GPS refactored (#262)

- Refactored GPS service and HAL: GPS is no longer part of the HAL configuration. You can now add configure new GPS devices from the GPS settings app.
- T-Deck adds a boot hook to check if a GPS configuration exists and adds it when the config is empty.
- Implemented the concept of ObjectFile to read/write arrays of a raw data type (e.g. struct) to disk.
- Implemented more file utils (e.g. to create all directories of a path)

TactilityHeadless/Include/Tactility/hal/Configuration.h

@@ -53,9 +53,6 @@ struct Configuration {
 
     /** A list of UART interface configurations */
     const std::vector<uart::Configuration> uart = {};
-
-    /** A list of GPS device configurations */
-    const std::vector<gps::GpsDevice::Configuration> gps = {};
 };
 
 } // namespace

TactilityHeadless/Include/Tactility/hal/gps/GpsConfiguration.h

@@ -0,0 +1,36 @@
+#pragma once
+
+#include <cstdint>
+#include <vector>
+#include <string>
+
+namespace tt::hal::gps {
+
+enum class GpsModel {
+    Unknown = 0,
+    AG3335,
+    AG3352,
+    ATGM336H, // Casic (might work with AT6558, Neoway N58 LTE Cat.1, Neoway G2, Neoway G7A)
+    LS20031,
+    MTK,
+    MTK_L76B,
+    MTK_PA1616S,
+    UBLOX6,
+    UBLOX7,
+    UBLOX8,
+    UBLOX9,
+    UBLOX10,
+    UC6580,
+};
+
+const char* toString(GpsModel model);
+
+std::vector<std::string> getModels();
+
+struct GpsConfiguration {
+    char uartName[32]; // e.g. "Internal" or "/dev/ttyUSB0"
+    uint32_t baudRate;
+    GpsModel model; // Choosing "Unknown" will result in a probe
+};
+
+}

TactilityHeadless/Include/Tactility/hal/gps/GpsDevice.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "../Device.h"
+#include "GpsConfiguration.h"
 #include "Satellites.h"
 
 #include <Tactility/Mutex.h>
@@ -18,25 +19,6 @@ enum class GpsResponse {
     Ok,
 };
 
-enum class GpsModel {
-    Unknown = 0,
-    AG3335,
-    AG3352,
-    ATGM336H, // Casic (might work with AT6558, Neoway N58 LTE Cat.1, Neoway G2, Neoway G7A)
-    LS20031,
-    MTK,
-    MTK_L76B,
-    MTK_PA1616S,
-    UBLOX6,
-    UBLOX7,
-    UBLOX8,
-    UBLOX9,
-    UBLOX10,
-    UC6580,
-};
-
-const char* toString(GpsModel model);
-
 class GpsDevice : public Device {
 
 public:
@@ -44,13 +26,6 @@ public:
     typedef int GgaSubscriptionId;
     typedef int RmcSubscriptionId;
 
-    struct Configuration {
-        std::string name;
-        std::string uartName; // e.g. "Internal" or "/dev/ttyUSB0"
-        uint32_t baudRate;
-        GpsModel model;
-    };
-
     enum class State {
         PendingOn,
         On,
@@ -71,7 +46,7 @@ private:
         std::shared_ptr<std::function<void(Device::Id id, const minmea_sentence_rmc&)>> onData;
     };
 
-    const Configuration configuration;
+    const GpsConfiguration configuration;
     Mutex mutex = Mutex(Mutex::Type::Recursive);
     std::unique_ptr<Thread> _Nullable thread;
     bool threadInterrupted = false;
@@ -91,13 +66,20 @@ private:
 
 public:
 
-    explicit GpsDevice(Configuration configuration) : configuration(std::move(configuration)) {}
+    explicit GpsDevice(GpsConfiguration configuration) : configuration(std::move(configuration)) {}
 
     ~GpsDevice() override = default;
 
     Type getType() const override { return Type::Gps; }
 
-    std::string getName() const override { return configuration.name; }
+    std::string getName() const override {
+        if (model != GpsModel::Unknown) {
+            return toString(model);
+        } else {
+            return "Unknown GPS";
+        }
+    }
+
     std::string getDescription() const override { return ""; }
 
     bool start();

TactilityHeadless/Include/Tactility/kernel/SystemEvents.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <cstdint>
+#include <functional>
 
 namespace tt::kernel {
 
@@ -26,10 +27,12 @@ enum class SystemEvent {
 /** Value 0 mean "no subscription" */
 typedef uint32_t SystemEventSubscription;
 
-typedef void (*OnSystemEvent)(SystemEvent event);
+typedef std::function<void(SystemEvent)> OnSystemEvent;
 
 void systemEventPublish(SystemEvent event);
+
 SystemEventSubscription systemEventAddListener(SystemEvent event, OnSystemEvent handler);
+
 void systemEventRemoveListener(SystemEventSubscription subscription);
 
 }

TactilityHeadless/Include/Tactility/service/gps/Gps.h

@@ -1,31 +0,0 @@
-#pragma once
-
-#include "Tactility/hal/gps/GpsDevice.h"
-#include "GpsState.h"
-
-#include <Tactility/PubSub.h>
-
-namespace tt::service::gps {
-
-/** Register a hardware device to the GPS service. */
-void addGpsDevice(const std::shared_ptr<hal::gps::GpsDevice>& device);
-
-/** Deregister a hardware device to the GPS service. */
-void removeGpsDevice(const std::shared_ptr<hal::gps::GpsDevice>& device);
-
-/** @return true when GPS is set to receive updates from at least 1 device */
-bool startReceiving();
-
-/** Turn GPS receiving off */
-void stopReceiving();
-
-bool hasCoordinates();
-
-bool getCoordinates(minmea_sentence_rmc& rmc);
-
-State getState();
-
-/** @return GPS service pubsub that broadcasts State* objects */
-std::shared_ptr<PubSub> getStatePubsub();
-
-}

TactilityHeadless/Include/Tactility/service/gps/GpsService.h

@@ -0,0 +1,69 @@
+#pragma once
+
+#include "Tactility/Mutex.h"
+#include "Tactility/PubSub.h"
+#include "Tactility/hal/gps/GpsDevice.h"
+#include "Tactility/service/Service.h"
+#include "Tactility/service/ServiceContext.h"
+#include "Tactility/service/gps/GpsState.h"
+
+namespace tt::service::gps {
+
+class GpsService final : public Service {
+
+private:
+
+    struct GpsDeviceRecord {
+        std::shared_ptr<hal::gps::GpsDevice> device = nullptr;
+        hal::gps::GpsDevice::GgaSubscriptionId satelliteSubscriptionId = -1;
+        hal::gps::GpsDevice::RmcSubscriptionId rmcSubscriptionId = -1;
+    };
+
+    minmea_sentence_rmc rmcRecord;
+    TickType_t rmcTime = 0;
+
+    Mutex mutex = Mutex(Mutex::Type::Recursive);
+    Mutex stateMutex;
+    std::vector<GpsDeviceRecord> deviceRecords;
+    std::shared_ptr<PubSub> statePubSub = std::make_shared<PubSub>();
+    std::unique_ptr<Paths> paths;
+    State state = State::Off;
+
+    bool startGpsDevice(GpsDeviceRecord& deviceRecord);
+    static bool stopGpsDevice(GpsDeviceRecord& deviceRecord);
+
+    GpsDeviceRecord* _Nullable findGpsRecord(const std::shared_ptr<hal::gps::GpsDevice>& record);
+
+    void onGgaSentence(hal::Device::Id deviceId, const minmea_sentence_gga& gga);
+    void onRmcSentence(hal::Device::Id deviceId, const minmea_sentence_rmc& rmc);
+
+    void setState(State newState);
+
+    void addGpsDevice(const std::shared_ptr<hal::gps::GpsDevice>& device);
+    void removeGpsDevice(const std::shared_ptr<hal::gps::GpsDevice>& device);
+
+    bool getConfigurationFilePath(std::string& output) const;
+
+public:
+
+    void onStart(tt::service::ServiceContext &serviceContext) final;
+    void onStop(tt::service::ServiceContext &serviceContext) final;
+
+    bool addGpsConfiguration(hal::gps::GpsConfiguration configuration);
+    bool removeGpsConfiguration(hal::gps::GpsConfiguration configuration);
+    bool getGpsConfigurations(std::vector<hal::gps::GpsConfiguration>& configurations) const;
+
+    bool startReceiving();
+    void stopReceiving();
+    State getState() const;
+
+    bool hasCoordinates() const;
+    bool getCoordinates(minmea_sentence_rmc& rmc) const;
+
+    /** @return GPS service pubsub that broadcasts State* objects */
+    std::shared_ptr<PubSub> getStatePubsub() const { return statePubSub; }
+};
+
+std::shared_ptr<GpsService> findGpsService();
+
+} // tt::service::gps