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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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@@ -1,691 +1,4 @@
lib/MQTT/debugMqtt.cpp:22: [medium:warning] 'name' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/MQTT/debugMqtt.cpp:23: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/MQTT/debugMqtt.cpp:32: [medium:warning] 2 adjacent parameters of 'sendMsg' of similar type ('String') are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/MQTT/debugMqtt.cpp:32: [medium:warning] the parameter 'msg' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/MQTT/debugMqtt.cpp:33: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/MQTT/debugMqtt.cpp:33: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MQTT/debugMqtt.cpp:34: [medium:warning] parameter 'topic' is passed by value and only copied once; consider moving it to avoid unnecessary copies [performance-unnecessary-value-param]
lib/MQTT/debugMqtt.cpp:34: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MQTT/debugMqtt.cpp:38: [medium:warning] parameter 'msg' is passed by value and only copied once; consider moving it to avoid unnecessary copies [performance-unnecessary-value-param]
lib/MQTT/debugMqtt.cpp:41: [medium:warning] method 'sendData' can be made static [readability-convert-member-functions-to-static]
lib/MQTT/debugMqtt.cpp:41: [medium:warning] the parameter 'topic' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/MQTT/debugMqtt.cpp:41: [medium:warning] the parameter 'data' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/MQTT/debugMqtt.cpp:47: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/MQTT/debugMqtt.cpp:47: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MQTT/debugMqtt.cpp:48: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/MQTT/debugMqtt.cpp:48: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MQTT/debugMqtt.cpp:49: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MQTT/debugMqtt.cpp:49: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MQTT/debugMqtt.cpp:54: [medium:warning] parameter 'data' is passed by value and only copied once; consider moving it to avoid unnecessary copies [performance-unnecessary-value-param]
lib/MQTT/debugMqtt.cpp:57: [medium:warning] the parameter 'measurement_name' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/MQTT/debugMqtt.cpp:57: [medium:warning] the parameter 'field_set' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/MQTT/debugMqtt.cpp:60: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/MQTT/debugMqtt.cpp:60: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MQTT/debugMqtt.cpp:61: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MQTT/debugMqtt.cpp:64: [medium:warning] parameter name 'c' is too short, expected at least 3 characters [readability-identifier-length]
lib/Menu/src/menu.cpp:13: [medium:warning] constructor does not initialize these fields: entrys, selectedEntry [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Menu/src/menu.cpp:18: [medium:warning] variable 'iter' is not initialized [cppcoreguidelines-init-variables]
lib/Menu/src/menu.cpp:18: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menu.cpp:25: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menu.cpp:29: [medium:warning] method 'isInSubmenu' can be made const [readability-make-member-function-const]
lib/Menu/src/menu.cpp:34: [medium:warning] variable 'iter' is not initialized [cppcoreguidelines-init-variables]
lib/Menu/src/menu.cpp:43: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menu.cpp:63: [medium:warning] missing username/bug in TODO [google-readability-todo]
lib/Menu/src/menu.cpp:64: [medium:warning] variable 'iter' is not initialized [cppcoreguidelines-init-variables]
lib/Menu/src/menu.cpp:66: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menu.cpp:68: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menu.cpp:78: [medium:warning] variable 'iter' is not initialized [cppcoreguidelines-init-variables]
lib/Menu/src/menu.cpp:108: [medium:warning] implicit conversion 'MenuControl *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menu.cpp:108: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:13: [medium:warning] 2 adjacent parameters of 'MenuAction' of similar type ('void (*)()') are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Menu/src/menuAction.cpp:14: [medium:warning] 'name' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuAction.cpp:15: [medium:warning] 'function' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuAction.cpp:16: [medium:warning] 'callback' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuAction.cpp:20: [medium:warning] 'name' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuAction.cpp:21: [medium:warning] 'menu' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuAction.cpp:22: [medium:warning] 'isMenu' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuAction.cpp:26: [medium:warning] 'name' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuAction.cpp:27: [medium:warning] 'action' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuAction.cpp:31: [medium:warning] 'if' statement is unnecessary; deleting null pointer has no effect [readability-delete-null-pointer]
lib/Menu/src/menuAction.cpp:31: [medium:warning] implicit conversion 'MenuControl *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuAction.cpp:31: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:34: [medium:warning] 'if' statement is unnecessary; deleting null pointer has no effect [readability-delete-null-pointer]
lib/Menu/src/menuAction.cpp:34: [medium:warning] implicit conversion 'MenuActionWrapper *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuAction.cpp:34: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:39: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:42: [medium:warning] implicit conversion 'void (*)()' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuAction.cpp:42: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:44: [medium:warning] implicit conversion 'MenuActionWrapper *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuAction.cpp:44: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:46: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:50: [medium:warning] implicit conversion 'void (*)()' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuAction.cpp:50: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:58: [medium:warning] method 'getIsMenu' can be made const [readability-make-member-function-const]
lib/Menu/src/menuAction.cpp:63: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuAction.cpp:65: [medium:warning] do not use 'else' after 'return' [readability-else-after-return]
lib/Menu/src/menuAction.cpp:65: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuControl.cpp:14: [medium:warning] the parameter 'lineOne' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/Menu/src/menuControl.cpp:14: [medium:warning] the parameter 'lineTwo' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/Menu/src/menuControl.cpp:15: [medium:warning] implicit conversion 'DisplayWrapper *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuControl.cpp:27: [medium:warning] implicit conversion 'DisplayWrapper *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuControl.cpp:27: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuInformationSites.cpp:15: [medium:warning] 'countPages' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuInformationSites.cpp:16: [medium:warning] 'currentPage' should be initialized in an in-class default member initializer [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuInformationSites.cpp:17: [medium:warning] 'lastMillis' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuInformationSites.cpp:21: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuInformationSites.cpp:23: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuInformationSites.cpp:29: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuInformationSites.cpp:31: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuInformationSites.cpp:41: [medium:warning] implicit conversion 'MenuControl *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuInformationSites.cpp:92: [medium:warning] variable 'lineOne' of type 'String' can be declared 'const' [misc-const-correctness]
lib/Menu/src/menuInformationSites.cpp:93: [medium:warning] variable 'lineTwo' of type 'String' can be declared 'const' [misc-const-correctness]
lib/Menu/src/menuIntInput.cpp:15: [medium:warning] 'values' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:16: [medium:warning] 'names' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:17: [medium:warning] 'length' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:18: [medium:warning] 'wrapper' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:20: [medium:warning] 'min' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:21: [medium:warning] 'max' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:22: [medium:warning] 'originalValues' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:23: [medium:warning] 'stepsPerInput' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:34: [medium:warning] 'length' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:35: [medium:warning] 'wrapper' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:37: [medium:warning] 'values' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:38: [medium:warning] 'names' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:38: [medium:warning] do not use C-style cast to convert between unrelated types [cppcoreguidelines-pro-type-cstyle-cast]
lib/Menu/src/menuIntInput.cpp:38: [medium:warning] C-style casts are discouraged; use reinterpret_cast [google-readability-casting]
lib/Menu/src/menuIntInput.cpp:39: [medium:warning] 'min' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:40: [medium:warning] 'max' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:41: [medium:warning] 'originalValues' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:42: [medium:warning] 'stepsPerInput' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Menu/src/menuIntInput.cpp:50: [medium:warning] result of multiplication in type 'int' is used as a pointer offset after an implicit widening conversion to type 'ptrdiff_t' [bugprone-implicit-widening-of-multiplication-result]
lib/Menu/src/menuIntInput.cpp:65: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:68: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:72: [medium:warning] result of multiplication in type 'int' is used as a pointer offset after an implicit widening conversion to type 'ptrdiff_t' [bugprone-implicit-widening-of-multiplication-result]
lib/Menu/src/menuIntInput.cpp:78: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:85: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:91: [medium:warning] 2 adjacent parameters of 'setMinMax' of similar type ('int16_t') are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Menu/src/menuIntInput.cpp:97: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:102: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:106: [medium:warning] 2 adjacent parameters of 'setMinMax' of similar type ('int16_t') are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Menu/src/menuIntInput.cpp:111: [medium:warning] 3 adjacent parameters of 'setMinMaxSteps' of convertible types are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Menu/src/menuIntInput.cpp:117: [medium:warning] 3 adjacent parameters of 'setMinMaxSteps' of convertible types are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Menu/src/menuIntInput.cpp:124: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:131: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:162: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:164: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:171: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:173: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:180: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:184: [medium:warning] implicit conversion 'MenuControl *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuIntInput.cpp:192: [medium:warning] implicit conversion 'MenuControl *' -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuIntInput.cpp:199: [medium:warning] 17 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Menu/src/menuIntInput.cpp:203: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/Menu/src/menuIntInput.cpp:203: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Menu/src/menuIntInput.cpp:203: [medium:warning] result of multiplication in type 'int' is used as a pointer offset after an implicit widening conversion to type 'ptrdiff_t' [bugprone-implicit-widening-of-multiplication-result]
lib/Menu/src/menuIntInput.cpp:206: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/Menu/src/menuIntInput.cpp:206: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Menu/src/menuIntInput.cpp:206: [medium:warning] result of multiplication in type 'int' is used as a pointer offset after an implicit widening conversion to type 'ptrdiff_t' [bugprone-implicit-widening-of-multiplication-result]
lib/Menu/src/menuIntInput.cpp:209: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/Menu/src/menuIntInput.cpp:209: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Menu/src/menuIntInput.cpp:209: [medium:warning] result of multiplication in type 'int' is used as a pointer offset after an implicit widening conversion to type 'ptrdiff_t' [bugprone-implicit-widening-of-multiplication-result]
lib/Menu/src/menuIntInput.cpp:212: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/Menu/src/menuIntInput.cpp:212: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Menu/src/menuIntInput.cpp:212: [medium:warning] result of multiplication in type 'int' is used as a pointer offset after an implicit widening conversion to type 'ptrdiff_t' [bugprone-implicit-widening-of-multiplication-result]
lib/Menu/src/menuIntInput.cpp:215: [medium:warning] 17 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Menu/src/menuIntInput.cpp:216: [medium:warning] implicit conversion 'int16_t' (aka 'short') -> bool [readability-implicit-bool-conversion]
lib/Menu/src/menuIntInput.cpp:216: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:217: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/Menu/src/menuIntInput.cpp:217: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Menu/src/menuIntInput.cpp:218: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Menu/src/menuIntInput.cpp:219: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/Menu/src/menuIntInput.cpp:219: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Menu/src/menuIntInput.cpp:221: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Menu/src/menuIntInput.cpp:221: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/MotorControl/motorControl.cpp:15: [medium:warning] constructor does not initialize these fields: pwmPin, pwmChannel, dutycycleMin, dutycycleMax, dir_1, dir_2 [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/MotorControl/motorControl.cpp:21: [medium:warning] 3 adjacent parameters of 'init' of similar type ('uint8_t') are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/MotorControl/motorControl.cpp:40: [medium:warning] variable 'abs_difference' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/MotorControl/motorControl.cpp:43: [medium:warning] variable 'difference' of type 'int16_t' (aka 'short') can be declared 'const' [misc-const-correctness]
lib/MotorControl/motorControl.cpp:84: [medium:warning] 80 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:84: [medium:warning] statement should be inside braces [hicpp-braces-around-statements,readability-braces-around-statements]
lib/MotorControl/motorControl.cpp:84: [medium:warning] 80 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:86: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/MotorControl/motorControl.cpp:86: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
lib/MotorControl/motorControl.cpp:91: [medium:warning] 100 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:91: [medium:warning] statement should be inside braces [hicpp-braces-around-statements,readability-braces-around-statements]
lib/MotorControl/motorControl.cpp:91: [medium:warning] 100 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:93: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/MotorControl/motorControl.cpp:93: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
lib/MotorControl/motorControl.cpp:98: [medium:warning] 100 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:98: [medium:warning] 100 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:98: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/MotorControl/motorControl.cpp:100: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/MotorControl/motorControl.cpp:113: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/MotorControl/motorControl.cpp:114: [medium:warning] redundant boolean literal in conditional return statement [readability-simplify-boolean-expr]
lib/MotorControl/motorControl.cpp:119: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/MotorControl/motorControl.cpp:120: [medium:warning] redundant boolean literal in conditional return statement [readability-simplify-boolean-expr]
lib/MotorControl/motorControl.cpp:125: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/MotorControl/motorControl.cpp:126: [medium:warning] redundant boolean literal in conditional return statement [readability-simplify-boolean-expr]
lib/MotorControl/motorControl.cpp:131: [medium:warning] missing username/bug in TODO [google-readability-todo]
lib/MotorControl/motorControl.cpp:132: [medium:warning] 100 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:132: [medium:warning] 100 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:147: [medium:warning] variable 'pwm_val' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/MotorControl/motorControl.cpp:147: [medium:warning] 100 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/MotorControl/motorControl.cpp:164: [medium:warning] missing username/bug in TODO [google-readability-todo]
lib/MotorControl/motorControl.cpp:165: [medium:warning] missing username/bug in TODO [google-readability-todo]
lib/Navigation/navigation.cpp:15: [medium:warning] 'sensorData' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Navigation/navigation.cpp:20: [medium:warning] implicit conversion 'Route *' -> bool [readability-implicit-bool-conversion]
lib/Navigation/navigation.cpp:20: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:22: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:35: [medium:warning] 'if' statement is unnecessary; deleting null pointer has no effect [readability-delete-null-pointer]
lib/Navigation/navigation.cpp:35: [medium:warning] implicit conversion 'Route *' -> bool [readability-implicit-bool-conversion]
lib/Navigation/navigation.cpp:35: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:41: [medium:warning] variable 'newTargetPoint' of type 'Point' can be declared 'const' [misc-const-correctness]
lib/Navigation/navigation.cpp:43: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:49: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:52: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:55: [medium:warning] 2.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Navigation/navigation.cpp:65: [medium:warning] redundant boolean literal supplied to boolean operator [readability-simplify-boolean-expr]
lib/Navigation/navigation.cpp:81: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:92: [medium:warning] variable 'distance' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Navigation/navigation.cpp:117: [medium:warning] variable 'targetCourse' of type 'int16_t' (aka 'short') can be declared 'const' [misc-const-correctness]
lib/Navigation/navigation.cpp:118: [medium:warning] variable 'correctionCourse' is not initialized [cppcoreguidelines-init-variables]
lib/Navigation/navigation.cpp:134: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:148: [medium:warning] 180 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Navigation/navigation.cpp:148: [medium:warning] 180 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Navigation/navigation.cpp:149: [medium:warning] 180 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Navigation/navigation.cpp:149: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:150: [medium:warning] 360 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Navigation/navigation.cpp:151: [medium:warning] 180 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Navigation/navigation.cpp:151: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Navigation/navigation.cpp:152: [medium:warning] 360 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Navigation/navigation.h:86: [medium:warning] missing username/bug in TODO [google-readability-todo]
lib/Navigation/navigation.h:99: [medium:warning] missing username/bug in TODO [google-readability-todo]
lib/Network/network.cpp:14: [medium:warning] constructor does not initialize these fields: mqttUser, mqttPassphrase [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Network/network.cpp:15: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
lib/Network/network.cpp:15: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Network/network.cpp:21: [medium:warning] constructor does not initialize these fields: mqttUser, mqttPassphrase [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Network/network.cpp:22: [medium:warning] 'adresses' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Network/network.cpp:22: [medium:warning] parameter 'adresses' is passed by value and only copied once; consider moving it to avoid unnecessary copies [performance-unnecessary-value-param]
lib/Network/network.cpp:24: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
lib/Network/network.cpp:24: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Network/network.cpp:39: [medium:warning] 'if' statement is unnecessary; deleting null pointer has no effect [readability-delete-null-pointer]
lib/Network/network.cpp:39: [medium:warning] implicit conversion 'PubSubClient *' -> bool [readability-implicit-bool-conversion]
lib/Network/network.cpp:39: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Network/network.cpp:52: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Network/network.cpp:52: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Network/network.cpp:52: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Network/network.cpp:65: [medium:warning] 2 adjacent parameters of 'activateMqtt' of similar type ('const char *') are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Network/network.cpp:73: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Network/network.cpp:78: [medium:warning] method 'printIPs' can be made const [readability-make-member-function-const]
lib/Network/network.cpp:91: [medium:warning] variable 'channel' is not initialized [cppcoreguidelines-init-variables]
lib/Network/network.cpp:92: [medium:warning] variable 'secondChannel' is not initialized [cppcoreguidelines-init-variables]
lib/Network/network.cpp:102: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Network/network.cpp:107: [medium:warning] implicit conversion 'PubSubClient *' -> bool [readability-implicit-bool-conversion]
lib/Network/network.cpp:107: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Network/network.cpp:116: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
lib/Network/network.cpp:132: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
lib/Network/network.cpp:150: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Network/network.cpp:156: [medium:warning] 0xffff is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Network/network.cpp:158: [medium:warning] implicit conversion 'const char *' -> bool [readability-implicit-bool-conversion]
lib/Network/network.cpp:159: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Network/network.cpp:162: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:15: [medium:warning] constructor does not initialize these fields: host, mountPoint, user, password [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/NtripClient/ntripClient.cpp:16: [medium:warning] 'gps' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/NtripClient/ntripClient.cpp:17: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:18: [medium:warning] 'port' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/NtripClient/ntripClient.cpp:19: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:20: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:21: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:23: [medium:warning] 'ntripClient' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/NtripClient/ntripClient.cpp:24: [medium:warning] 'state' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/NtripClient/ntripClient.cpp:26: [medium:warning] 20 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/NtripClient/ntripClient.cpp:53: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:64: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:66: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:86: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
lib/NtripClient/ntripClient.cpp:90: [medium:warning] 10 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/NtripClient/ntripClient.cpp:95: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:97: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:122: [medium:warning] implicit conversion 'int' -> bool [readability-implicit-bool-conversion]
lib/NtripClient/ntripClient.cpp:122: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:125: [medium:warning] do not use 'else' after 'return' [readability-else-after-return]
lib/NtripClient/ntripClient.cpp:130: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/NtripClient/ntripClient.cpp:130: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:133: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:136: [medium:warning] variable 'userCredentialsLength' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/NtripClient/ntripClient.cpp:136: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:136: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:138: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/NtripClient/ntripClient.cpp:138: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:138: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:143: [medium:warning] variable 'b' of type 'base64' can be declared 'const' [misc-const-correctness]
lib/NtripClient/ntripClient.cpp:143: [medium:warning] variable name 'b' is too short, expected at least 3 characters [readability-identifier-length]
lib/NtripClient/ntripClient.cpp:144: [medium:warning] variable 'strEncodedCredentials' of type 'String' can be declared 'const' [misc-const-correctness]
lib/NtripClient/ntripClient.cpp:144: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
lib/NtripClient/ntripClient.cpp:147: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:149: [medium:warning] the value returned by this function should be used [cert-err33-c]
lib/NtripClient/ntripClient.cpp:149: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:149: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:153: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:153: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:154: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:157: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:165: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:168: [medium:warning] variable 'lastMillis' of type 'uint32_t' (aka 'unsigned int') can be declared 'const' [misc-const-correctness]
lib/NtripClient/ntripClient.cpp:169: [medium:warning] implicit conversion 'int' -> bool [readability-implicit-bool-conversion]
lib/NtripClient/ntripClient.cpp:175: [medium:warning] 10 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/NtripClient/ntripClient.cpp:182: [medium:warning] implicit conversion 'int' -> bool [readability-implicit-bool-conversion]
lib/NtripClient/ntripClient.cpp:183: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:189: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:189: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:190: [medium:warning] 200 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/NtripClient/ntripClient.cpp:191: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:191: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:192: [medium:warning] 401 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/NtripClient/ntripClient.cpp:199: [medium:warning] 200 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/NtripClient/ntripClient.cpp:200: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/NtripClient/ntripClient.cpp:203: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:205: [medium:warning] 401 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/NtripClient/ntripClient.cpp:205: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:216: [medium:warning] implicit conversion 'uint8_t' (aka 'unsigned char') -> bool [readability-implicit-bool-conversion]
lib/NtripClient/ntripClient.cpp:216: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:223: [medium:warning] implicit conversion 'uint8_t' (aka 'unsigned char') -> bool [readability-implicit-bool-conversion]
lib/NtripClient/ntripClient.cpp:224: [medium:warning] 8 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/NtripClient/ntripClient.cpp:227: [medium:warning] implicit conversion 'int' -> bool [readability-implicit-bool-conversion]
lib/NtripClient/ntripClient.cpp:229: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:235: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/NtripClient/ntripClient.cpp:252: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:255: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:269: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:272: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:276: [medium:warning] implicit conversion 'uint8_t' (aka 'unsigned char') -> bool [readability-implicit-bool-conversion]
lib/NtripClient/ntripClient.cpp:276: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:279: [medium:warning] use auto when initializing with new to avoid duplicating the type name [hicpp-use-auto,modernize-use-auto]
lib/NtripClient/ntripClient.cpp:280: [medium:warning] variable 'res' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/NtripClient/ntripClient.cpp:281: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:282: [medium:warning] do not use C-style cast to convert between unrelated types [cppcoreguidelines-pro-type-cstyle-cast]
lib/NtripClient/ntripClient.cpp:282: [medium:warning] C-style casts are discouraged; use reinterpret_cast [google-readability-casting]
lib/NtripClient/ntripClient.cpp:287: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/NtripClient/ntripClient.cpp:288: [medium:warning] redundant boolean literal in conditional return statement [readability-simplify-boolean-expr]
lib/Point/point.cpp:14: [medium:warning] constructor does not initialize these fields: coordinates [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Point/point.cpp:14: [medium:warning] 3 adjacent parameters of 'Point' of convertible types are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Point/point.cpp:20: [medium:warning] constructor does not initialize these fields: coordinates [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Point/point.cpp:20: [medium:warning] 3 adjacent parameters of 'Point' of convertible types are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Point/point.cpp:21: [medium:warning] 10000000.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Point/point.cpp:22: [medium:warning] 10000000.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Point/point.cpp:26: [medium:warning] constructor does not initialize these fields: coordinates [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Point/point.cpp:27: [medium:warning] 'coordinates' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Point/point.cpp:31: [medium:warning] constructor does not initialize these fields: coordinates [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Point/point.cpp:32: [medium:warning] 'coordinates' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Point/point.cpp:33: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Point/point.cpp:35: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Point/point.cpp:39: [medium:warning] constructor does not initialize these fields: coordinates [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Point/point.cpp:56: [medium:warning] variable 'begin' of type 'Point::Coordinates' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:57: [medium:warning] variable 'end' of type 'Point::Coordinates' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:59: [medium:warning] variable 'lat' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:60: [medium:warning] variable 'dy' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:60: [medium:warning] variable name 'dy' is too short, expected at least 3 characters [readability-identifier-length]
lib/Point/point.cpp:61: [medium:warning] variable 'dx' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:61: [medium:warning] variable name 'dx' is too short, expected at least 3 characters [readability-identifier-length]
lib/Point/point.cpp:71: [medium:warning] variable 'begin' of type 'Point::Coordinates' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:72: [medium:warning] variable 'end' of type 'Point::Coordinates' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:74: [medium:warning] variable 'phi' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:75: [medium:warning] variable 'lon' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:77: [medium:warning] variable 'res' of type 'int16_t' (aka 'short') can be declared 'const' [misc-const-correctness]
lib/Point/point.cpp:89: [medium:warning] 2 adjacent parameters of 'init' of similar type ('uint32_t') are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Point/point.cpp:92: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Point/point.cpp:94: [medium:warning] 9999 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Point/point.cpp:94: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Point/point.cpp:96: [medium:warning] 999 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Point/point.cpp:96: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Point/point.cpp:98: [medium:warning] 99 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Point/point.cpp:98: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Point/point.cpp:100: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Point/point.cpp:102: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Route/route.cpp:14: [medium:warning] use '= default' to define a trivial default constructor [hicpp-use-equals-default,modernize-use-equals-default]
lib/Route/route.cpp:29: [medium:warning] the 'empty' method should be used to check for emptiness instead of 'size' [readability-container-size-empty]
lib/Route/route.cpp:31: [medium:warning] avoid repeating the return type from the declaration; use a braced initializer list instead [modernize-return-braced-init-list]
lib/Route/route.cpp:41: [medium:warning] the 'empty' method should be used to check for emptiness instead of 'size' [readability-container-size-empty]
lib/Route/route.cpp:43: [medium:warning] avoid repeating the return type from the declaration; use a braced initializer list instead [modernize-return-braced-init-list]
lib/Route/route.cpp:47: [medium:warning] missing username/bug in TODO [google-readability-todo]
lib/Route/route.cpp:55: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Route/route.cpp:56: [medium:warning] avoid repeating the return type from the declaration; use a braced initializer list instead [modernize-return-braced-init-list]
lib/Route/route.cpp:67: [medium:warning] avoid repeating the return type from the declaration; use a braced initializer list instead [modernize-return-braced-init-list]
lib/Route/route.cpp:71: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Route/route.cpp:72: [medium:warning] avoid repeating the return type from the declaration; use a braced initializer list instead [modernize-return-braced-init-list]
lib/Route/route.cpp:78: [medium:warning] do not use 'else' after 'return' [readability-else-after-return]
lib/Route/route.cpp:79: [medium:warning] avoid repeating the return type from the declaration; use a braced initializer list instead [modernize-return-braced-init-list]
lib/Route/route.cpp:84: [medium:warning] uninitialized record type: 'info' [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Sensors/sensorData.cpp:18: [medium:warning] constructor does not initialize these fields: gnssData, host, mountPoint, user, password, gyroBuffer, port [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Sensors/sensorData.cpp:19: [medium:warning] 50 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:23: [medium:warning] 'if' statement is unnecessary; deleting null pointer has no effect [readability-delete-null-pointer]
lib/Sensors/sensorData.cpp:23: [medium:warning] implicit conversion 'NTRIPClient *' -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:23: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:27: [medium:warning] the parameter 'host' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/Sensors/sensorData.cpp:27: [medium:warning] the parameter 'mountPoint' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/Sensors/sensorData.cpp:27: [medium:warning] the parameter 'user' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/Sensors/sensorData.cpp:27: [medium:warning] the parameter 'password' is copied for each invocation but only used as a const reference; consider making it a const reference [performance-unnecessary-value-param]
lib/Sensors/sensorData.cpp:38: [medium:warning] 4000000 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:38: [medium:warning] redundant boolean literal supplied to boolean operator [readability-simplify-boolean-expr]
lib/Sensors/sensorData.cpp:40: [medium:warning] converting integer literal to bool, use bool literal instead [modernize-use-bool-literals]
lib/Sensors/sensorData.cpp:40: [medium:warning] implicit conversion 'int' -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:40: [medium:warning] statement should be inside braces [hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:47: [medium:warning] redundant boolean literal supplied to boolean operator [readability-simplify-boolean-expr]
lib/Sensors/sensorData.cpp:49: [medium:warning] converting integer literal to bool, use bool literal instead [modernize-use-bool-literals]
lib/Sensors/sensorData.cpp:49: [medium:warning] implicit conversion 'int' -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:49: [medium:warning] statement should be inside braces [hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:57: [medium:warning] 0x0d is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:58: [medium:warning] 0x0b is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:61: [medium:warning] 0x0C is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:61: [medium:warning] 0x10 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:76: [medium:warning] statement should be inside braces [hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:79: [medium:warning] variable 'deviceStatus' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:81: [medium:warning] 220 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:82: [medium:warning] 76 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:83: [medium:warning] 85 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:84: [medium:warning] 1788 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:87: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:88: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:96: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Sensors/sensorData.cpp:97: [medium:warning] statement should be inside braces [hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:102: [medium:warning] implicit conversion 'CalcAzimuth *' -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:102: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:108: [medium:warning] implicit conversion 'NTRIPClient *' -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:108: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:114: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:117: [medium:warning] variable 'latitude' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:117: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Sensors/sensorData.cpp:117: [medium:warning] 10000000.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:118: [medium:warning] variable 'longitude' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:118: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Sensors/sensorData.cpp:118: [medium:warning] 10000000.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:119: [medium:warning] variable 'altitude' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:119: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Sensors/sensorData.cpp:119: [medium:warning] 1000.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:121: [medium:warning] variable 'fixType' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:122: [medium:warning] 32 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:123: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:124: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:125: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:126: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:127: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:128: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:129: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:130: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:131: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:132: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:133: [medium:warning] 5 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:133: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:134: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:135: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:136: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:138: [medium:warning] variable 'carrSoln' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:138: [medium:warning] do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
lib/Sensors/sensorData.cpp:139: [medium:warning] 16 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:140: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:141: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:142: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:143: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:144: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:145: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:146: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:147: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:149: [medium:warning] variable 'hAcc' of type 'uint32_t' (aka 'unsigned int') can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:172: [medium:warning] implicit conversion 'QMC5883LCompass *' -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:177: [medium:warning] implicit conversion 'MPU6050 *' (aka 'MPU6050_6Axis_MotionApps20 *') -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:178: [medium:warning] implicit conversion 'uint8_t' (aka 'unsigned char') -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:178: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:180: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:182: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
lib/Sensors/sensorData.cpp:187: [medium:warning] implicit conversion 'SFE_UBLOX_GNSS *' -> bool [readability-implicit-bool-conversion]
lib/Sensors/sensorData.cpp:190: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Sensors/sensorData.cpp:196: [medium:warning] variable 'versionHigh' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:197: [medium:warning] variable 'versionLow' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
lib/Sensors/sensorData.cpp:198: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Sensors/sensorData.cpp:198: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Sensors/sensorData.cpp:201: [medium:warning] 10 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:213: [medium:warning] uninitialized record type: 'coords' [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Sensors/sensorData.cpp:214: [medium:warning] 10000000.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Sensors/sensorData.cpp:215: [medium:warning] 10000000.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Speedometer/speedometer.cpp:14: [medium:warning] constructor does not initialize these fields: buf [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/Speedometer/speedometer.cpp:14: [medium:warning] 3 adjacent parameters of 'Speedometer' of convertible types are easily swapped by mistake [bugprone-easily-swappable-parameters]
lib/Speedometer/speedometer.cpp:15: [medium:warning] 'diameter' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Speedometer/speedometer.cpp:16: [medium:warning] 'steps' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Speedometer/speedometer.cpp:18: [medium:warning] 'pulseCounter' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Speedometer/speedometer.cpp:19: [medium:warning] 1023 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Speedometer/speedometer.cpp:34: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Speedometer/speedometer.cpp:37: [medium:warning] variable 'time' of type 'uint32_t' (aka 'unsigned int') can be declared 'const' [misc-const-correctness]
lib/Speedometer/speedometer.cpp:39: [medium:warning] variable 'elapsedTime' of type 'uint16_t' (aka 'unsigned short') can be declared 'const' [misc-const-correctness]
lib/Speedometer/speedometer.cpp:42: [medium:warning] variable 'pulse' of type 'int16_t' (aka 'short') can be declared 'const' [misc-const-correctness]
lib/Speedometer/speedometer.cpp:47: [medium:warning] variable 'n' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Speedometer/speedometer.cpp:47: [medium:warning] variable name 'n' is too short, expected at least 3 characters [readability-identifier-length]
lib/Speedometer/speedometer.cpp:47: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Speedometer/speedometer.cpp:48: [medium:warning] variable 'u' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Speedometer/speedometer.cpp:48: [medium:warning] variable name 'u' is too short, expected at least 3 characters [readability-identifier-length]
lib/Speedometer/speedometer.cpp:48: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Speedometer/speedometer.cpp:48: [medium:warning] 1000 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Speedometer/speedometer.cpp:49: [medium:warning] variable 'ms' of type 'double' can be declared 'const' [misc-const-correctness]
lib/Speedometer/speedometer.cpp:49: [medium:warning] variable name 'ms' is too short, expected at least 3 characters [readability-identifier-length]
lib/Speedometer/speedometer.cpp:52: [medium:warning] 0.1 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Speedometer/speedometer.cpp:78: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Speedometer/speedometer.cpp:85: [medium:warning] 1023 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Speedometer/speedometer.cpp:85: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Speedometer/speedometer.cpp:86: [medium:warning] 1023 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
lib/Speedometer/speedometer.cpp:91: [medium:warning] variable 'avg' of type 'int16_t' (aka 'short') can be declared 'const' [misc-const-correctness]
lib/Speedometer/speedometer.cpp:92: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
lib/Speedometer/speedometer.cpp:105: [medium:warning] variable 'res' of type 'uint16_t' (aka 'unsigned short') can be declared 'const' [misc-const-correctness]
lib/Speedometer/speedometer.cpp:113: [medium:warning] use range-based for loop instead [modernize-loop-convert]
lib/Speedometer/speedometer.cpp:113: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Speedometer/speedometer.cpp:121: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Speedometer/speedometer.cpp:127: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
lib/Speedometer/speedometer.cpp:127: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Speedometer/speedometer.cpp:129: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
lib/Times/debugTimes.cpp:17: [medium:warning] 'startTime' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/Times/debugTimes.cpp:29: [medium:warning] method 'stop' can be made const [readability-make-member-function-const]
lib/Times/debugTimes.cpp:33: [medium:warning] method 'stopConsol' can be made const [readability-make-member-function-const]
lib/Times/debugTimes.cpp:34: [medium:warning] variable 'time' of type 'uint64_t' (aka 'unsigned long long') can be declared 'const' [misc-const-correctness]
lib/Times/debugTimes.cpp:35: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/Times/debugTimes.cpp:41: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/calibrateCompass/calibrateCompass.cpp:14: [medium:warning] constructor does not initialize these fields: data [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
lib/calibrateCompass/calibrateCompass.cpp:16: [medium:warning] 'compass' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/calibrateCompass/calibrateCompass.cpp:17: [medium:warning] 'state' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
lib/calibrateCompass/calibrateCompass.cpp:32: [medium:warning] variable 'xAxis' of type 'int' can be declared 'const' [misc-const-correctness]
lib/calibrateCompass/calibrateCompass.cpp:33: [medium:warning] variable 'yAxis' of type 'int' can be declared 'const' [misc-const-correctness]
lib/calibrateCompass/calibrateCompass.cpp:34: [medium:warning] variable 'zAxis' of type 'int' can be declared 'const' [misc-const-correctness]
lib/calibrateCompass/calibrateCompass.cpp:72: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
lib/calibrateCompass/calibrateCompass.cpp:164: [medium:warning] use range-based for loop instead [modernize-loop-convert]
lib/calibrateCompass/calibrateCompass.cpp:175: [medium:warning] use range-based for loop instead [modernize-loop-convert]
lib/calibrateCompass/calibrateCompass.cpp:185: [medium:warning] implicit conversion 'int' -> bool [readability-implicit-bool-conversion]
lib/calibrateCompass/calibrateCompass.cpp:188: [medium:warning] parameter name 'os' is too short, expected at least 3 characters [readability-identifier-length]
lib/calibrateCompass/calibrateCompass.cpp:191: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
lib/calibrateCompass/calibrateCompass.cpp:193: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
lib/calibrateCompass/calibrateCompass.cpp:195: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
lib/calibrateCompass/calibrateCompass.cpp:197: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
lib/calibrateCompass/calibrateCompass.cpp:199: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
lib/calibrateCompass/calibrateCompass.cpp:201: [medium:warning] use of a signed integer operand with a binary bitwise operator [hicpp-signed-bitwise]
src/OutputBuf/outputBuf.cpp:15: [medium:warning] initializer for base class 'std::streambuf' (aka 'basic_streambuf<char>') is redundant [readability-redundant-member-init]
src/OutputBuf/outputBuf.cpp:16: [medium:warning] 'debugMqtt' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/OutputBuf/outputBuf.cpp:17: [medium:warning] 'serialBT' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/OutputBuf/outputBuf.cpp:19: [medium:warning] implicit conversion 'DebugMqtt *' -> bool [readability-implicit-bool-conversion]
src/OutputBuf/outputBuf.cpp:19: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/OutputBuf/outputBuf.cpp:22: [medium:warning] implicit conversion 'BluetoothSerial *' -> bool [readability-implicit-bool-conversion]
src/OutputBuf/outputBuf.cpp:22: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/OutputBuf/outputBuf.cpp:27: [medium:warning] implicit conversion 'DebugMqtt *' -> bool [readability-implicit-bool-conversion]
src/OutputBuf/outputBuf.cpp:27: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/OutputBuf/outputBuf.cpp:32: [medium:warning] implicit conversion 'BluetoothSerial *' -> bool [readability-implicit-bool-conversion]
src/OutputBuf/outputBuf.cpp:32: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/OutputBuf/outputBuf.cpp:46: [medium:warning] parameter name 'c' is too short, expected at least 3 characters [readability-identifier-length]
src/OutputBuf/outputBuf.cpp:50: [medium:warning] implicit conversion 'DebugMqtt *' -> bool [readability-implicit-bool-conversion]
src/OutputBuf/outputBuf.cpp:50: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/OutputBuf/outputBuf.cpp:51: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
src/OutputBuf/outputBuf.cpp:53: [medium:warning] implicit conversion 'BluetoothSerial *' -> bool [readability-implicit-bool-conversion]
src/OutputBuf/outputBuf.cpp:53: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/OutputBuf/outputBuf.cpp:54: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
src/OutputBuf/outputBuf.cpp:56: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.cpp:15: [medium:warning] 400 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.cpp:16: [medium:warning] 'battery' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.cpp:20: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.cpp:52: [medium:warning] implicit conversion 'MenuControl *' -> bool [readability-implicit-bool-conversion]
src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.cpp:52: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.cpp:57: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/PID/menuPidSettings.cpp:15: [medium:warning] 'pid' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/SpecialMenus/PID/menuPidSettings.cpp:19: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoute.cpp:16: [medium:warning] 'menuRoute' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/SpecialMenus/Route/menuRoute.cpp:17: [medium:warning] 'dataFunction' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/SpecialMenus/Route/menuRoute.cpp:25: [medium:warning] constructor does not initialize these fields: mainMenu [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
src/SpecialMenus/Route/menuRoute.cpp:27: [medium:warning] 'route' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/SpecialMenus/Route/menuRoute.cpp:163: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
src/SpecialMenus/Route/menuRoute.cpp:188: [medium:warning] variable 'httpResponseCode' of type 'int' can be declared 'const' [misc-const-correctness]
src/SpecialMenus/Route/menuRoute.cpp:193: [medium:warning] 202 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Route/menuRoute.cpp:216: [medium:warning] uninitialized record type: 'coords' [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
src/SpecialMenus/Route/menuRoute.cpp:229: [medium:warning] variable 'totalPoints' of type 'uint16_t' (aka 'unsigned short') can be declared 'const' [misc-const-correctness]
src/SpecialMenus/Route/menuRoute.cpp:234: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
src/SpecialMenus/Route/menuRoute.cpp:273: [medium:warning] variable 'httpResponseCode' of type 'int' can be declared 'const' [misc-const-correctness]
src/SpecialMenus/Route/menuRoute.cpp:275: [medium:warning] 201 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Route/menuRoute.cpp:298: [medium:warning] static member accessed through instance [readability-static-accessed-through-instance]
src/SpecialMenus/Route/menuRoute.cpp:323: [medium:warning] variable 'httpResponseCode' of type 'int' can be declared 'const' [misc-const-correctness]
src/SpecialMenus/Route/menuRoute.cpp:328: [medium:warning] 202 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Route/menuRoutePoints.cpp:14: [medium:warning] initializer for base class 'MenuInformationSites' is redundant [readability-redundant-member-init]
src/SpecialMenus/Route/menuRoutePoints.cpp:15: [medium:warning] 'route' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/SpecialMenus/Route/menuRoutePoints.cpp:19: [medium:warning] variable 'amountPoints' of type 'uint16_t' (aka 'unsigned short') can be declared 'const' [misc-const-correctness]
src/SpecialMenus/Route/menuRoutePoints.cpp:20: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoutePoints.cpp:22: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoutePoints.cpp:27: [medium:warning] variable 'currentPage' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
src/SpecialMenus/Route/menuRoutePoints.cpp:28: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoutePoints.cpp:49: [medium:warning] variable name 'p' is too short, expected at least 3 characters [readability-identifier-length]
src/SpecialMenus/Route/menuRoutePoints.cpp:50: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoutePoints.cpp:52: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoutePoints.cpp:54: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoutePoints.cpp:56: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoutePoints.cpp:58: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Route/menuRoutePoints.cpp:61: [medium:warning] 20 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Route/menuRoutePoints.cpp:62: [medium:warning] variable 'string' is not initialized [cppcoreguidelines-init-variables]
src/SpecialMenus/Route/menuRoutePoints.cpp:65: [medium:warning] 9 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Route/menuRoutePoints.cpp:65: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Route/menuRoutePoints.cpp:65: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
src/SpecialMenus/Route/menuRoutePoints.cpp:70: [medium:warning] 9 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Route/menuRoutePoints.cpp:70: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Route/menuRoutePoints.cpp:70: [medium:warning] do not implicitly decay an array into a pointer; consider using gsl::array_view or an explicit cast instead [cppcoreguidelines-pro-bounds-array-to-pointer-decay,hicpp-no-array-decay]
src/SpecialMenus/SensorData/menuSensorData.cpp:15: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/SensorData/menuSensorData.cpp:16: [medium:warning] 'sensorData' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/SpecialMenus/SensorData/menuSensorData.cpp:20: [medium:warning] function 'printPage' has cognitive complexity of 26 (threshold 25) [readability-function-cognitive-complexity]
src/SpecialMenus/SensorData/menuSensorData.cpp:23: [medium:warning] implicit conversion 'const UBX_NAV_PVT_data_t *' -> bool [readability-implicit-bool-conversion]
src/SpecialMenus/SensorData/menuSensorData.cpp:23: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:54: [medium:warning] variable 'pos' of type 'Point' can be declared 'const' [misc-const-correctness]
src/SpecialMenus/SensorData/menuSensorData.cpp:63: [medium:warning] implicit conversion 'uint8_t' (aka 'unsigned char') -> bool [readability-implicit-bool-conversion]
src/SpecialMenus/SensorData/menuSensorData.cpp:64: [medium:warning] 10 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/SensorData/menuSensorData.cpp:64: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:68: [medium:warning] 10 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/SensorData/menuSensorData.cpp:68: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:72: [medium:warning] 10 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/SensorData/menuSensorData.cpp:72: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:75: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:80: [medium:warning] 5 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/SensorData/menuSensorData.cpp:83: [medium:warning] variable 'carrSoln' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
src/SpecialMenus/SensorData/menuSensorData.cpp:83: [medium:warning] do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
src/SpecialMenus/SensorData/menuSensorData.cpp:84: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:86: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:88: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:90: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:92: [medium:warning] variable 'status' of type 'NTRIPClientStates' can be declared 'const' [misc-const-correctness]
src/SpecialMenus/SensorData/menuSensorData.cpp:93: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:95: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:97: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/SensorData/menuSensorData.cpp:102: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/SensorData/menuSensorData.cpp:105: [medium:warning] implicit conversion 'uint8_t' (aka 'unsigned char') -> bool [readability-implicit-bool-conversion]
src/SpecialMenus/Speed/menuSpeed.cpp:15: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/Speed/menuSpeed.cpp:17: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
src/SpecialMenus/Speed/menuSpeed.cpp:17: [medium:warning] 10.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Speed/menuSpeed.cpp:18: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
src/SpecialMenus/Speed/menuSpeed.cpp:18: [medium:warning] 10.0 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp:15: [medium:warning] 8 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp:16: [medium:warning] 'mainBattery' should be initialized in a member initializer of the constructor [cppcoreguidelines-prefer-member-initializer]
src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp:36: [medium:warning] 1000 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp:53: [medium:warning] 5 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp:58: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp:60: [medium:warning] 16 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp:63: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:14: [medium:warning] function 'printPage' has cognitive complexity of 36 (threshold 25) [readability-function-cognitive-complexity]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:15: [medium:warning] variable 'correction' of type 'CourseCorrection' can be declared 'const' [misc-const-correctness]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:17: [medium:warning] variable 'navigationStarted' of type 'bool' can be declared 'const' [misc-const-correctness]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:23: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:23: [medium:warning] 100 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:26: [medium:warning] 1000 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:27: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:31: [medium:warning] C-style casts are discouraged; use static_cast [google-readability-casting]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:31: [medium:warning] 1000 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:108: [medium:warning] variable 'carrSoln' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:108: [medium:warning] do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:111: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:112: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:114: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:116: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:118: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:120: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:122: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:126: [medium:warning] implicit conversion 'uint8_t' (aka 'unsigned char') -> bool [readability-implicit-bool-conversion]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:126: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:128: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:173: [medium:warning] 5 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:175: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:177: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:181: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:183: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:185: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:189: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:206: [medium:warning] 5 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:210: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:220: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:231: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:241: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp:249: [medium:warning] 8 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:13: [medium:warning] constructor does not initialize these fields: caliCompassMode, caliCompass [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:67: [medium:warning] 5 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:72: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:77: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:82: [medium:warning] 8 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:89: [medium:warning] 9 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:96: [medium:warning] 10 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:116: [medium:warning] 11 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:117: [medium:warning] 500 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:147: [medium:warning] 5 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:151: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp:155: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:14: [medium:warning] variable 'routeInfo' of type 'RouteInfo' can be declared 'const' [misc-const-correctness]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:62: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:64: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:66: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:71: [medium:warning] 5 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:73: [medium:warning] variable 'carrSoln' of type 'uint8_t' (aka 'unsigned char') can be declared 'const' [misc-const-correctness]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:73: [medium:warning] do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:74: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:76: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:78: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:80: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:85: [medium:warning] 6 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:89: [medium:warning] implicit conversion 'uint8_t' (aka 'unsigned char') -> bool [readability-implicit-bool-conversion]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:89: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:91: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:95: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:97: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:99: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:112: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:120: [medium:warning] 7 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:121: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:123: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:133: [medium:warning] 8 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp:134: [medium:warning] 500 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers]
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp:13: [medium:warning] constructor does not initialize these fields: manualControl, caliCompass [cppcoreguidelines-pro-type-member-init,hicpp-member-init]
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp:17: [medium:warning] use '= default' to define a trivial destructor [hicpp-use-equals-default,modernize-use-equals-default]
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp:31: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp:33: [medium:warning] statement should be inside braces [google-readability-braces-around-statements,hicpp-braces-around-statements,readability-braces-around-statements]
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp:58: [medium:warning] 500 is a magic number; consider replacing it with a named constant
========================= [PASSED] Took 541.63 seconds ========================= ========================= [PASSED] Took 541.63 seconds =========================
Component HIGH MEDIUM LOW Component HIGH MEDIUM LOW
lib/MQTT/debugMqtt.cpp
+16 -14
View File
@@ -18,10 +18,12 @@ char DebugMqtt::msg[MQTT_BUFFER_SIZE];
char DebugMqtt::topic[MQTT_BUFFER_SIZE]; char DebugMqtt::topic[MQTT_BUFFER_SIZE];
DebugMqtt::DebugMqtt(const char* name, uint8_t bufSize) { DebugMqtt::DebugMqtt(const char* name, uint8_t bufSize)
this->name = name; : name {name}
if (bufSize != 0) {
if (bufSize != 0) {
this->bufSize = bufSize; this->bufSize = bufSize;
}
this->buf = new char[this->bufSize]; this->buf = new char[this->bufSize];
} }
@@ -30,8 +32,8 @@ DebugMqtt::~DebugMqtt() {
} }
void DebugMqtt::sendMsg(Loglevel loglevel, String topic, String msg) { void DebugMqtt::sendMsg(Loglevel loglevel, String topic, String msg) {
snprintf (DebugMqtt::msg, MQTT_BUFFER_SIZE, "%s: %s",this->name ,msg.c_str()); snprintf (static_cast<char*>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char*>("%s: %s"),this->name ,msg.c_str());
this->sendData(loglevel, topic, DebugMqtt::msg); this->sendData(loglevel, topic, static_cast<const char*>(DebugMqtt::msg));
} }
void DebugMqtt::sendMsg(Loglevel loglevel, String 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) { 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 (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 (DebugMqtt::msg, MQTT_BUFFER_SIZE, "%s", data.c_str()); snprintf (static_cast<char*>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char*>("%s"), data.c_str());
client->publish(DebugMqtt::topic, DebugMqtt::msg); client->publish(DebugMqtt::topic, static_cast<const char*>(DebugMqtt::msg));
} }
} }
void DebugMqtt::sendData(Loglevel loglevel, String data){ 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) { void DebugMqtt::writeToInflux(String measurement_name, String field_set, float measurement, uint64_t nanos) {
// Example String: "weather temperature=82 1465839830100400200"; // 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); 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, DebugMqtt::msg); this->sendData(Loglevel::influx, static_cast<const char*>(DebugMqtt::msg));
} }
void DebugMqtt::addCharacter(char c) { void DebugMqtt::addCharacter(char character) {
this->buf[this->bufPos] = c; this->buf[this->bufPos] = character;
this->bufPos++; 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->buf[this->bufPos - 1] = '\0';
this->sendMsg(Loglevel::info, buf); this->sendMsg(Loglevel::info, buf);
this->bufPos = 0; this->bufPos = 0;
lib/MQTT/debugMqtt.h
+4 -4
View File
@@ -108,8 +108,8 @@ class DebugMqtt {
* @param topic Additional topic behind loglevel * @param topic Additional topic behind loglevel
* @param data The message to send as String * @param data The message to send as String
*/ */
void sendData(Loglevel loglevel, String topic, String data); static void sendData(Loglevel loglevel, String topic, String data);
void sendData(Loglevel loglevel, String data); static void sendData(Loglevel loglevel, String data);
/** /**
* @brief Send a Message via MQTT for InfluxDB * @brief Send a Message via MQTT for InfluxDB
@@ -132,9 +132,9 @@ class DebugMqtt {
* 1. when the buffer is full * 1. when the buffer is full
* 2. when the character is '\n' * 2. when the character is '\n'
* *
* @param c * @param character
*/ */
void addCharacter(char c); void addCharacter(char character);
/** /**
* @brief Initialize debugMQTT for all instances * @brief Initialize debugMQTT for all instances
lib/MotorControl/motorControl.cpp
+96 -57
View File
@@ -5,20 +5,20 @@
* @see motorControl.h * @see motorControl.h
* @version 0.1 * @version 0.1
* @date 2021-12-13 * @date 2021-12-13
* *
* @copyright Copyright (c) 2021 * @copyright Copyright (c) 2021
* *
*/ */
#include "motorControl.h" #include "motorControl.h"
MotorControl::MotorControl() { MotorControl::MotorControl()
this->setMinPwm(MotorControl::pwmMin); {
this->setMaxPwm(MotorControl::pwmMax);
Component::loopDelay = MotorControl::loopDelay; 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->pwmPin = pwmPin;
this->pwmChannel = pwmChannel; this->pwmChannel = pwmChannel;
this->dir_1 = dir_1; 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); ledcWrite(this->pwmChannel, 0);
} }
void MotorControl::run() { void MotorControl::run()
{
// Absolute difference between targetPower and power // 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 // 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 // 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); this->setRealPower(0);
return; return;
} }
// Correct speed // Correct speed
if (abs_difference < MotorControl::powerSteps) { if (abs_difference < MotorControl::powerSteps)
{
return; return;
} }
// Positive or negative tagret speed // Positive or negative tagret speed
if (this->targetPower >= 0) { if (this->targetPower >= 0)
{
// Positive or negative speed // Positive or negative speed
if (this->power >= 0) { if (this->power >= 0)
if (difference > 0) { {
if (difference > 0)
{
this->increasePower(MotorControl::powerSteps); this->increasePower(MotorControl::powerSteps);
} else { }
else
{
this->increasePower(-MotorControl::powerSteps); this->increasePower(-MotorControl::powerSteps);
} }
} else { }
else
{
this->increasePower(MotorControl::powerSteps); this->increasePower(MotorControl::powerSteps);
} }
}
} else { else
{
// Positive or negative speed // Positive or negative speed
if (this->power >= 0) { if (this->power >= 0)
{
this->increasePower(-MotorControl::powerSteps); this->increasePower(-MotorControl::powerSteps);
} else { }
if (difference > 0) { else
{
if (difference > 0)
{
this->increasePower(MotorControl::powerSteps); this->increasePower(MotorControl::powerSteps);
} else { }
else
{
this->increasePower(-MotorControl::powerSteps); this->increasePower(-MotorControl::powerSteps);
} }
} }
} }
} }
void MotorControl::setMinPwm(uint8_t min) { void MotorControl::setMinPwm(uint8_t min)
if (min > 80) min = 80; {
//transform percentage to real pwm value if (min > MotorControl::maxPwmMin)
min = (uint8_t) (((1 << pwmRes) - 1) * (min / 100.0)); {
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; this->dutycycleMin = min;
} }
void MotorControl::setMaxPwm(uint8_t max) { void MotorControl::setMaxPwm(uint8_t max)
if (max > 100) max = 100; {
//transform percentage to real pwm value if (max > 100)
max = (uint8_t) (((1 << pwmRes) - 1) * (max / 100.0)); {
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; this->dutycycleMax = max;
} }
void MotorControl::setTargetPower(int8_t power) { void MotorControl::setTargetPower(int8_t power)
{
if (power <= 100 && power >= -100) if (power <= 100 && power >= -100)
{
this->targetPower = power; this->targetPower = power;
}
else else
{
std::cout << " MotorControl::setTargetPower: Invalid Argument - Power: " << power << std::endl; std::cout << " MotorControl::setTargetPower: Invalid Argument - Power: " << power << std::endl;
}
} }
void MotorControl::stop() { void MotorControl::stop()
{
this->targetPower = 0; this->targetPower = 0;
} }
void MotorControl::emergencyStop() { void MotorControl::emergencyStop()
{
setRealPower(0); setRealPower(0);
} }
bool MotorControl::isTargetPowerReached() const { bool MotorControl::isTargetPowerReached() const
if (this->targetPower == this->power) {
return true; return this->targetPower == this->power;
return false;
} }
bool MotorControl::isAccelerationPositive() const { bool MotorControl::isAccelerationPositive() const
if (power < targetPower) {
return true; return power < targetPower;
return false;
} }
bool MotorControl::isAccelerationNegative() const { bool MotorControl::isAccelerationNegative() const
if (power > targetPower) {
return true; return power > targetPower;
return false;
} }
void MotorControl::setRealPower(int8_t power) { void MotorControl::setRealPower(int8_t power)
//TODO: Exceptionhandling {
if (power <= 100 && power >= -100) { // TODO: Exceptionhandling
if (power <= 100 && power >= -100)
{
this->power = power; this->power = power;
} else { }
else
{
return; return;
} }
if (this->power == 0) { if (this->power == 0)
{
this->direction = 0; this->direction = 0;
digitalWrite(this->dir_1, LOW); digitalWrite(this->dir_1, LOW);
digitalWrite(this->dir_2, LOW); digitalWrite(this->dir_2, LOW);
@@ -144,13 +178,16 @@ void MotorControl::setRealPower(int8_t power) {
return; 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; this->direction = 2;
digitalWrite(this->dir_1, LOW); digitalWrite(this->dir_1, LOW);
digitalWrite(this->dir_2, HIGH); 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; this->direction = 1;
digitalWrite(this->dir_1, HIGH); digitalWrite(this->dir_1, HIGH);
digitalWrite(this->dir_2, LOW); digitalWrite(this->dir_2, LOW);
@@ -160,10 +197,12 @@ void MotorControl::setRealPower(int8_t power) {
this->dutycycle = pwm_val; this->dutycycle = pwm_val;
} }
void MotorControl::increasePower(int8_t power) { void MotorControl::increasePower(int8_t power)
//TODO: Exceptionhandling {
//TODO: make a stop befor a direction change // TODO: Exceptionhandling
if (abs(power) > 2 * MotorControl::powerSteps) { // TODO: make a stop befor a direction change
if (abs(power) > 2 * MotorControl::powerSteps)
{
Serial.println("Invalid Argument in MotorControl::increasePower"); Serial.println("Invalid Argument in MotorControl::increasePower");
return; return;
} }
lib/MotorControl/motorControl.h
+81 -81
View File
@@ -4,9 +4,9 @@
* @brief Inherits a class to control a motor with pwm signal. * @brief Inherits a class to control a motor with pwm signal.
* @version 0.1 * @version 0.1
* @date 2021-12-09 * @date 2021-12-09
* *
* @copyright Copyright (c) 2021 * @copyright Copyright (c) 2021
* *
*/ */
#ifndef MOTOR_CONTROL_H #ifndef MOTOR_CONTROL_H
#define MOTOR_CONTROL_H #define MOTOR_CONTROL_H
@@ -23,98 +23,98 @@
* You can control the acceleration of the motor, for example to * You can control the acceleration of the motor, for example to
* prevent a damage on your H-Bridge. * prevent a damage on your H-Bridge.
*/ */
class MotorControl : public Component { class MotorControl : public Component
public: {
MotorControl(); public:
MotorControl();
/** /**
* @brief Initialize the motorController * @brief Initialize the motorController
* *
* @param pwmPin The output pin for the signal on the esp. * @param pwmPin The output pin for the signal on the esp.
* @param pwmChannel One of the pwm channels from the esp. * @param pwmChannel One of the pwm channels from the esp.
* @param dir_1 First direction pin for the H-Bridge. * @param dir_1 First direction pin for the H-Bridge.
* @param dir_2 Second 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); void init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2);
/** /**
* @brief Set the minimum duty cycle * @brief Set the minimum duty cycle
* *
* @param min duty cycle in percent * @param min duty cycle in percent
*/ */
void setMinPwm(uint8_t min); void setMinPwm(uint8_t min);
/** /**
* @brief Set the maximum duty cycle * @brief Set the maximum duty cycle
* *
* @param max duty cycle in percent * @param max duty cycle in percent
*/ */
void setMaxPwm(uint8_t max); void setMaxPwm(uint8_t max);
/** /**
* @brief Set the Target Power * @brief Set the Target Power
* *
* If the given power is greater than 100 or smaller than -100, then * If the given power is greater than 100 or smaller than -100, then
* this function only print an error to consol. * this function only print an error to consol.
* *
* @param power power in percent * @param power power in percent
*/ */
void setTargetPower(int8_t power); void setTargetPower(int8_t power);
/** /**
* @brief Stops the motor like setTargetPower() to 0 * @brief Stops the motor like setTargetPower() to 0
* *
*/ */
void stop(); void stop();
/** /**
* @brief Stops the motor immediately * @brief Stops the motor immediately
* *
*/ */
void emergencyStop(); void emergencyStop();
/** /**
* @brief Get the current power * @brief Get the current power
* *
* @return int8_t percent of power (-100 to 100) * @return int8_t percent of power (-100 to 100)
*/ */
int8_t getPower() const { return this->power; }; int8_t getPower() const { return this->power; };
/** /**
* @brief Get the target power * @brief Get the target power
* *
* @return int8_t percent of power (-100 to 100) * @return int8_t percent of power (-100 to 100)
*/ */
int8_t getTargetPower() const { return this->targetPower; }; int8_t getTargetPower() const { return this->targetPower; };
uint16_t getDutycycle() const { return this->dutycycle; } uint16_t getDutycycle() const { return this->dutycycle; }
bool isTargetPowerReached() const; bool isTargetPowerReached() const;
bool isAccelerationPositive() const; bool isAccelerationPositive() const;
bool isAccelerationNegative() const; bool isAccelerationNegative() const;
private: private:
void run() override; void run() override;
void setRealPower(int8_t power); void setRealPower(int8_t power);
void increasePower(int8_t power); void increasePower(int8_t power);
static constexpr uint8_t loopDelay = 10; static constexpr uint8_t loopDelay = 10;
static constexpr uint16_t pwmFreq = 16000; static constexpr uint16_t pwmFreq = 16000;
static constexpr uint8_t pwmRes = 8; 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 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 maxPwmMin = 80;
static constexpr uint8_t pwmMax = 98; // Max 98% of 2^PWM_RES
int8_t targetPower = 0; int8_t targetPower = 0;
int8_t power = 0; int8_t power = 0;
uint8_t direction = 0; // 0 = stop, 1 = forward, 2 = backward uint8_t direction = 0; // 0 = stop, 1 = forward, 2 = backward
uint8_t pwmPin; uint8_t pwmPin = 0;
uint8_t pwmChannel; uint8_t pwmChannel = 0;
uint16_t dutycycle = 0; uint16_t dutycycle = 0;
uint8_t dutycycleMin; uint8_t dutycycleMin = 55;
uint8_t dutycycleMax; uint8_t dutycycleMax = 98; // Max 98% of 2^PWM_RES
uint8_t dir_1; uint8_t dir_1 = 0;
uint8_t dir_2; uint8_t dir_2 = 0;
}; };
#endif // MOTOR_CONTROL_H #endif // MOTOR_CONTROL_H
lib/Navigation/navigation.cpp
+75 -52
View File
@@ -4,56 +4,72 @@
* @brief Contains the implementation of the class Navigation * @brief Contains the implementation of the class Navigation
* @version 0.1 * @version 0.1
* @date 2022-01-31 * @date 2022-01-31
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#include "navigation.h" #include "navigation.h"
Navigation::Navigation(const SensorData* sensorData, Route* route) { Navigation::Navigation(const SensorData *sensorData, Route *route)
this->sensorData = sensorData; : sensorData{sensorData}
{
this->init(route); this->init(route);
} }
void Navigation::init(Route* route) { void Navigation::init(Route *route)
if (route) {
if (static_cast<bool>(route))
{
this->route = route; this->route = route;
}
else else
{
this->route = new Route(); this->route = new Route();
}
Component::loopDelay = Navigation::loopDelay; Component::loopDelay = Navigation::loopDelay;
} }
Navigation::~Navigation() { Navigation::~Navigation()
{
delete this->route; delete this->route;
} }
void Navigation::run() {} void Navigation::run() {}
void Navigation::newRoute() { void Navigation::newRoute()
if (this->route) {
delete this->route; delete this->route;
this->route = new Route(); this->route = new Route();
} }
bool Navigation::startNavigation() { bool Navigation::startNavigation()
Point newTargetPoint = this->route->startRoute(); {
const Point newTargetPoint = this->route->startRoute();
this->navigationStarted = this->setTargetPoint(newTargetPoint); this->navigationStarted = this->setTargetPoint(newTargetPoint);
if (this->navigationStarted) if (this->navigationStarted)
{
this->navigationFinished = false; this->navigationFinished = false;
}
return this->navigationStarted; return this->navigationStarted;
} }
Navigation::Status Navigation::getCourseCorrection(CourseCorrection& correction, bool forceUpdate) { Navigation::Status Navigation::getCourseCorrection(CourseCorrection &correction, bool forceUpdate)
{
if (this->navigationFinished) if (this->navigationFinished)
{
return Status::Complete; return Status::Complete;
}
if (this->currentPosition.getAccuracy() <= this->minAccuracy) if (this->currentPosition.getAccuracy() <= this->minAccuracy)
{
return Status::InsufficientAccuracy; return Status::InsufficientAccuracy;
}
if (this->currentPosition.distanceTo(this->lastPointCalcCorrection) < (this->minDistanceToReachPoint / 2.0) // Check if the Rover has moved, if the Rover hasnt moved this function will be return.
&& !forceUpdate) { if (this->currentPosition.distanceTo(this->lastPointCalcCorrection) < (this->minDistanceToReachPoint) / 2 && !forceUpdate)
{
correction.correction = this->calculateCourseCorrection(this->lastPointCalcCorrection); correction.correction = this->calculateCourseCorrection(this->lastPointCalcCorrection);
correction.distance = this->lastPointCalcCorrection.distanceTo(this->targetPoint); correction.distance = this->lastPointCalcCorrection.distanceTo(this->targetPoint);
return Status::Unchanged; return Status::Unchanged;
@@ -62,8 +78,10 @@ Navigation::Status Navigation::getCourseCorrection(CourseCorrection& correction,
double distance = this->currentPosition.distanceTo(this->targetPoint); double distance = this->currentPosition.distanceTo(this->targetPoint);
// Check if I need a new Point // Check if I need a new Point
if (distance < this->minDistanceToReachPoint && this->preventNextPoint == false) { if (distance < this->minDistanceToReachPoint && this->preventNextPoint == false)
if (!this->nextPoint()) { {
if (!this->nextPoint())
{
this->navigationFinished = true; this->navigationFinished = true;
this->navigationStarted = false; this->navigationStarted = false;
return Status::Complete; // End of navigation return Status::Complete; // End of navigation
@@ -77,21 +95,25 @@ Navigation::Status Navigation::getCourseCorrection(CourseCorrection& correction,
return Status::Updated; return Status::Updated;
} }
Navigation::Status Navigation::addCurrentPosToRoute() { Navigation::Status Navigation::addCurrentPosToRoute()
{
if (this->currentPosition.getAccuracy() <= this->minAccuracy) if (this->currentPosition.getAccuracy() <= this->minAccuracy)
{
return Status::InsufficientAccuracy; return Status::InsufficientAccuracy;
}
// First Point // First Point
if (this->route->getRouteInfo().totalPoints == 0) { if (this->route->getRouteInfo().totalPoints == 0)
{
this->route->addPointToRoute(this->currentPosition); this->route->addPointToRoute(this->currentPosition);
this->lastPointRouteInsert = this->currentPosition; this->lastPointRouteInsert = this->currentPosition;
return Status::Updated; return Status::Updated;
} }
// Every Point after the first // Every Point after the first
double distance = this->currentPosition.distanceTo(this->lastPointRouteInsert); const double distance = this->currentPosition.distanceTo(this->lastPointRouteInsert);
if (Navigation::minDisBetweenPoints <= distance if (Navigation::minDisBetweenPoints <= distance && Navigation::maxDisBetweenPoints >= distance)
&& Navigation::maxDisBetweenPoints >= distance){ {
this->route->addPointToRoute(this->currentPosition); this->route->addPointToRoute(this->currentPosition);
this->lastPointRouteInsert = this->currentPosition; this->lastPointRouteInsert = this->currentPosition;
return Status::Updated; return Status::Updated;
@@ -99,57 +121,58 @@ Navigation::Status Navigation::addCurrentPosToRoute() {
return Status::Unchanged; return Status::Unchanged;
} }
// void Navigation::updateCurrentLocation() { int16_t Navigation::calculateCourseCorrection(Point &point)
// if (Navigation::ubxUpdateTimeStatic == this->ubxUpdateTime) {
// return; const int16_t targetCourse = point.courseTo(this->targetPoint);
int16_t correctionCourse = 0;
// this->ubxData = Navigation::ubxDataStatic; if (this->sensorData->getCalcAzimuthState() == CalcAzimuth::State::Good || this->sensorData->getCalcAzimuthState() == CalcAzimuth::State::Super)
// 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)
{ {
correctionCourse = targetCourse - this->sensorData->getCalcAzimuth(); correctionCourse = targetCourse - this->sensorData->getCalcAzimuth();
this->lastUsedCalcAzimuth = true; this->lastUsedCalcAzimuth = true;
} else { }
else
{
correctionCourse = targetCourse - this->sensorData->getRealAzimuth(); correctionCourse = targetCourse - this->sensorData->getRealAzimuth();
this->lastUsedCalcAzimuth = false; this->lastUsedCalcAzimuth = false;
} }
return Navigation::fixDegree(correctionCourse); return Navigation::fixDegree(correctionCourse);
} }
bool Navigation::nextPoint() { bool Navigation::nextPoint()
{
if (!this->navigationStarted) if (!this->navigationStarted)
{
return false; return false;
}
return this->setTargetPoint(this->route->getNextPoint()); return this->setTargetPoint(this->route->getNextPoint());
} }
bool Navigation::setTargetPoint(Point target) { bool Navigation::setTargetPoint(Point target)
if (target.isInit()) { {
if (target.isInit())
{
this->targetPoint = target; this->targetPoint = target;
return true; return true;
} }
return false; return false;
} }
int16_t Navigation::fixDegree(int16_t degree) { int16_t Navigation::fixDegree(int16_t degree)
while (degree < -180 || degree > 180) { {
if (degree > 180) static constexpr uint16_t fullCircle = 360;
degree -= 360;
else if (degree < -180) while (degree < -fullCircle / 2 || degree > fullCircle / 2)
degree += 360; {
if (degree > fullCircle / 2)
{
degree -= fullCircle;
}
else if (degree < -fullCircle / 2)
{
degree += fullCircle;
}
} }
return degree; return degree;
} }
lib/Navigation/navigation.h
+112 -111
View File
@@ -4,9 +4,9 @@
* @brief Contains a class which navigate an object by the given route * @brief Contains a class which navigate an object by the given route
* @version 0.1 * @version 0.1
* @date 2022-01-10 * @date 2022-01-10
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#ifndef NAVIGATION_H #ifndef NAVIGATION_H
@@ -21,143 +21,144 @@
/** /**
* @brief This struct inherits the result of the navigation * @brief This struct inherits the result of the navigation
* *
* The drive get objects of this struct and should * The drive get objects of this struct and should
* correct the direction in dependency on this. * correct the direction in dependency on this.
* *
*/ */
struct CourseCorrection { struct CourseCorrection
{
int16_t correction; int16_t correction;
double distance; double distance;
}; };
/** /**
* @brief This class navigate an object * @brief This class navigate an object
* *
* The class use the given Route and the gps device * The class use the given Route and the gps device
* to tell the driver in which direction he have to * to tell the driver in which direction he have to
* be drive and the distance to the next checkpoint. * be drive and the distance to the next checkpoint.
* *
*/ */
class Navigation : public Component { class Navigation : public Component
public: {
enum Status { public:
InsufficientAccuracy, enum Status
Unchanged, {
Updated, InsufficientAccuracy,
Complete Unchanged,
}; Updated,
Complete
};
/** /**
* @brief Construct a new Navigation object and using I2C * @brief Construct a new Navigation object and using I2C
* *
* @param route with which to navigate * @param route with which to navigate
*/ */
Navigation(const SensorData* sensorData, Route* route = nullptr); Navigation(const SensorData *sensorData, Route *route = nullptr);
/** /**
* @brief Destroy the Navigation object * @brief Destroy the Navigation object
* *
*/ */
~Navigation(); ~Navigation();
/** /**
* @brief creates a new empty route * @brief creates a new empty route
* *
*/ */
void newRoute(); void newRoute();
/** /**
* @brief Tries to start the route * @brief Tries to start the route
* *
* For example the route can not be started * For example the route can not be started
* if there are no Points or wrong Points. * if there are no Points or wrong Points.
* *
* @return true route is started * @return true route is started
* @return false route can not be started * @return false route can not be started
*/ */
bool startNavigation(); bool startNavigation();
void freezeTargetPoint(bool val = true) { this->preventNextPoint = val; }; void freezeTargetPoint(bool val = true) { this->preventNextPoint = val; };
double increaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint += 0.1; }
double decreaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint -= 0.1; }
// TODO: Dokumentation korrigieren. double increaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint += 0.1; }
/** double decreaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint -= 0.1; }
* @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 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. // TODO: Dokumentation korrigieren.
/** /**
* @brief Tries to add the current Position to the route * @brief Tries to add the current Position to the route
* *
* This can be go wrong if there is no valid GPS signal * This can be go wrong if there is no valid GPS signal
* *
* @return true successful added point * @return true successful added point
* @return false no point added to route * @return false no point added to route
*/ */
Status addCurrentPosToRoute(); Status addCurrentPosToRoute();
/** /**
* @brief Get the Route Info object * @brief Get the Route Info object
* *
* This object contains information about the route. * This object contains information about the route.
* For example the stored points. * For example the stored points.
* *
* @return RouteInfo * @return RouteInfo
*/ */
RouteInfo getRouteInfo() const { return this->route->getRouteInfo(); } RouteInfo getRouteInfo() const { return this->route->getRouteInfo(); }
Route* getRoute() const { return this->route; } Route *getRoute() const { return this->route; }
Point getCurrentPosition() const { return this->currentPosition; } Point getCurrentPosition() const { return this->currentPosition; }
Point::Accuracy getMinAccuracy() const { return this->minAccuracy; } Point::Accuracy getMinAccuracy() const { return this->minAccuracy; }
void setMinAccuracy(Point::Accuracy accuracy) { this->minAccuracy = accuracy; } void setMinAccuracy(Point::Accuracy accuracy) { this->minAccuracy = accuracy; }
// map input in range from -180 to 180 degree // map input in range from -180 to 180 degree
static int16_t fixDegree(int16_t degree); static int16_t fixDegree(int16_t degree);
private: private:
void run() override; void run() override;
void init(Route* route); void init(Route *route);
bool nextPoint(); bool nextPoint();
bool setTargetPoint(Point target); bool setTargetPoint(Point target);
int16_t calculateCourseCorrection(Point& point); int16_t calculateCourseCorrection(Point &point);
static constexpr uint8_t loopDelay = 20; static constexpr uint8_t loopDelay = 20;
static constexpr uint8_t maxDisBetweenPoints = 10; static constexpr uint8_t maxDisBetweenPoints = 10;
static constexpr float minDisBetweenPoints = 0.3; static constexpr float minDisBetweenPoints = 0.3;
const SensorData* sensorData;
Route* route = nullptr;
Point lastPointRouteInsert; const SensorData *sensorData;
Point lastPointCalcCorrection; Route *route = nullptr;
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;
uint8_t timeToWait = 200; Point lastPointRouteInsert;
uint32_t lastMillis = 0; Point lastPointCalcCorrection;
uint32_t ubxUpdateTime = 0; 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 #endif // NAVIGATION_H
lib/Network/network.cpp
+79 -45
View File
@@ -1,33 +1,38 @@
/** /**
* @file network.cpp * @file network.cpp
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2023-09-18 * @date 2023-09-18
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#include "network.h" #include "network.h"
Network::Network(const char *ssid, const char *passphrase) { Network::Network(const char *ssid, const char *passphrase)
if (!WiFi.mode(WIFI_AP_STA)) {
if (!WiFiGenericClass::mode(WIFI_AP_STA))
{
std::cout << "Network::connectWiFi failed WiFi.mode" << std::endl; std::cout << "Network::connectWiFi failed WiFi.mode" << std::endl;
}
this->init(ssid, passphrase); this->init(ssid, passphrase);
} }
Network::Network(const char *ssid, const char *passphrase, NetworkAdresses adresses) { Network::Network(const char *ssid, const char *passphrase, NetworkAdresses adresses)
this->adresses = adresses; : adresses{adresses}
{
if (!WiFi.mode(WIFI_AP_STA)) if (!WiFiGenericClass::mode(WIFI_AP_STA))
{
std::cout << "Network::connectWiFi failed WiFi.mode" << std::endl; std::cout << "Network::connectWiFi failed WiFi.mode" << std::endl;
}
if (!WiFi.config(this->adresses.localIP, if (!WiFi.config(this->adresses.localIP,
this->adresses.gateway, this->adresses.gateway,
this->adresses.subnet, this->adresses.subnet,
this->adresses.dnsServer)) this->adresses.dnsServer))
{ {
std::cout << "STA Failed to configure" << std::endl; 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); this->init(ssid, passphrase);
} }
Network::~Network() { Network::~Network()
if (this->mqttClient) {
delete mqttClient; delete mqttClient;
} }
bool Network::activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send) { bool Network::activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send)
if (esp_now_init() != ESP_OK) { {
if (esp_now_init() != ESP_OK)
{
std::cout << "Network::activateEspNow - Error initializing ESP-NOW" << std::endl; std::cout << "Network::activateEspNow - Error initializing ESP-NOW" << std::endl;
return false; return false;
} }
@@ -49,11 +56,12 @@ bool Network::activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send) {
esp_now_register_send_cb(send); esp_now_register_send_cb(send);
esp_now_peer_info_t peerInfo = {}; esp_now_peer_info_t peerInfo = {};
memcpy(peerInfo.peer_addr, this->broadcastAddress, 6); memcpy(static_cast<void *>(peerInfo.peer_addr), static_cast<const void *>(this->broadcastAddress), 6);
peerInfo.channel = 0; peerInfo.channel = 0;
peerInfo.encrypt = false; 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; std::cout << "Network::connectEspNow - Failed to add peer" << std::endl;
return false; return false;
} }
@@ -62,7 +70,8 @@ bool Network::activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send) {
return true; return true;
} }
bool Network::activateMqtt(const char *user, const char *passphrase) { bool Network::activateMqtt(const char *user, const char *passphrase)
{
this->mqttUser = user; this->mqttUser = user;
this->mqttPassphrase = passphrase; this->mqttPassphrase = passphrase;
@@ -71,53 +80,68 @@ bool Network::activateMqtt(const char *user, const char *passphrase) {
this->mqttClient->setSocketTimeout(1); this->mqttClient->setSocketTimeout(1);
if (this->wifiConnected) if (this->wifiConnected)
{
return this->connectMqtt(); return this->connectMqtt();
}
return false; return false;
} }
void Network::printIPs() { const void Network::printIPs()
{
std::cout << std::endl; std::cout << std::endl;
if (!this->wifiConnected) { if (!this->wifiConnected)
{
std::cout << "WiFi is not connected." << std::endl; std::cout << "WiFi is not connected." << std::endl;
return; return;
} }
std::cout << "WiFi is connected to" << std::endl; std::cout << "WiFi is connected to" << std::endl;
std::cout << "IP address: " << std::endl; std::cout << "IP address: " << std::endl;
std::cout << WiFi.localIP().toString().c_str() << 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 Network::getCurrentChannel()
uint8_t channel; {
wifi_second_chan_t secondChannel; uint8_t channel = 0;
if (esp_wifi_get_channel(&channel, &secondChannel) != ESP_OK) { 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; std::cout << "Network::getCurrentChannel - Error!" << std::endl;
return -1; return -1;
} }
return channel; return channel;
} }
void Network::runAsChild() { void Network::runAsChild()
{
if (!this->initSucessful) if (!this->initSucessful)
{
return; return;
}
this->checkWifi(); this->checkWifi();
if (this->wifiConnected && this->mqttClient) if (this->wifiConnected && static_cast<bool>(this->mqttClient))
{
this->checkMqtt(); 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 // Connect to Wi-Fi network with SSID and password
std::cout << "Connecting to " << ssid << std::endl; std::cout << "Connecting to " << ssid << std::endl;
WiFi.begin(ssid, passphrase); WiFi.begin(ssid, passphrase);
uint8_t timeout = Network::wifiConnectTimeout; uint8_t timeout = Network::wifiConnectTimeout;
while (WiFi.status() != WL_CONNECTED) { while (WiFiSTAClass::status() != WL_CONNECTED)
{
delay(Network::wifiConnectLoopTime); delay(Network::wifiConnectLoopTime);
std::cout << "." << std::flush; std::cout << "." << std::flush;
timeout--; timeout--;
if (timeout == 0) { if (timeout == 0)
{
std::cout << std::endl; std::cout << std::endl;
std::cout << "WiFi NOT connected." << std::endl; std::cout << "WiFi NOT connected." << std::endl;
return; return;
@@ -128,9 +152,9 @@ void Network::init(const char *ssid, const char *passphrase) {
this->printIPs(); this->printIPs();
} }
void Network::checkWifi() { void Network::checkWifi()
if ((WiFi.status() != WL_CONNECTED) {
&& (millis() - this->lastWifiRecoonectAttemp >= Network::wifiReconnectDelay)) if ((WiFiSTAClass::status() != WL_CONNECTED) && (millis() - this->lastWifiRecoonectAttemp >= Network::wifiReconnectDelay))
{ {
std::cout << "Reconnecting to WiFi..." << std::endl; std::cout << "Reconnecting to WiFi..." << std::endl;
WiFi.disconnect(); WiFi.disconnect();
@@ -139,29 +163,39 @@ void Network::checkWifi() {
} }
} }
void Network::checkMqtt() { void Network::checkMqtt()
if (!this->mqttClient->connected() {
&& millis() - this->lastMqttReconnectAttemp > Network::mqttReconnectDelay) if (!this->mqttClient->connected() && millis() - this->lastMqttReconnectAttemp > Network::mqttReconnectDelay)
{ {
this->mqttConnected = this->connectMqtt(); this->mqttConnected = this->connectMqtt();
this->lastMqttReconnectAttemp = millis(); this->lastMqttReconnectAttemp = millis();
} }
if (this->mqttConnected) if (this->mqttConnected)
{
this->mqttClient->loop(); this->mqttClient->loop();
}
} }
bool Network::connectMqtt() { bool Network::connectMqtt()
{
String clientId = "ESP32Rover-"; 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)) if (this->mqttClient->connect(clientId.c_str(), this->mqttUser, this->mqttPassphrase))
{
this->mqttClient->publish("Rover/Info", "Connected to Mqtt-Broker"); 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(); return this->mqttClient->connected();
} }
lib/Network/network.h
+44 -43
View File
@@ -1,12 +1,12 @@
/** /**
* @file network.h * @file network.h
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2023-09-18 * @date 2023-09-18
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#ifndef NETWORK_H #ifndef NETWORK_H
@@ -20,10 +20,11 @@
#include <esp_now.h> #include <esp_now.h>
#include <esp_wifi.h> #include <esp_wifi.h>
typedef void (*recieveCallbackPtr) (const uint8_t * mac, const uint8_t *incomingData, int len); 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 (*sendCallbackPtr)(const uint8_t *mac_addr, esp_now_send_status_t status);
struct NetworkAdresses { struct NetworkAdresses
{
IPAddress localIP; IPAddress localIP;
IPAddress gateway; IPAddress gateway;
IPAddress subnet; IPAddress subnet;
@@ -32,53 +33,53 @@ struct NetworkAdresses {
uint16_t mqttPort = 1883; uint16_t mqttPort = 1883;
}; };
class Network : public Component { class Network : public Component
public: {
Network(const char *ssid, const char *passphrase); public:
Network(const char *ssid, const char *passphrase, NetworkAdresses adresses); 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 activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send);
bool activateMqtt(const char *user = nullptr, const char *passphrase = nullptr); bool activateMqtt(const char *user = nullptr, const char *passphrase = nullptr);
void printIPs(); const void printIPs();
bool isWifiConnected() const { return this->wifiConnected; } bool isWifiConnected() const { return this->wifiConnected; }
bool isMqttConnected() const { return this->mqttConnected; } bool isMqttConnected() const { return this->mqttConnected; }
const uint8_t* getBroadcastAddress() const { return this->broadcastAddress; } const uint8_t *getBroadcastAddress() const { return this->broadcastAddress; }
PubSubClient* getMqttClient() const { return this->mqttClient; } PubSubClient *getMqttClient() const { return this->mqttClient; }
static uint8_t getCurrentChannel(); 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();
NetworkAdresses adresses; private:
WiFiClient wifiClient; void run() override{};
PubSubClient* mqttClient = nullptr; void runAsChild() override;
void init(const char *ssid, const char *passphrase);
void checkWifi();
void checkMqtt();
bool connectMqtt();
bool initSucessful = false; NetworkAdresses adresses;
bool wifiConnected = false; WiFiClient wifiClient;
bool mqttConnected = false; PubSubClient *mqttClient = nullptr;
const char *mqttUser; bool initSucessful = false;
const char *mqttPassphrase; bool wifiConnected = false;
bool mqttConnected = false;
uint8_t broadcastAddress[6] = {0xC8, 0xC9, 0xA3, 0xC8, 0x57, 0x10}; const char *mqttUser = nullptr;
uint32_t lastWifiRecoonectAttemp = 0; const char *mqttPassphrase = nullptr;
uint32_t lastMqttReconnectAttemp = 0;
static constexpr uint8_t wifiConnectTimeout = 20; uint8_t broadcastAddress[6] = {0xC8, 0xC9, 0xA3, 0xC8, 0x57, 0x10};
static constexpr uint16_t wifiConnectLoopTime = 500; uint32_t lastWifiRecoonectAttemp = 0;
static constexpr uint16_t wifiReconnectDelay = 5000; uint32_t lastMqttReconnectAttemp = 0;
static constexpr uint16_t mqttReconnectDelay = 2500;
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
lib/NtripClient/ntripClient.cpp
+192 -134
View File
@@ -4,84 +4,90 @@
* @brief Contains the implementation of the class NTRIPClient. * @brief Contains the implementation of the class NTRIPClient.
* @version 0.1 * @version 0.1
* @date 2022-09-18 * @date 2022-09-18
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#include "ntripClient.h" #include "ntripClient.h"
NTRIPClient::NTRIPClient(SFE_UBLOX_GNSS *gps, const char *host, uint16_t port, const char *mountPoint, const char *user, const char *password)
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}
this->gps = gps; {
strcpy(this->host, host); Component::loopDelay = NTRIPClient::loopDelay;
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() { NTRIPClient::~NTRIPClient()
{
delete this->ntripClient; delete this->ntripClient;
} }
void NTRIPClient::run() { void NTRIPClient::run()
switch (this->state) { {
case NTRIPClientStates::openConnection: switch (this->state)
if (!this->activated) { {
this->state = NTRIPClientStates::closeConnection; case NTRIPClientStates::openConnection:
break; if (!this->activated)
} {
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; this->state = NTRIPClientStates::closeConnection;
break; 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(); this->pushGPGGA();
} }
void NTRIPClient::gpsConfiguration() { void NTRIPClient::gpsConfiguration()
{
this->gps->setSPIOutput(COM_TYPE_UBX | COM_TYPE_NMEA); this->gps->setSPIOutput(COM_TYPE_UBX | COM_TYPE_NMEA);
this->gps->setPortInput(COM_PORT_SPI, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3); this->gps->setPortInput(COM_PORT_SPI, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3);
// Set the differential mode - ambiguities are fixed whenever possible // 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); this->gps->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10);
} }
bool NTRIPClient::setActivated(bool state) { bool NTRIPClient::setActivated(bool state)
// std::cout << "NTRIPClient::setActivated: b - " << b << std::endl; {
if (state && this->state != NTRIPClientStates::notAvailable) if (state && this->state != NTRIPClientStates::notAvailable)
{
this->activated = true; this->activated = true;
}
else if (state) else if (state)
{
return false; return false;
else { }
else
{
this->activated = false; this->activated = false;
this->autoReconnect = false; this->autoReconnect = false;
} }
return true; return true;
} }
void NTRIPClient::setAutoReconnect(bool state) { void NTRIPClient::setAutoReconnect(bool state)
if (state) { {
if (state)
{
this->reconnectAttemps = 0; this->reconnectAttemps = 0;
this->autoReconnect = true; this->autoReconnect = true;
return; return;
@@ -113,61 +126,67 @@ void NTRIPClient::setAutoReconnect(bool state) {
this->autoReconnect = false; 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; std::cout << "Opening socket to " << this->host << std::endl;
char serverRequest[this->bufferSize]; char serverRequest[this->bufferSize];
char credentials[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; std::cout << "Connection to caster failed" << std::endl;
return false; 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 // Add the encoded credentials to the server request
strncat(serverRequest, credentials, this->bufferSize); strncat(static_cast<char *>(serverRequest), static_cast<const char *>(credentials), this->bufferSize);
strncat(serverRequest, "\r\n", this->bufferSize); strncat(static_cast<char *>(serverRequest), static_cast<const char *>("\r\n"), this->bufferSize);
std::cout << "serverRequest size: " std::cout << static_cast<const char *>("serverRequest size: ")
<< strlen(serverRequest) << strlen(serverRequest)
<< " of " << static_cast<const char *>(" of ")
<< this->bufferSize << this->bufferSize
<< " bytes available" << static_cast<const char *>(" bytes available")
<< std::endl; << std::endl;
// Send the server request // Send the server request
std::cout << "Sending server request: " << serverRequest << std::endl; std::cout << "Sending server request: " << serverRequest << std::endl;
this->ntripClient->write(serverRequest, strlen(serverRequest)); this->ntripClient->write(serverRequest, strlen(serverRequest));
//Wait up to 5 seconds for response // Wait up to 5 seconds for response
uint32_t lastMillis = millis(); const uint32_t lastMillis = millis();
while (!ntripClient->available()) { while (static_cast<bool>(!ntripClient->available()))
if (millis() - lastMillis > this->timeOut) { {
if (millis() - lastMillis > this->timeOut)
{
std::cout << "Caster timed out!" << std::endl; std::cout << "Caster timed out!" << std::endl;
this->ntripClient->stop(); this->ntripClient->stop();
return false; return false;
@@ -175,35 +194,48 @@ bool NTRIPClient::beginClient() {
delay(10); delay(10);
} }
//Check reply // Check reply
uint16_t httpStatusCode = 0; uint16_t httpStatusCode = 0;
char response[this->bufferSize]; char response[this->bufferSize];
uint16_t responseIndex = 0; uint16_t responseIndex = 0;
while (this->ntripClient->available()) { while (static_cast<bool>(this->ntripClient->available()))
{
if (responseIndex == sizeof(response)) if (responseIndex == sizeof(response))
{
break; break;
}
response[responseIndex++] = ntripClient->read(); response[responseIndex++] = ntripClient->read();
if (httpStatusCode == 0) { if (httpStatusCode == 0)
if (strstr(response, "200") != nullptr) {
httpStatusCode = 200; if (strstr(response, static_cast<const char *>("200")) != nullptr)
if (strstr(response, "401") != nullptr) {
httpStatusCode = 401; httpStatusCode = httpCheck;
}
if (strstr(response, static_cast<const char *>("401")) != nullptr)
{
httpStatusCode = httpError;
}
} }
} }
response[responseIndex] = '\0'; response[responseIndex] = '\0';
// std::cout << "Caster response: " << response << std::endl; // std::cout << "Caster response: " << response << std::endl;
if (httpStatusCode != 200) { if (httpStatusCode != httpCheck)
std::cout << "Failed to connect to " << this->host << " - HTTP Code: " << (int) httpStatusCode {
std::cout << "Failed to connect to " << this->host << " - HTTP Code: " << (int)httpStatusCode
<< " Length of Response: " << responseIndex << std::endl; << " Length of Response: " << responseIndex << std::endl;
if (httpStatusCode == 0) if (httpStatusCode == 0)
{
std::cout << "Response: " << response << std::endl; std::cout << "Response: " << response << std::endl;
else if (httpStatusCode == 401) }
else if (httpStatusCode == httpError)
{
std::cout << "Statuscode 401 - Unauthorized" << std::endl; std::cout << "Statuscode 401 - Unauthorized" << std::endl;
}
return false; return false;
} }
@@ -212,35 +244,47 @@ bool NTRIPClient::beginClient() {
return true; return true;
} }
void NTRIPClient::closeConnection() { void NTRIPClient::closeConnection()
if (this->ntripClient->connected()) {
if (static_cast<bool>(this->ntripClient->connected()))
{
this->ntripClient->stop(); this->ntripClient->stop();
}
this->activated = false; this->activated = false;
std::cout << "NtripClient disconnected from: " << this->host << std::endl; std::cout << "NtripClient disconnected from: " << this->host << std::endl;
} }
bool NTRIPClient::processConnection() { bool NTRIPClient::processConnection()
if (this->ntripClient->connected()) { {
if (static_cast<bool>(this->ntripClient->connected()))
{
uint8_t rtcmData[this->bufferSize * 8]; uint8_t rtcmData[this->bufferSize * 8];
uint16_t rtcmCount = 0; uint16_t rtcmCount = 0;
while (this->ntripClient->available()) { while (static_cast<bool>(this->ntripClient->available()))
{
rtcmData[rtcmCount++] = ntripClient->read(); rtcmData[rtcmCount++] = ntripClient->read();
if (rtcmCount == sizeof(rtcmData)) if (rtcmCount == sizeof(rtcmData))
{
break; break;
}
} }
if (rtcmCount > 0) { if (rtcmCount > 0)
{
this->lastReceivedRtcmTime = millis(); 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; // std::cout << "Pushed " << rtcmCount << " RTCM bytes to ZED." << std::endl;
} }
} else { }
else
{
std::cout << "Connection to " << this->host << " dropped!" << std::endl; std::cout << "Connection to " << this->host << " dropped!" << std::endl;
return false; return false;
} }
if (millis() - this->lastReceivedRtcmTime > this->timeOut) { if (millis() - this->lastReceivedRtcmTime > this->timeOut)
{
std::cout << "RTCM timeout!" << std::endl; std::cout << "RTCM timeout!" << std::endl;
return false; return false;
} }
@@ -248,15 +292,21 @@ bool NTRIPClient::processConnection() {
return true; return true;
} }
void NTRIPClient::checkAutoReconnect() { void NTRIPClient::checkAutoReconnect()
{
if (!this->autoReconnect) if (!this->autoReconnect)
{
return; return;
}
if (millis() - this->lastReconnectTime < this->reconnectDelayTime) if (millis() - this->lastReconnectTime < this->reconnectDelayTime)
{
return; return;
}
this->lastReconnectTime = millis(); this->lastReconnectTime = millis();
if (this->reconnectAttemps >= this->maxReconnectAttemps) { if (this->reconnectAttemps >= this->maxReconnectAttemps)
{
this->autoReconnect = false; this->autoReconnect = false;
return; return;
} }
@@ -265,26 +315,34 @@ void NTRIPClient::checkAutoReconnect() {
this->reconnectAttemps++; this->reconnectAttemps++;
} }
void NTRIPClient::pushGPGGA() { void NTRIPClient::pushGPGGA()
{
if (!this->transmitLocation && !this->activated) if (!this->transmitLocation && !this->activated)
{
return; return;
}
if (millis() - this->lastGPGGAPushTime < this->pushGPGGATime) if (millis() - this->lastGPGGAPushTime < this->pushGPGGATime)
{
return; return;
}
this->lastGPGGAPushTime = millis(); this->lastGPGGAPushTime = millis();
if (!this->ntripClient->connected()) if (!this->ntripClient->connected())
{
std::cout << "Failed to pushing GGA to server: " << std::endl; 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) if (res == 2)
this->ntripClient->print((const char *)data); {
this->ntripClient->print(reinterpret_cast<const char *>(data));
}
delete data; delete data;
} }
bool NTRIPClient::isConnected() { bool NTRIPClient::isConnected()
if (this->state == NTRIPClientStates::pushData) {
return true; return this->state == NTRIPClientStates::pushData;
return false;
} }
lib/NtripClient/ntripClient.h
+90 -86
View File
@@ -4,9 +4,9 @@
* @brief Contains the class NTRIPClient * @brief Contains the class NTRIPClient
* @version 0.1 * @version 0.1
* @date 2023-02-13 * @date 2023-02-13
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#ifndef NTRIP_CLIENT #ifndef NTRIP_CLIENT
@@ -22,109 +22,113 @@
#include "component.h" #include "component.h"
/** /**
* @brief States for the state machine. * @brief States for the state machine.
* *
*/ */
enum NTRIPClientStates { enum NTRIPClientStates
openConnection, {
pushData, openConnection,
closeConnection, pushData,
wait, closeConnection,
notAvailable wait,
notAvailable
}; };
/** /**
* @brief Ntrip Client * @brief Ntrip Client
* *
* This class can connect to a ntrip server to pull correction * 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 * data and push it to a given gnss module. This module have to be compatible
* with the SparkFun u-blox GNSS Arduino Library. * with the SparkFun u-blox GNSS Arduino Library.
*/ */
class NTRIPClient : public Component { class NTRIPClient : public Component
public: {
/** public:
* @brief Construct a new NTRIPClient object /**
* * @brief Construct a new NTRIPClient object
* @param gps The Gnss module *
* @param host * @param gps The Gnss module
* @param port * @param host
* @param mountPoint * @param port
* @param user * @param mountPoint
* @param password * @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(); 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 * @brief Configure the Gnss module to accept correction data
* *
*/ */
void gpsConfiguration(); void gpsConfiguration();
/** /**
* @brief Activate or deactivate the location transmission * @brief Activate or deactivate the location transmission
* *
* Some server need the position of the Gnss module to send the * Some server need the position of the Gnss module to send the
* right correction data. * right correction data.
* *
* @param b * @param b
*/ */
void setTransmitLocation(bool b) { this->transmitLocation = b; } void setTransmitLocation(bool b) { this->transmitLocation = b; }
/** /**
* @brief Activate or deactivate the connection to the server. * @brief Activate or deactivate the connection to the server.
* *
* @param state * @param state
* @return true success * @return true success
* @return false failure * @return false failure
*/ */
bool setActivated(bool state); bool setActivated(bool state);
void setAutoReconnect(bool state); void setAutoReconnect(bool state);
bool isConnected(); bool isConnected();
/** /**
* @brief Get the Client State object * @brief Get the Client State object
* *
* Returns the state of the State machine * Returns the state of the State machine
* *
* @return NTRIPClientStates * @return NTRIPClientStates
*/ */
NTRIPClientStates getClientState() { return this->state; } NTRIPClientStates getClientState() { return this->state; }
private: private:
void run() override; void run() override;
void runAsChild() override; void runAsChild() override;
void pushGPGGA(); void pushGPGGA();
bool beginClient(); bool beginClient();
void closeConnection(); void closeConnection();
bool processConnection(); bool processConnection();
void checkAutoReconnect(); void checkAutoReconnect();
SFE_UBLOX_GNSS* gps; SFE_UBLOX_GNSS *gps;
WiFiClient* ntripClient; WiFiClient *ntripClient;
NTRIPClientStates state = NTRIPClientStates::notAvailable; NTRIPClientStates state = NTRIPClientStates::notAvailable;
bool transmitLocation = false; bool transmitLocation = false;
bool activated = true; bool activated = true;
bool autoReconnect = false; bool autoReconnect = false;
uint8_t reconnectAttemps = 0; uint8_t reconnectAttemps = 0;
uint16_t port; uint16_t port;
uint32_t lastReceivedRtcmTime = 0; uint32_t lastReceivedRtcmTime = 0;
// uint32_t lastNtripConnectTime = 0; // can deleted? // uint32_t lastNtripConnectTime = 0; // can deleted?
uint32_t lastGPGGAPushTime = 0; uint32_t lastGPGGAPushTime = 0;
uint32_t lastReconnectTime = 0; uint32_t lastReconnectTime = 0;
char host[128]; const char *host;
char mountPoint[128]; const char *mountPoint;
char user[128]; const char *user;
char password[128]; const char *password;
const uint8_t maxReconnectAttemps = 10; const uint8_t maxReconnectAttemps = 10;
const uint16_t reconnectDelayTime = 1000; const uint16_t reconnectDelayTime = 1000;
const uint16_t timeOut = 10000; const uint16_t timeOut = 10000;
const uint16_t bufferSize = 512; const uint16_t bufferSize = 512;
const uint16_t pushGPGGATime = 10000; const uint16_t pushGPGGATime = 10000;
static constexpr uint8_t loopDelay = 20;
}; };
#endif #endif
lib/Point/point.cpp
+57 -43
View File
@@ -1,104 +1,118 @@
/** /**
* @file point.cpp * @file point.cpp
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2023-09-03 * @date 2023-09-03
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#include "point.h" #include "point.h"
Point::Point(double lat, double lon, uint32_t horizontalAccuracy, uint32_t creationTime) { Point::Point(double lat, double lon, uint32_t horizontalAccuracy, uint32_t creationTime)
this->coordinates.lat = lat; : coordinates{lat, lon}
this->coordinates.lon = lon; {
this->init(horizontalAccuracy, creationTime); this->init(horizontalAccuracy, creationTime);
} }
Point::Point(int32_t lat, int32_t lon, uint32_t horizontalAccuracy, uint32_t creationTime) { Point::Point(int32_t lat, int32_t lon, uint32_t horizontalAccuracy, uint32_t creationTime)
this->coordinates.lat = lat / 10000000.0; : coordinates{lat / 10000000.0, lon / 10000000.0}
this->coordinates.lon = lon / 10000000.0; {
this->init(horizontalAccuracy, creationTime); this->init(horizontalAccuracy, creationTime);
} }
Point::Point(Coordinates coords, uint32_t horizontalAccuracy, uint32_t creationTime) { Point::Point(Coordinates coords, uint32_t horizontalAccuracy, uint32_t creationTime)
this->coordinates = coords; : coordinates{coords}
{
this->init(horizontalAccuracy, creationTime); this->init(horizontalAccuracy, creationTime);
} }
Point::Point(Coordinates coords, bool imported) { Point::Point(Coordinates coords, bool imported)
{
this->coordinates = coords; this->coordinates = coords;
if (imported) if (imported)
{
this->init(UINT32_MAX, 0); this->init(UINT32_MAX, 0);
}
else else
{
this->init(0, 0); this->init(0, 0);
}
} }
Point::Point() { Point::Point()
{
this->coordinates.lat = 0; this->coordinates.lat = 0;
this->coordinates.lon = 0; this->coordinates.lon = 0;
this->init(0, 0); this->init(0, 0);
} }
bool Point::operator==(const Point& rhs) const { bool Point::operator==(const Point &rhs) const
{
return this->coordinates == rhs.getCoordinates(); return this->coordinates == rhs.getCoordinates();
} }
// distance = sqrt(dx * dx + dy * dy) double Point::distanceTo(const Coordinates &point) const
// mit distance: Entfernung in km {
// dx = 111.3 * cos(lat) * (lon1 - lon2) const Coordinates begin = this->coordinates;
// lat = (lat1 + lat2) / 2 * 0.01745 const Coordinates end = point;
// 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 lat = (begin.lat + end.lat) / 2 * ROUTE_DEGREE_TO_RADIANT; const double lat = (begin.lat + end.lat) / 2 * ROUTE_DEGREE_TO_RADIANT;
double dy = ROUTE_DISTANCE_BETWEEN_LATITUDE * (begin.lat - end.lat); const double dy = ROUTE_DISTANCE_BETWEEN_LATITUDE * (begin.lat - end.lat);
double dx = ROUTE_DISTANCE_BETWEEN_LATITUDE * cos(lat) * (begin.lon - end.lon); const double dx = ROUTE_DISTANCE_BETWEEN_LATITUDE * cos(lat) * (begin.lon - end.lon);
return sqrt(dx * dx + dy * dy); 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()); return this->distanceTo(point.getCoordinates());
} }
int16_t Point::courseTo(const Coordinates& point) const { int16_t Point::courseTo(const Coordinates &point) const
Coordinates begin = this->coordinates; {
Coordinates end = point; 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) ); 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));
double lon = (begin.lon * ROUTE_DEGREE_TO_RADIANT - end.lon * ROUTE_DEGREE_TO_RADIANT); 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; return static_cast<int16_t>(atan2(lon, phi) / ROUTE_DEGREE_TO_RADIANT) * -1;
// if (res < 0)
// res += 360;
return res;
} }
int16_t Point::courseTo(const Point &point) const { int16_t Point::courseTo(const Point &point) const
{
return this->courseTo(point.getCoordinates()); 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; this->creationTime = creationTime;
if (horizontalAccuracy == UINT32_MAX) if (horizontalAccuracy == UINT32_MAX)
{
this->accuracy = Accuracy::imported; this->accuracy = Accuracy::imported;
}
else if (horizontalAccuracy > 9999) else if (horizontalAccuracy > 9999)
{
this->accuracy = Accuracy::fourDigOfCM; this->accuracy = Accuracy::fourDigOfCM;
}
else if (horizontalAccuracy > 999) else if (horizontalAccuracy > 999)
{
this->accuracy = Accuracy::threeDigOfCM; this->accuracy = Accuracy::threeDigOfCM;
}
else if (horizontalAccuracy > 99) else if (horizontalAccuracy > 99)
{
this->accuracy = Accuracy::twoDigOfCM; this->accuracy = Accuracy::twoDigOfCM;
}
else if (horizontalAccuracy > 1) else if (horizontalAccuracy > 1)
{
this->accuracy = Accuracy::oneDigOfCM; this->accuracy = Accuracy::oneDigOfCM;
else }
this->accuracy = Accuracy::none; else
{
this->accuracy = Accuracy::none;
}
} }
lib/Point/point.h
+108 -105
View File
@@ -1,139 +1,142 @@
/** /**
* @file point.h * @file point.h
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2023-09-03 * @date 2023-09-03
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#ifndef POINT_H #ifndef POINT_H
#define POINT_H #define POINT_H
#include <cmath> #include <cmath>
#define ROUTE_DEGREE_TO_RADIANT 0.01745 #define ROUTE_DEGREE_TO_RADIANT 0.01745
#define ROUTE_DISTANCE_BETWEEN_LATITUDE 111300 #define ROUTE_DISTANCE_BETWEEN_LATITUDE 111300
/** /**
* @brief A to handle points on the earth * @brief A to handle points on the earth
* *
* The points inherits latidue and longitude as doubles * The points inherits latidue and longitude as doubles
* *
*/ */
class Point{ class Point
public: {
/** public:
* @brief Hold the data longitude and latitude /**
* * @brief Hold the data longitude and latitude
*/ *
struct Coordinates { */
double lon; struct Coordinates
double lat; {
double lon;
double lat;
bool operator==(const Coordinates rhs) const { bool operator==(const Coordinates rhs) const
return ( this->lon == rhs.lon ) && ( this->lon == rhs.lon ); {
} return (this->lon == rhs.lon) && (this->lon == rhs.lon);
}; }
};
/** /**
* @brief The Accuracy is set by the constructor * @brief The Accuracy is set by the constructor
* *
*/ */
enum Accuracy { enum Accuracy
none, {
fourDigOfCM, none,
threeDigOfCM, fourDigOfCM,
twoDigOfCM, threeDigOfCM,
oneDigOfCM, twoDigOfCM,
imported 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 * @brief Checks if to points are equal.
* *
* @param lat latitude * @param rhs
* @param lon longitude * @return true
* @param horizontalAccuracy mm * @return false
* @param coords Coordinates */
* @param imported if true than highest accuracy bool operator==(const Point &rhs) const;
*/
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. * @brief Checks if the point is initalized.
* *
* @param rhs * @return true
* @return true * @return false
* @return false */
*/ bool isInit() const { return this->coordinates.lat + this->coordinates.lon; }
bool operator==(const Point& rhs) const;
/** /**
* @brief Checks if the point is initalized. * @brief Checks if the point is valid.
* *
* @return true * If the accuracy is higher than zero, true will be returned.
* @return false *
*/ * @return true
bool isInit() const { return this->coordinates.lat + this->coordinates.lon; } * @return false
*/
bool isValid() const { return (this->accuracy > 0) ? true : false; }
/** /**
* @brief Checks if the point is valid. * @brief Calculates the distance between to points.
* *
* If the accuracy is higher than zero, true will be returned. * @param point
* * @return double meter
* @return true */
* @return false double distanceTo(const Coordinates &point) const;
*/ double distanceTo(const Point &point) const;
bool isValid() const { return (this->accuracy > 0) ? true : false; }
/** /**
* @brief Calculates the distance between to points. * @brief Calculates the course to an other point.
* *
* @param point * @param point
* @return double meter * @return int16_t degree
*/ */
double distanceTo(const Coordinates& point) const; int16_t courseTo(const Coordinates &point) const;
double distanceTo(const Point& point) const; int16_t courseTo(const Point &point) const;
/** uint32_t getCreationTime() const { return this->creationTime; }
* @brief Calculates the course to an other point. double getLongitude() const { return this->coordinates.lon; }
* double getLatitude() const { return this->coordinates.lat; }
* @param point Coordinates getCoordinates() const { return this->coordinates; }
* @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; } * @brief Get the Accuracy object
double getLatitude() const { return this->coordinates.lat; } *
Coordinates getCoordinates() const { return this->coordinates; } * The higher the value, the greater the accuracy.
* You can check it by Accuracy.
*
* @return Accuracy
*/
Accuracy getAccuracy() const { return this->accuracy; }
/** private:
* @brief Get the Accuracy object void init(uint32_t horizontalAccuracy, uint32_t creationTime);
*
* The higher the value, the greater the accuracy.
* You can check it by Accuracy.
*
* @return Accuracy
*/
Accuracy getAccuracy() const { return this->accuracy; }
private: Accuracy accuracy = Accuracy::none;
void init(uint32_t horizontalAccuracy, uint32_t creationTime); Coordinates coordinates{0, 0};
Accuracy accuracy = Accuracy::none; uint32_t creationTime = 0;
Coordinates coordinates;
uint32_t creationTime = 0;
}; };
#endif //POINT_H #endif // POINT_H
lib/Route/route.cpp
+40 -28
View File
@@ -4,29 +4,29 @@
* @brief Implements the class Route and Point * @brief Implements the class Route and Point
* @version 0.1 * @version 0.1
* @date 2022-01-31 * @date 2022-01-31
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#include "route.h" #include "route.h"
Route::Route() { void Route::addPointToRoute(Point point)
{
}
void Route::addPointToRoute(Point point) {
this->points.push_back(point); this->points.push_back(point);
} }
void Route::clear() { void Route::clear()
{
this->points.clear(); this->points.clear();
this->currentPoint = 0; this->currentPoint = 0;
this->started = false; this->started = false;
} }
Point Route::startRoute() { Point Route::startRoute()
if (this->points.size() < 1) { {
if (this->points.empty())
{
this->started = false; this->started = false;
return Point(); return Point();
} }
@@ -37,8 +37,10 @@ Point Route::startRoute() {
return *this->it; return *this->it;
} }
Point Route::endRoute() { Point Route::endRoute()
if (this->points.size() < 1) { {
if (this->points.empty())
{
this->started = false; this->started = false;
return Point(); return Point();
} }
@@ -51,37 +53,47 @@ Point Route::endRoute() {
return *this->it; return *this->it;
} }
Point Route::getNextPoint() { Point Route::getNextPoint()
{
Point point;
if (!this->started) if (!this->started)
return Point(); {
return point;
}
if (this->it != --this->points.end()) { if (this->it != --this->points.end())
{
this->it++; this->it++;
this->currentPoint++; this->currentPoint++;
return *this->it; return *this->it;
// } else if (this->it == this->points.end() && this->currentPoint != this->points.size()) { // } else if (this->it == this->points.end() && this->currentPoint != this->points.size()) {
// this->currentPoint++; // this->currentPoint++;
// return *this->it; // return *this->it;
} }
return Point(); return point;
} }
Point Route::getPreviousPoint() { Point Route::getPreviousPoint()
{
Point point;
if (!this->started) if (!this->started)
return Point(); {
return point;
if (this->it != this->points.begin()) { }
if (this->it != this->points.begin())
{
this->it--; this->it--;
this->currentPoint--; this->currentPoint--;
return *this->it; return *this->it;
} else {
return Point();
} }
return point;
} }
RouteInfo Route::getRouteInfo() { RouteInfo Route::getRouteInfo()
RouteInfo info; {
RouteInfo info{0, 0};
info.totalPoints = this->points.size(); info.totalPoints = this->points.size();
info.currentPoint = this->currentPoint; info.currentPoint = this->currentPoint;
return info; return info;
lib/Route/route.h
-5
View File
@@ -40,11 +40,6 @@ struct RouteInfo{
*/ */
class Route { class Route {
public: public:
/**
* @brief Construct a new Route object.
*/
Route();
/** /**
* @brief Adds a point to the list. * @brief Adds a point to the list.
* *
lib/Sensors/sensorData.cpp
+138 -71
View File
@@ -1,30 +1,32 @@
/** /**
* @file senors.cpp * @file senors.cpp
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2023-09-02 * @date 2023-09-02
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#include "sensorData.h" #include "sensorData.h"
bool SensorData::outputStatusPrintPVTdata = false; bool SensorData::outputStatusPrintPVTdata = false;
uint32_t SensorData::ubxUpdateTimeStatic = 0; uint32_t SensorData::ubxUpdateTimeStatic = 0;
UBX_NAV_PVT_data_t* SensorData::ubxDataStatic = nullptr; UBX_NAV_PVT_data_t *SensorData::ubxDataStatic = nullptr;
SensorData::SensorData() { SensorData::SensorData()
this->loopDelay = 50; {
Component::loopDelay = SensorData::loopDelay;
} }
SensorData::~SensorData() { SensorData::~SensorData()
if (this->ntripClient) {
delete this->ntripClient; 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 = new NTRIPClient(this->gnss, host.c_str(), port, mountPoint.c_str(), user.c_str(), password.c_str());
this->ntripClient->gpsConfiguration(); this->ntripClient->gpsConfiguration();
this->ntripClient->loop(); this->ntripClient->loop();
@@ -33,120 +35,176 @@ void SensorData::enableNtrip(String host, uint16_t port, String mountPoint, Stri
this->addChildComponent(this->ntripClient); 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(); 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; std::cout << "u-blox GNSS not detected on SPI bus. Please check wiring. Freezing." << std::endl;
while (1); while (true)
{
}
} }
this->initGnss(); this->initGnss();
} }
void SensorData::enableGnss() { void SensorData::enableGnss()
{
this->gnss = new SFE_UBLOX_GNSS(); 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; std::cout << "u-blox GNSS not detected at default I2C address. Please check wiring. Freezing." << std::endl;
while (1); while (true)
{
}
} }
this->initGnss(); this->initGnss();
} }
void SensorData::enableRealCompass() { void SensorData::enableRealCompass()
{
static constexpr byte address = 0x0d;
this->realCompass = new QMC5883LCompass(); this->realCompass = new QMC5883LCompass();
// Init Compass // Init Compass
Wire.beginTransmission(0x0d); Wire.beginTransmission(address);
// TODO: describe Bytes !!!
Wire.write(0x0b); Wire.write(0x0b);
Wire.write(0x01); Wire.write(0x01);
Wire.endTransmission(); Wire.endTransmission();
this->realCompass->setMode(0x01,0x0C,0x10,0X00); this->realCompass->setMode(0x01, 0x0C, 0x10, 0X00);
CalibrateCompass caliCompass(this->realCompass); CalibrateCompass caliCompass(this->realCompass);
caliCompass.loadData(); caliCompass.loadData();
caliCompass.useData(); caliCompass.useData();
} }
void SensorData::enableCalcCompass() { void SensorData::enableCalcCompass()
{
// TODO: !!! implementieren
} }
void SensorData::enableGyroskop() { void SensorData::enableGyroskop()
{
this->gyroskop = new MPU6050(); this->gyroskop = new MPU6050();
this->gyroskop->initialize(); this->gyroskop->initialize();
if (!this->gyroskop->testConnection()) { if (!this->gyroskop->testConnection())
{
std::cout << "SensorData::enableGyroskop: Gyroskop is not conntected. Freeze!" << std::endl; 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->setXGyroOffset(220);
this->gyroskop->setYGyroOffset(76); this->gyroskop->setYGyroOffset(76);
this->gyroskop->setZGyroOffset(-85); this->gyroskop->setZGyroOffset(-85);
this->gyroskop->setZAccelOffset(1788); this->gyroskop->setZAccelOffset(1788);
if (deviceStatus == 0) { if (deviceStatus == 0)
{
this->gyroskop->CalibrateAccel(6); this->gyroskop->CalibrateAccel(6);
this->gyroskop->CalibrateGyro(6); this->gyroskop->CalibrateGyro(6);
this->gyroskop->PrintActiveOffsets(); this->gyroskop->PrintActiveOffsets();
this->gyroskop->setDMPEnabled(true); this->gyroskop->setDMPEnabled(true);
} else { }
else
{
// ERROR! // ERROR!
// 1 = initial memory load failed // 1 = initial memory load failed
// 2 = DMP configuration updates failed // 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1) // (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; std::cout << "SensorData::enableGyroskop: DMP Initialization failed (code" << static_cast<int>(deviceStatus) << "). Freeze!" << std::endl;
while (true); while (true)
{
}
} }
} }
CalcAzimuth::State SensorData::getCalcAzimuthState() const { CalcAzimuth::State SensorData::getCalcAzimuthState() const
if (this->calcCompass) {
if (static_cast<bool>(this->calcCompass))
{
return this->calcCompass->getState(); return this->calcCompass->getState();
}
return CalcAzimuth::State::Invalid; return CalcAzimuth::State::Invalid;
} }
NTRIPClientStates SensorData::getNtripState() const { NTRIPClientStates SensorData::getNtripState() const
if (this->ntripClient) {
if (static_cast<bool>(this->ntripClient))
{
return this->ntripClient->getClientState(); return this->ntripClient->getClientState();
}
return NTRIPClientStates::notAvailable; 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) if (!SensorData::outputStatusPrintPVTdata)
{
return; return;
}
double latitude = (double) ubxDataStruct->lat / 10000000.0; const double latitude = ubxDataStruct->lat / 10000000.0;
double longitude = (double) ubxDataStruct->lon / 10000000.0; const double longitude = ubxDataStruct->lon / 10000000.0;
double altitude = (double) ubxDataStruct->hMSL / 1000.0; const double altitude = ubxDataStruct->hMSL / 1000.0;
uint8_t fixType = ubxDataStruct->fixType; const uint8_t fixType = ubxDataStruct->fixType;
char fixTypeString[32]; char fixTypeString[stringSize];
if (fixType == 0) if (fixType == 0)
strcpy(fixTypeString, "None"); {
strcpy(fixTypeString, static_cast<const char *>("None"));
}
else if (fixType == 1) else if (fixType == 1)
strcpy(fixTypeString, "Dead Reckoning"); {
strcpy(fixTypeString, static_cast<const char *>("Dead Reckoning"));
}
else if (fixType == 2) else if (fixType == 2)
strcpy(fixTypeString, "2D"); {
strcpy(fixTypeString, static_cast<const char *>("2D"));
}
else if (fixType == 3) else if (fixType == 3)
strcpy(fixTypeString, "3D"); {
strcpy(fixTypeString, static_cast<const char *>("3D"));
}
else if (fixType == 3) else if (fixType == 3)
strcpy(fixTypeString, "GNSS + Dead Reckoning"); {
strcpy(fixTypeString, static_cast<const char *>("GNSS + Dead Reckoning"));
}
else if (fixType == 5) else if (fixType == 5)
strcpy(fixTypeString, "Time Only"); {
strcpy(fixTypeString, static_cast<const char *>("Time Only"));
}
else else
strcpy(fixTypeString, "UNKNOWN"); {
strcpy(fixTypeString, static_cast<const char *>("UNKNOWN"));
}
uint8_t carrSoln = ubxDataStruct->flags.bits.carrSoln; const uint8_t carrSoln = ubxDataStruct->flags.bits.carrSoln;
char carrSolnString[16]; char carrSolnString[stringSize];
if (carrSoln == 0) if (carrSoln == 0)
strcpy(carrSolnString, "None"); {
strcpy(carrSolnString, static_cast<const char *>("None"));
}
else if (carrSoln == 1) else if (carrSoln == 1)
strcpy(carrSolnString, "Floating"); {
strcpy(carrSolnString, static_cast<const char *>("Floating"));
}
else if (carrSoln == 2) else if (carrSoln == 2)
strcpy(carrSolnString, "Fixed"); {
strcpy(carrSolnString, static_cast<const char *>("Fixed"));
}
else 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 std::cout << "Lat: " << latitude
<< " Lng: " << longitude << " Lng: " << longitude
@@ -157,45 +215,53 @@ void SensorData::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
<< " Horizontal Accuracy Estimate: " << hAcc << " mm" << std::endl; << " 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::printPVTdata(ubxDataStruct);
SensorData::ubxDataStatic = ubxDataStruct; SensorData::ubxDataStatic = ubxDataStruct;
SensorData::ubxUpdateTimeStatic = millis(); SensorData::ubxUpdateTimeStatic = millis();
} }
void SensorData::setOutputStatusPrintPVTdata(bool status) { void SensorData::setOutputStatusPrintPVTdata(bool status)
{
SensorData::outputStatusPrintPVTdata = status; SensorData::outputStatusPrintPVTdata = status;
} }
void SensorData::run() { void SensorData::run()
if (this->realCompass) { {
if (static_cast<bool>(this->realCompass))
{
this->realCompass->read(); this->realCompass->read();
this->realAzimuth = this->realCompass->getAzimuth(); this->realAzimuth = this->realCompass->getAzimuth();
} }
if (this->gyroskop if (static_cast<bool>(this->gyroskop) && this->gyroskop->dmpGetCurrentFIFOPacket(static_cast<uint8_t *>(this->gyroBuffer)))
&& this->gyroskop->dmpGetCurrentFIFOPacket(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->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() { void SensorData::runAsChild()
if (this->gnss) { {
if (static_cast<bool>(this->gnss))
{
this->gnss->checkUblox(); this->gnss->checkUblox();
this->gnss->checkCallbacks(); this->gnss->checkCallbacks();
if (SensorData::ubxUpdateTimeStatic != this->lastUbxUpdate) if (SensorData::ubxUpdateTimeStatic != this->lastUbxUpdate)
{
this->updateUbxData(); this->updateUbxData();
} }
}
} }
void SensorData::initGnss() { void SensorData::initGnss()
uint8_t versionHigh = this->gnss->getProtocolVersionHigh(); {
uint8_t versionLow = this->gnss->getProtocolVersionLow(); const uint8_t versionHigh = this->gnss->getProtocolVersionHigh();
std::cout << "u-blox protocol version: " << unsigned(versionHigh) << "." << unsigned(versionLow) << std::endl; 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->setSPIOutput(COM_TYPE_UBX);
this->gnss->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10); this->gnss->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10);
@@ -206,11 +272,12 @@ void SensorData::initGnss() {
this->gnss->setAutoPVT(true); this->gnss->setAutoPVT(true);
} }
void SensorData::updateUbxData() { void SensorData::updateUbxData()
{
this->gnssData = SensorData::ubxDataStatic; this->gnssData = SensorData::ubxDataStatic;
this->lastUbxUpdate = SensorData::ubxUpdateTimeStatic; this->lastUbxUpdate = SensorData::ubxUpdateTimeStatic;
Point::Coordinates coords; Point::Coordinates coords{0, 0};
coords.lat = this->gnssData->lat / 10000000.0; coords.lat = this->gnssData->lat / 10000000.0;
coords.lon = this->gnssData->lon / 10000000.0; coords.lon = this->gnssData->lon / 10000000.0;
lib/Sensors/sensorData.h
+71 -69
View File
@@ -1,12 +1,12 @@
/** /**
* @file sensorData.h * @file sensorData.h
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2023-09-02 * @date 2023-09-02
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#ifndef SENSOR_DATA_H #ifndef SENSOR_DATA_H
@@ -28,84 +28,86 @@
#include "point.h" #include "point.h"
class Sensors; class Sensors;
class SensorData : public Component { class SensorData : public Component
public: {
SensorData(); public:
~SensorData(); 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();
// Interface Const kram void enableNtrip(String host, uint16_t port, String mountPoint, String user, String password);
int16_t getRealAzimuth() const { return this->realAzimuth; } void enableGnss(SPIClass *spiPort, uint8_t csPin);
int16_t getCalcAzimuth() const { return this->calcAzimuth; } void enableGnss();
CalcAzimuth::State getCalcAzimuthState() const; void enableRealCompass();
void enableCalcCompass();
void enableGyroskop();
Point getCurrentPos() const { return this->currentPosition; } // Interface Const kram
const UBX_NAV_PVT_data_t* getGnssData() const { return this->gnssData; }; int16_t getRealAzimuth() const { return this->realAzimuth; }
NTRIPClientStates getNtripState() const; int16_t getCalcAzimuth() const { return this->calcAzimuth; }
const float* getGyroData() const { return this->yawPitchRoll; } CalcAzimuth::State getCalcAzimuthState() const;
CalcAzimuth* getCalcCompass() const { return this->calcCompass; } Point getCurrentPos() const { return this->currentPosition; }
QMC5883LCompass* getRealCompass() const { return this->realCompass; } const UBX_NAV_PVT_data_t *getGnssData() const { return this->gnssData; };
NTRIPClient* getNtripClient() const { return this->ntripClient; } NTRIPClientStates getNtripState() const;
MPU6050* getGyroskop() const { return this->gyroskop; } const float *getGyroData() const { return this->yawPitchRoll; }
// static CalcAzimuth *getCalcCompass() const { return this->calcCompass; }
/** QMC5883LCompass *getRealCompass() const { return this->realCompass; }
* @brief Set the output status for PVTdata. NTRIPClient *getNtripClient() const { return this->ntripClient; }
* MPU6050 *getGyroskop() const { return this->gyroskop; }
* 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: // static
void run() override; /**
void runAsChild() override; * @brief Set the output status for PVTdata.
void initGnss(); *
void updateUbxData(); * 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; QMC5883LCompass *realCompass = nullptr;
CalcAzimuth* calcCompass = nullptr; CalcAzimuth *calcCompass = nullptr;
SFE_UBLOX_GNSS* gnss = nullptr; SFE_UBLOX_GNSS *gnss = nullptr;
NTRIPClient* ntripClient = nullptr; NTRIPClient *ntripClient = nullptr;
MPU6050* gyroskop = nullptr; MPU6050 *gyroskop = nullptr;
UBX_NAV_PVT_data_t* gnssData; UBX_NAV_PVT_data_t *gnssData = nullptr;
Point currentPosition; Point currentPosition;
Quaternion quaternion; Quaternion quaternion;
VectorFloat gravity; VectorFloat gravity;
char* host; char *host = nullptr;
char* mountPoint; char *mountPoint = nullptr;
char* user; char *user = nullptr;
char* password; char *password = nullptr;
bool isNtripInit = false;
uint8_t gyroBuffer[64]; bool isNtripInit = false;
uint16_t port;
int16_t realAzimuth = INT16_MAX;
int16_t calcAzimuth = INT16_MAX;
uint32_t lastUbxUpdate = 0;
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 float yawPitchRoll[3]{0, 0, 0};
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
static uint32_t ubxUpdateTimeStatic; static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
static bool outputStatusPrintPVTdata; 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
lib/Speedometer/speedometer.cpp
+76 -52
View File
@@ -5,18 +5,16 @@
* @see speedometer.h * @see speedometer.h
* @version 0.1 * @version 0.1
* @date 2021-12-13 * @date 2021-12-13
* *
* @copyright Copyright (c) 2021 * @copyright Copyright (c) 2021
* *
*/ */
#include "speedometer.h" #include "speedometer.h"
Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps) { Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps)
this->diameter = diameter; : pulseCounter{new Counter(pin)}, diameter{diameter}, steps{steps}, buf{}
this->steps = steps; {
this->pulseCounter->setFilterValue(Speedometer::maxFilterValue); // ignore pulses less than 1000 x 2.5ns
this->pulseCounter = new Counter(pin);
this->pulseCounter->setFilterValue(1023); // ignore pulses less than 1000 x 2.5ns
this->pulseCounter->clear(); this->pulseCounter->clear();
this->pulseCounter->resume(); this->pulseCounter->resume();
@@ -26,105 +24,131 @@ Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps) {
this->clearAvgBuf(); this->clearAvgBuf();
} }
Speedometer::~Speedometer() { Speedometer::~Speedometer()
{
delete this->pulseCounter; delete this->pulseCounter;
} }
void Speedometer::run() { void Speedometer::run()
{
static constexpr float minimalSpeed = 0.1;
if (this->calibrationRunning) if (this->calibrationRunning)
{
return; 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; this->lastMillisCalc = time;
int16_t pulse = this->pulseCounter->getValue(); const double pulse = this->pulseCounter->getValue();
this->pulseCounter->clear(); this->pulseCounter->clear();
this->pulseCounter->resume(); this->pulseCounter->resume();
const double wheelRevolutionsAbsolute = pulse / this->steps;
double n = (double)pulse / this->steps; // Wheel revolutions in absolute time const double wheelRevolutionsRelativ = wheelRevolutionsAbsolute / (elapsedTime / 1000.0);
double u = n / ((double)elapsedTime / 1000); // Wheel revolutions per second
double ms = u * (diameter * PI); // Speed in m/s
double rad = u * 2 * PI;
if (speed < 0.1) { double meterPerSecond = wheelRevolutionsRelativ * (diameter * PI);
speed = 0; double radPerSecond = wheelRevolutionsRelativ * 2 * PI;
rad = 0;
if (meterPerSecond < minimalSpeed)
{
meterPerSecond = 0;
radPerSecond = 0;
} }
switch (this->currentDirection) { switch (this->currentDirection)
case Direction::Forward : {
this->speed = ms; case Direction::Forward:
this->rad = rad; this->speed = meterPerSecond;
break; this->rad = radPerSecond;
break;
case Direction::Backward :
this->speed = -ms;
this->rad = -rad;
break;
case Direction::None : case Direction::Backward:
this->speed = 0; this->speed = -meterPerSecond;
this->rad = 0; this->rad = -radPerSecond;
break; break;
case Direction::None:
this->speed = 0;
this->rad = 0;
break;
} }
this->addValToBuf(static_cast<int16_t>(this->speed * Speedometer::conversionFactor)); this->addValToBuf(static_cast<int16_t>(this->speed * Speedometer::conversionFactor));
} }
void Speedometer::setDirection(Direction dir) { void Speedometer::setDirection(Direction dir)
{
if (this->currentDirection == dir) if (this->currentDirection == dir)
{
return; return;
}
this->currentDirection = dir; this->currentDirection = dir;
this->clearAvgBuf(); this->clearAvgBuf();
} }
void Speedometer::setEncFilter(uint16_t val) { void Speedometer::setEncFilter(uint16_t val)
if (val > 1023) {
val = 1023; if (val > Speedometer::maxFilterValue)
{
val = Speedometer::maxFilterValue;
}
this->pulseCounter->setFilterValue(val); this->pulseCounter->setFilterValue(val);
} }
double Speedometer::getAvgSpeed() const { double Speedometer::getAvgSpeed() const
int16_t avg = this->calcAverage(); {
return (float)avg / Speedometer::conversionFactor; const double avg = this->calcAverage();
return avg / Speedometer::conversionFactor;
} }
void Speedometer::calibrationMeasurementStart() { void Speedometer::calibrationMeasurementStart()
{
std::cout << "Start" << std::endl; std::cout << "Start" << std::endl;
this->calibrationRunning = true; this->calibrationRunning = true;
this->pulseCounter->clear(); this->pulseCounter->clear();
this->pulseCounter->resume(); this->pulseCounter->resume();
} }
uint16_t Speedometer::calibrationMeasurementStop() { uint16_t Speedometer::calibrationMeasurementStop()
{
std::cout << "Ende" << std::endl; std::cout << "Ende" << std::endl;
this->calibrationRunning = false; this->calibrationRunning = false;
uint16_t res = abs(this->pulseCounter->getValue()); const uint16_t res = abs(this->pulseCounter->getValue());
this->pulseCounter->clear(); this->pulseCounter->clear();
this->pulseCounter->resume(); this->pulseCounter->resume();
std::cout << "Result: " << res << std::endl; std::cout << "Result: " << res << std::endl;
return res; return res;
} }
void Speedometer::clearAvgBuf() { void Speedometer::clearAvgBuf()
for (uint8_t i = 0; i < bufSize; i++) {
for (uint8_t i = 0; i < bufSize; i++)
{
this->buf[i] = 0; this->buf[i] = 0;
}
} }
void Speedometer::addValToBuf(int16_t val) { void Speedometer::addValToBuf(int16_t val)
{
this->buf[this->bufPos] = val; this->buf[this->bufPos] = val;
this->bufPos++; this->bufPos++;
if (bufPos == bufSize) if (bufPos == bufSize)
bufPos = 0; {
bufPos = 0;
}
} }
int16_t Speedometer::calcAverage() const { int16_t Speedometer::calcAverage() const
{
int16_t sum = 0; int16_t sum = 0;
for (int i = 0; i < this->bufSize; i++) for (int i = 0; i < Speedometer::bufSize; i++)
{
sum += this->buf[i]; sum += this->buf[i];
return sum / this->bufSize; }
return sum / Speedometer::bufSize;
} }
lib/Speedometer/speedometer.h
+93 -92
View File
@@ -4,9 +4,9 @@
* @brief A implementation to measure wheel speeds with an encoder. * @brief A implementation to measure wheel speeds with an encoder.
* @version 0.1 * @version 0.1
* @date 2021-12-09 * @date 2021-12-09
* *
* @copyright Copyright (c) 2021 * @copyright Copyright (c) 2021
* *
*/ */
#ifndef SPEEDOMETER_H #ifndef SPEEDOMETER_H
@@ -21,114 +21,115 @@
/** /**
* @brief A class which use a encoder to calc the speed * @brief A class which use a encoder to calc the speed
* *
* This class use ESP32 pulse counter hardware peripheral. * This class use ESP32 pulse counter hardware peripheral.
* The calculated speed is the average of an amount of last measurements. * The calculated speed is the average of an amount of last measurements.
* *
*/ */
class Speedometer : public Component { class Speedometer : public Component
public: {
/** public:
* @brief Enum to control the direction. /**
* * @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 Forward, the internal counter counts up and a positiv speed will be returned.
* If the Direction is None, no measurement will be taken. * 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, enum Direction
Forward, {
Backward None,
}; Forward,
Backward
};
/** /**
* @brief Construct a new Speedometer object * @brief Construct a new Speedometer object
* *
* @param pin Pin on the Esp from the encoder. * @param pin Pin on the Esp from the encoder.
* @param diameter Diameter of the wheel in meters. * @param diameter Diameter of the wheel in meters.
* @param steps Encodersteps for a complete wheel rotation. * @param steps Encodersteps for a complete wheel rotation.
*/ */
Speedometer(uint8_t pin, double diameter, uint16_t steps); Speedometer(uint8_t pin, double diameter, uint16_t steps);
~Speedometer(); ~Speedometer();
/** /**
* @brief Set the direction * @brief Set the direction
* *
* @param dir Direction * @param dir Direction
*/ */
void setDirection(Direction dir); void setDirection(Direction dir);
/** /**
* @brief Set the Enc Filter to prevent bouncing * @brief Set the Enc Filter to prevent bouncing
* *
* ignore pulses less than val x 2.5ns * ignore pulses less than val x 2.5ns
* *
* @param val default = 1000, max = 1023 * @param val default = 1000, max = 1023
*/ */
void setEncFilter(uint16_t val); void setEncFilter(uint16_t val);
/** /**
* @brief Get the Direction * @brief Get the Direction
* *
* @return Direction * @return Direction
*/ */
Direction getDirection() const { return this->currentDirection; } Direction getDirection() const { return this->currentDirection; }
/** /**
* @brief Get the calculated speed of the Wheel * @brief Get the calculated speed of the Wheel
* *
* @return double speed in m/s * @return double speed in m/s
*/ */
double getSpeed() const { return this->speed; } double getSpeed() const { return this->speed; }
double getSpeedRad() const { return this->rad; }; double getSpeedRad() const { return this->rad; };
double getAvgSpeed() const; double getAvgSpeed() const;
/** /**
* @brief Start calibration * @brief Start calibration
* *
* This functions stops the loop. So that steps of one manual wheel turn * This functions stops the loop. So that steps of one manual wheel turn
* can measured. Call calibrationMeasurementStop to start the loop and get * can measured. Call calibrationMeasurementStop to start the loop and get
* the result. * the result.
*/ */
void calibrationMeasurementStart(); void calibrationMeasurementStart();
/** /**
* @brief Stop calibration * @brief Stop calibration
* *
* Start the loop function and read the past steps. * Start the loop function and read the past steps.
* *
* @return uint16_t steps since calibrationMeasurementStart was called * @return uint16_t steps since calibrationMeasurementStart was called
*/ */
uint16_t calibrationMeasurementStop(); uint16_t calibrationMeasurementStop();
private:
void run() override;
void clearAvgBuf();
void addValToBuf(int16_t val);
int16_t calcAverage() const;
private: static constexpr uint8_t loopDelay = 30;
void run() override; static constexpr uint8_t bufSize = 5;
void clearAvgBuf(); static constexpr uint8_t conversionFactor = 100;
void addValToBuf(int16_t val);
int16_t calcAverage() const;
static constexpr uint8_t loopDelay = 30; Counter *pulseCounter;
static constexpr uint8_t bufSize = 5; Direction currentDirection = Direction::None;
static constexpr uint8_t conversionFactor = 100;
Counter* pulseCounter; bool calibrationRunning = false;
Direction currentDirection = Direction::None;
bool calibrationRunning = false; double speed = 0;
double rad = 0;
double diameter;
double speed = 0; uint8_t printCounter = 0;
double rad = 0; uint8_t bufPos = 0;
double diameter; uint16_t steps;
int16_t buf[Speedometer::bufSize];
uint32_t lastMillisCalc = 0;
uint8_t printCounter = 0; static constexpr uint16_t maxFilterValue = 1023;
uint8_t bufPos = 0;
uint16_t steps;
int16_t buf[Speedometer::bufSize];
uint32_t lastMillisCalc = 0;
}; };
#endif // SPEEDOMETER_H #endif // SPEEDOMETER_H
lib/Times/debugTimes.cpp
+23 -12
View File
@@ -4,42 +4,53 @@
* @brief Implemention of the class debugTimes.h. * @brief Implemention of the class debugTimes.h.
* @version 0.1 * @version 0.1
* @date 2021-12-13 * @date 2021-12-13
* *
* @copyright Copyright (c) 2021 * @copyright Copyright (c) 2021
* *
*/ */
#include "debugTimes.h" #include "debugTimes.h"
bool DebugTimes::print = false; bool DebugTimes::print = false;
bool DebugTimes::printWarning = true; bool DebugTimes::printWarning = true;
DebugTimes::DebugTimes() { DebugTimes::DebugTimes()
this->startTime = millis(); : startTime{millis()}
{
if (DebugTimes::printWarning) { if (DebugTimes::printWarning)
std::cout << std::endl << "Warning: DebugTimes is muuted, no times are be shown." << std::endl << std::endl; {
std::cout << std::endl
<< "Warning: DebugTimes is muuted, no times are be shown." << std::endl
<< std::endl;
DebugTimes::printWarning = false; DebugTimes::printWarning = false;
} }
} }
void DebugTimes::restart() { void DebugTimes::restart()
{
this->startTime = millis(); this->startTime = millis();
} }
uint16_t DebugTimes::stop() { const uint16_t DebugTimes::stop()
{
return millis() - this->startTime; return millis() - this->startTime;
} }
uint16_t DebugTimes::stopConsol(const char* name, uint16_t minTime) { const uint16_t DebugTimes::stopConsol(const char *name, uint16_t minTime)
uint64_t time = millis() - this->startTime; {
const uint64_t time = millis() - this->startTime;
if (time > minTime && DebugTimes::print) if (time > minTime && DebugTimes::print)
{
std::cout << name << " needs " << time << " ms" << std::endl; std::cout << name << " needs " << time << " ms" << std::endl;
}
return time; return time;
} }
void DebugTimes::setConsolOutput(bool enable) { void DebugTimes::setConsolOutput(bool enable)
{
if (enable == DebugTimes::print) if (enable == DebugTimes::print)
{
return; return;
}
DebugTimes::print = enable; DebugTimes::print = enable;
DebugTimes::printWarning = !enable; DebugTimes::printWarning = !enable;
lib/Times/debugTimes.h
+42 -41
View File
@@ -4,9 +4,9 @@
* @brief Inherits a class to measure times of functions. * @brief Inherits a class to measure times of functions.
* @version 0.1 * @version 0.1
* @date 2021-12-13 * @date 2021-12-13
* *
* @copyright Copyright (c) 2021 * @copyright Copyright (c) 2021
* *
*/ */
#ifndef DEBUG_TIMES_H #ifndef DEBUG_TIMES_H
@@ -20,57 +20,58 @@
/** /**
* @brief A class to measure times of functions. * @brief A class to measure times of functions.
* *
* This simple class only save the value of the millis() * This simple class only save the value of the millis()
* function when you call the constructor or restart(). * function when you call the constructor or restart().
* To get the elapsed time call stop() or stopConsol(). * To get the elapsed time call stop() or stopConsol().
* *
* @warning This class is not very accurate * @warning This class is not very accurate
* It only give you the time in milliseconds. * It only give you the time in milliseconds.
*/ */
class DebugTimes { class DebugTimes
public: {
/** public:
* @brief Construct a new Debug Times object /**
* Starts to count milliseconds * @brief Construct a new Debug Times object
*/ * Starts to count milliseconds
*/
DebugTimes(); DebugTimes();
/** /**
* @brief Set the counter to 0 * @brief Set the counter to 0
*/ */
void restart(); void restart();
/** /**
* @brief Give the elapsed time * @brief Give the elapsed time
* *
* @return uint16_t elapsed milliseconds * @return uint16_t elapsed milliseconds
*/ */
uint16_t stop(); const uint16_t stop();
/** /**
* @brief Print the elapsed time to consol * @brief Print the elapsed time to consol
* *
* @param name Functionname to print * @param name Functionname to print
* @param minTime A minimum time before printing * @param minTime A minimum time before printing
* *
* @return uint16_t elapsed milliseconds * @return uint16_t elapsed milliseconds
*/ */
uint16_t stopConsol(const char* name, uint16_t minTime = 0); const uint16_t stopConsol(const char *name, uint16_t minTime = 0);
/** /**
* @brief Sets if the result should be printed. * @brief Sets if the result should be printed.
* *
* @param enable * @param enable
*/ */
static void setConsolOutput(bool enable); static void setConsolOutput(bool enable);
private: private:
uint64_t startTime; uint64_t startTime;
static bool print; static bool print;
static bool printWarning; static bool printWarning;
}; };
#endif //DEBUG_TIMES_H #endif // DEBUG_TIMES_H
lib/calibrateCompass/calibrateCompass.cpp
+22 -20
View File
@@ -12,8 +12,8 @@
#include "calibrateCompass.h" #include "calibrateCompass.h"
CalibrateCompass::CalibrateCompass(QMC5883LCompass *compass) CalibrateCompass::CalibrateCompass(QMC5883LCompass *compass)
: compass{compass}
{ {
this->compass = compass;
this->state = State::Ready; this->state = State::Ready;
this->clearData(); this->clearData();
this->activateOnlyChilds(); this->activateOnlyChilds();
@@ -29,9 +29,9 @@ void CalibrateCompass::runAsChild()
bool changed = false; bool changed = false;
this->compass->read(); this->compass->read();
int xAxis = this->compass->getX(); const int xAxis = this->compass->getX();
int yAxis = this->compass->getY(); const int yAxis = this->compass->getY();
int zAxis = this->compass->getZ(); const int zAxis = this->compass->getZ();
if (xAxis < this->data.data[0][0]) if (xAxis < this->data.data[0][0])
{ {
@@ -70,7 +70,9 @@ void CalibrateCompass::runAsChild()
} }
if (changed) if (changed)
{
this->lastChange = millis(); this->lastChange = millis();
}
if (millis() - this->lastChange > this->maxTimeWithoutChange) if (millis() - this->lastChange > this->maxTimeWithoutChange)
{ {
@@ -182,23 +184,23 @@ void CalibrateCompass::checkDataValidity()
sum += this->data.data[i][0]; sum += this->data.data[i][0];
sum += this->data.data[i][1]; 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 << "("; stream << "(";
os << caliComp.data.data[0][0]; stream << caliComp.data.data[0][0];
os << ", "; stream << ", ";
os << caliComp.data.data[0][1]; stream << caliComp.data.data[0][1];
os << ", "; stream << ", ";
os << caliComp.data.data[1][0]; stream << caliComp.data.data[1][0];
os << ", "; stream << ", ";
os << caliComp.data.data[1][1]; stream << caliComp.data.data[1][1];
os << ", "; stream << ", ";
os << caliComp.data.data[2][0]; stream << caliComp.data.data[2][0];
os << ", "; stream << ", ";
os << caliComp.data.data[2][1]; stream << caliComp.data.data[2][1];
os << ")"; stream << ")";
return os; return stream;
} }
lib/calibrateCompass/calibrateCompass.h
+37 -34
View File
@@ -1,12 +1,12 @@
/** /**
* @file calibrateCompass.h * @file calibrateCompass.h
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2023-05-23 * @date 2023-05-23
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#pragma once #pragma once
@@ -17,44 +17,47 @@
#include "component.h" #include "component.h"
class CalibrateCompass : public Component { class CalibrateCompass : public Component
public: {
enum State { public:
Ready, enum State
Calibrating, {
Finished Ready,
}; Calibrating,
Finished
};
struct CallibrationData { struct CallibrationData
int data[3][2]; {
}; int data[3][2];
};
CalibrateCompass(QMC5883LCompass* compass); CalibrateCompass(QMC5883LCompass *compass);
void start(); void start();
void useData(); void useData();
void removeCalibration(); void removeCalibration();
void reset(); void reset();
void saveData(); void saveData();
void loadData(); void loadData();
State getState() const { return this->state; } State getState() const { return this->state; }
CallibrationData getCallibrationData() const { return this->data; } 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: private:
void runAsChild() override; void runAsChild() override;
void run() override; void run() override;
void checkDataValidity(); void checkDataValidity();
QMC5883LCompass* compass; QMC5883LCompass *compass;
State state; State state = State::Ready;
CallibrationData data; CallibrationData data{};
void clearData(); void clearData();
bool dataValid = false; bool dataValid = false;
const uint16_t maxTimeWithoutChange = 10000; const uint16_t maxTimeWithoutChange = 10000;
uint32_t lastChange = 0; uint32_t lastChange = 0;
}; };
src/OutputBuf/outputBuf.cpp
+39 -22
View File
@@ -4,56 +4,73 @@
* @brief Contains the implementation of the class OutputBufMqtt * @brief Contains the implementation of the class OutputBufMqtt
* @version 0.1 * @version 0.1
* @date 2022-02-14 * @date 2022-02-14
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#include "OutputBuf/outputBuf.h" #include "OutputBuf/outputBuf.h"
OutputBuf::OutputBuf(DebugMqtt* debugMqtt, BluetoothSerial* serialBT) OutputBuf::OutputBuf(DebugMqtt *debugMqtt, BluetoothSerial *serialBT)
: std::streambuf() { : debugMqtt{debugMqtt}, serialBT{serialBT}
this->debugMqtt = debugMqtt; {
this->serialBT = serialBT; if (static_cast<bool>(debugMqtt))
{
if (debugMqtt)
this->isMqttActive = true; this->isMqttActive = true;
}
if (serialBT) if (static_cast<bool>(serialBT))
{
this->isMqttActive = true; this->isMqttActive = true;
}
} }
void OutputBuf::activateMqtt(bool status) { void OutputBuf::activateMqtt(bool status)
if (debugMqtt) {
if (static_cast<bool>(debugMqtt))
{
this->isMqttActive = status; this->isMqttActive = status;
}
} }
void OutputBuf::activateSerialBT(bool status) { void OutputBuf::activateSerialBT(bool status)
if (serialBT) {
if (static_cast<bool>(serialBT))
{
this->isSerialBTActive = status; this->isSerialBTActive = status;
}
} }
void OutputBuf::setDebugMqtt(DebugMqtt* debugMqtt) { void OutputBuf::setDebugMqtt(DebugMqtt *debugMqtt)
{
this->debugMqtt = debugMqtt; this->debugMqtt = debugMqtt;
this->isMqttActive = true; this->isMqttActive = true;
} }
void OutputBuf::setSerialBT(BluetoothSerial* serialBT) { void OutputBuf::setSerialBT(BluetoothSerial *serialBT)
{
this->serialBT = serialBT; this->serialBT = serialBT;
this->isSerialBTActive = true;; this->isSerialBTActive = true;
;
} }
std::streambuf::int_type OutputBuf::overflow(std::streambuf::int_type c) { std::streambuf::int_type OutputBuf::overflow(std::streambuf::int_type character)
if (c != EOF) { {
if (character != EOF)
{
// c = std::toupper(static_cast<char>(c), getloc()); // c = std::toupper(static_cast<char>(c), getloc());
if (this->debugMqtt && this->isMqttActive) 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()) 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;
} }
src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.cpp
+37 -26
View File
@@ -1,59 +1,70 @@
/** /**
* @file menuCalibrateBattery.cpp * @file menuCalibrateBattery.cpp
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2023-09-26 * @date 2023-09-26
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#include "menuCalibrateBattery.h" #include "menuCalibrateBattery.h"
MenuCalibrateBattery::MenuCalibrateBattery(Battery* battery) { MenuCalibrateBattery::MenuCalibrateBattery(Battery *battery)
this->setUpdateDelay(400); : battery{battery}
this->battery = battery; {
this->setUpdateDelay(MenuCalibrateBattery::updateDelay);
} }
void MenuCalibrateBattery::printMenu() { void MenuCalibrateBattery::printMenu()
{
if (this->battery->getCalibrationState() == Battery::CalibrationState::None) if (this->battery->getCalibrationState() == Battery::CalibrationState::None)
{
this->battery->startCalibration(); this->battery->startCalibration();
}
String lineOne = ""; String lineOne = "";
String lineTwo = ""; String lineTwo = "";
switch (this->battery->getCalibrationState()) { switch (this->battery->getCalibrationState())
case Battery::CalibrationState::Waiting: {
lineOne = "Target Voltage:"; case Battery::CalibrationState::Waiting:
lineTwo = "7 + "; lineOne = "Target Voltage:";
lineTwo.concat(this->battery->getCurrentCalibrationVoltage()); lineTwo = "7 + ";
lineTwo.concat(" / 10"); lineTwo.concat(this->battery->getCurrentCalibrationVoltage());
break; lineTwo.concat(" / 10");
break;
case Battery::CalibrationState::Reading: case Battery::CalibrationState::Reading:
lineOne = "Reading..."; lineOne = "Reading...";
break; break;
case Battery::CalibrationState::Finished: case Battery::CalibrationState::Finished:
lineOne = "Finished!"; lineOne = "Finished!";
break; break;
default: default:
break; break;
} }
this->print(lineOne, lineTwo); this->print(lineOne, lineTwo);
} }
void MenuCalibrateBattery::left() { void MenuCalibrateBattery::left()
{
this->battery->finishCalibration(); this->battery->finishCalibration();
if (parentMenu) if (static_cast<bool>(parentMenu))
{
this->parentMenu->printMenu(); this->parentMenu->printMenu();
}
} }
void MenuCalibrateBattery::right() { void MenuCalibrateBattery::right()
{
if (this->battery->getCalibrationState() == Battery::CalibrationState::Waiting) if (this->battery->getCalibrationState() == Battery::CalibrationState::Waiting)
{
this->battery->nextVoltageIsReady(); this->battery->nextVoltageIsReady();
}
} }
src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.h
+17 -14
View File
@@ -1,12 +1,12 @@
/** /**
* @file menuCalibrateBattery.h * @file menuCalibrateBattery.h
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2023-09-26 * @date 2023-09-26
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#ifndef MENU_CALIBRATE_BATTERY_H #ifndef MENU_CALIBRATE_BATTERY_H
@@ -15,19 +15,22 @@
#include "menuControl.h" #include "menuControl.h"
#include "battery.h" #include "battery.h"
class MenuCalibrateBattery : public MenuControl { class MenuCalibrateBattery : public MenuControl
public: {
MenuCalibrateBattery(Battery* battery); public:
MenuCalibrateBattery(Battery *battery);
void printMenu() override; void printMenu() override;
void left() override; void left() override;
void no() override { this->left(); } void no() override { this->left(); }
void right() override; void right() override;
void yes() override { this->right(); } void yes() override { this->right(); }
private: private:
Battery* battery; Battery *battery;
static constexpr uint16_t updateDelay = 400;
}; };
#endif //MENU_CALIBRATE_BATTERY_H #endif // MENU_CALIBRATE_BATTERY_H
src/SpecialMenus/PID/menuPidSettings.cpp
+8 -7
View File
@@ -4,19 +4,20 @@
* @brief Contains an implementation of the class MenuPidSettings * @brief Contains an implementation of the class MenuPidSettings
* @version 0.1 * @version 0.1
* @date 2022-01-19 * @date 2022-01-19
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#include "menuPidSettings.h" #include "menuPidSettings.h"
MenuPidSettings::MenuPidSettings(PID* pid) { MenuPidSettings::MenuPidSettings(PID *pid) : pid{pid} {}
this->pid = pid;
}
void MenuPidSettings::action(int16_t* values, uint8_t length) { void MenuPidSettings::action(int16_t *values, uint8_t length)
if (length != 3) {
if (length != 3)
{
return; return;
}
this->pid->SetTunings(values[0], values[1], values[2]); this->pid->SetTunings(values[0], values[1], values[2]);
} }
src/SpecialMenus/Route/menuRoute.cpp
+12 -14
View File
@@ -12,9 +12,8 @@
#include "menuRoute.h" #include "menuRoute.h"
MenuActionRoute::MenuActionRoute(MenuRoute *menuRoute, DataFunction dataFunction) MenuActionRoute::MenuActionRoute(MenuRoute *menuRoute, DataFunction dataFunction)
: menuRoute{menuRoute}, dataFunction{dataFunction}
{ {
this->menuRoute = menuRoute;
this->dataFunction = dataFunction;
} }
void MenuActionRoute::action() void MenuActionRoute::action()
@@ -23,8 +22,8 @@ void MenuActionRoute::action()
} }
MenuRoute::MenuRoute(Route *route) MenuRoute::MenuRoute(Route *route)
: route{route}
{ {
this->route = route;
} }
MenuRoute::~MenuRoute() MenuRoute::~MenuRoute()
@@ -185,12 +184,12 @@ void MenuRoute::importRoute(uint8_t routeNumber)
String host = "http://rover.kleiax.de/api/"; String host = "http://rover.kleiax.de/api/";
host.concat(routeNumber); host.concat(routeNumber);
http.begin(client, host); http.begin(client, host);
int httpResponseCode = http.GET(); const int httpResponseCode = http.GET();
lineOne = "Import complete"; lineOne = "Import complete";
lineTwo = "Code: "; lineTwo = "Code: ";
if (httpResponseCode == 202) if (httpResponseCode == MenuRoute::httpValidImport)
{ {
deserializeJson(doc, http.getStream()); deserializeJson(doc, http.getStream());
} }
@@ -231,7 +230,7 @@ void MenuRoute::exportRoute(uint8_t routeNumber)
String lineOne = ""; String lineOne = "";
String lineTwo = ""; String lineTwo = "";
if (WiFi.status() != WL_CONNECTED) if (WiFiSTAClass::status() != WL_CONNECTED)
{ {
lineOne = "Not connected to"; lineOne = "Not connected to";
lineTwo = "the WiFi."; lineTwo = "the WiFi.";
@@ -270,9 +269,9 @@ void MenuRoute::exportRoute(uint8_t routeNumber)
http.begin(client, "http://rover.kleiax.de/api/"); http.begin(client, "http://rover.kleiax.de/api/");
http.addHeader("Content-Type", "application/json"); http.addHeader("Content-Type", "application/json");
int httpResponseCode = http.POST(jsonData); const int httpResponseCode = http.POST(jsonData);
if (httpResponseCode == 201) if (httpResponseCode == MenuRoute::httpValidExport)
{ {
lineOne = "Export complete"; lineOne = "Export complete";
} }
@@ -295,7 +294,7 @@ void MenuRoute::deleteRoute(uint8_t routeNumber)
String lineOne = ""; String lineOne = "";
String lineTwo = ""; String lineTwo = "";
if (WiFi.status() != WL_CONNECTED) if (WiFiSTAClass::status() != WL_CONNECTED)
{ {
lineOne = "Not connected to"; lineOne = "Not connected to";
lineTwo = "the WiFi."; lineTwo = "the WiFi.";
@@ -320,12 +319,12 @@ void MenuRoute::deleteRoute(uint8_t routeNumber)
String host = "http://rover.kleiax.de/api/"; String host = "http://rover.kleiax.de/api/";
host.concat(routeNumber); host.concat(routeNumber);
http.begin(client, host); http.begin(client, host);
int httpResponseCode = http.sendRequest("DELETE"); const int httpResponseCode = http.sendRequest("DELETE");
lineOne = "Delete complete"; lineOne = "Delete complete";
lineTwo = "Code: "; lineTwo = "Code: ";
if (httpResponseCode == 202) if (httpResponseCode == MenuRoute::httpValidDelete)
{ {
deserializeJson(doc, http.getStream()); deserializeJson(doc, http.getStream());
} }
@@ -343,16 +342,15 @@ void MenuRoute::deleteRoute(uint8_t routeNumber)
void MenuRoute::clearRoute(uint8_t none) void MenuRoute::clearRoute(uint8_t none)
{ {
//The parameter exist only for compability // The parameter exist only for compability
none; none;
this->route->clear(); this->route->clear();
this->print("Currente route", "deleted..."); this->print("Currente route", "deleted...");
} }
MenuRouteWrapper::MenuRouteWrapper(MenuRoute *menuRoute, DataFunction dataFunction) MenuRouteWrapper::MenuRouteWrapper(MenuRoute *menuRoute, DataFunction dataFunction)
: menuRoute {menuRoute}, dataFunction {dataFunction} : menuRoute{menuRoute}, dataFunction{dataFunction}
{ {
} }
void MenuRouteWrapper::action(int16_t *values, uint8_t length) void MenuRouteWrapper::action(int16_t *values, uint8_t length)
src/SpecialMenus/Route/menuRoute.h
+106 -104
View File
@@ -4,9 +4,9 @@
* @brief Contains a classes to handles routes with the user input. * @brief Contains a classes to handles routes with the user input.
* @version 0.1 * @version 0.1
* @date 2022-12-28 * @date 2022-12-28
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#ifndef MENU_ROUTE_H #ifndef MENU_ROUTE_H
@@ -30,135 +30,137 @@ typedef void (MenuRoute::*DataFunction)(uint8_t);
/** /**
* @brief MenuActionWrapper to call DataFunctions * @brief MenuActionWrapper to call DataFunctions
* *
* This class should be used to call importRoute, * This class should be used to call importRoute,
* exportRoute and clearRoute over the Menu. * exportRoute and clearRoute over the Menu.
*/ */
class MenuActionRoute : public MenuActionWrapper { class MenuActionRoute : public MenuActionWrapper
public: {
/** public:
* @brief Construct a new Menu Action Route object /**
* * @brief Construct a new Menu Action Route object
* @param menuRoute *
* @param dataFunction like exportRoute * @param menuRoute
*/ * @param dataFunction like exportRoute
MenuActionRoute(MenuRoute* menuRoute, DataFunction dataFunction); */
MenuActionRoute(MenuRoute *menuRoute, DataFunction dataFunction);
/** /**
* @brief Runs the given DataFunction * @brief Runs the given DataFunction
*/ */
void action() override; void action() override;
private: private:
MenuRoute* menuRoute; MenuRoute *menuRoute;
DataFunction dataFunction; DataFunction dataFunction;
}; };
/** /**
* @brief Handles routes * @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 { class MenuRoute : public MenuControl
public: {
/** public:
* @brief Construct a new Menu Route object /**
* * @brief Construct a new Menu Route object
* @param route *
*/ * @param route
MenuRoute(Route* route); */
~MenuRoute(); MenuRoute(Route *route);
~MenuRoute();
/** /**
* @brief Prints the last informations * @brief Prints the last informations
* *
* On first call this function calls the init function. * On first call this function calls the init function.
* On every call this functions call the printMenu function from * On every call this functions call the printMenu function from
* the mainMenu of this class. * the mainMenu of this class.
*/ */
void printMenu() override; void printMenu() override;
/** /**
* @name User Inputs * @name User Inputs
* @brief Inputs given by the parentMenu * @brief Inputs given by the parentMenu
*/ */
///@{ ///@{
void down() override; void down() override;
void up() override; void up() override;
void right() override; void right() override;
void left() override; void left() override;
void yes() override; void yes() override;
void no() override; void no() override;
///@} ///@}
/** /**
* @brief Import a Route. * @brief Import a Route.
* *
* The functions tries to pull the given route id from the RoverApi. * The functions tries to pull the given route id from the RoverApi.
* *
* @param routeNumber id * @param routeNumber id
*/ */
void importRoute(uint8_t routeNumber); void importRoute(uint8_t routeNumber);
/** /**
* @brief Export a Route. * @brief Export a Route.
* *
* The functions tries to push the current route to the RoverApi. * The functions tries to push the current route to the RoverApi.
* *
* @param routeNumber id * @param routeNumber id
*/ */
void exportRoute(uint8_t routeNumber); void exportRoute(uint8_t routeNumber);
void deleteRoute(uint8_t routeNumber); void deleteRoute(uint8_t routeNumber);
/** /**
* @brief Delete the current Route. * @brief Delete the current Route.
* *
* @param none this param is not be used. * @param none this param is not be used.
*/ */
void clearRoute(uint8_t none); void clearRoute(uint8_t none);
private:
void init();
Route* route; private:
Menu* mainMenu; void init();
bool isInit = false; Route *route;
bool blockInput = false; Menu *mainMenu = nullptr;
static constexpr uint8_t maxRouteNumber = 100; bool isInit = false;
static constexpr uint16_t httpValidExport = 201; bool blockInput = false;
static constexpr uint16_t httpValidImport = 202;
static constexpr uint16_t httpValidDelete = 202;
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 * @brief MenuRouteWrapper to call DataFunctions with numeric user input
* *
*/ */
class MenuRouteWrapper : public MenuIntInputWrapper { class MenuRouteWrapper : public MenuIntInputWrapper
public: {
/** public:
* @brief Construct a new Menu Route Wrapper object. /**
* * @brief Construct a new Menu Route Wrapper object.
* @param menuRoute *
* @param dataFunction * @param menuRoute
*/ * @param dataFunction
MenuRouteWrapper(MenuRoute* menuRoute, DataFunction dataFunction); */
MenuRouteWrapper(MenuRoute *menuRoute, DataFunction dataFunction);
/** /**
* @brief Calls the given DataFunction. * @brief Calls the given DataFunction.
* *
* @param values The value to be given to the DataFunction. * @param values The value to be given to the DataFunction.
* @param length Number of values, should be 1. * @param length Number of values, should be 1.
*/ */
void action(int16_t* values, uint8_t length) override; void action(int16_t *values, uint8_t length) override;
private: private:
MenuRoute* menuRoute; MenuRoute *menuRoute;
DataFunction dataFunction = nullptr; DataFunction dataFunction = nullptr;
}; };
#endif // MENU_ROUTE_H #endif // MENU_ROUTE_H
src/SpecialMenus/Route/menuRoutePoints.cpp
+44 -19
View File
@@ -4,34 +4,48 @@
* @brief Contains the implementation of the class MenuRoutePoints. * @brief Contains the implementation of the class MenuRoutePoints.
* @version 0.1 * @version 0.1
* @date 2022-12-28 * @date 2022-12-28
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#include "menuRoutePoints.h" #include "menuRoutePoints.h"
MenuRoutePoints::MenuRoutePoints(Route *route) : MenuInformationSites() { MenuRoutePoints::MenuRoutePoints(Route *route)
this->route = route; : route{route}
{
} }
void MenuRoutePoints::init() { void MenuRoutePoints::init()
uint16_t amountPoints = this->route->getRouteInfo().totalPoints; {
const uint16_t amountPoints = this->route->getRouteInfo().totalPoints;
if (amountPoints > UINT8_MAX) if (amountPoints > UINT8_MAX)
{
this->error = true; this->error = true;
}
else else
{
this->setCountPages(amountPoints); this->setCountPages(amountPoints);
}
} }
void MenuRoutePoints::printPage() const { void MenuRoutePoints::printPage() const
uint8_t currentPage = this->getCurrentPage(); {
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) if (this->lastPageNumber == currentPage)
{
return; return;
}
String lineOne = "N "; String lineOne = "N ";
String lineTwo = "E "; String lineTwo = "E ";
if (this->error) { if (this->error)
{
lineOne = "Error: To much"; lineOne = "Error: To much";
lineTwo = "points are given"; lineTwo = "points are given";
this->print(lineOne, lineTwo); this->print(lineOne, lineTwo);
@@ -39,35 +53,46 @@ void MenuRoutePoints::printPage() const {
} }
RouteInfo info = this->route->getRouteInfo(); RouteInfo info = this->route->getRouteInfo();
if (info.totalPoints == 0) { if (info.totalPoints == 0)
{
lineOne = "No Points are"; lineOne = "No Points are";
lineTwo = "available"; lineTwo = "available";
this->print(lineOne, lineTwo); this->print(lineOne, lineTwo);
return; return;
} }
Point p; Point point;
if (currentPage == 0) if (currentPage == 0)
p = this->route->startRoute(); {
point = this->route->startRoute();
}
else if (this->lastPageNumber - 1 == currentPage) else if (this->lastPageNumber - 1 == currentPage)
p = this->route->getPreviousPoint(); {
point = this->route->getPreviousPoint();
}
else if (this->lastPageNumber + 1 == currentPage) else if (this->lastPageNumber + 1 == currentPage)
p = this->route->getNextPoint(); {
point = this->route->getNextPoint();
}
else if (currentPage == this->getCountPages() - 1) else if (currentPage == this->getCountPages() - 1)
p = this->route->endRoute(); {
point = this->route->endRoute();
}
else else
{
std::cout << "Error in: MenuRoutePoints::printPage()" << std::endl; std::cout << "Error in: MenuRoutePoints::printPage()" << std::endl;
}
char buf[20]; char buf[bufSize];
char* string; char *string;
info = this->route->getRouteInfo(); 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(string);
lineOne.concat(" "); lineOne.concat(" ");
lineOne.concat(info.currentPoint); lineOne.concat(info.currentPoint);
// lineOne.concat(currentPage); // 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(string);
lineTwo.concat(" "); lineTwo.concat(" ");
lineTwo.concat(info.totalPoints); lineTwo.concat(info.totalPoints);
src/SpecialMenus/SensorData/menuSensorData.cpp
+123 -91
View File
@@ -1,119 +1,151 @@
/** /**
* @file menuSensorData.cpp * @file menuSensorData.cpp
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2023-09-04 * @date 2023-09-04
* *
* @copyright Copyright (c) 2023 * @copyright Copyright (c) 2023
* *
*/ */
#include "menuSensorData.h" #include "menuSensorData.h"
MenuSensorData::MenuSensorData(SensorData* sensorData) : MenuSensorData::MenuSensorData(SensorData *sensorData) : MenuInformationSites(7), sensorData{sensorData}
MenuInformationSites(7) { {
this->sensorData = sensorData; this->noEqualLeft = true;
this->noEqualLeft = true;
} }
void MenuSensorData::printPage() const { void MenuSensorData::printPage() const
const UBX_NAV_PVT_data_t* gpsData = this->sensorData->getGnssData(); {
const UBX_NAV_PVT_data_t *gpsData = this->sensorData->getGnssData();
uint8_t fixType = 0; uint8_t fixType = 0;
if (gpsData) if (static_cast<bool>(gpsData))
{
fixType = gpsData->fixType; fixType = gpsData->fixType;
}
String lineOne = ""; String lineOne = "";
String lineTwo = ""; String lineTwo = "";
switch (this->getCurrentPage()) { switch (this->getCurrentPage())
case 0: {
lineOne = " Y P R :"; case 0:
lineTwo.concat(this->sensorData->getGyroData()[0]); lineOne = " Y P R :";
lineTwo.concat(" "); lineTwo.concat(this->sensorData->getGyroData()[0]);
lineTwo.concat(this->sensorData->getGyroData()[1]); lineTwo.concat(" ");
lineTwo.concat(" "); lineTwo.concat(this->sensorData->getGyroData()[1]);
lineTwo.concat(this->sensorData->getGyroData()[2]); lineTwo.concat(" ");
break; lineTwo.concat(this->sensorData->getGyroData()[2]);
break;
case 1: case 1:
lineOne = "Real Azimuth:"; lineOne = "Real Azimuth:";
lineTwo.concat(this->sensorData->getRealAzimuth()); lineTwo.concat(this->sensorData->getRealAzimuth());
break; break;
case 2: case 2:
lineOne = "Calc Azimuth:"; lineOne = "Calc Azimuth:";
lineTwo.concat(this->sensorData->getCalcAzimuth()); lineTwo.concat(this->sensorData->getCalcAzimuth());
lineTwo.concat(" "); lineTwo.concat(" ");
lineTwo.concat(CalcAzimuth::stateToString(this->sensorData->getCalcAzimuthState())); lineTwo.concat(CalcAzimuth::stateToString(this->sensorData->getCalcAzimuthState()));
break; break;
case 3: { case 3:
lineOne = "Lat:"; {
lineTwo = "Lon:"; lineOne = "Lat:";
Point pos = this->sensorData->getCurrentPos(); lineTwo = "Lon:";
lineOne.concat(pos.getLatitude()); const Point pos = this->sensorData->getCurrentPos();
lineTwo.concat(pos.getLongitude()); 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; lineTwo.concat(gpsData->hour);
lineTwo.concat(":");
case 4: if (gpsData->min < 10)
lineOne = "Time: "; {
lineTwo = ""; lineTwo.concat("0");
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");
} }
break; lineTwo.concat(gpsData->min);
lineTwo.concat(":");
case 6: if (gpsData->sec < 10)
lineOne = "HAcc: "; {
lineTwo = "Sats: "; lineTwo.concat("0");
if (fixType) {
lineOne.concat(gpsData->hAcc);
lineTwo.concat(gpsData->numSV);
} else {
lineOne.concat("-/-");
lineTwo.concat("-/-");
} }
break; lineTwo.concat(gpsData->sec);
}
else
{
lineTwo = "00:00:00";
}
default: break;
this->printDefault();
return; 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); this->print(lineOne, lineTwo);
src/SpecialMenus/Speed/menuSpeed.cpp
+4 -3
View File
@@ -12,8 +12,9 @@
#include "menuSpeed.h" #include "menuSpeed.h"
void MenuSpeed::action(int16_t* values, uint8_t length) { void MenuSpeed::action(int16_t* values, uint8_t length) {
if (length != 2) if (length != 2) {
return; 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;
} }
src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp
+1 -2
View File
@@ -12,8 +12,7 @@
#include "menuSysteminformation.h" #include "menuSysteminformation.h"
MenuSysteminformation::MenuSysteminformation(Battery* mainBattery) MenuSysteminformation::MenuSysteminformation(Battery* mainBattery)
: MenuInformationSites(8) { : MenuInformationSites(8), mainBattery {mainBattery} {
this->mainBattery = mainBattery;
this->noEqualLeft = true; this->noEqualLeft = true;
} }
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp
+242 -193
View File
@@ -4,31 +4,38 @@
* @brief Contains an implementation of the class MenuAutopilot * @brief Contains an implementation of the class MenuAutopilot
* @version 0.1 * @version 0.1
* @date 2022-02-03 * @date 2022-02-03
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#include "menuAutopilot.h" #include "menuAutopilot.h"
void MenuAutopilot::printPage() const { void MenuAutopilot::printPage() const
CourseCorrection correction = this->autopilot->getCourseCorrection(); {
const UBX_NAV_PVT_data_t* gpsData = this->autopilot->getSensorData()->getGnssData(); const CourseCorrection correction = this->autopilot->getCourseCorrection();
bool navigationStarted = this->autopilot->getState() >= Autopilot::State::NavigationStarted; const UBX_NAV_PVT_data_t *gpsData = this->autopilot->getSensorData()->getGnssData();
const bool navigationStarted = this->autopilot->getState() >= Autopilot::State::NavigationStarted;
String distanceString = ""; String distanceString = "";
if (navigationStarted) { if (navigationStarted)
{
uint16_t distance = 0; uint16_t distance = 0;
if (correction.distance < 1) { if (correction.distance < 1)
distance = (uint16_t) (correction.distance * 100); {
distance = static_cast<uint16_t>(correction.distance * 100);
distanceString.concat(distance); distanceString.concat(distance);
distanceString.concat("cm"); 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(distance);
distanceString.concat("m"); distanceString.concat("m");
} else { }
distance = (uint16_t) (correction.distance / 1000); else
{
distance = static_cast<uint16_t>(correction.distance / 1000);
distanceString.concat(distance); distanceString.concat(distance);
distanceString.concat("km"); distanceString.concat("km");
} }
@@ -37,221 +44,263 @@ void MenuAutopilot::printPage() const {
String lineOne = "No information"; String lineOne = "No information";
String lineTwo = "available"; String lineTwo = "available";
switch (this->getCurrentPage()) { switch (this->getCurrentPage())
case 0: { {
lineOne = "Status: "; case 0:
lineTwo = ""; {
switch (this->autopilot->getState()) { lineOne = "Status: ";
case Autopilot::State::InsufficientAccuracy : lineTwo = "";
lineTwo = "Err: LowAccuracy"; switch (this->autopilot->getState())
break; {
case Autopilot::State::InsufficientAccuracy:
case Autopilot::State::NoRoute : lineTwo = "Err: LowAccuracy";
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);
break; break;
case 2: case Autopilot::State::NoRoute:
lineOne = "Target waypoint"; lineTwo = "Err: No route";
lineTwo = "";
lineTwo.concat(this->autopilot->getRouteInfo().currentPoint);
lineTwo.concat(" from ");
lineTwo.concat(this->autopilot->getRouteInfo().totalPoints);
break; break;
case 3: { case Autopilot::State::NavigationStarted:
NTRIPClientStates status = this->autopilot->getSensorData()->getNtripClient()->getClientState(); lineTwo = "Nav started";
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());
}
break; break;
case 5: case Autopilot::State::GetToStartPoint:
lineOne = "Loop mode is"; lineTwo = "Drive to start";
if (this->autopilot->getLoopMode())
lineTwo = "enabled";
else
lineTwo = "disabled";
break; break;
case 6: case Autopilot::State::SelfDrivingAvailable:
lineOne = "Freeze target is"; lineTwo = "Autopilot ready";
if (this->targetFreezed)
lineTwo = "activated";
else
lineTwo = "deactivated";
break; break;
case 7: case Autopilot::State::SelfDriving:
lineOne = "MinDisToPoint:"; lineTwo = "Autopilot active";
lineTwo = "<- "; break;
lineTwo.concat(this->minDistance);
lineTwo.concat(" ->"); case Autopilot::State::SelfDrivingRotate:
lineTwo = "Rotating";
break;
case Autopilot::State::TargetReached:
lineTwo = "Target reached";
break; break;
default: default:
this->printDefault(); lineTwo = "UNKOWN - ";
return; 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); this->print(lineOne, lineTwo);
} }
void MenuAutopilot::runCommand() { void MenuAutopilot::runCommand()
switch (this->getCurrentPage()) { {
case 5: switch (this->getCurrentPage())
this->autopilot->switchLoopMode(); {
break; case 5:
this->autopilot->switchLoopMode();
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();
break; 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: default:
break; 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()) if (!this->autopilot->shouldUpdate())
{
return; return;
}
this->routeInfo = this->autopilot->getRouteInfo(); this->routeInfo = this->autopilot->getRouteInfo();
this->printMenu(); this->printMenu();
} }
void MenuAutopilot::init() { void MenuAutopilot::init()
{
this->setCountPages(8); this->setCountPages(8);
this->autopilot = new Autopilot(); this->autopilot = new Autopilot();
this->driveManager->changeModus(this->autopilot); this->driveManager->changeModus(this->autopilot);
this->routeInfo = this->autopilot->getRouteInfo(); 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->autopilot->getNavigation()->increaseMinDistanceToReachPoint();
this->minDistance = this->autopilot->getNavigation()->decreaseMinDistanceToReachPoint(); this->minDistance = this->autopilot->getNavigation()->decreaseMinDistanceToReachPoint();
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp
+1 -1
View File
@@ -114,7 +114,7 @@ void MenuCalibrateCompass::init() {
this->driveManager->changeModus(this->caliCompassMode); this->driveManager->changeModus(this->caliCompassMode);
this->caliCompass = new CalibrateCompass(this->caliCompassMode->getSensorData()->getRealCompass()); this->caliCompass = new CalibrateCompass(this->caliCompassMode->getSensorData()->getRealCompass());
this->setCountPages(11); this->setCountPages(11);
this->updateDelay = 500; MenuDriveMode::updateDelay = MenuCalibrateCompass::updateDelay;
} }
void MenuCalibrateCompass::runCommand() { void MenuCalibrateCompass::runCommand() {
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.h
+4 -2
View File
@@ -45,8 +45,10 @@ class MenuCalibrateCompass : public MenuDriveMode {
void runCommand() override; void runCommand() override;
private: private:
CalibrateCompassM* caliCompassMode; CalibrateCompassM* caliCompassMode = nullptr;
CalibrateCompass* caliCompass; CalibrateCompass* caliCompass = nullptr;
static constexpr uint16_t updateDelay = 500;
}; };
#endif // MENU_CALIBRATE_COMPASS_H #endif // MENU_CALIBRATE_COMPASS_H
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp
+127 -91
View File
@@ -4,134 +4,170 @@
* @brief Contains an implementation of the class MenuCaptureRoute * @brief Contains an implementation of the class MenuCaptureRoute
* @version 0.1 * @version 0.1
* @date 2022-01-31 * @date 2022-01-31
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#include "menuCaptureRoute.h" #include "menuCaptureRoute.h"
void MenuCaptureRoute::printPage() const { void MenuCaptureRoute::printPage() const
RouteInfo routeInfo = this->captureRoute->getRouteInfo(); {
const UBX_NAV_PVT_data_t* gpsData = this->captureRoute->getSensorData()->getGnssData(); const RouteInfo routeInfo = this->captureRoute->getRouteInfo();
const UBX_NAV_PVT_data_t *gpsData = this->captureRoute->getSensorData()->getGnssData();
String lineOne = ""; String lineOne = "";
String lineTwo = ""; String lineTwo = "";
switch (this->getCurrentPage()) { switch (this->getCurrentPage())
case 0: {
lineOne = "Capture Route"; case 0:
lineTwo = "You can drive"; 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; break;
case 1: case Navigation::Status::Updated:
lineOne = "Saved waypoints"; lineTwo = "Point added";
lineTwo.concat(routeInfo.totalPoints);
break; break;
case 2: case Navigation::Status::Unchanged:
lineOne = "Last status:"; lineTwo = "Point too close";
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;
}
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: default:
this->printDefault(); lineTwo = "---";
return; 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); this->print(lineOne, lineTwo);
} }
void MenuCaptureRoute::update() { void MenuCaptureRoute::update()
{
if (!this->captureRoute->shouldUpdate()) if (!this->captureRoute->shouldUpdate())
{
return; return;
}
this->printMenu(); this->printMenu();
} }
void MenuCaptureRoute::runCommand() { void MenuCaptureRoute::runCommand()
{
switch (this->getCurrentPage()) switch (this->getCurrentPage())
{ {
case 7: case 7:
if (this->captureRoute->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM) if (this->captureRoute->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
{
this->captureRoute->getNavigation()->setMinAccuracy(Point::Accuracy::none); this->captureRoute->getNavigation()->setMinAccuracy(Point::Accuracy::none);
else }
else
{
this->captureRoute->getNavigation()->setMinAccuracy(Point::Accuracy::twoDigOfCM); this->captureRoute->getNavigation()->setMinAccuracy(Point::Accuracy::twoDigOfCM);
}
break; break;
default: default:
break; break;
} }
} }
void MenuCaptureRoute::init() { void MenuCaptureRoute::init()
{
this->setCountPages(8); this->setCountPages(8);
this->updateDelay = 500; MenuDriveMode::updateDelay = MenuCaptureRoute::updateDelay;
this->captureRoute = new CaptureRoute(); this->captureRoute = new CaptureRoute();
this->driveManager->changeModus(this->captureRoute); this->driveManager->changeModus(this->captureRoute);
MenuDriveMode::init(); MenuDriveMode::init();
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h
+3 -1
View File
@@ -48,7 +48,9 @@ class MenuCaptureRoute : public MenuDriveMode {
private: private:
void init() override; void init() override;
CaptureRoute* captureRoute; CaptureRoute* captureRoute = nullptr;
static constexpr uint16_t updateDelay = 500;
}; };
#endif // MENU_MANUAL_DRIVE_H #endif // MENU_MANUAL_DRIVE_H
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp
+5 -5
View File
@@ -14,8 +14,6 @@ MenuManualControl::MenuManualControl(DriveManager* driveManager) : MenuDriveMode
this->noEqualLeft = true; this->noEqualLeft = true;
} }
MenuManualControl::~MenuManualControl() {
}
void MenuManualControl::printPage() const { void MenuManualControl::printPage() const {
String lineOne = ""; String lineOne = "";
@@ -28,10 +26,12 @@ void MenuManualControl::printPage() const {
case 1: case 1:
lineOne = "Input mode:"; lineOne = "Input mode:";
if (this->manualControl->getInputMode() == ManualControl::InputMode::Analog) if (this->manualControl->getInputMode() == ManualControl::InputMode::Analog) {
lineTwo = "Analog"; lineTwo = "Analog";
else }
else {
lineTwo = "Digital"; lineTwo = "Digital";
}
break; break;
case 2: case 2:
@@ -55,7 +55,7 @@ void MenuManualControl::init() {
this->manualControl = new ManualControl(); this->manualControl = new ManualControl();
this->driveManager->changeModus(this->manualControl); this->driveManager->changeModus(this->manualControl);
this->setCountPages(4); this->setCountPages(4);
this->updateDelay = 500; MenuDriveMode::updateDelay = MenuManualControl::updateDelay;
this->activateSpeedMenu(); this->activateSpeedMenu();
MenuDriveMode::init(); MenuDriveMode::init();
} }
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.h
+4 -3
View File
@@ -27,7 +27,6 @@ class MenuManualControl : public MenuDriveMode {
* @param driveManager * @param driveManager
*/ */
MenuManualControl(DriveManager* driveManager); MenuManualControl(DriveManager* driveManager);
~MenuManualControl();
/** /**
* @brief Prints the Information to display and console * @brief Prints the Information to display and console
@@ -44,8 +43,10 @@ class MenuManualControl : public MenuDriveMode {
void runCommand() override; void runCommand() override;
private: private:
ManualControl* manualControl; ManualControl* manualControl = nullptr;
CalibrateCompass* caliCompass; CalibrateCompass* caliCompass = nullptr;
static constexpr uint16_t updateDelay = 500;
}; };
#endif // MENU_MANUAL_DRIVE_H #endif // MENU_MANUAL_DRIVE_H
src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
+1 -1
View File
@@ -118,7 +118,7 @@ void MenuTestMode::init() {
// Other menu config // Other menu config
static constexpr uint8_t percentMax = 100; 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 secondsMax = 120;
static constexpr uint8_t steps = 5; static constexpr uint8_t steps = 5;