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clangtidy corrections part 1

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kleiax
2023-10-11 17:35:40 +02:00
parent 77a52b82c3
commit 23d854a826
36 changed files with 2383 additions and 1165 deletions
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src/driveModi/Modi/TestMode/testMode.cpp
+71 -42
View File
@@ -4,20 +4,24 @@
* @brief Contains the implementation of the class TestMode.
* @version 0.1
* @date 2022-09-08
*
*
* @copyright Copyright (c) 2022
*
*
*/
#include "testMode.h"
void TestMode::run() {
if (this->maneuver == Maneuver::Turn) {
void TestMode::run()
{
if (this->maneuver == Maneuver::Turn)
{
uint16_t delta = abs(this->azimuth - this->getSensorData()->getRealAzimuth());
if (delta > this->degree)
if (delta > this->degree) {
this->abort = true;
}
}
if (this->busy && millis() - this->actionStart > this->maneuverTime || this->abort) {
if (this->busy && millis() - this->actionStart > this->maneuverTime || this->abort)
{
this->busy = false;
this->abort = false;
this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
@@ -25,62 +29,76 @@ void TestMode::run() {
}
}
bool TestMode::drive(int16_t cm, int16_t degree) {
if (this->busy)
bool TestMode::drive(int16_t cmDistance, int16_t degree)
{
if (this->busy){
return false;
}
this->actionStart = millis();
this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
if (cm == 0) {
//Only left or right
if (cmDistance == 0)
{
// Only left or right
this->moveControl->setSpeed(0);
if (degree < 0)
if (degree < 0){
this->moveControl->setRotationSpeed(-this->maxSpeeds.rot);
else if (degree > 0)
}
else if (degree > 0){
this->moveControl->setRotationSpeed(this->maxSpeeds.rot);
}
this->azimuth = this->getSensorData()->getRealAzimuth();
this->degree = degree;
this->maneuverTime = 5 * 1000;
this->busy = true;
return true;
} else if (degree == 0) {
//Only forward or backward
}
if (degree == 0)
{
// Only forward or backward
this->moveControl->setRotationSpeed(0);
if (cm < 0)
if (cmDistance < 0){
this->moveControl->setSpeed(-this->maxSpeeds.x);
else if (cm > 0)
}
else if (cmDistance > 0){
this->moveControl->setSpeed(this->maxSpeeds.x);
this->maneuverTime = (uint32_t) (((double) abs(cm) / 100.0) / this->maxSpeeds.x) * 1000;
}
this->maneuverTime = static_cast<uint32_t>(((abs(cmDistance) / 100.0) / this->maxSpeeds.x) * 1000);
this->busy = true;
this->maneuver = Maneuver::Drive;
return true;
} else {
//forward or backward and left or right
// TODO: Calculate roationspeed
if (cm < 0)
}
else
{
// forward or backward and left or right
// TODO: Calculate roationspeed
if (cmDistance < 0){
this->moveControl->setSpeed(-this->maxSpeeds.x);
else if (cm > 0)
}
else if (cmDistance > 0){
this->moveControl->setSpeed(this->maxSpeeds.x);
this->maneuverTime = (uint32_t) (((double) cm / 100.0) / this->maxSpeeds.x) * 1000;
}
this->maneuverTime = static_cast<uint32_t>(((cmDistance / 100.0) / this->maxSpeeds.x) * 1000);
this->busy = true;
this->maneuver = Maneuver::Drive;
return true;
}
this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
return false;
}
bool TestMode::leftEngine(int16_t powerPercentage, int16_t seconds) {
if (this->engineInit(powerPercentage, seconds)) {
bool TestMode::leftEngine(int16_t powerPercentage, int16_t seconds)
{
if (this->engineInit(powerPercentage, seconds))
{
this->moveControl->setRawPowerLeft(powerPercentage);
this->maneuver = Maneuver::LeftEngine;
std::cout << "TestMode::leftEngine" << std::endl;
@@ -89,8 +107,10 @@ bool TestMode::leftEngine(int16_t powerPercentage, int16_t seconds) {
return false;
}
bool TestMode::rightEngine(int16_t powerPercentage, int16_t seconds) {
if (this->engineInit(powerPercentage, seconds)) {
bool TestMode::rightEngine(int16_t powerPercentage, int16_t seconds)
{
if (this->engineInit(powerPercentage, seconds))
{
this->moveControl->setRawPowerRight(powerPercentage);
this->maneuver = Maneuver::RightEngine;
return true;
@@ -98,8 +118,10 @@ bool TestMode::rightEngine(int16_t powerPercentage, int16_t seconds) {
return false;
}
bool TestMode::bothEngine(int16_t powerPercentage, int16_t seconds) {
if (this->engineInit(powerPercentage, seconds)) {
bool TestMode::bothEngine(int16_t powerPercentage, int16_t seconds)
{
if (this->engineInit(powerPercentage, seconds))
{
this->moveControl->setRawPowerLeft(powerPercentage);
this->moveControl->setRawPowerRight(powerPercentage);
this->maneuver = Maneuver::BothEngine;
@@ -108,23 +130,30 @@ bool TestMode::bothEngine(int16_t powerPercentage, int16_t seconds) {
return false;
}
void TestMode::abortManeuver() {
void TestMode::abortManeuver()
{
this->abort = true;
}
uint8_t TestMode::getRemainingManeuverTime() const {
if (this->busy)
return (uint8_t) ((this->maneuverTime - (millis() - this->actionStart)) / 1000);
uint8_t TestMode::getRemainingManeuverTime() const
{
if (this->busy){
return static_cast<uint8_t>((this->maneuverTime - (millis() - this->actionStart)) / 1000);
}
return 0;
}
bool TestMode::engineInit(int16_t powerPercentage, int16_t seconds) {
if (this->busy)
bool TestMode::engineInit(int16_t powerPercentage, int16_t seconds)
{
if (this->busy){
return false;
if (powerPercentage > 100 || powerPercentage < -100)
}
if (powerPercentage > TestMode::maxPercentage || powerPercentage < -TestMode::maxPercentage){
return false;
if (seconds < 0)
}
if (seconds < 0){
return false;
}
this->actionStart = millis();
this->moveControl->setDrivingStatus(MoveControl::Status::Raw);
src/driveModi/Modi/TestMode/testMode.h
+83 -80
View File
@@ -4,11 +4,11 @@
* @brief Contains a class to test different functions from the rover.
* @version 0.1
* @date 2022-09-08
*
*
* @copyright Copyright (c) 2022
*
*
*/
#ifndef TEST_MODE_H
#ifndef TEST_MODE_H
#define TEST_MODE_H
#include <iostream>
@@ -16,97 +16,100 @@
#include "moveControl.h"
#include "driveModi/driveModi.h"
/**
* @brief Test different functions from the rover.
*
*
* You can test engine, engine controller, light and speed meter.
*/
class TestMode : public DriveModi {
public:
/**
* @brief Different states to test the engine
*
*/
enum Maneuver {
None,
LeftEngine,
RightEngine,
BothEngine,
Turn,
Drive
};
class TestMode : public DriveModi
{
public:
/**
* @brief Different states to test the engine
*
*/
enum Maneuver
{
None,
LeftEngine,
RightEngine,
BothEngine,
Turn,
Drive
};
bool drive(int16_t cm = 0, int16_t degree = 0);
bool drive(int16_t cmDistance = 0, int16_t degree = 0);
/**
* @brief Sets the left Engine to a specific power value.
*
* This start a maneuver with the given time.
*
* @param powerPercentage from 0% to 100%
* @param seconds time to run the engine
* @return true success
* @return false failure
*/
bool leftEngine(int16_t powerPercentage, int16_t seconds);
/**
* @brief Sets the left Engine to a specific power value.
*
* This start a maneuver with the given time.
*
* @param powerPercentage from 0% to 100%
* @param seconds time to run the engine
* @return true success
* @return false failure
*/
bool leftEngine(int16_t powerPercentage, int16_t seconds);
/**
* @brief See leftEngine
*
* @param powerPercentage
* @param seconds
* @return true
* @return false
*/
bool rightEngine(int16_t powerPercentage, int16_t seconds);
/**
* @brief See leftEngine
*
* @param powerPercentage
* @param seconds
* @return true
* @return false
*/
bool rightEngine(int16_t powerPercentage, int16_t seconds);
/**
* @brief See leftEngine
*
* @param powerPercentage
* @param seconds
* @return true
* @return false
*/
bool bothEngine(int16_t powerPercentage, int16_t seconds);
/**
* @brief See leftEngine
*
* @param powerPercentage
* @param seconds
* @return true
* @return false
*/
bool bothEngine(int16_t powerPercentage, int16_t seconds);
/**
* @brief Abort the running maneuver.
*
* Stops all movement. This is the only possibility to cancel a maneuver
* before the time is up.
*/
void abortManeuver();
/**
* @brief Abort the running maneuver.
*
* Stops all movement. This is the only possibility to cancel a maneuver
* before the time is up.
*/
void abortManeuver();
uint8_t getRemainingManeuverTime() const;
uint8_t getRemainingManeuverTime() const;
/**
* @brief Returns true if a maneuver is running
*
* @return true
* @return false
*/
bool getBusy() const { return this->busy; }
Maneuver getManeuver() const { return this->maneuver; }
Speedometer* getSpeedometerLeft() const { return this->moveControl->getSpeedometerLeft(); }
Speedometer* getSpeedometerRight() const { return this->moveControl->getSpeedometerRight(); }
/**
* @brief Returns true if a maneuver is running
*
* @return true
* @return false
*/
bool getBusy() const { return this->busy; }
Maneuver getManeuver() const { return this->maneuver; }
Speedometer *getSpeedometerLeft() const { return this->moveControl->getSpeedometerLeft(); }
Speedometer *getSpeedometerRight() const { return this->moveControl->getSpeedometerRight(); }
private:
void run() override;
bool engineInit(int16_t powerPercentage, int16_t seconds);
private:
void run() override;
bool engineInit(int16_t powerPercentage, int16_t seconds);
Maneuver maneuver = Maneuver::None;
int16_t maneuverValueOne = 0;
int16_t maneuverValueTwo = 0;
Maneuver maneuver = Maneuver::None;
int16_t maneuverValueOne = 0;
int16_t maneuverValueTwo = 0;
bool busy = false;
bool abort = false;
uint16_t azimuth;
int16_t degree;
uint32_t maneuverTime = 0;
uint32_t actionStart = 0;
bool busy = false;
bool abort = false;
uint16_t azimuth;
int16_t degree;
uint32_t maneuverTime = 0;
uint32_t actionStart = 0;
static constexpr int8_t maxPercentage = 100;
};
#endif // TEST_MODE_H