Allow debugging of GPS vs location drift and GPS week handling

src/gps.cpp

@@ -576,6 +576,15 @@ String Gps::getMessages() const {
   return theGpsMessage;
 }
 
+String Gps::popMessage() {
+  String theGpsMessage = "";
+  if (mMessages.size() > 0) {
+    theGpsMessage = mMessages[0];
+    mMessages.erase(mMessages.begin());
+  }
+  return theGpsMessage;
+}
+
 String Gps::getMessage(uint16_t idx) const {
   String theGpsMessage = "";
   if (mMessages.size() > idx) {
@@ -872,7 +881,7 @@ void Gps::parseUbxMessage() {
             mGpsBuffer.navDop.iTow, mGpsBuffer.navDop.gDop, mGpsBuffer.navDop.pDop,
             mGpsBuffer.navDop.tDop, mGpsBuffer.navDop.vDop, mGpsBuffer.navDop.hDop,
             mGpsBuffer.navDop.nDop, mGpsBuffer.navDop.eDop);
-      if (prepareGpsData(mGpsBuffer.navSol.iTow)) {
+      if (prepareGpsData(mGpsBuffer.navDop.iTow)) {
         mIncomingGpsRecord.setHdop(mGpsBuffer.navDop.hDop);
         checkGpsDataState();
       }
@@ -882,6 +891,15 @@ void Gps::parseUbxMessage() {
       log_v("SOL: iTOW: %u, gpsFix: %d, flags: %02x, numSV: %d, pDop: %04d.",
             mGpsBuffer.navSol.iTow, mGpsBuffer.navSol.gpsFix, mGpsBuffer.navSol.flags,
             mGpsBuffer.navSol.numSv, mGpsBuffer.navSol.pDop);
+      if (mGpsBuffer.navSol.flags & 4) { // WKNSET
+        if (mLastGpsWeek != mGpsBuffer.navSol.week) {
+          // debugging #294
+          addStatisticsMessage(String("NAVSOL gps week changed: ")
+                               + mLastGpsWeek + " -> " + mGpsBuffer.navSol.week
+                               + " at " + TimeUtils::dateTimeToString());
+        }
+        mLastGpsWeek = mGpsBuffer.navSol.week;
+      }
       if (prepareGpsData(mGpsBuffer.navSol.iTow)) {
         mIncomingGpsRecord.setInfo(mGpsBuffer.navSol.numSv, mGpsBuffer.navSol.gpsFix, mGpsBuffer.navSol.flags);
         checkGpsDataState();
@@ -1027,11 +1045,25 @@ void Gps::parseUbxMessage() {
 }
 
 void Gps::handleUbxNavTimeGps(const GpsBuffer::UbxNavTimeGps &message, const uint32_t receivedMs, const uint32_t delayMs) {
-  log_i("TIMEGPS: iTOW: %u, fTOW: %d, week %d, leapS: %d, valid: 0x%02x, tAcc %dns, delay %dms",
-        message.iTow, message.fTow, message.week, message.leapS, message.valid, message.tAcc, delayMs);
+  log_i("TIMEGPS: iTOW: %u, fTOW: %d, week %d, leapS: %d, valid: 0x%02x (%s%s%s), tAcc %uns, DATE: %s, delay %dms",
+        message.iTow, message.fTow, message.week, message.leapS, message.valid,
+        message.valid & 1 ? "TOW" : "",
+        message.valid & 2 ? " WEEK" : "",
+        message.valid & 4 ? " UTC" : "",
+        message.tAcc,
+        TimeUtils::dateTimeToString(TimeUtils::toTime(message.week, message.iTow / 1000)).c_str(),
+        delayMs);
+  if (message.valid & 2) {
+    if (mLastGpsWeek != message.week) {
+      // debugging #294
+      addStatisticsMessage(String("TIMEGPS gps week changed: ")
+                           + mLastGpsWeek + " -> " + message.week);
+    }
+    mLastGpsWeek = message.week;
+  }
   if ((message.valid & 0x03) == 0x03  // WEEK && TOW
-      && delayMs < 80
-      && message.tAcc < (80 * 1000 * 1000 /* 80ms */)
+      && delayMs < 20
+      && message.tAcc < (20 * 1000 * 1000 /* 20ms */)
       && (mLastTimeTimeSet == 0
           || (mLastTimeTimeSet + (2 * 60 * 1000 /* 2 minutes */)) < receivedMs)) {
     String oldTime = TimeUtils::dateTimeToString();
@@ -1040,7 +1072,8 @@ void Gps::handleUbxNavTimeGps(const GpsBuffer::UbxNavTimeGps &message, const uin
     if (oldTime != newTime) {
       log_i("TIMEGPS set: %s -> %s", oldTime.c_str(), newTime.c_str());
       addStatisticsMessage(String("TIMEGPS set: ")
-                           + oldTime + " -> " + newTime + " " + String(delayMs) + "ms.");
+                           + oldTime + " -> " + newTime + " delay " + String(delayMs)
+                           + "ms. tAcc:" + String(message.tAcc) + "ns");
     }
     if (mLastTimeTimeSet == 0) {
       mLastTimeTimeSet = receivedMs;
@@ -1136,6 +1169,7 @@ bool Gps::prepareGpsData(uint32_t tow) {
     // fine already prepared
   } else if (mIncomingGpsRecord.mCollectTow == 0) {
     mIncomingGpsRecord.setTow(tow);
+    mIncomingGpsRecord.setWeek(mLastGpsWeek);
   } else if ((int32_t) (mIncomingGpsRecord.mCollectTow - tow) > 0) {
     log_e("Data already published: %d",
           mCurrentGpsRecord.mCollectTow);

src/gps.h

@@ -68,6 +68,8 @@ class Gps {
     /* Collected informational messages as String. */
     String getMessages() const;
 
+    String popMessage();
+
     /* Clears the collected informational messages. */
     void resetMessages();
 
@@ -486,6 +488,8 @@ class Gps {
     /* last time, when the ESP clock was adjusted to the GPR UTC time,
      * in millis ticker. */
     uint32_t mLastTimeTimeSet = 0;
+    /* GPS week as received with time. */
+    uint32_t mLastGpsWeek = 0;
     /* Number of bytes sent for alp request. */
     uint32_t mAlpBytesSent = 0;
     /* If true a outdated gps cfg was detected. */

src/gpsrecord.cpp

@@ -46,6 +46,10 @@ void GpsRecord::setTow(uint32_t tow) {
   mCollectTow = tow;
 }
 
+void GpsRecord::setWeek(uint32_t week) {
+  mCollectWeek = week;
+}
+
 void GpsRecord::setPosition(int32_t lon, int32_t lat, int32_t height) {
   mLongitude = lon;
   mLatitude = lat;
@@ -75,6 +79,14 @@ bool GpsRecord::isAllSet() const {
   return mPositionSet && mVelocitySet && mInfoSet && mHdopSet;
 }
 
+uint32_t GpsRecord::getTow() const {
+  return mCollectTow;
+}
+
+uint32_t GpsRecord::getWeek() const {
+  return mCollectWeek;
+}
+
 String GpsRecord::getAltitudeMetersString() const {
   // 3 digits is problematic, 2 are enough any way.
   return toScaledString((mHeight + 5) / 10, 2);

src/gpsrecord.h

@@ -27,7 +27,6 @@
 
 #include <Arduino.h>
 #include <cstdint>
-#include <ctime>
 
 class Gps;
 
@@ -57,13 +56,16 @@ class GpsRecord {
     uint8_t getSatellitesUsed() const;
     uint8_t getFixStatusFlags() const;
     GPS_FIX getFixStatus() const;
+    uint32_t getTow() const;
+    uint32_t getWeek() const;
 
   protected:
     /* Clear all collected data */
     void reset();
 
     /* Store tow and related date time data. */
     void setTow(uint32_t tow);
+    void setWeek(uint32_t tow);
 
     void setPosition(int32_t lon, int32_t lat, int32_t height);
 
@@ -80,6 +82,7 @@ class GpsRecord {
      * merge records together.
      */
     uint32_t mCollectTow = 0;
+    uint32_t mCollectWeek = 0; // mainly debug
     /* deg, scale 1e-7 */
     int32_t mLongitude;
     /* deg, scale 1e-7 */

src/writer.cpp

@@ -21,6 +21,7 @@
  * see <http://www.gnu.org/licenses/>.
  */
 
+#include <utils/timeutils.h>
 #include "writer.h"
 #include "utils/file.h"
 
@@ -191,8 +192,16 @@ bool CSVFileWriter::append(DataSet &set) {
     return true;
   }
 
+  time_t theTime;
+  if (set.gpsRecord.getTow() != 0 && set.gpsRecord.getWeek() != 0) {
+    theTime = TimeUtils::toTime(set.gpsRecord.getWeek(), set.gpsRecord.getTow() / 1000);
+    // TODO: Force adjust filename if week changes and  set.gpsRecord.getTow() is not small via mFinalFileName = false;
+  } else {
+    theTime = set.time;
+  }
   tm time;
-  localtime_r(&(set.time), &time);
+  localtime_r(&(theTime), &time);
+  // localtime_r(&(set.time), &time);
   char date[32];
   snprintf(date, sizeof(date),
     "%02d.%02d.%04d;%02d:%02d:%02d;%u;",
@@ -266,11 +275,17 @@ bool CSVFileWriter::append(DataSet &set) {
     csv += "DEV: Right interrupt adjusted : ";
     csv += sensorManager->getNumberOfInterruptAdjustments(RIGHT_SENSOR_ID);
   } else if (time.tm_sec >= 20 && time.tm_sec < 40) {
-    String msg = gps.getMessage(time.tm_sec - 20);
+    String msg = gps.popMessage();
     if (!msg.isEmpty()) {
       csv += "DEV: GPS: ";
       csv += ObsUtils::encodeForCsvField(msg);
     }
+  } else if (time.tm_sec == 40) {
+    csv += "DBG GPS Time: " +
+      TimeUtils::dateTimeToString(TimeUtils::toTime(set.gpsRecord.getWeek(), set.gpsRecord.getTow() / 1000));
+  } else if (time.tm_sec == 41) {
+    csv += "DBG CPU Time: " +
+           TimeUtils::dateTimeToString();
   }
 // #endif
   csv += ";";