Merge pull request #588 from thomasgubler/fake_gps

Fake gps

src/drivers/gps/gps.cpp

@@ -85,7 +85,7 @@ static const int ERROR = -1;
 class GPS : public device::CDev
 {
 public:
-	GPS(const char *uart_path);
+	GPS(const char *uart_path, bool fake_gps);
 	virtual ~GPS();
 
 	virtual int			init();
@@ -112,6 +112,7 @@ private:
 	struct vehicle_gps_position_s 	_report;					///< uORB topic for gps position
 	orb_advert_t			_report_pub;					///< uORB pub for gps position
 	float				_rate;						///< position update rate
+	bool				_fake_gps;					///< fake gps output
 
 
 	/**
@@ -156,7 +157,7 @@ GPS	*g_dev;
 }
 
 
-GPS::GPS(const char *uart_path) :
+GPS::GPS(const char *uart_path, bool fake_gps) :
 	CDev("gps", GPS_DEVICE_PATH),
 	_task_should_exit(false),
 	_healthy(false),
@@ -164,7 +165,8 @@ GPS::GPS(const char *uart_path) :
 	_mode(GPS_DRIVER_MODE_UBX),
 	_Helper(nullptr),
 	_report_pub(-1),
-	_rate(0.0f)
+	_rate(0.0f),
+	_fake_gps(fake_gps)
 {
 	/* store port name */
 	strncpy(_port, uart_path, sizeof(_port));
@@ -264,98 +266,133 @@ GPS::task_main()
 	/* loop handling received serial bytes and also configuring in between */
 	while (!_task_should_exit) {
 
-		if (_Helper != nullptr) {
-			delete(_Helper);
-			/* set to zero to ensure parser is not used while not instantiated */
-			_Helper = nullptr;
-		}
+		if (_fake_gps) {
+
+			_report.timestamp_position = hrt_absolute_time();
+			_report.lat = (int32_t)47.378301e7f;
+			_report.lon = (int32_t)8.538777e7f;
+			_report.alt = (int32_t)400e3f;
+			_report.timestamp_variance = hrt_absolute_time();
+			_report.s_variance_m_s = 10.0f;
+			_report.p_variance_m = 10.0f;
+			_report.c_variance_rad = 0.1f;
+			_report.fix_type = 3;
+			_report.eph_m = 10.0f;
+			_report.epv_m = 10.0f;
+			_report.timestamp_velocity = hrt_absolute_time();
+			_report.vel_n_m_s = 0.0f;
+			_report.vel_e_m_s = 0.0f;
+			_report.vel_d_m_s = 0.0f;
+			_report.vel_m_s = sqrtf(_report.vel_n_m_s * _report.vel_n_m_s + _report.vel_e_m_s * _report.vel_e_m_s + _report.vel_d_m_s * _report.vel_d_m_s);
+			_report.cog_rad = 0.0f;
+			_report.vel_ned_valid = true;
+
+			//no time and satellite information simulated
+
+			if (_report_pub > 0) {
+				orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+
+			} else {
+				_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+			}
 
-		switch (_mode) {
-		case GPS_DRIVER_MODE_UBX:
-			_Helper = new UBX(_serial_fd, &_report);
-			break;
+			usleep(2e5);
 
-		case GPS_DRIVER_MODE_MTK:
-			_Helper = new MTK(_serial_fd, &_report);
-			break;
+		} else {
 
-		default:
-			break;
-		}
+			if (_Helper != nullptr) {
+				delete(_Helper);
+				/* set to zero to ensure parser is not used while not instantiated */
+				_Helper = nullptr;
+			}
 
-		unlock();
+			switch (_mode) {
+			case GPS_DRIVER_MODE_UBX:
+				_Helper = new UBX(_serial_fd, &_report);
+				break;
+
+			case GPS_DRIVER_MODE_MTK:
+				_Helper = new MTK(_serial_fd, &_report);
+				break;
+
+			default:
+				break;
+			}
 
-		if (_Helper->configure(_baudrate) == 0) {
 			unlock();
 
-			// GPS is obviously detected successfully, reset statistics
-			_Helper->reset_update_rates();
+			if (_Helper->configure(_baudrate) == 0) {
+				unlock();
 
-			while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) {
-//				lock();
-				/* opportunistic publishing - else invalid data would end up on the bus */
-				if (_report_pub > 0) {
-					orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+				// GPS is obviously detected successfully, reset statistics
+				_Helper->reset_update_rates();
 
-				} else {
-					_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
-				}
+				while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) {
+	//				lock();
+					/* opportunistic publishing - else invalid data would end up on the bus */
+					if (_report_pub > 0) {
+						orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+
+					} else {
+						_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+					}
 
-				last_rate_count++;
+					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();
-				}
+					/* 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) {
-					char *mode_str = "unknown";
+					if (!_healthy) {
+						char *mode_str = "unknown";
 
-					switch (_mode) {
-					case GPS_DRIVER_MODE_UBX:
-						mode_str = "UBX";
-						break;
+						switch (_mode) {
+						case GPS_DRIVER_MODE_UBX:
+							mode_str = "UBX";
+							break;
 
-					case GPS_DRIVER_MODE_MTK:
-						mode_str = "MTK";
-						break;
+						case GPS_DRIVER_MODE_MTK:
+							mode_str = "MTK";
+							break;
 
-					default:
-						break;
+						default:
+							break;
+						}
+
+						warnx("module found: %s", mode_str);
+						_healthy = true;
 					}
+				}
 
-					warnx("module found: %s", mode_str);
-					_healthy = true;
+				if (_healthy) {
+					warnx("module lost");
+					_healthy = false;
+					_rate = 0.0f;
 				}
-			}
 
-			if (_healthy) {
-				warnx("module lost");
-				_healthy = false;
-				_rate = 0.0f;
+				lock();
 			}
 
 			lock();
-		}
-
-		lock();
 
-		/* select next mode */
-		switch (_mode) {
-		case GPS_DRIVER_MODE_UBX:
-			_mode = GPS_DRIVER_MODE_MTK;
-			break;
+			/* 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_UBX;
-			break;
+			case GPS_DRIVER_MODE_MTK:
+				_mode = GPS_DRIVER_MODE_UBX;
+				break;
 
-		default:
-			break;
+			default:
+				break;
+			}
 		}
 
 	}
@@ -417,7 +454,7 @@ namespace gps
 
 GPS	*g_dev;
 
-void	start(const char *uart_path);
+void	start(const char *uart_path, bool fake_gps);
 void	stop();
 void	test();
 void	reset();
@@ -427,7 +464,7 @@ void	info();
  * Start the driver.
  */
 void
-start(const char *uart_path)
+start(const char *uart_path, bool fake_gps)
 {
 	int fd;
 
@@ -435,7 +472,7 @@ start(const char *uart_path)
 		errx(1, "already started");
 
 	/* create the driver */
-	g_dev = new GPS(uart_path);
+	g_dev = new GPS(uart_path, fake_gps);
 
 	if (g_dev == nullptr)
 		goto fail;
@@ -527,6 +564,7 @@ gps_main(int argc, char *argv[])
 
 	/* set to default */
 	char *device_name = GPS_DEFAULT_UART_PORT;
+	bool fake_gps = false;
 
 	/*
 	 * Start/load the driver.
@@ -542,7 +580,13 @@ gps_main(int argc, char *argv[])
 			}
 		}
 
-		gps::start(device_name);
+		/* Detect fake gps option */
+		for (int i = 2; i < argc; i++) {
+			if (!strcmp(argv[i], "-f"))
+				fake_gps = true;
+		}
+
+		gps::start(device_name, fake_gps);
 	}
 
 	if (!strcmp(argv[1], "stop"))
@@ -567,5 +611,5 @@ gps_main(int argc, char *argv[])
 		gps::info();
 
 out:
-	errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n]");
+	errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n][-f]");
 }