LoRa Fix
This commit is contained in:
+57
-64
@@ -1,6 +1,7 @@
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import sys
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import time
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import random
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from shared.logging import log
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IS_MICROPYTHON = sys.implementation.name == 'micropython'
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@@ -32,9 +33,10 @@ class BaseLoraDevice:
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"""Sends an immediate acknowledgement packet back to the sender."""
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print(f"[ReliableLoRa] -> Triggering ACK send for msg_id: {ack_id}")
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if IS_MICROPYTHON:
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time.sleep_ms(10)
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time.sleep_ms(100)
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else:
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time.sleep(0.01)
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# Give LA66 chip time to finish logging RSSI and reset RF frontend
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time.sleep(0.25)
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ack_payload = {"_type": "_ack", "_ack_id": ack_id}
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self.send(ack_payload)
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@@ -72,8 +74,8 @@ class BaseLoraDevice:
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return packet
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def send_reliable(self, payload, max_retries=4, ack_timeout=2.5):
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"""Sends a payload and retries until an ACK is received or max retries are reached."""
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def send_reliable(self, payload, max_retries=4, ack_timeout=3.0):
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"""Sends a payload and listens in a single continuous RX window for the ACK."""
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lock = getattr(self, 'lock', None)
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if isinstance(payload, dict):
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@@ -89,37 +91,31 @@ class BaseLoraDevice:
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for attempt in range(max_retries):
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print(f"[ReliableLoRa] Attempt {attempt + 1}/{max_retries} transmitting msg_id {msg_id}")
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self.send(payload)
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start_time = time.time()
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while (time.time() - start_time) < ack_timeout:
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# 1. Open a single continuous RX window for the full timeout duration
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# (Defaulted to 3.0s to account for LA66 UART + transmission time)
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timeout_ms = int(ack_timeout * 1000)
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packet = self.receive_packet(timeout_ms=timeout_ms)
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# 2. Process incoming packet if received
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if packet:
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if lock: lock.acquire()
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try:
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if msg_id in self.received_acks:
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self.received_acks.remove(msg_id)
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print(f"[ReliableLoRa] === ACK received for msg_id {msg_id} on attempt {attempt + 1} ===")
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return True
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filtered_packet = self._process_incoming_packet(packet)
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if filtered_packet:
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self.pending_rx_queue.append(filtered_packet)
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finally:
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if lock: lock.release()
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packet = self.receive_packet(timeout_ms=500)
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if packet:
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print(f"[ReliableLoRa] Received raw packet while waiting for ACK: {packet}")
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if lock: lock.acquire()
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try:
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filtered_packet = self._process_incoming_packet(packet)
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if filtered_packet:
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self.pending_rx_queue.append(filtered_packet)
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finally:
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if lock: lock.release()
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if lock: lock.acquire()
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try:
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if msg_id in self.received_acks:
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self.received_acks.remove(msg_id)
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print(f"[ReliableLoRa] === ACK received for msg_id {msg_id} after poll ===")
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return True
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finally:
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if lock: lock.release()
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# 3. Check if matching ACK was received
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if lock: lock.acquire()
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try:
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if msg_id in self.received_acks:
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self.received_acks.remove(msg_id)
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print(f"[ReliableLoRa] === ACK received for msg_id {msg_id} on attempt {attempt + 1} ===")
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return True
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finally:
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if lock: lock.release()
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print(f"[ReliableLoRa] Attempt {attempt + 1} timed out waiting for ACK for msg_id {msg_id}")
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@@ -247,36 +243,30 @@ if IS_MICROPYTHON:
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print(f"[LoRa SPI] Recv error caught: {e}")
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return None
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if state == 0 and data is not None and len(data) > 0:
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if data[0] in (0x7B, 0x5B): # Starts with '{' or '['
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group = self.default_group
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payload_brute = data.strip(b'\x00 \r\n\t')
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elif len(data) > 1:
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group = data[0]
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payload_brute = data[1:].strip(b'\x00 \r\n\t')
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else:
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return None
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# Decode to string, ignoring unprintable characters
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try:
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text = payload_brute.decode('utf-8').strip('\x00 \r\n\t')
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except UnicodeError:
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raw_text = data.decode('utf-8', 'ignore').strip()
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except Exception:
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return None
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if text.startswith('{') or text.startswith('['):
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decoded_text = text
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elif text.lower().startswith('7b') or text.lower().startswith('5b'):
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# Find where the actual JSON payload starts ({ or [)
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idx_brace = raw_text.find('{')
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idx_bracket = raw_text.find('[')
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valid_indices = [i for i in (idx_brace, idx_bracket) if i != -1]
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if valid_indices:
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# Slice off all leading group bytes/control characters (\x02)
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json_str = raw_text[min(valid_indices):]
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try:
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decoded_text = ubinascii.unhexlify(text).decode('utf-8').strip('\x00 \r\n\t')
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parsed_json = json.loads(json_str)
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return {"group": self.default_group, "data": parsed_json, "raw": False}
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except Exception:
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decoded_text = text
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else:
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decoded_text = text
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pass
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try:
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parsed_json = json.loads(decoded_text)
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return {"group": group, "data": parsed_json, "raw": False}
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except ValueError:
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return {"group": group, "data": decoded_text, "raw": True}
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return {"group": self.default_group, "data": raw_text, "raw": True}
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return None
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@@ -301,10 +291,15 @@ else:
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# Initial configuration
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self.configure(freq=868.1, sf=7, bw=125)
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def _send_at_cmd(self, cmd, wait_time=0.15):
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"""Helper to send AT command and purge response buffer."""
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def _send_at_cmd(self, cmd, wait_time=0.3):
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"""Sends AT command, draining unread serial noise first."""
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# Drain any lingering lines (like 'Rssi= -4' or incoming data)
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if self.ser.in_waiting > 0:
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self.ser.read_all()
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self.ser.write(f"{cmd}\r\n".encode('utf-8'))
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time.sleep(wait_time)
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resp = ""
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while self.ser.in_waiting > 0:
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resp += self.ser.readline().decode('utf-8', errors='ignore')
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@@ -326,7 +321,7 @@ else:
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self.ser.reset_input_buffer()
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def send(self, payload, group=None):
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"""Encodes payload into HEX AT command and re-enables continuous RX."""
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"""Encodes payload into a HEX string and transmits via 4-parameter AT+SEND."""
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with self.lock:
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if group is None:
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group = self.default_group
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@@ -337,17 +332,15 @@ else:
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if isinstance(payload, str):
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payload = payload.encode('utf-8')
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paquet_physique = bytes([group]) + payload
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hex_payload = paquet_physique.hex()
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self.ser.reset_input_buffer()
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hex_payload = payload.hex()
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print(f"[RPi LoRa Serial] Transmitting HEX payload: {hex_payload}")
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cmd = f"AT+PSEND={hex_payload}"
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resp = self._send_at_cmd(cmd, wait_time=0.25) # Wait for RF TX to finish
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print(f"[RPi LoRa Serial] AT+PSEND response: {resp}")
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print(f"[RPi LoRa Serial] Transmitting HEX string: {hex_payload}")
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# Re-enable continuous receive mode after transmission completes
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self._send_at_cmd("AT+PRECV=65535", wait_time=0.05)
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# Format: AT+SEND=<group>,<payload_string>,<confirm>,<retries>
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cmd = f"AT+SEND={group},{hex_payload},0,3"
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resp = self._send_at_cmd(cmd, wait_time=0.3)
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print(f"[RPi LoRa Serial] AT+SEND response: {resp}")
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def receive_packet(self, timeout_ms=500):
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"""Reads incoming serial lines from LA66 stick with robust format parsing."""
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