Merge branch 'feat/sync-categories' into develop

robocin · Oct 24, 2023 · c87ce3e · c87ce3e
2 parents d6d2f37 + 5f71ed8
commit c87ce3e
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diff --git a/.github/workflows/docker/Dockerfile b/.github/workflows/docker/Dockerfile
@@ -0,0 +1,47 @@
+FROM ubuntu:22.04
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+LABEL org.opencontainers.image.authors="RoboCIn-Unification"
+
+# essentials
+RUN apt-get update           \
+    && apt-get -y upgrade    \
+    && apt-get install -y    \
+    build-essential          \
+    libssl-dev               \
+    libffi-dev               \
+    python3-dev              \
+    python3-pip              \
+    wget                     \
+    unzip                    \
+    git                      \
+    sudo                     \
+    pkg-config               \
+    locales                  \
+    && apt-get clean
+
+# Set the locale
+RUN sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && \
+    locale-gen
+
+ENV LANG en_US.UTF-8  
+ENV LANGUAGE en_US:en  
+ENV LC_ALL en_US.UTF-8     
+
+# set vulkan environment
+RUN wget -qO- https://packages.lunarg.com/lunarg-signing-key-pub.asc | sudo tee /etc/apt/trusted.gpg.d/lunarg.asc && \
+    wget -qO /etc/apt/sources.list.d/lunarg-vulkan-jammy.list http://packages.lunarg.com/vulkan/lunarg-vulkan-jammy.list &&\
+    apt-get update  && \
+    apt-get install vulkan-sdk -y
+
+
+# ssl-unification
+RUN git clone --recursive https://github.com/robocin/soccer-common.git && \
+    cd soccer-common/scripts && \
+    ./setup.py --essentials && \
+    cd ../.. && \
+    rm -r soccer-common
+
+
+WORKDIR /home/soccer-common
diff --git a/.github/workflows/docker/buildAndPush.sh b/.github/workflows/docker/buildAndPush.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+REPO_DOCKER_NAME="robocin/soccer-common"
+REPO_DOCKER_TAG="latest"
+
+docker build . -f Dockerfile -t ${REPO_DOCKER_NAME}:${REPO_DOCKER_TAG}
+
+docker push ${REPO_DOCKER_NAME}:${REPO_DOCKER_TAG}
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -8,19 +8,15 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-
+    container: robocin/soccer-common:latest
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
       - name: checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           submodules: recursive
 
-      # Install all dependencies using setup.py script inside scripts folder
-      - name: install-dependencies
-        run: cd ${GITHUB_WORKSPACE}/scripts && sudo ./setup.py --essentials
-
       - name: check-coding-style
         run: |
           (

diff --git a/include/soccer-common/Geometry/Geometry.h b/include/soccer-common/Geometry/Geometry.h
@@ -650,14 +650,14 @@ namespace Geometry2D {
    * @tparam PT Requires '.x()' and '.y()' members.
    * @param a, b, c line through (a, b) and point c.
    * @return Projects the point c onto segment through a and b.
-   * @note assuming a != b.
+   * @note assuming if a == b it returns one of the points.
    */
   template <class PT>
   constexpr std::enable_if_t<std::is_floating_point_v<CoordType<PT>>, PT>
   projectPointSegment(const PT& a, const PT& b, const PT& c) {
-    if (a == b) {
-      throw std::runtime_error("'a' and 'b' doesn't define a line.");
-    }
+    // if (a == b) {
+    //   throw std::runtime_error("'a' and 'b' doesn't define a line.");
+    // }
     CoordType<PT> r = dot<PT>(b - a, b - a);
     if (isNullable(r)) {
       return a;

diff --git a/include/soccer-common/Gui/Widgets/ParametersWindow/ParametersWindow.cpp b/include/soccer-common/Gui/Widgets/ParametersWindow/ParametersWindow.cpp
@@ -4,6 +4,9 @@
 #include "soccer-common/Gui/Widgets/ParameterWidget/ParameterWidget.h"
 #include "soccer-common/Parameters/Parameters.h"
 
+#include <QTabWidget>
+#include <QToolBox>
+
 ParametersWindow::ParametersWindow(QWidget* parent) :
     QWidget(parent),
     ui(new Ui::ParametersWindow) {
@@ -33,11 +36,17 @@ void ParametersWindow::build(QMap<QStringList, ParameterWidget*>& widgets,
 
   for (const QString& key : keys) {
     currentPath.push_back(key);
-    if (Parameters::isParameterType(json[key].toObject())) {
+
+    if (key == Parameters::Detail::Tool) {
+      addParametersTool(widgets, currentPath, key, json[key].toObject());
+    } else if (key == Parameters::Detail::Tab) {
+      addParametersTab(widgets, currentPath, key, json[key].toObject());
+    } else if (Parameters::isParameterType(json[key].toObject())) {
       addParameterWidget(widgets, currentPath, key, json[key].toObject());
     } else {
       addParametersWindow(widgets, currentPath, key, json[key].toObject());
     }
+
     currentPath.pop_back();
   }
 }
@@ -87,3 +96,51 @@ void ParametersWindow::addParametersWindow(QMap<QStringList, ParameterWidget*>&
   pw->build(widgets, currentPath, name, json);
   ui->scrollAreaLayout->addWidget(pw);
 }
+
+void ParametersWindow::addParametersTool(QMap<QStringList, ParameterWidget*>& widgets,
+                                         QStringList& currentPath,
+                                         const QString& name,
+                                         const QJsonObject& json) {
+  auto addSingleItem = [&](const QString& tabName, QToolBox* toolBox) {
+    ParametersWindow* pw = new ParametersWindow(toolBox);
+
+    pw->setObjectName(tabName);
+    pw->build(widgets, currentPath, tabName, json[tabName].toObject());
+    pw->ui->groupBox->setTitle(""); // Avoid showing the name of the item in the group box.
+
+    toolBox->addItem(pw, tabName);
+  };
+
+  QToolBox* toolBox = new QToolBox(ui->scrollAreaWidgetContents);
+  ui->scrollAreaLayout->addWidget(toolBox);
+
+  for (const QString& item : json.keys()) {
+    currentPath.push_back(item);
+    addSingleItem(item, toolBox);
+    currentPath.pop_back();
+  }
+}
+
+void ParametersWindow::addParametersTab(QMap<QStringList, ParameterWidget*>& widgets,
+                                        QStringList& currentPath,
+                                        const QString& name,
+                                        const QJsonObject& json) {
+  auto addSingleTab = [&](const QString& tabName, QTabWidget* tabWidget) {
+    ParametersWindow* pw = new ParametersWindow(tabWidget);
+
+    pw->setObjectName(tabName);
+    pw->build(widgets, currentPath, tabName, json[tabName].toObject());
+    pw->ui->groupBox->setTitle(""); // Avoid showing the name of the tab in the group box.
+
+    tabWidget->addTab(pw, tabName);
+  };
+
+  QTabWidget* tabWidget = new QTabWidget(ui->scrollAreaWidgetContents);
+  ui->scrollAreaLayout->addWidget(tabWidget);
+
+  for (const QString& tab : json.keys()) {
+    currentPath.push_back(tab);
+    addSingleTab(tab, tabWidget);
+    currentPath.pop_back();
+  }
+}
diff --git a/include/soccer-common/Gui/Widgets/ParametersWindow/ParametersWindow.h b/include/soccer-common/Gui/Widgets/ParametersWindow/ParametersWindow.h
@@ -4,6 +4,7 @@
 #include <QWidget>
 #include <QJsonObject>
 
+class QTabWidget;
 class ParameterWidget;
 
 namespace Ui {
@@ -44,6 +45,14 @@ class ParametersWindow : public QWidget {
                            QStringList& currentPath,
                            const QString& name,
                            const QJsonObject& json);
+  void addParametersTool(QMap<QStringList, ParameterWidget*>& widgets,
+                         QStringList& currentPath,
+                         const QString& name,
+                         const QJsonObject& json);
+  void addParametersTab(QMap<QStringList, ParameterWidget*>& widgets,
+                        QStringList& currentPath,
+                        const QString& name,
+                        const QJsonObject& json);
 };
 
 #endif // SOCCER_COMMON_PARAMETERSWINDOW_H
diff --git a/include/soccer-common/Parameters/ParameterType/ParameterType.h b/include/soccer-common/Parameters/ParameterType/ParameterType.h
@@ -40,6 +40,8 @@ namespace Parameters {
     static constexpr const char* Parent = "Parent";
     static constexpr const char* Filter = "Filter";
     static constexpr const char* DefaultDirectory = "DefaultDirectory";
+    static constexpr const char* Tab = "Tab";
+    static constexpr const char* Tool = "Tool";
   } // namespace Detail
 
   struct ParameterBase {

diff --git a/include/soccer-common/Utils/Protobuf/Protobuf.h b/include/soccer-common/Utils/Protobuf/Protobuf.h
@@ -11,7 +11,7 @@
 namespace Protobuf {
   template <class Proto>
   QByteArray toByteArray(const Proto& proto) {
-    QByteArray datagram(static_cast<int>(proto.ByteSize()), static_cast<char>(0));
+    QByteArray datagram(static_cast<int>(proto.ByteSizeLong()), static_cast<char>(0));
     proto.SerializeToArray(datagram.data(), datagram.size());
     return datagram;
   }

diff --git a/include/soccer-common/Utils/StateMachine/StateMachine.h b/include/soccer-common/Utils/StateMachine/StateMachine.h
@@ -30,8 +30,8 @@ class StateMachine {
       std::invoke_result_t<decltype(PointerToMatchingFunctorDeclval<T, Fs...>)>>;
 
  public:
-  using return_type = decltype(
-      std::visit(std::declval<overloaded_visitor_t<Functors...>>(), std::declval<State>()));
+  using return_type = decltype(std::visit(std::declval<overloaded_visitor_t<Functors...>>(),
+                                          std::declval<State>()));
 
   StateMachine() requires(std::default_initializable<State>) = default;
 

diff --git a/include/soccer-common/Utils/meta/static_block/static_block.h b/include/soccer-common/Utils/meta/static_block/static_block.h
@@ -6,7 +6,7 @@
 namespace __rc_meta { // NOLINT(bugprone-reserved-identifier)
   struct [[maybe_unused]] static_block_tag {
     template <class Functor>
-    inline explicit static_block_tag(Functor && f) {
+    inline explicit static_block_tag(Functor&& f) {
       std::forward<Functor>(f)();
     }
     ~static_block_tag() = default;
@@ -16,7 +16,7 @@ namespace __rc_meta { // NOLINT(bugprone-reserved-identifier)
     static_block_tag& operator=(const static_block_tag&) = delete;
 
     // disable_move:
-    static_block_tag(static_block_tag &&) = delete;
+    static_block_tag(static_block_tag&&) = delete;
     static_block_tag& operator=(static_block_tag&&) = delete;
   };
 } // namespace __rc_meta