Appveyor test [AUTOZIP]

appveyor.yml

@@ -1,5 +1,3 @@
-image: Visual Studio 2019
-
 clone_folder: c:\trik-runtime
 
 skip_commits:
@@ -27,6 +25,7 @@ environment:
         QTDIR: C:\Qt\5.14\mingw73_32
         PYTHON_PATH: C:\Python38
         CONFIGURATION: release
+        APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2019
       - MINGW: C:\Qt\Tools\mingw730_32
         QTDIR: C:\Qt\5.12\mingw73_32
         PYTHON_PATH: C:\Python37

deploy.sh

@@ -8,7 +8,7 @@ else
 	echo "Usage: deploy.sh <robot ip>"
 	exit 1
 fi
-
+#asdf
 ssh root@"$ip" " sh -c 'chmod -x /etc/trik/trikGui.sh && killall trikGui'"
 rsync -avz -e ssh . root@$ip:/home/root/trik
 ssh root@"$ip" "sh -c 'chmod +x /etc/trik/trikGui.sh && kill -hup 1'"

translations/fr/trikGui_fr.ts

@@ -33,7 +33,7 @@
 <context>
     <name>trikGui::CameraWidget</name>
     <message>
-        <location filename="../../trikGui/cameraWidget.cpp" line="+28"/>
+        <location filename="../../trikGui/cameraWidget.cpp" line="+30"/>
         <source>Camera</source>
         <translation type="unfinished"></translation>
     </message>

translations/ru/trikGui_ru.ts

@@ -33,7 +33,7 @@
 <context>
     <name>trikGui::CameraWidget</name>
     <message>
-        <location filename="../../trikGui/cameraWidget.cpp" line="+28"/>
+        <location filename="../../trikGui/cameraWidget.cpp" line="+30"/>
         <source>Camera</source>
         <translation>Камера</translation>
     </message>

trikControl/src/utilities.h → trikControl/include/trikControl/utilities.h

@@ -16,10 +16,18 @@
 
 #include <QImage>
 
+#include "declSpec.h"
+
+namespace trikControl {
+
 /// The class that makes utility code reusable.
-class Utilities
+class TRIKCONTROL_EXPORT Utilities
 {
 public:
 	/// Creates image for show method from data according to format. Image is scaled to fill the screen.
 	static QImage imageFromBytes(const QVector<int32_t> &array, int width, int height, const QString &format);
+
+	/// Reworks data from brick.getStillImage() to better getPhoto()
+	static QVector<int32_t> rescalePhoto(const QVector<uchar> &data);
 };
+}

trikControl/src/utilities.cpp

@@ -16,12 +16,14 @@
 
 #include "QsLog.h"
 
-QImage Utilities::imageFromBytes(const QVector<int32_t> &array, int width, int height, const QString &format){
+using namespace trikControl;
+
+QImage  Utilities::imageFromBytes(const QVector<int32_t> &array, int width, int height, const QString &format){
 	// QImage requires 32-bit aligned scan lines
 	// Helper function to convert data
 	uchar *formattedData = nullptr;
 	auto copyAligned = [&](int perLine){
-		if (perLine * height > array.size()) {
+		if (width * height > array.size()) {
 			QLOG_WARN() << "imageFromBytes: not enough data";
 			return;
 		}
@@ -36,8 +38,10 @@ QImage Utilities::imageFromBytes(const QVector<int32_t> &array, int width, int h
 	auto fmt = QImage::Format_Invalid;
 
 	if (!format.compare("rgb32", Qt::CaseInsensitive)) {
-		fmt = QImage::Format_RGB32;
-		copyAligned(4 * width);
+		if (width * height <= array.size()) {
+			auto code = static_cast<const uchar *>(static_cast<const void *>(array.data()));
+			formattedData = std::copy(code, code + width * height , formattedData);
+		}
 	} else if (!format.compare("rgb888", Qt::CaseInsensitive)) {
 		fmt = QImage::Format_RGB888;
 		copyAligned(3 * width);
@@ -55,3 +59,50 @@ QImage Utilities::imageFromBytes(const QVector<int32_t> &array, int width, int h
 		return QImage(formattedData, width, height, fmt, cleanUp, formattedData);
 	}
 }
+
+static inline int32_t getMedian(uint8_t &a, uint8_t &b, uint8_t &c, uint8_t &d)
+{
+	if (a > b)
+		std::swap(a, b);
+	if (c > d)
+		std::swap(c, d);
+	if (a > c)
+		std::swap(a, c);
+	if (b > d)
+		std::swap(b, d);
+	return (static_cast<int32_t>(b) + c) >> 1;
+}
+
+QVector<int32_t> Utilities::rescalePhoto(const QVector<uchar> &data)
+{
+	QVector<int32_t> result;
+	result.reserve(data.size() / 3); //Repack RGB88 from 3 x uint8_t into int32_t
+	constexpr auto IMAGE_WIDTH = 320;
+	constexpr auto IMAGE_HEIGHT = 240;
+	if (data.size() >= IMAGE_WIDTH * IMAGE_HEIGHT * 3) {
+		for(int row = 0; row < IMAGE_HEIGHT; row += 2) {
+			for(int col = 0; col < IMAGE_WIDTH; col += 2) {
+				auto row1 = &data[(row * IMAGE_WIDTH + col) * 3];
+				auto row2 = row1 + IMAGE_WIDTH*3;
+				auto r1 = row1[0];
+				auto g1 = row1[1];
+				auto b1 = row1[2];
+				auto r2 = row1[3];
+				auto g2 = row1[4];
+				auto b2 = row1[5];
+				auto r3 = row2[0];
+				auto g3 = row2[1];
+				auto b3 = row2[2];
+				auto r4 = row2[3];
+				auto g4 = row2[4];
+				auto b4 = row2[5];
+
+				result.push_back((getMedian(r1, r2, r3, r4) << 16)
+					| (getMedian(g1, g2, g3, g4) << 8)
+					| getMedian(b1, b2, b3, b4));
+			}
+		}
+	}
+
+	return result;
+}

trikControl/trikControl.pro

@@ -44,7 +44,8 @@ PUBLIC_HEADERS += \
 	$$PWD/include/trikControl/vectorSensorInterface.h \
 	$$PWD/include/trikControl/gyroSensorInterface.h \
 	$$PWD/include/trikControl/markerInterface.h \
-	$$PWD/include/trikControl/i2cDeviceInterface.h
+	$$PWD/include/trikControl/i2cDeviceInterface.h \
+	$$PWD/include/trikControl/utilities.h
 #	$$PWD/include/trikControl/headingSensorInterface.h \
 
 HEADERS += \
@@ -106,7 +107,6 @@ HEADERS += \
 	$$PWD/src/imitationCameraImplementation.h \
 	$$PWD/src/i2cDevice.h \
 	$$PWD/src/i2cCommunicator.h \
-	$$PWD/src/utilities.h
 #	$$PWD/src/headingSensor.h \
 
 SOURCES += \

trikGui/cameraWidget.cpp

@@ -18,6 +18,8 @@
 #include <QtGui/QKeyEvent>
 
 #include "trikControl/brickInterface.h"
+#include "trikControl/utilities.h"
+
 #include "trikKernel/paths.h"
 #include "QsLog.h"
 
@@ -63,12 +65,11 @@ void CameraWidget::doPhoto()
 		return;
 	}
 
-	auto const & photo = mBrick.getStillImage();
-
-	if (!photo.isEmpty()) {
-		QImage image(photo.data(), 320, 240, QImage::Format_RGB888);
-		mPixmap.setPixmap(QPixmap::fromImage(image));
+	auto const photo = trikControl::Utilities::rescalePhoto(mBrick.getStillImage());
+	// imageFromBytes allocates memory and delete it when it is necessery
+	auto image = trikControl::Utilities::imageFromBytes(photo, 160, 120, "rgb32");
 
+	if (!image.isNull()) {
 		QDir dir(trikKernel::Paths::imagesPath());
 
 		if (!dir.exists() && !dir.mkpath(trikKernel::Paths::imagesPath())) {
@@ -79,6 +80,7 @@ void CameraWidget::doPhoto()
 				QLOG_ERROR() << "Failed to save captured image" << name;
 			}
 		}
+		mPixmap.setPixmap(QPixmap::fromImage(std::move(image)));
 	} else {
 		mPixmap.setText(tr("Camera is not available"));
 	}

trikScriptRunner/src/pythonEngineWorker.cpp

@@ -264,8 +264,10 @@ void PythonEngineWorker::setWorkingDirectory(const QDir &workingDir)
 void PythonEngineWorker::run(const QString &script, const QFileInfo &scriptFile)
 {
 	QMutexLocker locker(&mScriptStateMutex);
-	mState = starting;
-	QMetaObject::invokeMethod(this, [this, script, scriptFile](){this->doRun(script, scriptFile);});
+	if (mState == ready) {
+		mState = starting;
+		QMetaObject::invokeMethod(this, [this, script, scriptFile](){this->doRun(script, scriptFile);});
+	}
 }
 
 void PythonEngineWorker::doRun(const QString &script, const QFileInfo &scriptFile)

trikScriptRunner/src/scriptEngineWorker.cpp

@@ -327,7 +327,7 @@ QScriptEngine * ScriptEngineWorker::createScriptEngine(bool supportThreads)
 
 	Scriptable<QTimer>::registerMetatype(engine);
 	qScriptRegisterMetaType(engine, &timeValToScriptValue, &timeValFromScriptValue);
-	qScriptRegisterSequenceMetaType<QVector<int>>(engine);
+	qScriptRegisterSequenceMetaType<QVector<int32_t>>(engine);
 	qScriptRegisterSequenceMetaType<QStringList>(engine);
 	qScriptRegisterSequenceMetaType<QVector<uint8_t>>(engine);
 

trikScriptRunner/src/scriptExecutionControl.cpp

@@ -23,6 +23,8 @@
 #include <QRandomGenerator>
 #include <QsLog.h>
 
+#include "utilities.h"
+
 using namespace trikScriptRunner;
 
 ScriptExecutionControl::ScriptExecutionControl(trikControl::BrickInterface &brick): mBrick(brick) {
@@ -39,7 +41,7 @@ void ScriptExecutionControl::reset()
 	mInEventDrivenMode = false;
 	emit stopWaiting();
 	for (auto &&timer : mTimers) {
-		QMetaObject::invokeMethod(timer, "stop", Qt::QueuedConnection);
+		QMetaObject::invokeMethod(timer, &QTimer::stop, Qt::QueuedConnection);
 		timer->deleteLater();
 	}
 
@@ -144,52 +146,7 @@ void ScriptExecutionControl::removeFile(const QString &file)
 	out.remove();
 }
 
-static inline int32_t getMedian(uint8_t &a, uint8_t &b, uint8_t &c, uint8_t &d)
-{
-	if (a > b)
-		std::swap(a, b);
-	if (c > d)
-		std::swap(c, d);
-	if (a > c)
-		std::swap(a, c);
-	if (b > d)
-		std::swap(b, d);
-	return (static_cast<int32_t>(b) + c) >> 1;
-}
-
 QVector<int32_t> ScriptExecutionControl::getPhoto()
 {
-	QLOG_INFO() << "Calling getStillImage()";
-	auto data = mBrick.getStillImage();
-	QVector<int32_t> result;
-	result.reserve(data.size() / 3); //Repack RGB88 from 3 x uint8_t into int32_t
-	constexpr auto IMAGE_WIDTH = 320;
-	constexpr auto IMAGE_HEIGHT = 240;
-	if (data.size() >= IMAGE_WIDTH * IMAGE_HEIGHT * 3) {
-		for(int row = 0; row < IMAGE_HEIGHT; row += 2) {
-			for(int col = 0; col < IMAGE_WIDTH; col+=2) {
-				auto row1 = &data[(row*IMAGE_WIDTH+col)*3];
-				auto row2 = row1 + IMAGE_WIDTH*3;
-				auto r1 = row1[0];
-				auto g1 = row1[1];
-				auto b1 = row1[2];
-				auto r2 = row1[3];
-				auto g2 = row1[4];
-				auto b2 = row1[5];
-				auto r3 = row2[0];
-				auto g3 = row2[1];
-				auto b3 = row2[2];
-				auto r4 = row2[3];
-				auto g4 = row2[4];
-				auto b4 = row2[5];
-
-				result.push_back((getMedian(r1, r2, r3, r4) << 16)
-					| (getMedian(g1, g2, g3, g4) << 8)
-					| getMedian(b1, b2, b3, b4));
-			}
-		}
-	}
-
-	QLOG_INFO() << "Constructed result of getStillImage()";
-	return result;
+	return trikControl::Utilities::rescalePhoto(mBrick.getStillImage());
 }