chore: Update include directories and source file paths

.vscode/settings.json

@@ -0,0 +1,71 @@
+{
+	"files.associations": {
+		"array": "cpp",
+		"atomic": "cpp",
+		"bit": "cpp",
+		"*.tcc": "cpp",
+		"cctype": "cpp",
+		"charconv": "cpp",
+		"chrono": "cpp",
+		"cinttypes": "cpp",
+		"clocale": "cpp",
+		"cmath": "cpp",
+		"compare": "cpp",
+		"concepts": "cpp",
+		"condition_variable": "cpp",
+		"csignal": "cpp",
+		"cstdarg": "cpp",
+		"cstddef": "cpp",
+		"cstdint": "cpp",
+		"cstdio": "cpp",
+		"cstdlib": "cpp",
+		"ctime": "cpp",
+		"cwchar": "cpp",
+		"cwctype": "cpp",
+		"deque": "cpp",
+		"list": "cpp",
+		"map": "cpp",
+		"set": "cpp",
+		"string": "cpp",
+		"unordered_map": "cpp",
+		"vector": "cpp",
+		"exception": "cpp",
+		"algorithm": "cpp",
+		"functional": "cpp",
+		"iterator": "cpp",
+		"memory": "cpp",
+		"memory_resource": "cpp",
+		"numeric": "cpp",
+		"optional": "cpp",
+		"random": "cpp",
+		"ratio": "cpp",
+		"string_view": "cpp",
+		"system_error": "cpp",
+		"tuple": "cpp",
+		"type_traits": "cpp",
+		"utility": "cpp",
+		"format": "cpp",
+		"fstream": "cpp",
+		"future": "cpp",
+		"initializer_list": "cpp",
+		"iomanip": "cpp",
+		"iosfwd": "cpp",
+		"iostream": "cpp",
+		"istream": "cpp",
+		"limits": "cpp",
+		"mutex": "cpp",
+		"new": "cpp",
+		"numbers": "cpp",
+		"ostream": "cpp",
+		"semaphore": "cpp",
+		"shared_mutex": "cpp",
+		"span": "cpp",
+		"sstream": "cpp",
+		"stdexcept": "cpp",
+		"stop_token": "cpp",
+		"streambuf": "cpp",
+		"thread": "cpp",
+		"typeinfo": "cpp",
+		"variant": "cpp"
+	}
+}

middleware/inc/BackMotors.hpp

@@ -8,13 +8,11 @@
 #include <unistd.h>    // Para close(), usleep()
 #include <fcntl.h>     // Para open()
 #include <sys/ioctl.h> 
-#include <linux/i2c-dev.h>// Interface padrão do Linux para I2C
-
 #include <csignal> // Biblioteca para manipulação de sinais
-
 #include <atomic>
 #include <chrono> // Para cálculos de tempo
-#include <csignal> // Biblioteca para manipulação de sinais
+#include <linux/i2c-dev.h>// Interface padrão do Linux para I2C
+
 
 class BackMotors{
 private:

middleware/inc/CarControl.hpp

@@ -1,5 +1,35 @@
 #pragma once
 
+#include <linux/joystick.h>
+
+
+
+class BackMotors;
+class FServo;
+
+class CarControl {
+private:
+	BackMotors			_backMotors;
+	FServo				_fServo;
+
+	std::atomic<bool>	_running;
+	std::thread			_controlThread;
+	int 				_currenntGear;
+	double				_currentSpeed;
+	double 				_gear[5] = {20, 40, 60, 80, 100};
+
+	void _shiftDown();
+	void _shiftUp();
+
+public:
+	CarControl();
+	~CarControl();
+
+	void processJoystick();
+	void process();
+	void start();
+	void stop();
+};
 
 #include "BackMotors.hpp"
-#include "FrontMotors.hpp"
+#include "FServo.hpp"

middleware/inc/FServo.hpp

@@ -14,7 +14,6 @@
 
 #include <atomic>
 #include <chrono> // Para cálculos de tempo
-#include <csignal> // Biblioteca para manipulação de sinais
 
 class FServo{
 private:

middleware/inc/SpeedSensor.hpp

@@ -11,11 +11,7 @@
 #include <string>
 #include <chrono>
 
-#include <atomic>
-#include <thread>
 #include <functional>
-#include <string>
-#include <fstream>
 #include <csignal>
 
 class SpeedSensor {

middleware/src/CarControl.cpp

@@ -0,0 +1,87 @@
+#include "CarControl.hpp"
+
+CarControl::CarControl() : _running(false), _currenntGear(0), _currentSpeed(0)  {
+
+}
+
+CarControl::~CarControl() {
+}
+
+void CarControl::processJoystick() {
+	int joy_fd = open("/dev/input/js0", O_RDONLY);
+	if (joy_fd < 0) {
+		std::cerr << "Erro ao abrir o joystick" << std::endl;
+		return;
+	}
+
+	struct js_event js;
+
+	while (_running) {
+		ssize_t n = read(joy_fd, &js, sizeof(js));
+		if (n == sizeof(js)) {
+			js.type &= ~JS_EVENT_INIT; // Ignora eventos de inicialização
+			if (js.type == JS_EVENT_BUTTON){
+				if (js.number == 4 && js.value == 1) { //Left Button BTN_TL
+					_shiftDown();
+					std::cout << "Shift Down: " << _currenntGear + 1 << ", Max speed" << _gear[_currenntGear] << std::endl;
+				}
+				else if (js.number == 5 && js.value == 1) { //Right Button BTN_TR
+					_shiftUp();
+					std::cout << "Shift Up: " << _currenntGear + 1 << ", Max speed" << _gear[_currenntGear] << std::endl;
+				}
+				else if ((js.number == 7 || js.number == 6) && js.value == 1) { //Start/Select Button BTN_START
+					_backMotors.setSpeed(0);
+					_running = false;
+					std::cout << "Stop" << std::endl;
+					break;
+				}
+			}
+			else if (js.type == JS_EVENT_AXIS) {
+				if (js.number == 0) { // ABS_X
+					_fServo.set_steering( js.value / 32767.0 * 100);
+				}
+				else if (js.number == 5) { // ABS_RZ
+					if (js.value == 0){
+						_backMotors.setSpeed(0);
+					}
+					else {
+						_backMotors.setSpeed(js.value / 32767.0 * 100);
+					}
+				}
+			}
+		}
+		else if (n < 0) {
+			std::cerr << "Erro ao ler o joystick" << std::endl;
+			_running = false;
+			break;
+		}
+	}
+	close (joy_fd);
+}
+
+void CarControl::start() {
+	_running = true;
+	_controlThread = std::thread(&CarControl::processJoystick, this);
+}
+
+void CarControl::stop() {
+	_running = false;
+	if (_controlThread.joinable()) {
+		_controlThread.join();
+	}
+	_backMotors.setSpeed(0);
+	_fServo.set_steering(0);
+}
+
+void CarControl::_shiftDown() {
+	if (_currenntGear > 0) {
+		_currenntGear--;
+	}
+}
+
+void CarControl::_shiftUp() {
+	if (_currenntGear < 4) {
+		_currenntGear++;
+	}
+}
+

middleware/src/main.cpp

@@ -1,5 +1,6 @@
 #include "BackMotors.hpp"
 #include "FServo.hpp"
+#include "CarControl.hpp"
 
 // Variável para capturar o sinal de interrupção (Ctrl+C)
 void signalHandler(int signum) {
@@ -10,6 +11,19 @@ int main() {
     // Conectar o manipulador de sinal ao SIGINT
     signal(SIGINT, signalHandler);
 
+    CarControl car;
+    car.start();
+
+    std::this_thread::sleep_for(std::chrono::seconds(10)); // Exemplo de execução
+
+    car.stop();
+    return 0;
+}
+
+/* int main() {
+    // Conectar o manipulador de sinal ao SIGINT
+    signal(SIGINT, signalHandler);
+
     try {
         FServo servo;
         BackMotors motors;
@@ -59,4 +73,4 @@ int main() {
     }
 
     return 0;
-}
+} */