SHM and socket readout working now

CHANGELOG.md

@@ -15,10 +15,9 @@ list yields a list of all related PRs for each release.
 
 ## Added
 
-
+- Custom Gomspace FDIR which disabled most of the default FDIR functionality
 - Custom Syrlinks FDIR which disabled most of the default FDIR functionality
 
-
 ## Changed
 
 - PCDU handler only called once in PST, but can handle multiple messages now
@@ -27,6 +26,8 @@ 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]
 

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;
 }
 
@@ -109,42 +133,27 @@ ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *m
 #ifdef FSFW_OSAL_LINUX
 
 void GPSHyperionLinuxController::readGpsDataFromGpsd() {
-  gps_data_t *gps = nullptr;
-  auto openError = [&](const char *type) {
-    if (gpsNotOpenSwitch) {
-      // Opening failed
-#if FSFW_VERBOSE_LEVEL >= 1
-      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
-                   << " failed | Error " << errno << " | " << gps_errstr(errno) << std::endl;
-#endif
-      gpsNotOpenSwitch = false;
-    }
-  };
-  auto readError = [&]() {
+  auto readError = [&](int error) {
     if (gpsReadFailedSwitch) {
       gpsReadFailedSwitch = false;
-      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed"
-                   << std::endl;
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
+                      "Error "
+                   << error << " | " << gps_errstr(error) << std::endl;
     }
   };
+  currentClientBuf = gps_data(&gps);
   if (readMode == ReadModes::SOCKET) {
-    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()) {
-      return openError("Socket");
-    }
-    // Stopwatch watch;
-    gpsmm.stream(WATCH_ENABLE | WATCH_JSON);
-    if (not gpsmm.waiting(50000000)) {
+    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;
     }
-    gps = gpsmm.read();
-    if (gps == nullptr) {
-      readError();
+    int result = gps_read(&gps);
+    if (result == -1) {
+      readError(result);
       return;
     }
-    if (MODE_SET != (MODE_SET & gps->set)) {
+    if (MODE_SET != (MODE_SET & gps.set)) {
       if (noModeSetCntr >= 0) {
         noModeSetCntr++;
       }
@@ -155,27 +164,19 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
                      << std::endl;
         noModeSetCntr = -1;
       }
-      return;
-    } else {
-      noModeSetCntr = 0;
     }
-  } else {
-    gpsmm gpsmm(GPSD_SHARED_MEMORY, "");
-    if (not gpsmm.is_open()) {
-      return openError("SHM");
-    }
-    gps = gpsmm.read();
-    if (gps == nullptr) {
-      readError();
+    noModeSetCntr = 0;
+  } else if (readMode == ReadModes::SHM) {
+    int result = gps_read(&gps);
+    if (result == -1) {
+      readError(result);
       return;
     }
   }
-  if (gps != nullptr) {
-    handleGpsRead(gps);
-  }
+  handleGpsRead();
 }
 
-ReturnValue_t GPSHyperionLinuxController::handleGpsRead(gps_data_t *gps) {
+ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
   PoolReadGuard pg(&gpsSet);
   if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
@@ -187,7 +188,7 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead(gps_data_t *gps) {
   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;
   }
@@ -195,7 +196,7 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead(gps_data_t *gps) {
     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) {
@@ -204,51 +205,51 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead(gps_data_t *gps) {
       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) {
@@ -289,23 +290,23 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead(gps_data_t *gps) {
   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;

linux/devices/GPSHyperionLinuxController.h

@@ -49,11 +49,13 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
 
-  ReturnValue_t handleGpsRead(gps_data_t* gps);
+  ReturnValue_t handleGpsRead();
 
  private:
   GpsPrimaryDataset gpsSet;
-  ReadModes readMode = ReadModes::SHM;
+  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;