me/improve code 3

trikCommunicator/include/trikCommunicator/trikCommunicator.h

@@ -60,7 +60,7 @@ class TrikCommunicator : public trikNetwork::TrikServer
 
 	~TrikCommunicator() override;
 
-signals:
+Q_SIGNALS:
 	/// Emitted when stop command received from a computer.
 	void stopCommandReceived();
 

trikCommunicator/src/connection.cpp

@@ -57,7 +57,7 @@ void Connection::processData(const QByteArray &data)
 
 		QMetaObject::invokeMethod(&mTrikScriptRunner, [=](){mTrikScriptRunner.run(fileContents, command);});
 	} else if (command == "stop") {
-		emit stopCommandReceived();
+		Q_EMIT stopCommandReceived();
 	} else if (command.startsWith("direct:")) {
 		command.remove(0, QString("direct:").length());
 		QMetaObject::invokeMethod(&mTrikScriptRunner, [=](){mTrikScriptRunner.runDirectCommand(command);});

trikCommunicator/src/connection.h

@@ -47,7 +47,7 @@ class Connection : public trikNetwork::Connection
 	/// Writes a given message to inner socket.
 	void sendMessage(const QString &message);
 
-signals:
+Q_SIGNALS:
 	/// Emitted when a stop command received from a computer.
 	void stopCommandReceived();
 

trikControl/include/trikControl/batteryInterface.h

@@ -26,7 +26,7 @@ namespace trikControl {
 class TRIKCONTROL_EXPORT BatteryInterface : public QObject, public DeviceInterface
 {
 	Q_OBJECT
-public slots:
+public Q_SLOTS:
 	/// Returns current battery voltage in volts.
 	virtual float readVoltage() = 0;
 

trikControl/include/trikControl/brickInterface.h

@@ -63,7 +63,7 @@ class TRIKCONTROL_EXPORT BrickInterface : public QObject
 	/// Returns version of system configuration file.
 	virtual QString configVersion() const = 0;
 
-public slots:
+public Q_SLOTS:
 	/// Configures given device on given port. Port must be listed in model-config.xml, device shall be listed
 	/// in system-config.xml, and device shall be able to be configured on a port (it is also described
 	/// in system-config.xml). Previously configured device is properly shut down, and new device is created
@@ -87,87 +87,89 @@ public slots:
 	/// Returns reference to motor of a given type on a given port
 	virtual trikControl::MotorInterface *motor(const QString &port) = 0;
 
+	/// Stops listening given event device and destroys its watcher object.
+	virtual void stopEventDevice(const QString &deviceFile) = 0;
+
+public:
 	/// Returns reference to PWM signal capture device on a given port.
-	virtual trikControl::PwmCaptureInterface *pwmCapture(const QString &port) = 0;
+	Q_INVOKABLE virtual trikControl::PwmCaptureInterface *pwmCapture(const QString &port) = 0;
 
 	/// Returns reference to sensor on a given port.
-	virtual trikControl::SensorInterface *sensor(const QString &port) = 0;
+	Q_INVOKABLE virtual trikControl::SensorInterface *sensor(const QString &port) = 0;
 
 	/// Retruns list of ports for motors of a given type.
-	virtual QStringList motorPorts(MotorInterface::Type type) const = 0;
+	Q_INVOKABLE virtual QStringList motorPorts(MotorInterface::Type type) const = 0;
 
 	/// Returns list of PWM signal capture device ports.
-	virtual QStringList pwmCapturePorts() const = 0;
+	Q_INVOKABLE virtual QStringList pwmCapturePorts() const = 0;
 
 	/// Returns list of ports for sensors of a given type.
-	virtual QStringList sensorPorts(SensorInterface::Type type) const = 0;
+	Q_INVOKABLE virtual QStringList sensorPorts(SensorInterface::Type type) const = 0;
 
 	/// Returns list of encoder ports
-	virtual QStringList encoderPorts() const = 0;
+	Q_INVOKABLE virtual QStringList encoderPorts() const = 0;
 
 	/// Returns on-board accelerometer.
-	virtual trikControl::VectorSensorInterface *accelerometer() = 0;
+	Q_INVOKABLE virtual trikControl::VectorSensorInterface *accelerometer() = 0;
 
 	/// Returns on-board gyroscope.
-	virtual trikControl::GyroSensorInterface *gyroscope() = 0;
+	Q_INVOKABLE virtual trikControl::GyroSensorInterface *gyroscope() = 0;
 
 	/// Returns high-level line detector sensor using camera on given port (video0 or video1).
-	virtual trikControl::LineSensorInterface *lineSensor(const QString &port) = 0;
+	Q_INVOKABLE virtual trikControl::LineSensorInterface *lineSensor(const QString &port) = 0;
 
 	/// Returns high-level color sensor using camera on given port (video0 or video1).
-	virtual trikControl::ColorSensorInterface *colorSensor(const QString &port) = 0;
+	Q_INVOKABLE virtual trikControl::ColorSensorInterface *colorSensor(const QString &port) = 0;
 
 	/// Returns high-level object detector sensor using camera on given port (video0 or video1).
-	virtual trikControl::ObjectSensorInterface *objectSensor(const QString &port) = 0;
+	Q_INVOKABLE virtual trikControl::ObjectSensorInterface *objectSensor(const QString &port) = 0;
 
 	/// Returns lidar on given port.
-	virtual trikControl::LidarInterface *lidar() = 0;
+	Q_INVOKABLE virtual trikControl::LidarInterface *lidar() = 0;
 
 	/// Returns i2c device object
-	virtual trikControl::I2cDeviceInterface *i2c(int bus, int address) = 0;
+	Q_INVOKABLE virtual trikControl::I2cDeviceInterface *i2c(int bus, int address) = 0;
 
 	/// Returns QVector<uin8_t> with image using camera on given port (video0 or video1).
-	virtual QVector<uint8_t> getStillImage() = 0;
+	Q_INVOKABLE virtual QVector<uint8_t> getStillImage() = 0;
 
 	/// Returns high-level sound detector sensor using microphones.
-	virtual trikControl::SoundSensorInterface *soundSensor(const QString &port) = 0;
+	Q_INVOKABLE virtual trikControl::SoundSensorInterface *soundSensor(const QString &port) = 0;
 
 	/// Returns encoder on given port.
-	virtual trikControl::EncoderInterface *encoder(const QString &port) = 0;
+	Q_INVOKABLE virtual trikControl::EncoderInterface *encoder(const QString &port) = 0;
 
 	/// Returns battery.
-	virtual trikControl::BatteryInterface *battery() = 0;
+	Q_INVOKABLE virtual trikControl::BatteryInterface *battery() = 0;
 
 	/// Returns keys on a control brick.
-	virtual trikControl::KeysInterface *keys() = 0;
+	Q_INVOKABLE virtual trikControl::KeysInterface *keys() = 0;
 
 	/// Returns class that provides drawing on display.
-	virtual trikControl::DisplayInterface *display() = 0;
+	Q_INVOKABLE virtual trikControl::DisplayInterface *display() = 0;
 
 	/// Returns LED control class.
-	virtual trikControl::LedInterface *led() = 0;
+	Q_INVOKABLE virtual trikControl::LedInterface *led() = 0;
 
 	/// Returns handler for Android gamepad.
-	virtual trikControl::GamepadInterface *gamepad() = 0;
+	Q_INVOKABLE virtual trikControl::GamepadInterface *gamepad() = 0;
 
 	/// Returns custom FIFO file which can be used as sensor.
-	virtual trikControl::FifoInterface *fifo(const QString &port) = 0;
+	Q_INVOKABLE virtual trikControl::FifoInterface *fifo(const QString &port) = 0;
 
 	/// Returns marker.
-	virtual trikControl::MarkerInterface *marker() = 0;
+	Q_INVOKABLE virtual trikControl::MarkerInterface *marker() = 0;
 
 	/// Returns IR camera
-	virtual trikControl::IrCameraInterface *irCamera() = 0;
+	Q_INVOKABLE virtual trikControl::IrCameraInterface *irCamera() = 0;
 
 	/// Returns custom event device that can be used as a sensor, for example, for custom gamepad support.
 	/// Creates new event device on first access to a file, then returns already opened device.
 	/// Ownership retained by brick.
-	virtual trikControl::EventDeviceInterface *eventDevice(const QString &deviceFile) = 0;
+	Q_INVOKABLE virtual trikControl::EventDeviceInterface *eventDevice(const QString &deviceFile) = 0;
 
-	/// Stops listening given event device and destroys its watcher object.
-	virtual void stopEventDevice(const QString &deviceFile) = 0;
 
-signals:
+Q_SIGNALS:
 	/// Emitted when all deferred deinitialization is completed and brick completely stopped. Note that if there is no
 	/// deferred deinitialization (no video sensors are on, for example), signal will NOT be emitted.
 	void stopped();

trikControl/include/trikControl/colorSensorInterface.h

@@ -28,11 +28,11 @@ class TRIKCONTROL_EXPORT ColorSensorInterface : public QObject, public DeviceInt
 {
 	Q_OBJECT
 
-signals:
+Q_SIGNALS:
 	/// Emitted when sensor is stopped successfully.
 	void stopped();
 
-public slots:
+public Q_SLOTS:
 	/// Initializes a camera.
 	/// @param showOnDisplay - true if we want an image from a camera to be drawn on robot display.
 	virtual void init(bool showOnDisplay) = 0;

trikControl/include/trikControl/displayInterface.h

@@ -33,7 +33,7 @@ class TRIKCONTROL_EXPORT DisplayInterface : public QObject
 	/// Returns widget on which everything is drawn.
 	virtual DisplayWidgetInterface &graphicsWidget() = 0;
 
-public slots:
+public Q_SLOTS:
 	/// Shows given image on a display.
 	/// @param fileName - file name (with path) of an image to show. Refer to Qt documentation for
 	///        supported formats, but .jpg, .png, .bmp, .gif are supported.

trikControl/include/trikControl/displayWidgetInterface.h

@@ -35,7 +35,7 @@ class TRIKCONTROL_EXPORT DisplayWidgetInterface : public QWidget
 	DisplayWidgetInterface() = default;
 	~DisplayWidgetInterface() override = default;
 
-signals:
+Q_SIGNALS:
 	/// Emitted when widget is shown.
 	void shown();
 

trikControl/include/trikControl/encoderInterface.h

@@ -27,7 +27,7 @@ class TRIKCONTROL_EXPORT EncoderInterface : public QObject, public DeviceInterfa
 {
 	Q_OBJECT
 
-public slots:
+public Q_SLOTS:
 	/// Returns current encoder reading (in degrees).
 	virtual int read() = 0;
 

trikControl/include/trikControl/eventCodeInterface.h

@@ -28,7 +28,7 @@ class TRIKCONTROL_EXPORT EventCodeInterface : public QObject
 {
 	Q_OBJECT
 
-signals:
+Q_SIGNALS:
 	/// Emitted when there is new event with specific type and code in an event file.
 	/// @param value - value sent with the event.
 	/// @param eventTime - time stamp of the event, in milliseconds from start of the Unix time (modulo 2^32).

trikControl/include/trikControl/eventDeviceInterface.h

@@ -28,11 +28,11 @@ class TRIKCONTROL_EXPORT EventDeviceInterface : public QObject, public DeviceInt
 {
 	Q_OBJECT
 
-public slots:
+public Q_SLOTS:
 	/// Returns object that allows to selectively subscribe only to event with given code.
 	virtual EventInterface *onEvent(int eventType) = 0;
 
-signals:
+Q_SIGNALS:
 	/// Emitted when there is new event in an event file.
 	/// @param event - type of the event.
 	/// @param code - code of the event inside a type.

trikControl/include/trikControl/eventInterface.h

@@ -28,12 +28,12 @@ class TRIKCONTROL_EXPORT EventInterface : public QObject
 {
 	Q_OBJECT
 
-public slots:
+public Q_SLOTS:
 	/// Returns object that emits only events with specific code. See evtest output for a list of codes for
 	/// specific device.
 	virtual EventCodeInterface *code(int code) = 0;
 
-signals:
+Q_SIGNALS:
 	/// Emitted when there is new event in an event file.
 	/// @param code - code of the event inside a type.
 	/// @param value - value sent with the event.

trikControl/include/trikControl/fifoInterface.h

@@ -27,18 +27,18 @@ class TRIKCONTROL_EXPORT FifoInterface : public QObject, public DeviceInterface
 {
 	Q_OBJECT
 
-public slots:
+public:
 	/// Reads line from this FIFO file, returning all available data as string.
-	virtual QString read() = 0;
+	Q_INVOKABLE virtual QString read() = 0;
 	/// Reads data from this FIFO file, returning all available data as string.
-	virtual QVector<uint8_t> readRaw() = 0;
+	Q_INVOKABLE virtual QVector<uint8_t> readRaw() = 0;
 
 	/// Returns true if FIFO has new line in it.
-	virtual bool hasLine() const = 0;
+	Q_INVOKABLE virtual bool hasLine() const = 0;
 	/// Returns true if FIFO has new bytes in it.
-	virtual bool hasData() const = 0;
+	Q_INVOKABLE virtual bool hasData() const = 0;
 
-signals:
+Q_SIGNALS:
 	/// Emitted once per each text line that arrives to FIFO.
 	void newLine(const QString &data);
 	/// Emitted when new bytes have arrived to FIFO file.

trikControl/include/trikControl/gamepadInterface.h

@@ -25,39 +25,40 @@ class TRIKCONTROL_EXPORT GamepadInterface : public QObject
 {
 	Q_OBJECT
 
-public slots:
+public Q_SLOTS:
 	/// Clear data about previous pad events.
 	virtual void reset() = 0;
 
+public:
 	/// Returns true, if given pad button is pressed, and clears "pressed" state for that button.
 	/// Buttons have indexes from 1 to 5.
-	virtual bool buttonWasPressed(int buttonNumber) = 0;
+	Q_INVOKABLE virtual bool buttonWasPressed(int buttonNumber) = 0;
 
 	/// Returns true, if given pad button is pressed now. Buttons have indexes from 1 to 5.
-	virtual bool buttonIsPressed(int buttonNumber) = 0;
+	Q_INVOKABLE virtual bool buttonIsPressed(int buttonNumber) = 0;
 
 	/// Returns current state of the pad, true if pressed.
-	virtual bool isPadPressed(int pad) const = 0;
+	Q_INVOKABLE virtual bool isPadPressed(int pad) const = 0;
 
 	/// Returns current X coordinate of given pad or -1 if this pad is not pressed.
-	virtual int padX(int pad) const = 0;
+	Q_INVOKABLE virtual int padX(int pad) const = 0;
 
 	/// Returns current Y coordinate of given pad or -1 if this pad is not pressed.
-	virtual int padY(int pad) const = 0;
+	Q_INVOKABLE virtual int padY(int pad) const = 0;
 
 	/// Returns current tilt angle of Android device when "wheel" is turned on.
-	virtual int wheel() const = 0;
+	Q_INVOKABLE virtual int wheel() const = 0;
 
 	/// Returns true if a gamepad is currently connected to a robot.
-	virtual bool isConnected() const = 0;
+	Q_INVOKABLE virtual bool isConnected() const = 0;
 
 	/// Disconnects a gamepad.
 	/// Emits `disconnected` signal and then resets button state if a gamepad was connected to a robot.
 	/// Returns true if a gamepad was connected
-	virtual bool disconnect() = 0;
+	Q_INVOKABLE virtual bool disconnect() = 0;
 
 
-signals:
+Q_SIGNALS:
 	/// Emitted when user pulls finger off a pad.
 	/// @param pad - id of a pad on which the event occurs.
 	void padUp(int pad);

trikControl/include/trikControl/gyroSensorInterface.h

@@ -28,31 +28,32 @@ class TRIKCONTROL_EXPORT GyroSensorInterface : public VectorSensorInterface
 {
 	Q_OBJECT
 
-signals:
+Q_SIGNALS:
 
 	/// Emites when average mean of bias is counted.
 	void calibrationFinished();
 
-public slots:
+public Q_SLOTS:
 	/// Calibrates bias value of sensor, sets new bias value, resets other values include tilt values.
 	/// Preffered duration of calibration -- 15-20 seconds.
 	/// @param msec - duration of calibration in milliseconds
 	virtual void calibrate(int msec) = 0;
 
-	/// Returns vector with calibration values, which consists of 6 elements:
-	/// 0-2 -- gyroscope bias, 3-5 -- average accelerometer values.
-	/// Updated values is available only after calibration is done.
-	virtual QVector<int> getCalibrationValues() = 0;
-
 	/// Sets vector with calibration values to gyroscope sensor.
 	/// It consists of 6 elements: 0-2 -- gyroscope bias, 3-5 -- average accelerometer values at rest.
 	virtual void setCalibrationValues(const QVector<int> &values) = 0;
 
+public:
+	/// Returns vector with calibration values, which consists of 6 elements:
+	/// 0-2 -- gyroscope bias, 3-5 -- average accelerometer values.
+	/// Updated values is available only after calibration is done.
+	Q_INVOKABLE virtual QVector<int> getCalibrationValues() = 0;
+
 	/// Checks if bias is counted or not.
-	virtual bool isCalibrated() const = 0;
+	Q_INVOKABLE virtual bool isCalibrated() const = 0;
 
 	/// Returns current raw reading of a sensor.
-	virtual QVector<int> readRawData() const = 0;
+	Q_INVOKABLE virtual QVector<int> readRawData() const = 0;
 };
 
 }

trikControl/include/trikControl/irCameraInterface.h

@@ -38,17 +38,18 @@ public Q_SLOTS:
 	/// Stops frames capturing until init() will be called again.
 	virtual void stop() = 0;
 
+public:
 	/// Gets photo as a vector of uint8_t in Grayscale8 format.
-	virtual QVector<int32_t> getImage() const = 0;
+	Q_INVOKABLE virtual QVector<int32_t> getImage() const = 0;
 
 	/// Returns average value in given cell of a grid.
 	/// @param[in] m row number
 	/// @param[in] n column number
-	virtual int readSensor(int m, int n) const = 0;
+	Q_INVOKABLE virtual int readSensor(int m, int n) const = 0;
 
-	Status status() const override = 0;
+	Q_INVOKABLE Status status() const override = 0;
 
-signals:
+Q_SIGNALS:
 	/// Emitted when new image is ready.
 	void imageUpdated();