implementing GNSS sample code with MQTT sample code Error.

[AdrianV]

Hello there,

I tried combining the GNSS simple sample code to my edited version of the MQTT simple sample code and I am unable to build anything. I am getting this error.

( I have configured prj.conf and kconfig files for gnss as well)

Fullscreen 4544.main.c Download

/*
 * Copyright (c) 2018 Nordic Semiconductor ASA
 *
 * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
 */

#include <zephyr/kernel.h>
#include <stdio.h>
#include <zephyr/drivers/uart.h>
#include <string.h>
#include <zephyr/random/rand32.h>
#include <zephyr/net/mqtt.h>
#include <zephyr/net/socket.h>
// frome here: these are modules used for gnss
#include <stdlib.h>
#include <math.h>
#include <nrf_modem_gnss.h>
#include <date_time.h>
// to here: end
#if defined(CONFIG_NRF_MODEM_LIB)
#include <nrf_modem_at.h>
#endif /* CONFIG_NRF_MODEM_LIB */
#include <modem/lte_lc.h>
#include <zephyr/logging/log.h>
#if defined(CONFIG_MODEM_KEY_MGMT)
#include <modem/modem_key_mgmt.h>
#endif
#if defined(CONFIG_LWM2M_CARRIER)
#include <lwm2m_carrier.h>
#endif
#include <dk_buttons_and_leds.h>

#include "certificates.h"

// Start: All of the code below this line is in relation to the GNSS code

#define PI 3.14159265358979323846
#define EARTH_RADIUS_METERS (6371.0 * 1000.0)

#if !defined(CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE) || defined(CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST)
static struct k_work_q gnss_work_q;

#define GNSS_WORKQ_THREAD_STACK_SIZE 2304
#define GNSS_WORKQ_THREAD_PRIORITY 5

K_THREAD_STACK_DEFINE(gnss_workq_stack_area, GNSS_WORKQ_THREAD_STACK_SIZE);
#endif /* !CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE || CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST */

#if !defined(CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE)
#include "assistance.h"

static struct nrf_modem_gnss_agps_data_frame last_agps;
static struct k_work agps_data_get_work;
static volatile bool requesting_assistance;
#endif /* !CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE */

#if defined(CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST)
static struct k_work_delayable ttff_test_got_fix_work;
static struct k_work_delayable ttff_test_prepare_work;
static struct k_work ttff_test_start_work;
static uint32_t time_to_fix;
#endif

static const char update_indicator[] = {'\\', '|', '/', '-'};

static struct nrf_modem_gnss_pvt_data_frame last_pvt;
static uint64_t fix_timestamp;
static uint32_t time_blocked;

/* Reference position. */
static bool ref_used;
static double ref_latitude;
static double ref_longitude;

K_MSGQ_DEFINE(nmea_queue, sizeof(struct nrf_modem_gnss_nmea_data_frame *), 10, 4);
static K_SEM_DEFINE(pvt_data_sem, 0, 1);
static K_SEM_DEFINE(time_sem, 0, 1);

static struct k_poll_event events[2] = {
	K_POLL_EVENT_STATIC_INITIALIZER(K_POLL_TYPE_SEM_AVAILABLE,
									K_POLL_MODE_NOTIFY_ONLY,
									&pvt_data_sem, 0),
	K_POLL_EVENT_STATIC_INITIALIZER(K_POLL_TYPE_MSGQ_DATA_AVAILABLE,
									K_POLL_MODE_NOTIFY_ONLY,
									&nmea_queue, 0),
};

BUILD_ASSERT(IS_ENABLED(CONFIG_LTE_NETWORK_MODE_LTE_M_GPS) ||
				 IS_ENABLED(CONFIG_LTE_NETWORK_MODE_NBIOT_GPS) ||
				 IS_ENABLED(CONFIG_LTE_NETWORK_MODE_LTE_M_NBIOT_GPS),
			 "CONFIG_LTE_NETWORK_MODE_LTE_M_GPS, "
			 "CONFIG_LTE_NETWORK_MODE_NBIOT_GPS or "
			 "CONFIG_LTE_NETWORK_MODE_LTE_M_NBIOT_GPS must be enabled");

BUILD_ASSERT((sizeof(CONFIG_GNSS_SAMPLE_REFERENCE_LATITUDE) == 1 &&
			  sizeof(CONFIG_GNSS_SAMPLE_REFERENCE_LONGITUDE) == 1) ||
				 (sizeof(CONFIG_GNSS_SAMPLE_REFERENCE_LATITUDE) > 1 &&
				  sizeof(CONFIG_GNSS_SAMPLE_REFERENCE_LONGITUDE) > 1),
			 "CONFIG_GNSS_SAMPLE_REFERENCE_LATITUDE and "
			 "CONFIG_GNSS_SAMPLE_REFERENCE_LONGITUDE must be both either set or empty");

/* Returns the distance between two coordinates in meters. The distance is calculated using the
 * haversine formula.
 */
static double distance_calculate(double lat1, double lon1,
								 double lat2, double lon2)
{
	double d_lat_rad = (lat2 - lat1) * PI / 180.0;
	double d_lon_rad = (lon2 - lon1) * PI / 180.0;

	double lat1_rad = lat1 * PI / 180.0;
	double lat2_rad = lat2 * PI / 180.0;

	double a = pow(sin(d_lat_rad / 2), 2) +
			   pow(sin(d_lon_rad / 2), 2) *
				   cos(lat1_rad) * cos(lat2_rad);

	double c = 2 * asin(sqrt(a));

	return EARTH_RADIUS_METERS * c;
}

static void print_distance_from_reference(struct nrf_modem_gnss_pvt_data_frame *pvt_data)
{
	if (!ref_used)
	{
		return;
	}

	double distance = distance_calculate(pvt_data->latitude, pvt_data->longitude,
										 ref_latitude, ref_longitude);

	if (IS_ENABLED(CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST))
	{
		LOG_INF("Distance from reference: %.01f", distance);
	}
	else
	{
		printf("\nDistance from reference: %.01f\n", distance);
	}
}

static void gnss_event_handler(int event)
{
	int retval;
	struct nrf_modem_gnss_nmea_data_frame *nmea_data;

	switch (event)
	{
	case NRF_MODEM_GNSS_EVT_PVT:
		retval = nrf_modem_gnss_read(&last_pvt, sizeof(last_pvt), NRF_MODEM_GNSS_DATA_PVT);
		if (retval == 0)
		{
			k_sem_give(&pvt_data_sem);
		}
		break;

#if defined(CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST)
	case NRF_MODEM_GNSS_EVT_FIX:
		/* Time to fix is calculated here, but it's printed from a delayed work to avoid
		 * messing up the NMEA output.
		 */
		time_to_fix = (k_uptime_get() - fix_timestamp) / 1000;
		k_work_schedule_for_queue(&gnss_work_q, &ttff_test_got_fix_work, K_MSEC(100));
		k_work_schedule_for_queue(&gnss_work_q, &ttff_test_prepare_work,
								  K_SECONDS(CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST_INTERVAL));
		break;
#endif /* CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST */

	case NRF_MODEM_GNSS_EVT_NMEA:
		nmea_data = k_malloc(sizeof(struct nrf_modem_gnss_nmea_data_frame));
		if (nmea_data == NULL)
		{
			LOG_ERR("Failed to allocate memory for NMEA");
			break;
		}

		retval = nrf_modem_gnss_read(nmea_data,
									 sizeof(struct nrf_modem_gnss_nmea_data_frame),
									 NRF_MODEM_GNSS_DATA_NMEA);
		if (retval == 0)
		{
			retval = k_msgq_put(&nmea_queue, &nmea_data, K_NO_WAIT);
		}

		if (retval != 0)
		{
			k_free(nmea_data);
		}
		break;

	case NRF_MODEM_GNSS_EVT_AGPS_REQ:
#if !defined(CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE)
		retval = nrf_modem_gnss_read(&last_agps,
									 sizeof(last_agps),
									 NRF_MODEM_GNSS_DATA_AGPS_REQ);
		if (retval == 0)
		{
			k_work_submit_to_queue(&gnss_work_q, &agps_data_get_work);
		}
#endif /* !CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE */
		break;

	default:
		break;
	}
}

#if !defined(CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE)
#if defined(CONFIG_GNSS_SAMPLE_LTE_ON_DEMAND)
K_SEM_DEFINE(lte_ready, 0, 1);

static void lte_lc_event_handler(const struct lte_lc_evt *const evt)
{
	switch (evt->type)
	{
	case LTE_LC_EVT_NW_REG_STATUS:
		if ((evt->nw_reg_status == LTE_LC_NW_REG_REGISTERED_HOME) ||
			(evt->nw_reg_status == LTE_LC_NW_REG_REGISTERED_ROAMING))
		{
			LOG_INF("Connected to LTE network");
			k_sem_give(&lte_ready);
		}
		break;

	default:
		break;
	}
}

void lte_connect(void)
{
	int err;

	LOG_INF("Connecting to LTE network");

	err = lte_lc_func_mode_set(LTE_LC_FUNC_MODE_ACTIVATE_LTE);
	if (err)
	{
		LOG_ERR("Failed to activate LTE, error: %d", err);
		return;
	}

	k_sem_take(&lte_ready, K_FOREVER);

	/* Wait for a while, because with IPv4v6 PDN the IPv6 activation takes a bit more time. */
	k_sleep(K_SECONDS(1));
}

void lte_disconnect(void)
{
	int err;

	err = lte_lc_func_mode_set(LTE_LC_FUNC_MODE_DEACTIVATE_LTE);
	if (err)
	{
		LOG_ERR("Failed to deactivate LTE, error: %d", err);
		return;
	}

	LOG_INF("LTE disconnected");
}
#endif /* CONFIG_GNSS_SAMPLE_LTE_ON_DEMAND */

static void agps_data_get_work_fn(struct k_work *item)
{
	ARG_UNUSED(item);

	int err;

#if defined(CONFIG_GNSS_SAMPLE_ASSISTANCE_SUPL)
	/* SUPL doesn't usually provide satellite real time integrity information. If GNSS asks
	 * only for satellite integrity, the request should be ignored.
	 */
	if (last_agps.sv_mask_ephe == 0 &&
		last_agps.sv_mask_alm == 0 &&
		last_agps.data_flags == NRF_MODEM_GNSS_AGPS_INTEGRITY_REQUEST)
	{
		LOG_INF("Ignoring assistance request for only satellite integrity");
		return;
	}
#endif /* CONFIG_GNSS_SAMPLE_ASSISTANCE_SUPL */

#if defined(CONFIG_GNSS_SAMPLE_ASSISTANCE_MINIMAL)
	/* With minimal assistance, the request should be ignored if no GPS time or position
	 * is requested.
	 */
	if (!(last_agps.data_flags & NRF_MODEM_GNSS_AGPS_SYS_TIME_AND_SV_TOW_REQUEST) &&
		!(last_agps.data_flags & NRF_MODEM_GNSS_AGPS_POSITION_REQUEST))
	{
		LOG_INF("Ignoring assistance request because no GPS time or position is requested");
		return;
	}
#endif /* CONFIG_GNSS_SAMPLE_ASSISTANCE_MINIMAL */

	requesting_assistance = true;

	LOG_INF("Assistance data needed, ephe 0x%08x, alm 0x%08x, flags 0x%02x",
			last_agps.sv_mask_ephe,
			last_agps.sv_mask_alm,
			last_agps.data_flags);

#if defined(CONFIG_GNSS_SAMPLE_LTE_ON_DEMAND)
	lte_connect();
#endif /* CONFIG_GNSS_SAMPLE_LTE_ON_DEMAND */

	err = assistance_request(&last_agps);
	if (err)
	{
		LOG_ERR("Failed to request assistance data");
	}

#if defined(CONFIG_GNSS_SAMPLE_LTE_ON_DEMAND)
	lte_disconnect();
#endif /* CONFIG_GNSS_SAMPLE_LTE_ON_DEMAND */

	requesting_assistance = false;
}
#endif /* !CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE */

#if defined(CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST)
static void ttff_test_got_fix_work_fn(struct k_work *item)
{
	LOG_INF("Time to fix: %u", time_to_fix);
	if (time_blocked > 0)
	{
		LOG_INF("Time GNSS was blocked by LTE: %u", time_blocked);
	}
	print_distance_from_reference(&last_pvt);
	LOG_INF("Sleeping for %u seconds", CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST_INTERVAL);
}

static int ttff_test_force_cold_start(void)
{
	int err;
	uint32_t delete_mask;

	LOG_INF("Deleting GNSS data");

	/* Delete everything else except the TCXO offset. */
	delete_mask = NRF_MODEM_GNSS_DELETE_EPHEMERIDES |
				  NRF_MODEM_GNSS_DELETE_ALMANACS |
				  NRF_MODEM_GNSS_DELETE_IONO_CORRECTION_DATA |
				  NRF_MODEM_GNSS_DELETE_LAST_GOOD_FIX |
				  NRF_MODEM_GNSS_DELETE_GPS_TOW |
				  NRF_MODEM_GNSS_DELETE_GPS_WEEK |
				  NRF_MODEM_GNSS_DELETE_UTC_DATA |
				  NRF_MODEM_GNSS_DELETE_GPS_TOW_PRECISION;

	/* With minimal assistance, we want to keep the factory almanac. */
	if (IS_ENABLED(CONFIG_GNSS_SAMPLE_ASSISTANCE_MINIMAL))
	{
		delete_mask &= ~NRF_MODEM_GNSS_DELETE_ALMANACS;
	}

	err = nrf_modem_gnss_nv_data_delete(delete_mask);
	if (err)
	{
		LOG_ERR("Failed to delete GNSS data");
		return -1;
	}

	return 0;
}

static void ttff_test_prepare_work_fn(struct k_work *item)
{
	/* Make sure GNSS is stopped before next start. */
	nrf_modem_gnss_stop();

	if (IS_ENABLED(CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST_COLD_START))
	{
		if (ttff_test_force_cold_start() != 0)
		{
			return;
		}
	}

#if !defined(CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE)
	if (IS_ENABLED(CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST_COLD_START))
	{
		/* All A-GPS data is always requested before GNSS is started. */
		last_agps.sv_mask_ephe = 0xffffffff;
		last_agps.sv_mask_alm = 0xffffffff;
		last_agps.data_flags =
			NRF_MODEM_GNSS_AGPS_GPS_UTC_REQUEST |
			NRF_MODEM_GNSS_AGPS_KLOBUCHAR_REQUEST |
			NRF_MODEM_GNSS_AGPS_SYS_TIME_AND_SV_TOW_REQUEST |
			NRF_MODEM_GNSS_AGPS_POSITION_REQUEST |
			NRF_MODEM_GNSS_AGPS_INTEGRITY_REQUEST;

		k_work_submit_to_queue(&gnss_work_q, &agps_data_get_work);
	}
	else
	{
		/* Start and stop GNSS to trigger possible A-GPS data request. If new A-GPS
		 * data is needed it is fetched before GNSS is started.
		 */
		nrf_modem_gnss_start();
		nrf_modem_gnss_stop();
	}
#endif /* !CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE */

	k_work_submit_to_queue(&gnss_work_q, &ttff_test_start_work);
}

static void ttff_test_start_work_fn(struct k_work *item)
{
	LOG_INF("Starting GNSS");
	if (nrf_modem_gnss_start() != 0)
	{
		LOG_ERR("Failed to start GNSS");
		return;
	}

	fix_timestamp = k_uptime_get();
	time_blocked = 0;
}
#endif /* CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST */

static void date_time_evt_handler(const struct date_time_evt *evt)
{
	k_sem_give(&time_sem);
}

static int modem_init(void)
{
	if (IS_ENABLED(CONFIG_DATE_TIME))
	{
		date_time_register_handler(date_time_evt_handler);
	}

	if (lte_lc_init() != 0)
	{
		LOG_ERR("Failed to initialize LTE link controller");
		return -1;
	}

#if defined(CONFIG_GNSS_SAMPLE_LTE_ON_DEMAND)
	lte_lc_register_handler(lte_lc_event_handler);
#elif !defined(CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE)
	lte_lc_psm_req(true);

	LOG_INF("Connecting to LTE network");

	if (lte_lc_connect() != 0)
	{
		LOG_ERR("Failed to connect to LTE network");
		return -1;
	}

	LOG_INF("Connected to LTE network");

	if (IS_ENABLED(CONFIG_DATE_TIME))
	{
		LOG_INF("Waiting for current time");

		/* Wait for an event from the Date Time library. */
		k_sem_take(&time_sem, K_MINUTES(10));

		if (!date_time_is_valid())
		{
			LOG_WRN("Failed to get current time, continuing anyway");
		}
	}
#endif

	return 0;
}

static int sample_init(void)
{
	int err = 0;

#if !defined(CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE) || defined(CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST)
	struct k_work_queue_config cfg = {
		.name = "gnss_work_q",
		.no_yield = false};

	k_work_queue_start(
		&gnss_work_q,
		gnss_workq_stack_area,
		K_THREAD_STACK_SIZEOF(gnss_workq_stack_area),
		GNSS_WORKQ_THREAD_PRIORITY,
		&cfg);
#endif /* !CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE || CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST */

#if !defined(CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE)
	k_work_init(&agps_data_get_work, agps_data_get_work_fn);

	err = assistance_init(&gnss_work_q);
#endif /* !CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE */

#if defined(CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST)
	k_work_init_delayable(&ttff_test_got_fix_work, ttff_test_got_fix_work_fn);
	k_work_init_delayable(&ttff_test_prepare_work, ttff_test_prepare_work_fn);
	k_work_init(&ttff_test_start_work, ttff_test_start_work_fn);
#endif /* CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST */

	return err;
}

static int gnss_init_and_start(void)
{
#if defined(CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE) || defined(CONFIG_GNSS_SAMPLE_LTE_ON_DEMAND)
	/* Enable GNSS. */
	if (lte_lc_func_mode_set(LTE_LC_FUNC_MODE_ACTIVATE_GNSS) != 0)
	{
		LOG_ERR("Failed to activate GNSS functional mode");
		return -1;
	}
#endif /* CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE || CONFIG_GNSS_SAMPLE_LTE_ON_DEMAND */

	/* Configure GNSS. */
	if (nrf_modem_gnss_event_handler_set(gnss_event_handler) != 0)
	{
		LOG_ERR("Failed to set GNSS event handler");
		return -1;
	}

	/* Enable all supported NMEA messages. */
	uint16_t nmea_mask = NRF_MODEM_GNSS_NMEA_RMC_MASK |
						 NRF_MODEM_GNSS_NMEA_GGA_MASK |
						 NRF_MODEM_GNSS_NMEA_GLL_MASK |
						 NRF_MODEM_GNSS_NMEA_GSA_MASK |
						 NRF_MODEM_GNSS_NMEA_GSV_MASK;

	if (nrf_modem_gnss_nmea_mask_set(nmea_mask) != 0)
	{
		LOG_ERR("Failed to set GNSS NMEA mask");
		return -1;
	}

	/* This use case flag should always be set. */
	uint8_t use_case = NRF_MODEM_GNSS_USE_CASE_MULTIPLE_HOT_START;

	if (IS_ENABLED(CONFIG_GNSS_SAMPLE_MODE_PERIODIC) &&
		!IS_ENABLED(CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE))
	{
		/* Disable GNSS scheduled downloads when assistance is used. */
		use_case |= NRF_MODEM_GNSS_USE_CASE_SCHED_DOWNLOAD_DISABLE;
	}

	if (IS_ENABLED(CONFIG_GNSS_SAMPLE_LOW_ACCURACY))
	{
		use_case |= NRF_MODEM_GNSS_USE_CASE_LOW_ACCURACY;
	}

	if (nrf_modem_gnss_use_case_set(use_case) != 0)
	{
		LOG_WRN("Failed to set GNSS use case");
	}

#if defined(CONFIG_NRF_CLOUD_AGPS_ELEVATION_MASK)
	if (nrf_modem_gnss_elevation_threshold_set(CONFIG_NRF_CLOUD_AGPS_ELEVATION_MASK) != 0)
	{
		LOG_ERR("Failed to set elevation threshold");
		return -1;
	}
	LOG_DBG("Set elevation threshold to %u", CONFIG_NRF_CLOUD_AGPS_ELEVATION_MASK);
#endif

#if defined(CONFIG_GNSS_SAMPLE_MODE_CONTINUOUS)
	/* Default to no power saving. */
	uint8_t power_mode = NRF_MODEM_GNSS_PSM_DISABLED;

#if defined(GNSS_SAMPLE_POWER_SAVING_MODERATE)
	power_mode = NRF_MODEM_GNSS_PSM_DUTY_CYCLING_PERFORMANCE;
#elif defined(GNSS_SAMPLE_POWER_SAVING_HIGH)
	power_mode = NRF_MODEM_GNSS_PSM_DUTY_CYCLING_POWER;
#endif

	if (nrf_modem_gnss_power_mode_set(power_mode) != 0)
	{
		LOG_ERR("Failed to set GNSS power saving mode");
		return -1;
	}
#endif /* CONFIG_GNSS_SAMPLE_MODE_CONTINUOUS */

	/* Default to continuous tracking. */
	uint16_t fix_retry = 0;
	uint16_t fix_interval = 1;

#if defined(CONFIG_GNSS_SAMPLE_MODE_PERIODIC)
	fix_retry = CONFIG_GNSS_SAMPLE_PERIODIC_TIMEOUT;
	fix_interval = CONFIG_GNSS_SAMPLE_PERIODIC_INTERVAL;
#elif defined(CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST)
	/* Single fix for TTFF test mode. */
	fix_retry = 0;
	fix_interval = 0;
#endif

	if (nrf_modem_gnss_fix_retry_set(fix_retry) != 0)
	{
		LOG_ERR("Failed to set GNSS fix retry");
		return -1;
	}

	if (nrf_modem_gnss_fix_interval_set(fix_interval) != 0)
	{
		LOG_ERR("Failed to set GNSS fix interval");
		return -1;
	}

#if defined(CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST)
	k_work_schedule_for_queue(&gnss_work_q, &ttff_test_prepare_work, K_NO_WAIT);
#else /* !CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST */
	if (nrf_modem_gnss_start() != 0)
	{
		LOG_ERR("Failed to start GNSS");
		return -1;
	}
#endif

	return 0;
}

static bool output_paused(void)
{
#if defined(CONFIG_GNSS_SAMPLE_ASSISTANCE_NONE) || defined(CONFIG_GNSS_SAMPLE_LOG_LEVEL_OFF)
	return false;
#else
	return (requesting_assistance || assistance_is_active()) ? true : false;
#endif
}

static void print_satellite_stats(struct nrf_modem_gnss_pvt_data_frame *pvt_data)
{
	uint8_t tracked = 0;
	uint8_t in_fix = 0;
	uint8_t unhealthy = 0;

	for (int i = 0; i < NRF_MODEM_GNSS_MAX_SATELLITES; ++i)
	{
		if (pvt_data->sv[i].sv > 0)
		{
			tracked++;

			if (pvt_data->sv[i].flags & NRF_MODEM_GNSS_SV_FLAG_USED_IN_FIX)
			{
				in_fix++;
			}

			if (pvt_data->sv[i].flags & NRF_MODEM_GNSS_SV_FLAG_UNHEALTHY)
			{
				unhealthy++;
			}
		}
	}

	printf("Tracking: %2d Using: %2d Unhealthy: %d\n", tracked, in_fix, unhealthy);
}

static void print_fix_data(struct nrf_modem_gnss_pvt_data_frame *pvt_data)
{
	printf("Latitude:       %.06f\n", pvt_data->latitude);
	printf("Longitude:      %.06f\n", pvt_data->longitude);
	printf("Altitude:       %.01f m\n", pvt_data->altitude);
	printf("Accuracy:       %.01f m\n", pvt_data->accuracy);
	printf("Speed:          %.01f m/s\n", pvt_data->speed);
	printf("Speed accuracy: %.01f m/s\n", pvt_data->speed_accuracy);
	printf("Heading:        %.01f deg\n", pvt_data->heading);
	printf("Date:           %04u-%02u-%02u\n",
		   pvt_data->datetime.year,
		   pvt_data->datetime.month,
		   pvt_data->datetime.day);
	printf("Time (UTC):     %02u:%02u:%02u.%03u\n",
		   pvt_data->datetime.hour,
		   pvt_data->datetime.minute,
		   pvt_data->datetime.seconds,
		   pvt_data->datetime.ms);
	printf("PDOP:           %.01f\n", pvt_data->pdop);
	printf("HDOP:           %.01f\n", pvt_data->hdop);
	printf("VDOP:           %.01f\n", pvt_data->vdop);
	printf("TDOP:           %.01f\n", pvt_data->tdop);
}

// STOP: this is the end of the GNSS code functions that I have transferred

LOG_MODULE_REGISTER(mqtt_simple, CONFIG_MQTT_SIMPLE_LOG_LEVEL);

/* Buffers for MQTT client. */
static uint8_t rx_buffer[CONFIG_MQTT_MESSAGE_BUFFER_SIZE];
static uint8_t tx_buffer[CONFIG_MQTT_MESSAGE_BUFFER_SIZE];
static uint8_t payload_buf[CONFIG_MQTT_PAYLOAD_BUFFER_SIZE];

/* The mqtt client struct */
static struct mqtt_client client;

/* MQTT Broker details. */
static struct sockaddr_storage broker;

/* File descriptor */
static struct pollfd fds;

#if defined(CONFIG_MQTT_LIB_TLS) // Not being called
static int certificates_provision(void)
{
	int err = 0;

	LOG_INF("Provisioning certificates");

#if defined(CONFIG_NRF_MODEM_LIB) && defined(CONFIG_MODEM_KEY_MGMT)

	err = modem_key_mgmt_write(CONFIG_MQTT_TLS_SEC_TAG,
							   MODEM_KEY_MGMT_CRED_TYPE_CA_CHAIN,
							   CA_CERTIFICATE,
							   strlen(CA_CERTIFICATE));
	if (err)
	{
		LOG_ERR("Failed to provision CA certificate: %d", err);
		return err;
	}

#elif defined(CONFIG_BOARD_QEMU_X86) && defined(CONFIG_NET_SOCKETS_SOCKOPT_TLS)

	err = tls_credential_add(CONFIG_MQTT_TLS_SEC_TAG,
							 TLS_CREDENTIAL_CA_CERTIFICATE,
							 CA_CERTIFICATE,
							 sizeof(CA_CERTIFICATE));
	if (err)
	{
		LOG_ERR("Failed to register CA certificate: %d", err);
		return err;
	}

#endif

	return err;
}
#endif /* defined(CONFIG_MQTT_LIB_TLS) */

#if defined(CONFIG_LWM2M_CARRIER)
K_SEM_DEFINE(carrier_registered, 0, 1);
int lwm2m_carrier_event_handler(const lwm2m_carrier_event_t *event)
{
	switch (event->type)
	{
	case LWM2M_CARRIER_EVENT_BSDLIB_INIT:
		LOG_INF("LWM2M_CARRIER_EVENT_BSDLIB_INIT");
		break;
	case LWM2M_CARRIER_EVENT_CONNECTING:
		LOG_INF("LWM2M_CARRIER_EVENT_CONNECTING");
		break;
	case LWM2M_CARRIER_EVENT_CONNECTED:
		LOG_INF("LWM2M_CARRIER_EVENT_CONNECTED");
		break;
	case LWM2M_CARRIER_EVENT_DISCONNECTING:
		LOG_INF("LWM2M_CARRIER_EVENT_DISCONNECTING");
		break;
	case LWM2M_CARRIER_EVENT_DISCONNECTED:
		LOG_INF("LWM2M_CARRIER_EVENT_DISCONNECTED");
		break;
	case LWM2M_CARRIER_EVENT_BOOTSTRAPPED:
		LOG_INF("LWM2M_CARRIER_EVENT_BOOTSTRAPPED");
		break;
	case LWM2M_CARRIER_EVENT_REGISTERED:
		LOG_INF("LWM2M_CARRIER_EVENT_REGISTERED");
		k_sem_give(&carrier_registered);
		break;
	case LWM2M_CARRIER_EVENT_DEFERRED:
		LOG_INF("LWM2M_CARRIER_EVENT_DEFERRED");
		break;
	case LWM2M_CARRIER_EVENT_FOTA_START:
		LOG_INF("LWM2M_CARRIER_EVENT_FOTA_START");
		break;
	case LWM2M_CARRIER_EVENT_REBOOT:
		LOG_INF("LWM2M_CARRIER_EVENT_REBOOT");
		break;
	case LWM2M_CARRIER_EVENT_ERROR:
		LOG_ERR("LWM2M_CARRIER_EVENT_ERROR: code %d, value %d",
				((lwm2m_carrier_event_error_t *)event->data)->code,
				((lwm2m_carrier_event_error_t *)event->data)->value);
		break;
	default:
		LOG_WRN("Unhandled LWM2M_CARRIER_EVENT: %d", event->type);
		break;
	}

	return 0;
}
#endif /* defined(CONFIG_LWM2M_CARRIER) */

/**@brief Function to print strings without null-termination
 */
static void data_print(uint8_t *prefix, uint8_t *data, size_t len)
{
	char buf[len + 1];

	memcpy(buf, data, len);
	buf[len] = 0;
	LOG_INF("%s%s", (char *)prefix, (char *)buf);
}

/**@brief Function to publish data on the configured topic
 */
static int data_publish(struct mqtt_client *c, enum mqtt_qos qos,
						uint8_t *data, size_t len)
{
	struct mqtt_publish_param param;

	param.message.topic.qos = qos;
	param.message.topic.topic.utf8 = CONFIG_MQTT_PUB_TOPIC;
	param.message.topic.topic.size = strlen(CONFIG_MQTT_PUB_TOPIC);
	param.message.payload.data = data;
	param.message.payload.len = len;
	param.message_id = sys_rand32_get();
	param.dup_flag = 0;
	param.retain_flag = 0;

	data_print("Publishing: ", data, len);
	LOG_INF("to topic: %s len: %u",
			CONFIG_MQTT_PUB_TOPIC,
			(unsigned int)strlen(CONFIG_MQTT_PUB_TOPIC));

	return mqtt_publish(c, &param);
}

/**@brief Function to subscribe to the configured topic
 */
static int subscribe(void)
{
	struct mqtt_topic subscribe_topic = {
		.topic = {
			.utf8 = CONFIG_MQTT_SUB_TOPIC,
			.size = strlen(CONFIG_MQTT_SUB_TOPIC)},
		.qos = MQTT_QOS_1_AT_LEAST_ONCE};

	const struct mqtt_subscription_list subscription_list = {
		.list = &subscribe_topic,
		.list_count = 1,
		.message_id = 1234};

	LOG_INF("Subscribing to: %s len %u", CONFIG_MQTT_SUB_TOPIC,
			(unsigned int)strlen(CONFIG_MQTT_SUB_TOPIC));

	return mqtt_subscribe(&client, &subscription_list);
}

/**@brief Function to read the published payload.
 */
static int publish_get_payload(struct mqtt_client *c, size_t length)
{
	int ret;
	int err = 0;

	/* Return an error if the payload is larger than the payload buffer.
	 * Note: To allow new messages, we have to read the payload before returning.
	 */
	if (length > sizeof(payload_buf))
	{
		err = -EMSGSIZE;
	}

	/* Truncate payload until it fits in the payload buffer. */
	while (length > sizeof(payload_buf))
	{
		ret = mqtt_read_publish_payload_blocking(
			c, payload_buf, (length - sizeof(payload_buf)));
		if (ret == 0)
		{
			return -EIO;
		}
		else if (ret < 0)
		{
			return ret;
		}

		length -= ret;
	}

	ret = mqtt_readall_publish_payload(c, payload_buf, length);
	if (ret)
	{
		return ret;
	}

	return err;
}

/**@brief MQTT client event handler
 */
void mqtt_evt_handler(struct mqtt_client *const c,
					  const struct mqtt_evt *evt)
{
	int err;

	switch (evt->type)
	{
	case MQTT_EVT_CONNACK:
		if (evt->result != 0)
		{
			LOG_ERR("MQTT connect failed: %d", evt->result);
			break;
		}

		LOG_INF("MQTT client connected");
		subscribe();
		break;

	case MQTT_EVT_DISCONNECT:
		LOG_INF("MQTT client disconnected: %d", evt->result);
		break;

	case MQTT_EVT_PUBLISH:
	{
		const struct mqtt_publish_param *p = &evt->param.publish;

		LOG_INF("MQTT PUBLISH result=%d len=%d",
				evt->result, p->message.payload.len);
		err = publish_get_payload(c, p->message.payload.len);

		if (p->message.topic.qos == MQTT_QOS_1_AT_LEAST_ONCE)
		{
			const struct mqtt_puback_param ack = {
				.message_id = p->message_id};

			/* Send acknowledgment. */
			mqtt_publish_qos1_ack(&client, &ack);
		}

		if (err >= 0)
		{
			data_print("Received: ", payload_buf,
					   p->message.payload.len);
			/* Echo back received data */ // Commented this out because it kept echoing back recieved data
										  // data_publish(&client, MQTT_QOS_1_AT_LEAST_ONCE,
										  // payload_buf, p->message.payload.len);
		}
		else if (err == -EMSGSIZE)
		{
			LOG_ERR("Received payload (%d bytes) is larger than the payload buffer "
					"size (%d bytes).",
					p->message.payload.len, sizeof(payload_buf));
		}
		else
		{
			LOG_ERR("publish_get_payload failed: %d", err);
			LOG_INF("Disconnecting MQTT client...");

			err = mqtt_disconnect(c);
			if (err)
			{
				LOG_ERR("Could not disconnect: %d", err);
			}
		}
	}
	break;

	case MQTT_EVT_PUBACK:
		if (evt->result != 0)
		{
			LOG_ERR("MQTT PUBACK error: %d", evt->result);
			break;
		}

		LOG_INF("PUBACK packet id: %u", evt->param.puback.message_id);
		break;

	case MQTT_EVT_SUBACK:
		if (evt->result != 0)
		{
			LOG_ERR("MQTT SUBACK error: %d", evt->result);
			break;
		}

		LOG_INF("SUBACK packet id: %u", evt->param.suback.message_id);
		break;

	case MQTT_EVT_PINGRESP:
		if (evt->result != 0)
		{
			LOG_ERR("MQTT PINGRESP error: %d", evt->result);
		}
		break;

	default:
		LOG_INF("Unhandled MQTT event type: %d", evt->type);
		break;
	}
}

/**@brief Resolves the configured hostname and
 * initializes the MQTT broker structure
 */
static int broker_init(void)
{
	int err;
	struct addrinfo *result;
	struct addrinfo *addr;
	struct addrinfo hints = {
		.ai_family = AF_INET,
		.ai_socktype = SOCK_STREAM};

	err = getaddrinfo(CONFIG_MQTT_BROKER_HOSTNAME, NULL, &hints, &result); // to change CONFIG_MQTT_BROKER_HOSTNAME go to kconfig
	if (err)
	{
		LOG_ERR("getaddrinfo failed: %d", err);
		return -ECHILD;
	}

	addr = result;

	/* Look for address of the broker. */
	while (addr != NULL)
	{
		/* IPv4 Address. */
		if (addr->ai_addrlen == sizeof(struct sockaddr_in))
		{
			struct sockaddr_in *broker4 =
				((struct sockaddr_in *)&broker);
			char ipv4_addr[NET_IPV4_ADDR_LEN];

			broker4->sin_addr.s_addr =
				((struct sockaddr_in *)addr->ai_addr)
					->sin_addr.s_addr;
			broker4->sin_family = AF_INET;
			broker4->sin_port = htons(CONFIG_MQTT_BROKER_PORT);

			inet_ntop(AF_INET, &broker4->sin_addr.s_addr,
					  ipv4_addr, sizeof(ipv4_addr));
			LOG_INF("IPv4 Address found %s", ipv4_addr);

			break;
		}
		else
		{
			LOG_ERR("ai_addrlen = %u should be %u or %u",
					(unsigned int)addr->ai_addrlen,
					(unsigned int)sizeof(struct sockaddr_in),
					(unsigned int)sizeof(struct sockaddr_in6));
		}

		addr = addr->ai_next;
	}

	/* Free the address. */
	freeaddrinfo(result);

	return err;
}

#if defined(CONFIG_NRF_MODEM_LIB)
#define IMEI_LEN 15
#define CGSN_RESPONSE_LENGTH (IMEI_LEN + 6 + 1) /* Add 6 for \r\nOK\r\n and 1 for \0 */
#define CLIENT_ID_LEN sizeof("nrf-") + IMEI_LEN
#else
#define RANDOM_LEN 10
#define CLIENT_ID_LEN sizeof(CONFIG_BOARD) + 1 + RANDOM_LEN
#endif /* defined(CONFIG_NRF_MODEM_LIB) */

/* Function to get the client id */
static const uint8_t *client_id_get(void)
{
	static uint8_t client_id[MAX(sizeof(CONFIG_MQTT_CLIENT_ID),
								 CLIENT_ID_LEN)];

	if (strlen(CONFIG_MQTT_CLIENT_ID) > 0)
	{
		snprintf(client_id, sizeof(client_id), "%s",
				 CONFIG_MQTT_CLIENT_ID);
		goto exit;
	}

#if defined(CONFIG_NRF_MODEM_LIB)
	char imei_buf[CGSN_RESPONSE_LENGTH + 1];
	int err;

	err = nrf_modem_at_cmd(imei_buf, sizeof(imei_buf), "AT+CGSN");
	if (err)
	{
		LOG_ERR("Failed to obtain IMEI, error: %d", err);
		goto exit;
	}

	imei_buf[IMEI_LEN] = '\0';

	snprintf(client_id, sizeof(client_id), "nrf-%.*s", IMEI_LEN, imei_buf);
#else
	uint32_t id = sys_rand32_get();
	snprintf(client_id, sizeof(client_id), "%s-%010u", CONFIG_BOARD, id);
#endif /* !defined(NRF_CLOUD_CLIENT_ID) */

exit:
	LOG_DBG("client_id = %s", (char *)client_id);

	return client_id;
}

/**@brief Initialize the MQTT client structure
 */
static int client_init(struct mqtt_client *client)
{
	int err;

	mqtt_client_init(client);

	err = broker_init();
	if (err)
	{
		LOG_ERR("Failed to initialize broker connection");
		return err;
	}

	/* MQTT client configuration */
	client->broker = &broker;
	client->evt_cb = mqtt_evt_handler;
	client->client_id.utf8 = client_id_get();
	client->client_id.size = strlen(client->client_id.utf8);
	client->password = NULL;
	client->user_name = NULL;
	client->protocol_version = MQTT_VERSION_3_1_1;

	/* MQTT buffers configuration */
	client->rx_buf = rx_buffer;
	client->rx_buf_size = sizeof(rx_buffer);
	client->tx_buf = tx_buffer;
	client->tx_buf_size = sizeof(tx_buffer);

	/* MQTT transport configuration */
#if defined(CONFIG_MQTT_LIB_TLS)
	struct mqtt_sec_config *tls_cfg = &(client->transport).tls.config;
	static sec_tag_t sec_tag_list[] = {CONFIG_MQTT_TLS_SEC_TAG};

	LOG_INF("TLS enabled");
	client->transport.type = MQTT_TRANSPORT_SECURE;

	tls_cfg->peer_verify = CONFIG_MQTT_TLS_PEER_VERIFY;
	tls_cfg->cipher_count = 0;
	tls_cfg->cipher_list = NULL;
	tls_cfg->sec_tag_count = ARRAY_SIZE(sec_tag_list);
	tls_cfg->sec_tag_list = sec_tag_list;
	tls_cfg->hostname = CONFIG_MQTT_BROKER_HOSTNAME;

#if defined(CONFIG_NRF_MODEM_LIB)
	tls_cfg->session_cache = IS_ENABLED(CONFIG_MQTT_TLS_SESSION_CACHING) ? TLS_SESSION_CACHE_ENABLED : TLS_SESSION_CACHE_DISABLED;
#else
	/* TLS session caching is not supported by the Zephyr network stack */
	tls_cfg->session_cache = TLS_SESSION_CACHE_DISABLED;

#endif

#else
	client->transport.type = MQTT_TRANSPORT_NON_SECURE;
#endif

	return err;
}

/**@brief Initialize the file descriptor structure used by poll.
 */
static int fds_init(struct mqtt_client *c)
{
	if (c->transport.type == MQTT_TRANSPORT_NON_SECURE)
	{
		fds.fd = c->transport.tcp.sock;
	}
	else
	{
#if defined(CONFIG_MQTT_LIB_TLS)
		fds.fd = c->transport.tls.sock;
#else
		return -ENOTSUP;
#endif
	}

	fds.events = POLLIN;

	return 0;
}

#if defined(CONFIG_DK_LIBRARY)
static void button_handler(uint32_t button_states, uint32_t has_changed)
{
	if (has_changed & button_states &
		BIT(CONFIG_BUTTON_EVENT_BTN_NUM - 1))
	{
		int ret;

		ret = data_publish(&client,
						   MQTT_QOS_1_AT_LEAST_ONCE,
						   CONFIG_BUTTON_EVENT_PUBLISH_MSG,
						   sizeof(CONFIG_BUTTON_EVENT_PUBLISH_MSG) - 1);
		if (ret)
		{
			LOG_ERR("Publish failed: %d", ret);
		}
	}
}
#endif

/**@brief Configures modem to provide LTE link. Blocks until link is
 * successfully established.
 */
static int modem_configure(void)
{
#if defined(CONFIG_LTE_LINK_CONTROL)
	/* Turn off LTE power saving features for a more responsive demo. Also,
	 * request power saving features before network registration. Some
	 * networks rejects timer updates after the device has registered to the
	 * LTE network.
	 */
	LOG_INF("Disabling PSM and eDRX");
	lte_lc_psm_req(false);
	lte_lc_edrx_req(false);

	if (IS_ENABLED(CONFIG_LTE_AUTO_INIT_AND_CONNECT))
	{
		/* Do nothing, modem is already turned on
		 * and connected.
		 */
	}
	else
	{
#if defined(CONFIG_LWM2M_CARRIER)
		/* Wait for the LWM2M_CARRIER to configure the modem and
		 * start the connection.
		 */
		LOG_INF("Waitng for carrier registration...");
		k_sem_take(&carrier_registered, K_FOREVER);
		LOG_INF("Registered!");
#else  /* defined(CONFIG_LWM2M_CARRIER) */
		int err;

		LOG_INF("LTE Link Connecting...");
		err = lte_lc_init_and_connect();
		if (err)
		{
			LOG_INF("Failed to establish LTE connection: %d", err);
			return err;
		}
		LOG_INF("LTE Link Connected!");
#endif /* defined(CONFIG_LWM2M_CARRIER) */
	}
#endif /* defined(CONFIG_LTE_LINK_CONTROL) */

	return 0;
}
////////////// it all starts here /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int main(void)
{
	int err;
	uint32_t connect_attempt = 0;
	// start: GNSS stuff////////////////////////////////////////////////////
	uint8_t cnt = 0;
	struct nrf_modem_gnss_nmea_data_frame *nmea_data;

	/* Initialize reference coordinates (if used). */
	if (sizeof(CONFIG_GNSS_SAMPLE_REFERENCE_LATITUDE) > 1 &&
		sizeof(CONFIG_GNSS_SAMPLE_REFERENCE_LONGITUDE) > 1)
	{
		ref_used = true;
		ref_latitude = atof(CONFIG_GNSS_SAMPLE_REFERENCE_LATITUDE);
		ref_longitude = atof(CONFIG_GNSS_SAMPLE_REFERENCE_LONGITUDE);
	}

	if (modem_init() != 0)
	{
		LOG_ERR("Failed to initialize modem");
		return -1;
	}

	if (sample_init() != 0)
	{
		LOG_ERR("Failed to initialize sample");
		return -1;
	}

	if (gnss_init_and_start() != 0)
	{
		LOG_ERR("Failed to initialize and start GNSS");
		return -1;
	}

	fix_timestamp = k_uptime_get();
	// end: GNSS stuff//////////////////////////////////////////////////////

	LOG_INF("The MQTT and GNSS code is starting.");

#if defined(CONFIG_MQTT_LIB_TLS)
	err = certificates_provision();
	if (err != 0)
	{
		LOG_ERR("Failed to provision certificates");
		return;
	}

#endif /* defined(CONFIG_MQTT_LIB_TLS) */

	do
	{
		err = modem_configure();
		if (err)
		{
			LOG_INF("Retrying in %d seconds",
					CONFIG_LTE_CONNECT_RETRY_DELAY_S);
			k_sleep(K_SECONDS(CONFIG_LTE_CONNECT_RETRY_DELAY_S));
		}
	} while (err);

	err = client_init(&client);
	if (err != 0)
	{
		LOG_ERR("client_init: %d", err);
		return;
	}

#if defined(CONFIG_DK_LIBRARY)
	dk_buttons_init(button_handler);
#endif

do_connect:
	if (connect_attempt++ > 0)
	{
		LOG_INF("Reconnecting in %d seconds...",
				CONFIG_MQTT_RECONNECT_DELAY_S);
		k_sleep(K_SECONDS(CONFIG_MQTT_RECONNECT_DELAY_S));
	}
	err = mqtt_connect(&client);
	if (err != 0)
	{
		LOG_ERR("mqtt_connect %d", err);
		goto do_connect;
	}

	err = fds_init(&client);
	if (err != 0)
	{
		LOG_ERR("fds_init: %d", err);
		return;
	}

	while (1)
	{
		// start: GNSS stuff////////////////////////////////////////////////////////////
		while ((((uint32_t)(k_uptime_get()) / 1000) % 10) == 0)
		{
			printf("timer: %d\n", (int)(k_uptime_get()) / 1000);
			(void)k_poll(events, 2, K_FOREVER);

			if (events[0].state == K_POLL_STATE_SEM_AVAILABLE &&
				k_sem_take(events[0].sem, K_NO_WAIT) == 0)
			{
				/* New PVT data available */

				if (IS_ENABLED(CONFIG_GNSS_SAMPLE_MODE_TTFF_TEST))
				{
					/* TTFF test mode. */

					/* Calculate the time GNSS has been blocked by LTE. */
					if (last_pvt.flags & NRF_MODEM_GNSS_PVT_FLAG_DEADLINE_MISSED)
					{
						time_blocked++;
					}
				}
				else if (IS_ENABLED(CONFIG_GNSS_SAMPLE_NMEA_ONLY))
				{
					/* NMEA-only output mode. */

					if (output_paused())
					{
						goto handle_nmea;
					}

					if (last_pvt.flags & NRF_MODEM_GNSS_PVT_FLAG_FIX_VALID)
					{
						print_distance_from_reference(&last_pvt);
					}
				}
				else
				{
					/* PVT and NMEA output mode. */

					if (output_paused())
					{
						goto handle_nmea;
					}

					printf("\033[1;1H");
					printf("\033[2J");
					print_satellite_stats(&last_pvt);

					if (last_pvt.flags & NRF_MODEM_GNSS_PVT_FLAG_DEADLINE_MISSED)
					{
						printf("GNSS operation blocked by LTE\n");
					}
					if (last_pvt.flags &
						NRF_MODEM_GNSS_PVT_FLAG_NOT_ENOUGH_WINDOW_TIME)
					{
						printf("Insufficient GNSS time windows\n");
					}
					if (last_pvt.flags & NRF_MODEM_GNSS_PVT_FLAG_SLEEP_BETWEEN_PVT)
					{
						printf("Sleep period(s) between PVT notifications\n");
					}
					printf("-----------------------------------\n");

					if (last_pvt.flags & NRF_MODEM_GNSS_PVT_FLAG_FIX_VALID)
					{
						fix_timestamp = k_uptime_get();
						print_fix_data(&last_pvt);
						print_distance_from_reference(&last_pvt);
					}
					else
					{
						printf("Seconds since last fix: %d\n",
							   (uint32_t)((k_uptime_get() - fix_timestamp) / 1000));
						printf("fix_timestamp: %d \n", ((uint32_t)(k_uptime_get()) / 1000) % 10);
						cnt++;
						printf("Searching [%c]\n", update_indicator[cnt % 4]);
					}

					printf("\nNMEA strings:\n\n");
				}
			}

		handle_nmea:
			if (events[1].state == K_POLL_STATE_MSGQ_DATA_AVAILABLE &&
				k_msgq_get(events[1].msgq, &nmea_data, K_NO_WAIT) == 0)
			{
				/* New NMEA data available */

				if (!output_paused())
				{
					printf("%s", nmea_data->nmea_str);
				}
				k_free(nmea_data);
			}

			events[0].state = K_POLL_STATE_NOT_READY;
			events[1].state = K_POLL_STATE_NOT_READY;
		}
		// end: GNSS stuff/////////////////////////////////////////////

		err = poll(&fds, 1, mqtt_keepalive_time_left(&client));
		if (err < 0)
		{
			LOG_ERR("poll: %d", errno);
			break;
		}

		err = mqtt_live(&client);
		if ((err != 0) && (err != -EAGAIN))
		{
			LOG_ERR("ERROR: mqtt_live: %d", err);
			break;
		}

		if ((fds.revents & POLLIN) == POLLIN)
		{
			err = mqtt_input(&client);
			if (err != 0)
			{
				LOG_ERR("mqtt_input: %d", err);
				break;
			}
		}

		if ((fds.revents & POLLERR) == POLLERR)
		{
			LOG_ERR("POLLERR");
			break;
		}

		if ((fds.revents & POLLNVAL) == POLLNVAL)
		{
			LOG_ERR("POLLNVAL");
			break;
		}
	}

	LOG_INF("Disconnecting MQTT client...");

	err = mqtt_disconnect(&client);
	if (err)
	{
		LOG_ERR("Could not disconnect MQTT client: %d", err);
	}
	goto do_connect;
}

[AdrianV]

The build now stops here. it seems to stop at random points everytime I try to run it.

[Charlie]

Hi Adrian,

To get a valid GNSS fix, the LTE modem needs to be deactivated or running on PSM and/or eDRX.

I reviewed your codes and don't think it is easy to make it work. Could you finish Cellular IoT Fundamentals – Nordic Developer Academy (nordicsemi.com) Lesson 6 and 8 then try after?

I will try to make a sample of MQTT+GNSS later.

Best regards,

Charlie

[AdrianV]

Okay, I will look at those lessons some time today, thank you for trying to make a sample. Do you recommend a simpler method to send the coordinates of the device to a MQTT server?

[AdrianV]

Sadly lesson 8 uses CoAP servers, and there is no module that I could find (without a thousand errors). That could connect my react native app to those servers.

[Achim Kraus]

> and there is no module that I could find (without a thousand errors). That could connect my react native app to those servers.

Not that sure, what you expect. I guess, you're saying is more "react doesn't support coap well", maybe. But you don't need to use CoAP in order to communication with devices, which are using CoAP for their own communication. The cloud server may just offer APIs using other protocols.

The used server "californium.eclipseprojects.io" is a sandbox, it's mainly for very first tests, so that you don't need to setup an own service. Once you exchanged your first messages with that, you may take the next steps.

One possibility is to use one of the CoAP service-offerings (e.g. IoTerop, Golioth).

An other possibility is to setup an own cf cloud demo-server (maybe with enabled optional http API), or cf s3 proxy-server , which stores your messages in a S3 storage.

But yes, for now, I don't see, that there is a "out-of-the-box" bridge for coap to react.