ntrip, testMode, zed9 gnss modul

src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp

@@ -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

@@ -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

@@ -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

@@ -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