Merge pull request #10 from KIT-MRT/gui

Add WebApp GUI

CMakeLists.txt

@@ -18,6 +18,7 @@ project(arbitration_graphs
 )
 
 # Select project features
+set(BUILD_GUI "TRUE" CACHE STRING "Compile the project with the WebApp GUI")
 set(BUILD_TESTS "FALSE" CACHE STRING "Compile the project with all unit tests")
 
 
@@ -95,6 +96,16 @@ configure_package_config_file(
 )
 
 
+#############
+##   GUI   ##
+#############
+
+if(BUILD_GUI)
+  message("Building with WebApp GUI")
+  add_subdirectory(gui)
+endif()
+
+
 #############
 ## Testing ##
 #############

Dockerfile

@@ -13,6 +13,21 @@ RUN apt-get update && \
       libyaml-cpp-dev && \
     apt-get clean
 
+# Install Crow dependencies
+RUN apt-get update && \
+    apt-get install -y \
+      libasio-dev \
+      unzip \
+      wget &&\
+    apt-get clean
+
+# Install Crow (C++ REST/WebSocket server)
+RUN cd /tmp && \
+    wget https://github.com/CrowCpp/Crow/releases/download/v1.2.0/Crow-1.2.0.zip && \
+    unzip Crow-*.zip -d /tmp && \
+    cp -r /tmp/Crow-*/* /usr/local && \
+    rm -r Crow-*
+
 # Install util_caching
 RUN git clone https://github.com/KIT-MRT/util_caching.git /tmp/util_caching && \
     mkdir /tmp/util_caching/build && \
@@ -38,6 +53,7 @@ FROM base AS install
 # Install arbitration_graphs
 COPY CMakeLists.txt /tmp/arbitration_graphs/
 COPY cmake /tmp/arbitration_graphs/cmake
+COPY gui /tmp/arbitration_graphs/gui
 COPY include /tmp/arbitration_graphs/include
 COPY test /tmp/arbitration_graphs/test
 COPY version /tmp/arbitration_graphs/version

README.md

@@ -45,6 +45,9 @@ cd arbitration_graphs/demo
 docker compose up
 ```
 
+Open the GUI with your favorite browser:  
+http://0.0.0.0:8080
+
 ### Explanation
 
 You will see the *Pacman Agent* arbitrator selecting between five behavior options (by priority).  
@@ -63,7 +66,7 @@ In this scene,
 </p>
 
 
-We will shortly add an [arbitration graph GUI](https://github.com/KIT-MRT/arbitration_graphs/pull/10) and a [tutorial](https://github.com/KIT-MRT/arbitration_graphs/pull/51) based on this demo – stay tuned! 
+We will shortly add a [tutorial](https://github.com/KIT-MRT/arbitration_graphs/pull/51) based on this demo – stay tuned! 
 
 
 ## Installation
@@ -90,9 +93,10 @@ find_package(arbitration_graphs REQUIRED)
 
 First make sure all dependencies are installed:
 - [glog](https://github.com/google/glog)
-- [Googletest](https://github.com/google/googletest) (only if you want to build unit tests)
+- [Googletest](https://github.com/google/googletest) (optional, if you want to build unit tests)
 - [yaml-cpp](https://github.com/jbeder/yaml-cpp)
 - [util_caching](https://github.com/KIT-MRT/util_caching)
+- [Crow](https://crowcpp.org) (optional, needed for GUI only)
 
 See also the [`Dockerfile`](./Dockerfile) for how to install these packages under Debian or Ubuntu.
 
@@ -113,6 +117,8 @@ cmake --build .
 sudo cmake --install .
 ```
 
+In order to skip compiling the GUI, use `cmake -DBUILD_GUI=false ..` instead.
+
 
 ## Development
 

demo/Dockerfile

@@ -8,13 +8,14 @@ RUN apt-get update && \
     apt-get install -y --no-install-recommends \
       build-essential \
       cmake \
-      libsdl2-dev
+      libsdl2-dev && \
+    apt-get clean
 
 # Build and install EnTT-Pacman
 RUN git clone https://github.com/KIT-MRT/EnTT-Pacman.git --branch arbitration_graphs_demo /tmp/EnTT-Pacman && \
     cd /tmp/EnTT-Pacman/build && \
     cmake -DCMAKE_BUILD_TYPE=Release .. && \
-    cmake --build . && \
+    cmake --build . -j8 && \
     cmake --install . && \
     rm -rf /tmp/EnTT-Pacman
 

demo/docker-compose.yaml

@@ -7,6 +7,8 @@ services:
         - VERSION=$VERSION
       target: tutorial
     env_file: .env
+    ports:
+      - "8080:8080"
     volumes:
       - .:/home/blinky/demo
       - $HOME/.Xauthority:/home/blinky/.Xauthority
@@ -15,7 +17,7 @@ services:
       - DISPLAY=$DISPLAY
     #
     # This makes sure `docker compose up` only runs the demo service
-    # Use `docker compose run --rm tutorial` to run the tutorial
+    # Use `docker compose run --rm --service-ports tutorial` to run the tutorial
     profiles: ["tutorial"]
 
   demo:
@@ -26,6 +28,8 @@ services:
         - VERSION=$VERSION
       target: demo
     env_file: .env
+    ports:
+      - "8080:8080"
     volumes:
       - $HOME/.Xauthority:/home/blinky/.Xauthority
       - /tmp/.X11-unix:/tmp/.X11-unix

demo/include/demo/avoid_ghost_behavior.hpp

@@ -26,7 +26,7 @@ class AvoidGhostBehavior : public arbitration_graphs::Behavior<Command> {
 
     AvoidGhostBehavior(EnvironmentModel::Ptr environmentModel,
                        const Parameters& parameters,
-                       const std::string& name = "AvoidGhostBehavior")
+                       const std::string& name = "AvoidGhost")
             : Behavior(name), environmentModel_{std::move(environmentModel)}, parameters_{parameters} {
     }
 

demo/include/demo/change_dot_cluster_behavior.hpp

@@ -21,7 +21,7 @@ class ChangeDotClusterBehavior : public arbitration_graphs::Behavior<Command> {
     using Clusters = utils::DotClusterFinder::Clusters;
 
     explicit ChangeDotClusterBehavior(EnvironmentModel::Ptr environmentModel,
-                                      const std::string& name = "ChangeDotClusterBehavior")
+                                      const std::string& name = "ChangeDotCluster")
             : Behavior(name), environmentModel_{std::move(environmentModel)} {
     }
 

demo/include/demo/chase_ghost_behavior.hpp

@@ -27,7 +27,7 @@ class ChaseGhostBehavior : public arbitration_graphs::Behavior<Command> {
 
     ChaseGhostBehavior(EnvironmentModel::Ptr environmentModel,
                        const Parameters& parameters,
-                       const std::string& name = "ChaseGhostBehavior")
+                       const std::string& name = "ChaseGhost")
             : Behavior(name), environmentModel_{std::move(environmentModel)}, parameters_{parameters} {
     }
 

demo/include/demo/eat_closest_dot_behavior.hpp

@@ -15,8 +15,7 @@ class EatClosestDotBehavior : public arbitration_graphs::Behavior<Command> {
     using Ptr = std::shared_ptr<EatClosestDotBehavior>;
     using ConstPtr = std::shared_ptr<const EatClosestDotBehavior>;
 
-    explicit EatClosestDotBehavior(EnvironmentModel::Ptr environmentModel,
-                                   const std::string& name = "EatClosestDotBehavior")
+    explicit EatClosestDotBehavior(EnvironmentModel::Ptr environmentModel, const std::string& name = "EatClosestDot")
             : Behavior(name), environmentModel_{std::move(environmentModel)} {
     }
 

demo/include/demo/pacman_agent.hpp

@@ -83,6 +83,14 @@ class PacmanAgent {
         to_stream(stringStream, time);
         return stringStream.str();
     }
+    std::string yamlString(const Time& time) const {
+        YAML::Node node;
+        node["type"] = "PacmanArbitrator";
+        node["arbitration"] = rootArbitrator_->toYaml(time);
+        std::stringstream yamlString;
+        yamlString << node;
+        return yamlString.str();
+    }
 
 private:
     EnvironmentModel::Ptr environmentModel_;

demo/include/demo/stay_in_place_behavior.hpp

@@ -20,8 +20,7 @@ class StayInPlaceBehavior : public arbitration_graphs::Behavior<Command> {
     using Ptr = std::shared_ptr<StayInPlaceBehavior>;
     using ConstPtr = std::shared_ptr<const StayInPlaceBehavior>;
 
-    explicit StayInPlaceBehavior(EnvironmentModel::Ptr environmentModel,
-                                 const std::string& name = "StayInPlaceBehavior")
+    explicit StayInPlaceBehavior(EnvironmentModel::Ptr environmentModel, const std::string& name = "StayInPlace")
             : Behavior(name), environmentModel_{std::move(environmentModel)} {
     }
 

demo/src/main.cpp

@@ -1,23 +1,32 @@
 #include <exception>
 #include <iostream>
+#include <thread>
+
+#include <arbitration_graphs/gui/web_server.hpp>
 
 #include "demo/pacman_agent.hpp"
 #include "demo/types.hpp"
 #include "utils/pacman_wrapper.hpp"
 
 using namespace demo;
 using namespace utils;
+using namespace arbitration_graphs;
 
 int main() {
     try {
         PacmanWrapper demo;
         PacmanAgent agent(demo.game());
 
+        gui::WebServer server(8080, true);
+
         while (!demo.quit()) {
             agent.updateEnvironmentModel(demo.game());
 
-            Command command = agent.getCommand(Clock::now());
-            std::cout << agent.to_str(Clock::now()) << '\n';
+            const Time time = Clock::now();
+
+            Command command = agent.getCommand(time);
+
+            server.broadcast(agent.yamlString(time));
 
             demo.progressGame(command, agent.environmentModel());
         }

demo/test/CMakeLists.txt

@@ -24,9 +24,21 @@ if(GTEST_FOUND)
 
     add_executable(${TEST_TARGET_NAME} ${_test})
 
+    target_include_directories(${TEST_TARGET_NAME} PRIVATE
+        $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+        ${SDL2_INCLUDE_DIR}
+    )
+
     target_link_libraries(${TEST_TARGET_NAME} PUBLIC
-      ${GTEST_BOTH_LIBRARIES} pthread
+      ${GTEST_BOTH_LIBRARIES}
+      pthread
       ${PROJECT_NAME}
+      arbitration_graphs
+      EnTT_Pacman
+      util_caching
+      ${SDL2_LIBRARY}
+      ${YAML_CPP_LIBRARIES}
     )
 
     add_test(NAME ${TEST_TARGET_NAME}

gui/CMakeLists.txt

@@ -0,0 +1,69 @@
+# Call this from the top-level CMakeLists.txt
+
+cmake_minimum_required(VERSION 3.22)
+
+
+################
+## Crow setup ##
+################
+
+# Pass install data directory to the Crow web server,
+# as the Web App files will be located there
+
+include(GNUInstallDirs)
+
+set(CMAKE_CROW_STATIC_DIRECTORY ${CMAKE_INSTALL_FULL_DATADIR}/${PROJECT_NAME})
+message("Install directory for WebApp GUI: CROW_STATIC_DIRECTORY=${CMAKE_CROW_STATIC_DIRECTORY}")
+configure_file (
+  "${PROJECT_SOURCE_DIR}/gui/include/arbitration_graphs/gui/crow_config.hpp.in"
+  "${PROJECT_BINARY_DIR}/include/arbitration_graphs/gui/crow_config.hpp"
+)
+
+
+###################
+## Find packages ##
+###################
+
+find_package(Crow REQUIRED)
+
+
+###########
+## Build ##
+###########
+
+# Declare a cpp library
+add_library(${PROJECT_NAME}_gui INTERFACE
+  include/arbitration_graphs/gui/web_server.hpp
+)
+target_include_directories(${PROJECT_NAME}_gui INTERFACE
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/gui/include/${PROJECT_NAME}>
+  $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/include/${PROJECT_NAME}/gui>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+)
+target_link_libraries(${PROJECT_NAME}_gui INTERFACE
+  Crow::Crow
+)
+
+
+#############
+## Install ##
+#############
+
+set(INSTALL_TARGETS ${INSTALL_TARGETS} ${PROJECT_NAME}_gui PARENT_SCOPE)
+install(DIRECTORY htmlroot/ DESTINATION ${CMAKE_CROW_STATIC_DIRECTORY})
+install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/ DESTINATION include
+  PATTERN "*.in" EXCLUDE
+)
+install(DIRECTORY ${CMAKE_BINARY_DIR}/include/ DESTINATION include)
+
+
+#############
+## Testing ##
+#############
+
+# Testing only available if this is the main project
+# Emergency override ARBITRATION_GRAPHS_GUI_CMAKE_BUILD_TESTING provided as well
+if((CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME OR ARBITRATION_GRAPHS_GUI_CMAKE_BUILD_TESTING)
+   AND BUILD_TESTS)
+  add_subdirectory(test)
+endif()