sauvegarde

This commit is contained in:
Sébastien DI MERCURIO 2018-11-07 11:32:19 +01:00
parent 8536d288ce
commit a1cd0af6ef
38 changed files with 3967 additions and 128 deletions

4
.gitignore vendored
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@ -62,4 +62,6 @@ GUI
# Android
*.apk
/software/raspberry/superviseur-robot/superviseur/dist/
/software/raspberry/superviseur-robot/superviseur/dist/
/software/raspberry/testeur/testeur/build/
/software/raspberry/testeur/testeur/dist/

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@ -0,0 +1,156 @@
using System;
using System.Net.Sockets;
using System.Threading;
using System.Text;
namespace monitor
{
public class ClientReadEvent
{
private static TcpClient myClient = null;
private static NetworkStream myStream = null;
private const int BufferMaxSize = 512;
private static byte[] buffer = new byte[BufferMaxSize];
private static StringBuilder sb = new StringBuilder();
private static int newLength = 1;
public delegate void ReadEvent(string str);
public static ReadEvent readEvent = null;
public static void Set(TcpClient client, NetworkStream stream)
{
myClient = client;
myStream = stream;
}
public static void ReadThread()
{
while (true)
{
if (myClient.Connected)
{
myStream.BeginRead(buffer, 0, newLength, new AsyncCallback(ReadCallback), sb);
}
else Thread.Sleep(200);
}
}
public static void ReadCallback(IAsyncResult ar)
{
}
}
public class Client
{
public const string defaultIP = "localhost";
public const int defaultPort = 4500;
private static TcpClient client = null;
private static NetworkStream stream = null;
private const int BufferMaxSize = 512;
private static byte[] buffer = new byte[BufferMaxSize];
private static StringBuilder message = new StringBuilder();
private static int newLength = 1;
public delegate void ReadEvent(string msg);
public static ReadEvent readEvent = null;
public Client()
{
}
public static bool Open(string host)
{
return Client.Open(host, defaultPort);
}
public static bool Open(string host, int port)
{
bool status = true;
try
{
client = new TcpClient(host, port);
stream = client.GetStream();
stream.BeginRead(buffer, 0, newLength, new AsyncCallback(ReadCallback), message);
}
catch (ArgumentNullException e)
{
Console.WriteLine("ArgumentNullException: " + e);
status = false;
}
catch (SocketException e)
{
Console.WriteLine("SocketException: " + e.ToString());
status = false;
}
catch (Exception e)
{
Console.WriteLine("Unknown Exception: " + e.ToString());
status = false;
}
return status;
}
public static void Close()
{
if (stream!=null) stream.Close();
if (client!=null) client.Close();
}
private static void ReadCallback(IAsyncResult ar)
{
if (client.Connected)
{
int bytesRead;
try
{
bytesRead = stream.EndRead(ar);
}
catch (ObjectDisposedException e)
{
Console.WriteLine("Connection to server dropped: " + e.ToString());
return;
}
newLength = 1;
if (bytesRead > 0)
{
message.Append(Encoding.ASCII.GetString(buffer, 0, bytesRead));
}
if (client.Available > 0)
{
newLength = client.Available;
if (newLength > BufferMaxSize) newLength = BufferMaxSize;
else newLength = client.Available;
}
else
{
readEvent?.Invoke(message.ToString());
message.Clear();
}
stream.BeginRead(buffer, 0, newLength, new AsyncCallback(ReadCallback), message);
}
}
public static void Write(string mes)
{
if (client.Connected)
{
byte[] writeBuffer = Encoding.UTF8.GetBytes(mes);
stream.Write(writeBuffer, 0, mes.Length);
}
}
}
}

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@ -0,0 +1,110 @@
using System.Threading;
namespace monitor
{
public class CommandManager
{
public delegate void CommandReceivedEvent(string msg);
public CommandReceivedEvent commandReceivedEvent = null;
private System.Timers.Timer waitTimer = new System.Timers.Timer();
private ManualResetEvent waitEvent = new ManualResetEvent(false);
private bool waitForAcknowledge = false;
private string messageReceived = null;
private bool isBusy = false;
public enum CommandManagerStatus
{
AnswerReceived,
Timeout,
Busy
};
public CommandManager(CommandReceivedEvent callback)
{
Client.readEvent += this.OnMessageReception;
this.commandReceivedEvent += callback;
waitTimer.Elapsed += OnMessageTimeout;
}
~CommandManager()
{
Client.Close();
}
public bool Open(string hostname)
{
return this.Open(hostname, Client.defaultPort);
}
public bool Open(string hostname, int port)
{
return Client.Open(hostname, port);
}
public void Close()
{
Client.Close();
}
private void OnMessageReception(string message)
{
waitTimer.Stop();
this.messageReceived = message;
isBusy = false;
if (waitForAcknowledge) {
waitForAcknowledge = false;
waitEvent.Set(); // Envoi de l'evenement
}
else {
waitForAcknowledge = false;
this.commandReceivedEvent?.Invoke(message);
}
}
private void OnMessageTimeout(object sender, System.Timers.ElapsedEventArgs e)
{
messageReceived = null;
OnMessageReception(messageReceived);
}
public CommandManagerStatus SendCommand(string cmd, out string answer, double timeout)
{
CommandManagerStatus status = CommandManagerStatus.AnswerReceived;
answer = null;
if (isBusy) status = CommandManagerStatus.Busy;
else
{
isBusy = true;
Client.Write(cmd);
if (timeout > 0) // la commande attend un acquitement
{
waitForAcknowledge = true;
waitTimer.Interval = timeout;
waitTimer.Start();
waitEvent.WaitOne();
waitEvent.Reset(); // remise à zero pour une prochaine commande
if (this.messageReceived == null) // timeout: connection au serveur defectueuse
{
status = CommandManagerStatus.Timeout;
}
}
else isBusy = false;
answer = this.messageReceived;
this.messageReceived = null;
}
return status;
}
}
}

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@ -0,0 +1,420 @@
using System;
namespace monitor
{
public class DestijlCommandList
{
public const string HeaderMtsComDmb = "COM";
public const string HeaderMtsDmbOrder = "DMB";
public const string HeaderMtsCamera = "CAM";
public const string HeaderMtsMessage = "MSG";
public const string DataComOpen = "o";
public const string DataComClose = "C";
public const string DataCamOpen = "A";
public const string DataCamClose = "I";
public const string DataCamAskArena = "y";
public const string DataCamArenaConfirm = "x";
public const string DataCamInfirm = "z";
public const string DataCamComputePosition = "p";
public const string DataCamStopComputePosition = "s";
public const string HeaderStmAck = "ACK";
public const string HeaderStmNoAck = "NAK";
public const string HeaderStmLostDmb = "LCD";
public const string HeaderStmImage = "IMG";
public const string HeaderStmPos = "POS";
public const string HeaderStmMes = "MSG";
public const string HeaderStmBat = "BAT";
}
public class RobotCommandList
{
public const string RobotPing = "p";
public const string RobotReset = "r";
public const string RobotStartWithoutWatchdog = "u";
public const string RobotStartWithWatchdog = "W";
public const string RobotGetBattery = "v";
public const string RobotGetBusyState = "b";
public const string RobotMove = "M";
public const string RobotTurn = "T";
public const string RobotGetVersion = "V";
public const string RobotPowerOff = "z";
}
public class DestijlCommandManager
{
private CommandManager commandManager = null;
private string receivedHeader = null;
private string receivedData = null;
public delegate void CommandReceivedEvent(string header, string data);
public CommandReceivedEvent commandReceivedEvent = null;
public double timeout = 100; // timeout pour les commandes avec acquitement
public enum CommandStatus
{
Success,
Rejected,
InvalidAnswer,
Busy,
CommunicationLostWithRobot,
CommunicationLostWithServer
}
public DestijlCommandManager(CommandReceivedEvent callback)
{
commandManager = new CommandManager(OnCommandReceived);
this.commandReceivedEvent += callback;
}
~DestijlCommandManager()
{
if (commandManager != null) commandManager.Close();
}
private void OnCommandReceived(string msg)
{
string[] msgs = msg.Split(':');
if (msgs.Length >= 1) receivedHeader = msgs[0];
else receivedHeader = null;
if (msgs.Length >= 2) receivedData = msgs[1];
else receivedData = null;
this.commandReceivedEvent?.Invoke(receivedHeader, receivedData);
}
public bool Open(string hostname)
{
return this.Open(hostname, Client.defaultPort);
}
public bool Open(string hostname, int port)
{
if (commandManager != null) return commandManager.Open(hostname, port);
else return false;
}
public void Close()
{
if (commandManager != null) commandManager.Close();
}
private string CreateCommand(string header, string data)
{
return header + ":" + data;
}
private void SplitCommand(string cmd, out string header, out string data)
{
string[] cmdParts = cmd.Split(':');
if (cmdParts.Length > 0) header = cmdParts[0];
else header = null;
if (cmdParts.Length > 1) data = cmdParts[1];
else data = null;
}
private CommandStatus DecodeStatus(CommandManager.CommandManagerStatus localStatus, string answer)
{
CommandStatus status = CommandStatus.Success;
if (localStatus == CommandManager.CommandManagerStatus.Timeout) status = CommandStatus.CommunicationLostWithServer;
else if (localStatus == CommandManager.CommandManagerStatus.Busy) status = CommandStatus.Busy;
else
{
if (answer != null)
{
if (answer.ToUpper().Contains(DestijlCommandList.HeaderStmNoAck)) status = CommandStatus.Rejected;
else if (answer.ToUpper().Contains(DestijlCommandList.HeaderStmLostDmb)) status = CommandStatus.CommunicationLostWithRobot;
else if (answer.ToUpper().Contains(DestijlCommandList.HeaderStmAck)) status = CommandStatus.Success;
else if (answer.Length == 0) status = CommandStatus.CommunicationLostWithServer;
else status = CommandStatus.InvalidAnswer;
}
}
return status;
}
public CommandStatus RobotOpenCom()
{
CommandManager.CommandManagerStatus localStatus;
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsComDmb, DestijlCommandList.DataComOpen),
out answer,
this.timeout);
return DecodeStatus(localStatus, answer);
}
public CommandStatus RobotCloseCom()
{
CommandManager.CommandManagerStatus localStatus;
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsComDmb, DestijlCommandList.DataComClose),
out answer,
this.timeout);
return DecodeStatus(localStatus, answer);
}
public CommandStatus RobotPing()
{
CommandManager.CommandManagerStatus localStatus;
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotPing),
out answer,
this.timeout);
return DecodeStatus(localStatus, answer);
}
public CommandStatus RobotReset()
{
CommandManager.CommandManagerStatus localStatus;
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotReset),
out answer,
0);
return DecodeStatus(localStatus, answer);
}
public CommandStatus RobotStartWithWatchdog()
{
CommandManager.CommandManagerStatus localStatus;
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotStartWithWatchdog),
out answer,
this.timeout);
return DecodeStatus(localStatus, answer);
}
public CommandStatus RobotStartWithoutWatchdog()
{
CommandManager.CommandManagerStatus localStatus;
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotStartWithoutWatchdog),
out answer,
this.timeout);
return DecodeStatus(localStatus, answer);
}
public CommandStatus RobotMove(int distance)
{
CommandManager.CommandManagerStatus localStatus;
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotMove + "=" + distance),
out answer,
0);
return DecodeStatus(localStatus, answer);
}
public CommandStatus RobotTurn(int angle)
{
CommandManager.CommandManagerStatus localStatus;
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotTurn + "=" + angle),
out answer,
0);
return DecodeStatus(localStatus, answer);
}
//public CommandStatus RobotGetBattery(out int battery)
public CommandStatus RobotGetBattery()
{
CommandManager.CommandManagerStatus localStatus;
//CommandStatus status = CommandStatus.Success;
//battery = -1;
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotGetBattery),
out answer,
0);
//if (localStatus == CommandManager.CommandManagerStatus.AnswerReceived) {
// string[] msg = answer.Split(':');
// if (msg.Length > 1)
// {
// try
// {
// battery = Convert.ToInt32(msg[1]);
// }
// catch (Exception) { }
// }
//}
//else if (localStatus == CommandManager.CommandManagerStatus.Timeout)
//{
// status = CommandStatus.CommunicationLostWithServer;
//}
//return status;
return DecodeStatus(localStatus, answer);
}
public CommandStatus RobotGetVersion(out string version)
{
CommandManager.CommandManagerStatus localStatus;
CommandStatus status = CommandStatus.Success;
version = "";
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotGetVersion),
out answer,
this.timeout);
if (localStatus == CommandManager.CommandManagerStatus.AnswerReceived)
{
string[] msg = answer.Split(':');
if (msg.Length > 1)
{
version = msg[1];
}
}
else if (localStatus == CommandManager.CommandManagerStatus.Timeout)
{
status = CommandStatus.CommunicationLostWithServer;
}
return status;
}
public CommandStatus RobotPowerOff()
{
CommandManager.CommandManagerStatus localStatus;
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotPowerOff),
out answer,
0);
return DecodeStatus(localStatus, answer);
}
public CommandStatus CameraOpen()
{
CommandManager.CommandManagerStatus localStatus;
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamOpen),
out answer,
this.timeout);
return DecodeStatus(localStatus, answer);
}
public CommandStatus CameraClose()
{
CommandManager.CommandManagerStatus localStatus;
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamClose),
out answer,
0);
return DecodeStatus(localStatus, answer);
}
public CommandStatus CameraAskArena()
{
CommandManager.CommandManagerStatus localStatus;
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamAskArena),
out answer,
0);
return DecodeStatus(localStatus, answer);
}
public CommandStatus CameraArenaConfirm()
{
CommandManager.CommandManagerStatus localStatus;
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamArenaConfirm),
out answer,
0);
return DecodeStatus(localStatus, answer);
}
public CommandStatus CameraArenaInfirm()
{
CommandManager.CommandManagerStatus localStatus;
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamInfirm),
out answer,
0);
return DecodeStatus(localStatus, answer);
}
public CommandStatus CameraComputePosition()
{
CommandManager.CommandManagerStatus localStatus;
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamComputePosition),
out answer,
0);
return DecodeStatus(localStatus, answer);
}
public CommandStatus CameraStopComputePosition()
{
CommandManager.CommandManagerStatus localStatus;
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamStopComputePosition),
out answer,
0);
return DecodeStatus(localStatus, answer);
}
}
}

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@ -1,16 +1,452 @@
using System;
using Gtk;
using Gdk;
using monitor;
public partial class MainWindow : Gtk.Window
{
private DestijlCommandManager cmdManager;
private Pixbuf drawingareaCameraPixbuf;
enum SystemState
{
NotConnected,
ServerConnected,
RobotConnected
};
private SystemState systemState = SystemState.NotConnected;
private System.Timers.Timer batteryTimer;
public MainWindow() : base(Gtk.WindowType.Toplevel)
{
Build();
cmdManager = new DestijlCommandManager(OnCommandReceivedEvent);
batteryTimer = new System.Timers.Timer(10000.0);
batteryTimer.Elapsed += OnBatteryTimerElapsed;
AdjustControls();
}
public void AdjustControls()
{
ChangeState(SystemState.NotConnected);
drawingareaCameraPixbuf = new Pixbuf((string)null);
drawingareaCameraPixbuf = Pixbuf.LoadFromResource("monitor.ressources.missing_picture.png");
entryServerName.Text = Client.defaultIP;
entryServerPort.Text = Client.defaultPort.ToString();
entryTimeout.Text = "10000";
}
private void ChangeState(SystemState newState)
{
switch (newState)
{
case SystemState.NotConnected:
labelRobot.Sensitive = false;
gtkAlignmentRobot.Sensitive = false;
labelRobotControl.Sensitive = false;
gtkAlignmentRobotControl.Sensitive = false;
boxCamera.Sensitive = false;
buttonServerConnection.Label = "Connect";
buttonRobotActivation.Label = "Activate";
labelBatteryLevel.Text = "Unknown";
checkButtonCameraOn.Active = false;
checkButtonRobotPosition.Active = false;
if (cmdManager != null) cmdManager.Close();
batteryTimer.Stop();
break;
case SystemState.ServerConnected:
buttonServerConnection.Label = "Disconnect";
buttonRobotActivation.Label = "Activate";
labelBatteryLevel.Text = "Unknown";
labelRobot.Sensitive = true;
gtkAlignmentRobot.Sensitive = true;
boxCamera.Sensitive = true;
labelRobotControl.Sensitive = false;
gtkAlignmentRobotControl.Sensitive = false;
batteryTimer.Stop();
break;
case SystemState.RobotConnected:
buttonRobotActivation.Label = "Reset";
labelRobotControl.Sensitive = true;
gtkAlignmentRobotControl.Sensitive = true;
batteryTimer.Start();
break;
default:
labelRobot.Sensitive = false;
gtkAlignmentRobot.Sensitive = false;
labelRobotControl.Sensitive = false;
gtkAlignmentRobotControl.Sensitive = false;
boxCamera.Sensitive = false;
buttonServerConnection.Label = "Connect";
buttonRobotActivation.Label = "Activate";
labelBatteryLevel.Text = "Unknown";
checkButtonCameraOn.Active = false;
checkButtonRobotPosition.Active = false;
systemState = SystemState.NotConnected;
return;
}
systemState = newState;
}
private void MessagePopup(MessageType type, ButtonsType buttons, string title, string message)
{
MessageDialog md = new MessageDialog(this, DialogFlags.DestroyWithParent, type, buttons, message)
{
Title = title
};
md.Run();
md.Destroy();
}
protected void OnDeleteEvent(object sender, DeleteEventArgs a)
{
Console.WriteLine("Bye bye");
if (cmdManager != null) cmdManager.Close();
Application.Quit();
a.RetVal = true;
}
public void OnCommandReceivedEvent(string header, string data)
{
if (header != null) Console.WriteLine("Received header (" + header.Length + "): " + header);
if (data != null) Console.WriteLine("Received data (" + data.Length + "): " + data);
if (header.ToUpper() == DestijlCommandList.HeaderStmBat)
{
switch (data[0])
{
case '2':
labelBatteryLevel.Text = "High";
break;
case '1':
labelBatteryLevel.Text = "Low";
break;
case '0':
labelBatteryLevel.Text = "Empty";
break;
default:
labelBatteryLevel.Text = "Invalid value";
break;
}
}
}
protected void OnQuitActionActivated(object sender, EventArgs e)
{
Console.WriteLine("Bye bye 2");
if (cmdManager != null) cmdManager.Close();
this.Destroy();
Application.Quit();
}
protected void OnShowLogWindowActionActivated(object sender, EventArgs e)
{
MessagePopup(MessageType.Info,
ButtonsType.Ok, "Info",
"Logger not yet implemented");
}
protected void OnButtonServerConnectionClicked(object sender, EventArgs e)
{
DestijlCommandManager.CommandStatus statusCmd;
if (buttonServerConnection.Label == "Disconnect")
{
ChangeState(SystemState.NotConnected);
}
else
{
if ((entryServerName.Text == "") || (entryServerPort.Text == ""))
{
MessagePopup(MessageType.Error,
ButtonsType.Ok, "Error",
"Server name or port is invalid");
}
else
{
Console.WriteLine("Connecting to " + entryServerName.Text + ":" + entryServerPort.Text);
bool status = false;
try
{
cmdManager.timeout = Convert.ToDouble(entryTimeout.Text);
}
catch (Exception)
{
cmdManager.timeout = 100;
entryTimeout.Text = cmdManager.timeout.ToString();
}
try
{
status = cmdManager.Open(entryServerName.Text, Convert.ToInt32(entryServerPort.Text));
}
catch (Exception)
{
Console.WriteLine("Something went wrong during connection");
return;
}
if (status != true)
{
MessagePopup(MessageType.Error,
ButtonsType.Ok, "Error",
"Unable to connect to server " + entryServerName.Text + ":" + Convert.ToInt32(entryServerPort.Text));
}
else
{
Console.Write("Send command RobotOpenCom: ");
statusCmd = cmdManager.RobotOpenCom();
Console.WriteLine(statusCmd.ToString());
if (statusCmd == DestijlCommandManager.CommandStatus.Success)
{
ChangeState(SystemState.ServerConnected);
}
else
{
MessagePopup(MessageType.Error,
ButtonsType.Ok, "Error",
"Unable to open communication with robot.\nCheck that supervisor is accepting OPEN_COM_DMB command");
cmdManager.Close();
}
}
}
}
}
protected void OnButtonRobotActivationClicked(object sender, EventArgs e)
{
DestijlCommandManager.CommandStatus status;
if (buttonRobotActivation.Label == "Activate") // activation du robot
{
if (radioButtonWithWatchdog.Active) // Demarrage avec watchdog
{
status = cmdManager.RobotStartWithWatchdog();
}
else // Demarrage sans watchdog
{
status = cmdManager.RobotStartWithoutWatchdog();
}
if (status == DestijlCommandManager.CommandStatus.Success)
{
ChangeState(SystemState.RobotConnected);
}
else
{
if (status == DestijlCommandManager.CommandStatus.CommunicationLostWithServer)
{
MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Connection lost with server");
ChangeState(SystemState.NotConnected);
}
else
{
MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Command rejected\nCheck that supervisor accept \nDMB_START_WITH_WD and/or DMB_START_WITHOUT_WD");
}
}
}
else // Reset du robot
{
status = cmdManager.RobotReset();
if (status == DestijlCommandManager.CommandStatus.Success)
{
ChangeState(SystemState.ServerConnected);
}
else
{
if (status == DestijlCommandManager.CommandStatus.CommunicationLostWithServer)
{
MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Connection lost with server");
ChangeState(SystemState.NotConnected);
}
else
{
MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Unknown error");
}
}
}
}
protected void OnButtonMouvClicked(object sender, EventArgs e)
{
if (sender == buttonRight)
{
cmdManager.RobotTurn(90);
}
else if (sender == buttonLeft)
{
cmdManager.RobotTurn(-90);
}
else if (sender == buttonForward)
{
cmdManager.RobotMove(100);
}
else if (sender == buttonDown)
{
cmdManager.RobotMove(-100);
}
else
{
MessagePopup(MessageType.Warning, ButtonsType.Ok, "Abnormal behavior", "Callback OnButtonMouvClicked called by unknown sender");
}
}
void OnBatteryTimerElapsed(object sender, System.Timers.ElapsedEventArgs e)
{
DestijlCommandManager.CommandStatus status;
//int batteryLevel;
batteryTimer.Stop();
if (checkButtonGetBattery.Active)
{
//status = cmdManager.RobotGetBattery(out batteryLevel);
status = cmdManager.RobotGetBattery();
switch (status)
{
case DestijlCommandManager.CommandStatus.Success:
/*switch (batteryLevel)
{
case 2:
labelBatteryLevel.Text = "High";
break;
case 1:
labelBatteryLevel.Text = "Low";
break;
case 0:
labelBatteryLevel.Text = "Empty";
break;
default:
labelBatteryLevel.Text = "Unknown";
break;
}*/
batteryTimer.Start();
break;
case DestijlCommandManager.CommandStatus.CommunicationLostWithServer:
//MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Connection lost with server");
Console.WriteLine("Error: Connection lost with server");
batteryTimer.Stop();
labelBatteryLevel.Text = "Unknown";
ChangeState(SystemState.NotConnected);
break;
case DestijlCommandManager.CommandStatus.CommunicationLostWithRobot:
//MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Connection lost with robot");
Console.WriteLine("Error: Connection lost with robot");
batteryTimer.Stop();
labelBatteryLevel.Text = "Unknown";
ChangeState(SystemState.ServerConnected);
break;
default:
labelBatteryLevel.Text = "Unknown";
batteryTimer.Start();
break;
}
}
else batteryTimer.Start();
}
protected void OnCheckButtonCameraOnClicked(object sender, EventArgs e)
{
if (!checkButtonCameraOn.Active)
{
if (cmdManager.CameraClose() != DestijlCommandManager.CommandStatus.Success)
{
MessagePopup(MessageType.Error,
ButtonsType.Ok, "Error",
"Error when closing camera: bad answer for supervisor or timeout");
}
}
else
{
if (cmdManager.CameraOpen() != DestijlCommandManager.CommandStatus.Success)
{
MessagePopup(MessageType.Error,
ButtonsType.Ok, "Error",
"Error when opening camera: bad answer for supervisor or timeout");
checkButtonCameraOn.Active = false;
}
}
}
protected void OnCheckButtonRobotPositionClicked(object sender, EventArgs e)
{
if (!checkButtonRobotPosition.Active)
{
if (cmdManager.CameraStopComputePosition() != DestijlCommandManager.CommandStatus.Success)
{
MessagePopup(MessageType.Error,
ButtonsType.Ok, "Error",
"Error when stopping position reception: bad answer for supervisor or timeout");
}
}
else
{
if (cmdManager.CameraComputePosition() != DestijlCommandManager.CommandStatus.Success)
{
MessagePopup(MessageType.Error,
ButtonsType.Ok, "Error",
"Error when starting getting robot position: bad answer for supervisor or timeout");
checkButtonRobotPosition.Active = false;
}
}
}
protected void OnDrawingAreaCameraRealized(object sender, EventArgs e)
{
Console.WriteLine("Event realized. Args = " + e.ToString());
}
protected void OnDrawingAreaCameraExposeEvent(object o, ExposeEventArgs args)
{
//Console.WriteLine("Event expose. Args = " + args.ToString());
DrawingArea area = (DrawingArea)o;
Gdk.GC gc = area.Style.BackgroundGC(Gtk.StateType.Normal);
area.GdkWindow.GetSize(out int areaWidth, out int areaHeight);
area.GdkWindow.DrawPixbuf(gc, drawingareaCameraPixbuf,
0, 0,
(areaWidth - drawingareaCameraPixbuf.Width) / 2,
(areaHeight - drawingareaCameraPixbuf.Height) / 2,
drawingareaCameraPixbuf.Width, drawingareaCameraPixbuf.Height,
RgbDither.Normal, 0, 0);
}
protected void OnDrawingAreaCameraConfigureEvent(object o, ConfigureEventArgs args)
{
//Console.WriteLine("Event configure. Args = " + args.ToString());
}
}

View file

@ -5,27 +5,119 @@ public partial class MainWindow
{
private global::Gtk.UIManager UIManager;
private global::Gtk.Action FileAction;
private global::Gtk.Action QuitAction;
private global::Gtk.Action LogAction;
private global::Gtk.Action ShowLogWindowAction;
private global::Gtk.VBox vbox1;
private global::Gtk.MenuBar menubar1;
private global::Gtk.MenuBar menuBar;
private global::Gtk.HBox hbox1;
private global::Gtk.DrawingArea drawingarea1;
private global::Gtk.VBox boxCamera;
private global::Gtk.DrawingArea drawingAreaCamera;
private global::Gtk.Alignment alignment1;
private global::Gtk.ScrolledWindow GtkScrolledWindow;
private global::Gtk.HBox hbox2;
private global::Gtk.Frame frame1;
private global::Gtk.CheckButton checkButtonCameraOn;
private global::Gtk.Fixed fixed4;
private global::Gtk.CheckButton checkButtonRobotPosition;
private global::Gtk.Button button7;
private global::Gtk.HBox hbox3;
private global::Gtk.Label GtkLabel2;
private global::Gtk.VSeparator vseparator1;
private global::Gtk.Statusbar statusbar1;
private global::Gtk.Alignment alignment3;
private global::Gtk.VBox vbox5;
private global::Gtk.VBox vbox10;
private global::Gtk.Label labelServer;
private global::Gtk.Alignment gtkAlignmentServer;
private global::Gtk.VBox vbox6;
private global::Gtk.Table table1;
private global::Gtk.Entry entryServerName;
private global::Gtk.Entry entryServerPort;
private global::Gtk.Entry entryTimeout;
private global::Gtk.Label label1;
private global::Gtk.Label label2;
private global::Gtk.Label label5;
private global::Gtk.Button buttonServerConnection;
private global::Gtk.HSeparator hseparator1;
private global::Gtk.VBox vbox11;
private global::Gtk.Label labelRobot;
private global::Gtk.Alignment alignment9;
private global::Gtk.Alignment gtkAlignmentRobot;
private global::Gtk.VBox vbox8;
private global::Gtk.Alignment alignment6;
private global::Gtk.HBox hbox4;
private global::Gtk.RadioButton radioButtonWithWatchdog;
private global::Gtk.RadioButton radioButtonWithoutWatchdog;
private global::Gtk.Alignment alignment5;
private global::Gtk.Alignment alignment7;
private global::Gtk.Button buttonRobotActivation;
private global::Gtk.HSeparator hseparator2;
private global::Gtk.VBox vbox12;
private global::Gtk.Label labelRobotControl;
private global::Gtk.Alignment gtkAlignmentRobotControl;
private global::Gtk.VBox vbox9;
private global::Gtk.Alignment alignment8;
private global::Gtk.Table table4;
private global::Gtk.Button buttonDown;
private global::Gtk.Button buttonForward;
private global::Gtk.Button buttonLeft;
private global::Gtk.Button buttonRight;
private global::Gtk.Table table3;
private global::Gtk.Label label3;
private global::Gtk.Label labelBatteryLevel;
private global::Gtk.CheckButton checkButtonGetBattery;
protected virtual void Build()
{
@ -33,21 +125,37 @@ public partial class MainWindow
// Widget MainWindow
this.UIManager = new global::Gtk.UIManager();
global::Gtk.ActionGroup w1 = new global::Gtk.ActionGroup("Default");
this.FileAction = new global::Gtk.Action("FileAction", global::Mono.Unix.Catalog.GetString("File"), null, null);
this.FileAction.IsImportant = true;
this.FileAction.ShortLabel = global::Mono.Unix.Catalog.GetString("File");
w1.Add(this.FileAction, null);
this.QuitAction = new global::Gtk.Action("QuitAction", global::Mono.Unix.Catalog.GetString("Quit..."), null, null);
this.QuitAction.IsImportant = true;
this.QuitAction.ShortLabel = global::Mono.Unix.Catalog.GetString("Quit");
w1.Add(this.QuitAction, "<Primary><Mod2>q");
this.LogAction = new global::Gtk.Action("LogAction", global::Mono.Unix.Catalog.GetString("Log"), null, null);
this.LogAction.ShortLabel = global::Mono.Unix.Catalog.GetString("Log");
w1.Add(this.LogAction, null);
this.ShowLogWindowAction = new global::Gtk.Action("ShowLogWindowAction", global::Mono.Unix.Catalog.GetString("Show log window"), null, null);
this.ShowLogWindowAction.ShortLabel = global::Mono.Unix.Catalog.GetString("Show log window");
w1.Add(this.ShowLogWindowAction, "<Primary><Mod2>s");
this.UIManager.InsertActionGroup(w1, 0);
this.AddAccelGroup(this.UIManager.AccelGroup);
this.Name = "MainWindow";
this.Title = global::Mono.Unix.Catalog.GetString("Monitor UI");
this.Icon = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.robot-icon.resized.png");
this.WindowPosition = ((global::Gtk.WindowPosition)(4));
this.BorderWidth = ((uint)(5));
// Container child MainWindow.Gtk.Container+ContainerChild
this.vbox1 = new global::Gtk.VBox();
this.vbox1.Name = "vbox1";
this.vbox1.Spacing = 6;
// Container child vbox1.Gtk.Box+BoxChild
this.UIManager.AddUiFromString("<ui><menubar name=\'menubar1\'/></ui>");
this.menubar1 = ((global::Gtk.MenuBar)(this.UIManager.GetWidget("/menubar1")));
this.menubar1.Name = "menubar1";
this.vbox1.Add(this.menubar1);
global::Gtk.Box.BoxChild w2 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.menubar1]));
this.UIManager.AddUiFromString(@"<ui><menubar name='menuBar'><menu name='FileAction' action='FileAction'><menuitem name='QuitAction' action='QuitAction'/></menu><menu name='LogAction' action='LogAction'><menuitem name='ShowLogWindowAction' action='ShowLogWindowAction'/></menu></menubar></ui>");
this.menuBar = ((global::Gtk.MenuBar)(this.UIManager.GetWidget("/menuBar")));
this.menuBar.Name = "menuBar";
this.vbox1.Add(this.menuBar);
global::Gtk.Box.BoxChild w2 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.menuBar]));
w2.Position = 0;
w2.Expand = false;
w2.Fill = false;
@ -56,71 +164,486 @@ public partial class MainWindow
this.hbox1.Name = "hbox1";
this.hbox1.Spacing = 6;
// Container child hbox1.Gtk.Box+BoxChild
this.drawingarea1 = new global::Gtk.DrawingArea();
this.drawingarea1.Name = "drawingarea1";
this.hbox1.Add(this.drawingarea1);
global::Gtk.Box.BoxChild w3 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.drawingarea1]));
this.boxCamera = new global::Gtk.VBox();
this.boxCamera.Name = "boxCamera";
this.boxCamera.Spacing = 6;
// Container child boxCamera.Gtk.Box+BoxChild
this.drawingAreaCamera = new global::Gtk.DrawingArea();
this.drawingAreaCamera.Name = "drawingAreaCamera";
this.boxCamera.Add(this.drawingAreaCamera);
global::Gtk.Box.BoxChild w3 = ((global::Gtk.Box.BoxChild)(this.boxCamera[this.drawingAreaCamera]));
w3.Position = 0;
// Container child hbox1.Gtk.Box+BoxChild
this.alignment1 = new global::Gtk.Alignment(0.5F, 0.5F, 1F, 1F);
// Container child boxCamera.Gtk.Box+BoxChild
this.alignment1 = new global::Gtk.Alignment(0F, 0.5F, 0F, 1F);
this.alignment1.Name = "alignment1";
this.alignment1.BorderWidth = ((uint)(6));
// Container child alignment1.Gtk.Container+ContainerChild
this.GtkScrolledWindow = new global::Gtk.ScrolledWindow();
this.GtkScrolledWindow.Name = "GtkScrolledWindow";
this.GtkScrolledWindow.ShadowType = ((global::Gtk.ShadowType)(1));
// Container child GtkScrolledWindow.Gtk.Container+ContainerChild
global::Gtk.Viewport w4 = new global::Gtk.Viewport();
w4.ShadowType = ((global::Gtk.ShadowType)(0));
// Container child GtkViewport.Gtk.Container+ContainerChild
this.frame1 = new global::Gtk.Frame();
this.frame1.Name = "frame1";
this.frame1.ShadowType = ((global::Gtk.ShadowType)(0));
// Container child frame1.Gtk.Container+ContainerChild
this.fixed4 = new global::Gtk.Fixed();
this.fixed4.Name = "fixed4";
this.fixed4.HasWindow = false;
// Container child fixed4.Gtk.Fixed+FixedChild
this.button7 = new global::Gtk.Button();
this.button7.CanFocus = true;
this.button7.Name = "button7";
this.button7.UseUnderline = true;
this.button7.Label = global::Mono.Unix.Catalog.GetString("GtkButton");
this.fixed4.Add(this.button7);
global::Gtk.Fixed.FixedChild w5 = ((global::Gtk.Fixed.FixedChild)(this.fixed4[this.button7]));
w5.X = 30;
w5.Y = 25;
this.frame1.Add(this.fixed4);
this.GtkLabel2 = new global::Gtk.Label();
this.GtkLabel2.Name = "GtkLabel2";
this.GtkLabel2.LabelProp = global::Mono.Unix.Catalog.GetString("<b>Controls</b>");
this.GtkLabel2.UseMarkup = true;
this.frame1.LabelWidget = this.GtkLabel2;
w4.Add(this.frame1);
this.GtkScrolledWindow.Add(w4);
this.alignment1.Add(this.GtkScrolledWindow);
this.hbox1.Add(this.alignment1);
global::Gtk.Box.BoxChild w10 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.alignment1]));
w10.Position = 1;
this.hbox2 = new global::Gtk.HBox();
this.hbox2.Name = "hbox2";
this.hbox2.Spacing = 6;
// Container child hbox2.Gtk.Box+BoxChild
this.checkButtonCameraOn = new global::Gtk.CheckButton();
this.checkButtonCameraOn.CanFocus = true;
this.checkButtonCameraOn.Name = "checkButtonCameraOn";
this.checkButtonCameraOn.Label = global::Mono.Unix.Catalog.GetString("Camera On");
this.checkButtonCameraOn.DrawIndicator = true;
this.checkButtonCameraOn.UseUnderline = true;
this.hbox2.Add(this.checkButtonCameraOn);
global::Gtk.Box.BoxChild w4 = ((global::Gtk.Box.BoxChild)(this.hbox2[this.checkButtonCameraOn]));
w4.Position = 0;
// Container child hbox2.Gtk.Box+BoxChild
this.checkButtonRobotPosition = new global::Gtk.CheckButton();
this.checkButtonRobotPosition.CanFocus = true;
this.checkButtonRobotPosition.Name = "checkButtonRobotPosition";
this.checkButtonRobotPosition.Label = global::Mono.Unix.Catalog.GetString("Robot Position");
this.checkButtonRobotPosition.DrawIndicator = true;
this.checkButtonRobotPosition.UseUnderline = true;
this.hbox2.Add(this.checkButtonRobotPosition);
global::Gtk.Box.BoxChild w5 = ((global::Gtk.Box.BoxChild)(this.hbox2[this.checkButtonRobotPosition]));
w5.Position = 1;
this.alignment1.Add(this.hbox2);
this.boxCamera.Add(this.alignment1);
global::Gtk.Box.BoxChild w7 = ((global::Gtk.Box.BoxChild)(this.boxCamera[this.alignment1]));
w7.Position = 1;
w7.Expand = false;
w7.Fill = false;
this.hbox1.Add(this.boxCamera);
global::Gtk.Box.BoxChild w8 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.boxCamera]));
w8.Position = 0;
// Container child hbox1.Gtk.Box+BoxChild
this.hbox3 = new global::Gtk.HBox();
this.hbox3.Name = "hbox3";
this.hbox3.Spacing = 6;
// Container child hbox3.Gtk.Box+BoxChild
this.vseparator1 = new global::Gtk.VSeparator();
this.vseparator1.Name = "vseparator1";
this.hbox3.Add(this.vseparator1);
global::Gtk.Box.BoxChild w9 = ((global::Gtk.Box.BoxChild)(this.hbox3[this.vseparator1]));
w9.Position = 0;
w9.Expand = false;
w9.Fill = false;
// Container child hbox3.Gtk.Box+BoxChild
this.alignment3 = new global::Gtk.Alignment(1F, 0F, 0F, 0F);
this.alignment3.Name = "alignment3";
this.alignment3.BorderWidth = ((uint)(4));
// Container child alignment3.Gtk.Container+ContainerChild
this.vbox5 = new global::Gtk.VBox();
this.vbox5.Name = "vbox5";
this.vbox5.Spacing = 6;
// Container child vbox5.Gtk.Box+BoxChild
this.vbox10 = new global::Gtk.VBox();
this.vbox10.Name = "vbox10";
this.vbox10.Spacing = 6;
// Container child vbox10.Gtk.Box+BoxChild
this.labelServer = new global::Gtk.Label();
this.labelServer.HeightRequest = 36;
this.labelServer.Name = "labelServer";
this.labelServer.LabelProp = global::Mono.Unix.Catalog.GetString("<b><u>Server connection</u></b>");
this.labelServer.UseMarkup = true;
this.vbox10.Add(this.labelServer);
global::Gtk.Box.BoxChild w10 = ((global::Gtk.Box.BoxChild)(this.vbox10[this.labelServer]));
w10.Position = 0;
w10.Expand = false;
w10.Fill = false;
// Container child vbox10.Gtk.Box+BoxChild
this.gtkAlignmentServer = new global::Gtk.Alignment(0F, 0F, 1F, 1F);
this.gtkAlignmentServer.Name = "gtkAlignmentServer";
this.gtkAlignmentServer.LeftPadding = ((uint)(12));
// Container child gtkAlignmentServer.Gtk.Container+ContainerChild
this.vbox6 = new global::Gtk.VBox();
this.vbox6.Name = "vbox6";
this.vbox6.Spacing = 6;
// Container child vbox6.Gtk.Box+BoxChild
this.table1 = new global::Gtk.Table(((uint)(3)), ((uint)(2)), false);
this.table1.Name = "table1";
this.table1.RowSpacing = ((uint)(6));
this.table1.ColumnSpacing = ((uint)(6));
// Container child table1.Gtk.Table+TableChild
this.entryServerName = new global::Gtk.Entry();
this.entryServerName.CanFocus = true;
this.entryServerName.Name = "entryServerName";
this.entryServerName.IsEditable = true;
this.entryServerName.InvisibleChar = '●';
this.table1.Add(this.entryServerName);
global::Gtk.Table.TableChild w11 = ((global::Gtk.Table.TableChild)(this.table1[this.entryServerName]));
w11.LeftAttach = ((uint)(1));
w11.RightAttach = ((uint)(2));
w11.YOptions = ((global::Gtk.AttachOptions)(4));
// Container child table1.Gtk.Table+TableChild
this.entryServerPort = new global::Gtk.Entry();
this.entryServerPort.CanFocus = true;
this.entryServerPort.Name = "entryServerPort";
this.entryServerPort.IsEditable = true;
this.entryServerPort.InvisibleChar = '●';
this.table1.Add(this.entryServerPort);
global::Gtk.Table.TableChild w12 = ((global::Gtk.Table.TableChild)(this.table1[this.entryServerPort]));
w12.TopAttach = ((uint)(1));
w12.BottomAttach = ((uint)(2));
w12.LeftAttach = ((uint)(1));
w12.RightAttach = ((uint)(2));
w12.YOptions = ((global::Gtk.AttachOptions)(4));
// Container child table1.Gtk.Table+TableChild
this.entryTimeout = new global::Gtk.Entry();
this.entryTimeout.CanFocus = true;
this.entryTimeout.Name = "entryTimeout";
this.entryTimeout.IsEditable = true;
this.entryTimeout.InvisibleChar = '●';
this.table1.Add(this.entryTimeout);
global::Gtk.Table.TableChild w13 = ((global::Gtk.Table.TableChild)(this.table1[this.entryTimeout]));
w13.TopAttach = ((uint)(2));
w13.BottomAttach = ((uint)(3));
w13.LeftAttach = ((uint)(1));
w13.RightAttach = ((uint)(2));
w13.YOptions = ((global::Gtk.AttachOptions)(4));
// Container child table1.Gtk.Table+TableChild
this.label1 = new global::Gtk.Label();
this.label1.Name = "label1";
this.label1.Xalign = 1F;
this.label1.LabelProp = global::Mono.Unix.Catalog.GetString("Server name:");
this.label1.Justify = ((global::Gtk.Justification)(1));
this.table1.Add(this.label1);
global::Gtk.Table.TableChild w14 = ((global::Gtk.Table.TableChild)(this.table1[this.label1]));
w14.XOptions = ((global::Gtk.AttachOptions)(4));
w14.YOptions = ((global::Gtk.AttachOptions)(4));
// Container child table1.Gtk.Table+TableChild
this.label2 = new global::Gtk.Label();
this.label2.Name = "label2";
this.label2.Xalign = 1F;
this.label2.LabelProp = global::Mono.Unix.Catalog.GetString("Server port:");
this.label2.Justify = ((global::Gtk.Justification)(1));
this.table1.Add(this.label2);
global::Gtk.Table.TableChild w15 = ((global::Gtk.Table.TableChild)(this.table1[this.label2]));
w15.TopAttach = ((uint)(1));
w15.BottomAttach = ((uint)(2));
w15.XOptions = ((global::Gtk.AttachOptions)(4));
w15.YOptions = ((global::Gtk.AttachOptions)(4));
// Container child table1.Gtk.Table+TableChild
this.label5 = new global::Gtk.Label();
this.label5.Name = "label5";
this.label5.LabelProp = global::Mono.Unix.Catalog.GetString("Timeout (ms):");
this.table1.Add(this.label5);
global::Gtk.Table.TableChild w16 = ((global::Gtk.Table.TableChild)(this.table1[this.label5]));
w16.TopAttach = ((uint)(2));
w16.BottomAttach = ((uint)(3));
w16.XOptions = ((global::Gtk.AttachOptions)(4));
w16.YOptions = ((global::Gtk.AttachOptions)(4));
this.vbox6.Add(this.table1);
global::Gtk.Box.BoxChild w17 = ((global::Gtk.Box.BoxChild)(this.vbox6[this.table1]));
w17.Position = 0;
w17.Expand = false;
w17.Fill = false;
// Container child vbox6.Gtk.Box+BoxChild
this.buttonServerConnection = new global::Gtk.Button();
this.buttonServerConnection.CanFocus = true;
this.buttonServerConnection.Name = "buttonServerConnection";
this.buttonServerConnection.UseUnderline = true;
this.buttonServerConnection.Label = global::Mono.Unix.Catalog.GetString("Connect");
this.vbox6.Add(this.buttonServerConnection);
global::Gtk.Box.BoxChild w18 = ((global::Gtk.Box.BoxChild)(this.vbox6[this.buttonServerConnection]));
w18.PackType = ((global::Gtk.PackType)(1));
w18.Position = 1;
w18.Expand = false;
w18.Fill = false;
this.gtkAlignmentServer.Add(this.vbox6);
this.vbox10.Add(this.gtkAlignmentServer);
global::Gtk.Box.BoxChild w20 = ((global::Gtk.Box.BoxChild)(this.vbox10[this.gtkAlignmentServer]));
w20.Position = 1;
w20.Expand = false;
w20.Fill = false;
this.vbox5.Add(this.vbox10);
global::Gtk.Box.BoxChild w21 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.vbox10]));
w21.Position = 0;
w21.Expand = false;
w21.Fill = false;
// Container child vbox5.Gtk.Box+BoxChild
this.hseparator1 = new global::Gtk.HSeparator();
this.hseparator1.Name = "hseparator1";
this.vbox5.Add(this.hseparator1);
global::Gtk.Box.BoxChild w22 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.hseparator1]));
w22.Position = 1;
w22.Expand = false;
w22.Fill = false;
// Container child vbox5.Gtk.Box+BoxChild
this.vbox11 = new global::Gtk.VBox();
this.vbox11.Name = "vbox11";
this.vbox11.Spacing = 6;
// Container child vbox11.Gtk.Box+BoxChild
this.labelRobot = new global::Gtk.Label();
this.labelRobot.HeightRequest = 36;
this.labelRobot.Name = "labelRobot";
this.labelRobot.LabelProp = global::Mono.Unix.Catalog.GetString("<b><u>Robot Activation</u></b>");
this.labelRobot.UseMarkup = true;
this.vbox11.Add(this.labelRobot);
global::Gtk.Box.BoxChild w23 = ((global::Gtk.Box.BoxChild)(this.vbox11[this.labelRobot]));
w23.Position = 0;
w23.Expand = false;
w23.Fill = false;
// Container child vbox11.Gtk.Box+BoxChild
this.alignment9 = new global::Gtk.Alignment(0.5F, 0.5F, 1F, 1F);
this.alignment9.Name = "alignment9";
// Container child alignment9.Gtk.Container+ContainerChild
this.gtkAlignmentRobot = new global::Gtk.Alignment(0F, 0F, 1F, 1F);
this.gtkAlignmentRobot.Name = "gtkAlignmentRobot";
this.gtkAlignmentRobot.LeftPadding = ((uint)(12));
// Container child gtkAlignmentRobot.Gtk.Container+ContainerChild
this.vbox8 = new global::Gtk.VBox();
this.vbox8.Name = "vbox8";
this.vbox8.Spacing = 6;
// Container child vbox8.Gtk.Box+BoxChild
this.alignment6 = new global::Gtk.Alignment(0.5F, 0.5F, 1F, 1F);
this.alignment6.Name = "alignment6";
// Container child alignment6.Gtk.Container+ContainerChild
this.hbox4 = new global::Gtk.HBox();
this.hbox4.Name = "hbox4";
this.hbox4.Spacing = 6;
// Container child hbox4.Gtk.Box+BoxChild
this.radioButtonWithWatchdog = new global::Gtk.RadioButton(global::Mono.Unix.Catalog.GetString("with watchdog"));
this.radioButtonWithWatchdog.CanFocus = true;
this.radioButtonWithWatchdog.Name = "radioButtonWithWatchdog";
this.radioButtonWithWatchdog.DrawIndicator = true;
this.radioButtonWithWatchdog.UseUnderline = true;
this.radioButtonWithWatchdog.Group = new global::GLib.SList(global::System.IntPtr.Zero);
this.hbox4.Add(this.radioButtonWithWatchdog);
global::Gtk.Box.BoxChild w24 = ((global::Gtk.Box.BoxChild)(this.hbox4[this.radioButtonWithWatchdog]));
w24.Position = 0;
// Container child hbox4.Gtk.Box+BoxChild
this.radioButtonWithoutWatchdog = new global::Gtk.RadioButton(global::Mono.Unix.Catalog.GetString("without watchdog"));
this.radioButtonWithoutWatchdog.CanFocus = true;
this.radioButtonWithoutWatchdog.Name = "radioButtonWithoutWatchdog";
this.radioButtonWithoutWatchdog.DrawIndicator = true;
this.radioButtonWithoutWatchdog.UseUnderline = true;
this.radioButtonWithoutWatchdog.Group = this.radioButtonWithWatchdog.Group;
this.hbox4.Add(this.radioButtonWithoutWatchdog);
global::Gtk.Box.BoxChild w25 = ((global::Gtk.Box.BoxChild)(this.hbox4[this.radioButtonWithoutWatchdog]));
w25.Position = 1;
this.alignment6.Add(this.hbox4);
this.vbox8.Add(this.alignment6);
global::Gtk.Box.BoxChild w27 = ((global::Gtk.Box.BoxChild)(this.vbox8[this.alignment6]));
w27.Position = 0;
w27.Expand = false;
w27.Fill = false;
// Container child vbox8.Gtk.Box+BoxChild
this.alignment5 = new global::Gtk.Alignment(0.5F, 0.5F, 1F, 1F);
this.alignment5.Name = "alignment5";
// Container child alignment5.Gtk.Container+ContainerChild
this.alignment7 = new global::Gtk.Alignment(0.5F, 0.5F, 1F, 1F);
this.alignment7.Name = "alignment7";
// Container child alignment7.Gtk.Container+ContainerChild
this.buttonRobotActivation = new global::Gtk.Button();
this.buttonRobotActivation.CanFocus = true;
this.buttonRobotActivation.Name = "buttonRobotActivation";
this.buttonRobotActivation.UseUnderline = true;
this.buttonRobotActivation.Label = global::Mono.Unix.Catalog.GetString("Activation");
this.alignment7.Add(this.buttonRobotActivation);
this.alignment5.Add(this.alignment7);
this.vbox8.Add(this.alignment5);
global::Gtk.Box.BoxChild w30 = ((global::Gtk.Box.BoxChild)(this.vbox8[this.alignment5]));
w30.Position = 1;
w30.Expand = false;
w30.Fill = false;
this.gtkAlignmentRobot.Add(this.vbox8);
this.alignment9.Add(this.gtkAlignmentRobot);
this.vbox11.Add(this.alignment9);
global::Gtk.Box.BoxChild w33 = ((global::Gtk.Box.BoxChild)(this.vbox11[this.alignment9]));
w33.Position = 1;
w33.Expand = false;
w33.Fill = false;
this.vbox5.Add(this.vbox11);
global::Gtk.Box.BoxChild w34 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.vbox11]));
w34.Position = 2;
w34.Expand = false;
w34.Fill = false;
// Container child vbox5.Gtk.Box+BoxChild
this.hseparator2 = new global::Gtk.HSeparator();
this.hseparator2.Name = "hseparator2";
this.vbox5.Add(this.hseparator2);
global::Gtk.Box.BoxChild w35 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.hseparator2]));
w35.Position = 3;
w35.Expand = false;
w35.Fill = false;
// Container child vbox5.Gtk.Box+BoxChild
this.vbox12 = new global::Gtk.VBox();
this.vbox12.Name = "vbox12";
this.vbox12.Spacing = 6;
// Container child vbox12.Gtk.Box+BoxChild
this.labelRobotControl = new global::Gtk.Label();
this.labelRobotControl.HeightRequest = 36;
this.labelRobotControl.Name = "labelRobotControl";
this.labelRobotControl.LabelProp = global::Mono.Unix.Catalog.GetString("<b><u>Robot Controls and Status</u></b>");
this.labelRobotControl.UseMarkup = true;
this.vbox12.Add(this.labelRobotControl);
global::Gtk.Box.BoxChild w36 = ((global::Gtk.Box.BoxChild)(this.vbox12[this.labelRobotControl]));
w36.Position = 0;
w36.Expand = false;
w36.Fill = false;
// Container child vbox12.Gtk.Box+BoxChild
this.gtkAlignmentRobotControl = new global::Gtk.Alignment(0F, 0F, 1F, 1F);
this.gtkAlignmentRobotControl.Name = "gtkAlignmentRobotControl";
this.gtkAlignmentRobotControl.LeftPadding = ((uint)(12));
// Container child gtkAlignmentRobotControl.Gtk.Container+ContainerChild
this.vbox9 = new global::Gtk.VBox();
this.vbox9.Name = "vbox9";
this.vbox9.Spacing = 6;
// Container child vbox9.Gtk.Box+BoxChild
this.alignment8 = new global::Gtk.Alignment(0.5F, 0.5F, 0F, 0F);
this.alignment8.Name = "alignment8";
// Container child alignment8.Gtk.Container+ContainerChild
this.table4 = new global::Gtk.Table(((uint)(3)), ((uint)(3)), false);
this.table4.Name = "table4";
this.table4.RowSpacing = ((uint)(6));
this.table4.ColumnSpacing = ((uint)(6));
// Container child table4.Gtk.Table+TableChild
this.buttonDown = new global::Gtk.Button();
this.buttonDown.CanFocus = true;
this.buttonDown.Name = "buttonDown";
this.buttonDown.UseUnderline = true;
global::Gtk.Image w37 = new global::Gtk.Image();
w37.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-down-symbolic.symbolic.png");
this.buttonDown.Image = w37;
this.table4.Add(this.buttonDown);
global::Gtk.Table.TableChild w38 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonDown]));
w38.TopAttach = ((uint)(2));
w38.BottomAttach = ((uint)(3));
w38.LeftAttach = ((uint)(1));
w38.RightAttach = ((uint)(2));
w38.XOptions = ((global::Gtk.AttachOptions)(4));
w38.YOptions = ((global::Gtk.AttachOptions)(4));
// Container child table4.Gtk.Table+TableChild
this.buttonForward = new global::Gtk.Button();
this.buttonForward.CanFocus = true;
this.buttonForward.Name = "buttonForward";
this.buttonForward.UseUnderline = true;
global::Gtk.Image w39 = new global::Gtk.Image();
w39.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-up-symbolic.symbolic.png");
this.buttonForward.Image = w39;
this.table4.Add(this.buttonForward);
global::Gtk.Table.TableChild w40 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonForward]));
w40.LeftAttach = ((uint)(1));
w40.RightAttach = ((uint)(2));
w40.XOptions = ((global::Gtk.AttachOptions)(4));
w40.YOptions = ((global::Gtk.AttachOptions)(4));
// Container child table4.Gtk.Table+TableChild
this.buttonLeft = new global::Gtk.Button();
this.buttonLeft.CanFocus = true;
this.buttonLeft.Name = "buttonLeft";
this.buttonLeft.UseUnderline = true;
global::Gtk.Image w41 = new global::Gtk.Image();
w41.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-start-symbolic.symbolic.png");
this.buttonLeft.Image = w41;
this.table4.Add(this.buttonLeft);
global::Gtk.Table.TableChild w42 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonLeft]));
w42.TopAttach = ((uint)(1));
w42.BottomAttach = ((uint)(2));
w42.XOptions = ((global::Gtk.AttachOptions)(4));
w42.YOptions = ((global::Gtk.AttachOptions)(4));
// Container child table4.Gtk.Table+TableChild
this.buttonRight = new global::Gtk.Button();
this.buttonRight.CanFocus = true;
this.buttonRight.Name = "buttonRight";
this.buttonRight.UseUnderline = true;
global::Gtk.Image w43 = new global::Gtk.Image();
w43.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-end-symbolic.symbolic.png");
this.buttonRight.Image = w43;
this.table4.Add(this.buttonRight);
global::Gtk.Table.TableChild w44 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonRight]));
w44.TopAttach = ((uint)(1));
w44.BottomAttach = ((uint)(2));
w44.LeftAttach = ((uint)(2));
w44.RightAttach = ((uint)(3));
w44.XOptions = ((global::Gtk.AttachOptions)(4));
w44.YOptions = ((global::Gtk.AttachOptions)(4));
this.alignment8.Add(this.table4);
this.vbox9.Add(this.alignment8);
global::Gtk.Box.BoxChild w46 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.alignment8]));
w46.Position = 0;
w46.Expand = false;
w46.Fill = false;
// Container child vbox9.Gtk.Box+BoxChild
this.table3 = new global::Gtk.Table(((uint)(1)), ((uint)(2)), false);
this.table3.Name = "table3";
this.table3.RowSpacing = ((uint)(6));
this.table3.ColumnSpacing = ((uint)(6));
// Container child table3.Gtk.Table+TableChild
this.label3 = new global::Gtk.Label();
this.label3.Name = "label3";
this.label3.Xalign = 1F;
this.label3.LabelProp = global::Mono.Unix.Catalog.GetString("Battery level:");
this.label3.Justify = ((global::Gtk.Justification)(1));
this.table3.Add(this.label3);
global::Gtk.Table.TableChild w47 = ((global::Gtk.Table.TableChild)(this.table3[this.label3]));
w47.YPadding = ((uint)(10));
w47.XOptions = ((global::Gtk.AttachOptions)(4));
w47.YOptions = ((global::Gtk.AttachOptions)(4));
// Container child table3.Gtk.Table+TableChild
this.labelBatteryLevel = new global::Gtk.Label();
this.labelBatteryLevel.Name = "labelBatteryLevel";
this.labelBatteryLevel.Xpad = 1;
this.labelBatteryLevel.Xalign = 0F;
this.labelBatteryLevel.LabelProp = global::Mono.Unix.Catalog.GetString("Unknown");
this.table3.Add(this.labelBatteryLevel);
global::Gtk.Table.TableChild w48 = ((global::Gtk.Table.TableChild)(this.table3[this.labelBatteryLevel]));
w48.LeftAttach = ((uint)(1));
w48.RightAttach = ((uint)(2));
w48.YOptions = ((global::Gtk.AttachOptions)(4));
this.vbox9.Add(this.table3);
global::Gtk.Box.BoxChild w49 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.table3]));
w49.Position = 2;
w49.Expand = false;
w49.Fill = false;
// Container child vbox9.Gtk.Box+BoxChild
this.checkButtonGetBattery = new global::Gtk.CheckButton();
this.checkButtonGetBattery.CanFocus = true;
this.checkButtonGetBattery.Name = "checkButtonGetBattery";
this.checkButtonGetBattery.Label = global::Mono.Unix.Catalog.GetString("Get battery level");
this.checkButtonGetBattery.DrawIndicator = true;
this.checkButtonGetBattery.UseUnderline = true;
this.vbox9.Add(this.checkButtonGetBattery);
global::Gtk.Box.BoxChild w50 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.checkButtonGetBattery]));
w50.Position = 3;
w50.Expand = false;
w50.Fill = false;
this.gtkAlignmentRobotControl.Add(this.vbox9);
this.vbox12.Add(this.gtkAlignmentRobotControl);
global::Gtk.Box.BoxChild w52 = ((global::Gtk.Box.BoxChild)(this.vbox12[this.gtkAlignmentRobotControl]));
w52.Position = 1;
this.vbox5.Add(this.vbox12);
global::Gtk.Box.BoxChild w53 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.vbox12]));
w53.Position = 4;
this.alignment3.Add(this.vbox5);
this.hbox3.Add(this.alignment3);
global::Gtk.Box.BoxChild w55 = ((global::Gtk.Box.BoxChild)(this.hbox3[this.alignment3]));
w55.Position = 1;
w55.Expand = false;
w55.Fill = false;
this.hbox1.Add(this.hbox3);
global::Gtk.Box.BoxChild w56 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.hbox3]));
w56.Position = 1;
w56.Expand = false;
w56.Fill = false;
this.vbox1.Add(this.hbox1);
global::Gtk.Box.BoxChild w11 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.hbox1]));
w11.Position = 1;
// Container child vbox1.Gtk.Box+BoxChild
this.statusbar1 = new global::Gtk.Statusbar();
this.statusbar1.Name = "statusbar1";
this.statusbar1.Spacing = 6;
this.vbox1.Add(this.statusbar1);
global::Gtk.Box.BoxChild w12 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.statusbar1]));
w12.Position = 2;
w12.Expand = false;
w12.Fill = false;
global::Gtk.Box.BoxChild w57 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.hbox1]));
w57.Position = 1;
this.Add(this.vbox1);
if ((this.Child != null))
{
this.Child.ShowAll();
}
this.DefaultWidth = 1039;
this.DefaultHeight = 705;
this.DefaultHeight = 735;
this.Show();
this.DeleteEvent += new global::Gtk.DeleteEventHandler(this.OnDeleteEvent);
this.QuitAction.Activated += new global::System.EventHandler(this.OnQuitActionActivated);
this.ShowLogWindowAction.Activated += new global::System.EventHandler(this.OnShowLogWindowActionActivated);
this.drawingAreaCamera.Realized += new global::System.EventHandler(this.OnDrawingAreaCameraRealized);
this.drawingAreaCamera.ExposeEvent += new global::Gtk.ExposeEventHandler(this.OnDrawingAreaCameraExposeEvent);
this.drawingAreaCamera.ConfigureEvent += new global::Gtk.ConfigureEventHandler(this.OnDrawingAreaCameraConfigureEvent);
this.checkButtonCameraOn.Clicked += new global::System.EventHandler(this.OnCheckButtonCameraOnClicked);
this.checkButtonRobotPosition.Clicked += new global::System.EventHandler(this.OnCheckButtonRobotPositionClicked);
this.buttonServerConnection.Clicked += new global::System.EventHandler(this.OnButtonServerConnectionClicked);
this.buttonRobotActivation.Clicked += new global::System.EventHandler(this.OnButtonRobotActivationClicked);
this.buttonRight.Clicked += new global::System.EventHandler(this.OnButtonMouvClicked);
this.buttonLeft.Clicked += new global::System.EventHandler(this.OnButtonMouvClicked);
this.buttonForward.Clicked += new global::System.EventHandler(this.OnButtonMouvClicked);
this.buttonDown.Clicked += new global::System.EventHandler(this.OnButtonMouvClicked);
}
}

View file

@ -7,20 +7,56 @@
<widget-library name="glade-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
<widget-library name="../bin/Debug/monitor.exe" internal="true" />
</import>
<widget class="Gtk.Window" id="MainWindow" design-size="1039 705">
<action-group name="Default" />
<widget class="Gtk.Window" id="MainWindow" design-size="1039 735">
<action-group name="Default">
<action id="FileAction">
<property name="Type">Action</property>
<property name="IsImportant">True</property>
<property name="Label" translatable="yes">File</property>
<property name="ShortLabel" translatable="yes">File</property>
</action>
<action id="QuitAction">
<property name="Type">Action</property>
<property name="Accelerator">&lt;Primary&gt;&lt;Mod2&gt;q</property>
<property name="IsImportant">True</property>
<property name="Label" translatable="yes">Quit...</property>
<property name="ShortLabel" translatable="yes">Quit</property>
<signal name="Activated" handler="OnQuitActionActivated" />
</action>
<action id="LogAction">
<property name="Type">Action</property>
<property name="Label" translatable="yes">Log</property>
<property name="ShortLabel" translatable="yes">Log</property>
</action>
<action id="ShowLogWindowAction">
<property name="Type">Action</property>
<property name="Accelerator">&lt;Primary&gt;&lt;Mod2&gt;s</property>
<property name="Label" translatable="yes">Show log window</property>
<property name="ShortLabel" translatable="yes">Show log window</property>
<signal name="Activated" handler="OnShowLogWindowActionActivated" />
</action>
</action-group>
<property name="MemberName" />
<property name="Title" translatable="yes">Monitor UI</property>
<property name="Icon">resource:monitor.ressources.robot-icon.resized.png</property>
<property name="WindowPosition">CenterOnParent</property>
<property name="BorderWidth">5</property>
<signal name="DeleteEvent" handler="OnDeleteEvent" />
<child>
<widget class="Gtk.VBox" id="vbox1">
<property name="MemberName" />
<property name="Spacing">6</property>
<child>
<widget class="Gtk.MenuBar" id="menubar1">
<widget class="Gtk.MenuBar" id="menuBar">
<property name="MemberName" />
<node name="__gtksharp_132_Stetic_Editor_ActionMenuBar" type="Menubar" />
<node name="menuBar" type="Menubar">
<node type="Menu" action="FileAction">
<node type="Menuitem" action="QuitAction" />
</node>
<node type="Menu" action="LogAction">
<node type="Menuitem" action="ShowLogWindowAction" />
</node>
</node>
</widget>
<packing>
<property name="Position">0</property>
@ -34,8 +70,71 @@
<property name="MemberName" />
<property name="Spacing">6</property>
<child>
<widget class="Gtk.DrawingArea" id="drawingarea1">
<widget class="Gtk.VBox" id="boxCamera">
<property name="MemberName" />
<property name="Spacing">6</property>
<child>
<widget class="Gtk.DrawingArea" id="drawingAreaCamera">
<property name="MemberName" />
<signal name="Realized" handler="OnDrawingAreaCameraRealized" />
<signal name="ExposeEvent" handler="OnDrawingAreaCameraExposeEvent" />
<signal name="ConfigureEvent" handler="OnDrawingAreaCameraConfigureEvent" />
</widget>
<packing>
<property name="Position">0</property>
<property name="AutoSize">True</property>
</packing>
</child>
<child>
<widget class="Gtk.Alignment" id="alignment1">
<property name="MemberName" />
<property name="Xscale">0</property>
<property name="Xalign">0</property>
<property name="BorderWidth">6</property>
<child>
<widget class="Gtk.HBox" id="hbox2">
<property name="MemberName" />
<property name="Spacing">6</property>
<child>
<widget class="Gtk.CheckButton" id="checkButtonCameraOn">
<property name="MemberName" />
<property name="CanFocus">True</property>
<property name="Label" translatable="yes">Camera On</property>
<property name="DrawIndicator">True</property>
<property name="HasLabel">True</property>
<property name="UseUnderline">True</property>
<signal name="Clicked" handler="OnCheckButtonCameraOnClicked" />
</widget>
<packing>
<property name="Position">0</property>
<property name="AutoSize">True</property>
</packing>
</child>
<child>
<widget class="Gtk.CheckButton" id="checkButtonRobotPosition">
<property name="MemberName" />
<property name="CanFocus">True</property>
<property name="Label" translatable="yes">Robot Position</property>
<property name="DrawIndicator">True</property>
<property name="HasLabel">True</property>
<property name="UseUnderline">True</property>
<signal name="Clicked" handler="OnCheckButtonRobotPositionClicked" />
</widget>
<packing>
<property name="Position">1</property>
<property name="AutoSize">True</property>
</packing>
</child>
</widget>
</child>
</widget>
<packing>
<property name="Position">1</property>
<property name="AutoSize">False</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
</widget>
<packing>
<property name="Position">0</property>
@ -43,60 +142,648 @@
</packing>
</child>
<child>
<widget class="Gtk.Alignment" id="alignment1">
<widget class="Gtk.HBox" id="hbox3">
<property name="MemberName" />
<property name="Spacing">6</property>
<child>
<widget class="Gtk.ScrolledWindow" id="GtkScrolledWindow">
<widget class="Gtk.VSeparator" id="vseparator1">
<property name="MemberName" />
<property name="ShadowType">In</property>
</widget>
<packing>
<property name="Position">0</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
<child>
<widget class="Gtk.Alignment" id="alignment3">
<property name="MemberName" />
<property name="Xscale">0</property>
<property name="Yscale">0</property>
<property name="Xalign">1</property>
<property name="Yalign">0</property>
<property name="BorderWidth">4</property>
<child>
<widget class="Gtk.Viewport" id="GtkViewport">
<widget class="Gtk.VBox" id="vbox5">
<property name="MemberName" />
<property name="ShadowType">None</property>
<property name="Spacing">6</property>
<child>
<widget class="Gtk.Frame" id="frame1">
<widget class="Gtk.VBox" id="vbox10">
<property name="MemberName" />
<property name="ShowScrollbars">True</property>
<property name="ShadowType">None</property>
<property name="Spacing">6</property>
<child>
<widget class="Gtk.Fixed" id="fixed4">
<widget class="Gtk.Label" id="labelServer">
<property name="MemberName" />
<property name="HasWindow">False</property>
<child>
<widget class="Gtk.Button" id="button7">
<property name="MemberName" />
<property name="CanFocus">True</property>
<property name="Type">TextOnly</property>
<property name="Label" translatable="yes">GtkButton</property>
<property name="UseUnderline">True</property>
</widget>
<packing>
<property name="X">30</property>
<property name="Y">25</property>
</packing>
</child>
</widget>
</child>
<child>
<widget class="Gtk.Label" id="GtkLabel2">
<property name="MemberName" />
<property name="LabelProp" translatable="yes">&lt;b&gt;Controls&lt;/b&gt;</property>
<property name="HeightRequest">36</property>
<property name="LabelProp" translatable="yes">&lt;b&gt;&lt;u&gt;Server connection&lt;/u&gt;&lt;/b&gt;</property>
<property name="UseMarkup">True</property>
</widget>
<packing>
<property name="type">label_item</property>
<property name="Position">0</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
<child>
<widget class="Gtk.Alignment" id="gtkAlignmentServer">
<property name="MemberName" />
<property name="Xalign">0</property>
<property name="Yalign">0</property>
<property name="LeftPadding">12</property>
<child>
<widget class="Gtk.VBox" id="vbox6">
<property name="MemberName" />
<property name="Spacing">6</property>
<child>
<widget class="Gtk.Table" id="table1">
<property name="MemberName" />
<property name="NRows">3</property>
<property name="NColumns">2</property>
<property name="RowSpacing">6</property>
<property name="ColumnSpacing">6</property>
<child>
<widget class="Gtk.Entry" id="entryServerName">
<property name="MemberName" />
<property name="CanFocus">True</property>
<property name="IsEditable">True</property>
<property name="InvisibleChar">●</property>
</widget>
<packing>
<property name="LeftAttach">1</property>
<property name="RightAttach">2</property>
<property name="AutoSize">True</property>
<property name="YOptions">Fill</property>
<property name="XExpand">True</property>
<property name="XFill">True</property>
<property name="XShrink">False</property>
<property name="YExpand">False</property>
<property name="YFill">True</property>
<property name="YShrink">False</property>
</packing>
</child>
<child>
<widget class="Gtk.Entry" id="entryServerPort">
<property name="MemberName" />
<property name="CanFocus">True</property>
<property name="IsEditable">True</property>
<property name="InvisibleChar">●</property>
</widget>
<packing>
<property name="TopAttach">1</property>
<property name="BottomAttach">2</property>
<property name="LeftAttach">1</property>
<property name="RightAttach">2</property>
<property name="AutoSize">True</property>
<property name="YOptions">Fill</property>
<property name="XExpand">True</property>
<property name="XFill">True</property>
<property name="XShrink">False</property>
<property name="YExpand">False</property>
<property name="YFill">True</property>
<property name="YShrink">False</property>
</packing>
</child>
<child>
<widget class="Gtk.Entry" id="entryTimeout">
<property name="MemberName" />
<property name="CanFocus">True</property>
<property name="IsEditable">True</property>
<property name="InvisibleChar">●</property>
</widget>
<packing>
<property name="TopAttach">2</property>
<property name="BottomAttach">3</property>
<property name="LeftAttach">1</property>
<property name="RightAttach">2</property>
<property name="AutoSize">True</property>
<property name="YOptions">Fill</property>
<property name="XExpand">True</property>
<property name="XFill">True</property>
<property name="XShrink">False</property>
<property name="YExpand">False</property>
<property name="YFill">True</property>
<property name="YShrink">False</property>
</packing>
</child>
<child>
<widget class="Gtk.Label" id="label1">
<property name="MemberName" />
<property name="Xalign">1</property>
<property name="LabelProp" translatable="yes">Server name:</property>
<property name="Justify">Right</property>
</widget>
<packing>
<property name="AutoSize">True</property>
<property name="XOptions">Fill</property>
<property name="YOptions">Fill</property>
<property name="XExpand">False</property>
<property name="XFill">True</property>
<property name="XShrink">False</property>
<property name="YExpand">False</property>
<property name="YFill">True</property>
<property name="YShrink">False</property>
</packing>
</child>
<child>
<widget class="Gtk.Label" id="label2">
<property name="MemberName" />
<property name="Xalign">1</property>
<property name="LabelProp" translatable="yes">Server port:</property>
<property name="Justify">Right</property>
</widget>
<packing>
<property name="TopAttach">1</property>
<property name="BottomAttach">2</property>
<property name="AutoSize">True</property>
<property name="XOptions">Fill</property>
<property name="YOptions">Fill</property>
<property name="XExpand">False</property>
<property name="XFill">True</property>
<property name="XShrink">False</property>
<property name="YExpand">False</property>
<property name="YFill">True</property>
<property name="YShrink">False</property>
</packing>
</child>
<child>
<widget class="Gtk.Label" id="label5">
<property name="MemberName" />
<property name="LabelProp" translatable="yes">Timeout (ms):</property>
</widget>
<packing>
<property name="TopAttach">2</property>
<property name="BottomAttach">3</property>
<property name="AutoSize">True</property>
<property name="XOptions">Fill</property>
<property name="YOptions">Fill</property>
<property name="XExpand">False</property>
<property name="XFill">True</property>
<property name="XShrink">False</property>
<property name="YExpand">False</property>
<property name="YFill">True</property>
<property name="YShrink">False</property>
</packing>
</child>
</widget>
<packing>
<property name="Position">0</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
<child>
<widget class="Gtk.Button" id="buttonServerConnection">
<property name="MemberName" />
<property name="CanFocus">True</property>
<property name="Type">TextOnly</property>
<property name="Label" translatable="yes">Connect</property>
<property name="UseUnderline">True</property>
<signal name="Clicked" handler="OnButtonServerConnectionClicked" />
</widget>
<packing>
<property name="PackType">End</property>
<property name="Position">1</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
</widget>
</child>
</widget>
<packing>
<property name="Position">1</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
</widget>
<packing>
<property name="Position">0</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
<child>
<widget class="Gtk.HSeparator" id="hseparator1">
<property name="MemberName" />
</widget>
<packing>
<property name="Position">1</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
<child>
<widget class="Gtk.VBox" id="vbox11">
<property name="MemberName" />
<property name="Spacing">6</property>
<child>
<widget class="Gtk.Label" id="labelRobot">
<property name="MemberName" />
<property name="HeightRequest">36</property>
<property name="LabelProp" translatable="yes">&lt;b&gt;&lt;u&gt;Robot Activation&lt;/u&gt;&lt;/b&gt;</property>
<property name="UseMarkup">True</property>
</widget>
<packing>
<property name="Position">0</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
<child>
<widget class="Gtk.Alignment" id="alignment9">
<property name="MemberName" />
<child>
<widget class="Gtk.Alignment" id="gtkAlignmentRobot">
<property name="MemberName" />
<property name="Xalign">0</property>
<property name="Yalign">0</property>
<property name="LeftPadding">12</property>
<child>
<widget class="Gtk.VBox" id="vbox8">
<property name="MemberName" />
<property name="Spacing">6</property>
<child>
<widget class="Gtk.Alignment" id="alignment6">
<property name="MemberName" />
<child>
<widget class="Gtk.HBox" id="hbox4">
<property name="MemberName" />
<property name="Spacing">6</property>
<child>
<widget class="Gtk.RadioButton" id="radioButtonWithWatchdog">
<property name="MemberName" />
<property name="CanFocus">True</property>
<property name="Label" translatable="yes">with watchdog</property>
<property name="Active">True</property>
<property name="DrawIndicator">True</property>
<property name="HasLabel">True</property>
<property name="UseUnderline">True</property>
<property name="Group">radioGroupRobotActivation</property>
</widget>
<packing>
<property name="Position">0</property>
<property name="AutoSize">True</property>
</packing>
</child>
<child>
<widget class="Gtk.RadioButton" id="radioButtonWithoutWatchdog">
<property name="MemberName" />
<property name="CanFocus">True</property>
<property name="Label" translatable="yes">without watchdog</property>
<property name="DrawIndicator">True</property>
<property name="HasLabel">True</property>
<property name="UseUnderline">True</property>
<property name="Group">radioGroupRobotActivation</property>
</widget>
<packing>
<property name="Position">1</property>
<property name="AutoSize">True</property>
</packing>
</child>
</widget>
</child>
</widget>
<packing>
<property name="Position">0</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
<child>
<widget class="Gtk.Alignment" id="alignment5">
<property name="MemberName" />
<child>
<widget class="Gtk.Alignment" id="alignment7">
<property name="MemberName" />
<child>
<widget class="Gtk.Button" id="buttonRobotActivation">
<property name="MemberName" />
<property name="CanFocus">True</property>
<property name="Type">TextOnly</property>
<property name="Label" translatable="yes">Activation</property>
<property name="UseUnderline">True</property>
<signal name="Clicked" handler="OnButtonRobotActivationClicked" />
</widget>
</child>
</widget>
</child>
</widget>
<packing>
<property name="Position">1</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
</widget>
</child>
</widget>
</child>
</widget>
<packing>
<property name="Position">1</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
</widget>
<packing>
<property name="Position">2</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
<child>
<widget class="Gtk.HSeparator" id="hseparator2">
<property name="MemberName" />
</widget>
<packing>
<property name="Position">3</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
<child>
<widget class="Gtk.VBox" id="vbox12">
<property name="MemberName" />
<property name="Spacing">6</property>
<child>
<widget class="Gtk.Label" id="labelRobotControl">
<property name="MemberName" />
<property name="HeightRequest">36</property>
<property name="LabelProp" translatable="yes">&lt;b&gt;&lt;u&gt;Robot Controls and Status&lt;/u&gt;&lt;/b&gt;</property>
<property name="UseMarkup">True</property>
</widget>
<packing>
<property name="Position">0</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
<child>
<widget class="Gtk.Alignment" id="gtkAlignmentRobotControl">
<property name="MemberName" />
<property name="Xalign">0</property>
<property name="Yalign">0</property>
<property name="LeftPadding">12</property>
<child>
<widget class="Gtk.VBox" id="vbox9">
<property name="MemberName" />
<property name="Spacing">6</property>
<child>
<widget class="Gtk.Alignment" id="alignment8">
<property name="MemberName" />
<property name="Xscale">0</property>
<property name="Yscale">0</property>
<child>
<widget class="Gtk.Table" id="table4">
<property name="MemberName" />
<property name="NRows">3</property>
<property name="NColumns">3</property>
<property name="RowSpacing">6</property>
<property name="ColumnSpacing">6</property>
<child>
<placeholder />
</child>
<child>
<placeholder />
</child>
<child>
<placeholder />
</child>
<child>
<placeholder />
</child>
<child>
<placeholder />
</child>
<child>
<widget class="Gtk.Button" id="buttonDown">
<property name="MemberName" />
<property name="CanFocus">True</property>
<property name="Type">TextAndIcon</property>
<property name="Icon">resource:monitor.ressources.pan-down-symbolic.symbolic.png</property>
<property name="Label" translatable="yes" />
<property name="UseUnderline">True</property>
<signal name="Clicked" handler="OnButtonMouvClicked" />
</widget>
<packing>
<property name="TopAttach">2</property>
<property name="BottomAttach">3</property>
<property name="LeftAttach">1</property>
<property name="RightAttach">2</property>
<property name="AutoSize">True</property>
<property name="XOptions">Fill</property>
<property name="YOptions">Fill</property>
<property name="XExpand">False</property>
<property name="XFill">True</property>
<property name="XShrink">False</property>
<property name="YExpand">False</property>
<property name="YFill">True</property>
<property name="YShrink">False</property>
</packing>
</child>
<child>
<widget class="Gtk.Button" id="buttonForward">
<property name="MemberName" />
<property name="CanFocus">True</property>
<property name="Type">TextAndIcon</property>
<property name="Icon">resource:monitor.ressources.pan-up-symbolic.symbolic.png</property>
<property name="Label" translatable="yes" />
<property name="UseUnderline">True</property>
<signal name="Clicked" handler="OnButtonMouvClicked" />
</widget>
<packing>
<property name="LeftAttach">1</property>
<property name="RightAttach">2</property>
<property name="AutoSize">True</property>
<property name="XOptions">Fill</property>
<property name="YOptions">Fill</property>
<property name="XExpand">False</property>
<property name="XFill">True</property>
<property name="XShrink">False</property>
<property name="YExpand">False</property>
<property name="YFill">True</property>
<property name="YShrink">False</property>
</packing>
</child>
<child>
<widget class="Gtk.Button" id="buttonLeft">
<property name="MemberName" />
<property name="CanFocus">True</property>
<property name="Type">TextAndIcon</property>
<property name="Icon">resource:monitor.ressources.pan-start-symbolic.symbolic.png</property>
<property name="Label" translatable="yes" />
<property name="UseUnderline">True</property>
<signal name="Clicked" handler="OnButtonMouvClicked" />
</widget>
<packing>
<property name="TopAttach">1</property>
<property name="BottomAttach">2</property>
<property name="AutoSize">True</property>
<property name="XOptions">Fill</property>
<property name="YOptions">Fill</property>
<property name="XExpand">False</property>
<property name="XFill">True</property>
<property name="XShrink">False</property>
<property name="YExpand">False</property>
<property name="YFill">True</property>
<property name="YShrink">False</property>
</packing>
</child>
<child>
<widget class="Gtk.Button" id="buttonRight">
<property name="MemberName" />
<property name="CanFocus">True</property>
<property name="Type">TextAndIcon</property>
<property name="Icon">resource:monitor.ressources.pan-end-symbolic.symbolic.png</property>
<property name="Label" translatable="yes" />
<property name="UseUnderline">True</property>
<signal name="Clicked" handler="OnButtonMouvClicked" />
</widget>
<packing>
<property name="TopAttach">1</property>
<property name="BottomAttach">2</property>
<property name="LeftAttach">2</property>
<property name="RightAttach">3</property>
<property name="AutoSize">True</property>
<property name="XOptions">Fill</property>
<property name="YOptions">Fill</property>
<property name="XExpand">False</property>
<property name="XFill">True</property>
<property name="XShrink">False</property>
<property name="YExpand">False</property>
<property name="YFill">True</property>
<property name="YShrink">False</property>
</packing>
</child>
</widget>
</child>
</widget>
<packing>
<property name="Position">0</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
<child>
<placeholder />
</child>
<child>
<widget class="Gtk.Table" id="table3">
<property name="MemberName" />
<property name="NColumns">2</property>
<property name="RowSpacing">6</property>
<property name="ColumnSpacing">6</property>
<child>
<widget class="Gtk.Label" id="label3">
<property name="MemberName" />
<property name="Xalign">1</property>
<property name="LabelProp" translatable="yes">Battery level:</property>
<property name="Justify">Right</property>
</widget>
<packing>
<property name="YPadding">10</property>
<property name="AutoSize">True</property>
<property name="XOptions">Fill</property>
<property name="YOptions">Fill</property>
<property name="XExpand">False</property>
<property name="XFill">True</property>
<property name="XShrink">False</property>
<property name="YExpand">False</property>
<property name="YFill">True</property>
<property name="YShrink">False</property>
</packing>
</child>
<child>
<widget class="Gtk.Label" id="labelBatteryLevel">
<property name="MemberName" />
<property name="Xpad">1</property>
<property name="Xalign">0</property>
<property name="LabelProp" translatable="yes">Unknown</property>
</widget>
<packing>
<property name="LeftAttach">1</property>
<property name="RightAttach">2</property>
<property name="AutoSize">False</property>
<property name="YOptions">Fill</property>
<property name="XExpand">True</property>
<property name="XFill">True</property>
<property name="XShrink">False</property>
<property name="YExpand">False</property>
<property name="YFill">True</property>
<property name="YShrink">False</property>
</packing>
</child>
</widget>
<packing>
<property name="Position">2</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
<child>
<widget class="Gtk.CheckButton" id="checkButtonGetBattery">
<property name="MemberName" />
<property name="CanFocus">True</property>
<property name="Label" translatable="yes">Get battery level</property>
<property name="DrawIndicator">True</property>
<property name="HasLabel">True</property>
<property name="UseUnderline">True</property>
</widget>
<packing>
<property name="Position">3</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
</widget>
</child>
</widget>
<packing>
<property name="Position">1</property>
<property name="AutoSize">True</property>
</packing>
</child>
</widget>
<packing>
<property name="Position">4</property>
<property name="AutoSize">True</property>
</packing>
</child>
</widget>
</child>
</widget>
<packing>
<property name="Position">1</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
</widget>
<packing>
<property name="Position">1</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
</widget>
@ -105,24 +792,6 @@
<property name="AutoSize">True</property>
</packing>
</child>
<child>
<widget class="Gtk.Statusbar" id="statusbar1">
<property name="MemberName" />
<property name="Spacing">6</property>
<child>
<placeholder />
</child>
<child>
<placeholder />
</child>
</widget>
<packing>
<property name="Position">2</property>
<property name="AutoSize">True</property>
<property name="Expand">False</property>
<property name="Fill">False</property>
</packing>
</child>
</widget>
</child>
</widget>

View file

@ -47,11 +47,19 @@
<SpecificVersion>False</SpecificVersion>
</Reference>
<Reference Include="Mono.Posix" />
<Reference Include="Mono.Cairo" />
</ItemGroup>
<ItemGroup>
<EmbeddedResource Include="gtk-gui\gui.stetic">
<LogicalName>gui.stetic</LogicalName>
</EmbeddedResource>
<EmbeddedResource Include="ressources\pan-up-symbolic.symbolic.png" />
<EmbeddedResource Include="ressources\pan-down-symbolic.symbolic.png" />
<EmbeddedResource Include="ressources\pan-start-symbolic.symbolic.png" />
<EmbeddedResource Include="ressources\pan-end-symbolic.symbolic.png" />
<EmbeddedResource Include="ressources\robot-icon.png" />
<EmbeddedResource Include="ressources\robot-icon.resized.png" />
<EmbeddedResource Include="ressources\missing_picture.png" />
</ItemGroup>
<ItemGroup>
<Compile Include="gtk-gui\generated.cs" />
@ -59,6 +67,9 @@
<Compile Include="gtk-gui\MainWindow.cs" />
<Compile Include="Program.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
<Compile Include="Client.cs" />
<Compile Include="CommandManager.cs" />
<Compile Include="DestijlCommandManager.cs" />
</ItemGroup>
<Import Project="$(MSBuildBinPath)\Microsoft.CSharp.targets" />
</Project>

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View file

@ -48,7 +48,7 @@
#define DMB_BAT_LOW 0
#define DMB_BAT_MEDIUM 1
#define DMB_BAT_HIGHT 2
#define DMB_BAT_HIGH 2
#define DMB_BUSY 1
#define DMB_DO_NOTHING 0

View file

@ -14,12 +14,14 @@
#ifndef IMAGERIE_H
#define IMAGERIE_H
#define __STUB__
#ifndef __STUB__
#ifndef __FOR_PC__
#include <raspicam/raspicam_cv.h>
#else
#include <opencv2/highgui/highgui.hpp>
#endif /* __FOR_PC__ */
#else
#include <opencv2/highgui/highgui.hpp>
#endif
#include "opencv2/imgproc/imgproc.hpp"
#include <unistd.h>
@ -31,15 +33,22 @@
using namespace std;
using namespace cv;
#ifndef __STUB__
#ifndef __FOR_PC__
using namespace raspicam;
#endif /* __FOR_PC__ */
#endif
typedef Mat Image;
#ifndef __STUB__
#ifndef __FOR_PC__
typedef RaspiCam_Cv Camera;
#else
typedef int Camera;
#endif /* __FOR_PC__ */
#else
typedef int Camera;
#endif
typedef Rect Arene;
typedef vector<unsigned char> Jpg;

View file

@ -60,5 +60,4 @@ int close_communication_robot(void);
*/
int send_command_to_robot(char cmd, const char * arg=NULL);
#endif //DUMBERC_SERIAL_H_H

View file

@ -15,9 +15,14 @@
using namespace cv;
#ifndef __STUB__
#ifdef __FOR_PC__
VideoCapture cap;
#else
using namespace raspicam;
#endif /* __FOR_PC__ */
#else
Image stubImg;
#endif
using namespace std;
@ -35,6 +40,16 @@ void draw_arena(Image *imgInput, Image *imgOutput, Arene *monArene)
int open_camera(Camera *camera)
{
#ifndef __STUB__
#ifdef __FOR_PC__
// open the default camera, use something different from 0 otherwise;
// Check VideoCapture documentation.
printf("Opening Camera...\n");
if(!cap.open(0))
return -1;
sleep(1);
return 0;
#else // for raspberry
camera->set(CV_CAP_PROP_FORMAT, CV_8UC3);
camera->set(CV_CAP_PROP_FRAME_WIDTH,WIDTH);
camera->set(CV_CAP_PROP_FRAME_HEIGHT,HEIGHT);
@ -50,16 +65,26 @@ int open_camera(Camera *camera)
sleep(2);
printf("Start capture\n");
return 0;
}
}
#endif /* __FOR_PC__ */
#else
return 0;
#endif
}
void get_image(Camera *camera, Image * monImage, const char * fichier) // getImg(Camera, Image img);
{
#ifndef __STUB__
#ifdef __FOR_PC__
if (monImage != NULL)
{
cap>>*monImage;
}
#else // for raspberry
camera->grab();
camera->retrieve(*monImage);
cvtColor(*monImage,*monImage,CV_BGR2RGB);
#endif /* __FOR_PC__ */
#else
stubImg = imread(fichier, CV_LOAD_IMAGE_COLOR);
stubImg.copyTo(*monImage);
@ -69,7 +94,13 @@ void get_image(Camera *camera, Image * monImage, const char * fichier) // getIm
void close_camera(Camera *camera) // closeCam(Camera) : camera Entrer
{
#ifndef __STUB__
#ifdef __FOR_PC__
cap.release();
#else // for raspberry
camera->release();
#endif /* __FOR_PC__ */
#else
#endif
}

View file

@ -7,7 +7,7 @@
<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
<open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
<group>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/image.h</file>
</group>
</open-files>
</project-private>

View file

@ -157,7 +157,7 @@ void initStruct(void) {
void startTasks() {
int err;
if (err = rt_task_start(&th_startRobot, &f_startRobot, NULL)) {
printf("Error task start: %s\n", strerror(-err));
exit(EXIT_FAILURE);

View file

@ -0,0 +1,5 @@
# This code depends on make tool being used
DEPFILES=$(wildcard $(addsuffix .d, ${OBJECTFILES} ${TESTOBJECTFILES}))
ifneq (${DEPFILES},)
include ${DEPFILES}
endif

View file

@ -0,0 +1,128 @@
#
# There exist several targets which are by default empty and which can be
# used for execution of your targets. These targets are usually executed
# before and after some main targets. They are:
#
# .build-pre: called before 'build' target
# .build-post: called after 'build' target
# .clean-pre: called before 'clean' target
# .clean-post: called after 'clean' target
# .clobber-pre: called before 'clobber' target
# .clobber-post: called after 'clobber' target
# .all-pre: called before 'all' target
# .all-post: called after 'all' target
# .help-pre: called before 'help' target
# .help-post: called after 'help' target
#
# Targets beginning with '.' are not intended to be called on their own.
#
# Main targets can be executed directly, and they are:
#
# build build a specific configuration
# clean remove built files from a configuration
# clobber remove all built files
# all build all configurations
# help print help mesage
#
# Targets .build-impl, .clean-impl, .clobber-impl, .all-impl, and
# .help-impl are implemented in nbproject/makefile-impl.mk.
#
# Available make variables:
#
# CND_BASEDIR base directory for relative paths
# CND_DISTDIR default top distribution directory (build artifacts)
# CND_BUILDDIR default top build directory (object files, ...)
# CONF name of current configuration
# CND_PLATFORM_${CONF} platform name (current configuration)
# CND_ARTIFACT_DIR_${CONF} directory of build artifact (current configuration)
# CND_ARTIFACT_NAME_${CONF} name of build artifact (current configuration)
# CND_ARTIFACT_PATH_${CONF} path to build artifact (current configuration)
# CND_PACKAGE_DIR_${CONF} directory of package (current configuration)
# CND_PACKAGE_NAME_${CONF} name of package (current configuration)
# CND_PACKAGE_PATH_${CONF} path to package (current configuration)
#
# NOCDDL
# Environment
MKDIR=mkdir
CP=cp
CCADMIN=CCadmin
# build
build: .build-post
.build-pre:
# Add your pre 'build' code here...
.build-post: .build-impl
# Add your post 'build' code here...
# clean
clean: .clean-post
.clean-pre:
# Add your pre 'clean' code here...
.clean-post: .clean-impl
# Add your post 'clean' code here...
# clobber
clobber: .clobber-post
.clobber-pre:
# Add your pre 'clobber' code here...
.clobber-post: .clobber-impl
# Add your post 'clobber' code here...
# all
all: .all-post
.all-pre:
# Add your pre 'all' code here...
.all-post: .all-impl
# Add your post 'all' code here...
# build tests
build-tests: .build-tests-post
.build-tests-pre:
# Add your pre 'build-tests' code here...
.build-tests-post: .build-tests-impl
# Add your post 'build-tests' code here...
# run tests
test: .test-post
.test-pre: build-tests
# Add your pre 'test' code here...
.test-post: .test-impl
# Add your post 'test' code here...
# help
help: .help-post
.help-pre:
# Add your pre 'help' code here...
.help-post: .help-impl
# Add your post 'help' code here...
# include project implementation makefile
include nbproject/Makefile-impl.mk
# include project make variables
include nbproject/Makefile-variables.mk

View file

@ -0,0 +1,256 @@
/*
* To change this license header, choose License Headers in Project Properties.
* To change this template file, choose Tools | Templates
* and open the template in the editor.
*/
/*
* File: main.cpp
* Author: dimercur
*
* Created on 6 novembre 2018, 10:54
*/
#include <cstdlib>
#include "image.h"
#include "server.h"
#include "robot.h"
#include "message.h"
#include <iostream>
#include <string>
#include <thread>
#include "definitions.h"
#define HEADER_STM_IMAGE "IMG" // Envoi d'une image
#define HEADER_STM_BAT "BAT" // Envoi de l'état de la batterie
#define HEADER_STM_POS "POS" // Envoi de la position
#define HEADER_STM_NO_ACK "NAK" // Acquittement d'un échec
#define HEADER_STM_ACK "ACK" // Acquittement d'un succès
#define HEADER_STM_MES "MSG" // Message textuel
#define HEADER_STM_LOST_DMB "LCD" // Perte de la communication avec le robot
#define HEADER_MTS_MSG "MSG" // Message directe pour Console Dumber
#define HEADER_MTS_DMB_ORDER "DMB" // Message d'ordre pour le robot
#define HEADER_MTS_COM_DMB "COM" // Message de gestion de la communication avec le robot
#define HEADER_MTS_CAMERA "CAM" // Message de gestion de la camera
#define HEADER_MTS_STOP "STO" // Message d'arrêt du system
int socketID;
char data[1000];
int receivedLength;
bool disconnected = true;
bool dataReady = false;
bool sysTick = false;
bool sendImage = false;
bool sendPos = false;
Image monImage;
Jpg imageCompressed;
pthread_t thread;
typedef struct {
char header[4];
char data[500];
} MessageFromMon;
MessageFromMon *message;
MessageToMon messageAnswered;
std::thread *threadTimer;
std::thread *threadServer;
using namespace std;
/*
*
*/
void ThreadServer(void) {
// Recuperation d'une evenutelle commande sur le serveur
while (1) {
receivedLength = receiveDataFromServer(data, 1000);
if (receivedLength > 0) dataReady = true;
}
}
void ThreadTimer(void) {
while (1) {
//std::this_thread::sleep_for(std::chrono::seconds )
sleep(1);
sysTick = true;
}
}
void printReceivedMessage(MessageFromMon *mes) {
cout << "Received " + to_string(receivedLength) + " data\n";
cout << "Header: ";
for (int i = 0; i < 4; i++) {
cout << mes->header[i];
}
cout << "\nData: ";
for (int i = 0; i < receivedLength - 4; i++) {
cout << mes->data[i];
}
cout << "\n";
}
int sendAnswer(string cmd, string data) {
int status = 0;
string msg;
msg = cmd + ':' + data;
cout << "Answer: " + msg;
cout << "\n";
sendDataToServer((char*) msg.c_str(), msg.length());
return status;
}
int decodeMessage(MessageFromMon *mes, int dataLength) {
int status = 0;
string header(mes->header, 4);
string data(mes->data, dataLength);
if (header.find(HEADER_MTS_COM_DMB) != std::string::npos) // Message pour la gestion du port de communication
{
if (data.find(OPEN_COM_DMB) != std::string::npos) sendAnswer(HEADER_STM_ACK, "");
else if (data.find(CLOSE_COM_DMB) != std::string::npos) sendAnswer(HEADER_STM_ACK, "");
} else if (header.find(HEADER_MTS_CAMERA) != std::string::npos) // Message pour la camera
{
if (data.find(CAM_OPEN) != std::string::npos) {
sendAnswer(HEADER_STM_ACK, "");
sendImage = true;
} else if (data.find(CAM_CLOSE) != std::string::npos) {
sendImage = false;
} else if (data.find(CAM_COMPUTE_POSITION) != std::string::npos) {
sendPos = true;
} else if (data.find(CAM_STOP_COMPUTE_POSITION) != std::string::npos) {
sendPos = false;
} else {
}
} else if (header.find(HEADER_MTS_DMB_ORDER) != std::string::npos) // Message de com pour le robot
{
if (data.find(DMB_START_WITHOUT_WD) != std::string::npos) {
sendAnswer(HEADER_STM_ACK, "");
} else if (data.find(DMB_START_WITH_WD) != std::string::npos) {
sendAnswer(HEADER_STM_ACK, "");
} else if (data.find(DMB_GET_VBAT) != std::string::npos) {
sendAnswer(HEADER_STM_BAT, to_string(DMB_BAT_HIGH));
} else if (data.find(DMB_MOVE) != std::string::npos) {
} else if (data.find(DMB_TURN) != std::string::npos) {
} else {
}
} else if (header.find(HEADER_MTS_STOP) != std::string::npos) // Message d'arret
{
sendAnswer(HEADER_STM_ACK, "");
} else {
sendAnswer(HEADER_STM_NO_ACK, "");
}
return status;
}
int main(int argc, char** argv) {
namedWindow("Sortie Camera");
// Ouverture de la com robot
if (open_communication_robot("/dev/ttyUSB0") != 0) {
cerr << "Unable to open /dev/ttyUSB0: abort\n";
return -1;
}
cout << "/dev/ttyUSB0 opened\n";
// Ouverture de la camera
if (open_camera(0) == -1) {
cerr << "Unable to open camera: abort\n";
return -1;
}
cout << "Camera opened\n";
// Ouverture du serveur
socketID = openServer(5544);
cout << "Server opened on port 5544\n";
threadTimer = new std::thread(ThreadTimer);
for (;;) {
cout << "Waiting for client to connect ...\n";
acceptClient();
disconnected = false;
dataReady = false;
cout << "Client connected\n";
threadServer = new std::thread(ThreadServer);
while (disconnected == false) {
// Recuperation de l'image
get_image(0, &monImage, "");
if (dataReady == true) // des données ont été recu par le serveur
{
message = (MessageFromMon*) malloc(sizeof (MessageFromMon));
memcpy((void*) message, (const void*) data, sizeof (MessageFromMon));
dataReady = false;
//if (message->header[4] == ':') message->header[4];
printReceivedMessage(message);
decodeMessage(message, receivedLength - 4);
free(message);
}
if (sysTick) {
sysTick = false;
if (sendImage) {
compress_image(&monImage, &imageCompressed);
sendAnswer(HEADER_STM_IMAGE, reinterpret_cast<char*> (imageCompressed.data()));
}
if (sendPos) {
//sendAnswer(HEADER_STM_POS,)
}
}
}
}
threadTimer->join();
threadServer->join();
// test de la camera
if (open_camera(0) != -1) {
for (;;) {
get_image(0, &monImage, "");
if (monImage.empty()) printf("image vide");
else {
imshow("Sortie Camera", monImage);
waitKey(10);
}
}
} else {
printf("Echec ouverture de camera");
return -1;
}
return 0;
}

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#
# Generated Makefile - do not edit!
#
# Edit the Makefile in the project folder instead (../Makefile). Each target
# has a -pre and a -post target defined where you can add customized code.
#
# This makefile implements configuration specific macros and targets.
# Environment
MKDIR=mkdir
CP=cp
GREP=grep
NM=nm
CCADMIN=CCadmin
RANLIB=ranlib
CC=gcc
CCC=g++
CXX=g++
FC=gfortran
AS=as
# Macros
CND_PLATFORM=GNU-Linux
CND_DLIB_EXT=so
CND_CONF=Debug
CND_DISTDIR=dist
CND_BUILDDIR=build
# Include project Makefile
include Makefile
# Object Directory
OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}
# Object Files
OBJECTFILES= \
${OBJECTDIR}/_ext/e4d40e25/image.o \
${OBJECTDIR}/_ext/e4d40e25/message.o \
${OBJECTDIR}/_ext/e4d40e25/robot.o \
${OBJECTDIR}/_ext/e4d40e25/server.o \
${OBJECTDIR}/main.o
# C Compiler Flags
CFLAGS=
# CC Compiler Flags
CCFLAGS=
CXXFLAGS=
# Fortran Compiler Flags
FFLAGS=
# Assembler Flags
ASFLAGS=
# Link Libraries and Options
LDLIBSOPTIONS=`pkg-config --libs opencv` -lpthread
# Build Targets
.build-conf: ${BUILD_SUBPROJECTS}
"${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/testeur
${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/testeur: ${OBJECTFILES}
${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/testeur ${OBJECTFILES} ${LDLIBSOPTIONS}
${OBJECTDIR}/_ext/e4d40e25/image.o: ../../superviseur-robot/lib/src/image.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/e4d40e25
${RM} "$@.d"
$(COMPILE.cc) -g -D__FOR_PC__ -DD_REENTRANT -I../../superviseur-robot/lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/image.o ../../superviseur-robot/lib/src/image.cpp
${OBJECTDIR}/_ext/e4d40e25/message.o: ../../superviseur-robot/lib/src/message.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/e4d40e25
${RM} "$@.d"
$(COMPILE.cc) -g -D__FOR_PC__ -DD_REENTRANT -I../../superviseur-robot/lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/message.o ../../superviseur-robot/lib/src/message.cpp
${OBJECTDIR}/_ext/e4d40e25/robot.o: ../../superviseur-robot/lib/src/robot.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/e4d40e25
${RM} "$@.d"
$(COMPILE.cc) -g -D__FOR_PC__ -DD_REENTRANT -I../../superviseur-robot/lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/robot.o ../../superviseur-robot/lib/src/robot.cpp
${OBJECTDIR}/_ext/e4d40e25/server.o: ../../superviseur-robot/lib/src/server.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/e4d40e25
${RM} "$@.d"
$(COMPILE.cc) -g -D__FOR_PC__ -DD_REENTRANT -I../../superviseur-robot/lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/server.o ../../superviseur-robot/lib/src/server.cpp
${OBJECTDIR}/main.o: main.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -g -D__FOR_PC__ -DD_REENTRANT -I../../superviseur-robot/lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
# Subprojects
.build-subprojects:
# Clean Targets
.clean-conf: ${CLEAN_SUBPROJECTS}
${RM} -r ${CND_BUILDDIR}/${CND_CONF}
# Subprojects
.clean-subprojects:
# Enable dependency checking
.dep.inc: .depcheck-impl
include .dep.inc

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#
# Generated Makefile - do not edit!
#
# Edit the Makefile in the project folder instead (../Makefile). Each target
# has a -pre and a -post target defined where you can add customized code.
#
# This makefile implements configuration specific macros and targets.
# Environment
MKDIR=mkdir
CP=cp
GREP=grep
NM=nm
CCADMIN=CCadmin
RANLIB=ranlib
CC=gcc
CCC=g++
CXX=g++
FC=gfortran
AS=as
# Macros
CND_PLATFORM=GNU-Linux
CND_DLIB_EXT=so
CND_CONF=Release
CND_DISTDIR=dist
CND_BUILDDIR=build
# Include project Makefile
include Makefile
# Object Directory
OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}
# Object Files
OBJECTFILES= \
${OBJECTDIR}/_ext/e4d40e25/image.o \
${OBJECTDIR}/_ext/e4d40e25/message.o \
${OBJECTDIR}/_ext/e4d40e25/robot.o \
${OBJECTDIR}/_ext/e4d40e25/server.o \
${OBJECTDIR}/main.o
# C Compiler Flags
CFLAGS=
# CC Compiler Flags
CCFLAGS=
CXXFLAGS=
# Fortran Compiler Flags
FFLAGS=
# Assembler Flags
ASFLAGS=
# Link Libraries and Options
LDLIBSOPTIONS=
# Build Targets
.build-conf: ${BUILD_SUBPROJECTS}
"${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/testeur
${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/testeur: ${OBJECTFILES}
${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/testeur ${OBJECTFILES} ${LDLIBSOPTIONS}
${OBJECTDIR}/_ext/e4d40e25/image.o: ../../superviseur-robot/lib/src/image.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/e4d40e25
${RM} "$@.d"
$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/image.o ../../superviseur-robot/lib/src/image.cpp
${OBJECTDIR}/_ext/e4d40e25/message.o: ../../superviseur-robot/lib/src/message.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/e4d40e25
${RM} "$@.d"
$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/message.o ../../superviseur-robot/lib/src/message.cpp
${OBJECTDIR}/_ext/e4d40e25/robot.o: ../../superviseur-robot/lib/src/robot.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/e4d40e25
${RM} "$@.d"
$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/robot.o ../../superviseur-robot/lib/src/robot.cpp
${OBJECTDIR}/_ext/e4d40e25/server.o: ../../superviseur-robot/lib/src/server.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/e4d40e25
${RM} "$@.d"
$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/server.o ../../superviseur-robot/lib/src/server.cpp
${OBJECTDIR}/main.o: main.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
# Subprojects
.build-subprojects:
# Clean Targets
.clean-conf: ${CLEAN_SUBPROJECTS}
${RM} -r ${CND_BUILDDIR}/${CND_CONF}
# Subprojects
.clean-subprojects:
# Enable dependency checking
.dep.inc: .depcheck-impl
include .dep.inc

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#
# Generated Makefile - do not edit!
#
# Edit the Makefile in the project folder instead (../Makefile). Each target
# has a pre- and a post- target defined where you can add customization code.
#
# This makefile implements macros and targets common to all configurations.
#
# NOCDDL
# Building and Cleaning subprojects are done by default, but can be controlled with the SUB
# macro. If SUB=no, subprojects will not be built or cleaned. The following macro
# statements set BUILD_SUB-CONF and CLEAN_SUB-CONF to .build-reqprojects-conf
# and .clean-reqprojects-conf unless SUB has the value 'no'
SUB_no=NO
SUBPROJECTS=${SUB_${SUB}}
BUILD_SUBPROJECTS_=.build-subprojects
BUILD_SUBPROJECTS_NO=
BUILD_SUBPROJECTS=${BUILD_SUBPROJECTS_${SUBPROJECTS}}
CLEAN_SUBPROJECTS_=.clean-subprojects
CLEAN_SUBPROJECTS_NO=
CLEAN_SUBPROJECTS=${CLEAN_SUBPROJECTS_${SUBPROJECTS}}
# Project Name
PROJECTNAME=testeur
# Active Configuration
DEFAULTCONF=Debug
CONF=${DEFAULTCONF}
# All Configurations
ALLCONFS=Debug Release
# build
.build-impl: .build-pre .validate-impl .depcheck-impl
@#echo "=> Running $@... Configuration=$(CONF)"
"${MAKE}" -f nbproject/Makefile-${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .build-conf
# clean
.clean-impl: .clean-pre .validate-impl .depcheck-impl
@#echo "=> Running $@... Configuration=$(CONF)"
"${MAKE}" -f nbproject/Makefile-${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .clean-conf
# clobber
.clobber-impl: .clobber-pre .depcheck-impl
@#echo "=> Running $@..."
for CONF in ${ALLCONFS}; \
do \
"${MAKE}" -f nbproject/Makefile-$${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .clean-conf; \
done
# all
.all-impl: .all-pre .depcheck-impl
@#echo "=> Running $@..."
for CONF in ${ALLCONFS}; \
do \
"${MAKE}" -f nbproject/Makefile-$${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .build-conf; \
done
# build tests
.build-tests-impl: .build-impl .build-tests-pre
@#echo "=> Running $@... Configuration=$(CONF)"
"${MAKE}" -f nbproject/Makefile-${CONF}.mk SUBPROJECTS=${SUBPROJECTS} .build-tests-conf
# run tests
.test-impl: .build-tests-impl .test-pre
@#echo "=> Running $@... Configuration=$(CONF)"
"${MAKE}" -f nbproject/Makefile-${CONF}.mk SUBPROJECTS=${SUBPROJECTS} .test-conf
# dependency checking support
.depcheck-impl:
@echo "# This code depends on make tool being used" >.dep.inc
@if [ -n "${MAKE_VERSION}" ]; then \
echo "DEPFILES=\$$(wildcard \$$(addsuffix .d, \$${OBJECTFILES} \$${TESTOBJECTFILES}))" >>.dep.inc; \
echo "ifneq (\$${DEPFILES},)" >>.dep.inc; \
echo "include \$${DEPFILES}" >>.dep.inc; \
echo "endif" >>.dep.inc; \
else \
echo ".KEEP_STATE:" >>.dep.inc; \
echo ".KEEP_STATE_FILE:.make.state.\$${CONF}" >>.dep.inc; \
fi
# configuration validation
.validate-impl:
@if [ ! -f nbproject/Makefile-${CONF}.mk ]; \
then \
echo ""; \
echo "Error: can not find the makefile for configuration '${CONF}' in project ${PROJECTNAME}"; \
echo "See 'make help' for details."; \
echo "Current directory: " `pwd`; \
echo ""; \
fi
@if [ ! -f nbproject/Makefile-${CONF}.mk ]; \
then \
exit 1; \
fi
# help
.help-impl: .help-pre
@echo "This makefile supports the following configurations:"
@echo " ${ALLCONFS}"
@echo ""
@echo "and the following targets:"
@echo " build (default target)"
@echo " clean"
@echo " clobber"
@echo " all"
@echo " help"
@echo ""
@echo "Makefile Usage:"
@echo " make [CONF=<CONFIGURATION>] [SUB=no] build"
@echo " make [CONF=<CONFIGURATION>] [SUB=no] clean"
@echo " make [SUB=no] clobber"
@echo " make [SUB=no] all"
@echo " make help"
@echo ""
@echo "Target 'build' will build a specific configuration and, unless 'SUB=no',"
@echo " also build subprojects."
@echo "Target 'clean' will clean a specific configuration and, unless 'SUB=no',"
@echo " also clean subprojects."
@echo "Target 'clobber' will remove all built files from all configurations and,"
@echo " unless 'SUB=no', also from subprojects."
@echo "Target 'all' will will build all configurations and, unless 'SUB=no',"
@echo " also build subprojects."
@echo "Target 'help' prints this message."
@echo ""

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@ -0,0 +1,35 @@
#
# Generated - do not edit!
#
# NOCDDL
#
CND_BASEDIR=`pwd`
CND_BUILDDIR=build
CND_DISTDIR=dist
# Debug configuration
CND_PLATFORM_Debug=GNU-Linux
CND_ARTIFACT_DIR_Debug=dist/Debug/GNU-Linux
CND_ARTIFACT_NAME_Debug=testeur
CND_ARTIFACT_PATH_Debug=dist/Debug/GNU-Linux/testeur
CND_PACKAGE_DIR_Debug=dist/Debug/GNU-Linux/package
CND_PACKAGE_NAME_Debug=testeur.tar
CND_PACKAGE_PATH_Debug=dist/Debug/GNU-Linux/package/testeur.tar
# Release configuration
CND_PLATFORM_Release=GNU-Linux
CND_ARTIFACT_DIR_Release=dist/Release/GNU-Linux
CND_ARTIFACT_NAME_Release=testeur
CND_ARTIFACT_PATH_Release=dist/Release/GNU-Linux/testeur
CND_PACKAGE_DIR_Release=dist/Release/GNU-Linux/package
CND_PACKAGE_NAME_Release=testeur.tar
CND_PACKAGE_PATH_Release=dist/Release/GNU-Linux/package/testeur.tar
#
# include compiler specific variables
#
# dmake command
ROOT:sh = test -f nbproject/private/Makefile-variables.mk || \
(mkdir -p nbproject/private && touch nbproject/private/Makefile-variables.mk)
#
# gmake command
.PHONY: $(shell test -f nbproject/private/Makefile-variables.mk || (mkdir -p nbproject/private && touch nbproject/private/Makefile-variables.mk))
#
include nbproject/private/Makefile-variables.mk

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#!/bin/bash -x
#
# Generated - do not edit!
#
# Macros
TOP=`pwd`
CND_PLATFORM=GNU-Linux
CND_CONF=Debug
CND_DISTDIR=dist
CND_BUILDDIR=build
CND_DLIB_EXT=so
NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging
TMPDIRNAME=tmp-packaging
OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/testeur
OUTPUT_BASENAME=testeur
PACKAGE_TOP_DIR=testeur/
# Functions
function checkReturnCode
{
rc=$?
if [ $rc != 0 ]
then
exit $rc
fi
}
function makeDirectory
# $1 directory path
# $2 permission (optional)
{
mkdir -p "$1"
checkReturnCode
if [ "$2" != "" ]
then
chmod $2 "$1"
checkReturnCode
fi
}
function copyFileToTmpDir
# $1 from-file path
# $2 to-file path
# $3 permission
{
cp "$1" "$2"
checkReturnCode
if [ "$3" != "" ]
then
chmod $3 "$2"
checkReturnCode
fi
}
# Setup
cd "${TOP}"
mkdir -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package
rm -rf ${NBTMPDIR}
mkdir -p ${NBTMPDIR}
# Copy files and create directories and links
cd "${TOP}"
makeDirectory "${NBTMPDIR}/testeur/bin"
copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755
# Generate tar file
cd "${TOP}"
rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/testeur.tar
cd ${NBTMPDIR}
tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/testeur.tar *
checkReturnCode
# Cleanup
cd "${TOP}"
rm -rf ${NBTMPDIR}

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#!/bin/bash -x
#
# Generated - do not edit!
#
# Macros
TOP=`pwd`
CND_PLATFORM=GNU-Linux
CND_CONF=Release
CND_DISTDIR=dist
CND_BUILDDIR=build
CND_DLIB_EXT=so
NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging
TMPDIRNAME=tmp-packaging
OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/testeur
OUTPUT_BASENAME=testeur
PACKAGE_TOP_DIR=testeur/
# Functions
function checkReturnCode
{
rc=$?
if [ $rc != 0 ]
then
exit $rc
fi
}
function makeDirectory
# $1 directory path
# $2 permission (optional)
{
mkdir -p "$1"
checkReturnCode
if [ "$2" != "" ]
then
chmod $2 "$1"
checkReturnCode
fi
}
function copyFileToTmpDir
# $1 from-file path
# $2 to-file path
# $3 permission
{
cp "$1" "$2"
checkReturnCode
if [ "$3" != "" ]
then
chmod $3 "$2"
checkReturnCode
fi
}
# Setup
cd "${TOP}"
mkdir -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package
rm -rf ${NBTMPDIR}
mkdir -p ${NBTMPDIR}
# Copy files and create directories and links
cd "${TOP}"
makeDirectory "${NBTMPDIR}/testeur/bin"
copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755
# Generate tar file
cd "${TOP}"
rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/testeur.tar
cd ${NBTMPDIR}
tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/testeur.tar *
checkReturnCode
# Cleanup
cd "${TOP}"
rm -rf ${NBTMPDIR}

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@ -0,0 +1,180 @@
<?xml version="1.0" encoding="UTF-8"?>
<configurationDescriptor version="100">
<logicalFolder name="root" displayName="root" projectFiles="true" kind="ROOT">
<logicalFolder name="HeaderFiles"
displayName="Header Files"
projectFiles="true">
<itemPath>../../superviseur-robot/lib/image.h</itemPath>
<itemPath>../../superviseur-robot/lib/message.h</itemPath>
<itemPath>../../superviseur-robot/lib/robot.h</itemPath>
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<logicalFolder name="ResourceFiles"
displayName="Resource Files"
projectFiles="true">
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<logicalFolder name="TestFiles"
displayName="Test Files"
projectFiles="false"
kind="TEST_LOGICAL_FOLDER">
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<logicalFolder name="ExternalFiles"
displayName="Important Files"
projectFiles="false"
kind="IMPORTANT_FILES_FOLDER">
<itemPath>Makefile</itemPath>
</logicalFolder>
</logicalFolder>
<sourceRootList>
<Elem>../../superviseur-robot/lib/src</Elem>
</sourceRootList>
<projectmakefile>Makefile</projectmakefile>
<confs>
<conf name="Debug" type="1">
<toolsSet>
<compilerSet>default</compilerSet>
<dependencyChecking>true</dependencyChecking>
<rebuildPropChanged>false</rebuildPropChanged>
</toolsSet>
<compileType>
<cTool>
<incDir>
<pElem>../../superviseur-robot/lib</pElem>
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<preprocessorList>
<Elem>__FOR_PC__</Elem>
</preprocessorList>
</cTool>
<ccTool>
<incDir>
<pElem>../../superviseur-robot/lib</pElem>
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<preprocessorList>
<Elem>D_REENTRANT</Elem>
<Elem>__FOR_PC__</Elem>
</preprocessorList>
</ccTool>
<linkerTool>
<linkerLibItems>
<linkerOptionItem>`pkg-config --libs opencv`</linkerOptionItem>
<linkerLibStdlibItem>PosixThreads</linkerLibStdlibItem>
</linkerLibItems>
</linkerTool>
</compileType>
<item path="../../superviseur-robot/lib/image.h"
ex="false"
tool="3"
flavor2="0">
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<item path="main.cpp" ex="false" tool="1" flavor2="0">
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</conf>
<conf name="Release" type="1">
<toolsSet>
<compilerSet>default</compilerSet>
<dependencyChecking>true</dependencyChecking>
<rebuildPropChanged>false</rebuildPropChanged>
</toolsSet>
<compileType>
<cTool>
<developmentMode>5</developmentMode>
</cTool>
<ccTool>
<developmentMode>5</developmentMode>
</ccTool>
<fortranCompilerTool>
<developmentMode>5</developmentMode>
</fortranCompilerTool>
<asmTool>
<developmentMode>5</developmentMode>
</asmTool>
</compileType>
<item path="../../superviseur-robot/lib/image.h"
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tool="3"
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</confs>
</configurationDescriptor>

View file

@ -0,0 +1,7 @@
#
# Generated - do not edit!
#
# NOCDDL
#
# Debug configuration
# Release configuration

View file

@ -0,0 +1,75 @@
/*
* DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS HEADER.
*
* Copyright (c) 2016 Oracle and/or its affiliates. All rights reserved.
*
* Oracle and Java are registered trademarks of Oracle and/or its affiliates.
* Other names may be trademarks of their respective owners.
*
* The contents of this file are subject to the terms of either the GNU
* General Public License Version 2 only ("GPL") or the Common
* Development and Distribution License("CDDL") (collectively, the
* "License"). You may not use this file except in compliance with the
* License. You can obtain a copy of the License at
* http://www.netbeans.org/cddl-gplv2.html
* or nbbuild/licenses/CDDL-GPL-2-CP. See the License for the
* specific language governing permissions and limitations under the
* License. When distributing the software, include this License Header
* Notice in each file and include the License file at
* nbbuild/licenses/CDDL-GPL-2-CP. Oracle designates this
* particular file as subject to the "Classpath" exception as provided
* by Oracle in the GPL Version 2 section of the License file that
* accompanied this code. If applicable, add the following below the
* License Header, with the fields enclosed by brackets [] replaced by
* your own identifying information:
* "Portions Copyrighted [year] [name of copyright owner]"
*
* If you wish your version of this file to be governed by only the CDDL
* or only the GPL Version 2, indicate your decision by adding
* "[Contributor] elects to include this software in this distribution
* under the [CDDL or GPL Version 2] license." If you do not indicate a
* single choice of license, a recipient has the option to distribute
* your version of this file under either the CDDL, the GPL Version 2 or
* to extend the choice of license to its licensees as provided above.
* However, if you add GPL Version 2 code and therefore, elected the GPL
* Version 2 license, then the option applies only if the new code is
* made subject to such option by the copyright holder.
*
* Contributor(s):
*/
// List of standard headers was taken in http://en.cppreference.com/w/c/header
#include <assert.h> // Conditionally compiled macro that compares its argument to zero
#include <ctype.h> // Functions to determine the type contained in character data
#include <errno.h> // Macros reporting error conditions
#include <float.h> // Limits of float types
#include <limits.h> // Sizes of basic types
#include <locale.h> // Localization utilities
#include <math.h> // Common mathematics functions
#include <setjmp.h> // Nonlocal jumps
#include <signal.h> // Signal handling
#include <stdarg.h> // Variable arguments
#include <stddef.h> // Common macro definitions
#include <stdio.h> // Input/output
#include <string.h> // String handling
#include <stdlib.h> // General utilities: memory management, program utilities, string conversions, random numbers
#include <time.h> // Time/date utilities
#include <iso646.h> // (since C95) Alternative operator spellings
#include <wchar.h> // (since C95) Extended multibyte and wide character utilities
#include <wctype.h> // (since C95) Wide character classification and mapping utilities
#ifdef _STDC_C99
#include <complex.h> // (since C99) Complex number arithmetic
#include <fenv.h> // (since C99) Floating-point environment
#include <inttypes.h> // (since C99) Format conversion of integer types
#include <stdbool.h> // (since C99) Boolean type
#include <stdint.h> // (since C99) Fixed-width integer types
#include <tgmath.h> // (since C99) Type-generic math (macros wrapping math.h and complex.h)
#endif
#ifdef _STDC_C11
#include <stdalign.h> // (since C11) alignas and alignof convenience macros
#include <stdatomic.h> // (since C11) Atomic types
#include <stdnoreturn.h> // (since C11) noreturn convenience macros
#include <threads.h> // (since C11) Thread library
#include <uchar.h> // (since C11) UTF-16 and UTF-32 character utilities
#endif

View file

@ -0,0 +1,74 @@
<?xml version="1.0" encoding="UTF-8"?>
<configurationDescriptor version="100">
<projectmakefile>Makefile</projectmakefile>
<confs>
<conf name="Debug" type="1">
<toolsSet>
<developmentServer>localhost</developmentServer>
<platform>2</platform>
</toolsSet>
<dbx_gdbdebugger version="1">
<gdb_pathmaps>
</gdb_pathmaps>
<gdb_interceptlist>
<gdbinterceptoptions gdb_all="false" gdb_unhandled="true" gdb_unexpected="true"/>
</gdb_interceptlist>
<gdb_signals>
</gdb_signals>
<gdb_options>
<DebugOptions>
</DebugOptions>
</gdb_options>
<gdb_buildfirst gdb_buildfirst_overriden="false" gdb_buildfirst_old="false"/>
</dbx_gdbdebugger>
<nativedebugger version="1">
<engine>gdb</engine>
</nativedebugger>
<runprofile version="9">
<runcommandpicklist>
<runcommandpicklistitem>"${OUTPUT_PATH}"</runcommandpicklistitem>
</runcommandpicklist>
<runcommand>"${OUTPUT_PATH}"</runcommand>
<rundir></rundir>
<buildfirst>true</buildfirst>
<terminal-type>0</terminal-type>
<remove-instrumentation>0</remove-instrumentation>
<environment>
</environment>
</runprofile>
</conf>
<conf name="Release" type="1">
<toolsSet>
<developmentServer>localhost</developmentServer>
<platform>2</platform>
</toolsSet>
<dbx_gdbdebugger version="1">
<gdb_pathmaps>
</gdb_pathmaps>
<gdb_interceptlist>
<gdbinterceptoptions gdb_all="false" gdb_unhandled="true" gdb_unexpected="true"/>
</gdb_interceptlist>
<gdb_options>
<DebugOptions>
</DebugOptions>
</gdb_options>
<gdb_buildfirst gdb_buildfirst_overriden="false" gdb_buildfirst_old="false"/>
</dbx_gdbdebugger>
<nativedebugger version="1">
<engine>gdb</engine>
</nativedebugger>
<runprofile version="9">
<runcommandpicklist>
<runcommandpicklistitem>"${OUTPUT_PATH}"</runcommandpicklistitem>
</runcommandpicklist>
<runcommand>"${OUTPUT_PATH}"</runcommand>
<rundir></rundir>
<buildfirst>true</buildfirst>
<terminal-type>0</terminal-type>
<remove-instrumentation>0</remove-instrumentation>
<environment>
</environment>
</runprofile>
</conf>
</confs>
</configurationDescriptor>

View file

@ -0,0 +1,135 @@
/*
* DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS HEADER.
*
* Copyright (c) 2016 Oracle and/or its affiliates. All rights reserved.
*
* Oracle and Java are registered trademarks of Oracle and/or its affiliates.
* Other names may be trademarks of their respective owners.
*
* The contents of this file are subject to the terms of either the GNU
* General Public License Version 2 only ("GPL") or the Common
* Development and Distribution License("CDDL") (collectively, the
* "License"). You may not use this file except in compliance with the
* License. You can obtain a copy of the License at
* http://www.netbeans.org/cddl-gplv2.html
* or nbbuild/licenses/CDDL-GPL-2-CP. See the License for the
* specific language governing permissions and limitations under the
* License. When distributing the software, include this License Header
* Notice in each file and include the License file at
* nbbuild/licenses/CDDL-GPL-2-CP. Oracle designates this
* particular file as subject to the "Classpath" exception as provided
* by Oracle in the GPL Version 2 section of the License file that
* accompanied this code. If applicable, add the following below the
* License Header, with the fields enclosed by brackets [] replaced by
* your own identifying information:
* "Portions Copyrighted [year] [name of copyright owner]"
*
* If you wish your version of this file to be governed by only the CDDL
* or only the GPL Version 2, indicate your decision by adding
* "[Contributor] elects to include this software in this distribution
* under the [CDDL or GPL Version 2] license." If you do not indicate a
* single choice of license, a recipient has the option to distribute
* your version of this file under either the CDDL, the GPL Version 2 or
* to extend the choice of license to its licensees as provided above.
* However, if you add GPL Version 2 code and therefore, elected the GPL
* Version 2 license, then the option applies only if the new code is
* made subject to such option by the copyright holder.
*
* Contributor(s):
*/
// List of standard headers was taken in http://en.cppreference.com/w/cpp/header
#include <cstdlib> // General purpose utilities: program control, dynamic memory allocation, random numbers, sort and search
#include <csignal> // Functions and macro constants for signal management
#include <csetjmp> // Macro (and function) that saves (and jumps) to an execution context
#include <cstdarg> // Handling of variable length argument lists
#include <typeinfo> // Runtime type information utilities
#include <bitset> // std::bitset class template
#include <functional> // Function objects, designed for use with the standard algorithms
#include <utility> // Various utility components
#include <ctime> // C-style time/date utilites
#include <cstddef> // typedefs for types such as size_t, NULL and others
#include <new> // Low-level memory management utilities
#include <memory> // Higher level memory management utilities
#include <climits> // limits of integral types
#include <cfloat> // limits of float types
#include <limits> // standardized way to query properties of arithmetic types
#include <exception> // Exception handling utilities
#include <stdexcept> // Standard exception objects
#include <cassert> // Conditionally compiled macro that compares its argument to zero
#include <cerrno> // Macro containing the last error number
#include <cctype> // functions to determine the type contained in character data
#include <cwctype> // functions for determining the type of wide character data
#include <cstring> // various narrow character string handling functions
#include <cwchar> // various wide and multibyte string handling functions
#include <string> // std::basic_string class template
#include <vector> // std::vector container
#include <deque> // std::deque container
#include <list> // std::list container
#include <set> // std::set and std::multiset associative containers
#include <map> // std::map and std::multimap associative containers
#include <stack> // std::stack container adaptor
#include <queue> // std::queue and std::priority_queue container adaptors
#include <algorithm> // Algorithms that operate on containers
#include <iterator> // Container iterators
#include <cmath> // Common mathematics functions
#include <complex> // Complex number type
#include <valarray> // Class for representing and manipulating arrays of values
#include <numeric> // Numeric operations on values in containers
#include <iosfwd> // forward declarations of all classes in the input/output library
#include <ios> // std::ios_base class, std::basic_ios class template and several typedefs
#include <istream> // std::basic_istream class template and several typedefs
#include <ostream> // std::basic_ostream, std::basic_iostream class templates and several typedefs
#include <iostream> // several standard stream objects
#include <fstream> // std::basic_fstream, std::basic_ifstream, std::basic_ofstream class templates and several typedefs
#include <sstream> // std::basic_stringstream, std::basic_istringstream, std::basic_ostringstream class templates and several typedefs
#include <strstream> // std::strstream, std::istrstream, std::ostrstream(deprecated)
#include <iomanip> // Helper functions to control the format or input and output
#include <streambuf> // std::basic_streambuf class template
#include <cstdio> // C-style input-output functions
#include <locale> // Localization utilities
#include <clocale> // C localization utilities
#include <ciso646> // empty header. The macros that appear in iso646.h in C are keywords in C++
#if __cplusplus >= 201103L
#include <typeindex> // (since C++11) std::type_index
#include <type_traits> // (since C++11) Compile-time type information
#include <chrono> // (since C++11) C++ time utilites
#include <initializer_list> // (since C++11) std::initializer_list class template
#include <tuple> // (since C++11) std::tuple class template
#include <scoped_allocator> // (since C++11) Nested allocator class
#include <cstdint> // (since C++11) fixed-size types and limits of other types
#include <cinttypes> // (since C++11) formatting macros , intmax_t and uintmax_t math and conversions
#include <system_error> // (since C++11) defines std::error_code, a platform-dependent error code
#include <cuchar> // (since C++11) C-style Unicode character conversion functions
#include <array> // (since C++11) std::array container
#include <forward_list> // (since C++11) std::forward_list container
#include <unordered_set> // (since C++11) std::unordered_set and std::unordered_multiset unordered associative containers
#include <unordered_map> // (since C++11) std::unordered_map and std::unordered_multimap unordered associative containers
#include <random> // (since C++11) Random number generators and distributions
#include <ratio> // (since C++11) Compile-time rational arithmetic
#include <cfenv> // (since C++11) Floating-point environment access functions
#include <codecvt> // (since C++11) Unicode conversion facilities
#include <regex> // (since C++11) Classes, algorithms and iterators to support regular expression processing
#include <atomic> // (since C++11) Atomic operations library
#include <ccomplex> // (since C++11)(deprecated in C++17) simply includes the header <complex>
#include <ctgmath> // (since C++11)(deprecated in C++17) simply includes the headers <ccomplex> (until C++17)<complex> (since C++17) and <cmath>: the overloads equivalent to the contents of the C header tgmath.h are already provided by those headers
#include <cstdalign> // (since C++11)(deprecated in C++17) defines one compatibility macro constant
#include <cstdbool> // (since C++11)(deprecated in C++17) defines one compatibility macro constant
#include <thread> // (since C++11) std::thread class and supporting functions
#include <mutex> // (since C++11) mutual exclusion primitives
#include <future> // (since C++11) primitives for asynchronous computations
#include <condition_variable> // (since C++11) thread waiting conditions
#endif
#if __cplusplus >= 201300L
#include <shared_mutex> // (since C++14) shared mutual exclusion primitives
#endif
#if __cplusplus >= 201500L
#include <any> // (since C++17) std::any class template
#include <optional> // (since C++17) std::optional class template
#include <variant> // (since C++17) std::variant class template
#include <memory_resource> // (since C++17) Polymorphic allocators and memory resources
#include <string_view> // (since C++17) std::basic_string_view class template
#include <execution> // (since C++17) Predefined execution policies for parallel versions of the algorithms
#include <filesystem> // (since C++17) std::path class and supporting functions
#endif

View file

@ -0,0 +1,42 @@
# Launchers File syntax:
#
# [Must-have property line]
# launcher1.runCommand=<Run Command>
# [Optional extra properties]
# launcher1.displayName=<Display Name, runCommand by default>
# launcher1.hide=<true if lancher is not visible in menu, false by default>
# launcher1.buildCommand=<Build Command, Build Command specified in project properties by default>
# launcher1.runDir=<Run Directory, ${PROJECT_DIR} by default>
# launcher1.runInOwnTab=<false if launcher reuse common "Run" output tab, true by default>
# launcher1.symbolFiles=<Symbol Files loaded by debugger, ${OUTPUT_PATH} by default>
# launcher1.env.<Environment variable KEY>=<Environment variable VALUE>
# (If this value is quoted with ` it is handled as a native command which execution result will become the value)
# [Common launcher properties]
# common.runDir=<Run Directory>
# (This value is overwritten by a launcher specific runDir value if the latter exists)
# common.env.<Environment variable KEY>=<Environment variable VALUE>
# (Environment variables from common launcher are merged with launcher specific variables)
# common.symbolFiles=<Symbol Files loaded by debugger>
# (This value is overwritten by a launcher specific symbolFiles value if the latter exists)
#
# In runDir, symbolFiles and env fields you can use these macroses:
# ${PROJECT_DIR} - project directory absolute path
# ${OUTPUT_PATH} - linker output path (relative to project directory path)
# ${OUTPUT_BASENAME}- linker output filename
# ${TESTDIR} - test files directory (relative to project directory path)
# ${OBJECTDIR} - object files directory (relative to project directory path)
# ${CND_DISTDIR} - distribution directory (relative to project directory path)
# ${CND_BUILDDIR} - build directory (relative to project directory path)
# ${CND_PLATFORM} - platform name
# ${CND_CONF} - configuration name
# ${CND_DLIB_EXT} - dynamic library extension
#
# All the project launchers must be listed in the file!
#
# launcher1.runCommand=...
# launcher2.runCommand=...
# ...
# common.runDir=...
# common.env.KEY=VALUE
# launcher1.runCommand=<type your run command here>

View file

@ -0,0 +1,7 @@
<?xml version="1.0" encoding="UTF-8"?>
<project-private xmlns="http://www.netbeans.org/ns/project-private/1">
<data xmlns="http://www.netbeans.org/ns/make-project-private/1">
<activeConfTypeElem>1</activeConfTypeElem>
<activeConfIndexElem>0</activeConfIndexElem>
</data>
</project-private>

View file

@ -0,0 +1,30 @@
<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://www.netbeans.org/ns/project/1">
<type>org.netbeans.modules.cnd.makeproject</type>
<configuration>
<data xmlns="http://www.netbeans.org/ns/make-project/1">
<name>testeur</name>
<c-extensions/>
<cpp-extensions>cpp</cpp-extensions>
<header-extensions>h</header-extensions>
<sourceEncoding>UTF-8</sourceEncoding>
<make-dep-projects/>
<sourceRootList>
<sourceRootElem>../../superviseur-robot/lib/src</sourceRootElem>
</sourceRootList>
<confList>
<confElem>
<name>Debug</name>
<type>1</type>
</confElem>
<confElem>
<name>Release</name>
<type>1</type>
</confElem>
</confList>
<formatting>
<project-formatting-style>false</project-formatting-style>
</formatting>
</data>
</configuration>
</project>