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driveManager gets now the object

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kleiax
2023-09-04 15:25:56 +02:00
parent 6a76470f45
commit befbd898cc
23 changed files with 63 additions and 156 deletions
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src/driveModi/Modi/Autopilot/autopilot.cpp
+2 -3
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@@ -26,12 +26,11 @@ void DirectionChangeSignal::action() {
}
Autopilot::Autopilot(DriveModiParams params, Navigation* navigation)
: ManualControl(params) {
Autopilot::Autopilot() {
this->setInputMode(ManualControl::InputMode::Digital);
this->directionChangeSignal = new DirectionChangeSignal(this);
this->setDirectionChangeCallback(this->directionChangeSignal);
this->navigation = navigation;
this->navigation = new Navigation(this->sensorData);
this->init();
}
src/driveModi/Modi/Autopilot/autopilot.h
+2 -1
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@@ -47,7 +47,7 @@ class Autopilot : public ManualControl {
* @param moveControl for ManualControl
* @param navigation for route instructions
*/
Autopilot(DriveModiParams params, Navigation* navigation);
Autopilot();
/**
* @brief Destroy the Autopilot object
@@ -78,6 +78,7 @@ class Autopilot : public ManualControl {
* @return State
*/
State getState() const { return this->state; }
Navigation* getNavigation() const { return this->navigation; }
/**
* @brief Tells if there are new informations to display
src/driveModi/Modi/CalibrateCompass/calibrateCompassM.cpp
-1
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@@ -11,7 +11,6 @@
#include "calibrateCompassM.h"
CalibrateCompassM::CalibrateCompassM(DriveModiParams params) : ManualControl(params) {}
void CalibrateCompassM::setCalibrateCompass(CalibrateCompass *caliCompass) {
if (caliCompass) {
src/driveModi/Modi/CalibrateCompass/calibrateCompassM.h
-2
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@@ -18,8 +18,6 @@
class CalibrateCompassM : public ManualControl {
public:
CalibrateCompassM(DriveModiParams params);
void setCalibrateCompass(CalibrateCompass* caliCompass = nullptr);
private:
src/driveModi/Modi/CaptureRoute/captureRoute.cpp
+2 -3
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@@ -11,9 +11,8 @@
#include "driveModi/Modi/CaptureRoute/captureRoute.h"
CaptureRoute::CaptureRoute(DriveModiParams params, Navigation* navigation)
: ManualControl(params) {
this->navigation = navigation;
CaptureRoute::CaptureRoute() {
this->navigation = new Navigation(this->sensorData);
this->navigation->getRoute()->clear();
this->sensorData->getNtripClient()->setAutoReconnect(true);
this->routeInfo = navigation->getRouteInfo();
src/driveModi/Modi/CaptureRoute/captureRoute.h
+2 -7
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@@ -27,13 +27,7 @@
*/
class CaptureRoute : public ManualControl {
public:
/**
* @brief Construct a new Capture Route object
*
* @param moveControl for ManualControl
* @param navigation to add Points
*/
CaptureRoute(DriveModiParams params, Navigation* navigation);
CaptureRoute();
/**
* @brief Destroy the Capture Route object
@@ -56,6 +50,7 @@ class CaptureRoute : public ManualControl {
*/
RouteInfo getRouteInfo() const { return this->routeInfo; }
Navigation::Status getLastStatus() const { return this->status; }
Navigation* getNavigation() const { return this->navigation; }
/**
* @brief Get the distance to the last saved oint
src/driveModi/Modi/ManualControl/manualControl.h
-2
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@@ -33,8 +33,6 @@ class ManualControl : public DriveModi {
Digital
};
ManualControl(DriveModiParams params) : DriveModi(params){};
void switchInputMode();
void setInputMode(InputMode mode) { this->inputMode = mode; }
InputMode getInputMode() const { return this->inputMode; }
src/driveModi/Modi/TestMode/testMode.cpp
-9
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@@ -10,15 +10,6 @@
*/
#include "testMode.h"
TestMode::TestMode(DriveModiParams params, Navigation* navigation)
: DriveModi(params) {
this->navigation = navigation;
}
TestMode::~TestMode() {
this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
}
void TestMode::run() {
if (this->maneuver == Maneuver::Turn) {
uint16_t delta = abs(this->azimuth - this->getSensorData()->getRealAzimuth());
src/driveModi/Modi/TestMode/testMode.h
-9
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@@ -38,15 +38,6 @@ class TestMode : public DriveModi {
Drive
};
/**
* @brief Construct a new Test Mode object
*
* @param moveControl
* @param navigation
*/
TestMode(DriveModiParams params, Navigation* navigation);
~TestMode();
bool drive(int16_t cm = 0, int16_t degree = 0);
/**
src/driveModi/driveManager.cpp
+4 -42
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@@ -25,59 +25,21 @@ DriveManager::DriveManager(DriveModiParams params){
this->init();
}
DriveManager::~DriveManager() {
delete this->navigation;
}
void DriveManager::changeModus(Modi modus) {
this->currentModus = modus;
void DriveManager::changeModus(DriveModi* modus) {
if (this->currentModusPtr) {
this->removeChildComponent(this->currentModusPtr);
delete this->currentModusPtr;
this->currentModusPtr = nullptr;
}
//Reset Route to first point
this->navigation->startNavigation();
switch (modus) {
case Modi::Off:
this->currentModusPtr = nullptr;
break;
case Modi::ManualControl: {
this->currentModusPtr = new ManualControl(this->driveModiParams);
}
break;
case Modi::CaptureRoute: {
this->currentModusPtr = new CaptureRoute(this->driveModiParams, this->navigation);
}
break;
case Modi::Autopilot: {
this->currentModusPtr = new Autopilot(this->driveModiParams, this->navigation);
}
break;
case Modi::TestMode: {
this->currentModusPtr = new TestMode(driveModiParams, this->navigation);
}
break;
default:
this->currentModusPtr = nullptr;
break;
}
this->currentModusPtr = modus;
if (this->currentModusPtr)
this->currentModusPtr->activate(this->driveModiParams);
this->addChildComponent(this->currentModusPtr);
}
void DriveManager::init() {
this->navigation = new Navigation(this->driveModiParams.sensorData);
this->addChildComponent(this->driveModiParams.moveControl);
this->addChildComponent(this->navigation);
this->activateOnlyChilds();
}
src/driveModi/driveManager.h
+3 -40
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@@ -12,38 +12,14 @@
#ifndef DRIVE_MANAGER_H
#define DRIVE_MANAGER_H
#include <Arduino.h>
#include <SPI.h>
#include "moveControl.h"
#include "driveModi/driveModi.h"
#include "navigation.h"
#include "config.h"
#include "networkConfig.h"
#include "debugTimes.h"
#include "controlPadInput.h"
#include "component.h"
#include "sensorData.h"
// All Drive Modi
#include "driveModi/Modi/ManualControl/manualControl.h"
#include "driveModi/Modi/CaptureRoute/captureRoute.h"
#include "driveModi/Modi/Autopilot/autopilot.h"
#include "driveModi/Modi/TestMode/testMode.h"
/**
* @brief An enum to choose the DriveMode
*
*/
enum class Modi {
Off,
ManualControl,
CalibrateCompass,
CaptureRoute,
Autopilot,
TestMode
};
class DriveManager : public Component {
public:
/**
@@ -70,14 +46,7 @@ class DriveManager : public Component {
*
* @param modus
*/
void changeModus(Modi modus);
/**
* @brief Get the Navigation object
*
* @return Navigation*
*/
Navigation* getNavigation() const {return this->navigation;}
void changeModus(DriveModi* modus = nullptr);
/**
* @brief Get the DriveModi Ptr object
@@ -91,20 +60,14 @@ class DriveManager : public Component {
*/
DriveModi* getDriveModiPtr() const { return this->currentModusPtr; }
/**
* @brief Get the DriveModi enum
*
* @return Modi
*/
Modi getDriveModi() const { return this->currentModus; }
bool isActive() const { return this->currentModusPtr; }
private:
void run() override {};
void init();
Modi currentModus = Modi::Off;
DriveModi *currentModusPtr = nullptr;
Navigation* navigation;
DriveModiParams driveModiParams;
};
src/driveModi/driveModi.cpp
+16 -12
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@@ -1,17 +1,7 @@
#include "driveModi.h"
DriveModi::DriveModi(MoveControl* moveControl, ControlPadInput* input, SensorData* sensorData) {
this->moveControl = moveControl;
this->input = input;
this->sensorData = sensorData;
this->init();
}
DriveModi::DriveModi(DriveModiParams params){
this->moveControl = params.moveControl;
this->input = params.input;
this->sensorData = params.sensorData;
this->init();
DriveModi::DriveModi() {
this->loopDelay = 0;
}
DriveModi::~DriveModi() {
@@ -20,6 +10,20 @@ DriveModi::~DriveModi() {
this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
}
void DriveModi::activate(MoveControl* moveControl, ControlPadInput* input, SensorData* sensorData) {
this->moveControl = moveControl;
this->input = input;
this->sensorData = sensorData;
this->init();
}
void DriveModi::activate(DriveModiParams params){
this->moveControl = params.moveControl;
this->input = params.input;
this->sensorData = params.sensorData;
this->init();
}
void DriveModi::init() {
this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
this->loopDelay = 40;
src/driveModi/driveModi.h
+4 -2
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@@ -31,12 +31,14 @@ struct DriveModiParams {
*/
class DriveModi : public Component {
public:
DriveModi(MoveControl* moveControl, ControlPadInput* input, SensorData* sensorData);
DriveModi(DriveModiParams);
DriveModi();
virtual ~DriveModi();
const SensorData* getSensorData() const { return this->sensorData; }
void activate(MoveControl* moveControl, ControlPadInput* input, SensorData* sensorData);
void activate(DriveModiParams params);
/**
* @brief Set the max speed
*