GPS - Refactor out GPSHardware

Author: brentru

src/components/gps/controller.cpp

@@ -16,220 +16,50 @@
 #include "controller.h"
 
 /*!
- * @brief Constructor
+ * @brief Constructor for GPSController.
  */
-GPSController::GPSController() {
-  _gps_model = new GPSModel();
-  _iface_type = GPS_IFACE_NONE;
-  _driver_type = GPS_DRV_NONE;
-}
+GPSController::GPSController() { _gps_model = new GPSModel(); }
 
 /*!
- * @brief Destructor
+ * @brief Destructor for GPSController.
  */
 GPSController::~GPSController() {
   // Clean up model
   if (_gps_model) {
     delete _gps_model;
     _gps_model = nullptr;
   }
-
-  // Clean up GPS instance
-  if (_ada_gps) {
-    delete _ada_gps;
-    _ada_gps = nullptr;
-  }
 }
 
 /*!
- * @brief Handles a GPSConfig message from the protobuf stream.
- * @param stream
- *        Pointer to a pb_istream_t object.
- * @returns True if the message was handled successfully, False otherwise.
+ * @brief Adds a GPS hardware instance to the controller.
+ * @param serial Pointer to the HardwareSerial instance for GPS communication.
+ * @param gps_config Pointer to the GPS configuration message.
+ * @return True if the GPS was added successfully, false otherwise.
  */
-bool GPSController::Handle_GPSConfig(wippersnapper_gps_GPSConfig *gps_config) {
-  // Attempt to decode the GPSConfig message
-  if (_driver_type == GPS_DRV_MTK) {
-    WS_DEBUG_PRINTLN("[gps] Handling GPSConfig for MediaTek driver...");
-    if (gps_config == nullptr) {
-      WS_DEBUG_PRINTLN("[gps] ERROR: No GPSConfig message found!");
-      return false;
-    }
-    // Iterate through the command sentences and send them to the GPS module
-    // TODO: We may want to break this out into a generic function that supports
-    // MTK, Ublox, etc...
-    for (size_t i = 0; i < gps_config->commands_count; i++) {
-      WS_DEBUG_PRINT("[gps] Sending command to MediaTek GPS: ");
-      WS_DEBUG_PRINTLN(gps_config->commands[i]);
-      // Send the command to the GPS module
-      _hw_serial->flush(); // Flush the serial buffer before sending
-      _ada_gps->sendCommand(gps_config->commands[i]);
-      // and wait for the corresponding response from the GPS module
-      char msg_resp[MAX_NEMA_SENTENCE_LEN];
-      if (!BuildPmtkAck(gps_config->commands[i], msg_resp)) {
-        WS_DEBUG_PRINTLN("[gps] ERROR: Failed to build PMTK ACK response!");
-        return false;
-      }
-      if (!_ada_gps->waitForSentence(msg_resp)) {
-        WS_DEBUG_PRINT("[gps] ERROR: Failed to get response | cmd:");
-        WS_DEBUG_PRINTLN(gps_config->commands[i]);
-        return false;
-      }
-    }
-  } else {
-    WS_DEBUG_PRINTLN("[gps] ERROR: Unsupported GPS driver type!");
-    return false;
-  }
+bool GPSController::AddGPS(HardwareSerial *serial,
+                           wippersnapper_gps_GPSConfig *gps_config) {
+  GPSHardware *gps_hw = new GPSHardware();
 
-  return true;
-}
-
-/*!
- * @brief Sets a UART hardware interface for the GPS controller.
- * @param serial
- *        Pointer to a HardwareSerial instance.
- * @returns True if the interface was set successfully, False otherwise.
- */
-bool GPSController::SetInterface(HardwareSerial *serial) {
-  if (serial == nullptr)
-    return false;
-  // Set the hardware serial interface
-  _hw_serial = serial;
-  _iface_type = GPS_IFACE_UART_HW;
-  return true;
-}
-
-/*!
- * @brief Attempts to initialize the GPS device based on the configured
- * interface type.
- * @returns True if the GPS device was initialized successfully, False
- * otherwise.
- */
-bool GPSController::begin() {
-  // Validate if the interface type is set
-  if (_iface_type == GPS_IFACE_NONE) {
-    WS_DEBUG_PRINTLN("[gps] ERROR: No interface type configured!");
+  if (!gps_hw->SetInterface(serial)) {
+    WS_DEBUG_PRINTLN("[gps] ERROR: Failed to set GPS interface!");
+    delete gps_hw;
     return false;
   }
 
-  // Attempt to set the GPS interface type based on the hardware
-  if (!QueryModuleType()) {
-    WS_DEBUG_PRINTLN("[gps] ERROR: Failed to query GPS module type!");
+  if (!gps_hw->begin()) {
+    WS_DEBUG_PRINTLN("[gps] ERROR: Failed to initialize GPS hardware!");
+    delete gps_hw;
     return false;
   }
 
-  WS_DEBUG_PRINTLN(
-      "[gps] GPS module type detected successfully and ready for commands!");
-  return true;
-}
-
-/*!
- * @brief Queries the GPS driver type by attempting to detect MediaTek or u-blox
- * GPS modules.
- * @returns True if the driver type was detected successfully, False otherwise.
- */
-bool GPSController::QueryModuleType() {
-  // Validate if the interface is set
-  if (_iface_type == GPS_IFACE_NONE) {
-    WS_DEBUG_PRINTLN("[gps] ERROR: No interface configured for GPS!");
+  if (!gps_hw->Handle_GPSConfig(gps_config)) {
+    WS_DEBUG_PRINTLN("[gps] ERROR: Failed to configure GPS!");
+    delete gps_hw;
     return false;
   }
-  WS_DEBUG_PRINTLN("[gps] Attempting to detect GPS module type...");
-
-  // Try to detect MediaTek GPS module
-  if (DetectMediatek()) {
-    WS_DEBUG_PRINTLN("[gps] Using MediaTek GPS driver!");
-    return true;
-  }
-
-  WS_DEBUG_PRINTLN("[gps] Failed to detect MTK GPS, attempting to detect "
-                   "u-blox GPS module...");
-  // TODO: Implement u-blox detection here
-  // if (DetectUblox()) {
-  //   return true;
-  // }
-
-  WS_DEBUG_PRINTLN("[gps] ERROR: Failed to detect GPS driver type, attempting "
-                   "to use generic driver!");
-  // TODO: Implement generic NMEA GPS driver detection
 
-  // No responses from the GPS module over the defined iface, so we bail out
-  WS_DEBUG_PRINTLN("[gps] ERROR: No GPS driver type detected!");
-  return false;
-}
-
-/*!
- * @brief Detects if the GPS module is a MediaTek GPS module by querying its
- * firmware version.
- * @returns True if a MediaTek GPS module was detected, False otherwise.
- */
-bool GPSController::DetectMediatek() {
-  if (_iface_type != GPS_IFACE_UART_HW) {
-    WS_DEBUG_PRINTLN("[gps] ERROR: MediaTek GPS module only supports Hardware "
-                     "Serial interface!");
-    return false;
-  }
-
-  // Query MediaTek firmware version
-  _hw_serial->flush();
-  _hw_serial->println(CMD_MTK_QUERY_FW);
-  // Wait for response
-  uint16_t timeout = 2000; // 1 second timeout
-  while (_hw_serial->available() < MAX_NEMA_SENTENCE_LEN && timeout--) {
-    delay(1);
-  }
-
-  if (timeout == 0)
-    return false;
-
-  // We found a response, let's verify that it's the expected PMTK_DK_RELEASE
-  // command by reading out the NMEA sentence string into a buffer
-  size_t buf_len = MAX_NEMA_SENTENCE_LEN * 4; // +3 for \r\n and null terminator
-  char buffer[buf_len];
-  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] = _hw_serial->read();
-  }
-  buffer[bytes_to_read] = '\0';
-  WS_DEBUG_PRINT("[gps] MediaTek GPS response: ");
-  WS_DEBUG_PRINTLN(buffer);
-  // did we get the expected PMTK705 string?
-  if (strncmp(buffer, CMD_MTK_QUERY_FW_RESP, 8) != 0) {
-    return false;
-  }
-
-  // Attempt to use Adafruit_GPS
-  if (_ada_gps != nullptr) {
-    delete _ada_gps; // Clean up previous instance if it exists
-  }
-  _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;
-  }
-  _driver_type = GPS_DRV_MTK;
-  return true;
-}
-
-/*!
- * @brief Builds a PMTK acknowledgment message for the provided command.
- * @param msg_cmd
- *        Pointer to a command string.
- * @param msg_resp
- *        Pointer to a response string.
- * @returns True if the acknowledgment was built successfully, False otherwise.
- */
-bool GPSController::BuildPmtkAck(char *msg_cmd, char *msg_resp) {
-  int cmd_num = 0;
-  if (sscanf(msg_cmd, "$PMTK%d", &cmd_num) != 1)
-    return false;
-  snprintf(msg_resp, MAX_NEMA_SENTENCE_LEN, "$PMTK001,%d,3", cmd_num);
-  _ada_gps->addChecksum(msg_resp);
+  _gps_hardware.push_back(gps_hw);
+  WS_DEBUG_PRINTLN("[gps] GPS hardware added successfully!");
   return true;
 }

src/components/gps/controller.h

@@ -16,33 +16,13 @@
 #ifndef WS_GPS_CONTROLLER_H
 #define WS_GPS_CONTROLLER_H
 #include "Wippersnapper_V2.h"
+#include "hardware.h"
 #include "model.h"
 #include <Adafruit_GPS.h>
 
-#define CMD_MTK_QUERY_FW                                                       \
-  "$PMTK605*31" ///< Request to query MediaTek firmware version
-#define CMD_MTK_QUERY_FW_RESP                                                  \
-  "$PMTK705" ///< Response from querying MediaTek firmware version without the
-             ///< ReleaseStr
-#define MAX_NEMA_SENTENCE_LEN 82 ///< Maximum length of a NMEA sentence
-
 class Wippersnapper_V2; ///< Forward declaration
 class GPSModel;         ///< Forward declaration
-class UARTHardware;     ///< Forward declaration
-
-enum GpsInterfaceType {
-  GPS_IFACE_NONE,    ///< No interface/undefined
-  GPS_IFACE_UART_HW, ///< UART hardware interface
-  GPS_IFACE_UART_SW, ///< UART software interface
-  GPS_IFACE_I2C      ///< I2C interface
-}; ///< Type of interface used by GPS
-
-enum GpsDriverType {
-  GPS_DRV_NONE,        ///< No driver/undefined
-  GPS_DRV_MTK,         ///< MediaTek GPS driver
-  GPS_DRV_UBLOX,       ///< u-blox GPS driver
-  GPS_DRV_GENERIC_NMEA ///< Generic NMEA GPS driver
-}; ///< Type of GPS driver used
+class GPSHardware;      ///< Forward declaration
 
 /*!
     @brief  Routes messages between the GPS.proto API and the hardware.
@@ -51,21 +31,12 @@ class GPSController {
 public:
   GPSController();
   ~GPSController();
-  bool SetInterface(HardwareSerial *serial);
-  // TODO: Add SetInterface(I2C *_i2c_hardware) for I2C support here!
-  bool begin();
-  bool QueryModuleType();
-  bool DetectMediatek();
-  bool BuildPmtkAck(char *msg_cmd, char *msg_resp);
-  // Protobuf API methods
-  bool Handle_GPSConfig(wippersnapper_gps_GPSConfig *gps_config);
+  bool AddGPS(HardwareSerial *serial, wippersnapper_gps_GPSConfig *gps_config);
 
 private:
-  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
+  GPSModel *_gps_model; ///< GPS model instance
+  std::vector<GPSHardware *>
+      _gps_hardware; ///< Vector of GPS hardware instances
 };
 extern Wippersnapper_V2 WsV2; ///< Wippersnapper V2 instance
 #endif                        // WS_GPS_CONTROLLER_H