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esp32-nmea2000-obp60
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esp32-nmea2000-obp60/src/main.cpp

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/*
This code is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This code is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#define GWSTR(x) #x
#define GWSTRINGIFY(x) GWSTR(x)
#ifdef GWRELEASEVERSION
#define VERSION GWSTRINGIFY(GWRELEASEVERSION)
#define LOGLEVEL GwLog::ERROR
#endif
#ifdef GWDEVVERSION
#define VERSION GWSTRINGIFY(GWDEVVERSION)
#define LOGLEVEL GwLog::DEBUG
#endif
#ifndef VERSION
#define VERSION "0.7.0"
#define LOGLEVEL GwLog::DEBUG
#endif
// #define GW_MESSAGE_DEBUG_ENABLED
// #define FALLBACK_SERIAL
const unsigned long HEAP_REPORT_TIME=2000; //set to 0 to disable heap reporting
#include "GwHardware.h"
#include <Arduino.h>
#include <NMEA2000_CAN.h> // This will automatically choose right CAN library and create suitable NMEA2000 object
#include <Seasmart.h>
#include <N2kMessages.h>
#include <WiFi.h>
#include <ESPAsyncWebServer.h>
#include <Preferences.h>
#include <ArduinoJson.h>
#include <ESPmDNS.h>
#include <map>
#include "esp_heap_caps.h"
#include "N2kDataToNMEA0183.h"
#include "GwLog.h"
#include "GWConfig.h"
#include "GWWifi.h"
#include "GwSocketServer.h"
#include "GwBoatData.h"
#include "GwMessage.h"
#include "GwSerial.h"
#include "GwWebServer.h"
#include "NMEA0183DataToN2K.h"
#include "GwApi.h"
#include "GwButtons.h"
#include "GwLeds.h"
#include "GwCounter.h"
//NMEA message channels
#define N2K_CHANNEL_ID 0
#define USB_CHANNEL_ID 1
#define SERIAL1_CHANNEL_ID 2
#define MIN_TCP_CHANNEL_ID 3
#define MAX_NMEA2000_MESSAGE_SEASMART_SIZE 500
#define MAX_NMEA0183_MESSAGE_SIZE 150 // For AIS
typedef std::map<String,String> StringMap;
GwLog logger(LOGLEVEL,NULL);
GwConfigHandler config(&logger);
#ifdef GWBUTTON_PIN
bool fixedApPass=false;
#else
bool fixedApPass=true;
#endif
GwWifi gwWifi(&config,&logger,fixedApPass);
GwSocketServer socketServer(&config,&logger,MIN_TCP_CHANNEL_ID);
GwBoatData boatData(&logger);
int NodeAddress; // To store last Node Address
Preferences preferences; // Nonvolatile storage on ESP32 - To store LastDeviceAddress
N2kDataToNMEA0183 *nmea0183Converter=NULL;
NMEA0183DataToN2K *toN2KConverter=NULL;
void SendNMEA0183Message(const tNMEA0183Msg &NMEA0183Msg,int id);
GwRequestQueue mainQueue(&logger,20);
GwWebServer webserver(&logger,&mainQueue,80);
GwCounter<unsigned long> countNMEA2KIn("count2Kin");
GwCounter<unsigned long> countNMEA2KOut("count2Kout");
GwCounter<String> countUSBIn("countUSBin");
GwCounter<String> countUSBOut("countUSBout");
GwCounter<String> countTCPIn("countTCPin");
GwCounter<String> countTCPOut("countTCPout");
GwCounter<String> countSerialIn("countSerialIn");
GwCounter<String> countSerialOut("countSerialOut");
void updateNMEACounter(int id,const char *msg,bool incoming,bool fail=false){
//we rely on the msg being long enough
char key[6];
if (msg[0] == '$') {
strncpy(key,&msg[3],3);
key[3]=0;
}
else if(msg[0] == '!'){
strncpy(key,&msg[1],5);
key[5]=0;
}
else return;
GwCounter<String> *counter=NULL;
if (id == USB_CHANNEL_ID) counter=incoming?&countUSBIn:&countUSBOut;
if (id == SERIAL1_CHANNEL_ID) counter=incoming?&countSerialIn:&countSerialOut;
if (id >= MIN_TCP_CHANNEL_ID) counter=incoming?&countTCPIn:&countTCPOut;
if (! counter) return;
if (fail){
counter->addFail(key);
}
else{
counter->add(key);
}
}
//configs that we need in main
GwConfigInterface *sendUsb=config.getConfigItem(config.sendUsb,true);
GwConfigInterface *sendTCP=config.getConfigItem(config.sendTCP,true);
GwConfigInterface *sendSeasmart=config.getConfigItem(config.sendSeasmart,true);
GwConfigInterface *systemName=config.getConfigItem(config.systemName,true);
GwConfigInterface *n2kFromTCP=config.getConfigItem(config.tcpToN2k,true);
GwConfigInterface *n2kFromUSB=config.getConfigItem(config.usbToN2k,true);
GwConfigInterface *receiveSerial=config.getConfigItem(config.receiveSerial,true);
GwConfigInterface *sendSerial=config.getConfigItem(config.sendSerial,true);
GwConfigInterface *n2kFromSerial=config.getConfigItem(config.serialToN2k,true);
GwNmeaFilter usbReadFilter(config.getConfigItem(config.usbReadFilter,true));
GwNmeaFilter usbWriteFilter(config.getConfigItem(config.usbWriteFilter,true));
GwNmeaFilter serialReadFilter(config.getConfigItem(config.serialReadF,true));
GwNmeaFilter serialWriteFilter(config.getConfigItem(config.serialWriteF,true));
GwNmeaFilter tcpReadFilter(config.getConfigItem(config.tcpReadFilter,true));
GwNmeaFilter tcpWriteFilter(config.getConfigItem(config.tcpWriteFilter,true));
bool checkFilter(const char *buffer,int channelId,bool read){
GwNmeaFilter *filter=NULL;
if (channelId == USB_CHANNEL_ID) filter=read?&usbReadFilter:&usbWriteFilter;
else if (channelId == SERIAL1_CHANNEL_ID) filter=read?&serialReadFilter:&serialWriteFilter;
else if (channelId >= MIN_TCP_CHANNEL_ID) filter=read?&tcpReadFilter:&tcpWriteFilter;
if (!filter) return true;
if (filter->canPass(buffer)) return true;
logger.logDebug(GwLog::DEBUG,"%s filter for channel %d dropped %s",(read?"read":"write"),channelId,buffer);
return false;
}
bool serCanWrite=true;
bool serCanRead=true;
GwSerial *usbSerial = new GwSerial(NULL, 0, USB_CHANNEL_ID);
GwSerial *serial1=NULL;
class GwSerialLog : public GwLogWriter{
static const size_t bufferSize=4096;
char *logBuffer=NULL;
int wp=0;
public:
GwSerialLog(){
logBuffer=new char[bufferSize];
wp=0;
}
virtual ~GwSerialLog(){}
virtual void write(const char *data){
int len=strlen(data);
if ((wp+len) >= (bufferSize-1)) return;
strncpy(logBuffer+wp,data,len);
wp+=len;
logBuffer[wp]=0;
}
virtual void flush(){
size_t handled=0;
while (handled < wp){
usbSerial->flush();
size_t rt=usbSerial->sendToClients(logBuffer+handled,-1,true);
handled+=rt;
}
wp=0;
logBuffer[0]=0;
}
};
class ApiImpl : public GwApi
{
private:
int sourceId = -1;
public:
ApiImpl(int sourceId)
{
this->sourceId = sourceId;
}
virtual GwRequestQueue *getQueue()
{
return &mainQueue;
}
virtual void sendN2kMessage(const tN2kMsg &msg)
{
NMEA2000.SendMsg(msg);
}
virtual void sendNMEA0183Message(const tNMEA0183Msg &msg, int sourceId)
{
SendNMEA0183Message(msg, sourceId);
}
virtual int getSourceId()
{
return sourceId;
};
virtual GwConfigHandler *getConfig()
{
return &config;
}
virtual GwLog* getLogger(){
return &logger;
}
};
bool delayedRestart(){
return xTaskCreate([](void *p){
GwLog *logRef=(GwLog *)p;
logRef->logDebug(GwLog::LOG,"delayed reset started");
delay(500);
ESP.restart();
vTaskDelete(NULL);
},"reset",1000,&logger,0,NULL) == pdPASS;
}
void startAddOnTask(TaskFunction_t task,int sourceId){
ApiImpl* api=new ApiImpl(sourceId);
xTaskCreate(task,"user",1000,api,3,NULL);
}
#define JSON_OK "{\"status\":\"OK\"}"
//WebServer requests that should
//be processed inside the main loop
//this prevents us from the need to sync all the accesses
class ResetRequest : public GwRequestMessage
{
public:
ResetRequest() : GwRequestMessage(F("application/json"),F("reset")){};
protected:
virtual void processRequest()
{
logger.logDebug(GwLog::LOG, "Reset Button");
result = JSON_OK;
if (!delayedRestart()){
logger.logDebug(GwLog::ERROR,"cannot initiate restart");
}
}
};
class StatusRequest : public GwRequestMessage
{
public:
StatusRequest() : GwRequestMessage(F("application/json"),F("status")){};
protected:
virtual void processRequest()
{
int numPgns = nmea0183Converter->numPgns();
DynamicJsonDocument status(256 +
countNMEA2KIn.getJsonSize()+
countNMEA2KOut.getJsonSize() +
countUSBIn.getJsonSize()+
countUSBOut.getJsonSize()+
countSerialIn.getJsonSize()+
countSerialOut.getJsonSize()+
countTCPIn.getJsonSize()+
countTCPOut.getJsonSize()
);
status["version"] = VERSION;
status["wifiConnected"] = gwWifi.clientConnected();
status["clientIP"] = WiFi.localIP().toString();
status["numClients"] = socketServer.numClients();
status["apIp"] = gwWifi.apIP();
//nmea0183Converter->toJson(status);
countNMEA2KIn.toJson(status);
countNMEA2KOut.toJson(status);
countUSBIn.toJson(status);
countUSBOut.toJson(status);
countSerialIn.toJson(status);
countSerialOut.toJson(status);
countTCPIn.toJson(status);
countTCPOut.toJson(status);
serializeJson(status, result);
}
};
class CapabilitiesRequest : public GwRequestMessage{
public:
CapabilitiesRequest() : GwRequestMessage(F("application/json"),F("capabilities")){};
protected:
virtual void processRequest(){
DynamicJsonDocument json(JSON_OBJECT_SIZE(6));
#ifdef GWSERIAL_MODE
String serial(F(GWSERIAL_MODE));
#else
String serial(F("NONE"));
#endif
json["serialmode"]=serial;
#ifdef GWBUTTON_PIN
json["hardwareReset"]="true";
#endif
serializeJson(json,result);
}
};
class ConverterInfoRequest : public GwRequestMessage{
public:
ConverterInfoRequest() : GwRequestMessage(F("application/json"),F("converterInfo")){};
protected:
virtual void processRequest(){
DynamicJsonDocument json(512);
String keys=toN2KConverter->handledKeys();
logger.logDebug(GwLog::DEBUG,"handled nmea0183: %s",keys.c_str());
json["nmea0183"]=keys;
keys=nmea0183Converter->handledKeys();
logger.logDebug(GwLog::DEBUG,"handled nmea2000: %s",keys.c_str());
json["nmea2000"]=keys;
serializeJson(json,result);
}
};
class ConfigRequest : public GwRequestMessage
{
public:
ConfigRequest() : GwRequestMessage(F("application/json"),F("config")){};
protected:
virtual void processRequest()
{
result = config.toJson();
}
};
class SetConfigRequest : public GwRequestMessage
{
public:
SetConfigRequest() : GwRequestMessage(F("application/json"),F("setConfig")){};
StringMap args;
protected:
virtual void processRequest()
{
bool ok = true;
String error;
for (StringMap::iterator it = args.begin(); it != args.end(); it++)
{
bool rt = config.updateValue(it->first, it->second);
if (!rt)
{
logger.logString("ERR: unable to update %s to %s", it->first.c_str(), it->second.c_str());
ok = false;
error += it->first;
error += "=";
error += it->second;
error += ",";
}
}
if (ok)
{
result = JSON_OK;
logger.logString("update config and restart");
config.saveConfig();
delayedRestart();
}
else
{
DynamicJsonDocument rt(100);
rt["status"] = error;
serializeJson(rt, result);
}
}
};
class ResetConfigRequest : public GwRequestMessage
{
public:
ResetConfigRequest() : GwRequestMessage(F("application/json"),F("resetConfig")){};
protected:
virtual void processRequest()
{
config.reset(true);
logger.logString("reset config, restart");
result = JSON_OK;
delayedRestart();
}
};
class BoatDataRequest : public GwRequestMessage
{
public:
BoatDataRequest() : GwRequestMessage(F("application/json"),F("boatData")){};
protected:
virtual void processRequest()
{
result = boatData.toJson();
}
};
void setup() {
uint8_t chipid[6];
uint32_t id = 0;
config.loadConfig();
// Init USB serial port
GwConfigInterface *usbBaud=config.getConfigItem(config.usbBaud,false);
int baud=115200;
if (usbBaud){
baud=usbBaud->asInt();
}
#ifdef FALLBACK_SERIAL
int st=-1;
#else
int st=usbSerial->setup(baud,3,1); //TODO: PIN defines
#endif
if (st < 0){
//falling back to old style serial for logging
Serial.begin(baud);
Serial.printf("fallback serial enabled, error was %d\n",st);
logger.prefix="FALLBACK:";
}
else{
GwSerialLog *writer=new GwSerialLog();
logger.prefix="GWSERIAL:";
logger.setWriter(writer);
logger.logDebug(GwLog::LOG,"created GwSerial for USB port");
}
logger.logDebug(GwLog::LOG,"config: %s", config.toString().c_str());
#ifdef GWSERIAL_MODE
int serialrx=-1;
int serialtx=-1;
#ifdef GWSERIAL_TX
serialtx=GWSERIAL_TX;
#endif
#ifdef GWSERIAL_RX
serialrx=GWSERIAL_RX;
#endif
//the mode is a compile time preselection from hardware.h
String serialMode(F(GWSERIAL_MODE));
//the serial direction is from the config (only valid for mode UNI)
String serialDirection=config.getString(config.serialDirection);
//we only consider the direction if mode is UNI
if (serialMode != String("UNI")){
serialDirection=String("");
//if mode is UNI it depends on the selection
serCanRead=receiveSerial->asBoolean();
serCanWrite=sendSerial->asBoolean();
}
if (serialDirection == "receive" || serialDirection == "off" || serialMode == "RX") serCanWrite=false;
if (serialDirection == "send" || serialDirection == "off" || serialMode == "TX") serCanRead=false;
logger.logDebug(GwLog::DEBUG,"serial set up: mode=%s,direction=%s,rx=%d,tx=%d",
serialMode.c_str(),serialDirection.c_str(),serialrx,serialtx
);
if (serialtx != -1 || serialrx != -1){
logger.logDebug(GwLog::LOG,"creating serial interface rx=%d, tx=%d",serialrx,serialtx);
serial1=new GwSerial(&logger,1,SERIAL1_CHANNEL_ID,serCanRead);
}
if (serial1){
int rt=serial1->setup(config.getInt(config.serialBaud,115200),serialrx,serialtx);
logger.logDebug(GwLog::LOG,"starting serial returns %d",rt);
}
#endif
MDNS.begin(config.getConfigItem(config.systemName)->asCString());
gwWifi.setup();
// Start TCP server
socketServer.begin();
logger.flush();
logger.logDebug(GwLog::LOG,"usbRead: %s", usbReadFilter.toString().c_str());
logger.flush();
webserver.registerMainHandler("/api/reset", [](AsyncWebServerRequest *request)->GwRequestMessage *{
return new ResetRequest();
});
webserver.registerMainHandler("/api/capabilities", [](AsyncWebServerRequest *request)->GwRequestMessage *{
return new CapabilitiesRequest();
});
webserver.registerMainHandler("/api/converterInfo", [](AsyncWebServerRequest *request)->GwRequestMessage *{
return new ConverterInfoRequest();
});
webserver.registerMainHandler("/api/status", [](AsyncWebServerRequest *request)->GwRequestMessage *
{ return new StatusRequest(); });
webserver.registerMainHandler("/api/config", [](AsyncWebServerRequest *request)->GwRequestMessage *
{ return new ConfigRequest(); });
webserver.registerMainHandler("/api/setConfig",
[](AsyncWebServerRequest *request)->GwRequestMessage *
{
StringMap args;
for (int i = 0; i < request->args(); i++)
{
args[request->argName(i)] = request->arg(i);
}
SetConfigRequest *msg = new SetConfigRequest();
msg->args = args;
return msg;
});
webserver.registerMainHandler("/api/resetConfig", [](AsyncWebServerRequest *request)->GwRequestMessage *
{ return new ResetConfigRequest(); });
webserver.registerMainHandler("/api/boatData", [](AsyncWebServerRequest *request)->GwRequestMessage *
{ return new BoatDataRequest(); });
webserver.begin();
nmea0183Converter= N2kDataToNMEA0183::create(&logger, &boatData,&NMEA2000,
SendNMEA0183Message, N2K_CHANNEL_ID,config.getString(config.talkerId,String("GP")));
toN2KConverter= NMEA0183DataToN2K::create(&logger,&boatData,[](const tN2kMsg &msg)->bool{
logger.logDebug(GwLog::DEBUG+2,"send N2K %ld",msg.PGN);
countNMEA2KOut.add(msg.PGN);
NMEA2000.SendMsg(msg);
return true;
});
NMEA2000.SetN2kCANMsgBufSize(8);
NMEA2000.SetN2kCANReceiveFrameBufSize(250);
NMEA2000.SetN2kCANSendFrameBufSize(250);
esp_efuse_read_mac(chipid);
for (int i = 0; i < 6; i++) id += (chipid[i] << (7 * i));
// Set product information
NMEA2000.SetProductInformation("1", // Manufacturer's Model serial code
100, // Manufacturer's product code
systemName->asCString(), // Manufacturer's Model ID
VERSION, // Manufacturer's Software version code
VERSION // Manufacturer's Model version
);
// Set device information
NMEA2000.SetDeviceInformation(id, // Unique number. Use e.g. Serial number. Id is generated from MAC-Address
130, // Device function=Analog to NMEA 2000 Gateway. See codes on http://www.nmea.org/Assets/20120726%20nmea%202000%20class%20&%20function%20codes%20v%202.00.pdf
25, // Device class=Inter/Intranetwork Device. See codes on http://www.nmea.org/Assets/20120726%20nmea%202000%20class%20&%20function%20codes%20v%202.00.pdf
2046 // Just choosen free from code list on http://www.nmea.org/Assets/20121020%20nmea%202000%20registration%20list.pdf
);
// If you also want to see all traffic on the bus use N2km_ListenAndNode instead of N2km_NodeOnly below
NMEA2000.SetForwardType(tNMEA2000::fwdt_Text); // Show in clear text. Leave uncommented for default Actisense format.
preferences.begin("nvs", false); // Open nonvolatile storage (nvs)
NodeAddress = preferences.getInt("LastNodeAddress", 32); // Read stored last NodeAddress, default 32
preferences.end();
logger.logDebug(GwLog::LOG,"NodeAddress=%d", NodeAddress);
logger.flush();
NMEA2000.SetMode(tNMEA2000::N2km_ListenAndNode, NodeAddress);
NMEA2000.SetForwardOwnMessages(false);
// Set the information for other bus devices, which messages we support
unsigned long *pgns=toN2KConverter->handledPgns();
if (logger.isActive(GwLog::DEBUG)){
unsigned long *op=pgns;
while (*op != 0){
logger.logDebug(GwLog::DEBUG,"add transmit pgn %ld",(long)(*op));
logger.flush();
op++;
}
}
NMEA2000.ExtendTransmitMessages(pgns);
NMEA2000.ExtendReceiveMessages(nmea0183Converter->handledPgns());
NMEA2000.SetMsgHandler([](const tN2kMsg &n2kMsg){
countNMEA2KIn.add(n2kMsg.PGN);
if ( sendSeasmart->asBoolean() ) {
char buf[MAX_NMEA2000_MESSAGE_SEASMART_SIZE];
if ( N2kToSeasmart(n2kMsg, millis(), buf, MAX_NMEA2000_MESSAGE_SEASMART_SIZE) == 0 ) return;
socketServer.sendToClients(buf,N2K_CHANNEL_ID);
}
nmea0183Converter->HandleMsg(n2kMsg);
});
NMEA2000.Open();
startAddOnTask(handleButtons,100);
setLedMode(LED_GREEN);
startAddOnTask(handleLeds,101);
}
//*****************************************************************************
void sendBufferToChannels(const char * buffer, int sourceId){
if (sendTCP->asBoolean() && checkFilter(buffer,MIN_TCP_CHANNEL_ID,false)){
socketServer.sendToClients(buffer,sourceId);
updateNMEACounter(MIN_TCP_CHANNEL_ID,buffer,false);
}
if (sendUsb->asBoolean() && checkFilter(buffer,USB_CHANNEL_ID,false)){
usbSerial->sendToClients(buffer,sourceId);
updateNMEACounter(USB_CHANNEL_ID,buffer,false);
}
if (serial1 && serCanWrite && checkFilter(buffer,SERIAL1_CHANNEL_ID,false)){
serial1->sendToClients(buffer,sourceId);
updateNMEACounter(SERIAL1_CHANNEL_ID,buffer,false);
}
}
//*****************************************************************************
void SendNMEA0183Message(const tNMEA0183Msg &NMEA0183Msg, int sourceId) {
if ( ! sendTCP->asBoolean() && ! sendUsb->asBoolean() ) return;
logger.logDebug(GwLog::DEBUG+2,"SendNMEA0183(1)");
char buf[MAX_NMEA0183_MESSAGE_SIZE+3];
if ( !NMEA0183Msg.GetMessage(buf, MAX_NMEA0183_MESSAGE_SIZE) ) return;
logger.logDebug(GwLog::DEBUG+2,"SendNMEA0183: %s",buf);
size_t len=strlen(buf);
buf[len]=0x0d;
buf[len+1]=0x0a;
buf[len+2]=0;
sendBufferToChannels(buf,sourceId);
}
void handleReceivedNmeaMessage(const char *buf, int sourceId){
if (! checkFilter(buf,sourceId,true)) return;
updateNMEACounter(sourceId,buf,true);
if ((sourceId == USB_CHANNEL_ID && n2kFromUSB->asBoolean())||
(sourceId >= MIN_TCP_CHANNEL_ID && n2kFromTCP->asBoolean())||
(sourceId == SERIAL1_CHANNEL_ID && n2kFromSerial->asBoolean())
)
toN2KConverter->parseAndSend(buf,sourceId);
sendBufferToChannels(buf,sourceId);
}
void handleSendAndRead(bool handleRead){
socketServer.loop(handleRead);
usbSerial->loop(handleRead);
if (serial1) serial1->loop(handleRead);
}
class NMEAMessageReceiver : public GwBufferWriter{
uint8_t buffer[GwBuffer::RX_BUFFER_SIZE+4];
uint8_t *writePointer=buffer;
public:
virtual int write(const uint8_t *buffer,size_t len){
size_t toWrite=GwBuffer::RX_BUFFER_SIZE-(writePointer-buffer);
if (toWrite > len) toWrite=len;
memcpy(writePointer,buffer,toWrite);
writePointer+=toWrite;
*writePointer=0;
return toWrite;
}
virtual void done(){
if (writePointer == buffer) return;
uint8_t *p;
for (p=writePointer-1;p>=buffer && *p <= 0x20;p--){
*p=0;
}
if (p > buffer){
p++;
*p=0x0d;
p++;
*p=0x0a;
p++;
*p=0;
}
for (p=buffer; *p != 0 && p < writePointer && *p <= 0x20;p++){}
//very simple NMEA check
if (*p != '!' && *p != '$'){
logger.logDebug(GwLog::DEBUG,"unknown line [%d] - ignore: %s",id,(const char *)p);
}
else{
logger.logDebug(GwLog::DEBUG,"NMEA[%d]: %s",id,(const char *)p);
handleReceivedNmeaMessage((const char *)p,id);
//trigger sending to empty buffers
handleSendAndRead(false);
}
writePointer=buffer;
}
};
NMEAMessageReceiver receiver;
unsigned long lastHeapReport=0;
void loop() {
logger.flush();
gwWifi.loop();
unsigned long now=millis();
if (HEAP_REPORT_TIME > 0 && now > (lastHeapReport+HEAP_REPORT_TIME)){
lastHeapReport=now;
if (logger.isActive(GwLog::DEBUG)){
logger.logDebug(GwLog::DEBUG,"Heap free=%ld, minFree=%ld",
(long)xPortGetFreeHeapSize(),
(long)xPortGetMinimumEverFreeHeapSize()
);
}
}
handleSendAndRead(true);
NMEA2000.ParseMessages();
int SourceAddress = NMEA2000.GetN2kSource();
if (SourceAddress != NodeAddress) { // Save potentially changed Source Address to NVS memory
NodeAddress = SourceAddress; // Set new Node Address (to save only once)
preferences.begin("nvs", false);
preferences.putInt("LastNodeAddress", SourceAddress);
preferences.end();
logger.logDebug(GwLog::LOG,"Address Change: New Address=%d\n", SourceAddress);
}
nmea0183Converter->loop();
//read channels
socketServer.readMessages(&receiver);
receiver.id=USB_CHANNEL_ID;
usbSerial->readMessages(&receiver);
receiver.id=SERIAL1_CHANNEL_ID;
if (serial1 && serCanRead ) serial1->readMessages(&receiver);
//handle message requests
GwMessage *msg=mainQueue.fetchMessage(0);
if (msg){
msg->process();
msg->unref();
}
}
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