Start of the code for point estimation (cannot be tested yet du to the lack of raspi)

CMakeLists.txt

@@ -1,6 +1,12 @@
-cmake_minimum_required(VERSION 3.28)
+cmake_minimum_required(VERSION 3.25)
 project(estimation_points)
 
 set(CMAKE_CXX_STANDARD 17)
 
-add_executable(estimation_points main.cpp)
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(TCPSocket REQUIRED TCPSocket)
+
+add_executable(estimation_points main.cpp
+        tcp/MyClient.cpp
+        tcp/MyClient.h
+        tcp/MyClient.h)

main.cpp

@@ -1,6 +1,28 @@
+#include <atomic>
 #include <iostream>
+#include "tcp/MyClient.h"
+
+std::atomic<bool> stopRequested(false);
+
+void userInputThread() {
+    // Wait for the user to press Enter
+    std::cout << "Press Enter to stop the program..." << std::endl;
+    std::cin.ignore();
+    stopRequested = true;
+}
 
 int main() {
-    std::cout << "Hello, World!" << std::endl;
+    MyClient client("127.0.0.1", 8080);
+
+    client.start();
+
+    client.sendMessage("point;start;ready;1");
+
+    while (true) {
+        if(stopRequested) {
+            break;
+        }
+    }
+
     return 0;
 }

tcp/MyClient.cpp

@@ -0,0 +1,62 @@
+//
+// Created by BreizhHardware on 23/04/2024.
+//
+
+#include "MyClient.h"
+
+MyClient::~MyClient() {
+    this -> stop();
+}
+
+MyClient::MyClient(const char* ip, const int &port) : TCPClient(ip, port), points(0) {
+
+}
+
+void MyClient::handleMessage(const std::string&message) {
+    std::vector<std::string> messageSplited = TCPSocket::split(message, ";");
+    if (messageSplited[1] == "point" || messageSplited[1] == "all") {
+        if (messageSplited[2] == "ping") {
+            this->sendMessage("point;ihm;pong;1");
+        }
+    }
+    if(messageSplited[0] == "aruco") {
+        if(messageSplited[1] == "strat") {
+            if(messageSplited[2] == "get aruco") {
+                if(messageSplited[3] == "404") {
+                    return;
+                }
+                else {
+                    for (auto& [tag, pos] : arucoTags) {
+                        double firstMatrixElement = pos.first.at<double>(2, 0);
+
+                        double secondMatrixElement0 = pos.second.at<double>(0, 0);
+                        double secondMatrixElement1 = pos.second.at<double>(1, 0);
+                        double secondMatrixElement2 = pos.second.at<double>(2, 0);
+
+                        // Check if the tag is in the depot area
+                        if (firstMatrixElement < 0.5) {
+                            if (secondMatrixElement0 > 0.5 && secondMatrixElement0 < 1.5) {
+                                if (secondMatrixElement1 > 0.5 && secondMatrixElement1 < 1.5) {
+                                    if (secondMatrixElement2 > 0.5 && secondMatrixElement2 < 1.5) {
+                                        // The tag is in the depot area so add 1 point
+                                        this->setPoints(this->getPoints() + 1);
+                                        // Send the new points to the IHM
+                                        this->sendMessage("point;ihm;update;" + std::to_string(this->getPoints()));
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+
+int MyClient::getPoints() const {
+    return this->points;
+}
+
+void MyClient::setPoints(const int &points) {
+    this->points = points;
+}

tcp/MyClient.h

@@ -0,0 +1,55 @@
+//
+// Created by BreizhHardware on 23/04/2024.
+//
+
+#ifndef MYCLIENT_H
+#define MYCLIENT_H
+#pragma once
+
+#include <TCPSocket/TCPClient.hpp>
+#include <TCPSocket/TCPUtils.hpp>
+#include <opencv2/opencv.hpp>
+#include <opencv2/aruco.hpp>
+
+enum ArucoTagType
+{
+    FLOWER,
+    SOLAR_PANEL
+};
+
+class ArucoTag {
+    int id;
+    std::string name;
+    float length;
+    cv::Mat objectRepresenation;
+    ArucoTagType type;
+    std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>> arucoTags;
+    ArucoTag(const int id, std::string name, const float length, const ArucoTagType type) : id(id), name(std::move(name)), length(length), type(type)
+    {
+        this->objectRepresenation = cv::Mat(4, 1, CV_32FC3);
+        this->objectRepresenation.ptr<cv::Vec3f>(0)[0] = cv::Vec3f(-length/2.f, length/2.f, 0);
+        this->objectRepresenation.ptr<cv::Vec3f>(0)[1] = cv::Vec3f(length/2.f, length/2.f, 0);
+        this->objectRepresenation.ptr<cv::Vec3f>(0)[2] = cv::Vec3f(length/2.f, -length/2.f, 0);
+        this->objectRepresenation.ptr<cv::Vec3f>(0)[3] = cv::Vec3f(-length/2.f, -length/2.f, 0);
+    }
+};
+
+class MyClient : public TCPClient {
+protected:
+    int points;
+
+public:
+
+    ~MyClient() override;
+
+    explicit MyClient(const char* ip = "127.0.0.1", const int &port = 8080);
+
+    void handleMessage(const std::string &message) override;
+
+    int getPoints() const;
+
+    void setPoints(const int &points);
+
+};
+
+#endif //MYCLIENT_H