Merge TactilityHeadless into Tactility (#263)

There currently is no practical use to have TactilityHeadless as a subproject. I'm merging it with the Tactility project.

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

@@ -0,0 +1,125 @@
+#pragma once
+
+#include "../Device.h"
+#include "GpsConfiguration.h"
+#include "Satellites.h"
+
+#include <Tactility/Mutex.h>
+#include <Tactility/Thread.h>
+
+#include <minmea.h>
+#include <utility>
+
+namespace tt::hal::gps {
+
+enum class GpsResponse {
+    None,
+    NotAck,
+    FrameErrors,
+    Ok,
+};
+
+class GpsDevice : public Device {
+
+public:
+
+    typedef int GgaSubscriptionId;
+    typedef int RmcSubscriptionId;
+
+    enum class State {
+        PendingOn,
+        On,
+        Error,
+        PendingOff,
+        Off
+    };
+
+private:
+
+    struct GgaSubscription {
+        GgaSubscriptionId id;
+        std::shared_ptr<std::function<void(Device::Id id, const minmea_sentence_gga&)>> onData;
+    };
+
+    struct RmcSubscription {
+        RmcSubscriptionId id;
+        std::shared_ptr<std::function<void(Device::Id id, const minmea_sentence_rmc&)>> onData;
+    };
+
+    const GpsConfiguration configuration;
+    Mutex mutex = Mutex(Mutex::Type::Recursive);
+    std::unique_ptr<Thread> _Nullable thread;
+    bool threadInterrupted = false;
+    std::vector<GgaSubscription> ggaSubscriptions;
+    std::vector<RmcSubscription> rmcSubscriptions;
+    GgaSubscriptionId lastSatelliteSubscriptionId = 0;
+    RmcSubscriptionId lastRmcSubscriptionId = 0;
+    GpsModel model = GpsModel::Unknown;
+    State state = State::Off;
+
+    static int32_t threadMainStatic(void* parameter);
+    int32_t threadMain();
+
+    bool isThreadInterrupted() const;
+
+    void setState(State newState);
+
+public:
+
+    explicit GpsDevice(GpsConfiguration configuration) : configuration(std::move(configuration)) {}
+
+    ~GpsDevice() override = default;
+
+    Type getType() const override { return Type::Gps; }
+
+    std::string getName() const override {
+        if (model != GpsModel::Unknown) {
+            return toString(model);
+        } else {
+            return "Unknown GPS";
+        }
+    }
+
+    std::string getDescription() const override { return ""; }
+
+    bool start();
+    bool stop();
+
+    GgaSubscriptionId subscribeGga(const std::function<void(Device::Id deviceId, const minmea_sentence_gga&)>& onData) {
+        auto lock = mutex.asScopedLock();
+        lock.lock();
+        ggaSubscriptions.push_back({
+            .id = ++lastSatelliteSubscriptionId,
+            .onData = std::make_shared<std::function<void(Device::Id, const minmea_sentence_gga&)>>(onData)
+        });
+        return lastSatelliteSubscriptionId;
+    }
+
+    void unsubscribeGga(GgaSubscriptionId subscriptionId) {
+        auto lock = mutex.asScopedLock();
+        lock.lock();
+        std::erase_if(ggaSubscriptions, [subscriptionId](auto& subscription) { return subscription.id == subscriptionId; });
+    }
+
+    RmcSubscriptionId subscribeRmc(const std::function<void(Device::Id deviceId, const minmea_sentence_rmc&)>& onData) {
+        auto lock = mutex.asScopedLock();
+        lock.lock();
+        rmcSubscriptions.push_back({
+            .id = ++lastRmcSubscriptionId,
+            .onData = std::make_shared<std::function<void(Device::Id, const minmea_sentence_rmc&)>>(onData)
+        });
+        return lastRmcSubscriptionId;
+    }
+
+    void unsubscribeRmc(GgaSubscriptionId subscriptionId) {
+        auto lock = mutex.asScopedLock();
+        lock.lock();
+        std::erase_if(rmcSubscriptions, [subscriptionId](auto& subscription) { return subscription.id == subscriptionId; });
+    }
+
+    GpsModel getModel() const;
+
+    State getState() const;
+};
+
+}