eive-obsw/mission/devices/GPSHyperionHandler.cpp

166 lines
6.4 KiB
C++

#include "GPSHyperionHandler.h"
#include "devicedefinitions/GPSDefinitions.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/timemanager/Clock.h"
#include "lwgps/lwgps.h"
GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, bool debugHyperionGps):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), gpsSet(this),
debugHyperionGps(debugHyperionGps) {
lwgps_init(&gpsData);
}
GPSHyperionHandler::~GPSHyperionHandler() {}
void GPSHyperionHandler::doStartUp() {
if(internalState == InternalStates::NONE) {
commandExecuted = false;
internalState = InternalStates::WAIT_FIRST_MESSAGE;
}
if(internalState == InternalStates::WAIT_FIRST_MESSAGE) {
if(commandExecuted) {
internalState = InternalStates::IDLE;
setMode(MODE_ON);
commandExecuted = false;
}
}
}
void GPSHyperionHandler::doShutDown() {
internalState = InternalStates::NONE;
commandExecuted = false;
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t GPSHyperionHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
// Pass data to GPS library
if(len > 0) {
sif::info << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
// TODO: Check whether data is valid by chcking whether NMEA start string is valid
commandExecuted = true;
}
int result = lwgps_process(&gpsData, start, len);
if(result != 1) {
sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps"
<< std::endl;
}
else {
// The data from the device will generally be read all at once. Therefore, we
// can set all field here
PoolReadGuard pg(&gpsSet);
if(pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::scanForReply: Reading dataset failed"
<< std::endl;
#endif
}
// Print messages
if(gpsData.is_valid) {
// Set all entries valid now, set invalid on case basis if values are sanitized
gpsSet.setValidity(true, true);
}
// Negative latitude -> South direction
gpsSet.latitude.value = gpsData.latitude;
// Negative longitude -> West direction
gpsSet.longitude.value = gpsData.latitude;
gpsSet.fixMode.value = gpsData.fix_mode;
gpsSet.satInUse.value = gpsData.sats_in_use;
Clock::TimeOfDay_t timeStruct = {};
timeStruct.day = gpsData.date;
timeStruct.hour = gpsData.hours;
timeStruct.minute = gpsData.minutes;
timeStruct.month = gpsData.month;
timeStruct.second = gpsData.seconds;
// Convert two-digit year to full year (AD)
timeStruct.year = gpsData.year + 2000;
timeval timeval = {};
Clock::convertTimeOfDayToTimeval(&timeStruct, &timeval);
gpsSet.year = timeStruct.year;
gpsSet.month = gpsData.month;
gpsSet.day = gpsData.date;
gpsSet.hours = gpsData.hours;
gpsSet.minutes = gpsData.minutes;
gpsSet.seconds = gpsData.seconds;
if(debugHyperionGps) {
sif::info << "GPS Data" << std::endl;
printf("Valid status: %d\n", gpsData.is_valid);
printf("Latitude: %f degrees\n", gpsData.latitude);
printf("Longitude: %f degrees\n", gpsData.longitude);
printf("Altitude: %f meters\n", gpsData.altitude);
}
}
*foundLen = len;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t GPSHyperionHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 20000;
}
ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), true, 2.0, false);
return HasReturnvaluesIF::RETURN_OK;
}
void GPSHyperionHandler::fillCommandAndReplyMap() {
// Reply length does not matter, packets should always arrive periodically
insertInReplyMap(GpsHyperion::GPS_REPLY, 4, &gpsSet, 0, true);
}
void GPSHyperionHandler::modeChanged() {
internalState = InternalStates::NONE;
}
void GPSHyperionHandler::debugInterface(uint8_t positionTracker, object_id_t objectId,
uint32_t parameter) {
if(positionTracker == 0) {
sif::debug << "state machine, mode " << parameter << std::endl;
}
else if(positionTracker == 1) {
sif::debug << "ALIVE" << std::endl;
}
if(positionTracker == 5) {
(void) positionTracker;
}
}