clangtidy corrections part 2
This commit is contained in:
-687
@@ -1,691 +1,4 @@
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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]
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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]
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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]
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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]
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lib/MQTT/debugMqtt.cpp:33: [medium:warning] the value returned by this function should be used [cert-err33-c]
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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]
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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]
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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]
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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]
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lib/MQTT/debugMqtt.cpp:41: [medium:warning] method 'sendData' can be made static [readability-convert-member-functions-to-static]
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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]
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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]
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lib/MQTT/debugMqtt.cpp:47: [medium:warning] the value returned by this function should be used [cert-err33-c]
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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]
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lib/MQTT/debugMqtt.cpp:48: [medium:warning] the value returned by this function should be used [cert-err33-c]
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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]
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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]
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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]
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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]
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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]
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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]
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lib/MQTT/debugMqtt.cpp:60: [medium:warning] the value returned by this function should be used [cert-err33-c]
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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]
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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]
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lib/MQTT/debugMqtt.cpp:64: [medium:warning] parameter name 'c' is too short, expected at least 3 characters [readability-identifier-length]
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lib/Menu/src/menu.cpp:13: [medium:warning] constructor does not initialize these fields: entrys, selectedEntry [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
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lib/Menu/src/menu.cpp:18: [medium:warning] variable 'iter' is not initialized [cppcoreguidelines-init-variables]
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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]
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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]
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lib/Menu/src/menu.cpp:29: [medium:warning] method 'isInSubmenu' can be made const [readability-make-member-function-const]
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lib/Menu/src/menu.cpp:34: [medium:warning] variable 'iter' is not initialized [cppcoreguidelines-init-variables]
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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]
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lib/Menu/src/menu.cpp:63: [medium:warning] missing username/bug in TODO [google-readability-todo]
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lib/Menu/src/menu.cpp:64: [medium:warning] variable 'iter' is not initialized [cppcoreguidelines-init-variables]
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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]
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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]
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lib/Menu/src/menu.cpp:78: [medium:warning] variable 'iter' is not initialized [cppcoreguidelines-init-variables]
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lib/Menu/src/menu.cpp:108: [medium:warning] implicit conversion 'MenuControl *' -> bool [readability-implicit-bool-conversion]
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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]
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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]
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lib/Menu/src/menuAction.cpp:14: [medium:warning] 'name' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuAction.cpp:15: [medium:warning] 'function' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuAction.cpp:16: [medium:warning] 'callback' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuAction.cpp:20: [medium:warning] 'name' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuAction.cpp:21: [medium:warning] 'menu' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuAction.cpp:22: [medium:warning] 'isMenu' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuAction.cpp:26: [medium:warning] 'name' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuAction.cpp:27: [medium:warning] 'action' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuAction.cpp:31: [medium:warning] 'if' statement is unnecessary; deleting null pointer has no effect [readability-delete-null-pointer]
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lib/Menu/src/menuAction.cpp:31: [medium:warning] implicit conversion 'MenuControl *' -> bool [readability-implicit-bool-conversion]
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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]
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lib/Menu/src/menuAction.cpp:34: [medium:warning] 'if' statement is unnecessary; deleting null pointer has no effect [readability-delete-null-pointer]
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lib/Menu/src/menuAction.cpp:34: [medium:warning] implicit conversion 'MenuActionWrapper *' -> bool [readability-implicit-bool-conversion]
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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]
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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]
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lib/Menu/src/menuAction.cpp:42: [medium:warning] implicit conversion 'void (*)()' -> bool [readability-implicit-bool-conversion]
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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]
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lib/Menu/src/menuAction.cpp:44: [medium:warning] implicit conversion 'MenuActionWrapper *' -> bool [readability-implicit-bool-conversion]
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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]
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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]
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lib/Menu/src/menuAction.cpp:50: [medium:warning] implicit conversion 'void (*)()' -> bool [readability-implicit-bool-conversion]
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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]
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lib/Menu/src/menuAction.cpp:58: [medium:warning] method 'getIsMenu' can be made const [readability-make-member-function-const]
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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]
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lib/Menu/src/menuAction.cpp:65: [medium:warning] do not use 'else' after 'return' [readability-else-after-return]
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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]
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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]
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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]
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lib/Menu/src/menuControl.cpp:15: [medium:warning] implicit conversion 'DisplayWrapper *' -> bool [readability-implicit-bool-conversion]
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lib/Menu/src/menuControl.cpp:27: [medium:warning] implicit conversion 'DisplayWrapper *' -> bool [readability-implicit-bool-conversion]
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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]
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lib/Menu/src/menuInformationSites.cpp:15: [medium:warning] 'countPages' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuInformationSites.cpp:16: [medium:warning] 'currentPage' should be initialized in an in-class default member initializer [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuInformationSites.cpp:17: [medium:warning] 'lastMillis' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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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]
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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]
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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]
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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]
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lib/Menu/src/menuInformationSites.cpp:41: [medium:warning] implicit conversion 'MenuControl *' -> bool [readability-implicit-bool-conversion]
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lib/Menu/src/menuInformationSites.cpp:92: [medium:warning] variable 'lineOne' of type 'String' can be declared 'const' [misc-const-correctness]
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lib/Menu/src/menuInformationSites.cpp:93: [medium:warning] variable 'lineTwo' of type 'String' can be declared 'const' [misc-const-correctness]
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lib/Menu/src/menuIntInput.cpp:15: [medium:warning] 'values' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuIntInput.cpp:16: [medium:warning] 'names' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuIntInput.cpp:17: [medium:warning] 'length' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuIntInput.cpp:18: [medium:warning] 'wrapper' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuIntInput.cpp:20: [medium:warning] 'min' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuIntInput.cpp:21: [medium:warning] 'max' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuIntInput.cpp:22: [medium:warning] 'originalValues' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuIntInput.cpp:23: [medium:warning] 'stepsPerInput' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuIntInput.cpp:34: [medium:warning] 'length' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuIntInput.cpp:35: [medium:warning] 'wrapper' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuIntInput.cpp:37: [medium:warning] 'values' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuIntInput.cpp:38: [medium:warning] 'names' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuIntInput.cpp:38: [medium:warning] do not use C-style cast to convert between unrelated types [cppcoreguidelines-pro-type-cstyle-cast]
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lib/Menu/src/menuIntInput.cpp:38: [medium:warning] C-style casts are discouraged; use reinterpret_cast [google-readability-casting]
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lib/Menu/src/menuIntInput.cpp:39: [medium:warning] 'min' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuIntInput.cpp:40: [medium:warning] 'max' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuIntInput.cpp:41: [medium:warning] 'originalValues' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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lib/Menu/src/menuIntInput.cpp:42: [medium:warning] 'stepsPerInput' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
|
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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]
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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]
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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]
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||||
lib/Menu/src/menuIntInput.cpp:192: [medium:warning] implicit conversion 'MenuControl *' -> bool [readability-implicit-bool-conversion]
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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]
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lib/Menu/src/menuIntInput.cpp:203: [medium:warning] the value returned by this function should be used [cert-err33-c]
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||||
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]
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||||
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]
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lib/Menu/src/menuIntInput.cpp:206: [medium:warning] the value returned by this function should be used [cert-err33-c]
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||||
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]
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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]
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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
|
||||
|
||||
+16
-14
@@ -18,10 +18,12 @@ char DebugMqtt::msg[MQTT_BUFFER_SIZE];
|
||||
char DebugMqtt::topic[MQTT_BUFFER_SIZE];
|
||||
|
||||
|
||||
DebugMqtt::DebugMqtt(const char* name, uint8_t bufSize) {
|
||||
this->name = name;
|
||||
if (bufSize != 0)
|
||||
DebugMqtt::DebugMqtt(const char* name, uint8_t bufSize)
|
||||
: name {name}
|
||||
{
|
||||
if (bufSize != 0) {
|
||||
this->bufSize = bufSize;
|
||||
}
|
||||
this->buf = new char[this->bufSize];
|
||||
}
|
||||
|
||||
@@ -30,8 +32,8 @@ DebugMqtt::~DebugMqtt() {
|
||||
}
|
||||
|
||||
void DebugMqtt::sendMsg(Loglevel loglevel, String topic, String msg) {
|
||||
snprintf (DebugMqtt::msg, MQTT_BUFFER_SIZE, "%s: %s",this->name ,msg.c_str());
|
||||
this->sendData(loglevel, topic, DebugMqtt::msg);
|
||||
snprintf (static_cast<char*>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char*>("%s: %s"),this->name ,msg.c_str());
|
||||
this->sendData(loglevel, topic, static_cast<const char*>(DebugMqtt::msg));
|
||||
}
|
||||
|
||||
void DebugMqtt::sendMsg(Loglevel loglevel, String msg) {
|
||||
@@ -44,27 +46,27 @@ void DebugMqtt::sendData(Loglevel loglevel, String topic, String data) {
|
||||
}
|
||||
|
||||
if (loglevel <= DebugMqtt::loglevel && loglevel > Loglevel::none) {
|
||||
snprintf (DebugMqtt::topic, MQTT_BUFFER_SIZE, "%s%s", DebugMqtt::enum_to_string(loglevel).c_str(), topic.c_str());
|
||||
snprintf (DebugMqtt::msg, MQTT_BUFFER_SIZE, "%s", data.c_str());
|
||||
client->publish(DebugMqtt::topic, DebugMqtt::msg);
|
||||
snprintf (static_cast<char*>(DebugMqtt::topic), MQTT_BUFFER_SIZE, static_cast<const char*>("%s%s"), DebugMqtt::enum_to_string(loglevel).c_str(), topic.c_str());
|
||||
snprintf (static_cast<char*>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char*>("%s"), data.c_str());
|
||||
client->publish(DebugMqtt::topic, static_cast<const char*>(DebugMqtt::msg));
|
||||
}
|
||||
}
|
||||
|
||||
void DebugMqtt::sendData(Loglevel loglevel, String data){
|
||||
this->sendData(loglevel, "", data);
|
||||
DebugMqtt::sendData(loglevel, "", data);
|
||||
}
|
||||
|
||||
void DebugMqtt::writeToInflux(String measurement_name, String field_set, float measurement, uint64_t nanos) {
|
||||
// Example String: "weather temperature=82 1465839830100400200";
|
||||
|
||||
snprintf(DebugMqtt::msg, MQTT_BUFFER_SIZE, "%s %s=%f %llu", measurement_name.c_str(), field_set.c_str(), measurement, nanos);
|
||||
this->sendData(Loglevel::influx, DebugMqtt::msg);
|
||||
snprintf(static_cast<char*>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char*>("%s %s=%f %llu"), measurement_name.c_str(), field_set.c_str(), measurement, nanos);
|
||||
this->sendData(Loglevel::influx, static_cast<const char*>(DebugMqtt::msg));
|
||||
}
|
||||
|
||||
void DebugMqtt::addCharacter(char c) {
|
||||
this->buf[this->bufPos] = c;
|
||||
void DebugMqtt::addCharacter(char character) {
|
||||
this->buf[this->bufPos] = character;
|
||||
this->bufPos++;
|
||||
if (c == '\n' || this->bufPos >= this->bufSize - 1) {
|
||||
if (character == '\n' || this->bufPos >= this->bufSize - 1) {
|
||||
this->buf[this->bufPos - 1] = '\0';
|
||||
this->sendMsg(Loglevel::info, buf);
|
||||
this->bufPos = 0;
|
||||
|
||||
@@ -108,8 +108,8 @@ class DebugMqtt {
|
||||
* @param topic Additional topic behind loglevel
|
||||
* @param data The message to send as String
|
||||
*/
|
||||
void sendData(Loglevel loglevel, String topic, String data);
|
||||
void sendData(Loglevel loglevel, String data);
|
||||
static void sendData(Loglevel loglevel, String topic, String data);
|
||||
static void sendData(Loglevel loglevel, String data);
|
||||
|
||||
/**
|
||||
* @brief Send a Message via MQTT for InfluxDB
|
||||
@@ -132,9 +132,9 @@ class DebugMqtt {
|
||||
* 1. when the buffer is full
|
||||
* 2. when the character is '\n'
|
||||
*
|
||||
* @param c
|
||||
* @param character
|
||||
*/
|
||||
void addCharacter(char c);
|
||||
void addCharacter(char character);
|
||||
|
||||
/**
|
||||
* @brief Initialize debugMQTT for all instances
|
||||
|
||||
@@ -5,20 +5,20 @@
|
||||
* @see motorControl.h
|
||||
* @version 0.1
|
||||
* @date 2021-12-13
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2021
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#include "motorControl.h"
|
||||
|
||||
MotorControl::MotorControl() {
|
||||
this->setMinPwm(MotorControl::pwmMin);
|
||||
this->setMaxPwm(MotorControl::pwmMax);
|
||||
MotorControl::MotorControl()
|
||||
{
|
||||
Component::loopDelay = MotorControl::loopDelay;
|
||||
}
|
||||
|
||||
void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2) {
|
||||
void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2)
|
||||
{
|
||||
this->pwmPin = pwmPin;
|
||||
this->pwmChannel = pwmChannel;
|
||||
this->dir_1 = dir_1;
|
||||
@@ -35,107 +35,141 @@ void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8
|
||||
ledcWrite(this->pwmChannel, 0);
|
||||
}
|
||||
|
||||
void MotorControl::run() {
|
||||
void MotorControl::run()
|
||||
{
|
||||
// Absolute difference between targetPower and power
|
||||
uint8_t abs_difference = abs(this->targetPower - this->power);
|
||||
const uint8_t abs_difference = abs(this->targetPower - this->power);
|
||||
|
||||
// Difference between targetPower and power
|
||||
int16_t difference = this->targetPower - this->power;
|
||||
const int16_t difference = this->targetPower - this->power;
|
||||
|
||||
// Check that the target speed is close to 0 and that the abs_difference is lower than MotorControl::powerSteps
|
||||
if (abs(this->targetPower) < MotorControl::powerSteps && abs_difference < MotorControl::powerSteps) {
|
||||
if (abs(this->targetPower) < MotorControl::powerSteps && abs_difference < MotorControl::powerSteps)
|
||||
{
|
||||
this->setRealPower(0);
|
||||
return;
|
||||
}
|
||||
|
||||
// Correct speed
|
||||
if (abs_difference < MotorControl::powerSteps) {
|
||||
if (abs_difference < MotorControl::powerSteps)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
// Positive or negative tagret speed
|
||||
if (this->targetPower >= 0) {
|
||||
if (this->targetPower >= 0)
|
||||
{
|
||||
// Positive or negative speed
|
||||
if (this->power >= 0) {
|
||||
if (difference > 0) {
|
||||
if (this->power >= 0)
|
||||
{
|
||||
if (difference > 0)
|
||||
{
|
||||
this->increasePower(MotorControl::powerSteps);
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
this->increasePower(-MotorControl::powerSteps);
|
||||
}
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
this->increasePower(MotorControl::powerSteps);
|
||||
}
|
||||
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
// Positive or negative speed
|
||||
if (this->power >= 0) {
|
||||
if (this->power >= 0)
|
||||
{
|
||||
this->increasePower(-MotorControl::powerSteps);
|
||||
} else {
|
||||
if (difference > 0) {
|
||||
}
|
||||
else
|
||||
{
|
||||
if (difference > 0)
|
||||
{
|
||||
this->increasePower(MotorControl::powerSteps);
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
this->increasePower(-MotorControl::powerSteps);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void MotorControl::setMinPwm(uint8_t min) {
|
||||
if (min > 80) min = 80;
|
||||
//transform percentage to real pwm value
|
||||
min = (uint8_t) (((1 << pwmRes) - 1) * (min / 100.0));
|
||||
void MotorControl::setMinPwm(uint8_t min)
|
||||
{
|
||||
if (min > MotorControl::maxPwmMin)
|
||||
{
|
||||
min = MotorControl::maxPwmMin;
|
||||
}
|
||||
// transform percentage to real pwm value
|
||||
min = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (min / 100.0));
|
||||
this->dutycycleMin = min;
|
||||
}
|
||||
|
||||
void MotorControl::setMaxPwm(uint8_t max) {
|
||||
if (max > 100) max = 100;
|
||||
//transform percentage to real pwm value
|
||||
max = (uint8_t) (((1 << pwmRes) - 1) * (max / 100.0));
|
||||
void MotorControl::setMaxPwm(uint8_t max)
|
||||
{
|
||||
if (max > 100)
|
||||
{
|
||||
max = 100;
|
||||
}
|
||||
// transform percentage to real pwm value
|
||||
max = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (max / 100.0));
|
||||
this->dutycycleMax = max;
|
||||
}
|
||||
|
||||
void MotorControl::setTargetPower(int8_t power) {
|
||||
void MotorControl::setTargetPower(int8_t power)
|
||||
{
|
||||
if (power <= 100 && power >= -100)
|
||||
{
|
||||
this->targetPower = power;
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << " MotorControl::setTargetPower: Invalid Argument - Power: " << power << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
void MotorControl::stop() {
|
||||
void MotorControl::stop()
|
||||
{
|
||||
this->targetPower = 0;
|
||||
}
|
||||
|
||||
void MotorControl::emergencyStop() {
|
||||
void MotorControl::emergencyStop()
|
||||
{
|
||||
setRealPower(0);
|
||||
}
|
||||
|
||||
bool MotorControl::isTargetPowerReached() const {
|
||||
if (this->targetPower == this->power)
|
||||
return true;
|
||||
return false;
|
||||
bool MotorControl::isTargetPowerReached() const
|
||||
{
|
||||
return this->targetPower == this->power;
|
||||
}
|
||||
|
||||
bool MotorControl::isAccelerationPositive() const {
|
||||
if (power < targetPower)
|
||||
return true;
|
||||
return false;
|
||||
bool MotorControl::isAccelerationPositive() const
|
||||
{
|
||||
return power < targetPower;
|
||||
}
|
||||
|
||||
bool MotorControl::isAccelerationNegative() const {
|
||||
if (power > targetPower)
|
||||
return true;
|
||||
return false;
|
||||
bool MotorControl::isAccelerationNegative() const
|
||||
{
|
||||
return power > targetPower;
|
||||
}
|
||||
|
||||
void MotorControl::setRealPower(int8_t power) {
|
||||
//TODO: Exceptionhandling
|
||||
if (power <= 100 && power >= -100) {
|
||||
void MotorControl::setRealPower(int8_t power)
|
||||
{
|
||||
// TODO: Exceptionhandling
|
||||
if (power <= 100 && power >= -100)
|
||||
{
|
||||
this->power = power;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
if (this->power == 0) {
|
||||
if (this->power == 0)
|
||||
{
|
||||
this->direction = 0;
|
||||
digitalWrite(this->dir_1, LOW);
|
||||
digitalWrite(this->dir_2, LOW);
|
||||
@@ -144,13 +178,16 @@ void MotorControl::setRealPower(int8_t power) {
|
||||
return;
|
||||
}
|
||||
|
||||
uint8_t pwm_val = map(abs(power), 0, 100, this->dutycycleMin, this->dutycycleMax);
|
||||
const uint8_t pwm_val = map(abs(power), 0, 100, this->dutycycleMin, this->dutycycleMax);
|
||||
|
||||
if ((this->direction == 1 || this->direction == 0) && power < 0){ // new direction backward
|
||||
if ((this->direction == 1 || this->direction == 0) && power < 0)
|
||||
{ // new direction backward
|
||||
this->direction = 2;
|
||||
digitalWrite(this->dir_1, LOW);
|
||||
digitalWrite(this->dir_2, HIGH);
|
||||
} else if ((this->direction == 2 || this->direction == 0) && power > 0){ // new direction forward
|
||||
}
|
||||
else if ((this->direction == 2 || this->direction == 0) && power > 0)
|
||||
{ // new direction forward
|
||||
this->direction = 1;
|
||||
digitalWrite(this->dir_1, HIGH);
|
||||
digitalWrite(this->dir_2, LOW);
|
||||
@@ -160,10 +197,12 @@ void MotorControl::setRealPower(int8_t power) {
|
||||
this->dutycycle = pwm_val;
|
||||
}
|
||||
|
||||
void MotorControl::increasePower(int8_t power) {
|
||||
//TODO: Exceptionhandling
|
||||
//TODO: make a stop befor a direction change
|
||||
if (abs(power) > 2 * MotorControl::powerSteps) {
|
||||
void MotorControl::increasePower(int8_t power)
|
||||
{
|
||||
// TODO: Exceptionhandling
|
||||
// TODO: make a stop befor a direction change
|
||||
if (abs(power) > 2 * MotorControl::powerSteps)
|
||||
{
|
||||
Serial.println("Invalid Argument in MotorControl::increasePower");
|
||||
return;
|
||||
}
|
||||
|
||||
@@ -4,9 +4,9 @@
|
||||
* @brief Inherits a class to control a motor with pwm signal.
|
||||
* @version 0.1
|
||||
* @date 2021-12-09
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2021
|
||||
*
|
||||
*
|
||||
*/
|
||||
#ifndef MOTOR_CONTROL_H
|
||||
#define MOTOR_CONTROL_H
|
||||
@@ -23,98 +23,98 @@
|
||||
* You can control the acceleration of the motor, for example to
|
||||
* prevent a damage on your H-Bridge.
|
||||
*/
|
||||
class MotorControl : public Component {
|
||||
public:
|
||||
MotorControl();
|
||||
class MotorControl : public Component
|
||||
{
|
||||
public:
|
||||
MotorControl();
|
||||
|
||||
/**
|
||||
* @brief Initialize the motorController
|
||||
*
|
||||
* @param pwmPin The output pin for the signal on the esp.
|
||||
* @param pwmChannel One of the pwm channels from the esp.
|
||||
* @param dir_1 First direction pin for the H-Bridge.
|
||||
* @param dir_2 Second direction pin for the H-Bridge.
|
||||
*/
|
||||
void init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2);
|
||||
/**
|
||||
* @brief Initialize the motorController
|
||||
*
|
||||
* @param pwmPin The output pin for the signal on the esp.
|
||||
* @param pwmChannel One of the pwm channels from the esp.
|
||||
* @param dir_1 First direction pin for the H-Bridge.
|
||||
* @param dir_2 Second direction pin for the H-Bridge.
|
||||
*/
|
||||
void init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2);
|
||||
|
||||
/**
|
||||
* @brief Set the minimum duty cycle
|
||||
*
|
||||
* @param min duty cycle in percent
|
||||
*/
|
||||
void setMinPwm(uint8_t min);
|
||||
/**
|
||||
* @brief Set the minimum duty cycle
|
||||
*
|
||||
* @param min duty cycle in percent
|
||||
*/
|
||||
void setMinPwm(uint8_t min);
|
||||
|
||||
/**
|
||||
* @brief Set the maximum duty cycle
|
||||
*
|
||||
* @param max duty cycle in percent
|
||||
*/
|
||||
void setMaxPwm(uint8_t max);
|
||||
/**
|
||||
* @brief Set the maximum duty cycle
|
||||
*
|
||||
* @param max duty cycle in percent
|
||||
*/
|
||||
void setMaxPwm(uint8_t max);
|
||||
|
||||
/**
|
||||
* @brief Set the Target Power
|
||||
*
|
||||
* If the given power is greater than 100 or smaller than -100, then
|
||||
* this function only print an error to consol.
|
||||
*
|
||||
* @param power power in percent
|
||||
*/
|
||||
void setTargetPower(int8_t power);
|
||||
/**
|
||||
* @brief Set the Target Power
|
||||
*
|
||||
* If the given power is greater than 100 or smaller than -100, then
|
||||
* this function only print an error to consol.
|
||||
*
|
||||
* @param power power in percent
|
||||
*/
|
||||
void setTargetPower(int8_t power);
|
||||
|
||||
/**
|
||||
* @brief Stops the motor like setTargetPower() to 0
|
||||
*
|
||||
*/
|
||||
void stop();
|
||||
/**
|
||||
* @brief Stops the motor like setTargetPower() to 0
|
||||
*
|
||||
*/
|
||||
void stop();
|
||||
|
||||
/**
|
||||
* @brief Stops the motor immediately
|
||||
*
|
||||
*/
|
||||
void emergencyStop();
|
||||
/**
|
||||
* @brief Stops the motor immediately
|
||||
*
|
||||
*/
|
||||
void emergencyStop();
|
||||
|
||||
/**
|
||||
* @brief Get the current power
|
||||
*
|
||||
* @return int8_t percent of power (-100 to 100)
|
||||
*/
|
||||
int8_t getPower() const { return this->power; };
|
||||
/**
|
||||
* @brief Get the current power
|
||||
*
|
||||
* @return int8_t percent of power (-100 to 100)
|
||||
*/
|
||||
int8_t getPower() const { return this->power; };
|
||||
|
||||
/**
|
||||
* @brief Get the target power
|
||||
*
|
||||
* @return int8_t percent of power (-100 to 100)
|
||||
*/
|
||||
int8_t getTargetPower() const { return this->targetPower; };
|
||||
/**
|
||||
* @brief Get the target power
|
||||
*
|
||||
* @return int8_t percent of power (-100 to 100)
|
||||
*/
|
||||
int8_t getTargetPower() const { return this->targetPower; };
|
||||
|
||||
uint16_t getDutycycle() const { return this->dutycycle; }
|
||||
bool isTargetPowerReached() const;
|
||||
bool isAccelerationPositive() const;
|
||||
bool isAccelerationNegative() const;
|
||||
uint16_t getDutycycle() const { return this->dutycycle; }
|
||||
bool isTargetPowerReached() const;
|
||||
bool isAccelerationPositive() const;
|
||||
bool isAccelerationNegative() const;
|
||||
|
||||
private:
|
||||
void run() override;
|
||||
void setRealPower(int8_t power);
|
||||
void increasePower(int8_t power);
|
||||
private:
|
||||
void run() override;
|
||||
void setRealPower(int8_t power);
|
||||
void increasePower(int8_t power);
|
||||
|
||||
static constexpr uint8_t loopDelay = 10;
|
||||
static constexpr uint16_t pwmFreq = 16000;
|
||||
static constexpr uint8_t pwmRes = 8;
|
||||
static constexpr uint8_t powerSteps = 2; // A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
|
||||
static constexpr uint8_t pwmMin = 55;
|
||||
static constexpr uint8_t pwmMax = 98; // Max 98% of 2^PWM_RES
|
||||
static constexpr uint8_t loopDelay = 10;
|
||||
static constexpr uint16_t pwmFreq = 16000;
|
||||
static constexpr uint8_t pwmRes = 8;
|
||||
static constexpr uint8_t powerSteps = 2; // A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
|
||||
static constexpr uint8_t maxPwmMin = 80;
|
||||
|
||||
int8_t targetPower = 0;
|
||||
int8_t power = 0;
|
||||
uint8_t direction = 0; // 0 = stop, 1 = forward, 2 = backward
|
||||
int8_t targetPower = 0;
|
||||
int8_t power = 0;
|
||||
uint8_t direction = 0; // 0 = stop, 1 = forward, 2 = backward
|
||||
|
||||
uint8_t pwmPin;
|
||||
uint8_t pwmChannel;
|
||||
uint16_t dutycycle = 0;
|
||||
uint8_t dutycycleMin;
|
||||
uint8_t dutycycleMax;
|
||||
uint8_t dir_1;
|
||||
uint8_t dir_2;
|
||||
uint8_t pwmPin = 0;
|
||||
uint8_t pwmChannel = 0;
|
||||
uint16_t dutycycle = 0;
|
||||
uint8_t dutycycleMin = 55;
|
||||
uint8_t dutycycleMax = 98; // Max 98% of 2^PWM_RES
|
||||
uint8_t dir_1 = 0;
|
||||
uint8_t dir_2 = 0;
|
||||
};
|
||||
|
||||
#endif // MOTOR_CONTROL_H
|
||||
|
||||
@@ -4,56 +4,72 @@
|
||||
* @brief Contains the implementation of the class Navigation
|
||||
* @version 0.1
|
||||
* @date 2022-01-31
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2022
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#include "navigation.h"
|
||||
|
||||
Navigation::Navigation(const SensorData* sensorData, Route* route) {
|
||||
this->sensorData = sensorData;
|
||||
Navigation::Navigation(const SensorData *sensorData, Route *route)
|
||||
: sensorData{sensorData}
|
||||
{
|
||||
this->init(route);
|
||||
}
|
||||
|
||||
void Navigation::init(Route* route) {
|
||||
if (route)
|
||||
void Navigation::init(Route *route)
|
||||
{
|
||||
if (static_cast<bool>(route))
|
||||
{
|
||||
this->route = route;
|
||||
}
|
||||
else
|
||||
{
|
||||
this->route = new Route();
|
||||
}
|
||||
|
||||
Component::loopDelay = Navigation::loopDelay;
|
||||
}
|
||||
|
||||
Navigation::~Navigation() {
|
||||
Navigation::~Navigation()
|
||||
{
|
||||
delete this->route;
|
||||
}
|
||||
|
||||
void Navigation::run() {}
|
||||
|
||||
void Navigation::newRoute() {
|
||||
if (this->route)
|
||||
delete this->route;
|
||||
void Navigation::newRoute()
|
||||
{
|
||||
delete this->route;
|
||||
this->route = new Route();
|
||||
}
|
||||
|
||||
bool Navigation::startNavigation() {
|
||||
Point newTargetPoint = this->route->startRoute();
|
||||
bool Navigation::startNavigation()
|
||||
{
|
||||
const Point newTargetPoint = this->route->startRoute();
|
||||
this->navigationStarted = this->setTargetPoint(newTargetPoint);
|
||||
if (this->navigationStarted)
|
||||
{
|
||||
this->navigationFinished = false;
|
||||
}
|
||||
return this->navigationStarted;
|
||||
}
|
||||
|
||||
Navigation::Status Navigation::getCourseCorrection(CourseCorrection& correction, bool forceUpdate) {
|
||||
Navigation::Status Navigation::getCourseCorrection(CourseCorrection &correction, bool forceUpdate)
|
||||
{
|
||||
if (this->navigationFinished)
|
||||
{
|
||||
return Status::Complete;
|
||||
}
|
||||
|
||||
if (this->currentPosition.getAccuracy() <= this->minAccuracy)
|
||||
{
|
||||
return Status::InsufficientAccuracy;
|
||||
}
|
||||
|
||||
if (this->currentPosition.distanceTo(this->lastPointCalcCorrection) < (this->minDistanceToReachPoint / 2.0)
|
||||
&& !forceUpdate) {
|
||||
// Check if the Rover has moved, if the Rover hasnt moved this function will be return.
|
||||
if (this->currentPosition.distanceTo(this->lastPointCalcCorrection) < (this->minDistanceToReachPoint) / 2 && !forceUpdate)
|
||||
{
|
||||
correction.correction = this->calculateCourseCorrection(this->lastPointCalcCorrection);
|
||||
correction.distance = this->lastPointCalcCorrection.distanceTo(this->targetPoint);
|
||||
return Status::Unchanged;
|
||||
@@ -62,8 +78,10 @@ Navigation::Status Navigation::getCourseCorrection(CourseCorrection& correction,
|
||||
double distance = this->currentPosition.distanceTo(this->targetPoint);
|
||||
|
||||
// Check if I need a new Point
|
||||
if (distance < this->minDistanceToReachPoint && this->preventNextPoint == false) {
|
||||
if (!this->nextPoint()) {
|
||||
if (distance < this->minDistanceToReachPoint && this->preventNextPoint == false)
|
||||
{
|
||||
if (!this->nextPoint())
|
||||
{
|
||||
this->navigationFinished = true;
|
||||
this->navigationStarted = false;
|
||||
return Status::Complete; // End of navigation
|
||||
@@ -77,21 +95,25 @@ Navigation::Status Navigation::getCourseCorrection(CourseCorrection& correction,
|
||||
return Status::Updated;
|
||||
}
|
||||
|
||||
Navigation::Status Navigation::addCurrentPosToRoute() {
|
||||
Navigation::Status Navigation::addCurrentPosToRoute()
|
||||
{
|
||||
if (this->currentPosition.getAccuracy() <= this->minAccuracy)
|
||||
{
|
||||
return Status::InsufficientAccuracy;
|
||||
}
|
||||
|
||||
// First Point
|
||||
if (this->route->getRouteInfo().totalPoints == 0) {
|
||||
if (this->route->getRouteInfo().totalPoints == 0)
|
||||
{
|
||||
this->route->addPointToRoute(this->currentPosition);
|
||||
this->lastPointRouteInsert = this->currentPosition;
|
||||
return Status::Updated;
|
||||
}
|
||||
|
||||
// Every Point after the first
|
||||
double distance = this->currentPosition.distanceTo(this->lastPointRouteInsert);
|
||||
if (Navigation::minDisBetweenPoints <= distance
|
||||
&& Navigation::maxDisBetweenPoints >= distance){
|
||||
const double distance = this->currentPosition.distanceTo(this->lastPointRouteInsert);
|
||||
if (Navigation::minDisBetweenPoints <= distance && Navigation::maxDisBetweenPoints >= distance)
|
||||
{
|
||||
this->route->addPointToRoute(this->currentPosition);
|
||||
this->lastPointRouteInsert = this->currentPosition;
|
||||
return Status::Updated;
|
||||
@@ -99,57 +121,58 @@ Navigation::Status Navigation::addCurrentPosToRoute() {
|
||||
return Status::Unchanged;
|
||||
}
|
||||
|
||||
// void Navigation::updateCurrentLocation() {
|
||||
// if (Navigation::ubxUpdateTimeStatic == this->ubxUpdateTime)
|
||||
// return;
|
||||
int16_t Navigation::calculateCourseCorrection(Point &point)
|
||||
{
|
||||
const int16_t targetCourse = point.courseTo(this->targetPoint);
|
||||
int16_t correctionCourse = 0;
|
||||
|
||||
// this->ubxData = Navigation::ubxDataStatic;
|
||||
// this->ubxUpdateTime = Navigation::ubxUpdateTimeStatic;
|
||||
|
||||
// Point::Coordinates coords;
|
||||
// coords.lat = this->ubxData->lat / 10000000.0;
|
||||
// coords.lon = this->ubxData->lon / 10000000.0;
|
||||
|
||||
// this->currentPosition = Point(coords, this->ubxData->hAcc);
|
||||
// }
|
||||
|
||||
int16_t Navigation::calculateCourseCorrection(Point& point) {
|
||||
int16_t targetCourse = point.courseTo(this->targetPoint);
|
||||
int16_t correctionCourse;
|
||||
|
||||
if (this->sensorData->getCalcAzimuthState() == CalcAzimuth::State::Good
|
||||
|| this->sensorData->getCalcAzimuthState() == CalcAzimuth::State::Super)
|
||||
if (this->sensorData->getCalcAzimuthState() == CalcAzimuth::State::Good || this->sensorData->getCalcAzimuthState() == CalcAzimuth::State::Super)
|
||||
{
|
||||
correctionCourse = targetCourse - this->sensorData->getCalcAzimuth();
|
||||
this->lastUsedCalcAzimuth = true;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
correctionCourse = targetCourse - this->sensorData->getRealAzimuth();
|
||||
this->lastUsedCalcAzimuth = false;
|
||||
}
|
||||
|
||||
|
||||
return Navigation::fixDegree(correctionCourse);
|
||||
}
|
||||
|
||||
bool Navigation::nextPoint() {
|
||||
bool Navigation::nextPoint()
|
||||
{
|
||||
if (!this->navigationStarted)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
return this->setTargetPoint(this->route->getNextPoint());
|
||||
}
|
||||
|
||||
bool Navigation::setTargetPoint(Point target) {
|
||||
if (target.isInit()) {
|
||||
bool Navigation::setTargetPoint(Point target)
|
||||
{
|
||||
if (target.isInit())
|
||||
{
|
||||
this->targetPoint = target;
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
int16_t Navigation::fixDegree(int16_t degree) {
|
||||
while (degree < -180 || degree > 180) {
|
||||
if (degree > 180)
|
||||
degree -= 360;
|
||||
else if (degree < -180)
|
||||
degree += 360;
|
||||
int16_t Navigation::fixDegree(int16_t degree)
|
||||
{
|
||||
static constexpr uint16_t fullCircle = 360;
|
||||
|
||||
while (degree < -fullCircle / 2 || degree > fullCircle / 2)
|
||||
{
|
||||
if (degree > fullCircle / 2)
|
||||
{
|
||||
degree -= fullCircle;
|
||||
}
|
||||
else if (degree < -fullCircle / 2)
|
||||
{
|
||||
degree += fullCircle;
|
||||
}
|
||||
}
|
||||
return degree;
|
||||
}
|
||||
|
||||
+112
-111
@@ -4,9 +4,9 @@
|
||||
* @brief Contains a class which navigate an object by the given route
|
||||
* @version 0.1
|
||||
* @date 2022-01-10
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2022
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef NAVIGATION_H
|
||||
@@ -21,143 +21,144 @@
|
||||
|
||||
/**
|
||||
* @brief This struct inherits the result of the navigation
|
||||
*
|
||||
*
|
||||
* The drive get objects of this struct and should
|
||||
* correct the direction in dependency on this.
|
||||
*
|
||||
*
|
||||
*/
|
||||
struct CourseCorrection {
|
||||
struct CourseCorrection
|
||||
{
|
||||
int16_t correction;
|
||||
double distance;
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief This class navigate an object
|
||||
*
|
||||
*
|
||||
* The class use the given Route and the gps device
|
||||
* to tell the driver in which direction he have to
|
||||
* be drive and the distance to the next checkpoint.
|
||||
*
|
||||
*
|
||||
*/
|
||||
class Navigation : public Component {
|
||||
public:
|
||||
enum Status {
|
||||
InsufficientAccuracy,
|
||||
Unchanged,
|
||||
Updated,
|
||||
Complete
|
||||
};
|
||||
class Navigation : public Component
|
||||
{
|
||||
public:
|
||||
enum Status
|
||||
{
|
||||
InsufficientAccuracy,
|
||||
Unchanged,
|
||||
Updated,
|
||||
Complete
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Construct a new Navigation object and using I2C
|
||||
*
|
||||
* @param route with which to navigate
|
||||
*/
|
||||
Navigation(const SensorData* sensorData, Route* route = nullptr);
|
||||
/**
|
||||
* @brief Construct a new Navigation object and using I2C
|
||||
*
|
||||
* @param route with which to navigate
|
||||
*/
|
||||
Navigation(const SensorData *sensorData, Route *route = nullptr);
|
||||
|
||||
/**
|
||||
* @brief Destroy the Navigation object
|
||||
*
|
||||
*/
|
||||
~Navigation();
|
||||
/**
|
||||
* @brief Destroy the Navigation object
|
||||
*
|
||||
*/
|
||||
~Navigation();
|
||||
|
||||
/**
|
||||
* @brief creates a new empty route
|
||||
*
|
||||
*/
|
||||
void newRoute();
|
||||
/**
|
||||
* @brief creates a new empty route
|
||||
*
|
||||
*/
|
||||
void newRoute();
|
||||
|
||||
/**
|
||||
* @brief Tries to start the route
|
||||
*
|
||||
* For example the route can not be started
|
||||
* if there are no Points or wrong Points.
|
||||
*
|
||||
* @return true route is started
|
||||
* @return false route can not be started
|
||||
*/
|
||||
bool startNavigation();
|
||||
void freezeTargetPoint(bool val = true) { this->preventNextPoint = val; };
|
||||
|
||||
|
||||
double increaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint += 0.1; }
|
||||
double decreaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint -= 0.1; }
|
||||
/**
|
||||
* @brief Tries to start the route
|
||||
*
|
||||
* For example the route can not be started
|
||||
* if there are no Points or wrong Points.
|
||||
*
|
||||
* @return true route is started
|
||||
* @return false route can not be started
|
||||
*/
|
||||
bool startNavigation();
|
||||
void freezeTargetPoint(bool val = true) { this->preventNextPoint = val; };
|
||||
|
||||
// TODO: Dokumentation korrigieren.
|
||||
/**
|
||||
* @brief Get the Course Correction object
|
||||
*
|
||||
* This should be called by the driver to get new instructions.
|
||||
*
|
||||
* @param correction passed as refernce to get the data
|
||||
* @return true if new correction data provided
|
||||
* @return false if route is finished
|
||||
*/
|
||||
Status getCourseCorrection(CourseCorrection& correction, bool forceUpdate = false);
|
||||
double increaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint += 0.1; }
|
||||
double decreaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint -= 0.1; }
|
||||
|
||||
// TODO: Dokumentation korrigieren.
|
||||
/**
|
||||
* @brief Get the Course Correction object
|
||||
*
|
||||
* This should be called by the driver to get new instructions.
|
||||
*
|
||||
* @param correction passed as refernce to get the data
|
||||
* @return true if new correction data provided
|
||||
* @return false if route is finished
|
||||
*/
|
||||
Status getCourseCorrection(CourseCorrection &correction, bool forceUpdate = false);
|
||||
|
||||
// TODO: Dokumentation korrigieren.
|
||||
/**
|
||||
* @brief Tries to add the current Position to the route
|
||||
*
|
||||
* This can be go wrong if there is no valid GPS signal
|
||||
*
|
||||
* @return true successful added point
|
||||
* @return false no point added to route
|
||||
*/
|
||||
Status addCurrentPosToRoute();
|
||||
// TODO: Dokumentation korrigieren.
|
||||
/**
|
||||
* @brief Tries to add the current Position to the route
|
||||
*
|
||||
* This can be go wrong if there is no valid GPS signal
|
||||
*
|
||||
* @return true successful added point
|
||||
* @return false no point added to route
|
||||
*/
|
||||
Status addCurrentPosToRoute();
|
||||
|
||||
/**
|
||||
* @brief Get the Route Info object
|
||||
*
|
||||
* This object contains information about the route.
|
||||
* For example the stored points.
|
||||
*
|
||||
* @return RouteInfo
|
||||
*/
|
||||
RouteInfo getRouteInfo() const { return this->route->getRouteInfo(); }
|
||||
Route* getRoute() const { return this->route; }
|
||||
Point getCurrentPosition() const { return this->currentPosition; }
|
||||
/**
|
||||
* @brief Get the Route Info object
|
||||
*
|
||||
* This object contains information about the route.
|
||||
* For example the stored points.
|
||||
*
|
||||
* @return RouteInfo
|
||||
*/
|
||||
RouteInfo getRouteInfo() const { return this->route->getRouteInfo(); }
|
||||
Route *getRoute() const { return this->route; }
|
||||
Point getCurrentPosition() const { return this->currentPosition; }
|
||||
|
||||
Point::Accuracy getMinAccuracy() const { return this->minAccuracy; }
|
||||
void setMinAccuracy(Point::Accuracy accuracy) { this->minAccuracy = accuracy; }
|
||||
Point::Accuracy getMinAccuracy() const { return this->minAccuracy; }
|
||||
void setMinAccuracy(Point::Accuracy accuracy) { this->minAccuracy = accuracy; }
|
||||
|
||||
// map input in range from -180 to 180 degree
|
||||
static int16_t fixDegree(int16_t degree);
|
||||
// map input in range from -180 to 180 degree
|
||||
static int16_t fixDegree(int16_t degree);
|
||||
|
||||
private:
|
||||
void run() override;
|
||||
void init(Route* route);
|
||||
bool nextPoint();
|
||||
bool setTargetPoint(Point target);
|
||||
int16_t calculateCourseCorrection(Point& point);
|
||||
private:
|
||||
void run() override;
|
||||
void init(Route *route);
|
||||
bool nextPoint();
|
||||
bool setTargetPoint(Point target);
|
||||
int16_t calculateCourseCorrection(Point &point);
|
||||
|
||||
static constexpr uint8_t loopDelay = 20;
|
||||
static constexpr uint8_t maxDisBetweenPoints = 10;
|
||||
static constexpr float minDisBetweenPoints = 0.3;
|
||||
|
||||
const SensorData* sensorData;
|
||||
Route* route = nullptr;
|
||||
static constexpr uint8_t loopDelay = 20;
|
||||
static constexpr uint8_t maxDisBetweenPoints = 10;
|
||||
static constexpr float minDisBetweenPoints = 0.3;
|
||||
|
||||
Point lastPointRouteInsert;
|
||||
Point lastPointCalcCorrection;
|
||||
Point lastPointDrivingDirectionChange;
|
||||
Point targetPoint;
|
||||
Point currentPosition;
|
||||
Point::Accuracy minAccuracy = Point::Accuracy::twoDigOfCM;
|
||||
|
||||
bool navigationStarted = false;
|
||||
bool navigationFinished = false;
|
||||
bool isNtripInit = false;
|
||||
bool preventNextPoint = false;
|
||||
bool directionChangeMode = false;
|
||||
bool lastUsedCalcAzimuth = false;
|
||||
const SensorData *sensorData;
|
||||
Route *route = nullptr;
|
||||
|
||||
uint8_t timeToWait = 200;
|
||||
uint32_t lastMillis = 0;
|
||||
uint32_t ubxUpdateTime = 0;
|
||||
Point lastPointRouteInsert;
|
||||
Point lastPointCalcCorrection;
|
||||
Point lastPointDrivingDirectionChange;
|
||||
Point targetPoint;
|
||||
Point currentPosition;
|
||||
Point::Accuracy minAccuracy = Point::Accuracy::twoDigOfCM;
|
||||
|
||||
double minDistanceToReachPoint = 0.5;
|
||||
bool navigationStarted = false;
|
||||
bool navigationFinished = false;
|
||||
bool isNtripInit = false;
|
||||
bool preventNextPoint = false;
|
||||
bool directionChangeMode = false;
|
||||
bool lastUsedCalcAzimuth = false;
|
||||
|
||||
uint8_t timeToWait = 200;
|
||||
uint32_t lastMillis = 0;
|
||||
uint32_t ubxUpdateTime = 0;
|
||||
|
||||
double minDistanceToReachPoint = 0.5;
|
||||
};
|
||||
|
||||
#endif // NAVIGATION_H
|
||||
|
||||
+79
-45
@@ -1,33 +1,38 @@
|
||||
/**
|
||||
* @file network.cpp
|
||||
* @author Alexander Klein (alex@kleiax.de)
|
||||
* @brief
|
||||
* @brief
|
||||
* @version 0.1
|
||||
* @date 2023-09-18
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2023
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#include "network.h"
|
||||
|
||||
Network::Network(const char *ssid, const char *passphrase) {
|
||||
if (!WiFi.mode(WIFI_AP_STA))
|
||||
Network::Network(const char *ssid, const char *passphrase)
|
||||
{
|
||||
if (!WiFiGenericClass::mode(WIFI_AP_STA))
|
||||
{
|
||||
std::cout << "Network::connectWiFi failed WiFi.mode" << std::endl;
|
||||
}
|
||||
|
||||
this->init(ssid, passphrase);
|
||||
}
|
||||
|
||||
Network::Network(const char *ssid, const char *passphrase, NetworkAdresses adresses) {
|
||||
this->adresses = adresses;
|
||||
|
||||
if (!WiFi.mode(WIFI_AP_STA))
|
||||
Network::Network(const char *ssid, const char *passphrase, NetworkAdresses adresses)
|
||||
: adresses{adresses}
|
||||
{
|
||||
if (!WiFiGenericClass::mode(WIFI_AP_STA))
|
||||
{
|
||||
std::cout << "Network::connectWiFi failed WiFi.mode" << std::endl;
|
||||
}
|
||||
|
||||
if (!WiFi.config(this->adresses.localIP,
|
||||
this->adresses.gateway,
|
||||
this->adresses.subnet,
|
||||
this->adresses.dnsServer))
|
||||
this->adresses.dnsServer))
|
||||
{
|
||||
std::cout << "STA Failed to configure" << std::endl;
|
||||
}
|
||||
@@ -35,13 +40,15 @@ Network::Network(const char *ssid, const char *passphrase, NetworkAdresses adres
|
||||
this->init(ssid, passphrase);
|
||||
}
|
||||
|
||||
Network::~Network() {
|
||||
if (this->mqttClient)
|
||||
delete mqttClient;
|
||||
Network::~Network()
|
||||
{
|
||||
delete mqttClient;
|
||||
}
|
||||
|
||||
bool Network::activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send) {
|
||||
if (esp_now_init() != ESP_OK) {
|
||||
bool Network::activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send)
|
||||
{
|
||||
if (esp_now_init() != ESP_OK)
|
||||
{
|
||||
std::cout << "Network::activateEspNow - Error initializing ESP-NOW" << std::endl;
|
||||
return false;
|
||||
}
|
||||
@@ -49,11 +56,12 @@ bool Network::activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send) {
|
||||
esp_now_register_send_cb(send);
|
||||
|
||||
esp_now_peer_info_t peerInfo = {};
|
||||
memcpy(peerInfo.peer_addr, this->broadcastAddress, 6);
|
||||
peerInfo.channel = 0;
|
||||
memcpy(static_cast<void *>(peerInfo.peer_addr), static_cast<const void *>(this->broadcastAddress), 6);
|
||||
peerInfo.channel = 0;
|
||||
peerInfo.encrypt = false;
|
||||
|
||||
if (esp_now_add_peer(&peerInfo) != ESP_OK) {
|
||||
if (esp_now_add_peer(&peerInfo) != ESP_OK)
|
||||
{
|
||||
std::cout << "Network::connectEspNow - Failed to add peer" << std::endl;
|
||||
return false;
|
||||
}
|
||||
@@ -62,7 +70,8 @@ bool Network::activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send) {
|
||||
return true;
|
||||
}
|
||||
|
||||
bool Network::activateMqtt(const char *user, const char *passphrase) {
|
||||
bool Network::activateMqtt(const char *user, const char *passphrase)
|
||||
{
|
||||
this->mqttUser = user;
|
||||
this->mqttPassphrase = passphrase;
|
||||
|
||||
@@ -71,53 +80,68 @@ bool Network::activateMqtt(const char *user, const char *passphrase) {
|
||||
this->mqttClient->setSocketTimeout(1);
|
||||
|
||||
if (this->wifiConnected)
|
||||
{
|
||||
return this->connectMqtt();
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
void Network::printIPs() {
|
||||
const void Network::printIPs()
|
||||
{
|
||||
std::cout << std::endl;
|
||||
if (!this->wifiConnected) {
|
||||
if (!this->wifiConnected)
|
||||
{
|
||||
std::cout << "WiFi is not connected." << std::endl;
|
||||
return;
|
||||
}
|
||||
std::cout << "WiFi is connected to" << std::endl;
|
||||
std::cout << "IP address: " << std::endl;
|
||||
std::cout << WiFi.localIP().toString().c_str() << std::endl;
|
||||
std::cout << "WiFi MAC Address: " << WiFi.macAddress().c_str() << std::endl << std::endl;
|
||||
std::cout << "WiFi MAC Address: " << WiFi.macAddress().c_str() << std::endl
|
||||
<< std::endl;
|
||||
}
|
||||
|
||||
uint8_t Network::getCurrentChannel() {
|
||||
uint8_t channel;
|
||||
wifi_second_chan_t secondChannel;
|
||||
if (esp_wifi_get_channel(&channel, &secondChannel) != ESP_OK) {
|
||||
uint8_t Network::getCurrentChannel()
|
||||
{
|
||||
uint8_t channel = 0;
|
||||
wifi_second_chan_t secondChannel = WIFI_SECOND_CHAN_NONE;
|
||||
if (esp_wifi_get_channel(&channel, &secondChannel) != ESP_OK)
|
||||
{
|
||||
std::cout << "Network::getCurrentChannel - Error!" << std::endl;
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
||||
return channel;
|
||||
}
|
||||
|
||||
void Network::runAsChild() {
|
||||
void Network::runAsChild()
|
||||
{
|
||||
if (!this->initSucessful)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
this->checkWifi();
|
||||
|
||||
if (this->wifiConnected && this->mqttClient)
|
||||
if (this->wifiConnected && static_cast<bool>(this->mqttClient))
|
||||
{
|
||||
this->checkMqtt();
|
||||
}
|
||||
}
|
||||
|
||||
void Network::init(const char *ssid, const char *passphrase) {
|
||||
void Network::init(const char *ssid, const char *passphrase)
|
||||
{
|
||||
// Connect to Wi-Fi network with SSID and password
|
||||
std::cout << "Connecting to " << ssid << std::endl;
|
||||
WiFi.begin(ssid, passphrase);
|
||||
uint8_t timeout = Network::wifiConnectTimeout;
|
||||
while (WiFi.status() != WL_CONNECTED) {
|
||||
while (WiFiSTAClass::status() != WL_CONNECTED)
|
||||
{
|
||||
delay(Network::wifiConnectLoopTime);
|
||||
std::cout << "." << std::flush;
|
||||
timeout--;
|
||||
if (timeout == 0) {
|
||||
if (timeout == 0)
|
||||
{
|
||||
std::cout << std::endl;
|
||||
std::cout << "WiFi NOT connected." << std::endl;
|
||||
return;
|
||||
@@ -128,9 +152,9 @@ void Network::init(const char *ssid, const char *passphrase) {
|
||||
this->printIPs();
|
||||
}
|
||||
|
||||
void Network::checkWifi() {
|
||||
if ((WiFi.status() != WL_CONNECTED)
|
||||
&& (millis() - this->lastWifiRecoonectAttemp >= Network::wifiReconnectDelay))
|
||||
void Network::checkWifi()
|
||||
{
|
||||
if ((WiFiSTAClass::status() != WL_CONNECTED) && (millis() - this->lastWifiRecoonectAttemp >= Network::wifiReconnectDelay))
|
||||
{
|
||||
std::cout << "Reconnecting to WiFi..." << std::endl;
|
||||
WiFi.disconnect();
|
||||
@@ -139,29 +163,39 @@ void Network::checkWifi() {
|
||||
}
|
||||
}
|
||||
|
||||
void Network::checkMqtt() {
|
||||
if (!this->mqttClient->connected()
|
||||
&& millis() - this->lastMqttReconnectAttemp > Network::mqttReconnectDelay)
|
||||
void Network::checkMqtt()
|
||||
{
|
||||
if (!this->mqttClient->connected() && millis() - this->lastMqttReconnectAttemp > Network::mqttReconnectDelay)
|
||||
{
|
||||
this->mqttConnected = this->connectMqtt();
|
||||
this->lastMqttReconnectAttemp = millis();
|
||||
}
|
||||
|
||||
if (this->mqttConnected)
|
||||
{
|
||||
this->mqttClient->loop();
|
||||
}
|
||||
}
|
||||
|
||||
bool Network::connectMqtt() {
|
||||
bool Network::connectMqtt()
|
||||
{
|
||||
String clientId = "ESP32Rover-";
|
||||
clientId += String(random(0xffff), HEX);
|
||||
clientId += String(random(), HEX);
|
||||
|
||||
if (this->mqttUser) {
|
||||
if (static_cast<bool>(this->mqttUser))
|
||||
{
|
||||
if (this->mqttClient->connect(clientId.c_str(), this->mqttUser, this->mqttPassphrase))
|
||||
{
|
||||
this->mqttClient->publish("Rover/Info", "Connected to Mqtt-Broker");
|
||||
} else {
|
||||
if (this->mqttClient->connect(clientId.c_str()))
|
||||
this->mqttClient->publish("Rover/Info", "Connected to Mqtt-Broker");
|
||||
}
|
||||
}
|
||||
|
||||
else
|
||||
{
|
||||
if (this->mqttClient->connect(clientId.c_str()))
|
||||
{
|
||||
this->mqttClient->publish("Rover/Info", "Connected to Mqtt-Broker");
|
||||
}
|
||||
}
|
||||
|
||||
return this->mqttClient->connected();
|
||||
}
|
||||
|
||||
+44
-43
@@ -1,12 +1,12 @@
|
||||
/**
|
||||
* @file network.h
|
||||
* @author Alexander Klein (alex@kleiax.de)
|
||||
* @brief
|
||||
* @brief
|
||||
* @version 0.1
|
||||
* @date 2023-09-18
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2023
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef NETWORK_H
|
||||
@@ -20,10 +20,11 @@
|
||||
#include <esp_now.h>
|
||||
#include <esp_wifi.h>
|
||||
|
||||
typedef void (*recieveCallbackPtr) (const uint8_t * mac, const uint8_t *incomingData, int len);
|
||||
typedef void (*sendCallbackPtr) (const uint8_t *mac_addr, esp_now_send_status_t status);
|
||||
typedef void (*recieveCallbackPtr)(const uint8_t *mac, const uint8_t *incomingData, int len);
|
||||
typedef void (*sendCallbackPtr)(const uint8_t *mac_addr, esp_now_send_status_t status);
|
||||
|
||||
struct NetworkAdresses {
|
||||
struct NetworkAdresses
|
||||
{
|
||||
IPAddress localIP;
|
||||
IPAddress gateway;
|
||||
IPAddress subnet;
|
||||
@@ -32,53 +33,53 @@ struct NetworkAdresses {
|
||||
uint16_t mqttPort = 1883;
|
||||
};
|
||||
|
||||
class Network : public Component {
|
||||
public:
|
||||
Network(const char *ssid, const char *passphrase);
|
||||
Network(const char *ssid, const char *passphrase, NetworkAdresses adresses);
|
||||
class Network : public Component
|
||||
{
|
||||
public:
|
||||
Network(const char *ssid, const char *passphrase);
|
||||
Network(const char *ssid, const char *passphrase, NetworkAdresses adresses);
|
||||
|
||||
~Network();
|
||||
~Network();
|
||||
|
||||
bool activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send);
|
||||
bool activateMqtt(const char *user = nullptr, const char *passphrase = nullptr);
|
||||
bool activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send);
|
||||
bool activateMqtt(const char *user = nullptr, const char *passphrase = nullptr);
|
||||
|
||||
void printIPs();
|
||||
const void printIPs();
|
||||
|
||||
bool isWifiConnected() const { return this->wifiConnected; }
|
||||
bool isMqttConnected() const { return this->mqttConnected; }
|
||||
const uint8_t* getBroadcastAddress() const { return this->broadcastAddress; }
|
||||
PubSubClient* getMqttClient() const { return this->mqttClient; }
|
||||
bool isWifiConnected() const { return this->wifiConnected; }
|
||||
bool isMqttConnected() const { return this->mqttConnected; }
|
||||
const uint8_t *getBroadcastAddress() const { return this->broadcastAddress; }
|
||||
PubSubClient *getMqttClient() const { return this->mqttClient; }
|
||||
|
||||
static uint8_t getCurrentChannel();
|
||||
|
||||
private:
|
||||
void run() override {};
|
||||
void runAsChild() override;
|
||||
void init(const char *ssid, const char *passphrase);
|
||||
void checkWifi();
|
||||
void checkMqtt();
|
||||
bool connectMqtt();
|
||||
static uint8_t getCurrentChannel();
|
||||
|
||||
NetworkAdresses adresses;
|
||||
WiFiClient wifiClient;
|
||||
PubSubClient* mqttClient = nullptr;
|
||||
private:
|
||||
void run() override{};
|
||||
void runAsChild() override;
|
||||
void init(const char *ssid, const char *passphrase);
|
||||
void checkWifi();
|
||||
void checkMqtt();
|
||||
bool connectMqtt();
|
||||
|
||||
bool initSucessful = false;
|
||||
bool wifiConnected = false;
|
||||
bool mqttConnected = false;
|
||||
NetworkAdresses adresses;
|
||||
WiFiClient wifiClient;
|
||||
PubSubClient *mqttClient = nullptr;
|
||||
|
||||
const char *mqttUser;
|
||||
const char *mqttPassphrase;
|
||||
bool initSucessful = false;
|
||||
bool wifiConnected = false;
|
||||
bool mqttConnected = false;
|
||||
|
||||
uint8_t broadcastAddress[6] = {0xC8, 0xC9, 0xA3, 0xC8, 0x57, 0x10};
|
||||
uint32_t lastWifiRecoonectAttemp = 0;
|
||||
uint32_t lastMqttReconnectAttemp = 0;
|
||||
const char *mqttUser = nullptr;
|
||||
const char *mqttPassphrase = nullptr;
|
||||
|
||||
static constexpr uint8_t wifiConnectTimeout = 20;
|
||||
static constexpr uint16_t wifiConnectLoopTime = 500;
|
||||
static constexpr uint16_t wifiReconnectDelay = 5000;
|
||||
static constexpr uint16_t mqttReconnectDelay = 2500;
|
||||
uint8_t broadcastAddress[6] = {0xC8, 0xC9, 0xA3, 0xC8, 0x57, 0x10};
|
||||
uint32_t lastWifiRecoonectAttemp = 0;
|
||||
uint32_t lastMqttReconnectAttemp = 0;
|
||||
|
||||
static constexpr uint8_t wifiConnectTimeout = 20;
|
||||
static constexpr uint16_t wifiConnectLoopTime = 500;
|
||||
static constexpr uint16_t wifiReconnectDelay = 5000;
|
||||
static constexpr uint16_t mqttReconnectDelay = 2500;
|
||||
};
|
||||
|
||||
#endif //NETWORK_H
|
||||
#endif // NETWORK_H
|
||||
|
||||
+192
-134
@@ -4,84 +4,90 @@
|
||||
* @brief Contains the implementation of the class NTRIPClient.
|
||||
* @version 0.1
|
||||
* @date 2022-09-18
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2022
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#include "ntripClient.h"
|
||||
|
||||
|
||||
NTRIPClient::NTRIPClient(SFE_UBLOX_GNSS* gps, const char* host, uint16_t port, const char* mountPoint, const char* user, const char* password) {
|
||||
this->gps = gps;
|
||||
strcpy(this->host, host);
|
||||
this->port = port;
|
||||
strcpy(this->mountPoint, mountPoint);
|
||||
strcpy(this->user, user);
|
||||
strcpy(this->password, password);
|
||||
|
||||
this->ntripClient = new WiFiClient;
|
||||
this->state = NTRIPClientStates::closeConnection;
|
||||
|
||||
this->loopDelay = 20;
|
||||
NTRIPClient::NTRIPClient(SFE_UBLOX_GNSS *gps, const char *host, uint16_t port, const char *mountPoint, const char *user, const char *password)
|
||||
: gps{gps}, port{port}, host{host}, mountPoint{mountPoint}, user{user}, password{password}, ntripClient{new WiFiClient}, state{NTRIPClientStates::closeConnection}
|
||||
{
|
||||
Component::loopDelay = NTRIPClient::loopDelay;
|
||||
}
|
||||
|
||||
NTRIPClient::~NTRIPClient() {
|
||||
NTRIPClient::~NTRIPClient()
|
||||
{
|
||||
delete this->ntripClient;
|
||||
}
|
||||
|
||||
void NTRIPClient::run() {
|
||||
switch (this->state) {
|
||||
case NTRIPClientStates::openConnection:
|
||||
if (!this->activated) {
|
||||
this->state = NTRIPClientStates::closeConnection;
|
||||
break;
|
||||
}
|
||||
|
||||
std::cout << "Connecting to the NTRIP caster..." << std::endl;
|
||||
if (this->beginClient()) {
|
||||
std::cout << "Connected to the NTRIP caster!" << std::endl;
|
||||
this->state = NTRIPClientStates::pushData;
|
||||
} else {
|
||||
std::cout << "Failed!" << std::endl;
|
||||
this->state = NTRIPClientStates::wait;
|
||||
this->activated = false;
|
||||
}
|
||||
break;
|
||||
|
||||
case NTRIPClientStates::pushData:
|
||||
if (!processConnection() || !this->activated)
|
||||
this->state = NTRIPClientStates::closeConnection;
|
||||
break;
|
||||
|
||||
case NTRIPClientStates::closeConnection:
|
||||
std::cout << "Closing the connection to the NTRIP caster..." << std::endl;
|
||||
this->closeConnection();
|
||||
state = NTRIPClientStates::wait;
|
||||
break;
|
||||
|
||||
case NTRIPClientStates::wait:
|
||||
if (this->activated)
|
||||
this->state = NTRIPClientStates::openConnection;
|
||||
else
|
||||
this->checkAutoReconnect();
|
||||
break;
|
||||
|
||||
case NTRIPClientStates::notAvailable:
|
||||
break;
|
||||
|
||||
default:
|
||||
std::cout << "Wrong state in NTRIPClient.cpp..." << std::endl;
|
||||
void NTRIPClient::run()
|
||||
{
|
||||
switch (this->state)
|
||||
{
|
||||
case NTRIPClientStates::openConnection:
|
||||
if (!this->activated)
|
||||
{
|
||||
this->state = NTRIPClientStates::closeConnection;
|
||||
break;
|
||||
}
|
||||
|
||||
std::cout << "Connecting to the NTRIP caster..." << std::endl;
|
||||
if (this->beginClient())
|
||||
{
|
||||
std::cout << "Connected to the NTRIP caster!" << std::endl;
|
||||
this->state = NTRIPClientStates::pushData;
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "Failed!" << std::endl;
|
||||
this->state = NTRIPClientStates::wait;
|
||||
this->activated = false;
|
||||
}
|
||||
break;
|
||||
|
||||
case NTRIPClientStates::pushData:
|
||||
if (!processConnection() || !this->activated)
|
||||
{
|
||||
this->state = NTRIPClientStates::closeConnection;
|
||||
}
|
||||
break;
|
||||
|
||||
case NTRIPClientStates::closeConnection:
|
||||
std::cout << "Closing the connection to the NTRIP caster..." << std::endl;
|
||||
this->closeConnection();
|
||||
state = NTRIPClientStates::wait;
|
||||
break;
|
||||
|
||||
case NTRIPClientStates::wait:
|
||||
if (this->activated)
|
||||
{
|
||||
this->state = NTRIPClientStates::openConnection;
|
||||
}
|
||||
else
|
||||
{
|
||||
this->checkAutoReconnect();
|
||||
}
|
||||
break;
|
||||
|
||||
case NTRIPClientStates::notAvailable:
|
||||
break;
|
||||
|
||||
default:
|
||||
std::cout << "Wrong state in NTRIPClient.cpp..." << std::endl;
|
||||
this->state = NTRIPClientStates::closeConnection;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void NTRIPClient::runAsChild() {
|
||||
void NTRIPClient::runAsChild()
|
||||
{
|
||||
this->pushGPGGA();
|
||||
}
|
||||
|
||||
void NTRIPClient::gpsConfiguration() {
|
||||
void NTRIPClient::gpsConfiguration()
|
||||
{
|
||||
this->gps->setSPIOutput(COM_TYPE_UBX | COM_TYPE_NMEA);
|
||||
this->gps->setPortInput(COM_PORT_SPI, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3);
|
||||
// Set the differential mode - ambiguities are fixed whenever possible
|
||||
@@ -90,21 +96,28 @@ void NTRIPClient::gpsConfiguration() {
|
||||
this->gps->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10);
|
||||
}
|
||||
|
||||
bool NTRIPClient::setActivated(bool state) {
|
||||
// std::cout << "NTRIPClient::setActivated: b - " << b << std::endl;
|
||||
bool NTRIPClient::setActivated(bool state)
|
||||
{
|
||||
if (state && this->state != NTRIPClientStates::notAvailable)
|
||||
{
|
||||
this->activated = true;
|
||||
}
|
||||
else if (state)
|
||||
{
|
||||
return false;
|
||||
else {
|
||||
}
|
||||
else
|
||||
{
|
||||
this->activated = false;
|
||||
this->autoReconnect = false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
void NTRIPClient::setAutoReconnect(bool state) {
|
||||
if (state) {
|
||||
void NTRIPClient::setAutoReconnect(bool state)
|
||||
{
|
||||
if (state)
|
||||
{
|
||||
this->reconnectAttemps = 0;
|
||||
this->autoReconnect = true;
|
||||
return;
|
||||
@@ -113,61 +126,67 @@ void NTRIPClient::setAutoReconnect(bool state) {
|
||||
this->autoReconnect = false;
|
||||
}
|
||||
|
||||
bool NTRIPClient::beginClient() {
|
||||
bool NTRIPClient::beginClient()
|
||||
{
|
||||
static constexpr uint16_t httpError = 401;
|
||||
static constexpr uint16_t httpCheck = 200;
|
||||
|
||||
std::cout << "Opening socket to " << this->host << std::endl;
|
||||
|
||||
char serverRequest[this->bufferSize];
|
||||
char credentials[this->bufferSize];
|
||||
|
||||
if (!this->ntripClient->connect(this->host, this->port)) {
|
||||
if (!static_cast<bool>(this->ntripClient->connect(static_cast<const char *>(this->host), this->port)))
|
||||
{
|
||||
std::cout << "Connection to caster failed" << std::endl;
|
||||
return false;
|
||||
} else {
|
||||
std::cout << "Connected to " << this->host << " : " << this->port << std::endl;
|
||||
std::cout << "Requesting NTRIP Data from mount point " << this->mountPoint << std::endl;
|
||||
|
||||
// Generate the server request (GET)
|
||||
snprintf(serverRequest,
|
||||
this->bufferSize,
|
||||
"GET /%s HTTP/1.0\r\nUser-Agent: NTRIP SparkFun u-blox Client v1.0\r\n",
|
||||
this->mountPoint);
|
||||
|
||||
// Credentials
|
||||
uint8_t userCredentialsLength = strlen(this->user) + strlen(this->password) + 2;
|
||||
char* userCredentials = new char[userCredentialsLength];
|
||||
snprintf(userCredentials, userCredentialsLength, "%s:%s", this->user, this->password);
|
||||
|
||||
std::cout << "Sending credentials: " << userCredentials << std::endl;
|
||||
|
||||
//Encode
|
||||
base64 b;
|
||||
String strEncodedCredentials = b.encode(userCredentials);
|
||||
delete userCredentials;
|
||||
char encodedCredentials[strEncodedCredentials.length() + 1];
|
||||
strEncodedCredentials.toCharArray(encodedCredentials, sizeof(encodedCredentials));
|
||||
|
||||
snprintf(credentials, sizeof(credentials), "Authorization: Basic %s\r\n", encodedCredentials);
|
||||
}
|
||||
std::cout << "Connected to " << this->host << " : " << this->port << std::endl;
|
||||
std::cout << "Requesting NTRIP Data from mount point " << this->mountPoint << std::endl;
|
||||
|
||||
// Generate the server request (GET)
|
||||
snprintf(static_cast<char *>(serverRequest),
|
||||
this->bufferSize,
|
||||
static_cast<const char *>("GET /%s HTTP/1.0\r\nUser-Agent: NTRIP SparkFun u-blox Client v1.0\r\n"),
|
||||
this->mountPoint);
|
||||
|
||||
// Credentials
|
||||
const uint8_t userCredentialsLength = strlen(this->user) + strlen(this->password) + 2;
|
||||
auto *userCredentials = new char[userCredentialsLength];
|
||||
snprintf(static_cast<char *>(userCredentials), userCredentialsLength, static_cast<const char *>("%s:%s"), this->user, this->password);
|
||||
|
||||
std::cout << "Sending credentials: " << userCredentials << std::endl;
|
||||
|
||||
// Encode
|
||||
const base64 base;
|
||||
const String strEncodedCredentials = base64::encode(userCredentials);
|
||||
delete userCredentials;
|
||||
char encodedCredentials[strEncodedCredentials.length() + 1];
|
||||
strEncodedCredentials.toCharArray(static_cast<char *>(encodedCredentials), sizeof(encodedCredentials));
|
||||
|
||||
snprintf(credentials, sizeof(credentials), static_cast<const char *>("Authorization: Basic %s\r\n"), static_cast<const char *>(encodedCredentials));
|
||||
|
||||
// Add the encoded credentials to the server request
|
||||
strncat(serverRequest, credentials, this->bufferSize);
|
||||
strncat(serverRequest, "\r\n", this->bufferSize);
|
||||
strncat(static_cast<char *>(serverRequest), static_cast<const char *>(credentials), this->bufferSize);
|
||||
strncat(static_cast<char *>(serverRequest), static_cast<const char *>("\r\n"), this->bufferSize);
|
||||
|
||||
std::cout << "serverRequest size: "
|
||||
<< strlen(serverRequest)
|
||||
<< " of "
|
||||
<< this->bufferSize
|
||||
<< " bytes available"
|
||||
<< std::endl;
|
||||
std::cout << static_cast<const char *>("serverRequest size: ")
|
||||
<< strlen(serverRequest)
|
||||
<< static_cast<const char *>(" of ")
|
||||
<< this->bufferSize
|
||||
<< static_cast<const char *>(" bytes available")
|
||||
<< std::endl;
|
||||
|
||||
// Send the server request
|
||||
std::cout << "Sending server request: " << serverRequest << std::endl;
|
||||
this->ntripClient->write(serverRequest, strlen(serverRequest));
|
||||
|
||||
//Wait up to 5 seconds for response
|
||||
uint32_t lastMillis = millis();
|
||||
while (!ntripClient->available()) {
|
||||
if (millis() - lastMillis > this->timeOut) {
|
||||
// Wait up to 5 seconds for response
|
||||
const uint32_t lastMillis = millis();
|
||||
while (static_cast<bool>(!ntripClient->available()))
|
||||
{
|
||||
if (millis() - lastMillis > this->timeOut)
|
||||
{
|
||||
std::cout << "Caster timed out!" << std::endl;
|
||||
this->ntripClient->stop();
|
||||
return false;
|
||||
@@ -175,35 +194,48 @@ bool NTRIPClient::beginClient() {
|
||||
delay(10);
|
||||
}
|
||||
|
||||
//Check reply
|
||||
// Check reply
|
||||
uint16_t httpStatusCode = 0;
|
||||
char response[this->bufferSize];
|
||||
uint16_t responseIndex = 0;
|
||||
while (this->ntripClient->available()) {
|
||||
while (static_cast<bool>(this->ntripClient->available()))
|
||||
{
|
||||
if (responseIndex == sizeof(response))
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
response[responseIndex++] = ntripClient->read();
|
||||
|
||||
if (httpStatusCode == 0) {
|
||||
if (strstr(response, "200") != nullptr)
|
||||
httpStatusCode = 200;
|
||||
if (strstr(response, "401") != nullptr)
|
||||
httpStatusCode = 401;
|
||||
if (httpStatusCode == 0)
|
||||
{
|
||||
if (strstr(response, static_cast<const char *>("200")) != nullptr)
|
||||
{
|
||||
httpStatusCode = httpCheck;
|
||||
}
|
||||
if (strstr(response, static_cast<const char *>("401")) != nullptr)
|
||||
{
|
||||
httpStatusCode = httpError;
|
||||
}
|
||||
}
|
||||
}
|
||||
response[responseIndex] = '\0';
|
||||
|
||||
// std::cout << "Caster response: " << response << std::endl;
|
||||
|
||||
if (httpStatusCode != 200) {
|
||||
std::cout << "Failed to connect to " << this->host << " - HTTP Code: " << (int) httpStatusCode
|
||||
if (httpStatusCode != httpCheck)
|
||||
{
|
||||
std::cout << "Failed to connect to " << this->host << " - HTTP Code: " << (int)httpStatusCode
|
||||
<< " Length of Response: " << responseIndex << std::endl;
|
||||
|
||||
if (httpStatusCode == 0)
|
||||
{
|
||||
std::cout << "Response: " << response << std::endl;
|
||||
else if (httpStatusCode == 401)
|
||||
}
|
||||
else if (httpStatusCode == httpError)
|
||||
{
|
||||
std::cout << "Statuscode 401 - Unauthorized" << std::endl;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -212,35 +244,47 @@ bool NTRIPClient::beginClient() {
|
||||
return true;
|
||||
}
|
||||
|
||||
void NTRIPClient::closeConnection() {
|
||||
if (this->ntripClient->connected())
|
||||
void NTRIPClient::closeConnection()
|
||||
{
|
||||
if (static_cast<bool>(this->ntripClient->connected()))
|
||||
{
|
||||
this->ntripClient->stop();
|
||||
}
|
||||
this->activated = false;
|
||||
std::cout << "NtripClient disconnected from: " << this->host << std::endl;
|
||||
}
|
||||
|
||||
bool NTRIPClient::processConnection() {
|
||||
if (this->ntripClient->connected()) {
|
||||
bool NTRIPClient::processConnection()
|
||||
{
|
||||
if (static_cast<bool>(this->ntripClient->connected()))
|
||||
{
|
||||
uint8_t rtcmData[this->bufferSize * 8];
|
||||
uint16_t rtcmCount = 0;
|
||||
|
||||
while (this->ntripClient->available()) {
|
||||
while (static_cast<bool>(this->ntripClient->available()))
|
||||
{
|
||||
rtcmData[rtcmCount++] = ntripClient->read();
|
||||
if (rtcmCount == sizeof(rtcmData))
|
||||
{
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (rtcmCount > 0) {
|
||||
if (rtcmCount > 0)
|
||||
{
|
||||
this->lastReceivedRtcmTime = millis();
|
||||
this->gps->pushRawData(rtcmData, rtcmCount);
|
||||
this->gps->pushRawData(static_cast<uint8_t *>(rtcmData), rtcmCount);
|
||||
// std::cout << "Pushed " << rtcmCount << " RTCM bytes to ZED." << std::endl;
|
||||
}
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "Connection to " << this->host << " dropped!" << std::endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
if (millis() - this->lastReceivedRtcmTime > this->timeOut) {
|
||||
if (millis() - this->lastReceivedRtcmTime > this->timeOut)
|
||||
{
|
||||
std::cout << "RTCM timeout!" << std::endl;
|
||||
return false;
|
||||
}
|
||||
@@ -248,15 +292,21 @@ bool NTRIPClient::processConnection() {
|
||||
return true;
|
||||
}
|
||||
|
||||
void NTRIPClient::checkAutoReconnect() {
|
||||
void NTRIPClient::checkAutoReconnect()
|
||||
{
|
||||
if (!this->autoReconnect)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
if (millis() - this->lastReconnectTime < this->reconnectDelayTime)
|
||||
{
|
||||
return;
|
||||
}
|
||||
this->lastReconnectTime = millis();
|
||||
|
||||
if (this->reconnectAttemps >= this->maxReconnectAttemps) {
|
||||
if (this->reconnectAttemps >= this->maxReconnectAttemps)
|
||||
{
|
||||
this->autoReconnect = false;
|
||||
return;
|
||||
}
|
||||
@@ -265,26 +315,34 @@ void NTRIPClient::checkAutoReconnect() {
|
||||
this->reconnectAttemps++;
|
||||
}
|
||||
|
||||
void NTRIPClient::pushGPGGA() {
|
||||
void NTRIPClient::pushGPGGA()
|
||||
{
|
||||
if (!this->transmitLocation && !this->activated)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
if (millis() - this->lastGPGGAPushTime < this->pushGPGGATime)
|
||||
{
|
||||
return;
|
||||
}
|
||||
this->lastGPGGAPushTime = millis();
|
||||
|
||||
if (!this->ntripClient->connected())
|
||||
{
|
||||
std::cout << "Failed to pushing GGA to server: " << std::endl;
|
||||
|
||||
NMEA_GGA_data_t *data = new NMEA_GGA_data_t;
|
||||
uint8_t res = this->gps->getLatestNMEAGPGGA(data);
|
||||
}
|
||||
|
||||
auto *data = new NMEA_GGA_data_t;
|
||||
const uint8_t res = this->gps->getLatestNMEAGPGGA(data);
|
||||
if (res == 2)
|
||||
this->ntripClient->print((const char *)data);
|
||||
{
|
||||
this->ntripClient->print(reinterpret_cast<const char *>(data));
|
||||
}
|
||||
delete data;
|
||||
}
|
||||
|
||||
bool NTRIPClient::isConnected() {
|
||||
if (this->state == NTRIPClientStates::pushData)
|
||||
return true;
|
||||
return false;
|
||||
bool NTRIPClient::isConnected()
|
||||
{
|
||||
return this->state == NTRIPClientStates::pushData;
|
||||
}
|
||||
|
||||
@@ -4,9 +4,9 @@
|
||||
* @brief Contains the class NTRIPClient
|
||||
* @version 0.1
|
||||
* @date 2023-02-13
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2023
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef NTRIP_CLIENT
|
||||
@@ -22,109 +22,113 @@
|
||||
#include "component.h"
|
||||
|
||||
/**
|
||||
* @brief States for the state machine.
|
||||
*
|
||||
* @brief States for the state machine.
|
||||
*
|
||||
*/
|
||||
enum NTRIPClientStates {
|
||||
openConnection,
|
||||
pushData,
|
||||
closeConnection,
|
||||
wait,
|
||||
notAvailable
|
||||
enum NTRIPClientStates
|
||||
{
|
||||
openConnection,
|
||||
pushData,
|
||||
closeConnection,
|
||||
wait,
|
||||
notAvailable
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Ntrip Client
|
||||
*
|
||||
*
|
||||
* This class can connect to a ntrip server to pull correction
|
||||
* data and push it to a given gnss module. This module have to be compatible
|
||||
* with the SparkFun u-blox GNSS Arduino Library.
|
||||
*/
|
||||
class NTRIPClient : public Component {
|
||||
public:
|
||||
/**
|
||||
* @brief Construct a new NTRIPClient object
|
||||
*
|
||||
* @param gps The Gnss module
|
||||
* @param host
|
||||
* @param port
|
||||
* @param mountPoint
|
||||
* @param user
|
||||
* @param password
|
||||
*/
|
||||
NTRIPClient(SFE_UBLOX_GNSS* gps, const char* host, uint16_t port, const char* mountPoint, const char* user, const char* password);
|
||||
~NTRIPClient();
|
||||
class NTRIPClient : public Component
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* @brief Construct a new NTRIPClient object
|
||||
*
|
||||
* @param gps The Gnss module
|
||||
* @param host
|
||||
* @param port
|
||||
* @param mountPoint
|
||||
* @param user
|
||||
* @param password
|
||||
*/
|
||||
NTRIPClient(SFE_UBLOX_GNSS *gps, const char *host, uint16_t port, const char *mountPoint, const char *user, const char *password);
|
||||
~NTRIPClient();
|
||||
|
||||
/**
|
||||
* @brief Configure the Gnss module to accept correction data
|
||||
*
|
||||
*/
|
||||
void gpsConfiguration();
|
||||
/**
|
||||
* @brief Configure the Gnss module to accept correction data
|
||||
*
|
||||
*/
|
||||
void gpsConfiguration();
|
||||
|
||||
/**
|
||||
* @brief Activate or deactivate the location transmission
|
||||
*
|
||||
* Some server need the position of the Gnss module to send the
|
||||
* right correction data.
|
||||
*
|
||||
* @param b
|
||||
*/
|
||||
void setTransmitLocation(bool b) { this->transmitLocation = b; }
|
||||
/**
|
||||
* @brief Activate or deactivate the location transmission
|
||||
*
|
||||
* Some server need the position of the Gnss module to send the
|
||||
* right correction data.
|
||||
*
|
||||
* @param b
|
||||
*/
|
||||
void setTransmitLocation(bool b) { this->transmitLocation = b; }
|
||||
|
||||
/**
|
||||
* @brief Activate or deactivate the connection to the server.
|
||||
*
|
||||
* @param state
|
||||
* @return true success
|
||||
* @return false failure
|
||||
*/
|
||||
bool setActivated(bool state);
|
||||
void setAutoReconnect(bool state);
|
||||
/**
|
||||
* @brief Activate or deactivate the connection to the server.
|
||||
*
|
||||
* @param state
|
||||
* @return true success
|
||||
* @return false failure
|
||||
*/
|
||||
bool setActivated(bool state);
|
||||
void setAutoReconnect(bool state);
|
||||
|
||||
bool isConnected();
|
||||
bool isConnected();
|
||||
|
||||
/**
|
||||
* @brief Get the Client State object
|
||||
*
|
||||
* Returns the state of the State machine
|
||||
*
|
||||
* @return NTRIPClientStates
|
||||
*/
|
||||
NTRIPClientStates getClientState() { return this->state; }
|
||||
/**
|
||||
* @brief Get the Client State object
|
||||
*
|
||||
* Returns the state of the State machine
|
||||
*
|
||||
* @return NTRIPClientStates
|
||||
*/
|
||||
NTRIPClientStates getClientState() { return this->state; }
|
||||
|
||||
private:
|
||||
void run() override;
|
||||
void runAsChild() override;
|
||||
void pushGPGGA();
|
||||
bool beginClient();
|
||||
void closeConnection();
|
||||
bool processConnection();
|
||||
void checkAutoReconnect();
|
||||
private:
|
||||
void run() override;
|
||||
void runAsChild() override;
|
||||
void pushGPGGA();
|
||||
bool beginClient();
|
||||
void closeConnection();
|
||||
bool processConnection();
|
||||
void checkAutoReconnect();
|
||||
|
||||
SFE_UBLOX_GNSS* gps;
|
||||
WiFiClient* ntripClient;
|
||||
NTRIPClientStates state = NTRIPClientStates::notAvailable;
|
||||
SFE_UBLOX_GNSS *gps;
|
||||
WiFiClient *ntripClient;
|
||||
NTRIPClientStates state = NTRIPClientStates::notAvailable;
|
||||
|
||||
bool transmitLocation = false;
|
||||
bool activated = true;
|
||||
bool autoReconnect = false;
|
||||
bool transmitLocation = false;
|
||||
bool activated = true;
|
||||
bool autoReconnect = false;
|
||||
|
||||
uint8_t reconnectAttemps = 0;
|
||||
uint16_t port;
|
||||
uint32_t lastReceivedRtcmTime = 0;
|
||||
// uint32_t lastNtripConnectTime = 0; // can deleted?
|
||||
uint32_t lastGPGGAPushTime = 0;
|
||||
uint32_t lastReconnectTime = 0;
|
||||
uint8_t reconnectAttemps = 0;
|
||||
uint16_t port;
|
||||
uint32_t lastReceivedRtcmTime = 0;
|
||||
// uint32_t lastNtripConnectTime = 0; // can deleted?
|
||||
uint32_t lastGPGGAPushTime = 0;
|
||||
uint32_t lastReconnectTime = 0;
|
||||
|
||||
char host[128];
|
||||
char mountPoint[128];
|
||||
char user[128];
|
||||
char password[128];
|
||||
const uint8_t maxReconnectAttemps = 10;
|
||||
const uint16_t reconnectDelayTime = 1000;
|
||||
const uint16_t timeOut = 10000;
|
||||
const uint16_t bufferSize = 512;
|
||||
const uint16_t pushGPGGATime = 10000;
|
||||
const char *host;
|
||||
const char *mountPoint;
|
||||
const char *user;
|
||||
const char *password;
|
||||
const uint8_t maxReconnectAttemps = 10;
|
||||
const uint16_t reconnectDelayTime = 1000;
|
||||
const uint16_t timeOut = 10000;
|
||||
const uint16_t bufferSize = 512;
|
||||
const uint16_t pushGPGGATime = 10000;
|
||||
|
||||
static constexpr uint8_t loopDelay = 20;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
+57
-43
@@ -1,104 +1,118 @@
|
||||
/**
|
||||
* @file point.cpp
|
||||
* @author Alexander Klein (alex@kleiax.de)
|
||||
* @brief
|
||||
* @brief
|
||||
* @version 0.1
|
||||
* @date 2023-09-03
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2023
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#include "point.h"
|
||||
|
||||
Point::Point(double lat, double lon, uint32_t horizontalAccuracy, uint32_t creationTime) {
|
||||
this->coordinates.lat = lat;
|
||||
this->coordinates.lon = lon;
|
||||
Point::Point(double lat, double lon, uint32_t horizontalAccuracy, uint32_t creationTime)
|
||||
: coordinates{lat, lon}
|
||||
{
|
||||
this->init(horizontalAccuracy, creationTime);
|
||||
}
|
||||
|
||||
Point::Point(int32_t lat, int32_t lon, uint32_t horizontalAccuracy, uint32_t creationTime) {
|
||||
this->coordinates.lat = lat / 10000000.0;
|
||||
this->coordinates.lon = lon / 10000000.0;
|
||||
Point::Point(int32_t lat, int32_t lon, uint32_t horizontalAccuracy, uint32_t creationTime)
|
||||
: coordinates{lat / 10000000.0, lon / 10000000.0}
|
||||
{
|
||||
this->init(horizontalAccuracy, creationTime);
|
||||
}
|
||||
|
||||
Point::Point(Coordinates coords, uint32_t horizontalAccuracy, uint32_t creationTime) {
|
||||
this->coordinates = coords;
|
||||
Point::Point(Coordinates coords, uint32_t horizontalAccuracy, uint32_t creationTime)
|
||||
: coordinates{coords}
|
||||
{
|
||||
this->init(horizontalAccuracy, creationTime);
|
||||
}
|
||||
|
||||
Point::Point(Coordinates coords, bool imported) {
|
||||
Point::Point(Coordinates coords, bool imported)
|
||||
{
|
||||
this->coordinates = coords;
|
||||
if (imported)
|
||||
{
|
||||
this->init(UINT32_MAX, 0);
|
||||
}
|
||||
else
|
||||
{
|
||||
this->init(0, 0);
|
||||
}
|
||||
}
|
||||
|
||||
Point::Point() {
|
||||
Point::Point()
|
||||
{
|
||||
this->coordinates.lat = 0;
|
||||
this->coordinates.lon = 0;
|
||||
this->coordinates.lon = 0;
|
||||
this->init(0, 0);
|
||||
}
|
||||
|
||||
bool Point::operator==(const Point& rhs) const {
|
||||
bool Point::operator==(const Point &rhs) const
|
||||
{
|
||||
return this->coordinates == rhs.getCoordinates();
|
||||
}
|
||||
|
||||
// distance = sqrt(dx * dx + dy * dy)
|
||||
// mit distance: Entfernung in km
|
||||
// dx = 111.3 * cos(lat) * (lon1 - lon2)
|
||||
// lat = (lat1 + lat2) / 2 * 0.01745
|
||||
// dy = 111.3 * (lat1 - lat2)
|
||||
// lat1, lat2, lon1, lon2: Breite, Länge in Grad
|
||||
double Point::distanceTo(const Coordinates& point) const {
|
||||
Coordinates begin = this->coordinates;
|
||||
Coordinates end = point;
|
||||
double Point::distanceTo(const Coordinates &point) const
|
||||
{
|
||||
const Coordinates begin = this->coordinates;
|
||||
const Coordinates end = point;
|
||||
|
||||
double lat = (begin.lat + end.lat) / 2 * ROUTE_DEGREE_TO_RADIANT;
|
||||
double dy = ROUTE_DISTANCE_BETWEEN_LATITUDE * (begin.lat - end.lat);
|
||||
double dx = ROUTE_DISTANCE_BETWEEN_LATITUDE * cos(lat) * (begin.lon - end.lon);
|
||||
const double lat = (begin.lat + end.lat) / 2 * ROUTE_DEGREE_TO_RADIANT;
|
||||
const double dy = ROUTE_DISTANCE_BETWEEN_LATITUDE * (begin.lat - end.lat);
|
||||
const double dx = ROUTE_DISTANCE_BETWEEN_LATITUDE * cos(lat) * (begin.lon - end.lon);
|
||||
|
||||
return sqrt(dx * dx + dy * dy);
|
||||
}
|
||||
|
||||
double Point::distanceTo(const Point &point) const {
|
||||
double Point::distanceTo(const Point &point) const
|
||||
{
|
||||
return this->distanceTo(point.getCoordinates());
|
||||
}
|
||||
|
||||
int16_t Point::courseTo(const Coordinates& point) const {
|
||||
Coordinates begin = this->coordinates;
|
||||
Coordinates end = point;
|
||||
int16_t Point::courseTo(const Coordinates &point) const
|
||||
{
|
||||
const Coordinates begin = this->coordinates;
|
||||
const Coordinates end = point;
|
||||
|
||||
double phi = log( tan(end.lat * ROUTE_DEGREE_TO_RADIANT / 2 + M_PI / 4) / tan(begin.lat * ROUTE_DEGREE_TO_RADIANT / 2 + M_PI / 4) );
|
||||
double lon = (begin.lon * ROUTE_DEGREE_TO_RADIANT - end.lon * ROUTE_DEGREE_TO_RADIANT);
|
||||
const double phi = log(tan(end.lat * ROUTE_DEGREE_TO_RADIANT / 2 + M_PI / 4) / tan(begin.lat * ROUTE_DEGREE_TO_RADIANT / 2 + M_PI / 4));
|
||||
const double lon = (begin.lon * ROUTE_DEGREE_TO_RADIANT - end.lon * ROUTE_DEGREE_TO_RADIANT);
|
||||
|
||||
int16_t res = static_cast<int16_t>(atan2(lon, phi) / ROUTE_DEGREE_TO_RADIANT) * -1;
|
||||
|
||||
// if (res < 0)
|
||||
// res += 360;
|
||||
|
||||
return res;
|
||||
return static_cast<int16_t>(atan2(lon, phi) / ROUTE_DEGREE_TO_RADIANT) * -1;
|
||||
}
|
||||
|
||||
int16_t Point::courseTo(const Point &point) const {
|
||||
int16_t Point::courseTo(const Point &point) const
|
||||
{
|
||||
return this->courseTo(point.getCoordinates());
|
||||
}
|
||||
|
||||
void Point::init(uint32_t horizontalAccuracy, uint32_t creationTime) {
|
||||
void Point::init(uint32_t horizontalAccuracy, uint32_t creationTime)
|
||||
{
|
||||
this->creationTime = creationTime;
|
||||
|
||||
if (horizontalAccuracy == UINT32_MAX)
|
||||
{
|
||||
this->accuracy = Accuracy::imported;
|
||||
}
|
||||
else if (horizontalAccuracy > 9999)
|
||||
{
|
||||
this->accuracy = Accuracy::fourDigOfCM;
|
||||
}
|
||||
else if (horizontalAccuracy > 999)
|
||||
{
|
||||
this->accuracy = Accuracy::threeDigOfCM;
|
||||
}
|
||||
else if (horizontalAccuracy > 99)
|
||||
{
|
||||
this->accuracy = Accuracy::twoDigOfCM;
|
||||
}
|
||||
else if (horizontalAccuracy > 1)
|
||||
{
|
||||
this->accuracy = Accuracy::oneDigOfCM;
|
||||
else
|
||||
this->accuracy = Accuracy::none;
|
||||
}
|
||||
else
|
||||
{
|
||||
this->accuracy = Accuracy::none;
|
||||
}
|
||||
}
|
||||
|
||||
+108
-105
@@ -1,139 +1,142 @@
|
||||
/**
|
||||
* @file point.h
|
||||
* @author Alexander Klein (alex@kleiax.de)
|
||||
* @brief
|
||||
* @brief
|
||||
* @version 0.1
|
||||
* @date 2023-09-03
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2023
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef POINT_H
|
||||
#define POINT_H
|
||||
|
||||
#include <cmath>
|
||||
#include <cmath>
|
||||
|
||||
#define ROUTE_DEGREE_TO_RADIANT 0.01745
|
||||
#define ROUTE_DISTANCE_BETWEEN_LATITUDE 111300
|
||||
|
||||
/**
|
||||
* @brief A to handle points on the earth
|
||||
*
|
||||
*
|
||||
* The points inherits latidue and longitude as doubles
|
||||
*
|
||||
*
|
||||
*/
|
||||
class Point{
|
||||
public:
|
||||
/**
|
||||
* @brief Hold the data longitude and latitude
|
||||
*
|
||||
*/
|
||||
struct Coordinates {
|
||||
double lon;
|
||||
double lat;
|
||||
class Point
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* @brief Hold the data longitude and latitude
|
||||
*
|
||||
*/
|
||||
struct Coordinates
|
||||
{
|
||||
double lon;
|
||||
double lat;
|
||||
|
||||
bool operator==(const Coordinates rhs) const {
|
||||
return ( this->lon == rhs.lon ) && ( this->lon == rhs.lon );
|
||||
}
|
||||
};
|
||||
bool operator==(const Coordinates rhs) const
|
||||
{
|
||||
return (this->lon == rhs.lon) && (this->lon == rhs.lon);
|
||||
}
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief The Accuracy is set by the constructor
|
||||
*
|
||||
*/
|
||||
enum Accuracy {
|
||||
none,
|
||||
fourDigOfCM,
|
||||
threeDigOfCM,
|
||||
twoDigOfCM,
|
||||
oneDigOfCM,
|
||||
imported
|
||||
};
|
||||
/**
|
||||
* @brief The Accuracy is set by the constructor
|
||||
*
|
||||
*/
|
||||
enum Accuracy
|
||||
{
|
||||
none,
|
||||
fourDigOfCM,
|
||||
threeDigOfCM,
|
||||
twoDigOfCM,
|
||||
oneDigOfCM,
|
||||
imported
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Construct a new Point object
|
||||
*
|
||||
* @param lat latitude
|
||||
* @param lon longitude
|
||||
* @param horizontalAccuracy mm
|
||||
* @param coords Coordinates
|
||||
* @param imported if true than highest accuracy
|
||||
*/
|
||||
Point(double lat, double lon, uint32_t horizontalAccuracy = 0, uint32_t creationTime = 0);
|
||||
Point(int32_t lat, int32_t lon, uint32_t horizontalAccuracy = 0, uint32_t creationTime = 0);
|
||||
Point(Coordinates coords, uint32_t horizontalAccuracy = 0, uint32_t creationTime = 0);
|
||||
Point(Coordinates coords, bool imported);
|
||||
Point();
|
||||
|
||||
/**
|
||||
* @brief Construct a new Point object
|
||||
*
|
||||
* @param lat latitude
|
||||
* @param lon longitude
|
||||
* @param horizontalAccuracy mm
|
||||
* @param coords Coordinates
|
||||
* @param imported if true than highest accuracy
|
||||
*/
|
||||
Point(double lat, double lon, uint32_t horizontalAccuracy = 0, uint32_t creationTime = 0);
|
||||
Point(int32_t lat, int32_t lon, uint32_t horizontalAccuracy = 0, uint32_t creationTime = 0);
|
||||
Point(Coordinates coords, uint32_t horizontalAccuracy = 0, uint32_t creationTime = 0);
|
||||
Point(Coordinates coords, bool imported);
|
||||
Point();
|
||||
/**
|
||||
* @brief Checks if to points are equal.
|
||||
*
|
||||
* @param rhs
|
||||
* @return true
|
||||
* @return false
|
||||
*/
|
||||
bool operator==(const Point &rhs) const;
|
||||
|
||||
/**
|
||||
* @brief Checks if to points are equal.
|
||||
*
|
||||
* @param rhs
|
||||
* @return true
|
||||
* @return false
|
||||
*/
|
||||
bool operator==(const Point& rhs) const;
|
||||
/**
|
||||
* @brief Checks if the point is initalized.
|
||||
*
|
||||
* @return true
|
||||
* @return false
|
||||
*/
|
||||
bool isInit() const { return this->coordinates.lat + this->coordinates.lon; }
|
||||
|
||||
/**
|
||||
* @brief Checks if the point is initalized.
|
||||
*
|
||||
* @return true
|
||||
* @return false
|
||||
*/
|
||||
bool isInit() const { return this->coordinates.lat + this->coordinates.lon; }
|
||||
/**
|
||||
* @brief Checks if the point is valid.
|
||||
*
|
||||
* If the accuracy is higher than zero, true will be returned.
|
||||
*
|
||||
* @return true
|
||||
* @return false
|
||||
*/
|
||||
bool isValid() const { return (this->accuracy > 0) ? true : false; }
|
||||
|
||||
/**
|
||||
* @brief Checks if the point is valid.
|
||||
*
|
||||
* If the accuracy is higher than zero, true will be returned.
|
||||
*
|
||||
* @return true
|
||||
* @return false
|
||||
*/
|
||||
bool isValid() const { return (this->accuracy > 0) ? true : false; }
|
||||
/**
|
||||
* @brief Calculates the distance between to points.
|
||||
*
|
||||
* @param point
|
||||
* @return double meter
|
||||
*/
|
||||
double distanceTo(const Coordinates &point) const;
|
||||
double distanceTo(const Point &point) const;
|
||||
|
||||
/**
|
||||
* @brief Calculates the distance between to points.
|
||||
*
|
||||
* @param point
|
||||
* @return double meter
|
||||
*/
|
||||
double distanceTo(const Coordinates& point) const;
|
||||
double distanceTo(const Point& point) const;
|
||||
/**
|
||||
* @brief Calculates the course to an other point.
|
||||
*
|
||||
* @param point
|
||||
* @return int16_t degree
|
||||
*/
|
||||
int16_t courseTo(const Coordinates &point) const;
|
||||
int16_t courseTo(const Point &point) const;
|
||||
|
||||
/**
|
||||
* @brief Calculates the course to an other point.
|
||||
*
|
||||
* @param point
|
||||
* @return int16_t degree
|
||||
*/
|
||||
int16_t courseTo(const Coordinates& point) const;
|
||||
int16_t courseTo(const Point& point) const;
|
||||
uint32_t getCreationTime() const { return this->creationTime; }
|
||||
double getLongitude() const { return this->coordinates.lon; }
|
||||
double getLatitude() const { return this->coordinates.lat; }
|
||||
Coordinates getCoordinates() const { return this->coordinates; }
|
||||
|
||||
uint32_t getCreationTime() const { return this->creationTime; }
|
||||
double getLongitude() const { return this->coordinates.lon; }
|
||||
double getLatitude() const { return this->coordinates.lat; }
|
||||
Coordinates getCoordinates() const { return this->coordinates; }
|
||||
/**
|
||||
* @brief Get the Accuracy object
|
||||
*
|
||||
* The higher the value, the greater the accuracy.
|
||||
* You can check it by Accuracy.
|
||||
*
|
||||
* @return Accuracy
|
||||
*/
|
||||
Accuracy getAccuracy() const { return this->accuracy; }
|
||||
|
||||
/**
|
||||
* @brief Get the Accuracy object
|
||||
*
|
||||
* The higher the value, the greater the accuracy.
|
||||
* You can check it by Accuracy.
|
||||
*
|
||||
* @return Accuracy
|
||||
*/
|
||||
Accuracy getAccuracy() const { return this->accuracy; }
|
||||
private:
|
||||
void init(uint32_t horizontalAccuracy, uint32_t creationTime);
|
||||
|
||||
private:
|
||||
void init(uint32_t horizontalAccuracy, uint32_t creationTime);
|
||||
Accuracy accuracy = Accuracy::none;
|
||||
Coordinates coordinates{0, 0};
|
||||
|
||||
Accuracy accuracy = Accuracy::none;
|
||||
Coordinates coordinates;
|
||||
|
||||
uint32_t creationTime = 0;
|
||||
uint32_t creationTime = 0;
|
||||
};
|
||||
|
||||
#endif //POINT_H
|
||||
#endif // POINT_H
|
||||
|
||||
+40
-28
@@ -4,29 +4,29 @@
|
||||
* @brief Implements the class Route and Point
|
||||
* @version 0.1
|
||||
* @date 2022-01-31
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2022
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#include "route.h"
|
||||
|
||||
Route::Route() {
|
||||
|
||||
}
|
||||
|
||||
void Route::addPointToRoute(Point point) {
|
||||
void Route::addPointToRoute(Point point)
|
||||
{
|
||||
this->points.push_back(point);
|
||||
}
|
||||
|
||||
void Route::clear() {
|
||||
void Route::clear()
|
||||
{
|
||||
this->points.clear();
|
||||
this->currentPoint = 0;
|
||||
this->started = false;
|
||||
}
|
||||
|
||||
Point Route::startRoute() {
|
||||
if (this->points.size() < 1) {
|
||||
Point Route::startRoute()
|
||||
{
|
||||
if (this->points.empty())
|
||||
{
|
||||
this->started = false;
|
||||
return Point();
|
||||
}
|
||||
@@ -37,8 +37,10 @@ Point Route::startRoute() {
|
||||
return *this->it;
|
||||
}
|
||||
|
||||
Point Route::endRoute() {
|
||||
if (this->points.size() < 1) {
|
||||
Point Route::endRoute()
|
||||
{
|
||||
if (this->points.empty())
|
||||
{
|
||||
this->started = false;
|
||||
return Point();
|
||||
}
|
||||
@@ -51,37 +53,47 @@ Point Route::endRoute() {
|
||||
return *this->it;
|
||||
}
|
||||
|
||||
Point Route::getNextPoint() {
|
||||
Point Route::getNextPoint()
|
||||
{
|
||||
Point point;
|
||||
if (!this->started)
|
||||
return Point();
|
||||
{
|
||||
return point;
|
||||
}
|
||||
|
||||
if (this->it != --this->points.end()) {
|
||||
if (this->it != --this->points.end())
|
||||
{
|
||||
this->it++;
|
||||
this->currentPoint++;
|
||||
return *this->it;
|
||||
// } else if (this->it == this->points.end() && this->currentPoint != this->points.size()) {
|
||||
// this->currentPoint++;
|
||||
// return *this->it;
|
||||
// } else if (this->it == this->points.end() && this->currentPoint != this->points.size()) {
|
||||
// this->currentPoint++;
|
||||
// return *this->it;
|
||||
}
|
||||
|
||||
return Point();
|
||||
|
||||
return point;
|
||||
}
|
||||
|
||||
Point Route::getPreviousPoint() {
|
||||
Point Route::getPreviousPoint()
|
||||
{
|
||||
Point point;
|
||||
if (!this->started)
|
||||
return Point();
|
||||
|
||||
if (this->it != this->points.begin()) {
|
||||
{
|
||||
return point;
|
||||
}
|
||||
|
||||
if (this->it != this->points.begin())
|
||||
{
|
||||
this->it--;
|
||||
this->currentPoint--;
|
||||
return *this->it;
|
||||
} else {
|
||||
return Point();
|
||||
}
|
||||
return point;
|
||||
}
|
||||
|
||||
RouteInfo Route::getRouteInfo() {
|
||||
RouteInfo info;
|
||||
RouteInfo Route::getRouteInfo()
|
||||
{
|
||||
RouteInfo info{0, 0};
|
||||
info.totalPoints = this->points.size();
|
||||
info.currentPoint = this->currentPoint;
|
||||
return info;
|
||||
|
||||
@@ -40,11 +40,6 @@ struct RouteInfo{
|
||||
*/
|
||||
class Route {
|
||||
public:
|
||||
/**
|
||||
* @brief Construct a new Route object.
|
||||
*/
|
||||
Route();
|
||||
|
||||
/**
|
||||
* @brief Adds a point to the list.
|
||||
*
|
||||
|
||||
+138
-71
@@ -1,30 +1,32 @@
|
||||
/**
|
||||
* @file senors.cpp
|
||||
* @author Alexander Klein (alex@kleiax.de)
|
||||
* @brief
|
||||
* @brief
|
||||
* @version 0.1
|
||||
* @date 2023-09-02
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2023
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#include "sensorData.h"
|
||||
|
||||
bool SensorData::outputStatusPrintPVTdata = false;
|
||||
uint32_t SensorData::ubxUpdateTimeStatic = 0;
|
||||
UBX_NAV_PVT_data_t* SensorData::ubxDataStatic = nullptr;
|
||||
UBX_NAV_PVT_data_t *SensorData::ubxDataStatic = nullptr;
|
||||
|
||||
SensorData::SensorData() {
|
||||
this->loopDelay = 50;
|
||||
SensorData::SensorData()
|
||||
{
|
||||
Component::loopDelay = SensorData::loopDelay;
|
||||
}
|
||||
|
||||
SensorData::~SensorData() {
|
||||
if (this->ntripClient)
|
||||
delete this->ntripClient;
|
||||
SensorData::~SensorData()
|
||||
{
|
||||
delete this->ntripClient;
|
||||
}
|
||||
|
||||
void SensorData::enableNtrip(String host, uint16_t port, String mountPoint, String user, String password) {
|
||||
void SensorData::enableNtrip(String host, uint16_t port, String mountPoint, String user, String password)
|
||||
{
|
||||
this->ntripClient = new NTRIPClient(this->gnss, host.c_str(), port, mountPoint.c_str(), user.c_str(), password.c_str());
|
||||
this->ntripClient->gpsConfiguration();
|
||||
this->ntripClient->loop();
|
||||
@@ -33,120 +35,176 @@ void SensorData::enableNtrip(String host, uint16_t port, String mountPoint, Stri
|
||||
this->addChildComponent(this->ntripClient);
|
||||
}
|
||||
|
||||
void SensorData::enableGnss(SPIClass* spiPort, uint8_t csPin) {
|
||||
void SensorData::enableGnss(SPIClass *spiPort, uint8_t csPin)
|
||||
{
|
||||
this->gnss = new SFE_UBLOX_GNSS();
|
||||
if (this->gnss->begin(*spiPort, csPin, 4000000) == false) {
|
||||
if (this->gnss->begin(*spiPort, csPin, 4000000) == false)
|
||||
{
|
||||
std::cout << "u-blox GNSS not detected on SPI bus. Please check wiring. Freezing." << std::endl;
|
||||
while (1);
|
||||
while (true)
|
||||
{
|
||||
}
|
||||
}
|
||||
this->initGnss();
|
||||
}
|
||||
|
||||
void SensorData::enableGnss() {
|
||||
void SensorData::enableGnss()
|
||||
{
|
||||
this->gnss = new SFE_UBLOX_GNSS();
|
||||
if (this->gnss->begin() == false) {
|
||||
if (this->gnss->begin() == false)
|
||||
{
|
||||
std::cout << "u-blox GNSS not detected at default I2C address. Please check wiring. Freezing." << std::endl;
|
||||
while (1);
|
||||
while (true)
|
||||
{
|
||||
}
|
||||
}
|
||||
this->initGnss();
|
||||
}
|
||||
|
||||
void SensorData::enableRealCompass() {
|
||||
void SensorData::enableRealCompass()
|
||||
{
|
||||
static constexpr byte address = 0x0d;
|
||||
|
||||
this->realCompass = new QMC5883LCompass();
|
||||
// Init Compass
|
||||
Wire.beginTransmission(0x0d);
|
||||
Wire.beginTransmission(address);
|
||||
// TODO: describe Bytes !!!
|
||||
Wire.write(0x0b);
|
||||
Wire.write(0x01);
|
||||
Wire.endTransmission();
|
||||
this->realCompass->setMode(0x01,0x0C,0x10,0X00);
|
||||
this->realCompass->setMode(0x01, 0x0C, 0x10, 0X00);
|
||||
CalibrateCompass caliCompass(this->realCompass);
|
||||
caliCompass.loadData();
|
||||
caliCompass.useData();
|
||||
}
|
||||
|
||||
void SensorData::enableCalcCompass() {
|
||||
|
||||
void SensorData::enableCalcCompass()
|
||||
{
|
||||
// TODO: !!! implementieren
|
||||
}
|
||||
|
||||
void SensorData::enableGyroskop() {
|
||||
void SensorData::enableGyroskop()
|
||||
{
|
||||
this->gyroskop = new MPU6050();
|
||||
this->gyroskop->initialize();
|
||||
if (!this->gyroskop->testConnection()) {
|
||||
if (!this->gyroskop->testConnection())
|
||||
{
|
||||
std::cout << "SensorData::enableGyroskop: Gyroskop is not conntected. Freeze!" << std::endl;
|
||||
while (true);
|
||||
while (true)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t deviceStatus = this->gyroskop->dmpInitialize();
|
||||
const uint8_t deviceStatus = this->gyroskop->dmpInitialize();
|
||||
|
||||
// TODO: !!! MagicNumer 6x
|
||||
this->gyroskop->setXGyroOffset(220);
|
||||
this->gyroskop->setYGyroOffset(76);
|
||||
this->gyroskop->setZGyroOffset(-85);
|
||||
this->gyroskop->setZAccelOffset(1788);
|
||||
|
||||
if (deviceStatus == 0) {
|
||||
|
||||
if (deviceStatus == 0)
|
||||
{
|
||||
this->gyroskop->CalibrateAccel(6);
|
||||
this->gyroskop->CalibrateGyro(6);
|
||||
this->gyroskop->PrintActiveOffsets();
|
||||
this->gyroskop->setDMPEnabled(true);
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
// ERROR!
|
||||
// 1 = initial memory load failed
|
||||
// 2 = DMP configuration updates failed
|
||||
// (if it's going to break, usually the code will be 1)
|
||||
std::cout << "SensorData::enableGyroskop: DMP Initialization failed (code" << (int) deviceStatus <<"). Freeze!" << std::endl;
|
||||
while (true);
|
||||
std::cout << "SensorData::enableGyroskop: DMP Initialization failed (code" << static_cast<int>(deviceStatus) << "). Freeze!" << std::endl;
|
||||
while (true)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
CalcAzimuth::State SensorData::getCalcAzimuthState() const {
|
||||
if (this->calcCompass)
|
||||
CalcAzimuth::State SensorData::getCalcAzimuthState() const
|
||||
{
|
||||
if (static_cast<bool>(this->calcCompass))
|
||||
{
|
||||
return this->calcCompass->getState();
|
||||
}
|
||||
return CalcAzimuth::State::Invalid;
|
||||
}
|
||||
|
||||
NTRIPClientStates SensorData::getNtripState() const {
|
||||
if (this->ntripClient)
|
||||
NTRIPClientStates SensorData::getNtripState() const
|
||||
{
|
||||
if (static_cast<bool>(this->ntripClient))
|
||||
{
|
||||
return this->ntripClient->getClientState();
|
||||
}
|
||||
return NTRIPClientStates::notAvailable;
|
||||
}
|
||||
|
||||
void SensorData::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
|
||||
void SensorData::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
|
||||
{
|
||||
static constexpr uint8_t stringSize = 32;
|
||||
|
||||
if (!SensorData::outputStatusPrintPVTdata)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
double latitude = (double) ubxDataStruct->lat / 10000000.0;
|
||||
double longitude = (double) ubxDataStruct->lon / 10000000.0;
|
||||
double altitude = (double) ubxDataStruct->hMSL / 1000.0;
|
||||
const double latitude = ubxDataStruct->lat / 10000000.0;
|
||||
const double longitude = ubxDataStruct->lon / 10000000.0;
|
||||
const double altitude = ubxDataStruct->hMSL / 1000.0;
|
||||
|
||||
uint8_t fixType = ubxDataStruct->fixType;
|
||||
char fixTypeString[32];
|
||||
const uint8_t fixType = ubxDataStruct->fixType;
|
||||
char fixTypeString[stringSize];
|
||||
if (fixType == 0)
|
||||
strcpy(fixTypeString, "None");
|
||||
{
|
||||
strcpy(fixTypeString, static_cast<const char *>("None"));
|
||||
}
|
||||
else if (fixType == 1)
|
||||
strcpy(fixTypeString, "Dead Reckoning");
|
||||
{
|
||||
strcpy(fixTypeString, static_cast<const char *>("Dead Reckoning"));
|
||||
}
|
||||
else if (fixType == 2)
|
||||
strcpy(fixTypeString, "2D");
|
||||
{
|
||||
strcpy(fixTypeString, static_cast<const char *>("2D"));
|
||||
}
|
||||
else if (fixType == 3)
|
||||
strcpy(fixTypeString, "3D");
|
||||
{
|
||||
strcpy(fixTypeString, static_cast<const char *>("3D"));
|
||||
}
|
||||
else if (fixType == 3)
|
||||
strcpy(fixTypeString, "GNSS + Dead Reckoning");
|
||||
{
|
||||
strcpy(fixTypeString, static_cast<const char *>("GNSS + Dead Reckoning"));
|
||||
}
|
||||
else if (fixType == 5)
|
||||
strcpy(fixTypeString, "Time Only");
|
||||
{
|
||||
strcpy(fixTypeString, static_cast<const char *>("Time Only"));
|
||||
}
|
||||
else
|
||||
strcpy(fixTypeString, "UNKNOWN");
|
||||
{
|
||||
strcpy(fixTypeString, static_cast<const char *>("UNKNOWN"));
|
||||
}
|
||||
|
||||
uint8_t carrSoln = ubxDataStruct->flags.bits.carrSoln;
|
||||
char carrSolnString[16];
|
||||
const uint8_t carrSoln = ubxDataStruct->flags.bits.carrSoln;
|
||||
char carrSolnString[stringSize];
|
||||
if (carrSoln == 0)
|
||||
strcpy(carrSolnString, "None");
|
||||
{
|
||||
strcpy(carrSolnString, static_cast<const char *>("None"));
|
||||
}
|
||||
else if (carrSoln == 1)
|
||||
strcpy(carrSolnString, "Floating");
|
||||
{
|
||||
strcpy(carrSolnString, static_cast<const char *>("Floating"));
|
||||
}
|
||||
else if (carrSoln == 2)
|
||||
strcpy(carrSolnString, "Fixed");
|
||||
{
|
||||
strcpy(carrSolnString, static_cast<const char *>("Fixed"));
|
||||
}
|
||||
else
|
||||
strcpy(carrSolnString, "UNKNOWN");
|
||||
{
|
||||
strcpy(carrSolnString, static_cast<const char *>("UNKNOWN"));
|
||||
}
|
||||
|
||||
uint32_t hAcc = ubxDataStruct->hAcc;
|
||||
const uint32_t hAcc = ubxDataStruct->hAcc;
|
||||
|
||||
std::cout << "Lat: " << latitude
|
||||
<< " Lng: " << longitude
|
||||
@@ -157,45 +215,53 @@ void SensorData::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
|
||||
<< " Horizontal Accuracy Estimate: " << hAcc << " mm" << std::endl;
|
||||
}
|
||||
|
||||
void SensorData::savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
|
||||
void SensorData::savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
|
||||
{
|
||||
SensorData::printPVTdata(ubxDataStruct);
|
||||
|
||||
SensorData::ubxDataStatic = ubxDataStruct;
|
||||
SensorData::ubxUpdateTimeStatic = millis();
|
||||
}
|
||||
|
||||
void SensorData::setOutputStatusPrintPVTdata(bool status) {
|
||||
void SensorData::setOutputStatusPrintPVTdata(bool status)
|
||||
{
|
||||
SensorData::outputStatusPrintPVTdata = status;
|
||||
}
|
||||
|
||||
void SensorData::run() {
|
||||
if (this->realCompass) {
|
||||
void SensorData::run()
|
||||
{
|
||||
if (static_cast<bool>(this->realCompass))
|
||||
{
|
||||
this->realCompass->read();
|
||||
this->realAzimuth = this->realCompass->getAzimuth();
|
||||
}
|
||||
|
||||
if (this->gyroskop
|
||||
&& this->gyroskop->dmpGetCurrentFIFOPacket(this->gyroBuffer))
|
||||
if (static_cast<bool>(this->gyroskop) && this->gyroskop->dmpGetCurrentFIFOPacket(static_cast<uint8_t *>(this->gyroBuffer)))
|
||||
{
|
||||
this->gyroskop->dmpGetQuaternion(&this->quaternion, this->gyroBuffer);
|
||||
this->gyroskop->dmpGetQuaternion(&this->quaternion, static_cast<uint8_t *>(this->gyroBuffer));
|
||||
this->gyroskop->dmpGetGravity(&this->gravity, &this->quaternion);
|
||||
this->gyroskop->dmpGetYawPitchRoll(this->yawPitchRoll, &this->quaternion, &this->gravity);
|
||||
this->gyroskop->dmpGetYawPitchRoll(static_cast<float *>(this->yawPitchRoll), &this->quaternion, &this->gravity);
|
||||
}
|
||||
}
|
||||
|
||||
void SensorData::runAsChild() {
|
||||
if (this->gnss) {
|
||||
void SensorData::runAsChild()
|
||||
{
|
||||
if (static_cast<bool>(this->gnss))
|
||||
{
|
||||
this->gnss->checkUblox();
|
||||
this->gnss->checkCallbacks();
|
||||
if (SensorData::ubxUpdateTimeStatic != this->lastUbxUpdate)
|
||||
{
|
||||
this->updateUbxData();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void SensorData::initGnss() {
|
||||
uint8_t versionHigh = this->gnss->getProtocolVersionHigh();
|
||||
uint8_t versionLow = this->gnss->getProtocolVersionLow();
|
||||
std::cout << "u-blox protocol version: " << unsigned(versionHigh) << "." << unsigned(versionLow) << std::endl;
|
||||
void SensorData::initGnss()
|
||||
{
|
||||
const uint8_t versionHigh = this->gnss->getProtocolVersionHigh();
|
||||
const uint8_t versionLow = this->gnss->getProtocolVersionLow();
|
||||
std::cout << "u-blox protocol version: " << static_cast<int>(versionHigh) << "." << static_cast<int>(versionLow) << std::endl;
|
||||
|
||||
this->gnss->setSPIOutput(COM_TYPE_UBX);
|
||||
this->gnss->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10);
|
||||
@@ -206,11 +272,12 @@ void SensorData::initGnss() {
|
||||
this->gnss->setAutoPVT(true);
|
||||
}
|
||||
|
||||
void SensorData::updateUbxData() {
|
||||
void SensorData::updateUbxData()
|
||||
{
|
||||
this->gnssData = SensorData::ubxDataStatic;
|
||||
this->lastUbxUpdate = SensorData::ubxUpdateTimeStatic;
|
||||
|
||||
Point::Coordinates coords;
|
||||
Point::Coordinates coords{0, 0};
|
||||
coords.lat = this->gnssData->lat / 10000000.0;
|
||||
coords.lon = this->gnssData->lon / 10000000.0;
|
||||
|
||||
|
||||
+71
-69
@@ -1,12 +1,12 @@
|
||||
/**
|
||||
* @file sensorData.h
|
||||
* @author Alexander Klein (alex@kleiax.de)
|
||||
* @brief
|
||||
* @brief
|
||||
* @version 0.1
|
||||
* @date 2023-09-02
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2023
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef SENSOR_DATA_H
|
||||
@@ -28,84 +28,86 @@
|
||||
#include "point.h"
|
||||
class Sensors;
|
||||
|
||||
class SensorData : public Component {
|
||||
public:
|
||||
SensorData();
|
||||
~SensorData();
|
||||
|
||||
void enableNtrip(String host, uint16_t port, String mountPoint, String user, String password);
|
||||
void enableGnss(SPIClass* spiPort, uint8_t csPin);
|
||||
void enableGnss();
|
||||
void enableRealCompass();
|
||||
void enableCalcCompass();
|
||||
void enableGyroskop();
|
||||
class SensorData : public Component
|
||||
{
|
||||
public:
|
||||
SensorData();
|
||||
~SensorData();
|
||||
|
||||
// Interface Const kram
|
||||
int16_t getRealAzimuth() const { return this->realAzimuth; }
|
||||
int16_t getCalcAzimuth() const { return this->calcAzimuth; }
|
||||
CalcAzimuth::State getCalcAzimuthState() const;
|
||||
void enableNtrip(String host, uint16_t port, String mountPoint, String user, String password);
|
||||
void enableGnss(SPIClass *spiPort, uint8_t csPin);
|
||||
void enableGnss();
|
||||
void enableRealCompass();
|
||||
void enableCalcCompass();
|
||||
void enableGyroskop();
|
||||
|
||||
Point getCurrentPos() const { return this->currentPosition; }
|
||||
const UBX_NAV_PVT_data_t* getGnssData() const { return this->gnssData; };
|
||||
NTRIPClientStates getNtripState() const;
|
||||
const float* getGyroData() const { return this->yawPitchRoll; }
|
||||
// Interface Const kram
|
||||
int16_t getRealAzimuth() const { return this->realAzimuth; }
|
||||
int16_t getCalcAzimuth() const { return this->calcAzimuth; }
|
||||
CalcAzimuth::State getCalcAzimuthState() const;
|
||||
|
||||
CalcAzimuth* getCalcCompass() const { return this->calcCompass; }
|
||||
QMC5883LCompass* getRealCompass() const { return this->realCompass; }
|
||||
NTRIPClient* getNtripClient() const { return this->ntripClient; }
|
||||
MPU6050* getGyroskop() const { return this->gyroskop; }
|
||||
Point getCurrentPos() const { return this->currentPosition; }
|
||||
const UBX_NAV_PVT_data_t *getGnssData() const { return this->gnssData; };
|
||||
NTRIPClientStates getNtripState() const;
|
||||
const float *getGyroData() const { return this->yawPitchRoll; }
|
||||
|
||||
// static
|
||||
/**
|
||||
* @brief Set the output status for PVTdata.
|
||||
*
|
||||
* If this is true, a lot of information from the gnss module will be printed in
|
||||
* the interval of navigation frequency.
|
||||
*
|
||||
* @param status
|
||||
*/
|
||||
static void setOutputStatusPrintPVTdata(bool status);
|
||||
CalcAzimuth *getCalcCompass() const { return this->calcCompass; }
|
||||
QMC5883LCompass *getRealCompass() const { return this->realCompass; }
|
||||
NTRIPClient *getNtripClient() const { return this->ntripClient; }
|
||||
MPU6050 *getGyroskop() const { return this->gyroskop; }
|
||||
|
||||
private:
|
||||
void run() override;
|
||||
void runAsChild() override;
|
||||
void initGnss();
|
||||
void updateUbxData();
|
||||
// static
|
||||
/**
|
||||
* @brief Set the output status for PVTdata.
|
||||
*
|
||||
* If this is true, a lot of information from the gnss module will be printed in
|
||||
* the interval of navigation frequency.
|
||||
*
|
||||
* @param status
|
||||
*/
|
||||
static void setOutputStatusPrintPVTdata(bool status);
|
||||
|
||||
private:
|
||||
void run() override;
|
||||
void runAsChild() override;
|
||||
void initGnss();
|
||||
void updateUbxData();
|
||||
|
||||
QMC5883LCompass* realCompass = nullptr;
|
||||
CalcAzimuth* calcCompass = nullptr;
|
||||
SFE_UBLOX_GNSS* gnss = nullptr;
|
||||
NTRIPClient* ntripClient = nullptr;
|
||||
MPU6050* gyroskop = nullptr;
|
||||
QMC5883LCompass *realCompass = nullptr;
|
||||
CalcAzimuth *calcCompass = nullptr;
|
||||
SFE_UBLOX_GNSS *gnss = nullptr;
|
||||
NTRIPClient *ntripClient = nullptr;
|
||||
MPU6050 *gyroskop = nullptr;
|
||||
|
||||
UBX_NAV_PVT_data_t* gnssData;
|
||||
Point currentPosition;
|
||||
Quaternion quaternion;
|
||||
VectorFloat gravity;
|
||||
UBX_NAV_PVT_data_t *gnssData = nullptr;
|
||||
Point currentPosition;
|
||||
Quaternion quaternion;
|
||||
VectorFloat gravity;
|
||||
|
||||
char* host;
|
||||
char* mountPoint;
|
||||
char* user;
|
||||
char* password;
|
||||
|
||||
bool isNtripInit = false;
|
||||
char *host = nullptr;
|
||||
char *mountPoint = nullptr;
|
||||
char *user = nullptr;
|
||||
char *password = nullptr;
|
||||
|
||||
uint8_t gyroBuffer[64];
|
||||
uint16_t port;
|
||||
int16_t realAzimuth = INT16_MAX;
|
||||
int16_t calcAzimuth = INT16_MAX;
|
||||
uint32_t lastUbxUpdate = 0;
|
||||
bool isNtripInit = false;
|
||||
|
||||
float yawPitchRoll[3] {0, 0, 0};
|
||||
uint8_t gyroBuffer[64];
|
||||
uint16_t port = 0;
|
||||
int16_t realAzimuth = INT16_MAX;
|
||||
int16_t calcAzimuth = INT16_MAX;
|
||||
uint32_t lastUbxUpdate = 0;
|
||||
|
||||
// static
|
||||
static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
|
||||
static void savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
|
||||
float yawPitchRoll[3]{0, 0, 0};
|
||||
|
||||
static UBX_NAV_PVT_data_t* ubxDataStatic;
|
||||
static uint32_t ubxUpdateTimeStatic;
|
||||
static bool outputStatusPrintPVTdata;
|
||||
// static
|
||||
static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
|
||||
static void savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
|
||||
|
||||
static UBX_NAV_PVT_data_t *ubxDataStatic;
|
||||
static uint32_t ubxUpdateTimeStatic;
|
||||
static bool outputStatusPrintPVTdata;
|
||||
|
||||
static constexpr uint8_t loopDelay = 50;
|
||||
};
|
||||
|
||||
#endif //SENSOR_DATA_H
|
||||
#endif // SENSOR_DATA_H
|
||||
|
||||
@@ -5,18 +5,16 @@
|
||||
* @see speedometer.h
|
||||
* @version 0.1
|
||||
* @date 2021-12-13
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2021
|
||||
*
|
||||
*
|
||||
*/
|
||||
#include "speedometer.h"
|
||||
|
||||
Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps) {
|
||||
this->diameter = diameter;
|
||||
this->steps = steps;
|
||||
|
||||
this->pulseCounter = new Counter(pin);
|
||||
this->pulseCounter->setFilterValue(1023); // ignore pulses less than 1000 x 2.5ns
|
||||
Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps)
|
||||
: pulseCounter{new Counter(pin)}, diameter{diameter}, steps{steps}, buf{}
|
||||
{
|
||||
this->pulseCounter->setFilterValue(Speedometer::maxFilterValue); // ignore pulses less than 1000 x 2.5ns
|
||||
|
||||
this->pulseCounter->clear();
|
||||
this->pulseCounter->resume();
|
||||
@@ -26,105 +24,131 @@ Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps) {
|
||||
this->clearAvgBuf();
|
||||
}
|
||||
|
||||
Speedometer::~Speedometer() {
|
||||
Speedometer::~Speedometer()
|
||||
{
|
||||
delete this->pulseCounter;
|
||||
}
|
||||
|
||||
void Speedometer::run() {
|
||||
void Speedometer::run()
|
||||
{
|
||||
static constexpr float minimalSpeed = 0.1;
|
||||
|
||||
if (this->calibrationRunning)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
uint32_t time = millis();
|
||||
const uint32_t time = millis();
|
||||
|
||||
uint16_t elapsedTime = time - this->lastMillisCalc;
|
||||
const uint16_t elapsedTime = time - this->lastMillisCalc;
|
||||
this->lastMillisCalc = time;
|
||||
|
||||
int16_t pulse = this->pulseCounter->getValue();
|
||||
const double pulse = this->pulseCounter->getValue();
|
||||
this->pulseCounter->clear();
|
||||
this->pulseCounter->resume();
|
||||
|
||||
|
||||
double n = (double)pulse / this->steps; // Wheel revolutions in absolute time
|
||||
double u = n / ((double)elapsedTime / 1000); // Wheel revolutions per second
|
||||
double ms = u * (diameter * PI); // Speed in m/s
|
||||
double rad = u * 2 * PI;
|
||||
const double wheelRevolutionsAbsolute = pulse / this->steps;
|
||||
const double wheelRevolutionsRelativ = wheelRevolutionsAbsolute / (elapsedTime / 1000.0);
|
||||
|
||||
if (speed < 0.1) {
|
||||
speed = 0;
|
||||
rad = 0;
|
||||
double meterPerSecond = wheelRevolutionsRelativ * (diameter * PI);
|
||||
double radPerSecond = wheelRevolutionsRelativ * 2 * PI;
|
||||
|
||||
if (meterPerSecond < minimalSpeed)
|
||||
{
|
||||
meterPerSecond = 0;
|
||||
radPerSecond = 0;
|
||||
}
|
||||
|
||||
switch (this->currentDirection) {
|
||||
case Direction::Forward :
|
||||
this->speed = ms;
|
||||
this->rad = rad;
|
||||
break;
|
||||
|
||||
case Direction::Backward :
|
||||
this->speed = -ms;
|
||||
this->rad = -rad;
|
||||
break;
|
||||
switch (this->currentDirection)
|
||||
{
|
||||
case Direction::Forward:
|
||||
this->speed = meterPerSecond;
|
||||
this->rad = radPerSecond;
|
||||
break;
|
||||
|
||||
case Direction::None :
|
||||
this->speed = 0;
|
||||
this->rad = 0;
|
||||
break;
|
||||
case Direction::Backward:
|
||||
this->speed = -meterPerSecond;
|
||||
this->rad = -radPerSecond;
|
||||
break;
|
||||
|
||||
case Direction::None:
|
||||
this->speed = 0;
|
||||
this->rad = 0;
|
||||
break;
|
||||
}
|
||||
|
||||
this->addValToBuf(static_cast<int16_t>(this->speed * Speedometer::conversionFactor));
|
||||
}
|
||||
|
||||
void Speedometer::setDirection(Direction dir) {
|
||||
void Speedometer::setDirection(Direction dir)
|
||||
{
|
||||
if (this->currentDirection == dir)
|
||||
{
|
||||
return;
|
||||
}
|
||||
this->currentDirection = dir;
|
||||
this->clearAvgBuf();
|
||||
}
|
||||
|
||||
void Speedometer::setEncFilter(uint16_t val) {
|
||||
if (val > 1023)
|
||||
val = 1023;
|
||||
void Speedometer::setEncFilter(uint16_t val)
|
||||
{
|
||||
if (val > Speedometer::maxFilterValue)
|
||||
{
|
||||
val = Speedometer::maxFilterValue;
|
||||
}
|
||||
this->pulseCounter->setFilterValue(val);
|
||||
}
|
||||
|
||||
double Speedometer::getAvgSpeed() const {
|
||||
int16_t avg = this->calcAverage();
|
||||
return (float)avg / Speedometer::conversionFactor;
|
||||
double Speedometer::getAvgSpeed() const
|
||||
{
|
||||
const double avg = this->calcAverage();
|
||||
return avg / Speedometer::conversionFactor;
|
||||
}
|
||||
|
||||
void Speedometer::calibrationMeasurementStart() {
|
||||
void Speedometer::calibrationMeasurementStart()
|
||||
{
|
||||
std::cout << "Start" << std::endl;
|
||||
this->calibrationRunning = true;
|
||||
this->pulseCounter->clear();
|
||||
this->pulseCounter->resume();
|
||||
}
|
||||
|
||||
uint16_t Speedometer::calibrationMeasurementStop() {
|
||||
uint16_t Speedometer::calibrationMeasurementStop()
|
||||
{
|
||||
std::cout << "Ende" << std::endl;
|
||||
this->calibrationRunning = false;
|
||||
uint16_t res = abs(this->pulseCounter->getValue());
|
||||
const uint16_t res = abs(this->pulseCounter->getValue());
|
||||
this->pulseCounter->clear();
|
||||
this->pulseCounter->resume();
|
||||
std::cout << "Result: " << res << std::endl;
|
||||
return res;
|
||||
}
|
||||
|
||||
void Speedometer::clearAvgBuf() {
|
||||
for (uint8_t i = 0; i < bufSize; i++)
|
||||
void Speedometer::clearAvgBuf()
|
||||
{
|
||||
for (uint8_t i = 0; i < bufSize; i++)
|
||||
{
|
||||
this->buf[i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
void Speedometer::addValToBuf(int16_t val) {
|
||||
void Speedometer::addValToBuf(int16_t val)
|
||||
{
|
||||
this->buf[this->bufPos] = val;
|
||||
this->bufPos++;
|
||||
|
||||
if (bufPos == bufSize)
|
||||
bufPos = 0;
|
||||
{
|
||||
bufPos = 0;
|
||||
}
|
||||
}
|
||||
|
||||
int16_t Speedometer::calcAverage() const {
|
||||
int16_t Speedometer::calcAverage() const
|
||||
{
|
||||
int16_t sum = 0;
|
||||
for (int i = 0; i < this->bufSize; i++)
|
||||
for (int i = 0; i < Speedometer::bufSize; i++)
|
||||
{
|
||||
sum += this->buf[i];
|
||||
return sum / this->bufSize;
|
||||
}
|
||||
return sum / Speedometer::bufSize;
|
||||
}
|
||||
|
||||
@@ -4,9 +4,9 @@
|
||||
* @brief A implementation to measure wheel speeds with an encoder.
|
||||
* @version 0.1
|
||||
* @date 2021-12-09
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2021
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef SPEEDOMETER_H
|
||||
@@ -21,114 +21,115 @@
|
||||
|
||||
/**
|
||||
* @brief A class which use a encoder to calc the speed
|
||||
*
|
||||
*
|
||||
* This class use ESP32 pulse counter hardware peripheral.
|
||||
* The calculated speed is the average of an amount of last measurements.
|
||||
*
|
||||
*
|
||||
*/
|
||||
class Speedometer : public Component {
|
||||
public:
|
||||
/**
|
||||
* @brief Enum to control the direction.
|
||||
*
|
||||
* If the Direction is Forward, the internal counter counts up and a positiv speed will be returned.
|
||||
* If the Direction is Backward, the internal counter counts down and a negativ speed will be returned.
|
||||
* If the Direction is None, no measurement will be taken.
|
||||
*/
|
||||
enum Direction {
|
||||
None,
|
||||
Forward,
|
||||
Backward
|
||||
};
|
||||
class Speedometer : public Component
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* @brief Enum to control the direction.
|
||||
*
|
||||
* If the Direction is Forward, the internal counter counts up and a positiv speed will be returned.
|
||||
* If the Direction is Backward, the internal counter counts down and a negativ speed will be returned.
|
||||
* If the Direction is None, no measurement will be taken.
|
||||
*/
|
||||
enum Direction
|
||||
{
|
||||
None,
|
||||
Forward,
|
||||
Backward
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Construct a new Speedometer object
|
||||
*
|
||||
* @param pin Pin on the Esp from the encoder.
|
||||
* @param diameter Diameter of the wheel in meters.
|
||||
* @param steps Encodersteps for a complete wheel rotation.
|
||||
*/
|
||||
Speedometer(uint8_t pin, double diameter, uint16_t steps);
|
||||
/**
|
||||
* @brief Construct a new Speedometer object
|
||||
*
|
||||
* @param pin Pin on the Esp from the encoder.
|
||||
* @param diameter Diameter of the wheel in meters.
|
||||
* @param steps Encodersteps for a complete wheel rotation.
|
||||
*/
|
||||
Speedometer(uint8_t pin, double diameter, uint16_t steps);
|
||||
|
||||
~Speedometer();
|
||||
~Speedometer();
|
||||
|
||||
/**
|
||||
* @brief Set the direction
|
||||
*
|
||||
* @param dir Direction
|
||||
*/
|
||||
void setDirection(Direction dir);
|
||||
/**
|
||||
* @brief Set the direction
|
||||
*
|
||||
* @param dir Direction
|
||||
*/
|
||||
void setDirection(Direction dir);
|
||||
|
||||
/**
|
||||
* @brief Set the Enc Filter to prevent bouncing
|
||||
*
|
||||
* ignore pulses less than val x 2.5ns
|
||||
*
|
||||
* @param val default = 1000, max = 1023
|
||||
*/
|
||||
void setEncFilter(uint16_t val);
|
||||
/**
|
||||
* @brief Set the Enc Filter to prevent bouncing
|
||||
*
|
||||
* ignore pulses less than val x 2.5ns
|
||||
*
|
||||
* @param val default = 1000, max = 1023
|
||||
*/
|
||||
void setEncFilter(uint16_t val);
|
||||
|
||||
/**
|
||||
* @brief Get the Direction
|
||||
*
|
||||
* @return Direction
|
||||
*/
|
||||
Direction getDirection() const { return this->currentDirection; }
|
||||
/**
|
||||
* @brief Get the Direction
|
||||
*
|
||||
* @return Direction
|
||||
*/
|
||||
Direction getDirection() const { return this->currentDirection; }
|
||||
|
||||
/**
|
||||
* @brief Get the calculated speed of the Wheel
|
||||
*
|
||||
* @return double speed in m/s
|
||||
*/
|
||||
double getSpeed() const { return this->speed; }
|
||||
double getSpeedRad() const { return this->rad; };
|
||||
double getAvgSpeed() const;
|
||||
/**
|
||||
* @brief Get the calculated speed of the Wheel
|
||||
*
|
||||
* @return double speed in m/s
|
||||
*/
|
||||
double getSpeed() const { return this->speed; }
|
||||
double getSpeedRad() const { return this->rad; };
|
||||
double getAvgSpeed() const;
|
||||
|
||||
/**
|
||||
* @brief Start calibration
|
||||
*
|
||||
* This functions stops the loop. So that steps of one manual wheel turn
|
||||
* can measured. Call calibrationMeasurementStop to start the loop and get
|
||||
* the result.
|
||||
*/
|
||||
void calibrationMeasurementStart();
|
||||
/**
|
||||
* @brief Start calibration
|
||||
*
|
||||
* This functions stops the loop. So that steps of one manual wheel turn
|
||||
* can measured. Call calibrationMeasurementStop to start the loop and get
|
||||
* the result.
|
||||
*/
|
||||
void calibrationMeasurementStart();
|
||||
|
||||
/**
|
||||
* @brief Stop calibration
|
||||
*
|
||||
* Start the loop function and read the past steps.
|
||||
*
|
||||
* @return uint16_t steps since calibrationMeasurementStart was called
|
||||
*/
|
||||
uint16_t calibrationMeasurementStop();
|
||||
/**
|
||||
* @brief Stop calibration
|
||||
*
|
||||
* Start the loop function and read the past steps.
|
||||
*
|
||||
* @return uint16_t steps since calibrationMeasurementStart was called
|
||||
*/
|
||||
uint16_t calibrationMeasurementStop();
|
||||
|
||||
private:
|
||||
void run() override;
|
||||
void clearAvgBuf();
|
||||
void addValToBuf(int16_t val);
|
||||
int16_t calcAverage() const;
|
||||
|
||||
private:
|
||||
void run() override;
|
||||
void clearAvgBuf();
|
||||
void addValToBuf(int16_t val);
|
||||
int16_t calcAverage() const;
|
||||
static constexpr uint8_t loopDelay = 30;
|
||||
static constexpr uint8_t bufSize = 5;
|
||||
static constexpr uint8_t conversionFactor = 100;
|
||||
|
||||
static constexpr uint8_t loopDelay = 30;
|
||||
static constexpr uint8_t bufSize = 5;
|
||||
static constexpr uint8_t conversionFactor = 100;
|
||||
Counter *pulseCounter;
|
||||
Direction currentDirection = Direction::None;
|
||||
|
||||
Counter* pulseCounter;
|
||||
Direction currentDirection = Direction::None;
|
||||
bool calibrationRunning = false;
|
||||
|
||||
bool calibrationRunning = false;
|
||||
double speed = 0;
|
||||
double rad = 0;
|
||||
double diameter;
|
||||
|
||||
double speed = 0;
|
||||
double rad = 0;
|
||||
double diameter;
|
||||
uint8_t printCounter = 0;
|
||||
uint8_t bufPos = 0;
|
||||
uint16_t steps;
|
||||
int16_t buf[Speedometer::bufSize];
|
||||
uint32_t lastMillisCalc = 0;
|
||||
|
||||
uint8_t printCounter = 0;
|
||||
uint8_t bufPos = 0;
|
||||
uint16_t steps;
|
||||
|
||||
int16_t buf[Speedometer::bufSize];
|
||||
|
||||
uint32_t lastMillisCalc = 0;
|
||||
static constexpr uint16_t maxFilterValue = 1023;
|
||||
};
|
||||
|
||||
#endif // SPEEDOMETER_H
|
||||
|
||||
+23
-12
@@ -4,42 +4,53 @@
|
||||
* @brief Implemention of the class debugTimes.h.
|
||||
* @version 0.1
|
||||
* @date 2021-12-13
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2021
|
||||
*
|
||||
*
|
||||
*/
|
||||
#include "debugTimes.h"
|
||||
|
||||
bool DebugTimes::print = false;
|
||||
bool DebugTimes::printWarning = true;
|
||||
|
||||
DebugTimes::DebugTimes() {
|
||||
this->startTime = millis();
|
||||
|
||||
if (DebugTimes::printWarning) {
|
||||
std::cout << std::endl << "Warning: DebugTimes is muuted, no times are be shown." << std::endl << std::endl;
|
||||
DebugTimes::DebugTimes()
|
||||
: startTime{millis()}
|
||||
{
|
||||
if (DebugTimes::printWarning)
|
||||
{
|
||||
std::cout << std::endl
|
||||
<< "Warning: DebugTimes is muuted, no times are be shown." << std::endl
|
||||
<< std::endl;
|
||||
DebugTimes::printWarning = false;
|
||||
}
|
||||
}
|
||||
|
||||
void DebugTimes::restart() {
|
||||
void DebugTimes::restart()
|
||||
{
|
||||
this->startTime = millis();
|
||||
}
|
||||
|
||||
uint16_t DebugTimes::stop() {
|
||||
const uint16_t DebugTimes::stop()
|
||||
{
|
||||
return millis() - this->startTime;
|
||||
}
|
||||
|
||||
uint16_t DebugTimes::stopConsol(const char* name, uint16_t minTime) {
|
||||
uint64_t time = millis() - this->startTime;
|
||||
const uint16_t DebugTimes::stopConsol(const char *name, uint16_t minTime)
|
||||
{
|
||||
const uint64_t time = millis() - this->startTime;
|
||||
if (time > minTime && DebugTimes::print)
|
||||
{
|
||||
std::cout << name << " needs " << time << " ms" << std::endl;
|
||||
}
|
||||
return time;
|
||||
}
|
||||
|
||||
void DebugTimes::setConsolOutput(bool enable) {
|
||||
void DebugTimes::setConsolOutput(bool enable)
|
||||
{
|
||||
if (enable == DebugTimes::print)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
DebugTimes::print = enable;
|
||||
DebugTimes::printWarning = !enable;
|
||||
|
||||
+42
-41
@@ -4,9 +4,9 @@
|
||||
* @brief Inherits a class to measure times of functions.
|
||||
* @version 0.1
|
||||
* @date 2021-12-13
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2021
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef DEBUG_TIMES_H
|
||||
@@ -20,57 +20,58 @@
|
||||
|
||||
/**
|
||||
* @brief A class to measure times of functions.
|
||||
*
|
||||
*
|
||||
* This simple class only save the value of the millis()
|
||||
* function when you call the constructor or restart().
|
||||
* To get the elapsed time call stop() or stopConsol().
|
||||
*
|
||||
*
|
||||
* @warning This class is not very accurate
|
||||
* It only give you the time in milliseconds.
|
||||
*/
|
||||
class DebugTimes {
|
||||
public:
|
||||
/**
|
||||
* @brief Construct a new Debug Times object
|
||||
* Starts to count milliseconds
|
||||
*/
|
||||
class DebugTimes
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* @brief Construct a new Debug Times object
|
||||
* Starts to count milliseconds
|
||||
*/
|
||||
|
||||
DebugTimes();
|
||||
/**
|
||||
* @brief Set the counter to 0
|
||||
*/
|
||||
DebugTimes();
|
||||
/**
|
||||
* @brief Set the counter to 0
|
||||
*/
|
||||
|
||||
void restart();
|
||||
void restart();
|
||||
|
||||
/**
|
||||
* @brief Give the elapsed time
|
||||
*
|
||||
* @return uint16_t elapsed milliseconds
|
||||
*/
|
||||
uint16_t stop();
|
||||
/**
|
||||
* @brief Give the elapsed time
|
||||
*
|
||||
* @return uint16_t elapsed milliseconds
|
||||
*/
|
||||
const uint16_t stop();
|
||||
|
||||
/**
|
||||
* @brief Print the elapsed time to consol
|
||||
*
|
||||
* @param name Functionname to print
|
||||
* @param minTime A minimum time before printing
|
||||
*
|
||||
* @return uint16_t elapsed milliseconds
|
||||
*/
|
||||
uint16_t stopConsol(const char* name, uint16_t minTime = 0);
|
||||
/**
|
||||
* @brief Print the elapsed time to consol
|
||||
*
|
||||
* @param name Functionname to print
|
||||
* @param minTime A minimum time before printing
|
||||
*
|
||||
* @return uint16_t elapsed milliseconds
|
||||
*/
|
||||
const uint16_t stopConsol(const char *name, uint16_t minTime = 0);
|
||||
|
||||
/**
|
||||
* @brief Sets if the result should be printed.
|
||||
*
|
||||
* @param enable
|
||||
*/
|
||||
static void setConsolOutput(bool enable);
|
||||
/**
|
||||
* @brief Sets if the result should be printed.
|
||||
*
|
||||
* @param enable
|
||||
*/
|
||||
static void setConsolOutput(bool enable);
|
||||
|
||||
private:
|
||||
uint64_t startTime;
|
||||
private:
|
||||
uint64_t startTime;
|
||||
|
||||
static bool print;
|
||||
static bool printWarning;
|
||||
static bool print;
|
||||
static bool printWarning;
|
||||
};
|
||||
|
||||
#endif //DEBUG_TIMES_H
|
||||
#endif // DEBUG_TIMES_H
|
||||
|
||||
@@ -12,8 +12,8 @@
|
||||
#include "calibrateCompass.h"
|
||||
|
||||
CalibrateCompass::CalibrateCompass(QMC5883LCompass *compass)
|
||||
: compass{compass}
|
||||
{
|
||||
this->compass = compass;
|
||||
this->state = State::Ready;
|
||||
this->clearData();
|
||||
this->activateOnlyChilds();
|
||||
@@ -29,9 +29,9 @@ void CalibrateCompass::runAsChild()
|
||||
bool changed = false;
|
||||
|
||||
this->compass->read();
|
||||
int xAxis = this->compass->getX();
|
||||
int yAxis = this->compass->getY();
|
||||
int zAxis = this->compass->getZ();
|
||||
const int xAxis = this->compass->getX();
|
||||
const int yAxis = this->compass->getY();
|
||||
const int zAxis = this->compass->getZ();
|
||||
|
||||
if (xAxis < this->data.data[0][0])
|
||||
{
|
||||
@@ -70,7 +70,9 @@ void CalibrateCompass::runAsChild()
|
||||
}
|
||||
|
||||
if (changed)
|
||||
{
|
||||
this->lastChange = millis();
|
||||
}
|
||||
|
||||
if (millis() - this->lastChange > this->maxTimeWithoutChange)
|
||||
{
|
||||
@@ -182,23 +184,23 @@ void CalibrateCompass::checkDataValidity()
|
||||
sum += this->data.data[i][0];
|
||||
sum += this->data.data[i][1];
|
||||
}
|
||||
this->dataValid = sum;
|
||||
this->dataValid = static_cast<bool>(sum);
|
||||
}
|
||||
|
||||
std::ostream &operator<<(std::ostream &os, const CalibrateCompass &caliComp)
|
||||
std::ostream &operator<<(std::ostream &stream, const CalibrateCompass &caliComp)
|
||||
{
|
||||
os << "(";
|
||||
os << caliComp.data.data[0][0];
|
||||
os << ", ";
|
||||
os << caliComp.data.data[0][1];
|
||||
os << ", ";
|
||||
os << caliComp.data.data[1][0];
|
||||
os << ", ";
|
||||
os << caliComp.data.data[1][1];
|
||||
os << ", ";
|
||||
os << caliComp.data.data[2][0];
|
||||
os << ", ";
|
||||
os << caliComp.data.data[2][1];
|
||||
os << ")";
|
||||
return os;
|
||||
stream << "(";
|
||||
stream << caliComp.data.data[0][0];
|
||||
stream << ", ";
|
||||
stream << caliComp.data.data[0][1];
|
||||
stream << ", ";
|
||||
stream << caliComp.data.data[1][0];
|
||||
stream << ", ";
|
||||
stream << caliComp.data.data[1][1];
|
||||
stream << ", ";
|
||||
stream << caliComp.data.data[2][0];
|
||||
stream << ", ";
|
||||
stream << caliComp.data.data[2][1];
|
||||
stream << ")";
|
||||
return stream;
|
||||
}
|
||||
|
||||
@@ -1,12 +1,12 @@
|
||||
/**
|
||||
* @file calibrateCompass.h
|
||||
* @author Alexander Klein (alex@kleiax.de)
|
||||
* @brief
|
||||
* @brief
|
||||
* @version 0.1
|
||||
* @date 2023-05-23
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2023
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
@@ -17,44 +17,47 @@
|
||||
|
||||
#include "component.h"
|
||||
|
||||
class CalibrateCompass : public Component {
|
||||
public:
|
||||
enum State {
|
||||
Ready,
|
||||
Calibrating,
|
||||
Finished
|
||||
};
|
||||
class CalibrateCompass : public Component
|
||||
{
|
||||
public:
|
||||
enum State
|
||||
{
|
||||
Ready,
|
||||
Calibrating,
|
||||
Finished
|
||||
};
|
||||
|
||||
struct CallibrationData {
|
||||
int data[3][2];
|
||||
};
|
||||
struct CallibrationData
|
||||
{
|
||||
int data[3][2];
|
||||
};
|
||||
|
||||
CalibrateCompass(QMC5883LCompass* compass);
|
||||
CalibrateCompass(QMC5883LCompass *compass);
|
||||
|
||||
void start();
|
||||
void useData();
|
||||
void removeCalibration();
|
||||
void reset();
|
||||
void saveData();
|
||||
void loadData();
|
||||
void start();
|
||||
void useData();
|
||||
void removeCalibration();
|
||||
void reset();
|
||||
void saveData();
|
||||
void loadData();
|
||||
|
||||
State getState() const { return this->state; }
|
||||
CallibrationData getCallibrationData() const { return this->data; }
|
||||
State getState() const { return this->state; }
|
||||
CallibrationData getCallibrationData() const { return this->data; }
|
||||
|
||||
friend std::ostream& operator<<(std::ostream& os, const CalibrateCompass& caliComp);
|
||||
friend std::ostream &operator<<(std::ostream &stream, const CalibrateCompass &caliComp);
|
||||
|
||||
private:
|
||||
void runAsChild() override;
|
||||
void run() override;
|
||||
void checkDataValidity();
|
||||
private:
|
||||
void runAsChild() override;
|
||||
void run() override;
|
||||
void checkDataValidity();
|
||||
|
||||
QMC5883LCompass* compass;
|
||||
State state;
|
||||
CallibrationData data;
|
||||
QMC5883LCompass *compass;
|
||||
State state = State::Ready;
|
||||
CallibrationData data{};
|
||||
|
||||
void clearData();
|
||||
void clearData();
|
||||
|
||||
bool dataValid = false;
|
||||
const uint16_t maxTimeWithoutChange = 10000;
|
||||
uint32_t lastChange = 0;
|
||||
bool dataValid = false;
|
||||
const uint16_t maxTimeWithoutChange = 10000;
|
||||
uint32_t lastChange = 0;
|
||||
};
|
||||
|
||||
+39
-22
@@ -4,56 +4,73 @@
|
||||
* @brief Contains the implementation of the class OutputBufMqtt
|
||||
* @version 0.1
|
||||
* @date 2022-02-14
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2022
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#include "OutputBuf/outputBuf.h"
|
||||
|
||||
OutputBuf::OutputBuf(DebugMqtt* debugMqtt, BluetoothSerial* serialBT)
|
||||
: std::streambuf() {
|
||||
this->debugMqtt = debugMqtt;
|
||||
this->serialBT = serialBT;
|
||||
|
||||
if (debugMqtt)
|
||||
OutputBuf::OutputBuf(DebugMqtt *debugMqtt, BluetoothSerial *serialBT)
|
||||
: debugMqtt{debugMqtt}, serialBT{serialBT}
|
||||
{
|
||||
if (static_cast<bool>(debugMqtt))
|
||||
{
|
||||
this->isMqttActive = true;
|
||||
}
|
||||
|
||||
if (serialBT)
|
||||
if (static_cast<bool>(serialBT))
|
||||
{
|
||||
this->isMqttActive = true;
|
||||
}
|
||||
}
|
||||
|
||||
void OutputBuf::activateMqtt(bool status) {
|
||||
if (debugMqtt)
|
||||
void OutputBuf::activateMqtt(bool status)
|
||||
{
|
||||
if (static_cast<bool>(debugMqtt))
|
||||
{
|
||||
this->isMqttActive = status;
|
||||
}
|
||||
}
|
||||
|
||||
void OutputBuf::activateSerialBT(bool status) {
|
||||
if (serialBT)
|
||||
void OutputBuf::activateSerialBT(bool status)
|
||||
{
|
||||
if (static_cast<bool>(serialBT))
|
||||
{
|
||||
this->isSerialBTActive = status;
|
||||
}
|
||||
}
|
||||
|
||||
void OutputBuf::setDebugMqtt(DebugMqtt* debugMqtt) {
|
||||
void OutputBuf::setDebugMqtt(DebugMqtt *debugMqtt)
|
||||
{
|
||||
this->debugMqtt = debugMqtt;
|
||||
this->isMqttActive = true;
|
||||
}
|
||||
|
||||
void OutputBuf::setSerialBT(BluetoothSerial* serialBT) {
|
||||
void OutputBuf::setSerialBT(BluetoothSerial *serialBT)
|
||||
{
|
||||
this->serialBT = serialBT;
|
||||
this->isSerialBTActive = true;;
|
||||
this->isSerialBTActive = true;
|
||||
;
|
||||
}
|
||||
|
||||
std::streambuf::int_type OutputBuf::overflow(std::streambuf::int_type c) {
|
||||
if (c != EOF) {
|
||||
std::streambuf::int_type OutputBuf::overflow(std::streambuf::int_type character)
|
||||
{
|
||||
if (character != EOF)
|
||||
{
|
||||
// c = std::toupper(static_cast<char>(c), getloc());
|
||||
|
||||
if (this->debugMqtt && this->isMqttActive)
|
||||
this->debugMqtt->addCharacter((char) c);
|
||||
{
|
||||
this->debugMqtt->addCharacter(static_cast<char>(character));
|
||||
}
|
||||
|
||||
if (this->serialBT && this->isSerialBTActive && this->serialBT->connected())
|
||||
this->serialBT->print((char) c);
|
||||
{
|
||||
this->serialBT->print(static_cast<char>(character));
|
||||
}
|
||||
|
||||
Serial.print((char) c);
|
||||
Serial.print(static_cast<char>(character));
|
||||
}
|
||||
return c;
|
||||
return character;
|
||||
}
|
||||
|
||||
@@ -1,59 +1,70 @@
|
||||
/**
|
||||
* @file menuCalibrateBattery.cpp
|
||||
* @author Alexander Klein (alex@kleiax.de)
|
||||
* @brief
|
||||
* @brief
|
||||
* @version 0.1
|
||||
* @date 2023-09-26
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2023
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#include "menuCalibrateBattery.h"
|
||||
|
||||
MenuCalibrateBattery::MenuCalibrateBattery(Battery* battery) {
|
||||
this->setUpdateDelay(400);
|
||||
this->battery = battery;
|
||||
MenuCalibrateBattery::MenuCalibrateBattery(Battery *battery)
|
||||
: battery{battery}
|
||||
{
|
||||
this->setUpdateDelay(MenuCalibrateBattery::updateDelay);
|
||||
}
|
||||
|
||||
void MenuCalibrateBattery::printMenu() {
|
||||
void MenuCalibrateBattery::printMenu()
|
||||
{
|
||||
if (this->battery->getCalibrationState() == Battery::CalibrationState::None)
|
||||
{
|
||||
this->battery->startCalibration();
|
||||
}
|
||||
|
||||
String lineOne = "";
|
||||
String lineTwo = "";
|
||||
|
||||
switch (this->battery->getCalibrationState()) {
|
||||
case Battery::CalibrationState::Waiting:
|
||||
lineOne = "Target Voltage:";
|
||||
lineTwo = "7 + ";
|
||||
lineTwo.concat(this->battery->getCurrentCalibrationVoltage());
|
||||
lineTwo.concat(" / 10");
|
||||
break;
|
||||
switch (this->battery->getCalibrationState())
|
||||
{
|
||||
case Battery::CalibrationState::Waiting:
|
||||
lineOne = "Target Voltage:";
|
||||
lineTwo = "7 + ";
|
||||
lineTwo.concat(this->battery->getCurrentCalibrationVoltage());
|
||||
lineTwo.concat(" / 10");
|
||||
break;
|
||||
|
||||
case Battery::CalibrationState::Reading:
|
||||
lineOne = "Reading...";
|
||||
break;
|
||||
case Battery::CalibrationState::Reading:
|
||||
lineOne = "Reading...";
|
||||
break;
|
||||
|
||||
case Battery::CalibrationState::Finished:
|
||||
lineOne = "Finished!";
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
case Battery::CalibrationState::Finished:
|
||||
lineOne = "Finished!";
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
this->print(lineOne, lineTwo);
|
||||
}
|
||||
|
||||
void MenuCalibrateBattery::left() {
|
||||
void MenuCalibrateBattery::left()
|
||||
{
|
||||
this->battery->finishCalibration();
|
||||
|
||||
if (parentMenu)
|
||||
if (static_cast<bool>(parentMenu))
|
||||
{
|
||||
this->parentMenu->printMenu();
|
||||
}
|
||||
}
|
||||
|
||||
void MenuCalibrateBattery::right() {
|
||||
void MenuCalibrateBattery::right()
|
||||
{
|
||||
if (this->battery->getCalibrationState() == Battery::CalibrationState::Waiting)
|
||||
{
|
||||
this->battery->nextVoltageIsReady();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,12 +1,12 @@
|
||||
/**
|
||||
* @file menuCalibrateBattery.h
|
||||
* @author Alexander Klein (alex@kleiax.de)
|
||||
* @brief
|
||||
* @brief
|
||||
* @version 0.1
|
||||
* @date 2023-09-26
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2023
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef MENU_CALIBRATE_BATTERY_H
|
||||
@@ -15,19 +15,22 @@
|
||||
#include "menuControl.h"
|
||||
#include "battery.h"
|
||||
|
||||
class MenuCalibrateBattery : public MenuControl {
|
||||
public:
|
||||
MenuCalibrateBattery(Battery* battery);
|
||||
class MenuCalibrateBattery : public MenuControl
|
||||
{
|
||||
public:
|
||||
MenuCalibrateBattery(Battery *battery);
|
||||
|
||||
void printMenu() override;
|
||||
void printMenu() override;
|
||||
|
||||
void left() override;
|
||||
void no() override { this->left(); }
|
||||
void right() override;
|
||||
void yes() override { this->right(); }
|
||||
void left() override;
|
||||
void no() override { this->left(); }
|
||||
void right() override;
|
||||
void yes() override { this->right(); }
|
||||
|
||||
private:
|
||||
Battery* battery;
|
||||
private:
|
||||
Battery *battery;
|
||||
|
||||
static constexpr uint16_t updateDelay = 400;
|
||||
};
|
||||
|
||||
#endif //MENU_CALIBRATE_BATTERY_H
|
||||
#endif // MENU_CALIBRATE_BATTERY_H
|
||||
|
||||
@@ -4,19 +4,20 @@
|
||||
* @brief Contains an implementation of the class MenuPidSettings
|
||||
* @version 0.1
|
||||
* @date 2022-01-19
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2022
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#include "menuPidSettings.h"
|
||||
|
||||
MenuPidSettings::MenuPidSettings(PID* pid) {
|
||||
this->pid = pid;
|
||||
}
|
||||
MenuPidSettings::MenuPidSettings(PID *pid) : pid{pid} {}
|
||||
|
||||
void MenuPidSettings::action(int16_t* values, uint8_t length) {
|
||||
if (length != 3)
|
||||
void MenuPidSettings::action(int16_t *values, uint8_t length)
|
||||
{
|
||||
if (length != 3)
|
||||
{
|
||||
return;
|
||||
}
|
||||
this->pid->SetTunings(values[0], values[1], values[2]);
|
||||
}
|
||||
|
||||
@@ -12,9 +12,8 @@
|
||||
#include "menuRoute.h"
|
||||
|
||||
MenuActionRoute::MenuActionRoute(MenuRoute *menuRoute, DataFunction dataFunction)
|
||||
: menuRoute{menuRoute}, dataFunction{dataFunction}
|
||||
{
|
||||
this->menuRoute = menuRoute;
|
||||
this->dataFunction = dataFunction;
|
||||
}
|
||||
|
||||
void MenuActionRoute::action()
|
||||
@@ -23,8 +22,8 @@ void MenuActionRoute::action()
|
||||
}
|
||||
|
||||
MenuRoute::MenuRoute(Route *route)
|
||||
: route{route}
|
||||
{
|
||||
this->route = route;
|
||||
}
|
||||
|
||||
MenuRoute::~MenuRoute()
|
||||
@@ -185,12 +184,12 @@ void MenuRoute::importRoute(uint8_t routeNumber)
|
||||
String host = "http://rover.kleiax.de/api/";
|
||||
host.concat(routeNumber);
|
||||
http.begin(client, host);
|
||||
int httpResponseCode = http.GET();
|
||||
const int httpResponseCode = http.GET();
|
||||
|
||||
lineOne = "Import complete";
|
||||
lineTwo = "Code: ";
|
||||
|
||||
if (httpResponseCode == 202)
|
||||
if (httpResponseCode == MenuRoute::httpValidImport)
|
||||
{
|
||||
deserializeJson(doc, http.getStream());
|
||||
}
|
||||
@@ -231,7 +230,7 @@ void MenuRoute::exportRoute(uint8_t routeNumber)
|
||||
String lineOne = "";
|
||||
String lineTwo = "";
|
||||
|
||||
if (WiFi.status() != WL_CONNECTED)
|
||||
if (WiFiSTAClass::status() != WL_CONNECTED)
|
||||
{
|
||||
lineOne = "Not connected to";
|
||||
lineTwo = "the WiFi.";
|
||||
@@ -270,9 +269,9 @@ void MenuRoute::exportRoute(uint8_t routeNumber)
|
||||
|
||||
http.begin(client, "http://rover.kleiax.de/api/");
|
||||
http.addHeader("Content-Type", "application/json");
|
||||
int httpResponseCode = http.POST(jsonData);
|
||||
const int httpResponseCode = http.POST(jsonData);
|
||||
|
||||
if (httpResponseCode == 201)
|
||||
if (httpResponseCode == MenuRoute::httpValidExport)
|
||||
{
|
||||
lineOne = "Export complete";
|
||||
}
|
||||
@@ -295,7 +294,7 @@ void MenuRoute::deleteRoute(uint8_t routeNumber)
|
||||
String lineOne = "";
|
||||
String lineTwo = "";
|
||||
|
||||
if (WiFi.status() != WL_CONNECTED)
|
||||
if (WiFiSTAClass::status() != WL_CONNECTED)
|
||||
{
|
||||
lineOne = "Not connected to";
|
||||
lineTwo = "the WiFi.";
|
||||
@@ -320,12 +319,12 @@ void MenuRoute::deleteRoute(uint8_t routeNumber)
|
||||
String host = "http://rover.kleiax.de/api/";
|
||||
host.concat(routeNumber);
|
||||
http.begin(client, host);
|
||||
int httpResponseCode = http.sendRequest("DELETE");
|
||||
const int httpResponseCode = http.sendRequest("DELETE");
|
||||
|
||||
lineOne = "Delete complete";
|
||||
lineTwo = "Code: ";
|
||||
|
||||
if (httpResponseCode == 202)
|
||||
if (httpResponseCode == MenuRoute::httpValidDelete)
|
||||
{
|
||||
deserializeJson(doc, http.getStream());
|
||||
}
|
||||
@@ -343,16 +342,15 @@ void MenuRoute::deleteRoute(uint8_t routeNumber)
|
||||
|
||||
void MenuRoute::clearRoute(uint8_t none)
|
||||
{
|
||||
//The parameter exist only for compability
|
||||
// The parameter exist only for compability
|
||||
none;
|
||||
this->route->clear();
|
||||
this->print("Currente route", "deleted...");
|
||||
}
|
||||
|
||||
MenuRouteWrapper::MenuRouteWrapper(MenuRoute *menuRoute, DataFunction dataFunction)
|
||||
: menuRoute {menuRoute}, dataFunction {dataFunction}
|
||||
: menuRoute{menuRoute}, dataFunction{dataFunction}
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void MenuRouteWrapper::action(int16_t *values, uint8_t length)
|
||||
|
||||
+106
-104
@@ -4,9 +4,9 @@
|
||||
* @brief Contains a classes to handles routes with the user input.
|
||||
* @version 0.1
|
||||
* @date 2022-12-28
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2022
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef MENU_ROUTE_H
|
||||
@@ -30,135 +30,137 @@ typedef void (MenuRoute::*DataFunction)(uint8_t);
|
||||
|
||||
/**
|
||||
* @brief MenuActionWrapper to call DataFunctions
|
||||
*
|
||||
*
|
||||
* This class should be used to call importRoute,
|
||||
* exportRoute and clearRoute over the Menu.
|
||||
*/
|
||||
class MenuActionRoute : public MenuActionWrapper {
|
||||
public:
|
||||
/**
|
||||
* @brief Construct a new Menu Action Route object
|
||||
*
|
||||
* @param menuRoute
|
||||
* @param dataFunction like exportRoute
|
||||
*/
|
||||
MenuActionRoute(MenuRoute* menuRoute, DataFunction dataFunction);
|
||||
class MenuActionRoute : public MenuActionWrapper
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* @brief Construct a new Menu Action Route object
|
||||
*
|
||||
* @param menuRoute
|
||||
* @param dataFunction like exportRoute
|
||||
*/
|
||||
MenuActionRoute(MenuRoute *menuRoute, DataFunction dataFunction);
|
||||
|
||||
/**
|
||||
* @brief Runs the given DataFunction
|
||||
*/
|
||||
void action() override;
|
||||
/**
|
||||
* @brief Runs the given DataFunction
|
||||
*/
|
||||
void action() override;
|
||||
|
||||
private:
|
||||
MenuRoute* menuRoute;
|
||||
DataFunction dataFunction;
|
||||
private:
|
||||
MenuRoute *menuRoute;
|
||||
DataFunction dataFunction;
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Handles routes
|
||||
*
|
||||
* With this menu the user can import, export and delete routes.
|
||||
*
|
||||
* With this menu the user can import, export and delete routes.
|
||||
*/
|
||||
class MenuRoute : public MenuControl {
|
||||
public:
|
||||
/**
|
||||
* @brief Construct a new Menu Route object
|
||||
*
|
||||
* @param route
|
||||
*/
|
||||
MenuRoute(Route* route);
|
||||
~MenuRoute();
|
||||
class MenuRoute : public MenuControl
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* @brief Construct a new Menu Route object
|
||||
*
|
||||
* @param route
|
||||
*/
|
||||
MenuRoute(Route *route);
|
||||
~MenuRoute();
|
||||
|
||||
/**
|
||||
* @brief Prints the last informations
|
||||
*
|
||||
* On first call this function calls the init function.
|
||||
* On every call this functions call the printMenu function from
|
||||
* the mainMenu of this class.
|
||||
*/
|
||||
void printMenu() override;
|
||||
/**
|
||||
* @brief Prints the last informations
|
||||
*
|
||||
* On first call this function calls the init function.
|
||||
* On every call this functions call the printMenu function from
|
||||
* the mainMenu of this class.
|
||||
*/
|
||||
void printMenu() override;
|
||||
|
||||
/**
|
||||
* @name User Inputs
|
||||
* @brief Inputs given by the parentMenu
|
||||
*/
|
||||
///@{
|
||||
void down() override;
|
||||
void up() override;
|
||||
void right() override;
|
||||
void left() override;
|
||||
void yes() override;
|
||||
void no() override;
|
||||
///@}
|
||||
/**
|
||||
* @name User Inputs
|
||||
* @brief Inputs given by the parentMenu
|
||||
*/
|
||||
///@{
|
||||
void down() override;
|
||||
void up() override;
|
||||
void right() override;
|
||||
void left() override;
|
||||
void yes() override;
|
||||
void no() override;
|
||||
///@}
|
||||
|
||||
/**
|
||||
* @brief Import a Route.
|
||||
*
|
||||
* The functions tries to pull the given route id from the RoverApi.
|
||||
*
|
||||
* @param routeNumber id
|
||||
*/
|
||||
void importRoute(uint8_t routeNumber);
|
||||
/**
|
||||
* @brief Import a Route.
|
||||
*
|
||||
* The functions tries to pull the given route id from the RoverApi.
|
||||
*
|
||||
* @param routeNumber id
|
||||
*/
|
||||
void importRoute(uint8_t routeNumber);
|
||||
|
||||
/**
|
||||
* @brief Export a Route.
|
||||
*
|
||||
* The functions tries to push the current route to the RoverApi.
|
||||
*
|
||||
* @param routeNumber id
|
||||
*/
|
||||
void exportRoute(uint8_t routeNumber);
|
||||
/**
|
||||
* @brief Export a Route.
|
||||
*
|
||||
* The functions tries to push the current route to the RoverApi.
|
||||
*
|
||||
* @param routeNumber id
|
||||
*/
|
||||
void exportRoute(uint8_t routeNumber);
|
||||
|
||||
void deleteRoute(uint8_t routeNumber);
|
||||
void deleteRoute(uint8_t routeNumber);
|
||||
|
||||
/**
|
||||
* @brief Delete the current Route.
|
||||
*
|
||||
* @param none this param is not be used.
|
||||
*/
|
||||
void clearRoute(uint8_t none);
|
||||
|
||||
private:
|
||||
void init();
|
||||
/**
|
||||
* @brief Delete the current Route.
|
||||
*
|
||||
* @param none this param is not be used.
|
||||
*/
|
||||
void clearRoute(uint8_t none);
|
||||
|
||||
Route* route;
|
||||
Menu* mainMenu;
|
||||
private:
|
||||
void init();
|
||||
|
||||
bool isInit = false;
|
||||
bool blockInput = false;
|
||||
Route *route;
|
||||
Menu *mainMenu = nullptr;
|
||||
|
||||
static constexpr uint8_t maxRouteNumber = 100;
|
||||
static constexpr uint16_t httpValidExport = 201;
|
||||
static constexpr uint16_t httpValidImport = 202;
|
||||
static constexpr uint16_t httpValidDelete = 202;
|
||||
bool isInit = 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;
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief MenuRouteWrapper to call DataFunctions with numeric user input
|
||||
*
|
||||
*
|
||||
*/
|
||||
class MenuRouteWrapper : public MenuIntInputWrapper {
|
||||
public:
|
||||
/**
|
||||
* @brief Construct a new Menu Route Wrapper object.
|
||||
*
|
||||
* @param menuRoute
|
||||
* @param dataFunction
|
||||
*/
|
||||
MenuRouteWrapper(MenuRoute* menuRoute, DataFunction dataFunction);
|
||||
class MenuRouteWrapper : public MenuIntInputWrapper
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* @brief Construct a new Menu Route Wrapper object.
|
||||
*
|
||||
* @param menuRoute
|
||||
* @param dataFunction
|
||||
*/
|
||||
MenuRouteWrapper(MenuRoute *menuRoute, DataFunction dataFunction);
|
||||
|
||||
/**
|
||||
* @brief Calls the given DataFunction.
|
||||
*
|
||||
* @param values The value to be given to the DataFunction.
|
||||
* @param length Number of values, should be 1.
|
||||
*/
|
||||
void action(int16_t* values, uint8_t length) override;
|
||||
/**
|
||||
* @brief Calls the given DataFunction.
|
||||
*
|
||||
* @param values The value to be given to the DataFunction.
|
||||
* @param length Number of values, should be 1.
|
||||
*/
|
||||
void action(int16_t *values, uint8_t length) override;
|
||||
|
||||
private:
|
||||
MenuRoute* menuRoute;
|
||||
DataFunction dataFunction = nullptr;
|
||||
private:
|
||||
MenuRoute *menuRoute;
|
||||
DataFunction dataFunction = nullptr;
|
||||
};
|
||||
|
||||
#endif // MENU_ROUTE_H
|
||||
|
||||
@@ -4,34 +4,48 @@
|
||||
* @brief Contains the implementation of the class MenuRoutePoints.
|
||||
* @version 0.1
|
||||
* @date 2022-12-28
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2022
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#include "menuRoutePoints.h"
|
||||
|
||||
MenuRoutePoints::MenuRoutePoints(Route *route) : MenuInformationSites() {
|
||||
this->route = route;
|
||||
MenuRoutePoints::MenuRoutePoints(Route *route)
|
||||
: route{route}
|
||||
{
|
||||
}
|
||||
|
||||
void MenuRoutePoints::init() {
|
||||
uint16_t amountPoints = this->route->getRouteInfo().totalPoints;
|
||||
void MenuRoutePoints::init()
|
||||
{
|
||||
const uint16_t amountPoints = this->route->getRouteInfo().totalPoints;
|
||||
if (amountPoints > UINT8_MAX)
|
||||
{
|
||||
this->error = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
this->setCountPages(amountPoints);
|
||||
}
|
||||
}
|
||||
|
||||
void MenuRoutePoints::printPage() const {
|
||||
uint8_t currentPage = this->getCurrentPage();
|
||||
void MenuRoutePoints::printPage() const
|
||||
{
|
||||
static constexpr int8_t width = 9;
|
||||
static constexpr int8_t prec = 7;
|
||||
static constexpr int8_t bufSize = 20;
|
||||
|
||||
const uint8_t currentPage = this->getCurrentPage();
|
||||
if (this->lastPageNumber == currentPage)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
String lineOne = "N ";
|
||||
String lineTwo = "E ";
|
||||
|
||||
if (this->error) {
|
||||
if (this->error)
|
||||
{
|
||||
lineOne = "Error: To much";
|
||||
lineTwo = "points are given";
|
||||
this->print(lineOne, lineTwo);
|
||||
@@ -39,35 +53,46 @@ void MenuRoutePoints::printPage() const {
|
||||
}
|
||||
|
||||
RouteInfo info = this->route->getRouteInfo();
|
||||
if (info.totalPoints == 0) {
|
||||
if (info.totalPoints == 0)
|
||||
{
|
||||
lineOne = "No Points are";
|
||||
lineTwo = "available";
|
||||
this->print(lineOne, lineTwo);
|
||||
return;
|
||||
}
|
||||
|
||||
Point p;
|
||||
Point point;
|
||||
if (currentPage == 0)
|
||||
p = this->route->startRoute();
|
||||
{
|
||||
point = this->route->startRoute();
|
||||
}
|
||||
else if (this->lastPageNumber - 1 == currentPage)
|
||||
p = this->route->getPreviousPoint();
|
||||
{
|
||||
point = this->route->getPreviousPoint();
|
||||
}
|
||||
else if (this->lastPageNumber + 1 == currentPage)
|
||||
p = this->route->getNextPoint();
|
||||
{
|
||||
point = this->route->getNextPoint();
|
||||
}
|
||||
else if (currentPage == this->getCountPages() - 1)
|
||||
p = this->route->endRoute();
|
||||
{
|
||||
point = this->route->endRoute();
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "Error in: MenuRoutePoints::printPage()" << std::endl;
|
||||
}
|
||||
|
||||
char buf[20];
|
||||
char* string;
|
||||
char buf[bufSize];
|
||||
char *string;
|
||||
|
||||
info = this->route->getRouteInfo();
|
||||
string = dtostrf(p.getLatitude(), 9, 7, buf);
|
||||
string = dtostrf(point.getLatitude(), width, prec, static_cast<char *>(buf));
|
||||
lineOne.concat(string);
|
||||
lineOne.concat(" ");
|
||||
lineOne.concat(info.currentPoint);
|
||||
// lineOne.concat(currentPage);
|
||||
string = dtostrf(p.getLongitude(), 9, 7, buf);
|
||||
string = dtostrf(point.getLongitude(), width, prec, static_cast<char *>(buf));
|
||||
lineTwo.concat(string);
|
||||
lineTwo.concat(" ");
|
||||
lineTwo.concat(info.totalPoints);
|
||||
|
||||
@@ -1,119 +1,151 @@
|
||||
/**
|
||||
* @file menuSensorData.cpp
|
||||
* @author Alexander Klein (alex@kleiax.de)
|
||||
* @brief
|
||||
* @brief
|
||||
* @version 0.1
|
||||
* @date 2023-09-04
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2023
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#include "menuSensorData.h"
|
||||
|
||||
MenuSensorData::MenuSensorData(SensorData* sensorData) :
|
||||
MenuInformationSites(7) {
|
||||
this->sensorData = sensorData;
|
||||
this->noEqualLeft = true;
|
||||
MenuSensorData::MenuSensorData(SensorData *sensorData) : MenuInformationSites(7), sensorData{sensorData}
|
||||
{
|
||||
this->noEqualLeft = true;
|
||||
}
|
||||
|
||||
void MenuSensorData::printPage() const {
|
||||
const UBX_NAV_PVT_data_t* gpsData = this->sensorData->getGnssData();
|
||||
void MenuSensorData::printPage() const
|
||||
{
|
||||
const UBX_NAV_PVT_data_t *gpsData = this->sensorData->getGnssData();
|
||||
uint8_t fixType = 0;
|
||||
if (gpsData)
|
||||
if (static_cast<bool>(gpsData))
|
||||
{
|
||||
fixType = gpsData->fixType;
|
||||
}
|
||||
|
||||
String lineOne = "";
|
||||
String lineTwo = "";
|
||||
|
||||
switch (this->getCurrentPage()) {
|
||||
case 0:
|
||||
lineOne = " Y P R :";
|
||||
lineTwo.concat(this->sensorData->getGyroData()[0]);
|
||||
lineTwo.concat(" ");
|
||||
lineTwo.concat(this->sensorData->getGyroData()[1]);
|
||||
lineTwo.concat(" ");
|
||||
lineTwo.concat(this->sensorData->getGyroData()[2]);
|
||||
break;
|
||||
switch (this->getCurrentPage())
|
||||
{
|
||||
case 0:
|
||||
lineOne = " Y P R :";
|
||||
lineTwo.concat(this->sensorData->getGyroData()[0]);
|
||||
lineTwo.concat(" ");
|
||||
lineTwo.concat(this->sensorData->getGyroData()[1]);
|
||||
lineTwo.concat(" ");
|
||||
lineTwo.concat(this->sensorData->getGyroData()[2]);
|
||||
break;
|
||||
|
||||
case 1:
|
||||
lineOne = "Real Azimuth:";
|
||||
lineTwo.concat(this->sensorData->getRealAzimuth());
|
||||
break;
|
||||
case 1:
|
||||
lineOne = "Real Azimuth:";
|
||||
lineTwo.concat(this->sensorData->getRealAzimuth());
|
||||
break;
|
||||
|
||||
case 2:
|
||||
lineOne = "Calc Azimuth:";
|
||||
lineTwo.concat(this->sensorData->getCalcAzimuth());
|
||||
lineTwo.concat(" ");
|
||||
lineTwo.concat(CalcAzimuth::stateToString(this->sensorData->getCalcAzimuthState()));
|
||||
break;
|
||||
case 2:
|
||||
lineOne = "Calc Azimuth:";
|
||||
lineTwo.concat(this->sensorData->getCalcAzimuth());
|
||||
lineTwo.concat(" ");
|
||||
lineTwo.concat(CalcAzimuth::stateToString(this->sensorData->getCalcAzimuthState()));
|
||||
break;
|
||||
|
||||
case 3: {
|
||||
lineOne = "Lat:";
|
||||
lineTwo = "Lon:";
|
||||
Point pos = this->sensorData->getCurrentPos();
|
||||
lineOne.concat(pos.getLatitude());
|
||||
lineTwo.concat(pos.getLongitude());
|
||||
case 3:
|
||||
{
|
||||
lineOne = "Lat:";
|
||||
lineTwo = "Lon:";
|
||||
const Point pos = this->sensorData->getCurrentPos();
|
||||
lineOne.concat(pos.getLatitude());
|
||||
lineTwo.concat(pos.getLongitude());
|
||||
}
|
||||
break;
|
||||
|
||||
case 4:
|
||||
lineOne = "Time: ";
|
||||
lineTwo = "";
|
||||
if (static_cast<bool>(fixType))
|
||||
{
|
||||
if (gpsData->hour < 10)
|
||||
{
|
||||
lineTwo.concat("0");
|
||||
}
|
||||
break;
|
||||
|
||||
case 4:
|
||||
lineOne = "Time: ";
|
||||
lineTwo = "";
|
||||
if (fixType) {
|
||||
if (gpsData->hour < 10)
|
||||
lineTwo.concat("0");
|
||||
lineTwo.concat(gpsData->hour);
|
||||
lineTwo.concat(":");
|
||||
if (gpsData->min < 10)
|
||||
lineTwo.concat("0");
|
||||
lineTwo.concat(gpsData->min);
|
||||
lineTwo.concat(":");
|
||||
if (gpsData->sec < 10)
|
||||
lineTwo.concat("0");
|
||||
lineTwo.concat(gpsData->sec);
|
||||
} else
|
||||
lineTwo = "00:00:00";
|
||||
|
||||
break;
|
||||
|
||||
case 5: {
|
||||
lineOne = "CarSol: ";
|
||||
lineTwo = "Ntrip: ";
|
||||
uint8_t carrSoln = gpsData->flags.bits.carrSoln;
|
||||
if (carrSoln == 0)
|
||||
lineOne.concat("None");
|
||||
else if (carrSoln == 1)
|
||||
lineOne.concat("Floating");
|
||||
else if (carrSoln == 2)
|
||||
lineOne.concat("Fixed");
|
||||
else
|
||||
lineOne = "UNKNOWN";
|
||||
NTRIPClientStates status = this->sensorData->getNtripState();
|
||||
if (status == NTRIPClientStates::pushData)
|
||||
lineTwo.concat("enabled");
|
||||
else if (status == NTRIPClientStates::notAvailable)
|
||||
lineTwo.concat(" N/A");
|
||||
else
|
||||
lineTwo.concat("disabled");
|
||||
lineTwo.concat(gpsData->hour);
|
||||
lineTwo.concat(":");
|
||||
if (gpsData->min < 10)
|
||||
{
|
||||
lineTwo.concat("0");
|
||||
}
|
||||
break;
|
||||
|
||||
case 6:
|
||||
lineOne = "HAcc: ";
|
||||
lineTwo = "Sats: ";
|
||||
if (fixType) {
|
||||
lineOne.concat(gpsData->hAcc);
|
||||
lineTwo.concat(gpsData->numSV);
|
||||
} else {
|
||||
lineOne.concat("-/-");
|
||||
lineTwo.concat("-/-");
|
||||
lineTwo.concat(gpsData->min);
|
||||
lineTwo.concat(":");
|
||||
if (gpsData->sec < 10)
|
||||
{
|
||||
lineTwo.concat("0");
|
||||
}
|
||||
break;
|
||||
lineTwo.concat(gpsData->sec);
|
||||
}
|
||||
else
|
||||
{
|
||||
lineTwo = "00:00:00";
|
||||
}
|
||||
|
||||
default:
|
||||
this->printDefault();
|
||||
return;
|
||||
break;
|
||||
|
||||
case 5:
|
||||
{
|
||||
lineOne = "CarSol: ";
|
||||
lineTwo = "Ntrip: ";
|
||||
const uint8_t carrSoln = gpsData->flags.bits.carrSoln;
|
||||
if (carrSoln == 0)
|
||||
{
|
||||
lineOne.concat("None");
|
||||
}
|
||||
else if (carrSoln == 1)
|
||||
{
|
||||
lineOne.concat("Floating");
|
||||
}
|
||||
else if (carrSoln == 2)
|
||||
{
|
||||
lineOne.concat("Fixed");
|
||||
}
|
||||
else
|
||||
{
|
||||
lineOne = "UNKNOWN";
|
||||
}
|
||||
const NTRIPClientStates status = this->sensorData->getNtripState();
|
||||
if (status == NTRIPClientStates::pushData)
|
||||
{
|
||||
lineTwo.concat("enabled");
|
||||
}
|
||||
else if (status == NTRIPClientStates::notAvailable)
|
||||
{
|
||||
lineTwo.concat(" N/A");
|
||||
}
|
||||
else
|
||||
{
|
||||
lineTwo.concat("disabled");
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case 6:
|
||||
lineOne = "HAcc: ";
|
||||
lineTwo = "Sats: ";
|
||||
if (static_cast<bool>(fixType))
|
||||
{
|
||||
lineOne.concat(gpsData->hAcc);
|
||||
lineTwo.concat(gpsData->numSV);
|
||||
}
|
||||
else
|
||||
{
|
||||
lineOne.concat("-/-");
|
||||
lineTwo.concat("-/-");
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
this->printDefault();
|
||||
return;
|
||||
}
|
||||
|
||||
this->print(lineOne, lineTwo);
|
||||
|
||||
@@ -12,8 +12,9 @@
|
||||
#include "menuSpeed.h"
|
||||
|
||||
void MenuSpeed::action(int16_t* values, uint8_t length) {
|
||||
if (length != 2)
|
||||
if (length != 2) {
|
||||
return;
|
||||
this->speeds.x = (double) values[0] / 10.0;
|
||||
this->speeds.rot = (double) values[1] / 10.0;
|
||||
}
|
||||
this->speeds.x = values[0] / 10.0;
|
||||
this->speeds.rot = values[1] / 10.0;
|
||||
}
|
||||
|
||||
@@ -12,8 +12,7 @@
|
||||
#include "menuSysteminformation.h"
|
||||
|
||||
MenuSysteminformation::MenuSysteminformation(Battery* mainBattery)
|
||||
: MenuInformationSites(8) {
|
||||
this->mainBattery = mainBattery;
|
||||
: MenuInformationSites(8), mainBattery {mainBattery} {
|
||||
this->noEqualLeft = true;
|
||||
}
|
||||
|
||||
|
||||
@@ -4,31 +4,38 @@
|
||||
* @brief Contains an implementation of the class MenuAutopilot
|
||||
* @version 0.1
|
||||
* @date 2022-02-03
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2022
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
#include "menuAutopilot.h"
|
||||
|
||||
void MenuAutopilot::printPage() const {
|
||||
CourseCorrection correction = this->autopilot->getCourseCorrection();
|
||||
const UBX_NAV_PVT_data_t* gpsData = this->autopilot->getSensorData()->getGnssData();
|
||||
bool navigationStarted = this->autopilot->getState() >= Autopilot::State::NavigationStarted;
|
||||
void MenuAutopilot::printPage() const
|
||||
{
|
||||
const CourseCorrection correction = this->autopilot->getCourseCorrection();
|
||||
const UBX_NAV_PVT_data_t *gpsData = this->autopilot->getSensorData()->getGnssData();
|
||||
const bool navigationStarted = this->autopilot->getState() >= Autopilot::State::NavigationStarted;
|
||||
|
||||
String distanceString = "";
|
||||
if (navigationStarted) {
|
||||
if (navigationStarted)
|
||||
{
|
||||
uint16_t distance = 0;
|
||||
if (correction.distance < 1) {
|
||||
distance = (uint16_t) (correction.distance * 100);
|
||||
if (correction.distance < 1)
|
||||
{
|
||||
distance = static_cast<uint16_t>(correction.distance * 100);
|
||||
distanceString.concat(distance);
|
||||
distanceString.concat("cm");
|
||||
} else if (correction.distance < 1000) {
|
||||
distance = (uint16_t) correction.distance;
|
||||
}
|
||||
else if (correction.distance < 1000)
|
||||
{
|
||||
distance = static_cast<uint16_t>(correction.distance);
|
||||
distanceString.concat(distance);
|
||||
distanceString.concat("m");
|
||||
} else {
|
||||
distance = (uint16_t) (correction.distance / 1000);
|
||||
}
|
||||
else
|
||||
{
|
||||
distance = static_cast<uint16_t>(correction.distance / 1000);
|
||||
distanceString.concat(distance);
|
||||
distanceString.concat("km");
|
||||
}
|
||||
@@ -37,221 +44,263 @@ void MenuAutopilot::printPage() const {
|
||||
String lineOne = "No information";
|
||||
String lineTwo = "available";
|
||||
|
||||
switch (this->getCurrentPage()) {
|
||||
case 0: {
|
||||
lineOne = "Status: ";
|
||||
lineTwo = "";
|
||||
switch (this->autopilot->getState()) {
|
||||
case Autopilot::State::InsufficientAccuracy :
|
||||
lineTwo = "Err: LowAccuracy";
|
||||
break;
|
||||
|
||||
case Autopilot::State::NoRoute :
|
||||
lineTwo = "Err: No route";
|
||||
break;
|
||||
|
||||
case Autopilot::State::NavigationStarted :
|
||||
lineTwo = "Nav started";
|
||||
break;
|
||||
|
||||
case Autopilot::State::GetToStartPoint :
|
||||
lineTwo = "Drive to start";
|
||||
break;
|
||||
|
||||
case Autopilot::State::SelfDrivingAvailable :
|
||||
lineTwo = "Autopilot ready";
|
||||
break;
|
||||
|
||||
case Autopilot::State::SelfDriving :
|
||||
lineTwo = "Autopilot active";
|
||||
break;
|
||||
|
||||
case Autopilot::State::SelfDrivingRotate :
|
||||
lineTwo = "Rotating";
|
||||
break;
|
||||
|
||||
case Autopilot::State::TargetReached :
|
||||
lineTwo = "Target reached";
|
||||
break;
|
||||
|
||||
default:
|
||||
lineTwo = "UNKOWN - ";
|
||||
lineTwo.concat(static_cast<int>(this->autopilot->getState()));
|
||||
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case 1:
|
||||
if (!navigationStarted) {
|
||||
lineOne = "Navigation is";
|
||||
lineTwo = "not started";
|
||||
break;
|
||||
}
|
||||
lineOne = "Distance: ";
|
||||
lineOne.concat(distanceString);
|
||||
lineTwo = "Turn: ";
|
||||
lineTwo.concat(correction.correction);
|
||||
switch (this->getCurrentPage())
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
lineOne = "Status: ";
|
||||
lineTwo = "";
|
||||
switch (this->autopilot->getState())
|
||||
{
|
||||
case Autopilot::State::InsufficientAccuracy:
|
||||
lineTwo = "Err: LowAccuracy";
|
||||
break;
|
||||
|
||||
case 2:
|
||||
lineOne = "Target waypoint";
|
||||
lineTwo = "";
|
||||
lineTwo.concat(this->autopilot->getRouteInfo().currentPoint);
|
||||
lineTwo.concat(" from ");
|
||||
lineTwo.concat(this->autopilot->getRouteInfo().totalPoints);
|
||||
case Autopilot::State::NoRoute:
|
||||
lineTwo = "Err: No route";
|
||||
break;
|
||||
|
||||
case 3: {
|
||||
NTRIPClientStates status = this->autopilot->getSensorData()->getNtripClient()->getClientState();
|
||||
uint8_t carrSoln = gpsData->flags.bits.carrSoln;
|
||||
lineOne = "GNSS: ";
|
||||
|
||||
if (status == NTRIPClientStates::pushData)
|
||||
if (carrSoln == 0)
|
||||
lineOne.concat("None");
|
||||
else if (carrSoln == 1)
|
||||
lineOne.concat("Floating");
|
||||
else if (carrSoln == 2)
|
||||
lineOne.concat("Fixed");
|
||||
else
|
||||
lineOne.concat("UNKNOWN");
|
||||
else if (status == NTRIPClientStates::notAvailable)
|
||||
lineOne.concat("No WiFi");
|
||||
else
|
||||
lineOne.concat("Offline");
|
||||
|
||||
lineTwo = "hAcc: ";
|
||||
if (gpsData->fixType)
|
||||
lineTwo.concat(gpsData->hAcc);
|
||||
else
|
||||
lineTwo.concat("0");
|
||||
break;
|
||||
}
|
||||
|
||||
case 4:
|
||||
|
||||
if (this->autopilot->getSensorData()->getCalcAzimuth() == CalcAzimuth::State::Good
|
||||
||this->autopilot->getSensorData()->getCalcAzimuth() == CalcAzimuth::State::Super)
|
||||
{
|
||||
lineOne = "Calc Azi: ";
|
||||
lineTwo = "State: ";
|
||||
lineOne.concat(this->autopilot->getSensorData()->getCalcAzimuth());
|
||||
switch (this->autopilot->getSensorData()->getCalcAzimuthState()) {
|
||||
case CalcAzimuth::State::Bad :
|
||||
lineTwo.concat("Bad");
|
||||
break;
|
||||
|
||||
case CalcAzimuth::State::Good :
|
||||
lineTwo.concat("Good");
|
||||
break;
|
||||
|
||||
case CalcAzimuth::State::Invalid :
|
||||
lineTwo.concat("Invalid");
|
||||
break;
|
||||
|
||||
case CalcAzimuth::State::Ok :
|
||||
lineTwo.concat("Ok");
|
||||
break;
|
||||
|
||||
case CalcAzimuth::State::Super :
|
||||
lineTwo.concat("Super");
|
||||
break;
|
||||
|
||||
default:
|
||||
lineTwo.concat("Unkown");
|
||||
break;
|
||||
}
|
||||
} else {
|
||||
lineOne = "Real Azi: ";
|
||||
lineTwo = "";
|
||||
lineOne.concat(this->autopilot->getSensorData()->getRealAzimuth());
|
||||
}
|
||||
case Autopilot::State::NavigationStarted:
|
||||
lineTwo = "Nav started";
|
||||
break;
|
||||
|
||||
case 5:
|
||||
lineOne = "Loop mode is";
|
||||
if (this->autopilot->getLoopMode())
|
||||
lineTwo = "enabled";
|
||||
else
|
||||
lineTwo = "disabled";
|
||||
case Autopilot::State::GetToStartPoint:
|
||||
lineTwo = "Drive to start";
|
||||
break;
|
||||
|
||||
case 6:
|
||||
lineOne = "Freeze target is";
|
||||
if (this->targetFreezed)
|
||||
lineTwo = "activated";
|
||||
else
|
||||
lineTwo = "deactivated";
|
||||
case Autopilot::State::SelfDrivingAvailable:
|
||||
lineTwo = "Autopilot ready";
|
||||
break;
|
||||
|
||||
case 7:
|
||||
lineOne = "MinDisToPoint:";
|
||||
lineTwo = "<- ";
|
||||
lineTwo.concat(this->minDistance);
|
||||
lineTwo.concat(" ->");
|
||||
case Autopilot::State::SelfDriving:
|
||||
lineTwo = "Autopilot active";
|
||||
break;
|
||||
|
||||
case Autopilot::State::SelfDrivingRotate:
|
||||
lineTwo = "Rotating";
|
||||
break;
|
||||
|
||||
case Autopilot::State::TargetReached:
|
||||
lineTwo = "Target reached";
|
||||
break;
|
||||
|
||||
default:
|
||||
this->printDefault();
|
||||
return;
|
||||
lineTwo = "UNKOWN - ";
|
||||
lineTwo.concat(static_cast<int>(this->autopilot->getState()));
|
||||
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case 1:
|
||||
if (!navigationStarted)
|
||||
{
|
||||
lineOne = "Navigation is";
|
||||
lineTwo = "not started";
|
||||
break;
|
||||
}
|
||||
lineOne = "Distance: ";
|
||||
lineOne.concat(distanceString);
|
||||
lineTwo = "Turn: ";
|
||||
lineTwo.concat(correction.correction);
|
||||
break;
|
||||
|
||||
case 2:
|
||||
lineOne = "Target waypoint";
|
||||
lineTwo = "";
|
||||
lineTwo.concat(this->autopilot->getRouteInfo().currentPoint);
|
||||
lineTwo.concat(" from ");
|
||||
lineTwo.concat(this->autopilot->getRouteInfo().totalPoints);
|
||||
break;
|
||||
|
||||
case 3:
|
||||
{
|
||||
NTRIPClientStates status = this->autopilot->getSensorData()->getNtripClient()->getClientState();
|
||||
const uint8_t carrSoln = gpsData->flags.bits.carrSoln;
|
||||
lineOne = "GNSS: ";
|
||||
|
||||
if (status == NTRIPClientStates::pushData)
|
||||
{
|
||||
if (carrSoln == 0)
|
||||
{
|
||||
lineOne.concat("None");
|
||||
}
|
||||
else if (carrSoln == 1)
|
||||
{
|
||||
lineOne.concat("Floating");
|
||||
}
|
||||
else if (carrSoln == 2)
|
||||
{
|
||||
lineOne.concat("Fixed");
|
||||
}
|
||||
else
|
||||
{
|
||||
lineOne.concat("UNKNOWN");
|
||||
}
|
||||
}
|
||||
else if (status == NTRIPClientStates::notAvailable)
|
||||
lineOne.concat("No WiFi");
|
||||
else
|
||||
{
|
||||
lineOne.concat("Offline");
|
||||
}
|
||||
|
||||
lineTwo = "hAcc: ";
|
||||
if (static_cast<bool>(gpsData->fixType))
|
||||
{
|
||||
lineTwo.concat(gpsData->hAcc);
|
||||
}
|
||||
else
|
||||
{
|
||||
lineTwo.concat("0");
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case 4:
|
||||
|
||||
if (this->autopilot->getSensorData()->getCalcAzimuth() == CalcAzimuth::State::Good || this->autopilot->getSensorData()->getCalcAzimuth() == CalcAzimuth::State::Super)
|
||||
{
|
||||
lineOne = "Calc Azi: ";
|
||||
lineTwo = "State: ";
|
||||
lineOne.concat(this->autopilot->getSensorData()->getCalcAzimuth());
|
||||
switch (this->autopilot->getSensorData()->getCalcAzimuthState())
|
||||
{
|
||||
case CalcAzimuth::State::Bad:
|
||||
lineTwo.concat("Bad");
|
||||
break;
|
||||
|
||||
case CalcAzimuth::State::Good:
|
||||
lineTwo.concat("Good");
|
||||
break;
|
||||
|
||||
case CalcAzimuth::State::Invalid:
|
||||
lineTwo.concat("Invalid");
|
||||
break;
|
||||
|
||||
case CalcAzimuth::State::Ok:
|
||||
lineTwo.concat("Ok");
|
||||
break;
|
||||
|
||||
case CalcAzimuth::State::Super:
|
||||
lineTwo.concat("Super");
|
||||
break;
|
||||
|
||||
default:
|
||||
lineTwo.concat("Unkown");
|
||||
break;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
lineOne = "Real Azi: ";
|
||||
lineTwo = "";
|
||||
lineOne.concat(this->autopilot->getSensorData()->getRealAzimuth());
|
||||
}
|
||||
break;
|
||||
|
||||
case 5:
|
||||
lineOne = "Loop mode is";
|
||||
if (this->autopilot->getLoopMode())
|
||||
{
|
||||
lineTwo = "enabled";
|
||||
}
|
||||
else
|
||||
{
|
||||
lineTwo = "disabled";
|
||||
}
|
||||
break;
|
||||
|
||||
case 6:
|
||||
lineOne = "Freeze target is";
|
||||
if (this->targetFreezed)
|
||||
{
|
||||
lineTwo = "activated";
|
||||
}
|
||||
else
|
||||
{
|
||||
lineTwo = "deactivated";
|
||||
}
|
||||
break;
|
||||
|
||||
case 7:
|
||||
lineOne = "MinDisToPoint:";
|
||||
lineTwo = "<- ";
|
||||
lineTwo.concat(this->minDistance);
|
||||
lineTwo.concat(" ->");
|
||||
break;
|
||||
|
||||
default:
|
||||
this->printDefault();
|
||||
return;
|
||||
}
|
||||
|
||||
this->print(lineOne, lineTwo);
|
||||
}
|
||||
|
||||
void MenuAutopilot::runCommand() {
|
||||
switch (this->getCurrentPage()) {
|
||||
case 5:
|
||||
this->autopilot->switchLoopMode();
|
||||
break;
|
||||
|
||||
case 6:
|
||||
if (this->targetFreezed) {
|
||||
this->targetFreezed = false;
|
||||
this->autopilot->getNavigation()->freezeTargetPoint(false);
|
||||
} else {
|
||||
this->targetFreezed = true;
|
||||
this->autopilot->getNavigation()->freezeTargetPoint();
|
||||
}
|
||||
break;
|
||||
|
||||
case 7:
|
||||
this->minDistance = this->autopilot->getNavigation()->increaseMinDistanceToReachPoint();
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void MenuAutopilot::runCommandNo() {
|
||||
switch (this->getCurrentPage()) {
|
||||
case 7:
|
||||
this->minDistance = this->autopilot->getNavigation()->decreaseMinDistanceToReachPoint();
|
||||
void MenuAutopilot::runCommand()
|
||||
{
|
||||
switch (this->getCurrentPage())
|
||||
{
|
||||
case 5:
|
||||
this->autopilot->switchLoopMode();
|
||||
break;
|
||||
|
||||
|
||||
case 6:
|
||||
if (this->targetFreezed)
|
||||
{
|
||||
this->targetFreezed = false;
|
||||
this->autopilot->getNavigation()->freezeTargetPoint(false);
|
||||
}
|
||||
else
|
||||
{
|
||||
this->targetFreezed = true;
|
||||
this->autopilot->getNavigation()->freezeTargetPoint();
|
||||
}
|
||||
break;
|
||||
|
||||
case 7:
|
||||
this->minDistance = this->autopilot->getNavigation()->increaseMinDistanceToReachPoint();
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void MenuAutopilot::update() {
|
||||
void MenuAutopilot::runCommandNo()
|
||||
{
|
||||
switch (this->getCurrentPage())
|
||||
{
|
||||
case 7:
|
||||
this->minDistance = this->autopilot->getNavigation()->decreaseMinDistanceToReachPoint();
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void MenuAutopilot::update()
|
||||
{
|
||||
if (!this->autopilot->shouldUpdate())
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
this->routeInfo = this->autopilot->getRouteInfo();
|
||||
this->printMenu();
|
||||
}
|
||||
|
||||
void MenuAutopilot::init() {
|
||||
void MenuAutopilot::init()
|
||||
{
|
||||
this->setCountPages(8);
|
||||
this->autopilot = new Autopilot();
|
||||
this->autopilot = new Autopilot();
|
||||
this->driveManager->changeModus(this->autopilot);
|
||||
this->routeInfo = this->autopilot->getRouteInfo();
|
||||
|
||||
//dirty hack to get the val, can be better!!! TODO
|
||||
// dirty hack to get the val, can be better!!! TODO
|
||||
this->autopilot->getNavigation()->increaseMinDistanceToReachPoint();
|
||||
this->minDistance = this->autopilot->getNavigation()->decreaseMinDistanceToReachPoint();
|
||||
|
||||
|
||||
@@ -114,7 +114,7 @@ void MenuCalibrateCompass::init() {
|
||||
this->driveManager->changeModus(this->caliCompassMode);
|
||||
this->caliCompass = new CalibrateCompass(this->caliCompassMode->getSensorData()->getRealCompass());
|
||||
this->setCountPages(11);
|
||||
this->updateDelay = 500;
|
||||
MenuDriveMode::updateDelay = MenuCalibrateCompass::updateDelay;
|
||||
}
|
||||
|
||||
void MenuCalibrateCompass::runCommand() {
|
||||
|
||||
@@ -45,8 +45,10 @@ class MenuCalibrateCompass : public MenuDriveMode {
|
||||
void runCommand() override;
|
||||
|
||||
private:
|
||||
CalibrateCompassM* caliCompassMode;
|
||||
CalibrateCompass* caliCompass;
|
||||
CalibrateCompassM* caliCompassMode = nullptr;
|
||||
CalibrateCompass* caliCompass = nullptr;
|
||||
|
||||
static constexpr uint16_t updateDelay = 500;
|
||||
};
|
||||
|
||||
#endif // MENU_CALIBRATE_COMPASS_H
|
||||
|
||||
@@ -4,134 +4,170 @@
|
||||
* @brief Contains an implementation of the class MenuCaptureRoute
|
||||
* @version 0.1
|
||||
* @date 2022-01-31
|
||||
*
|
||||
*
|
||||
* @copyright Copyright (c) 2022
|
||||
*
|
||||
*
|
||||
*/
|
||||
#include "menuCaptureRoute.h"
|
||||
|
||||
void MenuCaptureRoute::printPage() const {
|
||||
RouteInfo routeInfo = this->captureRoute->getRouteInfo();
|
||||
const UBX_NAV_PVT_data_t* gpsData = this->captureRoute->getSensorData()->getGnssData();
|
||||
void MenuCaptureRoute::printPage() const
|
||||
{
|
||||
const RouteInfo routeInfo = this->captureRoute->getRouteInfo();
|
||||
const UBX_NAV_PVT_data_t *gpsData = this->captureRoute->getSensorData()->getGnssData();
|
||||
|
||||
String lineOne = "";
|
||||
String lineTwo = "";
|
||||
|
||||
switch (this->getCurrentPage()) {
|
||||
case 0:
|
||||
lineOne = "Capture Route";
|
||||
lineTwo = "You can drive";
|
||||
|
||||
switch (this->getCurrentPage())
|
||||
{
|
||||
case 0:
|
||||
lineOne = "Capture Route";
|
||||
lineTwo = "You can drive";
|
||||
break;
|
||||
|
||||
case 1:
|
||||
lineOne = "Saved waypoints";
|
||||
lineTwo.concat(routeInfo.totalPoints);
|
||||
break;
|
||||
|
||||
case 2:
|
||||
lineOne = "Last status:";
|
||||
switch (this->captureRoute->getLastStatus())
|
||||
{
|
||||
case Navigation::Status::InsufficientAccuracy:
|
||||
lineTwo = "Poor Accuracy";
|
||||
break;
|
||||
|
||||
case 1:
|
||||
lineOne = "Saved waypoints";
|
||||
lineTwo.concat(routeInfo.totalPoints);
|
||||
case Navigation::Status::Updated:
|
||||
lineTwo = "Point added";
|
||||
break;
|
||||
|
||||
case 2:
|
||||
lineOne = "Last status:";
|
||||
switch (this->captureRoute->getLastStatus()) {
|
||||
case Navigation::Status::InsufficientAccuracy:
|
||||
lineTwo = "Poor Accuracy";
|
||||
break;
|
||||
|
||||
case Navigation::Status::Updated:
|
||||
lineTwo = "Point added";
|
||||
break;
|
||||
|
||||
case Navigation::Status::Unchanged:
|
||||
lineTwo = "Point too close";
|
||||
break;
|
||||
|
||||
default:
|
||||
lineTwo = "---";
|
||||
break;
|
||||
}
|
||||
case Navigation::Status::Unchanged:
|
||||
lineTwo = "Point too close";
|
||||
break;
|
||||
|
||||
case 3:
|
||||
lineOne = "Distance to last";
|
||||
lineTwo = "point: ";
|
||||
lineTwo.concat(this->captureRoute->getDistanceToLastPoint());
|
||||
break;
|
||||
|
||||
case 4: {
|
||||
NTRIPClientStates status = this->captureRoute->getSensorData()->getNtripClient()->getClientState();
|
||||
lineOne = "NTRIP Client is";
|
||||
|
||||
if (status == NTRIPClientStates::pushData)
|
||||
lineTwo = "enabled";
|
||||
else if (status == NTRIPClientStates::notAvailable)
|
||||
lineTwo = "not available";
|
||||
else
|
||||
lineTwo = "disabled";
|
||||
break;
|
||||
}
|
||||
|
||||
case 5: {
|
||||
lineOne = "Carrier Solution";
|
||||
uint8_t carrSoln = gpsData->flags.bits.carrSoln;
|
||||
if (carrSoln == 0)
|
||||
lineTwo = "None";
|
||||
else if (carrSoln == 1)
|
||||
lineTwo = "Floating";
|
||||
else if (carrSoln == 2)
|
||||
lineTwo = "Fixed";
|
||||
else
|
||||
lineTwo = "UNKNOWN";
|
||||
break;
|
||||
}
|
||||
|
||||
case 6:
|
||||
lineOne = "hAccuracy: ";
|
||||
lineTwo = "Azimuth: ";
|
||||
lineTwo.concat(this->captureRoute->getSensorData()->getRealAzimuth());
|
||||
if (gpsData->fixType)
|
||||
lineOne.concat(gpsData->hAcc);
|
||||
else
|
||||
lineOne.concat("0");
|
||||
break;
|
||||
|
||||
case 7:
|
||||
lineOne = "Current minimal";
|
||||
if (this->captureRoute->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
|
||||
lineTwo = "accuracy is high";
|
||||
else
|
||||
lineTwo = "accuracy is low";
|
||||
break;
|
||||
|
||||
default:
|
||||
this->printDefault();
|
||||
return;
|
||||
lineTwo = "---";
|
||||
break;
|
||||
}
|
||||
break;
|
||||
|
||||
case 3:
|
||||
lineOne = "Distance to last";
|
||||
lineTwo = "point: ";
|
||||
lineTwo.concat(this->captureRoute->getDistanceToLastPoint());
|
||||
break;
|
||||
|
||||
case 4:
|
||||
{
|
||||
NTRIPClientStates status = this->captureRoute->getSensorData()->getNtripClient()->getClientState();
|
||||
lineOne = "NTRIP Client is";
|
||||
|
||||
if (status == NTRIPClientStates::pushData)
|
||||
{
|
||||
lineTwo = "enabled";
|
||||
}
|
||||
else if (status == NTRIPClientStates::notAvailable)
|
||||
{
|
||||
lineTwo = "not available";
|
||||
}
|
||||
else
|
||||
{
|
||||
lineTwo = "disabled";
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case 5:
|
||||
{
|
||||
lineOne = "Carrier Solution";
|
||||
uint8_t carrSoln = gpsData->flags.bits.carrSoln;
|
||||
if (carrSoln == 0)
|
||||
{
|
||||
lineTwo = "None";
|
||||
}
|
||||
else if (carrSoln == 1)
|
||||
{
|
||||
lineTwo = "Floating";
|
||||
}
|
||||
else if (carrSoln == 2)
|
||||
{
|
||||
lineTwo = "Fixed";
|
||||
}
|
||||
else
|
||||
{
|
||||
lineTwo = "UNKNOWN";
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case 6:
|
||||
lineOne = "hAccuracy: ";
|
||||
lineTwo = "Azimuth: ";
|
||||
lineTwo.concat(this->captureRoute->getSensorData()->getRealAzimuth());
|
||||
if (gpsData->fixType)
|
||||
{
|
||||
lineOne.concat(gpsData->hAcc);
|
||||
}
|
||||
else
|
||||
{
|
||||
lineOne.concat("0");
|
||||
}
|
||||
break;
|
||||
|
||||
case 7:
|
||||
lineOne = "Current minimal";
|
||||
if (this->captureRoute->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
|
||||
{
|
||||
lineTwo = "accuracy is high";
|
||||
}
|
||||
else
|
||||
{
|
||||
lineTwo = "accuracy is low";
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
this->printDefault();
|
||||
return;
|
||||
}
|
||||
|
||||
this->print(lineOne, lineTwo);
|
||||
}
|
||||
|
||||
void MenuCaptureRoute::update() {
|
||||
void MenuCaptureRoute::update()
|
||||
{
|
||||
if (!this->captureRoute->shouldUpdate())
|
||||
{
|
||||
return;
|
||||
}
|
||||
this->printMenu();
|
||||
}
|
||||
|
||||
void MenuCaptureRoute::runCommand() {
|
||||
void MenuCaptureRoute::runCommand()
|
||||
{
|
||||
switch (this->getCurrentPage())
|
||||
{
|
||||
case 7:
|
||||
if (this->captureRoute->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
|
||||
{
|
||||
this->captureRoute->getNavigation()->setMinAccuracy(Point::Accuracy::none);
|
||||
else
|
||||
}
|
||||
else
|
||||
{
|
||||
this->captureRoute->getNavigation()->setMinAccuracy(Point::Accuracy::twoDigOfCM);
|
||||
}
|
||||
break;
|
||||
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void MenuCaptureRoute::init() {
|
||||
void MenuCaptureRoute::init()
|
||||
{
|
||||
this->setCountPages(8);
|
||||
this->updateDelay = 500;
|
||||
MenuDriveMode::updateDelay = MenuCaptureRoute::updateDelay;
|
||||
this->captureRoute = new CaptureRoute();
|
||||
this->driveManager->changeModus(this->captureRoute);
|
||||
MenuDriveMode::init();
|
||||
|
||||
@@ -48,7 +48,9 @@ class MenuCaptureRoute : public MenuDriveMode {
|
||||
private:
|
||||
void init() override;
|
||||
|
||||
CaptureRoute* captureRoute;
|
||||
CaptureRoute* captureRoute = nullptr;
|
||||
|
||||
static constexpr uint16_t updateDelay = 500;
|
||||
};
|
||||
|
||||
#endif // MENU_MANUAL_DRIVE_H
|
||||
|
||||
@@ -14,8 +14,6 @@ MenuManualControl::MenuManualControl(DriveManager* driveManager) : MenuDriveMode
|
||||
this->noEqualLeft = true;
|
||||
}
|
||||
|
||||
MenuManualControl::~MenuManualControl() {
|
||||
}
|
||||
|
||||
void MenuManualControl::printPage() const {
|
||||
String lineOne = "";
|
||||
@@ -28,10 +26,12 @@ void MenuManualControl::printPage() const {
|
||||
|
||||
case 1:
|
||||
lineOne = "Input mode:";
|
||||
if (this->manualControl->getInputMode() == ManualControl::InputMode::Analog)
|
||||
if (this->manualControl->getInputMode() == ManualControl::InputMode::Analog) {
|
||||
lineTwo = "Analog";
|
||||
else
|
||||
}
|
||||
else {
|
||||
lineTwo = "Digital";
|
||||
}
|
||||
break;
|
||||
|
||||
case 2:
|
||||
@@ -55,7 +55,7 @@ void MenuManualControl::init() {
|
||||
this->manualControl = new ManualControl();
|
||||
this->driveManager->changeModus(this->manualControl);
|
||||
this->setCountPages(4);
|
||||
this->updateDelay = 500;
|
||||
MenuDriveMode::updateDelay = MenuManualControl::updateDelay;
|
||||
this->activateSpeedMenu();
|
||||
MenuDriveMode::init();
|
||||
}
|
||||
|
||||
@@ -27,7 +27,6 @@ class MenuManualControl : public MenuDriveMode {
|
||||
* @param driveManager
|
||||
*/
|
||||
MenuManualControl(DriveManager* driveManager);
|
||||
~MenuManualControl();
|
||||
|
||||
/**
|
||||
* @brief Prints the Information to display and console
|
||||
@@ -44,8 +43,10 @@ class MenuManualControl : public MenuDriveMode {
|
||||
void runCommand() override;
|
||||
|
||||
private:
|
||||
ManualControl* manualControl;
|
||||
CalibrateCompass* caliCompass;
|
||||
ManualControl* manualControl = nullptr;
|
||||
CalibrateCompass* caliCompass = nullptr;
|
||||
|
||||
static constexpr uint16_t updateDelay = 500;
|
||||
};
|
||||
|
||||
#endif // MENU_MANUAL_DRIVE_H
|
||||
|
||||
@@ -118,7 +118,7 @@ void MenuTestMode::init() {
|
||||
|
||||
// Other menu config
|
||||
static constexpr uint8_t percentMax = 100;
|
||||
static constexpr uint8_t degreeMax = 360;
|
||||
static constexpr uint16_t degreeMax = 360;
|
||||
static constexpr uint8_t secondsMax = 120;
|
||||
static constexpr uint8_t steps = 5;
|
||||
|
||||
|
||||
Reference in New Issue
Block a user