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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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lib/MQTT/debugMqtt.cpp:22: [medium:warning] 'name' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/MQTT/debugMqtt.cpp:23: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/MQTT/debugMqtt.cpp:32: [medium:warning] 2 adjacent parameters of 'sendMsg' of similar type ('String') are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/MQTT/debugMqtt.cpp:32: [medium:warning] the parameter 'msg' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/MQTT/debugMqtt.cpp:33: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/MQTT/debugMqtt.cpp:33: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MQTT/debugMqtt.cpp:34: [medium:warning] parameter 'topic' is passed by value and only copied once; consider moving it to avoid unnecessary copies [performance-unnecessary-value-param]
lib/MQTT/debugMqtt.cpp:34: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MQTT/debugMqtt.cpp:38: [medium:warning] parameter 'msg' is passed by value and only copied once; consider moving it to avoid unnecessary copies [performance-unnecessary-value-param]
lib/MQTT/debugMqtt.cpp:41: [medium:warning] method 'sendData' can be made static [readability-convert-member-functions-to-static]
lib/MQTT/debugMqtt.cpp:41: [medium:warning] the parameter 'topic' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/MQTT/debugMqtt.cpp:41: [medium:warning] the parameter 'data' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/MQTT/debugMqtt.cpp:47: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/MQTT/debugMqtt.cpp:47: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MQTT/debugMqtt.cpp:48: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/MQTT/debugMqtt.cpp:48: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MQTT/debugMqtt.cpp:49: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MQTT/debugMqtt.cpp:49: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MQTT/debugMqtt.cpp:54: [medium:warning] parameter 'data' is passed by value and only copied once; consider moving it to avoid unnecessary copies [performance-unnecessary-value-param]
lib/MQTT/debugMqtt.cpp:57: [medium:warning] the parameter 'measurement_name' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/MQTT/debugMqtt.cpp:57: [medium:warning] the parameter 'field_set' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/MQTT/debugMqtt.cpp:60: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/MQTT/debugMqtt.cpp:60: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MQTT/debugMqtt.cpp:61: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MQTT/debugMqtt.cpp:64: [medium:warning] parameter name 'c' is too short, expected at least 3 characters [readability-identifier-length]
lib/Menu/src/menu.cpp:13: [medium:warning] constructor does not initialize these fields: entrys, selectedEntry [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Menu/src/menu.cpp:18: [medium:warning] variable 'iter' is not initialized [cppcoreguidelines-init-variables]
lib/Menu/src/menu.cpp:18: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menu.cpp:25: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menu.cpp:29: [medium:warning] method 'isInSubmenu' can be made const [readability-make-member-function-const]
lib/Menu/src/menu.cpp:34: [medium:warning] variable 'iter' is not initialized [cppcoreguidelines-init-variables]
lib/Menu/src/menu.cpp:43: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menu.cpp:63: [medium:warning] missing username/bug in TODO [google-readability-todo]
lib/Menu/src/menu.cpp:64: [medium:warning] variable 'iter' is not initialized [cppcoreguidelines-init-variables]
lib/Menu/src/menu.cpp:66: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menu.cpp:68: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menu.cpp:78: [medium:warning] variable 'iter' is not initialized [cppcoreguidelines-init-variables]
lib/Menu/src/menu.cpp:108: [medium:warning] implicit conversion 'MenuControl *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menu.cpp:108: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:13: [medium:warning] 2 adjacent parameters of 'MenuAction' of similar type ('void (*)()') are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Menu/src/menuAction.cpp:14: [medium:warning] 'name' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuAction.cpp:15: [medium:warning] 'function' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuAction.cpp:16: [medium:warning] 'callback' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuAction.cpp:20: [medium:warning] 'name' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuAction.cpp:21: [medium:warning] 'menu' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuAction.cpp:22: [medium:warning] 'isMenu' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuAction.cpp:26: [medium:warning] 'name' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuAction.cpp:27: [medium:warning] 'action' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuAction.cpp:31: [medium:warning] 'if' statement is unnecessary; deleting null pointer has no effect [readability-delete-null-pointer]
lib/Menu/src/menuAction.cpp:31: [medium:warning] implicit conversion 'MenuControl *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuAction.cpp:31: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:34: [medium:warning] 'if' statement is unnecessary; deleting null pointer has no effect [readability-delete-null-pointer]
lib/Menu/src/menuAction.cpp:34: [medium:warning] implicit conversion 'MenuActionWrapper *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuAction.cpp:34: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:39: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:42: [medium:warning] implicit conversion 'void (*)()' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuAction.cpp:42: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:44: [medium:warning] implicit conversion 'MenuActionWrapper *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuAction.cpp:44: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:46: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:50: [medium:warning] implicit conversion 'void (*)()' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuAction.cpp:50: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:58: [medium:warning] method 'getIsMenu' can be made const [readability-make-member-function-const]
lib/Menu/src/menuAction.cpp:63: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:65: [medium:warning] do not use 'else' after 'return' [readability-else-after-return]
lib/Menu/src/menuAction.cpp:65: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuControl.cpp:14: [medium:warning] the parameter 'lineOne' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/Menu/src/menuControl.cpp:14: [medium:warning] the parameter 'lineTwo' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/Menu/src/menuControl.cpp:15: [medium:warning] implicit conversion 'DisplayWrapper *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuControl.cpp:27: [medium:warning] implicit conversion 'DisplayWrapper *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuControl.cpp:27: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuInformationSites.cpp:15: [medium:warning] 'countPages' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuInformationSites.cpp:16: [medium:warning] 'currentPage' should be initialized in an in-class default member initializer [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuInformationSites.cpp:17: [medium:warning] 'lastMillis' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuInformationSites.cpp:21: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuInformationSites.cpp:23: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuInformationSites.cpp:29: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuInformationSites.cpp:31: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuInformationSites.cpp:41: [medium:warning] implicit conversion 'MenuControl *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuInformationSites.cpp:92: [medium:warning] variable 'lineOne' of type 'String' can be declared 'const' [misc-const-correctness]
lib/Menu/src/menuInformationSites.cpp:93: [medium:warning] variable 'lineTwo' of type 'String' can be declared 'const' [misc-const-correctness]
lib/Menu/src/menuIntInput.cpp:15: [medium:warning] 'values' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:16: [medium:warning] 'names' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:17: [medium:warning] 'length' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:18: [medium:warning] 'wrapper' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:20: [medium:warning] 'min' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:21: [medium:warning] 'max' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:22: [medium:warning] 'originalValues' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:23: [medium:warning] 'stepsPerInput' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:34: [medium:warning] 'length' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:35: [medium:warning] 'wrapper' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:37: [medium:warning] 'values' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:38: [medium:warning] 'names' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:38: [medium:warning] do not use C-style cast to convert between unrelated types [cppcoreguidelines-pro-type-cstyle-cast]
lib/Menu/src/menuIntInput.cpp:38: [medium:warning] C-style casts are discouraged; use reinterpret_cast [google-readability-casting]
lib/Menu/src/menuIntInput.cpp:39: [medium:warning] 'min' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:40: [medium:warning] 'max' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:41: [medium:warning] 'originalValues' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:42: [medium:warning] 'stepsPerInput' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:50: [medium:warning] result of multiplication in type 'int' is used as a pointer offset after an implicit widening conversion to type 'ptrdiff_t' [bugprone-implicit-widening-of-multiplication-result]
lib/Menu/src/menuIntInput.cpp:65: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:68: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:72: [medium:warning] result of multiplication in type 'int' is used as a pointer offset after an implicit widening conversion to type 'ptrdiff_t' [bugprone-implicit-widening-of-multiplication-result]
lib/Menu/src/menuIntInput.cpp:78: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:85: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:91: [medium:warning] 2 adjacent parameters of 'setMinMax' of similar type ('int16_t') are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Menu/src/menuIntInput.cpp:97: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:102: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:106: [medium:warning] 2 adjacent parameters of 'setMinMax' of similar type ('int16_t') are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Menu/src/menuIntInput.cpp:111: [medium:warning] 3 adjacent parameters of 'setMinMaxSteps' of convertible types are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Menu/src/menuIntInput.cpp:117: [medium:warning] 3 adjacent parameters of 'setMinMaxSteps' of convertible types are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Menu/src/menuIntInput.cpp:124: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:131: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:162: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:164: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:171: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:173: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:180: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:184: [medium:warning] implicit conversion 'MenuControl *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuIntInput.cpp:192: [medium:warning] implicit conversion 'MenuControl *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuIntInput.cpp:199: [medium:warning] 17 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Menu/src/menuIntInput.cpp:203: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/Menu/src/menuIntInput.cpp:203: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Menu/src/menuIntInput.cpp:203: [medium:warning] result of multiplication in type 'int' is used as a pointer offset after an implicit widening conversion to type 'ptrdiff_t' [bugprone-implicit-widening-of-multiplication-result]
lib/Menu/src/menuIntInput.cpp:206: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/Menu/src/menuIntInput.cpp:206: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Menu/src/menuIntInput.cpp:206: [medium:warning] result of multiplication in type 'int' is used as a pointer offset after an implicit widening conversion to type 'ptrdiff_t' [bugprone-implicit-widening-of-multiplication-result]
lib/Menu/src/menuIntInput.cpp:209: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/Menu/src/menuIntInput.cpp:209: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Menu/src/menuIntInput.cpp:209: [medium:warning] result of multiplication in type 'int' is used as a pointer offset after an implicit widening conversion to type 'ptrdiff_t' [bugprone-implicit-widening-of-multiplication-result]
lib/Menu/src/menuIntInput.cpp:212: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/Menu/src/menuIntInput.cpp:212: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Menu/src/menuIntInput.cpp:212: [medium:warning] result of multiplication in type 'int' is used as a pointer offset after an implicit widening conversion to type 'ptrdiff_t' [bugprone-implicit-widening-of-multiplication-result]
lib/Menu/src/menuIntInput.cpp:215: [medium:warning] 17 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Menu/src/menuIntInput.cpp:216: [medium:warning] implicit conversion 'int16_t' (aka 'short') -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuIntInput.cpp:216: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:217: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/Menu/src/menuIntInput.cpp:217: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Menu/src/menuIntInput.cpp:218: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:219: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/Menu/src/menuIntInput.cpp:219: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Menu/src/menuIntInput.cpp:221: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Menu/src/menuIntInput.cpp:221: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MotorControl/motorControl.cpp:15: [medium:warning] constructor does not initialize these fields: pwmPin, pwmChannel, dutycycleMin, dutycycleMax, dir_1, dir_2 [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/MotorControl/motorControl.cpp:21: [medium:warning] 3 adjacent parameters of 'init' of similar type ('uint8_t') are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/MotorControl/motorControl.cpp:40: [medium:warning] variable 'abs_difference' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/MotorControl/motorControl.cpp:43: [medium:warning] variable 'difference' of type 'int16_t' (aka 'short') can be declared 'const' [misc-const-correctness]
lib/MotorControl/motorControl.cpp:84: [medium:warning] 80 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:84: [medium:warning] statement should be inside braces [hicpp-braces-around-statements,readability-braces-around-statements]
lib/MotorControl/motorControl.cpp:84: [medium:warning] 80 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:86: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/MotorControl/motorControl.cpp:86: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
lib/MotorControl/motorControl.cpp:91: [medium:warning] 100 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:91: [medium:warning] statement should be inside braces [hicpp-braces-around-statements,readability-braces-around-statements]
lib/MotorControl/motorControl.cpp:91: [medium:warning] 100 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:93: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/MotorControl/motorControl.cpp:93: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
lib/MotorControl/motorControl.cpp:98: [medium:warning] 100 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:98: [medium:warning] 100 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:98: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/MotorControl/motorControl.cpp:100: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/MotorControl/motorControl.cpp:113: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/MotorControl/motorControl.cpp:114: [medium:warning] redundant boolean literal in conditional return statement [readability-simplify-boolean-expr]
lib/MotorControl/motorControl.cpp:119: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/MotorControl/motorControl.cpp:120: [medium:warning] redundant boolean literal in conditional return statement [readability-simplify-boolean-expr]
lib/MotorControl/motorControl.cpp:125: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/MotorControl/motorControl.cpp:126: [medium:warning] redundant boolean literal in conditional return statement [readability-simplify-boolean-expr]
lib/MotorControl/motorControl.cpp:131: [medium:warning] missing username/bug in TODO [google-readability-todo]
lib/MotorControl/motorControl.cpp:132: [medium:warning] 100 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:132: [medium:warning] 100 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:147: [medium:warning] variable 'pwm_val' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/MotorControl/motorControl.cpp:147: [medium:warning] 100 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:164: [medium:warning] missing username/bug in TODO [google-readability-todo]
lib/MotorControl/motorControl.cpp:165: [medium:warning] missing username/bug in TODO [google-readability-todo]
lib/Navigation/navigation.cpp:15: [medium:warning] 'sensorData' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Navigation/navigation.cpp:20: [medium:warning] implicit conversion 'Route *' -> bool [readability-implicit-bool-conversion]
lib/Navigation/navigation.cpp:20: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:22: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:35: [medium:warning] 'if' statement is unnecessary; deleting null pointer has no effect [readability-delete-null-pointer]
lib/Navigation/navigation.cpp:35: [medium:warning] implicit conversion 'Route *' -> bool [readability-implicit-bool-conversion]
lib/Navigation/navigation.cpp:35: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:41: [medium:warning] variable 'newTargetPoint' of type 'Point' can be declared 'const' [misc-const-correctness]
lib/Navigation/navigation.cpp:43: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:49: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:52: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:55: [medium:warning] 2.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Navigation/navigation.cpp:65: [medium:warning] redundant boolean literal supplied to boolean operator [readability-simplify-boolean-expr]
lib/Navigation/navigation.cpp:81: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:92: [medium:warning] variable 'distance' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Navigation/navigation.cpp:117: [medium:warning] variable 'targetCourse' of type 'int16_t' (aka 'short') can be declared 'const' [misc-const-correctness]
lib/Navigation/navigation.cpp:118: [medium:warning] variable 'correctionCourse' is not initialized [cppcoreguidelines-init-variables]
lib/Navigation/navigation.cpp:134: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:148: [medium:warning] 180 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Navigation/navigation.cpp:148: [medium:warning] 180 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Navigation/navigation.cpp:149: [medium:warning] 180 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Navigation/navigation.cpp:149: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:150: [medium:warning] 360 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Navigation/navigation.cpp:151: [medium:warning] 180 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Navigation/navigation.cpp:151: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:152: [medium:warning] 360 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Navigation/navigation.h:86: [medium:warning] missing username/bug in TODO [google-readability-todo]
lib/Navigation/navigation.h:99: [medium:warning] missing username/bug in TODO [google-readability-todo]
lib/Network/network.cpp:14: [medium:warning] constructor does not initialize these fields: mqttUser, mqttPassphrase [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Network/network.cpp:15: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
lib/Network/network.cpp:15: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Network/network.cpp:21: [medium:warning] constructor does not initialize these fields: mqttUser, mqttPassphrase [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Network/network.cpp:22: [medium:warning] 'adresses' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Network/network.cpp:22: [medium:warning] parameter 'adresses' is passed by value and only copied once; consider moving it to avoid unnecessary copies [performance-unnecessary-value-param]
lib/Network/network.cpp:24: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
lib/Network/network.cpp:24: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Network/network.cpp:39: [medium:warning] 'if' statement is unnecessary; deleting null pointer has no effect [readability-delete-null-pointer]
lib/Network/network.cpp:39: [medium:warning] implicit conversion 'PubSubClient *' -> bool [readability-implicit-bool-conversion]
lib/Network/network.cpp:39: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Network/network.cpp:52: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Network/network.cpp:52: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Network/network.cpp:52: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Network/network.cpp:65: [medium:warning] 2 adjacent parameters of 'activateMqtt' of similar type ('const char *') are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Network/network.cpp:73: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Network/network.cpp:78: [medium:warning] method 'printIPs' can be made const [readability-make-member-function-const]
lib/Network/network.cpp:91: [medium:warning] variable 'channel' is not initialized [cppcoreguidelines-init-variables]
lib/Network/network.cpp:92: [medium:warning] variable 'secondChannel' is not initialized [cppcoreguidelines-init-variables]
lib/Network/network.cpp:102: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Network/network.cpp:107: [medium:warning] implicit conversion 'PubSubClient *' -> bool [readability-implicit-bool-conversion]
lib/Network/network.cpp:107: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Network/network.cpp:116: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
lib/Network/network.cpp:132: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
lib/Network/network.cpp:150: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Network/network.cpp:156: [medium:warning] 0xffff is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Network/network.cpp:158: [medium:warning] implicit conversion 'const char *' -> bool [readability-implicit-bool-conversion]
lib/Network/network.cpp:159: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Network/network.cpp:162: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:15: [medium:warning] constructor does not initialize these fields: host, mountPoint, user, password [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/NtripClient/ntripClient.cpp:16: [medium:warning] 'gps' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/NtripClient/ntripClient.cpp:17: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:18: [medium:warning] 'port' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/NtripClient/ntripClient.cpp:19: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:20: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:21: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:23: [medium:warning] 'ntripClient' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/NtripClient/ntripClient.cpp:24: [medium:warning] 'state' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/NtripClient/ntripClient.cpp:26: [medium:warning] 20 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/NtripClient/ntripClient.cpp:53: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:64: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:66: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:86: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
lib/NtripClient/ntripClient.cpp:90: [medium:warning] 10 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/NtripClient/ntripClient.cpp:95: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:97: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:122: [medium:warning] implicit conversion 'int' -> bool [readability-implicit-bool-conversion]
lib/NtripClient/ntripClient.cpp:122: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:125: [medium:warning] do not use 'else' after 'return' [readability-else-after-return]
lib/NtripClient/ntripClient.cpp:130: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/NtripClient/ntripClient.cpp:130: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:133: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:136: [medium:warning] variable 'userCredentialsLength' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/NtripClient/ntripClient.cpp:136: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:136: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:138: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/NtripClient/ntripClient.cpp:138: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:138: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:143: [medium:warning] variable 'b' of type 'base64' can be declared 'const' [misc-const-correctness]
lib/NtripClient/ntripClient.cpp:143: [medium:warning] variable name 'b' is too short, expected at least 3 characters [readability-identifier-length]
lib/NtripClient/ntripClient.cpp:144: [medium:warning] variable 'strEncodedCredentials' of type 'String' can be declared 'const' [misc-const-correctness]
lib/NtripClient/ntripClient.cpp:144: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
lib/NtripClient/ntripClient.cpp:147: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:149: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/NtripClient/ntripClient.cpp:149: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:149: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:153: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:153: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:154: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:157: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:165: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:168: [medium:warning] variable 'lastMillis' of type 'uint32_t' (aka 'unsigned int') can be declared 'const' [misc-const-correctness]
lib/NtripClient/ntripClient.cpp:169: [medium:warning] implicit conversion 'int' -> bool [readability-implicit-bool-conversion]
lib/NtripClient/ntripClient.cpp:175: [medium:warning] 10 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/NtripClient/ntripClient.cpp:182: [medium:warning] implicit conversion 'int' -> bool [readability-implicit-bool-conversion]
lib/NtripClient/ntripClient.cpp:183: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:189: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:189: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:190: [medium:warning] 200 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/NtripClient/ntripClient.cpp:191: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:191: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:192: [medium:warning] 401 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/NtripClient/ntripClient.cpp:199: [medium:warning] 200 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/NtripClient/ntripClient.cpp:200: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/NtripClient/ntripClient.cpp:203: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:205: [medium:warning] 401 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/NtripClient/ntripClient.cpp:205: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:216: [medium:warning] implicit conversion 'uint8_t' (aka 'unsigned char') -> bool [readability-implicit-bool-conversion]
lib/NtripClient/ntripClient.cpp:216: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:223: [medium:warning] implicit conversion 'uint8_t' (aka 'unsigned char') -> bool [readability-implicit-bool-conversion]
lib/NtripClient/ntripClient.cpp:224: [medium:warning] 8 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/NtripClient/ntripClient.cpp:227: [medium:warning] implicit conversion 'int' -> bool [readability-implicit-bool-conversion]
lib/NtripClient/ntripClient.cpp:229: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:235: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:252: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:255: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:269: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:272: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:276: [medium:warning] implicit conversion 'uint8_t' (aka 'unsigned char') -> bool [readability-implicit-bool-conversion]
lib/NtripClient/ntripClient.cpp:276: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:279: [medium:warning] use auto when initializing with new to avoid duplicating the type name [hicpp-use-auto,modernize-use-auto]
lib/NtripClient/ntripClient.cpp:280: [medium:warning] variable 'res' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/NtripClient/ntripClient.cpp:281: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:282: [medium:warning] do not use C-style cast to convert between unrelated types [cppcoreguidelines-pro-type-cstyle-cast]
lib/NtripClient/ntripClient.cpp:282: [medium:warning] C-style casts are discouraged; use reinterpret_cast [google-readability-casting]
lib/NtripClient/ntripClient.cpp:287: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:288: [medium:warning] redundant boolean literal in conditional return statement [readability-simplify-boolean-expr]
lib/Point/point.cpp:14: [medium:warning] constructor does not initialize these fields: coordinates [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Point/point.cpp:14: [medium:warning] 3 adjacent parameters of 'Point' of convertible types are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Point/point.cpp:20: [medium:warning] constructor does not initialize these fields: coordinates [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Point/point.cpp:20: [medium:warning] 3 adjacent parameters of 'Point' of convertible types are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Point/point.cpp:21: [medium:warning] 10000000.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Point/point.cpp:22: [medium:warning] 10000000.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Point/point.cpp:26: [medium:warning] constructor does not initialize these fields: coordinates [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Point/point.cpp:27: [medium:warning] 'coordinates' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Point/point.cpp:31: [medium:warning] constructor does not initialize these fields: coordinates [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Point/point.cpp:32: [medium:warning] 'coordinates' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Point/point.cpp:33: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Point/point.cpp:35: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Point/point.cpp:39: [medium:warning] constructor does not initialize these fields: coordinates [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Point/point.cpp:56: [medium:warning] variable 'begin' of type 'Point::Coordinates' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:57: [medium:warning] variable 'end' of type 'Point::Coordinates' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:59: [medium:warning] variable 'lat' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:60: [medium:warning] variable 'dy' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:60: [medium:warning] variable name 'dy' is too short, expected at least 3 characters [readability-identifier-length]
lib/Point/point.cpp:61: [medium:warning] variable 'dx' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:61: [medium:warning] variable name 'dx' is too short, expected at least 3 characters [readability-identifier-length]
lib/Point/point.cpp:71: [medium:warning] variable 'begin' of type 'Point::Coordinates' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:72: [medium:warning] variable 'end' of type 'Point::Coordinates' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:74: [medium:warning] variable 'phi' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:75: [medium:warning] variable 'lon' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:77: [medium:warning] variable 'res' of type 'int16_t' (aka 'short') can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:89: [medium:warning] 2 adjacent parameters of 'init' of similar type ('uint32_t') are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Point/point.cpp:92: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Point/point.cpp:94: [medium:warning] 9999 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Point/point.cpp:94: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Point/point.cpp:96: [medium:warning] 999 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Point/point.cpp:96: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Point/point.cpp:98: [medium:warning] 99 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Point/point.cpp:98: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Point/point.cpp:100: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Point/point.cpp:102: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Route/route.cpp:14: [medium:warning] use '= default' to define a trivial default constructor [hicpp-use-equals-default,modernize-use-equals-default]
lib/Route/route.cpp:29: [medium:warning] the 'empty' method should be used to check for emptiness instead of 'size' [readability-container-size-empty]
lib/Route/route.cpp:31: [medium:warning] avoid repeating the return type from the declaration; use a braced initializer list instead [modernize-return-braced-init-list]
lib/Route/route.cpp:41: [medium:warning] the 'empty' method should be used to check for emptiness instead of 'size' [readability-container-size-empty]
lib/Route/route.cpp:43: [medium:warning] avoid repeating the return type from the declaration; use a braced initializer list instead [modernize-return-braced-init-list]
lib/Route/route.cpp:47: [medium:warning] missing username/bug in TODO [google-readability-todo]
lib/Route/route.cpp:55: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Route/route.cpp:56: [medium:warning] avoid repeating the return type from the declaration; use a braced initializer list instead [modernize-return-braced-init-list]
lib/Route/route.cpp:67: [medium:warning] avoid repeating the return type from the declaration; use a braced initializer list instead [modernize-return-braced-init-list]
lib/Route/route.cpp:71: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Route/route.cpp:72: [medium:warning] avoid repeating the return type from the declaration; use a braced initializer list instead [modernize-return-braced-init-list]
lib/Route/route.cpp:78: [medium:warning] do not use 'else' after 'return' [readability-else-after-return]
lib/Route/route.cpp:79: [medium:warning] avoid repeating the return type from the declaration; use a braced initializer list instead [modernize-return-braced-init-list]
lib/Route/route.cpp:84: [medium:warning] uninitialized record type: 'info' [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Sensors/sensorData.cpp:18: [medium:warning] constructor does not initialize these fields: gnssData, host, mountPoint, user, password, gyroBuffer, port [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Sensors/sensorData.cpp:19: [medium:warning] 50 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:23: [medium:warning] 'if' statement is unnecessary; deleting null pointer has no effect [readability-delete-null-pointer]
lib/Sensors/sensorData.cpp:23: [medium:warning] implicit conversion 'NTRIPClient *' -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:23: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:27: [medium:warning] the parameter 'host' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/Sensors/sensorData.cpp:27: [medium:warning] the parameter 'mountPoint' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/Sensors/sensorData.cpp:27: [medium:warning] the parameter 'user' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/Sensors/sensorData.cpp:27: [medium:warning] the parameter 'password' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/Sensors/sensorData.cpp:38: [medium:warning] 4000000 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:38: [medium:warning] redundant boolean literal supplied to boolean operator [readability-simplify-boolean-expr]
lib/Sensors/sensorData.cpp:40: [medium:warning] converting integer literal to bool, use bool literal instead [modernize-use-bool-literals]
lib/Sensors/sensorData.cpp:40: [medium:warning] implicit conversion 'int' -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:40: [medium:warning] statement should be inside braces [hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:47: [medium:warning] redundant boolean literal supplied to boolean operator [readability-simplify-boolean-expr]
lib/Sensors/sensorData.cpp:49: [medium:warning] converting integer literal to bool, use bool literal instead [modernize-use-bool-literals]
lib/Sensors/sensorData.cpp:49: [medium:warning] implicit conversion 'int' -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:49: [medium:warning] statement should be inside braces [hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:57: [medium:warning] 0x0d is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:58: [medium:warning] 0x0b is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:61: [medium:warning] 0x0C is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:61: [medium:warning] 0x10 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:76: [medium:warning] statement should be inside braces [hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:79: [medium:warning] variable 'deviceStatus' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:81: [medium:warning] 220 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:82: [medium:warning] 76 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:83: [medium:warning] 85 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:84: [medium:warning] 1788 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:87: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:88: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:96: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Sensors/sensorData.cpp:97: [medium:warning] statement should be inside braces [hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:102: [medium:warning] implicit conversion 'CalcAzimuth *' -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:102: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:108: [medium:warning] implicit conversion 'NTRIPClient *' -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:108: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:114: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:117: [medium:warning] variable 'latitude' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:117: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Sensors/sensorData.cpp:117: [medium:warning] 10000000.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:118: [medium:warning] variable 'longitude' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:118: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Sensors/sensorData.cpp:118: [medium:warning] 10000000.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:119: [medium:warning] variable 'altitude' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:119: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Sensors/sensorData.cpp:119: [medium:warning] 1000.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:121: [medium:warning] variable 'fixType' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:122: [medium:warning] 32 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:123: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:124: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:125: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:126: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:127: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:128: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:129: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:130: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:131: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:132: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:133: [medium:warning] 5 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:133: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:134: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:135: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:136: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:138: [medium:warning] variable 'carrSoln' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:138: [medium:warning] do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
lib/Sensors/sensorData.cpp:139: [medium:warning] 16 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:140: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:141: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:142: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:143: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:144: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:145: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:146: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:147: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:149: [medium:warning] variable 'hAcc' of type 'uint32_t' (aka 'unsigned int') can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:172: [medium:warning] implicit conversion 'QMC5883LCompass *' -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:177: [medium:warning] implicit conversion 'MPU6050 *' (aka 'MPU6050_6Axis_MotionApps20 *') -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:178: [medium:warning] implicit conversion 'uint8_t' (aka 'unsigned char') -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:178: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:180: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:182: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:187: [medium:warning] implicit conversion 'SFE_UBLOX_GNSS *' -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:190: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:196: [medium:warning] variable 'versionHigh' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:197: [medium:warning] variable 'versionLow' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:198: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Sensors/sensorData.cpp:198: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Sensors/sensorData.cpp:201: [medium:warning] 10 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:213: [medium:warning] uninitialized record type: 'coords' [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Sensors/sensorData.cpp:214: [medium:warning] 10000000.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:215: [medium:warning] 10000000.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Speedometer/speedometer.cpp:14: [medium:warning] constructor does not initialize these fields: buf [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Speedometer/speedometer.cpp:14: [medium:warning] 3 adjacent parameters of 'Speedometer' of convertible types are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Speedometer/speedometer.cpp:15: [medium:warning] 'diameter' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Speedometer/speedometer.cpp:16: [medium:warning] 'steps' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Speedometer/speedometer.cpp:18: [medium:warning] 'pulseCounter' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Speedometer/speedometer.cpp:19: [medium:warning] 1023 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Speedometer/speedometer.cpp:34: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Speedometer/speedometer.cpp:37: [medium:warning] variable 'time' of type 'uint32_t' (aka 'unsigned int') can be declared 'const' [misc-const-correctness]
lib/Speedometer/speedometer.cpp:39: [medium:warning] variable 'elapsedTime' of type 'uint16_t' (aka 'unsigned short') can be declared 'const' [misc-const-correctness]
lib/Speedometer/speedometer.cpp:42: [medium:warning] variable 'pulse' of type 'int16_t' (aka 'short') can be declared 'const' [misc-const-correctness]
lib/Speedometer/speedometer.cpp:47: [medium:warning] variable 'n' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Speedometer/speedometer.cpp:47: [medium:warning] variable name 'n' is too short, expected at least 3 characters [readability-identifier-length]
lib/Speedometer/speedometer.cpp:47: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Speedometer/speedometer.cpp:48: [medium:warning] variable 'u' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Speedometer/speedometer.cpp:48: [medium:warning] variable name 'u' is too short, expected at least 3 characters [readability-identifier-length]
lib/Speedometer/speedometer.cpp:48: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Speedometer/speedometer.cpp:48: [medium:warning] 1000 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Speedometer/speedometer.cpp:49: [medium:warning] variable 'ms' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Speedometer/speedometer.cpp:49: [medium:warning] variable name 'ms' is too short, expected at least 3 characters [readability-identifier-length]
lib/Speedometer/speedometer.cpp:52: [medium:warning] 0.1 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Speedometer/speedometer.cpp:78: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Speedometer/speedometer.cpp:85: [medium:warning] 1023 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Speedometer/speedometer.cpp:85: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Speedometer/speedometer.cpp:86: [medium:warning] 1023 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Speedometer/speedometer.cpp:91: [medium:warning] variable 'avg' of type 'int16_t' (aka 'short') can be declared 'const' [misc-const-correctness]
lib/Speedometer/speedometer.cpp:92: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Speedometer/speedometer.cpp:105: [medium:warning] variable 'res' of type 'uint16_t' (aka 'unsigned short') can be declared 'const' [misc-const-correctness]
lib/Speedometer/speedometer.cpp:113: [medium:warning] use range-based for loop instead [modernize-loop-convert]
lib/Speedometer/speedometer.cpp:113: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Speedometer/speedometer.cpp:121: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Speedometer/speedometer.cpp:127: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
lib/Speedometer/speedometer.cpp:127: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Speedometer/speedometer.cpp:129: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
lib/Times/debugTimes.cpp:17: [medium:warning] 'startTime' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Times/debugTimes.cpp:29: [medium:warning] method 'stop' can be made const [readability-make-member-function-const]
lib/Times/debugTimes.cpp:33: [medium:warning] method 'stopConsol' can be made const [readability-make-member-function-const]
lib/Times/debugTimes.cpp:34: [medium:warning] variable 'time' of type 'uint64_t' (aka 'unsigned long long') can be declared 'const' [misc-const-correctness]
lib/Times/debugTimes.cpp:35: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Times/debugTimes.cpp:41: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/calibrateCompass/calibrateCompass.cpp:14: [medium:warning] constructor does not initialize these fields: data [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/calibrateCompass/calibrateCompass.cpp:16: [medium:warning] 'compass' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/calibrateCompass/calibrateCompass.cpp:17: [medium:warning] 'state' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/calibrateCompass/calibrateCompass.cpp:32: [medium:warning] variable 'xAxis' of type 'int' can be declared 'const' [misc-const-correctness]
lib/calibrateCompass/calibrateCompass.cpp:33: [medium:warning] variable 'yAxis' of type 'int' can be declared 'const' [misc-const-correctness]
lib/calibrateCompass/calibrateCompass.cpp:34: [medium:warning] variable 'zAxis' of type 'int' can be declared 'const' [misc-const-correctness]
lib/calibrateCompass/calibrateCompass.cpp:72: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/calibrateCompass/calibrateCompass.cpp:164: [medium:warning] use range-based for loop instead [modernize-loop-convert]
lib/calibrateCompass/calibrateCompass.cpp:175: [medium:warning] use range-based for loop instead [modernize-loop-convert]
lib/calibrateCompass/calibrateCompass.cpp:185: [medium:warning] implicit conversion 'int' -> bool [readability-implicit-bool-conversion]
lib/calibrateCompass/calibrateCompass.cpp:188: [medium:warning] parameter name 'os' is too short, expected at least 3 characters [readability-identifier-length]
lib/calibrateCompass/calibrateCompass.cpp:191: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
lib/calibrateCompass/calibrateCompass.cpp:193: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
lib/calibrateCompass/calibrateCompass.cpp:195: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
lib/calibrateCompass/calibrateCompass.cpp:197: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
lib/calibrateCompass/calibrateCompass.cpp:199: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
lib/calibrateCompass/calibrateCompass.cpp:201: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
src/OutputBuf/outputBuf.cpp:15: [medium:warning] initializer for base class 'std::streambuf' (aka 'basic_streambuf<char>') is redundant [readability-redundant-member-init]
src/OutputBuf/outputBuf.cpp:16: [medium:warning] 'debugMqtt' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/OutputBuf/outputBuf.cpp:17: [medium:warning] 'serialBT' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/OutputBuf/outputBuf.cpp:19: [medium:warning] implicit conversion 'DebugMqtt *' -> bool [readability-implicit-bool-conversion]
src/OutputBuf/outputBuf.cpp:19: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/OutputBuf/outputBuf.cpp:22: [medium:warning] implicit conversion 'BluetoothSerial *' -> bool [readability-implicit-bool-conversion]
src/OutputBuf/outputBuf.cpp:22: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/OutputBuf/outputBuf.cpp:27: [medium:warning] implicit conversion 'DebugMqtt *' -> bool [readability-implicit-bool-conversion]
src/OutputBuf/outputBuf.cpp:27: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/OutputBuf/outputBuf.cpp:32: [medium:warning] implicit conversion 'BluetoothSerial *' -> bool [readability-implicit-bool-conversion]
src/OutputBuf/outputBuf.cpp:32: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/OutputBuf/outputBuf.cpp:46: [medium:warning] parameter name 'c' is too short, expected at least 3 characters [readability-identifier-length]
src/OutputBuf/outputBuf.cpp:50: [medium:warning] implicit conversion 'DebugMqtt *' -> bool [readability-implicit-bool-conversion]
src/OutputBuf/outputBuf.cpp:50: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/OutputBuf/outputBuf.cpp:51: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
src/OutputBuf/outputBuf.cpp:53: [medium:warning] implicit conversion 'BluetoothSerial *' -> bool [readability-implicit-bool-conversion]
src/OutputBuf/outputBuf.cpp:53: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/OutputBuf/outputBuf.cpp:54: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
src/OutputBuf/outputBuf.cpp:56: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.cpp:15: [medium:warning] 400 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.cpp:16: [medium:warning] 'battery' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.cpp:20: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.cpp:52: [medium:warning] implicit conversion 'MenuControl *' -> bool [readability-implicit-bool-conversion]
src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.cpp:52: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.cpp:57: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/PID/menuPidSettings.cpp:15: [medium:warning] 'pid' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/SpecialMenus/PID/menuPidSettings.cpp:19: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoute.cpp:16: [medium:warning] 'menuRoute' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/SpecialMenus/Route/menuRoute.cpp:17: [medium:warning] 'dataFunction' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/SpecialMenus/Route/menuRoute.cpp:25: [medium:warning] constructor does not initialize these fields: mainMenu [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
src/SpecialMenus/Route/menuRoute.cpp:27: [medium:warning] 'route' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/SpecialMenus/Route/menuRoute.cpp:163: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
src/SpecialMenus/Route/menuRoute.cpp:188: [medium:warning] variable 'httpResponseCode' of type 'int' can be declared 'const' [misc-const-correctness]
src/SpecialMenus/Route/menuRoute.cpp:193: [medium:warning] 202 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Route/menuRoute.cpp:216: [medium:warning] uninitialized record type: 'coords' [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
src/SpecialMenus/Route/menuRoute.cpp:229: [medium:warning] variable 'totalPoints' of type 'uint16_t' (aka 'unsigned short') can be declared 'const' [misc-const-correctness]
src/SpecialMenus/Route/menuRoute.cpp:234: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
src/SpecialMenus/Route/menuRoute.cpp:273: [medium:warning] variable 'httpResponseCode' of type 'int' can be declared 'const' [misc-const-correctness]
src/SpecialMenus/Route/menuRoute.cpp:275: [medium:warning] 201 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Route/menuRoute.cpp:298: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
src/SpecialMenus/Route/menuRoute.cpp:323: [medium:warning] variable 'httpResponseCode' of type 'int' can be declared 'const' [misc-const-correctness]
src/SpecialMenus/Route/menuRoute.cpp:328: [medium:warning] 202 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Route/menuRoutePoints.cpp:14: [medium:warning] initializer for base class 'MenuInformationSites' is redundant [readability-redundant-member-init]
src/SpecialMenus/Route/menuRoutePoints.cpp:15: [medium:warning] 'route' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/SpecialMenus/Route/menuRoutePoints.cpp:19: [medium:warning] variable 'amountPoints' of type 'uint16_t' (aka 'unsigned short') can be declared 'const' [misc-const-correctness]
src/SpecialMenus/Route/menuRoutePoints.cpp:20: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoutePoints.cpp:22: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoutePoints.cpp:27: [medium:warning] variable 'currentPage' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
src/SpecialMenus/Route/menuRoutePoints.cpp:28: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoutePoints.cpp:49: [medium:warning] variable name 'p' is too short, expected at least 3 characters [readability-identifier-length]
src/SpecialMenus/Route/menuRoutePoints.cpp:50: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoutePoints.cpp:52: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoutePoints.cpp:54: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoutePoints.cpp:56: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoutePoints.cpp:58: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoutePoints.cpp:61: [medium:warning] 20 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Route/menuRoutePoints.cpp:62: [medium:warning] variable 'string' is not initialized [cppcoreguidelines-init-variables]
src/SpecialMenus/Route/menuRoutePoints.cpp:65: [medium:warning] 9 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Route/menuRoutePoints.cpp:65: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Route/menuRoutePoints.cpp:65: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
src/SpecialMenus/Route/menuRoutePoints.cpp:70: [medium:warning] 9 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Route/menuRoutePoints.cpp:70: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Route/menuRoutePoints.cpp:70: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
src/SpecialMenus/SensorData/menuSensorData.cpp:15: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/SensorData/menuSensorData.cpp:16: [medium:warning] 'sensorData' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/SpecialMenus/SensorData/menuSensorData.cpp:20: [medium:warning] function 'printPage' has cognitive complexity of 26 (threshold 25) [readability-function-cognitive-complexity]
src/SpecialMenus/SensorData/menuSensorData.cpp:23: [medium:warning] implicit conversion 'const UBX_NAV_PVT_data_t *' -> bool [readability-implicit-bool-conversion]
src/SpecialMenus/SensorData/menuSensorData.cpp:23: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:54: [medium:warning] variable 'pos' of type 'Point' can be declared 'const' [misc-const-correctness]
src/SpecialMenus/SensorData/menuSensorData.cpp:63: [medium:warning] implicit conversion 'uint8_t' (aka 'unsigned char') -> bool [readability-implicit-bool-conversion]
src/SpecialMenus/SensorData/menuSensorData.cpp:64: [medium:warning] 10 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/SensorData/menuSensorData.cpp:64: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:68: [medium:warning] 10 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/SensorData/menuSensorData.cpp:68: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:72: [medium:warning] 10 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/SensorData/menuSensorData.cpp:72: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:75: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:80: [medium:warning] 5 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/SensorData/menuSensorData.cpp:83: [medium:warning] variable 'carrSoln' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
src/SpecialMenus/SensorData/menuSensorData.cpp:83: [medium:warning] do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
src/SpecialMenus/SensorData/menuSensorData.cpp:84: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:86: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:88: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:90: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:92: [medium:warning] variable 'status' of type 'NTRIPClientStates' can be declared 'const' [misc-const-correctness]
src/SpecialMenus/SensorData/menuSensorData.cpp:93: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:95: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:97: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:102: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/SensorData/menuSensorData.cpp:105: [medium:warning] implicit conversion 'uint8_t' (aka 'unsigned char') -> bool [readability-implicit-bool-conversion]
src/SpecialMenus/Speed/menuSpeed.cpp:15: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Speed/menuSpeed.cpp:17: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
src/SpecialMenus/Speed/menuSpeed.cpp:17: [medium:warning] 10.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Speed/menuSpeed.cpp:18: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
src/SpecialMenus/Speed/menuSpeed.cpp:18: [medium:warning] 10.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp:15: [medium:warning] 8 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp:16: [medium:warning] 'mainBattery' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp:36: [medium:warning] 1000 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp:53: [medium:warning] 5 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp:58: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp:60: [medium:warning] 16 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp:63: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:14: [medium:warning] function 'printPage' has cognitive complexity of 36 (threshold 25) [readability-function-cognitive-complexity]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:15: [medium:warning] variable 'correction' of type 'CourseCorrection' can be declared 'const' [misc-const-correctness]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:17: [medium:warning] variable 'navigationStarted' of type 'bool' can be declared 'const' [misc-const-correctness]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:23: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:23: [medium:warning] 100 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:26: [medium:warning] 1000 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:27: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:31: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:31: [medium:warning] 1000 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:108: [medium:warning] variable 'carrSoln' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:108: [medium:warning] do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:111: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:112: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:114: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:116: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:118: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:120: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:122: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:126: [medium:warning] implicit conversion 'uint8_t' (aka 'unsigned char') -> bool [readability-implicit-bool-conversion]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:126: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:128: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:173: [medium:warning] 5 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:175: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:177: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:181: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:183: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:185: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:189: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:206: [medium:warning] 5 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:210: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:220: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:231: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:241: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:249: [medium:warning] 8 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:13: [medium:warning] constructor does not initialize these fields: caliCompassMode, caliCompass [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:67: [medium:warning] 5 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:72: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:77: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:82: [medium:warning] 8 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:89: [medium:warning] 9 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:96: [medium:warning] 10 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:116: [medium:warning] 11 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:117: [medium:warning] 500 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:147: [medium:warning] 5 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:151: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:155: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:14: [medium:warning] variable 'routeInfo' of type 'RouteInfo' can be declared 'const' [misc-const-correctness]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:62: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:64: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:66: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:71: [medium:warning] 5 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:73: [medium:warning] variable 'carrSoln' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:73: [medium:warning] do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:74: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:76: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:78: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:80: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:85: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:89: [medium:warning] implicit conversion 'uint8_t' (aka 'unsigned char') -> bool [readability-implicit-bool-conversion]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:89: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:91: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:95: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:97: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:99: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:112: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:120: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:121: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:123: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:133: [medium:warning] 8 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:134: [medium:warning] 500 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp:13: [medium:warning] constructor does not initialize these fields: manualControl, caliCompass [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp:17: [medium:warning] use '= default' to define a trivial destructor [hicpp-use-equals-default,modernize-use-equals-default]
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp:31: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp:33: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp:58: [medium:warning] 500 is a magic number; consider replacing it with a named constant
========================= [PASSED] Took 541.63 seconds =========================
Component HIGH MEDIUM LOW
------------------------------------------- ------ -------- -----
include 0 4 0
lib/Battery 0 85 0
lib/CalcAzimuth 0 9 0
lib/Component 0 10 0
lib/ControllPad 0 27 0
lib/Counter 0 9 0
lib/LcdWrapper 0 23 0
lib/MQTT 0 42 0
lib/Menu/include 0 13 0
lib/Menu/src 0 188 0
lib/MotorControl 0 38 0
lib/Navigation 0 41 0
lib/Network 0 36 0
lib/NtripClient 0 98 0
lib/Point 0 42 0
lib/Route 0 20 0
lib/Sensors 0 108 0
lib/Speedometer 0 44 0
lib/Times 0 11 0
lib/calibrateCompass 0 28 0
src 0 129 0
src/OutputBuf 0 22 0
src/SpecialMenus/CalibrateBattery 0 8 0
src/SpecialMenus/PID 0 7 0
src/SpecialMenus/Route 0 62 0
src/SpecialMenus/SensorData 0 32 0
src/SpecialMenus/Speed 0 9 0
src/SpecialMenus/Systeminformation 0 9 0
src/SpecialMenus/driveModi 0 26 0
src/SpecialMenus/driveModi/Autopilot 0 37 0
src/SpecialMenus/driveModi/CalibrateCompass 0 16 0
src/SpecialMenus/driveModi/CaptureRoute 0 27 0
src/SpecialMenus/driveModi/ManualDrive 0 8 0
src/SpecialMenus/driveModi/TestMode 0 108 0
src/driveModi 0 6 0
src/driveModi/Modi/Autopilot 0 20 0
src/driveModi/Modi/CalibrateCompass 0 2 0
src/driveModi/Modi/CaptureRoute 0 7 0
src/driveModi/Modi/ManualControl 0 9 0
src/driveModi/Modi/TestMode 0 31 0
Total 0 1451 0
Environment Tool Status Duration
------------- --------- -------- ------------
embedded clangtidy PASSED 00:09:01.626
========================= 1 succeeded in 00:09:01.626 =========================
include/config.h
+6
View File
@@ -16,6 +16,9 @@ namespace PinNumbers {
constexpr uint8_t spiCipo = 4; constexpr uint8_t spiCipo = 4;
constexpr uint8_t spiSck = 5; constexpr uint8_t spiSck = 5;
constexpr uint8_t gnssSpiCs = 17; constexpr uint8_t gnssSpiCs = 17;
constexpr uint8_t sda = 21;
constexpr uint8_t scl = 19;
constexpr uint8_t battery = 35;
namespace LeftMotor { namespace LeftMotor {
constexpr uint8_t dir1 = 27; constexpr uint8_t dir1 = 27;
@@ -35,6 +38,9 @@ namespace PinNumbers {
} }
namespace Settings { namespace Settings {
constexpr uint32_t baudRate = 115200;
constexpr uint32_t i2cSpeed = 400000;
constexpr float wheelDiameter = 0.105; constexpr float wheelDiameter = 0.105;
constexpr float wheelDistance = 0.255; constexpr float wheelDistance = 0.255;
constexpr uint16_t encoderSteps = 384; constexpr uint16_t encoderSteps = 384;
include/moveControl.h
+9 -4
View File
@@ -123,7 +123,7 @@ class MoveControl : public Component {
* @param i * @param i
* @param d * @param d
*/ */
void setPidTunings(uint8_t side, double p, double i, double d); void setPidTunings(uint8_t side, double pPart, double iPart, double dPart);
/** /**
* @brief Returns the PID object of the choosen side. * @brief Returns the PID object of the choosen side.
@@ -152,7 +152,7 @@ class MoveControl : public Component {
private: private:
void run() override; void run() override;
void setSpeedometerDirection(Speedometer *speedometer, double value); static void setSpeedometerDirection(Speedometer *speedometer, double value);
void calcTargetWheelSpeed(); void calcTargetWheelSpeed();
void regulateMotors(); void regulateMotors();
void updateCurrentWheelSpeed(); void updateCurrentWheelSpeed();
@@ -171,12 +171,17 @@ class MoveControl : public Component {
double wheelspeed_right_target = 0; double wheelspeed_right_target = 0;
double wheelspeed_left = 0; double wheelspeed_left = 0;
double wheelspeed_right = 0; double wheelspeed_right = 0;
double left_pid_out; double left_pid_out = 0;
double right_pid_out; double right_pid_out = 0;
uint8_t overTimeCounter = 0; uint8_t overTimeCounter = 0;
uint8_t overTimeMax = 100; uint8_t overTimeMax = 100;
int8_t rawPowerLeft = 0; int8_t rawPowerLeft = 0;
int8_t rawPowerRight = 0; int8_t rawPowerRight = 0;
static constexpr int8_t maxPercentage = 100;
static constexpr float minSpeed = 0.2;
static constexpr uint8_t loopDelay = 20;
}; };
#endif // MOVE_CONTROL_H #endif // MOVE_CONTROL_H
lib/Battery/battery.cpp
+118 -78
View File
@@ -4,30 +4,32 @@
* @brief Contains the implementation of the class Battery * @brief Contains the implementation of the class Battery
* @version 0.1 * @version 0.1
* @date 2022-02-05 * @date 2022-02-05
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#include "battery.h" #include "battery.h"
Battery::Battery(uint8_t pin, uint32_t r1, uint32_t r2) { Battery::Battery(uint8_t pin, uint32_t firstResistor, uint32_t secondResistor)
this->pin = pin; : pin{pin}, firstResistor{firstResistor}, secondResistor{secondResistor},
this->r1 = r1; batteryVoltageFactor{firstResistor + secondResistor / static_cast<double>(secondResistor)}
this->r2 = r2; {
this->batteryVoltageFactor = (double) (this->r1 + this->r2) / (double) this->r2;
this->initBuffer(); this->initBuffer();
this->loopDelay = 100; Component::loopDelay = Battery::loopDelay;
} }
Battery::Battery(uint8_t pin) { Battery::Battery(uint8_t pin)
this->pin = pin; : pin{pin}
{
this->initBuffer(); this->initBuffer();
this->loopDelay = 100; Component::loopDelay = Battery::loopDelay;
} }
void Battery::run() { void Battery::run()
if (this->calibrationState != CalibrationState::None) { {
if (this->calibrationState != CalibrationState::None)
{
this->runCalibration(); this->runCalibration();
return; return;
} }
@@ -35,164 +37,202 @@ void Battery::run() {
this->readAdcToBuf(); this->readAdcToBuf();
this->loopCounter++; this->loopCounter++;
if (this->loopCounter >= this->calulationDelayMultiplier) { if (this->loopCounter >= this->calulationDelayMultiplier)
{
this->calculateBatteryVoltage(); this->calculateBatteryVoltage();
this->calculateBatteryPercent(); this->calculateBatteryPercent();
this->loopCounter = 0; this->loopCounter = 0;
this->calculatetNewValues = true; this->calculatetNewValues = true;
} }
return;
} }
void Battery::runCalibration() { void Battery::runCalibration()
{
if (this->calibrationState != CalibrationState::Reading) if (this->calibrationState != CalibrationState::Reading)
{
return; return;
}
this->readAdcToBuf(); this->readAdcToBuf();
if (this->bufferPos == 0) { if (this->bufferPos == 0)
uint16_t res = this->getBufAvg(); {
const uint16_t res = this->getBufAvg();
this->newRawAdcVoltages[this->currentCalibrationVoltage] = res; this->newRawAdcVoltages[this->currentCalibrationVoltage] = res;
std::cout << "Index: " std::cout << "Index: "
<< (int) this->currentCalibrationVoltage << (int)this->currentCalibrationVoltage
<< " Value: " << " Value: "
<< (int) res << (int)res
<< std::endl; << std::endl;
this->currentCalibrationVoltage++; this->currentCalibrationVoltage++;
this->calibrationState = CalibrationState::Waiting; this->calibrationState = CalibrationState::Waiting;
if (this->currentCalibrationVoltage == 60) { if (this->currentCalibrationVoltage == Battery::rawAdcVoltagesCount)
{
this->calibrationState = CalibrationState::Finished; this->calibrationState = CalibrationState::Finished;
} }
} }
} }
double Battery::getBatteryVoltage() const { double Battery::getBatteryVoltage() const
double res = this->batteryVoltage; {
return (int)(res*100+0.5)/100.0; return static_cast<int>((this->batteryVoltage * 100 + 0.5)) / 100.0;
} }
bool Battery::isBatteryLow(double voltage) const { bool Battery::isBatteryLow(double voltage) const
{
if (this->getBatteryVoltage() <= voltage && this->batteryVoltage > this->absurdLowVoltage) if (this->getBatteryVoltage() <= voltage && this->batteryVoltage > this->absurdLowVoltage)
{
return true; return true;
}
return false; return false;
} }
bool Battery::isNewValue() { bool Battery::isNewValue()
{
if (!this->calculatetNewValues) if (!this->calculatetNewValues)
{
return false; return false;
}
this->calculatetNewValues = false; this->calculatetNewValues = false;
return true; return true;
} }
void Battery::nextVoltageIsReady() { void Battery::nextVoltageIsReady()
if (this->calibrationState == CalibrationState::Waiting) { {
if (this->calibrationState == CalibrationState::Waiting)
{
this->calibrationState = CalibrationState::Reading; this->calibrationState = CalibrationState::Reading;
} }
} }
void Battery::startCalibration() { void Battery::startCalibration()
{
this->calibrationState = CalibrationState::Waiting; this->calibrationState = CalibrationState::Waiting;
this->currentCalibrationVoltage = 0; this->currentCalibrationVoltage = 0;
this->bufferPos = 0; this->bufferPos = 0;
this->loopDelay = 50; Component::loopDelay = Battery::loopDelay / 2;
this->newRawAdcVoltages = new uint16_t[60]; this->newRawAdcVoltages = new uint16_t[Battery::rawAdcVoltagesCount];
} }
void Battery::finishCalibration() { void Battery::finishCalibration()
{
if (this->calibrationState != CalibrationState::None) if (this->calibrationState != CalibrationState::None)
{
return; return;
}
delete[] this->newRawAdcVoltages; delete[] this->newRawAdcVoltages;
this->calibrationState = CalibrationState::None; this->calibrationState = CalibrationState::None;
this->loopDelay = 100; Component::loopDelay = Battery::loopDelay;
} }
double Battery::calculateInputVoltage() { double Battery::calculateInputVoltage()
{
// Reference voltage is 3v3 so maximum reading is 3v3 = 4095 in range 0 to 4095 // Reference voltage is 3v3 so maximum reading is 3v3 = 4095 in range 0 to 4095
double reading = this->getBufAvg(); double reading = this->getBufAvg();
if(reading < 1 || reading > 4095) return 0; if (reading < 1 || reading > Battery::adcMaxValue)
return - 0.000000000000016 * pow(reading,4) {
+ 0.000000000118171 * pow(reading,3) return 0;
- 0.000000301211691 * pow(reading,2) }
+ 0.001109019271794 * reading
+ 0.034143524634089; return -this->adcCurveCoeficient[0] * pow(reading, 4) + this->adcCurveCoeficient[1] * pow(reading, 3) - this->adcCurveCoeficient[2] * pow(reading, 2) + this->adcCurveCoeficient[3] * reading + this->adcCurveCoeficient[4];
} }
void Battery::calculateBatteryVoltage() { void Battery::calculateBatteryVoltage()
if (this->r1 && this->r2) { {
if (this->firstResistor && this->secondResistor)
{
this->batteryVoltage = this->calculateInputVoltage() * this->batteryVoltageFactor; this->batteryVoltage = this->calculateInputVoltage() * this->batteryVoltageFactor;
return; return;
} }
uint16_t adcValue = this->getBufAvg(); const uint16_t adcValue = this->getBufAvg();
if (adcValue < this->rawAdcVoltages[0]) { if (adcValue < this->rawAdcVoltages[0])
{
this->batteryVoltage = -1; this->batteryVoltage = -1;
return; return;
} }
if (adcValue > this->rawAdcVoltages[this->rawAdcVoltagesCount] + 50) { uint8_t index = 1;
this->batteryVoltage = -2; for (; index < this->rawAdcVoltagesCount; index++)
return; {
}
uint8_t index;
for (index = 1; index < this->rawAdcVoltagesCount; index++) {
if (adcValue < this->rawAdcVoltages[index]) if (adcValue < this->rawAdcVoltages[index])
{
break; break;
}
} }
double indexDelta = this->rawAdcVoltages[index] - this->rawAdcVoltages[index - 1]; const double indexDelta = this->rawAdcVoltages[index] - this->rawAdcVoltages[index - 1];
double valueDelta = this->rawAdcVoltages[index] - adcValue; const double valueDelta = this->rawAdcVoltages[index] - adcValue;
double voltage = this->startVoltage + (index - 1) * this->stepVoltage; double voltage = this->startVoltage + (index - 1) * this->stepVoltage;
voltage += valueDelta / indexDelta * this->stepVoltage; voltage += valueDelta / indexDelta * this->stepVoltage;
this->batteryVoltage = voltage; this->batteryVoltage = voltage;
// std::cout << "Battery::calculateBatteryVoltage() - Voltage: " << voltage << " Index: " <<(int) index << " adcValue: " << (int) adcValue <<" iD: " << indexDelta << " vD: " << valueDelta << std::endl;
} }
void Battery::calculateBatteryPercent() { void Battery::calculateBatteryPercent()
{
int8_t size = sizeof(this->capacityVoltages) / sizeof(*this->capacityVoltages); int8_t size = sizeof(this->capacityVoltages) / sizeof(*this->capacityVoltages);
uint8_t i; uint8_t index = 0;
for (i = 0; i < size; i++) { for (; index < size; index++)
if (this->batteryVoltage <= this->capacityVoltages[i]) {
if (this->batteryVoltage <= this->capacityVoltages[index])
{
break; break;
}
} }
if (i == 0) {
if (this->batteryVoltage > 6)
std::cout << "Critical low battery!" << std::endl;
} else if (i == size - 1) {
} else { if (index == 0)
double diffToLowerVal = this->batteryVoltage - this->capacityVoltages[i - 1]; {
double diffToHigherVal = this->capacityVoltages[i] - this->batteryVoltage; if (this->batteryVoltage > this->absurdLowVoltage)
if (diffToLowerVal > diffToHigherVal) {
i--; std::cout << "Critical low battery!" << std::endl;
}
} }
this->batteryPercent = i * (100 / (size - 1)); else if (index == size - 1)
{
}
else
{
const double diffToLowerVal = this->batteryVoltage - this->capacityVoltages[index - 1];
const double diffToHigherVal = this->capacityVoltages[index] - this->batteryVoltage;
if (diffToLowerVal > diffToHigherVal)
{
index--;
}
}
this->batteryPercent = index * (100 / (size - 1));
} }
void Battery::readAdcToBuf() { void Battery::readAdcToBuf()
{
this->adcBuffer[this->bufferPos] = analogRead(this->pin); this->adcBuffer[this->bufferPos] = analogRead(this->pin);
this->bufferPos++; this->bufferPos++;
if (this->bufferPos == Battery::bufferSize) if (this->bufferPos == Battery::bufferSize)
{
this->bufferPos = 0; this->bufferPos = 0;
}
// std::cout << "Battery::readAdcToBuf added Value: " << this->adcBuffer[this->bufferPos] << std::endl; // std::cout << "Battery::readAdcToBuf added Value: " << this->adcBuffer[this->bufferPos] << std::endl;
} }
void Battery::initBuffer() { void Battery::initBuffer()
{
for (uint8_t i = 0; i < Battery::bufferSize; i++) for (uint8_t i = 0; i < Battery::bufferSize; i++)
{
this->adcBuffer[i] = 0; this->adcBuffer[i] = 0;
}
} }
uint16_t Battery::getBufAvg() const { uint16_t Battery::getBufAvg() const
{
uint32_t res = 0; uint32_t res = 0;
uint8_t emptyPos = 0; uint8_t emptyPos = 0;
for (uint8_t i = 0; i < Battery::bufferSize; i++) { for (uint8_t i = 0; i < Battery::bufferSize; i++)
{
if (this->adcBuffer[i] == 0) if (this->adcBuffer[i] == 0)
{
emptyPos++; emptyPos++;
}
res += this->adcBuffer[i]; res += this->adcBuffer[i];
} }
return res / (Battery::bufferSize - emptyPos); return res / (Battery::bufferSize - emptyPos);
lib/Battery/battery.h
+106 -97
View File
@@ -4,9 +4,9 @@
* @brief Contains a class for battery monitoring * @brief Contains a class for battery monitoring
* @version 0.1 * @version 0.1
* @date 2022-02-05 * @date 2022-02-05
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#ifndef BATTERY_H #ifndef BATTERY_H
@@ -21,118 +21,127 @@
/** /**
* @brief A class for battery monitoring * @brief A class for battery monitoring
* *
* This class reads the voltage from an analog pin to calculate the * This class reads the voltage from an analog pin to calculate the
* charge level of a 3 Cell Li-Poly battery pack. The battery pack have * charge level of a 3 Cell Li-Poly battery pack. The battery pack have
* to be after a voltage diveder, so that maximum voltage for the * to be after a voltage diveder, so that maximum voltage for the
* microcontroller is 3.3 Volt. * microcontroller is 3.3 Volt.
*/ */
class Battery : public Component { class Battery : public Component
public: {
enum CalibrationState { public:
None, enum CalibrationState
Reading, {
Waiting, None,
Finished Reading,
}; Waiting,
Finished
};
/** /**
* @brief Construct a new Battery object * @brief Construct a new Battery object
* *
* The voltage devider have to be calculated, so that the input * The voltage devider have to be calculated, so that the input
* voltage from 3.3 Volt is never exceeded. It is assumed that * voltage from 3.3 Volt is never exceeded. It is assumed that
* the microcontroller is connected to the second resistor. * the microcontroller is connected to the second resistor.
* *
* @param pin The analog to read from. * @param pin The analog to read from.
* @param r1 First resistor of the voltage devider. * @param firstResistor First resistor of the voltage devider.
* @param r2 Second resistor of the voltage devider. * @param secondResistor Second resistor of the voltage devider.
*/ */
Battery(uint8_t pin, uint32_t r1, uint32_t r2); Battery(uint8_t pin, uint32_t firstResistor, uint32_t secondResistor);
Battery(uint8_t pin); Battery(uint8_t pin);
/** /**
* @brief Get the battery voltage * @brief Get the battery voltage
* *
* @return double in Volt * @return double in Volt
*/ */
double getBatteryVoltage() const; double getBatteryVoltage() const;
/** /**
* @brief Get the charge level of the battery * @brief Get the charge level of the battery
* *
* @return uint8_t charge level in percent * @return uint8_t charge level in percent
*/ */
uint8_t getBatteryPercent() const { return this->batteryPercent; } uint8_t getBatteryPercent() const { return this->batteryPercent; }
/** /**
* @brief Checks if the battery is low. * @brief Checks if the battery is low.
* *
* The function will also return false if the battery voltage is * The function will also return false if the battery voltage is
* absurd low. This is for the case that the uController is powered * absurd low. This is for the case that the uController is powered
* by usb and no battery is connected. * by usb and no battery is connected.
* *
* @param voltage the limit the battery have to * @param voltage the limit the battery have to
* @return true if the battery is low * @return true if the battery is low
* @return false if the battery is high * @return false if the battery is high
*/ */
bool isBatteryLow(double voltage) const; bool isBatteryLow(double voltage) const;
bool isNewValue(); bool isNewValue();
//Calibration // Calibration
CalibrationState getCalibrationState() const { return this->calibrationState; } CalibrationState getCalibrationState() const { return this->calibrationState; }
uint8_t getCurrentCalibrationVoltage() const { return this->currentCalibrationVoltage; } uint8_t getCurrentCalibrationVoltage() const { return this->currentCalibrationVoltage; }
void nextVoltageIsReady(); void nextVoltageIsReady();
void startCalibration(); void startCalibration();
void finishCalibration(); void finishCalibration();
private: private:
void run() override; void run() override;
void runCalibration(); void runCalibration();
double calculateInputVoltage(); double calculateInputVoltage();
void calculateBatteryVoltage(); void calculateBatteryVoltage();
void calculateBatteryPercent(); void calculateBatteryPercent();
void readAdcToBuf(); void readAdcToBuf();
void initBuffer(); void initBuffer();
uint16_t getBufAvg() const; uint16_t getBufAvg() const;
static const uint8_t bufferSize = 30; static constexpr uint8_t bufferSize = 30;
static constexpr uint8_t loopDelay = 100;
static constexpr uint16_t adcMaxValue = 4095;
CalibrationState calibrationState = CalibrationState::None; CalibrationState calibrationState = CalibrationState::None;
uint8_t absurdLowVoltage = 5; uint8_t absurdLowVoltage = 5;
uint8_t pin; uint8_t pin;
uint8_t batteryPercent = 0; uint8_t batteryPercent = 0;
uint8_t batteryLowPercent = 10; uint8_t batteryLowPercent = 10;
uint8_t bufferPos = 0; uint8_t bufferPos = 0;
uint8_t calulationDelayMultiplier = 5; uint8_t calulationDelayMultiplier = 5;
uint8_t loopCounter = 0; uint8_t loopCounter = 0;
uint8_t currentCalibrationVoltage = 0; // *0.1 + 7 uint8_t currentCalibrationVoltage = 0; // *0.1 + 7
uint16_t adcBuffer[bufferSize]; uint16_t adcBuffer[bufferSize];
uint16_t* newRawAdcVoltages; uint16_t *newRawAdcVoltages = nullptr;
uint32_t r1 = 0; uint32_t firstResistor = 0;
uint32_t r2 = 0; uint32_t secondResistor = 0;
bool calculatetNewValues = false; bool calculatetNewValues = false;
double batteryVoltage = 0; double batteryVoltage = 0;
double batteryVoltageFactor; double batteryVoltageFactor;
const float capacityVoltages[21] = {9.82, 10.83, 11.06, 11.12, // 0 5 10 15 const float capacityVoltages[21] = {9.82, 10.83, 11.06, 11.12, // 0 5 10 15
11.18, 11.24, 11.3, 11.36, // 20 25 30 35 11.18, 11.24, 11.3, 11.36, // 20 25 30 35
11.39, 11.45, 11.51, 11.56, // 40 45 50 55 11.39, 11.45, 11.51, 11.56, // 40 45 50 55
11.62, 11.74, 11.86, 11.95, // 60 65 70 75 11.62, 11.74, 11.86, 11.95, // 60 65 70 75
12.07, 12.25, 12.33, 12.45, // 80 85 90 95 12.07, 12.25, 12.33, 12.45, // 80 85 90 95
12.6 }; 12.6};
const uint8_t rawAdcVoltagesCount = 60; static constexpr uint8_t rawAdcVoltagesCount = 60;
const double startVoltage = 7; const double startVoltage = 7;
const double stepVoltage = 0.1; const double stepVoltage = 0.1;
const uint16_t rawAdcVoltages[60] = // from 7.0V to 12.9V in 0.1V steps const uint16_t rawAdcVoltages[rawAdcVoltagesCount] = // from 7.0V to 12.9V in 0.1V steps
{1992, 2021, 2056, 2090, 2118, 2145, 2177, 2208, 2241, 2272, {1992, 2021, 2056, 2090, 2118, 2145, 2177, 2208, 2241, 2272,
2298, 2331, 2362, 2387, 2420, 2453, 2482, 2514, 2543, 2577, 2298, 2331, 2362, 2387, 2420, 2453, 2482, 2514, 2543, 2577,
2607, 2640, 2670, 2703, 2736, 2763, 2794, 2826, 2858, 2890, 2607, 2640, 2670, 2703, 2736, 2763, 2794, 2826, 2858, 2890,
2920, 2956, 2983, 3019, 3054, 3088, 3121, 3158, 3189, 3226, 2920, 2956, 2983, 3019, 3054, 3088, 3121, 3158, 3189, 3226,
3264, 3300, 3339, 3379, 3414, 3453, 3500, 3544, 3598, 3636, 3264, 3300, 3339, 3379, 3414, 3453, 3500, 3544, 3598, 3636,
3682, 3730, 3781, 3837, 3887, 3943, 3997, 4054, 4093, 4095}; 3682, 3730, 3781, 3837, 3887, 3943, 3997, 4054, 4093, 4095};
const double adcCurveCoeficient[5] = {0.000000000000016,
0.000000000118171,
0.000000301211691,
0.001109019271794,
0.034143524634089};
}; };
#endif // BATTERY_H #endif // BATTERY_H
lib/CalcAzimuth/calcAzimuth.cpp
+61 -54
View File
@@ -1,114 +1,121 @@
/** /**
* @file calcAzimuth.cpp * @file calcAzimuth.cpp
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2023-09-03 * @date 2023-09-03
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#include "calcAzimuth.h" #include "calcAzimuth.h"
CalcAzimuth::CalcAzimuth(Point point) { CalcAzimuth::CalcAzimuth(Point point)
this->lastChangePoint = point; : lastChangePoint{point}, currentPosition{point}
this->currentPosition = point; {
this->loopDelay = 50; Component::loopDelay = CalcAzimuth::loopDelay;
} }
void CalcAzimuth::drivingDirectionChange(Point point) { void CalcAzimuth::drivingDirectionChange(Point point)
if (point.isInit() && point.isValid()) { {
if (point.isInit() && point.isValid())
{
this->directionChangeMode = true; this->directionChangeMode = true;
this->lastChangePoint = point; this->lastChangePoint = point;
this->state = State::Invalid; this->state = State::Invalid;
} }
} }
void CalcAzimuth::updateCurrentPosition(Point point) { void CalcAzimuth::updateCurrentPosition(Point point)
{
this->currentPosition = point; this->currentPosition = point;
this->positionChanged = true; this->positionChanged = true;
} }
String CalcAzimuth::stateToString(State state) { String CalcAzimuth::stateToString(State state)
switch (state) { {
case State::Invalid: switch (state)
return "Invalid"; {
case State::Invalid:
return "Invalid";
case State::Bad: case State::Bad:
return "Bad"; return "Bad";
case State::Ok: case State::Ok:
return "Ok"; return "Ok";
case State::Good: case State::Good:
return "Good"; return "Good";
case State::Super: case State::Super:
return "Super"; return "Super";
default: default:
return "UNKOWN"; return "UNKOWN";
} }
} }
void CalcAzimuth::run() { void CalcAzimuth::run()
{
if (!this->positionChanged) if (!this->positionChanged)
{
return; return;
}
this->positionChanged = false; this->positionChanged = false;
this->updateAzimuth(); this->updateAzimuth();
} }
void CalcAzimuth::updateAzimuth() { void CalcAzimuth::updateAzimuth()
if (!this->directionChangeMode {
|| this->lastChangePoint.distanceTo(this->currentPosition) < 1.0) if (!this->directionChangeMode || this->lastChangePoint.distanceTo(this->currentPosition) < 1.0)
{ {
this->state = State::Invalid; this->state = State::Invalid;
this->calcAzimuth = 999; this->calcAzimuth = INT16_MIN;
return; return;
} }
this->calcAzimuth = this->lastChangePoint.courseTo(this->currentPosition); this->calcAzimuth = this->lastChangePoint.courseTo(this->currentPosition);
// Map point accuracy to State // Map point accuracy to State
if (this->lastChangePoint.getAccuracy() == Point::Accuracy::oneDigOfCM if (this->lastChangePoint.getAccuracy() == Point::Accuracy::oneDigOfCM || this->currentPosition.getAccuracy() == Point::Accuracy::oneDigOfCM)
|| this->currentPosition.getAccuracy() == Point::Accuracy::oneDigOfCM)
{ {
this->state = State::Good; this->state = State::Good;
} }
else if (this->lastChangePoint.getAccuracy() == Point::Accuracy::twoDigOfCM else if (this->lastChangePoint.getAccuracy() == Point::Accuracy::twoDigOfCM || this->currentPosition.getAccuracy() == Point::Accuracy::twoDigOfCM)
|| this->currentPosition.getAccuracy() == Point::Accuracy::twoDigOfCM)
{ {
this->state = State::Ok; this->state = State::Ok;
} }
else if (this->lastChangePoint.getAccuracy() == Point::Accuracy::threeDigOfCM else if (this->lastChangePoint.getAccuracy() == Point::Accuracy::threeDigOfCM || this->currentPosition.getAccuracy() == Point::Accuracy::threeDigOfCM)
|| this->currentPosition.getAccuracy() == Point::Accuracy::threeDigOfCM)
{ {
this->state = State::Bad; this->state = State::Bad;
} }
else else
{ {
this->state = State::Invalid; this->state = State::Invalid;
} }
// Upgrade quality if the range grows up // Upgrade quality if the range grows up
if (this->lastChangePoint.distanceTo(this->currentPosition) > 2.0) { if (this->lastChangePoint.distanceTo(this->currentPosition) > this->minDistanceForBetterQuality)
switch (this->state) { {
case State::Bad : switch (this->state)
this->state = State::Ok; {
break; case State::Bad:
this->state = State::Ok;
case State::Ok : break;
this->state = State::Good;
break;
case State::Good : case State::Ok:
this->state = State::Super; this->state = State::Good;
break; break;
default: case State::Good:
break; this->state = State::Super;
break;
default:
break;
} }
} }
} }
lib/CalcAzimuth/calcAzimuth.h
+34 -29
View File
@@ -1,12 +1,12 @@
/** /**
* @file calcAzimuth.h * @file calcAzimuth.h
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2023-09-03 * @date 2023-09-03
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#ifndef CALC_AZIMUTH_H #ifndef CALC_AZIMUTH_H
@@ -15,38 +15,43 @@
#include "component.h" #include "component.h"
#include "point.h" #include "point.h"
class CalcAzimuth : public Component { class CalcAzimuth : public Component
public: {
enum State { public:
Invalid, enum State
Bad, {
Ok, Invalid,
Good, Bad,
Super Ok,
}; Good,
Super
};
CalcAzimuth(Point point); CalcAzimuth(Point point);
void drivingDirectionChange(Point point); void drivingDirectionChange(Point point);
void updateCurrentPosition(Point point); void updateCurrentPosition(Point point);
void disableCalcAzimuth() { this->directionChangeMode = false; } void disableCalcAzimuth() { this->directionChangeMode = false; }
int16_t getAzimuth() const { return this->calcAzimuth; } int16_t getAzimuth() const { return this->calcAzimuth; }
State getState() const { return this->state; } State getState() const { return this->state; }
static String stateToString(State state); static String stateToString(State state);
private: private:
void run() override; void run() override;
void updateAzimuth(); void updateAzimuth();
State state = State::Invalid; State state = State::Invalid;
Point lastChangePoint; Point lastChangePoint;
Point currentPosition; Point currentPosition;
bool positionChanged = false; bool positionChanged = false;
bool directionChangeMode = false; bool directionChangeMode = false;
int16_t calcAzimuth = INT16_MAX; int16_t calcAzimuth = INT16_MAX;
double minDistanceForBetterQuality = 2;
static constexpr uint8_t loopDelay = 50;
}; };
#endif //CALC_AZIMUTH_H #endif // CALC_AZIMUTH_H
lib/Component/component.cpp
+22 -8
View File
@@ -1,25 +1,35 @@
#include "component.h" #include "component.h"
Component::Component(uint16_t loopDelay) { Component::Component(uint16_t loopDelay) : loopDelay{loopDelay}
this->loopDelay = loopDelay; {
} }
void Component::loop() { void Component::loop()
{
if (!this->active) if (!this->active)
{
return; return;
}
if (this->childComponents.size()){ if (this->childComponents.size())
std::list<Component*>::iterator it; {
std::list<Component *>::iterator it;
for (it = this->childComponents.begin(); it != this->childComponents.end(); it++) for (it = this->childComponents.begin(); it != this->childComponents.end(); it++)
{
(*it)->loop(); (*it)->loop();
}
} }
this->runAsChild(); this->runAsChild();
if (this->onlyChilds) if (this->onlyChilds)
{
return; return;
}
if (this->loopDelay && millis() - this->lastMillis < this->loopDelay) if (static_cast<bool>(this->loopDelay) && millis() - this->lastMillis < this->loopDelay)
{
return; return;
}
this->lastMillis = millis(); this->lastMillis = millis();
@@ -28,13 +38,17 @@ void Component::loop() {
this->afterRun(); this->afterRun();
if (this->timeUpdateAfter) if (this->timeUpdateAfter)
{
this->lastMillis = millis(); this->lastMillis = millis();
}
} }
void Component::addChildComponent(Component* child) { void Component::addChildComponent(Component *child)
{
this->childComponents.push_back(child); this->childComponents.push_back(child);
} }
void Component::removeChildComponent(Component* child) { void Component::removeChildComponent(Component *child)
{
this->childComponents.remove(child); this->childComponents.remove(child);
} }
lib/Component/component.h
+30 -29
View File
@@ -1,12 +1,12 @@
/** /**
* @file component.h * @file component.h
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2023-08-16 * @date 2023-08-16
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#pragma once #pragma once
@@ -15,37 +15,38 @@
#include <list> #include <list>
class Component { class Component
public: {
Component() {} public:
Component(uint16_t loopDelay); Component() {}
Component(uint16_t loopDelay);
void loop(); void loop();
void deactivate() { this->active = false; }
void activate() { this->active = false; }
protected:
virtual void runAsChild() {}
virtual void beforeRun() {}
virtual void run() = 0;
virtual void afterRun() {}
void addChildComponent(Component* child); void deactivate() { this->active = false; }
void removeChildComponent(Component* child); void activate() { this->active = false; }
void activateOnlyChilds() { this->onlyChilds = true; } protected:
void deactivateOnlyChilds() { this->onlyChilds = false; } virtual void runAsChild() {}
virtual void beforeRun() {}
virtual void run() = 0;
virtual void afterRun() {}
void setTimerAfterTask() { this->timeUpdateAfter = true; } void addChildComponent(Component *child);
void removeChildComponent(Component *child);
uint16_t loopDelay = 0; void activateOnlyChilds() { this->onlyChilds = true; }
void deactivateOnlyChilds() { this->onlyChilds = false; }
private: void setTimerAfterTask() { this->timeUpdateAfter = true; }
std::list<Component*> childComponents;
bool active = true; uint16_t loopDelay = 0;
bool onlyChilds = false;
bool timeUpdateAfter = false; private:
uint32_t lastMillis = 0; std::list<Component *> childComponents;
bool active = true;
bool onlyChilds = false;
bool timeUpdateAfter = false;
uint32_t lastMillis = 0;
}; };
lib/ControllPad/controlPad.cpp
+38 -22
View File
@@ -1,37 +1,43 @@
/** /**
* @file controlPad.cpp * @file controlPad.cpp
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2023-03-30 * @date 2023-03-30
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#include "controlPad.h" #include "controlPad.h"
ControlPad::ControlPad() { ControlPad::ControlPad() : Component(5), controlInput{0, 0, 0, 0} {}
this->loopDelay = 5;
}
void ControlPad::run() { void ControlPad::run()
if(!this->connected) {
if (!this->connected)
{
return; return;
}
if (millis() - this->lastMessageReceive > this->disconnectTime) { if (millis() - this->lastMessageReceive > this->disconnectTime)
{
this->connected = false; this->connected = false;
this->controlInput.buttons = 0; this->controlInput.buttons = 0;
this->controlInput.x = 127; this->controlInput.x = UINT8_MAX / 2;
this->controlInput.y = 127; this->controlInput.y = UINT8_MAX / 2;
return; return;
} }
if (this->lastButtons != controlInput.buttons) if (this->lastButtons != controlInput.buttons)
{
this->updated = true; this->updated = true;
}
if (this->menuControl && this->controlInput.buttons > 0 && this->updated) { if (static_cast<bool>(this->menuControl) && this->controlInput.buttons > 0 && this->updated)
if (this->firstButtonPress) { {
if (this->firstButtonPress)
{
this->menuControl->printMenu(); this->menuControl->printMenu();
this->firstButtonPress = false; this->firstButtonPress = false;
std::cout << "ControlPad::loop - First menu print" << std::endl; std::cout << "ControlPad::loop - First menu print" << std::endl;
@@ -39,38 +45,48 @@ void ControlPad::run() {
} }
if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Left)) if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Left))
{
this->menuControl->left(); this->menuControl->left();
}
else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Right)) else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Right))
{
this->menuControl->right(); this->menuControl->right();
}
else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Up)) else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Up))
{
this->menuControl->up(); this->menuControl->up();
}
else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Down)) else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Down))
{
this->menuControl->down(); this->menuControl->down();
}
else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Yes)) else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Yes))
{
this->menuControl->yes(); this->menuControl->yes();
}
else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::No)) else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::No))
{
this->menuControl->no(); this->menuControl->no();
}
this->updated = false; this->updated = false;
this->lastButtons = controlInput.buttons; this->lastButtons = controlInput.buttons;
} }
return;
} }
void ControlPad::insertData(const uint8_t *data) { void ControlPad::insertData(const uint8_t *data)
{
this->connected = true; this->connected = true;
this->lastMessageReceive = millis(); this->lastMessageReceive = millis();
uint8_t lastCount = this->controlInput.counter + 1; const uint8_t lastCount = this->controlInput.counter + 1;
memcpy(&(this->controlInput), data, sizeof(this->controlInput)); memcpy(&(this->controlInput), data, sizeof(this->controlInput));
if (lastCount != this->controlInput.counter) if (lastCount != this->controlInput.counter)
std::cout << "ControlPad::insertData counter wrong value" << std::endl; std::cout << "ControlPad::insertData counter wrong value" << std::endl;
if (this->controlInput.x > 127 - this->deadZoneX if (this->controlInput.x > UINT8_MAX / 2 - this->deadZoneX && this->controlInput.x < UINT8_MAX / 2 + this->deadZoneX)
&& this->controlInput.x < 127 + this->deadZoneX) this->controlInput.x = UINT8_MAX / 2;
this->controlInput.x = 127;
if (this->controlInput.y > 127 - this->deadZoneY if (this->controlInput.y > UINT8_MAX / 2 - this->deadZoneY && this->controlInput.y < UINT8_MAX / 2 + this->deadZoneY)
&& this->controlInput.y < 127 + this->deadZoneY) this->controlInput.y = UINT8_MAX / 2;
this->controlInput.y = 127;
} }
lib/ControllPad/controlPad.h
+23 -22
View File
@@ -1,12 +1,12 @@
/** /**
* @file controlPad.h * @file controlPad.h
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2023-03-30 * @date 2023-03-30
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#pragma once #pragma once
@@ -16,33 +16,34 @@
#include <controlPadInput.h> #include <controlPadInput.h>
#include <component.h> #include <component.h>
class ControlPad : public Component { class ControlPad : public Component
public: {
ControlPad(); public:
ControlPad();
void insertData(const uint8_t *data); void insertData(const uint8_t *data);
void setMenuControl(MenuControl* menuControl) { this->menuControl = menuControl; } void setMenuControl(MenuControl *menuControl) { this->menuControl = menuControl; }
const ControlPadInput* getControlPadDataPtr() const { return &this->controlInput; } const ControlPadInput *getControlPadDataPtr() const { return &this->controlInput; }
bool isControlPadConnected() const { return this->connected; } bool isControlPadConnected() const { return this->connected; }
private: private:
void run() override; void run() override;
MenuControl* menuControl = nullptr; MenuControl *menuControl = nullptr;
ControlPadInput controlInput; ControlPadInput controlInput;
bool connected = false; bool connected = false;
bool updated = false; bool updated = false;
bool firstButtonPress = true; bool firstButtonPress = true;
uint8_t deadZoneX = 20; uint8_t deadZoneX = 20;
uint8_t deadZoneY = 20; uint8_t deadZoneY = 20;
uint8_t lastButtons = 0; uint8_t lastButtons = 0;
uint16_t disconnectTime = 100; uint16_t disconnectTime = 100;
uint32_t lastMessageReceive = 0; uint32_t lastMessageReceive = 0;
}; };
lib/ControllPad/controlPadInput.h
+48 -43
View File
@@ -1,12 +1,12 @@
/** /**
* @file controlPadInput.h * @file controlPadInput.h
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2023-03-30 * @date 2023-03-30
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#ifndef CONTROL_PAD_INPUT_H #ifndef CONTROL_PAD_INPUT_H
@@ -14,61 +14,66 @@
#include <stdint.h> #include <stdint.h>
struct ControlPadInput { struct ControlPadInput
{
uint8_t buttons; uint8_t buttons;
uint8_t x; uint8_t x;
uint8_t y; uint8_t y;
uint8_t counter; uint8_t counter;
}; };
class ControlPadButton
{
public:
enum PadButton
{
Left = 4,
Right = 8,
Up = 2,
Down = 1,
Yes = 32,
No = 16,
Action = 64
};
class ControlPadButton { static bool isControlPadButtonPressed(const ControlPadInput *input, PadButton button)
public: {
enum PadButton { uint8_t buttonNum = input->buttons;
Left = 4, switch (button)
Right = 8, {
Up = 2, case PadButton::Left:
Down = 1, return buttonNum & (uint8_t)PadButton::Left;
Yes = 32, break;
No = 16,
Action = 64
};
static bool isControlPadButtonPressed(const ControlPadInput *input, PadButton button) { case PadButton::Right:
uint8_t buttonNum = input->buttons; return buttonNum & (uint8_t)PadButton::Right;
switch (button) { break;
case PadButton::Left :
return buttonNum & (uint8_t) PadButton::Left;
break;
case PadButton::Right : case PadButton::Up:
return buttonNum & (uint8_t) PadButton::Right; return buttonNum & (uint8_t)PadButton::Up;
break; break;
case PadButton::Up : case PadButton::Down:
return buttonNum & (uint8_t) PadButton::Up; return buttonNum & (uint8_t)PadButton::Down;
break; break;
case PadButton::Down : case PadButton::Yes:
return buttonNum & (uint8_t) PadButton::Down; return buttonNum & (uint8_t)PadButton::Yes;
break; break;
case PadButton::Yes : case PadButton::No:
return buttonNum & (uint8_t) PadButton::Yes; return buttonNum & (uint8_t)PadButton::No;
break; break;
case PadButton::No : case PadButton::Action:
return buttonNum & (uint8_t) PadButton::No; return buttonNum & (uint8_t)PadButton::Action;
break; break;
case PadButton::Action : default:
return buttonNum & (uint8_t) PadButton::Action; return false;
break; ;
default:
return false;;
}
} }
}
}; };
#endif // CONTROL_PAD_INPUT_H #endif // CONTROL_PAD_INPUT_H
lib/Counter/counter.cpp
+21 -14
View File
@@ -1,14 +1,14 @@
#include "counter.h" #include "counter.h"
#include <inttypes.h>
uint8_t Counter::amountOfCounter = 0; uint8_t Counter::amountOfCounter = 0;
Counter::Counter(uint8_t pin) { Counter::Counter(uint8_t pin)
this->pulsePin = pin; : pulsePin{pin}, unit{static_cast<pcnt_unit_t>(Counter::amountOfCounter)}
{
this->unit = static_cast<pcnt_unit_t>(Counter::amountOfCounter); if (Counter::amountOfCounter <= Counter::maxCounter)
if (Counter::amountOfCounter < 7) {
Counter::amountOfCounter++; Counter::amountOfCounter++;
}
pcnt_config_t config; pcnt_config_t config;
config.unit = this->unit; config.unit = this->unit;
@@ -24,33 +24,40 @@ Counter::Counter(uint8_t pin) {
pcnt_unit_config(&config); pcnt_unit_config(&config);
} }
void Counter::pause() { void Counter::pause()
{
pcnt_counter_pause(this->unit); pcnt_counter_pause(this->unit);
} }
void Counter::resume() { void Counter::resume()
{
pcnt_counter_resume(this->unit); pcnt_counter_resume(this->unit);
} }
void Counter::clear() { void Counter::clear()
{
pcnt_counter_clear(this->unit); pcnt_counter_clear(this->unit);
} }
int16_t Counter::getValue() const { int16_t Counter::getValue() const
int16_t res; {
int16_t res = 0;
pcnt_get_counter_value(this->unit, &res); pcnt_get_counter_value(this->unit, &res);
return res; return res;
} }
void Counter::setFilterValue(uint16_t value) { void Counter::setFilterValue(uint16_t value)
{
pcnt_set_filter_value(this->unit, value); pcnt_set_filter_value(this->unit, value);
this->filterEnable(); this->filterEnable();
} }
void Counter::filterEnable() { void Counter::filterEnable()
{
pcnt_filter_enable(this->unit); pcnt_filter_enable(this->unit);
} }
void Counter::filterDisable() { void Counter::filterDisable()
{
pcnt_filter_disable(this->unit); pcnt_filter_disable(this->unit);
} }
lib/Counter/counter.h
+20 -17
View File
@@ -2,29 +2,32 @@
#include <Arduino.h> #include <Arduino.h>
#include <driver/pcnt.h> #include <driver/pcnt.h>
#include <cinttypes>
class Counter { class Counter
public: {
Counter(uint8_t pin); public:
Counter(uint8_t pin);
void pause(); void pause();
void resume(); void resume();
void clear(); void clear();
int16_t getValue() const; int16_t getValue() const;
void setFilterValue(uint16_t value); void setFilterValue(uint16_t value);
void filterEnable(); void filterEnable();
void filterDisable(); void filterDisable();
private: private:
static constexpr int16_t highLimit = INT16_MAX; static constexpr int16_t highLimit = INT16_MAX;
static constexpr uint8_t lowLimit = 0; static constexpr uint8_t lowLimit = 0;
static constexpr uint8_t maxCounter = 6;
static uint8_t amountOfCounter; static uint8_t amountOfCounter;
bool initalised = false; bool initalised = false;
uint8_t pulsePin; uint8_t pulsePin;
pcnt_unit_t unit; pcnt_unit_t unit;
}; };
lib/LcdWrapper/LcdWrapper.cpp
+36 -18
View File
@@ -4,62 +4,80 @@
* @brief Contains the implementation of the class LcdWrapper * @brief Contains the implementation of the class LcdWrapper
* @version 0.1 * @version 0.1
* @date 2023-01-08 * @date 2023-01-08
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#include "LcdWrapper.h" #include "LcdWrapper.h"
LcdWrapper::LcdWrapper(LiquidCrystal_I2C* lcd) { LcdWrapper::LcdWrapper(LiquidCrystal_I2C *lcd)
this->lcd = lcd; : lcd{lcd}, changed{false}
{
this->clear(); this->clear();
this->changed = false;
} }
void LcdWrapper::run() { void LcdWrapper::run()
{
if (!this->changed) if (!this->changed)
{
return; return;
}
this->lcd->clear(); this->lcd->clear();
for (uint8_t i = 0; i < LcdWrapper::totalLines; i++) { for (uint8_t i = 0; i < LcdWrapper::totalLines; i++)
{
this->lcd->setCursor(0, i); this->lcd->setCursor(0, i);
this->lcd->print(this->data[i]); this->lcd->print(static_cast<const char *>(this->data[i]));
} }
if (this->callback) if (static_cast<bool>(this->callback))
{
this->callback(this->data, LcdWrapper::totalLines, LcdWrapper::totalRows); this->callback(this->data, LcdWrapper::totalLines, LcdWrapper::totalRows);
}
this->changed = false; this->changed = false;
} }
void LcdWrapper::clear() { void LcdWrapper::clear()
for (uint8_t i = 0; i < LcdWrapper::totalLines; i++) { {
for (uint8_t j = 0; j < LcdWrapper::totalRows; j++) { for (uint8_t i = 0; i < LcdWrapper::totalLines; i++)
{
for (uint8_t j = 0; j < LcdWrapper::totalRows; j++)
{
data[i][j] = ' '; data[i][j] = ' ';
} }
} }
this->changed = true; this->changed = true;
} }
void LcdWrapper::setCursor(uint8_t row, uint8_t line) { void LcdWrapper::setCursor(uint8_t row, uint8_t line)
{
if (row > LcdWrapper::totalRows - 1) if (row > LcdWrapper::totalRows - 1)
{
row = LcdWrapper::totalRows - 1; row = LcdWrapper::totalRows - 1;
}
if (line > LcdWrapper::totalLines - 1) if (line > LcdWrapper::totalLines - 1)
{
line = LcdWrapper::totalLines - 1; line = LcdWrapper::totalLines - 1;
}
this->cursorRow = row; this->cursorRow = row;
this->cursorLine = line; this->cursorLine = line;
} }
void LcdWrapper::print(const char *str) { void LcdWrapper::print(const char *str)
{
uint8_t inputStringPosition = 0; uint8_t inputStringPosition = 0;
for (uint8_t i = this->cursorRow; i < LcdWrapper::totalRows; i++) { for (uint8_t i = this->cursorRow; i < LcdWrapper::totalRows; i++)
{
if (str[inputStringPosition] == '\0') if (str[inputStringPosition] == '\0')
{
break; break;
else }
this->data[this->cursorLine][i] = str[inputStringPosition]; this->data[this->cursorLine][i] = str[inputStringPosition];
inputStringPosition++; inputStringPosition++;
} }
this->changed = true; this->changed = true;
lib/LcdWrapper/LcdWrapper.h
+45 -44
View File
@@ -4,9 +4,9 @@
* @brief Contains the LcdWrapper class * @brief Contains the LcdWrapper class
* @version 0.1 * @version 0.1
* @date 2023-01-08 * @date 2023-01-08
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#ifndef LCD_WRAPPER_H #ifndef LCD_WRAPPER_H
@@ -17,59 +17,60 @@
#include <displayWrapper.h> #include <displayWrapper.h>
#include <component.h> #include <component.h>
typedef void (*LcdWrapperCallback) (const char data[][16], uint8_t lines, uint8_t rows); typedef void (*LcdWrapperCallback)(const char data[][16], uint8_t lines, uint8_t rows);
/** /**
* @brief A class for the Menu class to print information * @brief A class for the Menu class to print information
* *
* This class inherits the DisplayWrapper class as a interface. * This class inherits the DisplayWrapper class as a interface.
* The class takes the information to print from any thread. The * The class takes the information to print from any thread. The
* loop function has to be called to print the data. * loop function has to be called to print the data.
*/ */
class LcdWrapper : public DisplayWrapper, public Component { class LcdWrapper : public DisplayWrapper, public Component
public: {
/** public:
* @brief Construct a new Lcd Wrapper object /**
* * @brief Construct a new Lcd Wrapper object
* @param lcd *
*/ * @param lcd
LcdWrapper(LiquidCrystal_I2C* lcd); */
LcdWrapper(LiquidCrystal_I2C *lcd);
/** /**
* @brief Empty the buffer * @brief Empty the buffer
* *
*/ */
void clear() override; void clear() override;
/** /**
* @brief Set point where data to be saved * @brief Set point where data to be saved
* *
* @param row * @param row
* @param line * @param line
*/ */
void setCursor(uint8_t row, uint8_t line) override; void setCursor(uint8_t row, uint8_t line) override;
void setCallback(LcdWrapperCallback callback) { this->callback = callback; } void setCallback(LcdWrapperCallback callback) { this->callback = callback; }
/** /**
* @brief Save the data to be printed * @brief Save the data to be printed
* *
* @param str * @param str
*/ */
void print(const char *str) override; void print(const char *str) override;
static constexpr uint8_t totalRows = 16; static constexpr uint8_t totalRows = 16;
static constexpr uint8_t totalLines = 2; static constexpr uint8_t totalLines = 2;
private:
void run() override;
private:
LiquidCrystal_I2C* lcd; void run() override;
LcdWrapperCallback callback = nullptr;
char data[LcdWrapper::totalLines][LcdWrapper::totalRows];
uint8_t cursorRow = 0; LiquidCrystal_I2C *lcd;
uint8_t cursorLine = 0; LcdWrapperCallback callback = nullptr;
char data[LcdWrapper::totalLines][LcdWrapper::totalRows];
bool changed = false; uint8_t cursorRow = 0;
uint8_t cursorLine = 0;
bool changed = false;
}; };
#endif // DISPLAY_WRAPPER_H #endif // DISPLAY_WRAPPER_H
lib/calibrateCompass/calibrateCompass.cpp
+70 -45
View File
@@ -1,68 +1,79 @@
/** /**
* @file calibrateCompass.cpp * @file calibrateCompass.cpp
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2023-05-23 * @date 2023-05-23
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#include "calibrateCompass.h" #include "calibrateCompass.h"
CalibrateCompass::CalibrateCompass(QMC5883LCompass* compass) { CalibrateCompass::CalibrateCompass(QMC5883LCompass *compass)
{
this->compass = compass; this->compass = compass;
this->state = State::Ready; this->state = State::Ready;
this->clearData(); this->clearData();
this->activateOnlyChilds(); this->activateOnlyChilds();
} }
void CalibrateCompass::runAsChild() { void CalibrateCompass::runAsChild()
{
if (this->state != State::Calibrating) if (this->state != State::Calibrating)
{
return; return;
}
bool changed = false; bool changed = false;
this->compass->read(); this->compass->read();
int x = this->compass->getX(); int xAxis = this->compass->getX();
int y = this->compass->getY(); int yAxis = this->compass->getY();
int z = this->compass->getZ(); int zAxis = this->compass->getZ();
if(x < this->data.data[0][0]) { if (xAxis < this->data.data[0][0])
this->data.data[0][0] = x; {
this->data.data[0][0] = xAxis;
changed = true; changed = true;
} }
if(x > this->data.data[0][1]) { if (xAxis > this->data.data[0][1])
this->data.data[0][1] = x; {
this->data.data[0][1] = xAxis;
changed = true; changed = true;
} }
if(y < this->data.data[1][0]) { if (yAxis < this->data.data[1][0])
this->data.data[1][0] = y; {
this->data.data[1][0] = yAxis;
changed = true; changed = true;
} }
if(y > this->data.data[1][1]) { if (yAxis > this->data.data[1][1])
this->data.data[1][1] = y; {
this->data.data[1][1] = yAxis;
changed = true; changed = true;
} }
if(z < this->data.data[2][0]) { if (zAxis < this->data.data[2][0])
this->data.data[2][0] = z; {
this->data.data[2][0] = zAxis;
changed = true; changed = true;
} }
if(z > this->data.data[2][1]) { if (zAxis > this->data.data[2][1])
this->data.data[2][1] = z; {
this->data.data[2][1] = zAxis;
changed = true; changed = true;
} }
if (changed) if (changed)
this->lastChange = millis(); this->lastChange = millis();
if (millis() - this->lastChange > this->maxTimeWithoutChange) { if (millis() - this->lastChange > this->maxTimeWithoutChange)
{
this->state = State::Finished; this->state = State::Finished;
this->checkDataValidity(); this->checkDataValidity();
} }
@@ -70,9 +81,12 @@ void CalibrateCompass::runAsChild() {
void CalibrateCompass::run() {} void CalibrateCompass::run() {}
void CalibrateCompass::start() { void CalibrateCompass::start()
{
if (this->state != State::Ready) if (this->state != State::Ready)
{
return; return;
}
this->clearData(); this->clearData();
this->state = State::Calibrating; this->state = State::Calibrating;
@@ -80,39 +94,45 @@ void CalibrateCompass::start() {
this->lastChange = millis(); this->lastChange = millis();
} }
void CalibrateCompass::useData() { void CalibrateCompass::useData()
if (!this->dataValid) { {
if (!this->dataValid)
{
std::cout << "CalibrateCompass::useData - Data not valid" << std::endl; std::cout << "CalibrateCompass::useData - Data not valid" << std::endl;
return; return;
} }
this->compass->setCalibration( this->data.data[0][0], this->compass->setCalibration(this->data.data[0][0],
this->data.data[0][1], this->data.data[0][1],
this->data.data[1][0], this->data.data[1][0],
this->data.data[1][1], this->data.data[1][1],
this->data.data[2][0], this->data.data[2][0],
this->data.data[2][1] this->data.data[2][1]);
);
std::cout << "CalibrateCompass::useData " << *this << std::endl; std::cout << "CalibrateCompass::useData " << *this << std::endl;
} }
void CalibrateCompass::removeCalibration() { void CalibrateCompass::removeCalibration()
{
this->compass->clearCalibration(); this->compass->clearCalibration();
} }
void CalibrateCompass::reset() { void CalibrateCompass::reset()
{
this->clearData(); this->clearData();
this->state = State::Ready; this->state = State::Ready;
} }
void CalibrateCompass::saveData() { void CalibrateCompass::saveData()
{
if (!this->dataValid) if (!this->dataValid)
{
return; return;
}
Preferences preferences; Preferences preferences;
preferences.begin("compass", false); preferences.begin("compass", false);
preferences.putInt("xLow", this->data.data[0][0]); preferences.putInt("xLow", this->data.data[0][0]);
preferences.putInt("xHigh", this->data.data[0][1]); preferences.putInt("xHigh", this->data.data[0][1]);
preferences.putInt("yLow", this->data.data[1][0]); preferences.putInt("yLow", this->data.data[1][0]);
@@ -123,7 +143,8 @@ void CalibrateCompass::saveData() {
preferences.end(); preferences.end();
} }
void CalibrateCompass::loadData() { void CalibrateCompass::loadData()
{
Preferences preferences; Preferences preferences;
preferences.begin("compass", true); preferences.begin("compass", true);
@@ -138,20 +159,23 @@ void CalibrateCompass::loadData() {
this->checkDataValidity(); this->checkDataValidity();
} }
void CalibrateCompass::clearData() { void CalibrateCompass::clearData()
for (uint8_t i = 0; i < 3; i++) { {
for (uint8_t i = 0; i < 3; i++)
{
this->data.data[i][0] = 0; this->data.data[i][0] = 0;
this->data.data[i][1] = 0; this->data.data[i][1] = 0;
} }
this->dataValid = false; this->dataValid = false;
} }
void CalibrateCompass::checkDataValidity() { void CalibrateCompass::checkDataValidity()
{
int sum = 0; int sum = 0;
for (uint8_t i = 0; i < 3; i++) { for (uint8_t i = 0; i < 3; i++)
if (this->data.data[i][0] > INT16_MAX || this->data.data[i][0] < INT16_MIN {
|| this->data.data[i][1] > INT16_MAX || this->data.data[i][1] < INT16_MIN) if (this->data.data[i][0] > INT16_MAX || this->data.data[i][0] < INT16_MIN || this->data.data[i][1] > INT16_MAX || this->data.data[i][1] < INT16_MIN)
{ {
this->dataValid = false; this->dataValid = false;
return; return;
} }
@@ -161,7 +185,8 @@ void CalibrateCompass::checkDataValidity() {
this->dataValid = sum; this->dataValid = sum;
} }
std::ostream& operator<<(std::ostream& os, const CalibrateCompass& caliComp) { std::ostream &operator<<(std::ostream &os, const CalibrateCompass &caliComp)
{
os << "("; os << "(";
os << caliComp.data.data[0][0]; os << caliComp.data.data[0][0];
os << ", "; os << ", ";
platformio.ini
+23 -1
View File
@@ -30,7 +30,11 @@ build_type = debug
monitor_filters = esp32_exception_decoder monitor_filters = esp32_exception_decoder
check_tool = clangtidy check_tool = clangtidy
check_flags = check_flags =
clangtidy: --checks=*,-llvmlibc clangtidy: --checks=-*,cert-*,cppcoreguidelines-*,clang-analyzer-*,google-*,hicpp-*,modernize-*,performance-*,portability-*,readability-*,bugprone-*,misc-*,openmp-*,objc-* --fix
check_src_filters =
+<src/*>
+<lib/*>
+<include/*>
[env:native] [env:native]
platform = native platform = native
@@ -38,3 +42,21 @@ test_ignore = test_embedded
[platformio] [platformio]
description = A Rover who should be drive a route by gps. description = A Rover who should be drive a route by gps.
; Bei Möglichkeit folgendes aus clang tidy entfernen
; cppcoreguidelines-owning-memory
;
;
;
;
;
;
;
;
;
;
;
;
;
#
src/SpecialMenus/Route/menuRoute.cpp
+127 -56
View File
@@ -1,36 +1,44 @@
/** /**
* @file menuRoute.cpp * @file menuRoute.cpp
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief Contains the implementation of the classes MenuActionRoute, MenuRoute and MenuRouteWrapper. * @brief Contains the implementation of the classes MenuActionRoute, MenuRoute and MenuRouteWrapper.
* @version 0.1 * @version 0.1
* @date 2022-12-28 * @date 2022-12-28
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#include "menuRoute.h" #include "menuRoute.h"
MenuActionRoute::MenuActionRoute(MenuRoute* menuRoute, DataFunction dataFunction) { MenuActionRoute::MenuActionRoute(MenuRoute *menuRoute, DataFunction dataFunction)
{
this->menuRoute = menuRoute; this->menuRoute = menuRoute;
this->dataFunction = dataFunction; this->dataFunction = dataFunction;
} }
void MenuActionRoute::action() { void MenuActionRoute::action()
{
(this->menuRoute->*this->dataFunction)(0); (this->menuRoute->*this->dataFunction)(0);
} }
MenuRoute::MenuRoute(Route* route) { MenuRoute::MenuRoute(Route *route)
{
this->route = route; this->route = route;
} }
MenuRoute::~MenuRoute() { MenuRoute::~MenuRoute()
{
if (isInit) if (isInit)
{
delete this->mainMenu; delete this->mainMenu;
}
} }
void MenuRoute::printMenu() { void MenuRoute::printMenu()
if (!this->isInit) { {
if (!this->isInit)
{
this->isInit = true; this->isInit = true;
this->init(); this->init();
} }
@@ -38,72 +46,103 @@ void MenuRoute::printMenu() {
this->mainMenu->printMenu(); this->mainMenu->printMenu();
} }
void MenuRoute::down()
void MenuRoute::down() { {
if (blockInput) return; if (blockInput)
{
return;
}
this->mainMenu->down(); this->mainMenu->down();
} }
void MenuRoute::up() { void MenuRoute::up()
if (blockInput) return; {
if (blockInput)
{
return;
}
this->mainMenu->up(); this->mainMenu->up();
} }
void MenuRoute::right() { void MenuRoute::right()
if (blockInput) return; {
if (blockInput)
{
return;
}
this->mainMenu->right(); this->mainMenu->right();
} }
void MenuRoute::left() { void MenuRoute::left()
if (blockInput) return; {
if (blockInput)
{
return;
}
if (this->mainMenu->isInSubmenu()) if (this->mainMenu->isInSubmenu())
{
this->mainMenu->left(); this->mainMenu->left();
}
else else
{
this->parentMenu->printMenu(); this->parentMenu->printMenu();
}
} }
void MenuRoute::yes() { void MenuRoute::yes()
if (blockInput) return; {
if (blockInput)
{
return;
}
this->mainMenu->yes(); this->mainMenu->yes();
} }
void MenuRoute::no() { void MenuRoute::no()
if (blockInput) return; {
if (blockInput)
{
return;
}
if (this->mainMenu->isInSubmenu()) if (this->mainMenu->isInSubmenu())
{
this->mainMenu->no(); this->mainMenu->no();
}
else else
{
this->left(); this->left();
}
} }
void MenuRoute::init()
void MenuRoute::init() { {
// auto dummy = []() { // auto dummy = []() {
// std::cout << "Dummy in Action" <<std::endl; // std::cout << "Dummy in Action" <<std::endl;
// }; // };
this->mainMenu = new Menu; this->mainMenu = new Menu;
MenuRoutePoints* pointsMenu = new MenuRoutePoints(this->route); auto *pointsMenu = new MenuRoutePoints(this->route);
this->mainMenu->setLcd(this->lcd); this->mainMenu->setLcd(this->lcd);
pointsMenu->setLcd(this->lcd); pointsMenu->setLcd(this->lcd);
auto importWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::importRoute)); auto *importWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::importRoute));
auto exportWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::exportRoute)); auto *exportWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::exportRoute));
auto deleteWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::deleteRoute)); auto *deleteWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::deleteRoute));
auto clearWrapper = new MenuActionRoute(this, &MenuRoute::clearRoute); auto *clearWrapper = new MenuActionRoute(this, &MenuRoute::clearRoute);
importWrapper->setLcd(this->lcd); importWrapper->setLcd(this->lcd);
importWrapper->setMinMax(0, 100); importWrapper->setMinMax(0, MenuRoute::maxRouteNumber);
importWrapper->setPrintParentMenu(false); importWrapper->setPrintParentMenu(false);
importWrapper->setEntry(0, "Import Route"); importWrapper->setEntry(0, "Import Route");
exportWrapper->setLcd(this->lcd); exportWrapper->setLcd(this->lcd);
exportWrapper->setMinMax(0, 100); exportWrapper->setMinMax(0, MenuRoute::maxRouteNumber);
exportWrapper->setPrintParentMenu(false); exportWrapper->setPrintParentMenu(false);
exportWrapper->setEntry(0, "Export Route"); exportWrapper->setEntry(0, "Export Route");
deleteWrapper->setLcd(this->lcd); deleteWrapper->setLcd(this->lcd);
deleteWrapper->setMinMax(0, 100); deleteWrapper->setMinMax(0, MenuRoute::maxRouteNumber);
deleteWrapper->setPrintParentMenu(false); deleteWrapper->setPrintParentMenu(false);
deleteWrapper->setEntry(0, "Delete Route"); deleteWrapper->setEntry(0, "Delete Route");
@@ -114,13 +153,15 @@ void MenuRoute::init() {
this->mainMenu->addEntry(new MenuAction("Delete", deleteWrapper)); this->mainMenu->addEntry(new MenuAction("Delete", deleteWrapper));
} }
void MenuRoute::importRoute(uint8_t routeNumber) { void MenuRoute::importRoute(uint8_t routeNumber)
{
this->blockInput = true; this->blockInput = true;
String lineOne = ""; String lineOne = "";
String lineTwo = ""; String lineTwo = "";
if (WiFi.status() != WL_CONNECTED) { if (WiFi.status() != WL_CONNECTED)
{
lineOne = "Not connected to"; lineOne = "Not connected to";
lineTwo = "the WiFi."; lineTwo = "the WiFi.";
this->print(lineOne, lineTwo); this->print(lineOne, lineTwo);
@@ -128,7 +169,8 @@ void MenuRoute::importRoute(uint8_t routeNumber) {
return; return;
} }
if (ESP.getMaxAllocHeap() < JSON_DOCUMENT_SIZE_ROUTE) { if (ESP.getMaxAllocHeap() < JSON_DOCUMENT_SIZE_ROUTE)
{
lineOne = "Not enough mem"; lineOne = "Not enough mem";
lineTwo = "for Json obj"; lineTwo = "for Json obj";
this->print(lineOne, lineTwo); this->print(lineOne, lineTwo);
@@ -139,7 +181,7 @@ void MenuRoute::importRoute(uint8_t routeNumber) {
WiFiClient client; WiFiClient client;
HTTPClient http; HTTPClient http;
DynamicJsonDocument doc(JSON_DOCUMENT_SIZE_ROUTE); DynamicJsonDocument doc(JSON_DOCUMENT_SIZE_ROUTE);
String host = "http://rover.kleiax.de/api/"; String host = "http://rover.kleiax.de/api/";
host.concat(routeNumber); host.concat(routeNumber);
http.begin(client, host); http.begin(client, host);
@@ -149,14 +191,19 @@ void MenuRoute::importRoute(uint8_t routeNumber) {
lineTwo = "Code: "; lineTwo = "Code: ";
if (httpResponseCode == 202) if (httpResponseCode == 202)
{
deserializeJson(doc, http.getStream()); deserializeJson(doc, http.getStream());
}
else else
{
lineOne = "HTTP Error"; lineOne = "HTTP Error";
}
lineTwo.concat(httpResponseCode); lineTwo.concat(httpResponseCode);
this->print(lineOne, lineTwo); this->print(lineOne, lineTwo);
if (httpResponseCode <= 0) { if (httpResponseCode <= 0)
{
this->blockInput = false; this->blockInput = false;
return; return;
} }
@@ -164,7 +211,8 @@ void MenuRoute::importRoute(uint8_t routeNumber) {
uint16_t totalPoints = doc["amountPoints"]; uint16_t totalPoints = doc["amountPoints"];
this->route->clear(); this->route->clear();
for (uint16_t i = 0; i < totalPoints; i++) { for (uint16_t i = 0; i < totalPoints; i++)
{
Point::Coordinates coords; Point::Coordinates coords;
coords.lat = doc["points"][i][0].as<double>(); coords.lat = doc["points"][i][0].as<double>();
coords.lon = doc["points"][i][1].as<double>(); coords.lon = doc["points"][i][1].as<double>();
@@ -175,14 +223,16 @@ void MenuRoute::importRoute(uint8_t routeNumber) {
http.end(); http.end();
} }
void MenuRoute::exportRoute(uint8_t routeNumber) { void MenuRoute::exportRoute(uint8_t routeNumber)
{
this->blockInput = true; this->blockInput = true;
uint16_t totalPoints = this->route->getRouteInfo().totalPoints; uint16_t totalPoints = this->route->getRouteInfo().totalPoints;
String lineOne = ""; String lineOne = "";
String lineTwo = ""; String lineTwo = "";
if (WiFi.status() != WL_CONNECTED) { if (WiFi.status() != WL_CONNECTED)
{
lineOne = "Not connected to"; lineOne = "Not connected to";
lineTwo = "the WiFi."; lineTwo = "the WiFi.";
this->print(lineOne, lineTwo); this->print(lineOne, lineTwo);
@@ -190,7 +240,8 @@ void MenuRoute::exportRoute(uint8_t routeNumber) {
return; return;
} }
if (ESP.getMaxAllocHeap() < JSON_DOCUMENT_SIZE_ROUTE) { if (ESP.getMaxAllocHeap() < JSON_DOCUMENT_SIZE_ROUTE)
{
lineOne = "Not enough mem"; lineOne = "Not enough mem";
lineTwo = "for Json obj"; lineTwo = "for Json obj";
this->print(lineOne, lineTwo); this->print(lineOne, lineTwo);
@@ -205,7 +256,8 @@ void MenuRoute::exportRoute(uint8_t routeNumber) {
Point::Coordinates coords = this->route->startRoute().getCoordinates(); Point::Coordinates coords = this->route->startRoute().getCoordinates();
doc["points"][0][0] = coords.lat; doc["points"][0][0] = coords.lat;
doc["points"][0][1] = coords.lon; doc["points"][0][1] = coords.lon;
for (uint16_t i = 1; i < totalPoints; i++) { for (uint16_t i = 1; i < totalPoints; i++)
{
coords = this->route->getNextPoint().getCoordinates(); coords = this->route->getNextPoint().getCoordinates();
doc["points"][i][0] = coords.lat; doc["points"][i][0] = coords.lat;
doc["points"][i][1] = coords.lon; doc["points"][i][1] = coords.lon;
@@ -215,30 +267,36 @@ void MenuRoute::exportRoute(uint8_t routeNumber) {
WiFiClient client; WiFiClient client;
HTTPClient http; HTTPClient http;
http.begin(client, "http://rover.kleiax.de/api/"); http.begin(client, "http://rover.kleiax.de/api/");
http.addHeader("Content-Type", "application/json"); http.addHeader("Content-Type", "application/json");
int httpResponseCode = http.POST(jsonData); int httpResponseCode = http.POST(jsonData);
if (httpResponseCode == 201) if (httpResponseCode == 201)
{
lineOne = "Export complete"; lineOne = "Export complete";
}
else else
{
lineOne = "HTTP Error"; lineOne = "HTTP Error";
}
lineTwo = "Code: "; lineTwo = "Code: ";
lineTwo.concat(httpResponseCode); lineTwo.concat(httpResponseCode);
this->print(lineOne, lineTwo); this->print(lineOne, lineTwo);
this->blockInput = false; this->blockInput = false;
http.end(); http.end();
} }
void MenuRoute::deleteRoute(uint8_t routeNumber) { void MenuRoute::deleteRoute(uint8_t routeNumber)
{
this->blockInput = true; this->blockInput = true;
String lineOne = ""; String lineOne = "";
String lineTwo = ""; String lineTwo = "";
if (WiFi.status() != WL_CONNECTED) { if (WiFi.status() != WL_CONNECTED)
{
lineOne = "Not connected to"; lineOne = "Not connected to";
lineTwo = "the WiFi."; lineTwo = "the WiFi.";
this->print(lineOne, lineTwo); this->print(lineOne, lineTwo);
@@ -246,7 +304,8 @@ void MenuRoute::deleteRoute(uint8_t routeNumber) {
return; return;
} }
if (ESP.getMaxAllocHeap() < JSON_DOCUMENT_SIZE_ROUTE) { if (ESP.getMaxAllocHeap() < JSON_DOCUMENT_SIZE_ROUTE)
{
lineOne = "Not enough mem"; lineOne = "Not enough mem";
lineTwo = "for Json obj"; lineTwo = "for Json obj";
this->print(lineOne, lineTwo); this->print(lineOne, lineTwo);
@@ -257,7 +316,7 @@ void MenuRoute::deleteRoute(uint8_t routeNumber) {
WiFiClient client; WiFiClient client;
HTTPClient http; HTTPClient http;
DynamicJsonDocument doc(JSON_DOCUMENT_SIZE_ROUTE); DynamicJsonDocument doc(JSON_DOCUMENT_SIZE_ROUTE);
String host = "http://rover.kleiax.de/api/"; String host = "http://rover.kleiax.de/api/";
host.concat(routeNumber); host.concat(routeNumber);
http.begin(client, host); http.begin(client, host);
@@ -267,9 +326,13 @@ void MenuRoute::deleteRoute(uint8_t routeNumber) {
lineTwo = "Code: "; lineTwo = "Code: ";
if (httpResponseCode == 202) if (httpResponseCode == 202)
{
deserializeJson(doc, http.getStream()); deserializeJson(doc, http.getStream());
}
else else
{
lineOne = "HTTP Error"; lineOne = "HTTP Error";
}
lineTwo.concat(httpResponseCode); lineTwo.concat(httpResponseCode);
this->print(lineOne, lineTwo); this->print(lineOne, lineTwo);
@@ -278,29 +341,37 @@ void MenuRoute::deleteRoute(uint8_t routeNumber) {
http.end(); http.end();
} }
void MenuRoute::clearRoute(uint8_t none) { void MenuRoute::clearRoute(uint8_t none)
{
//The parameter exist only for compability
none;
this->route->clear(); this->route->clear();
this->print("Currente route", "deleted..."); this->print("Currente route", "deleted...");
} }
MenuRouteWrapper::MenuRouteWrapper(MenuRoute* menuRoute, DataFunction dataFunction) { MenuRouteWrapper::MenuRouteWrapper(MenuRoute *menuRoute, DataFunction dataFunction)
this->menuRoute = menuRoute; : menuRoute {menuRoute}, dataFunction {dataFunction}
this->dataFunction = dataFunction; {
} }
void MenuRouteWrapper::action(int16_t* values, uint8_t length) { void MenuRouteWrapper::action(int16_t *values, uint8_t length)
if (length < 1) { {
if (length < 1)
{
std::cout << "Error in MenuRouteWrapper::action" << std::endl; std::cout << "Error in MenuRouteWrapper::action" << std::endl;
return; return;
} }
if (values[0] < 0) if (values[0] < 0)
{
values[0] = 0; values[0] = 0;
}
if (values[0] > UINT8_MAX) if (values[0] > UINT8_MAX)
{
values[0] = UINT8_MAX; values[0] = UINT8_MAX;
}
(this->menuRoute->*this->dataFunction)(values[0]); (this->menuRoute->*this->dataFunction)(values[0]);
} }
src/SpecialMenus/Route/menuRoute.h
+6
View File
@@ -126,6 +126,12 @@ class MenuRoute : public MenuControl {
bool isInit = false; bool isInit = false;
bool blockInput = false; bool blockInput = false;
static constexpr uint8_t maxRouteNumber = 100;
static constexpr uint16_t httpValidExport = 201;
static constexpr uint16_t httpValidImport = 202;
static constexpr uint16_t httpValidDelete = 202;
}; };
/** /**
src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
+77 -62
View File
@@ -10,8 +10,9 @@
*/ */
#include "menuTestMode.h" #include "menuTestMode.h"
MenuTestMode::MenuTestMode(DriveManager* driveManager) { MenuTestMode::MenuTestMode(DriveManager* driveManager)
this->driveManager = driveManager; : driveManager {driveManager}
{
} }
MenuTestMode::~MenuTestMode() { MenuTestMode::~MenuTestMode() {
@@ -30,73 +31,77 @@ void MenuTestMode::printMenu() {
} }
void MenuTestMode::down() { void MenuTestMode::down() {
if (this->checkInput()) if (this->checkInput()) {
this->mainMenu->down(); this->mainMenu->down();
}
} }
void MenuTestMode::up() { void MenuTestMode::up() {
if (this->checkInput()) if (this->checkInput()) {
this->mainMenu->up(); this->mainMenu->up();
}
} }
void MenuTestMode::right() { void MenuTestMode::right() {
if (this->checkInput()) if (this->checkInput()) {
this->mainMenu->right(); this->mainMenu->right();
}
} }
void MenuTestMode::left() { void MenuTestMode::left() {
if (this->mainMenu->isInSubmenu()) if (this->mainMenu->isInSubmenu())
if (this->checkInput()) if (this->checkInput()) {
this->mainMenu->left(); this->mainMenu->left();
}
else { else {
this->testMode->abortManeuver(); this->testMode->abortManeuver();
this->mainMenu->left(); this->mainMenu->left();
} }
else else {
this->parentMenu->printMenu(); this->parentMenu->printMenu();
}
} }
void MenuTestMode::yes() { void MenuTestMode::yes() {
if (this->checkInput()) if (this->checkInput()) {
this->mainMenu->yes(); this->mainMenu->yes();
}
} }
void MenuTestMode::no() { void MenuTestMode::no() {
if (this->mainMenu->isInSubmenu()) if (this->mainMenu->isInSubmenu()) {
if (this->checkInput()) if (this->checkInput())
this->mainMenu->no(); this->mainMenu->no();
else { else {
this->testMode->abortManeuver(); this->testMode->abortManeuver();
this->mainMenu->no(); this->mainMenu->no();
} }}
else else{
this->left(); this->left();}
} }
void MenuTestMode::init() { void MenuTestMode::init() {
this->testMode = new TestMode(); this->testMode = new TestMode();
this->driveManager->changeModus(this->testMode); this->driveManager->changeModus(this->testMode);
this->testMode->setSpeeds(DrivingSpeeds{1, 8});
auto dummy = []() { auto dummy = []() {
std::cout << "Dummy in Action" <<std::endl; std::cout << "Dummy in Action" <<std::endl;
}; };
// Create menu // Create menu
this->mainMenu = new Menu; this->mainMenu = new Menu;
auto engineMenu = new Menu; auto *engineMenu = new Menu;
auto lightMenu = new Menu; auto *lightMenu = new Menu;
auto encoderMenu = new Menu; auto *encoderMenu = new Menu;
// Sound // Sound
// Ping google // Ping google
auto drivingMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::drive)); auto *drivingMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::drive));
auto engineLeftMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::leftEngine)); auto *engineLeftMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::leftEngine));
auto engineRightMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::rightEngine)); auto *engineRightMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::rightEngine));
auto engineBothMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::bothEngine)); auto *engineBothMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::bothEngine));
auto encoderLeftMenu = new SpeedometerTest(this->testMode->getSpeedometerLeft()); auto *encoderLeftMenu = new SpeedometerTest(this->testMode->getSpeedometerLeft());
auto encoderRightMenu = new SpeedometerTest(this->testMode->getSpeedometerRight()); auto *encoderRightMenu = new SpeedometerTest(this->testMode->getSpeedometerRight());
// Set menus on LCD // Set menus on LCD
@@ -112,47 +117,52 @@ void MenuTestMode::init() {
encoderRightMenu->setLcd(this->lcd); encoderRightMenu->setLcd(this->lcd);
// Other menu config // Other menu config
static constexpr uint8_t percentMax = 100;
static constexpr uint8_t degreeMax = 360;
static constexpr uint8_t secondsMax = 120;
static constexpr uint8_t steps = 5;
drivingMenu->setEntry(0, "Centimeter", 100); drivingMenu->setEntry(0, "Centimeter", 100);
drivingMenu->setMinMaxSteps(0, -1000, 1000, 25); drivingMenu->setMinMaxSteps(0, -1000, 1000, steps * 5);
drivingMenu->setEntry(1, "Degree"); drivingMenu->setEntry(1, "Degree");
drivingMenu->setMinMaxSteps(1, -360, 360, 15); drivingMenu->setMinMaxSteps(1, -degreeMax, degreeMax, steps * 3);
drivingMenu->setPrintParentMenu(false); drivingMenu->setPrintParentMenu(false);
engineLeftMenu->setEntry(0, "Percentage"); engineLeftMenu->setEntry(0, "Percentage");
engineLeftMenu->setMinMaxSteps(0, -100, 100, 5); engineLeftMenu->setMinMaxSteps(0, -percentMax, percentMax, steps);
engineLeftMenu->setEntry(1, "Seconds", 5); engineLeftMenu->setEntry(1, "Seconds", steps);
engineLeftMenu->setMinMaxSteps(1, 0, 120, 1); engineLeftMenu->setMinMaxSteps(1, 0, secondsMax, 1);
engineLeftMenu->setPrintParentMenu(false); engineLeftMenu->setPrintParentMenu(false);
engineRightMenu->setEntry(0, "Percentage"); engineRightMenu->setEntry(0, "Percentage");
engineRightMenu->setMinMaxSteps(0, -100, 100, 5); engineRightMenu->setMinMaxSteps(0, -percentMax, percentMax, steps);
engineRightMenu->setEntry(1, "Seconds", 5); engineRightMenu->setEntry(1, "Seconds", steps);
engineRightMenu->setMinMaxSteps(1, 0, 120, 1); engineRightMenu->setMinMaxSteps(1, 0, secondsMax, 1);
engineRightMenu->setPrintParentMenu(false); engineRightMenu->setPrintParentMenu(false);
engineBothMenu->setEntry(0, "Percentage"); engineBothMenu->setEntry(0, "Percentage");
engineBothMenu->setMinMaxSteps(0, -100, 100, 5); engineBothMenu->setMinMaxSteps(0, -percentMax, percentMax, steps);
engineBothMenu->setEntry(1, "Seconds", 5); engineBothMenu->setEntry(1, "Seconds", steps);
engineBothMenu->setMinMaxSteps(1, 0, 120, 1); engineBothMenu->setMinMaxSteps(1, 0, secondsMax, 1);
engineBothMenu->setPrintParentMenu(false); engineBothMenu->setPrintParentMenu(false);
// Entrys for the menus // Entrys for the menus
MenuAction* engineAction = new MenuAction("Engine", engineMenu); auto *engineAction = new MenuAction("Engine", engineMenu);
MenuAction* engineLeftAction = new MenuAction("Left", engineLeftMenu); auto *engineLeftAction = new MenuAction("Left", engineLeftMenu);
MenuAction* engineRightAction = new MenuAction("Right", engineRightMenu); auto *engineRightAction = new MenuAction("Right", engineRightMenu);
MenuAction* engineBothAction = new MenuAction("Both", engineBothMenu); auto *engineBothAction = new MenuAction("Both", engineBothMenu);
MenuAction* drivingAction = new MenuAction("Driving", drivingMenu); auto *drivingAction = new MenuAction("Driving", drivingMenu);
MenuAction* encoderAction = new MenuAction("Encoder", encoderMenu); auto *encoderAction = new MenuAction("Encoder", encoderMenu);
MenuAction* encoderLeftAction = new MenuAction("Left", encoderLeftMenu); auto *encoderLeftAction = new MenuAction("Left", encoderLeftMenu);
MenuAction* encoderRightAction = new MenuAction("Right", encoderRightMenu); auto *encoderRightAction = new MenuAction("Right", encoderRightMenu);
MenuAction* lightAction = new MenuAction("Light", lightMenu); auto *lightAction = new MenuAction("Light", lightMenu);
MenuAction* lightFlashAction = new MenuAction("Flash", dummy); auto *lightFlashAction = new MenuAction("Flash", dummy);
MenuAction* lightFadeAction = new MenuAction("Fade", dummy); auto *lightFadeAction = new MenuAction("Fade", dummy);
MenuAction* lightRedAction = new MenuAction("Red", dummy); auto *lightRedAction = new MenuAction("Red", dummy);
MenuAction* lightGreenAction = new MenuAction("Green", dummy); auto *lightGreenAction = new MenuAction("Green", dummy);
MenuAction* lightBlueAction = new MenuAction("Blue", dummy); auto *lightBlueAction = new MenuAction("Blue", dummy);
MenuAction* lightOffAction = new MenuAction("Off", dummy); auto *lightOffAction = new MenuAction("Off", dummy);
// Add entrys to the menus // Add entrys to the menus
this->mainMenu->addEntry(engineAction); this->mainMenu->addEntry(engineAction);
@@ -176,11 +186,11 @@ void MenuTestMode::init() {
} }
void MenuTestMode::update() { void MenuTestMode::update() {
if (this->maneuverInAction) if (this->maneuverInAction) {
if (millis() - this->lastUpdateTime > updateDelay) { if (millis() - this->lastUpdateTime > updateDelay) {
this->printManeuverTime(); this->printManeuverTime();
this->lastUpdateTime = millis(); this->lastUpdateTime = millis();
} }}
} }
bool MenuTestMode::checkInput() { bool MenuTestMode::checkInput() {
@@ -190,8 +200,9 @@ bool MenuTestMode::checkInput() {
return false; return false;
} }
if (this->maneuverInAction) if (this->maneuverInAction) {
this->maneuverInAction = false; this->maneuverInAction = false;
}
return true; return true;
} }
@@ -209,16 +220,18 @@ void MenuTestMode::printManeuverTime() {
} }
} }
MenuTestModeWrapper::MenuTestModeWrapper(MenuTestMode* menu, TestModeFunctionSingle testModeFunction) { MenuTestModeWrapper::MenuTestModeWrapper(MenuTestMode* menu, TestModeFunctionSingle testModeFunction)
this->menu = menu; : menu {menu},
this->testMode = this->menu->getTestMode(); testModeFunctionSingle {testModeFunction},
this->testModeFunctionSingle = testModeFunction; testMode {menu->getTestMode()}
{
} }
MenuTestModeWrapper::MenuTestModeWrapper(MenuTestMode* menu, TestModeFunctionDouble testModeFunction) { MenuTestModeWrapper::MenuTestModeWrapper(MenuTestMode* menu, TestModeFunctionDouble testModeFunction)
this->menu = menu; : menu {menu},
this->testMode = this->menu->getTestMode(); testModeFunctionDouble {testModeFunction},
this->testModeFunctionDouble = testModeFunction; testMode {menu->getTestMode()}
{
} }
void MenuTestModeWrapper::action(int16_t* values, uint8_t length) { void MenuTestModeWrapper::action(int16_t* values, uint8_t length) {
@@ -228,10 +241,12 @@ void MenuTestModeWrapper::action(int16_t* values, uint8_t length) {
bool res = false; bool res = false;
if (length == 2 && this->testModeFunctionDouble) if (length == 2 && static_cast<bool>(this->testModeFunctionDouble)) {
res = (this->testMode->*this->testModeFunctionDouble)(values[0], values[1]); res = (this->testMode->*this->testModeFunctionDouble)(values[0], values[1]);
else if (length == 1 && this->testModeFunctionSingle) }
else if (length == 1 && static_cast<bool>(this->testModeFunctionSingle)) {
res = (this->testMode->*this->testModeFunctionSingle)(values[0]); res = (this->testMode->*this->testModeFunctionSingle)(values[0]);
}
if (res) { if (res) {
this->menu->printManeuverTime(); this->menu->printManeuverTime();
src/SpecialMenus/driveModi/TestMode/menuTestMode.h
+2 -2
View File
@@ -70,8 +70,8 @@ class MenuTestMode : public MenuControl {
bool checkInput(); bool checkInput();
DriveManager* driveManager; DriveManager* driveManager;
TestMode* testMode; TestMode* testMode = nullptr;
Menu* mainMenu; Menu* mainMenu = nullptr;
bool isInit = false; bool isInit = false;
bool maneuverInAction = false; bool maneuverInAction = false;
src/SpecialMenus/driveModi/TestMode/speedometerTest.cpp
+5 -3
View File
@@ -11,8 +11,9 @@
#include "speedometerTest.h" #include "speedometerTest.h"
SpeedometerTest::SpeedometerTest(Speedometer* speedometer) { SpeedometerTest::SpeedometerTest(Speedometer* speedometer)
this->speedometer = speedometer; : speedometer {speedometer}
{
this->speedometer->setDirection(Speedometer::Forward); this->speedometer->setDirection(Speedometer::Forward);
} }
@@ -46,8 +47,9 @@ void SpeedometerTest::left() {
} }
void SpeedometerTest::no() { void SpeedometerTest::no() {
if (this->state == State::Running) if (this->state == State::Running){
speedometer->calibrationMeasurementStop(); speedometer->calibrationMeasurementStop();
}
this->state = State::Off; this->state = State::Off;
this->parentMenu->printMenu(); this->parentMenu->printMenu();
src/SpecialMenus/driveModi/menuDriveMode.cpp
+17 -14
View File
@@ -11,27 +11,28 @@
#include "menuDriveMode.h" #include "menuDriveMode.h"
MenuDriveMode::MenuDriveMode(DriveManager* driveManager) { MenuDriveMode::MenuDriveMode(DriveManager* driveManager)
this->driveManager = driveManager; : driveManager {driveManager}
{
} }
void MenuDriveMode::left() { void MenuDriveMode::left() {
if (this->activeMenu) { if (static_cast<bool>(this->activeMenu)) {
if (this->activeMenu) if (static_cast<bool>(this->activeMenu)) {
this->activeMenu->left(); this->activeMenu->left();
}
return; return;
} }
this->firstPrint = true; this->firstPrint = true;
this->configureOnLeave(); this->configureOnLeave();
if (this->menuSpeed)
delete this->menuSpeed; delete this->menuSpeed;
this->driveManager->changeModus(); this->driveManager->changeModus();
MenuInformationSites::left(); MenuInformationSites::left();
} }
void MenuDriveMode::right() { void MenuDriveMode::right() {
if (this->activeMenu) { if (static_cast<bool>(this->activeMenu)) {
this->activeMenu->right(); this->activeMenu->right();
return; return;
} }
@@ -39,7 +40,7 @@ void MenuDriveMode::right() {
} }
void MenuDriveMode::up() { void MenuDriveMode::up() {
if (this->activeMenu) { if (static_cast<bool>(this->activeMenu)) {
this->activeMenu->up(); this->activeMenu->up();
return; return;
} }
@@ -47,7 +48,7 @@ void MenuDriveMode::up() {
} }
void MenuDriveMode::down() { void MenuDriveMode::down() {
if (this->activeMenu) { if (static_cast<bool>(this->activeMenu)) {
this->activeMenu->down(); this->activeMenu->down();
return; return;
} }
@@ -55,7 +56,7 @@ void MenuDriveMode::down() {
} }
void MenuDriveMode::yes() { void MenuDriveMode::yes() {
if (this->activeMenu) { if (static_cast<bool>(this->activeMenu)) {
this->activeMenu->yes(); this->activeMenu->yes();
return; return;
} }
@@ -63,7 +64,7 @@ void MenuDriveMode::yes() {
} }
void MenuDriveMode::no() { void MenuDriveMode::no() {
if (this->activeMenu) { if (static_cast<bool>(this->activeMenu)) {
this->activeMenu->no(); this->activeMenu->no();
return; return;
} }
@@ -75,7 +76,7 @@ void MenuDriveMode::prepareReenterMenu() {
} }
void MenuDriveMode::printMenu() { void MenuDriveMode::printMenu() {
if (this->activeMenu) { if (static_cast<bool>(this->activeMenu)) {
this->activeMenu->printMenu(); this->activeMenu->printMenu();
return; return;
} }
@@ -88,11 +89,12 @@ void MenuDriveMode::init() {
} }
void MenuDriveMode::activateSpeedMenu() { void MenuDriveMode::activateSpeedMenu() {
if (!this->driveManager->isActive()) if (!this->driveManager->isActive()) {
return; return;
}
DrivingSpeeds& speeds = this->driveManager->getDriveModiPtr()->getSpeedsRef(); DrivingSpeeds& speeds = this->driveManager->getDriveModiPtr()->getSpeedsRef();
MenuIntInput* menu = new MenuIntInput(2, new MenuSpeed(speeds)); auto *menu = new MenuIntInput(2, new MenuSpeed(speeds));
menu->setMinMax(5, UINT8_MAX); menu->setMinMax(5, UINT8_MAX);
menu->setEntry(0, "x m/s e-1", driveManager->getDrivingSpeedsRef().x * 10); menu->setEntry(0, "x m/s e-1", driveManager->getDrivingSpeedsRef().x * 10);
@@ -112,8 +114,9 @@ void MenuDriveMode::enterSensorMenu() {
} }
void MenuDriveMode::enterMenu() { void MenuDriveMode::enterMenu() {
if (!this->activeMenu) if (!static_cast<bool>(this->activeMenu)) {
return; return;
}
this->activeMenu->printMenu(); this->activeMenu->printMenu();
this->activeMenu->setParentMenu(this); this->activeMenu->setParentMenu(this);
src/driveModi/Modi/Autopilot/autopilot.cpp
+167 -118
View File
@@ -4,138 +4,161 @@
* @brief Contains the implementation of the class Autopilot * @brief Contains the implementation of the class Autopilot
* @version 0.1 * @version 0.1
* @date 2022-02-02 * @date 2022-02-02
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#include "driveModi/Modi/Autopilot/autopilot.h" #include "driveModi/Modi/Autopilot/autopilot.h"
#include "autopilot.h" #include "autopilot.h"
DirectionChangeSignal::DirectionChangeSignal(Autopilot* pilot) { DirectionChangeSignal::DirectionChangeSignal(Autopilot *pilot)
this->pilot = pilot; : pilot {pilot}
{
this->action(); this->action();
} }
DirectionChangeSignal::~DirectionChangeSignal() { DirectionChangeSignal::~DirectionChangeSignal()
CalcAzimuth* calcAzimuth = pilot->getSensorData()->getCalcCompass(); {
if (calcAzimuth) CalcAzimuth *calcAzimuth = pilot->getSensorData()->getCalcCompass();
if (static_cast<bool>(calcAzimuth))
{
calcAzimuth->disableCalcAzimuth(); calcAzimuth->disableCalcAzimuth();
}
} }
void DirectionChangeSignal::action() { void DirectionChangeSignal::action()
CalcAzimuth* calcAzimuth = pilot->getSensorData()->getCalcCompass(); {
if (calcAzimuth) CalcAzimuth *calcAzimuth = pilot->getSensorData()->getCalcCompass();
if (static_cast<bool>(calcAzimuth))
{
calcAzimuth->drivingDirectionChange(pilot->getSensorData()->getCurrentPos()); calcAzimuth->drivingDirectionChange(pilot->getSensorData()->getCurrentPos());
}
} }
Autopilot::~Autopilot()
Autopilot::Autopilot() { {
}
Autopilot::~Autopilot() {
delete this->directionChangeSignal; delete this->directionChangeSignal;
// this->navigation->getNTRIPClient()->setActivated(false); // this->navigation->getNTRIPClient()->setActivated(false);
} }
void Autopilot::run() { void Autopilot::run()
{
this->routeInfo = this->navigation->getRouteInfo(); this->routeInfo = this->navigation->getRouteInfo();
switch (this->state) { switch (this->state)
case State::InsufficientAccuracy: {
this->askNavigationForOrder(); case State::InsufficientAccuracy:
return; this->askNavigationForOrder();
return;
case State::NoRoute: case State::NoRoute:
return; return;
case State::None: case State::None:
return; return;
case State::NavigationStarted: case State::NavigationStarted:
this->askNavigationForOrder(); this->askNavigationForOrder();
this->checkButtonInput(); this->checkButtonInput();
break; break;
case State::GetToStartPoint: case State::GetToStartPoint:
ManualControl::run(); ManualControl::run();
this->askNavigationForOrder(); this->askNavigationForOrder();
if (this->routeInfo.currentPoint >= 2) if (this->routeInfo.currentPoint >= 2){
this->state = State::SelfDrivingAvailable; this->state = State::SelfDrivingAvailable;
break; }
break;
case State::SelfDrivingAvailable: case State::SelfDrivingAvailable:
ManualControl::run(); ManualControl::run();
this->askNavigationForOrder(); this->askNavigationForOrder();
this->checkButtonInput(); this->checkButtonInput();
break; break;
case State::SelfDriving: case State::SelfDriving:
this->askNavigationForOrder(); this->askNavigationForOrder();
this->checkButtonInput(); this->checkButtonInput();
this->selfDriving(); this->selfDriving();
break; break;
case SelfDrivingRotate: case SelfDrivingRotate:
this->checkButtonInput(); this->checkButtonInput();
this->rotate(); this->rotate();
break; break;
case State::TargetReached: case State::TargetReached:
if (this->loopMode) if (this->loopMode){
this->restartLoop(); this->restartLoop();
break; }
break;
default:
break; default:
break;
} }
} }
void Autopilot::restart() { void Autopilot::restart()
{
this->init(); this->init();
} }
bool Autopilot::shouldUpdate() { bool Autopilot::shouldUpdate()
if (this->updateDisplay) { {
if (this->updateDisplay)
{
this->updateDisplay = false; this->updateDisplay = false;
return true; return true;
} }
return false; return false;
} }
void Autopilot::testRotate(int16_t degree) { void Autopilot::testRotate(int16_t degree)
if (!degree) {
if (!static_cast<bool>(degree))
{
return; return;
}
this->courseCorrection.correction = degree; this->courseCorrection.correction = degree;
this->beginRotate(); this->beginRotate();
} }
void Autopilot::init() { void Autopilot::init()
{
if (this->navigation->startNavigation()) if (this->navigation->startNavigation())
this->state = State::NavigationStarted; {
else this->state = State::NavigationStarted;
this->state = State::NoRoute; }
this->routeInfo = this->navigation->getRouteInfo(); else
this->sensorData->getNtripClient()->setAutoReconnect(true); {
this->state = State::NoRoute;
}
this->routeInfo = this->navigation->getRouteInfo();
this->sensorData->getNtripClient()->setAutoReconnect(true);
this->lastOrderStatus = this->navigation->getCourseCorrection(this->courseCorrection, true); this->lastOrderStatus = this->navigation->getCourseCorrection(this->courseCorrection, true);
this->courseCorrection.correction = 0; this->courseCorrection.correction = 0;
this->courseCorrection.distance = 0; this->courseCorrection.distance = 0;
this->updateDisplay = true; this->updateDisplay = true;
} }
void Autopilot::drive() { void Autopilot::drive()
{
DrivingSpeeds speeds = {0, 0}; DrivingSpeeds speeds = {0, 0};
if (this->courseCorrection.distance >= this->minRemainingDistance) if (this->courseCorrection.distance >= this->minRemainingDistance)
{
speeds.x = this->maxSpeeds.x; speeds.x = this->maxSpeeds.x;
}
this->moveControl->setSpeeds(speeds); this->moveControl->setSpeeds(speeds);
} }
void Autopilot::beginRotate() { void Autopilot::beginRotate()
if (this->state != State::SelfDrivingRotate) { {
if (this->state != State::SelfDrivingRotate)
{
this->lastState = this->state; this->lastState = this->state;
this->state = State::SelfDrivingRotate; this->state = State::SelfDrivingRotate;
this->rotationAimAzimuth = this->getSensorData()->getRealAzimuth() + this->courseCorrection.correction; this->rotationAimAzimuth = this->getSensorData()->getRealAzimuth() + this->courseCorrection.correction;
@@ -143,35 +166,40 @@ void Autopilot::beginRotate() {
DrivingSpeeds speeds = {0, 0}; DrivingSpeeds speeds = {0, 0};
if (this->courseCorrection.correction > 0) if (this->courseCorrection.correction > 0)
{
speeds.rot = -this->maxSpeeds.rot; speeds.rot = -this->maxSpeeds.rot;
}
else else
{
speeds.rot = this->maxSpeeds.rot; speeds.rot = this->maxSpeeds.rot;
}
this->moveControl->setSpeeds(speeds); this->moveControl->setSpeeds(speeds);
} }
} }
void Autopilot::rotate() { void Autopilot::rotate()
if (abs(this->getSensorData()->getRealAzimuth() - this->rotationAimAzimuth) < this->maxCourseDeviationBeforeAct) { {
if (abs(this->getSensorData()->getRealAzimuth() - this->rotationAimAzimuth) < this->maxCourseDeviationBeforeAct)
{
this->endRotate(); this->endRotate();
return; return;
} }
if ((abs(this->getSensorData()->getRealAzimuth() - this->rotationAimAzimuth) < this->maxCourseDeviationBeforeAct * 3) if ((abs(this->getSensorData()->getRealAzimuth() - this->rotationAimAzimuth) < this->maxCourseDeviationBeforeAct * 3) &&
&& ((this->courseCorrection.correction > 0 && this->rotationAimAzimuth < this->getSensorData()->getRealAzimuth()) || (this->courseCorrection.correction < 0 && this->rotationAimAzimuth > this->getSensorData()->getRealAzimuth())))
((this->courseCorrection.correction > 0
&& this->rotationAimAzimuth < this->getSensorData()->getRealAzimuth())
|| (this->courseCorrection.correction < 0
&& this->rotationAimAzimuth > this->getSensorData()->getRealAzimuth())))
{ {
this->endRotate(); this->endRotate();
std::cout << "Autopilot::rotate: Rover rotated too far" << std::endl; std::cout << "Autopilot::rotate: Rover rotated too far" << std::endl;
} }
} }
void Autopilot::endRotate() { void Autopilot::endRotate()
{
if (this->state != State::SelfDrivingRotate) if (this->state != State::SelfDrivingRotate)
{
return; return;
}
this->state = this->lastState; this->state = this->lastState;
this->sensorData->getCalcCompass()->drivingDirectionChange(this->sensorData->getCurrentPos()); this->sensorData->getCalcCompass()->drivingDirectionChange(this->sensorData->getCurrentPos());
@@ -180,65 +208,85 @@ void Autopilot::endRotate() {
this->moveControl->setDrivingStatus(MoveControl::Status::Drive); this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
} }
void Autopilot::checkButtonInput() { void Autopilot::checkButtonInput()
if (ControlPadButton::isControlPadButtonPressed(this->input, ControlPadButton::PadButton::Action) {
&& millis() - this->lastAutopilotChangeMillis > this->autopilotChangeDelayMillis) { if (ControlPadButton::isControlPadButtonPressed(this->input, ControlPadButton::PadButton::Action) && millis() - this->lastAutopilotChangeMillis > this->autopilotChangeDelayMillis)
{
if (this->state == State::SelfDrivingAvailable)
if (this->state == State::SelfDrivingAvailable)
{
this->state = State::SelfDriving; this->state = State::SelfDriving;
}
else if (this->state == State::SelfDriving || this->state == State::SelfDrivingRotate) else if (this->state == State::SelfDriving || this->state == State::SelfDrivingRotate)
{
this->state = State::SelfDrivingAvailable; this->state = State::SelfDrivingAvailable;
}
else if (this->state == State::NavigationStarted) else if (this->state == State::NavigationStarted)
{
this->state = State::GetToStartPoint; this->state = State::GetToStartPoint;
}
this->updateDisplay = true; this->updateDisplay = true;
this->lastAutopilotChangeMillis = millis(); this->lastAutopilotChangeMillis = millis();
} }
} }
void Autopilot::askNavigationForOrder() { void Autopilot::askNavigationForOrder()
{
this->lastOrderStatus = this->navigation->getCourseCorrection(this->courseCorrection); this->lastOrderStatus = this->navigation->getCourseCorrection(this->courseCorrection);
switch (this->lastOrderStatus) { switch (this->lastOrderStatus)
case Navigation::Status::Complete: {
this->state = State::TargetReached; case Navigation::Status::Complete:
this->moveControl->setSpeed(0); this->state = State::TargetReached;
this->moveControl->setRotationSpeed(0); this->moveControl->setSpeed(0);
break; this->moveControl->setRotationSpeed(0);
break;
case Navigation::Status::InsufficientAccuracy:
if (this->state == State::InsufficientAccuracy)
break;
this->lastState = this->state;
this->state = State::InsufficientAccuracy;
this->moveControl->setSpeed(0);
this->moveControl->setRotationSpeed(0);
break;
case Navigation::Status::Unchanged: case Navigation::Status::InsufficientAccuracy:
if (this->state == State::InsufficientAccuracy) if (this->state == State::InsufficientAccuracy){
this->state = this->lastState;
break; break;
}
this->lastState = this->state;
this->state = State::InsufficientAccuracy;
this->moveControl->setSpeed(0);
this->moveControl->setRotationSpeed(0);
break;
case Navigation::Status::Updated: case Navigation::Status::Unchanged:
if (this->state == State::InsufficientAccuracy) if (this->state == State::InsufficientAccuracy){
this->state = this->lastState; this->state = this->lastState;
break; }
break;
default:
break; case Navigation::Status::Updated:
if (this->state == State::InsufficientAccuracy){
this->state = this->lastState;
}
break;
default:
break;
} }
} }
void Autopilot::selfDriving() { void Autopilot::selfDriving()
{
if (this->state != State::SelfDriving) if (this->state != State::SelfDriving)
{
return; return;
}
if (abs(this->courseCorrection.correction) >= this->maxCourseDeviationBeforeAct) if (abs(this->courseCorrection.correction) >= this->maxCourseDeviationBeforeAct)
{
this->beginRotate(); this->beginRotate();
}
else else
{
this->drive(); this->drive();
}
} }
void Autopilot::restartLoop() { void Autopilot::restartLoop()
{
this->navigation->startNavigation(); this->navigation->startNavigation();
this->state = State::SelfDriving; this->state = State::SelfDriving;
this->routeInfo = this->navigation->getRouteInfo(); this->routeInfo = this->navigation->getRouteInfo();
@@ -246,7 +294,8 @@ void Autopilot::restartLoop() {
this->updateDisplay = true; this->updateDisplay = true;
} }
void Autopilot::afterActivate() { void Autopilot::afterActivate()
{
this->setInputMode(ManualControl::InputMode::Digital); this->setInputMode(ManualControl::InputMode::Digital);
this->directionChangeSignal = new DirectionChangeSignal(this); this->directionChangeSignal = new DirectionChangeSignal(this);
this->setDirectionChangeCallback(this->directionChangeSignal); this->setDirectionChangeCallback(this->directionChangeSignal);
src/driveModi/Modi/Autopilot/autopilot.h
+5 -13
View File
@@ -41,14 +41,6 @@ class Autopilot : public ManualControl {
TargetReached TargetReached
}; };
/**
* @brief Construct a new Autopilot object
*
* @param moveControl for ManualControl
* @param navigation for route instructions
*/
Autopilot();
/** /**
* @brief Destroy the Autopilot object * @brief Destroy the Autopilot object
* *
@@ -104,13 +96,13 @@ class Autopilot : public ManualControl {
void restartLoop(); void restartLoop();
void afterActivate() override; void afterActivate() override;
Navigation* navigation; Navigation* navigation = nullptr;
CourseCorrection courseCorrection; CourseCorrection courseCorrection{0, 0};
RouteInfo routeInfo; RouteInfo routeInfo{0, 0};
State state = State::None; State state = State::None;
State lastState = State::None; State lastState = State::None;
Navigation::Status lastOrderStatus; Navigation::Status lastOrderStatus;
DirectionChangeSignal* directionChangeSignal; DirectionChangeSignal* directionChangeSignal = nullptr;
bool updateDisplay = false; bool updateDisplay = false;
bool loopMode = false; bool loopMode = false;
@@ -119,7 +111,7 @@ class Autopilot : public ManualControl {
uint16_t autopilotChangeDelayMillis = 500; uint16_t autopilotChangeDelayMillis = 500;
uint32_t lastAutopilotChangeMillis = 0; uint32_t lastAutopilotChangeMillis = 0;
int16_t rotationAimAzimuth; int16_t rotationAimAzimuth = 0;
double minRemainingDistance = 0.25; double minRemainingDistance = 0.25;
}; };
src/driveModi/Modi/CalibrateCompass/calibrateCompassM.cpp
+2 -2
View File
@@ -13,10 +13,10 @@
void CalibrateCompassM::setCalibrateCompass(CalibrateCompass *caliCompass) { void CalibrateCompassM::setCalibrateCompass(CalibrateCompass *caliCompass) {
if (caliCompass) { if (static_cast<bool>(caliCompass)) {
this->caliCompass = caliCompass; this->caliCompass = caliCompass;
this->addChildComponent(this->caliCompass); this->addChildComponent(this->caliCompass);
} else if (this->caliCompass) { } else if (static_cast<bool>(this->caliCompass)) {
this->removeChildComponent(this->caliCompass); this->removeChildComponent(this->caliCompass);
this->caliCompass = caliCompass; this->caliCompass = caliCompass;
} }
src/driveModi/Modi/CaptureRoute/captureRoute.cpp
+27 -16
View File
@@ -4,27 +4,32 @@
* @brief Contains the implementation of the class CaptureRoute * @brief Contains the implementation of the class CaptureRoute
* @version 0.1 * @version 0.1
* @date 2022-02-15 * @date 2022-02-15
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#include "driveModi/Modi/CaptureRoute/captureRoute.h" #include "driveModi/Modi/CaptureRoute/captureRoute.h"
#include "captureRoute.h" #include "captureRoute.h"
CaptureRoute::~CaptureRoute() { CaptureRoute::~CaptureRoute()
if (this->navigation) {
delete this->navigation; delete this->navigation;
if (this->sensorData->getNtripClient()) if (static_cast<bool>(this->sensorData->getNtripClient()))
{
this->sensorData->getNtripClient()->setActivated(false); this->sensorData->getNtripClient()->setActivated(false);
}
} }
void CaptureRoute::run() { void CaptureRoute::run()
{
ManualControl::run(); ManualControl::run();
if (ControlPadButton::isControlPadButtonPressed(this->input, ControlPadButton::PadButton::Action)) { if (ControlPadButton::isControlPadButtonPressed(this->input, ControlPadButton::PadButton::Action))
{
this->status = this->navigation->addCurrentPosToRoute(); this->status = this->navigation->addCurrentPosToRoute();
if (this->status == Navigation::Status::Updated) { if (this->status == Navigation::Status::Updated)
{
this->lastSavedPoint = this->navigation->getCurrentPosition(); this->lastSavedPoint = this->navigation->getCurrentPosition();
this->routeInfo = navigation->getRouteInfo(); this->routeInfo = navigation->getRouteInfo();
this->updateDisplay = true; this->updateDisplay = true;
@@ -32,21 +37,27 @@ void CaptureRoute::run() {
} }
} }
void CaptureRoute::afterActivate() { void CaptureRoute::afterActivate()
{
this->navigation = new Navigation(this->sensorData); this->navigation = new Navigation(this->sensorData);
this->navigation->getRoute()->clear(); this->navigation->getRoute()->clear();
this->sensorData->getNtripClient()->setAutoReconnect(true); this->sensorData->getNtripClient()->setAutoReconnect(true);
this->routeInfo = navigation->getRouteInfo(); this->routeInfo = navigation->getRouteInfo();
} }
double CaptureRoute::getDistanceToLastPoint() const { double CaptureRoute::getDistanceToLastPoint() const
{
if (!this->lastSavedPoint.isInit()) if (!this->lastSavedPoint.isInit())
{
return 0; return 0;
}
return this->lastSavedPoint.distanceTo(this->navigation->getCurrentPosition()); return this->lastSavedPoint.distanceTo(this->navigation->getCurrentPosition());
} }
bool CaptureRoute::shouldUpdate() { bool CaptureRoute::shouldUpdate()
if (this->updateDisplay) { {
if (this->updateDisplay)
{
this->updateDisplay = false; this->updateDisplay = false;
return true; return true;
} }
src/driveModi/Modi/ManualControl/manualControl.cpp
+53 -31
View File
@@ -4,67 +4,89 @@
* @brief Implementation of the class manualControl.h * @brief Implementation of the class manualControl.h
* @version 0.1 * @version 0.1
* @date 2021-12-13 * @date 2021-12-13
* *
* @copyright Copyright (c) 2021 * @copyright Copyright (c) 2021
* *
*/ */
#include "manualControl.h" #include "manualControl.h"
void ManualControl::run() { void ManualControl::run()
switch (this->inputMode) { {
case InputMode::Analog : switch (this->inputMode)
this->analogControl(); {
break; case InputMode::Analog:
this->analogControl();
break;
case InputMode::Digital : case InputMode::Digital:
this->digitalControl(); this->digitalControl();
break; break;
default: default:
break; break;
} }
} }
void ManualControl::switchInputMode() { void ManualControl::switchInputMode()
{
this->inputMode = (this->inputMode == InputMode::Analog) ? InputMode::Digital : InputMode::Analog; this->inputMode = (this->inputMode == InputMode::Analog) ? InputMode::Digital : InputMode::Analog;
} }
void ManualControl::analogControl() { void ManualControl::analogControl()
{
// Have to be int16_t to avoid overflow (int8_t = 255 - 127 = -128) // Have to be int16_t to avoid overflow (int8_t = 255 - 127 = -128)
int16_t x = this->input->x - 127; const int16_t xAxis = this->input->x - 127;
int16_t y = this->input->y - 127; const int16_t yAxis = this->input->y - 127;
double value_per_step = this->maxSpeeds.x * 2 / UINT8_MAX; double value_per_step = this->maxSpeeds.x * 2 / UINT8_MAX;
this->moveControl->setSpeed(-x * value_per_step); this->moveControl->setSpeed(-xAxis * value_per_step);
value_per_step = this->maxSpeeds.rot * 2 / UINT8_MAX; value_per_step = this->maxSpeeds.rot * 2 / UINT8_MAX;
this->moveControl->setRotationSpeed(y * value_per_step); this->moveControl->setRotationSpeed(yAxis * value_per_step);
} }
void ManualControl::digitalControl() { void ManualControl::digitalControl()
int16_t y = this->input->x - 127; {
int16_t x = this->input->y - 127; static constexpr uint8_t deadzone = 120;
const int16_t yAxis = this->input->x - 127;
const int16_t xAxis = this->input->y - 127;
if (y > 120) if (yAxis > deadzone)
{
this->moveControl->setSpeed(-this->maxSpeeds.x); this->moveControl->setSpeed(-this->maxSpeeds.x);
else if (y < -120) }
else if (yAxis < -deadzone)
{
this->moveControl->setSpeed(this->maxSpeeds.rot); this->moveControl->setSpeed(this->maxSpeeds.rot);
}
else else
{
this->moveControl->setSpeed(0); this->moveControl->setSpeed(0);
}
if (x > 120) if (xAxis > deadzone)
{
this->moveControl->setRotationSpeed(this->maxSpeeds.rot); this->moveControl->setRotationSpeed(this->maxSpeeds.rot);
else if (x < -120) }
else if (xAxis < -deadzone)
{
this->moveControl->setRotationSpeed(-this->maxSpeeds.rot); this->moveControl->setRotationSpeed(-this->maxSpeeds.rot);
}
else else
{
this->moveControl->setRotationSpeed(0); this->moveControl->setRotationSpeed(0);
}
if (this->directionChangeWrapper && (x > 120 || x < -120)) if (static_cast<bool>(this->directionChangeWrapper) && (xAxis > deadzone || xAxis < -deadzone))
{
this->lastLoopTurned = true; this->lastLoopTurned = true;
else if (this->lastLoopTurned) { }
if (this->directionChangeWrapper) else if (this->lastLoopTurned)
{
if (static_cast<bool>(this->directionChangeWrapper))
{
this->directionChangeWrapper->action(); this->directionChangeWrapper->action();
}
this->lastLoopTurned = false; this->lastLoopTurned = false;
} }
} }
src/driveModi/Modi/TestMode/testMode.cpp
+71 -42
View File
@@ -4,20 +4,24 @@
* @brief Contains the implementation of the class TestMode. * @brief Contains the implementation of the class TestMode.
* @version 0.1 * @version 0.1
* @date 2022-09-08 * @date 2022-09-08
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#include "testMode.h" #include "testMode.h"
void TestMode::run() { void TestMode::run()
if (this->maneuver == Maneuver::Turn) { {
if (this->maneuver == Maneuver::Turn)
{
uint16_t delta = abs(this->azimuth - this->getSensorData()->getRealAzimuth()); uint16_t delta = abs(this->azimuth - this->getSensorData()->getRealAzimuth());
if (delta > this->degree) if (delta > this->degree) {
this->abort = true; 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->busy = false;
this->abort = false; this->abort = false;
this->moveControl->setDrivingStatus(MoveControl::Status::Stop); this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
@@ -25,62 +29,76 @@ void TestMode::run() {
} }
} }
bool TestMode::drive(int16_t cm, int16_t degree) { bool TestMode::drive(int16_t cmDistance, int16_t degree)
if (this->busy) {
if (this->busy){
return false; return false;
}
this->actionStart = millis(); this->actionStart = millis();
this->moveControl->setDrivingStatus(MoveControl::Status::Drive); this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
if (cm == 0) { if (cmDistance == 0)
//Only left or right {
// Only left or right
this->moveControl->setSpeed(0); this->moveControl->setSpeed(0);
if (degree < 0) if (degree < 0){
this->moveControl->setRotationSpeed(-this->maxSpeeds.rot); this->moveControl->setRotationSpeed(-this->maxSpeeds.rot);
else if (degree > 0) }
else if (degree > 0){
this->moveControl->setRotationSpeed(this->maxSpeeds.rot); this->moveControl->setRotationSpeed(this->maxSpeeds.rot);
}
this->azimuth = this->getSensorData()->getRealAzimuth(); this->azimuth = this->getSensorData()->getRealAzimuth();
this->degree = degree; this->degree = degree;
this->maneuverTime = 5 * 1000; this->maneuverTime = 5 * 1000;
this->busy = true; this->busy = true;
return true; return true;
}
} else if (degree == 0) { if (degree == 0)
//Only forward or backward {
// Only forward or backward
this->moveControl->setRotationSpeed(0); this->moveControl->setRotationSpeed(0);
if (cm < 0) if (cmDistance < 0){
this->moveControl->setSpeed(-this->maxSpeeds.x); this->moveControl->setSpeed(-this->maxSpeeds.x);
else if (cm > 0) }
else if (cmDistance > 0){
this->moveControl->setSpeed(this->maxSpeeds.x); 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->busy = true;
this->maneuver = Maneuver::Drive; this->maneuver = Maneuver::Drive;
return true; return true;
} else { }
//forward or backward and left or right else
// TODO: Calculate roationspeed {
if (cm < 0) // forward or backward and left or right
// TODO: Calculate roationspeed
if (cmDistance < 0){
this->moveControl->setSpeed(-this->maxSpeeds.x); this->moveControl->setSpeed(-this->maxSpeeds.x);
else if (cm > 0) }
else if (cmDistance > 0){
this->moveControl->setSpeed(this->maxSpeeds.x); 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->busy = true;
this->maneuver = Maneuver::Drive; this->maneuver = Maneuver::Drive;
return true; return true;
} }
this->moveControl->setDrivingStatus(MoveControl::Status::Stop); this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
return false; return false;
} }
bool TestMode::leftEngine(int16_t powerPercentage, int16_t seconds) { bool TestMode::leftEngine(int16_t powerPercentage, int16_t seconds)
if (this->engineInit(powerPercentage, seconds)) { {
if (this->engineInit(powerPercentage, seconds))
{
this->moveControl->setRawPowerLeft(powerPercentage); this->moveControl->setRawPowerLeft(powerPercentage);
this->maneuver = Maneuver::LeftEngine; this->maneuver = Maneuver::LeftEngine;
std::cout << "TestMode::leftEngine" << std::endl; std::cout << "TestMode::leftEngine" << std::endl;
@@ -89,8 +107,10 @@ bool TestMode::leftEngine(int16_t powerPercentage, int16_t seconds) {
return false; return false;
} }
bool TestMode::rightEngine(int16_t powerPercentage, int16_t seconds) { bool TestMode::rightEngine(int16_t powerPercentage, int16_t seconds)
if (this->engineInit(powerPercentage, seconds)) { {
if (this->engineInit(powerPercentage, seconds))
{
this->moveControl->setRawPowerRight(powerPercentage); this->moveControl->setRawPowerRight(powerPercentage);
this->maneuver = Maneuver::RightEngine; this->maneuver = Maneuver::RightEngine;
return true; return true;
@@ -98,8 +118,10 @@ bool TestMode::rightEngine(int16_t powerPercentage, int16_t seconds) {
return false; return false;
} }
bool TestMode::bothEngine(int16_t powerPercentage, int16_t seconds) { bool TestMode::bothEngine(int16_t powerPercentage, int16_t seconds)
if (this->engineInit(powerPercentage, seconds)) { {
if (this->engineInit(powerPercentage, seconds))
{
this->moveControl->setRawPowerLeft(powerPercentage); this->moveControl->setRawPowerLeft(powerPercentage);
this->moveControl->setRawPowerRight(powerPercentage); this->moveControl->setRawPowerRight(powerPercentage);
this->maneuver = Maneuver::BothEngine; this->maneuver = Maneuver::BothEngine;
@@ -108,23 +130,30 @@ bool TestMode::bothEngine(int16_t powerPercentage, int16_t seconds) {
return false; return false;
} }
void TestMode::abortManeuver() { void TestMode::abortManeuver()
{
this->abort = true; this->abort = true;
} }
uint8_t TestMode::getRemainingManeuverTime() const { uint8_t TestMode::getRemainingManeuverTime() const
if (this->busy) {
return (uint8_t) ((this->maneuverTime - (millis() - this->actionStart)) / 1000); if (this->busy){
return static_cast<uint8_t>((this->maneuverTime - (millis() - this->actionStart)) / 1000);
}
return 0; return 0;
} }
bool TestMode::engineInit(int16_t powerPercentage, int16_t seconds) { bool TestMode::engineInit(int16_t powerPercentage, int16_t seconds)
if (this->busy) {
if (this->busy){
return false; return false;
if (powerPercentage > 100 || powerPercentage < -100) }
if (powerPercentage > TestMode::maxPercentage || powerPercentage < -TestMode::maxPercentage){
return false; return false;
if (seconds < 0) }
if (seconds < 0){
return false; return false;
}
this->actionStart = millis(); this->actionStart = millis();
this->moveControl->setDrivingStatus(MoveControl::Status::Raw); 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. * @brief Contains a class to test different functions from the rover.
* @version 0.1 * @version 0.1
* @date 2022-09-08 * @date 2022-09-08
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#ifndef TEST_MODE_H #ifndef TEST_MODE_H
#define TEST_MODE_H #define TEST_MODE_H
#include <iostream> #include <iostream>
@@ -16,97 +16,100 @@
#include "moveControl.h" #include "moveControl.h"
#include "driveModi/driveModi.h" #include "driveModi/driveModi.h"
/** /**
* @brief Test different functions from the rover. * @brief Test different functions from the rover.
* *
* You can test engine, engine controller, light and speed meter. * You can test engine, engine controller, light and speed meter.
*/ */
class TestMode : public DriveModi { class TestMode : public DriveModi
public: {
/** public:
* @brief Different states to test the engine /**
* * @brief Different states to test the engine
*/ *
enum Maneuver { */
None, enum Maneuver
LeftEngine, {
RightEngine, None,
BothEngine, LeftEngine,
Turn, RightEngine,
Drive 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. * @brief Sets the left Engine to a specific power value.
* *
* This start a maneuver with the given time. * This start a maneuver with the given time.
* *
* @param powerPercentage from 0% to 100% * @param powerPercentage from 0% to 100%
* @param seconds time to run the engine * @param seconds time to run the engine
* @return true success * @return true success
* @return false failure * @return false failure
*/ */
bool leftEngine(int16_t powerPercentage, int16_t seconds); bool leftEngine(int16_t powerPercentage, int16_t seconds);
/** /**
* @brief See leftEngine * @brief See leftEngine
* *
* @param powerPercentage * @param powerPercentage
* @param seconds * @param seconds
* @return true * @return true
* @return false * @return false
*/ */
bool rightEngine(int16_t powerPercentage, int16_t seconds); bool rightEngine(int16_t powerPercentage, int16_t seconds);
/** /**
* @brief See leftEngine * @brief See leftEngine
* *
* @param powerPercentage * @param powerPercentage
* @param seconds * @param seconds
* @return true * @return true
* @return false * @return false
*/ */
bool bothEngine(int16_t powerPercentage, int16_t seconds); bool bothEngine(int16_t powerPercentage, int16_t seconds);
/** /**
* @brief Abort the running maneuver. * @brief Abort the running maneuver.
* *
* Stops all movement. This is the only possibility to cancel a maneuver * Stops all movement. This is the only possibility to cancel a maneuver
* before the time is up. * before the time is up.
*/ */
void abortManeuver(); void abortManeuver();
uint8_t getRemainingManeuverTime() const; uint8_t getRemainingManeuverTime() const;
/** /**
* @brief Returns true if a maneuver is running * @brief Returns true if a maneuver is running
* *
* @return true * @return true
* @return false * @return false
*/ */
bool getBusy() const { return this->busy; } bool getBusy() const { return this->busy; }
Maneuver getManeuver() const { return this->maneuver; } Maneuver getManeuver() const { return this->maneuver; }
Speedometer* getSpeedometerLeft() const { return this->moveControl->getSpeedometerLeft(); } Speedometer *getSpeedometerLeft() const { return this->moveControl->getSpeedometerLeft(); }
Speedometer* getSpeedometerRight() const { return this->moveControl->getSpeedometerRight(); } Speedometer *getSpeedometerRight() const { return this->moveControl->getSpeedometerRight(); }
private: private:
void run() override; void run() override;
bool engineInit(int16_t powerPercentage, int16_t seconds); bool engineInit(int16_t powerPercentage, int16_t seconds);
Maneuver maneuver = Maneuver::None; Maneuver maneuver = Maneuver::None;
int16_t maneuverValueOne = 0; int16_t maneuverValueOne = 0;
int16_t maneuverValueTwo = 0; int16_t maneuverValueTwo = 0;
bool busy = false; bool busy = false;
bool abort = false; bool abort = false;
uint16_t azimuth; uint16_t azimuth;
int16_t degree; int16_t degree;
uint32_t maneuverTime = 0; uint32_t maneuverTime = 0;
uint32_t actionStart = 0; uint32_t actionStart = 0;
static constexpr int8_t maxPercentage = 100;
}; };
#endif // TEST_MODE_H #endif // TEST_MODE_H
src/driveModi/driveManager.cpp
+17 -15
View File
@@ -4,44 +4,46 @@
* @brief Implementation of the class DriveManager * @brief Implementation of the class DriveManager
* @version 0.1 * @version 0.1
* @date 2021-12-14 * @date 2021-12-14
* *
* @copyright Copyright (c) 2021 * @copyright Copyright (c) 2021
* *
*/ */
#include "driveModi/driveManager.h" #include "driveModi/driveManager.h"
DriveManager::DriveManager(MoveControl *moveControl, const SensorData* sensorData, const ControlPadInput *input) { DriveManager::DriveManager(MoveControl *moveControl, const SensorData *sensorData, const ControlPadInput *input)
this->driveModiParams.input = input; : driveModiParams{moveControl, input, sensorData}
this->driveModiParams.moveControl = moveControl; {
this->driveModiParams.sensorData = sensorData;
this->init(); this->init();
} }
DriveManager::DriveManager(DriveModiParams params){ DriveManager::DriveManager(DriveModiParams params)
this->driveModiParams = params; : driveModiParams{params}
{
this->init(); this->init();
} }
void DriveManager::changeModus(DriveModi* modus) { void DriveManager::changeModus(DriveModi *modus)
if (this->currentModusPtr) { {
if (static_cast<bool>(this->currentModusPtr))
{
this->removeChildComponent(this->currentModusPtr); this->removeChildComponent(this->currentModusPtr);
delete this->currentModusPtr; delete this->currentModusPtr;
this->currentModusPtr = nullptr; this->currentModusPtr = nullptr;
} }
this->currentModusPtr = modus; this->currentModusPtr = modus;
if (this->currentModusPtr) { if (static_cast<bool>(this->currentModusPtr))
{
this->currentModusPtr->activate(this->driveModiParams); this->currentModusPtr->activate(this->driveModiParams);
this->currentModusPtr->setSpeeds(this->drivingSpeeds); this->currentModusPtr->setSpeeds(this->drivingSpeeds);
this->addChildComponent(this->currentModusPtr); this->addChildComponent(this->currentModusPtr);
} }
} }
void DriveManager::init() { void DriveManager::init()
{
this->addChildComponent(this->driveModiParams.moveControl); this->addChildComponent(this->driveModiParams.moveControl);
this->activateOnlyChilds(); this->activateOnlyChilds();
} }
src/driveModi/driveModi.cpp
+1 -5
View File
@@ -1,9 +1,5 @@
#include "driveModi.h" #include "driveModi.h"
DriveModi::DriveModi() {
this->loopDelay = 0;
}
DriveModi::~DriveModi() { DriveModi::~DriveModi() {
this->moveControl->setSpeed(0); this->moveControl->setSpeed(0);
this->moveControl->setRotationSpeed(0); this->moveControl->setRotationSpeed(0);
@@ -26,6 +22,6 @@ void DriveModi::activate(DriveModiParams params){
void DriveModi::init() { void DriveModi::init() {
this->moveControl->setDrivingStatus(MoveControl::Status::Drive); this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
this->loopDelay = 40; this->loopDelay = DriveModi::defaultDelay;
this->afterActivate(); this->afterActivate();
} }
src/driveModi/driveModi.h
+6 -5
View File
@@ -31,7 +31,6 @@ struct DriveModiParams {
*/ */
class DriveModi : public Component { class DriveModi : public Component {
public: public:
DriveModi();
virtual ~DriveModi(); virtual ~DriveModi();
const SensorData* getSensorData() const { return this->sensorData; } const SensorData* getSensorData() const { return this->sensorData; }
@@ -46,12 +45,14 @@ class DriveModi : public Component {
protected: protected:
virtual void afterActivate() {} virtual void afterActivate() {}
MoveControl *moveControl; MoveControl *moveControl = nullptr;
DrivingSpeeds maxSpeeds = {1, 7}; DrivingSpeeds maxSpeeds = {1, 7};
const ControlPadInput* input; const ControlPadInput* input = nullptr;
const SensorData* sensorData; const SensorData* sensorData = nullptr;
private: private:
void init(); void init();
static constexpr uint8_t defaultDelay = 40;
}; };
#endif // DRIVEMODI_H #endif // DRIVEMODI_H
src/main.cpp
+157 -99
View File
@@ -2,15 +2,15 @@
* @file main.cpp * @file main.cpp
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief The main file. * @brief The main file.
* *
* Sets up Network stuff, PS3-Controller, Menu and Lcd * Sets up Network stuff, PS3-Controller, Menu and Lcd
* Handles Controller Input * Handles Controller Input
* *
* @version 0.1 * @version 0.1
* @date 2022-02-15 * @date 2022-02-15
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#include <Arduino.h> #include <Arduino.h>
@@ -50,61 +50,71 @@
#include "SpecialMenus/CalibrateBattery/menuCalibrateBattery.h" #include "SpecialMenus/CalibrateBattery/menuCalibrateBattery.h"
MoveControl moveController; MoveControl moveController;
Network* network; Network *network;
DriveManager* driveManager; DriveManager *driveManager;
Menu* main_m; Menu *main_m;
LiquidCrystal_I2C* lcd; LiquidCrystal_I2C *lcd;
LcdWrapper* lcdWrapper; LcdWrapper *lcdWrapper;
OutputBuf* outputBuf; OutputBuf *outputBuf;
DebugMqtt* debugMqtt = nullptr; DebugMqtt *debugMqtt = nullptr;
Battery* mainBattery; Battery *mainBattery;
SPIClass* spiPort; SPIClass *spiPort;
SensorData* sensorData; SensorData *sensorData;
ControlPad* controlPad; ControlPad *controlPad;
bool wifiIsActive; constexpr uint16_t displayUpdateDelay = 500;
void i2cScanner(void); void i2cScanner();
void makeMenu(void); void makeMenu();
void restart(void); void restart();
void receiveCallback (const uint8_t * mac, const uint8_t *incomingData, int len); void receiveCallback(const uint8_t *mac, const uint8_t *incomingData, int len);
void sendCallback (const uint8_t *mac_addr, esp_now_send_status_t status); void sendCallback(const uint8_t *mac_addr, esp_now_send_status_t status);
void lcdWrapperCallback (const char data[][LcdWrapper::totalRows], uint8_t lines, uint8_t rows); void lcdWrapperCallback(const char data[][LcdWrapper::totalRows], uint8_t lines, uint8_t rows);
NetworkAdresses setIPs(void); NetworkAdresses setIPs();
void setup()
void setup() { {
Serial.begin(115200); Serial.begin(Settings::baudRate);
// DebugTimes::setConsolOutput(true); // DebugTimes::setConsolOutput(true);
DebugTimes setupTime; DebugTimes setupTime;
spiPort = new SPIClass(HSPI); spiPort = new SPIClass(HSPI);
spiPort->begin(PinNumbers::spiSck, PinNumbers::spiCipo, PinNumbers::spiCopi, PinNumbers::gnssSpiCs); spiPort->begin(PinNumbers::spiSck, PinNumbers::spiCipo, PinNumbers::spiCopi, PinNumbers::gnssSpiCs);
mainBattery = new Battery(35); mainBattery = new Battery(PinNumbers::battery);
controlPad = new ControlPad(); controlPad = new ControlPad();
Wire.begin(21, 19); Wire.begin(PinNumbers::sda, PinNumbers::scl);
Wire.setClock(400000); Wire.setClock(Settings::i2cSpeed);
i2cScanner(); i2cScanner();
lcd = new LiquidCrystal_I2C(0x3F,16,2); lcd = new LiquidCrystal_I2C(0x3F, 16, 2);
lcd->init(); lcd->init();
lcd->clear(); lcd->clear();
lcd->noBacklight(); lcd->noBacklight();
network = new Network(NetworkConfig::ssid, NetworkConfig::password, setIPs()); network = new Network(static_cast<const char*>(NetworkConfig::ssid),
static_cast<const char*>(NetworkConfig::password),
setIPs());
network->activateEspNow(receiveCallback, sendCallback); network->activateEspNow(receiveCallback, sendCallback);
if (NetworkConfig::mqtt) { if (NetworkConfig::mqtt)
if (network->activateMqtt(MqttConfig::user, MqttConfig::password)) { {
if (network->activateMqtt(static_cast<const char*>(MqttConfig::user),
static_cast<const char*>(MqttConfig::password)))
{
DebugMqtt::init(network->getMqttClient(), Loglevel::debug); DebugMqtt::init(network->getMqttClient(), Loglevel::debug);
debugMqtt = new DebugMqtt("Console"); debugMqtt = new DebugMqtt("Console");
outputBuf = new OutputBuf(debugMqtt); outputBuf = new OutputBuf(debugMqtt);
outputBuf->activateMqtt(true); outputBuf->activateMqtt(true);
} else { }
else
{
outputBuf = new OutputBuf(); outputBuf = new OutputBuf();
} }
} else }
else
{
outputBuf = new OutputBuf(); outputBuf = new OutputBuf();
}
std::cout.rdbuf(outputBuf); std::cout.rdbuf(outputBuf);
std::cout << "Welcome to Kleiax-Rover" << std::endl; std::cout << "Welcome to Kleiax-Rover" << std::endl;
@@ -115,13 +125,19 @@ void setup() {
sensorData = new SensorData(); sensorData = new SensorData();
sensorData->enableGnss(spiPort, PinNumbers::gnssSpiCs); sensorData->enableGnss(spiPort, PinNumbers::gnssSpiCs);
sensorData->enableRealCompass(); sensorData->enableRealCompass();
sensorData->enableNtrip(NtripConfig::host, NtripConfig::port, NtripConfig::mountPoint, NtripConfig::user, NtripConfig::password); sensorData->enableNtrip(static_cast<const char*>(NtripConfig::host),
NtripConfig::port,
static_cast<const char*>(NtripConfig::mountPoint),
static_cast<const char*>(NtripConfig::user),
static_cast<const char*>(NtripConfig::password));
// sensorData->enableGyroskop(); // sensorData->enableGyroskop();
driveManager = new DriveManager(&moveController, sensorData, controlPad->getControlPadDataPtr()); driveManager = new DriveManager(&moveController, sensorData, controlPad->getControlPadDataPtr());
char wifiIndicator = 'X'; char wifiIndicator = 'X';
if (network->isWifiConnected()) if (network->isWifiConnected())
{
wifiIndicator = '-'; wifiIndicator = '-';
}
lcd->backlight(); lcd->backlight();
lcd->printf("%c Kleiax-Rover %c", wifiIndicator, wifiIndicator); lcd->printf("%c Kleiax-Rover %c", wifiIndicator, wifiIndicator);
lcd->setCursor(0, 1); lcd->setCursor(0, 1);
@@ -134,7 +150,8 @@ void setup() {
setupTime.stopConsol("Setup"); setupTime.stopConsol("Setup");
} }
void loop() { void loop()
{
network->loop(); network->loop();
sensorData->loop(); sensorData->loop();
driveManager->loop(); driveManager->loop();
@@ -143,86 +160,113 @@ void loop() {
lcdWrapper->loop(); lcdWrapper->loop();
mainBattery->loop(); mainBattery->loop();
// new Value ervery 0.5s // new Value ervery 0.5s
if (mainBattery->isNewValue()) { if (mainBattery->isNewValue())
{
static uint8_t batteryLowCounter = 0; static uint8_t batteryLowCounter = 0;
if (mainBattery->isBatteryLow(10)) static constexpr uint8_t minVoltage = 10;
if (mainBattery->isBatteryLow(minVoltage))
{
batteryLowCounter++; batteryLowCounter++;
}
else else
{
batteryLowCounter = 0; batteryLowCounter = 0;
}
if (batteryLowCounter >= 10) { if (batteryLowCounter >= 10)
{
moveController.emergencyStop(); moveController.emergencyStop();
uint16_t voltage = (uint16_t) (mainBattery->getBatteryVoltage() * 100); const auto voltage = static_cast<uint16_t>(mainBattery->getBatteryVoltage() * 100);
lcd->setCursor(0, 0); lcd->setCursor(0, 0);
lcd->printf("Low Battery: %u", voltage); lcd->printf("Low Battery: %u", voltage);
lcd->setCursor(0, 1); lcd->setCursor(0, 1);
lcd->print("Please turn off."); lcd->print("Please turn off.");
while (true); while (true)
{
}
} }
} }
} }
void i2cScanner() { void i2cScanner()
{
constexpr uint8_t checkForLength = 16;
constexpr uint8_t maxAdresses = UINT8_MAX / 2;
std::cout << "\nI2C Scanner" << std::endl; std::cout << "\nI2C Scanner" << std::endl;
byte error, address; byte error = 0;
int nDevices; byte address = 0;
int nDevices = 0;
std::cout << "Scanning..." << std::endl; std::cout << "Scanning..." << std::endl;
nDevices = 0; for (address = 1; address < maxAdresses; address++)
for(address = 1; address < 127; address++ ) { {
Wire.beginTransmission(address); Wire.beginTransmission(address);
error = Wire.endTransmission(); error = Wire.endTransmission();
if (error == 0) { if (error == 0)
{
std::cout << "I2C device found at address 0x"; std::cout << "I2C device found at address 0x";
if (address<16) if (address < checkForLength)
{
std::cout << "0"; std::cout << "0";
std::cout << std::hex << (int) address << std::dec << std::endl; }
std::cout << std::hex << static_cast<int>(address) << std::dec << std::endl;
// std::cout << (int) address << std::endl; // std::cout << (int) address << std::endl;
nDevices++; nDevices++;
} }
else if (error==4) { else if (error == 4)
{
std::cout << "Unknow error at address 0x"; std::cout << "Unknow error at address 0x";
if (address<16) if (address < checkForLength)
{
std::cout << "0"; std::cout << "0";
std::cout << std::hex << (int) address << std::dec << std::endl; }
} std::cout << std::hex << static_cast<int>(address) << std::dec << std::endl;
}
} }
if (nDevices == 0) if (nDevices == 0)
std::cout << "No I2C devices found\n" << std::endl; {
std::cout << "No I2C devices found\n"
<< std::endl;
}
else else
std::cout << "done\n" << std::endl; {
std::cout << "done\n"
<< std::endl;
}
} }
void makeMenu() { void makeMenu()
auto dummy = []() { {
std::cout << "Dummy in Action" <<std::endl; auto dummy = []()
{
std::cout << "Dummy in Action" << std::endl;
}; };
// Create Menu // Create Menu
main_m = new Menu(); main_m = new Menu();
main_m->setLcd(lcdWrapper); main_m->setLcd(lcdWrapper);
auto mode_m = new Menu(); auto *mode_m = new Menu();
auto set_m = new Menu(); auto *set_m = new Menu();
auto pid_m = new Menu(); auto *pid_m = new Menu();
auto pidl_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(0))); auto *pidl_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(0)));
auto pidr_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(1))); auto *pidr_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(1)));
auto speed_m = new MenuIntInput(2, new MenuSpeed(driveManager->getDrivingSpeedsRef())); auto *speed_m = new MenuIntInput(2, new MenuSpeed(driveManager->getDrivingSpeedsRef()));
auto man_m = new MenuManualControl(driveManager); auto *man_m = new MenuManualControl(driveManager);
auto cap_m = new MenuCaptureRoute(driveManager); auto *cap_m = new MenuCaptureRoute(driveManager);
auto auto_m = new MenuAutopilot(driveManager); auto *auto_m = new MenuAutopilot(driveManager);
auto testM_m = new MenuTestMode(driveManager); auto *testM_m = new MenuTestMode(driveManager);
auto comp_m = new MenuCalibrateCompass(driveManager); auto *comp_m = new MenuCalibrateCompass(driveManager);
auto sys_m = new MenuSysteminformation(mainBattery); auto *sys_m = new MenuSysteminformation(mainBattery);
auto sen_m = new MenuSensorData(sensorData); auto *sen_m = new MenuSensorData(sensorData);
//TODO: Wie bekommt jeder die dumme Route? // TODO: Wie bekommt jeder die dumme Route?
auto rout_m = new MenuRoute(new Route()); auto *rout_m = new MenuRoute(new Route());
auto bat_m = new MenuCalibrateBattery(mainBattery); auto *bat_m = new MenuCalibrateBattery(mainBattery);
auto_m->setUpdateDelay(1000); auto_m->setUpdateDelay(displayUpdateDelay);
sys_m->setUpdateDelay(1500); sys_m->setUpdateDelay(displayUpdateDelay);
sen_m->setUpdateDelay(500); sen_m->setUpdateDelay(displayUpdateDelay);
// Entry for the main menu // Entry for the main menu
main_m->addEntry(new MenuAction("Mode", mode_m)); main_m->addEntry(new MenuAction("Mode", mode_m));
@@ -253,14 +297,14 @@ void makeMenu() {
// Other config // Other config
pidl_m->setMinMax(0, UINT8_MAX); pidl_m->setMinMax(0, UINT8_MAX);
pidl_m->setEntry(0, "P-Part", (uint8_t) moveController.getPID(0)->GetKp()); pidl_m->setEntry(0, "P-Part", static_cast<uint8_t>(moveController.getPID(0)->GetKp()));
pidl_m->setEntry(1, "I-Part", (uint8_t) moveController.getPID(0)->GetKi()); pidl_m->setEntry(1, "I-Part", static_cast<uint8_t>(moveController.getPID(0)->GetKi()));
pidl_m->setEntry(2, "D-Part", (uint8_t) moveController.getPID(0)->GetKd()); pidl_m->setEntry(2, "D-Part", static_cast<uint8_t>(moveController.getPID(0)->GetKd()));
pidr_m->setMinMax(0, UINT8_MAX); pidr_m->setMinMax(0, UINT8_MAX);
pidr_m->setEntry(0, "P-Part", (uint8_t) moveController.getPID(1)->GetKp()); pidr_m->setEntry(0, "P-Part", static_cast<uint8_t>(moveController.getPID(1)->GetKp()));
pidr_m->setEntry(1, "I-Part", (uint8_t) moveController.getPID(1)->GetKi()); pidr_m->setEntry(1, "I-Part", static_cast<uint8_t>(moveController.getPID(1)->GetKi()));
pidr_m->setEntry(2, "D-Part", (uint8_t) moveController.getPID(1)->GetKd()); pidr_m->setEntry(2, "D-Part", static_cast<uint8_t>(moveController.getPID(1)->GetKd()));
speed_m->setMinMax(5, UINT8_MAX); speed_m->setMinMax(5, UINT8_MAX);
speed_m->setEntry(0, "x m/s e-1", driveManager->getDrivingSpeedsRef().x * 10); speed_m->setEntry(0, "x m/s e-1", driveManager->getDrivingSpeedsRef().x * 10);
@@ -271,42 +315,56 @@ void makeMenu() {
controlPad->setMenuControl(main_m); controlPad->setMenuControl(main_m);
} }
void restart() { void restart()
{
lcdWrapper->clear(); lcdWrapper->clear();
lcdWrapper->setCursor(0, 0); lcdWrapper->setCursor(0, 0);
lcdWrapper->print("Rebooting ..."); lcdWrapper->print("Rebooting ...");
ESP.restart(); ESP.restart();
} }
void receiveCallback (const uint8_t * mac, const uint8_t *incomingData, int len) { void receiveCallback(const uint8_t *mac, const uint8_t *incomingData, int len)
{
if (len != sizeof(ControlPadInput)) if (len != sizeof(ControlPadInput))
{
return; return;
}
controlPad->insertData(incomingData); controlPad->insertData(incomingData);
} }
void sendCallback (const uint8_t *mac_addr, esp_now_send_status_t status) { void sendCallback(const uint8_t *mac_addr, esp_now_send_status_t status)
{
if (status != ESP_NOW_SEND_SUCCESS) if (status != ESP_NOW_SEND_SUCCESS)
{
std::cout << "sendCallback - Delivery Fail" << std::endl; std::cout << "sendCallback - Delivery Fail" << std::endl;
}
} }
void lcdWrapperCallback (const char data[][LcdWrapper::totalRows], uint8_t lines, uint8_t rows) { void lcdWrapperCallback(const char data[][LcdWrapper::totalRows], uint8_t lines, uint8_t rows)
{
if (!controlPad->isControlPadConnected()) if (!controlPad->isControlPadConnected())
{
return; return;
}
const esp_err_t result = esp_now_send(network->getBroadcastAddress(), reinterpret_cast<const uint8_t *>(data), lines * rows);
esp_err_t result = esp_now_send(network->getBroadcastAddress(), (uint8_t *) data, lines * rows);
if (result != ESP_OK) if (result != ESP_OK)
{
Serial.println("Error sending the data"); Serial.println("Error sending the data");
}
} }
NetworkAdresses setIPs() { NetworkAdresses setIPs()
{
NetworkAdresses adresses; NetworkAdresses adresses;
adresses.localIP.fromString(NetworkConfig::ip); adresses.localIP.fromString(static_cast<const char *>(NetworkConfig::ip));
adresses.subnet.fromString(NetworkConfig::subnet); adresses.subnet.fromString(static_cast<const char *>(NetworkConfig::subnet));
adresses.gateway.fromString(NetworkConfig::gateway); adresses.gateway.fromString(static_cast<const char *>(NetworkConfig::gateway));
adresses.dnsServer.fromString(NetworkConfig::dns); adresses.dnsServer.fromString(static_cast<const char *>(NetworkConfig::dns));
if (NetworkConfig::mqtt) { if (NetworkConfig::mqtt)
adresses.mqttServer.fromString(MqttConfig::server); {
adresses.mqttServer.fromString(static_cast<const char *>(MqttConfig::server));
adresses.mqttPort = MqttConfig::port; adresses.mqttPort = MqttConfig::port;
} }
src/moveControl.cpp
+111 -77
View File
@@ -4,41 +4,40 @@
* @brief Contains an implementation of the class MoveControl * @brief Contains an implementation of the class MoveControl
* @version 0.1 * @version 0.1
* @date 2022-02-15 * @date 2022-02-15
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#include "moveControl.h" #include "moveControl.h"
MoveControl::MoveControl() { MoveControl::MoveControl()
this->loopDelay = 20; : Component(MoveControl::loopDelay),
this->left_motor = new MotorControl(); left_motor{new MotorControl()},
this->right_motor = new MotorControl(); right_motor{new MotorControl()},
this->left_speedometer = new Speedometer(PinNumbers::LeftMotor::encoder, Settings::wheelDiameter, Settings::encoderSteps); left_speedometer{new Speedometer(PinNumbers::LeftMotor::encoder, Settings::wheelDiameter, Settings::encoderSteps)},
this->right_speedometer = new Speedometer(PinNumbers::RightMotor::encoder, Settings::wheelDiameter, Settings::encoderSteps); right_speedometer{new Speedometer(PinNumbers::RightMotor::encoder, Settings::wheelDiameter, Settings::encoderSteps)},
left_pid{new PID(&this->wheelspeed_left,
this->left_pid = new PID( &this->wheelspeed_left, &this->left_pid_out,
&this->left_pid_out, &this->wheelspeed_left_target,
&this->wheelspeed_left_target, Settings::Pid::Left::P,
Settings::Pid::Left::P, Settings::Pid::Left::I,
Settings::Pid::Left::I, Settings::Pid::Left::D,
Settings::Pid::Left::D, DIRECT)},
DIRECT); right_pid{new PID(&this->wheelspeed_right,
this->right_pid = new PID( &this->wheelspeed_right, &this->right_pid_out,
&this->right_pid_out, &this->wheelspeed_right_target,
&this->wheelspeed_right_target, Settings::Pid::Right::P,
Settings::Pid::Right::P, Settings::Pid::Right::I,
Settings::Pid::Right::I, Settings::Pid::Right::D,
Settings::Pid::Right::D, DIRECT)}
DIRECT); {
this->left_pid->SetOutputLimits(Settings::Pid::outMin, Settings::Pid::outMax); this->left_pid->SetOutputLimits(Settings::Pid::outMin, Settings::Pid::outMax);
this->left_pid->SetSampleTime(Settings::Pid::sampleTime); this->left_pid->SetSampleTime(Settings::Pid::sampleTime);
this->left_pid->SetMode(AUTOMATIC); this->left_pid->SetMode(AUTOMATIC);
this->right_pid->SetOutputLimits(Settings::Pid::outMin, Settings::Pid::outMax); this->right_pid->SetOutputLimits(Settings::Pid::outMin, Settings::Pid::outMax);
this->right_pid->SetSampleTime(Settings::Pid::sampleTime); this->right_pid->SetSampleTime(Settings::Pid::sampleTime);
this->right_pid->SetMode(AUTOMATIC); this->right_pid->SetMode(AUTOMATIC);
this->left_motor->init(PinNumbers::LeftMotor::pwm, PinNumbers::LeftMotor::pmwChannel, PinNumbers::LeftMotor::dir1, PinNumbers::LeftMotor::dir2); this->left_motor->init(PinNumbers::LeftMotor::pwm, PinNumbers::LeftMotor::pmwChannel, PinNumbers::LeftMotor::dir1, PinNumbers::LeftMotor::dir2);
this->right_motor->init(PinNumbers::RightMotor::pwm, PinNumbers::RightMotor::pmwChannel, PinNumbers::RightMotor::dir1, PinNumbers::RightMotor::dir2); this->right_motor->init(PinNumbers::RightMotor::pwm, PinNumbers::RightMotor::pmwChannel, PinNumbers::RightMotor::dir1, PinNumbers::RightMotor::dir2);
@@ -46,10 +45,11 @@ MoveControl::MoveControl() {
this->addChildComponent(this->left_motor); this->addChildComponent(this->left_motor);
this->addChildComponent(this->right_motor); this->addChildComponent(this->right_motor);
this->addChildComponent(this->left_speedometer); this->addChildComponent(this->left_speedometer);
this->addChildComponent(this->right_speedometer); this->addChildComponent(this->right_speedometer);
} }
MoveControl::~MoveControl() { MoveControl::~MoveControl()
{
this->left_motor->emergencyStop(); this->left_motor->emergencyStop();
this->right_motor->emergencyStop(); this->right_motor->emergencyStop();
@@ -59,10 +59,10 @@ MoveControl::~MoveControl() {
delete this->right_speedometer; delete this->right_speedometer;
delete this->left_pid; delete this->left_pid;
delete this->right_pid; delete this->right_pid;
} }
void MoveControl::run() { void MoveControl::run()
{
this->updateCurrentWheelSpeed(); this->updateCurrentWheelSpeed();
this->calcTargetWheelSpeed(); this->calcTargetWheelSpeed();
@@ -72,7 +72,8 @@ void MoveControl::run() {
this->regulateMotors(); this->regulateMotors();
} }
void MoveControl::setDrivingStatus(Status status) { void MoveControl::setDrivingStatus(Status status)
{
this->setSpeed(0); this->setSpeed(0);
this->setRotationSpeed(0); this->setRotationSpeed(0);
this->setRawPowerLeft(0); this->setRawPowerLeft(0);
@@ -97,7 +98,8 @@ void MoveControl::setDrivingStatus(Status status) {
// } // }
} }
void MoveControl::emergencyStop() { void MoveControl::emergencyStop()
{
this->left_motor->emergencyStop(); this->left_motor->emergencyStop();
this->right_motor->emergencyStop(); this->right_motor->emergencyStop();
this->setSpeed(0); this->setSpeed(0);
@@ -107,8 +109,10 @@ void MoveControl::emergencyStop() {
this->driving_status = Status::Stop; this->driving_status = Status::Stop;
} }
void MoveControl::setSpeed(double speed) { void MoveControl::setSpeed(double speed)
if (speed < 0.2 && speed > -0.2) { {
if (speed < MoveControl::minSpeed && speed > -MoveControl::minSpeed)
{
this->drivingSpeeds.x = 0; this->drivingSpeeds.x = 0;
return; return;
} }
@@ -116,8 +120,10 @@ void MoveControl::setSpeed(double speed) {
this->drivingSpeeds.x = speed; this->drivingSpeeds.x = speed;
} }
void MoveControl::setRotationSpeed(double speed) { void MoveControl::setRotationSpeed(double speed)
if (speed < 0.1 && speed > -0.1){ {
if (speed < MoveControl::minSpeed && speed > -MoveControl::minSpeed)
{
this->drivingSpeeds.rot = 0; this->drivingSpeeds.rot = 0;
return; return;
} }
@@ -125,92 +131,120 @@ void MoveControl::setRotationSpeed(double speed) {
this->drivingSpeeds.rot = speed; this->drivingSpeeds.rot = speed;
} }
void MoveControl::setSpeeds(DrivingSpeeds drivingSpeeds) { void MoveControl::setSpeeds(DrivingSpeeds drivingSpeeds)
{
this->setSpeed(drivingSpeeds.x); this->setSpeed(drivingSpeeds.x);
this->setRotationSpeed(drivingSpeeds.rot); this->setRotationSpeed(drivingSpeeds.rot);
} }
void MoveControl::setRawPowerLeft(int16_t power) { void MoveControl::setRawPowerLeft(int16_t power)
if (power <= 100 && power >= -100) {
this->rawPowerLeft = power; if (power <= MoveControl::maxPercentage && power >= -MoveControl::maxPercentage)
{
this->rawPowerLeft = static_cast<int8_t>(power);
}
} }
void MoveControl::setRawPowerRight(int16_t power) { void MoveControl::setRawPowerRight(int16_t power)
if (power <= 100 && power >= -100) {
this->rawPowerRight = power; if (power <= MoveControl::maxPercentage && power >= -MoveControl::maxPercentage)
{
this->rawPowerRight = static_cast<int8_t>(power);
}
} }
void MoveControl::setPidTunings(uint8_t side, double p, double i, double d) { void MoveControl::setPidTunings(uint8_t side, double pPart, double iPart, double dPart)
PID* selectedPID = nullptr; {
PID *selectedPID = nullptr;
if (side == 0) if (side == 0)
{
selectedPID = this->left_pid; selectedPID = this->left_pid;
}
else if (side == 1) else if (side == 1)
{
selectedPID = this->right_pid; selectedPID = this->right_pid;
}
selectedPID->SetTunings(p, i, d); selectedPID->SetTunings(pPart, iPart, dPart);
} }
PID* MoveControl::getPID(uint8_t side) const { PID *MoveControl::getPID(uint8_t side) const
{
if (side == 0) if (side == 0)
{
return this->left_pid; return this->left_pid;
else if (side == 1) }
if (side == 1)
{
return this->right_pid; return this->right_pid;
}
return nullptr; return nullptr;
} }
void MoveControl::setSpeedometerDirection(Speedometer *speedometer, double value) { void MoveControl::setSpeedometerDirection(Speedometer *speedometer, double value)
{
if (value > 0) if (value > 0)
{
speedometer->setDirection(Speedometer::Direction::Forward); speedometer->setDirection(Speedometer::Direction::Forward);
}
else if (value < 0) else if (value < 0)
{
speedometer->setDirection(Speedometer::Direction::Backward); speedometer->setDirection(Speedometer::Direction::Backward);
}
else else
{
speedometer->setDirection(Speedometer::Direction::None); speedometer->setDirection(Speedometer::Direction::None);
}
} }
void MoveControl::calcTargetWheelSpeed() { void MoveControl::calcTargetWheelSpeed()
{
/* original formula: /* original formula:
(1 / r) / 1 b \ / x \ = / Xl \ (1 / r) / 1 b \ / x \ = / Xl \
\ 1 -b / \ T / \ Xr / */ \ 1 -b / \ T / \ Xr / */
// (1 / r) * 1 // (1 / r) * 1
constexpr double A = 1.0 / (Settings::wheelDiameter / 2); constexpr double A1r1 = 1.0 / (Settings::wheelDiameter / 2);
// (1 / r) * b // (1 / r) * b
constexpr double B = (1.0 / (Settings::wheelDiameter / 2)) * (Settings::wheelDistance / 2); constexpr double B1rb = (1.0 / (Settings::wheelDiameter / 2)) * (Settings::wheelDistance / 2);
this->wheelspeed_right_target = (A * this->drivingSpeeds.x + B * this->drivingSpeeds.rot); this->wheelspeed_right_target = (A1r1 * this->drivingSpeeds.x + B1rb * this->drivingSpeeds.rot);
this->wheelspeed_left_target = (A * this->drivingSpeeds.x + (-B) * this->drivingSpeeds.rot); this->wheelspeed_left_target = (A1r1 * this->drivingSpeeds.x + (-B1rb) * this->drivingSpeeds.rot);
} }
void MoveControl::regulateMotors() { void MoveControl::regulateMotors()
switch (this->driving_status) { {
case Status::Stop : switch (this->driving_status)
this->left_motor->setTargetPower(0); {
this->right_motor->setTargetPower(0); case Status::Stop:
this->setSpeedometerDirection(this->left_speedometer, 0); this->left_motor->setTargetPower(0);
this->setSpeedometerDirection(this->right_speedometer, 0); this->right_motor->setTargetPower(0);
break; this->setSpeedometerDirection(this->left_speedometer, 0);
this->setSpeedometerDirection(this->right_speedometer, 0);
break;
case Status::Drive : case Status::Drive:
this->left_motor->setTargetPower( (int8_t) this->left_pid_out); this->left_motor->setTargetPower(static_cast<int8_t>(this->left_pid_out));
this->right_motor->setTargetPower( (int8_t) this->right_pid_out); this->right_motor->setTargetPower(static_cast<int8_t>(this->right_pid_out));
this->setSpeedometerDirection(this->left_speedometer, this->left_motor->getPower()); this->setSpeedometerDirection(this->left_speedometer, this->left_motor->getPower());
this->setSpeedometerDirection(this->right_speedometer, this->right_motor->getPower()); this->setSpeedometerDirection(this->right_speedometer, this->right_motor->getPower());
break; break;
case Status::Raw : case Status::Raw:
this->left_motor->setTargetPower(this->rawPowerLeft); this->left_motor->setTargetPower(this->rawPowerLeft);
this->right_motor->setTargetPower(this->rawPowerRight); this->right_motor->setTargetPower(this->rawPowerRight);
this->setSpeedometerDirection(this->left_speedometer, this->rawPowerLeft); this->setSpeedometerDirection(this->left_speedometer, this->rawPowerLeft);
this->setSpeedometerDirection(this->right_speedometer, this->rawPowerRight); this->setSpeedometerDirection(this->right_speedometer, this->rawPowerRight);
break; break;
default: default:
Serial.println("Wrong drivingState in MoveControl::regulateMotors"); Serial.println("Wrong drivingState in MoveControl::regulateMotors");
break; break;
} }
} }
void MoveControl::updateCurrentWheelSpeed() { void MoveControl::updateCurrentWheelSpeed()
{
this->wheelspeed_left = this->left_speedometer->getSpeedRad(); this->wheelspeed_left = this->left_speedometer->getSpeedRad();
this->wheelspeed_right = this->right_speedometer->getSpeedRad(); this->wheelspeed_right = this->right_speedometer->getSpeedRad();
} }