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Merged
merged 6 commits into from
Jun 26, 2023
Merged

Add LL's NTRIP Server fix - WiFi & Ethernet retry #517

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3f3af96
NTRIP Server: Fix WiFi retry cases
LeeLeahy2 Jun 20, 2023
9584b56
Merge pull request #500 from LeeLeahy2/issue-429
PaulZC Jun 23, 2023
f520755
Update ntripServerTimer - when using Ethernet
PaulZC Jun 23, 2023
a3d1632
Add missing ntripServerStop's for NTRIP_SERVER_AUTHORIZATION
PaulZC Jun 23, 2023
f9c79f4
Update ntripClientUpdate to match ntripServerUpdate
PaulZC Jun 23, 2023
cf5eeab
Only call maintain when connected
PaulZC Jun 26, 2023
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110 changes: 67 additions & 43 deletions Firmware/RTK_Surveyor/NtripClient.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -392,6 +392,7 @@ void ntripClientUpdate()
{
ntripClientLastConnectionAttempt = millis();
log_d("NTRIP Client starting on Ethernet");
ntripClientTimer = millis();
ntripClientSetState(NTRIP_CLIENT_WIFI_ETHERNET_STARTED);
}
}
Expand All @@ -416,6 +417,7 @@ void ntripClientUpdate()
ntripClientLastConnectionAttempt = millis();
log_d("NTRIP Client starting WiFi");
wifiStart();
ntripClientTimer = millis();
ntripClientSetState(NTRIP_CLIENT_WIFI_ETHERNET_STARTED);
}
}
Expand All @@ -424,32 +426,18 @@ void ntripClientUpdate()
break;

case NTRIP_CLIENT_WIFI_ETHERNET_STARTED:
if (HAS_ETHERNET) // && !settings.ntripClientUseWiFiNotEthernet) //For future expansion
if ((millis() - ntripClientTimer) > (1 * 60 * 1000))
// Failed to connect to to the network, attempt to restart the network
ntripClientStop(false);
else if (HAS_ETHERNET) // && !settings.ntripClientUseWiFiNotEthernet) //For future expansion
{
if (online.ethernetStatus == ETH_CONNECTED)
ntripClientSetState(NTRIP_CLIENT_WIFI_ETHERNET_CONNECTED);
else if (online.ethernetStatus == ETH_CAN_NOT_BEGIN) // Ethernet hardware failure or not available
ntripClientSetState(NTRIP_CLIENT_OFF);
else
{
// Wait for ethernet to connect
static unsigned long lastDebug = millis();
if (millis() > (lastDebug + 5000))
{
lastDebug = millis();
log_d("NTRIP Client: Ethernet not connected. Waiting to retry.");
}
}
}
else
{
if (wifiIsConnected())
ntripClientSetState(NTRIP_CLIENT_WIFI_ETHERNET_CONNECTED);
else if (wifiState == WIFI_OFF)
{
// WiFi failed to connect. Restart Client which will restart WiFi.
ntripClientSetState(NTRIP_CLIENT_ON);
}
}
break;

Expand Down Expand Up @@ -492,7 +480,12 @@ void ntripClientUpdate()
{
// NTRIP web service did not respond
if (ntripClientConnectLimitReached()) // Updates ntripClientConnectionAttemptTimeout
{
systemPrintln("NTRIP Caster failed to respond. Do you have your caster address and port correct?");

// Stop WiFi operations
ntripClientStop(true); // Do not allocate new wifiClient
}
else
{
if (ntripClientConnectionAttemptTimeout / 1000 < 120)
Expand All @@ -501,6 +494,9 @@ void ntripClientUpdate()
else
systemPrintf("NTRIP Client failed to connect to caster. Trying again in %d minutes.\r\n",
ntripClientConnectionAttemptTimeout / 1000 / 60);

// Restart network operation after delay
ntripClientStop(false);
}
}
}
Expand All @@ -510,10 +506,40 @@ void ntripClientUpdate()
char response[512];
ntripClientResponse(&response[0], sizeof(response));

log_d("Caster Response: %s", response);
//log_d("Caster Response: %s", response);

// Look for various responses
if (strstr(response, "401") != nullptr)
if (strstr(response, "200") != nullptr)
{
log_d("NTRIP Client connected to caster");

// Connection is now open, start the NTRIP receive data timer
ntripClientTimer = millis();

if (settings.ntripClient_TransmitGGA == true)
{
// Set the Main Talker ID to "GP". The NMEA GGA messages will be GPGGA instead of GNGGA
theGNSS.setVal8(UBLOX_CFG_NMEA_MAINTALKERID, 1);
theGNSS.setNMEAGPGGAcallbackPtr(&pushGPGGA); // Set up the callback for GPGGA

float measurementFrequency = (1000.0 / settings.measurementRate) / settings.navigationRate;
if (measurementFrequency < 0.2)
measurementFrequency = 0.2; // 0.2Hz * 5 = 1 measurement every 5 seconds
log_d("Adjusting GGA setting to %f", measurementFrequency);
theGNSS.setVal8(
UBLOX_CFG_MSGOUT_NMEA_ID_GGA_I2C,
measurementFrequency); // Enable GGA over I2C. Tell the module to output GGA every second

lastGGAPush = millis() - NTRIPCLIENT_MS_BETWEEN_GGA; // Force immediate transmission of GGA message
}

// We don't use a task because we use I2C hardware (and don't have a semphore).
online.ntripClient = true;
ntripClientStartTime = millis();
ntripClientConnectionAttempts = 0;
ntripClientSetState(NTRIP_CLIENT_CONNECTED);
}
else if (strstr(response, "401") != nullptr)
{
// Look for '401 Unauthorized'
systemPrintf(
Expand All @@ -540,35 +566,33 @@ void ntripClientUpdate()
// Stop WiFi operations
ntripClientStop(true); // Do not allocate new wifiClient
}
else if (strstr(response, "200") != nullptr)
// Other errors returned by the caster
else
{
log_d("NTRIP Client connected to caster");

// Connection is now open, start the NTRIP receive data timer
ntripClientTimer = millis();
systemPrintf("NTRIP Client connected but caster responded with problem: %s\r\n", response);

if (settings.ntripClient_TransmitGGA == true)
// Check for connection limit
if (ntripClientConnectLimitReached())
{
// Set the Main Talker ID to "GP". The NMEA GGA messages will be GPGGA instead of GNGGA
theGNSS.setVal8(UBLOX_CFG_NMEA_MAINTALKERID, 1);
theGNSS.setNMEAGPGGAcallbackPtr(&pushGPGGA); // Set up the callback for GPGGA

float measurementFrequency = (1000.0 / settings.measurementRate) / settings.navigationRate;
if (measurementFrequency < 0.2)
measurementFrequency = 0.2; // 0.2Hz * 5 = 1 measurement every 5 seconds
log_d("Adjusting GGA setting to %f", measurementFrequency);
theGNSS.setVal8(
UBLOX_CFG_MSGOUT_NMEA_ID_GGA_I2C,
measurementFrequency); // Enable GGA over I2C. Tell the module to output GGA every second
systemPrintln("NTRIP Client retry limit reached; do you have your caster address and port correct?");

lastGGAPush = millis() - NTRIPCLIENT_MS_BETWEEN_GGA; // Force immediate transmission of GGA message
// Give up - Shutdown NTRIP client, no further retries
ntripClientStop(true);
}

// We don't use a task because we use I2C hardware (and don't have a semphore).
online.ntripClient = true;
ntripClientStartTime = millis();
ntripClientConnectionAttempts = 0;
ntripClientSetState(NTRIP_CLIENT_CONNECTED);
// Attempt to reconnect after throttle controlled timeout
else
{
if (ntripClientConnectionAttemptTimeout / 1000 < 120)
systemPrintf("NTRIP Client attempting connection in %d seconds.\r\n",
ntripClientConnectionAttemptTimeout / 1000);
else
systemPrintf("NTRIP Client attempting connection in %d minutes.\r\n",
ntripClientConnectionAttemptTimeout / 1000 / 60);

// Restart network operation after delay
ntripClientStop(false);
}
}
}
#endif // COMPILE_WIFI || COMPILE_ETHERNET
Expand Down
101 changes: 57 additions & 44 deletions Firmware/RTK_Surveyor/NtripServer.ino
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -249,7 +249,7 @@ void ntripServerProcessRTCM(uint8_t incoming)
}

// If we have not gotten new RTCM bytes for a period of time, assume end of frame
if (millis() - ntripServerTimer > 100 && ntripServerBytesSent > 0)
if (((millis() - ntripServerTimer) > 100) && (ntripServerBytesSent > 0))
{
if ((!inMainMenu) && settings.enablePrintNtripServerState)
systemPrintf("NTRIP Server transmitted %d RTCM bytes to Caster\r\n", ntripServerBytesSent);
Expand Down Expand Up @@ -391,6 +391,7 @@ void ntripServerUpdate()
{
ntripServerLastConnectionAttempt = millis();
log_d("NTRIP Server starting on Ethernet");
ntripServerTimer = millis();
ntripServerSetState(NTRIP_SERVER_WIFI_ETHERNET_STARTED);
}
}
Expand All @@ -415,6 +416,7 @@ void ntripServerUpdate()
ntripServerLastConnectionAttempt = millis();
log_d("NTRIP Server starting WiFi");
wifiStart();
ntripServerTimer = millis();
ntripServerSetState(NTRIP_SERVER_WIFI_ETHERNET_STARTED);
}
}
Expand All @@ -423,32 +425,18 @@ void ntripServerUpdate()

// Wait for connection to an access point
case NTRIP_SERVER_WIFI_ETHERNET_STARTED:
if (HAS_ETHERNET) // && !settings.ntripServerUseWiFiNotEthernet) //For future expansion
if ((millis() - ntripServerTimer) > (1 * 60 * 1000))
// Failed to connect to to the network, attempt to restart the network
ntripServerStop(false);
else if (HAS_ETHERNET) // && !settings.ntripServerUseWiFiNotEthernet) //For future expansion
{
if (online.ethernetStatus == ETH_CONNECTED)
ntripServerSetState(NTRIP_SERVER_WIFI_ETHERNET_CONNECTED);
else if (online.ethernetStatus == ETH_CAN_NOT_BEGIN) // Ethernet hardware failure or not available
ntripServerSetState(NTRIP_SERVER_OFF);
else
{
// Wait for ethernet to connect
static unsigned long lastDebug = millis();
if (millis() > (lastDebug + 5000))
{
lastDebug = millis();
log_d("NTRIP Server: Ethernet not connected. Waiting to retry.");
}
}
}
else
{
if (wifiIsConnected())
ntripServerSetState(NTRIP_SERVER_WIFI_ETHERNET_CONNECTED);
else if (wifiState == WIFI_OFF)
{
// WiFi failed to connect. Restart Client which will restart WiFi.
ntripServerSetState(NTRIP_SERVER_ON);
}
}
break;

Expand Down Expand Up @@ -509,6 +497,9 @@ void ntripServerUpdate()
if (ntripServerConnectLimitReached())
{
systemPrintln("Caster failed to respond. Do you have your caster address and port correct?");

// Give up - Shutdown NTRIP server, no further retries
ntripServerStop(true);
}
else
{
Expand All @@ -518,6 +509,9 @@ void ntripServerUpdate()
else
systemPrintf("NTRIP caster failed to respond. Trying again in %d minutes.\r\n",
ntripServerConnectionAttemptTimeout / 1000 / 60);

// Restart network operation after delay
ntripServerStop(false);
}
}
}
Expand All @@ -528,48 +522,67 @@ void ntripServerUpdate()
ntripServerResponse(response, sizeof(response));

// Look for various responses
if (strstr(response, "401") != nullptr)
if (strstr(response, "200") != nullptr) //'200' found
{
systemPrintf("NTRIP Server connected to %s:%d %s\r\n", settings.ntripServer_CasterHost,
settings.ntripServer_CasterPort, settings.ntripServer_MountPoint);

// Connection is now open, start the RTCM correction data timer
ntripServerTimer = millis();

// We don't use a task because we use I2C hardware (and don't have a semphore).
online.ntripServer = true;
ntripServerConnectionAttempts = 0;
ntripServerSetState(NTRIP_SERVER_CASTING);
}

// Look for '401 Unauthorized'
else if (strstr(response, "401") != nullptr)
{
// Look for '401 Unauthorized'
systemPrintf(
"NTRIP Caster responded with bad news: %s. Are you sure your caster credentials are correct?\r\n",
response);

// Give up - Stop WiFi operations
ntripServerStop(true); // Do not allocate new wifiClient
// Give up - Shutdown NTRIP server, no further retries
ntripServerStop(true);
}

// Look for banned IP information
else if (strstr(response, "banned") != nullptr) //'Banned' found
{
// Look for 'HTTP/1.1 200 OK' and banned IP information
systemPrintf("NTRIP Server connected to caster but caster responded with problem: %s", response);
systemPrintf("NTRIP Server connected to caster but caster responded with problem: %s\r\n", response);

// Give up - Stop WiFi operations
ntripServerStop(true); // Do not allocate new wifiClient
// Give up - Shutdown NTRIP server, no further retries
ntripServerStop(true);
}
else if (strstr(response, "200") == nullptr) //'200' not found

// Other errors returned by the caster
else
{
// Look for 'ERROR - Mountpoint taken' from Emlid.
systemPrintf("NTRIP Server connected but caster responded with problem: %s", response);
systemPrintf("NTRIP Server connected but caster responded with problem: %s\r\n", response);

// Attempt to reconnect after throttle controlled timeout
// Check for connection limit
if (ntripServerConnectLimitReached())
{
systemPrintln("Caster failed to respond. Do you have your caster address and port correct?");
}
}
else if (strstr(response, "200") != nullptr) //'200' found
systemPrintln("NTRIP Server retry limit reached; do you have your caster address and port correct?");

{
systemPrintf("NTRIP Server connected to %s:%d %s\r\n", settings.ntripServer_CasterHost,
settings.ntripServer_CasterPort, settings.ntripServer_MountPoint);
// Give up - Shutdown NTRIP server, no further retries
ntripServerStop(true);
}

// Connection is now open, start the RTCM correction data timer
ntripServerTimer = millis();
// Attempt to reconnect after throttle controlled timeout
else
{
if (ntripServerConnectionAttemptTimeout / 1000 < 120)
systemPrintf("NTRIP Server attempting connection in %d seconds.\r\n",
ntripServerConnectionAttemptTimeout / 1000);
else
systemPrintf("NTRIP Server attempting connection in %d minutes.\r\n",
ntripServerConnectionAttemptTimeout / 1000 / 60);

// We don't use a task because we use I2C hardware (and don't have a semphore).
online.ntripServer = true;
ntripServerConnectionAttempts = 0;
ntripServerSetState(NTRIP_SERVER_CASTING);
// Restart network operation after delay
ntripServerStop(false);
}
}
}
#endif // COMPILE_WIFI || COMPILE_ETHERNET
Expand Down
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