C++ update Follow Line

exercises/follow_line/cpp_lib/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10)
+project(VacuumCleanerLibs CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+find_package(ament_cmake REQUIRED)
+
+set(ROS2_PACKAGES
+    rclcpp
+    nav_msgs
+    gazebo_msgs
+    geometry_msgs
+    sensor_msgs
+    std_msgs
+    tf2
+    tf2_geometry_msgs
+    ros_gz_interfaces
+    cv_bridge
+)
+
+foreach(pkg IN LISTS ROS2_PACKAGES)
+    find_package(${pkg} REQUIRED)
+endforeach()
+
+find_package(Boost REQUIRED COMPONENTS system)
+find_package(nlohmann_json REQUIRED)
+find_package(OpenCV REQUIRED)
+
+set(COMMON_INTERFACES_INCLUDE "/home/ws/install/common_interfaces_cpp/include")
+set(COMMON_INTERFACES_LIB "/home/ws/install/common_interfaces_cpp/lib/libcommon_interfaces_cpp.so")
+
+set(WEBGUI_ROS_DEPS  rclcpp nav_msgs gazebo_msgs tf2 tf2_geometry_msgs sensor_msgs cv_bridge)
+set(WEBGUI_SYS_DEPS  Frequency Boost::system nlohmann_json::nlohmann_json)
+set(HAL_ROS_DEPS     rclcpp geometry_msgs sensor_msgs std_msgs ros_gz_interfaces cv_bridge)
+
+
+# --- libFrequency.so ---
+add_library(Frequency SHARED src/Frequency.cpp)
+target_include_directories(Frequency PUBLIC include)
+
+# --- libWebGUI.so ---
+add_library(WebGUI SHARED src/WebGUI.cpp src/Lap.cpp)
+target_include_directories(WebGUI PUBLIC include ${COMMON_INTERFACES_INCLUDE} ${OpenCV_INCLUDE_DIRS})
+
+ament_target_dependencies(WebGUI ${WEBGUI_ROS_DEPS})
+target_link_libraries(WebGUI ${WEBGUI_SYS_DEPS} ${COMMON_INTERFACES_LIB} ${OpenCV_LIBS})
+
+# --- libHAL.so ---
+add_library(HAL SHARED src/HAL.cpp)
+target_include_directories(HAL PUBLIC include ${COMMON_INTERFACES_INCLUDE} ${OpenCV_INCLUDE_DIRS})
+
+ament_target_dependencies(HAL ${HAL_ROS_DEPS})
+target_link_libraries(HAL ${COMMON_INTERFACES_LIB} ${OpenCV_LIBS})

exercises/follow_line/cpp_lib/include/Frequency.hpp

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+#ifndef INCLUDE_FREQUENCY_HPP_
+#define INCLUDE_FREQUENCY_HPP_
+
+#include <chrono>
+#include <cmath>
+#include <thread>
+
+class Frequency
+{
+private:
+  std::chrono::high_resolution_clock::time_point last_time;
+  int is_first_iteration;
+
+public:
+  Frequency();
+  ~Frequency();
+
+  static int rate;
+  void tick(int ideal_cycle = 50);
+};
+
+#endif

exercises/follow_line/cpp_lib/include/HAL.hpp

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+#ifndef INCLUDE_HAL_HPP_
+#define INCLUDE_HAL_HPP_
+
+#include <memory>
+#include <thread>
+#include <opencv2/opencv.hpp>
+#include "rclcpp/rclcpp.hpp"
+#include "common_interfaces_cpp/hal/motors.hpp"
+#include "common_interfaces_cpp/hal/camera.hpp"
+
+class HAL : public rclcpp::Node
+{
+public:
+    HAL();
+    static void setV(const float velocity);
+    static void setW(const float velocity);
+    static std::shared_ptr<Image> getImage();
+
+private:
+    static std::shared_ptr<MotorsNode> motors_node_;
+    static std::shared_ptr<CameraNode> camera_node_;
+    std::thread spin_thread_;
+};
+
+#endif

exercises/follow_line/cpp_lib/include/Lap.hpp

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+#ifndef LAP_HPP_
+#define LAP_HPP_
+
+#include "common_interfaces_cpp/hal/odometry.hpp"
+#include <chrono>
+#include <string>
+#include <memory>
+
+class Lap {
+public:
+    explicit Lap(std::shared_ptr<OdometryNode> pose3d);
+    std::string check_threshold();
+    std::string return_lap_time();
+    void reset();
+    void pause();
+    void unpause();
+
+private:
+    std::shared_ptr<OdometryNode> pose3d_;
+    std::chrono::system_clock::time_point start_time_;
+    std::chrono::duration<double> lap_time_;
+    bool lap_rest_;
+    bool buffer_;
+    bool pause_condition_;
+};
+
+#endif

exercises/follow_line/cpp_lib/include/WebGUI.hpp

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+#ifndef INCLUDE_WEBGUI_HPP_
+#define INCLUDE_WEBGUI_HPP_
+
+#include "common_interfaces_cpp/webgui/WebGUIBridge.hpp"
+#include "common_interfaces_cpp/hal/odometry.hpp"
+#include "sensor_msgs/msg/image.hpp"
+#include "Lap.hpp"
+#include <mutex>
+#include <opencv2/opencv.hpp>
+#include <map>
+#include <string>
+
+class WebGUI : public BaseWebGUI
+{
+public:
+    WebGUI();
+    ~WebGUI() override;
+
+    json update_gui() override;
+    void process_message(const std::string& msg) override;
+    std::vector<rclcpp::Node::SharedPtr> get_nodes() override;
+
+    static void showImage(const cv::Mat& image);
+    static std::map<std::string, std::string> get_image_mode();
+
+private:
+    json payloadImage();
+    void debug_image_callback(const sensor_msgs::msg::Image::SharedPtr msg);
+
+    std::shared_ptr<OdometryNode> odom_node_;
+    std::shared_ptr<Lap> lap_;
+
+    rclcpp::Node::SharedPtr debug_node_;
+    rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr debug_sub_;
+
+    cv::Mat image_to_be_shown_;
+    bool image_to_be_shown_updated_;
+    std::mutex image_show_lock_;
+    bool auto_image_mode_;
+
+    static WebGUI* instance_;
+};
+
+#endif

exercises/follow_line/cpp_lib/src/Frequency.cpp

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+#include "Frequency.hpp"
+
+int Frequency::rate = 0;
+
+Frequency::Frequency() : is_first_iteration(1) {}
+
+Frequency::~Frequency() {}
+
+void Frequency::tick(int ideal_cycle)
+{
+  const auto ideal_ms = std::chrono::milliseconds(1000 / ideal_cycle);
+  const auto now = std::chrono::high_resolution_clock::now();
+
+  if (is_first_iteration == 1)
+  {
+    last_time = now;
+    is_first_iteration = 0;
+    return;
+  }
+
+  const auto iter_ms = std::chrono::duration_cast<std::chrono::milliseconds>(now - last_time);
+
+  if (iter_ms < ideal_ms)
+  {
+    rate = std::round(1000.0 / ideal_ms.count());
+    std::this_thread::sleep_for(ideal_ms - iter_ms);
+  }
+  else
+  {
+    rate = std::round(1000.0 / iter_ms.count());
+  }
+
+  last_time = now;
+}

exercises/follow_line/cpp_lib/src/HAL.cpp

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+#include "HAL.hpp"
+#include <chrono>
+
+using namespace std::chrono_literals;
+
+std::shared_ptr<MotorsNode> HAL::motors_node_ = nullptr;
+std::shared_ptr<CameraNode> HAL::camera_node_ = nullptr;
+
+HAL::HAL() : Node("hal_node")
+{
+    motors_node_ = std::make_shared<MotorsNode>("/cmd_vel", 4.0, 0.3);
+    camera_node_ = std::make_shared<CameraNode>("/cam_f1_left/image_raw");
+
+    spin_thread_ = std::thread([]() {
+        rclcpp::executors::MultiThreadedExecutor executor;
+        executor.add_node(HAL::motors_node_);
+        executor.add_node(HAL::camera_node_);
+
+        while (rclcpp::ok()) {
+            executor.spin_some();
+            std::this_thread::sleep_for(11ms);
+        }
+    });
+    spin_thread_.detach();
+}
+
+void HAL::setV(const float velocity)
+{
+    if (motors_node_) {
+        motors_node_->sendV(static_cast<double>(velocity));
+    }
+}
+
+void HAL::setW(const float velocity)
+{
+    if (motors_node_) {
+        motors_node_->sendW(static_cast<double>(velocity));
+    }
+}
+
+std::shared_ptr<Image> HAL::getImage()
+{
+    if (!camera_node_) {
+        return nullptr;
+    }
+    auto image = camera_node_->getImage();
+    while (!image && rclcpp::ok()) {
+        std::this_thread::sleep_for(5ms);
+        image = camera_node_->getImage();
+    }
+    return image;
+}

exercises/follow_line/cpp_lib/src/Lap.cpp

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+#include "Lap.hpp"
+#include <iomanip>
+#include <sstream>
+#include <cmath>
+
+Lap::Lap(std::shared_ptr<OdometryNode> pose3d) : pose3d_(pose3d) {
+    reset();
+}
+
+std::string Lap::check_threshold() {
+    if (!pause_condition_) {
+        if (start_time_.time_since_epoch().count() != 0 && !lap_rest_) {
+            auto now = std::chrono::system_clock::now();
+            if (lap_time_.count() == 0) {
+                lap_time_ = now - start_time_;
+            } else {
+                lap_time_ += now - start_time_;
+            }
+            start_time_ = now;
+        }
+
+        if (start_time_.time_since_epoch().count() == 0 && lap_rest_) {
+            start_time_ = std::chrono::system_clock::now();
+            lap_rest_ = false;
+        }
+    }
+
+    if (lap_time_.count() == 0) {
+        return "0";
+    }
+
+    double total_seconds = lap_time_.count();
+    int hours = static_cast<int>(total_seconds / 3600);
+    int minutes = static_cast<int>((total_seconds - hours * 3600) / 60);
+    double seconds = total_seconds - hours * 3600 - minutes * 60;
+
+    std::stringstream ss;
+    ss << hours << ":"
+       << std::setfill('0') << std::setw(2) << minutes << ":"
+       << std::setfill('0') << std::setw(2) << static_cast<int>(seconds) << "."
+       << std::setfill('0') << std::setw(6) << static_cast<int>(std::round((seconds - std::floor(seconds)) * 1000000));
+
+    return ss.str();
+}
+
+std::string Lap::return_lap_time() {
+    return std::to_string(lap_time_.count());
+}
+
+void Lap::reset() {
+    start_time_ = std::chrono::system_clock::time_point();
+    lap_time_ = std::chrono::duration<double>::zero();
+    lap_rest_ = true;
+    buffer_ = false;
+    pause_condition_ = false;
+}
+
+void Lap::pause() {
+    pause_condition_ = true;
+}
+
+void Lap::unpause() {
+    if (pause_condition_) {
+        start_time_ = std::chrono::system_clock::now();
+    }
+    pause_condition_ = false;
+}