gps test complete

linux/boardtest/UartTestClass.cpp

@@ -1,8 +1,110 @@
-#include <linux/boardtest/UartTestClass.h>
+#include "UartTestClass.h"
+#include "rpiConfig.h"
+
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+#include "lwgps/lwgps.h"
+
+#include <fcntl.h> // Contains file controls like O_RDWR
+#include <errno.h> // Error integer and strerror() function
+#include <unistd.h> // write(), read(), close()
+
+#define GPS_REPLY_WIRETAPPING   0
 
 UartTestClass::UartTestClass(object_id_t objectId): TestTask(objectId) {
 }
 
-ReturnValue_t UartTestClass::performPeriodicAction() {
+ReturnValue_t UartTestClass::initialize() {
+#if RPI_TEST_GPS_DEVICE == 1
+    int result = lwgps_init(&gpsData);
+    if(result == 0) {
+        sif::warning << "lwgps_init error: " << result << std::endl;
+    }
+
+    /* Get file descriptor */
+    serialPort = open("/dev/serial0", O_RDWR);
+    if(serialPort < 0) {
+        sif::warning << "open call failed with error [" << errno << ", " << strerror(errno)
+                                        << std::endl;
+    }
+    /* Setting up UART parameters */
+    tty.c_cflag &= ~PARENB; // Clear parity bit
+    tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
+    tty.c_cflag &= ~CSIZE; // Clear all the size bits
+    tty.c_cflag |= CS8; // 8 bits per byte
+    tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
+    tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
+    // Use canonical mode for GPS device
+    tty.c_lflag |= ICANON;
+    tty.c_lflag &= ~ECHO; // Disable echo
+    tty.c_lflag &= ~ECHOE; // Disable erasure
+    tty.c_lflag &= ~ECHONL; // Disable new-line echo
+    tty.c_lflag &= ~ISIG; // Disable interpretation of INTR, QUIT and SUSP
+    tty.c_iflag &= ~(IXON | IXOFF | IXANY); // Turn off s/w flow ctrl
+    tty.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL); // Disable any special handling of received bytes
+    tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
+    tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
+
+    // Non-blocking mode
+    tty.c_cc[VTIME] = 0;
+    tty.c_cc[VMIN] = 0;
+
+    cfsetispeed(&tty, B9600);
+    cfsetospeed(&tty, B9600);
+    if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
+        sif::warning << "tcsetattr call failed with error [" << errno << ", " <<
+                strerror(errno) << std::endl;;
+    }
+    // Flush received and unread data. Those are old NMEA strings which are not relevant anymore
+    tcflush(serialPort, TCIFLUSH);
+#endif
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t UartTestClass::performOneShotAction() {
+#if RPI_TEST_GPS_DEVICE == 1
+#endif
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t UartTestClass::performPeriodicAction() {
+#if RPI_TEST_GPS_DEVICE == 1
+    int bytesRead = 0;
+    do {
+        bytesRead = read(serialPort,
+                reinterpret_cast<void*>(recBuf.data()),
+                static_cast<unsigned int>(recBuf.size()));
+        if(bytesRead < 0) {
+            sif::warning << "UartTestClass::performPeriodicAction: read call failed with error [" <<
+                    errno << ", " << strerror(errno) << "]" << std::endl;
+            break;
+        }
+        else if(bytesRead >= static_cast<int>(recBuf.size())) {
+            sif::debug << "UartTestClass::performPeriodicAction: "
+                    "recv buffer might not be large enough" << std::endl;
+        }
+        else if(bytesRead > 0) {
+            // pass data to lwgps for processing
+#if GPS_REPLY_WIRETAPPING == 1
+            sif::info << recBuf.data() << std::endl;
+#endif
+            int result = lwgps_process(&gpsData, recBuf.data(), bytesRead);
+            if(result == 0) {
+                sif::warning << "UartTestClass::performPeriodicAction: lwgps_process error"
+                        << std::endl;
+            }
+            recvCnt++;
+            if(recvCnt == 6) {
+                recvCnt = 0;
+                sif::info << "GPS Data" << std::endl;
+                // Print messages
+                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);
+            }
+        }
+    } while(bytesRead > 0);
+#endif
     return HasReturnvaluesIF::RETURN_OK;
 }

linux/boardtest/UartTestClass.h

@@ -1,15 +1,27 @@
 #ifndef LINUX_BOARDTEST_UARTTESTCLASS_H_
 #define LINUX_BOARDTEST_UARTTESTCLASS_H_
 
-#include <test/testtasks/TestTask.h>
+#include "test/testtasks/TestTask.h"
+#include "lwgps/lwgps.h"
+
+#include <array>
+#include <termios.h> // Contains POSIX terminal control definitions
 
 class UartTestClass: public TestTask {
 public:
     UartTestClass(object_id_t objectId);
 
+    ReturnValue_t initialize() override;
+    ReturnValue_t performOneShotAction() override;
     ReturnValue_t performPeriodicAction() override;
 private:
 
+    lwgps_t gpsData = {};
+    struct termios tty = {};
+    int serialPort = 0;
+    std::array<uint8_t, 512> recBuf;
+    uint8_t recvCnt = 0;
+
 };
 
 #endif /* LINUX_BOARDTEST_UARTTESTCLASS_H_ */