refactor, added akku menu, finished autopilot menu

src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp

@@ -0,0 +1,94 @@
+/**
+ * @file menuAutopilot.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-02-03
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#include "menuAutopilot.h"
+
+void MenuAutopilot::printMenu() {
+    if (this->firstPrint)
+        this->init();
+
+    char buf1[17];
+    char buf2[17];
+    char unit[3];
+
+    bool navigationStarted = this->autopilot->getNavigationStarted();
+    bool navigationEnded = this->autopilot->getNavigationEnded();
+    bool selfDriving = this->autopilot->getSelfDriving();
+    bool selfDrivingAvailable = this->autopilot->getSelfDrivingAvailable();
+
+    // 999m -360°
+    CourseCorrection correction = this->autopilot->getCourseCorrection();
+    uint16_t distance = 0;
+
+    if (correction.distance < 1) {
+        distance = (uint16_t) (correction.distance * 100);
+        sprintf(unit, "cm");
+    } else if (correction.distance < 1000) {
+        distance = (uint16_t) correction.distance;
+        sprintf(unit, "m");
+    } else {
+        distance = (uint16_t) (correction.distance / 1000);
+        sprintf(unit, "km");
+    }
+
+    if (navigationStarted) {
+        sprintf(buf1 ,"Points %u/%u",this->routeInfo.currentPoint ,this->routeInfo.totalPoints);
+        if (selfDriving) {
+            sprintf(buf2, "Auto: %u%s %d", distance, unit, correction.correction);
+        } else {
+            if (selfDrivingAvailable) {
+                sprintf(buf2, "Self -> Auto");
+            } else {
+                sprintf(buf2, "Self: %u%s %d", distance, unit, correction.correction);
+            }
+        }
+    } else {
+        if (navigationEnded) {
+            sprintf(buf1, "Am Ziel");
+            sprintf(buf2, "angekommen.");
+        } else {
+            sprintf(buf1, "Keine Route");
+            sprintf(buf2, "vorhanden.");
+        }
+    } 
+        if (!navigationStarted && !navigationEnded){
+        
+    }
+        if (this->lcd) {
+            this->lcd->clear();
+            this->lcd->setCursor(0, 0);
+            this->lcd->print(buf1);
+            this->lcd->setCursor(0, 1);
+            this->lcd->print(buf2);
+
+        } else
+            std::cout << buf1 << " " << buf2 << std::endl;
+    
+}
+
+void MenuAutopilot::update() {
+    if (millis() - this->last_millis < this->minDelay)
+        return;
+    this->last_millis = millis();
+
+    if (!this->autopilot->shouldUpdate())
+        return;
+
+    this->routeInfo = this->autopilot->getRouteInfo();
+    this->printMenu();
+}
+
+void MenuAutopilot::init() {
+    this->firstPrint = false;
+    this->driveManager->changeModus(Modi::Autopilot);
+    this->autopilot = (Autopilot*) this->driveManager->getDriveModiPtr();
+    this->routeInfo = this->autopilot->getRouteInfo();
+}

src/SpecialMenus/driveModi/Autopilot/menuAutopilot.h

@@ -0,0 +1,33 @@
+/**
+ * @file menuAutopilot.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-02-03
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#ifndef MENU_AUTOPILOT_DRIVE_H
+#define MENU_AUTOPILOT_DRIVE_H
+
+#include "SpecialMenus/driveModi/menuDriveMode.h"
+
+class MenuAutopilot : public MenuDriveMode {
+    public:
+        MenuAutopilot(DriveManager* driveManager) : MenuDriveMode(driveManager) {}
+        void printMenu();
+        void update();
+
+    private:
+        void init();
+
+        Autopilot* autopilot;
+        RouteInfo routeInfo;
+
+        uint32_t last_millis = 0;
+        uint16_t minDelay = 500;
+};
+
+#endif // MENU_AUTOPILOT_DRIVE_H

src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp

@@ -0,0 +1,40 @@
+/**
+ * @file menuCaptureRoute.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-01-31
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+#include "menuCaptureRoute.h"
+
+void MenuCaptureRoute::printMenu() {
+    if (this->firstPrint)
+        this->init();
+    
+    if (this->lcd) {
+        this->lcd->clear();
+        this->lcd->setCursor(0, 0);
+        this->lcd->printf("Points: %u", this->routeInfo.totalPoints);
+        this->lcd->setCursor(0, 1);
+        this->lcd->print("du fahren. :-)");
+
+    } else
+        std::cout << "Capture du\n fahren. :-)" << std::endl;
+}
+
+void MenuCaptureRoute::update() {
+    if (!this->captureRoute->shouldUpdate())
+        return;
+    this->routeInfo = this->captureRoute->getRouteInfo();
+    this->printMenu();
+}
+
+void MenuCaptureRoute::init() {
+    this->firstPrint = false;
+    this->driveManager->changeModus(Modi::CaptureRoute);
+    this->captureRoute = (CaptureRoute*) this->driveManager->getDriveModiPtr();
+    this->routeInfo = this->captureRoute->getRouteInfo();
+}

src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h

@@ -0,0 +1,29 @@
+/**
+ * @file menuCaptureRoute.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-01-31
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+#ifndef MENU_CAPTURE_ROUTE_H
+#define MENU_MANUAL_DRIVE_H
+
+#include "SpecialMenus/driveModi/menuDriveMode.h"
+
+class MenuCaptureRoute : public MenuDriveMode {
+    public:
+        MenuCaptureRoute(DriveManager* driveManager) : MenuDriveMode(driveManager) {}
+        void printMenu();
+        void update();
+
+    private:
+        void init();
+
+        CaptureRoute* captureRoute;
+        RouteInfo routeInfo;
+};
+
+#endif // MENU_MANUAL_DRIVE_H

src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp

@@ -0,0 +1,24 @@
+/**
+ * @file menuManualDrive.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-01-20
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+#include "menuManualDrive.h"
+
+void MenuManualControl::printMenu() {
+    this->driveManager->changeModus(Modi::ManualControl);
+    if (this->lcd) {
+        this->lcd->clear();
+        this->lcd->setCursor(0, 0);
+        this->lcd->print("Jetzt kannst");
+        this->lcd->setCursor(0, 1);
+        this->lcd->print("du fahren. :-)");
+
+    } else
+        std::cout << "Jetzt kannst du\n fahren. :-)" << std::endl;
+}

src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.h

@@ -0,0 +1,23 @@
+/**
+ * @file menuManualDrive.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-01-20
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#ifndef MENU_MANUAL_DRIVE_H
+#define MENU_MANUAL_DRIVE_H
+
+#include "SpecialMenus/driveModi/menuDriveMode.h"
+
+class MenuManualControl : public MenuDriveMode {
+    public:
+        MenuManualControl(DriveManager* driveManager) : MenuDriveMode(driveManager) {}
+        void printMenu();
+};
+
+#endif // MENU_MANUAL_DRIVE_H

src/SpecialMenus/driveModi/menuDriveMode.cpp

@@ -0,0 +1,27 @@
+/**
+ * @file menuDriveMode.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-01-31
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#include "menuDriveMode.h"
+
+MenuDriveMode::MenuDriveMode(DriveManager* driveManager) {
+    this->driveManager = driveManager;
+}
+
+void MenuDriveMode::left() {
+    this->firstPrint = true;
+    this->driveManager->changeModus(Modi::Off);
+    if (parentMenu)
+        this->parentMenu->printMenu();
+}
+
+void MenuDriveMode::no() {
+    this->left();
+}

src/SpecialMenus/driveModi/menuDriveMode.h

@@ -0,0 +1,36 @@
+/**
+ * @file menuDriveMode.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-01-31
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+#ifndef MENU_DRIVE_MODI_H
+#define MENU_DRIVE_MODI_H
+
+#include "menuControl.h"
+#include "driveModi/driveManager.h"
+
+class MenuDriveMode : public MenuControl {
+    public:
+        MenuDriveMode(DriveManager* driveManager);
+
+        void down(){}
+        void up(){}
+        void right(){}
+        void left();
+        void no();
+        void yes(){}
+
+        virtual void printMenu() = 0;
+        void update(){}
+
+    protected:
+        DriveManager* driveManager;
+        bool firstPrint = true;
+};
+
+#endif // MENU_DRIVE_MODI_H