Merge pull request #41 from baylessj/wasm

Check path validity in GUI

.github/workflows/memcheck.yml

@@ -3,7 +3,7 @@ on: push
 jobs:
   memcheck:
     name: memcheck
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-18.04
     steps:
       - uses: actions/checkout@v2
         with:

.gitignore

@@ -68,3 +68,5 @@ plz-out
 
 **.eslintcache
 coverage.info
+.next
+node_modules

main/viscompat/compat.cpp

@@ -1,5 +1,5 @@
-#include "squiggles.hpp"
 #include "compat.hpp"
+#include "squiggles.hpp"
 
 #define K_EPSILON (1e-5)
 
@@ -27,10 +27,10 @@ VisData compute_path(double sx,
   } else {
     model = std::make_shared<PassthroughModel>();
   }
-  auto spline = SplineGenerator(constraints,
-                       model,
-                       dt);
-  std::vector<ProfilePoint> path = spline.generate({ControlVector(Pose(sx, sy, syaw), sv, sa), ControlVector(Pose(gx, gy, gyaw), gv, ga)});
+  auto spline = SplineGenerator(constraints, model, dt);
+  std::vector<ProfilePoint> path =
+    spline.generate({ControlVector(Pose(sx, sy, syaw), sv, sa),
+                     ControlVector(Pose(gx, gy, gyaw), gv, ga)});
   VisData out;
   out.size = path.size();
   out.points = new VisDataPoint[path.size()];

run_clang_format.sh

@@ -1,4 +1,6 @@
 #!/bin/bash
-find include/ -iname *.hpp | xargs clang-format -i -style=file
-find src/ -iname *.cpp | xargs clang-format -i -style=file
-find tst/ -iname *.cpp | xargs clang-format -i -style=file
+find main/include/ -iname *.hpp | xargs clang-format -i -style=file
+find main/src/ -iname *.cpp | xargs clang-format -i -style=file
+find main/test/ -iname *.cpp | xargs clang-format -i -style=file
+find main/viscompat/ -iname *.cpp | xargs clang-format -i -style=file
+find wasm/ -iname *.cpp | xargs clang-format -i -style=file

wasm/BUILD

@@ -0,0 +1,18 @@
+genrule( 
+    name = "gen_test",
+    srcs = ["web_shim.cpp", "//main:squiggles_srcs"],
+    outs = [
+        "squiggles.js",
+    ],
+    cmd = [
+        "./tools/emsdk/upstream/emscripten/emcc $SRCS -s DISABLE_EXCEPTION_CATCHING=2 -s WASM=1 -s MODULARIZE=1 -s EXTRA_EXPORTED_RUNTIME_METHODS='[\"ccall\", \"cwrap\"]' -s EXPORT_NAME=\"'squiggles'\" -s SINGLE_FILE=1 -I main/include --std=gnu++17 -o squiggles.js",
+        "cp squiggles.js ../../../../web/public/js/squiggles.js",
+    ],
+    deps = [
+        # pulling in the squiggles source directly since we need to rebuild the
+        # library with emcc rather than gcc to link properly
+        "//main:squiggles_srcs", 
+        "//main:squiggles_hdrs",
+        "//tools:emcc_lib",
+    ],
+)

wasm/web_shim.cpp

@@ -0,0 +1,84 @@
+#include "emscripten.h"
+#include "squiggles.hpp"
+#include <exception>
+
+using namespace squiggles;
+
+extern "C" {
+
+EMSCRIPTEN_KEEPALIVE
+double linvels() {
+  auto model = std::make_shared<TankModel>(0.4, Constraints(1.0));
+  return model->linear_to_wheel_vels(1.0, 1.0)[0];
+}
+
+// struct GenerateOutput {
+//   double x;
+//   double y;
+//   double yaw;
+//   double vel;
+//   double wheel_0;
+//   double wheel_1;
+//   double curvature;
+// };
+
+// EMSCRIPTEN_KEEPALIVE
+// std::vector<GenerateOutput> generate(double sx,
+//                                      double sy,
+//                                      double syaw,
+//                                      double sv,
+//                                      double gx,
+//                                      double gy,
+//                                      double gyaw,
+//                                      double gv,
+//                                      double max_vel,
+//                                      double max_accel,
+//                                      double max_jerk,
+//                                      double track_width) {
+//   if (!sx) return std::vector<GenerateOutput>();
+//   auto constraints = Constraints(max_vel, max_accel, max_jerk);
+//   auto model = std::make_shared<TankModel>(track_width, constraints);
+//   auto spline = SplineGenerator(constraints, model, 0.1);
+//   auto path = spline.generate({ControlVector(Pose(sx, sy, syaw), sv, 0),
+//                                ControlVector(Pose(gx, gy, gyaw), gv, 0)});
+//   std::vector<GenerateOutput> out;
+//   for (auto p : path) {
+//     out.push_back(GenerateOutput({p.vector.pose.x,
+//                                   p.vector.pose.y,
+//                                   p.vector.pose.yaw,
+//                                   p.vector.vel,
+//                                   p.wheel_velocities[0],
+//                                   p.wheel_velocities[1],
+//                                   p.curvature}));
+//   }
+//   return out;
+// }
+
+EMSCRIPTEN_KEEPALIVE
+int generate(double sx,
+             double sy,
+             double syaw,
+             double sv,
+             double gx,
+             double gy,
+             double gyaw,
+             double gv,
+             double max_vel,
+             double max_accel,
+             double max_jerk,
+             double track_width) {
+  if (!sx)
+    return 1;
+  auto constraints = Constraints(max_vel, max_accel, max_jerk);
+  auto model = std::make_shared<TankModel>(track_width, constraints);
+  auto spline = SplineGenerator(constraints, model, 0.1);
+  // we can't catch exceptions here for some reason, relying on the web client
+  // to do that for us
+  auto path = spline.generate({ControlVector(Pose(sx, sy, syaw), sv, 0),
+                               ControlVector(Pose(gx, gy, gyaw), gv, 0)});
+  // for (auto p: path) {
+  //   printf("%s\n", p.to_string().c_str());
+  // }
+  return 0;
+}
+}

web/package.json

@@ -26,7 +26,7 @@
   "scripts": {
     "predeploy": "npm run build",
     "deploy": "gh-pages -d build",
-    "start": "react-scripts start",
+    "start": "BROWSER=none react-scripts start",
     "build": "react-scripts build",
     "test": "react-scripts test",
     "eject": "react-scripts eject"