GPS - Fully refactor out common HAL to hardware and parsing to model

Author: brentru

src/components/gps/controller.cpp

@@ -165,65 +165,39 @@ void GPSController::update() {
     _gps_model->CreateGPSEvent();
     char nmea_sentence[MAX_LEN_NMEA_SENTENCE];
     bool has_gps_event = false;
-    // TODO: You were here
-    // Thoughts:
-    // 1. Split out the parsing into the hardware HAL API
-    // 2. Return the sentence back to the controller func, here
-    // 3. Controller will then the sentence to the model for parsing/inclusion
-    // into a GPSEvent
-    // 4. controller sends it
     while (drv->NmeaBufPop(nmea_sentence) != -1) {
-      // Parse the NMEA sentence
+      // Let the driver parse the NMEA sentence
       WS_DEBUG_PRINT("[gps] Parsing NMEA sentence: ");
       WS_DEBUG_PRINTLN(nmea_sentence);
-      if (!drv->ParseNMEASentence(nmea_sentence)) {
+      if (!drv->ParseNMEASentence(nmea_sentence))
         continue; // Skip this sentence if parsing failed
-      }
-      has_gps_event = true;
-      // Build a 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, "$GPRMC", 6) == 0 ||
-          strncmp(nmea_sentence, "$GNRMC", 6) == 0) {
-        _gps_model->AddGpsEventRMC(
-            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, "$GPGGA", 6) == 0 ||
-                 strncmp(nmea_sentence, "$GNGGA", 6) == 0) {
-        _gps_model->AddGpsEventGGA(
-            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!");
-      }
-    }
+      else
+        has_gps_event = true; // We have a valid NMEA sentence
 
-    // 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!"); // TODO: Remove
-                                                             // this in prod
-      continue;
-    }
+      // Using the Model, process the NMEA sentence into a GPSEvent
+      WS_DEBUG_PRINTLN("[gps] Processing NMEA sentence...");
+      _gps_model->ProcessNMEASentence(nmea_sentence, drv);
 
-    // Encode and publish to IO
-    WS_DEBUG_PRINT("[gps] Encoding and publishing GPSEvent to IO...");
-    bool did_encode = _gps_model->EncodeGPSEvent();
-    if (!did_encode) {
-      WS_DEBUG_PRINTLN("[gps] ERROR: Failed to encode GPSEvent!");
-    } else {
-      // Publish the GPSEvent to IO
-      if (!WsV2.PublishSignal(wippersnapper_signal_DeviceToBroker_gps_event_tag,
-                              _gps_model->GetGPSEvent())) {
-        WS_DEBUG_PRINTLN("[gps] ERROR: Failed to publish GPSEvent!");
+      // We did not create a GPSEvent because the NMEA sentences were not
+      // GGA/RMC or parsed correctly
+      if (!has_gps_event)
+        continue;
+
+      // Encode and publish to IO
+      WS_DEBUG_PRINT("[gps] Encoding and publishing GPSEvent to IO...");
+      bool did_encode = _gps_model->EncodeGPSEvent();
+      if (!did_encode) {
+        WS_DEBUG_PRINTLN("[gps] ERROR: Failed to encode GPSEvent!");
       } else {
-        WS_DEBUG_PRINTLN("...ok!");
+        // Publish the GPSEvent to IO
+        if (!WsV2.PublishSignal(
+                wippersnapper_signal_DeviceToBroker_gps_event_tag,
+                _gps_model->GetGPSEvent())) {
+          WS_DEBUG_PRINTLN("[gps] ERROR: Failed to publish GPSEvent!");
+        } else {
+          WS_DEBUG_PRINTLN("...ok!");
+        }
       }
+      drv->SetPollPeriodPrv(cur_time);
     }
-    drv->SetPollPeriodPrv(cur_time);
-  }
-}
+  }

src/components/gps/hardware.cpp

@@ -632,6 +632,10 @@ bool GPSHardware::ParseNMEASentence(char *sentence) {
   return false;
 }
 
+/*!
+ * @brief Gets the hours from the GPS module.
+ * @returns The hours (0-23), or 0 if the GPS driver type is not set.
+ */
 uint8_t GPSHardware::GetHour() {
   if (_driver_type == GPS_DRV_MTK) {
     return _ada_gps->hour;
@@ -641,6 +645,10 @@ uint8_t GPSHardware::GetHour() {
   return 0;
 }
 
+/*!
+ * @brief Gets the minute from the GPS module.
+ * @returns The minute (0-59), or 0 if the GPS driver type is not set.
+ */
 uint8_t GPSHardware::GetMinute() {
   if (_driver_type == GPS_DRV_MTK) {
     return _ada_gps->minute;
@@ -650,6 +658,10 @@ uint8_t GPSHardware::GetMinute() {
   return 0;
 }
 
+/*!
+ * @brief Gets the seconds from the GPS module.
+ * @returns The seconds (0-59), or 0 if the GPS driver type is not set.
+ */
 uint8_t GPSHardware::GetSeconds() {
   if (_driver_type == GPS_DRV_MTK) {
     return _ada_gps->seconds;
@@ -659,6 +671,11 @@ uint8_t GPSHardware::GetSeconds() {
   return 0;
 }
 
+/*!
+ * @brief Gets the milliseconds from the GPS module.
+ * @returns The milliseconds part of the current time, or 0 if the GPS driver
+ * type is not set.
+ */
 uint16_t GPSHardware::GetMilliseconds() {
   if (_driver_type == GPS_DRV_MTK) {
     return _ada_gps->milliseconds;
@@ -668,6 +685,10 @@ uint16_t GPSHardware::GetMilliseconds() {
   return 0;
 }
 
+/*!
+ * @brief Gets the day from the GPS module.
+ * @returns The day of the month (1-31), or 0 if the GPS driver type is not set.
+ */
 uint8_t GPSHardware::GetDay() {
   if (_driver_type == GPS_DRV_MTK) {
     return _ada_gps->day;
@@ -677,6 +698,11 @@ uint8_t GPSHardware::GetDay() {
   return 0;
 }
 
+/*!
+ * @brief Gets the month from the GPS module.
+ * @returns The month as a number (1-12), or 0 if the GPS driver type is not
+ * set.
+ */
 uint8_t GPSHardware::GetMonth() {
   if (_driver_type == GPS_DRV_MTK) {
     return _ada_gps->month;
@@ -686,11 +712,172 @@ uint8_t GPSHardware::GetMonth() {
   return 0;
 }
 
+/*!
+ * @brief Gets the year from the GPS module.
+ * @returns The year as a 2-digit number (e.g., 23 for 2023), or 0 if the GPS
+ * driver type is not set.
+ */
 uint8_t GPSHardware::GetYear() {
   if (_driver_type == GPS_DRV_MTK) {
     return _ada_gps->year;
   } else if (_driver_type == GPS_DRV_UBLOX) {
     // TODO: Implement for UBLOX
   }
   return 0;
-}
+}
+
+/*!
+ * @brief Gets the GPS fix status.
+ * @returns True if the GPS has a fix, False otherwise.
+ */
+bool GPSHardware::GetFix() {
+  if (_driver_type == GPS_DRV_MTK) {
+    return _ada_gps->fix;
+  } else if (_driver_type == GPS_DRV_UBLOX) {
+    // TODO: Implement for UBLOX
+  }
+  return false;
+}
+
+/*!
+ * @brief Gets the GPS latitude.
+ * @returns The latitude in degrees, or 0.0 if the GPS driver type is not set.
+ */
+float GPSHardware::GetLat() {
+  if (_driver_type == GPS_DRV_MTK) {
+    return _ada_gps->latitude;
+  } else if (_driver_type == GPS_DRV_UBLOX) {
+    // TODO: Implement for UBLOX
+  }
+  return 0.0f;
+}
+
+/*!
+ * @brief Gets the GPS latitude direction.
+ * @returns The latitude direction as a character ('N' or 'S'), or '\0' if the
+ * GPS driver type is not set.
+ */
+char GPSHardware::GetLatDir() {
+  if (_driver_type == GPS_DRV_MTK) {
+    return _ada_gps->lat;
+  } else if (_driver_type == GPS_DRV_UBLOX) {
+    // TODO: Implement for UBLOX
+  }
+  return '\0';
+}
+
+/*!
+ * @brief Gets the GPS longitude.
+ * @returns The longitude in degrees, or 0.0 if the GPS driver type is not set.
+ */
+float GPSHardware::GetLon() {
+  if (_driver_type == GPS_DRV_MTK) {
+    return _ada_gps->longitude;
+  } else if (_driver_type == GPS_DRV_UBLOX) {
+    // TODO: Implement for UBLOX
+  }
+
+  return 0.0f;
+}
+
+/*!
+ * @brief Gets the GPS longitude direction.
+ * @returns The longitude direction as a character ('E' or 'W'), or '\0' if the
+ * GPS driver type is not set.
+ */
+char GPSHardware::GetLonDir() {
+  if (_driver_type == GPS_DRV_MTK) {
+    return _ada_gps->lon;
+  } else if (_driver_type == GPS_DRV_UBLOX) {
+    // TODO: Implement for UBLOX
+  }
+
+  return '\0';
+}
+
+/*!
+ * @brief Gets the number of satellites in view.
+ * @returns The number of satellites in view, or 0 if the GPS driver type is
+ * not set.
+ */
+uint8_t GPSHardware::GetNumSats() {
+  if (_driver_type == GPS_DRV_MTK) {
+    return _ada_gps->satellites;
+  } else if (_driver_type == GPS_DRV_UBLOX) {
+    // TODO: Implement for UBLOX
+  }
+
+  return 0;
+}
+
+/*!
+ * @brief Gets the horizontal dilution of precision (HDOP).
+ * @returns The HDOP value, or 0.0 if the GPS driver type is not set.
+ */
+float GPSHardware::GetHDOP() {
+  if (_driver_type == GPS_DRV_MTK) {
+    return _ada_gps->HDOP;
+  } else if (_driver_type == GPS_DRV_UBLOX) {
+    // TODO: Implement for UBLOX
+  }
+
+  return 0.0f;
+}
+
+/*!
+ * @brief Gets the altitude from the GPS module.
+ * @returns The altitude in meters, or 0.0 if the GPS driver type is not set.
+ */
+float GPSHardware::GetAltitude() {
+  if (_driver_type == GPS_DRV_MTK) {
+    return _ada_gps->altitude;
+  } else if (_driver_type == GPS_DRV_UBLOX) {
+    // TODO: Implement for UBLOX
+  }
+
+  return 0.0f;
+}
+
+/*!
+ * @brief Gets the speed from the GPS module.
+ * @returns The speed in meters per second, or 0.0 if the GPS driver type is
+ * not set.
+ */
+float GPSHardware::GetSpeed() {
+  if (_driver_type == GPS_DRV_MTK) {
+    return _ada_gps->speed;
+  } else if (_driver_type == GPS_DRV_UBLOX) {
+    // TODO: Implement for UBLOX
+  }
+
+  return 0.0f;
+}
+
+/*!
+ * @brief Gets the angle from the GPS module.
+ * @returns The angle in degrees, or 0.0 if the GPS driver type is not set.
+ */
+float GPSHardware::GetAngle() {
+  if (_driver_type == GPS_DRV_MTK) {
+    return _ada_gps->angle;
+  } else if (_driver_type == GPS_DRV_UBLOX) {
+    // TODO: Implement for UBLOX
+  }
+
+  return 0.0f;
+}
+
+/*!
+ * @brief Gets the geoid height from the GPS module.
+ * @returns The geoid height in meters, or 0.0 if the GPS driver type is not
+ * set.
+ */
+float GPSHardware::GetGeoidHeight() {
+  if (_driver_type == GPS_DRV_MTK) {
+    return _ada_gps->fix;
+  } else if (_driver_type == GPS_DRV_UBLOX) {
+    // TODO: Implement for UBLOX
+  }
+
+  return 0.0f;
+}

src/components/gps/hardware.h

@@ -87,19 +87,33 @@ class GPSHardware {
   GpsDriverType GetDriverType();
   GpsInterfaceType GetIfaceType();
   int NmeaBufPop(char *sentence);
-  // HAL Abstraction for GPS driver commands
-  // Used to abstract the Adafruit_GPS and SFE_UBLOX_GNSS libraries
-  // and intelligently handle the differences between them
+  // "Helpers" for GPS Drivers
+  // Used to abstract common parsing functions from GPS driver libraries (i.e:
+  // Adafruit_GPS, SFE_UBLOX_GNSS, anything in the future) and intelligently
+  // handle the differences between them
   void ReadDiscardBuffer();
   void PollStoreSentences();
   bool ParseNMEASentence(char *sentence);
+  // Datetime getters
   uint8_t GetHour();
   uint8_t GetMinute();
   uint8_t GetSeconds();
   uint16_t GetMilliseconds();
   uint8_t GetDay();
   uint8_t GetMonth();
   uint8_t GetYear();
+  // RMC/GGA getters
+  bool GetFix();
+  float GetLat();
+  char GetLatDir();
+  float GetLon();
+  char GetLonDir();
+  uint8_t GetNumSats();
+  float GetHDOP();
+  float GetAltitude();
+  float GetSpeed();
+  float GetAngle();
+  float GetGeoidHeight();
 
 private:
   bool QueryModuleType();