BlueAndi · gabryelreyes · Nov 2, 2023 · Oct 31, 2023 · Nov 2, 2023 · Nov 2, 2023
diff --git a/doc/configuration/uml/configuration.plantuml b/doc/configuration/uml/configuration.plantuml
@@ -2,56 +2,111 @@
 
 title Configuration
 
-component "env:ConvoyLeaderTarget" <<pio>> as envConvoyLeader
-component "env:ConvoyLeaderSim" <<pio>> as envConvoyLeaderSim
+package "platformio.ini" {
 
-component "env:LineFollowerTarget" <<pio>> as envLineFollower
-component "env:LineFollowerSim" <<pio>> as envLineFollowerSim
+    package "working environments" {
+        component "env:<APPLICATION-NAME>Target" <<pio>> as pioEnvAppTarget
+        component "env:<APPLICATION-NAME>Sim" <<pio>> as pioEnvAppSim
+    }
 
-component "env:RemoteControlTarget" <<pio>> as envRemoteControl
-component "env:RemoteControlSim" <<pio>> as envRemoteControlSim
+    package "configuration environments" as cfgEnv {
 
-component "app:ConvoyLeader" <<pio>> as appConvoyLeader
-component "app:LineFollower" <<pio>> as appLineFollower
-component "app:RemoteControl" <<pio>> as appRemoteControl
+        component "hal_app:<APPLICATION-NAME>Target" <<pio>> as pioHalAppTarget
+        component "app:<APPLICATION-NAME>" <<pio>> as pioAppApp
+        component "hal_app:<APPLICATION-NAME>Sim" <<pio>> as pioHalAppSim
 
-component "ConvoyLeader" <<lib>> as convoyLeader
-component "LineFollower" <<lib>> as lineFollower
-component "RemoteControl" <<lib>> as remoteControl
-component "Service" <<lib>> as service
+        component "hal:Target" <<pio>> as pioHalTarget
+        component "hal:Sim" <<pio>> as pioHalSim
+    }
+}
 
-component "target:Zumo32U4" <<pio>> as targetZumo
-component "target:Sim" <<pio>> as targetSim
+package "/lib" as libFolder {
 
-component "HALTarget" <<lib>> as halTarget
-component "HALSim" <<lib>> as halSim
+    component "HALInterfaces" <<lib>> as halInterfacesLib
 
-envConvoyLeader ..> appConvoyLeader
-envConvoyLeader ..> targetZumo
+    component "APP<APPLICATION-NAME>" <<lib>> as appLib
+    component "Service" <<lib>> as serviceLib
 
-envConvoyLeaderSim ..> appConvoyLeader
-envConvoyLeaderSim ..> targetSim
+    component "HAL<APPLICATION-NAME>Target" <<lib>> as halAppTarget
+    component "HAL<APPLICATION-NAME>Sim" <<lib>> as halAppSim
 
-envLineFollower ..> appLineFollower
-envLineFollower ..> targetZumo
+    component "HALTarget" <<lib>> as halTargetLib
+    component "HALSim" <<lib>> as halSimLib
 
-envLineFollowerSim ..> appLineFollower
-envLineFollowerSim ..> targetSim
+    component "Webots" <<lib>> as webotsLib
+    component "ArduinoNative" <<lib>> as arduinoNativeLib
 
-envRemoteControl ..> appRemoteControl
-envRemoteControl ..> targetZumo
+    note bottom of halAppTarget
+        Application specific target HAL
+        instantiation via Board class.
+        May use less peripherals, than
+        available.
+    end note
 
-envRemoteControlSim ..> appRemoteControl
-envRemoteControlSim ..> targetSim
+    note bottom of halAppSim
+        Application specific simulation HAL
+        instantiation via Board class.
+        May use less peripherals, than
+        available.
+    end note
 
-appConvoyLeader ..> convoyLeader
-appConvoyLeader ..> service
-appLineFollower ..> lineFollower
-appLineFollower ..> service
-appRemoteControl ..> remoteControl
-appRemoteControl ..> service
+    note bottom of halTargetLib
+        Contains the target HAL
+        peripheral classes.
+    end note
 
-targetZumo ..> halTarget
-targetSim ..> halSim
+    note bottom of halSimLib
+        Contains the simulation HAL
+        peripheral classes.
+    end note
+
+    note bottom of halInterfacesLib
+        Defines the interfaces
+        of the HAL peripherals.
+    end note
+
+    note bottom of appLib
+        Application specific functionality.
+    end note
+
+    note bottom of serviceLib
+        General services, used by
+        the applications.
+    end note
+
+    note bottom of webotsLib
+        Webots simulation glue code.
+    end note
+
+    note bottom of arduinoNativeLib
+        Some stubbed Arduino interfaces
+        for simulation.
+    end note
+}
+
+pioEnvAppTarget ...> pioAppApp: <<extends>>
+pioEnvAppTarget ...> pioHalAppTarget: <<extends>>
+
+pioHalAppTarget ..> pioHalTarget: <<extends>>
+pioHalAppTarget ...> halAppTarget: <<depends>>
+
+pioHalTarget ..> halTargetLib: <<depends>>
+pioHalTarget ..> halInterfacesLib: <<depends>>
+
+
+pioEnvAppSim ..> pioAppApp: <<extends>>
+pioEnvAppSim ..> pioHalAppSim: <<extends>>
+
+pioHalAppSim ..> pioHalSim: <<extends>>
+pioHalAppSim ...> halAppSim: <<depends>>
+
+pioHalSim ..> halSimLib: <<depends>>
+pioHalSim ..> webotsLib: <<depends>>
+pioHalSim ..> halInterfacesLib: <<depends>>
+pioHalSim ..> arduinoNativeLib: <<depends>>
+
+
+pioAppApp ...> appLib: <<depends>>
+pioAppApp ...> serviceLib: <<depends>>
 
 @enduml
diff --git a/doc/doxygen/ConvoyLeaderSimDoxyfile b/doc/doxygen/ConvoyLeaderSimDoxyfile
@@ -913,7 +913,8 @@ INPUT                  = mainpage.dox \
                          ../../lib/Service \
                          ../../lib/HALSim \
                          ../../lib/HALInterfaces \
-                         ../../lib/ConvoyLeader
+                         ../../lib/APPConvoyLeader \
+                         ../../lib/HALConvoyLeaderSim
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses

diff --git a/doc/doxygen/ConvoyLeaderTargetDoxyfile b/doc/doxygen/ConvoyLeaderTargetDoxyfile
@@ -913,7 +913,8 @@ INPUT                  = mainpage.dox \
                          ../../lib/Service \
                          ../../lib/HALTarget \
                          ../../lib/HALInterfaces \
-                         ../../lib/ConvoyLeader
+                         ../../lib/APPConvoyLeader \
+                         ../../lib/HALConvoyLeaderTarget
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses

diff --git a/doc/doxygen/LineFollowerSimDoxyfile b/doc/doxygen/LineFollowerSimDoxyfile
@@ -910,10 +910,11 @@ WARN_LOGFILE           = doxygen_warnings.txt
 
 INPUT                  = mainpage.dox \
                          ../../src \
-                         ../../lib/LineFollower \
+                         ../../lib/APPLineFollower \
                          ../../lib/Service \
                          ../../lib/HALSim \
-                         ../../lib/HALInterfaces
+                         ../../lib/HALInterfaces \
+                         ../../lib/HALLineFollowerSim
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses

diff --git a/doc/doxygen/LineFollowerTargetDoxyfile b/doc/doxygen/LineFollowerTargetDoxyfile
@@ -910,10 +910,11 @@ WARN_LOGFILE           = doxygen_warnings.txt
 
 INPUT                  = mainpage.dox \
                          ../../src \
-                         ../../lib/LineFollower \
+                         ../../lib/APPLineFollower \
                          ../../lib/Service \
                          ../../lib/HALTarget \
-                         ../../lib/HALInterfaces
+                         ../../lib/HALInterfaces \
+                         ../../lib/HALLineFollowerTarget
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses

diff --git a/doc/doxygen/RemoteControlSimDoxyfile b/doc/doxygen/RemoteControlSimDoxyfile
@@ -913,7 +913,8 @@ INPUT                  = mainpage.dox \
                          ../../lib/Service \
                          ../../lib/HALSim \
                          ../../lib/HALInterfaces \
-                         ../../lib/RemoteControl
+                         ../../lib/HALRemoteControlSim \
+                         ../../lib/APPRemoteControl
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses

diff --git a/doc/doxygen/RemoteControlTargetDoxyfile b/doc/doxygen/RemoteControlTargetDoxyfile
@@ -913,7 +913,8 @@ INPUT                  = mainpage.dox \
                          ../../lib/Service \
                          ../../lib/HALTarget \
                          ../../lib/HALInterfaces \
-                         ../../lib/RemoteControl
+                         ../../lib/APPRemoteControl \
+                         ../../lib/HALRemoteControlTarget
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses

diff --git a/lib/ConvoyLeader/App.cpp → lib/APPConvoyLeader/App.cpp b/lib/ConvoyLeader/App.cpp → lib/APPConvoyLeader/App.cpp
diff --git a/lib/ConvoyLeader/App.h → lib/APPConvoyLeader/App.h b/lib/ConvoyLeader/App.h → lib/APPConvoyLeader/App.h
diff --git a/lib/ConvoyLeader/DrivingState.cpp → lib/APPConvoyLeader/DrivingState.cpp b/lib/ConvoyLeader/DrivingState.cpp → lib/APPConvoyLeader/DrivingState.cpp
diff --git a/lib/ConvoyLeader/DrivingState.h → lib/APPConvoyLeader/DrivingState.h b/lib/ConvoyLeader/DrivingState.h → lib/APPConvoyLeader/DrivingState.h
diff --git a/lib/ConvoyLeader/ErrorState.cpp → lib/APPConvoyLeader/ErrorState.cpp b/lib/ConvoyLeader/ErrorState.cpp → lib/APPConvoyLeader/ErrorState.cpp
diff --git a/lib/ConvoyLeader/ErrorState.h → lib/APPConvoyLeader/ErrorState.h b/lib/ConvoyLeader/ErrorState.h → lib/APPConvoyLeader/ErrorState.h
diff --git a/...voyLeader/LineSensorsCalibrationState.cpp → ...voyLeader/LineSensorsCalibrationState.cpp b/...voyLeader/LineSensorsCalibrationState.cpp → ...voyLeader/LineSensorsCalibrationState.cpp
diff --git a/...onvoyLeader/LineSensorsCalibrationState.h → ...onvoyLeader/LineSensorsCalibrationState.h b/...onvoyLeader/LineSensorsCalibrationState.h → ...onvoyLeader/LineSensorsCalibrationState.h
diff --git a/...nvoyLeader/MotorSpeedCalibrationState.cpp → ...nvoyLeader/MotorSpeedCalibrationState.cpp b/...nvoyLeader/MotorSpeedCalibrationState.cpp → ...nvoyLeader/MotorSpeedCalibrationState.cpp
diff --git a/...ConvoyLeader/MotorSpeedCalibrationState.h → ...ConvoyLeader/MotorSpeedCalibrationState.h b/...ConvoyLeader/MotorSpeedCalibrationState.h → ...ConvoyLeader/MotorSpeedCalibrationState.h
diff --git a/lib/ConvoyLeader/ParameterSets.cpp → lib/APPConvoyLeader/ParameterSets.cpp b/lib/ConvoyLeader/ParameterSets.cpp → lib/APPConvoyLeader/ParameterSets.cpp
diff --git a/lib/ConvoyLeader/ParameterSets.h → lib/APPConvoyLeader/ParameterSets.h b/lib/ConvoyLeader/ParameterSets.h → lib/APPConvoyLeader/ParameterSets.h
diff --git a/lib/ConvoyLeader/ReadyState.cpp → lib/APPConvoyLeader/ReadyState.cpp b/lib/ConvoyLeader/ReadyState.cpp → lib/APPConvoyLeader/ReadyState.cpp
diff --git a/lib/ConvoyLeader/ReadyState.h → lib/APPConvoyLeader/ReadyState.h b/lib/ConvoyLeader/ReadyState.h → lib/APPConvoyLeader/ReadyState.h
diff --git a/lib/ConvoyLeader/ReleaseTrackState.cpp → lib/APPConvoyLeader/ReleaseTrackState.cpp b/lib/ConvoyLeader/ReleaseTrackState.cpp → lib/APPConvoyLeader/ReleaseTrackState.cpp
diff --git a/lib/ConvoyLeader/ReleaseTrackState.h → lib/APPConvoyLeader/ReleaseTrackState.h b/lib/ConvoyLeader/ReleaseTrackState.h → lib/APPConvoyLeader/ReleaseTrackState.h
diff --git a/lib/ConvoyLeader/StartupState.cpp → lib/APPConvoyLeader/StartupState.cpp b/lib/ConvoyLeader/StartupState.cpp → lib/APPConvoyLeader/StartupState.cpp
diff --git a/lib/ConvoyLeader/StartupState.h → lib/APPConvoyLeader/StartupState.h b/lib/ConvoyLeader/StartupState.h → lib/APPConvoyLeader/StartupState.h
diff --git a/lib/ConvoyLeader/library.json → lib/APPConvoyLeader/library.json b/lib/ConvoyLeader/library.json → lib/APPConvoyLeader/library.json
@@ -1,5 +1,5 @@
 {
-    "name": "ConvoyLeader",
+    "name": "APPConvoyLeader",
     "version": "0.1.0",
     "description": "Convoy leader application",
     "authors": [{

diff --git a/lib/LineFollower/App.cpp → lib/APPLineFollower/App.cpp b/lib/LineFollower/App.cpp → lib/APPLineFollower/App.cpp
diff --git a/lib/LineFollower/App.h → lib/APPLineFollower/App.h b/lib/LineFollower/App.h → lib/APPLineFollower/App.h
diff --git a/lib/LineFollower/DrivingState.cpp → lib/APPLineFollower/DrivingState.cpp b/lib/LineFollower/DrivingState.cpp → lib/APPLineFollower/DrivingState.cpp
diff --git a/lib/LineFollower/DrivingState.h → lib/APPLineFollower/DrivingState.h b/lib/LineFollower/DrivingState.h → lib/APPLineFollower/DrivingState.h
diff --git a/lib/LineFollower/ErrorState.cpp → lib/APPLineFollower/ErrorState.cpp b/lib/LineFollower/ErrorState.cpp → lib/APPLineFollower/ErrorState.cpp
diff --git a/lib/LineFollower/ErrorState.h → lib/APPLineFollower/ErrorState.h b/lib/LineFollower/ErrorState.h → lib/APPLineFollower/ErrorState.h
diff --git a/...eFollower/LineSensorsCalibrationState.cpp → ...eFollower/LineSensorsCalibrationState.cpp b/...eFollower/LineSensorsCalibrationState.cpp → ...eFollower/LineSensorsCalibrationState.cpp
diff --git a/...ineFollower/LineSensorsCalibrationState.h → ...ineFollower/LineSensorsCalibrationState.h b/...ineFollower/LineSensorsCalibrationState.h → ...ineFollower/LineSensorsCalibrationState.h
diff --git a/...neFollower/MotorSpeedCalibrationState.cpp → ...neFollower/MotorSpeedCalibrationState.cpp b/...neFollower/MotorSpeedCalibrationState.cpp → ...neFollower/MotorSpeedCalibrationState.cpp
diff --git a/...LineFollower/MotorSpeedCalibrationState.h → ...LineFollower/MotorSpeedCalibrationState.h b/...LineFollower/MotorSpeedCalibrationState.h → ...LineFollower/MotorSpeedCalibrationState.h
diff --git a/lib/LineFollower/ParameterSets.cpp → lib/APPLineFollower/ParameterSets.cpp b/lib/LineFollower/ParameterSets.cpp → lib/APPLineFollower/ParameterSets.cpp
diff --git a/lib/LineFollower/ParameterSets.h → lib/APPLineFollower/ParameterSets.h b/lib/LineFollower/ParameterSets.h → lib/APPLineFollower/ParameterSets.h
diff --git a/lib/LineFollower/ReadyState.cpp → lib/APPLineFollower/ReadyState.cpp b/lib/LineFollower/ReadyState.cpp → lib/APPLineFollower/ReadyState.cpp
diff --git a/lib/LineFollower/ReadyState.h → lib/APPLineFollower/ReadyState.h b/lib/LineFollower/ReadyState.h → lib/APPLineFollower/ReadyState.h
diff --git a/lib/LineFollower/ReleaseTrackState.cpp → lib/APPLineFollower/ReleaseTrackState.cpp b/lib/LineFollower/ReleaseTrackState.cpp → lib/APPLineFollower/ReleaseTrackState.cpp
diff --git a/lib/LineFollower/ReleaseTrackState.h → lib/APPLineFollower/ReleaseTrackState.h b/lib/LineFollower/ReleaseTrackState.h → lib/APPLineFollower/ReleaseTrackState.h
diff --git a/lib/LineFollower/StartupState.cpp → lib/APPLineFollower/StartupState.cpp b/lib/LineFollower/StartupState.cpp → lib/APPLineFollower/StartupState.cpp
diff --git a/lib/LineFollower/StartupState.h → lib/APPLineFollower/StartupState.h b/lib/LineFollower/StartupState.h → lib/APPLineFollower/StartupState.h
diff --git a/lib/LineFollower/library.json → lib/APPLineFollower/library.json b/lib/LineFollower/library.json → lib/APPLineFollower/library.json
@@ -1,5 +1,5 @@
 {
-    "name": "LineFollower",
+    "name": "APPLineFollower",
     "version": "0.1.0",
     "description": "LineFollower application",
     "authors": [{

diff --git a/lib/RemoteControl/App.cpp → lib/APPRemoteControl/App.cpp b/lib/RemoteControl/App.cpp → lib/APPRemoteControl/App.cpp
diff --git a/lib/RemoteControl/App.h → lib/APPRemoteControl/App.h b/lib/RemoteControl/App.h → lib/APPRemoteControl/App.h
diff --git a/lib/RemoteControl/ErrorState.cpp → lib/APPRemoteControl/ErrorState.cpp b/lib/RemoteControl/ErrorState.cpp → lib/APPRemoteControl/ErrorState.cpp
diff --git a/lib/RemoteControl/ErrorState.h → lib/APPRemoteControl/ErrorState.h b/lib/RemoteControl/ErrorState.h → lib/APPRemoteControl/ErrorState.h
diff --git a/...teControl/LineSensorsCalibrationState.cpp → ...teControl/LineSensorsCalibrationState.cpp b/...teControl/LineSensorsCalibrationState.cpp → ...teControl/LineSensorsCalibrationState.cpp
diff --git a/...moteControl/LineSensorsCalibrationState.h → ...moteControl/LineSensorsCalibrationState.h b/...moteControl/LineSensorsCalibrationState.h → ...moteControl/LineSensorsCalibrationState.h
diff --git a/...oteControl/MotorSpeedCalibrationState.cpp → ...oteControl/MotorSpeedCalibrationState.cpp b/...oteControl/MotorSpeedCalibrationState.cpp → ...oteControl/MotorSpeedCalibrationState.cpp
diff --git a/...emoteControl/MotorSpeedCalibrationState.h → ...emoteControl/MotorSpeedCalibrationState.h b/...emoteControl/MotorSpeedCalibrationState.h → ...emoteControl/MotorSpeedCalibrationState.h
diff --git a/lib/RemoteControl/RemoteCtrlState.cpp → lib/APPRemoteControl/RemoteCtrlState.cpp b/lib/RemoteControl/RemoteCtrlState.cpp → lib/APPRemoteControl/RemoteCtrlState.cpp
diff --git a/lib/RemoteControl/RemoteCtrlState.h → lib/APPRemoteControl/RemoteCtrlState.h b/lib/RemoteControl/RemoteCtrlState.h → lib/APPRemoteControl/RemoteCtrlState.h
diff --git a/lib/RemoteControl/StartupState.cpp → lib/APPRemoteControl/StartupState.cpp b/lib/RemoteControl/StartupState.cpp → lib/APPRemoteControl/StartupState.cpp
diff --git a/lib/RemoteControl/StartupState.h → lib/APPRemoteControl/StartupState.h b/lib/RemoteControl/StartupState.h → lib/APPRemoteControl/StartupState.h
diff --git a/lib/RemoteControl/library.json → lib/APPRemoteControl/library.json b/lib/RemoteControl/library.json → lib/APPRemoteControl/library.json
@@ -1,5 +1,5 @@
 {
-    "name": "RemoteControl",
+    "name": "APPRemoteControl",
     "version": "0.1.0",
     "description": "RemoteControl application",
     "authors": [{

diff --git a/lib/HALSim/Board.cpp → lib/HALConvoyLeaderSim/Board.cpp b/lib/HALSim/Board.cpp → lib/HALConvoyLeaderSim/Board.cpp
diff --git a/lib/HALSim/Board.h → lib/HALConvoyLeaderSim/Board.h b/lib/HALSim/Board.h → lib/HALConvoyLeaderSim/Board.h
diff --git a/lib/HALConvoyLeaderSim/library.json b/lib/HALConvoyLeaderSim/library.json
@@ -0,0 +1,21 @@
+{
+    "name": "HALConvoyLeaderSim",
+    "version": "0.1.0",
+    "description": "...",
+    "authors": [{
+        "name": "Andreas Merkle",
+        "email": "[email protected]",
+        "url": "https://github.com/BlueAndi",
+        "maintainer": true
+    }],
+    "license": "MIT",
+    "dependencies": [{
+        "name": "HALInterfaces"
+    }, {
+        "name": "HALSim"
+    }, {
+        "name": "Webots"
+    }],
+    "frameworks": "*",
+    "platforms": "*"
+}
diff --git a/lib/HALTarget/Board.cpp → lib/HALConvoyLeaderTarget/Board.cpp b/lib/HALTarget/Board.cpp → lib/HALConvoyLeaderTarget/Board.cpp
diff --git a/lib/HALTarget/Board.h → lib/HALConvoyLeaderTarget/Board.h b/lib/HALTarget/Board.h → lib/HALConvoyLeaderTarget/Board.h
diff --git a/lib/HALConvoyLeaderTarget/library.json b/lib/HALConvoyLeaderTarget/library.json
@@ -0,0 +1,23 @@
+{
+    "name": "HALConvoyLeaderTarget",
+    "version": "0.1.0",
+    "description": "...",
+    "authors": [{
+        "name": "Andreas Merkle",
+        "email": "[email protected]",
+        "url": "https://github.com/BlueAndi",
+        "maintainer": true
+    }],
+    "license": "MIT",
+    "dependencies": [{
+        "name": "HALInterfaces"
+    }, {
+        "name": "HALTarget"
+    }, {
+        "owner": "pololu",
+        "name": "Zumo32U4",
+        "version": "^2.0.1"
+    }],
+    "frameworks": "arduino",
+    "platforms": "*"
+}