cleaning

refactore
all components now have a base class compnent for loop functions

lib/Navigation/navigation.cpp

@@ -39,11 +39,6 @@ void Navigation::init(Route* route) {
     uint8_t versionLow = this->gps->getProtocolVersionLow();
     std::cout << "u-blox protocol version: " << unsigned(versionHigh) << "." << unsigned(versionLow) << std::endl;
 
-    // std::cout << "Set GNSS Module to factory settings... ";
-    // this->gps->factoryReset();
-    // delay(5000);
-    // std::cout << "Complete" << std::endl;
-
     this->gps->setSPIOutput(COM_TYPE_UBX);
     this->gps->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10);
     this->gps->setUSBOutput(COM_TYPE_UBX | COM_TYPE_NMEA);
@@ -67,14 +62,16 @@ void Navigation::init(Route* route) {
     CalibrateCompass caliCompass(this->compass);
     caliCompass.loadData();
     caliCompass.useData();
-    // std::cout << "Navigation::init compass correction data: " << caliCompass << std::endl;
+
+    this->loopDelay =AZIMUTH_UPDATE_DELAY;
 }
 
 Navigation::~Navigation() {
     delete this->gps;
     delete this->compass;
-    delete this->ntripClient;
     delete this->route;
+    if (this->ntripClient)
+        delete this->ntripClient;
 }
 
 void Navigation::initNtrip(String host, uint16_t port, String mountPoint, String user, String password) {
@@ -83,9 +80,17 @@ void Navigation::initNtrip(String host, uint16_t port, String mountPoint, String
     this->ntripClient->loop();
     this->ntripClient->setActivated(false);
     this->isNtripInit = true;
+    this->addChildComponent(this->ntripClient);
 }
 
-void Navigation::loop() {
+void Navigation::run() {
+    this->compass->read();
+    this->realAzimuth = this->compass->getAzimuth();
+
+    this->updateMagneticDeclination();
+}
+
+void Navigation::runAsChild() {
     this->gps->checkUblox();
     this->gps->checkCallbacks();
 
@@ -93,18 +98,6 @@ void Navigation::loop() {
         this->updateCurrentLocation();
         Navigation::newData = false;
     }
-
-    if (this->ntripClient)
-        this->ntripClient->loop();
-
-    if (millis() - this->lastMillis > AZIMUTH_UPDATE_DELAY) {
-        this->compass->read();
-        this->realAzimuth = this->compass->getAzimuth();
-
-        this->updateMagneticDeclination();
-
-        this->lastMillis = millis();
-    }
 }
 
 void Navigation::newRoute() {

lib/Navigation/navigation.h

@@ -21,6 +21,7 @@
 #include "route.h"
 #include "NTRIPClient.h"
 #include "calibrateCompass.h"
+#include "component.h"
 
 /**
  * @brief The minimal distance between Points
@@ -54,7 +55,7 @@ struct CourseCorrection {
  * be drive and the distance to the next checkpoint.
  * 
  */
-class Navigation {
+class Navigation : public Component {
     public:
         enum Status {
             InsufficientAccuracy,
@@ -103,13 +104,6 @@ class Navigation {
          */
         void initNtrip(String host, uint16_t port, String mountPoint, String user, String password);
 
-        /**
-         * @brief Decodes new GPS information
-         * 
-         * Should be called ever main loop.
-         */
-        void loop();
-
         /**
          * @brief creates a new empty route
          * 
@@ -218,6 +212,8 @@ class Navigation {
         static int16_t fixDegree(int16_t degree);
 
     private:
+        void run() override;
+        void runAsChild() override;
         void updateCurrentLocation();
         void updateMagneticDeclination();
         void init(Route* route);