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uhd/host/lib/usrp/gps_ctrl.cpp
Nick Foster 7af605b247 UHD: GPS work. 
* Rewrote NMEA acquisition to be more general
* Added GPS sensors instead of member fns for data access
* GPS sensors added to mboard sensors to keep ABI compat
* VITA time initialized to GPS time on init
2011-06-17 13:35:40 -07:00

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//
// Copyright 2010-2011 Ettus Research LLC
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
#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/cstdint.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/thread/thread.hpp>
#include <boost/tokenizer.hpp>
using namespace uhd;
using namespace boost::gregorian;
using namespace boost::posix_time;
using namespace boost::algorithm;
/*!
* 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){
_send = send;
_recv = recv;
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...)
_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(boost::trim_right_copy(reply) == "Command Error") {
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));
}
if((i_heard_some_nmea) && (gps_type != GPS_TYPE_JACKSON_LABS)) gps_type = GPS_TYPE_GENERIC_NMEA;
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 1\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));
_send("GPS:GPGSA 1\n");
boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
// break;
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(GPS_TIMEOUT_DELAY_MS));
}
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;
}
break;
case GPS_TYPE_NONE:
default:
break;
}
}
~gps_ctrl_impl(void){
}
std::string safe_gps_read() {
return _recv();
}
ptime get_time(void) {
std::string reply;
boost::tokenizer<boost::escaped_list_separator<char> > tok(reply);
std::vector<std::string> toked;
reply = get_nmea("GPRMC");
//make sure we got something
if(reply.size() <= 1) {
return ptime();
}
tok.assign(reply);
toked.assign(tok.begin(), tok.end());
if(not toked.size() == 12) {
UHD_MSG(error) << "get_time(): invalid GPRMC time sentence received.";
return ptime();
}
return 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)))
);
}
//retrieve a raw NMEA sentence for user parsing
std::string get_nmea(std::string type) {
type.insert(0, "$");
std::string reply;
if(not gps_detected()) {
UHD_MSG(error) << "get_nmea(): unsupported GPS or no GPS detected";
return std::string();
}
int timeout = GPS_TIMEOUT_TRIES;
while(timeout--) {
reply = safe_gps_read();
if(reply.substr(0, 6) == type)
return reply;
boost::this_thread::sleep(boost::posix_time::milliseconds(GPS_TIMEOUT_DELAY_MS));
}
UHD_MSG(error) << "get_nmea(): no " << type << " message found";
return std::string();
}
time_t get_epoch_time(void) {
return (get_time() - boost::posix_time::from_time_t(0)).total_seconds();
}
bool gps_detected(void) {
return (gps_type != GPS_TYPE_NONE);
}
//return a list of supported sensors
std::vector<std::string> get_sensors(void) {
std::vector<std::string> ret;
ret.push_back("gps_gpgga");
ret.push_back("gps_gprmc");
ret.push_back("gps_gpgsa");
ret.push_back("gps_time");
return ret;
}
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 {
UHD_THROW_PROP_GET_ERROR();
}
}
private:
gps_send_fn_t _send;
gps_recv_fn_t _recv;
enum {
GPS_TYPE_JACKSON_LABS,
GPS_TYPE_GENERIC_NMEA,
GPS_TYPE_NONE
} gps_type;
static const int GPS_TIMEOUT_TRIES = 10;
static const int GPS_TIMEOUT_DELAY_MS = 200;
static const int FIREFLY_STUPID_DELAY_MS = 200;
};
/***********************************************************************
* Public make function for the GPS control
**********************************************************************/
gps_ctrl::sptr gps_ctrl::make(gps_send_fn_t send, gps_recv_fn_t recv){
return sptr(new gps_ctrl_impl(send, recv));
}
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