55 task show data as lines in the cluster

.github/ISSUE_TEMPLATE/epic-template.yml

@@ -31,16 +31,6 @@ body:
     validations:
       required: true
 
-  - type: textarea
-    id: related_epics
-    attributes:
-      label: Related Epics
-      description: List any related epics if applicable. Add each related epic as a link or reference number on a new line.
-      placeholder: |
-        - [ ] #
-    validations:
-      required: false
-
   - type: markdown
     attributes:
       value: |

.github/ISSUE_TEMPLATE/external-contribution-bug-report.md

@@ -0,0 +1,22 @@
+---
+name: "Bug report \U0001F41E"
+about: Create a bug report
+labels: bug
+
+---
+
+## Describe the bug
+A clear and concise description of what the bug is.
+
+### Steps to reproduce
+Steps to reproduce the behavior.
+
+### Expected behavior
+A clear and concise description of what you expected to happen.
+
+### Environment
+ - OS: [e.g. Arch Linux]
+ - Other details that you think may affect.
+
+### Additional context
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/external-contribution-feature-request.md

@@ -0,0 +1,15 @@
+---
+name: "Feature request \U0001F680"
+about: Suggest an idea
+labels: enhancement
+
+---
+
+## Summary
+Brief explanation of the feature.
+
+### Basic example
+Include a basic example or links here.
+
+### Motivation
+Why are we doing this? What use cases does it support? What is the expected outcome?

.github/ISSUE_TEMPLATE/story-template.yml

@@ -18,16 +18,6 @@ body:
     validations:
       required: true
 
-  - type: textarea
-    id: epic_reference
-    attributes:
-      label: Epic Reference
-      description: Link to the associated Epic that this story belongs to.
-      placeholder: |
-        #
-    validations:
-      required: false
-
   - type: dropdown
     id: priority
     attributes:

.github/ISSUE_TEMPLATE/task-template.yml

@@ -31,17 +31,6 @@ body:
     validations:
       required: true
 
-
-  - type: textarea
-    id: story_reference
-    attributes:
-      label: Story Reference
-      description: Link to the associated Story.
-      placeholder: |
-        #
-    validations:
-      required: false
-
   - type: markdown
     attributes:
       value: |

.github/pull_request_template.md

@@ -1,30 +1,5 @@
-# Pull Request Overview
+<!-- 
+  Please refer to the Copilot PR overview. Create this PR using the Copilot function.
+  Provide any additional field related to the pull request that you might find useful to describe :)
+-->
 
-## Description
-<!-- Provide a concise summary of the changes introduced in this PR, focusing on the purpose and outcomes. -->
-
-## Type of Change
-- [ ] 🐞 Bugfix (fixes an issue)
-- [ ] ✨ New Feature (introduces new functionality)
-- [ ] 📄 Documentation (adds or updates documentation)
-- [ ] 🔧 Configuration (adjusts project configuration or tooling)
-
-## Checklist
-- [ ] Code is thoroughly tested and operates as expected
-- [ ] Documentation has been updated to reflect these changes (if applicable)
-- [ ] No breaking changes introduced
-
-## Related Issues
-<!-- Link any relevant issues or tickets here, e.g., "Closes #123" or "Related to #456". -->
-
-## Additional Context
-<!-- Provide any additional context, screenshots, or details that reviewers may find helpful. -->
-
----
-
-### Reviewer Checklist
-- [ ] Code follows project style and naming conventions.
-- [ ] No functionality is broken; code is well-tested.
-- [ ] Documentation and comments are clear.
-- [ ] No security vulnerabilities or performance issues are introduced.
-<!-- Provide any additional field related to the pull request that you might find useful to describe. -->

CMakeLists.txt

@@ -16,17 +16,33 @@ set(CMAKE_AUTOMOC ON)
 set(CMAKE_AUTOUIC ON)
 set(CMAKE_AUTORCC ON)
 
-include_directories(include)
-
+# include_directories(Clusters/include)
+include_directories(Clusters/HandCluster/include)
 # Add Resource File (QML and Other Resources)
-qt_add_resources(QT_RESOURCES ./ui/resources.qrc)
+# qt_add_resources(QT_RESOURCES_ICA ./Clusters/InstrumentCluster/ui/resources.qrc)
+qt_add_resources(QT_RESOURCES_HCA ./Clusters/HandCluster/ui/resources.qrc)
 
 # Define Executable Target
-add_executable(InstrumentClusterApp
-    ${QT_RESOURCES}
-    ./src/main.cpp
-    ./src/InstrumentCluster.cpp
-    ./include/InstrumentCluster.hpp
+# add_executable(InstrumentClusterApp
+#     ${QT_RESOURCES_ICA}
+#     ./Clusters/InstrumentCluster/src/main.cpp
+#     ./Clusters/InstrumentCluster/src/InstrumentCluster.cpp
+#     ./Clusters/InstrumentCluster/include/InstrumentCluster.hpp
+# )
+
+add_executable(HandClusterB
+    ${QT_RESOURCES_HCA}
+    ./Clusters/HandCluster/src/main.cpp
+    ./Clusters/HandCluster/src/InstrumentCluster.cpp
+    ./Clusters/HandCluster/include/InstrumentCluster.hpp
+)
+
+add_executable(MiddleWareApp
+    ./MiddleWare/src/main.cpp
 )
 
-target_link_libraries(InstrumentClusterApp zenohcxx::zenohc -lm -ldl Qt6::Core Qt6::DBus Qt6::Quick)
+# target_link_libraries(InstrumentClusterApp zenohcxx::zenohc -lm -ldl Qt6::Core Qt6::DBus Qt6::Quick)
+
+target_link_libraries(HandClusterB zenohcxx::zenohc -lm -ldl Qt6::Core Qt6::DBus Qt6::Quick)
+
+target_link_libraries(MiddleWareApp PRIVATE zenohcxx::zenohc)

Clusters/HandCluster/include/InstrumentCluster.hpp

@@ -0,0 +1,161 @@
+#ifndef INSTRUMENTCLUSTER_HPP
+#define INSTRUMENTCLUSTER_HPP
+
+#include <QObject>
+#include <iostream>
+#include <memory>
+#include "zenoh.hxx"
+#include <QVariant>
+#include <QPoint>
+#include <QVariantList> 
+#include <QJsonDocument>
+#include <QJsonParseError>
+#include <QDebug>
+#include <QJsonArray>
+#include <QJsonObject>
+
+using namespace zenoh;
+
+class InstrumentCluster : public QObject
+{
+    Q_OBJECT
+    Q_PROPERTY(int speed READ getSpeed WRITE setSpeed NOTIFY speedChanged)
+    Q_PROPERTY(bool rightBlinker READ getRightBlinker WRITE setRightBlinker
+                   NOTIFY rightBlinkerChanged)
+    Q_PROPERTY(bool leftBlinker READ getLeftBlinker WRITE setLeftBlinker NOTIFY
+                   leftBlinkerChanged)
+    Q_PROPERTY(
+        bool lowBeam READ getLowBeam WRITE setLowBeam NOTIFY lowBeamChanged)
+    Q_PROPERTY(
+        bool highBeam READ getHighBeam WRITE setHighBeam NOTIFY highBeamChanged)
+    Q_PROPERTY(bool frontFogLight READ getFrontFogLight WRITE setFrontFogLight
+                   NOTIFY frontFogLightChanged)
+    Q_PROPERTY(bool rearFogLight READ getRearFogLight WRITE setRearFogLight
+                   NOTIFY rearFogLightChanged)
+    Q_PROPERTY(bool hazardLight READ getHazardLight WRITE setHazardLight NOTIFY
+                   hazardLightChanged)
+    Q_PROPERTY(bool parkingLight READ getParkingLight WRITE setParkingLight
+                   NOTIFY parkingLightChanged)
+    Q_PROPERTY(int percentage READ getPercentage WRITE setPercentage NOTIFY
+                   percentageChanged)
+    Q_PROPERTY(
+        int autonomy READ getAutonomy WRITE setAutonomy NOTIFY autonomyChanged)
+    Q_PROPERTY(int gear READ getGear WRITE setGear NOTIFY gearChanged)
+    Q_PROPERTY(QVariantMap leftLaneCoefs READ getLeftLaneCoefs WRITE setLeftLaneCoefs NOTIFY leftLaneChanged)
+    Q_PROPERTY(QVariantMap rightLaneCoefs READ getRightLaneCoefs WRITE setRightLaneCoefs NOTIFY rightLaneChanged)
+    Q_PROPERTY(QVariantList detectedObjects READ getDetectedObjects NOTIFY detectedObjectsUpdated)
+
+
+  private:
+    int m_speed;
+    bool rightBlinker{false};
+    bool leftBlinker{false};
+    bool lowBeam{false};
+    bool highBeam{false};
+    bool frontFogLight{false};
+    bool rearFogLight{false};
+    bool hazardLight{false};
+    bool parkingLight{false};
+    int percentage;
+    int autonomy;
+    int gear;  
+
+    QVariantMap m_leftLaneCoefs;
+    QVariantMap m_rightLaneCoefs;
+    QVariantList m_detectedObjects;
+
+    std::unique_ptr<zenoh::Session> session;
+    std::optional<zenoh::Subscriber<void>> speed_subscriber;
+    std::optional<zenoh::Subscriber<void>> beamLow_subscriber;
+    std::optional<zenoh::Subscriber<void>> beamHigh_subscriber;
+    std::optional<zenoh::Subscriber<void>> running_subscriber;
+    std::optional<zenoh::Subscriber<void>> parking_subscriber;
+    std::optional<zenoh::Subscriber<void>> fogRear_subscriber;
+    std::optional<zenoh::Subscriber<void>> fogFront_subscriber;
+    std::optional<zenoh::Subscriber<void>> brake_subscriber;
+    std::optional<zenoh::Subscriber<void>> hazard_subscriber;
+    std::optional<zenoh::Subscriber<void>> directionIndicatorLeft_subscriber;
+    std::optional<zenoh::Subscriber<void>> directionIndicatorRight_subscriber;
+    std::optional<zenoh::Subscriber<void>> stateOfCharge_subscriber;
+    std::optional<zenoh::Subscriber<void>> maxVoltage_subscriber;
+    std::optional<zenoh::Subscriber<void>> currentVoltage_subscriber;
+    std::optional<zenoh::Subscriber<void>> currentCurrent_subscriber;
+    std::optional<zenoh::Subscriber<void>> currentPower_subscriber;
+    std::optional<zenoh::Subscriber<void>> currentGear_subscriber;
+    std::optional<zenoh::Subscriber<void>> leftLane_subscriber;
+    std::optional<zenoh::Subscriber<void>> rightLane_subscriber;
+    std::optional<zenoh::Subscriber<void>> object_subscriber;
+
+  public:
+    explicit InstrumentCluster(QObject* parent = nullptr);
+    explicit InstrumentCluster(const std::string& configFile,
+                               QObject* parent = nullptr);
+    ~InstrumentCluster();
+
+    QVariantList getDetectedObjects() const;
+
+    int getSpeed() const;
+    void setSpeed(int speed);
+
+    bool getRightBlinker() const;
+    void setRightBlinker(bool state);
+
+    bool getLeftBlinker() const;
+    void setLeftBlinker(bool state);
+
+    bool getLowBeam() const;
+    void setLowBeam(bool state);
+
+    bool getHighBeam() const;
+    void setHighBeam(bool state);
+
+    bool getFrontFogLight() const;
+    void setFrontFogLight(bool state);
+
+    bool getRearFogLight() const;
+    void setRearFogLight(bool state);
+
+    bool getHazardLight() const;
+    void setHazardLight(bool state);
+
+    bool getParkingLight() const;
+    void setParkingLight(bool state);
+
+    int getPercentage() const;
+    void setPercentage(int value);
+
+    int getAutonomy() const;
+    void setAutonomy(int value);
+
+    int getGear() const;
+    void setGear(int value);
+
+    QVariantMap getLeftLaneCoefs() const;
+    void setLeftLaneCoefs(const QVariantMap& coefs);
+
+    QVariantMap getRightLaneCoefs() const;
+    void setRightLaneCoefs(const QVariantMap& coefs);
+
+  private:
+    void setupSubscriptions();
+    void parseLaneData(const std::string& laneData, const std::string& laneType);
+    void parseObjectData(const std::string& objectData);
+  signals:
+    void speedChanged(int speed);
+    void rightBlinkerChanged(bool state);
+    void leftBlinkerChanged(bool state);
+    void lowBeamChanged(bool state);
+    void highBeamChanged(bool state);
+    void frontFogLightChanged(bool state);
+    void rearFogLightChanged(bool state);
+    void hazardLightChanged(bool state);
+    void parkingLightChanged(bool state);
+    void percentageChanged(int value);
+    void autonomyChanged(int value);
+    void gearChanged(int gear);
+    void leftLaneChanged(const QVariantMap& leftLaneCoefs);
+    void rightLaneChanged(const QVariantMap& rightLaneCoefs);
+    void detectedObjectsUpdated(const QVariantList& objects);
+};
+
+#endif // INSTRUMENTCLUSTER_HPP