GPS -refactor to use hwserial pattern

Author: brentru

src/components/gps/controller.cpp

@@ -43,24 +43,16 @@ GPSController::~GPSController() {
 
 /*!
  * @brief Sets a UART hardware interface for the GPS controller.
- * @param uart_hardware Pointer to the UARTHardware instance.
+ * @param serial
+ *        Pointer to a HardwareSerial instance.
  * @returns True if the interface was set successfully, False otherwise.
  */
-bool GPSController::SetInterface(UARTHardware *uart_hardware) {
-  if (uart_hardware == nullptr) {
-    WS_DEBUG_PRINTLN("[gps] ERROR: Provided UART instance is undefined!");
+bool GPSController::SetInterface(HardwareSerial *serial) {
+  if (serial == nullptr)
     return false;
-  }
-  _uart_hardware = uart_hardware;
-  // Determine iface type
-  if (_uart_hardware->isHardwareSerial()) {
-    _iface_type = GPS_IFACE_UART_HW;
-  } else if (_uart_hardware->isSoftwareSerial()) {
-    _iface_type = GPS_IFACE_UART_SW;
-  } else {
-    WS_DEBUG_PRINTLN("[gps] ERROR: Unsupported UART interface type!");
-    return false;
-  }
+  // Set the hardware serial interface
+  _hw_serial = serial;
+  _iface_type = GPS_IFACE_UART_HW;
   return true;
 }
 
@@ -136,13 +128,11 @@ bool GPSController::DetectMediatek() {
   }
 
   // Query MediaTek firmware version
-  _uart_hardware->GetHardwareSerial()->flush();
-  _uart_hardware->GetHardwareSerial()->println(CMD_MTK_QUERY_FW);
+  _hw_serial->flush();
+  _hw_serial->println(CMD_MTK_QUERY_FW);
   // Wait for response
   uint16_t timeout = 1000; // 1 second timeout
-  while (_uart_hardware->GetHardwareSerial()->available() <
-             MAX_NEMA_SENTENCE_LEN &&
-         timeout--) {
+  while (_hw_serial->available() < MAX_NEMA_SENTENCE_LEN && timeout--) {
     delay(1);
   }
 
@@ -156,15 +146,15 @@ bool GPSController::DetectMediatek() {
   // command by reading out the NMEA sentence string into a buffer
   size_t buf_len = MAX_NEMA_SENTENCE_LEN + 3; // +3 for \r\n and null terminator
   char buffer[buf_len];
-  size_t available = _uart_hardware->GetHardwareSerial()->available();
+  size_t available = _hw_serial->available();
   size_t bytes_to_read = min(available, buf_len - 1);
   // Print the two out
   WS_DEBUG_PRINT("[gps] Reading MediaTek GPS response: ");
   WS_DEBUG_PRINT(available);
   WS_DEBUG_PRINT(" bytes, reading ");
   WS_DEBUG_PRINTLN(bytes_to_read);
   for (size_t i = 0; i < bytes_to_read; i++) {
-    buffer[i] = _uart_hardware->GetHardwareSerial()->read();
+    buffer[i] = _hw_serial->read();
   }
   buffer[bytes_to_read] = '\0';
   WS_DEBUG_PRINT("[gps] MediaTek GPS response: ");
@@ -178,8 +168,8 @@ bool GPSController::DetectMediatek() {
   if (_ada_gps != nullptr) {
     delete _ada_gps; // Clean up previous instance if it exists
   }
-  _ada_gps = new Adafruit_GPS(_uart_hardware->GetHardwareSerial());
-  if (!_ada_gps->begin(_uart_hardware->GetBaudRate())) {
+  _ada_gps = new Adafruit_GPS(_hw_serial);
+  if (!_ada_gps->begin(_hw_serial->baudRate())) {
     WS_DEBUG_PRINTLN("[gps] ERROR: Failed to initialize Mediatek!");
     return false;
   }

src/components/gps/controller.h

@@ -51,7 +51,7 @@ class GPSController {
 public:
   GPSController();
   ~GPSController();
-  bool SetInterface(UARTHardware *uart_hardware);
+  bool SetInterface(HardwareSerial *serial);
   // TODO: Add SetInterface(I2C *_i2c_hardware) for I2C support here!
   bool begin();
   bool QueryModuleType();
@@ -62,11 +62,11 @@ class GPSController {
   void update();
 
 private:
-  GPSModel *_gps_model;                   ///< GPS model
-  UARTHardware *_uart_hardware = nullptr; ///< UART hardware instance for GPS
-  GpsInterfaceType _iface_type;           ///< Type of interface used by GPS
-  GpsDriverType _driver_type;             ///< Type of GPS driver used
-  Adafruit_GPS *_ada_gps = nullptr;       ///< Adafruit GPS instance
+  GPSModel *_gps_model;                 ///< GPS model
+  GpsInterfaceType _iface_type;         ///< Type of interface used by GPS
+  GpsDriverType _driver_type;           ///< Type of GPS driver used
+  HardwareSerial *_hw_serial = nullptr; ///< HardwareSerial instance for GPS;
+  Adafruit_GPS *_ada_gps = nullptr;     ///< Adafruit GPS instance
 };
 extern Wippersnapper_V2 WsV2; ///< Wippersnapper V2 instance
 #endif                        // WS_GPS_CONTROLLER_H

src/components/uart/controller.cpp

@@ -101,25 +101,17 @@ bool UARTController::Handle_UartAdd(pb_istream_t *stream) {
     return false;
   case wippersnapper_uart_UartDeviceType_UART_DEVICE_TYPE_GPS:
     WS_DEBUG_PRINTLN("[uart] GPS device type not implemented!");
-    // delete uart_hardware; // cleanup
-    // return false;
-
-    WS_DEBUG_PRINTLN("[uart] Adding GPS device..");
-    if (!gps.SetInterface(uart_hardware)) {
-      WS_DEBUG_PRINTLN("[uart] ERROR: Failed to set GPS interface!");
-      delete uart_hardware; // cleanup
-      return false;
-    }
-    WS_DEBUG_PRINTLN("[uart] Initializing GPS device...");
-    if (!gps.begin()) {
-      WS_DEBUG_PRINTLN("[uart] ERROR: Failed to initialize GPS device!");
-      delete uart_hardware; // cleanup
+    uart_driver = new drvUartGps(uart_hardware->GetHardwareSerial(),
+                                 cfg_device.device_id, cfg_serial.uart_nbr);
+    // todo: set events, set period, configure gps via messages functionality
+    // etc
+    if (!uart_driver->begin()) {
+      WS_DEBUG_PRINTLN("[uart] ERROR: Failed to initialize GPS driver!");
+      delete uart_driver;
+      delete uart_hardware;
       return false;
     }
-    WS_DEBUG_PRINTLN("[uart] GPS device initialized successfully!");
-    // TODO: Figure out how to add this to the drivers  list so it can be
-    // queried, also this is sitting on the stack instead of the heap, so it
-    // will be destroyed when this function returns!!!
+    WS_DEBUG_PRINTLN("[uart] GPS driver initialized successfully!");
     break;
   case wippersnapper_uart_UartDeviceType_UART_DEVICE_TYPE_PM25AQI:
     WS_DEBUG_PRINTLN("[uart] Adding PM2.5 AQI device..");
@@ -144,13 +136,13 @@ bool UARTController::Handle_UartAdd(pb_istream_t *stream) {
     return false;
   }
 
-  /*
   // Attempt to initialize the UART driver
   if (uart_driver == nullptr) {
     WS_DEBUG_PRINTLN("[uart] ERROR: Failed to create UART driver!");
     delete uart_hardware; // cleanup
     return false;
   }
+
   bool did_begin = false;
   did_begin = uart_driver->begin();
   if (!did_begin) {
@@ -185,7 +177,7 @@ bool UARTController::Handle_UartAdd(pb_istream_t *stream) {
     WS_DEBUG_PRINTLN("[i2c] ERROR: Unable to publish UartAdded message to IO!");
     return false;
   }
- */
+
   return true;
 }
 

src/components/uart/controller.h

@@ -22,6 +22,7 @@
 #include "drivers/drvUartBase.h"
 #include "drivers/drvUartPm25.h"
 #include "drivers/drvUartUs100.h"
+#include "drivers/drvUartGps.h"
 
 class Wippersnapper_V2; ///< Forward declaration
 class GPSController;

src/components/uart/drivers/drvUartGps.h

@@ -72,7 +72,6 @@ class drvUartGps : public drvUartBase {
   bool begin() override {
     if (_hw_serial == nullptr)
       return false;
-
     _gps = new GPSController();
     // TODO TUES: Note that _hw_serial isnt a pointer to the UARTHardware
     // and instead the raw hw serial. This is fine