Refactoring of config file

.clang-format

@@ -14,6 +14,7 @@ BraceWrapping:
   BeforeCatch: true
   BeforeElse: true
 PointerAlignment: Left
+ColumnLimit: 100
   
 AlwaysBreakAfterReturnType: None
 PenaltyReturnTypeOnItsOwnLine: 1000000

.gitignore

@@ -3,4 +3,5 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
-include/settings.h
+include/settings.h
+include/config.h

include/FlashConfig.h

@@ -1,32 +1,32 @@
+#include "config.h"
+
 #include <Arduino.h>
 #include <EEPROM.h>
 
 #include <array>
 
-#define EEPROM_SIZE 64
+class FlashConfig {
-
-class Config {
 public:
     typedef struct Data {
         std::array<char, 16> wifiSSID;
         std::array<char, 16> wifiPass;
 
-        Data &operator=(const Data &);
+        Data& operator=(const Data&);
     } Data;
 
-    Config(){};
+    FlashConfig(){};
 
     void init();
 
     void load();
 
     void save();
-    void save(Data &);
+    void save(Data&);
 
     void setSSID(String);
     void setWifiPass(String);
 
-    const Data &data();
+    const Data& data();
 
     void printConfig();
 
@@ -34,5 +34,5 @@ private:
     Data _data;
 };
 
-bool operator==(const Config::Data &a, const Config::Data &b);
+bool operator==(const FlashConfig::Data& a, const FlashConfig::Data& b);
-bool operator!=(const Config::Data &a, const Config::Data &b);
+bool operator!=(const FlashConfig::Data& a, const FlashConfig::Data& b);

include/IRemote.h

@@ -34,9 +34,9 @@ public:
         bool isNew;
     } Output;
 
-    virtual const Output &output() = 0;
+    virtual const Output& output() = 0;
 
     virtual void loop() = 0;
 
-    virtual void registerCallback(void (*callback)(const Output &)) = 0;
+    virtual void registerCallback(void (*callback)(const Output&)) = 0;
 };

include/OSCRemote.h

@@ -1,6 +1,5 @@
 #pragma once
 #include "IRemote.h"
-
 #include "Vbat.h"
 
 #include <OSCBundle.h>
@@ -8,19 +7,18 @@
 #include <OSCMessage.h>
 #include <WiFiUdp.h>
 
-
 #include <list>
 
 class OSCRemote : public IRemote {
 public:
     //! Needs to be called in "Setup"
-    OSCRemote(const Vbat &);
+    OSCRemote(const Vbat&);
 
     void loop();
 
-    const IRemote::Output &output() override;
+    const IRemote::Output& output() override;
 
-    void registerCallback(void (*callback)(const IRemote::Output &)) override;
+    void registerCallback(void (*callback)(const IRemote::Output&)) override;
 
 private:
     //! Place this after WiFi.begin() in main
@@ -28,7 +26,7 @@ private:
 
     IRemote::Output _output;
 
-    std::list<void (*)(const IRemote::Output &)> _callbacks;
+    std::list<void (*)(const IRemote::Output&)> _callbacks;
 
-    const Vbat &_vbat;
+    const Vbat& _vbat;
 };

include/body.h

@@ -3,7 +3,6 @@
 #include <map>
 #include <vector>
 
-
 class Leg {
 public:
     enum Joint {

include/config.h.orig

@@ -0,0 +1,19 @@
+/*****************************************************
+ * Build Configurations as debugging etc.            *
+ *                                                   *
+ * Copy or renamed this file to "config.h"           *
+ * and edit it to your needs                         *
+ *                                                   *
+ ****************************************************/
+
+//! FlashConfig
+#define EEPROM_SIZE 64
+
+//! OSCRemote
+//#define OSC_DEBUG // Enables CM prints if commented
+const unsigned int outPort = 9999;
+const unsigned int inPort = 8888;
+
+//! Body
+//#define CTRL_INACTIVE
+#define SERVO_IIC_ADDR (0x40)

include/settings.h

@@ -1,12 +0,0 @@
-/*****************************************************
- * Configurations:                                   *
- *                                                   *
- * Copy or renamed this file to "settings.h"         *
- * and edit it to your needs                         *
- *                                                   *
- * The settings will be stored to the controller if  *
- * different from the previous/current configuration *
- ****************************************************/
-
-const char* wifiSSID = "mySSID";
-const char* wifiPass = "myPass";

src/FlashConfig.cpp

@@ -1,27 +1,27 @@
-#include "config.h"
+#include "FlashConfig.h"
 
-void Config::init() {
+void FlashConfig::init() {
     EEPROM.begin(EEPROM_SIZE);
 }
 
-void Config::setSSID(String ssid) {
+void FlashConfig::setSSID(String ssid) {
     strcpy(_data.wifiSSID.data(), ssid.c_str());
 };
 
-void Config::setWifiPass(String pass) {
+void FlashConfig::setWifiPass(String pass) {
     strcpy(_data.wifiPass.data(), pass.c_str());
 };
 
-void Config::load() {
+void FlashConfig::load() {
-    byte *pBuff = (byte *)(const void *)&_data;
+    byte* pBuff = (byte*)(const void*)&_data;
     for (size_t i = 0; i < sizeof(_data); ++i) {
         *pBuff++ = EEPROM.read(i);
     }
     Serial.println("EEPROM Loaded");
 };
 
-void Config::save() {
+void FlashConfig::save() {
-    const byte *pBuff = (const byte *)(const void *)&_data;
+    const byte* pBuff = (const byte*)(const void*)&_data;
     for (size_t i = 0; i < sizeof(_data); ++i) {
         EEPROM.write(i, *pBuff++);
     }
@@ -29,29 +29,29 @@ void Config::save() {
     Serial.println("EEPROM Saved");
 };
 
-void Config::save(Config::Data &data) {
+void FlashConfig::save(FlashConfig::Data& data) {
     _data = data;
     save();
 }
 
-const Config::Data &Config::data() {
+const FlashConfig::Data& FlashConfig::data() {
     return _data;
 }
 
-void Config::printConfig() {
+void FlashConfig::printConfig() {
     Serial.printf("wifiSSID: %s\n", _data.wifiSSID.data());
     Serial.printf("wifiPass: %s\n", _data.wifiPass.data());
 }
 
-Config::Data &Config::Data::operator=(const Config::Data &other) {
+FlashConfig::Data& FlashConfig::Data::operator=(const FlashConfig::Data& other) {
     this->wifiSSID = other.wifiSSID;
     this->wifiPass = other.wifiPass;
     return *this;
 }
 
-bool operator==(const Config::Data &a, const Config::Data &b) {
+bool operator==(const FlashConfig::Data& a, const FlashConfig::Data& b) {
     return (a.wifiSSID == b.wifiSSID && a.wifiPass == b.wifiPass);
 }
-bool operator!=(const Config::Data &a, const Config::Data &b) {
+bool operator!=(const FlashConfig::Data& a, const FlashConfig::Data& b) {
     return !(a == b);
 }

src/OSCRemote.cpp

@@ -1,19 +1,13 @@
 #include "OSCRemote.h"
+#include "config.h"
 
 #include <array>
 
-//! --- Start of onfiguration ---
+IRemote::Output* pOutput;
-//#define DEBUG // Enables CM prints if commented
-
-const unsigned int outPort = 9999;
-const unsigned int inPort = 8888;
-//! --- End of configuration  ---
-
-IRemote::Output *pOutput;
 
 namespace {
 
-WiFiUDP *pUdp;
+WiFiUDP* pUdp;
 IPAddress remoteIP;
 
 // Scaling
@@ -26,10 +20,15 @@ const float vxFactor = 0.1;
 const float vyFactor = 0.1;
 const float wFactor = 10;
 
-void remoteMsgParser(OSCMessage &msg, int offset) {
+void remoteMsgParser(OSCMessage& msg, int offset) {
     std::array<char, 20> topic;
     msg.getAddress(topic.data());
-    Serial.println(topic.data());
+#ifdef DEBUG_OSC
+    Serial.printf("%s [%s, %s]\n",
+                  topic.data(),
+                  String(msg.getFloat(0)).c_str(),
+                  String(msg.getFloat(1)).c_str());
+#endif
 
     if (!strcmp(topic.data(), "/att/xy")) {
         pOutput->attitude.pitch = msg.getFloat(0) * pitchFactor;
@@ -53,7 +52,7 @@ void remoteMsgParser(OSCMessage &msg, int offset) {
     }
 }
 
-void remoteMsgParser(OSCMessage &msg) {
+void remoteMsgParser(OSCMessage& msg) {
     remoteMsgParser(msg, 0);
 }
 
@@ -94,7 +93,7 @@ bool msgReceive() {
             msg.fill(pUdp->read());
         }
 
-#ifdef DEBUG
+#ifdef DEBUG_OSC
         Serial.printf("OSC packet from: %s\n", remoteIP.toString().c_str());
 #endif
 
@@ -108,9 +107,8 @@ bool msgReceive() {
             return true;
         }
         else {
-#ifdef DEBUG
+#ifdef DEBUG_OSC
-            Serial.printf("error: %s\n",
+            Serial.printf("error: %s\n", getOSCErrorName(msg.getError()).c_str());
-                          getOSCErrorName(msg.getError()).c_str());
 #endif
         }
     }
@@ -118,7 +116,7 @@ bool msgReceive() {
 }
 } // namespace
 
-OSCRemote::OSCRemote(const Vbat &vbat) : _vbat(vbat) {
+OSCRemote::OSCRemote(const Vbat& vbat) : _vbat(vbat) {
     init();
 }
 
@@ -151,10 +149,10 @@ void OSCRemote::loop() {
     }
 }
 
-const IRemote::Output &OSCRemote::output() {
+const IRemote::Output& OSCRemote::output() {
     return _output;
 }
 
-void OSCRemote::registerCallback(void (*callback)(const IRemote::Output &)) {
+void OSCRemote::registerCallback(void (*callback)(const IRemote::Output&)) {
     _callbacks.push_back(callback);
 }

src/body.cpp

@@ -1,34 +1,31 @@
-#include "body.h"
+#include "Body.h"
+
+#include "config.h"
 
 #include <Adafruit_PWMServoDriver.h>
 #include <Arduino.h>
 #include <SPI.h>
 #include <Wire.h>
 
-#define CTRL_INACTIVE
-
-#define SERVO_IIC_ADDR (0x40)
-
 // Depending on your servo make, the pulse width min and max may vary, you
 // want these to be as small/large as possible without hitting the hard stop
 // for max range. You'll have to tweak them as necessary to match the servos you
 // have!
 #define SERVOMIN 190 // This is the 'minimum' pulse length count (out of 4096)
 #define SERVOMAX 540 // This is the 'maximum' pulse length count (out of 4096)
-#define USMIN                                                                  \
+#define USMIN                                                                                      \
     600 // This is the rounded 'minimum' microsecond length based on the minimum
         // pulse of 190
-#define USMAX                                                                  \
+#define USMAX                                                                                      \
-    2400 // This is the rounded 'maximum' microsecond length based on the
+    2400              // This is the rounded 'maximum' microsecond length based on the
-         // maximum pulse of 540
+                      // maximum pulse of 540
 #define SERVO_FREQ 60 // Analog servos run at ~50 Hz updates
 
 Adafruit_PWMServoDriver servoDriver = Adafruit_PWMServoDriver(0x40);
 
 unsigned long freqWatchDog = 0;
-unsigned long SuppressScamperUntil =
+unsigned long SuppressScamperUntil = 0; // if we had to wake up the servos, suppress the power
-    0; // if we had to wake up the servos, suppress the power hunger scamper
+                                        // hunger scamper mode for a while
-       // mode for a while
 
 void resetServoDriver() {
 #ifndef CTRL_INACTIVE
@@ -57,20 +54,17 @@ void checkForServoSleep() {
             // beep(1200,100);  // chirp to warn user of brown out on servo
             // controller
             SuppressScamperUntil =
-                millis() +
+                millis() + 10000; // no scamper for you! (for 10 seconds because we ran out
-                10000; // no scamper for you! (for 10 seconds because we ran out
+                                  // of power, give the battery a bit of time for charge
-                       // of power, give the battery a bit of time for charge
+                                  // migration and let the servos cool down)
-                       // migration and let the servos cool down)
         }
         freqWatchDog = millis() + 100;
     }
 #endif
 }
 
-double modifiedMap(
+double modifiedMap(double x, double in_min, double in_max, double out_min, double out_max) {
-    double x, double in_min, double in_max, double out_min, double out_max) {
+    double temp = (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
-    double temp =
-        (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
     temp = (int)(4 * temp + .5);
     return (double)temp / 4;
 }
@@ -90,10 +84,8 @@ void Body::healthCheck() {
 }
 
 Leg::Leg(uint8_t hipp, uint8_t knee)
-    : _joints(
+    : _joints({{Joint::Hipp, {.index = hipp, .trim = 0, .center = 0.0, .pos = 0}},
-          {{Joint::Hipp, {.index = hipp, .trim = 0, .center = 0.0, .pos = 0}},
+               {Joint::Knee, {.index = knee, .trim = 0, .center = 45.0, .pos = 0}}}) {
-           {Joint::Knee,
-            {.index = knee, .trim = 0, .center = 45.0, .pos = 0}}}) {
 }
 
 void Leg::setTrim(Joint j, uint8_t angle) {
@@ -105,16 +97,11 @@ void Leg::setPos(Joint j, double angle) {
     //! servo
 
 #ifndef CTRL_INACTIVE
-    auto angleToPulse = [](double a) {
+    // auto angleToPulse = [](double a) { return modifiedMap(a, -180.0, 180.0, SERVOMIN, SERVOMAX);
-        return modifiedMap(a, -180.0, 180.0, SERVOMIN, SERVOMAX);
+    // } servoDriver.setPWM(_joints[j].index, 0, angleToPulse(angle));
-    };
-    // servoDriver.setPWM(_joints[j].index, 0, angleToPulse(angle));
 
-    auto angleToMicroPulse = [](double a) {
+    auto angleToMicroPulse = [](double a) { return modifiedMap(a, -180.0, 180.0, USMIN, USMAX); };
-        return modifiedMap(a, -180.0, 180.0, USMIN, USMAX);
+    servoDriver.writeMicroseconds(_joints[j].index, angleToMicroPulse(angle) + _joints[j].center);
-    };
-    servoDriver.writeMicroseconds(_joints[j].index,
-                                  angleToMicroPulse(angle) + _joints[j].center);
 #endif
 
     _joints[j].pos = angle;

src/main.cpp

@@ -1,21 +1,20 @@
-#include <Arduino.h>
+#include "FlashConfig.h"
-#include <WiFi.h>
-
-// Project includes
 #include "OSCRemote.h"
 #include "Vbat.h"
 #include "body.h"
-#include "config.h"
 #include "settings.h"
 
+#include <Arduino.h>
+#include <WiFi.h>
+
 #include <memory>
 
 //! --- Start of onfiguration ---
-const char *hostname = "Hexapod";
+const char* hostname = "Hexapod";
 //! --- End of configuration  ---
 
 Body body = Body::instance();
-Config config;
+FlashConfig config;
 std::unique_ptr<IRemote> remote;
 Vbat vbat;
 
@@ -40,7 +39,7 @@ void connectWiFi() {
     Serial.println(WiFi.localIP());
 }
 
-void testRemoteCallback(const IRemote::Output &o) {
+void testRemoteCallback(const IRemote::Output& o) {
     for (size_t i = 0; i < 6; ++i) {
         body.legs[i].setPos(Leg::Hipp, double(o.attitude.roll) * 4);
         body.legs[i].setPos(Leg::Knee, double(o.attitude.pitch) * 4);
@@ -62,7 +61,7 @@ void sweepLeg() {
 }
 
 void checkConfig() {
-    Config::Data compData;
+    FlashConfig::Data compData;
     strncpy(compData.wifiSSID.data(), wifiSSID, sizeof(compData.wifiSSID));
     strncpy(compData.wifiPass.data(), wifiPass, sizeof(compData.wifiPass));
 
@@ -90,7 +89,6 @@ void setup() {
     connectWiFi();
     remote.reset(new OSCRemote(vbat));
     remote->registerCallback(testRemoteCallback);
-    // remote->init();
 
     sweepLeg();
 }