feat(api): added gnss type data to PositionService (#5381) [backport …

…release-5.6.0] (#5407) feat(api): added gnss type data to PositionService (#5381) * feat(api): added gnss type data to PositionService Signed-off-by: SimoneFiorani <[email protected]> * test: added tests Signed-off-by: SimoneFiorani <[email protected]> * refactor: moved GNSSType enum to api bundle Signed-off-by: SimoneFiorani <[email protected]> * refactor: removed testing logger Signed-off-by: SimoneFiorani <[email protected]> * refactor: refactored gnsstype Signed-off-by: SimoneFiorani <[email protected]> * refactor: updated with suggestions Signed-off-by: SimoneFiorani <[email protected]> * fix: fixed line length Signed-off-by: SimoneFiorani <[email protected]> * Update kura/org.eclipse.kura.api/src/main/java/org/eclipse/kura/position/PositionService.java Co-authored-by: Mattia Dal Ben <[email protected]> * Update GNSSType.java --------- Signed-off-by: SimoneFiorani <[email protected]> Co-authored-by: Mattia Dal Ben <[email protected]> (cherry picked from commit 51fcd57)
eclipse-kura · Oct 4, 2024 · 94c76d2 · 94c76d2
1 parent 728ee0c
commit 94c76d2
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Showing 17 changed files with 249 additions and 10 deletions.
diff --git a/kura/emulator/org.eclipse.kura.emulator.position/META-INF/MANIFEST.MF b/kura/emulator/org.eclipse.kura.emulator.position/META-INF/MANIFEST.MF
@@ -12,7 +12,7 @@ Import-Package: javax.xml.parsers,
  javax.xml.stream,
  org.eclipse.kura;version="[1.0,2.0)",
  org.eclipse.kura.configuration;version="[1.1,2.0)",
- org.eclipse.kura.position;version="[1.3,1.4)",
+ org.eclipse.kura.position;version="[1.4,1.5)",
  org.osgi.framework;version="1.7.0",
  org.osgi.service.component;version="1.2.0",
  org.osgi.service.event;version="1.3.0",

diff --git a/...ulator.position/src/main/java/org/eclipse/kura/emulator/position/PositionServiceImpl.java b/...ulator.position/src/main/java/org/eclipse/kura/emulator/position/PositionServiceImpl.java
@@ -16,9 +16,12 @@
 import java.net.URL;
 import java.time.LocalDateTime;
 import java.time.ZoneId;
+import java.util.Arrays;
 import java.util.Date;
 import java.util.HashMap;
+import java.util.HashSet;
 import java.util.Map;
+import java.util.Set;
 import java.util.concurrent.Executors;
 import java.util.concurrent.ScheduledExecutorService;
 import java.util.concurrent.ScheduledFuture;
@@ -28,6 +31,7 @@
 import javax.xml.parsers.SAXParserFactory;
 
 import org.eclipse.kura.configuration.ConfigurableComponent;
+import org.eclipse.kura.position.GNSSType;
 import org.eclipse.kura.position.NmeaPosition;
 import org.eclipse.kura.position.PositionListener;
 import org.eclipse.kura.position.PositionLockedEvent;
@@ -240,4 +244,9 @@ public void unregisterListener(String listenerId) {
     public LocalDateTime getDateTime() {
         return LocalDateTime.ofInstant(this.currentTime.toInstant(), ZoneId.systemDefault());
     }
+
+    @Override
+    public Set<GNSSType> getGnssType() {
+        return new HashSet<>(Arrays.asList(GNSSType.GPS));
+    }
 }
diff --git a/kura/org.eclipse.kura.api/META-INF/MANIFEST.MF b/kura/org.eclipse.kura.api/META-INF/MANIFEST.MF
@@ -72,7 +72,7 @@ Export-Package: org.eclipse.kura;version="1.7.0",
  org.eclipse.kura.net.status.wifi;version="1.0.0",
  org.eclipse.kura.net.vlan;version="1.0.0",
  org.eclipse.kura.net.wifi;version="2.4.0",
- org.eclipse.kura.position;version="1.3.0",
+ org.eclipse.kura.position;version="1.4.0",
  org.eclipse.kura.security;version="1.3.0",
  org.eclipse.kura.security.keystore;version="1.1.0",
  org.eclipse.kura.security.tamper.detection;version="1.0.0",

diff --git a/kura/org.eclipse.kura.api/src/main/java/org/eclipse/kura/position/GNSSType.java b/kura/org.eclipse.kura.api/src/main/java/org/eclipse/kura/position/GNSSType.java
@@ -0,0 +1,37 @@
+package org.eclipse.kura.position;
+
+import java.util.HashMap;
+import java.util.Map;
+
+public enum GNSSType {
+    UNKNOWN("Unknown"),
+    OTHER("Other"),
+    BEIDOU("Beidou"),
+    GALILEO("Galileo"),
+    GLONASS("Glonass"),
+    GPS("Gps"),
+    IRNSS("IRNSS"),
+    QZSS("QZSS");
+
+    private String value;
+
+    private static Map<String, GNSSType> valuesMap = new HashMap<>();
+
+    static {
+        for (GNSSType type : GNSSType.values()) {
+            valuesMap.put(type.getValue(), type);
+        }
+    }
+
+    private GNSSType(String value) {
+        this.value = value;
+    }
+
+    public String getValue() {
+        return this.value;
+    }
+
+    public static GNSSType fromValue(String value) {
+        return valuesMap.get(value);
+    }
+}
diff --git a/kura/org.eclipse.kura.api/src/main/java/org/eclipse/kura/position/PositionService.java b/kura/org.eclipse.kura.api/src/main/java/org/eclipse/kura/position/PositionService.java
@@ -13,6 +13,7 @@
 package org.eclipse.kura.position;
 
 import java.time.LocalDateTime;
+import java.util.Set;
 
 import org.osgi.annotation.versioning.ProviderType;
 import org.osgi.util.position.Position;
@@ -112,6 +113,15 @@ public interface PositionService {
     @Deprecated
     public String getLastSentence();
 
+    /**
+     * Returns the GNSS System used to get the position information @reference GNSSType. Could be one or more system (eg: GPS + GLONASS).
+     * 
+     * If empty, no recognized GNSS System Type is available.
+     * 
+     * @since 2.8
+     */
+    public Set<GNSSType> getGnssType();
+
     /**
      * Registers position listener
      *

diff --git a/kura/org.eclipse.kura.linux.position/META-INF/MANIFEST.MF b/kura/org.eclipse.kura.linux.position/META-INF/MANIFEST.MF
@@ -17,7 +17,7 @@ Import-Package: de.taimos.gpsd4java.api;version="[1.0,2.0)",
  org.eclipse.kura.comm;version="[1.0,2.0)",
  org.eclipse.kura.configuration;version="[1.1,2.0)",
  org.eclipse.kura.net.modem;version="[2.0,3.0)",
- org.eclipse.kura.position;version="[1.3,1.4)",
+ org.eclipse.kura.position;version="[1.4,1.5)",
  org.eclipse.kura.usb;version="[1.0,2.0)",
  org.osgi.framework,
  org.osgi.service.component;version="1.2.0",

diff --git a/....eclipse.kura.linux.position/src/main/java/org/eclipse/kura/linux/position/GpsDevice.java b/....eclipse.kura.linux.position/src/main/java/org/eclipse/kura/linux/position/GpsDevice.java
@@ -16,11 +16,13 @@
 
 import java.io.BufferedInputStream;
 import java.io.InputStream;
+import java.util.Set;
 
 import org.eclipse.kura.comm.CommConnection;
 import org.eclipse.kura.comm.CommURI;
 import org.eclipse.kura.linux.position.NMEAParser.Code;
 import org.eclipse.kura.linux.position.NMEAParser.ParseException;
+import org.eclipse.kura.position.GNSSType;
 import org.eclipse.kura.position.NmeaPosition;
 import org.eclipse.kura.position.PositionException;
 import org.eclipse.kura.position.PositionListener;
@@ -81,6 +83,10 @@ public synchronized String getTimeNmea() {
         return this.nmeaParser.getTimeNmea();
     }
 
+    public synchronized Set<GNSSType> getGnssType() {
+        return this.nmeaParser.getGnssType();
+    }
+
     public void disconnect() {
         this.listener = null;
         this.commThread.disconnect();

diff --git a/...ra.linux.position/src/main/java/org/eclipse/kura/linux/position/GpsdPositionProvider.java b/...ra.linux.position/src/main/java/org/eclipse/kura/linux/position/GpsdPositionProvider.java
@@ -18,7 +18,10 @@
 import java.time.Duration;
 import java.time.LocalDateTime;
 import java.time.ZoneOffset;
+import java.util.HashSet;
+import java.util.List;
 import java.util.OptionalInt;
+import java.util.Set;
 import java.util.concurrent.CompletableFuture;
 import java.util.concurrent.Executors;
 import java.util.concurrent.Future;
@@ -27,6 +30,7 @@
 import java.util.concurrent.atomic.AtomicReference;
 
 import org.eclipse.kura.linux.position.GpsDevice.Listener;
+import org.eclipse.kura.position.GNSSType;
 import org.eclipse.kura.position.NmeaPosition;
 import org.osgi.util.measurement.Measurement;
 import org.osgi.util.measurement.Unit;
@@ -40,6 +44,7 @@
 import de.taimos.gpsd4java.types.DeviceObject;
 import de.taimos.gpsd4java.types.DevicesObject;
 import de.taimos.gpsd4java.types.ENMEAMode;
+import de.taimos.gpsd4java.types.SATObject;
 import de.taimos.gpsd4java.types.SKYObject;
 import de.taimos.gpsd4java.types.TPVObject;
 import de.taimos.gpsd4java.types.subframes.SUBFRAMEObject;
@@ -49,6 +54,7 @@ public class GpsdPositionProvider implements PositionProvider, IObjectListener {
     private static final Logger logger = LoggerFactory.getLogger(GpsdPositionProvider.class);
     private final AtomicReference<GpsdInternalState> internalStateReference = new AtomicReference<>(
             new GpsdInternalState());
+    private final AtomicReference<Set<GNSSType>> gnssType = new AtomicReference<>(new HashSet<>());
 
     private GPSdEndpoint gpsEndpoint;
     private PositionServiceOptions configuration;
@@ -164,6 +170,11 @@ public PositionProviderType getType() {
         return PositionProviderType.GPSD;
     }
 
+    @Override
+    public Set<GNSSType> getGnssType() {
+        return this.gnssType.get();
+    }
+
     @Override
     public void handleATT(ATTObject att) {
         // Noting to do.
@@ -181,7 +192,18 @@ public void handleDevices(DevicesObject devices) {
 
     @Override
     public void handleSKY(SKYObject sky) {
-        // Noting to do.
+
+        List<SATObject> satellites = sky.getSatellites();
+        Set<GNSSType> newGnssTypeSet = new HashSet<>();
+
+        for (SATObject object : satellites) {
+            if (object.getUsed()) {
+                newGnssTypeSet.add(getGnssTypeFromPrn(object.getPRN()));
+            }
+        }
+
+        this.gnssType.set(newGnssTypeSet);
+
     }
 
     @Override
@@ -262,6 +284,21 @@ private Measurement toMetersPerSecondMeasurement(double value, double error) {
         return new Measurement(Double.isNaN(value) ? 0.0d : value, Double.isNaN(error) ? 0.0d : error, Unit.m_s);
     }
 
+    /*
+     * GNSS Type PRNs ranges retrieved from
+     * {@link https://github.com/taimos/GPSd4Java/blob/6c92bac30d98121bb212bcc7f2426c48ce592433/src/main/java/de/taimos/
+     * gpsd4java/types/SATObject.java#L44}
+     */
+    private GNSSType getGnssTypeFromPrn(int prnId) {
+        if (prnId >= 1 && prnId <= 63) {
+            return GNSSType.GPS;
+        } else if (prnId >= 64 && prnId <= 96) {
+            return GNSSType.GLONASS;
+        } else {
+            return GNSSType.OTHER;
+        }
+    }
+
     private class GpsdInternalState {
 
         private final long creationInstantNanos;

diff --git a/...eclipse.kura.linux.position/src/main/java/org/eclipse/kura/linux/position/NMEAParser.java b/...eclipse.kura.linux.position/src/main/java/org/eclipse/kura/linux/position/NMEAParser.java
@@ -15,8 +15,11 @@
 import static java.lang.Math.toRadians;
 
 import java.util.Arrays;
+import java.util.HashSet;
 import java.util.List;
+import java.util.Set;
 
+import org.eclipse.kura.position.GNSSType;
 import org.eclipse.kura.position.NmeaPosition;
 import org.osgi.util.measurement.Measurement;
 import org.osgi.util.measurement.Unit;
@@ -47,6 +50,10 @@ public class NMEAParser {
     private char latitudeHemisphere = 0;
     private char longitudeHemisphere = 0;
 
+    private Set<GNSSType> gnssType = new HashSet<>();
+    private int gnssTypeUpdateCounter = 0;
+    private static final int GNSSTYPE_RESET_COUNTER = 50;
+
     /**
      * Fill the fields of GPS position depending of the type of the sentence
      *
@@ -70,6 +77,9 @@ public boolean parseSentence(String sentence) throws ParseException {
          * $GS = Glonass
          * $GN = GNSS, that is GPS + Glonass + possibly others
          */
+
+        parseGnssType(tokens.get(0));
+
         if (!tokens.get(0).startsWith("$G")) {
             // Not a valid token. Return.
             throw new ParseException(Code.INVALID);
@@ -92,6 +102,65 @@ public boolean parseSentence(String sentence) throws ParseException {
         return this.validPosition;
     }
 
+    private void parseGnssType(String token) {
+
+        if (this.gnssTypeUpdateCounter > GNSSTYPE_RESET_COUNTER) {
+            this.gnssType.clear();
+            this.gnssTypeUpdateCounter = 0;
+        }
+
+        String id = token.substring(1, 3);
+
+        GNSSType type = getGnssTypeFromSentenceId(id);
+
+        if (!type.equals(GNSSType.UNKNOWN)) {
+            this.gnssType.add(type);
+        }
+
+        this.gnssTypeUpdateCounter++;
+    }
+
+    /*
+     * Also 'GN' is a possible GNSSType, representing the Mixed GNSS System (GPS+GALILEO or GPS+GLONASS for example).
+     * 
+     * But, if the device is capable to emit GN sentences, it must emit also the single-id ones. So we are still able to
+     * extract the specific GNSS System. See {@link
+     * https://receiverhelp.trimble.com/alloy-gnss/en-us/NMEA-0183messages_GNS.html}
+     * 
+     * As example, if the device emits GN messages due to a GP/GA combination, it will emit three sentences: GN, GP, GA.
+     * 
+     * Info about the correlation GNSS System / NMEA Sentence at
+     * {@link https://en.wikipedia.org/wiki/NMEA_0183#NMEA_sentence_format}
+     * 
+     */
+    private GNSSType getGnssTypeFromSentenceId(String type) {
+
+        switch (type) {
+
+        case "GP":
+            return GNSSType.GPS;
+
+        case "BD":
+        case "GB":
+            return GNSSType.BEIDOU;
+
+        case "GA":
+            return GNSSType.GALILEO;
+
+        case "GL":
+            return GNSSType.GLONASS;
+
+        case "GI":
+            return GNSSType.IRNSS;
+
+        case "GQ":
+            return GNSSType.QZSS;
+
+        default:
+            return GNSSType.UNKNOWN;
+        }
+    }
+
     private void parseVTGSentence(List<String> tokens) {
         if (tokens.size() > 7 && !tokens.get(7).isEmpty()) {
             // conversion km/h in m/s : 1 km/h -> 0,277777778 m/s
@@ -261,7 +330,6 @@ boolean computeNMEACksum(String nmeaMessageIn) {
         final int starpos = nmeaMessageIn.indexOf('*');
         final String strChecksum = nmeaMessageIn.substring(starpos + 1, nmeaMessageIn.length() - 1);
         final int parsedChecksum = Integer.parseInt(strChecksum, 16); // Check sum is coded in hex string
-
         int actualChecksum = 0;
         for (int i = 1; i < starpos; i++) {
             actualChecksum ^= nmeaMessageIn.charAt(i);
@@ -372,6 +440,10 @@ public char getLongitudeHemisphere() {
         return this.longitudeHemisphere;
     }
 
+    public Set<GNSSType> getGnssType() {
+        return this.gnssType;
+    }
+
     public enum Code {
         INVALID,
         BAD_CHECKSUM,

diff --git a/...e.kura.linux.position/src/main/java/org/eclipse/kura/linux/position/PositionProvider.java b/...e.kura.linux.position/src/main/java/org/eclipse/kura/linux/position/PositionProvider.java
@@ -14,8 +14,10 @@
 package org.eclipse.kura.linux.position;
 
 import java.time.LocalDateTime;
+import java.util.Set;
 
 import org.eclipse.kura.linux.position.GpsDevice.Listener;
+import org.eclipse.kura.position.GNSSType;
 import org.eclipse.kura.position.NmeaPosition;
 import org.osgi.util.position.Position;
 
@@ -44,4 +46,6 @@ public void init(PositionServiceOptions configuration, Listener gpsDeviceListene
 
     public PositionProviderType getType();
 
+    public Set<GNSSType> getGnssType();
+
 }