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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#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 parentId,
bool debugHyperionGps):
ExtendedControllerBase(objectId, objects::NO_OBJECT), gpsSet(this),
debugHyperionGps(debugHyperionGps) {
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}
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GPSHyperionHandler::~GPSHyperionHandler() {}
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void GPSHyperionHandler::performControlOperation() {
// 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
}
LocalPoolDataSetBase* GPSHyperionHandler::getDataSetHandle(sid_t sid) {
return nullptr;
}
ReturnValue_t GPSHyperionHandler::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
return HasReturnvaluesIF::RETURN_OK;
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}
ReturnValue_t GPSHyperionHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
switch(actionId) {
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case(GpsHyperion::TRIGGER_RESET_PIN): {
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if(resetCallback != nullptr) {
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PoolReadGuard pg(&gpsSet);
// Set HK entries invalid
gpsSet.setValidity(false, true);
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resetCallback(resetCallbackArgs);
return HasActionsIF::EXECUTION_FINISHED;
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}
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
}
return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
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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::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
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void *args) {
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this->resetCallback = resetCallback;
resetCallbackArgs = args;
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}
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ReturnValue_t GPSHyperionHandler::initialize() {
ReturnValue_t result = ExtendedControllerBase::initialize();
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if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
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}
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ReturnValue_t GPSHyperionHandler::handleCommandMessage(CommandMessage *message) {
return ExtendedControllerBase::handleCommandMessage(message);
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}