support both SHM and socket read

linux/devices/GPSHyperionLinuxController.cpp

@@ -109,56 +109,73 @@ 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()) {
+  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 failed | "
-                   << "Error " << errno << " | " << gps_errstr(errno) << std::endl;
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
+                   << " failed | Error " << errno << " | " << gps_errstr(errno) << std::endl;
 #endif
-
       gpsNotOpenSwitch = false;
     }
-    return;
-  }
-  // Stopwatch watch;
-  gps_data_t *gps = nullptr;
-  gpsmm.stream(WATCH_ENABLE | WATCH_JSON);
-  if(not gpsmm.waiting(50000000)) {
-    return;
-  }
-  gps = gpsmm.read();
-  if (gps == nullptr) {
+  };
+  auto readError = [&]() {
     if (gpsReadFailedSwitch) {
       gpsReadFailedSwitch = false;
       sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed"
-          << std::endl;
+                   << std::endl;
     }
-    return;
-  }
-  if (MODE_SET != (MODE_SET & gps->set)) {
-    if (noModeSetCntr >= 0) {
-      noModeSetCntr++;
+  };
+  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");
     }
-    if (noModeSetCntr == 10) {
-      // TODO: Trigger event here
-      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be "
-          "read for 10 consecutive reads"
-          << std::endl;
-      noModeSetCntr = -1;
+    // Stopwatch watch;
+    gpsmm.stream(WATCH_ENABLE | WATCH_JSON);
+    if (not gpsmm.waiting(50000000)) {
+      return;
+    }
+    gps = gpsmm.read();
+    if (gps == nullptr) {
+      readError();
+      return;
+    }
+    if (MODE_SET != (MODE_SET & gps->set)) {
+      if (noModeSetCntr >= 0) {
+        noModeSetCntr++;
+      }
+      if (noModeSetCntr == 10) {
+        // TODO: Trigger event here
+        sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be "
+                        "read for 10 consecutive reads"
+                     << std::endl;
+        noModeSetCntr = -1;
+      }
+      return;
+    } else {
+      noModeSetCntr = 0;
     }
-    return;
   } else {
-    noModeSetCntr = 0;
+    gpsmm gpsmm(GPSD_SHARED_MEMORY, "");
+    if (not gpsmm.is_open()) {
+      return openError("SHM");
+    }
+    gps = gpsmm.read();
+    if (gps == nullptr) {
+      readError();
+      return;
+    }
+  }
+  if (gps != nullptr) {
+    handleGpsRead(gps);
   }
-  handleGpsRead(gps);
 }
 
-
-ReturnValue_t GPSHyperionLinuxController::handleGpsRead(gps_data_t* gps) {
+ReturnValue_t GPSHyperionLinuxController::handleGpsRead(gps_data_t *gps) {
   PoolReadGuard pg(&gpsSet);
   if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1

linux/devices/GPSHyperionLinuxController.h

@@ -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();
@@ -48,8 +50,10 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
                                         LocalDataPoolManager& poolManager) override;
 
   ReturnValue_t handleGpsRead(gps_data_t* gps);
+
  private:
   GpsPrimaryDataset gpsSet;
+  ReadModes readMode = ReadModes::SHM;
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
   bool modeCommanded = true;
   bool timeInit = true;