refactor all autopilot stuff

src/driveModi/Modi/Autopilot/autopilot.h

@@ -29,6 +29,17 @@
  */
 class Autopilot : public ManualControl {
     public:
+        enum State {
+            NoNtrip = -2,
+            NoRoute = -1,
+            None = 0,
+            NavigationStarted,
+            GetToStartPoint,
+            SelfDrivingAvailable,
+            SelfDriving,
+            TargetReached
+        };
+
         /**
          * @brief Construct a new Autopilot object
          * 
@@ -37,6 +48,13 @@ class Autopilot : public ManualControl {
          */
         Autopilot(MoveControl* moveControl, const ControlPadInput *input, Navigation* navigation);
 
+        /**
+         * @brief Destroy the Autopilot object
+         * 
+         * Disconnect the NTRIP-Client
+         */
+        ~Autopilot();
+
         /**
          * @brief Calls runAutopilot or ManualControl loop
          * 
@@ -73,36 +91,11 @@ class Autopilot : public ManualControl {
         CourseCorrection getCourseCorrection() const { return this->courseCorrection; }
 
         /**
-         * @brief Get the Navigation Started status
+         * @brief Get the State object
          * 
-         * @return true 
-         * @return false 
+         * @return State 
          */
-        bool getNavigationStarted() const { return this->navigationStarted; }
-
-        /**
-         * @brief Get the Navigation Ended status
-         * 
-         * @return true 
-         * @return false 
-         */
-        bool getNavigationEnded() const { return this->navigationEnded; }
-
-        /**
-         * @brief Get the Self Driving status
-         * 
-         * @return true 
-         * @return false 
-         */
-        bool getSelfDriving() const { return this->selfDriving; }
-
-        /**
-         * @brief Get the Self Driving Available status
-         * 
-         * @return true 
-         * @return false 
-         */
-        bool getSelfDrivingAvailable() const { return this->selfDrivingAvailable; }
+        State getState() const { return this->state; }
         
         /**
          * @brief Tells if there are new informations to display
@@ -113,24 +106,26 @@ class Autopilot : public ManualControl {
         bool shouldUpdate();
 
     private:
-        void setSelfDriving(bool val);
+        void checkNtrip();
         void setSpeedInRelToDistance(double distance);
         void setRotInRelToDistance(int16_t course);
 
         Navigation* navigation;
         CourseCorrection courseCorrection;
         RouteInfo routeInfo;
+        State state = State::None;
+        NTRIPClientStates lastState;
 
-        bool navigationStarted = false;
-        bool navigationEnded = false;
-        bool selfDriving = false;
-        bool selfDrivingAvailable = false;
         bool updateDisplay = false;
 
         uint8_t loopDelayMillis = 40;
+        uint8_t ntripReconnectAttemps = 0;
+        uint8_t ntripReconnectMaxAttemps = 10;
         uint16_t displayUpdateDelayMillis = 1000;
+        uint16_t reconnectNtripDelayMillis = 1000;
         uint32_t displayUpdateLastMillis = 0;
         uint32_t loopLastMillis = 0;
+        uint32_t reconnectNtripLastMillis = 0;
 };
 
 #endif // AUTOPILOT_H