1 files changed, 53 insertions, 6 deletions

diff --git a/host/utils/query_gpsdo_sensors.cpp b/host/utils/query_gpsdo_sensors.cpp
index d909f83a9..002f2790c 100644
--- a/host/utils/query_gpsdo_sensors.cpp
+++ b/host/utils/query_gpsdo_sensors.cpp
@@ -25,6 +25,9 @@
 namespace po = boost::program_options;
 namespace fs = boost::filesystem;
 
+const size_t WARMUP_TIMEOUT_MS = 30000;
+const size_t LOCK_TIMEOUT_MS = 60000;
+
 void print_notes(void) {
   // Helpful notes
   std::cout << boost::format("**************************************Helpful Notes on Clock/PPS Selection**************************************\n");
@@ -41,18 +44,23 @@ int query_clock_sensors(const std::string &args) {
   std::vector<std::string> sensor_names = clock->get_sensor_names(0);
   if(std::find(sensor_names.begin(), sensor_names.end(), "gps_locked") == sensor_names.end()) {
     std::cout << boost::format("\ngps_locked sensor not found.  This could mean that this unit does not have a GPSDO.\n\n");
-    return EXIT_FAILURE;
   }
 
   // Print NMEA strings
   try {
-      uhd::sensor_value_t gga_string = clock->get_sensor("gps_gpgga");
-      uhd::sensor_value_t rmc_string = clock->get_sensor("gps_gprmc");
+      uhd::sensor_value_t gpgga_string = clock->get_sensor("gps_gpgga");
+      uhd::sensor_value_t gprmc_string = clock->get_sensor("gps_gprmc");
+      uhd::sensor_value_t gngga_string = clock->get_sensor("gps_gngga");
+      uhd::sensor_value_t gnrmc_string = clock->get_sensor("gps_gnrmc");
       uhd::sensor_value_t servo_string = clock->get_sensor("gps_servo");
+      uhd::sensor_value_t timelock_string = clock->get_sensor("gps_timelock");
       std::cout << boost::format("\nPrinting available NMEA strings:\n");
-      std::cout << boost::format("%s\n%s\n") % gga_string.to_pp_string() % rmc_string.to_pp_string();
+      std::cout << boost::format("%s\n%s\n") % gpgga_string.to_pp_string() % gprmc_string.to_pp_string();
+      std::cout << boost::format("%s\n%s\n") % gngga_string.to_pp_string() % gnrmc_string.to_pp_string();
       std::cout << boost::format("\nPrinting GPS servo status:\n");
       std::cout << boost::format("%s\n\n") % servo_string.to_pp_string();
+      std::cout << boost::format("\nPrinting GPS timelock:\n");
+      std::cout << boost::format("%s\n\n") % timelock_string.to_pp_string();
   } catch (const uhd::lookup_error &) {
       std::cout << "NMEA strings not implemented for this device." << std::endl;
   }
@@ -103,6 +111,12 @@ int UHD_SAFE_MAIN(int argc, char *argv[]){
   //Verify GPS sensors are present (i.e. EEPROM has been burnt)
   std::vector<std::string> sensor_names = usrp->get_mboard_sensor_names(0);
 
+  std::cout << " Sensors: " << std::endl;
+  for (const auto& name : sensor_names) {
+    std::cout << " Sensor: " << name << std::endl;
+  }
+
+
   if (std::find(sensor_names.begin(), sensor_names.end(), "gps_locked") == sensor_names.end()) {
       std::cout << boost::format("\ngps_locked sensor not found.  This could mean that you have not installed the GPSDO correctly.\n\n");
       std::cout << boost::format("Visit one of these pages if the problem persists:\n");
@@ -174,6 +188,7 @@ int UHD_SAFE_MAIN(int argc, char *argv[]){
       std::cout << "." << std::flush;
   }
   std::cout << std::endl;
+
   try {
       usrp->get_mboard_sensor("gps_locked", 0);
   } catch (std::exception &) {
@@ -183,6 +198,20 @@ int UHD_SAFE_MAIN(int argc, char *argv[]){
   std::cout << "The GPSDO is warmed up and talking." << std::endl;
 
   //Check for GPS lock
+  auto exit_time = std::chrono::steady_clock::now() + std::chrono::milliseconds(LOCK_TIMEOUT_MS);
+  while (std::chrono::steady_clock::now() < exit_time) {
+    uhd::sensor_value_t gps_locked = usrp->get_mboard_sensor("gps_locked",0);;
+
+    if (gps_locked.to_bool()) {
+      break;
+    }
+    else {
+      std::cout << "gps_locked = " << gps_locked.value << std::endl;
+    }
+
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+  }
+
   uhd::sensor_value_t gps_locked = usrp->get_mboard_sensor("gps_locked",0);;
   if(not gps_locked.to_bool()) {
       std::cout << boost::format("\nGPS does not have lock. Wait a few minutes and try again.\n");
@@ -225,14 +254,32 @@ int UHD_SAFE_MAIN(int argc, char *argv[]){
             % pps_seconds % gps_seconds
             << std::endl;
 
+  std::cout << " Sensors: " << std::endl;
+  for (const auto& name : usrp->get_mboard_sensor_names(0)) {
+    std::cout << " Sensor: " << name << std::endl;
+  }
+
   //print NMEA strings
   try {
       uhd::sensor_value_t gga_string = usrp->get_mboard_sensor("gps_gpgga");
       uhd::sensor_value_t rmc_string = usrp->get_mboard_sensor("gps_gprmc");
       std::cout << boost::format("Printing available NMEA strings:\n");
       std::cout << boost::format("%s\n%s\n") % gga_string.to_pp_string() % rmc_string.to_pp_string();
-  } catch (uhd::lookup_error&) {
-      std::cout << "NMEA strings not implemented for this device." << std::endl;
+  } catch (const uhd::lookup_error&) {
+      std::cout << "GP NMEA strings not implemented for this device." << std::endl;
+  } catch (const uhd::value_error&) {
+      std::cout << "GP NMEA strings not implemented for this device." << std::endl;
+  }
+
+  try {
+      uhd::sensor_value_t gga_string = usrp->get_mboard_sensor("gps_gngga");
+      uhd::sensor_value_t rmc_string = usrp->get_mboard_sensor("gps_gnrmc");
+      std::cout << boost::format("Printing available NMEA strings:\n");
+      std::cout << boost::format("%s\n%s\n") % gga_string.to_pp_string() % rmc_string.to_pp_string();
+  } catch (const uhd::lookup_error&) {
+      std::cout << "GN NMEA strings not implemented for this device." << std::endl;
+  } catch (const uhd::value_error&) {
+      std::cout << "GN NMEA strings not implemented for this device." << std::endl;
   }
   std::cout << boost::format("GPS Epoch time at last PPS: %.5f seconds\n") % usrp->get_mboard_sensor("gps_time").to_real();
   std::cout << boost::format("UHD Device time last PPS:   %.5f seconds\n") % (usrp->get_time_last_pps().get_real_secs());