improve SW switch handling

- also add CANT_GET_FIX event

linux/devices/GpsHyperionLinuxController.cpp

@@ -34,7 +34,6 @@ ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
                                                            uint32_t *msToReachTheMode) {
   if (not modeCommanded) {
     if (mode == MODE_ON or mode == MODE_OFF) {
-      gpsNotOpenSwitch = true;
       // 5h time to reach fix
       *msToReachTheMode = MAX_SECONDS_TO_REACH_FIX;
       maxTimeToReachFix.resetTimer();
@@ -46,6 +45,7 @@ ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
   if (mode == MODE_OFF) {
     PoolReadGuard pg(&gpsSet);
     gpsSet.setValidity(false, true);
+    oneShotSwitches.reset();
   }
   return returnvalue::OK;
 }
@@ -102,7 +102,6 @@ ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
     if (not callAgainImmediately) {
       handleQueue();
       poolManager.performHkOperation();
-      TaskFactory::delayTask(200);
     }
   }
   // Should never be reached.
@@ -115,25 +114,24 @@ ReturnValue_t GpsHyperionLinuxController::initialize() {
     return result;
   }
   auto openError = [&](const char *type, int error) {
-    if (gpsNotOpenSwitch) {
-      // Opening failed
+  // Opening failed
 #if FSFW_VERBOSE_LEVEL >= 1
-      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
-                   << " failed | Error " << error << " | " << gps_errstr(error) << std::endl;
+    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
+                 << " failed | Error " << error << " | " << gps_errstr(error) << std::endl;
 #endif
-      gpsNotOpenSwitch = false;
-    }
   };
   if (readMode == ReadModes::SOCKET) {
     int retval = gps_open("localhost", DEFAULT_GPSD_PORT, &gps);
     if (retval != 0) {
       openError("Socket", retval);
+      return ObjectManager::CHILD_INIT_FAILED;
     }
     gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
   } else if (readMode == ReadModes::SHM) {
     int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps);
     if (retval != 0) {
       openError("SHM", retval);
+      return ObjectManager::CHILD_INIT_FAILED;
     }
   }
   return result;
@@ -147,8 +145,8 @@ void GpsHyperionLinuxController::performControlOperation() {}
 
 bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
   auto readError = [&]() {
-    if (gpsReadFailedSwitch) {
-      gpsReadFailedSwitch = false;
+    if (oneShotSwitches.gpsReadFailedSwitch) {
+      oneShotSwitches.gpsReadFailedSwitch = false;
       sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
                       "Error "
                    << errno << " | " << gps_errstr(errno) << std::endl;
@@ -156,23 +154,21 @@ bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
   };
   if (readMode == ReadModes::SOCKET) {
     // Perform other necessary handling if not data seen for 0.2 seconds.
-    if (gps_waiting(&gps, 0)) {
+    if (gps_waiting(&gps, 200000)) {
       if (-1 == gps_read(&gps)) {
         readError();
         return false;
       }
+      oneShotSwitches.gpsReadFailedSwitch = true;
       if (MODE_SET != (MODE_SET & gps.set)) {
-        if (mode == MODE_ON) {
-          if (noModeSetCntr >= 0) {
-            noModeSetCntr++;
-          }
-          if (noModeSetCntr == 10) {
-            // TODO: Trigger event here
-            sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be "
-                            "read for 10 consecutive reads"
-                         << std::endl;
-            noModeSetCntr = -1;
-          }
+        if (mode != MODE_OFF and maxTimeToReachFix.hasTimedOut() and
+            oneShotSwitches.cantGetFixSwitch) {
+          // TODO: Trigger event here
+          sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be "
+                          "read for 10 consecutive reads"
+                       << std::endl;
+          triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.timeout);
+          oneShotSwitches.cantGetFixSwitch = false;
           // did not event get mode, nothing to see.
           return false;
         }

linux/devices/GpsHyperionLinuxController.h

@@ -58,10 +58,19 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
   const char* currentClientBuf = nullptr;
   ReadModes readMode = ReadModes::SOCKET;
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
-  bool modeCommanded = true;
+  bool modeCommanded = false;
   bool timeInit = false;
-  bool gpsNotOpenSwitch = true;
-  bool gpsReadFailedSwitch = true;
+
+  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);

mission/devices/devicedefinitions/GPSDefinitions.h

@@ -13,6 +13,9 @@ static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::GPS_HANDLER;
 //! [EXPORT] : [COMMENT] Fix has changed. P1: Old fix. P2: New fix
 //! 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix
 static constexpr Event GPS_FIX_CHANGE = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
+//! [EXPORT] : [COMMENT] Could not get fix in maximum allowed time. P1: Maximum allowed time
+//! to get a fix after the GPS was switched on.
+static constexpr Event CANT_GET_FIX = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
 
 static constexpr DeviceCommandId_t GPS_REPLY = 0;
 static constexpr DeviceCommandId_t TRIGGER_RESET_PIN_GNSS = 5;