Cppcheck report - [project name]: Framework/Platforms/Source/DCM/NaoRobot/NaoController.h

/**
 * @file NaoController.h
 *
 * @author <a href="mailto:xu@informatik.hu-berlin.de">Xu, Yuan</a>
 * @author <a href="mailto:mellmann@informatik.hu-berlin.de">Mellmann, Heinrich</a>
 * @brief Interface for the real robot for both cognition and motion
 *
 */

#ifndef _NaoController_H_
#define _NaoController_H_

#include <string>
#include <fstream>
#include <iostream>
#include <sys/stat.h>

//
#include "PlatformInterface/PlatformInterface.h"
#include "Tools/Communication/MessageQueue/MessageQueue4Threads.h"
//#include "Tools/Debug/Stopwatch.h"

//
#include "V4lCameraHandler.h"
#include "CameraSettingsV5Manager.h"
#include "CameraSettingsV6Manager.h"


#include "SoundControl.h"
#include "SPLGameController.h"
#include "CPUTemperatureReader.h"
#include "DebugCommunication/DebugServer.h"
#include "AudioRecorder.h"

#include "Tools/Communication/Network/BroadCaster.h"
#include "Tools/Communication/Network/UDPReceiver.h"

// representations
#include <Representations/Infrastructure/FrameInfo.h>
#include "Representations/Infrastructure/TeamMessageData.h"
#include "Representations/Infrastructure/RemoteMessageData.h"
#include "Representations/Infrastructure/GameData.h"
#include "Representations/Infrastructure/SoundData.h"
#include "Representations/Infrastructure/AudioData.h"

// local tools
#include "Tools/DCMData.h"
#include "Tools/NaoTime.h"
#include "Tools/SharedMemoryIO.h"

namespace naoth
{

class NaoController : public PlatformInterface
{
public:
  NaoController(bool nao6);
<--- Class 'NaoController' has a constructor with 1 argument that is not explicit. [+]
Class 'NaoController' has a constructor with 1 argument that is not explicit. Such constructors should in general be explicit for type safety reasons. Using the explicit keyword in the constructor means some mistakes when using the class can be avoided.
  virtual ~NaoController();

  // platform info
  const bool nao6;
  virtual std::string getBodyID() const { return theBodyID; }
  virtual std::string getBodyNickName() const { return theBodyNickName; }
  virtual std::string getHeadNickName() const { return theHeadNickName; }
  virtual std::string getRobotName() const { return theRobotName; }
  virtual std::string getPlatformName() const { return nao6 ? "Nao6" : "Nao"; }
  virtual unsigned int getBasicTimeStep() const { return nao6 ? 12 : 10; }
  
  // camera stuff
  void get(Image& data){ 
    theBottomCameraHandler.get(data); 
  } // blocking
  void get(ImageTop& data){ 
    theTopCameraHandler.get(data); 
  } // non blocking
  
  void get(CurrentCameraSettings& data) { 
    theBottomCameraHandler.getCameraSettings(data);
  }
  void get(CurrentCameraSettingsTop& data) { 
    theTopCameraHandler.getCameraSettings(data);
  }
  
  void set(const CameraSettingsRequest& data);<--- Function 'set' argument 1 names different: declaration 'data' definition 'request'.
  void set(const CameraSettingsRequestTop& data);<--- Function 'set' argument 1 names different: declaration 'data' definition 'request'.

  // sound
  void set(const SoundPlayData& data)
  {
    theSoundHandler->setSoundData(data);
  }

  // teamcomm stuff
  void get(TeamMessageDataIn& data) { theTeamCommListener->receive(data.data); }
  void set(const TeamMessageDataOut& data) { theTeamCommSender->send(data.data); }

  void get(RemoteMessageDataIn& data) { theRemoteCommandListener->receive(data.data); }

  // gamecontroller stuff
  void get(GameData& data){ theGameController->get(data); }
  void set(const GameReturnData& data) { theGameController->set(data); }

  // debug comm
  void get(DebugMessageInCognition& data) { theDebugServer->getDebugMessageInCognition(data); }
  void get(DebugMessageInMotion& data) { theDebugServer->getDebugMessageInMotion(data); }
  void set(const DebugMessageOut& data) { theDebugServer->setDebugMessageOut(data); }

  // time
  void get(FrameInfo& data)
  {
    //TODO: use naoSensorData.data().timeStamp
    data.setTime(NaoTime::getNaoTimeInMilliSeconds());
    data.setFrameNumber(data.getFrameNumber()+1);
  }

  // read directly from the shared memory
  void get(SensorJointData& data) { naoSensorData.get(data); }
  void get(AccelerometerData& data) { naoSensorData.get(data); }
  void get(GyrometerData& data) { naoSensorData.get(data); }
  void get(FSRData& data) { naoSensorData.get(data); }
  void get(InertialSensorData& data) { naoSensorData.get(data); }
  void get(ButtonData& data) { naoSensorData.get(data); }
  void get(BatteryData& data) { naoSensorData.get(data); }
  void get(UltraSoundReceiveData& data) { naoSensorData.get(data); }
  
  void get(AudioData& data) { theAudioRecorder.get(data); }
  void get(CpuData& data) { theCPUTemperatureReader.get(data); }

  // write directly to the shared memory
  // ACHTUNG: each set calls swapWriting()
  void set(const MotorJointData& data) { naoCommandMotorJointData.set(data); }
  void set(const LEDData& data) { naoCommandLEDData.set(data); }
  void set(const UltraSoundSendData& data) { naoCommandUltraSoundSendData.set(data); }

  void set(const AudioControl& data) { theAudioRecorder.set(data); }

  virtual void getMotionInput()
  {
    //STOPWATCH_START("getMotionInput");
    // try to get some data from the DCM
    if ( !naoSensorData.swapReading() )
    {
      std::cerr << "[NaoController] didn't get new sensor data" << std::endl;
    }
    PlatformInterface::getMotionInput();
    //STOPWATCH_STOP("getMotionInput");
  }


  virtual void setMotionOutput()
  {
    //STOPWATCH_START("setMotionOutput");
    PlatformInterface::setMotionOutput();
    //STOPWATCH_STOP("setMotionOutput");
  }


  virtual void getCognitionInput()
  {
    //STOPWATCH_START("getCognitionInput");
    PlatformInterface::getCognitionInput();
    //STOPWATCH_STOP("getCognitionInput");
  }


  virtual void setCognitionOutput()
  {
    //STOPWATCH_START("setCognitionOutput");
    PlatformInterface::setCognitionOutput();
    //STOPWATCH_STOP("setCognitionOutput");
  }


protected:
  virtual MessageQueue* createMessageQueue(const std::string& /*name*/)
  {
    return new MessageQueue4Threads();
  }

protected:
  std::string theBodyID;
  std::string theBodyNickName;
  std::string theHeadNickName;
  std::string theRobotName;

  bool lolaAvailable;

  // -- begin -- shared memory access --
  // DCM --> NaoController
  SharedMemoryReader<DCMSensorData> naoSensorData;

  // NaoController --> DCM
  SharedMemoryWriter<Accessor<MotorJointData> > naoCommandMotorJointData;
  SharedMemoryWriter<Accessor<UltraSoundSendData> > naoCommandUltraSoundSendData;
  SharedMemoryWriter<Accessor<LEDData> > naoCommandLEDData;
  // -- end -- shared memory access --

  //
  
  V4lCameraHandler theBottomCameraHandler;
  V4lCameraHandler theTopCameraHandler;
  
  SoundControl *theSoundHandler;
  BroadCaster* theTeamCommSender;
  UDPReceiver* theTeamCommListener;
  UDPReceiver* theRemoteCommandListener;
  SPLGameController* theGameController;
  DebugServer* theDebugServer;
  CPUTemperatureReader theCPUTemperatureReader;
  AudioRecorder theAudioRecorder;

private:
  static bool fileExists (const std::string& filename);
};

} // end namespace naoth

#endif // _NAO_CONTROLLER_BASE_H_