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GPS - Refactor within update() for redundancy and memory checks

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This commit is contained in:
brentru 2025-07-01 16:25:55 -04:00
parent 528ff03928
commit c6924afa90
3 changed files with 58 additions and 84 deletions
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133
src/components/gps/controller.cpp
View file

@ -127,6 +127,22 @@ void GPSController::update() {
return; // bail-out!
for (GPSHardware *drv : _gps_drivers) {
// Get the GPS driver interface from the hardware instance
Adafruit_GPS *ada_gps = nullptr;
if (drv->GetDriverType() == GPS_DRV_MTK) {
// Interface shouldn't matter here because we already set it up in the
// initialization phase, so we can just grab the Adafruit_GPS instance
Adafruit_GPS *ada_gps = drv->GetAdaGps();
if (ada_gps == nullptr) {
WS_DEBUG_PRINTLN(
"[gps] ERROR: Can't read - GPS instance not initialized!");
continue;
}
} else {
WS_DEBUG_PRINTLN(
"[gps] ERROR: Unsupported GPS driver type, skipping update()!");
continue;
}
// TODO: Commented out due to parsing failures, stability issue (failed to
// parse NMEA acks for this) Perform a keep-alive check by sending an
@ -142,125 +158,76 @@ void GPSController::update() {
continue; // Not yet elapsed, skip this driver
// Discard the GPS buffer before we attempt to do a fresh read
size_t bytes_avail = drv->GetAdaGps()->available();
size_t bytes_avail = ada_gps->available();
if (bytes_avail > 0) {
// TODO: Remove these two WS_DEBUG_PRINTs!
WS_DEBUG_PRINT("[gps] Discarding GPS data: ");
WS_DEBUG_PRINTLN(bytes_avail);
// Read the available data from the GPS module
// and discard it
for (size_t i = 0; i < bytes_avail; i++) {
drv->GetAdaGps()->read();
ada_gps->read();
}
}
// Unset the received flag
if (drv->GetAdaGps()->newNMEAreceived()) {
drv->GetAdaGps()->lastNMEA();
// Unset the RX flag
if (ada_gps->newNMEAreceived()) {
ada_gps->lastNMEA();
}
// Let's attempt to get a sentence from the GPS module
// Convert the NMEA update rate to milliseconds
// TODO: This should be stored as a member within the hardware class
ulong update_rate = 1000 / drv->GetNmeaUpdateRate();
// Read from the GPS module for update_rate milliseconds
ulong update_rate = 1000 / drv->GetNmeaUpdateRate();
ulong start_time = millis();
int read_calls = 0;
WS_DEBUG_PRINT("[gps] Reading GPS data for ");
WS_DEBUG_PRINT(update_rate);
WS_DEBUG_PRINTLN(" milliseconds...");
WS_DEBUG_PRINTLN(" ms...");
while (millis() - start_time < update_rate) {
char c = drv->GetAdaGps()->read();
read_calls++;
char c = ada_gps->read();
// Check if we have a new NMEA sentence
if (drv->GetAdaGps()->newNMEAreceived()) {
if (ada_gps->newNMEAreceived()) {
// If we have a new sentence, push it to the buffer
char *last_nmea = drv->GetAdaGps()->lastNMEA();
NmeaBufPush(drv->GetAdaGps()->lastNMEA());
char *last_nmea = ada_gps->lastNMEA();
NmeaBufPush(ada_gps->lastNMEA());
}
}
WS_DEBUG_PRINTLN("[gps] Finished reading GPS data.");
// We are done reading for this period, create a new GPSEvent message
_gps_model->CreateGPSEvent();
// TODO: This is for debugging purposes only, remove later!
WS_DEBUG_PRINT("[gps] Read ");
WS_DEBUG_PRINT(read_calls);
WS_DEBUG_PRINTLN(" times from GPS module.");
// Pop off the buffer and parse
// Parse each NMEA sentence in the buffer
char nmea_sentence[MAX_LEN_NMEA_SENTENCE];
// Pop until we have no more sentences in the buffer
bool has_gps_event = false;
while (NmeaBufPop(nmea_sentence) != -1) {
// Parse the NMEA sentence
WS_DEBUG_PRINT("[gps] Parsing NMEA sentence: ");
WS_DEBUG_PRINTLN(nmea_sentence);
if (!drv->GetAdaGps()->parse(nmea_sentence))
if (!ada_gps->parse(nmea_sentence)) {
continue; // Skip parsing this sentence if parsing failed
// Print the parsed data for debugging
Serial.print("Fix: ");
Serial.print((int)drv->GetAdaGps()->fix);
Serial.print(" quality: ");
Serial.println((int)drv->GetAdaGps()->fixquality);
if (drv->GetAdaGps()->fix) {
Serial.print("Location: ");
Serial.print(drv->GetAdaGps()->latitude, 4);
Serial.print(drv->GetAdaGps()->lat);
Serial.print(", ");
Serial.print(drv->GetAdaGps()->longitude, 4);
Serial.println(drv->GetAdaGps()->lon);
Serial.print("Speed (knots): ");
Serial.println(drv->GetAdaGps()->speed);
Serial.print("Angle: ");
Serial.println(drv->GetAdaGps()->angle);
Serial.print("Altitude: ");
Serial.println(drv->GetAdaGps()->altitude);
Serial.print("Satellites: ");
Serial.println((int)drv->GetAdaGps()->satellites);
Serial.print("Antenna status: ");
Serial.println((int)drv->GetAdaGps()->antenna);
} else {
_gps_model->CreateGPSEvent();
has_gps_event = true;
}
// now, let's build the model from the sentence
// Build the GPSEvent message from the sentence
wippersnapper_gps_GPSDateTime datetime = _gps_model->CreateGpsDatetime(
ada_gps->hour, ada_gps->minute, ada_gps->seconds,
ada_gps->milliseconds, ada_gps->day, ada_gps->month, ada_gps->year);
if (strncmp(nmea_sentence, "$GPRMC", 6) == 0) {
WS_DEBUG_PRINT(
"[gps] Adding RMC to GPSEvent..."); // TODO: This is for debug,
// remove in production!
wippersnapper_gps_GPSDateTime datetime = _gps_model->CreateGpsDatetime(
drv->GetAdaGps()->hour, drv->GetAdaGps()->minute,
drv->GetAdaGps()->seconds, drv->GetAdaGps()->milliseconds,
drv->GetAdaGps()->day, drv->GetAdaGps()->month,
drv->GetAdaGps()->year);
_gps_model->AddGpsEventRMC(
datetime, drv->GetAdaGps()->fix, drv->GetAdaGps()->latitude,
&drv->GetAdaGps()->lat, drv->GetAdaGps()->longitude,
&drv->GetAdaGps()->lon, drv->GetAdaGps()->speed,
drv->GetAdaGps()->angle);
WS_DEBUG_PRINTLN("added!"); // TODO: THIS IS FOR DEBUG, REMOVE IN PROD
datetime, ada_gps->fix, ada_gps->latitude, &ada_gps->lat,
ada_gps->longitude, &ada_gps->lon, ada_gps->speed, ada_gps->angle);
} else if (strncmp(nmea_sentence, "$GPGGA", 6) == 0) {
WS_DEBUG_PRINT(
"[gps] Adding GGA to GPSEvent..."); // TODO: This is for debug,
// remove in production!
wippersnapper_gps_GPSDateTime datetime = _gps_model->CreateGpsDatetime(
drv->GetAdaGps()->hour, drv->GetAdaGps()->minute,
drv->GetAdaGps()->seconds, drv->GetAdaGps()->milliseconds,
drv->GetAdaGps()->day, drv->GetAdaGps()->month,
drv->GetAdaGps()->year);
_gps_model->AddGpsEventGGA(
datetime, drv->GetAdaGps()->fix, drv->GetAdaGps()->latitude,
&drv->GetAdaGps()->lat, drv->GetAdaGps()->longitude,
&drv->GetAdaGps()->lon, drv->GetAdaGps()->satellites,
drv->GetAdaGps()->HDOP, drv->GetAdaGps()->altitude,
drv->GetAdaGps()->geoidheight);
WS_DEBUG_PRINTLN("added!"); // TODO: THIS IS FOR DEBUG, REMOVE IN PROD
datetime, ada_gps->fix, ada_gps->latitude, &ada_gps->lat,
ada_gps->longitude, &ada_gps->lon, ada_gps->satellites,
ada_gps->HDOP, ada_gps->altitude, ada_gps->geoidheight);
} else {
WS_DEBUG_PRINTLN(
"[gps] WARNING - Parsed sentence is not type RMC or GGA!");
}
}
// We did not create a GPSEvent because the NMEA sentences were not
// GGA/RMC or parsed correctly
if (!has_gps_event) {
WS_DEBUG_PRINTLN("[gps] No GPSEvent created from NMEA sentences!");
continue;
}
// Encode and publish to IO
WS_DEBUG_PRINT("[gps] Encoding and publishing GPSEvent to IO...");
bool did_encode = _gps_model->EncodeGPSEvent();

8
src/components/gps/hardware.cpp
View file

@ -330,4 +330,10 @@ void GPSHardware::SetPrvKat(ulong kat_prv) {
* @brief Gets the last time the GPS hardware was polled.
* @returns The last time the GPS hardware was polled, in milliseconds.
*/
ulong GPSHardware::GetPrvKat() { return _kat_prv; }
ulong GPSHardware::GetPrvKat() { return _kat_prv; }
/*!
* @brief Returns the driver type of the GPS hardware.
* @returns The driver type of the GPS hardware.
*/
GpsDriverType GPSHardware::GetDriverType() { return _driver_type; }

1
src/components/gps/hardware.h
View file

@ -69,6 +69,7 @@ public:
// TODO: Add SetInterface(I2C *_i2c_hardware) for I2C support here!
bool Handle_GPSConfig(wippersnapper_gps_GPSConfig *gps_config);
Adafruit_GPS *GetAdaGps();
GpsDriverType GetDriverType();
private:
bool QueryModuleType();