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

Update doxygen comments

Browse Source
This commit is contained in:
kleiax
2023-02-13 20:36:04 +01:00
parent 1604cb0026
commit deecf7724c
23 changed files with 497 additions and 70 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/OutputBuf/outputBuf.h
+18
View File
@@ -40,7 +40,25 @@ class OutputBuf : public std::streambuf {
* @param debugMqtt
*/
OutputBuf(DebugMqtt* debugMqtt = nullptr, BluetoothSerial* serialBT = nullptr);
/**
* @brief Activate the mqtt output
*
* This only works if the DebugMqtt is set by
* setDebugMqtt.
*
* @param status
*/
void activateMqtt(bool status);
/**
* @brief Active the output over the bluetooth serial consol
*
* This only works if BluetoothSerial is set by
* setSerialBT.
*
* @param status
*/
void activateSerialBT(bool status);
void setDebugMqtt(DebugMqtt* debugMqtt);
src/SpecialMenus/Route/menuRoute.cpp
+1 -1
View File
@@ -1,7 +1,7 @@
/**
* @file menuRoute.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains the implementation of the classes MenuActionRoute, MenuRoute and MenuRouteWrapper.
* @version 0.1
* @date 2022-12-28
*
src/SpecialMenus/Route/menuRoute.h
+78 -2
View File
@@ -1,7 +1,7 @@
/**
* @file menuRoute.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains a classes to handles routes with the user input.
* @version 0.1
* @date 2022-12-28
*
@@ -28,9 +28,25 @@
class MenuRoute;
typedef void (MenuRoute::*DataFunction)(uint8_t);
/**
* @brief MenuActionWrapper to call DataFunctions
*
* This class should be used to call importRoute,
* exportRoute and clearRoute over the Menu.
*/
class MenuActionRoute : public MenuActionWrapper {
public:
/**
* @brief Construct a new Menu Action Route object
*
* @param menuRoute
* @param dataFunction like exportRoute
*/
MenuActionRoute(MenuRoute* menuRoute, DataFunction dataFunction);
/**
* @brief Runs the given DataFunction
*/
void action() override;
private:
@@ -38,21 +54,66 @@ class MenuActionRoute : public MenuActionWrapper {
DataFunction dataFunction;
};
/**
* @brief Handles routes
*
* With this menu the user can import, export and delete routes.
*/
class MenuRoute : public MenuControl {
public:
/**
* @brief Construct a new Menu Route object
*
* @param route
*/
MenuRoute(Route* route);
~MenuRoute();
/**
* @brief Prints the last informations
*
* On first call this function calls the init function.
* On every call this functions call the printMenu function from
* the mainMenu of this class.
*/
void printMenu() override;
/**
* @name User Inputs
* @brief Inputs given by the parentMenu
*/
///@{
void down() override;
void up() override;
void right() override;
void left() override;
void yes() override;
void no() override;
///@}
/**
* @brief Import a Route.
*
* The functions tries to pull the given route id from the RoverApi.
*
* @param routeNumber id
*/
void importRoute(uint8_t routeNumber);
/**
* @brief Export a Route.
*
* The functions tries to push the current route to the RoverApi.
*
* @param routeNumber id
*/
void exportRoute(uint8_t routeNumber);
/**
* @brief Delete the current Route.
*
* @param none this param is not be used.
*/
void clearRoute(uint8_t none);
private:
@@ -65,11 +126,26 @@ class MenuRoute : public MenuControl {
bool blockInput = false;
};
/**
* @brief MenuRouteWrapper to call DataFunctions with numeric user input
*
*/
class MenuRouteWrapper : public MenuIntInputWrapper {
public:
/**
* @brief Construct a new Menu Route Wrapper object.
*
* @param menuRoute
* @param dataFunction
*/
MenuRouteWrapper(MenuRoute* menuRoute, DataFunction dataFunction);
/**
* @brief Calls the given DataFunction.
*
* @param values The value to be given to the DataFunction.
* @param length Number of values, should be 1.
*/
void action(int16_t* values, uint8_t length) override;
private:
src/SpecialMenus/Route/menuRoutePoints.cpp
+1 -1
View File
@@ -1,7 +1,7 @@
/**
* @file menuRoutePoints.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains the implementation of the class MenuRoutePoints.
* @version 0.1
* @date 2022-12-28
*
src/SpecialMenus/Route/menuRoutePoints.h
+19 -1
View File
@@ -1,7 +1,7 @@
/**
* @file menuRoutePoints.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains a class to print the coordinates of a Route.
* @version 0.1
* @date 2022-12-28
*
@@ -16,11 +16,29 @@
#include "route.h"
#include "menuInformationSites.h"
/**
* @brief Prints coordinates of Route side by side.
*
*/
class MenuRoutePoints : public MenuInformationSites {
public:
/**
* @brief Construct a new Menu Route Points object
*
* @param route
*/
MenuRoutePoints(Route *route);
/**
* @brief Configure the base class MenuInformationSites
*
* Set the amount of pages.
*/
void init () override;
/**
* @brief Prints the the coordinates of the current Point.
*/
void printPage() const override;
private:
src/SpecialMenus/Systeminformation/menuSysteminformation.h
+11
View File
@@ -18,8 +18,19 @@
#include "menuInformationSites.h"
#include "battery.h"
/**
* @brief Prints information about the current system status.
*
* The informations are about the batteries, memory and uptime.
*/
class MenuSysteminformation : public MenuInformationSites {
public:
/**
* @brief Construct a new Menu Systeminformation object
*
* @param mainBattery
* @param gamepad
*/
MenuSysteminformation(Battery* mainBattery, Ps3Controller* gamepad);
private:
src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
+1 -1
View File
@@ -1,7 +1,7 @@
/**
* @file menuTestMode.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains the implementation of the class MenuTestMode.
* @version 0.1
* @date 2022-09-08
*
src/SpecialMenus/driveModi/TestMode/menuTestMode.h
+30 -2
View File
@@ -1,7 +1,7 @@
/**
* @file menuTestMode.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains a class to use and print information about the TestMode.
* @version 0.1
* @date 2022-09-08
*
@@ -17,11 +17,35 @@
#include "menuAction.h"
#include "menuIntInput.h"
/**
* @brief Interact with the TestMode
*
*/
class MenuTestMode : public MenuDriveMode {
public:
/**
* @brief Construct a new Menu Test Mode object
*
* @param driveManager
*/
MenuTestMode(DriveManager *driveManager);
~MenuTestMode();
void printMenu();
/**
* @brief Prints the last informations
*
* On first call this function calls the init function.
* On every call this functions call the printMenu function from
* the mainMenu of this class.
*/
void printMenu() override;
/**
* @brief Prints maneuver Timer
*
* Aside from that the function looks if the maneuver is done and
* give the user input free.
*/
void printManeuverTime();
void down() override;
@@ -31,6 +55,10 @@ class MenuTestMode : public MenuDriveMode {
void yes() override;
void no() override;
/**
* @brief Calls the printManeuverTime function if a maneuver is in process.
*
*/
void update() override;
TestMode* getTestMode() const { return this->testMode; }
src/SpecialMenus/driveModi/menuDriveMode.h
+9
View File
@@ -30,8 +30,17 @@ class MenuDriveMode : public MenuControl {
void down() override {}
void up() override {}
void right() override {}
/**
* @brief Goes back to the parentMenu.
*/
void left() override;
/**
* @brief Calls left.
*/
void no() override;
void yes() override {}
virtual void printMenu() = 0;
src/driveModi/Modi/TestMode/testMode.cpp
+1 -1
View File
@@ -1,7 +1,7 @@
/**
* @file testMode.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains the implementation of the class TestMode.
* @version 0.1
* @date 2022-09-08
*
src/driveModi/Modi/TestMode/testMode.h
+75 -1
View File
@@ -1,7 +1,7 @@
/**
* @file testMode.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains a class to test different functions from the rover.
* @version 0.1
* @date 2022-09-08
*
@@ -17,8 +17,18 @@
#include "navigation.h"
#include "driveModi/driveModi.h"
/**
* @brief Test different functions from the rover.
*
* You can test engine, engine controller, light and speed meter.
*/
class TestMode : public DriveModi {
public:
/**
* @brief Different states to test the engine
*
*/
enum Maneuver {
None,
LeftEngine,
@@ -28,23 +38,87 @@ class TestMode : public DriveModi {
Drive
};
/**
* @brief Construct a new Test Mode object
*
* @param moveControl
* @param navigation
*/
TestMode(MoveControl *moveControl, Navigation* navigation);
~TestMode();
/**
* @brief Controls the maneuver.
*
* Needed for actions which take a longer time.
* Should be called ever main loop.
*/
void loop() override;
/**
* @brief Set the speed for the Maneuver Drive
*
* @param speed m/s / 100
*/
void setSpeed(int16_t speed);
/**
* @brief Set the rotation speed for the Maneuver Drive
*
* @param speed rad/s / 100
*/
void setRotationSpeed(int16_t speed);
bool drive(int16_t cm = 0, int16_t degree = 0);
/**
* @brief Sets the left Engine to a specific power value.
*
* This start a maneuver with the given time.
*
* @param powerPercentage from 0% to 100%
* @param seconds time to run the engine
* @return true success
* @return false failure
*/
bool leftEngine(int16_t powerPercentage, int16_t seconds);
/**
* @brief See leftEngine
*
* @param powerPercentage
* @param seconds
* @return true
* @return false
*/
bool rightEngine(int16_t powerPercentage, int16_t seconds);
/**
* @brief See leftEngine
*
* @param powerPercentage
* @param seconds
* @return true
* @return false
*/
bool bothEngine(int16_t powerPercentage, int16_t seconds);
/**
* @brief Abort the running maneuver.
*
* Stops all movement. This is the only possibility to cancel a maneuver
* before the time is up.
*/
void abortManeuver();
uint8_t getRemainingManeuverTime();
/**
* @brief Returns true if a maneuver is running
*
* @return true
* @return false
*/
bool getBusy() const { return this->busy; }
Maneuver getManeuver() const { return this->maneuver; }
src/main.cpp
+21 -21
View File
@@ -50,7 +50,7 @@ MoveControl moveController;
DriveManager* driveManager;
Menu* main_m;
LiquidCrystal_I2C* lcd;
DisplayWrapper* lcdWrapper;
LcdWrapper* lcdWrapper;
OutputBuf* outputBuf;
DebugMqtt* debugMqtt = nullptr;
Battery* mainBattery;
@@ -125,7 +125,7 @@ void setup() {
lcd->printf("%c Kleiax-Rover %c", wifiIndicator, wifiIndicator);
lcd->setCursor(0, 1);
lcd->print("Press PS-Button");
lcdWrapper = new DisplayWrapper(lcd);
lcdWrapper = new LcdWrapper(lcd);
makeMenu();
@@ -280,17 +280,17 @@ void makeMenu() {
// Set Menus on LCD
main_m->setLcd(lcdWrapper);
mode_m->setLcd(lcdWrapper);
pid_m->setLcd(lcdWrapper);
pidl_m->setLcd(lcdWrapper);
pidr_m->setLcd(lcdWrapper);
man_m->setLcd(lcdWrapper);
cap_m->setLcd(lcdWrapper);
auto_m->setLcd(lcdWrapper);
testM_m->setLcd(lcdWrapper);
gps_m->setLcd(lcdWrapper);
sys_m->setLcd(lcdWrapper);
rout_m->setLcd(lcdWrapper);
test_m->setLcd(lcdWrapper);
pid_m->setLcd(LcdWrapper);
pidl_m->setLcd(LcdWrapper);
pidr_m->setLcd(LcdWrapper);
man_m->setLcd(LcdWrapper);
cap_m->setLcd(LcdWrapper);
auto_m->setLcd(LcdWrapper);
testM_m->setLcd(LcdWrapper);
gps_m->setLcd(LcdWrapper);
sys_m->setLcd(LcdWrapper);
rout_m->setLcd(LcdWrapper);
test_m->setLcd(LcdWrapper);
// Entry for the main menu
@@ -342,17 +342,17 @@ void makeMenu() {
}
void restart(void) {
lcdWrapper->clear();
lcdWrapper->setCursor(0, 0);
lcdWrapper->print("Rebooting ...");
LcdWrapper->clear();
LcdWrapper->setCursor(0, 0);
LcdWrapper->print("Rebooting ...");
ESP.restart();
}
void disconnectController(void) {
disconnectPs3 = true;
lcdWrapper->clear();
lcdWrapper->setCursor(0, 0);
lcdWrapper->print("Controller is");
lcdWrapper->setCursor(0, 1);
lcdWrapper->print("disconnected.");
LcdWrapper->clear();
LcdWrapper->setCursor(0, 0);
LcdWrapper->print("Controller is");
LcdWrapper->setCursor(0, 1);
LcdWrapper->print("disconnected.");
}