refactore all captureRoute stuff

src/driveModi/Modi/CaptureRoute/captureRoute.cpp

@@ -14,13 +14,18 @@
 CaptureRoute::CaptureRoute(MoveControl* moveControl, const ControlPadInput *input, Navigation* navigation) 
     : ManualControl(moveControl, input) {
         this->navigation = navigation;
+        this->navigation->getRoute()->clear();
         this->routeInfo = navigation->getRouteInfo();
 }
 
+CaptureRoute::~CaptureRoute() {
+    this->navigation->getNTRIPClient()->setActivated(false);
+}
+
 void CaptureRoute::loop() {
     ManualControl::loop();
 
-    if (millis() - this->lastMillis < delay) {
+    if (millis() - this->lastMillis < this->delay) {
         return;
     }
     this->runCaptureRoute();
@@ -28,14 +33,26 @@ void CaptureRoute::loop() {
 }
 
 void CaptureRoute::runCaptureRoute() {
+    this->checkNtrip();
+
+    if (this->state != NtripState::Enabled)
+        return;
+
     if (ControlPadButton::isControlPadButtonPressed(this->input, ControlPadButton::PadButton::Action)) {
         if (this->navigation->addCurrentPosToRoute()) {
+            this->lastSavedPoint = this->navigation->getCurrentPosition();
             this->routeInfo = navigation->getRouteInfo();
             this->updateDisplay = true;
         }
     }
 }
 
+double CaptureRoute::getDistanceToLastPoint() {
+    if (!this->lastSavedPoint.isInit())
+        return 0;
+    return this->lastSavedPoint.distanceTo(this->navigation->getCurrentPosition());
+}
+
 bool CaptureRoute::shouldUpdate() {
     if (this->updateDisplay) {
         this->updateDisplay = false;
@@ -43,3 +60,27 @@ bool CaptureRoute::shouldUpdate() {
     }
     return false;
 }
+
+void CaptureRoute::checkNtrip() {
+    NTRIPClient* client = this->navigation->getNTRIPClient();
+    NTRIPClientStates state = client->getClientState();
+    if (state == NTRIPClientStates::notAvailable) {
+        this->state = NtripState::NoNtrip;
+    } else if (state == NTRIPClientStates::pushData) {
+        this->ntripReconnectAttemps = 0;
+        this->state = NtripState::Enabled;
+    } else if (state ==NTRIPClientStates::wait) {
+        this->state = NtripState::Waiting;
+        if (millis() - this->reconnectNtripLastMillis < this->reconnectNtripDelayMillis)
+            return;
+
+        if (this->ntripReconnectAttemps > this->ntripReconnectMaxAttemps) {
+            this->state = NtripState::NoNtrip;
+            return;
+        }
+
+        this->reconnectNtripLastMillis = millis();
+        client->setActivated(true);
+        this->ntripReconnectAttemps++;
+    }
+}