moved ugv_sdk out from sub-folder

apps/scout_monitor/tests/CMakeLists.txt

@@ -0,0 +1,15 @@
+# Add executables
+add_executable(test_scout_monitor test_scout_monitor.cpp)
+target_link_libraries(test_scout_monitor monitor)
+
+add_executable(test_scout_monitor_virtual test_scout_monitor_virtual.cpp)
+target_link_libraries(test_scout_monitor_virtual monitor)
+
+# add_executable(test_ncurses test_ncurses.cpp)
+# target_link_libraries(test_ncurses monitor)
+
+# add_executable(test_ncolor test_ncolor.c)
+# target_link_libraries(test_ncolor monitor)
+
+# add_executable(test_ncolor2 test_ncolor2.cpp)
+# target_link_libraries(test_ncolor2 monitor)

apps/scout_monitor/tests/test_ncolor.c

@@ -0,0 +1,158 @@
+/* color-demo.c */
+// source: https://www.linuxjournal.com/content/about-ncurses-colors-0
+
+#include <curses.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+int is_bold(int fg);
+void init_colorpairs(void);
+short curs_color(int fg);
+int colornum(int fg, int bg);
+void setcolor(int fg, int bg);
+void unsetcolor(int fg, int bg);
+
+void init_colorpairs(void)
+{
+    int fg, bg;
+    int colorpair;
+
+    for (bg = 0; bg <= 7; bg++)
+    {
+        for (fg = 0; fg <= 7; fg++)
+        {
+            colorpair = colornum(fg, bg);
+            init_pair(colorpair, curs_color(fg), curs_color(bg));
+        }
+    }
+}
+
+short curs_color(int fg)
+{
+    switch (7 & fg)
+    {       /* RGB */
+    case 0: /* 000 */
+        return (COLOR_BLACK);
+    case 1: /* 001 */
+        return (COLOR_BLUE);
+    case 2: /* 010 */
+        return (COLOR_GREEN);
+    case 3: /* 011 */
+        return (COLOR_CYAN);
+    case 4: /* 100 */
+        return (COLOR_RED);
+    case 5: /* 101 */
+        return (COLOR_MAGENTA);
+    case 6: /* 110 */
+        return (COLOR_YELLOW);
+    case 7: /* 111 */
+        return (COLOR_WHITE);
+    }
+}
+
+int colornum(int fg, int bg)
+{
+    int B, bbb, ffff;
+
+    B = 1 << 7;
+    bbb = (7 & bg) << 4;
+    ffff = 7 & fg;
+
+    return (B | bbb | ffff);
+}
+
+void setcolor(int fg, int bg)
+{
+    /* set the color pair (colornum) and bold/bright (A_BOLD) */
+
+    attron(COLOR_PAIR(colornum(fg, bg)));
+    if (is_bold(fg))
+    {
+        attron(A_BOLD);
+    }
+}
+
+void unsetcolor(int fg, int bg)
+{
+    /* unset the color pair (colornum) and
+       bold/bright (A_BOLD) */
+
+    attroff(COLOR_PAIR(colornum(fg, bg)));
+    if (is_bold(fg))
+    {
+        attroff(A_BOLD);
+    }
+}
+
+int is_bold(int fg)
+{
+    /* return the intensity bit */
+
+    int i;
+
+    i = 1 << 3;
+    return (i & fg);
+}
+
+int main(void)
+{
+    int fg, bg;
+
+    /* initialize curses */
+
+    initscr();
+    keypad(stdscr, TRUE);
+    cbreak();
+    noecho();
+
+    /* initialize colors */
+
+    if (has_colors() == FALSE)
+    {
+        endwin();
+        puts("Your terminal does not support color");
+        exit(1);
+    }
+
+    start_color();
+    init_colorpairs();
+
+    /* draw test pattern */
+
+    if ((LINES < 24) || (COLS < 80))
+    {
+        endwin();
+        puts("Your terminal needs to be at least 80x24");
+        exit(2);
+    }
+
+    mvaddstr(0, 35, "COLOR DEMO");
+    mvaddstr(2, 0, "low intensity text colors (0-7)");
+    mvaddstr(12, 0, "high intensity text colors (8-15)");
+
+    for (bg = 0; bg <= 7; bg++)
+    {
+        for (fg = 0; fg <= 7; fg++)
+        {
+            setcolor(fg, bg);
+            mvaddstr(fg + 3, bg * 10, "...test...");
+            unsetcolor(fg, bg);
+        }
+
+        for (fg = 8; fg <= 15; fg++)
+        {
+            setcolor(fg, bg);
+            mvaddstr(fg + 5, bg * 10, "...test...");
+            unsetcolor(fg, bg);
+        }
+    }
+
+    mvaddstr(LINES - 1, 0, "press any key to quit");
+
+    refresh();
+
+    getch();
+    endwin();
+
+    exit(0);
+}

apps/scout_monitor/tests/test_ncolor2.cpp

@@ -0,0 +1,65 @@
+#include "monitor/ncolors.hpp"
+
+using namespace westonrobot;
+
+int main(void)
+{
+    int fg, bg;
+
+    /* initialize curses */
+
+    initscr();
+    keypad(stdscr, TRUE);
+    cbreak();
+    noecho();
+
+    /* initialize colors */
+
+    if (has_colors() == FALSE)
+    {
+        endwin();
+        puts("Your terminal does not support color");
+        return 1;
+    }
+
+    NColors::InitColors();
+
+    /* draw test pattern */
+
+    if ((LINES < 24) || (COLS < 80))
+    {
+        endwin();
+        puts("Your terminal needs to be at least 80x24");
+        return 2;
+    }
+
+    mvaddstr(0, 35, "COLOR DEMO");
+    mvaddstr(2, 0, "low intensity text colors (0-7)");
+    mvaddstr(12, 0, "high intensity text colors (8-15)");
+
+    for (bg = 0; bg <= 7; bg++)
+    {
+        for (fg = 0; fg <= 7; fg++)
+        {
+            NColors::SetColor(fg, bg);
+            mvaddstr(fg + 3, bg * 10, "...test...");
+            NColors::UnsetColor(fg, bg);
+        }
+
+        for (fg = 8; fg <= 15; fg++)
+        {
+            NColors::SetColor(fg, bg);
+            mvaddstr(fg + 5, bg * 10, "...test...");
+            NColors::UnsetColor(fg, bg);
+        }
+    }
+
+    mvaddstr(LINES - 1, 0, "press any key to quit");
+
+    refresh();
+
+    getch();
+    endwin();
+
+    return 0;
+}

apps/scout_monitor/tests/test_ncurses.cpp

@@ -0,0 +1,118 @@
+#include <panel.h>
+#include <string.h>
+
+#define NLINES 10
+#define NCOLS 40
+
+void init_wins(WINDOW **wins, int n);
+void win_show(WINDOW *win, char *label, int label_color);
+void print_in_middle(WINDOW *win, int starty, int startx, int width, char *string, chtype color);
+
+int main()
+{	WINDOW *my_wins[3];
+	PANEL  *my_panels[3];
+	PANEL  *top;
+	int ch;
+
+	/* Initialize curses */
+	initscr();
+	start_color();
+	cbreak();
+	noecho();
+	keypad(stdscr, TRUE);
+
+	/* Initialize all the colors */
+	init_pair(1, COLOR_RED, COLOR_BLACK);
+	init_pair(2, COLOR_GREEN, COLOR_BLACK);
+	init_pair(3, COLOR_BLUE, COLOR_BLACK);
+	init_pair(4, COLOR_CYAN, COLOR_BLACK);
+
+	init_wins(my_wins, 3);
+	
+	/* Attach a panel to each window */ 	/* Order is bottom up */
+	my_panels[0] = new_panel(my_wins[0]); 	/* Push 0, order: stdscr-0 */
+	my_panels[1] = new_panel(my_wins[1]); 	/* Push 1, order: stdscr-0-1 */
+	my_panels[2] = new_panel(my_wins[2]); 	/* Push 2, order: stdscr-0-1-2 */
+
+	/* Set up the user pointers to the next panel */
+	set_panel_userptr(my_panels[0], my_panels[1]);
+	set_panel_userptr(my_panels[1], my_panels[2]);
+	set_panel_userptr(my_panels[2], my_panels[0]);
+
+	/* Update the stacking order. 2nd panel will be on top */
+	update_panels();
+
+	/* Show it on the screen */
+	attron(COLOR_PAIR(4));
+	mvprintw(LINES - 2, 0, "Use tab to browse through the windows (F1 to Exit)");
+	attroff(COLOR_PAIR(4));
+	doupdate();
+
+	top = my_panels[2];
+	while((ch = getch()) != KEY_F(1))
+	{	switch(ch)
+		{	case 9:
+				top = (PANEL *)panel_userptr(top);
+				top_panel(top);
+				break;
+		}
+		update_panels();
+		doupdate();
+	}
+	endwin();
+	return 0;
+}
+
+/* Put all the windows */
+void init_wins(WINDOW **wins, int n)
+{	int x, y, i;
+	char label[80];
+
+	y = 2;
+	x = 10;
+	for(i = 0; i < n; ++i)
+	{	wins[i] = newwin(NLINES, NCOLS, y, x);
+		sprintf(label, "Window Number %d", i + 1);
+		win_show(wins[i], label, i + 1);
+		y += 3;
+		x += 7;
+	}
+}
+
+/* Show the window with a border and a label */
+void win_show(WINDOW *win, char *label, int label_color)
+{	int startx, starty, height, width;
+
+	getbegyx(win, starty, startx);
+	getmaxyx(win, height, width);
+
+	box(win, 0, 0);
+	mvwaddch(win, 2, 0, ACS_LTEE); 
+	mvwhline(win, 2, 1, ACS_HLINE, width - 2); 
+	mvwaddch(win, 2, width - 1, ACS_RTEE); 
+	
+	print_in_middle(win, 1, 0, width, label, COLOR_PAIR(label_color));
+}
+
+void print_in_middle(WINDOW *win, int starty, int startx, int width, char *string, chtype color)
+{	int length, x, y;
+	float temp;
+
+	if(win == NULL)
+		win = stdscr;
+	getyx(win, y, x);
+	if(startx != 0)
+		x = startx;
+	if(starty != 0)
+		y = starty;
+	if(width == 0)
+		width = 80;
+
+	length = strlen(string);
+	temp = (width - length)/ 2;
+	x = startx + (int)temp;
+	wattron(win, color);
+	mvwprintw(win, y, x, "%s", string);
+	wattroff(win, color);
+	refresh();
+}

apps/scout_monitor/tests/test_scout_monitor.cpp

@@ -0,0 +1,33 @@
+#include <signal.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#include <iostream>
+
+#include "monitor/scout_monitor.hpp"
+
+using namespace westonrobot;
+
+ScoutMonitor monitor;
+
+void SignalHandler(int s)
+{
+    printf("Caught signal %d\n", s);
+    monitor.Terminate();
+    exit(1);
+}
+
+int main(int argc, char **argv)
+{
+    struct sigaction sigIntHandler;
+    sigIntHandler.sa_handler = SignalHandler;
+    sigemptyset(&sigIntHandler.sa_mask);
+    sigIntHandler.sa_flags = 0;
+    sigaction(SIGINT, &sigIntHandler, NULL);
+
+    std::cout << "scout monitor started" << std::endl;
+    monitor.Run("can1");
+
+    return 0;
+}

apps/scout_monitor/tests/test_scout_monitor_virtual.cpp

@@ -0,0 +1,33 @@
+#include <signal.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#include <iostream>
+
+#include "monitor/scout_monitor.hpp"
+
+using namespace westonrobot;
+
+ScoutMonitor monitor;
+
+void SignalHandler(int s)
+{
+    printf("Caught signal %d\n", s);
+    monitor.Terminate();
+    exit(1);
+}
+
+int main(int argc, char **argv)
+{
+    struct sigaction sigIntHandler;
+    sigIntHandler.sa_handler = SignalHandler;
+    sigemptyset(&sigIntHandler.sa_mask);
+    sigIntHandler.sa_flags = 0;
+    sigaction(SIGINT, &sigIntHandler, NULL);
+
+    std::cout << "scout monitor started" << std::endl;
+    monitor.Run();
+
+    return 0;
+}