Robin Mueller
9b2398888d
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92 lines
3.3 KiB
C++
92 lines
3.3 KiB
C++
#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
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#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
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#include "eive/eventSubsystemIds.h"
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#include "fsfw/FSFW.h"
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#include "fsfw/controller/ExtendedControllerBase.h"
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#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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#include "mission/devices/devicedefinitions/GPSDefinitions.h"
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#include "mission/trace.h"
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#ifdef FSFW_OSAL_LINUX
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#include <gps.h>
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#include <libgpsmm.h>
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#endif
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/**
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* @brief Device handler for the Hyperion HT-GPS200 device
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* @details
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* Flight manual:
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* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
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* This device handler can only be used on Linux system where the gpsd daemon with shared memory
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* export is running.
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*/
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class GpsHyperionLinuxController : public ExtendedControllerBase {
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public:
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static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5;
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enum ReadModes { SHM = 0, SOCKET = 1 };
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GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
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bool debugHyperionGps = false);
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virtual ~GpsHyperionLinuxController();
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using gpioResetFunction_t = ReturnValue_t (*)(const uint8_t* actionData, size_t len, void* args);
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ReturnValue_t performOperation(uint8_t opCode) override;
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void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
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ReturnValue_t handleCommandMessage(CommandMessage* message) override;
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void performControlOperation() override;
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LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
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ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t* msToReachTheMode) override;
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ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) override;
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ReturnValue_t initialize() override;
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protected:
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gpioResetFunction_t resetCallback = nullptr;
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void* resetCallbackArgs = nullptr;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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ReturnValue_t handleGpsReadData();
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private:
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GpsPrimaryDataset gpsSet;
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gps_data_t gps = {};
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const char* currentClientBuf = nullptr;
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ReadModes readMode = ReadModes::SOCKET;
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Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
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bool modeCommanded = false;
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bool timeInit = false;
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#if OBSW_THREAD_TRACING == 1
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uint32_t opCounter = 0;
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#endif
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struct OneShotSwitches {
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void reset() {
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gpsReadFailedSwitch = true;
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cantGetFixSwitch = true;
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}
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bool gpsReadFailedSwitch = true;
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bool cantGetFixSwitch = true;
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} oneShotSwitches;
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bool debugHyperionGps = false;
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int32_t noModeSetCntr = 0;
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Countdown timeUpdateCd = Countdown(60);
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// Returns true if the function should be called again or false if other
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// controller handling can be done.
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bool readGpsDataFromGpsd();
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// If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC)
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// we set it with the roughly valid time from the GPS. For some reason, NTP might only work
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// if the time difference between sys time and current time is not too large
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void overwriteTimeIfNotSane(timeval time, bool validFix);
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};
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#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */
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