bsp_q7s/boardtest/Q7STestTask.cpp

@@ -23,8 +23,9 @@
 Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
   doTestSdCard = false;
   doTestScratchApi = false;
-  doTestGps = false;
+  doTestGpsShm = true;
-  doTestXadc = true;
+  doTestGpsSocket = false;
+  doTestXadc = false;
 }
 
 ReturnValue_t Q7STestTask::performOneShotAction() {
@@ -36,15 +37,20 @@ ReturnValue_t Q7STestTask::performOneShotAction() {
   }
   // testJsonLibDirect();
   // testDummyParams();
-  // testProtHandler();
+  if (doTestProtHandler) {
+    testProtHandler();
+  }
   FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
   testFileSystemHandlerDirect(opCode);
   return TestTask::performOneShotAction();
 }
 
 ReturnValue_t Q7STestTask::performPeriodicAction() {
-  if (doTestGps) {
+  if (doTestGpsShm) {
-    testGpsDaemon();
+    testGpsDaemonShm();
+  }
+  if (doTestGpsSocket) {
+    testGpsDaemonSocket();
   }
   if (doTestXadc) {
     xadcTest();
@@ -238,8 +244,8 @@ void Q7STestTask::testProtHandler() {
   }
 }
 
-void Q7STestTask::testGpsDaemon() {
+void Q7STestTask::testGpsDaemonShm() {
-  gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
+  gpsmm gpsmm(GPSD_SHARED_MEMORY, "");
   gps_data_t* gps;
   gps = gpsmm.read();
   if (gps == nullptr) {
@@ -266,6 +272,90 @@ void Q7STestTask::testGpsDaemon() {
   sif::info << "Speed(m/s): " << gps->fix.speed << std::endl;
 }
 
+void Q7STestTask::testGpsDaemonSocket() {
+  gpsmm gpsmm("localhost", DEFAULT_GPSD_PORT);
+  // The data from the device will generally be read all at once. Therefore, we
+  // can set all field here
+  if (not gpsmm.is_open()) {
+    if (gpsNotOpenSwitch) {
+      // Opening failed
+#if FSFW_VERBOSE_LEVEL >= 1
+      sif::warning << "Q7STestTask::testGpsDaemonSocket: Opening GPSMM failed | "
+                   << "Error " << errno << " | " << gps_errstr(errno) << std::endl;
+#endif
+
+      gpsNotOpenSwitch = false;
+    }
+    return;
+  }
+  for (;;) {
+    struct gps_data_t* gps;
+
+    if (!gpsmm.waiting(50000000)) continue;
+
+    if ((gps = gpsmm.read()) == NULL) {
+      std::cerr << "Read error.\n";
+    } else {
+      sif::info << "-- Q7STestTask: GPS socket read test --" << 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);
+      sif::info << "Time: " << std::put_time(time, "%c %Z") << std::endl;
+      sif::info << "Visible satellites: " << gps->satellites_visible << std::endl;
+      sif::info << "Satellites used: " << gps->satellites_used << std::endl;
+      sif::info << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
+      sif::info << "Latitude: " << gps->fix.latitude << std::endl;
+      sif::info << "Longitude: " << gps->fix.longitude << std::endl;
+    }
+  }
+  //  // Stopwatch watch;
+  //  gps_data_t *gps = nullptr;
+  //  gpsmm.stream(WATCH_ENABLE | WATCH_JSON);
+  //  if(not gpsmm.waiting(50000000)) {
+  //    return;
+  //  }
+  //  gps = gpsmm.read();
+  //  if (gps == nullptr) {
+  //    if (gpsReadFailedSwitch) {
+  //      gpsReadFailedSwitch = false;
+  //      sif::warning << "Q7STestTask::testGpsDaemonSocket: 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 << "Q7STestTask::testGpsDaemonSocket: No mode could be "
+  //          "read for 10 consecutive reads"
+  //          << std::endl;
+  //      noModeSetCntr = -1;
+  //    }
+  //    return;
+  //  } else {
+  //    noModeSetCntr = 0;
+  //  }
+  //  sif::info << "-- Q7STestTask: GPS socket read test --" << 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);
+  //  sif::info << "Time: " << std::put_time(time, "%c %Z") << std::endl;
+  //  sif::info << "Visible satellites: " << gps->satellites_visible << std::endl;
+  //  sif::info << "Satellites used: " << gps->satellites_used << std::endl;
+  //  sif::info << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
+  //  sif::info << "Latitude: " << gps->fix.latitude << std::endl;
+  //  sif::info << "Longitude: " << gps->fix.longitude << std::endl;
+}
+
 void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
   auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
   if (fsHandler == nullptr) {

bsp_q7s/boardtest/Q7STestTask.h

@@ -14,14 +14,21 @@ class Q7STestTask : public TestTask {
  private:
   bool doTestSdCard = false;
   bool doTestScratchApi = false;
-  bool doTestGps = false;
+  bool doTestGpsShm = false;
+  bool doTestGpsSocket = false;
+  bool doTestProtHandler = false;
   bool doTestXadc = false;
 
+  bool gpsNotOpenSwitch = false;
+  bool gpsReadFailedSwitch = false;
+  int32_t noModeSetCntr = 0;
+
   CoreController* coreController = nullptr;
   ReturnValue_t performOneShotAction() override;
   ReturnValue_t performPeriodicAction() override;
 
-  void testGpsDaemon();
+  void testGpsDaemonShm();
+  void testGpsDaemonSocket();
 
   void testSdCard();
   void fileTests();

linux/devices/GPSHyperionLinuxController.cpp

@@ -109,56 +109,73 @@ ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *m
 #ifdef FSFW_OSAL_LINUX
 
 void GPSHyperionLinuxController::readGpsDataFromGpsd() {
-  gpsmm gpsmm("localhost", DEFAULT_GPSD_PORT);
+  gps_data_t *gps = nullptr;
-  // The data from the device will generally be read all at once. Therefore, we
+  auto openError = [&](const char *type) {
-  // can set all field here
-  if (not gpsmm.is_open()) {
     if (gpsNotOpenSwitch) {
       // Opening failed
 #if FSFW_VERBOSE_LEVEL >= 1
-      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed | "
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
-                   << "Error " << errno << " | " << gps_errstr(errno) << std::endl;
+                   << " failed | Error " << errno << " | " << gps_errstr(errno) << std::endl;
 #endif
-
       gpsNotOpenSwitch = false;
     }
-    return;
+  };
-  }
+  auto readError = [&]() {
-  // Stopwatch watch;
-  gps_data_t *gps = nullptr;
-  gpsmm.stream(WATCH_ENABLE | WATCH_JSON);
-  if(not gpsmm.waiting(50000000)) {
-    return;
-  }
-  gps = gpsmm.read();
-  if (gps == nullptr) {
     if (gpsReadFailedSwitch) {
       gpsReadFailedSwitch = false;
       sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed"
-          << std::endl;
+                   << std::endl;
     }
-    return;
+  };
-  }
+  if (readMode == ReadModes::SOCKET) {
-  if (MODE_SET != (MODE_SET & gps->set)) {
+    gpsmm gpsmm("localhost", DEFAULT_GPSD_PORT);
-    if (noModeSetCntr >= 0) {
+    // The data from the device will generally be read all at once. Therefore, we
-      noModeSetCntr++;
+    // can set all field here
+    if (not gpsmm.is_open()) {
+      return openError("Socket");
     }
-    if (noModeSetCntr == 10) {
+    // Stopwatch watch;
-      // TODO: Trigger event here
+    gpsmm.stream(WATCH_ENABLE | WATCH_JSON);
-      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be "
+    if (not gpsmm.waiting(50000000)) {
-          "read for 10 consecutive reads"
+      return;
-          << std::endl;
+    }
-      noModeSetCntr = -1;
+    gps = gpsmm.read();
+    if (gps == nullptr) {
+      readError();
+      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;
     }
-    return;
   } else {
-    noModeSetCntr = 0;
+    gpsmm gpsmm(GPSD_SHARED_MEMORY, "");
+    if (not gpsmm.is_open()) {
+      return openError("SHM");
+    }
+    gps = gpsmm.read();
+    if (gps == nullptr) {
+      readError();
+      return;
+    }
+  }
+  if (gps != nullptr) {
+    handleGpsRead(gps);
   }
-  handleGpsRead(gps);
 }
 
-
+ReturnValue_t GPSHyperionLinuxController::handleGpsRead(gps_data_t *gps) {
-ReturnValue_t GPSHyperionLinuxController::handleGpsRead(gps_data_t* gps) {
   PoolReadGuard pg(&gpsSet);
   if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1

linux/devices/GPSHyperionLinuxController.h

@@ -24,6 +24,8 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
  public:
   static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5;
 
+  enum ReadModes { SHM = 0, SOCKET = 1 };
+
   GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                              bool debugHyperionGps = false);
   virtual ~GPSHyperionLinuxController();
@@ -48,8 +50,10 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
                                         LocalDataPoolManager& poolManager) override;
 
   ReturnValue_t handleGpsRead(gps_data_t* gps);
+
  private:
   GpsPrimaryDataset gpsSet;
+  ReadModes readMode = ReadModes::SHM;
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
   bool modeCommanded = true;
   bool timeInit = true;