eive-obsw/linux/devices/GpsHyperionLinuxController.h

#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_

#include "eive/eventSubsystemIds.h"
#include "fsfw/FSFW.h"
#include "fsfw/controller/ExtendedControllerBase.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "mission/devices/devicedefinitions/GPSDefinitions.h"
#include "mission/trace.h"

#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;

  enum ReadModes { SHM = 0, SOCKET = 1 };

  GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                             bool debugHyperionGps = false);
  virtual ~GpsHyperionLinuxController();

  using gpioResetFunction_t = ReturnValue_t (*)(const uint8_t* actionData, size_t len, void* args);

  ReturnValue_t performOperation(uint8_t opCode) override;
  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;
  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                              const uint8_t* data, size_t size) override;
  ReturnValue_t initialize() override;

 protected:
  gpioResetFunction_t resetCallback = nullptr;
  void* resetCallbackArgs = nullptr;

  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                        LocalDataPoolManager& poolManager) override;

  ReturnValue_t handleGpsReadData();

 private:
  GpsPrimaryDataset gpsSet;
  gps_data_t gps = {};
  const char* currentClientBuf = nullptr;
  ReadModes readMode = ReadModes::SOCKET;
  Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
  bool modeCommanded = false;
  bool timeInit = false;
#if OBSW_THREAD_TRACING == 1
  uint32_t opCounter = 0;
#endif

  struct OneShotSwitches {
    void reset() {
      gpsReadFailedSwitch = true;
      cantGetFixSwitch = true;
    }
    bool gpsReadFailedSwitch = true;
    bool cantGetFixSwitch = true;

  } oneShotSwitches;

  bool debugHyperionGps = false;
  int32_t noModeSetCntr = 0;
  Countdown timeUpdateCd = Countdown(60);

  // Returns true if the function should be called again or false if other
  // controller handling can be done.
  bool readGpsDataFromGpsd();
  // If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC)
  // we set it with the roughly valid time from the GPS. For some reason, NTP might only work
  // if the time difference between sys time and current time is not too large
  void overwriteTimeIfNotSane(timeval time, bool validFix);
};

#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */