fix ntrip client and integration

.vscode/settings.json

@@ -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

@@ -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

@@ -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\
+                 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"),
-                 Host: %s:%u\r\n\
-                 User-Agent: NTRIP KleiaxNtripClient/0.1\r\n\
-                 Accept: */*\r\n\
-                 Connection: 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\
+                 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"),
-                 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"),
                  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
+        // Credentials
-    const uint8_t userCredentialsLength = strlen(this->user) + strlen(this->password) + 2;
+        const uint8_t userCredentialsLength = strlen(this->user) + strlen(this->password) + 2;
-    auto *userCredentials = new char[userCredentialsLength];
+        auto *userCredentials = new char[userCredentialsLength];
-    snprintf(static_cast<char *>(userCredentials), userCredentialsLength, static_cast<const char *>("%s:%s"), this->user, this->password);
+        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
+        // Encode
-    const base64 base;
+        const base64 base;
-    const String strEncodedCredentials = base64::encode(userCredentials);
+        const String strEncodedCredentials = base64::encode(userCredentials);
-    delete userCredentials;
+        delete userCredentials;
-    char encodedCredentials[strEncodedCredentials.length() + 1];
+        char encodedCredentials[strEncodedCredentials.length() + 1];
-    strEncodedCredentials.toCharArray(static_cast<char *>(encodedCredentials), sizeof(encodedCredentials));
+        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
+        // 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 *>(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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -30,6 +30,7 @@ public:
 
 private:
     void printPage() const override;
+    void runCommand() override;
 
     SensorData *sensorData;
 };

src/main.cpp

@@ -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());