Merge branch 'master' into MinyazevR-grid-improvements

Author: MinyazevR

.clang-tidy

@@ -76,7 +76,7 @@ misc-throw-by-value-catch-by-reference,
 misc-unconventional-assign-operator,
 misc-uniqueptr-reset-release,
 modernize-avoid-bind,
-modernize-concat-nested-namespaces,
+#modernize-concat-nested-namespaces,
 modernize-deprecated-headers,
 modernize-deprecated-ios-base-aliases,
 modernize-loop-convert,
@@ -96,7 +96,7 @@ modernize-use-bool-literals,
 modernize-use-emplace,
 modernize-use-equals-default,
 modernize-use-equals-delete,
-modernize-use-nodiscard,
+#modernize-use-nodiscard,
 modernize-use-noexcept,
 modernize-use-nullptr,
 modernize-use-override,

buildScripts/github/run_tests.sh

@@ -19,3 +19,10 @@ pushd "bin" && eval "$TESTS" && popd
 [ -r tests_qrs.7z ] || curl -Lo tests_qrs.7z https://dl.trikset.com/edu/.solutions20200701/testing_small.7z
 which 7z &> /dev/null && 7z -y x tests_qrs.7z || 7za x tests_qrs.7z
 python3.${TRIK_PYTHON3_VERSION_MINOR} "$(dirname $(realpath ${BASH_SOURCE[0]}))"/../tests/fieldstest.py bin/2D-model testing_small
+
+XML_PREPOCESSOR_TEST_DIR="$(dirname $(realpath ${BASH_SOURCE[0]}))"/../tests/xml-preprocessor-tests/
+XML_PREPOCESSOR_OUTPUT_FILE="$XML_PREPOCESSOR_TEST_DIR/system_library.xml"
+XML_PREPOCESSOR_TEST_FILE="$XML_PREPOCESSOR_TEST_DIR/system_library.qrs"
+XML_PREPOCESSOR_EXPECTED_FILE="$XML_PREPOCESSOR_TEST_DIR/system_library_expected.xml"
+TRIK_PREPROCESSOR_XML_OUTPUT="$XML_PREPOCESSOR_OUTPUT_FILE" bin/2D-model --close "$XML_PREPOCESSOR_TEST_FILE" || true
+diff "$XML_PREPOCESSOR_OUTPUT_FILE" "$XML_PREPOCESSOR_EXPECTED_FILE" || exit 1

buildScripts/tests/xml-preprocessor-tests/system_library.qrs

@@ -0,0 +1,61 @@
+<constraints>
+    <timelimit value="10000"/>
+    <event settedUpInitially="true">
+        <condition>
+            <timer forceDropOnTimeout="false" timeout="5000"/>
+        </condition>
+        <triggers>
+            <success/>
+        </triggers>
+    </event>
+    <event settedUpInitially="true">
+        <condition>
+            <timer forceDropOnTimeout="false" timeout="10000"/>
+        </condition>
+        <triggers>
+            <setUp id="mock_id"/>
+            <success/>
+        </triggers>
+    </event>
+    <event settedUpInitially="true">
+        <condition>
+            <not>
+                <inside objectId="skittle" objectPoint="all" regionId="zone1"/>
+            </not>
+        </condition>
+        <triggers>
+            <message text="Object skittle not inside zone"/>
+            <success/>
+        </triggers>
+    </event>
+    <event id="id_1" settedUpInitially="true">
+        <condition>
+            <not>
+                <inside objectId="object" objectPoint="any" regionId="zone1"/>
+            </not>
+        </condition>
+        <triggers>
+            <setter name="score">
+                <sum>
+                    <variableValue name="score"/>
+                    <variableValue name="sumVariable"/>
+                </sum>
+            </setter>
+            <message text="Points scored: ${score}"/>
+        </triggers>
+    </event>
+    <event id="id_2" settedUpInitially="true">
+        <condition>
+            <inside objectId="object" objectPoint="all" regionId="zone1"/>
+        </condition>
+        <triggers>
+            <setter name="score">
+                <sum>
+                    <variableValue name="score"/>
+                    <variableValue name="sumVariable"/>
+                </sum>
+            </setter>
+            <message text="Points scored: ${score}"/>
+        </triggers>
+    </event>
+</constraints>

buildScripts/tests/xml-preprocessor-tests/system_library_expected.xml

@@ -9,6 +9,7 @@ rsync -a "$INSTALLER_ROOT"/licenses/Box2D-license*.txt                      "$PW
 mkdir -p "$PWD"/../data/plugins/editors
 mkdir -p "$PWD"/../data/plugins/tools
 rsync -a  "$BIN_DIR"/help                                                    "$PWD"/../data
+rsync -a  "$BIN_DIR"/templates                                               "$PWD"/../data
 rsync -a  "$BIN_DIR"/images                                                  "$PWD"/../data
 rsync -a  "$BIN_DIR"/palettes                                                "$PWD"/../data
 rsync -a  "$BIN_DIR"/externalToolsConfig                                     "$PWD"/../data

installer/packages/trik-studio/ru.qreal.root.trik_studio_kernel/meta/prebuild-common.sh

@@ -1,4 +1,5 @@
 pathToImages=./../resources/images/iconset1/
+pathToTemplates=./../resources/templates
 pathToHelp=./../resources/help/
 pathToTranslations=./../resources/translations/
 pathToTrikRuntime=./../resources/trikRuntime/

installer/platform/trik-studio-linux-gnu-platform.config

@@ -1,4 +1,5 @@
 pathToImages=./../Resources/images/iconset1/
+pathToTemplates=./../Resources/templates
 pathToHelp=./../Resources/help/
 pathToTranslations=./../Resources/translations/
 pathToTrikRuntime=./../Resources/trikRuntime/

installer/platform/trik-studio-mac-platform.config

@@ -34,6 +34,10 @@ class InterpreterControlInterface;
 
 namespace twoDModel {
 
+namespace templates {
+class TemplatesParserApi;
+}
+
 namespace constraints {
 class ConstraintsChecker;
 }
@@ -54,7 +58,7 @@ class TWO_D_MODEL_EXPORT Model : public QObject
 	/// Dependency injection for the physics engine
 	explicit Model(physics::PhysicsEngineFactory *engineFactory,
 	               QObject *parent = nullptr);
-	~Model();
+	~Model() override;
 
 	void init(qReal::ErrorReporterInterface &errorReporter
 			, kitBase::InterpreterControlInterface &interpreterControl
@@ -81,6 +85,9 @@ class TWO_D_MODEL_EXPORT Model : public QObject
 	QDomDocument serialize() const;
 	void deserialize(const QDomDocument &model);
 
+	QHash<QString, QDomDocument> generateTemplates(const QString &path);
+	void loadTemplates();
+
 	/// Add new robot model
 	/// @param robotModel Model to be added
 	/// @param pos Initial positon of robot model
@@ -107,6 +114,8 @@ class TWO_D_MODEL_EXPORT Model : public QObject
 	/// @param xml blobs description in xml format
 	void blobsChanged(const QDomDocument &xml);
 
+	void templatesChanged(const QHash<QString, QDomDocument> &xmls);
+
 	/// Emitted after new robot model added
 	/// @param robotModel Pointer to robot model which was removed
 	void robotAdded(twoDModel::model::RobotModel *robotModel);
@@ -121,12 +130,15 @@ private Q_SLOTS:
 
 private:
 	void initPhysics();
+	bool parseTemplates(const QDomElement &templates);
+	bool proccessTemplates(const QDomElement &constraintsXml);
 
 	QPointer<Settings> mSettings; //Has ownership
 	QPointer<MetricCoordinateSystem> mMetricCoordinateSystem; //Has ownership
 	WorldModel mWorldModel;
 	Timeline mTimeline;
 	QScopedPointer<constraints::ConstraintsChecker> mChecker;
+	QScopedPointer<templates::TemplatesParserApi> mTemplatesParserApi;
 	RobotModel * mRobotModel {}; //Has ownership
 	qReal::ErrorReporterInterface *mErrorReporter;  // Doesn`t take ownership.
 	qReal::LogicalModelAssistInterface *mLogicalModel;  // Doesn`t take ownership.

plugins/robots/common/twoDModel/include/twoDModel/engine/model/model.h

@@ -83,7 +83,9 @@ class TWO_D_MODEL_EXPORT TwoDModelWidget : public QWidget
 	SensorItem *sensorItem(const kitBase::robotModel::PortInfo &port);
 	void setSensorVisible(const kitBase::robotModel::PortInfo &port, bool isVisible);
 
-	void loadXmls(const QDomDocument &model, bool withUndo = false);
+	void loadModelXmls(const QDomDocument &model, bool withUndo = false);
+
+	void loadTemplatesXmls();
 
 	/// Returns a reference to a model part of 2D model MVC architecture.
 	model::Model &model() const;
@@ -148,9 +150,11 @@ public Q_SLOTS:
 private Q_SLOTS:
 	void saveWorldModelToRepo();
 	void saveBlobsToRepo();
+	void saveTemplatesToRepo(const QHash<QString, QDomDocument> &templates);
 
 	void saveWorldModel();
 	void loadWorldModel();
+	void loadTemplates();
 	void loadWorldModelWithoutRobot();
 
 	void onSelectionChange();

plugins/robots/common/twoDModel/include/twoDModel/engine/view/twoDModelWidget.h

@@ -38,7 +38,7 @@ bool LoadWorldCommand::restoreState()
 
 void LoadWorldCommand::loadWorld(const QDomDocument &world)
 {
-	mWidget.loadXmls(world, true);
+	mWidget.loadModelXmls(world, true);
 	Q_EMIT mWidget.model().modelChanged(mWidget.generateWorldModelXml());
 	Q_EMIT mWidget.model().blobsChanged(mWidget.generateBlobsXml());
 }