sforkowany z mirror/meshtastic-firmware
fix #462 publish immediately on any GPS state change
(don't wait until end of aquisition window)1.2-legacy
Kevin Hester
rodzic
4a70ba1f7a
commit
95cb6b06e4
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@ -36,6 +36,23 @@ bool GPS::setup()
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return ok;
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}
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/// Record that we have a GPS
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void GPS::setConnected()
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{
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if (!hasGPS) {
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hasGPS = true;
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shouldPublish = true;
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}
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}
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void GPS::setNumSatellites(uint8_t n)
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{
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if (n != numSatellites) {
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numSatellites = n;
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shouldPublish = true;
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}
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}
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/**
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* Switch the GPS into a mode where we are actively looking for a lock, or alternatively switch GPS into a low power mode
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*
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@ -114,19 +131,23 @@ uint32_t GPS::getSleepTime() const
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void GPS::publishUpdate()
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{
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DEBUG_MSG("publishing GPS lock=%d\n", hasLock());
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if (shouldPublish) {
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shouldPublish = false;
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// Notify any status instances that are observing us
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const meshtastic::GPSStatus status =
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meshtastic::GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop, heading, numSatellites);
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newStatus.notifyObservers(&status);
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DEBUG_MSG("publishing GPS lock=%d\n", hasLock());
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// Notify any status instances that are observing us
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const meshtastic::GPSStatus status =
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meshtastic::GPSStatus(hasLock(), isConnected(), latitude, longitude, altitude, dop, heading, numSatellites);
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newStatus.notifyObservers(&status);
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}
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}
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void GPS::loop()
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{
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if (whileIdle()) {
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// if we have received valid NMEA claim we are connected
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isConnected = true;
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setConnected();
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}
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// If we are overdue for an update, turn on the GPS and at least publish the current status
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@ -147,8 +168,17 @@ void GPS::loop()
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}
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// If we've already set time from the GPS, no need to ask the GPS
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bool gotTime = (getRTCQuality() >= RTCQualityGPS) || lookForTime();
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bool gotTime = (getRTCQuality() >= RTCQualityGPS);
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if (!gotTime && lookForTime()) { // Note: we count on this && short-circuiting and not resetting the RTC time
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gotTime = true;
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shouldPublish = true;
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}
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bool gotLoc = lookForLocation();
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if (gotLoc && !hasValidLocation) { // declare that we have location ASAP
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hasValidLocation = true;
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shouldPublish = true;
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}
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// We've been awake too long - force sleep
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auto wakeTime = getWakeTime();
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@ -158,8 +188,6 @@ void GPS::loop()
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// or if we got a time and we are in GpsOpTimeOnly mode
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// DEBUG_MSG("gotLoc %d, tooLong %d, gotTime %d\n", gotLoc, tooLong, gotTime);
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if ((gotLoc && gotTime) || tooLong || (gotTime && getGpsOp() == GpsOperation_GpsOpTimeOnly)) {
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if (gotLoc)
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hasValidLocation = true;
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if (tooLong) {
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// we didn't get a location during this ack window, therefore declare loss of lock
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@ -167,9 +195,12 @@ void GPS::loop()
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}
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setAwake(false);
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publishUpdate(); // publish our update for this just finished acquisition window
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shouldPublish = true; // publish our update for this just finished acquisition window
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}
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}
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// If state has changed do a publish
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publishUpdate();
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}
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void GPS::forceWake(bool on)
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@ -22,9 +22,14 @@ class GPS
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bool wakeAllowed = true; // false if gps must be forced to sleep regardless of what time it is
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bool shouldPublish = false; // If we've changed GPS state, this will force a publish the next loop()
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bool hasGPS = false; // Do we have a GPS we are talking to
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uint8_t numSatellites = 0;
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CallbackObserver<GPS, void *> notifySleepObserver = CallbackObserver<GPS, void *>(this, &GPS::prepareSleep);
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protected:
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public:
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/** If !NULL we will use this serial port to construct our GPS */
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static HardwareSerial *_serial_gps;
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@ -37,9 +42,6 @@ class GPS
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uint32_t dop = 0; // Diminution of position; PDOP where possible (UBlox), HDOP otherwise (TinyGPS) in 10^2 units (needs
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// scaling before use)
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uint32_t heading = 0; // Heading of motion, in degrees * 10^-5
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uint32_t numSatellites = 0;
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bool isConnected = false; // Do we have a GPS we are talking to
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virtual ~GPS() {} // FIXME, we really should unregister our sleep observer
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@ -56,6 +58,9 @@ class GPS
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/// Returns ture if we have acquired GPS lock.
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bool hasLock() const { return hasValidLocation; }
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/// Return true if we are connected to a GPS
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bool isConnected() const { return hasGPS; }
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/**
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* Restart our lock attempt - try to get and broadcast a GPS reading ASAP
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* called after the CPU wakes from light-sleep state
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@ -99,6 +104,11 @@ class GPS
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*/
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virtual bool lookForLocation() = 0;
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/// Record that we have a GPS
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void setConnected();
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void setNumSatellites(uint8_t n);
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private:
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/// Prepare the GPS for the cpu entering deep or light sleep, expect to be gone for at least 100s of msecs
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/// always returns 0 to indicate okay to sleep
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@ -84,7 +84,7 @@ bool NMEAGPS::lookForLocation()
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heading = reader.course.value() * 1e3; // Scale the heading (in degrees * 10^-2) to match the expected degrees * 10^-5
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}
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if (reader.satellites.isValid()) {
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numSatellites = reader.satellites.value();
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setNumSatellites(reader.satellites.value());
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}
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// expect gps pos lat=37.520825, lon=-122.309162, alt=158
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@ -8,20 +8,23 @@ UBloxGPS::UBloxGPS() {}
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bool UBloxGPS::tryConnect()
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{
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isConnected = false;
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bool c = false;
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if (_serial_gps)
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isConnected = ublox.begin(*_serial_gps);
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c = ublox.begin(*_serial_gps);
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if (!isConnected && i2cAddress) {
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if (!c && i2cAddress) {
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extern bool neo6M; // Super skanky - if we are talking to the device i2c we assume it is a neo7 on a RAK815, which
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// supports the newer API
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neo6M = true;
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isConnected = ublox.begin(Wire, i2cAddress);
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c = ublox.begin(Wire, i2cAddress);
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}
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return isConnected;
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if (c)
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setConnected();
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return c;
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}
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bool UBloxGPS::setupGPS()
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@ -45,7 +48,7 @@ bool UBloxGPS::setupGPS()
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for (int i = 0; (i < 3) && !tryConnect(); i++)
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delay(500);
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if (isConnected) {
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if (isConnected()) {
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DEBUG_MSG("Connected to UBLOX GPS successfully\n");
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if (!setUBXMode())
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@ -106,8 +109,8 @@ bool UBloxGPS::factoryReset()
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for (int i = 0; (i < 3) && !tryConnect(); i++)
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delay(500);
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DEBUG_MSG("GPS Factory reset success=%d\n", isConnected);
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if (isConnected)
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DEBUG_MSG("GPS Factory reset success=%d\n", isConnected());
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if (isConnected())
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ok = setUBXMode();
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return ok;
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@ -127,7 +130,7 @@ void UBloxGPS::whileActive()
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// Update fixtype
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if (ublox.moduleQueried.fixType) {
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fixType = ublox.getFixType(0);
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DEBUG_MSG("GPS fix type %d, numSats %d\n", fixType, numSatellites);
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// DEBUG_MSG("GPS fix type %d, numSats %d\n", fixType, numSatellites);
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}
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}
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@ -170,7 +173,7 @@ bool UBloxGPS::lookForLocation()
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bool foundLocation = false;
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if (ublox.moduleQueried.SIV)
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numSatellites = ublox.getSIV(0);
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setNumSatellites(ublox.getSIV(0));
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if (ublox.moduleQueried.pDOP)
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dop = ublox.getPDOP(0); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it
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@ -189,8 +192,7 @@ bool UBloxGPS::lookForLocation()
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// bogus lat lon is reported as 0 or 0 (can be bogus just for one)
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// Also: apparently when the GPS is initially reporting lock it can output a bogus latitude > 90 deg!
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foundLocation =
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(latitude != 0) && (longitude != 0) && (latitude <= 900000000 && latitude >= -900000000) && (numSatellites > 0);
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foundLocation = (latitude != 0) && (longitude != 0) && (latitude <= 900000000 && latitude >= -900000000);
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}
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}
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@ -247,10 +247,10 @@ void MeshService::sendToMesh(MeshPacket *p)
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nodeDB.updateFrom(*p); // update our local DB for this packet (because phone might have sent position packets etc...)
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// Strip out any time information before sending packets to other nodes - to keep the wire size small (and because other
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// nodes shouldn't trust it anyways) Note: for now, we allow a device with a local GPS to include the time, so that gpsless
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// nodes shouldn't trust it anyways) Note: we allow a device with a local GPS to include the time, so that gpsless
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// devices can get time.
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if (p->which_payload == MeshPacket_decoded_tag && p->decoded.which_payload == SubPacket_position_tag) {
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if (!gps->isConnected) {
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if (getRTCQuality() < RTCQualityGPS) {
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DEBUG_MSG("Stripping time %u from position send\n", p->decoded.position.time);
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p->decoded.position.time = 0;
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} else
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@ -113,7 +113,7 @@ size_t PhoneAPI::getFromRadio(uint8_t *buf)
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// app not to send locations on our behalf.
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myNodeInfo.has_gps = (radioConfig.preferences.location_share == LocationSharing_LocDisabled)
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? true
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: (gps && gps->isConnected); // Update with latest GPS connect info
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: (gps && gps->isConnected()); // Update with latest GPS connect info
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fromRadioScratch.which_variant = FromRadio_my_info_tag;
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fromRadioScratch.variant.my_info = myNodeInfo;
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state = STATE_SEND_RADIO;
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