next: generalized the GPS interface to any USRP device. just give it a function to write/read strings to UART.

not sure if i'm happy with the interface; maybe inheriting is cleaner. this works though.
gps interface for usrp2 is disabled right now in mboard_impl.

8 files changed, 24 insertions, 267 deletions

diff --git a/host/lib/usrp/usrp2/CMakeLists.txt b/host/lib/usrp/usrp2/CMakeLists.txt
index d83c82063..e8811a8fb 100644
--- a/host/lib/usrp/usrp2/CMakeLists.txt
+++ b/host/lib/usrp/usrp2/CMakeLists.txt
@@ -34,8 +34,6 @@ IF(ENABLE_USRP2)
         ${CMAKE_CURRENT_SOURCE_DIR}/dboard_impl.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/dboard_iface.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/dsp_impl.cpp
-        ${CMAKE_CURRENT_SOURCE_DIR}/gps_ctrl.hpp
-        ${CMAKE_CURRENT_SOURCE_DIR}/gps_ctrl.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/io_impl.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/mboard_impl.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/usrp2_iface.cpp
diff --git a/host/lib/usrp/usrp2/codec_impl.cpp b/host/lib/usrp/usrp2/codec_impl.cpp
index eda15697b..df4975bb1 100644
--- a/host/lib/usrp/usrp2/codec_impl.cpp
+++ b/host/lib/usrp/usrp2/codec_impl.cpp
@@ -28,7 +28,7 @@ using namespace uhd;
 using namespace uhd::usrp;
 using namespace boost::assign;
 
-//this only applies to USRP2P
+//this only applies to N2XX
 static const uhd::dict<std::string, gain_range_t> codec_rx_gain_ranges = map_list_of
                                   ("analog", gain_range_t(0, 3.5, 3.5))
                                   ("digital", gain_range_t(0, 6.0, 0.5))
diff --git a/host/lib/usrp/usrp2/gps_ctrl.cpp b/host/lib/usrp/usrp2/gps_ctrl.cpp
deleted file mode 100644
index 9f9b27954..000000000
--- a/host/lib/usrp/usrp2/gps_ctrl.cpp
+++ /dev/null
@@ -1,208 +0,0 @@
-//
-// Copyright 2010 Ettus Research LLC
-//
-// This program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-
-#include "gps_ctrl.hpp"
-#include <uhd/utils/assert.hpp>
-#include <boost/cstdint.hpp>
-#include <string>
-#include <boost/date_time/posix_time/posix_time.hpp>
-#include <boost/thread.hpp>
-#include <boost/algorithm/string/trim.hpp>
-#include <boost/tokenizer.hpp>
-
-using namespace uhd;
-using namespace boost::gregorian;
-using namespace boost::posix_time;
-using namespace boost::algorithm;
-
-/*!
- * A usrp2 GPS control for Jackson Labs devices
- */
-
-//TODO: multiple baud rate support (requires mboard_impl changes for poking UART registers)
-class usrp2_gps_ctrl_impl : public usrp2_gps_ctrl{
-public:
-  usrp2_gps_ctrl_impl(usrp2_iface::sptr iface){
-    _iface = iface;
-
-    std::string reply;
-    bool i_heard_some_nmea = false, i_heard_something_weird = false;
-
-    gps_type = GPS_TYPE_NONE;
-
-//    set_uart_baud_rate(GPS_UART, 115200);
-    //first we look for a Jackson Labs Firefly (since that's what we sell with the USRP2+...)
-
-    _iface->read_uart(GPS_UART); //get whatever junk is in the rx buffer right now, and throw it away
-    _iface->write_uart(GPS_UART, "HAAAY GUYYYYS\n"); //to elicit a response from the Firefly
-
-    //then we loop until we either timeout, or until we get a response that indicates we're a JL device
-    int timeout = GPS_TIMEOUT_TRIES;
-    while(timeout--) {
-      reply = safe_gps_read();
-      if(trim_right_copy(reply) == "Command Error") {
-        gps_type = GPS_TYPE_JACKSON_LABS;
-        break;
-      }
-      else if(reply.substr(0, 3) == "$GP") i_heard_some_nmea = true; //but keep looking for that "Command Error" response
-      else if(reply.length() != 0) i_heard_something_weird = true; //probably wrong baud rate
-      boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
-    }
-
-    if((i_heard_some_nmea) && (gps_type != GPS_TYPE_JACKSON_LABS)) gps_type = GPS_TYPE_GENERIC_NMEA;
-
-    //otherwise, we can try some other common baud rates looking to see if a GPS is connected (todo, later)
-    if((gps_type == GPS_TYPE_NONE) && i_heard_something_weird) {
-      std::cout << "GPS invalid reply \"" << reply << "\", assuming none available" << std::endl;
-    }
-
-    bool found_gprmc = false;
-
-    switch(gps_type) {
-    case GPS_TYPE_JACKSON_LABS:
-      std::cout << "Found a Jackson Labs GPS" << std::endl;
-      //issue some setup stuff so it spits out the appropriate data
-      //none of these should issue replies so we don't bother looking for them
-      //we have to sleep between commands because the JL device, despite not acking, takes considerable time to process each command.
-       boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
-      _iface->write_uart(GPS_UART, "SYST:COMM:SER:ECHO OFF\n");
-       boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
-      _iface->write_uart(GPS_UART, "SYST:COMM:SER:PRO OFF\n");
-       boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
-      _iface->write_uart(GPS_UART, "GPS:GPGGA 0\n");
-       boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
-      _iface->write_uart(GPS_UART, "GPS:GGAST 0\n");
-       boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
-      _iface->write_uart(GPS_UART, "GPS:GPRMC 1\n");
-       boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
-
-//      break;
-
-    case GPS_TYPE_GENERIC_NMEA:
-      if(gps_type == GPS_TYPE_GENERIC_NMEA) std::cout << "Found a generic NMEA GPS device" << std::endl;
-      found_gprmc = false;
-      //here we loop around looking for a GPRMC packet. if we don't get one, we don't have a usable GPS.
-      timeout = GPS_TIMEOUT_TRIES;
-      while(timeout--) {
-        reply = safe_gps_read();
-        if(reply.substr(0, 6) == "$GPRMC") {
-          found_gprmc = true;
-          break;
-        }
-      }
-      if(!found_gprmc) {
-        if(gps_type == GPS_TYPE_JACKSON_LABS) std::cout << "Firefly GPS not locked or warming up." << std::endl;
-        else std::cout << "GPS does not output GPRMC packets. Cannot retrieve time." << std::endl;
-        gps_type = GPS_TYPE_NONE;
-      }
-      break;
-
-    case GPS_TYPE_NONE:
-    default:
-      break;
-
-    }
-
-
-  }
-
-  ~usrp2_gps_ctrl_impl(void){
-
-  }
-
-  std::string safe_gps_read() {
-    std::string reply;
-    try {
-        reply = _iface->read_uart(GPS_UART);
-  	    //std::cerr << "Got reply from GPS: " << reply.c_str() << " with length = " << reply.length() << std::endl;
-    } catch (std::runtime_error err) {
-      if(err.what() != std::string("usrp2 no control response")) throw; //sorry can't cope with that
-      else { //we don't actually have a GPS installed
-        reply = std::string();
-      }
-    }
-    return reply;
-  }
-
-  ptime get_time(void) {
-    std::string reply;
-    ptime now;
-    boost::tokenizer<boost::escaped_list_separator<char> > tok(reply);
-    std::vector<std::string> toked;
-    int timeout = GPS_TIMEOUT_TRIES;
-    bool found_gprmc = false;
-    switch(gps_type) {
-    case GPS_TYPE_JACKSON_LABS: //deprecated in favor of a single NMEA parser
-    case GPS_TYPE_GENERIC_NMEA:
-
-      while(timeout--) {
-        reply = safe_gps_read();
-        if(reply.substr(0, 6) == "$GPRMC") {
-          found_gprmc = true;
-          break;
-        }
-      }
-      UHD_ASSERT_THROW(found_gprmc);
-
-      tok.assign(reply);
-      toked.assign(tok.begin(), tok.end());
-
-      UHD_ASSERT_THROW(toked.size() == 11); //if it's not we got something weird in there
-
-      now = ptime( date( 
-                         greg_year(boost::lexical_cast<int>(toked[8].substr(4, 2)) + 2000), //just trust me on this one
-                         greg_month(boost::lexical_cast<int>(toked[8].substr(2, 2))), 
-                         greg_day(boost::lexical_cast<int>(toked[8].substr(0, 2))) 
-                       ),
-                   hours(  boost::lexical_cast<int>(toked[1].substr(0, 2)))
-                 + minutes(boost::lexical_cast<int>(toked[1].substr(2, 2)))
-                 + seconds(boost::lexical_cast<int>(toked[1].substr(4, 2)))
-                 );
-      break;
-    case GPS_TYPE_NONE:
-    default:
-      throw std::runtime_error("get_time(): Unsupported GPS or no GPS detected\n");
-      break;
-    }
-    return now;
-  }
-
-  bool gps_detected(void) {
-    return (gps_type != GPS_TYPE_NONE);
-  }
-
-private:
-  usrp2_iface::sptr _iface;
-
-  enum {
-    GPS_TYPE_JACKSON_LABS,
-    GPS_TYPE_GENERIC_NMEA,
-    GPS_TYPE_NONE
-  } gps_type;
-
-  static const int GPS_UART = 2; //TODO: this should be plucked from fw_common.h or memory_map.h or somewhere in common with the firmware
-  static const int GPS_TIMEOUT_TRIES = 5;
-  static const int FIREFLY_STUPID_DELAY_MS = 200;
-
-};
-
-/***********************************************************************
- * Public make function for the GPS control
- **********************************************************************/
-usrp2_gps_ctrl::sptr usrp2_gps_ctrl::make(usrp2_iface::sptr iface){
-    return sptr(new usrp2_gps_ctrl_impl(iface));
-}
diff --git a/host/lib/usrp/usrp2/gps_ctrl.hpp b/host/lib/usrp/usrp2/gps_ctrl.hpp
deleted file mode 100644
index 5936a6fb6..000000000
--- a/host/lib/usrp/usrp2/gps_ctrl.hpp
+++ /dev/null
@@ -1,53 +0,0 @@
-//
-// Copyright 2010 Ettus Research LLC
-//
-// This program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-
-#ifndef INCLUDED_GPS_CTRL_HPP
-#define INCLUDED_GPS_CTRL_HPP
-
-#include "usrp2_iface.hpp"
-#include <boost/shared_ptr.hpp>
-#include <boost/utility.hpp>
-#include <boost/date_time/posix_time/posix_time_types.hpp>
-
-using namespace boost::posix_time;
-
-class usrp2_gps_ctrl : boost::noncopyable{
-public:
-  typedef boost::shared_ptr<usrp2_gps_ctrl> sptr;
-
-  /*!
-   * Make a GPS config for Jackson Labs or generic NMEA GPS devices
-   */
-  static sptr make(usrp2_iface::sptr iface);
-
-  /*!
-   * Get the current GPS time and date
-   * \return current GPS time and date as boost::posix_time::ptime object
-   */
-  virtual ptime get_time(void) = 0;
-
-  /*!
-   * Tell you if there's a supported GPS connected or not
-   * \return true if a supported GPS is connected
-   */
-  virtual bool gps_detected(void) = 0;
-
-  //TODO: other fun things you can do with a GPS.
-
-};
-
-#endif /* INCLUDED_CLOCK_CTRL_HPP */
diff --git a/host/lib/usrp/usrp2/mboard_impl.cpp b/host/lib/usrp/usrp2/mboard_impl.cpp
index 95a3819b3..95f7013e7 100644
--- a/host/lib/usrp/usrp2/mboard_impl.cpp
+++ b/host/lib/usrp/usrp2/mboard_impl.cpp
@@ -17,6 +17,7 @@
 
 #include "usrp2_impl.hpp"
 #include "usrp2_regs.hpp"
+#include <uhd/usrp/gps_ctrl.hpp>
 #include <uhd/usrp/misc_utils.hpp>
 #include <uhd/usrp/dsp_utils.hpp>
 #include <uhd/usrp/mboard_props.hpp>
@@ -65,7 +66,9 @@ usrp2_mboard_impl::usrp2_mboard_impl(
     //contruct the interfaces to mboard perifs
     _clock_ctrl = usrp2_clock_ctrl::make(_iface);
     _codec_ctrl = usrp2_codec_ctrl::make(_iface);
-    _gps_ctrl = usrp2_gps_ctrl::make(_iface);
+    //_gps_ctrl = gps_ctrl::make(
+    //    _iface->get_gps_write_fn(),
+    //    _iface->get_gps_read_fn());
 
     //if(_gps_ctrl->gps_detected()) std::cout << "GPS time: " << _gps_ctrl->get_time() << std::endl;
 
diff --git a/host/lib/usrp/usrp2/usrp2_iface.cpp b/host/lib/usrp/usrp2/usrp2_iface.cpp
index dcb25dc54..149c5011f 100644
--- a/host/lib/usrp/usrp2/usrp2_iface.cpp
+++ b/host/lib/usrp/usrp2/usrp2_iface.cpp
@@ -218,6 +218,14 @@ public:
       }
       return result;
     }
+    
+    gps_send_fn_t get_gps_write_fn(void) {
+        return boost::bind(&usrp2_iface_impl::write_uart, this, 2, _1); //2 is the GPS UART port on USRP2
+    }
+    
+    gps_recv_fn_t get_gps_read_fn(void) {
+        return boost::bind(&usrp2_iface_impl::read_uart, this, 2); //2 is the GPS UART port on USRP2
+    }
 
 /***********************************************************************
  * Send/Recv over control
diff --git a/host/lib/usrp/usrp2/usrp2_iface.hpp b/host/lib/usrp/usrp2/usrp2_iface.hpp
index 2b4378ddf..49cb0e6dc 100644
--- a/host/lib/usrp/usrp2/usrp2_iface.hpp
+++ b/host/lib/usrp/usrp2/usrp2_iface.hpp
@@ -24,11 +24,17 @@
 #include <boost/shared_ptr.hpp>
 #include <boost/utility.hpp>
 #include <boost/cstdint.hpp>
+#include <boost/function.hpp>
 #include <utility>
 #include <string>
 #include "fw_common.h"
 #include "usrp2_regs.hpp"
 
+
+//TODO: kill this crap when you have the top level GPS include file
+typedef boost::function<void(std::string)> gps_send_fn_t;
+typedef boost::function<std::string(void)> gps_recv_fn_t;
+
 /*!
  * The usrp2 interface class:
  * Provides a set of functions to implementation layer.
@@ -100,6 +106,9 @@ public:
     virtual void write_uart(boost::uint8_t dev, const std::string &buf) = 0;
 
     virtual std::string read_uart(boost::uint8_t dev) = 0;
+    
+    virtual gps_recv_fn_t get_gps_read_fn(void) = 0;
+    virtual gps_send_fn_t get_gps_write_fn(void) = 0;
 
     //! The list of possible revision types
     enum rev_type {
diff --git a/host/lib/usrp/usrp2/usrp2_impl.hpp b/host/lib/usrp/usrp2/usrp2_impl.hpp
index d0f5ecf37..ad95b2a4a 100644
--- a/host/lib/usrp/usrp2/usrp2_impl.hpp
+++ b/host/lib/usrp/usrp2/usrp2_impl.hpp
@@ -21,7 +21,7 @@
 #include "usrp2_iface.hpp"
 #include "clock_ctrl.hpp"
 #include "codec_ctrl.hpp"
-#include "gps_ctrl.hpp"
+#include <uhd/usrp/gps_ctrl.hpp>
 #include <uhd/device.hpp>
 #include <uhd/utils/pimpl.hpp>
 #include <uhd/types/dict.hpp>
@@ -106,7 +106,7 @@ private:
     usrp2_iface::sptr _iface;
     usrp2_clock_ctrl::sptr _clock_ctrl;
     usrp2_codec_ctrl::sptr _codec_ctrl;
-    usrp2_gps_ctrl::sptr _gps_ctrl;
+    gps_ctrl::sptr _gps_ctrl;
 
     //properties for this mboard
     void get(const wax::obj &, wax::obj &);