205 lines
8.0 KiB
C++
205 lines
8.0 KiB
C++
#include "GPSHyperionHandler.h"
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#include "devicedefinitions/GPSDefinitions.h"
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#include "fsfw/datapool/PoolReadGuard.h"
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#include "fsfw/timemanager/Clock.h"
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#include "lwgps/lwgps.h"
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#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
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#include <filesystem>
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#include <fstream>
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#endif
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GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
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CookieIF *comCookie, bool debugHyperionGps):
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DeviceHandlerBase(objectId, deviceCommunication, comCookie), gpsSet(this),
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debugHyperionGps(debugHyperionGps) {
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lwgps_init(&gpsData);
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}
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GPSHyperionHandler::~GPSHyperionHandler() {}
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void GPSHyperionHandler::doStartUp() {
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if(internalState == InternalStates::NONE) {
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commandExecuted = false;
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enablePeriodicReply(GpsHyperion::GPS_REPLY);
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internalState = InternalStates::WAIT_FIRST_MESSAGE;
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}
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if(internalState == InternalStates::WAIT_FIRST_MESSAGE) {
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if(commandExecuted) {
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internalState = InternalStates::IDLE;
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setMode(MODE_ON);
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commandExecuted = false;
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}
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}
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}
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void GPSHyperionHandler::doShutDown() {
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internalState = InternalStates::NONE;
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commandExecuted = false;
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setMode(_MODE_POWER_DOWN);
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}
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ReturnValue_t GPSHyperionHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
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return NOTHING_TO_SEND;
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}
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ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
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return NOTHING_TO_SEND;
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}
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ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) {
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// By default, send nothing
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rawPacketLen = 0;
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switch(deviceCommand) {
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case(GpsHyperion::TRIGGER_RESET_PIN): {
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if(resetCallback != nullptr) {
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PoolReadGuard pg(&gpsSet);
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// Set HK entries invalid
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gpsSet.setValidity(false, true);
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// The user needs to implement this. Don't touch states for now, the device should
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// quickly reboot and send valid strings again.
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actionHelper.finish(true, getCommanderQueueId(deviceCommand), deviceCommand);
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return resetCallback(resetCallbackArgs);
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}
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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// Pass data to GPS library
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if(len > 0) {
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sif::debug << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
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if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
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// TODO: Check whether data is valid by checking whether NMEA start string is valid?
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commandExecuted = true;
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}
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int result = lwgps_process(&gpsData, start, len);
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if(result != 1) {
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sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps"
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<< std::endl;
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}
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else {
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// The data from the device will generally be read all at once. Therefore, we
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// can set all field here
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PoolReadGuard pg(&gpsSet);
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if(pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
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#if FSFW_VERBOSE_LEVEL >= 1
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sif::warning << "GPSHyperionHandler::scanForReply: Reading dataset failed"
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<< std::endl;
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#endif
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}
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// Print messages
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if(gpsData.is_valid) {
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// Set all entries valid now, set invalid on case basis if values are sanitized
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gpsSet.setValidity(true, true);
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}
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// Negative latitude -> South direction
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gpsSet.latitude.value = gpsData.latitude;
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// Negative longitude -> West direction
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gpsSet.longitude.value = gpsData.longitude;
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if(gpsData.altitude > 600000.0 or gpsData.altitude < 400000.0) {
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gpsSet.altitude.setValid(false);
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}
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else {
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gpsSet.altitude.setValid(true);
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gpsSet.altitude.value = gpsData.altitude;
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}
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gpsSet.fixMode.value = gpsData.fix_mode;
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gpsSet.satInUse.value = gpsData.sats_in_use;
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Clock::TimeOfDay_t timeStruct = {};
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timeStruct.day = gpsData.date;
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timeStruct.hour = gpsData.hours;
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timeStruct.minute = gpsData.minutes;
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timeStruct.month = gpsData.month;
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timeStruct.second = gpsData.seconds;
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// Convert two-digit year to full year (AD)
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timeStruct.year = gpsData.year + 2000;
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timeval timeval = {};
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Clock::convertTimeOfDayToTimeval(&timeStruct, &timeval);
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gpsSet.year = timeStruct.year;
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gpsSet.month = gpsData.month;
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gpsSet.day = gpsData.date;
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gpsSet.hours = gpsData.hours;
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gpsSet.minutes = gpsData.minutes;
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gpsSet.seconds = gpsData.seconds;
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gpsSet.unixSeconds = timeval.tv_sec;
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if(debugHyperionGps) {
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sif::info << "GPS Data" << std::endl;
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printf("Valid status: %d\n", gpsData.is_valid);
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printf("Latitude: %f degrees\n", gpsData.latitude);
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printf("Longitude: %f degrees\n", gpsData.longitude);
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printf("Altitude: %f meters\n", gpsData.altitude);
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}
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#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
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std::string filename = "/mnt/sd0/gps_log.txt";
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std::ofstream gpsFile;
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if(not std::filesystem::exists(filename)) {
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gpsFile.open(filename, std::ofstream::out);
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}
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gpsFile.open(filename, std::ofstream::out | std::ofstream::app);
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gpsFile.write("\n", 1);
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gpsFile.write(reinterpret_cast<const char*>(start), len);
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#endif
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}
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*foundLen = len;
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*foundId = GpsHyperion::GPS_REPLY;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GPSHyperionHandler::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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uint32_t GPSHyperionHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
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return 5000;
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}
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ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(
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localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
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localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
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localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
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localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}));
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localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>());
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localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>());
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localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>());
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localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>());
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localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>());
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localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>());
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localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>());
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localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
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localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
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poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), true, 2.0, false);
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return HasReturnvaluesIF::RETURN_OK;
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}
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void GPSHyperionHandler::fillCommandAndReplyMap() {
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// Reply length does not matter, packets should always arrive periodically
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insertInReplyMap(GpsHyperion::GPS_REPLY, 4, &gpsSet, 0, true);
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insertInCommandMap(GpsHyperion::TRIGGER_RESET_PIN);
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}
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void GPSHyperionHandler::modeChanged() {
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internalState = InternalStates::NONE;
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}
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void GPSHyperionHandler::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
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void *args) {
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this->resetCallback = resetCallback;
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resetCallbackArgs = args;
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}
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void GPSHyperionHandler::debugInterface(uint8_t positionTracker, object_id_t objectId,
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uint32_t parameter) {
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}
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