feat: added lookup table for robots with storing in database, grpc build related fixes & added config controller

BREAKING CHANGE: Many changes at NetworkController

Author: ARDev1161

AmurCore.ui

@@ -89,7 +89,7 @@
    </widget>
    <widget class="QMenu" name="menu_Zanya">
     <property name="title">
-     <string>&amp;Amur</string>
+     <string>&amp;Robot</string>
     </property>
     <addaction name="action_Connect"/>
     <addaction name="separator"/>
@@ -143,7 +143,7 @@
   </action>
   <action name="actionCamera">
    <property name="text">
-    <string>Camera</string>
+    <string>Camera calibration</string>
    </property>
   </action>
   <action name="action_Speech">

CMakeLists.txt

@@ -75,7 +75,7 @@ configure_file(
         AmurCore.cfg
         )
 
-set(GRPC_FETCHCONTENT true CACHE BOOL "Use FetchContent for download gRPC, or use system gRPC? yes/NO.")
+set(GRPC_FETCHCONTENT true CACHE BOOL "Use FetchContent for download gRPC, or use system gRPC? YES/no.")
 include(cmake/grpc.cmake)
 include_directories("${CMAKE_CURRENT_BINARY_DIR}/_deps/grpc-src/include/")
 include_directories("${CMAKE_CURRENT_BINARY_DIR}/_deps/grpc-src/third_party/protobuf/src/")
@@ -84,8 +84,8 @@ include_directories("${CMAKE_CURRENT_BINARY_DIR}/_deps/grpc-src/third_party/abse
 # for generated pb files
 include_directories("${CMAKE_CURRENT_BINARY_DIR}")
 
-find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets LinguistTools TextToSpeech)
-find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets LinguistTools TextToSpeech)
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets Sql LinguistTools TextToSpeech)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets Sql LinguistTools TextToSpeech)
 
 find_package(SDL2 REQUIRED)
 include_directories(${SDL2_INCLUDE_DIRS})
@@ -105,13 +105,21 @@ add_subdirectory(network)
 add_subdirectory(joystick)
 add_subdirectory(threads)
 add_subdirectory(logic)
+add_subdirectory(config)
+
+set(CONFIG_PROCESSOR
+    config/configprocessor.h
+    config/configprocessor.cpp
+   )
 
 set(PROJECT_SOURCES
         main.cpp
         pch.h
         amurcore.cpp    amurcore.h
         AmurCore.ui
 
+        ${CONFIG_PROCESSOR}
+
         ${TS_FILES}
         ${IMAGES}
 )

amurcore.cpp

@@ -7,6 +7,9 @@ AmurCore::AmurCore(QWidget *parent) :
 {
     ui->setupUi(this);
 
+    config = new ConfigProcessor(configName); // Load config file
+    fillFieldsByConfig(); // Fill fields by config file
+
     outputMat = imread("data/images/no_picture.jpeg");
 
     this->initialize();
@@ -18,6 +21,15 @@ AmurCore::AmurCore(QWidget *parent) :
     delete ui;
 }
 
+void AmurCore::fillFieldsByConfig()
+{
+    std::string ip ;
+    // int result = config->searchString("Amur.Network.address", ip);
+    // if(ip != ""){
+    //     this->address = ip;
+    // }
+}
+
 void AmurCore::initialize()
 {
     controls = new AMUR::AmurControls();
@@ -28,17 +40,22 @@ void AmurCore::initialize()
 
     joystickDialog = new JoystickDialog(joyState, this);
     speechDialog = new SpeechDialog(this);
-    connectDialog = new ConnectDialog(this);
 
-    network = new NetworkController(controls, sensors); // TODO - add robot id & &<vector> of robots id
     amurLogic = new Logic(joyState, controls, sensors);
 
+    repo = std::make_shared<RobotRepository>("myRobots.db");
+    if (!repo->openDatabase()) {
+        qDebug() << "Cannot open database!";
+    }
+
+    network = std::make_shared<NetworkController>(controls, sensors); // TODO - add robot id & &<vector> of robots id
+    network->runArpingService(arpPort, grpcPort, arpHeader); // Start listening for initial arp message from robots
+    network->runServer(address_mask); // Start AmurCore gRPC server
+    connectDialog = new ConnectDialog(this, network, repo);
+
     connMenu();
     startTimer();
     startCap();
-
-    network->runArpingService(arpPort, grpcPort); // Start listening for initial arp message from robots
-    network->runServer(address_mask); // Start AmurCore gRPC server
 }
 
 void AmurCore::connMenu()

amurcore.h

@@ -34,23 +34,27 @@ class AmurCore : public QMainWindow
 {
     Q_OBJECT
 
-
     Ui::AmurCore *ui;
 
     QTimer *tmrTimer;
     QString *hostName;
     QString statusMessage = "No robot connected";
 
+    const char *configName = "AmurCore.cfg";
+    ConfigProcessor *config;
+
     int arpPort = 11111;
     int grpcPort = 7777;
+    QString arpHeader = "AMUR";
     std::string address_mask = "0.0.0.0:" + std::to_string(grpcPort);
+    // TODO - add vector with robots id
+    std::shared_ptr<NetworkController> network;
+    std::shared_ptr<RobotRepository> repo;
 
     SpeechDialog *speechDialog;
     ConnectDialog *connectDialog;
     JoystickDialog *joystickDialog;
 
-     // TODO - add vector with robots id
-    NetworkController *network;
 
     AMUR::AmurControls *controls;
     AMUR::AmurSensors *sensors;
@@ -86,6 +90,7 @@ private slots:
     void amurReboot();
 
 private:
+    void fillFieldsByConfig();
     void startCap();
     void startTimer();
     void initialize();

config/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(Config LANGUAGES CXX)
+
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+get_directory_property(IS_SUBPROJECT PARENT_DIRECTORY)
+
+find_library(libСonfig_LIB config++ REQUIRED)
+
+set(CONFIG
+    configprocessor.h configprocessor.cpp
+   )
+
+add_library(${PROJECT_NAME} STATIC
+    ${CONFIG}
+    )
+
+if(libСonfig_LIB)
+    target_link_libraries(${PROJECT_NAME} config++)
+endif()