76 task deploy workflow for raspberry pi repo

.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

.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 }}

.gitignore

@@ -72,3 +72,10 @@ CMakeLists.txt.user*
 *.dll
 *.exe
 
+# Build folders
+tests/build/
+deploy/build/
+deploy/.qt/
+deploy/deployLocal/build/
+
+

CMakeLists.txt

@@ -11,39 +11,24 @@ 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
     ./MiddleWare/src/main.cpp
 )
 
 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)

Clusters/include/InstrumentCluster.hpp → Clusters/HandCluster/include/InstrumentCluster.hpp

@@ -5,6 +5,14 @@
 #include <iostream>
 #include <memory>
 #include "zenoh.hxx"
+#include <QVariant>
+#include <QPoint>
+#include <QVariantList> 
+#include <QJsonDocument>
+#include <QJsonParseError>
+#include <QDebug>
+#include <QJsonArray>
+#include <QJsonObject>
 
 using namespace zenoh;
 
@@ -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<zenoh::Session> session;
+    QVariantMap m_leftLaneCoefs;
+    QVariantMap m_rightLaneCoefs;
+    QVariantList m_detectedObjects;
+
+    // std::shared_ptr<zenoh::Session> sharedsession;
+
+    std::shared_ptr<zenoh::Session> session;
     std::optional<zenoh::Subscriber<void>> speed_subscriber;
     std::optional<zenoh::Subscriber<void>> beamLow_subscriber;
     std::optional<zenoh::Subscriber<void>> beamHigh_subscriber;
@@ -66,13 +89,26 @@ class InstrumentCluster : public QObject
     std::optional<zenoh::Subscriber<void>> currentCurrent_subscriber;
     std::optional<zenoh::Subscriber<void>> currentPower_subscriber;
     std::optional<zenoh::Subscriber<void>> currentGear_subscriber;
-
+    std::optional<zenoh::Subscriber<void>> leftLane_subscriber;
+    std::optional<zenoh::Subscriber<void>> rightLane_subscriber;
+    std::optional<zenoh::Subscriber<void>> object_subscriber;
+    std::optional<zenoh::Subscriber<void>> laneDeparture_subscriber;
+    std::optional<zenoh::Subscriber<void>> obstacleWarning_subscriber;
+    std::optional<zenoh::Subscriber<void>> sae0_subscriber;
+    std::optional<zenoh::Subscriber<void>> sae1_subscriber;
+    std::optional<zenoh::Subscriber<void>> sae5_subscriber;
+
   public:
     explicit InstrumentCluster(QObject* parent = nullptr);
     explicit InstrumentCluster(const std::string& configFile,
                                QObject* parent = nullptr);
+                               public:
+    explicit InstrumentCluster(std::shared_ptr<zenoh::Session> 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<void(const zenoh::Sample&)> 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<void(const zenoh::Sample&)> getSpeedCallback();
+    #endif
 };
 
 #endif // INSTRUMENTCLUSTER_HPP