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AP_GPS: make SBF specific parameters private to SBF backend
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this avoids exposing them to all users, and allows different logging
for each SBF receiver
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@tridge
tridge committed Aug 7, 2024
1 parent f3c9c60 commit 9ec00d2
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Showing 5 changed files with 78 additions and 53 deletions.
26 changes: 0 additions & 26 deletions libraries/AP_GPS/AP_GPS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -274,32 +274,6 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
AP_SUBGROUPINFO(params[1], "2_", 33, AP_GPS, AP_GPS::Params),
#endif

// @Param: _LOG_HZ
// @DisplayName: Log frequency
// @Description: The frequency with which the receiver logs information.
// @Units: Hz
// @Increment: 0.1
// @Range: 0 20
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("_LOG_HZ", 34, AP_GPS, _logging_frequency, 1.0f),

// @Param: _LOG_LEVEL
// @DisplayName: Log level
// @Description: The level of detail the receiver should log.
// @Values: 0:Lite, 1:Basic, 2:Default, 3:Full
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("_LOG_LEVEL", 35, AP_GPS, _logging_level, 2),

// @Param: _LOG_FORCE
// @DisplayName: Log overwrite
// @Description: Whether logging setup should overwrite existing logging on the receiver.
// @Values: 0:Disabled, 1:Enabled
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("_LOG_FORCE", 36, AP_GPS, _logging_overwrite, 0),

AP_GROUPEND
};

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16 changes: 4 additions & 12 deletions libraries/AP_GPS/AP_GPS.h
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,7 @@

class AP_GPS_Backend;
class RTCM3_Parser;
class AP_GPS_SBF;

/// @class AP_GPS
/// GPS driver main class
Expand Down Expand Up @@ -139,7 +140,9 @@ class AP_GPS
#if GPS_MOVING_BASELINE
MovingBase mb_params;
#endif // GPS_MOVING_BASELINE

#if AP_GPS_SBF_ENABLED
AP_GPS_SBF *sbf_backend;
#endif
static const struct AP_Param::GroupInfo var_info[];
};

Expand Down Expand Up @@ -184,14 +187,6 @@ class AP_GPS
KNOWN = 3, ///< The full covariance array is reported by the GPS
};

// GPS receiver log level which determines what data is logged
enum GPS_Logging_Level {
LITE = 0,
BASIC = 1,
DEFAULT = 2,
FULL = 3,
};

/*
The GPS_State structure is filled in by the backend driver as it
parses each message from the GPS.
Expand Down Expand Up @@ -629,9 +624,6 @@ class AP_GPS
AP_Int8 _blend_mask;
AP_Int16 _driver_options;
AP_Int8 _primary;
AP_Float _logging_frequency; // frequency at which the receiver should log messages
AP_Int8 _logging_level; // amount of details the receiver should log
AP_Int8 _logging_overwrite; // whether to override existing logging on the receiver or add to it

uint32_t _log_gps_bit = -1;

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7 changes: 7 additions & 0 deletions libraries/AP_GPS/AP_GPS_Params.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
#if AP_GPS_ENABLED

#include "AP_GPS.h"
#include "AP_GPS_SBF.h"

// table of user settable parameters
const AP_Param::GroupInfo AP_GPS::Params::var_info[] = {
Expand Down Expand Up @@ -113,6 +114,12 @@ const AP_Param::GroupInfo AP_GPS::Params::var_info[] = {
AP_GROUPINFO("CAN_OVRIDE", 9, AP_GPS::Params, override_node_id, 0),
#endif

#if AP_GPS_SBF_ENABLED
// @Group:
// @Path: ./SIM_GPS_SBF.cpp
AP_SUBGROUPPTR(sbf_backend, "", 10, AP_GPS::Params, AP_GPS_SBF),
#endif

AP_GROUPEND
};

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67 changes: 52 additions & 15 deletions libraries/AP_GPS/AP_GPS_SBF.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,38 @@ constexpr const char *AP_GPS_SBF::portIdentifiers[];
constexpr const char* AP_GPS_SBF::_initialisation_blob[];
constexpr const char* AP_GPS_SBF::sbas_on_blob[];

// table of user settable parameters
const AP_Param::GroupInfo AP_GPS_SBF::var_info[] = {

// @Param: LOG_HZ
// @DisplayName: Log frequency
// @Description: The frequency with which the receiver logs information.
// @Units: Hz
// @Increment: 0.1
// @Range: 0 20
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("LOG_HZ", 1, AP_GPS_SBF, _logging_frequency, 1.0f),

// @Param: LOG_LEVEL
// @DisplayName: Log level
// @Description: The level of detail the receiver should log.
// @Values: 0:Lite, 1:Basic, 2:Default, 3:Full
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("LOG_LEVEL", 2, AP_GPS_SBF, _logging_level, 2),

// @Param: _LOG_FORCE
// @DisplayName: Log overwrite
// @Description: Whether logging setup should overwrite existing logging on the receiver.
// @Values: 0:Disabled, 1:Enabled
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("LOG_FORCE", 3, AP_GPS_SBF, _logging_overwrite, 0),

AP_GROUPEND
};

AP_GPS_SBF::AP_GPS_SBF(AP_GPS &_gps,
AP_GPS::Params &_params,
AP_GPS::GPS_State &_state,
Expand All @@ -79,6 +111,11 @@ AP_GPS_SBF::AP_GPS_SBF(AP_GPS &_gps,
(get_type() == AP_GPS::GPS_Type::GPS_TYPE_SBF_DUAL_ANTENNA)) {
state.gps_yaw_configured = true;
}

// set ptr in params so private parameters are accessible
_params.sbf_backend = this;

AP_Param::setup_object_defaults(this, var_info);
}

AP_GPS_SBF::~AP_GPS_SBF (void) {
Expand Down Expand Up @@ -142,57 +179,57 @@ AP_GPS_SBF::read(void)
}
break;
case Config_State::Log:
if (gps._logging_frequency <= 0.0f && gps._logging_overwrite) {
if (_logging_frequency <= 0.0f && _logging_overwrite) {
// hard-disable logging, clear existing stream
if (asprintf(&config_string, "sso,Stream%d,none,none,off\n", (int)GPS_SBF_LOG_STREAM_NUMBER) == -1) {
config_string = nullptr;
}
} else if (gps._logging_frequency <= 0.0f) {
} else if (_logging_frequency <= 0.0f) {
// soft-disable logging, keep existing stream
if (asprintf(&config_string, "sso,Stream%d,,,off\n", (int)GPS_SBF_LOG_STREAM_NUMBER) == -1) {
config_string = nullptr;
}
} else {
// enable logging
const char* logging_frequency;
if (gps._logging_frequency <= 0.1f) {
if (_logging_frequency <= 0.1f) {
logging_frequency = SBF_0_1_HZ;
} else if (gps._logging_frequency <= 0.2f) {
} else if (_logging_frequency <= 0.2f) {
logging_frequency = SBF_0_2_HZ;
} else if (gps._logging_frequency <= 0.5f) {
} else if (_logging_frequency <= 0.5f) {
logging_frequency = SBF_0_5_HZ;
} else if (gps._logging_frequency <= 1.0f) {
} else if (_logging_frequency <= 1.0f) {
logging_frequency = SBF_1_0_HZ;
} else if (gps._logging_frequency <= 2.0f) {
} else if (_logging_frequency <= 2.0f) {
logging_frequency = SBF_2_0_HZ;
} else if (gps._logging_frequency <= 5.0f) {
} else if (_logging_frequency <= 5.0f) {
logging_frequency = SBF_5_0_HZ;
} else if (gps._logging_frequency <= 10.0f) {
} else if (_logging_frequency <= 10.0f) {
logging_frequency = SBF_10_0_HZ;
} else {
logging_frequency = SBF_20_0_HZ;
}

const char* logged_blocks;
switch (gps._logging_level) {
case AP_GPS::GPS_Logging_Level::LITE:
switch (GPS_Logging_Level(_logging_level.get())) {
case GPS_Logging_Level::LITE:
logged_blocks = "PostProcess+Event";
break;
case AP_GPS::GPS_Logging_Level::BASIC:
case GPS_Logging_Level::BASIC:
logged_blocks = "PostProcess+Event+Comment+ReceiverStatus";
break;
case AP_GPS::GPS_Logging_Level::DEFAULT:
case GPS_Logging_Level::DEFAULT:
default:
logged_blocks = "Support+Event+Comment";
break;
case AP_GPS::GPS_Logging_Level::FULL:
case GPS_Logging_Level::FULL:
logged_blocks = "Support+Event+Comment+BBSamples";
break;
}

if (asprintf(&config_string, "sso,Stream%d,Dsk1,%s%s,%s\nsfn,DSK1,Incremental,'ardup'\n",
(int)GPS_SBF_LOG_STREAM_NUMBER,
gps._logging_overwrite ? "" : "+",
_logging_overwrite ? "" : "+",
logged_blocks,
logging_frequency) == -1) {
config_string = nullptr;
Expand Down
15 changes: 15 additions & 0 deletions libraries/AP_GPS/AP_GPS_SBF.h
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,8 @@ class AP_GPS_SBF : public AP_GPS_Backend

bool get_error_codes(uint32_t &error_codes) const override { error_codes = RxError; return true; };

static const struct AP_Param::GroupInfo var_info[];

private:

bool parse(uint8_t temp);
Expand All @@ -77,6 +79,19 @@ class AP_GPS_SBF : public AP_GPS_Backend
static const uint8_t SBF_PREAMBLE1 = '$';
static const uint8_t SBF_PREAMBLE2 = '@';

// GPS receiver log level which determines what data is logged
enum class GPS_Logging_Level : uint8_t {
LITE = 0,
BASIC = 1,
DEFAULT = 2,
FULL = 3,
};

// SBF specific parameters
AP_Float _logging_frequency; // frequency at which the receiver should log messages
AP_Enum<GPS_Logging_Level> _logging_level; // amount of details the receiver should log
AP_Int8 _logging_overwrite; // whether to override existing logging on the receiver or add to it

uint8_t _init_blob_index;
uint32_t _init_blob_time;
enum class Config_State {
Expand Down

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