJOR ([0-9]+).*/\1/p' cmake/project-local.cmake)
+          VERSION_MINOR=$(sed -nE 's/.*PROJECT_VERSION_MINOR ([0-9]+).*/\1/p' cmake/project-local.cmake)
+          VERSION_PATCH=$(sed -nE 's/.*PROJECT_VERSION_PATCH ([0-9]+).*/\1/p' cmake/project-local.cmake)
+          PACKAGE_VERSION=$VERSION_MAJOR.$VERSION_MINOR.$VERSION_PATCH
+
+          if [ "${{ github.ref }}" = "refs/heads/devel" ]; then
+            TAG_VERSION=${PACKAGE_VERSION}.beta
+            TAG_MESSAGE="Development release ${TAG_VERSION}"
+          else
+            TAG_VERSION=${PACKAGE_VERSION}
+            TAG_MESSAGE="Release ${TAG_VERSION}"
+          fi
+          git tag ${TAG_VERSION} -m "${TAG_MESSAGE}"
+          git push -o ci.skip origin ${TAG_VERSION}