Fixed build, moved main.cpp to src/

Author: ClemensElflein

CMakeLists.txt

@@ -48,7 +48,7 @@ target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
 
 # Add sources to executable
 target_sources(${CMAKE_PROJECT_NAME} PRIVATE
-        main.cpp
+        src/main.cpp
         src/globals.cpp
         src/heartbeat.c
         src/id_eeprom.c

src/drivers/gps/ublox_gps_interface.cpp

@@ -160,9 +160,7 @@ void UbxGpsInterface::ProcessUbxPacket(const uint8_t *data, const size_t &size)
     // substract class, id and length
     if (size - 4 == sizeof(UbxNavPvt)) {
       const auto *msg = reinterpret_cast<const UbxNavPvt *>(data + 4);
-      SEGGER_SYSVIEW_MarkStart(1);
       HandleNavPvt(msg);
-      SEGGER_SYSVIEW_MarkStop(1);
     } else {
       ULOG_WARNING("size mismatch for PVT message!");
     }

main.cpp renamed to src/main.cpp

@@ -29,35 +29,6 @@ MowerService mower_service{3};
 ImuService imu_service{4};
 PowerService power_service{5};
 
-xbot::driver::gps::UbxGpsInterface gps{};
-
-THD_WORKING_AREA(testWa, 100);
-void testThreadFunc(void* arg) {
-  (void)arg;
-  while(1) {
-    auto start = chVTGetSystemTime();
-    while(chVTTimeElapsedSinceX(start) < TIME_MS2I(100)) {
-
-    }
-    chThdYield();
-  }
-}
-
-
-int i = 0;
-void gpsUpdated(const xbot::driver::gps::GpsDriver::GpsState &new_state) {
-  (void)new_state;
-  etl::string<100> lat{};
-  etl::format_spec format{};
-  format.width(8).fill(' ').precision(3);
-  lat += "lat:";
-  etl::to_string(new_state.pos_lat, lat, format, true);
-  lat += "lon:";
-  etl::to_string(new_state.pos_lon, lat, format, true);
-
-  SEGGER_RTT_printf(0, "got data: %s!\n", lat.c_str());
-  i++;
-}
 /*
  * Application entry point.
  */
@@ -124,11 +95,6 @@ int main(void) {
   diff_drive.start();
   mower_service.start();
 
-  // chThdCreateStatic(testWa, sizeof(testWa), NORMALPRIO, testThreadFunc, NULL);
-  gps.SetStateCallback(etl::delegate<void(const xbot::driver::gps::GpsDriver::GpsState &new_state)>::create<gpsUpdated>());
-  gps.SetDatum(49.0, 10.0, 150);
-  gps.StartDriver(&UARTD6, 921600);
-
   // Subscribe to global events and dispatch to our services
   event_listener_t event_listener;
   chEvtRegister(&mower_events, &event_listener, 1);