diff --git a/software/monitor/monitor-python-qt/main_window.py b/software/monitor/monitor-python-qt/main_window.py index 1090808..d8b2e81 100644 --- a/software/monitor/monitor-python-qt/main_window.py +++ b/software/monitor/monitor-python-qt/main_window.py @@ -13,35 +13,54 @@ from PyQt5 import QtCore, QtGui, QtWidgets class Ui_MainWindow(object): def setupUi(self, MainWindow): MainWindow.setObjectName("MainWindow") - MainWindow.resize(928, 629) + MainWindow.resize(973, 635) + MainWindow.setMinimumSize(QtCore.QSize(973, 635)) self.centralwidget = QtWidgets.QWidget(MainWindow) self.centralwidget.setObjectName("centralwidget") - self.horizontalLayout_6 = QtWidgets.QHBoxLayout(self.centralwidget) + self.widget = QtWidgets.QWidget(self.centralwidget) + self.widget.setGeometry(QtCore.QRect(14, 13, 947, 574)) + 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.verticalLayout_4 = QtWidgets.QVBoxLayout() self.verticalLayout_4.setObjectName("verticalLayout_4") - self.checkBox_enableCamera = QtWidgets.QCheckBox(self.centralwidget) + self.checkBox_enableCamera = QtWidgets.QCheckBox(self.widget) self.checkBox_enableCamera.setObjectName("checkBox_enableCamera") self.verticalLayout_4.addWidget(self.checkBox_enableCamera) - self.graphicsView_Image = QtWidgets.QGraphicsView(self.centralwidget) - self.graphicsView_Image.setObjectName("graphicsView_Image") - self.verticalLayout_4.addWidget(self.graphicsView_Image) - self.pushButton_confirmArena = QtWidgets.QPushButton(self.centralwidget) + self.label_Image = QtWidgets.QLabel(self.widget) + sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding) + 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.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.centralwidget) + self.checkBox_enableFPS = QtWidgets.QCheckBox(self.widget) self.checkBox_enableFPS.setObjectName("checkBox_enableFPS") self.horizontalLayout_3.addWidget(self.checkBox_enableFPS) - self.checkBox_enablePosition = QtWidgets.QCheckBox(self.centralwidget) + 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.verticalLayout_6 = QtWidgets.QVBoxLayout() self.verticalLayout_6.setObjectName("verticalLayout_6") - self.groupBox_connection = QtWidgets.QGroupBox(self.centralwidget) + self.groupBox_activation = QtWidgets.QGroupBox(self.widget) + self.groupBox_activation.setAlignment(QtCore.Qt.AlignCenter) + self.groupBox_activation.setObjectName("groupBox_activation") + self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.groupBox_activation) + self.verticalLayout_2.setObjectName("verticalLayout_2") + self.groupBox_connection = QtWidgets.QGroupBox(self.groupBox_activation) self.groupBox_connection.setAlignment(QtCore.Qt.AlignCenter) self.groupBox_connection.setFlat(False) self.groupBox_connection.setCheckable(False) @@ -102,12 +121,7 @@ class Ui_MainWindow(object): self.line.setFrameShadow(QtWidgets.QFrame.Sunken) self.line.setObjectName("line") self.verticalLayout.addWidget(self.line) - self.verticalLayout_6.addWidget(self.groupBox_connection) - self.groupBox_activation = QtWidgets.QGroupBox(self.centralwidget) - self.groupBox_activation.setAlignment(QtCore.Qt.AlignCenter) - self.groupBox_activation.setObjectName("groupBox_activation") - self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.groupBox_activation) - self.verticalLayout_2.setObjectName("verticalLayout_2") + self.verticalLayout_2.addWidget(self.groupBox_connection) self.checkBox_watchdog = QtWidgets.QCheckBox(self.groupBox_activation) self.checkBox_watchdog.setObjectName("checkBox_watchdog") self.verticalLayout_2.addWidget(self.checkBox_watchdog) @@ -120,7 +134,7 @@ class Ui_MainWindow(object): self.line_2.setObjectName("line_2") self.verticalLayout_2.addWidget(self.line_2) self.verticalLayout_6.addWidget(self.groupBox_activation) - self.groupBox_mouvments = QtWidgets.QGroupBox(self.centralwidget) + self.groupBox_mouvments = QtWidgets.QGroupBox(self.widget) self.groupBox_mouvments.setAlignment(QtCore.Qt.AlignCenter) self.groupBox_mouvments.setObjectName("groupBox_mouvments") self.verticalLayout_3 = QtWidgets.QVBoxLayout(self.groupBox_mouvments) @@ -149,7 +163,7 @@ class Ui_MainWindow(object): self.line_3.setObjectName("line_3") self.verticalLayout_3.addWidget(self.line_3) self.verticalLayout_6.addWidget(self.groupBox_mouvments) - self.groupBox_AnswerandBattery = QtWidgets.QGroupBox(self.centralwidget) + self.groupBox_AnswerandBattery = QtWidgets.QGroupBox(self.widget) self.groupBox_AnswerandBattery.setObjectName("groupBox_AnswerandBattery") self.verticalLayout_5 = QtWidgets.QVBoxLayout(self.groupBox_AnswerandBattery) self.verticalLayout_5.setObjectName("verticalLayout_5") @@ -171,7 +185,7 @@ class Ui_MainWindow(object): self.horizontalLayout_6.addLayout(self.verticalLayout_6) MainWindow.setCentralWidget(self.centralwidget) self.menubar = QtWidgets.QMenuBar(MainWindow) - self.menubar.setGeometry(QtCore.QRect(0, 0, 928, 22)) + self.menubar.setGeometry(QtCore.QRect(0, 0, 973, 22)) self.menubar.setObjectName("menubar") self.menu_Quitter = QtWidgets.QMenu(self.menubar) self.menu_Quitter.setObjectName("menu_Quitter") @@ -198,12 +212,12 @@ class Ui_MainWindow(object): self.pushButton_confirmArena.setText(_translate("MainWindow", "Co&nfirme arena border...")) self.checkBox_enableFPS.setText(_translate("MainWindow", "Enable &FPS")) self.checkBox_enablePosition.setText(_translate("MainWindow", "Enable Pos&ition")) + self.groupBox_activation.setTitle(_translate("MainWindow", "Robot Activation")) self.groupBox_connection.setTitle(_translate("MainWindow", "Connection")) self.label.setText(_translate("MainWindow", "Address:")) self.label_2.setText(_translate("MainWindow", "Port:")) self.label_3.setText(_translate("MainWindow", "Status:")) self.label_connectionStatus.setText(_translate("MainWindow", "Not connected")) - self.groupBox_activation.setTitle(_translate("MainWindow", "Robot Activation")) self.checkBox_watchdog.setText(_translate("MainWindow", "Start with &watchdog")) self.pushButton_start.setText(_translate("MainWindow", "Start r&obot")) self.groupBox_mouvments.setTitle(_translate("MainWindow", "Mouvments")) diff --git a/software/monitor/monitor-python-qt/monitor-python.py b/software/monitor/monitor-python-qt/monitor-python.py index b04facc..bf13e7e 100755 --- a/software/monitor/monitor-python-qt/monitor-python.py +++ b/software/monitor/monitor-python-qt/monitor-python.py @@ -1,27 +1,34 @@ #!/usr/bin/env python3 from email.message import Message +from email.policy import Policy import os import time import sys +from tkinter import Image -from PyQt5 import (QtCore, QtWidgets) +from PyQt5 import (QtCore, QtWidgets, QtGui) from main_window import Ui_MainWindow from log_dialog import Ui_Dialog from network import * from globvar import GlobVar +import base64 + class Window(QtWidgets.QMainWindow, Ui_MainWindow): _msg_dialog= None _batteryTimer=None + _FPSTimer=None + + fps=0 def __init__(self, parent=None): super().__init__(parent) self.setupUi(self) - self.DisableUIWidgets("Network") + #self.DisableUIWidgets("Network") self.lineEdit_address.setText(GlobVar.address) self.lineEdit_port.setText(str(GlobVar.port)) @@ -30,6 +37,8 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow): self._msg_dialog.ui= Ui_Dialog() self._msg_dialog.ui.setupUi(self._msg_dialog) + self.fps=0 + self.networkThread = Network() self.connectSignalSlots() @@ -41,6 +50,10 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow): self._batteryTimer = QtCore.QTimer() self._batteryTimer.timeout.connect(self.OnBatteryTimeout) + # Create fps timer + self._FPSTimer = QtCore.QTimer() + self._FPSTimer.timeout.connect(self.OnFPSTimeout) + def connectSignalSlots(self): # Buttons self.pushButton_start.pressed.connect(self.OnButtonPress_Start) @@ -78,7 +91,7 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow): def EnableUIWidgets(self, area): if area == "Network": self.groupBox_activation.setDisabled(False) - self.graphicsView_Image.setDisabled(False) + self.label_Image.setDisabled(False) self.pushButton_confirmArena.setDisabled(False) self.checkBox_enableCamera.setDisabled(False) self.checkBox_enableFPS.setDisabled(False) @@ -90,7 +103,7 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow): def DisableUIWidgets(self, area): if area == "Network": self.groupBox_activation.setDisabled(True) - self.graphicsView_Image.setDisabled(True) + self.label_Image.setDisabled(True) self.pushButton_confirmArena.setDisabled(True) self.checkBox_enableCamera.setDisabled(True) self.checkBox_enableFPS.setDisabled(True) @@ -131,16 +144,19 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow): msg.warning(self,'Invalid answer', 'Server answer was not acknowledged. Maybe robot is still running', msg.Ok) self.pushButton_start.setText("Start r&obot") - self.DisableUIWidgets("Robot") + #self.DisableUIWidgets("Robot") @QtCore.pyqtSlot() def OnButtonPress_ConfirmArena(self): + self.networkThread.cameraAskArena() msg= QtWidgets.QMessageBox ret = msg.question(self, '', 'Arena boundaries are correctly detected ?',msg.Yes| msg.No) if ret == msg.Yes: + self.networkThread.cameraConfirmArena() print ("Answer is YES") else: + self.networkThread.cameraInfirmArena() print ("Answer is NO") @QtCore.pyqtSlot() @@ -165,21 +181,26 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow): @QtCore.pyqtSlot(int) def OnCheckBoxChanged_EnableCamera(self, state): - msg= QtWidgets.QMessageBox - msg.information(self, 'Feature not ready', 'Feature not yet available', msg.Ok) - self.checkBox_enableCamera.setChecked(False) + if self.checkBox_enableCamera.isChecked(): + self.networkThread.cameraOpen() + else: + self.networkThread.cameraClose() @QtCore.pyqtSlot(int) def OnCheckBoxChanged_EnableFPS(self, state): - msg= QtWidgets.QMessageBox - msg.information(self, 'Feature not ready', 'Feature not yet available', msg.Ok) - self.checkBox_enableFPS.setChecked(False) + if state !=0: + self._FPSTimer.start(1000) + self.checkBox_enableFPS.setText("FPS (0)") + else: + self._FPSTimer.stop() + self.checkBox_enableFPS.setText("Enable FPS") @QtCore.pyqtSlot(int) def OnCheckBoxChanged_EnablePosition(self, state): - msg= QtWidgets.QMessageBox - msg.information(self, 'Feature not ready', 'Feature not yet available', msg.Ok) - self.checkBox_enablePosition.setChecked(False) + if self.checkBox_enablePosition.isChecked(): + self.networkThread.cameraGetPosition() + else: + self.networkThread.cameraStopPosition() @QtCore.pyqtSlot(int) def OnCheckBoxChanged_GetBattery(self, state): @@ -229,13 +250,38 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow): self.checkBox_getBattery.setText ("Get battery (2 = full)") else: self.checkBox_getBattery.setText ("Get battery (invalid value)") - + elif Network.CAMERA_IMAGE in s: + #print ("Image received") + #print ("Date received: " + s) + + self.fps=self.fps+1 + str_split = s.split(':') + image_jpg= base64.b64decode(str_split[1]) + img = QtGui.QImage.fromData(image_jpg, "jpg") + im_pixmap = QtGui.QPixmap(QtGui.QPixmap.fromImage(img)) + + #print ("Image size: " + str(im_pixmap.width()) + "x" + str(im_pixmap.height())) + + 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) + # Callback for battery timeout @QtCore.pyqtSlot() def OnBatteryTimeout(self) -> None: # Send a request for battery level. Answer will be done in OnReceptionEvent callback self.networkThread.robotGetBattery() + # Callback for FPS timeout + @QtCore.pyqtSlot() + def OnFPSTimeout(self) -> None: + # Display current FPS + self.checkBox_enableFPS.setText("FPS (" + str(self.fps)+")") + self.fps=0 + # Callback for connection/deconnection event from network manager @QtCore.pyqtSlot(int) def OnConnectionEvent(self, event) -> None: @@ -251,7 +297,7 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow): self.label_connectionStatus.setText("Not connected") self.pushButton_start.setText("Start r&obot") - self.DisableUIWidgets("Network") + #self.DisableUIWidgets("Network") # Callback for answer event from network manager @QtCore.pyqtSlot(int) diff --git a/software/monitor/monitor-python-qt/network.py b/software/monitor/monitor-python-qt/network.py index 026a1e1..6fc8ee8 100644 --- a/software/monitor/monitor-python-qt/network.py +++ b/software/monitor/monitor-python-qt/network.py @@ -116,8 +116,8 @@ class Network(QtCore.QThread): # Private method for connecting to server def __connect(self) -> None: - #self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) - self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + #self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) try: self.sock.connect((GlobVar.address, GlobVar.port)) @@ -126,7 +126,7 @@ class Network(QtCore.QThread): # In UDP, no way to know if server is running (connect is always successfull). # So, send a single line feed to ping the server - self.sock.send(str.encode("\n")) + #self.sock.send(str.encode("\n")) self.waitForAnswer=False # Private method for receiving data from server. @@ -147,6 +147,11 @@ class Network(QtCore.QThread): bytes_recd = bytes_recd + len(chunk) last_char=chunk[-1] + #print ("") + #print ("Data: ") + #print (b''.join(chunks)) + #print ("") + self.__receiveHandler(b''.join(chunks).decode("utf-8")) chunks = [] bytes_recd =0 @@ -315,6 +320,46 @@ class Network(QtCore.QThread): def robotGetBattery(self) -> None: ans = self.__sendCommand(self.ROBOT_GET_BATTERY,False) + # Send OpenCamera command to server + def cameraOpen(self) -> int: + ans = self.__sendCommand(self.CAMERA_OPEN, True) + decodedAns = self.__decodeAnswer(ans) + self.answerEvent.emit(decodedAns) + return decodedAns + + # Send CloseCamera command to server + def cameraClose(self) -> int: + ans = self.__sendCommand(self.CAMERA_CLOSE, True) + decodedAns = self.__decodeAnswer(ans) + self.answerEvent.emit(decodedAns) + return decodedAns + + # Send GetPosition command to server + def cameraGetPosition(self) -> int: + ans = self.__sendCommand(self.CAMERA_POSITION_COMPUTE, True) + decodedAns = self.__decodeAnswer(ans) + self.answerEvent.emit(decodedAns) + return decodedAns + + # Send StopPosition command to server + def cameraStopPosition(self) -> int: + ans = self.__sendCommand(self.CAMERA_POSITION_STOP, True) + decodedAns = self.__decodeAnswer(ans) + self.answerEvent.emit(decodedAns) + return decodedAns + + # Send AskArena command to server + def cameraAskArena(self) -> None: + ans = self.__sendCommand(self.CAMERA_ARENA_ASK,False) + + # Send ConfirmArena command to server + def cameraConfirmArena(self) -> None: + ans = self.__sendCommand(self.CAMERA_ARENA_CONFIRM,False) + + # Send InfirmArena command to server + def cameraInfirmArena(self) -> None: + ans = self.__sendCommand(self.CAMERA_ARENA_INFIRM,False) + # Function for decoding battery level def batterylevelToStr(batlvl: int) -> str: switcher = { diff --git a/software/monitor/monitor-python-qt/ui/main_window.ui b/software/monitor/monitor-python-qt/ui/main_window.ui index 623dedb..2a79080 100644 --- a/software/monitor/monitor-python-qt/ui/main_window.ui +++ b/software/monitor/monitor-python-qt/ui/main_window.ui @@ -6,313 +6,354 @@ 0 0 - 928 - 629 + 973 + 635 + + + 973 + 635 + + Robot Monitor - - - - - - - Enable Ca&mera - - - - - - - - - - Co&nfirme arena border... - - - - - - - - - Enable &FPS - - - - - - - Enable Pos&ition - - - - - - - - - - - - - Connection - - - Qt::AlignCenter - - - false - - - false - - + + + + 14 + 13 + 947 + 574 + + + + + + + + + Enable Ca&mera + + + + + + + + 0 + 0 + + + + + 640 + 480 + + + + + 1 + 1 + + + + QFrame::Box + + + + + + + + + + Co&nfirme arena border... + + + + + - - - - - - 0 - 0 - - - - Address: - - - - - - - - 0 - 0 - - - - - 300 - 16777215 - - - - - - - - - - - - - 0 - 0 - - - - Port: - - - - - - - - 0 - 0 - - - - - 300 - 16777215 - - - - - - - - - - - - Status: - - - - - - - Not connected - - - - - - - - - Qt::Horizontal - - - - - - - - - - Robot Activation - - - Qt::AlignCenter - - - - + - Start with &watchdog + Enable &FPS - + - Start r&obot - - - - - - - Qt::Horizontal + Enable Pos&ition - - - - - - Mouvments - - - Qt::AlignCenter - - - - - - - - &Up - - - - - - - &Left - - - - - - - &Stop - - - - - - - &Right - - - - - - - &Down - - - - - - - - - Qt::Horizontal - - - - - - - - - - Others - - - - - - Get &Battery - - - - - - - - - Last answer: - - - - - - - None - - - - - - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - + + + + + + + + + Robot Activation + + + Qt::AlignCenter + + + + + + Connection + + + Qt::AlignCenter + + + false + + + false + + + + + + + + + 0 + 0 + + + + Address: + + + + + + + + 0 + 0 + + + + + 300 + 16777215 + + + + + + + + + + + + + 0 + 0 + + + + Port: + + + + + + + + 0 + 0 + + + + + 300 + 16777215 + + + + + + + + + + + + Status: + + + + + + + Not connected + + + + + + + + + Qt::Horizontal + + + + + + + + + + Start with &watchdog + + + + + + + Start r&obot + + + + + + + Qt::Horizontal + + + + + + + + + + Mouvments + + + Qt::AlignCenter + + + + + + + + &Up + + + + + + + &Left + + + + + + + &Stop + + + + + + + &Right + + + + + + + &Down + + + + + + + + + Qt::Horizontal + + + + + + + + + + Others + + + + + + Get &Battery + + + + + + + + + Last answer: + + + + + + + None + + + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + 0 0 - 928 + 973 22 diff --git a/software/raspberry/superviseur-robot-dumber-pthread/.dep.inc b/software/raspberry/superviseur-robot-dumber-pthread/.dep.inc new file mode 100644 index 0000000..38ba445 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/.dep.inc @@ -0,0 +1,5 @@ +# This code depends on make tool being used +DEPFILES=$(wildcard $(addsuffix .d, ${OBJECTFILES} ${TESTOBJECTFILES})) +ifneq (${DEPFILES},) +include ${DEPFILES} +endif diff --git a/software/raspberry/superviseur-robot-dumber-pthread/.gitignore b/software/raspberry/superviseur-robot-dumber-pthread/.gitignore new file mode 100644 index 0000000..7006211 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/.gitignore @@ -0,0 +1,17 @@ +build/ +src.sav/ +cmake-build-debug/ +futur/ +CMakeFiles/ + +*.cmake +CMakeCache.txt + +docs/ +doc/ + +workspace/ +dist/ +not_for_students/ + + diff --git a/software/raspberry/superviseur-robot-dumber-pthread/Makefile b/software/raspberry/superviseur-robot-dumber-pthread/Makefile new file mode 100644 index 0000000..05de621 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/Makefile @@ -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 diff --git a/software/raspberry/superviseur-robot-dumber-pthread/README.md b/software/raspberry/superviseur-robot-dumber-pthread/README.md new file mode 100644 index 0000000..53e95d7 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/README.md @@ -0,0 +1 @@ +# TP-RT_C diff --git a/software/raspberry/superviseur-robot-dumber-pthread/gdbsudo.sh b/software/raspberry/superviseur-robot-dumber-pthread/gdbsudo.sh new file mode 100755 index 0000000..726620f --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/gdbsudo.sh @@ -0,0 +1,2 @@ +#!/bin/bash +pkexec /usr/bin/gdb $* diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/.gitignore b/software/raspberry/superviseur-robot-dumber-pthread/lib/.gitignore new file mode 100644 index 0000000..25793f0 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/.gitignore @@ -0,0 +1,6 @@ +CMakeFiles/ + +libdestjil.a +Makefile +*.cmake + diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/.gitignore b/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/.gitignore new file mode 100644 index 0000000..089d9a5 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/.gitignore @@ -0,0 +1,2 @@ +*.swp +test-base64 diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/LICENSE b/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/LICENSE new file mode 100644 index 0000000..b20a237 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/LICENSE @@ -0,0 +1,19 @@ +Copyright © 2004-2017 by René Nyffenegger + +This source code is provided 'as-is', without any express or implied +warranty. In no event will the author be held liable for any damages +arising from the use of this software. + +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: + +1. The origin of this source code must not be misrepresented; you must not + claim that you wrote the original source code. If you use this source code + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + +2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original source code. + +3. This notice may not be removed or altered from any source distribution. diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/README.md b/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/README.md new file mode 100644 index 0000000..dd4b0f4 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/README.md @@ -0,0 +1,7 @@ +# base64 (C++) + +Base64 encoding and decoding with c++ + +## See also + +https://renenyffenegger.ch/notes/development/Base64/Encoding-and-decoding-base-64-with-cpp diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/base64.cpp b/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/base64.cpp new file mode 100644 index 0000000..c670f72 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/base64.cpp @@ -0,0 +1,122 @@ +/* + base64.cpp and base64.h + + base64 encoding and decoding with C++. + + Version: 1.01.00 + + Copyright (C) 2004-2017 René Nyffenegger + + This source code is provided 'as-is', without any express or implied + warranty. In no event will the author be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this source code must not be misrepresented; you must not + claim that you wrote the original source code. If you use this source code + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original source code. + + 3. This notice may not be removed or altered from any source distribution. + + René Nyffenegger rene.nyffenegger@adp-gmbh.ch + +*/ + +#include "base64.h" +#include + +static const std::string base64_chars = + "ABCDEFGHIJKLMNOPQRSTUVWXYZ" + "abcdefghijklmnopqrstuvwxyz" + "0123456789+/"; + + +static inline bool is_base64(unsigned char c) { + return (isalnum(c) || (c == '+') || (c == '/')); +} + +std::string base64_encode(unsigned char const* bytes_to_encode, unsigned int in_len) { + std::string ret; + int i = 0; + int j = 0; + unsigned char char_array_3[3]; + unsigned char char_array_4[4]; + + while (in_len--) { + char_array_3[i++] = *(bytes_to_encode++); + if (i == 3) { + char_array_4[0] = (char_array_3[0] & 0xfc) >> 2; + char_array_4[1] = ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4); + char_array_4[2] = ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6); + char_array_4[3] = char_array_3[2] & 0x3f; + + for(i = 0; (i <4) ; i++) + ret += base64_chars[char_array_4[i]]; + i = 0; + } + } + + if (i) + { + for(j = i; j < 3; j++) + char_array_3[j] = '\0'; + + char_array_4[0] = ( char_array_3[0] & 0xfc) >> 2; + char_array_4[1] = ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4); + char_array_4[2] = ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6); + + for (j = 0; (j < i + 1); j++) + ret += base64_chars[char_array_4[j]]; + + while((i++ < 3)) + ret += '='; + + } + + return ret; + +} + +std::string base64_decode(std::string const& encoded_string) { + int in_len = encoded_string.size(); + int i = 0; + int j = 0; + int in_ = 0; + unsigned char char_array_4[4], char_array_3[3]; + std::string ret; + + while (in_len-- && ( encoded_string[in_] != '=') && is_base64(encoded_string[in_])) { + char_array_4[i++] = encoded_string[in_]; in_++; + if (i ==4) { + for (i = 0; i <4; i++) + char_array_4[i] = base64_chars.find(char_array_4[i]); + + char_array_3[0] = ( char_array_4[0] << 2 ) + ((char_array_4[1] & 0x30) >> 4); + char_array_3[1] = ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2); + char_array_3[2] = ((char_array_4[2] & 0x3) << 6) + char_array_4[3]; + + for (i = 0; (i < 3); i++) + ret += char_array_3[i]; + i = 0; + } + } + + if (i) { + for (j = 0; j < i; j++) + char_array_4[j] = base64_chars.find(char_array_4[j]); + + char_array_3[0] = (char_array_4[0] << 2) + ((char_array_4[1] & 0x30) >> 4); + char_array_3[1] = ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2); + + for (j = 0; (j < i - 1); j++) ret += char_array_3[j]; + } + + return ret; +} diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/base64.h b/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/base64.h new file mode 100644 index 0000000..dd1134c --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/base64.h @@ -0,0 +1,14 @@ +// +// base64 encoding and decoding with C++. +// Version: 1.01.00 +// + +#ifndef BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A +#define BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A + +#include + +std::string base64_encode(unsigned char const* , unsigned int len); +std::string base64_decode(std::string const& s); + +#endif /* BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A */ diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/compile-and-run-test b/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/compile-and-run-test new file mode 100755 index 0000000..1ab5985 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/compile-and-run-test @@ -0,0 +1,2 @@ +g++ test.cpp base64.cpp -o test-base64 +./test-base64 diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/test.cpp b/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/test.cpp new file mode 100644 index 0000000..d04abc3 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/base64/test.cpp @@ -0,0 +1,56 @@ +#include "base64.h" +#include + +int main() { + const std::string s = + "René Nyffenegger\n" + "http://www.renenyffenegger.ch\n" + "passion for data\n"; + + std::string encoded = base64_encode(reinterpret_cast(s.c_str()), s.length()); + std::string decoded = base64_decode(encoded); + + std::cout << "encoded: " << std::endl << encoded << std::endl << std::endl; + std::cout << "decoded: " << std::endl << decoded << std::endl; + + + // Test all possibilites of fill bytes (none, one =, two ==) + // References calculated with: https://www.base64encode.org/ + + std::string rest0_original = "abc"; + std::string rest0_reference = "YWJj"; + + std::string rest0_encoded = base64_encode(reinterpret_cast(rest0_original.c_str()), + rest0_original.length()); + std::string rest0_decoded = base64_decode(rest0_encoded); + + std::cout << "encoded: " << rest0_encoded << std::endl; + std::cout << "reference: " << rest0_reference << std::endl; + std::cout << "decoded: " << rest0_decoded << std::endl << std::endl; + + + std::string rest1_original = "abcd"; + std::string rest1_reference = "YWJjZA=="; + + std::string rest1_encoded = base64_encode(reinterpret_cast(rest1_original.c_str()), + rest1_original.length()); + std::string rest1_decoded = base64_decode(rest1_encoded); + + std::cout << "encoded: " << rest1_encoded << std::endl; + std::cout << "reference: " << rest1_reference << std::endl; + std::cout << "decoded: " << rest1_decoded << std::endl << std::endl; + + + std::string rest2_original = "abcde"; + std::string rest2_reference = "YWJjZGU="; + + std::string rest2_encoded = base64_encode(reinterpret_cast(rest2_original.c_str()), + rest2_original.length()); + std::string rest2_decoded = base64_decode(rest2_encoded); + + std::cout << "encoded: " << rest2_encoded << std::endl; + std::cout << "reference: " << rest2_reference << std::endl; + std::cout << "decoded: " << rest2_decoded << std::endl << std::endl; + + return 0; +} diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/camera.cpp b/software/raspberry/superviseur-robot-dumber-pthread/lib/camera.cpp new file mode 100644 index 0000000..ff2d68c --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/camera.cpp @@ -0,0 +1,159 @@ +/* + * Copyright (C) 2018 dimercur + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include "camera.h" +#include "img.h" +#include + +using namespace cv; + +/** + * Create an object for accessing camera + * @param size Size of picture to grab (@see captureSize) + * @param fps speed of sampling + */ +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__ */ +} + +/** + * Open camera + * @return True if camera is open, false otherwise + */ +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); + + 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; +} + +/** + * Close and release camera + */ +void Camera::Close() { + this->cap.release(); +} + +/** + * Define size for sampled picture + * @param size Size of picture (@see captureSize) + */ +void Camera::SetSize(int size) { + this->size = size; + + switch (size) { + case xs: + 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; + default: + this->width = 480; + this->height = 360; + } +} + +/** + * Grab next image from camera + * @return Image taken from camera + */ +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; +} + +/** + * Get opening status for camera + * @return true if camera is open, false otherwise + */ +bool Camera::IsOpen() { + return cap.isOpened(); +} + +/** + * Get width of sampled image + * @return Width of sampled picture + */ +int Camera::GetWidth() const { + return width; +} + +/** + * Get height of sampled image + * @return height of sampled picture + */ +int Camera::GetHeight() const { + return height; +} + +/** + * Get fps of sampled image + * @return fps of sampled picture + */ +int Camera::GetFPS() const { + return fps; +} \ No newline at end of file diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/camera.h b/software/raspberry/superviseur-robot-dumber-pthread/lib/camera.h new file mode 100644 index 0000000..a8e9cc2 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/camera.h @@ -0,0 +1,127 @@ +/* + * Copyright (C) 2018 dimercur + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#ifndef __CAMERA_H__ +#define __CAMERA_H__ + +#include +#include +#include + +#ifndef __FOR_PC__ +#include "raspicam/raspicam_cv.h" +#endif /* __FOR_PC__ */ +#include "img.h" + +/** + * Enumerate for picture size + */ +enum captureSize {xs, sm, md, lg}; + +/** + * Class for camera (image grab) + * + * @brief Class for camera (image grab) + */ +class Camera { +public: + /** + * Create an object for accessing camera + * @param size Size of picture to grab (@see captureSize) + * @param fps speed of sampling + */ + Camera(int size, int fps); + + /** + * Open camera + * @return True if camera is open, false otherwise + */ + bool Open(); + + /** + * Close and release camera + */ + void Close(); + + /** + * Get width of sampled image + * @return Width of sampled picture + */ + int GetWidth() const; + + /** + * Get height of sampled image + * @return height of sampled picture + */ + 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 + */ + bool IsOpen(); + + /** + * Define size for sampled picture + * @param size Size of picture (@see captureSize) + */ + void SetSize(int size); + + /** + * Grab next image from camera + * @return Image taken from camera + */ + Img Grab(); + +private: +#ifdef __FOR_PC__ + /** + * Camera descriptor + */ + cv::VideoCapture cap; +#else + raspicam::RaspiCam_Cv cap; +#endif /* __FOR_PC__ */ + + /** + * Size for image (default= small) + */ + int size = sm; + + /** + * Width of image + */ + int width; + + /** + * Height of image + */ + int height; + + /** + * fps of image + */ + int fps; +}; + +#endif //__CAMERA_H__ diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/commonitor.cpp b/software/raspberry/superviseur-robot-dumber-pthread/lib/commonitor.cpp new file mode 100644 index 0000000..e5bdd60 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/commonitor.cpp @@ -0,0 +1,351 @@ +/* + * Copyright (C) 2018 dimercur + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include "commonitor.h" +#include +#include + +#include +#include +#include +#include + +#include +#include +#include + +#include "base64/base64.h" + +/* + * @brief Constants used for sending commands to monitor + */ +const string LABEL_MONITOR_ANSWER_ACK = "AACK"; +const string LABEL_MONITOR_ANSWER_NACK = "ANAK"; +const string LABEL_MONITOR_ANSWER_COM_ERROR = "ACER"; +const string LABEL_MONITOR_ANSWER_TIMEOUT = "ATIM"; +const string LABEL_MONITOR_ANSWER_CMD_REJECTED = "ACRJ"; +const string LABEL_MONITOR_MESSAGE = "MSSG"; +const string LABEL_MONITOR_CAMERA_OPEN = "COPN"; +const string LABEL_MONITOR_CAMERA_CLOSE = "CCLS"; +const string LABEL_MONITOR_CAMERA_IMAGE = "CIMG"; +const string LABEL_MONITOR_CAMERA_ARENA_ASK = "CASA"; +const string LABEL_MONITOR_CAMERA_ARENA_INFIRM = "CAIN"; +const string LABEL_MONITOR_CAMERA_ARENA_CONFIRM = "CACO"; +const string LABEL_MONITOR_CAMERA_POSITION_COMPUTE = "CPCO"; +const string LABEL_MONITOR_CAMERA_POSITION_STOP = "CPST"; +const string LABEL_MONITOR_CAMERA_POSITION = "CPOS"; +const string LABEL_MONITOR_ROBOT_COM_OPEN = "ROPN"; +const string LABEL_MONITOR_ROBOT_COM_CLOSE = "RCLS"; +const string LABEL_MONITOR_ROBOT_PING = "RPIN"; +const string LABEL_MONITOR_ROBOT_RESET = "RRST"; +const string LABEL_MONITOR_ROBOT_START_WITHOUT_WD = "RSOW"; +const string LABEL_MONITOR_ROBOT_START_WITH_WD = "RSWW"; +const string LABEL_MONITOR_ROBOT_RELOAD_WD = "RLDW"; +const string LABEL_MONITOR_ROBOT_MOVE = "RMOV"; +const string LABEL_MONITOR_ROBOT_TURN = "RTRN"; +const string LABEL_MONITOR_ROBOT_GO_FORWARD = "RGFW"; +const string LABEL_MONITOR_ROBOT_GO_BACKWARD = "RGBW"; +const string LABEL_MONITOR_ROBOT_GO_LEFT = "RGLF"; +const string LABEL_MONITOR_ROBOT_GO_RIGHT = "RGRI"; +const string LABEL_MONITOR_ROBOT_STOP = "RSTP"; +const string LABEL_MONITOR_ROBOT_POWEROFF = "RPOF"; +const string LABEL_MONITOR_ROBOT_BATTERY_LEVEL = "RBLV"; +const string LABEL_MONITOR_ROBOT_GET_BATTERY = "RGBT"; +const string LABEL_MONITOR_ROBOT_GET_STATE = "RGST"; +const string LABEL_MONITOR_ROBOT_CURRENT_STATE = "RCST"; + +const string LABEL_SEPARATOR_CHAR = ":"; + +/** + * Create a server and open a socket over TCP + * + * @param port Port used for communication + * @return Socket number + * @throw std::runtime_error if it fails + */ +int ComMonitor::Open(int port) { + struct sockaddr_in server; + + socketFD = socket(AF_INET, SOCK_STREAM, 0); + if (socketFD < 0) { + throw std::runtime_error{"Can not create socket"}; + } + + int enable = 1; + if (setsockopt(socketFD, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(int)) < 0) { + cerr<<"setsockopt(SO_REUSEADDR) failed"<c_str() << endl; + write(clientID, str.c_str(), str.length()); + + if (!msg->CompareID(MESSAGE_CAM_IMAGE)) { + delete(msg); + } + + // Call user method after write + Write_Post(); +} + +/** + * Receive a message from monitor + * + * @return Message received from monitor + * @attention Message provided is produced by the method. You must delete it when you are done using it + * @warning Read is not thread safe : check that multiple tasks can't access this method simultaneously + */ +Message *ComMonitor::Read() { + char length = 0; + string s; + char data; + bool endReception = false; + Message *msg; + + // Call user method before read + Read_Pre(); + + if (clientID > 0) { + while (!endReception) { + if ((length = recv(clientID, (void*) &data, 1, MSG_WAITALL)) > 0) { + if (data != '\n') { + s += data; + } else endReception = true; + } + } + + if (length <= 0) msg = new Message(MESSAGE_MONITOR_LOST); + else { + msg = StringToMessage(s); + } + } + + // Call user method after read + Read_Post(); + + return msg; +} + +/** + * Method used internally to convert a message content to a string that can be sent over TCP + * @param msg Message to be converted + * @return A string, image of the message + */ +string ComMonitor::MessageToString(Message *msg) { + int id; + string str; + //Message *localMsg = msg; + Position pos; + + Img *image; + Jpg jpeg ; + string s; + + id = msg->GetID(); + + switch (id) { + case MESSAGE_ANSWER_ACK : + str.append(LABEL_MONITOR_ANSWER_ACK); + break; + case MESSAGE_ANSWER_NACK: + str.append(LABEL_MONITOR_ANSWER_NACK); + break; + case MESSAGE_ANSWER_ROBOT_TIMEOUT: + str.append(LABEL_MONITOR_ANSWER_TIMEOUT); + break; + case MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND: + str.append(LABEL_MONITOR_ANSWER_CMD_REJECTED); + break; + case MESSAGE_ANSWER_ROBOT_ERROR: + str.append(LABEL_MONITOR_ANSWER_CMD_REJECTED); + break; + case MESSAGE_ANSWER_COM_ERROR: + str.append(LABEL_MONITOR_ANSWER_COM_ERROR); + break; + case MESSAGE_CAM_POSITION: + pos = ((MessagePosition*) msg)->GetPosition(); + + str.append(LABEL_MONITOR_CAMERA_POSITION + LABEL_SEPARATOR_CHAR + to_string(pos.robotId) + ";" + + to_string(pos.angle) + ";" + to_string(pos.center.x) + ";" + to_string(pos.center.y) + ";" + + to_string(pos.direction.x) + ";" + to_string(pos.direction.y)); + break; + case MESSAGE_CAM_IMAGE: + image=((MessageImg*) msg)->GetImage(); + jpeg = image->ToJpg(); + + //cout << "Jpeg size: " << to_string(jpeg.size())<GetLevel())); + break; + case MESSAGE_ROBOT_STATE_BUSY: + str.append(LABEL_MONITOR_ROBOT_CURRENT_STATE + LABEL_SEPARATOR_CHAR + "1"); + break; + case MESSAGE_ROBOT_STATE_NOT_BUSY: + str.append(LABEL_MONITOR_ROBOT_CURRENT_STATE + LABEL_SEPARATOR_CHAR + "0"); + break; + case MESSAGE_LOG: + str.append(LABEL_MONITOR_MESSAGE + LABEL_SEPARATOR_CHAR + ((MessageString*) msg)->GetString()); + break; + case MESSAGE_EMPTY: + str.append(""); //empty string + break; + default: + cerr<<"["<<__PRETTY_FUNCTION__<<"] (from ComMonitor::Write): Invalid message to send ("<ToString()<<")"<. + */ + +#ifndef __COMMONITOR_H__ +#define __COMMONITOR_H__ + +#include "messages.h" +#include + +using namespace std; + +#define SERVER_PORT 5544 + +/** + * Class used for generating a server and communicating through it with monitor + * + * @brief Communication class with monitor (server) + * + */ +class ComMonitor { +public: + /** + * Constructor + */ + ComMonitor() {} + + /** + * Destructor + */ + virtual ~ComMonitor() {} + + /** + * Create a server and open a socket over TCP + * + * @param port Port used for communication + * @return Socket number + * @throw std::runtime_error if it fails + */ + int Open(int port); + + /** + * Close socket and server + */ + void Close(); + + /** + * Wait for a client to connect + * @return Client number + * @throw std::runtime_error if it fails + */ + int AcceptClient(); + + /** + * Send a message to monitor + * + * @param msg Message to send to monitor + * @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that. + * @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously + */ + void Write(Message *msg); + + /** + * Function called at beginning of Write method + * Use it to do some synchronization (call of mutex, for example) + */ + virtual void Write_Pre() {} + + /** + * Function called at end of Write method + * Use it to do some synchronization (release of mutex, for example) + */ + virtual void Write_Post() {} + + /** + * Receive a message from monitor + * + * @return Message received from monitor + * @attention Message provided is produced by the method. You must delete it when you are done using it + * @warning Read is not thread safe : check that multiple tasks can't access this method simultaneously + */ + Message *Read(); + + /** + * Function called at beginning of Read method + * Use it to do some synchronization (call of mutex, for example) + */ + virtual void Read_Pre() {} + + /** + * Function called at end of Read method + * Use it to do some synchronization (release of mutex, for example) + */ + virtual void Read_Post() {} +protected: + /** + * Socket descriptor + */ + int socketFD = -1; + + /** + * Socket descriptor + */ + int clientID = -1; + + /** + * Method used internally to convert a message content to a string that can be sent over TCP + * @param msg Message to be converted + * @return A string, image of the message + */ + string MessageToString(Message *msg); + + /** + * Method used internally to convert a string received over TCP to a message + * @param s String containing message + * @return A message, image of the string + */ + Message *StringToMessage(string &s); +}; + +#endif /* __COMMONITOR_H__ */ diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/comrobot.cpp b/software/raspberry/superviseur-robot-dumber-pthread/lib/comrobot.cpp new file mode 100644 index 0000000..8f7bc47 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/comrobot.cpp @@ -0,0 +1,360 @@ +/* + * Copyright (C) 2018 dimercur + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include "comrobot.h" + +#include +#include +#include +#include +#include + +#include +#include + +#ifdef __FOR_PC__ +// #define USART_FILENAME "/dev/ttyUSB0" +#define USART_FILENAME "/dev/ttyS0" +#else +#define USART_FILENAME "/dev/ttyS0" +#endif /* __FOR_PC__ */ + +/* + * Constants to be used for communicating with robot. Contains command tag + */ +const char LABEL_ROBOT_PING = 'p'; +const char LABEL_ROBOT_RESET = 'r'; +const char LABEL_ROBOT_START_WITH_WD = 'W'; +const char LABEL_ROBOT_START_WITHOUT_WD = 'u'; +const char LABEL_ROBOT_RELOAD_WD = 'w'; +const char LABEL_ROBOT_MOVE = 'M'; +const char LABEL_ROBOT_TURN = 'T'; +const char LABEL_ROBOT_GET_BATTERY = 'v'; +const char LABEL_ROBOT_GET_STATE = 'b'; +const char LABEL_ROBOT_POWEROFF = 'z'; + +const char LABEL_ROBOT_OK = 'O'; +const char LABEL_ROBOT_ERROR = 'E'; +const char LABEL_ROBOT_UNKNOWN_COMMAND = 'C'; + +const char LABEL_ROBOT_SEPARATOR_CHAR = '='; +const char LABEL_ROBOT_ENDING_CHAR = 0x0D; // carriage return (\\r) + +/** + * Open serial link with robot + * @return File descriptor + * @throw std::runtime_error if it fails + */ +int ComRobot::Open() { + return this->Open(USART_FILENAME); +} + +/** + * Open serial link with robot + * @param usart Filename of usart to open + * @return File descriptor + * @throw std::runtime_error if it fails + */ +int ComRobot::Open(string usart) { + struct termios options; + + fd = open(usart.c_str(), O_RDWR | O_NOCTTY /*| O_NDELAY*/); //Open in blocking read/write mode + if (fd == -1) { + cerr << "[" << __PRETTY_FUNCTION__ << "] Unable to open UART (" << usart << "). Ensure it is not in use by another application" << endl << flush; + throw std::runtime_error{"Unable to open UART"}; + exit(EXIT_FAILURE); + } else { + fcntl(fd, F_SETFL, 0); + tcgetattr(fd, &options); + options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); + cfsetospeed(&options, B9600); + cfsetispeed(&options, B9600); + options.c_cc[VMIN] = 0; + options.c_cc[VTIME] = 1; /* Timeout of 100 ms per character */ + tcsetattr(fd, TCSANOW, &options); + } + + return fd; +} + +/** + * Close serial link + * @return Success if above 0, failure if below 0 + */ +int ComRobot::Close() { + return close(fd); +} + +/** + * Send a message to robot + * @param msg Message to send to robot + * @return 1 if success, 0 otherwise + * @attention Message is destroyed (delete) after being sent. You do not need to delete it yourself + * @attention Write is blocking until message is written into buffer (linux side) + * @warning Write is not thread save : check that multiple tasks can't access this method simultaneously + */ +Message *ComRobot::Write(Message* msg) { + Message *msgAnswer; + string s; + + if (this->fd != -1) { + + Write_Pre(); + + s = MessageToString(msg); + AddChecksum(s); + + //cout << "[" <<__PRETTY_FUNCTION__<<"] Send command: "<fd, s.c_str(), s.length()); //Filestream, bytes to write, number of bytes to write + + if (count < 0) { + cerr << "[" << __PRETTY_FUNCTION__ << "] UART TX error (" << to_string(count) << ")" << endl << flush; + msgAnswer = new Message(MESSAGE_ANSWER_COM_ERROR); + } else { /* write successfull, read answer from robot */ + + try { + s = Read(); + //cout << "Answer = "<fd, (void*) &receivedChar, 1); //Filestream, buffer to store in, number of bytes to read (max) + if (rxLength == 0) { // timeout + // try again + rxLength = read(this->fd, (void*) &receivedChar, 1); //Filestream, buffer to store in, number of bytes to read (max) + if (rxLength == 0) { // re-timeout: it sucks ! + throw std::runtime_error{"ComRobot::Read: Timeout when reading from com port"}; + } + } else if (rxLength < 0) { // big pb ! + throw std::runtime_error{"ComRobot::Read: Unknown problem when reading from com port"}; + } else { // everything ok + if ((receivedChar != '\r') && (receivedChar != '\n')) s += receivedChar; + } + } while ((receivedChar != '\r') && (receivedChar != '\n')); + + return s; +} + +Message *ComRobot::SendCommand(Message* msg, MessageID answerID, int maxRetries) { + int counter = maxRetries; + Message *msgSend; + Message *msgRcv; + Message *msgTmp; + + do { + msgSend = msg->Copy(); + cout << "S => " << msgSend->ToString() << endl << flush; + msgTmp = Write(msgSend); + cout << "R <= " << msgTmp->ToString() << endl << flush; + + if (msgTmp->CompareID(answerID)) counter = 0; + else counter--; + + if (counter == 0) msgRcv = msgTmp->Copy(); + + delete(msgTmp); + } while (counter); + + delete (msg); + + return msgRcv; +} + +/** + * Convert an array of char to its message representation (when receiving data from stm32) + * @param bytes Array of char + * @return Message corresponding to received array of char + */ +Message* ComRobot::StringToMessage(string s) { + Message *msg; + + switch (s[0]) { + case LABEL_ROBOT_OK: + msg = new Message(MESSAGE_ANSWER_ACK); + break; + case LABEL_ROBOT_ERROR: + msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR); + break; + case LABEL_ROBOT_UNKNOWN_COMMAND: + msg = new Message(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND); + break; + case '0': + msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_EMPTY); + break; + case '1': + msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_LOW); + break; + case '2': + msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL); + break; + default: + msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR); + cerr << "[" << __PRETTY_FUNCTION__ << "] Unknown message received from robot (" << s << ")" << endl << flush; + } + + return msg; +} + +/** + * Convert a message to its array of char representation (for sending command to stm32) + * @param msg Message to be sent to robot + * @param buffer Array of char, image of message to send + */ +string ComRobot::MessageToString(Message *msg) { + string s; + + float val_f; + int val_i; + unsigned char *b; + + switch (msg->GetID()) { + case MESSAGE_ROBOT_PING: + s += LABEL_ROBOT_PING; + break; + case MESSAGE_ROBOT_RESET: + s += LABEL_ROBOT_RESET; + break; + case MESSAGE_ROBOT_POWEROFF: + s += LABEL_ROBOT_POWEROFF; + break; + case MESSAGE_ROBOT_START_WITHOUT_WD: + s += LABEL_ROBOT_START_WITHOUT_WD; + break; + case MESSAGE_ROBOT_START_WITH_WD: + s += LABEL_ROBOT_START_WITH_WD; + break; + case MESSAGE_ROBOT_RELOAD_WD: + s += LABEL_ROBOT_RELOAD_WD; + break; + case MESSAGE_ROBOT_BATTERY_GET: + s += LABEL_ROBOT_GET_BATTERY; + break; + case MESSAGE_ROBOT_STATE_GET: + s += LABEL_ROBOT_GET_STATE; + break; + case MESSAGE_ROBOT_GO_FORWARD: + s += LABEL_ROBOT_MOVE; + s += LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(500000)); + break; + case MESSAGE_ROBOT_GO_BACKWARD: + s += LABEL_ROBOT_MOVE; + s += LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(-500000)); + break; + case MESSAGE_ROBOT_GO_LEFT: + s += LABEL_ROBOT_TURN; + s += LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(-500000)); + break; + case MESSAGE_ROBOT_GO_RIGHT: + s += LABEL_ROBOT_TURN; + s += LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(500000)); + break; + case MESSAGE_ROBOT_STOP: + s += LABEL_ROBOT_MOVE; + s += LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(0)); + break; + case MESSAGE_ROBOT_MOVE: + s += LABEL_ROBOT_MOVE; + s += LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(((MessageInt*) msg)->GetValue())); + break; + case MESSAGE_ROBOT_TURN: + s += LABEL_ROBOT_TURN; + s += LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(((MessageInt*) msg)->GetValue())); + break; + default: + cerr << "[" << __PRETTY_FUNCTION__ << "] Invalid message for robot (" << msg->ToString() << ")" << endl << flush; + throw std::runtime_error{"Invalid message"}; + } + + return s; +} + +/** + * Add a checksum and carriage return to a command string + * @param[in,out] s String containing command for robot, without ending char (carriage return) + */ +void ComRobot::AddChecksum(string &s) { + unsigned char checksum = 0; + + for (string::iterator it = s.begin(); it != s.end(); ++it) { + checksum ^= (unsigned char) *it; + } + + s += (char) checksum; // Add calculated checksum + s += (char) LABEL_ROBOT_ENDING_CHAR; +} + +/** + * Verify if checksum of an incoming answer from robot is valid, + * then remove checksum from incoming answer (if checksum is ok) + * @param[in,out] s String containing incoming answer from robot + * @return true is checksum is valid, false otherwise. + */ +bool ComRobot::VerifyChecksum(string &s) { + unsigned char checksum = 0; + + for (string::iterator it = s.begin(); it != s.end(); ++it) { + checksum ^= (unsigned char) *it; + } + + if (checksum == 0) { // checksum is ok, remove last char of string (checksum) + s.pop_back(); // remove last char + return true; + } else return false; +} diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/comrobot.h b/software/raspberry/superviseur-robot-dumber-pthread/lib/comrobot.h new file mode 100644 index 0000000..d6bdd11 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/comrobot.h @@ -0,0 +1,198 @@ +/* + * Copyright (C) 2018 dimercur + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#ifndef __COMROBOT_H__ +#define __COMROBOT_H__ + +#include "messages.h" +#include + +using namespace std; + +/** + * Class used for communicating with robot over serial + * + * @brief Communication class with robot + * + */ +class ComRobot { +public: + + /** + * Constructor + */ + ComRobot() { + } + + /** + * Destructor + */ + virtual ~ComRobot() { + } + + /** + * Open serial link with robot + * @return File descriptor + * @throw std::runtime_error if it fails + */ + int Open(); + + /** + * Open serial link with robot + * @param usart Filename of usart to open + * @return File descriptor + * @throw std::runtime_error if it fails + */ + int Open(string usart); + + /** + * Close serial link + * @return Success if above 0, failure if below 0 + */ + int Close(); + + /** + * Send a message to robot + * @param msg Message to send to robot + * @return A message containing either an answer (Ack/Nak/Timeout/Error) or a value (battery level, robot state) depending of the command + * @attention Input message is destroyed (delete) after being sent. You do not need to delete it yourself + * @attention Write produce an answer message. You have to dispose it (delete) when you have finished using it + * @attention Write is blocking until message is written into buffer (linux side) + * @warning Write is not thread save : check that multiple tasks can't access this method simultaneously + */ + Message *Write(Message* msg); + + /** + * Function called at beginning of Write method + * Use it to do some synchronization (call of mutex, for example) + */ + virtual void Write_Pre() { + } + + /** + * Function called at end of Write method + * Use it to do some synchronization (call of mutex, for example) + */ + virtual void Write_Post() { + } + + Message *SendCommand(Message* msg, MessageID answerID, int maxRetries); + + static Message *Ping() { + return new Message(MESSAGE_ROBOT_PING); + } + + static Message *Reset() { + return new Message(MESSAGE_ROBOT_RESET); + } + + static Message *PowerOff() { + return new Message(MESSAGE_ROBOT_POWEROFF); + } + + static Message *StartWithWD() { + return new Message(MESSAGE_ROBOT_START_WITH_WD); + } + + static Message *StartWithoutWD() { + return new Message(MESSAGE_ROBOT_START_WITHOUT_WD); + } + + static Message *ReloadWD() { + return new Message(MESSAGE_ROBOT_RELOAD_WD); + } + + static Message *Move(int length) { + return new MessageInt(MESSAGE_ROBOT_MOVE, length); + } + + static Message *Turn(int angle) { + return new MessageInt(MESSAGE_ROBOT_TURN, angle); + } + + static Message *Stop() { + return new Message(MESSAGE_ROBOT_STOP); + } + + static Message *GoForward() { + return new Message(MESSAGE_ROBOT_GO_FORWARD); + } + + static Message *GoBackward() { + return new Message(MESSAGE_ROBOT_GO_BACKWARD); + } + + static Message *GoLeft() { + return new Message(MESSAGE_ROBOT_GO_LEFT); + } + + static Message *GoRight() { + return new Message(MESSAGE_ROBOT_GO_RIGHT); + } + + static Message *GetBattery() { + return new Message(MESSAGE_ROBOT_BATTERY_GET); + } + + static Message *GetState() { + return new Message(MESSAGE_ROBOT_STATE_GET); + } + +protected: + /** + * Serial link file descriptor + */ + int fd; + + /** + * Get an answer from robot + * @return String containing answer from robot + * @attention Read method is blocking until a message is received (timeout of 500 ms) + * @warning Read is not thread safe : Do not call it in multiple tasks simultaneously + */ + string Read(); + + /** + * Convert a string to its message representation (when receiving data from robot) + * @param s String from robot containing answer + * @return Message corresponding to received array of char + */ + Message* StringToMessage(string s); + + /** + * Convert a message to its string representation (for sending command to robot) + * @param msg Message to be sent to robot + * @return String containing command to robot + */ + string MessageToString(Message *msg); + + /** + * Add a checksum and carriage return to a command string + * @param[in,out] s String containing command for robot, without ending char (carriage return) + */ + void AddChecksum(string &s); + + /** + * Verify if checksum of an incoming answer from robot is valid, + * then remove checksum from incoming answer (if checksum is ok) + * @param[in,out] s String containing incoming answer from robot + * @return true is checksum is valid, false otherwise. + */ + bool VerifyChecksum(string &s); +}; + +#endif /* __COMROBOT_H__ */ diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/img.cpp b/software/raspberry/superviseur-robot-dumber-pthread/lib/img.cpp new file mode 100644 index 0000000..114bd9e --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/img.cpp @@ -0,0 +1,307 @@ +/* + * Copyright (C) 2018 dimercur + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include "img.h" +#include + +/** + * Tell if arena is empty (not found) or not + * @return true if no arena found, false otherwise + */ +bool Arena::IsEmpty() { + if ((this->arena.height == 0) || (this->arena.width == 0)) return true; + else return false; +} + +/** + * Create new Img object based on image data + * + * @param imgMatrice Image data to be stored (raw data) + */ +Img::Img(ImageMat imgMatrice) { + this->img = imgMatrice.clone(); + +#ifdef __WITH_ARUCO__ + this->dictionary=cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(3)); +#endif // __WITH_ARUCO__ +} + +/** + * Convert object to a string representation + * + * @return String containing information on contained image (size and number of channel) + */ +string Img::ToString() { + return "Image size: " + to_string(this->img.cols) + "x" + to_string(this->img.rows) + " (dim=" + to_string(this->img.dims) + ")"; +} + +/** + * Create a copy of current object + * + * @return New Img object, copy of current + */ +Img* Img::Copy() { + return new Img(this->img); +} + +/** + * Function for computing angle + * @param robots Position of robot + * @return Angle + */ +float Img::CalculAngle(Position robot) { + float a = robot.direction.x - robot.center.x; + float b = robot.direction.y - robot.center.y; + float angle = atan2(b, a); + return angle * 180.f / M_PI; +} + +/** + * Function for computing angle + * @param pt1 ??? + * @param pt2 ??? + * @return Angle + */ +float Img::CalculAngle2(cv::Point2f pt1, cv::Point2f pt2) { + float a = pt1.x - pt2.x; + float b = pt1.y - pt2.y; + float angle = atan2(b, a); + return angle * 180.f / M_PI; +} + +#ifdef __WITH_ARUCO__ + +/** + * Find center point of given aruco + * @param aruco Aruco coordinates + * @return Center point coordinate + */ +cv::Point2f Img::FindArucoCenter(std::vector aruco) { + return ((aruco[0] + aruco[2]) / 2); +} + +/** + * Find direction of given aruco + * @param aruco Aruco coordinates + * @return Orientation of aruco + */ +cv::Point2f Img::FindArucoDirection(std::vector aruco) { + return ((aruco[0] + aruco[1]) / 2); +} +#endif // __WITH_ARUCO__ + +/** + * Used for computing distance + * @param p ??? + * @param q ??? + * @return Distance + */ +float Img::EuclideanDistance(cv::Point2f p, cv::Point2f q) { + cv::Point diff = p - q; + return cv::sqrt(diff.x * diff.x + diff.y * diff.y); +} + +/** + * Compress current image to JPEG + * @return Image compressed as JPEG + */ +Jpg Img::ToJpg() { + Jpg imgJpg; + cv::imencode(".jpg", this->img, imgJpg); + return imgJpg; +} + +/** + * Search available robots in an image + * @param arena Arena position for cropping image + * @return list of position, empty if no robot found + */ +std::list Img::SearchRobot(Arena arena) { +#ifdef __WITH_ARUCO__ + ImageMat imgTraitment; + std::list positionList; + cv::Point2f areneCoor; + std::vector ids; + std::vector > corners; + + if (arena.IsEmpty()) + imgTraitment = this->img.clone(); + else { + imgTraitment = CropArena(arena); + areneCoor.x = arena.arena.x; + areneCoor.y = arena.arena.y; + } + + cv::aruco::detectMarkers(imgTraitment, dictionary, corners, ids); + if (ids.size() > 0) { + for (int i = 0; i < ids.size(); i++) { + Position newPos; + newPos.center = FindArucoCenter(corners[i]); + newPos.direction = FindArucoDirection(corners[i]); + newPos.robotId = ids[i]; + if (!arena.IsEmpty()) { + newPos.direction += areneCoor; + newPos.center += areneCoor; + } + newPos.angle = CalculAngle2(newPos.center, newPos.direction); + positionList.push_back(newPos); + } + } + return positionList; +#else + std::list robotsFind; + std::vector > contours; + std::vector approx; + std::vector hierarchy; + + ImageMat imgTraitment; + + if (arena.IsEmpty()) { + imgTraitment = this->img.clone(); + } else { + imgTraitment = this->img(arena.arena); + } + + cvtColor(imgTraitment, imgTraitment, CV_RGB2GRAY); + threshold(imgTraitment, imgTraitment, 128, 255, CV_THRESH_BINARY); + findContours(imgTraitment, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0)); + + for (unsigned int i = 0; i < contours.size(); i++) { + ImageMat m(contours[i]); + cv::approxPolyDP(m, approx, cv::arcLength(ImageMat(contours[i]), true)*0.17, true); + + if (approx.size() == 3 && fabs(cv::contourArea(contours[i])) > 200 && fabs(cv::contourArea(contours[i])) < 700) { + cv::Point a, b, c; + cv::Point center; + + a = approx[0]; + b = approx[1]; + c = approx[2]; + + if (!arena.IsEmpty()) { // ajout de l'offset de l'arène + a.x += arena.arena.x; + a.y += arena.arena.y; + b.x += arena.arena.x; + b.y += arena.arena.y; + c.x += arena.arena.x; + c.y += arena.arena.y; + } + + center.x = (a.x + b.x + c.x) / 3; + center.y = (a.y + b.y + c.y) / 3; + Position newPos; + newPos.center = center; + + if (EuclideanDistance(center, b) > EuclideanDistance(center, a) && EuclideanDistance(center, b) > EuclideanDistance(center, c)) { + newPos.direction = b; + //line(img,center,b,Scalar(0,125,0),2,8,0); + } else if (EuclideanDistance(center, a) > EuclideanDistance(center, c)) { + + newPos.direction = a; + //line(img,center,a,Scalar(0,125,0),2,8,0); + } else { + newPos.direction = c; + //line(img,center,c,Scalar(0,125,0),2,8,0); + } + + newPos.angle = CalculAngle(newPos); + newPos.robotId = -1; // dumb identifier + + robotsFind.push_back(newPos); + } + } + + return robotsFind; + +#endif // __WITH_ARUCO__ +} + +/** + * Search arena outline in current image + * @return Arena object with coordinate of outline, empty if no arena found + */ +Arena Img::SearchArena() { + std::vector > contours; + std::vector approx; + std::vector hierarchy; + + ImageMat imageTrt; + cv::cvtColor(this->img, imageTrt, CV_RGB2GRAY); // conversion en niveau de gris + cv::threshold(imageTrt, imageTrt, 128, 255, CV_THRESH_BINARY); // Threshold les éléments les plus clair + cv::Canny(imageTrt, imageTrt, 100, 200, 3); // detection d'angle + + findContours(imageTrt, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0)); + for (unsigned int i = 0; i < contours.size(); i++) { + approxPolyDP(ImageMat(contours[i]), approx, cv::arcLength(ImageMat(contours[i]), true)*0.1, true); + if (approx.size() == 4 && fabs(cv::contourArea(contours[i])) > 100000) { + Arena rectangle; + rectangle.arena = cv::boundingRect(ImageMat(contours[i])); + return rectangle; + } + } + + return Arena(); +} + +/** + * Draw an oriented arrow at robot position + * @param robot Position of robot + */ +void Img::DrawRobot(Position robot) { + cv::arrowedLine(this->img, (cv::Point2f)robot.center, (cv::Point2f)robot.direction, cv::Scalar(0, 0, 255), 3, 8, 0); +} + +/** + * Draw an oriented arrow for each position provided + * @param robots List of robot positions + * @return Number of position drawn + */ +int Img::DrawAllRobots(std::list robots) { + for (Position robot : robots) { + cv::arrowedLine(this->img, (cv::Point2f)robot.center, (cv::Point2f)robot.direction, cv::Scalar(0, 0, 255), 3, 8, 0); + } + + return robots.size(); +} + +/** + * Draw arena outline + * @param arenaToDraw Arena position + */ +void Img::DrawArena(Arena arenaToDraw) { + cv::rectangle(this->img, arenaToDraw.arena.tl(), arenaToDraw.arena.br(), cv::Scalar(0, 0, 125), 2, 8, 0); +} + +/** + * Crop image around detected arena + * @param arena Coordinate of arena + * @return Reduced image, focused on arena + */ +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); +} diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/img.h b/software/raspberry/superviseur-robot-dumber-pthread/lib/img.h new file mode 100644 index 0000000..066e480 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/img.h @@ -0,0 +1,240 @@ +/* + * Copyright (C) 2018 dimercur + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#ifndef __IMG_H__ +#define __IMG_H__ + +#include +#include +#include + +#include +#include +#include + +#ifdef __WITH_ARUCO__ +#include +#include +#include +#endif // __WITH_ARUCO__ + +#define ARENA_NOT_DETECTED -1 + +using namespace std; + +/** + * Redefinition of cv::Mat type + */ +typedef cv::Mat ImageMat; + +/** + * Declaration of Jpg type + */ +typedef vector Jpg; + +/** + * Class position, used for store robot coordinates + * + * @brief Class position, used for store robot coordinates + */ +class Position { +public: + int robotId; + float angle; + cv::Point2f center; + cv::Point2f direction; + + /** + * Constructor of Position object + */ + Position() { + robotId = -1; + angle = 0.0; + center=cv::Point2f(0.0,0.0); + direction=cv::Point2f(0.0,0.0); + } + + /** + * Build a string representation of the object + * @return String containing object information + */ + string ToString() { + return "Id=" + to_string(this->robotId) + ", Angle=" + to_string(this->angle) + ", center=(" + to_string(this->center.x) + ";" + to_string(this->center.y) + ")"; + } +}; + +/** + * Class arena, used for holding outline of arena on image and cropping image to only usefull area + * + * @brief Class arena, used for holding outline of arena on image and cropping image to only usefull area + */ +class Arena { +public: + /** + * Coordinate of arena, empty if no arena found + */ + cv::Rect arena; + + /** + * Constructor of Arena object + */ + Arena() {} + + /** + * Tell if arena is empty (not found) or not + * @return true if no arena found, false otherwise + */ + bool IsEmpty(); + + /** + * Build a string representation of the object + * @return String containing object information + */ + string ToString() { + if (IsEmpty()) return "Arena empty"; + else + return "Arena: (x;y)=(" + to_string(this->arena.x) + ";" + to_string(this->arena.x) + " (w;h)=(" + to_string(this->arena.width) + ";" + to_string(this->arena.height) + ")"; + } +}; + +/** + * Class for image storage and treatment + * + * @brief Class for image storage and treatment + */ +class Img { +public: + /** + * Image data + */ + ImageMat img; + + /** + * Create new Img object based on image data + * + * @param imgMatrice Image data to be stored (raw data) + */ + Img(ImageMat imgMatrice); + + /** + * Convert object to a string representation + * + * @return String containing information on contained image (size and number of channel) + */ + string ToString(); + + /** + * Create a copy of current object + * + * @return New Img object, copy of current + */ + Img* Copy(); + + /** + * Compress current image to JPEG + * @return Image compressed as JPEG + */ + Jpg ToJpg(); + + /** + * Search arena outline in current image + * @return Arena object with coordinate of outline, empty if no arena found + */ + Arena SearchArena(); + + /** + * Draw an oriented arrow at robot position + * @param robot Position of robot + */ + void DrawRobot(Position robot); + + /** + * Draw an oriented arrow for each position provided + * @param robots List of robot positions + * @return Number of position drawn + */ + int DrawAllRobots(std::list robots); + + /** + * Draw arena outline + * @param arenaToDraw Arena position + */ + void DrawArena(Arena arenaToDraw); + + /** + * Search available robots in an image + * @param arena Arena position for cropping image + * @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 + */ + cv::Ptr dictionary; +#endif // __WITH_ARUCO__ +private: +#ifdef __WITH_ARUCO__ + /** + * Find center point of given aruco + * @param aruco Aruco coordinates + * @return Center point coordinate + */ + cv::Point2f FindArucoCenter(std::vector aruco); + + /** + * Find direction of given aruco + * @param aruco Aruco coordinates + * @return Orientation of aruco + */ + cv::Point2f FindArucoDirection(std::vector aruco); +#endif // __WITH_ARUCO__ + + /** + * Function for computing angle + * @param robots Position of robot + * @return Angle + */ + float CalculAngle(Position robots); + + /** + * Function for computing angle + * @param pt1 ??? + * @param pt2 ??? + * @return Angle + */ + float CalculAngle2(cv::Point2f pt1, cv::Point2f pt2); + + /** + * Used for computing distance + * @param p ??? + * @param q ??? + * @return Distance + */ + float EuclideanDistance(cv::Point2f p, cv::Point2f q); + + /** + * Crop image around detected arena + * @param arena Coordinate of arena + * @return Reduced image, focused on arena + */ + ImageMat CropArena(Arena arena); +}; + +#endif //__IMG_H__ diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/messages.cpp b/software/raspberry/superviseur-robot-dumber-pthread/lib/messages.cpp new file mode 100644 index 0000000..2a07824 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/messages.cpp @@ -0,0 +1,533 @@ +/* + * Copyright (C) 2018 dimercur + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include "messages.h" +#include +#include +#include + +/* + * @brief Constants used with ToString method, for printing message id + */ + +const string MESSAGE_ID_STRING[] = { + "Empty", + "Log", + "Answer [Acknowledge]", + "Answer [Not Acknowledge]", + "Answer [Command timeout]", + "Answer [Command unknown]", + "Answer [Command error]", + "Answer [Communication error]", + "Monitor connection lost", + "Open serial com", + "Close serial com", + "Open camera", + "Close camera", + "Ask for arena", + "Arena confirmed", + "Arena infirmed", + "Compute position", + "Stop compute position", + "Position", + "Image", + "Robot ping", + "Robot reset", + "Robot start with watchdog", + "Robot start without watchdog", + "Robot reload watchdog", + "Robot move", + "Robot turn", + "Robot go forward", + "Robot go backward", + "Robot go left", + "Robot go right", + "Robot stop", + "Robot poweroff", + "Robot get battery", + "Robot battery level", + "Robot get state", + "Robot current state", + "Robot state [Not busy]", + "Robot state [Busy]" +}; + +/* + * @brief Constants used with ToString method, for printing answer id + */ +const string ANSWER_ID_STRING[] = { + "Acknowledge", + "Not Acknowledge", + "Robot lost", + "Timeout error", + "Unknown command", + "Invalid or refused command", + "Checksum error" +}; + +/** + * Create a new, empty message + */ +Message::Message() { + this->messageID = MESSAGE_EMPTY; +} + +/** + * Create a new, empty message + */ +Message::Message(MessageID id) { + SetID(id); +} + +/** + * Destroy message + */ +Message::~Message() { +} + +/** + * Set message ID + * @param id Message ID + */ +void Message::SetID(MessageID id) { + if (CheckID(id)) { + this->messageID = id; + } else throw std::runtime_error {"Invalid message id for Message"}; +} + +/** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ +string Message::ToString() { + if (CheckID(this->messageID)) + return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\""; + else + return "Invalid message"; +} + +/** + * Allocate a new mesage and copy contents of current message + * @return A message, copy of current + */ +Message* Message::Copy() { + Message *msg = new Message(this->messageID); + + return msg; +} + +/** + * Get message ID + * @return Current message ID + */ +bool Message::CheckID(MessageID id) { + if ((id == MESSAGE_CAM_IMAGE) || + (id == MESSAGE_CAM_POSITION) || + (id == MESSAGE_ROBOT_MOVE) || + (id == MESSAGE_ROBOT_TURN) || + (id == MESSAGE_LOG) || + (id == MESSAGE_ROBOT_BATTERY_LEVEL)) { + return false; + } else return true; +} + +/* MessageInt */ + +/** + * Create a new, empty int message + */ +MessageInt::MessageInt() { + value = 0.0; +} + +/** + * Create a new int message, with given ID and value + * @param id Message ID + * @param val Message value + * @throw std::runtime_error if message ID is incompatible with int data + */ +MessageInt::MessageInt(MessageID id, int val) { + MessageInt::SetID(id); + + value = val; +} + +/** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with float data + */ +void MessageInt::SetID(MessageID id) { + if (CheckID(id)) + messageID = id; + else + throw std::runtime_error { + "Invalid message id for MessageInt" + }; +} + +/** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ +string MessageInt::ToString() { + if (CheckID(this->messageID)) + return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nValue: " + to_string(this->value); + else + return "Invalid message"; +} + +/** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ +Message* MessageInt::Copy() { + return new MessageInt(this->messageID, this->value); +} + +/** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ +bool MessageInt::CheckID(MessageID id) { + if ((id != MESSAGE_ROBOT_TURN) && + (id != MESSAGE_ROBOT_MOVE)) { + return false; + } else return true; +} + +/* class MessageString */ + +/** + * Create a new, empty string message + */ +MessageString::MessageString() { + s = string(""); +} + +/** + * Create a new string message, with given ID and string + * @param id Message ID + * @param s Message string + * @throw std::runtime_error if message ID is incompatible with string data + */ +MessageString::MessageString(MessageID id, string s) { + MessageString::SetID(id); + + this->s = s; +} + +/** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with string data + */ +void MessageString::SetID(MessageID id) { + if (CheckID(id)) + messageID = id; + else + throw std::runtime_error { + "Invalid message id for MessageString" + }; +} + +/** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ +string MessageString::ToString() { + if (CheckID(this->messageID)) + return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nString: \"" + this->s + "\""; + else + return "Invalid message"; +} + +/** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ +Message* MessageString::Copy() { + return new MessageString(this->messageID, this->s); +} + +/** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ +bool MessageString::CheckID(MessageID id) { + if ((id != MESSAGE_LOG)) { + return false; + } else return true; +} + +/* class MessageImg */ + +/** + * Create a new, empty image message + */ +MessageImg::MessageImg() { + image = NULL; +} + +/** + * Create a new image message, with given ID and image + * @param id Message ID + * @param image Image + * @throw std::runtime_error if message ID is incompatible with image + */ +MessageImg::MessageImg(MessageID id, Img *image) { + MessageImg::SetID(id); + MessageImg::SetImage(image); +} + +/** + * Destroy Image message + */ +MessageImg::~MessageImg() { + delete (this->image); +} + +/** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with image + */ +void MessageImg::SetID(MessageID id) { + if (CheckID(id)) + messageID = id; + else + throw std::runtime_error { + "Invalid message id for MessageImg" + }; +} + +/** + * Set message image + * @param image Reference to image object + */ +void MessageImg::SetImage(Img* image) { + //this->image = image->Copy(); + this->image = image; +} + +/** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ +string MessageImg::ToString() { + if (CheckID(this->messageID)) + return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\n" + this->image->ToString(); + else + return "Invalid message"; +} + +/** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ +Message* MessageImg::Copy() { + return new MessageImg(this->messageID, this->image->Copy()); +} + +/** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ +bool MessageImg::CheckID(MessageID id) { + if (id != MESSAGE_CAM_IMAGE) { + return false; + } else return true; +} + +/* class MessageBattery */ + +/** + * Create a new, empty battery message + */ +MessageBattery::MessageBattery() { + this->level = BATTERY_UNKNOWN; +} + +/** + * Create a new battery message, with given ID and battery level + * @param id Message ID + * @param level Battery level + * @throw std::runtime_error if message ID is incompatible with battery + */ +MessageBattery::MessageBattery(MessageID id, BatteryLevel level) { + MessageBattery::SetID(id); + MessageBattery::SetLevel(level); +} + +/** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with battery + */ +void MessageBattery::SetID(MessageID id) { + if (CheckID(id)) + messageID = id; + else + throw std::runtime_error { + "Invalid message id for MessageBattery" + }; +} + +/** + * Set battery level + * @param level Battery level + */ +void MessageBattery::SetLevel(BatteryLevel level) { + if ((level < BATTERY_UNKNOWN) || (level > BATTERY_FULL)) { + throw std::runtime_error{ + "Invalid battery level for MessageBattery"}; + } else { + this->level = level; + } +} + +/** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ +string MessageBattery::ToString() { + string levelString; + + switch (this->level) { + case BATTERY_UNKNOWN: + levelString="Unknown"; + break; + case BATTERY_EMPTY: + levelString="Empty"; + break; + case BATTERY_LOW: + levelString="Low"; + break; + case BATTERY_FULL: + levelString="Full"; + break; + default: + levelString="Invalid"; + } + + if (CheckID(this->messageID)) + return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nBattery level: \"" + levelString + "\""; + else + return "Invalid message"; +} + +/** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ +Message* MessageBattery::Copy() { + return new MessageBattery(this->messageID, this->level); +} + +/** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ +bool MessageBattery::CheckID(MessageID id) { + if ((id != MESSAGE_ROBOT_BATTERY_LEVEL)) { + return false; + } else return true; +} + +/* class MessagePosition */ + +/** + * Create a new, empty string message + */ +MessagePosition::MessagePosition() { + this->pos.angle = 0.0; + this->pos.robotId = 0; + this->pos.center.x=0.0; + this->pos.center.y=0.0; + this->pos.direction.x=0.0; + this->pos.direction.y=0.0; +} + +/** + * Create a new string message, with given ID and string + * @param id Message ID + * @param s Message string + * @throw std::runtime_error if message ID is incompatible with string data + */ +MessagePosition::MessagePosition(MessageID id, Position& pos) { + MessagePosition::SetID(id); + MessagePosition::SetPosition(pos); +} + +/** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with string data + */ +void MessagePosition::SetID(MessageID id) { + if (CheckID(id)) + messageID = id; + else + throw std::runtime_error { + "Invalid message id for MessagePosition" + }; +} + +/** + * Set position + * @param pos Reference to position + */ +void MessagePosition::SetPosition(Position& pos) { + this->pos.angle = pos.angle; + this->pos.robotId = pos.robotId; + this->pos.center = pos.center; + this->pos.direction = pos.direction; +} + +/** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ +string MessagePosition::ToString() { + if (CheckID(this->messageID)) + return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nPosition: \"" + to_string(this->pos.center.x) + ";" + to_string(this->pos.center.y) + "\""; + else + return "Invalid message"; +} + +/** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ +Message* MessagePosition::Copy() { + return new MessagePosition(this->messageID, this->pos); +} + +/** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ +bool MessagePosition::CheckID(MessageID id) { + if ((id != MESSAGE_CAM_POSITION)) { + return false; + } else return true; +} diff --git a/software/raspberry/superviseur-robot-dumber-pthread/lib/messages.h b/software/raspberry/superviseur-robot-dumber-pthread/lib/messages.h new file mode 100644 index 0000000..d64919a --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/lib/messages.h @@ -0,0 +1,567 @@ +/* + * Copyright (C) 2018 dimercur + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#ifndef __MESSAGES_H__ +#define __MESSAGES_H__ + +#include +#include "img.h" + +/** + * Message ID defined for system communication + * + * @brief List of available message ID + * + */ +typedef enum { + //Generic messages + MESSAGE_EMPTY = 0, + MESSAGE_LOG, + + // Message containing answer (after robot command, or for monitor) + MESSAGE_ANSWER_ACK, + MESSAGE_ANSWER_NACK, + MESSAGE_ANSWER_ROBOT_TIMEOUT, + MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND, + MESSAGE_ANSWER_ROBOT_ERROR, + MESSAGE_ANSWER_COM_ERROR, + + // Messages specific to server + MESSAGE_MONITOR_LOST, + + // messages for serial communication with robot + MESSAGE_ROBOT_COM_OPEN, + MESSAGE_ROBOT_COM_CLOSE, + + // Messages for camera + MESSAGE_CAM_OPEN, + MESSAGE_CAM_CLOSE, + MESSAGE_CAM_ASK_ARENA, + MESSAGE_CAM_ARENA_CONFIRM, + MESSAGE_CAM_ARENA_INFIRM, + MESSAGE_CAM_POSITION_COMPUTE_START, + MESSAGE_CAM_POSITION_COMPUTE_STOP, + MESSAGE_CAM_POSITION, + MESSAGE_CAM_IMAGE, + + // Messages for robot + MESSAGE_ROBOT_PING, + MESSAGE_ROBOT_RESET, + MESSAGE_ROBOT_START_WITH_WD, + MESSAGE_ROBOT_START_WITHOUT_WD, + MESSAGE_ROBOT_RELOAD_WD, + MESSAGE_ROBOT_MOVE, + MESSAGE_ROBOT_TURN, + MESSAGE_ROBOT_GO_FORWARD, + MESSAGE_ROBOT_GO_BACKWARD, + MESSAGE_ROBOT_GO_LEFT, + MESSAGE_ROBOT_GO_RIGHT, + MESSAGE_ROBOT_STOP, + MESSAGE_ROBOT_POWEROFF, + MESSAGE_ROBOT_BATTERY_GET, + MESSAGE_ROBOT_BATTERY_LEVEL, + MESSAGE_ROBOT_STATE_GET, + MESSAGE_ROBOT_STATE_NOT_BUSY, + MESSAGE_ROBOT_STATE_BUSY +} MessageID; + +typedef enum { + BATTERY_UNKNOWN=-1, + BATTERY_EMPTY=0, + BATTERY_LOW, + BATTERY_FULL +} BatteryLevel; + +using namespace std; + +/** + * Base class for messaging + * + * @brief Base class for messaging + * + */ +class Message { +public: + /** + * Create a new, empty message + */ + Message(); + + /** + * Create a new, empty message + */ + Message(MessageID id); + + /** + * Destroy message + */ + virtual ~Message(); + + /** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ + virtual string ToString(); + + /** + * Allocate a new mesage and copy contents of current message + * @return A message, copy of current + */ + virtual Message* Copy(); + + /** + * Compare message ID + * @param id Id to compare message to + * @return true if id is equal to message id, false otherwise + */ + bool CompareID(MessageID id) { + return (this->messageID == id) ? true:false; + } + + /** + * Get message ID + * @return Current message ID + */ + MessageID GetID() { + return messageID; + } + + /** + * Set message ID + * @param id Message ID + */ + virtual void SetID(MessageID id); + + /** + * Comparison operator + * @param msg Message to be compared + * @return true if message are equal, false otherwise + */ + virtual bool operator==(const Message& msg) { + return (messageID == msg.messageID); + } + + /** + * Difference operator + * @param msg Message to be compared + * @return true if message are different, false otherwise + */ + virtual bool operator!=(const Message& msg) { + return !(messageID == msg.messageID); + } + +protected: + /** + * Message identifier (@see MessageID) + */ + MessageID messageID; + + /** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ + virtual bool CheckID(MessageID id); +}; + + +/** + * Message class for holding float value, based on Message class + * + * @brief Float message class + * + */ +class MessageInt : public Message { +public: + /** + * Create a new, empty float message + */ + MessageInt(); + + /** + * Create a new float message, with given ID and value + * @param id Message ID + * @param val Message value + * @throw std::runtime_error if message ID is incompatible with float data + */ + MessageInt(MessageID id, int val); + + /** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with float data + */ + void SetID(MessageID id); + + /** + * Get message value (int) + * @return int value + */ + int GetValue() { + return value; + } + + /** + * Set message value (int) + * @param val int value to store in message + */ + void SetValue(int val) { + this->value = val; + } + + /** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ + string ToString(); + + /** + * Allocate a new mesage and copy contents of current message + * @return A message, copy of current + */ + Message* Copy(); + + /** + * Comparison operator + * @param msg Message to be compared + * @return true if message are equal, false otherwise + */ + virtual bool operator==(const MessageInt& msg) { + return ((messageID == msg.messageID) && (value == msg.value)); + } + + /** + * Difference operator + * @param msg Message to be compared + * @return true if message are different, false otherwise + */ + virtual bool operator!=(const MessageInt& msg) { + return !((messageID == msg.messageID) && (value == msg.value)); + } + +protected: + /** + * Message integer value + */ + int value; + + /** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ + bool CheckID(MessageID id); +}; + +/** + * Message class for holding string value, based on Message class + * + * @brief String message class + * + */ +class MessageString : public Message { +public: + /** + * Create a new, empty string message + */ + MessageString(); + + /** + * Create a new string message, with given ID and string + * @param id Message ID + * @param s Message string + * @throw std::runtime_error if message ID is incompatible with string data + */ + MessageString(MessageID id, string s); + + /** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with string data + */ + void SetID(MessageID id); + + /** + * Get message string + * @return String + */ + string GetString() { + return s; + } + + /** + * Set message string + * @param s String to store in message + */ + void SetString(string s) { + this->s = s; + } + + /** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ + string ToString(); + + /** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ + Message* Copy(); + + /** + * Comparison operator + * @param msg Message to be compared + * @return true if message are equal, false otherwise + */ + virtual bool operator==(const MessageString& msg) { + return ((messageID == msg.messageID) && (s == msg.s)); + } + + /** + * Difference operator + * @param msg Message to be compared + * @return true if message are different, false otherwise + */ + virtual bool operator!=(const MessageString& msg) { + return !((messageID == msg.messageID) && (s == msg.s)); + } +protected: + /** + * Message content + */ + string s; + + /** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ + bool CheckID(MessageID id); +}; + +/** + * Message class for holding image, based on Message class + * + * @brief Image message class + * + */ +class MessageImg : public Message { +public: + /** + * Create a new, empty image message + */ + MessageImg(); + + /** + * Create a new image message, with given ID and boolean value + * @param id Message ID + * @param image Pointer to image + * @throw std::runtime_error if message ID is incompatible with image message + */ + MessageImg(MessageID id, Img *image); + + /** + * Destroy Image message + */ + virtual ~MessageImg(); + + /** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with image message + */ + void SetID(MessageID id); + + /** + * Get message image + * @return Pointer to image + */ + Img* GetImage() { + return image; + } + + /** + * Set message image + * @param image Pointer to image object + */ + void SetImage(Img* image); + + /** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ + string ToString(); + + /** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ + Message* Copy(); + +protected: + /** + * Message image + */ + Img* image; + + /** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ + bool CheckID(MessageID id); +}; + +/** + * Message class for holding position, based on Message class + * + * @brief Position message class + * + */ +class MessagePosition : public Message { +public: + /** + * Create a new, empty position message + */ + MessagePosition(); + + /** + * Create a new position message, with given ID and position + * @param id Message ID + * @param pos Position + * @throw std::runtime_error if message ID is incompatible with image message + */ + MessagePosition(MessageID id, Position& pos); + + /** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with position message + */ + void SetID(MessageID id); + + /** + * Get position + * @return Position + */ + Position GetPosition() { + return pos; + } + + /** + * Set position + * @param pos Reference to position + */ + void SetPosition(Position& pos); + + /** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ + string ToString(); + + /** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ + Message* Copy(); + +protected: + /** + * Position + */ + Position pos; + + /** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ + bool CheckID(MessageID id); +}; + +/** + * Message class for holding battery level, based on Message class + * + * @brief Battery message class + * + */ +class MessageBattery : public Message { +public: + /** + * Create a new, empty battery message + */ + MessageBattery(); + + /** + * Create a new battery message, with given ID and battery level + * @param id Message ID + * @param level Battery level + * @throw std::runtime_error if message ID is incompatible with battery message + */ + MessageBattery(MessageID id, BatteryLevel level); + + /** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with battery message + */ + void SetID(MessageID id); + + /** + * Get message image + * @return Battery level + */ + BatteryLevel GetLevel() { + return level; + } + + /** + * Set battery level + * @param level Battery level + */ + void SetLevel(BatteryLevel level); + + /** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ + string ToString(); + + /** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ + Message* Copy(); + +protected: + /** + * Battery level + */ + BatteryLevel level; + + /** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ + bool CheckID(MessageID id); +}; + +#endif /* __MESSAGES_H__ */ + diff --git a/software/raspberry/superviseur-robot-dumber-pthread/main.cpp b/software/raspberry/superviseur-robot-dumber-pthread/main.cpp new file mode 100644 index 0000000..57b2196 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/main.cpp @@ -0,0 +1,55 @@ +/* + * Copyright (C) 2018 dimercur + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include +#include + +#include + +#ifdef __WITH_PTHREAD__ +#include "tasks_pthread.h" +#else +#include "tasks.h" +#endif // __WITH_PTHREAD__ + +int main(int argc, char **argv) { + Tasks tasks; + + + //Lock the memory to avoid memory swapping for this program + mlockall(MCL_CURRENT | MCL_FUTURE); + + cout<<"#################################"< 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=] [SUB=no] build" + @echo " make [CONF=] [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 "" + diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/Makefile-variables.mk b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/Makefile-variables.mk new file mode 100644 index 0000000..7a30787 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/Makefile-variables.mk @@ -0,0 +1,43 @@ +# +# Generated - do not edit! +# +# NOCDDL +# +CND_BASEDIR=`pwd` +CND_BUILDDIR=build +CND_DISTDIR=dist +# Debug__PC_ configuration +CND_PLATFORM_Debug__PC_=GNU-Linux +CND_ARTIFACT_DIR_Debug__PC_=dist/Debug__PC_/GNU-Linux +CND_ARTIFACT_NAME_Debug__PC_=superviseur-robot-dumber-pthread +CND_ARTIFACT_PATH_Debug__PC_=dist/Debug__PC_/GNU-Linux/superviseur-robot-dumber-pthread +CND_PACKAGE_DIR_Debug__PC_=dist/Debug__PC_/GNU-Linux/package +CND_PACKAGE_NAME_Debug__PC_=superviseur-robot-dumber-pthread.tar +CND_PACKAGE_PATH_Debug__PC_=dist/Debug__PC_/GNU-Linux/package/superviseur-robot-dumber-pthread.tar +# Debug__RPI_ configuration +CND_PLATFORM_Debug__RPI_=GNU-Linux +CND_ARTIFACT_DIR_Debug__RPI_=dist/Debug__RPI_/GNU-Linux +CND_ARTIFACT_NAME_Debug__RPI_=superviseur-robot +CND_ARTIFACT_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/superviseur-robot +CND_PACKAGE_DIR_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/package +CND_PACKAGE_NAME_Debug__RPI_=superviseur-robot.tar +CND_PACKAGE_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/package/superviseur-robot.tar +# JPO2019_RPI_ configuration +CND_PLATFORM_JPO2019_RPI_=GNU-Linux +CND_ARTIFACT_DIR_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux +CND_ARTIFACT_NAME_JPO2019_RPI_=superviseur-robot-dumber-pthread +CND_ARTIFACT_PATH_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/superviseur-robot-dumber-pthread +CND_PACKAGE_DIR_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/package +CND_PACKAGE_NAME_JPO2019_RPI_=superviseur-robot-dumber-pthread.tar +CND_PACKAGE_PATH_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/package/superviseur-robot-dumber-pthread.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: $(shell test -f nbproject/private/Makefile-variables.mk || (mkdir -p nbproject/private && touch nbproject/private/Makefile-variables.mk)) +# +include nbproject/private/Makefile-variables.mk diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/Package-Debug__PC_.bash b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/Package-Debug__PC_.bash new file mode 100644 index 0000000..a216821 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/Package-Debug__PC_.bash @@ -0,0 +1,76 @@ +#!/bin/bash -x + +# +# Generated - do not edit! +# + +# Macros +TOP=`pwd` +CND_PLATFORM=GNU-Linux +CND_CONF=Debug__PC_ +CND_DISTDIR=dist +CND_BUILDDIR=build +CND_DLIB_EXT=so +NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging +TMPDIRNAME=tmp-packaging +OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot-dumber-pthread +OUTPUT_BASENAME=superviseur-robot-dumber-pthread +PACKAGE_TOP_DIR=superviseur-robot-dumber-pthread/ + +# Functions +function checkReturnCode +{ + rc=$? + 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 "${NBTMPDIR}/superviseur-robot-dumber-pthread/bin" +copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755 + + +# Generate tar file +cd "${TOP}" +rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot-dumber-pthread.tar +cd ${NBTMPDIR} +tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot-dumber-pthread.tar * +checkReturnCode + +# Cleanup +cd "${TOP}" +rm -rf ${NBTMPDIR} diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/Package-Debug__RPI_.bash b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/Package-Debug__RPI_.bash new file mode 100644 index 0000000..f42ce09 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/Package-Debug__RPI_.bash @@ -0,0 +1,76 @@ +#!/bin/bash -x + +# +# Generated - do not edit! +# + +# Macros +TOP=`pwd` +CND_PLATFORM=GNU-Linux +CND_CONF=Debug__RPI_ +CND_DISTDIR=dist +CND_BUILDDIR=build +CND_DLIB_EXT=so +NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging +TMPDIRNAME=tmp-packaging +OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot +OUTPUT_BASENAME=superviseur-robot +PACKAGE_TOP_DIR=superviseur-robot/ + +# Functions +function checkReturnCode +{ + rc=$? + 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 "${NBTMPDIR}/superviseur-robot/bin" +copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755 + + +# Generate tar file +cd "${TOP}" +rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar +cd ${NBTMPDIR} +tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar * +checkReturnCode + +# Cleanup +cd "${TOP}" +rm -rf ${NBTMPDIR} diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/Package-JPO2019_RPI_.bash b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/Package-JPO2019_RPI_.bash new file mode 100644 index 0000000..30d0c31 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/Package-JPO2019_RPI_.bash @@ -0,0 +1,76 @@ +#!/bin/bash -x + +# +# Generated - do not edit! +# + +# Macros +TOP=`pwd` +CND_PLATFORM=GNU-Linux +CND_CONF=JPO2019_RPI_ +CND_DISTDIR=dist +CND_BUILDDIR=build +CND_DLIB_EXT=so +NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging +TMPDIRNAME=tmp-packaging +OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot-dumber-pthread +OUTPUT_BASENAME=superviseur-robot-dumber-pthread +PACKAGE_TOP_DIR=superviseur-robot-dumber-pthread/ + +# Functions +function checkReturnCode +{ + rc=$? + 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 "${NBTMPDIR}/superviseur-robot-dumber-pthread/bin" +copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755 + + +# Generate tar file +cd "${TOP}" +rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot-dumber-pthread.tar +cd ${NBTMPDIR} +tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot-dumber-pthread.tar * +checkReturnCode + +# Cleanup +cd "${TOP}" +rm -rf ${NBTMPDIR} diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/configurations.xml b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/configurations.xml new file mode 100644 index 0000000..7508430 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/configurations.xml @@ -0,0 +1,269 @@ + + + + + ./lib/base64/base64.h + ./lib/camera.h + ./lib/commonitor.h + ./lib/comrobot.h + ./lib/img.h + ./lib/messages.h + ./tasks.h + ./tasks_pthread.h + + + ./gdbsudo.sh + + + ./lib/base64/base64.cpp + ./lib/camera.cpp + ./lib/commonitor.cpp + ./lib/comrobot.cpp + ./lib/img.cpp + ./main.cpp + ./lib/messages.cpp + ./tasks.cpp + ./tasks_pthread.cpp + + + + + ./Makefile + + + + lib + + ./Makefile + + + + default + true + false + + + + + ./ + ./lib + + -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy + + + + ./ + ./lib + /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 -Wno-pmf-conversions + + _WITH_TRACE_ + __FOR_PC__ + __WITH_ARUCO__ + + + + + `pkg-config --libs opencv` + + -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + GNU|GNU + true + false + + + + + ./ + ./lib + /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 + + + + ./ + ./lib + /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 -Wno-pmf-conversions -std=gnu++11 + + _WITH_TRACE_ + __WITH_ARUCO__ + + + + + `pkg-config --libs opencv` + raspicam_cv + raspicam + + -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + GNU|GNU + true + false + + + + + ./ + ./lib + /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 + + + 8 + + ./ + ./lib + + -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 + + _WITH_TRACE_ + __FOR_PC__ + __WITH_ARUCO__ + __WITH_PTHREAD__ + + + + + `pkg-config --libs opencv4` + + -Wl,--no-as-needed -lpthread -lrt + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/Makefile-variables.mk b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/Makefile-variables.mk new file mode 100644 index 0000000..f98098b --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/Makefile-variables.mk @@ -0,0 +1,8 @@ +# +# Generated - do not edit! +# +# NOCDDL +# +# Debug__PC_ configuration +# Debug__RPI_ configuration +# JPO2019_RPI_ configuration diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/c_standard_headers_indexer.c b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/c_standard_headers_indexer.c new file mode 100644 index 0000000..c2548d2 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/c_standard_headers_indexer.c @@ -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 // Conditionally compiled macro that compares its argument to zero +#include // Functions to determine the type contained in character data +#include // Macros reporting error conditions +#include // Limits of float types +#include // Sizes of basic types +#include // Localization utilities +#include // Common mathematics functions +#include // Nonlocal jumps +#include // Signal handling +#include // Variable arguments +#include // Common macro definitions +#include // Input/output +#include // String handling +#include // General utilities: memory management, program utilities, string conversions, random numbers +#include // Time/date utilities +#include // (since C95) Alternative operator spellings +#include // (since C95) Extended multibyte and wide character utilities +#include // (since C95) Wide character classification and mapping utilities +#ifdef _STDC_C99 +#include // (since C99) Complex number arithmetic +#include // (since C99) Floating-point environment +#include // (since C99) Format conversion of integer types +#include // (since C99) Boolean type +#include // (since C99) Fixed-width integer types +#include // (since C99) Type-generic math (macros wrapping math.h and complex.h) +#endif +#ifdef _STDC_C11 +#include // (since C11) alignas and alignof convenience macros +#include // (since C11) Atomic types +#include // (since C11) noreturn convenience macros +#include // (since C11) Thread library +#include // (since C11) UTF-16 and UTF-32 character utilities +#endif diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/configurations.xml b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/configurations.xml new file mode 100644 index 0000000..ddaf89b --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/configurations.xml @@ -0,0 +1,109 @@ + + + ./Makefile + + + + localhost + 2 + + + + + + + + + + + + + + + gdb + + + + sudo "${OUTPUT_PATH}" + sudo -E "${OUTPUT_PATH}" + pkexec "${OUTPUT_PATH}" + "${OUTPUT_PATH}" + + "${OUTPUT_PATH}" + + true + 1 + 0 + 0 + + + + + + + pi@10.105.1.11:22 + 2 + + + + + + + + + + + + + + + gdb + + + + "${OUTPUT_PATH}" + + "${OUTPUT_PATH}" + + true + 0 + 0 + + + + + + + xenomai@192.168.1.141:22 + 2 + + + + + + + + + + + + + + + gdb + + + + "${OUTPUT_PATH}" + + "${OUTPUT_PATH}" + + true + 0 + 0 + + + + + + diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/cpp_standard_headers_indexer.cpp b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/cpp_standard_headers_indexer.cpp new file mode 100644 index 0000000..04f6fa6 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/cpp_standard_headers_indexer.cpp @@ -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 // General purpose utilities: program control, dynamic memory allocation, random numbers, sort and search +#include // Functions and macro constants for signal management +#include // Macro (and function) that saves (and jumps) to an execution context +#include // Handling of variable length argument lists +#include // Runtime type information utilities +#include // std::bitset class template +#include // Function objects, designed for use with the standard algorithms +#include // Various utility components +#include // C-style time/date utilites +#include // typedefs for types such as size_t, NULL and others +#include // Low-level memory management utilities +#include // Higher level memory management utilities +#include // limits of integral types +#include // limits of float types +#include // standardized way to query properties of arithmetic types +#include // Exception handling utilities +#include // Standard exception objects +#include // Conditionally compiled macro that compares its argument to zero +#include // Macro containing the last error number +#include // functions to determine the type contained in character data +#include // functions for determining the type of wide character data +#include // various narrow character string handling functions +#include // various wide and multibyte string handling functions +#include // std::basic_string class template +#include // std::vector container +#include // std::deque container +#include // std::list container +#include // std::set and std::multiset associative containers +#include // std::map and std::multimap associative containers +#include // std::stack container adaptor +#include // std::queue and std::priority_queue container adaptors +#include // Algorithms that operate on containers +#include // Container iterators +#include // Common mathematics functions +#include // Complex number type +#include // Class for representing and manipulating arrays of values +#include // Numeric operations on values in containers +#include // forward declarations of all classes in the input/output library +#include // std::ios_base class, std::basic_ios class template and several typedefs +#include // std::basic_istream class template and several typedefs +#include // std::basic_ostream, std::basic_iostream class templates and several typedefs +#include // several standard stream objects +#include // std::basic_fstream, std::basic_ifstream, std::basic_ofstream class templates and several typedefs +#include // std::basic_stringstream, std::basic_istringstream, std::basic_ostringstream class templates and several typedefs +#include // std::strstream, std::istrstream, std::ostrstream(deprecated) +#include // Helper functions to control the format or input and output +#include // std::basic_streambuf class template +#include // C-style input-output functions +#include // Localization utilities +#include // C localization utilities +#include // empty header. The macros that appear in iso646.h in C are keywords in C++ +#if __cplusplus >= 201103L +#include // (since C++11) std::type_index +#include // (since C++11) Compile-time type information +#include // (since C++11) C++ time utilites +#include // (since C++11) std::initializer_list class template +#include // (since C++11) std::tuple class template +#include // (since C++11) Nested allocator class +#include // (since C++11) fixed-size types and limits of other types +#include // (since C++11) formatting macros , intmax_t and uintmax_t math and conversions +#include // (since C++11) defines std::error_code, a platform-dependent error code +#include // (since C++11) C-style Unicode character conversion functions +#include // (since C++11) std::array container +#include // (since C++11) std::forward_list container +#include // (since C++11) std::unordered_set and std::unordered_multiset unordered associative containers +#include // (since C++11) std::unordered_map and std::unordered_multimap unordered associative containers +#include // (since C++11) Random number generators and distributions +#include // (since C++11) Compile-time rational arithmetic +#include // (since C++11) Floating-point environment access functions +#include // (since C++11) Unicode conversion facilities +#include // (since C++11) Classes, algorithms and iterators to support regular expression processing +#include // (since C++11) Atomic operations library +#include // (since C++11)(deprecated in C++17) simply includes the header +#include // (since C++11)(deprecated in C++17) simply includes the headers (until C++17) (since C++17) and : the overloads equivalent to the contents of the C header tgmath.h are already provided by those headers +#include // (since C++11)(deprecated in C++17) defines one compatibility macro constant +#include // (since C++11)(deprecated in C++17) defines one compatibility macro constant +#include // (since C++11) std::thread class and supporting functions +#include // (since C++11) mutual exclusion primitives +#include // (since C++11) primitives for asynchronous computations +#include // (since C++11) thread waiting conditions +#endif +#if __cplusplus >= 201300L +#include // (since C++14) shared mutual exclusion primitives +#endif +#if __cplusplus >= 201500L +#include // (since C++17) std::any class template +#include // (since C++17) std::optional class template +#include // (since C++17) std::variant class template +#include // (since C++17) Polymorphic allocators and memory resources +#include // (since C++17) std::basic_string_view class template +#include // (since C++17) Predefined execution policies for parallel versions of the algorithms +#include // (since C++17) std::path class and supporting functions +#endif diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/downloads-10.105.1.11-pi-22 b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/downloads-10.105.1.11-pi-22 new file mode 100644 index 0000000..e69de29 diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/downloads-10.105.1.13-pi-22 b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/downloads-10.105.1.13-pi-22 new file mode 100644 index 0000000..b62644e --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/downloads-10.105.1.13-pi-22 @@ -0,0 +1,3 @@ +#Tue Jan 08 15:35:51 CET 2019 +____VERSION=2.0 +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/dist/Debug__Pthread__RPI/GNU-Linux/superviseur-robot=1v diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/downloads-192.168.1.141-xenomai-22 b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/downloads-192.168.1.141-xenomai-22 new file mode 100644 index 0000000..e69de29 diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/launcher.properties b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/launcher.properties new file mode 100644 index 0000000..3edc2d8 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/launcher.properties @@ -0,0 +1,42 @@ +# Launchers File syntax: +# +# [Must-have property line] +# launcher1.runCommand= +# [Optional extra properties] +# launcher1.displayName= +# launcher1.hide= +# launcher1.buildCommand= +# launcher1.runDir= +# launcher1.runInOwnTab= +# launcher1.symbolFiles= +# launcher1.env.= +# (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= +# (This value is overwritten by a launcher specific runDir value if the latter exists) +# common.env.= +# (Environment variables from common launcher are merged with launcher specific variables) +# common.symbolFiles= +# (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= \ No newline at end of file diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/private.xml b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/private.xml new file mode 100644 index 0000000..0991519 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/private.xml @@ -0,0 +1,19 @@ + + + + 1 + 2 + + + + + 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 + + + diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/timestamps-10.105.1.11-pi-22 b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/timestamps-10.105.1.11-pi-22 new file mode 100644 index 0000000..1fca2ca --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/timestamps-10.105.1.11-pi-22 @@ -0,0 +1,456 @@ +#Thu Jan 24 10:34:54 CET 2019 +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_0.js=c1547565563000 +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_3.html=c1547565563000 +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h_source.html=c1547565563000 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b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/project.properties @@ -0,0 +1,2 @@ +#Tue Nov 13 11:04:27 CET 2018 +project.license=gpl30 diff --git a/software/raspberry/superviseur-robot-dumber-pthread/nbproject/project.xml b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/project.xml new file mode 100644 index 0000000..268be57 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/nbproject/project.xml @@ -0,0 +1,34 @@ + + + org.netbeans.modules.cnd.makeproject + + + superviseur-pthread + + cpp + h + UTF-8 + + + lib + + + + Debug__PC_ + 1 + + + Debug__RPI_ + 1 + + + JPO2019_RPI_ + 1 + + + + false + + + + diff --git a/software/raspberry/superviseur-robot-dumber-pthread/superviseur.doxygen b/software/raspberry/superviseur-robot-dumber-pthread/superviseur.doxygen new file mode 100644 index 0000000..56c51d1 --- /dev/null +++ b/software/raspberry/superviseur-robot-dumber-pthread/superviseur.doxygen @@ -0,0 +1,2453 @@ +# Doxyfile 1.8.13 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all text +# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv +# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv +# for the list of possible encodings. +# The default value is: UTF-8. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = "Bibliotheques TP RT" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This +# could be handy for archiving the generated documentation or if some version +# control system is used. + +PROJECT_NUMBER = 2.0 + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = "Bibliotheque de support pour TP/RT" + +# With the PROJECT_LOGO tag one can specify a logo or an icon that is included +# in the documentation. The maximum height of the logo should not exceed 55 +# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy +# the logo to the output directory. + +PROJECT_LOGO = /home/dimercur/Documents/Travail/git/dumber/software/monitor/monitor/ressources/robot-icon.resized.png + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path +# into which the generated documentation will be written. If a relative path is +# entered, it will be relative to the location where doxygen was started. If +# left blank the current directory will be used. + +OUTPUT_DIRECTORY = ./docs + +# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub- +# directories (in 2 levels) under the output directory of each output format and +# will distribute the generated files over these directories. Enabling this +# option can be useful when feeding doxygen a huge amount of source files, where +# putting all generated files in the same directory would otherwise causes +# performance problems for the file system. +# The default value is: NO. + +CREATE_SUBDIRS = NO + +# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII +# characters to appear in the names of generated files. If set to NO, non-ASCII +# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode +# U+3044. +# The default value is: NO. + +ALLOW_UNICODE_NAMES = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese, +# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States), +# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian, +# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages), +# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian, +# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian, +# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish, +# Ukrainian and Vietnamese. +# The default value is: English. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member +# descriptions after the members that are listed in the file and class +# documentation (similar to Javadoc). Set to NO to disable this. +# The default value is: YES. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief +# description of a member or function before the detailed description +# +# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. +# The default value is: YES. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator that is +# used to form the text in various listings. Each string in this list, if found +# as the leading text of the brief description, will be stripped from the text +# and the result, after processing the whole list, is used as the annotated +# text. Otherwise, the brief description is used as-is. If left blank, the +# following values are used ($name is automatically replaced with the name of +# the entity):The $name class, The $name widget, The $name file, is, provides, +# specifies, contains, represents, a, an and the. + +ABBREVIATE_BRIEF = "The $name class" \ + "The $name widget" \ + "The $name file" \ + is \ + provides \ + specifies \ + contains \ + represents \ + a \ + an \ + the + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# doxygen will generate a detailed section even if there is only a brief +# description. +# The default value is: NO. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. +# The default value is: NO. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path +# before files name in the file list and in the header files. If set to NO the +# shortest path that makes the file name unique will be used +# The default value is: YES. + +FULL_PATH_NAMES = YES + +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. +# Stripping is only done if one of the specified strings matches the left-hand +# part of the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. If set to NO, the Javadoc-style will behave just like regular Qt- +# style comments (thus requiring an explicit @brief command for a brief +# description.) +# The default value is: NO. + +JAVADOC_AUTOBRIEF = NO + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:\n" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". You can put \n's in the value part of an alias to insert +# newlines. + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding "class=itcl::class" +# will allow you to use the command class in the itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, Javascript, +# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran: +# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran: +# Fortran. In the later case the parser tries to guess whether the code is fixed +# or free formatted code, this is the default for Fortran type files), VHDL. For +# instance to make doxygen treat .inc files as Fortran files (default is PHP), +# and .f files as C (default is Fortran), use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See http://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up +# to that level are automatically included in the table of contents, even if +# they do not have an id attribute. +# Note: This feature currently applies only to Markdown headings. +# Minimum value: 0, maximum value: 99, default value: 0. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +TOC_INCLUDE_HEADINGS = 0 + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = YES + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = YES + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = YES + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# (class|struct|union) declarations. If set to NO, these declarations will be +# included in the documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file +# names in lower-case letters. If set to YES, upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. +# The default value is: system dependent. + +CASE_SENSE_NAMES = NO + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong or incomplete +# parameter documentation, but not about the absence of documentation. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = ./lib + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: http://www.gnu.org/software/libiconv) for the list of +# possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, +# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, +# *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf and *.qsf. + +FILE_PATTERNS = *.h \ + *.h++ \ + *.hpp + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = * + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = YES + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# function all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see http://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the config file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the +# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the +# cost of reduced performance. This can be particularly helpful with template +# rich C++ code for which doxygen's built-in parser lacks the necessary type +# information. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse-libclang=ON option for CMake. +# The default value is: NO. + +CLANG_ASSISTED_PARSING = NO + +# If clang assisted parsing is enabled you can provide the compiler with command +# line options that you would normally use when invoking the compiler. Note that +# the include paths will already be set by doxygen for the files and directories +# specified with INPUT and INCLUDE_PATH. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_OPTIONS = + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in +# which the alphabetical index list will be split. +# Minimum value: 1, maximum value: 20, default value: 5. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# http://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = NO + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: http://developer.apple.com/tools/xcode/), introduced with +# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a +# Makefile in the HTML output directory. Running make will produce the docset in +# that directory and running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on +# Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the master .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- +# folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location of Qt's +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the +# generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = YES + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# http://www.mathjax.org) which uses client side Javascript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from http://www.mathjax.org before deployment. +# The default value is: http://cdn.mathjax.org/mathjax/latest. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /