Application specific HAL libraries created.

lib/HALConvoyLeaderSim/library.json

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+{
+    "name": "HALConvoyLeaderSim",
+    "version": "0.1.0",
+    "description": "...",
+    "authors": [{
+        "name": "Andreas Merkle",
+        "email": "web@blue-andi.de",
+        "url": "https://github.com/BlueAndi",
+        "maintainer": true
+    }],
+    "license": "MIT",
+    "dependencies": [{
+        "name": "HALInterfaces"
+    }, {
+        "name": "HALSim"
+    }, {
+        "name": "Webots"
+    }],
+    "frameworks": "*",
+    "platforms": "*"
+}

lib/HALConvoyLeaderTarget/library.json

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+{
+    "name": "HALConvoyLeaderTarget",
+    "version": "0.1.0",
+    "description": "...",
+    "authors": [{
+        "name": "Andreas Merkle",
+        "email": "web@blue-andi.de",
+        "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": "*"
+}

lib/HALLineFollowerSim/Board.cpp

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+/* MIT License
+ *
+ * Copyright (c) 2019 - 2023 Andreas Merkle <web@blue-andi.de>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+/*******************************************************************************
+    DESCRIPTION
+*******************************************************************************/
+/**
+ * @brief  The simulation robot board realization.
+ * @author Andreas Merkle <web@blue-andi.de>
+ */
+
+/******************************************************************************
+ * Includes
+ *****************************************************************************/
+#include <Board.h>
+
+/******************************************************************************
+ * Compiler Switches
+ *****************************************************************************/
+
+/******************************************************************************
+ * Macros
+ *****************************************************************************/
+
+/******************************************************************************
+ * Types and classes
+ *****************************************************************************/
+
+/******************************************************************************
+ * Prototypes
+ *****************************************************************************/
+
+/******************************************************************************
+ * Local Variables
+ *****************************************************************************/
+
+/* Name of the speaker in the robot simulation. */
+const char* Board::SPEAKER_NAME = "robot_speaker";
+
+/* Name of the display in the robot simulation. */
+const char* Board::DISPLAY_NAME = "robot_display";
+
+/* Name of the left motor in the robot simulation. */
+const char* Board::LEFT_MOTOR_NAME = "motor_left";
+
+/* Name of the right motor in the robot simulation. */
+const char* Board::RIGHT_MOTOR_NAME = "motor_right";
+
+/* Name of the infrared emitter 0 in the robot simulation. */
+const char* Board::EMITTER_0_NAME = "emitter_l";
+
+/* Name of the infrared emitter 1 in the robot simulation. */
+const char* Board::EMITTER_1_NAME = "emitter_lm";
+
+/* Name of the infrared emitter 2 in the robot simulation. */
+const char* Board::EMITTER_2_NAME = "emitter_m";
+
+/* Name of the infrared emitter 3 in the robot simulation. */
+const char* Board::EMITTER_3_NAME = "emitter_rm";
+
+/* Name of the infrared emitter 4 in the robot simulation. */
+const char* Board::EMITTER_4_NAME = "emitter_r";
+
+/** Name of the position sensor of the left motor in the robot simulation. */
+const char* Board::POS_SENSOR_LEFT_NAME = "position_sensor_left";
+
+/** Name of the position sensor of the right motor in the robot simulation. */
+const char* Board::POS_SENSOR_RIGHT_NAME = "position_sensor_right";
+
+/* Name of the light sensor 0 in the robot simulation. */
+const char* Board::LIGHT_SENSOR_0_NAME = "lightsensor_l";
+
+/* Name of the light sensor 1 in the robot simulation. */
+const char* Board::LIGHT_SENSOR_1_NAME = "lightsensor_lm";
+
+/* Name of the light sensor 2 in the robot simulation. */
+const char* Board::LIGHT_SENSOR_2_NAME = "lightsensor_m";
+
+/* Name of the light sensor 3 in the robot simulation. */
+const char* Board::LIGHT_SENSOR_3_NAME = "lightsensor_rm";
+
+/* Name of the light sensor 4 in the robot simulation. */
+const char* Board::LIGHT_SENSOR_4_NAME = "lightsensor_r";
+
+/* Name of the red LED in the robot simulation. */
+const char* Board::LED_RED_NAME = "led_red";
+
+/* Name of the yellow LED in the robot simulation. */
+const char* Board::LED_YELLOW_NAME = "led_yellow";
+
+/* Name of the green LED in the robot simulation. */
+const char* Board::LED_GREEN_NAME = "led_green";
+
+/* Name of the front left proximity sensor in the robot simulation. */
+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";
+
+/******************************************************************************
+ * Protected Methods
+ *****************************************************************************/
+
+/******************************************************************************
+ * Private Methods
+ *****************************************************************************/
+
+/******************************************************************************
+ * External Functions
+ *****************************************************************************/
+
+void Board::init()
+{
+    m_encoders.init();
+    m_keyboard.init();
+    m_lineSensors.init();
+    m_motors.init();
+    m_proximitySensors.initFrontSensor();
+}
+
+/******************************************************************************
+ * Local Functions
+ *****************************************************************************/