CHANGELOG.md

@@ -17,6 +17,13 @@ change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+
+- `GpsHyperionLinuxController`: Fix `gpsd` polling by continuously calling `gps_read` in one cycle
+  until it does not have any data left anymore. Also, the data is now polled in a permanent loop,
+  where controller handling is done on 0.2 second timeouts.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/368
+
 # [v1.24.0] 2023-02-03
 
 - eive-tmtc v2.10.0

bsp_q7s/core/ObjectFactory.cpp

@@ -23,7 +23,7 @@
 #include "linux/boardtest/UartTestClass.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "linux/csp/CspComIF.h"
-#include "linux/devices/GPSHyperionLinuxController.h"
+#include "linux/devices/GpsHyperionLinuxController.h"
 #include "linux/devices/ScexUartReader.h"
 #include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
@@ -474,7 +474,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   RESET_ARGS_GNSS.gpioComIF = gpioComIF;
   RESET_ARGS_GNSS.waitPeriodMs = 100;
   auto gpsCtrl =
-      new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
+      new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
   gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
 
   AcsBoardHelper acsBoardHelper = AcsBoardHelper(

bsp_q7s/core/scheduling.cpp

@@ -173,54 +173,25 @@ void scheduling::initTasks() {
   }
 #endif
 
-  PeriodicTaskIF* acsCtrlTask = factory->createPeriodicTask(
-      "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
 #if OBSW_ADD_GPS_CTRL == 1
-  result = acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
+  PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
+      "GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  result = gpsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
 #endif /* OBSW_ADD_GPS_CTRL */
 
+  PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
+      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  static_cast<void>(acsSysTask);
+  // To be removed soon because it will be part of the ACS PST.
 #if OBSW_ADD_ACS_CTRL == 1
-  acsCtrlTask->addComponent(objects::ACS_CONTROLLER);
+  acsSysTask->addComponent(objects::ACS_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
   }
 #endif
-#if OBSW_Q7S_EM == 1
-  acsCtrlTask->addComponent(objects::MGM_0_LIS3_HANDLER);
-  acsCtrlTask->addComponent(objects::MGM_1_RM3100_HANDLER);
-  acsCtrlTask->addComponent(objects::MGM_2_LIS3_HANDLER);
-  acsCtrlTask->addComponent(objects::MGM_3_RM3100_HANDLER);
-  acsCtrlTask->addComponent(objects::IMTQ_HANDLER);
-  acsCtrlTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
-  acsCtrlTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
-  acsCtrlTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
-  acsCtrlTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
-  acsCtrlTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
-  acsCtrlTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
-  acsCtrlTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
-  acsCtrlTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
-  acsCtrlTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
-  acsCtrlTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
-  acsCtrlTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
-  acsCtrlTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
-  acsCtrlTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
-  acsCtrlTask->addComponent(objects::GYRO_1_L3G_HANDLER);
-  acsCtrlTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
-  acsCtrlTask->addComponent(objects::GYRO_3_L3G_HANDLER);
-  acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
-  acsCtrlTask->addComponent(objects::STAR_TRACKER);
-  acsCtrlTask->addComponent(objects::RW1);
-  acsCtrlTask->addComponent(objects::RW2);
-  acsCtrlTask->addComponent(objects::RW3);
-  acsCtrlTask->addComponent(objects::RW4);
-#endif
-
-  PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
-      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
-  static_cast<void>(acsSysTask);
 #if OBSW_ADD_ACS_BOARD == 1
   result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != returnvalue::OK) {
@@ -244,6 +215,35 @@ void scheduling::initTasks() {
     scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
   }
 
+#if OBSW_Q7S_EM == 1
+  acsSysTask->addComponent(objects::MGM_0_LIS3_HANDLER);
+  acsSysTask->addComponent(objects::MGM_1_RM3100_HANDLER);
+  acsSysTask->addComponent(objects::MGM_2_LIS3_HANDLER);
+  acsSysTask->addComponent(objects::MGM_3_RM3100_HANDLER);
+  acsSysTask->addComponent(objects::IMTQ_HANDLER);
+  acsSysTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
+  acsSysTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
+  acsSysTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
+  acsSysTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
+  acsSysTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
+  acsSysTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
+  acsSysTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
+  acsSysTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
+  acsSysTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
+  acsSysTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
+  acsSysTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
+  acsSysTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
+  acsSysTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
+  acsSysTask->addComponent(objects::GYRO_1_L3G_HANDLER);
+  acsSysTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
+  acsSysTask->addComponent(objects::GYRO_3_L3G_HANDLER);
+  acsSysTask->addComponent(objects::GPS_CONTROLLER);
+  acsSysTask->addComponent(objects::STAR_TRACKER);
+  acsSysTask->addComponent(objects::RW1);
+  acsSysTask->addComponent(objects::RW2);
+  acsSysTask->addComponent(objects::RW3);
+  acsSysTask->addComponent(objects::RW4);
+#endif
 #if OBSW_ADD_RTD_DEVICES == 1
   PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
       "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
@@ -414,7 +414,9 @@ void scheduling::initTasks() {
   strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
-  acsCtrlTask->startTask();
+#if OBSW_ADD_GPS_CTRL == 1
+  gpsTask->startTask();
+#endif
   acsSysTask->startTask();
 #if OBSW_ADD_RTD_DEVICES == 1
   tcsPollingTask->startTask();

linux/ObjectFactory.cpp

@@ -121,8 +121,8 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
   susHandlers[5]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE,
+  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
-                            spi::SUS_MAX1227_SPI_FREQ);
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[6] =
       new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);

linux/devices/CMakeLists.txt

@@ -1,5 +1,5 @@
 if(EIVE_BUILD_GPSD_GPS_HANDLER)
-  target_sources(${OBSW_NAME} PRIVATE GPSHyperionLinuxController.cpp)
+  target_sources(${OBSW_NAME} PRIVATE GpsHyperionLinuxController.cpp)
 endif()
 
 target_sources(

linux/devices/GpsHyperionLinuxController.cpp

@@ -1,5 +1,6 @@
-#include "GPSHyperionLinuxController.h"
+#include "GpsHyperionLinuxController.h"
 
+#include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 
 #include "OBSWConfig.h"
@@ -16,26 +17,20 @@
 #include <cmath>
 #include <ctime>
 
-GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
+GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                                                        bool debugHyperionGps)
     : ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {
   timeUpdateCd.resetTimer();
 }
 
-GPSHyperionLinuxController::~GPSHyperionLinuxController() {
+GpsHyperionLinuxController::~GpsHyperionLinuxController() {
   gps_stream(&gps, WATCH_DISABLE, nullptr);
   gps_close(&gps);
 }
 
-void GPSHyperionLinuxController::performControlOperation() {
+LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
-#ifdef FSFW_OSAL_LINUX
-  readGpsDataFromGpsd();
-#endif
-}
 
-LocalPoolDataSetBase *GPSHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
+ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
-
-ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
                                                            uint32_t *msToReachTheMode) {
   if (not modeCommanded) {
     if (mode == MODE_ON or mode == MODE_OFF) {
@@ -54,7 +49,7 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
   return returnvalue::OK;
 }
 
-ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
+ReturnValue_t GpsHyperionLinuxController::executeAction(ActionId_t actionId,
                                                         MessageQueueId_t commandedBy,
                                                         const uint8_t *data, size_t size) {
   switch (actionId) {
@@ -72,7 +67,7 @@ ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
   return returnvalue::OK;
 }
 
-ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
+ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
     localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
   localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
@@ -92,13 +87,27 @@ ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
   return returnvalue::OK;
 }
 
-void GPSHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
+void GpsHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
                                                             void *args) {
   this->resetCallback = resetCallback;
   resetCallbackArgs = args;
 }
 
-ReturnValue_t GPSHyperionLinuxController::initialize() {
+ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
+  handleQueue();
+  poolManager.performHkOperation();
+  while (true) {
+    bool callAgainImmediately = readGpsDataFromGpsd();
+    if (not callAgainImmediately) {
+      handleQueue();
+      poolManager.performHkOperation();
+    }
+  }
+  // Should never be reached.
+  return returnvalue::OK;
+}
+
+ReturnValue_t GpsHyperionLinuxController::initialize() {
   ReturnValue_t result = ExtendedControllerBase::initialize();
   if (result != returnvalue::OK) {
     return result;
@@ -118,6 +127,7 @@ ReturnValue_t GPSHyperionLinuxController::initialize() {
     if (retval != 0) {
       openError("Socket", retval);
     }
+    gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
   } else if (readMode == ReadModes::SHM) {
     int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps);
     if (retval != 0) {
@@ -127,34 +137,30 @@ ReturnValue_t GPSHyperionLinuxController::initialize() {
   return result;
 }
 
-ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
+ReturnValue_t GpsHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
   return ExtendedControllerBase::handleCommandMessage(message);
 }
 
-#ifdef FSFW_OSAL_LINUX
+void GpsHyperionLinuxController::performControlOperation() {}
 
-void GPSHyperionLinuxController::readGpsDataFromGpsd() {
+bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
-  auto readError = [&](int error) {
+  auto readError = [&]() {
     if (gpsReadFailedSwitch) {
       gpsReadFailedSwitch = false;
       sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
                       "Error "
-                   << error << " | " << gps_errstr(error) << std::endl;
+                   << errno << " | " << gps_errstr(errno) << std::endl;
     }
   };
-  currentClientBuf = gps_data(&gps);
   if (readMode == ReadModes::SOCKET) {
-    gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
+    // Perform other necessary handling if not data seen for 0.2 seconds.
-    // Exit if no data is seen in 2 seconds (should not happen)
+    if (gps_waiting(&gps, 200000)) {
-    if (not gps_waiting(&gps, 2000000)) {
+      if (-1 == gps_read(&gps)) {
-      return;
+        readError();
-    }
+        return false;
-    int result = gps_read(&gps);
-    if (result == -1) {
-      readError(result);
-      return;
       }
       if (MODE_SET != (MODE_SET & gps.set)) {
+        if (mode == MODE_ON) {
           if (noModeSetCntr >= 0) {
             noModeSetCntr++;
           }
@@ -165,19 +171,24 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
                          << std::endl;
             noModeSetCntr = -1;
           }
+          // did not event get mode, nothing to see.
+          return false;
+        }
       }
       noModeSetCntr = 0;
+    } else {
+      return false;
+    }
   } else if (readMode == ReadModes::SHM) {
-    int result = gps_read(&gps);
+    sif::error << "GpsHyperionLinuxController::readGpsDataFromGpsdPermanentLoop: "
-    if (result == -1) {
+                  "SHM read not implemented"
-      readError(result);
+               << std::endl;
-      return;
   }
-  }
+  handleGpsReadData();
-  handleGpsRead();
+  return true;
 }
 
-ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
+ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   PoolReadGuard pg(&gpsSet);
   if (pg.getReadResult() != returnvalue::OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
@@ -314,5 +325,3 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
   }
   return returnvalue::OK;
 }
-
-#endif

linux/devices/GpsHyperionLinuxController.h

@@ -20,18 +20,19 @@
  * This device handler can only be used on Linux system where the gpsd daemon with shared memory
  * export is running.
  */
-class GPSHyperionLinuxController : public ExtendedControllerBase {
+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,
+  GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                              bool debugHyperionGps = false);
-  virtual ~GPSHyperionLinuxController();
+  virtual ~GpsHyperionLinuxController();
 
   using gpioResetFunction_t = ReturnValue_t (*)(const uint8_t* actionData, size_t len, void* args);
 
+  ReturnValue_t performOperation(uint8_t opCode) override;
   void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
@@ -49,7 +50,7 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
 
-  ReturnValue_t handleGpsRead();
+  ReturnValue_t handleGpsReadData();
 
  private:
   GpsPrimaryDataset gpsSet;
@@ -66,7 +67,9 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   uint32_t timeIsConstantCounter = 0;
   Countdown timeUpdateCd = Countdown(60);
 
-  void readGpsDataFromGpsd();
+  // Returns true if the function should be called again or false if other
+  // controller handling can be done.
+  bool readGpsDataFromGpsd();
 };
 
 #endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

mission/devices/devicedefinitions/GPSDefinitions.h

@@ -63,7 +63,7 @@ class GpsPrimaryDataset : public StaticLocalDataSet<18> {
       lp_var_t<uint32_t>(sid.objectId, GpsHyperion::UNIX_SECONDS, this);
 
  private:
-  friend class GPSHyperionLinuxController;
+  friend class GpsHyperionLinuxController;
   GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner)
       : StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
 };