mirror of
https://github.com/mikecarper/MeshCore.git
synced 2026-10-20 16:12:38 +00:00
mikecarper
0be4c7488c
Add native narrow-band CW capture, ACK-first remote sessions, retained LoRa-readable pages, checked restoration and transport-safe progress. Add stock-compatible negotiated heartbeat/autosleep and recovery. Include host regressions and identity-bound HIL runners; keep unverified faster tuning HIL-only and document outstanding hardware validation.
402 lines
18 KiB
C++
402 lines
18 KiB
C++
#include "SensorMesh.h"
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#include <helpers/CLICommandUtils.h>
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#include <helpers/UsbLoggingWatchdog.h>
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#include <math.h>
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#if MESH_ENABLE_SENSOR_TRACKER
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static uint32_t trackerFutureSeconds(uint32_t now, uint32_t interval) {
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return interval > UINT32_MAX - now ? UINT32_MAX : now + interval;
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}
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bool SensorMesh::saveTrackerRecord(mesh::tracker::TrackerRecord& candidate) {
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if (!tracker_storage_available || tracker_storage_fault
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|| mesh::tracker::saveTracker(_fs, candidate) != mesh::tracker::StoreResult::Success) {
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tracker_storage_fault = true;
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return false;
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}
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tracker = candidate;
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return true;
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}
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void SensorMesh::configureTrackerRuntime() {
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sensors.setTrackerGpsModeEnabled(tracker.enabled);
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sensors.setPowerSavingEnabled(tracker.enabled || _prefs.powersaving_enabled != 0);
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if (tracker.enabled) {
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if (tracker_clock_millis == 0) {
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tracker_clock_rtc = getRTCClock()->getCurrentTime();
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tracker_clock_millis = futureMillis(0);
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}
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self_id.calcSharedSecret(tracker_secret, tracker.owner);
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if (tracker_next_check == 0) tracker_next_check = getRTCClock()->getCurrentTime();
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next_local_advert = next_flood_advert = 0;
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for (int i = 0; i < num_alert_tasks; ++i) alert_tasks[i]->text[0] = 0;
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num_alert_tasks = 0;
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} else {
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cancelTrackerPending();
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tracker_acquiring = false;
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tracker_awake_until = 0;
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tracker_next_check = 0;
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memset(tracker_secret, 0, sizeof(tracker_secret));
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wakeTrackerRadio();
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updateAdvertTimer();
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updateFloodAdvertTimer();
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}
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}
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void SensorMesh::wakeTrackerRadio() {
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if (!tracker_radio_asleep) return;
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// A failed warm wake must not leave the dispatcher's liveness recovery
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// disabled forever. Try a peripheral reset once, then return ownership to
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// the normal watchdog even when the hardware still reports failure.
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if (!_radio->setTrackerSleep(false)) _radio->recoverRadio(true);
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setRadioAvailable(true); // Also resets the dispatcher's RX watchdog anchors.
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tracker_radio_asleep = false;
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}
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void SensorMesh::cancelTrackerPending(bool delivered) {
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if (!tracker_pending) return;
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cancelActiveRetries(tracker_packet_hash);
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for (int i = _mgr->getOutboundTotal() - 1; i >= 0; --i) {
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const mesh::Packet* queued = _mgr->getOutboundByIdx(i);
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uint8_t hash[MAX_HASH_SIZE];
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queued->calculatePacketHash(hash);
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if (memcmp(hash, tracker_packet_hash, sizeof(hash)) != 0) continue;
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mesh::Packet* removed = _mgr->removeOutboundByIdx(i);
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cancelOutboundRadioRetry(removed, delivered);
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releasePacket(removed);
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}
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const mesh::Packet* in_flight = getOutboundInFlight();
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if (in_flight) {
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uint8_t hash[MAX_HASH_SIZE];
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in_flight->calculatePacketHash(hash);
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if (memcmp(hash, tracker_packet_hash, sizeof(hash)) == 0)
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cancelOutboundRadioRetry(in_flight, delivered);
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}
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tracker_pending = tracker_sent = false;
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tracker_pending_tag = 0;
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tracker_reply_until = 0;
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}
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bool SensorMesh::trackerNeedsRadio() const {
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if (!tracker.enabled || board.isUsbDataConnected() || board.isOTAUpdateRunning()
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|| board.isRadioTestActive() || mesh::isUsbLoggingWatchdogArmed()
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|| isAnyTempRadioActive() || hasPendingOtaApply() || isDualRadioActive()
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|| set_radio_at || revert_radio_at || saved_radio_apply_pending
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|| _cli.hasActiveUserGpioTimer() || hasOutbound() || _mgr->getOutboundTotal() != 0)
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return true;
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uint32_t delay;
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if (getNextQueueWakeDelay(delay) || getNextRetryWakeDelay(delay)) return true;
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if (tracker_pending || tracker_acquiring
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|| (tracker_awake_until && !millisHasNowPassed(tracker_awake_until))) return true;
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return !tracker_storage_fault && getRTCClock()->getCurrentTime() >= tracker_next_check;
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}
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void SensorMesh::serviceTracker() {
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if (!tracker.enabled) { wakeTrackerRadio(); return; }
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const uint32_t now = getRTCClock()->getCurrentTime();
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const uint32_t now_ms = uint32_t(futureMillis(0));
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const uint32_t elapsed = uint32_t(now_ms - uint32_t(tracker_clock_millis)) / 1000;
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if (now > tracker_clock_rtc && uint64_t(now - tracker_clock_rtc) > uint64_t(elapsed) + 2) {
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// GPS/manual UTC correction cannot manufacture six hours of RF silence.
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// Refresh the conservative quiet anchor without forgiving an outage.
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tracker_boot_anchor = now;
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}
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tracker_clock_rtc = now;
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tracker_clock_millis = now_ms;
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// A transient clock rollback must remain visible even if the next automatic
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// check is hours away, or the radio is already asleep. Persist only this
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// exceptional transition; observing each idle second would wear the flash.
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if (!tracker_storage_fault && !(tracker.route.flags & mesh::tracker::kClockFault)
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&& (now == 0 || now < tracker.route.latest_observed)) {
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mesh::tracker::TrackerRecord candidate = tracker;
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mesh::tracker::planRoute(tracker.route, now, true, candidate.route);
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saveTrackerRecord(candidate);
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}
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if (trackerNeedsRadio()) wakeTrackerRadio();
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if (tracker_radio_asleep) return;
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if (tracker_storage_fault) {
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cancelTrackerPending();
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tracker_acquiring = false;
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} else if (tracker_pending) {
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if (!millisHasNowPassed(tracker_reply_until)) return;
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cancelTrackerPending();
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mesh::tracker::TrackerRecord candidate = tracker;
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mesh::tracker::noteFailure(tracker.route, now, candidate.route);
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saveTrackerRecord(candidate);
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tracker_next_check = trackerFutureSeconds(now,
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tracker.last_lost == mesh::tracker::Lost ? tracker.lost_interval : tracker.normal_interval);
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} else if (!tracker_acquiring && now >= tracker_next_check) {
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if (board.isOTAUpdateRunning() || board.isRadioTestActive()
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|| isAnyTempRadioActive() || hasPendingOtaApply() || isDualRadioActive()
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|| set_radio_at || revert_radio_at || saved_radio_apply_pending
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|| _mgr->getFreeCount() <= 2 || hasOutbound()) return;
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tracker_acquiring = true;
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sensors.beginTrackerGpsAcquisition();
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}
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if (tracker_acquiring) {
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// SensorManager owns the 120-second GPS/time-sync bound. It runs after
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// mesh in main, so finishing at our earlier deadline could miss its fix.
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if (sensors.isTrackerGpsAcquisitionPending()) return;
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tracker_acquiring = false;
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mesh::tracker::StatusRequest request;
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double lat, lon;
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if (sensors.takeTrackerGpsPosition(lat, lon) && isfinite(lat) && isfinite(lon)
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&& lat >= -90 && lat <= 90 && lon >= -180 && lon <= 180) {
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request.flags = mesh::tracker::FreshGps;
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request.latitude = (int32_t)lround(lat * 1e7);
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request.longitude = (int32_t)lround(lon * 1e7);
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} else request.flags = mesh::tracker::GpsAttemptFailed;
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request.battery_mv = board.getBattMilliVolts();
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// GPS gets its bounded chance to establish UTC, but an unset RTC cannot
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// allocate a durable request tag. This is a clock wait, not a storage fault.
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if (now == 0) {
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tracker_next_check = 1;
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return;
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}
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mesh::tracker::TrackerRecord candidate = tracker;
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// A boot conservatively opens a fresh six-hour RF wait. This covers an
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// advert heard immediately before power loss without per-packet writes.
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const uint32_t radio_anchor = tracker_boot_anchor > tracker.route.last_repeater
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? tracker_boot_anchor : tracker.route.last_repeater;
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candidate.route.last_repeater = radio_anchor;
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if (candidate.route.latest_observed < radio_anchor)
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candidate.route.latest_observed = radio_anchor;
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const auto route = mesh::tracker::planRoute(candidate.route, now, true, candidate.route);
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const bool flood = route == mesh::tracker::RouteDecision::Flood;
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if (flood && !mesh::tracker::reserveFlood(candidate.route, now, candidate.route)) return;
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if (candidate.last_request_tag == UINT32_MAX) {
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tracker_storage_fault = true;
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return;
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}
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const uint32_t minimum_tag = candidate.last_request_tag + 1;
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candidate.last_request_tag = now > minimum_tag ? now : minimum_tag;
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if ((uint64_t)candidate.last_request_tag > (uint64_t)now + 300) {
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tracker_next_check = trackerFutureSeconds(now, 60);
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return;
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}
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if (!saveTrackerRecord(candidate)) return; // Reserve before any RF admission.
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uint8_t payload[4 + mesh::tracker::RequestLength] = {};
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tracker_pending_tag = tracker.last_request_tag;
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mesh::tracker::put32(payload, tracker_pending_tag);
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if (!mesh::tracker::makeStatusRequest(request, payload + 4, sizeof(payload) - 4)) return;
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mesh::Packet* packet = createDatagram(PAYLOAD_TYPE_REQ,
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mesh::Identity(tracker.owner), tracker_secret, payload, sizeof(payload));
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if (!packet) {
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tracker_next_check = trackerFutureSeconds(now, 60);
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return;
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}
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packet->tx_radio = mesh::RADIO_TX_PRIMARY; // One physical/profile copy.
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packet->flood_retry_policy = mesh::FLOOD_RETRY_POLICY_DENY;
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packet->calculatePacketHash(tracker_packet_hash);
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tracker_pending = true;
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tracker_sent = false;
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tracker_reply_until = futureMillis(120000); // Bound queued admission too.
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const bool queued = flood
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? sendFloodScoped(default_scope, packet, 0, _prefs.path_hash_mode + 1)
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: sendDirect(packet, tracker.path,
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mesh::Packet::isValidPathLen(tracker.path_len) ? tracker.path_len : 0);
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if (!queued) {
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cancelTrackerPending();
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tracker_next_check = trackerFutureSeconds(now, 60);
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}
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return;
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}
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if (!trackerNeedsRadio() && !radio_driver.isWatchdogObserving()
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&& !radio_driver.isCalibratingNoiseFloor() && _radio->setTrackerSleep(true)) {
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setRadioAvailable(false);
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tracker_radio_asleep = true;
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}
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}
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bool SensorMesh::handleTrackerResponse(mesh::Packet* packet, uint8_t type,
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const uint8_t* data, size_t length,
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const uint8_t* learned_path, uint8_t learned_path_len) {
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uint8_t status;
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uint16_t stayawake;
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if (!tracker.enabled || !tracker_pending || !tracker_sent
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|| millisHasNowPassed(tracker_reply_until) || type != PAYLOAD_TYPE_RESPONSE
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|| !mesh::tracker::parseStatusResponse(data, length, tracker_pending_tag, status, stayawake))
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return false;
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mesh::tracker::TrackerRecord candidate = tracker;
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const uint32_t now = getRTCClock()->getCurrentTime();
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const auto observed = mesh::tracker::planRoute(tracker.route, now, true, candidate.route);
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if (observed == mesh::tracker::RouteDecision::InvalidClock
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|| observed == mesh::tracker::RouteDecision::InvalidState) {
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if (candidate.route.flags != tracker.route.flags) saveTrackerRecord(candidate);
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return false;
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}
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// The cutoff can become due while a recovery flood waits for its reply.
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// Evaluate it at arrival, then require a direct reply to clear that lock.
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const bool keep_cutoff = (candidate.route.flags & mesh::tracker::kFloodLocked)
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&& !packet->isRouteDirect();
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if (!keep_cutoff && !mesh::tracker::noteAuthenticatedReply(candidate.route,
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now, candidate.route)) {
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if (candidate.route.flags != tracker.route.flags) saveTrackerRecord(candidate);
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return false;
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}
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if (learned_path != nullptr) {
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if (!mesh::Packet::isValidPathLen(learned_path_len)) return false;
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candidate.path_len = learned_path_len;
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memset(candidate.path, 0, sizeof(candidate.path));
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memcpy(candidate.path, learned_path, mesh::tracker::trackerPathByteLength(learned_path_len));
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}
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if (status != mesh::tracker::Unknown) candidate.last_lost = status;
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if (!saveTrackerRecord(candidate)) return false;
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packet->markDoNotRetransmit();
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cancelTrackerPending(true);
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if (status == mesh::tracker::Safe) tracker_awake_until = 0;
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else if (status == mesh::tracker::Lost) {
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if (stayawake > 300) stayawake = 300;
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tracker_awake_until = stayawake ? futureMillis((uint32_t)stayawake * 1000UL) : 0;
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}
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tracker_next_check = trackerFutureSeconds(getRTCClock()->getCurrentTime(),
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tracker.last_lost == mesh::tracker::Lost ? tracker.lost_interval : tracker.normal_interval);
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return true;
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}
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bool SensorMesh::handleTrackerPath(mesh::Packet* packet, uint8_t* path, uint8_t path_len,
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uint8_t extra_type, uint8_t* extra, size_t extra_len) {
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if (!path || !mesh::Packet::isValidPathLen(path_len)) return false;
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return handleTrackerResponse(packet, extra_type, extra, extra_len, path, path_len);
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}
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void SensorMesh::onSendComplete(mesh::Packet* packet) {
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mesh::Mesh::onSendComplete(packet);
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_cli.morseReply().complete(packet);
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if (!tracker_pending || !packet || packet->getPayloadType() != PAYLOAD_TYPE_REQ) return;
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uint8_t hash[MAX_HASH_SIZE];
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packet->calculatePacketHash(hash);
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if (memcmp(hash, tracker_packet_hash, sizeof(hash)) == 0) {
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tracker_sent = true;
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tracker_reply_until = futureMillis(mesh::tracker::kReplyWindowSeconds * 1000UL);
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}
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}
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void SensorMesh::onSendFail(mesh::Packet* packet) {
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mesh::Mesh::onSendFail(packet);
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_cli.morseReply().fail(packet);
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if (!tracker_pending || !packet) return;
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uint8_t hash[MAX_HASH_SIZE];
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packet->calculatePacketHash(hash);
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if (memcmp(hash, tracker_packet_hash, sizeof(hash)) == 0)
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tracker_reply_until = futureMillis(1);
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}
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bool SensorMesh::handleTrackerCommand(uint32_t sender_timestamp, const char* command, char* reply) {
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const bool getter = strcmp(command, "get tracker") == 0
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|| strcmp(command, "get tracker status") == 0 || strncmp(command, "get tracker.", 12) == 0;
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const bool setter = strncmp(command, "set tracker.", 12) == 0;
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if (!getter && !setter && strcmp(command, "tracker check") != 0) return false;
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if (sender_timestamp != 0) { strcpy(reply, "ERR: tracker is local-only"); return true; }
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if (strcmp(command, "get tracker.owner") == 0) {
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static const char hex[] = "0123456789abcdef";
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for (size_t i = 0; i < 32; ++i) {
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reply[i * 2] = hex[tracker.owner[i] >> 4]; reply[i * 2 + 1] = hex[tracker.owner[i] & 15];
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}
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reply[64] = 0;
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return true;
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}
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if (getter) {
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if (strcmp(command, "get tracker.mode") == 0) {
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strcpy(reply, tracker.enabled ? "dog" : "off"); return true;
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}
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if (strcmp(command, "get tracker.interval") == 0
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|| strcmp(command, "get tracker.lost.interval") == 0) {
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snprintf(reply, 157, "%lu", (unsigned long)(command[12] == 'l'
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? tracker.lost_interval : tracker.normal_interval)); return true;
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}
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if (strcmp(command, "get tracker.path") == 0) {
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snprintf(reply, 157, "path=%s hops=%u hash.bytes=%u",
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tracker.path_len == mesh::tracker::kUnknownPath ? "unknown"
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: (tracker.path_len & 63) == 0 ? "direct" : "saved",
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tracker.path_len == mesh::tracker::kUnknownPath ? 0 : tracker.path_len & 63,
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tracker.path_len == mesh::tracker::kUnknownPath ? 0 : (tracker.path_len >> 6) + 1);
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return true;
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}
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if (strcmp(command, "get tracker") != 0 && strcmp(command, "get tracker status") != 0) {
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strcpy(reply, "ERR: unknown tracker setting"); return true;
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}
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snprintf(reply, 157, "mode=%s status=%s interval=%lu lost.interval=%lu flood=%s clock=%s storage=%s",
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tracker.enabled ? "dog" : "off", tracker.last_lost == 2 ? "yes" : tracker.last_lost == 1 ? "no" : "unknown",
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(unsigned long)tracker.normal_interval, (unsigned long)tracker.lost_interval,
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tracker.route.flags & mesh::tracker::kFloodLocked ? "locked" : "6h",
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tracker.route.flags & mesh::tracker::kClockFault ? "fault" : "ok",
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tracker_storage_fault ? "fault" : "ok");
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return true;
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}
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if (strcmp(command, "tracker check") == 0) {
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if (!tracker.enabled || tracker_storage_fault) strcpy(reply, "ERR: tracker unavailable");
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else if (tracker_pending || tracker_acquiring) strcpy(reply, "ERR: check already pending");
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else { tracker_next_check = getRTCClock()->getCurrentTime(); strcpy(reply, "OK scheduled"); }
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return true;
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}
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mesh::tracker::TrackerRecord candidate = tracker;
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bool changed_owner = false;
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if (strncmp(command, "set tracker.owner ", 18) == 0) {
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const char* key = command + 18;
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if (strlen(key) != 64) { strcpy(reply, "ERR: full owner key required"); return true; }
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uint8_t nonzero = 0;
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for (size_t i = 0; i < 64; ++i) {
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const char c = key[i];
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const int digit = c >= '0' && c <= '9' ? c - '0'
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: c >= 'a' && c <= 'f' ? c - 'a' + 10 : c >= 'A' && c <= 'F' ? c - 'A' + 10 : -1;
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if (digit < 0) { strcpy(reply, "ERR: invalid owner key"); return true; }
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if ((i & 1) == 0) candidate.owner[i / 2] = uint8_t(digit << 4);
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else { candidate.owner[i / 2] |= uint8_t(digit); nonzero |= candidate.owner[i / 2]; }
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}
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if (!nonzero || memcmp(candidate.owner, self_id.pub_key, PUB_KEY_SIZE) == 0) {
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strcpy(reply, "ERR: invalid owner key"); return true;
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}
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changed_owner = memcmp(candidate.owner, tracker.owner, PUB_KEY_SIZE) != 0;
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if (changed_owner) {
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candidate.path_len = mesh::tracker::kUnknownPath;
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memset(candidate.path, 0, sizeof(candidate.path));
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candidate.last_lost = mesh::tracker::Unknown;
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}
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} else if (strcmp(command, "set tracker.mode dog") == 0) {
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if (!sensors.isGPSDetected()) { strcpy(reply, "ERR: GPS required"); return true; }
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candidate.enabled = true;
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} else if (strcmp(command, "set tracker.mode off") == 0) candidate.enabled = false;
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else if (strncmp(command, "set tracker.interval ", 21) == 0
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|| strncmp(command, "set tracker.lost.interval ", 26) == 0) {
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const bool lost = command[12] == 'l';
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int32_t seconds;
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if (!mesh::cli::parseIntegerStrict(command + (lost ? 26 : 21), seconds)
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|| seconds < 60 || seconds > 86400) {
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strcpy(reply, "ERR: interval must be 60..86400 seconds"); return true;
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}
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if (lost) candidate.lost_interval = uint32_t(seconds);
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else candidate.normal_interval = uint32_t(seconds);
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} else if (strncmp(command, "set tracker.path ", 17) == 0) {
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mesh::cli::TerminalPath parsed;
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memset(candidate.path, 0, sizeof(candidate.path));
|
|
if (mesh::cli::parseTerminalPath(command + 17, candidate.path, sizeof(candidate.path), 63, parsed)
|
|
!= mesh::cli::TerminalPathParseResult::Valid) {
|
|
strcpy(reply, "ERR: invalid tracker path"); return true;
|
|
}
|
|
candidate.path_len = parsed.mode == mesh::cli::TerminalPathMode::Clear
|
|
? mesh::tracker::kUnknownPath : parsed.encoded_len;
|
|
} else { strcpy(reply, "ERR: unknown tracker setting"); return true; }
|
|
if (!mesh::tracker::isValidTrackerRecord(candidate)) {
|
|
strcpy(reply, "ERR: configure tracker.owner first"); return true;
|
|
}
|
|
uint8_t secret[PUB_KEY_SIZE];
|
|
self_id.calcSharedSecret(secret, candidate.owner);
|
|
uint8_t secret_bits = 0;
|
|
for (size_t i = 0; i < sizeof(secret); ++i) secret_bits |= secret[i];
|
|
if (!secret_bits) { strcpy(reply, "ERR: invalid owner key"); return true; }
|
|
if (!saveTrackerRecord(candidate)) { strcpy(reply, "ERR: tracker save failed"); return true; }
|
|
cancelTrackerPending();
|
|
tracker_acquiring = false;
|
|
tracker_next_check = getRTCClock()->getCurrentTime();
|
|
configureTrackerRuntime();
|
|
strcpy(reply, "OK");
|
|
return true;
|
|
}
|
|
|
|
#endif
|