268 lines
8.8 KiB
C++
268 lines
8.8 KiB
C++
/**
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* @file NTRIPClient.cpp
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* @author Alexander Klein (alex@kleiax.de)
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* @brief
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* @version 0.1
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* @date 2022-09-18
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#include "ntripClient.h"
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NTRIPClient::NTRIPClient() {
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}
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NTRIPClient::~NTRIPClient() {
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delete this->ntripClient;
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}
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void NTRIPClient::init(SFE_UBLOX_GNSS* gps, const char* host, uint16_t port, const char* mountPoint, const char* user, const char* password) {
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this->gps = gps;
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strcpy(this->host, host);
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this->port = port;
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strcpy(this->mountPoint, mountPoint);
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strcpy(this->user, user);
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strcpy(this->password, password);
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this->ntripClient = new WiFiClient;
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this->state = NTRIPClientStates::closeConnection;
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}
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void NTRIPClient::loop() {
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if (millis() - this->lastLoopTime < this->delayTime)
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return;
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this->lastLoopTime = millis();
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if (millis() - this->lastGPGGAPushTime > this->pushGPGGATime && this->activated) {
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this->lastGPGGAPushTime = millis();
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// std::cout << "Try to push GPGGA data." << std::endl;
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NMEA_GGA_data_t *data = new NMEA_GGA_data_t;
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DebugTimes requestGpsData;
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uint8_t res = this->gps->getLatestNMEAGPGGA(data);
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requestGpsData.stopConsol("RequestGpsData", 5);
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if (res == 2)
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this->pushGPGGA(data);
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delete data;
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}
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switch (this->state) {
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case NTRIPClientStates::openConnection:
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if (millis() - this->lastNtripConnectTime < this->tryReconnectTime)
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break;
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if (!this->activated) {
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this->state = NTRIPClientStates::closeConnection;
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break;
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}
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std::cout << "Connecting to the NTRIP caster..." << std::endl;
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if (this->beginClient()) {
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std::cout << "Connected to the NTRIP caster!" << std::endl;
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this->state = NTRIPClientStates::pushData;
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} else {
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uint8_t seconds = this->tryReconnectTime / 1000;
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std::cout << "Could not connect to the caster. Trying again in "
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<< (int) seconds << " seconds." << std::endl;
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this->lastNtripConnectTime = millis();
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}
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break;
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case NTRIPClientStates::pushData:
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if (!processConnection() || !this->activated)
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this->state = NTRIPClientStates::closeConnection;
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break;
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case NTRIPClientStates::closeConnection:
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std::cout << "Closing the connection to the NTRIP caster..." << std::endl;
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this->closeConnection();
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state = NTRIPClientStates::wait;
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break;
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case NTRIPClientStates::wait:
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if (this->activated)
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this->state = NTRIPClientStates::openConnection;
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if (this->activated) {
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// std::cout << "state is openConnection" << std::endl;
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}
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break;
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case NTRIPClientStates::notAvailable:
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break;
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default:
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std::cout << "Wrong state in NTRIPClient.cpp..." << std::endl;
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this->state = NTRIPClientStates::closeConnection;
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break;
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}
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}
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void NTRIPClient::gpsConfiguration() {
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this->gps->setSPIOutput(COM_TYPE_UBX | COM_TYPE_NMEA);
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this->gps->setPortInput(COM_PORT_SPI, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3);
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// Set the differential mode - ambiguities are fixed whenever possible
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this->gps->setDGNSSConfiguration(SFE_UBLOX_DGNSS_MODE_FIXED);
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this->gps->setMainTalkerID(SFE_UBLOX_MAIN_TALKER_ID_GP);
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this->gps->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10);
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}
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bool NTRIPClient::setActivated(bool b) {
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if (b && this->state != NTRIPClientStates::notAvailable)
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this->activated = true;
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else if (b)
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return false;
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this->activated = false;
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return true;
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}
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bool NTRIPClient::beginClient() {
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std::cout << "Opening socket to " << this->host << std::endl;
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char serverRequest[this->bufferSize];
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char credentials[this->bufferSize];
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if (!this->ntripClient->connect(this->host, this->port)) {
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std::cout << "Connection to caster failed" << std::endl;
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return false;
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} else {
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std::cout << "Connected to " << this->host << " : " << this->port << std::endl;
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std::cout << "Requesting NTRIP Data from mount point " << this->mountPoint << std::endl;
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// Generate the server request (GET)
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snprintf(serverRequest,
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this->bufferSize,
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"GET /%s HTTP/1.0\r\nUser-Agent: NTRIP SparkFun u-blox Client v1.0\r\n",
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this->mountPoint);
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// Credentials
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uint8_t userCredentialsLength = strlen(this->user) + strlen(this->password) + 2;
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char* userCredentials = new char[userCredentialsLength];
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snprintf(userCredentials, userCredentialsLength, "%s:%s", this->user, this->password);
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std::cout << "Sending credentials: " << userCredentials << std::endl;
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//Encode
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base64 b;
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String strEncodedCredentials = b.encode(userCredentials);
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delete userCredentials;
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char encodedCredentials[strEncodedCredentials.length() + 1];
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strEncodedCredentials.toCharArray(encodedCredentials, sizeof(encodedCredentials));
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snprintf(credentials, sizeof(credentials), "Authorization: Basic %s\r\n", encodedCredentials);
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}
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// Add the encoded credentials to the server request
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strncat(serverRequest, credentials, this->bufferSize);
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strncat(serverRequest, "\r\n", this->bufferSize);
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std::cout << "serverRequest size: "
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<< strlen(serverRequest)
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<< " of "
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<< this->bufferSize
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<< " bytes available"
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<< std::endl;
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// Send the server request
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std::cout << "Sending server request: " << serverRequest << std::endl;
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this->ntripClient->write(serverRequest, strlen(serverRequest));
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//Wait up to 5 seconds for response
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uint32_t lastMillis = millis();
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while (!ntripClient->available()) {
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if (millis() - lastMillis > this->timeOut) {
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std::cout << "Caster timed out!" << std::endl;
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this->ntripClient->stop();
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return false;
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}
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delay(10);
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}
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//Check reply
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uint16_t httpStatusCode = 0;
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char response[this->bufferSize];
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uint16_t responseIndex = 0;
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while (this->ntripClient->available()) {
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if (responseIndex == sizeof(response))
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break;
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response[responseIndex++] = ntripClient->read();
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if (httpStatusCode == 0) {
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if (strstr(response, "200") != nullptr)
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httpStatusCode = 200;
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if (strstr(response, "401") != nullptr)
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httpStatusCode = 401;
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}
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}
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response[responseIndex] = '\0';
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// std::cout << "Caster response: " << response << std::endl;
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if (httpStatusCode != 200) {
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std::cout << "Failed to connect to " << this->host << " - HTTP Code: " << (int) httpStatusCode
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<< " Length of Response: " << responseIndex << std::endl;
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if (httpStatusCode == 0)
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std::cout << "Response: " << response << std::endl;
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else if (httpStatusCode == 401)
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std::cout << "Statuscode 401 - Unauthorized" << std::endl;
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return false;
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}
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std::cout << "Connected to: " << this->host << std::endl;
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this->lastReceivedRtcmTime = millis();
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return true;
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}
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void NTRIPClient::closeConnection() {
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if (this->ntripClient->connected())
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this->ntripClient->stop();
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this->activated = false;
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std::cout << "NtripClient disconnected from: " << this->host << std::endl;
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}
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bool NTRIPClient::processConnection() {
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if (this->ntripClient->connected()) {
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uint8_t rtcmData[this->bufferSize * 4];
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uint16_t rtcmCount = 0;
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while (this->ntripClient->available()) {
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rtcmData[rtcmCount++] = ntripClient->read();
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if (rtcmCount == sizeof(rtcmData))
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break;
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}
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if (rtcmCount > 0) {
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this->lastReceivedRtcmTime = millis();
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this->gps->pushRawData(rtcmData, rtcmCount);
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// std::cout << "Pushed " << rtcmCount << " RTCM bytes to ZED." << std::endl;
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}
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} else {
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std::cout << "Connection to " << this->host << " dropped!" << std::endl;
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return false;
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}
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if (millis() - this->lastReceivedRtcmTime > this->timeOut) {
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std::cout << "RTCM timeout!" << std::endl;
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return false;
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}
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return true;
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}
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void NTRIPClient::pushGPGGA(NMEA_GGA_data_t *nmeaData) {
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if (this->ntripClient->connected() && this->transmitLocation)
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this->ntripClient->print((const char *)nmeaData->nmea);
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else
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std::cout << "Failed to pushing GGA to server: " << (const char *)nmeaData->nmea << std::endl;
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}
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bool NTRIPClient::isConnected() {
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if (this->state == NTRIPClientStates::pushData)
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return true;
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return false;
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}
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