Merge pull request 'Update for new yocto rootfs' (#217) from mueller/yocto-rootfs into develop

Reviewed-on: #217
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>

linux/devices/GPSHyperionLinuxController.cpp

@@ -1,6 +1,7 @@
 #include "GPSHyperionLinuxController.h"
 
 #include "OBSWConfig.h"
+#include "fsfw/FSFW.h"
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/timemanager/Clock.h"
 #include "linux/utility/utility.h"
@@ -17,7 +18,6 @@ GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, obj
                                                        bool debugHyperionGps)
     : ExtendedControllerBase(objectId, objects::NO_OBJECT),
       gpsSet(this),
-      myGpsmm(GPSD_SHARED_MEMORY, nullptr),
       debugHyperionGps(debugHyperionGps) {
   timeUpdateCd.resetTimer();
 }
@@ -36,6 +36,7 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
                                                            uint32_t *msToReachTheMode) {
   if (not modeCommanded) {
     if (mode == MODE_ON or mode == MODE_OFF) {
+      gpsNotOpenSwitch = true;
       // 5h time to reach fix
       *msToReachTheMode = MAX_SECONDS_TO_REACH_FIX;
       maxTimeToReachFix.resetTimer();
@@ -105,18 +106,28 @@ ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *m
 
 #ifdef FSFW_OSAL_LINUX
 void GPSHyperionLinuxController::readGpsDataFromGpsd() {
+  gpsmm myGpsmm(GPSD_SHARED_MEMORY, nullptr);
   // The data from the device will generally be read all at once. Therefore, we
   // can set all field here
   if (not myGpsmm.is_open()) {
-    // Opening failed
-#if FSFW_VERBOSE_LEVEL >= 1
-    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed" << std::endl;
-#endif
+    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;
+    }
+    return;
   }
   gps_data_t *gps = nullptr;
   gps = myGpsmm.read();
   if (gps == nullptr) {
-    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed" << std::endl;
+    if(gpsReadFailedSwitch) {
+      gpsReadFailedSwitch = false;
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed" << std::endl;
+    }
     return;
   }
   PoolReadGuard pg(&gpsSet);
@@ -180,10 +191,19 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
     gpsSet.speed.setValid(false);
   }
 
+#if LIBGPS_VERSION_MINOR <= 17
+  gpsSet.unixSeconds.value = gps->fix.time;
+#else
   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);
+  time.tv_usec = fractionalPart * 1000.0 * 1000.0;
+#else
   time.tv_usec = gps->fix.time.tv_nsec / 1000;
+#endif
   std::time_t t = std::time(nullptr);
   if (time.tv_sec == t) {
     timeIsConstantCounter++;
@@ -222,7 +242,11 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
   gpsSet.seconds = timeOfDay.second;
   if (debugHyperionGps) {
     sif::info << "-- Hyperion GPS Data --" << std::endl;
+#if LIBGPS_VERSION_MINOR <= 17
+    time_t timeRaw = gps->fix.time;
+#else
     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;
@@ -230,7 +254,11 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
     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;
+#else
     std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
+#endif
     std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
     std::time_t t = std::time(nullptr);
     std::tm tm = *std::gmtime(&t);

linux/devices/GPSHyperionLinuxController.h

@@ -52,7 +52,8 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
   bool modeCommanded = true;
   bool timeInit = true;
-  gpsmm myGpsmm;
+  bool gpsNotOpenSwitch = true;
+  bool gpsReadFailedSwitch = true;
   bool debugHyperionGps = false;
   uint32_t timeIsConstantCounter = 0;
   Countdown timeUpdateCd = Countdown(60);