- broke nearly everthing

- create Sensor Manager

lib/Navigation/navigation.h

@@ -12,15 +12,12 @@
 #ifndef NAVIGATION_H
 #define NAVIGATION_H
 
-#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
-#include <QMC5883LCompass.h>
 #include <Arduino.h>
 #include <iostream>
-#include <SPI.h>
 
 #include "route.h"
 #include "NTRIPClient.h"
-#include "calibrateCompass.h"
+
 #include "component.h"
 
 /**
@@ -52,15 +49,6 @@ class Navigation : public Component {
             Complete
         };
 
-        enum CalcAzimuthState {
-            Invalid,
-            Bad,
-            Ok,
-            Good,
-            Super
-        };
-
-
         /**
          * @brief Construct a new Navigation object and using I2C
          * 
@@ -68,13 +56,6 @@ class Navigation : public Component {
          */
         Navigation(Route* route = nullptr);
 
-        /**
-         * @brief Construct a new Navigation object and using SPI
-         * 
-         * @param route with which to navigate
-         */
-        Navigation(SPIClass* spiPort, uint8_t csPin, Route* route = nullptr);
-
         /**
          * @brief Destroy the Navigation object
          * 
@@ -138,9 +119,6 @@ class Navigation : public Component {
          * @return false no point added to route
          */
         Status addCurrentPosToRoute();
-
-    	// TODO: can be deleted?
-        // bool setPointBeforeTurn();
         
         /**
          * @brief Get the Ubx Data object
@@ -187,22 +165,11 @@ class Navigation : public Component {
         Point::Accuracy getMinAccuracy() const { return this->minAccuracy; }
         void setMinAccuracy(Point::Accuracy accuracy) { this->minAccuracy = accuracy; }
 
-        /**
-         * @brief Set the output status for PVTdata.
-         * 
-         * If this is true, a lot of information from the gnss module will be printed in
-         * the interval of navigation frequency.
-         * 
-         * @param status 
-         */
-        static void setOutputStatusPrintPVTdata(bool status);
         // map input in range from -180 to 180 degree
         static int16_t fixDegree(int16_t degree);
 
     private:
         void run() override;
-        void runAsChild() override;
-        void updateCurrentLocation();
         void updateMagneticDeclination();
         void init(Route* route);
         bool nextPoint();
@@ -213,11 +180,11 @@ class Navigation : public Component {
         static constexpr uint8_t maxDisBetweenPoints = 10;
         static constexpr float minDisBetweenPoints = 0.3;
 
-        SFE_UBLOX_GNSS* gps;
+        
         UBX_NAV_PVT_data_t* ubxData = nullptr;
         Route* route = nullptr;
         NTRIPClient* ntripClient = nullptr;
-        QMC5883LCompass* compass;
+        
 
         Point lastPointRouteInsert;
         Point lastPointCalcCorrection;
@@ -225,7 +192,7 @@ class Navigation : public Component {
         Point targetPoint;
         Point currentPosition;
         Point::Accuracy minAccuracy = Point::Accuracy::twoDigOfCM;
-        CalcAzimuthState calcAzimuthState = CalcAzimuthState::Invalid;
+        
 
         bool navigationStarted = false;
         bool navigationFinished = false;
@@ -239,7 +206,6 @@ class Navigation : public Component {
         char* user;
         char* password;
 
-        int16_t realAzimuth = INT16_MAX;
         int16_t calcAzimuth = INT16_MAX;
 
         uint8_t timeToWait = 200;
@@ -248,16 +214,6 @@ class Navigation : public Component {
         uint32_t ubxUpdateTime = 0;
 
         double minDistanceToReachPoint = 0.5;
-
-        static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
-        static void savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
-
-        static UBX_NAV_PVT_data_t* ubxDataStatic;
-
-        static uint32_t ubxUpdateTimeStatic;
-
-        static bool outputStatusPrintPVTdata;
-        static bool newData;
 };
 
 #endif // NAVIGATION_H