Move files and make library directory for RPLidar

Chi-EEE · Dec 7, 2023 · 1606818 · 1606818
1 parent 04ec5e4
commit 1606818
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Showing 71 changed files with 56 additions and 10 deletions.
diff --git a/Car-Application.code-workspace b/Car-Application.code-workspace
@@ -4,19 +4,16 @@
 			"path": "."
 		},
 		{
-			"path": "backend"
+			"path": "app/backend"
 		},
 		{
-			"path": "frontend"
+			"path": "app/frontend"
 		},
 		{
-			"path": "raspberry_pi"
+			"path": "app/raspberry_pi"
 		},
 		{
-			"path": "tcp"
-		},
-		{
-			"path": "legacy"
+			"path": "old/legacy"
 		}
 	],
 	"settings": {
@@ -111,7 +108,8 @@
 			"source_location": "cpp",
 			"shared_mutex": "cpp",
 			"cinttypes": "cpp",
-			"filesystem": "cpp"
+			"filesystem": "cpp",
+			"variant": "cpp"
 		}
 	}
 }
diff --git a/backend/.vscode/c_cpp_properties.json → app/backend/.vscode/c_cpp_properties.json b/backend/.vscode/c_cpp_properties.json → app/backend/.vscode/c_cpp_properties.json
diff --git a/backend/.vscode/settings.json → app/backend/.vscode/settings.json b/backend/.vscode/settings.json → app/backend/.vscode/settings.json
diff --git a/backend/Doxyfile → app/backend/Doxyfile b/backend/Doxyfile → app/backend/Doxyfile
diff --git a/backend/include/utils/Utility.hpp → app/backend/include/utils/Utility.hpp b/backend/include/utils/Utility.hpp → app/backend/include/utils/Utility.hpp
diff --git a/...s/j/json-schema-validator-/port/xmake.lua → ...s/j/json-schema-validator-/port/xmake.lua b/...s/j/json-schema-validator-/port/xmake.lua → ...s/j/json-schema-validator-/port/xmake.lua
diff --git a/...ckages/j/json-schema-validator-/xmake.lua → ...ckages/j/json-schema-validator-/xmake.lua b/...ckages/j/json-schema-validator-/xmake.lua → ...ckages/j/json-schema-validator-/xmake.lua
diff --git a/...d/repository/packages/p/pca9685/xmake.lua → ...d/repository/packages/p/pca9685/xmake.lua b/...d/repository/packages/p/pca9685/xmake.lua → ...d/repository/packages/p/pca9685/xmake.lua
diff --git a/.../repository/packages/w/wiringpi/xmake.lua → .../repository/packages/w/wiringpi/xmake.lua b/.../repository/packages/w/wiringpi/xmake.lua → .../repository/packages/w/wiringpi/xmake.lua
diff --git a/backend/settings/config.json → app/backend/settings/config.json b/backend/settings/config.json → app/backend/settings/config.json
diff --git a/...end/src/controllers/DynamicController.hpp → ...end/src/controllers/DynamicController.hpp b/...end/src/controllers/DynamicController.hpp → ...end/src/controllers/DynamicController.hpp
diff --git a/backend/src/controllers/RoomController.hpp → ...ackend/src/controllers/RoomController.hpp b/backend/src/controllers/RoomController.hpp → ...ackend/src/controllers/RoomController.hpp
diff --git a/backend/src/controllers/WebSocketChat.hpp → ...backend/src/controllers/WebSocketChat.hpp b/backend/src/controllers/WebSocketChat.hpp → ...backend/src/controllers/WebSocketChat.hpp
diff --git a/backend/src/main.cpp → app/backend/src/main.cpp b/backend/src/main.cpp → app/backend/src/main.cpp
diff --git a/backend/src/room/Room.hpp → app/backend/src/room/Room.hpp b/backend/src/room/Room.hpp → app/backend/src/room/Room.hpp
diff --git a/backend/src/room/RoomManager.hpp → app/backend/src/room/RoomManager.hpp b/backend/src/room/RoomManager.hpp → app/backend/src/room/RoomManager.hpp
diff --git a/backend/src/room/User.hpp → app/backend/src/room/User.hpp b/backend/src/room/User.hpp → app/backend/src/room/User.hpp
diff --git a/backend/src/room/UserType.hpp → app/backend/src/room/UserType.hpp b/backend/src/room/UserType.hpp → app/backend/src/room/UserType.hpp
diff --git a/backend/src/test.py → app/backend/src/test.py b/backend/src/test.py → app/backend/src/test.py
diff --git a/backend/xmake.lua → app/backend/xmake.lua b/backend/xmake.lua → app/backend/xmake.lua
diff --git a/frontend/.gitignore → app/frontend/.gitignore b/frontend/.gitignore → app/frontend/.gitignore
diff --git a/frontend/.npmrc → app/frontend/.npmrc b/frontend/.npmrc → app/frontend/.npmrc
diff --git a/frontend/README.md → app/frontend/README.md b/frontend/README.md → app/frontend/README.md
diff --git a/frontend/package.json → app/frontend/package.json b/frontend/package.json → app/frontend/package.json
diff --git a/frontend/pnpm-lock.yaml → app/frontend/pnpm-lock.yaml b/frontend/pnpm-lock.yaml → app/frontend/pnpm-lock.yaml
diff --git a/frontend/src/app.d.ts → app/frontend/src/app.d.ts b/frontend/src/app.d.ts → app/frontend/src/app.d.ts
diff --git a/frontend/src/app.html → app/frontend/src/app.html b/frontend/src/app.html → app/frontend/src/app.html
diff --git a/frontend/src/lib/LidarStream.svelte → app/frontend/src/lib/LidarStream.svelte b/frontend/src/lib/LidarStream.svelte → app/frontend/src/lib/LidarStream.svelte
diff --git a/frontend/src/lib/WebsocketStore.ts → app/frontend/src/lib/WebSocketStore.ts b/frontend/src/lib/WebsocketStore.ts → app/frontend/src/lib/WebSocketStore.ts
diff --git a/frontend/src/lib/index.ts → app/frontend/src/lib/index.ts b/frontend/src/lib/index.ts → app/frontend/src/lib/index.ts
diff --git a/frontend/src/routes/+layout.js → app/frontend/src/routes/+layout.js b/frontend/src/routes/+layout.js → app/frontend/src/routes/+layout.js
diff --git a/frontend/src/routes/+page.svelte → app/frontend/src/routes/+page.svelte b/frontend/src/routes/+page.svelte → app/frontend/src/routes/+page.svelte
diff --git a/frontend/src/routes/room/[slug]/+page.js → app/frontend/src/routes/room/[slug]/+page.js b/frontend/src/routes/room/[slug]/+page.js → app/frontend/src/routes/room/[slug]/+page.js
diff --git a/frontend/src/routes/room/[slug]/+page.svelte → ...ntend/src/routes/room/[slug]/+page.svelte b/frontend/src/routes/room/[slug]/+page.svelte → ...ntend/src/routes/room/[slug]/+page.svelte
diff --git a/frontend/static/favicon.png → app/frontend/static/favicon.png b/frontend/static/favicon.png → app/frontend/static/favicon.png
diff --git a/frontend/svelte.config.js → app/frontend/svelte.config.js b/frontend/svelte.config.js → app/frontend/svelte.config.js
diff --git a/frontend/tsconfig.json → app/frontend/tsconfig.json b/frontend/tsconfig.json → app/frontend/tsconfig.json
diff --git a/frontend/vite.config.ts → app/frontend/vite.config.ts b/frontend/vite.config.ts → app/frontend/vite.config.ts
diff --git a/lidar/.gitignore → app/raspberry_pi/.gitignore b/lidar/.gitignore → app/raspberry_pi/.gitignore
diff --git a/raspberry_pi/.vscode/c_cpp_properties.json → ...aspberry_pi/.vscode/c_cpp_properties.json b/raspberry_pi/.vscode/c_cpp_properties.json → ...aspberry_pi/.vscode/c_cpp_properties.json
diff --git a/raspberry_pi/Doxyfile → app/raspberry_pi/Doxyfile b/raspberry_pi/Doxyfile → app/raspberry_pi/Doxyfile
diff --git a/raspberry_pi/SETUP.md → app/raspberry_pi/SETUP.md b/raspberry_pi/SETUP.md → app/raspberry_pi/SETUP.md
diff --git a/raspberry_pi/WHY.md → app/raspberry_pi/WHY.md b/raspberry_pi/WHY.md → app/raspberry_pi/WHY.md
diff --git a/raspberry_pi/include/global/Config.hpp → app/raspberry_pi/include/global/Config.hpp b/raspberry_pi/include/global/Config.hpp → app/raspberry_pi/include/global/Config.hpp
diff --git a/...erry_pi/include/rplidar/ExpressPacket.hpp → ...erry_pi/include/rplidar/ExpressPacket.hpp b/...erry_pi/include/rplidar/ExpressPacket.hpp → ...erry_pi/include/rplidar/ExpressPacket.hpp
diff --git a/raspberry_pi/include/rplidar/RPLidar.cpp → app/raspberry_pi/include/rplidar/RPLidar.cpp b/raspberry_pi/include/rplidar/RPLidar.cpp → app/raspberry_pi/include/rplidar/RPLidar.cpp
@@ -175,8 +175,8 @@ namespace rplidar {
 	tl::expected<std::tuple<uint8_t, bool, uint8_t>, std::string> RPLidar::_read_descriptor()
 	{
 		// Read descriptor packet
-		std::vector<uint8_t> descriptor(DESCRIPTOR_LEN);
-		this->_serial->read(descriptor.data(), DESCRIPTOR_LEN);
+		std::string descriptor(DESCRIPTOR_LEN, '\0');
+		this->_serial->read(reinterpret_cast<uint8_t*>(&descriptor[0]), DESCRIPTOR_LEN);
 		spdlog::debug("Received descriptor: {}", spdlog::to_hex(descriptor));
 
 		if (descriptor.size() != DESCRIPTOR_LEN)

diff --git a/raspberry_pi/include/rplidar/RPLidar.h → app/raspberry_pi/include/rplidar/RPLidar.h b/raspberry_pi/include/rplidar/RPLidar.h → app/raspberry_pi/include/rplidar/RPLidar.h
diff --git a/...s/j/json-schema-validator-/port/xmake.lua → ...s/j/json-schema-validator-/port/xmake.lua b/...s/j/json-schema-validator-/port/xmake.lua → ...s/j/json-schema-validator-/port/xmake.lua
diff --git a/...ckages/j/json-schema-validator-/xmake.lua → ...ckages/j/json-schema-validator-/xmake.lua b/...ckages/j/json-schema-validator-/xmake.lua → ...ckages/j/json-schema-validator-/xmake.lua
diff --git a/...i/repository/packages/p/pca9685/xmake.lua → ...i/repository/packages/p/pca9685/xmake.lua b/...i/repository/packages/p/pca9685/xmake.lua → ...i/repository/packages/p/pca9685/xmake.lua
diff --git a/.../repository/packages/w/wiringpi/xmake.lua → .../repository/packages/w/wiringpi/xmake.lua b/.../repository/packages/w/wiringpi/xmake.lua → .../repository/packages/w/wiringpi/xmake.lua
diff --git a/raspberry_pi/settings/config.jsonc → app/raspberry_pi/settings/config.jsonc b/raspberry_pi/settings/config.jsonc → app/raspberry_pi/settings/config.jsonc
diff --git a/raspberry_pi/src/car/display/CarConsole.hpp → ...spberry_pi/src/car/display/CarConsole.hpp b/raspberry_pi/src/car/display/CarConsole.hpp → ...spberry_pi/src/car/display/CarConsole.hpp
diff --git a/raspberry_pi/src/car/system/CarSystem.cpp → ...raspberry_pi/src/car/system/CarSystem.cpp b/raspberry_pi/src/car/system/CarSystem.cpp → ...raspberry_pi/src/car/system/CarSystem.cpp
diff --git a/raspberry_pi/src/car/system/CarSystem.h → app/raspberry_pi/src/car/system/CarSystem.h b/raspberry_pi/src/car/system/CarSystem.h → app/raspberry_pi/src/car/system/CarSystem.h
diff --git a/...y_pi/src/car/system/lidar/LidarDevice.hpp → ...y_pi/src/car/system/lidar/LidarDevice.hpp b/...y_pi/src/car/system/lidar/LidarDevice.hpp → ...y_pi/src/car/system/lidar/LidarDevice.hpp
diff --git a/...ry_pi/src/car/system/lidar/LidarDummy.hpp → ...ry_pi/src/car/system/lidar/LidarDummy.hpp b/...ry_pi/src/car/system/lidar/LidarDummy.hpp → ...ry_pi/src/car/system/lidar/LidarDummy.hpp
diff --git a/..._pi/src/car/system/lidar/LidarScanner.hpp → ..._pi/src/car/system/lidar/LidarScanner.hpp b/..._pi/src/car/system/lidar/LidarScanner.hpp → ..._pi/src/car/system/lidar/LidarScanner.hpp
diff --git a/.../car/system/messaging/MessagingSystem.hpp → .../car/system/messaging/MessagingSystem.hpp b/.../car/system/messaging/MessagingSystem.hpp → .../car/system/messaging/MessagingSystem.hpp
diff --git a/...system/messaging/commands/MoveCommand.hpp → ...system/messaging/commands/MoveCommand.hpp b/...system/messaging/commands/MoveCommand.hpp → ...system/messaging/commands/MoveCommand.hpp
diff --git a/...system/messaging/commands/TurnCommand.hpp → ...system/messaging/commands/TurnCommand.hpp b/...system/messaging/commands/TurnCommand.hpp → ...system/messaging/commands/TurnCommand.hpp
diff --git a/raspberry_pi/src/main.cpp → app/raspberry_pi/src/main.cpp b/raspberry_pi/src/main.cpp → app/raspberry_pi/src/main.cpp
diff --git a/raspberry_pi/xmake.lua → app/raspberry_pi/xmake.lua b/raspberry_pi/xmake.lua → app/raspberry_pi/xmake.lua
diff --git a/backend/include/ExpressPacket.hpp → libraries/RPLidar/include/ExpressPacket.hpp b/backend/include/ExpressPacket.hpp → libraries/RPLidar/include/ExpressPacket.hpp
diff --git a/backend/include/RPLidar.h → libraries/RPLidar/include/RPLidar.h b/backend/include/RPLidar.h → libraries/RPLidar/include/RPLidar.h
diff --git a/backend/include/RPLidar.cpp → libraries/RPLidar/src/RPLidar.cpp b/backend/include/RPLidar.cpp → libraries/RPLidar/src/RPLidar.cpp
diff --git a/libraries/RPLidar/test/test.cpp b/libraries/RPLidar/test/test.cpp
@@ -0,0 +1,32 @@
+#include <RPLidar.h>
+
+int main()
+{
+    auto lidar = RPLidar("COM3");
+
+    auto info = lidar.get_info();
+    std::cout << fmt::format("model: {}, firmware: ({}, {}), hardware: {}, serialnumber: {}\n", info.model, info.firmware.first, info.firmware.second, info.hardware, info.serialNumber);
+
+    auto health = lidar.get_health();
+    std::cout << fmt::format("({}, {})\n", health.status, health.errorCode);
+
+    std::function<std::vector<Measure>()> scanGenerator = lidar.iter_scans();
+    for (int i = 0; i < 10; i++)
+    {
+        std::vector<Measure> scan = scanGenerator();
+        std::cout << "Got " << scan.size() << " Measures!\n";
+        for (const Measure &measure : scan)
+        {
+            // Access individual measurements in the scan
+            bool newScan = measure.newScan;
+            int quality = measure.quality;
+            float angle = measure.angle;
+            float distance = measure.distance;
+        }
+    }
+
+    lidar.stop();
+    lidar.stop_motor();
+    lidar.disconnect();
+    return 0;
+}
diff --git a/libraries/RPLidar/xmake.lua b/libraries/RPLidar/xmake.lua
@@ -0,0 +1,16 @@
+add_requires("serial", "spdlog")
+
+target("RPLidar")
+    set_kind("static")
+    add_files("src/*.cpp")
+    add_headerfiles("include/(**.h)")
+    add_headerfiles("include/(**.hpp)")
+    add_includedirs("include")
+    add_packages("serial", "spdlog")
+
+target("test")
+    set_kind("binary")
+    add_files("test/*.cpp")
+    add_includedirs("include")
+    add_deps("RPLidar")
+    add_links("RPLidar")
diff --git a/raspberry_pi/.gitignore → old/lidar/.gitignore b/raspberry_pi/.gitignore → old/lidar/.gitignore
diff --git a/lidar/src/main.cpp → old/lidar/src/main.cpp b/lidar/src/main.cpp → old/lidar/src/main.cpp
diff --git a/lidar/xmake.lua → old/lidar/xmake.lua b/lidar/xmake.lua → old/lidar/xmake.lua