Merge branch 'api-v3.0.0-cxx-dev' into development

code/c++/cxx-api/AutoConnector.cpp

@@ -0,0 +1,41 @@
+#include "AutoConnector.h"
+
+AutoConnector::AutoConnector(std::function<void()> c, uint32_t f) : pConnectingThread(nullptr), callback(c),
+                                                                    frequency(f)
+{
+	isRepeat.store(false);
+}
+
+AutoConnector::~AutoConnector() {
+	stop();
+}
+
+void AutoConnector::start() {
+	if (!isRepeat.load() && !pConnectingThread)
+	{
+		Data d;
+		d.callback = callback;
+		d.pIsRepeat = &isRepeat;
+		d.frequency = frequency;
+		isRepeat.store(true);
+		pConnectingThread = new std::thread([d]() {
+			while (d.pIsRepeat->load())
+			{
+				d.callback();
+				std::this_thread::sleep_for(std::chrono::milliseconds(d.frequency));
+			}
+		});
+	}
+}
+
+void AutoConnector::stop() {
+	if (isRepeat.load() && pConnectingThread) {
+		isRepeat.store(false);
+		pConnectingThread->join();
+		delete pConnectingThread;
+	}
+}
+
+bool AutoConnector::isConnecting() {
+	return isRepeat.load();
+}

code/c++/cxx-api/AutoConnector.h

@@ -0,0 +1,26 @@
+#pragma once
+#include <iostream>
+#include <atomic>
+#include <thread>
+#include <chrono>
+
+struct Data {
+	std::function<void()> callback;
+	std::atomic_bool* pIsRepeat;
+	uint32_t frequency;
+};
+
+class AutoConnector {
+private:
+	std::thread* pConnectingThread;
+	std::function<void()> callback;
+	std::atomic_bool isRepeat;
+	uint32_t frequency;
+
+public:
+	AutoConnector(std::function<void()> c, uint32_t f = 500);
+	~AutoConnector();
+	void start();
+	void stop();
+	bool isConnecting();
+};

code/c++/cxx-api/CommandsEnum.h

@@ -48,6 +48,7 @@ enum ServoCommands {
 enum CommunicationCommands {
 	startCommunicationCommand = 1,		//starting communication command
 	stopCommunicationCommand = 2,		//stopping communication command
+	refreshConnectionCommunicationCommand = 3,		//refreshing connection timer communication command (since API v3)
 };
 
 /**
@@ -56,7 +57,8 @@ enum CommunicationCommands {
  */
 enum StartCommands {
 	startBasicAPI = 1,							//default API v1
-	APIWithAnswer = 2					//API v2
+	APIWithAnswer = 2,							//API v2
+	APIWithAutoDiconnect = 3					//API v3
 };
 
 #endif /* _COMMANDS_ENUM_H_ */

code/c++/cxx-api/TrackPlatform_BasicConnector.cpp

@@ -14,7 +14,7 @@ const std::string TrackPlatform_BasicConnector::correctAnswer = "OK";
 
 void TrackPlatform_BasicConnector::sendStartCommand()
 {
-    std::string command = std::string() + static_cast<char>(communicationControllerID) + static_cast<char>(startCommunicationCommand) + static_cast<char>(APIWithAnswer);
+    std::string command = std::string() + static_cast<char>(communicationControllerID) + static_cast<char>(startCommunicationCommand) + static_cast<char>(APIWithAutoDiconnect);
 	isConnectedToArduino = true;
 	sendOneCommand(command);
 }

code/c++/cxx-api/TrackPlatform_BasicManagement.cpp

@@ -21,6 +21,12 @@ void TrackPlatform_BasicManagement::sendServo(const std::string& additionalInfo)
 	readWriteAtomicMutex.unlock();
 }
 
+void TrackPlatform_BasicManagement::sendCommunication(const std::string& additionalInfo) {
+	readWriteAtomicMutex.lock();
+	connector->sendOneCommand(static_cast<char>(communicationControllerID) + additionalInfo);
+	readWriteAtomicMutex.unlock();
+}
+
 std::vector<uint32_t> TrackPlatform_BasicManagement::parseStringToArray(std::string s)
 {
 	std::vector<uint32_t> distancies;
@@ -218,3 +224,8 @@ std::vector<uint32_t> TrackPlatform_BasicManagement::servoGetAngles()
 	readWriteAtomicMutex.unlock();
 	return parseStringToArray(answer);
 }
+
+void TrackPlatform_BasicManagement::refreshConnection() {
+	std::string toSend(1, refreshConnectionCommunicationCommand);
+	sendCommunication(toSend);
+}

code/c++/cxx-api/TrackPlatform_BasicManagement.h

@@ -11,14 +11,16 @@ class TrackPlatform_BasicManagement
 {
 	TrackPlatform_BasicConnector* connector;
 
+protected:
 	static const uint8_t minSpeed = 0;
 	static const uint8_t maxSpeed = 255;
+	static const uint32_t reconnectTime = 500;
 	static const char delimiter = ';';
 
-protected:
 	void sendMove(const std::string& additionalInfo);
 	void sendSensors(const std::string& additionalInfo);
 	void sendServo(const std::string& additionalInfo);
+	void sendCommunication(const std::string& additionalInfo);
 
 	static std::vector<uint32_t> parseStringToArray(std::string s);
 
@@ -59,6 +61,9 @@ class TrackPlatform_BasicManagement
 	void servoSetVerticalAngle(uint16_t angle);
 	void servoSetHorizontalVerticalAngle(uint16_t horizontalAngle, uint16_t verticalAngle);
 	std::vector<uint32_t> servoGetAngles();
+
+	/* connection */
+	void refreshConnection();
 };
 
 #endif /* _TRACKPLATFORM_BASICMANAGEMENT_H_ */

code/c++/cxx-api/TrackPlatform_Manager.cpp

@@ -24,16 +24,27 @@ TrackPlatform_BasicConnector* TrackPlatform_Manager::createConnectorByMode(Conne
 	return res;
 }
 
-TrackPlatform_Manager::TrackPlatform_Manager(ConnectionModes mode, const CommunicationInfoStruct& info) : 
+TrackPlatform_Manager::TrackPlatform_Manager(ConnectionModes mode, const CommunicationInfoStruct& info) :
 	TrackPlatform_BasicManagement(createConnectorByMode(mode, info))
 {
+	std::function<void()> callback = [this]() { this->refreshConnection(); };
+	pAutoConnector = new AutoConnector(callback, reconnectTime);
+	pAutoConnector->start();
 }
 
 TrackPlatform_Manager::~TrackPlatform_Manager()
 {
+	if (pAutoConnector) delete pAutoConnector;
 	TrackPlatform_BasicConnector* connector = getConnector();
 	if (connector)
 	{
 		delete connector;
 	}
 }
+
+void TrackPlatform_Manager::startAutoConnection() {
+	pAutoConnector->start();
+}
+void TrackPlatform_Manager::stopAutoConnection() {
+	pAutoConnector->stop();
+}

code/c++/cxx-api/TrackPlatform_Manager.h

@@ -4,14 +4,19 @@
 #include "TrackPlatform_BasicManagement.h"
 #include "ConnectionModes.h"
 #include "CommunicationInfoStruct.h"
+#include "AutoConnector.h"
 
 class TrackPlatform_Manager : public TrackPlatform_BasicManagement
 {
 	static TrackPlatform_BasicConnector* createConnectorByMode(ConnectionModes mode, const CommunicationInfoStruct& info);
+	AutoConnector* pAutoConnector = nullptr;
 
 public:
 	TrackPlatform_Manager(ConnectionModes mode, const CommunicationInfoStruct& info);
 	~TrackPlatform_Manager();
+
+	void startAutoConnection();
+	void stopAutoConnection();
 };
 
 #endif /* _TRACKPLATFORM_MANAGER_H_ */

code/c++/cxx-api/cxx-api.vcxproj

@@ -146,6 +146,7 @@
     </Link>
   </ItemDefinitionGroup>
   <ItemGroup>
+    <ClInclude Include="AutoConnector.h" />
     <ClInclude Include="BadAddressOrPortException.h" />
     <ClInclude Include="CannotConnectToArduinoException.h" />
     <ClInclude Include="CommunicationInfoStruct.h" />
@@ -171,6 +172,7 @@
     <ClInclude Include="WSAStartupException.h" />
   </ItemGroup>
   <ItemGroup>
+    <ClCompile Include="AutoConnector.cpp" />
     <ClCompile Include="Logger.cpp" />
     <ClCompile Include="SerialConnector.cpp" />
     <ClCompile Include="serial_support\src\impl\list_ports\list_ports_win.cc" />

code/c++/cxx-api/cxx-api.vcxproj.filters

@@ -111,6 +111,9 @@
     <ClInclude Include="NoConnectionException.h">
       <Filter>exceptions\header</Filter>
     </ClInclude>
+    <ClInclude Include="AutoConnector.h">
+      <Filter>Communication\header</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="TrackPlatform_BasicManagement.cpp">
@@ -143,5 +146,8 @@
     <ClCompile Include="Logger.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="AutoConnector.cpp">
+      <Filter>Communication\source</Filter>
+    </ClCompile>
   </ItemGroup>
 </Project>

code/c++/cxx-app/SensorsViewer.cpp

@@ -0,0 +1,53 @@
+#include "SensorsViewer.h"
+
+	void SensorsViewer::setData(const std::vector<uint32_t>& d, SensorType t) {
+		if (t == LINE_SENSORS) {
+			lineSensors = d;
+		}
+		else {
+			distanceSensors = d;
+		}
+	}
+
+	void SensorsViewer::show() {
+		if (system("clear")) system("cls");
+		if (!distanceSensors.empty()) {
+			if (system("clear")) system("cls");
+			std::cout << "Distance sensors:" << std::endl;
+			if (distanceSensors.size() >= 1) std::cout << "       " << std::setw(4) << distanceSensors[0] << std::endl;
+			if (distanceSensors.size() >= 2) std::cout << "    " << std::setw(4) << distanceSensors[1] << (distanceSensors.size() == 2 ? "\n" : "");
+			if (distanceSensors.size() >= 3) std::cout << "   " << std::setw(4) << distanceSensors[2] << std::endl;
+			if (distanceSensors.size() >= 4) std::cout << " " << std::setw(4) << distanceSensors[3] << (distanceSensors.size() == 4 ? "\n" : "");
+			if (distanceSensors.size() >= 5) std::cout << "         " << std::setw(4) << distanceSensors[4] << std::endl;
+		}
+		if (!lineSensors.empty()) {
+			std::cout << "Line sensors:" << std::endl;
+			std::cout << "|";
+			for (int i = 0; i < lineSensors.size(); i++) {
+				std::cout << (lineSensors[i] ? "@@@" : "   ");
+			}
+			std::cout << "|";
+		}
+	}
+	void SensorsViewer::show(SensorType type) {
+		if (type == LINE_SENSORS) {
+			if (!lineSensors.empty()) {
+				std::cout << "\r" << "|";
+				for (int i = 0; i < lineSensors.size(); i++) {
+					std::cout << (lineSensors[i] ? "@@@" : "   ");
+				}
+				std::cout << "|";
+			}
+		}
+		else {
+			if (!distanceSensors.empty()) {
+				if (system("clear")) system("cls");
+				std::cout << "Distance sensors:" << std::endl;
+				if (distanceSensors.size() >= 1) std::cout << "       " << std::setw(4) << distanceSensors[0] << std::endl;
+				if (distanceSensors.size() >= 2) std::cout << "    " << std::setw(4) << distanceSensors[1] << (distanceSensors.size() == 2 ? "\n" : "");
+				if (distanceSensors.size() >= 3) std::cout << "   " << std::setw(4) << distanceSensors[2] << std::endl;
+				if (distanceSensors.size() >= 4) std::cout << " " << std::setw(4) << distanceSensors[3] << (distanceSensors.size() == 4 ? "\n" : "");
+				if (distanceSensors.size() >= 5) std::cout << "          " << std::setw(4) << distanceSensors[4] << std::endl;
+			}
+		}
+}

code/c++/cxx-app/SensorsViewer.h

@@ -0,0 +1,19 @@
+#pragma once
+#include <iostream>
+#include <vector>
+#include <stdlib.h>
+#include <iomanip>
+
+enum SensorType {
+	LINE_SENSORS, DISTANCE_SENSORS
+};
+
+class SensorsViewer {
+	std::vector<uint32_t> lineSensors;
+	std::vector<uint32_t> distanceSensors;
+
+public:
+	void setData(const std::vector<uint32_t>& d, SensorType t);
+	void show();
+	void show(SensorType type);
+};

code/c++/cxx-app/cxx-app.vcxproj

@@ -167,6 +167,10 @@
   </ItemDefinitionGroup>
   <ItemGroup>
     <ClCompile Include="main.cpp" />
+    <ClCompile Include="SensorsViewer.cpp" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="SensorsViewer.h" />
   </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">

code/c++/cxx-app/cxx-app.vcxproj.filters

@@ -18,5 +18,13 @@
     <ClCompile Include="main.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="SensorsViewer.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="SensorsViewer.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
 </Project>