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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 =========================
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];
DebugMqtt::DebugMqtt(const char* name, uint8_t bufSize) {
this->name = name;
if (bufSize != 0)
DebugMqtt::DebugMqtt(const char* name, uint8_t bufSize)
: name {name}
{
if (bufSize != 0) {
this->bufSize = bufSize;
}
this->buf = new char[this->bufSize];
}
@@ -30,8 +32,8 @@ DebugMqtt::~DebugMqtt() {
}
void DebugMqtt::sendMsg(Loglevel loglevel, String topic, String msg) {
snprintf (DebugMqtt::msg, MQTT_BUFFER_SIZE, "%s: %s",this->name ,msg.c_str());
this->sendData(loglevel, topic, DebugMqtt::msg);
snprintf (static_cast<char*>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char*>("%s: %s"),this->name ,msg.c_str());
this->sendData(loglevel, topic, static_cast<const char*>(DebugMqtt::msg));
}
void DebugMqtt::sendMsg(Loglevel loglevel, String msg) {
@@ -44,27 +46,27 @@ void DebugMqtt::sendData(Loglevel loglevel, String topic, String data) {
}
if (loglevel <= DebugMqtt::loglevel && loglevel > Loglevel::none) {
snprintf (DebugMqtt::topic, MQTT_BUFFER_SIZE, "%s%s", DebugMqtt::enum_to_string(loglevel).c_str(), topic.c_str());
snprintf (DebugMqtt::msg, MQTT_BUFFER_SIZE, "%s", data.c_str());
client->publish(DebugMqtt::topic, DebugMqtt::msg);
snprintf (static_cast<char*>(DebugMqtt::topic), MQTT_BUFFER_SIZE, static_cast<const char*>("%s%s"), DebugMqtt::enum_to_string(loglevel).c_str(), topic.c_str());
snprintf (static_cast<char*>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char*>("%s"), data.c_str());
client->publish(DebugMqtt::topic, static_cast<const char*>(DebugMqtt::msg));
}
}
void DebugMqtt::sendData(Loglevel loglevel, String data){
this->sendData(loglevel, "", data);
DebugMqtt::sendData(loglevel, "", data);
}
void DebugMqtt::writeToInflux(String measurement_name, String field_set, float measurement, uint64_t nanos) {
// Example String: "weather temperature=82 1465839830100400200";
snprintf(DebugMqtt::msg, MQTT_BUFFER_SIZE, "%s %s=%f %llu", measurement_name.c_str(), field_set.c_str(), measurement, nanos);
this->sendData(Loglevel::influx, DebugMqtt::msg);
snprintf(static_cast<char*>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char*>("%s %s=%f %llu"), measurement_name.c_str(), field_set.c_str(), measurement, nanos);
this->sendData(Loglevel::influx, static_cast<const char*>(DebugMqtt::msg));
}
void DebugMqtt::addCharacter(char c) {
this->buf[this->bufPos] = c;
void DebugMqtt::addCharacter(char character) {
this->buf[this->bufPos] = character;
this->bufPos++;
if (c == '\n' || this->bufPos >= this->bufSize - 1) {
if (character == '\n' || this->bufPos >= this->bufSize - 1) {
this->buf[this->bufPos - 1] = '\0';
this->sendMsg(Loglevel::info, buf);
this->bufPos = 0;
lib/MQTT/debugMqtt.h
+4 -4
View File
@@ -108,8 +108,8 @@ class DebugMqtt {
* @param topic Additional topic behind loglevel
* @param data The message to send as String
*/
void sendData(Loglevel loglevel, String topic, String data);
void sendData(Loglevel loglevel, String data);
static void sendData(Loglevel loglevel, String topic, String data);
static void sendData(Loglevel loglevel, String data);
/**
* @brief Send a Message via MQTT for InfluxDB
@@ -132,9 +132,9 @@ class DebugMqtt {
* 1. when the buffer is full
* 2. when the character is '\n'
*
* @param c
* @param character
*/
void addCharacter(char c);
void addCharacter(char character);
/**
* @brief Initialize debugMQTT for all instances
lib/MotorControl/motorControl.cpp
+93 -54
View File
@@ -12,13 +12,13 @@
#include "motorControl.h"
MotorControl::MotorControl() {
this->setMinPwm(MotorControl::pwmMin);
this->setMaxPwm(MotorControl::pwmMax);
MotorControl::MotorControl()
{
Component::loopDelay = MotorControl::loopDelay;
}
void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2) {
void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2)
{
this->pwmPin = pwmPin;
this->pwmChannel = pwmChannel;
this->dir_1 = dir_1;
@@ -35,107 +35,141 @@ void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8
ledcWrite(this->pwmChannel, 0);
}
void MotorControl::run() {
void MotorControl::run()
{
// Absolute difference between targetPower and power
uint8_t abs_difference = abs(this->targetPower - this->power);
const uint8_t abs_difference = abs(this->targetPower - this->power);
// Difference between targetPower and power
int16_t difference = this->targetPower - this->power;
const int16_t difference = this->targetPower - this->power;
// Check that the target speed is close to 0 and that the abs_difference is lower than MotorControl::powerSteps
if (abs(this->targetPower) < MotorControl::powerSteps && abs_difference < MotorControl::powerSteps) {
if (abs(this->targetPower) < MotorControl::powerSteps && abs_difference < MotorControl::powerSteps)
{
this->setRealPower(0);
return;
}
// Correct speed
if (abs_difference < MotorControl::powerSteps) {
if (abs_difference < MotorControl::powerSteps)
{
return;
}
// Positive or negative tagret speed
if (this->targetPower >= 0) {
if (this->targetPower >= 0)
{
// Positive or negative speed
if (this->power >= 0) {
if (difference > 0) {
this->increasePower(MotorControl::powerSteps);
} else {
this->increasePower(-MotorControl::powerSteps);
}
} else {
if (this->power >= 0)
{
if (difference > 0)
{
this->increasePower(MotorControl::powerSteps);
}
} else {
// Positive or negative speed
if (this->power >= 0) {
else
{
this->increasePower(-MotorControl::powerSteps);
} else {
if (difference > 0) {
}
}
else
{
this->increasePower(MotorControl::powerSteps);
} else {
}
}
else
{
// Positive or negative speed
if (this->power >= 0)
{
this->increasePower(-MotorControl::powerSteps);
}
else
{
if (difference > 0)
{
this->increasePower(MotorControl::powerSteps);
}
else
{
this->increasePower(-MotorControl::powerSteps);
}
}
}
}
void MotorControl::setMinPwm(uint8_t min) {
if (min > 80) min = 80;
void MotorControl::setMinPwm(uint8_t min)
{
if (min > MotorControl::maxPwmMin)
{
min = MotorControl::maxPwmMin;
}
// transform percentage to real pwm value
min = (uint8_t) (((1 << pwmRes) - 1) * (min / 100.0));
min = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (min / 100.0));
this->dutycycleMin = min;
}
void MotorControl::setMaxPwm(uint8_t max) {
if (max > 100) max = 100;
void MotorControl::setMaxPwm(uint8_t max)
{
if (max > 100)
{
max = 100;
}
// transform percentage to real pwm value
max = (uint8_t) (((1 << pwmRes) - 1) * (max / 100.0));
max = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (max / 100.0));
this->dutycycleMax = max;
}
void MotorControl::setTargetPower(int8_t power) {
void MotorControl::setTargetPower(int8_t power)
{
if (power <= 100 && power >= -100)
{
this->targetPower = power;
}
else
{
std::cout << " MotorControl::setTargetPower: Invalid Argument - Power: " << power << std::endl;
}
}
void MotorControl::stop() {
void MotorControl::stop()
{
this->targetPower = 0;
}
void MotorControl::emergencyStop() {
void MotorControl::emergencyStop()
{
setRealPower(0);
}
bool MotorControl::isTargetPowerReached() const {
if (this->targetPower == this->power)
return true;
return false;
bool MotorControl::isTargetPowerReached() const
{
return this->targetPower == this->power;
}
bool MotorControl::isAccelerationPositive() const {
if (power < targetPower)
return true;
return false;
bool MotorControl::isAccelerationPositive() const
{
return power < targetPower;
}
bool MotorControl::isAccelerationNegative() const {
if (power > targetPower)
return true;
return false;
bool MotorControl::isAccelerationNegative() const
{
return power > targetPower;
}
void MotorControl::setRealPower(int8_t power) {
void MotorControl::setRealPower(int8_t power)
{
// TODO: Exceptionhandling
if (power <= 100 && power >= -100) {
if (power <= 100 && power >= -100)
{
this->power = power;
} else {
}
else
{
return;
}
if (this->power == 0) {
if (this->power == 0)
{
this->direction = 0;
digitalWrite(this->dir_1, LOW);
digitalWrite(this->dir_2, LOW);
@@ -144,13 +178,16 @@ void MotorControl::setRealPower(int8_t power) {
return;
}
uint8_t pwm_val = map(abs(power), 0, 100, this->dutycycleMin, this->dutycycleMax);
const uint8_t pwm_val = map(abs(power), 0, 100, this->dutycycleMin, this->dutycycleMax);
if ((this->direction == 1 || this->direction == 0) && power < 0){ // new direction backward
if ((this->direction == 1 || this->direction == 0) && power < 0)
{ // new direction backward
this->direction = 2;
digitalWrite(this->dir_1, LOW);
digitalWrite(this->dir_2, HIGH);
} else if ((this->direction == 2 || this->direction == 0) && power > 0){ // new direction forward
}
else if ((this->direction == 2 || this->direction == 0) && power > 0)
{ // new direction forward
this->direction = 1;
digitalWrite(this->dir_1, HIGH);
digitalWrite(this->dir_2, LOW);
@@ -160,10 +197,12 @@ void MotorControl::setRealPower(int8_t power) {
this->dutycycle = pwm_val;
}
void MotorControl::increasePower(int8_t power) {
void MotorControl::increasePower(int8_t power)
{
// TODO: Exceptionhandling
// TODO: make a stop befor a direction change
if (abs(power) > 2 * MotorControl::powerSteps) {
if (abs(power) > 2 * MotorControl::powerSteps)
{
Serial.println("Invalid Argument in MotorControl::increasePower");
return;
}
lib/MotorControl/motorControl.h
+9 -9
View File
@@ -23,7 +23,8 @@
* You can control the acceleration of the motor, for example to
* prevent a damage on your H-Bridge.
*/
class MotorControl : public Component {
class MotorControl : public Component
{
public:
MotorControl();
@@ -101,20 +102,19 @@ class MotorControl : public Component {
static constexpr uint16_t pwmFreq = 16000;
static constexpr uint8_t pwmRes = 8;
static constexpr uint8_t powerSteps = 2; // A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
static constexpr uint8_t pwmMin = 55;
static constexpr uint8_t pwmMax = 98; // Max 98% of 2^PWM_RES
static constexpr uint8_t maxPwmMin = 80;
int8_t targetPower = 0;
int8_t power = 0;
uint8_t direction = 0; // 0 = stop, 1 = forward, 2 = backward
uint8_t pwmPin;
uint8_t pwmChannel;
uint8_t pwmPin = 0;
uint8_t pwmChannel = 0;
uint16_t dutycycle = 0;
uint8_t dutycycleMin;
uint8_t dutycycleMax;
uint8_t dir_1;
uint8_t dir_2;
uint8_t dutycycleMin = 55;
uint8_t dutycycleMax = 98; // Max 98% of 2^PWM_RES
uint8_t dir_1 = 0;
uint8_t dir_2 = 0;
};
#endif // MOTOR_CONTROL_H
lib/Navigation/navigation.cpp
+71 -48
View File
@@ -11,49 +11,65 @@
#include "navigation.h"
Navigation::Navigation(const SensorData* sensorData, Route* route) {
this->sensorData = sensorData;
Navigation::Navigation(const SensorData *sensorData, Route *route)
: sensorData{sensorData}
{
this->init(route);
}
void Navigation::init(Route* route) {
if (route)
void Navigation::init(Route *route)
{
if (static_cast<bool>(route))
{
this->route = route;
}
else
{
this->route = new Route();
}
Component::loopDelay = Navigation::loopDelay;
}
Navigation::~Navigation() {
Navigation::~Navigation()
{
delete this->route;
}
void Navigation::run() {}
void Navigation::newRoute() {
if (this->route)
void Navigation::newRoute()
{
delete this->route;
this->route = new Route();
}
bool Navigation::startNavigation() {
Point newTargetPoint = this->route->startRoute();
bool Navigation::startNavigation()
{
const Point newTargetPoint = this->route->startRoute();
this->navigationStarted = this->setTargetPoint(newTargetPoint);
if (this->navigationStarted)
{
this->navigationFinished = false;
}
return this->navigationStarted;
}
Navigation::Status Navigation::getCourseCorrection(CourseCorrection& correction, bool forceUpdate) {
Navigation::Status Navigation::getCourseCorrection(CourseCorrection &correction, bool forceUpdate)
{
if (this->navigationFinished)
{
return Status::Complete;
}
if (this->currentPosition.getAccuracy() <= this->minAccuracy)
{
return Status::InsufficientAccuracy;
}
if (this->currentPosition.distanceTo(this->lastPointCalcCorrection) < (this->minDistanceToReachPoint / 2.0)
&& !forceUpdate) {
// Check if the Rover has moved, if the Rover hasnt moved this function will be return.
if (this->currentPosition.distanceTo(this->lastPointCalcCorrection) < (this->minDistanceToReachPoint) / 2 && !forceUpdate)
{
correction.correction = this->calculateCourseCorrection(this->lastPointCalcCorrection);
correction.distance = this->lastPointCalcCorrection.distanceTo(this->targetPoint);
return Status::Unchanged;
@@ -62,8 +78,10 @@ Navigation::Status Navigation::getCourseCorrection(CourseCorrection& correction,
double distance = this->currentPosition.distanceTo(this->targetPoint);
// Check if I need a new Point
if (distance < this->minDistanceToReachPoint && this->preventNextPoint == false) {
if (!this->nextPoint()) {
if (distance < this->minDistanceToReachPoint && this->preventNextPoint == false)
{
if (!this->nextPoint())
{
this->navigationFinished = true;
this->navigationStarted = false;
return Status::Complete; // End of navigation
@@ -77,21 +95,25 @@ Navigation::Status Navigation::getCourseCorrection(CourseCorrection& correction,
return Status::Updated;
}
Navigation::Status Navigation::addCurrentPosToRoute() {
Navigation::Status Navigation::addCurrentPosToRoute()
{
if (this->currentPosition.getAccuracy() <= this->minAccuracy)
{
return Status::InsufficientAccuracy;
}
// First Point
if (this->route->getRouteInfo().totalPoints == 0) {
if (this->route->getRouteInfo().totalPoints == 0)
{
this->route->addPointToRoute(this->currentPosition);
this->lastPointRouteInsert = this->currentPosition;
return Status::Updated;
}
// Every Point after the first
double distance = this->currentPosition.distanceTo(this->lastPointRouteInsert);
if (Navigation::minDisBetweenPoints <= distance
&& Navigation::maxDisBetweenPoints >= distance){
const double distance = this->currentPosition.distanceTo(this->lastPointRouteInsert);
if (Navigation::minDisBetweenPoints <= distance && Navigation::maxDisBetweenPoints >= distance)
{
this->route->addPointToRoute(this->currentPosition);
this->lastPointRouteInsert = this->currentPosition;
return Status::Updated;
@@ -99,30 +121,18 @@ Navigation::Status Navigation::addCurrentPosToRoute() {
return Status::Unchanged;
}
// void Navigation::updateCurrentLocation() {
// if (Navigation::ubxUpdateTimeStatic == this->ubxUpdateTime)
// return;
int16_t Navigation::calculateCourseCorrection(Point &point)
{
const int16_t targetCourse = point.courseTo(this->targetPoint);
int16_t correctionCourse = 0;
// this->ubxData = Navigation::ubxDataStatic;
// this->ubxUpdateTime = Navigation::ubxUpdateTimeStatic;
// Point::Coordinates coords;
// coords.lat = this->ubxData->lat / 10000000.0;
// coords.lon = this->ubxData->lon / 10000000.0;
// this->currentPosition = Point(coords, this->ubxData->hAcc);
// }
int16_t Navigation::calculateCourseCorrection(Point& point) {
int16_t targetCourse = point.courseTo(this->targetPoint);
int16_t correctionCourse;
if (this->sensorData->getCalcAzimuthState() == CalcAzimuth::State::Good
|| this->sensorData->getCalcAzimuthState() == CalcAzimuth::State::Super)
if (this->sensorData->getCalcAzimuthState() == CalcAzimuth::State::Good || this->sensorData->getCalcAzimuthState() == CalcAzimuth::State::Super)
{
correctionCourse = targetCourse - this->sensorData->getCalcAzimuth();
this->lastUsedCalcAzimuth = true;
} else {
}
else
{
correctionCourse = targetCourse - this->sensorData->getRealAzimuth();
this->lastUsedCalcAzimuth = false;
}
@@ -130,26 +140,39 @@ int16_t Navigation::calculateCourseCorrection(Point& point) {
return Navigation::fixDegree(correctionCourse);
}
bool Navigation::nextPoint() {
bool Navigation::nextPoint()
{
if (!this->navigationStarted)
{
return false;
}
return this->setTargetPoint(this->route->getNextPoint());
}
bool Navigation::setTargetPoint(Point target) {
if (target.isInit()) {
bool Navigation::setTargetPoint(Point target)
{
if (target.isInit())
{
this->targetPoint = target;
return true;
}
return false;
}
int16_t Navigation::fixDegree(int16_t degree) {
while (degree < -180 || degree > 180) {
if (degree > 180)
degree -= 360;
else if (degree < -180)
degree += 360;
int16_t Navigation::fixDegree(int16_t degree)
{
static constexpr uint16_t fullCircle = 360;
while (degree < -fullCircle / 2 || degree > fullCircle / 2)
{
if (degree > fullCircle / 2)
{
degree -= fullCircle;
}
else if (degree < -fullCircle / 2)
{
degree += fullCircle;
}
}
return degree;
}
lib/Navigation/navigation.h
+6 -5
View File
@@ -26,7 +26,8 @@
* correct the direction in dependency on this.
*
*/
struct CourseCorrection {
struct CourseCorrection
{
int16_t correction;
double distance;
};
@@ -39,9 +40,11 @@ struct CourseCorrection {
* be drive and the distance to the next checkpoint.
*
*/
class Navigation : public Component {
class Navigation : public Component
{
public:
enum Status {
enum Status
{
InsufficientAccuracy,
Unchanged,
Updated,
@@ -79,7 +82,6 @@ class Navigation : public Component {
bool startNavigation();
void freezeTargetPoint(bool val = true) { this->preventNextPoint = val; };
double increaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint += 0.1; }
double decreaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint -= 0.1; }
@@ -95,7 +97,6 @@ class Navigation : public Component {
*/
Status getCourseCorrection(CourseCorrection &correction, bool forceUpdate = false);
// TODO: Dokumentation korrigieren.
/**
* @brief Tries to add the current Position to the route
lib/Network/network.cpp
+69 -35
View File
@@ -11,18 +11,23 @@
#include "network.h"
Network::Network(const char *ssid, const char *passphrase) {
if (!WiFi.mode(WIFI_AP_STA))
Network::Network(const char *ssid, const char *passphrase)
{
if (!WiFiGenericClass::mode(WIFI_AP_STA))
{
std::cout << "Network::connectWiFi failed WiFi.mode" << std::endl;
}
this->init(ssid, passphrase);
}
Network::Network(const char *ssid, const char *passphrase, NetworkAdresses adresses) {
this->adresses = adresses;
if (!WiFi.mode(WIFI_AP_STA))
Network::Network(const char *ssid, const char *passphrase, NetworkAdresses adresses)
: adresses{adresses}
{
if (!WiFiGenericClass::mode(WIFI_AP_STA))
{
std::cout << "Network::connectWiFi failed WiFi.mode" << std::endl;
}
if (!WiFi.config(this->adresses.localIP,
this->adresses.gateway,
@@ -35,13 +40,15 @@ Network::Network(const char *ssid, const char *passphrase, NetworkAdresses adres
this->init(ssid, passphrase);
}
Network::~Network() {
if (this->mqttClient)
Network::~Network()
{
delete mqttClient;
}
bool Network::activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send) {
if (esp_now_init() != ESP_OK) {
bool Network::activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send)
{
if (esp_now_init() != ESP_OK)
{
std::cout << "Network::activateEspNow - Error initializing ESP-NOW" << std::endl;
return false;
}
@@ -49,11 +56,12 @@ bool Network::activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send) {
esp_now_register_send_cb(send);
esp_now_peer_info_t peerInfo = {};
memcpy(peerInfo.peer_addr, this->broadcastAddress, 6);
memcpy(static_cast<void *>(peerInfo.peer_addr), static_cast<const void *>(this->broadcastAddress), 6);
peerInfo.channel = 0;
peerInfo.encrypt = false;
if (esp_now_add_peer(&peerInfo) != ESP_OK) {
if (esp_now_add_peer(&peerInfo) != ESP_OK)
{
std::cout << "Network::connectEspNow - Failed to add peer" << std::endl;
return false;
}
@@ -62,7 +70,8 @@ bool Network::activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send) {
return true;
}
bool Network::activateMqtt(const char *user, const char *passphrase) {
bool Network::activateMqtt(const char *user, const char *passphrase)
{
this->mqttUser = user;
this->mqttPassphrase = passphrase;
@@ -71,26 +80,33 @@ bool Network::activateMqtt(const char *user, const char *passphrase) {
this->mqttClient->setSocketTimeout(1);
if (this->wifiConnected)
{
return this->connectMqtt();
}
return false;
}
void Network::printIPs() {
const void Network::printIPs()
{
std::cout << std::endl;
if (!this->wifiConnected) {
if (!this->wifiConnected)
{
std::cout << "WiFi is not connected." << std::endl;
return;
}
std::cout << "WiFi is connected to" << std::endl;
std::cout << "IP address: " << std::endl;
std::cout << WiFi.localIP().toString().c_str() << std::endl;
std::cout << "WiFi MAC Address: " << WiFi.macAddress().c_str() << std::endl << std::endl;
std::cout << "WiFi MAC Address: " << WiFi.macAddress().c_str() << std::endl
<< std::endl;
}
uint8_t Network::getCurrentChannel() {
uint8_t channel;
wifi_second_chan_t secondChannel;
if (esp_wifi_get_channel(&channel, &secondChannel) != ESP_OK) {
uint8_t Network::getCurrentChannel()
{
uint8_t channel = 0;
wifi_second_chan_t secondChannel = WIFI_SECOND_CHAN_NONE;
if (esp_wifi_get_channel(&channel, &secondChannel) != ESP_OK)
{
std::cout << "Network::getCurrentChannel - Error!" << std::endl;
return -1;
}
@@ -98,26 +114,34 @@ uint8_t Network::getCurrentChannel() {
return channel;
}
void Network::runAsChild() {
void Network::runAsChild()
{
if (!this->initSucessful)
{
return;
}
this->checkWifi();
if (this->wifiConnected && this->mqttClient)
if (this->wifiConnected && static_cast<bool>(this->mqttClient))
{
this->checkMqtt();
}
}
void Network::init(const char *ssid, const char *passphrase) {
void Network::init(const char *ssid, const char *passphrase)
{
// Connect to Wi-Fi network with SSID and password
std::cout << "Connecting to " << ssid << std::endl;
WiFi.begin(ssid, passphrase);
uint8_t timeout = Network::wifiConnectTimeout;
while (WiFi.status() != WL_CONNECTED) {
while (WiFiSTAClass::status() != WL_CONNECTED)
{
delay(Network::wifiConnectLoopTime);
std::cout << "." << std::flush;
timeout--;
if (timeout == 0) {
if (timeout == 0)
{
std::cout << std::endl;
std::cout << "WiFi NOT connected." << std::endl;
return;
@@ -128,9 +152,9 @@ void Network::init(const char *ssid, const char *passphrase) {
this->printIPs();
}
void Network::checkWifi() {
if ((WiFi.status() != WL_CONNECTED)
&& (millis() - this->lastWifiRecoonectAttemp >= Network::wifiReconnectDelay))
void Network::checkWifi()
{
if ((WiFiSTAClass::status() != WL_CONNECTED) && (millis() - this->lastWifiRecoonectAttemp >= Network::wifiReconnectDelay))
{
std::cout << "Reconnecting to WiFi..." << std::endl;
WiFi.disconnect();
@@ -139,29 +163,39 @@ void Network::checkWifi() {
}
}
void Network::checkMqtt() {
if (!this->mqttClient->connected()
&& millis() - this->lastMqttReconnectAttemp > Network::mqttReconnectDelay)
void Network::checkMqtt()
{
if (!this->mqttClient->connected() && millis() - this->lastMqttReconnectAttemp > Network::mqttReconnectDelay)
{
this->mqttConnected = this->connectMqtt();
this->lastMqttReconnectAttemp = millis();
}
if (this->mqttConnected)
{
this->mqttClient->loop();
}
}
bool Network::connectMqtt() {
bool Network::connectMqtt()
{
String clientId = "ESP32Rover-";
clientId += String(random(0xffff), HEX);
clientId += String(random(), HEX);
if (this->mqttUser) {
if (static_cast<bool>(this->mqttUser))
{
if (this->mqttClient->connect(clientId.c_str(), this->mqttUser, this->mqttPassphrase))
{
this->mqttClient->publish("Rover/Info", "Connected to Mqtt-Broker");
} else {
}
}
else
{
if (this->mqttClient->connect(clientId.c_str()))
{
this->mqttClient->publish("Rover/Info", "Connected to Mqtt-Broker");
}
}
return this->mqttClient->connected();
}
lib/Network/network.h
+7 -6
View File
@@ -23,7 +23,8 @@
typedef void (*recieveCallbackPtr)(const uint8_t *mac, const uint8_t *incomingData, int len);
typedef void (*sendCallbackPtr)(const uint8_t *mac_addr, esp_now_send_status_t status);
struct NetworkAdresses {
struct NetworkAdresses
{
IPAddress localIP;
IPAddress gateway;
IPAddress subnet;
@@ -32,7 +33,8 @@ struct NetworkAdresses {
uint16_t mqttPort = 1883;
};
class Network : public Component {
class Network : public Component
{
public:
Network(const char *ssid, const char *passphrase);
Network(const char *ssid, const char *passphrase, NetworkAdresses adresses);
@@ -42,7 +44,7 @@ class Network : public Component {
bool activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send);
bool activateMqtt(const char *user = nullptr, const char *passphrase = nullptr);
void printIPs();
const void printIPs();
bool isWifiConnected() const { return this->wifiConnected; }
bool isMqttConnected() const { return this->mqttConnected; }
@@ -67,8 +69,8 @@ class Network : public Component {
bool wifiConnected = false;
bool mqttConnected = false;
const char *mqttUser;
const char *mqttPassphrase;
const char *mqttUser = nullptr;
const char *mqttPassphrase = nullptr;
uint8_t broadcastAddress[6] = {0xC8, 0xC9, 0xA3, 0xC8, 0x57, 0x10};
uint32_t lastWifiRecoonectAttemp = 0;
@@ -78,7 +80,6 @@ class Network : public Component {
static constexpr uint16_t wifiConnectLoopTime = 500;
static constexpr uint16_t wifiReconnectDelay = 5000;
static constexpr uint16_t mqttReconnectDelay = 2500;
};
#endif // NETWORK_H
lib/NtripClient/ntripClient.cpp
+132 -74
View File
@@ -11,38 +11,36 @@
#include "ntripClient.h"
NTRIPClient::NTRIPClient(SFE_UBLOX_GNSS* gps, const char* host, uint16_t port, const char* mountPoint, const char* user, const char* password) {
this->gps = gps;
strcpy(this->host, host);
this->port = port;
strcpy(this->mountPoint, mountPoint);
strcpy(this->user, user);
strcpy(this->password, password);
this->ntripClient = new WiFiClient;
this->state = NTRIPClientStates::closeConnection;
this->loopDelay = 20;
NTRIPClient::NTRIPClient(SFE_UBLOX_GNSS *gps, const char *host, uint16_t port, const char *mountPoint, const char *user, const char *password)
: gps{gps}, port{port}, host{host}, mountPoint{mountPoint}, user{user}, password{password}, ntripClient{new WiFiClient}, state{NTRIPClientStates::closeConnection}
{
Component::loopDelay = NTRIPClient::loopDelay;
}
NTRIPClient::~NTRIPClient() {
NTRIPClient::~NTRIPClient()
{
delete this->ntripClient;
}
void NTRIPClient::run() {
switch (this->state) {
void NTRIPClient::run()
{
switch (this->state)
{
case NTRIPClientStates::openConnection:
if (!this->activated) {
if (!this->activated)
{
this->state = NTRIPClientStates::closeConnection;
break;
}
std::cout << "Connecting to the NTRIP caster..." << std::endl;
if (this->beginClient()) {
if (this->beginClient())
{
std::cout << "Connected to the NTRIP caster!" << std::endl;
this->state = NTRIPClientStates::pushData;
} else {
}
else
{
std::cout << "Failed!" << std::endl;
this->state = NTRIPClientStates::wait;
this->activated = false;
@@ -51,7 +49,9 @@ void NTRIPClient::run() {
case NTRIPClientStates::pushData:
if (!processConnection() || !this->activated)
{
this->state = NTRIPClientStates::closeConnection;
}
break;
case NTRIPClientStates::closeConnection:
@@ -62,9 +62,13 @@ void NTRIPClient::run() {
case NTRIPClientStates::wait:
if (this->activated)
{
this->state = NTRIPClientStates::openConnection;
}
else
{
this->checkAutoReconnect();
}
break;
case NTRIPClientStates::notAvailable:
@@ -77,11 +81,13 @@ void NTRIPClient::run() {
}
}
void NTRIPClient::runAsChild() {
void NTRIPClient::runAsChild()
{
this->pushGPGGA();
}
void NTRIPClient::gpsConfiguration() {
void NTRIPClient::gpsConfiguration()
{
this->gps->setSPIOutput(COM_TYPE_UBX | COM_TYPE_NMEA);
this->gps->setPortInput(COM_PORT_SPI, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3);
// Set the differential mode - ambiguities are fixed whenever possible
@@ -90,21 +96,28 @@ void NTRIPClient::gpsConfiguration() {
this->gps->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10);
}
bool NTRIPClient::setActivated(bool state) {
// std::cout << "NTRIPClient::setActivated: b - " << b << std::endl;
bool NTRIPClient::setActivated(bool state)
{
if (state && this->state != NTRIPClientStates::notAvailable)
{
this->activated = true;
}
else if (state)
{
return false;
else {
}
else
{
this->activated = false;
this->autoReconnect = false;
}
return true;
}
void NTRIPClient::setAutoReconnect(bool state) {
if (state) {
void NTRIPClient::setAutoReconnect(bool state)
{
if (state)
{
this->reconnectAttemps = 0;
this->autoReconnect = true;
return;
@@ -113,51 +126,55 @@ void NTRIPClient::setAutoReconnect(bool state) {
this->autoReconnect = false;
}
bool NTRIPClient::beginClient() {
bool NTRIPClient::beginClient()
{
static constexpr uint16_t httpError = 401;
static constexpr uint16_t httpCheck = 200;
std::cout << "Opening socket to " << this->host << std::endl;
char serverRequest[this->bufferSize];
char credentials[this->bufferSize];
if (!this->ntripClient->connect(this->host, this->port)) {
if (!static_cast<bool>(this->ntripClient->connect(static_cast<const char *>(this->host), this->port)))
{
std::cout << "Connection to caster failed" << std::endl;
return false;
} else {
}
std::cout << "Connected to " << this->host << " : " << this->port << std::endl;
std::cout << "Requesting NTRIP Data from mount point " << this->mountPoint << std::endl;
// Generate the server request (GET)
snprintf(serverRequest,
snprintf(static_cast<char *>(serverRequest),
this->bufferSize,
"GET /%s HTTP/1.0\r\nUser-Agent: NTRIP SparkFun u-blox Client v1.0\r\n",
static_cast<const char *>("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);
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
base64 b;
String strEncodedCredentials = b.encode(userCredentials);
const base64 base;
const String strEncodedCredentials = base64::encode(userCredentials);
delete userCredentials;
char encodedCredentials[strEncodedCredentials.length() + 1];
strEncodedCredentials.toCharArray(encodedCredentials, sizeof(encodedCredentials));
strEncodedCredentials.toCharArray(static_cast<char *>(encodedCredentials), sizeof(encodedCredentials));
snprintf(credentials, sizeof(credentials), "Authorization: Basic %s\r\n", encodedCredentials);
}
snprintf(credentials, sizeof(credentials), static_cast<const char *>("Authorization: Basic %s\r\n"), static_cast<const char *>(encodedCredentials));
// Add the encoded credentials to the server request
strncat(serverRequest, credentials, this->bufferSize);
strncat(serverRequest, "\r\n", this->bufferSize);
strncat(static_cast<char *>(serverRequest), static_cast<const char *>(credentials), this->bufferSize);
strncat(static_cast<char *>(serverRequest), static_cast<const char *>("\r\n"), this->bufferSize);
std::cout << "serverRequest size: "
std::cout << static_cast<const char *>("serverRequest size: ")
<< strlen(serverRequest)
<< " of "
<< static_cast<const char *>(" of ")
<< this->bufferSize
<< " bytes available"
<< static_cast<const char *>(" bytes available")
<< std::endl;
// Send the server request
@@ -165,9 +182,11 @@ bool NTRIPClient::beginClient() {
this->ntripClient->write(serverRequest, strlen(serverRequest));
// Wait up to 5 seconds for response
uint32_t lastMillis = millis();
while (!ntripClient->available()) {
if (millis() - lastMillis > this->timeOut) {
const uint32_t lastMillis = millis();
while (static_cast<bool>(!ntripClient->available()))
{
if (millis() - lastMillis > this->timeOut)
{
std::cout << "Caster timed out!" << std::endl;
this->ntripClient->stop();
return false;
@@ -179,31 +198,44 @@ bool NTRIPClient::beginClient() {
uint16_t httpStatusCode = 0;
char response[this->bufferSize];
uint16_t responseIndex = 0;
while (this->ntripClient->available()) {
while (static_cast<bool>(this->ntripClient->available()))
{
if (responseIndex == sizeof(response))
{
break;
}
response[responseIndex++] = ntripClient->read();
if (httpStatusCode == 0) {
if (strstr(response, "200") != nullptr)
httpStatusCode = 200;
if (strstr(response, "401") != nullptr)
httpStatusCode = 401;
if (httpStatusCode == 0)
{
if (strstr(response, static_cast<const char *>("200")) != nullptr)
{
httpStatusCode = httpCheck;
}
if (strstr(response, static_cast<const char *>("401")) != nullptr)
{
httpStatusCode = httpError;
}
}
}
response[responseIndex] = '\0';
// std::cout << "Caster response: " << response << std::endl;
if (httpStatusCode != 200) {
if (httpStatusCode != httpCheck)
{
std::cout << "Failed to connect to " << this->host << " - HTTP Code: " << (int)httpStatusCode
<< " Length of Response: " << responseIndex << std::endl;
if (httpStatusCode == 0)
{
std::cout << "Response: " << response << std::endl;
else if (httpStatusCode == 401)
}
else if (httpStatusCode == httpError)
{
std::cout << "Statuscode 401 - Unauthorized" << std::endl;
}
return false;
}
@@ -212,35 +244,47 @@ bool NTRIPClient::beginClient() {
return true;
}
void NTRIPClient::closeConnection() {
if (this->ntripClient->connected())
void NTRIPClient::closeConnection()
{
if (static_cast<bool>(this->ntripClient->connected()))
{
this->ntripClient->stop();
}
this->activated = false;
std::cout << "NtripClient disconnected from: " << this->host << std::endl;
}
bool NTRIPClient::processConnection() {
if (this->ntripClient->connected()) {
bool NTRIPClient::processConnection()
{
if (static_cast<bool>(this->ntripClient->connected()))
{
uint8_t rtcmData[this->bufferSize * 8];
uint16_t rtcmCount = 0;
while (this->ntripClient->available()) {
while (static_cast<bool>(this->ntripClient->available()))
{
rtcmData[rtcmCount++] = ntripClient->read();
if (rtcmCount == sizeof(rtcmData))
{
break;
}
}
if (rtcmCount > 0) {
if (rtcmCount > 0)
{
this->lastReceivedRtcmTime = millis();
this->gps->pushRawData(rtcmData, rtcmCount);
this->gps->pushRawData(static_cast<uint8_t *>(rtcmData), rtcmCount);
// std::cout << "Pushed " << rtcmCount << " RTCM bytes to ZED." << std::endl;
}
} else {
}
else
{
std::cout << "Connection to " << this->host << " dropped!" << std::endl;
return false;
}
if (millis() - this->lastReceivedRtcmTime > this->timeOut) {
if (millis() - this->lastReceivedRtcmTime > this->timeOut)
{
std::cout << "RTCM timeout!" << std::endl;
return false;
}
@@ -248,15 +292,21 @@ bool NTRIPClient::processConnection() {
return true;
}
void NTRIPClient::checkAutoReconnect() {
void NTRIPClient::checkAutoReconnect()
{
if (!this->autoReconnect)
{
return;
}
if (millis() - this->lastReconnectTime < this->reconnectDelayTime)
{
return;
}
this->lastReconnectTime = millis();
if (this->reconnectAttemps >= this->maxReconnectAttemps) {
if (this->reconnectAttemps >= this->maxReconnectAttemps)
{
this->autoReconnect = false;
return;
}
@@ -265,26 +315,34 @@ void NTRIPClient::checkAutoReconnect() {
this->reconnectAttemps++;
}
void NTRIPClient::pushGPGGA() {
void NTRIPClient::pushGPGGA()
{
if (!this->transmitLocation && !this->activated)
{
return;
}
if (millis() - this->lastGPGGAPushTime < this->pushGPGGATime)
{
return;
}
this->lastGPGGAPushTime = millis();
if (!this->ntripClient->connected())
{
std::cout << "Failed to pushing GGA to server: " << std::endl;
}
NMEA_GGA_data_t *data = new NMEA_GGA_data_t;
uint8_t res = this->gps->getLatestNMEAGPGGA(data);
auto *data = new NMEA_GGA_data_t;
const uint8_t res = this->gps->getLatestNMEAGPGGA(data);
if (res == 2)
this->ntripClient->print((const char *)data);
{
this->ntripClient->print(reinterpret_cast<const char *>(data));
}
delete data;
}
bool NTRIPClient::isConnected() {
if (this->state == NTRIPClientStates::pushData)
return true;
return false;
bool NTRIPClient::isConnected()
{
return this->state == NTRIPClientStates::pushData;
}
lib/NtripClient/ntripClient.h
+10 -6
View File
@@ -25,7 +25,8 @@
* @brief States for the state machine.
*
*/
enum NTRIPClientStates {
enum NTRIPClientStates
{
openConnection,
pushData,
closeConnection,
@@ -40,7 +41,8 @@ enum NTRIPClientStates {
* data and push it to a given gnss module. This module have to be compatible
* with the SparkFun u-blox GNSS Arduino Library.
*/
class NTRIPClient : public Component {
class NTRIPClient : public Component
{
public:
/**
* @brief Construct a new NTRIPClient object
@@ -116,15 +118,17 @@ class NTRIPClient : public Component {
uint32_t lastGPGGAPushTime = 0;
uint32_t lastReconnectTime = 0;
char host[128];
char mountPoint[128];
char user[128];
char password[128];
const char *host;
const char *mountPoint;
const char *user;
const char *password;
const uint8_t maxReconnectAttemps = 10;
const uint16_t reconnectDelayTime = 1000;
const uint16_t timeOut = 10000;
const uint16_t bufferSize = 512;
const uint16_t pushGPGGATime = 10000;
static constexpr uint8_t loopDelay = 20;
};
#endif
lib/Point/point.cpp
+51 -37
View File
@@ -11,94 +11,108 @@
#include "point.h"
Point::Point(double lat, double lon, uint32_t horizontalAccuracy, uint32_t creationTime) {
this->coordinates.lat = lat;
this->coordinates.lon = lon;
Point::Point(double lat, double lon, uint32_t horizontalAccuracy, uint32_t creationTime)
: coordinates{lat, lon}
{
this->init(horizontalAccuracy, creationTime);
}
Point::Point(int32_t lat, int32_t lon, uint32_t horizontalAccuracy, uint32_t creationTime) {
this->coordinates.lat = lat / 10000000.0;
this->coordinates.lon = lon / 10000000.0;
Point::Point(int32_t lat, int32_t lon, uint32_t horizontalAccuracy, uint32_t creationTime)
: coordinates{lat / 10000000.0, lon / 10000000.0}
{
this->init(horizontalAccuracy, creationTime);
}
Point::Point(Coordinates coords, uint32_t horizontalAccuracy, uint32_t creationTime) {
this->coordinates = coords;
Point::Point(Coordinates coords, uint32_t horizontalAccuracy, uint32_t creationTime)
: coordinates{coords}
{
this->init(horizontalAccuracy, creationTime);
}
Point::Point(Coordinates coords, bool imported) {
Point::Point(Coordinates coords, bool imported)
{
this->coordinates = coords;
if (imported)
{
this->init(UINT32_MAX, 0);
}
else
{
this->init(0, 0);
}
}
Point::Point() {
Point::Point()
{
this->coordinates.lat = 0;
this->coordinates.lon = 0;
this->init(0, 0);
}
bool Point::operator==(const Point& rhs) const {
bool Point::operator==(const Point &rhs) const
{
return this->coordinates == rhs.getCoordinates();
}
// distance = sqrt(dx * dx + dy * dy)
// mit distance: Entfernung in km
// dx = 111.3 * cos(lat) * (lon1 - lon2)
// lat = (lat1 + lat2) / 2 * 0.01745
// dy = 111.3 * (lat1 - lat2)
// lat1, lat2, lon1, lon2: Breite, Länge in Grad
double Point::distanceTo(const Coordinates& point) const {
Coordinates begin = this->coordinates;
Coordinates end = point;
double Point::distanceTo(const Coordinates &point) const
{
const Coordinates begin = this->coordinates;
const Coordinates end = point;
double lat = (begin.lat + end.lat) / 2 * ROUTE_DEGREE_TO_RADIANT;
double dy = ROUTE_DISTANCE_BETWEEN_LATITUDE * (begin.lat - end.lat);
double dx = ROUTE_DISTANCE_BETWEEN_LATITUDE * cos(lat) * (begin.lon - end.lon);
const double lat = (begin.lat + end.lat) / 2 * ROUTE_DEGREE_TO_RADIANT;
const double dy = ROUTE_DISTANCE_BETWEEN_LATITUDE * (begin.lat - end.lat);
const double dx = ROUTE_DISTANCE_BETWEEN_LATITUDE * cos(lat) * (begin.lon - end.lon);
return sqrt(dx * dx + dy * dy);
}
double Point::distanceTo(const Point &point) const {
double Point::distanceTo(const Point &point) const
{
return this->distanceTo(point.getCoordinates());
}
int16_t Point::courseTo(const Coordinates& point) const {
Coordinates begin = this->coordinates;
Coordinates end = point;
int16_t Point::courseTo(const Coordinates &point) const
{
const Coordinates begin = this->coordinates;
const Coordinates end = point;
double phi = log( tan(end.lat * ROUTE_DEGREE_TO_RADIANT / 2 + M_PI / 4) / tan(begin.lat * ROUTE_DEGREE_TO_RADIANT / 2 + M_PI / 4) );
double lon = (begin.lon * ROUTE_DEGREE_TO_RADIANT - end.lon * ROUTE_DEGREE_TO_RADIANT);
const double phi = log(tan(end.lat * ROUTE_DEGREE_TO_RADIANT / 2 + M_PI / 4) / tan(begin.lat * ROUTE_DEGREE_TO_RADIANT / 2 + M_PI / 4));
const double lon = (begin.lon * ROUTE_DEGREE_TO_RADIANT - end.lon * ROUTE_DEGREE_TO_RADIANT);
int16_t res = static_cast<int16_t>(atan2(lon, phi) / ROUTE_DEGREE_TO_RADIANT) * -1;
// if (res < 0)
// res += 360;
return res;
return static_cast<int16_t>(atan2(lon, phi) / ROUTE_DEGREE_TO_RADIANT) * -1;
}
int16_t Point::courseTo(const Point &point) const {
int16_t Point::courseTo(const Point &point) const
{
return this->courseTo(point.getCoordinates());
}
void Point::init(uint32_t horizontalAccuracy, uint32_t creationTime) {
void Point::init(uint32_t horizontalAccuracy, uint32_t creationTime)
{
this->creationTime = creationTime;
if (horizontalAccuracy == UINT32_MAX)
{
this->accuracy = Accuracy::imported;
}
else if (horizontalAccuracy > 9999)
{
this->accuracy = Accuracy::fourDigOfCM;
}
else if (horizontalAccuracy > 999)
{
this->accuracy = Accuracy::threeDigOfCM;
}
else if (horizontalAccuracy > 99)
{
this->accuracy = Accuracy::twoDigOfCM;
}
else if (horizontalAccuracy > 1)
{
this->accuracy = Accuracy::oneDigOfCM;
}
else
{
this->accuracy = Accuracy::none;
}
}
lib/Point/point.h
+9 -6
View File
@@ -23,17 +23,20 @@
* The points inherits latidue and longitude as doubles
*
*/
class Point{
class Point
{
public:
/**
* @brief Hold the data longitude and latitude
*
*/
struct Coordinates {
struct Coordinates
{
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);
}
};
@@ -42,7 +45,8 @@ class Point{
* @brief The Accuracy is set by the constructor
*
*/
enum Accuracy {
enum Accuracy
{
none,
fourDigOfCM,
threeDigOfCM,
@@ -51,7 +55,6 @@ class Point{
imported
};
/**
* @brief Construct a new Point object
*
@@ -131,7 +134,7 @@ class Point{
void init(uint32_t horizontalAccuracy, uint32_t creationTime);
Accuracy accuracy = Accuracy::none;
Coordinates coordinates;
Coordinates coordinates{0, 0};
uint32_t creationTime = 0;
};
lib/Route/route.cpp
+33 -21
View File
@@ -11,22 +11,22 @@
#include "route.h"
Route::Route() {
}
void Route::addPointToRoute(Point point) {
void Route::addPointToRoute(Point point)
{
this->points.push_back(point);
}
void Route::clear() {
void Route::clear()
{
this->points.clear();
this->currentPoint = 0;
this->started = false;
}
Point Route::startRoute() {
if (this->points.size() < 1) {
Point Route::startRoute()
{
if (this->points.empty())
{
this->started = false;
return Point();
}
@@ -37,8 +37,10 @@ Point Route::startRoute() {
return *this->it;
}
Point Route::endRoute() {
if (this->points.size() < 1) {
Point Route::endRoute()
{
if (this->points.empty())
{
this->started = false;
return Point();
}
@@ -51,11 +53,16 @@ Point Route::endRoute() {
return *this->it;
}
Point Route::getNextPoint() {
Point Route::getNextPoint()
{
Point point;
if (!this->started)
return Point();
{
return point;
}
if (this->it != --this->points.end()) {
if (this->it != --this->points.end())
{
this->it++;
this->currentPoint++;
return *this->it;
@@ -64,24 +71,29 @@ Point Route::getNextPoint() {
// return *this->it;
}
return Point();
return point;
}
Point Route::getPreviousPoint() {
Point Route::getPreviousPoint()
{
Point point;
if (!this->started)
return Point();
{
return point;
}
if (this->it != this->points.begin()) {
if (this->it != this->points.begin())
{
this->it--;
this->currentPoint--;
return *this->it;
} else {
return Point();
}
return point;
}
RouteInfo Route::getRouteInfo() {
RouteInfo info;
RouteInfo Route::getRouteInfo()
{
RouteInfo info{0, 0};
info.totalPoints = this->points.size();
info.currentPoint = this->currentPoint;
return info;
lib/Route/route.h
-5
View File
@@ -40,11 +40,6 @@ struct RouteInfo{
*/
class Route {
public:
/**
* @brief Construct a new Route object.
*/
Route();
/**
* @brief Adds a point to the list.
*
lib/Sensors/sensorData.cpp
+130 -63
View File
@@ -15,16 +15,18 @@ bool SensorData::outputStatusPrintPVTdata = false;
uint32_t SensorData::ubxUpdateTimeStatic = 0;
UBX_NAV_PVT_data_t *SensorData::ubxDataStatic = nullptr;
SensorData::SensorData() {
this->loopDelay = 50;
SensorData::SensorData()
{
Component::loopDelay = SensorData::loopDelay;
}
SensorData::~SensorData() {
if (this->ntripClient)
SensorData::~SensorData()
{
delete this->ntripClient;
}
void SensorData::enableNtrip(String host, uint16_t port, String mountPoint, String user, String password) {
void SensorData::enableNtrip(String host, uint16_t port, String mountPoint, String user, String password)
{
this->ntripClient = new NTRIPClient(this->gnss, host.c_str(), port, mountPoint.c_str(), user.c_str(), password.c_str());
this->ntripClient->gpsConfiguration();
this->ntripClient->loop();
@@ -33,28 +35,40 @@ void SensorData::enableNtrip(String host, uint16_t port, String mountPoint, Stri
this->addChildComponent(this->ntripClient);
}
void SensorData::enableGnss(SPIClass* spiPort, uint8_t csPin) {
void SensorData::enableGnss(SPIClass *spiPort, uint8_t csPin)
{
this->gnss = new SFE_UBLOX_GNSS();
if (this->gnss->begin(*spiPort, csPin, 4000000) == false) {
if (this->gnss->begin(*spiPort, csPin, 4000000) == false)
{
std::cout << "u-blox GNSS not detected on SPI bus. Please check wiring. Freezing." << std::endl;
while (1);
while (true)
{
}
}
this->initGnss();
}
void SensorData::enableGnss() {
void SensorData::enableGnss()
{
this->gnss = new SFE_UBLOX_GNSS();
if (this->gnss->begin() == false) {
if (this->gnss->begin() == false)
{
std::cout << "u-blox GNSS not detected at default I2C address. Please check wiring. Freezing." << std::endl;
while (1);
while (true)
{
}
}
this->initGnss();
}
void SensorData::enableRealCompass() {
void SensorData::enableRealCompass()
{
static constexpr byte address = 0x0d;
this->realCompass = new QMC5883LCompass();
// Init Compass
Wire.beginTransmission(0x0d);
Wire.beginTransmission(address);
// TODO: describe Bytes !!!
Wire.write(0x0b);
Wire.write(0x01);
Wire.endTransmission();
@@ -64,89 +78,133 @@ void SensorData::enableRealCompass() {
caliCompass.useData();
}
void SensorData::enableCalcCompass() {
void SensorData::enableCalcCompass()
{
// TODO: !!! implementieren
}
void SensorData::enableGyroskop() {
void SensorData::enableGyroskop()
{
this->gyroskop = new MPU6050();
this->gyroskop->initialize();
if (!this->gyroskop->testConnection()) {
if (!this->gyroskop->testConnection())
{
std::cout << "SensorData::enableGyroskop: Gyroskop is not conntected. Freeze!" << std::endl;
while (true);
while (true)
{
}
}
uint8_t deviceStatus = this->gyroskop->dmpInitialize();
const uint8_t deviceStatus = this->gyroskop->dmpInitialize();
// TODO: !!! MagicNumer 6x
this->gyroskop->setXGyroOffset(220);
this->gyroskop->setYGyroOffset(76);
this->gyroskop->setZGyroOffset(-85);
this->gyroskop->setZAccelOffset(1788);
if (deviceStatus == 0) {
if (deviceStatus == 0)
{
this->gyroskop->CalibrateAccel(6);
this->gyroskop->CalibrateGyro(6);
this->gyroskop->PrintActiveOffsets();
this->gyroskop->setDMPEnabled(true);
} else {
}
else
{
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
std::cout << "SensorData::enableGyroskop: DMP Initialization failed (code" << (int) deviceStatus <<"). Freeze!" << std::endl;
while (true);
std::cout << "SensorData::enableGyroskop: DMP Initialization failed (code" << static_cast<int>(deviceStatus) << "). Freeze!" << std::endl;
while (true)
{
}
}
}
CalcAzimuth::State SensorData::getCalcAzimuthState() const {
if (this->calcCompass)
CalcAzimuth::State SensorData::getCalcAzimuthState() const
{
if (static_cast<bool>(this->calcCompass))
{
return this->calcCompass->getState();
}
return CalcAzimuth::State::Invalid;
}
NTRIPClientStates SensorData::getNtripState() const {
if (this->ntripClient)
NTRIPClientStates SensorData::getNtripState() const
{
if (static_cast<bool>(this->ntripClient))
{
return this->ntripClient->getClientState();
}
return NTRIPClientStates::notAvailable;
}
void SensorData::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
void SensorData::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
{
static constexpr uint8_t stringSize = 32;
if (!SensorData::outputStatusPrintPVTdata)
{
return;
}
double latitude = (double) ubxDataStruct->lat / 10000000.0;
double longitude = (double) ubxDataStruct->lon / 10000000.0;
double altitude = (double) ubxDataStruct->hMSL / 1000.0;
const double latitude = ubxDataStruct->lat / 10000000.0;
const double longitude = ubxDataStruct->lon / 10000000.0;
const double altitude = ubxDataStruct->hMSL / 1000.0;
uint8_t fixType = ubxDataStruct->fixType;
char fixTypeString[32];
const uint8_t fixType = ubxDataStruct->fixType;
char fixTypeString[stringSize];
if (fixType == 0)
strcpy(fixTypeString, "None");
{
strcpy(fixTypeString, static_cast<const char *>("None"));
}
else if (fixType == 1)
strcpy(fixTypeString, "Dead Reckoning");
{
strcpy(fixTypeString, static_cast<const char *>("Dead Reckoning"));
}
else if (fixType == 2)
strcpy(fixTypeString, "2D");
{
strcpy(fixTypeString, static_cast<const char *>("2D"));
}
else if (fixType == 3)
strcpy(fixTypeString, "3D");
{
strcpy(fixTypeString, static_cast<const char *>("3D"));
}
else if (fixType == 3)
strcpy(fixTypeString, "GNSS + Dead Reckoning");
{
strcpy(fixTypeString, static_cast<const char *>("GNSS + Dead Reckoning"));
}
else if (fixType == 5)
strcpy(fixTypeString, "Time Only");
{
strcpy(fixTypeString, static_cast<const char *>("Time Only"));
}
else
strcpy(fixTypeString, "UNKNOWN");
{
strcpy(fixTypeString, static_cast<const char *>("UNKNOWN"));
}
uint8_t carrSoln = ubxDataStruct->flags.bits.carrSoln;
char carrSolnString[16];
const uint8_t carrSoln = ubxDataStruct->flags.bits.carrSoln;
char carrSolnString[stringSize];
if (carrSoln == 0)
strcpy(carrSolnString, "None");
{
strcpy(carrSolnString, static_cast<const char *>("None"));
}
else if (carrSoln == 1)
strcpy(carrSolnString, "Floating");
{
strcpy(carrSolnString, static_cast<const char *>("Floating"));
}
else if (carrSoln == 2)
strcpy(carrSolnString, "Fixed");
{
strcpy(carrSolnString, static_cast<const char *>("Fixed"));
}
else
strcpy(carrSolnString, "UNKNOWN");
{
strcpy(carrSolnString, static_cast<const char *>("UNKNOWN"));
}
uint32_t hAcc = ubxDataStruct->hAcc;
const uint32_t hAcc = ubxDataStruct->hAcc;
std::cout << "Lat: " << latitude
<< " Lng: " << longitude
@@ -157,45 +215,53 @@ void SensorData::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
<< " Horizontal Accuracy Estimate: " << hAcc << " mm" << std::endl;
}
void SensorData::savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
void SensorData::savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
{
SensorData::printPVTdata(ubxDataStruct);
SensorData::ubxDataStatic = ubxDataStruct;
SensorData::ubxUpdateTimeStatic = millis();
}
void SensorData::setOutputStatusPrintPVTdata(bool status) {
void SensorData::setOutputStatusPrintPVTdata(bool status)
{
SensorData::outputStatusPrintPVTdata = status;
}
void SensorData::run() {
if (this->realCompass) {
void SensorData::run()
{
if (static_cast<bool>(this->realCompass))
{
this->realCompass->read();
this->realAzimuth = this->realCompass->getAzimuth();
}
if (this->gyroskop
&& this->gyroskop->dmpGetCurrentFIFOPacket(this->gyroBuffer))
if (static_cast<bool>(this->gyroskop) && this->gyroskop->dmpGetCurrentFIFOPacket(static_cast<uint8_t *>(this->gyroBuffer)))
{
this->gyroskop->dmpGetQuaternion(&this->quaternion, this->gyroBuffer);
this->gyroskop->dmpGetQuaternion(&this->quaternion, static_cast<uint8_t *>(this->gyroBuffer));
this->gyroskop->dmpGetGravity(&this->gravity, &this->quaternion);
this->gyroskop->dmpGetYawPitchRoll(this->yawPitchRoll, &this->quaternion, &this->gravity);
this->gyroskop->dmpGetYawPitchRoll(static_cast<float *>(this->yawPitchRoll), &this->quaternion, &this->gravity);
}
}
void SensorData::runAsChild() {
if (this->gnss) {
void SensorData::runAsChild()
{
if (static_cast<bool>(this->gnss))
{
this->gnss->checkUblox();
this->gnss->checkCallbacks();
if (SensorData::ubxUpdateTimeStatic != this->lastUbxUpdate)
{
this->updateUbxData();
}
}
}
void SensorData::initGnss() {
uint8_t versionHigh = this->gnss->getProtocolVersionHigh();
uint8_t versionLow = this->gnss->getProtocolVersionLow();
std::cout << "u-blox protocol version: " << unsigned(versionHigh) << "." << unsigned(versionLow) << std::endl;
void SensorData::initGnss()
{
const uint8_t versionHigh = this->gnss->getProtocolVersionHigh();
const uint8_t versionLow = this->gnss->getProtocolVersionLow();
std::cout << "u-blox protocol version: " << static_cast<int>(versionHigh) << "." << static_cast<int>(versionLow) << std::endl;
this->gnss->setSPIOutput(COM_TYPE_UBX);
this->gnss->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10);
@@ -206,11 +272,12 @@ void SensorData::initGnss() {
this->gnss->setAutoPVT(true);
}
void SensorData::updateUbxData() {
void SensorData::updateUbxData()
{
this->gnssData = SensorData::ubxDataStatic;
this->lastUbxUpdate = SensorData::ubxUpdateTimeStatic;
Point::Coordinates coords;
Point::Coordinates coords{0, 0};
coords.lat = this->gnssData->lat / 10000000.0;
coords.lon = this->gnssData->lon / 10000000.0;
lib/Sensors/sensorData.h
+10 -8
View File
@@ -28,7 +28,8 @@
#include "point.h"
class Sensors;
class SensorData : public Component {
class SensorData : public Component
{
public:
SensorData();
~SensorData();
@@ -72,27 +73,26 @@ class SensorData : public Component {
void initGnss();
void updateUbxData();
QMC5883LCompass *realCompass = nullptr;
CalcAzimuth *calcCompass = nullptr;
SFE_UBLOX_GNSS *gnss = nullptr;
NTRIPClient *ntripClient = nullptr;
MPU6050 *gyroskop = nullptr;
UBX_NAV_PVT_data_t* gnssData;
UBX_NAV_PVT_data_t *gnssData = nullptr;
Point currentPosition;
Quaternion quaternion;
VectorFloat gravity;
char* host;
char* mountPoint;
char* user;
char* password;
char *host = nullptr;
char *mountPoint = nullptr;
char *user = nullptr;
char *password = nullptr;
bool isNtripInit = false;
uint8_t gyroBuffer[64];
uint16_t port;
uint16_t port = 0;
int16_t realAzimuth = INT16_MAX;
int16_t calcAzimuth = INT16_MAX;
uint32_t lastUbxUpdate = 0;
@@ -106,6 +106,8 @@ class SensorData : public Component {
static UBX_NAV_PVT_data_t *ubxDataStatic;
static uint32_t ubxUpdateTimeStatic;
static bool outputStatusPrintPVTdata;
static constexpr uint8_t loopDelay = 50;
};
#endif // SENSOR_DATA_H
lib/Speedometer/speedometer.cpp
+65 -41
View File
@@ -11,12 +11,10 @@
*/
#include "speedometer.h"
Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps) {
this->diameter = diameter;
this->steps = steps;
this->pulseCounter = new Counter(pin);
this->pulseCounter->setFilterValue(1023); // ignore pulses less than 1000 x 2.5ns
Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps)
: pulseCounter{new Counter(pin)}, diameter{diameter}, steps{steps}, buf{}
{
this->pulseCounter->setFilterValue(Speedometer::maxFilterValue); // ignore pulses less than 1000 x 2.5ns
this->pulseCounter->clear();
this->pulseCounter->resume();
@@ -26,43 +24,51 @@ Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps) {
this->clearAvgBuf();
}
Speedometer::~Speedometer() {
Speedometer::~Speedometer()
{
delete this->pulseCounter;
}
void Speedometer::run() {
void Speedometer::run()
{
static constexpr float minimalSpeed = 0.1;
if (this->calibrationRunning)
{
return;
}
uint32_t time = millis();
const uint32_t time = millis();
uint16_t elapsedTime = time - this->lastMillisCalc;
const uint16_t elapsedTime = time - this->lastMillisCalc;
this->lastMillisCalc = time;
int16_t pulse = this->pulseCounter->getValue();
const double pulse = this->pulseCounter->getValue();
this->pulseCounter->clear();
this->pulseCounter->resume();
const double wheelRevolutionsAbsolute = pulse / this->steps;
const double wheelRevolutionsRelativ = wheelRevolutionsAbsolute / (elapsedTime / 1000.0);
double n = (double)pulse / this->steps; // Wheel revolutions in absolute time
double u = n / ((double)elapsedTime / 1000); // Wheel revolutions per second
double ms = u * (diameter * PI); // Speed in m/s
double rad = u * 2 * PI;
double meterPerSecond = wheelRevolutionsRelativ * (diameter * PI);
double radPerSecond = wheelRevolutionsRelativ * 2 * PI;
if (speed < 0.1) {
speed = 0;
rad = 0;
if (meterPerSecond < minimalSpeed)
{
meterPerSecond = 0;
radPerSecond = 0;
}
switch (this->currentDirection) {
switch (this->currentDirection)
{
case Direction::Forward:
this->speed = ms;
this->rad = rad;
this->speed = meterPerSecond;
this->rad = radPerSecond;
break;
case Direction::Backward:
this->speed = -ms;
this->rad = -rad;
this->speed = -meterPerSecond;
this->rad = -radPerSecond;
break;
case Direction::None:
@@ -74,57 +80,75 @@ void Speedometer::run() {
this->addValToBuf(static_cast<int16_t>(this->speed * Speedometer::conversionFactor));
}
void Speedometer::setDirection(Direction dir) {
void Speedometer::setDirection(Direction dir)
{
if (this->currentDirection == dir)
{
return;
}
this->currentDirection = dir;
this->clearAvgBuf();
}
void Speedometer::setEncFilter(uint16_t val) {
if (val > 1023)
val = 1023;
void Speedometer::setEncFilter(uint16_t val)
{
if (val > Speedometer::maxFilterValue)
{
val = Speedometer::maxFilterValue;
}
this->pulseCounter->setFilterValue(val);
}
double Speedometer::getAvgSpeed() const {
int16_t avg = this->calcAverage();
return (float)avg / Speedometer::conversionFactor;
double Speedometer::getAvgSpeed() const
{
const double avg = this->calcAverage();
return avg / Speedometer::conversionFactor;
}
void Speedometer::calibrationMeasurementStart() {
void Speedometer::calibrationMeasurementStart()
{
std::cout << "Start" << std::endl;
this->calibrationRunning = true;
this->pulseCounter->clear();
this->pulseCounter->resume();
}
uint16_t Speedometer::calibrationMeasurementStop() {
uint16_t Speedometer::calibrationMeasurementStop()
{
std::cout << "Ende" << std::endl;
this->calibrationRunning = false;
uint16_t res = abs(this->pulseCounter->getValue());
const uint16_t res = abs(this->pulseCounter->getValue());
this->pulseCounter->clear();
this->pulseCounter->resume();
std::cout << "Result: " << res << std::endl;
return res;
}
void Speedometer::clearAvgBuf() {
void Speedometer::clearAvgBuf()
{
for (uint8_t i = 0; i < bufSize; i++)
{
this->buf[i] = 0;
}
}
void Speedometer::addValToBuf(int16_t val) {
void Speedometer::addValToBuf(int16_t val)
{
this->buf[this->bufPos] = val;
this->bufPos++;
if (bufPos == bufSize)
{
bufPos = 0;
}
int16_t Speedometer::calcAverage() const {
int16_t sum = 0;
for (int i = 0; i < this->bufSize; i++)
sum += this->buf[i];
return sum / this->bufSize;
}
int16_t Speedometer::calcAverage() const
{
int16_t sum = 0;
for (int i = 0; i < Speedometer::bufSize; i++)
{
sum += this->buf[i];
}
return sum / Speedometer::bufSize;
}
lib/Speedometer/speedometer.h
+6 -5
View File
@@ -26,7 +26,8 @@
* The calculated speed is the average of an amount of last measurements.
*
*/
class Speedometer : public Component {
class Speedometer : public Component
{
public:
/**
* @brief Enum to control the direction.
@@ -35,7 +36,8 @@ class Speedometer : public Component {
* 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 {
enum Direction
{
None,
Forward,
Backward
@@ -102,7 +104,6 @@ class Speedometer : public Component {
*/
uint16_t calibrationMeasurementStop();
private:
void run() override;
void clearAvgBuf();
@@ -125,10 +126,10 @@ class Speedometer : public Component {
uint8_t printCounter = 0;
uint8_t bufPos = 0;
uint16_t steps;
int16_t buf[Speedometer::bufSize];
uint32_t lastMillisCalc = 0;
static constexpr uint16_t maxFilterValue = 1023;
};
#endif // SPEEDOMETER_H
lib/Times/debugTimes.cpp
+21 -10
View File
@@ -13,33 +13,44 @@
bool DebugTimes::print = false;
bool DebugTimes::printWarning = true;
DebugTimes::DebugTimes() {
this->startTime = millis();
if (DebugTimes::printWarning) {
std::cout << std::endl << "Warning: DebugTimes is muuted, no times are be shown." << std::endl << std::endl;
DebugTimes::DebugTimes()
: startTime{millis()}
{
if (DebugTimes::printWarning)
{
std::cout << std::endl
<< "Warning: DebugTimes is muuted, no times are be shown." << std::endl
<< std::endl;
DebugTimes::printWarning = false;
}
}
void DebugTimes::restart() {
void DebugTimes::restart()
{
this->startTime = millis();
}
uint16_t DebugTimes::stop() {
const uint16_t DebugTimes::stop()
{
return millis() - this->startTime;
}
uint16_t DebugTimes::stopConsol(const char* name, uint16_t minTime) {
uint64_t time = millis() - this->startTime;
const uint16_t DebugTimes::stopConsol(const char *name, uint16_t minTime)
{
const uint64_t time = millis() - this->startTime;
if (time > minTime && DebugTimes::print)
{
std::cout << name << " needs " << time << " ms" << std::endl;
}
return time;
}
void DebugTimes::setConsolOutput(bool enable) {
void DebugTimes::setConsolOutput(bool enable)
{
if (enable == DebugTimes::print)
{
return;
}
DebugTimes::print = enable;
DebugTimes::printWarning = !enable;
lib/Times/debugTimes.h
+4 -3
View File
@@ -28,7 +28,8 @@
* @warning This class is not very accurate
* It only give you the time in milliseconds.
*/
class DebugTimes {
class DebugTimes
{
public:
/**
* @brief Construct a new Debug Times object
@@ -47,7 +48,7 @@ class DebugTimes {
*
* @return uint16_t elapsed milliseconds
*/
uint16_t stop();
const uint16_t stop();
/**
* @brief Print the elapsed time to consol
@@ -57,7 +58,7 @@ class DebugTimes {
*
* @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.
lib/calibrateCompass/calibrateCompass.cpp
+22 -20
View File
@@ -12,8 +12,8 @@
#include "calibrateCompass.h"
CalibrateCompass::CalibrateCompass(QMC5883LCompass *compass)
: compass{compass}
{
this->compass = compass;
this->state = State::Ready;
this->clearData();
this->activateOnlyChilds();
@@ -29,9 +29,9 @@ void CalibrateCompass::runAsChild()
bool changed = false;
this->compass->read();
int xAxis = this->compass->getX();
int yAxis = this->compass->getY();
int zAxis = this->compass->getZ();
const int xAxis = this->compass->getX();
const int yAxis = this->compass->getY();
const int zAxis = this->compass->getZ();
if (xAxis < this->data.data[0][0])
{
@@ -70,7 +70,9 @@ void CalibrateCompass::runAsChild()
}
if (changed)
{
this->lastChange = millis();
}
if (millis() - this->lastChange > this->maxTimeWithoutChange)
{
@@ -182,23 +184,23 @@ void CalibrateCompass::checkDataValidity()
sum += this->data.data[i][0];
sum += this->data.data[i][1];
}
this->dataValid = sum;
this->dataValid = static_cast<bool>(sum);
}
std::ostream &operator<<(std::ostream &os, const CalibrateCompass &caliComp)
std::ostream &operator<<(std::ostream &stream, const CalibrateCompass &caliComp)
{
os << "(";
os << caliComp.data.data[0][0];
os << ", ";
os << caliComp.data.data[0][1];
os << ", ";
os << caliComp.data.data[1][0];
os << ", ";
os << caliComp.data.data[1][1];
os << ", ";
os << caliComp.data.data[2][0];
os << ", ";
os << caliComp.data.data[2][1];
os << ")";
return os;
stream << "(";
stream << caliComp.data.data[0][0];
stream << ", ";
stream << caliComp.data.data[0][1];
stream << ", ";
stream << caliComp.data.data[1][0];
stream << ", ";
stream << caliComp.data.data[1][1];
stream << ", ";
stream << caliComp.data.data[2][0];
stream << ", ";
stream << caliComp.data.data[2][1];
stream << ")";
return stream;
}
lib/calibrateCompass/calibrateCompass.h
+9 -6
View File
@@ -17,15 +17,18 @@
#include "component.h"
class CalibrateCompass : public Component {
class CalibrateCompass : public Component
{
public:
enum State {
enum State
{
Ready,
Calibrating,
Finished
};
struct CallibrationData {
struct CallibrationData
{
int data[3][2];
};
@@ -41,7 +44,7 @@ class CalibrateCompass : public Component {
State getState() const { return this->state; }
CallibrationData getCallibrationData() const { return this->data; }
friend std::ostream& operator<<(std::ostream& os, const CalibrateCompass& caliComp);
friend std::ostream &operator<<(std::ostream &stream, const CalibrateCompass &caliComp);
private:
void runAsChild() override;
@@ -49,8 +52,8 @@ class CalibrateCompass : public Component {
void checkDataValidity();
QMC5883LCompass *compass;
State state;
CallibrationData data;
State state = State::Ready;
CallibrationData data{};
void clearData();
src/OutputBuf/outputBuf.cpp
+40 -23
View File
@@ -12,48 +12,65 @@
#include "OutputBuf/outputBuf.h"
OutputBuf::OutputBuf(DebugMqtt *debugMqtt, BluetoothSerial *serialBT)
: std::streambuf() {
this->debugMqtt = debugMqtt;
this->serialBT = serialBT;
if (debugMqtt)
this->isMqttActive = true;
if (serialBT)
: debugMqtt{debugMqtt}, serialBT{serialBT}
{
if (static_cast<bool>(debugMqtt))
{
this->isMqttActive = true;
}
void OutputBuf::activateMqtt(bool status) {
if (debugMqtt)
if (static_cast<bool>(serialBT))
{
this->isMqttActive = true;
}
}
void OutputBuf::activateMqtt(bool status)
{
if (static_cast<bool>(debugMqtt))
{
this->isMqttActive = status;
}
void OutputBuf::activateSerialBT(bool status) {
if (serialBT)
this->isSerialBTActive = status;
}
void OutputBuf::setDebugMqtt(DebugMqtt* debugMqtt) {
void OutputBuf::activateSerialBT(bool status)
{
if (static_cast<bool>(serialBT))
{
this->isSerialBTActive = status;
}
}
void OutputBuf::setDebugMqtt(DebugMqtt *debugMqtt)
{
this->debugMqtt = debugMqtt;
this->isMqttActive = true;
}
void OutputBuf::setSerialBT(BluetoothSerial* serialBT) {
void OutputBuf::setSerialBT(BluetoothSerial *serialBT)
{
this->serialBT = serialBT;
this->isSerialBTActive = true;;
this->isSerialBTActive = true;
;
}
std::streambuf::int_type OutputBuf::overflow(std::streambuf::int_type c) {
if (c != EOF) {
std::streambuf::int_type OutputBuf::overflow(std::streambuf::int_type character)
{
if (character != EOF)
{
// c = std::toupper(static_cast<char>(c), getloc());
if (this->debugMqtt && this->isMqttActive)
this->debugMqtt->addCharacter((char) c);
{
this->debugMqtt->addCharacter(static_cast<char>(character));
}
if (this->serialBT && this->isSerialBTActive && this->serialBT->connected())
this->serialBT->print((char) c);
{
this->serialBT->print(static_cast<char>(character));
}
Serial.print((char) c);
Serial.print(static_cast<char>(character));
}
return c;
return character;
}
src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.cpp
+19 -8
View File
@@ -11,19 +11,24 @@
#include "menuCalibrateBattery.h"
MenuCalibrateBattery::MenuCalibrateBattery(Battery* battery) {
this->setUpdateDelay(400);
this->battery = battery;
MenuCalibrateBattery::MenuCalibrateBattery(Battery *battery)
: battery{battery}
{
this->setUpdateDelay(MenuCalibrateBattery::updateDelay);
}
void MenuCalibrateBattery::printMenu() {
void MenuCalibrateBattery::printMenu()
{
if (this->battery->getCalibrationState() == Battery::CalibrationState::None)
{
this->battery->startCalibration();
}
String lineOne = "";
String lineTwo = "";
switch (this->battery->getCalibrationState()) {
switch (this->battery->getCalibrationState())
{
case Battery::CalibrationState::Waiting:
lineOne = "Target Voltage:";
lineTwo = "7 + ";
@@ -46,14 +51,20 @@ void MenuCalibrateBattery::printMenu() {
this->print(lineOne, lineTwo);
}
void MenuCalibrateBattery::left() {
void MenuCalibrateBattery::left()
{
this->battery->finishCalibration();
if (parentMenu)
if (static_cast<bool>(parentMenu))
{
this->parentMenu->printMenu();
}
}
void MenuCalibrateBattery::right() {
void MenuCalibrateBattery::right()
{
if (this->battery->getCalibrationState() == Battery::CalibrationState::Waiting)
{
this->battery->nextVoltageIsReady();
}
}
src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.h
+4 -1
View File
@@ -15,7 +15,8 @@
#include "menuControl.h"
#include "battery.h"
class MenuCalibrateBattery : public MenuControl {
class MenuCalibrateBattery : public MenuControl
{
public:
MenuCalibrateBattery(Battery *battery);
@@ -28,6 +29,8 @@ class MenuCalibrateBattery : public MenuControl {
private:
Battery *battery;
static constexpr uint16_t updateDelay = 400;
};
#endif // MENU_CALIBRATE_BATTERY_H
src/SpecialMenus/PID/menuPidSettings.cpp
+5 -4
View File
@@ -11,12 +11,13 @@
#include "menuPidSettings.h"
MenuPidSettings::MenuPidSettings(PID* pid) {
this->pid = pid;
}
MenuPidSettings::MenuPidSettings(PID *pid) : pid{pid} {}
void MenuPidSettings::action(int16_t* values, uint8_t length) {
void MenuPidSettings::action(int16_t *values, uint8_t length)
{
if (length != 3)
{
return;
}
this->pid->SetTunings(values[0], values[1], values[2]);
}
src/SpecialMenus/Route/menuRoute.cpp
+10 -12
View File
@@ -12,9 +12,8 @@
#include "menuRoute.h"
MenuActionRoute::MenuActionRoute(MenuRoute *menuRoute, DataFunction dataFunction)
: menuRoute{menuRoute}, dataFunction{dataFunction}
{
this->menuRoute = menuRoute;
this->dataFunction = dataFunction;
}
void MenuActionRoute::action()
@@ -23,8 +22,8 @@ void MenuActionRoute::action()
}
MenuRoute::MenuRoute(Route *route)
: route{route}
{
this->route = route;
}
MenuRoute::~MenuRoute()
@@ -185,12 +184,12 @@ void MenuRoute::importRoute(uint8_t routeNumber)
String host = "http://rover.kleiax.de/api/";
host.concat(routeNumber);
http.begin(client, host);
int httpResponseCode = http.GET();
const int httpResponseCode = http.GET();
lineOne = "Import complete";
lineTwo = "Code: ";
if (httpResponseCode == 202)
if (httpResponseCode == MenuRoute::httpValidImport)
{
deserializeJson(doc, http.getStream());
}
@@ -231,7 +230,7 @@ void MenuRoute::exportRoute(uint8_t routeNumber)
String lineOne = "";
String lineTwo = "";
if (WiFi.status() != WL_CONNECTED)
if (WiFiSTAClass::status() != WL_CONNECTED)
{
lineOne = "Not connected to";
lineTwo = "the WiFi.";
@@ -270,9 +269,9 @@ void MenuRoute::exportRoute(uint8_t routeNumber)
http.begin(client, "http://rover.kleiax.de/api/");
http.addHeader("Content-Type", "application/json");
int httpResponseCode = http.POST(jsonData);
const int httpResponseCode = http.POST(jsonData);
if (httpResponseCode == 201)
if (httpResponseCode == MenuRoute::httpValidExport)
{
lineOne = "Export complete";
}
@@ -295,7 +294,7 @@ void MenuRoute::deleteRoute(uint8_t routeNumber)
String lineOne = "";
String lineTwo = "";
if (WiFi.status() != WL_CONNECTED)
if (WiFiSTAClass::status() != WL_CONNECTED)
{
lineOne = "Not connected to";
lineTwo = "the WiFi.";
@@ -320,12 +319,12 @@ void MenuRoute::deleteRoute(uint8_t routeNumber)
String host = "http://rover.kleiax.de/api/";
host.concat(routeNumber);
http.begin(client, host);
int httpResponseCode = http.sendRequest("DELETE");
const int httpResponseCode = http.sendRequest("DELETE");
lineOne = "Delete complete";
lineTwo = "Code: ";
if (httpResponseCode == 202)
if (httpResponseCode == MenuRoute::httpValidDelete)
{
deserializeJson(doc, http.getStream());
}
@@ -352,7 +351,6 @@ void MenuRoute::clearRoute(uint8_t none)
MenuRouteWrapper::MenuRouteWrapper(MenuRoute *menuRoute, DataFunction dataFunction)
: menuRoute{menuRoute}, dataFunction{dataFunction}
{
}
void MenuRouteWrapper::action(int16_t *values, uint8_t length)
src/SpecialMenus/Route/menuRoute.h
+7 -5
View File
@@ -34,7 +34,8 @@ typedef void (MenuRoute::*DataFunction)(uint8_t);
* This class should be used to call importRoute,
* exportRoute and clearRoute over the Menu.
*/
class MenuActionRoute : public MenuActionWrapper {
class MenuActionRoute : public MenuActionWrapper
{
public:
/**
* @brief Construct a new Menu Action Route object
@@ -59,7 +60,8 @@ class MenuActionRoute : public MenuActionWrapper {
*
* With this menu the user can import, export and delete routes.
*/
class MenuRoute : public MenuControl {
class MenuRoute : public MenuControl
{
public:
/**
* @brief Construct a new Menu Route object
@@ -122,7 +124,7 @@ class MenuRoute : public MenuControl {
void init();
Route *route;
Menu* mainMenu;
Menu *mainMenu = nullptr;
bool isInit = false;
bool blockInput = false;
@@ -131,14 +133,14 @@ class MenuRoute : public MenuControl {
static constexpr uint16_t httpValidExport = 201;
static constexpr uint16_t httpValidImport = 202;
static constexpr uint16_t httpValidDelete = 202;
};
/**
* @brief MenuRouteWrapper to call DataFunctions with numeric user input
*
*/
class MenuRouteWrapper : public MenuIntInputWrapper {
class MenuRouteWrapper : public MenuIntInputWrapper
{
public:
/**
* @brief Construct a new Menu Route Wrapper object.
src/SpecialMenus/Route/menuRoutePoints.cpp
+41 -16
View File
@@ -11,27 +11,41 @@
#include "menuRoutePoints.h"
MenuRoutePoints::MenuRoutePoints(Route *route) : MenuInformationSites() {
this->route = route;
MenuRoutePoints::MenuRoutePoints(Route *route)
: route{route}
{
}
void MenuRoutePoints::init() {
uint16_t amountPoints = this->route->getRouteInfo().totalPoints;
void MenuRoutePoints::init()
{
const uint16_t amountPoints = this->route->getRouteInfo().totalPoints;
if (amountPoints > UINT8_MAX)
{
this->error = true;
}
else
{
this->setCountPages(amountPoints);
}
}
void MenuRoutePoints::printPage() const {
uint8_t currentPage = this->getCurrentPage();
void MenuRoutePoints::printPage() const
{
static constexpr int8_t width = 9;
static constexpr int8_t prec = 7;
static constexpr int8_t bufSize = 20;
const uint8_t currentPage = this->getCurrentPage();
if (this->lastPageNumber == currentPage)
{
return;
}
String lineOne = "N ";
String lineTwo = "E ";
if (this->error) {
if (this->error)
{
lineOne = "Error: To much";
lineTwo = "points are given";
this->print(lineOne, lineTwo);
@@ -39,35 +53,46 @@ void MenuRoutePoints::printPage() const {
}
RouteInfo info = this->route->getRouteInfo();
if (info.totalPoints == 0) {
if (info.totalPoints == 0)
{
lineOne = "No Points are";
lineTwo = "available";
this->print(lineOne, lineTwo);
return;
}
Point p;
Point point;
if (currentPage == 0)
p = this->route->startRoute();
{
point = this->route->startRoute();
}
else if (this->lastPageNumber - 1 == currentPage)
p = this->route->getPreviousPoint();
{
point = this->route->getPreviousPoint();
}
else if (this->lastPageNumber + 1 == currentPage)
p = this->route->getNextPoint();
{
point = this->route->getNextPoint();
}
else if (currentPage == this->getCountPages() - 1)
p = this->route->endRoute();
{
point = this->route->endRoute();
}
else
{
std::cout << "Error in: MenuRoutePoints::printPage()" << std::endl;
}
char buf[20];
char buf[bufSize];
char *string;
info = this->route->getRouteInfo();
string = dtostrf(p.getLatitude(), 9, 7, buf);
string = dtostrf(point.getLatitude(), width, prec, static_cast<char *>(buf));
lineOne.concat(string);
lineOne.concat(" ");
lineOne.concat(info.currentPoint);
// lineOne.concat(currentPage);
string = dtostrf(p.getLongitude(), 9, 7, buf);
string = dtostrf(point.getLongitude(), width, prec, static_cast<char *>(buf));
lineTwo.concat(string);
lineTwo.concat(" ");
lineTwo.concat(info.totalPoints);
src/SpecialMenus/SensorData/menuSensorData.cpp
+47 -15
View File
@@ -11,22 +11,25 @@
#include "menuSensorData.h"
MenuSensorData::MenuSensorData(SensorData* sensorData) :
MenuInformationSites(7) {
this->sensorData = sensorData;
MenuSensorData::MenuSensorData(SensorData *sensorData) : MenuInformationSites(7), sensorData{sensorData}
{
this->noEqualLeft = true;
}
void MenuSensorData::printPage() const {
void MenuSensorData::printPage() const
{
const UBX_NAV_PVT_data_t *gpsData = this->sensorData->getGnssData();
uint8_t fixType = 0;
if (gpsData)
if (static_cast<bool>(gpsData))
{
fixType = gpsData->fixType;
}
String lineOne = "";
String lineTwo = "";
switch (this->getCurrentPage()) {
switch (this->getCurrentPage())
{
case 0:
lineOne = " Y P R :";
lineTwo.concat(this->sensorData->getGyroData()[0]);
@@ -48,10 +51,11 @@ void MenuSensorData::printPage() const {
lineTwo.concat(CalcAzimuth::stateToString(this->sensorData->getCalcAzimuthState()));
break;
case 3: {
case 3:
{
lineOne = "Lat:";
lineTwo = "Lon:";
Point pos = this->sensorData->getCurrentPos();
const Point pos = this->sensorData->getCurrentPos();
lineOne.concat(pos.getLatitude());
lineTwo.concat(pos.getLongitude());
}
@@ -60,52 +64,80 @@ void MenuSensorData::printPage() const {
case 4:
lineOne = "Time: ";
lineTwo = "";
if (fixType) {
if (static_cast<bool>(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
}
else
{
lineTwo = "00:00:00";
}
break;
case 5: {
case 5:
{
lineOne = "CarSol: ";
lineTwo = "Ntrip: ";
uint8_t carrSoln = gpsData->flags.bits.carrSoln;
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";
NTRIPClientStates status = this->sensorData->getNtripState();
}
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 (fixType) {
if (static_cast<bool>(fixType))
{
lineOne.concat(gpsData->hAcc);
lineTwo.concat(gpsData->numSV);
} else {
}
else
{
lineOne.concat("-/-");
lineTwo.concat("-/-");
}
src/SpecialMenus/Speed/menuSpeed.cpp
+4 -3
View File
@@ -12,8 +12,9 @@
#include "menuSpeed.h"
void MenuSpeed::action(int16_t* values, uint8_t length) {
if (length != 2)
if (length != 2) {
return;
this->speeds.x = (double) values[0] / 10.0;
this->speeds.rot = (double) values[1] / 10.0;
}
this->speeds.x = values[0] / 10.0;
this->speeds.rot = values[1] / 10.0;
}
src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp
+1 -2
View File
@@ -12,8 +12,7 @@
#include "menuSysteminformation.h"
MenuSysteminformation::MenuSysteminformation(Battery* mainBattery)
: MenuInformationSites(8) {
this->mainBattery = mainBattery;
: MenuInformationSites(8), mainBattery {mainBattery} {
this->noEqualLeft = true;
}
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp
+78 -29
View File
@@ -11,24 +11,31 @@
#include "menuAutopilot.h"
void MenuAutopilot::printPage() const {
CourseCorrection correction = this->autopilot->getCourseCorrection();
void MenuAutopilot::printPage() const
{
const CourseCorrection correction = this->autopilot->getCourseCorrection();
const UBX_NAV_PVT_data_t *gpsData = this->autopilot->getSensorData()->getGnssData();
bool navigationStarted = this->autopilot->getState() >= Autopilot::State::NavigationStarted;
const bool navigationStarted = this->autopilot->getState() >= Autopilot::State::NavigationStarted;
String distanceString = "";
if (navigationStarted) {
if (navigationStarted)
{
uint16_t distance = 0;
if (correction.distance < 1) {
distance = (uint16_t) (correction.distance * 100);
if (correction.distance < 1)
{
distance = static_cast<uint16_t>(correction.distance * 100);
distanceString.concat(distance);
distanceString.concat("cm");
} else if (correction.distance < 1000) {
distance = (uint16_t) correction.distance;
}
else if (correction.distance < 1000)
{
distance = static_cast<uint16_t>(correction.distance);
distanceString.concat(distance);
distanceString.concat("m");
} else {
distance = (uint16_t) (correction.distance / 1000);
}
else
{
distance = static_cast<uint16_t>(correction.distance / 1000);
distanceString.concat(distance);
distanceString.concat("km");
}
@@ -37,11 +44,14 @@ void MenuAutopilot::printPage() const {
String lineOne = "No information";
String lineTwo = "available";
switch (this->getCurrentPage()) {
case 0: {
switch (this->getCurrentPage())
{
case 0:
{
lineOne = "Status: ";
lineTwo = "";
switch (this->autopilot->getState()) {
switch (this->autopilot->getState())
{
case Autopilot::State::InsufficientAccuracy:
lineTwo = "Err: LowAccuracy";
break;
@@ -84,7 +94,8 @@ void MenuAutopilot::printPage() const {
}
case 1:
if (!navigationStarted) {
if (!navigationStarted)
{
lineOne = "Navigation is";
lineTwo = "not started";
break;
@@ -103,42 +114,59 @@ void MenuAutopilot::printPage() const {
lineTwo.concat(this->autopilot->getRouteInfo().totalPoints);
break;
case 3: {
case 3:
{
NTRIPClientStates status = this->autopilot->getSensorData()->getNtripClient()->getClientState();
uint8_t carrSoln = gpsData->flags.bits.carrSoln;
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 (gpsData->fixType)
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)
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()) {
switch (this->autopilot->getSensorData()->getCalcAzimuthState())
{
case CalcAzimuth::State::Bad:
lineTwo.concat("Bad");
break;
@@ -163,7 +191,9 @@ void MenuAutopilot::printPage() const {
lineTwo.concat("Unkown");
break;
}
} else {
}
else
{
lineOne = "Real Azi: ";
lineTwo = "";
lineOne.concat(this->autopilot->getSensorData()->getRealAzimuth());
@@ -173,17 +203,25 @@ void MenuAutopilot::printPage() const {
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:
@@ -201,17 +239,22 @@ void MenuAutopilot::printPage() const {
this->print(lineOne, lineTwo);
}
void MenuAutopilot::runCommand() {
switch (this->getCurrentPage()) {
void MenuAutopilot::runCommand()
{
switch (this->getCurrentPage())
{
case 5:
this->autopilot->switchLoopMode();
break;
case 6:
if (this->targetFreezed) {
if (this->targetFreezed)
{
this->targetFreezed = false;
this->autopilot->getNavigation()->freezeTargetPoint(false);
} else {
}
else
{
this->targetFreezed = true;
this->autopilot->getNavigation()->freezeTargetPoint();
}
@@ -226,8 +269,10 @@ void MenuAutopilot::runCommand() {
}
}
void MenuAutopilot::runCommandNo() {
switch (this->getCurrentPage()) {
void MenuAutopilot::runCommandNo()
{
switch (this->getCurrentPage())
{
case 7:
this->minDistance = this->autopilot->getNavigation()->decreaseMinDistanceToReachPoint();
break;
@@ -237,15 +282,19 @@ void MenuAutopilot::runCommandNo() {
}
}
void MenuAutopilot::update() {
void MenuAutopilot::update()
{
if (!this->autopilot->shouldUpdate())
{
return;
}
this->routeInfo = this->autopilot->getRouteInfo();
this->printMenu();
}
void MenuAutopilot::init() {
void MenuAutopilot::init()
{
this->setCountPages(8);
this->autopilot = new Autopilot();
this->driveManager->changeModus(this->autopilot);
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp
+1 -1
View File
@@ -114,7 +114,7 @@ void MenuCalibrateCompass::init() {
this->driveManager->changeModus(this->caliCompassMode);
this->caliCompass = new CalibrateCompass(this->caliCompassMode->getSensorData()->getRealCompass());
this->setCountPages(11);
this->updateDelay = 500;
MenuDriveMode::updateDelay = MenuCalibrateCompass::updateDelay;
}
void MenuCalibrateCompass::runCommand() {
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.h
+4 -2
View File
@@ -45,8 +45,10 @@ class MenuCalibrateCompass : public MenuDriveMode {
void runCommand() override;
private:
CalibrateCompassM* caliCompassMode;
CalibrateCompass* caliCompass;
CalibrateCompassM* caliCompassMode = nullptr;
CalibrateCompass* caliCompass = nullptr;
static constexpr uint16_t updateDelay = 500;
};
#endif // MENU_CALIBRATE_COMPASS_H
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp
+46 -10
View File
@@ -10,14 +10,16 @@
*/
#include "menuCaptureRoute.h"
void MenuCaptureRoute::printPage() const {
RouteInfo routeInfo = this->captureRoute->getRouteInfo();
void MenuCaptureRoute::printPage() const
{
const RouteInfo routeInfo = this->captureRoute->getRouteInfo();
const UBX_NAV_PVT_data_t *gpsData = this->captureRoute->getSensorData()->getGnssData();
String lineOne = "";
String lineTwo = "";
switch (this->getCurrentPage()) {
switch (this->getCurrentPage())
{
case 0:
lineOne = "Capture Route";
lineTwo = "You can drive";
@@ -30,7 +32,8 @@ void MenuCaptureRoute::printPage() const {
case 2:
lineOne = "Last status:";
switch (this->captureRoute->getLastStatus()) {
switch (this->captureRoute->getLastStatus())
{
case Navigation::Status::InsufficientAccuracy:
lineTwo = "Poor Accuracy";
break;
@@ -55,30 +58,46 @@ void MenuCaptureRoute::printPage() const {
lineTwo.concat(this->captureRoute->getDistanceToLastPoint());
break;
case 4: {
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: {
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;
}
@@ -87,17 +106,25 @@ void MenuCaptureRoute::printPage() const {
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:
@@ -108,20 +135,28 @@ void MenuCaptureRoute::printPage() const {
this->print(lineOne, lineTwo);
}
void MenuCaptureRoute::update() {
void MenuCaptureRoute::update()
{
if (!this->captureRoute->shouldUpdate())
{
return;
}
this->printMenu();
}
void MenuCaptureRoute::runCommand() {
void MenuCaptureRoute::runCommand()
{
switch (this->getCurrentPage())
{
case 7:
if (this->captureRoute->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
{
this->captureRoute->getNavigation()->setMinAccuracy(Point::Accuracy::none);
}
else
{
this->captureRoute->getNavigation()->setMinAccuracy(Point::Accuracy::twoDigOfCM);
}
break;
default:
@@ -129,9 +164,10 @@ void MenuCaptureRoute::runCommand() {
}
}
void MenuCaptureRoute::init() {
void MenuCaptureRoute::init()
{
this->setCountPages(8);
this->updateDelay = 500;
MenuDriveMode::updateDelay = MenuCaptureRoute::updateDelay;
this->captureRoute = new CaptureRoute();
this->driveManager->changeModus(this->captureRoute);
MenuDriveMode::init();
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h
+3 -1
View File
@@ -48,7 +48,9 @@ class MenuCaptureRoute : public MenuDriveMode {
private:
void init() override;
CaptureRoute* captureRoute;
CaptureRoute* captureRoute = nullptr;
static constexpr uint16_t updateDelay = 500;
};
#endif // MENU_MANUAL_DRIVE_H
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp
+5 -5
View File
@@ -14,8 +14,6 @@ MenuManualControl::MenuManualControl(DriveManager* driveManager) : MenuDriveMode
this->noEqualLeft = true;
}
MenuManualControl::~MenuManualControl() {
}
void MenuManualControl::printPage() const {
String lineOne = "";
@@ -28,10 +26,12 @@ void MenuManualControl::printPage() const {
case 1:
lineOne = "Input mode:";
if (this->manualControl->getInputMode() == ManualControl::InputMode::Analog)
if (this->manualControl->getInputMode() == ManualControl::InputMode::Analog) {
lineTwo = "Analog";
else
}
else {
lineTwo = "Digital";
}
break;
case 2:
@@ -55,7 +55,7 @@ void MenuManualControl::init() {
this->manualControl = new ManualControl();
this->driveManager->changeModus(this->manualControl);
this->setCountPages(4);
this->updateDelay = 500;
MenuDriveMode::updateDelay = MenuManualControl::updateDelay;
this->activateSpeedMenu();
MenuDriveMode::init();
}
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.h
+4 -3
View File
@@ -27,7 +27,6 @@ class MenuManualControl : public MenuDriveMode {
* @param driveManager
*/
MenuManualControl(DriveManager* driveManager);
~MenuManualControl();
/**
* @brief Prints the Information to display and console
@@ -44,8 +43,10 @@ class MenuManualControl : public MenuDriveMode {
void runCommand() override;
private:
ManualControl* manualControl;
CalibrateCompass* caliCompass;
ManualControl* manualControl = nullptr;
CalibrateCompass* caliCompass = nullptr;
static constexpr uint16_t updateDelay = 500;
};
#endif // MENU_MANUAL_DRIVE_H
src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
+1 -1
View File
@@ -118,7 +118,7 @@ void MenuTestMode::init() {
// Other menu config
static constexpr uint8_t percentMax = 100;
static constexpr uint8_t degreeMax = 360;
static constexpr uint16_t degreeMax = 360;
static constexpr uint8_t secondsMax = 120;
static constexpr uint8_t steps = 5;