Feature astar (#7)

* file updater tool with example files

* Ported warthog over, some bugs

* added deduction guide

* added coordinate features, assertion error

* fixed warthog version config file

* fixing id bug

* refactor sn_id_t to pack_id and pad_id

* added submodule include function

* convertion between identity integer types

* added MIT license

* Remove experiment generator from file

* updated timer new std::chrono

.clang-format

@@ -2,19 +2,21 @@
 Language: Cpp
 Standard: c++11
 BasedOnStyle: GNU
-AccessModifierOffset: -2
+AccessModifierOffset: -4
 PointerAlignment: Left
+UseTab: ForIndentation
 IndentWidth: 4
+TabWidth: 4
 Cpp11BracedListStyle: true
 AlwaysBreakTemplateDeclarations: Yes
 AlwaysBreakAfterReturnType: All
 AlignAfterOpenBracket: AlwaysBreak
 SpaceInEmptyBlock: true
 SpaceBeforeParens: Never
 SpaceAfterTemplateKeyword: false
-AllowShortBlocksOnASingleLine: Always
+AllowShortBlocksOnASingleLine: true
 AllowShortIfStatementsOnASingleLine: WithoutElse
-AllowShortFunctionsOnASingleLine: All
+AllowShortFunctionsOnASingleLine: Inline
 AlignOperands: false
 BreakBeforeBraces: Custom
 BraceWrapping:

.gitignore

@@ -0,0 +1 @@
+*.backup

CMakeLists.txt

@@ -1,15 +1,26 @@
-cmake_minimum_required(VERSION 3.12)
+cmake_minimum_required(VERSION 3.13)
 
 project(Warthog
 	VERSION 0.1.0
-	LANGUAGE CXX C)
+	LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED TRUE)
 
+include(cmake/submodule.cmake)
+
 add_library(warthog_core)
 add_library(warthog::core ALIAS warthog_core)
 target_include_directories(warthog_core PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
 )
+include(cmake/headers.cmake)
+
+add_executable(warthog_app)
+add_executable(warthog::warthog ALIAS warthog_app)
+set_target_properties(warthog_app PROPERTIES OUTPUT_NAME "warthog")
+target_link_libraries(warthog_app PUBLIC warthog::core)
+
+add_subdirectory(src)
+add_subdirectory(apps)

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 Shortest Path Lab @ Monash University
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -1,2 +1,5 @@
-Warthog is an optimised C++ library for pathfinding search. It is developed and maintained by Daniel Harabor and contributors in the Shortest Path Lab. If you are interested in obtaining a copy, please visit the project homepage at: 
+This is an in-development version for the new Warthog.
+
+Warthog is an optimised C++ library for pathfinding search. It is developed and maintained by Daniel Harabor and 
+contributors in the Shortest Path Lab. If you are interested in obtaining a copy, please visit the project homepage at: 
 https://bitbucket.org/dharabor/pathfinding/

apps/CMakeLists.txt

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.13)
+
+# find_package(Getopt)
+
+configure_file(config.h.in config.h @ONLY)
+target_sources(warthog_app PRIVATE warthog.cpp cfg.cpp)
+target_sources(warthog_app PUBLIC ${CMAKE_CURRENT_BINARY_DIR}/config.h cfg.h)
+target_include_directories(warthog_app PRIVATE ${CMAKE_CURRENT_BINARY_DIR})

apps/cfg.cpp

@@ -0,0 +1,94 @@
+#include "cfg.h"
+
+warthog::util::cfg::cfg() { }
+
+warthog::util::cfg::~cfg() { }
+
+void
+warthog::util::cfg::parse_args(
+    int argc, char** argv, warthog::util::param params[])
+{
+	parse_args(argc, argv, "", params);
+}
+
+void
+warthog::util::cfg::parse_args(
+    int argc, char** argv, const char* options, warthog::util::param params[])
+{
+	int current_opt;
+	for(int c = getopt_long(argc, argv, options, params, &current_opt);
+	    c != -1; c = getopt_long(argc, argv, options, params, &current_opt))
+	{
+		if(c == '?') break;
+		if(params[current_opt].has_arg == 0)
+		{
+			params_[params[current_opt].name].push_back("1");
+		}
+		if(!(optarg == 0))
+		{
+			params_[params[current_opt].name].push_back(optarg);
+			for(int index = optind; index < argc && *argv[index] != '-';
+			    index++)
+			{
+				params_[params[current_opt].name].push_back(argv[index]);
+			}
+		}
+	}
+}
+
+std::string
+warthog::util::cfg::get_param_value(std::string param_name)
+{
+	std::string ret("");
+	std::map<std::string, std::vector<std::string>>::iterator it
+	    = params_.find(param_name);
+	if(it != params_.end())
+	{
+		if((*it).second.size() > 0)
+		{
+			ret = (*it).second.front();
+			(*it).second.erase((*it).second.begin());
+		}
+	}
+	return ret;
+}
+
+uint32_t
+warthog::util::cfg::get_num_values(std::string param_name)
+{
+	uint32_t ret = 0;
+	std::map<std::string, std::vector<std::string>>::iterator it
+	    = params_.find(param_name);
+	if(it != params_.end()) { ret = (uint32_t)(*it).second.size(); }
+	return ret;
+}
+
+void
+warthog::util::cfg::print(std::ostream& out)
+{
+	out << "cfg\n";
+	for(std::map<std::string, std::vector<std::string>>::iterator it
+	    = params_.begin();
+	    it != params_.end(); it++)
+	{
+		out << (*it).first << "=";
+		for(uint32_t i = 0; i < (*it).second.size(); i++)
+		{
+			out << (*it).second.at(i);
+		}
+	}
+}
+
+void
+warthog::util::cfg::print_values(const std::string& option, std::ostream& out)
+{
+	std::map<std::string, std::vector<std::string>>::iterator it
+	    = params_.find(option);
+	if(it != params_.end())
+	{
+		for(uint32_t i = 0; i < (*it).second.size(); i++)
+		{
+			out << " " << (*it).second.at(i);
+		}
+	}
+}

apps/cfg.h

@@ -0,0 +1,62 @@
+#ifndef WARTHOG_APP_CFG_H
+#define WARTHOG_APP_CFG_H
+
+#include "getopt.h"
+
+#include <cstdint>
+#include <iostream>
+#include <map>
+#include <vector>
+
+// cfg.h
+//
+// A centralised place for dealing with configuration parameters.
+//
+// @author: dharabor
+// @created: 10/09/2012
+//
+
+namespace warthog::util
+{
+
+typedef struct option param;
+
+class cfg
+{
+public:
+	cfg();
+	~cfg();
+
+	void
+	parse_args(int argc, char** argv, warthog::util::param params[]);
+
+	void
+	parse_args(
+	    int argc, char** argv, const char* short_opts,
+	    warthog::util::param params[]);
+
+	std::string get_param_value(std::string);
+
+	uint32_t get_num_values(std::string);
+
+	void
+	print(std::ostream& out);
+
+	void
+	print_values(const std::string&, std::ostream& out);
+
+private:
+	// no copy
+	cfg(const cfg& other) { }
+	cfg&
+	operator=(const cfg& other)
+	{
+		return *this;
+	}
+
+	std::map<std::string, std::vector<std::string>> params_;
+};
+
+} // namespace warthog::util
+
+#endif // WARTHOG_APP_CFG_H

apps/config.h.in

@@ -0,0 +1,8 @@
+#ifndef WARTHOG_APP_CONFIG_H
+
+#define WARTHOG_VERSION "@CMAKE_PROJECT_VERSION@"
+#define WARTHOG_VERSION_MAJOR @CMAKE_PROJECT_VERSION_MAJOR@
+#define WARTHOG_VERSION_MINOR @CMAKE_PROJECT_VERSION_MINOR@
+#define WARTHOG_VERSION_REVISON @CMAKE_PROJECT_VERSION_PATCH@
+
+#endif // WARTHOG_APP_CONFIG_H