95 lines
3.3 KiB
C++
95 lines
3.3 KiB
C++
#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
|
|
#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
|
|
|
|
#include <mission/acs/archive/GPSDefinitions.h>
|
|
#include <mission/utility/trace.h>
|
|
|
|
#include "eive/eventSubsystemIds.h"
|
|
#include "fsfw/FSFW.h"
|
|
#include "fsfw/controller/ExtendedControllerBase.h"
|
|
#include "fsfw/devicehandlers/DeviceHandlerBase.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:
|
|
// 30 minutes
|
|
static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 30;
|
|
|
|
enum ReadModes { SHM = 0, SOCKET = 1 };
|
|
|
|
GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId, bool enableHkSets,
|
|
bool debugHyperionGps = false);
|
|
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;
|
|
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 handleGpsReadData();
|
|
|
|
private:
|
|
GpsPrimaryDataset gpsSet;
|
|
gps_data_t gps = {};
|
|
bool enableHkSets = false;
|
|
const char* currentClientBuf = nullptr;
|
|
ReadModes readMode = ReadModes::SOCKET;
|
|
Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
|
|
bool modeCommanded = false;
|
|
bool timeInit = false;
|
|
uint8_t satNotSetCounter = 0;
|
|
|
|
#if OBSW_THREAD_TRACING == 1
|
|
uint32_t opCounter = 0;
|
|
#endif
|
|
|
|
struct OneShotSwitches {
|
|
void reset() {
|
|
gpsReadFailedSwitch = true;
|
|
cantGetFixSwitch = true;
|
|
}
|
|
bool gpsReadFailedSwitch = true;
|
|
bool cantGetFixSwitch = true;
|
|
|
|
} oneShotSwitches;
|
|
|
|
bool debugHyperionGps = false;
|
|
|
|
// Returns true if the function should be called again or false if other
|
|
// controller handling can be done.
|
|
bool readGpsDataFromGpsd();
|
|
// If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC)
|
|
// we set it with the roughly valid time from the GPS. For some reason, NTP might only work
|
|
// if the time difference between sys time and current time is not too large
|
|
void overwriteTimeIfNotSane(timeval time, bool validFix);
|
|
};
|
|
|
|
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */
|