464 lines
16 KiB
C++
464 lines
16 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 enableHkSets, bool debugHyperionGps)
|
|
: ExtendedControllerBase(objectId),
|
|
gpsSet(this),
|
|
skyviewSet(this),
|
|
enableHkSets(enableHkSets),
|
|
debugHyperionGps(debugHyperionGps) {}
|
|
|
|
GpsHyperionLinuxController::~GpsHyperionLinuxController() {
|
|
gps_stream(&gps, WATCH_DISABLE, nullptr);
|
|
gps_close(&gps);
|
|
}
|
|
|
|
LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) {
|
|
switch (sid.ownerSetId) {
|
|
case GpsHyperion::CORE_DATASET:
|
|
return &gpsSet;
|
|
case GpsHyperion::SKYVIEW_DATASET:
|
|
return &skyviewSet;
|
|
default:
|
|
return nullptr;
|
|
}
|
|
return nullptr;
|
|
}
|
|
|
|
ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
|
|
uint32_t *msToReachTheMode) {
|
|
if (mode == MODE_ON) {
|
|
maxTimeToReachFix.resetTimer();
|
|
gainedNewFix.timeOut();
|
|
} else if (mode == MODE_NORMAL) {
|
|
return HasModesIF::INVALID_MODE;
|
|
}
|
|
if (mode == MODE_OFF) {
|
|
maxTimeToReachFix.timeOut();
|
|
gainedNewFix.timeOut();
|
|
PoolReadGuard pg(&gpsSet);
|
|
gpsSet.setValidity(false, true);
|
|
// The ctrl is off, so it cannot detect the data from the devices.
|
|
handleFixChangedEvent(GpsHyperion::FixMode::NOT_SEEN);
|
|
gpsSet.fixMode.value = GpsHyperion::FixMode::NOT_SEEN;
|
|
oneShotSwitches.reset();
|
|
}
|
|
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);
|
|
ReturnValue_t result = resetCallback(data, size, resetCallbackArgs);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return HasActionsIF::EXECUTION_FINISHED;
|
|
}
|
|
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
|
}
|
|
}
|
|
return HasActionsIF::INVALID_ACTION_ID;
|
|
}
|
|
|
|
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(), enableHkSets, 60.0});
|
|
localDataPoolMap.emplace(GpsHyperion::SKYVIEW_UNIX_SECONDS, new PoolEntry<double>());
|
|
localDataPoolMap.emplace(GpsHyperion::PRN_ID, new PoolEntry<int16_t>());
|
|
localDataPoolMap.emplace(GpsHyperion::AZIMUTH, new PoolEntry<int16_t>());
|
|
localDataPoolMap.emplace(GpsHyperion::ELEVATION, new PoolEntry<int16_t>());
|
|
localDataPoolMap.emplace(GpsHyperion::SIGNAL2NOISE, new PoolEntry<double>());
|
|
localDataPoolMap.emplace(GpsHyperion::USED, new PoolEntry<uint8_t>());
|
|
poolManager.subscribeForRegularPeriodicPacket({skyviewSet.getSid(), false, 120.0});
|
|
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) {
|
|
#if OBSW_THREAD_TRACING == 1
|
|
trace::threadTrace(opCounter, "GPS CTRL");
|
|
#endif
|
|
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;
|
|
}
|
|
unsigned int readIdx = 0;
|
|
if (readMode == ReadModes::SOCKET) {
|
|
// Poll the GPS.
|
|
while (gps_waiting(&gps, 0)) {
|
|
int retval = gps_read(&gps);
|
|
if (retval < 0) {
|
|
readError();
|
|
return false;
|
|
}
|
|
readIdx++;
|
|
if (readIdx >= 40) {
|
|
sif::warning << "GpsHyperionLinuxController: Received " << readIdx
|
|
<< " GPSD message consecutively" << std::endl;
|
|
break;
|
|
}
|
|
}
|
|
if (readIdx > 0) {
|
|
oneShotSwitches.gpsReadFailedSwitch = true;
|
|
handleGpsReadData();
|
|
}
|
|
} else if (readMode == ReadModes::SHM) {
|
|
sif::error << "GpsHyperionLinuxController::readGpsDataFromGpsdPermanentLoop: "
|
|
"SHM read not implemented"
|
|
<< std::endl;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
|
|
bool modeIsSet = true;
|
|
if (MODE_SET != (MODE_SET & gps.set)) {
|
|
if (mode != MODE_OFF) {
|
|
modeIsSet = false;
|
|
} else {
|
|
// GPS ctrl is off anyway, so do other handling
|
|
return returnvalue::FAILED;
|
|
}
|
|
}
|
|
ReturnValue_t result = handleCoreTelemetry(modeIsSet);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = handleSkyviewTelemetry();
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
|
|
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;
|
|
uint8_t newFix = 0;
|
|
if (modeIsSet) {
|
|
// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
|
|
if (gps.fix.mode == GpsHyperion::FixMode::FIX_2D or
|
|
gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
|
|
validFix = true;
|
|
maxTimeToReachFix.resetTimer();
|
|
}
|
|
newFix = gps.fix.mode;
|
|
}
|
|
if (gpsSet.fixMode.value != newFix) {
|
|
handleFixChangedEvent(newFix);
|
|
}
|
|
gpsSet.fixMode = newFix;
|
|
gpsSet.fixMode.setValid(modeIsSet);
|
|
// We are supposed to be on and functioning, but no fix was found
|
|
if (not validFix) {
|
|
if (maxTimeToReachFix.hasTimedOut()) {
|
|
// Set HK entries invalid
|
|
gpsSet.setValidity(false, true);
|
|
if (oneShotSwitches.cantGetFixSwitch) {
|
|
sif::warning << "GpsHyperionLinuxController: No fix detected in allowed "
|
|
<< maxTimeToReachFix.getTimeoutMs() / 1000 << " seconds" << std::endl;
|
|
triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.getTimeoutMs());
|
|
oneShotSwitches.cantGetFixSwitch = false;
|
|
// Try resetting the devices
|
|
if (resetCallback != nullptr) {
|
|
uint8_t chip = GpsHyperion::GnssChip::A_SIDE;
|
|
ReturnValue_t result = resetCallback(&chip, 1, resetCallbackArgs);
|
|
if (result != returnvalue::OK) {
|
|
triggerEvent(GpsHyperion::RESET_FAIL, chip);
|
|
}
|
|
chip = GpsHyperion::GnssChip::B_SIDE;
|
|
result = resetCallback(&chip, 1, resetCallbackArgs);
|
|
if (result != returnvalue::OK) {
|
|
triggerEvent(GpsHyperion::RESET_FAIL, chip);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Only set on specific messages, so only set a valid flag to invalid
|
|
// if not set for more than a full message set (10 messages here)
|
|
if (SATELLITE_SET == (SATELLITE_SET & gps.set)) {
|
|
gpsSet.satInUse.value = gps.satellites_used;
|
|
gpsSet.satInView.value = gps.satellites_visible;
|
|
if (not gpsSet.satInUse.isValid()) {
|
|
gpsSet.satInUse.setValid(true);
|
|
gpsSet.satInView.setValid(true);
|
|
}
|
|
satNotSetCounter = 0;
|
|
} else {
|
|
if (satNotSetCounter < 10) {
|
|
satNotSetCounter++;
|
|
} else {
|
|
gpsSet.satInUse.value = 0;
|
|
gpsSet.satInUse.setValid(false);
|
|
gpsSet.satInView.value = 0;
|
|
gpsSet.satInView.setValid(false);
|
|
}
|
|
}
|
|
|
|
// LATLON is set for every message, no need for a counter
|
|
bool latValid = false;
|
|
bool longValid = false;
|
|
if (modeIsSet) {
|
|
if (LATLON_SET == (LATLON_SET & gps.set)) {
|
|
if (std::isfinite(gps.fix.latitude)) {
|
|
// Negative latitude -> South direction
|
|
gpsSet.latitude.value = gps.fix.latitude;
|
|
// As specified in gps.h: Only valid if mode >= 2
|
|
if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
|
|
latValid = true;
|
|
}
|
|
}
|
|
|
|
if (std::isfinite(gps.fix.longitude)) {
|
|
// Negative longitude -> West direction
|
|
gpsSet.longitude.value = gps.fix.longitude;
|
|
// As specified in gps.h: Only valid if mode >= 2
|
|
if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
|
|
longValid = true;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
gpsSet.latitude.setValid(latValid);
|
|
gpsSet.longitude.setValid(longValid);
|
|
|
|
// ALTITUDE is set for every message, no need for a counter
|
|
bool altitudeValid = false;
|
|
if (modeIsSet) {
|
|
if (ALTITUDE_SET == (ALTITUDE_SET & gps.set) && std::isfinite(gps.fix.altitude)) {
|
|
gpsSet.altitude.value = gps.fix.altitude;
|
|
// As specified in gps.h: Only valid if mode == 3
|
|
if (gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
|
|
altitudeValid = true;
|
|
}
|
|
}
|
|
}
|
|
gpsSet.altitude.setValid(altitudeValid);
|
|
|
|
// SPEED is set for every message, no need for a counter
|
|
bool speedValid = false;
|
|
if (modeIsSet) {
|
|
if (SPEED_SET == (SPEED_SET & gps.set) && std::isfinite(gps.fix.speed)) {
|
|
gpsSet.speed.value = gps.fix.speed;
|
|
speedValid = true;
|
|
}
|
|
}
|
|
gpsSet.speed.setValid(speedValid);
|
|
|
|
// TIME is set for every message, no need for a counter
|
|
bool timeValid = false;
|
|
if (TIME_SET == (TIME_SET & gps.set)) {
|
|
// To prevent totally incorrect times from being declared valid.
|
|
if (gpsSet.satInView.isValid() and gpsSet.satInView.value >= 1) {
|
|
timeValid = true;
|
|
}
|
|
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;
|
|
}
|
|
gpsSet.unixSeconds.setValid(timeValid);
|
|
gpsSet.year.setValid(timeValid);
|
|
gpsSet.month.setValid(timeValid);
|
|
gpsSet.day.setValid(timeValid);
|
|
gpsSet.hours.setValid(timeValid);
|
|
gpsSet.minutes.setValid(timeValid);
|
|
gpsSet.seconds.setValid(timeValid);
|
|
|
|
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;
|
|
}
|
|
|
|
ReturnValue_t GpsHyperionLinuxController::handleSkyviewTelemetry() {
|
|
PoolReadGuard pg(&skyviewSet);
|
|
if (pg.getReadResult() != returnvalue::OK) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
skyviewSet.unixSeconds.value = gps.skyview_time;
|
|
for (int sat = 0; sat < GpsHyperion::MAX_SATELLITES; sat++) {
|
|
skyviewSet.prn_id.value[sat] = gps.skyview[sat].PRN;
|
|
skyviewSet.azimuth.value[sat] = gps.skyview[sat].azimuth;
|
|
skyviewSet.elevation.value[sat] = gps.skyview[sat].elevation;
|
|
skyviewSet.signal2noise.value[sat] = gps.skyview[sat].ss;
|
|
skyviewSet.used.value[sat] = gps.skyview[sat].used;
|
|
}
|
|
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;
|
|
}
|
|
}
|
|
|
|
void GpsHyperionLinuxController::handleFixChangedEvent(uint8_t newFix) {
|
|
if (gainedNewFix.hasTimedOut()) {
|
|
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, newFix, fixChangeCounter);
|
|
fixChangeCounter = 0;
|
|
gainedNewFix.resetTimer();
|
|
return;
|
|
}
|
|
fixChangeCounter++;
|
|
gainedNewFix.resetTimer();
|
|
}
|