From 93e365a97a85b2310e90f7b49adbe632c3aa85ea Mon Sep 17 00:00:00 2001
From: Felix Erdmann <hello@felixerdmann.com>
Date: Thu, 6 Jun 2024 14:55:08 +0200
Subject: [PATCH 1/4] chore: rewrite basesensor to superclass

---
 .../boards/sensebox_mcu_esp32s2.json          |  55 -------
 senseBox-bike-atrai-v2/platformio.ini         |   7 +-
 senseBox-bike-atrai-v2/src/main.cpp           |  21 ++-
 .../AccelerationSensor/AccelerationSensor.cpp |  83 +++--------
 .../AccelerationSensor/AccelerationSensor.h   |  22 +--
 .../src/sensors/BaseSensor.cpp                |  49 +++++++
 .../src/sensors/BaseSensor.h                  |  35 +++++
 .../sensors/DistanceSensor/DistanceSensor.cpp | 101 ++++---------
 .../sensors/DistanceSensor/DistanceSensor.h   |  29 ++--
 .../src/sensors/DustSensor/DustSensor.cpp     | 138 +++++++-----------
 .../src/sensors/DustSensor/DustSensor.h       |  24 ++-
 .../src/sensors/SampleSensor/SampleSensor.cpp |  37 +++++
 .../src/sensors/SampleSensor/SampleSensor.h   |  19 +++
 senseBox-bike-atrai-v2/src/sensors/Sensor.cpp |   6 -
 senseBox-bike-atrai-v2/src/sensors/Sensor.h   |  27 ----
 .../TempHumiditySensor/TempHumiditySensor.cpp |  79 +++-------
 .../TempHumiditySensor/TempHumiditySensor.h   |  25 +---
 17 files changed, 303 insertions(+), 454 deletions(-)
 delete mode 100644 senseBox-bike-atrai-v2/boards/sensebox_mcu_esp32s2.json
 create mode 100644 senseBox-bike-atrai-v2/src/sensors/BaseSensor.cpp
 create mode 100644 senseBox-bike-atrai-v2/src/sensors/BaseSensor.h
 create mode 100644 senseBox-bike-atrai-v2/src/sensors/SampleSensor/SampleSensor.cpp
 create mode 100644 senseBox-bike-atrai-v2/src/sensors/SampleSensor/SampleSensor.h
 delete mode 100644 senseBox-bike-atrai-v2/src/sensors/Sensor.cpp
 delete mode 100644 senseBox-bike-atrai-v2/src/sensors/Sensor.h

diff --git a/senseBox-bike-atrai-v2/boards/sensebox_mcu_esp32s2.json b/senseBox-bike-atrai-v2/boards/sensebox_mcu_esp32s2.json
deleted file mode 100644
index c031fa6..0000000
--- a/senseBox-bike-atrai-v2/boards/sensebox_mcu_esp32s2.json
+++ /dev/null
@@ -1,55 +0,0 @@
-{
-    "build": {
-      "arduino":{
-        "ldscript": "esp32_out.ld"
-      },
-      "core": "esp32",
-      "extra_flags": [
-        "-DARDUINO_SENSEBOX_MCU_ESP32S2",
-        "-DARDUINO_USB_CDC_ON_BOOT=1",
-        "-DBOARD_HAS_PSRAM",
-        "-DARDUINO_USB_MSC_ON_BOOT=1"
-      ],
-      "f_cpu": "240000000L",
-      "f_flash": "80000000L",
-      "hwids": [
-        [
-          "0x303A",
-          "0x81B8"
-        ],
-        [
-          "0x303A",
-          "0x81B9"
-        ],
-        [
-          "0x303A",
-          "0x81BA"
-        ]
-      ],
-      "flash_mode": "qio",
-      "mcu": "esp32s2",
-      "variant": "sensebox_mcu_esp32s2"
-    },
-    "connectivity": [
-      "wifi"
-    ],
-    "debug": {
-      "openocd_target": "esp32s2.cfg"
-    },
-    "frameworks": [
-      "arduino",
-      "espidf"
-    ],
-    "name": "senseBox MCU S2",
-    "upload": {
-      "flash_size": "4MB",
-      "maximum_ram_size": 327680,
-      "maximum_size": 4194304,
-      "use_1200bps_touch": true,
-      "wait_for_upload_port": true,
-      "require_upload_port": true,
-      "speed": 460800
-    },
-    "vendor": "senseBox",
-    "url": "https://sensebox.de/"
-  }
\ No newline at end of file
diff --git a/senseBox-bike-atrai-v2/platformio.ini b/senseBox-bike-atrai-v2/platformio.ini
index 13a1d78..d733dd5 100644
--- a/senseBox-bike-atrai-v2/platformio.ini
+++ b/senseBox-bike-atrai-v2/platformio.ini
@@ -11,12 +11,8 @@
 [env:sensebox_mcu_esp32s2]
 platform = espressif32
 board = sensebox_mcu_esp32s2
-platform_packages = 
-	platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#2.0.17
+platform_packages = platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#2.0.17
 framework = arduino
-build = 
-	include_dir = lib/sensors
-lib_ldf_mode = deep
 lib_deps = 
 	adafruit/Adafruit SSD1306 @ ^2.5.10
 	adafruit/Adafruit HDC1000 Library@^2.0.2
@@ -26,3 +22,4 @@ lib_deps =
 	stm32duino/STM32duino VL53L8CX@^1.0.3
 	adafruit/Adafruit MPU6050@^2.2.6
 	sensebox/SenseBoxBLE@^1.1.0
+	adafruit/Adafruit NeoPixel@^1.12.2
diff --git a/senseBox-bike-atrai-v2/src/main.cpp b/senseBox-bike-atrai-v2/src/main.cpp
index f178a16..07f9824 100644
--- a/senseBox-bike-atrai-v2/src/main.cpp
+++ b/senseBox-bike-atrai-v2/src/main.cpp
@@ -1,6 +1,4 @@
 #include <Arduino.h>
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
 #include "sensors/TempHumiditySensor/TempHumiditySensor.h"
 #include "sensors/DustSensor/DustSensor.h"
 #include "sensors/DistanceSensor/DistanceSensor.h"
@@ -8,8 +6,10 @@
 #include "display/Display.h"
 #include "ble/BLEModule.h"
 
-TempHumiditySensor tempHumiditySensor;
+#include "Adafruit_NeoPixel.h"
+
 DustSensor dustSensor;
+TempHumiditySensor tempHumiditySensor;
 DistanceSensor distanceSensor;
 AccelerationSensor accelerationSensor;
 
@@ -17,10 +17,17 @@ SBDisplay display;
 
 BLEModule bleModule;
 
+Adafruit_NeoPixel rgb_led = Adafruit_NeoPixel(1, 1, NEO_GRB + NEO_KHZ800);
+
 void setup()
 {
     Serial.begin(115200);
     delay(1000);
+
+    rgb_led.begin();
+
+    rgb_led.setBrightness(30);
+
     SBDisplay::begin();
 
     pinMode(IO_ENABLE, OUTPUT);
@@ -58,8 +65,8 @@ void setup()
     //     Serial.printf("DustSensor [%s]\n", uuid.c_str());
     //   }, "UUID-Dust");
 
-    // distanceSensor.subscribe([](String uuid, std::vector<float> values)
-    //                          { Serial.printf("DistanceSensor [%s]: %.2f\n", uuid.c_str(), values[0]); });
+    // distanceSensor.subscribe([](std::vector<float> values)
+    //                          { Serial.printf("DistanceSensor [%s]: %.2f\n", values[0]); });
 
     // accelerationSensor.subscribe([](String uuid, std::vector<float> values)
     //                              {
@@ -68,13 +75,13 @@ void setup()
     //                             float z = values[2];
     //                             Serial.printf("Acceleration [%s]: %.2f, %.2f, %.2f\n", uuid.c_str(), x, y, z); });
 
-    tempHumiditySensor.startSubscription();
     dustSensor.startSubscription();
+    tempHumiditySensor.startSubscription();
     distanceSensor.startSubscription();
     accelerationSensor.startSubscription();
 
-    tempHumiditySensor.startBLE();
     dustSensor.startBLE();
+    tempHumiditySensor.startBLE();
     distanceSensor.startBLE();
     accelerationSensor.startBLE();
 
diff --git a/senseBox-bike-atrai-v2/src/sensors/AccelerationSensor/AccelerationSensor.cpp b/senseBox-bike-atrai-v2/src/sensors/AccelerationSensor/AccelerationSensor.cpp
index 05d0066..6a1b614 100644
--- a/senseBox-bike-atrai-v2/src/sensors/AccelerationSensor/AccelerationSensor.cpp
+++ b/senseBox-bike-atrai-v2/src/sensors/AccelerationSensor/AccelerationSensor.cpp
@@ -1,18 +1,14 @@
 #include "AccelerationSensor.h"
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
 
-#include <Adafruit_MPU6050.h>
+AccelerationSensor::AccelerationSensor() : BaseSensor("accelerationSensorTask", 2048, 100) {}
 
-const String AccelerationSensor::accUUID = "B944AF10F4954560968F2F0D18CAB522";
+String accUUID = "B944AF10F4954560968F2F0D18CAB522";
+int accCharacteristic = 0;
 
 Adafruit_MPU6050 mpu;
 
-int accCharacteristic = 0;
-
-void AccelerationSensor::begin()
+void AccelerationSensor::initSensor()
 {
-
   if (!mpu.begin(0x68, &Wire1))
   {
     Serial.println("MPU6050 Chip wurde nicht gefunden");
@@ -28,75 +24,30 @@ void AccelerationSensor::begin()
   };
 
   accCharacteristic = BLEModule::createCharacteristic(accUUID.c_str());
-
-  sendBLE = false;
-  activeSubscription = true;
-  xTaskCreate(sensorTask, "AccelerationSensorTask", 2048, this, 1, NULL);
-}
-
-void AccelerationSensor::subscribe(std::function<void(String, std::vector<float>)> callback)
-{
-  this->measurementCallback = callback;
 }
 
-void AccelerationSensor::startSubscription()
+void AccelerationSensor::readSensorData()
 {
-  activeSubscription = true;
-}
+  sensors_event_t a, g, temp;
 
-void AccelerationSensor::stopSubscription()
-{
-  activeSubscription = false;
-}
+  mpu.getEvent(&a, &g, &temp);
 
-void AccelerationSensor::startBLE()
-{
-  setBLEStatus(true);
-}
+  float x = a.acceleration.x;
+  float y = a.acceleration.y;
+  float z = a.acceleration.z;
 
-void AccelerationSensor::stopBLE()
-{
-  setBLEStatus(false);
-}
-
-void AccelerationSensor::sensorTask(void *pvParameters)
-{
-  AccelerationSensor *sensor = static_cast<AccelerationSensor *>(pvParameters);
-
-  while (true)
+  if (measurementCallback)
   {
-    if (sensor->activeSubscription)
-    {
-
-      sensors_event_t a, g, temp;
-
-      mpu.getEvent(&a, &g, &temp);
-
-      float x = a.acceleration.x;
-      float y = a.acceleration.y;
-      float z = a.acceleration.z;
-
-      if (sensor->measurementCallback)
-      {
-        sensor->measurementCallback(sensor->uuid, {x, y, z});
-      }
-
-      if (sensor->sendBLE)
-      {
-        sensor->notifyBLE(x, y, z);
-      }
-    }
+    measurementCallback({x, y, z});
+  }
 
-    vTaskDelay(pdMS_TO_TICKS(500));
+  if (sendBLE)
+  {
+    notifyBLE(x, y, z);
   }
 }
 
 void AccelerationSensor::notifyBLE(float x, float y, float z)
 {
-  // print characteristic
-  Serial.print("Acceleration Characteristic: ");
-  Serial.println(accCharacteristic);
-  Serial.printf("Acceleration: x: %f, y: %f, z: %f\n", x, y, z);
-
   BLEModule::writeBLE(accCharacteristic, x, y, z);
-}
+}
\ No newline at end of file
diff --git a/senseBox-bike-atrai-v2/src/sensors/AccelerationSensor/AccelerationSensor.h b/senseBox-bike-atrai-v2/src/sensors/AccelerationSensor/AccelerationSensor.h
index 39697ca..0b0d5fe 100644
--- a/senseBox-bike-atrai-v2/src/sensors/AccelerationSensor/AccelerationSensor.h
+++ b/senseBox-bike-atrai-v2/src/sensors/AccelerationSensor/AccelerationSensor.h
@@ -1,25 +1,17 @@
 #ifndef ACCELERATION_SENSOR_H
 #define ACCELERATION_SENSOR_H
 
-#include "../Sensor.h"
+#include "../BaseSensor.h"
+#include <Adafruit_MPU6050.h>
 
-class AccelerationSensor : public Sensor
+class AccelerationSensor : public BaseSensor
 {
 public:
-  void begin() override;
-  void subscribe(std::function<void(String, std::vector<float>)> callback) override;
-  void startSubscription() override;
-  void stopSubscription() override;
-  void startBLE() override;
-  void stopBLE() override;
+  AccelerationSensor();
 
-private:
-  std::function<void(String, std::vector<float>)> measurementCallback;
-  String uuid;
-
-  static const String accUUID;
-
-  static void sensorTask(void *pvParameters);
+protected:
+  void initSensor() override;
+  void readSensorData() override;
   void notifyBLE(float x, float y, float z);
 };
 
diff --git a/senseBox-bike-atrai-v2/src/sensors/BaseSensor.cpp b/senseBox-bike-atrai-v2/src/sensors/BaseSensor.cpp
new file mode 100644
index 0000000..0f84044
--- /dev/null
+++ b/senseBox-bike-atrai-v2/src/sensors/BaseSensor.cpp
@@ -0,0 +1,49 @@
+#include "BaseSensor.h"
+
+BaseSensor::BaseSensor(const char *taskName, uint32_t taskStackSize, uint32_t taskDelay)
+    : activeSubscription(false), sendBLE(false), taskStackSize(taskStackSize), taskDelay(taskDelay) {}
+
+void BaseSensor::begin()
+{
+    initSensor();
+    delay(1000);
+    xTaskCreate(sensorTask, taskName, taskStackSize, this, 1, NULL);
+}
+
+void BaseSensor::subscribe(std::function<void(std::vector<float>)> callback)
+{
+    this->measurementCallback = callback;
+}
+
+void BaseSensor::startSubscription()
+{
+    activeSubscription = true;
+}
+
+void BaseSensor::stopSubscription()
+{
+    activeSubscription = false;
+}
+
+void BaseSensor::startBLE()
+{
+    sendBLE = true;
+}
+
+void BaseSensor::stopBLE()
+{
+    sendBLE = false;
+}
+
+void BaseSensor::sensorTask(void *pvParameters)
+{
+    BaseSensor *sensor = static_cast<BaseSensor *>(pvParameters);
+    while (true)
+    {
+        if (sensor->activeSubscription)
+        {
+            sensor->readSensorData();
+        }
+        vTaskDelay(pdMS_TO_TICKS(sensor->taskDelay));
+    }
+}
\ No newline at end of file
diff --git a/senseBox-bike-atrai-v2/src/sensors/BaseSensor.h b/senseBox-bike-atrai-v2/src/sensors/BaseSensor.h
new file mode 100644
index 0000000..912e07f
--- /dev/null
+++ b/senseBox-bike-atrai-v2/src/sensors/BaseSensor.h
@@ -0,0 +1,35 @@
+#ifndef BASESENSOR_H
+#define BASESENSOR_H
+
+#include <Arduino.h>
+#include <functional>
+#include <vector>
+#include "../ble/BLEModule.h"
+
+class BaseSensor
+{
+public:
+    BaseSensor(const char *taskName, uint32_t taskStackSize = 8192, uint32_t taskDelay = 1000);
+
+    void begin();
+    void subscribe(std::function<void(std::vector<float>)> callback);
+    void startSubscription();
+    void stopSubscription();
+    void startBLE();
+    void stopBLE();
+
+protected:
+    virtual void initSensor() = 0;
+    virtual void readSensorData() = 0;
+    static void sensorTask(void *pvParameters);
+    bool activeSubscription;
+    bool sendBLE;
+    std::function<void(std::vector<float>)> measurementCallback;
+
+private:
+    const char *taskName;
+    uint32_t taskStackSize;
+    uint32_t taskDelay;
+};
+
+#endif // BASESENSOR_H
diff --git a/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.cpp b/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.cpp
index 712100d..6312412 100644
--- a/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.cpp
+++ b/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.cpp
@@ -1,104 +1,59 @@
 #include "DistanceSensor.h"
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
 
-#include <vl53l8cx_class.h>
+DistanceSensor::DistanceSensor() : BaseSensor("distanceTask", 8192, 100) {}
 
-const String DistanceSensor::distanceUUID = "B3491B60C0F34306A30D49C91F37A62B";
+String distanceUUID = "B3491B60C0F34306A30D49C91F37A62B";
+int distanceCharacteristic = 0;
 
 VL53L8CX sensor_vl53l8cx_top(&Wire, -1, -1);
 
-int distanceCharacteristic = 0;
-
-void DistanceSensor::begin()
+void DistanceSensor::initSensor()
 {
-  Wire.begin();
-  Wire.setClock(1000000); // Sensor has max I2C freq of 1MHz
-  sensor_vl53l8cx_top.begin();
   sensor_vl53l8cx_top.init_sensor();
   sensor_vl53l8cx_top.vl53l8cx_set_ranging_frequency_hz(30);
   sensor_vl53l8cx_top.vl53l8cx_set_resolution(VL53L8CX_RESOLUTION_8X8);
   sensor_vl53l8cx_top.vl53l8cx_start_ranging();
 
   distanceCharacteristic = BLEModule::createCharacteristic(distanceUUID.c_str());
-
-  sendBLE = false;
-  activeSubscription = true;
-  xTaskCreate(sensorTask, "DistanceSensorTask", 8192, this, 1, NULL);
 }
 
-void DistanceSensor::subscribe(std::function<void(String, std::vector<float>)> callback)
+void DistanceSensor::readSensorData()
 {
-  this->measurementCallback = callback;
-}
-
-void DistanceSensor::startSubscription()
-{
-  activeSubscription = true;
-}
-
-void DistanceSensor::stopSubscription()
-{
-  activeSubscription = false;
-}
-
-void DistanceSensor::startBLE()
-{
-  setBLEStatus(true);
-}
-
-void DistanceSensor::stopBLE()
-{
-  setBLEStatus(false);
-}
-
-void DistanceSensor::sensorTask(void *pvParameters)
-{
-  DistanceSensor *sensor = static_cast<DistanceSensor *>(pvParameters);
+  Serial.println("Reading distance sensor data...");
 
   VL53L8CX_ResultsData Results;
   uint8_t NewDataReady = 0;
-  uint8_t status;
+  uint8_t status = sensor_vl53l8cx_top.vl53l8cx_check_data_ready(&NewDataReady);
 
-  while (true)
+  float distance = -1.0;
+
+  if ((!status) && (NewDataReady != 0))
   {
-    if (sensor->activeSubscription)
+    sensor_vl53l8cx_top.vl53l8cx_get_ranging_data(&Results);
+    float min = 10000.0;
+    for (int i = 0; i < VL53L8CX_RESOLUTION_8X8 * VL53L8CX_NB_TARGET_PER_ZONE; i++)
     {
-      float oldVl53l8cxMin = -1.0;
-      status = sensor_vl53l8cx_top.vl53l8cx_check_data_ready(&NewDataReady);
-
-      if ((!status) && (NewDataReady != 0))
+      if (Results.target_status[i] != 255)
       {
-        sensor_vl53l8cx_top.vl53l8cx_get_ranging_data(&Results);
-        float min = 10000.0;
-        for (int i = 0; i < VL53L8CX_RESOLUTION_8X8 * VL53L8CX_NB_TARGET_PER_ZONE; i++)
+        float distance = Results.distance_mm[i];
+        if (min > distance)
         {
-          if ((&Results)->target_status[i] != 255)
-          {
-            float distance = (&Results)->distance_mm[i];
-            if (min > distance)
-            {
-              min = distance;
-            }
-          }
+          min = distance;
         }
-        oldVl53l8cxMin = (min == 10000.0) ? 0.0 : min;
-      }
-
-      float distance = oldVl53l8cxMin / 10.0;
-
-      if (sensor->measurementCallback)
-      {
-        sensor->measurementCallback(sensor->uuid, {distance});
-      }
-
-      if (sensor->sendBLE)
-      {
-        sensor->notifyBLE(distance);
       }
     }
+    distance = (min == 10000.0) ? 0.0 : min / 10.0;
+    Serial.printf("Distance: %.2f cm\n", distance);
+  }
 
-    vTaskDelay(pdMS_TO_TICKS(1000));
+  if (measurementCallback)
+  {
+    measurementCallback({distance});
+  }
+
+  if (sendBLE)
+  {
+    notifyBLE(distance);
   }
 }
 
diff --git a/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.h b/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.h
index 801484f..62da62a 100644
--- a/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.h
+++ b/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.h
@@ -1,26 +1,19 @@
-#ifndef DISTANCE_SENSOR_H
-#define DISTANCE_SENSOR_H
+#ifndef DISTANCESENSOR_H
+#define DISTANCESENSOR_H
 
-#include "../Sensor.h"
+#include "../BaseSensor.h"
+#include <Wire.h>
+#include <vl53l8cx_class.h>
 
-class DistanceSensor : public Sensor
+class DistanceSensor : public BaseSensor
 {
 public:
-  void begin() override;
-  void subscribe(std::function<void(String, std::vector<float>)> callback) override;
-  void startSubscription() override;
-  void stopSubscription() override;
-  void startBLE() override;
-  void stopBLE() override;
+  DistanceSensor();
 
-private:
-  std::function<void(String, std::vector<float>)> measurementCallback;
-  String uuid;
-
-  static const String distanceUUID;
-
-  static void sensorTask(void *pvParameters);
+protected:
+  void initSensor() override;
+  void readSensorData() override;
   void notifyBLE(float distance);
 };
 
-#endif // DISTANCE_SENSOR_H
+#endif // DISTANCESENSOR_H
diff --git a/senseBox-bike-atrai-v2/src/sensors/DustSensor/DustSensor.cpp b/senseBox-bike-atrai-v2/src/sensors/DustSensor/DustSensor.cpp
index 9e851f2..76e7e2e 100644
--- a/senseBox-bike-atrai-v2/src/sensors/DustSensor/DustSensor.cpp
+++ b/senseBox-bike-atrai-v2/src/sensors/DustSensor/DustSensor.cpp
@@ -1,19 +1,20 @@
 #include "DustSensor.h"
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
-#include <sps30.h>
 
-const String DustSensor::pmUUID = "7E14E07084EA489FB45AE1317364B979";
+DustSensor::DustSensor() : BaseSensor("DustSensorTask", 2048, 1000) {}
 
+String dustUUID = "7E14E07084EA489FB45AE1317364B979";
 int dustCharacteristic = 0;
 
-void DustSensor::begin()
+// add more if needed
+
+void DustSensor::initSensor()
 {
   int16_t ret;
   uint8_t auto_clean_days = 4;
   uint32_t auto_clean;
 
-  Serial.println("Dust Setup");
+  Serial.begin(9600);
+  delay(2000);
 
   sensirion_i2c_init();
 
@@ -23,6 +24,8 @@ void DustSensor::begin()
     delay(500);
   }
 
+  Serial.print("SPS sensor probing successful\n");
+
   ret = sps30_set_fan_auto_cleaning_interval_days(auto_clean_days);
   if (ret)
   {
@@ -36,100 +39,59 @@ void DustSensor::begin()
     Serial.print("error starting measurement\n");
   }
 
-  dustCharacteristic = BLEModule::createCharacteristic(pmUUID.c_str());
-
-  sendBLE = false;
-  activeSubscription = true;
-
-  xTaskCreate(sensorTask, "DustSensorTask", 2048, this, 1, NULL);
-}
-
-void DustSensor::subscribe(std::function<void(String, std::vector<float>)> callback)
-{
-  this->measurementCallback = callback;
-}
+  Serial.print("measurements started\n");
 
-void DustSensor::startSubscription()
-{
-  activeSubscription = true;
-}
-
-void DustSensor::stopSubscription()
-{
-  activeSubscription = false;
-}
-
-void DustSensor::startBLE()
-{
-  setBLEStatus(true);
+  dustCharacteristic = BLEModule::createCharacteristic(dustUUID.c_str());
 }
 
-void DustSensor::stopBLE()
+void DustSensor::readSensorData()
 {
-  setBLEStatus(false);
-}
-
-void DustSensor::sensorTask(void *pvParameters)
-{
-  DustSensor *sensor = static_cast<DustSensor *>(pvParameters);
+  struct sps30_measurement m;
+  char serial[SPS30_MAX_SERIAL_LEN];
+  uint16_t data_ready;
+  int16_t ret;
 
-  while (true)
+  do
   {
-    if (sensor->activeSubscription)
+    ret = sps30_read_data_ready(&data_ready);
+    if (ret < 0)
     {
+      Serial.print("error reading data-ready flag: ");
+      Serial.println(ret);
+    }
+    else if (!data_ready)
+      Serial.print("data not ready, no new measurement available\n");
+    else
+      break;
+    delay(100); /* retry in 100ms */
+  } while (1);
+
+  ret = sps30_read_measurement(&m);
+  if (ret < 0)
+  {
+    Serial.print("error reading measurement\n");
+  }
+  else
+  {
 
-      struct sps30_measurement m;
-      char serial[SPS30_MAX_SERIAL_LEN];
-      uint16_t data_ready;
-      int16_t ret;
-
-      do
-      {
-        ret = sps30_read_data_ready(&data_ready);
-        if (ret < 0)
-        {
-          Serial.print("error reading data-ready flag: ");
-          Serial.println(ret);
-        }
-        else if (!data_ready)
-          Serial.print("data not ready, no new measurement available\n");
-        else
-          break;
-        delay(100); /* retry in 100ms */
-      } while (1);
-
-      ret = sps30_read_measurement(&m);
-      if (ret < 0)
-      {
-        Serial.print("error reading measurement\n");
-      }
-      else
-      {
-        float pm1 = m.mc_1p0;
-        float pm2_5 = m.mc_2p5;
-        float pm4 = m.mc_4p0;
-        float pm10 = m.mc_10p0;
-
-        if (sensor->measurementCallback)
-        {
-          sensor->measurementCallback(sensor->uuid, {pm1, pm2_5, pm4, pm10});
-        }
-
-        if (sensor->sendBLE)
-        {
-          sensor->notifyBLE(pm1, pm2_5, pm4, pm10);
-        }
-      }
+    float pm1 = m.mc_1p0;
+    float pm2_5 = m.mc_2p5;
+    float pm4 = m.mc_4p0;
+    float pm10 = m.mc_10p0;
+
+    if (measurementCallback)
+    {
+      measurementCallback({pm1, pm2_5, pm4, pm10});
     }
 
-    vTaskDelay(pdMS_TO_TICKS(2000));
+    if (sendBLE)
+    {
+      notifyBLE(pm1, pm2_5, pm4, pm10);
+    }
   }
 }
 
 void DustSensor::notifyBLE(float pm1, float pm2_5, float pm4, float pm10)
 {
-  Serial.print("Dust Characteristic: ");
-  Serial.println(dustCharacteristic);
-  Serial.printf("Dust: PM1: %f, PM2.5: %f, PM4: %f, PM10: %f\n", pm1, pm2_5, pm4, pm10);
-  BLEModule::writeBLE(characteristicId, pm1, pm2_5, pm4, pm10);
-}
+  BLEModule::writeBLE(dustCharacteristic, pm1, pm2_5, pm4, pm10);
+}
\ No newline at end of file
diff --git a/senseBox-bike-atrai-v2/src/sensors/DustSensor/DustSensor.h b/senseBox-bike-atrai-v2/src/sensors/DustSensor/DustSensor.h
index 0e6e89b..2dea590 100644
--- a/senseBox-bike-atrai-v2/src/sensors/DustSensor/DustSensor.h
+++ b/senseBox-bike-atrai-v2/src/sensors/DustSensor/DustSensor.h
@@ -1,25 +1,19 @@
 #ifndef DUST_SENSOR_H
 #define DUST_SENSOR_H
 
-#include "../Sensor.h"
+#include "../BaseSensor.h"
+#include <sps30.h>
 
-class DustSensor : public Sensor
+// include necceary libraries
+
+class DustSensor : public BaseSensor
 {
 public:
-  void begin() override;
-  void subscribe(std::function<void(String, std::vector<float>)> callback) override;
-  void startSubscription() override;
-  void stopSubscription() override;
-  void startBLE() override;
-  void stopBLE() override;
-
-private:
-  std::function<void(String, std::vector<float>)> measurementCallback;
-  String uuid;
-
-  static const String pmUUID;
+  DustSensor();
 
-  static void sensorTask(void *pvParameters);
+protected:
+  void initSensor() override;
+  void readSensorData() override;
   void notifyBLE(float pm1, float pm2_5, float pm4, float pm10);
 };
 
diff --git a/senseBox-bike-atrai-v2/src/sensors/SampleSensor/SampleSensor.cpp b/senseBox-bike-atrai-v2/src/sensors/SampleSensor/SampleSensor.cpp
new file mode 100644
index 0000000..9838781
--- /dev/null
+++ b/senseBox-bike-atrai-v2/src/sensors/SampleSensor/SampleSensor.cpp
@@ -0,0 +1,37 @@
+#include "SampleSensor.h"
+
+SampleSensor::SampleSensor() : BaseSensor("sampleSensorTask", 2048, 1000) {}
+
+String sampleUUID = "00000000000000000";
+int sampleCharacteristic = 0;
+
+// add more if needed
+
+void SampleSensor::initSensor()
+{
+  // init sensor
+
+  sampleCharacteristic = BLEModule::createCharacteristic(sampleUUID.c_str());
+  // add more if needed
+}
+
+void SampleSensor::readSensorData()
+{
+  float sampleValue = 0.0;
+  // read sensor data
+
+  if (measurementCallback)
+  {
+    measurementCallback({sampleValue});
+  }
+
+  if (sendBLE)
+  {
+    notifyBLE(sampleValue);
+  }
+}
+
+void SampleSensor::notifyBLE(float sampleValue)
+{
+  BLEModule::writeBLE(sampleCharacteristic, sampleValue);
+}
\ No newline at end of file
diff --git a/senseBox-bike-atrai-v2/src/sensors/SampleSensor/SampleSensor.h b/senseBox-bike-atrai-v2/src/sensors/SampleSensor/SampleSensor.h
new file mode 100644
index 0000000..3cf5676
--- /dev/null
+++ b/senseBox-bike-atrai-v2/src/sensors/SampleSensor/SampleSensor.h
@@ -0,0 +1,19 @@
+#ifndef SAMPLE_SENSOR_H
+#define SAMPLE_SENSOR_H
+
+#include "../BaseSensor.h"
+
+// include necceary libraries
+
+class SampleSensor : public BaseSensor
+{
+public:
+  SampleSensor();
+
+protected:
+  void initSensor() override;
+  void readSensorData() override;
+  void notifyBLE(float sampleValue); // change this to match the data type of the sensor data
+};
+
+#endif // SAMPLE_SENSOR_H
diff --git a/senseBox-bike-atrai-v2/src/sensors/Sensor.cpp b/senseBox-bike-atrai-v2/src/sensors/Sensor.cpp
deleted file mode 100644
index 6b9a34a..0000000
--- a/senseBox-bike-atrai-v2/src/sensors/Sensor.cpp
+++ /dev/null
@@ -1,6 +0,0 @@
-#include "Sensor.h"
-
-void Sensor::setBLEStatus(bool status)
-{
-  sendBLE = status;
-}
diff --git a/senseBox-bike-atrai-v2/src/sensors/Sensor.h b/senseBox-bike-atrai-v2/src/sensors/Sensor.h
deleted file mode 100644
index b7570a7..0000000
--- a/senseBox-bike-atrai-v2/src/sensors/Sensor.h
+++ /dev/null
@@ -1,27 +0,0 @@
-#ifndef SENSOR_H
-#define SENSOR_H
-
-#include <Arduino.h>
-#include <functional>
-#include <vector>
-#include "../ble/BLEModule.h"
-
-class Sensor
-{
-public:
-  virtual void begin() = 0;
-  virtual void subscribe(std::function<void(String, std::vector<float>)> callback) = 0;
-  virtual void startSubscription() = 0;
-  virtual void stopSubscription() = 0;
-  virtual void startBLE() = 0;
-  virtual void stopBLE() = 0;
-
-protected:
-  bool sendBLE;
-  bool activeSubscription;
-
-  int characteristicId;
-  void setBLEStatus(bool status);
-};
-
-#endif // SENSOR_H
diff --git a/senseBox-bike-atrai-v2/src/sensors/TempHumiditySensor/TempHumiditySensor.cpp b/senseBox-bike-atrai-v2/src/sensors/TempHumiditySensor/TempHumiditySensor.cpp
index edbfd19..6972c5e 100644
--- a/senseBox-bike-atrai-v2/src/sensors/TempHumiditySensor/TempHumiditySensor.cpp
+++ b/senseBox-bike-atrai-v2/src/sensors/TempHumiditySensor/TempHumiditySensor.cpp
@@ -1,18 +1,16 @@
 #include "TempHumiditySensor.h"
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
 
-#include "Adafruit_HDC1000.h"
+TempHumiditySensor::TempHumiditySensor() : BaseSensor("temperatureHumidityTask", 2048, 1000) {}
 
-const String TempHumiditySensor::tempUUID = "2CDF217435BEFDC44CA26FD173F8B3A8";
-const String TempHumiditySensor::humUUID = "772DF7EC8CDC4EA986AF410ABE0BA257";
+String tempUUID = "2CDF217435BEFDC44CA26FD173F8B3A8";
+String humUUID = "772DF7EC8CDC4EA986AF410ABE0BA257";
 
 int temperatureCharacteristic = 0;
 int humidityCharacteristic = 0;
 
-Adafruit_HDC1000 hdc = Adafruit_HDC1000();
+Adafruit_HDC1000 hdc;
 
-void TempHumiditySensor::begin()
+void TempHumiditySensor::initSensor()
 {
   if (!hdc.begin())
   {
@@ -23,69 +21,26 @@ void TempHumiditySensor::begin()
 
   temperatureCharacteristic = BLEModule::createCharacteristic(tempUUID.c_str());
   humidityCharacteristic = BLEModule::createCharacteristic(humUUID.c_str());
-
-  sendBLE = false;
-  activeSubscription = true;
-  xTaskCreate(sensorTask, "TempHumiditySensorTask", 2048, this, 1, NULL);
-}
-
-void TempHumiditySensor::subscribe(std::function<void(String, std::vector<float>)> callback)
-{
-  this->measurementCallback = callback;
-}
-
-void TempHumiditySensor::startSubscription()
-{
-  activeSubscription = true;
-}
-
-void TempHumiditySensor::stopSubscription()
-{
-  activeSubscription = false;
-}
-
-void TempHumiditySensor::startBLE()
-{
-  setBLEStatus(true);
-}
-
-void TempHumiditySensor::stopBLE()
-{
-  setBLEStatus(false);
 }
 
-void TempHumiditySensor::sensorTask(void *pvParameters)
+void TempHumiditySensor::readSensorData()
 {
-  TempHumiditySensor *sensor = static_cast<TempHumiditySensor *>(pvParameters);
+  float temperature = hdc.readTemperature();
+  float humidity = hdc.readHumidity();
 
-  while (true)
+  if (measurementCallback)
   {
-    if (sensor->activeSubscription)
-    {
-      float temperature = hdc.readTemperature();
-      float humidity = hdc.readHumidity();
-
-      if (sensor->measurementCallback)
-      {
-        sensor->measurementCallback(sensor->uuid, {temperature, humidity});
-      }
-
-      if (sensor->sendBLE)
-      {
-        sensor->notifyBLE(temperature, humidity);
-      }
-    }
+    measurementCallback({temperature, humidity});
+  }
 
-    vTaskDelay(pdMS_TO_TICKS(5000));
+  if (sendBLE)
+  {
+    notifyBLE(temperature, humidity);
   }
 }
 
-void TempHumiditySensor::notifyBLE(float temperature, float humidity)
+void TempHumiditySensor::notifyBLE(float temoperature, float humidity)
 {
-  Serial.println("Notifying BLE");
-  Serial.println(temperature);
-  Serial.println(temperatureCharacteristic);
-
-  BLEModule::writeBLE(temperatureCharacteristic, temperature);
+  BLEModule::writeBLE(temperatureCharacteristic, temoperature);
   BLEModule::writeBLE(humidityCharacteristic, humidity);
-}
+}
\ No newline at end of file
diff --git a/senseBox-bike-atrai-v2/src/sensors/TempHumiditySensor/TempHumiditySensor.h b/senseBox-bike-atrai-v2/src/sensors/TempHumiditySensor/TempHumiditySensor.h
index 728c068..84f0448 100644
--- a/senseBox-bike-atrai-v2/src/sensors/TempHumiditySensor/TempHumiditySensor.h
+++ b/senseBox-bike-atrai-v2/src/sensors/TempHumiditySensor/TempHumiditySensor.h
@@ -1,27 +1,18 @@
 #ifndef TEMP_HUMIDITY_SENSOR_H
 #define TEMP_HUMIDITY_SENSOR_H
 
-#include "../Sensor.h"
+#include "../BaseSensor.h"
+#include "Adafruit_HDC1000.h"
 
-class TempHumiditySensor : public Sensor
+class TempHumiditySensor : public BaseSensor
 {
 public:
-  void begin() override;
-  void subscribe(std::function<void(String, std::vector<float>)> callback) override;
-  void startSubscription() override;
-  void stopSubscription() override;
-  void startBLE() override;
-  void stopBLE() override;
+  TempHumiditySensor();
 
-private:
-  std::function<void(String, std::vector<float>)> measurementCallback;
-  String uuid;
-
-  static const String tempUUID;
-  static const String humUUID;
-
-  static void sensorTask(void *pvParameters);
+protected:
+  void initSensor() override;
+  void readSensorData() override;
   void notifyBLE(float temperature, float humidity);
 };
 
-#endif // TEMP_HUMIDITY_SENSOR_H
+#endif // DISTANCESENSOR_H

From 051ebfb822226a2caadaa4908e19fad25823d441 Mon Sep 17 00:00:00 2001
From: PaulaScharf <paulascharf@gmx.de>
Date: Fri, 7 Jun 2024 12:54:56 +0200
Subject: [PATCH 2/4] add takeover prediction

---
 senseBox-bike-atrai-v2/platformio.ini         |   1 +
 .../sensors/DistanceSensor/DistanceSensor.cpp | 167 +++++-
 .../sensors/DistanceSensor/DistanceSensor.h   |   2 +-
 .../src/sensors/DistanceSensor/model_data.h   | 545 ++++++++++++++++++
 4 files changed, 697 insertions(+), 18 deletions(-)
 create mode 100644 senseBox-bike-atrai-v2/src/sensors/DistanceSensor/model_data.h

diff --git a/senseBox-bike-atrai-v2/platformio.ini b/senseBox-bike-atrai-v2/platformio.ini
index d733dd5..2c52940 100644
--- a/senseBox-bike-atrai-v2/platformio.ini
+++ b/senseBox-bike-atrai-v2/platformio.ini
@@ -23,3 +23,4 @@ lib_deps =
 	adafruit/Adafruit MPU6050@^2.2.6
 	sensebox/SenseBoxBLE@^1.1.0
 	adafruit/Adafruit NeoPixel@^1.12.2
+	tanakamasayuki/TensorFlowLite_ESP32@^1.0.0
diff --git a/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.cpp b/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.cpp
index 6312412..57d78bf 100644
--- a/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.cpp
+++ b/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.cpp
@@ -5,16 +5,100 @@ DistanceSensor::DistanceSensor() : BaseSensor("distanceTask", 8192, 100) {}
 String distanceUUID = "B3491B60C0F34306A30D49C91F37A62B";
 int distanceCharacteristic = 0;
 
+#include "model_data.h"
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+#include <vl53l8cx_class.h>
+#include <TensorFlowLite_ESP32.h>
+#include "tensorflow/lite/micro/kernels/micro_ops.h"
+#include "tensorflow/lite/micro/micro_interpreter.h"
+#include "tensorflow/lite/micro/micro_mutable_op_resolver.h"
+#include "tensorflow/lite/micro/all_ops_resolver.h"
+#include "tensorflow/lite/schema/schema_generated.h"
+#include <tensorflow/lite/micro/micro_error_reporter.h>
+
+String overtakingUUID = "FC01C6882C444965AE18373AF9FED18D";
+int overtakingCharacteristic = 0;
+
 VL53L8CX sensor_vl53l8cx_top(&Wire, -1, -1);
+const int kChannelNumber = 64;
+const int kFrameNumber = 20;
+const tflite::Model* model = nullptr;
+tflite::MicroInterpreter* interpreter = nullptr;
+TfLiteTensor* model_input = nullptr;
+int input_length;
+// Create an area of memory to use for input, output, and intermediate arrays.
+// The size of this will depend on the model you're using, and may need to be
+// determined by experimentation.
+constexpr int kTensorArenaSize = 14 * 1024 + 1008 ;
+uint8_t tensor_arena[kTensorArenaSize];
+
+// A buffer holding the last 20 sets of 8x8 pixels
+const int RING_BUFFER_SIZE = 1280;
+float save_data[RING_BUFFER_SIZE] = {0.0};
+// Most recent position in the save_data buffer
+int begin_index = 0;
+// True if there is not yet enough data to run inference
+bool pending_initial_data = true;
+
+long prevMeasureTime = millis();
+long prevBleTime = millis();
 
 void DistanceSensor::initSensor()
 {
+  // ------------------------------ setup VL53L8CX ------------------------------
+  Serial.println("setting up VL53L8CX...");
+  Wire.begin();
+  Wire.setClock(1000000); // Sensor has max I2C freq of 1MHz
+  sensor_vl53l8cx_top.begin();
   sensor_vl53l8cx_top.init_sensor();
   sensor_vl53l8cx_top.vl53l8cx_set_ranging_frequency_hz(30);
   sensor_vl53l8cx_top.vl53l8cx_set_resolution(VL53L8CX_RESOLUTION_8X8);
   sensor_vl53l8cx_top.vl53l8cx_start_ranging();
+  // -------------------------- setup tensorflow model --------------------------
+  Serial.println("setting up tensorflow...");
+  model = tflite::GetModel(g_model_data);
+  if (model->version() != TFLITE_SCHEMA_VERSION) {
+    Serial.printf("Model provided is schema version %d not equal "
+                         "to supported version %d.",
+                         model->version(), TFLITE_SCHEMA_VERSION);
+    return;
+  }
+  static tflite::MicroErrorReporter tflErrorReporter;
+  // This imports all operations, which is more intensive, than just importing the ones we need.
+  // If we ever run out of storage with a model, we can check here to free some space
+  static tflite::AllOpsResolver resolver;
+  // Build an interpreter to run the model with.
+  static tflite::MicroInterpreter static_interpreter(
+      model, resolver, (uint8_t*)(tensor_arena), (size_t)(kTensorArenaSize), &tflErrorReporter);
+  interpreter = &static_interpreter;
+  // Allocate memory from the tensor_arena for the model's tensors.
+  interpreter->AllocateTensors();
+  // Obtain pointer to the model's input tensor.
+  model_input = interpreter->input(0);
+  if ((model_input->dims->size != 3) || (model_input->dims->data[0] != 1) ||
+      (model_input->dims->data[1] != kFrameNumber) ||
+      (model_input->dims->data[2] != kChannelNumber) || 
+      (model_input->type != kTfLiteFloat32)) {
+    Serial.println(model_input->dims->size);
+    Serial.println(model_input->dims->data[0]);
+    Serial.println(model_input->dims->data[1]);
+    Serial.println(model_input->dims->data[2]);
+    Serial.println(model_input->type);
+    Serial.println("Bad input tensor parameters in model");
+    return;
+  }
+  input_length = model_input->bytes / sizeof(float);
+  // ----------------------------- setup complete -----------------------------
+  Serial.println("setup complete");
 
   distanceCharacteristic = BLEModule::createCharacteristic(distanceUUID.c_str());
+  overtakingCharacteristic = BLEModule::createCharacteristic(overtakingUUID.c_str());
+
+  sendBLE = false;
+  activeSubscription = true;
+  xTaskCreate(sensorTask, "DistanceSensorTask", 8192*2, this, 1, NULL);
 }
 
 void DistanceSensor::readSensorData()
@@ -28,36 +112,85 @@ void DistanceSensor::readSensorData()
   float distance = -1.0;
 
   if ((!status) && (NewDataReady != 0))
-  {
+  {    
     sensor_vl53l8cx_top.vl53l8cx_get_ranging_data(&Results);
+    float overtakingPredictionPercentage = -1.0;
+    float oldVl53l8cxMin = -1.0;
     float min = 10000.0;
-    for (int i = 0; i < VL53L8CX_RESOLUTION_8X8 * VL53L8CX_NB_TARGET_PER_ZONE; i++)
+    for (int j = 0; j < VL53L8CX_RESOLUTION_8X8; j += 8)
     {
-      if (Results.target_status[i] != 255)
+      for (int l = 0; l < VL53L8CX_NB_TARGET_PER_ZONE; l++)
       {
-        float distance = Results.distance_mm[i];
-        if (min > distance)
+        for (int k = (8 - 1); k >= 0; k--)
         {
-          min = distance;
+          if ((float)(&Results)->target_status[(VL53L8CX_NB_TARGET_PER_ZONE * (j+k)) + l] != 255)
+          {
+            if((float)(&Results)->distance_mm[(VL53L8CX_NB_TARGET_PER_ZONE * (j+k)) + l] > 2000.0){
+              save_data[begin_index++] = 0.0;
+            } else {
+              save_data[begin_index++] = (float)(&Results)->distance_mm[(VL53L8CX_NB_TARGET_PER_ZONE * (j+k)) + l];
+            }
+            float distance = ((&Results)->distance_mm[(VL53L8CX_NB_TARGET_PER_ZONE * (j+k)) + l])/10;
+            if (min > distance)
+            {
+              min = distance;
+            }
+          }
+          else {
+            save_data[begin_index++] = 0.0;
+          }
         }
       }
     }
-    distance = (min == 10000.0) ? 0.0 : min / 10.0;
-    Serial.printf("Distance: %.2f cm\n", distance);
-  }
+    oldVl53l8cxMin = (min == 10000.0) ? 0.0 : min;
 
-  if (measurementCallback)
-  {
-    measurementCallback({distance});
-  }
+    // If we reached the end of the circle buffer, reset
+    if (begin_index >= (RING_BUFFER_SIZE)) {
+      begin_index = 0;
+      // Check if we are ready for prediction or still pending more initial data
+      if (pending_initial_data) {
+        pending_initial_data = false;
+      }
+    }
+    if (!pending_initial_data) {
+      for (int i = 0; i < input_length; ++i) {
+        int ring_array_index = begin_index + i - input_length;
+        if (ring_array_index < 0) {
+          ring_array_index += (RING_BUFFER_SIZE);
+        }
+        // normalize
+        model_input->data.f[i] = save_data[ring_array_index]/2000.0;
+      }
+      // Run inference, and report any error.
+      TfLiteStatus invoke_status = interpreter->Invoke();
+      if (invoke_status == kTfLiteOk) {
+        const float* prediction_scores = interpreter->output(0)->data.f;
+        overtakingPredictionPercentage = prediction_scores[0];
+      }
+    }
+
+    float distance = oldVl53l8cxMin;
 
-  if (sendBLE)
-  {
-    notifyBLE(distance);
+    if (measurementCallback)
+    {
+      measurementCallback({distance, overtakingPredictionPercentage});
+    }
+
+    if (sendBLE && (millis()-prevBleTime)>=1000)
+    {
+      notifyBLE(distance,overtakingPredictionPercentage);
+      prevBleTime = millis();
+    }
+  }
+  if((millis()-prevMeasureTime)<65){
+    vTaskDelay(pdMS_TO_TICKS(65-(millis()-prevMeasureTime)));
   }
+  Serial.println(millis()-prevMeasureTime);
+  prevMeasureTime=millis();
 }
 
-void DistanceSensor::notifyBLE(float distance)
+void DistanceSensor::notifyBLE(float distance, float overtakingPredictionPercentage)
 {
   BLEModule::writeBLE(distanceCharacteristic, distance);
+  BLEModule::writeBLE(overtakingCharacteristic, overtakingPredictionPercentage);
 }
diff --git a/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.h b/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.h
index 62da62a..5b2fcac 100644
--- a/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.h
+++ b/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.h
@@ -13,7 +13,7 @@ class DistanceSensor : public BaseSensor
 protected:
   void initSensor() override;
   void readSensorData() override;
-  void notifyBLE(float distance);
+  void notifyBLE(float distance, float overtakingPredictionPercentage);
 };
 
 #endif // DISTANCESENSOR_H
diff --git a/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/model_data.h b/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/model_data.h
new file mode 100644
index 0000000..7d7d290
--- /dev/null
+++ b/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/model_data.h
@@ -0,0 +1,545 @@
+/* Copyright 2019 The TensorFlow Authors. All Rights Reserved.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+==============================================================================*/
+
+// This is a standard TensorFlow Lite model file that has been converted into a
+// C data array, so it can be easily compiled into a binary for devices that
+// don't have a file system. It was created using the command:
+// xxd -i magic_wand_model.tflite > magic_wand_model_data.cc
+
+#ifndef TENSORFLOW_LITE_MICRO_MODEL_DATA_H_
+#define TENSORFLOW_LITE_MICRO_MODEL_DATA_H_
+
+extern const unsigned char g_model_data[] PROGMEM = {
+  0x1c, 0x00, 0x00, 0x00, 0x54, 0x46, 0x4c, 0x33, 0x14, 0x00, 0x20, 0x00,
+  0x1c, 0x00, 0x18, 0x00, 0x14, 0x00, 0x10, 0x00, 0x0c, 0x00, 0x00, 0x00,
+  0x08, 0x00, 0x04, 0x00, 0x14, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00,
+  0x88, 0x00, 0x00, 0x00, 0xe0, 0x00, 0x00, 0x00, 0xfc, 0x0d, 0x00, 0x00,
+  0x0c, 0x0e, 0x00, 0x00, 0x7c, 0x17, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
+  0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xd2, 0xf0, 0xff, 0xff,
+  0x0c, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x38, 0x00, 0x00, 0x00,
+  0x0f, 0x00, 0x00, 0x00, 0x73, 0x65, 0x72, 0x76, 0x69, 0x6e, 0x67, 0x5f,
+  0x64, 0x65, 0x66, 0x61, 0x75, 0x6c, 0x74, 0x00, 0x01, 0x00, 0x00, 0x00,
+  0x04, 0x00, 0x00, 0x00, 0x94, 0xff, 0xff, 0xff, 0x11, 0x00, 0x00, 0x00,
+  0x04, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x64, 0x65, 0x6e, 0x73,
+  0x65, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
+  0xd6, 0xf0, 0xff, 0xff, 0x04, 0x00, 0x00, 0x00, 0x0d, 0x00, 0x00, 0x00,
+  0x72, 0x65, 0x73, 0x68, 0x61, 0x70, 0x65, 0x5f, 0x69, 0x6e, 0x70, 0x75,
+  0x74, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
+  0x04, 0x00, 0x00, 0x00, 0xdc, 0xff, 0xff, 0xff, 0x14, 0x00, 0x00, 0x00,
+  0x04, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x43, 0x4f, 0x4e, 0x56,
+  0x45, 0x52, 0x53, 0x49, 0x4f, 0x4e, 0x5f, 0x4d, 0x45, 0x54, 0x41, 0x44,
+  0x41, 0x54, 0x41, 0x00, 0x08, 0x00, 0x0c, 0x00, 0x08, 0x00, 0x04, 0x00,
+  0x08, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
+  0x13, 0x00, 0x00, 0x00, 0x6d, 0x69, 0x6e, 0x5f, 0x72, 0x75, 0x6e, 0x74,
+  0x69, 0x6d, 0x65, 0x5f, 0x76, 0x65, 0x72, 0x73, 0x69, 0x6f, 0x6e, 0x00,
+  0x15, 0x00, 0x00, 0x00, 0x18, 0x0d, 0x00, 0x00, 0x10, 0x0d, 0x00, 0x00,
+  0xd8, 0x0c, 0x00, 0x00, 0x88, 0x01, 0x00, 0x00, 0x74, 0x01, 0x00, 0x00,
+  0x60, 0x01, 0x00, 0x00, 0x4c, 0x01, 0x00, 0x00, 0x38, 0x01, 0x00, 0x00,
+  0x24, 0x01, 0x00, 0x00, 0x0c, 0x01, 0x00, 0x00, 0xd4, 0x00, 0x00, 0x00,
+  0xcc, 0x00, 0x00, 0x00, 0xc4, 0x00, 0x00, 0x00, 0xbc, 0x00, 0x00, 0x00,
+  0xb4, 0x00, 0x00, 0x00, 0xac, 0x00, 0x00, 0x00, 0xa4, 0x00, 0x00, 0x00,
+  0x9c, 0x00, 0x00, 0x00, 0x94, 0x00, 0x00, 0x00, 0x74, 0x00, 0x00, 0x00,
+  0x04, 0x00, 0x00, 0x00, 0xa6, 0xf1, 0xff, 0xff, 0x04, 0x00, 0x00, 0x00,
+  0x60, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x08, 0x00, 0x0e, 0x00,
+  0x08, 0x00, 0x04, 0x00, 0x08, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
+  0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x0c, 0x00, 0x08, 0x00,
+  0x00, 0x00, 0x07, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+  0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xea, 0x03, 0x00, 0x00,
+  0x00, 0x00, 0x0a, 0x00, 0x10, 0x00, 0x0c, 0x00, 0x08, 0x00, 0x04, 0x00,
+  0x0a, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
+  0x04, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x32, 0x2e, 0x31, 0x35,
+  0x2e, 0x30, 0x00, 0x00, 0x12, 0xf2, 0xff, 0xff, 0x04, 0x00, 0x00, 0x00,
+  0x10, 0x00, 0x00, 0x00, 0x31, 0x2e, 0x31, 0x34, 0x2e, 0x30, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x74, 0xea, 0xff, 0xff,
+  0x78, 0xea, 0xff, 0xff, 0x7c, 0xea, 0xff, 0xff, 0x80, 0xea, 0xff, 0xff,
+  0x84, 0xea, 0xff, 0xff, 0x88, 0xea, 0xff, 0xff, 0x8c, 0xea, 0xff, 0xff,
+  0x90, 0xea, 0xff, 0xff, 0x4e, 0xf2, 0xff, 0xff, 0x04, 0x00, 0x00, 0x00,
+  0x28, 0x00, 0x00, 0x00, 0xe6, 0x0d, 0x1f, 0xc0, 0x71, 0x83, 0xca, 0xbf,
+  0xb2, 0x37, 0x0b, 0xc0, 0xb8, 0xcc, 0x1b, 0x40, 0xc8, 0x1c, 0x33, 0xc0,
+  0xe9, 0x4a, 0xdf, 0xbf, 0x71, 0xa9, 0x15, 0xc0, 0x57, 0xc5, 0x1c, 0x40,
+  0xeb, 0x7e, 0x14, 0x40, 0x98, 0xb0, 0x20, 0x40, 0x82, 0xf2, 0xff, 0xff,
+  0x04, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
+  0x02, 0x00, 0x00, 0x00, 0x96, 0xf2, 0xff, 0xff, 0x04, 0x00, 0x00, 0x00,
+  0x04, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xa6, 0xf2, 0xff, 0xff,
+  0x04, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00,
+  0xb6, 0xf2, 0xff, 0xff, 0x04, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0xc6, 0xf2, 0xff, 0xff, 0x04, 0x00, 0x00, 0x00,
+  0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xd6, 0xf2, 0xff, 0xff,
+  0x04, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xec, 0x89, 0x08, 0xbe,
+  0xe6, 0xf2, 0xff, 0xff, 0x04, 0x00, 0x00, 0x00, 0x40, 0x0b, 0x00, 0x00,
+  0xcb, 0x23, 0x12, 0xbf, 0xbe, 0x55, 0xa0, 0x3c, 0x9d, 0x9e, 0x09, 0xbd,
+  0x8e, 0xac, 0x7d, 0x3e, 0xeb, 0x35, 0xce, 0x3e, 0x09, 0x66, 0xf6, 0x3e,
+  0x43, 0x5b, 0x36, 0x3f, 0xd0, 0xd8, 0x86, 0x3e, 0xa1, 0x66, 0x02, 0xbf,
+  0x8f, 0xe2, 0x56, 0xbf, 0x3f, 0x96, 0x2e, 0xbf, 0x77, 0x1c, 0x5e, 0xbf,
+  0xdc, 0x15, 0x62, 0xbe, 0x20, 0x26, 0xa9, 0xbd, 0x61, 0xcc, 0xf1, 0xbe,
+  0xe6, 0x25, 0xae, 0xbe, 0x56, 0x78, 0xe1, 0xbd, 0x2d, 0x26, 0x1d, 0x3e,
+  0x8d, 0xe7, 0xd9, 0xbe, 0xd7, 0x72, 0x47, 0xbe, 0x69, 0x4a, 0xa1, 0xbe,
+  0x5e, 0x68, 0x02, 0x3f, 0x01, 0x28, 0x41, 0x3e, 0x11, 0xbf, 0x0c, 0xbe,
+  0x22, 0x86, 0x9f, 0xbe, 0x02, 0xb1, 0x5f, 0xbd, 0x8f, 0x94, 0x82, 0xbc,
+  0x2f, 0xb3, 0x3f, 0x3d, 0x5b, 0x7a, 0x25, 0x3f, 0xcb, 0x2c, 0x28, 0x3f,
+  0x76, 0x26, 0x23, 0x3f, 0x2c, 0x18, 0xbc, 0x3e, 0x8e, 0x1a, 0x11, 0xbf,
+  0xf4, 0x2f, 0x45, 0xbf, 0x6b, 0x00, 0x37, 0xbf, 0x64, 0x16, 0x0b, 0xbf,
+  0x66, 0xf2, 0x90, 0xbd, 0x0c, 0xc3, 0x79, 0xbe, 0x7c, 0xa4, 0x8f, 0xbe,
+  0xfe, 0x49, 0x23, 0xbd, 0x8c, 0xba, 0xae, 0x3e, 0xd2, 0x09, 0x26, 0x3e,
+  0x0b, 0x51, 0x0b, 0xbf, 0xa6, 0xc6, 0x27, 0xbe, 0x09, 0xc0, 0x48, 0xbe,
+  0x80, 0x9c, 0x07, 0x3f, 0x83, 0x91, 0x11, 0x3f, 0x8b, 0x6c, 0x30, 0x3e,
+  0x57, 0x39, 0x68, 0xbd, 0x6e, 0x1e, 0xcd, 0x3e, 0x5b, 0x5b, 0xf9, 0x3e,
+  0x15, 0x22, 0x01, 0x3f, 0x56, 0x54, 0x15, 0x3f, 0x79, 0x43, 0x59, 0x3f,
+  0x79, 0x7b, 0x60, 0x3f, 0x3d, 0x1e, 0x17, 0x3f, 0xa9, 0x05, 0x00, 0xbe,
+  0xff, 0x73, 0xca, 0xbe, 0xac, 0xbc, 0xe2, 0xbe, 0x37, 0x8a, 0xd8, 0xbe,
+  0xb9, 0x2a, 0x57, 0xbd, 0x88, 0x36, 0x32, 0xbd, 0x3c, 0x13, 0x4e, 0xbe,
+  0xa8, 0xbf, 0x82, 0xbe, 0xd2, 0x5b, 0xba, 0x3e, 0xeb, 0x06, 0xb4, 0x3e,
+  0x21, 0x7e, 0xdc, 0xbd, 0xe4, 0x37, 0xc6, 0xbd, 0x03, 0x3f, 0x23, 0xbe,
+  0xd9, 0x14, 0x48, 0x3f, 0x1a, 0x4c, 0x68, 0x3e, 0x35, 0x48, 0x30, 0x3e,
+  0xaa, 0x7f, 0xab, 0x3e, 0x0a, 0xb9, 0xd0, 0x3e, 0x4f, 0x7a, 0x82, 0x3e,
+  0x7c, 0xc2, 0x2e, 0x3f, 0x47, 0x99, 0x92, 0x3f, 0x95, 0x49, 0x1f, 0x3f,
+  0x83, 0x3d, 0x04, 0x3f, 0x2b, 0x10, 0x0b, 0x3e, 0x4e, 0xd7, 0x3f, 0xbe,
+  0x73, 0xf2, 0xe4, 0x3d, 0xed, 0xb5, 0x10, 0xbf, 0x97, 0x31, 0x18, 0xbf,
+  0xdb, 0x61, 0x10, 0x3d, 0xc8, 0xb3, 0x81, 0xbe, 0x02, 0x52, 0x66, 0xbf,
+  0x02, 0x09, 0x4f, 0xbf, 0x03, 0xb6, 0x82, 0x3f, 0x79, 0xe5, 0x41, 0x3f,
+  0xeb, 0x33, 0x1e, 0xbe, 0x90, 0x80, 0xe4, 0xbd, 0xef, 0x60, 0xa9, 0x3e,
+  0x15, 0x53, 0x35, 0x3f, 0xe0, 0x86, 0x08, 0xbe, 0xb9, 0xa2, 0xff, 0xbe,
+  0x5d, 0x6f, 0x87, 0x3e, 0xd2, 0x1b, 0x03, 0x3f, 0x90, 0xf9, 0x9d, 0x3e,
+  0x3d, 0x7d, 0x20, 0x3f, 0x7e, 0x82, 0x55, 0x3f, 0xcb, 0x45, 0xe2, 0x3e,
+  0xbe, 0xa8, 0xf1, 0x3d, 0x5a, 0x1e, 0xba, 0xbb, 0x78, 0x5d, 0xa0, 0xbe,
+  0x8c, 0xc4, 0xe6, 0x3d, 0x30, 0x38, 0x0c, 0xbf, 0xcd, 0x9f, 0x0c, 0xbf,
+  0x0e, 0xae, 0x1f, 0xbe, 0x9f, 0xdb, 0x06, 0xbe, 0x57, 0x2a, 0x85, 0xbf,
+  0x6d, 0xd5, 0x94, 0xbf, 0x89, 0x7d, 0x48, 0x3f, 0xee, 0x34, 0xf2, 0x3e,
+  0x0c, 0x6c, 0xaa, 0xbe, 0x0d, 0x5b, 0x06, 0xbe, 0x7f, 0xfa, 0x82, 0x3c,
+  0x17, 0x06, 0x3a, 0x3f, 0x6c, 0x60, 0xed, 0xbc, 0x92, 0x92, 0x61, 0xbf,
+  0x7c, 0x1e, 0xc7, 0x3e, 0x62, 0xdb, 0xe4, 0x3e, 0x1d, 0x8e, 0xb6, 0x3e,
+  0x2a, 0xc2, 0xc3, 0x3e, 0x22, 0x4c, 0x82, 0x3f, 0x50, 0x40, 0x9f, 0x3e,
+  0xf4, 0xed, 0x01, 0x3e, 0x9e, 0xf9, 0xbc, 0xbe, 0xa0, 0x05, 0x87, 0xbe,
+  0xa2, 0xe9, 0x21, 0xbe, 0x8d, 0xb7, 0x30, 0xbf, 0xe9, 0x84, 0x11, 0xbf,
+  0xba, 0x2f, 0x5e, 0x3d, 0xb3, 0x03, 0xde, 0xbe, 0xf5, 0xc1, 0x8f, 0xbf,
+  0xff, 0x0d, 0x92, 0xbf, 0x9d, 0x63, 0x27, 0x3f, 0x00, 0x0f, 0xb5, 0x3e,
+  0xdb, 0x51, 0xca, 0xbe, 0x79, 0x3a, 0x0a, 0xbf, 0x4d, 0xeb, 0x20, 0x3e,
+  0x6a, 0xa3, 0xe9, 0x3e, 0x23, 0x58, 0x34, 0xbd, 0xbe, 0x95, 0x64, 0xbf,
+  0xf8, 0xe3, 0x13, 0xbf, 0x24, 0xcc, 0x03, 0xbf, 0x75, 0x1f, 0x88, 0xbd,
+  0xf9, 0xd4, 0x0d, 0xbe, 0x83, 0x14, 0xd7, 0xbd, 0x88, 0x8e, 0x20, 0x3f,
+  0x89, 0xe6, 0x7c, 0x3f, 0xd2, 0xce, 0xbc, 0x3e, 0x93, 0x93, 0x43, 0xbf,
+  0x96, 0x0e, 0x27, 0xbf, 0x7b, 0x24, 0x40, 0xbf, 0x6a, 0xdc, 0x4b, 0xbf,
+  0xca, 0xbe, 0x8a, 0xbe, 0xef, 0x85, 0x6e, 0xbe, 0xd1, 0x1d, 0x95, 0xbe,
+  0xab, 0x89, 0xc1, 0xbe, 0x18, 0x05, 0x71, 0xbe, 0x89, 0xa6, 0x09, 0xbe,
+  0xcd, 0x29, 0x3f, 0xbf, 0x2c, 0x79, 0xf2, 0xbe, 0x93, 0xc5, 0xbb, 0xbe,
+  0x7c, 0x5a, 0xec, 0x3e, 0xae, 0x1c, 0x00, 0x3f, 0x44, 0xa5, 0x34, 0x3e,
+  0x0d, 0x7b, 0x20, 0xbf, 0x6d, 0xee, 0xa1, 0xbd, 0x03, 0x2c, 0xa9, 0x3d,
+  0xec, 0x4b, 0x81, 0x3e, 0xb3, 0x37, 0xaf, 0x3c, 0x20, 0x8b, 0x5d, 0x3f,
+  0x22, 0x0c, 0x54, 0x3f, 0x4d, 0x4e, 0x28, 0x3f, 0x2f, 0x4a, 0x2d, 0xbf,
+  0x24, 0x48, 0x2e, 0xbf, 0xee, 0x5b, 0x54, 0xbf, 0xde, 0xc2, 0x14, 0xbf,
+  0x9b, 0xe2, 0x04, 0xbe, 0x7a, 0xae, 0x91, 0xbe, 0x00, 0x3f, 0xc0, 0xbd,
+  0xc8, 0xc7, 0x1b, 0x3e, 0x8a, 0xe2, 0xc2, 0xbd, 0xc4, 0x32, 0x22, 0x3e,
+  0x60, 0xb6, 0x90, 0xbe, 0xb2, 0x2e, 0xb6, 0xbd, 0xf6, 0xc8, 0xba, 0xbe,
+  0x16, 0x93, 0xe9, 0x3e, 0x9f, 0x66, 0x39, 0x3f, 0x90, 0xa2, 0xeb, 0x3e,
+  0xf9, 0x56, 0x22, 0xbd, 0x2e, 0xc1, 0xa5, 0x3d, 0x28, 0x96, 0xbc, 0x3e,
+  0x81, 0x74, 0xfb, 0x3e, 0xb9, 0x78, 0x3a, 0x3f, 0x2d, 0x34, 0x90, 0x3f,
+  0xbb, 0x7a, 0x7a, 0x3f, 0xf2, 0xf5, 0x57, 0x3f, 0x48, 0x7d, 0x17, 0xbe,
+  0xf4, 0x4e, 0xc7, 0xbe, 0xaf, 0x9d, 0x67, 0xbe, 0x46, 0xfb, 0xdf, 0xbe,
+  0x77, 0xd1, 0x8e, 0x3c, 0x18, 0x8e, 0x09, 0xbe, 0x43, 0x3e, 0xe2, 0x3c,
+  0x73, 0xa7, 0x9d, 0x3d, 0xc7, 0xf9, 0x69, 0x3e, 0xcd, 0x1c, 0xd5, 0x3e,
+  0x71, 0x9d, 0x63, 0x3c, 0xf9, 0x3b, 0xa9, 0xbe, 0xba, 0x97, 0x85, 0xbe,
+  0x84, 0xff, 0x44, 0x3f, 0x5b, 0x36, 0xdb, 0x3e, 0x60, 0xe1, 0xf0, 0x3e,
+  0x27, 0xdb, 0x4c, 0x3f, 0xf9, 0xba, 0xba, 0x3e, 0x92, 0x5f, 0xee, 0x3e,
+  0xba, 0x45, 0x8b, 0x3e, 0xee, 0x9c, 0xa2, 0x3e, 0xbf, 0xe7, 0xdd, 0x3e,
+  0x72, 0xae, 0x06, 0xbe, 0x9b, 0xaf, 0x99, 0x3e, 0x18, 0x54, 0x4b, 0x3f,
+  0xf9, 0x99, 0xc0, 0x3e, 0xd4, 0xbc, 0x5d, 0x3f, 0xa1, 0xb2, 0x74, 0x3f,
+  0xcb, 0x91, 0x44, 0x3f, 0x48, 0x4e, 0x6d, 0x3f, 0xb8, 0xce, 0x6b, 0x3f,
+  0xd0, 0x01, 0x23, 0x3f, 0xc2, 0x58, 0xc9, 0xbf, 0x3c, 0x9d, 0x78, 0xbf,
+  0x96, 0x70, 0x58, 0xbf, 0x75, 0x0e, 0x0a, 0xbe, 0xab, 0x00, 0xb6, 0xbe,
+  0xc3, 0x32, 0x91, 0xbe, 0x12, 0xc2, 0x4c, 0xbe, 0x42, 0x12, 0x03, 0xbf,
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+  0x2f, 0x4d, 0x61, 0x74, 0x4d, 0x75, 0x6c, 0x00, 0x02, 0x00, 0x00, 0x00,
+  0x01, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0xaa, 0xfe, 0xff, 0xff,
+  0x00, 0x00, 0x00, 0x01, 0x14, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
+  0x09, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x48, 0x00, 0x00, 0x00,
+  0x08, 0xfd, 0xff, 0xff, 0x3a, 0x00, 0x00, 0x00, 0x73, 0x65, 0x71, 0x75,
+  0x65, 0x6e, 0x74, 0x69, 0x61, 0x6c, 0x2f, 0x67, 0x6c, 0x6f, 0x62, 0x61,
+  0x6c, 0x5f, 0x61, 0x76, 0x65, 0x72, 0x61, 0x67, 0x65, 0x5f, 0x70, 0x6f,
+  0x6f, 0x6c, 0x69, 0x6e, 0x67, 0x32, 0x64, 0x2f, 0x4d, 0x65, 0x61, 0x6e,
+  0x2f, 0x72, 0x65, 0x64, 0x75, 0x63, 0x74, 0x69, 0x6f, 0x6e, 0x5f, 0x69,
+  0x6e, 0x64, 0x69, 0x63, 0x65, 0x73, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
+  0x02, 0x00, 0x00, 0x00, 0x12, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x01,
+  0x14, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x02, 0x30, 0x00, 0x00, 0x00, 0x70, 0xfd, 0xff, 0xff,
+  0x22, 0x00, 0x00, 0x00, 0x73, 0x65, 0x71, 0x75, 0x65, 0x6e, 0x74, 0x69,
+  0x61, 0x6c, 0x2f, 0x72, 0x65, 0x73, 0x68, 0x61, 0x70, 0x65, 0x2f, 0x52,
+  0x65, 0x73, 0x68, 0x61, 0x70, 0x65, 0x2f, 0x73, 0x68, 0x61, 0x70, 0x65,
+  0x2f, 0x31, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x5e, 0xff, 0xff, 0xff,
+  0x00, 0x00, 0x00, 0x01, 0x14, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
+  0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x30, 0x00, 0x00, 0x00,
+  0xbc, 0xfd, 0xff, 0xff, 0x22, 0x00, 0x00, 0x00, 0x73, 0x65, 0x71, 0x75,
+  0x65, 0x6e, 0x74, 0x69, 0x61, 0x6c, 0x2f, 0x72, 0x65, 0x73, 0x68, 0x61,
+  0x70, 0x65, 0x2f, 0x52, 0x65, 0x73, 0x68, 0x61, 0x70, 0x65, 0x2f, 0x73,
+  0x68, 0x61, 0x70, 0x65, 0x2f, 0x32, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0xaa, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x01, 0x14, 0x00, 0x00, 0x00,
+  0x14, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02,
+  0x34, 0x00, 0x00, 0x00, 0x08, 0xfe, 0xff, 0xff, 0x26, 0x00, 0x00, 0x00,
+  0x73, 0x65, 0x71, 0x75, 0x65, 0x6e, 0x74, 0x69, 0x61, 0x6c, 0x2f, 0x72,
+  0x65, 0x73, 0x68, 0x61, 0x70, 0x65, 0x2f, 0x73, 0x74, 0x72, 0x69, 0x64,
+  0x65, 0x64, 0x5f, 0x73, 0x6c, 0x69, 0x63, 0x65, 0x2f, 0x73, 0x74, 0x61,
+  0x63, 0x6b, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x16, 0x00, 0x1c, 0x00, 0x18, 0x00, 0x17, 0x00, 0x10, 0x00,
+  0x0c, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0x00,
+  0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x14, 0x00, 0x00, 0x00,
+  0x14, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02,
+  0x38, 0x00, 0x00, 0x00, 0x74, 0xfe, 0xff, 0xff, 0x28, 0x00, 0x00, 0x00,
+  0x73, 0x65, 0x71, 0x75, 0x65, 0x6e, 0x74, 0x69, 0x61, 0x6c, 0x2f, 0x72,
+  0x65, 0x73, 0x68, 0x61, 0x70, 0x65, 0x2f, 0x73, 0x74, 0x72, 0x69, 0x64,
+  0x65, 0x64, 0x5f, 0x73, 0x6c, 0x69, 0x63, 0x65, 0x2f, 0x73, 0x74, 0x61,
+  0x63, 0x6b, 0x5f, 0x31, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
+  0x01, 0x00, 0x00, 0x00, 0x5e, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x01,
+  0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
+  0x34, 0x00, 0x00, 0x00, 0xc8, 0xfe, 0xff, 0xff, 0x27, 0x00, 0x00, 0x00,
+  0x73, 0x65, 0x71, 0x75, 0x65, 0x6e, 0x74, 0x69, 0x61, 0x6c, 0x2f, 0x64,
+  0x65, 0x6e, 0x73, 0x65, 0x2f, 0x42, 0x69, 0x61, 0x73, 0x41, 0x64, 0x64,
+  0x2f, 0x52, 0x65, 0x61, 0x64, 0x56, 0x61, 0x72, 0x69, 0x61, 0x62, 0x6c,
+  0x65, 0x4f, 0x70, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
+  0xae, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x00, 0x00,
+  0x10, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x28, 0x00, 0x00, 0x00,
+  0x18, 0xff, 0xff, 0xff, 0x18, 0x00, 0x00, 0x00, 0x73, 0x65, 0x71, 0x75,
+  0x65, 0x6e, 0x74, 0x69, 0x61, 0x6c, 0x2f, 0x63, 0x6f, 0x6e, 0x76, 0x32,
+  0x64, 0x2f, 0x43, 0x6f, 0x6e, 0x76, 0x32, 0x44, 0x00, 0x00, 0x00, 0x00,
+  0x04, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
+  0x03, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00,
+  0x18, 0x00, 0x14, 0x00, 0x00, 0x00, 0x10, 0x00, 0x0c, 0x00, 0x08, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0x00, 0x16, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00,
+  0x02, 0x00, 0x00, 0x00, 0x38, 0x00, 0x00, 0x00, 0x80, 0xff, 0xff, 0xff,
+  0x28, 0x00, 0x00, 0x00, 0x73, 0x65, 0x71, 0x75, 0x65, 0x6e, 0x74, 0x69,
+  0x61, 0x6c, 0x2f, 0x63, 0x6f, 0x6e, 0x76, 0x32, 0x64, 0x2f, 0x42, 0x69,
+  0x61, 0x73, 0x41, 0x64, 0x64, 0x2f, 0x52, 0x65, 0x61, 0x64, 0x56, 0x61,
+  0x72, 0x69, 0x61, 0x62, 0x6c, 0x65, 0x4f, 0x70, 0x00, 0x00, 0x00, 0x00,
+  0x01, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00,
+  0x1c, 0x00, 0x18, 0x00, 0x00, 0x00, 0x14, 0x00, 0x10, 0x00, 0x0c, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x08, 0x00, 0x07, 0x00, 0x16, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x01, 0x14, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
+  0x24, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,
+  0x03, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0x14, 0x00, 0x00, 0x00,
+  0x40, 0x00, 0x00, 0x00, 0x04, 0x00, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00,
+  0x1f, 0x00, 0x00, 0x00, 0x73, 0x65, 0x72, 0x76, 0x69, 0x6e, 0x67, 0x5f,
+  0x64, 0x65, 0x66, 0x61, 0x75, 0x6c, 0x74, 0x5f, 0x72, 0x65, 0x73, 0x68,
+  0x61, 0x70, 0x65, 0x5f, 0x69, 0x6e, 0x70, 0x75, 0x74, 0x3a, 0x30, 0x00,
+  0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
+  0x40, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x80, 0x00, 0x00, 0x00,
+  0x64, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00,
+  0x34, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
+  0x04, 0x00, 0x00, 0x00, 0xac, 0xff, 0xff, 0xff, 0x0e, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x0e, 0xb8, 0xff, 0xff, 0xff, 0x09, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x09, 0xc4, 0xff, 0xff, 0xff, 0x28, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x28, 0xd0, 0xff, 0xff, 0xff, 0x03, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x03, 0xdc, 0xff, 0xff, 0xff, 0x16, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x16, 0xe8, 0xff, 0xff, 0xff, 0x53, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x53, 0xf4, 0xff, 0xff, 0xff, 0x2d, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x2d, 0x0c, 0x00, 0x0c, 0x00, 0x0b, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x04, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x4d, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x4d};
+extern const int model_tflite_len PROGMEM = 6208;
+
+#endif  // TENSORFLOW_LITE_MICRO_MODEL_DATA_H_
\ No newline at end of file

From bec8f75dd196e01703e7c31122755f4b26294d48 Mon Sep 17 00:00:00 2001
From: Felix Erdmann <hello@felixerdmann.com>
Date: Tue, 11 Jun 2024 14:10:20 +0200
Subject: [PATCH 3/4] fix: distance sensor merge

---
 .../sensors/DistanceSensor/DistanceSensor.cpp | 81 ++++++++++---------
 1 file changed, 45 insertions(+), 36 deletions(-)

diff --git a/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.cpp b/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.cpp
index 94cd1b7..4777c59 100644
--- a/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.cpp
+++ b/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.cpp
@@ -8,7 +8,6 @@ int distanceCharacteristic = 0;
 String overtakingUUID = "FC01C6882C444965AE18373AF9FED18D";
 int overtakingCharacteristic = 0;
 
-
 #include "model_data.h"
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
@@ -25,14 +24,14 @@ int overtakingCharacteristic = 0;
 VL53L8CX sensor_vl53l8cx_top(&Wire, -1, -1);
 const int kChannelNumber = 64;
 const int kFrameNumber = 20;
-const tflite::Model* model = nullptr;
-tflite::MicroInterpreter* interpreter = nullptr;
-TfLiteTensor* model_input = nullptr;
+const tflite::Model *model = nullptr;
+tflite::MicroInterpreter *interpreter = nullptr;
+TfLiteTensor *model_input = nullptr;
 int input_length;
 // Create an area of memory to use for input, output, and intermediate arrays.
 // The size of this will depend on the model you're using, and may need to be
 // determined by experimentation.
-constexpr int kTensorArenaSize = 14 * 1024 + 1008 ;
+constexpr int kTensorArenaSize = 14 * 1024 + 1008;
 uint8_t tensor_arena[kTensorArenaSize];
 
 // A buffer holding the last 20 sets of 8x8 pixels
@@ -60,10 +59,11 @@ void DistanceSensor::initSensor()
   // -------------------------- setup tensorflow model --------------------------
   Serial.println("setting up tensorflow...");
   model = tflite::GetModel(g_model_data);
-  if (model->version() != TFLITE_SCHEMA_VERSION) {
+  if (model->version() != TFLITE_SCHEMA_VERSION)
+  {
     Serial.printf("Model provided is schema version %d not equal "
-                         "to supported version %d.",
-                         model->version(), TFLITE_SCHEMA_VERSION);
+                  "to supported version %d.",
+                  model->version(), TFLITE_SCHEMA_VERSION);
     return;
   }
   static tflite::MicroErrorReporter tflErrorReporter;
@@ -72,7 +72,7 @@ void DistanceSensor::initSensor()
   static tflite::AllOpsResolver resolver;
   // Build an interpreter to run the model with.
   static tflite::MicroInterpreter static_interpreter(
-      model, resolver, (uint8_t*)(tensor_arena), (size_t)(kTensorArenaSize), &tflErrorReporter);
+      model, resolver, (uint8_t *)(tensor_arena), (size_t)(kTensorArenaSize), &tflErrorReporter);
   interpreter = &static_interpreter;
   // Allocate memory from the tensor_arena for the model's tensors.
   interpreter->AllocateTensors();
@@ -80,8 +80,9 @@ void DistanceSensor::initSensor()
   model_input = interpreter->input(0);
   if ((model_input->dims->size != 3) || (model_input->dims->data[0] != 1) ||
       (model_input->dims->data[1] != kFrameNumber) ||
-      (model_input->dims->data[2] != kChannelNumber) || 
-      (model_input->type != kTfLiteFloat32)) {
+      (model_input->dims->data[2] != kChannelNumber) ||
+      (model_input->type != kTfLiteFloat32))
+  {
     Serial.println(model_input->dims->size);
     Serial.println(model_input->dims->data[0]);
     Serial.println(model_input->dims->data[1]);
@@ -109,7 +110,7 @@ void DistanceSensor::readSensorData()
   float distance = -1.0;
 
   if ((!status) && (NewDataReady != 0))
-  {    
+  {
     sensor_vl53l8cx_top.vl53l8cx_get_ranging_data(&Results);
     float overtakingPredictionPercentage = -1.0;
     float oldVl53l8cxMin = -1.0;
@@ -120,20 +121,24 @@ void DistanceSensor::readSensorData()
       {
         for (int k = (8 - 1); k >= 0; k--)
         {
-          if ((float)(&Results)->target_status[(VL53L8CX_NB_TARGET_PER_ZONE * (j+k)) + l] != 255)
+          if ((float)(&Results)->target_status[(VL53L8CX_NB_TARGET_PER_ZONE * (j + k)) + l] != 255)
           {
-            if((float)(&Results)->distance_mm[(VL53L8CX_NB_TARGET_PER_ZONE * (j+k)) + l] > 2000.0){
+            if ((float)(&Results)->distance_mm[(VL53L8CX_NB_TARGET_PER_ZONE * (j + k)) + l] > 2000.0)
+            {
               save_data[begin_index++] = 0.0;
-            } else {
-              save_data[begin_index++] = (float)(&Results)->distance_mm[(VL53L8CX_NB_TARGET_PER_ZONE * (j+k)) + l];
             }
-            float distance = ((&Results)->distance_mm[(VL53L8CX_NB_TARGET_PER_ZONE * (j+k)) + l])/10;
+            else
+            {
+              save_data[begin_index++] = (float)(&Results)->distance_mm[(VL53L8CX_NB_TARGET_PER_ZONE * (j + k)) + l];
+            }
+            float distance = ((&Results)->distance_mm[(VL53L8CX_NB_TARGET_PER_ZONE * (j + k)) + l]) / 10;
             if (min > distance)
             {
               min = distance;
             }
           }
-          else {
+          else
+          {
             save_data[begin_index++] = 0.0;
           }
         }
@@ -142,51 +147,55 @@ void DistanceSensor::readSensorData()
     oldVl53l8cxMin = (min == 10000.0) ? 0.0 : min;
 
     // If we reached the end of the circle buffer, reset
-    if (begin_index >= (RING_BUFFER_SIZE)) {
+    if (begin_index >= (RING_BUFFER_SIZE))
+    {
       begin_index = 0;
       // Check if we are ready for prediction or still pending more initial data
-      if (pending_initial_data) {
+      if (pending_initial_data)
+      {
         pending_initial_data = false;
       }
     }
-    if (!pending_initial_data) {
-      for (int i = 0; i < input_length; ++i) {
+    if (!pending_initial_data)
+    {
+      for (int i = 0; i < input_length; ++i)
+      {
         int ring_array_index = begin_index + i - input_length;
-        if (ring_array_index < 0) {
+        if (ring_array_index < 0)
+        {
           ring_array_index += (RING_BUFFER_SIZE);
         }
         // normalize
-        model_input->data.f[i] = save_data[ring_array_index]/2000.0;
+        model_input->data.f[i] = save_data[ring_array_index] / 2000.0;
       }
       // Run inference, and report any error.
       TfLiteStatus invoke_status = interpreter->Invoke();
-      if (invoke_status == kTfLiteOk) {
-        const float* prediction_scores = interpreter->output(0)->data.f;
+      if (invoke_status == kTfLiteOk)
+      {
+        const float *prediction_scores = interpreter->output(0)->data.f;
         overtakingPredictionPercentage = prediction_scores[0];
       }
     }
-    distance = (min == 10000.0) ? 0.0 : min / 10.0;
-    Serial.printf("Distance: %.2f cm\n", distance);
-  }
 
-    float distance = oldVl53l8cxMin;
+    oldVl53l8cxMin = (min == 10000.0) ? 0.0 : min;
 
     if (measurementCallback)
     {
       measurementCallback({distance, overtakingPredictionPercentage});
     }
 
-    if (sendBLE && (millis()-prevBleTime)>=1000)
+    if (sendBLE && (millis() - prevBleTime) >= 1000)
     {
-      notifyBLE(distance,overtakingPredictionPercentage);
+      notifyBLE(distance, overtakingPredictionPercentage);
       prevBleTime = millis();
     }
   }
-  if((millis()-prevMeasureTime)<65){
-    vTaskDelay(pdMS_TO_TICKS(65-(millis()-prevMeasureTime)));
+  if ((millis() - prevMeasureTime) < 65)
+  {
+    vTaskDelay(pdMS_TO_TICKS(65 - (millis() - prevMeasureTime)));
   }
-  Serial.println(millis()-prevMeasureTime);
-  prevMeasureTime=millis();
+  Serial.println(millis() - prevMeasureTime);
+  prevMeasureTime = millis();
 }
 
 void DistanceSensor::notifyBLE(float distance, float overtakingPredictionPercentage)

From 728616408d0a234c6af5c641477108965827fd2a Mon Sep 17 00:00:00 2001
From: Felix Erdmann <hello@felixerdmann.com>
Date: Tue, 11 Jun 2024 14:11:57 +0200
Subject: [PATCH 4/4] chore: organize distancesensor file

---
 .../sensors/DistanceSensor/DistanceSensor.cpp | 20 +++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.cpp b/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.cpp
index 4777c59..3d366ae 100644
--- a/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.cpp
+++ b/senseBox-bike-atrai-v2/src/sensors/DistanceSensor/DistanceSensor.cpp
@@ -1,13 +1,5 @@
 #include "DistanceSensor.h"
 
-DistanceSensor::DistanceSensor() : BaseSensor("distanceTask", 8192, 100) {}
-
-String distanceUUID = "B3491B60C0F34306A30D49C91F37A62B";
-int distanceCharacteristic = 0;
-
-String overtakingUUID = "FC01C6882C444965AE18373AF9FED18D";
-int overtakingCharacteristic = 0;
-
 #include "model_data.h"
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
@@ -21,6 +13,14 @@ int overtakingCharacteristic = 0;
 #include "tensorflow/lite/schema/schema_generated.h"
 #include <tensorflow/lite/micro/micro_error_reporter.h>
 
+DistanceSensor::DistanceSensor() : BaseSensor("distanceTask", 8192, 100) {}
+
+String distanceUUID = "B3491B60C0F34306A30D49C91F37A62B";
+int distanceCharacteristic = 0;
+
+String overtakingUUID = "FC01C6882C444965AE18373AF9FED18D";
+int overtakingCharacteristic = 0;
+
 VL53L8CX sensor_vl53l8cx_top(&Wire, -1, -1);
 const int kChannelNumber = 64;
 const int kFrameNumber = 20;
@@ -177,7 +177,7 @@ void DistanceSensor::readSensorData()
       }
     }
 
-    oldVl53l8cxMin = (min == 10000.0) ? 0.0 : min;
+    float distance = oldVl53l8cxMin;
 
     if (measurementCallback)
     {
@@ -202,4 +202,4 @@ void DistanceSensor::notifyBLE(float distance, float overtakingPredictionPercent
 {
   BLEModule::writeBLE(distanceCharacteristic, distance);
   BLEModule::writeBLE(overtakingCharacteristic, overtakingPredictionPercentage);
-}
+}
\ No newline at end of file