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11 Commits
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| Author | SHA1 | Date | |
|---|---|---|---|
| a131cfdd9c | |||
| 2648fc3598 | |||
| 0cb666c860 | |||
| 47f91eeae5 | |||
| b58379ac75 | |||
| a6849cd900 | |||
| 839dbee16e | |||
| e27b3ca794 | |||
| 007a3fd16f | |||
| 4a85827150 | |||
| 271bd845bf |
0
.gitignore
vendored
Normal file → Executable file
0
.gitignore
vendored
Normal file → Executable file
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">
|
||||
<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
Executable file
@@ -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" />
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppImplicitDefaultConstructorNotAvailable/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeedsConstructorBecauseOfUninitializedMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUninitializedNonStaticDataMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRangeBasedForIncompatibleReference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroValuedExpressionUsedAsNullPointer/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUnintendedObjectSlicing/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionInFinalClass/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMismatchedClassTags/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMismatchedClassTags/@EntryIndexRemoved" />
|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIntegralToPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPointerToIntegralConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompatiblePointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompatiblePointerConversion/@EntryIndexRemoved" />
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<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" />
|
||||
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|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInvalidLineContinuation/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfBadFormat/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfMissedArg/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
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|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatBadCode/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatLegacyCode/@EntryIndexRemoved" />
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<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" />
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<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>
|
||||
0
convert_sysincludes.py
Normal file → Executable file
0
convert_sysincludes.py
Normal file → Executable file
70
get-platformio.py
Executable file
70
get-platformio.py
Executable file
File diff suppressed because one or more lines are too long
0
include/README
Normal file → Executable file
0
include/README
Normal file → Executable file
0
lib/README
Normal file → Executable file
0
lib/README
Normal file → Executable file
13
platformio.ini
Normal file → Executable file
13
platformio.ini
Normal file → Executable file
@@ -12,10 +12,10 @@
|
||||
default_envs = esp32dev
|
||||
|
||||
[common]
|
||||
lib_deps_builtin =
|
||||
lib_deps_builtin =
|
||||
Wire
|
||||
BluetoothSerial
|
||||
lib_deps_external =
|
||||
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
|
||||
@@ -25,23 +25,24 @@ lib_deps_external =
|
||||
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
|
||||
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
|
||||
build_src_flags =
|
||||
-std=c++2a
|
||||
-Wall
|
||||
-Wextra
|
||||
-Werror=all
|
||||
-Wno-error=pedantic
|
||||
-Wpedantic
|
||||
-O2
|
||||
build_flags = -DCORE_DEBUG_LEVEL=4
|
||||
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
src/.clang-format
Normal file → Executable file
3
src/.clang-format
Normal file → Executable file
@@ -92,7 +92,6 @@ IncludeIsMainRegex: ''
|
||||
IncludeIsMainSourceRegex: ''
|
||||
IndentGotoLabels: false
|
||||
IndentPPDirectives: None
|
||||
IndentRequires: true
|
||||
IndentWidth: 2
|
||||
IndentWrappedFunctionNames: false
|
||||
InsertTrailingCommas: None
|
||||
@@ -148,7 +147,7 @@ StatementAttributeLikeMacros:
|
||||
StatementMacros:
|
||||
- Q_UNUSED
|
||||
- QT_REQUIRE_VERSION
|
||||
TabWidth: 2
|
||||
#TabWidth: 2
|
||||
UseCRLF: false
|
||||
UseTab: Never
|
||||
WhitespaceSensitiveMacros:
|
||||
|
||||
6
src/App.hpp
Normal file → Executable file
6
src/App.hpp
Normal file → Executable file
@@ -5,10 +5,11 @@
|
||||
#include "esp_log.h"
|
||||
|
||||
class Application {
|
||||
public:
|
||||
public:
|
||||
Application(FlightDispatcher *dispatcher) {
|
||||
assert(dispatcher != nullptr);
|
||||
_dispatcher = dispatcher;
|
||||
ESP_LOGI(_tag, "ESP_IDF version: %s", esp_get_idf_version());
|
||||
ESP_LOGI(_tag, "Application startup complete");
|
||||
}
|
||||
|
||||
@@ -20,7 +21,8 @@ class Application {
|
||||
ESP_LOGI(_tag, "Application destroyed");
|
||||
delete _dispatcher;
|
||||
}
|
||||
private:
|
||||
|
||||
private:
|
||||
FlightDispatcher *_dispatcher = nullptr;
|
||||
static constexpr const char *_tag = "Application";
|
||||
};
|
||||
14
src/BoardI2C.hpp
Normal file → Executable file
14
src/BoardI2C.hpp
Normal file → Executable file
@@ -1,19 +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 "board_pins.h"
|
||||
#include "esp_log.h"
|
||||
|
||||
class BoardI2C : public TwoWire {
|
||||
public:
|
||||
BoardI2C(volatile bool loop_on_fail = true) : TwoWire(0) {
|
||||
public:
|
||||
BoardI2C() : TwoWire(0) {
|
||||
if (begin(I2C_SDA_PIN, I2C_SCL_PIN, 100000)) {
|
||||
setTimeOut(10);
|
||||
ESP_LOGI("I2CBus", "Bus initialized");
|
||||
} else {
|
||||
ESP_LOGE("I2CBus", "Failed to initialize the i2c software bus!");
|
||||
while (loop_on_fail)
|
||||
;
|
||||
assert(false);
|
||||
}
|
||||
}
|
||||
};
|
||||
};
|
||||
|
||||
25
src/Filters/Kalman2DFilter.hpp
Normal file → Executable file
25
src/Filters/Kalman2DFilter.hpp
Normal file → Executable file
@@ -1,37 +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>
|
||||
|
||||
class Kalman2DFilter {
|
||||
public:
|
||||
public:
|
||||
Kalman2DFilter(float dt = 4.f, float accelUncertainty = 10.f, float barometerUncertainty = 100.f) {
|
||||
dt /= 1000.f;
|
||||
F = { 1, dt, 0, 1 };
|
||||
G = { 0.5f * dt * dt, dt };
|
||||
H = { 1, 0 };
|
||||
I = { 1, 0, 0, 1 };
|
||||
F = {1, dt, 0, 1};
|
||||
G = {0.5f * dt * dt, dt};
|
||||
H = {1, 0};
|
||||
I = {1, 0, 0, 1};
|
||||
Q = G * ~G * accelUncertainty * accelUncertainty;
|
||||
R = { barometerUncertainty * barometerUncertainty };
|
||||
P = { 0, 0, 0, 0 };
|
||||
S = { 0, 0 };
|
||||
R = {barometerUncertainty * barometerUncertainty};
|
||||
P = {0, 0, 0, 0};
|
||||
S = {0, 0};
|
||||
}
|
||||
|
||||
void filter(const float &AccZInertial, const float &AltitudeBarometer,
|
||||
float &AltitudeKalman, float &VelocityVerticalKalman) {
|
||||
Acc = { AccZInertial };
|
||||
Acc = {AccZInertial};
|
||||
S = F * S + G * Acc;
|
||||
P = F * P * ~F + Q;
|
||||
L = H * P * ~H + R;
|
||||
K = P * ~H * Inverse(L);
|
||||
M = { AltitudeBarometer };
|
||||
M = {AltitudeBarometer};
|
||||
S = S + K * (M - H * S);
|
||||
AltitudeKalman = S(0, 0);
|
||||
VelocityVerticalKalman = S(1, 0);
|
||||
P = (I - K * H) * P;
|
||||
}
|
||||
|
||||
private:
|
||||
private:
|
||||
BLA::Matrix<2, 2> F;
|
||||
BLA::Matrix<2, 1> G;
|
||||
BLA::Matrix<2, 2> P;
|
||||
@@ -44,4 +45,4 @@ class Kalman2DFilter {
|
||||
BLA::Matrix<1, 1> R;
|
||||
BLA::Matrix<1, 1> L;
|
||||
BLA::Matrix<1, 1> M;
|
||||
};
|
||||
};
|
||||
|
||||
1
src/Filters/kalman.hpp
Normal file → Executable file
1
src/Filters/kalman.hpp
Normal file → Executable file
@@ -1,4 +1,5 @@
|
||||
// упрощённый Калман для одномерного случая
|
||||
#pragma once
|
||||
|
||||
#ifndef _GKalman_h
|
||||
#define _GKalman_h
|
||||
|
||||
1
src/Filters/median3.hpp
Normal file → Executable file
1
src/Filters/median3.hpp
Normal file → Executable file
@@ -1,4 +1,5 @@
|
||||
// быстрый медианный фильтр 3-го порядка
|
||||
#pragma once
|
||||
|
||||
#ifndef _GMedian3_h
|
||||
#define _GMedian3_h
|
||||
|
||||
1
src/Filters/runningAverage.hpp
Normal file → Executable file
1
src/Filters/runningAverage.hpp
Normal file → Executable file
@@ -1,4 +1,5 @@
|
||||
// экспоненциальное бегущее среднее
|
||||
#pragma once
|
||||
|
||||
#ifndef _GFilterRA_h
|
||||
#define _GFilterRA_h
|
||||
|
||||
182
src/Logic/FlightController.cpp
Normal file → Executable file
182
src/Logic/FlightController.cpp
Normal file → Executable file
@@ -1,63 +1,87 @@
|
||||
#include "FlightController.hpp"
|
||||
|
||||
FlightController::FlightController(Sensors *sensors, PIDController *pid1, PIDController *pid2,
|
||||
PIDController *pid3, bool unlimitedBattery) {
|
||||
FlightController::FlightController(
|
||||
Sensors *sensors, SavedPidRegulator *heightController, SavedPidRegulator *yawController,
|
||||
BrushedMotor *rotor1, BrushedMotor *rotor2,
|
||||
PIDController *tailRotorController, bool unlimitedBattery
|
||||
) {
|
||||
assert(sensors != nullptr);
|
||||
assert(pid1 != nullptr);
|
||||
assert(pid2 != nullptr);
|
||||
assert(pid3 != nullptr);
|
||||
assert(heightController != nullptr);
|
||||
assert(yawController != nullptr);
|
||||
assert(tailRotorController != nullptr);
|
||||
assert(rotor1 != nullptr);
|
||||
assert(rotor2 != nullptr);
|
||||
|
||||
_sensors = sensors;
|
||||
_unlimitedBattery = unlimitedBattery;
|
||||
_pid1 = pid1;
|
||||
_pid2 = pid2;
|
||||
_pid3 = pid3;
|
||||
_heightController = heightController;
|
||||
_yawController = yawController;
|
||||
_tailRotorController = tailRotorController;
|
||||
_rotor1 = rotor1;
|
||||
_rotor2 = rotor2;
|
||||
|
||||
_status = DeviceStatus::Idle;
|
||||
_updateBatteryCharge();
|
||||
_checkBatteryCharge();
|
||||
stopAllRotors();
|
||||
_initPidControllers();
|
||||
ESP_LOGI(_tag, "Flight controller initialized");
|
||||
}
|
||||
|
||||
FlightController::~FlightController() {
|
||||
delete _sensors;
|
||||
delete _pid1;
|
||||
delete _pid2;
|
||||
delete _pid3;
|
||||
delete _heightController;
|
||||
delete _yawController;
|
||||
delete _tailRotorController;
|
||||
delete _rotor1;
|
||||
delete _rotor2;
|
||||
}
|
||||
|
||||
void FlightController::tick() {
|
||||
bool hasUpdates = _sensors->tick();
|
||||
if (hasUpdates) {
|
||||
_updateBatteryCharge();
|
||||
}
|
||||
_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 */
|
||||
break;
|
||||
case DeviceStatus::IsFlying:
|
||||
/* TODO: implement flying */
|
||||
if (hasUpdates) {
|
||||
_pid1->tick();
|
||||
_pid2->tick();
|
||||
_pid3->tick();
|
||||
}
|
||||
break;
|
||||
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() };
|
||||
return {
|
||||
.batteryCharge = _sensors->batteryCharge(),
|
||||
.flightHeight = _sensors->flightHeight(),
|
||||
.status = _status,
|
||||
.mpuState = _sensors->mpuData()
|
||||
};
|
||||
}
|
||||
|
||||
void FlightController::startTakeoff() {
|
||||
/* Start preparation for takeoff */
|
||||
_updateBatteryCharge();
|
||||
_checkBatteryCharge();
|
||||
if (_status != DeviceStatus::Idle)
|
||||
return;
|
||||
|
||||
@@ -77,7 +101,7 @@ void FlightController::startBoarding() {
|
||||
}
|
||||
}
|
||||
|
||||
void FlightController::_updateBatteryCharge() {
|
||||
void FlightController::_checkBatteryCharge() {
|
||||
if (_unlimitedBattery)
|
||||
return;
|
||||
if (_sensors->batteryCharge() <= _batteryCriticalCharge) {
|
||||
@@ -92,18 +116,16 @@ void FlightController::_updateBatteryCharge() {
|
||||
void FlightController::_takeoff() {
|
||||
// TODO: implement takeoff
|
||||
_status = DeviceStatus::IsFlying;
|
||||
if (_onTakeoffStarted) {
|
||||
_onTakeoffStarted();
|
||||
}
|
||||
_tailRotorController->enable();
|
||||
_heightController->integral = 0.f;
|
||||
_heightController->setpoint = _defaultFlightHeight;
|
||||
}
|
||||
|
||||
void FlightController::_boarding() {
|
||||
if (_sensors->flightHeight() <= _defaultStopMotorHeight) {
|
||||
// TODO: stop motors and setpoints
|
||||
_status = DeviceStatus::Idle;
|
||||
|
||||
stopAllRotors();
|
||||
} else {
|
||||
// TODO: implement boarding
|
||||
_heightController->setpoint -= _boarding_speed;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -134,63 +156,67 @@ void FlightController::newPitchStickPosition(int16_t newYawStickPostition) {
|
||||
// TODO: implement stick input
|
||||
}
|
||||
|
||||
void FlightController::newRotor1Duty(uint32_t rotor1Duty) {
|
||||
if (_status == DeviceStatus::Idle) {
|
||||
_pid1->setRotorDuty(rotor1Duty);
|
||||
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::newRotor2Duty(uint32_t rotor2Duty) {
|
||||
if (_status == DeviceStatus::Idle) {
|
||||
_pid2->setRotorDuty(rotor2Duty);
|
||||
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::newRotor3Duty(uint32_t rotor3Duty) {
|
||||
void FlightController::setRotor3Duty(int16_t rotor3Duty) {
|
||||
if (_status == DeviceStatus::Idle) {
|
||||
_pid3->setRotorDuty(rotor3Duty);
|
||||
auto duty = (int16_t) map((long) rotor3Duty, -5000, 5000, -1023, 1023);
|
||||
_tailRotorController->setRotorDuty(duty);
|
||||
}
|
||||
}
|
||||
|
||||
void FlightController::stopAllRotors() {
|
||||
_pid1->setRotorDuty(0);
|
||||
_pid2->setRotorDuty(0);
|
||||
_pid3->setRotorDuty(0);
|
||||
_tailRotorController->disable();
|
||||
setRotor1Duty(0);
|
||||
setRotor2Duty(0);
|
||||
setRotor3Duty(0);
|
||||
_status = DeviceStatus::Idle;
|
||||
}
|
||||
|
||||
void FlightController::setPid1Params(float p, float i, float d) {
|
||||
void FlightController::setHeightControllerParams(float p, float i, float d) {
|
||||
if (_status == DeviceStatus::Idle) {
|
||||
_pid1->Kp = p;
|
||||
_pid1->Ki = i;
|
||||
_pid1->Kd = d;
|
||||
_pid1->save();
|
||||
_heightController->setParams({.p = p, .i = i, .d = d});
|
||||
}
|
||||
}
|
||||
|
||||
void FlightController::setPid2Params(float p, float i, float d) {
|
||||
void FlightController::setYawControllerParams(float p, float i, float d) {
|
||||
if (_status == DeviceStatus::Idle) {
|
||||
_pid2->Kp = p;
|
||||
_pid2->Ki = i;
|
||||
_pid2->Kd = d;
|
||||
_pid1->save();
|
||||
_yawController->setParams({.p = p, .i = i, .d = d});
|
||||
}
|
||||
}
|
||||
|
||||
void FlightController::setPid3Params(float p, float i, float d) {
|
||||
void FlightController::setPitchControllerParams(float p, float i, float d) {
|
||||
if (_status == DeviceStatus::Idle) {
|
||||
_pid3->Kp = p;
|
||||
_pid3->Ki = i;
|
||||
_pid3->Kd = d;
|
||||
_pid1->save();
|
||||
_tailRotorController->setParams({.p = p, .i = i, .d = d});
|
||||
}
|
||||
}
|
||||
|
||||
std::unique_ptr<PidSettings> FlightController::pidSettings() const {
|
||||
std::unique_ptr<PidSettings> settings = std::make_unique<PidSettings>();
|
||||
settings->pid1 = { .p = _pid1->Kp, .i = _pid1->Ki, .d = _pid1->Kd };
|
||||
settings->pid2 = { .p = _pid2->Kp, .i = _pid2->Ki, .d = _pid2->Kd };
|
||||
settings->pid3 = { .p = _pid3->Kp, .i = _pid3->Ki, .d = _pid3->Kd };
|
||||
ESP_LOGI(_tag, "PID №1 settings: (%f, %f, %f)", settings->pid1.p, settings->pid1.i,
|
||||
settings->pid1.d);
|
||||
return std::move(settings);
|
||||
}
|
||||
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());
|
||||
}
|
||||
|
||||
107
src/Logic/FlightController.hpp
Normal file → Executable file
107
src/Logic/FlightController.hpp
Normal file → Executable file
@@ -1,9 +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
|
||||
|
||||
#include "PID.hpp"
|
||||
#include "PIDController.hpp"
|
||||
#include "Sensors/Sensors.hpp"
|
||||
#include <memory>
|
||||
|
||||
enum DeviceStatus {
|
||||
Idle = 0,
|
||||
@@ -22,62 +22,89 @@ struct ReportedDeviceState {
|
||||
};
|
||||
|
||||
struct FlightParams {
|
||||
float height; // [cm]
|
||||
float yaw; // [degrees]
|
||||
float pitch; // [degrees]
|
||||
};
|
||||
|
||||
struct PidParam {
|
||||
float p;
|
||||
float i;
|
||||
float d;
|
||||
float height; // [cm]
|
||||
float yaw; // [degrees]
|
||||
float pitch; // [degrees]
|
||||
};
|
||||
|
||||
struct PidSettings {
|
||||
PidParam pid1;
|
||||
PidParam pid2;
|
||||
PidParam pid3;
|
||||
PidParams flightController;
|
||||
PidParams yawController;
|
||||
PidParams pitchController;
|
||||
};
|
||||
|
||||
class FlightController {
|
||||
public:
|
||||
FlightController(Sensors *sensors, PIDController *pid1, PIDController *pid2,
|
||||
PIDController *pid3, bool unlimitedBattery = false);
|
||||
public:
|
||||
FlightController(Sensors *sensors, SavedPidRegulator *heightController, SavedPidRegulator *yawController,
|
||||
BrushedMotor *_rotor1, BrushedMotor *_rotor2,
|
||||
PIDController *tailRotor, bool unlimitedBattery);
|
||||
|
||||
~FlightController();
|
||||
ReportedDeviceState currentDeviceState() const;
|
||||
|
||||
[[nodiscard]] ReportedDeviceState currentDeviceState() const;
|
||||
|
||||
void startTakeoff();
|
||||
|
||||
void startBoarding();
|
||||
|
||||
void startImuCalibration();
|
||||
|
||||
void tick();
|
||||
[[deprecated]] void moveToFlightHeight(float newFlightHeight); //[cm]
|
||||
|
||||
[[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 newRotor1Duty(uint32_t rotor1Duty);
|
||||
void newRotor2Duty(uint32_t rotor2Duty);
|
||||
void newRotor3Duty(uint32_t rotor3Duty);
|
||||
|
||||
void setRotor1Duty(int16_t rotor1Duty);
|
||||
|
||||
void setRotor2Duty(int16_t rotor2Duty);
|
||||
|
||||
void setRotor3Duty(int16_t rotor3Duty);
|
||||
|
||||
void stopAllRotors();
|
||||
void setPid1Params(float p, float i, float d);
|
||||
void setPid2Params(float p, float i, float d);
|
||||
void setPid3Params(float p, float i, float d);
|
||||
std::unique_ptr<PidSettings> pidSettings() const;
|
||||
private:
|
||||
void _updateBatteryCharge();
|
||||
[[deprecated]] void _takeoff();
|
||||
[[deprecated]] void _boarding();
|
||||
|
||||
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;
|
||||
PIDController *_pid1 = nullptr;
|
||||
PIDController *_pid2 = nullptr;
|
||||
PIDController *_pid3 = nullptr;
|
||||
SavedPidRegulator *_heightController = nullptr;
|
||||
SavedPidRegulator *_yawController = nullptr;
|
||||
PIDController *_tailRotorController = nullptr;
|
||||
BrushedMotor *_rotor1 = nullptr;
|
||||
BrushedMotor *_rotor2 = nullptr;
|
||||
DeviceStatus _status;
|
||||
OnMeasuringFinishedCb _onTakeoffStarted = nullptr;
|
||||
//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 = 30.f; // [cm]
|
||||
static constexpr float _defaultHorizontAngle = 90.f; // [degrees]
|
||||
static constexpr float _defaultStopMotorHeight = 5; // [cm]
|
||||
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
|
||||
};
|
||||
|
||||
bool _unlimitedBattery = false; // for debug purposes
|
||||
};
|
||||
|
||||
147
src/Logic/FlightDispatcher.cpp
Normal file → Executable file
147
src/Logic/FlightDispatcher.cpp
Normal file → Executable file
@@ -22,8 +22,7 @@ FlightDispatcher::FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
|
||||
ESP_LOGI(_tag, "Bluetooth initialized successfully.");
|
||||
} else {
|
||||
ESP_LOGE(_tag, "Failed to initialize Bluetooth dispatcher!");
|
||||
while (loop_on_fail)
|
||||
;
|
||||
while (loop_on_fail);
|
||||
}
|
||||
_telemetryTimer = millis();
|
||||
}
|
||||
@@ -48,7 +47,7 @@ void FlightDispatcher::_onNewDeviceConnected(BTAddress device) {
|
||||
|
||||
void FlightDispatcher::_onNewMessageReceived(char *package) {
|
||||
using sutil::SH;
|
||||
ESP_LOGI(_tag, "Received new package: %s", package);
|
||||
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",
|
||||
@@ -58,52 +57,65 @@ void FlightDispatcher::_onNewMessageReceived(char *package) {
|
||||
for (int keyIndex = 0; keyIndex < pkg.length(); ++keyIndex) {
|
||||
auto pair = pkg[pkg.keyHash(keyIndex)];
|
||||
auto value = pair.value();
|
||||
ESP_LOGD(_tag, "Key: %zu", pkg.keyHash(keyIndex));
|
||||
|
||||
if (!pair.valid()) {
|
||||
ESP_LOGW(_tag, "Pair isn't valid and was skipped");
|
||||
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->newRotor1Duty(value.toInt32()); break;
|
||||
case SH("r2"): _flightController->newRotor2Duty(value.toInt32()); break;
|
||||
case SH("r3"): _flightController->newRotor3Duty(value.toInt32()); 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->setPid1Params(
|
||||
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->setPid2Params(
|
||||
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->setPid3Params(
|
||||
pair[SH("p")].toFloat(), pair[SH("i")].toFloat(), pair[SH("d")].toFloat());
|
||||
}
|
||||
break;
|
||||
case SH("pidSettingOpened"): _pidSettingsOpened(); break;
|
||||
default: break;
|
||||
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;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -111,13 +123,20 @@ void FlightDispatcher::_onNewMessageReceived(char *package) {
|
||||
|
||||
void FlightDispatcher::_changeStatus(const DeviceStatus &newStatus) {
|
||||
switch (newStatus) {
|
||||
case DeviceStatus::IsImuCalibration: _flightController->startImuCalibration(); break;
|
||||
case DeviceStatus::IsFlying:
|
||||
_changeStatus(DeviceStatus::IsPreparingForTakeoff);
|
||||
break;
|
||||
case DeviceStatus::IsPreparingForTakeoff: _flightController->startTakeoff(); break;
|
||||
case DeviceStatus::IsBoarding: _flightController->startBoarding(); break;
|
||||
default: break;
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -127,27 +146,27 @@ void FlightDispatcher::_pidSettingsOpened() {
|
||||
pkg.beginObj();
|
||||
|
||||
pkg.beginObj("p1");
|
||||
pkg["p"] = settings->pid1.p;
|
||||
pkg["i"] = settings->pid1.i;
|
||||
pkg["d"] = settings->pid1.d;
|
||||
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["p"] = settings->pid2.p;
|
||||
pkg["i"] = settings->pid2.i;
|
||||
pkg["d"] = settings->pid2.d;
|
||||
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["p"] = settings->pid3.p;
|
||||
pkg["i"] = settings->pid3.i;
|
||||
pkg["d"] = settings->pid3.d;
|
||||
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 + _message_delimeter;
|
||||
_bluetoothDispatcher->sendPackage(pkg.s.c_str(), strlen(pkg.s.c_str()));
|
||||
pkg.s = String(MessageType::PidSettings) + ";" + pkg.s;
|
||||
_bluetoothDispatcher->sendPackage(pkg.s.c_str());
|
||||
ESP_LOGI(_tag, "PID settings sended %s", pkg.s.c_str());
|
||||
}
|
||||
|
||||
@@ -165,6 +184,6 @@ void FlightDispatcher::_sendTelemetry() {
|
||||
package["zIn"] = state.mpuState.zInertial;
|
||||
package.endObj();
|
||||
package.end();
|
||||
package.s = String(MessageType::UpdatePackage) + ";" + package.s + _message_delimeter;
|
||||
_bluetoothDispatcher->sendPackage(package.s.c_str(), strlen((package.s.c_str())));
|
||||
}
|
||||
package.s = String(MessageType::UpdatePackage) + ";" + package.s;
|
||||
_bluetoothDispatcher->sendPackage(package.s.c_str());
|
||||
}
|
||||
17
src/Logic/FlightDispatcher.hpp
Normal file → Executable file
17
src/Logic/FlightDispatcher.hpp
Normal file → Executable file
@@ -1,5 +1,6 @@
|
||||
// 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"
|
||||
@@ -7,34 +8,40 @@
|
||||
#include <map>
|
||||
|
||||
// Message type annotation for mobile app
|
||||
enum MessageType { UpdatePackage = 0, PidSettings };
|
||||
enum MessageType {
|
||||
UpdatePackage = 0, PidSettings
|
||||
};
|
||||
|
||||
class FlightDispatcher {
|
||||
/* Deserialize state and update it in FlightController. */
|
||||
public:
|
||||
public:
|
||||
FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
|
||||
FlightController *flightController, volatile bool loop_on_fail = true);
|
||||
|
||||
~FlightDispatcher();
|
||||
|
||||
void tick();
|
||||
private:
|
||||
|
||||
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;
|
||||
static constexpr const char *_message_delimeter = "\n";
|
||||
|
||||
uint32_t _telemetryTimer = millis();
|
||||
BluetoothDispatcher *_bluetoothDispatcher;
|
||||
FlightController *_flightController;
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,59 +0,0 @@
|
||||
// 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 "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;
|
||||
this->_dt = dt;
|
||||
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 setRotorDuty(uint32_t duty) {
|
||||
/* Used only for test purposes */
|
||||
_rotor->setDuty(duty);
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
}
|
||||
};
|
||||
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);
|
||||
}
|
||||
}
|
||||
};
|
||||
83
src/Motor/BrushedMotor.cpp
Normal file → Executable file
83
src/Motor/BrushedMotor.cpp
Normal file → Executable file
@@ -3,28 +3,75 @@
|
||||
|
||||
#include "BrushedMotor.hpp"
|
||||
|
||||
BrushedMotor::BrushedMotor(uint32_t PwmAGpioNum, uint32_t PwmBGpioNum, uint32_t PwmFreqHz,
|
||||
uint32_t McpwmResolutionHz, int McpwmGroupId) {
|
||||
_mcpwmResolutionHz = McpwmResolutionHz;
|
||||
_pwmAGpioNum = McpwmGroupId;
|
||||
_pwmBGpioNum = PwmBGpioNum;
|
||||
_pwmFreqHz = PwmFreqHz;
|
||||
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::enable() {}
|
||||
|
||||
void BrushedMotor::disable() {}
|
||||
|
||||
void BrushedMotor::setDuty(uint16_t duty) {}
|
||||
|
||||
uint16_t BrushedMotor::maxDuty() {
|
||||
return 0;
|
||||
void BrushedMotor::setDuty(uint32_t duty) const {
|
||||
ledcWrite(_channel, duty);
|
||||
}
|
||||
|
||||
void BrushedMotor::forward() {}
|
||||
void BrushedMotor::decrement(uint32_t k) const {
|
||||
ledcWrite(_channel, ledcRead(_channel) - k);
|
||||
}
|
||||
|
||||
void BrushedMotor::reverse() {}
|
||||
void BrushedMotor::setExtendedDuty(int32_t duty) {
|
||||
if (duty > 0) {
|
||||
forward();
|
||||
} else if (duty < 0) {
|
||||
backward();
|
||||
}
|
||||
setDuty(abs(duty));
|
||||
}
|
||||
|
||||
void BrushedMotor::coast() {}
|
||||
uint32_t BrushedMotor::maxDuty() const {
|
||||
return pow(2, _resolution) - 1;
|
||||
}
|
||||
|
||||
void BrushedMotor::brake() {}
|
||||
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);
|
||||
}
|
||||
|
||||
51
src/Motor/BrushedMotor.hpp
Normal file → Executable file
51
src/Motor/BrushedMotor.hpp
Normal file → Executable file
@@ -1,32 +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 <stdint.h>
|
||||
#include <cstdint>
|
||||
#include "Arduino.h"
|
||||
#include <cstring>
|
||||
|
||||
// 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();
|
||||
// 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();
|
||||
void brake();
|
||||
|
||||
protected:
|
||||
/* MCPWM group */
|
||||
int _mcpwmGroupId = 0;
|
||||
uint32_t _mcpwmResolutionHz;
|
||||
void coast() const;
|
||||
|
||||
void decrement(uint32_t k) const;
|
||||
|
||||
private:
|
||||
uint8_t _channel;
|
||||
uint32_t _frequency;
|
||||
uint32_t _resolution;
|
||||
|
||||
/* Brushed motor properties */
|
||||
uint32_t _pwmAGpioNum;
|
||||
uint32_t _pwmBGpioNum;
|
||||
uint32_t _pwmFreqHz;
|
||||
};
|
||||
bool _forward_directional;
|
||||
String _tag_name = "BrushedMotor";
|
||||
|
||||
void _apply_directional() const;
|
||||
};
|
||||
|
||||
50
src/RF/BluetoothDispatcher.cpp
Normal file → Executable file
50
src/RF/BluetoothDispatcher.cpp
Normal file → Executable file
@@ -4,6 +4,7 @@
|
||||
#include "BluetoothDispatcher.hpp"
|
||||
|
||||
static DeviceConnectedCb deviceConnectedCallback = nullptr;
|
||||
|
||||
static void deviceConnectedStaticCallback(esp_spp_cb_event_t event, esp_spp_cb_param_t *param);
|
||||
|
||||
BluetoothDispatcher::BluetoothDispatcher(BluetoothSerial *controller, const char *device_name) {
|
||||
@@ -14,7 +15,8 @@ BluetoothDispatcher::BluetoothDispatcher(BluetoothSerial *controller, const char
|
||||
_controller = controller;
|
||||
}
|
||||
|
||||
bool BluetoothDispatcher::initialize(volatile bool loop_on_fail, int readTimeoutMS) {
|
||||
bool BluetoothDispatcher::initialize(int readTimeoutMS) {
|
||||
bool success = _controller->begin(_device_name, false);
|
||||
_controller->enableSSP();
|
||||
_controller->onConfirmRequest([this](uint16_t pin) {
|
||||
_onConfirmRequest(pin);
|
||||
@@ -26,13 +28,10 @@ bool BluetoothDispatcher::initialize(volatile bool loop_on_fail, int readTimeout
|
||||
deviceConnectedCallback = [this](BTAddress device) {
|
||||
_onDeviceConnected(device);
|
||||
};
|
||||
_controller->setTimeout(2);
|
||||
bool success = _controller->begin(_device_name, false);
|
||||
//_controller->setTimeout(readTimeoutMS);
|
||||
if (!success) {
|
||||
ESP_LOGI(_tag, "Failed to initialize Bluetooth controller!");
|
||||
while (loop_on_fail)
|
||||
;
|
||||
return false;
|
||||
assert(false);
|
||||
} else {
|
||||
ESP_LOGI(_tag, "Bluetooth host initialized");
|
||||
return true;
|
||||
@@ -40,28 +39,24 @@ bool BluetoothDispatcher::initialize(volatile bool loop_on_fail, int readTimeout
|
||||
}
|
||||
|
||||
void BluetoothDispatcher::onNewPackageReceived(NewPackageCallback newPackageReceivedCb) {
|
||||
_newPackageReceivedCb = newPackageReceivedCb;
|
||||
_newPackageReceivedCb = std::move(newPackageReceivedCb);
|
||||
}
|
||||
|
||||
void BluetoothDispatcher::tick(const char *message_delimeter) {
|
||||
void BluetoothDispatcher::tick(const char message_delimeter) {
|
||||
/* Call the callback, if new package received */
|
||||
while (_controller->available()) { _buffer += (char)_controller->read(); }
|
||||
if (_buffer.endsWith(message_delimeter)) {
|
||||
char buffer[_buffer_size];
|
||||
auto messageEnd = _buffer.lastIndexOf('}');
|
||||
if (messageEnd == -1) {
|
||||
/* Warning! Logging below can cause errors and freezes */
|
||||
while (_controller->available()) {
|
||||
int c = _controller->read();
|
||||
if (c == -1) {
|
||||
_buffer.clear();
|
||||
} else if (c == message_delimeter) {
|
||||
if (_newPackageReceivedCb) {
|
||||
_newPackageReceivedCb(_buffer.buf);
|
||||
}
|
||||
_buffer.clear();
|
||||
} else {
|
||||
_buffer.substring(0, messageEnd, buffer);
|
||||
_buffer += (char) c;
|
||||
}
|
||||
ESP_LOGD(_tag, "Received new buffer %s", buffer);
|
||||
if (_newPackageReceivedCb) {
|
||||
_newPackageReceivedCb(buffer);
|
||||
}
|
||||
_buffer.clear();
|
||||
}
|
||||
if (_buffer.length() > _real_buffer_size) {
|
||||
_buffer.clear();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -71,7 +66,7 @@ BluetoothDispatcher::~BluetoothDispatcher() {
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
@@ -86,6 +81,7 @@ void BluetoothDispatcher::_onAuthComplete(boolean success) const {
|
||||
void BluetoothDispatcher::_onDeviceConnected(BTAddress device) {
|
||||
ESP_LOGI(_tag, "New device connected: %s", device.toString(true).c_str());
|
||||
_buffer.clear();
|
||||
_controller->flush();
|
||||
if (_deviceConnectedCallback) {
|
||||
_deviceConnectedCallback(device);
|
||||
}
|
||||
@@ -93,11 +89,13 @@ void BluetoothDispatcher::_onDeviceConnected(BTAddress device) {
|
||||
|
||||
void BluetoothDispatcher::onNewDeviceConnected(DeviceConnectedCb deviceConnectedCb) {
|
||||
/* Callback called if device connected successfully. */
|
||||
_deviceConnectedCallback = deviceConnectedCb;
|
||||
_deviceConnectedCallback = std::move(deviceConnectedCb);
|
||||
}
|
||||
|
||||
void BluetoothDispatcher::sendPackage(const char *package, size_t size) {
|
||||
_controller->write((uint8_t *)package, size);
|
||||
void BluetoothDispatcher::sendPackage(const char *package) {
|
||||
if (!_controller->hasClient())
|
||||
return;
|
||||
_controller->println(package);
|
||||
}
|
||||
|
||||
|
||||
|
||||
26
src/RF/BluetoothDispatcher.hpp
Normal file → Executable file
26
src/RF/BluetoothDispatcher.hpp
Normal file → Executable file
@@ -1,5 +1,8 @@
|
||||
// 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 "HardwareSerial.h"
|
||||
@@ -26,18 +29,26 @@ typedef std::function<void(BTAddress device)> DeviceConnectedCb;
|
||||
typedef std::function<void(char *package)> NewPackageCallback;
|
||||
|
||||
class BluetoothDispatcher {
|
||||
public:
|
||||
public:
|
||||
BluetoothDispatcher(BluetoothSerial *controller, const char *device_name = "Helicopter");
|
||||
bool initialize(volatile bool loop_on_fail = true, int readTimeoutMS = 2);
|
||||
void tick(const char *message_delimeter = "\n");
|
||||
|
||||
bool initialize(int readTimeoutMS = 10);
|
||||
|
||||
void tick(const char message_delimeter = '\n');
|
||||
|
||||
void onNewPackageReceived(NewPackageCallback newPackageReceivedCb);
|
||||
|
||||
void onNewDeviceConnected(DeviceConnectedCb deviceConnectedCb);
|
||||
void sendPackage(const char *package, size_t size);
|
||||
|
||||
void sendPackage(const char *package);
|
||||
|
||||
~BluetoothDispatcher();
|
||||
|
||||
private:
|
||||
private:
|
||||
void _onConfirmRequest(uint16_t pin);
|
||||
|
||||
void _onAuthComplete(boolean success) const;
|
||||
|
||||
void _onDeviceConnected(BTAddress device);
|
||||
|
||||
const char *_device_name = nullptr;
|
||||
@@ -46,7 +57,6 @@ class BluetoothDispatcher {
|
||||
NewPackageCallback _newPackageReceivedCb = nullptr;
|
||||
constexpr static const char *_tag = "BluetoothDispatcher";
|
||||
|
||||
static constexpr uint16_t _buffer_size = 522;
|
||||
static constexpr uint16_t _real_buffer_size = 512;
|
||||
static constexpr uint16_t _buffer_size = 512;
|
||||
mString<_buffer_size> _buffer;
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,15 +1,17 @@
|
||||
// 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:
|
||||
Barometer(GyverBME280 *bme) {
|
||||
public:
|
||||
explicit Barometer(GyverBME280 *bme) {
|
||||
assert(bme != nullptr);
|
||||
_bme = bme;
|
||||
};
|
||||
}
|
||||
|
||||
~Barometer() {
|
||||
delete this->_bme;
|
||||
@@ -33,7 +35,10 @@ class Barometer {
|
||||
}
|
||||
|
||||
void measureBaseAltitudeAsync(void) {
|
||||
_calibrationIterationsCounter = 0;
|
||||
_calibrationTimer = millis();
|
||||
_isCalibration = true;
|
||||
_startedAltitude = 0.f;
|
||||
}
|
||||
|
||||
float altitude() /* [cm] */ {
|
||||
@@ -41,11 +46,13 @@ class Barometer {
|
||||
}
|
||||
|
||||
float flightHeight() /* [cm] */ {
|
||||
return altitude() - _startedAltitude;
|
||||
if (_isCalibration)
|
||||
return 0.f;
|
||||
return round(altitude() - _startedAltitude);
|
||||
}
|
||||
|
||||
void onMeasuaringHeightFinished(OnMeasuringFinishedCb callback) {
|
||||
_measuaringHeightFinishedCb = callback;
|
||||
_measuaringHeightFinishedCb = std::move(callback);
|
||||
}
|
||||
|
||||
void tick() {
|
||||
@@ -63,13 +70,13 @@ class Barometer {
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
private:
|
||||
GyverBME280 *_bme;
|
||||
float _startedAltitude = 0;
|
||||
float _startedAltitude = 0.f;
|
||||
bool _isCalibration = false;
|
||||
uint32_t _calibrationTimer = 0;
|
||||
int _calibrationIterationsCounter = 0;
|
||||
OnMeasuringFinishedCb _measuaringHeightFinishedCb = nullptr;
|
||||
static constexpr int _calibrationIterationsCount = 1500;
|
||||
static constexpr int _calibrationIterationDelay = 1; // [ms]
|
||||
};
|
||||
static constexpr int _calibrationIterationsCount = 800;
|
||||
static constexpr int _calibrationIterationDelay = 1; // [ms]
|
||||
};
|
||||
|
||||
81
src/Sensors/BarometerBMP280.hpp
Executable file
81
src/Sensors/BarometerBMP280.hpp
Executable file
@@ -0,0 +1,81 @@
|
||||
// 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:
|
||||
Barometer(GyverBME280 *bme) {
|
||||
_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;
|
||||
else 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]
|
||||
};
|
||||
25
src/Sensors/BatteryController.hpp
Normal file → Executable file
25
src/Sensors/BatteryController.hpp
Normal file → Executable file
@@ -1,16 +1,18 @@
|
||||
// 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:
|
||||
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() {
|
||||
void initialize() const {
|
||||
pinMode(_battery_data_switch_pin, OUTPUT);
|
||||
digitalWrite(_battery_data_switch_pin, HIGH);
|
||||
analogReadResolution(12);
|
||||
@@ -18,22 +20,21 @@ class BatteryController {
|
||||
adcAttachPin(_battery_pin);
|
||||
}
|
||||
|
||||
float measureVoltage() {
|
||||
return analogRead(BATTERY_DATA_PIN) * 3.3f / 4096.f;
|
||||
}
|
||||
|
||||
int percent(const float minVoltage = 7.2f, const float maxVoltage = 8.4f,
|
||||
const float r1 = 3.3f, const float r2 = 2.f, const float k = 2.87f) {
|
||||
auto batteryVoltage = measureVoltage() * ((r1 + r2) / k);
|
||||
return round(_map(batteryVoltage, minVoltage, maxVoltage, 5.f, 100.f));
|
||||
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:
|
||||
private:
|
||||
uint16_t _battery_pin;
|
||||
uint16_t _battery_data_switch_pin;
|
||||
static constexpr const char *_tag = "BatteryController";
|
||||
|
||||
float _map(float x, float in_min, float in_max, float out_min, float out_max) {
|
||||
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;
|
||||
}
|
||||
};
|
||||
};
|
||||
|
||||
50
src/Sensors/MPU.hpp
Normal file → Executable file
50
src/Sensors/MPU.hpp
Normal file → Executable file
@@ -1,5 +1,6 @@
|
||||
// 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 "Preferences.h"
|
||||
@@ -7,6 +8,7 @@
|
||||
#include "esp_log.h"
|
||||
|
||||
static volatile bool _isDMPDataReady = false;
|
||||
|
||||
static void IRAM_ATTR _dmpInterruption() {
|
||||
_isDMPDataReady = true;
|
||||
}
|
||||
@@ -14,7 +16,7 @@ static void IRAM_ATTR _dmpInterruption() {
|
||||
typedef std::function<void()> OnCalibrationFinishedCb;
|
||||
|
||||
class MPU {
|
||||
public:
|
||||
public:
|
||||
MPU(MPU6050_6Axis_MotionApps20 *mpu) {
|
||||
assert(mpu != nullptr);
|
||||
_mpu = mpu;
|
||||
@@ -38,8 +40,8 @@ class MPU {
|
||||
ESP_LOGE(_TAG, "MPU6050 test connection failed!");
|
||||
return false;
|
||||
}
|
||||
_mpu->setDLPFMode(MPU6050_DLPF_BW_10); // 10 Hz bandwidth
|
||||
//mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_500); // set sensivity, not recomended
|
||||
_mpu->setDLPFMode(MPU6050_DLPF_BW_10); // 10 Hz bandwidth
|
||||
//mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_500); // set sensivity, not recommended
|
||||
//mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_8);
|
||||
|
||||
if (_mpu->dmpInitialize()) {
|
||||
@@ -99,6 +101,11 @@ class MPU {
|
||||
_prOffset[0] /= _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;
|
||||
_updateOffsets();
|
||||
_calibrationsIterCounter = 0;
|
||||
@@ -113,9 +120,11 @@ class MPU {
|
||||
_gxOffset += _gx;
|
||||
_gyOffset += _gy;
|
||||
_gzOffset += _gz;
|
||||
_prOffset[0] += _ypr[1];
|
||||
_prOffset[1] += _ypr[2];
|
||||
_prOffset[0] += pitch() * DEG_TO_RAD;
|
||||
_prOffset[1] += roll() * DEG_TO_RAD;
|
||||
_calibrationsIterCounter++;
|
||||
ESP_LOGI(_TAG, "Angles on calibration: roll: %f, pitch: %f", roll(),
|
||||
pitch());
|
||||
}
|
||||
}
|
||||
|
||||
@@ -126,21 +135,24 @@ class MPU {
|
||||
float accZInertial() const {
|
||||
return _AccZInertial;
|
||||
}
|
||||
|
||||
float yaw() const {
|
||||
return degrees(_ypr[0]);
|
||||
return degrees(_ypr[0]) + 180.f;
|
||||
}
|
||||
|
||||
float pitch() const {
|
||||
if (_isCalibration) {
|
||||
return degrees(_ypr[1]);
|
||||
return 360.f - (degrees(_ypr[1]) + 180);
|
||||
} else {
|
||||
return degrees(_ypr[1] - _prOffset[0]);
|
||||
return 360.f - (degrees(_ypr[1]) + 180) + degrees(_prOffset[0]);
|
||||
}
|
||||
}
|
||||
|
||||
float roll() const {
|
||||
if (_isCalibration) {
|
||||
return degrees(_ypr[2]);
|
||||
return 360.f - (degrees(_ypr[2]) + 180);
|
||||
} else {
|
||||
return degrees(_ypr[2] - _prOffset[1]);
|
||||
return 360.f - (degrees(_ypr[2] + _prOffset[1]) + 180) + degrees(_prOffset[1]);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -151,6 +163,7 @@ class MPU {
|
||||
return _ax - _axOffset;
|
||||
}
|
||||
}
|
||||
|
||||
float ay() const {
|
||||
if (_isCalibration) {
|
||||
return _ay;
|
||||
@@ -158,6 +171,7 @@ class MPU {
|
||||
return _ay - _ayOffset;
|
||||
}
|
||||
}
|
||||
|
||||
float az() const {
|
||||
if (_isCalibration) {
|
||||
return _az;
|
||||
@@ -177,6 +191,7 @@ class MPU {
|
||||
return _gx - _gxOffset;
|
||||
}
|
||||
}
|
||||
|
||||
float gy() const {
|
||||
if (_isCalibration) {
|
||||
return _gy;
|
||||
@@ -184,6 +199,7 @@ class MPU {
|
||||
return _gy - _gyOffset;
|
||||
}
|
||||
}
|
||||
|
||||
float gz() const {
|
||||
if (_isCalibration) {
|
||||
return _gz;
|
||||
@@ -200,9 +216,9 @@ class MPU {
|
||||
_calibrationFinishedCb = callback;
|
||||
}
|
||||
|
||||
private:
|
||||
private:
|
||||
MPU6050_6Axis_MotionApps20 *_mpu = nullptr;
|
||||
float _ypr[3] = { 0 };
|
||||
float _ypr[3] = {0};
|
||||
float _ax = 0, _ay = 0, _az = 0;
|
||||
float _gx = 0, _gy = 0, _gz = 0;
|
||||
float _gravity = 0;
|
||||
@@ -210,9 +226,9 @@ class MPU {
|
||||
|
||||
float _axOffset = 0, _ayOffset = 0, _azOffset = 0;
|
||||
float _gxOffset = 0, _gyOffset = 0, _gzOffset = 0;
|
||||
float _prOffset[2] = { 0 }; // yaw isn't used
|
||||
float _prOffset[2] = {0}; // yaw isn't used
|
||||
|
||||
uint8_t _fifoBuffer[45] = { 0 };
|
||||
uint8_t _fifoBuffer[45] = {0};
|
||||
Preferences _preferences;
|
||||
|
||||
const char *_TAG = "MPU6050 module";
|
||||
@@ -239,8 +255,9 @@ class MPU {
|
||||
_gxOffset = _preferences.getFloat("gx", 0.f);
|
||||
_gyOffset = _preferences.getFloat("gy", 0.f);
|
||||
_gzOffset = _preferences.getFloat("gz", 0.f);
|
||||
_ypr[1] = _preferences.getFloat("pitch", 0.f);
|
||||
_ypr[2] = _preferences.getFloat("roll", 0.f);
|
||||
_prOffset[0] = _preferences.getFloat("pitch", 0.f);
|
||||
_prOffset[1] = _preferences.getFloat("roll", 0.f);
|
||||
ESP_LOGI(_TAG, "Offsets loaded: pitch: %f, roll %f", _prOffset[0], _prOffset[1]);
|
||||
}
|
||||
|
||||
void _updateOffsets() {
|
||||
@@ -252,5 +269,6 @@ class MPU {
|
||||
_preferences.putFloat("gz", _gzOffset);
|
||||
_preferences.putFloat("pitch", _prOffset[0]);
|
||||
_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
|
||||
77
src/Sensors/Sensors.cpp
Normal file → Executable file
77
src/Sensors/Sensors.cpp
Normal file → Executable file
@@ -3,25 +3,27 @@
|
||||
|
||||
#include "Sensors.hpp"
|
||||
|
||||
Sensors::Sensors(Barometer *barometer, MPU *mpu, Kalman2DFilter *filter,
|
||||
BatteryController *battery, volatile bool loop_on_fail) {
|
||||
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!");
|
||||
while (loop_on_fail)
|
||||
;
|
||||
assert(false);
|
||||
}
|
||||
|
||||
ESP_LOGI(_tag, "Initialize MPU6050...");
|
||||
@@ -29,12 +31,12 @@ Sensors::Sensors(Barometer *barometer, MPU *mpu, Kalman2DFilter *filter,
|
||||
ESP_LOGI(_tag, "MPU6050 initialized");
|
||||
} else {
|
||||
ESP_LOGI(_tag, "MPU6050 initialization failed!");
|
||||
while (loop_on_fail)
|
||||
;
|
||||
//assert(false);
|
||||
}
|
||||
|
||||
_battery->initialize();
|
||||
ESP_LOGI(_tag, "BatteryController initialized");
|
||||
|
||||
ESP_LOGI(_tag, "Sensors initialized");
|
||||
}
|
||||
|
||||
@@ -43,6 +45,7 @@ Sensors::~Sensors() {
|
||||
delete _mpu;
|
||||
delete _2d_filter;
|
||||
delete _battery;
|
||||
delete _ranging_sensor;
|
||||
}
|
||||
|
||||
void Sensors::measureBaseAltitudeSync(void) {
|
||||
@@ -50,22 +53,37 @@ void Sensors::measureBaseAltitudeSync(void) {
|
||||
}
|
||||
|
||||
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 immediatly */
|
||||
return _barometer->flightHeight();
|
||||
/* 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 immediatly */
|
||||
if (_flightHeightFromBarometer == 0.f) {
|
||||
ESP_LOGW(_tag, "flightHeight called, but tick() has called never");
|
||||
return rawFlightHeight();
|
||||
} else {
|
||||
return _flightHeightFromBarometer;
|
||||
}
|
||||
/* Returns flight height from cache immediately */
|
||||
return _flightHeightFromBarometer;
|
||||
}
|
||||
|
||||
MpuData Sensors::mpuData() const {
|
||||
@@ -79,22 +97,24 @@ 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);
|
||||
_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() };
|
||||
_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!");
|
||||
@@ -115,5 +135,6 @@ void Sensors::startMpuCalibration() {
|
||||
}
|
||||
|
||||
void Sensors::onMeasuaringAltitudeFinished(OnMeasuringFinishedCb callback) {
|
||||
_barometer->onMeasuaringHeightFinished(callback);
|
||||
}
|
||||
_onMeasuaringAltitudeFinished = callback;
|
||||
_barometer->onMeasuaringHeightFinished(std::move(callback));
|
||||
}
|
||||
|
||||
30
src/Sensors/Sensors.hpp
Normal file → Executable file
30
src/Sensors/Sensors.hpp
Normal file → Executable file
@@ -1,9 +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 "BatteryController.hpp"
|
||||
#include "Filters/Kalman2DFilter.hpp"
|
||||
#include "RangingSensor.hpp"
|
||||
#include "MPU.hpp"
|
||||
#include "esp_log.h"
|
||||
|
||||
@@ -17,39 +19,53 @@ struct MpuData {
|
||||
float zInertial;
|
||||
};
|
||||
|
||||
enum HeightSensor {
|
||||
RangeMeterOnly,
|
||||
BarometerOnly,
|
||||
Hybrid
|
||||
};
|
||||
|
||||
class Sensors {
|
||||
public:
|
||||
Sensors(Barometer *barometer, MPU *mpu, Kalman2DFilter *filter,
|
||||
BatteryController *battery, bool loop_on_fail = true);
|
||||
public:
|
||||
Sensors(Barometer *barometer, RangingSensor *rangingSensor, MPU *mpu, Kalman2DFilter *filter,
|
||||
BatteryController *battery, HeightSensor heightSensor = Hybrid);
|
||||
|
||||
~Sensors();
|
||||
|
||||
void measureBaseAltitudeSync(void);
|
||||
|
||||
void measureBaseAltitudeAsync(void);
|
||||
|
||||
void onMeasuaringAltitudeFinished(OnMeasuringFinishedCb callback);
|
||||
|
||||
float rawFlightHeight(void) const;
|
||||
|
||||
float flightHeight(void) const;
|
||||
|
||||
void startMpuCalibration();
|
||||
|
||||
void onMpuCalibrationFinished(OnCalibrationFinishedCb callback);
|
||||
|
||||
MpuData mpuData(void) const;
|
||||
|
||||
int batteryCharge(void) const; // [%]
|
||||
int batteryCharge(void) const; // [%]
|
||||
|
||||
bool tick(void);
|
||||
|
||||
private:
|
||||
private:
|
||||
Barometer *_barometer = nullptr;
|
||||
MPU *_mpu = nullptr;
|
||||
BatteryController *_battery = nullptr;
|
||||
Kalman2DFilter *_2d_filter = nullptr;
|
||||
RangingSensor *_ranging_sensor = nullptr;
|
||||
HeightSensor _heightSensor;
|
||||
OnMeasuringFinishedCb _onMeasuaringAltitudeFinished = nullptr;
|
||||
|
||||
/* cached filtered values */
|
||||
float _flightHeightFromBarometer = 0.f;
|
||||
float _zVelocityAltitude = 0.f;
|
||||
MpuData _mpuData = { 0.f };
|
||||
MpuData _mpuData = {0.f};
|
||||
|
||||
|
||||
static constexpr const char *_tag = "Sensors";
|
||||
};
|
||||
};
|
||||
|
||||
5
src/board_pins.h
Normal file → Executable file
5
src/board_pins.h
Normal file → Executable file
@@ -1,11 +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 "driver/adc.h"
|
||||
|
||||
#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
|
||||
#define BATTERY_DATA_SWITCH_PIN 17
|
||||
|
||||
34
src/main.cpp
Normal file → Executable file
34
src/main.cpp
Normal file → Executable file
@@ -3,6 +3,8 @@
|
||||
|
||||
#include "App.hpp"
|
||||
#include "BoardI2C.hpp"
|
||||
#include "Sensors/RangingSensor.hpp"
|
||||
#include "LPS.h"
|
||||
|
||||
BoardI2C i2c;
|
||||
|
||||
@@ -10,17 +12,29 @@ 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(BATTERY_DATA_PIN, BATTERY_DATA_SWITCH_PIN)),
|
||||
new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 1), 1),
|
||||
new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 2), 2),
|
||||
new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 3), 3), true)));
|
||||
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();
|
||||
}
|
||||
}
|
||||
|
||||
0
test/README
Normal file → Executable file
0
test/README
Normal file → Executable file
Reference in New Issue
Block a user