- added data validation in calibrate compass

- activatre auto load calibration data - give possibility to force update in navigation getCourseCorrection - added drive mode for compass calibration - removed compass calibration manualControl
2023-05-31 12:48:41 +02:00
parent e0d6853961
commit 38c8a58988
10 changed files with 263 additions and 71 deletions
@@ -0,0 +1,155 @@
+/**
+ * @file menuCalibrateCompass.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Contains an implementation of the class MenuManualDrive
+ * @version 0.1
+ * @date 2022-01-20
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+#include "menuCalibrateCompass.h"
+
+MenuCalibrateCompass::MenuCalibrateCompass(DriveManager* driveManager) : MenuDriveMode(driveManager) {
+    this->caliCompass = new CalibrateCompass(this->driveManager->getNavigation()->getCompass());
+}
+
+MenuCalibrateCompass::~MenuCalibrateCompass() {
+    delete this->caliCompass;
+    this->manualControl->setCalibrateCompass();
+}
+
+void MenuCalibrateCompass::printPage() const {
+    String lineOne = "";
+    String lineTwo = "";
+
+    switch (this->getCurrentPage()) {
+        case 0:
+            lineOne = "-Ready to drive-";
+            lineTwo = "Compass Mode";
+            break;
+
+        case 1:
+            lineOne = "Azimuth:";
+            lineTwo.concat(this->driveManager->getNavigation()->getAzimuth());
+            break;        
+        
+        case 2:
+            switch (this->caliCompass->getState()) {
+                case CalibrateCompass::State::Ready :
+                    lineOne = "Start compass";
+                    lineTwo = "calibration";
+                    break;
+
+                case CalibrateCompass::State::Calibrating :
+                    lineOne = "Calibrating...";
+                    lineTwo = "Move around";
+                    break;
+
+                case CalibrateCompass::State::Finished:
+                    lineOne = "Calibration";
+                    lineTwo = "finished";
+                    break;
+                
+                default:
+                    break;
+            }
+            break;
+
+        case 3:
+            lineOne = "Save compass";
+            lineTwo = "data in flash";
+            break;
+
+        case 4:
+            lineOne = "Load data";
+            lineTwo = "from flash";
+            break;
+
+        case 5:
+            lineOne = "Remove";
+            lineTwo = "calibration data";
+            break;
+
+        case 6:
+            lineOne = "Use current";
+            lineTwo = "calibration data";
+            break;
+
+        case 7:
+            lineOne = "X min: ";
+            lineOne.concat(this->caliCompass->getCallibrationData().data[0][0]);
+            lineTwo = "X max: ";
+            lineTwo.concat(this->caliCompass->getCallibrationData().data[0][1]);
+            break;
+
+        case 8:
+            lineOne = "Y min: ";
+            lineOne.concat(this->caliCompass->getCallibrationData().data[1][0]);
+            lineTwo = "Y max: ";
+            lineTwo.concat(this->caliCompass->getCallibrationData().data[1][1]);
+            break;
+
+        case 9:
+            lineOne = "Z min: ";
+            lineOne.concat(this->caliCompass->getCallibrationData().data[2][0]);
+            lineTwo = "Z max: ";
+            lineTwo.concat(this->caliCompass->getCallibrationData().data[2][1]);
+            break;
+
+        default:
+            this->printDefault();
+        return;
+    }
+
+    this->print(lineOne, lineTwo);
+}
+
+void MenuCalibrateCompass::init() {
+    this->firstPrint = false;
+    this->driveManager->changeModus(Modi::ManualControl);
+    this->manualControl = (ManualControl*) this->driveManager->getDriveModiPtr();
+    this->setCountPages(10);
+    this->updateDelay = 500; 
+}
+
+void MenuCalibrateCompass::runCommand() const {
+    switch (this->getCurrentPage()) {
+        case 2:
+            switch (this->caliCompass->getState()) {
+                case CalibrateCompass::State::Ready :
+                    this->manualControl->setCalibrateCompass(this->caliCompass);
+                    this->caliCompass->start();
+                    break;
+
+                case CalibrateCompass::State::Finished:
+                    this->manualControl->setCalibrateCompass();
+                    this->caliCompass->useData();
+                    this->caliCompass->reset();
+                    break;
+                
+                default:
+                    break;
+            }
+            break;
+
+        case 3:
+            this->caliCompass->saveData();
+            break;
+
+        case 4:
+            this->caliCompass->loadData();
+            break;
+
+        case 5:
+            this->caliCompass->removeCalibration();
+            break;
+
+        case 6:
+            this->caliCompass->useData();
+            break;        
+        
+        default:
+            break;
+    }
+}