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-rw-r--r--host/lib/usrp/gps_ctrl.cpp210
1 files changed, 121 insertions, 89 deletions
diff --git a/host/lib/usrp/gps_ctrl.cpp b/host/lib/usrp/gps_ctrl.cpp
index 3bee26340..3cef1ef19 100644
--- a/host/lib/usrp/gps_ctrl.cpp
+++ b/host/lib/usrp/gps_ctrl.cpp
@@ -17,23 +17,26 @@
#include <uhd/usrp/gps_ctrl.hpp>
#include <uhd/utils/msg.hpp>
+#include <uhd/utils/props.hpp>
#include <uhd/exception.hpp>
+#include <uhd/types/sensors.hpp>
+#include <boost/algorithm/string.hpp>
+#include <boost/assign/list_of.hpp>
#include <boost/cstdint.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/thread/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;
+using namespace boost::this_thread;
/*!
* A GPS control for Jackson Labs devices (and other NMEA compatible GPS's)
*/
-//TODO: multiple baud rate support (requires mboard_impl changes for poking UART registers)
class gps_ctrl_impl : public gps_ctrl{
public:
gps_ctrl_impl(gps_send_fn_t send, gps_recv_fn_t recv){
@@ -42,74 +45,41 @@ public:
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+...)
-
+
+ //first we look for a Jackson Labs Firefly (since that's what we provide...)
_recv(); //get whatever junk is in the rx buffer right now, and throw it away
_send("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") {
+ reply = _recv();
+ if(reply.find("Command Error") != std::string::npos) {
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(200));
+ sleep(milliseconds(200));
}
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) {
UHD_MSG(error) << "GPS invalid reply \"" << reply << "\", assuming none available" << std::endl;
}
- bool found_gprmc = false;
-
switch(gps_type) {
case GPS_TYPE_JACKSON_LABS:
UHD_MSG(status) << "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));
- _send("SYST:COMM:SER:ECHO OFF\n");
- boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
- _send("SYST:COMM:SER:PRO OFF\n");
- boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
- _send("GPS:GPGGA 0\n");
- boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
- _send("GPS:GGAST 0\n");
- boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
- _send("GPS:GPRMC 1\n");
- boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
-
-// break;
+ init_firefly();
case GPS_TYPE_GENERIC_NMEA:
if(gps_type == GPS_TYPE_GENERIC_NMEA) UHD_MSG(status) << "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;
- }
- boost::this_thread::sleep(boost::posix_time::milliseconds(200));
- }
- if(!found_gprmc) {
- if(gps_type == GPS_TYPE_JACKSON_LABS) UHD_MSG(error) << "Firefly GPS not locked or warming up." << std::endl;
- else UHD_MSG(error) << "GPS does not output GPRMC packets. Cannot retrieve time." << std::endl;
- gps_type = GPS_TYPE_NONE;
+ if(get_time() == ptime()) {
+ UHD_MSG(status) << "No valid GPRMC packet found. Ignoring discovered GPS.";
+ gps_type = GPS_TYPE_NONE;
}
break;
@@ -118,71 +88,134 @@ public:
break;
}
-
-
}
~gps_ctrl_impl(void){
+ /* NOP */
+ }
+ //return a list of supported sensors
+ std::vector<std::string> get_sensors(void) {
+ std::vector<std::string> ret = boost::assign::list_of
+ ("gps_gpgga")
+ ("gps_gprmc")
+ ("gps_gpgsa")
+ ("gps_time")
+ ("gps_locked");
+ return ret;
}
- std::string safe_gps_read() {
- return _recv();
+ uhd::sensor_value_t get_sensor(std::string key) {
+ if(key == "gps_gpgga"
+ or key == "gps_gprmc"
+ or key == "gps_gpgsa") {
+ return sensor_value_t(
+ boost::to_upper_copy(key),
+ get_nmea(boost::to_upper_copy(key.substr(4,8))),
+ "");
+ }
+ else if(key == "gps_time") {
+ return sensor_value_t("GPS epoch time", int(get_epoch_time()), "seconds");
+ }
+ else if(key == "gps_locked") {
+ return sensor_value_t("GPS lock status", locked(), "locked", "unlocked");
+ }
+ else {
+ UHD_THROW_PROP_GET_ERROR();
+ }
}
- ptime get_time(void) {
+private:
+ void init_firefly(void) {
+ //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.
+ sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
+ _send("SYST:COMM:SER:ECHO OFF\n");
+ sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
+ _send("SYST:COMM:SER:PRO OFF\n");
+ sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
+ _send("GPS:GPGGA 1\n");
+ sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
+ _send("GPS:GGAST 0\n");
+ sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
+ _send("GPS:GPRMC 1\n");
+ sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
+ _send("GPS:GPGSA 1\n");
+ sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
+ }
+
+ //retrieve a raw NMEA sentence
+ std::string get_nmea(std::string msgtype) {
+ msgtype.insert(0, "$");
std::string reply;
- ptime now;
- boost::tokenizer<boost::escaped_list_separator<char> > tok(reply);
- std::vector<std::string> toked;
+ if(not gps_detected()) {
+ UHD_MSG(error) << "get_nmea(): unsupported GPS or no GPS detected";
+ return std::string();
+ }
int timeout = GPS_TIMEOUT_TRIES;
- bool found_gprmc = false;
- switch(gps_type) {
- case GPS_TYPE_JACKSON_LABS: //deprecated in favor of a single NMEA parser
- case GPS_TYPE_GENERIC_NMEA:
+ while(timeout--) {
+ reply = _recv();
+ if(reply.substr(0, 6) == msgtype)
+ return reply;
+ boost::this_thread::sleep(milliseconds(GPS_TIMEOUT_DELAY_MS));
+ }
+ UHD_MSG(error) << "get_nmea(): no " << msgtype << " message found";
+ return std::string();
+ }
- while(timeout--) {
- reply = safe_gps_read();
- if(reply.substr(0, 6) == "$GPRMC") {
- found_gprmc = true;
- break;
- }
- boost::this_thread::sleep(boost::posix_time::milliseconds(200));
- }
- UHD_ASSERT_THROW(found_gprmc);
-
- tok.assign(reply);
- toked.assign(tok.begin(), tok.end());
-
- UHD_ASSERT_THROW(toked.size() == 12); //if it's not we got something weird in there
-
- now = ptime( date(
- greg_year(boost::lexical_cast<int>(toked[9].substr(4, 2)) + 2000), //just trust me on this one
- greg_month(boost::lexical_cast<int>(toked[9].substr(2, 2))),
- greg_day(boost::lexical_cast<int>(toked[9].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 uhd::runtime_error("get_time(): Unsupported GPS or no GPS detected\n");
- break;
+ //helper function to retrieve a field from an NMEA sentence
+ std::string get_token(std::string sentence, size_t offset) {
+ boost::tokenizer<boost::escaped_list_separator<char> > tok(sentence);
+ std::vector<std::string> toked;
+
+ tok.assign(sentence);
+ toked.assign(tok.begin(), tok.end());
+
+ if(toked.size() <= offset) {
+ UHD_MSG(error) << "get_token: too few tokens in reply " << sentence;
+ return std::string();
}
- return now;
+ return toked[offset];
+ }
+
+ ptime get_time(void) {
+ std::string reply = get_nmea("GPRMC");
+
+ std::string datestr = get_token(reply, 9);
+ std::string timestr = get_token(reply, 1);
+
+ if(datestr.size() == 0 or timestr.size() == 0) {
+ return ptime();
+ }
+
+ //just trust me on this one
+ return ptime( date(
+ greg_year(boost::lexical_cast<int>(datestr.substr(4, 2)) + 2000),
+ greg_month(boost::lexical_cast<int>(datestr.substr(2, 2))),
+ greg_day(boost::lexical_cast<int>(datestr.substr(0, 2)))
+ ),
+ hours( boost::lexical_cast<int>(timestr.substr(0, 2)))
+ + minutes(boost::lexical_cast<int>(timestr.substr(2, 2)))
+ + seconds(boost::lexical_cast<int>(timestr.substr(4, 2)))
+ );
}
time_t get_epoch_time(void) {
- return (get_time() - boost::posix_time::from_time_t(0)).total_seconds();
+ return (get_time() - from_time_t(0)).total_seconds();
}
bool gps_detected(void) {
return (gps_type != GPS_TYPE_NONE);
}
-private:
+ bool locked(void) {
+ std::string reply = get_nmea("GPGGA");
+ if(reply.size() <= 1) return false;
+
+ return (get_token(reply, 6) != "0");
+ }
+
gps_send_fn_t _send;
gps_recv_fn_t _recv;
@@ -195,7 +228,6 @@ private:
static const int GPS_TIMEOUT_TRIES = 10;
static const int GPS_TIMEOUT_DELAY_MS = 200;
static const int FIREFLY_STUPID_DELAY_MS = 200;
-
};
/***********************************************************************
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-15 16:35:26 +0000