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/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