Ken Van Hoeylandt
d72852a6e2
There currently is no practical use to have TactilityHeadless as a subproject. I'm merging it with the Tactility project.
70 lines
2.3 KiB
C++
70 lines
2.3 KiB
C++
#pragma once
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#include "Tactility/Mutex.h"
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#include "Tactility/PubSub.h"
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#include "Tactility/hal/gps/GpsDevice.h"
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#include "Tactility/service/Service.h"
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#include "Tactility/service/ServiceContext.h"
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#include "Tactility/service/gps/GpsState.h"
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namespace tt::service::gps {
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class GpsService final : public Service {
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private:
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struct GpsDeviceRecord {
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std::shared_ptr<hal::gps::GpsDevice> device = nullptr;
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hal::gps::GpsDevice::GgaSubscriptionId satelliteSubscriptionId = -1;
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hal::gps::GpsDevice::RmcSubscriptionId rmcSubscriptionId = -1;
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};
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minmea_sentence_rmc rmcRecord;
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TickType_t rmcTime = 0;
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Mutex mutex = Mutex(Mutex::Type::Recursive);
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Mutex stateMutex;
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std::vector<GpsDeviceRecord> deviceRecords;
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std::shared_ptr<PubSub> statePubSub = std::make_shared<PubSub>();
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std::unique_ptr<Paths> paths;
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State state = State::Off;
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bool startGpsDevice(GpsDeviceRecord& deviceRecord);
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static bool stopGpsDevice(GpsDeviceRecord& deviceRecord);
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GpsDeviceRecord* _Nullable findGpsRecord(const std::shared_ptr<hal::gps::GpsDevice>& record);
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void onGgaSentence(hal::Device::Id deviceId, const minmea_sentence_gga& gga);
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void onRmcSentence(hal::Device::Id deviceId, const minmea_sentence_rmc& rmc);
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void setState(State newState);
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void addGpsDevice(const std::shared_ptr<hal::gps::GpsDevice>& device);
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void removeGpsDevice(const std::shared_ptr<hal::gps::GpsDevice>& device);
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bool getConfigurationFilePath(std::string& output) const;
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public:
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void onStart(tt::service::ServiceContext &serviceContext) final;
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void onStop(tt::service::ServiceContext &serviceContext) final;
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bool addGpsConfiguration(hal::gps::GpsConfiguration configuration);
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bool removeGpsConfiguration(hal::gps::GpsConfiguration configuration);
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bool getGpsConfigurations(std::vector<hal::gps::GpsConfiguration>& configurations) const;
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bool startReceiving();
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void stopReceiving();
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State getState() const;
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bool hasCoordinates() const;
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bool getCoordinates(minmea_sentence_rmc& rmc) const;
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/** @return GPS service pubsub that broadcasts State* objects */
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std::shared_ptr<PubSub> getStatePubsub() const { return statePubSub; }
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};
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std::shared_ptr<GpsService> findGpsService();
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} // tt::service::gps
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