GPS - Parse GGA/RMC into Event

Author: brentru

src/components/gps/controller.cpp

@@ -183,8 +183,8 @@ void GPSController::update() {
       }
     }
     WS_DEBUG_PRINTLN("[gps] Finished reading GPS data.");
-
-    // We are done reading for this period
+    // 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 ");
@@ -224,11 +224,50 @@ void GPSController::update() {
         Serial.println((int)drv->GetAdaGps()->antenna);
       }
 
-      // TODO: Okay so here we are going to create the model of gps data
-    }
-    WS_DEBUG_PRINTLN("[gps] Finished processing NMEA sentences.");
-    // TODO: Successfully parsed the NMEA sentence, update the model
+      // now, let's build the model from the sentence
+      // $GPGGA
+      // $GPRMC
+      if (strncmp(nmea_sentence, "$GPRMC", 7)) {
+        // parse GPRMC into event
+        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->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
+      } else if (strncmp(nmea_sentence, "$GPRMC", 7)) {
+        // parse GPGGA into event
+        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
+      } else {
+        WS_DEBUG_PRINTLN(
+            "[gps] WARNING - Parsed sentence is not type RMC or GGA!");
+      }
+      WS_DEBUG_PRINTLN("[gps] Finished processing NMEA sentences.");
+      _gps_model->EncodeGPSEvent();
 
-    drv->SetPollPeriodPrv(cur_time);
+      drv->SetPollPeriodPrv(cur_time);
+    }
   }
 }

src/components/gps/model.cpp

@@ -63,6 +63,30 @@ void GPSModel::CreateGPSEvent() {
   _msg_gps_event.rmc_responses_count = 0;
 }
 
+/*!
+ * @brief Encodes the GPSEvent message into a buffer.
+ * @returns True if the encoding was successful, false otherwise.
+ */
+bool GPSModel::EncodeGPSEvent() {
+  // Calculate the size of the encoded message
+  size_t sz_msg;
+  if (!pb_get_encoded_size(&sz_msg, wippersnapper_gps_GPSEvent_fields,
+                           &_msg_gps_event))
+    return false;
+
+  // Attempt to encode the message into a buffer
+  uint8_t buf[sz_msg];
+  pb_ostream_t msg_stream = pb_ostream_from_buffer(buf, sizeof(buf));
+  return pb_encode(&msg_stream, wippersnapper_gps_GPSEvent_fields,
+                   &_msg_gps_event);
+}
+
+/*!
+ * @brief Returns a pointer to the GPSEvent message.
+ * @returns Pointer to the GPSEvent message.
+ */
+wippersnapper_gps_GPSEvent *GPSModel::GetGPSEvent() { return &_msg_gps_event; };
+
 /*!
  * @brief Creates a GPSDateTime message with the provided parameters.
  * @param hour GMT hour of the day (0-23).
@@ -90,7 +114,7 @@ GPSModel::CreateGpsDatetime(uint8_t hour, uint8_t minute, uint8_t seconds,
   return datetime;
 }
 
-bool GPSModel::AddGpsEventRMC(wippersnapper_gps_GPSDateTime *datetime,
+bool GPSModel::AddGpsEventRMC(wippersnapper_gps_GPSDateTime datetime,
                               uint8_t fix_status, float lat, char *lat_dir,
                               float lon, char *lon_dir, float speed,
                               float angle) {
@@ -106,13 +130,8 @@ bool GPSModel::AddGpsEventRMC(wippersnapper_gps_GPSDateTime *datetime,
 
   wippersnapper_gps_GPSRMCResponse rmc_response;
   rmc_response = wippersnapper_gps_GPSRMCResponse_init_zero;
-  // Assign the datetime, if provided
-  if (datetime) {
-    rmc_response.has_datetime = true;
-    rmc_response.datetime = *datetime;
-  } else {
-    rmc_response.has_datetime = false;
-  }
+  rmc_response.has_datetime = true;
+  rmc_response.datetime = datetime;
 
   // Determine the fix status
   if (fix_status == 1 || fix_status == 2) {
@@ -141,7 +160,7 @@ bool GPSModel::AddGpsEventRMC(wippersnapper_gps_GPSDateTime *datetime,
   return true;
 }
 
-bool GPSModel::AddGpsEventGGA(wippersnapper_gps_GPSDateTime *datetime,
+bool GPSModel::AddGpsEventGGA(wippersnapper_gps_GPSDateTime datetime,
                               uint8_t fix_status, float lat, char *lat_dir,
                               float lon, char *lon_dir, uint8_t num_sats,
                               float hdop, float alt, float geoid_height) {
@@ -158,13 +177,8 @@ bool GPSModel::AddGpsEventGGA(wippersnapper_gps_GPSDateTime *datetime,
 
   wippersnapper_gps_GPGGAResponse gga_response;
   gga_response = wippersnapper_gps_GPGGAResponse_init_zero;
-  // Assign the datetime, if provided
-  if (datetime) {
-    gga_response.has_datetime = true;
-    gga_response.datetime = *datetime;
-  } else {
-    gga_response.has_datetime = false;
-  }
+  gga_response.has_datetime = true;
+  gga_response.datetime = datetime;
 
   // Fill lat/lon and direction
   snprintf(gga_response.lat, sizeof(gga_response.lat), "%.6f", lat);

src/components/gps/model.h

@@ -30,16 +30,18 @@ class GPSModel {
   wippersnapper_gps_GPSConfig *GetGPSConfigMsg();
   // GPSEvent API
   void CreateGPSEvent();
+  bool EncodeGPSEvent();
+  wippersnapper_gps_GPSEvent *GetGPSEvent();
   wippersnapper_gps_GPSDateTime CreateGpsDatetime(uint8_t hour, uint8_t minute,
                                                   uint8_t seconds,
                                                   uint8_t milliseconds,
                                                   uint8_t day, uint8_t month,
                                                   uint8_t year);
-  bool AddGpsEventRMC(wippersnapper_gps_GPSDateTime *datetime,
+  bool AddGpsEventRMC(wippersnapper_gps_GPSDateTime datetime,
                       uint8_t fix_status, float lat, char *lat_dir, float lon,
                       char *lon_dir, float speed, float angle);
 
-  bool AddGpsEventGGA(wippersnapper_gps_GPSDateTime *datetime,
+  bool AddGpsEventGGA(wippersnapper_gps_GPSDateTime datetime,
                       uint8_t fix_status, float lat, char *lat_dir, float lon,
                       char *lon_dir, uint8_t num_sats, float hdop, float alt,
                       float geoid_height);