added virtual destuctor for menu things

.vscode/settings.json

@@ -85,11 +85,13 @@
         "blox",
         "gast",
         "GNSS",
+        "GPGGA",
         "Huus",
         "Keine",
         "kleiax",
         "Lebennig",
         "NMEA",
+        "NMEAGPGGA",
         "NTRIP",
         "pidl",
         "pidr",

lib/Menu/menu.cpp

@@ -14,6 +14,11 @@ Menu::Menu() {
     this->selectedEntry = this->entrys.begin();
 }
 
+Menu::~Menu() {
+    for (std::list<MenuAction*>::iterator iter = this->entrys.begin(); iter != this->entrys.end(); iter++)
+        delete *iter;
+}
+
 void Menu::addEntry(MenuAction* entry) {
     this->entrys.push_back(entry);
 

lib/Menu/menu.h

@@ -24,6 +24,7 @@ class MenuAction;
 class Menu : public MenuControl {
     public:
         Menu();
+        ~Menu() override;
 
         /**
          * @brief Add a menu action to the menu

lib/Menu/menuAction.cpp

@@ -23,6 +23,11 @@ MenuAction::MenuAction(const char* name, MenuControl* menu) {
     this->callback = nullptr;
 }
 
+MenuAction::~MenuAction() {
+    if (this->menu)
+        delete this->menu;
+}
+
 void MenuAction::runAction() {
     if (isMenu)
         this->menu->printMenu();

lib/Menu/menuAction.h

@@ -43,6 +43,8 @@ class MenuAction {
          */
         MenuAction(const char* name, MenuControl* menu);
 
+        ~MenuAction();
+
         /**
          * @brief activates the entry 
          */
@@ -80,7 +82,7 @@ class MenuAction {
         void (*callback) () = nullptr;
 
         bool isMenu = false;
-        MenuControl* menu;
+        MenuControl* menu = nullptr;
 };
 
 #endif // MENU_ENTRY_H

lib/Menu/menuControl.h

@@ -24,6 +24,7 @@
  */
 class MenuControl {
     public:
+        virtual ~MenuControl() {};
 
         /** @name UserInputs
          * @brief This functions should be called be user actions.

lib/Navigation/navigation.cpp

@@ -25,9 +25,7 @@ Navigation::Navigation(Route* route) {
     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->setNavigationFrequency(1);
-
-    this->gps->getNavigationFrequency(1);
 
     if (route)
         this->route = route;
@@ -38,55 +36,17 @@ Navigation::Navigation(Route* route) {
 Navigation::~Navigation() {
     delete this->gps;
 
-    if (this->isNtripInit) {
+    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->ntripClient = new NTRIPClient(this->gps, host.c_str(), port, mountPoint.c_str(), user.c_str(), password.c_str());
-    this->mountPoint = new char[mountPoint.length() + 1];
+    this->ntripClient->gpsConfiguration();
-    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() {
@@ -95,14 +55,8 @@ void Navigation::loop() {
     if (millis() - this->lastMillis < this->timeToWait)
         return;
 
-    if (this->isNtripInit) {
+    if (this->isNtripInit)
-        uint8_t rtcmData[512 * 4];
+        this->ntripClient->loop();
-        uint16_t rtcmCount = this->ntripClient->available();
-        if (rtcmCount) {
-            this->ntripClient->readBytes(rtcmData, rtcmCount);
-            this->gps->pushRawData(rtcmData, rtcmCount);
-        }
-    }
 }
 
 void Navigation::newRoute() {

lib/Ntrip/NTRIPClient.cpp

@@ -34,6 +34,13 @@ void NTRIPClient::loop() {
     this->gps->checkUblox();
     this->gps->checkCallbacks();
 
+    if (millis() - this->lastGPGGAPushTime > this->pushGPGGATime) {
+        NMEA_GGA_data_t *data = nullptr;
+        uint8_t res = this->gps->getLatestNMEAGPGGA(data);
+        if (res == 2)
+            this->pushGPGGA(data);
+    }
+
     switch (this->state) {
         case NTRIPClientStates::openConnection:
             if (millis() - this->lastNtripConnectTime > this->tryReconnectTime)
@@ -72,12 +79,11 @@ void NTRIPClient::loop() {
 void NTRIPClient::gpsConfiguration() {
     this->gps->setI2COutput(COM_TYPE_UBX | COM_TYPE_NMEA);
     this->gps->setPortInput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3);
-    this->gps->(SFE_UBLOX_DGNSS_MODE_FIXED); // Set the differential mode - ambiguities are fixed whenever possible
+    this->gps->setDGNSSConfiguration(SFE_UBLOX_DGNSS_MODE_FIXED); // Set the differential mode - ambiguities are fixed whenever possible
     this->gps->setNavigationFrequency(1);
     this->gps->setMainTalkerID(SFE_UBLOX_MAIN_TALKER_ID_GP);
     this->gps->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_I2C, 10);
 
-    this->gps->setNMEAGPGGAcallbackPtr(&pushGPGGA); // Set up the callback for GPGGA
     this->gps->setAutoPVTcallbackPtr(&(NTRIPClient::printPVTdata));
 }
 
@@ -140,7 +146,7 @@ bool NTRIPClient::beginClient() {
             this->ntripClient->stop();
             return false;
         }
-        delay(10)
+        delay(10);
     }
 
     //Check reply
@@ -214,7 +220,7 @@ bool NTRIPClient::processConnection() {
 
 void NTRIPClient::pushGPGGA(NMEA_GGA_data_t *nmeaData) {
     if (this->ntripClient->connected() && this->transmitLocation) {
-        std::cout << "Pushing GGA to server: " << (const char *)nmeaData->nmea) << std::endl;
+        std::cout << "Pushing GGA to server: " << (const char *)nmeaData->nmea << std::endl;
         this->ntripClient->print((const char *)nmeaData->nmea);
     }
 }
@@ -262,3 +268,9 @@ void NTRIPClient::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
               << "Carrier Solution: " << carrSolnString
               << "Horizontal Accuracy Estimate: " << hAcc << " mm" << std::endl;
 }
+
+bool NTRIPClient::isConnected() {
+    if (this->state == NTRIPClientStates::pushData)
+        return true;
+    return false;
+}

lib/Ntrip/NTRIPClient.h

@@ -21,13 +21,17 @@ class NTRIPClient {
         void loop();
 
         void gpsConfiguration();
-        void pushGPGGA(NMEA_GGA_data_t *nmeaData);
 
         void setTransmitLocation(bool b) { this->transmitLocation = b; }
         void setActivated(bool b) { this->activated = b; }
+
+        bool isConnected();
+        NTRIPClientStates getClientState() { return this->state; }
+
         static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
 
     private:
+        void pushGPGGA(NMEA_GGA_data_t *nmeaData);
         bool beginClient();
         void closeConnection();
         bool processConnection();
@@ -42,6 +46,7 @@ class NTRIPClient {
         uint16_t port;
         uint32_t lastReceivedRtcmTime = 0;
         uint32_t lastNtripConnectTime = 0;
+        uint32_t lastGPGGAPushTime = 0;
         uint32_t lastLoopTime = 0;
 
         const char* host;
@@ -52,6 +57,7 @@ class NTRIPClient {
         const uint16_t timeOut = 5000;
         const uint16_t tryReconnectTime = 5000;
         const uint16_t bufferSize = 512;
+        const uint16_t pushGPGGATime = 10000;
 };
 
 #endif