quite some fixes

include/networkConfig.h

@@ -14,7 +14,7 @@
 
 #include <stdint.h>
 
-#define HOTSPOT
+#define RHEDE
 
 #ifdef HOTSPOT
 namespace NetworkConfig {
@@ -51,8 +51,9 @@ namespace MqttConfig {
 namespace NtripConfig {
     const char host[] = "rtk2go.com";
     const uint16_t port = 2101;
-    const char mountPoint[] = "GER-Dortmund";
+    // const char mountPoint[] = "GER-Dortmund";
     // const char mountPoint[] = "GER-Papenburg";
+    const char mountPoint[] = "Rtkramerntrip";
     const char user[] = "alklein1@gmx.de";
     const char password[] = "none";
 }

lib/Network/network.cpp

@@ -19,6 +19,8 @@ Network::Network(const char *ssid, const char *passphrase) {
 }
 
 Network::Network(const char *ssid, const char *passphrase, NetworkAdresses adresses) {
+    this->adresses = adresses;
+
     if (!WiFi.mode(WIFI_AP_STA))
         std::cout << "Network::connectWiFi failed WiFi.mode" << std::endl;
 
@@ -81,8 +83,8 @@ void Network::printIPs() {
     }
     std::cout << "WiFi is connected to" << std::endl;
     std::cout << "IP address: " << std::endl;
-    std::cout << this->adresses.localIP << std::endl;
+    std::cout << WiFi.localIP().toString().c_str() << std::endl;
-    std::cout << "WiFi MAC Address: " << WiFi.macAddress() << std::endl << std::endl;
+    std::cout << "WiFi MAC Address: " << WiFi.macAddress().c_str() << std::endl << std::endl;
 }
 
 uint8_t Network::getCurrentChannel() {

lib/Sensors/sensorData.cpp

@@ -12,7 +12,6 @@
 #include "sensorData.h"
 
 bool SensorData::outputStatusPrintPVTdata = false;
-bool SensorData::newData = false;
 uint32_t SensorData::ubxUpdateTimeStatic = 0;
 UBX_NAV_PVT_data_t* SensorData::ubxDataStatic = nullptr;
 
@@ -161,7 +160,6 @@ void SensorData::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
 void SensorData::savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
     SensorData::printPVTdata(ubxDataStruct);
 
-    SensorData::newData = true;
     SensorData::ubxDataStatic = ubxDataStruct;
     SensorData::ubxUpdateTimeStatic = millis();
 }
@@ -189,11 +187,8 @@ void SensorData::runAsChild() {
     if (this->gnss) {
         this->gnss->checkUblox();
         this->gnss->checkCallbacks();
-    }
+        if (SensorData::ubxUpdateTimeStatic != this->lastUbxUpdate)
-
+            this->updateUbxData();
-    if (SensorData::newData) {
-        SensorData::newData = false;
-        // TODO: Update data
     }        
 }
 
@@ -210,3 +205,14 @@ void SensorData::initGnss() {
     this->gnss->setNavigationFrequency(1);
     this->gnss->setAutoPVT(true);
 }
+
+void SensorData::updateUbxData() {
+    this->gnssData = SensorData::ubxDataStatic;
+    this->lastUbxUpdate = SensorData::ubxUpdateTimeStatic;
+
+    Point::Coordinates coords;
+    coords.lat = this->gnssData->lat / 10000000.0;
+    coords.lon = this->gnssData->lon / 10000000.0;
+
+    this->currentPosition = Point(coords, this->gnssData->hAcc);
+}

lib/Sensors/sensorData.h

@@ -70,6 +70,8 @@ class SensorData : public Component {
         void run() override;
         void runAsChild() override;
         void initGnss();
+        void updateUbxData();
+
 
         QMC5883LCompass* realCompass = nullptr;
         CalcAzimuth* calcCompass = nullptr;
@@ -93,8 +95,9 @@ class SensorData : public Component {
         uint16_t port;
         int16_t realAzimuth = INT16_MAX;
         int16_t calcAzimuth = INT16_MAX;
+        uint32_t lastUbxUpdate = 0;
 
-        float yawPitchRoll[3];
+        float yawPitchRoll[3] {0, 0, 0};
 
         // static
         static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
@@ -103,7 +106,6 @@ class SensorData : public Component {
         static UBX_NAV_PVT_data_t* ubxDataStatic;
         static uint32_t ubxUpdateTimeStatic;
         static bool outputStatusPrintPVTdata;
-        static bool newData;
 };
 
 #endif //SENSOR_DATA_H

src/SpecialMenus/SensorData/menuSensorData.cpp

@@ -14,6 +14,7 @@
 MenuSensorData::MenuSensorData(SensorData* sensorData) :
     MenuInformationSites(7) {
         this->sensorData = sensorData;
+        this->noEqualLeft = true;
 }
 
 void MenuSensorData::printPage() const {
@@ -81,20 +82,20 @@ void MenuSensorData::printPage() const {
             lineTwo = "Ntrip: ";
             uint8_t carrSoln = gpsData->flags.bits.carrSoln;
             if (carrSoln == 0)
-                lineOne = "None";
+                lineOne.concat("None");
             else if (carrSoln == 1)
-                lineOne = "Floating";
+                lineOne.concat("Floating");
             else if (carrSoln == 2)
-                lineOne = "Fixed";
+                lineOne.concat("Fixed");
             else
                 lineOne = "UNKNOWN";
             NTRIPClientStates status = this->sensorData->getNtripState();
             if (status ==  NTRIPClientStates::pushData)
-                lineTwo = "enabled";
+                lineTwo.concat("enabled");
             else if (status == NTRIPClientStates::notAvailable)
-                lineTwo = " N/A";
+                lineTwo.concat(" N/A");
             else
-                lineTwo = "disabled";
+                lineTwo.concat("disabled");
             }
             break;
 
@@ -105,8 +106,8 @@ void MenuSensorData::printPage() const {
                 lineOne.concat(gpsData->hAcc);
                 lineTwo.concat(gpsData->numSV);
             } else {
-                lineOne = "-/-";
+                lineOne.concat("-/-");
-                lineTwo = "-/-";
+                lineTwo.concat("-/-");
             }
             break;
 

src/SpecialMenus/driveModi/menuDriveMode.cpp

@@ -24,7 +24,3 @@ void MenuDriveMode::left() {
         this->leaved = true;
     }
 }
-
-void MenuDriveMode::no() {
-    this->left();
-}

src/SpecialMenus/driveModi/menuDriveMode.h

@@ -32,11 +32,6 @@ class MenuDriveMode : public MenuInformationSites {
          */
         void left() override;
 
-        /**
-         * @brief Calls left.
-         */
-        void no() override;
-
     protected:
         void configureOnLeave() {}
 

src/driveModi/Modi/Autopilot/autopilot.cpp

@@ -18,20 +18,20 @@ DirectionChangeSignal::DirectionChangeSignal(Autopilot* pilot) {
 }
 
 DirectionChangeSignal::~DirectionChangeSignal() {
-    pilot->getSensorData()->getCalcCompass()->disableCalcAzimuth();
+    CalcAzimuth* calcAzimuth = pilot->getSensorData()->getCalcCompass();
+    if (calcAzimuth)
+        calcAzimuth->disableCalcAzimuth();
 }
 
 void DirectionChangeSignal::action() {
-    pilot->getSensorData()->getCalcCompass()->drivingDirectionChange(pilot->getSensorData()->getCurrentPos());
+    CalcAzimuth* calcAzimuth = pilot->getSensorData()->getCalcCompass();
+    if (calcAzimuth)
+        calcAzimuth->drivingDirectionChange(pilot->getSensorData()->getCurrentPos());
 }
 
 
 Autopilot::Autopilot() {
-        this->setInputMode(ManualControl::InputMode::Digital);
+        
-        this->directionChangeSignal = new DirectionChangeSignal(this);
-        this->setDirectionChangeCallback(this->directionChangeSignal);
-        this->navigation = new Navigation(this->sensorData);
-        this->init();
 }
 
 Autopilot::~Autopilot() {
@@ -247,3 +247,11 @@ void Autopilot::restartLoop() {
     this->lastOrderStatus = this->navigation->getCourseCorrection(this->courseCorrection, true);
     this->updateDisplay = true;
 }
+
+void Autopilot::afterActivate() {
+    this->setInputMode(ManualControl::InputMode::Digital);
+    this->directionChangeSignal = new DirectionChangeSignal(this);
+    this->setDirectionChangeCallback(this->directionChangeSignal);
+    this->navigation = new Navigation(this->sensorData);
+    this->init();
+}

src/driveModi/Modi/Autopilot/autopilot.h

@@ -102,6 +102,7 @@ class Autopilot : public ManualControl {
         void askNavigationForOrder();
         void selfDriving();
         void restartLoop();
+        void afterActivate() override;
 
         Navigation* navigation;
         CourseCorrection courseCorrection;

src/driveModi/Modi/CaptureRoute/captureRoute.cpp

@@ -10,16 +10,14 @@
  */
 
 #include "driveModi/Modi/CaptureRoute/captureRoute.h"
-
+#include "captureRoute.h"
-CaptureRoute::CaptureRoute() {
-        this->navigation = new Navigation(this->sensorData);
-        this->navigation->getRoute()->clear();
-        this->sensorData->getNtripClient()->setAutoReconnect(true);
-        this->routeInfo = navigation->getRouteInfo();
-}
 
 CaptureRoute::~CaptureRoute() {
-    // this->navigation->getNTRIPClient()->setActivated(false);
+    if (this->navigation)
+        delete this->navigation;
+
+    if (this->sensorData->getNtripClient())
+        this->sensorData->getNtripClient()->setActivated(false);
 }
 
 void CaptureRoute::run() {
@@ -34,6 +32,13 @@ void CaptureRoute::run() {
     }
 }
 
+void CaptureRoute::afterActivate() {
+    this->navigation = new Navigation(this->sensorData);
+        this->navigation->getRoute()->clear();
+        this->sensorData->getNtripClient()->setAutoReconnect(true);
+        this->routeInfo = navigation->getRouteInfo();
+}
+
 double CaptureRoute::getDistanceToLastPoint() const {
     if (!this->lastSavedPoint.isInit())
         return 0;

src/driveModi/Modi/CaptureRoute/captureRoute.h

@@ -27,8 +27,6 @@
  */
 class CaptureRoute : public ManualControl {
     public:
-        CaptureRoute();
-
         /**
          * @brief Destroy the Capture Route object
          * 
@@ -68,8 +66,9 @@ class CaptureRoute : public ManualControl {
         bool shouldUpdate();
     private:
         void run() override;
+        void afterActivate() override;
 
-        Navigation* navigation;
+        Navigation* navigation = nullptr;
         RouteInfo routeInfo;
         Point lastSavedPoint;
         Navigation::Status status = Navigation::Status::Complete;

src/driveModi/driveModi.cpp

@@ -27,4 +27,5 @@ void DriveModi::activate(DriveModiParams params){
 void DriveModi::init() {
     this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
     this->loopDelay = 40;
+    this->afterActivate();
 }

src/driveModi/driveModi.h

@@ -60,6 +60,8 @@ class DriveModi : public Component {
         double getMaxRotation() const { return this->maxRotationSpeed; }
 
     protected:
+        virtual void afterActivate() {}
+
         MoveControl *moveControl;
         const ControlPadInput* input;
         const SensorData* sensorData;

src/main.cpp

@@ -114,6 +114,7 @@ void setup() {
     sensorData = new SensorData();
     sensorData->enableGnss(spiPort, PinNumbers::gnssSpiCs);
     sensorData->enableRealCompass();
+    sensorData->enableNtrip(NtripConfig::host, NtripConfig::port, NtripConfig::mountPoint, NtripConfig::user, NtripConfig::password);
     // sensorData->enableGyroskop();
     driveManager = new DriveManager(&moveController, sensorData, controlPad->getControlPadDataPtr());