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Update filenames from plugins to modules
This commit is contained in:
Jm Casler
206
src/modules/PositionModule.cpp
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206
src/modules/PositionModule.cpp
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#include "PositionModule.h"
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#include "MeshService.h"
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#include "NodeDB.h"
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#include "RTC.h"
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#include "Router.h"
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#include "airtime.h"
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#include "configuration.h"
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#include "gps/GeoCoord.h"
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PositionPlugin *positionPlugin;
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PositionPlugin::PositionPlugin()
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: ProtobufPlugin("position", PortNum_POSITION_APP, Position_fields), concurrency::OSThread("PositionPlugin")
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{
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isPromiscuous = true; // We always want to update our nodedb, even if we are sniffing on others
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setIntervalFromNow(60 * 1000); // Send our initial position 60 seconds after we start (to give GPS time to setup)
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}
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bool PositionPlugin::handleReceivedProtobuf(const MeshPacket &mp, Position *pptr)
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{
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auto p = *pptr;
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// If inbound message is a replay (or spoof!) of our own messages, we shouldn't process
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// (why use second-hand sources for our own data?)
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// FIXME this can in fact happen with packets sent from EUD (src=RX_SRC_USER)
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// to set fixed location, EUD-GPS location or just the time (see also issue #900)
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if (nodeDB.getNodeNum() == getFrom(&mp)) {
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DEBUG_MSG("Incoming update from MYSELF\n");
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// DEBUG_MSG("Ignored an incoming update from MYSELF\n");
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// return false;
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}
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// Log packet size and list of fields
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DEBUG_MSG("POSITION node=%08x l=%d %s%s%s%s%s%s%s%s%s%s%s%s%s%s\n", getFrom(&mp), mp.decoded.payload.size,
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p.latitude_i ? "LAT " : "", p.longitude_i ? "LON " : "", p.altitude ? "MSL " : "", p.altitude_hae ? "HAE " : "",
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p.alt_geoid_sep ? "GEO " : "", p.PDOP ? "PDOP " : "", p.HDOP ? "HDOP " : "", p.VDOP ? "VDOP " : "",
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p.sats_in_view ? "SIV " : "", p.fix_quality ? "FXQ " : "", p.fix_type ? "FXT " : "", p.pos_timestamp ? "PTS " : "",
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p.time ? "TIME " : "", p.battery_level ? "BAT " : "");
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if (p.time) {
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struct timeval tv;
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uint32_t secs = p.time;
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tv.tv_sec = secs;
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tv.tv_usec = 0;
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perhapsSetRTC(RTCQualityFromNet, &tv);
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}
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nodeDB.updatePosition(getFrom(&mp), p);
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return false; // Let others look at this message also if they want
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}
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MeshPacket *PositionPlugin::allocReply()
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{
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NodeInfo *node = service.refreshMyNodeInfo(); // should guarantee there is now a position
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assert(node->has_position);
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// configuration of POSITION packet
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// consider making this a function argument?
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uint32_t pos_flags = radioConfig.preferences.position_flags;
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// Populate a Position struct with ONLY the requested fields
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Position p = Position_init_default; // Start with an empty structure
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// lat/lon are unconditionally included - IF AVAILABLE!
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p.latitude_i = node->position.latitude_i;
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p.longitude_i = node->position.longitude_i;
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p.time = node->position.time;
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if (pos_flags & PositionFlags_POS_BATTERY)
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p.battery_level = node->position.battery_level;
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if (pos_flags & PositionFlags_POS_ALTITUDE) {
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if (pos_flags & PositionFlags_POS_ALT_MSL)
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p.altitude = node->position.altitude;
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else
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p.altitude_hae = node->position.altitude_hae;
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if (pos_flags & PositionFlags_POS_GEO_SEP)
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p.alt_geoid_sep = node->position.alt_geoid_sep;
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}
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if (pos_flags & PositionFlags_POS_DOP) {
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if (pos_flags & PositionFlags_POS_HVDOP) {
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p.HDOP = node->position.HDOP;
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p.VDOP = node->position.VDOP;
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} else
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p.PDOP = node->position.PDOP;
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}
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if (pos_flags & PositionFlags_POS_SATINVIEW)
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p.sats_in_view = node->position.sats_in_view;
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if (pos_flags & PositionFlags_POS_TIMESTAMP)
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p.pos_timestamp = node->position.pos_timestamp;
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// Strip out any time information before sending packets to other nodes - to keep the wire size small (and because other
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// nodes shouldn't trust it anyways) Note: we allow a device with a local GPS to include the time, so that gpsless
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// devices can get time.
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if (getRTCQuality() < RTCQualityGPS) {
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DEBUG_MSG("Stripping time %u from position send\n", p.time);
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p.time = 0;
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} else
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DEBUG_MSG("Providing time to mesh %u\n", p.time);
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return allocDataProtobuf(p);
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}
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void PositionPlugin::sendOurPosition(NodeNum dest, bool wantReplies)
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{
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// cancel any not yet sent (now stale) position packets
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if (prevPacketId) // if we wrap around to zero, we'll simply fail to cancel in that rare case (no big deal)
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service.cancelSending(prevPacketId);
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MeshPacket *p = allocReply();
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p->to = dest;
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p->decoded.want_response = wantReplies;
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p->priority = MeshPacket_Priority_BACKGROUND;
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prevPacketId = p->id;
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service.sendToMesh(p);
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}
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int32_t PositionPlugin::runOnce()
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{
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NodeInfo *node = nodeDB.getNode(nodeDB.getNodeNum());
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// radioConfig.preferences.position_broadcast_smart = true;
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// We limit our GPS broadcasts to a max rate
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uint32_t now = millis();
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if (lastGpsSend == 0 || now - lastGpsSend >= getPref_position_broadcast_secs() * 1000) {
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// Only send packets if the channel is less than 40% utilized.
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if (airTime->channelUtilizationPercent() < 40) {
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lastGpsSend = now;
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lastGpsLatitude = node->position.latitude_i;
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lastGpsLongitude = node->position.longitude_i;
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// If we changed channels, ask everyone else for their latest info
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bool requestReplies = currentGeneration != radioGeneration;
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currentGeneration = radioGeneration;
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DEBUG_MSG("Sending pos@%x:6 to mesh (wantReplies=%d)\n", node->position.pos_timestamp, requestReplies);
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sendOurPosition(NODENUM_BROADCAST, requestReplies);
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} else {
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DEBUG_MSG("Channel utilization is >50 percent. Skipping this opportunity to send.\n");
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}
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} else if (radioConfig.preferences.position_broadcast_smart == true) {
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// Only send packets if the channel is less than 40% utilized.
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if (airTime->channelUtilizationPercent() < 40) {
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NodeInfo *node2 = service.refreshMyNodeInfo(); // should guarantee there is now a position
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if (node2->has_position && (node2->position.latitude_i != 0 || node2->position.longitude_i != 0)) {
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// The minimum distance to travel before we are able to send a new position packet.
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const uint32_t distanceTravelMinimum = 30;
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// The minimum time that would pass before we are able to send a new position packet.
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const uint32_t timeTravelMinimum = 30;
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// Determine the distance in meters between two points on the globe
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float distance = GeoCoord::latLongToMeter(lastGpsLatitude * 1e-7, lastGpsLongitude * 1e-7,
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node->position.latitude_i * 1e-7, node->position.longitude_i * 1e-7);
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// Yes, this has a bunch of magic numbers. Sorry. This is to make the scale non-linear.
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const float distanceTravelMath = 1203 / (sqrt(pow(myNodeInfo.bitrate, 1.5) / 1.1));
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uint32_t distanceTravel =
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(distanceTravelMath >= distanceTravelMinimum) ? distanceTravelMath : distanceTravelMinimum;
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// Yes, this has a bunch of magic numbers. Sorry.
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uint32_t timeTravel =
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((1500 / myNodeInfo.bitrate) >= timeTravelMinimum) ? (1500 / myNodeInfo.bitrate) : timeTravelMinimum;
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// If the distance traveled since the last update is greater than 100 meters
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// and it's been at least 60 seconds since the last update
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if ((abs(distance) >= distanceTravel) && (now - lastGpsSend >= timeTravel * 1000)) {
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bool requestReplies = currentGeneration != radioGeneration;
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currentGeneration = radioGeneration;
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DEBUG_MSG("Sending smart pos@%x:6 to mesh (wantReplies=%d, dt=%d, tt=%d)\n", node2->position.pos_timestamp,
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requestReplies, distanceTravel, timeTravel);
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sendOurPosition(NODENUM_BROADCAST, requestReplies);
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/* Update lastGpsSend to now. This means if the device is stationary, then
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getPref_position_broadcast_secs will still apply.
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*/
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lastGpsSend = now;
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}
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}
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} else {
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DEBUG_MSG("Channel utilization is >40 percent. Skipping this opportunity to send.\n");
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}
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}
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return 5000; // to save power only wake for our callback occasionally
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}
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