diff --git a/.env b/.env new file mode 100644 index 0000000..e79750c --- /dev/null +++ b/.env @@ -0,0 +1,7 @@ +PROJECT_DIR=RaspberryPi +PI_USERNAME=team02 +PI_IP_ADDRESS=100.68.239.7 +PI_PATH_BIN=/opt/vehicle/bin +PI_PATH_ETC=/opt/vehicle/etc/zenoh +PI_PATH_FONTS=/opt/vehicle/etc/fonts +PI_PASSWORD=seameteam2 diff --git a/.github/workflows/deploy.yml b/.github/workflows/deploy.yml new file mode 100644 index 0000000..5513c97 --- /dev/null +++ b/.github/workflows/deploy.yml @@ -0,0 +1,98 @@ +name: Build and Deploy for Raspberry Pi + +on: + push: + branches: + - main + tags: + - 'v*' + +jobs: + build-and-deploy: + runs-on: ubuntu-latest + + steps: + - name: Checkout repository + uses: actions/checkout@v4 + with: + submodules: false + + - name: Set up QEMU + uses: docker/setup-qemu-action@v2 + with: + platforms: linux/arm64 + + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v3 + + - name: Build Docker image for ARM64 + run: | + docker buildx build \ + -f ./RaspberryPi/deploy/dockerfiles/DockerfileDeployRasp \ + --platform linux/arm64 --load \ + --build-arg projectDir=$PWD/$PROJECT_DIR \ + -t final-app . + + - name: Extract built binaries + run: | + mkdir -p artifacts/bin + mkdir -p artifacts/config + mkdir -p artifacts/fonts + + docker create --name tmpapp final-app + + docker cp tmpapp:/home/$PROJECT_DIR/InstrumentClusterApp ./artifacts/bin/ + docker cp tmpapp:/home/$PROJECT_DIR/MiddleWareApp ./artifacts/bin/ + + cp ./$PROJECT_DIR/ZenohConfig/InstrumentClusterConfig.json ./artifacts/config/ + cp ./$PROJECT_DIR/ZenohConfig/MiddleWareConfig.json ./artifacts/config/ + + cp -r ./RaspberryPi/deploy/fonts/* ./artifacts/fonts/ + + git archive --format=zip HEAD -o ./artifacts/source-code.zip + + cd artifacts + zip -r ../release-package.zip * + cd .. + + docker rm tmpapp + + - name: Get latest tag and increment + id: tag + run: | + git fetch --tags --force + git fetch origin + latest_tag=$(git tag --sort=-v:refname | head -n 1) + if [ -z "$latest_tag" ]; then + latest_tag="v1.0.0" + fi + major=$(echo $latest_tag | cut -d. -f1 | tr -d 'v') + minor=$(echo $latest_tag | cut -d. -f2) + patch=$(echo $latest_tag | cut -d. -f3) + new_tag="v$major.$minor.$((patch + 1))" + echo "new_tag=$new_tag" >> $GITHUB_OUTPUT + + - name: Create GitHub Release + uses: softprops/action-gh-release@v1 + with: + tag_name: ${{ steps.tag.outputs.new_tag }} + name: Release ${{ steps.tag.outputs.new_tag }} + body: | + ## Raspberry Pi Release + + **Includes:** + - Compiled apps (`InstrumentClusterApp`, `MiddleWareApp`) + - Zenoh config files + - Fonts + - Full source code zip + + **Instructions:** + - Copy `InstrumentClusterApp` and `MiddleWareApp` to `$PI_PATH_BIN` + - Copy configs to `$PI_PATH_ETC` + - Copy fonts to `$PI_PATH_FONTS` + files: | + release-package.zip + artifacts/source-code.zip + artifacts/bin/* + env: + GITHUB_TOKEN: ${{ secrets.PAT_LUIS }} diff --git a/.gitignore b/.gitignore index 96b2672..7de81d3 100644 --- a/.gitignore +++ b/.gitignore @@ -72,3 +72,10 @@ CMakeLists.txt.user* *.dll *.exe +# Build folders +tests/build/ +deploy/build/ +deploy/.qt/ +deploy/deployLocal/build/ + + diff --git a/CMakeLists.txt b/CMakeLists.txt index d228465..a81a463 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -11,31 +11,19 @@ find_package(Qt6 COMPONENTS Core Quick DBus REQUIRED) find_package(zenohc REQUIRED) find_package(zenohcxx REQUIRED) -# Enable Qt's Automatic MOC, UIC, and RCC set(CMAKE_AUTOMOC ON) set(CMAKE_AUTOUIC ON) set(CMAKE_AUTORCC ON) -include_directories(Clusters/include) - -# Add Resource File (QML and Other Resources) -qt_add_resources(QT_RESOURCES_ICA ./Clusters/InstrumentCluster/ui/resources.qrc) +include_directories(Clusters/HandCluster/include) qt_add_resources(QT_RESOURCES_HCA ./Clusters/HandCluster/ui/resources.qrc) -# Define Executable Target -add_executable(InstrumentClusterApp - ${QT_RESOURCES_ICA} - ./Clusters/InstrumentCluster/src/main.cpp - ./Clusters/src/InstrumentCluster.cpp - ./Clusters/include/InstrumentCluster.hpp - -) -add_executable(HandClusterApp +add_executable(InstrumentClusterApp ${QT_RESOURCES_HCA} ./Clusters/HandCluster/src/main.cpp - ./Clusters/src/InstrumentCluster.cpp - ./Clusters/include/InstrumentCluster.hpp + ./Clusters/HandCluster/src/InstrumentCluster.cpp + ./Clusters/HandCluster/include/InstrumentCluster.hpp ) add_executable(MiddleWareApp @@ -43,7 +31,4 @@ add_executable(MiddleWareApp ) target_link_libraries(InstrumentClusterApp zenohcxx::zenohc -lm -ldl Qt6::Core Qt6::DBus Qt6::Quick) - -target_link_libraries(HandClusterApp zenohcxx::zenohc -lm -ldl Qt6::Core Qt6::DBus Qt6::Quick) - -target_link_libraries(MiddleWareApp PRIVATE zenohcxx::zenohc) +target_link_libraries(MiddleWareApp PRIVATE zenohcxx::zenohc) \ No newline at end of file diff --git a/Clusters/HandCluster/assets/fonts/electrolize.ttf b/Clusters/HandCluster/assets/fonts/electrolize.ttf new file mode 100755 index 0000000..f1b9fba Binary files /dev/null and b/Clusters/HandCluster/assets/fonts/electrolize.ttf differ diff --git a/Clusters/HandCluster/assets/fonts/orbitron.ttf b/Clusters/HandCluster/assets/fonts/orbitron.ttf new file mode 100644 index 0000000..2f33003 Binary files /dev/null and b/Clusters/HandCluster/assets/fonts/orbitron.ttf differ diff --git a/Clusters/HandCluster/assets/fonts/tektur.ttf b/Clusters/HandCluster/assets/fonts/tektur.ttf new file mode 100644 index 0000000..9dcdc0f Binary files /dev/null and b/Clusters/HandCluster/assets/fonts/tektur.ttf differ diff --git a/Clusters/HandCluster/assets/icons/assist-navigate-driving-off.png b/Clusters/HandCluster/assets/icons/assist-navigate-driving-off.png new file mode 100644 index 0000000..4b8c689 Binary files /dev/null and b/Clusters/HandCluster/assets/icons/assist-navigate-driving-off.png differ diff --git a/Clusters/HandCluster/assets/icons/assist-navigate-driving-on.png b/Clusters/HandCluster/assets/icons/assist-navigate-driving-on.png new file mode 100644 index 0000000..cb1e9f2 Binary files /dev/null and b/Clusters/HandCluster/assets/icons/assist-navigate-driving-on.png differ diff --git a/Clusters/HandCluster/assets/icons/assist-steer-off.png b/Clusters/HandCluster/assets/icons/assist-steer-off.png new file mode 100644 index 0000000..8eae847 Binary files /dev/null and b/Clusters/HandCluster/assets/icons/assist-steer-off.png differ diff --git a/Clusters/HandCluster/assets/icons/assist-steer-on.png b/Clusters/HandCluster/assets/icons/assist-steer-on.png new file mode 100644 index 0000000..61a9407 Binary files /dev/null and b/Clusters/HandCluster/assets/icons/assist-steer-on.png differ diff --git a/Clusters/HandCluster/assets/icons/lane-departure.png b/Clusters/HandCluster/assets/icons/lane-departure.png new file mode 100644 index 0000000..c9eb44c Binary files /dev/null and b/Clusters/HandCluster/assets/icons/lane-departure.png differ diff --git a/Clusters/HandCluster/assets/icons/raio.png b/Clusters/HandCluster/assets/icons/raio.png new file mode 100644 index 0000000..da1442b Binary files /dev/null and b/Clusters/HandCluster/assets/icons/raio.png differ diff --git a/Clusters/HandCluster/assets/icons/system-failure.png b/Clusters/HandCluster/assets/icons/system-failure.png new file mode 100644 index 0000000..7eca14c Binary files /dev/null and b/Clusters/HandCluster/assets/icons/system-failure.png differ diff --git a/Clusters/HandCluster/assets/icons/warning.png b/Clusters/HandCluster/assets/icons/warning.png new file mode 100644 index 0000000..cada2cc Binary files /dev/null and b/Clusters/HandCluster/assets/icons/warning.png differ diff --git a/Clusters/HandCluster/assets/images/car.png b/Clusters/HandCluster/assets/images/car.png index 8c7fa69..8348dcf 100644 Binary files a/Clusters/HandCluster/assets/images/car.png and b/Clusters/HandCluster/assets/images/car.png differ diff --git a/Clusters/HandCluster/assets/images/traffic-light.png b/Clusters/HandCluster/assets/images/traffic-light.png new file mode 100644 index 0000000..6792f2f Binary files /dev/null and b/Clusters/HandCluster/assets/images/traffic-light.png differ diff --git a/Clusters/include/InstrumentCluster.hpp b/Clusters/HandCluster/include/InstrumentCluster.hpp similarity index 60% rename from Clusters/include/InstrumentCluster.hpp rename to Clusters/HandCluster/include/InstrumentCluster.hpp index 0cf6351..5c24651 100644 --- a/Clusters/include/InstrumentCluster.hpp +++ b/Clusters/HandCluster/include/InstrumentCluster.hpp @@ -5,6 +5,14 @@ #include #include #include "zenoh.hxx" +#include +#include +#include +#include +#include +#include +#include +#include using namespace zenoh; @@ -33,6 +41,12 @@ class InstrumentCluster : public QObject 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) + Q_PROPERTY(int warningCode READ getWarningCode WRITE setWarningCode NOTIFY warningCodeChanged) + Q_PROPERTY(bool laneDeparture READ getLaneDeparture WRITE setLaneDeparture NOTIFY laneDepartureChanged) + Q_PROPERTY(int autonomyLevel READ getAutonomyLevel WRITE setAutonomyLevel NOTIFY autonomyLevelChanged) private: int m_speed; @@ -44,11 +58,20 @@ class InstrumentCluster : public QObject bool rearFogLight{false}; bool hazardLight{false}; bool parkingLight{false}; + bool laneDeparture{false}; int percentage; int autonomy; - int gear; + int gear; + int warningCode; + int autonomyLevel; - std::unique_ptr session; + QVariantMap m_leftLaneCoefs; + QVariantMap m_rightLaneCoefs; + QVariantList m_detectedObjects; + + // std::shared_ptr sharedsession; + + std::shared_ptr session; std::optional> speed_subscriber; std::optional> beamLow_subscriber; std::optional> beamHigh_subscriber; @@ -66,13 +89,26 @@ class InstrumentCluster : public QObject std::optional> currentCurrent_subscriber; std::optional> currentPower_subscriber; std::optional> currentGear_subscriber; - + std::optional> leftLane_subscriber; + std::optional> rightLane_subscriber; + std::optional> object_subscriber; + std::optional> laneDeparture_subscriber; + std::optional> obstacleWarning_subscriber; + std::optional> sae0_subscriber; + std::optional> sae1_subscriber; + std::optional> sae5_subscriber; + public: explicit InstrumentCluster(QObject* parent = nullptr); explicit InstrumentCluster(const std::string& configFile, QObject* parent = nullptr); + public: + explicit InstrumentCluster(std::shared_ptr session, QObject* parent = nullptr); ~InstrumentCluster(); + QVariantList getDetectedObjects() const; + void setDetectedObjects(const QVariantList& detectedObjectsList); + int getSpeed() const; void setSpeed(int speed); @@ -109,9 +145,26 @@ class InstrumentCluster : public QObject int getGear() const; void setGear(int value); - private: + int getWarningCode() const; + void setWarningCode(int value); + + QVariantMap getLeftLaneCoefs() const; + void setLeftLaneCoefs(const QVariantMap& coefs); + + QVariantMap getRightLaneCoefs() const; + void setRightLaneCoefs(const QVariantMap& coefs); + + void setLaneDeparture(bool state); + bool getLaneDeparture() const; + + void parseLaneData(const std::string& laneData, const std::string& laneType); + void parseObjectData(const std::string& objectData); + // std::function getSpeedCallback(); void setupSubscriptions(); + int getAutonomyLevel() const; + void setAutonomyLevel(int level); + signals: void speedChanged(int speed); void rightBlinkerChanged(bool state); @@ -125,6 +178,16 @@ class InstrumentCluster : public QObject 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); + void warningCodeChanged(int code); + void onSpeedSample(const zenoh::Sample& sample); + void laneDepartureChanged(bool state); + void autonomyLevelChanged(int level); + #ifdef UNIT_TEST + std::function getSpeedCallback(); + #endif }; #endif // INSTRUMENTCLUSTER_HPP diff --git a/Clusters/HandCluster/src/InstrumentCluster.cpp b/Clusters/HandCluster/src/InstrumentCluster.cpp new file mode 100644 index 0000000..24be544 --- /dev/null +++ b/Clusters/HandCluster/src/InstrumentCluster.cpp @@ -0,0 +1,499 @@ +#include "../include/InstrumentCluster.hpp" +#include +#include +#include + + +InstrumentCluster::InstrumentCluster(QObject* parent) + : QObject(parent), m_speed(0), percentage(0), autonomy(0), gear(0) +{ + std::cout << "Using default configuration." << std::endl; + auto config = zenoh::Config::create_default(); + session = std::make_unique( + zenoh::Session::open(std::move(config))); + this->setupSubscriptions(); +} + +InstrumentCluster::InstrumentCluster(const std::string& configFile, + QObject* parent) + : QObject(parent), m_speed(0), percentage(0), autonomy(0), gear(0) +{ + std::cout << "Using configuration file: " << configFile << std::endl; + auto config = zenoh::Config::from_file(configFile); + session = std::make_unique(zenoh::Session::open(std::move(config))); + this->setupSubscriptions(); +} + +InstrumentCluster::~InstrumentCluster() +{ + session->close(); +} + +void InstrumentCluster::setupSubscriptions() +{ + std::cout << "Setting up subscriptions..." << std::endl; + speed_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/Speed", + [this](const zenoh::Sample& sample) + { + int speed = std::stoi(sample.get_payload().as_string()); + setSpeed(speed); + }, + zenoh::closures::none)); + + beamLow_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/Body/Lights/Beam/Low", + [this](const zenoh::Sample& sample) + { + bool isOn = std::stoi(sample.get_payload().as_string()); + setLowBeam(isOn); + }, + zenoh::closures::none)); + + beamHigh_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/Body/Lights/Beam/High", + [this](const zenoh::Sample& sample) + { + bool isOn = std::stoi(sample.get_payload().as_string()); + setHighBeam(isOn); + }, + zenoh::closures::none)); + + directionIndicatorLeft_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/Body/Lights/DirectionIndicator/Left", + [this](const zenoh::Sample& sample) + { + bool isSignaling = std::stoi(sample.get_payload().as_string()); + setLeftBlinker(isSignaling); + }, + zenoh::closures::none)); + + directionIndicatorRight_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/Body/Lights/DirectionIndicator/Right", + [this](const zenoh::Sample& sample) + { + bool isSignaling = std::stoi(sample.get_payload().as_string()); + setRightBlinker(isSignaling); + }, + zenoh::closures::none)); + + hazard_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/Body/Lights/Hazard", + [this](const zenoh::Sample& sample) + { + bool isSignaling = std::stoi(sample.get_payload().as_string()); + setHazardLight(isSignaling); + }, + zenoh::closures::none)); + + fogFront_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/Body/Lights/Fog/Front", + [this](const zenoh::Sample& sample) + { + bool isOn = std::stoi(sample.get_payload().as_string()); + setFrontFogLight(isOn); + }, + zenoh::closures::none)); + + fogRear_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/Body/Lights/Fog/Rear", + [this](const zenoh::Sample& sample) + { + bool isOn = std::stoi(sample.get_payload().as_string()); + setRearFogLight(isOn); + }, + zenoh::closures::none)); + + parking_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/Body/Lights/Parking", + [this](const zenoh::Sample& sample) + { + bool isOn = std::stoi(sample.get_payload().as_string()); + setParkingLight(isOn); + }, + zenoh::closures::none)); + + stateOfCharge_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/Powertrain/TractionBattery/StateOfCharge", + [this](const zenoh::Sample& sample) + { + int soc = std::stoi(sample.get_payload().as_string()); + setPercentage(soc); + }, + zenoh::closures::none)); + + currentGear_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/Powertrain/Transmission/CurrentGear", + [this](const zenoh::Sample& sample) + { + int currentGear = std::stoi(sample.get_payload().as_string()); + setGear(currentGear); + }, + zenoh::closures::none)); + + leftLane_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/Scene/Lanes/Left", + [this](const zenoh::Sample& sample) { + + std::string laneData = sample.get_payload().as_string(); + std::cout << "Recebido leftLaneData: " << laneData << std::endl; + // std::cout << "Recebido leftLaneData: " << laneData << std::endl; + + parseLaneData(laneData, "leftLane"); //deixei trocado porque no middleware esta trocado e nao consigo alterar pela net + }, + zenoh::closures::none)); + + rightLane_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/Scene/Lanes/Right", + [this](const zenoh::Sample& sample) { + + std::string laneData = sample.get_payload().as_string(); + std::cout << "Recebido rightLaneData: " << laneData << std::endl; + // std::cout << "Recebido rightLaneData: " << laneData << std::endl; + parseLaneData(laneData, "rightLane"); //deixei trocado porque no middleware esta trocado e nao consigo alterar pela net + }, + zenoh::closures::none)); + object_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/Scene/Objects", + [this](const zenoh::Sample& sample) { + + std::string objectData = sample.get_payload().as_string(); + // std::cout << "Recebido objectData: " << objectData << std::endl; + parseObjectData(objectData); + }, + zenoh::closures::none)); + obstacleWarning_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/ADAS/ObstacleDetection/Warning", + [this](const zenoh::Sample& sample) { + std::cout << "Recebido obstacleWarning: " << sample.get_payload().as_string() << std::endl; + setWarningCode(1); + }, + zenoh::closures::none)); + laneDeparture_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/ADAS/LaneDeparture/Detected", + [this](const zenoh::Sample& sample) { + bool isDeparting = std::stoi(sample.get_payload().as_string()); + if (isDeparting) { + setWarningCode(2); + } + setLaneDeparture(isDeparting); + }, + zenoh::closures::none)); + sae0_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/ADAS/ActiveAutonomyLevel/SAE_0", + [this](const zenoh::Sample& sample) { + std::cout << "Recebido SAE 0" << std::endl; + setAutonomyLevel(0); + }, + zenoh::closures::none)); + sae1_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/ADAS/ActiveAutonomyLevel/SAE_1", + [this](const zenoh::Sample& sample) { + std::cout << "Recebido SAE 1" << std::endl; + setAutonomyLevel(1); + }, + zenoh::closures::none)); + sae5_subscriber.emplace(session->declare_subscriber( + "Vehicle/1/ADAS/ActiveAutonomyLevel/SAE_5", + [this](const zenoh::Sample& sample) { + std::cout << "Recebido SAE 5" << std::endl; + setAutonomyLevel(5); + }, + zenoh::closures::none)); +} + +void InstrumentCluster::parseObjectData(const std::string& objectData) { + QByteArray byteArray = QByteArray::fromStdString(objectData); + QJsonParseError parseError; + QJsonDocument doc = QJsonDocument::fromJson(byteArray, &parseError); + + if (parseError.error != QJsonParseError::NoError) { + qWarning() << "Erro ao parsear JSON:" << parseError.errorString(); + return; + } + + if (!doc.isArray()) { + qWarning() << "JSON recebido não é um array de objetos"; + return; + } + + QJsonArray array = doc.array(); + QVariantList detectedObjectsList; + + for (const QJsonValue& value : array) { + if (!value.isObject()) continue; + QJsonObject obj = value.toObject(); + + QVariantMap map; + map["x"] = obj["x"].toDouble(); + map["y"] = obj["y"].toDouble(); + map["width"] = obj["width"].toDouble(); + map["height"] = obj["height"].toDouble(); + map["type"] = obj["type"].toString(); + + detectedObjectsList.append(map); + } + setDetectedObjects(detectedObjectsList); +} + +void InstrumentCluster::parseLaneData(const std::string& laneData, const std::string& laneType) +{ + std::istringstream stream(laneData); + float a, b, c; + stream >> a >> b >> c; + + QVariantMap coefficients; + coefficients["a"] = a; + coefficients["b"] = b; + coefficients["c"] = c; + + if (laneType == "leftLane") { + setLeftLaneCoefs(coefficients); + } + else if (laneType == "rightLane") { + setRightLaneCoefs(coefficients); + } +} + +QVariantList InstrumentCluster::getDetectedObjects() const { + return m_detectedObjects; +} + +void InstrumentCluster::setDetectedObjects(const QVariantList& detectedObjectsList) { + if (m_detectedObjects != detectedObjectsList) { + m_detectedObjects = detectedObjectsList; + std::cout << "Detected objects updated: " << m_detectedObjects.size() << std::endl; + emit detectedObjectsUpdated(m_detectedObjects); + } +} + + + +int InstrumentCluster::getSpeed() const +{ + return m_speed; +} +void InstrumentCluster::setSpeed(int speed) +{ + if (m_speed != speed) + { + m_speed = speed; + emit speedChanged(speed); + } +} + + +int InstrumentCluster::getWarningCode() const { + return this->warningCode; +} + +void InstrumentCluster::setWarningCode(int code) { + if (this->warningCode != code) { + this->warningCode = code; + } + emit warningCodeChanged(code); +} + +bool InstrumentCluster::getLaneDeparture() const { + return this->laneDeparture; +} + +void InstrumentCluster::setLaneDeparture(bool state) { + if (this->laneDeparture != state) { + this->laneDeparture = state; + emit laneDepartureChanged(state); + } +} + +bool InstrumentCluster::getRightBlinker() const +{ + return rightBlinker; +} +void InstrumentCluster::setRightBlinker(bool state) +{ + if (rightBlinker != state) + { + rightBlinker = state; + emit rightBlinkerChanged(state); + } +} + +bool InstrumentCluster::getLeftBlinker() const +{ + return leftBlinker; +} +void InstrumentCluster::setLeftBlinker(bool state) +{ + if (leftBlinker != state) + { + leftBlinker = state; + emit leftBlinkerChanged(state); + } +} + +bool InstrumentCluster::getLowBeam() const +{ + return lowBeam; +} +void InstrumentCluster::setLowBeam(bool state) +{ + if (lowBeam != state) + { + lowBeam = state; + emit lowBeamChanged(state); + } +} + +bool InstrumentCluster::getHighBeam() const +{ + return highBeam; +} +void InstrumentCluster::setHighBeam(bool state) +{ + if (highBeam != state) + { + highBeam = state; + emit highBeamChanged(state); + } +} + +bool InstrumentCluster::getFrontFogLight() const +{ + return frontFogLight; +} +void InstrumentCluster::setFrontFogLight(bool state) +{ + if (frontFogLight != state) + { + frontFogLight = state; + emit frontFogLightChanged(state); + } +} + +bool InstrumentCluster::getRearFogLight() const +{ + return rearFogLight; +} +void InstrumentCluster::setRearFogLight(bool state) +{ + if (rearFogLight != state) + { + rearFogLight = state; + emit rearFogLightChanged(state); + } +} + +bool InstrumentCluster::getHazardLight() const +{ + return hazardLight; +} +void InstrumentCluster::setHazardLight(bool state) +{ + if (hazardLight != state) + { + hazardLight = state; + emit hazardLightChanged(state); + } +} + +bool InstrumentCluster::getParkingLight() const +{ + return parkingLight; +} +void InstrumentCluster::setParkingLight(bool state) +{ + if (parkingLight != state) + { + parkingLight = state; + emit parkingLightChanged(state); + } +} + +int InstrumentCluster::getPercentage() const +{ + return percentage; +} +void InstrumentCluster::setPercentage(int value) +{ + if (percentage != value) + { + percentage = value; + emit percentageChanged(value); + } +} + +int InstrumentCluster::getAutonomy() const +{ + return autonomy; +} +void InstrumentCluster::setAutonomy(int value) +{ + if (autonomy != value) + { + autonomy = value; + emit autonomyChanged(value); + } +} + +int InstrumentCluster::getGear() const +{ + return gear; +} +void InstrumentCluster::setGear(int value) +{ + if (gear != value) + { + gear = value; + emit gearChanged(value); + } +} + +QVariantMap InstrumentCluster::getLeftLaneCoefs() const { + return m_leftLaneCoefs; +} + +QVariantMap InstrumentCluster::getRightLaneCoefs() const { + return m_rightLaneCoefs; +} + +int InstrumentCluster::getAutonomyLevel() const { + return autonomyLevel; +} + +void InstrumentCluster::setAutonomyLevel(int level) { + if (autonomyLevel != level) { + autonomyLevel = level; + std::cout << "Autonomy level updated: " << autonomyLevel << std::endl; + emit autonomyLevelChanged(level); + } +} + +void InstrumentCluster::setLeftLaneCoefs(const QVariantMap& coefs) { + std::cout << "Coefficients updated: " << std::endl; + if (m_leftLaneCoefs != coefs) { + std::cout << "Left lane coefficients updated: " + << coefs["a"].toFloat() << ", " + << coefs["b"].toFloat() << ", " + << coefs["c"].toFloat() << std::endl; + m_leftLaneCoefs = coefs; + emit leftLaneChanged(coefs); + } +} + +void InstrumentCluster::setRightLaneCoefs(const QVariantMap& coefs) { + std::cout << "Coefficients updated: " << std::endl; + if (m_rightLaneCoefs != coefs) { + std::cout << "Right lane coefficients updated: " + << coefs["a"].toFloat() << ", " + << coefs["b"].toFloat() << ", " + << coefs["c"].toFloat() << std::endl; + m_rightLaneCoefs = coefs; + emit rightLaneChanged(coefs); + } +} + +InstrumentCluster::InstrumentCluster(std::shared_ptr session, QObject* parent) + : QObject(parent), session(std::move(session)), m_speed(0), percentage(0), autonomy(0), gear(0) { + this->setupSubscriptions(); +} + diff --git a/Clusters/HandCluster/src/main.cpp b/Clusters/HandCluster/src/main.cpp index 6cbd359..2c008f0 100644 --- a/Clusters/HandCluster/src/main.cpp +++ b/Clusters/HandCluster/src/main.cpp @@ -1,7 +1,9 @@ #include #include #include -#include "InstrumentCluster.hpp" +#include +#include +#include "../include/InstrumentCluster.hpp" using namespace zenoh; @@ -10,19 +12,37 @@ int main(int argc, char* argv[]) QGuiApplication app(argc, argv); QQmlApplicationEngine engine; + // Font configuration + int fontId = QFontDatabase::addApplicationFont("/usr/share/fonts/electrolize.ttf"); + + if (fontId == -1) { + qWarning() << "Falha ao carregar a fonte!"; + } else { + QStringList fontFamilies = QFontDatabase::applicationFontFamilies(fontId); + if (!fontFamilies.isEmpty()) { + qDebug() << "Fonte carregada com sucesso in main:" << fontFamilies.first(); + app.setFont(QFont(fontFamilies.first())); + } + } + InstrumentCluster* instrumentCluster; - if (argc == 2) - { + if (argc == 2) { instrumentCluster = new InstrumentCluster(argv[1]); - } - else - { + } else { instrumentCluster = new InstrumentCluster(); } - engine.rootContext()->setContextProperty("instrumentCluster", - instrumentCluster); + if (instrumentCluster) { + engine.rootContext()->setContextProperty("instrumentCluster", instrumentCluster); + } else { + std::cout << "ERROR" << std::endl; + qDebug() << "Error: instrumentCluster is NULL!"; + } + + // QML Load const QUrl url(QStringLiteral("qrc:/Main.qml")); + engine.load(url); + QObject::connect( &engine, &QQmlApplicationEngine::objectCreated, &app, [url](QObject* obj, const QUrl& objUrl) @@ -30,9 +50,9 @@ int main(int argc, char* argv[]) if (!obj && url == objUrl) QCoreApplication::exit(-1); }, - Qt::QueuedConnection); - engine.load(url); - + Qt::QueuedConnection + ); + int result = app.exec(); delete instrumentCluster; return result; diff --git a/Clusters/HandCluster/src/publisher/lanes-publisher/CMakeLists.txt b/Clusters/HandCluster/src/publisher/lanes-publisher/CMakeLists.txt new file mode 100644 index 0000000..f746ddf --- /dev/null +++ b/Clusters/HandCluster/src/publisher/lanes-publisher/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required(VERSION 3.10) + +# Project Name +project(publisher) + +# Find Qt5 +find_package(Qt5 REQUIRED COMPONENTS Core Quick) + +# Enable automatic moc processing +set(CMAKE_AUTOMOC ON) + +set(CMAKE_CXX_STANDARD 17) + +# Add source files for the project +set(SOURCE_FILES + lanes_publisher.cpp +) + +# Add the executable target +add_executable(publisher ${SOURCE_FILES}) + +# Include and Link Directories +include_directories(/usr/local/include) # Ensure this path is correct +link_directories(/usr/local/lib) # Ensure the Zenoh library is in this directory + +# Define Preprocessor Macros for Zenoh +target_compile_definitions(publisher PRIVATE ZENOHCXX_ZENOHC) + +# Add QML resources if you're using QML +qt5_add_resources(publisher "ui/resources.qrc") + +# Link with Qt5 and Zenoh +target_link_libraries(publisher Qt5::Core Qt5::Quick zenohc) \ No newline at end of file diff --git a/Clusters/HandCluster/src/publisher/lanes-publisher/lanes_publisher.cpp b/Clusters/HandCluster/src/publisher/lanes-publisher/lanes_publisher.cpp new file mode 100644 index 0000000..f6d4df4 --- /dev/null +++ b/Clusters/HandCluster/src/publisher/lanes-publisher/lanes_publisher.cpp @@ -0,0 +1,58 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace zenoh; + +// Generate a space-separated coefficient string like: "0.02 -12.5 1600.0" +std::string generateLaneCoefficients(double a, double b, double c) { + std::ostringstream oss; + oss << a << " " << b << " " << c; + return oss.str(); +} + +int main() { + std::srand(static_cast(std::time(nullptr))); + + std::cout << "Starting Lane Publisher..." << std::endl; + + // Create Zenoh session + auto config = Config::create_default(); + auto session = std::make_shared( + zenoh::Session::open(std::move(config))); + + // Declare publishers + auto left_lanes_pub = session->declare_publisher("Vehicle/1/Scene/Lanes/Left"); + auto right_lanes_pub = session->declare_publisher("Vehicle/1/Scene/Lanes/Right"); + + while (true) { + // Simulate lane coefficient values + double aLeft = 0.02 + ((std::rand() % 100) - 50) / 10000.0; + double bLeft = -12.0 + ((std::rand() % 200) - 100) / 10.0; + double cLeft = 1600.0 + (std::rand() % 300); + + double aRight = 0.003 + ((std::rand() % 100) - 50) / 10000.0; + double bRight = -0.5 + ((std::rand() % 100) - 50) / 100.0; + double cRight = 350.0 + (std::rand() % 50); + + std::string leftPayload = generateLaneCoefficients(aLeft, bLeft, cLeft); + std::string rightPayload = generateLaneCoefficients(aRight, bRight, cRight); + + // Publish + left_lanes_pub.put(leftPayload); + right_lanes_pub.put(rightPayload); + + std::cout << "[LEFT] " << leftPayload << std::endl; + std::cout << "[RIGHT] " << rightPayload << std::endl; + + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + } + + return 0; +} diff --git a/Clusters/HandCluster/src/publisher/objects-publisher/CMakeLists.txt b/Clusters/HandCluster/src/publisher/objects-publisher/CMakeLists.txt new file mode 100644 index 0000000..bd2305b --- /dev/null +++ b/Clusters/HandCluster/src/publisher/objects-publisher/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required(VERSION 3.10) + +# Project Name +project(publisher) + +# Find Qt5 +find_package(Qt5 REQUIRED COMPONENTS Core Quick) + +# Enable automatic moc processing +set(CMAKE_AUTOMOC ON) + +set(CMAKE_CXX_STANDARD 17) + +# Add source files for the project +set(SOURCE_FILES + object_publisher.cpp +) + +# Add the executable target +add_executable(publisher ${SOURCE_FILES}) + +# Include and Link Directories +include_directories(/usr/local/include) # Ensure this path is correct +link_directories(/usr/local/lib) # Ensure the Zenoh library is in this directory + +# Define Preprocessor Macros for Zenoh +target_compile_definitions(publisher PRIVATE ZENOHCXX_ZENOHC) + +# Add QML resources if you're using QML +qt5_add_resources(publisher "ui/resources.qrc") + +# Link with Qt5 and Zenoh +target_link_libraries(publisher Qt5::Core Qt5::Quick zenohc) \ No newline at end of file diff --git a/Clusters/HandCluster/src/publisher/objects-publisher/object_publisher.cpp b/Clusters/HandCluster/src/publisher/objects-publisher/object_publisher.cpp new file mode 100644 index 0000000..d194fc3 --- /dev/null +++ b/Clusters/HandCluster/src/publisher/objects-publisher/object_publisher.cpp @@ -0,0 +1,56 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include // for rand +#include // for time + +using namespace zenoh; + +// Function to generate random object data +std::string generateRandomObjectData() { + std::vector types = {"car", "pedestrian", "traffic_light"}; + std::ostringstream oss; + + oss << "["; + for (int i = 0; i < 3; ++i) { + if (i > 0) oss << ","; + oss << "{" + << "\"x\":" << (rand() % 500) << "," + << "\"y\":" << (rand() % 500) << "," + << "\"width\":" << (rand() % 100 + 20) << "," + << "\"height\":" << (rand() % 100 + 20) << "," + << "\"type\":\"" << types[rand() % types.size()] << "\"" + << "}"; + } + oss << "]"; + return oss.str(); +} + +int main() { + std::srand(static_cast(std::time(nullptr))); // seed random + + std::cout << "Starting Object Publisher..." << std::endl; + + // Create Zenoh session + auto config = Config::create_default(); + auto session = std::make_shared( + zenoh::Session::open(std::move(config))); + + // Declare publisher + auto publisher = session->declare_publisher("Vehicle/1/Scene/Objects"); + + // Publish dynamic object data in a loop + while (true) { + std::string dynamicPayload = generateRandomObjectData(); + publisher.put(dynamicPayload); + std::cout << "Published: " << dynamicPayload << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); + } + + return 0; +} diff --git a/Clusters/HandCluster/src/publisher/warning-publisher/CMakeLists.txt b/Clusters/HandCluster/src/publisher/warning-publisher/CMakeLists.txt new file mode 100644 index 0000000..ec5d057 --- /dev/null +++ b/Clusters/HandCluster/src/publisher/warning-publisher/CMakeLists.txt @@ -0,0 +1,33 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Look for 6 digit vs. 8 digit version number to decide encoding. + * VVVV is no smaller than the current year when a version is released. + */ +#if __INTEL_LLVM_COMPILER < 1000000L +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) +#else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) +#endif +#if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +#endif +#if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +#elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +#endif +#if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +#endif +#if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +#endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_C) +# define COMPILER_ID "SunPro" +# if __SUNPRO_C >= 0x5100 + /* __SUNPRO_C = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if !defined(__STDC__) && !defined(__clang__) +# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__) +# define C_VERSION "90" +# else +# define C_VERSION +# endif +#elif __STDC_VERSION__ > 201710L +# define C_VERSION "23" +#elif __STDC_VERSION__ >= 201710L +# define C_VERSION "17" +#elif __STDC_VERSION__ >= 201000L +# define C_VERSION "11" +#elif __STDC_VERSION__ >= 199901L +# define C_VERSION "99" +#else +# define C_VERSION "90" +#endif +const char* info_language_standard_default = + "INFO" ":" "standard_default[" C_VERSION "]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */ +#if (defined(__clang__) || defined(__GNUC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) && !defined(_MSC_VER) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/Clusters/HandCluster/src/publisher/warning-publisher/build/CMakeFiles/3.22.1/CompilerIdC/a.out b/Clusters/HandCluster/src/publisher/warning-publisher/build/CMakeFiles/3.22.1/CompilerIdC/a.out new file mode 100755 index 0000000..c786756 Binary files /dev/null and b/Clusters/HandCluster/src/publisher/warning-publisher/build/CMakeFiles/3.22.1/CompilerIdC/a.out differ diff --git a/Clusters/HandCluster/src/publisher/warning-publisher/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp b/Clusters/HandCluster/src/publisher/warning-publisher/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..25c62a8 --- /dev/null +++ b/Clusters/HandCluster/src/publisher/warning-publisher/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,791 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + +#if !defined(__has_include) +/* If the compiler does not have __has_include, pretend the answer is + always no. */ +# define __has_include(x) 0 +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later, + except that a few beta releases use the old format with V=2021. */ +# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111 +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE) + /* The third version component from --version is an update index, + but no macro is provided for it. */ +# define COMPILER_VERSION_PATCH DEC(0) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER) +# define COMPILER_ID "IntelLLVM" +#if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +#endif +#if defined(__GNUC__) +# define SIMULATE_ID "GNU" +#endif +/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and + * later. Look for 6 digit vs. 8 digit version number to decide encoding. + * VVVV is no smaller than the current year when a version is released. + */ +#if __INTEL_LLVM_COMPILER < 1000000L +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) +#else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) +#endif +#if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +#endif +#if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +#elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +#endif +#if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +#endif +#if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +#endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; 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Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_standard_default = "INFO" ":" "standard_default[" +#if CXX_STD > 202002L + "23" +#elif CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +const char* 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__FLT64X_MANT_DIG__ 64 +#define __GNUC__ 11 +#define __GXX_RTTI 1 +#define __pie__ 2 +#define __MMX__ 1 +#define __FLT_HAS_DENORM__ 1 +#define __SIZEOF_LONG_DOUBLE__ 16 +#define __BIGGEST_ALIGNMENT__ 16 +#define __STDC_UTF_16__ 1 +#define __FLT64_MAX_10_EXP__ 308 +#define __cpp_delegating_constructors 200604L +#define __FLT32_HAS_INFINITY__ 1 +#define __DBL_MAX__ double(1.79769313486231570814527423731704357e+308L) +#define __cpp_raw_strings 200710L +#define __INT_FAST32_MAX__ 0x7fffffffffffffffL +#define __DBL_HAS_INFINITY__ 1 +#define __SIZEOF_FLOAT__ 4 +#define __HAVE_SPECULATION_SAFE_VALUE 1 +#define __cpp_fold_expressions 201603L +#define __DEC32_MIN_EXP__ (-94) +#define __INTPTR_WIDTH__ 64 +#define __FLT64X_HAS_INFINITY__ 1 +#define __UINT_LEAST32_MAX__ 0xffffffffU +#define __FLT32X_HAS_DENORM__ 1 +#define __INT_FAST16_TYPE__ long int +#define __MMX_WITH_SSE__ 1 +#define __LDBL_HAS_DENORM__ 1 +#define __cplusplus 201703L +#define __cpp_ref_qualifiers 200710L +#define __DEC32_MIN__ 1E-95DF +#define __DEPRECATED 1 +#define __cpp_rvalue_references 200610L +#define __DBL_MAX_EXP__ 1024 +#define __WCHAR_WIDTH__ 32 +#define __FLT32_MAX__ 3.40282346638528859811704183484516925e+38F32 +#define __DEC128_EPSILON__ 1E-33DL +#define __SSE2_MATH__ 1 +#define __ATOMIC_HLE_RELEASE 131072 +#define __PTRDIFF_MAX__ 0x7fffffffffffffffL +#define __amd64 1 +#define __ATOMIC_HLE_ACQUIRE 65536 +#define __GNUG__ 11 +#define __LONG_LONG_MAX__ 0x7fffffffffffffffLL +#define __SIZEOF_SIZE_T__ 8 +#define __cpp_nsdmi 200809L +#define __FLT64X_MIN_EXP__ (-16381) +#define __SIZEOF_WINT_T__ 4 +#define __LONG_LONG_WIDTH__ 64 +#define __cpp_initializer_lists 200806L +#define __FLT32_MAX_EXP__ 128 +#define ABI_ID "ELF" +#define __cpp_hex_float 201603L +#define __GXX_ABI_VERSION 1016 +#define __FLT128_HAS_INFINITY__ 1 +#define __FLT_MIN_EXP__ (-125) +#define __GCC_HAVE_DWARF2_CFI_ASM 1 +#define __x86_64 1 +#define __cpp_lambdas 200907L +#define __INT_FAST64_TYPE__ long int +#define __FLT64_DENORM_MIN__ 4.94065645841246544176568792868221372e-324F64 +#define __cpp_template_auto 201606L +#define __DBL_MIN__ double(2.22507385850720138309023271733240406e-308L) +#define __FLT128_EPSILON__ 1.92592994438723585305597794258492732e-34F128 +#define __FLT64X_NORM_MAX__ 1.18973149535723176502126385303097021e+4932F64x +#define __SIZEOF_POINTER__ 8 +#define __LP64__ 1 +#define __DBL_HAS_QUIET_NAN__ 1 +#define __FLT32X_EPSILON__ 2.22044604925031308084726333618164062e-16F32x +#define __DECIMAL_BID_FORMAT__ 1 +#define __FLT64_MIN_10_EXP__ (-307) +#define __FLT64X_DECIMAL_DIG__ 21 +#define __DEC128_MIN__ 1E-6143DL +#define __REGISTER_PREFIX__ +#define __UINT16_MAX__ 0xffff +#define __LDBL_HAS_INFINITY__ 1 +#define __FLT32_MIN__ 1.17549435082228750796873653722224568e-38F32 +#define __UINT8_TYPE__ unsigned char +#define __FLT_DIG__ 6 +#define __NO_INLINE__ 1 +#define __DEC_EVAL_METHOD__ 2 +#define __DEC128_MAX__ 9.999999999999999999999999999999999E6144DL +#define __FLT_MANT_DIG__ 24 +#define __LDBL_DECIMAL_DIG__ 21 +#define __VERSION__ "11.4.0" +#define __UINT64_C(c) c ## UL +#define __cpp_unicode_characters 201411L +#define _STDC_PREDEF_H 1 +#define __INT_LEAST32_MAX__ 0x7fffffff +#define __GCC_ATOMIC_INT_LOCK_FREE 2 +#define QT_QUICK_LIB 1 +#define __FLT128_MAX_EXP__ 16384 +#define __FLT32_MANT_DIG__ 24 +#define __FLOAT_WORD_ORDER__ __ORDER_LITTLE_ENDIAN__ +#define SIZEOF_DPTR (sizeof(void*)) +#define __STDC_IEC_60559_COMPLEX__ 201404L +#define __cpp_aggregate_bases 201603L +#define __FLT128_HAS_DENORM__ 1 +#define __FLT32_DECIMAL_DIG__ 9 +#define __FLT128_DIG__ 33 +#define __INT32_C(c) c +#define __DEC64_EPSILON__ 1E-15DD +#define __ORDER_PDP_ENDIAN__ 3412 +#define __DEC128_MIN_EXP__ (-6142) +#define __INT_FAST32_TYPE__ long int +#define __UINT_LEAST16_TYPE__ short unsigned int +#define unix 1 +#define __DBL_HAS_DENORM__ 1 +#define __cpp_rtti 199711L +#define __SIZE_TYPE__ long unsigned int +#define __UINT64_MAX__ 0xffffffffffffffffUL +#define __FLT_IS_IEC_60559__ 2 +#define __GNUC_WIDE_EXECUTION_CHARSET_NAME "UTF-32LE" +#define __FLT64X_DIG__ 18 +#define __INT8_TYPE__ signed char +#define __cpp_digit_separators 201309L +#define __ELF__ 1 +#define __GCC_ASM_FLAG_OUTPUTS__ 1 +#define __UINT32_TYPE__ unsigned int +#define __FLT_RADIX__ 2 +#define __INT_LEAST16_TYPE__ short int +#define __LDBL_EPSILON__ 1.08420217248550443400745280086994171e-19L +#define __UINTMAX_C(c) c ## UL +#define __GLIBCXX_BITSIZE_INT_N_0 128 +#define __k8 1 +#define __FLT32X_MIN__ 2.22507385850720138309023271733240406e-308F32x +#define __SIG_ATOMIC_MAX__ 0x7fffffff +#define __GCC_ATOMIC_WCHAR_T_LOCK_FREE 2 +#define __STDC_IEC_60559_BFP__ 201404L +#define __SIZEOF_PTRDIFF_T__ 8 +#define __LDBL_DIG__ 18 +#define __FLT64_IS_IEC_60559__ 2 +#define __x86_64__ 1 +#define __FLT32X_MIN_EXP__ (-1021) +#define __DEC32_SUBNORMAL_MIN__ 0.000001E-95DF +#define __INT_FAST16_MAX__ 0x7fffffffffffffffL +#define __FLT64_DIG__ 15 +#define __UINT_FAST32_MAX__ 0xffffffffffffffffUL +#define __UINT_LEAST64_TYPE__ long unsigned int +#define __FLT_HAS_QUIET_NAN__ 1 +#define __FLT_MAX_10_EXP__ 38 +#define __LONG_MAX__ 0x7fffffffffffffffL +#define __FLT64X_HAS_DENORM__ 1 +#define __DEC128_SUBNORMAL_MIN__ 0.000000000000000000000000000000001E-6143DL +#define __FLT_HAS_INFINITY__ 1 +#define __GNUC_EXECUTION_CHARSET_NAME "UTF-8" +#define __cpp_unicode_literals 200710L +#define __UINT_FAST16_TYPE__ long unsigned int +#define __DEC64_MAX__ 9.999999999999999E384DD +#define __INT_FAST32_WIDTH__ 64 +#define __CHAR16_TYPE__ short unsigned int +#define __PRAGMA_REDEFINE_EXTNAME 1 +#define __SIZE_WIDTH__ 64 +#define __SEG_FS 1 +#define __INT_LEAST16_MAX__ 0x7fff +#define __DEC64_MANT_DIG__ 16 +#define __INT64_MAX__ 0x7fffffffffffffffL +#define QT_NETWORK_LIB 1 +#define __SEG_GS 1 +#define __FLT32_DENORM_MIN__ 1.40129846432481707092372958328991613e-45F32 +#define __SIG_ATOMIC_WIDTH__ 32 +#define __INT_LEAST64_TYPE__ long int +#define __INT16_TYPE__ short int +#define __INT_LEAST8_TYPE__ signed char +#define __cpp_structured_bindings 201606L +#define __SIZEOF_INT__ 4 +#define __DEC32_MAX_EXP__ 97 +#define __INT_FAST8_MAX__ 0x7f +#define __FLT128_MAX__ 1.18973149535723176508575932662800702e+4932F128 +#define __INTPTR_MAX__ 0x7fffffffffffffffL +#define __cpp_sized_deallocation 201309L +#define __cpp_guaranteed_copy_elision 201606L +#define linux 1 +#define __FLT64_HAS_QUIET_NAN__ 1 +#define __FLT32_MIN_10_EXP__ (-37) +#define __EXCEPTIONS 1 +#define __PTRDIFF_WIDTH__ 64 +#define __LDBL_MANT_DIG__ 64 +#define __cpp_range_based_for 201603L +#define __FLT64_HAS_INFINITY__ 1 +#define __FLT64X_MAX__ 1.18973149535723176502126385303097021e+4932F64x +#define __STDCPP_DEFAULT_NEW_ALIGNMENT__ 16 +#define __SIG_ATOMIC_MIN__ (-__SIG_ATOMIC_MAX__ - 1) +#define __code_model_small__ 1 +#define __GCC_ATOMIC_LONG_LOCK_FREE 2 +#define __cpp_nontype_template_args 201411L +#define __DEC32_MANT_DIG__ 7 +#define __cpp_return_type_deduction 201304L +#define __k8__ 1 +#define __INTPTR_TYPE__ long int +#define __UINT16_TYPE__ short unsigned int +#define __WCHAR_TYPE__ int +#define __pic__ 2 +#define __UINTPTR_MAX__ 0xffffffffffffffffUL +#define __INT_FAST64_WIDTH__ 64 +#define __cpp_decltype 200707L +#define __INT_FAST64_MAX__ 0x7fffffffffffffffL +#define __GCC_ATOMIC_TEST_AND_SET_TRUEVAL 1 +#define __FLT_NORM_MAX__ 3.40282346638528859811704183484516925e+38F +#define __FLT64X_MAX_EXP__ 16384 +#define __UINT_FAST64_TYPE__ long unsigned int +#define __cpp_inline_variables 201606L +#define __INT_MAX__ 0x7fffffff +#define __linux__ 1 +#define __INT64_TYPE__ long int +#define __FLT_MAX_EXP__ 128 +#define __ORDER_BIG_ENDIAN__ 4321 +#define __DBL_MANT_DIG__ 53 +#define __cpp_inheriting_constructors 201511L +#define QT_CORE_LIB 1 +#define __SIZEOF_FLOAT128__ 16 +#define __INT_LEAST64_MAX__ 0x7fffffffffffffffL +#define __DEC64_MIN__ 1E-383DD +#define __WINT_TYPE__ unsigned int +#define __UINT_LEAST32_TYPE__ unsigned int +#define __SIZEOF_SHORT__ 2 +#define __FLT32_NORM_MAX__ 3.40282346638528859811704183484516925e+38F32 +#define __SSE__ 1 +#define __LDBL_MIN_EXP__ (-16381) +#define __FLT64_MAX__ 1.79769313486231570814527423731704357e+308F64 +#define __amd64__ 1 +#define __WINT_WIDTH__ 32 +#define __INT_LEAST64_WIDTH__ 64 +#define __LDBL_MAX_EXP__ 16384 +#define __FLT32X_MAX_10_EXP__ 308 +#define __SIZEOF_INT128__ 16 +#define __FLT64X_IS_IEC_60559__ 2 +#define __LDBL_MAX_10_EXP__ 4932 +#define __ATOMIC_RELAXED 0 +#define __DBL_EPSILON__ double(2.22044604925031308084726333618164062e-16L) +#define __FLT128_MIN__ 3.36210314311209350626267781732175260e-4932F128 +#define _LP64 1 +#define __UINT8_C(c) c +#define __FLT64_MAX_EXP__ 1024 +#define __INT_LEAST32_TYPE__ int +#define __SIZEOF_WCHAR_T__ 4 +#define __GNUC_PATCHLEVEL__ 0 +#define __FLT128_NORM_MAX__ 1.18973149535723176508575932662800702e+4932F128 +#define __FLT64_NORM_MAX__ 1.79769313486231570814527423731704357e+308F64 +#define __FLT128_HAS_QUIET_NAN__ 1 +#define __INTMAX_MAX__ 0x7fffffffffffffffL +#define __INT_FAST8_TYPE__ signed char +#define __cpp_namespace_attributes 201411L +#define __FLT64X_MIN__ 3.36210314311209350626267781732175260e-4932F64x +#define __STDCPP_THREADS__ 1 +#define __GNUC_STDC_INLINE__ 1 +#define __FLT64_HAS_DENORM__ 1 +#define __FLT32_EPSILON__ 1.19209289550781250000000000000000000e-7F32 +#define __DBL_DECIMAL_DIG__ 17 +#define __STDC_UTF_32__ 1 +#define __INT_FAST8_WIDTH__ 8 +#define __FXSR__ 1 +#define __FLT32X_MAX__ 1.79769313486231570814527423731704357e+308F32x +#define __DBL_NORM_MAX__ double(1.79769313486231570814527423731704357e+308L) +#define __BYTE_ORDER__ __ORDER_LITTLE_ENDIAN__ +#define __INTMAX_WIDTH__ 64 +#define __cpp_runtime_arrays 198712L +#define __UINT64_TYPE__ long unsigned int +#define __UINT32_C(c) c ## U +#define __cpp_alias_templates 200704L +#define __FLT_DENORM_MIN__ 1.40129846432481707092372958328991613e-45F +#define __FLT128_IS_IEC_60559__ 2 +#define __INT8_MAX__ 0x7f +#define __LONG_WIDTH__ 64 +#define __PIC__ 2 +#define __UINT_FAST32_TYPE__ long unsigned int +#define __FLT32X_NORM_MAX__ 1.79769313486231570814527423731704357e+308F32x +#define __CHAR32_TYPE__ unsigned int +#define __FLT_MAX__ 3.40282346638528859811704183484516925e+38F +#define __cpp_constexpr 201603L +#define __SSE2__ 1 +#define __cpp_deduction_guides 201703L +#define __INT32_TYPE__ int +#define __SIZEOF_DOUBLE__ 8 +#define __cpp_exceptions 199711L +#define __FLT_MIN_10_EXP__ (-37) +#define __FLT64_MIN__ 2.22507385850720138309023271733240406e-308F64 +#define __INT_LEAST32_WIDTH__ 32 +#define __INTMAX_TYPE__ long int +#define __DEC128_MAX_EXP__ 6145 +#define __FLT32X_HAS_QUIET_NAN__ 1 +#define __ATOMIC_CONSUME 1 +#define __GNUC_MINOR__ 4 +#define __GLIBCXX_TYPE_INT_N_0 __int128 +#define __INT_FAST16_WIDTH__ 64 +#define __UINTMAX_MAX__ 0xffffffffffffffffUL +#define __PIE__ 2 +#define __FLT32X_DENORM_MIN__ 4.94065645841246544176568792868221372e-324F32x +#define __cpp_template_template_args 201611L +#define __DBL_MAX_10_EXP__ 308 +#define __LDBL_DENORM_MIN__ 3.64519953188247460252840593361941982e-4951L +#define __INT16_C(c) c +#define __STDC__ 1 +#define __FLT32X_DIG__ 15 +#define __PTRDIFF_TYPE__ long int +#define __ATOMIC_SEQ_CST 5 +#define QT_QML_LIB 1 +#define __FLT32X_MIN_10_EXP__ (-307) +#define __UINTPTR_TYPE__ long unsigned int +#define __DEC64_SUBNORMAL_MIN__ 0.000000000000001E-383DD +#define __DEC128_MANT_DIG__ 34 +#define __LDBL_MIN_10_EXP__ (-4931) +#define __cpp_generic_lambdas 201304L +#define __SSE_MATH__ 1 +#define __SIZEOF_LONG_LONG__ 8 +#define __cpp_user_defined_literals 200809L +#define __FLT128_DECIMAL_DIG__ 36 +#define __GCC_ATOMIC_LLONG_LOCK_FREE 2 +#define __FLT32_HAS_QUIET_NAN__ 1 +#define __FLT_DECIMAL_DIG__ 9 +#define __UINT_FAST16_MAX__ 0xffffffffffffffffUL +#define __LDBL_NORM_MAX__ 1.18973149535723176502126385303097021e+4932L +#define __GCC_ATOMIC_SHORT_LOCK_FREE 2 +#define __UINT_FAST8_TYPE__ unsigned char +#define _GNU_SOURCE 1 +#define __cpp_init_captures 201304L +#define __ATOMIC_ACQ_REL 4 +#define __ATOMIC_RELEASE 3 diff --git a/Clusters/HandCluster/src/publisher/warning-publisher/build/publisher_autogen/mocs_compilation.cpp b/Clusters/HandCluster/src/publisher/warning-publisher/build/publisher_autogen/mocs_compilation.cpp new file mode 100644 index 0000000..bda67f7 --- /dev/null +++ b/Clusters/HandCluster/src/publisher/warning-publisher/build/publisher_autogen/mocs_compilation.cpp @@ -0,0 +1,3 @@ +// This file is autogenerated. Changes will be overwritten. +// No files found that require moc or the moc files are included +enum some_compilers { need_more_than_nothing }; diff --git a/Clusters/HandCluster/src/publisher/warning-publisher/warning_publisher.cpp b/Clusters/HandCluster/src/publisher/warning-publisher/warning_publisher.cpp new file mode 100644 index 0000000..5d2e7c6 --- /dev/null +++ b/Clusters/HandCluster/src/publisher/warning-publisher/warning_publisher.cpp @@ -0,0 +1,47 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace zenoh; + +// Generate a space-separated coefficient string like: "0.02 -12.5 1600.0" +std::string generateLaneCoefficients(double a, double b, double c) { + std::ostringstream oss; + oss << a << " " << b << " " << c; + return oss.str(); +} + +int main() { + std::srand(static_cast(std::time(nullptr))); + + std::cout << "Starting Warning Publisher..." << std::endl; + + // Create Zenoh session + auto config = Config::create_default(); + auto session = std::make_shared( + zenoh::Session::open(std::move(config))); + + auto warning_pub = session->declare_publisher("Vehicle/1/ObstacleDetection/IsWarning"); + + while (true) { + + // Publish + std::cout << "Publishing warning code..." << std::endl; + // Always publish warning code 1 + int warningCode = 1; + std::cout << "Warning code: " << warningCode << std::endl; + + // Convert the warning code to a string and publish it + std::string warningCodeStr = std::to_string(warningCode); + warning_pub.put(warningCodeStr); + std::this_thread::sleep_for(std::chrono::milliseconds(4500)); + } + + return 0; +} diff --git a/Clusters/HandCluster/tests/InstrumentClusterTest.cpp b/Clusters/HandCluster/tests/InstrumentClusterTest.cpp new file mode 100644 index 0000000..8dfa121 --- /dev/null +++ b/Clusters/HandCluster/tests/InstrumentClusterTest.cpp @@ -0,0 +1,417 @@ +#include "InstrumentClusterTest.hpp" +#include "../include/InstrumentCluster.hpp" + +#include +#include +#include +#include +#include +#include + +// Teste de carregamento da fonte +void TestInstrumentCluster::testFontLoading() +{ + int fontId = QFontDatabase::addApplicationFont("/usr/share/fonts/electrolize.ttf"); + QVERIFY(fontId != -1); +} + +// Teste de inicialização do InstrumentCluster +void TestInstrumentCluster::testInstrumentClusterInitialization() +{ + InstrumentCluster cluster; + cluster.setObjectName("InstrumentCluster"); // Necessário se testado diretamente + QVERIFY(!cluster.objectName().isEmpty()); +} + +// Teste do setter de velocidade +void TestInstrumentCluster::testSetSpeed() +{ + InstrumentCluster cluster; + QSignalSpy spy(&cluster, &InstrumentCluster::speedChanged); + + cluster.setSpeed(80); + QCOMPARE(cluster.getSpeed(), 80); + QCOMPARE(spy.count(), 1); + + // Não deve emitir novamente se o valor não mudar + cluster.setSpeed(80); + QCOMPARE(spy.count(), 1); +} + +void TestInstrumentCluster::testParseLaneData() +{ + InstrumentCluster cluster; + + // Test left lane + QSignalSpy leftSpy(&cluster, &InstrumentCluster::leftLaneChanged); + cluster.parseLaneData("1.0 2.0 3.0", "leftLane"); + QVariantMap leftCoefs = cluster.getLeftLaneCoefs(); + + QCOMPARE(leftCoefs["a"].toFloat(), 1.0f); + QCOMPARE(leftCoefs["b"].toFloat(), 2.0f); + QCOMPARE(leftCoefs["c"].toFloat(), 3.0f); + QCOMPARE(leftSpy.count(), 1); + + // Test right lane + QSignalSpy rightSpy(&cluster, &InstrumentCluster::rightLaneChanged); + cluster.parseLaneData("4.0 5.0 6.0", "rightLane"); + QVariantMap rightCoefs = cluster.getRightLaneCoefs(); + + QCOMPARE(rightCoefs["a"].toFloat(), 4.0f); + QCOMPARE(rightCoefs["b"].toFloat(), 5.0f); + QCOMPARE(rightCoefs["c"].toFloat(), 6.0f); + QCOMPARE(rightSpy.count(), 1); +} + + +// Teste de warning code +void TestInstrumentCluster::testSetWarningCode() +{ + InstrumentCluster cluster; + QSignalSpy spy(&cluster, &InstrumentCluster::warningCodeChanged); + + cluster.setWarningCode(3); + QCOMPARE(cluster.getWarningCode(), 3); + QCOMPARE(spy.count(), 1); +} + +// Teste de sinal de farol alto +void TestInstrumentCluster::testSetHighBeam() +{ + InstrumentCluster cluster; + QSignalSpy spy(&cluster, &InstrumentCluster::highBeamChanged); + + cluster.setHighBeam(true); + QCOMPARE(cluster.getHighBeam(), true); + QCOMPARE(spy.count(), 1); +} + +void TestInstrumentCluster::testSetLowBeam() +{ + InstrumentCluster cluster; + QSignalSpy spy(&cluster, &InstrumentCluster::lowBeamChanged); + + cluster.setLowBeam(true); + QCOMPARE(cluster.getLowBeam(), true); + QCOMPARE(spy.count(), 1); + + cluster.setLowBeam(false); + QCOMPARE(cluster.getLowBeam(), false); + QCOMPARE(spy.count(), 2); +} + +void TestInstrumentCluster::testBlinkers() +{ + InstrumentCluster cluster; + + // Test right blinker + QSignalSpy rightBlinkerSpy(&cluster, &InstrumentCluster::rightBlinkerChanged); + cluster.setRightBlinker(true); + QCOMPARE(cluster.getRightBlinker(), true); + QCOMPARE(rightBlinkerSpy.count(), 1); + + cluster.setRightBlinker(false); + QCOMPARE(cluster.getRightBlinker(), false); + QCOMPARE(rightBlinkerSpy.count(), 2); + + // Test left blinker + QSignalSpy leftBlinkerSpy(&cluster, &InstrumentCluster::leftBlinkerChanged); + cluster.setLeftBlinker(true); + QCOMPARE(cluster.getLeftBlinker(), true); + QCOMPARE(leftBlinkerSpy.count(), 1); + + cluster.setLeftBlinker(false); + QCOMPARE(cluster.getLeftBlinker(), false); + QCOMPARE(leftBlinkerSpy.count(), 2); +} + +void TestInstrumentCluster::testLights() +{ + InstrumentCluster cluster; + + // Test front fog light + QSignalSpy frontFogSpy(&cluster, &InstrumentCluster::frontFogLightChanged); + cluster.setFrontFogLight(true); + QCOMPARE(cluster.getFrontFogLight(), true); + QCOMPARE(frontFogSpy.count(), 1); + + cluster.setFrontFogLight(false); + QCOMPARE(cluster.getFrontFogLight(), false); + QCOMPARE(frontFogSpy.count(), 2); + + // Test rear fog light + QSignalSpy rearFogSpy(&cluster, &InstrumentCluster::rearFogLightChanged); + cluster.setRearFogLight(true); + QCOMPARE(cluster.getRearFogLight(), true); + QCOMPARE(rearFogSpy.count(), 1); + + cluster.setRearFogLight(false); + QCOMPARE(cluster.getRearFogLight(), false); + QCOMPARE(rearFogSpy.count(), 2); + + // Test hazard light + QSignalSpy hazardSpy(&cluster, &InstrumentCluster::hazardLightChanged); + cluster.setHazardLight(true); + QCOMPARE(cluster.getHazardLight(), true); + QCOMPARE(hazardSpy.count(), 1); + + cluster.setHazardLight(false); + QCOMPARE(cluster.getHazardLight(), false); + QCOMPARE(hazardSpy.count(), 2); + + // Test parking light + QSignalSpy parkingSpy(&cluster, &InstrumentCluster::parkingLightChanged); + cluster.setParkingLight(true); + QCOMPARE(cluster.getParkingLight(), true); + QCOMPARE(parkingSpy.count(), 1); + + cluster.setParkingLight(false); + QCOMPARE(cluster.getParkingLight(), false); + QCOMPARE(parkingSpy.count(), 2); +} + +void TestInstrumentCluster::testPercentage() +{ + InstrumentCluster cluster; + QSignalSpy spy(&cluster, &InstrumentCluster::percentageChanged); + + cluster.setPercentage(50); + QCOMPARE(cluster.getPercentage(), 50); + QCOMPARE(spy.count(), 1); + + cluster.setPercentage(75); + QCOMPARE(cluster.getPercentage(), 75); + QCOMPARE(spy.count(), 2); +} + +void TestInstrumentCluster::testAutonomy() +{ + InstrumentCluster cluster; + QSignalSpy spy(&cluster, &InstrumentCluster::autonomyChanged); + + cluster.setAutonomy(200); + QCOMPARE(cluster.getAutonomy(), 200); + QCOMPARE(spy.count(), 1); + + cluster.setAutonomy(300); + QCOMPARE(cluster.getAutonomy(), 300); + QCOMPARE(spy.count(), 2); +} + +void TestInstrumentCluster::testGear() +{ + InstrumentCluster cluster; + QSignalSpy spy(&cluster, &InstrumentCluster::gearChanged); + + cluster.setGear(1); + QCOMPARE(cluster.getGear(), 1); + QCOMPARE(spy.count(), 1); + + cluster.setGear(2); + QCOMPARE(cluster.getGear(), 2); + QCOMPARE(spy.count(), 2); +} + +void TestInstrumentCluster::testGetDetectedObjects() +{ + InstrumentCluster cluster; + + // Simulate detected objects + QVariantList detectedObjects; + detectedObjects.append(QVariantMap{{"id", 1}, {"type", "car"}, {"distance", 10.5}}); + detectedObjects.append(QVariantMap{{"id", 2}, {"type", "pedestrian"}, {"distance", 5.2}}); + + // Assuming there is a method to set detected objects + cluster.setDetectedObjects(detectedObjects); + + // Verify that getDetectedObjects() returns the correct list + QCOMPARE(cluster.getDetectedObjects(), detectedObjects); +} + + +void TestInstrumentCluster::testSetDetectedObjects() +{ + InstrumentCluster cluster; + QSignalSpy spy(&cluster, &InstrumentCluster::detectedObjectsUpdated); + + QVariantMap obj; + obj["x"] = 1.0; + obj["y"] = 2.0; + obj["width"] = 3.0; + obj["height"] = 4.0; + obj["type"] = "car"; + + QVariantList list; + list << obj; + + cluster.setDetectedObjects(list); + QCOMPARE(spy.count(), 1); + + // Repetir o mesmo valor não deve emitir novamente + cluster.setDetectedObjects(list); + QCOMPARE(spy.count(), 1); +} + +void TestInstrumentCluster::testParseObjectData() +{ + InstrumentCluster cluster; + + // Simulate JSON input + std::string objectData = R"([ + {"x": 10.5, "y": 20.5, "width": 5.0, "height": 10.0, "type": "car"}, + {"x": 15.0, "y": 25.0, "width": 6.0, "height": 12.0, "type": "pedestrian"} + ])"; + + // Call the function + cluster.parseObjectData(objectData); + + // Expected detected objects + QVariantList expectedObjects; + expectedObjects.append(QVariantMap{ + {"x", 10.5}, + {"y", 20.5}, + {"width", 5.0}, + {"height", 10.0}, + {"type", "car"} + }); + expectedObjects.append(QVariantMap{ + {"x", 15.0}, + {"y", 25.0}, + {"width", 6.0}, + {"height", 12.0}, + {"type", "pedestrian"} + }); + + // Verify that the detected objects were set correctly + QCOMPARE(cluster.getDetectedObjects(), expectedObjects); +} + +void TestInstrumentCluster::testParseObjectData_InvalidJson() +{ + InstrumentCluster cluster; + + // Simulate invalid JSON input + std::string invalidJson = "{invalid json}"; + + // Call the function + QSignalSpy spy(&cluster, &InstrumentCluster::detectedObjectsUpdated); + cluster.parseObjectData(invalidJson); + + // Verify that no objects were detected and no signal was emitted + QCOMPARE(cluster.getDetectedObjects().size(), 0); + QCOMPARE(spy.count(), 0); +} + +void TestInstrumentCluster::testParseObjectData_NonArrayJson() +{ + InstrumentCluster cluster("/home/lpicoli-/Documents/Team02-Course/RaspberryPi/deployLocal/zenoh-test.conf"); + + // Simulate non-array JSON input + std::string nonArrayJson = R"({"key": "value"})"; + + // Call the function + QSignalSpy spy(&cluster, &InstrumentCluster::detectedObjectsUpdated); + cluster.parseObjectData(nonArrayJson); + + // Verify that no objects were detected and no signal was emitted + QCOMPARE(cluster.getDetectedObjects().size(), 0); + QCOMPARE(spy.count(), 0); +} + + +void TestInstrumentCluster::testSubscriptionsIntegration() +{ + auto config = zenoh::Config::create_default(); + auto session = std::make_shared(zenoh::Session::open(std::move(config))); + QVERIFY(session != nullptr); + + InstrumentCluster cluster(session); + cluster.setupSubscriptions(); + QTest::qWait(200); + + auto publish = [&](const std::string& resource, const std::string& value) { + std::vector payload(value.begin(), value.end()); + session->put(resource, payload); + }; + + // Test basic existing topics + publish("Vehicle/1/Speed", "100"); + QTest::qWait(100); + QCOMPARE(cluster.getSpeed(), 100); + + publish("Vehicle/1/Body/Lights/Beam/Low", "1"); + QTest::qWait(100); + QCOMPARE(cluster.getLowBeam(), true); + + publish("Vehicle/1/Body/Lights/Beam/High", "0"); + QTest::qWait(100); + QCOMPARE(cluster.getHighBeam(), false); + + publish("Vehicle/1/Powertrain/TractionBattery/StateOfCharge", "85"); + QTest::qWait(100); + QCOMPARE(cluster.getPercentage(), 85); + + publish("Vehicle/1/Powertrain/Transmission/CurrentGear", "3"); + QTest::qWait(100); + QCOMPARE(cluster.getGear(), 3); + + // ✅ New topics to test + publish("Vehicle/1/Body/Lights/DirectionIndicator/Left", "1"); + QTest::qWait(100); + QCOMPARE(cluster.getLeftBlinker(), true); + + publish("Vehicle/1/Body/Lights/DirectionIndicator/Right", "1"); + QTest::qWait(100); + QCOMPARE(cluster.getRightBlinker(), true); + + publish("Vehicle/1/Body/Lights/Hazard", "1"); + QTest::qWait(100); + QCOMPARE(cluster.getHazardLight(), true); + + publish("Vehicle/1/Body/Lights/Fog/Front", "1"); + QTest::qWait(100); + QCOMPARE(cluster.getFrontFogLight(), true); + + publish("Vehicle/1/Body/Lights/Fog/Rear", "1"); + QTest::qWait(100); + QCOMPARE(cluster.getRearFogLight(), true); + + publish("Vehicle/1/Body/Lights/Parking", "1"); + QTest::qWait(100); + QCOMPARE(cluster.getParkingLight(), true); + + // Publish detected objects (array of objects) + publish("Vehicle/1/Scene/Objects", R"([{"id":1},{"id":2}])"); + QTest::qWait(100); + QCOMPARE(cluster.getDetectedObjects().size(), 2); + + // Publish warning code + publish("Vehicle/1/Scene/Warning", "7"); + QTest::qWait(100); + QCOMPARE(cluster.getWarningCode(), 7); + + publish("Vehicle/1/Scene/Lanes/Left", R"({"a":1,"b":2,"c":3})"); + QTest::qWait(100); + { + QVariantMap expected; + expected.insert("a", 1); + expected.insert("b", 2); + expected.insert("c", 3); + QCOMPARE(cluster.getLeftLaneCoefs(), expected); + } + + // Publish right lane data + publish("Vehicle/1/Scene/Lanes/Right", R"({"a":4,"b":5,"c":6})"); + QTest::qWait(100); + { + QVariantMap expected; + expected.insert("a", 4); + expected.insert("b", 5); + expected.insert("c", 6); + QCOMPARE(cluster.getRightLaneCoefs(), expected); + } + +} + + +QTEST_MAIN(TestInstrumentCluster) diff --git a/Clusters/HandCluster/tests/InstrumentClusterTest.hpp b/Clusters/HandCluster/tests/InstrumentClusterTest.hpp new file mode 100644 index 0000000..18fb1c0 --- /dev/null +++ b/Clusters/HandCluster/tests/InstrumentClusterTest.hpp @@ -0,0 +1,35 @@ +#ifndef INSTRUMENTCLUSTERTEST_HPP +#define INSTRUMENTCLUSTERTEST_HPP + +#include +#include "zenoh.hxx" +class TestInstrumentCluster : public QObject +{ + Q_OBJECT + +private slots: // Test functions should be in private slots + void testFontLoading(); + void testInstrumentClusterInitialization(); + void testSetSpeed(); + void testParseObjectData(); + void testSetWarningCode(); + void testSetHighBeam(); + void testSetLowBeam(); + void testBlinkers(); + void testParseLaneData(); // Move this to private slots + void testLights(); + void testPercentage(); + void testAutonomy(); + void testGear(); + void testGetDetectedObjects(); + void testSetDetectedObjects(); + void testParseObjectData_InvalidJson(); + void testParseObjectData_NonArrayJson(); + void testSubscriptionsIntegration(); + + + // void testSpeedCallback(); +}; + + +#endif // INSTRUMENTCLUSTERTEST_HPP \ No newline at end of file diff --git a/Clusters/HandCluster/ui/BatteryIndicator.qml b/Clusters/HandCluster/ui/BatteryIndicator.qml new file mode 100644 index 0000000..f72ad4b --- /dev/null +++ b/Clusters/HandCluster/ui/BatteryIndicator.qml @@ -0,0 +1,31 @@ +import QtQuick 2.15 +Row { + anchors.top: parent.top + anchors.topMargin: 25 + anchors.right: parent.right + anchors.rightMargin: 150 + spacing: 10 + property string fontFamily: "default" + + Rectangle { + width: 45 + height: 45 + color: "transparent" + + Image { + source: "../assets/icons/raio.png" + width: 35 + height: 35 + anchors.centerIn: parent + } + } + + Text { + text: instrumentCluster.percentage + "%" + font.pixelSize: 35 + // font.family: Qt.binding(function() { return app.font; }) + font.family: fontFamily + color: "white" + } + +} \ No newline at end of file diff --git a/Clusters/HandCluster/ui/FootbarInfo.qml b/Clusters/HandCluster/ui/FootbarInfo.qml deleted file mode 100644 index 8338a0f..0000000 --- a/Clusters/HandCluster/ui/FootbarInfo.qml +++ /dev/null @@ -1,44 +0,0 @@ -import QtQuick 2.15 - -Row { - width: parent.width - height: 50 - spacing: 30 - padding: 10 - - Column { - - Row { - spacing: 5 - - Image { - id: cloudIcon - source: "qrc:/assets/icons/cloud.png" - width: app.iconWidth - 5 - height: app.iconHeight - 5 - visible: true - fillMode: Image.PreserveAspectFit - } - - Rectangle { - width: 7 // Adjust the width to set the desired space - height: 1 - color: "transparent" - } - - Text { - font.family: "Open Sans" - text: "22°" - font.pixelSize: app.letterSize - color: "white" - } - Text { - font.family: "Open Sans" - text: "C" - font.pixelSize: app.letterSize - color: "gray" - } - } - } - -} diff --git a/Clusters/HandCluster/ui/GearDisplay.qml b/Clusters/HandCluster/ui/GearDisplay.qml new file mode 100644 index 0000000..815b183 --- /dev/null +++ b/Clusters/HandCluster/ui/GearDisplay.qml @@ -0,0 +1,26 @@ +import QtQuick 2.15 + +Row { + anchors.right: parent.right + anchors.verticalCenter: parent.verticalCenter + anchors.rightMargin: 40 + spacing: 16 + property string fontFamily: "default" + + function gearColor(gearValue) { + return instrumentCluster.gear === gearValue ? "blue" : "white"; + } + + function gearSize(gearValue) { + return instrumentCluster.gear === gearValue ? app.letterSizeLoaded : app.letterSize; + } + + Column { + spacing: 8 + + Text { text: "P"; font.family: fontFamily; font.pixelSize: gearSize(127); color: gearColor(127) } + Text { text: "R"; font.family: fontFamily; font.pixelSize: gearSize(-1); color: gearColor(-1) } + Text { text: "N"; font.family: fontFamily; font.pixelSize: gearSize(0); color: gearColor(0) } + Text { text: "D"; font.family: fontFamily; font.pixelSize: gearSize(1); color: gearColor(1) } + } +} diff --git a/Clusters/HandCluster/ui/GearShiftInfo.qml b/Clusters/HandCluster/ui/GearShiftInfo.qml deleted file mode 100644 index df301cf..0000000 --- a/Clusters/HandCluster/ui/GearShiftInfo.qml +++ /dev/null @@ -1,35 +0,0 @@ -import QtQuick 2.15 -// import com.example.gearPosition 1.0 - -Row { - spacing: 10 - - Text { - font.family: "Open Sans" - text: "P" - font.pixelSize: instrumentCluster.gear == 127 ? app.letterSizeLoaded : app.letterSize - color: instrumentCluster.gear == 127 ? "blue" : "white" - y: instrumentCluster.gear == 127 ? gearOffset : 0 - } - Text { - font.family: "Open Sans" - text: "R" - font.pixelSize: instrumentCluster.gear == -1 ? app.letterSizeLoaded : app.letterSize - color: instrumentCluster.gear == -1 ? "blue" : "white" - y: instrumentCluster.gear == -1 ? gearOffset : 0 - } - Text { - font.family: "Open Sans" - text: "N" - font.pixelSize: instrumentCluster.gear == 0 ? app.letterSizeLoaded : app.letterSize - color: instrumentCluster.gear == 0 ? "blue" : "white" - y: instrumentCluster.gear == 0 ? gearOffset : 0 - } - Text { - font.family: "Open Sans" - text: "D" - font.pixelSize: instrumentCluster.gear == 1 ? app.letterSizeLoaded : app.letterSize - color: instrumentCluster.gear == 1 ? "blue" : "white" - y: instrumentCluster.gear == 1 ? gearOffset : 0 - } -} \ No newline at end of file diff --git a/Clusters/HandCluster/ui/LaneLines.qml b/Clusters/HandCluster/ui/LaneLines.qml new file mode 100644 index 0000000..c3a90f1 --- /dev/null +++ b/Clusters/HandCluster/ui/LaneLines.qml @@ -0,0 +1,166 @@ +import QtQuick 2.15 + +Canvas { + id: laneCanvas + width: 1280 + height: 400 + anchors.horizontalCenter: parent.horizontalCenter + + property var leftLaneCoefs: instrumentCluster.leftLaneCoefs + property var rightLaneCoefs: instrumentCluster.rightLaneCoefs + property var lastPaintTime: Date + + function shouldRequestPaint() { + var now = new Date(); + if (!lastPaintTime || (now - lastPaintTime) >= 100) { + lastPaintTime = now; + return true; + } + return false; + } + + function generateLaneFromCoefficients(a, b, c) { + var lanePoints = []; + + for (var y = height; y >= height / 100; y -= 5) { //for (var y = originalHeight; y >= originalHeight / 3; y -= 5) + var x = a * y * y + b * y + c; + lanePoints.push({ + "x": x, + "y": y + }); + } + return lanePoints; + } + + function drawLane(a, b, c, color) { + var points = generateLaneFromCoefficients(a, b, c, 256); + if (points.length < 2) return; + + var ctx = getContext("2d"); + ctx.beginPath(); + ctx.lineJoin = "round"; + ctx.lineCap = "round"; + for (var i = 0; i < points.length; i++) { + var x = points[i].x; + var y = points[i].y; + if (i === 0) { + ctx.moveTo(x, y); + } else { + ctx.lineTo(x, y); + } + } + ctx.strokeStyle = color; + ctx.stroke(); + } + + function drawLaneWithGradient(a, b, c, startColor, endColor) { + var points = generateLaneFromCoefficients(a, b, c, 256); + if (points.length < 2) return; + + var ctx = getContext("2d"); + ctx.beginPath(); + ctx.lineJoin = "round"; + ctx.lineCap = "round"; + + // Criando um gradiente que vai do topo para a base da tela + var gradient = ctx.createLinearGradient(0, 0, 0, height); + gradient.addColorStop(0, startColor); // Cor no topo (início da linha) + gradient.addColorStop(1, endColor); // Cor na base (final da linha) + + // Desenhando a linha + for (var i = 0; i < points.length; i++) { + var x = points[i].x; + var y = points[i].y; + if (i === 0) { + ctx.moveTo(x, y); + } else { + ctx.lineTo(x, y); + } + } + + // Aplicando sombra + ctx.shadowColor = "rgba(0, 0, 0, 0.5)"; + ctx.shadowBlur = 10; + ctx.shadowOffsetX = 5; + ctx.shadowOffsetY = 5; + + // Aplicando o gradiente ao contexto + ctx.strokeStyle = gradient; + ctx.stroke(); + + // Resetando a sombra para não afetar outros desenhos + ctx.shadowColor = "transparent"; + ctx.shadowBlur = 0; + ctx.shadowOffsetX = 0; + ctx.shadowOffsetY = 0; + } + + + onLeftLaneCoefsChanged: { + requestPaint(); + } + + onRightLaneCoefsChanged: { + requestPaint(); + } + + function drawRoadBackground(leftPoints, rightPoints) { + var ctx = getContext("2d"); + ctx.beginPath(); + + // Move pela esquerda de cima pra baixo + for (var i = 0; i < leftPoints.length; i++) { + var p = leftPoints[i]; + if (i === 0) + ctx.moveTo(p.x, p.y); + else + ctx.lineTo(p.x, p.y); + } + + // Agora volta pela direita de baixo pra cima + for (var j = rightPoints.length - 1; j >= 0; j--) { + var p = rightPoints[j]; + ctx.lineTo(p.x, p.y); + } + + ctx.closePath(); + + // Cria o degradê vertical de cinza com transparência no topo + var gradient = ctx.createLinearGradient(0, 0, 0, height); + gradient.addColorStop(0.0, "rgba(68, 68, 68, 0)"); // Topo da tela: transparente + gradient.addColorStop(0.3, "rgba(68, 68, 68, 0.5)"); + gradient.addColorStop(1.0, "rgba(68, 68, 68, 1)"); // Base da tela: totalmente visível + + ctx.fillStyle = gradient; + ctx.fill(); + } + + + onPaint: { + var ctx = getContext("2d"); + ctx.clearRect(0, 0, width, height); + + ctx.lineWidth = 5; + ctx.shadowBlur = 0; + ctx.globalAlpha = 1.0; + + var leftPoints = []; + var rightPoints = []; + + if (leftLaneCoefs && "a" in leftLaneCoefs) { + leftPoints = generateLaneFromCoefficients(leftLaneCoefs.a, leftLaneCoefs.b, leftLaneCoefs.c, 256); + } + + if (rightLaneCoefs && "a" in rightLaneCoefs) { + rightPoints = generateLaneFromCoefficients(rightLaneCoefs.a, rightLaneCoefs.b, rightLaneCoefs.c, 256); + } + + if (leftPoints.length > 0 && rightPoints.length > 0) { + drawRoadBackground(leftPoints, rightPoints); + drawLaneWithGradient(leftLaneCoefs.a, leftLaneCoefs.b, leftLaneCoefs.c, "rgba(200, 200, 200, 1)", "rgba(150, 150, 150, 1)"); + drawLaneWithGradient(rightLaneCoefs.a, rightLaneCoefs.b, rightLaneCoefs.c, "rgba(200, 200, 200, 1)", "rgba(150, 150, 150, 1)"); + drawCenterDashedLine(leftPoints, rightPoints); + } + } + +} diff --git a/Clusters/HandCluster/ui/LightInfo.qml b/Clusters/HandCluster/ui/LightInfo.qml index 61b5171..521b721 100644 --- a/Clusters/HandCluster/ui/LightInfo.qml +++ b/Clusters/HandCluster/ui/LightInfo.qml @@ -1,18 +1,23 @@ import QtQuick 2.15 Row { - spacing: 20 + spacing: 5 + anchors.top: parent.top + anchors.left: parent.left + anchors.topMargin: 20 + anchors.leftMargin: 80 + Rectangle { width: app.iconWidth height: app.iconHeight - color: "transparent" // Keeps the placeholder invisible + color: "transparent" Image { id: lowBeamSignal anchors.centerIn: parent width: parent.width height: parent.height - source: "qrc:/assets/icons/low_beam_on.png" + source: "../assets/icons/low_beam_on.png" visible: instrumentCluster.lowBeam } } @@ -26,8 +31,9 @@ Row { anchors.centerIn: parent width: parent.width height: parent.height - source: "qrc:/assets/icons/high_beam_on.png" + source: "../assets/icons/high_beam_on.png" visible: instrumentCluster.highBeam + // visible: true } } @@ -40,8 +46,9 @@ Row { anchors.centerIn: parent width: parent.width height: parent.height - source: "qrc:/assets/icons/front_fog_on.png" + source: "../assets/icons/front_fog_on.png" visible: instrumentCluster.frontFogLight + // visible: true } } @@ -52,10 +59,11 @@ Row { Image { id: parkingLightsSignal anchors.centerIn: parent - width: parent.width + width: parent.width height: parent.height - source: "qrc:/assets/icons/parking_lights_on.png" + source: "../assets/icons/parking_lights_on.png" visible: instrumentCluster.parkingLight + // visible: true } } @@ -66,10 +74,46 @@ Row { Image { id: backFogSignal anchors.centerIn: parent - width: parent.width + width: parent.width height: parent.height - source: "qrc:/assets/icons/back_fog_on.png" + source: "../assets/icons/back_fog_on.png" visible: instrumentCluster.rearFogLight + // visible: true + } + } + + Rectangle { + color: "transparent" + width: app.iconWidth * 13 + height: app.iconHeight + } + + Rectangle { + width: app.iconWidth + 3 + height: app.iconHeight + 3 + color: "transparent" + Image { + id: autonomySignal + anchors.centerIn: parent + width: parent.width + height: parent.height + source: instrumentCluster.autonomyLevel == 1 ? "../assets/icons/assist-steer-on.png" : + (instrumentCluster.autonomyLevel == 5 ? "../assets/icons/assist-navigate-driving-on.png" : "") + visible: instrumentCluster.autonomyLevel == 1 || instrumentCluster.autonomyLevel == 5 + } + } + Rectangle { + width: app.iconWidth + 3 + height: app.iconHeight + 3 + color: "transparent" + Image { + id: laneDepartureSignal + anchors.centerIn: parent + width: parent.width + height: parent.height + source: "../assets/icons/lane-departure.png" + visible: instrumentCluster.laneDeparture + // visible: true } } } diff --git a/Clusters/HandCluster/ui/Main.qml b/Clusters/HandCluster/ui/Main.qml index 23259ac..661087a 100644 --- a/Clusters/HandCluster/ui/Main.qml +++ b/Clusters/HandCluster/ui/Main.qml @@ -1,306 +1,99 @@ -import QtQuick import QtQuick 2.15 import QtQuick.Window 2.2 import QtQuick.Controls 2.4 ApplicationWindow { id: app + property int letterSize: 40 + property int letterSizeLoaded: 45 visible: true - width: 1024 - height: 600 - flags: Qt.Window | Qt.FramelessWindowHint | Qt.WindowStaysOnTopHint - visibility: Window.FullScreen // Add this line + width: Screen.width + height: Screen.height + // flags: Qt.FramelessWindowHint - property int letterSize: 27 - property int letterSizeGear: 25 - property int letterSizeLoaded: 30 - property int gearOffset: -2 - property int iconWidth: 45 - property int iconHeight: 45 - property bool carClusterVisible: true - property bool showSplash: true + property int iconWidth: 65 + property int iconHeight: 65 - font.family: "Roboto" - font.pixelSize: 30 - font.bold: false + property string fontPath1: Qt.resolvedUrl("file:/opt/vehicle/etc/fonts/electrolize.ttf") + property bool fontExists: false - - Rectangle { - anchors.fill: parent // Faz o retângulo preencher todo o ApplicationWindow - color: "lightgray" // Cor de fundo - - Image { - source: "qrc:/assets/images/car-detection.png" // Caminho do arquivo .jpeg - anchors.centerIn: parent // Centraliza a imagem dentro do retângulo - //fillMode: Image.PreserveAspectFit // Garante que a imagem seja redimensionada proporcionalmente - anchors.fill: parent // Faz a imagem ocupar todo o espaço disponível no retângulo - } + FontLoader { + id: customFont + source: fontPath1 } - Row { - anchors.verticalCenter: parent.verticalCenter - anchors.left: parent.left - anchors.leftMargin: 50 - spacing: 10 - - //TurnSignalLeft {} - Column { - spacing: 0 - - Rectangle { - width: 100 - height: 100 - color: "transparent" - - Text { - anchors.centerIn: parent - font.family: "Open Sans" - text: instrumentCluster.speed - font.pixelSize: 110 - color: "white" - opacity: 1.0 - horizontalAlignment: Text.AlignHCenter - verticalAlignment: Text.AlignVCenter - } - } - - Text { - anchors.horizontalCenter: parent.horizontalCenter - font.family: "Open Sans" - text: "DM/S" - font.pixelSize: app.letterSize - 4 - color: "gray" - anchors.bottomMargin: 5 - } - + Component.onCompleted: { + console.log("Font Status:", customFont.status) + if (customFont.status === FontLoader.Ready) { + console.log("Fonte carregada com sucesso:", customFont.name) + app.font = customFont.name + forceLayoutUpdate(); + } else { + console.log("Erro ao carregar a fonte:", customFont.status) } - //TurnSignalRight {} } + function forceLayoutUpdate() { + app.width = app.width + 1; + app.width = app.width - 1; + } - Row { - anchors.top: parent.top + Rectangle { width: parent.width - anchors.left: parent.left - anchors.leftMargin: 20 - anchors.topMargin: 10 - height: 50 - spacing: 30 - padding: 10 - - Column { - - Row { - spacing: 5 - - Text { - font.family: "Open Sans" - text: "22°" - font.pixelSize: app.letterSize - color: "white" - } - Text { - font.family: "Open Sans" - text: "C" - font.pixelSize: app.letterSize - color: "gray" - } - } - } - - Column { - Row { - spacing: 5 - Text { - font.family: "Open Sans" - id: timeDisplay - text: "11:11" - font.pixelSize: app.letterSize - color: "white" - opacity: 0.0 - } - - Text { - font.family: "Open Sans" - id: amPmDisplay - text: "AM" - font.pixelSize: app.letterSize - color: "gray" - opacity: 0.0 - } - - Timer { - id: clockTimer - interval: 1000 // Atualiza a cada 1 segundo - running: true - repeat: true - onTriggered: { - timeDisplay.text = timeHelper.getCurrentTime(); - timeDisplay.opacity = 1.0 - - amPmDisplay.text = timeHelper.getCurrentAmPm(); - amPmDisplay.opacity = 1.0 - } - } - - QtObject { - id: timeHelper - - function getCurrentTime() { - const currentDate = new Date(); - let hours = currentDate.getHours(); - let minutes = currentDate.getMinutes(); - - hours = hours % 12 || 12; - minutes = minutes < 10 ? "0" + minutes : minutes - - return hours + ":" + minutes; - } - - function getCurrentAmPm() { - const currentDate = new Date(); - return currentDate.getHours() >= 12 ? "PM" : "AM"; - } - } - } - } + height: parent.height + color: "#252525" + } + LaneLines { + id: laneLines + width: parent.width * 2/4 + height: parent.height * 0.7 + // anchors.right: parent.right + anchors.bottom: parent.bottom + // leftLanePoints: leftLaneMock + // rightLanePoints: rightLaneMock } - Column { + ObjectDetector { + id: objectDetector + width: parent.width * 2/4 + height: parent.height * 0.9 anchors.right: parent.right - anchors.verticalCenter: parent.verticalCenter - anchors.rightMargin: 15 - spacing: 7 - - Rectangle { - width: app.iconWidth - height: app.iconHeight - color: "transparent" // Keeps the placeholder invisible - Image { - id: lowBeamSignal - anchors.centerIn: parent - width: parent.width - height: parent.height - source: "qrc:/assets/icons/low_beam_on.png" - visible: instrumentCluster.lowBeam - } - } - - Rectangle { - width: app.iconWidth - height: app.iconHeight - color: "transparent" - Image { - id: highBeamSignal - anchors.centerIn: parent - width: parent.width - height: parent.height - source: "qrc:/assets/icons/high_beam_on.png" - visible: instrumentCluster.highBeam - } - } - - Rectangle { - width: app.iconWidth - height: app.iconHeight - color: "transparent" - Image { - id: frontFogSignal - anchors.centerIn: parent - width: parent.width - height: parent.height - source: "qrc:/assets/icons/front_fog_on.png" - visible: instrumentCluster.frontFogLight - } - } + anchors.bottom: parent.bottom + anchors.topMargin: 50 + } - Rectangle { - width: app.iconWidth - height: app.iconHeight - color: "transparent" - Image { - id: parkingLightsSignal - anchors.centerIn: parent - width: parent.width - height: parent.height - source: "qrc:/assets/icons/parking_lights_on.png" - visible: instrumentCluster.parkingLight - } - } + Image { + id: carImage + width: parent.width * 1/4 + height: parent.height * 0.6 + source: "../assets/images/car.png" + anchors.horizontalCenter: parent.horizontalCenter + anchors.bottom: parent.bottom + anchors.bottomMargin: -35 + } - Rectangle { - width: app.iconWidth - height: app.iconHeight - color: "transparent" - Image { - id: backFogSignal - anchors.centerIn: parent - width: parent.width - height: parent.height - source: "qrc:/assets/icons/back_fog_on.png" - visible: instrumentCluster.rearFogLight - } - } + SpeedDisplay { + fontFamily: customFont.status === FontLoader.Ready ? customFont.name : "default" } - Row { - anchors.horizontalCenter: parent.horizontalCenter - anchors.bottom: parent.bottom - anchors.bottomMargin: 15 - spacing: 16 - Text { - font.family: "Open Sans" - text: "P" - font.pixelSize: instrumentCluster.gear == 127 ? app.letterSizeLoaded : app.letterSize - color: instrumentCluster.gear == 127 ? "blue" : "white" - y: instrumentCluster.gear == 127 ? gearOffset : 0 - } - Text { - font.family: "Open Sans" - text: "R" - font.pixelSize: instrumentCluster.gear == -1 ? app.letterSizeLoaded : app.letterSize - color: instrumentCluster.gear == -1 ? "blue" : "white" - y: instrumentCluster.gear == -1 ? gearOffset : 0 - } - Text { - font.family: "Open Sans" - text: "N" - font.pixelSize: instrumentCluster.gear == 0 ? app.letterSizeLoaded : app.letterSize - color: instrumentCluster.gear == 0 ? "blue" : "white" - y: instrumentCluster.gear == 0 ? gearOffset : 0 - } - Text { - font.family: "Open Sans" - text: "D" - font.pixelSize: instrumentCluster.gear == 1 ? app.letterSizeLoaded : app.letterSize - color: instrumentCluster.gear == 1 ? "blue" : "white" - y: instrumentCluster.gear == 1 ? gearOffset : 0 - } - } + GearDisplay { + fontFamily: customFont.status === FontLoader.Ready ? customFont.name : "default" + } - Row { - - anchors.right: parent.right - anchors.rightMargin: 140 - anchors.verticalCenterOffset: -110 - anchors.verticalCenter: parent.verticalCenter - spacing: 15 - CircularProgressBar { - id: batteryPercentage - lineWidth: 10 - value: instrumentCluster.percentage / 100 - size: 115 - secondaryColor: "#ffffff" - primaryColor: instrumentCluster.percentage < 20 ? "#ff0000" : "#2fc71b" + BatteryIndicator { + fontFamily: customFont.status === FontLoader.Ready ? customFont.name : "default" + } - Text { - text: parseInt(batteryPercentage.value * 100) + "%" - anchors.centerIn: parent - font.pixelSize: 22 - color: "#ffffff" - } - } + TimeInfo { + id: timeInfo + fontFamily: customFont.status === FontLoader.Ready ? customFont.name : "default" + } + + NotificationBlock { + warningCode: instrumentCluster.warningCode + fontFamily: customFont.status === FontLoader.Ready ? customFont.name : "default" } -} + LightInfo {} +} \ No newline at end of file diff --git a/Clusters/HandCluster/ui/NotificationBlock.qml b/Clusters/HandCluster/ui/NotificationBlock.qml new file mode 100644 index 0000000..b388fd4 --- /dev/null +++ b/Clusters/HandCluster/ui/NotificationBlock.qml @@ -0,0 +1,103 @@ +import QtQuick 2.15 +import QtQuick.Controls 2.4 + +Rectangle { + id: notificationBlock + width: 400 + height: 40 + radius: 10 + color: "gray" + opacity: 0 + anchors.horizontalCenter: parent.horizontalCenter + y: -height + visible: false + property string fontFamily: "default" + + property int warningCode: 0 + + property string iconSource: "" + property string messageText: "" + + function updateNotification() { + switch (warningCode) { + case 1: + iconSource = "../assets/icons/warning.png" + messageText = "Emergency braking activated!"; + break; + case 2: + iconSource = "../assets/icons/warning.png" + messageText = "Lane departure detected!"; + break; + } + + if (iconSource !== "") { + showNotification(); + } + } + + function showNotification() { + visible = true; + appearAnimation.start(); + hideTimer.restart(); + } + + function hideNotification() { + disappearAnimation.start(); + } + + Component.onCompleted: updateNotification() + + Connections { + target: instrumentCluster + + onWarningCodeChanged: { + notificationBlock.warningCode = instrumentCluster.warningCode; + notificationBlock.updateNotification(); + } + } + + // Animations + SequentialAnimation { + id: appearAnimation + PropertyAnimation { target: notificationBlock; property: "y"; to: 70; duration: 300; easing.type: Easing.OutQuad } + PropertyAnimation { target: notificationBlock; property: "opacity"; to: 0.9; duration: 200 } + } + + SequentialAnimation { + id: disappearAnimation + PropertyAnimation { target: notificationBlock; property: "opacity"; to: 0; duration: 200 } + PropertyAnimation { target: notificationBlock; property: "y"; to: -height; duration: 300; easing.type: Easing.InQuad } + onStopped: { + visible = false; + } + } + + Timer { + id: hideTimer + interval: 4000 + running: false + repeat: false + onTriggered: hideNotification() + } + + Row { + anchors.centerIn: parent + spacing: 10 + visible: iconSource !== "" + + Image { + source: iconSource + width: 24 + height: 24 + fillMode: Image.PreserveAspectFit + } + + Text { + text: messageText + color: "white" + font.pixelSize: 18 + font.family: fontFamily + verticalAlignment: Text.AlignVCenter + } + } +} diff --git a/Clusters/HandCluster/ui/ObjectDetector.qml b/Clusters/HandCluster/ui/ObjectDetector.qml new file mode 100644 index 0000000..3a4814b --- /dev/null +++ b/Clusters/HandCluster/ui/ObjectDetector.qml @@ -0,0 +1,76 @@ +import QtQuick 2.15 + +Canvas { + property var detectedObjects: instrumentCluster.detectedObjects + + onDetectedObjectsChanged: { + requestPaint(); + } + + function drawObjects(objects) { + var ctx = getContext("2d"); + + objects.forEach(function(obj) { + ctx.beginPath(); + ctx.rect(obj.x, obj.y, obj.width, obj.height); + + + switch (obj.type) { // no futuro serao imagens!! + case "car": + ctx.strokeStyle = "#7c7c7c"; + break; + case "pedestrian": + ctx.strokeStyle = "#7c7c7c"; + break; + case "traffic_light": + ctx.strokeStyle = "#7c7c7c"; + break; + ctx.strokeStyle = "#7c7c7c"; + break; + default: + ctx.strokeStyle = "#7c7c7c"; + break; + } + + + // image.onload = function() { + // ctx.drawImage(image, obj.x, obj.y, obj.width, obj.height); + // }; + + ctx.lineWidth = 2; + ctx.stroke(); + + ctx.font = "14px sans-serif"; + ctx.fillStyle = ctx.strokeStyle; + ctx.fillText(obj.type, obj.x + 5, obj.y - 5); + }); + } + + onPaint: { + var ctx = getContext("2d"); + ctx.clearRect(0, 0, width, height); // limpa o canvas + + if (detectedObjects && detectedObjects.length > 0) { + drawObjects(detectedObjects); + } + } +} + +// Repeater { +// model: instrumentCluster.detectedObjects + +// Image { +// source: { +// switch (modelData.type) { +// // case "car": return "images/car.png"; +// // case "pedestrian": return "images/pedestrian.png"; +// case "traffic_light": return "../assets/images/car.png"; +// default: return ""; +// } +// } +// x: modelData.x +// y: modelData.y +// width: modelData.width +// height: modelData.height +// } +// } diff --git a/Clusters/HandCluster/ui/SpeedDisplay.qml b/Clusters/HandCluster/ui/SpeedDisplay.qml index 94ce4c8..4c27f1f 100644 --- a/Clusters/HandCluster/ui/SpeedDisplay.qml +++ b/Clusters/HandCluster/ui/SpeedDisplay.qml @@ -1,31 +1,77 @@ import QtQuick 2.15 +Rectangle { + anchors.verticalCenter: parent.verticalCenter + width: 100 + height: 100 + color: "transparent" + anchors.left: parent.left + anchors.leftMargin: 150 + property string fontFamily: "default" -Column { - spacing: 3 + Column { + anchors.centerIn: parent + spacing: 20 - Rectangle { - width: 100 - height: 100 - color: "transparent" + Row { + spacing: 10 + anchors.horizontalCenter: parent.horizontalCenter + + Image { + id: leftArrow + source: "../assets/icons/turn_left_on.png" + opacity: instrumentCluster.leftBlinker ? 1.0 : 0.0 + width: 50 + height: 50 + anchors.verticalCenter: parent.verticalCenter + } Text { - anchors.centerIn: parent - font.family: "Open Sans" text: instrumentCluster.speed - font.pixelSize: 110 + font.pixelSize: 90 + font.family: fontFamily color: "white" opacity: 1.0 - horizontalAlignment: Text.AlignHCenter verticalAlignment: Text.AlignVCenter } - } - Text { - anchors.horizontalCenter: parent.horizontalCenter - font.family: "Open Sans" - text: "DM/S" - font.pixelSize: app.letterSize - color: "gray" + Image { + id: rightArrow + source: "../assets/icons/turn_right_on.png" + opacity: instrumentCluster.rightBlinker ? 1.0 : 0.0 + width: 50 + height: 50 + anchors.verticalCenter: parent.verticalCenter + } + } + + Timer { + id: blinkTimer + interval: 500 + running: instrumentCluster.leftBlinker || instrumentCluster.rightBlinker + repeat: true + onTriggered: { + if (instrumentCluster.leftBlinker) { + leftBlinkerVisible = !leftBlinkerVisible; + } else { + leftBlinkerVisible = false; + } + + if (instrumentCluster.rightBlinker) { + rightBlinkerVisible = !rightBlinkerVisible; + } else { + rightBlinkerVisible = false; + } + } + } + + Text { + font.family: fontFamily + text: "DM/S" + font.pixelSize: app.letterSize + color: "gray" + anchors.horizontalCenter: parent.horizontalCenter + } + } + } -} diff --git a/Clusters/HandCluster/ui/TimeInfo.qml b/Clusters/HandCluster/ui/TimeInfo.qml index d84d98b..4b2469e 100644 --- a/Clusters/HandCluster/ui/TimeInfo.qml +++ b/Clusters/HandCluster/ui/TimeInfo.qml @@ -1,24 +1,21 @@ import QtQuick 2.15 Row { + anchors.rightMargin: 30 + anchors.horizontalCenter: parent.horizontalCenter spacing: 5 - Image { - id: clockIcon - source: "qrc:/assets/icons/watch.png" - width: app.iconWidth - 7 - height: app.iconHeight - 7 - visible: true - fillMode: Image.PreserveAspectFit - } + anchors.top: parent.top + anchors.topMargin: 25 + property string fontFamily: "default" Rectangle { - width: 7 // Adjust the width to set the desired space + width: 7 height: 1 color: "transparent" } Text { - font.family: "Open Sans" + font.family: fontFamily id: timeDisplay text: "11:11" font.pixelSize: app.letterSize @@ -27,7 +24,7 @@ Row { } Text { - font.family: "Open Sans" + font.family: fontFamily id: amPmDisplay text: "AM" font.pixelSize: app.letterSize @@ -37,7 +34,7 @@ Row { Timer { id: clockTimer - interval: 1000 // Atualiza a cada 1 segundo + interval: 1000 running: true repeat: true onTriggered: { diff --git a/Clusters/HandCluster/ui/TurnSignalLeft.qml b/Clusters/HandCluster/ui/TurnSignalLeft.qml deleted file mode 100644 index 3771f8b..0000000 --- a/Clusters/HandCluster/ui/TurnSignalLeft.qml +++ /dev/null @@ -1,34 +0,0 @@ -import QtQuick 2.15 - - -Row { - id: root - spacing: 10 - - Rectangle { - width: 70 - height: 70 - color: "transparent" - Image { - anchors.verticalCenter: parent.verticalCenter - id: turnSignalLeft - source: "qrc:/assets/icons/turn_left_on.png" - width: 70 - height: 70 - opacity: 0.0 - visible: instrumentCluster.leftBlinker - - Timer { - id: blinkTimerLeft - interval: 500 - running: instrumentCluster.leftBlinker - repeat: true - onTriggered: { - // Toggle opacity when blinking - turnSignal.opacity = turnSignal.opacity === 1.0 ? 0.0 : 1.0; - } - } - } - } -} - diff --git a/Clusters/HandCluster/ui/TurnSignalRight.qml b/Clusters/HandCluster/ui/TurnSignalRight.qml deleted file mode 100644 index 53c47a9..0000000 --- a/Clusters/HandCluster/ui/TurnSignalRight.qml +++ /dev/null @@ -1,32 +0,0 @@ -import QtQuick 2.15 - -Row { - id: root - spacing: 10 - - Rectangle { - width: 70 - height: 70 - color: "transparent" - Image { - anchors.verticalCenter: parent.verticalCenter - id: turnSignalRight - source: "qrc:/assets/icons/turn_right_on.png" - width: 70 - height: 70 - opacity: 0.0 - visible: instrumentCluster.rightBlinker - - Timer { - id: blinkTimerRight - interval: 500 - running: instrumentCluster.rightBlinker - repeat: true - onTriggered: { - // Toggle opacity when blinking - turnSignal.opacity = turnSignal.opacity === 1.0 ? 0.0 : 1.0; - } - } - } - } -} diff --git a/Clusters/HandCluster/ui/resources.qrc b/Clusters/HandCluster/ui/resources.qrc index 69fe24c..e50c7a4 100644 --- a/Clusters/HandCluster/ui/resources.qrc +++ b/Clusters/HandCluster/ui/resources.qrc @@ -1,14 +1,15 @@ Main.qml - TurnSignalLeft.qml - TurnSignalRight.qml + BatteryIndicator.qml + GearDisplay.qml + LaneLines.qml SpeedDisplay.qml - LightInfo.qml - FootbarInfo.qml - GearShiftInfo.qml TimeInfo.qml + LightInfo.qml CircularProgressBar.qml + ObjectDetector.qml + NotificationBlock.qml @@ -28,9 +29,18 @@ ../assets/icons/battery-5.png ../assets/icons/cloud.png ../assets/icons/watch.png + ../assets/icons/raio.png + ../assets/icons/warning.png + ../assets/icons/assist-navigate-driving-off.png + ../assets/icons/assist-navigate-driving-on.png + ../assets/icons/assist-steer-off.png + ../assets/icons/assist-steer-on.png + ../assets/icons/system-failure.png + ../assets/icons/lane-departure.png + ../assets/images/car.png - ../assets/images/car-detection.png + ../assets/images/traffic-light.png \ No newline at end of file diff --git a/Clusters/InstrumentCluster/assets/icons/back_fog_on.png b/Clusters/InstrumentCluster/assets/icons/back_fog_on.png deleted file mode 100644 index 3b0f4f6..0000000 Binary files a/Clusters/InstrumentCluster/assets/icons/back_fog_on.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/assets/icons/battery-1.png b/Clusters/InstrumentCluster/assets/icons/battery-1.png deleted file mode 100644 index 23bbb61..0000000 Binary files a/Clusters/InstrumentCluster/assets/icons/battery-1.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/assets/icons/battery-2.png b/Clusters/InstrumentCluster/assets/icons/battery-2.png deleted file mode 100644 index 4bc7eed..0000000 Binary files a/Clusters/InstrumentCluster/assets/icons/battery-2.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/assets/icons/battery-3.png b/Clusters/InstrumentCluster/assets/icons/battery-3.png deleted file mode 100644 index 8d4bfbc..0000000 Binary files a/Clusters/InstrumentCluster/assets/icons/battery-3.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/assets/icons/battery-4.png b/Clusters/InstrumentCluster/assets/icons/battery-4.png deleted file mode 100644 index 36baf94..0000000 Binary files a/Clusters/InstrumentCluster/assets/icons/battery-4.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/assets/icons/battery-5.png b/Clusters/InstrumentCluster/assets/icons/battery-5.png deleted file mode 100644 index e484dc8..0000000 Binary files a/Clusters/InstrumentCluster/assets/icons/battery-5.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/assets/icons/cloud.png b/Clusters/InstrumentCluster/assets/icons/cloud.png deleted file mode 100644 index bf33132..0000000 Binary files a/Clusters/InstrumentCluster/assets/icons/cloud.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/assets/icons/front_fog_on.png b/Clusters/InstrumentCluster/assets/icons/front_fog_on.png deleted file mode 100644 index 1d3e35a..0000000 Binary files a/Clusters/InstrumentCluster/assets/icons/front_fog_on.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/assets/icons/green-battery.png b/Clusters/InstrumentCluster/assets/icons/green-battery.png deleted file mode 100644 index be1d5a3..0000000 Binary files a/Clusters/InstrumentCluster/assets/icons/green-battery.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/assets/icons/high_beam_on.png b/Clusters/InstrumentCluster/assets/icons/high_beam_on.png deleted file mode 100644 index 2cbf1ae..0000000 Binary files a/Clusters/InstrumentCluster/assets/icons/high_beam_on.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/assets/icons/low_beam_on.png b/Clusters/InstrumentCluster/assets/icons/low_beam_on.png deleted file mode 100644 index a486d46..0000000 Binary files a/Clusters/InstrumentCluster/assets/icons/low_beam_on.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/assets/icons/parking_lights_on.png b/Clusters/InstrumentCluster/assets/icons/parking_lights_on.png deleted file mode 100644 index 2c68afb..0000000 Binary files a/Clusters/InstrumentCluster/assets/icons/parking_lights_on.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/assets/icons/seame-logo.png b/Clusters/InstrumentCluster/assets/icons/seame-logo.png deleted file mode 100644 index 892240a..0000000 Binary files a/Clusters/InstrumentCluster/assets/icons/seame-logo.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/assets/icons/turn_left_on.png b/Clusters/InstrumentCluster/assets/icons/turn_left_on.png deleted file mode 100644 index 9b1bea2..0000000 Binary files a/Clusters/InstrumentCluster/assets/icons/turn_left_on.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/assets/icons/turn_right_on.png b/Clusters/InstrumentCluster/assets/icons/turn_right_on.png deleted file mode 100644 index f633119..0000000 Binary files a/Clusters/InstrumentCluster/assets/icons/turn_right_on.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/assets/icons/watch.png b/Clusters/InstrumentCluster/assets/icons/watch.png deleted file mode 100644 index d10bfb5..0000000 Binary files a/Clusters/InstrumentCluster/assets/icons/watch.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/assets/images/car.png b/Clusters/InstrumentCluster/assets/images/car.png deleted file mode 100644 index 8c7fa69..0000000 Binary files a/Clusters/InstrumentCluster/assets/images/car.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/images/logo.png b/Clusters/InstrumentCluster/images/logo.png deleted file mode 100644 index d53f9a2..0000000 Binary files a/Clusters/InstrumentCluster/images/logo.png and /dev/null differ diff --git a/Clusters/InstrumentCluster/src/main.cpp b/Clusters/InstrumentCluster/src/main.cpp deleted file mode 100644 index 6cbd359..0000000 --- a/Clusters/InstrumentCluster/src/main.cpp +++ /dev/null @@ -1,39 +0,0 @@ -#include -#include -#include -#include "InstrumentCluster.hpp" - -using namespace zenoh; - -int main(int argc, char* argv[]) -{ - QGuiApplication app(argc, argv); - QQmlApplicationEngine engine; - - InstrumentCluster* instrumentCluster; - if (argc == 2) - { - instrumentCluster = new InstrumentCluster(argv[1]); - } - else - { - instrumentCluster = new InstrumentCluster(); - } - engine.rootContext()->setContextProperty("instrumentCluster", - instrumentCluster); - - const QUrl url(QStringLiteral("qrc:/Main.qml")); - QObject::connect( - &engine, &QQmlApplicationEngine::objectCreated, &app, - [url](QObject* obj, const QUrl& objUrl) - { - if (!obj && url == objUrl) - QCoreApplication::exit(-1); - }, - Qt::QueuedConnection); - engine.load(url); - - int result = app.exec(); - delete instrumentCluster; - return result; -} diff --git a/Clusters/InstrumentCluster/tests/.keep b/Clusters/InstrumentCluster/tests/.keep deleted file mode 100644 index e69de29..0000000 diff --git a/Clusters/InstrumentCluster/ui/CircularProgressBar.qml b/Clusters/InstrumentCluster/ui/CircularProgressBar.qml deleted file mode 100644 index f3446ab..0000000 --- a/Clusters/InstrumentCluster/ui/CircularProgressBar.qml +++ /dev/null @@ -1,67 +0,0 @@ -import QtQuick 2.9 - -Item { - id: root - - property int size: 150 - property int lineWidth: 5 - property real value: 0 - - property color primaryColor: "#29b6f6" - property color secondaryColor: "#e0e0e0" - - property int animationDuration: 1000 - - width: size - height: size - - onValueChanged: { - canvas.degree = value * 360; - } - - Canvas { - id: canvas - - property real degree: 0 - - anchors.fill: parent - antialiasing: true - - onDegreeChanged: { - requestPaint(); - } - - onPaint: { - var ctx = getContext("2d"); - - var x = root.width/2; - var y = root.height/2; - - var radius = root.size/2 - root.lineWidth - var startAngle = (Math.PI/180) * 270; - var fullAngle = (Math.PI/180) * (270 + 360); - var progressAngle = (Math.PI/180) * (270 + degree); - - ctx.reset() - - ctx.lineCap = 'round'; - ctx.lineWidth = root.lineWidth; - - ctx.beginPath(); - ctx.arc(x, y, radius, startAngle, fullAngle); - ctx.strokeStyle = root.secondaryColor; - ctx.stroke(); - - ctx.beginPath(); - ctx.arc(x, y, radius, startAngle, progressAngle); - ctx.strokeStyle = root.primaryColor; - ctx.stroke(); - } - - Behavior on degree { - NumberAnimation { - duration: root.animationDuration - } - } - } -} \ No newline at end of file diff --git a/Clusters/InstrumentCluster/ui/FootbarInfo.qml b/Clusters/InstrumentCluster/ui/FootbarInfo.qml deleted file mode 100644 index c6cc028..0000000 --- a/Clusters/InstrumentCluster/ui/FootbarInfo.qml +++ /dev/null @@ -1,43 +0,0 @@ -import QtQuick 2.15 - -Row { - width: parent.width - height: 50 - spacing: 30 - padding: 10 - - Column { - Row { - spacing: 5 - - Image { - id: cloudIcon - source: "qrc:/assets/icons/cloud.png" - width: app.iconWidth - 5 - height: app.iconHeight - 5 - visible: true - fillMode: Image.PreserveAspectFit - } - - Rectangle { - width: 7 // Adjust the width to set the desired space - height: 1 - color: "transparent" - } - - Text { - font.family: "Open Sans" - text: "22°" - font.pixelSize: app.letterSize - color: "white" - } - Text { - font.family: "Open Sans" - text: "C" - font.pixelSize: app.letterSize - color: "gray" - } - } - } - -} diff --git a/Clusters/InstrumentCluster/ui/GearShiftInfo.qml b/Clusters/InstrumentCluster/ui/GearShiftInfo.qml deleted file mode 100644 index cddaa47..0000000 --- a/Clusters/InstrumentCluster/ui/GearShiftInfo.qml +++ /dev/null @@ -1,35 +0,0 @@ -import QtQuick 2.15 -// import com.example.gearPosition 1.0 - -Row { - spacing: 20 - - Text { - font.family: "Open Sans" - text: "P" - font.pixelSize: instrumentCluster.gear == 127 ? app.letterSizeLoaded : app.letterSize - color: instrumentCluster.gear == 127 ? "blue" : "white" - y: instrumentCluster.gear == 127 ? gearOffset : 0 - } - Text { - font.family: "Open Sans" - text: "R" - font.pixelSize: instrumentCluster.gear == -1 ? app.letterSizeLoaded : app.letterSize - color: instrumentCluster.gear == -1 ? "blue" : "white" - y: instrumentCluster.gear == -1 ? gearOffset : 0 - } - Text { - font.family: "Open Sans" - text: "N" - font.pixelSize: instrumentCluster.gear == 0 ? app.letterSizeLoaded : app.letterSize - color: instrumentCluster.gear == 0 ? "blue" : "white" - y: instrumentCluster.gear == 0 ? gearOffset : 0 - } - Text { - font.family: "Open Sans" - text: "D" - font.pixelSize: instrumentCluster.gear == 1 ? app.letterSizeLoaded : app.letterSize - color: instrumentCluster.gear == 1 ? "blue" : "white" - y: instrumentCluster.gear == 1 ? gearOffset : 0 - } -} \ No newline at end of file diff --git a/Clusters/InstrumentCluster/ui/LightInfo.qml b/Clusters/InstrumentCluster/ui/LightInfo.qml deleted file mode 100644 index 61b5171..0000000 --- a/Clusters/InstrumentCluster/ui/LightInfo.qml +++ /dev/null @@ -1,75 +0,0 @@ -import QtQuick 2.15 - -Row { - spacing: 20 - - Rectangle { - width: app.iconWidth - height: app.iconHeight - color: "transparent" // Keeps the placeholder invisible - Image { - id: lowBeamSignal - anchors.centerIn: parent - width: parent.width - height: parent.height - source: "qrc:/assets/icons/low_beam_on.png" - visible: instrumentCluster.lowBeam - } - } - - Rectangle { - width: app.iconWidth - height: app.iconHeight - color: "transparent" - Image { - id: highBeamSignal - anchors.centerIn: parent - width: parent.width - height: parent.height - source: "qrc:/assets/icons/high_beam_on.png" - visible: instrumentCluster.highBeam - } - } - - Rectangle { - width: app.iconWidth - height: app.iconHeight - color: "transparent" - Image { - id: frontFogSignal - anchors.centerIn: parent - width: parent.width - height: parent.height - source: "qrc:/assets/icons/front_fog_on.png" - visible: instrumentCluster.frontFogLight - } - } - - Rectangle { - width: app.iconWidth - height: app.iconHeight - color: "transparent" - Image { - id: parkingLightsSignal - anchors.centerIn: parent - width: parent.width - height: parent.height - source: "qrc:/assets/icons/parking_lights_on.png" - visible: instrumentCluster.parkingLight - } - } - - Rectangle { - width: app.iconWidth - height: app.iconHeight - color: "transparent" - Image { - id: backFogSignal - anchors.centerIn: parent - width: parent.width - height: parent.height - source: "qrc:/assets/icons/back_fog_on.png" - visible: instrumentCluster.rearFogLight - } - } -} diff --git a/Clusters/InstrumentCluster/ui/Main.qml b/Clusters/InstrumentCluster/ui/Main.qml deleted file mode 100644 index 01f10f6..0000000 --- a/Clusters/InstrumentCluster/ui/Main.qml +++ /dev/null @@ -1,183 +0,0 @@ -import QtQuick 2.15 -import QtQuick.Window 2.2 -import QtQuick.Controls 2.4 - -ApplicationWindow { - id: app - visible: true - width: Screen.width - height: Screen.height - flags: Qt.Window | Qt.FramelessWindowHint | Qt.WindowStaysOnTopHint - visibility: Window.FullScreen // Add this line - - property int letterSize: 25 - property int letterSizeLoaded: 35 - property int gearOffset: -5 - property int iconWidth: 40 - property int iconHeight: 40 - property bool carClusterVisible: true - property bool showSplash: true - - font.family: "Roboto" - font.pixelSize: 30 - font.bold: false - - // Car CLuster - Rectangle { - anchors.fill: parent - visible: app.carClusterVisible - - gradient: Gradient { - GradientStop { position: 0.0; color: "#000000" } - GradientStop { position: 0.5; color: "#153441" } // Turquoise color - GradientStop { position: 1.0; color: "#000000" } - } - Rectangle { - anchors.verticalCenter: parent.verticalCenter - anchors.horizontalCenter: parent.horizontalCenter - width: 420 - height: 420 - color: "transparent" - Image { - id: car - anchors.centerIn: parent - width: parent.width - height: parent.height - source: "qrc:/assets/images/car.png" - visible: true - fillMode: Image.PreserveAspectFit - } - } - Row { - anchors.verticalCenter: parent.verticalCenter - anchors.left: parent.left - anchors.leftMargin: 120 - spacing: 10 - - TurnSignalLeft {} - SpeedDisplay {} - TurnSignalRight {} - } - - Row { - - anchors.right: parent.right - anchors.rightMargin: 105 - anchors.verticalCenter: parent.verticalCenter - spacing: 15 - CircularProgressBar { - id: batteryPercentage - lineWidth: 10 - value: instrumentCluster.percentage / 100 - size: 115 - secondaryColor: "#ffffff" - primaryColor: instrumentCluster.percentage < 20 ? "#ff0000" : "#2fc71b" - - Text { - text: parseInt(batteryPercentage.value * 100) + "%" - anchors.centerIn: parent - font.pixelSize: 22 - color: "#ffffff" - } - } - - CircularProgressBar { - id: batteryAutonomy - lineWidth: 10 - value: instrumentCluster.autonomy / 100 - size: 120 - secondaryColor: "#ffffff" - primaryColor: "#1ba5c7" - - Text { - text: parseInt(batteryAutonomy.value * 100) + "km" - anchors.centerIn: parent - font.pixelSize: 15 - color: "#ffffff" - } - } - - } - - GearShiftInfo { - anchors.bottom: parent.bottom - anchors.horizontalCenter: parent.horizontalCenter - anchors.bottomMargin: 15 - } - - LightInfo { - anchors.top: parent.top - anchors.horizontalCenter: parent.horizontalCenter - anchors.topMargin: 15 - } - - FootbarInfo { - anchors.top: parent.top - anchors.topMargin: 10 - anchors.left: parent.left - anchors.leftMargin: 30 - } - - TimeInfo { - anchors.top: parent.top - anchors.topMargin: 10 - anchors.right: parent.right - anchors.rightMargin: 30 - } - } - - // // Logo Screen - // Rectangle { - // id: splashScreen - // visible: app.showSplash - // anchors.fill: parent - // color: "black" - - // // O retângulo sempre fica visível, mas apenas o logo tem a opacidade animada - // Image { - // id: logo - // source: "qrc:/assets/icons/seame-logo.png" // Substitua pelo logo do carro - // anchors.centerIn: parent - // width: parent.width * 0.5 - // height: parent.width * 0.5 - // fillMode: Image.PreserveAspectFit - // opacity: 1.0 // Começa visível - - // SequentialAnimation { - // running: true - // loops: 1 - - // // Transição para mostrar o logo - // PropertyAnimation { - // target: logo - // property: "opacity" - // from: 0.0 - // to: 1.0 - // duration: 3000 // 3 segundos - // } - - // PauseAnimation { duration: 1000 } // Aguarda 1 segundo com o logo visível - - // // Transição para esconder o logo - // PropertyAnimation { - // target: logo - // property: "opacity" - // from: 1.0 - // to: 0.0 - // duration: 2000 // 2 segundos - // } - - // PauseAnimation { duration: 1000 } // Aguarda 2 segundos com a tela preta - - // ScriptAction { - // script: { - // app.showSplash = false; // Oculta a splash screen - // app.carClusterVisible = true; // Mostra o cluster - // } - // } - // } - // } - // } - - -} \ No newline at end of file diff --git a/Clusters/InstrumentCluster/ui/SpeedDisplay.qml b/Clusters/InstrumentCluster/ui/SpeedDisplay.qml deleted file mode 100644 index 1f0cf1b..0000000 --- a/Clusters/InstrumentCluster/ui/SpeedDisplay.qml +++ /dev/null @@ -1,22 +0,0 @@ -import QtQuick 2.15 - - -Column { - spacing: 3 - - Text { - font.family: "Open Sans" - text: instrumentCluster.speed - font.pixelSize: 110 - color: "white" - opacity: 1.0 - } - - Text { - anchors.horizontalCenter: parent.horizontalCenter - font.family: "Open Sans" - text: "DM/S" - font.pixelSize: app.letterSize - color: "gray" - } -} diff --git a/Clusters/InstrumentCluster/ui/TimeInfo.qml b/Clusters/InstrumentCluster/ui/TimeInfo.qml deleted file mode 100644 index 06a95b7..0000000 --- a/Clusters/InstrumentCluster/ui/TimeInfo.qml +++ /dev/null @@ -1,71 +0,0 @@ -import QtQuick 2.15 - -Row { - spacing: 5 - Image { - id: clockIcon - source: "qrc:/assets/icons/watch.png" - width: app.iconWidth - 5 - height: app.iconHeight - 5 - visible: true - fillMode: Image.PreserveAspectFit - } - - Rectangle { - width: 7 // Adjust the width to set the desired space - height: 1 - color: "transparent" - } - - Text { - font.family: "Open Sans" - id: timeDisplay - text: "11:11" - font.pixelSize: app.letterSize - color: "white" - opacity: 0.0 - } - - Text { - font.family: "Open Sans" - id: amPmDisplay - text: "AM" - font.pixelSize: app.letterSize - color: "gray" - opacity: 0.0 - } - - Timer { - id: clockTimer - interval: 1000 // Atualiza a cada 1 segundo - running: true - repeat: true - onTriggered: { - timeDisplay.text = timeHelper.getCurrentTime(); - timeDisplay.opacity = 1.0 - - amPmDisplay.text = timeHelper.getCurrentAmPm(); - amPmDisplay.opacity = 1.0 - } - } - - QtObject { - id: timeHelper - - function getCurrentTime() { - const currentDate = new Date(); - let hours = currentDate.getHours(); - let minutes = currentDate.getMinutes(); - - hours = hours % 12 || 12; - minutes = minutes < 10 ? "0" + minutes : minutes - - return hours + ":" + minutes; - } - - function getCurrentAmPm() { - const currentDate = new Date(); - return currentDate.getHours() >= 12 ? "PM" : "AM"; - } - } -} \ No newline at end of file diff --git a/Clusters/InstrumentCluster/ui/TurnSignalLeft.qml b/Clusters/InstrumentCluster/ui/TurnSignalLeft.qml deleted file mode 100644 index d829017..0000000 --- a/Clusters/InstrumentCluster/ui/TurnSignalLeft.qml +++ /dev/null @@ -1,34 +0,0 @@ -import QtQuick 2.15 - - -Row { - id: root - spacing: 10 - - Rectangle { - width: 70 - height: 70 - color: "transparent" - Image { - anchors.verticalCenter: parent.verticalCenter - id: turnSignal - source: "qrc:/assets/icons/turn_left_on.png" - width: 70 - height: 70 - opacity: 0.0 - visible: instrumentCluster.leftBlinker - - Timer { - id: blinkTimer - interval: 500 - running: instrumentCluster.leftBlinker - repeat: true - onTriggered: { - // Toggle opacity when blinking - turnSignal.opacity = turnSignal.opacity === 1.0 ? 0.0 : 1.0; - } - } - } - } -} - diff --git a/Clusters/InstrumentCluster/ui/TurnSignalRight.qml b/Clusters/InstrumentCluster/ui/TurnSignalRight.qml deleted file mode 100644 index fc869a8..0000000 --- a/Clusters/InstrumentCluster/ui/TurnSignalRight.qml +++ /dev/null @@ -1,32 +0,0 @@ -import QtQuick 2.15 - -Row { - id: root - spacing: 10 - - Rectangle { - width: 70 - height: 70 - color: "transparent" - Image { - anchors.verticalCenter: parent.verticalCenter - id: turnSignal - source: "qrc:/assets/icons/turn_right_on.png" - width: 70 - height: 70 - opacity: 0.0 - visible: instrumentCluster.rightBlinker - - Timer { - id: blinkTimer - interval: 500 - running: instrumentCluster.rightBlinker - repeat: true - onTriggered: { - // Toggle opacity when blinking - turnSignal.opacity = turnSignal.opacity === 1.0 ? 0.0 : 1.0; - } - } - } - } -} diff --git a/Clusters/InstrumentCluster/ui/resources.qrc b/Clusters/InstrumentCluster/ui/resources.qrc deleted file mode 100644 index e89189b..0000000 --- a/Clusters/InstrumentCluster/ui/resources.qrc +++ /dev/null @@ -1,35 +0,0 @@ - - - Main.qml - TurnSignalLeft.qml - TurnSignalRight.qml - SpeedDisplay.qml - LightInfo.qml - FootbarInfo.qml - GearShiftInfo.qml - TimeInfo.qml - CircularProgressBar.qml - - - - ../assets/icons/back_fog_on.png - ../assets/icons/front_fog_on.png - ../assets/icons/green-battery.png - ../assets/icons/high_beam_on.png - ../assets/icons/low_beam_on.png - ../assets/icons/parking_lights_on.png - ../assets/icons/turn_left_on.png - ../assets/icons/turn_right_on.png - ../assets/icons/seame-logo.png - ../assets/icons/battery-1.png - ../assets/icons/battery-2.png - ../assets/icons/battery-3.png - ../assets/icons/battery-4.png - ../assets/icons/battery-5.png - ../assets/icons/cloud.png - ../assets/icons/watch.png - - - ../assets/images/car.png - - \ No newline at end of file diff --git a/Clusters/src/InstrumentCluster.cpp b/Clusters/src/InstrumentCluster.cpp deleted file mode 100644 index 57d8cab..0000000 --- a/Clusters/src/InstrumentCluster.cpp +++ /dev/null @@ -1,284 +0,0 @@ -#include "InstrumentCluster.hpp" - -InstrumentCluster::InstrumentCluster(QObject* parent) - : QObject(parent), m_speed(0), percentage(0), autonomy(0), gear(0) -{ - auto config = zenoh::Config::create_default(); - session = std::make_unique( - zenoh::Session::open(std::move(config))); - this->setupSubscriptions(); -} - -InstrumentCluster::InstrumentCluster(const std::string& configFile, - QObject* parent) - : QObject(parent), m_speed(0), percentage(0), autonomy(0), gear(0) -{ - auto config = zenoh::Config::from_file(configFile); - session = std::make_unique( - zenoh::Session::open(std::move(config))); - this->setupSubscriptions(); -} - -InstrumentCluster::~InstrumentCluster() -{ - session->close(); -} - -void InstrumentCluster::setupSubscriptions() -{ - speed_subscriber.emplace(session->declare_subscriber( - "Vehicle/1/Speed", - [this](const zenoh::Sample& sample) - { - int speed = std::stoi(sample.get_payload().as_string()); - setSpeed(speed); - }, - zenoh::closures::none)); - - beamLow_subscriber.emplace(session->declare_subscriber( - "Vehicle/1/Body/Lights/Beam/Low", - [this](const zenoh::Sample& sample) - { - bool isOn = std::stoi(sample.get_payload().as_string()); - setLowBeam(isOn); - }, - zenoh::closures::none)); - - beamHigh_subscriber.emplace(session->declare_subscriber( - "Vehicle/1/Body/Lights/Beam/High", - [this](const zenoh::Sample& sample) - { - bool isOn = std::stoi(sample.get_payload().as_string()); - setHighBeam(isOn); - }, - zenoh::closures::none)); - - directionIndicatorLeft_subscriber.emplace(session->declare_subscriber( - "Vehicle/1/Body/Lights/DirectionIndicator/Left", - [this](const zenoh::Sample& sample) - { - bool isSignaling = std::stoi(sample.get_payload().as_string()); - setLeftBlinker(isSignaling); - }, - zenoh::closures::none)); - - directionIndicatorRight_subscriber.emplace(session->declare_subscriber( - "Vehicle/1/Body/Lights/DirectionIndicator/Right", - [this](const zenoh::Sample& sample) - { - bool isSignaling = std::stoi(sample.get_payload().as_string()); - setRightBlinker(isSignaling); - }, - zenoh::closures::none)); - - hazard_subscriber.emplace(session->declare_subscriber( - "Vehicle/1/Body/Lights/Hazard", - [this](const zenoh::Sample& sample) - { - bool isSignaling = std::stoi(sample.get_payload().as_string()); - setHazardLight(isSignaling); - }, - zenoh::closures::none)); - - fogFront_subscriber.emplace(session->declare_subscriber( - "Vehicle/1/Body/Lights/Fog/Front", - [this](const zenoh::Sample& sample) - { - bool isOn = std::stoi(sample.get_payload().as_string()); - setFrontFogLight(isOn); - }, - zenoh::closures::none)); - - fogRear_subscriber.emplace(session->declare_subscriber( - "Vehicle/1/Body/Lights/Fog/Rear", - [this](const zenoh::Sample& sample) - { - bool isOn = std::stoi(sample.get_payload().as_string()); - setRearFogLight(isOn); - }, - zenoh::closures::none)); - - parking_subscriber.emplace(session->declare_subscriber( - "Vehicle/1/Body/Lights/Parking", - [this](const zenoh::Sample& sample) - { - bool isOn = std::stoi(sample.get_payload().as_string()); - setParkingLight(isOn); - }, - zenoh::closures::none)); - - stateOfCharge_subscriber.emplace(session->declare_subscriber( - "Vehicle/1/Powertrain/TractionBattery/StateOfCharge", - [this](const zenoh::Sample& sample) - { - int soc = std::stoi(sample.get_payload().as_string()); - setPercentage(soc); - }, - zenoh::closures::none)); - - currentGear_subscriber.emplace(session->declare_subscriber( - "Vehicle/1/Powertrain/Transmission/CurrentGear", - [this](const zenoh::Sample& sample) - { - int currentGear = std::stoi(sample.get_payload().as_string()); - setGear(currentGear); - }, - zenoh::closures::none)); -} - -int InstrumentCluster::getSpeed() const -{ - return m_speed; -} -void InstrumentCluster::setSpeed(int speed) -{ - if (m_speed != speed) - { - m_speed = speed; - emit speedChanged(speed); - } -} - -// Blinkers -bool InstrumentCluster::getRightBlinker() const -{ - return rightBlinker; -} -void InstrumentCluster::setRightBlinker(bool state) -{ - if (rightBlinker != state) - { - rightBlinker = state; - emit rightBlinkerChanged(state); - } -} - -bool InstrumentCluster::getLeftBlinker() const -{ - return leftBlinker; -} -void InstrumentCluster::setLeftBlinker(bool state) -{ - if (leftBlinker != state) - { - leftBlinker = state; - emit leftBlinkerChanged(state); - } -} - -bool InstrumentCluster::getLowBeam() const -{ - return lowBeam; -} -void InstrumentCluster::setLowBeam(bool state) -{ - if (lowBeam != state) - { - lowBeam = state; - emit lowBeamChanged(state); - } -} - -bool InstrumentCluster::getHighBeam() const -{ - return highBeam; -} -void InstrumentCluster::setHighBeam(bool state) -{ - if (highBeam != state) - { - highBeam = state; - emit highBeamChanged(state); - } -} - -bool InstrumentCluster::getFrontFogLight() const -{ - return frontFogLight; -} -void InstrumentCluster::setFrontFogLight(bool state) -{ - if (frontFogLight != state) - { - frontFogLight = state; - emit frontFogLightChanged(state); - } -} - -bool InstrumentCluster::getRearFogLight() const -{ - return rearFogLight; -} -void InstrumentCluster::setRearFogLight(bool state) -{ - if (rearFogLight != state) - { - rearFogLight = state; - emit rearFogLightChanged(state); - } -} - -bool InstrumentCluster::getHazardLight() const -{ - return hazardLight; -} -void InstrumentCluster::setHazardLight(bool state) -{ - if (hazardLight != state) - { - hazardLight = state; - emit hazardLightChanged(state); - } -} - -bool InstrumentCluster::getParkingLight() const -{ - return parkingLight; -} -void InstrumentCluster::setParkingLight(bool state) -{ - if (parkingLight != state) - { - parkingLight = state; - emit parkingLightChanged(state); - } -} - -int InstrumentCluster::getPercentage() const -{ - return percentage; -} -void InstrumentCluster::setPercentage(int value) -{ - if (percentage != value) - { - percentage = value; - emit percentageChanged(value); - } -} - -int InstrumentCluster::getAutonomy() const -{ - return autonomy; -} -void InstrumentCluster::setAutonomy(int value) -{ - if (autonomy != value) - { - autonomy = value; - emit autonomyChanged(value); - } -} - -int InstrumentCluster::getGear() const -{ - return gear; -} -void InstrumentCluster::setGear(int value) -{ - if (gear != value) - { - gear = value; - emit gearChanged(value); - } -} \ No newline at end of file diff --git a/MiddleWare/src/main.cpp b/MiddleWare/src/main.cpp index e100f61..8dc52dd 100644 --- a/MiddleWare/src/main.cpp +++ b/MiddleWare/src/main.cpp @@ -16,8 +16,19 @@ using namespace zenoh; int main(int argc, char** argv) { + std::vector laneDataBuffer; struct ifreq ifr; struct sockaddr_can addr; + std::vector rightLaneBuffer; + std::vector leftLaneBuffer; + + // std::vector objectTypes = { "car", "pedestrian", "cyclist" }; + // std::vector objectList; + + float rightLane[3] = {0.0f}; + float leftLane[3] = {0.0f}; + bool rightReceived[3] = {false}; + bool leftReceived[3] = {false}; int canSocket = socket(PF_CAN, SOCK_RAW, CAN_RAW); if (canSocket < 0) @@ -37,22 +48,33 @@ int main(int argc, char** argv) close(canSocket); exit(1); } - + std::cerr << "Attempting to open Zenoh session..." << std::endl; std::cout << "CAN socket bound to can0 interface successfully." << std::endl; std::unique_ptr session; - if (argc == 2) + try { - auto config = Config::from_file(argv[1]); - session = std::make_unique( - zenoh::Session::open(std::move(config))); + if (argc == 2) + { + std::cout << "Using configuration file: " << argv[1] << std::endl; + auto config = Config::from_file(argv[1]); + session = std::make_unique( + zenoh::Session::open(std::move(config))); + } + else + { + std::cout << "Using default configuration." << std::endl; + auto config = Config::create_default(); + session = std::make_unique( + zenoh::Session::open(std::move(config))); + } } - else + catch (const zenoh::ZException& e) { - auto config = Config::create_default(); - session = std::make_unique( - zenoh::Session::open(std::move(config))); + std::cerr << "Failed to open Zenoh session: " << e.what() << std::endl; + close(canSocket); + exit(1); } auto speed_pub = @@ -87,6 +109,20 @@ int main(int argc, char** argv) zenoh::KeyExpr("Vehicle/1/Powertrain/TractionBattery/CurrentPower")); auto state_of_charge_pub = session->declare_publisher( zenoh::KeyExpr("Vehicle/1/Powertrain/TractionBattery/StateOfCharge")); + auto right_lanes_pub = session->declare_publisher( + zenoh::KeyExpr("Vehicle/1/Scene/Lanes/Right")); + auto left_lanes_pub = session->declare_publisher( + zenoh::KeyExpr("Vehicle/1/Scene/Lanes/Left")); + auto obstacleWarning_pub = session->declare_publisher( + zenoh::KeyExpr("Vehicle/1/ADAS/ObstacleDetection/Warning")); + auto laneDeparture_pub = session->declare_publisher( + zenoh::KeyExpr("Vehicle/1/ADAS/LaneDeparture/Detected")); + auto sae0_pub = session->declare_publisher( + zenoh::KeyExpr("Vehicle/1/ADAS/ActiveAutonomyLevel/SAE_0")); + auto sae1_pub = session->declare_publisher( + zenoh::KeyExpr("Vehicle/1/ADAS/ActiveAutonomyLevel/SAE_1")); + auto sae5_pub = session->declare_publisher( + zenoh::KeyExpr("Vehicle/1/ADAS/ActiveAutonomyLevel/SAE_5")); while (1) { @@ -108,7 +144,6 @@ int main(int argc, char** argv) speed = wheelDiame * 3.14 * speed * 10 / 60; std::string speed_str = std::to_string(speed); - // printf("Publishing speed: '%d'\n", speed); speed_pub.put(speed_str.c_str()); } else if (frame.can_id == 0x02) @@ -148,16 +183,65 @@ int main(int argc, char** argv) hazard_pub.put(std::to_string((lights & (1 << 6)) != 0)); parking_pub.put(std::to_string((lights & (1 << 7)) != 0)); } - else if (frame.can_id == 0x04) + if (frame.can_id == 0x100 || frame.can_id == 0x101) { - int gear; + int index; + float value; - memcpy(&gear, frame.data, sizeof(gear)); + memcpy(&index, &frame.data[0], sizeof(int)); + memcpy(&value, &frame.data[4], sizeof(float)); - // printf("Publishing gear: '%lf\n", gear[0]); - currentGear_pub.put(std::to_string(gear)); + std::cout << "[CAN] " + << ((frame.can_id == 0x101) ? "Right" : "Left") + << " Lane - Index: " << index + << ", Value: " << value << std::endl; + + if (frame.can_id == 0x100) + { + leftLane[index] = value; + leftReceived[index] = true; + + if (leftReceived[0] && leftReceived[1] && leftReceived[2]) + { + std::ostringstream stream; + for (int i = 0; i < 3; ++i) + stream << leftLane[i] << " "; + + std::cout << "Publishing left lane: " << stream.str() << std::endl; + left_lanes_pub.put(stream.str()); + std::fill(std::begin(leftReceived), std::end(leftReceived), false); + } + } + else + { + rightLane[index] = value; + rightReceived[index] = true; + + if (rightReceived[0] && rightReceived[1] && rightReceived[2]) + { + std::ostringstream stream; + for (int i = 0; i < 3; ++i) + stream << rightLane[i] << " "; + + std::cout << "Publishing right lane: " << stream.str() << std::endl; + right_lanes_pub.put(stream.str()); + std::fill(std::begin(rightReceived), std::end(rightReceived), false); + } + } } + else if (frame.can_id == 0x200) + obstacleWarning_pub.put("1"); + else if (frame.can_id == 0x301) + laneDeparture_pub.put("1"); + else if (frame.can_id == 0x302) + laneDeparture_pub.put("0"); + else if (frame.can_id == 0x400) + sae0_pub.put("0"); + else if (frame.can_id == 0x401) + sae1_pub.put("1"); + else if (frame.can_id == 0x405) + sae5_pub.put("5"); usleep(10); } return 0; -} +} \ No newline at end of file diff --git a/MiddleWareApp b/MiddleWareApp new file mode 100755 index 0000000..a6c3644 Binary files /dev/null and b/MiddleWareApp differ diff --git a/README.md b/README.md index 343ef6c..421739f 100644 --- a/README.md +++ b/README.md @@ -18,7 +18,6 @@ 1. [About The Project](#about-the-project) - [Built With](#built-with) 2. [Usage](#usage) -3. [Roadmap](#roadmap) 4. [Contributing](#contributing) 5. [License](#license) 6. [Contact](#contact) @@ -77,21 +76,58 @@ This section lists the major frameworks, libraries, and tools used in this proje ### Usage Once the application is up and running, the instrument cluster will display `real-time speed data` and the `vehicle's battery status` on an LCD screen. The data is continuously updated as it is received **via the CAN bus**. -[**step by step usage will be attached**] +This project can be deployed and tested in two main environments: +### ✅ Option 1: Deploy on Raspberry Pi LCD + +To deploy the interface on a Raspberry Pi with an attached LCD display: + +1. Make sure you're in the **root directory** of the repository. +2. Update the `.env` file located in the root directory: + - Change the `PI_IP_ADDRESS` to the IP address of your Raspberry Pi. + - Update the `CREDENTIALS` with the username (`PI_USERNAME`) and password (`PI_PASSWORD`) for your Raspberry Pi. + +2. Run the deployment script from the root repository: + + ```bash + ./RaspberryPi/deploy/scripts/deployToRasp.sh + ``` + +4. Restart the application to apply the changes. The executables will be placed in `PI_PATH_BIN` in your Raspberry Pi, make sure to change that if necessary. + +### ✅ Option 2: Simulate on a Local Machine + +For testing purposes, you can simulate the application on your local machine: + +1. Install the required dependencies as listed in the `requirements.txt` file. +2. Run the application locally using: + + ```bash + ./RaspberryPi/deploy/deployLocal/deployLocal.sh + ``` + +3. Ensure the CAN bus data is being simulated or fed into the application for testing. + --- -## Roadmap +## Testing -- **v1.0:** Initial release with basic speedometer functionality. -- **v1.1:** Add PiRacer battery level display. -- **v2.0:** Implement advanced features like trip data, RPM counter, and GPS integration. -- **v3.0:** Testing and validation on various real-world driving conditions. +We use **LCOV** for test coverage analysis to ensure the reliability and quality of the codebase. Follow the steps below to run the tests: ---- +1. Navigate to the `RaspberryPi/tests` directory: + ```bash + cd RaspberryPi/tests + ``` + +2. After the tests are executed, a coverage report will be generated. Run the test script: + ```bash + ./test.sh + ``` + +Make sure all tests pass and the coverage meets the project's standards before submitting any changes. ## The Team 🤝 > Together, we've collaborated to bring this project to life, combining our knowledge, skills, and experience every step of the way. It has been a great journey of learning and growing as a team. diff --git a/deploy/.qt/QtDeploySupport.cmake b/deploy/.qt/QtDeploySupport.cmake new file mode 100644 index 0000000..60c8060 --- /dev/null +++ b/deploy/.qt/QtDeploySupport.cmake @@ -0,0 +1,70 @@ +cmake_minimum_required(VERSION 3.16...3.21) + +# These are part of the public API. Projects should use them to provide a +# consistent set of prefix-relative destinations. +if(NOT QT_DEPLOY_BIN_DIR) + set(QT_DEPLOY_BIN_DIR "bin") +endif() +if(NOT QT_DEPLOY_LIBEXEC_DIR) + set(QT_DEPLOY_LIBEXEC_DIR "libexec") +endif() +if(NOT QT_DEPLOY_LIB_DIR) + set(QT_DEPLOY_LIB_DIR "lib") +endif() +if(NOT QT_DEPLOY_PLUGINS_DIR) + set(QT_DEPLOY_PLUGINS_DIR "plugins") +endif() +if(NOT QT_DEPLOY_QML_DIR) + set(QT_DEPLOY_QML_DIR "qml") +endif() +if(NOT QT_DEPLOY_TRANSLATIONS_DIR) + set(QT_DEPLOY_TRANSLATIONS_DIR "translations") +endif() +if(NOT QT_DEPLOY_PREFIX) + set(QT_DEPLOY_PREFIX "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") +endif() +if(QT_DEPLOY_PREFIX STREQUAL "") + set(QT_DEPLOY_PREFIX .) +endif() +if(NOT QT_DEPLOY_IGNORED_LIB_DIRS) + set(QT_DEPLOY_IGNORED_LIB_DIRS "/usr/lib/gcc/x86_64-linux-gnu/11;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib") +endif() + +# These are internal implementation details. They may be removed at any time. +set(__QT_DEPLOY_SYSTEM_NAME "Linux") +set(__QT_DEPLOY_IS_SHARED_LIBS_BUILD "ON") +set(__QT_DEPLOY_TOOL "GRD") +set(__QT_DEPLOY_IMPL_DIR "/home/lpicoli-/Documents/mayTeam2/RaspberryPi/deploy/.qt") +set(__QT_DEPLOY_VERBOSE "") +set(__QT_CMAKE_EXPORT_NAMESPACE "Qt6") +set(__QT_DEPLOY_GENERATOR_IS_MULTI_CONFIG "0") +set(__QT_DEPLOY_ACTIVE_CONFIG "") +set(__QT_NO_CREATE_VERSIONLESS_FUNCTIONS "") +set(__QT_DEFAULT_MAJOR_VERSION "6") +set(__QT_DEPLOY_QT_ADDITIONAL_PACKAGES_PREFIX_PATH "") +set(__QT_DEPLOY_QT_INSTALL_PREFIX "/usr/local/qt6") +set(__QT_DEPLOY_QT_INSTALL_BINS "bin") +set(__QT_DEPLOY_QT_INSTALL_DATA ".") +set(__QT_DEPLOY_QT_INSTALL_LIBEXECS "libexec") +set(__QT_DEPLOY_QT_INSTALL_PLUGINS "plugins") +set(__QT_DEPLOY_QT_INSTALL_TRANSLATIONS "translations") +set(__QT_DEPLOY_TARGET_QT_PATHS_PATH "/usr/local/qt6/bin/qtpaths6") +set(__QT_DEPLOY_PLUGINS "") +set(__QT_DEPLOY_MUST_ADJUST_PLUGINS_RPATH "") +set(__QT_DEPLOY_USE_PATCHELF "") +set(__QT_DEPLOY_PATCHELF_EXECUTABLE "") +set(__QT_DEPLOY_QT_IS_MULTI_CONFIG_BUILD_WITH_DEBUG "FALSE") +set(__QT_DEPLOY_QT_DEBUG_POSTFIX "") + +# Define the CMake commands to be made available during deployment. +set(__qt_deploy_support_files + "/home/lpicoli-/Documents/mayTeam2/RaspberryPi/deploy/.qt/QtDeployTargets.cmake" + "/usr/local/qt6/lib/cmake/Qt6Core/Qt6CoreDeploySupport.cmake" + "/usr/local/qt6/lib/cmake/Qt6Qml/Qt6QmlDeploySupport.cmake" +) +foreach(__qt_deploy_support_file IN LISTS __qt_deploy_support_files) + include("${__qt_deploy_support_file}") +endforeach() + +unset(__qt_deploy_support_file) +unset(__qt_deploy_support_files) diff --git a/deploy/.qt/QtDeployTargets.cmake b/deploy/.qt/QtDeployTargets.cmake new file mode 100644 index 0000000..cfa1385 --- /dev/null +++ b/deploy/.qt/QtDeployTargets.cmake @@ -0,0 +1,4 @@ +set(__QT_DEPLOY_TARGET_HandClusterB_FILE /home/lpicoli-/Documents/mayTeam2/RaspberryPi/deploy/HandClusterB) +set(__QT_DEPLOY_TARGET_HandClusterB_TYPE EXECUTABLE) +set(__QT_DEPLOY_TARGET_MiddleWareApp_FILE /home/lpicoli-/Documents/mayTeam2/RaspberryPi/deploy/MiddleWareApp) +set(__QT_DEPLOY_TARGET_MiddleWareApp_TYPE EXECUTABLE) diff --git a/deploy/deployLocal/CMakeLists.txt b/deploy/deployLocal/CMakeLists.txt new file mode 100644 index 0000000..6e41abc --- /dev/null +++ b/deploy/deployLocal/CMakeLists.txt @@ -0,0 +1,44 @@ +cmake_minimum_required(VERSION 3.10) +project(HandCluster) + +set(CMAKE_CXX_STANDARD 17) + +# Habilita suporte a Qt +find_package(Qt5 COMPONENTS Core Quick DBus Test REQUIRED) +find_package(zenohc REQUIRED) +find_package(zenohcxx REQUIRED) + +# Flags de cobertura (somente para GCC) +if(CMAKE_COMPILER_IS_GNUCXX) + add_compile_options(-fprofile-arcs -ftest-coverage) + add_link_options(-fprofile-arcs -ftest-coverage) +endif() + +# Automatiza moc/uic/rcc +set(CMAKE_AUTOMOC ON) +set(CMAKE_AUTOUIC ON) +set(CMAKE_AUTORCC ON) + +# Includes e libs locais +include_directories(/usr/local/include) +link_directories(/usr/local/lib) + +# Recursos Qt +qt_add_resources(QT_RESOURCES_HCA ../../Clusters/HandCluster/ui/resources.qrc) + +# Executável principal +add_executable(InstrumentClusterLocalInstance + ${QT_RESOURCES_HCA} + ../../Clusters/HandCluster/src/main.cpp + ../../Clusters/HandCluster/src/InstrumentCluster.cpp + ../../Clusters/HandCluster/include/InstrumentCluster.hpp +) + +# Linka bibliotecas +target_link_libraries(InstrumentClusterLocalInstance + zenohcxx::zenohc + Qt5::Core Qt5::DBus Qt5::Quick + -lm -ldl +) + + diff --git a/deploy/deployLocal/deployLocal.sh b/deploy/deployLocal/deployLocal.sh new file mode 100755 index 0000000..5b6af5a --- /dev/null +++ b/deploy/deployLocal/deployLocal.sh @@ -0,0 +1,4 @@ +cd build +cmake .. +make +./InstrumentClusterLocalInstance \ No newline at end of file diff --git a/deploy/dockerfiles/DockerfileDeployRasp b/deploy/dockerfiles/DockerfileDeployRasp index b8823c3..bf01e8a 100644 --- a/deploy/dockerfiles/DockerfileDeployRasp +++ b/deploy/dockerfiles/DockerfileDeployRasp @@ -12,4 +12,6 @@ RUN cd /home/$projectDir && \ /build/qt6/pi/bin/qt-cmake . \ -DCMAKE_BUILD_TYPE=Debug \ -DZENOHCXX_ZENOHC=ON && \ - cmake --build . \ No newline at end of file + cmake --build . + +CMD ["/bin/bash"] \ No newline at end of file diff --git a/deploy/fonts/electrolize.ttf b/deploy/fonts/electrolize.ttf new file mode 100755 index 0000000..f1b9fba Binary files /dev/null and b/deploy/fonts/electrolize.ttf differ diff --git a/deploy/fonts/orbitron.ttf b/deploy/fonts/orbitron.ttf new file mode 100644 index 0000000..2f33003 Binary files /dev/null and b/deploy/fonts/orbitron.ttf differ diff --git a/deploy/fonts/tektur.ttf b/deploy/fonts/tektur.ttf new file mode 100644 index 0000000..9dcdc0f Binary files /dev/null and b/deploy/fonts/tektur.ttf differ diff --git a/deploy/scripts/deployToRasp.sh b/deploy/scripts/deployToRasp.sh index c1552f1..d00075b 100755 --- a/deploy/scripts/deployToRasp.sh +++ b/deploy/scripts/deployToRasp.sh @@ -1,25 +1,20 @@ #!/bin/bash -projectDir=RaspberryPi -piUserName=team02 -piIpAddressLocal=10.21.221.64 -piIpAddressRemote=10.21.221.19 -piPathBin=/opt/vehicle/bin -piPathEtc=/opt/vehicle/etc/zenoh -piPass=seameteam2 +# Load environment variables from RaspberryPi/.env +source "$(dirname "$0")/../../.env" + architecture=$(uname -m) check_ssh_connection() { local host=$1 local user=$2 echo "Checking connection to $host..." - # Use nc (netcat) to test connection with 5 second timeout - if nc -G 5 -z "$host" 22 >/dev/null 2>&1; then - # Test SSH login - if sshpass -p "$piPass" ssh -q -o ConnectTimeout=5 "$user@$host" exit; then - return 0 - fi + # Test SSH login + if sshpass -p "$PI_PASSWORD" ssh "$user@$host" exit; then + echo "Successful connection to $host..." + return 0 fi + echo "NO connection to $host..." return 1 } @@ -28,49 +23,34 @@ echo "Building docker image to build app..." if [ "$architecture" = "arm64" ] || [ "$architecture" = "aarch64" ]; then echo "Building for ARM64 architecture..." docker build -f ./RaspberryPi/deploy/dockerfiles/DockerfileDeployRasp \ - --build-arg projectDir=/$projectDir \ + --build-arg projectDir=/$PROJECT_DIR \ -t final-app . else echo "Building for non-ARM64 architecture with platform emulation..." docker buildx build -f ./RaspberryPi/deploy/dockerfiles/DockerfileDeployRasp \ --platform linux/arm64 --load \ - --build-arg projectDir=/$projectDir \ + --build-arg projectDir=/$PROJECT_DIR \ -t final-app . fi -echo "Remove tmpapp container if it is exist" +echo "Remove tmpapp container if it exists" docker rm -f tmpapp echo "Create a tmp container to copy binary" docker create --name tmpapp final-app echo "Copy the binary from tmp container" -docker cp tmpapp:/home/$projectDir/InstrumentClusterApp ./InstrumentClusterApp -docker cp tmpapp:/home/$projectDir/HandClusterApp ./HandClusterApp -docker cp tmpapp:/home/$projectDir/MiddleWareApp ./MiddleWareApp +docker cp tmpapp:/home/$PROJECT_DIR/InstrumentClusterApp ./InstrumentClusterApp +docker cp tmpapp:/home/$PROJECT_DIR/MiddleWareApp ./MiddleWareApp -if check_ssh_connection "$piIpAddressLocal" "$piUserName"; then - echo "Stopping services on local Raspberry Pi..." - sshpass -p "$piPass" ssh "$piUserName"@"$piIpAddressLocal" "sudo systemctl stop middleware.service && pkill InstrumentClus" - - echo "Send binary to local rasp over scp" - sshpass -p "$piPass" scp InstrumentClusterApp MiddleWareApp "$piUserName"@"$piIpAddressLocal":"$piPathBin" - sshpass -p "$piPass" scp ./$projectDir/ZenohConfig/InstrumentClusterConfig.json ./$projectDir/ZenohConfig/MiddleWareConfig.json "$piUserName"@"$piIpAddressLocal":"$piPathEtc" - - echo "Restarting services on local Raspberry Pi..." - sshpass -p "$piPass" ssh "$piUserName"@"$piIpAddressLocal" "sudo systemctl start middleware.service" +# if check_ssh_connection "$PI_IP_ADDRESS" "$PI_USERNAME"; then + echo "Stopping services on Raspberry Pi..." + sshpass -p "$PI_PASSWORD" ssh "$PI_USERNAME@$PI_IP_ADDRESS" "sudo systemctl stop middleware.service && pkill InstrumentClusterApp" - echo "InstrumentCluster will restart on next login" -else - echo "ERROR: Cannot connect to local Raspberry Pi at $piIpAddressLocal" -fi + echo "Sending binaries to Raspberry Pi over SCP..." + sshpass -p "$PI_PASSWORD" scp InstrumentClusterApp MiddleWareApp "$PI_USERNAME@$PI_IP_ADDRESS:$PI_PATH_BIN" + sshpass -p "$PI_PASSWORD" scp ./$PROJECT_DIR/ZenohConfig/InstrumentClusterConfig.json ./$PROJECT_DIR/ZenohConfig/MiddleWareConfig.json "$PI_USERNAME@$PI_IP_ADDRESS:$PI_PATH_ETC" -if check_ssh_connection "$piIpAddressRemote" "$piUserName"; then - echo "Stopping service on remote Raspberry Pi..." - sshpass -p "$piPass" ssh "$piUserName"@"$piIpAddressRemote" "pkill HandCluster" - - echo "Send binary to remote rasp over scp" - sshpass -p "$piPass" scp HandClusterApp "$piUserName"@"$piIpAddressRemote":"$piPathBin" - - echo "HandCluster will restart on next login" -else - echo "ERROR: Cannot connect to remote Raspberry Pi at $piIpAddressRemote" -fi \ No newline at end of file + echo "Sending font files to Raspberry Pi over SCP to $PI_PATH_FONTS" + sshpass -p "$PI_PASSWORD" scp -r ./RaspberryPi/deploy/fonts "$PI_USERNAME@$PI_IP_ADDRESS:$PI_PATH_FONTS" + echo "Restarting middleware service..." + sshpass -p "$PI_PASSWORD" ssh "$PI_USERNAME@$PI_IP_ADDRESS" "sudo systemctl start middleware.service" +# fi diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt new file mode 100644 index 0000000..d44f20d --- /dev/null +++ b/tests/CMakeLists.txt @@ -0,0 +1,49 @@ +cmake_minimum_required(VERSION 3.10) +project(HandCluster) + +set(CMAKE_CXX_STANDARD 17) + +# Habilita suporte a Qt +find_package(Qt5 COMPONENTS Core Quick DBus Test REQUIRED) +find_package(zenohc REQUIRED) +find_package(zenohcxx REQUIRED) + +# Flags de cobertura (somente para GCC) +if(CMAKE_COMPILER_IS_GNUCXX) + add_compile_options(-fprofile-arcs -ftest-coverage) + add_link_options(-fprofile-arcs -ftest-coverage) +endif() + +# Automatiza moc/uic/rcc +set(CMAKE_AUTOMOC ON) +set(CMAKE_AUTOUIC ON) +set(CMAKE_AUTORCC ON) + +# Includes e libs locais +include_directories(/usr/local/include) +link_directories(/usr/local/lib) + +# Recursos Qt +qt_add_resources(QT_RESOURCES_HCA ../Clusters/HandCluster/ui/resources.qrc) + +# Executável de testes +add_executable(InstrumentClusterTests + ${QT_RESOURCES_HCA} + ../Clusters/HandCluster/src/InstrumentCluster.cpp + ../Clusters/HandCluster/include/InstrumentCluster.hpp + ../Clusters/HandCluster/tests/InstrumentClusterTest.cpp + ../Clusters/HandCluster/tests/InstrumentClusterTest.hpp +) + +target_link_libraries(InstrumentClusterTests + zenohcxx::zenohc + Qt5::Core Qt5::DBus Qt5::Quick Qt5::Test + -lm -ldl +) + +if(CMAKE_BUILD_TYPE STREQUAL "Debug") + message(STATUS "Adding coverage flags") + add_compile_options(--coverage) + link_libraries(gcov) +endif() + diff --git a/tests/test.sh b/tests/test.sh new file mode 100755 index 0000000..29f8bf2 --- /dev/null +++ b/tests/test.sh @@ -0,0 +1,27 @@ +#!/bin/bash + +set -e + +# Build +mkdir -p build +cd build +cmake .. -DCMAKE_BUILD_TYPE=Debug +make + +# Run tests (don't fail script on test errors to still generate coverage) +set +e +./InstrumentClusterTests +set -e + +# Generate coverage info +lcov --capture --directory . --output-file coverage.info + +# Remove unwanted paths (standard libs, tests, autogen) +lcov --remove coverage.info '/usr/*' '*tests/*' '*_autogen/*' --output-file QT-coverage-filtered.info + +# Generate HTML report +genhtml QT-coverage-filtered.info --output-directory coverage-html + +# Open HTML report in default browser +echo "Coverage report generated in coverage-html directory." +xdg-open coverage-html/index.html || firefox coverage-html/index.html || google-chrome coverage-html/index.html diff --git a/tests/zenoh-test.conf b/tests/zenoh-test.conf new file mode 100644 index 0000000..53f85d5 --- /dev/null +++ b/tests/zenoh-test.conf @@ -0,0 +1,2 @@ +mode=client +peer=udp/localhost:7447