bizhang_-obav/src/drivers/gps/gps.cpp

/****************************************************************************
 *
 *   Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file gps.cpp
 * Driver for the GPS on a serial port
 */

#ifndef __PX4_QURT
#ifdef __PX4_NUTTX
#include <nuttx/clock.h>
#include <nuttx/arch.h>
#endif
#include <fcntl.h>
#endif

#include <sys/types.h>
#include <stdint.h>
#include <stdio.h>
#include <stdbool.h>
#include <stdlib.h>
#include <string.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <px4_config.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/i2c.h>
#include <systemlib/systemlib.h>
#include <systemlib/scheduling_priorities.h>
#include <systemlib/err.h>
#include <drivers/drv_gps.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/satellite_info.h>

#include <board_config.h>

#include "ubx.h"
#include "mtk.h"
#include "ashtech.h"


#define TIMEOUT_5HZ 500
#define RATE_MEASUREMENT_PERIOD 5000000


/* class for dynamic allocation of satellite info data */
class GPS_Sat_Info
{
public:
	struct satellite_info_s 	_data;
};


class GPS
{
public:
	GPS(const char *uart_path, bool fake_gps, bool enable_sat_info);
	virtual ~GPS();

	virtual int			init();

	/**
	 * Diagnostics - print some basic information about the driver.
	 */
	void				print_info();

private:

	bool				_task_should_exit;				///< flag to make the main worker task exit
	int				_serial_fd;					///< serial interface to GPS
	unsigned			_baudrate;					///< current baudrate
	char				_port[20];					///< device / serial port path
	volatile int			_task;						///< worker task
	bool				_healthy;					///< flag to signal if the GPS is ok
	bool				_baudrate_changed;				///< flag to signal that the baudrate with the GPS has changed
	bool				_mode_changed;					///< flag that the GPS mode has changed
	gps_driver_mode_t		_mode;						///< current mode
	GPS_Helper			*_Helper;					///< instance of GPS parser
	GPS_Sat_Info			*_Sat_Info;					///< instance of GPS sat info data object
	struct vehicle_gps_position_s	_report_gps_pos;				///< uORB topic for gps position
	orb_advert_t			_report_gps_pos_pub;				///< uORB pub for gps position
	struct satellite_info_s		*_p_report_sat_info;				///< pointer to uORB topic for satellite info
	orb_advert_t			_report_sat_info_pub;				///< uORB pub for satellite info
	float				_rate;						///< position update rate
	bool				_fake_gps;					///< fake gps output


	/**
	 * Try to configure the GPS, handle outgoing communication to the GPS
	 */
	void			 	config();

	/**
	 * Trampoline to the worker task
	 */
	static void			task_main_trampoline(void *arg);


	/**
	 * Worker task: main GPS thread that configures the GPS and parses incoming data, always running
	 */
	void				task_main(void);

	/**
	 * Set the baudrate of the UART to the GPS
	 */
	int				set_baudrate(unsigned baud);

	/**
	 * Send a reset command to the GPS
	 */
	void				cmd_reset();

};


/*
 * Driver 'main' command.
 */
extern "C" __EXPORT int gps_main(int argc, char *argv[]);

namespace
{

GPS	*g_dev = nullptr;

}


GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info) :
	_task_should_exit(false),
	_healthy(false),
	_mode_changed(false),
	_mode(GPS_DRIVER_MODE_UBX),
	_Helper(nullptr),
	_Sat_Info(nullptr),
	_report_gps_pos_pub(nullptr),
	_p_report_sat_info(nullptr),
	_report_sat_info_pub(nullptr),
	_rate(0.0f),
	_fake_gps(fake_gps)
{
	/* store port name */
	strncpy(_port, uart_path, sizeof(_port));
	/* enforce null termination */
	_port[sizeof(_port) - 1] = '\0';

	/* we need this potentially before it could be set in task_main */
	g_dev = this;
	memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));

	/* create satellite info data object if requested */
	if (enable_sat_info) {
		_Sat_Info = new GPS_Sat_Info();
		_p_report_sat_info = &_Sat_Info->_data;
		memset(_p_report_sat_info, 0, sizeof(*_p_report_sat_info));
	}
}

GPS::~GPS()
{
	/* tell the task we want it to go away */
	_task_should_exit = true;

	/* spin waiting for the task to stop */
	for (unsigned i = 0; (i < 10) && (_task != -1); i++) {
		/* give it another 100ms */
		usleep(100000);
	}

	/* well, kill it anyway, though this will probably crash */
	if (_task != -1) {
		px4_task_delete(_task);
	}

	if (_Sat_Info) {
		delete(_Sat_Info);
	}

	g_dev = nullptr;

}

int
GPS::init()
{

	/* start the GPS driver worker task */
	_task = px4_task_spawn_cmd("gps", SCHED_DEFAULT,
				   SCHED_PRIORITY_SLOW_DRIVER, 1200, (px4_main_t)&GPS::task_main_trampoline, nullptr);

	if (_task < 0) {
		PX4_WARN("task start failed: %d", errno);
		return -errno;
	}

	return OK;
}

void
GPS::task_main_trampoline(void *arg)
{
	g_dev->task_main();
}

void
GPS::task_main()
{
	/* open the serial port */
	_serial_fd = ::open(_port, O_RDWR);

	if (_serial_fd < 0) {
		PX4_ERR("GPS: failed to open serial port: %s err: %d", _port, errno);

		/* tell the dtor that we are exiting, set error code */
		_task = -1;
		px4_task_exit(1);
	}

#ifndef __PX4_QURT
	// TODO: this call is not supported on Snapdragon just yet.
	// However it seems to be nonblocking anyway and working.
	int flags = fcntl(_serial_fd, F_GETFL, 0);
	fcntl(_serial_fd, F_SETFL, flags | O_NONBLOCK);
#endif

	uint64_t last_rate_measurement = hrt_absolute_time();
	unsigned last_rate_count = 0;

	/* loop handling received serial bytes and also configuring in between */
	while (!_task_should_exit) {

		if (_fake_gps) {
			_report_gps_pos.timestamp_position = hrt_absolute_time();
			_report_gps_pos.lat = (int32_t)47.378301e7f;
			_report_gps_pos.lon = (int32_t)8.538777e7f;
			_report_gps_pos.alt = (int32_t)1200e3f;
			_report_gps_pos.timestamp_variance = hrt_absolute_time();
			_report_gps_pos.s_variance_m_s = 10.0f;
			_report_gps_pos.c_variance_rad = 0.1f;
			_report_gps_pos.fix_type = 3;
			_report_gps_pos.eph = 0.9f;
			_report_gps_pos.epv = 1.8f;
			_report_gps_pos.timestamp_velocity = hrt_absolute_time();
			_report_gps_pos.vel_n_m_s = 0.0f;
			_report_gps_pos.vel_e_m_s = 0.0f;
			_report_gps_pos.vel_d_m_s = 0.0f;
			_report_gps_pos.vel_m_s = sqrtf(_report_gps_pos.vel_n_m_s * _report_gps_pos.vel_n_m_s + _report_gps_pos.vel_e_m_s *
							_report_gps_pos.vel_e_m_s + _report_gps_pos.vel_d_m_s * _report_gps_pos.vel_d_m_s);
			_report_gps_pos.cog_rad = 0.0f;
			_report_gps_pos.vel_ned_valid = true;

			/* no time and satellite information simulated */


			if (_report_gps_pos_pub != nullptr) {
				orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);

			} else {
				_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
			}

			usleep(2e5);

		} else {

			if (_Helper != nullptr) {
				delete(_Helper);
				/* set to zero to ensure parser is not used while not instantiated */
				_Helper = nullptr;
			}

			switch (_mode) {
			case GPS_DRIVER_MODE_UBX:
				_Helper = new UBX(_serial_fd, &_report_gps_pos, _p_report_sat_info);
				break;

			case GPS_DRIVER_MODE_MTK:
				_Helper = new MTK(_serial_fd, &_report_gps_pos);
				break;

			case GPS_DRIVER_MODE_ASHTECH:
				_Helper = new ASHTECH(_serial_fd, &_report_gps_pos, _p_report_sat_info);
				break;

			default:
				break;
			}


			/* the Ashtech driver lies about successful configuration and the
			 * MTK driver is not well tested, so we really only trust the UBX
			 * driver for an advance publication
			 */
			if (_Helper->configure(_baudrate) == 0) {

				/* reset report */
				memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));

				if (_mode == GPS_DRIVER_MODE_UBX) {
					/* Publish initial report that we have access to a GPS,
					 * but set all critical state fields to indicate we have
					 * no valid position lock
					 */

					_report_gps_pos.timestamp_time = hrt_absolute_time();

					/* reset the timestamps for data, because we have no data yet */
					_report_gps_pos.timestamp_position = 0;
					_report_gps_pos.timestamp_variance = 0;
					_report_gps_pos.timestamp_velocity = 0;

					/* set a massive variance */
					_report_gps_pos.eph = 10000.0f;
					_report_gps_pos.epv = 10000.0f;
					_report_gps_pos.fix_type = 0;

					if (_report_gps_pos_pub != nullptr) {
						orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);

					} else {
						_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
					}

					/* GPS is obviously detected successfully, reset statistics */
					_Helper->reset_update_rates();
				}

				int helper_ret;

				while ((helper_ret = _Helper->receive(TIMEOUT_5HZ)) > 0 && !_task_should_exit) {
					//				lock();
					/* opportunistic publishing - else invalid data would end up on the bus */

					if (helper_ret & 1) {
						if (_report_gps_pos_pub != nullptr) {
							orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);

						} else {
							_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
						}
					}

					if (_p_report_sat_info && (helper_ret & 2)) {
						if (_report_sat_info_pub != nullptr) {
							orb_publish(ORB_ID(satellite_info), _report_sat_info_pub, _p_report_sat_info);

						} else {
							_report_sat_info_pub = orb_advertise(ORB_ID(satellite_info), _p_report_sat_info);
						}
					}

					if (helper_ret & 1) {	// consider only pos info updates for rate calculation */
						last_rate_count++;
					}

					/* measure update rate every 5 seconds */
					if (hrt_absolute_time() - last_rate_measurement > RATE_MEASUREMENT_PERIOD) {
						_rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f);
						last_rate_measurement = hrt_absolute_time();
						last_rate_count = 0;
						_Helper->store_update_rates();
						_Helper->reset_update_rates();
					}

					if (!_healthy) {
						// Helpful for debugging, but too verbose for normal ops
//						const char *mode_str = "unknown";
//
//						switch (_mode) {
//						case GPS_DRIVER_MODE_UBX:
//							mode_str = "UBX";
//							break;
//
//						case GPS_DRIVER_MODE_MTK:
//							mode_str = "MTK";
//							break;
//
//						case GPS_DRIVER_MODE_ASHTECH:
//							mode_str = "ASHTECH";
//							break;
//
//						default:
//							break;
//						}
//
//						PX4_WARN("module found: %s", mode_str);
						_healthy = true;
					}
				}

				if (_healthy) {
					PX4_WARN("module lost");
					_healthy = false;
					_rate = 0.0f;
				}
			}

			/* select next mode */
			switch (_mode) {
			case GPS_DRIVER_MODE_UBX:
				_mode = GPS_DRIVER_MODE_MTK;
				break;

			case GPS_DRIVER_MODE_MTK:
				_mode = GPS_DRIVER_MODE_ASHTECH;
				break;

			case GPS_DRIVER_MODE_ASHTECH:
				_mode = GPS_DRIVER_MODE_UBX;
				break;

			default:
				break;
			}
		}

	}

	PX4_WARN("exiting");

	::close(_serial_fd);

	/* tell the dtor that we are exiting */
	_task = -1;
	px4_task_exit(0);
}



void
GPS::cmd_reset()
{
#ifdef GPIO_GPS_NRESET
	PX4_WARN("Toggling GPS reset pin");
	stm32_configgpio(GPIO_GPS_NRESET);
	stm32_gpiowrite(GPIO_GPS_NRESET, 0);
	usleep(100);
	stm32_gpiowrite(GPIO_GPS_NRESET, 1);
	PX4_WARN("Toggled GPS reset pin");
#endif
}

void
GPS::print_info()
{
	//GPS Mode
	if (_fake_gps) {
		PX4_WARN("protocol: SIMULATED");
	}

	else {
		switch (_mode) {
		case GPS_DRIVER_MODE_UBX:
			PX4_WARN("protocol: UBX");
			break;

		case GPS_DRIVER_MODE_MTK:
			PX4_WARN("protocol: MTK");
			break;

		case GPS_DRIVER_MODE_ASHTECH:
			PX4_WARN("protocol: ASHTECH");
			break;

		default:
			break;
		}
	}

	PX4_WARN("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
	PX4_WARN("sat info: %s, noise: %d, jamming detected: %s",
		 (_p_report_sat_info != nullptr) ? "enabled" : "disabled",
		 _report_gps_pos.noise_per_ms,
		 _report_gps_pos.jamming_indicator == 255 ? "YES" : "NO");

	if (_report_gps_pos.timestamp_position != 0) {
		PX4_WARN("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type,
			 _report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp_position) / 1000.0);
		PX4_WARN("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt);
		PX4_WARN("vel: %.2fm/s, %.2fm/s, %.2fm/s", (double)_report_gps_pos.vel_n_m_s,
			 (double)_report_gps_pos.vel_e_m_s, (double)_report_gps_pos.vel_d_m_s);
		PX4_WARN("hdop: %.2f, vdop: %.2f", (double)_report_gps_pos.hdop, (double)_report_gps_pos.vdop);
		PX4_WARN("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph, (double)_report_gps_pos.epv);
		PX4_WARN("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
		PX4_WARN("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
		PX4_WARN("rate publication:\t%6.2f Hz", (double)_rate);

	}

	usleep(100000);
}

/**
 * Local functions in support of the shell command.
 */
namespace gps
{

GPS	*g_dev = nullptr;

void	start(const char *uart_path, bool fake_gps, bool enable_sat_info);
void	stop();
void	test();
void	reset();
void	info();

/**
 * Start the driver.
 */
void
start(const char *uart_path, bool fake_gps, bool enable_sat_info)
{
	if (g_dev != nullptr) {
		errx(1, "already started");
	}

	/* create the driver */
	g_dev = new GPS(uart_path, fake_gps, enable_sat_info);

	if (g_dev == nullptr) {
		goto fail;
	}

	if (OK != g_dev->init()) {
		goto fail;
	}

	return;

fail:

	if (g_dev != nullptr) {
		delete g_dev;
		g_dev = nullptr;
	}

	PX4_ERR("start failed");
	return;
}

/**
 * Stop the driver.
 */
void
stop()
{
	delete g_dev;
	g_dev = nullptr;
}

/**
 * Perform some basic functional tests on the driver;
 * make sure we can collect data from the sensor in polled
 * and automatic modes.
 */
void
test()
{

	errx(0, "PASS");
}

/**
 * Reset the driver.
 */
void
reset()
{
	PX4_ERR("GPS reset not supported");
	return;
}

/**
 * Print the status of the driver.
 */
void
info()
{
	if (g_dev == nullptr) {
		PX4_ERR("GPS Not running");
		return;
	}

	g_dev->print_info();
}

} // namespace


int
gps_main(int argc, char *argv[])
{
	/* set to default */
	const char *device_name = GPS_DEFAULT_UART_PORT;
	bool fake_gps = false;
	bool enable_sat_info = false;

	if (argc < 2) {
		goto out;
	}

	/*
	 * Start/load the driver.
	 */
	if (!strcmp(argv[1], "start")) {
		/* work around getopt unreliability */
		if (argc > 3) {
			if (!strcmp(argv[2], "-d")) {
				device_name = argv[3];

			} else {
				PX4_ERR("DID NOT GET -d");
				goto out;
			}
		}

		/* Detect fake gps option */
		for (int i = 2; i < argc; i++) {
			if (!strcmp(argv[i], "-f")) {
				fake_gps = true;
			}
		}

		/* Detect sat info option */
		for (int i = 2; i < argc; i++) {
			if (!strcmp(argv[i], "-s")) {
				enable_sat_info = true;
			}
		}

		gps::start(device_name, fake_gps, enable_sat_info);
	}

	if (!strcmp(argv[1], "stop")) {
		gps::stop();
	}

	/*
	 * Test the driver/device.
	 */
	if (!strcmp(argv[1], "test")) {
		gps::test();
	}

	/*
	 * Reset the driver.
	 */
	if (!strcmp(argv[1], "reset")) {
		gps::reset();
	}

	/*
	 * Print driver status.
	 */
	if (!strcmp(argv[1], "status")) {
		gps::info();
	}

	return 0;

out:
	PX4_ERR("unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status'\n [-d /dev/ttyS0-n][-f (for enabling fake)][-s (to enable sat info)]");
	return 1;
}