Continuous-time Conflict Based Search prototype (#15)

Signed-off-by: Michael X. Grey <[email protected]>

.github/workflows/ci_linux.yaml

@@ -3,9 +3,14 @@ name: ci_linux
 on:
   schedule:
     # * is a special character in YAML so you have to quote this string
-    - cron:  '30 2 * * *'
+    # The final 1 indicates that we want to run this test on Tuesdays, making
+    # this a weekly test.
+    - cron:  '30 2 * * 1'
+  workflow_dispatch:
   pull_request:
-
+  push:
+    branches: [main]
+
 env:
   CARGO_TERM_COLOR: always
 
@@ -15,16 +20,13 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - name: Instally nightly
+    - name: Install nightly
       run: |
-        rustup toolchain install nightly
         rustup default nightly
     - uses: actions/checkout@v3
-    - name: Build mapf
-      run: cd mapf && cargo build
-    - name: Run tests mapf
-      run: cd mapf && cargo test
-    - name: Build mapf-viz
-      run: cd mapf-viz && cargo build
-    - name: Run tests mapf-viz
-      run: cd mapf-viz && cargo test
+    - name: Build workspace
+      run: |
+        cargo build --workspace --tests
+    - name: Run tests
+      run: |
+        cargo test --tests

.github/workflows/ci_windows.yaml

@@ -0,0 +1,45 @@
+name: ci_windows
+on:
+  schedule:
+    # * is a special character in YAML so you have to quote this string
+    # The final 1 indicates that we want to run this test on Tuesdays, making
+    # this a weekly test.
+    - cron:  '30 2 * * 1'
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches: [main]
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  build:
+    runs-on: windows-latest
+
+    steps:
+    - name: checkout
+      uses: actions/checkout@v3
+
+    - name: Install Rustup using win.rustup.rs
+      run: |
+        # Disable the download progress bar which can cause perf issues
+        $ProgressPreference = "SilentlyContinue"
+        Invoke-WebRequest https://win.rustup.rs/ -OutFile rustup-init.exe
+        .\rustup-init.exe -y --default-host=x86_64-pc-windows-msvc --default-toolchain=none
+        del rustup-init.exe
+        rustup default nightly
+        rustup target add x86_64-pc-windows-msvc
+      shell: powershell
+
+    - name: build
+      run: |
+        rustc -Vv
+        cargo -V
+        cargo build --workspace --tests
+      shell: cmd
+
+    - name: test
+      run: |
+        cargo test --tests
+      shell: cmd

README.md

@@ -1,3 +1,7 @@
+[![style](https://github.com/open-rmf/mapf/actions/workflows/style.yaml/badge.svg)](https://github.com/open-rmf/mapf/actions/workflows/style.yaml)
+[![ci_linux](https://github.com/open-rmf/mapf/actions/workflows/ci_linux.yaml/badge.svg)](https://github.com/open-rmf/mapf/actions/workflows/ci_linux.yaml)
+[![ci_windows](https://github.com/open-rmf/mapf/actions/workflows/ci_windows.yaml/badge.svg)](https://github.com/open-rmf/mapf/actions/workflows/ci_windows.yaml)
+
 # multi-agent (path finding) planning framework
 
 Mapf is a (currently experimental) Rust library for multi-agent planning, with
@@ -10,3 +14,60 @@ This is being developed as part of the [Open-RMF](https://github.com/open-rmf)
 project which provides an open source framework for enabling interoperability
 between heterogeneous fleets of mobile robots, including cooperation across
 different platforms and vendors.
+
+# Helpful Links
+
+* [Rust Book](https://doc.rust-lang.org/stable/book/)
+
+# Install dependencies
+
+## Ubuntu / MacOS / Linux / Unix
+
+We tend to always target the latest versions of Rust, so we recommend using the `rustup` tool: https://www.rust-lang.org/tools/install
+
+```bash
+$ curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
+```
+
+If you already have `rustup` then you can use this to bring your installation up to date:
+```bash
+$ rustup update
+```
+
+## Windows
+
+Follow instructions for installing rustup-init.exe [here](https://forge.rust-lang.org/infra/other-installation-methods.html#other-ways-to-install-rustup).
+
+# Use nightly
+
+We are currently using a few unstable features from the nightly toolchain of Rust
+because they allow `mapf` to have extreme customizability without any loss to
+performance. The easiest way to use the nightly version is to make it your default
+toolchain with this command:
+
+```bash
+$ rustup default nightly
+```
+
+# Run an example
+
+From the root directory:
+
+```bash
+$ cargo run --release --example grid
+```
+
+This example will allow you to experiment with multiple agents cooperatively
+planning from their starts to their goals in a grid environment. Use left/right
+click to set the start/goal cells of each agent. Use shift+left/right click to
+add/remove occupancy from cells. The velocities and sizes of each agent can be
+customized independently, and you can save/load scenarios into yaml files.
+
+Some premade scenarios can be found in the `mapf-viz/scenarios` folder. Load a
+scenario on startup by passing the scenario name as an executable argument, e.g.:
+
+```bash
+$ cargo run --release --example grid -- mapf-viz/scenarios/sizes.yaml
+```
+
+Note that the scenario filename to load at startup must come after a `--` with a space on each side.

mapf-viz/Cargo.toml

@@ -11,7 +11,7 @@ iced = { git = "https://github.com/mxgrey/iced", branch = "asymmetric_scale", fe
 iced_aw = { git = "https://github.com/iced-rs/iced_aw", branch = "main" }
 iced_native = { git = "https://github.com/mxgrey/iced", branch = "asymmetric_scale" }
 serde = { version="1.0", features = ["derive"] }
-serde_json = "1.0"
+serde_yaml = "*"
 async-std = "1.0"
 directories-next = "2.0"
 native-dialog = "*"
@@ -20,3 +20,4 @@ lyon = "*"
 nalgebra = "*"
 arrayvec = "*"
 time-point = "*"
+clap = { version = "4.2.1", features = ["derive"] }