31 task study zenon zero qm vss ros 2 c4 cobase catch 2

CMakeLists.txt

@@ -1,13 +1,12 @@
 cmake_minimum_required(VERSION 3.10)
 
 project(Cluster LANGUAGES CXX)
-message("CMAKE_SYSROOT " ${CMAKE_SYSROOT})
-message("CMAKE_LIBRARY_ARCHITECTURE " ${CMAKE_LIBRARY_ARCHITECTURE})
+
 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 REQUIRED)
 find_package(zenohc REQUIRED)
 find_package(zenohcxx REQUIRED)
@@ -21,17 +20,11 @@ set(CMAKE_AUTORCC ON)
 qt_add_resources(QT_RESOURCES ./ui/resources.qrc)
 
 # Define Executable Target
-add_executable(speedometer
-    ${QT_RESOURCES}       # Add Resource File
-    ./src/main.cpp        # Main C++ File
-    ./src/CANBusHandler.cpp # CANBusHandler Implementation
-    ./include/CANBusHandler.hpp # CANBusHandler Header
-)
-
-target_link_libraries(speedometer zenohcxx::zenohc -lm -ldl Qt6::Core Qt6::DBus Qt6::Quick)
-
-add_executable(zenoh
-    ./middelWare/src/main.cpp
+add_executable(InstrumentCluster
+    ${QT_RESOURCES}
+    ./src/main.cpp
+    ./src/InstrumentCluster.cpp
+    ./include/InstrumentCluster.hpp
 )
 
-target_link_libraries(zenoh PRIVATE zenohcxx::zenohc)
+target_link_libraries(InstrumentCluster zenohcxx::zenohc -lm -ldl Qt6::Core Qt6::DBus Qt6::Quick)

MiddleWare/CMakeLists.txt

@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.10)
+
+project(Middelware LANGUAGES CXX)
+
+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(zenohc REQUIRED)
+find_package(zenohcxx REQUIRED)
+
+add_executable(middleWare
+    ./src/main.cpp
+)
+
+target_link_libraries(middleWare PRIVATE zenohcxx::zenohc)

include/InstrumentCluster.hpp

@@ -0,0 +1,97 @@
+#ifndef INSTRUMENTCLUSTER_HPP
+#define INSTRUMENTCLUSTER_HPP
+
+#include <QObject>
+#include <iostream>
+#include "zenoh.hxx"
+
+using namespace zenoh;
+
+class InstrumentCluster : public QObject
+{
+    Q_OBJECT
+    Q_PROPERTY(int speed READ getSpeed NOTIFY speedChanged)
+    Q_PROPERTY(int battery READ getBattery NOTIFY batteryChanged)
+    Q_PROPERTY(
+        bool rightBlinker READ getRightBlinker NOTIFY rightBlinkerChanged)
+    Q_PROPERTY(bool leftBlinker READ getLeftBlinker NOTIFY leftBlinkerChanged)
+    Q_PROPERTY(bool lowBeam READ getLowBeam NOTIFY lowBeamChanged)
+    Q_PROPERTY(bool highBeam READ getHighBeam NOTIFY highBeamChanged)
+    Q_PROPERTY(
+        bool frontFogLight READ getFrontFogLight NOTIFY frontFogLightChanged)
+    Q_PROPERTY(
+        bool readFogLight READ getRearFogLight NOTIFY rearFogLightChanged)
+    Q_PROPERTY(bool hazardLight READ getHazardLight NOTIFY hazardLightChanged)
+    Q_PROPERTY(
+        bool parkingLight READ getParkingLight NOTIFY parkingLightChanged)
+    Q_PROPERTY(GearPosition gear READ getGear NOTIFY gearChanged)
+
+  public:
+    enum class GearPosition
+    {
+        PARK,
+        REVERSE,
+        NEUTRAL,
+        DRIVE
+    };
+
+    Q_ENUM(GearPosition)
+
+  private:
+    int m_speed;
+    int m_battery;
+    bool m_rightBlinker;
+    bool m_leftBlinker;
+    bool m_lowBeam;
+    bool m_highBeam;
+    bool m_frontFogLight;
+    bool m_rearFogLight;
+    bool m_hazardLight;
+    bool m_parkingLight;
+    GearPosition m_gear;
+
+    Session& m_session;
+
+  public:
+    explicit InstrumentCluster(Session& session, QObject* parent = nullptr);
+    ~InstrumentCluster();
+
+    int getSpeed() const;
+    int getBattery() const;
+    bool getRightBlinker() const;
+    bool getLeftBlinker() const;
+    bool getLowBeam() const;
+    bool getHighBeam() const;
+    bool getFrontFogLight() const;
+    bool getRearFogLight() const;
+    bool getHazardLight() const;
+    bool getParkingLight() const;
+    GearPosition getGear() const;
+
+    void setSpeed(int speed);
+    void setBattery(int battery);
+    void setRightBlinker(bool rightBlinker);
+    void setLeftBlinker(bool leftBlinker);
+    void setLowBeam(bool lowBeam);
+    void setHighBeam(bool highBeam);
+    void setFrontFogLight(bool frontFogLight);
+    void setRearFogLight(bool readFogLight);
+    void setHazardLight(bool hazardLight);
+    void setParkingLight(bool parkingLight);
+    void setGear(GearPosition gear);
+
+  signals:
+    void speedChanged(int speed);
+    void batteryChanged(int battery);
+    void rightBlinkerChanged(bool rightBlinker);
+    void leftBlinkerChanged(bool leftBlinker);
+    void lowBeamChanged(bool lowBeam);
+    void highBeamChanged(bool highBeam);
+    void frontFogLightChanged(bool frontFogLight);
+    void rearFogLightChanged(bool readFogLight);
+    void hazardLightChanged(bool hazardLight);
+    void parkingLightChanged(bool parkingLight);
+    void gearChanged(GearPosition gear);
+};
+
+#endif // INSTRUMENTCLUSTER_HPP