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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/Source/hal/Hal.cpp
-2
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@@ -29,8 +29,6 @@ void init(const Configuration& configuration) {
tt_check(uart::init(configuration.uart), "UART init failed");
kernel::systemEventPublish(kernel::SystemEvent::BootInitUartEnd);
tt_check(gps::init(configuration.gps), "GPS init failed");
if (configuration.initBoot != nullptr) {
TT_LOG_I(TAG, "Init power");
tt_check(configuration.initBoot(), "Init power failed");
TactilityHeadless/Source/hal/gps/GpsConfiguration.cpp
+51
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@@ -0,0 +1,51 @@
#include "Tactility/hal/gps/GpsConfiguration.h"
#include "Tactility/service/gps/GpsService.h"
#include <Tactility/TactilityCore.h>
#include <Tactility/file/ObjectFile.h>
namespace tt::hal::gps {
const char* toString(GpsModel model) {
using enum GpsModel;
switch (model) {
case AG3335:
return TT_STRINGIFY(AG3335);
case AG3352:
return TT_STRINGIFY(AG3352);
case ATGM336H:
return TT_STRINGIFY(ATGM336H);
case LS20031:
return TT_STRINGIFY(LS20031);
case MTK:
return TT_STRINGIFY(MTK);
case MTK_L76B:
return TT_STRINGIFY(MTK_L76B);
case MTK_PA1616S:
return TT_STRINGIFY(MTK_PA1616S);
case UBLOX6:
return TT_STRINGIFY(UBLOX6);
case UBLOX7:
return TT_STRINGIFY(UBLOX7);
case UBLOX8:
return TT_STRINGIFY(UBLOX8);
case UBLOX9:
return TT_STRINGIFY(UBLOX9);
case UBLOX10:
return TT_STRINGIFY(UBLOX10);
case UC6580:
return TT_STRINGIFY(UC6580);
default:
return TT_STRINGIFY(Unknown);
}
}
std::vector<std::string> getModels() {
std::vector<std::string> result;
for (GpsModel model = GpsModel::Unknown; model <= GpsModel::UC6580; ++(int&)model) {
result.push_back(toString(model));
}
return result;
}
}
TactilityHeadless/Source/hal/gps/GpsDevice.cpp
+7 -42
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@@ -5,44 +5,10 @@
#include <cstring>
#include <minmea.h>
#define TAG "gps"
#define GPS_UART_BUFFER_SIZE 256
namespace tt::hal::gps {
const char* toString(GpsModel model) {
using enum GpsModel;
switch (model) {
case AG3335:
return TT_STRINGIFY(AG3335);
case AG3352:
return TT_STRINGIFY(AG3352);
case ATGM336H:
return TT_STRINGIFY(ATGM336H);
case LS20031:
return TT_STRINGIFY(LS20031);
case MTK:
return TT_STRINGIFY(MTK);
case MTK_L76B:
return TT_STRINGIFY(MTK_L76B);
case MTK_PA1616S:
return TT_STRINGIFY(MTK_PA1616S);
case UBLOX6:
return TT_STRINGIFY(UBLOX6);
case UBLOX7:
return TT_STRINGIFY(UBLOX7);
case UBLOX8:
return TT_STRINGIFY(UBLOX8);
case UBLOX9:
return TT_STRINGIFY(UBLOX9);
case UBLOX10:
return TT_STRINGIFY(UBLOX10);
case UC6580:
return TT_STRINGIFY(UC6580);
default:
return TT_STRINGIFY(Unknown);
}
}
constexpr uint32_t GPS_UART_BUFFER_SIZE = 256;
constexpr const char* TAG = "GpsDevice";
int32_t GpsDevice::threadMainStatic(void* parameter) {
auto* gps_device = (GpsDevice*)parameter;
@@ -54,17 +20,17 @@ int32_t GpsDevice::threadMain() {
auto uart = uart::open(configuration.uartName);
if (uart == nullptr) {
TT_LOG_E(TAG, "Failed to open UART %s", configuration.uartName.c_str());
TT_LOG_E(TAG, "Failed to open UART %s", configuration.uartName);
return -1;
}
if (!uart->start()) {
TT_LOG_E(TAG, "Failed to start UART %s", configuration.uartName.c_str());
TT_LOG_E(TAG, "Failed to start UART %s", configuration.uartName);
return -1;
}
if (!uart->setBaudRate((int)configuration.baudRate)) {
TT_LOG_E(TAG, "Failed to set baud rate to %lu for UART %s", configuration.baudRate, configuration.uartName.c_str());
TT_LOG_E(TAG, "Failed to set baud rate to %lu for UART %s", configuration.baudRate, configuration.uartName);
return -1;
}
@@ -77,7 +43,6 @@ int32_t GpsDevice::threadMain() {
return -1;
}
}
mutex.lock();
this->model = model;
mutex.unlock();
@@ -101,7 +66,7 @@ int32_t GpsDevice::threadMain() {
if (bytes_read > 0U) {
TT_LOG_D(TAG, "%s", buffer);
TT_LOG_I(TAG, "[%ul] %s", bytes_read, buffer);
switch (minmea_sentence_id((char*)buffer, false)) {
case MINMEA_SENTENCE_RMC:
@@ -137,7 +102,7 @@ int32_t GpsDevice::threadMain() {
}
if (uart->isStarted() && !uart->stop()) {
TT_LOG_W(TAG, "Failed to stop UART %s", configuration.uartName.c_str());
TT_LOG_W(TAG, "Failed to stop UART %s", configuration.uartName);
}
return 0;
TactilityHeadless/Source/hal/gps/GpsInit.cpp
-12
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@@ -1,7 +1,6 @@
#include "Tactility/hal/gps/Cas.h"
#include "Tactility/hal/gps/GpsDevice.h"
#include "Tactility/hal/gps/Ublox.h"
#include "Tactility/service/Service.h"
#include <cstring>
#define TAG "gps"
@@ -133,17 +132,6 @@ GpsResponse getACKCas(uart::Uart& uart, uint8_t class_id, uint8_t msg_id, uint32
// endregion
/** Initialize the HAL with the provided configuration */
bool init(const std::vector<GpsDevice::Configuration>& configurations) {
for (auto& configuration : configurations) {
auto device = std::make_shared<GpsDevice>(configuration);
hal::registerDevice(std::move(device));
}
return true;
}
bool init(uart::Uart& uart, GpsModel type) {
switch (type) {
case GpsModel::Unknown: