Feature add new hardware

.github/workflows/testing_workflow.yml

@@ -15,7 +15,29 @@ jobs:
     - name: Install dependencies
       run: |
         sudo apt update
-        sudo apt install -y libgtest-dev libeigen3-dev cmake
+        sudo apt install -y libgtest-dev libeigen3-dev libi2c-dev cmake
+        sudo apt install -y libopencv-dev
+
+    - name: Install WiringPi from source
+      run: |
+        sudo apt update
+        sudo apt install -y build-essential unzip
+        wget https://github.com/WiringPi/WiringPi/archive/master.zip
+        unzip master.zip
+        rm master.zip
+        cd WiringPi-master/wiringPi
+        make
+        sudo make install
+
+    - name: Install PCA9685 from source
+      run: |
+        sudo apt update
+        sudo apt install -y build-essential unzip
+        wget https://github.com/barulicm/PiPCA9685/archive/master.zip
+        unzip master.zip
+        cd PiPCA9685-main
+        xargs -a apt_dependencies.txt sudo apt-get install -y
+        sudo cmake --workflow --preset install
 
     - name: Build Debug Mode
       run: |
@@ -26,16 +48,6 @@ jobs:
       run: |
         timeout 10s ./build-debug/Ferda < /dev/null || echo "Exited after timeout"
 
-    - name: Install pigpio from source
-      run: |
-        sudo apt update
-        sudo apt install -y build-essential unzip
-        wget https://github.com/joan2937/pigpio/archive/master.zip
-        unzip master.zip
-        cd pigpio-master
-        make
-        sudo make install
-
     - name: Build Release Mode
       run: |
         cmake -DCMAKE_BUILD_TYPE=Release -B build-release .

.gitignore

@@ -1,3 +1,5 @@
 /build
 /.vscode
 /logs
+/vcpkg
+

Angles.csv

@@ -0,0 +1,2 @@
+0.774597,-0,2.124781,-0,2.397824,-0
+0,0.774597,0,2.124781,0,2.397824

Brewfile

@@ -0,0 +1,3 @@
+brew "eigen"
+brew "cmake"
+brew "python"

CMakeLists.txt

@@ -21,11 +21,28 @@ endif()
 FILE(GLOB CppSources src/*.cpp)
 
 find_package(Eigen3 REQUIRED NO_MODULE)
+find_package(OpenCV QUIET)
+
+if(OpenCV_FOUND)
+    message(STATUS "OpenCV found. Camera features enabled.")
+else()
+    message(WARNING "OpenCV not found. Building without hardware camera support and skipping CameraCalibrate.")
+endif()
+
+if(NOT OpenCV_FOUND AND NOT (CMAKE_BUILD_TYPE STREQUAL Debug) AND NOT (CMAKE_BUILD_TYPE STREQUAL Simulation))
+    list(REMOVE_ITEM EXTRA_CODE "${CMAKE_CURRENT_SOURCE_DIR}/hardware/Camera.cpp")
+    list(APPEND EXTRA_CODE "${CMAKE_CURRENT_SOURCE_DIR}/hardware_test/Camera.cpp")
+endif()
 
 add_executable(Ferda ${CppSources} ${EXTRA_CODE})
 
 target_include_directories(Ferda PRIVATE include)
 
+if(OpenCV_FOUND)
+    add_executable(CameraCalibrate tools/CameraCalibrate.cpp)
+    target_include_directories(CameraCalibrate PRIVATE include ${OpenCV_INCLUDE_DIRS})
+endif()
+
 if(MSVC)
   target_compile_options(Ferda PRIVATE /W4 /WX)
 else()
@@ -49,10 +66,21 @@ elseif(CMAKE_BUILD_TYPE STREQUAL Simulation)
         SIM_SERVER_IP="${SIM_SERVER_IP}"
     )
 else()
-    target_link_libraries(Ferda Eigen3::Eigen pigpio nlohmann_json::nlohmann_json)
+    target_link_libraries(Ferda Eigen3::Eigen wiringPi PiPCA9685 i2c nlohmann_json::nlohmann_json)
+    if(OpenCV_FOUND)
+        target_include_directories(Ferda PRIVATE ${OpenCV_INCLUDE_DIRS})
+        target_link_libraries(Ferda ${OpenCV_LIBS})
+    endif()
+endif()
+
+if(OpenCV_FOUND)
+    target_link_libraries(CameraCalibrate PRIVATE Eigen3::Eigen nlohmann_json::nlohmann_json ${OpenCV_LIBS})
 endif()
 
 
 # Add threading library
 find_package(Threads REQUIRED)
-target_link_libraries(Ferda Threads::Threads)
+target_link_libraries(Ferda Threads::Threads)
+if(OpenCV_FOUND)
+    target_link_libraries(CameraCalibrate PRIVATE Threads::Threads)
+endif()

Height.csv

@@ -0,0 +1 @@
+5.477226,7.411523,4.101591