182 lines
4.2 KiB
C++
182 lines
4.2 KiB
C++
/**
|
|
* @file navigation.h
|
|
* @author Alexander Klein (alex@kleiax.de)
|
|
* @brief Contains a class which navigate an object by the given route
|
|
* @version 0.1
|
|
* @date 2022-01-10
|
|
*
|
|
* @copyright Copyright (c) 2022
|
|
*
|
|
*/
|
|
|
|
#ifndef NAVIGATION_H
|
|
#define NAVIGATION_H
|
|
|
|
#include <TinyGPS++.h>
|
|
#include <Arduino.h>
|
|
#include <Wire.h>
|
|
#include <iostream>
|
|
|
|
#include "route.h"
|
|
|
|
/**
|
|
* @brief The minimal distance between Points
|
|
*
|
|
* This is a very critical option. It have to be
|
|
* around the half accuracy of the positioning system
|
|
*
|
|
*/
|
|
#define MIN_DISTANCE_BETWEEN_POINTS 1
|
|
|
|
/**
|
|
* @brief This struct inherits the result of the navigation
|
|
*
|
|
* The drive get objects of this struct and should
|
|
* correct the direction in dependency on this.
|
|
*
|
|
*/
|
|
struct CourseCorrection {
|
|
int16_t correction;
|
|
double distance;
|
|
};
|
|
|
|
/**
|
|
* @brief This class navigate an object
|
|
*
|
|
* The class use the given Route and the gps device
|
|
* to tell the driver in which direction he have to
|
|
* be drive and the distance to the next checkpoint.
|
|
*
|
|
*/
|
|
class Navigation {
|
|
public:
|
|
/**
|
|
* @brief Construct a new Navigation object
|
|
*
|
|
* @param rx pin to the gps device
|
|
* @param tx pin to the gps device
|
|
* @param route with which to navigate
|
|
*/
|
|
Navigation(uint8_t rx, uint8_t tx, Route* route = nullptr);
|
|
|
|
/**
|
|
* @brief Destroy the Navigation object
|
|
*
|
|
*/
|
|
~Navigation();
|
|
|
|
/**
|
|
* @brief Decodes new GPS information
|
|
*
|
|
* Should be called ever main loop.
|
|
*/
|
|
void loop();
|
|
|
|
/**
|
|
* @brief creates a new empty route
|
|
*
|
|
*/
|
|
void newRoute();
|
|
|
|
/**
|
|
* @brief Tries to start the route
|
|
*
|
|
* For example the route can not be started
|
|
* if there are no Points or wrong Points.
|
|
*
|
|
* @return true route is started
|
|
* @return false route can not be started
|
|
*/
|
|
bool startNavigation();
|
|
|
|
/**
|
|
* @brief Get the Course Correction object
|
|
*
|
|
* This should be called by the driver to get new instructions.
|
|
*
|
|
* @return CourseCorrection
|
|
*/
|
|
CourseCorrection getCourseCorrection();
|
|
|
|
/**
|
|
* @brief Tries to add the current Position to the route
|
|
*
|
|
* This can be go wrong if there is no valid GPS signal
|
|
*
|
|
* @return true successful added point
|
|
* @return false no point added to route
|
|
*/
|
|
bool addCurrentPosToRoute();
|
|
|
|
/**
|
|
* @brief Returns the GPS object
|
|
*
|
|
* @return TinyGPSPlus*
|
|
*/
|
|
TinyGPSPlus* getGPS() { return this->gps; }
|
|
|
|
/**
|
|
* @brief Get the Route Info object
|
|
*
|
|
* This object contains information about the route.
|
|
* For example the stored points.
|
|
*
|
|
* @return RouteInfo
|
|
*/
|
|
RouteInfo getRouteInfo() const { return this->route->getRouteInfo(); }
|
|
|
|
private:
|
|
/**
|
|
* @brief Returns the current Location
|
|
*
|
|
* @return Point
|
|
*/
|
|
Point currentLocation();
|
|
|
|
/**
|
|
* @brief Set the next point as target
|
|
*
|
|
* @return true
|
|
* @return false
|
|
*/
|
|
bool nextPoint();
|
|
|
|
/**
|
|
* @brief Set the target point
|
|
*
|
|
* @param target
|
|
* @return true
|
|
* @return false
|
|
*/
|
|
bool setTargetPoint(Point target);
|
|
|
|
/**
|
|
* @brief Calculate the distance between to points
|
|
*
|
|
* @param p1 point 1
|
|
* @param p2 point 2
|
|
* @return double distance in meter
|
|
*/
|
|
static double distanceBetween(Point p1, Point p2);
|
|
|
|
/**
|
|
* @brief Calculates the course from point1 to point2
|
|
*
|
|
* @param p1 point 1
|
|
* @param p2 point 2
|
|
* @return double degree north = 0° west = 270°
|
|
*/
|
|
static double courseTo(Point p1, Point p2);
|
|
|
|
TinyGPSPlus* gps;
|
|
Route* route = nullptr;
|
|
|
|
Point lastPoint;
|
|
Point targetPoint;
|
|
|
|
bool navigationStarted = false;
|
|
bool navigationFinished = false;
|
|
};
|
|
|
|
#endif // NAVIGATION_H
|