teseo_with_nmea_parse.cpp

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#include <string>
#include <chrono>
 
// for debug messages
#include <stdio.h>
#include "pico/stdlib.h"
 
import teseo;
import nmea;
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; 
uint count; // intentionally uninitialised
bool valid; // intentionally uninitialised
 
void print_t(const nmea::time_t& t) {
    printf("%02i:%02i:%02i.%03i", 
        (int)(t.hours().count()), (int)(t.minutes().count()),
        (int)(t.seconds().count()), (int)(t.subseconds().count()));
}
 
void print_d(const std::chrono::year_month_day& t) {
    printf("%4i-%02i-%02i", 
        t.year(), t.month(),
        t.day());
}
 
void print_talker(const nmea::talker_id& talker_id) {
    switch (talker_id) {
    case nmea::talker_id::gps:
        printf("gps");
        break;
    case nmea::talker_id::glonass:
        printf("glonass");
        break;
    case nmea::talker_id::galileo:
        printf("galileo");
        break;
    default:
        printf("other");
        break;          
    }
}
 
void test_gll() {
    valid = gps.ask_gll(reply);
    if (!valid) { return; }
    assert(reply.size());
    nmea::gll o;
    valid = nmea::gll::from_data(reply, o);
    printf("GLL source: ");
    print_talker(o.source);
    printf(". lat: %f lon: %f, time: ", 
        o.lat, o.lon);
    print_t(o.t);
    printf(".\n");
    return;
}
 
void test_gsv() {
    valid = gps.ask_gsv(replies, count);
    if (!valid) { return; }
    for(auto r : std::ranges::subrange(replies.begin(), replies.begin() + count)) {
        nmea::gsv o;
        valid = nmea::gsv::from_data(r, o);
        printf("GSV source: ");
        print_talker(o.source);
        printf(".\r\n");
        for(const auto s : o.sats) {
            printf("sat prn: %i, elev: %i, azim: %i, snr: %i.\r\n", 
                s.prn, s.elev, s.azim, s.snr);
        }
    }
    return;
}
 
void test_gga() {
    valid = gps.ask_gga(reply);
    if (!valid) { return; }
    nmea::gga o;
    valid = nmea::gga::from_data(reply, o);
    printf("GGA source: ");
    print_talker(o.source);
    printf(". lat: %f lon: %f, alt: %.3f, geosep: %.3f, sats: %i. ", 
        o.lat, o.lon, o.alt, o.geosep, o.sats);
    print_t(o.t);
    printf(".\n");
    return;
}
 
void test_rmc() {
    valid = gps.ask_rmc(reply);
    if (!valid) { return; }
    nmea::rmc o;
    valid = nmea::rmc::from_data(reply, o);
    printf("RMC source: ");
    print_talker(o.source);
    printf(". lat: %f lon: %f. ", 
        o.lat, o.lon);
    print_t(o.t);
    printf(". ");
    print_d(o.d);
    printf(".\n");
    return;
}
 
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();
    
    while (true) {
        printf("+-- start --+\r\n");
        test_gll();
        test_gsv();
        test_gga();
        test_rmc();
        printf("+--  end  --+\r\n\r\n");
        sleep_ms(1000);
    }
}