passage au tout objet + messagerie

software/raspberry/superviseur-robot/.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

software/raspberry/superviseur-robot/lib/camera.cpp

@@ -0,0 +1,86 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#include "camera.h"
+#include "img.h"
+
+using namespace cv;
+
+void Camera::setSize(int size) {
+    this->size = size;
+    switch (size){
+        case xs:
+            this->width = 480;
+            this->height = 360;
+            break;
+        case sm:
+            this->width = 640;
+            this->height = 480;
+            break;
+        case md:
+            this->width = 1024;
+            this->height = 768;
+            break;
+        case lg:
+            this->width = 1280;
+            this->height = 960;
+            break;
+        default:
+            this->width = 480;
+            this->height = 360;
+
+    }
+}
+
+
+int Camera::open_camera() {
+    this->cap.open(0);
+}
+
+Camera::Camera(int size) {
+    this->setSize(size);
+    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);
+}
+
+int Camera::close_camera() {
+    cap.release();
+    return 0;
+}
+
+Img Camera::grab_image() {
+    ImageMat frame;
+    cap >> frame;
+    Img capture = Img(frame);
+    return capture;
+}
+
+
+bool Camera::isOpen() {
+    return cap.isOpened();
+}
+
+int Camera::getWidth() const {
+    return width;
+}
+
+int Camera::getHeight() const {
+    return height;
+}
+
+

software/raspberry/superviseur-robot/lib/camera.h

@@ -0,0 +1,52 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __CAMERA_H__
+#define __CAMERA_H__
+
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
+#include "img.h"
+
+enum captureSize {xs, sm, md, lg};
+
+class Camera {
+public:
+
+    Camera(int size);
+
+    int open_camera();
+
+    int getWidth() const;
+
+    int getHeight() const;
+
+    bool isOpen();
+    void setSize(int size);
+
+    int close_camera();
+    Img grab_image();
+    
+private:
+    cv::VideoCapture cap;
+    int size = sm;
+    int width;
+    int height;
+};
+
+#endif //__CAMERA_H__

software/raspberry/superviseur-robot/lib/comgui.cpp

@@ -0,0 +1,189 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#include "comgui.h"
+#include <iostream>
+#include <sys/socket.h>
+
+#include <netdb.h>
+#include <unistd.h>
+#include <arpa/inet.h>
+#include <netinet/in.h>
+
+#include <algorithm>
+#include <stdexcept>
+#include <string>
+
+/*
+ * Constants used for sending commands to gui
+ */
+const string LABEL_GUI_ANGULAR_POSITION = "AngularPosition";
+const string LABEL_GUI_ANGULAR_SPEED = "AngularSpeed";
+const string LABEL_GUI_BATTERY_LEVEL = "Battery";
+const string LABEL_GUI_LINEAR_SPEED = "LinearSpeed";
+const string LABEL_GUI_USER_PRESENCE = "User";
+const string LABEL_GUI_BETA_ANGLE = "Beta";
+const string LABEL_GUI_TORQUE = "Torque";
+const string LABEL_GUI_EMERGENCY_STOP = "Emergency";
+const string LABEL_GUI_LOG = "Log";
+
+/**
+ * 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 ComGui::Open(int port) {
+    struct sockaddr_in server;
+
+    socketFD = socket(AF_INET, SOCK_STREAM, 0);
+    if (socketFD < 0) {
+        throw std::runtime_error{"ComGui::Open : Can not create socket"};
+    }
+
+    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) {
+        throw std::runtime_error{"ComGui::Open : Can not bind socket on port " + std::to_string(port)};
+    }
+
+    listen(socketFD, 1);
+
+    return socketFD;
+}
+
+/**
+ * Close socket and server
+ */
+void ComGui::Close() {
+    close(socketFD);
+
+    socketFD = -1;
+}
+
+/**
+ * Wait for a client to connect
+ * @return Client number 
+ * @throw std::runtime_error if it fails
+ */
+int ComGui::AcceptClient() {
+    struct sockaddr_in client;
+    int c = sizeof (struct sockaddr_in);
+
+    clientID = accept(socketFD, (struct sockaddr *) &client, (socklen_t*) & c);
+
+    if (clientID < 0)
+        throw std::runtime_error {
+        "ComGui::AcceptClient : Accept failed"
+    };
+
+    return clientID;
+}
+
+/**
+ * Send a message to GUI
+ * 
+ * @param msg Message to send to GUI
+ * @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 ComGui::Write(Message* msg) {
+    string *str;
+
+    // Call user method before Write
+    Write_Pre();
+
+    /* Convert message to string to send to GUI */
+    str = MessageToString(msg);
+
+    //cout << "Message sent to GUI: " << str->c_str() << endl;
+    write(clientID, str->c_str(), str->length());
+
+    delete(str);
+
+    // Call user method after write
+    Write_Post();
+}
+
+/**
+ * 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 *ComGui::MessageToString(Message *msg) {
+    int id;
+    string *str;
+
+    if (msg != NULL) {
+        id = msg->GetID();
+
+        switch (id) {
+            case MESSAGE_ANGLE_POSITION:
+                str = new string(LABEL_GUI_ANGULAR_POSITION + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n");
+                replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a .
+                break;
+            case MESSAGE_ANGULAR_SPEED:
+                str = new string(LABEL_GUI_ANGULAR_SPEED + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n");
+                replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a .
+                break;
+            case MESSAGE_BATTERY:
+                str = new string(LABEL_GUI_BATTERY_LEVEL + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n");
+                replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a .
+                break;
+            case MESSAGE_BETA:
+                str = new string(LABEL_GUI_BETA_ANGLE + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n");
+                replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a .
+                break;
+            case MESSAGE_LINEAR_SPEED:
+                str = new string(LABEL_GUI_LINEAR_SPEED + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n");
+                replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a .
+                break;
+            case MESSAGE_TORQUE:
+                str = new string(LABEL_GUI_TORQUE + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n");
+                replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a .
+                break;
+            case MESSAGE_EMERGENCY_STOP:
+                str = new string(LABEL_GUI_EMERGENCY_STOP + "=");
+                if (((MessageBool*) msg)->GetState())
+                    str->append("True\n");
+                else
+                    str->append("False\n");
+                break;
+            case MESSAGE_USER_PRESENCE:
+                str = new string(LABEL_GUI_USER_PRESENCE + "=");
+                if (((MessageBool*) msg)->GetState())
+                    str->append("True\n");
+                else
+                    str->append("False\n");
+                break;
+            case MESSAGE_EMPTY:
+                str = new string(""); //empty string
+                break;
+            case MESSAGE_LOG:
+                str = new string(LABEL_GUI_LOG + "=" + ((MessageString*) msg)->GetString() + "\n");
+                break;
+            default:
+                str = new string(""); //empty string
+                break;
+        }
+    }
+
+    return str;
+}

software/raspberry/superviseur-robot/lib/comgui.h

@@ -0,0 +1,104 @@
+ /*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __COMGUI_H__
+#define __COMGUI_H__
+
+#include "messages.h"
+#include <string>
+
+using namespace std;
+     
+/**
+ * Class used for generating a server and communicating through it with GUI
+ * 
+ * @brief Communication class with GUI (server)
+ * 
+ */
+class ComGui {
+public:
+    /**
+     * Constructor
+     */
+    ComGui() {}
+    
+    /**
+     * Destructor
+     */
+    virtual ~ComGui() {}
+    
+    /**
+     * 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 GUI
+     * 
+     * @param msg Message to send to GUI
+     * @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() {}
+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);
+};
+
+#endif /* __COMGUI_H__ */

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-          <td class="memname">#define CAM_ARENA_CONFIRM&#160;&#160;&#160;'x'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00057">57</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#ac836c6abc7e32d2cf7f59ed2a8383ca7">&#9670;&nbsp;</a></span>CAM_ARENA_INFIRM</h2>
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-<div class="memitem">
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-          <td class="memname">#define CAM_ARENA_INFIRM&#160;&#160;&#160;'z'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00058">58</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="a6418778d1f34e618aebd9ca1861ab500"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a6418778d1f34e618aebd9ca1861ab500">&#9670;&nbsp;</a></span>CAM_ASK_ARENA</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
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-          <td class="memname">#define CAM_ASK_ARENA&#160;&#160;&#160;'y'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00056">56</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="a675009273c3923e8ad1a6d2818063b61"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a675009273c3923e8ad1a6d2818063b61">&#9670;&nbsp;</a></span>CAM_CLOSE</h2>
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-<div class="memitem">
-<div class="memproto">
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-        <tr>
-          <td class="memname">#define CAM_CLOSE&#160;&#160;&#160;'I'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00055">55</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="a74fdb9d00556feb699d3c72bd7b5d5e5"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a74fdb9d00556feb699d3c72bd7b5d5e5">&#9670;&nbsp;</a></span>CAM_COMPUTE_POSITION</h2>
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-<div class="memitem">
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-      <table class="memname">
-        <tr>
-          <td class="memname">#define CAM_COMPUTE_POSITION&#160;&#160;&#160;'p'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00059">59</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="a2a7149bbe097fae8e799ce2ab6f69390"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a2a7149bbe097fae8e799ce2ab6f69390">&#9670;&nbsp;</a></span>CAM_OPEN</h2>
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-<div class="memitem">
-<div class="memproto">
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-        <tr>
-          <td class="memname">#define CAM_OPEN&#160;&#160;&#160;'A'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00054">54</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="ae864cfaefbf5a210e67678b2144a289f"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ae864cfaefbf5a210e67678b2144a289f">&#9670;&nbsp;</a></span>CAM_STOP_COMPUTE_POSITION</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">#define CAM_STOP_COMPUTE_POSITION&#160;&#160;&#160;'s'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00060">60</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-</div>
-<a id="a1b18773c1ce9068c4d38c2cbd2900263"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a1b18773c1ce9068c4d38c2cbd2900263">&#9670;&nbsp;</a></span>CLOSE_COM_DMB</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">#define CLOSE_COM_DMB&#160;&#160;&#160;'C'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00031">31</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="ab34c46794a9de6746a96752668c73754"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ab34c46794a9de6746a96752668c73754">&#9670;&nbsp;</a></span>DMB_BAT_HIGH</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define DMB_BAT_HIGH&#160;&#160;&#160;2</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00064">64</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="a66c0c4960c1e81c8da8c8e1d4a202352"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a66c0c4960c1e81c8da8c8e1d4a202352">&#9670;&nbsp;</a></span>DMB_BAT_LOW</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define DMB_BAT_LOW&#160;&#160;&#160;0</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00062">62</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-</div>
-</div>
-<a id="aea6ef1c13db1a8a4a29b065d0c3f73e4"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aea6ef1c13db1a8a4a29b065d0c3f73e4">&#9670;&nbsp;</a></span>DMB_BAT_MEDIUM</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
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-          <td class="memname">#define DMB_BAT_MEDIUM&#160;&#160;&#160;1</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00063">63</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="a3327443cd321f0c356a5d3d74377892b"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a3327443cd321f0c356a5d3d74377892b">&#9670;&nbsp;</a></span>DMB_BUSY</h2>
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-<div class="memitem">
-<div class="memproto">
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-        <tr>
-          <td class="memname">#define DMB_BUSY&#160;&#160;&#160;1</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00066">66</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="a07650c5f6647c5143bac535fdbeb77d5"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a07650c5f6647c5143bac535fdbeb77d5">&#9670;&nbsp;</a></span>DMB_DO_NOTHING</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">#define DMB_DO_NOTHING&#160;&#160;&#160;0</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00067">67</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-</div>
-<a id="af1737e8fe4da4e8bc2d5db9d26c42462"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#af1737e8fe4da4e8bc2d5db9d26c42462">&#9670;&nbsp;</a></span>DMB_GET_VBAT</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
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-          <td class="memname">#define DMB_GET_VBAT&#160;&#160;&#160;'v'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00038">38</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="a499f41cc19a4459de033687049cbbe71"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a499f41cc19a4459de033687049cbbe71">&#9670;&nbsp;</a></span>DMB_GO_BACK</h2>
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-<div class="memitem">
-<div class="memproto">
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-        <tr>
-          <td class="memname">#define DMB_GO_BACK&#160;&#160;&#160;'B'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00043">43</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-</div>
-<a id="ae363a29a4961cd8a646a0ca9199bc6cf"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ae363a29a4961cd8a646a0ca9199bc6cf">&#9670;&nbsp;</a></span>DMB_GO_FORWARD</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
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-          <td class="memname">#define DMB_GO_FORWARD&#160;&#160;&#160;'F'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00042">42</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="aefcb838e73a335f1a2a6c914ee2ff752"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aefcb838e73a335f1a2a6c914ee2ff752">&#9670;&nbsp;</a></span>DMB_GO_LEFT</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define DMB_GO_LEFT&#160;&#160;&#160;'L'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00044">44</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="ad681962f7b8cf4797ebd48be0405d1b9"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ad681962f7b8cf4797ebd48be0405d1b9">&#9670;&nbsp;</a></span>DMB_GO_RIGHT</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define DMB_GO_RIGHT&#160;&#160;&#160;'R'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00045">45</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="a82b279c49221d3cd3d875d521dfb97b9"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a82b279c49221d3cd3d875d521dfb97b9">&#9670;&nbsp;</a></span>DMB_IDLE</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">#define DMB_IDLE&#160;&#160;&#160;'r'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00034">34</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-</div>
-<a id="ad58c241121e685f26a291aa4bd5f9c80"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ad58c241121e685f26a291aa4bd5f9c80">&#9670;&nbsp;</a></span>DMB_IS_BUSY</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
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-          <td class="memname">#define DMB_IS_BUSY&#160;&#160;&#160;'b'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00039">39</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-</div>
-<a id="ac48dee90eb71d036d001321674abbb8b"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ac48dee90eb71d036d001321674abbb8b">&#9670;&nbsp;</a></span>DMB_MOVE</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define DMB_MOVE&#160;&#160;&#160;'M'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00040">40</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-</div>
-<a id="acf7d51360dcb103fc57604725ec2816d"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#acf7d51360dcb103fc57604725ec2816d">&#9670;&nbsp;</a></span>DMB_PING</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define DMB_PING&#160;&#160;&#160;'p'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00033">33</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-</div>
-<a id="a2ca219902014ffb39aab27cca08a948f"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a2ca219902014ffb39aab27cca08a948f">&#9670;&nbsp;</a></span>DMB_RELOAD_WD</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define DMB_RELOAD_WD&#160;&#160;&#160;'w'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00037">37</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-</div>
-<a id="adee1628bbc796ba55f4a349895f4e0fa"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#adee1628bbc796ba55f4a349895f4e0fa">&#9670;&nbsp;</a></span>DMB_START_WITH_WD</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">#define DMB_START_WITH_WD&#160;&#160;&#160;'W'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00036">36</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-</div>
-<a id="a5ebbd37042a6244b4f9d473ae7132780"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a5ebbd37042a6244b4f9d473ae7132780">&#9670;&nbsp;</a></span>DMB_START_WITHOUT_WD</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">#define DMB_START_WITHOUT_WD&#160;&#160;&#160;'u'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00035">35</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-</div>
-<a id="a7308179907a0a2989c162865e7a7979a"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a7308179907a0a2989c162865e7a7979a">&#9670;&nbsp;</a></span>DMB_STOP_MOVE</h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
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-          <td class="memname">#define DMB_STOP_MOVE&#160;&#160;&#160;'S'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00046">46</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-</div>
-<a id="ac6c5492c8100e73f8d30ed36072684db"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ac6c5492c8100e73f8d30ed36072684db">&#9670;&nbsp;</a></span>DMB_TURN</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define DMB_TURN&#160;&#160;&#160;'T'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00041">41</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="aac798eaf6994ddcadd8a38ad8aba234f"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aac798eaf6994ddcadd8a38ad8aba234f">&#9670;&nbsp;</a></span>OPEN_COM_DMB</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define OPEN_COM_DMB&#160;&#160;&#160;'o'</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00030">30</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-<a id="af1118b8a83d446b4965347bba126a488"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#af1118b8a83d446b4965347bba126a488">&#9670;&nbsp;</a></span>ROBOT_CHECKSUM</h2>
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-<div class="memitem">
-<div class="memproto">
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-          <td class="memname">#define ROBOT_CHECKSUM&#160;&#160;&#160;-4</td>
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-<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00051">51</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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-</div>
-<a id="a4aefbbdd5d35999aa0575ab7183148d4"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a4aefbbdd5d35999aa0575ab7183148d4">&#9670;&nbsp;</a></span>ROBOT_ERROR</h2>
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-<div class="memitem">
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-          <td class="memname">#define ROBOT_ERROR&#160;&#160;&#160;-1</td>
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-<p>Ce fichier utilise la libraire openCV2 pour faciliter le traitement d'image dans le projet Destijl. Il permet de faciliter la détection de l'arène et la détection du robot. /!\ Attention Bien que celui-ci soit un .cpp la structure du code n'est pas sous forme d'objet. </p>
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-<h2 class="memtitle"><span class="permalink"><a href="#afe015c86402c7d09d9d7b28587c7fd1b">&#9670;&nbsp;</a></span>calculAngle()</h2>
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-<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00253">253</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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-          <td class="memname">void close_camera </td>
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-<p>Ferme la camera passé en paramètre. </p>
-<dl class="params"><dt>Parameters</dt><dd>
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-<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00112">112</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a909ca7577f0ac2e4bd0ea21291690dce">&#9670;&nbsp;</a></span>compress_image()</h2>
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-<p>Détecte la position d'un robot. </p>
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-<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00164">164</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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-<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00150">150</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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-<p>Détecte une arène dans une image fournis en paramètre. </p>
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-<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00126">126</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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-<p>Functions for image treatment.  
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-<div class="textblock"><code>#include &lt;raspicam/raspicam_cv.h&gt;</code><br />
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-<tr class="memdesc:a909ca7577f0ac2e4bd0ea21291690dce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Détecte la position d'un robot.  <a href="#a909ca7577f0ac2e4bd0ea21291690dce">More...</a><br /></td></tr>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>Functions for image treatment. </p>
-<dl class="section author"><dt>Author</dt><dd>L.Senaneuch </dd></dl>
-<dl class="section version"><dt>Version</dt><dd>1.0 </dd></dl>
-<dl class="section date"><dt>Date</dt><dd>06/06/2017</dd></dl>
-<p>This file use openCV2 library for picture processing. This allow to detect arena and robot. </p>
-
-<p class="definition">Definition in file <a class="el" href="image_8h_source.html">image.h</a>.</p>
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-<dl class="params"><dt>Parameters</dt><dd>
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-<p>Détecte la position d'un robot. </p>
-<p>Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.</p>
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-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>Library for sending message to monitor or receiving message. </p>
-<dl class="section author"><dt>Author</dt><dd>L.senaneuch </dd></dl>
-<dl class="section version"><dt>Version</dt><dd>1.0 </dd></dl>
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-
-<p class="definition">Definition in file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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-<a id="a22d20ac264e03c59d6941cb11386aa89"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a22d20ac264e03c59d6941cb11386aa89">&#9670;&nbsp;</a></span>CHECK_ARENA</h2>
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-  return node;
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-{
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-"struct_message_to_robot.html#ab00202c6cfdd86ea4cd891c972405db6":[0,0,2,1],
-"struct_message_to_robot.html#abf7dafbba72784855abd50469ba82705":[0,0,2,0],
-"struct_position.html":[0,0,3],
-"struct_position.html#a733540df6c0f832676dc0846b34bb1e2":[0,0,3,0],
-"struct_position.html#a780d124971951424c0c63f6d81bb4d92":[0,0,3,2],
-"struct_position.html#aa56444be37071311cfa11aae3e2c2f64":[0,0,3,1]
-};

software/raspberry/superviseur-robot/lib/doc/html/resize.js

@@ -1,114 +0,0 @@
-function initResizable()
-{
-  var cookie_namespace = 'doxygen';
-  var sidenav,navtree,content,header,collapsed,collapsedWidth=0,barWidth=6,desktop_vp=768,titleHeight;
-
-  function readCookie(cookie)
-  {
-    var myCookie = cookie_namespace+"_"+cookie+"=";
-    if (document.cookie) {
-      var index = document.cookie.indexOf(myCookie);
-      if (index != -1) {
-        var valStart = index + myCookie.length;
-        var valEnd = document.cookie.indexOf(";", valStart);
-        if (valEnd == -1) {
-          valEnd = document.cookie.length;
-        }
-        var val = document.cookie.substring(valStart, valEnd);
-        return val;
-      }
-    }
-    return 0;
-  }
-
-  function writeCookie(cookie, val, expiration)
-  {
-    if (val==undefined) return;
-    if (expiration == null) {
-      var date = new Date();
-      date.setTime(date.getTime()+(10*365*24*60*60*1000)); // default expiration is one week
-      expiration = date.toGMTString();
-    }
-    document.cookie = cookie_namespace + "_" + cookie + "=" + val + "; expires=" + expiration+"; path=/";
-  }
-
-  function resizeWidth()
-  {
-    var windowWidth = $(window).width() + "px";
-    var sidenavWidth = $(sidenav).outerWidth();
-    content.css({marginLeft:parseInt(sidenavWidth)+"px"});
-    writeCookie('width',sidenavWidth-barWidth, null);
-  }
-
-  function restoreWidth(navWidth)
-  {
-    var windowWidth = $(window).width() + "px";
-    content.css({marginLeft:parseInt(navWidth)+barWidth+"px"});
-    sidenav.css({width:navWidth + "px"});
-  }
-
-  function resizeHeight()
-  {
-    var headerHeight = header.outerHeight();
-    var footerHeight = footer.outerHeight();
-    var windowHeight = $(window).height() - headerHeight - footerHeight;
-    content.css({height:windowHeight + "px"});
-    navtree.css({height:windowHeight + "px"});
-    sidenav.css({height:windowHeight + "px"});
-    var width=$(window).width();
-    if (width!=collapsedWidth) {
-      if (width<desktop_vp && collapsedWidth>=desktop_vp) {
-        if (!collapsed) {
-          collapseExpand();
-        }
-      } else if (width>desktop_vp && collapsedWidth<desktop_vp) {
-        if (collapsed) {
-          collapseExpand();
-        }
-      }
-      collapsedWidth=width;
-    }
-  }
-
-  function collapseExpand()
-  {
-    if (sidenav.width()>0) {
-      restoreWidth(0);
-      collapsed=true;
-    }
-    else {
-      var width = readCookie('width');
-      if (width>200 && width<$(window).width()) { restoreWidth(width); } else { restoreWidth(200); }
-      collapsed=false;
-    }
-  }
-
-  header  = $("#top");
-  sidenav = $("#side-nav");
-  content = $("#doc-content");
-  navtree = $("#nav-tree");
-  footer  = $("#nav-path");
-  $(".side-nav-resizable").resizable({resize: function(e, ui) { resizeWidth(); } });
-  $(sidenav).resizable({ minWidth: 0 });
-  $(window).resize(function() { resizeHeight(); });
-  var device = navigator.userAgent.toLowerCase();
-  var touch_device = device.match(/(iphone|ipod|ipad|android)/);
-  if (touch_device) { /* wider split bar for touch only devices */
-    $(sidenav).css({ paddingRight:'20px' });
-    $('.ui-resizable-e').css({ width:'20px' });
-    $('#nav-sync').css({ right:'34px' });
-    barWidth=20;
-  }
-  var width = readCookie('width');
-  if (width) { restoreWidth(width); } else { resizeWidth(); }
-  resizeHeight();
-  var url = location.href;
-  var i=url.indexOf("#");
-  if (i>=0) window.location.hash=url.substr(i);
-  var _preventDefault = function(evt) { evt.preventDefault(); };
-  $("#splitbar").bind("dragstart", _preventDefault).bind("selectstart", _preventDefault);
-  $(".ui-resizable-handle").dblclick(collapseExpand);
-  $(window).load(resizeHeight);
-}
-
-