Sample code for GNSS position information

//--------------------------------------------------------------------------------------------------
/**
 * Handler function for Position Notifications.
 *
 */
//--------------------------------------------------------------------------------------------------
static void PositionHandlerFunction
(
    le_gnss_SampleRef_t positionSampleRef,
    void* contextPtr
)
{
    le_result_t result;
    // Date parameters
    uint16_t year;
    uint16_t month;
    uint16_t day;
    // Time parameters
    uint16_t hours;
    uint16_t minutes;
    uint16_t seconds;
    uint16_t milliseconds;
    // GPS time
    uint32_t gpsWeek;
    uint32_t gpsTimeOfWeek;
    // Leap seconds in advance
    uint8_t leapSeconds;
    // Position state
    le_gnss_FixState_t state;
    // Location
    int32_t     latitude;
    int32_t     longitude;
    int32_t     altitude;
    int32_t     altitudeOnWgs84;
    int32_t     hAccuracy;
    int32_t     vAccuracy;
    int32_t     magneticDeviation;
    // DOP parameter
    uint16_t hdop;
    uint16_t vdop;
    uint16_t pdop;
    // Horizontal speed
    uint32_t hSpeed;
    uint32_t hSpeedAccuracy;
    // Vertical speed
    int32_t vSpeed;
    int32_t vSpeedAccuracy;
    // Direction
    uint32_t direction;
    uint32_t directionAccuracy;
 
    if(positionSampleRef == NULL)
    {
        LE_ERROR("New Position sample is NULL!");
    }
    else
    {
        LE_DEBUG("New Position sample %p", positionSampleRef);
    }
 
    // Get UTC date
    result = le_gnss_GetDate(positionSampleRef
                            , &year
                            , &month
                            , &day);
    LE_ASSERT((result == LE_OK)||(result == LE_OUT_OF_RANGE));
    // Get UTC time
    result = le_gnss_GetTime(positionSampleRef
                            , &hours
                            , &minutes
                            , &seconds
                            , &milliseconds);
    LE_ASSERT((result == LE_OK)||(result == LE_OUT_OF_RANGE));
 
    // Get Epoch time
    LE_ASSERT(le_gnss_GetEpochTime(positionSampleRef, &EpochTime) == LE_OK);
 
    // Display time/date format 13:45:30 2009-06-15
    LE_INFO("%02d:%02d:%02d %d-%02d-%02d,"
            , hours, minutes, seconds
            , year, month, day);
 
    // Display Epoch time
    LE_INFO("epoch time: %llu:", (unsigned long long int) EpochTime);
 
    // Get GPS time
    result = le_gnss_GetGpsTime(positionSampleRef
                            , &gpsWeek
                            , &gpsTimeOfWeek);
    LE_ASSERT((result == LE_OK)||(result == LE_OUT_OF_RANGE));
 
    LE_INFO("GPS time W %02d:ToW %dms"
            , gpsWeek
            , gpsTimeOfWeek);
 
    // Get time accuracy
    result = le_gnss_GetTimeAccuracy(positionSampleRef, &TimeAccuracy);
    LE_ASSERT((result == LE_OK)||(result == LE_OUT_OF_RANGE));
 
    LE_INFO("GPS time acc %d", TimeAccuracy);
 
    // Get UTC leap seconds in advance
    result = le_gnss_GetGpsLeapSeconds(positionSampleRef, &leapSeconds);
    LE_ASSERT((result == LE_OK)||(result == LE_OUT_OF_RANGE));
 
    LE_INFO("UTC leap seconds in advance %d", leapSeconds);
 
    // Get position state
    result = le_gnss_GetPositionState( positionSampleRef, &state);
    LE_ASSERT((result == LE_OK));
    LE_DEBUG("Position state: %s", (state == LE_GNSS_STATE_FIX_NO_POS)?"No Fix"
                                 :(state == LE_GNSS_STATE_FIX_2D)?"2D Fix"
                                 :(state == LE_GNSS_STATE_FIX_3D)?"3D Fix"
                                 : "Unknown");
 
    // Get Location
    result = le_gnss_GetLocation( positionSampleRef
                                , &latitude
                                , &longitude
                                , &hAccuracy);
    LE_ASSERT((result == LE_OK)||(result == LE_OUT_OF_RANGE));
    if(result == LE_OK)
    {
         LE_INFO("Position lat.%d, long.%d, hAccuracy.%d"
            , latitude, longitude, hAccuracy/100);
    }
    else
    {
        LE_INFO("Position unknown [%d,%d,%d]"
            , latitude, longitude, hAccuracy);
    }
 
    // Get altitude
    result = le_gnss_GetAltitude( positionSampleRef
                                , &altitude
                                , &vAccuracy);
    LE_ASSERT((result == LE_OK)||(result == LE_OUT_OF_RANGE));
 
    if(result == LE_OK)
    {
         LE_INFO("Altitude.%d, vAccuracy.%d"
                , altitude/1000, vAccuracy/10);
    }
    else
    {
         LE_INFO("Altitude unknown [%d,%d]"
                , altitude, vAccuracy);
    }
 
    // Get altitude in meters, between WGS-84 earth ellipsoid
    // and mean sea level [resolution 1e-3]
    result = le_gnss_GetAltitudeOnWgs84(positionSampleRef, &altitudeOnWgs84);
    LE_ASSERT((LE_OK == result)||(LE_OUT_OF_RANGE == result));
 
    if (LE_OK == result)
    {
         LE_INFO("AltitudeOnWgs84.%d", altitudeOnWgs84/1000);
    }
    else
    {
         LE_INFO("AltitudeOnWgs84 unknown [%d]", altitudeOnWgs84);
    }
 
    // Get DOP parameter
    result = le_gnss_GetDop( positionSampleRef
                            , &hdop
                            , &vdop
                            , &pdop);
    LE_ASSERT((result == LE_OK)||(result == LE_OUT_OF_RANGE));
    LE_INFO("DOP [H%.3f,V%.3f,P%.3f]"
            , (float)(hdop)/1000, (float)(vdop)/1000, (float)(pdop)/1000);
 
    // Get horizontal speed
    result = le_gnss_GetHorizontalSpeed( positionSampleRef
                            , &hSpeed
                            , &hSpeedAccuracy);
    LE_ASSERT((result == LE_OK)||(result == LE_OUT_OF_RANGE));
 
    if(result == LE_OK)
    {
        LE_INFO("hSpeed %u - Accuracy %u"
                , hSpeed/100, hSpeedAccuracy/10);
    }
    else
    {
        LE_INFO("hSpeed unknown [%u,%u]"
                , hSpeed, hSpeedAccuracy);
    }
 
    // Get vertical speed
    result = le_gnss_GetVerticalSpeed( positionSampleRef
                            , &vSpeed
                            , &vSpeedAccuracy);
    LE_ASSERT((result == LE_OK)||(result == LE_OUT_OF_RANGE));
    if(result == LE_OK)
    {
        LE_INFO("vSpeed %d - Accuracy %d"
                , vSpeed/100, vSpeedAccuracy/10);
    }
    else
    {
        LE_INFO("vSpeed unknown [%d,%d]"
                , vSpeed, vSpeedAccuracy);
    }
 
    // Get direction
    result = le_gnss_GetDirection( positionSampleRef
                            , &direction
                            , &directionAccuracy);
    LE_ASSERT((result == LE_OK)||(result == LE_OUT_OF_RANGE));
    if(result == LE_OK)
    {
        LE_INFO("direction %u - Accuracy %u"
                , direction/10, directionAccuracy/10);
    }
    else
    {
        LE_INFO("direction unknown [%u,%u]"
                , direction, directionAccuracy);
    }
 
    // Get the magnetic deviation
    result = le_gnss_GetMagneticDeviation( positionSampleRef
                                         , &magneticDeviation);
    LE_ASSERT((result == LE_OK)||(result == LE_OUT_OF_RANGE));
 
    if(result == LE_OK)
    {
        LE_INFO("magnetic deviation %d", magneticDeviation/10);
    }
    else
    {
        LE_INFO("magnetic deviation unknown [%d]",magneticDeviation);
    }
 
 
    /* Satellites status */
    uint8_t satsInViewCount;
    uint8_t satsTrackingCount;
    uint8_t satsUsedCount;
    result =  le_gnss_GetSatellitesStatus(positionSampleRef
                                            , &satsInViewCount
                                            , &satsTrackingCount
                                            , &satsUsedCount);
 
    LE_ASSERT((result == LE_OK)||(result == LE_OUT_OF_RANGE));
 
    LE_INFO("satsInView %d - satsTracking %d - satsUsed %d"
            , satsInViewCount, satsTrackingCount, satsUsedCount);
 
    /* Satellites information */
    uint16_t satIdPtr[LE_GNSS_SV_INFO_MAX_LEN];
    size_t satIdNumElements = sizeof(satIdPtr);
    le_gnss_Constellation_t satConstPtr[LE_GNSS_SV_INFO_MAX_LEN];
    size_t satConstNumElements = sizeof(satConstPtr);
    bool satUsedPtr[LE_GNSS_SV_INFO_MAX_LEN];
    size_t satUsedNumElements = sizeof(satUsedPtr);
    uint8_t satSnrPtr[LE_GNSS_SV_INFO_MAX_LEN];
    size_t satSnrNumElements = sizeof(satSnrPtr);
    uint16_t satAzimPtr[LE_GNSS_SV_INFO_MAX_LEN];
    size_t satAzimNumElements = sizeof(satAzimPtr);
    uint8_t satElevPtr[LE_GNSS_SV_INFO_MAX_LEN];
    size_t satElevNumElements = sizeof(satElevPtr);
    int i;
 
    result =  le_gnss_GetSatellitesInfo(positionSampleRef
                                            , satIdPtr
                                            , &satIdNumElements
                                            , satConstPtr
                                            , &satConstNumElements
                                            , satUsedPtr
                                            , &satUsedNumElements
                                            , satSnrPtr
                                            , &satSnrNumElements
                                            , satAzimPtr
                                            , &satAzimNumElements
                                            , satElevPtr
                                            , &satElevNumElements);
 
    LE_ASSERT((result == LE_OK)||(result == LE_OUT_OF_RANGE));
 
    // Satellite Vehicle information
    for(i=0; i<satIdNumElements; i++)
    {
        if((satIdPtr[i] != 0)&&(satIdPtr[i] != UINT16_MAX))
        {
            LE_INFO("[%02d] SVid %03d - C%01d - U%d - SNR%02d - Azim%03d - Elev%02d"
                    , i
                    , satIdPtr[i]
                    , satConstPtr[i]
                    , satUsedPtr[i]
                    , satSnrPtr[i]
                    , satAzimPtr[i]
                    , satElevPtr[i]);
 
            if (LE_GNSS_SV_CONSTELLATION_SBAS == satConstPtr[i])
            {
                LE_INFO("SBAS category : %d", le_gnss_GetSbasConstellationCategory(satIdPtr[i]));
            }
        }
    }
 
    // Release provided Position sample reference
    le_gnss_ReleaseSampleRef(positionSampleRef);
}
 
//--------------------------------------------------------------------------------------------------
/**
 * Test: Add Position Handler
 *
*/
//--------------------------------------------------------------------------------------------------
static void* PositionThread
(
    void* context
)
{
 
    le_gnss_ConnectService();
 
    LE_INFO("======== Position Handler thread  ========");
    PositionHandlerRef = le_gnss_AddPositionHandler(PositionHandlerFunction, NULL);
    LE_ASSERT((PositionHandlerRef != NULL));
 
    le_event_RunLoop();
    return NULL;
}
 
//--------------------------------------------------------------------------------------------------
/**
 * Test: GNSS position handler
 *
 */
//--------------------------------------------------------------------------------------------------
static void TestLeGnssPositionHandler
(
    void
)
{
    le_result_t result;
    le_thread_Ref_t positionThreadRef;
    le_gnss_SampleRef_t positionSampleRef;
    uint64_t epochTime;
    uint32_t ttff = 0;
    uint8_t  minElevation;
 
    LE_INFO("Start Test Testle_gnss_PositionHandlerTest");
 
    // NMEA frame GPGSA is checked that no SV with elevation below 10
    // degrees are given.
    minElevation = 10;
    LE_ASSERT_OK(le_gnss_SetMinElevation(minElevation));
    LE_INFO("Set minElevation %d",minElevation);
 
    LE_INFO("Start GNSS");
    LE_ASSERT_OK(le_gnss_Start());
    LE_INFO("Wait 5 seconds");
    sleep(5);
 
    // Add Position Handler Test
    positionThreadRef = le_thread_Create("PositionThread",PositionThread,NULL);
    le_thread_Start(positionThreadRef);
 
    // test Cold Restart boosted by le_gnss_InjectUtcTime
    // EpochTime and timeAccuracy should be valid and saved by now
    sleep(2);
 
    LE_INFO("Ask for a Cold restart");
    LE_ASSERT_OK(le_gnss_ForceColdRestart());
 
    // Last accurate epochTime and timeAccuracy are used
    LE_ASSERT(0 != EpochTime);
    LE_INFO("TimeAccuracy %d",TimeAccuracy);
    LE_ASSERT_OK(le_gnss_InjectUtcTime(EpochTime , TimeAccuracy));
 
    // Get TTFF,position fix should be still in progress for the FACTORY start
    result = le_gnss_GetTtff(&ttff);
    LE_ASSERT(LE_BUSY == result);
    LE_INFO("TTFF is checked as not available immediatly after a Cold restart");
 
    // Wait for a 3D fix
    LE_INFO("Wait 60 seconds for a 3D fix");
    sleep(60);
    // Get TTFF
    result = le_gnss_GetTtff(&ttff);
    LE_ASSERT((LE_OK == result)||(LE_BUSY == result));
    if(result == LE_OK)
    {
        LE_INFO("TTFF cold restart = %d msec", ttff);
    }
    else
    {
        LE_INFO("TTFF cold restart not available");
    }
 
    le_gnss_RemovePositionHandler(PositionHandlerRef);
 
    LE_INFO("Wait 5 seconds");
    sleep(5);
 
    // stop thread
    le_thread_Cancel(positionThreadRef);
 
    // Get Epoch time, get last position sample
    positionSampleRef = le_gnss_GetLastSampleRef();
    LE_ASSERT_OK(le_gnss_GetEpochTime(positionSampleRef, &epochTime));
 
    // Display epoch time
    LE_INFO("epoch time: %llu:", (unsigned long long int) epochTime);
 
    LE_INFO("Stop GNSS");
    LE_ASSERT_OK(le_gnss_Stop());
    EpochTime=0;
    TimeAccuracy=0;
}