tmtc update

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();
-    //testScratchApi();
+    if (doTestSdCard) {
+        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,
-            UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
-    uartCookieGps0->setToFlushInput(true);
-    uartCookieGps0->setReadCycles(6);
-    auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF,
-            uartCookieGps0, debugGps);
+    auto gpsHandler0 = new GPSHyperionHandler(objects::GPS_CONTROLLER, objects::NO_OBJECT,
+            debugGps);
     gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
-    gpsHandler0->setStartUpImmediately();
 }
 
 void ObjectFactory::createHeaterComponents() {
@@ -867,7 +862,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
     rwHandler1->setStartUpImmediately();
 #endif
     rw1SpiCookie->setCallbackArgs(rwHandler1);
-    rwHandler1->setStartUpImmediately();
 
     auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
             gpioIds::EN_RW2);

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,