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ntripClient runs now - gnss to spi

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kleiax
2022-11-29 20:38:46 +01:00
parent e36b6475b8
commit 599f176622
12 changed files with 125 additions and 31 deletions
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lib/NtripClient/ntripClient.cpp
+15 -7
View File
@@ -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
+3
View File
@@ -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