From 8009a340f7db0824e0020f8b8e46ee6487e8dacc Mon Sep 17 00:00:00 2001
From: Nick Foster <nick@ettus.com>
Date: Thu, 11 Aug 2011 13:30:25 -0700
Subject: gps_ctrl: make GPSDO parsing more robust, add retries
---
host/lib/usrp/gps_ctrl.cpp | 83 ++++++++++++++++++++++++++++------------------
1 file changed, 51 insertions(+), 32 deletions(-)
(limited to 'host/lib')
diff --git a/host/lib/usrp/gps_ctrl.cpp b/host/lib/usrp/gps_ctrl.cpp
index fb65549b5..342b0e2fe 100644
--- a/host/lib/usrp/gps_ctrl.cpp
+++ b/host/lib/usrp/gps_ctrl.cpp
@@ -26,6 +26,7 @@
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/thread/thread.hpp>
#include <boost/tokenizer.hpp>
+#include <boost/format.hpp>
using namespace uhd;
using namespace boost::gregorian;
@@ -77,13 +78,10 @@ public:
case GPS_TYPE_JACKSON_LABS:
UHD_MSG(status) << "Found a Jackson Labs GPS" << std::endl;
init_firefly();
+ break;
case GPS_TYPE_GENERIC_NMEA:
if(gps_type == GPS_TYPE_GENERIC_NMEA) UHD_MSG(status) << "Found a generic NMEA GPS device" << std::endl;
- if(get_time() == ptime()) {
- UHD_MSG(status) << "No valid GPRMC packet found. Ignoring discovered GPS.";
- gps_type = GPS_TYPE_NONE;
- }
break;
case GPS_TYPE_NONE:
@@ -156,10 +154,9 @@ private:
UHD_MSG(error) << "get_nmea(): unsupported GPS or no GPS detected";
return std::string();
}
- //flush data to avoid reading outdated value (because NMEA string generated every second)
- while (_recv() != ""){
- sleep(milliseconds(10));
- }
+
+ while(_recv().size() != 0) sleep(milliseconds(GPS_TIMEOUT_DELAY_MS));
+
int timeout = GPS_TIMEOUT_TRIES;
while(timeout--) {
reply = _recv();
@@ -167,7 +164,7 @@ private:
return reply;
boost::this_thread::sleep(milliseconds(GPS_TIMEOUT_DELAY_MS));
}
- UHD_MSG(error) << "get_nmea(): no " << msgtype << " message found";
+ throw uhd::value_error(str(boost::format("get_nmea(): no %s message found") % msgtype));
return std::string();
}
@@ -175,37 +172,49 @@ private:
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);
+ tok.assign(sentence); //this can throw
toked.assign(tok.begin(), tok.end());
if(toked.size() <= offset) {
- UHD_MSG(error) << "get_token: too few tokens in reply " << sentence;
- return std::string();
+ throw uhd::value_error(str(boost::format("Invalid response \"%s\"") % sentence));
}
return toked[offset];
}
ptime get_time(void) {
- std::string reply = get_nmea("GPRMC");
+ int error_cnt = 0;
+ ptime gps_time;
+ while(error_cnt < 3) {
+ try {
+ std::string reply = get_nmea("GPRMC");
- std::string datestr = get_token(reply, 9);
- std::string timestr = get_token(reply, 1);
+ std::string datestr = get_token(reply, 9);
+ std::string timestr = get_token(reply, 1);
- if(datestr.size() == 0 or timestr.size() == 0) {
- return ptime();
+ 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(
+ 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)))
+ );
+ return gps_time;
+
+ } catch(std::exception &e) {
+ UHD_MSG(warning) << "get_time: " << e.what();
+ error_cnt++;
+ }
}
-
- //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)))
- );
+ throw uhd::value_error("Timeout after no valid message found");
+
+ return gps_time; //keep gcc from complaining
}
time_t get_epoch_time(void) {
@@ -217,10 +226,20 @@ private:
}
bool locked(void) {
- std::string reply = get_nmea("GPGGA");
- if(reply.size() <= 1) return false;
+ int error_cnt = 0;
+ while(error_cnt < 3) {
+ try {
+ std::string reply = get_nmea("GPGGA");
+ if(reply.size() <= 1) return false;
- return (get_token(reply, 6) != "0");
+ return (get_token(reply, 6) != "0");
+ } catch(std::exception &e) {
+ UHD_MSG(warning) << "locked: " << e.what();
+ error_cnt++;
+ }
+ }
+ throw uhd::value_error("Timeout after no valid message found");
+ return false;
}
gps_send_fn_t _send;
--
cgit v1.2.3