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Merge branch 'main' into projektarbeit

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kleiax
2023-09-04 13:35:40 +02:00
parent d7a9e9cfd8 6a76470f45
commit 682a99ffea
28 changed files with 727 additions and 271 deletions
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src/SpecialMenus/GPS/menuGPS.cpp
+19 -19
View File
@@ -11,14 +11,14 @@
#include "menuGPS.h"
MenuGPS::MenuGPS(DriveManager* driveManager) :
MenuGPS::MenuGPS(SensorData* sensorData) :
MenuInformationSites(10) {
this->navigation = driveManager->getNavigation();
this->ntripClient = this->navigation->getNTRIPClient();
this->sensorData = sensorData;
// this->ntripClient = this->navigation->getNTRIPClient();
}
void MenuGPS::printPage() const {
UBX_NAV_PVT_data_t* gpsData = this->navigation->getUbxData();
const UBX_NAV_PVT_data_t* gpsData = this->sensorData->getGnssData();
uint8_t fixType = 0;
if (gpsData)
fixType = gpsData->fixType;
@@ -66,15 +66,15 @@ void MenuGPS::printPage() const {
break;
case 3: {
NTRIPClientStates status = this->ntripClient->getClientState();
lineOne = "NTRIP Client is";
// NTRIPClientStates status = this->ntripClient->getClientState();
// lineOne = "NTRIP Client is";
if (status == NTRIPClientStates::pushData)
lineTwo = "enabled";
else if (status == NTRIPClientStates::notAvailable)
lineTwo = "not available";
else
lineTwo = "disabled";
// if (status == NTRIPClientStates::pushData)
// lineTwo = "enabled";
// else if (status == NTRIPClientStates::notAvailable)
// lineTwo = "not available";
// else
// lineTwo = "disabled";
}
break;
@@ -134,7 +134,7 @@ void MenuGPS::printPage() const {
case 8:
lineOne = "Azimuth: ";
lineTwo = "";
lineTwo.concat(this->navigation->getAzimuth());
lineTwo.concat(this->sensorData->getRealAzimuth());
break;
default:
@@ -148,12 +148,12 @@ void MenuGPS::printPage() const {
void MenuGPS::runCommand() const {
switch (this->getCurrentPage()) {
case 3: {
// std::cout << "MenuGPS::runCommand " << this->ntripClient->getClientState() << std::endl;
if (this->ntripClient->getClientState() == NTRIPClientStates::pushData)
this->ntripClient->setActivated(false);
else if (this->ntripClient->getClientState() != NTRIPClientStates::notAvailable)
this->ntripClient->setActivated(true);
break;
// // std::cout << "MenuGPS::runCommand " << this->ntripClient->getClientState() << std::endl;
// if (this->ntripClient->getClientState() == NTRIPClientStates::pushData)
// this->ntripClient->setActivated(false);
// else if (this->ntripClient->getClientState() != NTRIPClientStates::notAvailable)
// this->ntripClient->setActivated(true);
}
break;
}
}
src/SpecialMenus/GPS/menuGPS.h
+4 -5
View File
@@ -15,8 +15,7 @@
#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
#include "menuInformationSites.h"
#include "driveModi/driveManager.h"
#include "navigation.h"
#include "sensorData.h"
#include "ntripClient.h"
/**
@@ -30,14 +29,14 @@ class MenuGPS : public MenuInformationSites {
*
* @param gps
*/
MenuGPS(DriveManager* driveManager);
MenuGPS(SensorData* sensorData);
private:
void printPage() const override;
void runCommand() const override;
NTRIPClient* ntripClient;
Navigation* navigation;
// NTRIPClient* ntripClient;
SensorData* sensorData;
};
#endif // MENU_GPS_H
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp
+8 -9
View File
@@ -10,13 +10,11 @@
*/
#include "menuCalibrateCompass.h"
MenuCalibrateCompass::MenuCalibrateCompass(DriveManager* driveManager) : MenuDriveMode(driveManager) {
this->caliCompass = new CalibrateCompass(this->driveManager->getNavigation()->getCompass());
}
MenuCalibrateCompass::MenuCalibrateCompass(DriveManager* driveManager) : MenuDriveMode(driveManager) {}
MenuCalibrateCompass::~MenuCalibrateCompass() {
delete this->caliCompass;
this->manualControl->setCalibrateCompass();
this->caliCompassMode->setCalibrateCompass();
}
void MenuCalibrateCompass::printPage() const {
@@ -31,7 +29,7 @@ void MenuCalibrateCompass::printPage() const {
case 1:
lineOne = "Azimuth:";
lineTwo.concat(this->driveManager->getNavigation()->getAzimuth());
lineTwo.concat(this->caliCompassMode->getSensorData()->getRealAzimuth());
break;
case 2:
@@ -112,8 +110,9 @@ void MenuCalibrateCompass::printPage() const {
void MenuCalibrateCompass::init() {
this->firstPrint = false;
this->driveManager->changeModus(Modi::ManualControl);
this->manualControl = (ManualControl*) this->driveManager->getDriveModiPtr();
this->driveManager->changeModus(Modi::CalibrateCompass);
this->caliCompassMode = (CalibrateCompassM*) this->driveManager->getDriveModiPtr();
this->caliCompass = new CalibrateCompass(this->caliCompassMode->getSensorData()->getRealCompass());
this->setCountPages(11);
this->updateDelay = 500;
}
@@ -123,12 +122,12 @@ void MenuCalibrateCompass::runCommand() const {
case 2:
switch (this->caliCompass->getState()) {
case CalibrateCompass::State::Ready :
this->manualControl->setCalibrateCompass(this->caliCompass);
this->caliCompassMode->setCalibrateCompass(this->caliCompass);
this->caliCompass->start();
break;
case CalibrateCompass::State::Finished:
this->manualControl->setCalibrateCompass();
this->caliCompassMode->setCalibrateCompass();
this->caliCompass->useData();
break;
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.h
+2 -1
View File
@@ -13,6 +13,7 @@
#define MENU_CALIBRATE_COMPASS_H
#include "SpecialMenus/driveModi/menuDriveMode.h"
#include "driveModi/Modi/CalibrateCompass/calibrateCompassM.h"
#include "calibrateCompass.h"
/**
@@ -44,7 +45,7 @@ class MenuCalibrateCompass : public MenuDriveMode {
void runCommand() const override;
private:
ManualControl* manualControl;
CalibrateCompassM* caliCompassMode;
CalibrateCompass* caliCompass;
};
src/driveModi/Modi/CalibrateCompass/calibrateCompassM.cpp
+24
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@@ -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
+29
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@@ -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/ConsolControl/consolControl.cpp
-13
View File
@@ -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
-20
View File
@@ -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
+1 -20
View File
@@ -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
+1 -9
View File
@@ -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/Racing/racing.cpp
View File
src/driveModi/Modi/Racing/racing.h
View File
src/driveModi/Modi/TestMode/testMode.cpp
+4 -4
View File
@@ -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;
}
@@ -21,7 +21,7 @@ TestMode::~TestMode() {
void TestMode::run() {
if (this->maneuver == Maneuver::Turn) {
uint16_t delta = abs(this->azimuth - this->navigation->getAzimuth());
uint16_t delta = abs(this->azimuth - this->getSensorData()->getRealAzimuth());
if (delta > this->degree)
this->abort = true;
}
@@ -50,7 +50,7 @@ bool TestMode::drive(int16_t cm, int16_t degree) {
else if (degree > 0)
this->moveControl->setRotationSpeed(this->maxRotationSpeed);
this->azimuth = this->navigation->getAzimuth();
this->azimuth = this->getSensorData()->getRealAzimuth();
this->degree = degree;
this->maneuverTime = 5 * 1000;
src/driveModi/Modi/TestMode/testMode.h
+1 -1
View File
@@ -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
+21 -28
View File
@@ -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, const SensorData* sensorData, const ControlPadInput *input) {
this->driveModiParams.input = input;
this->driveModiParams.moveControl = moveControl;
this->driveModiParams.sensorData = sensorData;
this->init();
}
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){
this->driveModiParams = params;
this->addChildComponent(this->moveControl);
this->addChildComponent(this->navigation);
this->activateOnlyChilds();
this->init();
}
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 +73,11 @@ void DriveManager::changeModus(Modi modus) {
this->addChildComponent(this->currentModusPtr);
}
void DriveManager::init() {
this->navigation = new Navigation(this->driveModiParams.sensorData);
this->addChildComponent(this->driveModiParams.moveControl);
this->addChildComponent(this->navigation);
this->activateOnlyChilds();
}
src/driveModi/driveManager.h
+7 -15
View File
@@ -23,12 +23,12 @@
#include "debugTimes.h"
#include "controlPadInput.h"
#include "component.h"
#include "sensorData.h"
// All Drive Modi
#include "driveModi/Modi/ManualControl/manualControl.h"
#include "driveModi/Modi/CaptureRoute/captureRoute.h"
#include "driveModi/Modi/Autopilot/autopilot.h"
#include "driveModi/Modi/ConsolControl/consolControl.h"
#include "driveModi/Modi/TestMode/testMode.h"
/**
@@ -38,9 +38,9 @@
enum class Modi {
Off,
ManualControl,
CalibrateCompass,
CaptureRoute,
Autopilot,
ConsolControl,
TestMode
};
@@ -53,7 +53,8 @@ class DriveManager : public Component {
*
* @param moveControl
*/
DriveManager(MoveControl *moveControl, SPIClass *spiPort, const ControlPadInput *input, bool wifi = false);
DriveManager(MoveControl *moveControl, const SensorData* sensorData, const ControlPadInput *input);
DriveManager(DriveModiParams params);
/**
* @brief Destroy the Drive Manager object
@@ -61,14 +62,6 @@ class DriveManager : public Component {
*/
~DriveManager();
/**
* @brief Increment the DriveModi enum
* Than calls changeModus
*
* @see Modi
*/
void nextModus();
/**
* @brief Change the DriveModi to a specific value
*
@@ -106,14 +99,13 @@ class DriveManager : public Component {
Modi getDriveModi() const { return this->currentModus; }
private:
void run() override;
void run() override {};
void init();
Modi currentModus = Modi::Off;
MoveControl *moveControl;
const ControlPadInput* input;
DriveModi *currentModusPtr = nullptr;
Navigation* navigation;
SPIClass* spiPort;
DriveModiParams driveModiParams;
};
src/driveModi/driveModi.cpp
+16 -3
View File
@@ -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
+17 -2
View File
@@ -14,6 +14,14 @@
#include "component.h"
#include "moveControl.h"
#include "controlPadInput.h"
#include "sensorData.h"
struct DriveModiParams {
MoveControl* moveControl;
const ControlPadInput* input;
const 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();
const SensorData* getSensorData() const { return this->sensorData; }
/**
* @brief Set the max speed
*
@@ -48,8 +59,12 @@ class DriveModi : public Component {
protected:
MoveControl *moveControl;
const ControlPadInput* input;
const SensorData* sensorData;
double maxForwardSpeed = 1;
double maxRotationSpeed = 7;
private:
void init();
};
#endif // DRIVEMODI_H
src/main.cpp
+8 -2
View File
@@ -31,6 +31,7 @@
#include "network.h"
#include "debugMqtt.h"
#include "battery.h"
#include "sensorData.h"
#include "debugTimes.h"
#include "controlPad.h"
@@ -55,6 +56,7 @@ OutputBuf* outputBuf;
DebugMqtt* debugMqtt = nullptr;
Battery* mainBattery;
SPIClass* spiPort;
SensorData* sensorData;
ControlPad* controlPad;
bool wifiIsActive;
@@ -115,7 +117,10 @@ 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);
sensorData = new SensorData();
sensorData->enableGnss(spiPort, PinNumbers::gnssSpiCs);
sensorData->enableRealCompass();
driveManager = new DriveManager(&moveController, sensorData, controlPad->getControlPadDataPtr());
outputBuf->activateMqtt(true);
@@ -142,6 +147,7 @@ void loop() {
#endif //MQTT
wifiTime.stopConsol("WiFi-Time", 10);
}
sensorData->loop();
driveManager->loop();
controlPad->loop();
main_m->update();
@@ -216,7 +222,7 @@ void makeMenu() {
MenuAutopilot* auto_m = new MenuAutopilot(driveManager);
MenuTestMode* testM_m = new MenuTestMode(driveManager);
MenuCalibrateCompass* comp_m = new MenuCalibrateCompass(driveManager);
MenuGPS* gps_m = new MenuGPS(driveManager);
MenuGPS* gps_m = new MenuGPS(sensorData);
MenuSysteminformation* sys_m = new MenuSysteminformation(mainBattery);
MenuRoute* rout_m = new MenuRoute(driveManager->getNavigation()->getRoute());