ntrip, testMode, zed9 gnss modul

include/moveControl.h

@@ -94,7 +94,7 @@ class MoveControl {
          * target rotationspeed is set to zero.
          * @param speed rad/s
          */
-        void setRotationspeed(double speed);
+        void setRotationSpeed(double speed);
 
         /**
          * @brief Set the pid tunings

include/network.h

@@ -51,8 +51,11 @@ class Network {
          * If mqtt is not connect, this function try a reconnect
          * with the function connectMQTT. This function should be
          * called every mainloop.
+         * 
+         * @return true if connected
+         * @return false if not connected
          */
-        static void checkMQTT();
+        static bool checkMQTT();
 
         /**
          * @brief Checks if WiFi is still connected
@@ -82,6 +85,7 @@ class Network {
         static IPAddress gateway;
         static IPAddress subnet;
         static IPAddress mqtt_server;
+        static IPAddress dnsServer;
 
         static WiFiClient wifi_client;
         static PubSubClient* mqtt_client;

include/networkConfig.h

@@ -29,13 +29,28 @@
  * The time in milliseconds until the next connection attempt.
  */
 #define WLAN_CONNECT_LOOP_TIME 500
-#define ESP32BROKER
+#define WLAN_DNS_SERVER     "8.8.8.8"
+#define DORO
 
+#define NTRIP_NS
+
+// NTRIP config NRW
+#ifdef NTRIP_NRW
 #define NTRIP_HOST          "80.158.61.104"
 #define NTRIP_PORT          2101
 #define NTRIP_MOUNT_POINT   "EPS_NW"
 #define NTRIP_USER          "nw-916771"
 #define NTRIP_PASSWORD      "Schalke#246"
+#endif // NTRIP_NRW
+
+// NTRIP config NS
+#ifdef NTRIP_NS
+#define NTRIP_HOST          "openservice-sapos.niedersachsen.de"
+#define NTRIP_PORT          2101
+#define NTRIP_MOUNT_POINT   "VRS_3_4G_NI"
+#define NTRIP_USER          "ni_FHDo01"
+#define NTRIP_PASSWORD      "ALdx-1-3e49"
+#endif // NTRIP_NS
 
 //Network config ESP32
 #ifdef ESP32BROKER
@@ -48,13 +63,14 @@
 #define MQTT_PORT 1883
 #endif //ESP32BROKER
 
-//Network config RHEDE
+//Network config Hotspot
 #ifdef HOTSPOT
 #define WLAN_SSID "Kleiax Handy"
 #define WLAN_PASSWORD "12345677"
 #define WLAN_IP "192.168.11.4"
 #define WLAN_SUBNETMASK "255.255.128.0"
 #define WLAN_GATEWAY "192.168.0.1"
+#define MQTT
 #define MQTT_SERVER "192.168.1.7"
 #define MQTT_PORT 1883
 #define MQTT_AUTH
@@ -62,12 +78,14 @@
 #define MQTT_PASSWORD "p?{$_~5%hBM7wrcFkr55KWr#"
 #endif //HOTSPOT
 
+//Network config Rhede
 #ifdef RHEDE
 #define WLAN_SSID "LebennigHuus"
 #define WLAN_PASSWORD "Punica-699"
 #define WLAN_IP "192.168.11.4"
 #define WLAN_SUBNETMASK "255.255.128.0"
 #define WLAN_GATEWAY "192.168.0.1"
+#define MQTT
 #define MQTT_SERVER "192.168.1.7"
 #define MQTT_PORT 1883
 #define MQTT_AUTH
@@ -75,6 +93,18 @@
 #define MQTT_PASSWORD "p?{$_~5%hBM7wrcFkr55KWr#"
 #endif //RHEDE
 
+//Network config Doro
+#ifdef DORO
+#define WLAN_SSID "Tuedelkram"
+#define WLAN_PASSWORD "3Kaesehoch!"
+#define WLAN_IP "192.168.178.4"
+#define WLAN_SUBNETMASK "255.255.255.0"
+#define WLAN_GATEWAY "192.168.178.1"
+    // Only for defines reasons
+    #define MQTT_SERVER "172.22.64.216"
+    #define MQTT_PORT 1883
+#endif //DORO
+
 //Network config HW1
 #ifdef HW1
 #define WLAN_SSID "hw1_gast"
@@ -82,6 +112,7 @@
 #define WLAN_IP "192.168.0.67"
 #define WLAN_SUBNETMASK "255.255.255.0"
 #define WLAN_GATEWAY "192.168.0.1"
+#define MQTT
 #define MQTT_SERVER "172.22.64.216"
 #define MQTT_PORT 1883
 #endif //HW1 
@@ -92,6 +123,7 @@
 #define WLAN_PASSWORD "2W2ZLPJ9NVQ3"
 #define WLAN_IP 0x0F01a8c0          //192.168.1.15
 #define WLAN_SUBNETMASK 0x00FFFFFF  //255.255.255.0
+#define MQTT
 #define WLAN_GATEWAY 0xfe01a8c0     //192.168.1.254
 #define MQTT_SERVER 0x0201a8c0      //192.168.1.2
 #define MQTT_PORT 1883
@@ -104,6 +136,7 @@
 #define WLAN_IP 0x0F01a8c0          //192.168.1.15
 #define WLAN_SUBNETMASK 0x00FFFFFF  //255.255.255.0
 #define WLAN_GATEWAY 0x0101a8c0     //192.168.1.1
+#define MQTT
 #define MQTT_SERVER 0x0201a8c0      //192.168.1.2
 #define MQTT_PORT 1883
 #endif //TPMOBIL