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-rw-r--r--host/lib/usrp/gps_ctrl.cpp134
1 files changed, 109 insertions, 25 deletions
diff --git a/host/lib/usrp/gps_ctrl.cpp b/host/lib/usrp/gps_ctrl.cpp
index f3bdded60..741e69397 100644
--- a/host/lib/usrp/gps_ctrl.cpp
+++ b/host/lib/usrp/gps_ctrl.cpp
@@ -26,6 +26,10 @@
#include <boost/thread/thread.hpp>
#include <boost/tokenizer.hpp>
#include <boost/format.hpp>
+#include <boost/regex.hpp>
+
+#include "boost/tuple/tuple.hpp"
+#include "boost/foreach.hpp"
using namespace uhd;
using namespace boost::gregorian;
@@ -38,14 +42,69 @@ using namespace boost::this_thread;
*/
class gps_ctrl_impl : public gps_ctrl{
+private:
+ std::map<std::string, boost::tuple<std::string, boost::system_time, bool> > sensors;
+
+ std::string get_cached_sensor(const std::string sensor, const int freshness, const bool once, const bool touch=true) {
+ boost::system_time time = boost::get_system_time();
+ try {
+ // this is nasty ...
+ //std::cout << boost::format("Requested %s - seen? ") % sensor << sensors[sensor].get<2>() << " once? " << once << std::endl;
+ if(time - sensors[sensor].get<1>() < milliseconds(freshness) && (!once or !sensors[sensor].get<2>())) {
+ sensors[sensor] = boost::make_tuple(sensors[sensor].get<0>(), sensors[sensor].get<1>(), touch);
+ return sensors[sensor].get<0>();
+ } else {
+ return update_cached_sensors(sensor);
+ }
+ } catch(std::exception &e) {
+ UHD_MSG(warning) << "get_cached_sensor: " << e.what();
+ }
+ return std::string();
+ }
+
+ std::string update_cached_sensors(const std::string sensor) {
+ if(not gps_detected() || (gps_type != GPS_TYPE_JACKSON_LABS)) {
+ UHD_MSG(error) << "get_stat(): unsupported GPS or no GPS detected";
+ return std::string();
+ }
+
+ std::string msg = _recv();
+ static const boost::regex status_regex("\\d\\d-\\d\\d-\\d\\d");
+ boost::system_time time = boost::get_system_time();
+ if(msg.size() < 6)
+ return std::string();
+
+ std::string nmea = msg.substr(1,5);
+ const std::list<std::string> list = boost::assign::list_of("GPGGA")("GPRMC");
+ BOOST_FOREACH(std::string key, list) {
+ // beginning matches one of the NMEA keys
+ if(!nmea.compare(key)) {
+ sensors[key] = boost::make_tuple(msg, time, !sensor.compare(key));
+ // if this was what we're looking for return it
+ return (!sensor.compare(key))? msg : std::string();
+ }
+ }
+
+ //We're still here so it's not one of the NMEA strings from above
+ if(boost::regex_search(msg, status_regex, boost::regex_constants::match_continuous)) {
+ trim(msg);
+ sensors["SERVO"] = boost::make_tuple(msg, time, false);
+ if(!sensor.compare("SERVO"))
+ return msg;
+ else
+ return std::string();
+ }
+ return std::string();
+ }
public:
gps_ctrl_impl(uart_iface::sptr uart){
_uart = uart;
+
std::string reply;
bool i_heard_some_nmea = false, i_heard_something_weird = false;
gps_type = GPS_TYPE_NONE;
-
+
//first we look for a Jackson Labs Firefly (since that's what we provide...)
_flush(); //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
@@ -60,7 +119,7 @@ public:
if(reply.find("Command Error") != std::string::npos) {
gps_type = GPS_TYPE_JACKSON_LABS;
break;
- }
+ }
else if(reply.substr(0, 3) == "$GP") i_heard_some_nmea = true; //but keep looking for that "Command Error" response
else if(reply.length() != 0) i_heard_something_weird = true; //probably wrong baud rate
sleep(milliseconds(GPS_TIMEOUT_DELAY_MS));
@@ -99,7 +158,8 @@ public:
("gps_gpgga")
("gps_gprmc")
("gps_time")
- ("gps_locked");
+ ("gps_locked")
+ ("gps_servo");
return ret;
}
@@ -108,7 +168,7 @@ public:
or key == "gps_gprmc") {
return sensor_value_t(
boost::to_upper_copy(key),
- get_nmea(boost::to_upper_copy(key.substr(4,8))),
+ get_cached_sensor(boost::to_upper_copy(key.substr(4,8)), GPS_NMEA_NORMAL_FRESHNESS, false, false),
"");
}
else if(key == "gps_time") {
@@ -117,6 +177,9 @@ public:
else if(key == "gps_locked") {
return sensor_value_t("GPS lock status", locked(), "locked", "unlocked");
}
+ else if(key == "gps_servo") {
+ return sensor_value_t("GPS servo status", get_servo(), "");
+ }
else {
throw uhd::value_error("gps ctrl get_sensor unknown key: " + key);
}
@@ -138,24 +201,25 @@ private:
sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
_send("GPS:GPRMC 1\n");
sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
+ _send("SERV:TRAC 1\n"); // enable servo trace message
+ sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
}
-
+
//retrieve a raw NMEA sentence
std::string get_nmea(std::string msgtype) {
- msgtype.insert(0, "$");
std::string reply;
- if(not gps_detected()) {
- UHD_MSG(error) << "get_nmea(): unsupported GPS or no GPS detected";
- return std::string();
- }
-
- _flush(); //flush all input before waiting for a message
const boost::system_time comm_timeout = boost::get_system_time() + milliseconds(GPS_COMM_TIMEOUT_MS);
while(boost::get_system_time() < comm_timeout) {
- reply = _recv();
- if(reply.substr(0, 6) == msgtype)
- return reply;
+ if(!msgtype.compare("GPRMC")) {
+ reply = get_cached_sensor(msgtype, GPS_NMEA_FRESHNESS, true);
+ }
+ else {
+ reply = get_cached_sensor(msgtype, GPS_NMEA_LOW_FRESHNESS, false);
+ }
+ if(reply.size()) {
+ if(reply.substr(1, 5) == msgtype) return reply;
+ }
boost::this_thread::sleep(milliseconds(GPS_TIMEOUT_DELAY_MS));
}
throw uhd::value_error(str(boost::format("get_nmea(): no %s message found") % msgtype));
@@ -178,7 +242,7 @@ private:
ptime get_time(void) {
int error_cnt = 0;
ptime gps_time;
- while(error_cnt < 3) {
+ while(error_cnt < 10) {
try {
std::string reply = get_nmea("GPRMC");
@@ -188,29 +252,30 @@ private:
if(datestr.size() == 0 or timestr.size() == 0) {
throw uhd::value_error(str(boost::format("Invalid response \"%s\"") % reply));
}
-
+
//just trust me on this one
- gps_time = ptime( date(
+ gps_time = 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)))
+ 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)))
);
return gps_time;
-
+
} catch(std::exception &e) {
UHD_MSG(warning) << "get_time: " << e.what();
+ _flush();
error_cnt++;
}
}
throw uhd::value_error("Timeout after no valid message found");
-
+
return gps_time; //keep gcc from complaining
}
-
+
time_t get_epoch_time(void) {
return (get_time() - from_time_t(0)).total_seconds();
}
@@ -223,7 +288,7 @@ private:
int error_cnt = 0;
while(error_cnt < 3) {
try {
- std::string reply = get_nmea("GPGGA");
+ std::string reply = get_cached_sensor("GPGGA", GPS_LOCK_FRESHNESS, false, false);
if(reply.size() <= 1) return false;
return (get_token(reply, 6) != "0");
@@ -236,6 +301,20 @@ private:
return false;
}
+ std::string get_servo(void) {
+ std::string reply;
+
+ const boost::system_time comm_timeout = boost::get_system_time() + milliseconds(GPS_COMM_TIMEOUT_MS);
+ while(boost::get_system_time() < comm_timeout) {
+ reply = get_cached_sensor("SERVO", GPS_SERVO_FRESHNESS, false);
+ if(reply.size())
+ return reply;
+ boost::this_thread::sleep(milliseconds(GPS_TIMEOUT_DELAY_MS));
+ }
+ throw uhd::value_error("get_stat(): no servo message found");
+ return std::string();
+ }
+
uart_iface::sptr _uart;
void _flush(void){
@@ -258,7 +337,12 @@ private:
GPS_TYPE_NONE
} gps_type;
- static const int GPS_COMM_TIMEOUT_MS = 1500;
+ static const int GPS_COMM_TIMEOUT_MS = 1300;
+ static const int GPS_NMEA_FRESHNESS = 10;
+ static const int GPS_NMEA_LOW_FRESHNESS = 2500;
+ static const int GPS_NMEA_NORMAL_FRESHNESS = 1000;
+ static const int GPS_SERVO_FRESHNESS = 2500;
+ static const int GPS_LOCK_FRESHNESS = 2500;
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 20:37:03 +0000