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fix ntrip client and integration

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kleiax
2024-08-17 10:44:42 +02:00
parent 73fde34e48
commit 27a0a2ca7b
9 changed files with 90 additions and 42 deletions
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.vscode/settings.json
Vendored
+7
View File
@@ -1,5 +1,6 @@
{
"files.insertFinalNewline": true,
"editor.wordWrap": "on",
"cSpell.ignoreWords": [
"ledc",
"write"
@@ -132,6 +133,7 @@
"Doxygen",
"Dutycycle",
"gast",
"gnss",
"GNSS",
"GPGGA",
"HSPI",
@@ -140,9 +142,12 @@
"kleiax",
"Lebennig",
"microcontroller",
"Mqtt",
"MQTT",
"NMEA",
"NMEAGPGGA",
"ntrip",
"Ntrip",
"NTRIP",
"pcnt",
"pidl",
@@ -150,6 +155,8 @@
"Punica",
"RHEDE",
"Rtcm",
"sapos",
"SAPOS",
"Schalke",
"Soln",
"Systeminformation",
include/networkConfig.h
+19 -2
View File
@@ -14,7 +14,9 @@
#include <stdint.h>
#define HOTSPOT
#define ZUHAUSE
#define SAPOS_NI
// #define RTK2GO
#ifdef HOTSPOT
namespace NetworkConfig
@@ -61,7 +63,7 @@ namespace NetworkConfig
{
const char ssid[] = "Tuedelkram";
const char password[] = "3!Kaesehoch";
const char ip[] = "192.168.178.11";
const char ip[] = "192.168.178.13";
const char subnet[] = "255.255.255.0";
const char gateway[] = "192.168.178.1";
const char dns[] = "8.8.8.8";
@@ -77,6 +79,7 @@ namespace MqttConfig
const char password[] = "p?{$_~5%hBM7wrcFkr55KWr#";
}
#ifdef RTK2GO
namespace NtripConfig
{
const char host[] = "rtk2go.com";
@@ -86,4 +89,18 @@ namespace NtripConfig
// const char mountPoint[] = "Rtkramerntrip";
const char user[] = "alklein1@gmx.de";
const char password[] = "none";
const bool sendOwnPosition = false;
}
#endif // RTK2GO
#ifdef SAPOS_NI
namespace NtripConfig
{
const char host[] = "sapos-ni-ntrip.de";
const uint16_t port = 2101;
const char mountPoint[] = "VRS_3_4G_NI";
const char user[] = "ni_FHDo01";
const char password[] = "ALdx-1-3e49";
const bool sendOwnPosition = true;
}
#endif // RTK2GO
lib/NtripClient/ntripClient.cpp
+31 -35
View File
@@ -47,6 +47,7 @@ void NTRIPClient::run()
{
std::cout << "Failed!" << std::endl;
this->state = NTRIPClientStates::waiting;
this->lastReconnectTime = millis();
this->activated = false;
}
break;
@@ -97,7 +98,7 @@ void NTRIPClient::gnssConfiguration()
// Set the differential mode - ambiguities are fixed whenever possible
this->gnss->setDGNSSConfiguration(SFE_UBLOX_DGNSS_MODE_FIXED);
this->gnss->setMainTalkerID(SFE_UBLOX_MAIN_TALKER_ID_GP);
this->gnss->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10);
this->gnss->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI);
}
bool NTRIPClient::setActivated(bool state)
@@ -153,11 +154,7 @@ bool NTRIPClient::beginClient()
{
snprintf(static_cast<char *>(serverRequest),
this->bufferSize,
static_cast<const char *>("GET /%s HTTP/1.0\r\n\
Host: %s:%u\r\n\
User-Agent: NTRIP KleiaxNtripClient/0.1\r\n\
Accept: */*\r\n\
Connection: close\r\n"),
static_cast<const char *>("GET /%s HTTP/1.0\r\nHost: %s:%u\r\nUser-Agent: NTRIP KleiaxNtripClient/0.1\r\nAccept: */*\r\nConnection: close\r\n"),
this->mountPoint,
this->host,
this->port);
@@ -166,12 +163,7 @@ bool NTRIPClient::beginClient()
{
snprintf(static_cast<char *>(serverRequest),
this->bufferSize,
static_cast<const char *>("GET /%s HTTP/1.1\r\n\
Host: %s:%u\r\n\
Ntrip-Version: Ntrip/2.0\r\n\
User-Agent: NTRIP KleiaxNtripClient/0.1\r\n\
Accept: */*\r\n\
Connection: close\r\n"),
static_cast<const char *>("GET /%s HTTP/1.1\r\nHost: %s:%u\r\nNtrip-Version: Ntrip/2.0\r\nUser-Agent: NTRIP KleiaxNtripClient/0.1\r\nAccept: */*\r\nConnection: close\r\n"),
this->mountPoint,
this->host,
this->port);
@@ -180,6 +172,7 @@ bool NTRIPClient::beginClient()
// Add own Position if activated
if (this->transmitLocation && !this->useNtripRev1)
{
std::cout << "NTRIPClient::beginClient - Add own position to server request." << std::endl;
auto *data = new NMEA_GGA_data_t;
const uint8_t res = this->gnss->getLatestNMEAGPGGA(data);
if (res > 0) // valid data
@@ -187,10 +180,14 @@ bool NTRIPClient::beginClient()
char positionUpdate[this->bufferSizePushGPGGA];
snprintf(static_cast<char *>(positionUpdate),
this->bufferSizePushGPGGA,
static_cast<const char *>("Ntrip-GGA: %s\r\n"),
static_cast<const char *>("Ntrip-GGA: %s"),
data->nmea);
strncat(static_cast<char *>(serverRequest), static_cast<const char *>(positionUpdate), this->bufferSize);
}
else
{
std::cout << "NTRIPClient::beginClient - No valid data to send position to caster." << std::endl;
}
delete data;
this->lastGPGGAPushTime = millis();
@@ -198,24 +195,24 @@ bool NTRIPClient::beginClient()
if (this->user && this->password)
{
// Credentials
const uint8_t userCredentialsLength = strlen(this->user) + strlen(this->password) + 2;
auto *userCredentials = new char[userCredentialsLength];
snprintf(static_cast<char *>(userCredentials), userCredentialsLength, static_cast<const char *>("%s:%s"), this->user, this->password);
// Credentials
const uint8_t userCredentialsLength = strlen(this->user) + strlen(this->password) + 2;
auto *userCredentials = new char[userCredentialsLength];
snprintf(static_cast<char *>(userCredentials), userCredentialsLength, static_cast<const char *>("%s:%s"), this->user, this->password);
std::cout << "Sending credentials: " << userCredentials << std::endl;
std::cout << "Sending credentials: " << userCredentials << std::endl;
// Encode
const base64 base;
const String strEncodedCredentials = base64::encode(userCredentials);
delete userCredentials;
char encodedCredentials[strEncodedCredentials.length() + 1];
strEncodedCredentials.toCharArray(static_cast<char *>(encodedCredentials), sizeof(encodedCredentials));
// Encode
const base64 base;
const String strEncodedCredentials = base64::encode(userCredentials);
delete userCredentials;
char encodedCredentials[strEncodedCredentials.length() + 1];
strEncodedCredentials.toCharArray(static_cast<char *>(encodedCredentials), sizeof(encodedCredentials));
snprintf(credentials, sizeof(credentials), static_cast<const char *>("Authorization: Basic %s\r\n"), static_cast<const char *>(encodedCredentials));
snprintf(credentials, sizeof(credentials), static_cast<const char *>("Authorization: Basic %s\r\n"), static_cast<const char *>(encodedCredentials));
// Add the encoded credentials to the server request
strncat(static_cast<char *>(serverRequest), static_cast<const char *>(credentials), this->bufferSize);
// Add the encoded credentials to the server request
strncat(static_cast<char *>(serverRequest), static_cast<const char *>(credentials), this->bufferSize);
}
strncat(static_cast<char *>(serverRequest), static_cast<const char *>("\r\n"), this->bufferSize);
@@ -367,7 +364,7 @@ void NTRIPClient::checkAutoReconnect()
void NTRIPClient::pushGPGGA()
{
if (!this->transmitLocation && !this->activated)
if ((!this->transmitLocation || !this->activated) || !this->ntripClient->connected())
{
return;
}
@@ -378,23 +375,22 @@ void NTRIPClient::pushGPGGA()
}
this->lastGPGGAPushTime = millis();
if (!this->ntripClient->connected())
{
std::cout << "Failed to pushing GGA to server: " << std::endl;
}
auto *data = new NMEA_GGA_data_t;
const uint8_t res = this->gnss->getLatestNMEAGPGGA(data);
if (res == 2) // 2 means fresh data
if (res > 0) // 2 means fresh data
{
char positionUpdate[this->bufferSizePushGPGGA];
snprintf(static_cast<char *>(positionUpdate),
this->bufferSizePushGPGGA,
static_cast<const char *>("%s\r\n"),
static_cast<const char *>("%s"),
data->nmea);
this->ntripClient->write(positionUpdate, strlen(positionUpdate));
std::cout << "Position update: " << positionUpdate << std::endl;
}
else
{
std::cout << "NTRIPClient::pushGPGGA - No valid data to send position to caster." << std::endl;
}
delete data;
}
lib/NtripClient/ntripClient.h
+1 -1
View File
@@ -130,7 +130,7 @@ private:
const uint16_t timeOut = 10000;
const uint16_t bufferSize = 512;
const uint16_t bufferSizePushGPGGA = 128;
const uint16_t pushGPGGATime = 10000;
const uint16_t pushGPGGATime = 5000;
static constexpr uint8_t loopDelay = 20;
};
lib/Sensors/sensorData.cpp
+3 -2
View File
@@ -25,11 +25,12 @@ SensorData::~SensorData()
delete this->ntripClient;
}
void SensorData::enableNtrip(String host, uint16_t port, String mountPoint, String user, String password)
void SensorData::enableNtrip(String host, uint16_t port, String mountPoint, String user, String password, bool sendOwnPosition)
{
this->ntripClient = new NTRIPClient(this->gnss, host.c_str(), port, mountPoint.c_str(), user.c_str(), password.c_str());
this->ntripClient->gnssConfiguration();
this->ntripClient->loop();
this->ntripClient->setTransmitLocation(sendOwnPosition);
this->ntripClient->setActivated(false);
this->isNtripInit = true;
this->addChildComponent(this->ntripClient);
@@ -264,7 +265,7 @@ void SensorData::initGnss()
std::cout << "u-blox protocol version: " << static_cast<int>(versionHigh) << "." << static_cast<int>(versionLow) << std::endl;
this->gnss->setSPIOutput(COM_TYPE_UBX);
this->gnss->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10);
this->gnss->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI);
this->gnss->setUSBOutput(COM_TYPE_UBX | COM_TYPE_NMEA);
this->gnss->setAutoPVTcallbackPtr(&(SensorData::savePVTdata));
// SensorData::setOutputStatusPrintPVTdata(true);
lib/Sensors/sensorData.h
+1 -1
View File
@@ -38,7 +38,7 @@ public:
SensorData();
~SensorData();
void enableNtrip(String host, uint16_t port, String mountPoint, String user, String password);
void enableNtrip(String host, uint16_t port, String mountPoint, String user, String password, bool sendOwnPosition = false);
/**
* @brief Enable the gnss module over spi
src/SpecialMenus/SensorData/menuSensorData.cpp
+25
View File
@@ -150,3 +150,28 @@ void MenuSensorData::printPage() const
this->print(lineOne, lineTwo);
}
void MenuSensorData::runCommand()
{
switch (this->getCurrentPage())
{
case 5:
{
NTRIPClient* client = this->sensorData->getNtripClient();
NTRIPClientStates state = client->getClientState();
if (state == NTRIPClientStates::pushingData)
{
client->deactivate();
}
else if (state == NTRIPClientStates::waiting)
{
client->activate();
}
}
break;
default:
break;
}
}
src/SpecialMenus/SensorData/menuSensorData.h
+1
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@@ -30,6 +30,7 @@ public:
private:
void printPage() const override;
void runCommand() override;
SensorData *sensorData;
};
src/main.cpp
+2 -1
View File
@@ -129,7 +129,8 @@ void setup()
NtripConfig::port,
static_cast<const char *>(NtripConfig::mountPoint),
static_cast<const char *>(NtripConfig::user),
static_cast<const char *>(NtripConfig::password));
static_cast<const char *>(NtripConfig::password),
NtripConfig::sendOwnPosition);
sensorData->enableGyroscope();
driveManager = new DriveManager(&moveController, sensorData, controlPad->getControlPadDataPtr());