doxygen finished

2023-10-12 19:50:10 +02:00
parent db74898b72
commit 5eaeb2749b
39 changed files with 1283 additions and 1019 deletions
@@ -4,15 +4,14 @@
 * @brief Contains a class which use the navigate class to drive automaticaly
 * @version 0.1
 * @date 2022-02-02
- * 
+ *
 * @copyright Copyright (c) 2022
- * 
+ *
 */

 #ifndef AUTOPILOT_H
 #define AUTOPILOT_H

-
 #include "navigation.h"
 #include "driveModi/Modi/ManualControl/manualControl.h"

@@ -20,110 +19,113 @@ class DirectionChangeSignal;

 /**
 * @brief This class use the navigate class to drive automaticaly
- * 
+ *
 * This class get the information from the navigate class. When an
 * object of this class is constructed the rover can be driven manually.
 * When the Rover is near to the first position of the Route, you can
 * switch to automatic drive.
- * 
+ *
 */
-class Autopilot : public ManualControl {
-    public:
-        enum State {
-            InsufficientAccuracy = -2,
-            NoRoute = -1,
-            None = 0,
-            NavigationStarted,
-            GetToStartPoint,
-            SelfDrivingAvailable,
-            SelfDriving,
-            SelfDrivingRotate,
-            TargetReached
-        };
+class Autopilot : public ManualControl
+{
+public:
+    enum State
+    {
+        InsufficientAccuracy = -2,
+        NoRoute = -1,
+        None = 0,
+        NavigationStarted,
+        GetToStartPoint,
+        SelfDrivingAvailable,
+        SelfDriving,
+        SelfDrivingRotate,
+        TargetReached
+    };

-        /**
-         * @brief Destroy the Autopilot object
-         * 
-         * Disconnect the NTRIP-Client
-         */
-        ~Autopilot();
+    /**
+     * @brief Destroy the Autopilot object
+     *
+     * Disconnect the NTRIP-Client
+     */
+    ~Autopilot();

-        void restart();
+    void restart();

-        /**
-         * @brief Get the Route Info object
-         * 
-         * @return RouteInfo 
-         */
-        RouteInfo getRouteInfo() const { return this->routeInfo; }
+    /**
+     * @brief Get the Route Info object
+     *
+     * @return RouteInfo
+     */
+    RouteInfo getRouteInfo() const { return this->routeInfo; }

-        /**
-         * @brief Get the Course Correction object
-         * 
-         * @return CourseCorrection 
-         */
-        CourseCorrection getCourseCorrection() const { return this->courseCorrection; }
+    /**
+     * @brief Get the Course Correction object
+     *
+     * @return CourseCorrection
+     */
+    CourseCorrection getCourseCorrection() const { return this->courseCorrection; }

-        /**
-         * @brief Get the State object
-         * 
-         * @return State 
-         */
-        State getState() const { return this->state; }
-        Navigation* getNavigation() const { return this->navigation; }
-        
-        /**
-         * @brief Tells if there are new informations to display
-         * 
-         * @return true 
-         * @return false 
-         */
-        bool shouldUpdate();
-        void testRotate(int16_t degree);
-        void endRotate();
-        void switchLoopMode() { this->loopMode = !this->loopMode; }
-        bool getLoopMode() const { return this->loopMode; }
+    /**
+     * @brief Get the State object
+     *
+     * @return State
+     */
+    State getState() const { return this->state; }
+    Navigation *getNavigation() const { return this->navigation; }

-    private:
-        void init();
-        void drive();
-        void beginRotate();
-        void rotate();
-        void run() override;
-        void checkButtonInput();
-        void askNavigationForOrder();
-        void selfDriving();
-        void restartLoop();
-        void afterActivate() override;
+    /**
+     * @brief Tells if there are new informations to display
+     *
+     * @return true
+     * @return false
+     */
+    bool shouldUpdate();
+    void testRotate(int16_t degree);
+    void endRotate();
+    void switchLoopMode() { this->loopMode = !this->loopMode; }
+    bool getLoopMode() const { return this->loopMode; }

-        Navigation* navigation = nullptr;
-        CourseCorrection courseCorrection{0, 0};
-        RouteInfo routeInfo{0, 0};
-        State state = State::None;
-        State lastState = State::None;
-        Navigation::Status lastOrderStatus;
-        DirectionChangeSignal* directionChangeSignal = nullptr;
+private:
+    void init();
+    void drive();
+    void beginRotate();
+    void rotate();
+    void run() override;
+    void checkButtonInput();
+    void askNavigationForOrder();
+    void selfDriving();
+    void restartLoop();
+    void afterActivate() override;

-        bool updateDisplay = false;
-        bool loopMode = false;
+    Navigation *navigation = nullptr;
+    CourseCorrection courseCorrection{0, 0};
+    RouteInfo routeInfo{0, 0};
+    State state = State::None;
+    State lastState = State::None;
+    Navigation::Status lastOrderStatus;
+    DirectionChangeSignal *directionChangeSignal = nullptr;

-        uint8_t maxCourseDeviationBeforeAct = 5;
-        uint16_t autopilotChangeDelayMillis = 500;
-        uint32_t lastAutopilotChangeMillis = 0;
+    bool updateDisplay = false;
+    bool loopMode = false;

-        int16_t rotationAimAzimuth = 0;
+    uint8_t maxCourseDeviationBeforeAct = 5;
+    uint16_t autopilotChangeDelayMillis = 500;
+    uint32_t lastAutopilotChangeMillis = 0;

-        double minRemainingDistance = 0.25;
+    int16_t rotationAimAzimuth = 0;
+
+    double minRemainingDistance = 0.25;
 };

-class DirectionChangeSignal : public DirectionChangeWrapper {
-    public:
-        DirectionChangeSignal(Autopilot* pilot);
-        ~DirectionChangeSignal();
-        void action() override;
+class DirectionChangeSignal : public DirectionChangeWrapper
+{
+public:
+    DirectionChangeSignal(Autopilot *pilot);
+    ~DirectionChangeSignal();
+    void action() override;

-    private:
-        Autopilot* pilot;
+private:
+    Autopilot *pilot;
 };

 #endif // AUTOPILOT_H