From 1bdadaa50f5ca4ade4911d516298f403152c74ad Mon Sep 17 00:00:00 2001
From: Yohan Simard <ysimard@etud.insa-toulouse.fr>
Date: Tue, 2 Mar 2021 18:39:32 +0100
Subject: [PATCH] Add preprocessor definition for simulation

---
 .../raspberry/superviseur-robot/.gitignore    |  2 +-
 .../superviseur-robot/CMakeLists.txt          |  1 +
 .../raspberry/superviseur-robot/lib/camera.h  | 64 +++++++++----------
 3 files changed, 33 insertions(+), 34 deletions(-)

diff --git a/software/raspberry/superviseur-robot/.gitignore b/software/raspberry/superviseur-robot/.gitignore
index 64e3d1f..0c50011 100644
--- a/software/raspberry/superviseur-robot/.gitignore
+++ b/software/raspberry/superviseur-robot/.gitignore
@@ -1,6 +1,6 @@
 build/
 src.sav/
-cmake-build-debug/
+cmake-build-*/
 futur/
 CMakeFiles/
 
diff --git a/software/raspberry/superviseur-robot/CMakeLists.txt b/software/raspberry/superviseur-robot/CMakeLists.txt
index 2396d6e..8c9390e 100644
--- a/software/raspberry/superviseur-robot/CMakeLists.txt
+++ b/software/raspberry/superviseur-robot/CMakeLists.txt
@@ -27,6 +27,7 @@ add_library(lib
             )
 target_include_directories(lib PUBLIC lib)
 target_link_libraries(lib base64)
+target_compile_definitions(lib PUBLIC __FOR_PC__ __SIMULATION__ __WITH_ARUCO__)
 
 # Compile main executable
 add_executable(main main.cpp tasks.cpp tasks.h)
diff --git a/software/raspberry/superviseur-robot/lib/camera.h b/software/raspberry/superviseur-robot/lib/camera.h
index fc99f4a..2fe7c68 100644
--- a/software/raspberry/superviseur-robot/lib/camera.h
+++ b/software/raspberry/superviseur-robot/lib/camera.h
@@ -22,8 +22,7 @@
 #include <opencv2/imgproc/imgproc.hpp>
 
 #ifndef __FOR_PC__
-//  TODO install raspicam and uncomment
-//#include "raspicam/raspicam_cv.h"
+#include "raspicam/raspicam_cv.h"
 #endif /* __FOR_PC__ */
 #include "img.h"
 
@@ -81,39 +80,38 @@ public:
      * @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();
-    
+	/**
+	 * 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:
-//  TODO install raspicam and uncomment
-//#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;
+#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