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clean main.cpp, clean moveControl.cpp

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added classdiagramm and ManualControl
This commit is contained in:
kleiax
2021-05-12 13:54:51 +02:00
parent 4c2cdcb040
commit 360a89b25c
12 changed files with 341 additions and 288 deletions
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src/config.h
+5 -4
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@@ -46,13 +46,14 @@
#define RUN_MOVE_CONTROL_DELAY 150 // Normal 10 untested
#define ACCELERATE_STEPS 1
//ManualControl config
#define RUN_MANUALCONTROL_DELAY 10
#define MANUALCONTROL_MAX_SPEED 1.0
#define MANUALCONTROL_MAX_ROTATION 1.0
// PS3 Controller
// ESP32 MAC BL 24:62:AB:F2:4B:3A
//Max Values for speed and rotation
#define MAX_SPEED 1.0
#define MAX_ROTATION 1.0
//Network config
#define WLAN_SSID "Kleiax2"
#define WLAN_PASSWORD "Punica-699"
src/driveModi/manualControl.cpp
+83
View File
@@ -0,0 +1,83 @@
#include "manualControl.h"
ManualControl::ManualControl() {
this->debug = new DebugMqtt("ManualControl");
}
void ManualControl::init(MoveControl *moveControl, MotorControl *motorControlLeft, MotorControl *motorControlRight) {
debug->sendMsg(Loglevel::info, "Init...");
this->moveControl = moveControl;
this->motorControlLeft = motorControlLeft;
this->motorControlRight = motorControlRight;
debug->sendMsg(Loglevel::info, "Init finished!");
}
void ManualControl::runManualControl() {
//Cancel if delay is not reached
if (millis() - this->last_millis < RUN_MANUALCONTROL_DELAY) {
return;
}
this->last_millis = millis();
switch (this->drive_mode) {
case DriveMode::stop:
this->reset();
break;
case DriveMode::joystick:
this->driveWithControllerJoystick();
this->moveControl->runMoveControl();
break;
case DriveMode::trigger:
this->driveWithControllerShoulderTrigger();
break;
default:
break;
}
}
void ManualControl::driveWithControllerJoystick() {
int8_t x = Ps3.data.analog.stick.lx;
int8_t y = Ps3.data.analog.stick.ly;
double value_per_step = MANUALCONTROL_MAX_SPEED * 2 / 256;
this->moveControl->setSpeed((y * -1) * value_per_step);
value_per_step = MANUALCONTROL_MAX_ROTATION * 2 / 256;
this->moveControl->setRotationspeed(x * value_per_step);
}
void ManualControl::changeDriveMode(DriveMode drive_mode) {
this->drive_mode = drive_mode;
}
void ManualControl::driveWithControllerShoulderTrigger() {
uint8_t nowL = Ps3.data.analog.button.l2;
uint8_t nowR = Ps3.data.analog.button.r2;
map(nowL, 0, 255, 0, 100);
map(nowR, 0, 255, 0, 100);
if (nowL != this->oldL) {
this->motorControlLeft->setTargetPower(nowL);
this->oldL = nowL;
}
if (nowR != this->oldR) {
this->motorControlRight->setTargetPower(nowR);
this->oldR = nowR;
}
}
void ManualControl::reset() {
this->oldL = 0;
this->oldR = 0;
motorControlLeft->setTargetPower(0);
motorControlRight->setTargetPower(0);
moveControl->setRotationspeed(0);
moveControl->setSpeed(0);
}
src/driveModi/manualControl.h
+36
View File
@@ -0,0 +1,36 @@
#ifndef MANUAL_CONTROL_H
#define MANUAL_CONTROL_H
#include <Ps3Controller.h>
#include "moveControl.h"
#include "hardware/motorControl.h"
#include "debugMqtt.h"
enum DriveMode {stop, joystick, trigger};
class ManualControl {
public:
ManualControl();
void init(MoveControl *moveControl, MotorControl *motorControlLeft, MotorControl *motorControlRight);
void runManualControl();
void changeDriveMode(DriveMode drive_mode);
private:
void driveWithControllerJoystick();
void driveWithControllerShoulderTrigger();
void reset();
MoveControl *moveControl;
MotorControl *motorControlLeft;
MotorControl *motorControlRight;
DebugMqtt *debug;
DriveMode drive_mode = DriveMode::stop;
uint32_t last_millis = 0;
// Is needed for driveWithControllerShoulderTrigger()
uint8_t oldL = 0;
uint8_t oldR = 0;
};
#endif // MANUAL_CONTROL_H
src/hardware/motorControl.cpp
+12 -4
View File
@@ -8,9 +8,11 @@ MotorControl::MotorControl() {
this->debug = new DebugMqtt("MotorControl");
}
void MotorControl::init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t direction_pin_1, uint8_t direction_pin_2) {
void MotorControl::init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t direction_pin_1, uint8_t direction_pin_2, String name) {
debug->sendMsg(Loglevel::info, "Init...");
this->name = name;
this->pwm_pin = pwm_pin;
this->pwm_channel = pwm_channel;
this->direction_pin_1 = direction_pin_1;
@@ -83,7 +85,9 @@ void MotorControl::runMotorControl() {
void MotorControl::setTargetPower(int8_t power) {
if (power <= 100 && power >= -100) {
this->target_power = power;
debug->writeToInflux("motorControl", "target_power_ASIDE", power);
char str[32];
sprintf(str, "target_power_%s", this->name.c_str());
debug->writeToInflux("motorControl", str, power);
} else {
debug->sendMsg(Loglevel::error, "Invalid Argument in setTargetPower!");
}
@@ -91,7 +95,9 @@ void MotorControl::setTargetPower(int8_t power) {
void MotorControl::stop() {
this->target_power = 0;
debug->writeToInflux("motorControl", "target_power_ASIDE", this->target_power);
char str[32];
sprintf(str, "target_power_%s", this->name.c_str());
debug->writeToInflux("motorControl", str, this->target_power);
}
void MotorControl::emergencyStop() {
@@ -158,7 +164,9 @@ void MotorControl::setRealPower(int8_t power) {
}
ledcWrite(this->pwm_channel, pwm_val);
debug->writeToInflux("motorControl", "real_power_ASIDE", power);
char str[32];
sprintf(str, "real_power_%s", this->name.c_str());
debug->writeToInflux("motorControl", str, power);
// Serial.printf("pwm_val: %d, ", pwm_val);
}
src/hardware/motorControl.h
+3 -1
View File
@@ -9,7 +9,7 @@
class MotorControl {
public:
MotorControl();
void init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t direction_1, uint8_t direction_2);
void init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t direction_1, uint8_t direction_2, String name);
void runMotorControl();
void setTargetPower(int8_t power);
void stop();
@@ -26,6 +26,8 @@ class MotorControl {
void setRealPower(int8_t power);
void increasePower(int8_t power);
String name;
DebugMqtt *debug;
int8_t target_power = 0;
src/hardware/speedometer.cpp
+5 -2
View File
@@ -7,8 +7,9 @@ Speedometer::Speedometer() {
this->debug = new DebugMqtt("Speedometer");
}
void Speedometer::init(uint8_t pinA, uint8_t pinB) {
void Speedometer::init(uint8_t pinA, uint8_t pinB, String name) {
debug->sendMsg(Loglevel::info, "Init...");
this->name = name;
ESP32Encoder::useInternalWeakPullResistors=DOWN;
this->encoder.attachFullQuad(pinA, pinB);
this->encoder.setFilter(ENC_FILTER);
@@ -49,7 +50,9 @@ void Speedometer::runSpeedometer() {
} else {
this->speed = 0;
}
debug->writeToInflux("speedometer", "speed_ASIDE", this->speed);
char str[32];
sprintf(str, "speed_%s", this->name.c_str());
debug->writeToInflux("speedometer", str, this->speed);
// Serial.printf("time: %d, ", time);
// Serial.printf("count: %d, ",count);
src/hardware/speedometer.h
+2 -1
View File
@@ -11,7 +11,7 @@
class Speedometer {
public:
Speedometer();
void init(uint8_t pinA, uint8_t pinB);
void init(uint8_t pinA, uint8_t pinB, String name);
void runSpeedometer();
double getSpeed();
uint8_t getDirection();
@@ -24,6 +24,7 @@ class Speedometer {
ESP32Encoder encoder;
DebugMqtt *debug;
String name;
double speed = 0;
uint32_t last_millis = 0;
src/main.cpp
+74 -148
View File
@@ -12,7 +12,6 @@
void callbackControllerAction();
void callbackControllerConnect();
void callbackControllerDisconnect();
void controllerPrintBattery();
void reconnectMqtt();
@@ -32,182 +31,109 @@ IPAddress mqtt_server(MQTT_SERVER);
WiFiClient wifi_client;
PubSubClient mqtt_client(wifi_client);
uint64_t last_millis = 0;
int controller_battery = -1;
// Temp code
double speed = 0;
uint8_t drive_mode = 0;
void driveWithControllerJoystick(int8_t x, int8_t y);
void driveWithControllerShoulderTrigger(uint8_t left, uint8_t right);
void changeDriveMode();
void setup() {
Serial.begin(115200);
Serial.begin(115200);
// Configures static IP address
if (!WiFi.config(local_IP, gateway, subnet)) {
Serial.println("STA Failed to configure");
}
// Configures static IP address
if (!WiFi.config(local_IP, gateway, subnet)) {
Serial.println("STA Failed to configure");
}
// Connect to Wi-Fi network with SSID and password
Serial.print("Connecting to ");
Serial.println(WLAN_SSID);
WiFi.begin("Kleiax2", "Punica-699");
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
// Connect to Wi-Fi network with SSID and password
Serial.print("Connecting to ");
Serial.println(WLAN_SSID);
WiFi.begin("Kleiax2", "Punica-699");
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
// Print local IP address and start web server
Serial.println("");
Serial.println("WiFi connected.");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
// Print local IP address and start web server
Serial.println("");
Serial.println("WiFi connected.");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
mqtt_client.setServer(mqtt_server, MQTT_PORT);
reconnectMqtt();
mqtt_client.setServer(mqtt_server, MQTT_PORT);
reconnectMqtt();
configTime(3600, 3600, "192.168.1.2");
configTime(3600, 3600, "192.168.1.2");
DebugMqtt::init(&mqtt_client, Loglevel::debug);
DebugMqtt::initRealMillis();
DebugMqtt::init(&mqtt_client, Loglevel::debug);
DebugMqtt::initRealMillis();
Ps3.attach(callbackControllerAction);
Ps3.attachOnConnect(callbackControllerConnect);
Ps3.attachOnDisconnect(callbackControllerDisconnect);
Serial.println("\nReady to connect a PS3 Controller... \n");
Ps3.begin();
Ps3.attach(callbackControllerAction);
Ps3.attachOnConnect(callbackControllerConnect);
Ps3.attachOnDisconnect(callbackControllerDisconnect);
Serial.println("\nReady to connect a PS3 Controller... \n");
Ps3.begin();
left_motor.init(M_PWM_1, PWM_CHANNEL_M1, M_DIR_11, M_DIR_12);
right_motor.init(M_PWM_2, PWM_CHANNEL_M2, M_DIR_21, M_DIR_22);
left_motor.init(M_PWM_1, PWM_CHANNEL_M1, M_DIR_11, M_DIR_12, "left");
right_motor.init(M_PWM_2, PWM_CHANNEL_M2, M_DIR_21, M_DIR_22, "right");
speedometer_left.init(M_ENCODE_1A, M_ENCODE_1B);
speedometer_right.init(M_ENCODE_2A, M_ENCODE_2B);
speedometer_left.init(M_ENCODE_1A, M_ENCODE_1B, "left");
speedometer_right.init(M_ENCODE_2A, M_ENCODE_2B, "right");
moveController.init(&left_motor, &right_motor, &speedometer_left, &speedometer_right);
moveController.init(&left_motor, &right_motor, &speedometer_left, &speedometer_right);
}
void loop() {
if (!mqtt_client.connected()) {
reconnectMqtt();
}
mqtt_client.loop();
if (!mqtt_client.connected())
reconnectMqtt();
mqtt_client.loop();
if (millis() - last_millis > 1000) {
debugger.sendTime();
last_millis = millis();
}
left_motor.runMotorControl();
right_motor.runMotorControl();
speedometer_left.runSpeedometer();
speedometer_right.runSpeedometer();
if (drive_mode == 1)
moveController.runMoveControl();
left_motor.runMotorControl();
right_motor.runMotorControl();
speedometer_left.runSpeedometer();
speedometer_right.runSpeedometer();
}
void reconnectMqtt() {
// Loop until reconnection
while (!mqtt_client.connected()) {
Serial.print("Attempting MQTT connection...");
// Create a random client ID
String clientId = "ESP32Rover-";
clientId += String(random(0xffff), HEX);
// Attempt to connect
if (mqtt_client.connect(clientId.c_str())) {
Serial.println("connected");
// Once connected, publish an announcement...
mqtt_client.publish("Rover/Info", "Connected to Mqtt-Broker");
} else {
Serial.print("failed, rc=");
Serial.print(mqtt_client.state());
Serial.println(" try again in 5 seconds");
// Wait 5 seconds before retrying
delay(5000);
// Loop until reconnection
while (!mqtt_client.connected()) {
Serial.print("Attempting MQTT connection...");
// Create a random client ID
String clientId = "ESP32Rover-";
clientId += String(random(0xffff), HEX);
// Attempt to connect
if (mqtt_client.connect(clientId.c_str())) {
Serial.println("connected");
// Once connected, publish an announcement...
mqtt_client.publish("Rover/Info", "Connected to Mqtt-Broker");
} else {
Serial.print("failed, rc=");
Serial.print(mqtt_client.state());
Serial.println(" try again in 5 seconds");
// Wait 5 seconds before retrying
delay(5000);
}
}
}
}
void callbackControllerAction() {
if (Ps3.event.button_down.r3) { controllerPrintBattery(); }
if (Ps3.event.button_down.l1) { moveController.setSpeed(speed -= 0.1); }
if (Ps3.event.button_down.r1) { moveController.setSpeed(speed += 0.1); }
if (Ps3.event.button_down.start) { changeDriveMode(); }
if (abs(Ps3.event.analog_changed.stick.lx) || abs(Ps3.event.analog_changed.stick.ly))
driveWithControllerJoystick(Ps3.data.analog.stick.lx, Ps3.data.analog.stick.ly);
if (abs(Ps3.event.analog_changed.button.l2) || abs(Ps3.event.analog_changed.button.r2)) {
driveWithControllerShoulderTrigger(Ps3.data.analog.button.l2, Ps3.data.analog.button.r2);
Serial.println(Ps3.data.analog.button.l2, DEC);
}
if (Ps3.event.button_down.start) {
}
}
void callbackControllerConnect() {
Serial.println("Controller connected to ESP32");
delay(400);
Serial.print("Setting LEDs to Status "); Serial.println(drive_mode, DEC);
Ps3.setPlayer(drive_mode);
}
void callbackControllerDisconnect() {
Serial.println("Controller disconnected from ESP32");
Serial.println("Controller connected to ESP32");
debugger.sendMsg(Loglevel::info, "Controller connected to ESP32")
}
void controllerPrintBattery() {
if( controller_battery != Ps3.data.status.battery ){
controller_battery = Ps3.data.status.battery;
}
if( controller_battery != Ps3.data.status.battery ){
controller_battery = Ps3.data.status.battery;
}
Serial.print("The controller battery is ");
if( controller_battery == ps3_status_battery_charging ) Serial.println("charging");
else if( controller_battery == ps3_status_battery_full ) Serial.println("FULL");
else if( controller_battery == ps3_status_battery_high ) Serial.println("HIGH");
else if( controller_battery == ps3_status_battery_low) Serial.println("LOW");
else if( controller_battery == ps3_status_battery_dying ) Serial.println("DYING");
else if( controller_battery == ps3_status_battery_shutdown ) Serial.println("SHUTDOWN");
else Serial.println("UNDEFINED");
Serial.print("The controller battery is ");
if( controller_battery == ps3_status_battery_charging ) Serial.println("charging");
else if( controller_battery == ps3_status_battery_full ) Serial.println("FULL");
else if( controller_battery == ps3_status_battery_high ) Serial.println("HIGH");
else if( controller_battery == ps3_status_battery_low) Serial.println("LOW");
else if( controller_battery == ps3_status_battery_dying ) Serial.println("DYING");
else if( controller_battery == ps3_status_battery_shutdown ) Serial.println("SHUTDOWN");
else Serial.println("UNDEFINED");
}
void driveWithControllerJoystick(int8_t x, int8_t y) {
if (drive_mode != 1) return;
double value_per_step = MAX_SPEED * 2 / 256;
moveController.setSpeed((y * -1) * value_per_step);
value_per_step = MAX_ROTATION * 2 / 256;
moveController.setRotationspeed(x * value_per_step);
}
void driveWithControllerShoulderTrigger(uint8_t left, uint8_t right) {
if (drive_mode != 2) return;
map(left, 0, 255, 0, 100);
map(right, 0, 255, 0, 100);
left_motor.setTargetPower(left);
right_motor.setTargetPower(right);
}
void changeDriveMode() {
drive_mode++;
if (drive_mode > 2) {
drive_mode = 1;
}
Ps3.setPlayer(drive_mode);
if (drive_mode == 2) {
moveController.setSpeed(0);
}
}
void getDis(double lat1, double lon1, double lat2, double lon2) {
double lat = (lat1 + lat2) / 2 * 0.01745;
double dx = 111.3 * cos(lat) * (lon1 - lon2);
double dy = 111.3 * (lat1 - lat2);
double erg = sqrt(dx * dx + dy * dy);
}
src/moveControl.cpp
+2 -126
View File
@@ -64,99 +64,7 @@ void MoveControl::regulateMotors() {
this->right_motor->setTargetPower(0);
break;
case DrivingStatus::straightForward :
// Left motor
// Too slow
if (this->left_speedometer->getSpeed() < this->wheelspeed_left_target
&& this->left_speedometer->getSpeed() <= this->right_speedometer->getSpeed()) {
this->left_motor->setTargetPower(this->left_motor->getTargetPower() + ACCELERATE_STEPS);
// Too fast
} else if (this->left_speedometer->getSpeed() > this->wheelspeed_left_target
&& this->left_speedometer->getSpeed() >= this->right_speedometer->getSpeed()) {
this->left_motor->setTargetPower(this->left_motor->getTargetPower() - ACCELERATE_STEPS);
}
// Right motor
// Too slow
if (this->right_speedometer->getSpeed() < this->wheelspeed_right_target
&& this->right_speedometer->getSpeed() <= this->left_speedometer->getSpeed()) {
this->right_motor->setTargetPower(this->right_motor->getTargetPower() + ACCELERATE_STEPS);
// Too fast
} else if (this->right_speedometer->getSpeed() > this->wheelspeed_right_target
&& this->right_speedometer->getSpeed() >= this->left_speedometer->getSpeed()) {
this->right_motor->setTargetPower(this->right_motor->getTargetPower() - ACCELERATE_STEPS);
}
break;
case DrivingStatus::straightBackward :
// Left motor
// Too slow
if (this->left_speedometer->getSpeed() > this->wheelspeed_left_target
&& this->left_speedometer->getSpeed() >= this->right_speedometer->getSpeed()) {
this->left_motor->setTargetPower(this->left_motor->getTargetPower() - ACCELERATE_STEPS);
// Too fast
} else if (this->left_speedometer->getSpeed() < this->wheelspeed_left_target
&& this->left_speedometer->getSpeed() <= this->right_speedometer->getSpeed()) {
this->left_motor->setTargetPower(this->left_motor->getTargetPower() + ACCELERATE_STEPS);
}
// Right motor
// Too slow
if (this->right_speedometer->getSpeed() > this->wheelspeed_right_target
&& this->right_speedometer->getSpeed() >= this->left_speedometer->getSpeed()) {
this->right_motor->setTargetPower(this->right_motor->getTargetPower() - ACCELERATE_STEPS);
// Too fast
} else if (this->right_speedometer->getSpeed() < this->wheelspeed_right_target
&& this->right_speedometer->getSpeed() <= this->left_speedometer->getSpeed()) {
this->right_motor->setTargetPower(this->right_motor->getTargetPower() + ACCELERATE_STEPS);
}
break;
case DrivingStatus::arcForwardLeft : // Identical with arcForwardRight
ratio = this->wheelspeed_left_target / this->wheelspeed_right_target;
// Left motor
// Too slow
if (this->left_speedometer->getSpeed() < this->wheelspeed_left_target
&& this->left_speedometer->getSpeed() <= (this->right_speedometer->getSpeed()) * ratio) {
this->left_motor->setTargetPower(this->left_motor->getTargetPower() + ACCELERATE_STEPS);
// Too fast
} else if (this->left_speedometer->getSpeed() > this->wheelspeed_left_target
&& this->left_speedometer->getSpeed() >= (this->right_speedometer->getSpeed()) * ratio) {
this->left_motor->setTargetPower(this->left_motor->getTargetPower() - ACCELERATE_STEPS);
}
// Right motor
// Too slow
if (this->right_speedometer->getSpeed() < this->wheelspeed_right_target
&& (this->right_speedometer->getSpeed() * ratio) <= this->left_speedometer->getSpeed()) {
this->right_motor->setTargetPower(this->right_motor->getTargetPower() + ACCELERATE_STEPS);
// Too fast
} else if (this->right_speedometer->getSpeed() > this->wheelspeed_right_target
&& (this->right_speedometer->getSpeed() * ratio) >= this->left_speedometer->getSpeed()) {
this->right_motor->setTargetPower(this->right_motor->getTargetPower() - ACCELERATE_STEPS);
}
break;
case DrivingStatus::arcForwardRight : // Identical with arcForwardLeft
case DrivingStatus::forward :
ratio = this->wheelspeed_left_target / this->wheelspeed_right_target;
// Left motor
@@ -188,39 +96,7 @@ void MoveControl::regulateMotors() {
}
break;
case DrivingStatus::arcBackwardLeft : // Identical with arcBackwardRight
ratio = this->wheelspeed_left_target / this->wheelspeed_right_target;
// Left motor
// Too slow
if (this->left_speedometer->getSpeed() > this->wheelspeed_left_target
&& this->left_speedometer->getSpeed() >= (this->right_speedometer->getSpeed() * ratio)) {
this->left_motor->setTargetPower(this->left_motor->getTargetPower() - ACCELERATE_STEPS);
// Too fast
} else if (this->left_speedometer->getSpeed() < this->wheelspeed_left_target
&& this->left_speedometer->getSpeed() <= (this->right_speedometer->getSpeed() * ratio)) {
this->left_motor->setTargetPower(this->left_motor->getTargetPower() + ACCELERATE_STEPS);
}
// Right motor
// Too slow
if (this->right_speedometer->getSpeed() > this->wheelspeed_right_target
&& (this->right_speedometer->getSpeed() * ratio) >= this->left_speedometer->getSpeed()) {
this->right_motor->setTargetPower(this->right_motor->getTargetPower() - ACCELERATE_STEPS);
// Too fast
} else if (this->right_speedometer->getSpeed() < this->wheelspeed_right_target
&& (this->right_speedometer->getSpeed() * ratio) <= this->left_speedometer->getSpeed()) {
this->right_motor->setTargetPower(this->right_motor->getTargetPower() + ACCELERATE_STEPS);
}
break;
case DrivingStatus::arcBackwardRight : // Identical with arcBackwardLeft
case DrivingStatus::backward :
ratio = this->wheelspeed_left_target / this->wheelspeed_right_target;
// Left motor
src/route.cpp
+7
View File
@@ -38,4 +38,11 @@ Point Route::getNextPoint() {
uint16_t Route::getNumberOfPoints() {
return this->count_points;
}
double Route::getDis(Point point_1, Point point_2) {
double lat = (point_1.lat + point_2.lat) / 2 * 0.1745;
double dx = 111.3 * cos(lat) * (point_1.lon - point_2.lon);
double dy = 111.3 * (point_1.lat - point_2.lat);
return sqrt(dx * dx + dy * dy);
}
src/route.h
+4 -2
View File
@@ -9,8 +9,8 @@
#include "config.h"
struct Point{
float N = 0;
float E = 0;
float lat = 0;
float lon = 0;
};
class Route {
@@ -25,6 +25,8 @@ class Route {
Point getNextPoint();
uint16_t getNumberOfPoints();
static double getDis(Point point_1, Point point_2);
private:
std::list<Point> points;