Merge commit '4047873b69e878e6dae0bb080ba06fd552cc699b' into extractHALs

.github/workflows/main.yml

@@ -35,24 +35,24 @@ jobs:
     # Steps represent a sequence of tasks that will be executed as part of the job.
     steps:
     - name: Checkout repository
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
 
     - name: Cache pip
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       with:
         path: ~/.cache/pip
         key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
         restore-keys: |
           ${{ runner.os }}-pip-
 
     - name: Cache PlatformIO
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       with:
         path: ~/.platformio
         key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
 
     - name: Set up Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: '3.9'
 
@@ -75,24 +75,24 @@ jobs:
 
     steps:
     - name: Checkout repository
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
 
     - name: Cache pip
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       with:
         path: ~/.cache/pip
         key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
         restore-keys: |
           ${{ runner.os }}-pip-
 
     - name: Cache PlatformIO
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       with:
         path: ~/.platformio
         key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
 
     - name: Set up Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: '3.9'
 
@@ -112,24 +112,24 @@ jobs:
 
     steps:
     - name: Checkout repository
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
 
     - name: Cache pip
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       with:
         path: ~/.cache/pip
         key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
         restore-keys: |
           ${{ runner.os }}-pip-
 
     - name: Cache PlatformIO
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       with:
         path: ~/.platformio
         key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
 
     - name: Set up Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: '3.9'
 
@@ -152,24 +152,24 @@ jobs:
 
     steps:
     - name: Checkout repository
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
 
     - name: Cache pip
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       with:
         path: ~/.cache/pip
         key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
         restore-keys: |
           ${{ runner.os }}-pip-
 
     - name: Cache PlatformIO
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       with:
         path: ~/.platformio
         key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
 
     - name: Set up Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: '3.9'
 
@@ -179,7 +179,7 @@ jobs:
         pip install --upgrade platformio
 
     - name: Set up graphviz
-      uses: ts-graphviz/setup-graphviz@v1.2.0
+      uses: ts-graphviz/setup-graphviz@v2
 
     - name: Set up doxygen and generate documentation for ${{ matrix.environment }}
       uses: mattnotmitt/[email protected]

start_platoon.bat

@@ -1,35 +1,102 @@
 @echo off
+setlocal
+
+rem Change working directory to the directory of the batch script.
+cd /d %~dp0
 
-set PATH=%PATH%;
 set WEBOTS_CONTROLLER="%WEBOTS_HOME%\msys64\mingw64\bin\webots-controller.exe"
 set PROGRAM_NAME=program.exe
-set CONVOY_LEADER_PROGRAM_PATH=.pio\build\ConvoyLeaderSim
-set CONVOY_FOLLOWER_PROGRAM_PATH=.pio\build\ConvoyFollowerSim
 set CONVOY_LEADER_RX_CHANNEL=1
 set CONVOY_LEADER_TX_CHANNEL=2
 
+set CONVOY_LEADER_PIO_ENV_NAME=ConvoyLeaderSim
+set CONVOY_LEADER_PIO_PATH=.pio\build\%CONVOY_LEADER_PIO_ENV_NAME%
+set CONVOY_LEADER_ROBOT_NAME=leader
+set CONVOY_LEADER_RX_CHANNEL=1
+set CONVOY_LEADER_TX_CHANNEL=2
+
+set CONVOY_FOLLOWER_PIO_ENV_NAME=ConvoyFollowerSim
+set CONVOY_FOLLOWER_PIO_PATH=.pio\build\%CONVOY_FOLLOWER_PIO_ENV_NAME%
+set CONVOY_FOLLOWER_ROBOT_NAME=follower_
+
+set TEMP_PLATOON_PATH=tmp
+set TEMP_PLATOON_LEADER_PATH=%TEMP_PLATOON_PATH%\%CONVOY_LEADER_PIO_ENV_NAME%
+set TEMP_PLATOON_LEADER_NEW_PATH=%TEMP_PLATOON_PATH%\%CONVOY_LEADER_ROBOT_NAME%
+set TEMP_PLATOON_FOLLOWER_PATH=%TEMP_PLATOON_PATH%\%CONVOY_FOLLOWER_PIO_ENV_NAME%
+set TEMP_PLATOON_FOLLOWER_NEW_PATH=%TEMP_PLATOON_PATH%\%CONVOY_FOLLOWER_ROBOT_NAME%
+
 rem Compile Convoy Leader
-%USERPROFILE%\.platformio\penv\Scripts\pio.exe run --environment ConvoyLeaderSim
+%USERPROFILE%\.platformio\penv\Scripts\pio.exe run --environment %CONVOY_LEADER_PIO_ENV_NAME%
 
 rem Compile Convoy Follower
-%USERPROFILE%\.platformio\penv\Scripts\pio.exe run --environment ConvoyFollowerSim
+%USERPROFILE%\.platformio\penv\Scripts\pio.exe run --environment %CONVOY_FOLLOWER_PIO_ENV_NAME%
+
+rem If temporary folder doesn't exist, it will be created.
+if not exist %TEMP_PLATOON_PATH%\ (
+    md %TEMP_PLATOON_PATH%
+)
+
+rem Unzip leader to temporary folder
+if exist %TEMP_PLATOON_LEADER_PATH%\ (
+    rmdir /s /q %TEMP_PLATOON_LEADER_PATH%\
+)
+Call :UnZipFile "%~dp0%TEMP_PLATOON_PATH%\" "%~dp0%CONVOY_LEADER_PIO_PATH%\%CONVOY_LEADER_PIO_ENV_NAME%.zip"
+
+rem Unzip leader to temporary folder
+if exist %TEMP_PLATOON_FOLLOWER_PATH%\ (
+    rmdir /s /q %TEMP_PLATOON_FOLLOWER_PATH%\
+)
+Call :UnZipFile "%~dp0%TEMP_PLATOON_PATH%\" "%~dp0%CONVOY_FOLLOWER_PIO_PATH%\%CONVOY_FOLLOWER_PIO_ENV_NAME%.zip"
+
+rem Copy leader folder according to a new folder with the robot's name.
+rem The copy ensures that a existing settings.json will be kept.
+copy /y %TEMP_PLATOON_LEADER_PATH% %TEMP_PLATOON_LEADER_NEW_PATH%
+
+rem Copy follower folder according to a new folder with the robot's name.
+rem The copy ensures that a existing settings.json will be kept.
+for /L %%i in (1, 1, 2) do (
+    if exist %TEMP_PLATOON_FOLLOWER_PATH%\ (
+        rmdir /s /q %TEMP_PLATOON_FOLLOWER_PATH%\
+    )
+    copy /y %TEMP_PLATOON_FOLLOWER_PATH% %TEMP_PLATOON_FOLLOWER_NEW_PATH%%%i
+)
+
+rem Delete extraced files from .zip
+rmdir /s /q %TEMP_PLATOON_LEADER_PATH%
+rmdir /s /q %TEMP_PLATOON_FOLLOWER_PATH%
 
 rem Start the convoy leader
 echo Start convoy leader.
-start "Convoy Leader" ""%WEBOTS_CONTROLLER%"" --robot-name=leader --stdout-redirect %CONVOY_LEADER_PROGRAM_PATH%\%PROGRAM_NAME% -c --serialRxCh=%CONVOY_LEADER_RX_CHANNEL% --serialTxCh=%CONVOY_LEADER_TX_CHANNEL% -v"
+start "Convoy Leader" ""%WEBOTS_CONTROLLER%"" --robot-name=%CONVOY_LEADER_ROBOT_NAME% --stdout-redirect %TEMP_PLATOON_LEADER_NEW_PATH%\%PROGRAM_NAME% -n %CONVOY_LEADER_ROBOT_NAME% -c --serialRxCh=%CONVOY_LEADER_RX_CHANNEL% --serialTxCh=%CONVOY_LEADER_TX_CHANNEL% -v"
 
 rem Start the followers
 for /L %%i in (1, 1, 2) do (
-    call :start_follower %%i
+    echo Start convoy follower %%i.
+    call :StartFollower %%i
 )
 
 exit /b
 
-:start_follower
+:StartFollower
 set INSTANCE=%1
-set ROBOT_NAME=follower_%instance%
+set ROBOT_NAME=%CONVOY_FOLLOWER_ROBOT_NAME%%instance%
 set /a SERIAL_RX_CHANNEL=(INSTANCE * 2) + 1
 set /a SERIAL_TX_CHANNEL=(INSTANCE * 2) + 2
 echo Start convoy follower %INSTANCE%.
-start "Convoy Follower %INSTANCE%" ""%WEBOTS_CONTROLLER%"" --robot-name=%ROBOT_NAME% --stdout-redirect %CONVOY_FOLLOWER_PROGRAM_PATH%\%PROGRAM_NAME%  -c --serialRxCh=%SERIAL_RX_CHANNEL% --serialTxCh=%SERIAL_TX_CHANNEL% -v"
+start "Convoy Follower %INSTANCE%" ""%WEBOTS_CONTROLLER%"" --robot-name=%ROBOT_NAME% --stdout-redirect %TEMP_PLATOON_FOLLOWER_NEW_PATH%%INSTANCE%\%PROGRAM_NAME%  -n %ROBOT_NAME% -c --serialRxCh=%SERIAL_RX_CHANNEL% --serialTxCh=%SERIAL_TX_CHANNEL% -v"
 exit /b
+
+:UnZipFile <extractTo> <newzipfile>
+SET vbs="%TEMP%\_.vbs"
+IF EXIST %vbs% DEL /f /q %vbs%
+>%vbs% ECHO Set fso = CreateObject("Scripting.FileSystemObject")
+>>%vbs% ECHO If NOT fso.FolderExists(%1) Then
+>>%vbs% ECHO fso.CreateFolder(%1)
+>>%vbs% ECHO End If
+>>%vbs% ECHO set objShell = CreateObject("Shell.Application")
+>>%vbs% ECHO set FilesInZip=objShell.NameSpace(%2).items
+>>%vbs% ECHO objShell.NameSpace(%1).CopyHere(FilesInZip)
+>>%vbs% ECHO Set fso = Nothing
+>>%vbs% ECHO Set objShell = Nothing
+cscript //nologo %vbs%
+IF EXIST %vbs% DEL /f /q %vbs%