cleaning

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

src/driveModi/driveManager.cpp

@@ -23,8 +23,10 @@ DriveManager::DriveManager(MoveControl *moveControl, SPIClass *spiPort, const Co
     this->navigation = new Navigation(spiPort, UBLOX_GNSS_SPI_CS);
     if (wifi)
         this->navigation->initNtrip(NTRIP_HOST, NTRIP_PORT, NTRIP_MOUNT_POINT, NTRIP_USER, NTRIP_PASSWORD);
-    // if (wifi)
-    //     std::cout << "Wifi is true" << std::endl;
+    
+    this->addChildComponent(this->moveControl);
+    this->addChildComponent(this->navigation);
+    this->activateOnlyChilds();
 }
 
 DriveManager::~DriveManager() {
@@ -32,18 +34,7 @@ DriveManager::~DriveManager() {
     delete this->spiPort;
 }
 
-void DriveManager::loop() {
-    DebugTimes moveControlTime;
-    this->moveControl->loop();
-    moveControlTime.stopConsol("MoveControlTime", 5);
-
-    DebugTimes navigationTime;
-    this->navigation->loop();
-    navigationTime.stopConsol("NavigationTime", 20);
-
-    if (currentModusPtr)
-        this->currentModusPtr->loop();
-}
+void DriveManager::run() {}
 
 void DriveManager::nextModus() {
     changeModus(this->currentModus++);
@@ -52,14 +43,12 @@ void DriveManager::nextModus() {
 void DriveManager::changeModus(Modi modus) {
     this->currentModus = modus;
 
-    delete this->currentModusPtr;
+    if (this->currentModusPtr) {
+        this->removeChildComponent(this->currentModusPtr);
+        delete this->currentModusPtr;
+    }
     //Reset Route to first point
     this->navigation->startNavigation();
-
-    //Set moveControl to a safe state
-    this->moveControl->setSpeed(0);
-    this->moveControl->setRotationSpeed(0);
-    this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
     
     switch (modus) {
         case Modi::Off:
@@ -94,5 +83,8 @@ void DriveManager::changeModus(Modi modus) {
             this->currentModusPtr = nullptr;
             break;
     }
+
+    if (this->currentModusPtr)
+        this->addChildComponent(this->currentModusPtr);
 }