[Software][Cyclope controller] Allowed to power the robot off from th…

…e user interface.

Software/Raspberry_Pi/cyclope/package/cyclope-controller/src/Includes/WebPagePowerOff.hpp

@@ -0,0 +1,23 @@
+/** @file WebPagePowerOff.hpp
+ * Cleanly power the robot off.
+ * @author Adrien RICCIARDI
+ */
+#ifndef HPP_WEB_PAGE_POWER_OFF_HPP
+#define HPP_WEB_PAGE_POWER_OFF_HPP
+
+#include <WebPageBase.hpp>
+
+class WebPagePowerOff : public WebPageBase
+{
+	public:
+		// See base class documentation for description
+		WebPagePowerOff();
+
+		// See base class documentation for description
+		virtual int generateContent(std::string &referenceStringContent) override;
+};
+
+/** Give global access to the page statically allocated instance. */
+extern WebPagePowerOff webPagePowerOff;
+
+#endif

Software/Raspberry_Pi/cyclope/package/cyclope-controller/src/Sources/WebPageIndex.cpp

@@ -4,15 +4,19 @@
  */
 #include <WebPageIndex.hpp>
 #include <WebPageManualControl.hpp>
+#include <WebPagePowerOff.hpp>
 
 WebPageIndex::WebPageIndex() : WebPageBase("/") {};
 
 int WebPageIndex::generateContent(std::string &referenceStringContent)
 {
 	referenceStringContent =
-		"<h1>Cyclope Controller main menu</h1>\n"
+		"<div class=\"text-center\">\n"
+		"	<h1>Cyclope Controller main menu</h1>\n"
+		"</div>\n"
 		"<p class=\"text-center\">\n"
-		"	<a href=\"" + webPageManualControl.getBaseUrl() + "\">Manual control</a>\n"
+		"	<a href=\"" + webPageManualControl.getBaseUrl() + "\">Manual control</a><br />\n"
+		"	<a href=\"" + webPagePowerOff.getBaseUrl() + "\">Power the robot off</a><br />\n"
 		"</p>\n";
 
 	return 0;

Software/Raspberry_Pi/cyclope/package/cyclope-controller/src/Sources/WebPagePowerOff.cpp

@@ -0,0 +1,25 @@
+/** @file WebPagePowerOff.cpp
+ * See WebPagePowerOff.hpp for description.
+ * @author Adrien RICCIARDI
+ */
+#include <cstdlib>
+#include <Log.hpp>
+#include <WebPagePowerOff.hpp>
+
+WebPagePowerOff::WebPagePowerOff() : WebPageBase("/power-off") {};
+
+int WebPagePowerOff::generateContent(std::string &referenceStringContent)
+{
+	referenceStringContent =
+		"<div class=\"text-center\">\n"
+		"	<h1>The robot has been powered off.</h1>\n"
+		"</div>\n";
+
+	LOG(LOG_INFO, "Received the power off command, shutting the system down.");
+	system("poweroff");
+
+	return 0;
+}
+
+// The statically allocated instance of the page
+WebPagePowerOff webPagePowerOff{};

Software/Raspberry_Pi/cyclope/package/cyclope-controller/src/Sources/WebServer.cpp

@@ -11,6 +11,7 @@
 #include <unordered_map>
 #include <WebPageIndex.hpp>
 #include <WebPageManualControl.hpp>
+#include <WebPagePowerOff.hpp>
 #include <WebServer.hpp>
 
 namespace WebServer
@@ -318,6 +319,7 @@ namespace WebServer
 		// Create all pages in alphabetical order
 		_pagesMap.insert({webPageIndex.getBaseUrl(), &webPageIndex});
 		_pagesMap.insert({webPageManualControl.getBaseUrl(), &webPageManualControl});
+		_pagesMap.insert({webPagePowerOff.getBaseUrl(), &webPagePowerOff});
 
 		return 0;
 	}