Micro refactoring

Author: ClemensElflein

src/drivers/input/gpio_input_driver.cpp

@@ -11,7 +11,7 @@ namespace xbot::driver::input {
 
 bool GpioInputDriver::OnInputConfigValue(lwjson_stream_parser_t* jsp, const char* key, lwjson_stream_type_t type,
                                          Input& input) {
-  auto& gpio_input = reinterpret_cast<GpioInput&>(input);
+  auto& gpio_input = static_cast<GpioInput&>(input);
   if (strcmp(key, "line") == 0) {
     JsonExpectType(STRING);
     gpio_input.line = GetIoLineByName(jsp->data.str.buff);

src/drivers/input/input_driver.cpp

@@ -9,7 +9,7 @@ bool Input::Update(bool new_active) {
   bool expected = !new_active;
   if (active.compare_exchange_strong(expected, new_active)) {
     if (new_active) {
-      active_since = system::getTimeMicros();
+      active_since = xbot::service::system::getTimeMicros();
     }
     input_service.OnInputChanged(*this);
     chEvtBroadcastFlags(&mower_events, MowerEvents::INPUTS_CHANGED);

src/drivers/input/input_driver.hpp

@@ -24,7 +24,7 @@ struct Input {
   bool Update(bool new_active);
 
   uint32_t ActiveDuration() const {
-    return service::system::getTimeMicros() - active_since;
+    return xbot::service::system::getTimeMicros() - active_since;
   }
 
  private:

src/drivers/input/worx_input_driver.cpp

@@ -27,7 +27,7 @@ static const etl::flat_map<etl::string<13>, uint8_t, 8> INPUT_BITS = {
 
 bool WorxInputDriver::OnInputConfigValue(lwjson_stream_parser_t* jsp, const char* key, lwjson_stream_type_t type,
                                          Input& input) {
-  auto& worx_input = reinterpret_cast<WorxInput&>(input);
+  auto& worx_input = static_cast<WorxInput&>(input);
   if (strcmp(key, "id") == 0) {
     JsonExpectType(STRING);
     decltype(INPUT_BITS)::key_type input_id{jsp->data.str.buff};

src/services/input_service/input_service.cpp

@@ -190,8 +190,7 @@ void InputService::OnInputChanged(Input& input) {
 
 void InputService::OnSimulatedInputsChanged([[maybe_unused]] const uint64_t& new_value) {
 #ifdef DEBUG_BUILD
-  if (auto* simulated_driver = dynamic_cast<SimulatedInputDriver*>(drivers_.find("simulated")->second)) {
-    simulated_driver->SetActiveInputs(new_value);
-  }
+  auto* simulated_driver = static_cast<SimulatedInputDriver*>(drivers_.find("simulated")->second);
+  simulated_driver->SetActiveInputs(new_value);
 #endif
 }

src/services/input_service/input_service.hpp

@@ -24,7 +24,7 @@ class InputService : public InputServiceBase {
     drivers_.emplace(id, driver);
   }
 
-  [[nodiscard]] const etl::ivector<Input*>& GetAllInputs() const {
+  const etl::ivector<Input*>& GetAllInputs() const {
     return all_inputs_;
   }