Support new GPS

docs/hardware/sensors.md

@@ -4,9 +4,11 @@ On the Rover, we have a lotta sensors to maintain Autonomous operations.
 
 ## GPS
 
-- connection: TCP (through the router. see [`network.md`](../network.md) for more info!)
+- connection: USB 2.0 (with a bundled driver that fakes a serial connection)
 
-Our GPS is a Swift Navigation Piksi Multi. It provides a multitude of measurements, some of which only appear when [setting up the Base Station](https://support.swiftnav.com/support/solutions/articles/44001904334-piksi-multi-gnss-rtk-position-with-stationary-base). Having the Base Station can also increase the reliability of data. We're not currently using this enhanced data, but doing so is absolutely possible (and preferable).
+We use the [Septentrio mosaic-Go Heading](https://www.digikey.com/en/products/detail/septentrio-inc/410397/18091780) evaluation kit as the GNSS (GPS) receiver in our Rover. The device supports up to 2 antennas, though we only use one at the moment. The antenna we use is the Swift Navigation GPS500. It connects to the GNSS antenna over a regular old TNC connector. There are several of those cables scattered around the Bay; usually, one is connected to the antenna already.
+
+The mosaic-Go plugs into any computer via a micro-USB cable; this both powers it and provides a web interface on a fake network connection. **You do not need any other cable to connect; just that one micro-USB**. To configure the mosaic-Go, just plug it into your computer, open your network settings, and find its IP. For me, it was accessible at [this IP: `192.168.3.1`](https://192.168.3.1/scr). Please back up the configuration before making any changes.
 
 ## Color Camera
 

docs/network.md

@@ -24,11 +24,3 @@ We use an Netgear Nighthawk AX1800 WiFi Router (R6700AX) on firmware version v1.
     - 9-DoF sensor package - [ICM-20948](https://www.adafruit.com/product/4554)
   - battery: `5007`
     - indicates how charged the batteries are
-
-## GPS
-
-The Piksi Multi (GPS controller)
-
-- MAC Addr: `8c:c8:f4:90:03:e5`
-- Static IP: `192.168.1.222`
-- Port: `55556` (TODO: is this configurable?)

lib/soro_gps/Cargo.toml

@@ -15,10 +15,10 @@ readme = "README.md"
 crate-time = ["staticlib"]
 
 [dependencies]
-pisserror = "0.3.0"
+libsbf = { version = "0.14.0", features = ["std"] }
+serialport = { version = "4.8.1", default-features = false }
+tokio = { version = "1.43.0", features = ["time"] }
 tracing = "0.1.41"
-sbp = "6.2.1"
-tokio = { version = "1.43.0", features = ["net", "time"] }
 
 [dev-dependencies]
 tracing-subscriber = "0.3.19"

lib/soro_gps/README.md

@@ -1,41 +1,13 @@
-<!-- cargo-rdme start -->
+# `soro_gps`
 
-# `gps-rs`
+Connects to the GPS and provides its data in a readable format.
 
-Bindings to the Swift GPS library ([`gps/`](https://github.com/Sooner-Rover-Team/gps)).
+## Testing
 
-This crate exposes the `bindings` module to access the C functions and statics directly.
+To test the GPS connection, use the following command:
 
-However, intended usage is through the `Gps` struct, which provides a safe wrapper for the unsafe C items.
+`timeout 3s sh -c 'dd if=/dev/serial/by-id/usb-Septentrio_Septentrio_USB_Device_3844945-if02 bs=1 count=64 status=none | xxd -g 1 -u'`
 
-This type exposes safe bindings with respect to the (kinda undocumented) safety constraints of the C code. Previous testing shows that violating these unspoken invariants can result in all kinds of weird behavior!
+If that works, great! Otherwise, you'll want to find the device path: `ls /dev/serial/by-id/ | grep Septentrio`. Then, replace the path in the command above with the one you got from that command. If there's multiple, test them all.
 
-## Usage (Rust)
-
-In short, you can use the various methods on `Gps` to interact with the Rover's GPS system.
-
-```rust
-use gps_rs::Gps;
-
-// we can make a GPS from a given IP address and port.
-//
-// on the Rover, this is from the router (hopefully a static IP) and a port
-let swift_ip: IpAddr = "192.168.1.222".parse().unwrap();
-let swift_port: u16 = 55556;
-
-// here, we make the GPS! this will automatically initialize it.
-let gps: Gps = Gps::new(swift_ip, swift_port).unwrap();
-
-// now, you can use its methods:
-println!("coord: {:?}", gps.coord());
-println!("height: {:?}", gps.height());
-println!("error in mm: {:?}", gps.error());
-
-// dropping it (when it falls from scope) automatically runs the required cleanup.
-```
-
-## Usage (Python)
-
-Unimplemented. This should use the `pyo3` feature to build, and I'll plan to upload it to PyPi soon.
-
-<!-- cargo-rdme end -->
+On the other hand, if none of those work, you should try configuring the streams on the GPS receiver. Ensure it's plugged into a computer with a display (like a laptop), then navigate to [its configuration page](http://192.168.3.1) and select the "NMEA/SBF Out" tab.

lib/soro_gps/examples/laptop.rs

@@ -0,0 +1,38 @@
+//! This example should work on a laptop/desktop computer.
+//!
+//! I'm using it now to test the GPS connection without any ROS 2 stuff to mess
+//! with anything.
+
+use soro_gps::Gps;
+
+fn main() {
+    // IMPORTANT: change this to the GPS' serial connection file.
+    //
+    // on Windows, you might be outta luck, but macOS and Linux should allow
+    // grabbing this with: `ls /dev/serial/by-id | grep Septentrio`
+    const DEVICE_PATH: &str = "/dev/ttyACM0";
+
+    // then, "make a connection" by reading from that file!
+    let mut gps: Gps = match Gps::new(DEVICE_PATH.into()) {
+        Ok(gps) => gps,
+        Err(e) => {
+            tracing::error!("GPS connection error: {e}");
+            panic!();
+        }
+    };
+
+    // continuously grab GPS information
+    loop {
+        match gps.get() {
+            Some(gps_info) => {
+                tracing::info!("New GPS message: {gps_info:?}")
+            }
+
+            Option::None => {
+                tracing::error!("GPS disconnected! Waiting 2s and trying again...");
+                std::thread::sleep(core::time::Duration::from_millis(2_000));
+                continue;
+            }
+        }
+    }
+}

lib/soro_gps/src/error.rs

@@ -1,28 +1,40 @@
-use core::error::Error;
-use std::time::Duration;
+use std::path::PathBuf;
 
 /// An error that can occur when connecting to the GPS.
-#[derive(Debug, pisserror::Error)]
+#[derive(Clone, Debug)]
 pub enum GpsConnectionError {
-    #[error("Failed to bind to the provided port. port: {port}, err: {err}")]
-    BindError { port: u16, err: std::io::Error },
-
-    #[error("Couldn't connect to the provided address and port. err: {_0}")]
-    ConnectionError(#[from] std::io::Error),
+    /// The GPS' serial output file representation was not found at the given
+    /// location.
+    FileNotFound(
+        /// The given location.
+        PathBuf,
+    ),
+    /// The GPS path exists, but opening it as a serial source failed.
+    FailedToOpen(
+        /// The given location.
+        PathBuf,
+        /// Details from the OS/driver stack.
+        String,
+    ),
 }
 
-/// An error that may occur when reading from the GPS.
-#[derive(Debug, pisserror::Error)]
-pub enum GpsReadError {
-    #[error("GPS can't update that fast. elapsed: {} ms", elapsed.as_millis())]
-    HaventHitUpdateTime { elapsed: Duration },
-
-    #[error("Failed to read before hitting the timeout. timeout: {} ms", _0.as_millis())]
-    HitTimeout(Duration),
-
-    #[error("Failed to read from the socket.")]
-    ReadFailed,
+impl core::error::Error for GpsConnectionError {}
 
-    #[error("Parsing failed.")]
-    ParseFailed(#[from] sbp::Error),
+impl core::fmt::Display for GpsConnectionError {
+    fn fmt(&self, f: &mut core::fmt::Formatter) -> core::fmt::Result {
+        match self {
+            GpsConnectionError::FileNotFound(serial_path) => write!(
+                f,
+                "The GPS' serial output file representation was not found at \
+                the given location: `{}`",
+                serial_path.to_string_lossy()
+            ),
+            GpsConnectionError::FailedToOpen(serial_path, reason) => write!(
+                f,
+                "Failed to open GPS source at `{}`: {}",
+                serial_path.to_string_lossy(),
+                reason
+            ),
+        }
+    }
 }