Merge pull request 'GPS Refactoring' (#123) from mueller/gps-tests into develop

Reviewed-on: #123
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>

CMakeLists.txt

@@ -66,6 +66,7 @@ set(LIB_ARCSEC wire)
 set(THIRD_PARTY_FOLDER thirdparty)
 set(LIB_CXX_FS -lstdc++fs)
 set(LIB_CATCH2 Catch2)
+set(LIB_GPS gps)
 set(LIB_JSON_NAME nlohmann_json::nlohmann_json)
 
 # Set path names
@@ -221,6 +222,7 @@ if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG))
     if(TGT_BSP MATCHES "arm/q7s")
         target_link_libraries(${TARGET_NAME} PRIVATE
             ${LIB_ARCSEC}
+            ${LIB_GPS}
         )
     endif()
 endif()

Justfile

@@ -5,5 +5,8 @@ default: q7s-debug-make
 q7s-debug-make:
 	{{python_script}} -o linux -g make -b debug -t "arm/q7s" -l build-Debug-Q7S
 
+q7s-release-make:
+	{{python_script}} -o linux -g make -b release -t "arm/q7s" -l build-Release-Q7S
+
 q7s-debug-ninja:
 	{{python_script}} -o linux -g ninja -b debug -t "arm/q7s" -l build-Debug-Q7S

README.md

@@ -1045,26 +1045,7 @@ cat file.bin | hexdump -v -n X
 
 ## Preparation of a fresh rootfs and SD card
 
-This section summarizes important changes between a fresh rootfs and the current
+See [q7s-package repository README](https://egit.irs.uni-stuttgart.de/eive/q7s-package)
-EIVE implementation
-
-### rootfs
-
-- Mount point `/mnt/sd0` created for SD card 0. Created with `mkdir`
-- Mount point `/mnt/sd1` created for SD card 1. Created with `mkdir`
-- Folder `scripts` in `/home/root` folder.
-- `scripts` folder currently contains a few shell helper scripts
-- Folder `profile.d` in `/etc` folder which contains the `path-set.sh` script
-  which is sourced at software startup
-- Library `libwire.so` in `/usr/lib` folder
-
-### SD Cards
-
-- Folder `bin` for binaries, for example the OBSW
-- Folder `misc` for miscellaneous files. Contains `ls` for directory listings
-- Folder `tc` for telecommands
-- Folder `tm` for telemetry
-- Folder `xdi` for XDI components (e.g. for firmware or device tree updates)
 
 # <a id="static-code-analysis"></a> Running cppcheck on the Software
 

bsp_linux_board/ObjectFactory.cpp

@@ -14,7 +14,7 @@
 #include "mission/core/GenericFactory.h"
 #include "mission/utility/TmFunnel.h"
 #include <mission/devices/GPSHyperionHandler.h>
-#include "mission/devices/GyroADIS16507Handler.h"
+#include "mission/devices/GyroADIS1650XHandler.h"
 
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
 #include "fsfw/tmtcservices/CommandingServiceBase.h"

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -12,17 +12,28 @@
 #include "test/DummyParameter.h"
 
 #include <nlohmann/json.hpp>
+#include <gps.h>
+#include <libgpsmm.h>
 
+#include <ctime>
 #include <iostream>
+#include <iomanip>
 #include <fstream>
 #include <cstdio>
 
 Q7STestTask::Q7STestTask(object_id_t objectId): TestTask(objectId) {
+    doTestSdCard = false;
+    doTestScratchApi = false;
+    doTestGps = false;
 }
 
 ReturnValue_t Q7STestTask::performOneShotAction() {
-    //testSdCard();
+    if (doTestSdCard) {
-    //testScratchApi();
+        testSdCard();
+    }
+    if (doTestScratchApi) {
+        testScratchApi();
+    }
     //testJsonLibDirect();
     //testDummyParams();
     //testProtHandler();
@@ -31,6 +42,13 @@ ReturnValue_t Q7STestTask::performOneShotAction() {
     return TestTask::performOneShotAction();
 }
 
+ReturnValue_t Q7STestTask::performPeriodicAction() {
+    if(doTestGps) {
+        testGpsDaemon();
+    }
+    return TestTask::performPeriodicAction();
+}
+
 void Q7STestTask::testSdCard() {
     using namespace std;
     Stopwatch stopwatch;
@@ -224,6 +242,26 @@ void Q7STestTask::testProtHandler() {
     }
 }
 
+void Q7STestTask::testGpsDaemon() {
+    gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
+    gps_data_t* gps;
+    gps = gpsmm.read();
+    if(gps == nullptr) {
+        sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl;
+    }
+    sif::info << "-- Q7STestTask: GPS shared memory read test --" << std::endl;
+    time_t timeRaw = gps->fix.time.tv_sec;
+    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;
+    sif::info << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
+    sif::info << "Speed(m/s): " << gps->fix.speed << std::endl;
+}
+
 void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
     auto fsHandler = ObjectManager::instance()->
             get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);

bsp_q7s/boardtest/Q7STestTask.h

@@ -9,8 +9,15 @@ public:
 
     ReturnValue_t initialize() override;
 private:
+    bool doTestSdCard = false;
+    bool doTestScratchApi = false;
+    bool doTestGps = false;
+
     CoreController* coreController = nullptr;
     ReturnValue_t performOneShotAction() override;
+    ReturnValue_t performPeriodicAction() override;
+
+    void testGpsDaemon();
 
     void testSdCard();
     void fileTests();

bsp_q7s/core/InitMission.cpp

@@ -117,6 +117,13 @@ void initmission::initTasks() {
     }
 #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
 
+    PeriodicTaskIF* acsCtrl = factory->createPeriodicTask(
+            "ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+    result = acsCtrl->addComponent(objects::GPS_CONTROLLER);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER);
+    }
+
 # if BOARD_TE0720 == 0
     // FS task, task interval does not matter because it runs in permanent loop, priority low
     // because it is a non-essential background task
@@ -202,6 +209,8 @@ void initmission::initTasks() {
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 #endif
 
+    acsCtrl->startTask();
+
     sif::info << "Tasks started.." << std::endl;
 }
 

bsp_q7s/core/ObjectFactory.cpp

@@ -449,14 +449,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
     consumer.str("");
-    consumer << "0x" << std::hex << objects::GPS0_HANDLER;
+    consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
     // GNSS reset pins are active low
     gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
 
     consumer.str("");
-    consumer << "0x" << std::hex << objects::GPS1_HANDLER;
+    consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
     gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
@@ -476,13 +476,13 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
 
     // Enable pins for GNSS
     consumer.str("");
-    consumer << "0x" << std::hex << objects::GPS0_HANDLER;
+    consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
     gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(),
             gpio::DIR_OUT, gpio::LOW);
     gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
 
     consumer.str("");
-    consumer << "0x" << std::hex << objects::GPS1_HANDLER;
+    consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
     gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
@@ -570,14 +570,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     resetArgsGnss0.gnss1 = false;
     resetArgsGnss0.gpioComIF = gpioComIF;
     resetArgsGnss0.waitPeriodMs = 100;
-    auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_DEV,
+    auto gpsHandler0 = new GPSHyperionHandler(objects::GPS_CONTROLLER, objects::NO_OBJECT,
-            UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
+            debugGps);
-    uartCookieGps0->setToFlushInput(true);
-    uartCookieGps0->setReadCycles(6);
-    auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF,
-            uartCookieGps0, debugGps);
     gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
-    gpsHandler0->setStartUpImmediately();
 }
 
 void ObjectFactory::createHeaterComponents() {

bsp_q7s/devices/startracker/StrHelper.cpp

@@ -634,7 +634,7 @@ ReturnValue_t StrHelper::checkFlashActionReply(uint8_t region_, uint32_t address
                 << std::endl;
         return result;
     }
-    uint16_t length;
+    uint16_t length = 0;
     size = sizeof(length);
     const uint8_t* lengthData = data + LENGTH_OFFSET;
     result = SerializeAdapter::deSerialize(&length, lengthData, &size,

common/config/commonObjects.h

@@ -79,8 +79,7 @@ enum commonObjects: uint32_t {
     SUS_12 = 0x44120043,
     SUS_13 = 0x44120044,
 
-    GPS0_HANDLER = 0x44130045,
+    GPS_CONTROLLER = 0x44130045,
-    GPS1_HANDLER = 0x44130146,
 
     RW1 = 0x44120047,
     RW2 = 0x44120148,

fsfw

@@ -1 +1 @@
-Subproject commit b98c85d33fd79853e674f75dadd0a082a962aee4
+Subproject commit c1e0bcee6db652d6c474c87a4099e61ecf86b694

linux/boardtest/SpiTestClass.cpp

@@ -297,31 +297,31 @@ void SpiTestClass::acsInit() {
     GpiodRegularByChip* gpio = nullptr;
     std::string rpiGpioName = "gpiochip0";
     gpio = new GpiodRegularByChip(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
-            gpio::DIR_OUT, 1);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
-            gpio::DIR_OUT, 1);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
-            gpio::DIR_OUT, 1);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
-            gpio::DIR_OUT, 1);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, gyro3L3gd20ChipSelect, "GYRO_2_L3G",
-            gpio::DIR_OUT, 1);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
-            gpio::DIR_OUT, 1);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
-            gpio::DIR_OUT, 1);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 #elif defined(XIPHOS_Q7S)
     GpiodRegularByLineName* gpio = nullptr;

linux/fsfwconfig/OBSWConfig.h.in

@@ -47,8 +47,6 @@ debugging. */
 #define OBSW_ADD_PLOC_MPSOC                         0
 #define OBSW_ADD_SUN_SENSORS                        0
 #define OBSW_ADD_ACS_BOARD                          0
-#define OBSW_ADD_GPS_0                              0
-#define OBSW_ADD_GPS_1                              0
 #define OBSW_ADD_RW                                 0
 #define OBSW_ADD_RTD_DEVICES                        0
 #define OBSW_ADD_TMP_DEVICES                        0
@@ -109,7 +107,7 @@ debugging. */
 #define OBSW_DEBUG_STARTRACKER                      0
 #define OBSW_DEBUG_PLOC_MPSOC                       0
 #define OBSW_DEBUG_PLOC_SUPERVISOR                  0
-#define OBSW_DEBUG_PDEC_HANDLER	                    1
+#define OBSW_DEBUG_PDEC_HANDLER	                    0
 
 /*******************************************************************/
 /** Hardcoded                                                      */

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -614,38 +614,6 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
             DeviceHandlerIF::GET_READ);
 #endif
 
-#if OBSW_ADD_ACS_BOARD == 1
-
-#if OBSW_ADD_GPS_0 == 1
-    uartPstEmpty = false;
-    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
-#endif /* OBSW_ADD_GPS_0 == 1 */
-
-#if OBSW_ADD_GPS_1 == 1
-    uartPstEmpty = false;
-    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
-#endif /* OBSW_ADD_GPS_1 == 1 */
-
-#endif /* OBSW_ADD_ACS_BOARD == 1 */
-
 #if OBSW_ADD_STAR_TRACKER == 1
     uartPstEmpty = false;
     thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);

mission/devices/GPSHyperionHandler.cpp

@@ -4,57 +4,44 @@
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/timemanager/Clock.h"
 
-#include "lwgps/lwgps.h"
+#ifdef FSFW_OSAL_LINUX
+#include <gps.h>
+#include <libgpsmm.h>
+#endif
+
+#include <cmath>
 
 #if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
 #include <filesystem>
 #include <fstream>
 #endif
 
-GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
+GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t parentId,
-        CookieIF *comCookie, bool debugHyperionGps):
+        bool debugHyperionGps):
-        DeviceHandlerBase(objectId, deviceCommunication, comCookie), gpsSet(this),
+        ExtendedControllerBase(objectId, objects::NO_OBJECT), gpsSet(this),
         debugHyperionGps(debugHyperionGps) {
-    lwgps_init(&gpsData);
 }
 
 GPSHyperionHandler::~GPSHyperionHandler() {}
 
-void GPSHyperionHandler::doStartUp() {
+void GPSHyperionHandler::performControlOperation() {
-    if(internalState == InternalStates::NONE) {
+#ifdef FSFW_OSAL_LINUX
-        commandExecuted = false;
+    readGpsDataFromGpsd();
-        internalState = InternalStates::WAIT_FIRST_MESSAGE;
+#endif
-    }
-
-    if(internalState == InternalStates::WAIT_FIRST_MESSAGE) {
-        if(commandExecuted) {
-            internalState = InternalStates::IDLE;
-            setMode(MODE_ON);
-            commandExecuted = false;
-        }
-    }
 }
 
-void GPSHyperionHandler::doShutDown() {
+LocalPoolDataSetBase* GPSHyperionHandler::getDataSetHandle(sid_t sid) {
-    internalState = InternalStates::NONE;
+    return nullptr;
-    commandExecuted = false;
-    setMode(_MODE_POWER_DOWN);
 }
 
-ReturnValue_t GPSHyperionHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+ReturnValue_t GPSHyperionHandler::checkModeCommand(Mode_t mode, Submode_t submode,
-    return NOTHING_TO_SEND;
+    uint32_t *msToReachTheMode) {
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+ReturnValue_t GPSHyperionHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-    return NOTHING_TO_SEND;
+    const uint8_t *data, size_t size) {
-}
+    switch(actionId) {
-
-ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
-        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-        size_t commandDataLen) {
-    // By default, send nothing
-    rawPacketLen = 0;
-    switch(deviceCommand) {
     case(GpsHyperion::TRIGGER_RESET_PIN): {
         if(resetCallback != nullptr) {
             PoolReadGuard pg(&gpsSet);
@@ -69,99 +56,6 @@ ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
-        DeviceCommandId_t *foundId, size_t *foundLen) {
-    // Pass data to GPS library
-    if(len > 0) {
-        // sif::debug << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
-        if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
-            // TODO: Check whether data is valid by checking whether NMEA start string is valid?
-            commandExecuted = true;
-        }
-        int result = lwgps_process(&gpsData, start, len);
-        if(result != 1) {
-            sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps"
-                    << std::endl;
-        }
-        else {
-            // The data from the device will generally be read all at once. Therefore, we
-            // can set all field here
-            PoolReadGuard pg(&gpsSet);
-            if(pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
-                sif::warning << "GPSHyperionHandler::scanForReply: Reading dataset failed"
-                        << std::endl;
-#endif
-            }
-            // Print messages
-            if(gpsData.is_valid) {
-                // Set all entries valid now, set invalid on case basis if values are sanitized
-                gpsSet.setValidity(true, true);
-            }
-            // Negative latitude -> South direction
-            gpsSet.latitude.value = gpsData.latitude;
-            // Negative longitude -> West direction
-            gpsSet.longitude.value = gpsData.longitude;
-            if(gpsData.altitude > 600000.0 or gpsData.altitude < 400000.0) {
-                gpsSet.altitude.setValid(false);
-            }
-            else {
-                gpsSet.altitude.setValid(true);
-                gpsSet.altitude.value = gpsData.altitude;
-            }
-            gpsSet.fixMode.value = gpsData.fix_mode;
-            gpsSet.satInUse.value = gpsData.sats_in_use;
-            Clock::TimeOfDay_t timeStruct = {};
-            timeStruct.day = gpsData.date;
-            timeStruct.hour = gpsData.hours;
-            timeStruct.minute = gpsData.minutes;
-            timeStruct.month = gpsData.month;
-            timeStruct.second = gpsData.seconds;
-            // Convert two-digit year to full year (AD)
-            timeStruct.year = gpsData.year + 2000;
-            timeval timeval = {};
-            Clock::convertTimeOfDayToTimeval(&timeStruct, &timeval);
-            gpsSet.year = timeStruct.year;
-            gpsSet.month = gpsData.month;
-            gpsSet.day = gpsData.date;
-            gpsSet.hours = gpsData.hours;
-            gpsSet.minutes = gpsData.minutes;
-            gpsSet.seconds = gpsData.seconds;
-            gpsSet.unixSeconds = timeval.tv_sec;
-            if(debugHyperionGps) {
-                sif::info << "GPS Data" << std::endl;
-                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);
-            }
-#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
-            std::string filename = "/mnt/sd0/gps_log.txt";
-            std::ofstream gpsFile;
-            if(not std::filesystem::exists(filename)) {
-                gpsFile.open(filename, std::ofstream::out);
-            }
-            gpsFile.open(filename, std::ofstream::out | std::ofstream::app);
-            gpsFile.write("\n", 1);
-            gpsFile.write(reinterpret_cast<const char*>(start), len);
-#endif
-        }
-        *foundLen = len;
-        *foundId = GpsHyperion::GPS_REPLY;
-    }
-    return HasReturnvaluesIF::RETURN_OK;
-
-}
-
-ReturnValue_t GPSHyperionHandler::interpretDeviceReply(DeviceCommandId_t id,
-        const uint8_t *packet) {
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t GPSHyperionHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return 5000;
-}
-
 ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(
         localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
     localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
@@ -180,35 +74,108 @@ ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-void GPSHyperionHandler::fillCommandAndReplyMap() {
-    // Reply length does not matter, packets should always arrive periodically
-    insertInReplyMap(GpsHyperion::GPS_REPLY, 4, &gpsSet, 0, true);
-    insertInCommandMap(GpsHyperion::TRIGGER_RESET_PIN);
-}
-
-void GPSHyperionHandler::modeChanged() {
-    internalState = InternalStates::NONE;
-}
-
 void GPSHyperionHandler::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
         void *args) {
     this->resetCallback = resetCallback;
     resetCallbackArgs = args;
 }
 
-void GPSHyperionHandler::debugInterface(uint8_t positionTracker, object_id_t objectId,
-        uint32_t parameter) {
-}
 
 ReturnValue_t GPSHyperionHandler::initialize() {
-    ReturnValue_t result = DeviceHandlerBase::initialize();
+    ReturnValue_t result = ExtendedControllerBase::initialize();
     if(result != HasReturnvaluesIF::RETURN_OK) {
         return result;
     }
-    // Enable reply immediately for now
+    return result;
-    return updatePeriodicReply(true, GpsHyperion::GPS_REPLY);
 }
 
-ReturnValue_t GPSHyperionHandler::acceptExternalDeviceCommands() {
+ReturnValue_t GPSHyperionHandler::handleCommandMessage(CommandMessage *message) {
-    return DeviceHandlerBase::acceptExternalDeviceCommands();
+    return ExtendedControllerBase::handleCommandMessage(message);
 }
+
+#ifdef FSFW_OSAL_LINUX
+void GPSHyperionHandler::readGpsDataFromGpsd() {
+    // The data from the device will generally be read all at once. Therefore, we
+    // can set all field here
+    gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
+    gps_data_t* gps;
+    gps = gpsmm.read();
+    if(gps == nullptr) {
+        sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl;
+    }
+    PoolReadGuard pg(&gpsSet);
+    if(pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+        sif::warning << "GPSHyperionHandler::scanForReply: Reading dataset failed"
+                << std::endl;
+#endif
+    }
+    // Print messages
+    if((gps->set & MODE_SET) != MODE_SET) {
+        // Could not even set mode
+        gpsSet.setValidity(false, true);
+        return;
+    }
+
+    if(gps->satellites_used > 0) {
+        gpsSet.setValidity(true, true);
+    }
+
+    gpsSet.satInUse.value = gps->satellites_used;
+    gpsSet.satInView.value = gps->satellites_visible;
+
+    // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
+    gpsSet.fixMode = gps->fix.mode;
+    if(std::isfinite(gps->fix.latitude)) {
+        // Negative latitude -> South direction
+        gpsSet.latitude.value = gps->fix.latitude;
+    } else {
+        gpsSet.latitude.setValid(false);
+    }
+
+    if(std::isfinite(gps->fix.longitude)) {
+        // Negative longitude -> West direction
+        gpsSet.longitude.value = gps->fix.longitude;
+    } else {
+        gpsSet.longitude.setValid(false);
+    }
+
+    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;
+    } else {
+        gpsSet.speed.setValid(false);
+    }
+
+    gpsSet.unixSeconds.value = gps->fix.time.tv_sec;
+    timeval time = {};
+    time.tv_sec = gpsSet.unixSeconds.value;
+    time.tv_usec = gps->fix.time.tv_nsec / 1000;
+    Clock::TimeOfDay_t timeOfDay = {};
+    Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
+    gpsSet.year = timeOfDay.year;
+    gpsSet.month = timeOfDay.month;
+    gpsSet.day = timeOfDay.day;
+    gpsSet.hours = timeOfDay.hour;
+    gpsSet.minutes = timeOfDay.minute;
+    gpsSet.seconds = timeOfDay.second;
+    if(debugHyperionGps) {
+        sif::info << "-- Hyperion GPS Data --" << std::endl;
+        time_t timeRaw = gps->fix.time.tv_sec;
+        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 << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
+        std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
+    }
+}
+#endif

mission/devices/GPSHyperionHandler.h

@@ -3,8 +3,8 @@
 
 #include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw/controller/ExtendedControllerBase.h"
 #include "devicedefinitions/GPSDefinitions.h"
-#include "lwgps/lwgps.h"
 
 /**
  * @brief   Device handler for the Hyperion HT-GPS200 device
@@ -12,58 +12,38 @@
  * Flight manual:
  * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
  */
-class GPSHyperionHandler: public DeviceHandlerBase {
+class GPSHyperionHandler: public ExtendedControllerBase {
 public:
 
-	GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
+	GPSHyperionHandler(object_id_t objectId, object_id_t parentId,
-	        CookieIF* comCookie, bool debugHyperionGps = false);
+	        bool debugHyperionGps = false);
 	virtual ~GPSHyperionHandler();
 
     using gpioResetFunction_t = ReturnValue_t (*) (void* args);
 
 	void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void*args);
-	ReturnValue_t acceptExternalDeviceCommands() override;
+	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;
 
-	enum class InternalStates {
-	    NONE,
-	    WAIT_FIRST_MESSAGE,
-	    IDLE
-	};
-	InternalStates internalState = InternalStates::NONE;
-	bool commandExecuted = false;
-
-	/* DeviceHandlerBase overrides */
-	ReturnValue_t buildTransitionDeviceCommand(
-	        DeviceCommandId_t *id) override;
-	void doStartUp() override;
-	void doShutDown() override;
-	ReturnValue_t buildNormalDeviceCommand(
-	        DeviceCommandId_t *id) override;
-	ReturnValue_t buildCommandFromCommand(
-	        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-			size_t commandDataLen) override;
-	ReturnValue_t scanForReply(const uint8_t *start, size_t len,
-			DeviceCommandId_t *foundId, size_t *foundLen) override;
-	ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
-	        const uint8_t *packet) override;
-
-	void fillCommandAndReplyMap() override;
-	void modeChanged() override;
-	uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
 	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
 			LocalDataPoolManager &poolManager) override;
-    virtual void debugInterface(uint8_t positionTracker = 0,
+
-            object_id_t objectId = 0, uint32_t parameter = 0) override;
 private:
-	lwgps_t gpsData = {};
 	GpsPrimaryDataset gpsSet;
 	bool debugHyperionGps = false;
+
+	void readGpsDataFromGpsd();
 };
 
 #endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

mission/devices/devicedefinitions/GPSDefinitions.h

@@ -15,15 +15,17 @@ enum GpsPoolIds: lp_id_t {
     LATITUDE = 0,
     LONGITUDE = 1,
     ALTITUDE = 2,
-    FIX_MODE = 3,
+    SPEED = 3,
-    SATS_IN_USE = 4,
+    FIX_MODE = 4,
-    UNIX_SECONDS = 5,
+    SATS_IN_USE = 5,
-    YEAR = 6,
+    SATS_IN_VIEW = 6,
-    MONTH = 7,
+    UNIX_SECONDS = 7,
-    DAY = 8,
+    YEAR = 8,
-    HOURS = 9,
+    MONTH = 9,
-    MINUTES = 10,
+    DAY = 10,
-    SECONDS = 11
+    HOURS = 11,
+    MINUTES = 12,
+    SECONDS = 13
 };
 
 enum GpsFixModes: uint8_t {
@@ -47,8 +49,10 @@ public:
     lp_var_t<double> longitude = lp_var_t<double>(sid.objectId,
             GpsHyperion::LONGITUDE, this);
     lp_var_t<double> altitude = lp_var_t<double>(sid.objectId, GpsHyperion::ALTITUDE, this);
+    lp_var_t<double> speed = lp_var_t<double>(sid.objectId, GpsHyperion::SPEED, this);
     lp_var_t<uint8_t> fixMode = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::FIX_MODE, this);
     lp_var_t<uint8_t> satInUse = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::SATS_IN_USE, this);
+    lp_var_t<uint8_t> satInView = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::SATS_IN_VIEW, this);
     lp_var_t<uint16_t> year = lp_var_t<uint16_t>(sid.objectId, GpsHyperion::YEAR, this);
     lp_var_t<uint8_t> month = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::MONTH, this);
     lp_var_t<uint8_t> day = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::DAY, this);

scripts/rpi-port.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+echo "-L 1538:raspberrypi.local:1538 for Raspberry Pi connect with TCF agent"
+echo "-L 1539:raspberrypi.local:22 for Raspberry Pi file transfers"
+
+ssh -L 1538:raspberrypi.local:1534 \
+   -L 1539:raspberrypi.local:22 \
+    eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 \
+    -t 'CONSOLE_PREFIX="[RPi Tunnel]" /bin/bash'

thirdparty/arcsec_star_tracker

@@ -1 +1 @@
-Subproject commit f596c53315f1f81facb28faec3150612a5ad2ca0
+Subproject commit 2d10c6b85ea4cab4f4baf1918c51d54eee4202c2

tmtc

@@ -1 +1 @@
-Subproject commit dfed6b7adf957ba46ff04e0885a5948ea080d59d
+Subproject commit c86cd1874f605a89277e1b8fcf4496f9302c941e