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fixed conflicts
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This commit is contained in:
Jakob Meier
2022-05-11 14:37:36 +02:00
parent c7e4704234 37002b47b3
commit 914acd9925
106 changed files with 3928 additions and 1528 deletions
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147
linux/devices/GPSHyperionLinuxController.cpp
View File

@ -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

7
linux/devices/GPSHyperionLinuxController.h
View File

@ -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;

4
linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
View File

@ -264,8 +264,8 @@ static const uint8_t ADC_RPT_SET_ENTRIES = 32;
static const uint32_t HK_SET_ID = HK_REPORT;
static const uint32_t BOOT_REPORT_SET_ID = BOOT_STATUS_REPORT;
static const uint32_t LATCHUP_RPT_ID = LATCHUP_REPORT;
static const uint32_t LOGGING_RPT_ID = LOGGING_REQUEST_COUNTERS;
static const uint32_t ADC_REPORT_SET_ID = REQUEST_ADC_REPORT;
static const uint32_t LOGGING_RPT_ID = LOGGING_REPORT;
static const uint32_t ADC_REPORT_SET_ID = ADC_REPORT;
namespace recv_timeout {
// Erase memory can require up to 60 seconds for execution

4
linux/devices/ploc/PlocMPSoCHandler.cpp
View File

@ -687,8 +687,8 @@ ReturnValue_t PlocMPSoCHandler::handleCamCmdRpt(const uint8_t* data) {
std::string camCmdRptMsg(
reinterpret_cast<const char*>(dataFieldPtr),
tmCamCmdRpt.rememberSpacePacketSize - mpsoc::SPACE_PACKET_HEADER_SIZE - 3);
uint8_t ackValue = *(packet.getPacketData() + packet.getPacketDataLength() - 2);
#if OBSW_DEBUG_PLOC_MPSOC == 1
uint8_t ackValue = *(packet.getPacketData() + packet.getPacketDataLength() - 2);
sif::info << "PlocMPSoCHandler: CamCmdRpt message: " << camCmdRptMsg << std::endl;
sif::info << "PlocMPSoCHandler: CamCmdRpt Ack value: 0x" << std::hex
<< static_cast<unsigned int>(ackValue) << std::endl;
@ -1014,7 +1014,7 @@ void PlocMPSoCHandler::handleActionCommandFailure(ActionId_t actionId) {
switch (powerState) {
case PowerState::BOOTING: {
sif::info << "PlocMPSoCHandler::handleActionCommandFailure: MPSoC boot command failed"
<< std::endl;
<< std::endl;
// This is commonly the case when the MPSoC is already operational. Thus the power state is
// set to on here
powerState = PowerState::ON;

4
linux/devices/ploc/PlocSupervisorHandler.cpp
View File

@ -1314,9 +1314,7 @@ ReturnValue_t PlocSupervisorHandler::doSendReadHook() {
return RETURN_OK;
}
void PlocSupervisorHandler::doOffActivity() {
startupState = StartupState::OFF;
}
void PlocSupervisorHandler::doOffActivity() { startupState = StartupState::OFF; }
void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
DeviceCommandId_t replyId) {

12
linux/devices/ploc/PlocSupervisorHandler.h
View File

@ -83,21 +83,15 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
static const uint8_t SIZE_NULL_TERMINATOR = 1;
// 5 s
static const uint32_t EXECUTION_DEFAULT_TIMEOUT = 5000;
// 30 s
static const uint32_t MRAM_DUMP_EXECUTION_TIMEOUT = 30000;
// 60 s
static const uint32_t MRAM_DUMP_EXECUTION_TIMEOUT = 60000;
// 70 s
static const uint32_t COPY_ADC_TO_MRAM_TIMEOUT = 70000;
// 60 s
static const uint32_t MRAM_DUMP_TIMEOUT = 60000;
// 2 s
static const uint32_t BOOT_TIMEOUT = 2000;
enum class StartupState: uint8_t {
OFF,
BOOTING,
SET_TIME,
SET_TIME_EXECUTING,
ON
};
enum class StartupState : uint8_t { OFF, BOOTING, SET_TIME, SET_TIME_EXECUTING, ON };
StartupState startupState = StartupState::OFF;