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use callback to save data from gnss module

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kleiax
2022-12-18 10:04:05 +01:00
parent 49145d2b0f
commit 377b0ea03b
5 changed files with 73 additions and 51 deletions
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lib/Navigation/navigation.h
+24 -5
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@@ -125,14 +125,21 @@ class Navigation {
*/
bool addCurrentPosToRoute();
// /**
// * @brief Returns the GPS object
// *
// * @return SFE_UBLOX_GNSS*
// */
// SFE_UBLOX_GNSS* getGPS() { return this->gps; }
/**
* @brief Returns the GPS object
* @brief Get the Ubx Data object
*
* @return SFE_UBLOX_GNSS*
* This struct includes the most Data from the GNSS-Module.
*
* @return UBX_NAV_PVT_data_t*
*/
SFE_UBLOX_GNSS* getGPS() { return this->gps; }
static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
static void setOutputStatusPrintPVTdata(bool status);
UBX_NAV_PVT_data_t* getUbxData() { return this->ubxData; }
/**
* @brief Returns the NTRIPClient object
@@ -151,6 +158,8 @@ class Navigation {
*/
RouteInfo getRouteInfo() const { return this->route->getRouteInfo(); }
static void setOutputStatusPrintPVTdata(bool status);
private:
void updateCurrentLocation();
@@ -174,6 +183,7 @@ class Navigation {
void init(Route* route);
SFE_UBLOX_GNSS* gps;
UBX_NAV_PVT_data_t* ubxData = nullptr;
Route* route = nullptr;
NTRIPClient* ntripClient = nullptr;
@@ -181,6 +191,7 @@ class Navigation {
Point targetPoint;
Point currentPosition;
bool navigationStarted = false;
bool navigationFinished = false;
bool isNtripInit = false;
@@ -193,6 +204,14 @@ class Navigation {
uint8_t timeToWait = 200;
uint16_t port;
uint32_t lastMillis = 0;
uint32_t ubxUpdateTime = 0;
static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
static void savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
static UBX_NAV_PVT_data_t* ubxDataStatic;
static uint32_t ubxUpdateTimeStatic;
static bool outputStatusPrintPVTdata;
};