refactore

lib/Sensors/senors.cpp

@@ -11,17 +11,8 @@
 
 #include "sensors.h"
 
-void Sensors::run() {
-    this->compass->read();
-    this->realAzimuth = this->compass->getAzimuth();
-}
-
-void Sensors::runAsChild() {
-    this->gnss->checkUblox();
-    this->gnss->checkCallbacks();
-
-    if (Sensors::newData)
-        Sensors::newData = false;
+Sensors::Sensors() {
+    this->sensorData = new SensorData(this);
 }
 
 void Sensors::enableGnss(SPIClass* spiPort, uint8_t csPin) {
@@ -59,6 +50,19 @@ void Sensors::setOutputStatusPrintPVTdata(bool status) {
     Sensors::outputStatusPrintPVTdata = status;
 }
 
+void Sensors::run() {
+    this->compass->read();
+    this->realAzimuth = this->compass->getAzimuth();
+}
+
+void Sensors::runAsChild() {
+    this->gnss->checkUblox();
+    this->gnss->checkCallbacks();
+
+    if (Sensors::newData)
+        Sensors::newData = false;
+}
+
 void Sensors::initGnss() {
     uint8_t versionHigh = this->gnss->getProtocolVersionHigh();
     uint8_t versionLow = this->gnss->getProtocolVersionLow();

lib/Sensors/sensorData.h

@@ -0,0 +1,40 @@
+/**
+ * @file sensorData.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2023-09-02
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
+#ifndef SENSOR_DATA_H
+#define SENSOR_DATA_H
+
+#include "sensors.h"
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
+#include <QMC5883LCompass.h>
+// Gyroskop
+#include "calcAzimuth.h"
+
+class SensorData {
+    public:
+        SensorData(Sensors *senors);
+        
+        int16_t getRealAzimuth() const { return 0; }
+        int16_t getCalcAzimuth() const { return 0; }
+        CalcAzimuth::CalcAzimuthState getCalcAzimuthState() const { return CalcAzimuth::CalcAzimuthState::Invalid; }
+        const UBX_NAV_PVT_data_t* const getGnssData() const;
+        const void* const getGyroData() const; 
+
+    private:
+        Sensors* sensors;
+};
+
+SensorData::SensorData(Sensors* senors) {
+    this->sensors = sensors;
+}
+
+#endif //SENSOR_DATA_H

lib/Sensors/sensors.h

@@ -25,24 +25,15 @@
 
 class Sensors : public Component {
     public:
-        enum CalcAzimuthState {
-            Invalid,
-            Bad,
-            Ok,
-            Good,
-            Super
-        };
-
         Sensors();
 
-        void run() override;
-        void runAsChild() override;
-
         void enableGnss(SPIClass* spiPort, uint8_t csPin);
         void enableGnss();
         void enableCompass();
         void enableGyroskop();
 
+        const SensorData const getSensorData() const { return this->sensorData; }
+
         /**
          * @brief Set the output status for PVTdata.
          * 
@@ -54,10 +45,13 @@ class Sensors : public Component {
         static void setOutputStatusPrintPVTdata(bool status);
 
     private:
+        void run() override;
+        void runAsChild() override;
         void initGnss();
 
         QMC5883LCompass* compass = nullptr;
         SFE_UBLOX_GNSS* gnss = nullptr;
+        SensorData* sensorData;
 
         CalcAzimuthState calcAzimuthState = CalcAzimuthState::Invalid;