Remove the display widget emulator

.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

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 

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<robotModel::twoD::TrikTwoDRobotModel> &model);
 	void init();

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<robotModel::twoD::TrikTwoDRobotModel> &model);
+	explicit TrikBrick(const QSharedPointer<robotModel::twoD::TrikTwoDRobotModel> &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);
@@ -67,6 +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 {}
@@ -78,10 +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;

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<Display>(*mTwoDRobotModel, "DisplayPort");

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 \

plugins/robots/thirdparty/trikRuntime/trikControl.pri

@@ -0,0 +1,55 @@
+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 \
+    $$TRIK_CONTROL_ROOT/include/trikControl/brickInterface.h \
+    $$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/cameraDeviceInterface.cpp \
+    $$TRIK_CONTROL_ROOT/src/imitationCameraImplementation.cpp \
+
+INCLUDEPATH += \
+    $$TRIK_CONTROL_ROOT/include/ \
+    $$TRIK_CONTROL_ROOT/include/trikControl/ \
+
+QT += multimedia gui
+
+links(trikRuntimeQsLog trikKernel)
+implementationIncludes(trikKernel)

plugins/robots/thirdparty/trikRuntime/trikRuntime.pro

@@ -16,16 +16,15 @@ TEMPLATE = subdirs
 include(../../../../global.pri)
 
 CONFIG += trik_not_brick
+CONFIG += exclude_init_internal_types
 cache(CONFIG, set)
 
 SUBDIRS += \
 	trikKernel \
 	trikNetwork \
 	trikControl \
-	trikHal \
 	trikCommunicator \
 	trikScriptRunner \
-	mlx90640-library \
 #	translations \
 
 EXTERNAL_SETTINGS = $$PWD/trikRuntimeExternal.pri
@@ -39,12 +38,6 @@ trikRuntime_use_local_qslog {
 
 cache(EXTERNAL_SETTINGS, set stash super)
 
-tests {
-	SUBDIRS *= tests
-	tests.depends = trikScriptRunner trikCommunicator trikKernel
-	tests.subdir = $$PWD/trikRuntime/tests
-}
-
 !trik_nopython {
     SUBDIRS += PythonQt
     trikScriptRunner.depends += PythonQt
@@ -54,14 +47,11 @@ trikScriptRunner.subdir = $$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
 
-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