refactore

src/driveModi/Modi/Autopilot/autopilot.cpp

@@ -26,8 +26,8 @@ void DirectionChangeSignal::action() {
 }
 
 
-Autopilot::Autopilot(MoveControl* moveControl, const ControlPadInput *input, Navigation* navigation)
-    : ManualControl(moveControl, input) {
+Autopilot::Autopilot(DriveModiParams params, Navigation* navigation)
+    : ManualControl(params) {
         this->setInputMode(ManualControl::InputMode::Digital);
         this->directionChangeSignal = new DirectionChangeSignal(navigation);
         this->setDirectionChangeCallback(this->directionChangeSignal);

src/driveModi/Modi/Autopilot/autopilot.h

@@ -14,7 +14,6 @@
 
 
 #include "navigation.h"
-#include "moveControl.h"
 #include "driveModi/Modi/ManualControl/manualControl.h"
 
 class DirectionChangeSignal : public DirectionChangeWrapper {
@@ -56,7 +55,7 @@ class Autopilot : public ManualControl {
          * @param moveControl for ManualControl
          * @param navigation for route instructions
          */
-        Autopilot(MoveControl* moveControl, const ControlPadInput *input, Navigation* navigation);
+        Autopilot(DriveModiParams params, Navigation* navigation);
 
         /**
          * @brief Destroy the Autopilot object

src/driveModi/Modi/CalibrateCompass/calibrateCompassM.cpp

@@ -0,0 +1,24 @@
+/**
+ * @file calibrateCompassM.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2023-09-03
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
+#include "calibrateCompassM.h"
+
+CalibrateCompassM::CalibrateCompassM(DriveModiParams params) : ManualControl(params) {}
+
+void CalibrateCompassM::setCalibrateCompass(CalibrateCompass *caliCompass) {
+    if (caliCompass) {
+        this->caliCompass = caliCompass;
+        this->addChildComponent(this->caliCompass);
+    } else if (this->caliCompass) {
+        this->removeChildComponent(this->caliCompass);
+        this->caliCompass = caliCompass;
+    }
+}

src/driveModi/Modi/CalibrateCompass/calibrateCompassM.h

@@ -0,0 +1,29 @@
+/**
+ * @file calibrateCompassM.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2023-09-03
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
+#ifndef CALIBRATE_COMPASS_M_H
+#define CALIBRATE_COMPASS_M_H
+
+#include "calibrateCompass.h"
+
+#include "driveModi/Modi/ManualControl/manualControl.h"
+
+class CalibrateCompassM : public ManualControl {
+    public:
+        CalibrateCompassM(DriveModiParams params);
+
+        void setCalibrateCompass(CalibrateCompass* caliCompass = nullptr);
+
+    private:
+        CalibrateCompass* caliCompass = nullptr;
+};
+
+#endif //CALIBRATE_COMPASS_M_H

src/driveModi/Modi/CaptureRoute/captureRoute.cpp

@@ -11,8 +11,8 @@
 
 #include "driveModi/Modi/CaptureRoute/captureRoute.h"
 
-CaptureRoute::CaptureRoute(MoveControl* moveControl, const ControlPadInput *input, Navigation* navigation) 
-    : ManualControl(moveControl, input) {
+CaptureRoute::CaptureRoute(DriveModiParams params, Navigation* navigation) 
+    : ManualControl(params) {
         this->navigation = navigation;
         this->navigation->getRoute()->clear();
         this->navigation->getNTRIPClient()->setAutoReconnect(true);

src/driveModi/Modi/CaptureRoute/captureRoute.h

@@ -33,7 +33,7 @@ class CaptureRoute : public ManualControl {
          * @param moveControl for ManualControl
          * @param navigation to add Points
          */
-        CaptureRoute(MoveControl* moveControl, const ControlPadInput *input, Navigation* navigation);
+        CaptureRoute(DriveModiParams params, Navigation* navigation);
 
         /**
          * @brief Destroy the Capture Route object

src/driveModi/Modi/ConsolControl/consolControl.cpp

@@ -1,13 +0,0 @@
-/**
- * @file consolControl.cpp
- * @author Alexander Klein (alex@kleiax.de)
- * @brief 
- * @version 0.1
- * @date 2022-02-15
- * 
- * @copyright Copyright (c) 2022
- * 
- */
-
-#include "consolControl.h"
-

src/driveModi/Modi/ConsolControl/consolControl.h

@@ -1,20 +0,0 @@
-/**
- * @file consolControl.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief 
- * @version 0.1
- * @date 2022-02-15
- * 
- * @copyright Copyright (c) 2022
- * 
- */
-
-#ifndef CONSOL_CONTROL_H
-#define CONSOL_CONTROL_H
-
-#include "driveModi/driveModi.h"
-class ConsolControl : DriveModi{
-
-};
-
-#endif // CONSOL_CONTROL_H

src/driveModi/Modi/ManualControl/manualControl.cpp

@@ -10,15 +10,6 @@
  */
 #include "manualControl.h"
 
-ManualControl::ManualControl(MoveControl* moveControl, const ControlPadInput *input)
-                : DriveModi(moveControl) { 
-    this->input = input;
-}
-
-ManualControl::~ManualControl() {
-    
-}
-
 void ManualControl::run() {    
     switch (this->inputMode) {
         case InputMode::Analog :
@@ -34,16 +25,6 @@ void ManualControl::run() {
     }
 }
 
-void ManualControl::setCalibrateCompass(CalibrateCompass *caliCompass) {
-    if (caliCompass) {
-        this->caliCompass = caliCompass;
-        this->addChildComponent(this->caliCompass);
-    } else if (this->caliCompass) {
-        this->removeChildComponent(this->caliCompass);
-        this->caliCompass = caliCompass;
-    }
-}
-
 void ManualControl::switchInputMode() {
     this->inputMode = (this->inputMode == InputMode::Analog) ? InputMode::Digital : InputMode::Analog;
 }
@@ -51,7 +32,7 @@ void ManualControl::switchInputMode() {
 void ManualControl::analogControl() {
     // Have to be int16_t to avoid overflow (int8_t = 255 - 127 = -128)
     int16_t x = this->input->x - 127;
-    int16_t y = this->input->y - 127;
+    int16_t y = this-> input->y - 127;
 
     // static int counter = 0;
     // if (counter % 60 == 0) {

src/driveModi/Modi/ManualControl/manualControl.h

@@ -11,10 +11,7 @@
 #ifndef MANUAL_CONTROL_H
 #define MANUAL_CONTROL_H
 
-#include "moveControl.h"
 #include "driveModi/driveModi.h"
-#include "controlPadInput.h"
-#include "calibrateCompass.h"
 
 class DirectionChangeWrapper {
     public:
@@ -36,10 +33,7 @@ class ManualControl : public DriveModi {
             Digital
         };
 
-        ManualControl(MoveControl *moveControl, const ControlPadInput *input);
-        ~ManualControl();
-
-        void setCalibrateCompass(CalibrateCompass* caliCompass = nullptr);
+        ManualControl(DriveModiParams params) : DriveModi(params){};
 
         void switchInputMode();
         void setInputMode(InputMode mode) { this->inputMode = mode; }
@@ -51,14 +45,12 @@ class ManualControl : public DriveModi {
 
     protected:
         void run() override;
-        const ControlPadInput* input;
 
     private:
         void analogControl();
         void digitalControl();
 
         bool lastLoopTurned = false;
-        CalibrateCompass* caliCompass = nullptr;
         DirectionChangeWrapper* directionChangeWrapper = nullptr;
         InputMode inputMode = InputMode::Analog;
 };

src/driveModi/Modi/TestMode/testMode.cpp

@@ -10,8 +10,8 @@
  */
 #include "testMode.h"
 
-TestMode::TestMode(MoveControl *moveControl,  Navigation* navigation) 
-        : DriveModi(moveControl) {
+TestMode::TestMode(DriveModiParams params,  Navigation* navigation) 
+        : DriveModi(params) {
     this->navigation = navigation;
 }
 

src/driveModi/Modi/TestMode/testMode.h

@@ -44,7 +44,7 @@ class TestMode : public DriveModi {
          * @param moveControl 
          * @param navigation 
          */
-        TestMode(MoveControl *moveControl, Navigation* navigation);
+        TestMode(DriveModiParams params, Navigation* navigation);
         ~TestMode();
 
         bool drive(int16_t cm = 0, int16_t degree = 0);

src/driveModi/driveManager.cpp

@@ -11,33 +11,22 @@
 
 #include "driveModi/driveManager.h"
 
-Modi& operator++(Modi& m, int) {
-    return m = (m == Modi::TestMode) ? Modi::Off : static_cast<Modi>(static_cast<int>(m)+1);
+DriveManager::DriveManager(MoveControl *moveControl, SensorData* sensorData, ControlPadInput *input, bool wifi) {
+    this->driveModiParams.input = input;
+    this->driveModiParams.moveControl = moveControl;
+    this->driveModiParams.sensorData = sensorData;
+
+    this->init(wifi);
 }
 
-DriveManager::DriveManager(MoveControl *moveControl, SPIClass *spiPort, const ControlPadInput *input, bool wifi) {
-    this->moveControl = moveControl;
-    this->input = input;
-
-    this->spiPort = spiPort;
-    this->navigation = new Navigation(spiPort, PinNumbers::gnssSpiCs);
-    if (wifi)
-        this->navigation->initNtrip(NTRIP_HOST, NTRIP_PORT, NTRIP_MOUNT_POINT, NTRIP_USER, NTRIP_PASSWORD);
+DriveManager::DriveManager(DriveModiParams params, bool wifi){
+    this->driveModiParams = params;
     
-    this->addChildComponent(this->moveControl);
-    this->addChildComponent(this->navigation);
-    this->activateOnlyChilds();
+    this->init(wifi);
 }
 
 DriveManager::~DriveManager() {
     delete this->navigation;
-    delete this->spiPort;
-}
-
-void DriveManager::run() {}
-
-void DriveManager::nextModus() {
-    changeModus(this->currentModus++);
 }
 
 void DriveManager::changeModus(Modi modus) {
@@ -56,26 +45,22 @@ void DriveManager::changeModus(Modi modus) {
             break;
 
         case Modi::ManualControl: {
-            this->currentModusPtr = new ManualControl(this->moveControl, this->input);
+            this->currentModusPtr = new ManualControl(this->driveModiParams);
             }
             break;
 
         case Modi::CaptureRoute: {
-            this->currentModusPtr = new CaptureRoute(this->moveControl, this->input,  this->navigation);
+            this->currentModusPtr = new CaptureRoute(this->driveModiParams,  this->navigation);
             }
             break;
 
         case Modi::Autopilot: {
-            this->currentModusPtr = new Autopilot(this->moveControl, this->input, this->navigation);
+            this->currentModusPtr = new Autopilot(this->driveModiParams, this->navigation);
             }
             break;
 
-        case Modi::ConsolControl:
-            this->currentModusPtr = nullptr;
-            break;
-
         case Modi::TestMode: {
-                this->currentModusPtr = new TestMode(this->moveControl,  this->navigation);
+                this->currentModusPtr = new TestMode(driveModiParams,  this->navigation);
             }
             break;
         
@@ -88,3 +73,13 @@ void DriveManager::changeModus(Modi modus) {
         this->addChildComponent(this->currentModusPtr);
 }
 
+void DriveManager::init(bool wifi) {
+    this->navigation = new Navigation();
+    if (wifi)
+        this->navigation->initNtrip(NTRIP_HOST, NTRIP_PORT, NTRIP_MOUNT_POINT, NTRIP_USER, NTRIP_PASSWORD);
+    
+    this->addChildComponent(this->driveModiParams.moveControl);
+    this->addChildComponent(this->navigation);
+    this->activateOnlyChilds();
+}
+

src/driveModi/driveModi.cpp

@@ -1,9 +1,17 @@
 #include "driveModi.h"
 
-DriveModi::DriveModi(MoveControl* moveControl) {
+DriveModi::DriveModi(MoveControl* moveControl, ControlPadInput* input, SensorData* sensorData) {
     this->moveControl = moveControl;
-    this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
-    this->loopDelay = 40;
+    this->input = input;
+    this->sensorData = sensorData;
+    this->init();
+}
+
+DriveModi::DriveModi(DriveModiParams params){
+    this->moveControl = params.moveControl;
+    this->input = params.input;
+    this->sensorData = params.sensorData;
+    this->init();
 }
 
 DriveModi::~DriveModi() {
@@ -11,3 +19,8 @@ DriveModi::~DriveModi() {
     this->moveControl->setRotationSpeed(0);
     this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
 }
+
+void DriveModi::init() {
+    this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
+    this->loopDelay = 40;
+}

src/driveModi/driveModi.h

@@ -14,6 +14,14 @@
 
 #include "component.h"
 #include "moveControl.h"
+#include "controlPadInput.h"
+#include "sensorData.h"
+
+struct DriveModiParams {
+    MoveControl* moveControl;
+    ControlPadInput* input;
+    SensorData* sensorData;
+};
 
 /**
  * @brief Baseclass to build DriveModi
@@ -23,9 +31,12 @@
  */
 class DriveModi : public Component {
     public:
-        DriveModi(MoveControl* moveControl);
+        DriveModi(MoveControl* moveControl, ControlPadInput* input, SensorData* sensorData);
+        DriveModi(DriveModiParams);
         virtual ~DriveModi();
 
+        SensorData getSensorData() const { return this->sensorData; }
+
         /**
          * @brief Set the max speed
          * 
@@ -48,8 +59,12 @@ class DriveModi : public Component {
 
     protected:
         MoveControl *moveControl;
+        ControlPadInput* input;
+        SensorData* sensorData;
         double maxForwardSpeed = 1;
         double maxRotationSpeed = 7;
-        
+
+    private:
+        void init();        
 };
 #endif // DRIVEMODI_H

src/main.cpp

@@ -31,6 +31,8 @@
 #include "network.h"
 #include "debugMqtt.h"
 #include "battery.h"
+#include "sensors.h"
+#include "sensorData.h"
 #include "debugTimes.h"
 #include "controlPad.h"
 
@@ -55,6 +57,8 @@ OutputBuf* outputBuf;
 DebugMqtt* debugMqtt = nullptr;
 Battery* mainBattery;
 SPIClass* spiPort;
+Sensors* sensors;
+SensorData* sensorData;
 ControlPad* controlPad;
 
 bool wifiIsActive;
@@ -115,7 +119,11 @@ void setup() {
     std::cout << "Build timestamp: " << BUILD_TIMESTAMP << std::endl;
     std::cout << "All actions from the main program run on Core -> " << xPortGetCoreID() << std::endl;
 
-    driveManager = new DriveManager(&moveController, spiPort, controlPad->getControlPadDataPtr(), wifiIsActive);
+    sensors = new Sensors();
+    sensors->enableGnss(spiPort, PinNumbers::gnssSpiCs);
+    sensors->enableCompass();
+    sensorData = sensors->getSensorData();
+    driveManager = new DriveManager(&moveController, sensorData, controlPad->getControlPadDataPtr(), wifiIsActive);
 
     outputBuf->activateMqtt(true);
 
@@ -142,6 +150,7 @@ void loop() {
         #endif //MQTT
         wifiTime.stopConsol("WiFi-Time", 10);
     }
+    sensors->loop();
     driveManager->loop();
     controlPad->loop();
     main_m->update();