Made fixes to pass code analysis tests

BlueAndi · Oct 18, 2023 · f92f632 · f92f632
1 parent bb61648
commit f92f632
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Showing 18 changed files with 142 additions and 324 deletions.
diff --git a/lib/HALInterfaces/IBoard.h b/lib/HALInterfaces/IBoard.h
@@ -45,13 +45,11 @@
  *****************************************************************************/
 #include <stdint.h>
 #include <IButton.h>
-#include <IBuzzer.h>
 #include <IDisplay.h>
 #include <IEncoders.h>
 #include <ILineSensors.h>
 #include <IMotors.h>
 #include <ILed.h>
-#include <IProximitySensors.h>
 #include <IIMU.h>
 
 /******************************************************************************
@@ -102,13 +100,6 @@ class IBoard
      */
     virtual IButton& getButtonC() = 0;
 
-    /**
-     * Get buzzer driver.
-     *
-     * @return Buzzer driver.
-     */
-    virtual IBuzzer& getBuzzer() = 0;
-
     /**
      * Get LCD driver.
      *
@@ -158,13 +149,6 @@ class IBoard
      */
     virtual ILed& getGreenLed() = 0;
 
-    /**
-     * Get proximity sensors driver.
-     * 
-     * @return Proximity sensors driver
-     */
-    virtual IProximitySensors& getProximitySensors() = 0;
-
     /**
      * Get IMU driver.
      * 

diff --git a/lib/HALInterfaces/IIMU.h b/lib/HALInterfaces/IIMU.h
@@ -97,14 +97,6 @@ class IIMU
      */
     virtual const double getMagnetometerValue() = 0;
 
-    /**
-     * Get number of axis used.
-     *
-     * @return number of axis which are evaluated
-     */
-    virtual const uint8_t getNumberOfAccelerometerAxis() = 0;
-
-
     /**
      * Checks whether the calibration was successful or not.
      * 

diff --git a/lib/HALSim/Board.cpp b/lib/HALSim/Board.cpp
@@ -111,12 +111,6 @@ const char* Board::LED_YELLOW_NAME = "led_yellow";
 /* Name of the green LED in the robot simulation. */
 const char* Board::LED_GREEN_NAME = "led_green";
 
-/* Name of the front left proximity sensor in the robot simulation. */
-const char* Board::PROXIMITY_SENSOR_FRONT_LEFT_NAME = "proxim_sensor_fl";
-
-/* Name of the front right proximity sensor in the robot simulation. */
-const char* Board::PROXIMITY_SENSOR_FRONT_RIGHT_NAME = "proxim_sensor_fr";
-
 /* Name of the accelerometer in the robot simulation. */
 const char* Board::ACCELEROMETER_NAME = "accelerometer";
 
@@ -143,7 +137,6 @@ void Board::init()
     m_keyboard.init();
     m_lineSensors.init();
     m_motors.init();
-    m_proximitySensors.initFrontSensor();
     m_imu.init();
 }
 

diff --git a/lib/HALSim/Board.h b/lib/HALSim/Board.h
@@ -47,15 +47,13 @@
 #include <ButtonA.h>
 #include <ButtonB.h>
 #include <ButtonC.h>
-#include <Buzzer.h>
 #include <Display.h>
 #include <Encoders.h>
 #include <LineSensors.h>
 #include <Motors.h>
 #include <LedRed.h>
 #include <LedYellow.h>
 #include <LedGreen.h>
-#include <ProximitySensors.h>
 #include <IMU.h>
 
 #include <math.h>
@@ -124,16 +122,6 @@ class Board : public IBoard
         return m_buttonC;
     }
 
-    /**
-     * Get buzzer driver.
-     *
-     * @return Buzzer driver.
-     */
-    IBuzzer& getBuzzer() final
-    {
-        return m_buzzer;
-    }
-
     /**
      * Get LCD driver.
      *
@@ -204,16 +192,6 @@ class Board : public IBoard
         return m_ledGreen;
     }
 
-    /**
-     * Get proximity sensors driver.
-     * 
-     * @return Proximity sensors driver
-     */
-    IProximitySensors& getProximitySensors() final
-    {
-        return m_proximitySensors;
-    }
-
     /**
      * Get Accelerometer.
      * 
@@ -283,12 +261,6 @@ class Board : public IBoard
     /** Name of the green LED in the robot simulation. */
     static const char* LED_GREEN_NAME;
 
-    /** Name of the front proximity sensor in the robot simulation. */
-    static const char* PROXIMITY_SENSOR_FRONT_LEFT_NAME;
-
-    /** Name of the front right proximity sensor in the robot simulation. */
-    static const char* PROXIMITY_SENSOR_FRONT_RIGHT_NAME;
-
     /** Name of the accelerometer in the robot simulation. */
     static const char* ACCELEROMETER_NAME;
 
@@ -316,9 +288,6 @@ class Board : public IBoard
     /** Button C driver */
     ButtonC m_buttonC;
 
-    /** Buzzer driver */
-    Buzzer m_buzzer;
-
     /** Display driver */
     Display m_display;
 
@@ -339,9 +308,6 @@ class Board : public IBoard
 
     /** Red LED driver */
     LedGreen m_ledGreen;
-
-    /** Proximity sensors */
-    ProximitySensors m_proximitySensors;
 
     /** Accelerometer */
     IMU m_imu;
@@ -357,7 +323,6 @@ class Board : public IBoard
         m_buttonA(m_keyboard),
         m_buttonB(m_keyboard),
         m_buttonC(m_keyboard),
-        m_buzzer(m_robot.getSpeaker(SPEAKER_NAME)),
         m_display(m_robot.getDisplay(DISPLAY_NAME)),
         m_encoders(m_simTime, m_robot.getPositionSensor(POS_SENSOR_LEFT_NAME),
                    m_robot.getPositionSensor(POS_SENSOR_RIGHT_NAME)),
@@ -370,8 +335,6 @@ class Board : public IBoard
         m_ledRed(m_robot.getLED(LED_RED_NAME)),
         m_ledYellow(m_robot.getLED(LED_YELLOW_NAME)),
         m_ledGreen(m_robot.getLED(LED_GREEN_NAME)),
-        m_proximitySensors(m_simTime, m_robot.getDistanceSensor(PROXIMITY_SENSOR_FRONT_LEFT_NAME),
-                           m_robot.getDistanceSensor(PROXIMITY_SENSOR_FRONT_RIGHT_NAME)),
         m_imu(m_simTime, m_robot.getAccelerometer(ACCELEROMETER_NAME), m_robot.getGyro(GYRO_NAME), m_robot.getCompass(MAGNETOMETER_NAME))
     {
     }

diff --git a/lib/HALSim/IMU.cpp b/lib/HALSim/IMU.cpp
@@ -37,7 +37,7 @@
  *****************************************************************************/
 #include "IMU.h"
 #include <iostream>
-#include <cmath> // to do: entfernen
+#include <cmath>
 # define M_PI           3.14159265358979323846
 /******************************************************************************
  * Compiler Switches
@@ -114,16 +114,10 @@ const double IMU::getMagnetometerValue()
     if (magnetometerValues != nullptr) {
         double angleInRadians = atan2(magnetometerValues[INDEX_OF_Y_AXIS], magnetometerValues[INDEX_OF_X_AXIS]);
         m_gyroValue = angleInRadians;
-        std::cout << "IMU.cpp: Magnetometer = " << m_gyroValue<< std::endl;
     }
     return m_gyroValue;
 }
 
-const uint8_t IMU::getNumberOfAccelerometerAxis()
-{
-    return NUMBER_OF_AXIS;
-}
-
 bool IMU::isCalibrationSuccessful()
 {
     // to do: implement
@@ -146,10 +140,3 @@ bool IMU::isCalibrationSuccessful()
 /******************************************************************************
  * Local Functions
  *****************************************************************************/
-void transformFromUToX(double* result, const double* vectorP, const double* vectorX, const double& angle) {
-    double cosAngle = cos(angle);
-    double sinAngle = sin(angle);
-
-    result[0] = cosAngle * vectorP[0] - sinAngle * vectorP[1] + vectorX[0];
-    result[1] = sinAngle * vectorP[0] + cosAngle * vectorP[1] + vectorX[1];
-}
diff --git a/lib/HALSim/IMU.h b/lib/HALSim/IMU.h
@@ -67,7 +67,10 @@ class IMU : public IIMU
         m_accelerometer(accelerometer),
         m_gyro(gyro),
         m_magnetometer(compass),
-
+        m_calibErrorInfo(CALIB_ERROR_NOT_CALIBRATED),
+        m_accelerationValues(),
+        m_gyroValue(),
+        m_magnetometerValue(),
         m_sensorCalibSuccessful(false),
         m_sensorCalibStarted(false),
         m_samplingPeriod(10) // to do: woher kommt wert?
@@ -117,15 +120,7 @@ class IMU : public IIMU
      */ 
     //
     const double getMagnetometerValue() final;
-
-
-    /**
-     * Get number of axis used.
-     *
-     * @return number of axis which are evaluated
-     */
-    const uint8_t getNumberOfAccelerometerAxis() final;
-
+
     /**
      * Checks whether the calibration was successful or not.
      *
@@ -157,17 +152,17 @@ class IMU : public IIMU
     static const uint8_t INDEX_OF_Z_AXIS = 2;
 
 
-    const SimTime&   m_simTime;                    /**< Simulation time */
-    webots::Accelerometer* m_accelerometer;        /**< The accelerometer */
-    webots::Gyro*          m_gyro;                 /**< The gyro */
-    webots::Compass*       m_magnetometer;         /**< The magnetometer */
-    uint8_t  m_calibErrorInfo; /**< Indicates which sensor failed the calibration, if the calibration failed. */
-    bool                    m_sensorCalibSuccessful; /**< Indicates weather the calibration was successfull or not. */
-    bool                    m_sensorCalibStarted;     /**< Indicates weather the calibration has started or not. */
-    double                  m_accelerationValues[NUMBER_OF_AXIS]; /**< The last value of each sensor */
-    double                  m_gyroValue;
-    double                  m_magnetometerValue;
-    int                     m_samplingPeriod;
+    const SimTime&          m_simTime;                              /**< Simulation time */
+    webots::Accelerometer*  m_accelerometer;                        /**< The accelerometer */
+    webots::Gyro*           m_gyro;                                 /**< The gyro */
+    webots::Compass*        m_magnetometer;                         /**< The magnetometer */
+    uint8_t                 m_calibErrorInfo;                       /**< Indicates which sensor failed the calibration, if the calibration failed. */
+    bool                    m_sensorCalibSuccessful;                /**< Indicates weather the calibration was successfull or not. */
+    bool                    m_sensorCalibStarted;                   /**< Indicates weather the calibration has started or not. */
+    double                  m_accelerationValues[NUMBER_OF_AXIS];   /**< The last values of the acceleration sensor */
+    double                  m_gyroValue;                            /**< The last value of the gyroscope around the z-axis*/
+    double                  m_magnetometerValue;                    /**< The last value of the magnetometer */
+    int                     m_samplingPeriod;                       /**< The sampling Period of the IMU Sensors*/
 
     /* Default constructor not allowed. */
     IMU();
@@ -177,5 +172,5 @@ class IMU : public IIMU
  * Functions
  *****************************************************************************/
 
-#endif /* LINESENSORS_H */
+#endif /* IMU_H */
 /** @} */
diff --git a/lib/HALTarget/Board.cpp b/lib/HALTarget/Board.cpp
@@ -75,7 +75,6 @@ void Board::init()
     m_encoders.init();
     m_lineSensors.init();
     m_motors.init();
-    m_proximitySensors.initFrontSensor();
 }
 
 /******************************************************************************

diff --git a/lib/HALTarget/Board.h b/lib/HALTarget/Board.h
@@ -47,15 +47,13 @@
 #include <ButtonA.h>
 #include <ButtonB.h>
 #include <ButtonC.h>
-#include <Buzzer.h>
 #include <Display.h>
 #include <Encoders.h>
 #include <LineSensors.h>
 #include <Motors.h>
 #include <LedRed.h>
 #include <LedYellow.h>
 #include <LedGreen.h>
-#include <ProximitySensors.h>
 #include <IMU.h>
 
 /******************************************************************************
@@ -120,16 +118,6 @@ class Board : public IBoard
         return m_buttonC;
     }
 
-    /**
-     * Get buzzer driver.
-     *
-     * @return Buzzer driver.
-     */
-    IBuzzer& getBuzzer() final
-    {
-        return m_buzzer;
-    }
-
     /**
      * Get LCD driver.
      *
@@ -200,16 +188,6 @@ class Board : public IBoard
         return m_ledGreen;
     }
 
-    /**
-     * Get proximity sensors driver.
-     * 
-     * @return Proximity sensors driver
-     */
-    IProximitySensors& getProximitySensors() final
-    {
-        return m_proximitySensors;
-    }
-
     /**
      * Get IMU driver.
      * 
@@ -233,9 +211,6 @@ class Board : public IBoard
     /** Button C driver */
     ButtonC m_buttonC;
 
-    /** Buzzer driver */
-    Buzzer m_buzzer;
-
     /** Display driver */
     Display m_display;
 
@@ -257,9 +232,6 @@ class Board : public IBoard
     /** Red LED driver */
     LedGreen m_ledGreen;
 
-    /** Proximity sensors */
-    ProximitySensors m_proximitySensors;
-
     /** IMU */
     IMU m_imu;
 
@@ -271,15 +243,13 @@ class Board : public IBoard
         m_buttonA(),
         m_buttonB(),
         m_buttonC(),
-        m_buzzer(),
         m_display(),
         m_encoders(),
         m_lineSensors(),
         m_motors(),
         m_ledRed(),
         m_ledYellow(),
         m_ledGreen(),
-        m_proximitySensors(),
         m_imu()
     {
     }