Update Template

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "git.ignoreLimitWarning": true
+}

CMakeLists.txt

@@ -1,24 +1,26 @@
 # **********************************************************
 #      2024 : Arthur JEULIN
 #      Copyright (c) Arthur JEULIN
-#      Created by Arthur JEULIN on 06/22/2024.
+#      Created by Arthur JEULIN on 07/05/2024.
 # **********************************************************
 cmake_minimum_required(VERSION 3.27.5)
 
-set(CMAKE_CXX_STANDARD 20)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 # Indiquez à CMake d'utiliser les outils de vcpkg
 if(UNIX)
 endif()
 if(WIN32)
   set(CMAKE_GENERATOR_TOOLSET "v142") 
+  set(VCPKG_PLATFORM_TOOLSET v142)
 endif()
 
 set(CMAKE_TOOLCHAIN_FILE "${CMAKE_CURRENT_SOURCE_DIR}/vcpkg/scripts/buildsystems/vcpkg.cmake"
   CACHE STRING "Vcpkg toolchain file")
 
-
+set(VCPKG_TARGET_ARCHITECTURE x64)
+set(VCPKG_CRT_LINKAGE dynamic)
+set(VCPKG_LIBRARY_LINKAGE dynamic)
+
 project(template
 DESCRIPTION "Template Project Library "
 LANGUAGES CXX
@@ -28,20 +30,11 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
 
 option(BUILD_SHARED_LIBS "Build shared libraries" OFF)
 
-
-include(FetchContent)
-FetchContent_Declare(
-  googletest
-  URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
-)
-# For Windows: Prevent overriding the parent project's compiler/linker settings
-set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
-FetchContent_MakeAvailable(googletest)
-enable_testing() #to  discover tests in test explorer 
 
 include_directories(include)
 include_directories( "${PROJECT_SOURCE_DIR}/build/vcpkg_installed/x64-windows/include")
 
 add_subdirectory(src)
 add_subdirectory(example)
-add_subdirectory(test)
+add_subdirectory(test)
+add_subdirectory(rtmaps)

install_vcpkg.bat

@@ -0,0 +1,37 @@
+@echo off
+SETLOCAL
+:: **********************************************************
+::      2024 : Arthur JEULIN
+::      Copyright (c) Coast Autonomous 
+::      Created by Arthur JEULIN on 07/03/2024.
+:: **********************************************************
+::
+:: Module : Install VCPKG Folder for Windows User
+::
+
+:: to run this script on windows
+:: open powershell and run:
+:: ./install_vcpkg.bat
+::
+:: Définition du répertoire d'installation de vcpkg
+set VCPKG_DIR=%~dp0vcpkg
+
+:: Clonage de vcpkg
+echo Clonage de vcpkg...
+git clone https://github.com/microsoft/vcpkg.git "%VCPKG_DIR%"
+if %errorlevel% neq 0 (
+    echo Échec du clonage de vcpkg.
+    exit /b 1
+)
+
+:: Exécution de bootstrap-vcpkg.bat
+echo Execution of bootstrap-vcpkg.bat...
+cd /d "%VCPKG_DIR%"
+call bootstrap-vcpkg.bat
+if %errorlevel% neq 0 (
+    echo Fail to intialize vcpkg.
+    exit /b 1
+)
+
+echo vcpkg has been install and initiate with success.
+ENDLOCAL

install_vcpkg.sh

@@ -0,0 +1,21 @@
+#! /bin/bash
+# **********************************************************
+#      2024 : Arthur JEULIN
+#      Copyright (c) Coast Autonomous 
+#      Created by Arthur JEULIN on 07/02/2024.
+# **********************************************************
+#
+# Module : Install VCPKG Folder for Linux User
+#
+
+# to run this script on windows
+# open wsl terminal and go to cd /mnt/c/dev/rtmaps/inventory
+# ./install_vcpkg.sh
+#
+# CAUTION: THE FILE HAS TO BE LF AND NOTE CRLF
+#
+
+
+git clone https://github.com/microsoft/vcpkg.git
+cd vcpkg
+./bootstrap-vcpkg.sh

rtmaps/CMakeLists.txt

@@ -0,0 +1,136 @@
+# **********************************************************
+#      2024 : Arthur JEULIN
+#      Copyright (c) Coast Autonomous 
+#      Created by Arthur JEULIN on 05/05/2024.
+# **********************************************************
+cmake_minimum_required(VERSION 3.27.5)
+
+
+# RTMaps Package Name
+set(PCK pck)
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY C:/dev/rtmaps/user_sdk/packages/${PCK})
+
+set(CMAKE_CXX_STANDARD 20)
+set(POSITION_INDEPENDENT_CODE ON)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)   # Enforce the C++ standard requirement
+set(CMAKE_CXX_EXTENSIONS        OFF)  # Non-portable compiler-specific extensions are NOT required
+
+if(UNIX)
+    set(RTMAPS_SDKDIR "/opt/rtmaps")
+endif()
+if(WIN32)
+    set(RTMAPS_SDKDIR "C:/Program Files/Intempora/RTMaps 4")
+    set(rtmaps_input_reader "C:/Program Files/Intempora/RTMaps 4/packages/rtmaps_input_reader")
+endif()
+
+
+project("${PCK}.u"
+  VERSION 0.0.1
+  DESCRIPTION "pck RTMaps package"
+  LANGUAGES C CXX
+)
+
+
+# If -D"RTMAPS_SDKDIR=<RTMaps Install Dir>" has NOT been passed to 
+# the "cmake" command
+if (NOT DEFINED RTMAPS_SDKDIR) 
+# Try to use the default RTMaps installation
+    if (DEFINED ENV{RTMAPS_SDKDIR})  
+        set(RTMAPS_SDKDIR "$ENV{RTMAPS_SDKDIR}" 
+        CACHE PATH "Path the RTMaps installation directory")
+    else()
+        message(FATAL_ERROR
+        "RTMAPS_SDKDIR not defined. Either pass -D/"RTMAPS_SDKDIR=.../" 
+        to CMake or define an RTMAPS_SDKDIR environment variable")
+    endif()
+endif()
+
+if (NOT TARGET rtmaps_input_reader)
+    # In this particular example, we know the path of of the rtmaps_input_readerConfig.cmake file.
+    # In your custom components, you might want to use something like:
+    set(rtmaps_input_reader_DIR "${RTMAPS_SDKDIR}/packages/rtmaps_input_reader/lib/cmake/rtmaps_input_reader" CACHE PATH "")
+    if (NOT rtmaps_input_reader_DIR)
+        get_filename_component(rtmaps_input_reader_DIR "${CMAKE_CURRENT_LIST_DIR}/../lib/cmake/rtmaps_input_reader" ABSOLUTE CACHE)
+    endif()
+    find_package(rtmaps_input_reader CONFIG REQUIRED NO_DEFAULT_PATH)
+endif()
+
+
+
+# REQUIRED: Include the RTMaps CMake configuration file
+include("${RTMAPS_SDKDIR}/templates.u/rtmaps.cmake")
+
+
+add_rtmaps_package(${PCK} PCKINFO "${PCK}.pckinfo"
+    # add sources, headers and/or directories
+    "local_interfaces"                    
+    "src"                              
+)
+
+
+target_include_directories(${PCK} PRIVATE 
+  ${PROJECT_SOURCE_DIR}/rtmaps/local_interfaces
+)
+
+# HIGHLY RECOMMENDED: Append useful compiler flags
+if (MSVC)
+    # Winmm.lib Needed in Windows to Gettime (API of Windows)
+    target_link_libraries(${PCK}
+    Winmm.lib 
+    kernel32.lib
+    rtmaps_input_reader
+    )
+    if(CMAKE_BUILD_TYPE STREQUAL "Debug")
+    # NE BUILD PAS EN DEBUG AVEC RTMAPS
+    # Options pour le mode Debug
+    # Ne peut pas utiliser se flag pour une raison que j'igonre /MPd
+    # rtmaps_pck.lib est compiler en release donc on ne peut pas utliser
+    # certains flags de debug car non compatible => rechercher a faire
+      target_compile_options(${PCK} PRIVATE  /W3 /WX /MD )
+    elseif(CMAKE_BUILD_TYPE STREQUAL "Release")
+      # Options pour le mode Release
+      target_compile_options(${PCK} PRIVATE /MD /MP /GL /W3 /WX -DNDEBUG)
+    endif()
+    # TO IMPROVE IN THE FUTURE
+    # Trouver un moyen de ne pas à copier manuellement le nom des dll
+    # Attention *.dll ne fonctionne pas sur windows
+    #   add_custom_command(TARGET ${PCK} POST_BUILD
+    #   # Create the bin folder next to the pck
+    #   COMMAND ${CMAKE_COMMAND} -E make_directory C:/dev/rtmaps/user_sdk/packages/${PCK}/$<CONFIG>/bin
+    #   # Copy the dll in the bin folder
+    #   COMMAND ${CMAKE_COMMAND} -E copy_if_different
+    #   C:/dev/rtmaps/user_sdk/packages/${PCK}/$<CONFIG>/gflags.dll
+    #   C:/dev/rtmaps/user_sdk/packages/${PCK}/$<CONFIG>/glog.dll
+    #   # Destination
+    #   C:/dev/rtmaps/user_sdk/packages/${PCK}/$<CONFIG>/bin
+
+
+    # # Delete the dll the where in the same folder as CMAKE_RUNTIME_OUTPUT_DIRECTORY
+    # COMMAND ${CMAKE_COMMAND} -E remove
+    #   C:/dev/rtmaps/user_sdk/packages/${PCK}/$<CONFIG>/gflags.dll
+    #   C:/dev/rtmaps/user_sdk/packages/${PCK}/$<CONFIG>/glog.dll
+    #   VERBATIM
+    #   )
+
+else()
+  # LINUX 
+    target_link_libraries(${PCK})
+    target_compile_options(${PCK} PRIVATE
+    -Wall -Wextra -Wpedantic -finline-functions -fexceptions 
+    -O3 -fdiagnostics-show-option -pedantic)
+endif()
+
+
+if(WIN32)
+  install(TARGETS ${PCK}
+          CONFIGURATIONS Release
+          RUNTIME DESTINATION ${RTMAPS_SDKDIR}/user_sdk/packages/${PCK}
+  )
+  # this copies more than strictly necessary but I don't know how to do it better
+  install(DIRECTORY 
+        "C:/dev/rtmaps/user_sdk/packages/${PCK}/Release/bin"
+         # Destination (pas besoin d'ajouter bin dans le chemin on copie le dossier bin)
+         DESTINATION ${RTMAPS_SDKDIR}/user_sdk/packages/${PCK}
+  )
+endif()

rtmaps/local_interfaces/maps_template.h

@@ -0,0 +1,42 @@
+// **********************************************************
+//      2024 : Arthur JEULIN
+//      Copyright (c) Coast Autonomous 
+//      Created by Arthur JEULIN on 07/05/2024.
+// **********************************************************
+//
+// Module : To be define
+//
+
+#if defined(_MSC_VER) && (_MSC_VER >= 1200)
+# pragma once
+#endif // defined(_MSC_VER) && (_MSC_VER >= 1200)
+
+#ifndef MAPS_TEMPLATE_H
+#define MAPS_TEMPLATE_H
+
+//#define __IPL_H__
+#include <maps.hpp>
+// Includes the MAPS::InputReader class and its dependencies
+#include <maps/input_reader/maps_input_reader.hpp>
+
+// Declares a new MAPSComponent child class
+class MAPS_TEMPLATE : public MAPSComponent 
+{
+	// Use standard header definition macro
+	MAPS_COMPONENT_STANDARD_HEADER_CODE(MAPS_TEMPLATE)
+
+
+private :
+   // Declare an input reader
+  std::unique_ptr<MAPS::InputReader> _inputReader;
+
+	int _log_destination;
+
+  /**
+   * IL faut toujours MAPSTimestamp ts en premier argument de la callback.
+   * Sinon erreur de compilation
+   */
+  void ProcessData(MAPSTimestamp ts, const MAPS::InputElt<double> input);
+};
+
+#endif /*MAPS_TEMPLATE_H*/

rtmaps/pck.pckinfo

@@ -0,0 +1,6 @@
+# Package information
+VERSION=0.0.1
+DESCRIPTION=User package
+
+# LOG
+# 0.0.1: initial development

rtmaps/src/maps_template.cpp

@@ -0,0 +1,85 @@
+// **********************************************************
+//      2024 : Arthur JEULIN
+//      Copyright (c) Coast Autonomous 
+//      Created by Arthur JEULIN on 07/05/2024.
+// **********************************************************
+//
+// Module : To be define
+//
+
+#include "maps_template.h"	// Includes the header of this component
+
+// Use the macros to declare the inputs
+MAPS_BEGIN_INPUTS_DEFINITION(MAPS_TEMPLATE)
+    MAPS_INPUT("Input", MAPS::FilterFloat64,MAPS::FifoReader) 
+MAPS_END_INPUTS_DEFINITION
+
+// Use the macros to declare the outputs
+MAPS_BEGIN_OUTPUTS_DEFINITION(MAPS_TEMPLATE)
+    MAPS_OUTPUT("Output", MAPS::Float64, NULL,NULL,1)
+MAPS_END_OUTPUTS_DEFINITION
+
+// Use the macros to declare the properties
+MAPS_BEGIN_PROPERTIES_DEFINITION(MAPS_TEMPLATE)
+    MAPS_PROPERTY_ENUM("LogDestination", "Log|Console",0, false, false)
+    MAPS_PROPERTY("LoggingPath", "C:/dev/log", false, false)
+MAPS_END_PROPERTIES_DEFINITION
+
+// Use the macros to declare the actions
+MAPS_BEGIN_ACTIONS_DEFINITION(MAPS_TEMPLATE)
+MAPS_END_ACTIONS_DEFINITION
+
+
+// Use the macros to declare this component (SaveRFID) behaviour
+MAPS_COMPONENT_DEFINITION(MAPS_TEMPLATE,"save_rfid","1.0",128,
+			  MAPS::Threaded,MAPS::Threaded,
+			  -1, // Nb of inputs. Leave -1 to use the number of declared input definitions
+			  -1, // Nb of outputs. Leave -1 to use the number of declared output definitions
+			  -1, // Nb of properties. Leave -1 to use the number of declared property definitions
+			  -1) // Nb of actions. Leave -1 to use the number of declared action definitions
+
+//Initialization: Birth() will be called once at diagram execution startup.			  
+void MAPS_TEMPLATE::Birth()
+{   
+
+  _inputReader = MAPS::MakeInputReader::Triggered(
+    this,
+    // The input reader will first wait for data on this input
+    Input("Input"),
+
+    // TriggerKind::DataInput means that we want to access the "value" of the data of the trigger input in the callback.
+    // In this case, the trigger input MUST be added to the list of data inputs (see the next argument)
+    MAPS::InputReaderOption::Triggered::TriggerKind::DataInput,
+    // SamplingBehavior::WaitForAllInputs means that the data callback will be called
+    // only if there are data samples on all inputs
+    MAPS::InputReaderOption::Triggered::SamplingBehavior::WaitForAllInputs,
+
+    MAPS::MakeArray(&Input("Input")),
+
+    // This callback will be called when data was read from the trigger AND the data inputs.
+    &MAPS_TEMPLATE::ProcessData
+  );
+
+}
+
+
+void MAPS_TEMPLATE::Core() 
+{ 
+  _inputReader->Read();
+}
+
+void MAPS_TEMPLATE::Death()
+{
+  _inputReader.reset();
+}
+
+void MAPS_TEMPLATE::ProcessData(MAPSTimestamp ts, const MAPS::InputElt<double> input)
+{
+
+  MAPS::OutputGuard<double> outGuard{this, Output("oRFID")};
+  outGuard.Data() = input.Data() * 2;
+  // As always, set the VectorSize and the Timestamp
+  outGuard.VectorSize() = 1;
+  // outGuard.VectorSize() = (MAPSInt32)output_string.size();
+  outGuard.Timestamp() = MAPS::CurrentTime(); 
+}