From ab265d26e2b10d4a1bbe0ee15750fd93130632ca Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Sat, 7 Dec 2024 01:52:19 +0100
Subject: [PATCH] [Format] Reformat all files with clang-format 18
---
src/ConRIG/BoardScheduler.h | 5 +-
src/ConRIG/Buses.h | 2 +-
src/ConRIG/Buttons/Buttons.cpp | 2 +-
src/ConRIG/Buttons/Buttons.h | 1 -
src/ConRIG/Radio/Radio.cpp | 14 +---
src/ConRIG/Serial/Serial.cpp | 14 +---
src/ConRIG/Serial/Serial.h | 2 +-
.../Automated/Actuators/Actuators.cpp | 14 ++--
.../Automated/Config/PinHandlerConfig.h | 2 +-
src/Groundstation/Automated/Converter.h | 2 +-
src/Groundstation/Automated/Hub.cpp | 10 ---
.../Automated/PinHandler/PinData.h | 2 +-
.../Automated/PinHandler/PinHandler.cpp | 2 +-
.../Automated/PinHandler/PinHandler.h | 2 +-
src/Groundstation/Automated/SMA/SMA.cpp | 6 --
.../Automated/Sensors/Sensors.cpp | 4 +-
src/Groundstation/Automated/Sensors/Sensors.h | 6 +-
.../Automated/automated-antennas-entry.cpp | 30 ++++----
.../Automated/test-actuators.cpp | 22 +++---
.../Automated/test-automated-radio.cpp | 26 ++-----
.../Automated/test-smcontroller.cpp | 26 +++----
.../Common/Config/EthernetConfig.h | 2 +-
.../Common/Config/GeneralConfig.h | 2 +-
src/Groundstation/Common/HubBase.cpp | 2 +-
src/Groundstation/Common/HubBase.h | 2 +-
.../Common/Ports/EthernetBase.cpp | 8 +-
src/Groundstation/Common/Ports/EthernetBase.h | 4 +-
src/Groundstation/Common/Ports/Serial.cpp | 6 +-
src/Groundstation/Common/Ports/Serial.h | 2 +-
src/Groundstation/Common/Radio/RadioBase.cpp | 15 +---
src/Groundstation/Common/Radio/RadioBase.h | 2 +-
src/Groundstation/LyraGS/Base/Hub.cpp | 2 +-
src/Groundstation/LyraGS/Base/Hub.h | 2 +-
src/Groundstation/LyraGS/BoardStatus.cpp | 10 +--
src/Groundstation/LyraGS/BoardStatus.h | 2 +-
src/Groundstation/LyraGS/Buses.h | 4 +-
src/Groundstation/LyraGS/Ports/Ethernet.cpp | 6 +-
src/Groundstation/LyraGS/Ports/Ethernet.h | 2 +-
.../LyraGS/Ports/SerialLyraGS.cpp | 6 +-
src/Groundstation/LyraGS/Ports/SerialLyraGS.h | 2 +-
src/Groundstation/LyraGS/Radio/Radio.cpp | 4 +-
src/Groundstation/LyraGS/Radio/Radio.h | 2 +-
src/Groundstation/LyraGS/lyra-gs-entry.cpp | 30 ++++----
src/Groundstation/Nokia/Buses.h | 2 +-
src/Groundstation/Nokia/Hub.cpp | 4 +-
src/Groundstation/Nokia/Hub.h | 2 +-
src/Groundstation/Nokia/Radio/Radio.cpp | 8 +-
src/Groundstation/Nokia/Radio/Radio.h | 2 +-
.../Nokia/nokia-groundstation-entry.cpp | 18 ++---
src/Groundstation/Rovie/Buses.h | 2 +-
src/Groundstation/Rovie/Hub.cpp | 2 +-
src/Groundstation/Rovie/Hub.h | 2 +-
src/Groundstation/Rovie/Ports/Ethernet.cpp | 6 +-
src/Groundstation/Rovie/Ports/Ethernet.h | 2 +-
src/Groundstation/Rovie/Radio/Radio.cpp | 8 +-
src/Groundstation/Rovie/Radio/Radio.h | 2 +-
.../Rovie/rovie-groundstation-entry.cpp | 14 ++--
src/Main/Actuators/Actuators.cpp | 43 ++++-------
src/Main/Actuators/Actuators.h | 8 +-
src/Main/AlgoReference/AlgoReference.cpp | 2 +-
src/Main/AlgoReference/AlgoReference.h | 2 +-
src/Main/BoardScheduler.h | 20 ++---
src/Main/Buses.h | 22 +++---
src/Main/CanHandler/CanHandler.cpp | 18 ++---
src/Main/CanHandler/CanHandler.h | 14 ++--
src/Main/Configs/ABKConfig.h | 2 +-
src/Main/Configs/ADAConfig.h | 2 +-
src/Main/Configs/ActuatorsConfig.h | 2 +-
src/Main/Configs/FMMConfig.h | 2 +-
src/Main/Configs/HILSimulationConfig.h | 2 +-
src/Main/Configs/MEAConfig.h | 2 +-
src/Main/Configs/NASConfig.h | 2 +-
src/Main/Configs/PinHandlerConfig.h | 2 +-
src/Main/Configs/RadioConfig.h | 2 +-
src/Main/Configs/ReferenceConfig.h | 2 +-
src/Main/Configs/SchedulerConfig.h | 2 +-
src/Main/Configs/SensorsConfig.h | 2 +-
src/Main/Data/ABKTrajectorySet.h | 2 +-
src/Main/HIL/HIL.cpp | 2 +-
src/Main/HIL/HIL.h | 2 +-
src/Main/HIL/HILData.h | 2 +-
src/Main/PersistentVars/PersistentVars.cpp | 2 +-
src/Main/PersistentVars/PersistentVars.h | 2 +-
src/Main/PinHandler/PinData.h | 2 +-
src/Main/PinHandler/PinHandler.cpp | 14 ++--
src/Main/PinHandler/PinHandler.h | 2 +-
src/Main/Radio/Radio.cpp | 31 +-------
src/Main/Radio/Radio.h | 2 +-
src/Main/Sensors/HILSensors.h | 2 +-
src/Main/Sensors/Sensors.cpp | 24 ------
src/Main/Sensors/Sensors.h | 2 +-
src/Main/Sensors/SensorsData.h | 10 +--
.../ABKController/ABKController.cpp | 5 +-
.../ABKController/ABKController.h | 2 +-
.../ABKController/ABKControllerData.h | 2 +-
.../ADAController/ADAController.cpp | 6 +-
.../ADAController/ADAController.h | 2 +-
.../ADAController/ADAControllerData.h | 2 +-
.../FlightModeManager/FlightModeManager.cpp | 10 +--
.../FlightModeManager/FlightModeManager.h | 2 +-
.../FlightModeManager/FlightModeManagerData.h | 2 +-
.../MEAController/MEAController.cpp | 8 +-
.../MEAController/MEAController.h | 2 +-
.../MEAController/MEAControllerData.h | 2 +-
.../NASController/NASController.cpp | 10 +--
.../NASController/NASController.h | 2 +-
.../NASController/NASControllerData.h | 2 +-
src/Main/StatsRecorder/StatsRecorder.cpp | 8 +-
src/Main/StatsRecorder/StatsRecorder.h | 8 +-
src/Main/main-entry.cpp | 56 +++++++-------
src/Motor/Actuators/Actuators.cpp | 32 ++------
src/Motor/Actuators/Actuators.h | 6 +-
src/Motor/Actuators/ActuatorsData.h | 2 +-
src/Motor/BoardScheduler.h | 8 +-
src/Motor/Buses.h | 14 ++--
src/Motor/CanHandler/CanHandler.cpp | 22 +++---
src/Motor/CanHandler/CanHandler.h | 8 +-
src/Motor/Configs/ActuatorsConfig.h | 2 +-
src/Motor/Configs/CanHandlerConfig.h | 2 +-
src/Motor/Configs/SchedulerConfig.h | 2 +-
src/Motor/HIL/HIL.cpp | 2 +-
src/Motor/HIL/HIL.h | 2 +-
src/Motor/HIL/HILData.h | 2 +-
src/Motor/PersistentVars/PersistentVars.cpp | 2 +-
src/Motor/PersistentVars/PersistentVars.h | 2 +-
src/Motor/Sensors/HILSensors.h | 2 +-
src/Motor/Sensors/KuliteThermocouple.h | 6 +-
src/Motor/Sensors/Sensors.cpp | 14 +---
src/Motor/Sensors/Sensors.h | 2 +-
src/Motor/Sensors/SensorsData.h | 8 +-
src/Motor/motor-entry.cpp | 16 ++--
src/Payload/Actuators/Actuators.cpp | 16 ----
.../AltitudeTrigger/AltitudeTrigger.cpp | 10 ---
src/Payload/CanHandler/CanHandler.cpp | 2 -
src/Payload/CanHandler/CanHandler.h | 6 +-
.../FlightStatsRecorder.cpp | 4 -
src/Payload/HIL/HIL.cpp | 2 +-
src/Payload/HIL/HIL.h | 3 +-
src/Payload/HIL/HILData.h | 2 +-
src/Payload/PersistentVars/PersistentVars.cpp | 2 +-
src/Payload/PersistentVars/PersistentVars.h | 2 +-
src/Payload/PinHandler/PinData.h | 2 +-
src/Payload/PinHandler/PinHandler.cpp | 2 -
src/Payload/Radio/MessageHandler.cpp | 48 ------------
src/Payload/Radio/Radio.cpp | 7 +-
src/Payload/Sensors/HILSensors.h | 2 +-
src/Payload/Sensors/Sensors.cpp | 22 +-----
.../NASController/NASController.cpp | 12 +--
.../WingController/WingController.cpp | 12 +--
src/Payload/Wing/AutomaticWingAlgorithm.cpp | 2 -
src/Payload/Wing/FileWingAlgorithm.cpp | 2 -
.../EarlyManeuverGuidanceAlgorithm.cpp | 4 +-
src/Payload/payload-entry.cpp | 14 ++--
src/RIGv2/Actuators/Actuators.cpp | 74 ++++---------------
src/RIGv2/Actuators/Actuators.h | 8 +-
src/RIGv2/Actuators/ActuatorsData.h | 2 +-
src/RIGv2/BoardScheduler.h | 10 +--
src/RIGv2/Buses.h | 20 ++---
src/RIGv2/CanHandler/CanHandler.cpp | 18 ++---
src/RIGv2/CanHandler/CanHandler.h | 14 ++--
src/RIGv2/Configs/ActuatorsConfig.h | 2 +-
src/RIGv2/Configs/GMMConfig.h | 2 +-
src/RIGv2/Configs/RadioConfig.h | 2 +-
src/RIGv2/Configs/SchedulerConfig.h | 2 +-
src/RIGv2/Configs/SensorsConfig.h | 2 +-
src/RIGv2/Configs/TARS1Config.h | 2 +-
src/RIGv2/Radio/Radio.cpp | 40 +---------
src/RIGv2/Radio/Radio.h | 2 +-
src/RIGv2/Registry/Registry.cpp | 2 +-
src/RIGv2/Registry/Registry.h | 2 +-
src/RIGv2/Sensors/Sensors.cpp | 28 +------
src/RIGv2/Sensors/Sensors.h | 4 +-
src/RIGv2/Sensors/SensorsData.h | 18 ++---
.../GroundModeManager/GroundModeManager.cpp | 18 ++---
.../GroundModeManager/GroundModeManager.h | 22 +++---
.../GroundModeManager/GroundModeManagerData.h | 2 +-
src/RIGv2/StateMachines/TARS1/MedianFilter.h | 2 +-
src/RIGv2/StateMachines/TARS1/TARS1.cpp | 2 +-
src/RIGv2/StateMachines/TARS1/TARS1.h | 8 +-
src/RIGv2/StateMachines/TARS1/TARS1Data.h | 6 +-
src/RIGv2/rig-v2-entry.cpp | 40 +++++-----
src/common/MavlinkLyra.h | 2 +-
src/common/MavlinkOrion.h | 2 +-
src/common/Radio.h | 2 +-
184 files changed, 486 insertions(+), 978 deletions(-)
diff --git a/src/ConRIG/BoardScheduler.h b/src/ConRIG/BoardScheduler.h
index f0c45b4a4..3736c89c1 100644
--- a/src/ConRIG/BoardScheduler.h
+++ b/src/ConRIG/BoardScheduler.h
@@ -42,7 +42,6 @@ public:
[[nodiscard]] bool start()
{
-
if (!radio.start())
{
LOG_ERR(logger, "Failed to start radio scheduler");
@@ -58,9 +57,9 @@ public:
return true;
}
- Boardcore::TaskScheduler &getRadioScheduler() { return radio; }
+ Boardcore::TaskScheduler& getRadioScheduler() { return radio; }
- Boardcore::TaskScheduler &getButtonsScheduler() { return buttons; }
+ Boardcore::TaskScheduler& getButtonsScheduler() { return buttons; }
private:
Boardcore::PrintLogger logger =
diff --git a/src/ConRIG/Buses.h b/src/ConRIG/Buses.h
index c46cf4534..820e2db3b 100644
--- a/src/ConRIG/Buses.h
+++ b/src/ConRIG/Buses.h
@@ -38,7 +38,7 @@ private:
public:
Buses() : spi1(SPI1) {}
- Boardcore::SPIBus &getRadio() { return spi1; }
+ Boardcore::SPIBus& getRadio() { return spi1; }
};
} // namespace ConRIG
diff --git a/src/ConRIG/Buttons/Buttons.cpp b/src/ConRIG/Buttons/Buttons.cpp
index f4214f4b6..69593bf16 100644
--- a/src/ConRIG/Buttons/Buttons.cpp
+++ b/src/ConRIG/Buttons/Buttons.cpp
@@ -40,7 +40,7 @@ Buttons::Buttons()
bool Buttons::start()
{
- TaskScheduler &scheduler = getModule<BoardScheduler>()->getRadioScheduler();
+ TaskScheduler& scheduler = getModule<BoardScheduler>()->getRadioScheduler();
return scheduler.addTask([this]() { periodicStatusCheck(); },
Config::Buttons::BUTTON_SAMPLE_PERIOD) != 0;
diff --git a/src/ConRIG/Buttons/Buttons.h b/src/ConRIG/Buttons/Buttons.h
index efe691daa..ecd160f2f 100644
--- a/src/ConRIG/Buttons/Buttons.h
+++ b/src/ConRIG/Buttons/Buttons.h
@@ -35,7 +35,6 @@ class Radio;
class Buttons : public Boardcore::InjectableWithDeps<BoardScheduler, Radio>
{
-
public:
Buttons();
diff --git a/src/ConRIG/Radio/Radio.cpp b/src/ConRIG/Radio/Radio.cpp
index b43337517..04a5ab8d1 100644
--- a/src/ConRIG/Radio/Radio.cpp
+++ b/src/ConRIG/Radio/Radio.cpp
@@ -43,9 +43,7 @@ void handleDioIRQ()
{
SX1278Lora* instance = gRadio;
if (instance)
- {
instance->handleDioIRQ();
- }
}
void setIRQRadio(SX1278Lora* radio)
@@ -69,13 +67,9 @@ void Radio::handleMessage(const mavlink_message_t& msg)
isArmed = armingState == 1;
if (armingState == 1)
- {
getModule<Buttons>()->enableIgnition();
- }
else
- {
getModule<Buttons>()->disableIgnition();
- }
break;
}
@@ -220,10 +214,8 @@ bool Radio::start()
// Initialize mavdriver
mavDriver = std::make_unique<MavDriver>(
- radio.get(),
- [this](MavDriver*, const mavlink_message_t& msg)
- { handleMessage(msg); },
- Config::Radio::MAV_SLEEP_AFTER_SEND,
+ radio.get(), [this](MavDriver*, const mavlink_message_t& msg)
+ { handleMessage(msg); }, Config::Radio::MAV_SLEEP_AFTER_SEND,
Config::Radio::MAV_OUT_BUFFER_MAX_AGE);
if (!mavDriver->start())
@@ -264,4 +256,4 @@ Radio::Radio()
buttonState.tars_btn = false;
buttonState.arm_switch = false;
buttonState.ignition_btn = false;
-}
\ No newline at end of file
+}
diff --git a/src/ConRIG/Serial/Serial.cpp b/src/ConRIG/Serial/Serial.cpp
index d52981319..e2e7773e5 100644
--- a/src/ConRIG/Serial/Serial.cpp
+++ b/src/ConRIG/Serial/Serial.cpp
@@ -32,15 +32,11 @@ using namespace Boardcore;
bool Serial::start()
{
mavDriver = std::make_unique<SerialMavDriver>(
- this,
- [this](SerialMavDriver* channel, const mavlink_message_t& msg)
- { handleMessage(msg); },
- 0, 10);
+ this, [this](SerialMavDriver* channel, const mavlink_message_t& msg)
+ { handleMessage(msg); }, 0, 10);
if (!mavDriver->start())
- {
return false;
- }
return true;
}
@@ -48,9 +44,7 @@ bool Serial::start()
void Serial::sendMessage(const mavlink_message_t& msg)
{
if (mavDriver)
- {
mavDriver->enqueueMsg(msg);
- }
}
void Serial::sendNack(const mavlink_message_t& msg)
@@ -74,9 +68,7 @@ void Serial::sendAck(const mavlink_message_t& msg)
void Serial::handleMessage(const mavlink_message_t& msg)
{
if (!getModule<Radio>()->enqueueMessage(msg))
- {
sendNack(msg);
- }
}
ssize_t Serial::receive(uint8_t* pkt, size_t maxLen)
@@ -89,4 +81,4 @@ bool Serial::send(uint8_t* pkt, size_t len)
{
auto serial = miosix::DefaultConsole::instance().get();
return serial->writeBlock(pkt, len, 0) != static_cast<ssize_t>(len);
-}
\ No newline at end of file
+}
diff --git a/src/ConRIG/Serial/Serial.h b/src/ConRIG/Serial/Serial.h
index a7a52c355..500345559 100644
--- a/src/ConRIG/Serial/Serial.h
+++ b/src/ConRIG/Serial/Serial.h
@@ -78,4 +78,4 @@ private:
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("serial");
};
-} // namespace ConRIG
\ No newline at end of file
+} // namespace ConRIG
diff --git a/src/Groundstation/Automated/Actuators/Actuators.cpp b/src/Groundstation/Automated/Actuators/Actuators.cpp
index b9463c541..a3d780d9b 100644
--- a/src/Groundstation/Automated/Actuators/Actuators.cpp
+++ b/src/Groundstation/Automated/Actuators/Actuators.cpp
@@ -86,8 +86,8 @@ void Actuators::disarm()
ActuationStatus Actuators::setSpeed(StepperList axis, float speed)
{
- const auto *config = getStepperConfig(axis);
- auto *stepper = getStepper(axis);
+ const auto* config = getStepperConfig(axis);
+ auto* stepper = getStepper(axis);
auto actuationState = ActuationStatus::OK;
auto multiplier = getStepperMultiplier(axis);
@@ -130,14 +130,14 @@ int16_t Actuators::getCurrentPosition(StepperList axis)
float Actuators::getCurrentDegPosition(StepperList axis)
{
auto multiplier = getStepperMultiplier(axis);
- auto *stepper = getStepper(axis);
+ auto* stepper = getStepper(axis);
return stepper->getCurrentDegPosition() / multiplier;
}
ActuationStatus Actuators::move(StepperList axis, int16_t steps)
{
- auto *stepper = getStepper(axis);
+ auto* stepper = getStepper(axis);
ActuationStatus actuationState =
ActuationStatus::OK; //< In case the move command is not limited
@@ -145,7 +145,7 @@ ActuationStatus Actuators::move(StepperList axis, int16_t steps)
if (!stepper->isEnabled())
return ActuationStatus::DISABLED;
- const auto *config = getStepperConfig(axis);
+ const auto* config = getStepperConfig(axis);
float position = getCurrentPosition(axis);
int16_t maxSteps =
@@ -172,12 +172,12 @@ ActuationStatus Actuators::move(StepperList axis, int16_t steps)
ActuationStatus Actuators::moveDeg(StepperList axis, float degrees)
{
- auto *stepper = getStepper(axis);
+ auto* stepper = getStepper(axis);
ActuationStatus actuationState =
ActuationStatus::OK; //< In case the move command is not limited
- const auto *config = getStepperConfig(axis);
+ const auto* config = getStepperConfig(axis);
auto multiplier = getStepperMultiplier(axis);
float positionDeg = getCurrentDegPosition(axis);
diff --git a/src/Groundstation/Automated/Config/PinHandlerConfig.h b/src/Groundstation/Automated/Config/PinHandlerConfig.h
index 10e956a74..f0c0486a1 100644
--- a/src/Groundstation/Automated/Config/PinHandlerConfig.h
+++ b/src/Groundstation/Automated/Config/PinHandlerConfig.h
@@ -32,4 +32,4 @@ constexpr unsigned int ARM_SWITCH_THRESHOLD = 1;
constexpr unsigned int ACTIVE_SWITCH_THRESHOLD = 1;
} // namespace PinHandlerConfig
-} // namespace Antennas
\ No newline at end of file
+} // namespace Antennas
diff --git a/src/Groundstation/Automated/Converter.h b/src/Groundstation/Automated/Converter.h
index 5c7ddf018..c5ba00c63 100644
--- a/src/Groundstation/Automated/Converter.h
+++ b/src/Groundstation/Automated/Converter.h
@@ -43,4 +43,4 @@ AntennaAngles rocketPositionToAntennaAngles(const NEDCoords& ned)
angles.theta1 = std::atan2(ned.n, ned.e);
angles.theta2 = std::atan2(-ned.d, ned.n);
return angles;
-}
\ No newline at end of file
+}
diff --git a/src/Groundstation/Automated/Hub.cpp b/src/Groundstation/Automated/Hub.cpp
index bf6c80042..adc96f2c6 100644
--- a/src/Groundstation/Automated/Hub.cpp
+++ b/src/Groundstation/Automated/Hub.cpp
@@ -50,18 +50,14 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
if (status->isMainRadioPresent() && msg.sysid == MAV_SYSID_MAIN)
{
if (!radioMain->sendMsg(msg))
- {
sendNack(msg, 306);
- }
}
if (status->isPayloadRadioPresent() && msg.sysid == MAV_SYSID_PAYLOAD)
{
LyraGS::RadioPayload* radioPayload = getModule<LyraGS::RadioPayload>();
if (!radioPayload->sendMsg(msg))
- {
sendNack(msg, 306);
- }
}
if (msg.sysid == MAV_SYSID_ARP)
@@ -88,20 +84,14 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
mavlink_msg_arp_command_tc_get_command_id(&msg));
if (commandId == MAV_CMD_FORCE_REBOOT)
- {
reboot();
- }
auto it = commandToEvent.find(commandId);
if (it != commandToEvent.end())
- {
EventBroker::getInstance().post(it->second, TOPIC_TMTC);
- }
else
- {
return sendNack(msg, 301);
- }
// Acknowledge the message
sendAck(msg);
diff --git a/src/Groundstation/Automated/PinHandler/PinData.h b/src/Groundstation/Automated/PinHandler/PinData.h
index b22b80f75..25f13d772 100644
--- a/src/Groundstation/Automated/PinHandler/PinData.h
+++ b/src/Groundstation/Automated/PinHandler/PinData.h
@@ -51,4 +51,4 @@ struct PinChangeData
}
};
-} // namespace Antennas
\ No newline at end of file
+} // namespace Antennas
diff --git a/src/Groundstation/Automated/PinHandler/PinHandler.cpp b/src/Groundstation/Automated/PinHandler/PinHandler.cpp
index d27517762..d3a8dd0ff 100644
--- a/src/Groundstation/Automated/PinHandler/PinHandler.cpp
+++ b/src/Groundstation/Automated/PinHandler/PinHandler.cpp
@@ -129,4 +129,4 @@ PinData PinHandler::getPinData(PinList pin)
}
}
}
-} // namespace Antennas
\ No newline at end of file
+} // namespace Antennas
diff --git a/src/Groundstation/Automated/PinHandler/PinHandler.h b/src/Groundstation/Automated/PinHandler/PinHandler.h
index 07448cdd1..18bffa9c8 100644
--- a/src/Groundstation/Automated/PinHandler/PinHandler.h
+++ b/src/Groundstation/Automated/PinHandler/PinHandler.h
@@ -72,4 +72,4 @@ private:
Boardcore::TaskScheduler scheduler;
Boardcore::PinObserver pin_observer;
};
-} // namespace Antennas
\ No newline at end of file
+} // namespace Antennas
diff --git a/src/Groundstation/Automated/SMA/SMA.cpp b/src/Groundstation/Automated/SMA/SMA.cpp
index 7ae4e1da9..57b170743 100644
--- a/src/Groundstation/Automated/SMA/SMA.cpp
+++ b/src/Groundstation/Automated/SMA/SMA.cpp
@@ -181,9 +181,7 @@ void SMA::update()
case SMAState::INSERT_INFO:
{
if (antennaCoordinatesSet)
- {
EventBroker::getInstance().post(ARP_INFO_INSERTED, TOPIC_ARP);
- }
break;
}
@@ -785,9 +783,7 @@ State SMA::state_fix_rocket(const Event& event)
// init the follower before leaving the state
// (compute initial arp-rocket distance and bearing)
if (!follower.init())
- {
LOG_ERR(logger, "Follower initialization failed");
- }
leds->setOn(LedColor::YELLOW);
return HANDLED;
@@ -942,9 +938,7 @@ State SMA::state_fix_rocket_nf(const Event& event)
// init the follower before leaving the state
// (compute initial arp-rocket distance and bearing)
if (!follower.init())
- {
LOG_ERR(logger, "Follower initialization failed");
- }
leds->setOn(LedColor::YELLOW);
return HANDLED;
diff --git a/src/Groundstation/Automated/Sensors/Sensors.cpp b/src/Groundstation/Automated/Sensors/Sensors.cpp
index ec7be31c6..866231a74 100644
--- a/src/Groundstation/Automated/Sensors/Sensors.cpp
+++ b/src/Groundstation/Automated/Sensors/Sensors.cpp
@@ -35,9 +35,7 @@ Sensors::Sensors() {}
bool Sensors::start()
{
if (!vn300Init())
- {
return false;
- }
sm = new SensorManager(sensorsMap);
if (!sm->start())
@@ -72,4 +70,4 @@ void Sensors::vn300Callback()
VN300Data Sensors::getVN300LastSample() { return vn300->getLastSample(); }
-} // namespace Antennas
\ No newline at end of file
+} // namespace Antennas
diff --git a/src/Groundstation/Automated/Sensors/Sensors.h b/src/Groundstation/Automated/Sensors/Sensors.h
index a293f0a2f..87ce9a237 100644
--- a/src/Groundstation/Automated/Sensors/Sensors.h
+++ b/src/Groundstation/Automated/Sensors/Sensors.h
@@ -48,10 +48,10 @@ private:
bool vn300Init();
void vn300Callback();
- Boardcore::VN300 *vn300 = nullptr;
+ Boardcore::VN300* vn300 = nullptr;
- Boardcore::SensorManager *sm = nullptr;
+ Boardcore::SensorManager* sm = nullptr;
Boardcore::SensorManager::SensorMap_t sensorsMap;
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("sensors");
};
-} // namespace Antennas
\ No newline at end of file
+} // namespace Antennas
diff --git a/src/Groundstation/Automated/automated-antennas-entry.cpp b/src/Groundstation/Automated/automated-antennas-entry.cpp
index 15c5ed3ed..3a022fc8c 100644
--- a/src/Groundstation/Automated/automated-antennas-entry.cpp
+++ b/src/Groundstation/Automated/automated-antennas-entry.cpp
@@ -62,7 +62,7 @@ GpioPin button = GpioPin(GPIOG_BASE, 10); ///< Emergency stop button
*/
int main()
{
- ModuleManager &modules = ModuleManager::getInstance();
+ ModuleManager& modules = ModuleManager::getInstance();
PrintLogger logger = Logging::getLogger("automated_antennas");
bool ok = true;
@@ -82,18 +82,18 @@ int main()
});
ButtonHandler::getInstance().start();
- TaskScheduler *scheduler_low = new TaskScheduler(0);
- TaskScheduler *scheduler_high = new TaskScheduler();
- Leds *leds = new Leds(scheduler_low);
- Hub *hub = new Hub();
- Buses *buses = new Buses();
- Serial *serial = new Serial();
- RadioMain *radio_main = new RadioMain();
- BoardStatus *board_status = new BoardStatus();
- Actuators *actuators = new Actuators();
- Sensors *sensors = new Sensors();
- SMA *sma = new SMA(scheduler_high);
- Ethernet *ethernet = new Ethernet();
+ TaskScheduler* scheduler_low = new TaskScheduler(0);
+ TaskScheduler* scheduler_high = new TaskScheduler();
+ Leds* leds = new Leds(scheduler_low);
+ Hub* hub = new Hub();
+ Buses* buses = new Buses();
+ Serial* serial = new Serial();
+ RadioMain* radio_main = new RadioMain();
+ BoardStatus* board_status = new BoardStatus();
+ Actuators* actuators = new Actuators();
+ Sensors* sensors = new Sensors();
+ SMA* sma = new SMA(scheduler_high);
+ Ethernet* ethernet = new Ethernet();
// Inserting Modules
{ // TODO remove this scope (improve readability)
@@ -181,9 +181,7 @@ int main()
LOG_INFO(logger, "Modules setup successful");
if (board_status->isMainRadioPresent())
- {
LOG_DEBUG(logger, "Main radio is present\n");
- }
// If init fatal and sma not started, blink red endlessly
if (init_fatal)
@@ -201,8 +199,6 @@ int main()
}
while (true)
- {
Thread::wait();
- }
return 0;
}
diff --git a/src/Groundstation/Automated/test-actuators.cpp b/src/Groundstation/Automated/test-actuators.cpp
index 064b76b6a..a92629b15 100644
--- a/src/Groundstation/Automated/test-actuators.cpp
+++ b/src/Groundstation/Automated/test-actuators.cpp
@@ -79,7 +79,7 @@ void errorLoop()
}
}
-void test1(Actuators *actuators)
+void test1(Actuators* actuators)
{
PrintLogger logger = PrintLogger{Logging::getLogger("test-actuators")};
LOG_INFO(logger, "Executing Test 1");
@@ -109,7 +109,7 @@ void test1(Actuators *actuators)
LOG_INFO(logger, "Test 1 completed\n");
}
-void test2(Actuators *actuators)
+void test2(Actuators* actuators)
{
PrintLogger logger = PrintLogger{Logging::getLogger("test-actuators")};
LOG_INFO(logger, "Executing Test 2");
@@ -138,7 +138,7 @@ void test2(Actuators *actuators)
LOG_INFO(logger, "Test 2 completed\n");
}
-void test3(Actuators *actuators)
+void test3(Actuators* actuators)
{
actuators->setSpeed(StepperList::STEPPER_X, STEPPER_SPEED);
actuators->setSpeed(StepperList::STEPPER_Y, STEPPER_SPEED);
@@ -154,7 +154,7 @@ void test3(Actuators *actuators)
ledWaitLoop(TEST_WAIT);
}
-void test6(Actuators *actuators)
+void test6(Actuators* actuators)
{
PrintLogger logger = PrintLogger{Logging::getLogger("test-actuators")};
LOG_INFO(logger, "Executing Test 6");
@@ -193,11 +193,11 @@ int main()
{
ledOff();
- Hub *hub = new Hub();
- LyraGS::Buses *buses = new LyraGS::Buses();
- Serial *serial = new Serial();
- Actuators *actuators = new Actuators();
- Sensors *sensors = new Sensors();
+ Hub* hub = new Hub();
+ LyraGS::Buses* buses = new LyraGS::Buses();
+ Serial* serial = new Serial();
+ Actuators* actuators = new Actuators();
+ Sensors* sensors = new Sensors();
DependencyManager manager;
PrintLogger logger = PrintLogger{Logging::getLogger("test-actuators")};
@@ -264,8 +264,6 @@ int main()
led1Off();
while (1)
- {
Thread::sleep(1000);
- }
return 0;
-}
\ No newline at end of file
+}
diff --git a/src/Groundstation/Automated/test-automated-radio.cpp b/src/Groundstation/Automated/test-automated-radio.cpp
index 0924097e9..c33b71cdd 100644
--- a/src/Groundstation/Automated/test-automated-radio.cpp
+++ b/src/Groundstation/Automated/test-automated-radio.cpp
@@ -35,9 +35,7 @@ using namespace miosix;
void spinLoop()
{
while (1)
- {
Thread::sleep(1000);
- }
}
void errorLoop()
@@ -55,13 +53,13 @@ int main()
{
ledOff();
- Hub *hub = new Hub();
- Buses *buses = new Buses();
- Serial *serial = new Serial();
- RadioMain *radio_main = new RadioMain();
- BoardStatus *board_status = new BoardStatus();
+ Hub* hub = new Hub();
+ Buses* buses = new Buses();
+ Serial* serial = new Serial();
+ RadioMain* radio_main = new RadioMain();
+ BoardStatus* board_status = new BoardStatus();
- ModuleManager &modules = ModuleManager::getInstance();
+ ModuleManager& modules = ModuleManager::getInstance();
bool ok = true;
@@ -82,33 +80,23 @@ int main()
ok &= serial->start();
if (!ok)
- {
printf("[error] Failed to start serial!\n");
- }
ok &= radio_main->start();
if (!ok)
- {
printf("[error] Failed to start main radio!\n");
- }
ok &= board_status->start();
if (!ok)
- {
printf("[error] Failed to start radio status!\n");
- }
if (board_status->isMainRadioPresent())
- {
led2On();
- }
if (!ok)
- {
errorLoop();
- }
led1On();
spinLoop();
return 0;
-}
\ No newline at end of file
+}
diff --git a/src/Groundstation/Automated/test-smcontroller.cpp b/src/Groundstation/Automated/test-smcontroller.cpp
index 500e82291..a77712da3 100644
--- a/src/Groundstation/Automated/test-smcontroller.cpp
+++ b/src/Groundstation/Automated/test-smcontroller.cpp
@@ -29,19 +29,19 @@
#include <memory>
#include <unordered_set>
-#define ARP_EVENTS \
- { \
- ARP_INIT_OK, ARP_INIT_ERROR, ARP_CAL_DONE, ARP_FIX_ANTENNAS, \
- ARP_FIX_ROCKET \
- }
-
-#define TMTC_EVENTS \
- { \
- TMTC_ARP_FORCE_INIT, TMTC_ARP_RESET_ALGORITHM, \
- TMTC_ARP_FORCE_NO_FEEDBACK, TMTC_ARP_ARM, TMTC_ARP_DISARM, \
- TMTC_ARP_CALIBRATE, TMTC_ARP_ENTER_TEST_MODE, \
- TMTC_ARP_EXIT_TEST_MODE \
- }
+#define ARP_EVENTS \
+ {ARP_INIT_OK, ARP_INIT_ERROR, ARP_CAL_DONE, ARP_FIX_ANTENNAS, \
+ ARP_FIX_ROCKET}
+
+#define TMTC_EVENTS \
+ {TMTC_ARP_FORCE_INIT, \
+ TMTC_ARP_RESET_ALGORITHM, \
+ TMTC_ARP_FORCE_NO_FEEDBACK, \
+ TMTC_ARP_ARM, \
+ TMTC_ARP_DISARM, \
+ TMTC_ARP_CALIBRATE, \
+ TMTC_ARP_ENTER_TEST_MODE, \
+ TMTC_ARP_EXIT_TEST_MODE}
#define TEST_STATE(INITIAL_STATE, EVENT, TOPIC_SM, FINAL_STATE) \
sm->forceState(&SMA::INITIAL_STATE); \
diff --git a/src/Groundstation/Common/Config/EthernetConfig.h b/src/Groundstation/Common/Config/EthernetConfig.h
index e54c5658b..863597f1d 100644
--- a/src/Groundstation/Common/Config/EthernetConfig.h
+++ b/src/Groundstation/Common/Config/EthernetConfig.h
@@ -37,4 +37,4 @@ constexpr Boardcore::WizIp IP_BASE = {192, 168, 1, 0};
constexpr Boardcore::WizIp GATEWAY = {192, 168, 1, 1};
constexpr Boardcore::WizIp SUBNET = {255, 255, 255, 0};
-} // namespace Groundstation
\ No newline at end of file
+} // namespace Groundstation
diff --git a/src/Groundstation/Common/Config/GeneralConfig.h b/src/Groundstation/Common/Config/GeneralConfig.h
index ef304c86d..0cbd6a431 100644
--- a/src/Groundstation/Common/Config/GeneralConfig.h
+++ b/src/Groundstation/Common/Config/GeneralConfig.h
@@ -32,4 +32,4 @@ constexpr uint8_t GS_COMPONENT_ID = 1;
constexpr uint8_t ARP_SYSTEM_ID = SysIDs::MAV_SYSID_ARP;
constexpr uint8_t ARP_COMPONENT_ID = 1;
-} // namespace Groundstation
\ No newline at end of file
+} // namespace Groundstation
diff --git a/src/Groundstation/Common/HubBase.cpp b/src/Groundstation/Common/HubBase.cpp
index 8effcfb77..9c191b2a2 100644
--- a/src/Groundstation/Common/HubBase.cpp
+++ b/src/Groundstation/Common/HubBase.cpp
@@ -33,4 +33,4 @@ void HubBase::sendNack(const mavlink_message_t& msg, const uint16_t errId)
msg.msgid, msg.seq, 0);
dispatchIncomingMsg(nack_msg);
-}
\ No newline at end of file
+}
diff --git a/src/Groundstation/Common/HubBase.h b/src/Groundstation/Common/HubBase.h
index f121655d1..8118bd296 100644
--- a/src/Groundstation/Common/HubBase.h
+++ b/src/Groundstation/Common/HubBase.h
@@ -54,4 +54,4 @@ protected:
void sendNack(const mavlink_message_t& msg, const uint16_t errId);
};
-} // namespace Groundstation
\ No newline at end of file
+} // namespace Groundstation
diff --git a/src/Groundstation/Common/Ports/EthernetBase.cpp b/src/Groundstation/Common/Ports/EthernetBase.cpp
index 2a07d4331..f183a9a64 100644
--- a/src/Groundstation/Common/Ports/EthernetBase.cpp
+++ b/src/Groundstation/Common/Ports/EthernetBase.cpp
@@ -51,17 +51,13 @@ WizMac Groundstation::genNewRandomMac()
void EthernetBase::handleINTn()
{
if (wiz5500)
- {
wiz5500->handleINTn();
- }
}
void EthernetBase::sendMsg(const mavlink_message_t& msg)
{
if (mav_driver && mav_driver->isStarted())
- {
mav_driver->enqueueMsg(msg);
- }
}
Boardcore::Wiz5500::PhyState EthernetBase::getState()
@@ -110,9 +106,7 @@ bool EthernetBase::start(std::unique_ptr<Boardcore::Wiz5500> wiz5500)
mav_driver = std::make_unique<EthernetMavDriver>(this, mav_handler, 0, 10);
if (!mav_driver->start())
- {
return false;
- }
return true;
}
@@ -133,4 +127,4 @@ ssize_t EthernetBase::receive(uint8_t* pkt, size_t max_len)
bool EthernetBase::send(uint8_t* pkt, size_t len)
{
return wiz5500->send(0, pkt, len, 100);
-}
\ No newline at end of file
+}
diff --git a/src/Groundstation/Common/Ports/EthernetBase.h b/src/Groundstation/Common/Ports/EthernetBase.h
index 1113560c8..5f997f6ca 100644
--- a/src/Groundstation/Common/Ports/EthernetBase.h
+++ b/src/Groundstation/Common/Ports/EthernetBase.h
@@ -44,7 +44,7 @@ class EthernetBase : public Boardcore::Transceiver,
public Boardcore::InjectableWithDeps<HubBase>
{
public:
- EthernetBase(){};
+ EthernetBase() {};
EthernetBase(bool randomIp, uint8_t ipOffset)
: randomIp{randomIp}, ipOffset{ipOffset} {};
@@ -74,4 +74,4 @@ private:
uint8_t ipOffset = 0;
};
-} // namespace Groundstation
\ No newline at end of file
+} // namespace Groundstation
diff --git a/src/Groundstation/Common/Ports/Serial.cpp b/src/Groundstation/Common/Ports/Serial.cpp
index a8716aaeb..5c9cc2276 100644
--- a/src/Groundstation/Common/Ports/Serial.cpp
+++ b/src/Groundstation/Common/Ports/Serial.cpp
@@ -34,9 +34,7 @@ bool Serial::start()
mav_driver = std::make_unique<SerialMavDriver>(this, mav_handler, 0, 10);
if (!mav_driver->start())
- {
return false;
- }
return true;
}
@@ -44,9 +42,7 @@ bool Serial::start()
void Serial::sendMsg(const mavlink_message_t& msg)
{
if (mav_driver && mav_driver->isStarted())
- {
mav_driver->enqueueMsg(msg);
- }
}
void Serial::handleMsg(const mavlink_message_t& msg)
@@ -65,4 +61,4 @@ bool Serial::send(uint8_t* pkt, size_t len)
{
auto serial = miosix::DefaultConsole::instance().get();
return serial->writeBlock(pkt, len, 0) != static_cast<ssize_t>(len);
-}
\ No newline at end of file
+}
diff --git a/src/Groundstation/Common/Ports/Serial.h b/src/Groundstation/Common/Ports/Serial.h
index abfba264d..108625dcc 100644
--- a/src/Groundstation/Common/Ports/Serial.h
+++ b/src/Groundstation/Common/Ports/Serial.h
@@ -70,4 +70,4 @@ private:
std::unique_ptr<SerialMavDriver> mav_driver;
};
-} // namespace Groundstation
\ No newline at end of file
+} // namespace Groundstation
diff --git a/src/Groundstation/Common/Radio/RadioBase.cpp b/src/Groundstation/Common/Radio/RadioBase.cpp
index e6931d701..0026a0291 100644
--- a/src/Groundstation/Common/Radio/RadioBase.cpp
+++ b/src/Groundstation/Common/Radio/RadioBase.cpp
@@ -49,9 +49,7 @@ bool RadioBase::sendMsg(const mavlink_message_t& msg)
void RadioBase::handleDioIRQ()
{
if (started)
- {
sx1278->handleDioIRQ();
- }
}
RadioStats RadioBase::getStats()
@@ -87,14 +85,10 @@ bool RadioBase::start(std::unique_ptr<SX1278Fsk> sx1278)
Groundstation::MAV_OUT_BUFFER_MAX_AGE);
if (!mav_driver->start())
- {
return false;
- }
if (!ActiveObject::start())
- {
return false;
- }
started = true;
return true;
@@ -102,7 +96,6 @@ bool RadioBase::start(std::unique_ptr<SX1278Fsk> sx1278)
void RadioBase::run()
{
-
while (!shouldStop())
{
miosix::Thread::sleep(AUTOMATIC_FLUSH_PERIOD);
@@ -120,9 +113,7 @@ ssize_t RadioBase::receive(uint8_t* pkt, size_t max_len)
{
ssize_t ret = sx1278->receive(pkt, max_len);
if (ret > 0)
- {
bits_rx_count += ret * 8;
- }
return ret;
}
@@ -131,9 +122,7 @@ bool RadioBase::send(uint8_t* pkt, size_t len)
{
bool ret = sx1278->send(pkt, len);
if (ret)
- {
bits_tx_count += len * 8;
- }
return ret;
}
@@ -154,9 +143,7 @@ void RadioBase::flush()
{
Lock<FastMutex> l(pending_msgs_mutex);
for (size_t i = 0; i < pending_msgs_count; i++)
- {
mav_driver->enqueueMsg(pending_msgs[i]);
- }
pending_msgs_count = 0;
}
@@ -165,4 +152,4 @@ bool RadioBase::isEndOfTransmissionPacket(const mavlink_message_t& msg)
{
return msg.msgid == MAVLINK_MSG_ID_ROCKET_FLIGHT_TM ||
msg.msgid == MAVLINK_MSG_ID_PAYLOAD_FLIGHT_TM;
-}
\ No newline at end of file
+}
diff --git a/src/Groundstation/Common/Radio/RadioBase.h b/src/Groundstation/Common/Radio/RadioBase.h
index 6a6c454ab..12d44d748 100644
--- a/src/Groundstation/Common/Radio/RadioBase.h
+++ b/src/Groundstation/Common/Radio/RadioBase.h
@@ -128,4 +128,4 @@ private:
std::unique_ptr<RadioMavDriver> mav_driver;
};
-} // namespace Groundstation
\ No newline at end of file
+} // namespace Groundstation
diff --git a/src/Groundstation/LyraGS/Base/Hub.cpp b/src/Groundstation/LyraGS/Base/Hub.cpp
index e6ea141ea..da98e603e 100644
--- a/src/Groundstation/LyraGS/Base/Hub.cpp
+++ b/src/Groundstation/LyraGS/Base/Hub.cpp
@@ -71,4 +71,4 @@ void Hub::dispatchIncomingMsg(const mavlink_message_t& msg)
LyraGS::EthernetGS* ethernet = getModule<LyraGS::EthernetGS>();
ethernet->sendMsg(msg);
}
-}
\ No newline at end of file
+}
diff --git a/src/Groundstation/LyraGS/Base/Hub.h b/src/Groundstation/LyraGS/Base/Hub.h
index 628f3d617..d1040b642 100644
--- a/src/Groundstation/LyraGS/Base/Hub.h
+++ b/src/Groundstation/LyraGS/Base/Hub.h
@@ -52,4 +52,4 @@ public:
void dispatchIncomingMsg(const mavlink_message_t& msg) override;
};
-} // namespace GroundstationBase
\ No newline at end of file
+} // namespace GroundstationBase
diff --git a/src/Groundstation/LyraGS/BoardStatus.cpp b/src/Groundstation/LyraGS/BoardStatus.cpp
index 4aaeeaaae..0b7f6bb91 100644
--- a/src/Groundstation/LyraGS/BoardStatus.cpp
+++ b/src/Groundstation/LyraGS/BoardStatus.cpp
@@ -33,9 +33,7 @@ bool BoardStatus::isEthernetPresent() { return ethernet_present; }
bool BoardStatus::start()
{
if (!ActiveObject::start())
- {
return false;
- }
return true;
}
@@ -63,8 +61,8 @@ void BoardStatus::arpRoutine()
auto vn300 = getModule<Sensors>()->getVN300LastSample();
- Actuators *actuators = getModule<Actuators>();
- SMA *sm = getModule<SMA>();
+ Actuators* actuators = getModule<Actuators>();
+ SMA* sm = getModule<SMA>();
AntennaAngles targetAngles = sm->getTargetAngles();
@@ -190,10 +188,8 @@ void BoardStatus::GSRoutine()
void BoardStatus::run()
{
while (!shouldStop())
- {
if (isArp)
arpRoutine();
else
GSRoutine();
- }
-}
\ No newline at end of file
+}
diff --git a/src/Groundstation/LyraGS/BoardStatus.h b/src/Groundstation/LyraGS/BoardStatus.h
index 185327fc8..3eb286799 100644
--- a/src/Groundstation/LyraGS/BoardStatus.h
+++ b/src/Groundstation/LyraGS/BoardStatus.h
@@ -138,4 +138,4 @@ private:
bool isArp = false;
};
-} // namespace LyraGS
\ No newline at end of file
+} // namespace LyraGS
diff --git a/src/Groundstation/LyraGS/Buses.h b/src/Groundstation/LyraGS/Buses.h
index 9d678f612..092145958 100644
--- a/src/Groundstation/LyraGS/Buses.h
+++ b/src/Groundstation/LyraGS/Buses.h
@@ -33,7 +33,7 @@ namespace LyraGS
class Buses : public Boardcore::Injectable
{
public:
- Boardcore::SPIBus &getRadio() { return radio1_bus; }
+ Boardcore::SPIBus& getRadio() { return radio1_bus; }
Boardcore::SPIBus radio1_bus{MIOSIX_RADIO1_SPI};
Boardcore::SPIBus radio2_bus{MIOSIX_RADIO2_SPI};
@@ -42,4 +42,4 @@ public:
Boardcore::SPIBus ethernet_bus{MIOSIX_ETHERNET_SPI};
};
-} // namespace LyraGS
\ No newline at end of file
+} // namespace LyraGS
diff --git a/src/Groundstation/LyraGS/Ports/Ethernet.cpp b/src/Groundstation/LyraGS/Ports/Ethernet.cpp
index f4223d71d..6b3e3270f 100644
--- a/src/Groundstation/LyraGS/Ports/Ethernet.cpp
+++ b/src/Groundstation/LyraGS/Ports/Ethernet.cpp
@@ -53,14 +53,10 @@ bool EthernetGS::start()
bool present = wiz5500->checkVersion();
if (!present)
- {
return false;
- }
if (!EthernetBase::start(std::move(wiz5500)))
- {
return false;
- }
ethernetGSGlobal = this;
getModule<BoardStatus>()->setEthernetPresent(true);
@@ -75,4 +71,4 @@ Boardcore::Wiz5500::PhyState EthernetGS::getState()
{
return Super::getState();
};
-} // namespace LyraGS
\ No newline at end of file
+} // namespace LyraGS
diff --git a/src/Groundstation/LyraGS/Ports/Ethernet.h b/src/Groundstation/LyraGS/Ports/Ethernet.h
index fe6913f22..a267a7abe 100644
--- a/src/Groundstation/LyraGS/Ports/Ethernet.h
+++ b/src/Groundstation/LyraGS/Ports/Ethernet.h
@@ -43,4 +43,4 @@ public:
Boardcore::Wiz5500::PhyState getState();
};
-} // namespace LyraGS
\ No newline at end of file
+} // namespace LyraGS
diff --git a/src/Groundstation/LyraGS/Ports/SerialLyraGS.cpp b/src/Groundstation/LyraGS/Ports/SerialLyraGS.cpp
index 09f07474f..1b4cef60c 100644
--- a/src/Groundstation/LyraGS/Ports/SerialLyraGS.cpp
+++ b/src/Groundstation/LyraGS/Ports/SerialLyraGS.cpp
@@ -33,9 +33,7 @@ bool SerialLyraGS::start()
mav_driver = std::make_unique<SerialMavDriver>(this, mav_handler, 0, 10);
if (!mav_driver->start())
- {
return false;
- }
return true;
}
@@ -43,9 +41,7 @@ bool SerialLyraGS::start()
void SerialLyraGS::sendMsg(const mavlink_message_t& msg)
{
if (mav_driver && mav_driver->isStarted())
- {
mav_driver->enqueueMsg(msg);
- }
}
void SerialLyraGS::handleMsg(const mavlink_message_t& msg)
@@ -67,4 +63,4 @@ bool SerialLyraGS::send(uint8_t* pkt, size_t len)
Boardcore::USART& serial = getModule<Buses>()->uart4;
serial.write(pkt, len);
return true;
-}
\ No newline at end of file
+}
diff --git a/src/Groundstation/LyraGS/Ports/SerialLyraGS.h b/src/Groundstation/LyraGS/Ports/SerialLyraGS.h
index bc54eb152..5f926c036 100644
--- a/src/Groundstation/LyraGS/Ports/SerialLyraGS.h
+++ b/src/Groundstation/LyraGS/Ports/SerialLyraGS.h
@@ -75,4 +75,4 @@ private:
std::unique_ptr<SerialMavDriver> mav_driver;
};
-} // namespace LyraGS
\ No newline at end of file
+} // namespace LyraGS
diff --git a/src/Groundstation/LyraGS/Radio/Radio.cpp b/src/Groundstation/LyraGS/Radio/Radio.cpp
index b52bb1241..1093b22e5 100644
--- a/src/Groundstation/LyraGS/Radio/Radio.cpp
+++ b/src/Groundstation/LyraGS/Radio/Radio.cpp
@@ -143,9 +143,7 @@ bool RadioPayload::start()
// Initialize if only if present
if (!RadioBase::start(std::move(sx1278)))
- {
return false;
- }
}
return true;
@@ -169,4 +167,4 @@ bool RadioPayload::sendMsg(const mavlink_message_t& msg)
if (txEnable)
return RadioBase::sendMsg(msg);
return false;
-};
\ No newline at end of file
+};
diff --git a/src/Groundstation/LyraGS/Radio/Radio.h b/src/Groundstation/LyraGS/Radio/Radio.h
index 48d6d3009..840d81283 100644
--- a/src/Groundstation/LyraGS/Radio/Radio.h
+++ b/src/Groundstation/LyraGS/Radio/Radio.h
@@ -89,4 +89,4 @@ private:
bool txEnable = true;
};
-} // namespace LyraGS
\ No newline at end of file
+} // namespace LyraGS
diff --git a/src/Groundstation/LyraGS/lyra-gs-entry.cpp b/src/Groundstation/LyraGS/lyra-gs-entry.cpp
index 67afc5177..869328463 100644
--- a/src/Groundstation/LyraGS/lyra-gs-entry.cpp
+++ b/src/Groundstation/LyraGS/lyra-gs-entry.cpp
@@ -76,9 +76,7 @@ DipStatusLyraGS getDipStatus(uint8_t read)
void idleLoop()
{
while (1)
- {
Thread::wait();
- }
}
/**
@@ -135,26 +133,26 @@ int main()
PrintLogger logger = Logging::getLogger("lyra_gs");
// TODO: Board scheduler for the schedulers
- TaskScheduler *scheduler_low = new TaskScheduler(0);
- TaskScheduler *scheduler_high = new TaskScheduler();
- Buses *buses = new Buses();
- SerialLyraGS *serial = new SerialLyraGS();
- LyraGS::RadioMain *radio_main =
+ TaskScheduler* scheduler_low = new TaskScheduler(0);
+ TaskScheduler* scheduler_high = new TaskScheduler();
+ Buses* buses = new Buses();
+ SerialLyraGS* serial = new SerialLyraGS();
+ LyraGS::RadioMain* radio_main =
new LyraGS::RadioMain(dipRead.mainHasBackup, dipRead.mainTXenable);
- LyraGS::BoardStatus *board_status = new LyraGS::BoardStatus(dipRead.isARP);
- LyraGS::EthernetGS *ethernet =
+ LyraGS::BoardStatus* board_status = new LyraGS::BoardStatus(dipRead.isARP);
+ LyraGS::EthernetGS* ethernet =
new LyraGS::EthernetGS(false, dipRead.ipConfig);
- LyraGS::RadioPayload *radio_payload = new LyraGS::RadioPayload(
+ LyraGS::RadioPayload* radio_payload = new LyraGS::RadioPayload(
dipRead.payloadHasBackup, dipRead.payloadTXenable);
- HubBase *hub = nullptr;
+ HubBase* hub = nullptr;
// ARP-related things
- Antennas::Actuators *actuators = nullptr;
- Antennas::Leds *leds = nullptr;
- Antennas::Sensors *sensors = nullptr;
- Antennas::SMA *sma = nullptr;
- Antennas::PinHandler *pinHandler = nullptr;
+ Antennas::Actuators* actuators = nullptr;
+ Antennas::Leds* leds = nullptr;
+ Antennas::Sensors* sensors = nullptr;
+ Antennas::SMA* sma = nullptr;
+ Antennas::PinHandler* pinHandler = nullptr;
bool ok = true;
diff --git a/src/Groundstation/Nokia/Buses.h b/src/Groundstation/Nokia/Buses.h
index d167571c6..a05ac44c0 100644
--- a/src/Groundstation/Nokia/Buses.h
+++ b/src/Groundstation/Nokia/Buses.h
@@ -38,4 +38,4 @@ public:
Buses() : radio_bus(SPI4) {}
};
-} // namespace GroundstationNokia
\ No newline at end of file
+} // namespace GroundstationNokia
diff --git a/src/Groundstation/Nokia/Hub.cpp b/src/Groundstation/Nokia/Hub.cpp
index 1767efca3..b43665c31 100644
--- a/src/Groundstation/Nokia/Hub.cpp
+++ b/src/Groundstation/Nokia/Hub.cpp
@@ -35,13 +35,11 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
Radio* radio = getModule<Radio>();
if (!radio->sendMsg(msg))
- {
sendNack(msg, 0);
- }
}
void Hub::dispatchIncomingMsg(const mavlink_message_t& msg)
{
Serial* serial = getModule<Serial>();
serial->sendMsg(msg);
-}
\ No newline at end of file
+}
diff --git a/src/Groundstation/Nokia/Hub.h b/src/Groundstation/Nokia/Hub.h
index ab90123f1..15c641ccb 100644
--- a/src/Groundstation/Nokia/Hub.h
+++ b/src/Groundstation/Nokia/Hub.h
@@ -54,4 +54,4 @@ public:
void dispatchIncomingMsg(const mavlink_message_t& msg) override;
};
-} // namespace GroundstationNokia
\ No newline at end of file
+} // namespace GroundstationNokia
diff --git a/src/Groundstation/Nokia/Radio/Radio.cpp b/src/Groundstation/Nokia/Radio/Radio.cpp
index 77a4c41bd..1c0bea484 100644
--- a/src/Groundstation/Nokia/Radio/Radio.cpp
+++ b/src/Groundstation/Nokia/Radio/Radio.cpp
@@ -77,21 +77,15 @@ bool Radio::start()
// First check if the device is even connected
if (!sx1278->checkVersion())
- {
return false;
- }
// Configure the radio
if (sx1278->configure(Common::MAIN_RADIO_CONFIG) != SX1278Fsk::Error::NONE)
- {
return false;
- }
// Initialize if only if present
if (!RadioBase::start(std::move(sx1278)))
- {
return false;
- }
return true;
-}
\ No newline at end of file
+}
diff --git a/src/Groundstation/Nokia/Radio/Radio.h b/src/Groundstation/Nokia/Radio/Radio.h
index 746310fa7..7df336e6b 100644
--- a/src/Groundstation/Nokia/Radio/Radio.h
+++ b/src/Groundstation/Nokia/Radio/Radio.h
@@ -36,4 +36,4 @@ public:
[[nodiscard]] bool start();
};
-} // namespace GroundstationNokia
\ No newline at end of file
+} // namespace GroundstationNokia
diff --git a/src/Groundstation/Nokia/nokia-groundstation-entry.cpp b/src/Groundstation/Nokia/nokia-groundstation-entry.cpp
index 93d0f1e22..6823bb091 100644
--- a/src/Groundstation/Nokia/nokia-groundstation-entry.cpp
+++ b/src/Groundstation/Nokia/nokia-groundstation-entry.cpp
@@ -35,19 +35,17 @@ using namespace miosix;
void idleLoop()
{
while (1)
- {
Thread::wait();
- }
}
int main()
{
ledOff();
- Hub *hub = new Hub();
- Buses *buses = new Buses();
- Radio *radio = new Radio();
- Serial *serial = new Serial();
+ Hub* hub = new Hub();
+ Buses* buses = new Buses();
+ Radio* radio = new Radio();
+ Serial* serial = new Serial();
DependencyManager manager;
@@ -75,21 +73,15 @@ int main()
ok &= serial->start();
if (!ok)
- {
printf("[error] Failed to start serial!\n");
- }
ok &= radio->start();
if (!ok)
- {
printf("[error] Failed to start radio!\n");
- }
if (ok)
- {
printf("Init complete!\n");
- }
idleLoop();
return 0;
-}
\ No newline at end of file
+}
diff --git a/src/Groundstation/Rovie/Buses.h b/src/Groundstation/Rovie/Buses.h
index 54d1ce017..d38d37821 100644
--- a/src/Groundstation/Rovie/Buses.h
+++ b/src/Groundstation/Rovie/Buses.h
@@ -39,4 +39,4 @@ public:
Buses() : radio1(MIOSIX_RADIO1_SPI), ethernet(MIOSIX_ETHERNET_SPI) {}
};
-} // namespace GroundstationRovie
\ No newline at end of file
+} // namespace GroundstationRovie
diff --git a/src/Groundstation/Rovie/Hub.cpp b/src/Groundstation/Rovie/Hub.cpp
index f91e023cd..e5c9f4302 100644
--- a/src/Groundstation/Rovie/Hub.cpp
+++ b/src/Groundstation/Rovie/Hub.cpp
@@ -40,4 +40,4 @@ void Hub::dispatchIncomingMsg(const mavlink_message_t& msg)
{
getModule<Serial>()->sendMsg(msg);
getModule<Ethernet>()->sendMsg(msg);
-}
\ No newline at end of file
+}
diff --git a/src/Groundstation/Rovie/Hub.h b/src/Groundstation/Rovie/Hub.h
index 02b132826..4aa25089b 100644
--- a/src/Groundstation/Rovie/Hub.h
+++ b/src/Groundstation/Rovie/Hub.h
@@ -55,4 +55,4 @@ public:
void dispatchIncomingMsg(const mavlink_message_t& msg) override;
};
-} // namespace GroundstationRovie
\ No newline at end of file
+} // namespace GroundstationRovie
diff --git a/src/Groundstation/Rovie/Ports/Ethernet.cpp b/src/Groundstation/Rovie/Ports/Ethernet.cpp
index 3be88ebe6..bf2cdc7ec 100644
--- a/src/Groundstation/Rovie/Ports/Ethernet.cpp
+++ b/src/Groundstation/Rovie/Ports/Ethernet.cpp
@@ -36,9 +36,7 @@ void __attribute__((used)) MIOSIX_ETHERNET_IRQ()
{
Wiz5500* instance = gWiz5500;
if (instance)
- {
instance->handleINTn();
- }
}
void setIRQWiz5500(Wiz5500* instance)
@@ -55,9 +53,7 @@ bool Ethernet::start()
setIRQWiz5500(wiz5500.get());
if (!EthernetBase::start(std::move(wiz5500)))
- {
return false;
- }
return true;
-}
\ No newline at end of file
+}
diff --git a/src/Groundstation/Rovie/Ports/Ethernet.h b/src/Groundstation/Rovie/Ports/Ethernet.h
index 7184483e7..9e3ac3904 100644
--- a/src/Groundstation/Rovie/Ports/Ethernet.h
+++ b/src/Groundstation/Rovie/Ports/Ethernet.h
@@ -37,4 +37,4 @@ public:
[[nodiscard]] bool start();
};
-} // namespace GroundstationRovie
\ No newline at end of file
+} // namespace GroundstationRovie
diff --git a/src/Groundstation/Rovie/Radio/Radio.cpp b/src/Groundstation/Rovie/Radio/Radio.cpp
index 4a3bc0594..069111b43 100644
--- a/src/Groundstation/Rovie/Radio/Radio.cpp
+++ b/src/Groundstation/Rovie/Radio/Radio.cpp
@@ -37,9 +37,7 @@ void handleDioIRQ()
{
SX1278Lora* instance = gRadio;
if (instance)
- {
instance->handleDioIRQ();
- }
}
void setIRQRadio(SX1278Lora* radio)
@@ -73,9 +71,7 @@ bool RadioRig::start()
// Configure the radio
if (sx1278->configure(Common::RIG_RADIO_CONFIG) != SX1278Lora::Error::NONE)
- {
return false;
- }
auto mavHandler = [this](RadioMavDriver* channel,
const mavlink_message_t& msg) { handleMsg(msg); };
@@ -85,9 +81,7 @@ bool RadioRig::start()
Groundstation::MAV_OUT_BUFFER_MAX_AGE);
if (!mavDriver->start())
- {
return false;
- }
started = true;
return true;
@@ -97,4 +91,4 @@ void RadioRig::handleMsg(const mavlink_message_t& msg)
{
// Dispatch the message through the hub.
getModule<HubBase>()->dispatchIncomingMsg(msg);
-}
\ No newline at end of file
+}
diff --git a/src/Groundstation/Rovie/Radio/Radio.h b/src/Groundstation/Rovie/Radio/Radio.h
index 05dfb3751..e056b7ebb 100644
--- a/src/Groundstation/Rovie/Radio/Radio.h
+++ b/src/Groundstation/Rovie/Radio/Radio.h
@@ -59,4 +59,4 @@ private:
std::unique_ptr<RadioMavDriver> mavDriver;
};
-} // namespace GroundstationRovie
\ No newline at end of file
+} // namespace GroundstationRovie
diff --git a/src/Groundstation/Rovie/rovie-groundstation-entry.cpp b/src/Groundstation/Rovie/rovie-groundstation-entry.cpp
index b52aaa1cd..dad14ecec 100644
--- a/src/Groundstation/Rovie/rovie-groundstation-entry.cpp
+++ b/src/Groundstation/Rovie/rovie-groundstation-entry.cpp
@@ -36,9 +36,7 @@ using namespace miosix;
void idleLoop()
{
while (1)
- {
Thread::wait();
- }
}
void errorLoop()
@@ -56,11 +54,11 @@ int main()
{
ledOff();
- Hub *hub = new Hub();
- Buses *buses = new Buses();
- Serial *serial = new Serial();
- Ethernet *ethernet = new Ethernet();
- RadioRig *radioRig = new RadioRig();
+ Hub* hub = new Hub();
+ Buses* buses = new Buses();
+ Serial* serial = new Serial();
+ Ethernet* ethernet = new Ethernet();
+ RadioRig* radioRig = new RadioRig();
DependencyManager manager;
@@ -110,4 +108,4 @@ int main()
}
return 0;
-}
\ No newline at end of file
+}
diff --git a/src/Main/Actuators/Actuators.cpp b/src/Main/Actuators/Actuators.cpp
index f08f99474..3fd35dad0 100644
--- a/src/Main/Actuators/Actuators.cpp
+++ b/src/Main/Actuators/Actuators.cpp
@@ -53,7 +53,7 @@ bool Actuators::isStarted() { return started; }
bool Actuators::start()
{
- TaskScheduler &scheduler =
+ TaskScheduler& scheduler =
getModule<BoardScheduler>()->getLowPriorityActuatorsScheduler();
servoAbk->enable();
@@ -103,7 +103,7 @@ void Actuators::openExpulsion()
void Actuators::wiggleServo(ServosList servo)
{
Lock<FastMutex> lock{servosMutex};
- Servo *info = getServo(servo);
+ Servo* info = getServo(servo);
if (info != nullptr)
{
unsafeSetServoPosition(info, 1.0f);
@@ -125,7 +125,7 @@ void Actuators::wiggleCanServo(ServosList servo)
float Actuators::getServoPosition(ServosList servo)
{
Lock<FastMutex> lock{servosMutex};
- Servo *info = getServo(servo);
+ Servo* info = getServo(servo);
return info ? info->getPosition() : 0.0f;
}
@@ -133,17 +133,11 @@ bool Actuators::isCanServoOpen(ServosList servo)
{
Lock<FastMutex> lock{canServosMutex};
if (servo == ServosList::MAIN_VALVE)
- {
return canMainOpen;
- }
else if (servo == ServosList::VENTING_VALVE)
- {
return canVentingOpen;
- }
else
- {
return false;
- }
}
void Actuators::setStatusOff() { statusOverflow = 0; }
@@ -174,13 +168,9 @@ void Actuators::setCanServoOpen(ServosList servo, bool open)
{
Lock<FastMutex> lock{canServosMutex};
if (servo == ServosList::MAIN_VALVE)
- {
canMainOpen = open;
- }
else if (servo == ServosList::VENTING_VALVE)
- {
canVentingOpen = open;
- }
}
void Actuators::camOn() { gpios::camEnable::high(); }
@@ -209,13 +199,13 @@ void Actuators::buzzerOff()
buzzer->disableChannel(TimerUtils::Channel::MIOSIX_BUZZER_CHANNEL);
}
-void Actuators::unsafeSetServoPosition(Servo *servo, float position)
+void Actuators::unsafeSetServoPosition(Servo* servo, float position)
{
servo->setPosition(position);
sdLogger.log(servo->getState());
}
-Servo *Actuators::getServo(ServosList servo)
+Servo* Actuators::getServo(ServosList servo)
{
switch (servo)
{
@@ -234,19 +224,16 @@ void Actuators::updateBuzzer()
{
buzzerOff();
}
+ else if (buzzerCounter >= buzzerOverflow)
+ {
+ // Enable the channel for this period
+ buzzerOn();
+ buzzerCounter = 0;
+ }
else
{
- if (buzzerCounter >= buzzerOverflow)
- {
- // Enable the channel for this period
- buzzerOn();
- buzzerCounter = 0;
- }
- else
- {
- buzzerOff();
- buzzerCounter += 1;
- }
+ buzzerOff();
+ buzzerCounter += 1;
}
}
@@ -259,13 +246,9 @@ void Actuators::updateStatus()
else
{
if (statusCounter >= statusOverflow)
- {
statusOn();
- }
else
- {
statusOff();
- }
if (statusCounter >= statusOverflow * 2)
{
diff --git a/src/Main/Actuators/Actuators.h b/src/Main/Actuators/Actuators.h
index 6b8651179..85aa5e531 100644
--- a/src/Main/Actuators/Actuators.h
+++ b/src/Main/Actuators/Actuators.h
@@ -74,9 +74,9 @@ public:
void setCanServoOpen(ServosList servo, bool open);
private:
- void unsafeSetServoPosition(Boardcore::Servo *servo, float position);
+ void unsafeSetServoPosition(Boardcore::Servo* servo, float position);
- Boardcore::Servo *getServo(ServosList servo);
+ Boardcore::Servo* getServo(ServosList servo);
void statusOn();
void statusOff();
@@ -88,7 +88,7 @@ private:
void updateStatus();
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("actuators");
- Boardcore::Logger &sdLogger = Boardcore::Logger::getInstance();
+ Boardcore::Logger& sdLogger = Boardcore::Logger::getInstance();
std::atomic<bool> started{false};
@@ -108,4 +108,4 @@ private:
bool canVentingOpen = false;
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/AlgoReference/AlgoReference.cpp b/src/Main/AlgoReference/AlgoReference.cpp
index b132f62bb..903d3e0ef 100644
--- a/src/Main/AlgoReference/AlgoReference.cpp
+++ b/src/Main/AlgoReference/AlgoReference.cpp
@@ -77,4 +77,4 @@ ReferenceValues AlgoReference::getReferenceValues()
{
Lock<FastMutex> lock{referenceMutex};
return reference;
-}
\ No newline at end of file
+}
diff --git a/src/Main/AlgoReference/AlgoReference.h b/src/Main/AlgoReference/AlgoReference.h
index 1942f9bd2..b53649c47 100644
--- a/src/Main/AlgoReference/AlgoReference.h
+++ b/src/Main/AlgoReference/AlgoReference.h
@@ -47,4 +47,4 @@ private:
Boardcore::ReferenceValues reference;
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/BoardScheduler.h b/src/Main/BoardScheduler.h
index 1403f23d3..524fd8f1c 100644
--- a/src/Main/BoardScheduler.h
+++ b/src/Main/BoardScheduler.h
@@ -72,27 +72,27 @@ public:
bool isStarted() { return started; }
- Boardcore::TaskScheduler &getNasScheduler() { return nas; }
+ Boardcore::TaskScheduler& getNasScheduler() { return nas; }
- Boardcore::TaskScheduler &getMeaScheduler() { return nas; }
+ Boardcore::TaskScheduler& getMeaScheduler() { return nas; }
- Boardcore::TaskScheduler &getAbkScheduler() { return nas; }
+ Boardcore::TaskScheduler& getAbkScheduler() { return nas; }
- Boardcore::TaskScheduler &getAdaScheduler() { return ada; }
+ Boardcore::TaskScheduler& getAdaScheduler() { return ada; }
- Boardcore::TaskScheduler &getSensorsScheduler() { return sensors; }
+ Boardcore::TaskScheduler& getSensorsScheduler() { return sensors; }
- Boardcore::TaskScheduler &getPinObserverScheduler()
+ Boardcore::TaskScheduler& getPinObserverScheduler()
{
// TODO(davide.mor): Does this make sense?
return sensors;
}
- Boardcore::TaskScheduler &getRadioScheduler() { return others; }
+ Boardcore::TaskScheduler& getRadioScheduler() { return others; }
- Boardcore::TaskScheduler &getCanBusScheduler() { return others; }
+ Boardcore::TaskScheduler& getCanBusScheduler() { return others; }
- Boardcore::TaskScheduler &getLowPriorityActuatorsScheduler()
+ Boardcore::TaskScheduler& getLowPriorityActuatorsScheduler()
{
return others;
}
@@ -109,4 +109,4 @@ private:
Boardcore::TaskScheduler others;
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Buses.h b/src/Main/Buses.h
index bed733f3e..76d1843b8 100644
--- a/src/Main/Buses.h
+++ b/src/Main/Buses.h
@@ -36,18 +36,18 @@ class Buses : public Boardcore::Injectable
public:
Buses() {}
- Boardcore::SPIBus &getH3LIS331DL() { return spi1; }
- Boardcore::SPIBus &getLPS22DF() { return spi1; }
- Boardcore::SPIBus &getLIS2MDL() { return spi3; }
- Boardcore::SPIBus &getLSM6DSRX() { return spi3; }
- Boardcore::SPIBus &getVN100() { return spi1; }
- Boardcore::SPIBus &getUBXGps() { return spi3; }
- Boardcore::SPIBus &getADS131M08() { return spi4; }
- Boardcore::SPIBus &getRadio() { return spi6; }
+ Boardcore::SPIBus& getH3LIS331DL() { return spi1; }
+ Boardcore::SPIBus& getLPS22DF() { return spi1; }
+ Boardcore::SPIBus& getLIS2MDL() { return spi3; }
+ Boardcore::SPIBus& getLSM6DSRX() { return spi3; }
+ Boardcore::SPIBus& getVN100() { return spi1; }
+ Boardcore::SPIBus& getUBXGps() { return spi3; }
+ Boardcore::SPIBus& getADS131M08() { return spi4; }
+ Boardcore::SPIBus& getRadio() { return spi6; }
- Boardcore::USART &getHILUart() { return usart4; }
+ Boardcore::USART& getHILUart() { return usart4; }
- Boardcore::I2C &getLPS28DFW() { return i2c1; }
+ Boardcore::I2C& getLPS28DFW() { return i2c1; }
private:
Boardcore::SPIBus spi1{SPI1};
@@ -61,4 +61,4 @@ private:
miosix::interfaces::i2c1::sda::getPin()};
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/CanHandler/CanHandler.cpp b/src/Main/CanHandler/CanHandler.cpp
index cb8546f71..dccecff94 100644
--- a/src/Main/CanHandler/CanHandler.cpp
+++ b/src/Main/CanHandler/CanHandler.cpp
@@ -35,7 +35,7 @@ using namespace Common;
CanHandler::CanHandler()
: driver{CAN1, CanConfig::CONFIG, CanConfig::BIT_TIMING},
- protocol{&driver, [this](const CanMessage &msg) { handleMessage(msg); },
+ protocol{&driver, [this](const CanMessage& msg) { handleMessage(msg); },
Config::Scheduler::OTHERS_PRIORITY}
{
protocol.addFilter(static_cast<uint8_t>(CanConfig::Board::PAYLOAD),
@@ -52,7 +52,7 @@ bool CanHandler::start()
{
driver.init();
- TaskScheduler &scheduler =
+ TaskScheduler& scheduler =
getModule<BoardScheduler>()->getCanBusScheduler();
uint8_t result = scheduler.addTask(
@@ -132,7 +132,7 @@ CanHandler::CanStatus CanHandler::getCanStatus()
return status;
}
-void CanHandler::handleMessage(const Canbus::CanMessage &msg)
+void CanHandler::handleMessage(const Canbus::CanMessage& msg)
{
CanConfig::PrimaryType type =
static_cast<CanConfig::PrimaryType>(msg.getPrimaryType());
@@ -171,7 +171,7 @@ void CanHandler::handleMessage(const Canbus::CanMessage &msg)
}
}
-void CanHandler::handleEvent(const Canbus::CanMessage &msg)
+void CanHandler::handleEvent(const Canbus::CanMessage& msg)
{
sdLogger.log(CanEvent{TimestampTimer::getTimestamp(), msg.getSource(),
msg.getDestination(), msg.getSecondaryType()});
@@ -188,12 +188,12 @@ void CanHandler::handleEvent(const Canbus::CanMessage &msg)
}
}
-void CanHandler::handleSensor(const Canbus::CanMessage &msg)
+void CanHandler::handleSensor(const Canbus::CanMessage& msg)
{
CanConfig::SensorId sensor =
static_cast<CanConfig::SensorId>(msg.getSecondaryType());
- Sensors *sensors = getModule<Sensors>();
+ Sensors* sensors = getModule<Sensors>();
switch (sensor)
{
case CanConfig::SensorId::PITOT_DYNAMIC_PRESSURE:
@@ -259,7 +259,7 @@ void CanHandler::handleSensor(const Canbus::CanMessage &msg)
}
}
-void CanHandler::handleActuator(const Canbus::CanMessage &msg)
+void CanHandler::handleActuator(const Canbus::CanMessage& msg)
{
ServosList servo = static_cast<ServosList>(msg.getSecondaryType());
CanServoFeedback data = servoFeedbackFromCanMessage(msg);
@@ -268,7 +268,7 @@ void CanHandler::handleActuator(const Canbus::CanMessage &msg)
getModule<Actuators>()->setCanServoOpen(servo, data.open);
}
-void CanHandler::handleStatus(const Canbus::CanMessage &msg)
+void CanHandler::handleStatus(const Canbus::CanMessage& msg)
{
CanConfig::Board source = static_cast<CanConfig::Board>(msg.getSource());
CanDeviceStatus deviceStatus = deviceStatusFromCanMessage(msg);
@@ -309,4 +309,4 @@ void CanHandler::handleStatus(const Canbus::CanMessage &msg)
LOG_WARN(logger, "Received unsupported status: {}", source);
}
}
-}
\ No newline at end of file
+}
diff --git a/src/Main/CanHandler/CanHandler.h b/src/Main/CanHandler/CanHandler.h
index b8ddac87d..1ea17ea7c 100644
--- a/src/Main/CanHandler/CanHandler.h
+++ b/src/Main/CanHandler/CanHandler.h
@@ -103,14 +103,14 @@ public:
CanStatus getCanStatus();
private:
- void handleMessage(const Boardcore::Canbus::CanMessage &msg);
- void handleEvent(const Boardcore::Canbus::CanMessage &msg);
- void handleSensor(const Boardcore::Canbus::CanMessage &msg);
- void handleActuator(const Boardcore::Canbus::CanMessage &msg);
- void handleStatus(const Boardcore::Canbus::CanMessage &msg);
+ void handleMessage(const Boardcore::Canbus::CanMessage& msg);
+ void handleEvent(const Boardcore::Canbus::CanMessage& msg);
+ void handleSensor(const Boardcore::Canbus::CanMessage& msg);
+ void handleActuator(const Boardcore::Canbus::CanMessage& msg);
+ void handleStatus(const Boardcore::Canbus::CanMessage& msg);
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("canhandler");
- Boardcore::Logger &sdLogger = Boardcore::Logger::getInstance();
+ Boardcore::Logger& sdLogger = Boardcore::Logger::getInstance();
std::atomic<bool> started{false};
@@ -121,4 +121,4 @@ private:
CanStatus status;
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Configs/ABKConfig.h b/src/Main/Configs/ABKConfig.h
index a128619eb..e6f39ebdf 100644
--- a/src/Main/Configs/ABKConfig.h
+++ b/src/Main/Configs/ABKConfig.h
@@ -77,4 +77,4 @@ static const Boardcore::AirBrakesInterpConfig CONFIG = {
} // namespace Config
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Configs/ADAConfig.h b/src/Main/Configs/ADAConfig.h
index 1f5b58ace..121095565 100644
--- a/src/Main/Configs/ADAConfig.h
+++ b/src/Main/Configs/ADAConfig.h
@@ -52,4 +52,4 @@ constexpr unsigned int DEPLOYMENT_N_SAMPLES = 5;
} // namespace Config
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Configs/ActuatorsConfig.h b/src/Main/Configs/ActuatorsConfig.h
index f2754beea..d33d99c22 100644
--- a/src/Main/Configs/ActuatorsConfig.h
+++ b/src/Main/Configs/ActuatorsConfig.h
@@ -55,4 +55,4 @@ constexpr uint32_t STATUS_ERR_RATE = 1; // 1 * 100ms = 100ms
} // namespace Actuators
} // namespace Config
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Configs/FMMConfig.h b/src/Main/Configs/FMMConfig.h
index 04ce8d749..deebe4354 100644
--- a/src/Main/Configs/FMMConfig.h
+++ b/src/Main/Configs/FMMConfig.h
@@ -44,4 +44,4 @@ constexpr unsigned int CUT_DURATION = 500; // [ms]
} // namespace Config
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Configs/HILSimulationConfig.h b/src/Main/Configs/HILSimulationConfig.h
index 8fa66fcf3..0077eb162 100644
--- a/src/Main/Configs/HILSimulationConfig.h
+++ b/src/Main/Configs/HILSimulationConfig.h
@@ -80,4 +80,4 @@ static_assert(N_DATA_PITOT * SIMULATION_RATE >= BARO_PITOT_RATE,
} // namespace HIL
} // namespace Config
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Configs/MEAConfig.h b/src/Main/Configs/MEAConfig.h
index d42c6edc6..ec88c7a8e 100644
--- a/src/Main/Configs/MEAConfig.h
+++ b/src/Main/Configs/MEAConfig.h
@@ -75,4 +75,4 @@ constexpr Boardcore::Aeroutils::AerodynamicCoeff AERO_COEFF = {
} // namespace Config
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Configs/NASConfig.h b/src/Main/Configs/NASConfig.h
index 82e5ab80f..7ea2940bb 100644
--- a/src/Main/Configs/NASConfig.h
+++ b/src/Main/Configs/NASConfig.h
@@ -86,4 +86,4 @@ constexpr float PITOT_SPEED_THRESHOLD = 70; // [m/s]
} // namespace Config
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Configs/PinHandlerConfig.h b/src/Main/Configs/PinHandlerConfig.h
index 3e30bec16..445e85055 100644
--- a/src/Main/Configs/PinHandlerConfig.h
+++ b/src/Main/Configs/PinHandlerConfig.h
@@ -49,4 +49,4 @@ constexpr uint32_t CUTTER_SENSE_PIN_THRESHOLD = 20;
} // namespace Config
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Configs/RadioConfig.h b/src/Main/Configs/RadioConfig.h
index 34fe287ff..ecc0f7632 100644
--- a/src/Main/Configs/RadioConfig.h
+++ b/src/Main/Configs/RadioConfig.h
@@ -54,4 +54,4 @@ constexpr Hertz HIGH_RATE_TELEMETRY = 4_hz;
} // namespace Config
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Configs/ReferenceConfig.h b/src/Main/Configs/ReferenceConfig.h
index b79656ed9..00e108a80 100644
--- a/src/Main/Configs/ReferenceConfig.h
+++ b/src/Main/Configs/ReferenceConfig.h
@@ -38,4 +38,4 @@ constexpr unsigned int CALIBRATION_SLEEP_TIME = 100; // [ms]
} // namespace Config
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Configs/SchedulerConfig.h b/src/Main/Configs/SchedulerConfig.h
index 1d28559e1..8c4622246 100644
--- a/src/Main/Configs/SchedulerConfig.h
+++ b/src/Main/Configs/SchedulerConfig.h
@@ -56,4 +56,4 @@ static const miosix::Priority FMM_PRIORITY = miosix::PRIORITY_MAX - 1;
} // namespace Config
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Configs/SensorsConfig.h b/src/Main/Configs/SensorsConfig.h
index 823d88167..aa5d84f39 100644
--- a/src/Main/Configs/SensorsConfig.h
+++ b/src/Main/Configs/SensorsConfig.h
@@ -189,4 +189,4 @@ constexpr bool USE_PORT_2 = false;
} // namespace Config
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Data/ABKTrajectorySet.h b/src/Main/Data/ABKTrajectorySet.h
index 760b7c373..d43aa100d 100644
--- a/src/Main/Data/ABKTrajectorySet.h
+++ b/src/Main/Data/ABKTrajectorySet.h
@@ -40,4 +40,4 @@ extern Boardcore::TrajectorySet OPEN_TRAJECTORY_SET;
} // namespace Data
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/HIL/HIL.cpp b/src/Main/HIL/HIL.cpp
index df6123886..04e501dd5 100644
--- a/src/Main/HIL/HIL.cpp
+++ b/src/Main/HIL/HIL.cpp
@@ -301,4 +301,4 @@ ActuatorData MainHIL::updateActuatorData()
actuatorsStateHIL};
}
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/HIL/HIL.h b/src/Main/HIL/HIL.h
index bb13a2560..22ccb5b33 100644
--- a/src/Main/HIL/HIL.h
+++ b/src/Main/HIL/HIL.h
@@ -80,4 +80,4 @@ private:
ActuatorData updateActuatorData();
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/HIL/HILData.h b/src/Main/HIL/HILData.h
index 8aa67209c..f4e0b7854 100644
--- a/src/Main/HIL/HILData.h
+++ b/src/Main/HIL/HILData.h
@@ -337,4 +337,4 @@ struct ActuatorData
}
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/PersistentVars/PersistentVars.cpp b/src/Main/PersistentVars/PersistentVars.cpp
index 2ac4c53d9..383721de3 100644
--- a/src/Main/PersistentVars/PersistentVars.cpp
+++ b/src/Main/PersistentVars/PersistentVars.cpp
@@ -45,4 +45,4 @@ bool getHilMode() { return hilMode; }
} // namespace PersistentVars
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/PersistentVars/PersistentVars.h b/src/Main/PersistentVars/PersistentVars.h
index d533078bf..4975ee7f1 100644
--- a/src/Main/PersistentVars/PersistentVars.h
+++ b/src/Main/PersistentVars/PersistentVars.h
@@ -34,4 +34,4 @@ bool getHilMode();
} // namespace PersistentVars
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/PinHandler/PinData.h b/src/Main/PinHandler/PinData.h
index 418febb15..eb3f0b1bf 100644
--- a/src/Main/PinHandler/PinData.h
+++ b/src/Main/PinHandler/PinData.h
@@ -47,4 +47,4 @@ struct PinChangeData
}
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/PinHandler/PinHandler.cpp b/src/Main/PinHandler/PinHandler.cpp
index 93bb005cc..999d7785a 100644
--- a/src/Main/PinHandler/PinHandler.cpp
+++ b/src/Main/PinHandler/PinHandler.cpp
@@ -38,7 +38,7 @@ bool PinHandler::isStarted() { return started; }
bool PinHandler::start()
{
- TaskScheduler &scheduler =
+ TaskScheduler& scheduler =
getModule<BoardScheduler>()->getPinObserverScheduler();
pinObserver = std::make_unique<PinObserver>(scheduler, 20);
@@ -49,26 +49,22 @@ bool PinHandler::start()
Config::PinHandler::RAMP_PIN_THRESHOLD);
pinObserver->registerPinCallback(
- sense::detachMain::getPin(),
- [this](PinTransition transition)
+ sense::detachMain::getPin(), [this](PinTransition transition)
{ onDetachMainTransition(transition); },
Config::PinHandler::MAIN_DETACH_PIN_THRESHOLD);
pinObserver->registerPinCallback(
- sense::detachPayload::getPin(),
- [this](PinTransition transition)
+ sense::detachPayload::getPin(), [this](PinTransition transition)
{ onDetachPayloadTransition(transition); },
Config::PinHandler::PAYLOAD_DETACH_PIN_THRESHOLD);
pinObserver->registerPinCallback(
- sense::expulsionSense::getPin(),
- [this](PinTransition transition)
+ sense::expulsionSense::getPin(), [this](PinTransition transition)
{ onExpulsionSenseTransition(transition); },
Config::PinHandler::EXPULSION_SENSE_PIN_THRESHOLD);
pinObserver->registerPinCallback(
- sense::cutterSense::getPin(),
- [this](PinTransition transition)
+ sense::cutterSense::getPin(), [this](PinTransition transition)
{ onCutterSenseTransition(transition); },
Config::PinHandler::CUTTER_SENSE_PIN_THRESHOLD);
diff --git a/src/Main/PinHandler/PinHandler.h b/src/Main/PinHandler/PinHandler.h
index 913884d83..d74959958 100644
--- a/src/Main/PinHandler/PinHandler.h
+++ b/src/Main/PinHandler/PinHandler.h
@@ -68,4 +68,4 @@ private:
std::unique_ptr<Boardcore::PinObserver> pinObserver;
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Radio/Radio.cpp b/src/Main/Radio/Radio.cpp
index 7d58d8f5b..fe7cbd2d8 100644
--- a/src/Main/Radio/Radio.cpp
+++ b/src/Main/Radio/Radio.cpp
@@ -43,9 +43,7 @@ void handleDioIRQ()
{
SX1278Fsk* instance = gRadio;
if (instance)
- {
instance->handleDioIRQ();
- }
}
void setIRQRadio(SX1278Fsk* radio)
@@ -86,10 +84,8 @@ bool Radio::start()
// Initialize mavdriver
mavDriver = std::make_unique<MavDriver>(
- radio.get(),
- [this](MavDriver*, const mavlink_message_t& msg)
- { handleMessage(msg); },
- Config::Radio::MAV_SLEEP_AFTER_SEND,
+ radio.get(), [this](MavDriver*, const mavlink_message_t& msg)
+ { handleMessage(msg); }, Config::Radio::MAV_SLEEP_AFTER_SEND,
Config::Radio::MAV_OUT_BUFFER_MAX_AGE);
if (!mavDriver->start())
@@ -188,7 +184,6 @@ void Radio::handleMessage(const mavlink_message_t& msg)
{
switch (msg.msgid)
{
-
case MAVLINK_MSG_ID_PING_TC:
{
enqueueAck(msg);
@@ -205,13 +200,9 @@ void Radio::handleMessage(const mavlink_message_t& msg)
{
uint8_t tmId = mavlink_msg_system_tm_request_tc_get_tm_id(&msg);
if (enqueueSystemTm(tmId))
- {
enqueueAck(msg);
- }
else
- {
enqueueNack(msg, 0);
- }
break;
}
@@ -221,13 +212,9 @@ void Radio::handleMessage(const mavlink_message_t& msg)
uint8_t tmId =
mavlink_msg_sensor_tm_request_tc_get_sensor_name(&msg);
if (enqueueSensorsTm(tmId))
- {
enqueueAck(msg);
- }
else
- {
enqueueNack(msg, 0);
- }
break;
}
@@ -313,13 +300,9 @@ void Radio::handleMessage(const mavlink_message_t& msg)
getModule<NASController>()->setOrientation(quat.normalized());
if (std::abs(qNorm - 1) > 0.001)
- {
enqueueWack(msg, 0);
- }
else
- {
enqueueAck(msg);
- }
}
else
{
@@ -351,13 +334,9 @@ void Radio::handleMessage(const mavlink_message_t& msg)
TMTC_SET_CALIBRATION_PRESSURE, TOPIC_TMTC);
if (press < 50000)
- {
enqueueWack(msg, 0);
- }
else
- {
enqueueAck(msg);
- }
}
}
else
@@ -406,13 +385,9 @@ void Radio::handleCommand(const mavlink_message_t& msg)
FlightModeManagerState::TEST_MODE)
{
if (getModule<Sensors>()->saveMagCalibration())
- {
enqueueAck(msg);
- }
else
- {
enqueueNack(msg, 0);
- }
}
else
{
@@ -1352,4 +1327,4 @@ bool Radio::enqueueSensorsTm(uint8_t tmId)
default:
return false;
}
-}
\ No newline at end of file
+}
diff --git a/src/Main/Radio/Radio.h b/src/Main/Radio/Radio.h
index 33e89244e..60ac57b61 100644
--- a/src/Main/Radio/Radio.h
+++ b/src/Main/Radio/Radio.h
@@ -87,4 +87,4 @@ private:
std::unique_ptr<MavDriver> mavDriver;
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Sensors/HILSensors.h b/src/Main/Sensors/HILSensors.h
index 09fa66912..87e74fec5 100644
--- a/src/Main/Sensors/HILSensors.h
+++ b/src/Main/Sensors/HILSensors.h
@@ -313,4 +313,4 @@ private:
bool enableHw;
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Sensors/Sensors.cpp b/src/Main/Sensors/Sensors.cpp
index 096eef5bb..d8dd731aa 100644
--- a/src/Main/Sensors/Sensors.cpp
+++ b/src/Main/Sensors/Sensors.cpp
@@ -39,39 +39,25 @@ bool Sensors::start()
magCalibration.fromFile(Config::Sensors::MAG_CALIBRATION_FILENAME);
if (Config::Sensors::LPS22DF::ENABLED)
- {
lps22dfInit();
- }
if (Config::Sensors::LPS28DFW::ENABLED)
- {
lps28dfwInit();
- }
if (Config::Sensors::H3LIS331DL::ENABLED)
- {
h3lis331dlInit();
- }
if (Config::Sensors::LIS2MDL::ENABLED)
- {
lis2mdlInit();
- }
if (Config::Sensors::UBXGPS::ENABLED)
- {
ubxgpsInit();
- }
if (Config::Sensors::LSM6DSRX::ENABLED)
- {
lsm6dsrxInit();
- }
if (Config::Sensors::VN100::ENABLED)
- {
vn100Init();
- }
if (Config::Sensors::ADS131M08::ENABLED)
{
@@ -82,14 +68,10 @@ bool Sensors::start()
}
if (Config::Sensors::InternalADC::ENABLED)
- {
internalAdcInit();
- }
if (Config::Sensors::IMU::ENABLED)
- {
rotatedImuInit();
- }
if (!postSensorCreationHook())
{
@@ -382,13 +364,9 @@ IMUData Sensors::getIMULastSample()
PressureData Sensors::getAtmosPressureLastSample()
{
if (Config::Sensors::Atmos::USE_PORT_2)
- {
return getStaticPressure2LastSample();
- }
else
- {
return getStaticPressure1LastSample();
- }
}
PressureData Sensors::getCanPitotDynamicPressLastSample()
@@ -648,9 +626,7 @@ void Sensors::lsm6dsrxCallback()
// For every instance inside the fifo log the sample
for (uint16_t i = 0; i < lsm6dsrx->getLastFifoSize(); i++)
- {
sdLogger.log(lsm6dsrx->getLastFifo().at(i));
- }
}
void Sensors::vn100Init()
diff --git a/src/Main/Sensors/Sensors.h b/src/Main/Sensors/Sensors.h
index 9a1beeaea..92850391f 100644
--- a/src/Main/Sensors/Sensors.h
+++ b/src/Main/Sensors/Sensors.h
@@ -209,4 +209,4 @@ private:
std::atomic<bool> started{false};
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/Sensors/SensorsData.h b/src/Main/Sensors/SensorsData.h
index d44f20cae..628e83912 100644
--- a/src/Main/Sensors/SensorsData.h
+++ b/src/Main/Sensors/SensorsData.h
@@ -29,7 +29,7 @@ namespace Main
struct StaticPressureData1 : Boardcore::PressureData
{
- explicit StaticPressureData1(const Boardcore::PressureData &data)
+ explicit StaticPressureData1(const Boardcore::PressureData& data)
: Boardcore::PressureData(data)
{
}
@@ -39,7 +39,7 @@ struct StaticPressureData1 : Boardcore::PressureData
struct StaticPressureData2 : Boardcore::PressureData
{
- explicit StaticPressureData2(const Boardcore::PressureData &data)
+ explicit StaticPressureData2(const Boardcore::PressureData& data)
: Boardcore::PressureData(data)
{
}
@@ -49,7 +49,7 @@ struct StaticPressureData2 : Boardcore::PressureData
struct DplBayPressureData : Boardcore::PressureData
{
- explicit DplBayPressureData(const Boardcore::PressureData &data)
+ explicit DplBayPressureData(const Boardcore::PressureData& data)
: Boardcore::PressureData(data)
{
}
@@ -84,7 +84,7 @@ struct CalibrationData
"dplBayPressBias,dplBayPressScale\n";
}
- void print(std::ostream &os) const
+ void print(std::ostream& os) const
{
os << timestamp << "," << gyroBiasX << "," << gyroBiasY << ","
<< gyroBiasZ << "," << magBiasX << "," << magBiasY << "," << magBiasZ
@@ -95,4 +95,4 @@ struct CalibrationData
}
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/StateMachines/ABKController/ABKController.cpp b/src/Main/StateMachines/ABKController/ABKController.cpp
index a5103c943..085527243 100644
--- a/src/Main/StateMachines/ABKController/ABKController.cpp
+++ b/src/Main/StateMachines/ABKController/ABKController.cpp
@@ -42,8 +42,7 @@ ABKController::ABKController()
getModule<NASController>()->getNASState()};
},
Data::ABK::OPEN_TRAJECTORY_SET, Data::ABK::CLOSED_TRAJECTORY_SET,
- Config::ABK::CONFIG,
- [this](float position)
+ Config::ABK::CONFIG, [this](float position)
{ getModule<Actuators>()->setAbkPosition(position); }}
{
@@ -229,4 +228,4 @@ void ABKController::updateAndLogStatus(ABKControllerState state)
this->state = state;
ABKControllerStatus data = {TimestampTimer::getTimestamp(), state};
sdLogger.log(data);
-}
\ No newline at end of file
+}
diff --git a/src/Main/StateMachines/ABKController/ABKController.h b/src/Main/StateMachines/ABKController/ABKController.h
index 949244d0f..e815a6944 100644
--- a/src/Main/StateMachines/ABKController/ABKController.h
+++ b/src/Main/StateMachines/ABKController/ABKController.h
@@ -69,4 +69,4 @@ private:
Boardcore::AirBrakesInterp abk;
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/StateMachines/ABKController/ABKControllerData.h b/src/Main/StateMachines/ABKController/ABKControllerData.h
index c4d17d0b2..e5d9d13d4 100644
--- a/src/Main/StateMachines/ABKController/ABKControllerData.h
+++ b/src/Main/StateMachines/ABKController/ABKControllerData.h
@@ -52,4 +52,4 @@ struct ABKControllerStatus
}
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/StateMachines/ADAController/ADAController.cpp b/src/Main/StateMachines/ADAController/ADAController.cpp
index 107180354..aa7bed220 100644
--- a/src/Main/StateMachines/ADAController/ADAController.cpp
+++ b/src/Main/StateMachines/ADAController/ADAController.cpp
@@ -187,13 +187,9 @@ void ADAController::update()
if (curState == ADAControllerState::ACTIVE_DROGUE_DESCENT)
{
if (ada.getState().aglAltitude < getDeploymentAltitude())
- {
detectedDeployments++;
- }
else
- {
detectedDeployments = 0;
- }
if (detectedDeployments > Config::ADA::DEPLOYMENT_N_SAMPLES)
{
@@ -461,4 +457,4 @@ void ADAController::updateAndLogStatus(ADAControllerState state)
this->state = state;
ADAControllerStatus data = {TimestampTimer::getTimestamp(), state};
sdLogger.log(data);
-}
\ No newline at end of file
+}
diff --git a/src/Main/StateMachines/ADAController/ADAController.h b/src/Main/StateMachines/ADAController/ADAController.h
index b95fffaec..004dbebc4 100644
--- a/src/Main/StateMachines/ADAController/ADAController.h
+++ b/src/Main/StateMachines/ADAController/ADAController.h
@@ -81,4 +81,4 @@ private:
unsigned int detectedDeployments = 0;
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/StateMachines/ADAController/ADAControllerData.h b/src/Main/StateMachines/ADAController/ADAControllerData.h
index 94f1a6474..2d2483d94 100644
--- a/src/Main/StateMachines/ADAController/ADAControllerData.h
+++ b/src/Main/StateMachines/ADAController/ADAControllerData.h
@@ -74,4 +74,4 @@ struct ADAControllerSampleData
}
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/StateMachines/FlightModeManager/FlightModeManager.cpp b/src/Main/StateMachines/FlightModeManager/FlightModeManager.cpp
index 19289554d..285c16e63 100644
--- a/src/Main/StateMachines/FlightModeManager/FlightModeManager.cpp
+++ b/src/Main/StateMachines/FlightModeManager/FlightModeManager.cpp
@@ -297,25 +297,17 @@ State FlightModeManager::state_calibrate_algorithms(const Event& event)
{
nasReady = true;
if (adaReady)
- {
return transition(&FlightModeManager::state_disarmed);
- }
else
- {
return HANDLED;
- }
}
case ADA_READY:
{
adaReady = true;
if (nasReady)
- {
return transition(&FlightModeManager::state_disarmed);
- }
else
- {
return HANDLED;
- }
}
default:
{
@@ -797,4 +789,4 @@ void FlightModeManager::updateAndLogStatus(FlightModeManagerState state)
FlightModeManagerStatus data = {TimestampTimer::getTimestamp(), state};
sdLogger.log(data);
-}
\ No newline at end of file
+}
diff --git a/src/Main/StateMachines/FlightModeManager/FlightModeManager.h b/src/Main/StateMachines/FlightModeManager/FlightModeManager.h
index ef2ff49ee..af8361e36 100644
--- a/src/Main/StateMachines/FlightModeManager/FlightModeManager.h
+++ b/src/Main/StateMachines/FlightModeManager/FlightModeManager.h
@@ -81,4 +81,4 @@ private:
FlightModeManagerState::ON_GROUND};
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/StateMachines/FlightModeManager/FlightModeManagerData.h b/src/Main/StateMachines/FlightModeManager/FlightModeManagerData.h
index 89857161c..d6218b63d 100644
--- a/src/Main/StateMachines/FlightModeManager/FlightModeManagerData.h
+++ b/src/Main/StateMachines/FlightModeManager/FlightModeManagerData.h
@@ -58,4 +58,4 @@ struct FlightModeManagerStatus
}
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/StateMachines/MEAController/MEAController.cpp b/src/Main/StateMachines/MEAController/MEAController.cpp
index 527e80cf1..cc463d7fb 100644
--- a/src/Main/StateMachines/MEAController/MEAController.cpp
+++ b/src/Main/StateMachines/MEAController/MEAController.cpp
@@ -155,19 +155,13 @@ void MEAController::update()
MEA::Step step{aperture};
if (baro.pressureTimestamp > lastBaroTimestamp)
- {
step.withCCPressure(baro);
- }
if (imu.accelerationTimestamp > lastAccTimestamp)
- {
step.withAcceleration(imu);
- }
if (nas.timestamp > lastNasTimestamp)
- {
step.withSpeedAndAlt(-nas.vd, mslAltitude);
- }
mea.update(step);
@@ -390,4 +384,4 @@ void MEAController::updateAndLogStatus(MEAControllerState state)
this->state = state;
MEAControllerStatus data = {TimestampTimer::getTimestamp(), state};
sdLogger.log(data);
-}
\ No newline at end of file
+}
diff --git a/src/Main/StateMachines/MEAController/MEAController.h b/src/Main/StateMachines/MEAController/MEAController.h
index 7e116b9a3..f07cbbc51 100644
--- a/src/Main/StateMachines/MEAController/MEAController.h
+++ b/src/Main/StateMachines/MEAController/MEAController.h
@@ -83,4 +83,4 @@ private:
unsigned int detectedShutdowns = 0;
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/StateMachines/MEAController/MEAControllerData.h b/src/Main/StateMachines/MEAController/MEAControllerData.h
index b60e8e1ff..6a0811caf 100644
--- a/src/Main/StateMachines/MEAController/MEAControllerData.h
+++ b/src/Main/StateMachines/MEAController/MEAControllerData.h
@@ -53,4 +53,4 @@ struct MEAControllerStatus
}
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/StateMachines/NASController/NASController.cpp b/src/Main/StateMachines/NASController/NASController.cpp
index 1cf296d05..476dc4b6f 100644
--- a/src/Main/StateMachines/NASController/NASController.cpp
+++ b/src/Main/StateMachines/NASController/NASController.cpp
@@ -154,9 +154,7 @@ void NASController::update()
}
if (lastBaroTimestamp < baro.pressureTimestamp)
- {
nas.correctBaro(baro.pressure);
- }
// Correct with pitot if one pressure sample is new
// Disable pitot correction
@@ -171,9 +169,7 @@ void NASController::update()
// Correct with accelerometer if the acceleration is in specs
if (lastAccTimestamp < imu.accelerationTimestamp && acc1g)
- {
nas.correctAcc(imu);
- }
// Check if the accelerometer is measuring 1g
if (accLength <
@@ -182,13 +178,9 @@ void NASController::update()
(Constants::g - Config::NAS::ACCELERATION_1G_CONFIDENCE / 2))
{
if (acc1gSamplesCount < Config::NAS::ACCELERATION_1G_SAMPLES)
- {
acc1gSamplesCount++;
- }
else
- {
acc1g = true;
- }
}
else
{
@@ -352,4 +344,4 @@ void NASController::updateAndLogStatus(NASControllerState state)
this->state = state;
NASControllerStatus data = {TimestampTimer::getTimestamp(), state};
sdLogger.log(data);
-}
\ No newline at end of file
+}
diff --git a/src/Main/StateMachines/NASController/NASController.h b/src/Main/StateMachines/NASController/NASController.h
index 2a3f42e32..b559d1565 100644
--- a/src/Main/StateMachines/NASController/NASController.h
+++ b/src/Main/StateMachines/NASController/NASController.h
@@ -89,4 +89,4 @@ private:
uint64_t dynamicPitotTimestamp = 0;
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/StateMachines/NASController/NASControllerData.h b/src/Main/StateMachines/NASController/NASControllerData.h
index 32f6c97e9..b87aa5094 100644
--- a/src/Main/StateMachines/NASController/NASControllerData.h
+++ b/src/Main/StateMachines/NASController/NASControllerData.h
@@ -51,4 +51,4 @@ struct NASControllerStatus
}
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/StatsRecorder/StatsRecorder.cpp b/src/Main/StatsRecorder/StatsRecorder.cpp
index 2c3573d1d..3c661fe37 100644
--- a/src/Main/StatsRecorder/StatsRecorder.cpp
+++ b/src/Main/StatsRecorder/StatsRecorder.cpp
@@ -73,7 +73,7 @@ void StatsRecorder::deploymentDetected(uint64_t ts, float alt)
stats.dplAlt = alt;
}
-void StatsRecorder::updateAcc(const AccelerometerData &data)
+void StatsRecorder::updateAcc(const AccelerometerData& data)
{
auto state = getModule<FlightModeManager>()->getState();
@@ -110,7 +110,7 @@ void StatsRecorder::updateAcc(const AccelerometerData &data)
}
}
-void StatsRecorder::updateNas(const NASState &data)
+void StatsRecorder::updateNas(const NASState& data)
{
auto state = getModule<FlightModeManager>()->getState();
@@ -144,7 +144,7 @@ void StatsRecorder::updateNas(const NASState &data)
}
}
-void StatsRecorder::updateDplPressure(const PressureData &data)
+void StatsRecorder::updateDplPressure(const PressureData& data)
{
auto state = getModule<FlightModeManager>()->getState();
@@ -159,4 +159,4 @@ void StatsRecorder::updateDplPressure(const PressureData &data)
stats.maxDplPressureTs = data.pressureTimestamp;
}
}
-}
\ No newline at end of file
+}
diff --git a/src/Main/StatsRecorder/StatsRecorder.h b/src/Main/StatsRecorder/StatsRecorder.h
index cf18a9100..dd9a04193 100644
--- a/src/Main/StatsRecorder/StatsRecorder.h
+++ b/src/Main/StatsRecorder/StatsRecorder.h
@@ -92,13 +92,13 @@ public:
void apogeeDetected(uint64_t ts, float lat, float lon, float alt);
void deploymentDetected(uint64_t ts, float alt);
- void updateAcc(const Boardcore::AccelerometerData &data);
- void updateNas(const Boardcore::NASState &data);
- void updateDplPressure(const Boardcore::PressureData &data);
+ void updateAcc(const Boardcore::AccelerometerData& data);
+ void updateNas(const Boardcore::NASState& data);
+ void updateDplPressure(const Boardcore::PressureData& data);
private:
miosix::FastMutex statsMutex;
Stats stats;
};
-} // namespace Main
\ No newline at end of file
+} // namespace Main
diff --git a/src/Main/main-entry.cpp b/src/Main/main-entry.cpp
index 606176673..29dbf5478 100644
--- a/src/Main/main-entry.cpp
+++ b/src/Main/main-entry.cpp
@@ -63,22 +63,22 @@ int main()
bool initResult = true;
- Buses *buses = new Buses();
- BoardScheduler *scheduler = new BoardScheduler();
-
- Sensors *sensors;
- Actuators *actuators = new Actuators();
- Radio *radio = new Radio();
- CanHandler *canHandler = new CanHandler();
- PinHandler *pinHandler = new PinHandler();
- FlightModeManager *fmm = new FlightModeManager();
- AlgoReference *ref = new AlgoReference();
- ADAController *ada = new ADAController();
- NASController *nas = new NASController();
- MEAController *mea = new MEAController();
- ABKController *abk = new ABKController();
- StatsRecorder *recorder = new StatsRecorder();
- MainHIL *hil = nullptr;
+ Buses* buses = new Buses();
+ BoardScheduler* scheduler = new BoardScheduler();
+
+ Sensors* sensors;
+ Actuators* actuators = new Actuators();
+ Radio* radio = new Radio();
+ CanHandler* canHandler = new CanHandler();
+ PinHandler* pinHandler = new PinHandler();
+ FlightModeManager* fmm = new FlightModeManager();
+ AlgoReference* ref = new AlgoReference();
+ ADAController* ada = new ADAController();
+ NASController* nas = new NASController();
+ MEAController* mea = new MEAController();
+ ABKController* abk = new ABKController();
+ StatsRecorder* recorder = new StatsRecorder();
+ MainHIL* hil = nullptr;
// HIL
if (PersistentVars::getHilMode())
@@ -96,17 +96,17 @@ int main()
sensors = new Sensors();
}
- Logger &sdLogger = Logger::getInstance();
- EventBroker &broker = EventBroker::getInstance();
+ Logger& sdLogger = Logger::getInstance();
+ EventBroker& broker = EventBroker::getInstance();
// Setup event sniffer
- EventSniffer sniffer(
- broker,
- [&](uint8_t event, uint8_t topic)
- {
- EventData data{TimestampTimer::getTimestamp(), event, topic};
- sdLogger.log(data);
- });
+ EventSniffer sniffer(broker,
+ [&](uint8_t event, uint8_t topic)
+ {
+ EventData data{TimestampTimer::getTimestamp(),
+ event, topic};
+ sdLogger.log(data);
+ });
// Insert modules
initResult = initResult && manager.insert<Buses>(buses) &&
@@ -258,15 +258,11 @@ int main()
{
std::cout << "LIFTOFF!" << std::endl;
if (Config::HIL::IS_FULL_HIL)
- {
canHandler->sendServoOpenCommand(
ServosList::MAIN_VALVE, 7000);
- }
else
- {
actuators->setCanServoOpen(
ServosList::MAIN_VALVE, true);
- }
});
std::cout << "Waiting start simulation" << std::endl;
@@ -317,4 +313,4 @@ int main()
}
return 0;
-}
\ No newline at end of file
+}
diff --git a/src/Motor/Actuators/Actuators.cpp b/src/Motor/Actuators/Actuators.cpp
index f866834af..8582d035f 100644
--- a/src/Motor/Actuators/Actuators.cpp
+++ b/src/Motor/Actuators/Actuators.cpp
@@ -48,15 +48,11 @@ void Actuators::ServoInfo::unsafeSetServoPosition(float position)
{
// Check that the servo is actually there, just to be safe
if (!servo)
- {
return;
- }
position *= limit;
if (flipped)
- {
position = 1.0f - position;
- }
servo->setPosition(position);
}
@@ -65,15 +61,11 @@ float Actuators::ServoInfo::getServoPosition()
{
// Check that the servo is actually there, just to be safe
if (!servo)
- {
return 0.0f;
- }
float position = servo->getPosition();
if (flipped)
- {
position = 1.0f - position;
- }
position /= limit;
return position;
@@ -90,7 +82,7 @@ Actuators::Actuators()
Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE,
Config::Servos::FREQUENCY);
- ServoInfo *info;
+ ServoInfo* info;
info = getServo(ServosList::MAIN_VALVE);
info->limit = Config::Servos::MAIN_LIMIT;
info->flipped = Config::Servos::MAIN_FLIPPED;
@@ -104,7 +96,7 @@ Actuators::Actuators()
bool Actuators::start()
{
- TaskScheduler &scheduler =
+ TaskScheduler& scheduler =
getModule<BoardScheduler>()->getActuatorsScheduler();
infos[0].servo->enable();
@@ -128,11 +120,9 @@ bool Actuators::start()
bool Actuators::openServoWithTime(ServosList servo, uint32_t time)
{
Lock<FastMutex> lock(infosMutex);
- ServoInfo *info = getServo(servo);
+ ServoInfo* info = getServo(servo);
if (info == nullptr)
- {
return false;
- }
lastActionTs = getTime();
info->openServoWithTime(time);
@@ -142,11 +132,9 @@ bool Actuators::openServoWithTime(ServosList servo, uint32_t time)
bool Actuators::closeServo(ServosList servo)
{
Lock<FastMutex> lock(infosMutex);
- ServoInfo *info = getServo(servo);
+ ServoInfo* info = getServo(servo);
if (info == nullptr)
- {
return false;
- }
lastActionTs = getTime();
info->closeServo();
@@ -156,11 +144,9 @@ bool Actuators::closeServo(ServosList servo)
float Actuators::getServoPosition(ServosList servo)
{
Lock<FastMutex> lock(infosMutex);
- ServoInfo *info = getServo(servo);
+ ServoInfo* info = getServo(servo);
if (info == nullptr)
- {
return 0.0f;
- }
return info->getServoPosition();
}
@@ -168,16 +154,14 @@ float Actuators::getServoPosition(ServosList servo)
bool Actuators::isServoOpen(ServosList servo)
{
Lock<FastMutex> lock(infosMutex);
- ServoInfo *info = getServo(servo);
+ ServoInfo* info = getServo(servo);
if (info == nullptr)
- {
return false;
- }
return info->closeTs != 0;
}
-Actuators::ServoInfo *Actuators::getServo(ServosList servo)
+Actuators::ServoInfo* Actuators::getServo(ServosList servo)
{
switch (servo)
{
@@ -270,4 +254,4 @@ void Actuators::updatePositionsTask()
openServoWithTime(ServosList::VENTING_VALVE,
Config::Servos::SERVO_ACTION_TIMEOUT + 1000);
}
-}
\ No newline at end of file
+}
diff --git a/src/Motor/Actuators/Actuators.h b/src/Motor/Actuators/Actuators.h
index 329d0c5ff..15133ade1 100644
--- a/src/Motor/Actuators/Actuators.h
+++ b/src/Motor/Actuators/Actuators.h
@@ -64,13 +64,13 @@ public:
float getServoPosition(ServosList servo);
private:
- ServoInfo *getServo(ServosList servo);
+ ServoInfo* getServo(ServosList servo);
void unsafeSetServoPosition(uint8_t idx, float position);
void updatePositionsTask();
- Boardcore::Logger &sdLogger = Boardcore::Logger::getInstance();
+ Boardcore::Logger& sdLogger = Boardcore::Logger::getInstance();
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("actuators");
miosix::FastMutex infosMutex;
@@ -79,4 +79,4 @@ private:
ServoInfo infos[2] = {};
};
-} // namespace Motor
\ No newline at end of file
+} // namespace Motor
diff --git a/src/Motor/Actuators/ActuatorsData.h b/src/Motor/Actuators/ActuatorsData.h
index 64f181d90..a623c9a32 100644
--- a/src/Motor/Actuators/ActuatorsData.h
+++ b/src/Motor/Actuators/ActuatorsData.h
@@ -53,4 +53,4 @@ struct ActuatorsData
}
};
-} // namespace Motor
\ No newline at end of file
+} // namespace Motor
diff --git a/src/Motor/BoardScheduler.h b/src/Motor/BoardScheduler.h
index 9703540da..503908b53 100644
--- a/src/Motor/BoardScheduler.h
+++ b/src/Motor/BoardScheduler.h
@@ -55,11 +55,11 @@ public:
return true;
}
- Boardcore::TaskScheduler &getSensorsScheduler() { return sensors; }
+ Boardcore::TaskScheduler& getSensorsScheduler() { return sensors; }
- Boardcore::TaskScheduler &getActuatorsScheduler() { return actuators; }
+ Boardcore::TaskScheduler& getActuatorsScheduler() { return actuators; }
- Boardcore::TaskScheduler &getCanBusScheduler() { return actuators; }
+ Boardcore::TaskScheduler& getCanBusScheduler() { return actuators; }
private:
Boardcore::PrintLogger logger =
@@ -69,4 +69,4 @@ private:
Boardcore::TaskScheduler actuators;
};
-} // namespace Motor
\ No newline at end of file
+} // namespace Motor
diff --git a/src/Motor/Buses.h b/src/Motor/Buses.h
index 6c9ffb1bb..62a25fde5 100644
--- a/src/Motor/Buses.h
+++ b/src/Motor/Buses.h
@@ -34,13 +34,13 @@ class Buses : public Boardcore::Injectable
public:
Buses() {}
- Boardcore::SPIBus &getH3LIS331DL() { return spi1; }
- Boardcore::SPIBus &getLPS22DF() { return spi1; }
- Boardcore::SPIBus &getLIS2MDL() { return spi3; }
- Boardcore::SPIBus &getLSM6DSRX() { return spi3; }
- Boardcore::SPIBus &getADS131M08() { return spi4; }
+ Boardcore::SPIBus& getH3LIS331DL() { return spi1; }
+ Boardcore::SPIBus& getLPS22DF() { return spi1; }
+ Boardcore::SPIBus& getLIS2MDL() { return spi3; }
+ Boardcore::SPIBus& getLSM6DSRX() { return spi3; }
+ Boardcore::SPIBus& getADS131M08() { return spi4; }
- Boardcore::USART &getHILUart() { return usart4; }
+ Boardcore::USART& getHILUart() { return usart4; }
private:
Boardcore::SPIBus spi1{SPI1};
@@ -50,4 +50,4 @@ private:
Boardcore::USART usart4{UART4, 256000, 1024};
};
-} // namespace Motor
\ No newline at end of file
+} // namespace Motor
diff --git a/src/Motor/CanHandler/CanHandler.cpp b/src/Motor/CanHandler/CanHandler.cpp
index b045f0cab..a110d856d 100644
--- a/src/Motor/CanHandler/CanHandler.cpp
+++ b/src/Motor/CanHandler/CanHandler.cpp
@@ -37,7 +37,7 @@ using namespace Common;
CanHandler::CanHandler()
: driver(CAN1, CanConfig::CONFIG, CanConfig::BIT_TIMING),
protocol(
- &driver, [this](const CanMessage &msg) { handleMessage(msg); },
+ &driver, [this](const CanMessage& msg) { handleMessage(msg); },
Config::Scheduler::CAN_PRIORITY)
{
protocol.addFilter(static_cast<uint8_t>(CanConfig::Board::RIG),
@@ -52,7 +52,7 @@ bool CanHandler::start()
{
driver.init();
- TaskScheduler &scheduler =
+ TaskScheduler& scheduler =
getModule<BoardScheduler>()->getCanBusScheduler();
uint8_t result = scheduler.addTask(
@@ -85,7 +85,7 @@ bool CanHandler::start()
result = scheduler.addTask(
[this]()
{
- Sensors *sensors = getModule<Sensors>();
+ Sensors* sensors = getModule<Sensors>();
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
@@ -124,7 +124,7 @@ bool CanHandler::start()
result = scheduler.addTask(
[this]()
{
- Sensors *sensors = getModule<Sensors>();
+ Sensors* sensors = getModule<Sensors>();
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::MEDIUM),
@@ -154,7 +154,7 @@ bool CanHandler::start()
result = scheduler.addTask(
[this]()
{
- Actuators *actuators = getModule<Actuators>();
+ Actuators* actuators = getModule<Actuators>();
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
@@ -197,7 +197,7 @@ bool CanHandler::start()
void CanHandler::setInitStatus(InitStatus status) { initStatus = status; }
-void CanHandler::handleMessage(const Canbus::CanMessage &msg)
+void CanHandler::handleMessage(const Canbus::CanMessage& msg)
{
CanConfig::PrimaryType type =
static_cast<CanConfig::PrimaryType>(msg.getPrimaryType());
@@ -224,7 +224,7 @@ void CanHandler::handleMessage(const Canbus::CanMessage &msg)
}
}
-void CanHandler::handleEvent(const Canbus::CanMessage &msg)
+void CanHandler::handleEvent(const Canbus::CanMessage& msg)
{
CanConfig::EventId event =
static_cast<CanConfig::EventId>(msg.getSecondaryType());
@@ -248,18 +248,14 @@ void CanHandler::handleEvent(const Canbus::CanMessage &msg)
msg.getDestination(), msg.getSecondaryType()});
}
-void CanHandler::handleCommand(const Canbus::CanMessage &msg)
+void CanHandler::handleCommand(const Canbus::CanMessage& msg)
{
ServosList servo = static_cast<ServosList>(msg.getSecondaryType());
CanServoCommand command = servoCommandFromCanMessage(msg);
sdLogger.log(command);
if (command.openingTime == 0)
- {
getModule<Actuators>()->closeServo(servo);
- }
else
- {
getModule<Actuators>()->openServoWithTime(servo, command.openingTime);
- }
-}
\ No newline at end of file
+}
diff --git a/src/Motor/CanHandler/CanHandler.h b/src/Motor/CanHandler/CanHandler.h
index b6177b012..c29da6fd3 100644
--- a/src/Motor/CanHandler/CanHandler.h
+++ b/src/Motor/CanHandler/CanHandler.h
@@ -54,11 +54,11 @@ public:
void setInitStatus(InitStatus status);
private:
- void handleMessage(const Boardcore::Canbus::CanMessage &msg);
- void handleEvent(const Boardcore::Canbus::CanMessage &msg);
- void handleCommand(const Boardcore::Canbus::CanMessage &msg);
+ void handleMessage(const Boardcore::Canbus::CanMessage& msg);
+ void handleEvent(const Boardcore::Canbus::CanMessage& msg);
+ void handleCommand(const Boardcore::Canbus::CanMessage& msg);
- Boardcore::Logger &sdLogger = Boardcore::Logger::getInstance();
+ Boardcore::Logger& sdLogger = Boardcore::Logger::getInstance();
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("canhandler");
std::atomic<InitStatus> initStatus{InitStatus::UNKNOWN};
diff --git a/src/Motor/Configs/ActuatorsConfig.h b/src/Motor/Configs/ActuatorsConfig.h
index 2fdc0fc33..36a876cd7 100644
--- a/src/Motor/Configs/ActuatorsConfig.h
+++ b/src/Motor/Configs/ActuatorsConfig.h
@@ -58,4 +58,4 @@ constexpr bool MAIN_FLIPPED = true;
} // namespace Servos
} // namespace Config
-} // namespace Motor
\ No newline at end of file
+} // namespace Motor
diff --git a/src/Motor/Configs/CanHandlerConfig.h b/src/Motor/Configs/CanHandlerConfig.h
index d73da9769..dca3dbc19 100644
--- a/src/Motor/Configs/CanHandlerConfig.h
+++ b/src/Motor/Configs/CanHandlerConfig.h
@@ -50,4 +50,4 @@ constexpr Hertz TEMPERATURE_PERIOD = 10_hz;
} // namespace Config
-} // namespace Motor
\ No newline at end of file
+} // namespace Motor
diff --git a/src/Motor/Configs/SchedulerConfig.h b/src/Motor/Configs/SchedulerConfig.h
index d94fecba4..ec35d17a4 100644
--- a/src/Motor/Configs/SchedulerConfig.h
+++ b/src/Motor/Configs/SchedulerConfig.h
@@ -43,4 +43,4 @@ static const miosix::Priority CAN_PRIORITY = miosix::PRIORITY_MAX - 1;
} // namespace Config
-} // namespace Motor
\ No newline at end of file
+} // namespace Motor
diff --git a/src/Motor/HIL/HIL.cpp b/src/Motor/HIL/HIL.cpp
index a613463e7..4f5f6ded0 100644
--- a/src/Motor/HIL/HIL.cpp
+++ b/src/Motor/HIL/HIL.cpp
@@ -140,4 +140,4 @@ ActuatorData MotorHIL::updateActuatorData()
return ActuatorData{actuatorsStateHIL};
}
-} // namespace Motor
\ No newline at end of file
+} // namespace Motor
diff --git a/src/Motor/HIL/HIL.h b/src/Motor/HIL/HIL.h
index 71aad12f7..67569f4d6 100644
--- a/src/Motor/HIL/HIL.h
+++ b/src/Motor/HIL/HIL.h
@@ -75,4 +75,4 @@ public:
private:
ActuatorData updateActuatorData();
};
-} // namespace Motor
\ No newline at end of file
+} // namespace Motor
diff --git a/src/Motor/HIL/HILData.h b/src/Motor/HIL/HILData.h
index 126270017..14051e452 100644
--- a/src/Motor/HIL/HILData.h
+++ b/src/Motor/HIL/HILData.h
@@ -99,4 +99,4 @@ struct ActuatorData
void print() { actuatorsState.print(); }
};
-} // namespace Motor
\ No newline at end of file
+} // namespace Motor
diff --git a/src/Motor/PersistentVars/PersistentVars.cpp b/src/Motor/PersistentVars/PersistentVars.cpp
index 91fb0f0ab..4864e564d 100644
--- a/src/Motor/PersistentVars/PersistentVars.cpp
+++ b/src/Motor/PersistentVars/PersistentVars.cpp
@@ -45,4 +45,4 @@ bool getHilMode() { return hilMode; }
} // namespace PersistentVars
-} // namespace Motor
\ No newline at end of file
+} // namespace Motor
diff --git a/src/Motor/PersistentVars/PersistentVars.h b/src/Motor/PersistentVars/PersistentVars.h
index 195cfb2cb..ab9c60318 100644
--- a/src/Motor/PersistentVars/PersistentVars.h
+++ b/src/Motor/PersistentVars/PersistentVars.h
@@ -34,4 +34,4 @@ bool getHilMode();
} // namespace PersistentVars
-} // namespace Motor
\ No newline at end of file
+} // namespace Motor
diff --git a/src/Motor/Sensors/HILSensors.h b/src/Motor/Sensors/HILSensors.h
index ac16b6482..8e46a0ef1 100644
--- a/src/Motor/Sensors/HILSensors.h
+++ b/src/Motor/Sensors/HILSensors.h
@@ -51,7 +51,7 @@ private:
return true;
};
- ~HILSensors(){};
+ ~HILSensors() {};
int getSampleCounter(int nData)
{
diff --git a/src/Motor/Sensors/KuliteThermocouple.h b/src/Motor/Sensors/KuliteThermocouple.h
index 1be99a5ec..99f241b0c 100644
--- a/src/Motor/Sensors/KuliteThermocouple.h
+++ b/src/Motor/Sensors/KuliteThermocouple.h
@@ -36,8 +36,8 @@ public:
KuliteThermocouple(std::function<Boardcore::ADCData()> getVoltage,
float p0Voltage, float p0Temp, float p1Voltage,
float p1Temp)
- : getVoltage{getVoltage}, scale{(p1Temp - p0Temp) /
- (p1Voltage - p0Voltage)},
+ : getVoltage{getVoltage},
+ scale{(p1Temp - p0Temp) / (p1Voltage - p0Voltage)},
offset{p0Temp - scale * p0Voltage}
{
}
@@ -61,4 +61,4 @@ private:
const float offset;
};
-} // namespace Motor
\ No newline at end of file
+} // namespace Motor
diff --git a/src/Motor/Sensors/Sensors.cpp b/src/Motor/Sensors/Sensors.cpp
index 3227a04e9..5d8ed74e4 100644
--- a/src/Motor/Sensors/Sensors.cpp
+++ b/src/Motor/Sensors/Sensors.cpp
@@ -34,24 +34,16 @@ using namespace miosix;
bool Sensors::start()
{
if (Config::Sensors::LPS22DF::ENABLED)
- {
lps22dfInit();
- }
if (Config::Sensors::H3LIS331DL::ENABLED)
- {
h3lis331dlInit();
- }
if (Config::Sensors::LIS2MDL::ENABLED)
- {
lis2mdlInit();
- }
if (Config::Sensors::LSM6DSRX::ENABLED)
- {
lsm6dsrxInit();
- }
if (Config::Sensors::ADS131M08::ENABLED)
{
@@ -63,9 +55,7 @@ bool Sensors::start()
}
if (Config::Sensors::InternalADC::ENABLED)
- {
internalAdcInit();
- }
if (!postSensorCreationHook())
{
@@ -271,9 +261,7 @@ void Sensors::lsm6dsrxCallback()
// For every instance inside the fifo log the sample
for (uint16_t i = 0; i < lsm6dsrx->getLastFifoSize(); i++)
- {
sdLogger.log(lsm6dsrx->getLastFifo().at(i));
- }
}
void Sensors::ads131m08Init()
@@ -499,4 +487,4 @@ bool Sensors::sensorManagerInit()
manager = std::make_unique<SensorManager>(map, &getSensorsScheduler());
return manager->start();
-}
\ No newline at end of file
+}
diff --git a/src/Motor/Sensors/Sensors.h b/src/Motor/Sensors/Sensors.h
index 64202f5b8..ce8b56fd4 100644
--- a/src/Motor/Sensors/Sensors.h
+++ b/src/Motor/Sensors/Sensors.h
@@ -122,4 +122,4 @@ private:
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("sensors");
};
-} // namespace Motor
\ No newline at end of file
+} // namespace Motor
diff --git a/src/Motor/Sensors/SensorsData.h b/src/Motor/Sensors/SensorsData.h
index c04d97742..b205266fb 100644
--- a/src/Motor/Sensors/SensorsData.h
+++ b/src/Motor/Sensors/SensorsData.h
@@ -28,7 +28,7 @@ namespace Motor
struct TopTankPressureData : Boardcore::PressureData
{
- explicit TopTankPressureData(const Boardcore::PressureData &data)
+ explicit TopTankPressureData(const Boardcore::PressureData& data)
: Boardcore::PressureData{data}
{
}
@@ -38,7 +38,7 @@ struct TopTankPressureData : Boardcore::PressureData
struct BottomTankPressureData : Boardcore::PressureData
{
- explicit BottomTankPressureData(const Boardcore::PressureData &data)
+ explicit BottomTankPressureData(const Boardcore::PressureData& data)
: Boardcore::PressureData{data}
{
}
@@ -48,7 +48,7 @@ struct BottomTankPressureData : Boardcore::PressureData
struct CCPressureData : Boardcore::PressureData
{
- explicit CCPressureData(const Boardcore::PressureData &data)
+ explicit CCPressureData(const Boardcore::PressureData& data)
: Boardcore::PressureData{data}
{
}
@@ -56,4 +56,4 @@ struct CCPressureData : Boardcore::PressureData
CCPressureData() {}
};
-} // namespace Motor
\ No newline at end of file
+} // namespace Motor
diff --git a/src/Motor/motor-entry.cpp b/src/Motor/motor-entry.cpp
index fd0814bd8..24888615f 100644
--- a/src/Motor/motor-entry.cpp
+++ b/src/Motor/motor-entry.cpp
@@ -49,19 +49,19 @@ int main()
DependencyManager manager;
- Buses *buses = new Buses();
- BoardScheduler *scheduler = new BoardScheduler();
+ Buses* buses = new Buses();
+ BoardScheduler* scheduler = new BoardScheduler();
- Sensors *sensors =
+ Sensors* sensors =
(PersistentVars::getHilMode() ? new HILSensors(Config::HIL::ENABLE_HW)
: new Sensors());
- Actuators *actuators = new Actuators();
- CanHandler *canHandler = new CanHandler();
+ Actuators* actuators = new Actuators();
+ CanHandler* canHandler = new CanHandler();
- Logger &sdLogger = Logger::getInstance();
+ Logger& sdLogger = Logger::getInstance();
// HIL
- MotorHIL *hil = nullptr;
+ MotorHIL* hil = nullptr;
if (PersistentVars::getHilMode())
{
hil = new MotorHIL();
@@ -199,4 +199,4 @@ int main()
}
return 0;
-}
\ No newline at end of file
+}
diff --git a/src/Payload/Actuators/Actuators.cpp b/src/Payload/Actuators/Actuators.cpp
index ab210108f..669fe010b 100644
--- a/src/Payload/Actuators/Actuators.cpp
+++ b/src/Payload/Actuators/Actuators.cpp
@@ -126,9 +126,7 @@ bool Actuators::setServoPosition(ServosList servoId, float position)
{
auto actuator = getServoActuator(servoId);
if (!actuator)
- {
return false;
- }
miosix::Lock<miosix::FastMutex> lock(actuator->mutex);
@@ -141,9 +139,7 @@ bool Actuators::setServoAngle(ServosList servoId, float angle)
{
auto actuator = getServoActuator(servoId);
if (!actuator)
- {
return false;
- }
miosix::Lock<miosix::FastMutex> lock(actuator->mutex);
@@ -157,9 +153,7 @@ float Actuators::getServoPosition(ServosList servoId)
{
auto actuator = getServoActuator(servoId);
if (!actuator)
- {
return -1.f;
- }
miosix::Lock<miosix::FastMutex> lock(actuator->mutex);
@@ -170,9 +164,7 @@ float Actuators::getServoAngle(ServosList servoId)
{
auto actuator = getServoActuator(servoId);
if (!actuator)
- {
return -1.f;
- }
miosix::Lock<miosix::FastMutex> lock(actuator->mutex);
@@ -183,9 +175,7 @@ bool Actuators::wiggleServo(ServosList servoId)
{
auto actuator = getServoActuator(servoId);
if (!actuator)
- {
return false;
- }
miosix::Lock<miosix::FastMutex> lock(actuator->mutex);
@@ -200,9 +190,7 @@ bool Actuators::disableServo(ServosList servoId)
{
auto actuator = getServoActuator(servoId);
if (!actuator)
- {
return false;
- }
miosix::Lock<miosix::FastMutex> lock(actuator->mutex);
@@ -305,13 +293,9 @@ void Actuators::updateStatusLed()
}
if (statusLedCounter >= statusLedThreshold)
- {
statusOn();
- }
else
- {
statusOff();
- }
if (statusLedCounter >= statusLedThreshold * 2)
{
diff --git a/src/Payload/AltitudeTrigger/AltitudeTrigger.cpp b/src/Payload/AltitudeTrigger/AltitudeTrigger.cpp
index c0ecf485c..d6abb1940 100644
--- a/src/Payload/AltitudeTrigger/AltitudeTrigger.cpp
+++ b/src/Payload/AltitudeTrigger/AltitudeTrigger.cpp
@@ -43,9 +43,7 @@ bool AltitudeTrigger::start()
config::AltitudeTrigger::UPDATE_RATE);
if (task == 0)
- {
return false;
- }
started = true;
return true;
@@ -56,9 +54,7 @@ bool AltitudeTrigger::isStarted() { return started; }
void AltitudeTrigger::enable()
{
if (running)
- {
return;
- }
confidence = 0;
running = true;
@@ -76,22 +72,16 @@ void AltitudeTrigger::setDeploymentAltitude(float altitude)
void AltitudeTrigger::update()
{
if (!running)
- {
return;
- }
// NED frame, flip the D sign to get above-ground-level altitude
auto nasState = getModule<NASController>()->getNasState();
float altitude = -nasState.d;
if (altitude < targetAltitude)
- {
confidence++;
- }
else
- {
confidence = 0;
- }
if (confidence >= config::AltitudeTrigger::CONFIDENCE)
{
diff --git a/src/Payload/CanHandler/CanHandler.cpp b/src/Payload/CanHandler/CanHandler.cpp
index 2fad71b8e..ed916b236 100644
--- a/src/Payload/CanHandler/CanHandler.cpp
+++ b/src/Payload/CanHandler/CanHandler.cpp
@@ -251,9 +251,7 @@ void CanHandler::handleEvent(const Boardcore::Canbus::CanMessage& msg)
auto event = canEventToEvent(canEvent.event);
if (event == LAST_EVENT)
- {
return;
- }
EventBroker::getInstance().post(event, TOPIC_CAN);
}
diff --git a/src/Payload/CanHandler/CanHandler.h b/src/Payload/CanHandler/CanHandler.h
index fee6448ca..6087184b6 100644
--- a/src/Payload/CanHandler/CanHandler.h
+++ b/src/Payload/CanHandler/CanHandler.h
@@ -77,9 +77,9 @@ public:
CanStatus getCanStatus();
private:
- void handleMessage(const Boardcore::Canbus::CanMessage &msg);
- void handleEvent(const Boardcore::Canbus::CanMessage &msg);
- void handleStatus(const Boardcore::Canbus::CanMessage &msg);
+ void handleMessage(const Boardcore::Canbus::CanMessage& msg);
+ void handleEvent(const Boardcore::Canbus::CanMessage& msg);
+ void handleStatus(const Boardcore::Canbus::CanMessage& msg);
std::unique_ptr<Boardcore::Canbus::CanbusDriver> driver;
std::unique_ptr<Boardcore::Canbus::CanProtocol> protocol;
diff --git a/src/Payload/FlightStatsRecorder/FlightStatsRecorder.cpp b/src/Payload/FlightStatsRecorder/FlightStatsRecorder.cpp
index 617c3424b..496f5eaed 100644
--- a/src/Payload/FlightStatsRecorder/FlightStatsRecorder.cpp
+++ b/src/Payload/FlightStatsRecorder/FlightStatsRecorder.cpp
@@ -148,13 +148,9 @@ void FlightStatsRecorder::updatePressure(const PressureData& data)
{
// Record this event only during flight
if (stats.minPressure == 0)
- {
stats.minPressure = data.pressure;
- }
else if (data.pressure < stats.minPressure)
- {
stats.minPressure = data.pressure;
- }
}
}
diff --git a/src/Payload/HIL/HIL.cpp b/src/Payload/HIL/HIL.cpp
index 9505d8762..304f82bd2 100644
--- a/src/Payload/HIL/HIL.cpp
+++ b/src/Payload/HIL/HIL.cpp
@@ -281,4 +281,4 @@ ActuatorData PayloadHIL::updateActuatorData()
nasStateHIL, actuatorsStateHIL, guidanceData,
(fmm->testState(&Payload::FlightModeManager::FlyingAscending) ? 3 : 0));
};
-} // namespace Payload
\ No newline at end of file
+} // namespace Payload
diff --git a/src/Payload/HIL/HIL.h b/src/Payload/HIL/HIL.h
index 1275b2985..ac166a58a 100644
--- a/src/Payload/HIL/HIL.h
+++ b/src/Payload/HIL/HIL.h
@@ -70,7 +70,6 @@ class PayloadHIL
Payload::Buses, Payload::Actuators, Payload::FlightModeManager,
Payload::WingController, Payload::NASController>
{
-
public:
PayloadHIL();
@@ -80,4 +79,4 @@ private:
ActuatorData updateActuatorData();
};
-} // namespace Payload
\ No newline at end of file
+} // namespace Payload
diff --git a/src/Payload/HIL/HILData.h b/src/Payload/HIL/HILData.h
index fed7c3d11..3dd059778 100644
--- a/src/Payload/HIL/HILData.h
+++ b/src/Payload/HIL/HILData.h
@@ -235,4 +235,4 @@ struct ActuatorData
guidanceData.print();
}
};
-} // namespace Payload
\ No newline at end of file
+} // namespace Payload
diff --git a/src/Payload/PersistentVars/PersistentVars.cpp b/src/Payload/PersistentVars/PersistentVars.cpp
index 4d59bae1a..da39e9d35 100644
--- a/src/Payload/PersistentVars/PersistentVars.cpp
+++ b/src/Payload/PersistentVars/PersistentVars.cpp
@@ -45,4 +45,4 @@ bool getHilMode() { return hilMode; }
} // namespace PersistentVars
-} // namespace Payload
\ No newline at end of file
+} // namespace Payload
diff --git a/src/Payload/PersistentVars/PersistentVars.h b/src/Payload/PersistentVars/PersistentVars.h
index 9f2ed5db5..c50450146 100644
--- a/src/Payload/PersistentVars/PersistentVars.h
+++ b/src/Payload/PersistentVars/PersistentVars.h
@@ -34,4 +34,4 @@ bool getHilMode();
} // namespace PersistentVars
-} // namespace Payload
\ No newline at end of file
+} // namespace Payload
diff --git a/src/Payload/PinHandler/PinData.h b/src/Payload/PinHandler/PinData.h
index b4a64ea3d..0f531f198 100644
--- a/src/Payload/PinHandler/PinData.h
+++ b/src/Payload/PinHandler/PinData.h
@@ -47,4 +47,4 @@ struct PinChangeData
}
};
-} // namespace Payload
\ No newline at end of file
+} // namespace Payload
diff --git a/src/Payload/PinHandler/PinHandler.cpp b/src/Payload/PinHandler/PinHandler.cpp
index 783101d12..defeb9f6c 100644
--- a/src/Payload/PinHandler/PinHandler.cpp
+++ b/src/Payload/PinHandler/PinHandler.cpp
@@ -128,9 +128,7 @@ void PinHandler::onNoseconeDetachTransition(PinTransition transition)
static_cast<int>(transition));
if (transition == config::NoseconeDetach::TRIGGERING_TRANSITION)
- {
EventBroker::getInstance().post(FLIGHT_NC_DETACHED, TOPIC_FLIGHT);
- }
}
} // namespace Payload
diff --git a/src/Payload/Radio/MessageHandler.cpp b/src/Payload/Radio/MessageHandler.cpp
index 5d5e322f1..42e9172d0 100644
--- a/src/Payload/Radio/MessageHandler.cpp
+++ b/src/Payload/Radio/MessageHandler.cpp
@@ -65,9 +65,7 @@ void Radio::MavlinkBackend::handleMessage(const mavlink_message_t& msg)
mavlink_msg_system_tm_request_tc_get_tm_id(&msg));
if (!enqueueSystemTm(tmId))
- {
return enqueueNack(msg);
- }
return enqueueAck(msg);
}
@@ -78,9 +76,7 @@ void Radio::MavlinkBackend::handleMessage(const mavlink_message_t& msg)
mavlink_msg_sensor_tm_request_tc_get_sensor_name(&msg));
if (!enqueueSensorsTm(sensorId))
- {
return enqueueNack(msg);
- }
return enqueueAck(msg);
}
@@ -93,9 +89,7 @@ void Radio::MavlinkBackend::handleMessage(const mavlink_message_t& msg)
float position =
parent.getModule<Actuators>()->getServoPosition(servo);
if (position < 0)
- {
return enqueueNack(msg);
- }
mavlink_message_t tmMsg;
mavlink_servo_tm_t tm;
@@ -116,22 +110,16 @@ void Radio::MavlinkBackend::handleMessage(const mavlink_message_t& msg)
parent.getModule<FlightModeManager>()->servoMovesAllowed();
// Allow arbitrary servo movements in allowed states only
if (!allowed)
- {
return enqueueNack(msg);
- }
auto servo = static_cast<ServosList>(
mavlink_msg_set_servo_angle_tc_get_servo_id(&msg));
float angle = mavlink_msg_set_servo_angle_tc_get_angle(&msg);
if (parent.getModule<Actuators>()->setServoAngle(servo, angle))
- {
return enqueueAck(msg);
- }
else
- {
return enqueueNack(msg);
- }
}
case MAVLINK_MSG_ID_RESET_SERVO_TC:
@@ -140,9 +128,7 @@ void Radio::MavlinkBackend::handleMessage(const mavlink_message_t& msg)
parent.getModule<FlightModeManager>()->servoMovesAllowed();
// Reset servos in allowed states only
if (!allowed)
- {
return enqueueNack(msg);
- }
auto servo = static_cast<ServosList>(
mavlink_msg_reset_servo_tc_get_servo_id(&msg));
@@ -166,9 +152,7 @@ void Radio::MavlinkBackend::handleMessage(const mavlink_message_t& msg)
parent.getModule<FlightModeManager>()->servoMovesAllowed();
// Perform the wiggle in allowed states only
if (!allowed)
- {
return enqueueNack(msg);
- }
auto servo = static_cast<ServosList>(
mavlink_msg_wiggle_servo_tc_get_servo_id(&msg));
@@ -206,13 +190,9 @@ void Radio::MavlinkBackend::handleMessage(const mavlink_message_t& msg)
float qNorm = quat.norm();
if (std::abs(qNorm - 1) > 0.001)
- {
return enqueueWack(msg);
- }
else
- {
return enqueueAck(msg);
- }
}
case MAVLINK_MSG_ID_SET_DEPLOYMENT_ALTITUDE_TC:
@@ -224,13 +204,9 @@ void Radio::MavlinkBackend::handleMessage(const mavlink_message_t& msg)
altitude);
if (altitude < 200 || altitude > 450)
- {
return enqueueWack(msg);
- }
else
- {
return enqueueAck(msg);
- }
}
case MAVLINK_MSG_ID_SET_TARGET_COORDINATES_TC:
@@ -245,13 +221,9 @@ void Radio::MavlinkBackend::handleMessage(const mavlink_message_t& msg)
latitude, longitude);
if (targetSet)
- {
return enqueueAck(msg);
- }
else
- {
return enqueueNack(msg);
- }
}
case MAVLINK_MSG_ID_SET_ALGORITHM_TC:
@@ -263,13 +235,9 @@ void Radio::MavlinkBackend::handleMessage(const mavlink_message_t& msg)
parent.getModule<WingController>()->selectAlgorithm(index);
if (algorithmSet)
- {
return enqueueAck(msg);
- }
else
- {
return enqueueNack(msg);
- }
}
case MAVLINK_MSG_ID_SET_CALIBRATION_PRESSURE_TC:
@@ -297,13 +265,9 @@ void Radio::MavlinkBackend::handleMessage(const mavlink_message_t& msg)
TOPIC_TMTC);
if (press < 50000)
- {
return enqueueWack(msg);
- }
else
- {
return enqueueAck(msg);
- }
}
}
@@ -315,9 +279,7 @@ void Radio::MavlinkBackend::handleMessage(const mavlink_message_t& msg)
bool testMode = parent.getModule<FlightModeManager>()->isTestMode();
// Raw events are allowed in test mode only
if (!testMode)
- {
return enqueueNack(msg);
- }
EventBroker::getInstance().post(topicId, eventId);
return enqueueAck(msg);
@@ -341,9 +303,7 @@ void Radio::MavlinkBackend::handleCommand(const mavlink_message_t& msg)
{
bool started = Logger::getInstance().start();
if (!started)
- {
return enqueueNack(msg);
- }
Logger::getInstance().resetStats();
return enqueueAck(msg);
@@ -360,19 +320,13 @@ void Radio::MavlinkBackend::handleCommand(const mavlink_message_t& msg)
bool testMode = parent.getModule<FlightModeManager>()->isTestMode();
// Save calibration data in test mode only
if (!testMode)
- {
return enqueueNack(msg);
- }
bool magResult = parent.getModule<Sensors>()->saveMagCalibration();
if (magResult)
- {
return enqueueAck(msg);
- }
else
- {
return enqueueNack(msg);
- }
}
default:
@@ -380,9 +334,7 @@ void Radio::MavlinkBackend::handleCommand(const mavlink_message_t& msg)
// Map the command to an event and post it, if it exists
auto event = mavCmdToEvent(command);
if (event == LAST_EVENT)
- {
return enqueueNack(msg);
- }
EventBroker::getInstance().post(event, TOPIC_TMTC);
return enqueueAck(msg);
diff --git a/src/Payload/Radio/Radio.cpp b/src/Payload/Radio/Radio.cpp
index f82d18870..46c12a464 100644
--- a/src/Payload/Radio/Radio.cpp
+++ b/src/Payload/Radio/Radio.cpp
@@ -41,9 +41,7 @@ inline void handleDioIRQ()
{
auto transceiver = staticTransceiver.load();
if (transceiver)
- {
transceiver->handleDioIRQ();
- }
}
} // namespace
@@ -86,8 +84,7 @@ bool Radio::start()
// Initialize the Mavlink driver
radioMavlink.driver = std::make_unique<MavDriver>(
- transceiver.get(),
- [this](MavDriver*, const mavlink_message_t& msg)
+ transceiver.get(), [this](MavDriver*, const mavlink_message_t& msg)
{ handleRadioMessage(msg); },
milliseconds{config::MavlinkDriver::SLEEP_AFTER_SEND}.count(),
milliseconds{config::MavlinkDriver::MAX_PKT_AGE}.count());
@@ -194,9 +191,7 @@ void Radio::MavlinkBackend::flushQueue()
Lock<FastMutex> lock(mutex);
for (uint32_t i = 0; i < index; i++)
- {
driver->enqueueMsg(queue[i]);
- }
// Reset the index
index = 0;
diff --git a/src/Payload/Sensors/HILSensors.h b/src/Payload/Sensors/HILSensors.h
index b2d39e8c8..20a45a804 100644
--- a/src/Payload/Sensors/HILSensors.h
+++ b/src/Payload/Sensors/HILSensors.h
@@ -261,4 +261,4 @@ private:
bool enableHw;
};
-} // namespace Payload
\ No newline at end of file
+} // namespace Payload
diff --git a/src/Payload/Sensors/Sensors.cpp b/src/Payload/Sensors/Sensors.cpp
index 96e5694b9..c763eaddb 100644
--- a/src/Payload/Sensors/Sensors.cpp
+++ b/src/Payload/Sensors/Sensors.cpp
@@ -42,34 +42,22 @@ bool Sensors::start()
magCalibration.fromFile(config::MagCalibration::CALIBRATION_PATH);
if (Config::Sensors::LPS22DF::ENABLED)
- {
lps22dfInit();
- }
if (Config::Sensors::LPS28DFW::ENABLED)
- {
lps28dfwInit();
- }
if (Config::Sensors::H3LIS331DL::ENABLED)
- {
h3lis331dlInit();
- }
if (Config::Sensors::LIS2MDL::ENABLED)
- {
lis2mdlInit();
- }
if (Config::Sensors::UBXGPS::ENABLED)
- {
ubxgpsInit();
- }
if (Config::Sensors::LSM6DSRX::ENABLED)
- {
lsm6dsrxInit();
- }
if (Config::Sensors::ADS131M08::ENABLED)
{
@@ -79,14 +67,10 @@ bool Sensors::start()
}
if (Config::Sensors::InternalADC::ENABLED)
- {
internalAdcInit();
- }
if (Config::Sensors::RotatedIMU::ENABLED)
- {
rotatedImuInit();
- }
// Return immediately if the hook fails as we cannot know what the hook does
if (!postSensorCreationHook())
@@ -394,7 +378,7 @@ std::vector<SensorInfo> Sensors::getSensorInfo()
infos.push_back(manager->getSensorInfo(instance.get())); \
else \
infos.push_back( \
- SensorInfo{#name, config::name::SAMPLING_RATE, nullptr, false})
+ SensorInfo { #name, config::name::SAMPLING_RATE, nullptr, false })
PUSH_SENSOR_INFO(lps22df, LPS22DF);
PUSH_SENSOR_INFO(lps28dfw, LPS28DFW);
@@ -563,9 +547,7 @@ void Sensors::lsm6dsrxCallback()
// For every instance inside the fifo log the sample
for (auto i = 0; i < fifoSize; i++)
- {
logger.log(fifo.at(i));
- }
}
void Sensors::ads131m08Init()
@@ -582,9 +564,7 @@ void Sensors::ads131m08Init()
// Disable all channels
for (auto& channel : channels)
- {
channel.enabled = false;
- }
// Enable required channels
channels[(int)config::StaticPressure::ADC_CH] = {
.enabled = true,
diff --git a/src/Payload/StateMachines/NASController/NASController.cpp b/src/Payload/StateMachines/NASController/NASController.cpp
index 0a6f5cf0a..959bff614 100644
--- a/src/Payload/StateMachines/NASController/NASController.cpp
+++ b/src/Payload/StateMachines/NASController/NASController.cpp
@@ -252,7 +252,7 @@ void NASController::calibrate()
ReferenceValues reference = nas.getReferenceValues();
reference.refPressure = meanBaro;
reference.refAltitude = Aeroutils::relAltitude(
- reference.refPressure, reference.mslPressure, reference.mslTemperature);
+ reference.refPressure, reference.mslPressure, reference.mslTemperature);
// Also update the reference with the GPS if we have fix
UBXGPSData gps = sensors->getUBXGPSLastSample();
@@ -274,9 +274,7 @@ void NASController::update()
{
// Update the NAS state only if the FSM is active
if (state != NASControllerState::ACTIVE)
- {
return;
- }
auto* sensors = getModule<Sensors>();
@@ -316,9 +314,7 @@ void NASController::update()
}
if (lastBaroTimestamp < baro.pressureTimestamp)
- {
nas.correctBaro(baro.pressure);
- }
// Correct with pitot if one pressure sample is new
// Disable pitot correction
@@ -333,9 +329,7 @@ void NASController::update()
// Correct with accelerometer if the acceleration is in specs
if (lastAccTimestamp < imu.accelerationTimestamp && acc1g)
- {
nas.correctAcc(imu);
- }
// Check if the accelerometer is measuring 1g
if (accLength <
@@ -344,13 +338,9 @@ void NASController::update()
(Constants::g - Config::NAS::ACCELERATION_1G_CONFIDENCE / 2))
{
if (acc1gSamplesCount < Config::NAS::ACCELERATION_1G_SAMPLES)
- {
acc1gSamplesCount++;
- }
else
- {
acc1g = true;
- }
}
else
{
diff --git a/src/Payload/StateMachines/WingController/WingController.cpp b/src/Payload/StateMachines/WingController/WingController.cpp
index 5530bac87..66fd9ebf3 100644
--- a/src/Payload/StateMachines/WingController/WingController.cpp
+++ b/src/Payload/StateMachines/WingController/WingController.cpp
@@ -284,9 +284,7 @@ State WingController::OnGround(const Boardcore::Event& event)
void WingController::inject(DependencyInjector& injector)
{
for (auto& algorithm : algorithms)
- {
algorithm->inject(injector);
- }
Super::inject(injector);
}
@@ -317,9 +315,7 @@ bool WingController::start()
{
// Do not update the active target if the wing is not flying
if (!running)
- {
return;
- }
auto nasState = getModule<NASController>()->getNasState();
float altitude = -nasState.d;
@@ -356,9 +352,7 @@ bool WingController::setTargetCoordinates(float latitude, float longitude)
{
// Allow changing the target position in the IDLE state only
if (state != WingControllerState::IDLE)
- {
return false;
- }
targetPositionGEO = Coordinates{latitude, longitude};
@@ -391,9 +385,7 @@ bool WingController::selectAlgorithm(uint8_t index)
{
// Allow changing the algorithm in the IDLE state only
if (state != WingControllerState::IDLE)
- {
return false;
- }
switch (index)
{
@@ -519,7 +511,7 @@ void WingController::updateEarlyManeuverPoints()
Vector2f currentPositionNED = {nasState.n, nasState.e};
Vector2f targetNED = Aeroutils::geodetic2NED(
- targetGEO, {nasRef.refLatitude, nasRef.refLongitude});
+ targetGEO, {nasRef.refLatitude, nasRef.refLongitude});
Vector2f targetOffsetNED = targetNED - currentPositionNED;
Vector2f normPoint = targetOffsetNED / targetOffsetNED.norm();
@@ -570,9 +562,7 @@ void WingController::updateEarlyManeuverPoints()
void WingController::update()
{
if (running)
- {
getCurrentAlgorithm().step();
- }
}
void WingController::flareWing()
diff --git a/src/Payload/Wing/AutomaticWingAlgorithm.cpp b/src/Payload/Wing/AutomaticWingAlgorithm.cpp
index 544ba3f9c..f26d010d3 100644
--- a/src/Payload/Wing/AutomaticWingAlgorithm.cpp
+++ b/src/Payload/Wing/AutomaticWingAlgorithm.cpp
@@ -155,9 +155,7 @@ float AutomaticWingAlgorithm::angleDiff(float a, float b)
// diff = fmod(diff, 2 * Constants::PI);
if (diff == 0 && positiveInput)
- {
diff = 2 * Constants::PI;
- }
diff -= Constants::PI;
}
diff --git a/src/Payload/Wing/FileWingAlgorithm.cpp b/src/Payload/Wing/FileWingAlgorithm.cpp
index 7d4f8e7a1..9c412996f 100644
--- a/src/Payload/Wing/FileWingAlgorithm.cpp
+++ b/src/Payload/Wing/FileWingAlgorithm.cpp
@@ -55,9 +55,7 @@ bool FileWingAlgorithm::init()
// Communicate it via serial
if (fileValid)
- {
LOG_INFO(logger, "File valid");
- }
// Close the file
parser.close();
diff --git a/src/Payload/Wing/Guidance/EarlyManeuverGuidanceAlgorithm.cpp b/src/Payload/Wing/Guidance/EarlyManeuverGuidanceAlgorithm.cpp
index e8ac40537..a30a15872 100644
--- a/src/Payload/Wing/Guidance/EarlyManeuverGuidanceAlgorithm.cpp
+++ b/src/Payload/Wing/Guidance/EarlyManeuverGuidanceAlgorithm.cpp
@@ -37,9 +37,9 @@ namespace Payload
EarlyManeuversGuidanceAlgorithm::EarlyManeuversGuidanceAlgorithm()
: activeTarget(Target::EMC), targetAltitudeConfidence(0),
m2AltitudeConfidence(0), m1AltitudeConfidence(0),
- emcAltitudeConfidence(0){};
+ emcAltitudeConfidence(0) {};
-EarlyManeuversGuidanceAlgorithm::~EarlyManeuversGuidanceAlgorithm(){};
+EarlyManeuversGuidanceAlgorithm::~EarlyManeuversGuidanceAlgorithm() {};
float EarlyManeuversGuidanceAlgorithm::calculateTargetAngle(
const Eigen::Vector3f& currentPositionNED, Eigen::Vector2f& heading)
diff --git a/src/Payload/payload-entry.cpp b/src/Payload/payload-entry.cpp
index efbf2d252..a2160a7ab 100644
--- a/src/Payload/payload-entry.cpp
+++ b/src/Payload/payload-entry.cpp
@@ -202,13 +202,13 @@ int main()
// Log all posted events
std::cout << "Starting event sniffer" << std::endl;
- EventSniffer sniffer(
- EventBroker::getInstance(), TOPICS_LIST,
- [](uint8_t event, uint8_t topic)
- {
- EventData ev{TimestampTimer::getTimestamp(), event, topic};
- Logger::getInstance().log(ev);
- });
+ EventSniffer sniffer(EventBroker::getInstance(), TOPICS_LIST,
+ [](uint8_t event, uint8_t topic)
+ {
+ EventData ev{TimestampTimer::getTimestamp(), event,
+ topic};
+ Logger::getInstance().log(ev);
+ });
if (hil)
{
diff --git a/src/RIGv2/Actuators/Actuators.cpp b/src/RIGv2/Actuators/Actuators.cpp
index eb744975e..26e294282 100644
--- a/src/RIGv2/Actuators/Actuators.cpp
+++ b/src/RIGv2/Actuators/Actuators.cpp
@@ -41,9 +41,7 @@ void Actuators::ServoInfo::openServoWithTime(uint32_t time)
lastActionTs = currentTime;
if (openingEvent != 0)
- {
EventBroker::getInstance().post(openingEvent, TOPIC_MOTOR);
- }
}
void Actuators::ServoInfo::closeServo()
@@ -52,24 +50,18 @@ void Actuators::ServoInfo::closeServo()
lastActionTs = getTime();
if (closingEvent != 0)
- {
EventBroker::getInstance().post(closingEvent, TOPIC_MOTOR);
- }
}
void Actuators::ServoInfo::unsafeSetServoPosition(float position)
{
// Check that the servo is actually there, just to be safe
if (!servo)
- {
return;
- }
position *= limit;
if (flipped)
- {
position = 1.0f - position;
- }
servo->setPosition(position);
}
@@ -78,15 +70,11 @@ float Actuators::ServoInfo::getServoPosition()
{
// Check that the servo is actually there, just to be safe
if (!servo)
- {
return 0.0f;
- }
float position = servo->getPosition();
if (flipped)
- {
position = 1.0f - position;
- }
position /= limit;
return position;
@@ -170,7 +158,7 @@ Actuators::Actuators()
Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE,
Config::Servos::FREQUENCY);
- ServoInfo *info;
+ ServoInfo* info;
info = getServo(ServosList::FILLING_VALVE);
info->defaultMaxAperture = Config::Servos::DEFAULT_FILLING_MAX_APERTURE;
info->defaultOpeningTime = Config::Servos::DEFAULT_FILLING_OPENING_TIME;
@@ -230,7 +218,7 @@ bool Actuators::isStarted() { return started; }
bool Actuators::start()
{
- TaskScheduler &scheduler =
+ TaskScheduler& scheduler =
getModule<BoardScheduler>()->getActuatorsScheduler();
infos[0].servo->enable();
@@ -273,11 +261,9 @@ bool Actuators::wiggleServo(ServosList servo)
bool Actuators::toggleServo(ServosList servo)
{
Lock<FastMutex> lock(infosMutex);
- ServoInfo *info = getServo(servo);
+ ServoInfo* info = getServo(servo);
if (info == nullptr)
- {
return false;
- }
if (info->closeTs == 0)
{
@@ -300,11 +286,9 @@ bool Actuators::toggleServo(ServosList servo)
bool Actuators::openServo(ServosList servo)
{
Lock<FastMutex> lock(infosMutex);
- ServoInfo *info = getServo(servo);
+ ServoInfo* info = getServo(servo);
if (info == nullptr)
- {
return false;
- }
uint32_t time = info->getOpeningTime();
getModule<CanHandler>()->sendServoOpenCommand(servo, time);
@@ -316,11 +300,9 @@ bool Actuators::openServo(ServosList servo)
bool Actuators::openServoWithTime(ServosList servo, uint32_t time)
{
Lock<FastMutex> lock(infosMutex);
- ServoInfo *info = getServo(servo);
+ ServoInfo* info = getServo(servo);
if (info == nullptr)
- {
return false;
- }
getModule<CanHandler>()->sendServoOpenCommand(servo, time);
info->openServoWithTime(time);
@@ -330,11 +312,9 @@ bool Actuators::openServoWithTime(ServosList servo, uint32_t time)
bool Actuators::closeServo(ServosList servo)
{
Lock<FastMutex> lock(infosMutex);
- ServoInfo *info = getServo(servo);
+ ServoInfo* info = getServo(servo);
if (info == nullptr)
- {
return false;
- }
getModule<CanHandler>()->sendServoCloseCommand(servo);
info->closeServo();
@@ -345,9 +325,7 @@ void Actuators::closeAllServos()
{
Lock<FastMutex> lock(infosMutex);
for (uint8_t idx = 0; idx < 10; idx++)
- {
infos[idx].closeServo();
- }
getModule<CanHandler>()->sendServoCloseCommand(ServosList::MAIN_VALVE);
getModule<CanHandler>()->sendServoCloseCommand(ServosList::VENTING_VALVE);
@@ -356,11 +334,9 @@ void Actuators::closeAllServos()
bool Actuators::setMaxAperture(ServosList servo, float aperture)
{
Lock<FastMutex> lock(infosMutex);
- ServoInfo *info = getServo(servo);
+ ServoInfo* info = getServo(servo);
if (info == nullptr)
- {
return false;
- }
return info->setMaxAperture(aperture);
}
@@ -368,11 +344,9 @@ bool Actuators::setMaxAperture(ServosList servo, float aperture)
bool Actuators::setOpeningTime(ServosList servo, uint32_t time)
{
Lock<FastMutex> lock(infosMutex);
- ServoInfo *info = getServo(servo);
+ ServoInfo* info = getServo(servo);
if (info == nullptr)
- {
return false;
- }
return info->setOpeningTime(time);
}
@@ -380,11 +354,9 @@ bool Actuators::setOpeningTime(ServosList servo, uint32_t time)
bool Actuators::isServoOpen(ServosList servo)
{
Lock<FastMutex> lock(infosMutex);
- ServoInfo *info = getServo(servo);
+ ServoInfo* info = getServo(servo);
if (info == nullptr)
- {
return false;
- }
return info->closeTs != 0;
}
@@ -393,17 +365,11 @@ bool Actuators::isCanServoOpen(ServosList servo)
{
Lock<FastMutex> lock(infosMutex);
if (servo == ServosList::MAIN_VALVE)
- {
return canMainOpen;
- }
else if (servo == ServosList::VENTING_VALVE)
- {
return canVentingOpen;
- }
else
- {
return false;
- }
}
void Actuators::openNitrogen()
@@ -435,11 +401,9 @@ bool Actuators::isNitrogenOpen()
uint32_t Actuators::getServoOpeningTime(ServosList servo)
{
Lock<FastMutex> lock(infosMutex);
- ServoInfo *info = getServo(servo);
+ ServoInfo* info = getServo(servo);
if (info == nullptr)
- {
return 0;
- }
return info->getOpeningTime();
}
@@ -447,11 +411,9 @@ uint32_t Actuators::getServoOpeningTime(ServosList servo)
float Actuators::getServoMaxAperture(ServosList servo)
{
Lock<FastMutex> lock(infosMutex);
- ServoInfo *info = getServo(servo);
+ ServoInfo* info = getServo(servo);
if (info == nullptr)
- {
return 0;
- }
return info->getMaxAperture();
}
@@ -460,25 +422,19 @@ void Actuators::setCanServoOpen(ServosList servo, bool open)
{
Lock<FastMutex> lock(infosMutex);
if (servo == ServosList::MAIN_VALVE)
- {
canMainOpen = open;
- }
else if (servo == ServosList::VENTING_VALVE)
- {
canVentingOpen = open;
- }
}
-void Actuators::inject(DependencyInjector &injector)
+void Actuators::inject(DependencyInjector& injector)
{
Super::inject(injector);
- for (ServoInfo &info : infos)
- {
+ for (ServoInfo& info : infos)
info.inject(injector);
- }
}
-Actuators::ServoInfo *Actuators::getServo(ServosList servo)
+Actuators::ServoInfo* Actuators::getServo(ServosList servo)
{
switch (servo)
{
@@ -580,4 +536,4 @@ void Actuators::updatePositionsTask()
unsafeCloseNitrogen();
}
-}
\ No newline at end of file
+}
diff --git a/src/RIGv2/Actuators/Actuators.h b/src/RIGv2/Actuators/Actuators.h
index 939cd5e25..58342d074 100644
--- a/src/RIGv2/Actuators/Actuators.h
+++ b/src/RIGv2/Actuators/Actuators.h
@@ -108,10 +108,10 @@ public:
void setCanServoOpen(ServosList servo, bool open);
- void inject(Boardcore::DependencyInjector &injector) override;
+ void inject(Boardcore::DependencyInjector& injector) override;
private:
- ServoInfo *getServo(ServosList servo);
+ ServoInfo* getServo(ServosList servo);
void unsafeSetServoPosition(uint8_t idx, float position);
void unsafeOpenNitrogen();
@@ -119,7 +119,7 @@ private:
void updatePositionsTask();
- Boardcore::Logger &sdLogger = Boardcore::Logger::getInstance();
+ Boardcore::Logger& sdLogger = Boardcore::Logger::getInstance();
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("actuators");
std::atomic<bool> started{false};
@@ -135,4 +135,4 @@ private:
bool canVentingOpen = false;
};
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/Actuators/ActuatorsData.h b/src/RIGv2/Actuators/ActuatorsData.h
index 5d638d8b3..b43263fe1 100644
--- a/src/RIGv2/Actuators/ActuatorsData.h
+++ b/src/RIGv2/Actuators/ActuatorsData.h
@@ -53,4 +53,4 @@ struct ActuatorsData
}
};
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/BoardScheduler.h b/src/RIGv2/BoardScheduler.h
index bea27fb47..11556aa7f 100644
--- a/src/RIGv2/BoardScheduler.h
+++ b/src/RIGv2/BoardScheduler.h
@@ -58,13 +58,13 @@ public:
bool isStarted() { return started; }
- Boardcore::TaskScheduler &getTars1Scheduler() { return tars1; }
+ Boardcore::TaskScheduler& getTars1Scheduler() { return tars1; }
- Boardcore::TaskScheduler &getSensorsScheduler() { return sensors; }
+ Boardcore::TaskScheduler& getSensorsScheduler() { return sensors; }
- Boardcore::TaskScheduler &getActuatorsScheduler() { return sensors; }
+ Boardcore::TaskScheduler& getActuatorsScheduler() { return sensors; }
- Boardcore::TaskScheduler &getCanBusScheduler() { return sensors; }
+ Boardcore::TaskScheduler& getCanBusScheduler() { return sensors; }
private:
Boardcore::PrintLogger logger =
@@ -76,4 +76,4 @@ private:
Boardcore::TaskScheduler sensors;
};
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/Buses.h b/src/RIGv2/Buses.h
index 6ba76033d..a777b13e6 100644
--- a/src/RIGv2/Buses.h
+++ b/src/RIGv2/Buses.h
@@ -33,15 +33,15 @@ class Buses : public Boardcore::Injectable
public:
Buses() : spi1(SPI1), spi2(SPI2), spi3(SPI3), spi4(SPI4), spi6(SPI6) {}
- Boardcore::SPIBus &getH3LIS331DL() { return spi4; }
- Boardcore::SPIBus &getLPS22DF() { return spi4; }
- Boardcore::SPIBus &getLSM6DSRX() { return spi4; }
- Boardcore::SPIBus &getLIS2MDL() { return spi4; }
- Boardcore::SPIBus &getADS131M08_1() { return spi1; }
- Boardcore::SPIBus &getADS131M08_2() { return spi3; }
- Boardcore::SPIBus &getMAX31856_1() { return spi3; }
- Boardcore::SPIBus &getMAX31856_2() { return spi1; }
- Boardcore::SPIBus &getRadio() { return spi6; }
+ Boardcore::SPIBus& getH3LIS331DL() { return spi4; }
+ Boardcore::SPIBus& getLPS22DF() { return spi4; }
+ Boardcore::SPIBus& getLSM6DSRX() { return spi4; }
+ Boardcore::SPIBus& getLIS2MDL() { return spi4; }
+ Boardcore::SPIBus& getADS131M08_1() { return spi1; }
+ Boardcore::SPIBus& getADS131M08_2() { return spi3; }
+ Boardcore::SPIBus& getMAX31856_1() { return spi3; }
+ Boardcore::SPIBus& getMAX31856_2() { return spi1; }
+ Boardcore::SPIBus& getRadio() { return spi6; }
private:
Boardcore::SPIBus spi1;
@@ -51,4 +51,4 @@ private:
Boardcore::SPIBus spi6;
};
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/CanHandler/CanHandler.cpp b/src/RIGv2/CanHandler/CanHandler.cpp
index d5783864a..055ae6e57 100644
--- a/src/RIGv2/CanHandler/CanHandler.cpp
+++ b/src/RIGv2/CanHandler/CanHandler.cpp
@@ -39,7 +39,7 @@ using namespace Common;
CanHandler::CanHandler()
: driver(CAN1, CanConfig::CONFIG, CanConfig::BIT_TIMING),
protocol(
- &driver, [this](const CanMessage &msg) { handleMessage(msg); },
+ &driver, [this](const CanMessage& msg) { handleMessage(msg); },
Config::Scheduler::CAN_PRIORITY)
{
protocol.addFilter(static_cast<uint8_t>(CanConfig::Board::MAIN),
@@ -56,7 +56,7 @@ bool CanHandler::start()
{
driver.init();
- TaskScheduler &scheduler =
+ TaskScheduler& scheduler =
getModule<BoardScheduler>()->getCanBusScheduler();
uint8_t result = scheduler.addTask(
@@ -136,7 +136,7 @@ CanHandler::CanStatus CanHandler::getCanStatus()
return status;
}
-void CanHandler::handleMessage(const Canbus::CanMessage &msg)
+void CanHandler::handleMessage(const Canbus::CanMessage& msg)
{
CanConfig::PrimaryType type =
static_cast<CanConfig::PrimaryType>(msg.getPrimaryType());
@@ -175,7 +175,7 @@ void CanHandler::handleMessage(const Canbus::CanMessage &msg)
}
}
-void CanHandler::handleEvent(const Canbus::CanMessage &msg)
+void CanHandler::handleEvent(const Canbus::CanMessage& msg)
{
sdLogger.log(CanEvent{TimestampTimer::getTimestamp(), msg.getSource(),
msg.getDestination(), msg.getSecondaryType()});
@@ -193,12 +193,12 @@ void CanHandler::handleEvent(const Canbus::CanMessage &msg)
}
}
-void CanHandler::handleSensor(const Canbus::CanMessage &msg)
+void CanHandler::handleSensor(const Canbus::CanMessage& msg)
{
CanConfig::SensorId sensor =
static_cast<CanConfig::SensorId>(msg.getSecondaryType());
- Sensors *sensors = getModule<Sensors>();
+ Sensors* sensors = getModule<Sensors>();
switch (sensor)
{
case CanConfig::SensorId::CC_PRESSURE:
@@ -248,7 +248,7 @@ void CanHandler::handleSensor(const Canbus::CanMessage &msg)
}
}
-void CanHandler::handleActuator(const Canbus::CanMessage &msg)
+void CanHandler::handleActuator(const Canbus::CanMessage& msg)
{
ServosList servo = static_cast<ServosList>(msg.getSecondaryType());
CanServoFeedback data = servoFeedbackFromCanMessage(msg);
@@ -257,7 +257,7 @@ void CanHandler::handleActuator(const Canbus::CanMessage &msg)
getModule<Actuators>()->setCanServoOpen(servo, data.open);
}
-void CanHandler::handleStatus(const Canbus::CanMessage &msg)
+void CanHandler::handleStatus(const Canbus::CanMessage& msg)
{
CanConfig::Board source = static_cast<CanConfig::Board>(msg.getSource());
CanDeviceStatus deviceStatus = deviceStatusFromCanMessage(msg);
@@ -301,4 +301,4 @@ void CanHandler::handleStatus(const Canbus::CanMessage &msg)
LOG_WARN(logger, "Received unsupported status: {}", source);
}
}
-}
\ No newline at end of file
+}
diff --git a/src/RIGv2/CanHandler/CanHandler.h b/src/RIGv2/CanHandler/CanHandler.h
index 66a242ac8..282d8eef9 100644
--- a/src/RIGv2/CanHandler/CanHandler.h
+++ b/src/RIGv2/CanHandler/CanHandler.h
@@ -103,14 +103,14 @@ public:
CanStatus getCanStatus();
private:
- void handleMessage(const Boardcore::Canbus::CanMessage &msg);
- void handleEvent(const Boardcore::Canbus::CanMessage &msg);
- void handleSensor(const Boardcore::Canbus::CanMessage &msg);
- void handleActuator(const Boardcore::Canbus::CanMessage &msg);
- void handleStatus(const Boardcore::Canbus::CanMessage &msg);
+ void handleMessage(const Boardcore::Canbus::CanMessage& msg);
+ void handleEvent(const Boardcore::Canbus::CanMessage& msg);
+ void handleSensor(const Boardcore::Canbus::CanMessage& msg);
+ void handleActuator(const Boardcore::Canbus::CanMessage& msg);
+ void handleStatus(const Boardcore::Canbus::CanMessage& msg);
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("canhandler");
- Boardcore::Logger &sdLogger = Boardcore::Logger::getInstance();
+ Boardcore::Logger& sdLogger = Boardcore::Logger::getInstance();
std::atomic<bool> started{false};
@@ -121,4 +121,4 @@ private:
CanStatus status;
};
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/Configs/ActuatorsConfig.h b/src/RIGv2/Configs/ActuatorsConfig.h
index 9497690d7..bfa3ddf43 100644
--- a/src/RIGv2/Configs/ActuatorsConfig.h
+++ b/src/RIGv2/Configs/ActuatorsConfig.h
@@ -82,4 +82,4 @@ static constexpr uint32_t NITROGEN_OPENING_TIME = 5000; // 5s
}
} // namespace Config
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/Configs/GMMConfig.h b/src/RIGv2/Configs/GMMConfig.h
index 7656ea25d..cc02af3a0 100644
--- a/src/RIGv2/Configs/GMMConfig.h
+++ b/src/RIGv2/Configs/GMMConfig.h
@@ -38,4 +38,4 @@ constexpr uint32_t NITROGEN_TIME = 20000; // 20s
} // namespace GroundModeManager
} // namespace Config
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/Configs/RadioConfig.h b/src/RIGv2/Configs/RadioConfig.h
index 9b3039b9a..98830ac09 100644
--- a/src/RIGv2/Configs/RadioConfig.h
+++ b/src/RIGv2/Configs/RadioConfig.h
@@ -51,4 +51,4 @@ constexpr long long LAST_COMMAND_THRESHOLD = 300;
} // namespace Config
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/Configs/SchedulerConfig.h b/src/RIGv2/Configs/SchedulerConfig.h
index 3acf93071..be37f3cf6 100644
--- a/src/RIGv2/Configs/SchedulerConfig.h
+++ b/src/RIGv2/Configs/SchedulerConfig.h
@@ -47,4 +47,4 @@ static const miosix::Priority CAN_PRIORITY = miosix::PRIORITY_MAX - 1;
} // namespace Config
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/Configs/SensorsConfig.h b/src/RIGv2/Configs/SensorsConfig.h
index 230c2cc8e..6348afffa 100644
--- a/src/RIGv2/Configs/SensorsConfig.h
+++ b/src/RIGv2/Configs/SensorsConfig.h
@@ -155,4 +155,4 @@ constexpr bool ENABLED = true;
} // namespace Config
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/Configs/TARS1Config.h b/src/RIGv2/Configs/TARS1Config.h
index bc5c06a35..6cb04df68 100644
--- a/src/RIGv2/Configs/TARS1Config.h
+++ b/src/RIGv2/Configs/TARS1Config.h
@@ -52,4 +52,4 @@ constexpr float PRESSURE_TOLERANCE = 0.035; // [bar]
constexpr bool STOP_ON_MASS_STABILIZATION = false;
} // namespace TARS1
} // namespace Config
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/Radio/Radio.cpp b/src/RIGv2/Radio/Radio.cpp
index 1eb650b07..5e7bdc47a 100644
--- a/src/RIGv2/Radio/Radio.cpp
+++ b/src/RIGv2/Radio/Radio.cpp
@@ -43,9 +43,7 @@ void handleDioIRQ()
{
SX1278Lora* instance = gRadio;
if (instance)
- {
instance->handleDioIRQ();
- }
}
void setIRQRadio(SX1278Lora* radio)
@@ -86,10 +84,8 @@ bool Radio::start()
// Initialize mavdriver
mavDriver = std::make_unique<MavDriver>(
- radio.get(),
- [this](MavDriver*, const mavlink_message_t& msg)
- { handleMessage(msg); },
- Config::Radio::MAV_SLEEP_AFTER_SEND,
+ radio.get(), [this](MavDriver*, const mavlink_message_t& msg)
+ { handleMessage(msg); }, Config::Radio::MAV_SLEEP_AFTER_SEND,
Config::Radio::MAV_OUT_BUFFER_MAX_AGE);
if (!mavDriver->start())
@@ -155,13 +151,9 @@ void Radio::enqueueWack(const mavlink_message_t& msg, uint8_t errorId)
MavlinkStatus Radio::getMavStatus()
{
if (mavDriver)
- {
return mavDriver->getStatus();
- }
else
- {
return {};
- }
}
void Radio::handleMessage(const mavlink_message_t& msg)
@@ -190,13 +182,9 @@ void Radio::handleMessage(const mavlink_message_t& msg)
{
uint8_t tmId = mavlink_msg_system_tm_request_tc_get_tm_id(&msg);
if (enqueueSystemTm(tmId))
- {
enqueueAck(msg);
- }
else
- {
enqueueNack(msg, 0);
- }
break;
}
@@ -206,13 +194,9 @@ void Radio::handleMessage(const mavlink_message_t& msg)
uint8_t tmId =
mavlink_msg_sensor_tm_request_tc_get_sensor_name(&msg);
if (enqueueSensorTm(tmId))
- {
enqueueAck(msg);
- }
else
- {
enqueueNack(msg, 0);
- }
break;
}
@@ -226,13 +210,9 @@ void Radio::handleMessage(const mavlink_message_t& msg)
GroundModeManagerState::DISARMED)
{
if (getModule<Actuators>()->wiggleServo(servo))
- {
enqueueAck(msg);
- }
else
- {
enqueueNack(msg, 0);
- }
}
else
{
@@ -249,13 +229,9 @@ void Radio::handleMessage(const mavlink_message_t& msg)
mavlink_msg_set_atomic_valve_timing_tc_get_servo_id(&msg));
if (getModule<Actuators>()->setOpeningTime(servo, time))
- {
enqueueAck(msg);
- }
else
- {
enqueueNack(msg, 0);
- }
break;
}
@@ -268,13 +244,9 @@ void Radio::handleMessage(const mavlink_message_t& msg)
mavlink_msg_set_valve_maximum_aperture_tc_get_servo_id(&msg));
if (getModule<Actuators>()->setMaxAperture(servo, aperture))
- {
enqueueAck(msg);
- }
else
- {
enqueueNack(msg, 0);
- }
break;
}
@@ -325,26 +297,18 @@ void Radio::handleCommand(const mavlink_message_t& msg)
case MAV_CMD_REGISTRY_LOAD:
{
if (getModule<Registry>()->load() == RegistryError::OK)
- {
enqueueAck(msg);
- }
else
- {
enqueueNack(msg, 0);
- }
break;
}
case MAV_CMD_REGISTRY_SAVE:
{
if (getModule<Registry>()->save() == RegistryError::OK)
- {
enqueueAck(msg);
- }
else
- {
enqueueNack(msg, 0);
- }
break;
}
diff --git a/src/RIGv2/Radio/Radio.h b/src/RIGv2/Radio/Radio.h
index e55d15bde..26a32da17 100644
--- a/src/RIGv2/Radio/Radio.h
+++ b/src/RIGv2/Radio/Radio.h
@@ -91,4 +91,4 @@ private:
mavlink_conrig_state_tc_t oldConrigState;
};
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/Registry/Registry.cpp b/src/RIGv2/Registry/Registry.cpp
index 65aab5be2..847764c60 100644
--- a/src/RIGv2/Registry/Registry.cpp
+++ b/src/RIGv2/Registry/Registry.cpp
@@ -72,4 +72,4 @@ Registry::Registry()
bool Registry::start()
{
return RegistryFrontend::start() == RegistryError::OK;
-}
\ No newline at end of file
+}
diff --git a/src/RIGv2/Registry/Registry.h b/src/RIGv2/Registry/Registry.h
index 03d71c0c8..81164f317 100644
--- a/src/RIGv2/Registry/Registry.h
+++ b/src/RIGv2/Registry/Registry.h
@@ -56,4 +56,4 @@ public:
[[nodiscard]] bool start();
};
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/Sensors/Sensors.cpp b/src/RIGv2/Sensors/Sensors.cpp
index 478c550c5..cf83ecd54 100644
--- a/src/RIGv2/Sensors/Sensors.cpp
+++ b/src/RIGv2/Sensors/Sensors.cpp
@@ -35,9 +35,7 @@ bool Sensors::isStarted() { return started; }
bool Sensors::start()
{
if (Config::Sensors::InternalADC::ENABLED)
- {
internalAdcInit();
- }
if (Config::Sensors::ADS131M08::ENABLED)
{
@@ -51,9 +49,7 @@ bool Sensors::start()
}
if (Config::Sensors::MAX31856::ENABLED)
- {
tc1Init();
- }
if (!sensorManagerInit())
{
@@ -119,49 +115,33 @@ PressureData Sensors::getBottomTankPressLastSample()
PressureData Sensors::getCCPressLastSample()
{
if (useCanData)
- {
return getCanCCPressLastSample();
- }
else
- {
return PressureData{};
- }
}
TemperatureData Sensors::getTankTempLastSample()
{
if (useCanData)
- {
return getCanTankTempLastSample();
- }
else
- {
return getTc1LastSample();
- }
}
LoadCellData Sensors::getVesselWeightLastSample()
{
if (vesselWeight)
- {
return vesselWeight->getLastSample();
- }
else
- {
return {};
- }
}
LoadCellData Sensors::getTankWeightLastSample()
{
if (tankWeight)
- {
return tankWeight->getLastSample();
- }
else
- {
return {};
- }
}
CurrentData Sensors::getUmbilicalCurrentLastSample()
@@ -197,13 +177,9 @@ VoltageData Sensors::getBatteryVoltageLastSample()
VoltageData Sensors::getMotorBatteryVoltageLastSample()
{
if (useCanData)
- {
return getCanMotorBatteryVoltageLastSample();
- }
else
- {
return VoltageData{};
- }
}
PressureData Sensors::getCanTopTankPressLastSample()
@@ -551,7 +527,7 @@ void Sensors::tankWeightCallback()
bool Sensors::sensorManagerInit()
{
- TaskScheduler &scheduler =
+ TaskScheduler& scheduler =
getModule<BoardScheduler>()->getSensorsScheduler();
SensorManager::SensorMap_t map;
@@ -622,4 +598,4 @@ bool Sensors::sensorManagerInit()
manager = std::make_unique<SensorManager>(map, &scheduler);
return manager->start();
-}
\ No newline at end of file
+}
diff --git a/src/RIGv2/Sensors/Sensors.h b/src/RIGv2/Sensors/Sensors.h
index 3ca145caa..c349b48b9 100644
--- a/src/RIGv2/Sensors/Sensors.h
+++ b/src/RIGv2/Sensors/Sensors.h
@@ -116,7 +116,7 @@ private:
bool sensorManagerInit();
- Boardcore::Logger &sdLogger = Boardcore::Logger::getInstance();
+ Boardcore::Logger& sdLogger = Boardcore::Logger::getInstance();
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("sensors");
std::atomic<bool> started{false};
@@ -144,4 +144,4 @@ private:
std::unique_ptr<Boardcore::SensorManager> manager;
};
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/Sensors/SensorsData.h b/src/RIGv2/Sensors/SensorsData.h
index 25b6e2399..5f418da1e 100644
--- a/src/RIGv2/Sensors/SensorsData.h
+++ b/src/RIGv2/Sensors/SensorsData.h
@@ -31,7 +31,7 @@ namespace RIGv2
struct ADC1Data : Boardcore::ADS131M08Data
{
- explicit ADC1Data(const Boardcore::ADS131M08Data &data)
+ explicit ADC1Data(const Boardcore::ADS131M08Data& data)
: Boardcore::ADS131M08Data(data)
{
}
@@ -41,7 +41,7 @@ struct ADC1Data : Boardcore::ADS131M08Data
struct TC1Data : Boardcore::MAX31856Data
{
- explicit TC1Data(const Boardcore::MAX31856Data &data)
+ explicit TC1Data(const Boardcore::MAX31856Data& data)
: Boardcore::MAX31856Data(data)
{
}
@@ -51,7 +51,7 @@ struct TC1Data : Boardcore::MAX31856Data
struct VesselWeightData : Boardcore::LoadCellData
{
- explicit VesselWeightData(const Boardcore::LoadCellData &data)
+ explicit VesselWeightData(const Boardcore::LoadCellData& data)
: Boardcore::LoadCellData(data)
{
}
@@ -61,7 +61,7 @@ struct VesselWeightData : Boardcore::LoadCellData
struct TankWeightData : Boardcore::LoadCellData
{
- explicit TankWeightData(const Boardcore::LoadCellData &data)
+ explicit TankWeightData(const Boardcore::LoadCellData& data)
: Boardcore::LoadCellData(data)
{
}
@@ -71,7 +71,7 @@ struct TankWeightData : Boardcore::LoadCellData
struct VesselPressureData : Boardcore::PressureData
{
- explicit VesselPressureData(const Boardcore::PressureData &data)
+ explicit VesselPressureData(const Boardcore::PressureData& data)
: Boardcore::PressureData(data)
{
}
@@ -81,7 +81,7 @@ struct VesselPressureData : Boardcore::PressureData
struct FillingPressureData : Boardcore::PressureData
{
- explicit FillingPressureData(const Boardcore::PressureData &data)
+ explicit FillingPressureData(const Boardcore::PressureData& data)
: Boardcore::PressureData(data)
{
}
@@ -91,7 +91,7 @@ struct FillingPressureData : Boardcore::PressureData
struct TopTankPressureData : Boardcore::PressureData
{
- explicit TopTankPressureData(const Boardcore::PressureData &data)
+ explicit TopTankPressureData(const Boardcore::PressureData& data)
: Boardcore::PressureData(data)
{
}
@@ -101,7 +101,7 @@ struct TopTankPressureData : Boardcore::PressureData
struct BottomTankPressureData : Boardcore::PressureData
{
- explicit BottomTankPressureData(const Boardcore::PressureData &data)
+ explicit BottomTankPressureData(const Boardcore::PressureData& data)
: Boardcore::PressureData(data)
{
}
@@ -109,4 +109,4 @@ struct BottomTankPressureData : Boardcore::PressureData
BottomTankPressureData() {}
};
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/StateMachines/GroundModeManager/GroundModeManager.cpp b/src/RIGv2/StateMachines/GroundModeManager/GroundModeManager.cpp
index b4024646f..2b372417e 100644
--- a/src/RIGv2/StateMachines/GroundModeManager/GroundModeManager.cpp
+++ b/src/RIGv2/StateMachines/GroundModeManager/GroundModeManager.cpp
@@ -47,7 +47,7 @@ void GroundModeManager::setIgnitionTime(uint32_t time)
getModule<Registry>()->setUnsafe(CONFIG_ID_IGNITION_TIME, time);
}
-State GroundModeManager::state_idle(const Event &event)
+State GroundModeManager::state_idle(const Event& event)
{
switch (event)
{
@@ -85,7 +85,7 @@ State GroundModeManager::state_idle(const Event &event)
}
}
-State GroundModeManager::state_init(const Event &event)
+State GroundModeManager::state_init(const Event& event)
{
switch (event)
{
@@ -127,7 +127,7 @@ State GroundModeManager::state_init(const Event &event)
}
}
-State GroundModeManager::state_init_error(const Event &event)
+State GroundModeManager::state_init_error(const Event& event)
{
switch (event)
{
@@ -164,7 +164,7 @@ State GroundModeManager::state_init_error(const Event &event)
}
}
-State GroundModeManager::state_disarmed(const Event &event)
+State GroundModeManager::state_disarmed(const Event& event)
{
switch (event)
{
@@ -216,7 +216,7 @@ State GroundModeManager::state_disarmed(const Event &event)
}
}
-State GroundModeManager::state_armed(const Event &event)
+State GroundModeManager::state_armed(const Event& event)
{
switch (event)
{
@@ -271,7 +271,7 @@ State GroundModeManager::state_armed(const Event &event)
}
}
-State GroundModeManager::state_firing(const Event &event)
+State GroundModeManager::state_firing(const Event& event)
{
switch (event)
{
@@ -328,7 +328,7 @@ State GroundModeManager::state_firing(const Event &event)
}
}
-State GroundModeManager::state_igniting(const Event &event)
+State GroundModeManager::state_igniting(const Event& event)
{
switch (event)
{
@@ -379,7 +379,7 @@ State GroundModeManager::state_igniting(const Event &event)
}
}
-State GroundModeManager::state_oxidizer(const Event &event)
+State GroundModeManager::state_oxidizer(const Event& event)
{
switch (event)
{
@@ -419,7 +419,7 @@ State GroundModeManager::state_oxidizer(const Event &event)
}
}
-State GroundModeManager::state_cooling(const Event &event)
+State GroundModeManager::state_cooling(const Event& event)
{
switch (event)
{
diff --git a/src/RIGv2/StateMachines/GroundModeManager/GroundModeManager.h b/src/RIGv2/StateMachines/GroundModeManager/GroundModeManager.h
index 182514009..a4939c0cb 100644
--- a/src/RIGv2/StateMachines/GroundModeManager/GroundModeManager.h
+++ b/src/RIGv2/StateMachines/GroundModeManager/GroundModeManager.h
@@ -52,19 +52,19 @@ public:
void setIgnitionTime(uint32_t time);
private:
- Boardcore::State state_idle(const Boardcore::Event &event);
- Boardcore::State state_init(const Boardcore::Event &event);
- Boardcore::State state_init_error(const Boardcore::Event &event);
- Boardcore::State state_disarmed(const Boardcore::Event &event);
- Boardcore::State state_armed(const Boardcore::Event &event);
- Boardcore::State state_firing(const Boardcore::Event &event);
- Boardcore::State state_igniting(const Boardcore::Event &event);
- Boardcore::State state_oxidizer(const Boardcore::Event &event);
- Boardcore::State state_cooling(const Boardcore::Event &event);
+ Boardcore::State state_idle(const Boardcore::Event& event);
+ Boardcore::State state_init(const Boardcore::Event& event);
+ Boardcore::State state_init_error(const Boardcore::Event& event);
+ Boardcore::State state_disarmed(const Boardcore::Event& event);
+ Boardcore::State state_armed(const Boardcore::Event& event);
+ Boardcore::State state_firing(const Boardcore::Event& event);
+ Boardcore::State state_igniting(const Boardcore::Event& event);
+ Boardcore::State state_oxidizer(const Boardcore::Event& event);
+ Boardcore::State state_cooling(const Boardcore::Event& event);
void updateAndLogStatus(GroundModeManagerState state);
- Boardcore::Logger &sdLogger = Boardcore::Logger::getInstance();
+ Boardcore::Logger& sdLogger = Boardcore::Logger::getInstance();
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("gmm");
std::atomic<GroundModeManagerState> state{GroundModeManagerState::IDLE};
@@ -73,4 +73,4 @@ private:
uint16_t coolingDelayEventId = -1;
};
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/StateMachines/GroundModeManager/GroundModeManagerData.h b/src/RIGv2/StateMachines/GroundModeManager/GroundModeManagerData.h
index 864f5c583..bc08a83a3 100644
--- a/src/RIGv2/StateMachines/GroundModeManager/GroundModeManagerData.h
+++ b/src/RIGv2/StateMachines/GroundModeManager/GroundModeManagerData.h
@@ -65,4 +65,4 @@ struct GroundModeManagerData
}
};
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/StateMachines/TARS1/MedianFilter.h b/src/RIGv2/StateMachines/TARS1/MedianFilter.h
index cb125b5a4..0d14f3f1b 100644
--- a/src/RIGv2/StateMachines/TARS1/MedianFilter.h
+++ b/src/RIGv2/StateMachines/TARS1/MedianFilter.h
@@ -54,4 +54,4 @@ private:
std::array<T, Max> values = {0};
};
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/StateMachines/TARS1/TARS1.cpp b/src/RIGv2/StateMachines/TARS1/TARS1.cpp
index b48d54609..5b0f879d6 100644
--- a/src/RIGv2/StateMachines/TARS1/TARS1.cpp
+++ b/src/RIGv2/StateMachines/TARS1/TARS1.cpp
@@ -287,4 +287,4 @@ void TARS1::logSample(float pressure, float mass)
{
TarsSampleData data = {TimestampTimer::getTimestamp(), pressure, mass};
sdLogger.log(data);
-}
\ No newline at end of file
+}
diff --git a/src/RIGv2/StateMachines/TARS1/TARS1.h b/src/RIGv2/StateMachines/TARS1/TARS1.h
index e68cf5310..eba7653f2 100644
--- a/src/RIGv2/StateMachines/TARS1/TARS1.h
+++ b/src/RIGv2/StateMachines/TARS1/TARS1.h
@@ -50,13 +50,13 @@ public:
private:
void sample();
- void state_ready(const Boardcore::Event &event);
- void state_refueling(const Boardcore::Event &event);
+ void state_ready(const Boardcore::Event& event);
+ void state_refueling(const Boardcore::Event& event);
void logAction(TarsActionType action);
void logSample(float pressure, float mass);
- Boardcore::Logger &sdLogger = Boardcore::Logger::getInstance();
+ Boardcore::Logger& sdLogger = Boardcore::Logger::getInstance();
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("tars1");
float previousMass = 0;
@@ -77,4 +77,4 @@ private:
uint16_t nextDelayedEventId = 0;
};
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/StateMachines/TARS1/TARS1Data.h b/src/RIGv2/StateMachines/TARS1/TARS1Data.h
index f3d9a2005..bf1fc75e8 100644
--- a/src/RIGv2/StateMachines/TARS1/TARS1Data.h
+++ b/src/RIGv2/StateMachines/TARS1/TARS1Data.h
@@ -55,7 +55,7 @@ struct TarsActionData
static std::string header() { return "timestamp,action\n"; }
- void print(std::ostream &os) const
+ void print(std::ostream& os) const
{
os << timestamp << "," << (int)action << "\n";
}
@@ -76,10 +76,10 @@ struct TarsSampleData
static std::string header() { return "timestamp,pressure,mass\n"; }
- void print(std::ostream &os) const
+ void print(std::ostream& os) const
{
os << timestamp << "," << pressure << "," << mass << "\n";
}
};
-} // namespace RIGv2
\ No newline at end of file
+} // namespace RIGv2
diff --git a/src/RIGv2/rig-v2-entry.cpp b/src/RIGv2/rig-v2-entry.cpp
index d4042b48f..ebc617446 100644
--- a/src/RIGv2/rig-v2-entry.cpp
+++ b/src/RIGv2/rig-v2-entry.cpp
@@ -49,28 +49,28 @@ int main()
{
DependencyManager manager;
- Buses *buses = new Buses();
- BoardScheduler *scheduler = new BoardScheduler();
+ Buses* buses = new Buses();
+ BoardScheduler* scheduler = new BoardScheduler();
- Sensors *sensors = new Sensors();
- Actuators *actuators = new Actuators();
- Registry *registry = new Registry();
- CanHandler *canHandler = new CanHandler();
- GroundModeManager *gmm = new GroundModeManager();
- TARS1 *tars1 = new TARS1();
- Radio *radio = new Radio();
+ Sensors* sensors = new Sensors();
+ Actuators* actuators = new Actuators();
+ Registry* registry = new Registry();
+ CanHandler* canHandler = new CanHandler();
+ GroundModeManager* gmm = new GroundModeManager();
+ TARS1* tars1 = new TARS1();
+ Radio* radio = new Radio();
- Logger &sdLogger = Logger::getInstance();
- EventBroker &broker = EventBroker::getInstance();
+ Logger& sdLogger = Logger::getInstance();
+ EventBroker& broker = EventBroker::getInstance();
// Setup event sniffer
- EventSniffer sniffer(
- broker,
- [&](uint8_t event, uint8_t topic)
- {
- EventData data{TimestampTimer::getTimestamp(), event, topic};
- sdLogger.log(data);
- });
+ EventSniffer sniffer(broker,
+ [&](uint8_t event, uint8_t topic)
+ {
+ EventData data{TimestampTimer::getTimestamp(),
+ event, topic};
+ sdLogger.log(data);
+ });
// Insert modules
bool initResult = manager.insert<Buses>(buses) &&
@@ -115,9 +115,7 @@ int main()
// Perform an initial registry load
std::cout << "Loading backed registry" << std::endl;
if (registry->load() != RegistryError::OK)
- {
std::cout << "*** Failed to load backed registry ***" << std::endl;
- }
std::cout << "Starting Actuators" << std::endl;
if (!actuators->start())
@@ -223,4 +221,4 @@ int main()
}
return 0;
-}
\ No newline at end of file
+}
diff --git a/src/common/MavlinkLyra.h b/src/common/MavlinkLyra.h
index e6cd6b5c0..234fa932a 100644
--- a/src/common/MavlinkLyra.h
+++ b/src/common/MavlinkLyra.h
@@ -84,4 +84,4 @@ inline Events mavCmdToEvent(uint8_t id)
}
}
-} // namespace Common
\ No newline at end of file
+} // namespace Common
diff --git a/src/common/MavlinkOrion.h b/src/common/MavlinkOrion.h
index bd6f7ffaa..24f7f4dd5 100644
--- a/src/common/MavlinkOrion.h
+++ b/src/common/MavlinkOrion.h
@@ -82,4 +82,4 @@ inline Events mavCmdToEvent(uint8_t id)
}
}
-} // namespace Common
\ No newline at end of file
+} // namespace Common
diff --git a/src/common/Radio.h b/src/common/Radio.h
index 3a246312f..c202d14cd 100644
--- a/src/common/Radio.h
+++ b/src/common/Radio.h
@@ -62,4 +62,4 @@ static constexpr Boardcore::SX1278Lora::Config RIG_RADIO_CONFIG = {
.power = 2,
.enable_crc = false};
-} // namespace Common
\ No newline at end of file
+} // namespace Common
--
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