GPS - attempt a driver approach for managing instances

Author: brentru

src/components/gps/controller.cpp

@@ -169,8 +169,8 @@ bool GPSController::DetectMediatek() {
   buffer[bytes_to_read] = '\0';
   WS_DEBUG_PRINT("[gps] MediaTek GPS response: ");
   WS_DEBUG_PRINTLN(buffer);
-  // Compare the first 7 characters to the expected PMTK705 string
-  if (strncmp(buffer, CMD_MTK_QUERY_FW_RESP, 7) != 0) {
+  // did we get the expected PMTK705 string?
+  if (strncmp(buffer, CMD_MTK_QUERY_FW_RESP, 8) != 0) {
     return false;
   }
 

src/components/uart/controller.cpp

@@ -70,7 +70,6 @@ bool UARTController::Handle_UartAdd(pb_istream_t *stream) {
   // Create a new UartDevice "driver" on the hardware layer (UARTHardware)
   drvUartBase *uart_driver = nullptr;
   wippersnapper_uart_UartDeviceConfig cfg_device = add_msg->cfg_device;
-  GPSController gps; // TODO: This should be a member variable, not a local one
   switch (cfg_device.device_type) {
   case wippersnapper_uart_UartDeviceType_UART_DEVICE_TYPE_UNSPECIFIED:
     WS_DEBUG_PRINTLN("[uart] ERROR: Unspecified device type!");

src/components/uart/drivers/drvUartGps.h

@@ -0,0 +1,102 @@
+/*!
+ * @file drvUartUs100.h
+ *
+ * UART driver for a GPS component
+ *
+ * Adafruit invests time and resources providing this open source code,
+ * please support Adafruit and open-source hardware by purchasing
+ * products from Adafruit!
+ *
+ * Copyright (c) Brent Rubell 2025 for Adafruit Industries.
+ *
+ * MIT license, all text here must be included in any redistribution.
+ *
+ */
+
+#ifndef DRV_UART_GPS_H
+#define DRV_UART_GPS_H
+#include "drvUartBase.h"
+#include "../../gps/controller.h"
+
+
+/*!
+    @brief  Provides an interface for the US-100 Ultrasonic Distance Sensor over
+            UART.
+*/
+class drvUartGps : public drvUartBase {
+
+public:
+  /*!
+      @brief    Instantiates a US-100 UART device.
+      @param    hw_serial
+                Pointer to a HardwareSerial instance.
+      @param    driver_name
+                The name of the driver.
+      @param    port_num
+                The port number for the UART device corresponding to the Serial
+     instance.
+  */
+  drvUartGps(HardwareSerial *hw_serial, const char *driver_name,
+               uint32_t port_num)
+      : drvUartBase(hw_serial, driver_name, port_num) {
+    // Handled by drvUartBase constructor
+  }
+
+#if HAS_SW_SERIAL
+  /*!
+    @brief    Instantiates a US-100 UART device.
+    @param    sw_serial
+              Pointer to a SoftwareSerial instance.
+    @param    driver_name
+              The name of the driver.
+    @param   port_num
+              The port number for the UART device corresponding to the Serial
+    instance.
+*/
+  drvUartGps(SoftwareSerial *sw_serial, const char *driver_name,
+               uint32_t port_num)
+      : drvUartBase(sw_serial, driver_name, port_num) {
+    // Handled by drvUartBase constructor
+  }
+#endif // HAS_SW_SERIAL
+
+  /*!
+      @brief    Destructor for a UART GPS.
+  */
+  ~drvUartGps() { /* TODO: Add back dtor */ }
+
+  /*!
+      @brief    Initializes a UART GPS device.
+      @returns  True if initialized successfully, False otherwise.
+  */
+  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 
+    // but we'll have to refactor the GPS controller iface to take in
+    // a hardwareserial ptr rather than a UARTHardware ptr.
+    if (!_gps->SetInterface(_hw_serial)) {
+      WS_DEBUG_PRINTLN("[uart] ERROR: Failed to set GPS interface!");
+      delete _gps; // cleanup
+      _gps = nullptr;
+      return false;
+    }
+    WS_DEBUG_PRINTLN("[uart] Initializing GPS device...");
+    if (!_gps->begin()) {
+      WS_DEBUG_PRINTLN("[uart] ERROR: Failed to initialize GPS device!");
+      delete _gps; // cleanup
+      _gps = nullptr;
+      return false;
+    }
+    WS_DEBUG_PRINTLN("[uart] GPS device initialized successfully!");
+    return true;
+  }
+
+
+protected:
+  GPSController *_gps;
+};
+#endif // DRV_UART_US100_H