Skip to content

feat: Add --use-lighthouses argument to selectively choose lighthouses to be used for optimization #343

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
julianlotzer wants to merge 1 commit into
base: master
Choose a base branch
from
+46 −5
Open

feat: Add --use-lighthouses argument to selectively choose lighthouses to be used for optimization #343

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
32 changes: 28 additions & 4 deletions src/survive.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,7 @@ STATIC_CONFIG_ITEM(LH_0_DISABLE, "lighthouse-0-disable", 'b', "Disable lh at idx
STATIC_CONFIG_ITEM(LH_1_DISABLE, "lighthouse-1-disable", 'b', "Disable lh at idx 1", 0)
STATIC_CONFIG_ITEM(LH_2_DISABLE, "lighthouse-2-disable", 'b', "Disable lh at idx 2", 0)
STATIC_CONFIG_ITEM(LH_3_DISABLE, "lighthouse-3-disable", 'b', "Disable lh at idx 3", 0)
STATIC_CONFIG_ITEM(USE_LIGHTHOUSES, "use-lighthouses", 's', "Comma-separated list of lighthouse IDs (hex) to use for tracking.", "")

STRUCT_CONFIG_SECTION(SurviveContext)
STRUCT_CONFIG_ITEM("lighthouse-max-update", "Maximum instant move for a lighthouse", .01, t->settings.lh_max_update);
Expand Down Expand Up @@ -229,7 +230,6 @@ SURVIVE_EXPORT int8_t survive_get_bsd_idx(SurviveContext *ctx, survive_channel c

if (ctx->lh_version == 0) {
if (ctx->bsd[channel].mode == 0xFF) {
ctx->bsd[channel] = (BaseStationData){.tracker = ctx->bsd[channel].tracker};
ctx->bsd[channel].mode = channel;
ctx->activeLighthouses++;
SV_INFO("Adding lighthouse ch %d (cnt: %d)", channel, ctx->activeLighthouses);
Expand All @@ -243,7 +243,6 @@ SURVIVE_EXPORT int8_t survive_get_bsd_idx(SurviveContext *ctx, survive_channel c

for (i = 0; i < NUM_GEN2_LIGHTHOUSES; i++) {
if (ctx->bsd[i].mode == 0xFF) {
ctx->bsd[i] = (BaseStationData){.tracker = ctx->bsd[i].tracker};
ctx->bsd[i].mode = channel;
if (ctx->activeLighthouses < i + 1) {
ctx->activeLighthouses = i + 1;
Expand Down Expand Up @@ -502,8 +501,16 @@ SurviveContext *survive_init_internal(int argc, char *const *argv, void *userDat

pctx->callbackStatsTimeBetween = survive_configf(ctx, "output-callback-stats", SC_GET, 0.0);

const char *whitelist = survive_configs(ctx, "use-lighthouses", SC_GET, "");
bool use_whitelist = (whitelist && whitelist[0] != 0);
if(use_whitelist) {
SV_INFO("Using lighthouse whitelist: %s", whitelist);
}

for (int i = 0; i < NUM_GEN2_LIGHTHOUSES; i++) {
if (config_read_lighthouse(ctx->lh_config, &(ctx->bsd[i]), i)) {
// config_read_lighthouse returns true if it found a config
bool has_config = config_read_lighthouse(ctx->lh_config, &(ctx->bsd[i]), i);
if (has_config) {
if (ctx->bsd[i].mode >= 0 && ctx->bsd[i].mode < 16)
ctx->bsd_map[ctx->bsd[i].mode] = i;
ctx->activeLighthouses++;
Expand All @@ -514,7 +521,24 @@ SurviveContext *survive_init_internal(int argc, char *const *argv, void *userDat
if (ctx->bsd[i].disable = survive_configi(ctx, buffer, SC_GET, 0)) {
SV_WARN("Disabling LH %d", i);
}

if (use_whitelist && has_config && !ctx->bsd[i].disable) {
char id_str[16] = {0};
sprintf(id_str, "%X", ctx->bsd[i].BaseStationID); // Use ID from config

// If ID is NOT in list, disable it
if (strstr(whitelist, id_str) == NULL) {
SV_WARN("Lighthouse %s (idx %d) is not in the whitelist. Disabling.", id_str, i);
ctx->bsd[i].disable = 1;
} else {
SV_INFO("Lighthouse %s (idx %d) is in whitelist. Enabling.", id_str, i);
}
}

// If whitelist is active but this LH has no config, disable it until OOTX can identify it.
if (use_whitelist && !has_config) {
ctx->bsd[i].disable = 1;
SV_VERBOSE(50, "LH %d has no config, disabling pending OOTX identification.", i);
}
ctx->bsd[i].tracker = SV_MALLOC(sizeof(struct SurviveKalmanLighthouse));
survive_kalman_lighthouse_init(ctx->bsd[i].tracker, ctx, i);
};
Expand Down
19 changes: 18 additions & 1 deletion src/survive_process_gen2.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,22 @@ static void ootx_packet_clbk_d_gen2(ootx_decoder_context *ct, ootx_packet *packe
SV_INFO("Got OOTX packet %d %08x", ctx->bsd[id].mode, (unsigned)v15.id);

b->BaseStationID = v15.id;

const char *whitelist = survive_configs(ctx, "use-lighthouses", SC_GET, "");
SV_INFO("PRINT WHITELIST '%s' is whitelisted", whitelist);
if (whitelist && whitelist[0] != 0) {
char id_str[16] = {0};
sprintf(id_str, "%X", b->BaseStationID);
SV_WARN("Checking lighthouse %s (idx %d) ", id_str, id);
if (strstr(whitelist, id_str) == NULL) {
SV_WARN("Lighthouse %s (idx %d) is not in the whitelist. Disabling.", id_str, id);
b->disable = 1;
} else {
SV_INFO("Lighthouse %s (idx %d) discovered and in whitelist. Enabling.", id_str, id);
b->disable = 0;
}
}

for (int i = 0; i < 2; i++) {
b->fcal[i].phase = v15.fcal_phase[i];
b->fcal[i].tilt = v15.fcal_tilt[i];
Expand Down Expand Up @@ -195,7 +211,8 @@ SURVIVE_EXPORT void survive_default_sync_process(SurviveObject *so, survive_chan
SV_WARN("Invalid channel requested(%d) for %s", channel, so->codename)
return;
}

// Run OOTX FIRST. This allows a disabled LH to be identified and (if whitelisted) re-enabled
survive_ootx_behavior(so, bsd_idx, ctx->lh_version, ootx);
if (so->ctx->bsd[bsd_idx].disable)
return;

Expand Down