464 lines
16 KiB
C++
464 lines
16 KiB
C++
#include "GpsHyperionLinuxController.h"
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#include <fsfw/tasks/TaskFactory.h>
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#include <fsfw/timemanager/Stopwatch.h>
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#include "OBSWConfig.h"
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#include "fsfw/FSFW.h"
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#include "fsfw/datapool/PoolReadGuard.h"
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#include "fsfw/timemanager/Clock.h"
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#include "linux/utility/utility.h"
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#include "mission/utility/compileTime.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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#include <cmath>
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#include <ctime>
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GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
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bool enableHkSets, bool debugHyperionGps)
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: ExtendedControllerBase(objectId),
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gpsSet(this),
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skyviewSet(this),
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enableHkSets(enableHkSets),
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debugHyperionGps(debugHyperionGps) {}
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GpsHyperionLinuxController::~GpsHyperionLinuxController() {
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gps_stream(&gps, WATCH_DISABLE, nullptr);
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gps_close(&gps);
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}
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LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) {
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switch (sid.ownerSetId) {
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case GpsHyperion::CORE_DATASET:
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return &gpsSet;
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case GpsHyperion::SKYVIEW_DATASET:
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return &skyviewSet;
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default:
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return nullptr;
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}
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return nullptr;
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}
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ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t *msToReachTheMode) {
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if (mode == MODE_ON) {
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maxTimeToReachFix.resetTimer();
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gainedNewFix.timeOut();
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} else if (mode == MODE_NORMAL) {
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return HasModesIF::INVALID_MODE;
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}
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if (mode == MODE_OFF) {
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maxTimeToReachFix.timeOut();
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gainedNewFix.timeOut();
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PoolReadGuard pg(&gpsSet);
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gpsSet.setValidity(false, true);
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// The ctrl is off, so it cannot detect the data from the devices.
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handleFixChangedEvent(GpsHyperion::FixMode::NOT_SEEN);
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gpsSet.fixMode.value = GpsHyperion::FixMode::NOT_SEEN;
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oneShotSwitches.reset();
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}
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return returnvalue::OK;
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}
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ReturnValue_t GpsHyperionLinuxController::executeAction(ActionId_t actionId,
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MessageQueueId_t commandedBy,
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const uint8_t *data, size_t size) {
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switch (actionId) {
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case (GpsHyperion::TRIGGER_RESET_PIN_GNSS): {
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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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ReturnValue_t result = resetCallback(data, size, resetCallbackArgs);
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if (result != returnvalue::OK) {
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return result;
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}
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return HasActionsIF::EXECUTION_FINISHED;
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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 HasActionsIF::INVALID_ACTION_ID;
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}
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ReturnValue_t GpsHyperionLinuxController::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::SPEED, 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::SATS_IN_VIEW, new PoolEntry<uint8_t>());
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localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
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poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 30.0});
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localDataPoolMap.emplace(GpsHyperion::SKYVIEW_UNIX_SECONDS, new PoolEntry<double>());
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localDataPoolMap.emplace(GpsHyperion::PRN_ID, new PoolEntry<int16_t>());
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localDataPoolMap.emplace(GpsHyperion::AZIMUTH, new PoolEntry<int16_t>());
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localDataPoolMap.emplace(GpsHyperion::ELEVATION, new PoolEntry<int16_t>());
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localDataPoolMap.emplace(GpsHyperion::SIGNAL2NOISE, new PoolEntry<double>());
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localDataPoolMap.emplace(GpsHyperion::USED, new PoolEntry<uint8_t>());
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poolManager.subscribeForRegularPeriodicPacket({skyviewSet.getSid(), false, 120.0});
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return returnvalue::OK;
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}
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void GpsHyperionLinuxController::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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ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
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handleQueue();
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poolManager.performHkOperation();
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while (true) {
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#if OBSW_THREAD_TRACING == 1
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trace::threadTrace(opCounter, "GPS CTRL");
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#endif
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bool callAgainImmediately = readGpsDataFromGpsd();
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if (not callAgainImmediately) {
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handleQueue();
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poolManager.performHkOperation();
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TaskFactory::delayTask(250);
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}
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}
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// Should never be reached.
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return returnvalue::OK;
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}
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ReturnValue_t GpsHyperionLinuxController::initialize() {
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ReturnValue_t result = ExtendedControllerBase::initialize();
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if (result != returnvalue::OK) {
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return result;
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}
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auto openError = [&](const char *type, int error) {
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// Opening failed
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#if FSFW_VERBOSE_LEVEL >= 1
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sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
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<< " failed | Error " << error << " | " << gps_errstr(error) << std::endl;
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#endif
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};
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if (readMode == ReadModes::SOCKET) {
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int retval = gps_open("localhost", DEFAULT_GPSD_PORT, &gps);
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if (retval != 0) {
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openError("Socket", retval);
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return ObjectManager::CHILD_INIT_FAILED;
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}
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gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
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} else if (readMode == ReadModes::SHM) {
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int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps);
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if (retval != 0) {
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openError("SHM", retval);
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return ObjectManager::CHILD_INIT_FAILED;
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}
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}
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return result;
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}
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ReturnValue_t GpsHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
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return ExtendedControllerBase::handleCommandMessage(message);
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}
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void GpsHyperionLinuxController::performControlOperation() {}
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bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
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auto readError = [&]() {
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if (oneShotSwitches.gpsReadFailedSwitch) {
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oneShotSwitches.gpsReadFailedSwitch = false;
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sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
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"Error "
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<< errno << " | " << gps_errstr(errno) << std::endl;
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}
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};
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// GPS is off, no point in reading data from GPSD.
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if (mode == MODE_OFF) {
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return false;
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}
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unsigned int readIdx = 0;
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if (readMode == ReadModes::SOCKET) {
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// Poll the GPS.
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while (gps_waiting(&gps, 0)) {
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int retval = gps_read(&gps);
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if (retval < 0) {
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readError();
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return false;
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}
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readIdx++;
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if (readIdx >= 40) {
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sif::warning << "GpsHyperionLinuxController: Received " << readIdx
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<< " GPSD message consecutively" << std::endl;
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break;
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}
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}
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if (readIdx > 0) {
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oneShotSwitches.gpsReadFailedSwitch = true;
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handleGpsReadData();
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}
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} else if (readMode == ReadModes::SHM) {
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sif::error << "GpsHyperionLinuxController::readGpsDataFromGpsdPermanentLoop: "
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"SHM read not implemented"
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<< std::endl;
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}
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return false;
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}
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ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
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bool modeIsSet = true;
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if (MODE_SET != (MODE_SET & gps.set)) {
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if (mode != MODE_OFF) {
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modeIsSet = false;
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} else {
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// GPS ctrl is off anyway, so do other handling
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return returnvalue::FAILED;
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}
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}
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ReturnValue_t result = handleCoreTelemetry(modeIsSet);
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if (result != returnvalue::OK) {
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return result;
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}
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result = handleSkyviewTelemetry();
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return result;
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}
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ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
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PoolReadGuard pg(&gpsSet);
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if (pg.getReadResult() != returnvalue::OK) {
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#if FSFW_VERBOSE_LEVEL >= 1
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sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading dataset failed" << std::endl;
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#endif
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return returnvalue::FAILED;
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}
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bool validFix = false;
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uint8_t newFix = 0;
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if (modeIsSet) {
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// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
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if (gps.fix.mode == GpsHyperion::FixMode::FIX_2D or
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gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
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validFix = true;
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maxTimeToReachFix.resetTimer();
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}
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newFix = gps.fix.mode;
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}
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if (gpsSet.fixMode.value != newFix) {
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handleFixChangedEvent(newFix);
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}
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gpsSet.fixMode = newFix;
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gpsSet.fixMode.setValid(modeIsSet);
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// We are supposed to be on and functioning, but no fix was found
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if (not validFix) {
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if (maxTimeToReachFix.hasTimedOut()) {
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// Set HK entries invalid
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gpsSet.setValidity(false, true);
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if (oneShotSwitches.cantGetFixSwitch) {
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sif::warning << "GpsHyperionLinuxController: No fix detected in allowed "
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<< maxTimeToReachFix.getTimeoutMs() / 1000 << " seconds" << std::endl;
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triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.getTimeoutMs());
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oneShotSwitches.cantGetFixSwitch = false;
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// Try resetting the devices
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if (resetCallback != nullptr) {
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uint8_t chip = GpsHyperion::GnssChip::A_SIDE;
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ReturnValue_t result = resetCallback(&chip, 1, resetCallbackArgs);
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if (result != returnvalue::OK) {
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triggerEvent(GpsHyperion::RESET_FAIL, chip);
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}
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chip = GpsHyperion::GnssChip::B_SIDE;
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result = resetCallback(&chip, 1, resetCallbackArgs);
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if (result != returnvalue::OK) {
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triggerEvent(GpsHyperion::RESET_FAIL, chip);
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}
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}
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}
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}
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}
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// Only set on specific messages, so only set a valid flag to invalid
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// if not set for more than a full message set (10 messages here)
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if (SATELLITE_SET == (SATELLITE_SET & gps.set)) {
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gpsSet.satInUse.value = gps.satellites_used;
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gpsSet.satInView.value = gps.satellites_visible;
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if (not gpsSet.satInUse.isValid()) {
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gpsSet.satInUse.setValid(true);
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gpsSet.satInView.setValid(true);
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}
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satNotSetCounter = 0;
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} else {
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if (satNotSetCounter < 10) {
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satNotSetCounter++;
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} else {
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gpsSet.satInUse.value = 0;
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gpsSet.satInUse.setValid(false);
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gpsSet.satInView.value = 0;
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gpsSet.satInView.setValid(false);
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}
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}
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// LATLON is set for every message, no need for a counter
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bool latValid = false;
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bool longValid = false;
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if (modeIsSet) {
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if (LATLON_SET == (LATLON_SET & gps.set)) {
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if (std::isfinite(gps.fix.latitude)) {
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// Negative latitude -> South direction
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gpsSet.latitude.value = gps.fix.latitude;
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// As specified in gps.h: Only valid if mode >= 2
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if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
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latValid = true;
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}
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}
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if (std::isfinite(gps.fix.longitude)) {
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// Negative longitude -> West direction
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gpsSet.longitude.value = gps.fix.longitude;
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// As specified in gps.h: Only valid if mode >= 2
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if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
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longValid = true;
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}
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}
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}
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}
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gpsSet.latitude.setValid(latValid);
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gpsSet.longitude.setValid(longValid);
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// ALTITUDE is set for every message, no need for a counter
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bool altitudeValid = false;
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if (modeIsSet) {
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if (ALTITUDE_SET == (ALTITUDE_SET & gps.set) && std::isfinite(gps.fix.altitude)) {
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gpsSet.altitude.value = gps.fix.altitude;
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// As specified in gps.h: Only valid if mode == 3
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if (gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
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altitudeValid = true;
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}
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}
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}
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gpsSet.altitude.setValid(altitudeValid);
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// SPEED is set for every message, no need for a counter
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bool speedValid = false;
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if (modeIsSet) {
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if (SPEED_SET == (SPEED_SET & gps.set) && std::isfinite(gps.fix.speed)) {
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gpsSet.speed.value = gps.fix.speed;
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speedValid = true;
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}
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}
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gpsSet.speed.setValid(speedValid);
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// TIME is set for every message, no need for a counter
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bool timeValid = false;
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if (TIME_SET == (TIME_SET & gps.set)) {
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// To prevent totally incorrect times from being declared valid.
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if (gpsSet.satInView.isValid() and gpsSet.satInView.value >= 1) {
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timeValid = true;
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}
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timeval time = {};
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#if LIBGPS_VERSION_MINOR <= 17
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gpsSet.unixSeconds.value = std::floor(gps.fix.time);
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double fractionalPart = gps.fix.time - gpsSet.unixSeconds.value;
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time.tv_usec = fractionalPart * 1000.0 * 1000.0;
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#else
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gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
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time.tv_usec = gps.fix.time.tv_nsec / 1000;
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#endif
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time.tv_sec = gpsSet.unixSeconds.value;
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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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// and no time file available) we set it with the roughly valid time from the GPS.
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// NTP might only work if the time difference between sys time and current time is not too
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// large.
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overwriteTimeIfNotSane(time, validFix);
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Clock::TimeOfDay_t timeOfDay = {};
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Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
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gpsSet.year = timeOfDay.year;
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gpsSet.month = timeOfDay.month;
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gpsSet.day = timeOfDay.day;
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gpsSet.hours = timeOfDay.hour;
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gpsSet.minutes = timeOfDay.minute;
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gpsSet.seconds = timeOfDay.second;
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}
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gpsSet.unixSeconds.setValid(timeValid);
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gpsSet.year.setValid(timeValid);
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gpsSet.month.setValid(timeValid);
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gpsSet.day.setValid(timeValid);
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gpsSet.hours.setValid(timeValid);
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gpsSet.minutes.setValid(timeValid);
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gpsSet.seconds.setValid(timeValid);
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if (debugHyperionGps) {
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sif::info << "-- Hyperion GPS Data --" << std::endl;
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#if LIBGPS_VERSION_MINOR <= 17
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time_t timeRaw = gpsSet.unixSeconds.value;
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#else
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time_t timeRaw = gps.fix.time.tv_sec;
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#endif
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std::tm *time = gmtime(&timeRaw);
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std::cout << "Time: " << std::put_time(time, "%c %Z") << std::endl;
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std::cout << "Visible satellites: " << gps.satellites_visible << std::endl;
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std::cout << "Satellites used: " << gps.satellites_used << std::endl;
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std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps.fix.mode << std::endl;
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std::cout << "Latitude: " << gps.fix.latitude << std::endl;
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std::cout << "Longitude: " << gps.fix.longitude << std::endl;
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#if LIBGPS_VERSION_MINOR <= 17
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std::cout << "Altitude(MSL): " << gps.fix.altitude << std::endl;
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#else
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std::cout << "Altitude(MSL): " << gps.fix.altMSL << std::endl;
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#endif
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std::cout << "Speed(m/s): " << gps.fix.speed << std::endl;
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std::time_t t = std::time(nullptr);
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std::tm tm = *std::gmtime(&t);
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std::cout << "C Time: " << std::put_time(&tm, "%c") << std::endl;
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}
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return returnvalue::OK;
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}
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ReturnValue_t GpsHyperionLinuxController::handleSkyviewTelemetry() {
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PoolReadGuard pg(&skyviewSet);
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if (pg.getReadResult() != returnvalue::OK) {
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return returnvalue::FAILED;
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}
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skyviewSet.unixSeconds.value = gps.skyview_time;
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for (int sat = 0; sat < GpsHyperion::MAX_SATELLITES; sat++) {
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skyviewSet.prn_id.value[sat] = gps.skyview[sat].PRN;
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skyviewSet.azimuth.value[sat] = gps.skyview[sat].azimuth;
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skyviewSet.elevation.value[sat] = gps.skyview[sat].elevation;
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skyviewSet.signal2noise.value[sat] = gps.skyview[sat].ss;
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skyviewSet.used.value[sat] = gps.skyview[sat].used;
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}
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return returnvalue::OK;
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}
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void GpsHyperionLinuxController::overwriteTimeIfNotSane(timeval time, bool validFix) {
|
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if (not timeInit and validFix) {
|
|
if (not utility::timeSanityCheck()) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
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|
time_t timeRaw = time.tv_sec;
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|
std::tm *timeTm = std::gmtime(&timeRaw);
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sif::info << "Overwriting invalid system time from GPS data directly: "
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<< std::put_time(timeTm, "%c %Z") << std::endl;
|
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#endif
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// For some reason, the clock needs to be somewhat correct for NTP to work. Really dumb..
|
|
Clock::setClock(&time);
|
|
}
|
|
timeInit = true;
|
|
}
|
|
}
|
|
|
|
void GpsHyperionLinuxController::handleFixChangedEvent(uint8_t newFix) {
|
|
if (gainedNewFix.hasTimedOut()) {
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|
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, newFix, fixChangeCounter);
|
|
fixChangeCounter = 0;
|
|
gainedNewFix.resetTimer();
|
|
return;
|
|
}
|
|
fixChangeCounter++;
|
|
gainedNewFix.resetTimer();
|
|
}
|