initial gps read/write and publish

src/gps.rs

@@ -4,9 +4,49 @@ use std::sync::mpsc::SyncSender;
 use std::thread;
 use std::time::Duration;
 
+use esp_idf_hal::prelude::*;
+use esp_idf_hal::serial;
+
+use ublox::*;
+
 use crate::modem::Msg;
 
-pub fn main(sender: SyncSender<Msg>) -> Result<(), anyhow::Error> {
+pub fn main<T: Sync + Send>(
+    rx: esp_idf_hal::gpio::Gpio32<T>,
+    tx: esp_idf_hal::gpio::Gpio33<T>,
+    uart: serial::UART2,
+    sender: SyncSender<Msg>,
+) -> Result<(), anyhow::Error> {
+    let serial_pins = serial::Pins {
+        tx,
+        rx,
+        cts: None,
+        rts: None,
+    };
+    let _serial: serial::Serial<serial::UART2, _, _> = serial::Serial::new(
+        uart,
+        serial_pins,
+        serial::config::Config::default().baudrate(Hertz(9600)),
+    )?;
+
+    let mut parser = Parser::default();
+    let mut it = parser.consume(&raw_packet);
+
+    loop {
+        match it.next() {
+            Some(Ok(packet)) => {
+                println!("We've received a &PacketRef, we can handle it ... {:?}", packet);
+            }
+            Some(Err(err)) => {
+                println!("Received a malformed packet {:?}", err);
+            }
+            None => {
+                println!("The internal buffer is now empty");
+                break;
+            }
+        }
+    }
+
     println!("entering GPS sender loop ...");
     for i in 0..20 {
         println!("sending GPS message ({}) of 20 ...", i);