ntripClient runs now - gnss to spi

lib/Navigation/navigation.cpp

@@ -17,7 +17,19 @@ Navigation::Navigation(Route* route) {
         std::cout << "u-blox GNSS not detected at default I2C address. Please check wiring. Freezing." << std::endl;
         while (1);
     }
+    this->init(route);
+}
 
+Navigation::Navigation(SPIClass spiPort, uint8_t csPin, Route* route) {
+    this->gps = new SFE_UBLOX_GNSS();
+    if (this->gps->begin(spiPort, csPin, 4000000) == false) {
+        std::cout << "u-blox GNSS not detected on SPI bus. Please check wiring. Freezing." << std::endl;
+        while (1);
+    }
+    this->init(route);
+}
+
+void Navigation::init(Route* route) {
     uint8_t versionHigh = this->gps->getProtocolVersionHigh();
     uint8_t versionLow = this->gps->getProtocolVersionLow();
     std::cout << "u-blox protocol version: " << unsigned(versionHigh) << "." << unsigned(versionLow) << std::endl;
@@ -47,7 +59,7 @@ void Navigation::initNtrip(String host, uint16_t port, String mountPoint, String
     this->ntripClient = new NTRIPClient(this->gps, host.c_str(), port, mountPoint.c_str(), user.c_str(), password.c_str());
     this->ntripClient->gpsConfiguration();
     this->ntripClient->loop();
-    this->ntripClient->setActivated(true);
+    this->ntripClient->setActivated(false);
     this->isNtripInit = true;
 }
 

lib/Navigation/navigation.h

@@ -14,8 +14,8 @@
 
 #include <SparkFun_u-blox_GNSS_Arduino_Library.h>
 #include <Arduino.h>
-#include <Wire.h>
 #include <iostream>
+#include <SPI.h>
 
 #include "route.h"
 #include "navigationUtils.h"
@@ -53,12 +53,19 @@ struct CourseCorrection {
 class Navigation {
     public:
         /**
-         * @brief Construct a new Navigation object
+         * @brief Construct a new Navigation object and using I2C
          * 
          * @param route with which to navigate
          */
         Navigation(Route* route = nullptr);
 
+        /**
+         * @brief Construct a new Navigation object and using SPI
+         * 
+         * @param route with which to navigate
+         */
+        Navigation(SPIClass spiPort, uint8_t csPin, Route* route = nullptr);
+
         /**
          * @brief Destroy the Navigation object
          * 
@@ -125,6 +132,13 @@ class Navigation {
          * @return SFE_UBLOX_GNSS* 
          */
         SFE_UBLOX_GNSS* getGPS() { return this->gps; }
+        
+        /**
+         * @brief Returns the NTRIPClient object
+         * 
+         * @return NTRIPClient* 
+         */
+        NTRIPClient* getNTRIPClient() { return this->ntripClient; }
 
         /**
          * @brief Get the Route Info object
@@ -179,6 +193,8 @@ class Navigation {
          */
         static double courseTo(Point p1, Point p2);
 
+        void init(Route* route);
+
         SFE_UBLOX_GNSS* gps;
         Route* route = nullptr;
         NTRIPClient* ntripClient = nullptr;

lib/NtripClient/ntripClient.cpp

@@ -10,6 +10,7 @@
  */
 
 #include "ntripClient.h"
+bool NTRIPClient::outputStatusPrintPVTdata = false;
 
 NTRIPClient::NTRIPClient(SFE_UBLOX_GNSS* gps, const char* host, uint16_t port, const char* mountPoint, const char* user, const char* password) {
     this->gps = gps;
@@ -34,7 +35,7 @@ void NTRIPClient::loop() {
     this->gps->checkUblox();
     this->gps->checkCallbacks();
 
-    if (millis() - this->lastGPGGAPushTime > this->pushGPGGATime) {
+    if (millis() - this->lastGPGGAPushTime > this->pushGPGGATime && this->activated) {
         this->lastGPGGAPushTime = millis();
         // std::cout << "Try to push GPGGA data." << std::endl;
         NMEA_GGA_data_t *data = new NMEA_GGA_data_t;
@@ -83,7 +84,7 @@ void NTRIPClient::loop() {
             if (this->activated)
                 this->state = NTRIPClientStates::openConnection;
             if (this->activated) {
-                std::cout << "state is openConnection" << std::endl;
+                // std::cout << "state is openConnection" << std::endl;
             }
             break;
 
@@ -98,7 +99,7 @@ void NTRIPClient::gpsConfiguration() {
     this->gps->setI2COutput(COM_TYPE_UBX | COM_TYPE_NMEA);
     this->gps->setPortInput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3);
     // Set the differential mode - ambiguities are fixed whenever possible
-    // this->gps->setDGNSSConfiguration(SFE_UBLOX_DGNSS_MODE_FIXED); 
+    this->gps->setDGNSSConfiguration(SFE_UBLOX_DGNSS_MODE_FIXED); 
     this->gps->setNavigationFrequency(1);
     this->gps->setMainTalkerID(SFE_UBLOX_MAIN_TALKER_ID_GP);
     this->gps->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_I2C, 10);
@@ -226,7 +227,7 @@ bool NTRIPClient::processConnection() {
         if (rtcmCount > 0) {
             this->lastReceivedRtcmTime = millis();
             this->gps->pushRawData(rtcmData, rtcmCount);
-            std::cout << "Pushed " << rtcmCount << " RTCM bytes to ZED." << std::endl;
+            // std::cout << "Pushed " << rtcmCount << " RTCM bytes to ZED." << std::endl;
         }
     } else {
         std::cout << "Connection to " << this->host << " dropped!" << std::endl;
@@ -242,13 +243,16 @@ bool NTRIPClient::processConnection() {
 }
 
 void NTRIPClient::pushGPGGA(NMEA_GGA_data_t *nmeaData) {
-    if (this->ntripClient->connected() && this->transmitLocation) {
-        std::cout << "Pushing GGA to server: " << (const char *)nmeaData->nmea << std::endl;
+    if (this->ntripClient->connected() && this->transmitLocation)
         this->ntripClient->print((const char *)nmeaData->nmea);
-    }
+    else
+        std::cout << "Failed to pushing GGA to server: " << (const char *)nmeaData->nmea << std::endl;
 }
 
 void NTRIPClient::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
+    if (!NTRIPClient::outputStatusPrintPVTdata)
+        return;
+
     double latitude = (double) ubxDataStruct->lat / 10000000.0;
     double longitude = (double) ubxDataStruct->lon / 10000000.0;
     double altitude = (double) ubxDataStruct->hMSL / 1000.0;
@@ -293,6 +297,10 @@ void NTRIPClient::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
               << " Horizontal Accuracy Estimate: " << hAcc << " mm" << std::endl;
 }
 
+void NTRIPClient::setOutputStatusPrintPVTdata(bool status) {
+    NTRIPClient::outputStatusPrintPVTdata = status;
+}
+
 bool NTRIPClient::isConnected() {
     if (this->state == NTRIPClientStates::pushData)
         return true;

lib/NtripClient/ntripClient.h

@@ -31,6 +31,7 @@ class NTRIPClient {
         NTRIPClientStates getClientState() { return this->state; }
 
         static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
+        static void setOutputStatusPrintPVTdata(bool status);
 
     private:
         void pushGPGGA(NMEA_GGA_data_t *nmeaData);
@@ -60,6 +61,8 @@ class NTRIPClient {
         const uint16_t tryReconnectTime = 5000;
         const uint16_t bufferSize = 512;
         const uint16_t pushGPGGATime = 10000;
+
+        static bool outputStatusPrintPVTdata;
 };
 
 #endif