GPS - Add processNMEA() with override, hacky but works

Author: brentru

src/components/gps/controller.cpp

@@ -18,12 +18,7 @@
 /*!
  * @brief Constructor for GPSController.
  */
-GPSController::GPSController() {
-  _gps_model = new GPSModel();
-  _nmea_buff.head = 0;
-  _nmea_buff.tail = 0;
-  _nmea_buff.maxlen = MAX_NMEA_SENTENCES;
-}
+GPSController::GPSController() { _gps_model = new GPSModel(); }
 
 /*!
  * @brief Destructor for GPSController.
@@ -200,4 +195,5 @@ void GPSController::update() {
       }
       drv->SetPollPeriodPrv(cur_time);
     }
-  }
+  }
+}

src/components/gps/hardware.cpp

@@ -14,6 +14,9 @@
  */
 #include "hardware.h"
 
+// Define static member
+GPSHardware *GPSHardware::current_instance = nullptr;
+
 /*!
  * @brief Constructor
  */
@@ -22,6 +25,8 @@ GPSHardware::GPSHardware() {
   _driver_type = GPS_DRV_NONE;
   _nmea_baud_rate = DEFAULT_MTK_NMEA_BAUD_RATE;
   _nmea_update_rate = DEFAULT_MTK_NMEA_UPDATE_RATE;
+  current_instance = this;
+  is_nmea_valid = false;
 }
 
 /*!
@@ -38,6 +43,9 @@ GPSHardware::~GPSHardware() {
     delete _sfe_gps;
     _sfe_gps = nullptr;
   }
+  if (current_instance == this) {
+    current_instance = nullptr;
+  }
 }
 
 /*!
@@ -558,7 +566,18 @@ void GPSHardware::PollStoreSentences() {
       }
     }
   } else if (_driver_type == GPS_DRV_UBLOX) {
-    // TODO!
+    // Read from the GPS module for update_rate milliseconds
+    ulong update_rate = 1000 / _nmea_update_rate;
+    ulong start_time = millis();
+    WS_DEBUG_PRINTLN("[gps] Polling u-blox GPS driver for new sentences...");
+    while (millis() - start_time < update_rate) {
+      WS_DEBUG_PRINT("...");
+      _sfe_gps->checkUblox();
+    }
+    WS_DEBUG_PRINTLN("[gps] Polling complete for u-blox GPS driver!");
+    WS_DEBUG_PRINT("Did We get a NMEA sentence? ");
+    WS_DEBUG_PRINTLN(is_nmea_valid);
+    // MONDAY: There is a crash right here!
   } else {
     WS_DEBUG_PRINTLN("[gps] ERROR: Unsupported GPS driver type for polling!");
   }
@@ -620,6 +639,7 @@ int GPSHardware::NmeaBufPop(char *sentence) {
 bool GPSHardware::ParseNMEASentence(char *sentence) {
   if (!sentence)
     return false;
+
   if (_driver_type == GPS_DRV_MTK) {
     // Parse the NMEA sentence using Adafruit_GPS
     return _ada_gps->parse(sentence);
@@ -881,3 +901,50 @@ float GPSHardware::GetGeoidHeight() {
 
   return 0.0f;
 }
+
+// TODO: Untested, leaving for MONDAY
+/*!
+ * @brief Handles incoming NMEA characters for UBlox GPS processing
+ * @param incoming The incoming NMEA character
+ */
+void GPSHardware::HandleNmeaChar(char incoming) {
+  static char nmea_buffer[256];
+  static uint8_t nmea_buf_idx = 0;
+
+  // Add character to buffer
+  if (nmea_buf_idx < sizeof(nmea_buffer) - 1) {
+    nmea_buffer[nmea_buf_idx++] = incoming;
+  }
+
+  // Check for sentence termination
+  if (incoming == '\n' || incoming == '\r') {
+    // Null terminate
+    nmea_buffer[nmea_buf_idx] = '\0';
+
+    // Push complete NMEA sentence if valid
+    if (nmea_buf_idx > 0 && nmea_buffer[0] == '$') {
+      NmeaBufPush(nmea_buffer);
+      is_nmea_valid = true; // Mark NMEA as valid
+      WS_DEBUG_PRINT("[gps] Received NMEA sentence: ");
+      WS_DEBUG_PRINTLN(nmea_buffer);
+    }
+
+    // Reset for next sentence
+    nmea_buf_idx = 0;
+  }
+
+  // Safety reset if buffer gets too full
+  if (nmea_buf_idx >= sizeof(nmea_buffer) - 1) {
+    nmea_buf_idx = 0;
+  }
+}
+
+/*!
+ * @brief Global override of the weak processNMEA function from UBlox library
+ * @param incoming The incoming NMEA character from the UBlox GPS
+ */
+void DevUBLOXGNSS::processNMEA(char incoming) {
+  if (GPSHardware::current_instance) {
+    GPSHardware::current_instance->HandleNmeaChar(incoming);
+  }
+}

src/components/gps/hardware.h

@@ -94,6 +94,7 @@ class GPSHardware {
   void ReadDiscardBuffer();
   void PollStoreSentences();
   bool ParseNMEASentence(char *sentence);
+  void HandleNmeaChar(char incoming);
   // Datetime getters
   uint8_t GetHour();
   uint8_t GetMinute();
@@ -115,6 +116,10 @@ class GPSHardware {
   float GetAngle();
   float GetGeoidHeight();
 
+  // Static instance for global processNMEA override
+  static GPSHardware *current_instance;
+  bool is_nmea_valid;
+
 private:
   bool QueryModuleType();
   bool DetectMtkUart();

src/components/gps/model.cpp

@@ -204,18 +204,19 @@ bool GPSModel::ProcessNMEASentence(char *sentence, GPSHardware *drv) {
   wippersnapper_gps_GPSDateTime datetime = CreateGpsDatetime(
       drv->GetHour(), drv->GetMinute(), drv->GetSeconds(),
       drv->GetMilliseconds(), drv->GetDay(), drv->GetMonth(), drv->GetYear());
-
+  char lat_dir = drv->GetLatDir();
+  char lon_dir = drv->GetLonDir();
   if (sentence[3] == 'R' && sentence[4] == 'M' && sentence[5] == 'C') {
     // Process RMC sentence
-    if (!AddGpsEventRMC(datetime, drv->GetFix(), drv->GetLat(),
-                        &drv->GetLatDir(), drv->GetLon(), &drv->GetLonDir(),
-                        drv->GetSpeed(), drv->GetAngle()))
+    if (!AddGpsEventRMC(datetime, drv->GetFix(), drv->GetLat(), &lat_dir,
+                        drv->GetLon(), &lon_dir, drv->GetSpeed(),
+                        drv->GetAngle()))
       return false;
   } else if (sentence[3] == 'G' && sentence[4] == 'G' && sentence[5] == 'A') {
     // Process GGA sentence
-    if (!AddGpsEventGGA(datetime, drv->GetFix(), drv->GetLat(),
-                        &drv->GetLatDir(), drv->GetLon(), &drv->GetLonDir(),
-                        drv->GetNumSats(), drv->GetHDOP(), drv->GetAltitude(),
+    if (!AddGpsEventGGA(datetime, drv->GetFix(), drv->GetLat(), &lat_dir,
+                        drv->GetLon(), &lon_dir, drv->GetNumSats(),
+                        drv->GetHDOP(), drv->GetAltitude(),
                         drv->GetGeoidHeight()))
       return false;
   } else {

src/components/gps/model.h

@@ -18,6 +18,8 @@
 #include <protos/gps.pb.h>
 #define MAX_COUNT_RMC_GGA 10 ///< Maximum number of RMC or GGA responses
 
+class GPSHardware; ///< Forward declaration
+
 /*!
     @brief  Provides an interface for creating, encoding, and parsing
             messages from GPS.proto.