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AP_GPS: make receiver logging configurable through parameters
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Add parameters that allow users to configure logging from within their
ground control station software.

AP_GPS: make SBF specific parameters private to SBF backend

this avoids exposing them to all users, and allows different logging
for each SBF receiver
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@flyingthingsintothings @chiara-septentrio
flyingthingsintothings authored and chiara-septentrio committed Aug 9, 2024
1 parent a974f3f commit 1bcd9ca
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Showing 4 changed files with 162 additions and 5 deletions.
5 changes: 4 additions & 1 deletion 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[];
};

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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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126 changes: 124 additions & 2 deletions libraries/AP_GPS/AP_GPS_SBF.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,9 @@ do { \
#ifndef GPS_SBF_STREAM_NUMBER
#define GPS_SBF_STREAM_NUMBER 1
#endif
#ifndef GPS_SBF_LOG_STREAM_NUMBER
#define GPS_SBF_LOG_STREAM_NUMBER 2
#endif

#define SBF_EXCESS_COMMAND_BYTES 5 // 2 start bytes + validity byte + space byte + endline byte

Expand All @@ -58,6 +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 @@ -76,6 +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 @@ -138,8 +178,71 @@ AP_GPS_SBF::read(void)
config_string = nullptr;
}
break;
case Config_State::LogStream:
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 (_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 (_logging_frequency <= 0.1f) {
logging_frequency = SBF_0_1_HZ;
} else if (_logging_frequency <= 0.2f) {
logging_frequency = SBF_0_2_HZ;
} else if (_logging_frequency <= 0.5f) {
logging_frequency = SBF_0_5_HZ;
} else if (_logging_frequency <= 1.0f) {
logging_frequency = SBF_1_0_HZ;
} else if (_logging_frequency <= 2.0f) {
logging_frequency = SBF_2_0_HZ;
} else if (_logging_frequency <= 5.0f) {
logging_frequency = SBF_5_0_HZ;
} 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(_logging_level.get())) {
case GPS_Logging_Level::LITE:
logged_blocks = "PostProcess+Event";
break;
case GPS_Logging_Level::BASIC:
logged_blocks = "PostProcess+Event+Comment+ReceiverStatus";
break;
case GPS_Logging_Level::DEFAULT:
default:
logged_blocks = "Support+Event+Comment";
break;
case GPS_Logging_Level::FULL:
logged_blocks = "Support+Event+Comment+BBSamples";
break;
}
if (asprintf(&config_string, "sso,Stream%d,Dsk1,%s%s,%s\n",
(int)GPS_SBF_LOG_STREAM_NUMBER,
_logging_overwrite ? "" : "+",
logged_blocks,
logging_frequency) == -1) {
config_string = nullptr;
}
}

break;
case Config_State::LogFile:
if (asprintf(&config_string, "sfn,DSK1,Incremental,'ardup'\n") == -1) {
config_string = nullptr;
}
break;
case Config_State::Constellation:
if ((params.gnss_mode&0x6F)!=0) {
{
//IMES not taken into account by Septentrio receivers
if (asprintf(&config_string, "sst, %s%s%s%s%s%s\n", (params.gnss_mode&(1U<<0))!=0 ? "GPS" : "",
(params.gnss_mode&(1U<<1))!=0 ? ((params.gnss_mode&0x01)==0 ? "SBAS" : "+SBAS") : "",
Expand Down Expand Up @@ -377,9 +480,28 @@ AP_GPS_SBF::parse(uint8_t temp)
config_step = Config_State::SSO;
break;
case Config_State::SSO:
config_step = Config_State::Constellation;
if ((params.gnss_mode&0x6F)!=0) {
config_step = Config_State::Constellation;
}
else if (_logging_overwrite) {
config_step = Config_State::LogStream;
}
else {
config_step = Config_State::Blob;
}
break;
case Config_State::Constellation:
if (_logging_overwrite) {
config_step = Config_State::LogStream;
}
else {
config_step = Config_State::Blob;
}
break;
case Config_State::LogStream:
config_step = Config_State::LogFile;
break;
case Config_State::LogFile:
config_step = Config_State::Blob;
break;
case Config_State::Blob:
Expand Down
29 changes: 27 additions & 2 deletions libraries/AP_GPS/AP_GPS_SBF.h
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,15 @@
#define SBF_DISK_FULL (1 << 8)
#define SBF_DISK_MOUNTED (1 << 9)

#define SBF_0_1_HZ "sec10";
#define SBF_0_2_HZ "sec5";
#define SBF_0_5_HZ "sec2";
#define SBF_1_0_HZ "sec1";
#define SBF_2_0_HZ "msec500";
#define SBF_5_0_HZ "msec200";
#define SBF_10_0_HZ "msec100";
#define SBF_20_0_HZ "msec50";

class AP_GPS_SBF : public AP_GPS_Backend
{
public:
Expand Down Expand Up @@ -60,6 +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 @@ -68,15 +79,30 @@ 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 {
Baud_Rate,
SSO,
Constellation,
LogStream,
LogFile,
Blob,
SBAS,
SGA,
Constellation,
Complete
};
Config_State config_step;
Expand All @@ -85,7 +111,6 @@ class AP_GPS_SBF : public AP_GPS_Backend
"srd,Moderate,UAV",
"sem,PVT,5",
"spm,Rover,all",
"sso,Stream2,Dsk1,postprocess+event+comment+ReceiverStatus,msec100",
#if defined (GPS_SBF_EXTRA_CONFIG)
GPS_SBF_EXTRA_CONFIG
#endif
Expand Down

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