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typos and other minor adaptions
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This commit is contained in:
Robin Müller 2023-02-07 10:22:12 +01:00
parent 07ca738842
commit d6aa6875cc
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GPG Key ID: 71B58F8A3CDFA9AC
1 changed files with 38 additions and 29 deletions
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67
linux/devices/GpsHyperionLinuxController.cpp
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@ -199,19 +199,17 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
} }
bool validFix = false; bool validFix = false;
static_cast<void>(validFix);
// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
int newFixMode = gps.fix.mode; if (gps.fix.mode == 2 or gps.fix.mode == 3) {
if (newFixMode == 2 or newFixMode == 3) {
validFix = true; validFix = true;
} }
if (gpsSet.fixMode.value != newFixMode) { if (gpsSet.fixMode.value != gps.fix.mode) {
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFixMode); triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, gps.fix.mode);
} }
gpsSet.fixMode.value = newFixMode; gpsSet.fixMode.value = gps.fix.mode;
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()) { if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
// We are supposed to be on and functioning, but not fix was found // We are supposed to be on and functioning, but no fix was found
if (mode == MODE_ON or mode == MODE_NORMAL) { if (mode == MODE_ON or mode == MODE_NORMAL) {
mode = MODE_OFF; mode = MODE_OFF;
} }
@ -229,7 +227,7 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
if (std::isfinite(gps.fix.latitude)) { if (std::isfinite(gps.fix.latitude)) {
// Negative latitude -> South direction // Negative latitude -> South direction
gpsSet.latitude.value = gps.fix.latitude; gpsSet.latitude.value = gps.fix.latitude;
if(gps.fix.mode >= 2) { if (gps.fix.mode >= 2) {
latValid = true; latValid = true;
} }
} }
@ -239,7 +237,7 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
if (std::isfinite(gps.fix.longitude)) { if (std::isfinite(gps.fix.longitude)) {
// Negative longitude -> West direction // Negative longitude -> West direction
gpsSet.longitude.value = gps.fix.longitude; gpsSet.longitude.value = gps.fix.longitude;
if(gps.fix.mode >= 2) { if (gps.fix.mode >= 2) {
longValid = true; longValid = true;
} }
} }
@ -248,7 +246,7 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
bool altitudeValid = false; bool altitudeValid = false;
if (std::isfinite(gps.fix.altitude)) { if (std::isfinite(gps.fix.altitude)) {
gpsSet.altitude.value = gps.fix.altitude; gpsSet.altitude.value = gps.fix.altitude;
if(gps.fix.mode == 3) { if (gps.fix.mode == 3) {
altitudeValid = true; altitudeValid = true;
} }
} }
@ -260,29 +258,40 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
gpsSet.speed.setValid(false); gpsSet.speed.setValid(false);
} }
timeval time = {}; if (TIME_SET != (TIME_SET & gps.set)) {
timeval time = {};
#if LIBGPS_VERSION_MINOR <= 17 #if LIBGPS_VERSION_MINOR <= 17
gpsSet.unixSeconds.value = std::floor(gps.fix.time); gpsSet.unixSeconds.value = std::floor(gps.fix.time);
double fractionalPart = gps.fix.time - gpsSet.unixSeconds.value; double fractionalPart = gps.fix.time - gpsSet.unixSeconds.value;
time.tv_usec = fractionalPart * 1000.0 * 1000.0; time.tv_usec = fractionalPart * 1000.0 * 1000.0;
#else #else
gpsSet.unixSeconds.value = gps.fix.time.tv_sec; gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
time.tv_usec = gps.fix.time.tv_nsec / 1000; time.tv_usec = gps.fix.time.tv_nsec / 1000;
#endif #endif
time.tv_sec = gpsSet.unixSeconds.value; time.tv_sec = gpsSet.unixSeconds.value;
// If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC // If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC
// and no time file available) we set it with the roughly valid time from the GPS. // and no time file available) we set it with the roughly valid time from the GPS.
// NTP might only work if the time difference between sys time and current time is not too large. // NTP might only work if the time difference between sys time and current time is not too
overwriteTimeIfNotSane(time, validFix); // large.
overwriteTimeIfNotSane(time, validFix);
Clock::TimeOfDay_t timeOfDay = {};
Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
gpsSet.year = timeOfDay.year;
gpsSet.month = timeOfDay.month;
gpsSet.day = timeOfDay.day;
gpsSet.hours = timeOfDay.hour;
gpsSet.minutes = timeOfDay.minute;
gpsSet.seconds = timeOfDay.second;
} else {
gpsSet.unixSeconds.setValid(false);
gpsSet.year.setValid(false);
gpsSet.month.setValid(false);
gpsSet.day.setValid(false);
gpsSet.hours.setValid(false);
gpsSet.minutes.setValid(false);
gpsSet.seconds.setValid(false);
}
Clock::TimeOfDay_t timeOfDay = {};
Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
gpsSet.year = timeOfDay.year;
gpsSet.month = timeOfDay.month;
gpsSet.day = timeOfDay.day;
gpsSet.hours = timeOfDay.hour;
gpsSet.minutes = timeOfDay.minute;
gpsSet.seconds = timeOfDay.second;
if (debugHyperionGps) { if (debugHyperionGps) {
sif::info << "-- Hyperion GPS Data --" << std::endl; sif::info << "-- Hyperion GPS Data --" << std::endl;
#if LIBGPS_VERSION_MINOR <= 17 #if LIBGPS_VERSION_MINOR <= 17