Typing adjustments.

src/cycle_phase_classifier.cpp

@@ -9,12 +9,13 @@ enum PhaseFixLevels {
 };
 
 CyclePhaseClassifier::CyclePhaseClassifier()
- : prev_full_cycle_idx_(0)
- , phase_history_(0)
+ : prev_full_cycle_idx_()
+ , phase_history_()
  , fix_level_(kPhaseFixNone)
- , phase_shift_(0)
- , pulse_base_len_(0.0)
- , bits_()
+ , phase_shift_()
+ , pulse_base_len_()
+ , bits_{}
+ , average_error_()
  , debug_print_state_(false) {
  reset();
 }

src/data_frame_decoder.cpp

@@ -10,7 +10,7 @@ DataFrameDecoder::DataFrameDecoder(uint32_t base_station_idx)
  , cur_bit_idx_(0)
  , data_idx_(0)
  , data_frame_len_(0)
- , data_frame_() {
+ , data_frame_{} {
 }
 
 void DataFrameDecoder::consume(const DataFrameBit& frame_bit) {

src/primitives/timestamp.h

@@ -17,6 +17,8 @@ class TimeDelta {
  // Constructors
  constexpr TimeDelta(): time_delta_(0) {} // Default constructor to make it possible to include it in structs.
  constexpr TimeDelta(int val, TimeUnit tu): time_delta_(val * tu) {} // Main way to create TimeDelta: value and TimeUnit.
+ constexpr TimeDelta(const TimeDelta& other) = default;
+ constexpr TimeDelta& operator=(const TimeDelta& other) = default;
 
  constexpr int get_value(TimeUnit tu) const { return time_delta_ / tu; }
 
@@ -59,8 +61,8 @@ class Timestamp {
 public:
  // Constructors.
  constexpr Timestamp(): time_(0) {} // Default constructor. We need it to be able to keep Timestamp in structs.
- constexpr Timestamp(const Timestamp& other): time_(other.time_) {}
- inline Timestamp& operator=(const Timestamp& other) { time_ = other.time_; return *this; }
+ constexpr Timestamp(const Timestamp& other) = default;
+ constexpr Timestamp& operator=(const Timestamp& other) = default;
 
  // Get adjusted value of this timestamp in provided time unit. 
  // We try to "extend" the value outside of regular period of timestamp using current time in millis.

src/primitives/vector.h

@@ -1,14 +1,17 @@
 // Simple version of vector with dynamic length, but fixed capacity.
 // Only compatible with value or POD types, not classes (it doesn't do construction/destruction).
 #pragma once
+#include <type_traits>
 #include <assert.h>
 
 // Type T, Capacity C.
 template<typename T, unsigned C> 
 class Vector {
  static_assert(C > 0, "Please provide positive capacity");
+ static_assert(std::is_trivially_destructible<T>(), "Vector only works on simple types");
+ static_assert(std::is_trivially_copyable<T>(), "Vector only works on simple types");
 public:
- Vector(): size_(0) {}
+ Vector() : size_{} {}
  inline unsigned long size() const { return size_; }
  inline unsigned long max_size() const { return C; }
  inline bool empty() const { return size_ == 0; }

src/pulse_processor.cpp

@@ -26,7 +26,11 @@ PulseProcessor::PulseProcessor(uint32_t num_inputs)
  : num_inputs_(num_inputs)
  , cycle_fix_level_(0)
  , cycle_idx_(0)
- , angles_frame_()
+ , cycle_long_pulses_{}
+ , cycle_short_pulses_{}
+ , unclassified_long_pulses_{}
+ , phase_classifier_{}
+ , angles_frame_{}
  , time_from_last_long_pulse_(0, usec)
  , debug_print_state_(false) {
  angles_frame_.sensors.set_size(num_inputs);

src/settings.cpp

@@ -19,7 +19,11 @@ b1 origin 1.718700 2.543170 0.725060 matrix 0.458350 -0.649590 0.606590 0.028970
 
 PersistentSettings settings;
 
-PersistentSettings::PersistentSettings() : is_configured_(false) {
+PersistentSettings::PersistentSettings() 
+ : is_configured_(false)
+ , inputs_{}
+ , base_stations_{}
+ , geo_builders_{} {
  read_from_eeprom();
 }
 

src/settings.h

@@ -5,8 +5,6 @@
 #include <type_traits>
 
 class PersistentSettings {
- static_assert(std::is_pod<InputDef>(), "InputDef must be POD");
- static_assert(std::is_pod<BaseStationGeometryDef>(), "BaseStationGeometryDef must be POD");
 public:
  // Data accessors
  inline const Vector<InputDef, max_num_inputs> &inputs() const { return inputs_; }
@@ -39,6 +37,9 @@ class PersistentSettings {
 };
 
 static_assert(sizeof(PersistentSettings) < 1500, "PersistentSettings must fit into eeprom");
+static_assert(std::is_trivially_copyable<InputDef>(), "InputDef must be trivially copyable type");
+static_assert(std::is_trivially_copyable<BaseStationGeometryDef>(), "BaseStationGeometryDef must be trivially copyable type");
+static_assert(std::is_trivially_copyable<GeometryBuilderDef>(), "GeometryBuilderDef must be trivially copyable type");
 
 // Singleton to access current settings.
 extern PersistentSettings settings;

src/vive_sensors_pipeline.cpp

@@ -24,7 +24,7 @@ std::unique_ptr<Pipeline> create_vive_sensor_pipeline(const PersistentSettings &
  auto pulse_processor = pipeline->emplace_back(std::make_unique<PulseProcessor>(settings.inputs().size()));
 
  // Create input nodes as configured.
- Vector<InputNode *, max_num_inputs> input_nodes;
+ Vector<InputNode *, max_num_inputs> input_nodes{};
  for (uint32_t input_idx = 0; input_idx < settings.inputs().size(); input_idx++) {
  auto input_def = settings.inputs()[input_idx];
  auto input_node = pipeline->emplace_front(InputNode::create(input_idx, input_def));
@@ -33,7 +33,7 @@ std::unique_ptr<Pipeline> create_vive_sensor_pipeline(const PersistentSettings &
  } 
 
  // Create geometry builders as configured.
- Vector<GeometryBuilder *, max_num_inputs> geometry_builders;
+ Vector<GeometryBuilder *, max_num_inputs> geometry_builders{};
  if (settings.geo_builders().size() > 0 && settings.base_stations().size() != 2)
  throw_printf("2 base stations must be defined to use geometry builders.");