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kleiax
2023-09-04 14:13:14 +02:00
parent 682a99ffea
commit f78804d836
13 changed files with 11 additions and 711 deletions
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lib/Sensors/sensorData.cpp
-14
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@@ -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
-13
View File
@@ -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
+5 -32
View File
@@ -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: {
// 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:
case 3:
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
-3
View File
@@ -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
-306
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@@ -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
-158
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@@ -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
-76
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@@ -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
-50
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@@ -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
+2 -4
View File
@@ -10,10 +10,8 @@
*/
#include "testMode.h"
TestMode::TestMode(DriveModiParams params, Navigation* navigation)
: DriveModi(params) {
this->navigation = navigation;
}
TestMode::TestMode(DriveModiParams params)
: DriveModi(params) {}
TestMode::~TestMode() {
this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
src/driveModi/Modi/TestMode/testMode.h
+2 -5
View File
@@ -14,7 +14,6 @@
#include <iostream>
#include "moveControl.h"
#include "navigation.h"
#include "driveModi/driveModi.h"
@@ -41,10 +40,9 @@ class TestMode : public DriveModi {
/**
* @brief Construct a new Test Mode object
*
* @param moveControl
* @param navigation
* @param moveControl
*/
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
+2 -21
View File
@@ -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;
@@ -73,11 +57,8 @@ void DriveManager::changeModus(Modi modus) {
this->addChildComponent(this->currentModusPtr);
}
void DriveManager::init() {
this->navigation = new Navigation(this->driveModiParams.sensorData);
void DriveManager::init() {
this->addChildComponent(this->driveModiParams.moveControl);
this->addChildComponent(this->navigation);
this->activateOnlyChilds();
}
src/driveModi/driveManager.h
-18
View File
@@ -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
-11
View File
@@ -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));