first build

lib/Sensors/sensorData.cpp

@@ -20,20 +20,6 @@ SensorData::SensorData() {
     this->loopDelay = 50;
 }
 
-SensorData::~SensorData() {
-    if (this->ntripClient)
-        delete this->ntripClient;
-}
-
-void SensorData::enableNtrip(String host, uint16_t port, String mountPoint, String user, String password) {
-    this->ntripClient = new NTRIPClient(this->gnss, host.c_str(), port, mountPoint.c_str(), user.c_str(), password.c_str());
-    this->ntripClient->gpsConfiguration();
-    this->ntripClient->loop();
-    this->ntripClient->setActivated(false);
-    this->isNtripInit = true;
-    this->addChildComponent(this->ntripClient);
-}
-
 void SensorData::enableGnss(SPIClass* spiPort, uint8_t csPin) {
     this->gnss = new SFE_UBLOX_GNSS();
     if (this->gnss->begin(*spiPort, csPin, 4000000) == false) {

lib/Sensors/sensorData.h

@@ -22,7 +22,6 @@
 #include <QMC5883LCompass.h>
 // Gyroskop
 #include "calcAzimuth.h"
-#include "ntripClient.h"
 
 #include "point.h"
 class Sensors;
@@ -30,9 +29,7 @@ class Sensors;
 class SensorData : public Component {
     public:
         SensorData();
-        ~SensorData();
         
-        void enableNtrip(String host, uint16_t port, String mountPoint, String user, String password);
         void enableGnss(SPIClass* spiPort, uint8_t csPin);
         void enableGnss();
         void enableRealCompass();
@@ -50,7 +47,6 @@ class SensorData : public Component {
 
         CalcAzimuth* getCalcCompass() const { return this->calcCompass; }
         QMC5883LCompass* getRealCompass() const { return this->realCompass; }
-        NTRIPClient* getNtripClient() const { return this->ntripClient; }
 
         // static
         /**
@@ -71,19 +67,10 @@ class SensorData : public Component {
         QMC5883LCompass* realCompass = nullptr;
         CalcAzimuth* calcCompass = nullptr;
         SFE_UBLOX_GNSS* gnss = nullptr;
-        NTRIPClient* ntripClient = nullptr;
 
         UBX_NAV_PVT_data_t* gnssData;
         Point currentPosition;
 
-        char* host;
-        char* mountPoint;
-        char* user;
-        char* password;
-        
-        bool isNtripInit = false;
-
-        uint16_t port;
         int16_t realAzimuth = INT16_MAX;
         int16_t calcAzimuth = INT16_MAX;
 

src/SpecialMenus/GPS/menuGPS.cpp

@@ -14,7 +14,6 @@
 MenuGPS::MenuGPS(SensorData* sensorData) :
     MenuInformationSites(10) {
     this->sensorData = sensorData;
-    // this->ntripClient = this->navigation->getNTRIPClient();
 }
 
 void MenuGPS::printPage() const {
@@ -65,20 +64,7 @@ void MenuGPS::printPage() const {
 
             break;
 
-        case 3: {
+        case 3:
-            // NTRIPClientStates status = this->ntripClient->getClientState();
-            // lineOne = "NTRIP Client is";
-
-            // if (status ==  NTRIPClientStates::pushData)
-            //     lineTwo = "enabled";
-            // else if (status == NTRIPClientStates::notAvailable)
-            //     lineTwo = "not available";
-            // else
-            //     lineTwo = "disabled";
-            }
-            break;
-
-        case 4:
             lineOne = "Fix type:";
             if (fixType == 0)
                 lineTwo = "None";
@@ -96,7 +82,7 @@ void MenuGPS::printPage() const {
                 lineTwo = "UNKNOWN";
             break;
 
-        case 5: {
+        case 4: {
             lineOne = "Carrier Solution";
             uint8_t carrSoln = gpsData->flags.bits.carrSoln;
             if (carrSoln == 0)
@@ -110,7 +96,7 @@ void MenuGPS::printPage() const {
             }
             break;
 
-        case 6: 
+        case 5: 
             lineOne = "Hrizntl Accuracy";
             if (fixType) {
                 lineTwo = "";
@@ -119,7 +105,7 @@ void MenuGPS::printPage() const {
                 lineTwo = "0";
             break;
 
-        case 7:
+        case 6:
             lineOne = "magDec: ";
             lineTwo = "magAcc: ";
             if (fixType) {
@@ -131,7 +117,7 @@ void MenuGPS::printPage() const {
             }
             break;
 
-        case 8:
+        case 7:
             lineOne = "Azimuth: ";
             lineTwo = "";
             lineTwo.concat(this->sensorData->getRealAzimuth());
@@ -144,16 +130,3 @@ void MenuGPS::printPage() const {
 
     this->print(lineOne, lineTwo);
 }
-
-void MenuGPS::runCommand() const {
-    switch (this->getCurrentPage()) {
-        case 3: {
-            // // std::cout << "MenuGPS::runCommand " << this->ntripClient->getClientState() << std::endl;
-            // if (this->ntripClient->getClientState() == NTRIPClientStates::pushData)
-            //     this->ntripClient->setActivated(false);
-            // else if (this->ntripClient->getClientState() != NTRIPClientStates::notAvailable)
-            //     this->ntripClient->setActivated(true);
-        }
-        break;
-    }
-}

src/SpecialMenus/GPS/menuGPS.h

@@ -16,7 +16,6 @@
 
 #include "menuInformationSites.h"
 #include "sensorData.h"
-#include "ntripClient.h"
 
 /**
  * @brief A class to print informations about the GPS object
@@ -33,9 +32,7 @@ class MenuGPS : public MenuInformationSites {
 
     private:
         void printPage() const override;
-        void runCommand() const override;
 
-        // NTRIPClient* ntripClient;
         SensorData* sensorData;
 };
 

src/SpecialMenus/Route/menuRoute.cpp

@@ -1,306 +0,0 @@
-/**
- * @file menuRoute.cpp
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains the implementation of the classes MenuActionRoute, MenuRoute and MenuRouteWrapper. 
- * @version 0.1
- * @date 2022-12-28
- * 
- * @copyright Copyright (c) 2022
- * 
- */
-
-#include "menuRoute.h"
-
-MenuActionRoute::MenuActionRoute(MenuRoute* menuRoute, DataFunction dataFunction) {
-    this->menuRoute = menuRoute;
-    this->dataFunction = dataFunction;
-}
-
-void MenuActionRoute::action() {
-    (this->menuRoute->*this->dataFunction)(0);
-}
-
-MenuRoute::MenuRoute(Route* route) {
-    this->route = route;
-}
-
-MenuRoute::~MenuRoute() {
-    if (isInit)
-        delete this->mainMenu;
-}
-
-void MenuRoute::printMenu() {
-    if (!this->isInit) {
-        this->isInit = true;
-        this->init();
-    }
-
-    this->mainMenu->printMenu();
-}
-
-
-void MenuRoute::down() {
-    if (blockInput) return;
-    this->mainMenu->down();
-}
-
-void MenuRoute::up() {
-    if (blockInput) return;
-    this->mainMenu->up();
-}
-
-void MenuRoute::right() {
-    if (blockInput) return;
-    this->mainMenu->right();
-}
-
-void MenuRoute::left() {
-    if (blockInput) return;
-    if (this->mainMenu->isInSubmenu())
-        this->mainMenu->left();
-    else
-        this->parentMenu->printMenu();
-}
-
-void MenuRoute::yes() {
-    if (blockInput) return;
-    this->mainMenu->yes();
-}
-
-void MenuRoute::no() {
-    if (blockInput) return;
-    if (this->mainMenu->isInSubmenu())
-        this->mainMenu->no();
-    else
-        this->left();
-}
-
-
-void MenuRoute::init() {
-    // auto dummy = []() {
-    //     std::cout << "Dummy in Action" <<std::endl;
-    // };
-
-    this->mainMenu = new Menu;
-    MenuRoutePoints* pointsMenu = new MenuRoutePoints(this->route);
-
-    this->mainMenu->setLcd(this->lcd);
-    pointsMenu->setLcd(this->lcd);
-
-    MenuIntInput* importWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::importRoute));
-    MenuIntInput* exportWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::exportRoute));
-    MenuIntInput* deleteWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::deleteRoute));
-    MenuActionRoute* clearWrapper = new MenuActionRoute(this, &MenuRoute::clearRoute);
-
-    importWrapper->setLcd(this->lcd);
-    importWrapper->setMinMax(0, 100);
-    importWrapper->setPrintParentMenu(false);
-    importWrapper->setEntry(0, "Import Route");
-
-    exportWrapper->setLcd(this->lcd);
-    exportWrapper->setMinMax(0, 100);
-    exportWrapper->setPrintParentMenu(false);
-    exportWrapper->setEntry(0, "Export Route");
-
-    deleteWrapper->setLcd(this->lcd);
-    deleteWrapper->setMinMax(0, 100);
-    deleteWrapper->setPrintParentMenu(false);
-    deleteWrapper->setEntry(0, "Delete Route");
-
-    this->mainMenu->addEntry(new MenuAction("Points", pointsMenu));
-    this->mainMenu->addEntry(new MenuAction("Clear", clearWrapper));
-    this->mainMenu->addEntry(new MenuAction("Import", importWrapper));
-    this->mainMenu->addEntry(new MenuAction("Export", exportWrapper));
-    this->mainMenu->addEntry(new MenuAction("Delete", deleteWrapper));
-}
-
-void MenuRoute::importRoute(uint8_t routeNumber) {
-    this->blockInput = true;
-
-    String lineOne = "";
-    String lineTwo = "";
-
-    if (WiFi.status() != WL_CONNECTED) {
-        lineOne = "Not connected to";
-        lineTwo = "the WiFi.";
-        this->print(lineOne, lineTwo);
-        this->blockInput = false;
-        return;
-    }
-
-    if (ESP.getMaxAllocHeap() < JSON_DOCUMENT_SIZE_ROUTE) {
-        lineOne = "Not enough mem";
-        lineTwo = "for Json obj";
-        this->print(lineOne, lineTwo);
-        this->blockInput = false;
-        return;
-    }
-
-    WiFiClient client;
-    HTTPClient http;
-    DynamicJsonDocument doc(JSON_DOCUMENT_SIZE_ROUTE);
-    
-    String host = "http://rover.kleiax.de/api/";
-    host.concat(routeNumber);
-    http.begin(client, host);
-    int httpResponseCode = http.GET();
-
-    lineOne = "Import complete";
-    lineTwo = "Code: ";
-
-    if (httpResponseCode == 202)
-        deserializeJson(doc, http.getStream());
-    else
-        lineOne = "HTTP Error";
-
-    lineTwo.concat(httpResponseCode);
-    this->print(lineOne, lineTwo);
-
-    if (httpResponseCode <= 0) {
-        this->blockInput = false;
-        return;
-    }
-
-    uint16_t totalPoints = doc["amountPoints"];
-
-    this->route->clear();
-    for (uint16_t i = 0; i < totalPoints; i++) {
-        Point::Coordinates coords;
-        coords.lat = doc["points"][i][0].as<double>();
-        coords.lon = doc["points"][i][1].as<double>();
-        this->route->addPointToRoute(Point(coords, true));
-    }
-
-    this->blockInput = false;
-    http.end();
-}
-
-void MenuRoute::exportRoute(uint8_t routeNumber) {
-    this->blockInput = true;
-    uint16_t totalPoints = this->route->getRouteInfo().totalPoints;
-
-    String lineOne = "";
-    String lineTwo = "";
-
-    if (WiFi.status() != WL_CONNECTED) {
-        lineOne = "Not connected to";
-        lineTwo = "the WiFi.";
-        this->print(lineOne, lineTwo);
-        this->blockInput = false;
-        return;
-    }
-
-    if (ESP.getMaxAllocHeap() < JSON_DOCUMENT_SIZE_ROUTE) {
-        lineOne = "Not enough mem";
-        lineTwo = "for Json obj";
-        this->print(lineOne, lineTwo);
-        this->blockInput = false;
-        return;
-    }
-
-    DynamicJsonDocument doc(JSON_DOCUMENT_SIZE_ROUTE);
-    doc["number"] = routeNumber;
-    doc["amountPoints"] = totalPoints;
-
-    Point::Coordinates coords = this->route->startRoute().getCoordinates();
-    doc["points"][0][0] = coords.lat;
-    doc["points"][0][1] = coords.lon;
-    for (uint16_t i = 1; i < totalPoints; i++) {
-        coords = this->route->getNextPoint().getCoordinates();
-        doc["points"][i][0] = coords.lat;
-        doc["points"][i][1] = coords.lon;
-    }
-    String jsonData;
-    serializeJson(doc, jsonData);
-
-    WiFiClient client;
-    HTTPClient http;
-    
-    http.begin(client, "http://rover.kleiax.de/api/");
-    http.addHeader("Content-Type", "application/json");
-    int httpResponseCode = http.POST(jsonData);
-
-    if (httpResponseCode == 201)
-        lineOne = "Export complete";
-    else
-        lineOne = "HTTP Error";
-    lineTwo = "Code: ";
-    lineTwo.concat(httpResponseCode);
-    this->print(lineOne, lineTwo);
-    this->blockInput = false;
-    
-    http.end();
-}
-
-void MenuRoute::deleteRoute(uint8_t routeNumber) {
-    this->blockInput = true;
-
-    String lineOne = "";
-    String lineTwo = "";
-
-    if (WiFi.status() != WL_CONNECTED) {
-        lineOne = "Not connected to";
-        lineTwo = "the WiFi.";
-        this->print(lineOne, lineTwo);
-        this->blockInput = false;
-        return;
-    }
-
-    if (ESP.getMaxAllocHeap() < JSON_DOCUMENT_SIZE_ROUTE) {
-        lineOne = "Not enough mem";
-        lineTwo = "for Json obj";
-        this->print(lineOne, lineTwo);
-        this->blockInput = false;
-        return;
-    }
-
-    WiFiClient client;
-    HTTPClient http;
-    DynamicJsonDocument doc(JSON_DOCUMENT_SIZE_ROUTE);
-    
-    String host = "http://rover.kleiax.de/api/";
-    host.concat(routeNumber);
-    http.begin(client, host);
-    int httpResponseCode = http.sendRequest("DELETE");
-
-    lineOne = "Delete complete";
-    lineTwo = "Code: ";
-
-    if (httpResponseCode == 202)
-        deserializeJson(doc, http.getStream());
-    else
-        lineOne = "HTTP Error";
-
-    lineTwo.concat(httpResponseCode);
-    this->print(lineOne, lineTwo);
-
-    this->blockInput = false;
-    http.end();
-}
-
-void MenuRoute::clearRoute(uint8_t none) {
-    this->route->clear();
-    this->print("Currente route", "deleted...");
-}
-
-MenuRouteWrapper::MenuRouteWrapper(MenuRoute* menuRoute, DataFunction dataFunction) {
-    this->menuRoute = menuRoute;
-    this->dataFunction = dataFunction;
-}
-
-void MenuRouteWrapper::action(int16_t* values, uint8_t length) {
-    if (length < 1) {
-        std::cout << "Error in MenuRouteWrapper::action" << std::endl;
-        return;
-    }
-
-    if (values[0] < 0)
-        values[0] = 0;
-
-    if (values[0] > UINT8_MAX)
-        values[0] = UINT8_MAX;
-
-    (this->menuRoute->*this->dataFunction)(values[0]);
-}
-
-

src/SpecialMenus/Route/menuRoute.h

@@ -1,158 +0,0 @@
-/**
- * @file menuRoute.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains a classes to handles routes with the user input.
- * @version 0.1
- * @date 2022-12-28
- * 
- * @copyright Copyright (c) 2022
- * 
- */
-
-#ifndef MENU_ROUTE_H
-#define MENU_ROUTE_H
-
-#include <Arduino.h>
-#include <ArduinoJson.h>
-#include <WiFi.h>
-#include <HTTPClient.h>
-
-#include "route.h"
-#include "menu.h"
-#include "menuControl.h"
-#include "menuIntInput.h"
-#include "menuRoutePoints.h"
-
-#define JSON_DOCUMENT_SIZE_ROUTE 4096
-
-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:
-        MenuRoute* menuRoute;
-        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);
-
-        void deleteRoute(uint8_t routeNumber);
-
-        /**
-         * @brief Delete the current Route.
-         * 
-         * @param none this param is not be used.
-         */
-        void clearRoute(uint8_t none);
-        
-    private:
-        void init();
-
-        Route* route;
-        Menu* mainMenu;
-
-        bool isInit = false;
-        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:
-        MenuRoute* menuRoute; 
-        DataFunction dataFunction = nullptr;
-};
-
-#endif // MENU_ROUTE_H

src/SpecialMenus/Route/menuRoutePoints.cpp

@@ -1,76 +0,0 @@
-/**
- * @file menuRoutePoints.cpp
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains the implementation of the class MenuRoutePoints.
- * @version 0.1
- * @date 2022-12-28
- * 
- * @copyright Copyright (c) 2022
- * 
- */
-
-#include "menuRoutePoints.h"
-
-MenuRoutePoints::MenuRoutePoints(Route *route) : MenuInformationSites() {
-    this->route = route;
-}
-
-void MenuRoutePoints::init()  {
-    uint16_t amountPoints = this->route->getRouteInfo().totalPoints;
-    if (amountPoints > UINT8_MAX)
-        this->error = true;
-    else
-        this->setCountPages(amountPoints);
-}
-
-void MenuRoutePoints::printPage() const {
-    uint8_t currentPage = this->getCurrentPage();
-    if (this->lastPageNumber == currentPage)
-        return;
-
-    String lineOne = "N ";
-    String lineTwo = "E ";
-
-    if (this->error) {
-        lineOne = "Error: To much";
-        lineTwo = "points are given";
-        this->print(lineOne, lineTwo);
-        return;
-    }
-
-    RouteInfo info = this->route->getRouteInfo();
-    if (info.totalPoints == 0) {
-        lineOne = "No Points are";
-        lineTwo = "available";
-        this->print(lineOne, lineTwo);
-        return;
-    }
-
-    Point p;
-    if (currentPage == 0)
-        p = this->route->startRoute();
-    else if (this->lastPageNumber - 1 == currentPage)
-        p = this->route->getPreviousPoint();
-    else if (this->lastPageNumber + 1 == currentPage)
-        p = this->route->getNextPoint();
-    else if (currentPage == this->getCountPages() - 1)
-        p = this->route->endRoute();
-    else
-        std::cout << "Error in: MenuRoutePoints::printPage()" << std::endl;
-
-    char buf[20];
-    char* string;
-
-    info = this->route->getRouteInfo();
-    string = dtostrf(p.getLatitude(), 9, 7, buf);
-    lineOne.concat(string);
-    lineOne.concat(" ");
-    lineOne.concat(info.currentPoint);
-    // lineOne.concat(currentPage);
-    string = dtostrf(p.getLongitude(), 9, 7, buf);
-    lineTwo.concat(string);
-    lineTwo.concat(" ");
-    lineTwo.concat(info.totalPoints);
-    // std::cout << "MenuRoutePoints::printPage currentPage: " << (int) currentPage << std::endl;
-    this->print(lineOne, lineTwo);
-}

src/SpecialMenus/Route/menuRoutePoints.h

@@ -1,50 +0,0 @@
-/**
- * @file menuRoutePoints.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains a class to print the coordinates of a Route.
- * @version 0.1
- * @date 2022-12-28
- * 
- * @copyright Copyright (c) 2022
- * 
- */
-
-#ifndef MENU_ROUTE_POINTS_H
-#define MENU_ROUTE_POINTS_H
-
-#include "navigation.h"
-#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:
-        Route* route;
-        bool error = false;
-
-};
-
-#endif // MENU_ROUTE_POINTS_H

src/driveModi/Modi/TestMode/testMode.cpp

@@ -10,10 +10,8 @@
  */
 #include "testMode.h"
 
-TestMode::TestMode(DriveModiParams params,  Navigation* navigation) 
+TestMode::TestMode(DriveModiParams params) 
-        : DriveModi(params) {
+        : DriveModi(params) {}
-    this->navigation = navigation;
-}
 
 TestMode::~TestMode() {
     this->moveControl->setDrivingStatus(MoveControl::Status::Stop);

src/driveModi/Modi/TestMode/testMode.h

@@ -14,7 +14,6 @@
 #include <iostream>
 
 #include "moveControl.h"
-#include "navigation.h"
 #include "driveModi/driveModi.h"
 
 
@@ -42,9 +41,8 @@ class TestMode : public DriveModi {
          * @brief Construct a new Test Mode object
          * 
          * @param moveControl
-         * @param navigation 
          */
-        TestMode(DriveModiParams params, Navigation* navigation);
+        TestMode(DriveModiParams params);
         ~TestMode();
 
         bool drive(int16_t cm = 0, int16_t degree = 0);
@@ -106,7 +104,6 @@ class TestMode : public DriveModi {
         void run() override;
         bool engineInit(int16_t powerPercentage, int16_t seconds);
 
-        Navigation* navigation;
         Maneuver maneuver = Maneuver::None;
         int16_t maneuverValueOne = 0;
         int16_t maneuverValueTwo = 0;

src/driveModi/driveManager.cpp

@@ -25,10 +25,6 @@ DriveManager::DriveManager(DriveModiParams params){
     this->init();
 }
 
-DriveManager::~DriveManager() {
-    delete this->navigation;
-}
-
 void DriveManager::changeModus(Modi modus) {
     this->currentModus = modus;
 
@@ -36,8 +32,6 @@ void DriveManager::changeModus(Modi modus) {
         this->removeChildComponent(this->currentModusPtr);
         delete this->currentModusPtr;
     }
-    //Reset Route to first point
-    this->navigation->startNavigation();
     
     switch (modus) {
         case Modi::Off:
@@ -49,18 +43,8 @@ void DriveManager::changeModus(Modi modus) {
             }
             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);
+                this->currentModusPtr = new TestMode(driveModiParams);
             }
             break;
         
@@ -74,10 +58,7 @@ void DriveManager::changeModus(Modi modus) {
 }
 
 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

@@ -17,7 +17,6 @@
 
 #include "moveControl.h"
 #include "driveModi/driveModi.h"
-#include "navigation.h"
 #include "config.h"
 #include "networkConfig.h"
 #include "debugTimes.h"
@@ -27,8 +26,6 @@
 
 // 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"
 
 /**
@@ -46,13 +43,6 @@ enum class Modi {
 
 class DriveManager : public Component {
     public:
-        /**
-         * @brief Construct a new Drive Manager object
-         * 
-         * Creates a Navigation object
-         * 
-         * @param moveControl 
-         */
         DriveManager(MoveControl *moveControl, const SensorData* sensorData, const ControlPadInput *input);
         DriveManager(DriveModiParams params);
 
@@ -72,13 +62,6 @@ class DriveManager : public Component {
          */
         void changeModus(Modi modus);
 
-        /**
-         * @brief Get the Navigation object
-         * 
-         * @return Navigation* 
-         */
-        Navigation* getNavigation() const {return this->navigation;}
-
         /**
          * @brief Get the DriveModi Ptr object
          * 
@@ -104,7 +87,6 @@ class DriveManager : public Component {
 
         Modi currentModus = Modi::Off;
         DriveModi *currentModusPtr = nullptr;
-        Navigation* navigation;
         DriveModiParams driveModiParams;
 };
 

src/main.cpp

@@ -38,13 +38,10 @@
 #include "menu.h"
 #include "menuAction.h"
 #include "SpecialMenus/driveModi/ManualDrive/menuManualDrive.h"
-#include "SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h"
-#include "SpecialMenus/driveModi/Autopilot/menuAutopilot.h"
 #include "SpecialMenus/driveModi/TestMode/menuTestMode.h"
 #include "SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.h"
 #include "SpecialMenus/Systeminformation/menuSysteminformation.h"
 #include "SpecialMenus/PID/menuPidSettings.h"
-#include "SpecialMenus/Route/menuRoute.h"
 #include "SpecialMenus/GPS/menuGPS.h"
 
 MoveControl moveController;
@@ -218,33 +215,25 @@ void makeMenu() {
     MenuIntInput* pidl_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(0)));
     MenuIntInput* pidr_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(1)));
     MenuManualControl* man_m = new MenuManualControl(driveManager);
-    MenuCaptureRoute* cap_m = new MenuCaptureRoute(driveManager);
-    MenuAutopilot* auto_m = new MenuAutopilot(driveManager);
     MenuTestMode* testM_m = new MenuTestMode(driveManager);
     MenuCalibrateCompass* comp_m = new MenuCalibrateCompass(driveManager);
     MenuGPS* gps_m = new MenuGPS(sensorData);
     MenuSysteminformation* sys_m = new MenuSysteminformation(mainBattery);
-    MenuRoute* rout_m = new MenuRoute(driveManager->getNavigation()->getRoute());
 
-    auto_m->setUpdateDelay(1000);
     gps_m->setUpdateDelay(1000);
     sys_m->setUpdateDelay(1500);
 
     // Entry for the main menu
     main_m->addEntry(new MenuAction("Mode", mode_m));
     main_m->addEntry(new MenuAction("GPS", gps_m));
-    main_m->addEntry(new MenuAction("Route", rout_m));
     main_m->addEntry(new MenuAction("PID", pid_m));
     main_m->addEntry(new MenuAction("Systeminfo", sys_m));
     main_m->addEntry(new MenuAction("Restart", restart));
 
     // Entry for the mode Menu
     mode_m->addEntry(new MenuAction("Manual Control", man_m));
-    mode_m->addEntry(new MenuAction("Capture Route", cap_m));
-    mode_m->addEntry(new MenuAction("Autopilot", auto_m));
     mode_m->addEntry(new MenuAction("Gauge Compass", comp_m));
     mode_m->addEntry(new MenuAction("Test Mode", testM_m));
-    mode_m->addEntry(new MenuAction("Consol Control", dummy));
 
     // Entry for the PID Menu
     pid_m->addEntry(new MenuAction("Left", pidl_m));