more ACS cleaning

- STR code is now in mission folder, but still only conpiled for Q7S code because wire library is proprietary
2023-03-26 16:05:01 +02:00
parent e9901f3c85
commit 079da3b0e4
30 changed files with 74 additions and 73 deletions
--- a/linux/acs/GpsHyperionLinuxController.h
+++ b/linux/acs/GpsHyperionLinuxController.h
@ -0,0 +1,93 @@
+#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:
+  // 30 minutes
+  static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 30;
+
+  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;
+  uint8_t satNotSetCounter = 0;
+
+#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;
+
+  // 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_ */