clangtidy corrections part 2

2023-10-12 00:44:27 +02:00
parent 23d854a826
commit a43e2db92b
41 changed files with 2274 additions and 2485 deletions
@@ -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