Dev

.vscode/launch.json

@@ -0,0 +1,26 @@
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Remote Debug on Raspberry Pi",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "/Users/ruipedropires/SEA:ME/QTonRaspberryPi/HelloQt6", // Be sure that this is the path where binary is exist on host
+            "stopAtEntry": false,
+            "cwd": "/Users/ruipedropires/SEA:ME/QTonRaspberryPi", // should be host path not target
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "miDebuggerPath": "/usr/bin/gdb-multiarch", // gdb-multiacrh should be used not gdb
+            "miDebuggerServerAddress": "192.168.178.21:2000", // Replace with your Raspberry Pi's IP and the gdbserver port
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                }
+            ],
+            "preLaunchTask": "", // Optional: Specify a task to run before debugging starts
+            "postDebugTask": "" // Optional: Specify a task to run after debugging ends
+        }
+    ]
+}

.vscode/settings.json

@@ -4,7 +4,7 @@
         "editor.defaultFormatter": "xaver.clang-format",
         "editor.formatOnSave": true
     },
-    "clang-format.executable": "C:\\Program Files\\LLVM\\bin\\clang-format.exe",
+    "clang-format.executable": "/opt/homebrew/bin/clang-format",
     "C_Cpp.codeAnalysis.clangTidy.enabled": true,
     "C_Cpp.codeAnalysis.clangTidy.path": "C:\\Program Files\\LLVM\\bin\\clang-tidy.exe"
 }

.vscode/tasks.json

@@ -1,26 +1,29 @@
 {
-    // See https://go.microsoft.com/fwlink/?LinkId=733558
-    // for the documentation about the tasks.json format
     "version": "2.0.0",
     "tasks": [
         {
-            "label": "build",
+            "label": "Build with Docker",
             "type": "shell",
-            "command": "msbuild",
-            "args": [
-                // Ask msbuild to generate full paths for file names.
-                "/property:GenerateFullPaths=true",
-                "/t:build",
-                // Do not generate summary otherwise it leads to duplicate errors in Problems panel
-                "/consoleloggerparameters:NoSummary"
-            ],
-            "group": "build",
-            "presentation": {
-                // Reveal the output only if unrecognized errors occur.
-                "reveal": "silent"
-            },
-            // Use the standard MS compiler pattern to detect errors, warnings and infos
-            "problemMatcher": "$msCompile"
-        }
+            "command": "./helperTasks.sh build_docker_image",
+            "group": "build"
+        },
+        {
+            "label": "Copy binary from tmp container",
+            "type": "shell",
+            "command": "./helperTasks.sh create_binary_and_copy",
+            "group": "build"
+        },
+        {
+            "label": "Send binary to Rasp",
+            "type": "shell",
+            "command": "./helperTasks.sh send_binary_to_rasp",
+            "group": "build"
+        },
+        {
+            "label": "Run gdbserver on Rasp",
+            "type": "shell",
+            "command": "./helperTasks.sh run_gdb_server_on_rasp",
+            "group": "build"
+        }    
     ]
 }

CMakeLists.txt

@@ -1,47 +1,27 @@
-cmake_minimum_required(VERSION 3.16)
-
-project(Speedometer VERSION 0.1 LANGUAGES CXX)
-
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-find_package(Qt6 6.5 REQUIRED COMPONENTS Quick)
-
-qt_standard_project_setup(REQUIRES 6.5)
-
-qt_add_executable(appSpeedometer
-    ./src/main.cpp
-)
-
-qt_add_qml_module(appSpeedometer
-    URI Speedometer
-    VERSION 1.0
-    QML_FILES
-        ./src/Main.qml
-)
-
-# Qt for iOS sets MACOSX_BUNDLE_GUI_IDENTIFIER automatically since Qt 6.1.
-# If you are developing for iOS or macOS you should consider setting an
-# explicit, fixed bundle identifier manually though.
-set_target_properties(appSpeedometer PROPERTIES
-#    MACOSX_BUNDLE_GUI_IDENTIFIER com.example.appSpeedometer
-    MACOSX_BUNDLE_BUNDLE_VERSION ${PROJECT_VERSION}
-    MACOSX_BUNDLE_SHORT_VERSION_STRING ${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}
-    MACOSX_BUNDLE TRUE
-    WIN32_EXECUTABLE TRUE
-)
-
-target_link_libraries(appSpeedometer
-    PRIVATE
-        Qt6::Quick
-        Qt6::Core
-        Qt6::Gui
-        Qt6::Qml
-        Qt6::Network
-)
-
-include(GNUInstallDirs)
-install(TARGETS appSpeedometer
-    BUNDLE DESTINATION .
-    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
-)
+cmake_minimum_required(VERSION 3.5)
+
+project(HelloQt6 LANGUAGES CXX)
+message("CMAKE_SYSROOT " ${CMAKE_SYSROOT})
+message("CMAKE_LIBRARY_ARCHITECTURE " ${CMAKE_LIBRARY_ARCHITECTURE})
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+find_package(Qt6 COMPONENTS Core Quick DBus SerialBus REQUIRED)
+
+set(CMAKE_C_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -Wl,-rpath-link, ${CMAKE_SYSROOT}/usr/lib/${CMAKE_LIBRARY_ARCHITECTURE} -L${CMAKE_SYSROOT}/usr/lib/${CMAKE_LIBRARY_ARCHITECTURE}")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -Wl,-rpath-link,${CMAKE_SYSROOT}/usr/lib/${CMAKE_LIBRARY_ARCHITECTURE} -L${CMAKE_SYSROOT}/usr/lib/${CMAKE_LIBRARY_ARCHITECTURE}")
+# Enable automatic MOC, UIC, and RCC processing
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTOUIC ON)
+set(CMAKE_AUTORCC ON)
+
+qt_add_resources(QT_RESOURCES ./src/resources.qrc)
+
+add_executable(speedometer ${QT_RESOURCES} 
+    ./src/main.cpp
+    ./src/CANBusHandler.cpp
+    ./include/CANBusHandler.hpp
+)
+
+target_link_libraries(speedometer -lm -ldl Qt6::Core Qt6::DBus Qt6::Quick Qt6::SerialBus)
+

include/CANBusHandler.hpp

@@ -0,0 +1,35 @@
+#ifndef CANBUSHANDLER_HPP
+#define CANBUSHANDLER_HPP
+
+#include <QtCore/QObject>
+
+class CANBusHandler : public QObject
+{
+    Q_OBJECT
+    Q_PROPERTY(int speed READ getSpeed WRITE setSpeed NOTIFY speedChanged)
+    Q_PROPERTY(
+        int battery READ getBattery WRITE setBattery NOTIFY batteryChanged)
+
+  public:
+    explicit CANBusHandler(QObject* parent = nullptr);
+    ~CANBusHandler();
+
+    int getSpeed() const;
+    void setSpeed(int speed);
+    int getBattery() const;
+    void setBattery(int battery);
+
+  signals:
+    void speedChanged(int speed);
+    void batteryChanged(int battery);
+
+  private slots:
+    void readFrames();
+
+  private:
+    int canSocket;
+    int m_speed;
+    int m_battery;
+};
+
+#endif // CANBUSHANDLER_HPP

src/CANBusHandler.cpp

@@ -0,0 +1,112 @@
+#include <QtCore/QDebug>
+#include <QtCore/QTimer>
+#include <sys/socket.h>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+#include <arpa/inet.h>
+#include "../include/CANBusHandler.hpp"
+
+CANBusHandler::CANBusHandler(QObject* parent)
+    : QObject(parent), canSocket(-1), m_speed(0), m_battery(0)
+{
+    struct ifreq ifr;
+    struct sockaddr_can addr;
+
+    canSocket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+    if (canSocket < 0)
+    {
+        qWarning() << "Cannot create CAN socket!";
+        return;
+    }
+
+    strcpy(ifr.ifr_name, "can0");
+    ioctl(canSocket, SIOCGIFINDEX, &ifr);
+
+    addr.can_family  = AF_CAN;
+    addr.can_ifindex = ifr.ifr_ifindex;
+    if (bind(canSocket, (struct sockaddr*)&addr, sizeof(addr)) < 0)
+    {
+        qWarning() << "Cannot bind CAN socket!";
+        close(canSocket);
+        return;
+    }
+
+    qDebug() << "CAN socket bound to can0 interface successfully.";
+
+    // Set up a timer to periodically read frames
+    QTimer* timer = new QTimer(this);
+    connect(timer, &QTimer::timeout, this, [this]() { readFrames(); });
+    timer->start(10); // Adjust the interval as needed
+}
+
+CANBusHandler::~CANBusHandler()
+{
+    if (canSocket >= 0)
+    {
+        close(canSocket); // Close the CAN socket
+    }
+}
+
+int CANBusHandler::getSpeed() const
+{
+    return m_speed;
+}
+
+void CANBusHandler::setSpeed(int speed)
+{
+    if (m_speed != speed)
+    {
+        m_speed = speed;
+        emit speedChanged(m_speed);
+    }
+}
+
+int CANBusHandler::getBattery() const
+{
+    return m_battery;
+}
+
+void CANBusHandler::setBattery(int battery)
+{
+    if (m_battery != battery)
+    {
+        m_battery = battery;
+        emit batteryChanged(m_battery);
+    }
+}
+
+void CANBusHandler::readFrames()
+{
+    struct can_frame frame;
+    int nbytes = read(canSocket, &frame, sizeof(struct can_frame));
+
+    if (nbytes < 0)
+    {
+        qWarning() << "Error reading CAN frame!";
+        return;
+    }
+
+    if (frame.can_id == 0x01)
+    {
+        int speed;
+        memcpy(&speed, frame.data, sizeof(int));
+
+        speed = ntohl(speed);
+
+        // qDebug() << "Speed:" << speed; // Print the speed value
+        setSpeed(speed);
+    }
+    else if (frame.can_id == 0x02)
+    {
+        int battery;
+        memcpy(&battery, frame.data, sizeof(int));
+
+        battery = ntohl(battery);
+
+        // qDebug() << "Battery:" << battery; // Print the speed value
+        setBattery(battery);
+    }
+}