Lidar #1434

IKhonakhbeeva · 2021-09-30T23:20:13Z

Пример qrs-ки на то, чтобы поизучать поведение (нужно заменить расширение файла обратно на qrs) lidar.zip

iakov · 2021-10-02T16:21:03Z

plugins/robots/common/twoDModel/src/engine/view/scene/sensorItem.cpp

@@ -171,6 +172,8 @@ QString SensorItem::name() const
 		return "color_blue";
 	} else if (sensor.isA<robotParts::RangeSensor>()) {
 		return "range";
+	} else if (sensor.isA<robotParts::LidarSensor>()) {
+		return "range";


А вместо этих else if нельзя возвращать sensor->name()?

Нет, потому что sensor->name это что-то условно уникальное и характеризующее сам датчик, а те имена, что тут возвращаются, используются для выбора картинки, если ее не задали

iakov · 2021-12-03T18:25:33Z

plugins/robots/interpreters/trikKitInterpreterCommon/src/trikbrick.cpp

@@ -234,7 +251,7 @@ QStringList TrikBrick::sensorPorts(trikControl::SensorInterface::Type type) cons
 {
 	Q_UNUSED(type)
 //	QLOG_INFO() << "Sensor type is ignored";
-	return mMotors.keys();
+	return mSensors.keys();


Ого! И раньше же не мешало, похоже :)

iakov · 2021-12-03T18:26:26Z

plugins/robots/interpreters/trikKitInterpreterCommon/src/trikbrick.cpp

+{
+	using namespace kitBase::robotModel;
+	if (!mLidars.contains(port)) {
+		robotParts::VectorSensor * lidar =


auto *lidar = ...?

iakov · 2021-12-03T18:26:49Z

plugins/robots/interpreters/trikKitInterpreterCommon/src/trikbrick.cpp

+	if (!mLidars.contains(port)) {
+		robotParts::VectorSensor * lidar =
+				RobotModelUtils::findDevice<robotParts::VectorSensor>(*mTwoDRobotModel, port);
+		if (lidar == nullptr) {


if (!lidar)?

iakov · 2021-12-03T18:28:09Z

plugins/robots/interpreters/trikKitInterpreterCommon/src/trikEmulation/triklidaremu.cpp

+
+QVector<int> TrikLidarEmu::read() const
+{
+	QMetaObject::invokeMethod(mLidar, "read");


Мы хотим блокировать и подождать? Или хотим именно инициировать асинхронный вызов?
Лучше методы вызывать по указателю, а не по имени, если есть соответствующая сигнатура

iakov · 2021-12-03T18:28:35Z

...eters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikEmulation/triklidaremu.h

+
+	// DeviceInterface interface
+public:
+	TrikLidarEmu(kitBase::robotModel::robotParts::VectorSensor *lidar);


explicit TrikLidarEmu?

iakov · 2021-12-03T18:29:40Z

...eters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikEmulation/triklidaremu.h

+	QVector<int> read() const override;
+
+private:
+	kitBase::robotModel::robotParts::VectorSensor *mLidar;


Лучше делать инициализацию через {}, это не помешает. А кто тут владелец объекта? Надо бы комментарием указать, если нет владения.

iakov · 2021-12-18T13:48:28Z

Нужно ещё :

взять последний рантайм
удовлетворить Веру.

IKhonakhbeeva · 2021-12-19T17:33:15Z

Сделано

* Bump thirdparty/gamepad/gamepad from `5f9ead9` to `d7870ad` Bumps [thirdparty/gamepad/gamepad](https://github.com/trikset/trik-desktop-gamepad) from `5f9ead9` to `d7870ad`. - [Release notes](https://github.com/trikset/trik-desktop-gamepad/releases) - [Commits](trikset/trik-desktop-gamepad@5f9ead9...d7870ad) --- updated-dependencies: - dependency-name: thirdparty/gamepad/gamepad dependency-type: direct:production ... Signed-off-by: dependabot[bot] <support@github.com> * Bump plugins/robots/thirdparty/hidapi from `4ab60e0` to `b66d7c2` (#1481) Bumps [plugins/robots/thirdparty/hidapi](https://github.com/libusb/hidapi) from `4ab60e0` to `b66d7c2`. - [Release notes](https://github.com/libusb/hidapi/releases) - [Commits](libusb/hidapi@4ab60e0...b66d7c2) --- updated-dependencies: - dependency-name: plugins/robots/thirdparty/hidapi dependency-type: direct:production ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> * Add 'any' for all objects of inside tag * Lupdate * Fix crash when mailbox is not enabled (#1486) * Bump plugins/robots/thirdparty/hidapi from `b66d7c2` to `d67b5c9` Bumps [plugins/robots/thirdparty/hidapi](https://github.com/libusb/hidapi) from `b66d7c2` to `d67b5c9`. - [Release notes](https://github.com/libusb/hidapi/releases) - [Commits](libusb/hidapi@b66d7c2...d67b5c9) --- updated-dependencies: - dependency-name: plugins/robots/thirdparty/hidapi dependency-type: direct:production ... Signed-off-by: dependabot[bot] <support@github.com> * Bump thirdparty/checkapp/checkapp from `35e4399` to `80ab06e` (#1493) Bumps [thirdparty/checkapp/checkapp](https://github.com/trikset/trik-checkapp) from `35e4399` to `80ab06e`. - [Release notes](https://github.com/trikset/trik-checkapp/releases) - [Commits](trikset/trik-checkapp@35e4399...80ab06e) --- updated-dependencies: - dependency-name: thirdparty/checkapp/checkapp dependency-type: direct:production ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> * Bump qrtest/thirdparty/googletest/googletest from `bf0701d` to `97a4675` (#1494) Bumps [qrtest/thirdparty/googletest/googletest](https://github.com/google/googletest) from `bf0701d` to `97a4675`. - [Release notes](https://github.com/google/googletest/releases) - [Commits](google/googletest@bf0701d...97a4675) --- updated-dependencies: - dependency-name: qrtest/thirdparty/googletest/googletest dependency-type: direct:production ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> * Lidar (#1434) * Add lidar reading * Add lidar as sensor * Simulate lidar * Add lidar emulation for trikbrick * Fixes after review * No need to reread sensor * Polish lidar working * Add Read Lidar Block * Add Read Lidar block to palette * Add generator for Read Lidar block * Disable Read Lidar Block * Need to draw image with real display width and hight * Lupdate * Fix build * Make Vera happy * Update Runtime * Make Vera happy * Fix Python.zip problem (#1497) * Add lidar example (#1496) * Bump thirdparty/checkapp/checkapp from `80ab06e` to `3df13d6` (#1504) Bumps [thirdparty/checkapp/checkapp](https://github.com/trikset/trik-checkapp) from `80ab06e` to `3df13d6`. - [Release notes](https://github.com/trikset/trik-checkapp/releases) - [Commits](trikset/trik-checkapp@80ab06e...3df13d6) --- updated-dependencies: - dependency-name: thirdparty/checkapp/checkapp dependency-type: direct:production ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> * Bump plugins/robots/thirdparty/hidapi from `d67b5c9` to `af6c601` (#1502) Bumps [plugins/robots/thirdparty/hidapi](https://github.com/libusb/hidapi) from `d67b5c9` to `af6c601`. - [Release notes](https://github.com/libusb/hidapi/releases) - [Commits](libusb/hidapi@d67b5c9...af6c601) --- updated-dependencies: - dependency-name: plugins/robots/thirdparty/hidapi dependency-type: direct:production ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> * GHA CI: Shift to Qt 5.12.12 * CI: Fix tagged Windows build with multiple tags * Pioneer (#1506) * Add setting for pioneer * Add simple pioneer's blocks * Fix build * Change uploading logic * Add switch block generation * Add 'GPIO Init' block * Add 'Set GPIO state' block * Add 'Read GPIO' block * Add pioneer additional settings on settings page * Use QT IFW 4.3 * Add images * Add descriptions and translations * Spilt save file format (#1525) * First step to split save info * Fix patcher with images (#1536) * Set/move robot start position from the context menu (#1505) * Fix text for read-only flags * Add button to set robot start position under current robot pos * Fix read-only sensors behavior * Use QT IFW 4.3 * Delete vanished translations * Clean the code * Remove `strict` from mergify.io config `Strict` is obsolete now * Fix patcher with blobs (#1538) * No need to autoconfigure mototrs (#1540) * Save format (#1537) * Split serialize for worldModel and robotModel * Split desirialize for worldModel and robotModel and fix some old bugs * Remove annoying warning * Update version number * Change version to 2022.2 * Add version conversion to console mode too * Add messages from project manager to console * No need encoders auto-configuration (#1547) * No need encoders auto-configuration * Lupdate * Drop cursor on ESC (#1553) * Drop cursor on ESC * Fix build and add message for updating QT IFW * Checker (#1552) * Add message trigger to checker * Open 2d model even with errors * Add interpretation errored * Add comment item to 2D (#1541) * Add text to comment item * Add drawComment cursor * Add pallete icon for comment item * Add comment item in world model deserialize * Fix build and add message for updating QT IFW * Drop cursor on ESC * Add checker runtime with bionic base * Ignore false memleak * Force Qt5.12 and QtIfw 4.2.0 Switch Azure build to macOS-11 hosts, macOS-10.15 is deprecated GHA: install proper version of QtIfw macOS: use Qt5.12 and QtIfw 4.2.0 [trik-runtime] update * Fix macOS installer build Fix macOS tests macOS set Python version outside' * Add correct TRIK_PYTHONPATH for tests * .gitignore pyinstaller artifacts * Add QtSerialPort to installer * Mass fix missing quotes in scripts * Use rsync instead of cp * Fix rcc and moc calls * Fix gcc-10 build * Initial docker image to build for ALT linux * Fix mingw path for rsync * Add DPI logging And related settings * Fix opening some saves (#1566) * Enable Asan for integration tests * Add default values for installer script * submodules update * Fix Linux build: ignore git warnings * Fix Linux build: ignore git warnings * Set global git option to ignore directory owner * Fix translations * Hotfix for 2022.2 linux build (#1580) * Set global git option to ignore directory owner * Fix translations * Fix problem with current configuration (#1581) * Use QextSerialPort as submodule * Lupdate * Update submodules * Introduce CONFIG+=use_system_quazip but quazip mostly lacks pkg-config support in main distros * Support CONFIG+=use_system_quazip + Python 3.10 compatibility * Fix memleak in dock window * Purge obsolete garbage * Load qt5 translations (#1594) Load qt5 translations for modules * Remove falty pkg-config --list-all (#1599) * Remove falty `pkg-config --list-all`, that causes crash at the moment on macOS build host * Sloppy ccache for Azure * Remove pessimising move * Azure: add caching on build timeout, but skip full build (UNFINISHED) * Azure: split build scripts * Set startup language to system if not set from config (#1598) * Support startup with system locale * Enable early logging to console * Code cleanup * Fix NPE But this crash is caused by some architecture issue... * Add variables to checker messages (#1602) * Add variables in messages from checker ```xml <triggers> <success/> <message text="We have finished! Score: %myvar%" > <replace var="myvar"> <sum>  <variableValue name="total_score"/> <int value="2"/> </sum> </replace> </message> </triggers> </event> ``` Co-authored-by: IKhonakhbeeva <i.khonakhbeeva@gmail.com> * Add log trigger (#1603) * Add log trigger * Lupdate * Installer script: support both QtIFw 3.x and 4.x * 2D-model: add option --close to close window on exit * Add onSuccess event (#1604) * Add onSuccess event * Add true condition * Allow multiple on_success handlers * Use script instead of sshpass on Windows * Fix lost robot's position for loadWorldModel action (#1622) * Fix lost robot's position for loadWorldModel action * Fix deploy Co-authored-by: iakov <iakov@users.noreply.github.com> * Fix sin/cos and small values display (#1631) * Fix printing very small values for printTextBlock * Use degrees for sin and cos in block's programming instead of radians * Fix sin/cos generation for python and js on trik * Fix printTextBlock for trik too --------- Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: iakov <iakov@users.noreply.github.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Andrei Khodko <andrei.khodko@gmail.com> Co-authored-by: Iakov 'Jake' Kirilenko <jake.kirilenko@gmail.com> Co-authored-by: Vladimir Kutuev <vladimir.kutuev@gmail.com> Co-authored-by: Iakov Kirilenko <iakov@trikset.com>

IKhonakhbeeva added the 2D model label Sep 30, 2021

IKhonakhbeeva added this to the 2021.3 milestone Sep 30, 2021

IKhonakhbeeva requested a review from iakov September 30, 2021 23:20

iakov previously approved these changes Oct 2, 2021

View reviewed changes

iakov self-requested a review October 2, 2021 16:22

IKhonakhbeeva added 3 commits November 30, 2021 01:01

Add lidar reading

ae00d83

Add lidar as sensor

9bd3495

Simulate lidar

e3632ad

IKhonakhbeeva dismissed iakov’s stale review via a4f5f42 November 29, 2021 17:51

IKhonakhbeeva force-pushed the lidar branch 2 times, most recently from a4f5f42 to 83fd33f Compare December 3, 2021 12:18

Add lidar emulation for trikbrick

ce05fac

IKhonakhbeeva force-pushed the lidar branch from 83fd33f to ce05fac Compare December 3, 2021 12:20

iakov requested changes Dec 3, 2021

View reviewed changes

IKhonakhbeeva added 2 commits December 10, 2021 13:21

Fixes after review

a19dd7c

No need to reread sensor

2590cbb

IKhonakhbeeva force-pushed the lidar branch from 6b12acb to f2e2b47 Compare December 12, 2021 08:24

IKhonakhbeeva added 6 commits December 16, 2021 14:19

Polish lidar working

e0f8500

Add Read Lidar Block

e651dec

Add Read Lidar block to palette

9acd4d4

Add generator for Read Lidar block

6f6beac

Disable Read Lidar Block

18c29a8

Need to draw image with real display width and hight

f00bc1f

IKhonakhbeeva force-pushed the lidar branch from b01f5db to f00bc1f Compare December 16, 2021 13:09

Lupdate

39985bd

IKhonakhbeeva requested a review from iakov December 16, 2021 13:20

IKhonakhbeeva added 3 commits December 17, 2021 03:04

Fix build

f07ae79

Make Vera happy

7b73225

Update Runtime

2931fee

Make Vera happy

ef70a22

iakov approved these changes Dec 20, 2021

View reviewed changes

iakov merged commit 385101d into trikset:master Dec 20, 2021

iakov mentioned this pull request Dec 27, 2021

Support LiDAR in TRIK 2D simulation #1399

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Lidar #1434

Lidar #1434

IKhonakhbeeva commented Sep 30, 2021

iakov Oct 2, 2021

IKhonakhbeeva Oct 13, 2021

iakov Dec 3, 2021

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iakov commented Dec 18, 2021 •

edited by IKhonakhbeeva

IKhonakhbeeva commented Dec 19, 2021

Lidar #1434

Lidar #1434

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IKhonakhbeeva commented Sep 30, 2021

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iakov commented Dec 18, 2021 • edited by IKhonakhbeeva

IKhonakhbeeva commented Dec 19, 2021

iakov commented Dec 18, 2021 •

edited by IKhonakhbeeva