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-rw-r--r--src/gyronardo.cpp31
-rw-r--r--src/sensor/calibration.cpp28
-rw-r--r--src/sensor/calibration.hpp5
-rw-r--r--src/std/memory.hpp12
-rw-r--r--src/std/memory.tpp19
5 files changed, 39 insertions, 56 deletions
diff --git a/src/gyronardo.cpp b/src/gyronardo.cpp
index 148a21b..63b4bfc 100644
--- a/src/gyronardo.cpp
+++ b/src/gyronardo.cpp
@@ -16,17 +16,14 @@ constexpr unsigned int BAUD_RATE = 9600U;
constexpr unsigned int SENSOR_RETRY_TIME = 2000U;
SerialStream sout(Serial_(), BAUD_RATE);
-// SerialStream sout(Serial, BAUD_RATE);
-UniquePtr<Sensor> sensor;
+auto sensor = Sensor(SENSOR_ADDRESS, Wire, sout, SENSOR_THROTTLE_TIME);
void setup()
{
sout.waitReady();
- sensor = make_unique<Sensor>(SENSOR_ADDRESS, Wire, sout, SENSOR_THROTTLE_TIME);
-
- while (!sensor->begin())
+ while (!sensor.begin())
{
sout << "Error: Could not connect to the sensor. Retrying after 2000 "
"milliseconds..."
@@ -35,18 +32,18 @@ void setup()
delay(SENSOR_RETRY_TIME);
}
- if (!sensor->setAccelSensitivity(2)) // 8g
+ if (!sensor.setAccelSensitivity(2)) // 8g
{
sout << "Error: Failed to set the sensor's accelerometer sensitivity. Status: "
- << static_cast<int>(sensor->getStatus()) << endl;
+ << static_cast<int>(sensor.getStatus()) << endl;
stop();
}
- if (!sensor->setGyroSensitivity(1)) // 500 degrees/s
+ if (!sensor.setGyroSensitivity(1)) // 500 degrees/s
{
sout << "Error: Failed to set the sensor's gyro sensitivity. Status: "
- << static_cast<int>(sensor->getStatus()) << endl;
+ << static_cast<int>(sensor.getStatus()) << endl;
stop();
}
@@ -66,17 +63,17 @@ void setup()
sout << "Finished calibrating sensor\n";
sout << "Calibration values:\n"
- << "Accelerometer X: " << sensor->accel_cal_x << "\n"
- << "Accelerometer Y: " << sensor->accel_cal_y << "\n"
- << "Accelerometer Z: " << sensor->accel_cal_z << "\n"
- << "Gyro X: " << sensor->gyro_cal_x << "\n"
- << "Gyro Y: " << sensor->gyro_cal_y << "\n"
- << "Gyro Z: " << sensor->gyro_cal_z << "\n";
+ << "Accelerometer X: " << sensor.accel_cal_x << "\n"
+ << "Accelerometer Y: " << sensor.accel_cal_y << "\n"
+ << "Accelerometer Z: " << sensor.accel_cal_z << "\n"
+ << "Gyro X: " << sensor.gyro_cal_x << "\n"
+ << "Gyro Y: " << sensor.gyro_cal_y << "\n"
+ << "Gyro Z: " << sensor.gyro_cal_z << "\n";
sout << "Starting..." << endl;
- sout << "Pitch: " << sensor->getPitch() << " "
- << "Roll: " << sensor->getRoll() << endl;
+ sout << "Pitch: " << sensor.getPitch() << " "
+ << "Roll: " << sensor.getRoll() << endl;
}
void loop()
diff --git a/src/sensor/calibration.cpp b/src/sensor/calibration.cpp
index 1538baa..42f5010 100644
--- a/src/sensor/calibration.cpp
+++ b/src/sensor/calibration.cpp
@@ -3,7 +3,7 @@
#include "std/time.hpp"
#include "utils.hpp"
-SensorCalibrator::SensorCalibrator(UniquePtr<Sensor> sensor, SerialStream sout)
+SensorCalibrator::SensorCalibrator(Sensor sensor, SerialStream sout)
: _sensor(sensor), _sout(sout)
{
}
@@ -51,26 +51,26 @@ bool SensorCalibrator::calibrate(unsigned int throttle_time)
void SensorCalibrator::_updateValues(SensorCalibratorValues &values)
{
- _sensor->read();
+ _sensor.read();
- values.accel_x -= _sensor->getAccelX();
- values.accel_y -= _sensor->getAccelY();
- values.accel_z -= _sensor->getAccelZ();
+ values.accel_x -= _sensor.getAccelX();
+ values.accel_y -= _sensor.getAccelY();
+ values.accel_z -= _sensor.getAccelZ();
- values.gyro_x -= _sensor->getGyroX();
- values.gyro_y -= _sensor->getGyroY();
- values.gyro_z -= _sensor->getGyroZ();
+ values.gyro_x -= _sensor.getGyroX();
+ values.gyro_y -= _sensor.getGyroY();
+ values.gyro_z -= _sensor.getGyroZ();
}
void SensorCalibrator::_adjustCalibrationWithValues(const SensorCalibratorValues &values)
{
- _sensor->accel_cal_x += values.accel_x;
- _sensor->accel_cal_y += values.accel_y;
- _sensor->accel_cal_z += values.accel_z;
+ _sensor.accel_cal_x += values.accel_x;
+ _sensor.accel_cal_y += values.accel_y;
+ _sensor.accel_cal_z += values.accel_z;
- _sensor->gyro_cal_x += values.gyro_x;
- _sensor->gyro_cal_y += values.gyro_y;
- _sensor->gyro_cal_z += values.gyro_z;
+ _sensor.gyro_cal_x += values.gyro_x;
+ _sensor.gyro_cal_y += values.gyro_y;
+ _sensor.gyro_cal_z += values.gyro_z;
}
void SensorCalibrator::_adjustValues(SensorCalibratorValues &values)
diff --git a/src/sensor/calibration.hpp b/src/sensor/calibration.hpp
index a2da58b..090fd27 100644
--- a/src/sensor/calibration.hpp
+++ b/src/sensor/calibration.hpp
@@ -2,7 +2,6 @@
#include "sensor/sensor.hpp"
#include "serial.hpp"
-#include "std/memory.hpp"
// Calibration precision
constexpr float ACCEL_CAL_X_MAX = 0.006;
@@ -52,7 +51,7 @@ public:
* @param sensor A sensor to calibrate
* @param sout A Serial output stream
*/
- SensorCalibrator(UniquePtr<Sensor> sensor, SerialStream sout);
+ SensorCalibrator(Sensor sensor, SerialStream sout);
/**
* Calibrates the sensor.
@@ -70,7 +69,7 @@ private:
static void _adjustValues(SensorCalibratorValues &values);
static bool _isValuesInRange(const SensorCalibratorValues &values);
- UniquePtr<Sensor> _sensor;
+ Sensor _sensor;
SerialStream _sout;
};
diff --git a/src/std/memory.hpp b/src/std/memory.hpp
index 0c5719c..d1ca762 100644
--- a/src/std/memory.hpp
+++ b/src/std/memory.hpp
@@ -11,13 +11,19 @@ class UniquePtr
public:
explicit UniquePtr() = default;
explicit UniquePtr(Target *target);
- UniquePtr(const UniquePtr &unique_ptr);
- UniquePtr(UniquePtr &&unique_ptr) noexcept;
- UniquePtr &operator=(const UniquePtr &unique_ptr);
+ // Move constructor
+ UniquePtr(UniquePtr &&unique_ptr) noexcept;
+ // Move assignment operator
UniquePtr &operator=(UniquePtr &&unique_ptr) noexcept;
+ // Disable the copy constructor
+ UniquePtr(const UniquePtr &unique_ptr) = delete;
+
+ // Disable the copy assignment operator
+ UniquePtr &operator=(const UniquePtr &unique_ptr) = delete;
+
~UniquePtr();
Target operator*() const;
diff --git a/src/std/memory.tpp b/src/std/memory.tpp
index fdfe72b..b2f39bf 100644
--- a/src/std/memory.tpp
+++ b/src/std/memory.tpp
@@ -27,12 +27,6 @@ UniquePtr<Target>::UniquePtr(Target *target) : _target(target)
}
template <class Target>
-UniquePtr<Target>::UniquePtr(const UniquePtr &unique_ptr)
- : _target(new Target(*(unique_ptr._target)))
-{
-}
-
-template <class Target>
UniquePtr<Target>::UniquePtr(UniquePtr &&unique_ptr) noexcept
: _target(unique_ptr._target)
{
@@ -40,19 +34,6 @@ UniquePtr<Target>::UniquePtr(UniquePtr &&unique_ptr) noexcept
}
template <class Target>
-UniquePtr<Target> &UniquePtr<Target>::operator=(const UniquePtr &unique_ptr)
-{
- if (&unique_ptr != this)
- {
- delete _target;
- _target = nullptr;
- _target = new Target(*(unique_ptr._target));
- }
-
- return *this;
-}
-
-template <class Target>
UniquePtr<Target> &UniquePtr<Target>::operator=(UniquePtr &&unique_ptr) noexcept
{
if (&unique_ptr != this)
generated by cgit v1.2.3-18-g5258 (git 2.32.0) at 2024-11-25 17:22:59 +0000