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ntrip, testMode, zed9 gnss modul

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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
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doc/Notes and TODOs/TODO allgemein.txt
+2
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@@ -1,4 +1,6 @@
-> Document the battery pack lib
-> Program underfloorLighting
-> Program battery pack tracking
-> Add an beeper
-> Program the beeper
doc/PinBelegungen.txt
+3 -3
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@@ -10,12 +10,12 @@ INTL1 32 GND GND
INTL2 33 19 SCL SCL
INTB1 25 18 VCC
INTB2 26 5
DirL1 27 17 GPS RX
DirR2 14 16 GPS TX
DirL1 27 17 GPS RX deprecated
DirR2 14 16 GPS TX deprecated
DirL2 12 4 SD-Card
GND x
PWML 13 2 SD-Card
x 15
x 15 WS2812 LED ?
x x
CMD x
5V USB x
include/moveControl.h
+1 -1
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@@ -94,7 +94,7 @@ class MoveControl {
* target rotationspeed is set to zero.
* @param speed rad/s
*/
void setRotationspeed(double speed);
void setRotationSpeed(double speed);
/**
* @brief Set the pid tunings
include/network.h
+5 -1
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@@ -51,8 +51,11 @@ class Network {
* If mqtt is not connect, this function try a reconnect
* with the function connectMQTT. This function should be
* called every mainloop.
*
* @return true if connected
* @return false if not connected
*/
static void checkMQTT();
static bool checkMQTT();
/**
* @brief Checks if WiFi is still connected
@@ -82,6 +85,7 @@ class Network {
static IPAddress gateway;
static IPAddress subnet;
static IPAddress mqtt_server;
static IPAddress dnsServer;
static WiFiClient wifi_client;
static PubSubClient* mqtt_client;
include/networkConfig.h
+35 -2
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@@ -29,13 +29,28 @@
* The time in milliseconds until the next connection attempt.
*/
#define WLAN_CONNECT_LOOP_TIME 500
#define ESP32BROKER
#define WLAN_DNS_SERVER "8.8.8.8"
#define DORO
#define NTRIP_NS
// NTRIP config NRW
#ifdef NTRIP_NRW
#define NTRIP_HOST "80.158.61.104"
#define NTRIP_PORT 2101
#define NTRIP_MOUNT_POINT "EPS_NW"
#define NTRIP_USER "nw-916771"
#define NTRIP_PASSWORD "Schalke#246"
#endif // NTRIP_NRW
// NTRIP config NS
#ifdef NTRIP_NS
#define NTRIP_HOST "openservice-sapos.niedersachsen.de"
#define NTRIP_PORT 2101
#define NTRIP_MOUNT_POINT "VRS_3_4G_NI"
#define NTRIP_USER "ni_FHDo01"
#define NTRIP_PASSWORD "ALdx-1-3e49"
#endif // NTRIP_NS
//Network config ESP32
#ifdef ESP32BROKER
@@ -48,13 +63,14 @@
#define MQTT_PORT 1883
#endif //ESP32BROKER
//Network config RHEDE
//Network config Hotspot
#ifdef HOTSPOT
#define WLAN_SSID "Kleiax Handy"
#define WLAN_PASSWORD "12345677"
#define WLAN_IP "192.168.11.4"
#define WLAN_SUBNETMASK "255.255.128.0"
#define WLAN_GATEWAY "192.168.0.1"
#define MQTT
#define MQTT_SERVER "192.168.1.7"
#define MQTT_PORT 1883
#define MQTT_AUTH
@@ -62,12 +78,14 @@
#define MQTT_PASSWORD "p?{$_~5%hBM7wrcFkr55KWr#"
#endif //HOTSPOT
//Network config Rhede
#ifdef RHEDE
#define WLAN_SSID "LebennigHuus"
#define WLAN_PASSWORD "Punica-699"
#define WLAN_IP "192.168.11.4"
#define WLAN_SUBNETMASK "255.255.128.0"
#define WLAN_GATEWAY "192.168.0.1"
#define MQTT
#define MQTT_SERVER "192.168.1.7"
#define MQTT_PORT 1883
#define MQTT_AUTH
@@ -75,6 +93,18 @@
#define MQTT_PASSWORD "p?{$_~5%hBM7wrcFkr55KWr#"
#endif //RHEDE
//Network config Doro
#ifdef DORO
#define WLAN_SSID "Tuedelkram"
#define WLAN_PASSWORD "3Kaesehoch!"
#define WLAN_IP "192.168.178.4"
#define WLAN_SUBNETMASK "255.255.255.0"
#define WLAN_GATEWAY "192.168.178.1"
// Only for defines reasons
#define MQTT_SERVER "172.22.64.216"
#define MQTT_PORT 1883
#endif //DORO
//Network config HW1
#ifdef HW1
#define WLAN_SSID "hw1_gast"
@@ -82,6 +112,7 @@
#define WLAN_IP "192.168.0.67"
#define WLAN_SUBNETMASK "255.255.255.0"
#define WLAN_GATEWAY "192.168.0.1"
#define MQTT
#define MQTT_SERVER "172.22.64.216"
#define MQTT_PORT 1883
#endif //HW1
@@ -92,6 +123,7 @@
#define WLAN_PASSWORD "2W2ZLPJ9NVQ3"
#define WLAN_IP 0x0F01a8c0 //192.168.1.15
#define WLAN_SUBNETMASK 0x00FFFFFF //255.255.255.0
#define MQTT
#define WLAN_GATEWAY 0xfe01a8c0 //192.168.1.254
#define MQTT_SERVER 0x0201a8c0 //192.168.1.2
#define MQTT_PORT 1883
@@ -104,6 +136,7 @@
#define WLAN_IP 0x0F01a8c0 //192.168.1.15
#define WLAN_SUBNETMASK 0x00FFFFFF //255.255.255.0
#define WLAN_GATEWAY 0x0101a8c0 //192.168.1.1
#define MQTT
#define MQTT_SERVER 0x0201a8c0 //192.168.1.2
#define MQTT_PORT 1883
#endif //TPMOBIL
lib/MQTT/debugMqtt.h
+1
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@@ -14,6 +14,7 @@
#include <iostream>
#include <PubSubClient.h>
/**
* @brief
*
lib/Menu/menu.cpp
+4
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@@ -21,6 +21,10 @@ void Menu::addEntry(MenuAction* entry) {
this->selectedEntry = this->entrys.begin();
}
bool Menu::isInSubmenu() {
return this->inSubmenu;
}
void Menu::printMenu() {
if (this->lcd) {
lcd->clear();
lib/Menu/menu.h
+1
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@@ -31,6 +31,7 @@ class Menu : public MenuControl {
* @param entry
*/
void addEntry(MenuAction* entry);
bool isInSubmenu();
void printMenu() override;
void update() override;
lib/Menu/menuControl.h
+9 -8
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@@ -32,20 +32,20 @@ class MenuControl {
* class.
*/
///@{
virtual void down();
virtual void up();
virtual void right();
virtual void left();
virtual void yes();
virtual void no();
virtual void down() = 0;
virtual void up() = 0;
virtual void right() = 0;
virtual void left() = 0;
virtual void yes() = 0;
virtual void no() = 0;
///@}
/**
* @brief can be called to update shown data
*/
virtual void update();
virtual void update() {}
virtual void printMenu();
virtual void printMenu() = 0;
/**
* @brief Set the Parent Menu
@@ -56,6 +56,7 @@ class MenuControl {
* @param menu
*/
void setParentMenu(MenuControl* menu) { this->parentMenu = menu; }
// MenuControl* getParentMenu() { return this->parentMenu; }
/**
* @brief Set the Lcd object
lib/Menu/menuIntInput.cpp
+97
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@@ -0,0 +1,97 @@
/**
* @file menuIntInput.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-09-12
*
* @copyright Copyright (c) 2022
*
*/
#include "menuIntInput.h"
MenuIntInput::MenuIntInput(int16_t values[], char *names, uint8_t length, MenuIntInputWrapper* wrapper) {
this->values = values;
this->names = names;
this->length = length;
this->wrapper = wrapper;
}
void MenuIntInput::down() {
if (values[currentPosition] > this->min)
values[currentPosition]--;
this->printMenu();
}
void MenuIntInput::up() {
if (values[currentPosition] < this->max)
values[currentPosition]++;
this->printMenu();
}
void MenuIntInput::right() {
if (currentPosition < this->length - 1)
currentPosition++;
else
currentPosition = 0;
this->printMenu();
}
void MenuIntInput::left() {
if (currentPosition > 0)
currentPosition--;
else
currentPosition = this->length - 1;
this->printMenu();
}
void MenuIntInput::no() {
if (parentMenu)
this->parentMenu->printMenu();
}
void MenuIntInput::yes() {
this->wrapper->action(this->values, this->length);
if (parentMenu)
this->parentMenu->printMenu();
}
void MenuIntInput::printMenu() {
// TODO: Name max 12 chars
char bufferName[17];
if (this->currentPosition == 0 && this->length == 1) {
// No arrow
sprintf(bufferName, " %s ", this->names[this->currentPosition]);
} else if (this->currentPosition > 0 && this->length - 1 == this->currentPosition) {
// Left arrow only
sprintf(bufferName, "< %s ", this->names[this->currentPosition]);
} else if (this->currentPosition == 0 && this->length > 1) {
// Right arrow only
sprintf(bufferName, " %s >", this->names[this->currentPosition]);
} else {
// Both arrow
sprintf(bufferName, "< %s >", this->names[this->currentPosition]);
}
char bufferValue[17];
sprintf(bufferValue, " -> %5.d", this->values[this->currentPosition]);
if (this->lcd) {
lcd->clear();
lcd->setCursor(0, 0);
lcd->print(bufferName);
lcd->setCursor(0, 1);
lcd->print(bufferValue);
}
std::cout << bufferName << " : " << bufferValue << std::endl;
}
lib/Menu/menuIntInput.h
+83
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@@ -0,0 +1,83 @@
/**
* @file menuIntInput.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-09-12
*
* @copyright Copyright (c) 2022
*
*/
#ifndef MENU_INT_INPUT_H
#define MENU_INT_INPUT_H
#include "menuControl.h"
#include <stdint.h>
#define MAX_NAME_LENGTH 12
class MenuIntInputWrapper {
public:
virtual void action(int16_t* values, uint8_t length) = 0;
};
class MenuIntInput : public MenuControl {
public:
MenuIntInput(int16_t values[], char *names, uint8_t length, MenuIntInputWrapper* wrapper);
void setMin(int16_t min = 0) { this->min = min; }
void setMax(int16_t max = 100) { this->max = max; }
/**
* @brief Decrement selected value
*/
void down() override;
/**
* @brief Increment selected value
*/
void up() override;
/**
* @brief Select next value
*/
void right() override;
/**
* @brief Select previous value
*/
void left() override;
/**
* @brief Leave menu without saving
*/
void no() override;
/**
* @brief Leave menu with saving
*/
void yes() override;
/**
* @brief Prints the Information to display and console
*
* The informations are only printed to the display if it
* set.
*/
void printMenu() override;
void update() override {};
private:
MenuIntInputWrapper* wrapper;
uint8_t currentPosition = 0;
uint8_t length;
int16_t *values;
int16_t min = INT16_MIN;
int16_t max = INT16_MAX;
char *names;
};
#endif // MENU_INT_INPUT_H
lib/MotorControl/motorControl.cpp
+2 -2
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@@ -36,14 +36,14 @@ void MotorControl::init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t dir_1, uin
uint16_t MotorControl::loop() {
uint32_t time = millis();
uint16_t elapsed_time = time - this->last_millis;
uint16_t elapsed_time = time - this->lastMillis;
//Cancel if delay is not reached
if (elapsed_time < delay)
return elapsed_time;
runMotorControl();
this->last_millis = time;
this->lastMillis = time;
return elapsed_time;
}
lib/MotorControl/motorControl.h
+1 -1
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@@ -163,7 +163,7 @@ class MotorControl {
uint8_t delay = DELAY;
uint8_t powersteps = POWERSTEPS;
uint32_t last_millis = 0;
uint32_t lastMillis = 0;
};
lib/Navigation/navigation.cpp
+62 -2
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@@ -20,11 +20,14 @@ Navigation::Navigation(Route* route) {
uint8_t versionHigh = this->gps->getProtocolVersionHigh();
uint8_t versionLow = this->gps->getProtocolVersionLow();
std::cout << "Neo-M8Q protocol version: " << unsigned(versionHigh) << "." << unsigned(versionLow) << std::endl;
std::cout << "u-blox protocol version: " << unsigned(versionHigh) << "." << unsigned(versionLow) << std::endl;
this->gps->setI2COutput(COM_TYPE_UBX);
this->gps->setUSBOutput(COM_TYPE_UBX | COM_TYPE_NMEA);
this->gps->setPortInput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3);
this->gps->getNavigationFrequency(1);
if (route)
this->route = route;
@@ -34,13 +37,70 @@ Navigation::Navigation(Route* route) {
Navigation::~Navigation() {
delete this->gps;
if (this->isNtripInit) {
delete this->ntripClient;
delete this->host;
delete this->mountPoint;
delete this->user;
delete this->password;
}
if (this->route)
delete this->route;
}
void Navigation::initNtrip(String host, uint16_t port, String mountPoint, String user, String password) {
this->host = new char[host.length() + 1];
this->mountPoint = new char[mountPoint.length() + 1];
this->user = new char[user.length() + 1];
this->password = new char[password.length() + 1];
strcpy(this->host, host.c_str());
strcpy(this->mountPoint, mountPoint.c_str());
strcpy(this->user, user.c_str());
strcpy(this->password, password.c_str());
this->port = port;
this->ntripClient = new NTRIPClient;
this->isNtripInit = true;
std::cout << "Requesting SourceTable." << std::endl;
if(this->ntripClient->reqSrcTbl(this->host, (int) this->port)){
char buffer[512];
delay(5);
while(this->ntripClient->available()) {
this->ntripClient->readLine(buffer,sizeof(buffer));
std::cout << buffer << std::endl;
}
} else {
std::cout << "SourceTable request error" << std::endl;
}
std::cout << "Requesting SourceTable is OK" << std::endl;
this->ntripClient->stop(); //Need to call "stop" function for next request.
std::cout << "Requesting MountPoint's Raw data" << std::endl;
if(!this->ntripClient->reqRaw(this->host, this->port, this->mountPoint,
this->user, this->password)){
delay(15000);
ESP.restart();
}
std::cout << "Requesting MountPoint is OK" << std::endl;
}
void Navigation::loop() {
//FIXME: Hier sollte funktion zum aktualisieren des GPS Moduls stehen
//this->gps->checkUbloxI2C();
if (millis() - this->lastMillis < this->timeToWait)
return;
uint8_t rtcmData[512 * 4];
uint16_t rtcmCount = this->ntripClient->available();
if (rtcmCount) {
this->ntripClient->readBytes(rtcmData, rtcmCount);
this->gps->pushRawData(rtcmData, rtcmCount);
}
}
void Navigation::newRoute() {
lib/Navigation/navigation.h
+23
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@@ -19,6 +19,7 @@
#include "route.h"
#include "navigationUtils.h"
#include "NTRIPClient.h"
/**
* @brief The minimal distance between Points
@@ -64,6 +65,17 @@ class Navigation {
*/
~Navigation();
/**
* @brief
*
* @param host
* @param port
* @param mountPoint
* @param user
* @param password
*/
void initNtrip(String host, uint16_t port, String mountPoint, String user, String password);
/**
* @brief Decodes new GPS information
*
@@ -169,12 +181,23 @@ class Navigation {
SFE_UBLOX_GNSS* gps;
Route* route = nullptr;
NTRIPClient* ntripClient = nullptr;
Point lastPoint;
Point targetPoint;
bool navigationStarted = false;
bool navigationFinished = false;
bool isNtripInit = false;
char* host;
char* mountPoint;
char* user;
char* password;
uint8_t timeToWait = 5;
uint16_t port;
uint32_t lastMillis = 0;
};
#endif // NAVIGATION_H
lib/Ntrip/NTRIPClient.cpp
+8 -11
View File
@@ -1,6 +1,5 @@
#include"NTRIPClient.h"
bool NTRIPClient::reqSrcTbl(char* host,int &port)
{
bool NTRIPClient::reqSrcTbl(char* host,uint16_t port){
if(!connect(host,port)){
Serial.print("Cannot connect to ");
Serial.println(host);
@@ -22,16 +21,14 @@ bool NTRIPClient::reqSrcTbl(char* host,int &port)
}
char buffer[50];
readLine(buffer,sizeof(buffer));
if(strncmp((char*)buffer,"SOURCETABLE 200 OK",17))
{
if(strncmp((char*)buffer,"SOURCETABLE 200 OK",17)) {
Serial.print((char*)buffer);
return false;
}
return true;
}
bool NTRIPClient::reqRaw(char* host,int &port,char* mntpnt,char* user,char* psw)
{
bool NTRIPClient::reqRaw(char* host,uint16_t port,char* mntpnt,char* user,char* psw) {
if(!connect(host,port))return false;
String p="GET /";
String auth="";
@@ -79,12 +76,12 @@ bool NTRIPClient::reqRaw(char* host,int &port,char* mntpnt,char* user,char* psw)
}
return true;
}
bool NTRIPClient::reqRaw(char* host,int &port,char* mntpnt)
{
bool NTRIPClient::reqRaw(char* host,uint16_t port,char* mntpnt) {
return reqRaw(host,port,mntpnt,"","");
}
int NTRIPClient::readLine(char* _buffer,int size)
{
int NTRIPClient::readLine(char* _buffer,int size) {
int len = 0;
while(available()) {
_buffer[len] = read();
lib/Ntrip/NTRIPClient.h
+3 -3
View File
@@ -7,9 +7,9 @@
class NTRIPClient : public WiFiClient{
public :
bool reqSrcTbl(char* host,int &port); //request MountPoints List serviced the NTRIP Caster
bool reqRaw(char* host,int &port,char* mntpnt,char* user,char* psw); //request RAW data from Caster
bool reqRaw(char* host,int &port,char* mntpnt); //non user
bool reqSrcTbl(char* host,uint16_t port); //request MountPoints List serviced the NTRIP Caster
bool reqRaw(char* host,uint16_t port,char* mntpnt,char* user,char* psw); //request RAW data from Caster
bool reqRaw(char* host,uint16_t port,char* mntpnt); //non user
int readLine(char* buffer,int size);
lib/Rtcm/rtcmInsert.cpp
-50
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@@ -1,50 +0,0 @@
/**
* @file rtcmInsert.cpp
* @author * @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-03-24
*
* @copyright Copyright (c) 2022
*
*/
#include "rtcmInsert.h"
RtcmInsert::RtcmInsert(uint8_t address, char* ntripHost, uint16_t ntripPort, char* ntripMountPoint, char* ntripUser, char* ntripPassword)
: address() {
this->ntrip_c = new NTRIPClient();
std::cout << "Requesting SourceTable." << std::endl;
if(this->ntrip_c->reqSrcTbl(ntripHost, ntripPort)) {
char buffer[512];
delay(5);
while(this->ntrip_c->available()) {
this->ntrip_c->readLine(buffer,sizeof(buffer));
std::cout << buffer;
}
}
else
std::cout << "SourceTable request error" << std::endl;
std::cout << "Requesting SourceTable is OK." << std::endl;
this->ntrip_c->stop(); //Need to call "stop" function for next request.
std::cout << "Requesting MountPoint's Raw data" << std::endl;
if(!this->ntrip_c->reqRaw(ntripHost, ntripPort, ntripMountPoint, ntripUser, ntripPassword))
std::cout << "Error Requesting MountPoint's Raw data" << std::endl;
else
std::cout << "Requesting MountPoint is OK" << std::endl;
}
void RtcmInsert::loop() {
if (this->ntrip_c->available()) {
Wire.beginTransmission(this->address);
while(this->ntrip_c->available()) {
char ch = this->ntrip_c->read();
Wire.write(ch);
}
Wire.endTransmission();
}
}
lib/Rtcm/rtcmInsert.h
-31
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@@ -1,31 +0,0 @@
/**
* @file rtcmInsert.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-03-24
*
* @copyright Copyright (c) 2022
*
*/
#ifndef RTCM_INSERT_H
#define RTCM_INSERT_H
#include <stdint.h>
#include "NTRIPClient.h"
class RtcmInsert {
public:
RtcmInsert(uint8_t address, char* ntripHost, uint16_t ntripPort, char* ntripMountPoint, char* ntripUser, char* ntripPassword);
void loop();
private:
uint8_t address;
NTRIPClient* ntrip_c;
};
#endif // RTCM_INSERT_H
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
+76 -66
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();
// 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 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;
// default:
// if (this->lcd) {
// lcd->clear();
// lcd->setCursor(0, 0);
// lcd->printf("Page: %u", page);
// }
// std::cout << "Page: " << (int) page << std::endl;
// break;
// }
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: {
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: {
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;
}
}
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
src/driveModi/Modi/Autopilot/autopilot.cpp
+5 -5
View File
@@ -25,11 +25,11 @@ void Autopilot::loop() {
if (!this->selfDriving && this->navigationStarted)
ManualControl::loop();
if (millis() - this->last_millis < delay)
if (millis() - this->lastMillis < delay)
return;
this->runAutopilot();
this->last_millis = millis();
this->lastMillis = millis();
}
void Autopilot::runAutopilot() {
@@ -76,7 +76,7 @@ void Autopilot::setSelfDriving(bool val) {
this->selfDriving = val;
this->moveControl->setSpeed(0);
this->moveControl->setRotationspeed(0);
this->moveControl->setRotationSpeed(0);
}
void Autopilot::setSpeedInRelToDistance(double distance) {
@@ -97,7 +97,7 @@ void Autopilot::setRotInRelToDistance(int16_t course) {
steps = 1;
if (course == 0)
this->moveControl->setRotationspeed(0);
this->moveControl->setRotationSpeed(0);
else
this->moveControl->setRotationspeed(steps);
this->moveControl->setRotationSpeed(steps);
}
src/driveModi/Modi/Autopilot/autopilot.h
+1 -1
View File
@@ -127,7 +127,7 @@ class Autopilot : public ManualControl {
bool selfDrivingAvailable = false;
bool updateDisplay = false;
uint16_t last_millis = 0;
uint16_t lastMillis = 0;
uint8_t delay = 40;
};
src/driveModi/Modi/Autopilot/autopilotConfig.h
+1 -1
View File
@@ -47,7 +47,7 @@
/**
* @brief Course correction factor
* This value is used by the setRotInRelToDistance function and is used to calculate
* the value for setRotationspeed.
* the value for setRotationSpeed.
*/
#define COURSE_CORRECTION_FACTOR 30
src/driveModi/Modi/CaptureRoute/captureRoute.cpp
+2 -2
View File
@@ -20,11 +20,11 @@ CaptureRoute::CaptureRoute(MoveControl* moveControl, Navigation* navigation)
void CaptureRoute::loop() {
ManualControl::loop();
if (millis() - this->last_millis < delay) {
if (millis() - this->lastMillis < delay) {
return;
}
this->runCaptureRoute();
this->last_millis = millis();
this->lastMillis = millis();
}
void CaptureRoute::runCaptureRoute() {
src/driveModi/Modi/CaptureRoute/captureRoute.h
+1 -1
View File
@@ -75,7 +75,7 @@ class CaptureRoute : public ManualControl {
Navigation* navigation;
RouteInfo routeInfo;
uint32_t last_millis = 0;
uint32_t lastMillis = 0;
uint16_t delay = 200;
bool updateDisplay = false;
src/driveModi/Modi/ManualControl/manualControl.cpp
+4 -4
View File
@@ -17,16 +17,16 @@ ManualControl::ManualControl(MoveControl *moveControl) {
ManualControl::~ManualControl() {
this->moveControl->setSpeed(0);
this->moveControl->setRotationspeed(0);
this->moveControl->setRotationSpeed(0);
this->moveControl->setDrivingStatus(DrivingStatus::stop);
}
void ManualControl::loop() {
if (millis() - this->last_millis < delay) {
if (millis() - this->lastMillis < delay) {
return;
}
this->runManualControl();
this->last_millis = millis();
this->lastMillis = millis();
}
void ManualControl::runManualControl() {
@@ -37,5 +37,5 @@ void ManualControl::runManualControl() {
this->moveControl->setSpeed((y * -1) * value_per_step);
value_per_step = this->max_rotation * 2 / 256;
this->moveControl->setRotationspeed(-x * value_per_step);
this->moveControl->setRotationSpeed(-x * value_per_step);
}
src/driveModi/Modi/ManualControl/manualControl.h
+2 -2
View File
@@ -40,7 +40,7 @@ class ManualControl : public DriveModi{
* @see runSpeedometer()
* @see setDelay()
*/
void loop();
void loop() override;
/**
* @brief Noramly called repeatedly by loop() to calcluate new values.
@@ -73,7 +73,7 @@ class ManualControl : public DriveModi{
MoveControl *moveControl;
private:
uint32_t last_millis = 0;
uint32_t lastMillis = 0;
uint8_t delay = 10;
double max_speed = 1;
double max_rotation = 7;
src/driveModi/Modi/Racing/racing.cpp
View File
src/driveModi/Modi/Racing/racing.h
View File
src/driveModi/Modi/TestMode/testMode.cpp
+124
View File
@@ -0,0 +1,124 @@
/**
* @file testMode.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-09-08
*
* @copyright Copyright (c) 2022
*
*/
#include "testMode.h"
TestMode::TestMode(MoveControl *moveControl) {
this->moveControl = moveControl;
this->moveControl->setDrivingStatus(DrivingStatus::drive);
}
TestMode::~TestMode() {
this->moveControl->setSpeed(0);
this->moveControl->setRotationSpeed(0);
this->moveControl->setDrivingStatus(DrivingStatus::stop);
}
void TestMode::loop() {
if (millis() - this->lastMillis < this->delay)
return;
if (millis() - this->actionStart > this->maneuverTime) {
this->busy = false;
this->moveControl->setSpeed(0);
this->moveControl->setRotationSpeed(0);
}
}
void TestMode::setSpeed(double speed) {
this->speed = speed;
}
void TestMode::setRotationSpeed(double speed) {
this->rotationSpeed = speed;
}
bool TestMode::driveForward(uint16_t cm) {
if (this->busy)
return false;
this->moveControl->setRotationSpeed(0);
this->moveControl->setSpeed(this->speed);
this->maneuverTime = (uint32_t) (((double) cm / 100.0) / this->speed) * 1000;
this->actionStart = millis();
this->busy = true;
return true;
}
bool TestMode::driveBackward(uint16_t cm) {
if (this->busy)
return false;
this->moveControl->setRotationSpeed(0);
this->moveControl->setSpeed(-this->speed);
this->maneuverTime = (uint32_t) (((double) cm / 100.0) / this->speed) * 1000;
this->actionStart = millis();
this->busy = true;
return true;
}
bool TestMode::turnLeft(uint16_t degree) {
if (this->busy)
return false;
this->moveControl->setSpeed(0);
this->moveControl->setRotationSpeed(this->rotationSpeed);
//TODO: calc this shit
this->maneuverTime = 10;
this->actionStart = millis();
this->busy = true;
return true;
}
bool TestMode::turnRight(uint16_t degree) {
if (this->busy)
return false;
this->moveControl->setSpeed(0);
this->moveControl->setRotationSpeed(this->rotationSpeed);
//TODO: calc this shit
this->maneuverTime = 10;
this->actionStart = millis();
this->busy = true;
return true;
}
bool TestMode::driveForwardLeft(uint16_t cm, uint16_t degree) {
if (this->busy)
return false;
return false;
}
bool TestMode::driveForwardRight(uint16_t cm, uint16_t degree) {
if (this->busy)
return false;
return false;
}
bool TestMode::driveBackwardLeft(uint16_t cm, uint16_t degree) {
if (this->busy)
return false;
return false;
}
bool TestMode::driveBackwardRight(uint16_t cm, uint16_t degree) {
if (this->busy)
return false;
return false;
}
src/driveModi/Modi/TestMode/testMode.h
+54
View File
@@ -0,0 +1,54 @@
/**
* @file testMode.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-09-08
*
* @copyright Copyright (c) 2022
*
*/
#ifndef TEST_MODE_H
#define TEST_MODE_H
#include "moveControl.h"
#include "driveModi/driveModi.h"
class TestMode : public DriveModi {
public:
TestMode(MoveControl *MoveControl);
~TestMode();
void loop() override;
void setSpeed(double speed);
void setRotationSpeed(double speed);
bool driveForward(uint16_t cm);
bool driveBackward(uint16_t cm);
bool turnLeft(uint16_t degree);
bool turnRight(uint16_t degree);
bool driveForwardLeft(uint16_t cm, uint16_t degree);
bool driveForwardRight(uint16_t cm, uint16_t degree);
bool driveBackwardLeft(uint16_t cm, uint16_t degree);
bool driveBackwardRight(uint16_t cm, uint16_t degree);
private:
MoveControl *moveControl;
double speed = 0;
double rotationSpeed = 0;
bool busy = false;
uint8_t delay = 10;
uint32_t maneuverTime = 0;
uint32_t lastMillis = 0;
uint32_t actionStart = 0;
};
#endif // TEST_MODE_H
src/driveModi/driveManager.cpp
+8 -5
View File
@@ -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:
src/driveModi/driveManager.h
+2 -1
View File
@@ -22,6 +22,7 @@
#include "moveControl.h"
#include "driveModi/driveModi.h"
#include "navigation.h"
#include "networkConfig.h"
// All Drive Modi
#include "driveModi/Modi/ManualControl/manualControl.h"
@@ -52,7 +53,7 @@ class DriveManager {
*
* @param moveControl
*/
DriveManager(MoveControl *moveControl);
DriveManager(MoveControl *moveControl, bool wifi = false);
/**
* @brief Destroy the Drive Manager object
src/main.cpp
+19 -10
View File
@@ -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();
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);
wifiIndicator = '-';
} else
outputBuf = new OutputBuf();
wifiIndicator = '-';
} 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);
src/moveControl.cpp
+4 -4
View File
@@ -62,12 +62,12 @@ void MoveControl::loop() {
std::cout << buf;
}
static uint64_t last_millis = 0;
if (millis() - last_millis < delay)
static uint64_t lastMillis = 0;
if (millis() - lastMillis < delay)
return;
this->runMoveControl();
last_millis = millis();
lastMillis = millis();
}
void MoveControl::runMoveControl() {
@@ -104,7 +104,7 @@ void MoveControl::setSpeed(double speed) {
this->x_speed = speed;
}
void MoveControl::setRotationspeed(double speed) {
void MoveControl::setRotationSpeed(double speed) {
if (speed < 0.7 && speed > -0.7)
this->rotation_speed = 0;
else
src/network.cpp
+11 -5
View File
@@ -15,6 +15,7 @@ IPAddress Network::local_IP;
IPAddress Network::gateway;
IPAddress Network::subnet;
IPAddress Network::mqtt_server;
IPAddress Network::dnsServer;
WiFiClient Network::wifi_client;
PubSubClient* Network::mqtt_client;
@@ -24,17 +25,20 @@ void Network::setIps() {
gateway.fromString(WLAN_GATEWAY);
subnet.fromString(WLAN_SUBNETMASK);
mqtt_server.fromString(MQTT_SERVER);
dnsServer.fromString(WLAN_DNS_SERVER);
}
void Network::setupMQTT() {
Network::mqtt_client = new PubSubClient(wifi_client);
// mqtt_client->setServer(mqtt_server, MQTT_PORT);
Network::mqtt_client->setServer(MQTT_SERVER, MQTT_PORT);
Network::mqtt_client->setSocketTimeout(1);
// Network::connectMQTT();
}
bool Network::connectMQTT() {
#ifndef MQTT
return false;
#endif
// Create a random client ID
String clientId = "ESP32Rover-";
clientId += String(random(0xffff), HEX);
@@ -54,7 +58,7 @@ bool Network::connectMQTT() {
}
bool Network::connectWifi() {
// Configures static IP address
if (!WiFi.config(local_IP, gateway, subnet))
if (!WiFi.config(local_IP, gateway, subnet, dnsServer))
std::cout << "STA Failed to configure" << std::endl;
// Connect to Wi-Fi network with SSID and password
@@ -80,7 +84,7 @@ bool Network::connectWifi() {
return true;
}
void Network::checkMQTT() {
bool Network::checkMQTT() {
static uint64_t lastReconnectAttempt = 0;
if (!mqtt_client->connected()) {
long now = millis();
@@ -90,8 +94,10 @@ void Network::checkMQTT() {
if (connectMQTT())
lastReconnectAttempt = 0;
}
} else
return false;
}
mqtt_client->loop();
return true;
}
void Network::checkWiFi() {