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clangtidy corrections part 2

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kleiax
2023-10-12 00:44:27 +02:00
parent 23d854a826
commit a43e2db92b
41 changed files with 2274 additions and 2485 deletions
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src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.cpp
+37 -26
View File
@@ -1,59 +1,70 @@
/**
* @file menuCalibrateBattery.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief
* @version 0.1
* @date 2023-09-26
*
*
* @copyright Copyright (c) 2023
*
*
*/
#include "menuCalibrateBattery.h"
MenuCalibrateBattery::MenuCalibrateBattery(Battery* battery) {
this->setUpdateDelay(400);
this->battery = battery;
MenuCalibrateBattery::MenuCalibrateBattery(Battery *battery)
: battery{battery}
{
this->setUpdateDelay(MenuCalibrateBattery::updateDelay);
}
void MenuCalibrateBattery::printMenu() {
void MenuCalibrateBattery::printMenu()
{
if (this->battery->getCalibrationState() == Battery::CalibrationState::None)
{
this->battery->startCalibration();
}
String lineOne = "";
String lineTwo = "";
switch (this->battery->getCalibrationState()) {
case Battery::CalibrationState::Waiting:
lineOne = "Target Voltage:";
lineTwo = "7 + ";
lineTwo.concat(this->battery->getCurrentCalibrationVoltage());
lineTwo.concat(" / 10");
break;
switch (this->battery->getCalibrationState())
{
case Battery::CalibrationState::Waiting:
lineOne = "Target Voltage:";
lineTwo = "7 + ";
lineTwo.concat(this->battery->getCurrentCalibrationVoltage());
lineTwo.concat(" / 10");
break;
case Battery::CalibrationState::Reading:
lineOne = "Reading...";
break;
case Battery::CalibrationState::Reading:
lineOne = "Reading...";
break;
case Battery::CalibrationState::Finished:
lineOne = "Finished!";
break;
default:
break;
case Battery::CalibrationState::Finished:
lineOne = "Finished!";
break;
default:
break;
}
this->print(lineOne, lineTwo);
}
void MenuCalibrateBattery::left() {
void MenuCalibrateBattery::left()
{
this->battery->finishCalibration();
if (parentMenu)
if (static_cast<bool>(parentMenu))
{
this->parentMenu->printMenu();
}
}
void MenuCalibrateBattery::right() {
void MenuCalibrateBattery::right()
{
if (this->battery->getCalibrationState() == Battery::CalibrationState::Waiting)
{
this->battery->nextVoltageIsReady();
}
}
src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.h
+17 -14
View File
@@ -1,12 +1,12 @@
/**
* @file menuCalibrateBattery.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief
* @version 0.1
* @date 2023-09-26
*
*
* @copyright Copyright (c) 2023
*
*
*/
#ifndef MENU_CALIBRATE_BATTERY_H
@@ -15,19 +15,22 @@
#include "menuControl.h"
#include "battery.h"
class MenuCalibrateBattery : public MenuControl {
public:
MenuCalibrateBattery(Battery* battery);
class MenuCalibrateBattery : public MenuControl
{
public:
MenuCalibrateBattery(Battery *battery);
void printMenu() override;
void printMenu() override;
void left() override;
void no() override { this->left(); }
void right() override;
void yes() override { this->right(); }
void left() override;
void no() override { this->left(); }
void right() override;
void yes() override { this->right(); }
private:
Battery* battery;
private:
Battery *battery;
static constexpr uint16_t updateDelay = 400;
};
#endif //MENU_CALIBRATE_BATTERY_H
#endif // MENU_CALIBRATE_BATTERY_H
src/SpecialMenus/PID/menuPidSettings.cpp
+8 -7
View File
@@ -4,19 +4,20 @@
* @brief Contains an implementation of the class MenuPidSettings
* @version 0.1
* @date 2022-01-19
*
*
* @copyright Copyright (c) 2022
*
*
*/
#include "menuPidSettings.h"
MenuPidSettings::MenuPidSettings(PID* pid) {
this->pid = pid;
}
MenuPidSettings::MenuPidSettings(PID *pid) : pid{pid} {}
void MenuPidSettings::action(int16_t* values, uint8_t length) {
if (length != 3)
void MenuPidSettings::action(int16_t *values, uint8_t length)
{
if (length != 3)
{
return;
}
this->pid->SetTunings(values[0], values[1], values[2]);
}
src/SpecialMenus/Route/menuRoute.cpp
+12 -14
View File
@@ -12,9 +12,8 @@
#include "menuRoute.h"
MenuActionRoute::MenuActionRoute(MenuRoute *menuRoute, DataFunction dataFunction)
: menuRoute{menuRoute}, dataFunction{dataFunction}
{
this->menuRoute = menuRoute;
this->dataFunction = dataFunction;
}
void MenuActionRoute::action()
@@ -23,8 +22,8 @@ void MenuActionRoute::action()
}
MenuRoute::MenuRoute(Route *route)
: route{route}
{
this->route = route;
}
MenuRoute::~MenuRoute()
@@ -185,12 +184,12 @@ void MenuRoute::importRoute(uint8_t routeNumber)
String host = "http://rover.kleiax.de/api/";
host.concat(routeNumber);
http.begin(client, host);
int httpResponseCode = http.GET();
const int httpResponseCode = http.GET();
lineOne = "Import complete";
lineTwo = "Code: ";
if (httpResponseCode == 202)
if (httpResponseCode == MenuRoute::httpValidImport)
{
deserializeJson(doc, http.getStream());
}
@@ -231,7 +230,7 @@ void MenuRoute::exportRoute(uint8_t routeNumber)
String lineOne = "";
String lineTwo = "";
if (WiFi.status() != WL_CONNECTED)
if (WiFiSTAClass::status() != WL_CONNECTED)
{
lineOne = "Not connected to";
lineTwo = "the WiFi.";
@@ -270,9 +269,9 @@ void MenuRoute::exportRoute(uint8_t routeNumber)
http.begin(client, "http://rover.kleiax.de/api/");
http.addHeader("Content-Type", "application/json");
int httpResponseCode = http.POST(jsonData);
const int httpResponseCode = http.POST(jsonData);
if (httpResponseCode == 201)
if (httpResponseCode == MenuRoute::httpValidExport)
{
lineOne = "Export complete";
}
@@ -295,7 +294,7 @@ void MenuRoute::deleteRoute(uint8_t routeNumber)
String lineOne = "";
String lineTwo = "";
if (WiFi.status() != WL_CONNECTED)
if (WiFiSTAClass::status() != WL_CONNECTED)
{
lineOne = "Not connected to";
lineTwo = "the WiFi.";
@@ -320,12 +319,12 @@ void MenuRoute::deleteRoute(uint8_t routeNumber)
String host = "http://rover.kleiax.de/api/";
host.concat(routeNumber);
http.begin(client, host);
int httpResponseCode = http.sendRequest("DELETE");
const int httpResponseCode = http.sendRequest("DELETE");
lineOne = "Delete complete";
lineTwo = "Code: ";
if (httpResponseCode == 202)
if (httpResponseCode == MenuRoute::httpValidDelete)
{
deserializeJson(doc, http.getStream());
}
@@ -343,16 +342,15 @@ void MenuRoute::deleteRoute(uint8_t routeNumber)
void MenuRoute::clearRoute(uint8_t none)
{
//The parameter exist only for compability
// The parameter exist only for compability
none;
this->route->clear();
this->print("Currente route", "deleted...");
}
MenuRouteWrapper::MenuRouteWrapper(MenuRoute *menuRoute, DataFunction dataFunction)
: menuRoute {menuRoute}, dataFunction {dataFunction}
: menuRoute{menuRoute}, dataFunction{dataFunction}
{
}
void MenuRouteWrapper::action(int16_t *values, uint8_t length)
src/SpecialMenus/Route/menuRoute.h
+106 -104
View File
@@ -4,9 +4,9 @@
* @brief Contains a classes to handles routes with the user input.
* @version 0.1
* @date 2022-12-28
*
*
* @copyright Copyright (c) 2022
*
*
*/
#ifndef MENU_ROUTE_H
@@ -30,135 +30,137 @@ typedef void (MenuRoute::*DataFunction)(uint8_t);
/**
* @brief MenuActionWrapper to call DataFunctions
*
*
* This class should be used to call importRoute,
* exportRoute and clearRoute over the Menu.
*/
class MenuActionRoute : public MenuActionWrapper {
public:
/**
* @brief Construct a new Menu Action Route object
*
* @param menuRoute
* @param dataFunction like exportRoute
*/
MenuActionRoute(MenuRoute* menuRoute, DataFunction dataFunction);
class MenuActionRoute : public MenuActionWrapper
{
public:
/**
* @brief Construct a new Menu Action Route object
*
* @param menuRoute
* @param dataFunction like exportRoute
*/
MenuActionRoute(MenuRoute *menuRoute, DataFunction dataFunction);
/**
* @brief Runs the given DataFunction
*/
void action() override;
/**
* @brief Runs the given DataFunction
*/
void action() override;
private:
MenuRoute* menuRoute;
DataFunction dataFunction;
private:
MenuRoute *menuRoute;
DataFunction dataFunction;
};
/**
* @brief Handles routes
*
* With this menu the user can import, export and delete routes.
*
* With this menu the user can import, export and delete routes.
*/
class MenuRoute : public MenuControl {
public:
/**
* @brief Construct a new Menu Route object
*
* @param route
*/
MenuRoute(Route* route);
~MenuRoute();
class MenuRoute : public MenuControl
{
public:
/**
* @brief Construct a new Menu Route object
*
* @param route
*/
MenuRoute(Route *route);
~MenuRoute();
/**
* @brief Prints the last informations
*
* On first call this function calls the init function.
* On every call this functions call the printMenu function from
* the mainMenu of this class.
*/
void printMenu() override;
/**
* @brief Prints the last informations
*
* On first call this function calls the init function.
* On every call this functions call the printMenu function from
* the mainMenu of this class.
*/
void printMenu() override;
/**
* @name User Inputs
* @brief Inputs given by the parentMenu
*/
///@{
void down() override;
void up() override;
void right() override;
void left() override;
void yes() override;
void no() override;
///@}
/**
* @name User Inputs
* @brief Inputs given by the parentMenu
*/
///@{
void down() override;
void up() override;
void right() override;
void left() override;
void yes() override;
void no() override;
///@}
/**
* @brief Import a Route.
*
* The functions tries to pull the given route id from the RoverApi.
*
* @param routeNumber id
*/
void importRoute(uint8_t routeNumber);
/**
* @brief Import a Route.
*
* The functions tries to pull the given route id from the RoverApi.
*
* @param routeNumber id
*/
void importRoute(uint8_t routeNumber);
/**
* @brief Export a Route.
*
* The functions tries to push the current route to the RoverApi.
*
* @param routeNumber id
*/
void exportRoute(uint8_t routeNumber);
/**
* @brief Export a Route.
*
* The functions tries to push the current route to the RoverApi.
*
* @param routeNumber id
*/
void exportRoute(uint8_t routeNumber);
void deleteRoute(uint8_t routeNumber);
void deleteRoute(uint8_t routeNumber);
/**
* @brief Delete the current Route.
*
* @param none this param is not be used.
*/
void clearRoute(uint8_t none);
private:
void init();
/**
* @brief Delete the current Route.
*
* @param none this param is not be used.
*/
void clearRoute(uint8_t none);
Route* route;
Menu* mainMenu;
private:
void init();
bool isInit = false;
bool blockInput = false;
Route *route;
Menu *mainMenu = nullptr;
static constexpr uint8_t maxRouteNumber = 100;
static constexpr uint16_t httpValidExport = 201;
static constexpr uint16_t httpValidImport = 202;
static constexpr uint16_t httpValidDelete = 202;
bool isInit = false;
bool blockInput = false;
static constexpr uint8_t maxRouteNumber = 100;
static constexpr uint16_t httpValidExport = 201;
static constexpr uint16_t httpValidImport = 202;
static constexpr uint16_t httpValidDelete = 202;
};
/**
* @brief MenuRouteWrapper to call DataFunctions with numeric user input
*
*
*/
class MenuRouteWrapper : public MenuIntInputWrapper {
public:
/**
* @brief Construct a new Menu Route Wrapper object.
*
* @param menuRoute
* @param dataFunction
*/
MenuRouteWrapper(MenuRoute* menuRoute, DataFunction dataFunction);
class MenuRouteWrapper : public MenuIntInputWrapper
{
public:
/**
* @brief Construct a new Menu Route Wrapper object.
*
* @param menuRoute
* @param dataFunction
*/
MenuRouteWrapper(MenuRoute *menuRoute, DataFunction dataFunction);
/**
* @brief Calls the given DataFunction.
*
* @param values The value to be given to the DataFunction.
* @param length Number of values, should be 1.
*/
void action(int16_t* values, uint8_t length) override;
/**
* @brief Calls the given DataFunction.
*
* @param values The value to be given to the DataFunction.
* @param length Number of values, should be 1.
*/
void action(int16_t *values, uint8_t length) override;
private:
MenuRoute* menuRoute;
DataFunction dataFunction = nullptr;
private:
MenuRoute *menuRoute;
DataFunction dataFunction = nullptr;
};
#endif // MENU_ROUTE_H
src/SpecialMenus/Route/menuRoutePoints.cpp
+44 -19
View File
@@ -4,34 +4,48 @@
* @brief Contains the implementation of the class MenuRoutePoints.
* @version 0.1
* @date 2022-12-28
*
*
* @copyright Copyright (c) 2022
*
*
*/
#include "menuRoutePoints.h"
MenuRoutePoints::MenuRoutePoints(Route *route) : MenuInformationSites() {
this->route = route;
MenuRoutePoints::MenuRoutePoints(Route *route)
: route{route}
{
}
void MenuRoutePoints::init() {
uint16_t amountPoints = this->route->getRouteInfo().totalPoints;
void MenuRoutePoints::init()
{
const uint16_t amountPoints = this->route->getRouteInfo().totalPoints;
if (amountPoints > UINT8_MAX)
{
this->error = true;
}
else
{
this->setCountPages(amountPoints);
}
}
void MenuRoutePoints::printPage() const {
uint8_t currentPage = this->getCurrentPage();
void MenuRoutePoints::printPage() const
{
static constexpr int8_t width = 9;
static constexpr int8_t prec = 7;
static constexpr int8_t bufSize = 20;
const uint8_t currentPage = this->getCurrentPage();
if (this->lastPageNumber == currentPage)
{
return;
}
String lineOne = "N ";
String lineTwo = "E ";
if (this->error) {
if (this->error)
{
lineOne = "Error: To much";
lineTwo = "points are given";
this->print(lineOne, lineTwo);
@@ -39,35 +53,46 @@ void MenuRoutePoints::printPage() const {
}
RouteInfo info = this->route->getRouteInfo();
if (info.totalPoints == 0) {
if (info.totalPoints == 0)
{
lineOne = "No Points are";
lineTwo = "available";
this->print(lineOne, lineTwo);
return;
}
Point p;
Point point;
if (currentPage == 0)
p = this->route->startRoute();
{
point = this->route->startRoute();
}
else if (this->lastPageNumber - 1 == currentPage)
p = this->route->getPreviousPoint();
{
point = this->route->getPreviousPoint();
}
else if (this->lastPageNumber + 1 == currentPage)
p = this->route->getNextPoint();
{
point = this->route->getNextPoint();
}
else if (currentPage == this->getCountPages() - 1)
p = this->route->endRoute();
{
point = this->route->endRoute();
}
else
{
std::cout << "Error in: MenuRoutePoints::printPage()" << std::endl;
}
char buf[20];
char* string;
char buf[bufSize];
char *string;
info = this->route->getRouteInfo();
string = dtostrf(p.getLatitude(), 9, 7, buf);
string = dtostrf(point.getLatitude(), width, prec, static_cast<char *>(buf));
lineOne.concat(string);
lineOne.concat(" ");
lineOne.concat(info.currentPoint);
// lineOne.concat(currentPage);
string = dtostrf(p.getLongitude(), 9, 7, buf);
string = dtostrf(point.getLongitude(), width, prec, static_cast<char *>(buf));
lineTwo.concat(string);
lineTwo.concat(" ");
lineTwo.concat(info.totalPoints);
src/SpecialMenus/SensorData/menuSensorData.cpp
+123 -91
View File
@@ -1,119 +1,151 @@
/**
* @file menuSensorData.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief
* @version 0.1
* @date 2023-09-04
*
*
* @copyright Copyright (c) 2023
*
*
*/
#include "menuSensorData.h"
MenuSensorData::MenuSensorData(SensorData* sensorData) :
MenuInformationSites(7) {
this->sensorData = sensorData;
this->noEqualLeft = true;
MenuSensorData::MenuSensorData(SensorData *sensorData) : MenuInformationSites(7), sensorData{sensorData}
{
this->noEqualLeft = true;
}
void MenuSensorData::printPage() const {
const UBX_NAV_PVT_data_t* gpsData = this->sensorData->getGnssData();
void MenuSensorData::printPage() const
{
const UBX_NAV_PVT_data_t *gpsData = this->sensorData->getGnssData();
uint8_t fixType = 0;
if (gpsData)
if (static_cast<bool>(gpsData))
{
fixType = gpsData->fixType;
}
String lineOne = "";
String lineTwo = "";
switch (this->getCurrentPage()) {
case 0:
lineOne = " Y P R :";
lineTwo.concat(this->sensorData->getGyroData()[0]);
lineTwo.concat(" ");
lineTwo.concat(this->sensorData->getGyroData()[1]);
lineTwo.concat(" ");
lineTwo.concat(this->sensorData->getGyroData()[2]);
break;
switch (this->getCurrentPage())
{
case 0:
lineOne = " Y P R :";
lineTwo.concat(this->sensorData->getGyroData()[0]);
lineTwo.concat(" ");
lineTwo.concat(this->sensorData->getGyroData()[1]);
lineTwo.concat(" ");
lineTwo.concat(this->sensorData->getGyroData()[2]);
break;
case 1:
lineOne = "Real Azimuth:";
lineTwo.concat(this->sensorData->getRealAzimuth());
break;
case 1:
lineOne = "Real Azimuth:";
lineTwo.concat(this->sensorData->getRealAzimuth());
break;
case 2:
lineOne = "Calc Azimuth:";
lineTwo.concat(this->sensorData->getCalcAzimuth());
lineTwo.concat(" ");
lineTwo.concat(CalcAzimuth::stateToString(this->sensorData->getCalcAzimuthState()));
break;
case 2:
lineOne = "Calc Azimuth:";
lineTwo.concat(this->sensorData->getCalcAzimuth());
lineTwo.concat(" ");
lineTwo.concat(CalcAzimuth::stateToString(this->sensorData->getCalcAzimuthState()));
break;
case 3: {
lineOne = "Lat:";
lineTwo = "Lon:";
Point pos = this->sensorData->getCurrentPos();
lineOne.concat(pos.getLatitude());
lineTwo.concat(pos.getLongitude());
case 3:
{
lineOne = "Lat:";
lineTwo = "Lon:";
const Point pos = this->sensorData->getCurrentPos();
lineOne.concat(pos.getLatitude());
lineTwo.concat(pos.getLongitude());
}
break;
case 4:
lineOne = "Time: ";
lineTwo = "";
if (static_cast<bool>(fixType))
{
if (gpsData->hour < 10)
{
lineTwo.concat("0");
}
break;
case 4:
lineOne = "Time: ";
lineTwo = "";
if (fixType) {
if (gpsData->hour < 10)
lineTwo.concat("0");
lineTwo.concat(gpsData->hour);
lineTwo.concat(":");
if (gpsData->min < 10)
lineTwo.concat("0");
lineTwo.concat(gpsData->min);
lineTwo.concat(":");
if (gpsData->sec < 10)
lineTwo.concat("0");
lineTwo.concat(gpsData->sec);
} else
lineTwo = "00:00:00";
break;
case 5: {
lineOne = "CarSol: ";
lineTwo = "Ntrip: ";
uint8_t carrSoln = gpsData->flags.bits.carrSoln;
if (carrSoln == 0)
lineOne.concat("None");
else if (carrSoln == 1)
lineOne.concat("Floating");
else if (carrSoln == 2)
lineOne.concat("Fixed");
else
lineOne = "UNKNOWN";
NTRIPClientStates status = this->sensorData->getNtripState();
if (status == NTRIPClientStates::pushData)
lineTwo.concat("enabled");
else if (status == NTRIPClientStates::notAvailable)
lineTwo.concat(" N/A");
else
lineTwo.concat("disabled");
lineTwo.concat(gpsData->hour);
lineTwo.concat(":");
if (gpsData->min < 10)
{
lineTwo.concat("0");
}
break;
case 6:
lineOne = "HAcc: ";
lineTwo = "Sats: ";
if (fixType) {
lineOne.concat(gpsData->hAcc);
lineTwo.concat(gpsData->numSV);
} else {
lineOne.concat("-/-");
lineTwo.concat("-/-");
lineTwo.concat(gpsData->min);
lineTwo.concat(":");
if (gpsData->sec < 10)
{
lineTwo.concat("0");
}
break;
lineTwo.concat(gpsData->sec);
}
else
{
lineTwo = "00:00:00";
}
default:
this->printDefault();
return;
break;
case 5:
{
lineOne = "CarSol: ";
lineTwo = "Ntrip: ";
const uint8_t carrSoln = gpsData->flags.bits.carrSoln;
if (carrSoln == 0)
{
lineOne.concat("None");
}
else if (carrSoln == 1)
{
lineOne.concat("Floating");
}
else if (carrSoln == 2)
{
lineOne.concat("Fixed");
}
else
{
lineOne = "UNKNOWN";
}
const NTRIPClientStates status = this->sensorData->getNtripState();
if (status == NTRIPClientStates::pushData)
{
lineTwo.concat("enabled");
}
else if (status == NTRIPClientStates::notAvailable)
{
lineTwo.concat(" N/A");
}
else
{
lineTwo.concat("disabled");
}
}
break;
case 6:
lineOne = "HAcc: ";
lineTwo = "Sats: ";
if (static_cast<bool>(fixType))
{
lineOne.concat(gpsData->hAcc);
lineTwo.concat(gpsData->numSV);
}
else
{
lineOne.concat("-/-");
lineTwo.concat("-/-");
}
break;
default:
this->printDefault();
return;
}
this->print(lineOne, lineTwo);
src/SpecialMenus/Speed/menuSpeed.cpp
+4 -3
View File
@@ -12,8 +12,9 @@
#include "menuSpeed.h"
void MenuSpeed::action(int16_t* values, uint8_t length) {
if (length != 2)
if (length != 2) {
return;
this->speeds.x = (double) values[0] / 10.0;
this->speeds.rot = (double) values[1] / 10.0;
}
this->speeds.x = values[0] / 10.0;
this->speeds.rot = values[1] / 10.0;
}
src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp
+1 -2
View File
@@ -12,8 +12,7 @@
#include "menuSysteminformation.h"
MenuSysteminformation::MenuSysteminformation(Battery* mainBattery)
: MenuInformationSites(8) {
this->mainBattery = mainBattery;
: MenuInformationSites(8), mainBattery {mainBattery} {
this->noEqualLeft = true;
}
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp
+242 -193
View File
@@ -4,31 +4,38 @@
* @brief Contains an implementation of the class MenuAutopilot
* @version 0.1
* @date 2022-02-03
*
*
* @copyright Copyright (c) 2022
*
*
*/
#include "menuAutopilot.h"
void MenuAutopilot::printPage() const {
CourseCorrection correction = this->autopilot->getCourseCorrection();
const UBX_NAV_PVT_data_t* gpsData = this->autopilot->getSensorData()->getGnssData();
bool navigationStarted = this->autopilot->getState() >= Autopilot::State::NavigationStarted;
void MenuAutopilot::printPage() const
{
const CourseCorrection correction = this->autopilot->getCourseCorrection();
const UBX_NAV_PVT_data_t *gpsData = this->autopilot->getSensorData()->getGnssData();
const bool navigationStarted = this->autopilot->getState() >= Autopilot::State::NavigationStarted;
String distanceString = "";
if (navigationStarted) {
if (navigationStarted)
{
uint16_t distance = 0;
if (correction.distance < 1) {
distance = (uint16_t) (correction.distance * 100);
if (correction.distance < 1)
{
distance = static_cast<uint16_t>(correction.distance * 100);
distanceString.concat(distance);
distanceString.concat("cm");
} else if (correction.distance < 1000) {
distance = (uint16_t) correction.distance;
}
else if (correction.distance < 1000)
{
distance = static_cast<uint16_t>(correction.distance);
distanceString.concat(distance);
distanceString.concat("m");
} else {
distance = (uint16_t) (correction.distance / 1000);
}
else
{
distance = static_cast<uint16_t>(correction.distance / 1000);
distanceString.concat(distance);
distanceString.concat("km");
}
@@ -37,221 +44,263 @@ void MenuAutopilot::printPage() const {
String lineOne = "No information";
String lineTwo = "available";
switch (this->getCurrentPage()) {
case 0: {
lineOne = "Status: ";
lineTwo = "";
switch (this->autopilot->getState()) {
case Autopilot::State::InsufficientAccuracy :
lineTwo = "Err: LowAccuracy";
break;
case Autopilot::State::NoRoute :
lineTwo = "Err: No route";
break;
case Autopilot::State::NavigationStarted :
lineTwo = "Nav started";
break;
case Autopilot::State::GetToStartPoint :
lineTwo = "Drive to start";
break;
case Autopilot::State::SelfDrivingAvailable :
lineTwo = "Autopilot ready";
break;
case Autopilot::State::SelfDriving :
lineTwo = "Autopilot active";
break;
case Autopilot::State::SelfDrivingRotate :
lineTwo = "Rotating";
break;
case Autopilot::State::TargetReached :
lineTwo = "Target reached";
break;
default:
lineTwo = "UNKOWN - ";
lineTwo.concat(static_cast<int>(this->autopilot->getState()));
break;
}
break;
}
case 1:
if (!navigationStarted) {
lineOne = "Navigation is";
lineTwo = "not started";
break;
}
lineOne = "Distance: ";
lineOne.concat(distanceString);
lineTwo = "Turn: ";
lineTwo.concat(correction.correction);
switch (this->getCurrentPage())
{
case 0:
{
lineOne = "Status: ";
lineTwo = "";
switch (this->autopilot->getState())
{
case Autopilot::State::InsufficientAccuracy:
lineTwo = "Err: LowAccuracy";
break;
case 2:
lineOne = "Target waypoint";
lineTwo = "";
lineTwo.concat(this->autopilot->getRouteInfo().currentPoint);
lineTwo.concat(" from ");
lineTwo.concat(this->autopilot->getRouteInfo().totalPoints);
case Autopilot::State::NoRoute:
lineTwo = "Err: No route";
break;
case 3: {
NTRIPClientStates status = this->autopilot->getSensorData()->getNtripClient()->getClientState();
uint8_t carrSoln = gpsData->flags.bits.carrSoln;
lineOne = "GNSS: ";
if (status == NTRIPClientStates::pushData)
if (carrSoln == 0)
lineOne.concat("None");
else if (carrSoln == 1)
lineOne.concat("Floating");
else if (carrSoln == 2)
lineOne.concat("Fixed");
else
lineOne.concat("UNKNOWN");
else if (status == NTRIPClientStates::notAvailable)
lineOne.concat("No WiFi");
else
lineOne.concat("Offline");
lineTwo = "hAcc: ";
if (gpsData->fixType)
lineTwo.concat(gpsData->hAcc);
else
lineTwo.concat("0");
break;
}
case 4:
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::State::Bad :
lineTwo.concat("Bad");
break;
case CalcAzimuth::State::Good :
lineTwo.concat("Good");
break;
case CalcAzimuth::State::Invalid :
lineTwo.concat("Invalid");
break;
case CalcAzimuth::State::Ok :
lineTwo.concat("Ok");
break;
case CalcAzimuth::State::Super :
lineTwo.concat("Super");
break;
default:
lineTwo.concat("Unkown");
break;
}
} else {
lineOne = "Real Azi: ";
lineTwo = "";
lineOne.concat(this->autopilot->getSensorData()->getRealAzimuth());
}
case Autopilot::State::NavigationStarted:
lineTwo = "Nav started";
break;
case 5:
lineOne = "Loop mode is";
if (this->autopilot->getLoopMode())
lineTwo = "enabled";
else
lineTwo = "disabled";
case Autopilot::State::GetToStartPoint:
lineTwo = "Drive to start";
break;
case 6:
lineOne = "Freeze target is";
if (this->targetFreezed)
lineTwo = "activated";
else
lineTwo = "deactivated";
case Autopilot::State::SelfDrivingAvailable:
lineTwo = "Autopilot ready";
break;
case 7:
lineOne = "MinDisToPoint:";
lineTwo = "<- ";
lineTwo.concat(this->minDistance);
lineTwo.concat(" ->");
case Autopilot::State::SelfDriving:
lineTwo = "Autopilot active";
break;
case Autopilot::State::SelfDrivingRotate:
lineTwo = "Rotating";
break;
case Autopilot::State::TargetReached:
lineTwo = "Target reached";
break;
default:
this->printDefault();
return;
lineTwo = "UNKOWN - ";
lineTwo.concat(static_cast<int>(this->autopilot->getState()));
break;
}
break;
}
case 1:
if (!navigationStarted)
{
lineOne = "Navigation is";
lineTwo = "not started";
break;
}
lineOne = "Distance: ";
lineOne.concat(distanceString);
lineTwo = "Turn: ";
lineTwo.concat(correction.correction);
break;
case 2:
lineOne = "Target waypoint";
lineTwo = "";
lineTwo.concat(this->autopilot->getRouteInfo().currentPoint);
lineTwo.concat(" from ");
lineTwo.concat(this->autopilot->getRouteInfo().totalPoints);
break;
case 3:
{
NTRIPClientStates status = this->autopilot->getSensorData()->getNtripClient()->getClientState();
const uint8_t carrSoln = gpsData->flags.bits.carrSoln;
lineOne = "GNSS: ";
if (status == NTRIPClientStates::pushData)
{
if (carrSoln == 0)
{
lineOne.concat("None");
}
else if (carrSoln == 1)
{
lineOne.concat("Floating");
}
else if (carrSoln == 2)
{
lineOne.concat("Fixed");
}
else
{
lineOne.concat("UNKNOWN");
}
}
else if (status == NTRIPClientStates::notAvailable)
lineOne.concat("No WiFi");
else
{
lineOne.concat("Offline");
}
lineTwo = "hAcc: ";
if (static_cast<bool>(gpsData->fixType))
{
lineTwo.concat(gpsData->hAcc);
}
else
{
lineTwo.concat("0");
}
break;
}
case 4:
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::State::Bad:
lineTwo.concat("Bad");
break;
case CalcAzimuth::State::Good:
lineTwo.concat("Good");
break;
case CalcAzimuth::State::Invalid:
lineTwo.concat("Invalid");
break;
case CalcAzimuth::State::Ok:
lineTwo.concat("Ok");
break;
case CalcAzimuth::State::Super:
lineTwo.concat("Super");
break;
default:
lineTwo.concat("Unkown");
break;
}
}
else
{
lineOne = "Real Azi: ";
lineTwo = "";
lineOne.concat(this->autopilot->getSensorData()->getRealAzimuth());
}
break;
case 5:
lineOne = "Loop mode is";
if (this->autopilot->getLoopMode())
{
lineTwo = "enabled";
}
else
{
lineTwo = "disabled";
}
break;
case 6:
lineOne = "Freeze target is";
if (this->targetFreezed)
{
lineTwo = "activated";
}
else
{
lineTwo = "deactivated";
}
break;
case 7:
lineOne = "MinDisToPoint:";
lineTwo = "<- ";
lineTwo.concat(this->minDistance);
lineTwo.concat(" ->");
break;
default:
this->printDefault();
return;
}
this->print(lineOne, lineTwo);
}
void MenuAutopilot::runCommand() {
switch (this->getCurrentPage()) {
case 5:
this->autopilot->switchLoopMode();
break;
case 6:
if (this->targetFreezed) {
this->targetFreezed = false;
this->autopilot->getNavigation()->freezeTargetPoint(false);
} else {
this->targetFreezed = true;
this->autopilot->getNavigation()->freezeTargetPoint();
}
break;
case 7:
this->minDistance = this->autopilot->getNavigation()->increaseMinDistanceToReachPoint();
break;
default:
break;
}
}
void MenuAutopilot::runCommandNo() {
switch (this->getCurrentPage()) {
case 7:
this->minDistance = this->autopilot->getNavigation()->decreaseMinDistanceToReachPoint();
void MenuAutopilot::runCommand()
{
switch (this->getCurrentPage())
{
case 5:
this->autopilot->switchLoopMode();
break;
case 6:
if (this->targetFreezed)
{
this->targetFreezed = false;
this->autopilot->getNavigation()->freezeTargetPoint(false);
}
else
{
this->targetFreezed = true;
this->autopilot->getNavigation()->freezeTargetPoint();
}
break;
case 7:
this->minDistance = this->autopilot->getNavigation()->increaseMinDistanceToReachPoint();
break;
default:
break;
}
}
void MenuAutopilot::update() {
void MenuAutopilot::runCommandNo()
{
switch (this->getCurrentPage())
{
case 7:
this->minDistance = this->autopilot->getNavigation()->decreaseMinDistanceToReachPoint();
break;
default:
break;
}
}
void MenuAutopilot::update()
{
if (!this->autopilot->shouldUpdate())
{
return;
}
this->routeInfo = this->autopilot->getRouteInfo();
this->printMenu();
}
void MenuAutopilot::init() {
void MenuAutopilot::init()
{
this->setCountPages(8);
this->autopilot = new Autopilot();
this->autopilot = new Autopilot();
this->driveManager->changeModus(this->autopilot);
this->routeInfo = this->autopilot->getRouteInfo();
//dirty hack to get the val, can be better!!! TODO
// dirty hack to get the val, can be better!!! TODO
this->autopilot->getNavigation()->increaseMinDistanceToReachPoint();
this->minDistance = this->autopilot->getNavigation()->decreaseMinDistanceToReachPoint();
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp
+1 -1
View File
@@ -114,7 +114,7 @@ void MenuCalibrateCompass::init() {
this->driveManager->changeModus(this->caliCompassMode);
this->caliCompass = new CalibrateCompass(this->caliCompassMode->getSensorData()->getRealCompass());
this->setCountPages(11);
this->updateDelay = 500;
MenuDriveMode::updateDelay = MenuCalibrateCompass::updateDelay;
}
void MenuCalibrateCompass::runCommand() {
src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.h
+4 -2
View File
@@ -45,8 +45,10 @@ class MenuCalibrateCompass : public MenuDriveMode {
void runCommand() override;
private:
CalibrateCompassM* caliCompassMode;
CalibrateCompass* caliCompass;
CalibrateCompassM* caliCompassMode = nullptr;
CalibrateCompass* caliCompass = nullptr;
static constexpr uint16_t updateDelay = 500;
};
#endif // MENU_CALIBRATE_COMPASS_H
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp
+127 -91
View File
@@ -4,134 +4,170 @@
* @brief Contains an implementation of the class MenuCaptureRoute
* @version 0.1
* @date 2022-01-31
*
*
* @copyright Copyright (c) 2022
*
*
*/
#include "menuCaptureRoute.h"
void MenuCaptureRoute::printPage() const {
RouteInfo routeInfo = this->captureRoute->getRouteInfo();
const UBX_NAV_PVT_data_t* gpsData = this->captureRoute->getSensorData()->getGnssData();
void MenuCaptureRoute::printPage() const
{
const RouteInfo routeInfo = this->captureRoute->getRouteInfo();
const UBX_NAV_PVT_data_t *gpsData = this->captureRoute->getSensorData()->getGnssData();
String lineOne = "";
String lineTwo = "";
switch (this->getCurrentPage()) {
case 0:
lineOne = "Capture Route";
lineTwo = "You can drive";
switch (this->getCurrentPage())
{
case 0:
lineOne = "Capture Route";
lineTwo = "You can drive";
break;
case 1:
lineOne = "Saved waypoints";
lineTwo.concat(routeInfo.totalPoints);
break;
case 2:
lineOne = "Last status:";
switch (this->captureRoute->getLastStatus())
{
case Navigation::Status::InsufficientAccuracy:
lineTwo = "Poor Accuracy";
break;
case 1:
lineOne = "Saved waypoints";
lineTwo.concat(routeInfo.totalPoints);
case Navigation::Status::Updated:
lineTwo = "Point added";
break;
case 2:
lineOne = "Last status:";
switch (this->captureRoute->getLastStatus()) {
case Navigation::Status::InsufficientAccuracy:
lineTwo = "Poor Accuracy";
break;
case Navigation::Status::Updated:
lineTwo = "Point added";
break;
case Navigation::Status::Unchanged:
lineTwo = "Point too close";
break;
default:
lineTwo = "---";
break;
}
case Navigation::Status::Unchanged:
lineTwo = "Point too close";
break;
case 3:
lineOne = "Distance to last";
lineTwo = "point: ";
lineTwo.concat(this->captureRoute->getDistanceToLastPoint());
break;
case 4: {
NTRIPClientStates status = this->captureRoute->getSensorData()->getNtripClient()->getClientState();
lineOne = "NTRIP Client is";
if (status == NTRIPClientStates::pushData)
lineTwo = "enabled";
else if (status == NTRIPClientStates::notAvailable)
lineTwo = "not available";
else
lineTwo = "disabled";
break;
}
case 5: {
lineOne = "Carrier Solution";
uint8_t carrSoln = gpsData->flags.bits.carrSoln;
if (carrSoln == 0)
lineTwo = "None";
else if (carrSoln == 1)
lineTwo = "Floating";
else if (carrSoln == 2)
lineTwo = "Fixed";
else
lineTwo = "UNKNOWN";
break;
}
case 6:
lineOne = "hAccuracy: ";
lineTwo = "Azimuth: ";
lineTwo.concat(this->captureRoute->getSensorData()->getRealAzimuth());
if (gpsData->fixType)
lineOne.concat(gpsData->hAcc);
else
lineOne.concat("0");
break;
case 7:
lineOne = "Current minimal";
if (this->captureRoute->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
lineTwo = "accuracy is high";
else
lineTwo = "accuracy is low";
break;
default:
this->printDefault();
return;
lineTwo = "---";
break;
}
break;
case 3:
lineOne = "Distance to last";
lineTwo = "point: ";
lineTwo.concat(this->captureRoute->getDistanceToLastPoint());
break;
case 4:
{
NTRIPClientStates status = this->captureRoute->getSensorData()->getNtripClient()->getClientState();
lineOne = "NTRIP Client is";
if (status == NTRIPClientStates::pushData)
{
lineTwo = "enabled";
}
else if (status == NTRIPClientStates::notAvailable)
{
lineTwo = "not available";
}
else
{
lineTwo = "disabled";
}
break;
}
case 5:
{
lineOne = "Carrier Solution";
uint8_t carrSoln = gpsData->flags.bits.carrSoln;
if (carrSoln == 0)
{
lineTwo = "None";
}
else if (carrSoln == 1)
{
lineTwo = "Floating";
}
else if (carrSoln == 2)
{
lineTwo = "Fixed";
}
else
{
lineTwo = "UNKNOWN";
}
break;
}
case 6:
lineOne = "hAccuracy: ";
lineTwo = "Azimuth: ";
lineTwo.concat(this->captureRoute->getSensorData()->getRealAzimuth());
if (gpsData->fixType)
{
lineOne.concat(gpsData->hAcc);
}
else
{
lineOne.concat("0");
}
break;
case 7:
lineOne = "Current minimal";
if (this->captureRoute->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
{
lineTwo = "accuracy is high";
}
else
{
lineTwo = "accuracy is low";
}
break;
default:
this->printDefault();
return;
}
this->print(lineOne, lineTwo);
}
void MenuCaptureRoute::update() {
void MenuCaptureRoute::update()
{
if (!this->captureRoute->shouldUpdate())
{
return;
}
this->printMenu();
}
void MenuCaptureRoute::runCommand() {
void MenuCaptureRoute::runCommand()
{
switch (this->getCurrentPage())
{
case 7:
if (this->captureRoute->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
{
this->captureRoute->getNavigation()->setMinAccuracy(Point::Accuracy::none);
else
}
else
{
this->captureRoute->getNavigation()->setMinAccuracy(Point::Accuracy::twoDigOfCM);
}
break;
default:
break;
}
}
void MenuCaptureRoute::init() {
void MenuCaptureRoute::init()
{
this->setCountPages(8);
this->updateDelay = 500;
MenuDriveMode::updateDelay = MenuCaptureRoute::updateDelay;
this->captureRoute = new CaptureRoute();
this->driveManager->changeModus(this->captureRoute);
MenuDriveMode::init();
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h
+3 -1
View File
@@ -48,7 +48,9 @@ class MenuCaptureRoute : public MenuDriveMode {
private:
void init() override;
CaptureRoute* captureRoute;
CaptureRoute* captureRoute = nullptr;
static constexpr uint16_t updateDelay = 500;
};
#endif // MENU_MANUAL_DRIVE_H
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp
+5 -5
View File
@@ -14,8 +14,6 @@ MenuManualControl::MenuManualControl(DriveManager* driveManager) : MenuDriveMode
this->noEqualLeft = true;
}
MenuManualControl::~MenuManualControl() {
}
void MenuManualControl::printPage() const {
String lineOne = "";
@@ -28,10 +26,12 @@ void MenuManualControl::printPage() const {
case 1:
lineOne = "Input mode:";
if (this->manualControl->getInputMode() == ManualControl::InputMode::Analog)
if (this->manualControl->getInputMode() == ManualControl::InputMode::Analog) {
lineTwo = "Analog";
else
}
else {
lineTwo = "Digital";
}
break;
case 2:
@@ -55,7 +55,7 @@ void MenuManualControl::init() {
this->manualControl = new ManualControl();
this->driveManager->changeModus(this->manualControl);
this->setCountPages(4);
this->updateDelay = 500;
MenuDriveMode::updateDelay = MenuManualControl::updateDelay;
this->activateSpeedMenu();
MenuDriveMode::init();
}
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.h
+4 -3
View File
@@ -27,7 +27,6 @@ class MenuManualControl : public MenuDriveMode {
* @param driveManager
*/
MenuManualControl(DriveManager* driveManager);
~MenuManualControl();
/**
* @brief Prints the Information to display and console
@@ -44,8 +43,10 @@ class MenuManualControl : public MenuDriveMode {
void runCommand() override;
private:
ManualControl* manualControl;
CalibrateCompass* caliCompass;
ManualControl* manualControl = nullptr;
CalibrateCompass* caliCompass = nullptr;
static constexpr uint16_t updateDelay = 500;
};
#endif // MENU_MANUAL_DRIVE_H
src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
+1 -1
View File
@@ -118,7 +118,7 @@ void MenuTestMode::init() {
// Other menu config
static constexpr uint8_t percentMax = 100;
static constexpr uint8_t degreeMax = 360;
static constexpr uint16_t degreeMax = 360;
static constexpr uint8_t secondsMax = 120;
static constexpr uint8_t steps = 5;