Add Arrowhead wrappers

.gitmodules

@@ -0,0 +1,4 @@
+[submodule "barrier-arrowhead"]
+	path = arrowhead/barrier
+	url = https://github.com/jara001/ah-raspi-overlay
+	branch = master

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. [Arrowhead backend wrapper](./arrowhead/backend/) (Arrowhead Compliant wrapper for launching the backend)
+4. [optical barrier code and design](./barrier/) (KiCAD, C, Czech)
+5. [Arrowhead barrier wrapper](./barrier-arrowhead/) (Arrowhead Compliant wrapper for the optic barrier)
 
 ![Optical barrier based on Raspberry Pi Zero](doc/barrier.jpg)
+
+
+## License
+
+F1tenth Scoreapp is released under the **TODO** license. Reach us for more information.
+
+
+## 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.

arrowhead/backend/.gitignore

@@ -0,0 +1,5 @@
+*.p12
+*.pub
+*.ca
+ahconf.py
+scoreapp.db

arrowhead/backend/README.md

@@ -0,0 +1,57 @@
+# 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`
+  - 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",
+        "endpoint_1": "barrier/1",
+        "endpoint_2": "barrier/2",
+    },
+)
+
+Client = ArrowheadClient(
+    name = "overlay",
+    address = "192.168.12.22",
+    port = 4110,
+    p12file = "overlay.p12",
+    p12pass = "SomeSecurePassword",
+    cafile = "authority.ca",
+    server = Server,
+    interfaces = [Interface],
+)
+```

arrowhead/backend/overlay.py3

@@ -0,0 +1,97 @@
+#!/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
+######################
+
+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)
+
+    exit(0)
+
+
+signal.signal(signal.SIGTERM, exit_sequence)
+
+######################
+# Arrowhead 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)
+
+    if not Client.register_service(Service):
+        print (Client.last_error)
+        exit (1)
+
+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)

barrier/optic_barrier_sw/.gitignore

@@ -0,0 +1 @@
+git.h

barrier/optic_barrier_sw/CMakeLists.txt

@@ -2,6 +2,66 @@ 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("${GIT_CHECK}" EQUAL 0)
+    set(GIT_AVAILABLE true)
+else()
+    set(GIT_AVAILABLE false)
+endif()
+
+# Preset variables
+set(GIT_IS_DIRTY false)
+
+if(GIT_AVAILABLE)
+    # Git describe
+    execute_process(
+        COMMAND git describe --always --tags
+        OUTPUT_VARIABLE GIT_DESCRIBE
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+
+    # Commit hash
+    execute_process(
+        COMMAND git log -1 --format=%h
+        OUTPUT_VARIABLE GIT_COMMIT_HASH
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+
+    # Dirty
+    execute_process(
+        COMMAND git status --porcelain -uno
+        OUTPUT_VARIABLE GIT_DIRTY
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+
+    if ("${GIT_DIRTY}" STREQUAL "")
+        set(GIT_IS_DIRTY false)
+    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 "${PRE_CONFIGURE_FILE}" ABSOLUTE)
+get_filename_component(POST_CONFIGURE_FILE "${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'")

barrier/optic_barrier_sw/git.h.in

@@ -0,0 +1,9 @@
+#define GIT_AVAILABLE @GIT_AVAILABLE@
+
+#define GIT_DESCRIBE "@GIT_DESCRIBE@"
+
+#define GIT_COMMIT_HASH "@GIT_COMMIT_HASH@"
+
+#define GIT_IS_DIRTY @GIT_IS_DIRTY@
+
+#define GIT_BRANCH_NAME "@GIT_BRANCH_NAME@"