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GPS Update #130

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meierj merged 12 commits from mueller/gps-update into develop 2022-01-28 07:33:37 +01:00
Conversation 0 Commits 12 Files Changed 27 +14 -12
3 changed files with 14 additions and 12 deletions
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Showing only changes of commit bf73a2e442 - Show all commits

6
bsp_q7s/core/InitMission.cpp
View File

@ -117,7 +117,7 @@ void initmission::initTasks() {
#if OBSW_ADD_ACS_HANDLERS == 1 #if OBSW_ADD_ACS_HANDLERS == 1
PeriodicTaskIF* acsCtrl = factory->createPeriodicTask( PeriodicTaskIF* acsCtrl = factory->createPeriodicTask(
"ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc); "ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = acsCtrl->addComponent(objects::GPS_CONTROLLER); result = acsCtrl->addComponent(objects::GPS_CONTROLLER);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER); initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER);
@ -136,10 +136,10 @@ void initmission::initTasks() {
#if OBSW_ADD_STAR_TRACKER == 1 #if OBSW_ADD_STAR_TRACKER == 1
PeriodicTaskIF* strImgLoaderTask = factory->createPeriodicTask( PeriodicTaskIF* strImgLoaderTask = factory->createPeriodicTask(
"FILE_SYSTEM_TASK", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = strImgLoaderTask->addComponent(objects::STR_HELPER); result = strImgLoaderTask->addComponent(objects::STR_HELPER);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::STR_HELPER); initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
} }
#endif /* OBSW_ADD_STAR_TRACKER == 1 */ #endif /* OBSW_ADD_STAR_TRACKER == 1 */

14
mission/devices/GPSHyperionHandler.cpp
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@ -4,11 +4,6 @@
#include "fsfw/datapool/PoolReadGuard.h" #include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/timemanager/Clock.h" #include "fsfw/timemanager/Clock.h"
#ifdef FSFW_OSAL_LINUX
#include <gps.h>
#include <libgpsmm.h>
#endif
#include <cmath> #include <cmath>
#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1 #if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
@ -20,6 +15,7 @@ GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t parentI
bool debugHyperionGps) bool debugHyperionGps)
: ExtendedControllerBase(objectId, objects::NO_OBJECT), : ExtendedControllerBase(objectId, objects::NO_OBJECT),
gpsSet(this), gpsSet(this),
myGpsmm(GPSD_SHARED_MEMORY, nullptr),
debugHyperionGps(debugHyperionGps) {} debugHyperionGps(debugHyperionGps) {}
GPSHyperionHandler::~GPSHyperionHandler() {} GPSHyperionHandler::~GPSHyperionHandler() {}
@ -97,15 +93,14 @@ ReturnValue_t GPSHyperionHandler::handleCommandMessage(CommandMessage *message)
void GPSHyperionHandler::readGpsDataFromGpsd() { void GPSHyperionHandler::readGpsDataFromGpsd() {
// The data from the device will generally be read all at once. Therefore, we // The data from the device will generally be read all at once. Therefore, we
// can set all field here // can set all field here
gpsmm gpsmm(GPSD_SHARED_MEMORY, 0); if(not myGpsmm.is_open()) {
if(not gpsmm.is_open()) {
// Opening failed // Opening failed
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed" << std::endl; sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed" << std::endl;
#endif #endif
} }
gps_data_t *gps; gps_data_t *gps = nullptr;
gps = gpsmm.read(); gps = myGpsmm.read();
if (gps == nullptr) { if (gps == nullptr) {
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed" << std::endl; sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed" << std::endl;
} }
@ -165,6 +160,7 @@ void GPSHyperionHandler::readGpsDataFromGpsd() {
gpsSet.hours = timeOfDay.hour; gpsSet.hours = timeOfDay.hour;
gpsSet.minutes = timeOfDay.minute; gpsSet.minutes = timeOfDay.minute;
gpsSet.seconds = timeOfDay.second; gpsSet.seconds = timeOfDay.second;
debugHyperionGps = true;
if (debugHyperionGps) { if (debugHyperionGps) {
sif::info << "-- Hyperion GPS Data --" << std::endl; sif::info << "-- Hyperion GPS Data --" << std::endl;
time_t timeRaw = gps->fix.time.tv_sec; time_t timeRaw = gps->fix.time.tv_sec;

6
mission/devices/GPSHyperionHandler.h
View File

@ -6,6 +6,11 @@
#include "fsfw/controller/ExtendedControllerBase.h" #include "fsfw/controller/ExtendedControllerBase.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h"
#ifdef FSFW_OSAL_LINUX
#include <gps.h>
#include <libgpsmm.h>
#endif
/** /**
* @brief Device handler for the Hyperion HT-GPS200 device * @brief Device handler for the Hyperion HT-GPS200 device
* @details * @details
@ -38,6 +43,7 @@ class GPSHyperionHandler : public ExtendedControllerBase {
private: private:
GpsPrimaryDataset gpsSet; GpsPrimaryDataset gpsSet;
gpsmm myGpsmm;
bool debugHyperionGps = false; bool debugHyperionGps = false;
void readGpsDataFromGpsd(); void readGpsDataFromGpsd();