eive-obsw/mission/devices/GPSHyperionHandler.cpp

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#include "GPSHyperionHandler.h"
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#include "devicedefinitions/GPSDefinitions.h"
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#include "fsfw/datapool/PoolReadGuard.h"
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#include "fsfw/timemanager/Clock.h"
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#include "lwgps/lwgps.h"
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#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
#include <filesystem>
#include <fstream>
#endif
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GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, bool debugHyperionGps)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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gpsSet(this),
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debugHyperionGps(debugHyperionGps) {
lwgps_init(&gpsData);
}
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GPSHyperionHandler::~GPSHyperionHandler() {}
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void GPSHyperionHandler::doStartUp() {
if (internalState == InternalStates::NONE) {
commandExecuted = false;
internalState = InternalStates::WAIT_FIRST_MESSAGE;
}
if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
if (commandExecuted) {
internalState = InternalStates::IDLE;
setMode(MODE_ON);
commandExecuted = false;
}
}
}
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void GPSHyperionHandler::doShutDown() {
internalState = InternalStates::NONE;
commandExecuted = false;
setMode(_MODE_POWER_DOWN);
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}
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ReturnValue_t GPSHyperionHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
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}
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ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
// By default, send nothing
rawPacketLen = 0;
switch (deviceCommand) {
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case (GpsHyperion::TRIGGER_RESET_PIN): {
if (resetCallback != nullptr) {
PoolReadGuard pg(&gpsSet);
// Set HK entries invalid
gpsSet.setValidity(false, true);
resetCallback(resetCallbackArgs);
return HasActionsIF::EXECUTION_FINISHED;
}
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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}
return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
// Pass data to GPS library
if (len > 0) {
// sif::debug << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
// TODO: Check whether data is valid by checking whether NMEA start string is valid?
commandExecuted = true;
}
int result = lwgps_process(&gpsData, start, len);
if (result != 1) {
sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps" << std::endl;
} else {
// The data from the device will generally be read all at once. Therefore, we
// can set all field here
PoolReadGuard pg(&gpsSet);
if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::scanForReply: Reading dataset failed" << std::endl;
#endif
}
// Print messages
if (gpsData.is_valid) {
// Set all entries valid now, set invalid on case basis if values are sanitized
gpsSet.setValidity(true, true);
}
// Negative latitude -> South direction
gpsSet.latitude.value = gpsData.latitude;
// Negative longitude -> West direction
gpsSet.longitude.value = gpsData.longitude;
if (gpsData.altitude > 600000.0 or gpsData.altitude < 400000.0) {
gpsSet.altitude.setValid(false);
} else {
gpsSet.altitude.setValid(true);
gpsSet.altitude.value = gpsData.altitude;
}
gpsSet.fixMode.value = gpsData.fix_mode;
gpsSet.satInUse.value = gpsData.sats_in_use;
Clock::TimeOfDay_t timeStruct = {};
timeStruct.day = gpsData.date;
timeStruct.hour = gpsData.hours;
timeStruct.minute = gpsData.minutes;
timeStruct.month = gpsData.month;
timeStruct.second = gpsData.seconds;
// Convert two-digit year to full year (AD)
timeStruct.year = gpsData.year + 2000;
timeval timeval = {};
Clock::convertTimeOfDayToTimeval(&timeStruct, &timeval);
gpsSet.year = timeStruct.year;
gpsSet.month = gpsData.month;
gpsSet.day = gpsData.date;
gpsSet.hours = gpsData.hours;
gpsSet.minutes = gpsData.minutes;
gpsSet.seconds = gpsData.seconds;
gpsSet.unixSeconds = timeval.tv_sec;
if (debugHyperionGps) {
sif::info << "GPS Data" << std::endl;
printf("Valid status: %d\n", gpsData.is_valid);
printf("Latitude: %f degrees\n", gpsData.latitude);
printf("Longitude: %f degrees\n", gpsData.longitude);
printf("Altitude: %f meters\n", gpsData.altitude);
}
#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
std::string filename = "/mnt/sd0/gps_log.txt";
std::ofstream gpsFile;
if (not std::filesystem::exists(filename)) {
gpsFile.open(filename, std::ofstream::out);
}
gpsFile.open(filename, std::ofstream::out | std::ofstream::app);
gpsFile.write("\n", 1);
gpsFile.write(reinterpret_cast<const char *>(start), len);
#endif
}
*foundLen = len;
*foundId = GpsHyperion::GPS_REPLY;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t GPSHyperionHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return 5000; }
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ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), true, 2.0, false);
return HasReturnvaluesIF::RETURN_OK;
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}
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void GPSHyperionHandler::fillCommandAndReplyMap() {
// Reply length does not matter, packets should always arrive periodically
insertInReplyMap(GpsHyperion::GPS_REPLY, 4, &gpsSet, 0, true);
insertInCommandMap(GpsHyperion::TRIGGER_RESET_PIN);
}
void GPSHyperionHandler::modeChanged() { internalState = InternalStates::NONE; }
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void GPSHyperionHandler::setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void *args) {
this->resetCallback = resetCallback;
resetCallbackArgs = args;
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}
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void GPSHyperionHandler::debugInterface(uint8_t positionTracker, object_id_t objectId,
uint32_t parameter) {}
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ReturnValue_t GPSHyperionHandler::initialize() {
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ReturnValue_t result = DeviceHandlerBase::initialize();
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if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
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}
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// Enable reply immediately for now
return updatePeriodicReply(true, GpsHyperion::GPS_REPLY);
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}
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ReturnValue_t GPSHyperionHandler::acceptExternalDeviceCommands() {
return DeviceHandlerBase::acceptExternalDeviceCommands();
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}