Merge pull request #122 from BlueAndi/extractHALs

Integrate HAL extraction
BlueAndi · Jun 4, 2024 · e5e79bf · e5e79bf
2 parents 9aed08b + bbf2f77
commit e5e79bf
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diff --git a/.gitattributes b/.gitattributes
@@ -2,27 +2,27 @@
 *               text=crlf
 
 # All text files are CRLF
-*.txt		    text eol=crlf
-*.h 		    text eol=crlf
-*.c 		    text eol=crlf
-*.cpp 		    text eol=crlf
-*.hpp 		    text eol=crlf
-*.py 		    text eol=crlf
-*.json 		    text eol=crlf
-*.md 		    text eol=crlf
-*.puml 		    text eol=crlf
-*.plantuml 		text eol=crlf
-*.ini 		    text eol=crlf
-*.bat 		    text eol=crlf
-*.yml 		    text eol=crlf
-*.csv 		    text eol=crlf
+*.txt           text eol=crlf
+*.h             text eol=crlf
+*.c             text eol=crlf
+*.cpp           text eol=crlf
+*.hpp           text eol=crlf
+*.py            text eol=crlf
+*.json          text eol=crlf
+*.md            text eol=crlf
+*.puml          text eol=crlf
+*.plantuml      text eol=crlf
+*.ini           text eol=crlf
+*.bat           text eol=crlf
+*.yml           text eol=crlf
+*.csv           text eol=crlf
 
 # Webots files are generated by a tool as LF
-*.proto 	    text eol=lf
-*.wbt 		    text eol=lf
+*.proto         text eol=lf
+*.wbt           text eol=lf
 
 # Doxygen files are generated by a tool as LF
-doc/doxygen/*	text eol=lf
+doc/doxygen/*   text eol=lf
 
 # Images should be treated as binary
 *.png           binary

diff --git a/.gitignore b/.gitignore
@@ -5,5 +5,5 @@
 .vscode/ipch
 .vscode/extensions.json
 lib/Webots
-webots/worlds/*.wbproj
-webots/worlds/*.jpg
+*.wbproj
+__pycache__
diff --git a/README.md b/README.md
@@ -166,10 +166,12 @@ Example for the **LineFollowerTarget** application:
 
 # Used Libraries
 
-| Library                                                                 | Description                               | License |
-| ----------------------------------------------------------------------- | ----------------------------------------- | ------- |
-| [Zumo32U4 library](https://github.com/pololu/zumo-32u4-arduino-library) | Provides access to the Zumo32U4 hardware. | MIT     |
-| [SerialMuxProt](https://github.com/gabryelreyes/SerialMuxProt)          | Multiplexing Communication Protocol       | MIT     |
+| Library                                                            | Description                                          | License |
+| ------------------------------------------------------------------ | ---------------------------------------------------- | ------- |
+| [SerialMuxProt](https://github.com/gabryelreyes/SerialMuxProt)     | Multiplexing Communication Protocol                  | MIT     |
+| [ZumoHALATmega32u4](https://github.com/BlueAndi/ZumoHALATmega32u4) | C++ HAL for ATmega32u4 on the Pololu Zumo32u4        | MIT     |
+| [ZumoHALInterfaces](https://github.com/BlueAndi/ZumoHALInterfaces) | Abstract C++ HAL interfaces                          | MIT     |
+| [ZumoHALWebots](https://github.com/BlueAndi/ZumoHALWebots)         | C++ HAL for Webots simulation of the Pololu Zumo32u4 | MIT     |
 
 # Issues, Ideas And Bugs
 If you have further ideas or you found some bugs, great! Create a [issue](https://github.com/BlueAndi/RadonUlzer/issues) or if you are able and willing to fix it by yourself, clone the repository and create a pull request.

diff --git a/doc/architecture/README.md b/doc/architecture/README.md
@@ -93,9 +93,10 @@ Improvement for better accuracy:
 ![speedometer](http://www.plantuml.com/plantuml/proxy?cache=no&src=https://raw.githubusercontent.com/BlueAndi/RadonUlzer/main/doc/architecture/uml/LogicalView/Speedometer.plantuml)
 
 ### HAL
-The hardware abstraction layer (HAL) for the target is shown. For the simulation and the test only the realization part is different and may base on other 3rd party components.
-
-![hal](http://www.plantuml.com/plantuml/proxy?cache=no&src=https://raw.githubusercontent.com/BlueAndi/RadonUlzer/main/doc/architecture/uml/LogicalView/HAL.plantuml)
+The hardware abstraction layer (HAL) depends on the target.
+* **ATmega32u4 on the Zumo32u4**: [ZumoHALATmega32u4](https://github.com/BlueAndi/ZumoHALATmega32u4)
+* **Zumo in Webots**: [ZumoHALWebots](https://github.com/BlueAndi/ZumoHALWebots)
+* **Zumo Test**: [HALTest](/lib/HALTest/)
 
 ## Process View
 

diff --git a/doc/architecture/uml/DevelopmentView/Layers.plantuml b/doc/architecture/uml/DevelopmentView/Layers.plantuml
@@ -12,14 +12,14 @@ Application ...> HAL: <<access>>
 Service ..> HAL: <<access>>
 
 package "HAL" as halDetail {
-    package HALInterfaces
-    package HALTarget
-    package HALSim
+    package ZumoHALInterfaces
+    package ZumoHALATmega32u4
+    package ZumoHALWebots
     package HALTest
 
-    HALInterfaces <|.. HALTarget: <<realize>>
-    HALInterfaces <|.. HALSim: <<realize>>
-    HALInterfaces <|.. HALTest: <<realize>>
+    ZumoHALInterfaces <|.. ZumoHALATmega32u4: <<realize>>
+    ZumoHALInterfaces <|.. ZumoHALWebots: <<realize>>
+    ZumoHALInterfaces <|.. HALTest: <<realize>>
 }
 
 HAL -[hidden]-- halDetail

diff --git a/doc/architecture/uml/LogicalView/HAL.plantuml b/doc/architecture/uml/LogicalView/HAL.plantuml
diff --git a/doc/doxygen/CalibSimDoxyfile b/doc/doxygen/CalibSimDoxyfile
@@ -911,8 +911,6 @@ WARN_LOGFILE           = doxygen_warnings.txt
 INPUT                  = mainpage.dox \
                          ../../src \
                          ../../lib/Service \
-                         ../../lib/HALSim \
-                         ../../lib/HALInterfaces \
                          ../../lib/APPCalib \
                          ../../lib/HALCalibSim
 

diff --git a/doc/doxygen/CalibTargetDoxyfile b/doc/doxygen/CalibTargetDoxyfile
@@ -911,8 +911,6 @@ WARN_LOGFILE           = doxygen_warnings.txt
 INPUT                  = mainpage.dox \
                          ../../src \
                          ../../lib/Service \
-                         ../../lib/HALTarget \
-                         ../../lib/HALInterfaces \
                          ../../lib/APPCalib \
                          ../../lib/HALCalibTarget
 

diff --git a/doc/doxygen/ConvoyFollowerSimDoxyfile b/doc/doxygen/ConvoyFollowerSimDoxyfile
@@ -911,8 +911,6 @@ WARN_LOGFILE           = doxygen_warnings.txt
 INPUT                  = mainpage.dox \
                          ../../src \
                          ../../lib/Service \
-                         ../../lib/HALSim \
-                         ../../lib/HALInterfaces \
                          ../../lib/APPConvoyFollower \
                          ../../lib/HALConvoyFollowerSim
 

diff --git a/doc/doxygen/ConvoyFollowerTargetDoxyfile b/doc/doxygen/ConvoyFollowerTargetDoxyfile
@@ -911,8 +911,6 @@ WARN_LOGFILE           = doxygen_warnings.txt
 INPUT                  = mainpage.dox \
                          ../../src \
                          ../../lib/Service \
-                         ../../lib/HALTarget \
-                         ../../lib/HALInterfaces \
                          ../../lib/APPConvoyFollower \
                          ../../lib/HALConvoyFollowerTarget
 

diff --git a/doc/doxygen/ConvoyLeaderSimDoxyfile b/doc/doxygen/ConvoyLeaderSimDoxyfile
@@ -911,8 +911,6 @@ WARN_LOGFILE           = doxygen_warnings.txt
 INPUT                  = mainpage.dox \
                          ../../src \
                          ../../lib/Service \
-                         ../../lib/HALSim \
-                         ../../lib/HALInterfaces \
                          ../../lib/APPConvoyLeader \
                          ../../lib/HALConvoyLeaderSim
 

diff --git a/doc/doxygen/ConvoyLeaderTargetDoxyfile b/doc/doxygen/ConvoyLeaderTargetDoxyfile
@@ -911,8 +911,6 @@ WARN_LOGFILE           = doxygen_warnings.txt
 INPUT                  = mainpage.dox \
                          ../../src \
                          ../../lib/Service \
-                         ../../lib/HALTarget \
-                         ../../lib/HALInterfaces \
                          ../../lib/APPConvoyLeader \
                          ../../lib/HALConvoyLeaderTarget
 

diff --git a/doc/doxygen/LineFollowerSimDoxyfile b/doc/doxygen/LineFollowerSimDoxyfile
@@ -912,8 +912,6 @@ INPUT                  = mainpage.dox \
                          ../../src \
                          ../../lib/APPLineFollower \
                          ../../lib/Service \
-                         ../../lib/HALSim \
-                         ../../lib/HALInterfaces \
                          ../../lib/HALLineFollowerSim
 
 # This tag can be used to specify the character encoding of the source files

diff --git a/doc/doxygen/LineFollowerTargetDoxyfile b/doc/doxygen/LineFollowerTargetDoxyfile
@@ -912,8 +912,6 @@ INPUT                  = mainpage.dox \
                          ../../src \
                          ../../lib/APPLineFollower \
                          ../../lib/Service \
-                         ../../lib/HALTarget \
-                         ../../lib/HALInterfaces \
                          ../../lib/HALLineFollowerTarget
 
 # This tag can be used to specify the character encoding of the source files

diff --git a/doc/doxygen/RemoteControlSimDoxyfile b/doc/doxygen/RemoteControlSimDoxyfile
@@ -911,8 +911,6 @@ WARN_LOGFILE           = doxygen_warnings.txt
 INPUT                  = mainpage.dox \
                          ../../src \
                          ../../lib/Service \
-                         ../../lib/HALSim \
-                         ../../lib/HALInterfaces \
                          ../../lib/HALRemoteControlSim \
                          ../../lib/APPRemoteControl
 

diff --git a/doc/doxygen/RemoteControlTargetDoxyfile b/doc/doxygen/RemoteControlTargetDoxyfile
@@ -911,8 +911,6 @@ WARN_LOGFILE           = doxygen_warnings.txt
 INPUT                  = mainpage.dox \
                          ../../src \
                          ../../lib/Service \
-                         ../../lib/HALTarget \
-                         ../../lib/HALInterfaces \
                          ../../lib/APPRemoteControl \
                          ../../lib/HALRemoteControlTarget
 

diff --git a/doc/doxygen/SensorFusionSimDoxyfile b/doc/doxygen/SensorFusionSimDoxyfile
@@ -911,8 +911,6 @@ WARN_LOGFILE           = doxygen_warnings.txt
 INPUT                  = mainpage.dox \
                          ../../src \
                          ../../lib/Service \
-                         ../../lib/HALSim \
-                         ../../lib/HALInterfaces \
                          ../../lib/HALSensorFusionSim \
                          ../../lib/APPSensorFusion
 

diff --git a/doc/doxygen/SensorFusionTargetDoxyfile b/doc/doxygen/SensorFusionTargetDoxyfile
@@ -911,8 +911,6 @@ WARN_LOGFILE           = doxygen_warnings.txt
 INPUT                  = mainpage.dox \
                          ../../src \
                          ../../lib/Service \
-                         ../../lib/HALTarget \
-                         ../../lib/HALInterfaces \
                          ../../lib/APPSensorFusion \
                          ../../lib/HALSensorFusionTarget