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Location services

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Ken Van Hoeylandt 2026-10-13 01:23:33 +02:00
parent c6e3366164
commit c45a3a5769
30 changed files with 2357 additions and 2 deletions
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1
CMakeLists.txt
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@ -173,6 +173,7 @@ if (NOT DEFINED ENV{ESP_IDF_VERSION})
add_subdirectory(Modules/gps-module) add_subdirectory(Modules/gps-module)
add_subdirectory(Modules/graphics-module) add_subdirectory(Modules/graphics-module)
add_subdirectory(Modules/http-module) add_subdirectory(Modules/http-module)
add_subdirectory(Modules/location-module)
add_subdirectory(Modules/mbedtls-module) add_subdirectory(Modules/mbedtls-module)
add_subdirectory(Modules/mesh-module) add_subdirectory(Modules/mesh-module)
add_subdirectory(Modules/mesh-meshcore-module) add_subdirectory(Modules/mesh-meshcore-module)

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Modules/location-module/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.20)
include("${CMAKE_CURRENT_LIST_DIR}/../../Buildscripts/module.cmake")
file(GLOB_RECURSE SOURCE_FILES "source/*.c*")
list(APPEND REQUIRES_LIST
TactilityKernel
TactilityKernelCpp
service-module
gps-module
minmea
)
if (DEFINED ENV{ESP_IDF_VERSION})
list(APPEND REQUIRES_LIST lwip)
endif ()
tactility_add_module(location-module
SRCS ${SOURCE_FILES}
PRIV_INCLUDE_DIRS private/
INCLUDE_DIRS include/
REQUIRES ${REQUIRES_LIST}
)

195
Modules/location-module/LICENSE-Apache-2.0.md Normal file
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@ -0,0 +1,195 @@
Apache License
==============
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116
Modules/location-module/include/location/location.h Normal file
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// SPDX-License-Identifier: Apache-2.0
#pragma once
#include <stdbool.h>
#include <stdint.h>
#include <tactility/concurrent/task_event_group.h>
#include <tactility/error.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
* Location service. Location providers (e.g. GPS) report fixes to the service.
* The most recent fix of a regular provider is used while it's less than 2 minutes old.
* Otherwise, the most recent fix of a fallback provider (e.g. IP geolocation) is used, if there is one.
* Providers only run while there is at least one subscription.
*/
#define LOCATION_PROVIDER_ID_MAX_LENGTH 15
/** Horizontal accuracy in meters of a fix with LOCATION_PRECISION_APPROXIMATE */
#define LOCATION_APPROXIMATE_ACCURACY_METERS 3000.0f
enum LocationPrecision {
/** Providers only report fixes with a horizontal accuracy of LOCATION_APPROXIMATE_ACCURACY_METERS or worse */
LOCATION_PRECISION_APPROXIMATE,
/** Providers report fixes as accurate as they can */
LOCATION_PRECISION_PRECISE,
};
/**
* A location fix. Values the provider doesn't know are NAN for floating point fields and 0 for the others.
* Accuracies are the radius of 68% confidence, in the unit of the value they belong to.
*/
struct Location {
/** Degrees in WGS84, positive is north */
double latitude;
/** Degrees in WGS84, positive is east */
double longitude;
/** Meters */
float horizontal_accuracy;
/** Meters above mean sea level */
float altitude;
/** Meters above the WGS84 ellipsoid */
float ellipsoidal_altitude;
/** Meters */
float vertical_accuracy;
/** Speed over ground in meters per second */
float speed;
/** Meters per second */
float speed_accuracy;
/** Direction of travel in degrees clockwise from true north, in range [0, 360) */
float course;
/** Degrees */
float course_accuracy;
/** Number of satellites used for the fix */
uint8_t satellites;
/** Time of the fix according to the provider, in milliseconds since the Unix epoch */
int64_t time_ms;
/** Milliseconds since boot when the service received the fix */
uint64_t uptime_ms;
/** Id of the provider that reported the fix */
char provider[LOCATION_PROVIDER_ID_MAX_LENGTH + 1];
};
/**
* Allow or disallow the use of location services. The service only runs while allowed. The choice is persisted.
* Location services are disallowed by default.
*/
error_t location_set_enabled(bool enabled);
bool location_is_enabled(void);
/** Set the precision that providers should report. The choice is persisted. */
error_t location_set_precision(enum LocationPrecision precision);
enum LocationPrecision location_get_precision(void);
/**
* Get the current fix. Without subscriptions, this is the last known fix.
* @param[out] location the fix
* @retval ERROR_NOT_FOUND when no fix was reported since the service started, or location services are disabled
*/
error_t location_get(struct Location* location);
/**
* Caller-owned subscription: the service signals @a bit on the event group whenever a new current fix is reported.
* Read the fix with location_get().
* @warning Fields other than `bit` are for internal use only.
*/
struct LocationSubscription {
uint32_t bit;
struct {
struct TaskEventGroup* event_group;
struct LocationSubscription* next;
} internal;
};
/**
* Subscribing starts the providers when location services are enabled. They stop when the last subscription is removed.
* @param[in,out] sub subscription to register, must stay alive until unsubscribed
* @param[in] event_group caller-owned group to wait on, must outlive @a sub
* @retval ERROR_RESOURCE @a event_group has no free bits left
* @retval ERROR_INVALID_STATE @a sub is already registered
*/
error_t location_subscribe(struct LocationSubscription* sub, struct TaskEventGroup* event_group);
/** @retval ERROR_NOT_FOUND when @a sub is not registered */
error_t location_unsubscribe(struct LocationSubscription* sub);
#ifdef __cplusplus
}
#endif

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Modules/location-module/include/location/module.h Normal file
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@ -0,0 +1,14 @@
// SPDX-License-Identifier: Apache-2.0
#pragma once
#include <tactility/module.h>
#ifdef __cplusplus
extern "C" {
#endif
extern struct Module location_module;
#ifdef __cplusplus
}
#endif

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Modules/location-module/include/location/provider.h Normal file
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// SPDX-License-Identifier: Apache-2.0
#pragma once
#include <location/location.h>
#include <stdbool.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
* Interface between the location service and a location provider. Not part of the app SDK.
*/
/** The service, as seen by a provider */
struct LocationHost;
struct LocationProviderApi {
/** Unique id, at most LOCATION_PROVIDER_ID_MAX_LENGTH characters */
const char* id;
/**
* A fallback provider (e.g. IP geolocation) is only used while no other provider reported a fix in the last
* 2 minutes. It should only work when location_host_needs_fallback() returns true.
*/
bool fallback;
/**
* Start the provider. Called when the service starts, or when the provider registers while the service runs.
* @return the provider state, NULL on failure
*/
void* (*create)(struct LocationHost* host);
/** Stop the provider. It must not report anymore once this returns. */
void (*destroy)(void* provider);
};
/** Maximum number of registered providers */
#define LOCATION_PROVIDER_MAX_COUNT 4
/**
* Register a provider. Usually called from the provider module's start().
* @retval ERROR_ALREADY_EXISTS when a provider with the same id is registered
* @retval ERROR_RESOURCE when LOCATION_PROVIDER_MAX_COUNT providers are registered
*/
error_t location_provider_register(const struct LocationProviderApi* api);
/** @retval ERROR_NOT_FOUND when @a api is not registered */
error_t location_provider_unregister(const struct LocationProviderApi* api);
/**
* Report a new fix. Can be called from any task.
* The service sets the `provider` and `uptime_ms` fields.
*/
void location_host_report(struct LocationHost* host, const struct Location* location);
/**
* Reduce a fix to LOCATION_PRECISION_APPROXIMATE: the position snaps to a grid and only position and time remain.
* Providers that can report precise fixes apply this when location_get_precision() is LOCATION_PRECISION_APPROXIMATE.
*/
void location_make_approximate(struct Location* location);
/** @return true when no provider that isn't a fallback reported a fix in the last 2 minutes */
bool location_host_needs_fallback(void);
#ifdef __cplusplus
}
#endif

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Modules/location-module/private/location/gps_provider.h Normal file
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// SPDX-License-Identifier: Apache-2.0
#pragma once
#include <location/location.h>
#include <location/provider.h>
#include <minmea.h>
/** Uses the first started GPS device */
extern const LocationProviderApi gps_location_provider;
/**
* Convert the sentences of one GPS epoch into a fix.
* @param[in] gga the GGA sentence of the same epoch, NULL when there is none
* @return false when @a rmc has no valid fix
*/
bool gps_location_from_nmea(const minmea_sentence_rmc* rmc, const minmea_sentence_gga* gga, Location* location);

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Modules/location-module/private/location/ip_provider.h Normal file
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// SPDX-License-Identifier: Apache-2.0
#pragma once
#include <location/provider.h>
#include <stddef.h>
/** Fallback provider that looks up the location of the public IP address with ip-api.com */
extern const LocationProviderApi ip_location_provider;
#define IP_API_MESSAGE_MAX_LENGTH 63
struct IpApiResponse {
/** HTTP status code */
int status_code;
/** Requests left in the rate limit window, -1 when unknown */
int rate_remaining;
/** Seconds until the rate limit window resets, -1 when unknown */
int rate_reset_seconds;
bool success;
/** Reason of failure, empty on success */
char message[IP_API_MESSAGE_MAX_LENGTH + 1];
double latitude;
double longitude;
};
/**
* Parse an HTTP response of the newline separated ip-api endpoint, requested with fields "status,message,lat,lon"
* @param[in] response the NUL-terminated response, including the status line and headers
* @return false when the response is malformed
*/
bool ip_api_parse_response(const char* response, IpApiResponse* out);

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Modules/location-module/private/location/location_service.h Normal file
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// SPDX-License-Identifier: Apache-2.0
#pragma once
#include <service/manifest.h>
extern const ServiceManifest location_service_manifest;

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Modules/location-module/private/location/location_settings.h Normal file
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// SPDX-License-Identifier: Apache-2.0
#pragma once
#include <location/location.h>
#define LOCATION_SERVICE_ID "tactility.location"
struct LocationSettings {
bool enabled;
enum LocationPrecision precision;
};
/** Loads the settings, or defaults when there are none */
void location_settings_load(struct LocationSettings* settings);
error_t location_settings_save(const struct LocationSettings* settings);

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Modules/location-module/source/gps_provider.cpp Normal file
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// SPDX-License-Identifier: Apache-2.0
#include <location/gps_provider.h>
#include <gps/gps.h>
#include <tactility/concurrent/mutex.h>
#include <tactility/concurrent/thread.h>
#include <tactility/delay.h>
#include <tactility/device.h>
#include <tactility/device_listener.h>
#include <tactility/log.h>
#include <tactility/time.h>
#include <atomic>
#include <cmath>
#include <ctime>
#define TAG "location_gps"
namespace {
constexpr uint32_t AWAIT_TIMEOUT_MS = 250;
constexpr uint32_t DEVICE_POLL_INTERVAL_MS = 1000;
constexpr uint32_t THREAD_STOP_TIMEOUT_MS = 3000;
constexpr float METERS_PER_SECOND_PER_KNOT = 0.514444f;
// Typical user equivalent range error of consumer receivers, which turns dilution of precision into meters
constexpr float RANGE_ERROR_METERS = 5.0f;
/** The sentences received for one GPS epoch */
struct Epoch {
minmea_time time;
bool hasRmc;
bool hasGga;
bool reported;
minmea_sentence_rmc rmc;
minmea_sentence_gga gga;
};
struct GpsProvider {
LocationHost* host = nullptr;
Thread* thread = nullptr;
std::atomic<bool> running = false;
// Guards device and subscription. The device listener can outlive a provider run, so this state is static.
Mutex mutex {};
Device* device = nullptr;
GpsSubscription subscription {};
Epoch epoch {};
GpsProvider() { mutex_construct(&mutex); }
~GpsProvider() { mutex_destruct(&mutex); }
};
GpsProvider provider;
double toDegrees(const minmea_float& value) {
const double raw = static_cast<double>(value.value) / value.scale;
const int degrees = static_cast<int>(raw / 100);
return degrees + (raw - degrees * 100) / 60.0;
}
// Days from 1970-01-01 to a date in the proleptic Gregorian calendar
int64_t daysSinceEpoch(int year, int month, int day) {
year -= month <= 2;
const int64_t era = (year >= 0 ? year : year - 399) / 400;
const int yearOfEra = static_cast<int>(year - era * 400);
const int dayOfYear = (153 * (month + (month > 2 ? -3 : 9)) + 2) / 5 + day - 1;
const int dayOfEra = yearOfEra * 365 + yearOfEra / 4 - yearOfEra / 100 + dayOfYear;
return era * 146097 + dayOfEra - 719468;
}
bool isSameTime(const minmea_time& a, const minmea_time& b) {
return a.hours == b.hours && a.minutes == b.minutes && a.seconds == b.seconds && a.microseconds == b.microseconds;
}
void report(Epoch& epoch) {
Location location;
if (gps_location_from_nmea(&epoch.rmc, epoch.hasGga ? &epoch.gga : nullptr, &location)) {
if (location_get_precision() == LOCATION_PRECISION_APPROXIMATE) {
location_make_approximate(&location);
}
location_host_report(provider.host, &location);
}
epoch.reported = true;
}
void onSentence(const GpsEvent& event) {
auto& epoch = provider.epoch;
const minmea_time& time = event.type == GPS_EVENT_MESSAGE_RMC ? event.data.rmc.time : event.data.gga.time;
if (!isSameTime(epoch.time, time)) {
// Receivers that don't send GGA only get reported once the next epoch starts
if (epoch.hasRmc && !epoch.reported) {
report(epoch);
}
epoch = {};
epoch.time = time;
}
if (event.type == GPS_EVENT_MESSAGE_RMC) {
epoch.rmc = event.data.rmc;
epoch.hasRmc = true;
} else {
epoch.gga = event.data.gga;
epoch.hasGga = true;
}
if (epoch.hasRmc && epoch.hasGga && !epoch.reported) {
report(epoch);
}
}
// Unsubscribes before the driver stops, as the subscription can't be removed afterwards
void onDeviceEvent(Device* device, DeviceEvent event, void*) {
if (event != DEVICE_EVENT_STOPPING) {
return;
}
mutex_lock(&provider.mutex);
if (device == provider.device) {
gps_event_unsubscribe(device, &provider.subscription);
provider.device = nullptr;
}
mutex_unlock(&provider.mutex);
}
/** Must be called with the mutex held */
bool subscribe() {
Device* device;
if (device_get_first_active_by_type(&GPS_TYPE, &device) != ERROR_NONE) {
return false;
}
const error_t error = gps_event_subscribe(device, &provider.subscription);
device_put(device);
if (error != ERROR_NONE) {
LOG_E(TAG, "Failed to subscribe to %s", device->name);
return false;
}
LOG_I(TAG, "Using %s", device->name);
provider.device = device;
provider.epoch = {};
return true;
}
/** Must be called with the mutex held and a device subscribed */
void receive() {
auto& sub = provider.subscription;
if (sub.sequence != sub.consumed_sequence) {
sub.consumed_sequence = sub.sequence;
} else if (gps_event_await(provider.device, &sub, millis_to_ticks(AWAIT_TIMEOUT_MS)) != ERROR_NONE) {
return;
}
switch (sub.event.type) {
case GPS_EVENT_MESSAGE_RMC:
case GPS_EVENT_MESSAGE_GGA:
onSentence(sub.event);
break;
case GPS_EVENT_UNSUBSCRIBED:
provider.device = nullptr;
break;
}
}
int32_t threadMain(void*) {
while (provider.running) {
mutex_lock(&provider.mutex);
const bool subscribed = provider.device != nullptr || subscribe();
if (subscribed) {
receive();
}
mutex_unlock(&provider.mutex);
if (!subscribed) {
delay_millis(DEVICE_POLL_INTERVAL_MS);
}
}
mutex_lock(&provider.mutex);
if (provider.device != nullptr) {
gps_event_unsubscribe(provider.device, &provider.subscription);
provider.device = nullptr;
}
mutex_unlock(&provider.mutex);
return 0;
}
void* create(LocationHost* host) {
provider.host = host;
provider.running = true;
provider.thread = thread_alloc_full("location_gps", 4096, threadMain, nullptr, -1);
if (provider.thread == nullptr) {
return nullptr;
}
// Settings are loaded before providers start, so the thread doesn't access flash
thread_set_stack_external(provider.thread, true);
device_listener_add(onDeviceEvent, nullptr);
if (thread_start(provider.thread) != ERROR_NONE) {
device_listener_remove(onDeviceEvent, nullptr);
thread_free(provider.thread);
provider.thread = nullptr;
return nullptr;
}
return &provider;
}
void destroy(void*) {
provider.running = false;
if (thread_join(provider.thread, millis_to_ticks(THREAD_STOP_TIMEOUT_MS), millis_to_ticks(10)) != ERROR_NONE) {
LOG_E(TAG, "Thread did not stop in time");
return;
}
device_listener_remove(onDeviceEvent, nullptr);
thread_free(provider.thread);
provider.thread = nullptr;
}
} // namespace
bool gps_location_from_nmea(const minmea_sentence_rmc* rmc, const minmea_sentence_gga* gga, Location* location) {
if (!rmc->valid || rmc->latitude.scale == 0 || rmc->longitude.scale == 0) {
return false;
}
*location = Location {
.latitude = toDegrees(rmc->latitude),
.longitude = toDegrees(rmc->longitude),
.horizontal_accuracy = NAN,
.altitude = NAN,
.ellipsoidal_altitude = NAN,
.vertical_accuracy = NAN,
.speed = minmea_tofloat(&rmc->speed) * METERS_PER_SECOND_PER_KNOT,
.speed_accuracy = NAN,
.course = minmea_tofloat(&rmc->course),
.course_accuracy = NAN,
.satellites = 0,
.time_ms = 0,
.uptime_ms = 0,
.provider = {},
};
tm dateTime;
if (minmea_getdatetime(&dateTime, &rmc->date, &rmc->time) == 0) {
const int64_t seconds = daysSinceEpoch(dateTime.tm_year + 1900, dateTime.tm_mon + 1, dateTime.tm_mday) * 86400 +
dateTime.tm_hour * 3600 + dateTime.tm_min * 60 + dateTime.tm_sec;
location->time_ms = seconds * 1000 + rmc->time.microseconds / 1000;
}
if (gga != nullptr && gga->fix_quality > 0) {
location->horizontal_accuracy = minmea_tofloat(&gga->hdop) * RANGE_ERROR_METERS;
location->altitude = minmea_tofloat(&gga->altitude);
location->ellipsoidal_altitude = location->altitude + minmea_tofloat(&gga->height);
location->satellites = static_cast<uint8_t>(gga->satellites_tracked);
}
return true;
}
const LocationProviderApi gps_location_provider = {
.id = "gps",
.fallback = false,
.create = create,
.destroy = destroy,
};

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// SPDX-License-Identifier: Apache-2.0
#include <location/ip_provider.h>
#include <tactility/concurrent/task_event_group.h>
#include <tactility/concurrent/thread.h>
#include <tactility/log.h>
#include <tactility/system_event.h>
#include <tactility/time.h>
#include <TactilityCpp/std/string.h>
#include <fcntl.h>
#include <netdb.h>
#include <sys/select.h>
#include <sys/socket.h>
#include <unistd.h>
#include <algorithm>
#include <atomic>
#include <cerrno>
#include <cmath>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <string_view>
#include <strings.h>
#define TAG "location_ip"
namespace {
// The free ip-api endpoint only supports plain HTTP
constexpr auto* API_HOST = "ip-api.com";
constexpr auto* API_PATH = "/line/?fields=status,message,lat,lon";
constexpr uint64_t REFRESH_INTERVAL_MS = 30 * 60 * 1000;
constexpr uint64_t RETRY_INTERVAL_MS = 60 * 1000;
// Bounds the request rate when the network connects repeatedly
constexpr uint64_t MIN_INTERVAL_MS = 10 * 1000;
// Wake up interval to check whether the fallback became needed
constexpr uint32_t CHECK_INTERVAL_MS = 10 * 1000;
constexpr int SOCKET_TIMEOUT_SECONDS = 5;
constexpr size_t RESPONSE_MAX_LENGTH = 1024;
// DNS resolution has no timeout of its own
constexpr uint32_t THREAD_STOP_TIMEOUT_MS = 30 * 1000;
// IP geolocation is accurate to roughly city level
constexpr float ACCURACY_METERS = 25000.0f;
struct IpProvider {
LocationHost* host = nullptr;
Thread* thread = nullptr;
std::atomic<bool> running = false;
TaskEventGroup group {};
uint32_t stopBit = 0;
SystemEventSubscription networkSubscription {};
};
IpProvider provider;
uint64_t getUptimeMs() {
return get_micros_since_boot() / 1000;
}
// The FreeRTOS POSIX port's tick signal can interrupt blocking socket calls, so they retry on EINTR
bool connectWithTimeout(int fd, const sockaddr* address, socklen_t addressLength) {
const int flags = fcntl(fd, F_GETFL, 0);
fcntl(fd, F_SETFL, flags | O_NONBLOCK);
int result = connect(fd, address, addressLength);
if (result < 0 && errno == EINPROGRESS) {
fd_set writeSet;
do {
FD_ZERO(&writeSet);
FD_SET(fd, &writeSet);
timeval timeout { .tv_sec = SOCKET_TIMEOUT_SECONDS, .tv_usec = 0 };
result = select(fd + 1, nullptr, &writeSet, nullptr, &timeout);
} while (result < 0 && errno == EINTR);
int error = 0;
socklen_t errorLength = sizeof(error);
if (result == 1 && getsockopt(fd, SOL_SOCKET, SO_ERROR, &error, &errorLength) == 0 && error == 0) {
result = 0;
} else {
result = -1;
}
}
fcntl(fd, F_SETFL, flags);
return result == 0;
}
bool sendAll(int fd, const char* data, size_t length) {
size_t sent = 0;
while (sent < length) {
const ssize_t result = send(fd, data + sent, length - sent, 0);
if (result < 0) {
if (errno == EINTR) {
continue;
}
return false;
}
sent += static_cast<size_t>(result);
}
return true;
}
/** Receive until the server closes the connection */
bool receiveAll(int fd, char* buffer, size_t bufferSize) {
size_t received = 0;
while (received < bufferSize - 1) {
const ssize_t result = recv(fd, buffer + received, bufferSize - 1 - received, 0);
if (result < 0) {
if (errno == EINTR) {
continue;
}
return false;
}
if (result == 0) {
break;
}
received += static_cast<size_t>(result);
}
buffer[received] = '\0';
return received > 0;
}
bool httpGet(const char* host, const char* path, char* response, size_t responseSize) {
addrinfo hints {};
hints.ai_family = AF_INET;
hints.ai_socktype = SOCK_STREAM;
addrinfo* addresses = nullptr;
if (getaddrinfo(host, "80", &hints, &addresses) != 0 || addresses == nullptr) {
return false;
}
const int fd = socket(addresses->ai_family, addresses->ai_socktype, addresses->ai_protocol);
if (fd < 0) {
freeaddrinfo(addresses);
return false;
}
timeval timeout { .tv_sec = SOCKET_TIMEOUT_SECONDS, .tv_usec = 0 };
setsockopt(fd, SOL_SOCKET, SO_RCVTIMEO, &timeout, sizeof(timeout));
setsockopt(fd, SOL_SOCKET, SO_SNDTIMEO, &timeout, sizeof(timeout));
char request[160];
const int requestLength = snprintf(request, sizeof(request), "GET %s HTTP/1.0\r\nHost: %s\r\nConnection: close\r\n\r\n", path, host);
const bool success = connectWithTimeout(fd, addresses->ai_addr, addresses->ai_addrlen) &&
sendAll(fd, request, static_cast<size_t>(requestLength)) &&
receiveAll(fd, response, responseSize);
close(fd);
freeaddrinfo(addresses);
return success;
}
/** @return the delay until the next lookup */
uint64_t lookup() {
tt::std::string response(RESPONSE_MAX_LENGTH, '\0');
if (!httpGet(API_HOST, API_PATH, response.data(), response.size())) {
LOG_W(TAG, "Request failed");
return RETRY_INTERVAL_MS;
}
IpApiResponse parsed;
if (!ip_api_parse_response(response.c_str(), &parsed)) {
LOG_W(TAG, "Malformed response");
return RETRY_INTERVAL_MS;
}
uint64_t delay = RETRY_INTERVAL_MS;
if (parsed.status_code != 200) {
LOG_W(TAG, "HTTP status %d", parsed.status_code);
} else if (!parsed.success) {
LOG_W(TAG, "Lookup failed: %s", parsed.message);
} else {
const Location location {
.latitude = parsed.latitude,
.longitude = parsed.longitude,
.horizontal_accuracy = ACCURACY_METERS,
.altitude = NAN,
.ellipsoidal_altitude = NAN,
.vertical_accuracy = NAN,
.speed = NAN,
.speed_accuracy = NAN,
.course = NAN,
.course_accuracy = NAN,
.satellites = 0,
.time_ms = 0,
.uptime_ms = 0,
.provider = {},
};
location_host_report(provider.host, &location);
LOG_D(TAG, "Lookup succeeded");
delay = REFRESH_INTERVAL_MS;
}
if (parsed.rate_remaining == 0 && parsed.rate_reset_seconds > 0) {
delay = std::max(delay, static_cast<uint64_t>(parsed.rate_reset_seconds) * 1000);
}
return delay;
}
int32_t threadMain(void*) {
uint64_t lastAttemptMs = 0;
uint64_t nextAttemptMs = 0;
bool attempted = false;
while (provider.running) {
const uint64_t now = getUptimeMs();
const uint64_t waitMs = std::min<uint64_t>(CHECK_INTERVAL_MS, nextAttemptMs > now ? nextAttemptMs - now : 0);
uint32_t flags = 0;
task_event_group_wait_any(&provider.group, &flags, millis_to_ticks(static_cast<uint32_t>(waitMs)));
if (!provider.running) {
break;
}
// The public IP address can change with the network
if (system_event_poll(&provider.networkSubscription) == ERROR_NONE && attempted) {
nextAttemptMs = lastAttemptMs + MIN_INTERVAL_MS;
}
const uint64_t attemptMs = getUptimeMs();
if (attemptMs < nextAttemptMs || !location_host_needs_fallback()) {
continue;
}
attempted = true;
lastAttemptMs = attemptMs;
nextAttemptMs = attemptMs + lookup();
}
return 0;
}
void* create(LocationHost* host) {
provider.host = host;
provider.running = true;
task_event_group_construct(&provider.group);
if (task_event_group_claim_bit(&provider.group, &provider.stopBit) != ERROR_NONE) {
task_event_group_destruct(&provider.group);
return nullptr;
}
provider.networkSubscription = {};
provider.networkSubscription.event.type = KERNEL_EVENT_NETWORK_CONNECTED;
if (system_event_subscribe(&provider.networkSubscription, &provider.group) != ERROR_NONE) {
task_event_group_destruct(&provider.group);
return nullptr;
}
provider.thread = thread_alloc_full("location_ip", 4096, threadMain, nullptr, -1);
if (provider.thread != nullptr) {
// Settings are loaded before providers start, so the thread doesn't access flash
thread_set_stack_external(provider.thread, true);
}
if (provider.thread == nullptr || thread_start(provider.thread) != ERROR_NONE) {
if (provider.thread != nullptr) {
thread_free(provider.thread);
provider.thread = nullptr;
}
system_event_unsubscribe(&provider.networkSubscription);
task_event_group_destruct(&provider.group);
return nullptr;
}
return &provider;
}
void destroy(void*) {
provider.running = false;
task_event_group_signal(&provider.group, provider.stopBit);
if (thread_join(provider.thread, millis_to_ticks(THREAD_STOP_TIMEOUT_MS), millis_to_ticks(10)) != ERROR_NONE) {
LOG_E(TAG, "Thread did not stop in time");
return;
}
thread_free(provider.thread);
provider.thread = nullptr;
system_event_unsubscribe(&provider.networkSubscription);
task_event_group_destruct(&provider.group);
}
std::string_view nextLine(std::string_view& text) {
const size_t end = text.find('\n');
std::string_view line = text.substr(0, end);
text = end == std::string_view::npos ? std::string_view {} : text.substr(end + 1);
if (!line.empty() && line.back() == '\r') {
line.remove_suffix(1);
}
return line;
}
int parseHeaderNumber(std::string_view line, const char* name) {
const size_t nameLength = strlen(name);
if (line.size() <= nameLength || line[nameLength] != ':' || strncasecmp(line.data(), name, nameLength) != 0) {
return -1;
}
return atoi(tt::std::string(line.substr(nameLength + 1)).c_str());
}
} // namespace
bool ip_api_parse_response(const char* response, IpApiResponse* out) {
*out = IpApiResponse {
.status_code = 0,
.rate_remaining = -1,
.rate_reset_seconds = -1,
.success = false,
.message = {},
.latitude = NAN,
.longitude = NAN,
};
std::string_view text = response;
const std::string_view statusLine = nextLine(text);
if (!statusLine.starts_with("HTTP/1.")) {
return false;
}
const size_t space = statusLine.find(' ');
if (space == std::string_view::npos) {
return false;
}
out->status_code = atoi(tt::std::string(statusLine.substr(space + 1)).c_str());
while (true) {
if (text.empty()) {
return false;
}
const std::string_view header = nextLine(text);
if (header.empty()) {
break;
}
const int remaining = parseHeaderNumber(header, "X-Rl");
if (remaining >= 0) {
out->rate_remaining = remaining;
}
const int resetSeconds = parseHeaderNumber(header, "X-Ttl");
if (resetSeconds >= 0) {
out->rate_reset_seconds = resetSeconds;
}
}
if (out->status_code != 200) {
return true;
}
// Fields are returned one per line, in the order of the API documentation
const std::string_view status = nextLine(text);
if (status == "success") {
const tt::std::string latitude(nextLine(text));
const tt::std::string longitude(nextLine(text));
char* latitudeEnd;
char* longitudeEnd;
out->latitude = strtod(latitude.c_str(), &latitudeEnd);
out->longitude = strtod(longitude.c_str(), &longitudeEnd);
if (latitude.empty() || *latitudeEnd != '\0' || longitude.empty() || *longitudeEnd != '\0') {
return false;
}
out->success = true;
} else if (status == "fail") {
const std::string_view message = nextLine(text).substr(0, IP_API_MESSAGE_MAX_LENGTH);
memcpy(out->message, message.data(), message.size());
out->message[message.size()] = '\0';
} else {
return false;
}
return true;
}
const LocationProviderApi ip_location_provider = {
.id = "ip",
.fallback = true,
.create = create,
.destroy = destroy,
};

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// SPDX-License-Identifier: Apache-2.0
#include <location/location.h>
#include <location/location_service.h>
#include <location/location_settings.h>
#include <location/provider.h>
#include <service/manager.h>
#include <service/manifest.h>
#include <tactility/concurrent/mutex.h>
#include <tactility/concurrent/task_event_group.h>
#include <tactility/log.h>
#include <tactility/time.h>
#include <cmath>
#include <cstring>
#define TAG "location"
struct LocationHost {
// Guarded by lifecycleMutex
const LocationProviderApi* api;
void* provider;
// Guarded by dataMutex
bool fallback;
bool hasLocation;
Location location;
};
namespace {
/** A fix of a provider that isn't a fallback is preferred over fallback fixes for this long */
constexpr uint64_t FRESH_MS = 120000;
// About 2 km north to south
constexpr double APPROXIMATE_GRID_DEGREES = 0.02;
struct GlobalMutex {
Mutex handle {};
GlobalMutex() { mutex_construct(&handle); }
~GlobalMutex() { mutex_destruct(&handle); }
};
// Serializes provider registration, service start/stop and (un)subscribing, which create and destroy providers
GlobalMutex lifecycleMutex;
LocationHost hosts[LOCATION_PROVIDER_MAX_COUNT] {};
bool running = false;
// Providers only exist while the service runs and has subscribers
bool providersActive = false;
// Not held while calling provider functions, so providers can report while being destroyed
GlobalMutex dataMutex;
LocationSubscription* subscriptions = nullptr;
GlobalMutex settingsMutex;
LocationSettings settings {};
bool settingsLoaded = false;
/** Must be called with settingsMutex held */
void ensureSettingsLoaded() {
if (!settingsLoaded) {
location_settings_load(&settings);
settingsLoaded = true;
}
}
uint64_t getUptimeMs() {
return get_micros_since_boot() / 1000;
}
/** Must be called with dataMutex held */
int getRank(const LocationHost& host, uint64_t now) {
if (host.fallback) {
return 1;
}
return now - host.location.uptime_ms < FRESH_MS ? 2 : 0;
}
/** Must be called with dataMutex held */
const LocationHost* findBest() {
const uint64_t now = getUptimeMs();
const LocationHost* best = nullptr;
int bestRank = -1;
for (const auto& host : hosts) {
if (!host.hasLocation) {
continue;
}
const int rank = getRank(host, now);
if (rank > bestRank || (rank == bestRank && host.location.uptime_ms > best->location.uptime_ms)) {
best = &host;
bestRank = rank;
}
}
return best;
}
void clearLocation(LocationHost* host) {
mutex_lock(&dataMutex.handle);
host->hasLocation = false;
mutex_unlock(&dataMutex.handle);
}
void startProvider(LocationHost* host) {
host->provider = host->api->create(host);
if (host->provider == nullptr) {
LOG_E(TAG, "Failed to start provider %s", host->api->id);
}
}
void stopProvider(LocationHost* host) {
if (host->provider != nullptr) {
host->api->destroy(host->provider);
host->provider = nullptr;
}
}
/** Must be called with lifecycleMutex held */
void updateProviders() {
mutex_lock(&dataMutex.handle);
const bool hasSubscribers = subscriptions != nullptr;
mutex_unlock(&dataMutex.handle);
const bool shouldBeActive = running && hasSubscribers;
if (shouldBeActive == providersActive) {
return;
}
providersActive = shouldBeActive;
for (auto& host : hosts) {
if (host.api == nullptr) {
continue;
}
if (shouldBeActive) {
startProvider(&host);
} else {
// Fixes are kept as the last known location
stopProvider(&host);
}
}
}
void* createService(const ServiceManifest*) {
return nullptr;
}
void destroyService(const ServiceManifest*, void*) {}
error_t onStart(ServiceInstance*, void*) {
mutex_lock(&lifecycleMutex.handle);
running = true;
updateProviders();
mutex_unlock(&lifecycleMutex.handle);
return ERROR_NONE;
}
void onStop(ServiceInstance*, void*) {
mutex_lock(&lifecycleMutex.handle);
running = false;
updateProviders();
for (auto& host : hosts) {
clearLocation(&host);
}
mutex_unlock(&lifecycleMutex.handle);
}
} // namespace
extern "C" {
error_t location_set_enabled(bool enabled) {
mutex_lock(&settingsMutex.handle);
ensureSettingsLoaded();
settings.enabled = enabled;
const LocationSettings copy = settings;
mutex_unlock(&settingsMutex.handle);
const error_t saved = location_settings_save(&copy);
error_t result;
if (enabled) {
result = service_manager_start(LOCATION_SERVICE_ID);
if (result == ERROR_INVALID_STATE) {
result = ERROR_NONE;
}
} else {
result = service_manager_stop(LOCATION_SERVICE_ID);
if (result == ERROR_NOT_FOUND) {
result = ERROR_NONE;
}
}
return result != ERROR_NONE ? result : saved;
}
bool location_is_enabled(void) {
mutex_lock(&settingsMutex.handle);
ensureSettingsLoaded();
const bool enabled = settings.enabled;
mutex_unlock(&settingsMutex.handle);
return enabled;
}
error_t location_set_precision(LocationPrecision precision) {
mutex_lock(&settingsMutex.handle);
ensureSettingsLoaded();
settings.precision = precision;
const LocationSettings copy = settings;
mutex_unlock(&settingsMutex.handle);
if (precision == LOCATION_PRECISION_APPROXIMATE) {
// Fixes reported with precise precision are dropped until their providers report again
mutex_lock(&dataMutex.handle);
for (auto& host : hosts) {
if (host.hasLocation && !(host.location.horizontal_accuracy >= LOCATION_APPROXIMATE_ACCURACY_METERS)) {
host.hasLocation = false;
}
}
mutex_unlock(&dataMutex.handle);
}
return location_settings_save(&copy);
}
LocationPrecision location_get_precision(void) {
mutex_lock(&settingsMutex.handle);
ensureSettingsLoaded();
const LocationPrecision precision = settings.precision;
mutex_unlock(&settingsMutex.handle);
return precision;
}
void location_make_approximate(Location* location) {
location->latitude = std::round(location->latitude / APPROXIMATE_GRID_DEGREES) * APPROXIMATE_GRID_DEGREES;
location->longitude = std::round(location->longitude / APPROXIMATE_GRID_DEGREES) * APPROXIMATE_GRID_DEGREES;
if (!(location->horizontal_accuracy >= LOCATION_APPROXIMATE_ACCURACY_METERS)) {
location->horizontal_accuracy = LOCATION_APPROXIMATE_ACCURACY_METERS;
}
location->altitude = NAN;
location->ellipsoidal_altitude = NAN;
location->vertical_accuracy = NAN;
location->speed = NAN;
location->speed_accuracy = NAN;
location->course = NAN;
location->course_accuracy = NAN;
location->satellites = 0;
}
error_t location_provider_register(const LocationProviderApi* api) {
if (strlen(api->id) > LOCATION_PROVIDER_ID_MAX_LENGTH) {
return ERROR_INVALID_ARGUMENT;
}
mutex_lock(&lifecycleMutex.handle);
LocationHost* freeHost = nullptr;
for (auto& host : hosts) {
if (host.api == nullptr) {
if (freeHost == nullptr) {
freeHost = &host;
}
} else if (strcmp(host.api->id, api->id) == 0) {
mutex_unlock(&lifecycleMutex.handle);
return ERROR_ALREADY_EXISTS;
}
}
if (freeHost == nullptr) {
mutex_unlock(&lifecycleMutex.handle);
return ERROR_RESOURCE;
}
freeHost->api = api;
mutex_lock(&dataMutex.handle);
freeHost->fallback = api->fallback;
mutex_unlock(&dataMutex.handle);
if (providersActive) {
startProvider(freeHost);
}
mutex_unlock(&lifecycleMutex.handle);
return ERROR_NONE;
}
error_t location_provider_unregister(const LocationProviderApi* api) {
error_t result = ERROR_NOT_FOUND;
mutex_lock(&lifecycleMutex.handle);
for (auto& host : hosts) {
if (host.api == api) {
stopProvider(&host);
clearLocation(&host);
host.api = nullptr;
result = ERROR_NONE;
break;
}
}
mutex_unlock(&lifecycleMutex.handle);
return result;
}
void location_host_report(LocationHost* host, const Location* location) {
mutex_lock(&dataMutex.handle);
host->location = *location;
strcpy(host->location.provider, host->api->id);
host->location.uptime_ms = getUptimeMs();
host->hasLocation = true;
if (findBest() == host) {
for (auto* sub = subscriptions; sub != nullptr; sub = sub->internal.next) {
task_event_group_signal(sub->internal.event_group, sub->bit);
}
}
mutex_unlock(&dataMutex.handle);
}
bool location_host_needs_fallback(void) {
mutex_lock(&dataMutex.handle);
const uint64_t now = getUptimeMs();
bool needed = true;
for (const auto& host : hosts) {
if (host.hasLocation && getRank(host, now) == 2) {
needed = false;
break;
}
}
mutex_unlock(&dataMutex.handle);
return needed;
}
error_t location_get(Location* location) {
mutex_lock(&dataMutex.handle);
const auto* best = findBest();
if (best != nullptr) {
*location = best->location;
}
mutex_unlock(&dataMutex.handle);
return best != nullptr ? ERROR_NONE : ERROR_NOT_FOUND;
}
error_t location_subscribe(LocationSubscription* sub, TaskEventGroup* event_group) {
uint32_t bit;
const error_t claimed = task_event_group_claim_bit(event_group, &bit);
if (claimed != ERROR_NONE) {
return claimed;
}
mutex_lock(&lifecycleMutex.handle);
mutex_lock(&dataMutex.handle);
for (auto* existing = subscriptions; existing != nullptr; existing = existing->internal.next) {
if (existing == sub) {
mutex_unlock(&dataMutex.handle);
mutex_unlock(&lifecycleMutex.handle);
task_event_group_release_bit(event_group, bit);
return ERROR_INVALID_STATE;
}
}
sub->bit = bit;
sub->internal.event_group = event_group;
sub->internal.next = subscriptions;
subscriptions = sub;
mutex_unlock(&dataMutex.handle);
updateProviders();
mutex_unlock(&lifecycleMutex.handle);
return ERROR_NONE;
}
error_t location_unsubscribe(LocationSubscription* sub) {
error_t result = ERROR_NOT_FOUND;
mutex_lock(&lifecycleMutex.handle);
mutex_lock(&dataMutex.handle);
for (auto** link = &subscriptions; *link != nullptr; link = &(*link)->internal.next) {
if (*link == sub) {
*link = sub->internal.next;
result = ERROR_NONE;
break;
}
}
mutex_unlock(&dataMutex.handle);
updateProviders();
mutex_unlock(&lifecycleMutex.handle);
if (result == ERROR_NONE) {
task_event_group_release_bit(sub->internal.event_group, sub->bit);
}
return result;
}
}
extern const ServiceManifest location_service_manifest = {
.id = LOCATION_SERVICE_ID,
.create_service = createService,
.destroy_service = destroyService,
.on_start = onStart,
.on_stop = onStop,
};

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// SPDX-License-Identifier: Apache-2.0
#include <location/location_settings.h>
#include <service/paths.h>
#include <tactility/filesystem/fs.h>
#include <tactility/log.h>
#include <tactility/paths.h>
#include <tactility/properties_file.h>
#include <cstring>
constexpr auto* TAG = "location_settings";
constexpr auto* SETTINGS_FILE_NAME = "settings.properties";
constexpr auto* KEY_ENABLED = "enabled";
constexpr auto* KEY_PRECISION = "precision";
constexpr auto* PRECISION_APPROXIMATE = "approximate";
constexpr auto* PRECISION_PRECISE = "precise";
void location_settings_load(LocationSettings* settings) {
*settings = LocationSettings {
.enabled = false,
.precision = LOCATION_PRECISION_PRECISE,
};
char path[FILE_MAX_PATH_STRING_LENGTH];
if (service_paths_get_user_data_path(LOCATION_SERVICE_ID, SETTINGS_FILE_NAME, path, sizeof(path)) != ERROR_NONE) {
return;
}
PropertiesFile* file = properties_file_open(path);
if (file == nullptr) {
return;
}
char value[32];
if (properties_file_get(file, KEY_ENABLED, value, sizeof(value)) == ERROR_NONE) {
settings->enabled = strcmp(value, "true") == 0;
}
if (properties_file_get(file, KEY_PRECISION, value, sizeof(value)) == ERROR_NONE) {
settings->precision = strcmp(value, PRECISION_APPROXIMATE) == 0 ? LOCATION_PRECISION_APPROXIMATE : LOCATION_PRECISION_PRECISE;
}
properties_file_close(file);
}
error_t location_settings_save(const LocationSettings* settings) {
char directory[FILE_MAX_PATH_STRING_LENGTH];
char path[FILE_MAX_PATH_STRING_LENGTH];
if (service_paths_get_user_data_directory(LOCATION_SERVICE_ID, directory, sizeof(directory)) != ERROR_NONE ||
service_paths_get_user_data_path(LOCATION_SERVICE_ID, SETTINGS_FILE_NAME, path, sizeof(path)) != ERROR_NONE) {
return ERROR_BUFFER_OVERFLOW;
}
const error_t made = directory_make(directory, true);
if (made != ERROR_NONE && made != ERROR_ALREADY_EXISTS) {
LOG_E(TAG, "Failed to create %s", directory);
return ERROR_RESOURCE;
}
PropertiesFile* file = properties_file_open(path);
if (file == nullptr) {
return ERROR_RESOURCE;
}
properties_file_set(file, KEY_ENABLED, settings->enabled ? "true" : "false");
properties_file_set(file, KEY_PRECISION, settings->precision == LOCATION_PRECISION_APPROXIMATE ? PRECISION_APPROXIMATE : PRECISION_PRECISE);
return properties_file_close(file);
}

58
Modules/location-module/source/module.cpp Normal file
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@ -0,0 +1,58 @@
// SPDX-License-Identifier: Apache-2.0
#include <location/gps_provider.h>
#include <location/ip_provider.h>
#include <location/location.h>
#include <location/location_service.h>
#include <location/module.h>
#include <service/manager.h>
#include <tactility/error.h>
#include <tactility/module.h>
extern "C" {
static error_t start() {
error_t error = location_provider_register(&gps_location_provider);
if (error != ERROR_NONE) {
return error;
}
error = location_provider_register(&ip_location_provider);
if (error != ERROR_NONE) {
location_provider_unregister(&gps_location_provider);
return error;
}
return service_manager_add(&location_service_manifest, location_is_enabled());
}
static error_t stop() {
const error_t error = service_manager_stop(location_service_manifest.id);
if (error != ERROR_NONE && error != ERROR_NOT_FOUND) {
return error;
}
location_provider_unregister(&ip_location_provider);
location_provider_unregister(&gps_location_provider);
return service_manager_remove(location_service_manifest.id);
}
static const ModuleSymbol location_module_symbols[] = {
DEFINE_MODULE_SYMBOL(location_set_enabled),
DEFINE_MODULE_SYMBOL(location_is_enabled),
DEFINE_MODULE_SYMBOL(location_set_precision),
DEFINE_MODULE_SYMBOL(location_get_precision),
DEFINE_MODULE_SYMBOL(location_get),
DEFINE_MODULE_SYMBOL(location_subscribe),
DEFINE_MODULE_SYMBOL(location_unsubscribe),
MODULE_SYMBOL_TERMINATOR
};
Module location_module = {
.name = "location",
.start = start,
.stop = stop,
.drivers = nullptr,
.symbols = location_module_symbols,
.internal = nullptr,
};
}

20
Modules/location-module/tests/CMakeLists.txt Normal file
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@ -0,0 +1,20 @@
project(LocationModuleTests)
enable_language(C CXX ASM)
file(GLOB_RECURSE TEST_SOURCES CONFIGURE_DEPENDS ${PROJECT_SOURCE_DIR}/source/*.cpp)
add_executable(LocationModuleTests EXCLUDE_FROM_ALL ${TEST_SOURCES})
target_include_directories(LocationModuleTests PRIVATE
${DOCTESTINC}
${PROJECT_SOURCE_DIR}/../private
)
add_test(NAME LocationModuleTests COMMAND LocationModuleTests)
target_link_libraries(LocationModuleTests PUBLIC
TactilityKernel
platform-posix
service-module
location-module
)

64
Modules/location-module/tests/source/gps_provider_test.cpp Normal file
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@ -0,0 +1,64 @@
#include "doctest.h"
#include <location/gps_provider.h>
#include <cmath>
namespace {
constexpr auto* RMC = "$GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A";
constexpr auto* GGA = "$GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47";
}
TEST_CASE("gps_location_from_nmea converts RMC and GGA") {
minmea_sentence_rmc rmc;
minmea_sentence_gga gga;
REQUIRE(minmea_parse_rmc(&rmc, RMC));
REQUIRE(minmea_parse_gga(&gga, GGA));
Location location;
REQUIRE(gps_location_from_nmea(&rmc, &gga, &location));
CHECK(location.latitude == doctest::Approx(48.1173));
CHECK(location.longitude == doctest::Approx(11.516667));
CHECK(location.speed == doctest::Approx(11.5235).epsilon(0.001));
CHECK(location.course == doctest::Approx(84.4));
CHECK(location.horizontal_accuracy == doctest::Approx(4.5));
CHECK(location.altitude == doctest::Approx(545.4));
CHECK(location.ellipsoidal_altitude == doctest::Approx(592.3));
CHECK(std::isnan(location.vertical_accuracy));
CHECK(location.satellites == 8);
CHECK(location.time_ms == 764426119000LL);
}
TEST_CASE("gps_location_from_nmea without GGA has no altitude or accuracy") {
minmea_sentence_rmc rmc;
REQUIRE(minmea_parse_rmc(&rmc, RMC));
Location location;
REQUIRE(gps_location_from_nmea(&rmc, nullptr, &location));
CHECK(location.latitude == doctest::Approx(48.1173));
CHECK(std::isnan(location.altitude));
CHECK(std::isnan(location.horizontal_accuracy));
CHECK(location.satellites == 0);
}
TEST_CASE("gps_location_from_nmea handles the southern and western hemispheres") {
minmea_sentence_rmc rmc;
REQUIRE(minmea_parse_rmc(&rmc, "$GPRMC,123519,A,3352.128,S,15112.558,W,000.0,,230394,,*00"));
Location location;
REQUIRE(gps_location_from_nmea(&rmc, nullptr, &location));
CHECK(location.latitude == doctest::Approx(-33.8688));
CHECK(location.longitude == doctest::Approx(-151.209300));
CHECK(location.speed == doctest::Approx(0.0));
CHECK(std::isnan(location.course));
}
TEST_CASE("gps_location_from_nmea rejects a fix that is not valid") {
minmea_sentence_rmc rmc;
REQUIRE(minmea_parse_rmc(&rmc, "$GPRMC,123519,V,,,,,,,230394,,*00"));
Location location;
CHECK_FALSE(gps_location_from_nmea(&rmc, nullptr, &location));
}

53
Modules/location-module/tests/source/ip_provider_test.cpp Normal file
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@ -0,0 +1,53 @@
#include "doctest.h"
#include <location/ip_provider.h>
#include <cstring>
TEST_CASE("ip_api_parse_response parses a successful lookup") {
const char* response =
"HTTP/1.1 200 OK\r\n"
"Content-Type: text/plain; charset=utf-8\r\n"
"X-Ttl: 60\r\n"
"X-Rl: 44\r\n"
"\r\n"
"success\n"
"39.03\n"
"-77.5\n";
IpApiResponse parsed;
REQUIRE(ip_api_parse_response(response, &parsed));
CHECK(parsed.status_code == 200);
CHECK(parsed.success);
CHECK(parsed.latitude == doctest::Approx(39.03));
CHECK(parsed.longitude == doctest::Approx(-77.5));
CHECK(parsed.rate_remaining == 44);
CHECK(parsed.rate_reset_seconds == 60);
}
TEST_CASE("ip_api_parse_response parses a failed lookup") {
const char* response = "HTTP/1.1 200 OK\r\nx-rl: 0\r\nx-ttl: 12\r\n\r\nfail\nprivate range\n";
IpApiResponse parsed;
REQUIRE(ip_api_parse_response(response, &parsed));
CHECK_FALSE(parsed.success);
CHECK(strcmp(parsed.message, "private range") == 0);
CHECK(parsed.rate_remaining == 0);
CHECK(parsed.rate_reset_seconds == 12);
}
TEST_CASE("ip_api_parse_response handles a throttled request") {
const char* response = "HTTP/1.1 429 Too Many Requests\r\nX-Rl: 0\r\nX-Ttl: 30\r\n\r\n";
IpApiResponse parsed;
REQUIRE(ip_api_parse_response(response, &parsed));
CHECK(parsed.status_code == 429);
CHECK_FALSE(parsed.success);
CHECK(parsed.rate_reset_seconds == 30);
}
TEST_CASE("ip_api_parse_response rejects malformed responses") {
IpApiResponse parsed;
CHECK_FALSE(ip_api_parse_response("", &parsed));
CHECK_FALSE(ip_api_parse_response("garbage", &parsed));
CHECK_FALSE(ip_api_parse_response("HTTP/1.1 200 OK\r\nX-Rl: 1\r\n", &parsed));
CHECK_FALSE(ip_api_parse_response("HTTP/1.1 200 OK\r\n\r\nsuccess\nabc\n1.0\n", &parsed));
CHECK_FALSE(ip_api_parse_response("HTTP/1.1 200 OK\r\n\r\nunknown\n", &parsed));
}

48
Modules/location-module/tests/source/main.cpp Normal file
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@ -0,0 +1,48 @@
#define DOCTEST_CONFIG_IMPLEMENT
#include "doctest.h"
#include <tactility/check.h>
#include <tactility/dts.h>
#include <tactility/freertos/task.h>
#include <tactility/kernel_init.h>
typedef struct {
int argc;
char** argv;
int result;
} TestTaskData;
extern "C" struct Module platform_posix_module;
void test_task(void* parameter) {
auto* data = (TestTaskData*)parameter;
doctest::Context context;
context.applyCommandLine(data->argc, data->argv);
context.setOption("no-breaks", true);
Module* dts_modules[] = { &platform_posix_module, nullptr };
DtsDevice dts_devices[] = { DTS_DEVICE_TERMINATOR };
check(kernel_init(dts_modules, dts_devices) == ERROR_NONE);
data->result = context.run();
vTaskEndScheduler();
vTaskDelete(nullptr);
}
int main(int argc, char** argv) {
TestTaskData data = {
.argc = argc,
.argv = argv,
.result = 0
};
if (xTaskCreate(test_task, "test_task", 16384, &data, 1, nullptr) != pdPASS) {
return 1;
}
vTaskStartScheduler();
return data.result;
}

221
Modules/location-module/tests/source/service_test.cpp Normal file
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@ -0,0 +1,221 @@
#include "doctest.h"
#include <location/location.h>
#include <location/location_service.h>
#include <location/provider.h>
#include <service/manager.h>
#include <cmath>
#include <cstdio>
#include <cstring>
namespace {
LocationHost* fakeHost = nullptr;
int createCount = 0;
int destroyCount = 0;
void* fakeCreate(LocationHost* host) {
fakeHost = host;
createCount++;
return host;
}
void fakeDestroy(void*) {
fakeHost = nullptr;
destroyCount++;
}
const LocationProviderApi fakeProvider = {
.id = "fake",
.fallback = false,
.create = fakeCreate,
.destroy = fakeDestroy,
};
Location makeLocation(double latitude, double longitude) {
return Location {
.latitude = latitude,
.longitude = longitude,
.horizontal_accuracy = 3.0f,
.altitude = NAN,
.ellipsoidal_altitude = NAN,
.vertical_accuracy = NAN,
.speed = NAN,
.speed_accuracy = NAN,
.course = NAN,
.course_accuracy = NAN,
.satellites = 0,
.time_ms = 1000,
.uptime_ms = 0,
.provider = {},
};
}
}
TEST_CASE("location service reports fixes of its providers") {
createCount = 0;
destroyCount = 0;
REQUIRE(location_provider_register(&fakeProvider) == ERROR_NONE);
CHECK(location_provider_register(&fakeProvider) == ERROR_ALREADY_EXISTS);
// Providers don't run without subscriptions
REQUIRE(service_manager_add(&location_service_manifest, true) == ERROR_NONE);
CHECK(createCount == 0);
Location location;
CHECK(location_get(&location) == ERROR_NOT_FOUND);
TaskEventGroup group;
task_event_group_construct(&group);
LocationSubscription sub {};
REQUIRE(location_subscribe(&sub, &group) == ERROR_NONE);
CHECK(location_subscribe(&sub, &group) == ERROR_INVALID_STATE);
CHECK(createCount == 1);
REQUIRE(fakeHost != nullptr);
const Location reported = makeLocation(51.05, 3.72);
location_host_report(fakeHost, &reported);
uint32_t flags = 0;
CHECK(task_event_group_wait(&group, sub.bit, false, &flags, 0) == ERROR_NONE);
CHECK(flags == sub.bit);
REQUIRE(location_get(&location) == ERROR_NONE);
CHECK(location.latitude == doctest::Approx(51.05));
CHECK(location.longitude == doctest::Approx(3.72));
CHECK(location.horizontal_accuracy == doctest::Approx(3.0));
CHECK(location.time_ms == 1000);
CHECK(strcmp(location.provider, "fake") == 0);
// The last known fix remains available after the last subscription is removed
CHECK(location_unsubscribe(&sub) == ERROR_NONE);
CHECK(location_unsubscribe(&sub) == ERROR_NOT_FOUND);
CHECK(destroyCount == 1);
CHECK(location_get(&location) == ERROR_NONE);
REQUIRE(location_subscribe(&sub, &group) == ERROR_NONE);
CHECK(createCount == 2);
REQUIRE(service_manager_stop(location_service_manifest.id) == ERROR_NONE);
CHECK(destroyCount == 2);
CHECK(location_get(&location) == ERROR_NOT_FOUND);
REQUIRE(service_manager_start(location_service_manifest.id) == ERROR_NONE);
CHECK(createCount == 3);
CHECK(location_provider_unregister(&fakeProvider) == ERROR_NONE);
CHECK(destroyCount == 3);
CHECK(location_provider_unregister(&fakeProvider) == ERROR_NOT_FOUND);
CHECK(location_unsubscribe(&sub) == ERROR_NONE);
task_event_group_destruct(&group);
REQUIRE(service_manager_stop(location_service_manifest.id) == ERROR_NONE);
CHECK(destroyCount == 3);
REQUIRE(service_manager_remove(location_service_manifest.id) == ERROR_NONE);
}
TEST_CASE("location provider registration is limited") {
LocationProviderApi providers[LOCATION_PROVIDER_MAX_COUNT + 1];
char ids[LOCATION_PROVIDER_MAX_COUNT + 1][8];
for (size_t i = 0; i <= LOCATION_PROVIDER_MAX_COUNT; i++) {
snprintf(ids[i], sizeof(ids[i]), "p%zu", i);
providers[i] = { .id = ids[i], .fallback = false, .create = fakeCreate, .destroy = fakeDestroy };
}
for (size_t i = 0; i < LOCATION_PROVIDER_MAX_COUNT; i++) {
REQUIRE(location_provider_register(&providers[i]) == ERROR_NONE);
}
CHECK(location_provider_register(&providers[LOCATION_PROVIDER_MAX_COUNT]) == ERROR_RESOURCE);
for (size_t i = 0; i < LOCATION_PROVIDER_MAX_COUNT; i++) {
CHECK(location_provider_unregister(&providers[i]) == ERROR_NONE);
}
}
namespace {
LocationHost* fallbackHost = nullptr;
void* fallbackCreate(LocationHost* host) {
fallbackHost = host;
return host;
}
void fallbackDestroy(void*) {
fallbackHost = nullptr;
}
const LocationProviderApi fakeFallbackProvider = {
.id = "fakefallback",
.fallback = true,
.create = fallbackCreate,
.destroy = fallbackDestroy,
};
}
TEST_CASE("location service prefers fixes of providers that aren't a fallback") {
REQUIRE(location_provider_register(&fakeProvider) == ERROR_NONE);
REQUIRE(location_provider_register(&fakeFallbackProvider) == ERROR_NONE);
REQUIRE(service_manager_add(&location_service_manifest, true) == ERROR_NONE);
TaskEventGroup group;
task_event_group_construct(&group);
LocationSubscription sub {};
REQUIRE(location_subscribe(&sub, &group) == ERROR_NONE);
REQUIRE(fakeHost != nullptr);
REQUIRE(fallbackHost != nullptr);
CHECK(location_host_needs_fallback());
const Location fallback = makeLocation(10.0, 20.0);
location_host_report(fallbackHost, &fallback);
CHECK(task_event_group_wait(&group, sub.bit, false, nullptr, 0) == ERROR_NONE);
Location location;
REQUIRE(location_get(&location) == ERROR_NONE);
CHECK(strcmp(location.provider, "fakefallback") == 0);
const Location primary = makeLocation(51.05, 3.72);
location_host_report(fakeHost, &primary);
CHECK(task_event_group_wait(&group, sub.bit, false, nullptr, 0) == ERROR_NONE);
CHECK_FALSE(location_host_needs_fallback());
REQUIRE(location_get(&location) == ERROR_NONE);
CHECK(strcmp(location.provider, "fake") == 0);
// A fallback fix doesn't replace a fresh fix, so subscribers aren't signalled
location_host_report(fallbackHost, &fallback);
CHECK(task_event_group_wait(&group, sub.bit, false, nullptr, 0) == ERROR_TIMEOUT);
REQUIRE(location_get(&location) == ERROR_NONE);
CHECK(strcmp(location.provider, "fake") == 0);
// Without the primary provider, the fallback fix is used again
CHECK(location_provider_unregister(&fakeProvider) == ERROR_NONE);
CHECK(location_host_needs_fallback());
REQUIRE(location_get(&location) == ERROR_NONE);
CHECK(strcmp(location.provider, "fakefallback") == 0);
CHECK(location_unsubscribe(&sub) == ERROR_NONE);
task_event_group_destruct(&group);
REQUIRE(service_manager_stop(location_service_manifest.id) == ERROR_NONE);
CHECK(location_provider_unregister(&fakeFallbackProvider) == ERROR_NONE);
REQUIRE(service_manager_remove(location_service_manifest.id) == ERROR_NONE);
}
TEST_CASE("location_make_approximate keeps only a coarse position") {
Location location = makeLocation(51.054321, 3.721234);
location.altitude = 12.0f;
location.speed = 1.5f;
location.satellites = 7;
location_make_approximate(&location);
CHECK(location.latitude == doctest::Approx(51.06));
CHECK(location.longitude == doctest::Approx(3.72));
CHECK(location.horizontal_accuracy == doctest::Approx(LOCATION_APPROXIMATE_ACCURACY_METERS));
CHECK(std::isnan(location.altitude));
CHECK(std::isnan(location.speed));
CHECK(location.satellites == 0);
CHECK(location.time_ms == 1000);
location.horizontal_accuracy = 25000.0f;
location_make_approximate(&location);
CHECK(location.horizontal_accuracy == doctest::Approx(25000.0));
}

1
Tactility/CMakeLists.txt
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@ -41,6 +41,7 @@ list(APPEND REQUIRES_LIST
gps-module gps-module
graphics-module graphics-module
http-module http-module
location-module
mbedtls-module mbedtls-module
mesh-module mesh-module
mesh-meshcore-module mesh-meshcore-module

2
Tactility/Source/InitApps.cpp
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@ -58,6 +58,7 @@ namespace app {
namespace launcher { extern const ::AppManifest manifest; } namespace launcher { extern const ::AppManifest manifest; }
namespace ledstripsettings { extern const ::AppManifest manifest; } namespace ledstripsettings { extern const ::AppManifest manifest; }
namespace localesettings { extern const ::AppManifest manifest; } namespace localesettings { extern const ::AppManifest manifest; }
namespace locationsettings { extern const ::AppManifest manifest; }
namespace notes { extern const ::AppManifest manifest; } namespace notes { extern const ::AppManifest manifest; }
namespace power { extern const ::AppManifest manifest; } namespace power { extern const ::AppManifest manifest; }
namespace poweroff { extern const ::AppManifest manifest; } namespace poweroff { extern const ::AppManifest manifest; }
@ -130,6 +131,7 @@ static void registerInternalApps() {
app_manager_add(&app::inputdialog::manifest); app_manager_add(&app::inputdialog::manifest);
app_manager_add(&app::launcher::manifest); app_manager_add(&app::launcher::manifest);
app_manager_add(&app::localesettings::manifest); app_manager_add(&app::localesettings::manifest);
app_manager_add(&app::locationsettings::manifest);
app_manager_add(&app::notes::manifest); app_manager_add(&app::notes::manifest);
if (device_exists_of_type(&POWER_SUPPLY_TYPE)) { if (device_exists_of_type(&POWER_SUPPLY_TYPE)) {
app_manager_add(&app::poweroff::manifest); app_manager_add(&app::poweroff::manifest);

2
Tactility/Source/InitServices.cpp
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@ -8,6 +8,7 @@
#include <Tactility/service/ServiceRegistration.h> #include <Tactility/service/ServiceRegistration.h>
#include <Tactility/settings/RadioSettings.h> #include <Tactility/settings/RadioSettings.h>
#include <location/module.h>
#include <wifi/module.h> #include <wifi/module.h>
#if TT_FEATURE_MESH #if TT_FEATURE_MESH
#include <mesh/module.h> #include <mesh/module.h>
@ -49,6 +50,7 @@ void registerAndStartServices() {
addService(service::audio::manifest); addService(service::audio::manifest);
} }
check(module_ensure_started(&wifi_module) == ERROR_NONE); check(module_ensure_started(&wifi_module) == ERROR_NONE);
check(module_ensure_started(&location_module) == ERROR_NONE);
// Before the mesh service starts, as it needs the region to turn on the radio // Before the mesh service starts, as it needs the region to turn on the radio
settings::radio::applyRegion(); settings::radio::applyRegion();
#if TT_FEATURE_MESH #if TT_FEATURE_MESH

1
Tactility/Source/app/launcher/SettingsMode.cpp
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@ -29,6 +29,7 @@ constexpr IconEntry ICONS[] = {
{"tactility.keyboardsettings", LVGL_ICON_SHARED_KEYBOARD_ALT}, {"tactility.keyboardsettings", LVGL_ICON_SHARED_KEYBOARD_ALT},
{"tactility.ledstripsettings", LVGL_ICON_SHARED_LIGHTSTRIP}, {"tactility.ledstripsettings", LVGL_ICON_SHARED_LIGHTSTRIP},
{"tactility.localesettings", LVGL_ICON_SHARED_LANGUAGE}, {"tactility.localesettings", LVGL_ICON_SHARED_LANGUAGE},
{"tactility.locationsettings", LVGL_ICON_SHARED_LOCATION_ON},
{"tactility.meshsettings", LVGL_ICON_SHARED_HUB}, {"tactility.meshsettings", LVGL_ICON_SHARED_HUB},
{"tactility.power", LVGL_ICON_SHARED_POWER_SETTINGS_NEW}, {"tactility.power", LVGL_ICON_SHARED_POWER_SETTINGS_NEW},
{"tactility.timedatesettings", LVGL_ICON_SHARED_CALENDAR_MONTH}, {"tactility.timedatesettings", LVGL_ICON_SHARED_CALENDAR_MONTH},

244
Tactility/Source/app/locationsettings/LocationSettings.cpp Normal file
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@ -0,0 +1,244 @@
#include <Tactility/lvgl/Style.h>
#include <app/event.h>
#include <app/manager.h>
#include <app/manifest.h>
#include <app/scheduler.h>
#include <location/location.h>
#include <lvgl_window_manager/window_manager.h>
#include <tactility/check.h>
#include <tactility/concurrent/task_event_group.h>
#include <lvgl.h>
#include <lvgl/fonts.h>
#include <lvgl/grid_navigation.h>
#include <lvgl/lvgl.h>
#include <lvgl/widgets/card.h>
#include <lvgl/widgets/chip.h>
#include <lvgl/widgets/toolbar.h>
#include <TactilityCpp/std/string.h>
#include <atomic>
#include <cmath>
#include <format>
#include <iterator>
namespace tt::app::locationsettings {
extern const ::AppManifest manifest;
namespace {
struct PrecisionOption {
LocationPrecision precision;
const char* name;
};
constexpr PrecisionOption PRECISION_OPTIONS[] = {
{ LOCATION_PRECISION_APPROXIMATE, "Approximate" },
{ LOCATION_PRECISION_PRECISE, "Precise" },
};
struct Context {
uint32_t appInstanceId;
TaskEventGroup* eventGroup = nullptr;
uint32_t enableBit = 0;
uint32_t precisionBit = 0;
::std::atomic<bool> requestedEnabled = false;
::std::atomic<LocationPrecision> requestedPrecision = LOCATION_PRECISION_PRECISE;
// Valid while the window is shown
lv_obj_t* enableSwitch = nullptr;
lv_obj_t* precisionChips = nullptr;
lv_obj_t* statusLabel = nullptr;
};
LocationPrecision getChipPrecision(lv_obj_t* chip) {
return static_cast<LocationPrecision>(reinterpret_cast<intptr_t>(lv_obj_get_user_data(chip)));
}
std::string getStatusText() {
if (!location_is_enabled()) {
return "Location services are off";
}
Location location;
if (location_get(&location) != ERROR_NONE) {
return "Waiting for location...";
}
std::string text;
auto output = ::std::back_inserter(text);
::std::format_to(output, "{:.5f}, {:.5f}", location.latitude, location.longitude);
if (!::std::isnan(location.horizontal_accuracy)) {
::std::format_to(output, " (±{:.0f} m)", location.horizontal_accuracy);
}
::std::format_to(output, "\nSource: {}", location.provider);
return text;
}
void updateWidgets(Context* ctx) {
if (ctx->statusLabel == nullptr) {
return;
}
lv_obj_set_state(ctx->enableSwitch, LV_STATE_CHECKED, location_is_enabled());
const LocationPrecision precision = location_get_precision();
const uint32_t count = lv_obj_get_child_count(ctx->precisionChips);
for (uint32_t i = 0; i < count; i++) {
auto* chip = lv_obj_get_child(ctx->precisionChips, static_cast<int32_t>(i));
lv_obj_set_state(chip, LV_STATE_CHECKED, getChipPrecision(chip) == precision);
}
lv_label_set_text(ctx->statusLabel, getStatusText().c_str());
}
void onBackPressed(lv_event_t* event) {
auto* ctx = static_cast<Context*>(lv_event_get_user_data(event));
app_event_emit_close(ctx->appInstanceId);
}
// Starting and stopping the service blocks, so it happens on the app's own task
void onEnableSwitchChanged(lv_event_t* event) {
auto* ctx = static_cast<Context*>(lv_event_get_user_data(event));
ctx->requestedEnabled = lv_obj_has_state(lv_event_get_target_obj(event), LV_STATE_CHECKED);
task_event_group_signal(ctx->eventGroup, ctx->enableBit);
}
void onPrecisionChipPressed(lv_event_t* event) {
auto* ctx = static_cast<Context*>(lv_event_get_user_data(event));
ctx->requestedPrecision = getChipPrecision(lv_event_get_target_obj(event));
task_event_group_signal(ctx->eventGroup, ctx->precisionBit);
}
void createWidgets(lv_obj_t* parent, void* userData) {
auto* ctx = static_cast<Context*>(userData);
lv_obj_set_flex_flow(parent, LV_FLEX_FLOW_COLUMN);
lv_obj_set_style_pad_row(parent, 0, LV_STATE_DEFAULT);
auto* toolbar = lvgl_toolbar_create(parent, "Location");
lvgl_toolbar_set_nav_action(toolbar, LV_SYMBOL_CLOSE, onBackPressed, ctx);
ctx->enableSwitch = lvgl_toolbar_add_switch_action(toolbar);
lv_obj_add_event_cb(ctx->enableSwitch, onEnableSwitchChanged, LV_EVENT_VALUE_CHANGED, ctx);
auto* wrapper = lv_obj_create(parent);
lv_obj_set_width(wrapper, LV_PCT(100));
lv_obj_set_flex_grow(wrapper, 1);
lv_obj_set_flex_flow(wrapper, LV_FLEX_FLOW_COLUMN);
lv_obj_set_style_border_width(wrapper, 0, LV_STATE_DEFAULT);
lvgl::obj_set_style_bg_invisible(wrapper);
auto* precisionLabel = lv_label_create(wrapper);
lv_label_set_text(precisionLabel, "Precision");
// The chips are centered in the card while they fit, and scroll when they don't
auto* precisionCard = lvgl_card_create(wrapper);
lv_obj_set_size(precisionCard, LV_PCT(100), LV_SIZE_CONTENT);
lv_obj_set_flex_flow(precisionCard, LV_FLEX_FLOW_COLUMN);
lv_obj_set_flex_align(precisionCard, LV_FLEX_ALIGN_START, LV_FLEX_ALIGN_CENTER, LV_FLEX_ALIGN_CENTER);
lv_obj_set_style_pad_left(precisionLabel, lv_obj_get_style_pad_left(precisionCard, LV_PART_MAIN), LV_STATE_DEFAULT);
ctx->precisionChips = lv_obj_create(precisionCard);
lv_obj_set_size(ctx->precisionChips, LV_SIZE_CONTENT, LV_SIZE_CONTENT);
lv_obj_set_style_max_width(ctx->precisionChips, LV_PCT(100), LV_STATE_DEFAULT);
lv_obj_set_flex_flow(ctx->precisionChips, LV_FLEX_FLOW_ROW);
lv_obj_set_scroll_dir(ctx->precisionChips, LV_DIR_HOR);
lv_obj_set_style_bg_opa(ctx->precisionChips, LV_OPA_TRANSP, LV_STATE_DEFAULT);
lv_obj_set_style_border_width(ctx->precisionChips, 0, LV_STATE_DEFAULT);
// The chips' margins leave room for their focus rings and space them apart
lv_obj_set_style_pad_all(ctx->precisionChips, 0, LV_STATE_DEFAULT);
lv_obj_set_style_pad_column(ctx->precisionChips, 0, LV_STATE_DEFAULT);
for (const auto& option : PRECISION_OPTIONS) {
auto* chip = lvgl_chip_create(ctx->precisionChips);
lv_label_set_text(lv_label_create(chip), option.name);
lv_obj_set_user_data(chip, reinterpret_cast<void*>(static_cast<intptr_t>(option.precision)));
lv_obj_add_event_cb(chip, onPrecisionChipPressed, LV_EVENT_SHORT_CLICKED, ctx);
}
lvgl_grid_navigation_add(ctx->precisionChips);
auto* precisionHint = lv_label_create(precisionCard);
lv_obj_set_width(precisionHint, LV_PCT(100));
lv_label_set_long_mode(precisionHint, LV_LABEL_LONG_WRAP);
lv_obj_set_style_text_font(precisionHint, lvgl_get_text_font(FONT_SIZE_SMALL), LV_STATE_DEFAULT);
lv_label_set_text(precisionHint, "Approximate location is accurate to a few kilometers. Location based on the IP address is never precise.");
auto* statusCard = lvgl_card_create(wrapper);
lv_obj_set_size(statusCard, LV_PCT(100), LV_SIZE_CONTENT);
ctx->statusLabel = lv_label_create(statusCard);
lv_obj_set_width(ctx->statusLabel, LV_PCT(100));
lv_label_set_long_mode(ctx->statusLabel, LV_LABEL_LONG_WRAP);
updateWidgets(ctx);
}
void destroyWidgets(void* userData) {
auto* ctx = static_cast<Context*>(userData);
ctx->enableSwitch = nullptr;
ctx->precisionChips = nullptr;
ctx->statusLabel = nullptr;
}
int32_t appMain(int argc, char* argv[]) {
Context ctx {};
ctx.appInstanceId = app_scheduler_current_app_id();
TaskEventGroup eventGroup {};
task_event_group_construct(&eventGroup);
ctx.eventGroup = &eventGroup;
check(task_event_group_claim_bit(&eventGroup, &ctx.enableBit) == ERROR_NONE);
check(task_event_group_claim_bit(&eventGroup, &ctx.precisionBit) == ERROR_NONE);
AppEventSubscription appEvents {};
check(app_event_subscribe(&appEvents, &eventGroup) == ERROR_NONE);
LocationSubscription locationEvents {};
check(location_subscribe(&locationEvents, &eventGroup) == ERROR_NONE);
WindowId window = window_manager_create_ext(ctx.appInstanceId, createWidgets, destroyWidgets, &ctx);
bool shouldClose = false;
while (!shouldClose) {
uint32_t flags = 0;
task_event_group_wait_any(&eventGroup, &flags, portMAX_DELAY);
if (flags & ctx.enableBit) {
location_set_enabled(ctx.requestedEnabled);
}
if (flags & ctx.precisionBit) {
location_set_precision(ctx.requestedPrecision);
}
AppEvent event {};
while (app_event_poll(&appEvents, &event) == ERROR_NONE) {
if (event.type == APP_EVENT_CLOSE) {
shouldClose = true;
break;
}
}
lvgl_lock();
updateWidgets(&ctx);
lvgl_unlock();
}
window_manager_remove(window);
check(location_unsubscribe(&locationEvents) == ERROR_NONE);
check(app_event_unsubscribe(&appEvents) == ERROR_NONE);
task_event_group_destruct(&eventGroup);
return 0;
}
} // namespace
extern const ::AppManifest manifest = {
.id = "tactility.locationsettings",
.name = "Location",
.category = APP_CATEGORY_SETTINGS,
.location = { APP_LOCATION_MEMORY, reinterpret_cast<void*>(appMain) },
.flags = 0,
.stack = {}
};
}

19
Tactility/Source/app/setup/Setup.cpp
View File

@ -16,6 +16,8 @@
#include <app/scheduler.h> #include <app/scheduler.h>
#include <app/start.h> #include <app/start.h>
#include <location/location.h>
#include <lvgl_window_manager/window_manager.h> #include <lvgl_window_manager/window_manager.h>
#include <tactility/check.h> #include <tactility/check.h>
@ -259,6 +261,23 @@ int32_t appMain(int argc, char* argv[]) {
}); });
} }
ctx.steps.push_back({
.title = "Location Services",
.description = "Location services let apps use your location. It comes from GPS, or from your IP address via ip-api.com when there is no GPS fix.",
.run = [&ctx] {
const std::vector<std::string> items = { "Allow precise location", "Allow approximate location", "Don't allow" };
ctx.pendingStepDialogId = selectiondialog::start(ctx.appInstanceId, "Location", items);
},
.onResult = [](int32_t selected) {
if (selected == 0 || selected == 1) {
location_set_precision(selected == 0 ? LOCATION_PRECISION_PRECISE : LOCATION_PRECISION_APPROXIMATE);
location_set_enabled(true);
} else if (selected == 2) {
location_set_enabled(false);
}
}
});
TaskEventGroup event_group {}; TaskEventGroup event_group {};
task_event_group_construct(&event_group); task_event_group_construct(&event_group);

1
Tactility/Tests/CMakeLists.txt
View File

@ -51,6 +51,7 @@ target_link_libraries(TactilityTests PRIVATE
gps-module gps-module
graphics-module graphics-module
http-module http-module
location-module
mbedtls-module mbedtls-module
posix-symbols-module posix-symbols-module
pthread-module pthread-module

10
TactilityKernel/include/tactility/concurrent/thread.h
View File

@ -87,6 +87,16 @@ void thread_set_name(Thread* thread, const char* name);
*/ */
void thread_set_stack_size(Thread* thread, size_t stack_size); void thread_set_stack_size(Thread* thread, size_t stack_size);
/**
* @brief Sets whether the stack should be allocated in external memory (PSRAM) when available.
* The stack is allocated in internal memory when there is no external memory.
* @warning A thread with its stack in external memory must not access flash (e.g. write to the internal filesystem or NVS).
* @param[in] thread The thread instance.
* @param[in] external true to prefer external memory
* @note Can only be called when the thread is in the STOPPED state.
*/
void thread_set_stack_external(Thread* thread, bool external);
/** /**
* @brief Sets the CPU core affinity for the thread. * @brief Sets the CPU core affinity for the thread.
* @param[in] thread The thread instance. * @param[in] thread The thread instance.

42
TactilityKernel/source/concurrent/thread.cpp
View File

@ -28,6 +28,9 @@ struct Thread {
ThreadPriority priority = THREAD_PRIORITY_NORMAL; ThreadPriority priority = THREAD_PRIORITY_NORMAL;
Mutex mutex = { 0 }; Mutex mutex = { 0 };
configSTACK_DEPTH_TYPE stackDepth = 4096; configSTACK_DEPTH_TYPE stackDepth = 4096;
bool stackExternal = false;
// Whether the task was created with xTaskCreatePinnedToCoreWithCaps()
bool createdWithCaps = false;
portBASE_TYPE affinity = -1; portBASE_TYPE affinity = -1;
Thread() { Thread() {
@ -77,10 +80,17 @@ static void thread_main_body(void* context) {
vTaskSetThreadLocalStoragePointer(nullptr, LOCAL_STORAGE_SELF_POINTER_INDEX, nullptr); vTaskSetThreadLocalStoragePointer(nullptr, LOCAL_STORAGE_SELF_POINTER_INDEX, nullptr);
// The thread can be freed once taskHandle is cleared
const bool createdWithCaps = thread->createdWithCaps;
thread->lock(); thread->lock();
thread->taskHandle = nullptr; thread->taskHandle = nullptr;
thread->unlock(); thread->unlock();
#ifdef ESP_PLATFORM
if (createdWithCaps) {
vTaskDeleteWithCaps(nullptr);
}
#endif
vTaskDelete(nullptr); vTaskDelete(nullptr);
} }
@ -135,6 +145,13 @@ void thread_set_stack_size(Thread* thread, size_t stack_size) {
thread->unlock(); thread->unlock();
} }
void thread_set_stack_external(Thread* thread, bool external) {
thread->lock();
check(thread->state == THREAD_STATE_STOPPED);
thread->stackExternal = external;
thread->unlock();
}
void thread_set_affinity(Thread* thread, portBASE_TYPE affinity) { void thread_set_affinity(Thread* thread, portBASE_TYPE affinity) {
thread->lock(); thread->lock();
check(thread->state == THREAD_STATE_STOPPED); check(thread->state == THREAD_STATE_STOPPED);
@ -187,10 +204,31 @@ error_t thread_start(Thread* thread) {
thread->lock(); thread->lock();
auto priority = static_cast<UBaseType_t>(thread->priority); auto priority = static_cast<UBaseType_t>(thread->priority);
portBASE_TYPE affinity = thread->affinity; portBASE_TYPE affinity = thread->affinity;
bool stackExternal = thread->stackExternal;
thread->createdWithCaps = false;
thread->unlock(); thread->unlock();
BaseType_t result; BaseType_t result = pdFAIL;
if (affinity != -1) { #ifdef ESP_PLATFORM
if (stackExternal) {
// Set before the task can read it, as the task can run before the creation call returns
thread->createdWithCaps = true;
result = xTaskCreatePinnedToCoreWithCaps(
thread_main_body,
thread->name.c_str(),
thread->stackDepth,
thread,
priority,
&thread->taskHandle,
affinity != -1 ? affinity : tskNO_AFFINITY,
MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT
);
thread->createdWithCaps = (result == pdPASS);
}
#endif
if (result == pdPASS) {
// Stack is in external memory
} else if (affinity != -1) {
#ifdef ESP_PLATFORM #ifdef ESP_PLATFORM
result = xTaskCreatePinnedToCore( result = xTaskCreatePinnedToCore(
thread_main_body, thread_main_body,

2
Tests/CMakeLists.txt
View File

@ -15,6 +15,7 @@ add_subdirectory(${CMAKE_SOURCE_DIR}/Modules/http-module/tests ${CMAKE_CURRENT_B
add_subdirectory(${CMAKE_SOURCE_DIR}/Modules/binfont-module/tests ${CMAKE_CURRENT_BINARY_DIR}/binfont-module) add_subdirectory(${CMAKE_SOURCE_DIR}/Modules/binfont-module/tests ${CMAKE_CURRENT_BINARY_DIR}/binfont-module)
add_subdirectory(${CMAKE_SOURCE_DIR}/Modules/lodepng-module/tests ${CMAKE_CURRENT_BINARY_DIR}/lodepng-module) add_subdirectory(${CMAKE_SOURCE_DIR}/Modules/lodepng-module/tests ${CMAKE_CURRENT_BINARY_DIR}/lodepng-module)
add_subdirectory(${CMAKE_SOURCE_DIR}/Modules/lvgl-module/tests ${CMAKE_CURRENT_BINARY_DIR}/lvgl-module) add_subdirectory(${CMAKE_SOURCE_DIR}/Modules/lvgl-module/tests ${CMAKE_CURRENT_BINARY_DIR}/lvgl-module)
add_subdirectory(${CMAKE_SOURCE_DIR}/Modules/location-module/tests ${CMAKE_CURRENT_BINARY_DIR}/location-module)
add_subdirectory(${CMAKE_SOURCE_DIR}/Modules/mesh-module/tests ${CMAKE_CURRENT_BINARY_DIR}/mesh-module) add_subdirectory(${CMAKE_SOURCE_DIR}/Modules/mesh-module/tests ${CMAKE_CURRENT_BINARY_DIR}/mesh-module)
add_subdirectory(${CMAKE_SOURCE_DIR}/Modules/mesh-meshcore-module/tests ${CMAKE_CURRENT_BINARY_DIR}/mesh-meshcore-module) add_subdirectory(${CMAKE_SOURCE_DIR}/Modules/mesh-meshcore-module/tests ${CMAKE_CURRENT_BINARY_DIR}/mesh-meshcore-module)
add_subdirectory(${CMAKE_SOURCE_DIR}/Modules/mesh-meshtastic-module/tests ${CMAKE_CURRENT_BINARY_DIR}/mesh-meshtastic-module) add_subdirectory(${CMAKE_SOURCE_DIR}/Modules/mesh-meshtastic-module/tests ${CMAKE_CURRENT_BINARY_DIR}/mesh-meshtastic-module)
@ -32,6 +33,7 @@ add_dependencies(build-tests HttpModuleTests)
add_dependencies(build-tests BinFontModuleTests) add_dependencies(build-tests BinFontModuleTests)
add_dependencies(build-tests LodePngModuleTests) add_dependencies(build-tests LodePngModuleTests)
add_dependencies(build-tests LvglModuleTests) add_dependencies(build-tests LvglModuleTests)
add_dependencies(build-tests LocationModuleTests)
add_dependencies(build-tests MeshModuleTests) add_dependencies(build-tests MeshModuleTests)
add_dependencies(build-tests MeshMeshCoreModuleTests) add_dependencies(build-tests MeshMeshCoreModuleTests)
add_dependencies(build-tests MeshMeshtasticModuleTests) add_dependencies(build-tests MeshMeshtasticModuleTests)