Merge pull request #78 from SEAME-pt/76-task-deploy-workflow-for-raspberry-pi-repo

76 task deploy workflow for raspberry pi repo

Author: mjorgecruz

.env

@@ -0,0 +1,7 @@
+PROJECT_DIR=RaspberryPi
+PI_USERNAME=team02
+PI_IP_ADDRESS=100.68.239.7
+PI_PATH_BIN=/opt/vehicle/bin
+PI_PATH_ETC=/opt/vehicle/etc/zenoh
+PI_PATH_FONTS=/opt/vehicle/etc/fonts
+PI_PASSWORD=seameteam2

.github/workflows/deploy.yml

@@ -0,0 +1,98 @@
+name: Build and Deploy for Raspberry Pi
+
+on:
+  push:
+    branches:
+      - main
+    tags:
+      - 'v*'
+
+jobs:
+  build-and-deploy:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          submodules: false
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v2
+        with:
+          platforms: linux/arm64
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Build Docker image for ARM64
+        run: |
+          docker buildx build \
+            -f ./RaspberryPi/deploy/dockerfiles/DockerfileDeployRasp \
+            --platform linux/arm64 --load \
+            --build-arg projectDir=$PWD/$PROJECT_DIR \
+            -t final-app .
+
+      - name: Extract built binaries
+        run: |
+          mkdir -p artifacts/bin
+          mkdir -p artifacts/config
+          mkdir -p artifacts/fonts
+
+          docker create --name tmpapp final-app
+
+          docker cp tmpapp:/home/$PROJECT_DIR/InstrumentClusterApp ./artifacts/bin/
+          docker cp tmpapp:/home/$PROJECT_DIR/MiddleWareApp ./artifacts/bin/
+
+          cp ./$PROJECT_DIR/ZenohConfig/InstrumentClusterConfig.json ./artifacts/config/
+          cp ./$PROJECT_DIR/ZenohConfig/MiddleWareConfig.json ./artifacts/config/
+
+          cp -r ./RaspberryPi/deploy/fonts/* ./artifacts/fonts/
+
+          git archive --format=zip HEAD -o ./artifacts/source-code.zip
+
+          cd artifacts
+          zip -r ../release-package.zip *
+          cd ..
+
+          docker rm tmpapp
+
+      - name: Get latest tag and increment
+        id: tag
+        run: |
+          git fetch --tags --force
+          git fetch origin
+          latest_tag=$(git tag --sort=-v:refname | head -n 1)
+          if [ -z "$latest_tag" ]; then
+            latest_tag="v1.0.0"
+          fi
+          major=$(echo $latest_tag | cut -d. -f1 | tr -d 'v')
+          minor=$(echo $latest_tag | cut -d. -f2)
+          patch=$(echo $latest_tag | cut -d. -f3)
+          new_tag="v$major.$minor.$((patch + 1))"
+          echo "new_tag=$new_tag" >> $GITHUB_OUTPUT
+
+      - name: Create GitHub Release
+        uses: softprops/action-gh-release@v1
+        with:
+          tag_name: ${{ steps.tag.outputs.new_tag }}
+          name: Release ${{ steps.tag.outputs.new_tag }}
+          body: |
+            ## Raspberry Pi Release
+
+            **Includes:**
+            - Compiled apps (`InstrumentClusterApp`, `MiddleWareApp`)
+            - Zenoh config files
+            - Fonts
+            - Full source code zip
+
+            **Instructions:**
+            - Copy `InstrumentClusterApp` and `MiddleWareApp` to `$PI_PATH_BIN`
+            - Copy configs to `$PI_PATH_ETC`
+            - Copy fonts to `$PI_PATH_FONTS`
+          files: |
+            release-package.zip
+            artifacts/source-code.zip
+            artifacts/bin/*
+        env:
+          GITHUB_TOKEN:  ${{ secrets.PAT_LUIS }}

.gitignore

@@ -72,3 +72,10 @@ CMakeLists.txt.user*
 *.dll
 *.exe
 
+# Build folders
+tests/build/
+deploy/build/
+deploy/.qt/
+deploy/deployLocal/build/
+
+

CMakeLists.txt

@@ -11,26 +11,15 @@ find_package(Qt6 COMPONENTS Core Quick DBus REQUIRED)
 find_package(zenohc REQUIRED)
 find_package(zenohcxx REQUIRED)
 
-# Enable Qt's Automatic MOC, UIC, and RCC
 set(CMAKE_AUTOMOC ON)
 set(CMAKE_AUTOUIC ON)
 set(CMAKE_AUTORCC ON)
 
-# include_directories(Clusters/include)
 include_directories(Clusters/HandCluster/include)
-# Add Resource File (QML and Other Resources)
-# qt_add_resources(QT_RESOURCES_ICA ./Clusters/InstrumentCluster/ui/resources.qrc)
 qt_add_resources(QT_RESOURCES_HCA ./Clusters/HandCluster/ui/resources.qrc)
 
-# Define Executable Target
-# add_executable(InstrumentClusterApp
-#     ${QT_RESOURCES_ICA}
-#     ./Clusters/InstrumentCluster/src/main.cpp
-#     ./Clusters/InstrumentCluster/src/InstrumentCluster.cpp
-#     ./Clusters/InstrumentCluster/include/InstrumentCluster.hpp
-# )
 
-add_executable(HandClusterB
+add_executable(InstrumentClusterApp
     ${QT_RESOURCES_HCA}
     ./Clusters/HandCluster/src/main.cpp
     ./Clusters/HandCluster/src/InstrumentCluster.cpp
@@ -41,8 +30,5 @@ add_executable(MiddleWareApp
     ./MiddleWare/src/main.cpp
 )
 
-# target_link_libraries(InstrumentClusterApp zenohcxx::zenohc -lm -ldl Qt6::Core Qt6::DBus Qt6::Quick)
-
-target_link_libraries(HandClusterB zenohcxx::zenohc -lm -ldl Qt6::Core Qt6::DBus Qt6::Quick)
-target_link_libraries(MiddleWareApp PRIVATE zenohcxx::zenohc)
-target_compile_definitions(HandClusterTests PRIVATE UNIT_TEST)
+target_link_libraries(InstrumentClusterApp zenohcxx::zenohc -lm -ldl Qt6::Core Qt6::DBus Qt6::Quick)
+target_link_libraries(MiddleWareApp PRIVATE zenohcxx::zenohc)

Clusters/HandCluster/assets/icons/lane-departure.png

@@ -45,7 +45,8 @@ class InstrumentCluster : public QObject
     Q_PROPERTY(QVariantMap rightLaneCoefs READ getRightLaneCoefs WRITE setRightLaneCoefs NOTIFY rightLaneChanged)
     Q_PROPERTY(QVariantList detectedObjects READ getDetectedObjects NOTIFY detectedObjectsUpdated)
     Q_PROPERTY(int warningCode READ getWarningCode WRITE setWarningCode NOTIFY warningCodeChanged)
-
+    Q_PROPERTY(bool laneDeparture READ getLaneDeparture WRITE setLaneDeparture NOTIFY laneDepartureChanged)
+    Q_PROPERTY(int autonomyLevel READ getAutonomyLevel WRITE setAutonomyLevel NOTIFY autonomyLevelChanged)
 
   private:
     int m_speed;
@@ -57,10 +58,12 @@ class InstrumentCluster : public QObject
     bool rearFogLight{false};
     bool hazardLight{false};
     bool parkingLight{false};
+    bool laneDeparture{false};
     int percentage;
     int autonomy;
     int gear;  
     int warningCode;
+    int autonomyLevel;
 
     QVariantMap m_leftLaneCoefs;
     QVariantMap m_rightLaneCoefs;
@@ -89,8 +92,12 @@ class InstrumentCluster : public QObject
     std::optional<zenoh::Subscriber<void>> leftLane_subscriber;
     std::optional<zenoh::Subscriber<void>> rightLane_subscriber;
     std::optional<zenoh::Subscriber<void>> object_subscriber;
-    std::optional<zenoh::Subscriber<void>> warningCode_subscriber;
-
+    std::optional<zenoh::Subscriber<void>> laneDeparture_subscriber;
+    std::optional<zenoh::Subscriber<void>> obstacleWarning_subscriber;
+    std::optional<zenoh::Subscriber<void>> sae0_subscriber;
+    std::optional<zenoh::Subscriber<void>> sae1_subscriber;
+    std::optional<zenoh::Subscriber<void>> sae5_subscriber;
+    
   public:
     explicit InstrumentCluster(QObject* parent = nullptr);
     explicit InstrumentCluster(const std::string& configFile,
@@ -147,10 +154,16 @@ class InstrumentCluster : public QObject
     QVariantMap getRightLaneCoefs() const;
     void setRightLaneCoefs(const QVariantMap& coefs);
 
+    void setLaneDeparture(bool state);
+    bool getLaneDeparture() const;
+
     void parseLaneData(const std::string& laneData, const std::string& laneType);
     void parseObjectData(const std::string& objectData);
     // std::function<void(const zenoh::Sample&)> getSpeedCallback();
     void setupSubscriptions();
+
+    int getAutonomyLevel() const;
+    void setAutonomyLevel(int level);
 
   signals:
     void speedChanged(int speed);
@@ -170,6 +183,8 @@ class InstrumentCluster : public QObject
     void detectedObjectsUpdated(const QVariantList& objects);
     void warningCodeChanged(int code);
     void onSpeedSample(const zenoh::Sample& sample);
+    void laneDepartureChanged(bool state);
+    void autonomyLevelChanged(int level);
     #ifdef UNIT_TEST
       std::function<void(const zenoh::Sample&)> getSpeedCallback();
     #endif

Clusters/HandCluster/include/InstrumentCluster.hpp

@@ -7,6 +7,7 @@
 InstrumentCluster::InstrumentCluster(QObject* parent)
     : QObject(parent), m_speed(0), percentage(0), autonomy(0), gear(0)
 {
+    std::cout << "Using default configuration." << std::endl;
     auto config = zenoh::Config::create_default();
     session     = std::make_unique<zenoh::Session>(
         zenoh::Session::open(std::move(config)));
@@ -17,8 +18,8 @@ InstrumentCluster::InstrumentCluster(const std::string& configFile,
                                      QObject* parent)
     : QObject(parent), m_speed(0), percentage(0), autonomy(0), gear(0)
 {
-    
-    auto config = zenoh::Config::create_default();
+    std::cout << "Using configuration file: " << configFile << std::endl;
+    auto config = zenoh::Config::from_file(configFile);
     session = std::make_unique<zenoh::Session>(zenoh::Session::open(std::move(config)));
     this->setupSubscriptions();
 }
@@ -161,12 +162,42 @@ void InstrumentCluster::setupSubscriptions()
             parseObjectData(objectData);  
         },
         zenoh::closures::none));
-    warningCode_subscriber.emplace(session->declare_subscriber(
-        "Vehicle/1/Scene/Warning",
+    obstacleWarning_subscriber.emplace(session->declare_subscriber(
+        "Vehicle/1/ADAS/ObstacleDetection/Warning",
+        [this](const zenoh::Sample& sample) {
+            std::cout << "Recebido obstacleWarning: " << sample.get_payload().as_string() << std::endl;
+            setWarningCode(1);
+        },
+        zenoh::closures::none));
+    laneDeparture_subscriber.emplace(session->declare_subscriber(
+        "Vehicle/1/ADAS/LaneDeparture/Detected",
+        [this](const zenoh::Sample& sample) {
+            bool isDeparting = std::stoi(sample.get_payload().as_string());
+            if (isDeparting) {
+                setWarningCode(2);
+            }
+            setLaneDeparture(isDeparting);
+        },
+        zenoh::closures::none));
+    sae0_subscriber.emplace(session->declare_subscriber(
+        "Vehicle/1/ADAS/ActiveAutonomyLevel/SAE_0",
+        [this](const zenoh::Sample& sample) {
+                std::cout << "Recebido SAE 0" << std::endl;
+                setAutonomyLevel(0);
+        },
+        zenoh::closures::none));   
+    sae1_subscriber.emplace(session->declare_subscriber(
+        "Vehicle/1/ADAS/ActiveAutonomyLevel/SAE_1",
+        [this](const zenoh::Sample& sample) {
+                std::cout << "Recebido SAE 1" << std::endl;
+                setAutonomyLevel(1);
+        },
+        zenoh::closures::none));
+    sae5_subscriber.emplace(session->declare_subscriber(
+        "Vehicle/1/ADAS/ActiveAutonomyLevel/SAE_5",
         [this](const zenoh::Sample& sample) {
-            std::string warningCode = sample.get_payload().as_string();
-            std::cout << "Recebido warningCode: " << warningCode << std::endl;
-            setWarningCode(std::stoi(warningCode));
+                std::cout << "Recebido SAE 5" << std::endl;
+                setAutonomyLevel(5);
         },
         zenoh::closures::none));
 }
@@ -259,10 +290,20 @@ int InstrumentCluster::getWarningCode() const {
 void InstrumentCluster::setWarningCode(int code) {
     if (this->warningCode != code) {
         this->warningCode = code; 
-        emit warningCodeChanged(code);
     }
+    emit warningCodeChanged(code);
+}
+
+bool InstrumentCluster::getLaneDeparture() const {
+    return this->laneDeparture;
 }
 
+void InstrumentCluster::setLaneDeparture(bool state) {
+    if (this->laneDeparture != state) {
+        this->laneDeparture = state;
+        emit laneDepartureChanged(state);
+    }
+}
 
 bool InstrumentCluster::getRightBlinker() const
 {
@@ -415,6 +456,18 @@ QVariantMap InstrumentCluster::getRightLaneCoefs() const {
     return m_rightLaneCoefs;
 }
 
+int InstrumentCluster::getAutonomyLevel() const {
+    return autonomyLevel;
+}
+
+void InstrumentCluster::setAutonomyLevel(int level) {
+    if (autonomyLevel != level) {
+        autonomyLevel = level;
+        std::cout << "Autonomy level updated: " << autonomyLevel << std::endl;
+        emit autonomyLevelChanged(level);
+    }
+}
+
 void InstrumentCluster::setLeftLaneCoefs(const QVariantMap& coefs) {
     std::cout << "Coefficients updated: " << std::endl;
     if (m_leftLaneCoefs != coefs) {