kleiax
22eb6788c3
- shiftet moveControl States in the class namespace - added auto reconeect to NtripClient - a lot of refactor
138 lines
3.5 KiB
C++
138 lines
3.5 KiB
C++
/**
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* @file ntripClient.h
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* @author Alexander Klein (alex@kleiax.de)
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* @brief Contains the class NTRIPClient
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* @version 0.1
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* @date 2023-02-13
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*
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* @copyright Copyright (c) 2023
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*
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*/
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#ifndef NTRIP_CLIENT
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#define NTRIP_CLIENT
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#include <WiFiClient.h>
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#include <Arduino.h>
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#include <base64.h>
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#include <iostream>
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#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
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#include "debugTimes.h"
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/**
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* @brief States for the state machine.
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*
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*/
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enum NTRIPClientStates {
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openConnection,
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pushData,
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closeConnection,
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wait,
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notAvailable
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};
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/**
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* @brief Ntrip Client
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*
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* This class can connect to a ntrip server to pull correction
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* data and push it to a given gnss module. This module have to be compatible
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* with the SparkFun u-blox GNSS Arduino Library.
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*/
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class NTRIPClient {
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public:
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/**
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* @brief Construct a new NTRIPClient object
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*
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* @param gps The Gnss module
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* @param host
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* @param port
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* @param mountPoint
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* @param user
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* @param password
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*/
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NTRIPClient(SFE_UBLOX_GNSS* gps, const char* host, uint16_t port, const char* mountPoint, const char* user, const char* password);
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~NTRIPClient();
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/**
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* @brief Runs the state machine.
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*
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* See NTRIPClientStates for more information.
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* Should be called ever main loop.
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*/
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void loop();
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/**
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* @brief Configure the Gnss module to accept correction data
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*
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*/
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void gpsConfiguration();
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/**
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* @brief Activate or deactivate the location transmission
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*
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* Some server need the position of the Gnss module to send the
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* right correction data.
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*
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* @param b
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*/
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void setTransmitLocation(bool b) { this->transmitLocation = b; }
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/**
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* @brief Activate or deactivate the connection to the server.
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*
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* @param state
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* @return true success
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* @return false failure
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*/
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bool setActivated(bool state);
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void setAutoReconnect(bool state);
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bool isConnected();
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/**
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* @brief Get the Client State object
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*
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* Returns the state of the State machine
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*
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* @return NTRIPClientStates
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*/
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NTRIPClientStates getClientState() { return this->state; }
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private:
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void pushGPGGA();
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bool beginClient();
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void closeConnection();
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bool processConnection();
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void checkAutoReconnect();
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SFE_UBLOX_GNSS* gps;
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WiFiClient* ntripClient;
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NTRIPClientStates state = NTRIPClientStates::notAvailable;
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bool transmitLocation = true;
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bool activated = true;
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bool autoReconnect = false;
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uint8_t reconnectAttemps = 0;
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uint16_t port;
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uint32_t lastReceivedRtcmTime = 0;
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// uint32_t lastNtripConnectTime = 0; // can deleted?
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uint32_t lastGPGGAPushTime = 0;
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uint32_t lastLoopTime = 0;
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uint32_t lastReconnectTime = 0;
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char host[128];
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char mountPoint[128];
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char user[128];
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char password[128];
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const uint8_t delayTime = 20;
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const uint8_t maxReconnectAttemps = 10;
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const uint16_t reconnectDelayTime = 1000;
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const uint16_t timeOut = 5000;
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const uint16_t bufferSize = 512;
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const uint16_t pushGPGGATime = 10000;
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};
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#endif
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