kleiax/Bachelorarbeit-Rover
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases 1 Wiki Activity

ntrip, testMode, zed9 gnss modul

Browse Source
This commit is contained in:
kleiax
2022-09-13 20:31:52 +02:00
parent c7cb0d3895
commit af6cb98898
43 changed files with 907 additions and 262 deletions
Download Patch File Download Diff File Expand all files Collapse all files
lib/MQTT/debugMqtt.h
+1
View File
@@ -14,6 +14,7 @@
#include <iostream>
#include <PubSubClient.h>
/**
* @brief
*
lib/Menu/menu.cpp
+4
View File
@@ -21,6 +21,10 @@ void Menu::addEntry(MenuAction* entry) {
this->selectedEntry = this->entrys.begin();
}
bool Menu::isInSubmenu() {
return this->inSubmenu;
}
void Menu::printMenu() {
if (this->lcd) {
lcd->clear();
lib/Menu/menu.h
+1
View File
@@ -31,6 +31,7 @@ class Menu : public MenuControl {
* @param entry
*/
void addEntry(MenuAction* entry);
bool isInSubmenu();
void printMenu() override;
void update() override;
lib/Menu/menuControl.h
+9 -8
View File
@@ -32,20 +32,20 @@ class MenuControl {
* class.
*/
///@{
virtual void down();
virtual void up();
virtual void right();
virtual void left();
virtual void yes();
virtual void no();
virtual void down() = 0;
virtual void up() = 0;
virtual void right() = 0;
virtual void left() = 0;
virtual void yes() = 0;
virtual void no() = 0;
///@}
/**
* @brief can be called to update shown data
*/
virtual void update();
virtual void update() {}
virtual void printMenu();
virtual void printMenu() = 0;
/**
* @brief Set the Parent Menu
@@ -56,6 +56,7 @@ class MenuControl {
* @param menu
*/
void setParentMenu(MenuControl* menu) { this->parentMenu = menu; }
// MenuControl* getParentMenu() { return this->parentMenu; }
/**
* @brief Set the Lcd object
lib/Menu/menuIntInput.cpp
+97
View File
@@ -0,0 +1,97 @@
/**
* @file menuIntInput.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-09-12
*
* @copyright Copyright (c) 2022
*
*/
#include "menuIntInput.h"
MenuIntInput::MenuIntInput(int16_t values[], char *names, uint8_t length, MenuIntInputWrapper* wrapper) {
this->values = values;
this->names = names;
this->length = length;
this->wrapper = wrapper;
}
void MenuIntInput::down() {
if (values[currentPosition] > this->min)
values[currentPosition]--;
this->printMenu();
}
void MenuIntInput::up() {
if (values[currentPosition] < this->max)
values[currentPosition]++;
this->printMenu();
}
void MenuIntInput::right() {
if (currentPosition < this->length - 1)
currentPosition++;
else
currentPosition = 0;
this->printMenu();
}
void MenuIntInput::left() {
if (currentPosition > 0)
currentPosition--;
else
currentPosition = this->length - 1;
this->printMenu();
}
void MenuIntInput::no() {
if (parentMenu)
this->parentMenu->printMenu();
}
void MenuIntInput::yes() {
this->wrapper->action(this->values, this->length);
if (parentMenu)
this->parentMenu->printMenu();
}
void MenuIntInput::printMenu() {
// TODO: Name max 12 chars
char bufferName[17];
if (this->currentPosition == 0 && this->length == 1) {
// No arrow
sprintf(bufferName, " %s ", this->names[this->currentPosition]);
} else if (this->currentPosition > 0 && this->length - 1 == this->currentPosition) {
// Left arrow only
sprintf(bufferName, "< %s ", this->names[this->currentPosition]);
} else if (this->currentPosition == 0 && this->length > 1) {
// Right arrow only
sprintf(bufferName, " %s >", this->names[this->currentPosition]);
} else {
// Both arrow
sprintf(bufferName, "< %s >", this->names[this->currentPosition]);
}
char bufferValue[17];
sprintf(bufferValue, " -> %5.d", this->values[this->currentPosition]);
if (this->lcd) {
lcd->clear();
lcd->setCursor(0, 0);
lcd->print(bufferName);
lcd->setCursor(0, 1);
lcd->print(bufferValue);
}
std::cout << bufferName << " : " << bufferValue << std::endl;
}
lib/Menu/menuIntInput.h
+83
View File
@@ -0,0 +1,83 @@
/**
* @file menuIntInput.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-09-12
*
* @copyright Copyright (c) 2022
*
*/
#ifndef MENU_INT_INPUT_H
#define MENU_INT_INPUT_H
#include "menuControl.h"
#include <stdint.h>
#define MAX_NAME_LENGTH 12
class MenuIntInputWrapper {
public:
virtual void action(int16_t* values, uint8_t length) = 0;
};
class MenuIntInput : public MenuControl {
public:
MenuIntInput(int16_t values[], char *names, uint8_t length, MenuIntInputWrapper* wrapper);
void setMin(int16_t min = 0) { this->min = min; }
void setMax(int16_t max = 100) { this->max = max; }
/**
* @brief Decrement selected value
*/
void down() override;
/**
* @brief Increment selected value
*/
void up() override;
/**
* @brief Select next value
*/
void right() override;
/**
* @brief Select previous value
*/
void left() override;
/**
* @brief Leave menu without saving
*/
void no() override;
/**
* @brief Leave menu with saving
*/
void yes() override;
/**
* @brief Prints the Information to display and console
*
* The informations are only printed to the display if it
* set.
*/
void printMenu() override;
void update() override {};
private:
MenuIntInputWrapper* wrapper;
uint8_t currentPosition = 0;
uint8_t length;
int16_t *values;
int16_t min = INT16_MIN;
int16_t max = INT16_MAX;
char *names;
};
#endif // MENU_INT_INPUT_H
lib/MotorControl/motorControl.cpp
+3 -3
View File
@@ -36,14 +36,14 @@ void MotorControl::init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t dir_1, uin
uint16_t MotorControl::loop() {
uint32_t time = millis();
uint16_t elapsed_time = time - this->last_millis;
uint16_t elapsed_time = time - this->lastMillis;
//Cancel if delay is not reached
if (elapsed_time < delay)
return elapsed_time;
runMotorControl();
this->last_millis = time;
this->lastMillis = time;
return elapsed_time;
}
@@ -199,4 +199,4 @@ void MotorControl::increasePower(int8_t power) {
}
this->setRealPower(this->power + power);
}
}
lib/MotorControl/motorControl.h
+1 -1
View File
@@ -163,7 +163,7 @@ class MotorControl {
uint8_t delay = DELAY;
uint8_t powersteps = POWERSTEPS;
uint32_t last_millis = 0;
uint32_t lastMillis = 0;
};
lib/Navigation/navigation.cpp
+63 -3
View File
@@ -20,11 +20,14 @@ Navigation::Navigation(Route* route) {
uint8_t versionHigh = this->gps->getProtocolVersionHigh();
uint8_t versionLow = this->gps->getProtocolVersionLow();
std::cout << "Neo-M8Q protocol version: " << unsigned(versionHigh) << "." << unsigned(versionLow) << std::endl;
std::cout << "u-blox protocol version: " << unsigned(versionHigh) << "." << unsigned(versionLow) << std::endl;
this->gps->setI2COutput(COM_TYPE_UBX);
this->gps->setUSBOutput(COM_TYPE_UBX | COM_TYPE_NMEA);
this->gps->setPortInput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3);
this->gps->getNavigationFrequency(1);
if (route)
this->route = route;
@@ -34,13 +37,70 @@ Navigation::Navigation(Route* route) {
Navigation::~Navigation() {
delete this->gps;
if (this->isNtripInit) {
delete this->ntripClient;
delete this->host;
delete this->mountPoint;
delete this->user;
delete this->password;
}
if (this->route)
delete this->route;
}
void Navigation::initNtrip(String host, uint16_t port, String mountPoint, String user, String password) {
this->host = new char[host.length() + 1];
this->mountPoint = new char[mountPoint.length() + 1];
this->user = new char[user.length() + 1];
this->password = new char[password.length() + 1];
strcpy(this->host, host.c_str());
strcpy(this->mountPoint, mountPoint.c_str());
strcpy(this->user, user.c_str());
strcpy(this->password, password.c_str());
this->port = port;
this->ntripClient = new NTRIPClient;
this->isNtripInit = true;
std::cout << "Requesting SourceTable." << std::endl;
if(this->ntripClient->reqSrcTbl(this->host, (int) this->port)){
char buffer[512];
delay(5);
while(this->ntripClient->available()) {
this->ntripClient->readLine(buffer,sizeof(buffer));
std::cout << buffer << std::endl;
}
} else {
std::cout << "SourceTable request error" << std::endl;
}
std::cout << "Requesting SourceTable is OK" << std::endl;
this->ntripClient->stop(); //Need to call "stop" function for next request.
std::cout << "Requesting MountPoint's Raw data" << std::endl;
if(!this->ntripClient->reqRaw(this->host, this->port, this->mountPoint,
this->user, this->password)){
delay(15000);
ESP.restart();
}
std::cout << "Requesting MountPoint is OK" << std::endl;
}
void Navigation::loop() {
//FIXME: Hier sollte funktion zum aktualisieren des GPS Moduls stehen
//this->gps->checkUbloxI2C();
if (millis() - this->lastMillis < this->timeToWait)
return;
uint8_t rtcmData[512 * 4];
uint16_t rtcmCount = this->ntripClient->available();
if (rtcmCount) {
this->ntripClient->readBytes(rtcmData, rtcmCount);
this->gps->pushRawData(rtcmData, rtcmCount);
}
}
void Navigation::newRoute() {
lib/Navigation/navigation.h
+23
View File
@@ -19,6 +19,7 @@
#include "route.h"
#include "navigationUtils.h"
#include "NTRIPClient.h"
/**
* @brief The minimal distance between Points
@@ -64,6 +65,17 @@ class Navigation {
*/
~Navigation();
/**
* @brief
*
* @param host
* @param port
* @param mountPoint
* @param user
* @param password
*/
void initNtrip(String host, uint16_t port, String mountPoint, String user, String password);
/**
* @brief Decodes new GPS information
*
@@ -169,12 +181,23 @@ class Navigation {
SFE_UBLOX_GNSS* gps;
Route* route = nullptr;
NTRIPClient* ntripClient = nullptr;
Point lastPoint;
Point targetPoint;
bool navigationStarted = false;
bool navigationFinished = false;
bool isNtripInit = false;
char* host;
char* mountPoint;
char* user;
char* password;
uint8_t timeToWait = 5;
uint16_t port;
uint32_t lastMillis = 0;
};
#endif // NAVIGATION_H
lib/Ntrip/NTRIPClient.cpp
+33 -36
View File
@@ -1,37 +1,34 @@
#include"NTRIPClient.h"
bool NTRIPClient::reqSrcTbl(char* host,int &port)
{
if(!connect(host,port)){
Serial.print("Cannot connect to ");
Serial.println(host);
return false;
}/*p = String("GET ") + String("/") + String(" HTTP/1.0\r\n");
p = p + String("User-Agent: NTRIP Enbeded\r\n");*/
print(
"GET / HTTP/1.0\r\n"
"User-Agent: NTRIPClient for Arduino v1.0\r\n"
);
unsigned long timeout = millis();
while (available() == 0) {
if (millis() - timeout > 5000) {
Serial.println("Client Timeout !");
stop();
return false;
}
delay(10);
}
char buffer[50];
readLine(buffer,sizeof(buffer));
if(strncmp((char*)buffer,"SOURCETABLE 200 OK",17))
{
Serial.print((char*)buffer);
return false;
}
return true;
bool NTRIPClient::reqSrcTbl(char* host,uint16_t port){
if(!connect(host,port)){
Serial.print("Cannot connect to ");
Serial.println(host);
return false;
} /*p = String("GET ") + String("/") + String(" HTTP/1.0\r\n");
p = p + String("User-Agent: NTRIP Enbeded\r\n");*/
print(
"GET / HTTP/1.0\r\n"
"User-Agent: NTRIPClient for Arduino v1.0\r\n"
);
unsigned long timeout = millis();
while (available() == 0) {
if (millis() - timeout > 5000) {
Serial.println("Client Timeout !");
stop();
return false;
}
delay(10);
}
char buffer[50];
readLine(buffer,sizeof(buffer));
if(strncmp((char*)buffer,"SOURCETABLE 200 OK",17)) {
Serial.print((char*)buffer);
return false;
}
return true;
}
bool NTRIPClient::reqRaw(char* host,int &port,char* mntpnt,char* user,char* psw)
{
bool NTRIPClient::reqRaw(char* host,uint16_t port,char* mntpnt,char* user,char* psw) {
if(!connect(host,port))return false;
String p="GET /";
String auth="";
@@ -79,12 +76,12 @@ bool NTRIPClient::reqRaw(char* host,int &port,char* mntpnt,char* user,char* psw)
}
return true;
}
bool NTRIPClient::reqRaw(char* host,int &port,char* mntpnt)
{
bool NTRIPClient::reqRaw(char* host,uint16_t port,char* mntpnt) {
return reqRaw(host,port,mntpnt,"","");
}
int NTRIPClient::readLine(char* _buffer,int size)
{
int NTRIPClient::readLine(char* _buffer,int size) {
int len = 0;
while(available()) {
_buffer[len] = read();
lib/Ntrip/NTRIPClient.h
+3 -3
View File
@@ -7,9 +7,9 @@
class NTRIPClient : public WiFiClient{
public :
bool reqSrcTbl(char* host,int &port); //request MountPoints List serviced the NTRIP Caster
bool reqRaw(char* host,int &port,char* mntpnt,char* user,char* psw); //request RAW data from Caster
bool reqRaw(char* host,int &port,char* mntpnt); //non user
bool reqSrcTbl(char* host,uint16_t port); //request MountPoints List serviced the NTRIP Caster
bool reqRaw(char* host,uint16_t port,char* mntpnt,char* user,char* psw); //request RAW data from Caster
bool reqRaw(char* host,uint16_t port,char* mntpnt); //non user
int readLine(char* buffer,int size);
lib/Rtcm/rtcmInsert.cpp
-50
View File
@@ -1,50 +0,0 @@
/**
* @file rtcmInsert.cpp
* @author * @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-03-24
*
* @copyright Copyright (c) 2022
*
*/
#include "rtcmInsert.h"
RtcmInsert::RtcmInsert(uint8_t address, char* ntripHost, uint16_t ntripPort, char* ntripMountPoint, char* ntripUser, char* ntripPassword)
: address() {
this->ntrip_c = new NTRIPClient();
std::cout << "Requesting SourceTable." << std::endl;
if(this->ntrip_c->reqSrcTbl(ntripHost, ntripPort)) {
char buffer[512];
delay(5);
while(this->ntrip_c->available()) {
this->ntrip_c->readLine(buffer,sizeof(buffer));
std::cout << buffer;
}
}
else
std::cout << "SourceTable request error" << std::endl;
std::cout << "Requesting SourceTable is OK." << std::endl;
this->ntrip_c->stop(); //Need to call "stop" function for next request.
std::cout << "Requesting MountPoint's Raw data" << std::endl;
if(!this->ntrip_c->reqRaw(ntripHost, ntripPort, ntripMountPoint, ntripUser, ntripPassword))
std::cout << "Error Requesting MountPoint's Raw data" << std::endl;
else
std::cout << "Requesting MountPoint is OK" << std::endl;
}
void RtcmInsert::loop() {
if (this->ntrip_c->available()) {
Wire.beginTransmission(this->address);
while(this->ntrip_c->available()) {
char ch = this->ntrip_c->read();
Wire.write(ch);
}
Wire.endTransmission();
}
}
lib/Rtcm/rtcmInsert.h
-31
View File
@@ -1,31 +0,0 @@
/**
* @file rtcmInsert.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-03-24
*
* @copyright Copyright (c) 2022
*
*/
#ifndef RTCM_INSERT_H
#define RTCM_INSERT_H
#include <stdint.h>
#include "NTRIPClient.h"
class RtcmInsert {
public:
RtcmInsert(uint8_t address, char* ntripHost, uint16_t ntripPort, char* ntripMountPoint, char* ntripUser, char* ntripPassword);
void loop();
private:
uint8_t address;
NTRIPClient* ntrip_c;
};
#endif // RTCM_INSERT_H