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ntrip, testMode, zed9 gnss modul

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kleiax
2022-09-13 20:31:52 +02:00
parent c7cb0d3895
commit af6cb98898
43 changed files with 907 additions and 262 deletions
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src/driveModi/driveManager.cpp
+8 -5
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@@ -1,7 +1,7 @@
/**
* @file driveManager.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief Implemention of the class DriveManager
* @brief Implementation of the class DriveManager
* @version 0.1
* @date 2021-12-14
*
@@ -15,9 +15,11 @@ Modi& operator++(Modi& m, int) {
return m = (m == Modi::TestMode) ? Modi::Off : static_cast<Modi>(static_cast<int>(m)+1);
}
DriveManager::DriveManager(MoveControl *moveControl) {
DriveManager::DriveManager(MoveControl *moveControl, bool wifi) {
this->moveControl = moveControl;
this->navigation = new Navigation();
if (wifi)
this->navigation->initNtrip(NTRIP_HOST, NTRIP_PORT, NTRIP_MOUNT_POINT, NTRIP_USER, NTRIP_PASSWORD);
}
DriveManager::~DriveManager() {
@@ -42,7 +44,7 @@ void DriveManager::changeModus(Modi modus) {
delete this->currentModusPtr;
this->moveControl->setSpeed(0);
this->moveControl->setRotationspeed(0);
this->moveControl->setRotationSpeed(0);
this->moveControl->setDrivingStatus(DrivingStatus::stop);
switch (modus) {
@@ -69,8 +71,9 @@ void DriveManager::changeModus(Modi modus) {
this->currentModusPtr = nullptr;
break;
case Modi::TestMode:
this->currentModusPtr = nullptr;
case Modi::TestMode: {
this->currentModusPtr = new TestMode(this->moveControl);
}
break;
default: