Merge branch 'master' of https://github.com/qreal/qreal into alt-linux

Conflicts:
	plugins/robots/utils/src/robotCommunication/protocol.h
	plugins/robots/utils/src/robotCommunication/runProgramProtocol.cpp
	qrgui/mainWindow/mainWindow.pro

Author: dvvrd

.travis.yml

@@ -1,6 +1,9 @@
 sudo: required
 dist: trusty
 
+git:
+  depth: 1
+
 language: cpp
 compiler: gcc
 
@@ -13,7 +16,10 @@ env:
   - CONFIG=release PROJECT=qrealBP         VERA=false TESTS=true
   - CONFIG=debug   PROJECT=qrealTest       VERA=false TESTS="./exampleTests-d && ./qrgui_unittests-d && ./qrrepo_unittests-d && ./qrutils_unittests-d && ./visualDebugSupport_unittests-d && ./qrtext_unittests-d && ./generationRulesTool_unittests-d"
   - CONFIG=release PROJECT=qrealTest       VERA=false TESTS="./exampleTests && ./qrgui_unittests && ./qrrepo_unittests && ./qrutils_unittests && ./visualDebugSupport_unittests && ./qrtext_unittests && ./generationRulesTool_unittests"
-  - CONFIG=debug   PROJECT=qrealRobotsTest VERA=false TESTS="./robots_kitBase_unittests-d && ./robots_interpreterCore_unittests-d && ./robots_twoDModel_unittests-d && ./run-simulator-tests.sh"
+  - CONFIG=debug   PROJECT=qrealRobotsTest VERA=false TESTS="./robots_kitBase_unittests-d && ./robots_interpreterCore_unittests-d && ./robots_twoDModel_unittests-d && ./trik-v62-qts-generator-tests-d && ./run-simulator-tests.sh"
+
+before_install:
+  - if [ "$TESTS" != "true" ]; then pip install --user codecov; fi
 
 install:
   - if [ "$CXX" = "g++" ]; then sudo add-apt-repository ppa:ubuntu-toolchain-r/test -y; fi
@@ -46,5 +52,8 @@ script:
 
 notifications:
   email:
-    recipients:
-      - [email protected]
+  recipients:
+    - [email protected]
+
+after_success:
+  - if [ "$TESTS" != "true" ]; then codecov; fi

README.md

@@ -3,6 +3,8 @@
 #[QReal] (http://qreal.ru)
 
 [![Build Status](https://travis-ci.org/qreal/qreal.svg?branch=master)](https://travis-ci.org/qreal/qreal)
+[![Coverity](https://scan.coverity.com/projects/7874/badge.svg)](https://scan.coverity.com/projects/qreal-qreal)
+[![codecov.io](https://codecov.io/github/qreal/qreal/coverage.svg?branch=master)](https://codecov.io/github/qreal/qreal?branch=master)
 
 QReal представляет собой metaCASE-инструментарий, т.е. среду для создания новых визуальных языков и интегрированных сред программирования для них.
 Руководители: [Юрий Литвинов](https://github.com/yurii-litvinov) и [Тимофей Брыксин](https://github.com/jzuken)

appveyor.yml

@@ -8,18 +8,18 @@ environment:
   matrix:
     - PROJECT_FILE: qrealRobots
     - PROJECT_FILE: qreal
-#   - PROJECT_FILE: qrealMinimal.pro
 
 configuration:
   - debug
   - release
 
 install:
   - set PATH=%QTDIR%\bin;%MINGW%\bin;%WINDIR%\system32;%WINDIR%;%WINDIR%\System32\WindowsPowerShell\v1.0\;
+
 build_script:
   - qmake %PROJECT_FILE%.pro -r -spec win32-g++ CONFIG+=%CONFIGURATION%
   - mingw32-make -j2
-  
+
 artifacts:
  - path: bin\$(configuration)
    name: qreal-$(configuration)-$(PROJECT_FILE)

global.pri

@@ -27,6 +27,8 @@ macx {
 CONFIG(debug, debug | release) {
 	CONFIGURATION = debug
 	CONFIGURATION_SUFFIX = -d
+	QMAKE_CXXFLAGS += -coverage
+	QMAKE_LFLAGS += -coverage
 } else {
 	CONFIGURATION = release
 	CONFIGURATION_SUFFIX =

plugins/blockDiagram/visualDebugSupport/visualDebugSupport.pri

@@ -23,11 +23,11 @@ links(qrkernel qrutils qrgui-preferences-dialog qrgui-tool-plugin-interface)
 
 TRANSLATIONS = $$PWD/../../../qrtranslations/ru/plugins/visualDebugSupport_ru.ts
 
-HEADERS = \
+HEADERS += \
 	$$PWD/visualDebuggerPlugin.h \
 	$$PWD/visualDebuggerPreferencesPage.h \
 
-SOURCES = \
+SOURCES += \
 	$$PWD/visualDebuggerPlugin.cpp \
 	$$PWD/visualDebuggerPreferencesPage.cpp \
 

plugins/plugins.pro

@@ -36,7 +36,6 @@ SUBDIRS += \
 	$$PWD/tools/exterminatus/exterminatus.pro \
 	$$PWD/tools/visualInterpreter/visualInterpreter.pro \
 	$$PWD/tools/refactoring/refactoring.pro \
-	$$PWD/tools/testInvocation/testInvocation.pro \
 	$$PWD/tools/uxInfo/uxInfo.pro \
 
 

plugins/robots/common/trikKit/include/trikKit/robotModel/trikRobotModelBase.h

@@ -32,8 +32,12 @@ class TrikRobotModelBase : public kitBase::robotModel::CommonRobotModel
 
 	QHash<QString, int> buttonCodes() const override;
 
+	/// Registers error reporter in a model.
 	virtual void setErrorReporter(qReal::ErrorReporterInterface &errorReporter) = 0;
 
+	/// Returns config file version that shall be on a robot to be able to use this model.
+	virtual QString robotConfigFileVersion() const = 0;
+
 protected:
 	virtual kitBase::robotModel::DeviceInfo displayInfo() const;
 	virtual kitBase::robotModel::DeviceInfo speakerInfo() const;

plugins/robots/common/trikKit/include/trikKit/robotModel/trikRobotModelV6.h

@@ -25,6 +25,8 @@ class TrikRobotModelV6 : public TrikRobotModelBase
 
 public:
 	TrikRobotModelV6(const QString &kitId, const QString &robotId);
+
+	QString robotConfigFileVersion() const override;
 };
 
 }

plugins/robots/common/trikKit/include/trikKit/robotModel/trikRobotModelV62.h

@@ -25,6 +25,8 @@ class TrikRobotModelV62 : public TrikRobotModelBase
 
 public:
 	TrikRobotModelV62(const QString &kitId, const QString &robotId);
+
+	QString robotConfigFileVersion() const override;
 };
 
 }

plugins/robots/common/trikKit/src/robotModel/trikRobotModelV6.cpp

@@ -34,3 +34,8 @@ TrikRobotModelV6::TrikRobotModelV6(const QString &kitId, const QString &robotId)
 	addAllowedConnection(PortInfo("B3", input, { "M3", "В3" }, "encoder3"), { encoderInfo() });
 	addAllowedConnection(PortInfo("B4", input, { "M4", "В4" }, "encoder4"), { encoderInfo() });
 }
+
+QString TrikRobotModelV6::robotConfigFileVersion() const
+{
+	return "model-2014";
+}

plugins/robots/common/trikKit/src/robotModel/trikRobotModelV62.cpp

@@ -34,3 +34,8 @@ TrikRobotModelV62::TrikRobotModelV62(const QString &kitId, const QString &robotI
 	addAllowedConnection(PortInfo("E3", input, { "M3", "Е3" }, "encoder3"), { encoderInfo() });
 	addAllowedConnection(PortInfo("E4", input, { "M4", "Е4" }, "encoder4"), { encoderInfo() });
 }
+
+QString TrikRobotModelV62::robotConfigFileVersion() const
+{
+	return "model-2015";
+}

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

@@ -16,6 +16,8 @@
 
 #include <QtGui/QPainterPath>
 
+#include <utils/circularQueue.h>
+
 #include "twoDModel/robotModel/twoDRobotModel.h"
 #include "sensorsConfiguration.h"
 
@@ -199,8 +201,8 @@ public slots:
 	bool mIsOnTheGround;
 	QColor mMarker;
 	QPointF mAcceleration;
-	QVector<QPointF> mPosStamps;
-	QVector<qreal> mAngleStamps;
+	utils::CircularQueue<QPointF> mPosStamps;
+	utils::CircularQueue<qreal> mAngleStamps;
 
 	physics::PhysicsEngineBase *mPhysicsEngine;
 

plugins/robots/common/twoDModel/src/engine/model/robotModel.cpp

@@ -36,6 +36,9 @@ using namespace physics;
 using namespace kitBase::robotModel;
 using namespace kitBase::robotModel::robotParts;
 
+const int positionStampsCount = 50;
+const int angleStampsCount = 50;
+
 RobotModel::RobotModel(robotModel::TwoDRobotModel &robotModel
 		, const Settings &settings
 		, QObject *parent)
@@ -50,8 +53,8 @@ RobotModel::RobotModel(robotModel::TwoDRobotModel &robotModel
 	, mIsOnTheGround(true)
 	, mMarker(Qt::transparent)
 	, mAcceleration(QPointF(0, 0))
-	, mPosStamps(QVector<QPointF>(50))
-	, mAngleStamps(QVector<qreal>(50))
+	, mPosStamps(positionStampsCount)
+	, mAngleStamps(angleStampsCount)
 	, mPhysicsEngine(nullptr)
 	, mStartPositionMarker(new items::StartPosition)
 {
@@ -174,6 +177,8 @@ void RobotModel::stopRobot()
 {
 	mBeepTime = 0;
 	mRobotModel.displayWidget()->reset();
+	mAngleStamps.clear();
+	mPosStamps.clear();
 	emit playingSoundChanged(false);
 	for (Motor * const engine : mMotors) {
 		engine->speed = 0;
@@ -193,12 +198,18 @@ void RobotModel::countBeep()
 
 void RobotModel::countSpeedAndAcceleration()
 {
-	mAngleStamps.pop_front();
-	mAngleStamps.append(mAngle);
+	if (mAngleStamps.size() >= angleStampsCount) {
+		mAngleStamps.dequeue();
+	}
+
+	mAngleStamps.enqueue(mAngle);
 	mAngularSpeed = averageAngularSpeed();
 
-	mPosStamps.pop_front();
-	mPosStamps.append(mPos);
+	if (mPosStamps.size() >= positionStampsCount) {
+		mPosStamps.dequeue();
+	}
+
+	mPosStamps.enqueue(mPos);
 	mAcceleration = averageAcceleration();
 }
 
@@ -207,12 +218,16 @@ QPointF RobotModel::averageAcceleration() const
 	/// Some arcane formula that produces natural-looking results for some reason (with correct accelerometerConstant,
 	/// since mPosStamps.size() as a divisor is obviously wrong here).
 	/// Maybe it will be better to actually count average.
-	return (mPosStamps[49] - mPosStamps[48] - mPosStamps[1] + mPosStamps[0]) / mPosStamps.size();
+
+	return mPosStamps.size() < 2 ? QPointF() : (mPosStamps.size() < 4
+			? (mPosStamps.tail() - mPosStamps.head()) / mPosStamps.size()
+			: (mPosStamps.tail() - mPosStamps.nthFromTail(1)
+					- mPosStamps.nthFromHead(1) + mPosStamps.head()) / mPosStamps.size());
 }
 
 qreal RobotModel::averageAngularSpeed() const
 {
-	return (mAngleStamps[49] - mAngleStamps[0]) / mAngleStamps.size();
+	return mAngleStamps.isEmpty() ? 0 : (mAngleStamps.tail() - mAngleStamps.head()) / mAngleStamps.size();
 }
 
 QPointF RobotModel::rotationCenter() const

plugins/robots/generators/ev3/ev3RbfGenerator/ev3RbfGeneratorPlugin.cpp

@@ -52,7 +52,7 @@ Ev3RbfGeneratorPlugin::Ev3RbfGeneratorPlugin()
 	mStopRobotAction->setIcon(QIcon(":/ev3/rbf/images/stop.png"));
 	connect(mStopRobotAction, &QAction::triggered, this, &Ev3RbfGeneratorPlugin::stopRobot, Qt::UniqueConnection);
 
-	text::Languages::registerLanguage(text::LanguageInfo{ "rbf"
+	text::Languages::registerLanguage(text::LanguageInfo{ "lms"
 			, tr("EV3 Source Code language")
 			, true
 			, 4
@@ -104,7 +104,7 @@ QString Ev3RbfGeneratorPlugin::defaultFilePath(QString const &projectName) const
 
 text::LanguageInfo Ev3RbfGeneratorPlugin::language() const
 {
-	return text::Languages::pickByExtension("rbf");
+	return text::Languages::pickByExtension("lms");
 }
 
 QString Ev3RbfGeneratorPlugin::generatorName() const

plugins/robots/generators/ev3/ev3RbfGenerator/templates/luaPrinting/greaterOrEqual.t

@@ -1 +1 @@
-CP_GTEQF@@TYPE@@(@@LEFT@@, @@RIGHT@@, @@RESULT@@)
+CP_GTEQ@@TYPE@@(@@LEFT@@, @@RIGHT@@, @@RESULT@@)

plugins/robots/generators/ev3/ev3RbfGenerator/templates/luaPrinting/greaterThan.t

@@ -1 +1 @@
-CP_GTF@@TYPE@@(@@LEFT@@, @@RIGHT@@, @@RESULT@@)
+CP_GT@@TYPE@@(@@LEFT@@, @@RIGHT@@, @@RESULT@@)

plugins/robots/generators/ev3/ev3RbfGenerator/templates/luaPrinting/lessOrEqual.t

@@ -1 +1 @@
-CP_LTEQF@@TYPE@@(@@LEFT@@, @@RIGHT@@, @@RESULT@@)
+CP_LTEQ@@TYPE@@(@@LEFT@@, @@RIGHT@@, @@RESULT@@)

plugins/robots/generators/ev3/ev3RbfGenerator/templates/luaPrinting/lessThan.t

@@ -1 +1 @@
-CP_LTF@@TYPE@@(@@LEFT@@, @@RIGHT@@, @@RESULT@@)
+CP_LT@@TYPE@@(@@LEFT@@, @@RIGHT@@, @@RESULT@@)

plugins/robots/generators/generatorBase/src/robotsGeneratorPluginBase.cpp

@@ -106,7 +106,7 @@ QFileInfo RobotsGeneratorPluginBase::srcPath()
 	} while (!canGenerateTo(projectName));
 
 	QFileInfo fileInfo = generationTarget(projectName);
-	QList<QFileInfo> const pathsList = mCodePath.values(activeDiagram);
+	const QList<QFileInfo> pathsList = mCodePath.values(activeDiagram);
 
 	if (!pathsList.isEmpty()) {
 		for (const QFileInfo &path : pathsList) {
@@ -130,10 +130,11 @@ QFileInfo RobotsGeneratorPluginBase::generateCodeForProcessing()
 
 	if (!activeDiagram.isNull()) {
 		if (generateCode(false)) {
-			foreach (const QFileInfo &path, mCodePath.values(activeDiagram)) {
+			for (const QFileInfo &path : mCodePath.values(activeDiagram)) {
 				if (mTextManager->isDefaultPath(path.absoluteFilePath())
 					&& (!mTextManager->isModifiedEver(path.absoluteFilePath()))
-					&& !mTextManager->generatorName(path.absoluteFilePath()).compare(generatorName())) {
+					&& !mTextManager->generatorName(path.absoluteFilePath()).compare(generatorName()))
+				{
 					fileInfo = path;
 					break;
 				}

plugins/robots/generators/trik/trikGeneratorBase/include/trikGeneratorBase/robotModel/trikV62GeneratorRobotModel.h

@@ -44,7 +44,7 @@ class ROBOTS_TRIK_GENERATOR_BASE_EXPORT TrikV62GeneratorRobotModel
 	void addDevice(const kitBase::robotModel::PortInfo &port
 			, kitBase::robotModel::robotParts::Device * const device) override;
 
-	void setErrorReporter(qReal::ErrorReporterInterface &errorReporter);
+	void setErrorReporter(qReal::ErrorReporterInterface &errorReporter) override;
 
 private:
 	kitBase::robotModel::robotParts::Device *createDevice(const kitBase::robotModel::PortInfo &port

plugins/robots/generators/trik/trikGeneratorBase/include/trikGeneratorBase/robotModel/trikV6GeneratorRobotModel.h

@@ -44,7 +44,7 @@ class ROBOTS_TRIK_GENERATOR_BASE_EXPORT TrikV6GeneratorRobotModel
 	void addDevice(const kitBase::robotModel::PortInfo &port
 				, kitBase::robotModel::robotParts::Device * const device) override;
 
-	void setErrorReporter(qReal::ErrorReporterInterface &errorReporter);
+	void setErrorReporter(qReal::ErrorReporterInterface &errorReporter) override;
 
 private:
 	kitBase::robotModel::robotParts::Device *createDevice(const kitBase::robotModel::PortInfo &port

plugins/robots/generators/trik/trikGeneratorBase/include/trikGeneratorBase/trikGeneratorPluginBase.h

@@ -52,9 +52,13 @@ class ROBOTS_TRIK_GENERATOR_BASE_EXPORT TrikGeneratorPluginBase : public generat
 protected:
 	void regenerateExtraFiles(const QFileInfo &newFileInfo) override;
 
-	QScopedPointer<kitBase::robotModel::RobotModelInterface> mRobotModel;
+	/// Provides access to robot model to descendant classes.
+	kitBase::robotModel::RobotModelInterface &robotModel() const;
 
 private:
+	/// Robot model that is used to query information about various robot devices.
+	QScopedPointer<kitBase::robotModel::RobotModelInterface> mRobotModel;
+
 	/// Does not have ownership.
 	kitBase::blocksBase::BlocksFactoryInterface *mBlocksFactory;
 };

plugins/robots/generators/trik/trikGeneratorBase/src/trikGeneratorPluginBase.cpp

@@ -50,3 +50,8 @@ void TrikGeneratorPluginBase::regenerateExtraFiles(const QFileInfo &newFileInfo)
 {
 	Q_UNUSED(newFileInfo);
 }
+
+kitBase::robotModel::RobotModelInterface &TrikGeneratorPluginBase::robotModel() const
+{
+	return *mRobotModel.data();
+}

plugins/robots/generators/trik/trikQtsGeneratorLibrary/include/trikQtsGeneratorLibrary/trikQtsGeneratorPluginBase.h

@@ -35,6 +35,11 @@ class UploadProgramProtocol;
 }
 
 namespace trik {
+
+namespace robotModel {
+class TrikRobotModelBase;
+}
+
 namespace qts {
 
 /// Generation of QtScript program for TRIK, uploading and execution of a program.
@@ -44,7 +49,7 @@ class TrikQtsGeneratorPluginBase : public TrikGeneratorPluginBase
 	Q_OBJECT
 
 public:
-	TrikQtsGeneratorPluginBase(kitBase::robotModel::RobotModelInterface * const robotModel
+	TrikQtsGeneratorPluginBase(trik::robotModel::TrikRobotModelBase * const robotModel
 			, kitBase::blocksBase::BlocksFactoryInterface * const blocksFactory
 			, const QStringList &pathsToTemplates);
 
@@ -98,6 +103,9 @@ private slots:
 	/// Communicator object used to send commands to robot.
 	QScopedPointer<utils::robotCommunication::TcpRobotCommunicator> mCommunicator;
 
+	/// Robot model that is used by generator to check config file version on a robot.
+	trik::robotModel::TrikRobotModelBase &mRobotModel;
+
 	QStringList mPathsToTemplates;
 
 	/// Protocol that is used to upload program to robot.