Remove sfml and add sdl3 as submodule

.github/workflows/cmake-single-platform.yml

@@ -90,4 +90,4 @@ jobs:
     - name: Run Docker
       working-directory: ${{github.workspace}}/docker
       run: |
-        bash run.sh
+        bash test.sh

.github/workflows/lint.yml

@@ -5,10 +5,16 @@ on:
     branches: [ "main" ]
     types: [opened, labeled, unlabeled, synchronize]
 jobs:
-  format:
+  format-code:
     runs-on: ubuntu-latest
+
+    permissions:
+      # Give the default GITHUB_TOKEN write permission to commit and push the
+      # added or changed files to the repository.
+      contents: write
+
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           token: ${{ secrets.BOT_TOKEN || github.token }}
           # check out HEAD on the branch
@@ -27,7 +33,7 @@ jobs:
           find . -not -path "./.git/*" -not -path "./.vscode/*" -name "*.cpp" -o -name "*.h" | xargs clang-format -i -style=file
       # commit the changes (if there are any)
       - name: Commit changes
-        uses: stefanzweifel/git-auto-commit-action@v4.16.0
+        uses: stefanzweifel/git-auto-commit-action@v5
         with:
           commit_message: 🎨 apply clang-format changes
           branch: ${{ github.head_ref }}

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "third-party/yaml-cpp"]
 	path = third-party/yaml-cpp
 	url = https://github.com/jbeder/yaml-cpp.git
+[submodule "third-party/SDL"]
+	path = third-party/SDL
+	url = https://github.com/libsdl-org/SDL.git

CMakeLists.txt

@@ -3,7 +3,6 @@ project(PathFind)
 set(CMAKE_CXX_STANDARD 17)            
 add_definitions("-Wall" "-g")
 
-find_package(SFML COMPONENTS window graphics system)
 find_package(Git QUIET)
 
 set(DATA_DIR ${PROJECT_SOURCE_DIR}/maps)
@@ -32,23 +31,25 @@ if(NOT EXISTS "${PROJECT_SOURCE_DIR}/third-party/yaml-cpp/CMakeLists.txt")
 endif()
 
 
+add_subdirectory(${PROJECT_SOURCE_DIR}/third-party/yaml-cpp)
+add_subdirectory(${PROJECT_SOURCE_DIR}/third-party/SDL)
+add_subdirectory(${PROJECT_SOURCE_DIR}/planning)
+add_subdirectory(${PROJECT_SOURCE_DIR}/tools)
+
 include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${PROJECT_SOURCE_DIR}
     ${PROJECT_SOURCE_DIR}/third-party/yaml-cpp/include
+    ${PROJECT_SOURCE_DIR}/third-party/SDL/include
 )
 
 link_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${PROJECT_SOURCE_DIR}
     ${PROJECT_SOURCE_DIR}/third-party/yaml-cpp/include
+    ${PROJECT_SOURCE_DIR}/third-party/SDL/include
 )
 
-
-add_subdirectory(${PROJECT_SOURCE_DIR}/third-party/yaml-cpp)
-add_subdirectory(${PROJECT_SOURCE_DIR}/planning)
-add_subdirectory(${PROJECT_SOURCE_DIR}/tools)
-
 # enable test
 enable_testing()
 add_subdirectory(${PROJECT_SOURCE_DIR}/test)

docker/Dockerfile

@@ -1,9 +1,6 @@
 FROM ubuntu:22.04
 
-ENV DEBIAN_FRONTEND=noninteractive
 
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
 
 RUN apt-get update && \
     apt-get upgrade -y && \
@@ -13,7 +10,6 @@ RUN apt-get update && \
     vim \
     nano \
     cmake \
-    libsfml-dev \
     build-essential \
     software-properties-common && \
     rm -rf /var/lib/apt/lists/*

docker/run.sh

@@ -30,10 +30,15 @@ then
     fi
 else
     printf "${RED}---CREATING DOCKER CONTAINER---\n${NC}"
-    docker run \
+    xhost +local:root &> /dev/null
+    docker run -it \
         --rm \
-        --net=host \
         --privileged \
+        --net=host \
+        --gpus all \
+        --env=NVIDIA_VISIBLE_DEVICES=all \
+        --env=NVIDIA_DRIVER_CAPABILITIES=all \
+        --env=DISPLAY \
         $VOLUMES \
         --name="${CONTAINER_NAME}" \
         $IMAGE_NAME

docker/test.sh

@@ -0,0 +1,40 @@
+#!/bin/bash
+
+RED='\033[0;31m'        # red
+GREEN='\033[0;32m'      # green
+YELLOW='\033[1;33m'     # yellow
+BLUE='\033[1;34m'       # blue
+CYAN='\033[1;36m'       # cyan
+NC='\033[0m'            # no color
+
+IMAGE_NAME="path_planning:latest"
+CONTAINER_NAME=planning
+
+XSOCK=/tmp/.X11-unix
+XAUTH=$HOME/.Xauthority
+
+VOLUMES="--volume=$XSOCK:$XSOCK:rw
+         --volume=$XAUTH:$XAUTH:rw"
+
+if (docker ps --all | grep -q ${CONTAINER_NAME})
+then
+    printf "${GREEN}---DOCKER CONTAINER IS VALID---\n${NC}"
+    if (docker ps | grep -q ${CONTAINER_NAME})
+    then
+        printf "${YELLOW}---OPENNING DOCKER CONTAINER---\n${NC}"
+        docker exec ${CONTAINER_NAME} /bin/bash
+    else
+        printf "${YELLOW}---STARTING DOCKER CONTAINER---\n${NC}"
+        docker start ${CONTAINER_NAME} 1>/dev/null 2>&1
+        docker exec ${CONTAINER_NAME} /bin/bash
+    fi
+else
+    printf "${RED}---CREATING DOCKER CONTAINER---\n${NC}"
+    docker run \
+        --rm \
+        --net=host \
+        --privileged \
+        $VOLUMES \
+        --name="${CONTAINER_NAME}" \
+        $IMAGE_NAME
+fi

main.cpp

@@ -68,7 +68,7 @@ int main(int argc, char **argv)
   // Visualize start and goal nodes
   visualizer->SetStartAndGoal(start_node, goal_node);
 
-  while (true)
+  while (visualizer->IsRunning())
     {
       visualizer->SetGetLogFunction(
           std::bind(&planning::IPlanningWithLogging::GetLog, planner));

planning/grid_base/a_star/a_star.cpp

@@ -101,7 +101,6 @@ Path AStar::FindPath(const Node &start_node, const Node &goal_node,
 
           search_list.push(neighbor_node);
         }
-      std::this_thread::sleep_for(std::chrono::microseconds(100));
     }
 
   if (search_list.empty())

planning/grid_base/bfs/bfs.cpp

@@ -84,7 +84,6 @@ Path BFS::FindPath(const Node &start_node, const Node &goal_node,
 
           search_list.push(neighbor_node);
         }
-      std::this_thread::sleep_for(std::chrono::microseconds(100));
     }
   if (search_list.empty())
     {

planning/grid_base/dfs/dfs.cpp

@@ -81,7 +81,6 @@ Path DFS::FindPath(const Node &start_node, const Node &goal_node,
 
           search_list.push(new_node_parent);
         }
-      std::this_thread::sleep_for(std::chrono::microseconds(100));
     }
 
   if (search_list.empty())

planning/tree_base/rrt/rrt.cpp

@@ -75,7 +75,6 @@ Path RRT::FindPath(const Node &start_node, const Node &goal_node,
           // Get path.
           return ReconstructPath(goal);
         }
-      std::this_thread::sleep_for(std::chrono::milliseconds(1));
     }
 
   return Path();

tools/CMakeLists.txt

@@ -4,32 +4,33 @@ include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${CMAKE_CURRENT_SOURCE_DIR}/include
     ${PROJECT_SOURCE_DIR}
+    ${PROJECT_SOURCE_DIR}/third-party/SDL/include
+
 )
 
 link_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${CMAKE_CURRENT_SOURCE_DIR}/include
     ${PROJECT_SOURCE_DIR}
+    ${PROJECT_SOURCE_DIR}/third-party/SDL/include
 )
 
-set(
-    VISUALIZER_SOURCES
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/visualizer.cpp
-    ${COMMON_PLANNING_FILES}
-)
 
 add_library(
     visualizer
-    SHARED
-    ${VISUALIZER_SOURCES}
+    STATIC
+    src/visualizer.cpp
+)
+
+target_include_directories(visualizer PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
 )
 
 target_link_libraries(
     visualizer
     PUBLIC
-    sfml-system 
-    sfml-graphics 
-    sfml-window
     common_tree_base
+    SDL3::SDL3
 )
 

tools/include/visualizer.h

@@ -12,11 +12,10 @@
 #ifndef TOOLS_INCLUDE_VISUALIZER_H_
 #define TOOLS_INCLUDE_VISUALIZER_H_
 
+#include "SDL3/SDL.h"
 #include "planning/include/data_types.h"
 #include "planning/include/i_planning.h"
 #include "planning/tree_base/include/common_tree_base.h"
-#include <SFML/Graphics.hpp>
-#include <SFML/Graphics/RenderTexture.hpp>
 #include <cstddef>
 #include <functional>
 #include <memory>
@@ -29,15 +28,15 @@ namespace tools
 using pair_size_t = std::pair<std::size_t, std::size_t>;
 using pair_double = std::pair<double, double>;
 
-inline std::unordered_map<planning::NodeState, sf::Color> GetColorMap()
+inline std::unordered_map<planning::NodeState, SDL_Color> GetColorMap()
 {
-  std::unordered_map<planning::NodeState, sf::Color> colors_;
-  colors_.insert({planning::NodeState::kFree, sf::Color::White});
-  colors_.insert({planning::NodeState::kVisited, sf::Color::Blue});
-  colors_.insert({planning::NodeState::kOccupied, sf::Color::Black});
-  colors_.insert({planning::NodeState::kStart, sf::Color::Green});
-  colors_.insert({planning::NodeState::kGoal, sf::Color::Yellow});
-  colors_.insert({planning::NodeState::kPath, sf::Color::Red});
+  std::unordered_map<planning::NodeState, SDL_Color> colors_;
+  colors_.insert({planning::NodeState::kFree, SDL_Color{255, 255, 255, 255}});
+  colors_.insert({planning::NodeState::kVisited, SDL_Color{0, 0, 255, 255}});
+  colors_.insert({planning::NodeState::kOccupied, SDL_Color{0, 0, 0, 255}});
+  colors_.insert({planning::NodeState::kStart, SDL_Color{0, 255, 0, 255}});
+  colors_.insert({planning::NodeState::kGoal, SDL_Color{255, 0, 0, 255}});
+  colors_.insert({planning::NodeState::kPath, SDL_Color{255, 0, 0, 255}});
 
   return colors_;
 }
@@ -47,12 +46,11 @@ class Visualizer
 public:
   Visualizer(std::shared_ptr<planning::Map> map, pair_double size_coeff,
              double kDelay, std::string window_name, std::string planner_name);
-  ~Visualizer() { window_.close(); }
-
+  ~Visualizer() = default;
   void SetStartAndGoal(const planning::Node &start_node,
                        const planning::Node &goal_node);
 
-  void MapToTexture();
+  void RenderMap();
 
   void VizGridLog();
   void VizTreeLog();
@@ -63,22 +61,29 @@ class Visualizer
   }
 
   void Run();
+  bool IsRunning() { return is_running_; }
+  void CheckEvent();
+  void ClearScreen();
+  void DrawLine(planning::Node start, planning::Node end);
+  void DrawFilledRectangle(planning::Node start, planning::Node end);
 
 private:
   std::shared_ptr<planning::Map> map;
   pair_double size_coeff_;
   double kDelay_;
   std::string window_name_;
   std::string planner_name_;
+  SDL_bool loopShouldStop = SDL_FALSE;
+  bool is_running_ = true;
 
-  std::unordered_map<planning::NodeState, sf::Color> colors_;
-  sf::RenderWindow window_;
-  sf::RenderTexture render_texture_;
+  std::unordered_map<planning::NodeState, SDL_Color> colors_;
+  SDL_Window *win = NULL;
+  SDL_Renderer *renderer = NULL;
   std::function<void()> viz_function_;
   std::function<planning::Log()> get_log_function_;
 
-  sf::CircleShape start_node_;
-  sf::CircleShape goal_node_;
+  planning::Node start_node_;
+  planning::Node goal_node_;
   std::thread window_thread_;
 };