Gracefully fail if caster does not respond.

Author: nseidle

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -43,7 +43,6 @@
     Add ntripClient_TransmitGGA to AP config
     Add ntripServer_CasterUser/PW to AP config
     Add maxLogLength_minutes to AP config
-
 */
 
 const int FIRMWARE_VERSION_MAJOR = 1;
@@ -425,6 +424,8 @@ bool firstPowerOn = true; //After boot, apply new settings to ZED if user switch
 unsigned long splashStart = 0; //Controls how long the splash is displayed for. Currently min of 2s.
 unsigned long clientWiFiStartTime = 0; //If we cannot connect to local wifi for NTRIP client, give up/go to Rover after 8 seconds
 bool restartRover = false; //If user modifies any NTRIP Client settings, we need to restart the rover
+int ntripClientConnectionAttempts = 0;
+int maxNtripClientConnectionAttempts = 3; //Give up connecting after this number of attempts
 
 unsigned long startTime = 0; //Used for checking longest running functions
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-

Firmware/RTK_Surveyor/States.ino

@@ -221,6 +221,21 @@ void updateSystemState()
 
             changeState(STATE_ROVER_CLIENT_STARTED);
           }
+          else
+          {
+            log_d("Caster failed to connect. Trying again.");
+            
+            if (ntripClientConnectionAttempts++ >= maxNtripClientConnectionAttempts)
+            {
+              Serial.println(F("Caster failed to connect. Do you have your caster address and port correct?"));
+              ntripClient.stop();
+
+              stopWiFi(); //Turn off WiFi and release all resources
+              startBluetooth(); //Turn on Bluetooth with 'Rover' name
+
+              changeState(STATE_ROVER_NO_FIX); //Start rover without WiFi
+            }
+          }
 #endif
         }
         break;

Firmware/RTK_Surveyor/menuSystem.ino

@@ -57,14 +57,14 @@ void menuSystem()
       if (zedUartPassed == false)
       {
         stopUART2Tasks(); //Stop absoring ZED serial via task
+        delay(250); //Wait for tasks to abort
 
         //Clear out buffer before starting
         while (serialGNSS.available()) serialGNSS.read();
         serialGNSS.flush();
 
-        //begin() attempts 3 connections with X timeout per attempt
         SFE_UBLOX_GNSS myGNSS;
-        if (myGNSS.begin(serialGNSS) == true)
+        if (myGNSS.begin(serialGNSS) == true) //begin() attempts 3 connections
         {
           zedUartPassed = true;
           Serial.print(F("BT Online"));