Add skeleton for wrapper classes

CMakeLists.txt

@@ -7,7 +7,7 @@ FATAL: In-source builds are not allowed.
 endif()
 
 
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.14)
 
 
 set(CMAKE_CXX_COMPILER g++)
@@ -29,10 +29,12 @@ include_directories(${INCLUDE_DIRECTORY})
 add_executable(${PROJECT_NAME} ${SOURCES})
 # =============================
 
+
 # =============================
 # Libraries
 # NOTE: add each library's include directory to clang-tidy in the Linting section 
 add_subdirectory(deps/json)
+add_subdirectory(deps/matplotplusplus)
 target_link_libraries(${PROJECT_NAME}
  PRIVATE
  nlohmann_json::nlohmann_json

Dockerfile

@@ -5,4 +5,5 @@ RUN apt-get update \
  gdb \
  git \
  cmake \
- clang-tidy
+ clang-tidy \
+ gnuplot

deps/matplotplusplus/.gitignore

@@ -0,0 +1,6 @@
+*
+
+!.gitignore
+
+!CMakeLists.txt
+!CMakeLists.txt.in

deps/matplotplusplus/CMakeLists.txt

@@ -0,0 +1,16 @@
+include(FetchContent)
+
+FetchContent_Declare(matplotplusplus
+ GIT_REPOSITORY https://github.com/alandefreitas/matplotplusplus
+ GIT_TAG origin/master) # or whatever tag you want
+
+FetchContent_GetProperties(matplotplusplus)
+if(NOT matplotplusplus_POPULATED)
+ FetchContent_Populate(matplotplusplus)
+ add_subdirectory(${matplotplusplus_SOURCE_DIR} ${matplotplusplus_BINARY_DIR} EXCLUDE_FROM_ALL)
+endif()
+
+target_link_libraries(${PROJECT_NAME}
+ PRIVATE
+ matplot
+)

include/core/states.hpp

@@ -3,6 +3,7 @@
 
 #include <string>
 #include <array>
+#include <optional>
 
 #include "utilities/datatypes.hpp"
 #include "utilities/constants.hpp"
@@ -40,9 +41,9 @@ class PreparationState: public MissionState {
  }
 
  private:
- Polygon flightBoundary;
- Polygon airdropBoundary;
- Polyline waypoints;
+ std::optional<Polygon> flightBoundary;
+ std::optional<Polygon> airdropBoundary;
+ std::optional<Polyline> waypoints;
  std::array<CompetitionBottle, NUM_AIRDROP_BOTTLES> bottles;
 };
 

include/pathing/plotting.hpp

@@ -0,0 +1,68 @@
+#ifndef PATHING_PLOTTING_HPP
+#define PATHING_PLOTTING_HPP
+
+#include <list>
+
+#include <matplot/matplot.h>
+#include "utilities/datatypes.hpp"
+
+class PathingPlot {
+ public:
+ void addPoints(std::vector<XYZCoord> pts);
+ void addPolygons(std::vector<Polygon> polygons);
+ void addPolylines(std::vector<Polyline> polylines);
+
+ // Used to group changes to the plot into logical chunks
+ virtual void beginUpdate() = 0; // Call before making changes to the plot
+ virtual void endUpdate() = 0; // Call when done making changes to the plot
+
+ virtual void addPolygon(Polygon polygon) = 0;
+ virtual void addPolyline(Polyline polyline) = 0;
+ virtual void addPoint(XYZCoord pt) = 0;
+
+ // Output to filename. Don't include extension as the subclass 
+ // will add the correct extension itself
+ virtual void output(std::string filename) = 0;
+};
+
+// Saves a record of all of the updates that have been done
+// When plotted, creates a GIF
+class AnimationPathingPlot : public PathingPlot {
+ public:
+ AnimationPathingPlot();
+
+ void beginUpdate() override;
+ void endUpdate() override;
+
+ void addPolygon(Polygon polygon) override;
+ void addPolyline(Polyline polyline) override;
+ void addPoint(XYZCoord pt) override;
+
+ void output(std::string filename) override;
+ private:
+ std::list<std::list<XYZCoord>> coords;
+ std::list<std::list<Polygon>> polygons;
+ std::list<std::list<Polyline>> polylines;
+};
+
+// Only records the most recent state of the plot
+// When plotted, creates a PNG
+class StaticPathingPlot : public PathingPlot {
+ public:
+ StaticPathingPlot();
+
+ void beginUpdate() override;
+ void endUpdate() override;
+
+ void addPolygon(Polygon polygon) override;
+ void addPolyline(Polyline polyline) override;
+ void addPoint(XYZCoord pt) override;
+
+ void output(std::string filename) override;
+ private:
+ std::list<XYZCoord> coords;
+ std::list<Polygon> polygons;
+ std::list<Polyline> polylines;
+};
+
+#endif

include/utilities/datatypes.hpp

@@ -2,6 +2,7 @@
 #define UTILITIES_DATATYPES_HPP_
 
 #include <vector>
+#include <matplot/matplot.h>
 
 struct GPSCoord {
  GPSCoord(double lat, double lon, double alt)
@@ -14,17 +15,34 @@ struct GPSCoord {
 
 struct XYZCoord {
  XYZCoord(double x, double y, double z)
- :x(x), y(y), z(z) {}
+ :x(x), y(y), z(z), color(matplot::color::black) {}
+
+ XYZCoord(double x, double y, double z, matplot::color color)
+ :x(x), y(y), z(z), color(color) {}
 
  double x;
  double y;
  double z;
+ matplot::color color;
 };
 
-// In the future maybe make these their own classes with methods, etc...
-// should be easyish to migrate because the type names will be the same
-typedef std::vector<XYZCoord> Polygon;
-typedef std::vector<XYZCoord> Polyline;
+class Polygon : public std::vector<XYZCoord> {
+ public:
+ Polygon(matplot::color color);
+
+ matplot::color getColor() const;
+ private:
+ matplot::color color;
+};
+
+class Polyline: public std::vector<XYZCoord> {
+ public:
+ Polyline(matplot::color color);
+
+ matplot::color getColor() const;
+ private:
+ matplot::color color;
+};
 
 // TODO: these will eventually be redefined in a protobuf, so once the generated protobuf code exists we remove these
 enum class ODLCShape {

src/main.cpp

@@ -1,6 +1,7 @@
 #include <iostream>
 
 #include "core/states.hpp"
+#include "pathing/plotting.hpp"
 
 int main() {
  std::cout << "hello" << std::endl;

src/pathing/plotting.cpp

@@ -0,0 +1,82 @@
+#include "pathing/plotting.hpp"
+#include "utilities/datatypes.hpp"
+
+#include <vector>
+
+void PathingPlot::addPoints(std::vector<XYZCoord> pts) {
+ for (auto pt : pts) {
+ this->addPoint(pt);
+ }
+}
+
+void PathingPlot::addPolygons(std::vector<Polygon> polygons) {
+ for (auto polygon : polygons) {
+ this->addPolygon(polygon);
+ }
+}
+
+void PathingPlot::addPolylines(std::vector<Polyline> polylines) {
+ for (auto polyline : polylines) {
+ this->addPolyline(polyline);
+ }
+}
+
+
+AnimationPathingPlot::AnimationPathingPlot() {
+ // TODO: init member vars
+}
+
+void AnimationPathingPlot::beginUpdate() {
+ // TODO: delineate update
+}
+
+void AnimationPathingPlot::endUpdate() {
+ // TODO: delinate end of update
+}
+
+void AnimationPathingPlot::addPoint(XYZCoord pt) {
+ // TODO: add point
+}
+
+void AnimationPathingPlot::addPolygon(Polygon polygon) {
+ // TODO: add polygon 
+}
+
+void AnimationPathingPlot::addPolyline(Polyline polyline) {
+ // TODO: add polyline
+}
+
+void AnimationPathingPlot::output(std::string filename) {
+ // TODO: go through all the data and create GIF
+ // append .gif to filename param
+}
+
+
+StaticPathingPlot::StaticPathingPlot() {
+ // TODO: init member vars
+}
+
+void StaticPathingPlot::beginUpdate() {
+ // does nothing
+}
+
+void StaticPathingPlot::endUpdate() {
+ // does nothing
+}
+
+void StaticPathingPlot::addPoint(XYZCoord pt) {
+ // TODO: add point
+}
+
+void StaticPathingPlot::addPolygon(Polygon polygon) {
+ // TODO: add polygon 
+}
+
+void StaticPathingPlot::addPolyline(Polyline polyline) {
+ // TODO: add polyline
+}
+
+void StaticPathingPlot::output(std::string filename) {
+ // TODO: go through all the data and create image
+ // append .png to filename param
+}

src/utilities/datatypes.cpp

@@ -0,0 +1,9 @@
+#include "utilities/datatypes.hpp"
+
+Polygon::Polygon(matplot::color color) {
+ this->color = color;
+}
+
+Polyline::Polyline(matplot::color color) {
+ this->color = color;
+}