ntripClient runs now - gnss to spi

src/SpecialMenus/GPS/menuGPS.cpp

@@ -11,8 +11,9 @@
 
 #include "menuGPS.h"
 
-MenuGPS::MenuGPS(SFE_UBLOX_GNSS* gps) {
-    this->gps = gps;
+MenuGPS::MenuGPS(DriveManager* driveManager) {
+    this->gps = driveManager->getNavigation()->getGPS();
+    this->ntripClient = driveManager->getNavigation()->getNTRIPClient();
     this->lastMillis = millis();
 }
 
@@ -33,7 +34,7 @@ void MenuGPS::down() {
 }
 
 void MenuGPS::right() {
-    this->printMenu();
+    this->yes();
 }
 
 void MenuGPS::left() {
@@ -46,11 +47,12 @@ void MenuGPS::no() {
 }
 
 void MenuGPS::yes() {
+    this->runCommand();
     this->printMenu();
 }
 
 void MenuGPS::printMenu() {
-    this->printPage(this->currentPage);
+    this->printPage();
 }
 
 void MenuGPS::update() {
@@ -61,7 +63,7 @@ void MenuGPS::update() {
     this->lastMillis = millis();
 }
 
-void MenuGPS::printPage(uint8_t page) const {
+void MenuGPS::printPage() const {
     uint8_t fixType = gps->getFixType();
 
     switch (this->currentPage) {
@@ -127,13 +129,48 @@ void MenuGPS::printPage(uint8_t page) const {
         }
             break;
 
+        case 3: {
+            bool status;
+            if (this->ntripClient->getClientState() == NTRIPClientStates::pushData)
+                status = true;
+            else
+                status = false;
+
+            if (this->lcd) {
+                lcd->clear();
+                lcd->setCursor(0, 0);
+                lcd->print("NTRIP Client");
+                lcd->setCursor(0, 1);
+                if (status)
+                    lcd->print("enabled");
+                else
+                    lcd->print("disabled");
+            }
+            if (status) 
+                std::cout << "NTRIP Client is enabled." << std::endl;
+            else
+                std::cout << "NTRIP Client is disabled" << std::endl;
+        }
+            break;
+
         default:
             if (this->lcd) {
                 lcd->clear();
                 lcd->setCursor(0, 0);
-                lcd->printf("Page: %u", page);  
+                lcd->printf("Page: %u", this->currentPage);  
             }
-            std::cout << "Page: " << (int) page << std::endl;
+            std::cout << "Page: " << (int) this->currentPage << std::endl;
+            break;
+    }
+}
+
+void MenuGPS::runCommand() const {
+    switch (this->currentPage) {
+        case 3:
+            if (this->ntripClient->getClientState() == NTRIPClientStates::pushData)
+                this->ntripClient->setActivated(false);
+            else
+                this->ntripClient->setActivated(true);
             break;
     }
 }

src/SpecialMenus/GPS/menuGPS.h

@@ -15,6 +15,8 @@
 #include <SparkFun_u-blox_GNSS_Arduino_Library.h>
 
 #include "menuControl.h"
+#include "driveModi/driveManager.h"
+#include "ntripClient.h"
 
 /**
  * @brief A class to print informations about the GPS object
@@ -27,7 +29,7 @@ class MenuGPS : public MenuControl {
          * 
          * @param gps 
          */
-        MenuGPS(SFE_UBLOX_GNSS* gps);
+        MenuGPS(DriveManager* driveManager);
 
 
         /**
@@ -77,9 +79,11 @@ class MenuGPS : public MenuControl {
     private:
         const uint8_t countPages = 7;
         uint8_t currentPage = 0;
-        void printPage(const uint8_t page) const;
+        void printPage() const;
+        void runCommand() const;
 
         SFE_UBLOX_GNSS* gps;
+        NTRIPClient* ntripClient;
 
         const uint16_t delay = 5000;
         uint32_t lastMillis = 0;

src/driveModi/driveManager.cpp

@@ -17,7 +17,10 @@ Modi& operator++(Modi& m, int) {
 
 DriveManager::DriveManager(MoveControl *moveControl, bool wifi) {
     this->moveControl = moveControl;
-    this->navigation = new Navigation();
+
+    SPIClass spiPort(HSPI);
+    spiPort.begin(UBLOX_GNSS_SPI_SCK, UBLOX_GNSS_SPI_CIPO, UBLOX_GNSS_SPI_COPI, UBLOX_GNSS_SPI_CS);
+    this->navigation = new Navigation(spiPort, UBLOX_GNSS_SPI_CS);
     if (wifi)
         this->navigation->initNtrip(NTRIP_HOST, NTRIP_PORT, NTRIP_MOUNT_POINT, NTRIP_USER, NTRIP_PASSWORD);
     // if (wifi)

src/driveModi/driveManager.h

@@ -12,16 +12,13 @@
 #ifndef DRIVE_MANAGER_H
 #define DRIVE_MANAGER_H
 
-//GPS Serial Pins
-#define GPS_RX 17
-#define GPS_TX 16
-#define GPS_BAUD 9600
-
 #include <Arduino.h>
+#include <SPI.h>
 
 #include "moveControl.h"
 #include "driveModi/driveModi.h"
 #include "navigation.h"
+#include "config.h"
 #include "networkConfig.h"
 #include "debugTimes.h"
 

src/main.cpp

@@ -253,7 +253,7 @@ void makeMenu() {
     MenuCaptureRoute* cap_m = new MenuCaptureRoute(driveManager);
     MenuAutopilot* auto_m = new MenuAutopilot(driveManager);
     MenuTestMode* test_m = new MenuTestMode(driveManager);
-    MenuGPS* gps_m = new MenuGPS(driveManager->getNavigation()->getGPS());
+    MenuGPS* gps_m = new MenuGPS(driveManager);
     MenuAkku* akku_m = new MenuAkku(mainBattery);
 
     // Set Menus on LCD