diff --git a/.gitignore b/.gitignore index 755472c..e76c98c 100644 --- a/.gitignore +++ b/.gitignore @@ -62,3 +62,4 @@ GUI # Android *.apk +/software/raspberry/superviseur-robot/superviseur/dist/ \ No newline at end of file diff --git a/software/monitor/monitor/.gitignore b/software/monitor/monitor/.gitignore new file mode 100644 index 0000000..4e82d27 --- /dev/null +++ b/software/monitor/monitor/.gitignore @@ -0,0 +1,40 @@ +# Autosave files +*~ + +# build +[Oo]bj/ +[Bb]in/ +packages/ +TestResults/ + +# globs +Makefile.in +*.DS_Store +*.sln.cache +*.suo +*.cache +*.pidb +*.userprefs +*.usertasks +config.log +config.make +config.status +aclocal.m4 +install-sh +autom4te.cache/ +*.user +*.tar.gz +tarballs/ +test-results/ +Thumbs.db + +# Mac bundle stuff +*.dmg +*.app + +# resharper +*_Resharper.* +*.Resharper + +# dotCover +*.dotCover diff --git a/software/monitor/monitor/MonitorUI.cs b/software/monitor/monitor/MonitorUI.cs new file mode 100644 index 0000000..8aad94d --- /dev/null +++ b/software/monitor/monitor/MonitorUI.cs @@ -0,0 +1,16 @@ +using System; +using Gtk; + +public partial class MainWindow : Gtk.Window +{ + public MainWindow() : base(Gtk.WindowType.Toplevel) + { + Build(); + } + + protected void OnDeleteEvent(object sender, DeleteEventArgs a) + { + Application.Quit(); + a.RetVal = true; + } +} diff --git a/software/monitor/monitor/Program.cs b/software/monitor/monitor/Program.cs new file mode 100644 index 0000000..3528fcc --- /dev/null +++ b/software/monitor/monitor/Program.cs @@ -0,0 +1,16 @@ +using System; +using Gtk; + +namespace monitor +{ + class MainClass + { + public static void Main(string[] args) + { + Application.Init(); + MainWindow win = new MainWindow(); + win.Show(); + Application.Run(); + } + } +} diff --git a/software/monitor/monitor/Properties/AssemblyInfo.cs b/software/monitor/monitor/Properties/AssemblyInfo.cs new file mode 100644 index 0000000..703ac09 --- /dev/null +++ b/software/monitor/monitor/Properties/AssemblyInfo.cs @@ -0,0 +1,26 @@ +using System.Reflection; +using System.Runtime.CompilerServices; + +// Information about this assembly is defined by the following attributes. +// Change them to the values specific to your project. + +[assembly: AssemblyTitle("monitor")] +[assembly: AssemblyDescription("")] +[assembly: AssemblyConfiguration("")] +[assembly: AssemblyCompany("")] +[assembly: AssemblyProduct("")] +[assembly: AssemblyCopyright("${AuthorCopyright}")] +[assembly: AssemblyTrademark("")] +[assembly: AssemblyCulture("")] + +// The assembly version has the format "{Major}.{Minor}.{Build}.{Revision}". +// The form "{Major}.{Minor}.*" will automatically update the build and revision, +// and "{Major}.{Minor}.{Build}.*" will update just the revision. + +[assembly: AssemblyVersion("1.0.*")] + +// The following attributes are used to specify the signing key for the assembly, +// if desired. See the Mono documentation for more information about signing. + +//[assembly: AssemblyDelaySign(false)] +//[assembly: AssemblyKeyFile("")] diff --git a/software/monitor/monitor/gtk-gui/MainWindow.cs b/software/monitor/monitor/gtk-gui/MainWindow.cs new file mode 100644 index 0000000..2397dbf --- /dev/null +++ b/software/monitor/monitor/gtk-gui/MainWindow.cs @@ -0,0 +1,126 @@ + +// This file has been generated by the GUI designer. Do not modify. + +public partial class MainWindow +{ + private global::Gtk.UIManager UIManager; + + private global::Gtk.VBox vbox1; + + private global::Gtk.MenuBar menubar1; + + private global::Gtk.HBox hbox1; + + private global::Gtk.DrawingArea drawingarea1; + + private global::Gtk.Alignment alignment1; + + private global::Gtk.ScrolledWindow GtkScrolledWindow; + + private global::Gtk.Frame frame1; + + private global::Gtk.Fixed fixed4; + + private global::Gtk.Button button7; + + private global::Gtk.Label GtkLabel2; + + private global::Gtk.Statusbar statusbar1; + + protected virtual void Build() + { + global::Stetic.Gui.Initialize(this); + // Widget MainWindow + this.UIManager = new global::Gtk.UIManager(); + global::Gtk.ActionGroup w1 = new global::Gtk.ActionGroup("Default"); + this.UIManager.InsertActionGroup(w1, 0); + this.AddAccelGroup(this.UIManager.AccelGroup); + this.Name = "MainWindow"; + this.Title = global::Mono.Unix.Catalog.GetString("Monitor UI"); + this.WindowPosition = ((global::Gtk.WindowPosition)(4)); + // Container child MainWindow.Gtk.Container+ContainerChild + this.vbox1 = new global::Gtk.VBox(); + this.vbox1.Name = "vbox1"; + this.vbox1.Spacing = 6; + // Container child vbox1.Gtk.Box+BoxChild + this.UIManager.AddUiFromString(""); + this.menubar1 = ((global::Gtk.MenuBar)(this.UIManager.GetWidget("/menubar1"))); + this.menubar1.Name = "menubar1"; + this.vbox1.Add(this.menubar1); + global::Gtk.Box.BoxChild w2 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.menubar1])); + w2.Position = 0; + w2.Expand = false; + w2.Fill = false; + // Container child vbox1.Gtk.Box+BoxChild + this.hbox1 = new global::Gtk.HBox(); + this.hbox1.Name = "hbox1"; + this.hbox1.Spacing = 6; + // Container child hbox1.Gtk.Box+BoxChild + this.drawingarea1 = new global::Gtk.DrawingArea(); + this.drawingarea1.Name = "drawingarea1"; + this.hbox1.Add(this.drawingarea1); + global::Gtk.Box.BoxChild w3 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.drawingarea1])); + w3.Position = 0; + // Container child hbox1.Gtk.Box+BoxChild + this.alignment1 = new global::Gtk.Alignment(0.5F, 0.5F, 1F, 1F); + this.alignment1.Name = "alignment1"; + // Container child alignment1.Gtk.Container+ContainerChild + this.GtkScrolledWindow = new global::Gtk.ScrolledWindow(); + this.GtkScrolledWindow.Name = "GtkScrolledWindow"; + this.GtkScrolledWindow.ShadowType = ((global::Gtk.ShadowType)(1)); + // Container child GtkScrolledWindow.Gtk.Container+ContainerChild + global::Gtk.Viewport w4 = new global::Gtk.Viewport(); + w4.ShadowType = ((global::Gtk.ShadowType)(0)); + // Container child GtkViewport.Gtk.Container+ContainerChild + this.frame1 = new global::Gtk.Frame(); + this.frame1.Name = "frame1"; + this.frame1.ShadowType = ((global::Gtk.ShadowType)(0)); + // Container child frame1.Gtk.Container+ContainerChild + this.fixed4 = new global::Gtk.Fixed(); + this.fixed4.Name = "fixed4"; + this.fixed4.HasWindow = false; + // Container child fixed4.Gtk.Fixed+FixedChild + this.button7 = new global::Gtk.Button(); + this.button7.CanFocus = true; + this.button7.Name = "button7"; + this.button7.UseUnderline = true; + this.button7.Label = global::Mono.Unix.Catalog.GetString("GtkButton"); + this.fixed4.Add(this.button7); + global::Gtk.Fixed.FixedChild w5 = ((global::Gtk.Fixed.FixedChild)(this.fixed4[this.button7])); + w5.X = 30; + w5.Y = 25; + this.frame1.Add(this.fixed4); + this.GtkLabel2 = new global::Gtk.Label(); + this.GtkLabel2.Name = "GtkLabel2"; + this.GtkLabel2.LabelProp = global::Mono.Unix.Catalog.GetString("Controls"); + this.GtkLabel2.UseMarkup = true; + this.frame1.LabelWidget = this.GtkLabel2; + w4.Add(this.frame1); + this.GtkScrolledWindow.Add(w4); + this.alignment1.Add(this.GtkScrolledWindow); + this.hbox1.Add(this.alignment1); + global::Gtk.Box.BoxChild w10 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.alignment1])); + w10.Position = 1; + this.vbox1.Add(this.hbox1); + global::Gtk.Box.BoxChild w11 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.hbox1])); + w11.Position = 1; + // Container child vbox1.Gtk.Box+BoxChild + this.statusbar1 = new global::Gtk.Statusbar(); + this.statusbar1.Name = "statusbar1"; + this.statusbar1.Spacing = 6; + this.vbox1.Add(this.statusbar1); + global::Gtk.Box.BoxChild w12 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.statusbar1])); + w12.Position = 2; + w12.Expand = false; + w12.Fill = false; + this.Add(this.vbox1); + if ((this.Child != null)) + { + this.Child.ShowAll(); + } + this.DefaultWidth = 1039; + this.DefaultHeight = 705; + this.Show(); + this.DeleteEvent += new global::Gtk.DeleteEventHandler(this.OnDeleteEvent); + } +} diff --git a/software/monitor/monitor/gtk-gui/generated.cs b/software/monitor/monitor/gtk-gui/generated.cs new file mode 100644 index 0000000..4842e95 --- /dev/null +++ b/software/monitor/monitor/gtk-gui/generated.cs @@ -0,0 +1,30 @@ + +// This file has been generated by the GUI designer. Do not modify. +namespace Stetic +{ + internal class Gui + { + private static bool initialized; + + internal static void Initialize(Gtk.Widget iconRenderer) + { + if ((Stetic.Gui.initialized == false)) + { + Stetic.Gui.initialized = true; + } + } + } + + internal class ActionGroups + { + public static Gtk.ActionGroup GetActionGroup(System.Type type) + { + return Stetic.ActionGroups.GetActionGroup(type.FullName); + } + + public static Gtk.ActionGroup GetActionGroup(string name) + { + return null; + } + } +} diff --git a/software/monitor/monitor/gtk-gui/gui.stetic b/software/monitor/monitor/gtk-gui/gui.stetic new file mode 100644 index 0000000..c490966 --- /dev/null +++ b/software/monitor/monitor/gtk-gui/gui.stetic @@ -0,0 +1,129 @@ + + + + .. + + + + + + + + + Monitor UI + CenterOnParent + + + + + 6 + + + + + + + 0 + True + False + False + + + + + + 6 + + + + + + 0 + True + + + + + + + + + In + + + + None + + + + True + None + + + + False + + + + True + TextOnly + GtkButton + True + + + 30 + 25 + + + + + + + + <b>Controls</b> + True + + + label_item + + + + + + + + + + + 1 + True + + + + + 1 + True + + + + + + 6 + + + + + + + + + 2 + True + False + False + + + + + + \ No newline at end of file diff --git a/software/monitor/monitor/monitor.csproj b/software/monitor/monitor/monitor.csproj new file mode 100644 index 0000000..bb09369 --- /dev/null +++ b/software/monitor/monitor/monitor.csproj @@ -0,0 +1,64 @@ + + + + Debug + x86 + {F759E76E-E6D5-4117-8CE3-7FB83FECCAF9} + WinExe + monitor + monitor + v4.6.1 + + + true + full + false + bin\Debug + DEBUG; + prompt + 4 + x86 + + + true + bin\Release + prompt + 4 + x86 + + + + + False + + + False + + + False + + + False + + + False + + + False + + + + + + gui.stetic + + + + + + + + + + + \ No newline at end of file diff --git a/software/monitor/monitor/monitor.sln b/software/monitor/monitor/monitor.sln new file mode 100644 index 0000000..d3302ce --- /dev/null +++ b/software/monitor/monitor/monitor.sln @@ -0,0 +1,17 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio 2012 +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "monitor", "monitor.csproj", "{F759E76E-E6D5-4117-8CE3-7FB83FECCAF9}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|x86 = Debug|x86 + Release|x86 = Release|x86 + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {F759E76E-E6D5-4117-8CE3-7FB83FECCAF9}.Debug|x86.ActiveCfg = Debug|x86 + {F759E76E-E6D5-4117-8CE3-7FB83FECCAF9}.Debug|x86.Build.0 = Debug|x86 + {F759E76E-E6D5-4117-8CE3-7FB83FECCAF9}.Release|x86.ActiveCfg = Release|x86 + {F759E76E-E6D5-4117-8CE3-7FB83FECCAF9}.Release|x86.Build.0 = Release|x86 + EndGlobalSection +EndGlobal diff --git a/software/raspberry/conception_robot_2018.pdf b/software/raspberry/conception_robot_2018.pdf new file mode 100644 index 0000000..65a39b3 Binary files /dev/null and b/software/raspberry/conception_robot_2018.pdf differ diff --git a/software/raspberry/sujet_robot_2018.pdf b/software/raspberry/sujet_robot_2018.pdf new file mode 100644 index 0000000..e1467c6 Binary files /dev/null and b/software/raspberry/sujet_robot_2018.pdf differ diff --git a/software/raspberry/superviseur-robot/lib/server.h b/software/raspberry/superviseur-robot/lib/server.h new file mode 100644 index 0000000..31904db --- /dev/null +++ b/software/raspberry/superviseur-robot/lib/server.h @@ -0,0 +1,28 @@ +/* + * To change this license header, choose License Headers in Project Properties. + * To change this template file, choose Tools | Templates + * and open the template in the editor. + */ + +/* + * File: server.h + * Author: dimercur + * + * Created on 19 octobre 2018, 14:24 + */ + +#ifndef _SERVER_H_ +#define _SERVER_H_ + +#define DEFAULT_SERVER_PORT 2323 + +int openServer (int port); +int closeServer(); +int acceptClient(); + +int sendDataToServer(char *data, int length); +int sendDataToServerForClient(int client, char *data, int length); +int receiveDataFromServer(char *data, int size); +int receiveDataFromServerFromClient(int client, char *data, int size); +#endif /* _SERVER_H_ */ + diff --git a/software/raspberry/superviseur-robot/lib/src/monitor.cpp b/software/raspberry/superviseur-robot/lib/src/monitor.cpp index f145f46..b7fd125 100644 --- a/software/raspberry/superviseur-robot/lib/src/monitor.cpp +++ b/software/raspberry/superviseur-robot/lib/src/monitor.cpp @@ -1,4 +1,5 @@ #include "monitor.h" +#include "server.h" using namespace std; @@ -6,131 +7,48 @@ SOCKADDR_IN ssin; SOCKET sock; socklen_t recsize = sizeof (ssin); -/*Socket et contexte d'adressage du client */ -SOCKADDR_IN csin; -SOCKET csock; -socklen_t crecsize = sizeof (csin); - -int sock_err; -pid_t pidNodejs; string serverReceive(int size); -int serverSend(const void *data, int dataLength); +int sendMessage(const char *data, int dataLength); int receive(char *data); -int run_nodejs(const char * path, char * file) { - int ret; - //char *const parmList[] = {"/bin/ls", "-l", "/home", NULL}; - char * const parmList[] = {"node", file, NULL}; - - if ((ret = fork()) == -1) - perror("fork error"); - else if (ret == 0) { - ret = execv(path, parmList); - } - return ret; -} - -int kill_nodejs() { -#ifdef __VERBOSE__ - printf("kill nodejs\n"); -#endif - return kill(pidNodejs, SIGTERM); -} - -int open_server(int port) { - /* Création d'un socket */ - sock = socket(AF_INET, SOCK_STREAM, 0); - int enable = 1; - - /* Si la socket est valide */ - if (sock != INVALID_SOCKET) { -#ifdef _WITH_TRACE_ - printf("TCP/IP Socket %d opened\n", sock); -#endif - setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof (enable)); - - /* Configuration */ - ssin.sin_addr.s_addr = htonl(INADDR_ANY); /* Adresse IP automatique */ - ssin.sin_family = AF_INET; /* Protocole familial (IP) */ - ssin.sin_port = htons(port); /* Listage du port */ - sock_err = bind(sock, (SOCKADDR*) & ssin, recsize); - - /* Si la socket fonctionne */ - if (sock_err != SOCKET_ERROR) { - /* Démarrage du listage (mode server) */ - sock_err = listen(sock, 1); - - /* Si la socket fonctionne */ - if (sock_err != SOCKET_ERROR) { - /* Attente pendant laquelle le client se connecte */ -#ifdef _WITH_TRACE_ - printf("Waiting a client on port %d\n", port); -#endif - csock = accept(sock, (SOCKADDR*) & csin, &crecsize); -#ifdef _WITH_TRACE_ - printf("Client connected\n"); -#endif - return 0; - } else { - perror("listen"); - } - } else { - perror("bind"); - return (-1); - } - } else { - perror("socket"); - return (-1); - } - return 0; -} - -int close_server(void) { - /* Fermeture de la socket client et de la socket serveur */ - close(csock); - close(sock); - printf("Socket fermé\n"); - return 0; -} - int send_message_to_monitor(const char* typeMessage, const void * data) { if ((string) typeMessage == HEADER_STM_IMAGE) { Jpg * imgC = (Jpg*) data; - serverSend("IMG", 3); - serverSend(imgC->data(), imgC->size()); - serverSend("TRAME", 5); + sendMessage("IMG", 3); + sendMessage((const char*)imgC->data(), imgC->size()); + sendMessage("TRAME", 5); return 0; } else if ((string) typeMessage == HEADER_STM_POS) { char buffer[400]; Position * maPosition = (Position*) data; sprintf(buffer, "POScenter: %3d;%3d | %.1fTRAME", maPosition->center.x, maPosition->center.y, maPosition->angle); - serverSend(buffer, strlen(buffer)); + sendMessage(buffer, strlen(buffer)); return 0; } else if ((string) typeMessage == HEADER_STM_MES) { char buffer[50]; sprintf(buffer, "MSG%sTRAME", (const char*) data); - serverSend(buffer, strlen(buffer)); + sendMessage(buffer, strlen(buffer)); return 0; } else if ((string) typeMessage == HEADER_STM_ACK) { char buffer[50]; sprintf(buffer, "ACK%sTRAME", (const char*) data); - serverSend(buffer, strlen(buffer)); + sendMessage(buffer, strlen(buffer)); return 0; } else if ((string) typeMessage == HEADER_STM_BAT) { char buffer[50]; sprintf(buffer, "BAT%sTRAME", (const char*) data); - serverSend(buffer, strlen(buffer)); + sendMessage(buffer, strlen(buffer)); return 0; } else if ((string) typeMessage == HEADER_STM_NO_ACK) { char buffer[50]; sprintf(buffer, "NAK%sTRAME", (const char*) data); - serverSend(buffer, strlen(buffer)); + sendMessage(buffer, strlen(buffer)); return 0; } else if ((string) typeMessage == HEADER_STM_LOST_DMB) { char buffer[50]; sprintf(buffer, "LCD%sTRAME", (const char*) data); - serverSend(buffer, strlen(buffer)); + sendMessage(buffer, strlen(buffer)); return 0; } else { return -1; @@ -146,13 +64,13 @@ int receive_message_from_monitor(char *typeMessage, char *data) { int receive(char *data) { int result; - result = recv(csock, data, 20, 0); + result = receiveDataFromServer(data, 20); //cout <<"Data : " << data << endl; return result; } -int serverSend(const void *data, int dataLength) { - if (send(csock, data, dataLength, 0) != dataLength) { +int sendMessage(const char *data, int dataLength) { + if (sendDataToServer((char*)data, dataLength) != dataLength) { perror("Send failed : "); return false; } diff --git a/software/raspberry/superviseur-robot/lib/src/server.cpp b/software/raspberry/superviseur-robot/lib/src/server.cpp new file mode 100644 index 0000000..49aa71f --- /dev/null +++ b/software/raspberry/superviseur-robot/lib/src/server.cpp @@ -0,0 +1,97 @@ +/* + * To change this license header, choose License Headers in Project Properties. + * To change this template file, choose Tools | Templates + * and open the template in the editor. + */ + +/* + * File: server.cpp + * Author: dimercur + * + * Created on 19 octobre 2018, 14:24 + */ + +#include "server.h" +#include +#include +#include + +#include +#include +#include + +#define NB_CONNECTION_MAX 1 + +int socketFD = -1; +int clientID = -1; + +int openServer(int port) { + struct sockaddr_in server; + + socketFD = socket(AF_INET, SOCK_STREAM, 0); + if (socketFD < 0) { + perror("Can not create socket"); + exit(-1); + } + + server.sin_addr.s_addr = INADDR_ANY; + server.sin_family = AF_INET; + server.sin_port = htons(port); + + if (bind(socketFD, (struct sockaddr *) &server, sizeof (server)) < 0) { + perror("Can not bind socket"); + exit(-1); + } + + listen(socketFD, NB_CONNECTION_MAX); + + return socketFD; +} + +int closeServer() { + close(socketFD); + + socketFD = -1; +} + +int acceptClient() { + struct sockaddr_in client; + int c = sizeof (struct sockaddr_in); + + clientID = accept(socketFD, (struct sockaddr *) &client, (socklen_t*) & c); + + if (clientID < 0) { + perror("Accept failed in acceptClient"); + exit(-1); + } + + return clientID; +} + +int sendDataToServer(char *data, int length) { + return sendDataToServerForClient(clientID, data, length); +} + +int sendDataToServerForClient(int client, char *data, int length) { + if (client >= 0) + return write(client, (void*)data, length); + else return 0; +} + +int receiveDataFromServer(char *data, int size) { + return receiveDataFromServerFromClient(clientID, data, size); +} + +int receiveDataFromServerFromClient(int client, char *data, int size) { + char length = 0; + + if (client > 0) { + if ((length = recv(client, (void*)data, size, 0)) > 0) { + data[length] = 0; + } + } + + return length; +} + + diff --git a/software/raspberry/superviseur-robot/nbproject/private/CodeAssistancePathMapper.properties b/software/raspberry/superviseur-robot/nbproject/private/CodeAssistancePathMapper.properties new file mode 100644 index 0000000..7f5ded8 --- /dev/null +++ b/software/raspberry/superviseur-robot/nbproject/private/CodeAssistancePathMapper.properties @@ -0,0 +1 @@ +# Automatic path mapper. CRC = 1 diff --git a/software/raspberry/superviseur-robot/nbproject/private/Default-build.log b/software/raspberry/superviseur-robot/nbproject/private/Default-build.log new file mode 100644 index 0000000..f729b19 --- /dev/null +++ b/software/raspberry/superviseur-robot/nbproject/private/Default-build.log @@ -0,0 +1,48 @@ +Scanning dependencies of target destijl +[ 12%] Building CXX object lib/CMakeFiles/destijl.dir/src/robot.cpp.o +[ 25%] Building CXX object lib/CMakeFiles/destijl.dir/src/monitor.cpp.o +In file included from /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp:1:0: +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/./monitor.h:65:117: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings] + int run_nodejs(const char *path = (const char*)DEFAULT_NODEJS_PATH, char *file = (const char*)DEFAULT_INTERFACE_FILE); + ^ +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp: In function ‘int run_nodejs(const char*, char*)’: +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp:24:50: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings] + char * const parmList[] = {"node", file, NULL}; + ^ +[ 37%] Building CXX object lib/CMakeFiles/destijl.dir/src/message.cpp.o +[ 50%] Building CXX object lib/CMakeFiles/destijl.dir/src/image.cpp.o +[ 62%] Linking CXX static library /home/dimercur/Documents/Travail/git/dumber/software/raspberry/lib/libdestijl.a +[ 62%] Built target destijl +Scanning dependencies of target superviseur +[ 75%] Building CXX object superviseur/CMakeFiles/superviseur.dir/src/main.cpp.o +In file included from /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.h:28:0, + from /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp:19: +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib/monitor.h:65:117: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings] + int run_nodejs(const char *path = (const char*)DEFAULT_NODEJS_PATH, char *file = (const char*)DEFAULT_INTERFACE_FILE); + ^ +[ 87%] Building CXX object superviseur/CMakeFiles/superviseur.dir/src/functions.cpp.o +In file included from /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.h:28:0, + from /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp:1: +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib/monitor.h:65:117: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings] + int run_nodejs(const char *path = (const char*)DEFAULT_NODEJS_PATH, char *file = (const char*)DEFAULT_INTERFACE_FILE); + ^ +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp: In function ‘void f_server(void*)’: +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp:15:81: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings] + err = run_nodejs("/usr/local/bin/node", "/home/pi/Interface_Robot/server.js"); + ^ +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp: In function ‘void f_openComRobot(void*)’: +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp:140:53: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings] + set_msgToMon_header(&msg, HEADER_STM_ACK); + ^ +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp:144:56: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings] + set_msgToMon_header(&msg, HEADER_STM_NO_ACK); + ^ +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp: In function ‘void f_startRobot(void*)’: +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp:176:53: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings] + set_msgToMon_header(&msg, HEADER_STM_ACK); + ^ +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp:180:56: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings] + set_msgToMon_header(&msg, HEADER_STM_NO_ACK); + ^ +[100%] Linking CXX executable /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur/bin/superviseur +[100%] Built target superviseur diff --git a/software/raspberry/superviseur-robot/nbproject/private/Default-exec.log b/software/raspberry/superviseur-robot/nbproject/private/Default-exec.log new file mode 100644 index 0000000..2f4cd85 --- /dev/null +++ b/software/raspberry/superviseur-robot/nbproject/private/Default-exec.log @@ -0,0 +1,225 @@ +called: /usr/bin/g++ + /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib + /usr/bin/g++ + -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/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 + -g3 + -gdwarf-2 + -std=gnu++11 + -o + CMakeFiles/destijl.dir/src/robot.cpp.o + -c + 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-I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2 -std=gnu++11 -o CMakeFiles/superviseur.dir/src/functions.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp diff --git a/software/raspberry/superviseur-robot/nbproject/private/c_standard_headers_indexer.c b/software/raspberry/superviseur-robot/nbproject/private/c_standard_headers_indexer.c new file mode 100644 index 0000000..c2548d2 --- /dev/null +++ b/software/raspberry/superviseur-robot/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/nbproject/private/configurations.xml b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml new file mode 100644 index 0000000..92d8f5a --- /dev/null +++ b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml @@ -0,0 +1,331 @@ + + + + + + + + + + + + + + + CMakeCXXCompilerId.cpp + + + + + feature_tests.cxx + + + + + + + + + + + + + + + + + + + + + + + + + CMakeCXXCompilerId.cpp + + + + + + + CMakeCXXCompilerId.cpp + + + + + feature_tests.cxx + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + rtvideoExample.cpp + serialExample.cpp + serialTest.cpp + serverTest.cpp + uiExample.cpp + videoExample.cpp + + + + + + + + rtvideoExample.cpp + serialExample.cpp + serialTest.cpp + serverTest.cpp + uiExample.cpp + videoExample.cpp + + + + + Camera.cpp + Image.cpp + MsgManager.cpp + Robot.cpp + Serial.cpp + TcpServer.cpp + + Camera.h + Definition.h + Image.h + MsgManager.h + Robot.h + Serial.h + TcpServer.h + + + + + + Program.cpp + Tasks.cpp + Tasks.h + + + + + + + + + + + + image.cpp + message.cpp + monitor.cpp + robot.cpp + server.cpp + + definitions.h + image.h + message.h + monitor.h + robot.h + server.h + + + definitions.h + image.cpp + image.h + message.cpp + message.h + monitor.cpp + monitor.h + robot.cpp + robot.h + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + functions.cpp + functions.h + main.cpp + + .gitignore + + + + + + Program.cpp + Tasks.cpp + Tasks.h + + + + + + + + + Makefile + + + + localhost + 2 + + + + . + ${AUTO_FOLDER} + + ${AUTO_FOLDER} + + ${MAKE} ${ITEM_NAME}.o + ${AUTO_COMPILE} + + ${AUTO_COMPILE} + + + + + + + + + + + + + + + gdb + + + + "${OUTPUT_PATH}" + + "${OUTPUT_PATH}" + . + false + 0 + 0 + + + + + + diff --git a/software/raspberry/superviseur-robot/nbproject/private/cpp_standard_headers_indexer.cpp b/software/raspberry/superviseur-robot/nbproject/private/cpp_standard_headers_indexer.cpp new file mode 100644 index 0000000..04f6fa6 --- /dev/null +++ b/software/raspberry/superviseur-robot/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/nbproject/private/launcher.properties b/software/raspberry/superviseur-robot/nbproject/private/launcher.properties new file mode 100644 index 0000000..3edc2d8 --- /dev/null +++ b/software/raspberry/superviseur-robot/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/nbproject/private/private.xml b/software/raspberry/superviseur-robot/nbproject/private/private.xml new file mode 100644 index 0000000..4cee077 --- /dev/null +++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml @@ -0,0 +1,21 @@ + + + + true + + + 0 + 0 + + + + + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/server.cpp + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/server.h + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.h + + +