pohui_pohui/firmware
1
0
Fork 0
mirror of https://github.com/meshtastic/firmware.git synced 2025-04-25 17:42:48 +00:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

Add TAK Tracker role behavior (#3233)

Browse Source 
* Proto

* Standalone TAK Tracker

* Add log

* Make TAK_Tracker behave like Tracker
This commit is contained in:
Ben Meadors 2024-02-16 20:04:21 -06:00 committed by GitHub
parent 1bacd8641d
commit 998013aff3
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
5 changed files with 70 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
src/PowerFSM.cpp
View File

@ -246,6 +246,7 @@ void PowerFSM_setup()
{
bool isRouter = (config.device.role == meshtastic_Config_DeviceConfig_Role_ROUTER ? 1 : 0);
bool isTrackerOrSensor = config.device.role == meshtastic_Config_DeviceConfig_Role_TRACKER ||
config.device.role == meshtastic_Config_DeviceConfig_Role_TAK_TRACKER ||
config.device.role == meshtastic_Config_DeviceConfig_Role_SENSOR;
bool hasPower = isPowered();

11
src/mesh/NodeDB.cpp
View File

@ -325,6 +325,17 @@ void NodeDB::installRoleDefaults(meshtastic_Config_DeviceConfig_Role role)
(meshtastic_Config_PositionConfig_PositionFlags_ALTITUDE | meshtastic_Config_PositionConfig_PositionFlags_SPEED |
meshtastic_Config_PositionConfig_PositionFlags_HEADING | meshtastic_Config_PositionConfig_PositionFlags_DOP);
moduleConfig.telemetry.device_update_interval = ONE_DAY;
} else if (role == meshtastic_Config_DeviceConfig_Role_TAK_TRACKER) {
config.device.node_info_broadcast_secs = ONE_DAY;
config.position.position_broadcast_smart_enabled = true;
config.position.position_broadcast_secs = 3 * 60; // Every 3 minutes
config.position.broadcast_smart_minimum_distance = 20;
config.position.broadcast_smart_minimum_interval_secs = 15;
// Remove Altitude MSL from flags since CoTs use HAE (height above ellipsoid)
config.position.position_flags =
(meshtastic_Config_PositionConfig_PositionFlags_ALTITUDE | meshtastic_Config_PositionConfig_PositionFlags_SPEED |
meshtastic_Config_PositionConfig_PositionFlags_HEADING | meshtastic_Config_PositionConfig_PositionFlags_DOP);
moduleConfig.telemetry.device_update_interval = ONE_DAY;
} else if (role == meshtastic_Config_DeviceConfig_Role_CLIENT_HIDDEN) {
config.device.rebroadcast_mode = meshtastic_Config_DeviceConfig_RebroadcastMode_LOCAL_ONLY;
config.device.node_info_broadcast_secs = UINT32_MAX;

61
src/modules/PositionModule.cpp
View File

@ -8,9 +8,15 @@
#include "airtime.h"
#include "configuration.h"
#include "gps/GeoCoord.h"
#include "main.h"
#include "meshtastic/atak.pb.h"
#include "sleep.h"
#include "target_specific.h"
extern "C" {
#include "mesh/compression/unishox2.h"
}
PositionModule *positionModule;
PositionModule::PositionModule()
@ -18,11 +24,14 @@ PositionModule::PositionModule()
concurrency::OSThread("PositionModule")
{
isPromiscuous = true; // We always want to update our nodedb, even if we are sniffing on others
if (config.device.role != meshtastic_Config_DeviceConfig_Role_TRACKER)
if (config.device.role != meshtastic_Config_DeviceConfig_Role_TRACKER &&
config.device.role != meshtastic_Config_DeviceConfig_Role_TAK_TRACKER)
setIntervalFromNow(60 * 1000);
// Power saving trackers should clear their position on startup to avoid waking up and sending a stale position
if (config.device.role == meshtastic_Config_DeviceConfig_Role_TRACKER && config.power.is_power_saving) {
if ((config.device.role == meshtastic_Config_DeviceConfig_Role_TRACKER ||
config.device.role == meshtastic_Config_DeviceConfig_Role_TAK_TRACKER) &&
config.power.is_power_saving) {
clearPosition();
}
}
@ -157,9 +166,47 @@ meshtastic_MeshPacket *PositionModule::allocReply()
LOG_INFO("Position reply: time=%i, latI=%i, lonI=-%i\n", p.time, p.latitude_i, p.longitude_i);
// TAK Tracker devices should send their position in a TAK packet over the ATAK port
if (config.device.role == meshtastic_Config_DeviceConfig_Role_TAK_TRACKER)
return allocAtakPli();
return allocDataProtobuf(p);
}
meshtastic_MeshPacket *PositionModule::allocAtakPli()
{
LOG_INFO("Sending TAK PLI packet\n");
meshtastic_MeshPacket *mp = allocDataPacket();
mp->decoded.portnum = meshtastic_PortNum_ATAK_PLUGIN;
meshtastic_TAKPacket takPacket = {.is_compressed = true,
.has_contact = true,
.contact = {0},
.has_group = true,
.group = {meshtastic_MemberRole_TeamMember, meshtastic_Team_Cyan},
.has_status = true,
.status =
{
.battery = powerStatus->getBatteryChargePercent(),
},
.which_payload_variant = meshtastic_TAKPacket_pli_tag,
{.pli = {
.latitude_i = localPosition.latitude_i,
.longitude_i = localPosition.longitude_i,
.altitude = localPosition.altitude_hae > 0 ? localPosition.altitude_hae : 0,
.speed = localPosition.ground_speed,
.course = static_cast<uint16_t>(localPosition.ground_track),
}}};
auto length = unishox2_compress_simple(owner.long_name, strlen(owner.long_name), takPacket.contact.device_callsign);
LOG_DEBUG("Uncompressed device_callsign '%s' - %d bytes\n", owner.long_name, strlen(owner.long_name));
LOG_DEBUG("Compressed device_callsign '%s' - %d bytes\n", takPacket.contact.device_callsign, length);
length = unishox2_compress_simple(owner.long_name, strlen(owner.long_name), takPacket.contact.callsign);
mp->decoded.payload.size =
pb_encode_to_bytes(mp->decoded.payload.bytes, sizeof(mp->decoded.payload.bytes), &meshtastic_TAKPacket_msg, &takPacket);
return mp;
}
void PositionModule::sendOurPosition(NodeNum dest, bool wantReplies, uint8_t channel)
{
// cancel any not yet sent (now stale) position packets
@ -174,7 +221,8 @@ void PositionModule::sendOurPosition(NodeNum dest, bool wantReplies, uint8_t cha
p->to = dest;
p->decoded.want_response = config.device.role == meshtastic_Config_DeviceConfig_Role_TRACKER ? false : wantReplies;
if (config.device.role == meshtastic_Config_DeviceConfig_Role_TRACKER)
if (config.device.role == meshtastic_Config_DeviceConfig_Role_TRACKER ||
config.device.role == meshtastic_Config_DeviceConfig_Role_TAK_TRACKER)
p->priority = meshtastic_MeshPacket_Priority_RELIABLE;
else
p->priority = meshtastic_MeshPacket_Priority_BACKGROUND;
@ -185,7 +233,9 @@ void PositionModule::sendOurPosition(NodeNum dest, bool wantReplies, uint8_t cha
service.sendToMesh(p, RX_SRC_LOCAL, true);
if (config.device.role == meshtastic_Config_DeviceConfig_Role_TRACKER && config.power.is_power_saving) {
if ((config.device.role == meshtastic_Config_DeviceConfig_Role_TRACKER ||
config.device.role == meshtastic_Config_DeviceConfig_Role_TAK_TRACKER) &&
config.power.is_power_saving) {
LOG_DEBUG("Starting next execution in 5 seconds and then going to sleep.\n");
sleepOnNextExecution = true;
setIntervalFromNow(5000);
@ -212,7 +262,8 @@ int32_t PositionModule::runOnce()
uint32_t intervalMs = getConfiguredOrDefaultMs(config.position.position_broadcast_secs, default_broadcast_interval_secs);
uint32_t msSinceLastSend = now - lastGpsSend;
// Only send packets if the channel util. is less than 25% utilized or we're a tracker with less than 40% utilized.
if (!airTime->isTxAllowedChannelUtil(config.device.role != meshtastic_Config_DeviceConfig_Role_TRACKER)) {
if (!airTime->isTxAllowedChannelUtil(config.device.role != meshtastic_Config_DeviceConfig_Role_TRACKER &&
config.device.role != meshtastic_Config_DeviceConfig_Role_TAK_TRACKER)) {
return RUNONCE_INTERVAL;
}

1
src/modules/PositionModule.h
View File

@ -49,6 +49,7 @@ class PositionModule : public ProtobufModule<meshtastic_Position>, private concu
private:
struct SmartPosition getDistanceTraveledSinceLastSend(meshtastic_PositionLite currentPosition);
meshtastic_MeshPacket *allocAtakPli();
/** Only used in power saving trackers for now */
void clearPosition();

1
src/platform/nrf52/main-nrf52.cpp
View File

@ -185,6 +185,7 @@ void cpuDeepSleep(uint32_t msecToWake)
// Don't enter this if we're sleeping portMAX_DELAY, since that's a shutdown event
if (msecToWake != portMAX_DELAY &&
(config.device.role == meshtastic_Config_DeviceConfig_Role_TRACKER ||
config.device.role == meshtastic_Config_DeviceConfig_Role_TAK_TRACKER ||
config.device.role == meshtastic_Config_DeviceConfig_Role_SENSOR) &&
config.power.is_power_saving == true) {
sd_power_mode_set(NRF_POWER_MODE_LOWPWR);