Merge pull request #196 from ladyada-eagleclaw/gps-shared-position-decoder

Decode exact GNSS positions into independent sentence results

extras/tests/README.md

@@ -41,6 +41,11 @@ full-precision RTK outputs. Future receiver APIs and logging examples must
 preserve the core precision through storage, public results, and formatting
 without requiring a global float-type override.
 
+The shared position decoder regression checks GGA/RMC/GLL results, independent
+fix and GGA-quality status, empty/missing fields, exact coordinates through text
+output, and rejection of malformed sentences without partial measurements.
+Returned values remain independent of the input buffer and other receivers.
+
 Physical reception tests live separately in `extras/hw_tests/gnss_receive`.
 Build and run them explicitly on the documented Nano or HILBERT fixture; the
 host test runner does not operate attached boards.

extras/tests/gnss_position/gnss_position.cpp

@@ -0,0 +1,141 @@
+#include "Adafruit_GNSS.h"
+#include <assert.h>
+#include <stdio.h>
+#include <string.h>
+
+static nmea_span_t text(const char *value) {
+  nmea_span_t span = {value, value ? strlen(value) : 0};
+  return span;
+}
+
+static gnss_position_t decode(const char *type, const char *fields) {
+  return Adafruit_GNSS::parsePosition(text(type), text(fields));
+}
+
+static void rejected(const char *type, const char *fields,
+                     gnss_sentence_status_t status, uint8_t field) {
+  gnss_position_t value = decode(type, fields);
+  assert(value.validation.status == status && value.validation.field == field);
+  assert(value.latitude.status == NMEA_NUMBER_MISSING &&
+         value.longitude.status == NMEA_NUMBER_MISSING &&
+         value.time.status == NMEA_NUMBER_MISSING &&
+         value.date.status == NMEA_NUMBER_MISSING &&
+         value.fixStatus == NMEA_NUMBER_MISSING &&
+         value.fixQualityStatus == NMEA_NUMBER_MISSING);
+  assert(!value.latitude.degreesE7 && !value.latitude.degrees &&
+         !value.latitude.minutes && !value.latitude.fractionalMinutes &&
+         !value.latitude.hemisphere && !value.longitude.degreesE7 &&
+         !value.longitude.degrees && !value.longitude.minutes &&
+         !value.longitude.fractionalMinutes && !value.longitude.hemisphere);
+  assert(!value.fix && !value.fixQuality && !value.time.hour &&
+         !value.time.minute && !value.time.second && !value.time.millisecond &&
+         !value.date.day && !value.date.month && !value.date.year);
+}
+
+int main() {
+  gnss_position_t rmc = decode(
+      "RMC",
+      "123519.123,A,8959.123456789,S,17959.123456789,W,0.01,0.02,290224");
+  assert(rmc.validation.status == GNSS_SENTENCE_VALID && !rmc.validation.field);
+  assert(rmc.fixStatus == NMEA_NUMBER_VALID && rmc.fix);
+  assert(rmc.fixQualityStatus == NMEA_NUMBER_MISSING && !rmc.fixQuality);
+  assert(rmc.latitude.status == NMEA_NUMBER_VALID &&
+         rmc.longitude.status == NMEA_NUMBER_VALID);
+  assert(rmc.latitude.degrees == 89 && rmc.latitude.minutes == 59 &&
+         rmc.latitude.fractionalMinutes == 123456789 &&
+         rmc.longitude.degrees == 179 && rmc.longitude.minutes == 59 &&
+         rmc.longitude.fractionalMinutes == 123456789);
+  assert(rmc.time.status == NMEA_NUMBER_VALID && rmc.time.hour == 12 &&
+         rmc.time.minute == 35 && rmc.time.second == 19 &&
+         rmc.time.millisecond == 123);
+  assert(rmc.date.status == NMEA_NUMBER_VALID && rmc.date.day == 29 &&
+         rmc.date.month == 2 && rmc.date.year == 24);
+  char output[GNSS_COORDINATE_TEXT_SIZE];
+  assert(Adafruit_GNSS::formatCoordinate(output, sizeof(output), rmc.latitude));
+  assert(!strcmp(output, "-89.98539094648"));
+  assert(
+      Adafruit_GNSS::formatCoordinate(output, sizeof(output), rmc.longitude));
+  assert(!strcmp(output, "-179.98539094648"));
+  puts("PASS: exact RMC coordinates, UTC/date, and GGA-independent fix");
+
+  gnss_position_t gga =
+      decode("GGA", "123520,4807.038,N,01131.000,E,4,08,0.9,545.4,M,-46.9");
+  assert(gga.validation.status == GNSS_SENTENCE_VALID && gga.fix);
+  assert(gga.fixStatus == NMEA_NUMBER_VALID &&
+         gga.fixQualityStatus == NMEA_NUMBER_VALID && gga.fixQuality == 4);
+  assert(gga.latitude.degreesE7 == 481173000 &&
+         gga.longitude.degreesE7 == 115166666 &&
+         gga.date.status == NMEA_NUMBER_MISSING);
+  gnss_position_t gll = decode("GLL", "4807.038,N,01131.000,E,123521,A");
+  assert(gll.validation.status == GNSS_SENTENCE_VALID && gll.fix &&
+         gll.fixStatus == NMEA_NUMBER_VALID && gll.time.second == 21 &&
+         gll.date.status == NMEA_NUMBER_MISSING &&
+         gll.fixQualityStatus == NMEA_NUMBER_MISSING);
+  gll = decode("GLL", "4807.038,N,01131.000,E,123521,V");
+  assert(gll.validation.status == GNSS_SENTENCE_VALID && !gll.fix &&
+         gll.fixStatus == NMEA_NUMBER_VALID &&
+         gll.latitude.status == NMEA_NUMBER_VALID);
+  assert(rmc.latitude.fractionalMinutes == 123456789 && rmc.time.second == 19);
+  puts("PASS: GGA RTK quality, GLL validity, and independent sentence results");
+
+  gnss_position_t empty = decode("RMC", ",V,,,,,,,");
+  assert(empty.validation.status == GNSS_SENTENCE_VALID && !empty.fix);
+  assert(empty.latitude.status == NMEA_NUMBER_EMPTY &&
+         empty.longitude.status == NMEA_NUMBER_EMPTY &&
+         empty.time.status == NMEA_NUMBER_EMPTY &&
+         empty.date.status == NMEA_NUMBER_EMPTY &&
+         empty.fixStatus == NMEA_NUMBER_VALID &&
+         empty.fixQualityStatus == NMEA_NUMBER_MISSING);
+  empty = decode("GGA", ",,,,,0,00,99.99,,M,");
+  assert(empty.validation.status == GNSS_SENTENCE_VALID && !empty.fix &&
+         empty.fixStatus == NMEA_NUMBER_VALID &&
+         empty.fixQualityStatus == NMEA_NUMBER_VALID && !empty.fixQuality &&
+         empty.latitude.status == NMEA_NUMBER_EMPTY);
+  empty = decode("GLL", ",,,,,");
+  assert(empty.validation.status == GNSS_SENTENCE_VALID &&
+         empty.fixStatus == NMEA_NUMBER_EMPTY && !empty.fix);
+  empty = decode("GGA", ",,,,,,,,,,");
+  assert(empty.validation.status == GNSS_SENTENCE_VALID &&
+         empty.fixStatus == NMEA_NUMBER_EMPTY &&
+         empty.fixQualityStatus == NMEA_NUMBER_EMPTY && !empty.fix);
+  puts("PASS: empty fields, missing sentence-specific fields, and no-fix data");
+
+  rejected("RMC", "123519,A,4807.038,N,01131.000,E,1,2,310426",
+           GNSS_SENTENCE_INVALID_FIELD, 9);
+  rejected("GGA", "123519,4807.038,N,01131.000,E,1,08,0.9,NaN,M,1",
+           GNSS_SENTENCE_INVALID_FIELD, 9);
+  rejected("GLL", "4807.038,N,01131.000,N,123519,A",
+           GNSS_SENTENCE_INVALID_FIELD, 3);
+  rejected("GGA", "123519,4807.038", GNSS_SENTENCE_MISSING_FIELDS, 3);
+  rejected("RMC", NULL, GNSS_SENTENCE_MISSING_FIELDS, 1);
+  rejected("GSA", "", GNSS_SENTENCE_UNSUPPORTED, 0);
+  rejected("VTG", NULL, GNSS_SENTENCE_UNSUPPORTED, 0);
+  rejected("GLLX", "", GNSS_SENTENCE_UNSUPPORTED, 0);
+  rejected(NULL, NULL, GNSS_SENTENCE_UNSUPPORTED, 0);
+  puts("PASS: early and late failures return no partial position data");
+
+  char sentence[120];
+  const char *body =
+      "GNRMC,123519,A,8959.123456889,S,17959.123456889,W,1,2,290224";
+  size_t length = Adafruit_NMEA::buildCommand(sentence, sizeof(sentence), body,
+                                              strlen(body));
+  nmea_sentence_t frame = Adafruit_NMEA::validate(sentence, length);
+  assert(frame.status == NMEA_FRAME_VALID && frame.address.length == 5);
+  gnss_position_t copied =
+      Adafruit_GNSS::parsePosition({frame.address.data + 2, 3}, frame.fields);
+  assert(copied.validation.status == GNSS_SENTENCE_VALID);
+  memset(sentence, 'x', sizeof(sentence));
+  assert(copied.latitude.degreesE7 == rmc.latitude.degreesE7 &&
+         copied.latitude.fractionalMinutes == 123456889);
+  assert(
+      Adafruit_GNSS::formatCoordinate(output, sizeof(output), copied.latitude));
+  assert(!strcmp(output, "-89.98539094815"));
+  const char bounded[] = "4807.038,N,01131.000,E,123519,Aignored";
+  const char kind[] = {'G', 'L', 'L', 'X'};
+  copied =
+      Adafruit_GNSS::parsePosition({kind, 3}, {bounded, sizeof(bounded) - 8});
+  assert(copied.validation.status == GNSS_SENTENCE_VALID && copied.fix);
+  puts("PASS: framed input, owned results, bounded spans, and submillimeter "
+       "text");
+  return 0;
+}

src/Adafruit_GNSS.cpp

@@ -304,15 +304,7 @@ gnss_validation_t Adafruit_GNSS::validateNavigation(nmea_span_t type,
   gnss_validation_t result = {GNSS_SENTENCE_UNSUPPORTED, 0};
   if (!type.data || type.length != 3)
     return result;
-  uint8_t sentence = UNSUPPORTED;
-  if (type.data[0] == 'G' && type.data[1] == 'G' && type.data[2] == 'A')
-    sentence = GGA;
-  else if (type.data[0] == 'R' && type.data[1] == 'M' && type.data[2] == 'C')
-    sentence = RMC;
-  else if (type.data[0] == 'G' && type.data[1] == 'L' && type.data[2] == 'L')
-    sentence = GLL;
-  else if (type.data[0] == 'G' && type.data[1] == 'S' && type.data[2] == 'A')
-    sentence = GSA;
+  uint8_t sentence = sentenceType(type);
   if (sentence == UNSUPPORTED)
     return result;
   uint8_t required = 6, latitudeField = 1, timeField = 5;
@@ -387,6 +379,106 @@ gnss_validation_t Adafruit_GNSS::validateNavigation(nmea_span_t type,
   return result;
 }
 
+/**************************************************************************/
+/*!
+    @brief Identify a supported three-character standard sentence type.
+    @param type Three-character identifier already bounded by the caller.
+    @return Private sentence kind, or UNSUPPORTED.
+*/
+/**************************************************************************/
+uint8_t Adafruit_GNSS::sentenceType(nmea_span_t type) {
+  uint8_t sentence = UNSUPPORTED;
+  if (type.data[0] == 'G' && type.data[1] == 'G' && type.data[2] == 'A')
+    sentence = GGA;
+  else if (type.data[0] == 'R' && type.data[1] == 'M' && type.data[2] == 'C')
+    sentence = RMC;
+  else if (type.data[0] == 'G' && type.data[1] == 'L' && type.data[2] == 'L')
+    sentence = GLL;
+  else if (type.data[0] == 'G' && type.data[1] == 'S' && type.data[2] == 'A')
+    sentence = GSA;
+  return sentence;
+}
+
+/**************************************************************************/
+/*!
+    @brief Decode a GGA, RMC, or GLL position without retaining receiver state.
+    @param type Three-character sentence type without its talker prefix.
+    @param fields Borrowed fields after the address comma and before '*'.
+    @return Independent values and validation diagnostics. Invalid or
+    unsupported input returns no partially decoded measurements.
+
+    Call after validating the enclosing frame with Adafruit_NMEA::validate().
+    Input storage must remain readable and unchanged throughout the call.
+    All navigation fields consumed by the GPS decoder are validated first,
+    including fields this position result does not expose (such as altitude).
+    Optional tails retain validateNavigation()'s existing behavior.
+
+    Populated coordinates retain all nine fractional-minute digits and can be
+    passed directly to formatCoordinate(). Empty fields have EMPTY status;
+    fields absent from this sentence type have MISSING status. The fix boolean
+    is meaningful only with VALID fixStatus and does not imply populated
+    coordinates. GGA quality is independent of RMC/GLL fix validity.
+
+    Time/date and exact position components belong only to this sentence. No
+    timestamps, previous-fix merging, allocation, or floating-point conversion
+    occur here. GSA and other sentence types are UNSUPPORTED by this decoder.
+*/
+/**************************************************************************/
+gnss_position_t Adafruit_GNSS::parsePosition(nmea_span_t type,
+                                             nmea_span_t fields) {
+  gnss_position_t result = {};
+  result.validation.status = GNSS_SENTENCE_UNSUPPORTED;
+  result.latitude.status = result.longitude.status = NMEA_NUMBER_MISSING;
+  result.time.status = result.date.status = NMEA_NUMBER_MISSING;
+  result.fixStatus = result.fixQualityStatus = NMEA_NUMBER_MISSING;
+  if (!type.data || type.length != 3)
+    return result;
+  uint8_t sentence = sentenceType(type);
+  if (sentence != GGA && sentence != RMC && sentence != GLL)
+    return result;
+  result.validation = validateNavigation(type, fields);
+  if (result.validation.status != GNSS_SENTENCE_VALID)
+    return result;
+
+  uint8_t latitudeField = 1, timeField = 5, fixField = 6, lastField = 6;
+  if (sentence == GGA) {
+    latitudeField = 2;
+    timeField = 1;
+  } else if (sentence == RMC) {
+    latitudeField = 3;
+    timeField = 1;
+    fixField = 2;
+    lastField = 9;
+  }
+  for (uint8_t i = 1; i <= lastField; i++) {
+    nmea_span_t field = Adafruit_NMEA::nextField(fields);
+    if (i == latitudeField || i == latitudeField + 2) {
+      nmea_span_t hemisphere = Adafruit_NMEA::nextField(fields);
+      if (i == latitudeField)
+        result.latitude = parseCoordinate(field, hemisphere);
+      else
+        result.longitude = parseCoordinate(field, hemisphere);
+      i++;
+    } else if (i == timeField) {
+      result.time = parseTime(field);
+    } else if (i == fixField) {
+      result.fixStatus = field.length ? NMEA_NUMBER_VALID : NMEA_NUMBER_EMPTY;
+      if (sentence == GGA) {
+        result.fixQualityStatus = result.fixStatus;
+        // Validation already proved that this integer fits uint8_t.
+        for (size_t j = 0; j < field.length; j++)
+          result.fixQuality = result.fixQuality * 10 + field.data[j] - '0';
+        result.fix = result.fixQuality > 0;
+      } else {
+        result.fix = field.length && field.data[0] == 'A';
+      }
+    } else if (sentence == RMC && i == 9) {
+      result.date = parseDate(field);
+    }
+  }
+  return result;
+}
+
 // Keep integer-only byte fields exact; accepting atof-style prefixes can wrap.
 static bool validUnsignedByte(nmea_span_t field) {
   uint16_t value = 0;

src/Adafruit_GNSS.h

@@ -59,6 +59,22 @@ typedef struct {
   uint8_t field; ///< One-based error field, or zero for valid/unsupported.
 } gnss_validation_t;
 
+/** One sentence's position data, independent of earlier receiver state.
+ *  Check validation first, then each field's status. A valid sentence does not
+ *  imply a position fix or populated coordinates. Failed/unsupported decoding
+ *  leaves all measurement values zero and all field statuses MISSING. */
+typedef struct {
+  gnss_validation_t validation; ///< Sentence status and first failing field.
+  gnss_coordinate_t latitude;   ///< Exact latitude components.
+  gnss_coordinate_t longitude;  ///< Exact longitude components.
+  gnss_time_t time;             ///< UTC time, or EMPTY for a blank time field.
+  gnss_date_t date; ///< RMC date; MISSING in GGA/GLL, possibly EMPTY.
+  nmea_number_status_t fixStatus;        ///< Fix field status.
+  bool fix;                              ///< Valid fix; check fixStatus first.
+  nmea_number_status_t fixQualityStatus; ///< Quality field status.
+  uint8_t fixQuality; ///< GGA quality, including RTK values; check its status.
+} gnss_position_t;
+
 /** Stateless standard GNSS decoding shared by receiver implementations.
  *  Inputs are borrowed spans. Decoding neither allocates memory nor performs
  *  transport I/O, and does not alter the supplied text or receiver state.
@@ -69,12 +85,14 @@ public:
                                            nmea_span_t hemisphere);
   static size_t formatCoordinate(char *output, size_t capacity,
                                  const gnss_coordinate_t &coordinate);
+  static gnss_position_t parsePosition(nmea_span_t type, nmea_span_t fields);
   static gnss_time_t parseTime(nmea_span_t field);
   static gnss_date_t parseDate(nmea_span_t field);
   static gnss_validation_t validateNavigation(nmea_span_t type,
                                               nmea_span_t fields);
 
 private:
+  static uint8_t sentenceType(nmea_span_t type);
   /// Sentence kinds handled by the navigation validator.
   enum {
     UNSUPPORTED, ///< Sentence has no standard navigation validation.