ntrip, testMode, zed9 gnss modul

lib/Navigation/navigation.cpp

@@ -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

@@ -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