teseo_reply_response.cpp

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// https://www.st.com/resource/en/application_note/an5203-teseoliv3f--i2c-positioning-sensor--stmicroelectronics.pdf
 
#include <string>
// for std::find
#include <algorithm>
// for debug messages
#include <stdio.h>
#include "pico/stdlib.h"
 
import teseo;
import port_pico_reset;
import port_pico_communicate;
 
teseo::teseo gps;
std::string reply;
// for the container that will hold multy-line replies, 
// you can use an array, vector, C array
// based on what your architecture prefers or requires.
// vector size is a suggestion. STL will allocate at least NMEA_MAX_REPLIES
//std::vector<std::string> replies(NMEA_MAX_REPLIES); 
std::array<std::string, NMEA_MAX_REPLIES> replies; 
 
void setCallbacks() {
    gps.writer().set([](const std::string& s) -> void { write(s); });
    gps.reader().set([](std::string& s) -> void { read(s); });
    gps.resetter().set([]() -> void { port_pico::reset(); });
}
 
int main() {
    initialize();
    setCallbacks();
 
    /*
    when the teseo is preset for i2c according to AN5203,
    init is not required, and you can cut 4s 10ms from the startup sequence
    https://www.st.com/resource/en/application_note/an5203-teseoliv3f--i2c-positioning-sensor--stmicroelectronics.pdf
    */
    gps.initialize();
    
    uint count; // intentionally uninitialised
    bool valid; // intentionally uninitialised
 
    while (true) {
        printf("+-- start --+\r\n");
        
        valid = gps.ask_gll(reply);
        printf("GLL valid: %s.\r\n", valid ? "yes" : "no");
        printf(reply.c_str());
 
        valid = gps.ask_gsv(replies, count);
        printf("GSV valid: %s. count: %u.\r\n", valid ? "yes" : "no", count);
        std::for_each(replies.begin(), replies.begin() + count, [](auto &s) { 
            printf(s.c_str()); });
 
        valid = gps.ask_gsa(replies, count);
        printf("GSA valid: %s. count: %u.\r\n", valid ? "yes" : "no", count);
        std::for_each(replies.begin(), replies.begin() + count, [](auto &s) { 
            printf(s.c_str()); });
 
        valid = gps.ask_gga(reply);
        printf("GGA valid: %s.\r\n", valid ? "yes" : "no");
        printf(reply.c_str());
 
        valid = gps.ask_vtg(reply);
        printf("VTG valid: %s.\r\n", valid ? "yes" : "no");
        printf(reply.c_str());
 
        valid = gps.ask_rmc(reply);
        printf("RMC valid: %s.\r\n", valid ? "yes" : "no");
        printf(reply.c_str());
 
        /* commented out because this is a slow command. It's here to show
        how to call a custom multi line command.
        Uncomment if you want to test this.
        */
        // // example: execute a custom command that returns multiple lines
        // printf("DUMPALMANAC command will take a while to reply.\r\n");
        // teseo::nmea_rr almanac("$PSTMDUMPALMANAC\n\r", "$PSTMDUMPALMANAC");
        // valid = gps.ask_nmea_multiple(almanac, replies, count);
        // printf("DUMPALMANAC valid: %s. count: %u.\r\n", valid ? "yes" : "no", count);
        // std::for_each(replies.begin(), replies.begin() + count, [](auto &s) { 
        //     printf(s.c_str()); });
 
        printf("+--  end  --+\r\n\r\n");
        sleep_ms(1000);
    }
}