split up PSTs and add contd GPS handler

bsp_linux_board/ObjectFactory.cpp

@@ -1,3 +1,6 @@
+#include <fsfw_hal/linux/uart/UartComIF.h>
+#include <fsfw_hal/linux/uart/UartCookie.h>
+#include <mission/devices/GPSHandler.h>
 #include "ObjectFactory.h"
 
 #include "objects/systemObjectList.h"
@@ -68,6 +71,8 @@ void ObjectFactory::produce(void* args){
 
 #if RPI_ADD_UART_TEST == 1
     new UartTestClass(objects::UART_TEST);
+#else
+    new UartComIF(objects::UART_COM_IF);
 #endif
 
 #if RPI_LOOPBACK_TEST_GPIO == 1
@@ -146,4 +151,15 @@ void ObjectFactory::produce(void* args){
     auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
     adisGyroHandler->setStartUpImmediately();
 #endif /* RPI_TEST_ADIS16507 == 1 */
+
+#if RPI_TEST_GPS_HANDLER == 1
+    UartCookie* uartCookie = new UartCookie(objects::GPS0_HANDLER, "/dev/serial0",
+            UartModes::CANONICAL, 9600, 1024);
+    uartCookie->setToFlushInput(true);
+    uartCookie->setReadCycles(6);
+    GPSHandler* gpsHandler = new GPSHandler(objects::GPS0_HANDLER,
+            objects::UART_COM_IF, uartCookie);
+    gpsHandler->setStartUpImmediately();
+#endif
+
 }

bsp_linux_board/boardconfig/rpiConfig.h.in

@@ -7,6 +7,7 @@
 #define RPI_LOOPBACK_TEST_GPIO          0
 
 #define RPI_TEST_ADIS16507              0
+#define RPI_TEST_GPS_HANDLER            0
 
 // Only one of those 2 should be enabled!
 #define RPI_ADD_SPI_TEST                0

fsfw_hal

@@ -1 +1 @@
-Subproject commit fce40ebf9a4a45bafedaee2fc87e5aa10e49fdcc
+Subproject commit 2533af3b53804bc68436236370911e013a2b8f64

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -19,11 +19,11 @@ ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence)
             DeviceHandlerIF::PERFORM_OPERATION);
 
     // Radiation sensor
-//    thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-//    thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-//    thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
-//    thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
-//    thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
     //    if (length != 3000) {
     //        sif::warning << "pollingSequenceInitDefault: Frequency changed. Make sure timing critical "
     //                << "SUS sensors still produce correct values" << std::endl;
@@ -619,6 +619,16 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
     thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
+
+#if RPI_TEST_GPS_HANDLER == 1
+    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+
+    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.5, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
+#endif
     static_cast<void>(length);
     if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "Test PST initialization failed" << std::endl;
@@ -627,6 +637,7 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
     return HasReturnvaluesIF::RETURN_OK;
 }
 
+#if TE7020 == 1
 ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
     uint32_t length = thisSequence->getPeriodMs();
 
@@ -675,4 +686,4 @@ ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
-
+#endif /* TE7020 == 1 */

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h

@@ -1,7 +1,14 @@
 #ifndef POLLINGSEQUENCEFACTORY_H_
 #define POLLINGSEQUENCEFACTORY_H_
 
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "OBSWConfig.h"
+#if defined(RASPBERRY_PI)
+#include "rpiConfig.h"
+#elif defined(XIPHOS_Q7S)
+#include "q7sConfig.h"
+#endif
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 class FixedTimeslotTaskIF;
 
@@ -48,11 +55,13 @@ ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);
  */
 ReturnValue_t pstTest(FixedTimeslotTaskIF* thisSequence);
 
-
+#if TE7020 == 1
 /**
  * @brief   This polling sequence will be created when the software is compiled for the TE0720.
  */
 ReturnValue_t pollingSequenceTE0720(FixedTimeslotTaskIF* thisSequence);
+#endif
+
 }
 
 

mission/devices/GPSHandler.cpp

@@ -50,11 +50,25 @@ ReturnValue_t GPSHandler::scanForReply(const uint8_t *start, size_t len,
 		DeviceCommandId_t *foundId, size_t *foundLen) {
     // Pass data to GPS library
     if(len > 0) {
+        sif::info << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
+        if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
+            // TODO: Check whether data is valid by chcking whether NMEA start string is valid
+            commandExecuted = true;
+        }
         int result = lwgps_process(&gpsData, start, len);
-        if(result != 0) {
+        if(result != 1) {
             sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps"
                     << std::endl;
         }
+        else {
+            sif::info << "GPS Data" << std::endl;
+            // Print messages
+            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);
+        }
+        *foundLen = len;
     }
 	return HasReturnvaluesIF::RETURN_OK;