refactor, comment and move speedometerTest

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

@@ -0,0 +1,78 @@
+/**
+ * @file menuTest.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Contains the implementation of the class SpeedometerTest.
+ * @version 0.1
+ * @date 2023-01-24
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
+#include "speedometerTest.h"
+
+SpeedometerTest::SpeedometerTest(Speedometer* speedometer) {
+    this->speedometer = speedometer;
+}
+
+
+void SpeedometerTest::printMenu() {
+    switch (this->state) {
+        case State::Off :
+            this->print("Press Yes (O)", "to start");
+            break;
+
+        case State::Running :
+            this->print("Running, Yes (O)", "to stop");
+            break;
+
+        case State::Finished : {
+                String res = "";
+                res.concat(this->result);
+                this->print("Result: ", res);
+            }
+            break;
+        
+        default:
+            this->print("Error in", "MenuTest.cpp");
+            break;
+    }
+}
+
+
+void SpeedometerTest::left() {
+    this->no();
+}
+
+void SpeedometerTest::no() {
+    if (this->state == State::Running)
+        speedometer->calibrationMeasurementStop();
+
+    this->state = State::Off;
+    this->parentMenu->printMenu();
+}
+
+void SpeedometerTest::yes() {
+    switch (this->state) {
+        case State::Off :
+            this->state = State::Running;
+            this->speedometer->calibrationMeasurementStart();
+            this->printMenu();
+            break;
+
+        case State::Running :
+            this->state = State::Finished;
+            this->result = this->speedometer->calibrationMeasurementStop();
+            this->printMenu();
+            break;
+        
+        case State::Finished :
+            this->state = State::Running;
+            this->speedometer->calibrationMeasurementStart();
+            this->printMenu();
+            break;
+
+        default:
+            break;
+    }
+}

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;
+};