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Improved GPS Settings app and GPS service (#222)

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- Fixes and improvements to `GpsSettings` app, `GpsDevice` and `GpsService`
- Implemented location/GPS statusbar icon
- Added app icon
- Added support for other GPS models (based on Meshtastic code)
This commit is contained in:
Ken Van Hoeylandt
2025-02-18 22:07:37 +01:00
committed by GitHub
parent ad2cad3bf1
commit 5055fa7822
30 changed files with 2130 additions and 384 deletions
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TactilityHeadless/Source/hal/gps/GpsDevice.cpp
+110 -36
View File
@@ -1,12 +1,48 @@
#include "Tactility/hal/gps/GpsDevice.h"
#include <minmea.h>
#include "Tactility/hal/gps/GpsInit.h"
#include "Tactility/hal/gps/Probe.h"
#include <cstring>
#include <minmea.h>
#define TAG "gps"
#define GPS_UART_BUFFER_SIZE 256
namespace tt::hal::gps {
const char* toString(GpsModel model) {
using enum GpsModel;
switch (model) {
case AG3335:
return TT_STRINGIFY(AG3335);
case AG3352:
return TT_STRINGIFY(AG3352);
case ATGM336H:
return TT_STRINGIFY(ATGM336H);
case LS20031:
return TT_STRINGIFY(LS20031);
case MTK:
return TT_STRINGIFY(MTK);
case MTK_L76B:
return TT_STRINGIFY(MTK_L76B);
case MTK_PA1616S:
return TT_STRINGIFY(MTK_PA1616S);
case UBLOX6:
return TT_STRINGIFY(UBLOX6);
case UBLOX7:
return TT_STRINGIFY(UBLOX7);
case UBLOX8:
return TT_STRINGIFY(UBLOX8);
case UBLOX9:
return TT_STRINGIFY(UBLOX9);
case UBLOX10:
return TT_STRINGIFY(UBLOX10);
case UC6580:
return TT_STRINGIFY(UC6580);
default:
return TT_STRINGIFY(Unknown);
}
}
int32_t GpsDevice::threadMainStatic(void* parameter) {
auto* gps_device = (GpsDevice*)parameter;
return gps_device->threadMain();
@@ -20,49 +56,66 @@ int32_t GpsDevice::threadMain() {
return -1;
}
if (!configuration.initFunction(configuration.uartPort)) {
TT_LOG_E(TAG, "Failed to init");
GpsModel model = configuration.model;
if (model == GpsModel::Unknown) {
model = probe(configuration.uartPort);
if (model == GpsModel::Unknown) {
TT_LOG_E(TAG, "Probe failed");
setState(State::Error);
return -1;
}
}
mutex.lock();
this->model = model;
mutex.unlock();
if (!init(configuration.uartPort, model)) {
TT_LOG_E(TAG, "Init failed");
setState(State::Error);
return -1;
}
setState(State::On);
// Reference: https://gpsd.gitlab.io/gpsd/NMEA.html
while (!isThreadInterrupted()) {
if (uart::readUntil(configuration.uartPort, (uint8_t*)buffer, GPS_UART_BUFFER_SIZE, '\n', 100 / portTICK_PERIOD_MS) > 0) {
TT_LOG_D(TAG, "RX: %s", buffer);
size_t bytes_read = uart::readUntil(configuration.uartPort, (uint8_t*)buffer, GPS_UART_BUFFER_SIZE, '\n', 100 / portTICK_PERIOD_MS);
if (bytes_read > 0U) {
// Thread might've been interrupted in the meanwhile
if (isThreadInterrupted()) {
break;
}
TT_LOG_D(TAG, "%s", buffer);
switch (minmea_sentence_id((char*)buffer, false)) {
case MINMEA_SENTENCE_RMC:
minmea_sentence_rmc frame;
if (minmea_parse_rmc(&frame, (char*)buffer)) {
for (auto& subscription : locationSubscriptions) {
(*subscription.onData)(getId(), frame);
minmea_sentence_rmc rmc_frame;
if (minmea_parse_rmc(&rmc_frame, (char*)buffer)) {
mutex.lock();
for (auto& subscription : rmcSubscriptions) {
(*subscription.onData)(getId(), rmc_frame);
}
TT_LOG_D(TAG, "RX RMC %f lat, %f lon, %f m/s", minmea_tocoord(&frame.latitude), minmea_tocoord(&frame.longitude), minmea_tofloat(&frame.speed));
mutex.unlock();
TT_LOG_D(TAG, "RMC %f lat, %f lon, %f m/s", minmea_tocoord(&rmc_frame.latitude), minmea_tocoord(&rmc_frame.longitude), minmea_tofloat(&rmc_frame.speed));
} else {
TT_LOG_W(TAG, "RX RMC parse error: %s", buffer);
TT_LOG_W(TAG, "RMC parse error: %s", buffer);
}
break;
case MINMEA_SENTENCE_GGA:
minmea_sentence_gga gga_frame;
if (minmea_parse_gga(&gga_frame, (char*)buffer)) {
TT_LOG_D(TAG, "RX GGA %f lat, %f lon", minmea_tocoord(&gga_frame.latitude), minmea_tocoord(&gga_frame.longitude));
} else {
TT_LOG_W(TAG, "RX GGA parse error: %s", buffer);
}
break;
case MINMEA_SENTENCE_GSV:
minmea_sentence_gsv gsv_frame;
if (minmea_parse_gsv(&gsv_frame, (char*)buffer)) {
for (auto& sat : gsv_frame.sats) {
if (sat.nr != 0 && sat.elevation != 0 && sat.snr != 0) {
for (auto& subscription : satelliteSubscriptions) {
(*subscription.onData)(getId(), sat);
}
}
TT_LOG_D(TAG, "Satellite: id %d, elevation %d, azimuth %d, snr %d", sat.nr, sat.elevation, sat.azimuth, sat.snr);
mutex.lock();
for (auto& subscription : ggaSubscriptions) {
(*subscription.onData)(getId(), gga_frame);
}
TT_LOG_D(TAG, "RX GGA %f lat, %f lon", minmea_tocoord(&gga_frame.latitude), minmea_tocoord(&gga_frame.longitude));
mutex.unlock();
TT_LOG_D(TAG, "GGA %f lat, %f lon", minmea_tocoord(&gga_frame.latitude), minmea_tocoord(&gga_frame.longitude));
} else {
TT_LOG_W(TAG, "RX GGA parse error: %s", buffer);
TT_LOG_W(TAG, "GGA parse error: %s", buffer);
}
break;
default:
@@ -95,6 +148,9 @@ bool GpsDevice::start() {
threadInterrupted = false;
TT_LOG_I(TAG, "Starting thread");
setState(State::PendingOn);
thread = std::make_unique<Thread>(
"gps",
4096,
@@ -104,12 +160,15 @@ bool GpsDevice::start() {
thread->setPriority(tt::Thread::Priority::High);
thread->start();
TT_LOG_I(TAG, "Starting finished");
return true;
}
bool GpsDevice::stop() {
auto lock = mutex.asScopedLock();
lock.lock(portMAX_DELAY);
lock.lock();
setState(State::PendingOff);
if (thread != nullptr) {
threadInterrupted = true;
@@ -130,23 +189,38 @@ bool GpsDevice::stop() {
if (uart::isStarted(configuration.uartPort)) {
if (!uart::stop(configuration.uartPort)) {
TT_LOG_E(TAG, "UART %d failed to stop", configuration.uartPort);
setState(State::Error);
return false;
}
}
return true;
}
setState(State::Off);
bool GpsDevice::isStarted() const {
auto lock = mutex.asScopedLock();
lock.lock();
return thread != nullptr && thread->getState() != Thread::State::Stopped;
return true;
}
bool GpsDevice::isThreadInterrupted() const {
auto lock = mutex.asScopedLock();
lock.lock(portMAX_DELAY);
lock.lock();
return threadInterrupted;
}
GpsModel GpsDevice::getModel() const {
auto lock = mutex.asScopedLock();
lock.lock();
return model; // Make copy because of thread safety
}
GpsDevice::State GpsDevice::getState() const {
auto lock = mutex.asScopedLock();
lock.lock();
return state; // Make copy because of thread safety
}
void GpsDevice::setState(State newState) {
auto lock = mutex.asScopedLock();
lock.lock();
state = newState;
}
} // namespace tt::hal::gps