eive/eive-obsw
eive/eive-obsw
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Add debug GPS dataset including more data #771

Merged
muellerr merged 8 commits from more-gps-tm into main 2023-08-14 12:20:41 +02:00
Conversation 1 Commits 8 Files Changed 4 +112 -19
4 changed files with 112 additions and 19 deletions
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6
CHANGELOG.md
View File

@ -16,6 +16,12 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
- `eive-tmtc`:
## Added
- Skyview dataset for more GPS TM has been added
## Fixed
- The handling function of the GPS data is only called once per GPS read. This should remove
the fake fix-has-changed events.

44
linux/acs/GpsHyperionLinuxController.cpp
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@ -21,6 +21,7 @@ GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, obj
bool enableHkSets, bool debugHyperionGps)
: ExtendedControllerBase(objectId),
gpsSet(this),
skyviewSet(this),
enableHkSets(enableHkSets),
debugHyperionGps(debugHyperionGps) {}
@ -29,7 +30,17 @@ GpsHyperionLinuxController::~GpsHyperionLinuxController() {
gps_close(&gps);
}
LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) {
switch (sid.ownerSetId) {
case GpsHyperion::CORE_DATASET:
return &gpsSet;
case GpsHyperion::SKYVIEW_DATASET:
return &skyviewSet;
default:
return nullptr;
}
return nullptr;
}
ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
@ -90,6 +101,13 @@ ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 30.0});
localDataPoolMap.emplace(GpsHyperion::SKYVIEW_UNIX_SECONDS, new PoolEntry<double>());
localDataPoolMap.emplace(GpsHyperion::PRN_ID, new PoolEntry<int16_t>());
localDataPoolMap.emplace(GpsHyperion::AZIMUTH, new PoolEntry<int16_t>());
localDataPoolMap.emplace(GpsHyperion::ELEVATION, new PoolEntry<int16_t>());
localDataPoolMap.emplace(GpsHyperion::SIGNAL2NOISE, new PoolEntry<double>());
localDataPoolMap.emplace(GpsHyperion::USED, new PoolEntry<uint8_t>());
poolManager.subscribeForRegularPeriodicPacket({skyviewSet.getSid(), false, 120.0});
return returnvalue::OK;
}
@ -210,7 +228,15 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
return returnvalue::FAILED;
}
}
ReturnValue_t result = handleCoreTelemetry(modeIsSet);
if (result != returnvalue::OK) {
return result;
}
result = handleSkyviewTelemetry();
return result;
}
ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
PoolReadGuard pg(&gpsSet);
if (pg.getReadResult() != returnvalue::OK) {
#if FSFW_VERBOSE_LEVEL >= 1
@ -373,6 +399,22 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
return returnvalue::OK;
}
ReturnValue_t GpsHyperionLinuxController::handleSkyviewTelemetry() {
PoolReadGuard pg(&skyviewSet);
if (pg.getReadResult() != returnvalue::OK) {
return returnvalue::FAILED;
}
skyviewSet.unixSeconds.value = gps.skyview_time;
for (int sat = 0; sat < GpsHyperion::MAX_SATELLITES; sat++) {
skyviewSet.prn_id.value[sat] = gps.skyview[sat].PRN;
skyviewSet.azimuth.value[sat] = gps.skyview[sat].azimuth;
skyviewSet.elevation.value[sat] = gps.skyview[sat].elevation;
skyviewSet.signal2noise.value[sat] = gps.skyview[sat].ss;
skyviewSet.used.value[sat] = gps.skyview[sat].used;
}
return returnvalue::OK;
}
void GpsHyperionLinuxController::overwriteTimeIfNotSane(timeval time, bool validFix) {
if (not timeInit and validFix) {
if (not utility::timeSanityCheck()) {

3
linux/acs/GpsHyperionLinuxController.h
View File

@ -54,9 +54,12 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
LocalDataPoolManager& poolManager) override;
ReturnValue_t handleGpsReadData();
ReturnValue_t handleCoreTelemetry(bool modeIsSet);
ReturnValue_t handleSkyviewTelemetry();
private:
GpsPrimaryDataset gpsSet;
SkyviewDataset skyviewSet;
gps_data_t gps = {};
bool enableHkSets = false;
const char* currentClientBuf = nullptr;

78
mission/acs/archive/GPSDefinitions.h
View File

@ -20,32 +20,47 @@ static constexpr Event CANT_GET_FIX = event::makeEvent(SUBSYSTEM_ID, 1, severity
static constexpr DeviceCommandId_t GPS_REPLY = 0;
static constexpr DeviceCommandId_t TRIGGER_RESET_PIN_GNSS = 5;
static constexpr uint32_t DATASET_ID = 0;
enum SetIds : uint32_t {
CORE_DATASET,
SKYVIEW_DATASET,
};
enum GpsPoolIds : lp_id_t {
LATITUDE = 0,
LONGITUDE = 1,
ALTITUDE = 2,
SPEED = 3,
FIX_MODE = 4,
SATS_IN_USE = 5,
SATS_IN_VIEW = 6,
UNIX_SECONDS = 7,
YEAR = 8,
MONTH = 9,
DAY = 10,
HOURS = 11,
MINUTES = 12,
SECONDS = 13
LATITUDE,
LONGITUDE,
ALTITUDE,
SPEED,
FIX_MODE,
SATS_IN_USE,
SATS_IN_VIEW,
UNIX_SECONDS,
YEAR,
MONTH,
DAY,
HOURS,
MINUTES,
SECONDS,
SKYVIEW_UNIX_SECONDS,
PRN_ID,
AZIMUTH,
ELEVATION,
SIGNAL2NOISE,
USED,
};
static constexpr uint8_t CORE_DATASET_ENTRIES = 14;
static constexpr uint8_t SKYVIEW_ENTRIES = 6;
static constexpr uint8_t MAX_SATELLITES = 30;
enum GpsFixModes : uint8_t { INVALID = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3 };
} // namespace GpsHyperion
class GpsPrimaryDataset : public StaticLocalDataSet<18> {
class GpsPrimaryDataset : public StaticLocalDataSet<GpsHyperion::CORE_DATASET_ENTRIES> {
public:
GpsPrimaryDataset(object_id_t gpsId) : StaticLocalDataSet(sid_t(gpsId, GpsHyperion::DATASET_ID)) {
GpsPrimaryDataset(object_id_t gpsId)
: StaticLocalDataSet(sid_t(gpsId, GpsHyperion::CORE_DATASET)) {
setAllVariablesReadOnly();
}
@ -69,7 +84,34 @@ class GpsPrimaryDataset : public StaticLocalDataSet<18> {
friend class GpsHyperionLinuxController;
friend class GpsCtrlDummy;
GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
: StaticLocalDataSet(hkOwner, GpsHyperion::CORE_DATASET) {}
};
class SkyviewDataset : public StaticLocalDataSet<GpsHyperion::SKYVIEW_ENTRIES> {
public:
SkyviewDataset(object_id_t gpsId)
: StaticLocalDataSet(sid_t(gpsId, GpsHyperion::SKYVIEW_DATASET)) {
setAllVariablesReadOnly();
}
lp_var_t<double> unixSeconds =
lp_var_t<double>(sid.objectId, GpsHyperion::SKYVIEW_UNIX_SECONDS, this);
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES> prn_id =
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::PRN_ID, this);
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES> azimuth =
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::AZIMUTH, this);
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES> elevation =
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::ELEVATION, this);
lp_vec_t<double, GpsHyperion::MAX_SATELLITES> signal2noise =
lp_vec_t<double, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::SIGNAL2NOISE, this);
lp_vec_t<uint8_t, GpsHyperion::MAX_SATELLITES> used =
lp_vec_t<uint8_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::USED, this);
private:
friend class GpsHyperionLinuxController;
friend class GpsCtrlDummy;
SkyviewDataset(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, GpsHyperion::SKYVIEW_DATASET) {}
};
#endif /* MISSION_ACS_ARCHIVE_GPSDEFINITIONS_H_ */