kleiax/Bachelorarbeit-Rover
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases 1 Wiki Activity

compilation works again

Browse Source
This commit is contained in:
kleiax
2023-09-04 13:30:34 +02:00
parent 5f650982a7
commit 6a76470f45
23 changed files with 285 additions and 321 deletions
Download Patch File Download Diff File Expand all files Collapse all files
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/Autopilot/menuAutopilot.cpp
+12 -12
View File
@@ -13,7 +13,7 @@
void MenuAutopilot::printPage() const {
CourseCorrection correction = this->autopilot->getCourseCorrection();
UBX_NAV_PVT_data_t* gpsData = this->driveManager->getNavigation()->getUbxData();
const UBX_NAV_PVT_data_t* gpsData = this->autopilot->getSensorData()->getGnssData();
bool navigationStarted = this->autopilot->getState() >= Autopilot::State::NavigationStarted;
String distanceString = "";
@@ -104,7 +104,7 @@ void MenuAutopilot::printPage() const {
break;
case 3: {
NTRIPClientStates status = this->driveManager->getNavigation()->getNTRIPClient()->getClientState();
NTRIPClientStates status = this->autopilot->getSensorData()->getNtripClient()->getClientState();
uint8_t carrSoln = gpsData->flags.bits.carrSoln;
lineOne = "GNSS: ";
@@ -132,30 +132,30 @@ void MenuAutopilot::printPage() const {
case 4:
if (this->autopilot->getSensorData().getCalcAzimuth() == CalcAzimuth::CalcAzimuthState::Good
||this->autopilot->getSensorData().getCalcAzimuth() == CalcAzimuth::CalcAzimuthState::Super)
if (this->autopilot->getSensorData()->getCalcAzimuth() == CalcAzimuth::State::Good
||this->autopilot->getSensorData()->getCalcAzimuth() == CalcAzimuth::State::Super)
{
lineOne = "Calc Azi: ";
lineTwo = "State: ";
lineOne.concat(this->autopilot->getSensorData().getCalcAzimuth());
switch (this->autopilot->getSensorData().getCalcAzimuthState()) {
case CalcAzimuth::CalcAzimuthState::Bad :
lineOne.concat(this->autopilot->getSensorData()->getCalcAzimuth());
switch (this->autopilot->getSensorData()->getCalcAzimuthState()) {
case CalcAzimuth::State::Bad :
lineTwo.concat("Bad");
break;
case CalcAzimuth::CalcAzimuthState::Good :
case CalcAzimuth::State::Good :
lineTwo.concat("Good");
break;
case CalcAzimuth::CalcAzimuthState::Invalid :
case CalcAzimuth::State::Invalid :
lineTwo.concat("Invalid");
break;
case CalcAzimuth::CalcAzimuthState::Ok :
case CalcAzimuth::State::Ok :
lineTwo.concat("Ok");
break;
case CalcAzimuth::CalcAzimuthState::Super :
case CalcAzimuth::State::Super :
lineTwo.concat("Super");
break;
@@ -166,7 +166,7 @@ void MenuAutopilot::printPage() const {
} else {
lineOne = "Real Azi: ";
lineTwo = "";
lineOne.concat(this->driveManager->getNavigation()->getAzimuth());
lineOne.concat(this->autopilot->getSensorData()->getRealAzimuth());
}
break;
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
+1 -1
View File
@@ -13,7 +13,7 @@
#define MENU_CALIBRATE_COMPASS_H
#include "SpecialMenus/driveModi/menuDriveMode.h"
#include ""
#include "driveModi/Modi/CalibrateCompass/calibrateCompassM.h"
#include "calibrateCompass.h"
/**
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp
+3 -3
View File
@@ -12,7 +12,7 @@
void MenuCaptureRoute::printPage() const {
RouteInfo routeInfo = this->captureRoute->getRouteInfo();
UBX_NAV_PVT_data_t* gpsData = this->driveManager->getNavigation()->getUbxData();
const UBX_NAV_PVT_data_t* gpsData = this->captureRoute->getSensorData()->getGnssData();
String lineOne = "";
String lineTwo = "";
@@ -56,7 +56,7 @@ void MenuCaptureRoute::printPage() const {
break;
case 4: {
NTRIPClientStates status = this->driveManager->getNavigation()->getNTRIPClient()->getClientState();
NTRIPClientStates status = this->captureRoute->getSensorData()->getNtripClient()->getClientState();
lineOne = "NTRIP Client is";
if (status == NTRIPClientStates::pushData)
@@ -85,7 +85,7 @@ void MenuCaptureRoute::printPage() const {
case 6:
lineOne = "hAccuracy: ";
lineTwo = "Azimuth: ";
lineTwo.concat(this->driveManager->getNavigation()->getAzimuth());
lineTwo.concat(this->captureRoute->getSensorData()->getRealAzimuth());
if (gpsData->fixType)
lineOne.concat(gpsData->hAcc);
else
src/driveModi/Modi/Autopilot/autopilot.cpp
+12 -12
View File
@@ -12,24 +12,24 @@
#include "driveModi/Modi/Autopilot/autopilot.h"
#include "autopilot.h"
DirectionChangeSignal::DirectionChangeSignal(Navigation* navigation) {
this->navigation = navigation;
DirectionChangeSignal::DirectionChangeSignal(Autopilot* pilot) {
this->pilot = pilot;
this->action();
}
DirectionChangeSignal::~DirectionChangeSignal() {
navigation->disableCalcAzimuth();
pilot->getSensorData()->getCalcCompass()->disableCalcAzimuth();
}
void DirectionChangeSignal::action() {
this->navigation->drivingDirectionChange();
pilot->getSensorData()->getCalcCompass()->drivingDirectionChange(pilot->getSensorData()->getCurrentPos());
}
Autopilot::Autopilot(DriveModiParams params, Navigation* navigation)
: ManualControl(params) {
this->setInputMode(ManualControl::InputMode::Digital);
this->directionChangeSignal = new DirectionChangeSignal(navigation);
this->directionChangeSignal = new DirectionChangeSignal(this);
this->setDirectionChangeCallback(this->directionChangeSignal);
this->navigation = navigation;
this->init();
@@ -119,7 +119,7 @@ void Autopilot::init() {
else
this->state = State::NoRoute;
this->routeInfo = this->navigation->getRouteInfo();
this->navigation->getNTRIPClient()->setAutoReconnect(true);
this->sensorData->getNtripClient()->setAutoReconnect(true);
this->lastOrderStatus = this->navigation->getCourseCorrection(this->courseCorrection, true);
@@ -143,7 +143,7 @@ void Autopilot::beginRotate() {
if (this->state != State::SelfDrivingRotate) {
this->lastState = this->state;
this->state = State::SelfDrivingRotate;
this->rotationAimAzimuth = this->navigation->getAzimuth() + this->courseCorrection.correction;
this->rotationAimAzimuth = this->getSensorData()->getRealAzimuth() + this->courseCorrection.correction;
this->rotationAimAzimuth = Navigation::fixDegree(this->rotationAimAzimuth);
this->moveControl->setSpeed(0);
@@ -155,17 +155,17 @@ void Autopilot::beginRotate() {
}
void Autopilot::rotate() {
if (abs(this->navigation->getAzimuth() - this->rotationAimAzimuth) < this->maxCourseDeviationBeforeAct) {
if (abs(this->getSensorData()->getRealAzimuth() - this->rotationAimAzimuth) < this->maxCourseDeviationBeforeAct) {
this->endRotate();
return;
}
if ((abs(this->navigation->getAzimuth() - this->rotationAimAzimuth) < this->maxCourseDeviationBeforeAct * 3)
if ((abs(this->getSensorData()->getRealAzimuth() - this->rotationAimAzimuth) < this->maxCourseDeviationBeforeAct * 3)
&&
((this->courseCorrection.correction > 0
&& this->rotationAimAzimuth < this->navigation->getAzimuth())
&& this->rotationAimAzimuth < this->getSensorData()->getRealAzimuth())
|| (this->courseCorrection.correction < 0
&& this->rotationAimAzimuth > this->navigation->getAzimuth())))
&& this->rotationAimAzimuth > this->getSensorData()->getRealAzimuth())))
{
this->endRotate();
std::cout << "Autopilot::rotate: Rover rotated too far" << std::endl;
@@ -177,7 +177,7 @@ void Autopilot::endRotate() {
return;
this->state = this->lastState;
this->navigation->drivingDirectionChange();
this->sensorData->getCalcCompass()->drivingDirectionChange(this->sensorData->getCurrentPos());
this->moveControl->setRotationSpeed(0);
this->moveControl->emergencyStop();
this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
src/driveModi/Modi/Autopilot/autopilot.h
+11 -9
View File
@@ -16,15 +16,7 @@
#include "navigation.h"
#include "driveModi/Modi/ManualControl/manualControl.h"
class DirectionChangeSignal : public DirectionChangeWrapper {
public:
DirectionChangeSignal(Navigation* navigation);
~DirectionChangeSignal();
void action() override;
private:
Navigation* navigation;
};
class DirectionChangeSignal;
/**
* @brief This class use the navigate class to drive automaticaly
@@ -130,4 +122,14 @@ class Autopilot : public ManualControl {
double minRemainingDistance = 0.25;
};
class DirectionChangeSignal : public DirectionChangeWrapper {
public:
DirectionChangeSignal(Autopilot* pilot);
~DirectionChangeSignal();
void action() override;
private:
Autopilot* pilot;
};
#endif // AUTOPILOT_H
src/driveModi/Modi/CaptureRoute/captureRoute.cpp
+1 -1
View File
@@ -15,7 +15,7 @@ CaptureRoute::CaptureRoute(DriveModiParams params, Navigation* navigation)
: ManualControl(params) {
this->navigation = navigation;
this->navigation->getRoute()->clear();
this->navigation->getNTRIPClient()->setAutoReconnect(true);
this->sensorData->getNtripClient()->setAutoReconnect(true);
this->routeInfo = navigation->getRouteInfo();
}
src/driveModi/Modi/TestMode/testMode.cpp
+2 -2
View File
@@ -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/driveManager.cpp
+6 -8
View File
@@ -11,18 +11,18 @@
#include "driveModi/driveManager.h"
DriveManager::DriveManager(MoveControl *moveControl, SensorData* sensorData, ControlPadInput *input, bool wifi) {
DriveManager::DriveManager(MoveControl *moveControl, const SensorData* sensorData, const ControlPadInput *input) {
this->driveModiParams.input = input;
this->driveModiParams.moveControl = moveControl;
this->driveModiParams.sensorData = sensorData;
this->init(wifi);
this->init();
}
DriveManager::DriveManager(DriveModiParams params, bool wifi){
DriveManager::DriveManager(DriveModiParams params){
this->driveModiParams = params;
this->init(wifi);
this->init();
}
DriveManager::~DriveManager() {
@@ -73,10 +73,8 @@ 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);
void DriveManager::init() {
this->navigation = new Navigation(this->driveModiParams.sensorData);
this->addChildComponent(this->driveModiParams.moveControl);
this->addChildComponent(this->navigation);
src/driveModi/driveManager.h
+4 -3
View File
@@ -38,6 +38,7 @@
enum class Modi {
Off,
ManualControl,
CalibrateCompass,
CaptureRoute,
Autopilot,
TestMode
@@ -52,8 +53,8 @@ class DriveManager : public Component {
*
* @param moveControl
*/
DriveManager(MoveControl *moveControl, SensorData* sensorData, ControlPadInput *input, bool wifi = false);
DriveManager(DriveModiParams params, bool wifi = false);
DriveManager(MoveControl *moveControl, const SensorData* sensorData, const ControlPadInput *input);
DriveManager(DriveModiParams params);
/**
* @brief Destroy the Drive Manager object
@@ -99,7 +100,7 @@ class DriveManager : public Component {
private:
void run() override {};
void init(bool wifi);
void init();
Modi currentModus = Modi::Off;
DriveModi *currentModusPtr = nullptr;
src/driveModi/driveModi.h
+5 -5
View File
@@ -19,8 +19,8 @@
struct DriveModiParams {
MoveControl* moveControl;
ControlPadInput* input;
SensorData* sensorData;
const ControlPadInput* input;
const SensorData* sensorData;
};
/**
@@ -35,7 +35,7 @@ class DriveModi : public Component {
DriveModi(DriveModiParams);
virtual ~DriveModi();
SensorData getSensorData() const { return this->sensorData; }
const SensorData* getSensorData() const { return this->sensorData; }
/**
* @brief Set the max speed
@@ -59,8 +59,8 @@ class DriveModi : public Component {
protected:
MoveControl *moveControl;
ControlPadInput* input;
SensorData* sensorData;
const ControlPadInput* input;
const SensorData* sensorData;
double maxForwardSpeed = 1;
double maxRotationSpeed = 7;
src/main.cpp
+6 -9
View File
@@ -31,7 +31,6 @@
#include "network.h"
#include "debugMqtt.h"
#include "battery.h"
#include "sensors.h"
#include "sensorData.h"
#include "debugTimes.h"
#include "controlPad.h"
@@ -57,7 +56,6 @@ OutputBuf* outputBuf;
DebugMqtt* debugMqtt = nullptr;
Battery* mainBattery;
SPIClass* spiPort;
Sensors* sensors;
SensorData* sensorData;
ControlPad* controlPad;
@@ -119,11 +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;
sensors = new Sensors();
sensors->enableGnss(spiPort, PinNumbers::gnssSpiCs);
sensors->enableCompass();
sensorData = sensors->getSensorData();
driveManager = new DriveManager(&moveController, sensorData, controlPad->getControlPadDataPtr(), wifiIsActive);
sensorData = new SensorData();
sensorData->enableGnss(spiPort, PinNumbers::gnssSpiCs);
sensorData->enableRealCompass();
driveManager = new DriveManager(&moveController, sensorData, controlPad->getControlPadDataPtr());
outputBuf->activateMqtt(true);
@@ -150,7 +147,7 @@ void loop() {
#endif //MQTT
wifiTime.stopConsol("WiFi-Time", 10);
}
sensors->loop();
sensorData->loop();
driveManager->loop();
controlPad->loop();
main_m->update();
@@ -225,7 +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());