From 6109f9c7ecca4ad20573bcf505a41dbfcc284ef7 Mon Sep 17 00:00:00 2001 From: MinyazevR Date: Tue, 12 May 2026 03:24:31 +0300 Subject: [PATCH 1/8] Remove the display widget emulator --- .gitmodules | 3 +- buildScripts/github/install.sh | 8 +-- .../trikEmulation/displaywidgetemu.h | 27 ---------- .../trikEmulation/trikdisplayemu.h | 6 --- .../trikKitInterpreterCommon/trikbrick.h | 10 +--- .../src/trikEmulation/trikdisplayemu.cpp | 6 --- .../trikKitInterpreterCommon.pri | 1 - .../thirdparty/trikRuntime/trikControl.pri | 53 +++++++++++++++++++ .../robots/thirdparty/trikRuntime/trikRuntime | 2 +- .../thirdparty/trikRuntime/trikRuntime.pro | 9 +--- 10 files changed, 63 insertions(+), 62 deletions(-) delete mode 100644 plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikEmulation/displaywidgetemu.h create mode 100644 plugins/robots/thirdparty/trikRuntime/trikControl.pri diff --git a/.gitmodules b/.gitmodules index 3efc2246e9..16017cfbf3 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,7 +1,6 @@ [submodule "plugins/robots/thirdparty/trikRuntime"] path = plugins/robots/thirdparty/trikRuntime/trikRuntime - url = https://github.com/trikset/trikRuntime - branch = master + url = https://github.com/MinyazevR/trikRuntime [submodule "qrtest/thirdparty/googletest/googletest"] path = qrtest/thirdparty/googletest/googletest url = https://github.com/google/googletest diff --git a/buildScripts/github/install.sh b/buildScripts/github/install.sh index 20ca0678f4..c09c137e50 100755 --- a/buildScripts/github/install.sh +++ b/buildScripts/github/install.sh @@ -6,7 +6,7 @@ XCODE_VERSION=${XCODE_VERSION:-15.3} SCRIPT_DIR="$(dirname "$(realpath "${BASH_SOURCE[0]}")")" source "$SCRIPT_DIR/utilities.sh" -qt_archives=("qtbase" "qtmultimedia" "qtsvg" "qtscript" "qttools" "qtserialport" "qtimageformats" "qtdeclarative" "qtquickcontrols2" "qttranslations") +qt_archives=("qtbase" "qtmultimedia" "qtsvg" "qtscript" "qttools" "qtserialport" "qtimageformats" "qtdeclarative" "qttranslations") qt_modules=("qtscript") case "$(uname)" in Darwin) @@ -50,8 +50,8 @@ case "$(uname)" in qt5-multimedia-devel qt5-svg-devel qt5-script-devel qt5-tools qt5-serialport-devel elif [ "$ID" = "ubuntu" ]; then sudo apt-get update && sudo apt-get install -y --no-install-recommends ccache curl make bear libusb-1.0-0-dev \ - qtscript5-dev qttools5-dev-tools qtmultimedia5-dev libqt5serialport5-dev libqt5svg5-dev qtdeclarative5-dev \ - libudev-dev "$TRIK_PYTHON"-dev qtbase5-private-dev qtquickcontrols2-5-dev qtwayland5 libqscintilla2-qt5-dev libquazip5-dev + qtscript5-dev qttools5-dev-tools qtmultimedia5-dev libqt5serialport5-dev libqt5svg5-dev \ + libudev-dev "$TRIK_PYTHON"-dev qtbase5-private-dev qtwayland5 libqscintilla2-qt5-dev libquazip5-dev elif [[ "$ID" = "rocky" || "$ID" = '"rocky"' ]]; then GCC_VERSION=${GCC_VERSION:-13} sudo yum update -y && sudo yum install -y --setopt=install_weak_deps=False epel-release @@ -66,7 +66,7 @@ case "$(uname)" in echo $INSTALL_INSTALLER_ENVIRONMENT if [ "$INSTALL_INSTALLER_ENVIRONMENT" != "true" ]; then sudo yum install -y --setopt=install_weak_deps=False qt5-qtscript-devel qt5-qttools-devel qt5-qtmultimedia-devel qt5-qtserialport-devel \ - qt5-qtsvg-devel qt5-qtbase-devel qt5-qtbase-private-devel qt5-qtquickcontrols2 qt5-qtdeclarative-devel qt5-qtwayland + qt5-qtsvg-devel qt5-qtbase-devel qt5-qtbase-private-devel qt5-qtwayland else sudo yum install -y --setopt=install_weak_deps=False libX11-xcb libXext libxkbcommon-x11 fontconfig freetype libXrender #libQt5WaylandCompositor.so.5.15: libQt5Quick.so.5 libQt5Qml.so.5 libQt5QmlModels.so.5 diff --git a/plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikEmulation/displaywidgetemu.h b/plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikEmulation/displaywidgetemu.h deleted file mode 100644 index c27b910065..0000000000 --- a/plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikEmulation/displaywidgetemu.h +++ /dev/null @@ -1,27 +0,0 @@ -/* Copyright 2016-2017 CyberTech Labs Ltd. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. */ - -#pragma once - -#include "trikControl/displayWidgetInterface.h" - -namespace trik { - -class DisplayWidgetEmu : trikControl::DisplayWidgetInterface -{ - Q_OBJECT -}; - -} - diff --git a/plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikEmulation/trikdisplayemu.h b/plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikEmulation/trikdisplayemu.h index d964316ed2..a93ec3f5bf 100644 --- a/plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikEmulation/trikdisplayemu.h +++ b/plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikEmulation/trikdisplayemu.h @@ -31,12 +31,6 @@ class Display; class TrikDisplayEmu : public trikControl::DisplayInterface { Q_OBJECT - - // Hide this strange access function to prevent problems, it violates LoD - // To prevent UB the exception is thrown - trikControl::DisplayWidgetInterface &graphicsWidget() override; - - // DisplayInterface interface public: explicit TrikDisplayEmu(const QSharedPointer &model); void init(); diff --git a/plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikbrick.h b/plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikbrick.h index 320a9be5e8..1d927c4a56 100644 --- a/plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikbrick.h +++ b/plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikbrick.h @@ -48,17 +48,11 @@ namespace trik { class TrikBrick final : public trikControl::BrickInterface { Q_OBJECT - - // BrickInterface interface public: - TrikBrick(const QSharedPointer &model); + explicit TrikBrick(const QSharedPointer &model); ~TrikBrick() override; void reset() override; - QString configVersion() const override {return QString();} - trikControl::DisplayWidgetInterface *graphicsWidget() override { - return nullptr; - } - + QString configVersion() const override {return {};} void init(); void setCurrentDir(const QString &dir); diff --git a/plugins/robots/interpreters/trikKitInterpreterCommon/src/trikEmulation/trikdisplayemu.cpp b/plugins/robots/interpreters/trikKitInterpreterCommon/src/trikEmulation/trikdisplayemu.cpp index b477584905..d8c1d21027 100644 --- a/plugins/robots/interpreters/trikKitInterpreterCommon/src/trikEmulation/trikdisplayemu.cpp +++ b/plugins/robots/interpreters/trikKitInterpreterCommon/src/trikEmulation/trikdisplayemu.cpp @@ -35,12 +35,6 @@ Qt::ConnectionType TrikDisplayEmu::callType() const { // return thread() != mDisplay->thread()? Qt::BlockingQueuedConnection : Qt::DirectConnection; } -trikControl::DisplayWidgetInterface &TrikDisplayEmu::graphicsWidget() -{ - Q_UNIMPLEMENTED(); - throw std::logic_error(__PRETTY_FUNCTION__); -} - void TrikDisplayEmu::init() { mDisplay = kitBase::robotModel::RobotModelUtils::findDevice(*mTwoDRobotModel, "DisplayPort"); diff --git a/plugins/robots/interpreters/trikKitInterpreterCommon/trikKitInterpreterCommon.pri b/plugins/robots/interpreters/trikKitInterpreterCommon/trikKitInterpreterCommon.pri index 33e2a91c53..d0394be5f6 100644 --- a/plugins/robots/interpreters/trikKitInterpreterCommon/trikKitInterpreterCommon.pri +++ b/plugins/robots/interpreters/trikKitInterpreterCommon/trikKitInterpreterCommon.pri @@ -80,7 +80,6 @@ HEADERS += \ $$PWD/include/trikKitInterpreterCommon/trikDisplayWidget.h \ $$PWD/include/trikKitInterpreterCommon/trikKitInterpreterPluginBase.h \ $$PWD/include/trikKitInterpreterCommon/trikbrick.h \ - $$PWD/include/trikKitInterpreterCommon/trikEmulation/displaywidgetemu.h \ $$PWD/include/trikKitInterpreterCommon/trikEmulation/trikdisplayemu.h \ $$PWD/include/trikKitInterpreterCommon/trikEmulation/triksensoremu.h \ $$PWD/include/trikKitInterpreterCommon/trikEmulation/trikmotoremu.h \ diff --git a/plugins/robots/thirdparty/trikRuntime/trikControl.pri b/plugins/robots/thirdparty/trikRuntime/trikControl.pri new file mode 100644 index 0000000000..c49ffcd4d6 --- /dev/null +++ b/plugins/robots/thirdparty/trikRuntime/trikControl.pri @@ -0,0 +1,53 @@ +TEMPLATE = lib + +include($$PWD/trikRuntime/global.pri) + +DEFINES += TRIKCONTROL_LIBRARY + +TRIK_CONTROL_ROOT = $$PWD/trikRuntime/trikControl + +HEADERS += \ + $$TRIK_CONTROL_ROOT/include/trikControl/trikControlDeclSpec.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/batteryInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/brickFactory.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/brickInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/cameraDeviceInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/colorSensorInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/deviceInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/displayInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/encoderInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/eventCodeInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/eventDeviceInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/eventInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/fifoInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/gamepadInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/keysInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/ledInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/lineSensorInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/motorInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/objectSensorInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/pwmCaptureInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/sensorInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/soundSensorInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/vectorSensorInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/gyroSensorInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/markerInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/i2cDeviceInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/utilities.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/lidarInterface.h \ + $$TRIK_CONTROL_ROOT/include/trikControl/irCameraInterface.h \ + $$TRIK_CONTROL_ROOT/src/qtCameraImplementation.h \ + $$TRIK_CONTROL_ROOT/src/imitationCameraImplementation.h \ + +SOURCES += \ + $$TRIK_CONTROL_ROOT/src/utilities.cpp \ + $$TRIK_CONTROL_ROOT/src/brickInterface.cpp \ + $$TRIK_CONTROL_ROOT/src/qtCameraImplementation.cpp \ + $$TRIK_CONTROL_ROOT/src/imitationCameraImplementation.cpp \ + +INCLUDEPATH += \ + $$TRIK_CONTROL_ROOT/include/ \ + $$TRIK_CONTROL_ROOT/include/trikControl/ \ + +links(trikKernel) +implementationIncludes(trikKernel) diff --git a/plugins/robots/thirdparty/trikRuntime/trikRuntime b/plugins/robots/thirdparty/trikRuntime/trikRuntime index 0dc61bf88a..f3a2ad1a99 160000 --- a/plugins/robots/thirdparty/trikRuntime/trikRuntime +++ b/plugins/robots/thirdparty/trikRuntime/trikRuntime @@ -1 +1 @@ -Subproject commit 0dc61bf88adfe6274210cd73bc4853a8535059de +Subproject commit f3a2ad1a99164eef31dd9f0189d10766841dbedb diff --git a/plugins/robots/thirdparty/trikRuntime/trikRuntime.pro b/plugins/robots/thirdparty/trikRuntime/trikRuntime.pro index e638484f60..688738c6d1 100644 --- a/plugins/robots/thirdparty/trikRuntime/trikRuntime.pro +++ b/plugins/robots/thirdparty/trikRuntime/trikRuntime.pro @@ -16,6 +16,7 @@ TEMPLATE = subdirs include(../../../../global.pri) CONFIG += trik_not_brick +CONFIG += exclude_init_internal_types cache(CONFIG, set) SUBDIRS += \ @@ -39,12 +40,6 @@ trikRuntime_use_local_qslog { cache(EXTERNAL_SETTINGS, set stash super) -tests { - SUBDIRS *= tests - tests.depends = trikScriptRunner trikCommunicator trikKernel - tests.subdir = $$PWD/trikRuntime/tests -} - !trik_nopython { SUBDIRS += PythonQt trikScriptRunner.depends += PythonQt @@ -54,7 +49,7 @@ trikScriptRunner.subdir = $$PWD/trikRuntime/trikScriptRunner trikCommunicator.subdir = $$PWD/trikRuntime/trikCommunicator trikKernel.subdir = $$PWD/trikRuntime/trikKernel trikNetwork.subdir = $$PWD/trikRuntime/trikNetwork -trikControl.subdir = $$PWD/trikRuntime/trikControl +trikControl.file = $$PWD/trikControl.pri translations.subdir = $$PWD/trikRuntime/translations trikHal.subdir = $$PWD/trikRuntime/trikHal mlx90640-library.subdir = $$PWD/trikRuntime/mlx90640-library From 76407d085147034f0c8c1835ed99e64116f4cd66 Mon Sep 17 00:00:00 2001 From: MinyazevR Date: Tue, 12 May 2026 03:45:48 +0300 Subject: [PATCH 2/8] Remove trikHal, add QtMultimedia module --- plugins/robots/thirdparty/trikRuntime/trikControl.pri | 2 ++ plugins/robots/thirdparty/trikRuntime/trikRuntime.pro | 7 +------ 2 files changed, 3 insertions(+), 6 deletions(-) diff --git a/plugins/robots/thirdparty/trikRuntime/trikControl.pri b/plugins/robots/thirdparty/trikRuntime/trikControl.pri index c49ffcd4d6..06b41e9479 100644 --- a/plugins/robots/thirdparty/trikRuntime/trikControl.pri +++ b/plugins/robots/thirdparty/trikRuntime/trikControl.pri @@ -49,5 +49,7 @@ INCLUDEPATH += \ $$TRIK_CONTROL_ROOT/include/ \ $$TRIK_CONTROL_ROOT/include/trikControl/ \ +QT += multimedia + links(trikKernel) implementationIncludes(trikKernel) diff --git a/plugins/robots/thirdparty/trikRuntime/trikRuntime.pro b/plugins/robots/thirdparty/trikRuntime/trikRuntime.pro index 688738c6d1..57e9b52261 100644 --- a/plugins/robots/thirdparty/trikRuntime/trikRuntime.pro +++ b/plugins/robots/thirdparty/trikRuntime/trikRuntime.pro @@ -23,10 +23,8 @@ SUBDIRS += \ trikKernel \ trikNetwork \ trikControl \ - trikHal \ trikCommunicator \ trikScriptRunner \ - mlx90640-library \ # translations \ EXTERNAL_SETTINGS = $$PWD/trikRuntimeExternal.pri @@ -51,12 +49,9 @@ trikKernel.subdir = $$PWD/trikRuntime/trikKernel trikNetwork.subdir = $$PWD/trikRuntime/trikNetwork trikControl.file = $$PWD/trikControl.pri translations.subdir = $$PWD/trikRuntime/translations -trikHal.subdir = $$PWD/trikRuntime/trikHal -mlx90640-library.subdir = $$PWD/trikRuntime/mlx90640-library -trikControl.depends = trikKernel trikHal mlx90640-library +trikControl.depends = trikKernel trikNetwork.depends = trikKernel trikScriptRunner.depends += trikControl trikKernel trikNetwork -trikHal.depends = trikKernel trikCommunicator.depends = trikScriptRunner OTHER_FILES += trikRuntime/trikRuntime.pro From cf8405be42008ba864c05c42948895627e7ff43b Mon Sep 17 00:00:00 2001 From: MinyazevR Date: Tue, 12 May 2026 04:10:39 +0300 Subject: [PATCH 3/8] Add QsLog dependency --- plugins/robots/thirdparty/trikRuntime/trikControl.pri | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/plugins/robots/thirdparty/trikRuntime/trikControl.pri b/plugins/robots/thirdparty/trikRuntime/trikControl.pri index 06b41e9479..1f8fae075e 100644 --- a/plugins/robots/thirdparty/trikRuntime/trikControl.pri +++ b/plugins/robots/thirdparty/trikRuntime/trikControl.pri @@ -51,5 +51,5 @@ INCLUDEPATH += \ QT += multimedia -links(trikKernel) +links(trikRuntimeQsLog trikKernel) implementationIncludes(trikKernel) From 194ff2957d5c72a6fe15877616186b0947a44817 Mon Sep 17 00:00:00 2001 From: MinyazevR Date: Tue, 12 May 2026 08:36:33 +0300 Subject: [PATCH 4/8] trikControl: Add QtGui Module (QImage) --- plugins/robots/thirdparty/trikRuntime/trikControl.pri | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/plugins/robots/thirdparty/trikRuntime/trikControl.pri b/plugins/robots/thirdparty/trikRuntime/trikControl.pri index 1f8fae075e..06d4ba7554 100644 --- a/plugins/robots/thirdparty/trikRuntime/trikControl.pri +++ b/plugins/robots/thirdparty/trikRuntime/trikControl.pri @@ -49,7 +49,7 @@ INCLUDEPATH += \ $$TRIK_CONTROL_ROOT/include/ \ $$TRIK_CONTROL_ROOT/include/trikControl/ \ -QT += multimedia +QT += multimedia gui links(trikRuntimeQsLog trikKernel) implementationIncludes(trikKernel) From dd045d23ba1ecafe2d05e55ac8a5bb6a27742608 Mon Sep 17 00:00:00 2001 From: MinyazevR Date: Tue, 12 May 2026 09:09:38 +0300 Subject: [PATCH 5/8] Add missing dependencies --- plugins/robots/thirdparty/trikRuntime/trikControl.pri | 1 + 1 file changed, 1 insertion(+) diff --git a/plugins/robots/thirdparty/trikRuntime/trikControl.pri b/plugins/robots/thirdparty/trikRuntime/trikControl.pri index 06d4ba7554..57a15ef68d 100644 --- a/plugins/robots/thirdparty/trikRuntime/trikControl.pri +++ b/plugins/robots/thirdparty/trikRuntime/trikControl.pri @@ -43,6 +43,7 @@ SOURCES += \ $$TRIK_CONTROL_ROOT/src/utilities.cpp \ $$TRIK_CONTROL_ROOT/src/brickInterface.cpp \ $$TRIK_CONTROL_ROOT/src/qtCameraImplementation.cpp \ + $$TRIK_CONTROL_ROOT/src/cameraDeviceInterface.cpp \ $$TRIK_CONTROL_ROOT/src/imitationCameraImplementation.cpp \ INCLUDEPATH += \ From fe87e707851dc2d420dfdf1834c83ce5c5b683b4 Mon Sep 17 00:00:00 2001 From: MinyazevR Date: Tue, 12 May 2026 09:50:36 +0300 Subject: [PATCH 6/8] Remove BrickFactory, Update TrikRuntime --- plugins/robots/thirdparty/trikRuntime/trikControl.pri | 1 - plugins/robots/thirdparty/trikRuntime/trikRuntime | 2 +- 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/plugins/robots/thirdparty/trikRuntime/trikControl.pri b/plugins/robots/thirdparty/trikRuntime/trikControl.pri index 57a15ef68d..5c3617b017 100644 --- a/plugins/robots/thirdparty/trikRuntime/trikControl.pri +++ b/plugins/robots/thirdparty/trikRuntime/trikControl.pri @@ -9,7 +9,6 @@ TRIK_CONTROL_ROOT = $$PWD/trikRuntime/trikControl HEADERS += \ $$TRIK_CONTROL_ROOT/include/trikControl/trikControlDeclSpec.h \ $$TRIK_CONTROL_ROOT/include/trikControl/batteryInterface.h \ - $$TRIK_CONTROL_ROOT/include/trikControl/brickFactory.h \ $$TRIK_CONTROL_ROOT/include/trikControl/brickInterface.h \ $$TRIK_CONTROL_ROOT/include/trikControl/cameraDeviceInterface.h \ $$TRIK_CONTROL_ROOT/include/trikControl/colorSensorInterface.h \ diff --git a/plugins/robots/thirdparty/trikRuntime/trikRuntime b/plugins/robots/thirdparty/trikRuntime/trikRuntime index f3a2ad1a99..e370785c7e 160000 --- a/plugins/robots/thirdparty/trikRuntime/trikRuntime +++ b/plugins/robots/thirdparty/trikRuntime/trikRuntime @@ -1 +1 @@ -Subproject commit f3a2ad1a99164eef31dd9f0189d10766841dbedb +Subproject commit e370785c7ed80c8a9a2d98ef06fe198c34f0edec From fcdb5e0aeadf5b302aa797f9bc571670538ac57a Mon Sep 17 00:00:00 2001 From: MinyazevR Date: Tue, 12 May 2026 11:10:27 +0300 Subject: [PATCH 7/8] Fix Clazy warnings --- .github/workflows/windows_build_with_installer.yml | 1 + .../include/trikKitInterpreterCommon/trikbrick.h | 8 ++++---- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/.github/workflows/windows_build_with_installer.yml b/.github/workflows/windows_build_with_installer.yml index a1c2fa6110..4652f51d60 100644 --- a/.github/workflows/windows_build_with_installer.yml +++ b/.github/workflows/windows_build_with_installer.yml @@ -173,6 +173,7 @@ jobs: echo "$PATH" echo ------ cd ${{ env.BUILD_DIR }}/bin + export TRIK_PYTHONPATH=$(cygpath -w "${pythonLocation}/Lib") python "${{ github.workspace }}\buildScripts\tests\fieldstest.py" 2D-model.exe "${{ github.workspace }}\testing_small" - name: Push binaries diff --git a/plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikbrick.h b/plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikbrick.h index 1d927c4a56..a9308bdd1a 100644 --- a/plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikbrick.h +++ b/plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikbrick.h @@ -61,6 +61,10 @@ class TrikBrick final : public trikControl::BrickInterface void reinitImitationCamera(); QDir getCurrentDir() const; + QStringList motorPorts(trikControl::MotorInterface::Type type) const override; + QStringList pwmCapturePorts() const override {return {};} + QStringList sensorPorts(trikControl::SensorInterface::Type type) const override; + QStringList encoderPorts() const override; public Q_SLOTS: void configure(const QString &, const QString &) override {} @@ -72,10 +76,6 @@ public Q_SLOTS: trikControl::MarkerInterface *marker() override; trikControl::PwmCaptureInterface *pwmCapture(const QString &) override {return nullptr;} trikControl::SensorInterface *sensor(const QString &port) override; - QStringList motorPorts(trikControl::MotorInterface::Type type) const override; - QStringList pwmCapturePorts() const override {return {};} - QStringList sensorPorts(trikControl::SensorInterface::Type type) const override; - QStringList encoderPorts() const override; trikControl::VectorSensorInterface *accelerometer() override; trikControl::GyroSensorInterface *gyroscope() override; trikControl::LineSensorInterface *lineSensor(const QString &port) override; From 4a3ab739816ab10b56a2f9ff92c3e697bea2df2c Mon Sep 17 00:00:00 2001 From: MinyazevR Date: Wed, 13 May 2026 18:47:02 +0300 Subject: [PATCH 8/8] Update trikRuntime --- .gitmodules | 3 ++- plugins/robots/thirdparty/trikRuntime/trikRuntime | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/.gitmodules b/.gitmodules index 16017cfbf3..3efc2246e9 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,6 +1,7 @@ [submodule "plugins/robots/thirdparty/trikRuntime"] path = plugins/robots/thirdparty/trikRuntime/trikRuntime - url = https://github.com/MinyazevR/trikRuntime + url = https://github.com/trikset/trikRuntime + branch = master [submodule "qrtest/thirdparty/googletest/googletest"] path = qrtest/thirdparty/googletest/googletest url = https://github.com/google/googletest diff --git a/plugins/robots/thirdparty/trikRuntime/trikRuntime b/plugins/robots/thirdparty/trikRuntime/trikRuntime index e370785c7e..b7bd8b0354 160000 --- a/plugins/robots/thirdparty/trikRuntime/trikRuntime +++ b/plugins/robots/thirdparty/trikRuntime/trikRuntime @@ -1 +1 @@ -Subproject commit e370785c7ed80c8a9a2d98ef06fe198c34f0edec +Subproject commit b7bd8b0354f8e0f75f2af73000f5912c2ff8d585