Change csv to deal in strings and convert appended values into strings

README.md

@@ -1,9 +1,8 @@
 # SCRIMMAGE Multi-Agent Simulator
 
-[![Build Status](https://travis-ci.org/gtri/scrimmage.png?branch=master)](https://travis-ci.org/gtri/scrimmage)
+[![CI](https://github.com/gtri/scrimmage/actions/workflows/ubuntu-24.04.yml/badge.svg)](https://github.com/gtri/scrimmage/actions/workflows/ubuntu-24.04.yml)
 [![contributions welcome](https://img.shields.io/badge/contributions-welcome-brightgreen.svg?style=flat)](https://github.com/gtri/scrimmage/issues)
-[![Docker Pulls](https://img.shields.io/docker/pulls/syllogismrxs/scrimmage.svg?maxAge=2592000)](https://hub.docker.com/r/syllogismrxs/scrimmage)
-[![Join the chat at https://gitter.im/gtri-scrimmage/community](https://badges.gitter.im/gtri-scrimmage/community.svg)](https://gitter.im/gtri-scrimmage/community?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
+[![Docker Pulls](https://img.shields.io/badge/dynamic/json?url=https%3A%2F%2Fghcr-badge.elias.eu.org%2Fapi%2Fgtri%2Fscrimmage%2Fscrimmage-24.04&query=downloadCount&label=Docker%20Pulls)](ghcr.io/gtri/scrimmage-24.04:latest)
 
 ![SCRIMMAGE Logo](./docs/source/images/scrimmage_vert_black_clean_medium.png)
 
@@ -222,15 +221,15 @@ The SCRIMMAGE docker image is pushed to a public repository after a successful
 build on Travis. If docker is installed on your machine, you can obtain the
 SCRIMMAGE docker image by running the following command:
 
-    docker pull syllogismrxs/scrimmage:latest
+    docker pull ghcr.io/gtri/scrimmage-24.04:latest
 
 You can pass mission files from your host machine to the `scrimmage` executable
 inside of the docker container with the following command:
 
     cd /path/to/scrimmage/missions
     docker run --name my-scrimmage \
         -v ${PWD}/straight_jsbsim.xml:/straight_jsbsim.xml \
-        syllogismrxs/scrimmage:latest /straight_jsbsim.xml
+        ghcr.io/gtri/scrimmage-24.04:latest /straight_jsbsim.xml
 
 The previous command mounts the `straight_jsbsim.xml` mission file on your host
 machine into the scrimmage container and then the `/straight_jsbsim.xml`
@@ -246,7 +245,7 @@ log files from the docker container:
 If you need to drop into a shell inside of the scrimmage container, you will
 need to overwrite the docker image's ENTRYPOINT.
 
-    docker run -it --entrypoint="/bin/bash" syllogismrxs/scrimmage:latest
+    docker run -it --entrypoint="/bin/bash" ghcr.io/gtri/scrimmage-24.04:latest
 
 Once inside of the container, you will need to source the `setup.bash` file
 manually before running a mission.
@@ -259,18 +258,18 @@ If you want to see the scrimmage mission on your host, you can do the following:
 1. Allow docker to connect to your local display
 2. Run the mission in the docker container
 
-   xhost +local:docker
-   docker run -it -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix scrimmage/ubuntu:latest
-   source ~/.scrimmage/setup.bash
-   scrimmage ~/scrimmage/scrimmage/missions/straight.xml
+    xhost +local:docker
+    docker run -it -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix scrimmage/ubuntu:latest
+    source ~/.scrimmage/setup.bash
+    scrimmage ~/scrimmage/scrimmage/missions/straight.xml
 
 If you want gpu access for your docker container You must do the following:
 
 1. Install the container tools for your OS/GPU to allow the container to access your host's resources properly.
-   a. For NVidia GPUS this is the [Nvidia container toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)
+    a. For Nvidia GPUs this is the [Nvidia container toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)
 2. include the --gpus all flag in your docker run invocation
 
-   docker run -it --gpus all -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix scrimmage/ubuntu:latest
+    docker run -it --gpus all -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix scrimmage/ubuntu:latest
 
 ## Building SCRIMMAGE for CentOS or RedHat
 

docs/source/overview/logging.rst

@@ -145,10 +145,10 @@ Print out the data from the CSV file:
    :linenos:
 
    for (int r = 0; r < csv.rows(); r++) {
-      cout << "t: " << csv.at(r, "t") << endl;
-      cout << "x: " << csv.at(r, "x") << endl;
-      cout << "y: " << csv.at(r, "y") << endl;
-      cout << "z: " << csv.at(r, "z") << endl;
+      cout << "t: " << csv.at<double>(r, "t") << endl;
+      cout << "x: " << csv.at<double>(r, "x") << endl;
+      cout << "y: " << csv.at<double>(r, "y") << endl;
+      cout << "z: " << csv.at<double>(r, "z") << endl;
    }
 
 Real-time Plotting from CSV

docs/source/tutorials/parameters.rst

@@ -34,7 +34,7 @@ During the simulation, another plugin can call the ``set_param()`` function:
 
    set_param<double>("desired_z", 100.0)
 
-while will have the affect of directly modifying the value of ``desired_z_`` in
+which will have the affect of directly modifying the value of ``desired_z_`` in
 the plugin that registered that parameter. If you require a callback function
 when the parameter value is updated, you can use the optional callback form of
 the ``register_param()`` function:

docs/source/tutorials/test.rst

@@ -38,7 +38,7 @@ mission level functionality. A sample can be found in
         if (!summary_found) return;
 
         const int row = csv.rows() - 1;
-        double collisions = csv.at(row, "team_coll");
+        double collisions = csv.at<int>(row, "team_coll");
         EXPECT_GT(collisions, 0); // expect collisions
     }
 
@@ -71,5 +71,5 @@ that there was at least one collision in the simulation by reading the
         if (!summary_found) return;
 
         const int row = csv.rows() - 1;
-        double collisions = csv.at(row, "team_coll");
+        double collisions = csv.at<int>(row, "team_coll");
         EXPECT_GT(collisions, 0); // expect collisions

include/scrimmage/common/CSV.h

@@ -34,18 +34,56 @@
 #define INCLUDE_SCRIMMAGE_COMMON_CSV_H_
 
 #include <fstream>
+#include <iomanip>
+#include <iostream>
 #include <list>
 #include <map>
 #include <memory>
+#include <sstream>
 #include <string>
 #include <utility>
+#include <variant>
+
+#include "scrimmage/parse/ParseUtils.h"
+
+namespace {
+
+struct StringifyVisitor {
+
+    bool double_is_fixed = true;
+    bool double_is_scientific = true;
+    int double_precision = 13;
+
+    std::string operator()(bool value) const { return value ? "true" : "false"; }
+    std::string operator()(uint32_t value) const { return std::to_string(value); }
+    std::string operator()(uint64_t value) const { return std::to_string(value); }
+    std::string operator()(int32_t value) const { return std::to_string(value); }
+    std::string operator()(int64_t value) const { return std::to_string(value); }
+    std::string operator()(const std::string& value) const { return value; }
+    std::string operator()(double value) const {
+        // default precision values for double are not enough in many cases
+        std::ostringstream conv;
+        if (double_is_fixed) {
+            conv << std::fixed;
+        }
+        if (double_is_scientific) {
+            conv << std::scientific;
+        }
+        conv << std::setprecision(double_precision) << value;
+        return conv.str();
+    }
+};
+
+}  // namespace
 
 namespace scrimmage {
 
 class CSV {
  public:
-    typedef std::list<std::string> Headers;
-    typedef std::list<std::pair<std::string, double>> Pairs;
+    typedef std::vector<std::string> Headers;
+    typedef std::variant<bool, uint32_t, uint64_t, int32_t, int64_t, std::string, double>
+        PossibleVariantTypes;
+    typedef std::vector<std::pair<std::string, PossibleVariantTypes>> Pairs;
 
     ~CSV();
 
@@ -75,7 +113,11 @@ class CSV {
 
     size_t rows();
 
-    double at(int row, const std::string& header);
+    template <class T1>
+    T1 at(int row, const std::string& header) {
+        const int column = column_headers_.at(header);
+        return convert<T1>(table_.at(row).at(column));
+    }
 
     friend std::ostream& operator<<(std::ostream& os, const CSV& csv);
 
@@ -87,7 +129,7 @@ class CSV {
     void set_double_scientific(bool is_scientific) { double_is_scientific_ = is_scientific; }
 
  protected:
-    std::list<std::string> get_csv_line_elements(const std::string& str);
+    std::string get_csv_string(const PossibleVariantTypes& val) const;
 
     void write_headers();
 
@@ -100,7 +142,7 @@ class CSV {
     // Key 1 : Row Index
     // Key 2 : Column Index
     // Value : Cell Value
-    std::map<int, std::map<int, double>> table_;
+    std::map<int, std::map<int, std::string>> table_;
     int next_row_ = 0;
 
     std::ofstream file_out_;
@@ -110,7 +152,6 @@ class CSV {
     int double_precision_ = 13;
     bool double_is_fixed_ = true;
     bool double_is_scientific_ = false;
-
     std::string headers_to_string() const;
     std::string rows_to_string() const;
     std::string row_to_string(const int& i) const;