new funcs in navigation to export instructions

2022-02-03 10:44:58 +01:00
parent 23aaa890d5
commit 5ca21b09b2
6 changed files with 135 additions and 18 deletions
@@ -19,21 +19,41 @@
 #include "route.h"

 #define MIN_DISTANCE_BETWEEN_POINTS 1
+
+struct CourseCorrection {
+    int16_t correction;
+    double distance;
+};
 class Navigation {
    public:
        Navigation(uint8_t rx, uint8_t tx);
        ~Navigation();
        void loop();

-        Point addCurrentPosToRoute();
+        void newRoute();
+
+        bool startNavigation();
+        CourseCorrection getCourseCorrection();
+
+        bool addCurrentPosToRoute();

        TinyGPSPlus* getGPS() { return this->gps; }

    private:
+        Point currentLocation();
+        bool nextPoint();
+        bool setTargetPoint(Point target);
+        static double distanceBetwenn(Point p1, Point p2);
+        static double courseTo(Point p1, Point p2);
+
        TinyGPSPlus* gps;
        Route* route;

        Point lastPoint;
+        Point targetPoint;
+
+        bool navigationStarted = false;
+        bool navigationFinished = false;
 };

 #endif // NAVIGATION_H