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gpsmanager.cpp
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gpsmanager.cpp
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#include "gpsmanager.h"
gpsManager::gpsManager(startupOptionsType opts)
{
qRegisterMetaType<gpsMessage>();
statusLinkStickyError = false;
options = opts;
// May override later:
baseSaveDirectory = QString("/tmp/gps");
//createLoggingDirectory();
filenamegen.setMainDirectory(baseSaveDirectory);
filenamegen.setFilenameExtension("log");
prepareVectors(); // size the vectors
prepareGPS(); // get ready to connect the GPS
if(options.useSHM) {
shmSetup(); // initialize the shared memory segment for GPS data
} else {
shmValid = false;
}
}
gpsManager::~gpsManager()
{
if(shmValid) {
shm->connected = false;
shm->statusByte = SHM_STATUS_CLOSED;
}
if(gpsThread != NULL)
{
gpsThread->quit();
gpsThread->wait();
//delete gpsThread;
}
//delete gps;
if(zuptCommander != NULL) {
delete zuptCommander;
}
}
void gpsManager::initiateGPSConnection(QString host = "192.168.2.101", int port=(int)8112, QString gpsBinaryLogFilename = "")
{
if (gpsBinaryLogFilename.isEmpty())
{
createLoggingDirectory();
gpsBinaryLogFilename=filenamegen.getNewFullFilename(this->baseSaveDirectory, QString(""), QString("-gpsPrimary"), QString("bin"));
} else {
baseSaveDirectory = gpsBinaryLogFilename;
createLoggingDirectory();
gpsBinaryLogFilename = filenamegen.getNewFullFilename(gpsBinaryLogFilename, QString(""), QString("-gpsPrimary"), QString("bin"));
}
this->host = host;
this->port = port;
this->gpsBinaryLogFilename = gpsBinaryLogFilename;
emit connectToGPS(host, port, gpsBinaryLogFilename);
gpsReconnectTimer.setInterval(1000);
gpsReconnectTimer.setSingleShot(true);
connect(&gpsReconnectTimer, SIGNAL(timeout()), this, SLOT(handleGPSReconnectTimer()));
gnssStatusTime.restart();
}
void gpsManager::initiateGPSDisconnect()
{
emit disconnectFromGPS();
firstMessage = true;
if(shmValid)
shm->connected = false;
}
void gpsManager::shmSetup()
{
if(shmValid) {
emit gpsStatusMessage("SHM already setup");
return;
}
shmValid = false;
size_t shmLen = sizeof(struct shmGPSDataStruct);
shmFd = shm_open("/liveview_gnss", O_RDWR | O_CREAT ,S_IRUSR | S_IWUSR);
if(shmFd == -1) {
emit gpsStatusMessage("Error, could not open GNSS shared memory segment.");
shmValid = false;
goto cleanup;
} else {
emit gpsStatusMessage("Opened shared memory segment /liveview_gnss.");
}
if(ftruncate(shmFd, shmLen) == -1) {
emit gpsStatusMessage("Error, could not set size of GNSS shared memory segment.");
goto cleanup;
}
shm = (shmGPSDataStruct*)mmap(0, shmLen, PROT_WRITE, MAP_SHARED, shmFd, 0);
if( (shm==NULL) || (shm==MAP_FAILED)) {
emit gpsStatusMessage("Error, could not map GNSS shared memory segment to a local address pointer.");
goto cleanup;
}
shm->statusByte = SHM_STATUS_INITALIZING;
shm->connected = false;
shm->counter = 0;
shmCounter = 0;
shm->writingMessageNumber = 0;
for(int m=0; m < shmGPSMessageBufferSize; m++) {
shm->message[m].counter = 0;
shm->message[m].validDecode = false;
}
currentSHMIndex = 0;
priorSHMIndex = 0;
shmValid = true;
shm->statusByte = SHM_STATUS_WAITING;
return;
cleanup:
if( (shmFd != -1) && (shmFd != 0) ) {
emit gpsStatusMessage("Closing shared memory segment.");
close(shmFd);
shmValid = false;
return;
}
return;
}
bool gpsManager::createLoggingDirectory()
{
if(baseSaveDirectory.isEmpty())
{
emit gpsStatusMessage(QString("ERROR! GPS Base Directory requested for primary log is blank!"));
return false;
}
QDir dir(baseSaveDirectory);
if (!dir.exists())
dir.mkpath(".");
if(!dir.exists())
{
emit gpsStatusMessage(QString("ERROR! Could not create gps primary log directory %1!").arg(baseSaveDirectory));
}
return dir.exists();
}
void gpsManager::prepareElements()
{
// This function prepares the available optional elements
// such as LEDs, Labels, and Plots:
preparePlots();
prepareLEDs();
prepareLabels();
}
void gpsManager::prepareVectors()
{
// Resize
vecSize = 450;
headingsMagnetic.resize(vecSize);
headingsCourse.resize(vecSize);
rolls.resize(vecSize);
pitches.resize(vecSize);
lats.resize(vecSize);
longs.resize(vecSize);
alts.resize(vecSize);
nVelos.resize(vecSize);
eVelos.resize(vecSize);
upVelos.resize(vecSize);
timeAxis.resize(vecSize);
}
void gpsManager::prepareLEDs()
{
// Initial state
if(gpsLinkLED != NULL)gpsLinkLED->setText("");
if(gpsLinkLED != NULL)gpsLinkLED->setState(QLedLabel::StateOkBlue);
}
void gpsManager::prepareLabels()
{
// This function is currently not needed but may be populated in the future.
}
void gpsManager::prepareGPS()
{
// Threads and connections
msgsReceivedCount = 0;
firstMessage = true;
gps = new gpsNetwork();
gpsThread = new QThread(this);
zuptCommander = new zupt();
zuptRetryTimer.setInterval(3000);
zuptRetryTimer.setSingleShot(true);
gps->moveToThread(gpsThread);
connect(gpsThread, &QThread::finished, gps, &QObject::deleteLater);
connect(this, SIGNAL(connectToGPS(QString,int,QString)), gps, SLOT(connectToGPS(QString,int,QString)));
connect(this, SIGNAL(disconnectFromGPS()), gps, SLOT(disconnectFromGPS()));
connect(this, SIGNAL(getDebugInfo()), gps, SLOT(debugThis()));
connect(gps, SIGNAL(haveGPSString(QString)), this, SLOT(handleGPSDataString(QString)));
connect(gps, SIGNAL(statusMessage(QString)), this, SLOT(handleGPSStatusMessage(QString)));
connect(gps, SIGNAL(connectionError(int)), this, SLOT(handleGPSConnectionError(int)));
connect(gps, SIGNAL(connectionGood()), this, SLOT(handleGPSConnectionGood()));
connect(gps, SIGNAL(haveGPSMessage(gpsMessage)), this, SLOT(receiveGPSMessage(gpsMessage)));
connect(this, SIGNAL(startSecondaryLog(QString)), gps, SLOT(beginSecondaryBinaryLog(QString)));
connect(this, SIGNAL(stopSecondaryLog()), gps, SLOT(stopSecondaryBinaryLog()));
connect(zuptCommander, SIGNAL(statusText(QString)), this, SLOT(handleGPSStatusMessage(QString)));
connect(zuptCommander, SIGNAL(errorText(QString)), this, SLOT(handleGPSStatusMessage(QString)));
connect(this, SIGNAL(turn_off_ZuPT(QString,int)), zuptCommander, SLOT(disableZUpT(QString,int)));
connect(&zuptRetryTimer, SIGNAL(timeout()), this, SLOT(handleZUpTRetryTimer()));
gpsThread->setObjectName(name + "gps");
gpsThread->start();
gpsMessageHeartbeat.setInterval(500); // half second, expected is 5ms.
connect(&gpsMessageHeartbeat, SIGNAL(timeout()), this, SLOT(handleGPSTimeout()));
}
void gpsManager::preparePlots()
{
bool ok = false;
// Time axis:
uint16_t t=0;
for(int i=vecSize; i > 0; i--)
{
timeAxis[i-1] = t++;
}
if(plotRollPitch != NULL)
{
plotRollPitch->addGraph();
plotRollPitch->yAxis->setRange(-10, 10);
plotRollPitch->addGraph(plotRollPitch->xAxis, plotRollPitch->yAxis );
plotRollPitch->addGraph(plotRollPitch->xAxis, plotRollPitch->yAxis );
setTimeAxis(plotRollPitch->xAxis);
plotRollPitch->yAxis->setLabel("Degrees");
if(titleRollPitch==NULL)
{
titleRollPitch = new QCPPlotTitle(plotRollPitch);
}
setPlotTitle(plotRollPitch, titleRollPitch, "Pitch and Roll");
if(usePlotTitle)
{
ok = plotRollPitch->plotLayout()->addElement(1,1,titleRollPitch);
if(!ok){
handleGPSStatusMessage("Error, could not add element to gps plot.");
qDebug() << "Error, could not add element to gps plot.";
}
}
plotRollPitch->graph(0)->setPen(QPen(Qt::red)); // roll
plotRollPitch->graph(1)->setPen(QPen(Qt::green)); // pitch
plotRollPitch->graph(0)->setName("Roll");
plotRollPitch->graph(1)->setName("Pitch");
plotRollPitch->removeGraph(2);
plotRollPitch->legend->setVisible(true);
setPlotColors(plotRollPitch, true);
}
if(plotHeading != NULL)
{
plotHeading->addGraph(); // magnetic
plotHeading->addGraph(0,0); // course
plotHeading->graph(0)->setName("Magnetic");
plotHeading->graph(1)->setName("Course");
plotHeading->yAxis->setRange(0, 360*1.1); // raw data is 0-360 but we will show it like this.
setTimeAxis(plotHeading->xAxis);
if(titleHeading == NULL)
{
titleHeading = new QCPPlotTitle(plotHeading);
}
setPlotTitle(plotHeading, titleHeading, "Pitch and Roll");
plotHeading->graph(0)->setPen(QPen(Qt::yellow));
plotHeading->graph(1)->setPen(QPen(Qt::red));
plotHeading->axisRect()->insetLayout()->setInsetAlignment(0, Qt::AlignLeft|Qt::AlignTop);
setPlotColors(plotHeading, true);
//plotHeading->legend->setBrush(QColor("#85ffffff")); // 85% opaque white
plotHeading->legend->setVisible(true);
}
updatePlots(); // initial draw
}
void gpsManager::updateUIelements()
{
// new messages ultimately update the UI through this.
}
void gpsManager::updatePlots()
{
if(plotRollPitch != NULL)
{
this->plotRollPitch->graph(0)->setData(timeAxis, rolls);
this->plotRollPitch->graph(1)->setData(timeAxis, pitches);
this->plotRollPitch->replot();
}
if(plotHeading != NULL)
{
this->plotHeading->graph(0)->setData(timeAxis, headingsMagnetic);
this->plotHeading->graph(1)->setData(timeAxis, headingsCourse);
this->plotHeading->replot();
}
}
void gpsManager::setTimeAxis(QCPAxis *x)
{
if(x != NULL)
{
x->setRange(0, vecSize);
x->setLabel("Time (relative units)");
}
}
void gpsManager::setPlotTitle(QCustomPlot *p, QCPPlotTitle *t, QString title)
{
// Does not seem to quite work, oh well. Fix as you go.
if(p!=NULL)
{
if(t==NULL)
{
t = new QCPPlotTitle(p);
}
t->setText(title);
}
// The insert to the plot happens later.
}
void gpsManager::setPlotTheme(bool isDark)
{
setPlotColors(plotRollPitch, isDark);
}
void gpsManager::setPlotColors(QCustomPlot *p, bool dark)
{
if(p == NULL)
return;
if(dark)
{
p->setBackground(QBrush(Qt::black));
p->xAxis->setBasePen(QPen(Qt::green)); // lower line of axis
p->yAxis->setBasePen(QPen(Qt::green)); // left line of axis
p->xAxis->setTickPen(QPen(Qt::green));
p->yAxis->setTickPen(QPen(Qt::green));
p->xAxis->setLabelColor(QColor(Qt::white));
p->yAxis->setLabelColor(QColor(Qt::white));
p->yAxis->setTickLabelColor(Qt::white);
p->xAxis->setTickLabelColor(Qt::white);
//p->graph()->setPen(QPen(Qt::red));
p->graph(0)->setPen(QPen(Qt::yellow));
p->graph(1)->setPen(QPen(Qt::red));
p->legend->setBrush(QBrush(Qt::black));
p->legend->setTextColor(Qt::white);
//p->graph()->setBrush(QBrush(Qt::yellow)); // sets an underfill for the line
} else {
p->setBackground(QBrush(Qt::white));
p->xAxis->setBasePen(QPen(Qt::black)); // lower line of axis
p->yAxis->setBasePen(QPen(Qt::black)); // left line of axis
p->xAxis->setTickPen(QPen(Qt::black));
p->yAxis->setTickPen(QPen(Qt::black));
p->xAxis->setLabelColor(QColor(Qt::black));
p->yAxis->setLabelColor(QColor(Qt::black));
p->graph(0)->setPen(QPen(Qt::blue));
p->graph(1)->setPen(QPen(Qt::red));
p->legend->setBrush(QBrush(Qt::white));
p->legend->setTextColor(Qt::black);
p->yAxis->setTickLabelColor(Qt::black);
p->xAxis->setTickLabelColor(Qt::black);
//p->graph()->setBrush(QBrush(Qt::black)); // sets an underfill for the line
}
p->replot();
}
void gpsManager::showStatusMessage(QString s)
{
qDebug() << "GPS MANAGER DEBUG: " << s;
(void)s;
}
void gpsManager::insertLEDs(QLedLabel *gpsLinkLED, QLedLabel *gpsTroubleLED)
{
this->gpsLinkLED = gpsLinkLED;
this->gpsTroubleLED = gpsTroubleLED;
}
void gpsManager::insertPlots(QCustomPlot *gpsRollPitchPlot, QCustomPlot *gpsHeadingPlot)
{
this->plotRollPitch = gpsRollPitchPlot;
this->plotHeading = gpsHeadingPlot;
}
void gpsManager::insertLabels(QLabel *gpsLat, QLabel *gpsLong, QLabel *gpsAltitude,
QLabel *gpsUTCtime, QLabel *gpsUTCdate, QLabel *gpsUTCValid,
QLabel *gpsGroundSpeed,
QLabel *gpsHeading, QLabel *gpsRoll, QLabel *gpsPitch,
QLabel *gpsQuality, QLabel *gpsAlignment,
QLabel *gpsRateClimb)
{
this->gpsLat = gpsLat;
this->gpsLong = gpsLong;
this->gpsAltitude = gpsAltitude;
this->gpsUTCtime = gpsUTCtime;
this->gpsUTCdate = gpsUTCdate;
this->gpsUTCValidity = gpsUTCValid;
this->gpsGroundSpeed = gpsGroundSpeed;
this->gpsHeading = gpsHeading;
this->gpsRoll = gpsRoll;
this->gpsPitch = gpsPitch;
this->gpsQuality = gpsQuality;
this->gpsAlignment = gpsAlignment;
this->gpsRateClimb = gpsRateClimb;
}
void gpsManager::insertAvionicsWidgets(qfi_ASI *asi, qfi_VSI *vsi,
qfi_EADI *eadi, qfi_EHSI *ehsi)
{
this->asi = asi;
this->vsi = vsi;
this->eadi = eadi;
this->ehsi = ehsi;
}
void gpsManager::updateLabel(QLabel *label, QString text)
{
if(label != NULL)
{
label->setText(text);
}
}
void gpsManager::updateLED(QLedLabel *led, QLedLabel::State s)
{
if(led != NULL) {
led->setState(s);
}
}
unsigned char gpsManager::getBit(uint32_t d, unsigned char bit)
{
return((d & ( 1 << bit )) >> bit);
}
void gpsManager::receiveGPSMessage(gpsMessage m)
{
// Entry point for new messages
float longitude;
if(m.validDecode)
{
this->m = m;
statusMessageDecodeOk = true;
consecutiveDecodeErrors = 0;
} else {
statusMessageDecodeOk = false;
consecutiveDecodeErrors++;
processStatus();
return;
}
currentSHMIndex = (priorSHMIndex+1)%shmGPSMessageBufferSize;
if(shmValid) {
shm->writingMessageNumber = currentSHMIndex;
shm->counter = shmCounter++;
shm->message[currentSHMIndex] = m; // makes a copy
shm->statusByte = SHM_STATUS_READY;
}
msgsReceivedCount++;
if(firstMessage)
{
gnssStatusTime.start();
haveData = true;
}
gpsMessageHeartbeat.start();
statusGPSHeartbeatOk = true;
if(m.haveGNSSInfo1 || m.haveGNSSInfo2 || m.haveGNSSInfo3)
{
gnssStatusTime.restart();
statusGNSSReceptionOk = true;
statusGNSSReceptionWarning = false;
} else {
if(gnssStatusTime.elapsed() > 5*1000)
{
statusGNSSReceptionOk = false;
} else if (gnssStatusTime.elapsed() > 2*1000)
{
statusGNSSReceptionWarning = true;
}
}
if( (m.numberDropped > 0) && (!firstMessage) )
{
statusGPSMessagesDropped = true;
} else {
statusGPSMessagesDropped = false;
}
//bool doPlotUpdate = (msgsReceivedCount%updatePlotsInverval)==0;
//bool doWidgetPaint = (msgsReceivedCount%updateAvionicsWidgetsInterval)==0;
bool doPlotUpdate = false; // no more plots
bool doWidgetPaint = false; // no more fancy widgets
bool doLabelUpdate = (msgsReceivedCount%updateLabelsInterval)==0;
if(m.haveUTC)
{
// This is only once per second, but we don't want to miss it.
utcTime UTCdataValidityTime = processUTCstamp(m.UTCdataValidityTime);
updateLabel(gpsUTCtime, UTCdataValidityTime.UTCstr);
utcTime navValidity = processUTCstamp(m.navDataValidityTime);
updateLabel(gpsUTCValidity, navValidity.UTCValidityStr);
}
if(doLabelUpdate)
{
if(!m.haveUTC)
{
// If we just did this due to m.haveUTC, then no need to do it again.
// The validity time is always available, there isn't a boolean to check.
utcTime navValidity = processUTCstamp(m.navDataValidityTime);
updateLabel(gpsUTCValidity, navValidity.UTCValidityStr);
}
if(m.haveAltitudeHeading)
{
updateLabel(gpsRoll, QString("%1").arg(m.roll));
updateLabel(gpsHeading, QString(" %1").arg(m.heading));
updateLabel(gpsPitch, QString("%1").arg(m.pitch));
}
if(m.havePosition)
{
if(m.longitude > 180)
{
longitude = -360+m.longitude;
} else {
longitude = m.longitude;
}
// Format specifier is number, TOTAL DIGITS (including the dot), float, and the number of decimal places desired (8), and the filler character for any front filling
// Example: -118.94771 57:
updateLabel(gpsLat, QString("%1").arg(m.latitude, 10, 'f', 5, QChar(' ')));
updateLabel(gpsLong, QString("%1").arg(longitude, 10, 'f', 5, QChar(' ')));
// Native altitude is meters
// Converting to feet by multiplying by 3.28084
updateLabel(gpsAltitude, QString("%1 ft").arg(m.altitude * 3.28084, 6, 'f', 1, QChar('0')));
this->chk_latiitude = m.latitude;
this->chk_longitude = longitude;
this->chk_altitude = m.altitude * 3.28084; // feet
}
if(m.haveCourseSpeedGroundData)
{
// The native units are meters per second.
// To convert to knots, multiply by 1.94384
// To convert to MPH, multiply by 2.23694
// To convert to KPH, multiply by 3.6
// The abbreviation for knot or knots is "kt" or "kts", respectively.
updateLabel(gpsGroundSpeed, QString("%1 kts").arg(m.speedOverGround * 1.94384, 6, 'f', 2, QChar('0')));
this->chk_gndspeed = m.speedOverGround * 1.94384; // knots
}
if(m.haveSpeedData)
{
updateLabel(gpsRateClimb, QString("%1").arg(m.upVelocity * 196.85));
}
if(m.haveSystemDateData)
{
QString date = QString("%1-%2-%3").arg(m.systemYear).arg(m.systemMonth, 2, 10, QChar('0')).arg(m.systemDay, 2, 10, QChar('0'));
updateLabel(gpsUTCdate, date);
}
}
if(m.haveINSAlgorithmStatus) {
if( (firstMessage) || (priorAlgorithmStatus1 !=m.algorithmStatus1) ) {
bool courseAlignment = false;
bool fineAlignment = false;
if(getBit(m.algorithmStatus1, 1)) {
gnssAlignmentPhase = "COURSE";
//updateLabel(gpsAlignment, "COURSE");
courseAlignment = true;
gnssAlignmentComplete = false;
}
if(getBit(m.algorithmStatus1, 2)) {
//updateLabel(gpsAlignment, "FINE");
gnssAlignmentPhase = "FINE";
fineAlignment = true;
gnssAlignmentComplete = false;
}
if( (!courseAlignment) && (!fineAlignment) ) {
//updateLabel(gpsAlignment, "COMPLETE");
gnssAlignmentPhase = "Done";
gnssAlignmentComplete = true;
}
if(getBit(m.algorithmStatus1, 0)) {
navPhase = true;
} else {
navPhase = false;
}
if(getBit(m.algorithmStatus1, 12)) {
gpsReceived = true;
} else {
gpsReceived = false;
}
if(getBit(m.algorithmStatus1, 13)) {
gpsValid = true;
} else {
gpsValid = false;
}
if(getBit(m.algorithmStatus1, 14)) {
gpsWaiting = true;
} else {
gpsWaiting = false;
}
if(getBit(m.algorithmStatus1, 15)) {
gpsRejected = true;
} else {
gpsRejected = false;
}
if(getBit(m.algorithmStatus1, 28)) {
altitudeSaturation = true;
} else {
altitudeSaturation = false;
}
if(getBit(m.algorithmStatus1, 29)) {
speedSaturation = true;
} else {
speedSaturation = false;
}
if(getBit(m.algorithmStatus1, 30)) {
interpolationMissed = true;
} else {
interpolationMissed = false;
}
}
if( (firstMessage) || (priorAlgorithmStatus2 !=m.algorithmStatus2) ) {
if(getBit(m.algorithmStatus2, 15)) {
altitudeRejected = true;
} else {
altitudeRejected = false;
}
if(getBit(m.algorithmStatus2, 16)) {
zuptActive = true;
} else {
zuptActive = false;
}
if( getBit(m.algorithmStatus2, 17) ||
getBit(m.algorithmStatus2, 18) ||
getBit(m.algorithmStatus2, 19)) {
zuptOther = true;
} else {
zuptOther = false;
}
}
if( (firstMessage) || (priorAlgorithmStatus3 !=m.algorithmStatus3) ) {
// Currently not very interesting
}
if( (firstMessage) || (priorAlgorithmStatus4 !=m.algorithmStatus4) ) {
if(getBit(m.algorithmStatus4, 28)) {
flashWriteError = true;
} else {
flashWriteError = false;
}
if(getBit(m.algorithmStatus4, 29)) {
flashEraseError = true;
} else {
flashEraseError = false;
}
}
priorAlgorithmStatus1 = m.algorithmStatus1;
priorAlgorithmStatus2 = m.algorithmStatus2;
priorAlgorithmStatus3 = m.algorithmStatus3;
priorAlgorithmStatus4 = m.algorithmStatus4;
}
if(m.haveINSSystemStatus) {
if( (firstMessage) || (priorSystemStatus1 != m.systemStatus1) ) {
if(getBit(m.systemStatus1, 17)) {
outputAFull = true;
} else {
outputAFull = false;
}
if(getBit(m.systemStatus1, 18)) {
outputBFull = true;
} else {
outputBFull = false;
}
}
if( (firstMessage) || (priorSystemStatus2 != m.systemStatus2) ) {
if(getBit(m.systemStatus2, 2)) {
gpsDetected = true;
} else {
gpsDetected = false;
}
}
if( (firstMessage) || (priorSystemStatus3 != m.systemStatus3) ) {
if(getBit(m.systemStatus3, 18)) {
systemReady = true;
} else {
systemReady = false;
}
}
priorSystemStatus1 = m.systemStatus1;
priorSystemStatus2 = m.systemStatus2;
priorSystemStatus3 = m.systemStatus3;
}
if( m.haveGNSSInfo1 && (m.gnss[0].gnssGPSQuality != gnssQualPrior) ){
gnssInfo i = m.gnss[0];
gpsQualityKinds q = i.gnssGPSQuality;
switch(q)
{
case gpsQualityNatural_10m:
gnssQualStr = "Nat 10M";
gnssQualShortStr = "[10M]";
break;
case gpsQualityDifferential_3m:
gnssQualStr = "Diff 3M";
gnssQualShortStr = "[3M]";
break;
case gpsQualityMilitary_10m:
gnssQualStr = "Mil 10M";
gnssQualShortStr = "[10M]";
break;
case gpsQualityRTK_0p1m:
gnssQualStr = "RTK 0.1M";
gnssQualShortStr = "[0.1M]";
break;
case gpsQualityFloatRTK_0p3m:
gnssQualStr = "RTK 0.3M";
gnssQualShortStr = "[0.3M]";
break;
case gpsQualityOther:
case gpsQualityInvalid:
default:
gnssQualStr = "INVALID";
gnssQualShortStr = "?";
gnssAlignmentPhase = "UNKNOWN";
break;
}
gnssQualPrior = q;
}
if(doLabelUpdate) {
QString alignmentText;
alignmentText.append(gnssAlignmentPhase);
if(gnssAlignmentComplete) {
alignmentText.append(QString(" %1").arg(gnssQualShortStr));
}
updateLabel(gpsAlignment, alignmentText);
}
if(doPlotUpdate)
{
if(m.haveHeadingRollPitchRate)
{
headingsMagnetic.push_front(m.heading);
headingsMagnetic.pop_back();
headingsCourse.push_front(m.courseOverGround);
headingsCourse.pop_back();
rolls.push_front(m.roll);
rolls.pop_back();
pitches.push_front(m.pitch);
pitches.pop_back();
}
if(m.havePosition)
{
if(m.longitude > 180)
{
longitude = -360+m.longitude;
} else {
longitude = m.longitude;
}
lats.push_front(m.latitude);
lats.pop_back();
longs.push_front(longitude);
longs.pop_back();
alts.push_front(m.altitude);
alts.pop_back();
}
if(m.haveSpeedData)
{
nVelos.push_front(m.northVelocity);
nVelos.pop_back();
eVelos.push_front(m.eastVelocity);
eVelos.pop_back();
upVelos.push_front(m.upVelocity);
upVelos.pop_back();
}
}
if(doWidgetPaint)
{
if(m.haveHeadingRollPitchRate)
{
if(eadi != NULL)
{
eadi->setHeading(m.heading);
eadi->setPitch(m.pitch * -1 );
eadi->setRoll(m.roll);
}
if(ehsi != NULL)
{
ehsi->setHeading(m.heading);
ehsi->setBearing(m.heading);
}
}
if(m.haveCourseSpeedGroundData)
{
if(ehsi != NULL) ehsi->setCourse(m.courseOverGround);
if(eadi != NULL) eadi->setAirspeed(m.speedOverGround * 1.94384); // knots
if(asi != NULL) asi->setAirspeed(m.speedOverGround * 1.94384);
}
if(m.haveSpeedData)
{
if(vsi != NULL) vsi->setClimbRate(m.upVelocity * 196.85); // feet per 100 minutes
if(eadi != NULL) eadi->setClimbRate(m.upVelocity * 196.85);
}
}
if(doWidgetPaint)
{
if(ehsi!=NULL) ehsi->redraw();
if(eadi!=NULL) eadi->redraw();
if(asi !=NULL) asi->redraw();
if(vsi !=NULL) vsi->redraw();
}
if(doPlotUpdate)
updatePlots();
// Every time, process the status:
processStatus();
if(firstMessage)
{
firstMessage = false;
}
priorSHMIndex = currentSHMIndex;
}
void gpsManager::handleStartsecondaryLog(QString filename)
{
emit gpsStatusMessage(QString("About to start secondary logging to file %1").arg(filename));
emit startSecondaryLog(filename);
}
void gpsManager::handleStopSecondaryLog()
{
emit gpsStatusMessage(QString("Stopping secondary GPS log."));
emit stopSecondaryLog();
}
void gpsManager::handleGPSStatusMessage(QString message)
{
emit gpsStatusMessage(QString("GPS Message: ") + message);
}
void gpsManager::handleGPSDataString(QString gpsString)
{
emit gpsStatusMessage(QString("GPS message: ") + gpsString);
}
void gpsManager::handleGPSConnectionError(int error)
{
switch(error) {
case 1:
{
emit gpsStatusMessage(QString("Error code from GPS connection: %1 (lost connection). Reconnecting in 1 second.").arg(error));
break;
}
case 7:
{
emit gpsStatusMessage(QString("Error code from GPS connection: %1 (could not connect). Reconnecting in 1 second.").arg(error));
break;
}
case 5:
{
emit gpsStatusMessage(QString("Error code from GPS connection: %1 (connection timeout). Reconnecting in 1 second.").arg(error));
break;
}
default:
{
emit gpsStatusMessage(QString("Error code from GPS connection: %1 (unknown). Reconnecting in 1 second.").arg(error));
break;
}
}
emit gpsConnectionError(error);
statusLinkStickyError = true;
statusConnectedToGPS = false;
processStatus();
gpsReconnectTimer.start();
}
void gpsManager::handleGPSReconnectTimer()
{
// Going here means we have failed to connect and are trying again.
emit gpsStatusMessage(QString("Attempting to reconnect to GPS."));
emit connectToGPS(host, port, gpsBinaryLogFilename);
// If we fail, handleGPSConnectionError is called automatically
}
void gpsManager::handleGPSConnectionGood()
{
emit gpsStatusMessage(QString("GPS: Connection good"));
statusLinkStickyError = false; // Safe to clear when a new connection has been made.
statusConnectedToGPS = true;
hbErrorCount = 0;
emit turn_off_ZuPT(host, 8110);
zuptRetryTimer.start(); // send again a few seconds later just in case.
if(shmValid)
shm->connected = true;
}
void gpsManager::handleZUpTRetryTimer() {
emit turn_off_ZuPT(host, 8110);
}
void gpsManager::handleGPSTimeout()
{
// Heartbeat fail
hbErrorCount++;
statusGPSHeartbeatOk = false;
processStatus();
if(hbErrorCount > 120)
{
hbErrorCount = 0;
// About 2 minutes of missed data
emit gpsStatusMessage(QString("Error, heartbeat errors exceed threshold, establishing new GPS connection."));
// disconnect
initiateGPSDisconnect();
// reconnect
handleGPSReconnectTimer();
}
}
utcTime gpsManager::processUTCstamp(uint64_t t)
{
utcTime tObj;
tObj.hour = t / ((float)1E4)/60.0/60.0;
tObj.minute = ( t / ((float)1E4)/60.0 ) - (tObj.hour*60) ;
tObj.secondFloat = ( t / ((float)1E4) ) - (tObj.hour*60.0*60.0) - (tObj.minute*60.0);
tObj.second = ( t / ((float)1E4) ) - (tObj.hour*60.0*60.0) - (tObj.minute*60.0);
tObj.UTCValidityStr = QString("%1:%2:%3 UTC").arg(tObj.hour, 2, 10, QChar('0')).arg(tObj.minute, 2, 10, QChar('0')).arg(tObj.secondFloat, 6, 'f', 3, QChar('0'));
tObj.UTCstr = QString("%1:%2:%3 UTC").arg(tObj.hour, 2, 10, QChar('0')).arg(tObj.minute, 2, 10, QChar('0')).arg(tObj.second, 2, 10, QChar('0'));
return tObj;
}
void gpsManager::processStatus()
{
// Central function to evaluate the status
// of the GPS
// Error status is an "OR" of prior error ('sticky') and current error conditions.
// Link errors and warnings relate to our GPS decode and connection to the unit over TCP/IP.
bool gpsLinkError = statusLinkStickyError || !statusGPSHeartbeatOk || !statusConnectedToGPS;
bool gpsLinkWarning = statusGPSMessagesDropped;
if(consecutiveDecodeErrors > 10) {
gpsLinkWarning = true;
}
if(consecutiveDecodeErrors > 100) {
gpsLinkError = true;
}
// GPS Trouble errors and warnings relate to status received from the GPS
// Trouble: something really is badly wrong
// Warning: Not ready yet
bool gpsTroubleError = statusTroubleStickyError || !statusGNSSReceptionOk ||