Actions_3085S4_V2/framework/sensor/gps_service.c

/*
 * Copyright (c) 2022 Actions Semi Co., Inc.
 *
 * SPDX-License-Identifier: Apache-2.0
 */

/**
 * @file
 * @brief gps service interface
 */

#include <mem_manager.h>
#include <app_manager.h>
#include <srv_manager.h>
#include <msg_manager.h>
#include <sys_manager.h>
#include <thread_timer.h>
#include <gps_manager.h>
#include <device.h>
#include <stdio.h>
#include <string.h>

#include <gps/gps.h>
#include <minmea.h>

#define CONFIG_GPS_DEV_NAME "gps"
#define CONFIG_SENSORSRV_STACKSIZE 2048
#define CONFIG_GPSSVR_PRIORITY 6

static gps_res_cb_t gps_res_cb = {NULL};
extern gps_res_t gps_res;

void gps_event_report_nmea(uint8_t *gps_nmea_data)
{
    struct app_msg msg = {0};

    msg.type = MSG_SENSOR_EVENT;
    msg.cmd = MSG_GPS_NMEA_DATA;
    msg.ptr = gps_nmea_data;
    send_async_msg(GPS_SERVICE_NAME, &msg);
}

static void gps_notify_callback(struct device *dev, struct gps_value *val)
{
    gps_event_report_nmea(val->gps_nmea_data);
}

static void _gps_service_init(void)
{
    const struct device *gps_dev = device_get_binding("gps");
    if (!gps_dev)
    {
        SYS_LOG_ERR("cannot found key dev gps\n");
    }
    memset(&gps_res, 0, sizeof(gps_res));
    gps_dev_register_notify(gps_dev, gps_notify_callback);
    SYS_LOG_INF("_gps_service_init\n");
}

static void gps_enable(void)
{
    const struct device *gps_dev = device_get_binding(CONFIG_GPS_DEV_NAME);
    if (!gps_dev)
    {
        SYS_LOG_ERR("cannot found key dev gps\n");
    }
    gps_dev_enable(gps_dev);
    SYS_LOG_INF("gps_dev_enable\n");
}

static void gps_disable(void)
{
    const struct device *gps_dev = device_get_binding(CONFIG_GPS_DEV_NAME);
    if (!gps_dev)
    {
        SYS_LOG_ERR("cannot found key dev gps\n");
    }
    gps_dev_disable(gps_dev);
    SYS_LOG_INF("gps_dev_disable\n");
}

static void gps_minmea_parse(const char *sentence)
{
    uint8_t parse_state = false;

    SYS_LOG_INF("gps sentence: %s\n", sentence);

    switch (minmea_sentence_id(sentence, false))
    {
#ifdef CONFIG_GPS_PARSE_RMC_ENABLE
    case MINMEA_SENTENCE_RMC:
    {
        struct minmea_sentence_rmc frame;
        if (minmea_parse_rmc(&frame, sentence))
        {
            parse_state = true;
            memcpy(&gps_res.rmc_data, &frame, sizeof(frame));
            SYS_LOG_INF("$xxRMC sentence parse ok\n");
        }
        else
        {
            SYS_LOG_INF("$xxRMC sentence is not parsed\n");
        }
    }
    break;
#endif

#ifdef CONFIG_GPS_PARSE_GGA_ENABLE
    case MINMEA_SENTENCE_GGA:
    {
        struct minmea_sentence_gga frame;
        if (minmea_parse_gga(&frame, sentence))
        {
            parse_state = true;
            memcpy(&gps_res.gga_data, &frame, sizeof(frame));
            // printk( "$xxGGA: hours: %d\n", frame.time.hours);
            // printk( "$xxGGA: minutes: %d\n", frame.time.minutes);
            // printk( "$xxGGA: seconds: %d\n", frame.time.seconds);
            // printk( "$xxGGA: microseconds: %d\n", frame.time.microseconds);
            // printk( "$xxGGA: latitude: %f\n", minmea_tofloat(&frame.latitude));
            // printk( "$xxGGA: longitude: %f\n", minmea_tofloat(&frame.longitude));
            // printk( "$xxGGA: hdop: %f\n", minmea_tofloat(&frame.hdop));
            // printk( "$xxGGA: altitude: %f\n", minmea_tofloat(&frame.altitude));
            // printk( "$xxGGA: height: %f\n", minmea_tofloat(&frame.height));
            // printk( "$xxGGA: dgps_age: %f\n", minmea_tofloat(&frame.dgps_age));
            SYS_LOG_INF("$xxGGA sentence parse ok\n");
        }
        else
        {
            SYS_LOG_INF("$xxGGA sentence is not parsed\n");
        }
    }
    break;
#endif

#ifdef CONFIG_GPS_PARSE_GST_ENABLE
    case MINMEA_SENTENCE_GST:
    {
        struct minmea_sentence_gst frame;
        if (minmea_parse_gst(&frame, sentence))
        {
            parse_state = true;
            memcpy(&gps_res.gst_data, &frame, sizeof(frame));
            SYS_LOG_INF("$xxGST sentence parse ok\n");
        }
        else
        {
            SYS_LOG_INF("$xxGST sentence is not parsed\n");
        }
    }
    break;
#endif

#ifdef CONFIG_GPS_PARSE_GSV_ENABLE
    case MINMEA_SENTENCE_GSV:
    {
        struct minmea_sentence_gsv frame;
        if (minmea_parse_gsv(&frame, sentence))
        {
            parse_state = true;
            memcpy(&gps_res.gsv_data, &frame, sizeof(frame));
            SYS_LOG_INF("$xxGSV sentence parse ok\n");
        }
        else
        {
            SYS_LOG_INF("$xxGSV sentence is not parsed\n");
        }
    }
    break;
#endif

#ifdef CONFIG_GPS_PARSE_VTG_ENABLE
    case MINMEA_SENTENCE_VTG:
    {
        struct minmea_sentence_vtg frame;
        if (minmea_parse_vtg(&frame, sentence))
        {
            parse_state = true;
            memcpy(&gps_res.vtg_data, &frame, sizeof(frame));
            SYS_LOG_INF("$xxVTG sentence parse ok");
        }
        else
        {
            SYS_LOG_INF("$xxVTG sentence is not parsed\n");
        }
    }
    break;
#endif

#ifdef CONFIG_GPS_PARSE_ZDA_ENABLE
    case MINMEA_SENTENCE_ZDA:
    {
        struct minmea_sentence_zda frame;
        if (minmea_parse_zda(&frame, sentence))
        {
            parse_state = true;
            emcpy(&gps_res.zda_data, &frame, sizeof(frame));
            SYS_LOG_INF("$xxZDA sentence parse ok\n");
        }
        else
        {
            SYS_LOG_INF("$xxZDA sentence is not parsed\n");
        }
    }
    break;
#endif
    case MINMEA_INVALID:
    {
        SYS_LOG_INF("$xxxxx sentence is not valid\n");
    }
    break;

    default:
    {
        SYS_LOG_INF("$xxxxx sentence is not parsed\n");
    }
    break;
    }

    if ((parse_state == true) && (gps_res_cb != NULL))
    {
        gps_res_cb(0, &gps_res);
    }
}

static void _gps_service_proc(struct app_msg *msg)
{
    switch (msg->cmd)
    {
    case MSG_GPS_ENABLE:
        gps_enable();
        break;

    case MSG_GPS_DISABLE:
        gps_disable();
        break;

    case MSG_GPS_NMEA_DATA:
        gps_minmea_parse(msg->ptr);
        break;

    case MSG_GPS_ADD_CB:
        gps_res_cb = (gps_res_cb_t)msg->ptr;
        break;

    case MSG_GPS_REMOVE_CB:
        gps_res_cb = NULL;
        break;

    default:
        break;
    }
}

static void _gps_service_main_loop(void *parama1, void *parama2, void *parama3)
{
    struct app_msg msg = {0};
    bool terminaltion = false;
    bool suspended = false;
    int timeout;
    int result = 0;

    printk("gps_service enter\n");

    while (!terminaltion)
    {
        timeout = suspended ? OS_FOREVER : thread_timer_next_timeout();
        if (receive_msg(&msg, timeout))
        {
            // SYS_LOG_INF("gps_service msg:%d, cmd:%d\n", msg.type, msg.cmd);
            switch (msg.type)
            {
            case MSG_INIT_APP:
                _gps_service_init();
                break;
            // case MSG_EXIT_APP:
            // 	_sensor_service_exit();
            // 	terminaltion = true;
            // 	break;
            case MSG_SENSOR_EVENT:
                _gps_service_proc(&msg);
                break;
            // case MSG_SUSPEND_APP:
            // 	SYS_LOG_INF("SUSPEND_APP");
            // 	sensor_sleep_suspend();
            // 	suspended = true;
            // 	break;
            // case MSG_RESUME_APP:
            // 	SYS_LOG_INF("RESUME_APP");
            // 	sensor_sleep_resume();
            // 	suspended = false;
            // 	break;
            default:
                break;
            }
            if (msg.callback)
            {
                msg.callback(&msg, result, NULL);
            }
        }
        thread_timer_handle_expired();
    }
}

char __aligned(ARCH_STACK_PTR_ALIGN) gpssrv_stack_area[CONFIG_SENSORSRV_STACKSIZE];
SERVICE_DEFINE(gps_service,
               gpssrv_stack_area, sizeof(gpssrv_stack_area),
               CONFIG_GPSSVR_PRIORITY, BACKGROUND_APP,
               NULL, NULL, NULL,
               _gps_service_main_loop);