83 lines
2.0 KiB
C++
83 lines
2.0 KiB
C++
/**
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* @file driveManager.cpp
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* @author Alexander Klein (alex@kleiax.de)
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* @brief Implemention of the class DriveManager
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* @version 0.1
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* @date 2021-12-14
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*
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* @copyright Copyright (c) 2021
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*
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*/
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#include "driveModi/driveManager.h"
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Modi& operator++(Modi& m, int) {
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return m = (m == Modi::TestMode) ? Modi::Off : static_cast<Modi>(static_cast<int>(m)+1);
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}
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DriveManager::DriveManager(MoveControl *moveControl) {
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this->moveControl = moveControl;
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// TODO: Delete magic numbers
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this->navigation = new Navigation(17, 16);
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}
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DriveManager::~DriveManager() {
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delete this->navigation;
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}
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void DriveManager::loop() {
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this->moveControl->loop();
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this->navigation->loop();
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if (currentModusPtr)
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this->currentModusPtr->loop();
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}
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void DriveManager::nextModus() {
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changeModus(this->currentModus++);
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}
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void DriveManager::changeModus(Modi modus) {
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this->currentModus = modus;
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//Set moveControl to a safe state
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delete this->currentModusPtr;
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this->moveControl->setSpeed(0);
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this->moveControl->setRotationspeed(0);
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this->moveControl->setDrivingStatus(DrivingStatus::stop);
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switch (modus) {
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case Modi::Off:
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this->currentModusPtr = nullptr;
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break;
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case Modi::ManualControl: {
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this->currentModusPtr = new ManualControl(this->moveControl);
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}
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break;
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case Modi::CaptureRoute: {
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this->currentModusPtr = new CaptureRoute(this->moveControl, this->navigation);
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}
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break;
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case Modi::Autopilot: {
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this->currentModusPtr = new Autopilot(this->moveControl, this->navigation);
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}
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break;
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case Modi::ConsolControl:
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this->currentModusPtr = nullptr;
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break;
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case Modi::TestMode:
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this->currentModusPtr = nullptr;
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break;
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default:
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this->currentModusPtr = nullptr;
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break;
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}
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}
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