Robin Mueller
68039d5d4a
Some checks failed
EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit
73 lines
2.6 KiB
C++
73 lines
2.6 KiB
C++
#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
|
|
#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
|
|
|
|
#include "eive/eventSubsystemIds.h"
|
|
#include "fsfw/FSFW.h"
|
|
#include "fsfw/controller/ExtendedControllerBase.h"
|
|
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
|
|
#include "mission/devices/devicedefinitions/GPSDefinitions.h"
|
|
|
|
#ifdef FSFW_OSAL_LINUX
|
|
#include <gps.h>
|
|
#include <libgpsmm.h>
|
|
#endif
|
|
|
|
/**
|
|
* @brief Device handler for the Hyperion HT-GPS200 device
|
|
* @details
|
|
* Flight manual:
|
|
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
|
|
* This device handler can only be used on Linux system where the gpsd daemon with shared memory
|
|
* export is running.
|
|
*/
|
|
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();
|
|
|
|
using gpioResetFunction_t = ReturnValue_t (*)(const uint8_t* actionData, size_t len, void* args);
|
|
|
|
void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
|
|
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
|
|
void performControlOperation() override;
|
|
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
|
|
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
|
|
uint32_t* msToReachTheMode) override;
|
|
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
|
|
const uint8_t* data, size_t size) override;
|
|
ReturnValue_t initialize() override;
|
|
|
|
protected:
|
|
gpioResetFunction_t resetCallback = nullptr;
|
|
void* resetCallbackArgs = nullptr;
|
|
|
|
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;
|
|
bool gpsNotOpenSwitch = true;
|
|
bool gpsReadFailedSwitch = true;
|
|
bool debugHyperionGps = false;
|
|
int32_t noModeSetCntr = 0;
|
|
uint32_t timeIsConstantCounter = 0;
|
|
Countdown timeUpdateCd = Countdown(60);
|
|
|
|
void readGpsDataFromGpsd();
|
|
};
|
|
|
|
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */
|