compilation works again

src/driveModi/Modi/Autopilot/autopilot.cpp

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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;