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GPS refactored (#262)

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- 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)
This commit is contained in:
Ken Van Hoeylandt
2025-03-30 01:14:22 +01:00
committed by GitHub
parent 81ece6f2e7
commit d0ca3b16f8
47 changed files with 1266 additions and 277 deletions
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TactilityHeadless/Private/Tactility/hal/gps/GpsInit.h
-7
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@@ -6,13 +6,6 @@ namespace tt::hal::uart { class Uart; }
namespace tt::hal::gps {
/**
* Called by main HAL init to ready the internal state of the GPS HAL.
* @param[in] configurations HAL configuration for a board
* @return true on success
*/
bool init(const std::vector<GpsDevice::Configuration>& configurations);
/**
* Init sequence on UART for a specific GPS model.
*/
TactilityHeadless/Private/Tactility/hal/gps/UbloxMessages.h
+2
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@@ -11,6 +11,8 @@ constexpr uint8_t _message_PMREQ[] = {
0x02, 0x00, 0x00, 0x00 // Bitfield, set backup = 1
};
// Used for sleep mode
// See https://github.com/meshtastic/firmware/blob/af8b64e84ee60175d7a0e43c6c3458e3a3558708/src/gps/GPS.cpp#L939
constexpr uint8_t _message_PMREQ_10[] = {
0x00, // version (0 for this version)
0x00, 0x00, 0x00, // Reserved 1
TactilityHeadless/Private/Tactility/service/gps/GpsService.h
-59
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@@ -1,59 +0,0 @@
#pragma once
#include "Tactility/Mutex.h"
#include "Tactility/PubSub.h"
#include "Tactility/hal/gps/GpsDevice.h"
#include "Tactility/service/Service.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>();
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);
public:
void onStart(tt::service::ServiceContext &serviceContext) final;
void onStop(tt::service::ServiceContext &serviceContext) final;
void addGpsDevice(const std::shared_ptr<hal::gps::GpsDevice>& device);
void removeGpsDevice(const std::shared_ptr<hal::gps::GpsDevice>& device);
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; }
};
} // tt::hal::gps