refactor, added akku menu, finished autopilot menu

2022-02-05 13:46:52 +01:00
parent b4a5814ef1
commit aa9bf99349
19 changed files with 270 additions and 55 deletions
@@ -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();
+}
@@ -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