feat: add option to display a background map on the dotbot map

.github/workflows/continuous-integration.yml

@@ -52,6 +52,28 @@ jobs:
       with:
         verbose: true
 
+  control_loop:
+    name: check custom control loop
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os:
+          - ubuntu-latest
+          - macos-latest
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v4
+      - name: Checkout DotBot-libs repo
+        uses: actions/checkout@v4
+        with:
+          repository: DotBots/DotBot-libs
+          path: DotBot-libs
+      - name: Build control loop library
+        run: |
+          cmake -DDOTBOT_LIBS_DIR=${PWD}/DotBot-libs -S utils/control_loop -B build
+          cmake --build build
+
   doc:
     name: check documentation
     runs-on: ubuntu-latest
@@ -92,7 +114,7 @@ jobs:
         path: ./dotbot/frontend/build
 
   package:
-    needs: [test, doc, frontend]
+    needs: [test, doc, frontend, control_loop]
     name: build source package
     runs-on: ${{ matrix.os }}
     strategy:

doc/conf.py

@@ -46,6 +46,9 @@
     ("py:class", r"Query"),
     ("py:class", r"PydanticUndefined"),
     ("py:class", r"queue.Queue"),
+    ("py:class", r"_ctypes.Structure"),
+    ("py:class", r"pathlib._local.Path"),
+    ("py:class", r"pathlib.Path"),
 ]
 
 # -- Options for HTML output -------------------------------------------------

dotbot/controller.py

@@ -122,6 +122,7 @@ class ControllerSettings:
     network_id: str = NETWORK_ID_DEFAULT
     controller_http_port: int = CONTROLLER_HTTP_PORT_DEFAULT
     map_size: str = MAP_SIZE_DEFAULT
+    background_map: str = ""
     webbrowser: bool = False
     verbose: bool = False
     log_level: str = "info"

dotbot/controller_app.py

@@ -120,6 +120,17 @@
     type=str,
     help=f"Map size in mm. Defaults to '{MAP_SIZE_DEFAULT}'",
 )
+@click.option(
+    "-M",
+    "--background-map",
+    type=click.Path(exists=True, dir_okay=False),
+    help=(
+        f"Path to a background map image file in png format. The image should"
+        "be a top-down view of the environment, with 1024 pixels width and a "
+        "height proportional to the real map size. The map size should be set "
+        f"with the --map-size option (default: {MAP_SIZE_DEFAULT})."
+    ),
+)
 def main(
     adapter,
     port,
@@ -131,6 +142,7 @@ def main(
     network_id,
     controller_http_port,
     map_size,
+    background_map,
     webbrowser,
     verbose,
     log_level,
@@ -153,6 +165,7 @@ def main(
         "network_id": network_id,
         "controller_http_port": controller_http_port,
         "map_size": map_size,
+        "background_map": background_map,
         "webbrowser": webbrowser,
         "verbose": verbose,
         "log_level": log_level,