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GPSD test #230

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meierj merged 3 commits from mueller/gps-test into develop 2022-04-28 11:12:52 +02:00
Conversation 1 Commits 3 Files Changed 5 +37 -9
2 changed files with 37 additions and 9 deletions
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Showing only changes of commit 234a6b7ac3 - Show all commits

45
linux/devices/GPSHyperionLinuxController.cpp
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@ -1,5 +1,7 @@
#include "GPSHyperionLinuxController.h" #include "GPSHyperionLinuxController.h"
#include <fsfw/timemanager/Stopwatch.h>
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "fsfw/FSFW.h" #include "fsfw/FSFW.h"
#include "fsfw/datapool/PoolReadGuard.h" #include "fsfw/datapool/PoolReadGuard.h"
@ -106,10 +108,10 @@ ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *m
#ifdef FSFW_OSAL_LINUX #ifdef FSFW_OSAL_LINUX
void GPSHyperionLinuxController::readGpsDataFromGpsd() { void GPSHyperionLinuxController::readGpsDataFromGpsd() {
gpsmm myGpsmm("localhost", DEFAULT_GPSD_PORT); gpsmm gpsmm("localhost", DEFAULT_GPSD_PORT);
// 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
if (not myGpsmm.is_open()) { if (not gpsmm.is_open()) {
if (gpsNotOpenSwitch) { if (gpsNotOpenSwitch) {
// Opening failed // Opening failed
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
@ -121,16 +123,41 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
} }
return; return;
} }
// Stopwatch watch;
gps_data_t *gps = nullptr; gps_data_t *gps = nullptr;
gps = myGpsmm.read(); gps = gpsmm.stream(WATCH_ENABLE | WATCH_JSON);
if (gps == nullptr) { if (gps == nullptr) {
if (gpsReadFailedSwitch) { sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd:: Setting GPSD watch "
gpsReadFailedSwitch = false; "policy failed"
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed" << std::endl;
<< std::endl;
}
return;
} }
while (gpsmm.waiting(2000)) {
gps = gpsmm.read();
if (gps == nullptr) {
if (gpsReadFailedSwitch) {
gpsReadFailedSwitch = false;
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed"
<< std::endl;
}
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;
}
}
gps = gpsmm.stream(WATCH_DISABLE);
PoolReadGuard pg(&gpsSet); PoolReadGuard pg(&gpsSet);
if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) { if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1

1
linux/devices/GPSHyperionLinuxController.h
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@ -55,6 +55,7 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
bool gpsNotOpenSwitch = true; bool gpsNotOpenSwitch = true;
bool gpsReadFailedSwitch = true; bool gpsReadFailedSwitch = true;
bool debugHyperionGps = false; bool debugHyperionGps = false;
int32_t noModeSetCntr = 0;
uint32_t timeIsConstantCounter = 0; uint32_t timeIsConstantCounter = 0;
Countdown timeUpdateCd = Countdown(60); Countdown timeUpdateCd = Countdown(60);