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nseidlenseidle
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Merge pull request #113 from LeeLeahy2/base-states
Base states
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‎Firmware/RTK_Surveyor/States.ino

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Original file line numberDiff line numberDiff line change
@@ -302,6 +302,85 @@ void updateSystemState()
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}
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break;
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/*
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.-----------------------------------.
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startBase() | STATE_BASE_NOT_STARTED |
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.------------| Text: 'Base' |
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| = false '-----------------------------------'
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| |
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| Stop WiFi, | startBase() = true
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| Stop | Stop WiFi
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| Bluetooth | Start Bluetooth
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| V
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| .-----------------------------------.
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| | STATE_BASE_TEMP_SETTLE |
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| | Temp Base Icon. Blinking HPA. |
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| | "HPA: 7.15" |
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| | "SIV: 5" |
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| '-----------------------------------'
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V |
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STATE_BASE_FIXED_NOT_STARTED | horizontalAccuracy > 0.0
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(next diagram) | && horizontalAccuracy
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| < settings.surveyInStartingAccuracy
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| && beginSurveyIn() == true
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V
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.-----------------------------------.
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| STATE_BASE_TEMP_SURVEY_STARTED | svinObservationTime >
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| Temp Base Icon blinking | maxSurveyInWait_s
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| "Mean: 0.089" |--------------.
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| "Time: 36" | |
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'-----------------------------------' |
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| |
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| getSurveyInValid() |
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| = true V
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| STATE_ROVER_NOT_STARTED
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V (Previous diagram)
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.-----------------------------------.
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| STATE_BASE_TEMP_TRANSMITTING |
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| Temp Base Icon solid |
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| "Xmitting" |
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| "RTCM: 2145" |
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'-----------------------------------'
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|
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| NTRIP enabled = true
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V
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.-----------------------------------.
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| STATE_BASE_TEMP_WIFI_STARTED |
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| Blinking WiFi Icon |
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| "Xmitting" |
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| "RTCM: 0" |
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'-----------------------------------'
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|
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| WiFi connected = true
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| radioState = WIFI_CONNECTED
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V
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.-----------------------------------.
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| STATE_BASE_TEMP_WIFI_CONNECTED |
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.--------------->| Solid WiFi Icon |
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| | "Xmitting" |
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| | "RTCM: 2145" |
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| '-----------------------------------'
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| |
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| | Caster enabled
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| V
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| .-----------------------------------.
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| | STATE_BASE_TEMP_CASTER_STARTED |
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| Caster failed | Solid WiFi Icon |
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+<---------------| "Connecting" |
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^ Authorization | "RTCM: 2145" |
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| failed '-----------------------------------'
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| |
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| | Caster connected
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| V
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| .-----------------------------------.
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| Caster failed | STATE_BASE_TEMP_CASTER_CONNECTED |
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'----------------| Solid WiFi Icon |
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| "Casting" |
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| "RTCM: 2145" |
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'-----------------------------------'
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*/
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case (STATE_BASE_NOT_STARTED):
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{
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if (online.gnss == false)
@@ -582,6 +661,63 @@ void updateSystemState()
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}
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break;
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/*
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.-----------------------------------.
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startBase() | STATE_BASE_FIXED_NOT_STARTED |
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= false | Text: "Base Started" |
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.-------------| |
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| '-----------------------------------'
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V |
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STATE_ROVER_NOT_STARTED | startBase() = true
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(Rover diagram) V
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.-----------------------------------.
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| STATE_BASE_FIXED_TRANSMITTING |
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| Castle Base Icon solid |
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| "Xmitting" |
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| "RTCM: 0" |
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'-----------------------------------'
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|
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| NTRIP enabled = true
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| Stop Bluetooth
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| Start WiFi
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V
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.-----------------------------------.
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| STATE_BASE_FIXED_WIFI_STARTED |
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| Blinking WiFi Icon |
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| "Xmitting" |
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| "RTCM: 0" |
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'-----------------------------------'
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|
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| WiFi connected
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| radioState = WIFI_CONNECTED
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V
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.-----------------------------------.
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| STATE_BASE_FIXED_WIFI_CONNECTED |
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.----------->| Solid WiFi Icon |
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| | "Xmitting" |
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| | "RTCM: 2145" |
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| '-----------------------------------'
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| |
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| | Caster enabled
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| V
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| .-----------------------------------.
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| Caster | STATE_BASE_FIXED_CASTER_STARTED |
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| Connection | Solid WiFi Icon |
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| Failed | "Xmitting" |
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+------------| "RTCM: 2145" |
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^ Failed '-----------------------------------'
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| Authroization |
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| | Caster connected
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| V
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| .-----------------------------------.
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| Caster | STATE_BASE_FIXED_WIFI_CONNECTED |
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| Connection | Solid WiFi Icon |
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| Failed | "Casting" |
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'------------| "RTCM: 2145" |
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'-----------------------------------'
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*/
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//User has set switch to base with fixed option enabled. Let's configure and try to get there.
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//If fixed base fails, we'll handle it here
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case (STATE_BASE_FIXED_NOT_STARTED):

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