refactor, comment and move speedometerTest

src/SpecialMenus/Test/menuTest.h

@@ -1,37 +0,0 @@
-/**
- * @file menuTest.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief 
- * @version 0.1
- * @date 2023-01-24
- * 
- * @copyright Copyright (c) 2023
- * 
- */
-
-#pragma once
-
-#include "menuControl.h"
-#include "speedometer.h"
-
-class MenuTest : public MenuControl {
-    public:
-        enum State {
-            Off,
-            Running,
-            Finished
-        };
-        MenuTest(Speedometer* speedometer);
-
-        void printMenu() override;
-
-        void left() override;
-        void no() override;
-        void yes() override;
-
-    private:
-        Speedometer* speedometer;
-        State state = State::Off;
-
-        uint16_t result = 0;
-};

src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp

@@ -90,6 +90,7 @@ void MenuTestMode::init() {
     this->mainMenu = new Menu;
     Menu* engineMenu = new Menu;
     Menu* lightMenu = new Menu;
+    Menu* encoderMenu = new Menu;
     // Sound
     // Ping google
     // WheelEncoder
@@ -98,6 +99,8 @@ void MenuTestMode::init() {
     MenuIntInput* engineLeftMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::leftEngine));
     MenuIntInput* engineRightMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::rightEngine));
     MenuIntInput* engineBothMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::bothEngine));
+    SpeedometerTest* encoderLeftMenu = new SpeedometerTest(this->testMode->getSpeedometerLeft());
+    SpeedometerTest* encoderRightMenu = new SpeedometerTest(this->testMode->getSpeedometerRight());
 
 
     // Set menus on LCD
@@ -108,6 +111,9 @@ void MenuTestMode::init() {
     engineBothMenu->setLcd(this->lcd);
     drivingMenu->setLcd(this->lcd);
     lightMenu->setLcd(this->lcd);
+    encoderMenu->setLcd(this->lcd);
+    encoderLeftMenu->setLcd(this->lcd);
+    encoderRightMenu->setLcd(this->lcd);
 
     // Other menu config
     drivingMenu->setEntry(0, "Centimeter", 100);
@@ -140,6 +146,10 @@ void MenuTestMode::init() {
 
     MenuAction* drivingAction = new MenuAction("Driving", drivingMenu);
 
+    MenuAction* encoderAction = new MenuAction("Encoder", encoderMenu);
+    MenuAction* encoderLeftAction = new MenuAction("Left", encoderLeftMenu);
+    MenuAction* encoderRightAction = new MenuAction("Right", encoderRightMenu);
+
     MenuAction* lightAction = new MenuAction("Light", lightMenu);
     MenuAction* lightFlashAction = new MenuAction("Flash", dummy);
     MenuAction* lightFadeAction = new MenuAction("Fade", dummy);
@@ -151,12 +161,16 @@ void MenuTestMode::init() {
     // Add entrys to the menus
     this->mainMenu->addEntry(engineAction);
     this->mainMenu->addEntry(drivingAction);
+    this->mainMenu->addEntry(encoderAction);
     this->mainMenu->addEntry(lightAction);
 
     engineMenu->addEntry(engineLeftAction);
     engineMenu->addEntry(engineRightAction);
     engineMenu->addEntry(engineBothAction);
 
+    encoderMenu->addEntry(encoderLeftAction);
+    encoderMenu->addEntry(encoderRightAction);
+
     lightMenu->addEntry(lightFlashAction);
     lightMenu->addEntry(lightFadeAction);
     lightMenu->addEntry(lightRedAction);

src/SpecialMenus/driveModi/TestMode/menuTestMode.h

@@ -16,6 +16,7 @@
 #include "menu.h"
 #include "menuAction.h"
 #include "menuIntInput.h"
+#include "speedometerTest.h"
 
 /**
  * @brief Interact with the TestMode

src/SpecialMenus/driveModi/TestMode/speedometerTest.cpp

@@ -1,7 +1,7 @@
 /**
  * @file menuTest.cpp
  * @author Alexander Klein (alex@kleiax.de)
- * @brief 
+ * @brief Contains the implementation of the class SpeedometerTest.
  * @version 0.1
  * @date 2023-01-24
  * 
@@ -9,14 +9,14 @@
  * 
  */
 
-#include "menuTest.h"
+#include "speedometerTest.h"
 
-MenuTest::MenuTest(Speedometer* speedometer) {
+SpeedometerTest::SpeedometerTest(Speedometer* speedometer) {
     this->speedometer = speedometer;
 }
 
 
-void MenuTest::printMenu() {
+void SpeedometerTest::printMenu() {
     switch (this->state) {
         case State::Off :
             this->print("Press Yes (O)", "to start");
@@ -40,11 +40,11 @@ void MenuTest::printMenu() {
 }
 
 
-void MenuTest::left() {
+void SpeedometerTest::left() {
     this->no();
 }
 
-void MenuTest::no() {
+void SpeedometerTest::no() {
     if (this->state == State::Running)
         speedometer->calibrationMeasurementStop();
 
@@ -52,7 +52,7 @@ void MenuTest::no() {
     this->parentMenu->printMenu();
 }
 
-void MenuTest::yes() {
+void SpeedometerTest::yes() {
     switch (this->state) {
         case State::Off :
             this->state = State::Running;

src/SpecialMenus/driveModi/TestMode/speedometerTest.h

@@ -0,0 +1,64 @@
+/**
+ * @file menuTest.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Contains a class to test the wheel encoder.
+ * @version 0.1
+ * @date 2023-01-24
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
+#pragma once
+
+#include "menuControl.h"
+#include "speedometer.h"
+
+/**
+ * @brief Tests the wheel encoder.
+ * 
+ */
+class SpeedometerTest : public MenuControl {
+    public:
+        /**
+         * @brief The states of the test. 
+         */
+        enum State {
+            Off,
+            Running,
+            Finished
+        };
+
+        /**
+         * @brief Construct a new Speedometer Test object
+         * 
+         * @param speedometer 
+         */
+        SpeedometerTest(Speedometer* speedometer);
+
+        /**
+         * @brief Prints the actual state of the test. 
+         */
+        void printMenu() override;
+
+        /**
+         * @brief Calls no.
+         */
+        void left() override;
+
+        /**
+         * @brief Exit the menu or end the test. 
+         */
+        void no() override;
+
+        /**
+         * @brief Starts or restarts the test. 
+         */
+        void yes() override;
+
+    private:
+        Speedometer* speedometer;
+        State state = State::Off;
+
+        uint16_t result = 0;
+};

src/driveModi/Modi/TestMode/testMode.h

@@ -121,6 +121,8 @@ class TestMode : public DriveModi {
          */
         bool getBusy() const { return this->busy; }
         Maneuver getManeuver() const { return this->maneuver; }
+        Speedometer* getSpeedometerLeft() { this->moveControl->getSpeedometerLeft(); }
+        Speedometer* getSpeedometerRight() { this->moveControl->getSpeedometerRight(); }
 
     private:
         bool engineInit(int16_t powerPercentage, int16_t seconds);

src/main.cpp

@@ -275,7 +275,6 @@ void makeMenu() {
     MenuGPS* gps_m = new MenuGPS(driveManager);
     MenuSysteminformation* sys_m = new MenuSysteminformation(mainBattery, gamepad);
     MenuRoute* rout_m = new MenuRoute(driveManager->getNavigation()->getRoute());
-    MenuTest* test_m = new MenuTest(moveController.getSpeedometerLeft());
 
     // Set Menus on LCD
     main_m->setLcd(lcdWrapper);
@@ -290,7 +289,6 @@ void makeMenu() {
     gps_m->setLcd(LcdWrapper);
     sys_m->setLcd(LcdWrapper);
     rout_m->setLcd(LcdWrapper);
-    test_m->setLcd(LcdWrapper);
 
 
     // Entry for the main menu
@@ -301,13 +299,11 @@ void makeMenu() {
     MenuAction* contr_e = new MenuAction("Remove PS3", disconnectController);
     MenuAction* sys_e = new MenuAction("Systeminfo", sys_m);
     MenuAction* rout_e = new MenuAction("Route", rout_m);
-    MenuAction* test_e = new MenuAction("Test", test_m);
     main_m->addEntry(mode_e);
     main_m->addEntry(gps_e);
     main_m->addEntry(rout_e);
     main_m->addEntry(pid_e);
     main_m->addEntry(sys_e);
-    main_m->addEntry(test_e);
     main_m->addEntry(contr_e);
     main_m->addEntry(restart_e);