Pacman tutorial website

README.md

@@ -72,7 +72,17 @@ In this scene,
 </p>
 
 
-We will shortly add a [tutorial](https://github.com/KIT-MRT/arbitration_graphs/pull/51) based on this demo – stay tuned! 
+## Tutorial
+
+Follow our [Tutorial](./docs/Tutorial.md) and learn how to use the Arbitration Graphs library!  
+It's based on this demo and guides you through all important concepts:
+
+0. [Introduction – start here!](./docs/Tutorial.md)
+1. [Implement your first behavior component](./docs/tasks/1_implement_behavior_component.md)
+2. [Extend the arbitration graph with that behavior](./docs/tasks/2_extend_arbitration_graph.md)
+3. [Learn about nested arbitration graphs](./docs/tasks/3_nested_arbitrators.md)
+4. [Arbitrate based on predicted utility](./docs/tasks/4_cost_arbitration.md)
+5. [Verify commands and add a fallback strategy](./docs/tasks/5_verification.md)
 
 
 ## Installation

_config.yml

@@ -17,6 +17,8 @@ layouts_dir: docs/_layouts
 sass:
   sass_dir: docs/assets/_sass
 
+# This will be used as default HTML (sub)title
+tagline: decision-making for robotics
 
 # Support collapsible details/summary sections
 markdown: CommonMarkGhPages

demo/.devcontainer/.bashrc

@@ -0,0 +1,4 @@
+# start Starship prompt
+eval "$(starship init bash)"
+
+source /home/blinky/.motd

demo/.devcontainer/.zshrc

@@ -0,0 +1,89 @@
+# >>> reference: https://carlosneto.dev/blog/2024/2024-02-08-starship-zsh/
+
+# list files with details
+alias ll="ls -larht"
+
+
+# set the locale of the shell
+export LANG="en_US.UTF-8"
+
+# define VSCode as the default text editor
+export EDITOR="code -w"
+
+# specify characters considered as word boundaries for command line navigation
+export WORDCHARS=""
+
+# set the location and filename of the history file
+export HISTFILE="$HOME/.zsh_history"
+
+# set the maximum number of lines to be saved in the history file
+export HISTSIZE="100000"
+export SAVEHIST="$HISTSIZE"
+
+# disable CTRL + S and CTRL + Q
+stty -ixon
+
+# enable comments "#" expressions in the prompt shell
+setopt INTERACTIVE_COMMENTS
+
+# append new history entries to the history file
+setopt APPEND_HISTORY
+
+# save each command to the history file as soon as it is executed
+setopt INC_APPEND_HISTORY
+
+# ignore recording duplicate consecutive commands in the history
+setopt HIST_IGNORE_DUPS
+
+# ignore commands that start with a space in the history
+setopt HIST_IGNORE_SPACE
+
+# >>> bindkey tip: to discovery the code of your keys, execute "$ cat -v" and press the key, the code will be printed in your shell.
+
+# use the ZLE (zsh line editor) in emacs mode. Useful to move the cursor in large commands
+bindkey -e
+
+# navigate words using Ctrl + arrow keys
+# >>> CRTL + right arrow | CRTL + left arrow
+bindkey "^[[1;5C" forward-word
+bindkey "^[[1;5D" backward-word
+
+# macosx override
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  # >>> OPT + right arrow | OPT + left arrow
+  bindkey "^[^[[C" forward-word
+  bindkey "^[^[[D" backward-word
+fi
+
+# search history using Up and Down keys
+# >>> up arrow | down arrow
+bindkey "^[[A" history-beginning-search-backward
+bindkey "^[[B" history-beginning-search-forward
+
+# jump to the start and end of the command line
+# >>> CTRL + A | CTRL + E
+bindkey "^A" beginning-of-line
+bindkey "^E" end-of-line
+# >>> Home | End
+bindkey "^[[H" beginning-of-line
+bindkey "^[[F" end-of-line
+
+# navigate menu for command output
+zstyle ':completion:*:*:*:*:*' menu select
+bindkey '^[[Z' reverse-menu-complete
+
+# delete characters using the "delete" key
+bindkey "^[[3~" delete-char
+
+
+# >>> load ZSH plugin
+
+# enable kubectl plugin autocompletion
+autoload -Uz compinit
+compinit
+
+
+# start Starship prompt
+eval "$(starship init zsh)"
+
+source /home/blinky/.motd

demo/.devcontainer/Dockerfile

@@ -0,0 +1,26 @@
+ARG VERSION=latest
+
+FROM ghcr.io/kit-mrt/arbitration_graphs_pacman_tutorial:$VERSION
+
+USER root
+
+# Install clangd for the VSCode extension to work out of the box
+# Install zsh and tig as modern dev tools
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+      clangd \
+      curl \
+      tig \
+      zsh && \
+    apt-get clean
+
+# Install and use starship terminal prompt
+RUN curl https://starship.rs/install.sh > /tmp/starship_install.sh && \
+    chmod +x /tmp/starship_install.sh && \
+    /tmp/starship_install.sh -y && \
+    rm /tmp/starship_install.sh
+
+COPY .devcontainer/.bashrc /home/blinky/.bashrc
+COPY .devcontainer/.zshrc /home/blinky/.zshrc
+
+USER blinky

demo/.devcontainer/devcontainer.json

@@ -0,0 +1,44 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/docker-existing-docker-compose
+{
+	"name": "Arbitration Graphs Tutorial",
+
+	// Update the 'dockerComposeFile' list if you have more compose files or use different names.
+	// The .devcontainer/docker-compose.yml file contains any overrides you need/want to make.
+	"dockerComposeFile": [
+		"../docker-compose.tutorial.yaml",
+		"docker-compose.yml"
+	],
+
+	// The 'service' property is the name of the service for the container that VS Code should
+	// use. Update this value and .devcontainer/docker-compose.yml to the real service name.
+	"service": "tutorial",
+
+	// The optional 'workspaceFolder' property is the path VS Code should open by default when
+	// connected. This is typically a file mount in .devcontainer/docker-compose.yml
+	"workspaceFolder": "/workspaces/${localWorkspaceFolderBasename}",
+	"customizations": {
+		"vscode": {
+			// Install some useful VSCode C++ extensions
+			"extensions": [
+				"llvm-vs-code-extensions.vscode-clangd",
+				"vadimcn.vscode-lldb",
+				"matepek.vscode-catch2-test-adapter",
+				"twxs.cmake"
+			],
+			"settings": {
+				// Use zsh as default terminal
+				"terminal.integrated.profiles.linux": {
+					"zsh": {
+						"path": "/bin/zsh",
+						"args": ["-l", "-i"]
+					}
+				},
+				"terminal.integrated.defaultProfile.linux": "zsh",
+
+				// Use system installation of clangd
+			  "clangd.path": "clangd"
+			}
+		}
+	}
+}

demo/.devcontainer/docker-compose.yml

@@ -0,0 +1,13 @@
+version: '3.8'
+services:
+  tutorial:
+    build:
+      context: .
+      dockerfile: .devcontainer/Dockerfile
+
+    volumes:
+      - ..:/workspaces:cached
+
+    # Overrides default command so things don't shut down after the process ends.
+    command: sleep infinity
+

demo/.gitignore

@@ -0,0 +1 @@
+build

demo/.vscode/launch.json

@@ -0,0 +1,18 @@
+{
+  // Use IntelliSense to learn about possible attributes.
+  // Hover to view descriptions of existing attributes.
+  // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "type": "lldb",
+      "request": "launch",
+      "name": "Debug Pacman Demo",
+      "program": "${workspaceFolder}/build/arbitration_graphs_pacman_demo",
+      "args": [],
+      "cwd": "${workspaceFolder}",
+      "initCommands":["settings set target.disable-aslr false"],
+      "console": "integratedTerminal"
+    }
+  ]
+}

demo/.vscode/tasks.json

@@ -0,0 +1,39 @@
+{
+  // See https://go.microsoft.com/fwlink/?LinkId=733558
+  // for the documentation about the tasks.json format
+  "version": "2.0.0",
+  "tasks": [
+    {
+      "label": "Create build folder",
+      "type": "shell",
+      "command": "mkdir -p ${workspaceFolder}/build"
+    },
+    {
+      "label": "Configure debug build",
+      "type": "shell",
+      "command": "cmake -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTS=true -S ${workspaceFolder} -B ${workspaceFolder}/build"
+    },
+    {
+      "label": "CMake build for debug",
+      "dependsOn": ["Create build folder", "Configure debug build"],
+      "type": "shell",
+      "command": "cmake --build ${workspaceFolder}/build -j9",
+      "group": {
+        "kind": "build",
+        "isDefault": true
+      }
+    },
+    {
+      "label": "Configure release build",
+      "dependsOn": ["Create build folder"],
+      "type": "shell",
+      "command": "cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=true -S ${workspaceFolder} -B ${workspaceFolder}/build"
+    },
+    {
+      "label": "CMake build for release",
+      "dependsOn": ["Create build folder", "Configure release build"],
+      "type": "shell",
+      "command": "cmake --build ${workspaceFolder}/build -j9"
+    }
+  ]
+}

demo/CMakeLists.txt

@@ -59,23 +59,25 @@ find_package(Yaml-cpp REQUIRED)
 ## Build ##
 ###########
 
-add_library(${PROJECT_NAME} SHARED
+add_library(${PROJECT_NAME}_lib SHARED
   src/astar.cpp
   src/avoid_ghost_behavior.cpp
   src/change_dot_cluster_behavior.cpp
   src/chase_ghost_behavior.cpp
   src/cost_estimator.cpp
   src/cluster.cpp
+  src/eat_closest_dot_behavior.cpp
   src/entities.cpp
   src/environment_model.cpp
   src/move_randomly_behavior.cpp
+  src/stay_in_place_behavior.cpp
   src/utils.cpp
 )
-target_include_directories(${PROJECT_NAME} PRIVATE
+target_include_directories(${PROJECT_NAME}_lib PRIVATE
     include
     ${SDL2_INCLUDE_DIR}
 )
-target_link_libraries(${PROJECT_NAME} PUBLIC
+target_link_libraries(${PROJECT_NAME}_lib PUBLIC
     arbitration_graphs
 
     glog::glog
@@ -86,16 +88,16 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
     ${SDL2_LIBRARY}
 )
 
-add_executable(${PROJECT_NAME}_exe
+add_executable(${PROJECT_NAME}
   src/main.cpp
   src/pacman_wrapper.cpp
 )
-target_include_directories(${PROJECT_NAME}_exe PRIVATE
+target_include_directories(${PROJECT_NAME} PRIVATE
     include
     ${SDL2_INCLUDE_DIR}
 )
-target_link_libraries(${PROJECT_NAME}_exe PRIVATE
-    ${PROJECT_NAME}
+target_link_libraries(${PROJECT_NAME} PRIVATE
+    ${PROJECT_NAME}_lib
 )
 
 
@@ -133,7 +135,7 @@ endif()
 ## Install ##
 #############
 
-install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_exe
+install(TARGETS ${PROJECT_NAME}_lib ${PROJECT_NAME}
         EXPORT ${PROJECT_NAME}Targets
         COMPONENT demo
         LIBRARY DESTINATION lib COMPONENT Runtime

demo/Dockerfile

@@ -61,5 +61,5 @@ WORKDIR /home/blinky/demo/build
 RUN cmake -DCMAKE_BUILD_TYPE=Release .. && \
     cmake --build . -j8
 
-CMD ["bash", "-c", "/home/blinky/.motd && /home/blinky/demo/build/arbitration_graphs_pacman_demo_exe"]
+CMD ["bash", "-c", "/home/blinky/.motd && /home/blinky/demo/build/arbitration_graphs_pacman_demo"]
 

demo/README.md

@@ -0,0 +1,31 @@
+# Arbitration Graphs Demo and Tutorial
+
+This is a demo of the [arbitration_graphs](https://github.com/KIT-MRT/arbitration_graphs) library using Pac-Man as an example application.  
+The arbitration graph controls Pac-Man on its journey to collect tasty dots 🍬
+
+Run the demo with:
+
+```bash
+git clone https://github.com/KIT-MRT/arbitration_graphs.git
+cd arbitration_graphs/demo
+docker compose up
+```
+
+Open the GUI with your favorite browser:  
+[http://0.0.0.0:8080](http://0.0.0.0:8080)
+
+
+## Tutorial
+
+If you're here for the tutorial, follow the instructions on our [Tutorial GitHub Page](https://kit-mrt.github.io/arbitration_graphs/docs/Tutorial.md).
+
+For a smooth out-of-the-box experience, we recommend using [Visual Studio Code](https://code.visualstudio.com/) with our DevContainer setup.
+
+- Open this folder in VSCode
+- Build and open the Dev Container by running this [command](https://code.visualstudio.com/docs/getstarted/userinterface#_command-palette) (use `Ctrl+Shift+P`):  
+  `Dev Containers: Reopen in Container`
+- Enjoy a full-blown IDE with code-completion, code-navigation etc.
+  - Compile via `Ctrl+Shift+B`
+  - View, run and debug unit tests via [Testing](https://code.visualstudio.com/docs/editor/testing) sidebar
+  - Debug the Pac-Man Demo via [Run and Debug](https://code.visualstudio.com/docs/editor/debugging) sidebar
+  - Debug with breakpoints etc.

demo/docker-compose.tutorial.yaml

@@ -0,0 +1,13 @@
+services:
+  tutorial:
+    image: ghcr.io/kit-mrt/arbitration_graphs_pacman_tutorial:$VERSION
+    env_file: .env
+    ports:
+      - "8080:8080"
+    volumes:
+      - .:/home/blinky/demo
+      - $HOME/.Xauthority:/home/blinky/.Xauthority
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    environment:
+      - DISPLAY=$DISPLAY
+