Merge remote-tracking branch 'origin/develop' into mueller/acs-ss-init

2022-05-03 16:02:45 +02:00 · 2022-05-03 16:02:45 +02:00 · 3b40e622fe
parent aa9acef76a a9cf5f9ae9
commit 3b40e622fe
8 changed files with 317 additions and 203 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -13,9 +13,14 @@ list yields a list of all related PRs for each release.

 # [v1.11.0]

+## Fixed
+
+- Host build working again
+
 ## Added

- ACS Subsystem
+- ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/228
+- Custom Gomspace FDIR which disabled most of the default FDIR functionality
 - Custom Syrlinks FDIR which disabled most of the default FDIR functionality

 ## Changed
@ -26,6 +31,8 @@ list yields a list of all related PRs for each release.
 - Add `/usr/local/bin` to PATH. All shell scripts are there now
 - Rename GPS device to `/dev/gps0`
 - Add Syrlinks and TMP devices to Software by default
+- Update GPS Linux Hyperion Handler to use socket interface. Still allows switching
+  back to SHM interface, but the SHM interface is a possible cause of SW crashes

 # [v1.10.1]

--- a/bsp_q7s/boardtest/Q7STestTask.cpp
+++ b/bsp_q7s/boardtest/Q7STestTask.cpp
@ -23,8 +23,9 @@
 Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
  doTestSdCard = false;
  doTestScratchApi = false;
-  doTestGps = false;
-  doTestXadc = true;
+  doTestGpsShm = false;
+  doTestGpsSocket = false;
+  doTestXadc = false;
 }

 ReturnValue_t Q7STestTask::performOneShotAction() {
@ -36,15 +37,20 @@ ReturnValue_t Q7STestTask::performOneShotAction() {
  }
  // testJsonLibDirect();
  // testDummyParams();
-  // testProtHandler();
+  if (doTestProtHandler) {
+    testProtHandler();
+  }
  FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
  testFileSystemHandlerDirect(opCode);
  return TestTask::performOneShotAction();
 }

 ReturnValue_t Q7STestTask::performPeriodicAction() {
-  if (doTestGps) {
-    testGpsDaemon();
+  if (doTestGpsShm) {
+    testGpsDaemonShm();
+  }
+  if (doTestGpsSocket) {
+    testGpsDaemonSocket();
  }
  if (doTestXadc) {
    xadcTest();
@ -150,13 +156,13 @@ void Q7STestTask::testDummyParams() {
  result = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1, test);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
-                 << " does not exist" << std::endl;
+        << " does not exist" << std::endl;
  }
  std::string test2;
  result = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2, test2);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
-                 << " does not exist" << std::endl;
+        << " does not exist" << std::endl;
  }
  sif::info << "Test value (3 expected): " << test << std::endl;
  sif::info << "Test value 2 (\"blirb\" expected): " << test2 << std::endl;
@ -166,7 +172,7 @@ ReturnValue_t Q7STestTask::initialize() {
  coreController = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
  if (coreController == nullptr) {
    sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object"
-                 << std::endl;
+        << std::endl;
  }
  return TestTask::initialize();
 }
@ -176,14 +182,14 @@ void Q7STestTask::testProtHandler() {
  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  // If any chips are unlocked, lock them here
  result = coreController->setBootCopyProtection(xsc::Chip::ALL_CHIP, xsc::Copy::ALL_COPY, true,
-                                                 opPerformed, true);
+      opPerformed, true);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
  }

  // unlock own copy
  result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, false,
-                                                 opPerformed, true);
+      opPerformed, true);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
  }
@ -197,7 +203,7 @@ void Q7STestTask::testProtHandler() {

  // lock own copy
  result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
-                                                 opPerformed, true);
+      opPerformed, true);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
  }
@ -211,7 +217,7 @@ void Q7STestTask::testProtHandler() {

  // unlock specific copy
  result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, false,
-                                                 opPerformed, true);
+      opPerformed, true);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
  }
@ -225,7 +231,7 @@ void Q7STestTask::testProtHandler() {

  // lock specific copy
  result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, true,
-                                                 opPerformed, true);
+      opPerformed, true);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
  }
@ -238,8 +244,8 @@ void Q7STestTask::testProtHandler() {
  }
 }

-void Q7STestTask::testGpsDaemon() {
-  gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
+void Q7STestTask::testGpsDaemonShm() {
+  gpsmm gpsmm(GPSD_SHARED_MEMORY, "");
  gps_data_t* gps;
  gps = gpsmm.read();
  if (gps == nullptr) {
@ -266,11 +272,74 @@ void Q7STestTask::testGpsDaemon() {
  sif::info << "Speed(m/s): " << gps->fix.speed << std::endl;
 }

+void Q7STestTask::testGpsDaemonSocket() {
+  if(gpsmmShmPtr == nullptr) {
+    gpsmmShmPtr = new gpsmm("localhost", DEFAULT_GPSD_PORT);
+  }
+  // The data from the device will generally be read all at once. Therefore, we
+  // can set all field here
+  if (not gpsmmShmPtr->is_open()) {
+    if (gpsNotOpenSwitch) {
+      // Opening failed
+#if FSFW_VERBOSE_LEVEL >= 1
+      sif::warning << "Q7STestTask::testGpsDaemonSocket: Opening GPSMM failed | "
+          << "Error " << errno << " | " << gps_errstr(errno) << std::endl;
+#endif
+
+      gpsNotOpenSwitch = false;
+    }
+    return;
+  }
+  // Stopwatch watch;
+  gps_data_t *gps = nullptr;
+  gpsmmShmPtr->stream(WATCH_ENABLE | WATCH_JSON);
+  if(not gpsmmShmPtr->waiting(50000000)) {
+    return;
+  }
+  gps = gpsmmShmPtr->read();
+  if (gps == nullptr) {
+    if (gpsReadFailedSwitch) {
+      gpsReadFailedSwitch = false;
+      sif::warning << "Q7STestTask::testGpsDaemonSocket: Reading GPS data failed"
+          << std::endl;
+    }
+    return;
+  }
+  if (MODE_SET != (MODE_SET & gps->set)) {
+    if (noModeSetCntr >= 0) {
+      noModeSetCntr++;
+    }
+    if (noModeSetCntr == 10) {
+      // TODO: Trigger event here
+      sif::warning << "Q7STestTask::testGpsDaemonSocket: No mode could be "
+          "read for 10 consecutive reads"
+          << std::endl;
+      noModeSetCntr = -1;
+    }
+    return;
+  } else {
+    noModeSetCntr = 0;
+  }
+  sif::info << "-- Q7STestTask: GPS socket read test --" << std::endl;
+#if LIBGPS_VERSION_MINOR <= 17
+  time_t timeRaw = gps->fix.time;
+#else
+  time_t timeRaw = gps->fix.time.tv_sec;
+#endif
+  std::tm* time = gmtime(&timeRaw);
+  sif::info << "Time: " << std::put_time(time, "%c %Z") << std::endl;
+  sif::info << "Visible satellites: " << gps->satellites_visible << std::endl;
+  sif::info << "Satellites used: " << gps->satellites_used << std::endl;
+  sif::info << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
+  sif::info << "Latitude: " << gps->fix.latitude << std::endl;
+  sif::info << "Longitude: " << gps->fix.longitude << std::endl;
+}
+
 void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
  auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
  if (fsHandler == nullptr) {
    sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
-                 << std::endl;
+        << std::endl;
  }
  FileSystemHandler::FsCommandCfg cfg = {};
  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
@ -297,115 +366,115 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
  };

  switch (opCode) {
-    case (FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      sif::info << "Creating empty file in /tmp folder" << std::endl;
-      // Do not delete file, user can check existence in shell
+  case (FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
+    // No mount prefix, cause file is created in tmp
+    cfg.useMountPrefix = false;
+    sif::info << "Creating empty file in /tmp folder" << std::endl;
+    // Do not delete file, user can check existence in shell
+    fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
+    break;
+  }
+  case (FsOpCodes::REMOVE_TMP_FILE): {
+    sif::info << "Deleting /tmp/test.txt sample file" << std::endl;
+    // No mount prefix, cause file is created in tmp
+    cfg.useMountPrefix = false;
+    if (not std::filesystem::exists("/tmp/test.txt")) {
+      // Creating sample file
+      sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl;
      fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
-      break;
    }
-    case (FsOpCodes::REMOVE_TMP_FILE): {
-      sif::info << "Deleting /tmp/test.txt sample file" << std::endl;
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      if (not std::filesystem::exists("/tmp/test.txt")) {
-        // Creating sample file
-        sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl;
-        fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
-      }
-      result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
-      if (result == HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "File removed successfully" << std::endl;
-      } else {
-        sif::warning << "File removal failed!" << std::endl;
-      }
-      break;
+    result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+      sif::info << "File removed successfully" << std::endl;
+    } else {
+      sif::warning << "File removal failed!" << std::endl;
    }
-    case (FsOpCodes::CREATE_DIR_IN_TMP): {
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      sif::info << "Creating empty file in /tmp folder" << std::endl;
-      // Do not delete file, user can check existence in shell
-      ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg);
-      if (result == HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "Directory created successfully" << std::endl;
-      } else {
-        sif::warning << "Directory creation failed!" << std::endl;
-      }
-      break;
+    break;
+  }
+  case (FsOpCodes::CREATE_DIR_IN_TMP): {
+    // No mount prefix, cause file is created in tmp
+    cfg.useMountPrefix = false;
+    sif::info << "Creating empty file in /tmp folder" << std::endl;
+    // Do not delete file, user can check existence in shell
+    ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg);
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+      sif::info << "Directory created successfully" << std::endl;
+    } else {
+      sif::warning << "Directory creation failed!" << std::endl;
    }
-    case (FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): {
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      if (not std::filesystem::exists("/tmp/test")) {
-        result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
-      } else {
-        // Delete any leftover files to regular dir removal works
-        std::remove("/tmp/test/*");
-      }
-      result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      if (result == HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "Directory removed successfully" << std::endl;
-      } else {
-        sif::warning << "Directory removal failed!" << std::endl;
-      }
-      break;
+    break;
+  }
+  case (FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): {
+    // No mount prefix, cause file is created in tmp
+    cfg.useMountPrefix = false;
+    if (not std::filesystem::exists("/tmp/test")) {
+      result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
+    } else {
+      // Delete any leftover files to regular dir removal works
+      std::remove("/tmp/test/*");
    }
-    case (FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): {
-      result = createNonEmptyTmpDir();
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        return;
-      }
-      result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg);
-      if (result == HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "Directory removed recursively successfully" << std::endl;
-      } else {
-        sif::warning << "Recursive directory removal failed!" << std::endl;
-      }
-      break;
+    result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+      sif::info << "Directory removed successfully" << std::endl;
+    } else {
+      sif::warning << "Directory removal failed!" << std::endl;
    }
-    case (FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): {
-      result = createNonEmptyTmpDir();
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        return;
-      }
-      result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "Directory removal attempt failed as expected" << std::endl;
-      } else {
-        sif::warning << "Directory removal worked when it should not have!" << std::endl;
-      }
-      break;
+    break;
+  }
+  case (FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): {
+    result = createNonEmptyTmpDir();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return;
    }
-    case (FsOpCodes::RENAME_FILE): {
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      if (std::filesystem::exists("/tmp/test.txt")) {
-        fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      }
-      sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl;
-      // Do not delete file, user can check existence in shell
-      fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
-      fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg);
-      break;
+    result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg);
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+      sif::info << "Directory removed recursively successfully" << std::endl;
+    } else {
+      sif::warning << "Recursive directory removal failed!" << std::endl;
    }
-    case (FsOpCodes::APPEND_TO_FILE): {
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      if (std::filesystem::exists("/tmp/test.txt")) {
-        fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      }
-      if (std::filesystem::exists("/tmp/test.txt")) {
-        fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      }
-      sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl;
-      std::string content = "Hello World\n";
-      // Do not delete file, user can check existence in shell
-      fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
-      fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>(content.data()),
-                              content.size(), 0, &cfg);
+    break;
+  }
+  case (FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): {
+    result = createNonEmptyTmpDir();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return;
    }
+    result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      sif::info << "Directory removal attempt failed as expected" << std::endl;
+    } else {
+      sif::warning << "Directory removal worked when it should not have!" << std::endl;
+    }
+    break;
+  }
+  case (FsOpCodes::RENAME_FILE): {
+    // No mount prefix, cause file is created in tmp
+    cfg.useMountPrefix = false;
+    if (std::filesystem::exists("/tmp/test.txt")) {
+      fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
+    }
+    sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl;
+    // Do not delete file, user can check existence in shell
+    fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
+    fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg);
+    break;
+  }
+  case (FsOpCodes::APPEND_TO_FILE): {
+    // No mount prefix, cause file is created in tmp
+    cfg.useMountPrefix = false;
+    if (std::filesystem::exists("/tmp/test.txt")) {
+      fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
+    }
+    if (std::filesystem::exists("/tmp/test.txt")) {
+      fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
+    }
+    sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl;
+    std::string content = "Hello World\n";
+    // Do not delete file, user can check existence in shell
+    fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
+    fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>(content.data()),
+        content.size(), 0, &cfg);
+  }
  }
 }

--- a/bsp_q7s/boardtest/Q7STestTask.h
+++ b/bsp_q7s/boardtest/Q7STestTask.h
@ -1,6 +1,7 @@
 #ifndef BSP_Q7S_BOARDTEST_Q7STESTTASK_H_
 #define BSP_Q7S_BOARDTEST_Q7STESTTASK_H_

+#include <libgpsmm.h>
 #include "test/testtasks/TestTask.h"

 class CoreController;
@ -14,14 +15,22 @@ class Q7STestTask : public TestTask {
 private:
  bool doTestSdCard = false;
  bool doTestScratchApi = false;
-  bool doTestGps = false;
+  bool doTestGpsShm = false;
+  bool doTestGpsSocket = false;
+  bool doTestProtHandler = false;
  bool doTestXadc = false;

+  bool gpsNotOpenSwitch = false;
+  bool gpsReadFailedSwitch = false;
+  int32_t noModeSetCntr = 0;
+  gpsmm* gpsmmShmPtr = nullptr;
+
  CoreController* coreController = nullptr;
  ReturnValue_t performOneShotAction() override;
  ReturnValue_t performPeriodicAction() override;

-  void testGpsDaemon();
+  void testGpsDaemonShm();
+  void testGpsDaemonSocket();

  void testSdCard();
  void fileTests();
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit d61fe7db93b37dd6652dbfee5b7c93f400ac5a11
+Subproject commit 7f6c8b8b123a63546de0d73f0de35900d6c806bf
--- a/linux/devices/GPSHyperionLinuxController.cpp
+++ b/linux/devices/GPSHyperionLinuxController.cpp
@ -24,7 +24,10 @@ GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, obj
  timeUpdateCd.resetTimer();
 }

-GPSHyperionLinuxController::~GPSHyperionLinuxController() {}
+GPSHyperionLinuxController::~GPSHyperionLinuxController() {
+  gps_stream(&gps, WATCH_DISABLE, nullptr);
+  gps_close(&gps);
+}

 void GPSHyperionLinuxController::performControlOperation() {
 #ifdef FSFW_OSAL_LINUX
@ -99,6 +102,27 @@ ReturnValue_t GPSHyperionLinuxController::initialize() {
  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }
+  auto openError = [&](const char *type, int error) {
+    if (gpsNotOpenSwitch) {
+      // Opening failed
+#if FSFW_VERBOSE_LEVEL >= 1
+      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);
+    }
+  } else if (readMode == ReadModes::SHM) {
+    int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps);
+    if (retval != 0) {
+      openError("SHM", retval);
+    }
+  }
  return result;
 }

@ -107,41 +131,29 @@ ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *m
 }

 #ifdef FSFW_OSAL_LINUX
-void GPSHyperionLinuxController::readGpsDataFromGpsd() {
-  gpsmm gpsmm("localhost", DEFAULT_GPSD_PORT);
-  // The data from the device will generally be read all at once. Therefore, we
-  // can set all field here
-  if (not gpsmm.is_open()) {
-    if (gpsNotOpenSwitch) {
-      // Opening failed
-#if FSFW_VERBOSE_LEVEL >= 1
-      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed | "
-                   << "Error " << errno << " | " << gps_errstr(errno) << std::endl;
-#endif

-      gpsNotOpenSwitch = false;
+void GPSHyperionLinuxController::readGpsDataFromGpsd() {
+  auto readError = [&](int error) {
+    if (gpsReadFailedSwitch) {
+      gpsReadFailedSwitch = false;
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
+                      "Error "
+                   << error << " | " << gps_errstr(error) << std::endl;
    }
-    return;
-  }
-  // Stopwatch watch;
-  gps_data_t *gps = nullptr;
-  gps = gpsmm.stream(WATCH_ENABLE | WATCH_JSON);
-  if (gps == nullptr) {
-    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd:: Setting GPSD watch "
-                    "policy failed"
-                 << std::endl;
-  }
-  while (gpsmm.waiting(2000)) {
-    gps = gpsmm.read();
-    if (gps == nullptr) {
-      if (gpsReadFailedSwitch) {
-        gpsReadFailedSwitch = false;
-        sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed"
-                     << std::endl;
-      }
+  };
+  currentClientBuf = gps_data(&gps);
+  if (readMode == ReadModes::SOCKET) {
+    gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
+    // Exit if no data is seen in 2 seconds (should not happen)
+    if (not gps_waiting(&gps, 2000000)) {
      return;
    }
-    if (MODE_SET != (MODE_SET & gps->set)) {
+    int result = gps_read(&gps);
+    if (result == -1) {
+      readError(result);
+      return;
+    }
+    if (MODE_SET != (MODE_SET & gps.set)) {
      if (noModeSetCntr >= 0) {
        noModeSetCntr++;
      }
@ -152,24 +164,31 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
                     << std::endl;
        noModeSetCntr = -1;
      }
+    }
+    noModeSetCntr = 0;
+  } else if (readMode == ReadModes::SHM) {
+    int result = gps_read(&gps);
+    if (result == -1) {
+      readError(result);
      return;
-    } else {
-      noModeSetCntr = 0;
    }
  }
-  gps = gpsmm.stream(WATCH_DISABLE);
+  handleGpsRead();
+}
+
+ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
  PoolReadGuard pg(&gpsSet);
  if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading dataset failed" << std::endl;
 #endif
-    return;
+    return RETURN_FAILED;
  }

  bool validFix = false;
  static_cast<void>(validFix);
  // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
-  int newFixMode = gps->fix.mode;
+  int newFixMode = gps.fix.mode;
  if (newFixMode == 2 or newFixMode == 3) {
    validFix = true;
  }
@ -177,7 +196,7 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFixMode);
  }
  gpsSet.fixMode.value = newFixMode;
-  if (gps->fix.mode == 0 or gps->fix.mode == 1) {
+  if (gps.fix.mode == 0 or gps.fix.mode == 1) {
    if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
      // We are supposed to be on and functioning, but not fix was found
      if (mode == MODE_ON or mode == MODE_NORMAL) {
@ -186,51 +205,51 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
      modeCommanded = false;
    }
    gpsSet.setValidity(false, true);
-  } else if (gps->satellites_used > 0) {
+  } else if (gps.satellites_used > 0) {
    gpsSet.setValidity(true, true);
  }

-  gpsSet.satInUse.value = gps->satellites_used;
-  gpsSet.satInView.value = gps->satellites_visible;
+  gpsSet.satInUse.value = gps.satellites_used;
+  gpsSet.satInView.value = gps.satellites_visible;

-  if (std::isfinite(gps->fix.latitude)) {
+  if (std::isfinite(gps.fix.latitude)) {
    // Negative latitude -> South direction
-    gpsSet.latitude.value = gps->fix.latitude;
+    gpsSet.latitude.value = gps.fix.latitude;
  } else {
    gpsSet.latitude.setValid(false);
  }

-  if (std::isfinite(gps->fix.longitude)) {
+  if (std::isfinite(gps.fix.longitude)) {
    // Negative longitude -> West direction
-    gpsSet.longitude.value = gps->fix.longitude;
+    gpsSet.longitude.value = gps.fix.longitude;
  } else {
    gpsSet.longitude.setValid(false);
  }

-  if (std::isfinite(gps->fix.altitude)) {
-    gpsSet.altitude.value = gps->fix.altitude;
+  if (std::isfinite(gps.fix.altitude)) {
+    gpsSet.altitude.value = gps.fix.altitude;
  } else {
    gpsSet.altitude.setValid(false);
  }

-  if (std::isfinite(gps->fix.speed)) {
-    gpsSet.speed.value = gps->fix.speed;
+  if (std::isfinite(gps.fix.speed)) {
+    gpsSet.speed.value = gps.fix.speed;
  } else {
    gpsSet.speed.setValid(false);
  }

 #if LIBGPS_VERSION_MINOR <= 17
-  gpsSet.unixSeconds.value = gps->fix.time;
+  gpsSet.unixSeconds.value = gps.fix.time;
 #else
-  gpsSet.unixSeconds.value = gps->fix.time.tv_sec;
+  gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
 #endif
  timeval time = {};
  time.tv_sec = gpsSet.unixSeconds.value;
 #if LIBGPS_VERSION_MINOR <= 17
-  double fractionalPart = gps->fix.time - std::floor(gps->fix.time);
+  double fractionalPart = gps.fix.time - std::floor(gps.fix.time);
  time.tv_usec = fractionalPart * 1000.0 * 1000.0;
 #else
-  time.tv_usec = gps->fix.time.tv_nsec / 1000;
+  time.tv_usec = gps.fix.time.tv_nsec / 1000;
 #endif
  std::time_t t = std::time(nullptr);
  if (time.tv_sec == t) {
@ -271,26 +290,28 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
  if (debugHyperionGps) {
    sif::info << "-- Hyperion GPS Data --" << std::endl;
 #if LIBGPS_VERSION_MINOR <= 17
-    time_t timeRaw = gps->fix.time;
+    time_t timeRaw = gps.fix.time;
 #else
-    time_t timeRaw = gps->fix.time.tv_sec;
+    time_t timeRaw = gps.fix.time.tv_sec;
 #endif
    std::tm *time = gmtime(&timeRaw);
    std::cout << "Time: " << std::put_time(time, "%c %Z") << std::endl;
-    std::cout << "Visible satellites: " << gps->satellites_visible << std::endl;
-    std::cout << "Satellites used: " << gps->satellites_used << std::endl;
-    std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
-    std::cout << "Latitude: " << gps->fix.latitude << std::endl;
-    std::cout << "Longitude: " << gps->fix.longitude << std::endl;
+    std::cout << "Visible satellites: " << gps.satellites_visible << std::endl;
+    std::cout << "Satellites used: " << gps.satellites_used << std::endl;
+    std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps.fix.mode << std::endl;
+    std::cout << "Latitude: " << gps.fix.latitude << std::endl;
+    std::cout << "Longitude: " << gps.fix.longitude << std::endl;
 #if LIBGPS_VERSION_MINOR <= 17
-    std::cout << "Altitude(MSL): " << gps->fix.altitude << std::endl;
+    std::cout << "Altitude(MSL): " << gps.fix.altitude << std::endl;
 #else
-    std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
+    std::cout << "Altitude(MSL): " << gps.fix.altMSL << std::endl;
 #endif
-    std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
+    std::cout << "Speed(m/s): " << gps.fix.speed << std::endl;
    std::time_t t = std::time(nullptr);
    std::tm tm = *std::gmtime(&t);
    std::cout << "C Time: " << std::put_time(&tm, "%c") << std::endl;
  }
+  return RETURN_OK;
 }
+
 #endif
--- a/linux/devices/GPSHyperionLinuxController.h
+++ b/linux/devices/GPSHyperionLinuxController.h
@ -24,6 +24,8 @@ 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();
@ -47,8 +49,13 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                        LocalDataPoolManager& poolManager) override;

+  ReturnValue_t handleGpsRead();
+
 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 = true;
  bool timeInit = true;
--- a/mission/devices/PCDUHandler.cpp
+++ b/mission/devices/PCDUHandler.cpp
@ -100,14 +100,9 @@ void PCDUHandler::readCommandQueue() {

  for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
       result = commandQueue->receiveMessage(&command)) {
-    result = commandQueue->receiveMessage(&command);
-    if (result != RETURN_OK) {
-      return;
-    }
-
    result = poolManager.handleHousekeepingMessage(&command);
    if (result == RETURN_OK) {
-      return;
+      continue;
    }
  }
 }
--- a/scripts/q7s-cp.py
+++ b/scripts/q7s-cp.py
@ -11,16 +11,27 @@ def main():
    print(f"Running command: {cmd}")
    result = os.system(cmd)
    if result != 0:
-        print("")
-        print("Removing problematic SSH key and trying again..")
-        remove_ssh_key_cmd = (
-            'ssh-keygen -f "${HOME}/.ssh/known_hosts" -R "[localhost]:1535"'
-        )
-        os.system(remove_ssh_key_cmd)
+        prompt_ssh_key_removal()
        print(f'Running command "{cmd}"')
        result = os.system(cmd)


+def prompt_ssh_key_removal():
+    do_remove_key = input("Do you want to remove problematic keys on localhost ([Y]/n)?: ")
+    if not do_remove_key.lower() in ["y", "yes", "1", ""]:
+        sys.exit(1)
+    port = 0
+    while True:
+        port = input("Enter port to remove: ")
+        if not port.isdecimal():
+            print("Invalid port detected")
+        else:
+            break
+    cmd = f'ssh-keygen -f "${{HOME}}/.ssh/known_hosts" -R "[localhost]:${port}"'
+    print(f"Removing problematic SSH key with command {cmd}..")
+    os.system(cmd)
+
+
 def handle_args():
    help_string = (
        "This script copies files to the Q7S as long as port forwarding is active.\n"
@ -58,8 +69,7 @@ def handle_args():
    )
    # Positional argument(s)
    parser.add_argument(
-        "source", help="Source files to copy or target files to copy back to host",
-         nargs="+"
+        "source", help="Source files to copy or target files to copy back to host"
    )
    return parser.parse_args()

@ -72,10 +82,6 @@ def build_cmd(args):
    address = ""
    port_args = ""
    target = args.target
-    if args.invert and len(args.source) > 1:
-        print("Multiple source files not allowed for inverse copying")
-        sys.exit(1)
-    source_files = " ".join(args.source)
    if args.flatsat:
        address = "eive@flatsat.eive.absatvirt.lw"
    else:
@ -92,9 +98,9 @@ def build_cmd(args):
        else:
            target = args.target
    if args.invert:
-        cmd += f"{port_args} {address}:{source_files} {target}"
+        cmd += f"{port_args} {address}:{args.source} {target}"
    else:
-        cmd += f"{port_args} {source_files} {address}:{target}"
+        cmd += f"{port_args} {args.source} {address}:{target}"
    return cmd