Initial commit

Lts/Proxies/TrainingAreaBase/Plugins/UAS/Test/CMakeLists.txt

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+MACRO(_BUILD_TEST test_id)
+  add_executable(TabUASTest${test_id} test${test_id}.cpp)
+  FIND_PACKAGE(TMSIF REQUIRED)
+
+
+
+  target_compile_definitions(TabUASTest${test_id} PUBLIC DDS_VENDOR_CYCLONE)
+
+
+  target_link_libraries(TabUASTest${test_id} PRIVATE
+      TMSIF::tmsif-cyclone
+      TMSIF::ddscxx
+      TMSIF::ddkit-cyclone
+  )
+ENDMACRO()
+
+
+#_BUILD_TEST(1)
+#_BUILD_TEST(2)
+_BUILD_TEST(3)
+
+
+# # test4
+# add_executable(TabUASTest4 test4.cpp)
+# target_link_libraries(TabUASTest4
+# PRIVATE
+#   TmsIfAdapter
+#   tabPluginInterface
+# )
+
+
+# # test4.1
+# add_executable(TabUASTest4_1 test4.cpp)
+# target_link_libraries(TabUASTest4_1
+# PRIVATE
+#   TmsIfAdapter
+#   # /opt/RTI/lib/x64Linux4gcc7.3.0/libnddsc.so
+#   # /opt/RTI/lib/x64Linux4gcc7.3.0/libnddscore.so
+#   # /opt/RTI/lib/x64Linux4gcc7.3.0/libnddscpp2.so
+# )
+# #target_include_directories(TabUASTest${test_id} PRIVATE
+# #
+# #)
+
+
+# test4_2
+add_executable(TabUASTest4_2 test4_2.cpp)
+target_link_libraries(TabUASTest4_2
+PRIVATE
+  #TmsIfAdapter via dlopen !
+  TmsIfAdapterInterface
+  tabPluginInterface
+)
+
+
+# # test5
+# add_executable(TabUASTest5 test5.cpp)
+# target_link_libraries(TabUASTest5
+# PRIVATE
+#   tabPluginInterface
+# )
+
+
+
+# test6
+add_executable(TabUASTest6 test6.cpp)
+target_link_libraries(TabUASTest6
+PRIVATE
+  Qt5::Core
+  Qt5::Widgets
+
+  #TmsIfAdapter via dlopen !
+  TmsIfAdapterInterface
+)

Lts/Proxies/TrainingAreaBase/Plugins/UAS/Test/test1.cpp

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+// std
+#include <iostream>
+#include <chrono>
+#include <thread>
+
+// tmsif
+#include <tmsif/api/MissionCtrl.hpp>
+
+// ddkit
+#include <ddkit/actors/Session.hpp>
+
+
+int main(int argc, char *argv[])
+{
+  std::cout << "App started ..." << std::endl;
+
+  const int domain = 4; // TMS-IF MAVLink Adapter runs on domain 4
+  ddkit::actors::Session session(domain);
+
+  // starting Service
+  const std::string serviceName = "UAV_MissionCtrl1";
+
+  auto client = M_MissionCtrl::Client::createWriteOnly(session, serviceName);
+
+  std::this_thread::sleep_for(std::chrono::milliseconds(500));
+
+  client->CmdPerformAction(M_MissionCtrl::CommandedActionType(M_MissionCtrl::TaskType({M_MissionCtrl::TaskCategoryKind::Type::Arm}, {}, {}, {}), {}));
+
+  // std::this_thread::sleep_for(std::chrono::milliseconds(500));
+
+  client->CmdPerformAction(M_MissionCtrl::CommandedActionType(M_MissionCtrl::TaskType({M_MissionCtrl::TaskCategoryKind::Type::Arm}, {}, {}, {}), {}));
+
+
+  while(true) // keep app running
+  {
+    std::this_thread::sleep_for(std::chrono::milliseconds(3000));
+  }
+
+  return 0;
+}
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+// // std
+// #include <iostream>
+// #include <chrono>
+// #include <thread>
+
+// // tmsif
+// #include <tmsif/api/MissionCtrl.hpp>
+
+// // ddkit
+// #include <ddkit/actors/Session.hpp>
+
+
+// // class DeviceClient : public M_MissionCtrl::IClient
+// // {
+// // public:
+// //   void ReportDeviceStatus(M_MissionCtrl::DeviceStatusType const& Status, bool IsRemoved) override
+// //   {
+// //     fprintf(stdout, "ReportDeviceStatus: Status.OperationStatus.Mode set? %d\n", !(int)Status.OperationStatus.Mode.empty());
+// //   }
+// // };
+
+
+// int main(int argc, char *argv[])
+// {
+//   std::cout << "App started ..." << std::endl;
+
+//   const int domain = 4; // TMS-IF MAVLink Adapter runs on domain 4
+//   ddkit::actors::Session session(domain);
+
+//   // starting Service
+//   const std::string serviceName = "UAV_Device1";
+
+//   M_MissionCtrl::IService callbacksFromClients;
+//   auto service = M_MissionCtrl::Service::create(session, serviceName, callbacksFromClients);
+
+//   // messages
+//   // auto msg = M_MissionCtrl::AlarmLogType(M_Alert::AlarmStatusKind::Active, false, false,
+//   //     false, {}, M_Alert::AlarmCategoryKind::Type::Warning, M_Common::TimeType(4000, 0), {});
+
+//   uint64_t i = 1;
+//   while(true)
+//   {
+//       std::this_thread::sleep_for(std::chrono::milliseconds(500));
+
+//       // send data cyclic for example
+//       service. // ReportAlarmLog("test123", msg, false);
+//   }
+
+//   return 0;
+// }

Lts/Proxies/TrainingAreaBase/Plugins/UAS/Test/test2.cpp

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+// std
+#include <cstdlib>
+#include <iostream>
+#include <chrono>
+#include <thread>
+
+// tmsif
+#include <tmsif/api/Alert.hpp>
+
+// ddkit
+#include <ddkit/actors/Session.hpp>
+
+
+// callback-implementations - messages from clients
+class AlertService : public M_Alert::IService
+{
+    public:
+    void CmdRaiseAlarm(M_Alert::AlarmConditionInfoType const& Condition) override
+    {
+        fprintf(stderr, "CmdRaiseAlarm !!\n");
+    }
+};
+
+
+class AlertClient : public M_Alert::IClient
+{
+    public:
+
+    void setAlertClient(M_Alert::Client *uglyPointer)
+    {m_client = uglyPointer;}
+
+    M_Alert::Client *m_client;
+
+    void ReportAlarmLog(M_Alert::AlertIdType const& KeyAlarmId, M_Alert::AlarmLogType const& Alarm, bool IsRemoved)
+    {
+        fprintf(stderr, "ReportAlarmLog !!\n");
+        (*m_client)->CmdRaiseAlarm(M_Alert::AlarmConditionInfoType("a", "b", "c", "d", "e"));
+    }
+};
+
+
+int main(int argc, char *argv[])
+{
+    std::cout << "App started ..." << std::endl;
+
+    int domain = 5;
+    ddkit::actors::Session session(domain);
+
+    // constructing callbacks
+    AlertService callbacksFromClients;
+
+    // starting Service
+    const std::string serviceName = "AlertService123";
+    auto service = M_Alert::Service::create(session, serviceName, callbacksFromClients);
+
+    // client
+    AlertClient callbacksFromServices;
+    auto client = M_Alert::Client::create(session, serviceName, callbacksFromServices);
+    callbacksFromServices.setAlertClient(&client);
+
+    // messages
+    auto msg = M_Alert::AlarmLogType(M_Alert::AlarmStatusKind::Active, false, false,
+        false, {}, M_Alert::AlarmCategoryKind::Type::Warning, M_Common::TimeType(4000, 0), {});
+
+    uint64_t i = 1;
+    while(true) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(500));
+
+        // send data cyclic for example
+        service->ReportAlarmLog("test123", msg, false);
+    }
+
+    return 0;
+}

Lts/Proxies/TrainingAreaBase/Plugins/UAS/Test/test3.cpp

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+// std
+#include <iostream>
+#include <chrono>
+#include <thread>
+
+// tmsif
+#include <tmsif/api/CoordinateFrame.hpp>
+
+// ddkit
+#include <ddkit/actors/Session.hpp>
+
+
+class CoordinateFrameClient : public M_CoordinateFrame::IClient
+{
+public:
+  void ReportPositions(std::string const& KeyId, M_Common::PositionListType const& PositionList, bool IsRemoved) override
+  {
+    fprintf(stdout, "ReportPositions: !!!\n");
+  }
+};
+
+
+int main(int argc, char *argv[])
+{
+  std::cout << "App started ..." << std::endl;
+
+  const int domain = 4; // TMS-IF MAVLink Adapter runs on domain 4
+  // ddkit::actors::Session session(domain);
+
+  // starting Service
+  const std::string serviceName = "UAV_Device1";
+
+  // client
+  CoordinateFrameClient callbacksFromServices;
+  auto client = M_CoordinateFrame::Client::create(domain, serviceName, callbacksFromServices);
+
+  fprintf(stderr, "now waiting");
+  while(true) // keep app running
+  {
+    fprintf(stderr, ".");
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+  }
+
+  return 0;
+}
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+// // std
+// #include <iostream>
+// #include <chrono>
+// #include <thread>
+
+// // tmsif
+// #include <tmsif/api/Device.hpp>
+
+// // ddkit
+// #include <ddkit/actors/Session.hpp>
+
+
+// class DeviceClient : public M_Device::IClient
+// {
+// public:
+//   void ReportDeviceStatus(M_Device::DeviceStatusType const& Status, bool IsRemoved) override
+//   {
+//     fprintf(stdout, "ReportDeviceStatus: Status.OperationStatus.Mode set? %d\n", !(int)Status.OperationStatus.Mode.empty());
+//   }
+// };
+
+
+// int main(int argc, char *argv[])
+// {
+//   std::cout << "App started ..." << std::endl;
+
+//   const int domain = 4; // TMS-IF MAVLink Adapter runs on domain 4
+//   ddkit::actors::Session session(domain);
+
+//   // starting Service
+//   const std::string serviceName = "UAV_Device1";
+
+//   // client
+//   DeviceClient callbacksFromServices;
+//   auto client = M_Device::Client::create(session, serviceName, callbacksFromServices);
+
+//   while(true) // keep app running
+//   {
+//     std::this_thread::sleep_for(std::chrono::milliseconds(500));
+//   }
+
+//   return 0;
+// }

Lts/Proxies/TrainingAreaBase/Plugins/UAS/Test/test4.cpp

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+#include <iostream>
+#include <thread>
+
+#include <TmsIfAdapter/tms_if.h>
+
+
+int main(int , char *[])
+{
+  std::cout << "App started ..." << std::endl;
+
+  UAS::TmsIfAdapter::get().test();
+
+  std::cout << "Now waiting ..." << std::endl;
+
+
+  // keep app running:
+  while(true){std::this_thread::sleep_for(std::chrono::milliseconds(500));}
+
+
+  std::this_thread::sleep_for(std::chrono::milliseconds(500));
+
+  // std::string blub;
+  // std::cin >> blub;
+
+  std::cout << "Stopping ..." << std::endl;
+
+  UAS::TmsIfAdapter::stop();
+
+  std::cout << "Stopped ..." << std::endl;
+
+  // std::this_thread::sleep_for(std::chrono::milliseconds(2000));
+
+  std::cout << "Exit ..." << std::endl;
+
+  return 0;
+}

Lts/Proxies/TrainingAreaBase/Plugins/UAS/Test/test4_2.cpp

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+#include <iostream>
+#include <thread>
+
+#include <dlfcn.h> // TODO: no UAS for windoof
+
+#include <TmsIfAdapter/tms_if_adapter.h>
+
+
+using GetFn = void *(*)();
+
+
+int main(int , char *[])
+{
+  std::cout << "App started ..." << std::endl;
+
+  void *handle = dlopen("libTmsIfAdapter.so", RTLD_NOW | RTLD_LOCAL | RTLD_DEEPBIND);
+
+  if (handle == nullptr)
+  {
+    std::cerr << "no libTmsIfAdapter.so :( => " << dlerror() << std::endl;
+    return 1;
+  }
+
+  auto get = reinterpret_cast<GetFn>(dlsym(handle, "get"));
+  if (get == nullptr)
+  {
+    std::cerr << "no 'get' in libTmsIfAdapter.so :( => " << dlerror() << std::endl;
+    return 1;
+  }
+
+  UAS::TmsIfAdapter *adapter = reinterpret_cast<UAS::TmsIfAdapter *>(get());
+
+
+  // adapter->test();
+
+
+  std::cout << "Now waiting ..." << std::endl;
+
+
+  // keep app running:
+  while(true){std::this_thread::sleep_for(std::chrono::milliseconds(500));}
+
+
+  std::this_thread::sleep_for(std::chrono::milliseconds(500));
+
+  // std::string blub;
+  // std::cin >> blub;
+
+  std::cout << "Stopping ..." << std::endl;
+
+  // UAS::TmsIfAdapter::stop();
+
+  std::cout << "Stopped ..." << std::endl;
+
+  // std::this_thread::sleep_for(std::chrono::milliseconds(2000));
+
+  std::cout << "Exit ..." << std::endl;
+
+  return 0;
+}

Lts/Proxies/TrainingAreaBase/Plugins/UAS/Test/test5.cpp

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+#include <iostream>
+#include <thread>
+
+
+int main(int , char *[])
+{
+  std::cout << "App started ..." << std::endl;
+
+  std::cout << "Now waiting ..." << std::endl;
+
+  while(true){std::this_thread::sleep_for(std::chrono::milliseconds(500));}
+
+  std::cout << "Exit ..." << std::endl;
+
+  return 0;
+}

Lts/Proxies/TrainingAreaBase/Plugins/UAS/Test/test6.cpp

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+#include <QApplication>
+#include <QTimer>
+
+#include <iostream>
+#include <thread>
+
+#include <dlfcn.h> // TODO: no UAS for windoof
+
+#include <TmsIfAdapter/module_loader.h>
+#include <TmsIfAdapter/tms_if_adapter.h>
+#include <TmsIfAdapter/uav_commander.h>
+
+
+int main(int argc, char **argv)
+{
+  QCoreApplication app(argc, argv);
+
+  std::cout << "App started ..." << std::endl;
+
+  UAS::ModuleLoader::dlopen_handle handle = UAS::ModuleLoader::load("../lib/");
+
+  /*auto &adapter =*/ UAS::ModuleLoader::get(handle);
+
+  app.exec();
+
+  std::cout << "Stopping ..." << std::endl;
+
+  UAS::ModuleLoader::unload(handle);
+
+  std::cout << "Stopped ..." << std::endl;
+
+  std::this_thread::sleep_for(std::chrono::milliseconds(2000));
+
+  std::cout << "Exit ..." << std::endl;
+
+  return 0;
+}