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Finish documention until someone change something

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kleiax
2022-02-15 20:12:50 +01:00
parent 3a2e51713b
commit c8e3344b27
50 changed files with 991 additions and 223 deletions
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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: