fix(gps): allow GPS runtime without motion hardware

platform/esp/arduino_common/include/platform/esp/arduino_common/gps/gps_service.h

@@ -26,7 +26,7 @@ class GpsService
   public:
     static GpsService& getInstance();
 
-    void begin(GpsBoard& gps_board, MotionBoard& motion_board, uint32_t disable_hw_init,
+    void begin(GpsBoard& gps_board, MotionBoard* motion_board, uint32_t disable_hw_init,
                uint32_t gps_interval_ms, const MotionConfig& motion_config,
                const GpsReceiverInitConfig& receiver_init_config = GpsReceiverInitConfig{});
     GpsState getData();

platform/esp/arduino_common/src/app_context_platform_bindings.cpp

@@ -19,6 +19,7 @@
 #include "platform/esp/arduino_common/gps/track_recorder.h"
 #include "platform/esp/arduino_common/storage/sd_card_runtime.h"
 #include "platform/esp/arduino_common/storage/storage_runtime.h"
+#include "platform/esp/arduino_common/geocaching/browse_runtime.h"
 #include "platform/esp/arduino_common/team/crypto/team_crypto.h"
 #include "platform/esp/arduino_common/team/event/team_app_data_event_bus_bridge.h"
 #include "platform/esp/arduino_common/team/event/team_event_bus_sink.h"
@@ -59,14 +60,14 @@ void init_gps_runtime(GpsBoard* gps_board,
                       uint32_t disable_hw_init,
                       const app::AppConfig& config)
 {
-    if (!gps_board || !motion_board)
+    if (!gps_board)
     {
         return;
     }
 
     auto& gps_service = gps::GpsService::getInstance();
     gps_service.begin(*gps_board,
-                      *motion_board,
+                      motion_board,
                       disable_hw_init,
                       config.gps_interval_ms,
                       config.motion_config,
@@ -277,6 +278,7 @@ app::ChatServicesBundle create_chat_services(const app::AppConfig& config,
         }
     }
 
+
     bundle.service = std::unique_ptr<chat::ChatService>(
         new chat::ChatService(*bundle.model, *bundle.mesh_runtime, *bundle.store, config.mesh_protocol));
     if (!bundle.service)
@@ -295,6 +297,9 @@ app::ChatServicesBundle create_chat_services(const app::AppConfig& config,
     {
         bundle.start_deferred_storage = start_deferred_storage;
     }
+    if (lora_board)
+        ::platform::esp::arduino_common::geocaching::browse_runtime::configure(
+            *static_cast<chat::MeshAdapterRouter*>(bundle.mesh_runtime.get()), *lora_board);
     return bundle;
 }
 

platform/esp/arduino_common/src/gps/gps_service.cpp

@@ -70,13 +70,13 @@ GpsService& GpsService::getInstance()
     return *instance;
 }
 
-void GpsService::begin(GpsBoard& gps_board, MotionBoard& motion_board,
+void GpsService::begin(GpsBoard& gps_board, MotionBoard* motion_board,
                        uint32_t disable_hw_init, uint32_t gps_interval_ms,
                        const MotionConfig& motion_config,
                        const GpsReceiverInitConfig& receiver_init_config)
 {
     gps_board_ = &gps_board;
-    motion_board_ = &motion_board;
+    motion_board_ = motion_board;
     receiver_init_config_ = receiver_init_config;
     gps_board_->setGPSReceiverInitConfig(receiver_init_config_);
     gps_adapter_.begin(gps_board);
@@ -95,7 +95,10 @@ void GpsService::begin(GpsBoard& gps_board, MotionBoard& motion_board,
         Serial.printf("[GPS] service starting reason=adapter_not_ready_waiting_retry\n");
     }
 
-    motion_adapter_.begin(motion_board);
+    if (motion_board_ != nullptr)
+    {
+        motion_adapter_.begin(*motion_board_);
+    }
 
     gps_data_mutex_ = xSemaphoreCreateMutex();
     if (gps_data_mutex_ == NULL)
@@ -127,7 +130,11 @@ void GpsService::begin(GpsBoard& gps_board, MotionBoard& motion_board,
         log_d("GPS data collection task created successfully (interval: %lu ms)", runtime_state_.requestedCollectionIntervalMs());
     }
 
-    const bool motion_control_enabled = motion_policy_.begin(motion_adapter_, motion_config_);
+    bool motion_control_enabled = false;
+    if (motion_board_ != nullptr)
+    {
+        motion_control_enabled = motion_policy_.begin(motion_adapter_, motion_config_);
+    }
     runtime_state_.setMotionControlEnabled(motion_control_enabled, millis());
 
     if (motion_control_enabled && motion_task_handle_ == nullptr)
@@ -399,6 +406,13 @@ void GpsService::setMotionConfig(const MotionConfig& config)
     }
 
     motion_config_ = normalizeMotionConfig(config);
+    if (motion_board_ == nullptr)
+    {
+        runtime_state_.setMotionControlEnabled(
+            false,
+            millis());
+        return;
+    }
 
     const bool motion_control_enabled = motion_policy_.begin(motion_adapter_, motion_config_);
     runtime_state_.setMotionControlEnabled(motion_control_enabled, millis());