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Send heading + scan result

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This commit is contained in:
Sassa NF
2025-04-13 14:16:45 +01:00
parent 9c0a3f4ebf
commit 726a5e797f
4 changed files with 98 additions and 2 deletions
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6
lib/comms/comms.cpp
View File

@@ -432,12 +432,16 @@ String _wrap_str(String v)
Message::~Message()
{
if (type == SCAN_RESULT || type == SCAN_MAX_RESULT)
if (type == SCAN_RESULT || type == SCAN_MAX_RESULT || type == SCAN_HEADING_MAX)
{
if (payload.dump.sz > 0)
{
delete[] payload.dump.freqs_khz;
delete[] payload.dump.rssis;
if (payload.dump.rssis2)
{
delete[] payload.dump.rssis2;
}
payload.dump.sz = 0;
}

3
lib/comms/comms.h
View File

@@ -20,6 +20,7 @@ enum MessageType
SCAN,
SCAN_RESULT,
SCAN_MAX_RESULT,
SCAN_HEADING_MAX,
CONFIG_TASK,
HEADING,
_MAX_MESSAGE_TYPE = HEADING
@@ -53,6 +54,8 @@ struct ScanTaskResult
int16_t *rssis;
int16_t *rssis2;
int16_t prssi;
int16_t heading_min;
int16_t heading_max;
};
struct ConfigTask

53
lib/comms/radio_comms.cpp
View File

@@ -144,6 +144,32 @@ uint8_t *_serialize_scan_max_result(Message &m, size_t &p, uint8_t *msg)
return msg;
}
uint8_t *_serialize_scan_heading_max(Message &m, size_t &p, uint8_t *msg)
{
if (m.type != SCAN_HEADING_MAX)
{
return NULL;
}
size_t written = 0;
written = _write(msg, p, 0, (uint8_t *)&m.payload.dump.heading_min, 2);
written = _write(msg, p, written, (uint8_t *)&m.payload.dump.heading_max, 2);
uint8_t *sub_msg = msg + written;
p -= written;
m.type = SCAN_MAX_RESULT;
sub_msg = _serialize_scan_max_result(m, p, sub_msg);
p += written;
m.type = SCAN_HEADING_MAX;
if (sub_msg == NULL)
{
msg = NULL;
}
return msg;
}
uint8_t *_serialize_config_task(Message &m, size_t &p, uint8_t *msg)
{
if (m.type != CONFIG_TASK)
@@ -201,6 +227,10 @@ int16_t RadioComms::send(Message &m)
{
msg = _serialize_scan_max_result(m, p, msg_buf);
}
else if (m.type == MessageType::SCAN_HEADING_MAX)
{
msg = _serialize_scan_heading_max(m, p, msg_buf);
}
else if (m.type == MessageType::CONFIG_TASK)
{
msg = _serialize_config_task(m, p, msg_buf);
@@ -301,6 +331,7 @@ Message *_deserialize_scan_max_result(size_t len, size_t &p, uint8_t *packet)
message->payload.dump.sz = dump_sz;
message->payload.dump.freqs_khz = freqs;
message->payload.dump.rssis = rssis;
message->payload.dump.rssis2 = NULL;
uint32_t scale = 0;
p = _read(packet, len, p, (uint8_t *)&scale);
@@ -318,6 +349,24 @@ Message *_deserialize_scan_max_result(size_t len, size_t &p, uint8_t *packet)
return message;
}
Message *_deserialize_scan_heading_max(size_t len, size_t &p, uint8_t *packet)
{
int16_t heading_min = -999;
int16_t heading_max = 0;
p = _read(packet, len, p, (uint8_t *)&heading_min, 2);
p = _read(packet, len, p, (uint8_t *)&heading_max, 2);
Message *message = _deserialize_scan_max_result(len, p, packet);
if (message != NULL)
{
message->type = SCAN_HEADING_MAX;
message->payload.dump.heading_min = heading_min;
message->payload.dump.heading_max = heading_max;
}
return message;
}
Message *_deserialize_config_task(size_t len, size_t &p, uint8_t *packet)
{
Message *message = new Message();
@@ -439,6 +488,10 @@ Message *RadioComms::receive(uint16_t timeout_ms)
{
message = _deserialize_scan_max_result(len, p, packet);
}
else if (b == SCAN_HEADING_MAX)
{
message = _deserialize_scan_heading_max(len, p, packet);
}
else if (b == CONFIG_TASK)
{
message = _deserialize_config_task(len, p, packet);

38
src/main.cpp
View File

@@ -1149,6 +1149,8 @@ void eventListenerForReport(void *arg, Event &e)
if (e.epoch != frequency_scan_result.last_epoch)
{
frequency_scan_result.dump.sz = 0;
frequency_scan_result.dump.heading_min = -999;
frequency_scan_result.dump.heading_max = -999;
}
if (frequency_scan_result.dump.sz >= frequency_scan_result.readings_sz)
@@ -1196,6 +1198,29 @@ void eventListenerForReport(void *arg, Event &e)
frequency_scan_result.rssi = e.detected.rssi;
}
HeadingSensor *sensor = &droneHeading;
if (compass != NULL && compass->lastRead() > sensor->lastRead())
{
sensor = compass;
}
if (sensor->lastRead() > -1)
{
int16_t heading = sensor->heading();
if (frequency_scan_result.dump.heading_min == -999)
{
frequency_scan_result.dump.heading_min = heading;
frequency_scan_result.dump.heading_max = heading;
}
else
{
frequency_scan_result.dump.heading_min =
min(frequency_scan_result.dump.heading_min, heading);
frequency_scan_result.dump.heading_max =
min(frequency_scan_result.dump.heading_max, heading);
}
}
return;
}
@@ -2072,7 +2097,8 @@ void routeMessage(RoutedMessage &m)
}
if (m.message->type == MessageType::SCAN_RESULT ||
m.message->type == MessageType::SCAN_MAX_RESULT)
m.message->type == MessageType::SCAN_MAX_RESULT ||
m.message->type == MessageType::SCAN_HEADING_MAX)
{
m.to.host = 1;
return;
@@ -2266,6 +2292,7 @@ void sendMessage(RoutedMessage &m)
break;
case SCAN_RESULT:
case SCAN_MAX_RESULT:
case SCAN_HEADING_MAX:
if (config.is_host)
{
#ifdef DISPLAY_RAW_SCAN
@@ -3411,6 +3438,8 @@ void reportScan()
Message m;
m.type = SCAN_RESULT;
m.payload.dump.sz = 0;
m.payload.dump.rssis2 = NULL;
m.payload.dump.heading_min = -999;
if (config.detection_strategy.equalsIgnoreCase("RSSI"))
{
@@ -3428,6 +3457,13 @@ void reportScan()
{
m.type = SCAN_MAX_RESULT;
m.payload.dump.heading_min = frequency_scan_result.dump.heading_min;
m.payload.dump.heading_max = frequency_scan_result.dump.heading_max;
if (m.payload.dump.heading_min > -999)
{
m.type = SCAN_HEADING_MAX;
}
size_t sz = config.scan_ranges_sz;
m.payload.dump.sz = sz;
m.payload.dump.freqs_khz = new uint32_t[sz];