diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..311770e --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "cellulo-qml-plugin"] + path = cellulo-qml-plugin + url = ssh://git@c4science.ch/diffusion/505/cellulo-qml-plugin.git diff --git a/Unity/Unity Project Plugin/.gitignore b/Unity/Unity Project Plugin/.gitignore new file mode 100644 index 0000000..0210746 --- /dev/null +++ b/Unity/Unity Project Plugin/.gitignore @@ -0,0 +1,36 @@ +[Ll]ibrary/ +[Tt]emp/ +[Oo]bj/ +[Bb]uild/ +[Bb]uilds/ +Assets/AssetStoreTools* + +# Visual Studio cache directory +.vs/ + +# Autogenerated VS/MD/Consulo solution and project files +ExportedObj/ +.consulo/ +*.csproj +*.unityproj +*.sln +*.suo +*.tmp +*.user +*.userprefs +*.pidb +*.booproj +*.svd +*.pdb +*.opendb + +# Unity3D generated meta files +*.pidb.meta +*.pdb.meta + +# Unity3D Generated File On Crash Reports +sysinfo.txt + +# Builds +*.apk +*.unitypackage diff --git a/Unity/Unity Project Plugin/Assets/.DS_Store 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simple Scene.unity.meta new file mode 100644 index 0000000..4a4d792 --- /dev/null +++ b/Unity/Unity Project Plugin/Assets/A simple Scene.unity.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 58f15cc4a317448a78c22f355d6b1c78 +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity/Unity Project Plugin/Assets/PluginImport.cs b/Unity/Unity Project Plugin/Assets/PluginImport.cs new file mode 100644 index 0000000..a88b167 --- /dev/null +++ b/Unity/Unity Project Plugin/Assets/PluginImport.cs @@ -0,0 +1,71 @@ +using UnityEngine; +using System.Collections; +using System; +using System.Runtime.InteropServices; + +public class PluginImport : MonoBehaviour { + //Lets make our calls from the Plugin + [DllImport ("cellulo-unity")] + private static extern float getX(); + + [DllImport ("cellulo-unity")] + private static extern float getY(); + + [DllImport ("cellulo-unity")] + private static extern float getTheta(); + + [DllImport ("cellulo-unity")] + private static extern bool getKidnapped(); + + [DllImport ("cellulo-unity")] + private static extern void setGreen(); + + [DllImport ("cellulo-unity")] + private static extern float setRed(); + + public float Cx, Cy, Ctheta; + public bool Ckidnapped; + public Color Ccolor = Color.green; + + void setColorGreen() { + Debug.Log("Green"); + setGreen(); + Ccolor = Color.green; + } + + void setColorRed() { + Debug.Log("Red"); + setRed(); + Ccolor = Color.red; + } + + void Start () { + transform.position = new Vector3(0, 0, 0); + InvokeRepeating("CUpdate", 0.0f, 0.1f); + InvokeRepeating("switchColor", 0.0f, 5.0f); + } + + void CUpdate() { + Cx = getX(); + Cy = getY(); +// Ctheta = getTheta(); +// Ckidnapped = getKidnapped(); + } + + void OnGUI() { + transform.position = new Vector3(Cx, 0, -Cy); + Renderer rend = GetComponent(); + + rend.material.SetColor("_Color", Ccolor); + + } + + void switchColor() { + if(Ccolor == Color.green) { + setColorRed(); + } + else { + setColorGreen(); + } + } +} diff --git a/Unity/Unity Project Plugin/Assets/PluginImport.cs.meta b/Unity/Unity Project Plugin/Assets/PluginImport.cs.meta new file mode 100644 index 0000000..56852dc --- /dev/null +++ b/Unity/Unity Project Plugin/Assets/PluginImport.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: e198599654de142b5b2770e12ad103f5 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity/Unity Project Plugin/Assets/Plugins.meta b/Unity/Unity Project Plugin/Assets/Plugins.meta new file mode 100644 index 0000000..6090798 --- /dev/null +++ b/Unity/Unity Project Plugin/Assets/Plugins.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 84b934604cf5f4da291449067f79d740 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle.meta b/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle.meta new file mode 100644 index 0000000..aa06f81 --- /dev/null +++ b/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle.meta @@ -0,0 +1,40 @@ +fileFormatVersion: 2 +guid: bcec475a75fca4bdd94027c56b0705d3 +folderAsset: yes +PluginImporter: + externalObjects: {} + serializedVersion: 2 + iconMap: {} + executionOrder: {} + isPreloaded: 0 + isOverridable: 0 + platformData: + - first: + '': OSXIntel + second: + enabled: 1 + settings: {} + - first: + '': OSXIntel64 + second: + enabled: 1 + settings: {} + - first: + Any: + second: + enabled: 0 + settings: {} + - first: + Editor: Editor + second: + enabled: 1 + settings: + DefaultValueInitialized: true + - first: + Standalone: OSXUniversal + second: + enabled: 1 + settings: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents.meta b/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents.meta new file mode 100644 index 0000000..c231476 --- /dev/null +++ b/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: e0af6890c894146989e43a45fcf16647 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents/Info.plist b/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents/Info.plist new file mode 100644 index 0000000..6c35db7 --- /dev/null +++ b/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents/Info.plist @@ -0,0 +1,22 @@ + + + + + CFBundleDevelopmentRegion + English + CFBundleExecutable + ASimplePlugin + CFBundleIdentifier + com.yourcompany.ASimplePlugin + CFBundleInfoDictionaryVersion + 6.0 + CFBundlePackageType + BNDL + CFBundleSignature + ???? + CFBundleVersion + 1.0 + CSResourcesFileMapped + yes + + diff --git a/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents/Info.plist.meta b/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents/Info.plist.meta new file mode 100644 index 0000000..0cce91e --- /dev/null +++ b/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents/Info.plist.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: f9755f77f1cd4434e8b51167f704d28c +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents/MacOS.meta b/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents/MacOS.meta new file mode 100644 index 0000000..33f214f --- /dev/null +++ b/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents/MacOS.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: ee4d4784246d34c9ab5e7b032cf2c269 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents/MacOS/ASimplePlugin b/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents/MacOS/ASimplePlugin new file mode 100644 index 0000000..abfd898 Binary files /dev/null and b/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents/MacOS/ASimplePlugin differ diff --git a/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents/MacOS/ASimplePlugin.meta b/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents/MacOS/ASimplePlugin.meta new file mode 100644 index 0000000..f486128 --- /dev/null +++ b/Unity/Unity Project Plugin/Assets/Plugins/ASimplePlugin.bundle/Contents/MacOS/ASimplePlugin.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: b355f6f0f8a654602ac28ccba5ff53e2 +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + 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diff --git a/Unity/Unity Project Plugin/Assets/Plugins/libASimplePlugin.so b/Unity/Unity Project Plugin/Assets/Plugins/libASimplePlugin.so new file mode 100755 index 0000000..049fe30 Binary files /dev/null and b/Unity/Unity Project Plugin/Assets/Plugins/libASimplePlugin.so differ diff --git a/Unity/Unity Project Plugin/Assets/Plugins/libASimplePlugin.so.meta b/Unity/Unity Project Plugin/Assets/Plugins/libASimplePlugin.so.meta new file mode 100644 index 0000000..50e21e5 --- /dev/null +++ b/Unity/Unity Project Plugin/Assets/Plugins/libASimplePlugin.so.meta @@ -0,0 +1,24 @@ +fileFormatVersion: 2 +guid: 225377aed84264e9191e0aba54fa0e10 +PluginImporter: + externalObjects: {} + serializedVersion: 2 + iconMap: {} + executionOrder: {} + isPreloaded: 0 + isOverridable: 0 + platformData: + - first: + Any: + second: + enabled: 1 + settings: {} + - first: + Editor: Editor + second: + enabled: 0 + settings: + DefaultValueInitialized: true + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity/Unity Project Plugin/Assets/libcellulo-unity.so b/Unity/Unity Project Plugin/Assets/libcellulo-unity.so new file mode 100755 index 0000000..f3149f7 Binary files /dev/null and b/Unity/Unity Project Plugin/Assets/libcellulo-unity.so differ diff --git a/Unity/Unity Project Plugin/Assets/libcellulo-unity.so.meta b/Unity/Unity Project Plugin/Assets/libcellulo-unity.so.meta new file mode 100644 index 0000000..50a34ce --- /dev/null +++ b/Unity/Unity Project Plugin/Assets/libcellulo-unity.so.meta @@ -0,0 +1,24 @@ +fileFormatVersion: 2 +guid: 1c34f57da8e974c8090714899e57f71d +PluginImporter: + externalObjects: {} + serializedVersion: 2 + iconMap: {} + executionOrder: {} + isPreloaded: 0 + isOverridable: 0 + platformData: + - first: + Any: + second: + enabled: 1 + settings: {} + - first: + Editor: Editor + second: + enabled: 0 + settings: + DefaultValueInitialized: true + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity/Unity Project 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Project Plugin/ProjectSettings/UnityConnectSettings.asset @@ -0,0 +1,34 @@ +%YAML 1.1 +%TAG !u! tag:unity3d.com,2011: +--- !u!310 &1 +UnityConnectSettings: + m_ObjectHideFlags: 0 + m_Enabled: 0 + m_TestMode: 0 + m_TestEventUrl: + m_TestConfigUrl: + m_TestInitMode: 0 + CrashReportingSettings: + m_EventUrl: https://perf-events.cloud.unity3d.com/api/events/crashes + m_NativeEventUrl: https://perf-events.cloud.unity3d.com/symbolicate + m_Enabled: 0 + m_CaptureEditorExceptions: 1 + UnityPurchasingSettings: + m_Enabled: 0 + m_TestMode: 0 + UnityAnalyticsSettings: + m_Enabled: 0 + m_InitializeOnStartup: 1 + m_TestMode: 0 + m_TestEventUrl: + m_TestConfigUrl: + UnityAdsSettings: + m_Enabled: 0 + m_InitializeOnStartup: 1 + m_TestMode: 0 + m_IosGameId: + m_AndroidGameId: + m_GameIds: {} + m_GameId: + PerformanceReportingSettings: + m_Enabled: 0 diff --git a/cellulo-qml-plugin b/cellulo-qml-plugin new file mode 160000 index 0000000..efdb94f --- /dev/null +++ b/cellulo-qml-plugin @@ -0,0 +1 @@ +Subproject commit efdb94f4e6535c2b9a1c21f3d509a52be8dbf295 diff --git a/cellulo-unity.pro b/cellulo-unity.pro index 040f4fe..7ca0a6b 100644 --- a/cellulo-unity.pro +++ b/cellulo-unity.pro @@ -1,35 +1,164 @@ #------------------------------------------------- # # Project created by QtCreator 2018-07-30T12:15:05 # #------------------------------------------------- QT -= gui +QT += qml quick bluetooth + +linux:!android { + CONFIG += link_pkgconfig + + packagesExist(bluez){ + PKGCONFIG += bluez + DEFINES += BT_MULTIADAPTER_SUPPORT + message("BlueZ found, enabling Bluetooth multiadapter support.") + } + else{ + message("BlueZ not found, disabling Bluetooth multiadapter support.") + } +} TARGET = cellulo-unity TEMPLATE = lib DEFINES += CELLULOUNITY_LIBRARY # The following define makes your compiler emit warnings if you use # any feature of Qt which has been marked as deprecated (the exact warnings # depend on your compiler). Please consult the documentation of the # deprecated API in order to know how to port your code away from it. DEFINES += QT_DEPRECATED_WARNINGS # You can also make your code fail to compile if you use deprecated APIs. # In order to do so, uncomment the following line. # You can also select to disable deprecated APIs only up to a certain version of Qt. #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0 SOURCES += \ cellulounity.cpp HEADERS += \ cellulounity.h \ cellulo-unity_global.h +HEADERS += \ + cellulo-qml-plugin/src/CelluloPlugin.h \ + cellulo-qml-plugin/src/robot/CelluloRobot.h \ + cellulo-qml-plugin/src/robot/PolyBezierTracker.h \ + cellulo-qml-plugin/src/robot/PolyBezierTrackerConstVel.h \ + cellulo-qml-plugin/src/robot/PolyBezierTrackerConstAccel.h \ + cellulo-qml-plugin/src/robot/PolyBezierTrackerAdaptiveVel.h \ + cellulo-qml-plugin/src/robot/PolyBezierTrackerProfiledVel.h \ + cellulo-qml-plugin/src/comm/CelluloBluetooth.h \ + cellulo-qml-plugin/src/comm/CelluloCommUtil.h \ + cellulo-qml-plugin/src/comm/CelluloBluetoothEMP.h \ + cellulo-qml-plugin/src/comm/CelluloBluetoothScanner.h \ + cellulo-qml-plugin/src/comm/CelluloBluetoothEnums.h \ + cellulo-qml-plugin/src/comm/CameraFrameImageProvider.h \ + cellulo-qml-plugin/src/comm/CelluloBluetoothPacket.h \ + cellulo-qml-plugin/src/comm/relay/CelluloRelayServer.h \ + cellulo-qml-plugin/src/comm/relay/CelluloRelayClient.h \ + cellulo-qml-plugin/src/comm/relay/CelluloLocalRelayServer.h \ + cellulo-qml-plugin/src/comm/relay/CelluloLocalRelayClient.h \ + cellulo-qml-plugin/src/comm/relay/CelluloRobotPoolClient.h \ + cellulo-qml-plugin/src/comm/relay/CelluloTcpRelayServer.h \ + cellulo-qml-plugin/src/comm/relay/CelluloTcpRelayClient.h \ + cellulo-qml-plugin/src/zones/CelluloZoneClient.h \ + cellulo-qml-plugin/src/zones/CelluloZonePoint.h \ + cellulo-qml-plugin/src/zones/CelluloZoneLine.h \ + cellulo-qml-plugin/src/zones/CelluloZoneCircle.h \ + cellulo-qml-plugin/src/zones/CelluloZonePolygon.h \ + cellulo-qml-plugin/src/zones/CelluloZonePolyBezier.h \ + cellulo-qml-plugin/src/zones/CelluloZone.h \ + cellulo-qml-plugin/src/zones/CelluloZoneRectangle.h \ + cellulo-qml-plugin/src/zones/CelluloZoneAngle.h \ + cellulo-qml-plugin/src/zones/CelluloZoneAngleInterval.h \ + cellulo-qml-plugin/src/zones/CelluloZoneEngine.h \ + cellulo-qml-plugin/src/zones/CelluloZoneJsonHandler.h \ + cellulo-qml-plugin/src/zones/CelluloZoneTypes.h \ + cellulo-qml-plugin/src/zones/CelluloZonePaintedItem.h \ + cellulo-qml-plugin/src/util/math/CelluloMathUtil.h \ + cellulo-qml-plugin/src/util/math/CubicBezier.h \ + cellulo-qml-plugin/src/util/math/PolyBezier.h \ + cellulo-qml-plugin/src/util/svg/CelluloSVGUtil.h \ + cellulo-qml-plugin/src/util/lang/TranslationTool.h \ + cellulo-qml-plugin/src/util/system/CelluloSystemUtil.h \ + cellulo-qml-plugin/src/util/ui/CelluloUIUtil.h \ + cellulo-qml-plugin/src/util/ui/ProgressCircle.h \ + cellulo-qml-plugin/src/tile/PoseRemapper.h \ + cellulo-qml-plugin/src/tile/OffsetRemapper.h \ + cellulo-qml-plugin/src/tile/HexTileMap.h \ + cellulo-qml-plugin/src/tile/HexTile.h \ + cellulo-qml-plugin/src/tile/HexTileStdSourceCoords.h \ + cellulo-qml-plugin/src/tile/CoordSpaceConverter.h \ + cellulo-qml-plugin/src/tile/AxialHexCoords.h \ + cellulo-qml-plugin/src/tile/HexTileMapAutoBuilder.h + +SOURCES += \ + cellulo-qml-plugin/src/CelluloPlugin.cpp \ + cellulo-qml-plugin/src/robot/CelluloRobot.cpp \ + cellulo-qml-plugin/src/robot/PolyBezierTracker.cpp \ + cellulo-qml-plugin/src/robot/PolyBezierTrackerConstVel.cpp \ + cellulo-qml-plugin/src/robot/PolyBezierTrackerConstAccel.cpp \ + cellulo-qml-plugin/src/robot/PolyBezierTrackerAdaptiveVel.cpp \ + cellulo-qml-plugin/src/robot/PolyBezierTrackerProfiledVel.cpp \ + cellulo-qml-plugin/src/comm/CelluloBluetooth.cpp \ + cellulo-qml-plugin/src/comm/CelluloCommUtil.cpp \ + cellulo-qml-plugin/src/comm/CelluloBluetoothEMP.cpp \ + cellulo-qml-plugin/src/comm/CelluloBluetoothScanner.cpp \ + cellulo-qml-plugin/src/comm/CelluloBluetoothEnums.cpp \ + cellulo-qml-plugin/src/comm/CameraFrameImageProvider.cpp \ + cellulo-qml-plugin/src/comm/CelluloBluetoothPacket.cpp \ + cellulo-qml-plugin/src/comm/relay/CelluloRelayServer.cpp \ + cellulo-qml-plugin/src/comm/relay/CelluloRelayClient.cpp \ + cellulo-qml-plugin/src/comm/relay/CelluloLocalRelayServer.cpp \ + cellulo-qml-plugin/src/comm/relay/CelluloLocalRelayClient.cpp \ + cellulo-qml-plugin/src/comm/relay/CelluloRobotPoolClient.cpp \ + cellulo-qml-plugin/src/comm/relay/CelluloTcpRelayServer.cpp \ + cellulo-qml-plugin/src/comm/relay/CelluloTcpRelayClient.cpp \ + cellulo-qml-plugin/src/zones/CelluloZoneClient.cpp \ + cellulo-qml-plugin/src/zones/CelluloZonePoint.cpp \ + cellulo-qml-plugin/src/zones/CelluloZoneLine.cpp \ + cellulo-qml-plugin/src/zones/CelluloZoneCircle.cpp \ + cellulo-qml-plugin/src/zones/CelluloZonePolygon.cpp \ + cellulo-qml-plugin/src/zones/CelluloZonePolyBezier.cpp \ + cellulo-qml-plugin/src/zones/CelluloZone.cpp \ + cellulo-qml-plugin/src/zones/CelluloZoneRectangle.cpp \ + cellulo-qml-plugin/src/zones/CelluloZoneAngle.cpp \ + cellulo-qml-plugin/src/zones/CelluloZoneAngleInterval.cpp \ + cellulo-qml-plugin/src/zones/CelluloZoneEngine.cpp \ + cellulo-qml-plugin/src/zones/CelluloZoneJsonHandler.cpp \ + cellulo-qml-plugin/src/zones/CelluloZoneTypes.cpp \ + cellulo-qml-plugin/src/zones/CelluloZonePaintedItem.cpp \ + cellulo-qml-plugin/src/util/math/CelluloMathUtil.cpp \ + cellulo-qml-plugin/src/util/math/CubicBezier.cpp \ + cellulo-qml-plugin/src/util/math/PolyBezier.cpp \ + cellulo-qml-plugin/src/util/svg/CelluloSVGUtil.cpp \ + cellulo-qml-plugin/src/util/lang/TranslationTool.cpp \ + cellulo-qml-plugin/src/util/system/CelluloSystemUtil.cpp \ + cellulo-qml-plugin/src/util/ui/CelluloUIUtil.cpp \ + cellulo-qml-plugin/src/util/ui/ProgressCircle.cpp \ + cellulo-qml-plugin/src/tile/PoseRemapper.cpp \ + cellulo-qml-plugin/src/tile/OffsetRemapper.cpp \ + cellulo-qml-plugin/src/tile/HexTileMap.cpp \ + cellulo-qml-plugin/src/tile/HexTile.cpp \ + cellulo-qml-plugin/src/tile/HexTileStdSourceCoords.cpp \ + cellulo-qml-plugin/src/tile/CoordSpaceConverter.cpp \ + cellulo-qml-plugin/src/tile/AxialHexCoords.cpp \ + cellulo-qml-plugin/src/tile/HexTileMapAutoBuilder.cpp + +INCLUDEPATH += \ + cellulo-qml-plugin/include/ + +QML_SOURCES = \ + cellulo-qml-plugin/src/util/ui/MacAddrSelector.qml \ + cellulo-qml-plugin/src/util/ui/Toast.qml \ + cellulo-qml-plugin/src/util/ui/ToastManager.qml + + unix { target.path = /usr/lib INSTALLS += target } diff --git a/cellulounity.cpp b/cellulounity.cpp index d87015c..9dfd9dc 100644 --- a/cellulounity.cpp +++ b/cellulounity.cpp @@ -1,6 +1,64 @@ #include "cellulounity.h" +#include "cellulo-qml-plugin/src/comm/CelluloBluetooth.h" +#include +//#include +//#include +Cellulo::CelluloBluetooth* CO = nullptr; +QCoreApplication* a = nullptr; +//pthread_t thread; -CelluloUnity::CelluloUnity() -{ +void* run_app(void*) { + while(true) { + qDebug() << "processEvents"; + a->processEvents(); + //usleep(100000); + } + return NULL; +} + +void connectIfRequired() { + if(CO == nullptr) { + qDebug() << "Connecting..."; + int argc = 0; + a = new QCoreApplication(argc, NULL); + a->processEvents(); + CO = new Cellulo::CelluloBluetooth(); + CO->setLocalAdapterMacAddr("00:1A:7D:DA:71:03"); + CO->setMacAddr("00:06:66:E7:8E:5E"); + CO->connectToServer(); + + //pthread_create(&thread, NULL, run_app, NULL); + } + a->processEvents(); +} + +float getX() { + connectIfRequired(); + return CO->getX(); +} + +float getY() { + connectIfRequired(); + return CO->getY(); +} + +float getTheta() { + connectIfRequired(); + return CO->getTheta(); +} + +bool getKidnapped() { + connectIfRequired(); + return CO->getKidnapped(); +} + +void setRed() { + connectIfRequired(); + CO->setVisualEffect(Cellulo::CelluloBluetoothEnums::VisualEffectConstAll, QColor(255, 0, 0), 255); // constAll +} + +void setGreen() { + connectIfRequired(); + CO->setVisualEffect(Cellulo::CelluloBluetoothEnums::VisualEffectConstAll, QColor(0, 255, 0), 255); // constAll } diff --git a/cellulounity.h b/cellulounity.h index 4869aef..1cf5732 100644 --- a/cellulounity.h +++ b/cellulounity.h @@ -1,13 +1,14 @@ #ifndef CELLULOUNITY_H #define CELLULOUNITY_H -#include "cellulo-unity_global.h" - -class CELLULOUNITYSHARED_EXPORT CelluloUnity -{ - -public: - CelluloUnity(); -}; +extern "C" { + void connectIfRequired(); + float getX(); + float getY(); + float getTheta(); + bool getKidnapped(); + void setRed(); + void setGreen(); +} #endif // CELLULOUNITY_H diff --git a/test/a.out b/test/a.out new file mode 100755 index 0000000..cdac089 Binary files /dev/null and b/test/a.out differ diff --git a/test/cellulounity.h b/test/cellulounity.h new file mode 120000 index 0000000..17b1a86 --- /dev/null +++ b/test/cellulounity.h @@ -0,0 +1 @@ +../cellulounity.h \ No newline at end of file diff --git a/test/libcellulo-unity.so b/test/libcellulo-unity.so new file mode 120000 index 0000000..9553b66 --- /dev/null +++ b/test/libcellulo-unity.so @@ -0,0 +1 @@ +libcellulo-unity.so.1 \ No newline at end of file diff --git a/test/main.cpp b/test/main.cpp new file mode 100644 index 0000000..1438ac1 --- /dev/null +++ b/test/main.cpp @@ -0,0 +1,16 @@ +#include +#include "cellulounity.h" +#include + +int main() { +// connectIfRequired(); +// sleep(10); + while(true) + { + setGreen(); + sleep(1); + setRed(); + sleep(1); + fprintf(stderr, "%f %f %f %d\n", getX(), getY(), getTheta(), getKidnapped()); + } +}