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clangtidy corrections part 2

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kleiax
2023-10-12 00:44:27 +02:00
parent 23d854a826
commit a43e2db92b
41 changed files with 2274 additions and 2485 deletions
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lib/Sensors/sensorData.cpp
+138 -71
View File
@@ -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;
lib/Sensors/sensorData.h
+71 -69
View File
@@ -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