Merge branch 'feature/new-architecture'

client_s2/docs/.gitignore

@@ -0,0 +1,3 @@
+build
+logs.db
+!lib

client_s2/docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

client_s2/docs/make.bat

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd

client_s2/docs/source/conf.py

@@ -0,0 +1,63 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+
+sys.path.insert(0, os.path.abspath('../..'))
+sys.setrecursionlimit(1500)
+os.environ["EXTENSIVE_LOGGING"] = "False"
+
+# -- Project information -----------------------------------------------------
+
+project = 'CompLib'
+copyright = '2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)'
+author = 'robo4you'
+
+# The full version, including alpha/beta/rc tags
+release = '0.2.3'
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    'sphinx.ext.autodoc',
+    'sphinx_rtd_theme'
+]
+
+autodoc_mock_imports = ["smbus", "compLib.PCA9685", "RPi",
+                        "pigpio", "flask", "apt", "influxdb_client"]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = []
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'sphinx_rtd_theme'
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
+
+
+language = "de"

client_s2/docs/source/index.rst

@@ -0,0 +1,18 @@
+.. image:: images/compair-logo-white.svg
+
+Dokumentation des Roboters
+##########################
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+Contents
+*********
+
+.. toctree::
+    :maxdepth: 5
+    :glob:
+
+    other/usage
+    lib/index.rst

client_s2/docs/source/lib/classes/Motor.rst

@@ -0,0 +1,47 @@
+.. _lib_motor:
+
+Motoren
+********
+
+Dokumentation der Klasse
+========================
+
+.. autoclass:: compLib.Motor.Motor
+   :members:
+
+Genauere Informationen
+======================
+
+Power vs Speed
+--------------
+Zur ansteuerung der Motoren kann entweder ``Motor.power(...)`` oder ``Motor.speed(...)`` verwendet werden.
+Der Unterschied der 2 Funktionen liegt dabei in der Einheit des 2. Parameters. Bei ``Motor.power()`` wird dabei ein Wert zwischen -100% und 100% der maximalen Geschwindigkeit angegeben.
+Im Gegensatz dazu erlaubt einem ``Motor.speed()`` eine Geschwindigkeit in Umdrehungen pro Minute.
+
+Normal vs Multiple
+------------------
+Der Aufruf der funktionen kann entweder über ``Motor.power(port, percent)`` oder ``Motor.power((port, percent), (port, percent), ..)`` erfolgen.
+Der zweite Aufruf ermöglicht dem Entwickler dabei beide Motoren in einem Aufruf anzusteuern und bringt einen kleinen Vorteil in der Leistungsfähigkeit der Software.
+
+
+Beispiele
+=========
+
+Vorwärts fahren
+-------------
+
+Mit folgenden Programm drehen sich beide Motoren mit 50% ihrer maximalen Geschwindigkeit.
+Dabei ist zu beachten, dass ein Motor in die entgegengesetzte Richtung zum aneren Motor gedreht werden muss, da diese spiegelverkehrt montiert sind.
+
+Zusätzlich ist ein ``time.sleep(5)`` notwendig, welches das Programm für 5 Sekunden pausiert. Diese Pause wird benötigt, da der Roboter automatisch alle Motoren beim Ende des Progammes deaktiviert.
+
+.. code-block:: python
+
+    from compLib.Motor import Motor
+    import time
+
+    Motor.power(0, -50)
+    Motor.power(3, 50)
+
+    time.sleep(5)
+

client_s2/docs/source/lib/index.rst

@@ -0,0 +1,8 @@
+compLib
+#######
+
+.. toctree::
+    :maxdepth: 5
+    :glob:
+
+    classes/*

client_s2/docs/source/other/usage.rst

@@ -0,0 +1,32 @@
+.. _other_usage:
+
+Beispiele
+#########
+
+Vorwärts und rückwärts fahren
+*****************************
+
+.. code-block:: python
+
+    import time
+    from compLib.Motor import *
+
+    def forward():
+        Motor.power(1, -30);
+        Motor.power(2, 30);
+
+
+    def backward():
+        Motor.power(1, 30);
+        Motor.power(2, -30);
+
+    def main():
+        print("hallo ich bin ein roboter beep buup")
+
+        forward()
+        time.sleep(1)
+        backward()
+        time.sleep(1)
+
+    if __name__ == '__main__':
+        main()

client_s2/sphinx_to_github.sh

@@ -0,0 +1,23 @@
+export BUILDING_DOCS=true
+cd docs || exit
+rm -rf build
+rm -rf gh-pages
+
+make html
+
+git clone git@github.com:F-WuTS/compLIB.git gh-pages
+
+cd gh-pages || exit
+git checkout gh-pages
+
+cp -r ../build/html/* .
+
+git add .
+git commit -a -m "Update documentation"
+git push origin gh-pages
+
+cd ..
+rm -rf gh-pages
+
+cd ..
+export BUILDING_DOCS=false

server_v2/.idea/other.xml

@@ -1,10 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="AutoUploadManager">
-    <option name="hosts">
-      <list>
-        <option value="9c7ab821-1501-483e-beda-814d54656ca2" />
-      </list>
-    </option>
-  </component>
-</project>

server_v2/CMakeLists.txt

@@ -56,7 +56,9 @@ set(SRC_FILES
         src/communication/UnixSocketServer.cpp
         src/communication/TCPSocketServer.cpp
         src/GoToController.cpp
-        src/HealthChecker.cpp)
+        src/HealthChecker.cpp
+        src/Display.cpp
+        src/IPWritingService.cpp)
 
 set(HDR_FILES
         include/spi.hpp
@@ -77,7 +79,9 @@ set(HDR_FILES
         include/communication/UnixSocketServer.hpp
         include/communication/TCPSocketServer.hpp
         include/GoToController.hpp
-        include/HealthChecker.hpp)
+        include/HealthChecker.hpp
+        include/Display.hpp
+        include/IPWritingService.hpp)
 
 include_directories(third_party/asio)
 

server_v2/include/Display.hpp

@@ -0,0 +1,16 @@
+#ifndef COMPLIB_SERVER_DISPLAY_HPP
+#define COMPLIB_SERVER_DISPLAY_HPP
+
+#include <cstdint>
+#include <string>
+
+class Display {
+public:
+  static void write(uint8_t line, std::string text);
+
+private:
+
+  Display() = default;
+};
+
+#endif //COMPLIB_SERVER_DISPLAY_HPP

server_v2/include/IPWritingService.hpp

@@ -0,0 +1,16 @@
+#ifndef COMPLIB_SERVER_IPWRITINGSERVICE_HPP
+#define COMPLIB_SERVER_IPWRITINGSERVICE_HPP
+
+#include <thread>
+
+class IPWritingService {
+public:
+  IPWritingService();
+
+private:
+  [[noreturn]] void writing_loop();
+
+  std::thread writing_thread;
+};
+
+#endif //COMPLIB_SERVER_IPWRITINGSERVICE_HPP

server_v2/src/Display.cpp

@@ -0,0 +1,7 @@
+#include "include/Display.hpp"
+#include "include/spi.hpp"
+
+void Display::write(uint8_t line, std::string text) {
+  text.resize(16);
+  Spi::getInstance().write_array(Spi::DISPLAY_LINE_1_C0 + line * 16, 16, reinterpret_cast<const uint8_t *>(text.c_str()));
+}

server_v2/src/IPWritingService.cpp

@@ -0,0 +1,17 @@
+#include "include/IPWritingService.hpp"
+#include "include/networkUtils.hpp"
+#include "include/Display.hpp"
+
+IPWritingService::IPWritingService() {
+  writing_thread = std::thread(&IPWritingService::writing_loop, this);
+  writing_thread.detach();
+}
+
+void IPWritingService::writing_loop() {
+  while (true) {
+    auto host_and_ip = networkUtils::get_current_host_and_ip();
+    Display::write(2, std::get<0>(host_and_ip));
+    Display::write(3, std::get<1>(host_and_ip));
+    std::this_thread::sleep_for(std::chrono::seconds(5));
+  }
+}

server_v2/src/main.cpp

@@ -10,6 +10,7 @@
 #include "include/GoToController.hpp"
 #include "include/Encoders.hpp"
 #include "include/networkUtils.hpp"
+#include "include/IPWritingService.hpp"
 
 #ifdef IS_RASPI
 
@@ -27,6 +28,7 @@ int main(int argc, char *argv[]) {
 
   UnixSocketServer unixSocketServer;
   TCPSocketServer tcpSocketServer;
+  IPWritingService ipWritingService;
   HealthChecker::getInstance();
 
 #ifdef IS_RASPI