From 8a484772c930a1a69b76aeb0a22bed5286eca5ac Mon Sep 17 00:00:00 2001
From: Siva Abhishek Avala <savala@unm.edu>
Date: Sun, 27 Aug 2023 21:49:49 -0600
Subject: [PATCH] fix: created CPFA_qt_user_functions library for visualization

---
 CMakeLists.txt                               | 44 ++++++++++++++------
 experiments/CPFAExampleWithVisualisation.xml |  5 ++-
 source/CPFA/CMakeLists.txt                   |  7 +++-
 source/CPFA/CPFA_controller.h                |  3 +-
 source/CPFA/CPFA_loop_functions.h            |  1 +
 5 files changed, 43 insertions(+), 17 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 16cf649..d41a482 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -41,24 +41,41 @@ endif()
 # Set the path where CMake will find additional scripts.
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_SOURCE_DIR}/cmake)
 
-# Find the ARGoS package.
-find_package(PkgConfig)
-pkg_check_modules(ARGOS REQUIRED argos3_simulator)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${ARGOS_PREFIX}/share/argos3/cmake)
-
-# Check for required libraries to compile code depending on Qt and OpenGL.
-include(ARGoSCheckQTOpenGL)
-
-# Find the ARGoS package
-find_package(PkgConfig)
-pkg_check_modules(ARGOS REQUIRED argos3_simulator)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${ARGOS_PREFIX}/share/argos3/cmake)
+## Find the ARGoS package, make sure to save the ARGoS prefix
+#find_package(ARGoS REQUIRED)
+#include_directories(${CMAKE_SOURCE_DIR} ${ARGOS_INCLUDE_DIRS})
+#link_directories(${ARGOS_LIBRARY_DIR})
+#link_libraries(${ARGOS_LDFLAGS})
+
+#
+# Check ARGoS
+#
+find_package(ARGoS REQUIRED)
+include_directories(${ARGOS_INCLUDE_DIRS})
+link_directories(${ARGOS_LIBRARY_DIR})
+link_libraries(${ARGOS_LDFLAGS})
+string(REPLACE "/lib/argos3" "" ARGOS_PREFIX "${ARGOS_LIBRARY_DIR}")
+set(CMAKE_INSTALL_PREFIX ${ARGOS_PREFIX} CACHE STRING "Install path prefix, prepended onto install directories." FORCE)
+
+## Find the ARGoS package.
+#find_package(PkgConfig)
+#pkg_check_modules(ARGOS REQUIRED argos3_simulator)
+#set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${ARGOS_PREFIX}/share/argos3/cmake)
+
+## Check for required libraries to compile code depending on Qt and OpenGL.
+#include(ARGoSCheckQTOpenGL)
+
+## Find the ARGoS package
+#find_package(PkgConfig)
+#pkg_check_modules(ARGOS REQUIRED argos3_simulator)
+#set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${ARGOS_PREFIX}/share/argos3/cmake)
 
 # Find the GSL package.
 # find_package(GSL REQUIRED)
 
 # Find the LUA package.
-find_package(Lua52 REQUIRED)
+#find_package(Lua52 REQUIRED)
+find_package(Lua REQUIRED)
 
 # Set ARGoS include directory.
 #include_directories(${CMAKE_SOURCE_DIR} ${ARGOS_INCLUDE_DIRS} ${GSL_INCLUDE_DIR} ${LUA_INCLUDE_DIR} source)
@@ -86,6 +103,7 @@ add_executable(cpfa_evolver source/evolver.cpp)
 # Specify the libraries needed to compile the evolver.
 target_link_libraries(cpfa_evolver CPFA_controller
 				   CPFA_loop_functions
+                                   CPFA_qt_user_functions
 				   GA-MPI   
 				   ${MPI_LIBRARIES}
 		   		   ${Boost_LIBRARIES}
diff --git a/experiments/CPFAExampleWithVisualisation.xml b/experiments/CPFAExampleWithVisualisation.xml
index 3778aa5..1a755ca 100644
--- a/experiments/CPFAExampleWithVisualisation.xml
+++ b/experiments/CPFAExampleWithVisualisation.xml
@@ -126,9 +126,10 @@
 
 <qt-opengl>
       <camera>
-        <placement idx="0" position="  0, 0, 10" look_at="0, 0, 0" lens_focal_length="25"/>
+        <placement index="0" position="0, 0, 10" look_at="0, 0, 0" lens_focal_length="25"/>
       </camera>
-      <user_functions label="CPFA_qt_user_functions"/>
+      <user_functions library="build/source/CPFA/libCPFA_qt_user_functions"
+                      label="CPFA_qt_user_functions"/>
     </qt-opengl>
 
   </visualization>
diff --git a/source/CPFA/CMakeLists.txt b/source/CPFA/CMakeLists.txt
index 428c868..81de814 100644
--- a/source/CPFA/CMakeLists.txt
+++ b/source/CPFA/CMakeLists.txt
@@ -14,7 +14,12 @@ add_library(CPFA_loop_functions SHARED ${loop_source_files})
 add_library(CPFA_controller     SHARED CPFA_controller.h
                                        CPFA_controller.cpp
                                        CPFA_loop_functions.h
-                                       CPFA_loop_functions.cpp)
+                                       CPFA_loop_functions.cpp
+				       CPFA_qt_user_functions.h
+                                       CPFA_qt_user_functions.cpp)
+
+add_library(CPFA_qt_user_functions	SHARED CPFA_qt_user_functions.h
+                                       	       CPFA_qt_user_functions.cpp)
 
 ###############################################
 # link shared object files to dependencies
diff --git a/source/CPFA/CPFA_controller.h b/source/CPFA/CPFA_controller.h
index a25f734..37fffcc 100644
--- a/source/CPFA/CPFA_controller.h
+++ b/source/CPFA/CPFA_controller.h
@@ -4,6 +4,7 @@
 #include <source/Base/BaseController.h>
 #include <source/Base/Pheromone.h>
 #include <source/CPFA/CPFA_loop_functions.h>
+#include <source/CPFA/CPFA_qt_user_functions.h>
 
 using namespace std;
 using namespace argos;
@@ -94,4 +95,4 @@ class CPFA_controller : public BaseController {
 		unsigned int survey_count;
 };
 
-#endif /* CPFA_CONTROLLER_H */
\ No newline at end of file
+#endif /* CPFA_CONTROLLER_H */
diff --git a/source/CPFA/CPFA_loop_functions.h b/source/CPFA/CPFA_loop_functions.h
index 658c584..ec7b529 100644
--- a/source/CPFA/CPFA_loop_functions.h
+++ b/source/CPFA/CPFA_loop_functions.h
@@ -5,6 +5,7 @@
 #include <argos3/plugins/robots/foot-bot/simulator/footbot_entity.h>
 #include <argos3/core/simulator/entity/floor_entity.h>
 #include <source/CPFA/CPFA_controller.h>
+#include <source/CPFA/CPFA_qt_user_functions.h>
 
 using namespace argos;
 using namespace std;