eive-obsw/linux/devices/GpsHyperionLinuxController.cpp
Robin Mueller f5ba859560
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comment fix
2023-02-07 17:01:07 +01:00

341 lines
12 KiB
C++

#include "GpsHyperionLinuxController.h"
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include "OBSWConfig.h"
#include "fsfw/FSFW.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/timemanager/Clock.h"
#include "linux/utility/utility.h"
#include "mission/utility/compileTime.h"
#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
#include <filesystem>
#include <fstream>
#endif
#include <cmath>
#include <ctime>
GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
bool debugHyperionGps)
: ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {
timeUpdateCd.resetTimer();
}
GpsHyperionLinuxController::~GpsHyperionLinuxController() {
gps_stream(&gps, WATCH_DISABLE, nullptr);
gps_close(&gps);
}
LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
if (not modeCommanded) {
if (mode == MODE_ON or mode == MODE_OFF) {
// 5h time to reach fix
*msToReachTheMode = MAX_SECONDS_TO_REACH_FIX;
maxTimeToReachFix.resetTimer();
modeCommanded = true;
} else if (mode == MODE_NORMAL) {
return HasModesIF::INVALID_MODE;
}
}
if (mode == MODE_OFF) {
PoolReadGuard pg(&gpsSet);
gpsSet.setValidity(false, true);
// There can't be a fix with a device that is off.
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, 0);
oneShotSwitches.reset();
modeCommanded = false;
}
return returnvalue::OK;
}
ReturnValue_t GpsHyperionLinuxController::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
switch (actionId) {
case (GpsHyperion::TRIGGER_RESET_PIN_GNSS): {
if (resetCallback != nullptr) {
PoolReadGuard pg(&gpsSet);
// Set HK entries invalid
gpsSet.setValidity(false, true);
resetCallback(data, size, resetCallbackArgs);
return HasActionsIF::EXECUTION_FINISHED;
}
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
}
return returnvalue::OK;
}
ReturnValue_t GpsHyperionLinuxController::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::SPEED, 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::SATS_IN_VIEW, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), false, 30.0});
return returnvalue::OK;
}
void GpsHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
void *args) {
this->resetCallback = resetCallback;
resetCallbackArgs = args;
}
ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
handleQueue();
poolManager.performHkOperation();
while (true) {
bool callAgainImmediately = readGpsDataFromGpsd();
if (not callAgainImmediately) {
handleQueue();
poolManager.performHkOperation();
TaskFactory::delayTask(250);
}
}
// Should never be reached.
return returnvalue::OK;
}
ReturnValue_t GpsHyperionLinuxController::initialize() {
ReturnValue_t result = ExtendedControllerBase::initialize();
if (result != returnvalue::OK) {
return result;
}
auto openError = [&](const char *type, int error) {
// Opening failed
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
<< " failed | Error " << error << " | " << gps_errstr(error) << std::endl;
#endif
};
if (readMode == ReadModes::SOCKET) {
int retval = gps_open("localhost", DEFAULT_GPSD_PORT, &gps);
if (retval != 0) {
openError("Socket", retval);
return ObjectManager::CHILD_INIT_FAILED;
}
gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
} else if (readMode == ReadModes::SHM) {
int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps);
if (retval != 0) {
openError("SHM", retval);
return ObjectManager::CHILD_INIT_FAILED;
}
}
return result;
}
ReturnValue_t GpsHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
return ExtendedControllerBase::handleCommandMessage(message);
}
void GpsHyperionLinuxController::performControlOperation() {}
bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
auto readError = [&]() {
if (oneShotSwitches.gpsReadFailedSwitch) {
oneShotSwitches.gpsReadFailedSwitch = false;
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
"Error "
<< errno << " | " << gps_errstr(errno) << std::endl;
}
};
// GPS is off, no point in reading data from GPSD.
if(mode == MODE_OFF) {
return false;
}
if (readMode == ReadModes::SOCKET) {
// Poll the GPS.
if (gps_waiting(&gps, 0)) {
if (-1 == gps_read(&gps)) {
readError();
return false;
}
oneShotSwitches.gpsReadFailedSwitch = true;
if (MODE_SET != (MODE_SET & gps.set)) {
if (mode != MODE_OFF and maxTimeToReachFix.hasTimedOut() and
oneShotSwitches.cantGetFixSwitch) {
sif::warning
<< "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be set in allowed "
<< maxTimeToReachFix.timeout / 1000 << " seconds" << std::endl;
triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.timeout);
oneShotSwitches.cantGetFixSwitch = false;
// did not event get mode, nothing to see.
return false;
}
}
noModeSetCntr = 0;
} else {
return false;
}
} else if (readMode == ReadModes::SHM) {
sif::error << "GpsHyperionLinuxController::readGpsDataFromGpsdPermanentLoop: "
"SHM read not implemented"
<< std::endl;
}
handleGpsReadData();
return true;
}
ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
PoolReadGuard pg(&gpsSet);
if (pg.getReadResult() != returnvalue::OK) {
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading dataset failed" << std::endl;
#endif
return returnvalue::FAILED;
}
bool validFix = false;
// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
if (gps.fix.mode == 2 or gps.fix.mode == 3) {
validFix = true;
}
if (gpsSet.fixMode.value != gps.fix.mode) {
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, gps.fix.mode);
}
gpsSet.fixMode.value = gps.fix.mode;
if (gps.fix.mode == 0 or gps.fix.mode == 1) {
if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
// We are supposed to be on and functioning, but no fix was found
if (mode == MODE_ON or mode == MODE_NORMAL) {
mode = MODE_OFF;
}
modeCommanded = false;
}
gpsSet.setValidity(false, true);
} else if (gps.satellites_used > 0 && validFix && mode != MODE_OFF) {
gpsSet.setValidity(true, true);
}
gpsSet.satInUse.value = gps.satellites_used;
gpsSet.satInView.value = gps.satellites_visible;
bool latValid = false;
if (std::isfinite(gps.fix.latitude)) {
// Negative latitude -> South direction
gpsSet.latitude.value = gps.fix.latitude;
if (gps.fix.mode >= 2) {
latValid = true;
}
}
gpsSet.latitude.setValid(latValid);
bool longValid = false;
if (std::isfinite(gps.fix.longitude)) {
// Negative longitude -> West direction
gpsSet.longitude.value = gps.fix.longitude;
if (gps.fix.mode >= 2) {
longValid = true;
}
}
gpsSet.latitude.setValid(longValid);
bool altitudeValid = false;
if (std::isfinite(gps.fix.altitude)) {
gpsSet.altitude.value = gps.fix.altitude;
if (gps.fix.mode == 3) {
altitudeValid = true;
}
}
gpsSet.altitude.setValid(altitudeValid);
if (std::isfinite(gps.fix.speed)) {
gpsSet.speed.value = gps.fix.speed;
} else {
gpsSet.speed.setValid(false);
}
if (TIME_SET == (TIME_SET & gps.set)) {
timeval time = {};
#if LIBGPS_VERSION_MINOR <= 17
gpsSet.unixSeconds.value = std::floor(gps.fix.time);
double fractionalPart = gps.fix.time - gpsSet.unixSeconds.value;
time.tv_usec = fractionalPart * 1000.0 * 1000.0;
#else
gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
time.tv_usec = gps.fix.time.tv_nsec / 1000;
#endif
time.tv_sec = gpsSet.unixSeconds.value;
// If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC
// and no time file available) we set it with the roughly valid time from the GPS.
// NTP might only work if the time difference between sys time and current time is not too
// large.
overwriteTimeIfNotSane(time, validFix);
Clock::TimeOfDay_t timeOfDay = {};
Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
gpsSet.year = timeOfDay.year;
gpsSet.month = timeOfDay.month;
gpsSet.day = timeOfDay.day;
gpsSet.hours = timeOfDay.hour;
gpsSet.minutes = timeOfDay.minute;
gpsSet.seconds = timeOfDay.second;
} else {
gpsSet.unixSeconds.setValid(false);
gpsSet.year.setValid(false);
gpsSet.month.setValid(false);
gpsSet.day.setValid(false);
gpsSet.hours.setValid(false);
gpsSet.minutes.setValid(false);
gpsSet.seconds.setValid(false);
}
if (debugHyperionGps) {
sif::info << "-- Hyperion GPS Data --" << std::endl;
#if LIBGPS_VERSION_MINOR <= 17
time_t timeRaw = gpsSet.unixSeconds.value;
#else
time_t timeRaw = gps.fix.time.tv_sec;
#endif
std::tm *time = gmtime(&timeRaw);
std::cout << "Time: " << std::put_time(time, "%c %Z") << std::endl;
std::cout << "Visible satellites: " << gps.satellites_visible << std::endl;
std::cout << "Satellites used: " << gps.satellites_used << std::endl;
std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps.fix.mode << std::endl;
std::cout << "Latitude: " << gps.fix.latitude << std::endl;
std::cout << "Longitude: " << gps.fix.longitude << std::endl;
#if LIBGPS_VERSION_MINOR <= 17
std::cout << "Altitude(MSL): " << gps.fix.altitude << std::endl;
#else
std::cout << "Altitude(MSL): " << gps.fix.altMSL << std::endl;
#endif
std::cout << "Speed(m/s): " << gps.fix.speed << std::endl;
std::time_t t = std::time(nullptr);
std::tm tm = *std::gmtime(&t);
std::cout << "C Time: " << std::put_time(&tm, "%c") << std::endl;
}
return returnvalue::OK;
}
void GpsHyperionLinuxController::overwriteTimeIfNotSane(timeval time, bool validFix) {
if (not timeInit and validFix) {
if (not utility::timeSanityCheck()) {
#if OBSW_VERBOSE_LEVEL >= 1
time_t timeRaw = time.tv_sec;
std::tm *timeTm = std::gmtime(&timeRaw);
sif::info << "Overwriting invalid system time from GPS data directly: "
<< std::put_time(timeTm, "%c %Z") << std::endl;
#endif
// For some reason, the clock needs to be somewhat correct for NTP to work. Really dumb..
Clock::setClock(&time);
}
timeInit = true;
}
}