Removed IBoard, Removed Dummy Components

doc/doxygen/doxygen_warnings.txt

@@ -0,0 +1,24 @@
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/App.h:127: error: Member App(const App &app) (function) of class App is not documented.
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/App.h:128: error: Member operator=(const App &app) (function) of class App is not documented.
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/DrivingState.h:159: error: Member DrivingState(const DrivingState &state) (function) of class DrivingState is not documented.
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/DrivingState.h:160: error: Member operator=(const DrivingState &state) (function) of class DrivingState is not documented.
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/DrivingState.h:163: error: argument 'lineSensorValue' of command @param is not found in the argument list of DrivingState::processOnTrack(int16_t position, const uint16_t *lineSensorValues)
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/DrivingState.h:163: error: The following parameter of DrivingState::processOnTrack(int16_t position, const uint16_t *lineSensorValues) is not documented:
+  parameter 'lineSensorValues'
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/DrivingState.h:171: error: argument 'lineSensorValue' of command @param is not found in the argument list of DrivingState::processTrackLost(int16_t position, const uint16_t *lineSensorValues)
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/DrivingState.h:171: error: The following parameter of DrivingState::processTrackLost(int16_t position, const uint16_t *lineSensorValues) is not documented:
+  parameter 'lineSensorValues'
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/ErrorState.h:125: error: Member ErrorState(const ErrorState &state) (function) of class ErrorState is not documented.
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/ErrorState.h:126: error: Member operator=(const ErrorState &state) (function) of class ErrorState is not documented.
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/LineSensorsCalibrationState.h:134: error: Member LineSensorsCalibrationState(const LineSensorsCalibrationState &state) (function) of class LineSensorsCalibrationState is not documented.
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/LineSensorsCalibrationState.h:135: error: Member operator=(const LineSensorsCalibrationState &state) (function) of class LineSensorsCalibrationState is not documented.
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/MotorSpeedCalibrationState.h:140: error: Member MotorSpeedCalibrationState(const MotorSpeedCalibrationState &state) (function) of class MotorSpeedCalibrationState is not documented.
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/MotorSpeedCalibrationState.h:141: error: Member operator=(const MotorSpeedCalibrationState &state) (function) of class MotorSpeedCalibrationState is not documented.
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/ParameterSets.h:135: error: Member ParameterSets(const ParameterSets &set) (function) of class ParameterSets is not documented.
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/ParameterSets.h:136: error: Member operator=(const ParameterSets &set) (function) of class ParameterSets is not documented.
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/ReadyState.h:119: error: Member ReadyState(const ReadyState &state) (function) of class ReadyState is not documented.
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/ReadyState.h:120: error: Member operator=(const ReadyState &state) (function) of class ReadyState is not documented.
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/ReleaseTrackState.h:114: error: Member ReleaseTrackState(const ReleaseTrackState &state) (function) of class ReleaseTrackState is not documented.
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/ReleaseTrackState.h:115: error: Member operator=(const ReleaseTrackState &state) (function) of class ReleaseTrackState is not documented.
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/StartupState.h:113: error: Member StartupState(const StartupState &state) (function) of class StartupState is not documented.
+C:/Users/jkerpe/MasterArbeit/10_Code/Launcher/RadonUlzer/lib/APPSensorFusion/StartupState.h:114: error: Member operator=(const StartupState &state) (function) of class StartupState is not documented.

lib/AppSensorFusion/DrivingState.cpp

@@ -25,7 +25,7 @@
     DESCRIPTION
 *******************************************************************************/
 /**
- * @brief  Calibration state
+ * @brief  Driving state
  * @author Andreas Merkle <[email protected]>
  */
 

lib/AppSensorFusion/ErrorState.cpp

@@ -63,12 +63,7 @@
 
 void ErrorState::entry()
 {
-    IDisplay& display = Board::getInstance().getDisplay();
-
-    display.clear();
-    display.print("Error");
-    display.gotoXY(0, 1);
-    display.print(m_errorMsg);
+    /* Nothing to do. */
 }
 
 void ErrorState::process(StateMachine& sm)

lib/AppSensorFusion/LineSensorsCalibrationState.cpp

@@ -67,15 +67,9 @@
 
 void LineSensorsCalibrationState::entry()
 {
-    IDisplay&          display   = Board::getInstance().getDisplay();
     DifferentialDrive& diffDrive = DifferentialDrive::getInstance();
     Odometry&          odometry  = Odometry::getInstance();
 
-    display.clear();
-    display.print("Calib");
-    display.gotoXY(0, 1);
-    display.print("LineS");
-
     /* Prepare calibration drive. */
     m_calibrationSpeed = diffDrive.getMaxMotorSpeed() / 3;
     m_orientation      = odometry.getOrientation();

lib/AppSensorFusion/MotorSpeedCalibrationState.cpp

@@ -73,13 +73,6 @@ static const char* TAG = "MSCState";
 
 void MotorSpeedCalibrationState::entry()
 {
-    IDisplay& display = Board::getInstance().getDisplay();
-
-    display.clear();
-    display.print("Calib");
-    display.gotoXY(0, 1);
-    display.print("MSpeed");
-
     /* Setup relative encoders */
     m_relEncoders.clear();
 

lib/AppSensorFusion/ReadyState.cpp

@@ -70,18 +70,8 @@ static const char* TAG = "RState";
 
 void ReadyState::entry()
 {
-    IDisplay&     display                 = Board::getInstance().getDisplay();
     const int32_t SENSOR_VALUE_OUT_PERIOD = 1000; /* ms */
 
-    display.clear();
-    display.print("Rdy.");
-
-    if (true == m_isLapTimeAvailable)
-    {
-        display.gotoXY(0, 1);
-        display.print(m_lapTime);
-    }
-
     /* The line sensor value shall be output on console cyclic. */
     m_timer.start(SENSOR_VALUE_OUT_PERIOD);
 }

lib/AppSensorFusion/ReleaseTrackState.cpp

@@ -109,15 +109,7 @@ void ReleaseTrackState::exit()
 
 void ReleaseTrackState::showParSet() const
 {
-    IDisplay&   display    = Board::getInstance().getDisplay();
-    uint8_t     parSetId   = ParameterSets::getInstance().getCurrentSetId();
-    const char* parSetName = ParameterSets::getInstance().getParameterSet().name;
-
-    display.clear();
-    display.print("Set ");
-    display.print(parSetId);
-    display.gotoXY(0, 1);
-    display.print(parSetName);
+    /* Nothing to do. */
 }
 
 /******************************************************************************

lib/AppSensorFusion/StartupState.cpp

@@ -64,26 +64,8 @@
 
 void StartupState::entry()
 {
-    IDisplay& display = Board::getInstance().getDisplay();
-
     /* Initialize HAL */
     Board::getInstance().init();
-
-    /* Surprise the audience. */
-    Sound::playStartup();
-
-    /* Show team id / team name */
-    display.clear();
-    display.print(TEAM_NAME_LINE_1);
-    display.gotoXY(0, 1);
-    display.print(TEAM_NAME_LINE_2);
-    delay(TEAM_NAME_DURATION);
-
-    /* Show operator info on LCD */
-    display.clear();
-    display.print("Press A");
-    display.gotoXY(0, 1);
-    display.print("to calib");
 }
 
 void StartupState::process(StateMachine& sm)

lib/HALConvoyLeaderSim/Board.cpp

@@ -117,15 +117,6 @@ const char* Board::PROXIMITY_SENSOR_FRONT_LEFT_NAME = "proxim_sensor_fl";
 /* Name of the front right proximity sensor in the robot simulation. */
 const char* Board::PROXIMITY_SENSOR_FRONT_RIGHT_NAME = "proxim_sensor_fr";
 
-/* Name of the accelerometer in the robot simulation. */
-const char* Board::ACCELEROMETER_NAME = "accelerometer";
-
-/* Name of the gyro in the robot simulation. */
-const char* Board::GYRO_NAME = "gyro";
-
-/* Name of the magnetometer in the robot simulation. */
-const char* Board::MAGNETOMETER_NAME = "magnetometer";
-
 /******************************************************************************
  * Protected Methods
  *****************************************************************************/
@@ -149,4 +140,4 @@ void Board::init()
 
 /******************************************************************************
  * Local Functions
- *****************************************************************************/
+ *****************************************************************************/

lib/HALConvoyLeaderSim/Board.h

@@ -43,7 +43,6 @@
  * Includes
  *****************************************************************************/
 #include <stdint.h>
-#include <IBoard.h>
 #include <ButtonA.h>
 #include <ButtonB.h>
 #include <ButtonC.h>
@@ -56,7 +55,6 @@
 #include <LedYellow.h>
 #include <LedGreen.h>
 #include <ProximitySensors.h>
-#include <IMU.h>
 
 #include <math.h>
 #include <webots/Robot.hpp>
@@ -74,7 +72,7 @@
 /**
  * The concrete simulation robot board.
  */
-class Board : public IBoard
+class Board
 {
 public:
     /**
@@ -92,14 +90,14 @@ class Board : public IBoard
     /**
      * Initialize the hardware.
      */
-    void init() final;
+    void init();
 
     /**
      * Get button A driver.
      *
      * @return Button A driver.
      */
-    IButton& getButtonA() final
+    IButton& getButtonA()
     {
         return m_buttonA;
     }
@@ -109,7 +107,7 @@ class Board : public IBoard
      *
      * @return Button B driver.
      */
-    IButton& getButtonB() final
+    IButton& getButtonB()
     {
         return m_buttonB;
     }
@@ -119,7 +117,7 @@ class Board : public IBoard
      *
      * @return Button C driver.
      */
-    IButton& getButtonC() final
+    IButton& getButtonC()
     {
         return m_buttonC;
     }
@@ -129,7 +127,7 @@ class Board : public IBoard
      *
      * @return Buzzer driver.
      */
-    IBuzzer& getBuzzer() final
+    IBuzzer& getBuzzer()
     {
         return m_buzzer;
     }
@@ -139,7 +137,7 @@ class Board : public IBoard
      *
      * @return LCD driver.
      */
-    IDisplay& getDisplay() final
+    IDisplay& getDisplay()
     {
         return m_display;
     }
@@ -149,7 +147,7 @@ class Board : public IBoard
      *
      * @return Encoders driver.
      */
-    IEncoders& getEncoders() final
+    IEncoders& getEncoders()
     {
         return m_encoders;
     }
@@ -159,7 +157,7 @@ class Board : public IBoard
      *
      * @return Line sensor driver.
      */
-    ILineSensors& getLineSensors() final
+    ILineSensors& getLineSensors()
     {
         return m_lineSensors;
     }
@@ -169,7 +167,7 @@ class Board : public IBoard
      *
      * @return Motor driver.
      */
-    IMotors& getMotors() final
+    IMotors& getMotors()
     {
         return m_motors;
     }
@@ -179,7 +177,7 @@ class Board : public IBoard
      *
      * @return Red LED driver.
      */
-    ILed& getRedLed() final
+    ILed& getRedLed()
     {
         return m_ledRed;
     }
@@ -189,7 +187,7 @@ class Board : public IBoard
      *
      * @return Yellow LED driver.
      */
-    ILed& getYellowLed() final
+    ILed& getYellowLed()
     {
         return m_ledYellow;
     }
@@ -199,7 +197,7 @@ class Board : public IBoard
      *
      * @return Green LED driver.
      */
-    ILed& getGreenLed() final
+    ILed& getGreenLed()
     {
         return m_ledGreen;
     }
@@ -209,21 +207,11 @@ class Board : public IBoard
      *
      * @return Proximity sensors driver
      */
-    IProximitySensors& getProximitySensors() final
+    IProximitySensors& getProximitySensors()
     {
         return m_proximitySensors;
     }
 
-    /**
-     * Get IMU (Inertial Measurement Unit) driver.
-     *
-     * @return IMU driver
-     */
-    IIMU& getIMU() final
-    {
-        return m_imu;
-    }
-
 protected:
 private:
     /** Name of the speaker in the robot simulation. */
@@ -289,15 +277,6 @@ class Board : public IBoard
     /** Name of the front right proximity sensor in the robot simulation. */
     static const char* PROXIMITY_SENSOR_FRONT_RIGHT_NAME;
 
-    /** Name of the accelerometer in the robot simulation. */
-    static const char* ACCELEROMETER_NAME;
-
-    /** Name of the gyro in the robot simulation. */
-    static const char* GYRO_NAME;
-
-    /** Name of the Magnetometer in the robot simulation. */
-    static const char* MAGNETOMETER_NAME;
-
     /** Simulated roboter instance. */
     webots::Robot m_robot;
 
@@ -334,23 +313,19 @@ class Board : public IBoard
     /** Red LED driver */
     LedRed m_ledRed;
 
-    /** Red LED driver */
+    /** Yellow LED driver */
     LedYellow m_ledYellow;
 
-    /** Red LED driver */
+    /** Green LED driver */
     LedGreen m_ledGreen;
 
     /** Proximity sensors */
     ProximitySensors m_proximitySensors;
 
-    /** IMU driver */
-    IMU m_imu;
-
     /**
      * Constructs the concrete board.
      */
     Board() :
-        IBoard(),
         m_robot(),
         m_simTime(m_robot),
         m_keyboard(m_simTime, m_robot.getKeyboard()),
@@ -371,9 +346,7 @@ class Board : public IBoard
         m_ledYellow(m_robot.getLED(LED_YELLOW_NAME)),
         m_ledGreen(m_robot.getLED(LED_GREEN_NAME)),
         m_proximitySensors(m_simTime, m_robot.getDistanceSensor(PROXIMITY_SENSOR_FRONT_LEFT_NAME),
-                           m_robot.getDistanceSensor(PROXIMITY_SENSOR_FRONT_RIGHT_NAME)),
-        m_imu(m_simTime, m_robot.getAccelerometer(ACCELEROMETER_NAME), m_robot.getGyro(GYRO_NAME),
-              m_robot.getCompass(MAGNETOMETER_NAME))
+                           m_robot.getDistanceSensor(PROXIMITY_SENSOR_FRONT_RIGHT_NAME))
     {
     }
 
@@ -422,4 +395,4 @@ class Board : public IBoard
  *****************************************************************************/
 
 #endif /* BOARD_H */
-/** @} */
+/** @} */

lib/HALConvoyLeaderTarget/Board.cpp

@@ -76,13 +76,8 @@ void Board::init()
     m_lineSensors.init();
     m_motors.init();
     m_proximitySensors.initFrontSensor();
-    /*  TODO: TD084	React if IMU initialization fails */
-    (void)m_imu.init();
-    m_imu.enableDefault();
-    m_imu.configureForTurnSensing();
-    m_imu.calibrate();
 }
 
 /******************************************************************************
  * Local Functions
- *****************************************************************************/
+ *****************************************************************************/