CHANGELOG.md

@@ -13,9 +13,14 @@ list yields a list of all related PRs for each release.
 
 # [v1.11.0]
 
+## Fixed
+
+- Host build working again
+
 ## Added
 
-- ACS Subsystem
+- ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231
+- Custom Gomspace FDIR which disabled most of the default FDIR functionality
 - Custom Syrlinks FDIR which disabled most of the default FDIR functionality
 
 ## Changed
@@ -26,6 +31,8 @@ list yields a list of all related PRs for each release.
 - Add `/usr/local/bin` to PATH. All shell scripts are there now
 - Rename GPS device to `/dev/gps0`
 - Add Syrlinks and TMP devices to Software by default
+- Update GPS Linux Hyperion Handler to use socket interface. Still allows switching
+  back to SHM interface, but the SHM interface is a possible cause of SW crashes
 
 # [v1.10.1]
 

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -23,8 +23,9 @@
 Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
   doTestSdCard = false;
   doTestScratchApi = false;
-  doTestGps = false;
+  doTestGpsShm = false;
-  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 +272,69 @@ void Q7STestTask::testGpsDaemon() {
   sif::info << "Speed(m/s): " << gps->fix.speed << std::endl;
 }
 
+void Q7STestTask::testGpsDaemonSocket() {
+  if(gpsmmShmPtr == nullptr) {
+    gpsmmShmPtr = new 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 gpsmmShmPtr->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;
+  }
+  // Stopwatch watch;
+  gps_data_t *gps = nullptr;
+  gpsmmShmPtr->stream(WATCH_ENABLE | WATCH_JSON);
+  if(not gpsmmShmPtr->waiting(50000000)) {
+    return;
+  }
+  gps = gpsmmShmPtr->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

@@ -1,6 +1,7 @@
 #ifndef BSP_Q7S_BOARDTEST_Q7STESTTASK_H_
 #define BSP_Q7S_BOARDTEST_Q7STESTTASK_H_
 
+#include <libgpsmm.h>
 #include "test/testtasks/TestTask.h"
 
 class CoreController;
@@ -14,14 +15,22 @@ 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;
+  gpsmm* gpsmmShmPtr = nullptr;
+
   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

@@ -24,7 +24,10 @@ GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, obj
   timeUpdateCd.resetTimer();
 }
 
-GPSHyperionLinuxController::~GPSHyperionLinuxController() {}
+GPSHyperionLinuxController::~GPSHyperionLinuxController() {
+  gps_stream(&gps, WATCH_DISABLE, nullptr);
+  gps_close(&gps);
+}
 
 void GPSHyperionLinuxController::performControlOperation() {
 #ifdef FSFW_OSAL_LINUX
@@ -99,6 +102,27 @@ ReturnValue_t GPSHyperionLinuxController::initialize() {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
+  auto openError = [&](const char *type, int error) {
+    if (gpsNotOpenSwitch) {
+      // Opening failed
+#if FSFW_VERBOSE_LEVEL >= 1
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
+                   << " failed | Error " << error << " | " << gps_errstr(error) << std::endl;
+#endif
+      gpsNotOpenSwitch = false;
+    }
+  };
+  if (readMode == ReadModes::SOCKET) {
+    int retval = gps_open("localhost", DEFAULT_GPSD_PORT, &gps);
+    if (retval != 0) {
+      openError("Socket", retval);
+    }
+  } else if (readMode == ReadModes::SHM) {
+    int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps);
+    if (retval != 0) {
+      openError("SHM", retval);
+    }
+  }
   return result;
 }
 
@@ -107,41 +131,29 @@ ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *m
 }
 
 #ifdef FSFW_OSAL_LINUX
-void GPSHyperionLinuxController::readGpsDataFromGpsd() {
-  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 << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed | "
-                   << "Error " << errno << " | " << gps_errstr(errno) << std::endl;
-#endif
 
-      gpsNotOpenSwitch = false;
+void GPSHyperionLinuxController::readGpsDataFromGpsd() {
-    }
+  auto readError = [&](int error) {
-    return;
-  }
-  // Stopwatch watch;
-  gps_data_t *gps = nullptr;
-  gps = gpsmm.stream(WATCH_ENABLE | WATCH_JSON);
-  if (gps == nullptr) {
-    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd:: Setting GPSD watch "
-                    "policy failed"
-                 << std::endl;
-  }
-  while (gpsmm.waiting(2000)) {
-    gps = gpsmm.read();
-    if (gps == nullptr) {
     if (gpsReadFailedSwitch) {
       gpsReadFailedSwitch = false;
-        sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed"
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
-                     << std::endl;
+                      "Error "
+                   << error << " | " << gps_errstr(error) << std::endl;
     }
+  };
+  currentClientBuf = gps_data(&gps);
+  if (readMode == ReadModes::SOCKET) {
+    gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
+    // Exit if no data is seen in 2 seconds (should not happen)
+    if (not gps_waiting(&gps, 2000000)) {
       return;
     }
-    if (MODE_SET != (MODE_SET & gps->set)) {
+    int result = gps_read(&gps);
+    if (result == -1) {
+      readError(result);
+      return;
+    }
+    if (MODE_SET != (MODE_SET & gps.set)) {
       if (noModeSetCntr >= 0) {
         noModeSetCntr++;
       }
@@ -152,24 +164,31 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
                      << std::endl;
         noModeSetCntr = -1;
       }
-      return;
+    }
-    } else {
     noModeSetCntr = 0;
+  } else if (readMode == ReadModes::SHM) {
+    int result = gps_read(&gps);
+    if (result == -1) {
+      readError(result);
+      return;
     }
   }
-  gps = gpsmm.stream(WATCH_DISABLE);
+  handleGpsRead();
+}
+
+ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
   PoolReadGuard pg(&gpsSet);
   if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
     sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading dataset failed" << std::endl;
 #endif
-    return;
+    return RETURN_FAILED;
   }
 
   bool validFix = false;
   static_cast<void>(validFix);
   // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
-  int newFixMode = gps->fix.mode;
+  int newFixMode = gps.fix.mode;
   if (newFixMode == 2 or newFixMode == 3) {
     validFix = true;
   }
@@ -177,7 +196,7 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
     triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFixMode);
   }
   gpsSet.fixMode.value = newFixMode;
-  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()) {
       // We are supposed to be on and functioning, but not fix was found
       if (mode == MODE_ON or mode == MODE_NORMAL) {
@@ -186,51 +205,51 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
       modeCommanded = false;
     }
     gpsSet.setValidity(false, true);
-  } else if (gps->satellites_used > 0) {
+  } else if (gps.satellites_used > 0) {
     gpsSet.setValidity(true, true);
   }
 
-  gpsSet.satInUse.value = gps->satellites_used;
+  gpsSet.satInUse.value = gps.satellites_used;
-  gpsSet.satInView.value = gps->satellites_visible;
+  gpsSet.satInView.value = gps.satellites_visible;
 
-  if (std::isfinite(gps->fix.latitude)) {
+  if (std::isfinite(gps.fix.latitude)) {
     // Negative latitude -> South direction
-    gpsSet.latitude.value = gps->fix.latitude;
+    gpsSet.latitude.value = gps.fix.latitude;
   } else {
     gpsSet.latitude.setValid(false);
   }
 
-  if (std::isfinite(gps->fix.longitude)) {
+  if (std::isfinite(gps.fix.longitude)) {
     // Negative longitude -> West direction
-    gpsSet.longitude.value = gps->fix.longitude;
+    gpsSet.longitude.value = gps.fix.longitude;
   } else {
     gpsSet.longitude.setValid(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;
   } else {
     gpsSet.altitude.setValid(false);
   }
 
-  if (std::isfinite(gps->fix.speed)) {
+  if (std::isfinite(gps.fix.speed)) {
-    gpsSet.speed.value = gps->fix.speed;
+    gpsSet.speed.value = gps.fix.speed;
   } else {
     gpsSet.speed.setValid(false);
   }
 
 #if LIBGPS_VERSION_MINOR <= 17
-  gpsSet.unixSeconds.value = gps->fix.time;
+  gpsSet.unixSeconds.value = gps.fix.time;
 #else
-  gpsSet.unixSeconds.value = gps->fix.time.tv_sec;
+  gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
 #endif
   timeval time = {};
   time.tv_sec = gpsSet.unixSeconds.value;
 #if LIBGPS_VERSION_MINOR <= 17
-  double fractionalPart = gps->fix.time - std::floor(gps->fix.time);
+  double fractionalPart = gps.fix.time - std::floor(gps.fix.time);
   time.tv_usec = fractionalPart * 1000.0 * 1000.0;
 #else
-  time.tv_usec = gps->fix.time.tv_nsec / 1000;
+  time.tv_usec = gps.fix.time.tv_nsec / 1000;
 #endif
   std::time_t t = std::time(nullptr);
   if (time.tv_sec == t) {
@@ -271,26 +290,28 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
   if (debugHyperionGps) {
     sif::info << "-- Hyperion GPS Data --" << std::endl;
 #if LIBGPS_VERSION_MINOR <= 17
-    time_t timeRaw = gps->fix.time;
+    time_t timeRaw = gps.fix.time;
 #else
-    time_t timeRaw = gps->fix.time.tv_sec;
+    time_t timeRaw = gps.fix.time.tv_sec;
 #endif
     std::tm *time = gmtime(&timeRaw);
     std::cout << "Time: " << std::put_time(time, "%c %Z") << std::endl;
-    std::cout << "Visible satellites: " << gps->satellites_visible << std::endl;
+    std::cout << "Visible satellites: " << gps.satellites_visible << std::endl;
-    std::cout << "Satellites used: " << gps->satellites_used << std::endl;
+    std::cout << "Satellites used: " << gps.satellites_used << std::endl;
-    std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
+    std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps.fix.mode << std::endl;
-    std::cout << "Latitude: " << gps->fix.latitude << std::endl;
+    std::cout << "Latitude: " << gps.fix.latitude << std::endl;
-    std::cout << "Longitude: " << gps->fix.longitude << std::endl;
+    std::cout << "Longitude: " << gps.fix.longitude << std::endl;
 #if LIBGPS_VERSION_MINOR <= 17
-    std::cout << "Altitude(MSL): " << gps->fix.altitude << std::endl;
+    std::cout << "Altitude(MSL): " << gps.fix.altitude << std::endl;
 #else
-    std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
+    std::cout << "Altitude(MSL): " << gps.fix.altMSL << std::endl;
 #endif
-    std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
+    std::cout << "Speed(m/s): " << gps.fix.speed << std::endl;
     std::time_t t = std::time(nullptr);
     std::tm tm = *std::gmtime(&t);
     std::cout << "C Time: " << std::put_time(&tm, "%c") << std::endl;
   }
+  return RETURN_OK;
 }
+
 #endif

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();
@@ -47,8 +49,13 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
 
+  ReturnValue_t handleGpsRead();
+
  private:
   GpsPrimaryDataset gpsSet;
+  gps_data_t gps = {};
+  const char* currentClientBuf = nullptr;
+  ReadModes readMode = ReadModes::SOCKET;
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
   bool modeCommanded = true;
   bool timeInit = true;

mission/devices/PCDUHandler.cpp

@@ -100,14 +100,9 @@ void PCDUHandler::readCommandQueue() {
 
   for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
        result = commandQueue->receiveMessage(&command)) {
-    result = commandQueue->receiveMessage(&command);
-    if (result != RETURN_OK) {
-      return;
-    }
-
     result = poolManager.handleHousekeepingMessage(&command);
     if (result == RETURN_OK) {
-      return;
+      continue;
     }
   }
 }

scripts/q7s-cp.py

@@ -11,16 +11,27 @@ def main():
     print(f"Running command: {cmd}")
     result = os.system(cmd)
     if result != 0:
-        print("")
+        prompt_ssh_key_removal()
-        print("Removing problematic SSH key and trying again..")
-        remove_ssh_key_cmd = (
-            'ssh-keygen -f "${HOME}/.ssh/known_hosts" -R "[localhost]:1535"'
-        )
-        os.system(remove_ssh_key_cmd)
         print(f'Running command "{cmd}"')
         result = os.system(cmd)
 
 
+def prompt_ssh_key_removal():
+    do_remove_key = input("Do you want to remove problematic keys on localhost ([Y]/n)?: ")
+    if not do_remove_key.lower() in ["y", "yes", "1", ""]:
+        sys.exit(1)
+    port = 0
+    while True:
+        port = input("Enter port to remove: ")
+        if not port.isdecimal():
+            print("Invalid port detected")
+        else:
+            break
+    cmd = f'ssh-keygen -f "${{HOME}}/.ssh/known_hosts" -R "[localhost]:${port}"'
+    print(f"Removing problematic SSH key with command {cmd}..")
+    os.system(cmd)
+
+
 def handle_args():
     help_string = (
         "This script copies files to the Q7S as long as port forwarding is active.\n"
@@ -58,8 +69,7 @@ def handle_args():
     )
     # Positional argument(s)
     parser.add_argument(
-        "source", help="Source files to copy or target files to copy back to host",
+        "source", help="Source files to copy or target files to copy back to host"
-         nargs="+"
     )
     return parser.parse_args()
 
@@ -72,10 +82,6 @@ def build_cmd(args):
     address = ""
     port_args = ""
     target = args.target
-    if args.invert and len(args.source) > 1:
-        print("Multiple source files not allowed for inverse copying")
-        sys.exit(1)
-    source_files = " ".join(args.source)
     if args.flatsat:
         address = "eive@flatsat.eive.absatvirt.lw"
     else:
@@ -92,9 +98,9 @@ def build_cmd(args):
         else:
             target = args.target
     if args.invert:
-        cmd += f"{port_args} {address}:{source_files} {target}"
+        cmd += f"{port_args} {address}:{args.source} {target}"
     else:
-        cmd += f"{port_args} {source_files} {address}:{target}"
+        cmd += f"{port_args} {args.source} {address}:{target}"
     return cmd