compilation works again

2023-09-04 13:30:34 +02:00
parent 5f650982a7
commit 6a76470f45
23 changed files with 285 additions and 321 deletions
@@ -12,29 +12,91 @@
 #ifndef SENSOR_DATA_H
 #define SENSOR_DATA_H

-#include "sensors.h"
+#include <SPI.h>
+#include <iostream>
+
+#include "component.h"
+#include "calibrateCompass.h"

 #include <SparkFun_u-blox_GNSS_Arduino_Library.h>
 #include <QMC5883LCompass.h>
 // Gyroskop
 #include "calcAzimuth.h"
+#include "ntripClient.h"

-class SensorData {
+#include "point.h"
+class Sensors;
+
+class SensorData : public Component {
    public:
-        SensorData(Sensors *senors);
+        SensorData();
+        ~SensorData();
        
-        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; 
+        void enableNtrip(String host, uint16_t port, String mountPoint, String user, String password);
+        void enableGnss(SPIClass* spiPort, uint8_t csPin);
+        void enableGnss();
+        void enableRealCompass();
+        void enableCalcCompass();
+        void enableGyroskop();
+
+        // Interface Const kram
+        int16_t getRealAzimuth() const { return this->realAzimuth; }
+        int16_t getCalcAzimuth() const { return this->calcAzimuth; }
+        CalcAzimuth::State getCalcAzimuthState() const;
+
+        Point getCurrentPos() const { return this->currentPosition; }
+        const UBX_NAV_PVT_data_t* getGnssData() const { return this->gnssData; };
+        const void* const getGyroData() const;
+
+        CalcAzimuth* getCalcCompass() const { return this->calcCompass; }
+        QMC5883LCompass* getRealCompass() const { return this->realCompass; }
+        NTRIPClient* getNtripClient() const { return this->ntripClient; }
+
+        // static
+        /**
+         * @brief Set the output status for PVTdata.
+         * 
+         * If this is true, a lot of information from the gnss module will be printed in
+         * the interval of navigation frequency.
+         * 
+         * @param status 
+         */
+        static void setOutputStatusPrintPVTdata(bool status);

    private:
-        Sensors* sensors;
+        void run() override;
+        void runAsChild() override;
+        void initGnss();
+
+        QMC5883LCompass* realCompass = nullptr;
+        CalcAzimuth* calcCompass = nullptr;
+        SFE_UBLOX_GNSS* gnss = nullptr;
+        NTRIPClient* ntripClient = nullptr;
+
+        UBX_NAV_PVT_data_t* gnssData;
+        Point currentPosition;
+
+        char* host;
+        char* mountPoint;
+        char* user;
+        char* password;
+        
+        bool isNtripInit = false;
+
+        uint16_t port;
+        int16_t realAzimuth = INT16_MAX;
+        int16_t calcAzimuth = INT16_MAX;
+
+        // static
+        static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
+        static void savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
+
+        static UBX_NAV_PVT_data_t* ubxDataStatic;
+
+        static uint32_t ubxUpdateTimeStatic;
+
+        static bool outputStatusPrintPVTdata;
+        static bool newData;
 };

-SensorData::SensorData(Sensors* senors) {
-    this->sensors = sensors;
-}
-
 #endif //SENSOR_DATA_H