kleiax/Bachelorarbeit-Rover
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases 1 Wiki Activity

Finish documention until someone change something

Browse Source
This commit is contained in:
kleiax
2022-02-15 20:12:50 +01:00
parent 3a2e51713b
commit c8e3344b27
50 changed files with 991 additions and 223 deletions
Download Patch File Download Diff File Expand all files Collapse all files
lib/MQTT/debugMqtt.cpp
+5 -3
View File
@@ -18,9 +18,11 @@ char DebugMqtt::msg[MQTT_BUFFER_SIZE];
char DebugMqtt::topic[MQTT_BUFFER_SIZE];
DebugMqtt::DebugMqtt(const char* name) {
DebugMqtt::DebugMqtt(const char* name, uint8_t bufSize) {
this->name = name;
this->buf = new char[this->bufSitze];
if (bufSize != 0)
this->bufSize = bufSize;
this->buf = new char[this->bufSize];
}
DebugMqtt::~DebugMqtt() {
@@ -62,7 +64,7 @@ void DebugMqtt::writeToInflux(String measurement_name, String field_set, float m
void DebugMqtt::addCharacter(char c) {
this->buf[this->bufPos] = c;
this->bufPos++;
if (c == '\n' || this->bufPos >= this->bufSitze - 1) {
if (c == '\n' || this->bufPos >= this->bufSize - 1) {
this->buf[this->bufPos - 1] = '\0';
this->sendMsg(Loglevel::info, buf);
this->bufPos = 0;
lib/MQTT/debugMqtt.h
+19 -9
View File
@@ -69,15 +69,16 @@ class DebugMqtt {
* @brief Construct a new Debug Mqtt object.
*
* @param name A String with send with every Message.
* @param bufSize for the addCharacter function.
*/
DebugMqtt(const char* name);
DebugMqtt(const char* name, uint8_t bufSize = 0);
~DebugMqtt();
/**
* @brief Send a Message via MQTT
*
* This funtion uses sendData to send the given string and
* This function uses sendData to send the given string and
* add the name to the message given by the constructer.
*
* @see sendData()
@@ -93,9 +94,9 @@ class DebugMqtt {
/**
* @brief Send a Message via MQTT
*
* This funtion sends the Data via MQTT with the given topic
* This function sends the Data via MQTT with the given topic
* from Loglevel or followed by given String topic.
* Normaly this function is called by sendMsg() or by
* Normally this function is called by sendMsg() or by
* writeToInflux()
*
* @see sendData()
@@ -112,7 +113,7 @@ class DebugMqtt {
/**
* @brief Send a Message via MQTT for InfluxDB
*
* This funtion sends a MQTT message which is intended for
* This function sends a MQTT message which is intended for
* Telegraf. Telegraf can listen on MQTT messages and put
* them in an Influx Database.
*
@@ -123,14 +124,23 @@ class DebugMqtt {
*/
void writeToInflux(String measurement_name, String field_set, float measurement, uint64_t nanos);
/**
* @brief Adds a single character to the buf
*
* The buf will be flushed out:
* 1. when the buffer is full
* 2. when the character is '\n'
*
* @param c
*/
void addCharacter(char c);
/**
* @brief Initalize debugMQTT for all instances
* @brief Initialize debugMQTT for all instances
*
* You only have to call this function once for your project.
* If you call this funtion again you overwrite the client and
* the loglevel. If you only eant du overwrite the max_loglevel
* If you call this function again you overwrite the client and
* the loglevel. If you only want du overwrite the max_loglevel
* use changeLoglevel()
*
* @see changeLoglevel()
@@ -153,7 +163,7 @@ class DebugMqtt {
const char* name;
char* buf;
uint8_t bufPos = 0;
uint8_t bufSitze = 100;
uint8_t bufSize = 100;
static String enum_to_string(Loglevel loglevel);
lib/MQTT/outputBufMqtt.cpp
+2 -2
View File
@@ -1,7 +1,7 @@
/**
* @file outputStreamMqtt.cpp
* @file outputBufMqtt.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains the implementation of the class OutputBufMqtt
* @version 0.1
* @date 2022-02-14
*
lib/MQTT/outputBufMqtt.h
+24 -2
View File
@@ -1,7 +1,11 @@
/**
* @file outputStreamMqtt.h
* @file outputBufMqtt.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains a small class that provide a streambuf
*
* The streambuf is used to double the std::cout to consol
* and MQTT.
*
* @version 0.1
* @date 2022-02-14
*
@@ -19,11 +23,29 @@
#include "debugMqtt.h"
/**
* @brief A alternativ streambuf for std::cout
*
* The streambuf is used to double the std::cout to consol
* and MQTT.
*
*/
class OutputBufMqtt : public std::streambuf {
public:
/**
* @brief Construct a new Output Buf Mqtt object
*
* @param debugMqtt
*/
OutputBufMqtt(DebugMqtt* debugMqtt);
protected:
/**
* @brief
*
* @param c
* @return std::streambuf::int_type
*/
virtual std::streambuf::int_type overflow(std::streambuf::int_type c);
public:
lib/Menu/menu.cpp
+1 -1
View File
@@ -1,7 +1,7 @@
/**
* @file menu.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Implementation of the class Menu
* @version 0.1
* @date 2022-01-12
*
lib/Menu/menu.h
+20 -10
View File
@@ -1,7 +1,7 @@
/**
* @file menu.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains the Menu class
* @version 0.1
* @date 2022-01-12
*
@@ -17,20 +17,30 @@
#include "menuControl.h"
class MenuAction;
/**
* @brief A class to build menu structers
*/
class Menu : public MenuControl {
public:
Menu();
/**
* @brief Add a menu action to the menu
*
* @param entry
*/
void addEntry(MenuAction* entry);
void printMenu();
void update();
void down();
void up();
void right();
void left();
void yes();
void no();
void printMenu() override;
void update() override;
void down() override;
void up() override;
void right() override;
void left() override;
void yes() override;
void no() override;
private:
bool inSubmenu = false;
@@ -40,4 +50,4 @@ class Menu : public MenuControl {
};
#endif // MENU_H
#endif // MENU_H
lib/Menu/menuAction.cpp
+3 -17
View File
@@ -1,7 +1,7 @@
/**
* @file menuEntry.cpp
* @file menuAction.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Implentation of the class MenuAction
* @version 0.1
* @date 2022-01-12
*
@@ -16,20 +16,6 @@ MenuAction::MenuAction(const char* name, void (*function) (), void (*callback) (
this->callback = callback;
}
MenuAction::MenuAction(const char* name, void (*function) ()) {
this->name = name;
this->function = function;
this->callback = nullptr;
}
// MenuAction::MenuAction(const char* name, void (DriveManager:: *classFunction) ()) {
// this->name = name;
// this->classFunction = classFunction;
// this->classFunc = true;
// this->function = nullptr;
// this->callback = nullptr;
// }
MenuAction::MenuAction(const char* name, MenuControl* menu) {
this->name = name;
this->menu = menu;
@@ -60,4 +46,4 @@ MenuControl* MenuAction::getMenu() {
return this->menu;
else
return nullptr;
}
}
lib/Menu/menuAction.h
+53 -5
View File
@@ -1,7 +1,7 @@
/**
* @file menuEntry.h
* @file menuAction.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains the MenuAction class
* @version 0.1
* @date 2022-01-12
*
@@ -14,15 +14,63 @@
#include "menu.h"
class MenuControl;
/**
* @brief This class forms the transition between menus.
*
* In the Menu these are the entries.
* This class can be call an submenu or a function.
*/
class MenuAction {
public:
MenuAction(const char* name, void (*function) (), void (*callback) ());
MenuAction(const char* name, void (*function) ());
/**
* @brief Construct a new Menu Action object
*
* @param name shown in the Menu
* @param function to call when activate the entry
* @param callback to call when leave the entry
*/
MenuAction(const char* name, void (*function) (), void (*callback) () = nullptr);
/**
* @brief Construct a new Menu Action object
*
* This constructer is used for submenus.
*
* @param name shown in the Menu
* @param menu to call when activate the entry
*/
MenuAction(const char* name, MenuControl* menu);
/**
* @brief activates the entry
*/
void runAction();
/**
* @brief Get the Name string
*
* @return const char*
*/
const char* getName();
/**
* @brief Get the Is Menu object
*
* @return true runAction calls a submenu
* @return false runAction call a function
*/
bool getIsMenu();
/**
* @brief Get the Menu object
*
* Before call this function it may be useful
* to check if is it a submenu with getIsMenu.
*
* @return MenuControl*
*/
MenuControl* getMenu();
private:
@@ -35,4 +83,4 @@ class MenuAction {
MenuControl* menu;
};
#endif // MENU_ENTRY_H
#endif // MENU_ENTRY_H
lib/Menu/menuControl.h
+37 -3
View File
@@ -1,7 +1,7 @@
/**
* @file menuControl.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains a abstract class for Menu
* @version 0.1
* @date 2022-01-19
*
@@ -15,25 +15,59 @@
#include <iostream>
#include <LiquidCrystal_I2C.h>
/**
* @brief Baseclass to build Menus
*
* This class must be inherited by other classes which want to be
* act as a menu, because the menu structure uses polymorphism.
*
*/
class MenuControl {
public:
// Ínputs from the Gamepad
/** @name UserInputs
* @brief This functions should be called be user actions.
*
* This functions have to be implement in every other menu
* class.
*/
///@{
virtual void down();
virtual void up();
virtual void right();
virtual void left();
virtual void yes();
virtual void no();
///@}
/**
* @brief can be called to update shown data
*/
virtual void update();
virtual void printMenu();
/**
* @brief Set the Parent Menu
*
* If the parentMenu is set it will be called automaticaly
* when the user left the child menu.
*
* @param menu
*/
void setParentMenu(MenuControl* menu) { this->parentMenu = menu; }
/**
* @brief Set the Lcd object
*
* If this is set the menu will be print on the display too.
*
* @param lcd
*/
void setLcd(LiquidCrystal_I2C* lcd) { this->lcd = lcd; }
protected:
MenuControl* parentMenu = nullptr;
LiquidCrystal_I2C* lcd = nullptr;
};
#endif // MENU_CONTROLL_H
#endif // MENU_CONTROLL_H
lib/MotorControl/motorControl.h
+3 -3
View File
@@ -32,7 +32,7 @@ class MotorControl {
MotorControl();
/**
* @brief Initalize the motorcontroler
* @brief Initialize the motorController
*
* @param pwm_pin The output pin for the signal on the esp.
* @param pwm_channel One of the pwm channels from the esp.
@@ -53,7 +53,7 @@ class MotorControl {
uint16_t loop();
/**
* @brief Normaly called repeatedly by loop() to update the pwm signal.
* @brief Normally called repeatedly by loop() to update the pwm signal.
*
* Checks the difference between target power and current power to
* increase or decrease the duty cycle. The amount of decrease or increase
@@ -167,4 +167,4 @@ class MotorControl {
};
#endif // MOTOR_CONTROL_H
#endif // MOTOR_CONTROL_H
lib/Navigation/navigation.cpp
+4 -4
View File
@@ -1,7 +1,7 @@
/**
* @file navigation.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains the implementation of the class Navigation
* @version 0.1
* @date 2022-01-31
*
@@ -50,7 +50,7 @@ CourseCorrection Navigation::getCourseCorrection() {
Point currentPos = this->currentLocation();
double targetCourse = Navigation::courseTo(currentPos, this->targetPoint);
double distance = Navigation::distanceBetwenn(currentPos, this->targetPoint);
double distance = Navigation::distanceBetween(currentPos, this->targetPoint);
if (targetCourse < 0 || distance < 0 || this->navigationFinished)
return courseCorrection;
@@ -89,7 +89,7 @@ bool Navigation::addCurrentPosToRoute() {
}
// Ever Point after the first
if (MIN_DISTANCE_BETWEEN_POINTS <= this->distanceBetwenn(p, this->lastPoint)) {
if (MIN_DISTANCE_BETWEEN_POINTS <= this->distanceBetween(p, this->lastPoint)) {
this->route->addPointToRoute(p);
this->lastPoint = p;
return true;
@@ -121,7 +121,7 @@ bool Navigation::setTargetPoint(Point target) {
return false;
}
double Navigation::distanceBetwenn(Point p1, Point p2) {
double Navigation::distanceBetween(Point p1, Point p2) {
if (p1.isValid() && p2.isValid())
return TinyGPSPlus::distanceBetween(p1.lat, p1.lon, p2.lat, p2.lon);
return -1;
lib/Navigation/navigation.h
+123 -3
View File
@@ -1,7 +1,7 @@
/**
* @file navigation.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains a class which navigate an object by the given route
* @version 0.1
* @date 2022-01-10
*
@@ -18,33 +18,153 @@
#include "route.h"
/**
* @brief The minimal distance between Points
*
* This is a very critical option. It have to be
* around the half accuracy of the positioning system
*
*/
#define MIN_DISTANCE_BETWEEN_POINTS 1
/**
* @brief This struct inherits the result of the navigation
*
* The drive get objects of this struct and should
* correct the direction in dependency on this.
*
*/
struct CourseCorrection {
int16_t correction;
double distance;
};
/**
* @brief This class navigate an object
*
* The class use the given Route and the gps device
* to tell the driver in which direction he have to
* be drive and the distance to the next checkpoint.
*
*/
class Navigation {
public:
/**
* @brief Construct a new Navigation object
*
* @param rx pin to the gps device
* @param tx pin to the gps device
* @param route with which to navigate
*/
Navigation(uint8_t rx, uint8_t tx, Route* route = nullptr);
/**
* @brief Destroy the Navigation object
*
*/
~Navigation();
/**
* @brief Decodes new GPS information
*
* Should be called ever main loop.
*/
void loop();
/**
* @brief creates a new empty route
*
*/
void newRoute();
/**
* @brief Tries to start the route
*
* For example the route can not be started
* if there are no Points or wrong Points.
*
* @return true route is started
* @return false route can not be started
*/
bool startNavigation();
/**
* @brief Get the Course Correction object
*
* This should be called by the driver to get new instructions.
*
* @return CourseCorrection
*/
CourseCorrection getCourseCorrection();
/**
* @brief Tries to add the current Position to the route
*
* This can be go wrong if there is no valid GPS signal
*
* @return true successful added point
* @return false no point added to route
*/
bool addCurrentPosToRoute();
/**
* @brief Returns the GPS object
*
* @return TinyGPSPlus*
*/
TinyGPSPlus* getGPS() { return this->gps; }
/**
* @brief Get the Route Info object
*
* This object contains information about the route.
* For example the stored points.
*
* @return RouteInfo
*/
RouteInfo getRouteInfo() const { return this->route->getRouteInfo(); }
private:
/**
* @brief Returns the current Location
*
* @return Point
*/
Point currentLocation();
/**
* @brief Set the next point as target
*
* @return true
* @return false
*/
bool nextPoint();
/**
* @brief Set the target point
*
* @param target
* @return true
* @return false
*/
bool setTargetPoint(Point target);
static double distanceBetwenn(Point p1, Point p2);
/**
* @brief Calculate the distance between to points
*
* @param p1 point 1
* @param p2 point 2
* @return double distance in meter
*/
static double distanceBetween(Point p1, Point p2);
/**
* @brief Calculates the course from point1 to point2
*
* @param p1 point 1
* @param p2 point 2
* @return double degree north = 0° west = 270°
*/
static double courseTo(Point p1, Point p2);
TinyGPSPlus* gps;
@@ -57,4 +177,4 @@ class Navigation {
bool navigationFinished = false;
};
#endif // NAVIGATION_H
#endif // NAVIGATION_H
lib/Navigation/route.cpp
+1 -4
View File
@@ -1,7 +1,7 @@
/**
* @file route.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Implements the class Route
* @version 0.1
* @date 2022-01-31
*
@@ -11,9 +11,6 @@
#include "route.h"
// TODO: Delete iostream
#include <iostream>
Route::Route() {
}
lib/Navigation/route.h
+68 -1
View File
@@ -1,7 +1,7 @@
/**
* @file route.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains a class which hold multiple Points
* @version 0.1
* @date 2022-01-31
*
@@ -16,33 +16,100 @@
#include <list>
/**
* @brief A to handle points on the earth
*
* The points inherits latidue and longitude as doubles
*
*/
class Point{
public:
/**
* @brief Construct a new Point object
*
* @param lat latidude
* @param lon longitude
*/
Point(double lat, double lon) { this->lat = lat; this->lon = lon; }
Point(){ this->lat = 0; this->lon = 0; }
double lat = 0;
double lon = 0;
/**
* @brief checks if to points are equal
*
* @param rhs
* @return true
* @return false
*/
bool operator==(const Point& rhs) const {
return this->lat == rhs.lat && this->lon == rhs.lon;
}
/**
* @brief Checks if the Point is valid
*
* @return true
* @return false
*/
bool isValid() const { return this->lat + this->lon; }
};
/**
* @brief Holds some route information
*
*/
struct RouteInfo{
/**
* @brief Selected number of Points
*/
uint16_t currentPoint;
/**
* @brief Total points stored in route
*/
uint16_t totalPoints;
};
/**
* @brief A class to manage multiple points
*
* The list of point presents a route which can be driven
*/
class Route {
public:
/**
* @brief Construct a new Route object
*/
Route();
/**
* @brief Adds a point to the list
*
* @param point
*/
void addPointToRoute(Point point);
/**
* @brief Select the first point as target
*
* @return Point
*/
Point startRoute();
/**
* @brief Get the next point and set it as target
*
* @return Point is zero if there are no more Points
*/
Point getNextPoint();
/**
* @brief Get the Route Info object
*
* @return RouteInfo
*/
RouteInfo getRouteInfo();
private:
lib/Speedometer/speedometer.h
+5 -5
View File
@@ -1,7 +1,7 @@
/**
* @file speedometer.h
* @author Alexander Klein (alex@kleiax.de)
* @brief A complete implementation to measure wheel speeds with an encoder.
* @brief A implementation to measure wheel speeds with an encoder.
* @version 0.1
* @date 2021-12-09
*
@@ -32,7 +32,7 @@
* @brief A class which use a encoder to calc the speed
*
* This class use ESP32 pulse counter hardware peripheral.
* The calclutaed speed is the average of an amount of last measurments.
* The calculated speed is the average of an amount of last measurements.
*
*/
class Speedometer {
@@ -40,7 +40,7 @@ class Speedometer {
Speedometer();
/**
* @brief Initalize the speedometer
* @brief Initialize the speedometer
*
* @param pinA Pin on the Esp from the encoder.
* @param pinB Pin on the Esp from the encoder.
@@ -63,7 +63,7 @@ class Speedometer {
uint16_t loop();
/**
* @brief Noramly called repeatedly by loop() to calcluate new values.
* @brief Normally called repeatedly by loop() to calculate new values.
*
* Add a new Value to the average and update the speed.
*/
@@ -121,4 +121,4 @@ class Speedometer {
uint32_t last_millis_calc = 0;
};
#endif // SPEEDOMETER_H
#endif // SPEEDOMETER_H