Crate novatel_oem6_service

Kubos Service for interacting with a NovAtel OEM6 High Precision GNSS Receiver

Configuration

The service can be configured in the /home/system/etc/config.toml with the following fields:

• bus - Specifies the UART bus the OEM6 is connected to
• ip - Specifies the service's IP address
• port - Specifies the port on which the service will be listening for UDP packets

For example:

[novatel-oem6-service]
bus = "/dev/ttyS4"

[novatel-oem6-service.addr]
ip = "127.0.0.1"
port = 8082

Starting the Service

The service should be started automatically by its init script, but may also be started manually:

$ novatel-oem6-service
Kubos OEM6 service started
Listening on: 10.63.1.20:8082

Queries

Ping

Test query to verify service is running without attempting to communicate with the underlying subsystem

{
    ping: "pong"
}

ACK

Get the last run mutation

{
    ack: AckCommand
}

Errors

Get all errors encountered since the last time this field was queried

{
    errors: [String]
}

Power Status

Get the current power state of the system

Note: uptime is included as an available field in order to conform to the Kubos Service Outline, but cannot be implemented for this device, so the value will be 1 if the device is on and 0 if the device is off

{
    power {
        state: PowerState,
        uptime: Int
    }
}

Configuration

Get the current configuration of the system

Stretch goal: implement the LOGLIST command

{
    config: "Not Implemented"
}

Test Results

Get the test results of the last run test

{
    testResults{
        success,
        telemetryNominal{...},
        telemetryDebug{...}
    }
}

System Status

Get the current system status and errors

{
    systemStatus {
       errors: Vec<String>,
       status: Vec<String>
    }
}

Lock Status

Get current status of position information gathering

{
    lockStatus {
        positionStatus: SolutionStatus,
          positionType: PosVelType,
          time {
            ms: Int,
              week: Int
          },
        timeStatus: RefTimeStatus,
        velocityStatus: SolutionStatus,
          velocityType: PosVelType
    }
}

Lock Information

Get the last known good position information

{
    lockInfo {
       position: Vec<Float>,
       time {
           ms: Int,
           week: Int
       },
       velocity: Vec<Float>
    }
}

Telemetry

Get current telemetry information for the system

{
    telemetry{
        debug {
            components: [{
                bootVersion: String,
                compType: Int,
                compileDate: String,
                compileTime: String,
                hwVersion: String,
                model: String,
                serialNum: String,
                swVersion: String,
            }],
            numComponents: Int
        },
        nominal{
            lockInfo {...},
            lockStatus {...},
            systemStatus: Vec<String>
        }
    }
}

Mutations

Errors

Get all errors encountered while processing this GraphQL request

Note: This will only return errors thrown by fields which have already been processed, so it is recommended that this field be specified last.

mutation {
    errors: [String]
}

No-Op

Execute a trivial command against the system

mutation {
    noop {
        errors: String,
        success: Boolean
   }
}

Set Power State

Control the power state of the system

Note: Power control of the GPS device will be done by the GPSRM service

mutation {
    controlPower: "Not Implemented"
}

Configuration

Configure the system

• config: Vector of configuration requests (ConfigStruct)
  • option: Configuration operation which should be performed
  • hold: For LOG_* requests, specifies whether this request should be excluded from removal by future 'UNLOG_ALL' requests. For UNLOG_ALL requests, specifies whether the 'hold' value in previous LOG_* requests should be ignored.
  • interval: Interval at which log messages should be generated. Note: Only applies to LOG_POSITION_DATA requests. Ignored otherwise
  • offset: Offset of interval at which log messages should be generated. Note: Only applies to LOG_POSITION_DATA requests. Ignored otherwise

mutation {
    configureHardware(config: [{option: ConfigOption, hold: Boolean, interval: Float, offset: Float},...]) {
        config: String
        errors: String,
        success: Boolean,
    }
}

System Self-Test

Run a system self-test

• test: Type of self-test to perform

mutation {
    testHardware(test: TestType) {
        ... on IntegrationTestResults {
            errors: String,
            success: Boolean,
            telemetryNominal{...},
            telemetryDebug{...}
        }
        ... on HardwareTestResults {
            errors: "Not Implemented",
            success: true,
            data: Empty
        }
   }
}

Passthrough

Pass a custom command through to the system

• command: String containing the hex values to be sent (ex. "C3") It will be converted to a byte array before transfer.

mutation {
    issueRawCommand(command: String) {
        errors: String,
        success: Boolean,
        response: String
    }
}

Structs

ConfigStruct	Input structure for 'configureHardware' mutation
ConfigureHardwareResponse	Response fields for 'configureHardware' mutation
GenericResponse	Common response fields structure for requests which don't return any specific data
GetPowerResponse	Response fields for 'power' query
HardwareTestResults	Response fields for 'testHardware(test: HARDWARE)' mutation
IntegrationTestResults	Response fields for 'testHardware(test: INTEGRATION)' mutation
LockInfo	Current system lock information. Used in the response fields of the lockInfo query
LockStatus	Response fields for lockStatus query
OEMTime	Time structure for lockStatus and lockInfo response fields
ReceiverStatus	Receiver status
SystemStatus	Response fields for systemStatus query
Telemetry	Response fields for telemetry query
TelemetryNominal	Response fields for 'telemetry(telem: NOMINAL)' query
VersionComponent	System component data
VersionInfo	Version information about the device, returned as the telemetryDebug response field

Enums

AckCommand	Return field for 'ack' query
ConfigOption	Input field for 'configureHardware' mutation
PosVelType	Enum for the positionType and velocityType response fields of the lockStatus query
PowerState	Response field for 'power' query
RefTimeStatus	Enum for the TimeStatus response field of the lockStatus query
SolutionStatus	Enum for the positionStatus and velocityStatus response fields of the lockStatus query
TestResults	Enum for the 'testHardware' mutation response union
TestType	Input field for 'testHardware' mutation