Merge pull request #131 from BlueAndi/release/v2.0.x

Release/v2.0.x
BlueAndi · Jul 2, 2024 · 42b5245 · 42b5245
2 parents 9b59443 + 0d60c2d
commit 42b5245
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Showing 9 changed files with 5,746 additions and 40 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -30,7 +30,7 @@ jobs:
     needs: intro
     strategy:
       matrix:
-        environment: ["CalibTarget", "ConvoyFollowerTarget", "ConvoyLeaderTarget", "LineFollowerTarget", "RemoteControlTarget", "SensorFusionTarget"]
+        environment: ["CalibTarget", "ConvoyFollowerTarget", "ConvoyLeaderTarget", "LineFollowerTarget", "LineFollowerSimpleTarget", "RemoteControlTarget", "SensorFusionTarget"]
 
     # Steps represent a sequence of tasks that will be executed as part of the job.
     steps:
@@ -71,7 +71,7 @@ jobs:
     needs: intro
     strategy:
       matrix:
-        environment: ["CalibTarget", "ConvoyFollowerTarget", "ConvoyLeaderTarget", "LineFollowerTarget", "RemoteControlTarget", "SensorFusionTarget", "TestSim"]
+        environment: ["CalibTarget", "ConvoyFollowerTarget", "ConvoyLeaderTarget", "LineFollowerTarget", "LineFollowerSimpleTarget", "RemoteControlTarget", "SensorFusionTarget", "TestSim"]
 
     steps:
     - name: Checkout repository
@@ -148,7 +148,7 @@ jobs:
     needs: intro
     strategy:
       matrix:
-        environment: ["CalibTarget", "ConvoyFollowerTarget", "ConvoyLeaderTarget", "LineFollowerTarget", "RemoteControlTarget", "SensorFusionTarget", "CalibSim", "ConvoyFollowerSim", "ConvoyLeaderSim", "LineFollowerSim", "RemoteControlSim", "SensorFusionSim"]
+        environment: ["CalibTarget", "ConvoyFollowerTarget", "ConvoyLeaderTarget", "LineFollowerTarget", "LineFollowerSimpleTarget", "RemoteControlTarget", "SensorFusionTarget", "CalibSim", "ConvoyFollowerSim", "ConvoyLeaderSim", "LineFollowerSim", "LineFollowerSimpleSim", "RemoteControlSim", "SensorFusionSim"]
 
     steps:
     - name: Checkout repository

diff --git a/doc/doxygen/LineFollowerSimpleSimDoxyfile b/doc/doxygen/LineFollowerSimpleSimDoxyfile
diff --git a/doc/doxygen/LineFollowerSimpleTargetDoxyfile b/doc/doxygen/LineFollowerSimpleTargetDoxyfile
diff --git a/lib/APPLineFollowerSimple/src/DrivingState.cpp b/lib/APPLineFollowerSimple/src/DrivingState.cpp
@@ -67,8 +67,8 @@ const int16_t DrivingState::POSITION_SET_POINT =
     (SENSOR_VALUE_MAX * (Board::getInstance().getLineSensors().getNumLineSensors() - 1)) / 2;
 
 /* Initialize the required sensor IDs to be generic. */
-const uint8_t DrivingState::SENSOR_ID_MOST_LEFT  = 0U;
-const uint8_t DrivingState::SENSOR_ID_MIDDLE     = (Board::getInstance().getLineSensors().getNumLineSensors() - 1U) / 2U;
+const uint8_t DrivingState::SENSOR_ID_MOST_LEFT = 0U;
+const uint8_t DrivingState::SENSOR_ID_MIDDLE    = (Board::getInstance().getLineSensors().getNumLineSensors() - 1U) / 2U;
 const uint8_t DrivingState::SENSOR_ID_MOST_RIGHT = Board::getInstance().getLineSensors().getNumLineSensors() - 1U;
 
 /* Initialize the position values used by the algorithmic. */
@@ -124,6 +124,14 @@ void DrivingState::process(StateMachine& sm)
     bool            isPosition3Valid = calcPosition3(position3, lineSensorValues, numLineSensors);
     bool            isTrackLost      = isNoLineDetected(lineSensorValues, numLineSensors);
 
+    /* If the position calculated with the inner sensors is not valid, the
+     * position will be taken.
+     */
+    if (true == isPosition3Valid)
+    {
+        position3 = position;
+    }
+
     /* ========================================================================
      * Evaluate the situation based on the sensor values.
      * ========================================================================
@@ -411,7 +419,8 @@ bool DrivingState::isNoLineDetected(const uint16_t* lineSensorValues, uint8_t le
     return isDetected;
 }
 
-void DrivingState::processSituation(int16_t& position, bool& allowNegativeMotorSpeed, TrackStatus trackStatus, int16_t position3)
+void DrivingState::processSituation(int16_t& position, bool& allowNegativeMotorSpeed, TrackStatus trackStatus,
+                                    int16_t position3)
 {
     switch (trackStatus)
     {

diff --git a/lib/APPLineFollowerSimple/src/LineSensorsCalibrationState.cpp b/lib/APPLineFollowerSimple/src/LineSensorsCalibrationState.cpp
@@ -150,7 +150,6 @@ void LineSensorsCalibrationState::exit()
 bool LineSensorsCalibrationState::turnAndCalibrate(int32_t calibAlpha, bool isGreaterEqual)
 {
     IBoard&       board       = Board::getInstance();
-    IMotors&      motors      = board.getMotors();
     ILineSensors& lineSensors = board.getLineSensors();
     bool          isSuccesful = false;
 

diff --git a/lib/HALTest/src/ButtonA.h b/lib/HALTest/src/ButtonA.h
@@ -27,7 +27,7 @@
 /**
  * @brief  Button A realization
  * @author Andreas Merkle <[email protected]>
- * 
+ *
  * @addtogroup HALTarget
  *
  * @{
@@ -81,15 +81,7 @@ class ButtonA : public IButton
         return false;
     }
 
-    /**
-     * Wait until button is released.
-     */
-    void waitForRelease() final
-    {
-    }
-
 private:
-
 };
 
 /******************************************************************************

diff --git a/lib/HALTest/src/ButtonB.h b/lib/HALTest/src/ButtonB.h
@@ -27,7 +27,7 @@
 /**
  * @brief  Button B realization
  * @author Andreas Merkle <[email protected]>
- * 
+ *
  * @addtogroup HALTarget
  *
  * @{
@@ -81,15 +81,7 @@ class ButtonB : public IButton
         return false;
     }
 
-    /**
-     * Wait until button is released.
-     */
-    void waitForRelease() final
-    {
-    }
-
 private:
-
 };
 
 /******************************************************************************

diff --git a/lib/HALTest/src/ButtonC.h b/lib/HALTest/src/ButtonC.h
@@ -27,7 +27,7 @@
 /**
  * @brief  Button C realization
  * @author Andreas Merkle <[email protected]>
- * 
+ *
  * @addtogroup HALTarget
  *
  * @{
@@ -81,15 +81,7 @@ class ButtonC : public IButton
         return false;
     }
 
-    /**
-     * Wait until button is released.
-     */
-    void waitForRelease() final
-    {
-    }
-
 private:
-
 };
 
 /******************************************************************************

diff --git a/platformio.ini b/platformio.ini
@@ -63,9 +63,8 @@ build_flags =
     -Wno-switch
     -Werror
 lib_deps =
-    BlueAndi/ZumoHALATmega32u4 @ ~0.2.0
+    BlueAndi/ZumoHALATmega32u4 @ ~1.0.0
 lib_ignore =
-    ArduinoNative
     HALTest
 extra_scripts =
 
@@ -100,8 +99,7 @@ build_flags =
     -I./lib/Webots/include/cpp
 lib_deps =
     MainNative
-    BlueAndi/ArduinoNative @ ~0.1.0
-    BlueAndi/ZumoHALWebots @ ~0.2.0
+    BlueAndi/ZumoHALWebots @ ~1.0.0
     Webots
 lib_ignore =
     HALTest
@@ -127,8 +125,8 @@ build_flags =
     -Itest/common
 lib_deps =
     MainTestNative
-    BlueAndi/ArduinoNative @ ~0.1.0
-    BlueAndi/ZumoHALInterfaces @ ~0.2.0
+    BlueAndi/ArduinoNative @ ~0.1.1
+    BlueAndi/ZumoHALInterfaces @ ~1.0.0
     HALTest
 lib_ignore =
     Webots