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17 Commits
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|---|---|---|---|
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| 2648fc3598 | |||
| 0cb666c860 | |||
| 47f91eeae5 | |||
| b58379ac75 | |||
| a6849cd900 | |||
| 839dbee16e | |||
| e27b3ca794 | |||
| 007a3fd16f | |||
| 4a85827150 | |||
| 271bd845bf | |||
| 69c736b1eb | |||
| 9d0f5d06ea | |||
| 941aedd79f | |||
| a355e36636 | |||
| fa0a664e43 | |||
| 2aa9648dd4 |
40
.gitignore
vendored
Normal file → Executable file
40
.gitignore
vendored
Normal file → Executable file
@@ -1,34 +1,6 @@
|
|||||||
# ---> C++
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.pio
|
||||||
# Prerequisites
|
.vscode/*
|
||||||
*.d
|
.vscode/.browse.c_cpp.db*
|
||||||
|
.vscode/c_cpp_properties.json
|
||||||
# Compiled Object files
|
.vscode/launch.json
|
||||||
*.slo
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.vscode/ipch
|
||||||
*.lo
|
|
||||||
*.o
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||||||
*.obj
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|
||||||
|
|
||||||
# Precompiled Headers
|
|
||||||
*.gch
|
|
||||||
*.pch
|
|
||||||
|
|
||||||
# Compiled Dynamic libraries
|
|
||||||
*.so
|
|
||||||
*.dylib
|
|
||||||
*.dll
|
|
||||||
|
|
||||||
# Fortran module files
|
|
||||||
*.mod
|
|
||||||
*.smod
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|
||||||
|
|
||||||
# Compiled Static libraries
|
|
||||||
*.lai
|
|
||||||
*.la
|
|
||||||
*.a
|
|
||||||
*.lib
|
|
||||||
|
|
||||||
# Executables
|
|
||||||
*.exe
|
|
||||||
*.out
|
|
||||||
*.app
|
|
||||||
|
|
||||||
|
|||||||
8
.idea/.gitignore
generated
vendored
Executable file
8
.idea/.gitignore
generated
vendored
Executable file
@@ -0,0 +1,8 @@
|
|||||||
|
# Default ignored files
|
||||||
|
/shelf/
|
||||||
|
/workspace.xml
|
||||||
|
# Editor-based HTTP Client requests
|
||||||
|
/httpRequests/
|
||||||
|
# Datasource local storage ignored files
|
||||||
|
/dataSources/
|
||||||
|
/dataSources.local.xml
|
||||||
103
.idea/codeStyles/Project.xml
generated
Normal file
103
.idea/codeStyles/Project.xml
generated
Normal file
@@ -0,0 +1,103 @@
|
|||||||
|
<component name="ProjectCodeStyleConfiguration">
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||||||
|
<code_scheme name="Project" version="173">
|
||||||
|
<RiderCodeStyleSettings>
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppClangFormat/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/EditorConfig/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_BINARY_EXPRESSIONS_CHAIN/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_CALLS_CHAIN/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXPRESSION/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_FOR_STMT/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTIPLE_DECLARATION/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_TERNARY/@EntryValue" value="ALIGN_ALL" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_CLASS_DEFINITION/@EntryValue" value="1" type="int" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_DECLARATIONS/@EntryValue" value="2" type="int" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_CODE/@EntryValue" value="2" type="int" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_USER_LINEBREAKS/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_COMMENT/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_EQ/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SIMPLE_BLOCK_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_PARAMS/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_SEMICOLON/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_SEMICOLON/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_UNARY_OPERATOR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_ARRAY_ACCESS_BRACKETS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_METHOD_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPECIAL_ELSE_IF_TREATMENT/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_BINARY_OPSIGN/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_TERNARY_OPSIGNS/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TYPE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/OTHER_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CASE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DECLARATION/@EntryValue" value="1" type="int" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DEFINITION/@EntryValue" value="1" type="int" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_WHILE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_ELSE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_CATCH_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_INDENTATION/@EntryValue" value="All" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_ARGUMENT/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXTENDS_LIST/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_PARAMETER/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_ARGUMENT/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_PARAMETER/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_DECLARATIONS/@EntryValue" value="0" type="int" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_ACCESS_SPECIFIERS_FROM_CLASS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/LINE_BREAK_AFTER_COLON_IN_MEMBER_INITIALIZER_LISTS/@EntryValue" value="ON_SINGLE_LINE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/MEMBER_INITIALIZER_LIST_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_NAMESPACE_DEFINITIONS_ON_SAME_LINE/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_COLON/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_COLON/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_METHOD/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_NESTED_DECLARATOR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_METHOD/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_METHOD/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_METHOD/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BETWEEN_CLOSING_ANGLE_BRACKETS_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_DECLARATION_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_BLOCKS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_RPAR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_RPAR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_ARGUMENTS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_PARAMETERS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/FREE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INVOCABLE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ANONYMOUS_METHOD_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INITIALIZER_BRACES/@EntryValue" value="END_OF_LINE_NO_SPACE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_STYLE/@EntryValue" value="Space" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_SIZE/@EntryValue" value="4" type="int" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TAB_WIDTH/@EntryValue" value="4" type="int" />
|
||||||
|
</RiderCodeStyleSettings>
|
||||||
|
</code_scheme>
|
||||||
|
</component>
|
||||||
5
.idea/codeStyles/codeStyleConfig.xml
generated
Executable file
5
.idea/codeStyles/codeStyleConfig.xml
generated
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@@ -0,0 +1,5 @@
|
|||||||
|
<component name="ProjectCodeStyleConfiguration">
|
||||||
|
<state>
|
||||||
|
<option name="USE_PER_PROJECT_SETTINGS" value="true" />
|
||||||
|
</state>
|
||||||
|
</component>
|
||||||
580
.idea/editor.xml
generated
Normal file
580
.idea/editor.xml
generated
Normal file
@@ -0,0 +1,580 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<project version="4">
|
||||||
|
<component name="BackendCodeEditorSettings">
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppClangFormat/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/EditorConfig/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_BINARY_EXPRESSIONS_CHAIN/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_CALLS_CHAIN/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXPRESSION/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_FOR_STMT/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTIPLE_DECLARATION/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_TERNARY/@EntryValue" value="ALIGN_ALL" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_CLASS_DEFINITION/@EntryValue" value="1" type="int" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_DECLARATIONS/@EntryValue" value="2" type="int" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_CODE/@EntryValue" value="2" type="int" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_USER_LINEBREAKS/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_COMMENT/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_EQ/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SIMPLE_BLOCK_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_PARAMS/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_SEMICOLON/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_SEMICOLON/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_UNARY_OPERATOR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_ARRAY_ACCESS_BRACKETS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_METHOD_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPECIAL_ELSE_IF_TREATMENT/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_BINARY_OPSIGN/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_TERNARY_OPSIGNS/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TYPE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/OTHER_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CASE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DECLARATION/@EntryValue" value="1" type="int" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DEFINITION/@EntryValue" value="1" type="int" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_WHILE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_ELSE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_CATCH_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_INDENTATION/@EntryValue" value="All" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_ARGUMENT/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXTENDS_LIST/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_PARAMETER/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_ARGUMENT/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_PARAMETER/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_DECLARATIONS/@EntryValue" value="0" type="int" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_ACCESS_SPECIFIERS_FROM_CLASS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/LINE_BREAK_AFTER_COLON_IN_MEMBER_INITIALIZER_LISTS/@EntryValue" value="ON_SINGLE_LINE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/MEMBER_INITIALIZER_LIST_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_NAMESPACE_DEFINITIONS_ON_SAME_LINE/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_COLON/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_COLON/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_METHOD/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_NESTED_DECLARATOR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_METHOD/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_METHOD/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_METHOD/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BETWEEN_CLOSING_ANGLE_BRACKETS_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_DECLARATION_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_BLOCKS/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_RPAR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_RPAR/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_ARGUMENTS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_PARAMETERS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/FREE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INVOCABLE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ANONYMOUS_METHOD_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INITIALIZER_BRACES/@EntryValue" value="END_OF_LINE_NO_SPACE" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_STYLE/@EntryValue" value="Space" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_SIZE/@EntryValue" value="4" type="int" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
|
||||||
|
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TAB_WIDTH/@EntryValue" value="4" type="int" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSmartPointerVsMakeFunction/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSmartPointerVsMakeFunction/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCStyleCast/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionalStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionalStyleCast/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReinterpretCastFromVoidPtr/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReinterpretCastFromVoidPtr/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConvertingConstructor/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConvertingConstructor/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConversionOperator/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConversionOperator/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDiscardedPostfixOperatorResult/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDiscardedPostfixOperatorResult/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstValueFunctionReturnType/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstValueFunctionReturnType/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeConst/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeConst/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeStatic/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeStatic/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMayBeConst/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConst/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVariableCanBeMadeConstexpr/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVariableCanBeMadeConstexpr/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConstPtrOrRef/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConstPtrOrRef/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPassValueParameterByConstReference/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPassValueParameterByConstReference/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppThrowExpressionCanBeReplacedWithRethrow/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppThrowExpressionCanBeReplacedWithRethrow/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroConstantCanBeReplacedWithNullptr/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroConstantCanBeReplacedWithNullptr/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCompileTimeConstantCanBeReplacedWithBooleanConstant/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCompileTimeConstantCanBeReplacedWithBooleanConstant/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIfCanBeReplacedByConstexprIf/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIfCanBeReplacedByConstexprIf/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IfStdIsConstantEvaluatedCanBeReplaced/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IfStdIsConstantEvaluatedCanBeReplaced/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StdIsConstantEvaluatedWillAlwaysEvaluateToConstant/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StdIsConstantEvaluatedWillAlwaysEvaluateToConstant/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=ConstevalIfIsAlwaysConstant/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=ConstevalIfIsAlwaysConstant/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStructuredBinding/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStructuredBinding/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseTypeTraitAlias/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseTypeTraitAlias/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAlgorithmWithCount/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAlgorithmWithCount/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseRangeAlgorithm/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseRangeAlgorithm/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseElementsView/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseElementsView/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStdSize/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStdSize/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForLoopCanBeReplacedWithWhile/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForLoopCanBeReplacedWithWhile/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppJoinDeclarationAndAssignment/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppJoinDeclarationAndAssignment/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceTieWithStructuredBinding/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceTieWithStructuredBinding/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceMemsetWithZeroInitialization/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceMemsetWithZeroInitialization/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAssociativeContains/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAssociativeContains/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseEraseAlgorithm/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseEraseAlgorithm/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseFamiliarTemplateSyntaxForGenericLambdas/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseFamiliarTemplateSyntaxForGenericLambdas/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScope/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScope/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScopeInitStatement/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScopeInitStatement/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantNamespaceDefinition/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantNamespaceDefinition/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonInlineFunctionDefinitionInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonInlineFunctionDefinitionInHeaderFile/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonInlineVariableDefinitionInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonInlineVariableDefinitionInHeaderFile/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionIsNotImplemented/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionIsNotImplemented/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrivateSpecialMemberFunctionIsNotImplemented/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrivateSpecialMemberFunctionIsNotImplemented/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHiddenFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHiddenFunction/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHidingFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHidingFunction/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPolymorphicClassWithNonVirtualPublicDestructor/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPolymorphicClassWithNonVirtualPublicDestructor/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractClassWithoutSpecifier/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractClassWithoutSpecifier/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompleteSwitchStatement/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompleteSwitchStatement/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultCaseNotHandledInSwitchStatement/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultCaseNotHandledInSwitchStatement/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyErroneousEmptyStatements/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyErroneousEmptyStatements/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExpressionWithoutSideEffects/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExpressionWithoutSideEffects/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNoDiscardExpression/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNoDiscardExpression/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionResultShouldBeUsed/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionResultShouldBeUsed/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMissingKeywordThrow/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMissingKeywordThrow/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTypeWithoutTypenameKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTypeWithoutTypenameKeyword/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTemplateWithoutTemplateKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTemplateWithoutTemplateKeyword/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppImplicitDefaultConstructorNotAvailable/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppImplicitDefaultConstructorNotAvailable/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeedsConstructorBecauseOfUninitializedMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeedsConstructorBecauseOfUninitializedMember/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUninitializedNonStaticDataMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUninitializedNonStaticDataMember/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRangeBasedForIncompatibleReference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRangeBasedForIncompatibleReference/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroValuedExpressionUsedAsNullPointer/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroValuedExpressionUsedAsNullPointer/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUnintendedObjectSlicing/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUnintendedObjectSlicing/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUninitializedMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUninitializedMember/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorDisambiguatedAsFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorDisambiguatedAsFunction/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionInFinalClass/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionInFinalClass/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMustBePublicVirtualToImplementInterface/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMustBePublicVirtualToImplementInterface/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationSpecifierWithoutDeclarators/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationSpecifierWithoutDeclarators/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEmptyDeclaration/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEmptyDeclaration/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationHidesLocal/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationHidesLocal/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationHidesUncapturedLocal/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationHidesUncapturedLocal/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMismatchedClassTags/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMismatchedClassTags/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUsingResultOfAssignmentAsCondition/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUsingResultOfAssignmentAsCondition/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIntegralToPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIntegralToPointerConversion/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPointerToIntegralConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPointerToIntegralConversion/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompatiblePointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompatiblePointerConversion/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPointerConversionDropsQualifiers/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPointerConversionDropsQualifiers/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStringLiteralToCharPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStringLiteralToCharPointerConversion/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExceptionSafeResourceAcquisition/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExceptionSafeResourceAcquisition/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionCallInsideCtor/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionCallInsideCtor/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractVirtualFunctionCallInCtor/@EntryIndexedValue" value="ERROR" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractVirtualFunctionCallInCtor/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInvalidLineContinuation/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInvalidLineContinuation/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfBadFormat/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfBadFormat/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfRiskyFormat/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfRiskyFormat/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfMissedArg/@EntryIndexedValue" value="ERROR" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfMissedArg/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfExtraArg/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfExtraArg/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatBadCode/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatBadCode/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatLegacyCode/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatLegacyCode/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatMixedArgs/@EntryIndexedValue" value="ERROR" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatMixedArgs/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatTooFewArgs/@EntryIndexedValue" value="ERROR" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatTooFewArgs/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatTooManyArgs/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatTooManyArgs/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeprecatedEntity/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeprecatedEntity/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMissingIncludeGuard/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMissingIncludeGuard/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenSyntaxError/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenSyntaxError/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenUnresolvedReference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenUnresolvedReference/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenUndocumentedParameter/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenUndocumentedParameter/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeletingVoidPointer/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeletingVoidPointer/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBooleanIncrementExpression/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBooleanIncrementExpression/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeprecatedRegisterStorageClassSpecifier/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeprecatedRegisterStorageClassSpecifier/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIdenticalOperandsInBinaryExpression/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIdenticalOperandsInBinaryExpression/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEqualOperandsInBinaryExpression/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEqualOperandsInBinaryExpression/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedefinitionOfDefaultArgumentInOverrideFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedefinitionOfDefaultArgumentInOverrideFunction/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnamedNamespaceInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnamedNamespaceInHeaderFile/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNamesMismatch/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNamesMismatch/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultedSpecialMemberFunctionIsImplicitlyDeleted/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultedSpecialMemberFunctionIsImplicitlyDeleted/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNodiscardFunctionWithoutReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNodiscardFunctionWithoutReturnValue/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantComplexityInComparison/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantComplexityInComparison/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractFinalClass/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractFinalClass/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSpecialFunctionWithoutNoexceptSpecification/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSpecialFunctionWithoutNoexceptSpecification/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnsignedZeroComparison/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnsignedZeroComparison/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMultiCharacterLiteral/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMultiCharacterLiteral/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMultiCharacterWideLiteral/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMultiCharacterWideLiteral/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantQualifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantQualifier/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantAccessSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantAccessSpecifier/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAccessSpecifierWithNoDeclarations/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAccessSpecifierWithNoDeclarations/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTypenameKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTypenameKeyword/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTemplateKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTemplateKeyword/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElseKeyword/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElseKeyword/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElseKeywordInsideCompoundStatement/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElseKeywordInsideCompoundStatement/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantControlFlowJump/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantControlFlowJump/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantEmptyStatement/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantEmptyStatement/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantEmptyDeclaration/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantEmptyDeclaration/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantParentheses/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantParentheses/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantLambdaParameterList/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantLambdaParameterList/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantCastExpression/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantCastExpression/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHeaderHasBeenAlreadyIncluded/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHeaderHasBeenAlreadyIncluded/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateArgumentsCanBeDeduced/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateArgumentsCanBeDeduced/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTemplateArguments/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTemplateArguments/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticSpecifierOnAnonymousNamespaceMember/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticSpecifierOnAnonymousNamespaceMember/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantStaticSpecifierOnMemberAllocationFunction/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantStaticSpecifierOnMemberAllocationFunction/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantStaticSpecifierOnThreadLocalLocalVariable/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantStaticSpecifierOnThreadLocalLocalVariable/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBaseClassAccessSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBaseClassAccessSpecifier/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantInlineSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantInlineSpecifier/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantConstSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantConstSpecifier/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBooleanExpressionArgument/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBooleanExpressionArgument/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantVoidArgumentList/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantVoidArgumentList/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantMemberInitializer/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantMemberInitializer/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBaseClassInitializer/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBaseClassInitializer/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstParameterInDeclaration/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstParameterInDeclaration/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVolatileParameterInDeclaration/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVolatileParameterInDeclaration/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFinalFunctionInFinalClass/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFinalFunctionInFinalClass/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFinalNonOverridingVirtualFunction/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFinalNonOverridingVirtualFunction/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElaboratedTypeSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElaboratedTypeSpecifier/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantDereferencingAndTakingAddress/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantDereferencingAndTakingAddress/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantConditionalExpression/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantConditionalExpression/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConditionalExpressionCanBeSimplified/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConditionalExpressionCanBeSimplified/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantExportKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantExportKeyword/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantZeroInitializerInAggregateInitialization/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantZeroInitializerInAggregateInitialization/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUserDefinedLiteralSuffixDoesNotStartWithUnderscore/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUserDefinedLiteralSuffixDoesNotStartWithUnderscore/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassIsIncomplete/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassIsIncomplete/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterShadowing/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterShadowing/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMutableSpecifierOnReferenceMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMutableSpecifierOnReferenceMember/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultInitializationWithNoUserConstructor/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultInitializationWithNoUserConstructor/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExplicitSpecializationInNonNamespaceScope/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExplicitSpecializationInNonNamespaceScope/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnionMemberOfReferenceType/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnionMemberOfReferenceType/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUninitializedDependentBaseClass/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUninitializedDependentBaseClass/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrecompiledHeaderIsNotIncluded/@EntryIndexedValue" value="ERROR" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrecompiledHeaderIsNotIncluded/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrecompiledHeaderNotFound/@EntryIndexedValue" value="ERROR" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrecompiledHeaderNotFound/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCoroutineCallResolveError/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCoroutineCallResolveError/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAwaiterTypeIsNotClass/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAwaiterTypeIsNotClass/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppOutParameterMustBeWritten/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppOutParameterMustBeWritten/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWarningDirective/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWarningDirective/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticAssertFailure/@EntryIndexedValue" value="ERROR" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticAssertFailure/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEvaluationFailure/@EntryIndexedValue" value="ERROR" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEvaluationFailure/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorNeverUsed/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTypeAliasNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTypeAliasNeverUsed/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConceptNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConceptNeverUsed/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeverUsed/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnumeratorNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnumeratorNeverUsed/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLambdaCaptureNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLambdaCaptureNeverUsed/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNeverUsed/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNeverUsed/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterNeverUsed/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterNeverUsed/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityAssignedButNoRead/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityAssignedButNoRead/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityUsedOnlyInUnevaluatedContext/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityUsedOnlyInUnevaluatedContext/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMightNotBeInitialized/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppObjectMemberMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppObjectMemberMightNotBeInitialized/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSomeObjectMembersMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSomeObjectMembersMightNotBeInitialized/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorUsedBeforeInitialization/@EntryIndexedValue" value="ERROR" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorUsedBeforeInitialization/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnusedIncludeDirective/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnusedIncludeDirective/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNotAllPathsReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNotAllPathsReturnValue/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CDeclarationWithImplicitIntType/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CDeclarationWithImplicitIntType/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionDoesntReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionDoesntReturnValue/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReturnNoValueInNonVoidFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReturnNoValueInNonVoidFunction/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCVQualifierCanNotBeAppliedToReference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCVQualifierCanNotBeAppliedToReference/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDereferenceOperatorLimitExceeded/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDereferenceOperatorLimitExceeded/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForwardEnumDeclarationWithoutUnderlyingType/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForwardEnumDeclarationWithoutUnderlyingType/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaRegionDirective/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaEndRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaEndRegionDirective/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticDataMemberInUnnamedStruct/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticDataMemberInUnnamedStruct/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultIsUsedAsIdentifier/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultIsUsedAsIdentifier/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLongFloat/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLongFloat/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtReinterpretCastFromNullptr/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtReinterpretCastFromNullptr/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtBindingRValueToLvalueReference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtBindingRValueToLvalueReference/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtAddressOfClassRValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtAddressOfClassRValue/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtDoubleUserConversionInCopyInit/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtDoubleUserConversionInCopyInit/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtCopyElisionInCopyInitDeclarator/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtCopyElisionInCopyInitDeclarator/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtNotInitializedStaticConstLocalVar/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtNotInitializedStaticConstLocalVar/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRemoveRedundantBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRemoveRedundantBraces/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceIfStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceIfStatementBraces/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceForStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceForStatementBraces/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceWhileStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceWhileStatementBraces/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceDoStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceDoStatementBraces/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongIncludesOrder/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongIncludesOrder/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongSlashesInIncludeDirective/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongSlashesInIncludeDirective/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceNestedNamespacesStyle/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceNestedNamespacesStyle/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceTypeAliasCodeStyle/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceTypeAliasCodeStyle/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceFunctionDeclarationStyle/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceFunctionDeclarationStyle/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberInitializersOrder/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberInitializersOrder/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingFunctionStyle/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingFunctionStyle/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingDestructorStyle/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingDestructorStyle/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAuto/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAuto/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAutoForNumeric/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAutoForNumeric/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersPlacement/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersPlacement/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersOrder/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersOrder/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantConditions/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantConditions/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANullDereference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANullDereference/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANotInitializedField/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANotInitializedField/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALoopConditionNotUpdated/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALoopConditionNotUpdated/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFADeletedPointer/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFADeletedPointer/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAMemoryLeak/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAMemoryLeak/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInvalidatedMemory/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInvalidatedMemory/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesScope/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesScope/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesFunction/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantParameter/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantParameter/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantFunctionResult/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantFunctionResult/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAArrayIndexOutOfBounds/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAArrayIndexOutOfBounds/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableCode/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableCode/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableFunctionCall/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableFunctionCall/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAEndlessLoop/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAEndlessLoop/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInfiniteRecursion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInfiniteRecursion/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnusedValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnusedValue/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreadVariable/@EntryIndexedValue" value="WARNING" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreadVariable/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFATimeOver/@EntryIndexedValue" value="HINT" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFATimeOver/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StringLiteralTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StringLiteralTypo/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CommentTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CommentTypo/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IdentifierTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||||
|
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IdentifierTypo/@EntryIndexRemoved" />
|
||||||
|
</component>
|
||||||
|
</project>
|
||||||
2
.idea/helicopter_firmware.iml
generated
Executable file
2
.idea/helicopter_firmware.iml
generated
Executable file
@@ -0,0 +1,2 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<module classpath="External" external.linked.project.id="helicopter_firmware" external.linked.project.path="$MODULE_DIR$" external.root.project.path="$MODULE_DIR$" external.system.id="PlatformIO" type="CPP_MODULE" version="4" />
|
||||||
24
.idea/misc.xml
generated
Executable file
24
.idea/misc.xml
generated
Executable file
@@ -0,0 +1,24 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<project version="4">
|
||||||
|
<component name="BackendCodeEditorMiscSettings">
|
||||||
|
<option name="/Default/RiderDebugger/RiderRestoreDecompile/RestoreDecompileSetting/@EntryValue" value="false" type="bool" />
|
||||||
|
<option name="/Default/Housekeeping/GlobalSettingsUpgraded/IsUpgraded/@EntryValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/Housekeeping/FeatureSuggestion/FeatureSuggestionManager/DisabledSuggesters/=SwitchToGoToActionSuggester/@EntryIndexedValue" value="true" type="bool" />
|
||||||
|
<option name="/Default/Housekeeping/FeatureSuggestion/FeatureSuggestionManager/DisabledSuggesters/=SwitchToGoToActionSuggester/@EntryIndexRemoved" />
|
||||||
|
<option name="/Default/Environment/Hierarchy/GeneratedFilesCacheKey/Timestamp/@EntryValue" value="4" type="long" />
|
||||||
|
</component>
|
||||||
|
<component name="ExternalStorageConfigurationManager" enabled="true" />
|
||||||
|
<component name="PlatformIOSettings">
|
||||||
|
<option name="linkedExternalProjectsSettings">
|
||||||
|
<PlatformioProjectSettings>
|
||||||
|
<option name="externalProjectPath" value="$PROJECT_DIR$" />
|
||||||
|
<option name="modules">
|
||||||
|
<set>
|
||||||
|
<option value="$PROJECT_DIR$" />
|
||||||
|
</set>
|
||||||
|
</option>
|
||||||
|
</PlatformioProjectSettings>
|
||||||
|
</option>
|
||||||
|
</component>
|
||||||
|
<component name="PlatformIOWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
|
||||||
|
</project>
|
||||||
6
.idea/vcs.xml
generated
Executable file
6
.idea/vcs.xml
generated
Executable file
@@ -0,0 +1,6 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<project version="4">
|
||||||
|
<component name="VcsDirectoryMappings">
|
||||||
|
<mapping directory="" vcs="Git" />
|
||||||
|
</component>
|
||||||
|
</project>
|
||||||
@@ -1,104 +0,0 @@
|
|||||||
#include "FlightController.hpp"
|
|
||||||
|
|
||||||
FlightController::FlightController(Sensors *sensors, PIDController *pid1,
|
|
||||||
PIDController *pid2, PIDController *pid3, bool unlimitedBattery) {
|
|
||||||
assert(sensors != nullptr);
|
|
||||||
assert(pid1 != nullptr);
|
|
||||||
assert(pid2 != nullptr);
|
|
||||||
assert(pid3 != nullptr);
|
|
||||||
_sensors = sensors;
|
|
||||||
_unlimitedBattery = unlimitedBattery;
|
|
||||||
|
|
||||||
_status = DeviceStatus::Idle;
|
|
||||||
_updateBatteryCharge();
|
|
||||||
ESP_LOGI(_tag, "Flight controller initialized");
|
|
||||||
}
|
|
||||||
|
|
||||||
FlightController::~FlightController() {
|
|
||||||
delete _sensors;
|
|
||||||
delete _pid1;
|
|
||||||
delete _pid2;
|
|
||||||
delete _pid3;
|
|
||||||
}
|
|
||||||
|
|
||||||
void FlightController::tick() {
|
|
||||||
bool hasUpdates = _sensors->tick();
|
|
||||||
if (hasUpdates) {
|
|
||||||
_updateBatteryCharge();
|
|
||||||
}
|
|
||||||
switch (_status) {
|
|
||||||
case DeviceStatus::Idle: break;
|
|
||||||
case DeviceStatus::ChargeRequired: break;
|
|
||||||
case DeviceStatus::IsPreparingForTakeoff: break;
|
|
||||||
case DeviceStatus::IsBoarding:
|
|
||||||
/* TODO: implement boarding */
|
|
||||||
break;
|
|
||||||
case DeviceStatus::IsFlying:
|
|
||||||
/* TODO: implement flying */
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
ReportedDeviceState FlightController::currentDeviceState() const {
|
|
||||||
return { .batteryCharge = _sensors->batteryCharge(),
|
|
||||||
.flightHeight = _sensors->flightHeight(),
|
|
||||||
.status = _status,
|
|
||||||
.mpuState = _sensors->mpuData() };
|
|
||||||
}
|
|
||||||
|
|
||||||
void FlightController::startTakeoff(OnMeasuringFinishedCb onTakeoffStarted) {
|
|
||||||
/* Start preparation for takeoff */
|
|
||||||
_updateBatteryCharge();
|
|
||||||
if (_status == DeviceStatus::ChargeRequired)
|
|
||||||
return;
|
|
||||||
|
|
||||||
_status = DeviceStatus::IsPreparingForTakeoff;
|
|
||||||
_sensors->onMeasuaringAltitudeFinished([this]() {
|
|
||||||
if (_status == DeviceStatus::IsPreparingForTakeoff) {
|
|
||||||
// Preparation for takeoff is done
|
|
||||||
_takeoff();
|
|
||||||
}
|
|
||||||
});
|
|
||||||
_sensors->measureBaseAltitudeAsync();
|
|
||||||
}
|
|
||||||
|
|
||||||
void FlightController::startBoarding() {
|
|
||||||
if (_status == DeviceStatus::IsFlying) {
|
|
||||||
_status = DeviceStatus::IsBoarding;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void FlightController::_updateBatteryCharge() {
|
|
||||||
if(_unlimitedBattery) return;
|
|
||||||
if (_sensors->batteryCharge() <= _batteryCriticalCharge) {
|
|
||||||
if (_status == DeviceStatus::IsFlying or _status == DeviceStatus::IsBoarding) {
|
|
||||||
// TODO: board the device
|
|
||||||
_status = DeviceStatus::IsBoarding;
|
|
||||||
} else {
|
|
||||||
_status = DeviceStatus::ChargeRequired;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void FlightController::_takeoff() {
|
|
||||||
// TODO: implement takeoff
|
|
||||||
_status = DeviceStatus::IsFlying;
|
|
||||||
if(_onTakeoffStarted) {
|
|
||||||
_onTakeoffStarted();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void FlightController::_boarding() {
|
|
||||||
if (_sensors->flightHeight() <= _defaultStopMotorHeight) {
|
|
||||||
// TODO: stop motors and setpoints
|
|
||||||
_status = DeviceStatus::Idle;
|
|
||||||
} else {
|
|
||||||
// TODO: implement boarding
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void FlightController::startImuCalibration() {
|
|
||||||
_sensors->onMpuCalibrationFinished([this]() {
|
|
||||||
this->_status = DeviceStatus::Idle;
|
|
||||||
});
|
|
||||||
}
|
|
||||||
@@ -1,54 +0,0 @@
|
|||||||
#include "PID.hpp"
|
|
||||||
#include "Sensors/Sensors.hpp"
|
|
||||||
|
|
||||||
enum DeviceStatus {
|
|
||||||
Idle = 0,
|
|
||||||
IsPreparingForTakeoff,
|
|
||||||
IsFlying,
|
|
||||||
IsBoarding,
|
|
||||||
IsImuCalibration,
|
|
||||||
ChargeRequired
|
|
||||||
};
|
|
||||||
|
|
||||||
struct ReportedDeviceState {
|
|
||||||
int batteryCharge;
|
|
||||||
float flightHeight;
|
|
||||||
DeviceStatus status;
|
|
||||||
MpuData mpuState;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct FlightParams {
|
|
||||||
float height; // [cm]
|
|
||||||
float yaw; // [degrees]
|
|
||||||
float pitch; // [degrees]
|
|
||||||
};
|
|
||||||
|
|
||||||
class FlightController {
|
|
||||||
public:
|
|
||||||
FlightController(Sensors *sensors, PIDController *pid1, PIDController *pid2, PIDController *pid3, bool unlimitedBattery = false);
|
|
||||||
~FlightController();
|
|
||||||
ReportedDeviceState currentDeviceState() const;
|
|
||||||
void startTakeoff(OnMeasuringFinishedCb onTakeoffStarted);
|
|
||||||
void startBoarding();
|
|
||||||
void startImuCalibration();
|
|
||||||
void tick();
|
|
||||||
private:
|
|
||||||
void _updateBatteryCharge();
|
|
||||||
void _takeoff();
|
|
||||||
void _boarding();
|
|
||||||
|
|
||||||
Sensors *_sensors = nullptr;
|
|
||||||
PIDController *_pid1 = nullptr;
|
|
||||||
PIDController *_pid2 = nullptr;
|
|
||||||
PIDController *_pid3 = nullptr;
|
|
||||||
DeviceStatus _status;
|
|
||||||
OnMeasuringFinishedCb _onTakeoffStarted = nullptr;
|
|
||||||
|
|
||||||
static constexpr const char *_tag = "FlightController";
|
|
||||||
static constexpr uint8_t _batteryCriticalCharge = 15; // [%]
|
|
||||||
static constexpr float _defaultFlightHeight = 30.f; // [cm]
|
|
||||||
static constexpr float _defaultHorizontAngle = 90.f; // [degrees]
|
|
||||||
static constexpr float _defaultStopMotorHeight = 5; // [cm]
|
|
||||||
|
|
||||||
bool _unlimitedBattery = false; // for debug purposes
|
|
||||||
};
|
|
||||||
@@ -1,80 +0,0 @@
|
|||||||
#include "FlightDispatcher.hpp"
|
|
||||||
|
|
||||||
FlightDispatcher::FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
|
|
||||||
FlightController *flightController, bool loop_on_fail) {
|
|
||||||
assert(bluetoothDispatcher != nullptr);
|
|
||||||
assert(flightController != nullptr);
|
|
||||||
|
|
||||||
_bluetoothDispatcher = bluetoothDispatcher;
|
|
||||||
_flightController = flightController;
|
|
||||||
|
|
||||||
bluetoothDispatcher->onNewDeviceConnected([this](BTAddress device) {
|
|
||||||
this->_onNewDeviceConnected(device);
|
|
||||||
});
|
|
||||||
bluetoothDispatcher->onNewPackageReceived([this](char *package) {
|
|
||||||
this->_onNewMessageReceived(package);
|
|
||||||
});
|
|
||||||
|
|
||||||
if (_bluetoothDispatcher->initialize()) {
|
|
||||||
ESP_LOGI(_tag, "Bluetooth initialized successfully.");
|
|
||||||
} else {
|
|
||||||
ESP_LOGE(_tag, "Failed to initialize Bluetooth dispatcher!");
|
|
||||||
while (loop_on_fail)
|
|
||||||
;
|
|
||||||
}
|
|
||||||
_telemetryTimer = millis();
|
|
||||||
}
|
|
||||||
|
|
||||||
FlightDispatcher::~FlightDispatcher() {
|
|
||||||
delete _bluetoothDispatcher;
|
|
||||||
delete _flightController;
|
|
||||||
}
|
|
||||||
|
|
||||||
void FlightDispatcher::tick() {
|
|
||||||
_flightController->tick();
|
|
||||||
_bluetoothDispatcher->tick();
|
|
||||||
if (millis() - _telemetryTimer >= _telemetryTimeIntervalMS) {
|
|
||||||
_sendTelemetry();
|
|
||||||
_telemetryTimer = millis();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void FlightDispatcher::_onNewDeviceConnected(BTAddress device) {
|
|
||||||
auto currentState = _flightController->currentDeviceState();
|
|
||||||
gson::string package;
|
|
||||||
package.beginObj();
|
|
||||||
package["batteryCharge"] = currentState.batteryCharge;
|
|
||||||
package["flightHeight"] = currentState.flightHeight;
|
|
||||||
package["status"] = currentState.status;
|
|
||||||
package.endObj();
|
|
||||||
package.end();
|
|
||||||
package += "\r\n";
|
|
||||||
auto pkg = package.s.c_str();
|
|
||||||
_bluetoothDispatcher->sendPackage(pkg, strlen(pkg));
|
|
||||||
}
|
|
||||||
|
|
||||||
void FlightDispatcher::_onNewMessageReceived(char *package) {
|
|
||||||
ESP_LOGI(_tag, "Received new package: %s", package);
|
|
||||||
gson::Doc pkg;
|
|
||||||
pkg.parse(package, _jsonMaxDepth);
|
|
||||||
// TODO: process package
|
|
||||||
}
|
|
||||||
|
|
||||||
void FlightDispatcher::_sendTelemetry() {
|
|
||||||
/* Notify mobile client about device state */
|
|
||||||
auto state = _flightController->currentDeviceState();
|
|
||||||
gson::string package;
|
|
||||||
package.beginObj();
|
|
||||||
package["batteryCharge"] = state.batteryCharge;
|
|
||||||
package["flightHeight"] = state.flightHeight;
|
|
||||||
package["status"] = state.status;
|
|
||||||
package["y"] = state.mpuState.yaw;
|
|
||||||
package["p"] = state.mpuState.pitch;
|
|
||||||
package["r"] = state.mpuState.roll;
|
|
||||||
package["zIn"] = state.mpuState.zInertial;
|
|
||||||
package.endObj();
|
|
||||||
package.end();
|
|
||||||
package += "\r\n";
|
|
||||||
|
|
||||||
_bluetoothDispatcher->sendPackage(package.s.c_str(), strlen((package.s.c_str())));
|
|
||||||
}
|
|
||||||
@@ -1,24 +0,0 @@
|
|||||||
#include "FlightController.hpp"
|
|
||||||
#include "GSON.h"
|
|
||||||
#include "RF/BluetoothDispatcher.hpp"
|
|
||||||
|
|
||||||
class FlightDispatcher {
|
|
||||||
/* Deserialize state and update it in FlightController. */
|
|
||||||
public:
|
|
||||||
FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
|
|
||||||
FlightController *flightController, bool loop_on_fail = true);
|
|
||||||
~FlightDispatcher();
|
|
||||||
void tick();
|
|
||||||
private:
|
|
||||||
void _onNewDeviceConnected(BTAddress device);
|
|
||||||
void _onNewMessageReceived(char *package);
|
|
||||||
void _sendTelemetry();
|
|
||||||
|
|
||||||
static constexpr const char *_tag = "FlightDispatcher";
|
|
||||||
static constexpr const int _telemetryTimeIntervalMS = 200;
|
|
||||||
static constexpr const uint8_t _jsonMaxDepth = 5;
|
|
||||||
|
|
||||||
uint32_t _telemetryTimer = millis();
|
|
||||||
BluetoothDispatcher *_bluetoothDispatcher;
|
|
||||||
FlightController *_flightController;
|
|
||||||
};
|
|
||||||
@@ -1,50 +0,0 @@
|
|||||||
#include "GyverPID.h"
|
|
||||||
#include "Motor/BrushedMotor.hpp"
|
|
||||||
#include "Preferences.h"
|
|
||||||
#include "esp_log.h"
|
|
||||||
#include "mString.h"
|
|
||||||
|
|
||||||
class PIDController : public GyverPID {
|
|
||||||
public:
|
|
||||||
PIDController(float p, float i, float d, BrushedMotor *rotor, int rotorNumber = 1, uint16_t dt = 10)
|
|
||||||
: GyverPID(p, i, d, dt) {
|
|
||||||
assert(rotor != nullptr);
|
|
||||||
_rotor = rotor;
|
|
||||||
_rotorNumber = rotorNumber;
|
|
||||||
setLimits(0, _rotor->maxDuty());
|
|
||||||
_preferences.begin((String("r") + String(rotorNumber)).c_str());
|
|
||||||
_loadPreferences(p, i, d);
|
|
||||||
pid_timer = millis();
|
|
||||||
ESP_LOGI(_tag, "PID №%d initialized with params (%f, %f, %f)", _rotorNumber, Kp, Ki, Kd);
|
|
||||||
}
|
|
||||||
|
|
||||||
void tick() {
|
|
||||||
if (millis() - pid_timer >= _dt) {
|
|
||||||
_rotor->setDuty(getResultTimer());
|
|
||||||
pid_timer = millis();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void save() {
|
|
||||||
_preferences.putFloat("p", Kp);
|
|
||||||
_preferences.putFloat("i", Ki);
|
|
||||||
_preferences.putFloat("d", Kd);
|
|
||||||
ESP_LOGI(_tag, "PID №%d saved with params (%f, %f, %f)", _rotorNumber, Kp, Ki, Kd);
|
|
||||||
}
|
|
||||||
|
|
||||||
private:
|
|
||||||
Preferences _preferences;
|
|
||||||
int _rotorNumber = 1;
|
|
||||||
uint16_t _dt;
|
|
||||||
BrushedMotor *_rotor = nullptr;
|
|
||||||
uint32_t pid_timer = 0;
|
|
||||||
static constexpr const char *_tag = "PIDController";
|
|
||||||
|
|
||||||
void _loadPreferences(float pDefault = 0, float iDefault = 0, float dDefault = 0) {
|
|
||||||
if (_preferences.isKey("p") and _preferences.isKey("i") and _preferences.isKey("d")) {
|
|
||||||
Kp = _preferences.getFloat("p", pDefault);
|
|
||||||
Ki = _preferences.getFloat("i", iDefault);
|
|
||||||
Kd = _preferences.getFloat("d", dDefault);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
};
|
|
||||||
@@ -1,22 +0,0 @@
|
|||||||
#include "BrushedMotor.hpp"
|
|
||||||
|
|
||||||
BrushedMotor::BrushedMotor(uint32_t PwmAGpioNum, uint32_t PwmBGpioNum, uint32_t PwmFreqHz,
|
|
||||||
uint32_t McpwmResolutionHz, int McpwmGroupId) {}
|
|
||||||
|
|
||||||
void BrushedMotor::enable() {}
|
|
||||||
|
|
||||||
void BrushedMotor::disable() {}
|
|
||||||
|
|
||||||
void BrushedMotor::setDuty(uint16_t duty) {}
|
|
||||||
|
|
||||||
uint16_t BrushedMotor::maxDuty() {
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
void BrushedMotor::forward() {}
|
|
||||||
|
|
||||||
void BrushedMotor::reverse() {}
|
|
||||||
|
|
||||||
void BrushedMotor::coast() {}
|
|
||||||
|
|
||||||
void BrushedMotor::brake() {}
|
|
||||||
@@ -1,29 +0,0 @@
|
|||||||
#include <stdint.h>
|
|
||||||
|
|
||||||
// TODO: implement class
|
|
||||||
|
|
||||||
class BrushedMotor {
|
|
||||||
/* Driver for native MCPWM controller. */
|
|
||||||
// TODO: define default values
|
|
||||||
public:
|
|
||||||
BrushedMotor(uint32_t PwmAGpioNum, uint32_t PwmBGpioNum, uint32_t PwmFreqHz,
|
|
||||||
uint32_t McpwmResolutionHz, int McpwmGroupId = 0);
|
|
||||||
void setDuty(uint16_t duty);
|
|
||||||
uint16_t maxDuty();
|
|
||||||
void enable();
|
|
||||||
void disable();
|
|
||||||
void forward();
|
|
||||||
void reverse();
|
|
||||||
void coast();
|
|
||||||
void brake();
|
|
||||||
|
|
||||||
protected:
|
|
||||||
/* MCPWM group */
|
|
||||||
int _mcpwmGroupId = 0;
|
|
||||||
uint32_t _mcpwmResolutionHz;
|
|
||||||
|
|
||||||
/* Brushed motor properties */
|
|
||||||
uint32_t _pwmAGpioNum;
|
|
||||||
uint32_t _pwmBGpioNum;
|
|
||||||
uint32_t _pwmFreqHz;
|
|
||||||
};
|
|
||||||
@@ -1,19 +0,0 @@
|
|||||||
#include "board_pins.h"
|
|
||||||
|
|
||||||
class BatteryController {
|
|
||||||
public:
|
|
||||||
BatteryController() {}
|
|
||||||
|
|
||||||
void initialize() {
|
|
||||||
pinMode(BATTERY_DATA_SWITCH_PIN, OUTPUT);
|
|
||||||
digitalWrite(BATTERY_DATA_SWITCH_PIN, HIGH);
|
|
||||||
}
|
|
||||||
|
|
||||||
float measureVoltage() {
|
|
||||||
return analogRead(BATTERY_DATA_PIN) * 3.3 / 4095;
|
|
||||||
}
|
|
||||||
|
|
||||||
int percent(int minVoltage = 7200, int maxVoltage = 8400) {
|
|
||||||
return map(int(measureVoltage() * 1000), minVoltage, maxVoltage, 0, 100);
|
|
||||||
}
|
|
||||||
};
|
|
||||||
@@ -1,114 +0,0 @@
|
|||||||
#include "Sensors.hpp"
|
|
||||||
|
|
||||||
Sensors::Sensors(Barometer *barometer, MPU *mpu, Kalman2DFilter *filter, BatteryController *battery, bool loop_on_fail) {
|
|
||||||
assert(barometer != nullptr);
|
|
||||||
assert(mpu != nullptr);
|
|
||||||
assert(filter != nullptr);
|
|
||||||
assert(battery != nullptr);
|
|
||||||
|
|
||||||
_barometer = barometer;
|
|
||||||
_mpu = mpu;
|
|
||||||
_2d_filter = filter;
|
|
||||||
_battery = battery;
|
|
||||||
|
|
||||||
ESP_LOGI(_tag, "Initialize BMP280...");
|
|
||||||
if (_barometer->initialize()) {
|
|
||||||
ESP_LOGI(_tag, "BMP280 initialized");
|
|
||||||
} else {
|
|
||||||
ESP_LOGI(_tag, "BMP280 initialization failed!");
|
|
||||||
while (loop_on_fail)
|
|
||||||
;
|
|
||||||
}
|
|
||||||
|
|
||||||
ESP_LOGI(_tag, "Initialize MPU6050...");
|
|
||||||
if (_mpu->initialize()) {
|
|
||||||
ESP_LOGI(_tag, "MPU6050 initialized");
|
|
||||||
} else {
|
|
||||||
ESP_LOGI(_tag, "MPU6050 initialization failed!");
|
|
||||||
while (loop_on_fail)
|
|
||||||
;
|
|
||||||
}
|
|
||||||
|
|
||||||
_battery->initialize();
|
|
||||||
ESP_LOGI(_tag, "BatteryController initialized");
|
|
||||||
ESP_LOGI(_tag, "Sensors initialized");
|
|
||||||
}
|
|
||||||
|
|
||||||
Sensors::~Sensors() {
|
|
||||||
delete _barometer;
|
|
||||||
delete _mpu;
|
|
||||||
delete _2d_filter;
|
|
||||||
delete _battery;
|
|
||||||
}
|
|
||||||
|
|
||||||
void Sensors::measureBaseAltitudeSync(void) {
|
|
||||||
_barometer->measureBaseAltitudeSync();
|
|
||||||
}
|
|
||||||
|
|
||||||
void Sensors::measureBaseAltitudeAsync(void) {
|
|
||||||
_barometer->measureBaseAltitudeAsync();
|
|
||||||
}
|
|
||||||
|
|
||||||
float Sensors::rawFlightHeight(void) const {
|
|
||||||
/* Returns flight height from barometer immediatly */
|
|
||||||
return _barometer->flightHeight();
|
|
||||||
}
|
|
||||||
|
|
||||||
float Sensors::flightHeight(void) const {
|
|
||||||
/* Returns flight height from cache immediatly */
|
|
||||||
if (_flightHeightFromBarometer == NAN) {
|
|
||||||
ESP_LOGW(_tag, "flightHeight called, but tick() has called never");
|
|
||||||
return rawFlightHeight();
|
|
||||||
} else {
|
|
||||||
return _flightHeightFromBarometer;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
MpuData Sensors::mpuData() const {
|
|
||||||
if (_mpuData.ax == NAN and _mpuData.gravity == NAN) {
|
|
||||||
ESP_LOGW(_tag, "MPU data looks like .tick() has never called");
|
|
||||||
}
|
|
||||||
return _mpuData;
|
|
||||||
}
|
|
||||||
|
|
||||||
bool Sensors::tick(void) {
|
|
||||||
/* Super loop iteraion */
|
|
||||||
/* Return true on update */
|
|
||||||
_barometer->tick();
|
|
||||||
bool err;
|
|
||||||
bool isMpuDataReady = _mpu->tick(err);
|
|
||||||
if (isMpuDataReady and !err) {
|
|
||||||
_2d_filter->filter(_mpu->accZInertial(), _barometer->flightHeight(), _flightHeightFromBarometer, _zVelocityAltitude);
|
|
||||||
_mpuData = { .ax = _mpu->ax(),
|
|
||||||
.ay = _mpu->ay(),
|
|
||||||
.az = _mpu->az(),
|
|
||||||
.gx = _mpu->gx(),
|
|
||||||
.gy = _mpu->gy(),
|
|
||||||
.gz = _mpu->gz(),
|
|
||||||
.yaw = _mpu->yaw(),
|
|
||||||
.pitch = _mpu->pitch(),
|
|
||||||
.roll = _mpu->roll(),
|
|
||||||
.gravity = _mpu->gravityZ(),
|
|
||||||
.zInertial = _mpu->accZInertial() };
|
|
||||||
return true;
|
|
||||||
} else if (err) {
|
|
||||||
ESP_LOGE(_tag, "Failed to get DMP data!");
|
|
||||||
}
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
int Sensors::batteryCharge(void) const {
|
|
||||||
return _battery->percent();
|
|
||||||
}
|
|
||||||
|
|
||||||
void Sensors::onMpuCalibrationFinished(OnCalibrationFinishedCb callback) {
|
|
||||||
_mpu->onCalibrationFinished(callback);
|
|
||||||
}
|
|
||||||
|
|
||||||
void Sensors::startMpuCalibration() {
|
|
||||||
_mpu->startCalibration();
|
|
||||||
}
|
|
||||||
|
|
||||||
void Sensors::onMeasuaringAltitudeFinished(OnMeasuringFinishedCb callback) {
|
|
||||||
_barometer->onMeasuaringHeightFinished(callback);
|
|
||||||
}
|
|
||||||
@@ -1,8 +0,0 @@
|
|||||||
#include "driver/adc.h"
|
|
||||||
|
|
||||||
#define I2C_SDA_PIN 21
|
|
||||||
#define I2C_SCL_PIN 18
|
|
||||||
#define MPU6050_INT_PIN 19
|
|
||||||
#define BATTERY_ADC_CHANNEL ADC2_CHANNEL_0
|
|
||||||
#define BATTERY_DATA_PIN 4
|
|
||||||
#define BATTERY_DATA_SWITCH_PIN 17
|
|
||||||
17
convert_sysincludes.py
Executable file
17
convert_sysincludes.py
Executable file
@@ -0,0 +1,17 @@
|
|||||||
|
from pathlib import Path
|
||||||
|
Import("env" ,"projenv")
|
||||||
|
|
||||||
|
platform = env.PioPlatform()
|
||||||
|
FRAMEWORK_DIR = Path(platform.get_package_dir("framework-arduinoespressif32"))
|
||||||
|
framework_includes = list()
|
||||||
|
filtered_cpppath = list()
|
||||||
|
# apply these changes to current working env, the project env and the global env
|
||||||
|
for e in (env, projenv, DefaultEnvironment()):
|
||||||
|
for p in e["CPPPATH"]:
|
||||||
|
# is the current include path inside the framework directory?
|
||||||
|
if FRAMEWORK_DIR in Path(p).parents:
|
||||||
|
framework_includes.append(p)
|
||||||
|
else:
|
||||||
|
filtered_cpppath.append(p)
|
||||||
|
e.Replace(CPPPATH=filtered_cpppath)
|
||||||
|
e.Append(CCFLAGS=[("-isystem", p) for p in framework_includes])
|
||||||
70
get-platformio.py
Executable file
70
get-platformio.py
Executable file
File diff suppressed because one or more lines are too long
39
include/README
Executable file
39
include/README
Executable file
@@ -0,0 +1,39 @@
|
|||||||
|
|
||||||
|
This directory is intended for project header files.
|
||||||
|
|
||||||
|
A header file is a file containing C declarations and macro definitions
|
||||||
|
to be shared between several project source files. You request the use of a
|
||||||
|
header file in your project source file (C, C++, etc) located in `src` folder
|
||||||
|
by including it, with the C preprocessing directive `#include'.
|
||||||
|
|
||||||
|
```src/main.c
|
||||||
|
|
||||||
|
#include "header.h"
|
||||||
|
|
||||||
|
int main (void)
|
||||||
|
{
|
||||||
|
...
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
Including a header file produces the same results as copying the header file
|
||||||
|
into each source file that needs it. Such copying would be time-consuming
|
||||||
|
and error-prone. With a header file, the related declarations appear
|
||||||
|
in only one place. If they need to be changed, they can be changed in one
|
||||||
|
place, and programs that include the header file will automatically use the
|
||||||
|
new version when next recompiled. The header file eliminates the labor of
|
||||||
|
finding and changing all the copies as well as the risk that a failure to
|
||||||
|
find one copy will result in inconsistencies within a program.
|
||||||
|
|
||||||
|
In C, the usual convention is to give header files names that end with `.h'.
|
||||||
|
It is most portable to use only letters, digits, dashes, and underscores in
|
||||||
|
header file names, and at most one dot.
|
||||||
|
|
||||||
|
Read more about using header files in official GCC documentation:
|
||||||
|
|
||||||
|
* Include Syntax
|
||||||
|
* Include Operation
|
||||||
|
* Once-Only Headers
|
||||||
|
* Computed Includes
|
||||||
|
|
||||||
|
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
|
||||||
46
lib/README
Executable file
46
lib/README
Executable file
@@ -0,0 +1,46 @@
|
|||||||
|
|
||||||
|
This directory is intended for project specific (private) libraries.
|
||||||
|
PlatformIO will compile them to static libraries and link into executable file.
|
||||||
|
|
||||||
|
The source code of each library should be placed in a an own separate directory
|
||||||
|
("lib/your_library_name/[here are source files]").
|
||||||
|
|
||||||
|
For example, see a structure of the following two libraries `Foo` and `Bar`:
|
||||||
|
|
||||||
|
|--lib
|
||||||
|
| |
|
||||||
|
| |--Bar
|
||||||
|
| | |--docs
|
||||||
|
| | |--examples
|
||||||
|
| | |--src
|
||||||
|
| | |- Bar.c
|
||||||
|
| | |- Bar.h
|
||||||
|
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
|
||||||
|
| |
|
||||||
|
| |--Foo
|
||||||
|
| | |- Foo.c
|
||||||
|
| | |- Foo.h
|
||||||
|
| |
|
||||||
|
| |- README --> THIS FILE
|
||||||
|
|
|
||||||
|
|- platformio.ini
|
||||||
|
|--src
|
||||||
|
|- main.c
|
||||||
|
|
||||||
|
and a contents of `src/main.c`:
|
||||||
|
```
|
||||||
|
#include <Foo.h>
|
||||||
|
#include <Bar.h>
|
||||||
|
|
||||||
|
int main (void)
|
||||||
|
{
|
||||||
|
...
|
||||||
|
}
|
||||||
|
|
||||||
|
```
|
||||||
|
|
||||||
|
PlatformIO Library Dependency Finder will find automatically dependent
|
||||||
|
libraries scanning project source files.
|
||||||
|
|
||||||
|
More information about PlatformIO Library Dependency Finder
|
||||||
|
- https://docs.platformio.org/page/librarymanager/ldf.html
|
||||||
36
main.cpp
36
main.cpp
@@ -1,36 +0,0 @@
|
|||||||
#include "App.hpp"
|
|
||||||
#include "BoardI2C.hpp"
|
|
||||||
//#include "MPU6050_6Axis_MotionApps20.h"
|
|
||||||
|
|
||||||
BoardI2C i2c;
|
|
||||||
/*
|
|
||||||
BluetoothDispatcher bluetoothDispatcher(new BluetoothSerial());
|
|
||||||
Sensors *sensors = nullptr; */
|
|
||||||
|
|
||||||
static Application *app = nullptr;
|
|
||||||
|
|
||||||
void setup() {
|
|
||||||
Serial.begin(115200);
|
|
||||||
app = new Application(new FlightDispatcher(
|
|
||||||
new BluetoothDispatcher(new BluetoothSerial()),
|
|
||||||
new FlightController(
|
|
||||||
new Sensors(new Barometer(new GyverBME280(i2c)), new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)),
|
|
||||||
new Kalman2DFilter(10.f, 1.f, 1.8f), new BatteryController()),
|
|
||||||
new PIDController(1, 1, 1, new BrushedMotor(1, 2, 3, 4, 1), 1),
|
|
||||||
new PIDController(1, 1, 1, new BrushedMotor(1, 2, 3, 4, 2), 2),
|
|
||||||
new PIDController(1, 1, 1, new BrushedMotor(1, 2, 3, 4, 3), 3))));
|
|
||||||
/*sensors = new Sensors(
|
|
||||||
new Barometer(new GyverBME280(i2c)), new MPU(new
|
|
||||||
MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)), new Kalman2DFilter(10.f, 1.f, 1.8f),
|
|
||||||
new BatteryController()); sensors->measureBaseAltitudeSync();
|
|
||||||
bluetoothDispatcher.initialize();
|
|
||||||
Serial.println("System initialized");*/
|
|
||||||
}
|
|
||||||
|
|
||||||
void loop() {
|
|
||||||
app->tick();
|
|
||||||
/*
|
|
||||||
sensors->tick();
|
|
||||||
bluetoothDispatcher.tick();
|
|
||||||
delay(1);*/
|
|
||||||
}
|
|
||||||
48
platformio.ini
Executable file
48
platformio.ini
Executable file
@@ -0,0 +1,48 @@
|
|||||||
|
; PlatformIO Project Configuration File
|
||||||
|
;
|
||||||
|
; Build options: build flags, source filter
|
||||||
|
; Upload options: custom upload port, speed and extra flags
|
||||||
|
; Library options: dependencies, extra library storages
|
||||||
|
; Advanced options: extra scripting
|
||||||
|
;
|
||||||
|
; Please visit documentation for the other options and examples
|
||||||
|
; https://docs.platformio.org/page/projectconf.html
|
||||||
|
|
||||||
|
[platformio]
|
||||||
|
default_envs = esp32dev
|
||||||
|
|
||||||
|
[common]
|
||||||
|
lib_deps_builtin =
|
||||||
|
Wire
|
||||||
|
BluetoothSerial
|
||||||
|
lib_deps_external =
|
||||||
|
https://git.gogacoder.com/gogacoder/GyverBME280.git @ ~1.5.0
|
||||||
|
https://git.gogacoder.com/gogacoder/MPU6050.git @ ~1.0.0
|
||||||
|
https://git.gogacoder.com/gogacoder/I2Cdev.git @ ~1.0.1
|
||||||
|
https://github.com/GyverLibs/StringUtils @ 1.2.6
|
||||||
|
https://github.com/GyverLibs/GSON.git @ 1.1.5
|
||||||
|
https://github.com/tomstewart89/BasicLinearAlgebra.git @ 4.3
|
||||||
|
https://github.com/GyverLibs/mString.git @ 1.7
|
||||||
|
https://github.com/GyverLibs/GyverPID @ 3.3
|
||||||
|
https://github.com/pololu/vl53l0x-arduino @ 1.3.1
|
||||||
|
https://github.com/pololu/lps-arduino
|
||||||
|
|
||||||
|
[env:esp32dev]
|
||||||
|
platform = espressif32 @ 6.5.0
|
||||||
|
board = esp32dev
|
||||||
|
framework = arduino
|
||||||
|
lib_deps = ${common.lib_deps_external}
|
||||||
|
monitor_speed = 115200
|
||||||
|
board_build.partitions = huge_app.csv
|
||||||
|
build_src_flags =
|
||||||
|
-std=c++2a
|
||||||
|
-Wall
|
||||||
|
-Wextra
|
||||||
|
-Werror=all
|
||||||
|
-Wno-error=pedantic
|
||||||
|
-Wpedantic
|
||||||
|
-O2
|
||||||
|
build_flags = -DCORE_DEBUG_LEVEL=3
|
||||||
|
check_tool = pvs-studio
|
||||||
|
check_flags = pvs-studio: --analysis-mode=4 --exclude-path=.pio/libdeps --lic-file=~/.config/PVS-Studio/PVS-Studio.lic
|
||||||
|
extra_scripts = post:convert_sysincludes.py
|
||||||
3
.clang-format → src/.clang-format
Normal file → Executable file
3
.clang-format → src/.clang-format
Normal file → Executable file
@@ -92,7 +92,6 @@ IncludeIsMainRegex: ''
|
|||||||
IncludeIsMainSourceRegex: ''
|
IncludeIsMainSourceRegex: ''
|
||||||
IndentGotoLabels: false
|
IndentGotoLabels: false
|
||||||
IndentPPDirectives: None
|
IndentPPDirectives: None
|
||||||
IndentRequires: true
|
|
||||||
IndentWidth: 2
|
IndentWidth: 2
|
||||||
IndentWrappedFunctionNames: false
|
IndentWrappedFunctionNames: false
|
||||||
InsertTrailingCommas: None
|
InsertTrailingCommas: None
|
||||||
@@ -148,7 +147,7 @@ StatementAttributeLikeMacros:
|
|||||||
StatementMacros:
|
StatementMacros:
|
||||||
- Q_UNUSED
|
- Q_UNUSED
|
||||||
- QT_REQUIRE_VERSION
|
- QT_REQUIRE_VERSION
|
||||||
TabWidth: 2
|
#TabWidth: 2
|
||||||
UseCRLF: false
|
UseCRLF: false
|
||||||
UseTab: Never
|
UseTab: Never
|
||||||
WhitespaceSensitiveMacros:
|
WhitespaceSensitiveMacros:
|
||||||
9
App.hpp → src/App.hpp
Normal file → Executable file
9
App.hpp → src/App.hpp
Normal file → Executable file
@@ -1,11 +1,15 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
|
||||||
#include "Logic/FlightDispatcher.hpp"
|
#include "Logic/FlightDispatcher.hpp"
|
||||||
#include "esp_log.h"
|
#include "esp_log.h"
|
||||||
|
|
||||||
class Application {
|
class Application {
|
||||||
public:
|
public:
|
||||||
Application(FlightDispatcher *dispatcher) {
|
Application(FlightDispatcher *dispatcher) {
|
||||||
assert(dispatcher != nullptr);
|
assert(dispatcher != nullptr);
|
||||||
_dispatcher = dispatcher;
|
_dispatcher = dispatcher;
|
||||||
|
ESP_LOGI(_tag, "ESP_IDF version: %s", esp_get_idf_version());
|
||||||
ESP_LOGI(_tag, "Application startup complete");
|
ESP_LOGI(_tag, "Application startup complete");
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -17,7 +21,8 @@ class Application {
|
|||||||
ESP_LOGI(_tag, "Application destroyed");
|
ESP_LOGI(_tag, "Application destroyed");
|
||||||
delete _dispatcher;
|
delete _dispatcher;
|
||||||
}
|
}
|
||||||
private:
|
|
||||||
|
private:
|
||||||
FlightDispatcher *_dispatcher = nullptr;
|
FlightDispatcher *_dispatcher = nullptr;
|
||||||
static constexpr const char *_tag = "Application";
|
static constexpr const char *_tag = "Application";
|
||||||
};
|
};
|
||||||
15
BoardI2C.hpp → src/BoardI2C.hpp
Normal file → Executable file
15
BoardI2C.hpp → src/BoardI2C.hpp
Normal file → Executable file
@@ -1,16 +1,23 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#define CONFIG_DISABLE_HAL_LOCKS 0
|
||||||
|
|
||||||
#include "Wire.h"
|
#include "Wire.h"
|
||||||
#include "board_pins.h"
|
#include "board_pins.h"
|
||||||
#include "esp_log.h"
|
#include "esp_log.h"
|
||||||
|
|
||||||
class BoardI2C : public TwoWire {
|
class BoardI2C : public TwoWire {
|
||||||
public:
|
public:
|
||||||
BoardI2C(bool loop_on_fail = true) : TwoWire(0) {
|
BoardI2C() : TwoWire(0) {
|
||||||
if (begin(I2C_SDA_PIN, I2C_SCL_PIN, 100000)) {
|
if (begin(I2C_SDA_PIN, I2C_SCL_PIN, 100000)) {
|
||||||
|
setTimeOut(10);
|
||||||
ESP_LOGI("I2CBus", "Bus initialized");
|
ESP_LOGI("I2CBus", "Bus initialized");
|
||||||
} else {
|
} else {
|
||||||
ESP_LOGE("I2CBus", "Failed to initialize the i2c software bus!");
|
ESP_LOGE("I2CBus", "Failed to initialize the i2c software bus!");
|
||||||
while (loop_on_fail)
|
assert(false);
|
||||||
;
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
29
Filters/Kalman2DFilter.hpp → src/Filters/Kalman2DFilter.hpp
Normal file → Executable file
29
Filters/Kalman2DFilter.hpp → src/Filters/Kalman2DFilter.hpp
Normal file → Executable file
@@ -1,33 +1,38 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
#pragma once
|
||||||
|
|
||||||
#include <BasicLinearAlgebra.h>
|
#include <BasicLinearAlgebra.h>
|
||||||
|
|
||||||
class Kalman2DFilter {
|
class Kalman2DFilter {
|
||||||
public:
|
public:
|
||||||
Kalman2DFilter(float dt = 4.f, float accelUncertainty = 10.f, float barometerUncertainty = 100.f) {
|
Kalman2DFilter(float dt = 4.f, float accelUncertainty = 10.f, float barometerUncertainty = 100.f) {
|
||||||
dt /= 1000.f;
|
dt /= 1000.f;
|
||||||
F = { 1, dt, 0, 1 };
|
F = {1, dt, 0, 1};
|
||||||
G = { 0.5f * dt * dt, dt };
|
G = {0.5f * dt * dt, dt};
|
||||||
H = { 1, 0 };
|
H = {1, 0};
|
||||||
I = { 1, 0, 0, 1 };
|
I = {1, 0, 0, 1};
|
||||||
Q = G * ~G * accelUncertainty * accelUncertainty;
|
Q = G * ~G * accelUncertainty * accelUncertainty;
|
||||||
R = { barometerUncertainty * barometerUncertainty };
|
R = {barometerUncertainty * barometerUncertainty};
|
||||||
P = { 0, 0, 0, 0 };
|
P = {0, 0, 0, 0};
|
||||||
S = { 0, 0 };
|
S = {0, 0};
|
||||||
}
|
}
|
||||||
|
|
||||||
void filter(const float &AccZInertial, const float &AltitudeBarometer, float &AltitudeKalman, float &VelocityVerticalKalman) {
|
void filter(const float &AccZInertial, const float &AltitudeBarometer,
|
||||||
Acc = { AccZInertial };
|
float &AltitudeKalman, float &VelocityVerticalKalman) {
|
||||||
|
Acc = {AccZInertial};
|
||||||
S = F * S + G * Acc;
|
S = F * S + G * Acc;
|
||||||
P = F * P * ~F + Q;
|
P = F * P * ~F + Q;
|
||||||
L = H * P * ~H + R;
|
L = H * P * ~H + R;
|
||||||
K = P * ~H * Inverse(L);
|
K = P * ~H * Inverse(L);
|
||||||
M = { AltitudeBarometer };
|
M = {AltitudeBarometer};
|
||||||
S = S + K * (M - H * S);
|
S = S + K * (M - H * S);
|
||||||
AltitudeKalman = S(0, 0);
|
AltitudeKalman = S(0, 0);
|
||||||
VelocityVerticalKalman = S(1, 0);
|
VelocityVerticalKalman = S(1, 0);
|
||||||
P = (I - K * H) * P;
|
P = (I - K * H) * P;
|
||||||
}
|
}
|
||||||
|
|
||||||
private:
|
private:
|
||||||
BLA::Matrix<2, 2> F;
|
BLA::Matrix<2, 2> F;
|
||||||
BLA::Matrix<2, 1> G;
|
BLA::Matrix<2, 1> G;
|
||||||
BLA::Matrix<2, 2> P;
|
BLA::Matrix<2, 2> P;
|
||||||
1
Filters/kalman.hpp → src/Filters/kalman.hpp
Normal file → Executable file
1
Filters/kalman.hpp → src/Filters/kalman.hpp
Normal file → Executable file
@@ -1,4 +1,5 @@
|
|||||||
// упрощённый Калман для одномерного случая
|
// упрощённый Калман для одномерного случая
|
||||||
|
#pragma once
|
||||||
|
|
||||||
#ifndef _GKalman_h
|
#ifndef _GKalman_h
|
||||||
#define _GKalman_h
|
#define _GKalman_h
|
||||||
1
Filters/median3.hpp → src/Filters/median3.hpp
Normal file → Executable file
1
Filters/median3.hpp → src/Filters/median3.hpp
Normal file → Executable file
@@ -1,4 +1,5 @@
|
|||||||
// быстрый медианный фильтр 3-го порядка
|
// быстрый медианный фильтр 3-го порядка
|
||||||
|
#pragma once
|
||||||
|
|
||||||
#ifndef _GMedian3_h
|
#ifndef _GMedian3_h
|
||||||
#define _GMedian3_h
|
#define _GMedian3_h
|
||||||
1
Filters/runningAverage.hpp → src/Filters/runningAverage.hpp
Normal file → Executable file
1
Filters/runningAverage.hpp → src/Filters/runningAverage.hpp
Normal file → Executable file
@@ -1,4 +1,5 @@
|
|||||||
// экспоненциальное бегущее среднее
|
// экспоненциальное бегущее среднее
|
||||||
|
#pragma once
|
||||||
|
|
||||||
#ifndef _GFilterRA_h
|
#ifndef _GFilterRA_h
|
||||||
#define _GFilterRA_h
|
#define _GFilterRA_h
|
||||||
222
src/Logic/FlightController.cpp
Executable file
222
src/Logic/FlightController.cpp
Executable file
@@ -0,0 +1,222 @@
|
|||||||
|
#include "FlightController.hpp"
|
||||||
|
|
||||||
|
FlightController::FlightController(
|
||||||
|
Sensors *sensors, SavedPidRegulator *heightController, SavedPidRegulator *yawController,
|
||||||
|
BrushedMotor *rotor1, BrushedMotor *rotor2,
|
||||||
|
PIDController *tailRotorController, bool unlimitedBattery
|
||||||
|
) {
|
||||||
|
assert(sensors != nullptr);
|
||||||
|
assert(heightController != nullptr);
|
||||||
|
assert(yawController != nullptr);
|
||||||
|
assert(tailRotorController != nullptr);
|
||||||
|
assert(rotor1 != nullptr);
|
||||||
|
assert(rotor2 != nullptr);
|
||||||
|
|
||||||
|
_sensors = sensors;
|
||||||
|
_unlimitedBattery = unlimitedBattery;
|
||||||
|
_heightController = heightController;
|
||||||
|
_yawController = yawController;
|
||||||
|
_tailRotorController = tailRotorController;
|
||||||
|
_rotor1 = rotor1;
|
||||||
|
_rotor2 = rotor2;
|
||||||
|
|
||||||
|
_status = DeviceStatus::Idle;
|
||||||
|
_checkBatteryCharge();
|
||||||
|
stopAllRotors();
|
||||||
|
_initPidControllers();
|
||||||
|
ESP_LOGI(_tag, "Flight controller initialized");
|
||||||
|
}
|
||||||
|
|
||||||
|
FlightController::~FlightController() {
|
||||||
|
delete _sensors;
|
||||||
|
delete _heightController;
|
||||||
|
delete _yawController;
|
||||||
|
delete _tailRotorController;
|
||||||
|
delete _rotor1;
|
||||||
|
delete _rotor2;
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::tick() {
|
||||||
|
bool hasUpdates = _sensors->tick();
|
||||||
|
_checkBatteryCharge();
|
||||||
|
// TODO: don't apply pid values to motors while DeviceStatus != IsFlying
|
||||||
|
switch (_status) {
|
||||||
|
case DeviceStatus::Idle:
|
||||||
|
break;
|
||||||
|
case DeviceStatus::ChargeRequired:
|
||||||
|
break;
|
||||||
|
case DeviceStatus::IsPreparingForTakeoff:
|
||||||
|
break;
|
||||||
|
case DeviceStatus::IsImuCalibration:
|
||||||
|
break;
|
||||||
|
case DeviceStatus::IsBoarding:
|
||||||
|
/* TODO: implement boarding */
|
||||||
|
if (hasUpdates) {
|
||||||
|
_boarding();
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case DeviceStatus::IsFlying:
|
||||||
|
/* TODO: implement flying */
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
if (hasUpdates and (_status == DeviceStatus::IsFlying or _status == DeviceStatus::IsBoarding)) {
|
||||||
|
_tailRotorController->input = round(_sensors->mpuData().pitch * 10) / 10;
|
||||||
|
_tailRotorController->update();
|
||||||
|
|
||||||
|
_heightController->input = _sensors->flightHeight();
|
||||||
|
//auto baseDuty = (uint32_t) round(_heightController->getResultNow());
|
||||||
|
//_rotor1->setDuty(baseDuty);
|
||||||
|
//_rotor2->setDuty(baseDuty);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
ReportedDeviceState FlightController::currentDeviceState() const {
|
||||||
|
return {
|
||||||
|
.batteryCharge = _sensors->batteryCharge(),
|
||||||
|
.flightHeight = _sensors->flightHeight(),
|
||||||
|
.status = _status,
|
||||||
|
.mpuState = _sensors->mpuData()
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::startTakeoff() {
|
||||||
|
/* Start preparation for takeoff */
|
||||||
|
_checkBatteryCharge();
|
||||||
|
if (_status != DeviceStatus::Idle)
|
||||||
|
return;
|
||||||
|
|
||||||
|
_status = DeviceStatus::IsPreparingForTakeoff;
|
||||||
|
_sensors->onMeasuaringAltitudeFinished([this]() {
|
||||||
|
if (_status == DeviceStatus::IsPreparingForTakeoff) {
|
||||||
|
// Preparation for takeoff is done
|
||||||
|
_takeoff();
|
||||||
|
}
|
||||||
|
});
|
||||||
|
_sensors->measureBaseAltitudeAsync();
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::startBoarding() {
|
||||||
|
if (_status == DeviceStatus::IsFlying) {
|
||||||
|
_status = DeviceStatus::IsBoarding;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::_checkBatteryCharge() {
|
||||||
|
if (_unlimitedBattery)
|
||||||
|
return;
|
||||||
|
if (_sensors->batteryCharge() <= _batteryCriticalCharge) {
|
||||||
|
if (_status == DeviceStatus::IsFlying) {
|
||||||
|
startBoarding();
|
||||||
|
} else {
|
||||||
|
_status = DeviceStatus::ChargeRequired;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::_takeoff() {
|
||||||
|
// TODO: implement takeoff
|
||||||
|
_status = DeviceStatus::IsFlying;
|
||||||
|
_tailRotorController->enable();
|
||||||
|
_heightController->integral = 0.f;
|
||||||
|
_heightController->setpoint = _defaultFlightHeight;
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::_boarding() {
|
||||||
|
if (_sensors->flightHeight() <= _defaultStopMotorHeight) {
|
||||||
|
stopAllRotors();
|
||||||
|
} else {
|
||||||
|
_heightController->setpoint -= _boarding_speed;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::startImuCalibration() {
|
||||||
|
if (_status != DeviceStatus::Idle)
|
||||||
|
return;
|
||||||
|
ESP_LOGI(_tag, "Started IMU calibration");
|
||||||
|
_status = DeviceStatus::IsImuCalibration;
|
||||||
|
_sensors->startMpuCalibration();
|
||||||
|
_sensors->onMpuCalibrationFinished([this]() {
|
||||||
|
this->_status = DeviceStatus::Idle;
|
||||||
|
});
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::moveToFlightHeight(float newFlightHeight) {
|
||||||
|
// TODO: implement setting flight height
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::newFlightHeightStickPosition(int16_t newFlightHeightStickPostition) {
|
||||||
|
// TODO: implement stick input
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::newYawStickPosition(int16_t newYawStickPostition) {
|
||||||
|
// TODO: implement stick input
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::newPitchStickPosition(int16_t newYawStickPostition) {
|
||||||
|
// TODO: implement stick input
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::setRotor1Duty(int16_t rotor1Duty) {
|
||||||
|
{
|
||||||
|
auto duty = (int16_t) map((long) rotor1Duty, 0, 5000, 0, 1023);
|
||||||
|
_rotor1->setExtendedDuty(duty);
|
||||||
|
_rotor2->setExtendedDuty(duty);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::setRotor2Duty(int16_t rotor2Duty) {
|
||||||
|
{
|
||||||
|
auto duty = (int16_t) map((long) rotor2Duty, 0, 5000, 0, 1023);
|
||||||
|
_rotor1->setExtendedDuty(duty);
|
||||||
|
_rotor2->setExtendedDuty(duty);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::setRotor3Duty(int16_t rotor3Duty) {
|
||||||
|
if (_status == DeviceStatus::Idle) {
|
||||||
|
auto duty = (int16_t) map((long) rotor3Duty, -5000, 5000, -1023, 1023);
|
||||||
|
_tailRotorController->setRotorDuty(duty);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::stopAllRotors() {
|
||||||
|
_tailRotorController->disable();
|
||||||
|
setRotor1Duty(0);
|
||||||
|
setRotor2Duty(0);
|
||||||
|
setRotor3Duty(0);
|
||||||
|
_status = DeviceStatus::Idle;
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::setHeightControllerParams(float p, float i, float d) {
|
||||||
|
if (_status == DeviceStatus::Idle) {
|
||||||
|
_heightController->setParams({.p = p, .i = i, .d = d});
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::setYawControllerParams(float p, float i, float d) {
|
||||||
|
if (_status == DeviceStatus::Idle) {
|
||||||
|
_yawController->setParams({.p = p, .i = i, .d = d});
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightController::setPitchControllerParams(float p, float i, float d) {
|
||||||
|
if (_status == DeviceStatus::Idle) {
|
||||||
|
_tailRotorController->setParams({.p = p, .i = i, .d = d});
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
PidSettings FlightController::pidSettings() const {
|
||||||
|
PidSettings settings{};
|
||||||
|
settings.flightController = {.p = _heightController->Kp, .i = _heightController->Ki, .d = _heightController->Kd};
|
||||||
|
settings.yawController = {.p = _yawController->Kp, .i = _yawController->Ki, .d = _yawController->Kd};
|
||||||
|
settings.pitchController = {
|
||||||
|
.p = _tailRotorController->Kp, .i = _tailRotorController->Ki, .d = _tailRotorController->Kd
|
||||||
|
};
|
||||||
|
return settings;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void FlightController::_initPidControllers() {
|
||||||
|
_tailRotorController->setpoint = 180.f;
|
||||||
|
_heightController->setLimits(0, _rotor1->maxDuty());
|
||||||
|
}
|
||||||
110
src/Logic/FlightController.hpp
Executable file
110
src/Logic/FlightController.hpp
Executable file
@@ -0,0 +1,110 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "PIDController.hpp"
|
||||||
|
#include "Sensors/Sensors.hpp"
|
||||||
|
|
||||||
|
enum DeviceStatus {
|
||||||
|
Idle = 0,
|
||||||
|
IsPreparingForTakeoff,
|
||||||
|
IsFlying,
|
||||||
|
IsBoarding,
|
||||||
|
IsImuCalibration,
|
||||||
|
ChargeRequired
|
||||||
|
};
|
||||||
|
|
||||||
|
struct ReportedDeviceState {
|
||||||
|
int batteryCharge;
|
||||||
|
float flightHeight;
|
||||||
|
DeviceStatus status;
|
||||||
|
MpuData mpuState;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct FlightParams {
|
||||||
|
float height; // [cm]
|
||||||
|
float yaw; // [degrees]
|
||||||
|
float pitch; // [degrees]
|
||||||
|
};
|
||||||
|
|
||||||
|
struct PidSettings {
|
||||||
|
PidParams flightController;
|
||||||
|
PidParams yawController;
|
||||||
|
PidParams pitchController;
|
||||||
|
};
|
||||||
|
|
||||||
|
class FlightController {
|
||||||
|
public:
|
||||||
|
FlightController(Sensors *sensors, SavedPidRegulator *heightController, SavedPidRegulator *yawController,
|
||||||
|
BrushedMotor *_rotor1, BrushedMotor *_rotor2,
|
||||||
|
PIDController *tailRotor, bool unlimitedBattery);
|
||||||
|
|
||||||
|
~FlightController();
|
||||||
|
|
||||||
|
[[nodiscard]] ReportedDeviceState currentDeviceState() const;
|
||||||
|
|
||||||
|
void startTakeoff();
|
||||||
|
|
||||||
|
void startBoarding();
|
||||||
|
|
||||||
|
void startImuCalibration();
|
||||||
|
|
||||||
|
void tick();
|
||||||
|
|
||||||
|
[[deprecated]] void moveToFlightHeight(float newFlightHeight); //[cm]
|
||||||
|
[[deprecated]] void newFlightHeightStickPosition(int16_t newFlightHeightStickPostition);
|
||||||
|
|
||||||
|
[[deprecated]] void newYawStickPosition(int16_t newYawStickPostition);
|
||||||
|
|
||||||
|
[[deprecated]] void newPitchStickPosition(int16_t newPitchStickPostition);
|
||||||
|
|
||||||
|
void setRotor1Duty(int16_t rotor1Duty);
|
||||||
|
|
||||||
|
void setRotor2Duty(int16_t rotor2Duty);
|
||||||
|
|
||||||
|
void setRotor3Duty(int16_t rotor3Duty);
|
||||||
|
|
||||||
|
void stopAllRotors();
|
||||||
|
|
||||||
|
void setHeightControllerParams(float p, float i, float d);
|
||||||
|
|
||||||
|
void setYawControllerParams(float p, float i, float d);
|
||||||
|
|
||||||
|
void setPitchControllerParams(float p, float i, float d);
|
||||||
|
|
||||||
|
[[nodiscard]] PidSettings pidSettings() const;
|
||||||
|
|
||||||
|
private:
|
||||||
|
void _checkBatteryCharge();
|
||||||
|
|
||||||
|
void _initPidControllers();
|
||||||
|
|
||||||
|
void _updateSetpoints();
|
||||||
|
|
||||||
|
void _updatePidControllers();
|
||||||
|
|
||||||
|
void _takeoff();
|
||||||
|
|
||||||
|
void _boarding();
|
||||||
|
|
||||||
|
Sensors *_sensors = nullptr;
|
||||||
|
SavedPidRegulator *_heightController = nullptr;
|
||||||
|
SavedPidRegulator *_yawController = nullptr;
|
||||||
|
PIDController *_tailRotorController = nullptr;
|
||||||
|
BrushedMotor *_rotor1 = nullptr;
|
||||||
|
BrushedMotor *_rotor2 = nullptr;
|
||||||
|
DeviceStatus _status;
|
||||||
|
//uint32_t _flightTimer;
|
||||||
|
//float _verticalVelocityOffset = 0.f; // [cm/10 ms]
|
||||||
|
//float _pitchVelocityOffset = 0.f; // [degrees/10 ms]
|
||||||
|
|
||||||
|
static constexpr const char *_tag = "FlightController";
|
||||||
|
static constexpr uint8_t _batteryCriticalCharge = 15; // [%]
|
||||||
|
static constexpr float _defaultFlightHeight = 55.f; // [cm]
|
||||||
|
static constexpr float _defaultHorizontAngle = 180.f; // [degrees]
|
||||||
|
static constexpr float _boarding_speed = 0.1; // [cm/10 ms]
|
||||||
|
static constexpr float _defaultStopMotorHeight = 15; // [cm]
|
||||||
|
|
||||||
|
|
||||||
|
bool _unlimitedBattery = false; // for debug purposes
|
||||||
|
};
|
||||||
189
src/Logic/FlightDispatcher.cpp
Executable file
189
src/Logic/FlightDispatcher.cpp
Executable file
@@ -0,0 +1,189 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
|
||||||
|
#include "FlightDispatcher.hpp"
|
||||||
|
|
||||||
|
FlightDispatcher::FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
|
||||||
|
FlightController *flightController, volatile bool loop_on_fail) {
|
||||||
|
assert(bluetoothDispatcher != nullptr);
|
||||||
|
assert(flightController != nullptr);
|
||||||
|
|
||||||
|
_bluetoothDispatcher = bluetoothDispatcher;
|
||||||
|
_flightController = flightController;
|
||||||
|
|
||||||
|
bluetoothDispatcher->onNewDeviceConnected([this](BTAddress device) {
|
||||||
|
this->_onNewDeviceConnected(device);
|
||||||
|
});
|
||||||
|
bluetoothDispatcher->onNewPackageReceived([this](char *package) {
|
||||||
|
this->_onNewMessageReceived(package);
|
||||||
|
});
|
||||||
|
|
||||||
|
if (_bluetoothDispatcher->initialize()) {
|
||||||
|
ESP_LOGI(_tag, "Bluetooth initialized successfully.");
|
||||||
|
} else {
|
||||||
|
ESP_LOGE(_tag, "Failed to initialize Bluetooth dispatcher!");
|
||||||
|
while (loop_on_fail);
|
||||||
|
}
|
||||||
|
_telemetryTimer = millis();
|
||||||
|
}
|
||||||
|
|
||||||
|
FlightDispatcher::~FlightDispatcher() {
|
||||||
|
delete _bluetoothDispatcher;
|
||||||
|
delete _flightController;
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightDispatcher::tick() {
|
||||||
|
_flightController->tick();
|
||||||
|
_bluetoothDispatcher->tick();
|
||||||
|
if (millis() - _telemetryTimer >= _telemetryTimeIntervalMS) {
|
||||||
|
_sendTelemetry();
|
||||||
|
_telemetryTimer = millis();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightDispatcher::_onNewDeviceConnected(BTAddress device) {
|
||||||
|
_sendTelemetry();
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightDispatcher::_onNewMessageReceived(char *package) {
|
||||||
|
using sutil::SH;
|
||||||
|
ESP_LOGD(_tag, "Received new package: %s", package);
|
||||||
|
gson::Doc pkg;
|
||||||
|
if (!pkg.parse(package, _jsonMaxDepth)) {
|
||||||
|
ESP_LOGE(_tag, "Parcing error occured with new package (error %s, place %d): %s",
|
||||||
|
pkg.readError(), pkg.errorIndex(), package);
|
||||||
|
} else {
|
||||||
|
pkg.hashKeys();
|
||||||
|
for (int keyIndex = 0; keyIndex < pkg.length(); ++keyIndex) {
|
||||||
|
auto pair = pkg[pkg.keyHash(keyIndex)];
|
||||||
|
auto value = pair.value();
|
||||||
|
|
||||||
|
if (!pair.valid()) {
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
switch (pkg.keyHash(keyIndex)) {
|
||||||
|
case SH("status"):
|
||||||
|
_changeStatus((DeviceStatus) value.toInt32());
|
||||||
|
break;
|
||||||
|
case SH("flightHeight"):
|
||||||
|
_flightController->moveToFlightHeight(value.toFloat());
|
||||||
|
break;
|
||||||
|
case SH("hS"):
|
||||||
|
_flightController->newFlightHeightStickPosition(value.toInt16());
|
||||||
|
break;
|
||||||
|
case SH("yS"):
|
||||||
|
_flightController->newYawStickPosition(value.toInt16());
|
||||||
|
break;
|
||||||
|
case SH("pS"):
|
||||||
|
_flightController->newPitchStickPosition(value.toInt16());
|
||||||
|
break;
|
||||||
|
case SH("r1"):
|
||||||
|
_flightController->setRotor1Duty(value.toInt16());
|
||||||
|
break;
|
||||||
|
case SH("r2"):
|
||||||
|
_flightController->setRotor2Duty(value.toInt16());
|
||||||
|
break;
|
||||||
|
case SH("r3"):
|
||||||
|
_flightController->setRotor3Duty(value.toInt16());
|
||||||
|
break;
|
||||||
|
case SH("stop"):
|
||||||
|
_flightController->stopAllRotors();
|
||||||
|
break;
|
||||||
|
case SH("p1"):
|
||||||
|
if (pair.type() == gson::Type::Object and pair.includes(SH("p"))
|
||||||
|
and pair.includes(SH("i")) and pair.includes(SH("d"))) {
|
||||||
|
_flightController->setHeightControllerParams(
|
||||||
|
pair[SH("p")].toFloat(), pair[SH("i")].toFloat(), pair[SH("d")].toFloat());
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case SH("p2"):
|
||||||
|
if (pair.type() == gson::Type::Object and pair.includes(SH("p"))
|
||||||
|
and pair.includes(SH("i")) and pair.includes(SH("d"))) {
|
||||||
|
_flightController->setPitchControllerParams(
|
||||||
|
pair[SH("p")].toFloat(), pair[SH("i")].toFloat(), pair[SH("d")].toFloat());
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case SH("p3"):
|
||||||
|
if (pair.type() == gson::Type::Object and pair.includes(SH("p"))
|
||||||
|
and pair.includes(SH("i")) and pair.includes(SH("d"))) {
|
||||||
|
_flightController->setYawControllerParams(
|
||||||
|
pair[SH("p")].toFloat(), pair[SH("i")].toFloat(), pair[SH("d")].toFloat());
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case SH("pidSettingOpened"):
|
||||||
|
_pidSettingsOpened();
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightDispatcher::_changeStatus(const DeviceStatus &newStatus) {
|
||||||
|
switch (newStatus) {
|
||||||
|
case DeviceStatus::IsImuCalibration:
|
||||||
|
_flightController->startImuCalibration();
|
||||||
|
break;
|
||||||
|
case DeviceStatus::IsFlying:
|
||||||
|
_flightController->startTakeoff();
|
||||||
|
break;
|
||||||
|
case DeviceStatus::IsPreparingForTakeoff:
|
||||||
|
_flightController->startTakeoff();
|
||||||
|
break;
|
||||||
|
case DeviceStatus::IsBoarding:
|
||||||
|
_flightController->startBoarding();
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightDispatcher::_pidSettingsOpened() {
|
||||||
|
auto settings = _flightController->pidSettings();
|
||||||
|
gson::string pkg;
|
||||||
|
pkg.beginObj();
|
||||||
|
|
||||||
|
pkg.beginObj("p1");
|
||||||
|
pkg.addFloat("p", settings.flightController.p, 5);
|
||||||
|
pkg.addFloat("i", settings.flightController.i, 5);
|
||||||
|
pkg.addFloat("d", settings.flightController.d, 5);
|
||||||
|
pkg.endObj();
|
||||||
|
|
||||||
|
pkg.beginObj("p2");
|
||||||
|
pkg.addFloat("p", settings.pitchController.p, 5);
|
||||||
|
pkg.addFloat("i", settings.pitchController.i, 5);
|
||||||
|
pkg.addFloat("d", settings.pitchController.d, 5);
|
||||||
|
pkg.endObj();
|
||||||
|
|
||||||
|
pkg.beginObj("p3");
|
||||||
|
pkg.addFloat("p", settings.yawController.p, 5);
|
||||||
|
pkg.addFloat("i", settings.yawController.i, 5);
|
||||||
|
pkg.addFloat("d", settings.yawController.d, 5);
|
||||||
|
pkg.endObj();
|
||||||
|
|
||||||
|
pkg.endObj();
|
||||||
|
pkg.end();
|
||||||
|
pkg.s = String(MessageType::PidSettings) + ";" + pkg.s;
|
||||||
|
_bluetoothDispatcher->sendPackage(pkg.s.c_str());
|
||||||
|
ESP_LOGI(_tag, "PID settings sended %s", pkg.s.c_str());
|
||||||
|
}
|
||||||
|
|
||||||
|
void FlightDispatcher::_sendTelemetry() {
|
||||||
|
/* Notify mobile client about device state */
|
||||||
|
auto state = _flightController->currentDeviceState();
|
||||||
|
gson::string package;
|
||||||
|
package.beginObj();
|
||||||
|
package["charge"] = state.batteryCharge;
|
||||||
|
package["flightHeight"] = state.flightHeight;
|
||||||
|
package["status"] = state.status;
|
||||||
|
package["y"] = state.mpuState.yaw;
|
||||||
|
package["p"] = state.mpuState.pitch;
|
||||||
|
package["r"] = state.mpuState.roll;
|
||||||
|
package["zIn"] = state.mpuState.zInertial;
|
||||||
|
package.endObj();
|
||||||
|
package.end();
|
||||||
|
package.s = String(MessageType::UpdatePackage) + ";" + package.s;
|
||||||
|
_bluetoothDispatcher->sendPackage(package.s.c_str());
|
||||||
|
}
|
||||||
47
src/Logic/FlightDispatcher.hpp
Executable file
47
src/Logic/FlightDispatcher.hpp
Executable file
@@ -0,0 +1,47 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "FlightController.hpp"
|
||||||
|
#include "GSON.h"
|
||||||
|
#include "RF/BluetoothDispatcher.hpp"
|
||||||
|
#include <map>
|
||||||
|
|
||||||
|
// Message type annotation for mobile app
|
||||||
|
enum MessageType {
|
||||||
|
UpdatePackage = 0, PidSettings
|
||||||
|
};
|
||||||
|
|
||||||
|
class FlightDispatcher {
|
||||||
|
/* Deserialize state and update it in FlightController. */
|
||||||
|
public:
|
||||||
|
FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
|
||||||
|
FlightController *flightController, volatile bool loop_on_fail = true);
|
||||||
|
|
||||||
|
~FlightDispatcher();
|
||||||
|
|
||||||
|
void tick();
|
||||||
|
|
||||||
|
private:
|
||||||
|
/* Telemetry flow */
|
||||||
|
void _sendTelemetry();
|
||||||
|
|
||||||
|
/* Events handlers */
|
||||||
|
void _onNewDeviceConnected(BTAddress device);
|
||||||
|
|
||||||
|
void _onNewMessageReceived(char *package);
|
||||||
|
|
||||||
|
/* Requests handlers */
|
||||||
|
void _changeStatus(const DeviceStatus &newStatus);
|
||||||
|
|
||||||
|
void _pidSettingsOpened();
|
||||||
|
|
||||||
|
/* Compile time settings */
|
||||||
|
static constexpr const char *_tag = "FlightDispatcher";
|
||||||
|
static constexpr const int _telemetryTimeIntervalMS = 200;
|
||||||
|
static constexpr const uint8_t _jsonMaxDepth = 5;
|
||||||
|
|
||||||
|
uint32_t _telemetryTimer = millis();
|
||||||
|
BluetoothDispatcher *_bluetoothDispatcher;
|
||||||
|
FlightController *_flightController;
|
||||||
|
};
|
||||||
55
src/Logic/PIDController.hpp
Executable file
55
src/Logic/PIDController.hpp
Executable file
@@ -0,0 +1,55 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "Motor/BrushedMotor.hpp"
|
||||||
|
#include "SavedPidRegulator.hpp"
|
||||||
|
#include "esp_log.h"
|
||||||
|
|
||||||
|
|
||||||
|
class PIDController : public SavedPidRegulator {
|
||||||
|
public:
|
||||||
|
PIDController(float p, float i, float d, BrushedMotor *rotor,
|
||||||
|
const char *name = "PID", uint16_t dt = 10, const bool isEnabled = false)
|
||||||
|
: SavedPidRegulator(p, i, d, name, dt) {
|
||||||
|
assert(rotor != nullptr);
|
||||||
|
_rotor = rotor;
|
||||||
|
_isEnabled = isEnabled;
|
||||||
|
setLimits(-_rotor->maxDuty(), _rotor->maxDuty());
|
||||||
|
setDirection(REVERSE);
|
||||||
|
_pid_timer = millis();
|
||||||
|
ESP_LOGI(_tag, "PID %s initialized with params (%f, %f, %f)", name, Kp, Ki, Kd);
|
||||||
|
}
|
||||||
|
|
||||||
|
void enable() {
|
||||||
|
_isEnabled = true;
|
||||||
|
_rotor->setDuty(0);
|
||||||
|
integral = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
void disable() {
|
||||||
|
_isEnabled = false;
|
||||||
|
_rotor->setDuty(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
void update() {
|
||||||
|
if (_isEnabled) {
|
||||||
|
//ESP_LOGI(_tag, "Setpoint: %f", setpoint);
|
||||||
|
//ESP_LOGI(_tag, "Input: %f", input);
|
||||||
|
//ESP_LOGI(_tag, "Output: %d", (int16_t) round(getResultNow()));
|
||||||
|
setRotorDuty((int16_t) round(getResultNow()));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void setRotorDuty(int16_t duty) {
|
||||||
|
/* Used only for test purposes */
|
||||||
|
_rotor->setExtendedDuty(duty);
|
||||||
|
}
|
||||||
|
|
||||||
|
private:
|
||||||
|
//uint16_t _dt;
|
||||||
|
BrushedMotor *_rotor = nullptr;
|
||||||
|
uint32_t _pid_timer = 0;
|
||||||
|
bool _isEnabled = false;
|
||||||
|
};
|
||||||
73
src/Logic/SavedPidRegulator.hpp
Executable file
73
src/Logic/SavedPidRegulator.hpp
Executable file
@@ -0,0 +1,73 @@
|
|||||||
|
#pragma once
|
||||||
|
#include "GyverPID.h"
|
||||||
|
#include "Preferences.h"
|
||||||
|
#include "esp_log.h"
|
||||||
|
#include <memory>
|
||||||
|
|
||||||
|
struct PidParams {
|
||||||
|
float p;
|
||||||
|
float i;
|
||||||
|
float d;
|
||||||
|
};
|
||||||
|
|
||||||
|
class SavedPidRegulator : public GyverPID {
|
||||||
|
public:
|
||||||
|
SavedPidRegulator(float p, float i, float d, const char *name = "saved_pid", const uint16_t dt = 10)
|
||||||
|
: GyverPID(p, i, d, static_cast<int16_t>(dt)) {
|
||||||
|
_name = name;
|
||||||
|
_preferences.begin(name);
|
||||||
|
_pDefault = p;
|
||||||
|
_iDefault = i;
|
||||||
|
_dDefault = d;
|
||||||
|
_loadPreferences();
|
||||||
|
ESP_LOGI(_tag, "PID %s initialized with params (%f, %f, %f)", _name.c_str(), Kp, Ki, Kd);
|
||||||
|
}
|
||||||
|
|
||||||
|
void setParams(PidParams params) {
|
||||||
|
this->Kp = params.p;
|
||||||
|
this->Ki = params.i;
|
||||||
|
this->Kd = params.d;
|
||||||
|
save();
|
||||||
|
}
|
||||||
|
|
||||||
|
PidParams getParams() {
|
||||||
|
PidParams params{};
|
||||||
|
params.p = Kp;
|
||||||
|
params.i = Ki;
|
||||||
|
params.d = Kd;
|
||||||
|
return params;
|
||||||
|
}
|
||||||
|
|
||||||
|
void resetToDefault() {
|
||||||
|
this->Kp = _pDefault;
|
||||||
|
this->Ki = _iDefault;
|
||||||
|
this->Kd = _dDefault;
|
||||||
|
save();
|
||||||
|
}
|
||||||
|
|
||||||
|
void save() {
|
||||||
|
_preferences.putFloat("p", Kp);
|
||||||
|
_preferences.putFloat("i", Ki);
|
||||||
|
_preferences.putFloat("d", Kd);
|
||||||
|
ESP_LOGI(_tag, "PID %s saved with params (%f, %f, %f)", _name.c_str(), Kp, Ki, Kd);
|
||||||
|
}
|
||||||
|
|
||||||
|
protected:
|
||||||
|
static constexpr const char *_tag = "PIDController";
|
||||||
|
|
||||||
|
private:
|
||||||
|
float _pDefault = 0.f;
|
||||||
|
float _iDefault = 0.f;
|
||||||
|
float _dDefault = 0.f;
|
||||||
|
|
||||||
|
String _name = "PID";
|
||||||
|
Preferences _preferences;
|
||||||
|
|
||||||
|
void _loadPreferences() {
|
||||||
|
if (_preferences.isKey("p") and _preferences.isKey("i") and _preferences.isKey("d")) {
|
||||||
|
Kp = _preferences.getFloat("p", _pDefault);
|
||||||
|
Ki = _preferences.getFloat("i", _iDefault);
|
||||||
|
Kd = _preferences.getFloat("d", _dDefault);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
};
|
||||||
77
src/Motor/BrushedMotor.cpp
Executable file
77
src/Motor/BrushedMotor.cpp
Executable file
@@ -0,0 +1,77 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
|
||||||
|
#include "BrushedMotor.hpp"
|
||||||
|
|
||||||
|
BrushedMotor::BrushedMotor(uint32_t pwmAGpioNum, uint32_t pwmBGpioNum, uint32_t frequency,
|
||||||
|
uint8_t channel, uint8_t resolution, const char *name, bool forward_directional) {
|
||||||
|
_resolution = resolution;
|
||||||
|
_pwmAGpioNum = pwmAGpioNum;
|
||||||
|
_pwmBGpioNum = pwmBGpioNum;
|
||||||
|
_channel = channel;
|
||||||
|
_frequency = frequency;
|
||||||
|
_forward_directional = forward_directional;
|
||||||
|
_tag_name = name;
|
||||||
|
pinMode(_pwmAGpioNum, OUTPUT);
|
||||||
|
pinMode(_pwmBGpioNum, OUTPUT);
|
||||||
|
ledcAttachPin(_pwmAGpioNum, _channel);
|
||||||
|
ledcSetup(_channel, _frequency, _resolution);
|
||||||
|
coast();
|
||||||
|
}
|
||||||
|
|
||||||
|
void BrushedMotor::setDuty(uint32_t duty) const {
|
||||||
|
ledcWrite(_channel, duty);
|
||||||
|
}
|
||||||
|
|
||||||
|
void BrushedMotor::decrement(uint32_t k) const {
|
||||||
|
ledcWrite(_channel, ledcRead(_channel) - k);
|
||||||
|
}
|
||||||
|
|
||||||
|
void BrushedMotor::setExtendedDuty(int32_t duty) {
|
||||||
|
if (duty > 0) {
|
||||||
|
forward();
|
||||||
|
} else if (duty < 0) {
|
||||||
|
backward();
|
||||||
|
}
|
||||||
|
setDuty(abs(duty));
|
||||||
|
}
|
||||||
|
|
||||||
|
uint32_t BrushedMotor::maxDuty() const {
|
||||||
|
return pow(2, _resolution) - 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
void BrushedMotor::_apply_directional() const {
|
||||||
|
auto current_duty = ledcRead(_channel);
|
||||||
|
if (_forward_directional) {
|
||||||
|
ledcDetachPin(_pwmBGpioNum);
|
||||||
|
ledcAttachPin(_pwmAGpioNum, _channel);
|
||||||
|
} else {
|
||||||
|
ledcDetachPin(_pwmAGpioNum);
|
||||||
|
ledcAttachPin(_pwmBGpioNum, _channel);
|
||||||
|
}
|
||||||
|
setDuty(current_duty);
|
||||||
|
}
|
||||||
|
|
||||||
|
void BrushedMotor::forward() {
|
||||||
|
if (_forward_directional)
|
||||||
|
return;
|
||||||
|
ESP_LOGI(_tag_name.c_str(), "Moving forward");
|
||||||
|
_forward_directional = true;
|
||||||
|
_apply_directional();
|
||||||
|
}
|
||||||
|
|
||||||
|
void BrushedMotor::backward() {
|
||||||
|
if (!_forward_directional)
|
||||||
|
return;
|
||||||
|
_forward_directional = false;
|
||||||
|
_apply_directional();
|
||||||
|
}
|
||||||
|
|
||||||
|
void BrushedMotor::reverse() {
|
||||||
|
_forward_directional = !_forward_directional;
|
||||||
|
_apply_directional();
|
||||||
|
}
|
||||||
|
|
||||||
|
void BrushedMotor::coast() const {
|
||||||
|
setDuty(0);
|
||||||
|
}
|
||||||
43
src/Motor/BrushedMotor.hpp
Executable file
43
src/Motor/BrushedMotor.hpp
Executable file
@@ -0,0 +1,43 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include <cstdint>
|
||||||
|
#include "Arduino.h"
|
||||||
|
#include <cstring>
|
||||||
|
|
||||||
|
|
||||||
|
class BrushedMotor {
|
||||||
|
// TODO: rewrite with MCPWM
|
||||||
|
public:
|
||||||
|
BrushedMotor(uint32_t pwmAGpioNum, uint32_t pwmBGpioNum, uint32_t frequency,
|
||||||
|
uint8_t channel, uint8_t resolution, const char *name = "Rotor1", bool forward_directional = true);
|
||||||
|
|
||||||
|
void setDuty(uint32_t duty) const;
|
||||||
|
|
||||||
|
void setExtendedDuty(int32_t duty);
|
||||||
|
|
||||||
|
[[nodiscard]] uint32_t maxDuty() const;
|
||||||
|
|
||||||
|
void forward();
|
||||||
|
|
||||||
|
void backward();
|
||||||
|
|
||||||
|
void reverse();
|
||||||
|
|
||||||
|
void coast() const;
|
||||||
|
|
||||||
|
void decrement(uint32_t k) const;
|
||||||
|
|
||||||
|
private:
|
||||||
|
uint8_t _channel;
|
||||||
|
uint32_t _frequency;
|
||||||
|
uint32_t _resolution;
|
||||||
|
|
||||||
|
uint32_t _pwmAGpioNum;
|
||||||
|
uint32_t _pwmBGpioNum;
|
||||||
|
bool _forward_directional;
|
||||||
|
String _tag_name = "BrushedMotor";
|
||||||
|
|
||||||
|
void _apply_directional() const;
|
||||||
|
};
|
||||||
51
RF/BluetoothDispatcher.cpp → src/RF/BluetoothDispatcher.cpp
Normal file → Executable file
51
RF/BluetoothDispatcher.cpp → src/RF/BluetoothDispatcher.cpp
Normal file → Executable file
@@ -1,6 +1,10 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
|
||||||
#include "BluetoothDispatcher.hpp"
|
#include "BluetoothDispatcher.hpp"
|
||||||
|
|
||||||
static DeviceConnectedCb deviceConnectedCallback = nullptr;
|
static DeviceConnectedCb deviceConnectedCallback = nullptr;
|
||||||
|
|
||||||
static void deviceConnectedStaticCallback(esp_spp_cb_event_t event, esp_spp_cb_param_t *param);
|
static void deviceConnectedStaticCallback(esp_spp_cb_event_t event, esp_spp_cb_param_t *param);
|
||||||
|
|
||||||
BluetoothDispatcher::BluetoothDispatcher(BluetoothSerial *controller, const char *device_name) {
|
BluetoothDispatcher::BluetoothDispatcher(BluetoothSerial *controller, const char *device_name) {
|
||||||
@@ -11,7 +15,8 @@ BluetoothDispatcher::BluetoothDispatcher(BluetoothSerial *controller, const char
|
|||||||
_controller = controller;
|
_controller = controller;
|
||||||
}
|
}
|
||||||
|
|
||||||
bool BluetoothDispatcher::initialize(bool loop_on_fail, int readTimeoutMS) {
|
bool BluetoothDispatcher::initialize(int readTimeoutMS) {
|
||||||
|
bool success = _controller->begin(_device_name, false);
|
||||||
_controller->enableSSP();
|
_controller->enableSSP();
|
||||||
_controller->onConfirmRequest([this](uint16_t pin) {
|
_controller->onConfirmRequest([this](uint16_t pin) {
|
||||||
_onConfirmRequest(pin);
|
_onConfirmRequest(pin);
|
||||||
@@ -23,13 +28,10 @@ bool BluetoothDispatcher::initialize(bool loop_on_fail, int readTimeoutMS) {
|
|||||||
deviceConnectedCallback = [this](BTAddress device) {
|
deviceConnectedCallback = [this](BTAddress device) {
|
||||||
_onDeviceConnected(device);
|
_onDeviceConnected(device);
|
||||||
};
|
};
|
||||||
_controller->setTimeout(2);
|
//_controller->setTimeout(readTimeoutMS);
|
||||||
bool success = _controller->begin(_device_name, false);
|
|
||||||
if (!success) {
|
if (!success) {
|
||||||
ESP_LOGI(_tag, "Failed to initialize Bluetooth controller!");
|
ESP_LOGI(_tag, "Failed to initialize Bluetooth controller!");
|
||||||
while (loop_on_fail)
|
assert(false);
|
||||||
;
|
|
||||||
return false;
|
|
||||||
} else {
|
} else {
|
||||||
ESP_LOGI(_tag, "Bluetooth host initialized");
|
ESP_LOGI(_tag, "Bluetooth host initialized");
|
||||||
return true;
|
return true;
|
||||||
@@ -37,25 +39,24 @@ bool BluetoothDispatcher::initialize(bool loop_on_fail, int readTimeoutMS) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
void BluetoothDispatcher::onNewPackageReceived(NewPackageCallback newPackageReceivedCb) {
|
void BluetoothDispatcher::onNewPackageReceived(NewPackageCallback newPackageReceivedCb) {
|
||||||
_newPackageReceivedCb = newPackageReceivedCb;
|
_newPackageReceivedCb = std::move(newPackageReceivedCb);
|
||||||
}
|
}
|
||||||
|
|
||||||
void BluetoothDispatcher::tick() {
|
void BluetoothDispatcher::tick(const char message_delimeter) {
|
||||||
/* Call the callback, if new package received */
|
/* Call the callback, if new package received */
|
||||||
while (_controller->available() and _buffer.length() <= _buffer_size) {
|
/* Warning! Logging below can cause errors and freezes */
|
||||||
_buffer += (char)_controller->read();
|
while (_controller->available()) {
|
||||||
}
|
int c = _controller->read();
|
||||||
if (_buffer.endsWith("\r")) {
|
if (c == -1) {
|
||||||
char buffer[_buffer_size];
|
_buffer.clear();
|
||||||
_buffer.substring(0, _buffer.lastIndexOf('\r'), buffer);
|
} else if (c == message_delimeter) {
|
||||||
ESP_LOGD(_tag, "Received new buffer %s", buffer);
|
|
||||||
if (_newPackageReceivedCb) {
|
if (_newPackageReceivedCb) {
|
||||||
_newPackageReceivedCb(buffer);
|
_newPackageReceivedCb(_buffer.buf);
|
||||||
}
|
}
|
||||||
_buffer.clear();
|
_buffer.clear();
|
||||||
|
} else {
|
||||||
|
_buffer += (char) c;
|
||||||
}
|
}
|
||||||
if (_buffer.length() > _available_buffer_size) {
|
|
||||||
_buffer.clear();
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -65,7 +66,7 @@ BluetoothDispatcher::~BluetoothDispatcher() {
|
|||||||
}
|
}
|
||||||
|
|
||||||
void BluetoothDispatcher::_onConfirmRequest(uint16_t pin) {
|
void BluetoothDispatcher::_onConfirmRequest(uint16_t pin) {
|
||||||
ESP_LOGI(_tag, "The Bluetooth PIN is: %06lu", (long unsigned int)pin);
|
ESP_LOGI(_tag, "The Bluetooth PIN is: %06lu", (long unsigned int) pin);
|
||||||
_controller->confirmReply(true);
|
_controller->confirmReply(true);
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -77,8 +78,10 @@ void BluetoothDispatcher::_onAuthComplete(boolean success) const {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void BluetoothDispatcher::_onDeviceConnected(BTAddress device) const {
|
void BluetoothDispatcher::_onDeviceConnected(BTAddress device) {
|
||||||
ESP_LOGI(_tag, "New device connected: %s", device.toString(true).c_str());
|
ESP_LOGI(_tag, "New device connected: %s", device.toString(true).c_str());
|
||||||
|
_buffer.clear();
|
||||||
|
_controller->flush();
|
||||||
if (_deviceConnectedCallback) {
|
if (_deviceConnectedCallback) {
|
||||||
_deviceConnectedCallback(device);
|
_deviceConnectedCallback(device);
|
||||||
}
|
}
|
||||||
@@ -86,11 +89,13 @@ void BluetoothDispatcher::_onDeviceConnected(BTAddress device) const {
|
|||||||
|
|
||||||
void BluetoothDispatcher::onNewDeviceConnected(DeviceConnectedCb deviceConnectedCb) {
|
void BluetoothDispatcher::onNewDeviceConnected(DeviceConnectedCb deviceConnectedCb) {
|
||||||
/* Callback called if device connected successfully. */
|
/* Callback called if device connected successfully. */
|
||||||
_deviceConnectedCallback = deviceConnectedCb;
|
_deviceConnectedCallback = std::move(deviceConnectedCb);
|
||||||
}
|
}
|
||||||
|
|
||||||
void BluetoothDispatcher::sendPackage(const char *package, size_t size) {
|
void BluetoothDispatcher::sendPackage(const char *package) {
|
||||||
_controller->write((uint8_t *)package, size);
|
if (!_controller->hasClient())
|
||||||
|
return;
|
||||||
|
_controller->println(package);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
29
RF/BluetoothDispatcher.hpp → src/RF/BluetoothDispatcher.hpp
Normal file → Executable file
29
RF/BluetoothDispatcher.hpp → src/RF/BluetoothDispatcher.hpp
Normal file → Executable file
@@ -1,3 +1,9 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#define TX_QUEUE_SIZE 512
|
||||||
|
|
||||||
#include "BluetoothSerial.h"
|
#include "BluetoothSerial.h"
|
||||||
#include "HardwareSerial.h"
|
#include "HardwareSerial.h"
|
||||||
#include "esp_log.h"
|
#include "esp_log.h"
|
||||||
@@ -23,19 +29,27 @@ typedef std::function<void(BTAddress device)> DeviceConnectedCb;
|
|||||||
typedef std::function<void(char *package)> NewPackageCallback;
|
typedef std::function<void(char *package)> NewPackageCallback;
|
||||||
|
|
||||||
class BluetoothDispatcher {
|
class BluetoothDispatcher {
|
||||||
public:
|
public:
|
||||||
BluetoothDispatcher(BluetoothSerial *controller, const char *device_name = "Helicopter");
|
BluetoothDispatcher(BluetoothSerial *controller, const char *device_name = "Helicopter");
|
||||||
bool initialize(bool loop_on_fail = true, int readTimeoutMS = 2);
|
|
||||||
void tick();
|
bool initialize(int readTimeoutMS = 10);
|
||||||
|
|
||||||
|
void tick(const char message_delimeter = '\n');
|
||||||
|
|
||||||
void onNewPackageReceived(NewPackageCallback newPackageReceivedCb);
|
void onNewPackageReceived(NewPackageCallback newPackageReceivedCb);
|
||||||
|
|
||||||
void onNewDeviceConnected(DeviceConnectedCb deviceConnectedCb);
|
void onNewDeviceConnected(DeviceConnectedCb deviceConnectedCb);
|
||||||
void sendPackage(const char *package, size_t size);
|
|
||||||
|
void sendPackage(const char *package);
|
||||||
|
|
||||||
~BluetoothDispatcher();
|
~BluetoothDispatcher();
|
||||||
|
|
||||||
private:
|
private:
|
||||||
void _onConfirmRequest(uint16_t pin);
|
void _onConfirmRequest(uint16_t pin);
|
||||||
|
|
||||||
void _onAuthComplete(boolean success) const;
|
void _onAuthComplete(boolean success) const;
|
||||||
void _onDeviceConnected(BTAddress device) const;
|
|
||||||
|
void _onDeviceConnected(BTAddress device);
|
||||||
|
|
||||||
const char *_device_name = nullptr;
|
const char *_device_name = nullptr;
|
||||||
BluetoothSerial *_controller = nullptr;
|
BluetoothSerial *_controller = nullptr;
|
||||||
@@ -43,7 +57,6 @@ class BluetoothDispatcher {
|
|||||||
NewPackageCallback _newPackageReceivedCb = nullptr;
|
NewPackageCallback _newPackageReceivedCb = nullptr;
|
||||||
constexpr static const char *_tag = "BluetoothDispatcher";
|
constexpr static const char *_tag = "BluetoothDispatcher";
|
||||||
|
|
||||||
static constexpr uint16_t _buffer_size = 522;
|
static constexpr uint16_t _buffer_size = 512;
|
||||||
static constexpr uint16_t _available_buffer_size = 512;
|
|
||||||
mString<_buffer_size> _buffer;
|
mString<_buffer_size> _buffer;
|
||||||
};
|
};
|
||||||
82
src/Sensors/Barometer.hpp
Normal file
82
src/Sensors/Barometer.hpp
Normal file
@@ -0,0 +1,82 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "GyverBME280.h"
|
||||||
|
|
||||||
|
typedef std::function<void()> OnMeasuringFinishedCb;
|
||||||
|
|
||||||
|
class Barometer {
|
||||||
|
public:
|
||||||
|
explicit Barometer(GyverBME280 *bme) {
|
||||||
|
assert(bme != nullptr);
|
||||||
|
_bme = bme;
|
||||||
|
}
|
||||||
|
|
||||||
|
~Barometer() {
|
||||||
|
delete this->_bme;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool initialize(void) {
|
||||||
|
_bme->setMode(NORMAL_MODE);
|
||||||
|
_bme->setFilter(FILTER_COEF_16);
|
||||||
|
_bme->setTempOversampling(OVERSAMPLING_2);
|
||||||
|
_bme->setPressOversampling(OVERSAMPLING_16);
|
||||||
|
_bme->setStandbyTime(STANDBY_500US);
|
||||||
|
return _bme->begin();
|
||||||
|
}
|
||||||
|
|
||||||
|
void measureBaseAltitudeSync(void) {
|
||||||
|
for (int i = 0; i < _calibrationIterationsCount; ++i) {
|
||||||
|
_startedAltitude += altitude();
|
||||||
|
delay(_calibrationIterationDelay);
|
||||||
|
}
|
||||||
|
_startedAltitude /= _calibrationIterationsCount;
|
||||||
|
}
|
||||||
|
|
||||||
|
void measureBaseAltitudeAsync(void) {
|
||||||
|
_calibrationIterationsCounter = 0;
|
||||||
|
_calibrationTimer = millis();
|
||||||
|
_isCalibration = true;
|
||||||
|
_startedAltitude = 0.f;
|
||||||
|
}
|
||||||
|
|
||||||
|
float altitude() /* [cm] */ {
|
||||||
|
return pressureToAltitude(_bme->readPressure()) * 100;
|
||||||
|
}
|
||||||
|
|
||||||
|
float flightHeight() /* [cm] */ {
|
||||||
|
if (_isCalibration)
|
||||||
|
return 0.f;
|
||||||
|
return round(altitude() - _startedAltitude);
|
||||||
|
}
|
||||||
|
|
||||||
|
void onMeasuaringHeightFinished(OnMeasuringFinishedCb callback) {
|
||||||
|
_measuaringHeightFinishedCb = std::move(callback);
|
||||||
|
}
|
||||||
|
|
||||||
|
void tick() {
|
||||||
|
if (_isCalibration) {
|
||||||
|
if (millis() - _calibrationTimer >= _calibrationIterationDelay) {
|
||||||
|
_startedAltitude += altitude();
|
||||||
|
}
|
||||||
|
if (++_calibrationIterationsCounter >= _calibrationIterationsCount) {
|
||||||
|
_startedAltitude /= _calibrationIterationsCount;
|
||||||
|
_isCalibration = false;
|
||||||
|
if (_measuaringHeightFinishedCb) {
|
||||||
|
_measuaringHeightFinishedCb();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private:
|
||||||
|
GyverBME280 *_bme;
|
||||||
|
float _startedAltitude = 0.f;
|
||||||
|
bool _isCalibration = false;
|
||||||
|
uint32_t _calibrationTimer = 0;
|
||||||
|
int _calibrationIterationsCounter = 0;
|
||||||
|
OnMeasuringFinishedCb _measuaringHeightFinishedCb = nullptr;
|
||||||
|
static constexpr int _calibrationIterationsCount = 800;
|
||||||
|
static constexpr int _calibrationIterationDelay = 1; // [ms]
|
||||||
|
};
|
||||||
23
Sensors/Barometer.hpp → src/Sensors/BarometerBMP280.hpp
Normal file → Executable file
23
Sensors/Barometer.hpp → src/Sensors/BarometerBMP280.hpp
Normal file → Executable file
@@ -1,9 +1,13 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
#pragma once
|
||||||
|
|
||||||
#include "GyverBME280.h"
|
#include "GyverBME280.h"
|
||||||
|
|
||||||
typedef std::function<void()> OnMeasuringFinishedCb;
|
typedef std::function<void()> OnMeasuringFinishedCb;
|
||||||
|
|
||||||
class Barometer {
|
class Barometer {
|
||||||
public:
|
public:
|
||||||
Barometer(GyverBME280 *bme) {
|
Barometer(GyverBME280 *bme) {
|
||||||
_bme = bme;
|
_bme = bme;
|
||||||
};
|
};
|
||||||
@@ -30,7 +34,10 @@ class Barometer {
|
|||||||
}
|
}
|
||||||
|
|
||||||
void measureBaseAltitudeAsync(void) {
|
void measureBaseAltitudeAsync(void) {
|
||||||
|
_calibrationIterationsCounter = 0;
|
||||||
|
_calibrationTimer = millis();
|
||||||
_isCalibration = true;
|
_isCalibration = true;
|
||||||
|
_startedAltitude = 0.f;
|
||||||
}
|
}
|
||||||
|
|
||||||
float altitude() /* [cm] */ {
|
float altitude() /* [cm] */ {
|
||||||
@@ -38,11 +45,13 @@ class Barometer {
|
|||||||
}
|
}
|
||||||
|
|
||||||
float flightHeight() /* [cm] */ {
|
float flightHeight() /* [cm] */ {
|
||||||
return altitude() - _startedAltitude;
|
if (_isCalibration)
|
||||||
|
return 0.f;
|
||||||
|
else return round(altitude() - _startedAltitude);
|
||||||
}
|
}
|
||||||
|
|
||||||
void onMeasuaringHeightFinished(OnMeasuringFinishedCb callback) {
|
void onMeasuaringHeightFinished(OnMeasuringFinishedCb callback) {
|
||||||
_measuaringHeightFinishedCb = callback;
|
_measuaringHeightFinishedCb = std::move(callback);
|
||||||
}
|
}
|
||||||
|
|
||||||
void tick() {
|
void tick() {
|
||||||
@@ -60,13 +69,13 @@ class Barometer {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
private:
|
private:
|
||||||
GyverBME280 *_bme;
|
GyverBME280 *_bme;
|
||||||
float _startedAltitude = 0;
|
float _startedAltitude = 0.f;
|
||||||
bool _isCalibration = false;
|
bool _isCalibration = false;
|
||||||
uint32_t _calibrationTimer;
|
uint32_t _calibrationTimer = 0;
|
||||||
int _calibrationIterationsCounter = 0;
|
int _calibrationIterationsCounter = 0;
|
||||||
OnMeasuringFinishedCb _measuaringHeightFinishedCb = nullptr;
|
OnMeasuringFinishedCb _measuaringHeightFinishedCb = nullptr;
|
||||||
static constexpr int _calibrationIterationsCount = 1500;
|
static constexpr int _calibrationIterationsCount = 800;
|
||||||
static constexpr int _calibrationIterationDelay = 1; // [ms]
|
static constexpr int _calibrationIterationDelay = 1; // [ms]
|
||||||
};
|
};
|
||||||
40
src/Sensors/BatteryController.hpp
Executable file
40
src/Sensors/BatteryController.hpp
Executable file
@@ -0,0 +1,40 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "board_pins.h"
|
||||||
|
|
||||||
|
|
||||||
|
class BatteryController {
|
||||||
|
public:
|
||||||
|
BatteryController(const uint16_t batteryPin, const uint16_t battery_data_switch_pin) {
|
||||||
|
_battery_pin = batteryPin;
|
||||||
|
_battery_data_switch_pin = battery_data_switch_pin;
|
||||||
|
}
|
||||||
|
|
||||||
|
void initialize() const {
|
||||||
|
pinMode(_battery_data_switch_pin, OUTPUT);
|
||||||
|
digitalWrite(_battery_data_switch_pin, HIGH);
|
||||||
|
analogReadResolution(12);
|
||||||
|
analogSetWidth(12);
|
||||||
|
adcAttachPin(_battery_pin);
|
||||||
|
}
|
||||||
|
|
||||||
|
int percent(const float minVoltage = 7.2f, const float maxVoltage = 8.4f,
|
||||||
|
const float r1 = 3.f, const float r2 = 2.f, const float k = 2.85f) {
|
||||||
|
// It's magic. I will return and refactor it.
|
||||||
|
float pinVoltage = analogReadMilliVolts(_battery_pin) / 1000.f;
|
||||||
|
// k = (r1 + r2) / r2
|
||||||
|
float batteryVoltage = pinVoltage * k;
|
||||||
|
return constrain(_map(batteryVoltage, minVoltage, maxVoltage, 0, 100), 0, 100);
|
||||||
|
}
|
||||||
|
|
||||||
|
private:
|
||||||
|
uint16_t _battery_pin;
|
||||||
|
uint16_t _battery_data_switch_pin;
|
||||||
|
static constexpr const char *_tag = "BatteryController";
|
||||||
|
|
||||||
|
static float _map(float x, float in_min, float in_max, float out_min, float out_max) {
|
||||||
|
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
|
||||||
|
}
|
||||||
|
};
|
||||||
60
Sensors/MPU.hpp → src/Sensors/MPU.hpp
Normal file → Executable file
60
Sensors/MPU.hpp → src/Sensors/MPU.hpp
Normal file → Executable file
@@ -1,9 +1,14 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
#pragma once
|
||||||
|
|
||||||
#include "MPU6050_6Axis_MotionApps20.h"
|
#include "MPU6050_6Axis_MotionApps20.h"
|
||||||
#include "Preferences.h"
|
#include "Preferences.h"
|
||||||
#include "board_pins.h"
|
#include "board_pins.h"
|
||||||
#include "esp_log.h"
|
#include "esp_log.h"
|
||||||
|
|
||||||
static volatile bool _isDMPDataReady = false;
|
static volatile bool _isDMPDataReady = false;
|
||||||
|
|
||||||
static void IRAM_ATTR _dmpInterruption() {
|
static void IRAM_ATTR _dmpInterruption() {
|
||||||
_isDMPDataReady = true;
|
_isDMPDataReady = true;
|
||||||
}
|
}
|
||||||
@@ -11,7 +16,7 @@ static void IRAM_ATTR _dmpInterruption() {
|
|||||||
typedef std::function<void()> OnCalibrationFinishedCb;
|
typedef std::function<void()> OnCalibrationFinishedCb;
|
||||||
|
|
||||||
class MPU {
|
class MPU {
|
||||||
public:
|
public:
|
||||||
MPU(MPU6050_6Axis_MotionApps20 *mpu) {
|
MPU(MPU6050_6Axis_MotionApps20 *mpu) {
|
||||||
assert(mpu != nullptr);
|
assert(mpu != nullptr);
|
||||||
_mpu = mpu;
|
_mpu = mpu;
|
||||||
@@ -36,7 +41,7 @@ class MPU {
|
|||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
_mpu->setDLPFMode(MPU6050_DLPF_BW_10); // 10 Hz bandwidth
|
_mpu->setDLPFMode(MPU6050_DLPF_BW_10); // 10 Hz bandwidth
|
||||||
//mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_500); // set sensivity, not recomended
|
//mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_500); // set sensivity, not recommended
|
||||||
//mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_8);
|
//mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_8);
|
||||||
|
|
||||||
if (_mpu->dmpInitialize()) {
|
if (_mpu->dmpInitialize()) {
|
||||||
@@ -96,11 +101,18 @@ class MPU {
|
|||||||
_prOffset[0] /= _calibrationsIterCounter;
|
_prOffset[0] /= _calibrationsIterCounter;
|
||||||
_prOffset[1] /= _calibrationsIterCounter;
|
_prOffset[1] /= _calibrationsIterCounter;
|
||||||
|
|
||||||
|
_prOffset[0] = DEG_TO_RAD * (180 - RAD_TO_DEG * _prOffset[0]);
|
||||||
|
_prOffset[1] = DEG_TO_RAD * (180 - RAD_TO_DEG * _prOffset[1]);
|
||||||
|
ESP_LOGI(_TAG, "Calibration offsets: roll: %f, pitch: %f", RAD_TO_DEG * _prOffset[1],
|
||||||
|
RAD_TO_DEG * _prOffset[0]);
|
||||||
|
|
||||||
_isCalibration = false;
|
_isCalibration = false;
|
||||||
_updateOffsets();
|
_updateOffsets();
|
||||||
|
_calibrationsIterCounter = 0;
|
||||||
if (_calibrationFinishedCb) {
|
if (_calibrationFinishedCb) {
|
||||||
_calibrationFinishedCb();
|
_calibrationFinishedCb();
|
||||||
}
|
}
|
||||||
|
ESP_LOGI(_TAG, "Calibration finished!");
|
||||||
} else {
|
} else {
|
||||||
_axOffset += _ax;
|
_axOffset += _ax;
|
||||||
_ayOffset += _ay;
|
_ayOffset += _ay;
|
||||||
@@ -108,8 +120,11 @@ class MPU {
|
|||||||
_gxOffset += _gx;
|
_gxOffset += _gx;
|
||||||
_gyOffset += _gy;
|
_gyOffset += _gy;
|
||||||
_gzOffset += _gz;
|
_gzOffset += _gz;
|
||||||
_prOffset[0] += _ypr[1];
|
_prOffset[0] += pitch() * DEG_TO_RAD;
|
||||||
_prOffset[1] += _ypr[2];
|
_prOffset[1] += roll() * DEG_TO_RAD;
|
||||||
|
_calibrationsIterCounter++;
|
||||||
|
ESP_LOGI(_TAG, "Angles on calibration: roll: %f, pitch: %f", roll(),
|
||||||
|
pitch());
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -120,21 +135,24 @@ class MPU {
|
|||||||
float accZInertial() const {
|
float accZInertial() const {
|
||||||
return _AccZInertial;
|
return _AccZInertial;
|
||||||
}
|
}
|
||||||
|
|
||||||
float yaw() const {
|
float yaw() const {
|
||||||
return degrees(_ypr[0]);
|
return degrees(_ypr[0]) + 180.f;
|
||||||
}
|
}
|
||||||
|
|
||||||
float pitch() const {
|
float pitch() const {
|
||||||
if (_isCalibration) {
|
if (_isCalibration) {
|
||||||
return degrees(_ypr[1]);
|
return 360.f - (degrees(_ypr[1]) + 180);
|
||||||
} else {
|
} else {
|
||||||
return degrees(_ypr[1] - _yprOffset[1]);
|
return 360.f - (degrees(_ypr[1]) + 180) + degrees(_prOffset[0]);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
float roll() const {
|
float roll() const {
|
||||||
if (_isCalibration) {
|
if (_isCalibration) {
|
||||||
return degrees(_ypr[2]);
|
return 360.f - (degrees(_ypr[2]) + 180);
|
||||||
} else {
|
} else {
|
||||||
return degrees(_ypr[2] - _yprOffset[2]);
|
return 360.f - (degrees(_ypr[2] + _prOffset[1]) + 180) + degrees(_prOffset[1]);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -145,6 +163,7 @@ class MPU {
|
|||||||
return _ax - _axOffset;
|
return _ax - _axOffset;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
float ay() const {
|
float ay() const {
|
||||||
if (_isCalibration) {
|
if (_isCalibration) {
|
||||||
return _ay;
|
return _ay;
|
||||||
@@ -152,6 +171,7 @@ class MPU {
|
|||||||
return _ay - _ayOffset;
|
return _ay - _ayOffset;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
float az() const {
|
float az() const {
|
||||||
if (_isCalibration) {
|
if (_isCalibration) {
|
||||||
return _az;
|
return _az;
|
||||||
@@ -171,6 +191,7 @@ class MPU {
|
|||||||
return _gx - _gxOffset;
|
return _gx - _gxOffset;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
float gy() const {
|
float gy() const {
|
||||||
if (_isCalibration) {
|
if (_isCalibration) {
|
||||||
return _gy;
|
return _gy;
|
||||||
@@ -178,6 +199,7 @@ class MPU {
|
|||||||
return _gy - _gyOffset;
|
return _gy - _gyOffset;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
float gz() const {
|
float gz() const {
|
||||||
if (_isCalibration) {
|
if (_isCalibration) {
|
||||||
return _gz;
|
return _gz;
|
||||||
@@ -194,19 +216,19 @@ class MPU {
|
|||||||
_calibrationFinishedCb = callback;
|
_calibrationFinishedCb = callback;
|
||||||
}
|
}
|
||||||
|
|
||||||
private:
|
private:
|
||||||
MPU6050_6Axis_MotionApps20 *_mpu = nullptr;
|
MPU6050_6Axis_MotionApps20 *_mpu = nullptr;
|
||||||
float _ypr[3];
|
float _ypr[3] = {0};
|
||||||
float _ax, _ay, _az;
|
float _ax = 0, _ay = 0, _az = 0;
|
||||||
float _gx, _gy, _gz;
|
float _gx = 0, _gy = 0, _gz = 0;
|
||||||
float _gravity;
|
float _gravity = 0;
|
||||||
float _AccZInertial = 0;
|
float _AccZInertial = 0;
|
||||||
|
|
||||||
float _axOffset = 0, _ayOffset = 0, _azOffset = 0;
|
float _axOffset = 0, _ayOffset = 0, _azOffset = 0;
|
||||||
float _gxOffset = 0, _gyOffset = 0, _gzOffset = 0;
|
float _gxOffset = 0, _gyOffset = 0, _gzOffset = 0;
|
||||||
float _prOffset[2]; // yaw isn't used
|
float _prOffset[2] = {0}; // yaw isn't used
|
||||||
|
|
||||||
uint8_t _fifoBuffer[45];
|
uint8_t _fifoBuffer[45] = {0};
|
||||||
Preferences _preferences;
|
Preferences _preferences;
|
||||||
|
|
||||||
const char *_TAG = "MPU6050 module";
|
const char *_TAG = "MPU6050 module";
|
||||||
@@ -233,8 +255,9 @@ class MPU {
|
|||||||
_gxOffset = _preferences.getFloat("gx", 0.f);
|
_gxOffset = _preferences.getFloat("gx", 0.f);
|
||||||
_gyOffset = _preferences.getFloat("gy", 0.f);
|
_gyOffset = _preferences.getFloat("gy", 0.f);
|
||||||
_gzOffset = _preferences.getFloat("gz", 0.f);
|
_gzOffset = _preferences.getFloat("gz", 0.f);
|
||||||
_ypr[1] = _preferences.getFloat("pitch", 0.f);
|
_prOffset[0] = _preferences.getFloat("pitch", 0.f);
|
||||||
_ypr[2] = _preferences.getFloat("roll", 0.f);
|
_prOffset[1] = _preferences.getFloat("roll", 0.f);
|
||||||
|
ESP_LOGI(_TAG, "Offsets loaded: pitch: %f, roll %f", _prOffset[0], _prOffset[1]);
|
||||||
}
|
}
|
||||||
|
|
||||||
void _updateOffsets() {
|
void _updateOffsets() {
|
||||||
@@ -246,5 +269,6 @@ class MPU {
|
|||||||
_preferences.putFloat("gz", _gzOffset);
|
_preferences.putFloat("gz", _gzOffset);
|
||||||
_preferences.putFloat("pitch", _prOffset[0]);
|
_preferences.putFloat("pitch", _prOffset[0]);
|
||||||
_preferences.putFloat("roll", _prOffset[1]);
|
_preferences.putFloat("roll", _prOffset[1]);
|
||||||
|
ESP_LOGI(_TAG, "Offsets saved.");
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
13
src/Sensors/RangingSensor.cpp
Executable file
13
src/Sensors/RangingSensor.cpp
Executable file
@@ -0,0 +1,13 @@
|
|||||||
|
#include "RangingSensor.hpp"
|
||||||
|
#include "esp_log.h"
|
||||||
|
|
||||||
|
RangingSensor::RangingSensor() {
|
||||||
|
}
|
||||||
|
|
||||||
|
void RangingSensor::startFlight() {
|
||||||
|
}
|
||||||
|
|
||||||
|
void RangingSensor::tick() {
|
||||||
|
}
|
||||||
|
|
||||||
|
uint32_t RangingSensor::getDistance() { return 0; }
|
||||||
22
src/Sensors/RangingSensor.hpp
Executable file
22
src/Sensors/RangingSensor.hpp
Executable file
@@ -0,0 +1,22 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#ifndef HELICOPTER_FIRMWARE_RANGINGSENSOR_H
|
||||||
|
#define HELICOPTER_FIRMWARE_RANGINGSENSOR_H
|
||||||
|
|
||||||
|
#include "Arduino.h"
|
||||||
|
|
||||||
|
class RangingSensor {
|
||||||
|
public:
|
||||||
|
RangingSensor();
|
||||||
|
|
||||||
|
void tick();
|
||||||
|
|
||||||
|
void startFlight();
|
||||||
|
|
||||||
|
uint32_t getDistance();
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
#endif //HELICOPTER_FIRMWARE_RANGINGSENSOR_H
|
||||||
140
src/Sensors/Sensors.cpp
Executable file
140
src/Sensors/Sensors.cpp
Executable file
@@ -0,0 +1,140 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
|
||||||
|
#include "Sensors.hpp"
|
||||||
|
|
||||||
|
Sensors::Sensors(Barometer *barometer, RangingSensor *ranging_sensor, MPU *mpu, Kalman2DFilter *filter,
|
||||||
|
BatteryController *battery, HeightSensor heightSensor) {
|
||||||
|
assert(barometer != nullptr);
|
||||||
|
assert(mpu != nullptr);
|
||||||
|
assert(filter != nullptr);
|
||||||
|
assert(battery != nullptr);
|
||||||
|
assert(ranging_sensor != nullptr);
|
||||||
|
|
||||||
|
_barometer = barometer;
|
||||||
|
_mpu = mpu;
|
||||||
|
_2d_filter = filter;
|
||||||
|
_battery = battery;
|
||||||
|
_ranging_sensor = ranging_sensor;
|
||||||
|
_heightSensor = heightSensor;
|
||||||
|
|
||||||
|
ESP_LOGI(_tag, "Initialize BMP280...");
|
||||||
|
if (_barometer->initialize()) {
|
||||||
|
ESP_LOGI(_tag, "BMP280 initialized");
|
||||||
|
} else {
|
||||||
|
ESP_LOGI(_tag, "BMP280 initialization failed!");
|
||||||
|
assert(false);
|
||||||
|
}
|
||||||
|
|
||||||
|
ESP_LOGI(_tag, "Initialize MPU6050...");
|
||||||
|
if (_mpu->initialize()) {
|
||||||
|
ESP_LOGI(_tag, "MPU6050 initialized");
|
||||||
|
} else {
|
||||||
|
ESP_LOGI(_tag, "MPU6050 initialization failed!");
|
||||||
|
//assert(false);
|
||||||
|
}
|
||||||
|
|
||||||
|
_battery->initialize();
|
||||||
|
ESP_LOGI(_tag, "BatteryController initialized");
|
||||||
|
|
||||||
|
ESP_LOGI(_tag, "Sensors initialized");
|
||||||
|
}
|
||||||
|
|
||||||
|
Sensors::~Sensors() {
|
||||||
|
delete _barometer;
|
||||||
|
delete _mpu;
|
||||||
|
delete _2d_filter;
|
||||||
|
delete _battery;
|
||||||
|
delete _ranging_sensor;
|
||||||
|
}
|
||||||
|
|
||||||
|
void Sensors::measureBaseAltitudeSync(void) {
|
||||||
|
_barometer->measureBaseAltitudeSync();
|
||||||
|
}
|
||||||
|
|
||||||
|
void Sensors::measureBaseAltitudeAsync(void) {
|
||||||
|
if (_heightSensor == HeightSensor::RangeMeterOnly) {
|
||||||
|
_ranging_sensor->startFlight();
|
||||||
|
if (_onMeasuaringAltitudeFinished) {
|
||||||
|
_onMeasuaringAltitudeFinished();
|
||||||
|
}
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
_barometer->measureBaseAltitudeAsync();
|
||||||
|
}
|
||||||
|
|
||||||
|
float Sensors::rawFlightHeight(void) const {
|
||||||
|
/* Returns flight height from barometer immediately */
|
||||||
|
switch (_heightSensor) {
|
||||||
|
case HeightSensor::Hybrid:
|
||||||
|
if (_barometer->flightHeight() >= 200.f) {
|
||||||
|
return _barometer->flightHeight();
|
||||||
|
} else {
|
||||||
|
return (float) _ranging_sensor->getDistance();
|
||||||
|
}
|
||||||
|
case HeightSensor::BarometerOnly:
|
||||||
|
return _barometer->flightHeight();
|
||||||
|
case HeightSensor::RangeMeterOnly:
|
||||||
|
return (float) _ranging_sensor->getDistance();
|
||||||
|
default:
|
||||||
|
return _barometer->flightHeight();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
float Sensors::flightHeight(void) const {
|
||||||
|
/* Returns flight height from cache immediately */
|
||||||
|
return _flightHeightFromBarometer;
|
||||||
|
}
|
||||||
|
|
||||||
|
MpuData Sensors::mpuData() const {
|
||||||
|
if (_mpuData.ax == 0.f and _mpuData.gravity == 0.f) {
|
||||||
|
ESP_LOGW(_tag, "MPU data looks like .tick() has never called");
|
||||||
|
}
|
||||||
|
return _mpuData;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool Sensors::tick(void) {
|
||||||
|
/* Super loop iteraion */
|
||||||
|
/* Return true on update */
|
||||||
|
_barometer->tick();
|
||||||
|
_ranging_sensor->tick();
|
||||||
|
bool err;
|
||||||
|
bool isMpuDataReady = _mpu->tick(err);
|
||||||
|
if (isMpuDataReady and !err) {
|
||||||
|
_2d_filter->filter(_mpu->accZInertial(), _barometer->flightHeight(),
|
||||||
|
_flightHeightFromBarometer, _zVelocityAltitude);
|
||||||
|
_zVelocityAltitude = _mpu->accZInertial();
|
||||||
|
_mpuData = {.ax = _mpu->ax(),
|
||||||
|
.ay = _mpu->ay(),
|
||||||
|
.az = _mpu->az(),
|
||||||
|
.gx = _mpu->gx(),
|
||||||
|
.gy = _mpu->gy(),
|
||||||
|
.gz = _mpu->gz(),
|
||||||
|
.yaw = _mpu->yaw(),
|
||||||
|
.pitch = _mpu->pitch(),
|
||||||
|
.roll = _mpu->roll(),
|
||||||
|
.gravity = _mpu->gravityZ(),
|
||||||
|
.zInertial = _mpu->accZInertial()};
|
||||||
|
return true;
|
||||||
|
} else if (err) {
|
||||||
|
ESP_LOGE(_tag, "Failed to get DMP data!");
|
||||||
|
}
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
int Sensors::batteryCharge(void) const {
|
||||||
|
return _battery->percent();
|
||||||
|
}
|
||||||
|
|
||||||
|
void Sensors::onMpuCalibrationFinished(OnCalibrationFinishedCb callback) {
|
||||||
|
_mpu->onCalibrationFinished(callback);
|
||||||
|
}
|
||||||
|
|
||||||
|
void Sensors::startMpuCalibration() {
|
||||||
|
_mpu->startCalibration();
|
||||||
|
}
|
||||||
|
|
||||||
|
void Sensors::onMeasuaringAltitudeFinished(OnMeasuringFinishedCb callback) {
|
||||||
|
_onMeasuaringAltitudeFinished = callback;
|
||||||
|
_barometer->onMeasuaringHeightFinished(std::move(callback));
|
||||||
|
}
|
||||||
32
Sensors/Sensors.hpp → src/Sensors/Sensors.hpp
Normal file → Executable file
32
Sensors/Sensors.hpp → src/Sensors/Sensors.hpp
Normal file → Executable file
@@ -1,6 +1,11 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
|
||||||
|
#pragma once
|
||||||
#include "Barometer.hpp"
|
#include "Barometer.hpp"
|
||||||
#include "BatteryController.hpp"
|
#include "BatteryController.hpp"
|
||||||
#include "Filters/Kalman2DFilter.hpp"
|
#include "Filters/Kalman2DFilter.hpp"
|
||||||
|
#include "RangingSensor.hpp"
|
||||||
#include "MPU.hpp"
|
#include "MPU.hpp"
|
||||||
#include "esp_log.h"
|
#include "esp_log.h"
|
||||||
|
|
||||||
@@ -14,19 +19,31 @@ struct MpuData {
|
|||||||
float zInertial;
|
float zInertial;
|
||||||
};
|
};
|
||||||
|
|
||||||
|
enum HeightSensor {
|
||||||
|
RangeMeterOnly,
|
||||||
|
BarometerOnly,
|
||||||
|
Hybrid
|
||||||
|
};
|
||||||
|
|
||||||
class Sensors {
|
class Sensors {
|
||||||
public:
|
public:
|
||||||
Sensors(Barometer *barometer, MPU *mpu, Kalman2DFilter *filter, BatteryController *battery, bool loop_on_fail = true);
|
Sensors(Barometer *barometer, RangingSensor *rangingSensor, MPU *mpu, Kalman2DFilter *filter,
|
||||||
|
BatteryController *battery, HeightSensor heightSensor = Hybrid);
|
||||||
|
|
||||||
~Sensors();
|
~Sensors();
|
||||||
|
|
||||||
void measureBaseAltitudeSync(void);
|
void measureBaseAltitudeSync(void);
|
||||||
|
|
||||||
void measureBaseAltitudeAsync(void);
|
void measureBaseAltitudeAsync(void);
|
||||||
|
|
||||||
void onMeasuaringAltitudeFinished(OnMeasuringFinishedCb callback);
|
void onMeasuaringAltitudeFinished(OnMeasuringFinishedCb callback);
|
||||||
|
|
||||||
float rawFlightHeight(void) const;
|
float rawFlightHeight(void) const;
|
||||||
|
|
||||||
float flightHeight(void) const;
|
float flightHeight(void) const;
|
||||||
|
|
||||||
void startMpuCalibration();
|
void startMpuCalibration();
|
||||||
|
|
||||||
void onMpuCalibrationFinished(OnCalibrationFinishedCb callback);
|
void onMpuCalibrationFinished(OnCalibrationFinishedCb callback);
|
||||||
|
|
||||||
MpuData mpuData(void) const;
|
MpuData mpuData(void) const;
|
||||||
@@ -35,16 +52,19 @@ class Sensors {
|
|||||||
|
|
||||||
bool tick(void);
|
bool tick(void);
|
||||||
|
|
||||||
private:
|
private:
|
||||||
Barometer *_barometer = nullptr;
|
Barometer *_barometer = nullptr;
|
||||||
MPU *_mpu = nullptr;
|
MPU *_mpu = nullptr;
|
||||||
BatteryController *_battery = nullptr;
|
BatteryController *_battery = nullptr;
|
||||||
Kalman2DFilter *_2d_filter = nullptr;
|
Kalman2DFilter *_2d_filter = nullptr;
|
||||||
|
RangingSensor *_ranging_sensor = nullptr;
|
||||||
|
HeightSensor _heightSensor;
|
||||||
|
OnMeasuringFinishedCb _onMeasuaringAltitudeFinished = nullptr;
|
||||||
|
|
||||||
/* cached filtered values */
|
/* cached filtered values */
|
||||||
float _flightHeightFromBarometer = NAN;
|
float _flightHeightFromBarometer = 0.f;
|
||||||
float _zVelocityAltitude = NAN;
|
float _zVelocityAltitude = 0.f;
|
||||||
MpuData _mpuData = { NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN };
|
MpuData _mpuData = {0.f};
|
||||||
|
|
||||||
|
|
||||||
static constexpr const char *_tag = "Sensors";
|
static constexpr const char *_tag = "Sensors";
|
||||||
10
src/board_pins.h
Executable file
10
src/board_pins.h
Executable file
@@ -0,0 +1,10 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
#define I2C_SDA_PIN 21
|
||||||
|
#define I2C_SCL_PIN 18
|
||||||
|
#define MPU6050_INT_PIN 19
|
||||||
|
#define BATTERY_ADC_CHANNEL ADC2_CHANNEL_0
|
||||||
|
#define BATTERY_DATA_PIN 4
|
||||||
|
#define BATTERY_DATA_SWITCH_PIN 17
|
||||||
40
src/main.cpp
Executable file
40
src/main.cpp
Executable file
@@ -0,0 +1,40 @@
|
|||||||
|
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||||
|
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||||
|
|
||||||
|
#include "App.hpp"
|
||||||
|
#include "BoardI2C.hpp"
|
||||||
|
#include "Sensors/RangingSensor.hpp"
|
||||||
|
#include "LPS.h"
|
||||||
|
|
||||||
|
BoardI2C i2c;
|
||||||
|
|
||||||
|
static Application *app = nullptr;
|
||||||
|
|
||||||
|
void setup() {
|
||||||
|
Serial.begin(115200);
|
||||||
|
try {
|
||||||
|
app = new Application(new FlightDispatcher(
|
||||||
|
new BluetoothDispatcher(new BluetoothSerial(), "Redmi Note 8 Pro"),
|
||||||
|
new FlightController(
|
||||||
|
new Sensors(new Barometer(new GyverBME280(i2c)),
|
||||||
|
new RangingSensor(),
|
||||||
|
new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)),
|
||||||
|
new Kalman2DFilter(10.f, 1.f, 1.8f),
|
||||||
|
new BatteryController(BATTERY_DATA_PIN, BATTERY_DATA_SWITCH_PIN),
|
||||||
|
HeightSensor::BarometerOnly),
|
||||||
|
new SavedPidRegulator(3.5f, 0.0015f, 0.01f, "HeightControl"), // height
|
||||||
|
new SavedPidRegulator(2.f, 12.f, 0.f, "YawControl"), // yaw
|
||||||
|
new BrushedMotor(23, 16, 30000, 0, 10),
|
||||||
|
new BrushedMotor(26, 27, 30000, 1, 10),
|
||||||
|
new PIDController(210.f, 15.f, 20.f,
|
||||||
|
new BrushedMotor(25, 33, 30000, 3, 10),
|
||||||
|
"PitchControl"), // pitch
|
||||||
|
true)));
|
||||||
|
} catch (std::bad_alloc &e) {
|
||||||
|
ESP_LOGI("Main", "Failed to allocate memory: %s", e.what());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void loop() {
|
||||||
|
app->tick();
|
||||||
|
}
|
||||||
11
test/README
Executable file
11
test/README
Executable file
@@ -0,0 +1,11 @@
|
|||||||
|
|
||||||
|
This directory is intended for PlatformIO Test Runner and project tests.
|
||||||
|
|
||||||
|
Unit Testing is a software testing method by which individual units of
|
||||||
|
source code, sets of one or more MCU program modules together with associated
|
||||||
|
control data, usage procedures, and operating procedures, are tested to
|
||||||
|
determine whether they are fit for use. Unit testing finds problems early
|
||||||
|
in the development cycle.
|
||||||
|
|
||||||
|
More information about PlatformIO Unit Testing:
|
||||||
|
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html
|
||||||
Reference in New Issue
Block a user