LuatOS/components/minmea/luat_gnss.c

#include "luat_base.h"
#include "luat_msgbus.h"
#include "luat_malloc.h"
#include "luat_uart.h"
#include "luat_rtc.h"
#include "luat_mcu.h"

#define LUAT_LOG_TAG "gnss"
#include "luat_log.h"

#include "minmea.h"

luat_libgnss_t *libgnss_gnss;
luat_libgnss_tmp_t *libgnss_gnsstmp;
char *libgnss_recvbuff;
int libgnss_route_uart_id = -1;
int gnss_debug = 0;

// static int parse_nmea(const char* line);
// static int parse_data(const char* data, size_t len);

void luat_libgnss_uart_recv_cb(int uart_id, uint32_t data_len) {
    (void)data_len;
    if (libgnss_recvbuff == NULL)
        return;
    //LLOGD("uart recv cb");
    int len = 0;
    while (1) {
        len = luat_uart_read(uart_id, libgnss_recvbuff, RECV_BUFF_SIZE - 1);
        if (len < 1 || len >= RECV_BUFF_SIZE)
            break;
        if (libgnss_route_uart_id > 0) {
            luat_uart_write(libgnss_route_uart_id, libgnss_recvbuff, len);
        }
        luat_libgnss_on_rawdata(libgnss_recvbuff, len);
        libgnss_recvbuff[len] = 0;
        if (libgnss_gnss == NULL)
            continue;
        // LLOGD("uart recv %d %d", len, gnss_debug);
        if (gnss_debug) {
            LLOGD(">> %s", libgnss_recvbuff);
        }
        luat_libgnss_parse_data(libgnss_recvbuff, len);
    }
}


static uint32_t msg_counter[MINMEA_SENTENCE_MAX_ID];

int luat_libgnss_init(void) {
    if (libgnss_gnss)
        return 0;
    libgnss_gnss = luat_heap_malloc(sizeof(luat_libgnss_t));
    if (libgnss_gnss == NULL) {
        LLOGW("out of memory for libgnss data parse");
        return -1;
    }
    libgnss_gnsstmp = luat_heap_malloc(sizeof(luat_libgnss_tmp_t));
    if (libgnss_gnsstmp == NULL) {
        luat_heap_free(libgnss_gnss);
        LLOGW("out of memory for libgnss data parse");
        return -1;
    }
    // gnss->lua_ref = luaL_ref(L, LUA_REGISTRYINDEX);
    memset(libgnss_gnss, 0, sizeof(luat_libgnss_t));
    memset(libgnss_gnsstmp, 0, sizeof(luat_libgnss_tmp_t));
    //lua_pushboolean(L, 1);
    return 0;
}

int luat_libgnss_parse_data(const char* data, size_t len) {
    size_t prev = 0;
    #define MAX_LEN (120)
    static char nmea_tmp_buff[MAX_LEN] = {0}; // nmea 最大长度82,含换行符
    // if (data[0] == 0xAA && data[1] == 0xF0) {
    //     LLOGD("EPH data resp?");
    // }

    for (size_t offset = 0; offset < len; offset++)
    {
        // \r == 0x0D  \n == 0x0A
        if (data[offset] == 0x0A) {
            // 最短也需要是 OK\r\n
            // 应该\r\n的
            // 太长了
            if (offset - prev < 3 || data[offset - 1] != 0x0D || offset - prev > 82) {
                prev = offset + 1;
                continue;
            }
            if (offset - prev - 1 < MAX_LEN) {
                memcpy(nmea_tmp_buff, data + prev, offset - prev - 1);
                nmea_tmp_buff[offset - prev - 1] = 0x00;
                // if (gnss_debug) {
                //     LLOGD(">> %s", nmea_tmp_buff);
                // }
                luat_libgnss_parse_nmea((const char*)nmea_tmp_buff);
            }
            else {
                // 超长了, 忽略
            }
            prev = offset + 1;
        }
    }
    return 0;
}

int luat_libgnss_parse_nmea(const char* line) {
    if (libgnss_gnss == NULL && luat_libgnss_init()) {
        return 0;
    }
    struct minmea_sentence_gsv *frame_gsv = &libgnss_gnsstmp->frame_gsv;
    enum minmea_sentence_id id = minmea_sentence_id(line, false);
    if (id == MINMEA_UNKNOWN || id >= MINMEA_SENTENCE_MAX_ID || id == MINMEA_INVALID)
        return -1;
    msg_counter[id] ++;
    // int ticks = 0;
    struct tm tblock = {0};
    int ticks = luat_mcu_ticks();
    switch (id) {
        case MINMEA_SENTENCE_RMC: {
            if (minmea_parse_rmc(&(libgnss_gnsstmp->frame_rmc), line)) {
                // 清空gsa
                memset(libgnss_gnss->frame_gsa, 0, sizeof(struct minmea_sentence_gsa) * FRAME_GSA_MAX);
                if (libgnss_gnsstmp->frame_rmc.valid) {
                    memcpy(&(libgnss_gnss->frame_rmc), &libgnss_gnsstmp->frame_rmc, sizeof(struct minmea_sentence_rmc));
                    #ifdef LUAT_USE_MCU
                    if (libgnss_gnss->rtc_auto && (libgnss_gnss->fix_at_ticks == 0 || ((uint32_t)(ticks - libgnss_gnss->fix_at_ticks)) > 600*1000)) {
                        LLOGI("Auto-Set RTC by GNSS RMC");
                        minmea_getdatetime(&tblock, &libgnss_gnss->frame_rmc.date, &libgnss_gnss->frame_rmc.time);
                        tblock.tm_year -= 1900;
                        luat_rtc_set(&tblock);
                        // luat_rtc_set_tamp32(mktime(&tblock));
                    }
                    if (libgnss_gnss->fix_at_ticks == 0) {
                        LLOGI("Fixed %d %d", libgnss_gnss->frame_rmc.latitude.value, libgnss_gnss->frame_rmc.longitude.value);
                        // 发布系统消息
                        luat_libgnss_state_onchanged(GNSS_STATE_FIXED);
                    }
                    libgnss_gnss->fix_at_ticks = luat_mcu_ticks();
                    #endif
                }
                else {
                    if (libgnss_gnss->fix_at_ticks && libgnss_gnss->frame_rmc.valid) {
                        LLOGI("Lose"); // 发布系统消息
                        luat_libgnss_state_onchanged(GNSS_STATE_LOSE);
                    }
                    libgnss_gnss->fix_at_ticks = 0;
                    libgnss_gnss->frame_rmc.valid = 0;
                    if (libgnss_gnsstmp->frame_rmc.date.year > 0) {
                        memcpy(&(libgnss_gnss->frame_rmc.date), &(libgnss_gnsstmp->frame_rmc.date), sizeof(struct minmea_date));
                    }
                    if (libgnss_gnsstmp->frame_rmc.time.hours > 0) {
                        memcpy(&(libgnss_gnss->frame_rmc.time), &(libgnss_gnsstmp->frame_rmc.time), sizeof(struct minmea_time));
                    }
                }
            }
        } break;

        case MINMEA_SENTENCE_GGA: {
            memcpy(libgnss_gnss->gga, line, strlen(line) + 1);
        } break;

        case MINMEA_SENTENCE_GSA: {
            //LLOGD("GSV %s", line);
            if (minmea_parse_gsa(&(libgnss_gnsstmp->frame_gsa), line)) {
                for (size_t i = 0; i < FRAME_GSA_MAX; i++)
                {
                    // 如果是mode=0,代表空的
                    if (libgnss_gnss->frame_gsa[i].mode == 0) {
                        memcpy(&libgnss_gnss->frame_gsa[i], &(libgnss_gnsstmp->frame_gsa), sizeof(struct minmea_sentence_gsa));
                        break;
                    }
                }
                
            }
        } break;

        case MINMEA_SENTENCE_GLL: {
            memcpy(libgnss_gnss->gll, line, strlen(line) + 1);
        } break;

        case MINMEA_SENTENCE_GST: {
            memcpy(libgnss_gnss->gst, line, strlen(line) + 1);
        } break;

        case MINMEA_SENTENCE_GSV: {
            //LLOGD("Got GSV : %s", line);
            if (minmea_parse_gsv(frame_gsv, line)) {
                struct minmea_sentence_gsv *gsvs = libgnss_gnss->frame_gsv_gp;
                if (0 == memcmp("$GPGSV", line, strlen("$GPGSV"))) {
                    gsvs = libgnss_gnss->frame_gsv_gp;
                }
                else if (0 == memcmp("$GBGSV", line, strlen("$GBGSV"))) {
                    gsvs = libgnss_gnss->frame_gsv_gb;
                }
                // else if (0 == memcmp("$GLGSV", line, strlen("$GLGSV"))) {
                //     gsvs = libgnss_gnss->frame_gsv_gl;
                // }
                // else if (0 == memcmp("$GAGSV", line, strlen("$GAGSV"))) {
                //     gsvs = libgnss_gnss->frame_gsv_ga;
                // }
                else {
                    break;
                }
                //LLOGD("$GSV: message %d of %d", frame_gsv.msg_nr, frame_gsv.total_msgs);
                if (frame_gsv->msg_nr == 1) {
                    //LLOGD("Clean GSV");
                    memset(gsvs, 0, sizeof(struct minmea_sentence_gsv) * FRAME_GSV_MAX);
                }
                if (frame_gsv->msg_nr >= 1 && frame_gsv->msg_nr <= FRAME_GSV_MAX) {
                    //LLOGD("memcpy GSV %d", frame_gsv.msg_nr);
                    memcpy(&gsvs[frame_gsv->msg_nr - 1], frame_gsv, sizeof(struct minmea_sentence_gsv));
                }
            }
            else {
                //LLOGD("bad GSV %s", line);
            }
        } break;

        case MINMEA_SENTENCE_VTG: {
            memcpy(libgnss_gnss->vtg, line, strlen(line) + 1);
        } break;
        case MINMEA_SENTENCE_ZDA: {
            memcpy(libgnss_gnss->zda, line, strlen(line) + 1);
        } break;
        default:
            //LLOGD("why happen");
            break;
    }
    return 0;
}