Feature/ada backend

.devcontainer/Dockerfile

@@ -1,4 +1,4 @@
-FROM ubuntu:22.04
+FROM ubuntu:25.10
 
 LABEL maintainer="Felix Renzikowski <st166260@stud.uni-stuttgart.de>"
 
@@ -16,7 +16,10 @@ RUN apt-get update && apt-get install -y \
     qtbase5-dev \
     qt5-qmake \
     libgtest-dev \
-    libopencv-dev
+    libopencv-dev \
+    gprbuild \
+    ninja-build \
+    gnat
 
 RUN mkdir /usr/src/gtest/build
 RUN cd /usr/src/gtest/build && cmake .. && make && cd lib && cp *.a /usr/lib

.github/workflows/build_test_only.yml

@@ -14,7 +14,7 @@ jobs:
       - name: Install dependencies
         run: |
           sudo apt-get update
-          sudo apt-get install -y qtcreator qtbase5-dev qt5-qmake cmake ninja-build make libgtest-dev libopencv-dev
+          sudo apt-get install -y qtcreator qtbase5-dev qt5-qmake cmake ninja-build make libgtest-dev libopencv-dev gprbuild gnat
           sudo mkdir /usr/src/gtest/build
           sudo cd /usr/src/gtest/build && sudo cmake .. && sudo make && sudo cd lib && sudo cp *.a /usr/lib
           sudo rm -r /usr/src/gtest/build

.github/workflows/full.yml

@@ -15,16 +15,16 @@ jobs:
         run: |
           sudo apt-get update
           sudo apt-get install -y qtcreator qtbase5-dev texlive-full qt5-qmake doxygen build-essential
-          sudo apt-get install -y cmake graphviz ninja-build make libgtest-dev libopencv-dev
+          sudo apt-get install -y cmake graphviz ninja-build make libgtest-dev libopencv-dev gprbuild gnat
           sudo mkdir /usr/src/gtest/build
           cd /usr/src/gtest/build && sudo cmake .. && sudo make && cd lib && sudo cp *.a /usr/lib
           sudo rm -r /usr/src/gtest/build
           sudo apt upgrade -y
 
       - name: Configure and Build CMake
         run: |
-          cmake -GNinja -S ${{github.workspace}} -B ${{github.workspace}}/build
-          cmake --build ${{github.workspace}}/build 
+          cmake -GNinja -S ${{github.workspace}} -B ${{github.workspace}}/build -DWITH_DOCS=ON -DWITH_PAPER=ON
+          cmake --build ${{github.workspace}}/build
 
       - name: Test
         working-directory: ${{github.workspace}}/build

.gitignore

@@ -33,6 +33,9 @@
 
 # Custom
 cmake-build-debug/
+build/
+Core/Pathfinder/ada_backend/lib
+Core/Pathfinder/ada_backend/obj
 .idea/
 Paper/out
 *.log

.vscode/launch.json

@@ -0,0 +1,20 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "name": "Debug Pathfinding (GUI)",
+      "type": "cppdbg",
+      "request": "launch",
+      "program": "${workspaceFolder}/build/Pathfinding_Bench_Program",
+      "args": ["--gui"],
+      "cwd": "${workspaceFolder}",
+      "stopAtEntry": false,
+      "MIMode": "gdb",
+      "miDebuggerPath": "/usr/bin/gdb",
+      "setupCommands": [
+        { "description": "Enable pretty-printing", "text": "-enable-pretty-printing", "ignoreFailures": true }
+      ],
+      "preLaunchTask": "CMake: build"
+    }
+  ]
+}

CMakeLists.txt

@@ -7,6 +7,9 @@ project(
         LANGUAGES C CXX ASM
 )
 
+option(WITH_DOCS  "Build documentation" OFF)
+option(WITH_PAPER "Build paper output"   OFF)
+
 enable_testing()
 set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -35,33 +38,37 @@ add_subdirectory(Core/GUI)
 add_executable(Pathfinding_Bench_Program Core/main.cpp)
 target_link_libraries(Pathfinding_Bench_Program Application GridGenerator Pathfinder GUI RunInterface GUI_widgets)
 
-# doxygen documentation
-find_package(Doxygen)
-
-if (DOXYGEN_FOUND)
-    set(DOXYGEN_IN ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in)
-    set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
-
-    configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
-    add_custom_command(TARGET Pathfinding_Bench_Program POST_BUILD
-            COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT} > /dev/null 2>&1
-            WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-            COMMENT "Generating API documentation with Doxygen"
-    )
-
-    find_program(MAKE_EXECUTABLE make)
-    if (MAKE_EXECUTABLE)
-        add_custom_command(TARGET Pathfinding_Bench_Program POST_BUILD
-                COMMAND ${MAKE_EXECUTABLE} > /dev/null 2>&1
-                WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/docs/latex
-                COMMENT "Generating PDF documentation"
-        )
-    else (MAKE_EXECUTABLE)
-        message("Could not find 'make' command for generating PDF documentation.")
-    endif ()
-else (DOXYGEN_FOUND)
-    message("Doxygen needs to be installed to generate the doxygen documentation")
-endif (DOXYGEN_FOUND)
+if(WITH_DOCS)
+        # doxygen documentation
+        find_package(Doxygen)
+
+        if (DOXYGEN_FOUND)
+                set(DOXYGEN_IN ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in)
+                set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+
+                configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
+                add_custom_command(TARGET Pathfinding_Bench_Program POST_BUILD
+                        COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT} > /dev/null 2>&1
+                        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+                        COMMENT "Generating API documentation with Doxygen"
+                )
+        else (DOXYGEN_FOUND)
+                message("Doxygen needs to be installed to generate the doxygen documentation")
+        endif (DOXYGEN_FOUND)  
+endif(WITH_DOCS)
+
+if(WITH_PAPER)
+        find_program(MAKE_EXECUTABLE make)
+        if (MAKE_EXECUTABLE)
+                add_custom_command(TARGET Pathfinding_Bench_Program POST_BUILD
+                        COMMAND ${MAKE_EXECUTABLE} > /dev/null 2>&1
+                        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/docs/latex
+                        COMMENT "Generating PDF documentation"
+                )
+        else (MAKE_EXECUTABLE)
+                message("Could not find 'make' command for generating PDF documentation.")
+        endif ()
+endif(WITH_PAPER)
 
 # set up testing
 find_package(GTest)

Core/Pathfinder/CMakeLists.txt

@@ -1,7 +1,41 @@
-# Glob for the inc and src directories in each module
-file(GLOB SOURCE_FILES "src/*.cpp")
+find_program(GPRBUILD_EXECUTABLE NAMES gprbuild gnatmake)
+if(NOT GPRBUILD_EXECUTABLE)
+	message(FATAL_ERROR "gprbuild not found; please install GNAT or ensure gprbuild is on PATH")
+endif()
+
+include(ExternalProject)
+
+set(ADA_OUTPUT_LIB "${CMAKE_CURRENT_SOURCE_DIR}/ada_backend/lib/libpathfinding_ada.so")
+set(ADA_PROJECT_FILE "${CMAKE_CURRENT_SOURCE_DIR}/ada_backend/libpathfinding_ada.gpr")
+
+add_custom_command(
+  OUTPUT "${ADA_OUTPUT_LIB}"
+  COMMAND gprbuild -p -P "${ADA_PROJECT_FILE}"
+  WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
+  COMMENT "Building Ada library via gprbuild"
+  VERBATIM
+)
+
+add_custom_target(Pathfinder_Ada_Proj ALL
+  DEPENDS "${ADA_OUTPUT_LIB}"
+)
+
+add_library(Pathfinder_C_ABI STATIC ${CMAKE_CURRENT_SOURCE_DIR}/c_abi/src/pathfinding_c_inf.cpp)
+target_include_directories(Pathfinder_C_ABI PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/c_abi/inc)
 
-# Add each module as a library and set its dependencies
+add_library(Pathfinder_Ada SHARED IMPORTED GLOBAL)
+set_target_properties(Pathfinder_Ada PROPERTIES
+  IMPORTED_LOCATION "${ADA_OUTPUT_LIB}"
+)
+
+add_dependencies(Pathfinder_Ada Pathfinder_Ada_Proj Pathfinder_C_ABI)
+
+target_link_libraries(Pathfinder_Ada INTERFACE Pathfinder_C_ABI)
+add_dependencies(Pathfinder_Ada Pathfinder_Ada_Proj Pathfinder_C_ABI)
+target_link_libraries(Pathfinder_C_ABI PRIVATE GridGenerator)
+
+file(GLOB SOURCE_FILES "src/*.cpp")
 add_library(Pathfinder ${SOURCE_FILES})
 target_include_directories(Pathfinder PUBLIC inc)
-target_link_libraries(Pathfinder GridGenerator)
+target_link_libraries(Pathfinder GridGenerator Pathfinder_Ada Pathfinder_C_ABI)
+

Core/Pathfinder/ada_backend/libpathfinding_ada.gpr

@@ -0,0 +1,10 @@
+library project libpathfinding_ada is
+   for Source_Dirs use ("src");
+   for Library_Dir use "lib";
+   for Object_Dir use "obj";
+   for Library_Name use "pathfinding_ada";
+   for Library_Kind use "dynamic";
+   package Compiler is
+      for Default_Switches ("Ada") use ("-g", "-O0");
+   end Compiler;
+end libpathfinding_ada;

Core/Pathfinder/ada_backend/src/a_star.adb

@@ -0,0 +1,83 @@
+with Pathfinder_C_Inf;  use Pathfinder_C_Inf;
+with Pathfinder_Common; use Pathfinder_Common;
+with Interfaces.C;      use Interfaces.C;
+with Interfaces;        use Interfaces;
+with Ada.Text_IO;       use Ada.Text_IO;
+
+package body a_star is
+   procedure nextStep
+     (grid            : Grid_Handle;
+      current_coord_x : Pathfinder_C_Inf.Grid_Idx;
+      current_coord_y : Pathfinder_C_Inf.Grid_Idx;
+      end_coord_x     : Pathfinder_C_Inf.Grid_Idx;
+      end_coord_y     : Pathfinder_C_Inf.Grid_Idx;
+      queue           : Cell_Queue_Handle)
+   with SPARK_Mode => On
+   is
+      current_coord           : Pathfinder_C_Inf.Grid_Coord :=
+        Pathfinder_C_Inf.Grid_Coord'(current_coord_x, current_coord_y);
+      end_coord               : Pathfinder_C_Inf.Grid_Coord :=
+        Pathfinder_C_Inf.Grid_Coord'(end_coord_x, end_coord_y);
+      neighbors               : Neighbors_Array :=
+        get_neighbors_from_coord (grid, current_coord.x, current_coord.y);
+      current_costs           : Cell_Cost :=
+        get_cell_cost (grid, current_coord.x, current_coord.y);
+      current_g               : Safe_Cost := current_costs.gCost;
+      neighbor_coord          : Grid_Coord;
+      neighbor_costs          : Cell_Cost;
+      neighbor_state          : Cell_State;
+      neighbor_g_from_current : C_Double;
+   begin
+      for I in GridCoordArray'Range loop
+         neighbor_coord := neighbors.coords (I);
+
+         -- skip empty sentinel entries (wrapper pads remaining slots with U32_MAX)
+         exit when neighbor_coord.x = -1 and neighbor_coord.y = -1;
+         neighbor_g_from_current :=
+           current_g + Octile_Distance (neighbor_coord, current_coord);
+
+         neighbor_state :=
+           get_cell_state (grid, neighbor_coord.x, neighbor_coord.y);
+
+         if neighbor_state = CELL_OPEN then
+            set_cell_costs
+              (grid,
+               neighbor_coord.x,
+               neighbor_coord.y,
+               neighbor_g_from_current,
+               Absolute_Distance (neighbor_coord, end_coord));
+            set_parent_cell_pointer
+              (grid,
+               neighbor_coord.x,
+               neighbor_coord.y,
+               current_coord.x,
+               current_coord.y);
+            mark_cell_visited (grid, neighbor_coord.x, neighbor_coord.y);
+            push_to_cell_queue (queue, neighbor_coord.x, neighbor_coord.y);
+            increment_visited_cell_count (grid);
+
+         elsif neighbor_state = CELL_VISITED then
+            neighbor_costs :=
+              get_cell_cost (grid, neighbor_coord.x, neighbor_coord.y);
+            if neighbor_costs.gCost > neighbor_g_from_current then
+               -- preserve previous h-cost
+               set_cell_costs
+                 (grid,
+                  neighbor_coord.x,
+                  neighbor_coord.y,
+                  neighbor_g_from_current,
+                  neighbor_costs.hCost);
+               set_parent_cell_pointer
+                 (grid,
+                  neighbor_coord.x,
+                  neighbor_coord.y,
+                  current_coord.x,
+                  current_coord.y);
+               push_to_cell_queue (queue, neighbor_coord.x, neighbor_coord.y);
+               increment_visited_cell_count (grid);
+            end if;
+         end if;
+      end loop;
+   end nextStep;
+
+end a_star;

Core/Pathfinder/ada_backend/src/a_star.ads

@@ -0,0 +1,18 @@
+with Pathfinder_C_Inf; use Pathfinder_C_Inf;
+
+package a_star is
+   procedure nextStep
+     (grid            : Grid_Handle;
+      current_coord_x : Pathfinder_C_Inf.Grid_Idx;
+      current_coord_y : Pathfinder_C_Inf.Grid_Idx;
+      end_coord_x     : Pathfinder_C_Inf.Grid_Idx;
+      end_coord_y     : Pathfinder_C_Inf.Grid_Idx;
+      queue           : Cell_Queue_Handle)
+   with
+     Convention    => C,
+     SPARK_Mode    => On,
+     Export        => True,
+     External_Name => "ada_astar_next_step",
+     Global        => null;
+
+end a_star;

Core/Pathfinder/ada_backend/src/dijkstra.adb

@@ -0,0 +1,79 @@
+with Pathfinder_C_Inf;  use Pathfinder_C_Inf;
+with Pathfinder_Common; use Pathfinder_Common;
+with Interfaces.C;      use Interfaces.C;
+with Interfaces;        use Interfaces;
+with Ada.Text_IO;       use Ada.Text_IO;
+
+package body dijkstra is
+   procedure nextStep
+     (grid            : Grid_Handle;
+      current_coord_x : Pathfinder_C_Inf.Grid_Idx;
+      current_coord_y : Pathfinder_C_Inf.Grid_Idx;
+      queue           : Cell_Queue_Handle)
+   with SPARK_Mode => On
+   is
+      current_coord           : Pathfinder_C_Inf.Grid_Coord :=
+        (x => current_coord_x, y => current_coord_y);
+      neighbors               : constant Neighbors_Array :=
+        get_neighbors_from_coord (grid, current_coord.x, current_coord.y);
+      current_costs           : constant Cell_Cost :=
+        get_cell_cost (grid, current_coord.x, current_coord.y);
+      current_g               : constant Pathfinder_C_Inf.Safe_Cost :=
+        current_costs.gCost;
+      neighbor_coord          : Grid_Coord;
+      neighbor_costs          : Cell_Cost;
+      neighbor_state          : Cell_State;
+      neighbor_g_from_current : Pathfinder_C_Inf.C_Double;
+   begin
+      for I in GridCoordArray'Range loop
+         neighbor_coord := neighbors.coords (I);
+
+         -- skip empty sentinel entries (wrapper pads remaining slots with U32_MAX)
+         exit when neighbor_coord.x = -1 and neighbor_coord.y = -1;
+         neighbor_g_from_current :=
+           current_g + Octile_Distance (neighbor_coord, current_coord);
+
+         neighbor_state :=
+           get_cell_state (grid, neighbor_coord.x, neighbor_coord.y);
+
+         if neighbor_state = CELL_OPEN then
+            set_cell_costs
+              (grid,
+               neighbor_coord.x,
+               neighbor_coord.y,
+               neighbor_g_from_current,
+               0.0);
+            set_parent_cell_pointer
+              (grid,
+               neighbor_coord.x,
+               neighbor_coord.y,
+               current_coord.x,
+               current_coord.y);
+            mark_cell_visited (grid, neighbor_coord.x, neighbor_coord.y);
+            push_to_cell_queue (queue, neighbor_coord.x, neighbor_coord.y);
+            increment_visited_cell_count (grid);
+
+         elsif neighbor_state = CELL_VISITED then
+            neighbor_costs :=
+              get_cell_cost (grid, neighbor_coord.x, neighbor_coord.y);
+            if neighbor_costs.gCost > neighbor_g_from_current then
+               set_cell_costs
+                 (grid,
+                  neighbor_coord.x,
+                  neighbor_coord.y,
+                  neighbor_g_from_current,
+                  0.0);
+               set_parent_cell_pointer
+                 (grid,
+                  neighbor_coord.x,
+                  neighbor_coord.y,
+                  current_coord.x,
+                  current_coord.y);
+               push_to_cell_queue (queue, neighbor_coord.x, neighbor_coord.y);
+               increment_visited_cell_count (grid);
+            end if;
+         end if;
+      end loop;
+   end nextStep;
+
+end dijkstra;