Middle ware zenoh config file add

MiddleWare/CMakeLists.txt

@@ -22,8 +22,8 @@ find_package(zenohcxx REQUIRED)
 # include_directories(${libs_SOURCE_DIR}/Communication/CAN/include)
 # include_directories(${libs_SOURCE_DIR}/Peripherals/INA219/include) 
 
-add_executable(middleWareApp
+add_executable(MiddleWareApp
     ./src/main.cpp
 )
 
-target_link_libraries(middleWareApp PRIVATE zenohcxx::zenohc)
+target_link_libraries(MiddleWareApp PRIVATE zenohcxx::zenohc)

MiddleWare/config/MiddleWareConfig.json

@@ -0,0 +1,17 @@
+{
+    "mode": "peer",
+    "connect": {
+        "endpoints": ["tcp/127.0.0.1:7447"]
+    },
+    "listen": {
+        "endpoints": ["tcp/127.0.0.1:7448"]
+    },
+    "scouting": {
+        "multicast": {
+            "enabled": false
+        },
+        "gossip": {
+            "enabled": false
+        }
+    }
+}

MiddleWare/src/main.cpp

@@ -39,13 +39,19 @@ int main(int argc, char** argv)
     std::cout << "CAN socket bound to can0 interface successfully."
               << std::endl;
 
-    Config config = Config::create_default();
-    auto session  = Session::open(std::move(config));
+    auto config = Config::create_default();
+    if (argc == 2)
+    {
+        config = Config::from_file(argv[1]);
+    }
+    auto session = Session::open(std::move(config));
 
     auto pubSpeed =
         session.declare_publisher(KeyExpr("seame/car/1/speedSensor"));
     auto pubBattery =
         session.declare_publisher(KeyExpr("seame/car/1/batterySensor"));
+    auto pubLights = session.declare_publisher(KeyExpr("seame/car/1/lights"));
+    auto pubGear   = session.declare_publisher(KeyExpr("seame/car/1/gear"));
 
     while (1)
     {
@@ -67,7 +73,7 @@ int main(int argc, char** argv)
             speed                 = wheelDiame * 3.14 * speed * 10 / 60;
             std::string speed_str = std::to_string(speed);
 
-            printf("Publishing speed: '%d'\n", speed);
+            // printf("Publishing speed: '%d'\n", speed);
             pubSpeed.put(speed_str.c_str());
         }
         else if (frame.can_id == 0x02)
@@ -80,9 +86,36 @@ int main(int argc, char** argv)
             battery          = std::min(100.0f, std::max(0.0f, percentage));
             std::string battery_str = std::to_string(battery);
 
-            printf("Publishing battery: '%lf\n", battery);
+            // printf("Publishing battery: '%lf\n", battery);
             pubBattery.put(battery_str.c_str());
         }
+        else if (frame.can_id == 0x03)
+        {
+            char lights;
+
+            memcpy(&lights, frame.data, sizeof(char));
+
+            printf("Can received lights: ");
+            for (int i = 7; i >= 0; i--)
+            {
+                printf("%d", (lights >> i) & 0x01);
+            }
+            printf("\n");
+
+            // printf("Publishing lights: '%lf\n", lights[0]);
+            std::string light_str(1, lights);
+            pubLights.put(light_str);
+        }
+        else if (frame.can_id == 0x04)
+        {
+            char gear;
+
+            memcpy(&gear, frame.data, sizeof(char));
+
+            // printf("Publishing gear: '%lf\n", gear[0]);
+            std::string gear_str(1, gear);
+            pubGear.put(std::to_string(gear_str));
+        }
         usleep(10);
     }
     return 0;

config/InstrumentClusterConfig.json

@@ -0,0 +1,17 @@
+{
+    "mode": "peer",
+    "connect": {
+        "endpoints": []
+    },
+    "listen": {
+        "endpoints": ["tcp/127.0.0.1:7447"]
+    },
+    "scouting": {
+        "multicast": {
+            "enabled": false
+        },
+        "gossip": {
+            "enabled": false
+        }
+    }
+}

include/InstrumentCluster.hpp

@@ -103,6 +103,8 @@ class InstrumentCluster : public QObject
 
   public:
     explicit InstrumentCluster(QObject* parent = nullptr);
+    explicit InstrumentCluster(const std::string& configFile,
+                               QObject* parent = nullptr);
     ~InstrumentCluster();
 
     int getSpeed() const;

src/InstrumentCluster.cpp

@@ -64,6 +64,71 @@ InstrumentCluster::InstrumentCluster(QObject* parent)
 {
 }
 
+InstrumentCluster::InstrumentCluster(const std::string& configFile,
+                                     QObject* parent)
+    : QObject(parent),
+      m_session(Session::open(std::move(Config::from_file(configFile)))),
+      m_subSpeed(m_session.declare_subscriber(
+          "seame/car/1/speedSensor",
+          [this](const Sample& sample)
+          {
+              int speed = std::stoi(sample.get_payload().as_string());
+              std::cout << "Sub speed" << std::endl;
+              this->setSpeed(speed);
+          },
+          closures::none)),
+      m_subBattery(m_session.declare_subscriber(
+          "seame/car/1/batterySensor",
+          [this](const Sample& sample)
+          {
+              int batteryPercentage =
+                  std::stoi(sample.get_payload().as_string());
+              BatteryStatus battery;
+              battery.percentage = batteryPercentage;
+              std::cout << "Sub battery" << std::endl;
+              this->setBattery(battery);
+          },
+          closures::none)),
+      m_subLights(m_session.declare_subscriber(
+          "seame/car/1/lights",
+          [this](const Sample& sample)
+          {
+              uint8_t data =
+                  static_cast<uint8_t>(sample.get_payload().as_string()[0]);
+
+              LightStatus lights;
+              lights.rightBlinker  = (data & (1 << 0)) != 0;
+              lights.leftBlinker   = (data & (1 << 1)) != 0;
+              lights.lowBeam       = (data & (1 << 2)) != 0;
+              lights.highBeam      = (data & (1 << 3)) != 0;
+              lights.frontFogLight = (data & (1 << 4)) != 0;
+              lights.rearFogLight  = (data & (1 << 5)) != 0;
+              lights.hazardLight   = (data & (1 << 6)) != 0;
+              lights.parkingLight  = (data & (1 << 7)) != 0;
+              std::cout << "Sub lights" << std::endl;
+              this->setLights(lights);
+          },
+          closures::none)),
+      m_subGear(m_session.declare_subscriber(
+          "seame/car/1/gear",
+          [this](const Sample& sample)
+          {
+              uint8_t data =
+                  static_cast<uint8_t>(sample.get_payload().as_string()[0]);
+
+              GearPosition gear;
+              gear.park    = (data & (1 << 0)) != 0;
+              gear.reverse = (data & (1 << 1)) != 0;
+              gear.neutral = (data & (1 << 2)) != 0;
+              gear.drive   = (data & (1 << 3)) != 0;
+              std::cout << "Sub gear" << std::endl;
+              this->setGear(gear);
+          },
+          closures::none)),
+      m_speed(0)
+{
+}
+
 InstrumentCluster::~InstrumentCluster()
 {
     m_session.close();

src/main.cpp

@@ -3,14 +3,24 @@
 #include <QQmlContext>
 #include "InstrumentCluster.hpp"
 
+using namespace zenoh;
+
 int main(int argc, char* argv[])
 {
     QGuiApplication app(argc, argv);
     QQmlApplicationEngine engine;
 
-    InstrumentCluster instrumentCluster;
+    InstrumentCluster* instrumentCluster;
+    if (argc == 2)
+    {
+        instrumentCluster = new InstrumentCluster(argv[1]);
+    }
+    else
+    {
+        instrumentCluster = new InstrumentCluster();
+    }
     engine.rootContext()->setContextProperty("instrumentCluster",
-                                             &instrumentCluster);
+                                             instrumentCluster);
 
     const QUrl url(QStringLiteral("qrc:/Main.qml"));
     QObject::connect(
@@ -23,5 +33,7 @@ int main(int argc, char* argv[])
         Qt::QueuedConnection);
     engine.load(url);
 
-    return app.exec();
+    int result = app.exec();
+    delete instrumentCluster;
+    return result;
 }

ui/FootbarInfo.qml

@@ -7,48 +7,47 @@ Row {
     padding: 10
     Column {
 
-        Row {
-
-            anchors.verticalCenterOffset: -10
-            Image {
-                id: batteryLevel
-                // source: {
-                //     if (canBusHandler.battery >= 80) {
-                //         "qrc:/assets/icons/battery-5.png"
-                //     } else if (canBusHandler.battery >= 60) {
-                //         "qrc:/assets/icons/battery-4.png"
-                //     } else if (canBusHandler.battery >= 40) {
-                //         "qrc:/assets/icons/battery-3.png"
-                //     } else if (canBusHandler.battery >= 20) {
-                //         "qrc:/assets/icons/battery-2.png"
-                //     } else {
-                //         "qrc:/assets/icons/battery-1.png"
-                //     }
-                // }
-                width: 80
-                visible: true
-                fillMode: Image.PreserveAspectFit
-                source: "qrc:/assets/icons/battery-4.png" 
-                // Adjust this value to move the image up or down
-            }
-        }
         // Row {
-        //     spacing: 5
 
-        //     Text {
-        //         font.family: "Open Sans"
-        //         //text: canBusHandler.battery
-        //         text: "100"
-        //         font.pixelSize: app.letterSize
-        //         color: "white"
-        //     }
-        //     Text {
-        //         font.family: "Open Sans"
-        //         text: "%"
-        //         font.pixelSize: app.letterSize
-        //         color: "gray"
+        //     anchors.verticalCenterOffset: -10
+        //     Image {
+        //         id: batteryLevel
+        //         // source: {
+        //         //     if (canBusHandler.battery >= 80) {
+        //         //         "qrc:/assets/icons/battery-5.png"
+        //         //     } else if (canBusHandler.battery >= 60) {
+        //         //         "qrc:/assets/icons/battery-4.png"
+        //         //     } else if (canBusHandler.battery >= 40) {
+        //         //         "qrc:/assets/icons/battery-3.png"
+        //         //     } else if (canBusHandler.battery >= 20) {
+        //         //         "qrc:/assets/icons/battery-2.png"
+        //         //     } else {
+        //         //         "qrc:/assets/icons/battery-1.png"
+        //         //     }
+        //         // }
+        //         width: 80
+        //         visible: true
+        //         fillMode: Image.PreserveAspectFit
+        //         source: "qrc:/assets/icons/battery-4.png" 
+        //         // Adjust this value to move the image up or down
         //     }
         // }
+        Row {
+            spacing: 5
+
+            Text {
+                font.family: "Open Sans"
+                text: instrumentCluster.battery.percentage
+                font.pixelSize: app.letterSize
+                color: "white"
+            }
+            Text {
+                font.family: "Open Sans"
+                text: "%"
+                font.pixelSize: app.letterSize
+                color: "gray"
+            }
+        }
     }
 
     Column {
@@ -57,7 +56,7 @@ Row {
             spacing: 5
             Text {
                 font.family: "Open Sans"
-                text: "256"
+                text: instrumentCluster.battery.autonomy
                 font.pixelSize: app.letterSize
                 color: "white"
             }