From 98989c618181c29aaa44433232091f936d83cd87 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Wed, 6 Apr 2022 14:19:09 +0200
Subject: [PATCH 01/37] Add exit screen
---
barrier/optic_barrier_sw/main.c | 7 ++++++-
1 file changed, 6 insertions(+), 1 deletion(-)
diff --git a/barrier/optic_barrier_sw/main.c b/barrier/optic_barrier_sw/main.c
index 9666658..0af1601 100644
--- a/barrier/optic_barrier_sw/main.c
+++ b/barrier/optic_barrier_sw/main.c
@@ -141,7 +141,7 @@ struct state {
int64_t best_time_us;
} state;
-enum screen { EMPTY, TIME, SHUTDOWN };
+enum screen { EMPTY, TIME, SHUTDOWN, EXIT };
void update_display(enum screen screen)
{
@@ -179,6 +179,11 @@ void update_display(enum screen screen)
break;
}
+ case EXIT: {
+ GUI_DisString_EN(0, 0, "Hold 5s to exit", &Font12, FONT_BACKGROUND, WHITE);
+
+ break;
+ }
}
GUI_Display();
}
From 8f4763cd2574c2a4c01b17c9d9f597a6d3112079 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Wed, 6 Apr 2022 14:19:34 +0200
Subject: [PATCH 02/37] Rename shutdown timeval to avoid conflicts
---
barrier/optic_barrier_sw/main.c | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/barrier/optic_barrier_sw/main.c b/barrier/optic_barrier_sw/main.c
index 0af1601..ae4fae9 100644
--- a/barrier/optic_barrier_sw/main.c
+++ b/barrier/optic_barrier_sw/main.c
@@ -195,20 +195,20 @@ int64_t usec_between(const struct timeval *start, const struct timeval *stop)
void shutdown_handler(bool btn_pressed)
{
- static struct timeval start;
+ static struct timeval start1;
struct timeval now;
if (!btn_pressed) {
- start = (struct timeval){0, 0};
+ start1 = (struct timeval){0, 0};
return;
}
- if (start.tv_sec == 0)
- gettimeofday(&start, NULL);
+ if (start1.tv_sec == 0)
+ gettimeofday(&start1, NULL);
gettimeofday(&now, NULL);
- if (usec_between(&start, &now) > 5*1000000) {
+ if (usec_between(&start1, &now) > 5*1000000) {
update_display(EMPTY);
System_Exit();
system("sudo shutdown -h now");
From 5a43f901c19f4f513ca09525ce7ff112f642fed9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Wed, 6 Apr 2022 14:19:40 +0200
Subject: [PATCH 03/37] Add exit handler
---
barrier/optic_barrier_sw/main.c | 22 ++++++++++++++++++++++
1 file changed, 22 insertions(+)
diff --git a/barrier/optic_barrier_sw/main.c b/barrier/optic_barrier_sw/main.c
index ae4fae9..06b254a 100644
--- a/barrier/optic_barrier_sw/main.c
+++ b/barrier/optic_barrier_sw/main.c
@@ -216,6 +216,28 @@ void shutdown_handler(bool btn_pressed)
}
}
+void exit_handler(bool btn_pressed)
+{
+ static struct timeval start2;
+ struct timeval now;
+
+ if (!btn_pressed) {
+ start2 = (struct timeval){0, 0};
+ return;
+ }
+
+ if (start2.tv_sec == 0)
+ gettimeofday(&start2, NULL);
+
+ gettimeofday(&now, NULL);
+
+ if (usec_between(&start2, &now) > 5*1000000) {
+ update_display(EMPTY);
+ System_Exit();
+ exit(0);
+ }
+}
+
int main(int argc, char *argv[])
{
// 1.System Initialization
From 50059309d162050e9f34ab345091dfb3dc4c022a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Wed, 6 Apr 2022 14:19:56 +0200
Subject: [PATCH 04/37] Run exit handler on pressing second button
---
barrier/optic_barrier_sw/main.c | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/barrier/optic_barrier_sw/main.c b/barrier/optic_barrier_sw/main.c
index 06b254a..8905e0c 100644
--- a/barrier/optic_barrier_sw/main.c
+++ b/barrier/optic_barrier_sw/main.c
@@ -280,9 +280,13 @@ int main(int argc, char *argv[])
if (digitalRead(SHUTDOWN_BUTTON) == 1) {
update_display(SHUTDOWN);
shutdown_handler(true);
+ } else if (digitalRead(UNIVERSAL_BUTTON2) == 1) {
+ update_display(EXIT);
+ exit_handler(true);
} else {
update_display(TIME);
shutdown_handler(false);
+ exit_handler(false);
}
if (after_start) {
From 2b1d8402aceffaea471393cdee04506455a50f1b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Thu, 7 Apr 2022 10:41:17 +0200
Subject: [PATCH 05/37] Add git configure file for cmake
---
barrier/optic_barrier_sw/git.h.in | 7 +++++++
1 file changed, 7 insertions(+)
create mode 100644 barrier/optic_barrier_sw/git.h.in
diff --git a/barrier/optic_barrier_sw/git.h.in b/barrier/optic_barrier_sw/git.h.in
new file mode 100644
index 0000000..0355944
--- /dev/null
+++ b/barrier/optic_barrier_sw/git.h.in
@@ -0,0 +1,7 @@
+#define GIT_AVAILABLE @GIT_AVAILABLE@
+
+#define GIT_DESCRIBE "@GIT_DESCRIBE@"
+
+#define GIT_COMMIT_HASH "@GIT_COMMIT_HASH@"
+
+#define GIT_IS_DIRTY @GIT_IS_DIRTY@
From aed04630fb7333386233e94b1618d96875c545f2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Thu, 7 Apr 2022 10:42:02 +0200
Subject: [PATCH 06/37] Add git sequence to CMakeLists
Inspired by:
https://stackoverflow.com/questions/1435953/how-can-i-pass-git-sha1-to-compiler-as-definition-using-cmake
https://github.com/andrew-hardin/cmake-git-version-tracking
---
barrier/optic_barrier_sw/CMakeLists.txt | 52 +++++++++++++++++++++++++
1 file changed, 52 insertions(+)
diff --git a/barrier/optic_barrier_sw/CMakeLists.txt b/barrier/optic_barrier_sw/CMakeLists.txt
index a9bbe30..43498d0 100644
--- a/barrier/optic_barrier_sw/CMakeLists.txt
+++ b/barrier/optic_barrier_sw/CMakeLists.txt
@@ -2,6 +2,58 @@ cmake_minimum_required(VERSION 3.1.0)
project(optic_barrier_sw)
+# Git versioning
+set(PRE_CONFIGURE_FILE "git.h.in")
+set(POST_CONFIGURE_FILE "git.h")
+
+# Check whether we have git
+execute_process(
+ COMMAND git --version
+ RESULT_VARIABLE GIT_CHECK
+)
+
+if("${GIT_CHECK}" EQUAL 0)
+ set(GIT_AVAILABLE true)
+else()
+ set(GIT_AVAILABLE false)
+endif()
+
+# Preset variables
+set(GIT_IS_DIRTY false)
+
+if(GIT_AVAILABLE)
+ # Git describe
+ execute_process(
+ COMMAND git describe --always --tags
+ OUTPUT_VARIABLE GIT_DESCRIBE
+ OUTPUT_STRIP_TRAILING_WHITESPACE
+ )
+
+ # Commit hash
+ execute_process(
+ COMMAND git log -1 --format=%h
+ OUTPUT_VARIABLE GIT_COMMIT_HASH
+ OUTPUT_STRIP_TRAILING_WHITESPACE
+ )
+
+ # Dirty
+ execute_process(
+ COMMAND git status --porcelain -uno
+ RESULT_VARIABLE GIT_DIRTY
+ )
+
+ if ("${GIT_DIRTY}" STREQUAL "")
+ set(GIT_IS_DIRTY false)
+ else()
+ set(GIT_IS_DIRTY true)
+ endif()
+endif()
+
+get_filename_component(PRE_CONFIGURE_FILE "${PRE_CONFIGURE_FILE}" ABSOLUTE)
+get_filename_component(POST_CONFIGURE_FILE "${POST_CONFIGURE_FILE}" ABSOLUTE)
+
+configure_file("${PRE_CONFIGURE_FILE}" "${POST_CONFIGURE_FILE}" @ONLY)
+
# If you want to use different compiler than arm-linux-gnueabihf-gcc, run cmake as:
# cmake -DHARDCODE_C_COMPILER=NO -DCMAKE_C_COMPILER=...
set(HARDCODE_C_COMPILER YES CACHE BOOL "Override user's (or default) value of CMAKE_C_COMPILER with 'arm-linux-gnueabihf-gcc'")
From 0b360932b355bdb16b4b3de06e2be157aff36809 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Thu, 7 Apr 2022 10:42:39 +0200
Subject: [PATCH 07/37] Display git version on exit screen
---
barrier/optic_barrier_sw/main.c | 15 +++++++++++++++
1 file changed, 15 insertions(+)
diff --git a/barrier/optic_barrier_sw/main.c b/barrier/optic_barrier_sw/main.c
index 8905e0c..e7839e1 100644
--- a/barrier/optic_barrier_sw/main.c
+++ b/barrier/optic_barrier_sw/main.c
@@ -40,6 +40,8 @@
#include "OLED_GUI.h"
#include "Show_Lib.h"
+#include "git.h"
+
#define BARRIER_SIGNAL 0 // 30
#define UNIVERSAL_BUTTON1 19 // 24
#define UNIVERSAL_BUTTON2 26 // 25
@@ -182,6 +184,19 @@ void update_display(enum screen screen)
case EXIT: {
GUI_DisString_EN(0, 0, "Hold 5s to exit", &Font12, FONT_BACKGROUND, WHITE);
+ char version[100];
+
+ if (GIT_AVAILABLE) {
+ if (GIT_IS_DIRTY) {
+ sprintf(version, "%s-dirty", GIT_DESCRIBE);
+ } else {
+ sprintf(version, "%s", GIT_DESCRIBE);
+ }
+ } else {
+ sprintf(version, "Unknown version");
+ }
+
+ GUI_DisString_EN(0, 3 * Font8.Height, version, &Font8, FONT_BACKGROUND, WHITE);
break;
}
}
From 55da123dd0c700e234e410e2ff1a22276ad1f8c3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Fri, 8 Apr 2022 09:21:07 +0200
Subject: [PATCH 08/37] Kill explicitly websocat on exit
---
barrier/optic_barrier_sw/main.c | 1 +
1 file changed, 1 insertion(+)
diff --git a/barrier/optic_barrier_sw/main.c b/barrier/optic_barrier_sw/main.c
index e7839e1..efa824a 100644
--- a/barrier/optic_barrier_sw/main.c
+++ b/barrier/optic_barrier_sw/main.c
@@ -249,6 +249,7 @@ void exit_handler(bool btn_pressed)
if (usec_between(&start2, &now) > 5*1000000) {
update_display(EMPTY);
System_Exit();
+ system("pkill websocat"); // FIXME: This is currently only way how I can force quit on websocat.
exit(0);
}
}
From 91113b4585be0adaa80c81331e240d06a94d6bcb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Fri, 8 Apr 2022 09:26:52 +0200
Subject: [PATCH 09/37] (.GI) Add git.h
---
barrier/optic_barrier_sw/.gitignore | 1 +
1 file changed, 1 insertion(+)
create mode 100644 barrier/optic_barrier_sw/.gitignore
diff --git a/barrier/optic_barrier_sw/.gitignore b/barrier/optic_barrier_sw/.gitignore
new file mode 100644
index 0000000..e0c8fd1
--- /dev/null
+++ b/barrier/optic_barrier_sw/.gitignore
@@ -0,0 +1 @@
+git.h
From e625be42c2c308711ada117d40ccd343e52494bb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Fri, 8 Apr 2022 10:30:52 +0200
Subject: [PATCH 10/37] (F) Marking version dirty
---
barrier/optic_barrier_sw/CMakeLists.txt | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/barrier/optic_barrier_sw/CMakeLists.txt b/barrier/optic_barrier_sw/CMakeLists.txt
index 43498d0..fbb436a 100644
--- a/barrier/optic_barrier_sw/CMakeLists.txt
+++ b/barrier/optic_barrier_sw/CMakeLists.txt
@@ -39,7 +39,8 @@ if(GIT_AVAILABLE)
# Dirty
execute_process(
COMMAND git status --porcelain -uno
- RESULT_VARIABLE GIT_DIRTY
+ OUTPUT_VARIABLE GIT_DIRTY
+ OUTPUT_STRIP_TRAILING_WHITESPACE
)
if ("${GIT_DIRTY}" STREQUAL "")
From 418d7dfc7f9fec2da2e0f0e5b8b0d33b40b079a2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Fri, 8 Apr 2022 10:56:36 +0200
Subject: [PATCH 11/37] Reverse the functions order when pressing buttons
---
barrier/optic_barrier_sw/main.c | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/barrier/optic_barrier_sw/main.c b/barrier/optic_barrier_sw/main.c
index efa824a..1315c02 100644
--- a/barrier/optic_barrier_sw/main.c
+++ b/barrier/optic_barrier_sw/main.c
@@ -294,11 +294,11 @@ int main(int argc, char *argv[])
}
if (digitalRead(SHUTDOWN_BUTTON) == 1) {
- update_display(SHUTDOWN);
shutdown_handler(true);
+ update_display(SHUTDOWN);
} else if (digitalRead(UNIVERSAL_BUTTON2) == 1) {
- update_display(EXIT);
exit_handler(true);
+ update_display(EXIT);
} else {
update_display(TIME);
shutdown_handler(false);
From 1133b06840bcf416886dc9708f19d36e8a1c2971 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Fri, 8 Apr 2022 10:57:00 +0200
Subject: [PATCH 12/37] Make start structs global
---
barrier/optic_barrier_sw/main.c | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/barrier/optic_barrier_sw/main.c b/barrier/optic_barrier_sw/main.c
index 1315c02..07584dc 100644
--- a/barrier/optic_barrier_sw/main.c
+++ b/barrier/optic_barrier_sw/main.c
@@ -145,6 +145,9 @@ struct state {
enum screen { EMPTY, TIME, SHUTDOWN, EXIT };
+static struct timeval start1;
+static struct timeval start2;
+
void update_display(enum screen screen)
{
GUI_Clear();
@@ -210,7 +213,6 @@ int64_t usec_between(const struct timeval *start, const struct timeval *stop)
void shutdown_handler(bool btn_pressed)
{
- static struct timeval start1;
struct timeval now;
if (!btn_pressed) {
@@ -233,7 +235,6 @@ void shutdown_handler(bool btn_pressed)
void exit_handler(bool btn_pressed)
{
- static struct timeval start2;
struct timeval now;
if (!btn_pressed) {
From ec7b18e985bbe27629f36a021baa0f88bd413132 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Fri, 8 Apr 2022 10:57:17 +0200
Subject: [PATCH 13/37] Move usec_between slightly more to the top
---
barrier/optic_barrier_sw/main.c | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/barrier/optic_barrier_sw/main.c b/barrier/optic_barrier_sw/main.c
index 07584dc..3a07efc 100644
--- a/barrier/optic_barrier_sw/main.c
+++ b/barrier/optic_barrier_sw/main.c
@@ -148,6 +148,11 @@ enum screen { EMPTY, TIME, SHUTDOWN, EXIT };
static struct timeval start1;
static struct timeval start2;
+int64_t usec_between(const struct timeval *start, const struct timeval *stop)
+{
+ return (stop->tv_sec - start->tv_sec) * 1000000LL + stop->tv_usec - start->tv_usec;
+}
+
void update_display(enum screen screen)
{
GUI_Clear();
@@ -206,11 +211,6 @@ void update_display(enum screen screen)
GUI_Display();
}
-int64_t usec_between(const struct timeval *start, const struct timeval *stop)
-{
- return (stop->tv_sec - start->tv_sec) * 1000000LL + stop->tv_usec - start->tv_usec;
-}
-
void shutdown_handler(bool btn_pressed)
{
struct timeval now;
From 399ac9d141bd5d2799c91c419102e9c25c496cd0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Fri, 8 Apr 2022 10:57:28 +0200
Subject: [PATCH 14/37] Display progress on exit/shutdown
---
barrier/optic_barrier_sw/main.c | 14 ++++++++++++++
1 file changed, 14 insertions(+)
diff --git a/barrier/optic_barrier_sw/main.c b/barrier/optic_barrier_sw/main.c
index 3a07efc..3cfcf4c 100644
--- a/barrier/optic_barrier_sw/main.c
+++ b/barrier/optic_barrier_sw/main.c
@@ -174,7 +174,14 @@ void update_display(enum screen screen)
break;
}
case SHUTDOWN: {
+ struct timeval now;
+ gettimeofday(&now, NULL);
+
GUI_DisString_EN(0, 0, "Hold 5s to pwroff", &Font12, FONT_BACKGROUND, WHITE);
+ //GUI_DisString_EN(usec_between(&start1, &now) / 41322, (Font12.Height / 2) - 1, "-", &Font12, FONT_BACKGROUND, WHITE);
+ GUI_DisString_EN(usec_between(&start1, &now) / 41322, 2*Font12.Height - 4, "_", &Font12, FONT_BACKGROUND, WHITE);
+
+
char host[NI_MAXHOST];
get_ip_address(host);
char str[100];
@@ -190,7 +197,14 @@ void update_display(enum screen screen)
break;
}
case EXIT: {
+ struct timeval now;
+ gettimeofday(&now, NULL);
+
GUI_DisString_EN(0, 0, "Hold 5s to exit", &Font12, FONT_BACKGROUND, WHITE);
+ // MAX_TIME / (DISPLAY_WIDTH - FONT_WIDTH)
+ // 5000000 / (128 - 7)
+ //GUI_DisString_EN(usec_between(&start2, &now) / 41322, Font12.Height - 2, "-", &Font12, FONT_BACKGROUND, WHITE);
+ GUI_DisString_EN(usec_between(&start2, &now) / 41322, 0, "_", &Font12, FONT_BACKGROUND, WHITE);
char version[100];
From 0393658f055b4833f3173f044a4240ecd78c6235 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Tue, 12 Apr 2022 13:00:41 +0200
Subject: [PATCH 15/37] Add Arrowhead Tools logo
---
doc/Arrowhead_tools_blue.png | Bin 0 -> 24277 bytes
1 file changed, 0 insertions(+), 0 deletions(-)
create mode 100644 doc/Arrowhead_tools_blue.png
diff --git a/doc/Arrowhead_tools_blue.png b/doc/Arrowhead_tools_blue.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d1c3202c4107473de3ce5e59115764cf88883f3
GIT binary patch
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literal 0
HcmV?d00001
From 599a7724869b72c757ac5987e222494746d7df24 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Tue, 12 Apr 2022 13:17:31 +0200
Subject: [PATCH 16/37] Add backend overlay
---
backend-arrowhead/.gitignore | 4 +++
backend-arrowhead/README.md | 47 +++++++++++++++++++++++++
backend-arrowhead/overlay.py3 | 66 +++++++++++++++++++++++++++++++++++
3 files changed, 117 insertions(+)
create mode 100644 backend-arrowhead/.gitignore
create mode 100644 backend-arrowhead/README.md
create mode 100644 backend-arrowhead/overlay.py3
diff --git a/backend-arrowhead/.gitignore b/backend-arrowhead/.gitignore
new file mode 100644
index 0000000..2c76cc4
--- /dev/null
+++ b/backend-arrowhead/.gitignore
@@ -0,0 +1,4 @@
+*.p12
+*.pub
+*.ca
+ahconf.py
diff --git a/backend-arrowhead/README.md b/backend-arrowhead/README.md
new file mode 100644
index 0000000..5cc38ea
--- /dev/null
+++ b/backend-arrowhead/README.md
@@ -0,0 +1,47 @@
+# f1tenth-scoreapp-backend-arrowhead
+_An Arrowhead compliant overlay for backend._
+
+
+## Requirements
+- `aclpy >= 0.2.0`
+ - GitHub: [https://github.com/CTU-IIG/ah-acl-py](https://github.com/CTU-IIG/ah-acl-py)
+ - Wheel: [v0.2.0](https://github.com/jara001/ah-acl-py/releases/download/v0.2.0/aclpy-0.2.0-py3-none-any.whl)
+
+
+## Usage
+
+1. Obtain certificates (`.p12`, `.pub`) for your system from your local Arrowhead Core.
+2. Obtain also the certificate authority `.ca` for your cloud.
+3. Create a configuration file `ahconf.py`.
+4. Run the `overlay.py3`.
+
+
+## Configuration example
+
+```python
+Server = ArrowheadServer(
+ address = "192.168.1.22",
+)
+
+Interface = ArrowheadInterface(
+ name = "HTTP-INSECURE-JSON",
+)
+
+Service = ArrowheadService(
+ name = "scoreapp",
+ metadata = {
+ "authorization": "secret",
+ },
+)
+
+Client = ArrowheadClient(
+ name = "overlay",
+ address = "192.168.12.22",
+ port = 4110,
+ p12file = "overlay.p12",
+ p12pass = "SomeSecurePassword",
+ cafile = "authority.ca",
+ server = Server,
+ interfaces = [Interface],
+)
+```
diff --git a/backend-arrowhead/overlay.py3 b/backend-arrowhead/overlay.py3
new file mode 100644
index 0000000..a59cadd
--- /dev/null
+++ b/backend-arrowhead/overlay.py3
@@ -0,0 +1,66 @@
+#!/usr/bin/env python3
+# overlay.py3
+"""Arrowhead Compliant overlay."""
+
+######################
+# Arrowhead Configuration
+######################
+
+from aclpy.client.client_pkcs12 import ArrowheadClient
+from aclpy.interface import ArrowheadInterface
+from aclpy.server import ArrowheadServer
+from aclpy.service import ArrowheadService
+
+exec(open("ahconf.py", "rb").read())
+"""Expected contents:
+Server = ArrowheadServer(
+ address = AH_CORE_IP_ADDRESS,
+)
+
+Interface = ArrowheadInterface(
+ name = NAME_OF_THE_INTERFACE,
+)
+
+Service = ArrowheadService(
+ name = NAME_OF_THE_SERVICE,
+)
+
+Client = ArrowheadClient(
+ name = NAME_OF_THE_SYSTEM,
+ address = SYSTEM_IP_ADDRESS,
+ port = SYSTEM_PORT,
+ pubfile = PATH_TO_PUB_FILE,
+ p12file = PATH_TO_P12_FILE,
+ p12pass = PASS_TO_P12_FILE,
+ cafile = PATH_TO_CA_FILE,
+ server = Server,
+ interfaces = [Interface],
+)
+"""
+
+import signal
+
+def exit_sequence(sig, frame):
+ Client.unregister_service(Service)
+
+
+signal.signal(signal.SIGTERM, exit_sequence)
+
+######################
+# Arrowhead Sequence
+######################
+
+import time, os
+
+if not Client.register_service(Service):
+ Client.unregister_service(Service)
+
+ if not Client.register_service(Service):
+ print (Client.last_error)
+ exit (1)
+
+print ("Registered to AHCore with:\n\tInterface ID: %d\n\tProvider ID: %d\n\tService ID: %d" % (Interface.id, Client.id, Service.id))
+
+os.system("../backend/scoreapp")
+
+exit_sequence(signal.SIGTERM, None)
From b26e2500d855578e0c8193289ad300c48fa649ae Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Tue, 12 Apr 2022 13:19:30 +0200
Subject: [PATCH 17/37] (.GI) Add scoreapp database
---
backend-arrowhead/.gitignore | 1 +
1 file changed, 1 insertion(+)
diff --git a/backend-arrowhead/.gitignore b/backend-arrowhead/.gitignore
index 2c76cc4..ca085b3 100644
--- a/backend-arrowhead/.gitignore
+++ b/backend-arrowhead/.gitignore
@@ -2,3 +2,4 @@
*.pub
*.ca
ahconf.py
+scoreapp.db
From 091e655f90ea11e034176bf352ccc02e4ef85afc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Tue, 12 Apr 2022 13:25:56 +0200
Subject: [PATCH 18/37] Get and display current branch
---
barrier/optic_barrier_sw/CMakeLists.txt | 7 +++++++
barrier/optic_barrier_sw/git.h.in | 2 ++
barrier/optic_barrier_sw/main.c | 1 +
3 files changed, 10 insertions(+)
diff --git a/barrier/optic_barrier_sw/CMakeLists.txt b/barrier/optic_barrier_sw/CMakeLists.txt
index fbb436a..9cba94b 100644
--- a/barrier/optic_barrier_sw/CMakeLists.txt
+++ b/barrier/optic_barrier_sw/CMakeLists.txt
@@ -48,6 +48,13 @@ if(GIT_AVAILABLE)
else()
set(GIT_IS_DIRTY true)
endif()
+
+ # Branch name
+ execute_process(
+ COMMAND git rev-parse --abbrev-ref HEAD
+ OUTPUT_VARIABLE GIT_BRANCH_NAME
+ OUTPUT_STRIP_TRAILING_WHITESPACE
+ )
endif()
get_filename_component(PRE_CONFIGURE_FILE "${PRE_CONFIGURE_FILE}" ABSOLUTE)
diff --git a/barrier/optic_barrier_sw/git.h.in b/barrier/optic_barrier_sw/git.h.in
index 0355944..7d56853 100644
--- a/barrier/optic_barrier_sw/git.h.in
+++ b/barrier/optic_barrier_sw/git.h.in
@@ -5,3 +5,5 @@
#define GIT_COMMIT_HASH "@GIT_COMMIT_HASH@"
#define GIT_IS_DIRTY @GIT_IS_DIRTY@
+
+#define GIT_BRANCH_NAME "@GIT_BRANCH_NAME@"
diff --git a/barrier/optic_barrier_sw/main.c b/barrier/optic_barrier_sw/main.c
index 3cfcf4c..f011d04 100644
--- a/barrier/optic_barrier_sw/main.c
+++ b/barrier/optic_barrier_sw/main.c
@@ -218,6 +218,7 @@ void update_display(enum screen screen)
sprintf(version, "Unknown version");
}
+ GUI_DisString_EN(0, 2 * Font8.Height, GIT_BRANCH_NAME, &Font8, FONT_BACKGROUND, WHITE);
GUI_DisString_EN(0, 3 * Font8.Height, version, &Font8, FONT_BACKGROUND, WHITE);
break;
}
From 548543b436b5ecaa5b9d2bc97fd8a718f2e5b8f7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Tue, 12 Apr 2022 13:30:16 +0200
Subject: [PATCH 19/37] Exit the application during exit sequence
---
backend-arrowhead/overlay.py3 | 2 ++
1 file changed, 2 insertions(+)
diff --git a/backend-arrowhead/overlay.py3 b/backend-arrowhead/overlay.py3
index a59cadd..a85d183 100644
--- a/backend-arrowhead/overlay.py3
+++ b/backend-arrowhead/overlay.py3
@@ -43,6 +43,8 @@ import signal
def exit_sequence(sig, frame):
Client.unregister_service(Service)
+ exit(0)
+
signal.signal(signal.SIGTERM, exit_sequence)
From efdad507fd3d42bc890e46fe3ad784265cfda5c1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Wed, 13 Apr 2022 12:32:58 +0200
Subject: [PATCH 20/37] Update metadata example of backend overlay to latest
version
---
backend-arrowhead/README.md | 2 ++
1 file changed, 2 insertions(+)
diff --git a/backend-arrowhead/README.md b/backend-arrowhead/README.md
index 5cc38ea..7c2ac9c 100644
--- a/backend-arrowhead/README.md
+++ b/backend-arrowhead/README.md
@@ -31,6 +31,8 @@ Service = ArrowheadService(
name = "scoreapp",
metadata = {
"authorization": "secret",
+ "endpoint_1": "barrier/1",
+ "endpoint_2": "barrier/2",
},
)
From 4dfd275d0d63b8727f57b4d9c8467a36b74ce168 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Wed, 13 Apr 2022 13:35:16 +0200
Subject: [PATCH 21/37] Add raspberry overlay as submodule
---
.gitmodules | 3 +++
barrier-arrowhead | 1 +
2 files changed, 4 insertions(+)
create mode 100644 .gitmodules
create mode 160000 barrier-arrowhead
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..0a47a39
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "barrier-arrowhead"]
+ path = barrier-arrowhead
+ url = https://github.com/jara001/ah-raspi-overlay
diff --git a/barrier-arrowhead b/barrier-arrowhead
new file mode 160000
index 0000000..e674a78
--- /dev/null
+++ b/barrier-arrowhead
@@ -0,0 +1 @@
+Subproject commit e674a783959de37d388a607c91a4c7025b925470
From 4a24b982f24991af41f2554b5e34e0ca40c01e1e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Tue, 19 Apr 2022 12:46:16 +0200
Subject: [PATCH 22/37] Update the raspberry overlay submodule
---
barrier-arrowhead | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/barrier-arrowhead b/barrier-arrowhead
index e674a78..f97761e 160000
--- a/barrier-arrowhead
+++ b/barrier-arrowhead
@@ -1 +1 @@
-Subproject commit e674a783959de37d388a607c91a4c7025b925470
+Subproject commit f97761e91c8074a58c6adf6750763f02cbc3b60e
From 6dec8272ab64b5c7d184f7423f2e7f3987437fdc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Tue, 19 Apr 2022 13:36:06 +0200
Subject: [PATCH 23/37] Roll poweroff screen and show wireguard address
---
barrier/optic_barrier_sw/main.c | 22 ++++++++++++++++++----
1 file changed, 18 insertions(+), 4 deletions(-)
diff --git a/barrier/optic_barrier_sw/main.c b/barrier/optic_barrier_sw/main.c
index f011d04..68334c5 100644
--- a/barrier/optic_barrier_sw/main.c
+++ b/barrier/optic_barrier_sw/main.c
@@ -66,7 +66,7 @@ void interrupt_optic_barrier()
pthread_mutex_unlock(&detect_mutex);
}
-int get_ip_address(char *host)
+int get_ip_address(char *host, char *wghost)
{
struct ifaddrs *ifa;
int family, s; // n;
@@ -86,7 +86,11 @@ int get_ip_address(char *host)
family = ifa->ifa_addr->sa_family;
if (family == AF_INET) {
- s = getnameinfo(ifa->ifa_addr, sizeof(struct sockaddr_in), host, NI_MAXHOST, NULL, 0, NI_NUMERICHOST);
+ if (strcmp("wg0", ifa->ifa_name) == 0) {
+ s = getnameinfo(ifa->ifa_addr, sizeof(struct sockaddr_in), wghost, NI_MAXHOST, NULL, 0, NI_NUMERICHOST);
+ } else {
+ s = getnameinfo(ifa->ifa_addr, sizeof(struct sockaddr_in), host, NI_MAXHOST, NULL, 0, NI_NUMERICHOST);
+ }
if (s != 0) {
printf("getnameinfo() failed: %s\n", gai_strerror(s));
return EXIT_FAILURE;
@@ -153,6 +157,8 @@ int64_t usec_between(const struct timeval *start, const struct timeval *stop)
return (stop->tv_sec - start->tv_sec) * 1000000LL + stop->tv_usec - start->tv_usec;
}
+bool roll = false;
+
void update_display(enum screen screen)
{
GUI_Clear();
@@ -183,9 +189,14 @@ void update_display(enum screen screen)
char host[NI_MAXHOST];
- get_ip_address(host);
+ char wg_host[NI_MAXHOST];
+ get_ip_address(host, wg_host);
char str[100];
- sprintf(str, "IP: %s", host);
+ if (roll) {
+ sprintf(str, "WG: %s", wg_host);
+ } else {
+ sprintf(str, "IP: %s", host);
+ }
GUI_DisString_EN(0, Font12.Height - 2, str, &Font12, FONT_BACKGROUND, WHITE);
char name_user[32];
@@ -223,6 +234,9 @@ void update_display(enum screen screen)
break;
}
}
+
+ roll = !roll;
+
GUI_Display();
}
From 96933c20a608dd6d52c6cce0c003b688816564d8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Tue, 19 Apr 2022 13:39:17 +0200
Subject: [PATCH 24/37] Slow down the rolling
---
barrier/optic_barrier_sw/main.c | 9 ++++++++-
1 file changed, 8 insertions(+), 1 deletion(-)
diff --git a/barrier/optic_barrier_sw/main.c b/barrier/optic_barrier_sw/main.c
index 68334c5..aa2adfd 100644
--- a/barrier/optic_barrier_sw/main.c
+++ b/barrier/optic_barrier_sw/main.c
@@ -157,6 +157,8 @@ int64_t usec_between(const struct timeval *start, const struct timeval *stop)
return (stop->tv_sec - start->tv_sec) * 1000000LL + stop->tv_usec - start->tv_usec;
}
+int roll_time = 5;
+int roll_current_time = 0;
bool roll = false;
void update_display(enum screen screen)
@@ -235,7 +237,12 @@ void update_display(enum screen screen)
}
}
- roll = !roll;
+ roll_current_time++;
+
+ if (roll_current_time >= roll_time) {
+ roll = !roll;
+ roll_current_time = 0;
+ }
GUI_Display();
}
From 0c342616e1bd6d42a04488b2dd91c97229cda7c3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Tue, 19 Apr 2022 13:39:53 +0200
Subject: [PATCH 25/37] (F) Set default value of wireguard address
---
barrier/optic_barrier_sw/main.c | 1 +
1 file changed, 1 insertion(+)
diff --git a/barrier/optic_barrier_sw/main.c b/barrier/optic_barrier_sw/main.c
index aa2adfd..cbce549 100644
--- a/barrier/optic_barrier_sw/main.c
+++ b/barrier/optic_barrier_sw/main.c
@@ -192,6 +192,7 @@ void update_display(enum screen screen)
char host[NI_MAXHOST];
char wg_host[NI_MAXHOST];
+ sprintf(wg_host, "");
get_ip_address(host, wg_host);
char str[100];
if (roll) {
From fa5ca9490ce9e8c8422260df21332bad2d9ccf49 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Tue, 19 Apr 2022 13:40:07 +0200
Subject: [PATCH 26/37] Hide wireguard address when not obtained
---
barrier/optic_barrier_sw/main.c | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/barrier/optic_barrier_sw/main.c b/barrier/optic_barrier_sw/main.c
index cbce549..bcefa4a 100644
--- a/barrier/optic_barrier_sw/main.c
+++ b/barrier/optic_barrier_sw/main.c
@@ -195,7 +195,7 @@ void update_display(enum screen screen)
sprintf(wg_host, "");
get_ip_address(host, wg_host);
char str[100];
- if (roll) {
+ if (roll && strcmp(wg_host, "") != 0) {
sprintf(str, "WG: %s", wg_host);
} else {
sprintf(str, "IP: %s", host);
From b519356104deb757fc9b8358ddfd7809bf9772c8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Wed, 20 Apr 2022 12:21:55 +0200
Subject: [PATCH 27/37] Set raspberry overlay submodule to track branch
---
.gitmodules | 1 +
1 file changed, 1 insertion(+)
diff --git a/.gitmodules b/.gitmodules
index 0a47a39..061638a 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,4 @@
[submodule "barrier-arrowhead"]
path = barrier-arrowhead
url = https://github.com/jara001/ah-raspi-overlay
+ branch = master
From 7494469f6cc543c6818499d228fc98c6126b4e16 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Wed, 20 Apr 2022 12:25:55 +0200
Subject: [PATCH 28/37] Update the raspberry overlay submodule
---
barrier-arrowhead | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/barrier-arrowhead b/barrier-arrowhead
index f97761e..4f77c43 160000
--- a/barrier-arrowhead
+++ b/barrier-arrowhead
@@ -1 +1 @@
-Subproject commit f97761e91c8074a58c6adf6750763f02cbc3b60e
+Subproject commit 4f77c4310a60eae707c335e53c1f9e6a952a293c
From d9fb602b0224bb4e598a46ebd9a8fff566f86740 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <jaroslavklapalek@seznam.cz>
Date: Wed, 20 Apr 2022 13:32:38 +0200
Subject: [PATCH 29/37] Update backend-arrowhead readme
---
backend-arrowhead/README.md | 8 ++++++++
1 file changed, 8 insertions(+)
diff --git a/backend-arrowhead/README.md b/backend-arrowhead/README.md
index 7c2ac9c..00ab1b8 100644
--- a/backend-arrowhead/README.md
+++ b/backend-arrowhead/README.md
@@ -1,6 +1,14 @@
# f1tenth-scoreapp-backend-arrowhead
_An Arrowhead compliant overlay for backend._
+This application serves as an Arrowhead overlay for the **F1Tenth Scoreapp** (backend). It registers itself as an Arrowhead Service `scoreapp` and launches the backend scoreapp itself. Provided Service is consumed by the optical barriers.
+
+The Service `scoreapp` provided by this overlay has following metadata:
+- `authorization` -- secret keyphrase for authorizing the barrier (it is used by the barrier to authorize itself with the scoreapp)
+- `endpoint_X` -- available endpoint for the barrier to connect to
+
+_Note: The amount of endpoints is not limited. Each parameter starting with `endpoint_` should be treated as an endpoint option._
+
## Requirements
- `aclpy >= 0.2.0`
From b93ff12e39a3fb330555b2e41b751c9766defb6b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <jaroslavklapalek@seznam.cz>
Date: Fri, 22 Apr 2022 13:53:45 +0200
Subject: [PATCH 30/37] Add new draft of the readme
---
README.md | 22 ++++++++++++++++++++--
1 file changed, 20 insertions(+), 2 deletions(-)
diff --git a/README.md b/README.md
index dab7926..56a4be3 100644
--- a/README.md
+++ b/README.md
@@ -1,8 +1,26 @@
-# f1tenth-scoreapp
+# F1Tenth Scoreapp
+
+**F1Tenth Scoreapp** is a complete solution for measuring lap time on a racing track, which was developed for [International F1/10 Autonomous Racing Competition](https://f1tenth.org/).
This project consists of several parts:
1. [frontend](./frontend/) (client-side React.js app)
2. [backend](./backend/) (Go server providing REST and WebSocket APIs)
-3. [optical barrier code and design](./barrier/) (KiCAD, C, Czech)
+3. [backend-arrowhead](./backend-arrowhead/) (Arrowhead Compliant overlay for launching the backend)
+4. [optical barrier code and design](./barrier/) (KiCAD, C, Czech)
+5. [barrier-arrowhead](./barrier-arrowhead/) (Arrowhead Compliant overlay for the optic barrier)
+
+
+## License
+
+F1tenth Scoreapp is released under the **TODO LICENSE**.
+
+
+## About Arrowhead Tools
+
+<img src="https://www.eclipse.org/org/research/images/research/arrowheadtools.png" alt="Arrowhead Tools logo" width="150" />
+
+This project has been developed by [Industrial Informatics Department](https://iid.ciirc.cvut.cz/) that is a part of [Czech Institute of Informatics, Robotics and Cybernetics](https://ciirc.cvut.cz/), Czech Technical University in Prague. It has received funding from the EU ECSEL Joint Undertaking and the Ministry of Education of the Czech Republic under grant agreement n° 826452 and 8A19011 (project Arrowhead Tools).
+
+The [Arrowhead Tools](https://arrowhead.eu/arrowheadtools) project aims for digitalisation and automation solutions for the European industry, which will close the gaps that hinder the IT/OT integration by introducing new technologies in an open source platform for the design and run-time engineering of IoT and System of Systems. The project will provide engineering processes, integration platform, tools and tool chains for the cost-efficient development of digitalisation, connectivity and automation system solutions in various fields of application.
From 38df38513d2f088a13887779c530862419247c25 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Tue, 3 May 2022 08:57:57 +0200
Subject: [PATCH 31/37] Add logo to backend overlay and add status messages
---
backend-arrowhead/arrowhead_logo.bmp | Bin 0 -> 2426 bytes
backend-arrowhead/overlay.py3 | 31 ++++++++++++++++++++++++++-
2 files changed, 30 insertions(+), 1 deletion(-)
create mode 100644 backend-arrowhead/arrowhead_logo.bmp
diff --git a/backend-arrowhead/arrowhead_logo.bmp b/backend-arrowhead/arrowhead_logo.bmp
new file mode 100644
index 0000000000000000000000000000000000000000..38e3ff44cbfddf66c6b943c29e72173077720399
GIT binary patch
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diff --git a/backend-arrowhead/overlay.py3 b/backend-arrowhead/overlay.py3
index a85d183..6538d3a 100644
--- a/backend-arrowhead/overlay.py3
+++ b/backend-arrowhead/overlay.py3
@@ -1,6 +1,29 @@
#!/usr/bin/env python3
# overlay.py3
"""Arrowhead Compliant overlay."""
+######################
+# Logo
+######################
+
+from PIL import Image
+# https://stackoverflow.com/questions/68957686/pillow-how-to-binarize-an-image-with-threshold
+arrowhead_logo = Image.open("arrowhead_logo.bmp") \
+ .convert("L") \
+ .point( lambda p: 255 if p > 20 else 0 ) \
+ .convert("1") \
+ .resize((16, 9))
+
+import sys
+
+def show_arrowhead_logo():
+ for y in range(arrowhead_logo.height):
+ for x in range(arrowhead_logo.width):
+ if arrowhead_logo.getpixel((x, y)):
+ sys.stdout.write("#")
+ else:
+ sys.stdout.write(" ")
+ print("")
+
######################
# Arrowhead Configuration
@@ -54,6 +77,10 @@ signal.signal(signal.SIGTERM, exit_sequence)
import time, os
+show_arrowhead_logo()
+print ("Arrowhead backend overlay starting up...\n")
+
+print ("Registering '%s' service to Arrowhead Core..." % Service.name)
if not Client.register_service(Service):
Client.unregister_service(Service)
@@ -61,8 +88,10 @@ if not Client.register_service(Service):
print (Client.last_error)
exit (1)
-print ("Registered to AHCore with:\n\tInterface ID: %d\n\tProvider ID: %d\n\tService ID: %d" % (Interface.id, Client.id, Service.id))
+print ("> Registration successful.")
+print ("> Interface ID: %d\n> Provider ID: %d\n> Service ID: %d\n" % (Interface.id, Client.id, Service.id))
+print ("Starting scoreapp...")
os.system("../backend/scoreapp")
exit_sequence(signal.SIGTERM, None)
From 2695f3a0810d7181b1a5e730626bb6cf101d9869 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Thu, 12 May 2022 15:06:07 +0200
Subject: [PATCH 32/37] Add license file
---
LICENSE | 674 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
README.md | 2 +-
2 files changed, 675 insertions(+), 1 deletion(-)
create mode 100644 LICENSE
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..f288702
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
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+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
diff --git a/README.md b/README.md
index 56a4be3..116340d 100644
--- a/README.md
+++ b/README.md
@@ -14,7 +14,7 @@ This project consists of several parts:
## License
-F1tenth Scoreapp is released under the **TODO LICENSE**.
+F1tenth Scoreapp is released under the **GPLv3** license.
## About Arrowhead Tools
From d3382158764af596c0294fc2ef671953cfdd5d81 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Mon, 23 May 2022 08:12:28 +0200
Subject: [PATCH 33/37] Move arrowhead overlays to 'arrowhead' folder
---
.gitmodules | 2 +-
{backend-arrowhead => arrowhead/backend}/.gitignore | 0
{backend-arrowhead => arrowhead/backend}/README.md | 0
.../backend}/arrowhead_logo.bmp | Bin
.../backend}/overlay.py3 | 0
barrier-arrowhead => arrowhead/barrier | 0
6 files changed, 1 insertion(+), 1 deletion(-)
rename {backend-arrowhead => arrowhead/backend}/.gitignore (100%)
rename {backend-arrowhead => arrowhead/backend}/README.md (100%)
rename {backend-arrowhead => arrowhead/backend}/arrowhead_logo.bmp (100%)
rename {backend-arrowhead => arrowhead/backend}/overlay.py3 (100%)
rename barrier-arrowhead => arrowhead/barrier (100%)
diff --git a/.gitmodules b/.gitmodules
index 061638a..c438a20 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,4 +1,4 @@
[submodule "barrier-arrowhead"]
- path = barrier-arrowhead
+ path = arrowhead/barrier
url = https://github.com/jara001/ah-raspi-overlay
branch = master
diff --git a/backend-arrowhead/.gitignore b/arrowhead/backend/.gitignore
similarity index 100%
rename from backend-arrowhead/.gitignore
rename to arrowhead/backend/.gitignore
diff --git a/backend-arrowhead/README.md b/arrowhead/backend/README.md
similarity index 100%
rename from backend-arrowhead/README.md
rename to arrowhead/backend/README.md
diff --git a/backend-arrowhead/arrowhead_logo.bmp b/arrowhead/backend/arrowhead_logo.bmp
similarity index 100%
rename from backend-arrowhead/arrowhead_logo.bmp
rename to arrowhead/backend/arrowhead_logo.bmp
diff --git a/backend-arrowhead/overlay.py3 b/arrowhead/backend/overlay.py3
similarity index 100%
rename from backend-arrowhead/overlay.py3
rename to arrowhead/backend/overlay.py3
diff --git a/barrier-arrowhead b/arrowhead/barrier
similarity index 100%
rename from barrier-arrowhead
rename to arrowhead/barrier
From 29492ea404b76ade09547ea4af4d770f0f8f55dc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Mon, 23 May 2022 08:14:30 +0200
Subject: [PATCH 34/37] Update links in the readme and use term wrapper
---
README.md | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/README.md b/README.md
index 116340d..4d8a530 100644
--- a/README.md
+++ b/README.md
@@ -5,9 +5,9 @@
This project consists of several parts:
1. [frontend](./frontend/) (client-side React.js app)
2. [backend](./backend/) (Go server providing REST and WebSocket APIs)
-3. [backend-arrowhead](./backend-arrowhead/) (Arrowhead Compliant overlay for launching the backend)
+3. [Arrowhead backend wrapper](./arrowhead/backend/) (Arrowhead Compliant wrapper for launching the backend)
4. [optical barrier code and design](./barrier/) (KiCAD, C, Czech)
-5. [barrier-arrowhead](./barrier-arrowhead/) (Arrowhead Compliant overlay for the optic barrier)
+5. [Arrowhead barrier wrapper](./barrier-arrowhead/) (Arrowhead Compliant wrapper for the optic barrier)
From 4cb998bc6492c754156ed6228d4d27b4700e905c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Mon, 23 May 2022 08:16:22 +0200
Subject: [PATCH 35/37] (F) Path to the scoreapp in Arrowhead wrapper
---
arrowhead/backend/overlay.py3 | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/arrowhead/backend/overlay.py3 b/arrowhead/backend/overlay.py3
index 6538d3a..107a712 100644
--- a/arrowhead/backend/overlay.py3
+++ b/arrowhead/backend/overlay.py3
@@ -92,6 +92,6 @@ print ("> Registration successful.")
print ("> Interface ID: %d\n> Provider ID: %d\n> Service ID: %d\n" % (Interface.id, Client.id, Service.id))
print ("Starting scoreapp...")
-os.system("../backend/scoreapp")
+os.system("../../backend/scoreapp")
exit_sequence(signal.SIGTERM, None)
From 39b5ab7c5ddc8bfb062b71faa589ff731335fa2b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Mon, 23 May 2022 08:23:23 +0200
Subject: [PATCH 36/37] Change the license to TODO until resolved
---
README.md | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/README.md b/README.md
index 4d8a530..4918a71 100644
--- a/README.md
+++ b/README.md
@@ -14,7 +14,7 @@ This project consists of several parts:
## License
-F1tenth Scoreapp is released under the **GPLv3** license.
+F1tenth Scoreapp is released under the **TODO** license. Reach us for more information.
## About Arrowhead Tools
From ee001da45f3cc9df35d2fb643982a7e9a85ea8c5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaroslav=20Klap=C3=A1lek?= <klapajar@fel.cvut.cz>
Date: Mon, 23 May 2022 08:24:38 +0200
Subject: [PATCH 37/37] Rename the license file
---
LICENSE => LICENSE.tobeused | 0
1 file changed, 0 insertions(+), 0 deletions(-)
rename LICENSE => LICENSE.tobeused (100%)
diff --git a/LICENSE b/LICENSE.tobeused
similarity index 100%
rename from LICENSE
rename to LICENSE.tobeused