55 lines
1.6 KiB
C++
55 lines
1.6 KiB
C++
/**
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* @file captureRoute.cpp
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* @author Alexander Klein (alex@kleiax.de)
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* @brief Contains the implementation of the class CaptureRoute
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* @version 0.1
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* @date 2022-02-15
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#include "driveModi/Modi/CaptureRoute/captureRoute.h"
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#include "captureRoute.h"
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CaptureRoute::~CaptureRoute() {
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if (this->navigation)
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delete this->navigation;
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if (this->sensorData->getNtripClient())
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this->sensorData->getNtripClient()->setActivated(false);
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}
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void CaptureRoute::run() {
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ManualControl::run();
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if (ControlPadButton::isControlPadButtonPressed(this->input, ControlPadButton::PadButton::Action)) {
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this->status = this->navigation->addCurrentPosToRoute();
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if (this->status == Navigation::Status::Updated) {
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this->lastSavedPoint = this->navigation->getCurrentPosition();
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this->routeInfo = navigation->getRouteInfo();
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this->updateDisplay = true;
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}
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}
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}
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void CaptureRoute::afterActivate() {
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this->navigation = new Navigation(this->sensorData);
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this->navigation->getRoute()->clear();
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this->sensorData->getNtripClient()->setAutoReconnect(true);
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this->routeInfo = navigation->getRouteInfo();
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}
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double CaptureRoute::getDistanceToLastPoint() const {
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if (!this->lastSavedPoint.isInit())
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return 0;
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return this->lastSavedPoint.distanceTo(this->navigation->getCurrentPosition());
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}
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bool CaptureRoute::shouldUpdate() {
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if (this->updateDisplay) {
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this->updateDisplay = false;
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return true;
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}
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return false;
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}
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