Merge pull request #452 from LeeLeahy2/gnss-corrections

Rework corrections priority support

Author: nseidle

Firmware/RTK_Everywhere/Begin.ino

@@ -1421,29 +1421,6 @@ void deleteSDSizeCheckTask()
     }
 }
 
-// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
-// Corrections Priorities Housekeeping
-void initializeCorrectionsPriorities()
-{
-    clearRegisteredCorrectionsSources(); // Clear (initialize) the vector of corrections sources. Probably redundant...?
-}
-
-void updateCorrectionsPriorities()
-{
-    checkRegisteredCorrectionsSources(); // Delete any expired corrections sources
-}
-
-// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
-// Check and initialize any arrays that won't be initialized by gnssConfigure (checkGNSSArrayDefaults)
-// TODO: find a better home for this
-void checkArrayDefaults()
-{
-    if (!validateCorrectionPriorities())
-        initializeCorrectionPriorities();
-    if (!validateCorrectionPriorities())
-        reportFatalError("initializeCorrectionPriorities failed.");
-}
-
 // =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 // Time Pulse ISR
 // Triggered by the rising edge of the time pulse signal, indicates the top-of-second.

Firmware/RTK_Everywhere/ESPNOW.ino

@@ -108,16 +108,8 @@ void espnowOnDataReceived(const esp_now_recv_info *mac, const uint8_t *incomingD
         espnowRSSI = packetRSSI; // Record this packet's RSSI as an ESP NOW packet
 
         // We've just received ESP-Now data. We assume this is RTCM and push it directly to the GNSS.
-        // BUT we need to consider the Corrections Priorities.
-        // Step 1: check if CORR_ESPNOW is registered as a correction source. If not, register it.
-        // Step 2: check if CORR_ESPNOW is the highest - actually LOWEST - registered correction source.
-        //         If it is, push the data. If not, discard the data.
-
-        // Step 1
-        updateCorrectionsLastSeen(CORR_ESPNOW); // This will (re)register the correction source if needed
-
-        // Step 2
-        if (isHighestRegisteredCorrectionsSource(CORR_ESPNOW))
+        // Determine if ESPNOW is the correction source
+        if (correctionLastSeen(CORR_ESPNOW))
         {
             // Pass RTCM bytes (presumably) from ESP NOW out ESP32-UART to GNSS
             gnssPushRawData((uint8_t *)incomingData, len);
@@ -696,4 +688,4 @@ bool espnowSetChannel(uint8_t channelNumber)
 #else
     return (false);
 #endif
-}
+}

Firmware/RTK_Everywhere/LoRa.ino

@@ -170,16 +170,7 @@ void updateLora()
             rtcmCount = Serial.readBytes(rtcmData, sizeof(rtcmData));
 
             // We've just received data. We assume this is RTCM and push it directly to the GNSS.
-            // BUT we need to consider the Corrections Priorities.
-            // Step 1: check if CORR_RADIO_LORA is registered as a correction source. If not, register it.
-            // Step 2: check if CORR_RADIO_LORA is the highest - actually LOWEST - registered correction source.
-            //         If it is, push the data. If not, discard the data.
-
-            // Step 1
-            updateCorrectionsLastSeen(CORR_RADIO_LORA); // This will (re)register the correction source if needed
-
-            // Step 2
-            if (isHighestRegisteredCorrectionsSource(CORR_RADIO_LORA))
+            if (correctionLastSeen(CORR_RADIO_LORA))
             {
                 // Pass RTCM bytes (presumably) from LoRa out ESP32-UART to GNSS
                 gnssPushRawData(rtcmData, rtcmCount); // Push RTCM to GNSS module
@@ -258,16 +249,7 @@ void updateLora()
             rtcmCount = Serial.readBytes(rtcmData, sizeof(rtcmData));
 
             // We've just received data. We assume this is RTCM and push it directly to the GNSS.
-            // BUT we need to consider the Corrections Priorities.
-            // Step 1: check if CORR_RADIO_LORA is registered as a correction source. If not, register it.
-            // Step 2: check if CORR_RADIO_LORA is the highest - actually LOWEST - registered correction source.
-            //         If it is, push the data. If not, discard the data.
-
-            // Step 1
-            updateCorrectionsLastSeen(CORR_RADIO_LORA); // This will (re)register the correction source if needed
-
-            // Step 2
-            if (isHighestRegisteredCorrectionsSource(CORR_RADIO_LORA))
+            if (correctionLastSeen(CORR_RADIO_LORA))
             {
                 // Pass RTCM bytes (presumably) from LoRa out ESP32-UART to GNSS
                 gnssPushRawData(rtcmData, rtcmCount); // Push RTCM to GNSS module

Firmware/RTK_Everywhere/MQTT_Client.ino

@@ -481,9 +481,8 @@ void mqttClientReceiveMessage(int messageSize)
                     && (strcmp(topic, localizedDistributionTileTopic.c_str()) == 0))
                 )
                 {
-                    // SPARTN
-                    updateCorrectionsLastSeen(CORR_IP);
-                    if (isHighestRegisteredCorrectionsSource(CORR_IP))
+                    // Determine if MQTT (SPARTN data) is the correction source
+                    if (correctionLastSeen(CORR_IP))
                     {
                         if (((settings.debugMqttClientData == true) || (settings.debugCorrections == true)) &&
                             !inMainMenu)

Firmware/RTK_Everywhere/NVM.ino

@@ -492,7 +492,7 @@ void recordSystemSettingsToFile(File *settingsFile)
             {
                 char tempString[80]; // correctionsPriority_Ethernet_IP_(PointPerfect/MQTT)=99
                 snprintf(tempString, sizeof(tempString), "%s%s=%0d", rtkSettingsEntries[i].name,
-                         correctionsSourceNames[x], settings.correctionsSourcesPriority[x]);
+                         correctionGetName(x), settings.correctionsSourcesPriority[x]);
                 settingsFile->println(tempString);
             }
         }
@@ -1198,7 +1198,7 @@ bool parseLine(char *str)
             case tCorrSPri: {
                 for (int x = 0; x < qualifier; x++)
                 {
-                    if ((suffix[0] == correctionsSourceNames[x][0]) && (strcmp(suffix, correctionsSourceNames[x]) == 0))
+                    if ((suffix[0] == correctionGetName(x)[0]) && (strcmp(suffix, correctionGetName(x)) == 0))
                     {
                         settings.correctionsSourcesPriority[x] = d;
                         knownSetting = true;

Firmware/RTK_Everywhere/NtripClient.ino

@@ -827,8 +827,7 @@ void ntripClientUpdate()
 
                         netIncomingRTCM = true;
 
-                        updateCorrectionsLastSeen(CORR_TCP);
-                        if (isHighestRegisteredCorrectionsSource(CORR_TCP))
+                        if (correctionLastSeen(CORR_TCP))
                         {
                             // Push RTCM to GNSS module over I2C / SPI
                             gnssPushRawData(rtcmData, rtcmCount);

Firmware/RTK_Everywhere/PointPerfectLibrary.ino

@@ -34,8 +34,7 @@ void updatePplTask(void *e)
             {
                 if (rtcmLength > 0)
                 {
-                    updateCorrectionsLastSeen(pplCorrectionsSource);
-                    if (isHighestRegisteredCorrectionsSource(pplCorrectionsSource))
+                    if (correctionLastSeen(pplCorrectionsSource))
                     {
                         // Set ZED SOURCE to 1 (L-Band) if needed
                         // Note: this is almost certainly redundant. It would only be used if we

Firmware/RTK_Everywhere/RTK_Everywhere.ino

@@ -785,9 +785,7 @@ uint16_t failedParserMessages_RTCM;
 uint16_t failedParserMessages_NMEA;
 
 // Corrections Priorities Support
-std::vector<registeredCorrectionsSource>
-    registeredCorrectionsSources; // vector (linked list) of registered corrections sources for this device
-correctionsSource pplCorrectionsSource = CORR_NUM; // Record which source is feeding the PPL
+CORRECTION_ID_T pplCorrectionsSource = CORR_NUM; // Record which source is feeding the PPL
 
 // configureViaEthernet:
 //  Set to true if configureViaEthernet.txt exists in LittleFS.
@@ -1011,9 +1009,6 @@ void setup()
     DMW_b("verifyTables");
     verifyTables(); // Verify the consistency of the internal tables
 
-    DMW_b("initializeCorrectionsPriorities");
-    initializeCorrectionsPriorities(); // Initialize (clear) the registeredCorrectionsSources vector
-
     DMW_b("findSpiffsPartition");
     if (!findSpiffsPartition())
     {
@@ -1253,8 +1248,8 @@ void loop()
     DMW_c("otaAutoUpdate");
     otaAutoUpdate();
 
-    DMW_c("updateCorrectionsPriorities");
-    updateCorrectionsPriorities(); // Update registeredCorrectionsSources, delete expired sources
+    DMW_c("correctionUpdateSource");
+    correctionUpdateSource(); // Retire expired sources
 
     DMW_c("updateProvisioning");
     updateProvisioning(); // Check if we should attempt to connect to PointPerfect to get keys / certs / correction

Firmware/RTK_Everywhere/Tasks.ino

@@ -265,8 +265,7 @@ void addToGnssBuffer(uint8_t incoming)
 // Push the buffered data in bulk to the GNSS
 void sendGnssBuffer()
 {
-    updateCorrectionsLastSeen(CORR_BLUETOOTH);
-    if (isHighestRegisteredCorrectionsSource(CORR_BLUETOOTH))
+    if (correctionLastSeen(CORR_BLUETOOTH))
     {
         if (gnssPushRawData(bluetoothOutgoingToGnss, bluetoothOutgoingToGnssHead))
         {

Firmware/RTK_Everywhere/menuCommands.ino

@@ -866,7 +866,7 @@ SettingValueResponse updateSettingWithValue(bool inCommands, const char *setting
         case tCorrSPri: {
             for (int x = 0; x < qualifier; x++)
             {
-                if ((suffix[0] == correctionsSourceNames[x][0]) && (strcmp(suffix, correctionsSourceNames[x]) == 0))
+                if ((suffix[0] == correctionGetName(x)[0]) && (strcmp(suffix, correctionGetName(x)) == 0))
                 {
                     settings.correctionsSourcesPriority[x] = settingValue;
                     knownSetting = true;
@@ -1514,7 +1514,7 @@ void createSettingsString(char *newSettings)
                 {
                     char tempString[80]; // correctionsPriority.Ethernet_IP_(PointPerfect/MQTT)=99
                     snprintf(tempString, sizeof(tempString), "%s%s,%0d,", rtkSettingsEntries[i].name,
-                             correctionsSourceNames[x], settings.correctionsSourcesPriority[x]);
+                             correctionGetName(x), settings.correctionsSourcesPriority[x]);
                     stringRecord(newSettings, tempString);
                 }
             }
@@ -2220,7 +2220,7 @@ SettingValueResponse getSettingValue(bool inCommands, const char *settingName, c
         case tCorrSPri: {
             for (int x = 0; x < qualifier; x++)
             {
-                if ((suffix[0] == correctionsSourceNames[x][0]) && (strcmp(suffix, correctionsSourceNames[x]) == 0))
+                if ((suffix[0] == correctionGetName(x)[0]) && (strcmp(suffix, correctionGetName(x)) == 0))
                 {
                     writeToString(settingValueStr, settings.correctionsSourcesPriority[x]);
                     knownSetting = true;
@@ -2624,7 +2624,7 @@ void commandList(bool inCommands, int i)
         // Record corrections priorities
         for (int x = 0; x < rtkSettingsEntries[i].qualifier; x++)
         {
-            snprintf(settingName, sizeof(settingName), "%s%s", rtkSettingsEntries[i].name, correctionsSourceNames[x]);
+            snprintf(settingName, sizeof(settingName), "%s%s", rtkSettingsEntries[i].name, correctionGetName(x));
 
             getSettingValue(inCommands, settingName, settingValue);
             commandSendExecuteListResponse(settingName, "int", settingValue);