Ubloxd: move gps parsing to function (#27122)

move ublox gps parsing to function

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>

selfdrive/locationd/ublox_msg.cc

@@ -147,13 +147,10 @@ kj::Array<capnp::word> UbloxMsgParser::gen_nav_pvt(ubx_t::nav_pvt_t *msg) {
   return capnp::messageToFlatArray(msg_builder);
 }
 
-
-kj::Array<capnp::word> UbloxMsgParser::gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg) {
-  auto body = *msg->body();
-
-  if (msg->gnss_id() == ubx_t::gnss_type_t::GNSS_TYPE_GPS) {
+kj::Array<capnp::word> UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg) {
   // GPS subframes are packed into 10x 4 bytes, each containing 3 actual bytes
   // We will first need to separate the data from the padding and parity
+  auto body = *msg->body();
   assert(body.size() == 10);
 
   std::string subframe_data;
@@ -262,10 +259,19 @@ kj::Array<capnp::word> UbloxMsgParser::gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg) {
 
     return capnp::messageToFlatArray(msg_builder);
   }
-  }
   return kj::Array<capnp::word>();
 }
 
+
+kj::Array<capnp::word> UbloxMsgParser::gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg) {
+  switch (msg->gnss_id()) {
+    case ubx_t::gnss_type_t::GNSS_TYPE_GPS:
+      return parse_gps_ephemeris(msg);
+    default:
+      return kj::Array<capnp::word>();
+  }
+}
+
 kj::Array<capnp::word> UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) {
   MessageBuilder msg_builder;
   auto mr = msg_builder.initEvent().initUbloxGnss().initMeasurementReport();

selfdrive/locationd/ublox_msg.h

@@ -102,6 +102,8 @@ class UbloxMsgParser {
     inline bool valid();
     inline bool valid_so_far();
 
+    kj::Array<capnp::word> parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg);
+
     std::unordered_map<int, std::unordered_map<int, std::string>> gps_subframes;
     std::unordered_map<int, uint64_t> gps_sat_tow_count;