Merge pull request #8 from alfiTH/development

UPDATE robocomp cli cpp11

cli/robocompdsl/robocompdsl/templates/templateCPP/files/CMakeLists.txt

@@ -4,7 +4,7 @@ PROJECT( ${component_name} )
 SET(RC_COMPONENT_PATH $${CMAKE_CURRENT_SOURCE_DIR} CACHE STRING "component base path" FORCE)
 SET(RC_COMPONENT_DEVEL_PATH "$${CMAKE_CURRENT_SOURCE_DIR}" CACHE STRING "component binary path" FORCE)
 #SET(RC_COMPONENT_DEVEL_PATH "$${WORKSPACE_PATH}/devel"  CACHE STRING "component binary path")
-SET(RC_COMPONENT_INSTALL_PATH "/opt/robocomp" CACHE STRING "component install path")
+SET(RC_COMPONENT_INSTALL_PATH "/home/robocomp/robocomp" CACHE STRING "component install path")
 
 #commented as now devel is merged into source space
 #get_filename_component( COMPONENT_NAME $${CMAKE_CURRENT_SOURCE_DIR} DIRECTORY)

cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/CMakeLists.txt

@@ -20,6 +20,7 @@ SET ( SOURCES
   $$ENV{ROBOCOMP}/classes/rapplication/rapplication.cpp
   $$ENV{ROBOCOMP}/classes/sigwatch/sigwatch.cpp
   $$ENV{ROBOCOMP}/classes/qlog/qlog.cpp
+  $$ENV{ROBOCOMP}/classes/grafcetStep/GRAFCETStep.cpp
   main.cpp
   genericmonitor.cpp
   commonbehaviorI.cpp
@@ -43,9 +44,28 @@ ${wrap_ui}
 # no-char8_t to avoid a problem with ICE Connection lib.
 add_definitions(-fmax-errors=1 -fno-char8_t)
 
+find_package(Qt6 COMPONENTS Core Widgets StateMachine REQUIRED)
+SET (QT_LIBRARIES 
+    $${QT_LIBRARIES} 
+    Qt6::Core
+    Qt6::Widgets
+    Qt6::StateMachine )
+
+add_definitions(-I/usr/include/x86_64-linux-gnu/qt6/QtOpenGLWidgets/)
+
+if( USE_QT6)
+    LIST(APPEND SOURCES $$ENV{ROBOCOMP}/classes/abstract_graphic_viewer/abstract_graphic_viewer.cpp)
+    LIST(APPEND HEADERS $$ENV{ROBOCOMP}/classes/abstract_graphic_viewer/abstract_graphic_viewer.h)
+    LIST(APPEND LIBS QGLViewer-qt6 Qt6OpenGLWidgets)
+  else()
+    list(APPEND SOURCES $$ENV{ROBOCOMP}/classes/abstract_graphic_viewer_qt5/abstract_graphic_viewer.cpp)
+    list(APPEND HEADERS $$ENV{ROBOCOMP}/classes/abstract_graphic_viewer_qt5/abstract_graphic_viewer.h)
+    LIST(APPEND LIBS QGLViewer-qt5)
+endif()
+
 # Specify construction and link process
 ADD_EXECUTABLE( ${component_name} $${SOURCES} $${MOC_SOURCES} $${RC_SOURCES} $${UI_HEADERS} )
-TARGET_LINK_LIBRARIES( ${component_name} $${LIBS} $${STATIC_LIBS} $${SPECIFIC_LIBS} $${QT_LIBRARIES} $${Ice_LIBRARIES})
+TARGET_LINK_LIBRARIES( ${component_name} $${LIBS} $${STATIC_LIBS} $${SPECIFIC_LIBS} $${QT_LIBRARIES} $${Ice_LIBRARIES} )
 SET_TARGET_PROPERTIES(${component_name}
         PROPERTIES
         CXX_STANDARD 20

cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/genericmonitor.cpp

@@ -26,7 +26,7 @@ GenericMonitor::GenericMonitor(GenericWorker *_worker,Ice::CommunicatorPtr _comm
 	this->communicator = _communicator;
 	period = 100;
 	state = RoboCompCommonBehavior::State::Starting;
-	QObject::connect(this, SIGNAL(initializeWorker(int)), worker, SLOT(initialize(int)));
+	QObject::connect(this, SIGNAL(initializeWorker()), worker, SLOT(initializeWorker()));
 }
 /**
 * \brief Default destructor
@@ -60,7 +60,7 @@ int GenericMonitor::getPeriod()
 void GenericMonitor::setPeriod(int _period)
 {
 	period =_period;
-	worker->setPeriod(_period);
+	worker->setPeriod(worker->Compute, _period);
 }
 /**
 * \brief Kill component

cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/genericmonitor.h

@@ -70,7 +70,7 @@ Q_OBJECT
 
 signals:
 	void kill();
-	void initializeWorker(int);
+	void initializeWorker();
 };
 
 #endif // GENERICMONITOR_H

cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/genericworker.cpp

@@ -24,36 +24,118 @@ GenericWorker::GenericWorker(${constructor_proxies}) : ${inherited_constructor}
 {
 
 	${statemachine_initialization}
+
 	${require_and_publish_proxies_creation}
 
-	mutex = new QMutex();
+	${state_statemachine}
 
-	${gui_setup}
-	Period = BASIC_PERIOD;
-	${compute_connect}
+	${transition_statemachine}
+
+	${add_state_statemachine}
+
+	${configure_statemachine}
 
+	${gui_setup}
 }
 
 /**
 * \brief Default destructor
 */
 GenericWorker::~GenericWorker()
 {
+	for (auto state : states) {
+        delete state;
+    }
 
 }
 void GenericWorker::killYourSelf()
 {
 	rDebug("Killing myself");
 	emit kill();
 }
+
+void GenericWorker::initializeWorker()
+{
+	statemachine.start();
+
+	connect(&hibernationChecker, SIGNAL(timeout()), this, SLOT(hibernationCheck()));
+
+	auto error = statemachine.errorString();
+    if (error.length() > 0){
+        qWarning() << error;
+        throw error;
+    }
+
+}
+
 /**
 * \brief Change compute period
+* @param nameState name state "Compute" or "Emergency"
 * @param per Period in ms
 */
-void GenericWorker::setPeriod(int p)
+void GenericWorker::setPeriod(STATES state, int p)
+{
+	switch (state)
+	{
+	case STATES::Compute:
+		this->period = p;
+		states[STATES::Compute]->setPeriod(this->period);
+		std::cout << "Period Compute changed " << p  << "ms" << std::endl<< std::flush;
+		break;
+
+	case STATES::Emergency:
+		states[STATES::Emergency]->setPeriod(this->period);
+		std::cout << "Period Emergency changed " << p << "ms" << std::endl<< std::flush;
+		break;
+
+	default:
+		std::cerr<<"No change in the period, the state parameter must be 'Compute' or 'Emergency'."<< std::endl<< std::flush;
+		break;
+	}
+}
+
+int GenericWorker::getPeriod(STATES state)
+{
+	if (state < 0 || state >= STATES::NumberOfStates) {
+        std::cerr << "Invalid state parameter." << std::endl << std::flush;
+        return -1;
+    }
+	return states[state]->getPeriod();
+}
+
+void GenericWorker::hibernationCheck()
 {
-	rDebug("Period changed"+QString::number(p));
-	Period = p;
-	timer.start(Period);
+	//Time between activity to activate hibernation
+    static const int HIBERNATION_TIMEOUT = 5000;
+
+    static std::chrono::high_resolution_clock::time_point lastWakeTime = std::chrono::high_resolution_clock::now();
+	static int originalPeriod = this->period;
+    static bool isInHibernation = false;
+
+	// Update lastWakeTime by calling a function
+    if (hibernation)
+    {
+        hibernation = false;
+        lastWakeTime = std::chrono::high_resolution_clock::now();
+
+		// Restore period
+        if (isInHibernation)
+        {
+            this->setPeriod(STATES::Compute, originalPeriod);
+            isInHibernation = false;
+        }
+    }
+
+    auto now = std::chrono::high_resolution_clock::now();
+    auto elapsedTime = std::chrono::duration_cast<std::chrono::milliseconds>(now - lastWakeTime);
+
+	//HIBERNATION_TIMEOUT exceeded, change period
+    if (elapsedTime.count() > HIBERNATION_TIMEOUT && !isInHibernation)
+    {
+        isInHibernation = true;
+		originalPeriod = this->getPeriod(STATES::Compute);
+        this->setPeriod(STATES::Compute, 500);
+    }
 }
+
 ${agm_methods}

cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/genericworker.h

@@ -25,6 +25,11 @@
 ${gui_includes}
 ${statemachine_includes}
 #include <CommonBehavior.h>
+#include <grafcetStep/GRAFCETStep.h>
+#include <QStateMachine>
+#include <QEvent>
+#include <QString>
+#include <functional>
 
 ${interfaces_includes}
 ${agm_includes}
@@ -45,12 +50,17 @@ Q_OBJECT
 	GenericWorker(${constructor_proxies});
 	virtual ~GenericWorker();
 	virtual void killYourSelf();
-	virtual void setPeriod(int p);
-
 	virtual bool setParams(RoboCompCommonBehavior::ParameterList params) = 0;
-	QMutex *mutex;
-	${agm_methods}
 
+	enum STATES { Initialize, Compute, Emergency, Restore, NumberOfStates };
+	void setPeriod(STATES state, int p);
+	int getPeriod(STATES state);
+
+	QStateMachine statemachine;
+	QTimer hibernationChecker;
+	atomic_bool hibernation = false;
+
+	${agm_methods}
 
 	${create_proxies}
 
@@ -60,21 +70,24 @@ Q_OBJECT
 protected:
 	${statemachine_creation}
 
-	QTimer timer;
-	int Period;
 	${agm_attributes_creation}
 
 private:
-
+	int period = BASIC_PERIOD;
+	std::vector<GRAFCETStep*> states;
 
 public slots:
 	${statemachine_slots}
-	${virtual_compute}
-	virtual void initialize(int period) = 0;
+	${virtual_statemachine}
+
+	void initializeWorker();
+	void hibernationCheck();
+
 
 signals:
 	void kill();
 	${statemachine_signals}
+	${signal_statemachine}
 };
 
 #endif

cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/specificmonitor.cpp

@@ -62,7 +62,7 @@ void SpecificMonitor::initialize()
 		killYourSelf();
 	}
 	state = RoboCompCommonBehavior::State::Running;
-	emit initializeWorker(period);
+	emit initializeWorker();
 }
 
 bool SpecificMonitor::sendParamsToWorker(RoboCompCommonBehavior::ParameterList params)

cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/specificmonitor.h

@@ -22,8 +22,8 @@
 #include "genericmonitor.h"
 
 /**
-       \brief
-       @author authorname
+* \brief
+* @author authorname
 */
 class SpecificMonitor : public GenericMonitor
 {
@@ -35,8 +35,7 @@ class SpecificMonitor : public GenericMonitor
 
 	void readConfig(RoboCompCommonBehavior::ParameterList &params );
 	void run();
-	void initialize();
-
+    void initialize();
 	bool sendParamsToWorker(RoboCompCommonBehavior::ParameterList params);
 	bool checkParams(RoboCompCommonBehavior::ParameterList l);
 

cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/specificworker.cpp

@@ -53,38 +53,44 @@ bool SpecificWorker::setParams(RoboCompCommonBehavior::ParameterList params)
 //		innerModel = std::make_shared(innermodel_path);
 //	}
 //	catch(const std::exception &e) { qFatal("Error reading config params"); }
-
-
 	${innermodel_and_viewer_attribute_init}
-
 	${agm_innermodel_association}
-
 	${state_machine_start}
-
+	
 	${dsr_set_params}
 
 	return true;
 }
 
-void SpecificWorker::initialize(int period)
+void SpecificWorker::initialize()
 {
 	std::cout << "Initialize worker" << std::endl;
-	this->Period = period;
 	if(this->startup_check_flag)
 	{
 		this->startup_check();
 	}
 	else
 	{
+
+		#ifdef HIBERNATION_ENABLED
+			hibernationChecker.start(500);
+		#endif
+
+		this->setPeriod(STATES::Compute, 100);
+		//this->setPeriod(STATES::Emergency, 500);
+
 		${statemachine_initialize_to_compute}
 		${dsr_initialize}
-		timer.start(Period);
 	}
 
 }
 
 ${compute_method}
 
+${emergency_method}
+
+${restore_method}
+
 int SpecificWorker::startup_check()
 {
 	std::cout << "Startup check" << std::endl;

cli/robocompdsl/robocompdsl/templates/templateCPP/files/src/specificworker.h

@@ -28,6 +28,8 @@
 #ifndef SPECIFICWORKER_H
 #define SPECIFICWORKER_H
 
+#define HIBERNATION_ENABLED
+
 #include <genericworker.h>
 ${dsr_includes}
 
@@ -44,9 +46,8 @@ Q_OBJECT
 	${subscribes_method_definitions}
 
 public slots:
-	${compute}
+	${state_machine_method}
 	int startup_check();
-	void initialize(int period);
 	${statemachine_methods_definitions}
 	${dsr_slots}
 private:

cli/robocompdsl/robocompdsl/templates/templateCPP/plugins/base/functions/src/CMakeLists_txt.py

@@ -33,10 +33,10 @@ def wrap_ice(self):
         interface_names = []
 
         if self.component.recursiveImports is not None and self.component.ice_interfaces_names is not None:
-            for im in sorted(self.component.recursiveImports + self.component.ice_interfaces_names):
+            for im in sorted(self.component.recursiveImports + self.component.ice_interfaces_names):<<<<<<< development
                 name = im.split('/')[-1].split('.')[0]
                 interface_names.append(name)
-            
+
         result = "ROBOCOMP_IDSL_TO_ICE( CommonBehavior "
         result += ' '.join(interface_names)
         result += ")\n"