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delete everthing for bachelore

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kleiax
2023-09-02 18:34:06 +02:00
parent fd946f2aa3
commit d7a9e9cfd8
14 changed files with 0 additions and 2318 deletions
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src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp
-254
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/**
* @file menuAutopilot.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief Contains an implementation of the class MenuAutopilot
* @version 0.1
* @date 2022-02-03
*
* @copyright Copyright (c) 2022
*
*/
#include "menuAutopilot.h"
void MenuAutopilot::printPage() const {
CourseCorrection correction = this->autopilot->getCourseCorrection();
UBX_NAV_PVT_data_t* gpsData = this->driveManager->getNavigation()->getUbxData();
bool navigationStarted = this->autopilot->getState() >= Autopilot::State::NavigationStarted;
String distanceString = "";
if (navigationStarted) {
uint16_t distance = 0;
if (correction.distance < 1) {
distance = (uint16_t) (correction.distance * 100);
distanceString.concat(distance);
distanceString.concat("cm");
} else if (correction.distance < 1000) {
distance = (uint16_t) correction.distance;
distanceString.concat(distance);
distanceString.concat("m");
} else {
distance = (uint16_t) (correction.distance / 1000);
distanceString.concat(distance);
distanceString.concat("km");
}
}
String lineOne = "No information";
String lineTwo = "available";
switch (this->getCurrentPage()) {
case 0: {
lineOne = "Status: ";
lineTwo = "";
switch (this->autopilot->getState()) {
case Autopilot::State::InsufficientAccuracy :
lineTwo = "Err: LowAccuracy";
break;
case Autopilot::State::NoRoute :
lineTwo = "Err: No route";
break;
case Autopilot::State::NavigationStarted :
lineTwo = "Nav started";
break;
case Autopilot::State::GetToStartPoint :
lineTwo = "Drive to start";
break;
case Autopilot::State::SelfDrivingAvailable :
lineTwo = "Autopilot ready";
break;
case Autopilot::State::SelfDriving :
lineTwo = "Autopilot active";
break;
case Autopilot::State::SelfDrivingRotate :
lineTwo = "Rotating";
break;
case Autopilot::State::TargetReached :
lineTwo = "Target reached";
break;
default:
lineTwo = "UNKOWN - ";
lineTwo.concat(static_cast<int>(this->autopilot->getState()));
break;
}
break;
}
case 1:
if (!navigationStarted) {
lineOne = "Navigation is";
lineTwo = "not started";
break;
}
lineOne = "Distance: ";
lineOne.concat(distanceString);
lineTwo = "Turn: ";
lineTwo.concat(correction.correction);
break;
case 2:
lineOne = "Target waypoint";
lineTwo = "";
lineTwo.concat(this->autopilot->getRouteInfo().currentPoint);
lineTwo.concat(" from ");
lineTwo.concat(this->autopilot->getRouteInfo().totalPoints);
break;
case 3: {
NTRIPClientStates status = this->driveManager->getNavigation()->getNTRIPClient()->getClientState();
uint8_t carrSoln = gpsData->flags.bits.carrSoln;
lineOne = "GNSS: ";
if (status == NTRIPClientStates::pushData)
if (carrSoln == 0)
lineOne.concat("None");
else if (carrSoln == 1)
lineOne.concat("Floating");
else if (carrSoln == 2)
lineOne.concat("Fixed");
else
lineOne.concat("UNKNOWN");
else if (status == NTRIPClientStates::notAvailable)
lineOne.concat("No WiFi");
else
lineOne.concat("Offline");
lineTwo = "hAcc: ";
if (gpsData->fixType)
lineTwo.concat(gpsData->hAcc);
else
lineTwo.concat("0");
break;
}
case 4:
if (this->driveManager->getNavigation()->getCalcAzimuthState() == Navigation::CalcAzimuthState::Good
||this->driveManager->getNavigation()->getCalcAzimuthState() == Navigation::CalcAzimuthState::Super)
{
lineOne = "Calc Azi: ";
lineTwo = "State: ";
lineOne.concat(this->driveManager->getNavigation()->getCalcAzimuth());
switch (this->driveManager->getNavigation()->getCalcAzimuthState()) {
case Navigation::CalcAzimuthState::Bad :
lineTwo.concat("Bad");
break;
case Navigation::CalcAzimuthState::Good :
lineTwo.concat("Good");
break;
case Navigation::CalcAzimuthState::Invalid :
lineTwo.concat("Invalid");
break;
case Navigation::CalcAzimuthState::Ok :
lineTwo.concat("Ok");
break;
case Navigation::CalcAzimuthState::Super :
lineTwo.concat("Super");
break;
default:
lineTwo.concat("Unkown");
break;
}
} else {
lineOne = "Real Azi: ";
lineTwo = "";
lineOne.concat(this->driveManager->getNavigation()->getAzimuth());
}
break;
case 5:
lineOne = "Loop mode is";
if (this->autopilot->getLoopMode())
lineTwo = "enabled";
else
lineTwo = "disabled";
break;
case 6:
lineOne = "Freeze target is";
if (this->targetFreezed)
lineTwo = "activated";
else
lineTwo = "deactivated";
break;
case 7:
lineOne = "MinDisToPoint:";
lineTwo = "<- ";
lineTwo.concat(this->minDistance);
lineTwo.concat(" ->");
break;
default:
this->printDefault();
return;
}
this->print(lineOne, lineTwo);
}
void MenuAutopilot::runCommand() const {
switch (this->getCurrentPage()) {
case 5:
this->autopilot->switchLoopMode();
break;
case 6:
if (this->targetFreezed) {
this->targetFreezed = false;
this->driveManager->getNavigation()->freezeTargetPoint(false);
} else {
this->targetFreezed = true;
this->driveManager->getNavigation()->freezeTargetPoint();
}
break;
case 7:
this->minDistance = this->driveManager->getNavigation()->increaseMinDistanceToReachPoint();
break;
default:
break;
}
}
void MenuAutopilot::runCommandNo() const {
switch (this->getCurrentPage()) {
case 7:
this->minDistance = this->driveManager->getNavigation()->decreaseMinDistanceToReachPoint();
break;
default:
break;
}
}
void MenuAutopilot::update() {
if (!this->autopilot->shouldUpdate())
return;
this->routeInfo = this->autopilot->getRouteInfo();
this->printMenu();
}
void MenuAutopilot::init() {
this->setCountPages(8);
this->driveManager->changeModus(Modi::Autopilot);
this->autopilot = (Autopilot*) this->driveManager->getDriveModiPtr();
this->routeInfo = this->autopilot->getRouteInfo();
this->driveManager->getNavigation()->increaseMinDistanceToReachPoint();
this->minDistance = this->driveManager->getNavigation()->decreaseMinDistanceToReachPoint();
}
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.h
-59
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@@ -1,59 +0,0 @@
/**
* @file menuAutopilot.h
* @author Alexander Klein (alex@kleiax.de)
* @brief Contains a class to print informations about the Autopilot
* @version 0.1
* @date 2022-02-03
*
* @copyright Copyright (c) 2022
*
*/
#ifndef MENU_AUTOPILOT_DRIVE_H
#define MENU_AUTOPILOT_DRIVE_H
#include "SpecialMenus/driveModi/menuDriveMode.h"
/**
* @brief A class to print informations about the Autopilot
*
*/
class MenuAutopilot : public MenuDriveMode {
public:
/**
* @brief Construct a new Menu Autopilot object
*
* @param driveManager for MenuDriveMode
*/
MenuAutopilot(DriveManager* driveManager) : MenuDriveMode(driveManager) {}
/**
* @brief Prints the Information to display and console
*
* The informations are only printed to the display if it
* set.
*
* Changes the DriveModi to Autopilot if it is the first time called
* and save the Autopilot object.
*/
void printPage() const override;
/**
* @brief can be called to update shown data
*/
void update() override;
private:
void init() override;
void runCommand() const override;
void runCommandNo() const override;
bool mutable targetFreezed = false;
double mutable minDistance;
Autopilot* autopilot;
RouteInfo routeInfo;
};
#endif // MENU_AUTOPILOT_DRIVE_H
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp
-138
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/**
* @file menuCaptureRoute.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief Contains an implementation of the class MenuCaptureRoute
* @version 0.1
* @date 2022-01-31
*
* @copyright Copyright (c) 2022
*
*/
#include "menuCaptureRoute.h"
void MenuCaptureRoute::printPage() const {
RouteInfo routeInfo = this->captureRoute->getRouteInfo();
UBX_NAV_PVT_data_t* gpsData = this->driveManager->getNavigation()->getUbxData();
String lineOne = "";
String lineTwo = "";
switch (this->getCurrentPage()) {
case 0:
lineOne = "Capture Route";
lineTwo = "You can drive";
break;
case 1:
lineOne = "Saved waypoints";
lineTwo.concat(routeInfo.totalPoints);
break;
case 2:
lineOne = "Last status:";
switch (this->captureRoute->getLastStatus()) {
case Navigation::Status::InsufficientAccuracy:
lineTwo = "Poor Accuracy";
break;
case Navigation::Status::Updated:
lineTwo = "Point added";
break;
case Navigation::Status::Unchanged:
lineTwo = "Point too close";
break;
default:
lineTwo = "---";
break;
}
break;
case 3:
lineOne = "Distance to last";
lineTwo = "point: ";
lineTwo.concat(this->captureRoute->getDistanceToLastPoint());
break;
case 4: {
NTRIPClientStates status = this->driveManager->getNavigation()->getNTRIPClient()->getClientState();
lineOne = "NTRIP Client is";
if (status == NTRIPClientStates::pushData)
lineTwo = "enabled";
else if (status == NTRIPClientStates::notAvailable)
lineTwo = "not available";
else
lineTwo = "disabled";
break;
}
case 5: {
lineOne = "Carrier Solution";
uint8_t carrSoln = gpsData->flags.bits.carrSoln;
if (carrSoln == 0)
lineTwo = "None";
else if (carrSoln == 1)
lineTwo = "Floating";
else if (carrSoln == 2)
lineTwo = "Fixed";
else
lineTwo = "UNKNOWN";
break;
}
case 6:
lineOne = "hAccuracy: ";
lineTwo = "Azimuth: ";
lineTwo.concat(this->driveManager->getNavigation()->getAzimuth());
if (gpsData->fixType)
lineOne.concat(gpsData->hAcc);
else
lineOne.concat("0");
break;
case 7:
lineOne = "Current minimal";
if (this->driveManager->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
lineTwo = "accuracy is high";
else
lineTwo = "accuracy is low";
break;
default:
this->printDefault();
return;
}
this->print(lineOne, lineTwo);
}
void MenuCaptureRoute::update() {
if (!this->captureRoute->shouldUpdate())
return;
this->printMenu();
}
void MenuCaptureRoute::runCommand() const {
switch (this->getCurrentPage())
{
case 7:
if (this->driveManager->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
this->driveManager->getNavigation()->setMinAccuracy(Point::Accuracy::none);
else
this->driveManager->getNavigation()->setMinAccuracy(Point::Accuracy::twoDigOfCM);
break;
default:
break;
}
}
void MenuCaptureRoute::init() {
this->setCountPages(8);
this->updateDelay = 500;
this->driveManager->changeModus(Modi::CaptureRoute);
this->captureRoute = (CaptureRoute*) this->driveManager->getDriveModiPtr();
}
src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h
-53
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/**
* @file menuCaptureRoute.h
* @author Alexander Klein (alex@kleiax.de)
* @brief Contains a class to print informations about CaptureRoute
* @version 0.1
* @date 2022-01-31
*
* @copyright Copyright (c) 2022
*
*/
#ifndef MENU_CAPTURE_ROUTE_H
#define MENU_MANUAL_DRIVE_H
#include "SpecialMenus/driveModi/menuDriveMode.h"
/**
* @brief A class to print informations about the Autopilot
*
*/
class MenuCaptureRoute : public MenuDriveMode {
public:
/**
* @brief Construct a new Menu Capture Route object
*
* @param driveManager
*/
MenuCaptureRoute(DriveManager* driveManager) : MenuDriveMode(driveManager) {}
/**
* @brief Prints the Information to display and console
*
* The informations are only printed to the display if it
* set.
*
* Changes the DriveModi to CaptureRoute if it is the first time called
* and save the CaptureRoute object.
*/
void printPage() const override;
/**
* @brief can be called to update shown data
*/
void update() override;
void runCommand() const override;
private:
void init() override;
CaptureRoute* captureRoute;
};
#endif // MENU_MANUAL_DRIVE_H