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gps buffering, add timeouts, other improvements

This commit is contained in:
Cyberes 2024-06-29 15:22:58 -06:00
parent 7fabaea4f4
commit 18be663658
18 changed files with 305 additions and 129 deletions
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1
.gitignore vendored
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@ -1,6 +1,7 @@
ESP32_GENERIC-20240602-v1.23.0.bin
config.py
.idea
test.py
# ---> Python
# Byte-compiled / optimized / DLL files

1
Doc/Libraries.md
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@ -1,2 +1,3 @@
https://github.com/jposada202020/MicroPython_ICM20948
https://github.com/ekondayan/micropython-ntp
https://github.com/micropython/micropython-lib

27
src/lib/gps/buffer.py Normal file
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@ -0,0 +1,27 @@
import gc
from config import GNSS_OFFLINE_BUFFER_SIZE
class PositionBuffer:
def __init__(self):
self.stack = []
def push(self, item):
if len(self.stack) >= GNSS_OFFLINE_BUFFER_SIZE:
self.stack.pop(0) # remove the oldest item
self.stack.append(item)
def pop(self):
if len(self.stack) < 1:
return None
try:
return self.stack.pop()
finally:
gc.collect()
def size(self):
return len(self.stack)
position_buffer = PositionBuffer()

17
src/lib/gps/position.py Normal file
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@ -0,0 +1,17 @@
class Position:
def __init__(self, valid: bool, latitude: tuple, longitude: tuple, altitude: float, speed: float, satellites_in_use: int, hdop: float, timestamp: int, timedata: tuple, course: float):
self.valid = valid
self.altitude = altitude
self.speed = speed
self.satellites_in_use = satellites_in_use
self.hdop = hdop
self.timestamp = timestamp
self.timedata = timedata # real GPS timestamp in the format (timestamp, date)
self.course = course
self.latitude = latitude[0]
if latitude[1] == 'S':
self.latitude = -latitude[0]
self.longitude = longitude[0]
if longitude[1] == 'W':
self.longitude = -longitude[0]

66
src/lib/gps/read.py
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@ -1,10 +1,13 @@
from time import sleep
import asyncio
from machine import Pin, UART
from config import TIMEOUT_GNSS_LOCATION, GNSS_LOCATION_RETRY
from lib.gps.micropyGPS import MicropyGPS
from lib.gps.position import Position
from lib.interval_tracker import interval_tracker
from lib.logging import logger
from lib.logging import logger, LogLevel
from lib.runtime import timeout, uTimeoutError
from lib.ttime import initialize_rtc, unix_timestamp
PIN_GPS_POWER = 12
@ -18,18 +21,23 @@ gps_power_pin = Pin(PIN_GPS_POWER, Pin.OUT)
gps_power_pin.value(0) # Turn off GPS power initially
def read_gps_uart(want: str):
# TODO: add timeout
async def read_gps_uart(want: str):
m = MicropyGPS(location_formatting='dd')
buffer = b''
decoded = ''
sreader = asyncio.StreamReader(uart)
while True:
if uart.any():
c = uart.read(1)
c = await sreader.read(1)
if c == b'\r':
continue
if c == b'\n':
decoded = buffer.decode()
try:
decoded = buffer.decode()
except UnicodeError:
# We see sporadic decode errors for some reason, probably on strings we don't care about.
continue
buffer = b''
else:
buffer += c
@ -39,34 +47,30 @@ def read_gps_uart(want: str):
if m.latitude[0] > 0 and m.longitude[0] > 0:
return m
decoded = ''
sleep(0.05)
await asyncio.sleep(0.05)
class Position:
def __init__(self, valid: bool, latitude: tuple, longitude: tuple, altitude: float, speed: float, satellites_in_use: int, hdop: float, timestamp: int, timedata: tuple, course: float):
self.valid = valid
self.altitude = altitude
self.speed = speed
self.satellites_in_use = satellites_in_use
self.hdop = hdop
self.timestamp = timestamp
self.timedata = timedata # real GPS timestamp in the format (timestamp, date)
self.course = course
self.latitude = latitude[0]
if latitude[1] == 'S':
self.latitude = -latitude[0]
self.longitude = longitude[0]
if longitude[1] == 'W':
self.longitude = -longitude[0]
def get_position():
async def get_position():
gps_power_pin.value(1) # Always make sure the GPS is on.
timestamp = unix_timestamp()
gnrmc = read_gps_uart('$GNRMC')
gngga = read_gps_uart('$GNGGA')
p = Position(gnrmc.valid, gnrmc.latitude, gnrmc.longitude, gnrmc.altitude, gnrmc.speed[0], gngga.satellites_in_use, gngga.hdop, timestamp, (gnrmc.timestamp, gnrmc.date), gnrmc.course)
@timeout(TIMEOUT_GNSS_LOCATION)
async def get_loc():
timestamp = unix_timestamp()
gnrmc = await read_gps_uart('$GNRMC')
gngga = await read_gps_uart('$GNGGA')
return Position(gnrmc.valid, gnrmc.latitude, gnrmc.longitude, gnrmc.altitude, gnrmc.speed[0], gngga.satellites_in_use, gngga.hdop, timestamp, (gnrmc.timestamp, gnrmc.date), gnrmc.course)
p = Position(valid=False, latitude=(0.0, 'N'), longitude=(0.0, 'W'), altitude=0, speed=0, satellites_in_use=0, hdop=0, timestamp=unix_timestamp(), timedata=None, course=0)
for i in range(GNSS_LOCATION_RETRY):
try:
p = await get_loc()
break
except uTimeoutError:
logger(f'Failed to determine location within GNSS timeout ({TIMEOUT_GNSS_LOCATION}). Attempt {i + 1}/{GNSS_LOCATION_RETRY}. Restarting GNSS', source='GPS', level=LogLevel.warning)
await asyncio.sleep(3)
gps_power_pin.value(0)
await asyncio.sleep(1)
gps_power_pin.value(1)
# Set the clock if it's time.
if interval_tracker.check('ntp_sync'):

5
src/lib/logging.py
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@ -1,3 +1,6 @@
import time
class LogLevel:
debug = 'DEBUG'
info = 'INFO'
@ -9,4 +12,4 @@ def logger(msg: str, level: LogLevel = LogLevel.info, source: str = None):
s = ''
if source:
s = f'[{source}] - '
print(f'{s}{level} -- {msg}')
print(f'{s}{level} -- {time.ticks_ms() / 1000} -- {msg}')

15
src/lib/networking/select.py Normal file
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@ -0,0 +1,15 @@
from lib.networking.wifi import wifi
class ConnectionTypes:
wifi = 'Wifi'
cell = 'Cellular'
offline = 'Offline'
def select_connection_type():
if wifi.is_connected():
return ConnectionTypes.wifi
# if cellular.is_connected():
else:
return ConnectionTypes.offline

77
src/lib/networking/wifi.py
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@ -1,49 +1,79 @@
import time
import asyncio
import network
from config import WIFI_SSID, WIFI_PASSWORD, WIFI_CONNECT_TIMEOUT
from lib.logging import logger
from config import WIFI_SSID, WIFI_PASSWORD, TIMEOUT_WIFI_CONNECT
from lib.logging import logger, LogLevel
from lib.runtime import timeout
class WifiStatus:
IDLE = network.STAT_IDLE
CONNECTING = network.STAT_CONNECTING
BAD_PASS = network.STAT_WRONG_PASSWORD
AP_NOT_FOUND = network.STAT_NO_AP_FOUND
CONNECTED = network.STAT_GOT_IP
def __init__(self, status):
self.status = status
@classmethod
def from_status_code(cls, status_code):
# Pass in a status code and convert it to the object.
for attr in dir(cls):
if getattr(cls, attr) == status_code:
return cls(attr)
return None
def __str__(self):
return self.status
class WifiMananger:
_wlan = None
_wlan = network.WLAN(network.STA_IF)
def activate(self):
if self._wlan is not None:
raise Exception("Already activated")
self._wlan = network.WLAN(network.STA_IF)
self._wlan.active(True)
def active(self, active: bool):
self._wlan.active(active)
def disconnect(self):
self._wlan.disconnect()
def connect(self):
if self._wlan.isconnected():
@timeout(TIMEOUT_WIFI_CONNECT)
async def connect(self, ignore_missing: bool = False):
if self._wlan.isconnected() or self.status() == WifiStatus.CONNECTED:
raise Exception("Already connected")
if self.status() == WifiStatus.CONNECTING:
logger(f'Already attempting connection, device power cycle may be required to reset driver', source='WIFI')
return False
logger(f'Scanning', source='WIFI')
heard = self.scan()
found = False
for item in self.scan():
for item in heard:
if item[0].decode() == WIFI_SSID:
found = True
if not found:
logger(f'SSID not found: "{WIFI_SSID}"', source='WIFI')
if not ignore_missing:
logger(f'SSID not found: "{WIFI_SSID}". Heard {len(heard)} other SSIDs.', source='WIFI', level=LogLevel.warning)
return False
if self.status() == WifiStatus.AP_NOT_FOUND:
logger(f'SSID not found: "{WIFI_SSID}". Heard {len(heard)} other SSIDs.', source='WIFI', level=LogLevel.warning)
return False
logger(f'Connecting to "{WIFI_SSID}"', source='WIFI')
self._wlan.connect(WIFI_SSID, WIFI_PASSWORD)
for _ in range(WIFI_CONNECT_TIMEOUT):
time.sleep(1)
for _ in range(TIMEOUT_WIFI_CONNECT):
await asyncio.sleep(1)
if wifi.address() != '0.0.0.0':
break
time.sleep(1)
await asyncio.sleep(1)
if wifi.address() == '0.0.0.0':
logger(f'Failed to connect to "{WIFI_SSID}"', source='WIFI')
logger(f'Failed to connect to "{WIFI_SSID}". Status: {self.status()}', source='WIFI', level=LogLevel.warning)
return False
logger(f'Connected to "{wifi.config("ssid")}" with IP {wifi.address()}', source='WIFI')
return True
def isconnected(self):
def is_connected(self):
return self._wlan.isconnected()
def address(self):
@ -54,9 +84,7 @@ class WifiMananger:
return self._wlan.ifconfig()
def signal_strength(self):
for item in self.scan():
if item[0].decode() == WIFI_SSID:
return item[3]
return self._wlan.status('rssi')
def config(self, value: str):
return self._wlan.config(value)
@ -68,5 +96,12 @@ class WifiMananger:
m = self._wlan.config('mac')
return ':'.join('%02x' % b for b in m)
def status(self):
c = self._wlan.status()
s = WifiStatus.from_status_code(c)
if s is None:
raise Exception(f'Status code not matched: {c}')
return s
wifi = WifiMananger()

28
src/lib/runtime.py Normal file
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@ -0,0 +1,28 @@
import asyncio
class uTimeoutError(Exception):
def __init__(self, message="Timeout occurred"):
super().__init__(message)
def timeout(seconds):
"""
This will not work if your decorated function uses `time.sleep()`!!! Use `asyncio.sleep()` instead.
"""
def decorator(func):
async def wrapper(*args, **kwargs):
try:
return await asyncio.wait_for(func(*args, **kwargs), timeout=seconds)
except asyncio.TimeoutError:
raise uTimeoutError(f'Function {func.__name__}() timed out after {seconds} seconds')
return wrapper
return decorator
def reboot():
import machine
machine.reset()

0
src/lib/std/__init__.py Normal file
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19
src/lib/traccar/request.py
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@ -40,7 +40,7 @@ class TraccarGetRequest:
"""
def __init__(self, timestamp: int, lat: float, lon: float, loc_valid: bool = True,
cell: CellularInfo = None, wifi: WifiInfo = None, speed: int = None, heading: int = None, altitude: int = None,
cell: CellularInfo = None, wifi: WifiInfo = None, speed: float = None, heading: float = None, altitude: float = None,
accuracy: int = None, hdop: float = None, custom: dict = None):
if not isinstance(timestamp, (int, float)):
raise ValueError(f"timestamp must be an integer, not {type(timestamp)}")
@ -55,11 +55,11 @@ class TraccarGetRequest:
if wifi is not None and not isinstance(wifi, WifiInfo):
raise ValueError(f"wifi must be an instance of WifiInfo, not {type(wifi)}")
if speed is not None and not isinstance(speed, (int, float)):
raise ValueError(f"speed must be an integer, not {type(speed)}")
raise ValueError(f"speed must be a float, not {type(speed)}")
if heading is not None and not isinstance(heading, (int, float)):
raise ValueError(f"heading must be an integer, not {type(heading)}")
raise ValueError(f"heading must be a float, not {type(heading)}")
if altitude is not None and not isinstance(altitude, (int, float)):
raise ValueError(f"altitude must be an integer, not {type(altitude)}")
raise ValueError(f"altitude must be a float, not {type(altitude)}")
if accuracy is not None and not isinstance(accuracy, (int, float)):
raise ValueError(f"accuracy must be an integer, not {type(accuracy)}")
if hdop is not None and not isinstance(hdop, float):
@ -72,8 +72,13 @@ class TraccarGetRequest:
self.lat = float(lat)
self.lon = float(lon)
self.loc_valid = loc_valid
if wifi:
self.wifi = f'{wifi.mac_addr},{wifi.signal_strength}'
else:
self.wifi = None
self.cell = cell # TODO: serialize
self.wifi = f'{wifi.mac_addr},{wifi.signal_strength}'
self.speed = type_or_none(speed, int)
self.heading = type_or_none(heading, int)
self.altitude = type_or_none(altitude, int)
@ -94,7 +99,11 @@ class TraccarGetRequest:
parameters = []
stuff = self.__dict__.copy()
if self.wifi is None:
stuff.pop('wifi')
stuff.pop('custom')
for k, v in stuff.items():
append_item(k, v)
if self.custom is not None:

66
src/lib/traccar/send.py
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@ -2,47 +2,61 @@ import gc
import urequests as requests
from config import GNSS_OFFLINE_BUFFER_SIZE
from lib.gps.buffer import position_buffer
from lib.gps.position import Position
from lib.gps.read import get_position
from lib.led import led_on, led_off
from lib.logging import LogLevel, logger
from lib.networking.select import select_connection_type, ConnectionTypes
from lib.networking.wifi import wifi
from lib.traccar.request import TraccarGetRequest, WifiInfo
def send_to_traccar(event: TraccarGetRequest):
def send_to_traccar(position: Position, wifi_info: WifiInfo, cell_info):
led_on()
params = ' '.join(['='.join((x, str(y))) for x, y in event.query])
# TODO: determine cell or wifi here
gc.collect()
r = requests.post(event.request_url)
if r.status_code != 200:
logger(f'{params} - Failed to send request to traccar: "{r.text}" - Status code: {r.status_code}', level=LogLevel.error, source='NET')
event = None
params = 'None'
if select_connection_type() == ConnectionTypes.wifi:
event = TraccarGetRequest(
timestamp=position.timestamp,
lat=position.latitude,
lon=position.longitude,
loc_valid=position.valid,
wifi=wifi_info,
speed=position.speed,
heading=position.course,
altitude=position.altitude,
hdop=position.hdop,
custom={
'satellites': position.satellites_in_use
}
)
params = ' '.join(['='.join((x, str(y))) for x, y in event.query])
r = requests.post(event.request_url)
if r.status_code != 200:
logger(f'{params} - Failed to send request to traccar: "{r.text}" - Status code: {r.status_code}', level=LogLevel.error, source='NET')
elif select_connection_type() == ConnectionTypes.cell:
print('cellular not implemented')
else:
position_buffer.push(event)
logger(f'Offline buffer: {position_buffer.size()}/{GNSS_OFFLINE_BUFFER_SIZE}', source='STORE')
if select_connection_type() != ConnectionTypes.offline:
logger(params, source='NET')
led_off()
gc.collect()
def assemble_position_message():
# Get the GPS fix.
position = get_position()
async def assemble_position_message(position: Position = None):
if not position:
position = await get_position()
# Gather connection info
conn_info = WifiInfo(mac_addr=wifi.mac_addr(), signal_strength=wifi.signal_strength())
wifi_info = None
if wifi.is_connected():
wifi_info = WifiInfo(mac_addr=wifi.mac_addr(), signal_strength=wifi.signal_strength())
cell_info = None
# cell_info = CellInfo()
# Startup ping
return TraccarGetRequest(
timestamp=position.timestamp,
lat=position.latitude,
lon=position.longitude,
loc_valid=position.valid,
wifi=conn_info,
speed=position.speed,
heading=position.course,
altitude=position.altitude,
hdop=position.hdop,
custom={
'satellites': position.satellites_in_use
}
)
return position, wifi_info, cell_info

10
src/lib/ttime.py
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@ -8,9 +8,13 @@ _rtc = RTC()
Ntp.set_datetime_callback(_rtc.datetime)
def initialize_rtc(first_fix):
hour, minute, second = first_fix.timedata[0]
day, month, year = first_fix.timedata[1]
def initialize_rtc(first_loc):
if first_loc.timedata is None:
# This can happen when the GPS fix failed.
raise Exception('initialize_rtc() got None timedata')
hour, minute, second = first_loc.timedata[0]
day, month, year = first_loc.timedata[1]
# Convert the GPS date and time to a struct_time
gps_time = time.mktime((year + 2000, month, day, hour, minute, int(second), 0, 0))

40
src/main.py
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@ -1,22 +1,38 @@
import asyncio
import gc
import time
from lib.interval_tracker import interval_tracker
from lib.networking.wifi import wifi
from lib.ntp import Ntp
from lib.runtime import reboot
from lib.traccar.send import send_to_traccar, assemble_position_message
from startup import startup
startup()
while True:
gc.collect()
if interval_tracker.check('wifi_scan'):
if not wifi.isconnected():
wifi.connect()
if interval_tracker.check('active_position_send'):
send_to_traccar(assemble_position_message())
if interval_tracker.check('clock_drift_comp'):
Ntp.drift_compensate(Ntp.drift_us())
gc.collect()
async def main():
await startup()
# TODO: background thread to sync items in the position buffer when we go back online
while True:
gc.collect()
if interval_tracker.check('wifi_scan'):
if not wifi.is_connected():
wifi.connect(ignore_missing=True)
if interval_tracker.check('active_position_send'):
send_to_traccar(*(await assemble_position_message()))
if interval_tracker.check('clock_drift_comp'):
Ntp.drift_compensate(Ntp.drift_us())
gc.collect()
await asyncio.sleep(1)
try:
asyncio.run(main())
except Exception as e:
import sys
import time
sys.print_exception(e)
print('\n-- REBOOTING --\n\n')
time.sleep(1)
reboot()

5
src/reset.py
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@ -1,2 +1,3 @@
import machine
machine.reset()
from lib.runtime import reboot
reboot()

36
src/startup.py
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@ -1,16 +1,25 @@
import asyncio
import gc
import platform
import sys
from config import *
from lib.gps.read import gps_power_pin, get_position
from lib.led import led_on, led_off
from lib.logging import logger
from lib.logging import logger, LogLevel
from lib.networking.wifi import wifi
from lib.runtime import uTimeoutError
from lib.traccar.send import send_to_traccar, assemble_position_message
from lib.ttime import unix_timestamp, initialize_rtc
def startup():
async def startup():
led_on()
print('Freematics Micropython Edition')
print('https://git.evulid.cc/cyberes/freematics-firmware_v5-micropython')
print(sys.platform)
print(platform.platform())
print('Memory size:', gc.mem_free() + gc.mem_alloc())
# Device info
print('==========')
@ -22,29 +31,32 @@ def startup():
# Start the GPS and let it get itself sorted out while we do other things.
gps_power_pin.value(1)
# Activate wifi but don't connect yet.
wifi.activate()
if wifi.isconnected():
# Connect to wifi
wifi.active(False)
await asyncio.sleep(0.5)
wifi.active(True)
if wifi.is_connected():
wifi.disconnect()
logger('Disconnected from existing network', source='WIFI')
wifi.connect()
try:
await wifi.connect()
except uTimeoutError:
logger(f'Failed to connect to "{WIFI_SSID}". Status: TIMEOUT', source='WIFI', level=LogLevel.error)
# GPS
logger('Getting initial fix', source='GPS')
position = get_position()
logger('Getting initial location', source='GPS')
position = await get_position()
# Time.
# Time
initialize_rtc(position)
logger(f'Current time: {unix_timestamp()}')
# We are fully initalized so we can turn off the LED.
led_off()
logger('Startup complete!')
print('====================')
# Send the first message
send_to_traccar(assemble_position_message())
send_to_traccar(*(await assemble_position_message(position)))
def validate_config():

11
test.py
View File

@ -1,11 +0,0 @@
import time
def gps_to_unix(gps_time, gps_date):
hour, minute, second = gps_time
day, month, year = gps_date
gps_datetime = time.mktime((year - 12, month + 6, day - 12, hour, minute, int(second), 0, 0))
return gps_datetime
print(gps_to_unix([8, 43, 15.4], (29, 6, 20)))

8
upload.sh
View File

@ -2,15 +2,15 @@
SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
echo "Erasing files..."
# TODO: check that /lib exists first
# TODO: read /src and delete files that exist
"$SCRIPT_DIR"/venv/bin/ampy --port /dev/ttyUSB0 rmdir /lib
echo "Uploading..."
"$SCRIPT_DIR"/venv/bin/ampy --port /dev/ttyUSB0 put "$SCRIPT_DIR/src/" / || exit
"$SCRIPT_DIR"/venv/bin/ampy --port /dev/ttyUSB0 rm /config.sample.py
echo "Resetting..."
"$SCRIPT_DIR"/venv/bin/ampy --port /dev/ttyUSB0 run --no-output "$SCRIPT_DIR/src/reset.py" || exit
#echo "Listing files..."
#"$SCRIPT_DIR"/venv/bin/ampy --port /dev/ttyUSB0 ls
# Uploading can take a while so make a sound when it's done
# https://unix.stackexchange.com/questions/1974/how-do-i-make-my-pc-speaker-beep/163716#163716
( speaker-test -t sine -f 1000 > /dev/null )& pid=$! ; sleep 0.1s ; kill -9 $pid