diff --git a/software/monitor/monitor-python-qt/main_window.py b/software/monitor/monitor-python-qt/main_window.py index d8b2e81..7f08ed6 100644 --- a/software/monitor/monitor-python-qt/main_window.py +++ b/software/monitor/monitor-python-qt/main_window.py @@ -13,46 +13,92 @@ from PyQt5 import QtCore, QtGui, QtWidgets class Ui_MainWindow(object): def setupUi(self, MainWindow): MainWindow.setObjectName("MainWindow") - MainWindow.resize(973, 635) - MainWindow.setMinimumSize(QtCore.QSize(973, 635)) + MainWindow.resize(985, 745) + MainWindow.setMinimumSize(QtCore.QSize(985, 745)) self.centralwidget = QtWidgets.QWidget(MainWindow) self.centralwidget.setObjectName("centralwidget") self.widget = QtWidgets.QWidget(self.centralwidget) - self.widget.setGeometry(QtCore.QRect(14, 13, 947, 574)) + self.widget.setGeometry(QtCore.QRect(20, 16, 947, 671)) self.widget.setObjectName("widget") - self.horizontalLayout_6 = QtWidgets.QHBoxLayout(self.widget) - self.horizontalLayout_6.setContentsMargins(0, 0, 0, 0) - self.horizontalLayout_6.setObjectName("horizontalLayout_6") + self.horizontalLayout_7 = QtWidgets.QHBoxLayout(self.widget) + self.horizontalLayout_7.setContentsMargins(0, 0, 0, 0) + self.horizontalLayout_7.setObjectName("horizontalLayout_7") self.verticalLayout_4 = QtWidgets.QVBoxLayout() self.verticalLayout_4.setObjectName("verticalLayout_4") + self.horizontalLayout_3 = QtWidgets.QHBoxLayout() + self.horizontalLayout_3.setObjectName("horizontalLayout_3") self.checkBox_enableCamera = QtWidgets.QCheckBox(self.widget) self.checkBox_enableCamera.setObjectName("checkBox_enableCamera") - self.verticalLayout_4.addWidget(self.checkBox_enableCamera) + self.horizontalLayout_3.addWidget(self.checkBox_enableCamera) + self.checkBox_enableFPS = QtWidgets.QCheckBox(self.widget) + self.checkBox_enableFPS.setObjectName("checkBox_enableFPS") + self.horizontalLayout_3.addWidget(self.checkBox_enableFPS) + self.verticalLayout_4.addLayout(self.horizontalLayout_3) self.label_Image = QtWidgets.QLabel(self.widget) - sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding) + sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(0) sizePolicy.setHeightForWidth(self.label_Image.sizePolicy().hasHeightForWidth()) self.label_Image.setSizePolicy(sizePolicy) self.label_Image.setMinimumSize(QtCore.QSize(640, 480)) self.label_Image.setSizeIncrement(QtCore.QSize(1, 1)) - self.label_Image.setFrameShape(QtWidgets.QFrame.Box) + self.label_Image.setFrameShape(QtWidgets.QFrame.NoFrame) self.label_Image.setText("") self.label_Image.setObjectName("label_Image") self.verticalLayout_4.addWidget(self.label_Image) self.pushButton_confirmArena = QtWidgets.QPushButton(self.widget) self.pushButton_confirmArena.setObjectName("pushButton_confirmArena") self.verticalLayout_4.addWidget(self.pushButton_confirmArena) - self.horizontalLayout_3 = QtWidgets.QHBoxLayout() - self.horizontalLayout_3.setObjectName("horizontalLayout_3") - self.checkBox_enableFPS = QtWidgets.QCheckBox(self.widget) - self.checkBox_enableFPS.setObjectName("checkBox_enableFPS") - self.horizontalLayout_3.addWidget(self.checkBox_enableFPS) + self.horizontalLayout_6 = QtWidgets.QHBoxLayout() + self.horizontalLayout_6.setObjectName("horizontalLayout_6") self.checkBox_enablePosition = QtWidgets.QCheckBox(self.widget) self.checkBox_enablePosition.setObjectName("checkBox_enablePosition") - self.horizontalLayout_3.addWidget(self.checkBox_enablePosition) - self.verticalLayout_4.addLayout(self.horizontalLayout_3) - self.horizontalLayout_6.addLayout(self.verticalLayout_4) + self.horizontalLayout_6.addWidget(self.checkBox_enablePosition) + self.gridLayout_2 = QtWidgets.QGridLayout() + self.gridLayout_2.setObjectName("gridLayout_2") + self.label_100 = QtWidgets.QLabel(self.widget) + self.label_100.setText("") + self.label_100.setPixmap(QtGui.QPixmap("ui/../res/icons8-robot-24.png")) + self.label_100.setAlignment(QtCore.Qt.AlignCenter) + self.label_100.setObjectName("label_100") + self.gridLayout_2.addWidget(self.label_100, 0, 0, 1, 1) + self.label_RobotID = QtWidgets.QLabel(self.widget) + self.label_RobotID.setAlignment(QtCore.Qt.AlignCenter) + self.label_RobotID.setObjectName("label_RobotID") + self.gridLayout_2.addWidget(self.label_RobotID, 0, 1, 1, 1) + self.label_102 = QtWidgets.QLabel(self.widget) + self.label_102.setText("") + self.label_102.setPixmap(QtGui.QPixmap("ui/../res/icons8-azimuth-24.png")) + self.label_102.setAlignment(QtCore.Qt.AlignCenter) + self.label_102.setObjectName("label_102") + self.gridLayout_2.addWidget(self.label_102, 1, 0, 1, 1) + self.label_RobotAngle = QtWidgets.QLabel(self.widget) + self.label_RobotAngle.setAlignment(QtCore.Qt.AlignCenter) + self.label_RobotAngle.setObjectName("label_RobotAngle") + self.gridLayout_2.addWidget(self.label_RobotAngle, 1, 1, 1, 1) + self.label_101 = QtWidgets.QLabel(self.widget) + self.label_101.setText("") + self.label_101.setPixmap(QtGui.QPixmap("ui/../res/icons8-emplacement-off-24.png")) + self.label_101.setAlignment(QtCore.Qt.AlignCenter) + self.label_101.setObjectName("label_101") + self.gridLayout_2.addWidget(self.label_101, 2, 0, 1, 1) + self.label_RobotPos = QtWidgets.QLabel(self.widget) + self.label_RobotPos.setAlignment(QtCore.Qt.AlignCenter) + self.label_RobotPos.setObjectName("label_RobotPos") + self.gridLayout_2.addWidget(self.label_RobotPos, 2, 1, 1, 1) + self.label_103 = QtWidgets.QLabel(self.widget) + self.label_103.setText("") + self.label_103.setPixmap(QtGui.QPixmap("ui/../res/icons8-flèche-haut-gauche-24.png")) + self.label_103.setAlignment(QtCore.Qt.AlignCenter) + self.label_103.setObjectName("label_103") + self.gridLayout_2.addWidget(self.label_103, 3, 0, 1, 1) + self.label_RobotDirection = QtWidgets.QLabel(self.widget) + self.label_RobotDirection.setAlignment(QtCore.Qt.AlignCenter) + self.label_RobotDirection.setObjectName("label_RobotDirection") + self.gridLayout_2.addWidget(self.label_RobotDirection, 3, 1, 1, 1) + self.horizontalLayout_6.addLayout(self.gridLayout_2) + self.verticalLayout_4.addLayout(self.horizontalLayout_6) + self.horizontalLayout_7.addLayout(self.verticalLayout_4) self.verticalLayout_6 = QtWidgets.QVBoxLayout() self.verticalLayout_6.setObjectName("verticalLayout_6") self.groupBox_activation = QtWidgets.QGroupBox(self.widget) @@ -182,10 +228,10 @@ class Ui_MainWindow(object): self.verticalLayout_6.addWidget(self.groupBox_AnswerandBattery) spacerItem = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding) self.verticalLayout_6.addItem(spacerItem) - self.horizontalLayout_6.addLayout(self.verticalLayout_6) + self.horizontalLayout_7.addLayout(self.verticalLayout_6) MainWindow.setCentralWidget(self.centralwidget) self.menubar = QtWidgets.QMenuBar(MainWindow) - self.menubar.setGeometry(QtCore.QRect(0, 0, 973, 22)) + self.menubar.setGeometry(QtCore.QRect(0, 0, 985, 22)) self.menubar.setObjectName("menubar") self.menu_Quitter = QtWidgets.QMenu(self.menubar) self.menu_Quitter.setObjectName("menu_Quitter") @@ -209,9 +255,13 @@ class Ui_MainWindow(object): _translate = QtCore.QCoreApplication.translate MainWindow.setWindowTitle(_translate("MainWindow", "Robot Monitor")) self.checkBox_enableCamera.setText(_translate("MainWindow", "Enable Ca&mera")) - self.pushButton_confirmArena.setText(_translate("MainWindow", "Co&nfirme arena border...")) self.checkBox_enableFPS.setText(_translate("MainWindow", "Enable &FPS")) + self.pushButton_confirmArena.setText(_translate("MainWindow", "Co&nfirme arena border...")) self.checkBox_enablePosition.setText(_translate("MainWindow", "Enable Pos&ition")) + self.label_RobotID.setText(_translate("MainWindow", "No robot (-1)")) + self.label_RobotAngle.setText(_translate("MainWindow", "0.0°")) + self.label_RobotPos.setText(_translate("MainWindow", "(0.0, 0.0)")) + self.label_RobotDirection.setText(_translate("MainWindow", "(0.0, 0.0)")) self.groupBox_activation.setTitle(_translate("MainWindow", "Robot Activation")) self.groupBox_connection.setTitle(_translate("MainWindow", "Connection")) self.label.setText(_translate("MainWindow", "Address:")) diff --git a/software/monitor/monitor-python-qt/monitor-python.py b/software/monitor/monitor-python-qt/monitor-python.py index bf13e7e..559ee3c 100755 --- a/software/monitor/monitor-python-qt/monitor-python.py +++ b/software/monitor/monitor-python-qt/monitor-python.py @@ -264,10 +264,50 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow): self.label_Image.setPixmap(im_pixmap) self.label_Image.setScaledContents(True) - self.label_Image.setSizePolicy(QtWidgets.QSizePolicy.Ignored,QtWidgets.QSizePolicy.Ignored) - elif Network.CAMERA_POSITION in s: - print ("position received") - print (s) + self.label_Image.setSizePolicy(QtWidgets.QSizePolicy.Fixed,QtWidgets.QSizePolicy.Fixed) + elif Network.CAMERA_POSITION in s: + #CPOS:-1;0.000000;0.000000;0.000000;0.000000;0.000000 + str_split = s.split(':') + values_split = str_split[1].split(';') + + try: + robot_ID = int(values_split[0]) # Id of robot + except: + robot_ID = -1 + + try: + robot_Angle = float(values_split[1]) # angle of robot + except: + robot_Angle = 0.0 + + try: + robot_Coord_X = float(values_split[2]) # X coord of robot + except: + robot_Coord_X = 0.0 + + try: + robot_Coord_Y = float(values_split[3]) # Y coord of robot + except: + robot_Coord_Y = 0.0 + + try: + robot_Cap_X = float(values_split[4]) # X cap of robot + except: + robot_Cap_X = 0.0 + + try: + robot_Cap_Y = float(values_split[5]) # Y cap of robot + except: + robot_Cap_Y = 0.0 + + if robot_ID == -1: + self.label_RobotID.setText("No robot (-1)") + else: + self.label_RobotID.setText(values_split[0]) + + self.label_RobotAngle.setText("%.2f°" % (robot_Angle)) + self.label_RobotPos.setText("(%.2f, %.2f)" % (robot_Coord_X, robot_Coord_Y)) + self.label_RobotDirection.setText("(%.2f, %.2f)" % (robot_Cap_X, robot_Cap_Y)) # Callback for battery timeout @QtCore.pyqtSlot() diff --git a/software/monitor/monitor-python-qt/res/icons8-azimuth-24.png b/software/monitor/monitor-python-qt/res/icons8-azimuth-24.png new file mode 100644 index 0000000..245b4c2 Binary files /dev/null and b/software/monitor/monitor-python-qt/res/icons8-azimuth-24.png differ diff --git a/software/monitor/monitor-python-qt/res/icons8-emplacement-off-24.png b/software/monitor/monitor-python-qt/res/icons8-emplacement-off-24.png new file mode 100644 index 0000000..d839a0e Binary files /dev/null and b/software/monitor/monitor-python-qt/res/icons8-emplacement-off-24.png differ diff --git a/software/monitor/monitor-python-qt/res/icons8-flèche-haut-gauche-24.png b/software/monitor/monitor-python-qt/res/icons8-flèche-haut-gauche-24.png new file mode 100644 index 0000000..4f8a26a Binary files /dev/null and b/software/monitor/monitor-python-qt/res/icons8-flèche-haut-gauche-24.png differ diff --git a/software/monitor/monitor-python-qt/res/icons8-robot-24.png b/software/monitor/monitor-python-qt/res/icons8-robot-24.png new file mode 100644 index 0000000..69bc7a3 Binary files /dev/null and b/software/monitor/monitor-python-qt/res/icons8-robot-24.png differ diff --git a/software/monitor/monitor-python-qt/ui/main_window.ui b/software/monitor/monitor-python-qt/ui/main_window.ui index 2a79080..e90153c 100644 --- a/software/monitor/monitor-python-qt/ui/main_window.ui +++ b/software/monitor/monitor-python-qt/ui/main_window.ui @@ -6,14 +6,14 @@ 0 0 - 973 - 635 + 985 + 745 - 973 - 635 + 985 + 745 @@ -23,26 +23,37 @@ - 14 - 13 + 20 + 16 947 - 574 + 671 - + - - - Enable Ca&mera - - + + + + + Enable Ca&mera + + + + + + + Enable &FPS + + + + - + 0 0 @@ -60,7 +71,7 @@ - QFrame::Box + QFrame::NoFrame @@ -75,14 +86,7 @@ - - - - - Enable &FPS - - - + @@ -90,6 +94,102 @@ + + + + + + + + + ../res/icons8-robot-24.png + + + Qt::AlignCenter + + + + + + + No robot (-1) + + + Qt::AlignCenter + + + + + + + + + + ../res/icons8-azimuth-24.png + + + Qt::AlignCenter + + + + + + + 0.0° + + + Qt::AlignCenter + + + + + + + + + + ../res/icons8-emplacement-off-24.png + + + Qt::AlignCenter + + + + + + + (0.0, 0.0) + + + Qt::AlignCenter + + + + + + + + + + ../res/icons8-flèche-haut-gauche-24.png + + + Qt::AlignCenter + + + + + + + (0.0, 0.0) + + + Qt::AlignCenter + + + + + @@ -353,7 +453,7 @@ 0 0 - 973 + 985 22 diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/camera.cpp b/software/raspberry/superviseur-robot-dumber-pthread/lib/camera.cpp index ff2d68c..8c64a18 100644 --- a/software/raspberry/superviseur-robot-dumber-pthread/lib/camera.cpp +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/camera.cpp @@ -29,12 +29,6 @@ using namespace cv; Camera::Camera(int size, int fps) { this->SetSize(size); this->fps = fps; -#ifndef __FOR_PC__ - this->cap.set(CV_CAP_PROP_FORMAT, CV_8UC3); - this->cap.set(CV_CAP_PROP_FRAME_WIDTH, width); - this->cap.set(CV_CAP_PROP_FRAME_HEIGHT, height); - this->cap.set(CV_CAP_PROP_FPS, fps); -#endif /* __FOR_PC__ */ } /** @@ -44,23 +38,13 @@ Camera::Camera(int size, int fps) { bool Camera::Open() { bool status = false; -#ifdef __FOR_PC__ if (this->cap.open(0)) { //this->cap.set(CV_CAP_PROP_FORMAT, CV_8UC3); this->cap.set(CV_CAP_PROP_FRAME_WIDTH, width); this->cap.set(CV_CAP_PROP_FRAME_HEIGHT, height); - + this->cap.set(CV_CAP_PROP_FPS, this->fps); status = true; } -#else - if (this->cap.open()) { - cout << "Camera warmup 2sec" << endl << flush; - sleep(2); - cout << "Start capture" << endl << flush; - - status = true; - } -#endif /* __FOR_PC__ */ return status; } @@ -97,8 +81,8 @@ void Camera::SetSize(int size) { this->height = 768; break; default: - this->width = 480; - this->height = 360; + this->width = 320; + this->height = 240; } } @@ -109,19 +93,8 @@ void Camera::SetSize(int size) { Img Camera::Grab() { ImageMat frame; -#ifdef __FOR_PC__ cap >> frame; Img capture = Img(frame); -#else - cap.grab(); - cap.retrieve(frame); - -#ifdef __INVERSE_COLOR__ - cvtColor(frame, frame, CV_BGR2RGB); -#endif // __INVERSE_COLOR__ - - Img capture = Img(frame); -#endif /* __FOR_PC__ */ return capture; } diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/camera.h b/software/raspberry/superviseur-robot-dumber-pthread/lib/camera.h index a8e9cc2..db1a6bd 100644 --- a/software/raspberry/superviseur-robot-dumber-pthread/lib/camera.h +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/camera.h @@ -22,9 +22,6 @@ #include #include -#ifndef __FOR_PC__ -#include "raspicam/raspicam_cv.h" -#endif /* __FOR_PC__ */ #include "img.h" /** @@ -94,14 +91,8 @@ public: Img Grab(); private: -#ifdef __FOR_PC__ - /** - * Camera descriptor - */ - cv::VideoCapture cap; -#else - raspicam::RaspiCam_Cv cap; -#endif /* __FOR_PC__ */ + + cv::VideoCapture cap; /** * Size for image (default= small) diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/comrobot.cpp b/software/raspberry/superviseur-robot-dumber-pthread/lib/comrobot.cpp index 8f7bc47..69760ea 100644 --- a/software/raspberry/superviseur-robot-dumber-pthread/lib/comrobot.cpp +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/comrobot.cpp @@ -26,12 +26,9 @@ #include #include -#ifdef __FOR_PC__ -// #define USART_FILENAME "/dev/ttyUSB0" #define USART_FILENAME "/dev/ttyS0" -#else -#define USART_FILENAME "/dev/ttyS0" -#endif /* __FOR_PC__ */ +// Uncomment the following line when used on PC +//#define USART_FILENAME "/dev/ttyUSB0" /* * Constants to be used for communicating with robot. Contains command tag diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/Makefile-JPO2019_RPI_.mk b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/Makefile-JPO2019_RPI_.mk index ec7f33b..4d0ecb4 100644 --- a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/Makefile-JPO2019_RPI_.mk +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/Makefile-JPO2019_RPI_.mk @@ -72,42 +72,42 @@ ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot-dumber-pthread: ${O ${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp ${MKDIR} -p ${OBJECTDIR}/lib/base64 ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp ${OBJECTDIR}/lib/camera.o: lib/camera.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp ${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp ${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp ${OBJECTDIR}/lib/img.o: lib/img.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp ${OBJECTDIR}/lib/messages.o: lib/messages.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp ${OBJECTDIR}/main.o: main.cpp ${MKDIR} -p ${OBJECTDIR} ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp ${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp ${MKDIR} -p ${OBJECTDIR} ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp # Subprojects .build-subprojects: diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/configurations.xml b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/configurations.xml index 7508430..29ff15a 100644 --- a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/configurations.xml +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/configurations.xml @@ -216,7 +216,6 @@ -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 _WITH_TRACE_ - __FOR_PC__ __WITH_ARUCO__ __WITH_PTHREAD__ diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/configurations.xml b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/configurations.xml index ddaf89b..ea3ecf0 100644 --- a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/configurations.xml +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/configurations.xml @@ -74,7 +74,7 @@ - xenomai@192.168.1.141:22 + xenomai@10.105.1.7:22 2 diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/downloads-10.105.1.7-xenomai-22 b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/downloads-10.105.1.7-xenomai-22 new file mode 100644 index 0000000..e69de29 diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/private.xml b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/private.xml index 0991519..badc3d7 100644 --- a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/private.xml +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/private.xml @@ -7,13 +7,10 @@ - file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/img.h - file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/img.cpp - file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/messages.cpp - file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/tasks_pthread.cpp - file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/commonitor.cpp - file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/camera.cpp - file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/camera.h + file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot-dumber-pthread/lib/img.h + file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot-dumber-pthread/lib/camera.cpp + file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot-dumber-pthread/lib/img.cpp + file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot-dumber-pthread/lib/camera.h diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/timestamps-10.105.1.7-xenomai-22 b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/timestamps-10.105.1.7-xenomai-22 index f8cfc04..c2b5b32 100644 --- a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/timestamps-10.105.1.7-xenomai-22 +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/timestamps-10.105.1.7-xenomai-22 @@ -1,96 +1,96 @@ -#Tue Oct 18 16:54:29 CEST 2022 +#Thu Oct 20 14:17:34 CEST 2022 /home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/doc/html/search/all_12.html=c1666083088649 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+242,44 @@ void Tasks::TimerTask(void* arg) { //cntFrame++; //cout << "cnt: " << to_string(cntFrame) << endl << flush; + image.dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(3)); + + std::list poses = image.SearchRobot(arena); + if (poses.size() > 0) { + Position firstPos = poses.front(); + + pos.angle = firstPos.angle; + pos.robotId = firstPos.robotId; + pos.center = firstPos.center; + pos.direction = firstPos.direction; + } else { + // Nothing found + pos.angle = 0.0; + pos.robotId = -1; + pos.center = cv::Point2f(0, 0); + pos.direction = cv::Point2f(0, 0); + } + if (sendPosition == true) { counter++; - if (counter >= 5) { // div =15 + if (counter >= 15) { // div =15/15 => 1 update per second counter = 0; //if (!arena.IsEmpty()) { - image.dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(3)); - - std::list poses = image.SearchRobot(arena); + cout << "Nbr of pos detected: " << to_string(poses.size()) << endl << flush; - if (poses.size() > 0) { - Position firstPos = poses.front(); - - pos.angle = firstPos.angle; - pos.robotId = firstPos.robotId; - pos.center = firstPos.center; - pos.direction = firstPos.direction; - } else { - // Nothing found - pos.angle = 0.0; - pos.robotId = -1; - pos.center = cv::Point2f(0, 0); - pos.direction = cv::Point2f(0, 0); - } - MessagePosition *msgp = new MessagePosition(MESSAGE_CAM_POSITION, pos); monitor.Write(msgp); - cout << "Position sent" << endl << flush; + //cout << "Position sent" << endl << flush; } } if (sendImage == true) { counter_img++; - if (counter_img >= 1) { + if (counter_img >= 1) { // Div = 15/1 => 15 images per sec counter_img = 0; if (showArena) { diff --git a/software/raspberry/superviseur-robot/lib/camera.cpp b/software/raspberry/superviseur-robot/lib/camera.cpp index 173d407..83db192 100644 --- a/software/raspberry/superviseur-robot/lib/camera.cpp +++ b/software/raspberry/superviseur-robot/lib/camera.cpp @@ -35,12 +35,7 @@ Camera::Camera():Camera(sm, 10){ */ Camera::Camera(int size, int fps) { this->SetSize(size); -#ifndef __FOR_PC__ - this->cap.set(CV_CAP_PROP_FORMAT, CV_8UC3); - this->cap.set(CV_CAP_PROP_FRAME_WIDTH, width); - this->cap.set(CV_CAP_PROP_FRAME_HEIGHT, height); - this->cap.set(CV_CAP_PROP_FPS, fps); -#endif /* __FOR_PC__ */ + this->fps = fps; } /** @@ -50,23 +45,13 @@ Camera::Camera(int size, int fps) { bool Camera::Open() { bool status = false; -#ifdef __FOR_PC__ if (this->cap.open(0)) { //this->cap.set(CV_CAP_PROP_FORMAT, CV_8UC3); this->cap.set(CV_CAP_PROP_FRAME_WIDTH, width); this->cap.set(CV_CAP_PROP_FRAME_HEIGHT, height); - + this->cap.set(CV_CAP_PROP_FPS, fps); status = true; } -#else - if (this->cap.open()) { - cout << "Camera warmup 2sec" << endl << flush; - sleep(2); - cout << "Start capture" << endl << flush; - - status = true; - } -#endif /* __FOR_PC__ */ return status; } @@ -87,24 +72,24 @@ void Camera::SetSize(int size) { switch (size) { case xs: - this->width = 480; - this->height = 360; + this->width = 320; + this->height = 240; break; case sm: this->width = 640; this->height = 480; break; case md: + this->width = 800; + this->height = 600; + break; + case lg: this->width = 1024; this->height = 768; break; - case lg: - this->width = 1280; - this->height = 960; - break; default: - this->width = 480; - this->height = 360; + this->width = 320; + this->height = 240; } } @@ -115,19 +100,8 @@ void Camera::SetSize(int size) { Img Camera::Grab() { ImageMat frame; -#ifdef __FOR_PC__ cap >> frame; Img capture = Img(frame); -#else - cap.grab(); - cap.retrieve(frame); - -#ifdef __INVERSE_COLOR__ - cvtColor(frame, frame, CV_BGR2RGB); -#endif // __INVERSE_COLOR__ - - Img capture = Img(frame); -#endif /* __FOR_PC__ */ return capture; } @@ -156,3 +130,11 @@ int Camera::GetHeight() const { return height; } +/** + * Get fps of sampled image + * @return fps of sampled picture + */ +int Camera::GetFPS() const { + return fps; +} + diff --git a/software/raspberry/superviseur-robot/lib/camera.h b/software/raspberry/superviseur-robot/lib/camera.h index 0ce250a..125d50f 100644 --- a/software/raspberry/superviseur-robot/lib/camera.h +++ b/software/raspberry/superviseur-robot/lib/camera.h @@ -22,9 +22,6 @@ #include #include -#ifndef __FOR_PC__ -#include "raspicam/raspicam_cv.h" -#endif /* __FOR_PC__ */ #include "img.h" /** @@ -76,6 +73,12 @@ public: */ int GetHeight() const; + /** + * Get fps of sampled image + * @return fps of sampled picture + */ + int GetFPS() const; + /** * Get opening status for camera * @return true if camera is open, false otherwise @@ -95,14 +98,10 @@ public: Img Grab(); private: -#ifdef __FOR_PC__ /** * Camera descriptor */ - cv::VideoCapture cap; -#else - raspicam::RaspiCam_Cv cap; -#endif /* __FOR_PC__ */ + cv::VideoCapture cap; /** * Size for image (default= small) @@ -118,6 +117,11 @@ private: * Height of image */ int height; + + /** + * fps of image + */ + int fps; }; #endif //__CAMERA_H__ diff --git a/software/raspberry/superviseur-robot/lib/comrobot.cpp b/software/raspberry/superviseur-robot/lib/comrobot.cpp index 28d0200..69760ea 100644 --- a/software/raspberry/superviseur-robot/lib/comrobot.cpp +++ b/software/raspberry/superviseur-robot/lib/comrobot.cpp @@ -26,11 +26,9 @@ #include #include -#ifdef __FOR_PC__ -#define USART_FILENAME "/dev/ttyUSB0" -#else #define USART_FILENAME "/dev/ttyS0" -#endif /* __FOR_PC__ */ +// Uncomment the following line when used on PC +//#define USART_FILENAME "/dev/ttyUSB0" /* * Constants to be used for communicating with robot. Contains command tag diff --git a/software/raspberry/superviseur-robot/lib/img.cpp b/software/raspberry/superviseur-robot/lib/img.cpp index feed7a1..0ca964e 100644 --- a/software/raspberry/superviseur-robot/lib/img.cpp +++ b/software/raspberry/superviseur-robot/lib/img.cpp @@ -294,3 +294,14 @@ void Img::DrawArena(Arena arenaToDraw) { ImageMat Img::CropArena(Arena arena) { return this->img(arena.arena); } + +/** + * Crop image around detected arena + * @param arena Coordinate of arena + * @return Reduced image, focused on arena + */ +Img Img::Resize() { + ImageMat newImage; + cv::resize(this->img, newImage, cv::Size(320,240), cv::INTER_LINEAR); + return Img(newImage); +} \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/lib/img.h b/software/raspberry/superviseur-robot/lib/img.h index 210fe49..11822e0 100644 --- a/software/raspberry/superviseur-robot/lib/img.h +++ b/software/raspberry/superviseur-robot/lib/img.h @@ -181,7 +181,8 @@ public: * @return list of position, empty if no robot found */ std::list SearchRobot(Arena arena); - + + Img Resize(); #ifdef __WITH_ARUCO__ /** * Dictionary to be used for aruco recognition diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk index 181e49d..7ef8138 100644 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk @@ -47,7 +47,7 @@ OBJECTFILES= \ # C Compiler Flags -CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy +CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__COBALT__ -I/usr/xenomai/include/alchemy # CC Compiler Flags CCFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__COBALT__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11 @@ -73,42 +73,42 @@ ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES} ${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp ${MKDIR} -p ${OBJECTDIR}/lib/base64 ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp ${OBJECTDIR}/lib/camera.o: lib/camera.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp ${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp ${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp ${OBJECTDIR}/lib/img.o: lib/img.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp ${OBJECTDIR}/lib/messages.o: lib/messages.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp ${OBJECTDIR}/main.o: main.cpp ${MKDIR} -p ${OBJECTDIR} ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp ${OBJECTDIR}/tasks.o: tasks.cpp ${MKDIR} -p ${OBJECTDIR} ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp ${OBJECTDIR}/wrapper.o: wrapper.c ${MKDIR} -p ${OBJECTDIR} diff --git a/software/raspberry/superviseur-robot/nbproject/configurations.xml b/software/raspberry/superviseur-robot/nbproject/configurations.xml index f35c91c..48dba36 100644 --- a/software/raspberry/superviseur-robot/nbproject/configurations.xml +++ b/software/raspberry/superviseur-robot/nbproject/configurations.xml @@ -131,7 +131,7 @@ /usr/xenomai/include /usr/xenomai/include/mercury - -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy + -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__COBALT__ -I/usr/xenomai/include/alchemy @@ -143,7 +143,6 @@ -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__COBALT__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11 _WITH_TRACE_ - __FOR_PC__ __WITH_ARUCO__ diff --git a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.7-xenomai-22 b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.7-xenomai-22 index 80039af..6e26f07 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.7-xenomai-22 +++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.7-xenomai-22 @@ -1,7 +1,7 @@ -#Tue Oct 18 16:27:07 CEST 2022 +#Thu Oct 20 14:09:18 CEST 2022 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/search.css=c1547565562000 -/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_string__coll__graph.pdf=c1547560340000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/robot-icon.resized.png=c1547565562000 +/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_string__coll__graph.pdf=c1547560340000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_monitor-members.html=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile=c1554978722000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1666083174932 @@ -42,30 +42,30 @@ /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_b.html=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1549890874000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/classes.html=c1547565562000 +/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1666267752164 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_0.md5=c1547564860000 -/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1666103200662 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/files_1.html=c1547565562000 -/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/messages_8h__dep__incl.pdf=c1547560338000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_1.js=c1547565562000 +/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/messages_8h__dep__incl.pdf=c1547560338000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_f.html=c1547565562000 -/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_string.html=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_a.html=c1547565562000 +/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_string.html=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/messages_8h__incl.md5=c1547560338000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/navtreeindex0.js=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_1.png=c1547564768000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_8.js=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_camera.html=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/refman.tex=c1547565562000 -/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h__incl.md5=c1547560338000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_6.html=c1547565562000 +/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h__incl.md5=c1547560338000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/comrobot_8h.html=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/struct_position-members.html=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_14.html=c1547565562000 -/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img__inherit__graph.md5=c1547560338000 -/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery.js=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_3.html=c1547565562000 -/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int-members.html=c1547565562000 +/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery.js=c1547565562000 +/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img__inherit__graph.md5=c1547560338000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_e.html=c1547565562000 +/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int-members.html=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_monitor.html=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/splitbar.png=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_10.js=c1547565562000 @@ -81,8 +81,8 @@ /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_5.html=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/tabs.css=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_5.html=c1547565562000 -/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/folderopen.png=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_arena.js=c1547565562000 +/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/folderopen.png=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_2.js=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_battery__inherit__graph.md5=c1547560338000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enums_2.html=c1547565562000 @@ -108,7 +108,7 @@ /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_4.js=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_img-members.html=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/.gitignore=c1554978722000 -/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1666083174932 +/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1666267250425 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int.js=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_0.png=c1547564862000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/doxygen.sty=c1547565562000 @@ -118,7 +118,7 @@ /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_a.html=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/README.md=c1554974530000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/messages_8h__incl.pdf=c1547560338000 -/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1549890874000 +/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1666267283341 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_9.js=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_monitor.js=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_f.html=c1547565562000 @@ -127,10 +127,10 @@ /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_11.html=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_8.html=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery.html=c1547565562000 -/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/dynsections.js=c1547565562000 /home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1549890874000 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