more sensorData menu

doc/TODO allgemein.txt

@@ -40,7 +40,6 @@ Do later:
 Do now:
 Code:
     Doxygen Kommentare aktualisieren
-    Add Gyroskop Sensor
 
 Latex:
     Genaue Beschreibung von PulseCounter HardwareUnit wenn möglich

lib/CalcAzimuth/calcAzimuth.cpp

@@ -30,6 +30,28 @@ void CalcAzimuth::updateCurrentPosition(Point point) {
     this->positionChanged = true;
 }
 
+String CalcAzimuth::stateToString(State state) {
+    switch (state) {
+        case State::Invalid:
+            return "Invalid";
+
+        case State::Bad:
+            return "Bad";
+
+        case State::Ok:
+            return "Ok";
+
+        case State::Good:
+            return "Good";  
+
+        case State::Super:
+            return "Super"; 
+        
+        default:
+            return "UNKOWN";
+    }
+}
+
 void CalcAzimuth::run() {
     if (!this->positionChanged)
         return;

lib/CalcAzimuth/calcAzimuth.h

@@ -34,6 +34,8 @@ class CalcAzimuth : public Component {
         int16_t getAzimuth() const { return this->calcAzimuth; }
         State getState() const { return this->state; }
 
+        static String stateToString(State state);
+
     private:
         void run() override;
         void updateAzimuth();

lib/Sensors/sensorData.cpp

@@ -105,6 +105,12 @@ CalcAzimuth::State SensorData::getCalcAzimuthState() const {
     return CalcAzimuth::State::Invalid;
 }
 
+NTRIPClientStates SensorData::getNtripState() const {
+    if (this->ntripClient)
+        return this->ntripClient->getClientState();
+    return NTRIPClientStates::notAvailable;
+}
+
 void SensorData::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
     if (!SensorData::outputStatusPrintPVTdata)
         return;

lib/Sensors/sensorData.h

@@ -47,6 +47,7 @@ class SensorData : public Component {
 
         Point getCurrentPos() const { return this->currentPosition; }
         const UBX_NAV_PVT_data_t* getGnssData() const { return this->gnssData; };
+        NTRIPClientStates getNtripState() const;
         const float* getGyroData() const { return this->yawPitchRoll; }
 
         CalcAzimuth* getCalcCompass() const { return this->calcCompass; }

src/SpecialMenus/GPS/menuGPS.cpp

@@ -1,159 +0,0 @@
-/**
- * @file menuGPS.cpp
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains an implementation of the class MenuGPS
- * @version 0.1
- * @date 2022-01-29
- * 
- * @copyright Copyright (c) 2022
- * 
- */
-
-#include "menuGPS.h"
-
-MenuGPS::MenuGPS(SensorData* sensorData) :
-    MenuInformationSites(10) {
-    this->sensorData = sensorData;
-    // this->ntripClient = this->navigation->getNTRIPClient();
-}
-
-void MenuGPS::printPage() const {
-    const UBX_NAV_PVT_data_t* gpsData = this->sensorData->getGnssData();
-    uint8_t fixType = 0;
-    if (gpsData)
-        fixType = gpsData->fixType;
-
-    String lineOne = "Data isn't valid";
-    String lineTwo = "or no GPS signal";
-
-    switch (this->getCurrentPage()) {
-        case 0:
-            if (fixType) {
-                lineOne = "Sats: ";
-                lineOne.concat(gpsData->numSV);
-                lineTwo = "PDOP: ";
-                lineTwo.concat(gpsData->pDOP);
-            }
-            break;
-        
-        case 1:
-            if (fixType) {
-                lineOne = "Lat: ";
-                lineOne.concat(gpsData->lat);
-                lineTwo = "Lon: ";
-                lineTwo.concat(gpsData->lon);
-            }
-            break;
-
-        case 2:
-            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 3: {
-            // NTRIPClientStates status = this->ntripClient->getClientState();
-            // lineOne = "NTRIP Client is";
-
-            // if (status ==  NTRIPClientStates::pushData)
-            //     lineTwo = "enabled";
-            // else if (status == NTRIPClientStates::notAvailable)
-            //     lineTwo = "not available";
-            // else
-            //     lineTwo = "disabled";
-            }
-            break;
-
-        case 4:
-            lineOne = "Fix type:";
-            if (fixType == 0)
-                lineTwo = "None";
-            else if (fixType == 1)
-                lineTwo = "Dead Reckoning";
-            else if (fixType == 2)
-                lineTwo = "2D";
-            else if (fixType == 3)
-                lineTwo = "3D";
-            else if (fixType == 3)
-                lineTwo = "GNSS + Dead Reck";
-            else if (fixType == 5)
-                lineTwo = "Time Only";
-            else
-                lineTwo = "UNKNOWN";
-            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 = "Hrizntl Accuracy";
-            if (fixType) {
-                lineTwo = "";
-                lineTwo.concat(gpsData->hAcc);
-            } else
-                lineTwo = "0";
-            break;
-
-        case 7:
-            lineOne = "magDec: ";
-            lineTwo = "magAcc: ";
-            if (fixType) {
-                lineOne.concat(gpsData->magDec);
-                lineTwo.concat(gpsData->magAcc);
-            } else {
-                lineOne.concat("---");
-                lineTwo.concat("---");   
-            }
-            break;
-
-        case 8:
-            lineOne = "Azimuth: ";
-            lineTwo = "";
-            lineTwo.concat(this->sensorData->getRealAzimuth());
-            break;
-
-        default:
-            this->printDefault();
-            return;
-    }
-
-    this->print(lineOne, lineTwo);
-}
-
-void MenuGPS::runCommand() const {
-    switch (this->getCurrentPage()) {
-        case 3: {
-            // // std::cout << "MenuGPS::runCommand " << this->ntripClient->getClientState() << std::endl;
-            // if (this->ntripClient->getClientState() == NTRIPClientStates::pushData)
-            //     this->ntripClient->setActivated(false);
-            // else if (this->ntripClient->getClientState() != NTRIPClientStates::notAvailable)
-            //     this->ntripClient->setActivated(true);
-        }
-        break;
-    }
-}

src/SpecialMenus/GPS/menuGPS.h

@@ -1,42 +0,0 @@
-/**
- * @file menuGPS.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains a class to print informations about the GPS object
- * @version 0.1
- * @date 2022-01-29
- * 
- * @copyright Copyright (c) 2022
- * 
- */
-
-#ifndef MENU_GPS_H
-#define MENU_GPS_H
-
-#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
-
-#include "menuInformationSites.h"
-#include "sensorData.h"
-#include "ntripClient.h"
-
-/**
- * @brief A class to print informations about the GPS object
- * 
- */
-class MenuGPS : public MenuInformationSites {
-    public:
-        /**
-         * @brief Construct a new Menu GPS object
-         * 
-         * @param gps 
-         */
-        MenuGPS(SensorData* sensorData);
-
-    private:
-        void printPage() const override;
-        void runCommand() const override;
-
-        // NTRIPClient* ntripClient;
-        SensorData* sensorData;
-};
-
-#endif // MENU_GPS_H

src/SpecialMenus/SensorData/menuSensorData.cpp

@@ -12,28 +12,102 @@
 #include "menuSensorData.h"
 
 MenuSensorData::MenuSensorData(SensorData* sensorData) :
-    MenuInformationSites(4) {
+    MenuInformationSites(7) {
         this->sensorData = sensorData;
 }
 
 void MenuSensorData::printPage() const {
+    const UBX_NAV_PVT_data_t* gpsData = this->sensorData->getGnssData();
+    uint8_t fixType = 0;
+    if (gpsData)
+        fixType = gpsData->fixType;
+
     String lineOne = "";
     String lineTwo = "";
 
     switch (this->getCurrentPage()) {
         case 0:
-            lineOne = "Yaw:";
+            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 = "Pitch:";
+            lineOne = "Real Azimuth:";
-            lineTwo.concat(this->sensorData->getGyroData()[1]);
+            lineTwo.concat(this->sensorData->getRealAzimuth());            
             break;
 
         case 2:
-            lineOne = "Roll:";
+            lineOne = "Calc Azimuth:";
-            lineTwo.concat(this->sensorData->getGyroData()[2]);
+            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());
+            }
+            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 = "None";
+            else if (carrSoln == 1)
+                lineOne = "Floating";
+            else if (carrSoln == 2)
+                lineOne = "Fixed";
+            else
+                lineOne = "UNKNOWN";
+            NTRIPClientStates status = this->sensorData->getNtripState();
+            if (status ==  NTRIPClientStates::pushData)
+                lineTwo = "enabled";
+            else if (status == NTRIPClientStates::notAvailable)
+                lineTwo = " N/A";
+            else
+                lineTwo = "disabled";
+            }
+            break;
+
+        case 6: 
+            lineOne = "HAcc: ";
+            lineTwo = "Sats: ";
+            if (fixType) {
+                lineOne.concat(gpsData->hAcc);
+                lineTwo.concat(gpsData->numSV);
+            } else {
+                lineOne = "-/-";
+                lineTwo = "-/-";
+            }
             break;
 
         default:

src/main.cpp

@@ -217,6 +217,7 @@ void makeMenu() {
     main_m = new Menu();
     main_m->setLcd(lcdWrapper);
     Menu* mode_m = new Menu();
+    Menu* set_m = new Menu();
     Menu* pid_m = new Menu();
     MenuIntInput* pidl_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(0)));
     MenuIntInput* pidr_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(1)));
@@ -225,23 +226,20 @@ void makeMenu() {
     MenuAutopilot* auto_m = new MenuAutopilot(driveManager);
     MenuTestMode* testM_m = new MenuTestMode(driveManager);
     MenuCalibrateCompass* comp_m = new MenuCalibrateCompass(driveManager);
-    MenuGPS* gps_m = new MenuGPS(sensorData);
     MenuSysteminformation* sys_m = new MenuSysteminformation(mainBattery);
     MenuSensorData* sen_m = new MenuSensorData(sensorData);
     //TODO: Wie bekommt jeder die dumme Route?
     MenuRoute* rout_m = new MenuRoute(new Route());
 
     auto_m->setUpdateDelay(1000);
-    gps_m->setUpdateDelay(1000);
     sys_m->setUpdateDelay(1500);
     sen_m->setUpdateDelay(500);
 
     // Entry for the main menu
     main_m->addEntry(new MenuAction("Mode", mode_m));
     main_m->addEntry(new MenuAction("Sensor", sen_m));
-    main_m->addEntry(new MenuAction("GPS", gps_m));
     main_m->addEntry(new MenuAction("Route", rout_m));
-    main_m->addEntry(new MenuAction("PID", pid_m));
+    main_m->addEntry(new MenuAction("Settings", set_m));
     main_m->addEntry(new MenuAction("Systeminfo", sys_m));
     main_m->addEntry(new MenuAction("Restart", restart));
 
@@ -253,6 +251,12 @@ void makeMenu() {
     mode_m->addEntry(new MenuAction("Test Mode", testM_m));
     mode_m->addEntry(new MenuAction("Consol Control", dummy));
 
+    // Entry for the setting menu
+    set_m->addEntry(new MenuAction("PID", pid_m));
+    set_m->addEntry(new MenuAction("Speed", dummy));
+    set_m->addEntry(new MenuAction("Distance", dummy));
+    set_m->addEntry(new MenuAction("WiFi", dummy));
+
     // Entry for the PID Menu
     pid_m->addEntry(new MenuAction("Left", pidl_m));
     pid_m->addEntry(new MenuAction("Right", pidr_m));