Merge pull request #199 from ladyada-eagleclaw/gps-exact-received-position

Expose exact received positions through the GPS API

README.md

@@ -42,6 +42,48 @@ may not yet include the latest merged fixes.
 | I2C | Your GPS exposes SDA and SCL, as the PA1010D does. | Connect SDA, SCL, power, and ground. Examples use address `0x10`; on an Uno or Metro Mini, SDA is A4 and SCL is A5. |
 | SPI | Your GPS specifically supports SPI. | Follow its wiring requirements; the echo example uses CS on D10 and reset on D9. |
 
+## Exact received positions
+
+`GPS.lastPosition()` returns the latest received GGA, RMC, or GLL sentence as
+an independent `gnss_position_t`. Its coordinate components retain all nine
+fractional-minute digits without a global float-type override. Use
+`Adafruit_GNSS::formatCoordinate()` to print them as decimal degrees on any board,
+including AVR. Preserving digits does not increase the receiver's accuracy.
+
+For a sketch that polls `GPS.read()` in `loop()`, after initializing `GPS`:
+
+```cpp
+GPS.read();
+if (GPS.newNMEAreceived()) {
+  gnss_position_t position = GPS.lastPosition();
+  GPS.lastNMEA(); // Acknowledge this line; lastPosition() leaves the flag alone.
+  if (position.validation.status == GNSS_SENTENCE_VALID &&
+      position.fixStatus == NMEA_NUMBER_VALID && position.fix &&
+      position.latitude.status == NMEA_NUMBER_VALID &&
+      position.longitude.status == NMEA_NUMBER_VALID) {
+    char coordinate[GNSS_COORDINATE_TEXT_SIZE];
+    Adafruit_GNSS::formatCoordinate(coordinate, sizeof(coordinate), position.latitude);
+    Serial.print(coordinate);
+    Serial.print(F(", "));
+    Adafruit_GNSS::formatCoordinate(coordinate, sizeof(coordinate), position.longitude);
+    Serial.println(coordinate);
+  }
+}
+```
+
+The result describes one sentence, without merging previous fixes. Empty fields
+stay empty, and replies or other sentence types return `GNSS_SENTENCE_UNSUPPORTED`.
+Before any complete line, or for a line with an invalid frame/checksum, the result
+is `GNSS_SENTENCE_INVALID_FRAME`. Partial or oversized input leaves the previous
+complete line available. If an interrupt calls `GPS.read()`, synchronize it with
+`lastPosition()` so the receive buffer cannot change during decoding.
+
+This getter does not update `GPS.fix`, `GPS.latitudeDegrees`, or other legacy
+fields; continue using `GPS.parse(GPS.lastNMEA())` when those fields are needed.
+Likewise, parsing a separate caller-supplied string does not change this getter's
+received sentence. Decode such a string with `Adafruit_NMEA::validate()` followed
+by `Adafruit_GNSS::parsePosition()` instead.
+
 ## Example guide
 
 Every example is linked below. An **echo** sketch shows the GPS's raw text;

extras/tests/gps_position/gps_position.ino

@@ -0,0 +1,148 @@
+#include <Adafruit_GPS.h>
+
+class TestStream : public Stream {
+public:
+  const char *input = "";
+  int available() { return *input != 0; }
+  int read() { return *input ? *input++ : -1; }
+  int peek() { return *input ? *input : -1; }
+  void flush() {}
+  size_t write(uint8_t) { return 1; }
+};
+
+TestStream firstStream, secondStream;
+Adafruit_GPS firstGPS((Stream *)&firstStream), secondGPS((Stream *)&secondStream);
+bool testsPassed = false;
+bool receiveBody(TestStream &stream, Adafruit_GPS &gps, const char *body);
+bool noPosition(const gnss_position_t &position, gnss_sentence_status_t status);
+
+void setup() {
+  Serial.begin(115200);
+  Serial.println(F("Adafruit GPS exact received position regression"));
+  const Adafruit_GPS &view = firstGPS;
+  if (!noPosition(view.lastPosition(), GNSS_SENTENCE_INVALID_FRAME) ||
+      firstGPS.newNMEAreceived()) {
+    Serial.println(F("FAIL: getter before reception"));
+    return;
+  }
+  firstGPS.fix = false;
+  firstGPS.latitude_fixed = 42;
+  firstGPS.year = 99;
+  if (!receiveBody(firstStream, firstGPS,
+      "GNRMC,123519.123,A,8959.123456789,S,17959.123456789,W,1,2,290224")) {
+    Serial.println(F("FAIL: receive first exact position"));
+    return;
+  }
+  gnss_position_t saved = view.lastPosition();
+  char coordinate[GNSS_COORDINATE_TEXT_SIZE];
+  if (saved.validation.status != GNSS_SENTENCE_VALID || !saved.fix ||
+      saved.latitude.fractionalMinutes != 123456789 || saved.date.day != 29 ||
+      saved.time.millisecond != 123 || !firstGPS.newNMEAreceived() ||
+      firstGPS.fix || firstGPS.latitude_fixed != 42 || firstGPS.year != 99 ||
+      !Adafruit_GNSS::formatCoordinate(coordinate, sizeof(coordinate), saved.longitude) ||
+      strcmp(coordinate, "-179.98539094648")) {
+    Serial.println(F("FAIL: exact result, acknowledgement flag, or legacy state changed"));
+    return;
+  }
+  if (!firstGPS.parse(firstGPS.lastNMEA()) || firstGPS.newNMEAreceived() ||
+      !firstGPS.fix || firstGPS.latitude_fixed != saved.latitude.degreesE7 ||
+      view.lastPosition().longitude.fractionalMinutes != 123456789) {
+    Serial.println(F("FAIL: legacy parse and exact getter coexistence"));
+    return;
+  }
+  Serial.println(F("PASS: exact output on float builds without changing receive or legacy state"));
+
+  firstStream.input = "$unfinished";
+  while (firstStream.available()) firstGPS.read();
+  if (firstGPS.newNMEAreceived() ||
+      view.lastPosition().latitude.fractionalMinutes != 123456789 ||
+      !receiveBody(firstStream, firstGPS,
+          "GNRMC,123520,A,8959.123456889,S,17959.123456889,W,1,2,290224")) {
+    Serial.println(F("FAIL: partial sentence or recovery"));
+    return;
+  }
+  gnss_position_t next = view.lastPosition();
+  if (next.latitude.degreesE7 != saved.latitude.degreesE7 ||
+      next.latitude.fractionalMinutes != 123456889 ||
+      saved.latitude.fractionalMinutes != 123456789 ||
+      !Adafruit_GNSS::formatCoordinate(coordinate, sizeof(coordinate), next.longitude) ||
+      strcmp(coordinate, "-179.98539094815")) {
+    Serial.println(F("FAIL: submillimeter change or owned result"));
+    return;
+  }
+  Serial.println(F("PASS: new sentences retain changes smaller than E7 and preserve copied results"));
+
+  if (!receiveBody(secondStream, secondGPS,
+          "GBGGA,010203,4807.038,N,01131.000,E,4,08,0.9,545.4,M,46.9") ||
+      secondGPS.lastPosition().fixQuality != 4 ||
+      secondGPS.lastPosition().latitude.degreesE7 != 481173000 ||
+      view.lastPosition().latitude.fractionalMinutes != 123456889) {
+    Serial.println(F("FAIL: independent receivers or shared talker routing"));
+    return;
+  }
+  char separate[120] = "$GPGLL,4807.038,N,01131.000,E,123519,A";
+  firstGPS.addChecksum(separate);
+  if (!firstGPS.parse(separate) ||
+      view.lastPosition().latitude.fractionalMinutes != 123456889 ||
+      !firstGPS.newNMEAreceived()) {
+    Serial.println(F("FAIL: parsing a supplied string changed the received snapshot"));
+    return;
+  }
+  Serial.println(F("PASS: supplied-buffer parsing and separate receivers remain independent"));
+
+  firstGPS.lastNMEA();
+  if (!receiveBody(firstStream, firstGPS, "GNRMC,,V,,,,,,,") ||
+      view.lastPosition().validation.status != GNSS_SENTENCE_VALID ||
+      view.lastPosition().latitude.status != NMEA_NUMBER_EMPTY ||
+      view.lastPosition().fix || !firstGPS.fix) {
+    Serial.println(F("FAIL: empty/no-fix line reused a cached position"));
+    return;
+  }
+  firstGPS.lastNMEA();
+  if (!receiveBody(firstStream, firstGPS, "PAIR001,062,0") ||
+      !noPosition(view.lastPosition(), GNSS_SENTENCE_UNSUPPORTED) ||
+      !firstGPS.newNMEAreceived() || strncmp(firstGPS.lastNMEA(), "$PAIR001,", 9)) {
+    Serial.println(F("FAIL: command reply replaced or acknowledged by getter"));
+    return;
+  }
+  firstStream.input = "$GPGLL,4807.038,N,01131.000,E,123519,A*00\n";
+  while (firstStream.available()) firstGPS.read();
+  if (!firstGPS.newNMEAreceived() ||
+      !noPosition(view.lastPosition(), GNSS_SENTENCE_INVALID_FRAME)) {
+    Serial.println(F("FAIL: bad checksum accepted or acknowledged"));
+    return;
+  }
+  firstGPS.common_init();
+  if (!noPosition(view.lastPosition(), GNSS_SENTENCE_INVALID_FRAME) ||
+      firstGPS.newNMEAreceived() || secondGPS.lastPosition().fixQuality != 4 ||
+      saved.latitude.fractionalMinutes != 123456789) {
+    Serial.println(F("FAIL: reset, receiver isolation, or result lifetime"));
+    return;
+  }
+  Serial.println(F("PASS: no-fix, replies, bad checksum, and reset never reuse stale positions"));
+  testsPassed = true;
+}
+
+void loop() {
+  if (testsPassed) Serial.println(F("PASS: exact received position regression"));
+  else Serial.println(F("FAIL: exact received position regression"));
+}
+
+bool receiveBody(TestStream &stream, Adafruit_GPS &gps, const char *body) {
+  char line[120];
+  if (!Adafruit_NMEA::buildCommand(line, sizeof(line), body, strlen(body))) return false;
+  stream.input = line;
+  while (stream.available()) gps.read();
+  stream.input = "";
+  return gps.newNMEAreceived();
+}
+
+bool noPosition(const gnss_position_t &position, gnss_sentence_status_t status) {
+  return position.validation.status == status &&
+      position.latitude.status == NMEA_NUMBER_MISSING &&
+      position.longitude.status == NMEA_NUMBER_MISSING &&
+      position.time.status == NMEA_NUMBER_MISSING &&
+      position.date.status == NMEA_NUMBER_MISSING &&
+      position.fixStatus == NMEA_NUMBER_MISSING &&
+      position.fixQualityStatus == NMEA_NUMBER_MISSING && !position.fix;
+}

src/Adafruit_GPS.cpp

@@ -405,6 +405,32 @@ char *Adafruit_GPS::lastNMEA(void) {
   return (char *)lastline;
 }
 
+/**************************************************************************/
+/*!
+    @brief Decode the latest received sentence with exact coordinate precision.
+    @return Independent GGA/RMC/GLL position data and per-field status.
+
+    Call after read() completes a line. This does not acknowledge the receive
+    flag, update legacy GPS fields, or merge data from earlier sentences. Use
+    lastNMEA() to acknowledge the line and parse() to update legacy fields.
+    Parsing a caller-supplied string does not replace the received sentence.
+
+    Check validation and each field's status; a valid fix flag does not imply
+    populated coordinates. Exact components can be passed to
+    Adafruit_GNSS::formatCoordinate() even when nmea_float_t is float.
+    No stored fix or extra receive buffer is added. The result owns its values
+    and survives subsequent input. Calls must be synchronized with read(),
+    including when read() runs in an interrupt.
+
+    Before reception or after common_init(), returns INVALID_FRAME. Invalid
+    complete lines return INVALID_FRAME; valid non-position sentences return
+    UNSUPPORTED. Partial or oversized input preserves the last complete line.
+*/
+/**************************************************************************/
+gnss_position_t Adafruit_GPS::lastPosition() const {
+  return receiver.lastPosition();
+}
+
 /**************************************************************************/
 /*!
  * @brief Wait for a specified sentence from the device

src/Adafruit_GPS.h

@@ -106,6 +106,7 @@ public:
   bool newNMEAreceived();
   void pause(bool b);
   char *lastNMEA(void);
+  gnss_position_t lastPosition() const;
   bool waitForSentence(const char *wait, uint8_t max = MAXWAITSENTENCE,
                        bool usingInterrupts = false, uint32_t timeout = 10000);
   bool LOCUS_StartLogger(void);
@@ -293,7 +294,7 @@ private:
   volatile char line1[MAXLINELENGTH]; ///< We double buffer: read one line in
                                       ///< and leave one for the main program
   volatile char line2[MAXLINELENGTH]; ///< Second buffer
-  Adafruit_NMEA receiver{line1, line2, MAXLINELENGTH}; ///< Bounded byte framing
+  Adafruit_GNSS receiver{line1, line2, MAXLINELENGTH}; ///< Shared GNSS receiver
   const char *volatile lastline =
       (const char *)line2;     ///< Completed line published by read()
   volatile bool recvdflag;     ///< Received flag