kleiax/Bachelorarbeit-Rover
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases 1 Wiki Activity

ntrip, testMode, zed9 gnss modul

Browse Source
This commit is contained in:
kleiax
2022-09-13 20:31:52 +02:00
parent c7cb0d3895
commit af6cb98898
43 changed files with 907 additions and 262 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/SpecialMenus/Akku/menuAkku.cpp
+2 -2
View File
@@ -61,9 +61,9 @@ void MenuAkku::printMenu() {
}
void MenuAkku::update() {
if (millis() - this->last_millis < this->delay) {
if (millis() - this->lastMillis < this->delay) {
return;
}
this->printMenu();
this->last_millis = millis();
this->lastMillis = millis();
}
src/SpecialMenus/Akku/menuAkku.h
+1 -1
View File
@@ -55,7 +55,7 @@ class MenuAkku : public MenuControl {
private:
const uint16_t delay = 15000;
uint32_t last_millis = 0;
uint32_t lastMillis = 0;
Battery* mainBattery;
src/SpecialMenus/GPS/menuGPS.cpp
+74 -64
View File
@@ -13,7 +13,7 @@
MenuGPS::MenuGPS(SFE_UBLOX_GNSS* gps) {
this->gps = gps;
this->last_millis = millis();
this->lastMillis = millis();
}
void MenuGPS::up() {
@@ -54,76 +54,86 @@ void MenuGPS::printMenu() {
}
void MenuGPS::update() {
if (millis() - this->last_millis < this->delay) {
if (millis() - this->lastMillis < this->delay) {
return;
}
this->printMenu();
this->last_millis = millis();
this->lastMillis = millis();
}
void MenuGPS::printPage(uint8_t page) const {
//FIXME: new gpslib
// switch (this->currentPage) {
// case 0:
// if (this->lcd) {
// lcd->clear();
// lcd->setCursor(0, 0);
// if (gps->satellites.isValid() && gps->satellites.value() > 2) {
// lcd->printf("Sats: %3.d", gps->satellites.value());
// lcd->setCursor(0, 1);
// lcd->printf("HDOP: %f", gps->hdop.hdop());
// } else {
// lcd->printf("Data isn't valid");
// lcd->setCursor(0, 1);
// lcd->printf("or no GPS signal");
// }
// }
// if (gps->satellites.isValid() && gps->satellites.value() > 2)
// std::cout << "Sats: " << gps->satellites.value()
// << "HDOP: " << gps->hdop.hdop() << std::endl;
// else
// std::cout << "Data isn't valid or no GPS signal" << std::endl;
// break;
uint8_t fixType = gps->getFixType();
switch (this->currentPage) {
case 0: {
uint8_t siv = gps->getSIV();
uint16_t hdop = gps->getHorizontalDOP();
if (this->lcd) {
lcd->clear();
lcd->setCursor(0, 0);
if (fixType) {
lcd->printf("Sats: %3.u", siv);
lcd->setCursor(0, 1);
lcd->printf("HDOP: %u", hdop);
} else {
lcd->printf("Data isn't valid");
lcd->setCursor(0, 1);
lcd->printf("or no GPS signal");
}
}
if (fixType)
std::cout << "Sats: " << (int) siv
<< "HDOP: " << (int) hdop << std::endl;
else
std::cout << "Data isn't valid or no GPS signal" << std::endl;
}
break;
// case 1:
// if (this->lcd) {
// lcd->clear();
// lcd->setCursor(0, 0);
// if (gps->location.isValid() && gps->satellites.value() > 2) {
// lcd->printf("Lat: %9.6f", gps->location.lat());
// lcd->setCursor(0, 1);
// lcd->printf("Lng: %9.6f", gps->location.lng());
// } else {
// lcd->printf("Data isn't valid");
// lcd->setCursor(0, 1);
// lcd->printf("or NO GPS signal");
// }
// }
// if (gps->satellites.isValid() && gps->satellites.value() > 2)
// std::cout << "Lat: " << gps->location.lat()
// << "Lng: " << gps->location.lng() << std::endl;
// else
// std::cout << "Data isn't valid or NO GPS signal" << std::endl;
// break;
case 1: {
int32_t lat = gps->getLatitude();
int32_t lng = gps->getLongitude();
if (this->lcd) {
lcd->clear();
lcd->setCursor(0, 0);
if (fixType) {
lcd->printf("Lat: %d", lat);
lcd->setCursor(0, 1);
lcd->printf("Lng: %d", lng);
} else {
lcd->printf("Data isn't valid");
lcd->setCursor(0, 1);
lcd->printf("or NO GPS signal");
}
}
if (fixType)
std::cout << "Lat: " << lat
<< "Lng: " << lng << std::endl;
else
std::cout << "Data isn't valid or NO GPS signal" << std::endl;
}
break;
// case 2:
// if (this->lcd) {
// lcd->clear();
// lcd->setCursor(0, 0);
// lcd->printf("Chars processed");
// lcd->setCursor(0, 1);
// lcd->printf("-> %u", gps->charsProcessed());
// }
// std::cout << "Chars processed: " << gps->charsProcessed() << std::endl;
// break;
case 2: {
uint32_t unixEpoch = gps->getUnixEpoch();
if (this->lcd) {
lcd->clear();
lcd->setCursor(0, 0);
lcd->printf("Unix Epoch");
lcd->setCursor(0, 1);
lcd->printf("-> %u", unixEpoch);
}
std::cout << "Unix Epoch: " << (int) unixEpoch << std::endl;
}
break;
// default:
// if (this->lcd) {
// lcd->clear();
// lcd->setCursor(0, 0);
// lcd->printf("Page: %u", page);
// }
// std::cout << "Page: " << (int) page << std::endl;
// break;
// }
default:
if (this->lcd) {
lcd->clear();
lcd->setCursor(0, 0);
lcd->printf("Page: %u", page);
}
std::cout << "Page: " << (int) page << std::endl;
break;
}
}
src/SpecialMenus/GPS/menuGPS.h
+1 -1
View File
@@ -82,7 +82,7 @@ class MenuGPS : public MenuControl {
SFE_UBLOX_GNSS* gps;
const uint16_t delay = 5000;
uint32_t last_millis = 0;
uint32_t lastMillis = 0;
};
#endif // MENU_GPS_H
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp
+2 -2
View File
@@ -74,9 +74,9 @@ void MenuAutopilot::printMenu() {
}
void MenuAutopilot::update() {
if (millis() - this->last_millis < this->minDelay)
if (millis() - this->lastMillis < this->minDelay)
return;
this->last_millis = millis();
this->lastMillis = millis();
if (!this->autopilot->shouldUpdate())
return;
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.h
+1 -1
View File
@@ -49,7 +49,7 @@ class MenuAutopilot : public MenuDriveMode {
Autopilot* autopilot;
RouteInfo routeInfo;
uint32_t last_millis = 0;
uint32_t lastMillis = 0;
uint16_t minDelay = 1500;
};
src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
+157
View File
@@ -0,0 +1,157 @@
/**
* @file menuTestMode.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-09-08
*
* @copyright Copyright (c) 2022
*
*/
#include "menuTestMode.h"
MenuTestMode::MenuTestMode(DriveManager* driveManager)
: MenuDriveMode(driveManager) {
// this->testMode = testMode;
this->values[0] = 1;
this->values[1] = 2;
this->values[2] = 3;
strcpy(this->names[0], "Alpha");
strcpy(this->names[1], "Beta");
strcpy(this->names[2], "Gamma");
}
MenuTestMode::~MenuTestMode() {
if (isInit) {
delete this->mainMenu;
}
}
void MenuTestMode::printMenu() {
if (!this->isInit) {
this->isInit = true;
this->init();
}
this->mainMenu->printMenu();
}
void MenuTestMode::down() {
this->mainMenu->down();
}
void MenuTestMode::up() {
this->mainMenu->up();
}
void MenuTestMode::right() {
this->mainMenu->right();
}
void MenuTestMode::left() {
if (this->mainMenu->isInSubmenu())
this->mainMenu->left();
else
this->parentMenu->printMenu();
}
void MenuTestMode::yes() {
this->mainMenu->yes();
}
void MenuTestMode::no() {
if (this->mainMenu->isInSubmenu())
this->mainMenu->no();
else
this->left();
}
void MenuTestMode::init() {
this->testMode = (TestMode*) this->driveManager->getDriveModiPtr();
auto dummy = []() {
std::cout << "Dummy in Action" <<std::endl;
};
// Create menu
this->mainMenu = new Menu;
Menu* engineMenu = new Menu;
Menu* engineLeftMenu = new Menu;
Menu* engineRightMenu = new Menu;
Menu* drivingMenu = new Menu;
Menu* drivingForwardMenu = new Menu;
Menu* drivingBackwardMenu = new Menu;
Menu* lightMenu = new Menu;
MenuIntInput* testInputMenu = new MenuIntInput(values, (char *)names, length, new MenuTestModeWrapper(this->testMode));
// Set menus on LCD
this->mainMenu->setLcd(this->lcd);
engineMenu->setLcd(this->lcd);
engineLeftMenu->setLcd(this->lcd);
engineRightMenu->setLcd(this->lcd);
drivingMenu->setLcd(this->lcd);
drivingForwardMenu->setLcd(this->lcd);
drivingBackwardMenu->setLcd(this->lcd);
lightMenu->setLcd(this->lcd);
testInputMenu->setLcd(this->lcd);
// Entrys for the menus
MenuAction* engineAction = new MenuAction("Engine", engineMenu);
MenuAction* engineLeftAction = new MenuAction("Left", engineLeftMenu);
MenuAction* engineRightAction = new MenuAction("Right", engineRightMenu);
MenuAction* drivingAction = new MenuAction("Driving", drivingMenu);
MenuAction* drivingForwardAction = new MenuAction("Forward", drivingForwardMenu);
MenuAction* drivingForwardLeftAction = new MenuAction("Left", testInputMenu);
MenuAction* drivingForwardStraightAction = new MenuAction("Straight", dummy);
MenuAction* drivingForwardRightAction = new MenuAction("Right", dummy);
MenuAction* drivingBackwardAction = new MenuAction("Backward", drivingBackwardMenu);
MenuAction* drivingBackwardLeftAction = new MenuAction("Left", dummy);
MenuAction* drivingBackwardStraightAction = new MenuAction("Straight", dummy);
MenuAction* drivingBackwardRightAction = new MenuAction("Right", dummy);
MenuAction* lightAction = new MenuAction("Light", lightMenu);
MenuAction* lightFlashAction = new MenuAction("Flash", dummy);
MenuAction* lightFadeAction = new MenuAction("Fade", dummy);
MenuAction* lightRedAction = new MenuAction("Red", dummy);
MenuAction* lightGreenAction = new MenuAction("Green", dummy);
MenuAction* lightBlueAction = new MenuAction("Blue", dummy);
MenuAction* lightOffAction = new MenuAction("Off", dummy);
// Add entrys to the menus
this->mainMenu->addEntry(engineAction);
this->mainMenu->addEntry(drivingAction);
this->mainMenu->addEntry(lightAction);
engineMenu->addEntry(engineLeftAction);
engineMenu->addEntry(engineRightAction);
drivingMenu->addEntry(drivingForwardAction);
drivingMenu->addEntry(drivingBackwardAction);
drivingForwardMenu->addEntry(drivingForwardLeftAction);
drivingForwardMenu->addEntry(drivingForwardStraightAction);
drivingForwardMenu->addEntry(drivingForwardRightAction);
drivingBackwardMenu->addEntry(drivingBackwardLeftAction);
drivingBackwardMenu->addEntry(drivingBackwardStraightAction);
drivingBackwardMenu->addEntry(drivingBackwardRightAction);
lightMenu->addEntry(lightFlashAction);
lightMenu->addEntry(lightFadeAction);
lightMenu->addEntry(lightRedAction);
lightMenu->addEntry(lightGreenAction);
lightMenu->addEntry(lightBlueAction);
lightMenu->addEntry(lightOffAction);
}
MenuTestModeWrapper::MenuTestModeWrapper(TestMode* testMode) {
this->testMode = testMode;
}
void MenuTestModeWrapper::action(int16_t* values, uint8_t length) {
if (length > 2)
std::cout << "Dummy in Action" << values[0] << values[1] << values[2] << std::endl;
else
std::cout << "Dummy in Action kene dre values" << std::endl;
}
src/SpecialMenus/driveModi/TestMode/menuTestMode.h
+56
View File
@@ -0,0 +1,56 @@
/**
* @file menuTestMode.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-09-08
*
* @copyright Copyright (c) 2022
*
*/
#ifndef MENU_TEST_MODE
#define MENU_TEST_MODE
#include "SpecialMenus/driveModi/menuDriveMode.h"
#include "driveModi/Modi/TestMode/testMode.h"
#include "menu.h"
#include "menuAction.h"
#include "menuIntInput.h"
class MenuTestMode : public MenuDriveMode {
public:
MenuTestMode(DriveManager *driveManager);
~MenuTestMode();
void printMenu();
void down() override;
void up() override;
void right() override;
void left() override;
void yes() override;
void no() override;
private:
void init();
TestMode* testMode;
Menu* mainMenu;
bool isInit = false;
uint8_t length = 3;
int16_t values[3];
char names[3][MAX_NAME_LENGTH];
};
class MenuTestModeWrapper : public MenuIntInputWrapper {
public:
MenuTestModeWrapper(TestMode* testMode);
void action(int16_t* values, uint8_t length) override;
private:
TestMode* testMode;
};
#endif // MENU_TEST_MODE