Add support for Network blocks in the visual language (#1795)

1. The `mailbox` entity has been taken to a higher level for use in visual language
2. Support for `TrikJoinNetwork`, `TrikWaitForMessage`, `TrikSendMessage` blocks in visual language
3. Cut out unnecessary functionality due to the use of the TrikJoinNetwork block

plugins/robots/common/kitBase/include/kitBase/robotModel/robotParts/communicator.h

@@ -0,0 +1,41 @@
+/* Copyright 2024 CyberTech Labs Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License. */
+
+#pragma once
+
+#include "device.h"
+#include "kitBase/kitBaseDeclSpec.h"
+
+namespace kitBase {
+namespace robotModel {
+namespace robotParts {
+
+/// Base class for robot network communication.
+class ROBOTS_KIT_BASE_EXPORT Communicator : public Device
+{
+	Q_OBJECT
+	Q_CLASSINFO("name", "communicator")
+	Q_CLASSINFO("friendlyName", tr("Communicator"))
+	Q_CLASSINFO("direction", "output")
+
+public:
+	/// Constructor, takes device type info and port on which this device is configured.
+	Communicator(const DeviceInfo &info, const PortInfo &port);
+
+	/// Deinitializing a network communicator
+	virtual void release() = 0;
+};
+}
+}
+}

plugins/robots/common/kitBase/kitBase.pri

@@ -70,6 +70,7 @@ HEADERS += \
 	$$PWD/include/kitBase/robotModel/robotParts/colorSensorAmbient.h \
 	$$PWD/include/kitBase/robotModel/robotParts/colorSensorReflected.h \
 	$$PWD/include/kitBase/robotModel/robotParts/speaker.h \
+	$$PWD/include/kitBase/robotModel/robotParts/communicator.h \
 	$$PWD/include/kitBase/robotModel/robotParts/motor.h \
 	$$PWD/include/kitBase/robotModel/robotParts/display.h \
 	$$PWD/include/kitBase/robotModel/robotParts/button.h \
@@ -126,6 +127,7 @@ SOURCES += \
 	$$PWD/src/robotModel/portInfo.cpp \
 	$$PWD/src/robotModel/deviceInfo.cpp \
 	$$PWD/src/robotModel/robotParts/speaker.cpp \
+	$$PWD/src/robotModel/robotParts/communicator.cpp \
 	$$PWD/src/robotModel/robotParts/motor.cpp \
 	$$PWD/src/robotModel/robotParts/display.cpp \
 	$$PWD/src/robotModel/robotParts/button.cpp \

plugins/robots/common/kitBase/src/robotModel/commonRobotModel.cpp

@@ -21,6 +21,7 @@
 
 #include "kitBase/robotModel/robotParts/motor.h"
 #include "kitBase/robotModel/robotParts/random.h"
+#include "kitBase/robotModel/robotParts/communicator.h"
 
 const int updateInterval = 200;
 
@@ -72,10 +73,14 @@ void CommonRobotModel::connectToRobot()
 void CommonRobotModel::stopRobot()
 {
 	for (robotParts::Device * const device : mConfiguration.devices()) {
-		robotParts::Motor * const motor = dynamic_cast<robotParts::Motor *>(device);
+		auto* const motor = qobject_cast<robotParts::Motor *>(device);
 		if (motor) {
 			motor->off();
 		}
+		auto* const communicator = qobject_cast<robotParts::Communicator *>(device);
+		if (communicator) {
+			communicator->release();
+		}
 	}
 	/// @todo: add known deinitialization methods here (for example sensors termination after extending their inteface)
 }

plugins/robots/common/kitBase/src/robotModel/robotParts/communicator.cpp

@@ -0,0 +1,22 @@
+/* Copyright 2024 CyberTech Labs Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License. */
+
+#include "kitBase/robotModel/robotParts/communicator.h"
+
+using namespace kitBase::robotModel;
+using namespace robotParts;
+
+Communicator::Communicator(const DeviceInfo &info, const PortInfo &port)
+	: Device(info, port)
+{}

plugins/robots/common/trikKit/include/trikKit/robotModel/parts/trikNetworkCommunicator.h

@@ -0,0 +1,50 @@
+/* Copyright 2024 CyberTech Labs Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License. */
+
+#pragma once
+#include <kitBase/robotModel/robotParts/communicator.h>
+
+namespace trik {
+namespace robotModel {
+namespace parts {
+
+/// Class for TRIK robot network communication.
+class TrikNetworkCommunicator : public kitBase::robotModel::robotParts::Communicator
+{
+	Q_OBJECT
+
+public:
+	TrikNetworkCommunicator(const kitBase::robotModel::DeviceInfo &info
+				, const kitBase::robotModel::PortInfo &port);
+
+
+	/// Send a message to a robot
+	virtual void send(const QString& message, int hullNumber) = 0;
+
+	/// Receive message from robot
+	virtual QString receive(bool wait) = 0;
+
+	/// Join the network with the specified hull number
+	virtual void joinNetwork(const QString &ip, int port, int hullNumber) = 0;
+
+	/// Send an interrupt to stop waiting for a message
+	virtual void stopWaiting() = 0;
+
+	/// Clean the incoming message queue
+	virtual void clearQueue() = 0;
+};
+
+}
+}
+}

plugins/robots/common/trikKit/include/trikKit/robotModel/trikRobotModelBase.h

@@ -75,6 +75,7 @@ class TrikRobotModelBase : public kitBase::robotModel::CommonRobotModel
 
 	virtual kitBase::robotModel::PortInfo video2Port() const;
 	virtual kitBase::robotModel::PortInfo lidarPort() const;
+	virtual kitBase::robotModel::DeviceInfo networkInfo() const;
 };
 
 }

plugins/robots/common/trikKit/src/blocks/details/joinNetworkBlock.cpp

@@ -0,0 +1,32 @@
+/* Copyright 2024 CyberTech Labs Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License. */
+
+
+#include "joinNetworkBlock.h"
+
+using namespace trik;
+using namespace blocks::details;
+
+JoinNetworkBlock::JoinNetworkBlock(kitBase::robotModel::RobotModelInterface &robotModel):
+	kitBase::blocksBase::common::DeviceBlock<robotModel::parts::TrikNetworkCommunicator>(robotModel)
+{}
+
+void JoinNetworkBlock::doJob(robotModel::parts::TrikNetworkCommunicator &network)
+{
+	auto address = stringProperty("Address");
+	auto port = intProperty("IPPort");
+	auto hullNumber = intProperty("HullNumber");
+	network.joinNetwork(address, port, hullNumber);
+	emit done(mNextBlockId);
+}

plugins/robots/common/trikKit/src/blocks/details/joinNetworkBlock.h

@@ -0,0 +1,36 @@
+/* Copyright 2024 CyberTech Labs Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License. */
+
+#pragma once
+
+#include <kitBase/blocksBase/common/deviceBlock.h>
+#include "trikKit/robotModel/parts/trikNetworkCommunicator.h"
+
+namespace trik {
+namespace blocks {
+namespace details {
+
+class JoinNetworkBlock: public kitBase::blocksBase::common::DeviceBlock<robotModel::parts::TrikNetworkCommunicator>
+{
+	Q_OBJECT
+public:
+	JoinNetworkBlock(kitBase::robotModel::RobotModelInterface &robotModel);
+
+private:
+	void doJob(robotModel::parts::TrikNetworkCommunicator &network) override;
+};
+
+}
+}
+}

plugins/robots/common/trikKit/src/blocks/details/sendMessageBlock.cpp

@@ -0,0 +1,30 @@
+/* Copyright 2024 CyberTech Labs Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License. */
+
+#include "sendMessageBlock.h"
+
+using namespace trik;
+using namespace blocks::details;
+
+SendMessageBlock::SendMessageBlock(kitBase::robotModel::RobotModelInterface &robotModel):
+	kitBase::blocksBase::common::DeviceBlock<robotModel::parts::TrikNetworkCommunicator>(robotModel)
+{}
+
+void SendMessageBlock::doJob(robotModel::parts::TrikNetworkCommunicator &network)
+{
+	auto message = stringProperty("Message");
+	auto hullNumber = intProperty("HullNumber");
+	network.send(message, hullNumber);
+	emit done(mNextBlockId);
+}

plugins/robots/common/trikKit/src/blocks/details/sendMessageBlock.h

@@ -0,0 +1,36 @@
+/* Copyright 2024 CyberTech Labs Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License. */
+
+#pragma once
+
+#include <kitBase/blocksBase/common/deviceBlock.h>
+#include "trikKit/robotModel/parts/trikNetworkCommunicator.h"
+
+namespace trik {
+namespace blocks {
+namespace details {
+
+class SendMessageBlock: public kitBase::blocksBase::common::DeviceBlock<robotModel::parts::TrikNetworkCommunicator>
+{
+	Q_OBJECT
+public:
+	SendMessageBlock(kitBase::robotModel::RobotModelInterface &robotModel);
+
+private:
+	void doJob(robotModel::parts::TrikNetworkCommunicator &network) override;
+};
+
+}
+}
+}

plugins/robots/common/trikKit/src/blocks/details/waitForMessageBlock.cpp

@@ -0,0 +1,76 @@
+/* Copyright 2024 CyberTech Labs Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License. */
+
+#include "waitForMessageBlock.h"
+#include "trikKit/robotModel/parts/trikNetworkCommunicator.h"
+#include <utils/abstractTimer.h>
+#include <qrutils/stringUtils.h>
+#include <kitBase/robotModel/robotModelInterface.h>
+#include <kitBase/robotModel/robotModelUtils.h>
+
+using namespace trik;
+using namespace blocks::details;
+using namespace kitBase::robotModel;
+
+WaitForMessageBlock::WaitForMessageBlock(kitBase::robotModel::RobotModelInterface &robotModel):
+	WaitBlock(robotModel)
+{
+	mActiveWaitingTimer->setSingleShot(true);
+	mActiveWaitingTimer->setInterval(100);
+}
+
+void WaitForMessageBlock::handle()
+{
+	evalCode(stringProperty("Variable") + " = " + mMessage);
+	stop();
+	emit done(mNextBlockId);
+	return;
+}
+
+void WaitForMessageBlock::run()
+{
+	mNetwork = RobotModelUtils::findDevice<robotModel::parts::TrikNetworkCommunicator>(mRobotModel, "CommunicatorPort");
+
+	if (!mNetwork) {
+		error(tr("Device not found for port name CommunicatorPort"));
+		return;
+	}
+
+	auto wait = boolProperty("Synchronized");
+
+	if (!wait) {
+		mMessage = utils::StringUtils::wrap(utils::StringUtils::dequote(mNetwork->receive(wait)));
+		handle();
+		return;
+	}
+
+	mActiveWaitingTimer->start();
+}
+
+void WaitForMessageBlock::timerTimeout()
+{
+	auto message = mNetwork->receive(false);
+	if (message != QString()) {
+		mMessage = utils::StringUtils::wrap(utils::StringUtils::dequote(message));
+		handle();
+		return;
+	}
+
+	mActiveWaitingTimer->start();
+}
+
+DeviceInfo WaitForMessageBlock::device() const
+{
+	return DeviceInfo::create<robotModel::parts::TrikNetworkCommunicator>();
+}