SEAME-pt · Rui-Pedro-Pires · Jan 9, 2025 · Jan 8, 2025 · Jan 9, 2025 · Jan 9, 2025
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,12 +1,16 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
-project(HelloQt6 LANGUAGES CXX)
+project(Cluster LANGUAGES CXX)
 message("CMAKE_SYSROOT " ${CMAKE_SYSROOT})
 message("CMAKE_LIBRARY_ARCHITECTURE " ${CMAKE_LIBRARY_ARCHITECTURE})
-set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+set(zenohc_DIR "/usr/local/lib/cmake/zenohc")
+set(zenohcxx_DIR "/usr/local/lib/cmake/zenohcxx")
 find_package(Qt6 COMPONENTS Core Quick DBus SerialBus REQUIRED)
+find_package(zenohc REQUIRED)
+find_package(zenohcxx 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}")
@@ -23,5 +27,10 @@ add_executable(speedometer ${QT_RESOURCES}
     ./include/CANBusHandler.hpp
 )
 
-target_link_libraries(speedometer -lm -ldl Qt6::Core Qt6::DBus Qt6::Quick Qt6::SerialBus)
+target_link_libraries(speedometer zenohcxx::zenohc -lm -ldl Qt6::Core Qt6::DBus Qt6::Quick Qt6::SerialBus)
 
+add_executable(zenoh
+    ./middelWare/src/main.cpp
+)
+
+target_link_libraries(zenoh PRIVATE zenohcxx::zenohc)
diff --git a/include/CANBusHandler.hpp b/include/CANBusHandler.hpp
@@ -1,35 +1,35 @@
 #ifndef CANBUSHANDLER_HPP
 #define CANBUSHANDLER_HPP
 
-#include <QtCore/QObject>
+#include <QObject>
+#include <iostream>
+#include "zenoh.hxx"
+
+using namespace zenoh;
 
 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)
+    Q_PROPERTY(int speed READ getSpeed NOTIFY speedChanged)
+    Q_PROPERTY(int battery READ getBattery NOTIFY batteryChanged)
 
   public:
-    explicit CANBusHandler(QObject* parent = nullptr);
+    explicit CANBusHandler(Session& session, QObject* parent = nullptr);
     ~CANBusHandler();
 
     int getSpeed() const;
-    void setSpeed(int speed);
     int getBattery() const;
+    void setSpeed(int speed);
     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;
+    Session& m_session;
 };
 
 #endif // CANBUSHANDLER_HPP
diff --git a/middelWare/src/main.cpp b/middelWare/src/main.cpp
@@ -0,0 +1,86 @@
+#include <stdio.h>
+#include <iostream>
+#include <string.h>
+#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 "zenoh.hxx"
+
+using namespace zenoh;
+
+int main(int argc, char** argv)
+{
+    struct ifreq ifr;
+    struct sockaddr_can addr;
+
+    int canSocket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+    if (canSocket < 0)
+    {
+        std::cerr << "Cannot create CAN socket!" << std::endl;
+        exit(-1);
+    }
+
+    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)
+    {
+        std::cerr << "Cannot bind CAN socket!" << std::endl;
+        close(canSocket);
+        exit(1);
+    }
+
+    std::cout << "CAN socket bound to can0 interface successfully."
+              << std::endl;
+
+    Config config = Config::create_default();
+    auto session  = Session::open(std::move(config));
+
+    auto pubSpeed =
+        session.declare_publisher(KeyExpr("seame/car/1/speedSensor"));
+    auto pubBattery =
+        session.declare_publisher(KeyExpr("seame/car/1/batterySensor"));
+
+    while (1)
+    {
+        struct can_frame frame;
+
+        int nbytes = read(canSocket, &frame, sizeof(struct can_frame));
+        if (nbytes < 0)
+        {
+            std::cerr << "Error reading CAN frame!" << std::endl;
+            continue;
+        }
+        if (frame.can_id == 0x01)
+        {
+            int speed;
+            double wheelDiame = 0.067;
+
+            memcpy(&speed, frame.data, sizeof(int));
+            speed                 = ntohl(speed);
+            speed                 = wheelDiame * 3.14 * speed * 10 / 60;
+            std::string speed_str = std::to_string(speed);
+
+            printf("Publishing speed: '%d'\n", speed);
+            pubSpeed.put(speed_str.c_str());
+        }
+        else if (frame.can_id == 0x02)
+        {
+            int battery;
+            memcpy(&battery, frame.data, sizeof(int));
+            battery                 = ntohl(battery);
+            std::string battery_str = std::to_string(battery);
+
+            printf("Publishing battery: '%d\n", battery);
+            pubBattery.put(battery_str.c_str());
+        }
+        usleep(10);
+    }
+    return 0;
+}
diff --git a/src/CANBusHandler.cpp b/src/CANBusHandler.cpp
@@ -1,60 +1,25 @@
-#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)
+CANBusHandler::CANBusHandler(Session& session, QObject* parent)
+    : QObject(parent), m_speed(0), m_battery(0), m_session(session)
 {
-    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
-    }
+    m_session.close();
 }
 
 int CANBusHandler::getSpeed() const
 {
     return m_speed;
 }
 
+int CANBusHandler::getBattery() const
+{
+    return m_battery;
+}
+
 void CANBusHandler::setSpeed(int speed)
 {
     if (m_speed != speed)
@@ -64,49 +29,11 @@ void CANBusHandler::setSpeed(int 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);
+        m_battery = battery;
     }
 }
diff --git a/src/Main.qml b/src/Main.qml
@@ -1,18 +1,11 @@
 import QtQuick 2.15
 import QtQuick.Controls 2.15
-import canbus 1.0
 
 ApplicationWindow {
     visible: true
     width: Screen.width
     height: Screen.height
-    title: "Instrument Cluster with Smooth Transitions"
-
-    CANBusHandler {
-        id: canBusHandler
-        onSpeedChanged: speedGauge.requestPaint()
-        onBatteryChanged: batteryGauge.requestPaint()
-    }
+    flags: Qt.FramelessWindowHint
 
     Rectangle {
         anchors.fill: parent
@@ -60,56 +53,22 @@ ApplicationWindow {
             }
         }
 
-        // Left Speedometer Gauge
-        Canvas {
-            id: speedGauge
-            width: 300
-            height: 300
+        Text {
+            text: canBusHandler.speed
+            font.pixelSize: 50
+            color: "white"
             anchors.verticalCenter: parent.verticalCenter
             anchors.left: parent.left
-            anchors.leftMargin: 20
-
-            onPaint: {
-                var ctx = getContext("2d");
-                ctx.clearRect(0, 0, width, height);
-
-                // Speed Value
-                ctx.font = "36px sans-serif";
-                ctx.fillStyle = "white";
-                ctx.textAlign = "center";
-                ctx.fillText(canBusHandler.speed, width / 2, height / 2);
-
-                // Label
-                ctx.font = "18px sans-serif";
-                ctx.fillStyle = "lightgray";
-                ctx.fillText("Speed", width / 2, height / 2 + 40);
-            }
+            anchors.leftMargin: 300
         }
 
-        // Right Battery Status Gauge
-        Canvas {
-            id: batteryGauge
-            width: 300
-            height: 300
+        Text {
+            text: canBusHandler.battery
+            font.pixelSize: 50
+            color: "white"
             anchors.verticalCenter: parent.verticalCenter
             anchors.right: parent.right
-            anchors.rightMargin: 20
-
-            onPaint: {
-                var ctx = getContext("2d");
-                ctx.clearRect(0, 0, width, height);
-
-                // Battery Value
-                ctx.font = "36px sans-serif";
-                ctx.fillStyle = "white";
-                ctx.textAlign = "center";
-                ctx.fillText(canBusHandler.battery + " %", width / 2, height / 2);
-
-                // Label
-                ctx.font = "18px sans-serif";
-                ctx.fillStyle = "lightgray";
-                ctx.fillText("Battery", width / 2, height / 2 + 40);
-            }
+            anchors.rightMargin: 300
         }
     }
 }