Updated gps thread to use gpsd stream4.0.22

1 files changed, 29 insertions, 37 deletions

diff --git a/lora_pkt_fwd/src/lora_pkt_fwd.c b/lora_pkt_fwd/src/lora_pkt_fwd.c
index eba3c48..47662e6 100644
--- a/lora_pkt_fwd/src/lora_pkt_fwd.c
+++ b/lora_pkt_fwd/src/lora_pkt_fwd.c
@@ -206,8 +206,7 @@ static double xtal_correct = 1.0;
 /* GPS configuration and synchronization */
 static bool use_gps = false; /* Use the GPSD stream */
 static bool gps_enabled = false; /* is GPS enabled on that gateway ? */
-static char gps_tty_path[64] = "\0"; /* path of the TTY port GPS is connected on */
-static int gps_tty_fd = -1; /* file descriptor of the GPS TTY port */
+
 /* GPS time reference */
 static pthread_mutex_t mx_timeref = PTHREAD_MUTEX_INITIALIZER; /* control access to GPS time reference */
 static bool gps_ref_valid; /* is GPS reference acceptable (ie. not too old) */
@@ -1718,7 +1717,7 @@ int main(int argc, char** argv)
 
     /* Start GPS a.s.a.p., to allow it to lock */
     if (use_gps == true) {
-        int i = lgw_gps_enable(gps_tty_path, "ubx7", 0, &gps_tty_fd, ((strcmp(lora_port, "ap2") == 0) ? 2 : 1));
+        int i = lgw_gps_enable();
         if (i != LGW_GPS_SUCCESS) {
             printf("WARNING: [main] impossible to open for GPS sync (Check GPSD)\n");
             gps_enabled = false;
@@ -2094,13 +2093,7 @@ int main(int argc, char** argv)
 
     if (gps_enabled == true) {
         pthread_cancel(thrid_gps); /* don't wait for GPS thread */
-
-        i = lgw_gps_disable(gps_tty_fd);
-        if (i == LGW_HAL_SUCCESS) {
-            MSG("INFO: GPS closed successfully\n");
-        } else {
-            MSG("WARNING: failed to close GPS successfully\n");
-        }
+        lgw_gps_disable();
     }
 
     pthread_join(thrid_spectralscan, NULL); /* wait for spec scan thread */
@@ -3583,18 +3576,16 @@ static void gps_process_coords(void) {
 
 void thread_gps(void) {
     /* serial variables */
-    char serial_buff[128]; /* buffer to receive GPS data */
+    char serial_buff[4096]; /* buffer to receive GPS data */
     size_t wr_idx = 0;     /* pointer to end of chars in buffer */
-
     /* variables for PPM pulse GPS synchronization */
     enum gps_msg latest_msg; /* keep track of latest NMEA message parsed */
 
-    /* initialize some variables before loop */
-    memset(serial_buff, 0, sizeof serial_buff);
-
     uint8_t read_fail_count = 0;
+    uint8_t empty_packet_count = 0;
     enum gps_state state = GPS_RUNNING;
     int i;
+    memset(serial_buff, 0, sizeof serial_buff);
 
     while (!exit_sig && !quit_sig) {
         size_t rd_idx = 0;
@@ -3603,48 +3594,51 @@ void thread_gps(void) {
 
         switch (state) {
         case GPS_LOST: {
-            i = lgw_gps_disable(gps_tty_fd);
-            if (i == LGW_HAL_SUCCESS) {
-                MSG("INFO: GPS closed successfully\n");
-            } else {
-                MSG("WARNING: failed to close GPS successfully\n");
-            }
+            lgw_gps_disable();
+            MSG("INFO: GPS closed\n");
+            empty_packet_count = 0;
             read_fail_count = 0;
-            state = GPS_RETRYING;
+            state = GPS_RECONNECTING;
             wait_ms(5000);
             continue;
         }
-        case GPS_RETRYING: {
-            i = lgw_gps_enable(gps_tty_path, "ubx7", 0, &gps_tty_fd, ((strcmp(lora_port, "ap2") == 0) ? 2 : 1));
+        case GPS_RECONNECTING: {
+            /* try and reestablish connection */
+            i = lgw_gps_enable();
             if (i != LGW_GPS_SUCCESS) {
                 printf("WARNING: [main] impossible to open for GPS sync (Check GPSD)\n");
                 gps_enabled = false;
                 gps_ref_valid = false;
+                wait_ms(2000);
+                continue;
             } else {
                 printf("INFO: [main] GPSD polling open for GPS synchronization\n");
                 gps_enabled = true;
                 gps_ref_valid = false;
-            }
-            nb_char = read(gps_tty_fd, serial_buff + wr_idx, LGW_GPS_MIN_MSG_SIZE);
-            if (nb_char <= 0) {
-                printf("WARNING: [gps] reconnect failed\n");
-                wait_ms(2000);
-                continue;
-            } else {
-                printf("INFO: [gps] reconnected\n");
                 state = GPS_RUNNING;
-                break;
+                wait_ms(1000);
+                continue;
             }
         }
         case GPS_RUNNING: {
-            nb_char = read(gps_tty_fd, serial_buff + wr_idx, LGW_GPS_MIN_MSG_SIZE);
+            int result = lgw_gps_data_ready();
+
+            if (result != 1) {
+                empty_packet_count++;
+                if (empty_packet_count > 9) {
+                    state = GPS_LOST;
+                }
+                continue;
+            }
+            /* reading directly from the socket avoids decode overhead */
+            nb_char = lgw_gps_stream(serial_buff + wr_idx, sizeof(serial_buff) - wr_idx);
             if (nb_char <= 0) {
                 printf("WARNING: [gps] read() returned value %zd\n", nb_char);
                 read_fail_count++;
                 if (read_fail_count > 9) {
                     state = GPS_LOST;
-                    continue;
                 }
+                continue;
             }
             break;
         }
@@ -3886,8 +3880,6 @@ void thread_spectralscan(void) {
     while (!exit_sig && !quit_sig) {
         wait_ms(1000);
         gettimeofday(&tv, NULL);
-        long hms = tv.tv_sec % 86400;
-        int min = (hms % 3600) / 60;
         pthread_mutex_lock(&mx_scan_config);
         if (scan_config_new.read == false) {
             scan_config = scan_config_new;