#include "../include/imgui/imgui.h"
#include "../include/imgui/backends/imgui_impl_glfw.h"
#include "../include/imgui/backends/imgui_impl_opengl3.h"
#include <GLFW/glfw3.h>
#include "Pose2D.hpp"
#include "Node.hpp"
#include "Pillar.hpp"
#include "Hole.hpp"
#include "Field.hpp"
#include <vector>
#include <netinet/in.h>
#include <chrono>
#include <sys/socket.h>
#include <unistd.h>
#include <arpa/inet.h>
#include <fstream>
#include <iostream>
#include <thread>
#include <queue>
#include <condition_variable>
#include <atomic>
#include <sstream>

Classes
struct	Move

Macros
#define	BOT_CONNECT 0

#define	ADDRESS "127.0.0.1"

#define	PORT 65432

Enumerations
enum	MovementType { MOVE_FORWARD , MOVE_BACKWARDS , MOVE_FORWARD_SMART , TURN_TO_ANGLE , SCAN }

Functions
std::atomic< bool >	stopClient (false)

void	addToQueue (const std::string &message)

void	sendAngleToQueue (int16_t angle)

void	sendDistanceToQueue (uint16_t distance)

void	pathToRoutine (std::vector< Pose2D > path, std::vector< Move > &routine)

std::string	parsePathIntoRoutine (const std::vector< Pose2D > &path)

void	readAndLog (int socket, std::mutex &fieldMutex, Field &field, std::vector< Pose2D > &path)

void	connectTCP (Field &field, std::mutex &fieldMutex, std::vector< Pose2D > &path)

void	setupImGui (GLFWwindow *window)

void	DrawCircle (ImDrawList *drawList, const ImVec2 &center, float radius, ImU32 color)

Pose2D	ScreenToCoords (ImVec2 coords, ImVec2 offset, ImVec2 scaling)

ImVec2	coordsToScreen (ImVec2 offset, ImVec2 scaling, double x, double y)

ImVec2	coordsToScreen (ImVec2 offset, ImVec2 scaling, const Pose2D &position)

void	ShowPillarOnWindow (ImDrawList *drawList, Pillar pillar, ImU32 color, ImVec2 offset, ImVec2 scaling)

void	drawBotPose (ImDrawList *drawList, const Pose2D &botPose, ImVec2 offset, ImVec2 scaling)

void	drawRectangle (ImDrawList *drawList, ImVec2 offset, ImVec2 scaling, const Pose2D &p1, const Pose2D &p2)

void	ShowFieldWindow (std::mutex *pillarsMutex, std::vector< Pose2D > &path, Field &field, std::atomic< bool > &showNodes, std::atomic< bool > &showEdges)

int	main ()

Variables
std::queue< std::string >	sendQueue

std::mutex	queueMutex

std::condition_variable	sendCondition

Macro Definition Documentation

◆ ADDRESS

#define ADDRESS "127.0.0.1"

Definition at line 29 of file main.cpp.

◆ BOT_CONNECT

#define BOT_CONNECT 0

Definition at line 24 of file main.cpp.

◆ PORT

#define PORT 65432

Definition at line 30 of file main.cpp.

Enumeration Type Documentation

◆ MovementType

enum MovementType

Enumerator
MOVE_FORWARD
MOVE_BACKWARDS
MOVE_FORWARD_SMART
TURN_TO_ANGLE
SCAN

Definition at line 33 of file main.cpp.

Function Documentation

◆ addToQueue()

void addToQueue ( const std::string & message )

Add a given string to the thread safe queue, accessed with mutexes

Parameters

message the message to add

Definition at line 56 of file main.cpp.

◆ connectTCP()

void connectTCP	(	Field &	field,
		std::mutex &	fieldMutex,
		std::vector< Pose2D > &	path )

connect to Roomba TCP server or the mock server depending on the configuration

Parameters

field	reference to the field object
fieldMutex	the mutex for the field
path	reference to a generated path

Definition at line 291 of file main.cpp.

◆ coordsToScreen() [1/2]

ImVec2 coordsToScreen	(	ImVec2	offset,
		ImVec2	scaling,
		const Pose2D &	position )

Computes screen coordinates from Field coordinates

Parameters

offset	the offset the window measuring on is at
scaling	the amount to scale by
position	the position be transformed

Returns: the new screen coordinates

Definition at line 396 of file main.cpp.

◆ coordsToScreen() [2/2]

ImVec2 coordsToScreen	(	ImVec2	offset,
		ImVec2	scaling,
		double	x,
		double	y )

Computes screen coordinates from Field coordinates

Parameters

offset	the offset the window measuring on is at
scaling	the amount to scale by
x	the x component of the pose 2d
y	the y component of the pose 2d

Returns: the new screen coordinates

Definition at line 383 of file main.cpp.

◆ drawBotPose()

void drawBotPose	(	ImDrawList *	drawList,
		const Pose2D &	botPose,
		ImVec2	offset,
		ImVec2	scaling )

Draws a triangle on the bot position facing in the direction that the bot is. The color of the triangle will be lime green.

Parameters

drawList	the draw list for the window
botPose	the position of the bot
offset	the offset of the screen for cartesian coordinates

Definition at line 423 of file main.cpp.

◆ DrawCircle()

void DrawCircle	(	ImDrawList *	drawList,
		const ImVec2 &	center,
		float	radius,
		ImU32	color )

Draw a circle on the window

Parameters

drawList	the drawlist for a given window
center	the center position of the circle
radius	the radus of the circle
color	the color of the circle on the screen

Definition at line 357 of file main.cpp.

◆ drawRectangle()

void drawRectangle	(	ImDrawList *	drawList,
		ImVec2	offset,
		ImVec2	scaling,
		const Pose2D &	p1,
		const Pose2D &	p2 )

Draw a rectangle on the field given by the critical points p1 and p2

Parameters

drawList	the draw list for the window to draw on
offset	the offset of the window
scaling	the size scaling
p1	point one
p2	point two (opposite corner)

Definition at line 450 of file main.cpp.

◆ main()

int main ( )

The main function where the program starts

Returns: status code of how the program executed

Definition at line 572 of file main.cpp.

◆ parsePathIntoRoutine()

std::string parsePathIntoRoutine ( const std::vector< Pose2D > & path )

parse a path into a routine

Parameters

path	the path to parse

Returns: the routine from the path

Definition at line 114 of file main.cpp.

◆ pathToRoutine()

void pathToRoutine	(	std::vector< Pose2D >	path,
		std::vector< Move > &	routine )

generate a routine from a path

Parameters

path	the path to generate a routine from
routine	the routine to store into

Definition at line 90 of file main.cpp.

◆ readAndLog()

void readAndLog	(	int	socket,
		std::mutex &	fieldMutex,
		Field &	field,
		std::vector< Pose2D > &	path )

Read and log data that gets sent over the TCP socket

Parameters

socket	the socket to listen on
fieldMutex	the mutex for the field object
field	reference to the field object
path	the path to generate

Definition at line 142 of file main.cpp.

◆ ScreenToCoords()

Pose2D ScreenToCoords	(	ImVec2	coords,
		ImVec2	offset,
		ImVec2	scaling )

Computes a Pose2D from given screen coordinates

Parameters

coords	the coordinates on the window
offset	the offset of the position of the window on the screen
scaling	the scaling factor for the window size

Returns

Definition at line 368 of file main.cpp.

◆ sendAngleToQueue()

void sendAngleToQueue ( int16_t angle )

Parameters

angle the angle to send

Definition at line 68 of file main.cpp.

◆ sendDistanceToQueue()

void sendDistanceToQueue ( uint16_t distance )

Adds an distance to a queue to be sent to the bot

Parameters

distance the distance to send

Definition at line 79 of file main.cpp.

◆ setupImGui()

void setupImGui ( GLFWwindow * window )

Simple function to set up OpenGL and ImGui context

Parameters

window pointer to the GLFW window

Definition at line 341 of file main.cpp.

◆ ShowFieldWindow()

void ShowFieldWindow	(	std::mutex *	pillarsMutex,
		std::vector< Pose2D > &	path,
		Field &	field,
		std::atomic< bool > &	showNodes,
		std::atomic< bool > &	showEdges )

Show the field window on a new window

Parameters

pillarsMutex	the mutex for pillars
path	the path to display
field	the field object
showNodes	whether to show nodes or not (atomic reference)
showEdges	whether to show edges of the graph or not (atmoic reference)

Definition at line 479 of file main.cpp.

◆ ShowPillarOnWindow()

void ShowPillarOnWindow	(	ImDrawList *	drawList,
		Pillar	pillar,
		ImU32	color,
		ImVec2	offset,
		ImVec2	scaling )

Show a given pillar on the window.

Parameters

drawList	the window to draw a pillar (circle) on
pillar	the pillar which stores the given position and radius
color	the color to draw it as
offset	the offset of the window
scaling	the sizing ration for the window

Definition at line 408 of file main.cpp.

◆ stopClient()

std::atomic< bool > stopClient ( false )

Variable Documentation

◆ queueMutex

std::mutex queueMutex

Definition at line 42 of file main.cpp.

◆ sendCondition

std::condition_variable sendCondition

Definition at line 43 of file main.cpp.

◆ sendQueue

std::queue<std::string> sendQueue

Definition at line 41 of file main.cpp.

Classes

Macros

Enumerations

Functions

Variables

Macro Definition Documentation

◆ ADDRESS

◆ BOT_CONNECT

◆ PORT

Enumeration Type Documentation

◆ MovementType

Function Documentation

◆ addToQueue()

◆ connectTCP()

◆ coordsToScreen() [1/2]

◆ coordsToScreen() [2/2]

◆ drawBotPose()

◆ DrawCircle()

◆ drawRectangle()

◆ main()

◆ parsePathIntoRoutine()

◆ pathToRoutine()

◆ readAndLog()

◆ ScreenToCoords()

◆ sendAngleToQueue()

◆ sendDistanceToQueue()

◆ setupImGui()

◆ ShowFieldWindow()

◆ ShowPillarOnWindow()

◆ stopClient()

Variable Documentation

◆ queueMutex

◆ sendCondition

◆ sendQueue