Merge remote-tracking branch 'origin/main' into meier/pdec-config-readback

CHANGELOG.md

@@ -16,6 +16,19 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+- `eive-tmtc`:
+
+## Added
+
+- Skyview dataset for more GPS TM has been added
+
+## Fixed
+- The handling function of the GPS data is only called once per GPS read. This should remove
+  the fake fix-has-changed events.
+  
+## Changed
+- GPS Fix has changed event is no longer triggered for the EM
+
 # [v6.3.0] 2023-08-03
 
 ## Fixed

linux/acs/GpsHyperionLinuxController.cpp

@@ -21,6 +21,7 @@ GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, obj
                                                        bool enableHkSets, bool debugHyperionGps)
     : ExtendedControllerBase(objectId),
       gpsSet(this),
+      skyviewSet(this),
       enableHkSets(enableHkSets),
       debugHyperionGps(debugHyperionGps) {}
 
@@ -29,7 +30,17 @@ GpsHyperionLinuxController::~GpsHyperionLinuxController() {
   gps_close(&gps);
 }
 
-LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
+LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) {
+  switch (sid.ownerSetId) {
+    case GpsHyperion::CORE_DATASET:
+      return &gpsSet;
+    case GpsHyperion::SKYVIEW_DATASET:
+      return &skyviewSet;
+    default:
+      return nullptr;
+  }
+  return nullptr;
+}
 
 ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
                                                            uint32_t *msToReachTheMode) {
@@ -90,6 +101,13 @@ ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
   localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
   localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
   poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 30.0});
+  localDataPoolMap.emplace(GpsHyperion::SKYVIEW_UNIX_SECONDS, new PoolEntry<double>());
+  localDataPoolMap.emplace(GpsHyperion::PRN_ID, new PoolEntry<int16_t>());
+  localDataPoolMap.emplace(GpsHyperion::AZIMUTH, new PoolEntry<int16_t>());
+  localDataPoolMap.emplace(GpsHyperion::ELEVATION, new PoolEntry<int16_t>());
+  localDataPoolMap.emplace(GpsHyperion::SIGNAL2NOISE, new PoolEntry<double>());
+  localDataPoolMap.emplace(GpsHyperion::USED, new PoolEntry<uint8_t>());
+  poolManager.subscribeForRegularPeriodicPacket({skyviewSet.getSid(), false, 120.0});
   return returnvalue::OK;
 }
 
@@ -166,30 +184,32 @@ bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
   if (mode == MODE_OFF) {
     return false;
   }
+  unsigned int readIdx = 0;
   if (readMode == ReadModes::SOCKET) {
     // Poll the GPS.
-    if (gps_waiting(&gps, 0)) {
-      if (-1 == gps_read(&gps)) {
+    while (gps_waiting(&gps, 0)) {
+      int retval = gps_read(&gps);
+      if (retval < 0) {
         readError();
         return false;
       }
-      oneShotSwitches.gpsReadFailedSwitch = true;
-      ReturnValue_t result = handleGpsReadData();
-      if (result == returnvalue::OK) {
-        return true;
-      } else {
-        return false;
+      readIdx++;
+      if (readIdx >= 40) {
+        sif::warning << "GpsHyperionLinuxController: Received " << readIdx
+                     << " GPSD message consecutively" << std::endl;
+        break;
       }
-      noModeSetCntr = 0;
-    } else {
-      return false;
+    }
+    if (readIdx > 0) {
+      oneShotSwitches.gpsReadFailedSwitch = true;
+      handleGpsReadData();
     }
   } else if (readMode == ReadModes::SHM) {
     sif::error << "GpsHyperionLinuxController::readGpsDataFromGpsdPermanentLoop: "
                   "SHM read not implemented"
                << std::endl;
   }
-  return true;
+  return false;
 }
 
 ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
@@ -208,7 +228,15 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
       return returnvalue::FAILED;
     }
   }
+  ReturnValue_t result = handleCoreTelemetry(modeIsSet);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = handleSkyviewTelemetry();
+  return result;
+}
 
+ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
   PoolReadGuard pg(&gpsSet);
   if (pg.getReadResult() != returnvalue::OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
@@ -236,7 +264,9 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
     }
   }
   if (gpsSet.fixMode.value != newFix) {
+#if OBSW_Q7S_EM != 1
     triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFix);
+#endif
   }
   gpsSet.fixMode = newFix;
   gpsSet.fixMode.setValid(modeIsSet);
@@ -369,6 +399,22 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   return returnvalue::OK;
 }
 
+ReturnValue_t GpsHyperionLinuxController::handleSkyviewTelemetry() {
+  PoolReadGuard pg(&skyviewSet);
+  if (pg.getReadResult() != returnvalue::OK) {
+    return returnvalue::FAILED;
+  }
+  skyviewSet.unixSeconds.value = gps.skyview_time;
+  for (int sat = 0; sat < GpsHyperion::MAX_SATELLITES; sat++) {
+    skyviewSet.prn_id.value[sat] = gps.skyview[sat].PRN;
+    skyviewSet.azimuth.value[sat] = gps.skyview[sat].azimuth;
+    skyviewSet.elevation.value[sat] = gps.skyview[sat].elevation;
+    skyviewSet.signal2noise.value[sat] = gps.skyview[sat].ss;
+    skyviewSet.used.value[sat] = gps.skyview[sat].used;
+  }
+  return returnvalue::OK;
+}
+
 void GpsHyperionLinuxController::overwriteTimeIfNotSane(timeval time, bool validFix) {
   if (not timeInit and validFix) {
     if (not utility::timeSanityCheck()) {

linux/acs/GpsHyperionLinuxController.h

@@ -54,9 +54,12 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
                                         LocalDataPoolManager& poolManager) override;
 
   ReturnValue_t handleGpsReadData();
+  ReturnValue_t handleCoreTelemetry(bool modeIsSet);
+  ReturnValue_t handleSkyviewTelemetry();
 
  private:
   GpsPrimaryDataset gpsSet;
+  SkyviewDataset skyviewSet;
   gps_data_t gps = {};
   bool enableHkSets = false;
   const char* currentClientBuf = nullptr;
@@ -81,7 +84,6 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
   } oneShotSwitches;
 
   bool debugHyperionGps = false;
-  int32_t noModeSetCntr = 0;
 
   // Returns true if the function should be called again or false if other
   // controller handling can be done.

mission/acs/archive/GPSDefinitions.h

@@ -20,32 +20,47 @@ static constexpr Event CANT_GET_FIX = event::makeEvent(SUBSYSTEM_ID, 1, severity
 static constexpr DeviceCommandId_t GPS_REPLY = 0;
 static constexpr DeviceCommandId_t TRIGGER_RESET_PIN_GNSS = 5;
 
-static constexpr uint32_t DATASET_ID = 0;
+enum SetIds : uint32_t {
+  CORE_DATASET,
+  SKYVIEW_DATASET,
+};
 
 enum GpsPoolIds : lp_id_t {
-  LATITUDE = 0,
-  LONGITUDE = 1,
-  ALTITUDE = 2,
-  SPEED = 3,
-  FIX_MODE = 4,
-  SATS_IN_USE = 5,
-  SATS_IN_VIEW = 6,
-  UNIX_SECONDS = 7,
-  YEAR = 8,
-  MONTH = 9,
-  DAY = 10,
-  HOURS = 11,
-  MINUTES = 12,
-  SECONDS = 13
+  LATITUDE,
+  LONGITUDE,
+  ALTITUDE,
+  SPEED,
+  FIX_MODE,
+  SATS_IN_USE,
+  SATS_IN_VIEW,
+  UNIX_SECONDS,
+  YEAR,
+  MONTH,
+  DAY,
+  HOURS,
+  MINUTES,
+  SECONDS,
+  SKYVIEW_UNIX_SECONDS,
+  PRN_ID,
+  AZIMUTH,
+  ELEVATION,
+  SIGNAL2NOISE,
+  USED,
 };
 
+static constexpr uint8_t CORE_DATASET_ENTRIES = 14;
+static constexpr uint8_t SKYVIEW_ENTRIES = 6;
+
+static constexpr uint8_t MAX_SATELLITES = 30;
+
 enum GpsFixModes : uint8_t { INVALID = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3 };
 
 }  // namespace GpsHyperion
 
-class GpsPrimaryDataset : public StaticLocalDataSet<18> {
+class GpsPrimaryDataset : public StaticLocalDataSet<GpsHyperion::CORE_DATASET_ENTRIES> {
  public:
-  GpsPrimaryDataset(object_id_t gpsId) : StaticLocalDataSet(sid_t(gpsId, GpsHyperion::DATASET_ID)) {
+  GpsPrimaryDataset(object_id_t gpsId)
+      : StaticLocalDataSet(sid_t(gpsId, GpsHyperion::CORE_DATASET)) {
     setAllVariablesReadOnly();
   }
 
@@ -69,7 +84,34 @@ class GpsPrimaryDataset : public StaticLocalDataSet<18> {
   friend class GpsHyperionLinuxController;
   friend class GpsCtrlDummy;
   GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner)
-      : StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
+      : StaticLocalDataSet(hkOwner, GpsHyperion::CORE_DATASET) {}
+};
+
+class SkyviewDataset : public StaticLocalDataSet<GpsHyperion::SKYVIEW_ENTRIES> {
+ public:
+  SkyviewDataset(object_id_t gpsId)
+      : StaticLocalDataSet(sid_t(gpsId, GpsHyperion::SKYVIEW_DATASET)) {
+    setAllVariablesReadOnly();
+  }
+
+  lp_var_t<double> unixSeconds =
+      lp_var_t<double>(sid.objectId, GpsHyperion::SKYVIEW_UNIX_SECONDS, this);
+  lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES> prn_id =
+      lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::PRN_ID, this);
+  lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES> azimuth =
+      lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::AZIMUTH, this);
+  lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES> elevation =
+      lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::ELEVATION, this);
+  lp_vec_t<double, GpsHyperion::MAX_SATELLITES> signal2noise =
+      lp_vec_t<double, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::SIGNAL2NOISE, this);
+  lp_vec_t<uint8_t, GpsHyperion::MAX_SATELLITES> used =
+      lp_vec_t<uint8_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::USED, this);
+
+ private:
+  friend class GpsHyperionLinuxController;
+  friend class GpsCtrlDummy;
+  SkyviewDataset(HasLocalDataPoolIF* hkOwner)
+      : StaticLocalDataSet(hkOwner, GpsHyperion::SKYVIEW_DATASET) {}
 };
 
 #endif /* MISSION_ACS_ARCHIVE_GPSDEFINITIONS_H_ */