Merge pull request #24 from mlsdpk/incremental-planning

Integrate Incremental planners

README.md

@@ -4,16 +4,10 @@
 
 A tool for visualizing numerous pathfinding algorithms in two dimensions.
 
-This project involves minimal implementations of the popular planning algorithms, including both graph-based and sampling-based planners. We provide an easy-to-use GUI to control the animation process and explore different planner configurations. This is an ongoing work and current implementation of the project only involves four search-based planning algorithms: BFS, DFS, DIJKSTRA and A-Star and two sampling-based planners: RRT and RRT*. The project extensively uses SFML, ImGui and Modern C++ features such as smart pointers, lamda expressions along with multi-threading concepts.
+This project involves minimal implementations of the popular planning algorithms, including both graph-based and sampling-based planners. We provide an easy-to-use GUI to control the animation process and explore different planner configurations. Current implementation of the project involves four search-based planning algorithms: BFS, DFS, DIJKSTRA and A-Star and two sampling-based planners: RRT and RRT*. The project extensively uses SFML, ImGui and Modern C++ features such as smart pointers, lamda expressions along with multi-threading concepts.
 
 ![](figures/img0.png)
 
-## How to use
-
-- to place/remove obstacle cells (`left-CLICKED`)
-- to change starting cell (`left-SHIFT + left-CLICKED`)
-- to change end cell (`left-CTRL + left-CLICKED`)
-
 ## Dependencies
 
 * cmake >= 3.14

dependencies/CMakeLists.txt

@@ -11,7 +11,8 @@ add_subdirectory(sfml)
 FetchContent_Declare(
   imgui
   GIT_REPOSITORY https://github.com/ocornut/imgui
-  GIT_TAG 55d35d8387c15bf0cfd71861df67af8cfbda7456
+  # GIT_TAG 55d35d8387c15bf0cfd71861df67af8cfbda7456
+  GIT_TAG 719d9313041b85227a3e6deb289a313819aaeab3 # latest commit of docking-branch
 )
 
 FetchContent_Declare(

include/Game.h

@@ -22,7 +22,7 @@ enum SAMPLING_BASED_PLANNERS_IDS { RRT, RRT_STAR };
 class Game {
  public:
   // Constructors
-  Game(sf::RenderWindow* window);
+  Game(sf::RenderWindow* window, sf::RenderTexture* render_texture);
 
   // Destructors
   virtual ~Game();
@@ -36,17 +36,30 @@ class Game {
   void update();
   void render();
   void initGuiTheme();
-  void renderGui();
+  void renderNewPlannerMenu();
+  void renderRunMenu(ImGuiIO& io);
   void setGraphBasedPlanner(const int id);
   void setSamplingBasedPlanner(const int id);
+  void showHowToUseWindow();
+  void showAboutWindow();
 
  private:
   sf::RenderWindow* window_;
+  sf::RenderTexture* render_texture_;
+  sf::Vector2f view_move_xy_;
+  ImVec2 mouse_pos_in_canvas_;
   sf::Event ev_;
   sf::Clock dtClock_;
   float dt_;
   std::stack<std::unique_ptr<State>> states_;
   std::string curr_planner_;
+  std::shared_ptr<gui::LoggerPanel> logger_panel_;
+  bool disable_run_;
+  bool show_how_to_use_window_{true};
+  bool show_about_window_{true};
+  bool show_control_panel_{true};
+  bool show_console_{true};
+  bool show_stats_panel_{true};
 };
 
 }  // namespace path_finding_visualizer

include/Gui.h

@@ -0,0 +1,134 @@
+#pragma once
+
+#include <imgui-SFML.h>
+#include <imgui.h>
+
+namespace path_finding_visualizer {
+namespace gui {
+
+class LoggerPanel {
+ public:
+  LoggerPanel() {
+    AutoScroll = true;
+    clear();
+  }
+
+  void clear() {
+    Buf.clear();
+    LineOffsets.clear();
+    LineOffsets.push_back(0);
+  }
+
+  void render(const char* title) {
+    if (!ImGui::Begin(title)) {
+      ImGui::End();
+      return;
+    }
+
+    ImGui::BeginChild("scrolling", ImVec2(0, 0), false,
+                      ImGuiWindowFlags_HorizontalScrollbar);
+
+    ImGui::PushStyleVar(ImGuiStyleVar_ItemSpacing, ImVec2(0, 0));
+    const char* buf = Buf.begin();
+    const char* buf_end = Buf.end();
+    {
+      ImGuiListClipper clipper;
+      clipper.Begin(LineOffsets.Size);
+      while (clipper.Step()) {
+        for (int line_no = clipper.DisplayStart; line_no < clipper.DisplayEnd;
+             line_no++) {
+          const char* line_start = buf + LineOffsets[line_no];
+          const char* line_end = (line_no + 1 < LineOffsets.Size)
+                                     ? (buf + LineOffsets[line_no + 1] - 1)
+                                     : buf_end;
+          ImGui::TextUnformatted(line_start, line_end);
+        }
+      }
+      clipper.End();
+    }
+    ImGui::PopStyleVar();
+
+    if (AutoScroll && ImGui::GetScrollY() >= ImGui::GetScrollMaxY())
+      ImGui::SetScrollHereY(1.0f);
+
+    ImGui::EndChild();
+    ImGui::End();
+  }
+
+  void info(const std::string& msg) { AddLog("[INFO] %s\n", msg.c_str()); }
+
+ private:
+  ImGuiTextBuffer Buf;
+  ImVector<int> LineOffsets;  // Index to lines offset. We maintain this with
+                              // AddLog() calls.
+  bool AutoScroll;            // Keep scrolling if already at the bottom.
+
+  void AddLog(const char* fmt, ...) IM_FMTARGS(2) {
+    int old_size = Buf.size();
+    va_list args;
+    va_start(args, fmt);
+    Buf.appendfv(fmt, args);
+    va_end(args);
+    for (int new_size = Buf.size(); old_size < new_size; old_size++)
+      if (Buf[old_size] == '\n') LineOffsets.push_back(old_size + 1);
+  }
+};
+
+// Helper to display a little (?) mark which shows a tooltip when hovered.
+// In your own code you may want to display an actual icon if you are using a
+// merged icon fonts (see docs/FONTS.md)
+inline void HelpMarker(const char* desc) {
+  ImGui::TextDisabled("(?)");
+  if (ImGui::IsItemHovered()) {
+    ImGui::BeginTooltip();
+    ImGui::PushTextWrapPos(ImGui::GetFontSize() * 35.0f);
+    ImGui::TextUnformatted(desc);
+    ImGui::PopTextWrapPos();
+    ImGui::EndTooltip();
+  }
+}
+
+inline bool inputInt(const std::string& label, int* val, const int& min_val,
+                     const int& max_val, const int& step = 1,
+                     const int& step_fast = 100,
+                     const std::string& help_marker = "",
+                     ImGuiInputTextFlags flags = 0) {
+  flags |= ImGuiInputTextFlags_EnterReturnsTrue;
+  bool is_active = ImGui::InputInt(label.c_str(), val, step, step_fast, flags);
+  if (!help_marker.empty()) {
+    ImGui::SameLine();
+    HelpMarker(help_marker.c_str());
+  }
+  if (is_active) {
+    if (*val < min_val)
+      *val = min_val;
+    else if (*val > max_val)
+      *val = max_val;
+  }
+  return is_active;
+}
+
+inline bool inputDouble(const std::string& label, double* val,
+                        const double& min_val, const double& max_val,
+                        const double& step = 0.0, const double& step_fast = 0.0,
+                        const std::string& help_marker = "",
+                        const char* format = "%.6f",
+                        ImGuiInputTextFlags flags = 0) {
+  flags |= ImGuiInputTextFlags_EnterReturnsTrue;
+  bool is_active =
+      ImGui::InputDouble(label.c_str(), val, step, step_fast, format, flags);
+  if (!help_marker.empty()) {
+    ImGui::SameLine();
+    HelpMarker(help_marker.c_str());
+  }
+  if (is_active) {
+    if (*val < min_val)
+      *val = min_val;
+    else if (*val > max_val)
+      *val = max_val;
+  }
+  return is_active;
+}
+
+}  // namespace gui
+}  // namespace path_finding_visualizer

include/State.h

@@ -6,10 +6,13 @@
 #include <fstream>
 #include <iostream>
 #include <map>
+#include <memory>
 #include <stack>
 #include <string>
 #include <vector>
 
+#include "Gui.h"
+
 /*
   State Base Class
 */
@@ -19,31 +22,29 @@ namespace path_finding_visualizer {
 class State {
  private:
  protected:
-  std::stack<std::unique_ptr<State>> &states_;
-
-  sf::RenderWindow *window_;
-  sf::Vector2i mousePositionWindow_;
-  bool quit_;
+  std::shared_ptr<gui::LoggerPanel> logger_panel_;
+  sf::Vector2f mousePositionWindow_;
+  bool is_reset_;
+  bool is_running_;
 
  public:
   // Constructor
-  State(sf::RenderWindow *window, std::stack<std::unique_ptr<State>> &states);
+  State(std::shared_ptr<gui::LoggerPanel> logger_panel);
 
   // Destructor
   virtual ~State();
 
-  // Accessors
-  const bool getQuit() const;
+  void setReset(bool is_reset) { is_reset_ = is_reset; }
+  void setRunning(bool is_running) { is_running_ = is_running; }
 
   // Functions
-  virtual void checkForQuit();
-  virtual void updateMousePosition();
+  void updateMousePosition(const ImVec2 &mousePos);
 
   // virtual functions
   virtual void endState() = 0;
-  virtual void updateKeybinds() = 0;
-  virtual void update(const float &dt) = 0;
-  virtual void render() = 0;
+  virtual void update(const float &dt, const ImVec2 &mousePos) = 0;
+  virtual void renderConfig() = 0;
+  virtual void renderScene(sf::RenderTexture &render_texture) = 0;
 };
 
 }  // namespace path_finding_visualizer

include/States/Algorithms/GraphBased/ASTAR/ASTAR.h

@@ -21,16 +21,17 @@ struct MinimumDistanceASTAR {
 class ASTAR : public BFS {
  public:
   // Constructor
-  ASTAR(sf::RenderWindow *window, std::stack<std::unique_ptr<State>> &states);
+  ASTAR(std::shared_ptr<gui::LoggerPanel> logger_panel);
 
   // Destructor
   virtual ~ASTAR();
 
   // Overriden functions
   virtual void initAlgorithm() override;
-  virtual void solveConcurrently(
-      std::shared_ptr<Node> nodeStart, std::shared_ptr<Node> nodeEnd,
-      std::shared_ptr<MessageQueue<bool>> message_queue) override;
+
+  // override main update function
+  virtual void updatePlanner(bool &solved, Node &start_node,
+                             Node &end_node) override;
 
  protected:
   // ASTAR related

include/States/Algorithms/GraphBased/BFS/BFS.h

@@ -11,7 +11,7 @@ namespace graph_based {
 class BFS : public GraphBased {
  public:
   // Constructor
-  BFS(sf::RenderWindow *window, std::stack<std::unique_ptr<State>> &states);
+  BFS(std::shared_ptr<gui::LoggerPanel> logger_panel);
 
   // Destructor
   virtual ~BFS();
@@ -23,13 +23,12 @@ class BFS : public GraphBased {
   virtual void updateNodes() override;
 
   // override render functions
-  virtual void renderNodes() override;
+  virtual void renderNodes(sf::RenderTexture &render_texture) override;
   virtual void renderParametersGui() override;
 
-  // BFS algorithm function
-  virtual void solveConcurrently(
-      std::shared_ptr<Node> nodeStart, std::shared_ptr<Node> nodeEnd,
-      std::shared_ptr<MessageQueue<bool>> message_queue) override;
+  // override main update function
+  virtual void updatePlanner(bool &solved, Node &start_node,
+                             Node &end_node) override;
 
  private:
   // BFS related

include/States/Algorithms/GraphBased/DFS/DFS.h

@@ -10,18 +10,17 @@ namespace graph_based {
 class DFS : public BFS {
  public:
   // Constructor
-  DFS(sf::RenderWindow *window, std::stack<std::unique_ptr<State>> &states);
+  DFS(std::shared_ptr<gui::LoggerPanel> logger_panel);
 
   // Destructor
   virtual ~DFS();
 
   // override initialization Functions
   void initAlgorithm() override;
 
-  // DFS algorithm function
-  void solveConcurrently(
-      std::shared_ptr<Node> nodeStart, std::shared_ptr<Node> nodeEnd,
-      std::shared_ptr<MessageQueue<bool>> message_queue) override;
+  // override main update function
+  virtual void updatePlanner(bool &solved, Node &start_node,
+                             Node &end_node) override;
 
  private:
   // DFS related

include/States/Algorithms/GraphBased/DIJKSTRA/DIJKSTRA.h

@@ -21,17 +21,17 @@ struct MinimumDistanceDIJKSTRA {
 class DIJKSTRA : public BFS {
  public:
   // Constructor
-  DIJKSTRA(sf::RenderWindow *window,
-           std::stack<std::unique_ptr<State>> &states);
+  DIJKSTRA(std::shared_ptr<gui::LoggerPanel> logger_panel);
 
   // Destructor
   virtual ~DIJKSTRA();
 
   // Overriden functions
   virtual void initAlgorithm() override;
-  void solveConcurrently(
-      std::shared_ptr<Node> nodeStart, std::shared_ptr<Node> nodeEnd,
-      std::shared_ptr<MessageQueue<bool>> message_queue) override;
+
+  // override main update function
+  virtual void updatePlanner(bool &solved, Node &start_node,
+                             Node &end_node) override;
 
  protected:
   // DIJKSTRA related