eive-obsw/linux/devices/GPSHyperionLinuxController.h

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#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
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#include "commonSubsystemIds.h"
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#include "devicedefinitions/GPSHyperionLinuxDefinitions.h"
#include "fsfw/FSFW.h"
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#include "fsfw/controller/ExtendedControllerBase.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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#ifdef FSFW_OSAL_LINUX
#include <gps.h>
#include <libgpsmm.h>
#endif
/**
* @brief Device handler for the Hyperion HT-GPS200 device
* @details
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
* This device handler can only be used on Linux system where the gpsd daemon with shared memory
* export is running.
*/
class GPSHyperionLinuxController : public ExtendedControllerBase {
public:
static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5;
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enum ReadModes { SHM = 0, SOCKET = 1 };
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GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
bool debugHyperionGps = false);
virtual ~GPSHyperionLinuxController();
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using gpioResetFunction_t = ReturnValue_t (*)(uint8_t gpsId, void* args);
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void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
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ModeDefinitionHelper getModeDefinitionHelper() override;
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ReturnValue_t executeAction(Action* action) override;
ReturnValue_t handleAction(GPSHyperionLinuxAction * action);
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ReturnValue_t initialize() override;
protected:
gpioResetFunction_t resetCallback = nullptr;
void* resetCallbackArgs = nullptr;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
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ReturnValue_t handleGpsRead();
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private:
GpsPrimaryDataset gpsSet;
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gps_data_t gps = {};
const char* currentClientBuf = nullptr;
ReadModes readMode = ReadModes::SOCKET;
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Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
bool modeCommanded = true;
bool timeInit = true;
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bool gpsNotOpenSwitch = true;
bool gpsReadFailedSwitch = true;
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bool debugHyperionGps = false;
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int32_t noModeSetCntr = 0;
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uint32_t timeIsConstantCounter = 0;
Countdown timeUpdateCd = Countdown(60);
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GPSHyperionLinuxAction action = GPSHyperionLinuxAction(this);
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void readGpsDataFromGpsd();
};
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */