collar/collar.cpp

#include <lmic.h>
#include <hal/hal.h>
#include <TinyGPS++.h>

#include <AltSoftSerial.h>

// LoRaWAN NwkSKey, network session key
static const PROGMEM u1_t NWKSKEY[16] = { 0x52, 0x92, 0xC0, 0x72, 0x2D, 0x3C, 0x55, 0x5E, 0xE4, 0xB9, 0x9E, 0x9B, 0x88, 0x66, 0x47, 0xF1 };

// LoRaWAN AppSKey, application session key
static const u1_t PROGMEM APPSKEY[16] = { 0xC4, 0x30, 0xEF, 0x56, 0x4F, 0x6D, 0xA2, 0x56, 0x1F, 0x15, 0x2F, 0xB8, 0x62, 0xC7, 0xCA, 0xC2 };

void os_getArtEui (u1_t* buf) { }
void os_getDevEui (u1_t* buf) { }
void os_getDevKey (u1_t* buf) { }

static osjob_t sendjob;
// Chirpstack keys
// static const u1_t PROGMEM NWKSKEY[16] = {0x5b,0xe6,0x8b,0xb7,0xaa,0x4f,0x01,0x85,0x54,0x72,0xd9,0x6f,0xd8,0xba,0xbc,0x99};
// static const u1_t PROGMEM APPSKEY[16] = {0xee,0x9a,0x94,0x96,0x9d,0x59,0xfb,0xc2,0x7a,0xe6,0x07,0xe1,0x6e,0x04,0x37,0x5b};
// static const u4_t DEVADDR = 0x005d96f5;

static const u4_t DEVADDR = 0x260212B6;

void debug_function(char *str) {
  // Serial.println(str);
}


// Schedule TX every this many seconds (might become longer due to duty
// cycle limitations).
const unsigned TX_INTERVAL = 5;

// Pin mapping for Adafruit Feather M0 LoRa
const lmic_pinmap lmic_pins = {
  .nss = 10,
  .rxtx = LMIC_UNUSED_PIN,
  .rst = 9,
  .dio = {2, 3, LMIC_UNUSED_PIN},
};

/****************************************************
 * Arduino drivers
 * - LoRaWAN
 * - GPS
 ***************************************************/
TinyGPSPlus gps;

uint8_t general_int;
volatile uint8_t n_poly;
#define isr general_int
#define timeout general_int
/****************************************************
 * Track each pair of X and Y coordinates
 * - arrays are used by the pnpoly function
 ***************************************************/
const uint8_t N_POLY_MAX=10;
float polyx[N_POLY_MAX*2+5];
float * const polyy = polyx + N_POLY_MAX;

void do_send(osjob_t* j);

/****************************************************
 * Check a pair of coordinates against two lists
 * of vertices
 * - https://wrf.ecse.rpi.edu//Research/Short_Notes/pnpoly.html
 ***************************************************/
inline const int pnpoly
(const uint8_t nvert, const float *vertx, const float *verty, const float testx, const float testy)
{
  uint8_t i, j, c = 0;
  for (i = 0, j = nvert-1; i < nvert; j = i++) {
    if ( ((verty[i]>testy) != (verty[j]>testy)) &&
        (testx < (vertx[j]-vertx[i]) * (testy-verty[i]) / (verty[j]-verty[i]) + vertx[i]) )
      c = !c;
  }
  return c;
}

/****************************************************
 * Test a coordinate against all vertices
 * - takes current GPS coordinates
 * - return 1 if in bounds
 ***************************************************/
inline const int check_bounds(const float x, const float y) {
  return pnpoly(n_poly, polyx, polyy, x, y);
}

/****************************************************
 * Load coordinates from protobuff stream
 * - currently a maximum of 10 coordinates
 * - loading arrays in nanopb does not appear
 *   to work.
 ***************************************************/
inline void import_protobuf(const uint8_t *protobuffer, const uint8_t size) {
  if(size != 122) {
    Serial.println("nmd");
    return;
  }

  isr = protobuffer[1];

  if(isr>N_POLY_MAX) isr = 0;
  const uint8_t *ptr = protobuffer + 5;
  for(uint8_t i=0;i<isr && i<N_POLY_MAX;i++) {
    memcpy(&polyy[i], ptr + i*12, 4);
    memcpy(&polyx[i], ptr + i*12+5, 4);
  }
  n_poly = isr;
}

void onEvent (ev_t ev) {
  if(ev == EV_TXCOMPLETE) {
    if (LMIC.dataLen) {
      Serial.print(F(" -Received: "));
      Serial.println(LMIC.dataLen);
      import_protobuf(LMIC.frame + LMIC.dataBeg, LMIC.dataLen);
    }
    // Schedule next transmission
    os_setTimedCallback(&sendjob, os_getTime()+sec2osticks(TX_INTERVAL), do_send);
  }
}

enum STATE_ {
  START,
  START_GPS,
  WAIT_GPS,
  START_LORA,
  WAIT_LORA,
  END
};

volatile uint8_t state;
volatile uint32_t since;
void setup() {
  Serial.begin(9600);
  softserial_init();

  os_init();
  LMIC_reset();

  uint8_t appskey[sizeof(APPSKEY)];
  uint8_t nwkskey[sizeof(NWKSKEY)];
  memcpy_P(appskey, APPSKEY, sizeof(APPSKEY));
  memcpy_P(nwkskey, NWKSKEY, sizeof(NWKSKEY));

  LMIC_setSession (0x13, DEVADDR, nwkskey, appskey);
  LMIC_selectSubBand(1);

  // Disable link check validation
  LMIC_setLinkCheckMode(0);

  // TTN uses SF9 for its RX2 window.
  LMIC.dn2Dr = DR_SF9;

  // Set data rate and transmit power for uplink
  LMIC_setDrTxpow(DR_SF7,14);

  delay(1000);

  state = START_GPS;
  do_send(&sendjob);
}

inline void read_gps() {
  uint8_t available = softserial_available();
  while(available) {
    gps.encode(softserial_read());
    available--;
  }
}

inline void on_start_gps() {
  state = WAIT_GPS;
}

inline void on_wait_gps() {
  if(gps.location.isValid()) {
    state = START_LORA;
  }
}

#define TYPE_STRING 0x0A
#define TYPE_VARIANT 0x10
#define PROTO_LEN 0x0A
#define FIELD_ONE_FLOAT 0x0D
#define FIELD_TWO_FLOAT 0x15
#define FIELD_TWO_VARIANT 0x10

const char oob[] = " -OUT OF BOUNDS";
const char inb[] = " -IN BOUNDS";
uint8_t buffer[] = {
  TYPE_STRING,
  PROTO_LEN,
  FIELD_ONE_FLOAT, 0x00, 0x00, 0x48, 0x43,
  FIELD_TWO_FLOAT, 0x00, 0x00, 0xc8, 0x42,
  FIELD_TWO_VARIANT, 0, 0};

void on_start_lora() {
  // Serial.println("Starting lora");
}
void send_lora() {
  if (LMIC.opmode & OP_TXRXPEND) {
    Serial.print(" -cns");
  } else {
    const float latitude  = gps.location.lat();
    const float longitude = gps.location.lng();
    if(n_poly>0) {
      const uint8_t out_of_bounds = !check_bounds(latitude, longitude);
      if(out_of_bounds) {
        Serial.println(oob);
      } else {
        Serial.println(inb);
      }
      // digitalWrite(LED_BUILTIN, out_of_bounds);
      buffer[13] = out_of_bounds;
    } else {
      const uint8_t out_of_bounds = 0;
      buffer[13] = out_of_bounds;
    }
    memcpy(buffer+3, (void*)&latitude, 4);
    memcpy(buffer+8, (void*)&longitude, 4);
    LMIC_setTxData2(1, buffer, sizeof(buffer)-1, 0);
  }
  since = millis();
  state = WAIT_LORA;
}
void do_send(osjob_t* j){
  send_lora();
}

#define TIMEOUT TX_INTERVAL * 2 * 1000UL
void on_wait_lora() {
  if(millis()- since > TX_INTERVAL*1000UL) {
    Serial.println(" -Lora Done Sending");
    state = START_GPS;
  }
  if(millis() - since > TIMEOUT) {
    Serial.println(" -Scheduling another job");
    os_setTimedCallback(&sendjob, os_getTime()+sec2osticks(TX_INTERVAL), do_send);
  }
}

#define LOOP_LATENCY_MS 200L
uint32_t time_last = 0;
void loop() {
  uint32_t time = millis();
  if((time - time_last) > LOOP_LATENCY_MS) {
    time_last = time;
    Serial.print(state);
    Serial.print('.');

    if(state == START_GPS) {
      on_start_gps();
    }
    else if(state == WAIT_GPS) {
      on_wait_gps();
    }
    else if(state == START_LORA) {
      on_start_lora();
    }
    else if(state == WAIT_LORA) {
      on_wait_lora();
    }
  } 
  read_gps();
  os_runloop_once();
}