kleiax/Bachelorarbeit-Rover
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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/main.cpp
+23 -14
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@@ -34,12 +34,13 @@
#include "SpecialMenus/driveModi/ManualDrive/menuManualDrive.h"
#include "SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h"
#include "SpecialMenus/driveModi/Autopilot/menuAutopilot.h"
#include "SpecialMenus/driveModi/TestMode/menuTestMode.h"
#include "SpecialMenus/PID/menuPidSettings.h"
#include "SpecialMenus/GPS/menuGPS.h"
#include "SpecialMenus/Akku/menuAkku.h"
MoveControl moveController;
DriveManager driveManager(&moveController);
DriveManager* driveManager;
Menu* main_m;
LiquidCrystal_I2C* lcd;
OutputBuf* outputBuf;
@@ -63,6 +64,7 @@ void setup() {
mainBattery = new Battery(35, 692000, 218500);
Wire.begin(21, 19);
Wire.setClock(400000);
i2cScanner();
lcd = new LiquidCrystal_I2C(0x3F,16,2);
lcd->init();
@@ -73,14 +75,19 @@ void setup() {
Network::setupMQTT();
wifiIsActive = Network::connectWifi();
if (wifiIsActive) {
Network::checkMQTT();
DebugMqtt::init(Network::getMqttClient(), Loglevel::debug);
std::cout << "Activate additional output via MQTT..." << std::endl;
debugMqtt = new DebugMqtt("Console");
outputBuf = new OutputBuf(debugMqtt);
driveManager = new DriveManager(&moveController, true);
if (Network::checkMQTT()) {
DebugMqtt::init(Network::getMqttClient(), Loglevel::debug);
std::cout << "Activate additional output via MQTT..." << std::endl;
debugMqtt = new DebugMqtt("Console");
outputBuf = new OutputBuf(debugMqtt);
} else
outputBuf = new OutputBuf();
wifiIndicator = '-';
} else
} else {
driveManager = new DriveManager(&moveController);
outputBuf = new OutputBuf();
}
std::cout.rdbuf(outputBuf);
std::cout << "Welcome to Kleiax-Rover" << std::endl;
@@ -114,7 +121,7 @@ void loop() {
Network::checkMQTT();
}
driveManager.loop();
driveManager->loop();
mainBattery->loop();
// static uint32_t lastMillis = 0;
@@ -228,10 +235,11 @@ void makeMenu() {
Menu* pid_m = new Menu();
MenuPidSettings* pidl_m = new MenuPidSettings(moveController.getPID(0));
MenuPidSettings* pidr_m = new MenuPidSettings(moveController.getPID(1));
MenuManualControl* man_m = new MenuManualControl(&driveManager);
MenuCaptureRoute* cap_m = new MenuCaptureRoute(&driveManager);
MenuAutopilot* auto_m = new MenuAutopilot(&driveManager);
MenuGPS* gps_m = new MenuGPS(driveManager.getNavigation()->getGPS());
MenuManualControl* man_m = new MenuManualControl(driveManager);
MenuCaptureRoute* cap_m = new MenuCaptureRoute(driveManager);
MenuAutopilot* auto_m = new MenuAutopilot(driveManager);
MenuTestMode* test_m = new MenuTestMode(driveManager);
MenuGPS* gps_m = new MenuGPS(driveManager->getNavigation()->getGPS());
MenuAkku* akku_m = new MenuAkku(mainBattery);
// Set Menus on LCD
@@ -243,6 +251,7 @@ void makeMenu() {
man_m->setLcd(lcd);
cap_m->setLcd(lcd);
auto_m->setLcd(lcd);
test_m->setLcd(lcd);
gps_m->setLcd(lcd);
akku_m->setLcd(lcd);
@@ -252,7 +261,7 @@ void makeMenu() {
MenuAction* gps_e = new MenuAction("GPS", gps_m);
MenuAction* pid_e = new MenuAction("PID", pid_m);
MenuAction* restart_e = new MenuAction("Restart", restart);
MenuAction* akku_e = new MenuAction("Akku", akku_m);
MenuAction* akku_e = new MenuAction("Battery", akku_m);
MenuAction* contr_e = new MenuAction("Remove PS3", disconnectController);
main_m->addEntry(mode_e);
main_m->addEntry(gps_e);
@@ -266,7 +275,7 @@ void makeMenu() {
MenuAction* captureRoute_e = new MenuAction("Capture Route", cap_m);
MenuAction* consolControl_e = new MenuAction("Consol Control", dummy);
MenuAction* manualControl_e = new MenuAction("Manual Control", man_m);
MenuAction* testMode_e = new MenuAction("Test Mode", dummy);
MenuAction* testMode_e = new MenuAction("Test Mode", test_m);
mode_m->addEntry(autopilot_e);
mode_m->addEntry(captureRoute_e);
mode_m->addEntry(manualControl_e);