Merge branch 'crownstone:master' into master

docs/development_environment/CODE_STYLE.md

@@ -9,8 +9,8 @@ Investigate the `source/.clang-format` (<https://github.com/crownstone/bluenet/b
 
 Support for autoformatting in IDEs is widespread.
 E.g.:
-- This [Eclipse plugin](https://marketplace.eclipse.org/content/cppstyle) enables formatting files on save or selected pieces of code using `ctrl+shift+f`.
-- Commandline tools such as `python3 -m pip install clang-format` are also available.
+- For Eclipse, there is a cppstyle plugin that enables formatting files on save or selected pieces of code using `ctrl+shift+f`.
+- Command-line tools such as `python3 -m pip install clang-format` are also available.
 
 Always run the formatter before committing.
 

doxygen.config

@@ -38,13 +38,13 @@ PROJECT_NAME           = "Bluenet"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 5.4.0
+PROJECT_NUMBER         = 5.7.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
 # quick idea about the purpose of the project. Keep the description short.
 
-PROJECT_BRIEF          = "Bluenet, the firmware for the Crownstone power outlet"
+PROJECT_BRIEF          = "Bluenet, firmware for nRF52 smart home devices"
 
 # With the PROJECT_LOGO tag one can specify a logo or an icon that is included
 # in the documentation. The maximum height of the logo should not exceed 55
@@ -409,25 +409,25 @@ LOOKUP_CACHE_SIZE      = 0
 # normally produced when WARNINGS is set to YES.
 # The default value is: NO.
 
-EXTRACT_ALL            = NO
+EXTRACT_ALL            = YES
 
 # If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
 # be included in the documentation.
 # The default value is: NO.
 
-EXTRACT_PRIVATE        = NO
+EXTRACT_PRIVATE        = YES
 
 # If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
 # scope will be included in the documentation.
 # The default value is: NO.
 
-EXTRACT_PACKAGE        = NO
+EXTRACT_PACKAGE        = YES
 
 # If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
 # included in the documentation.
 # The default value is: NO.
 
-EXTRACT_STATIC         = NO
+EXTRACT_STATIC         = YES
 
 # If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
 # locally in source files will be included in the documentation. If set to NO,
@@ -443,7 +443,7 @@ EXTRACT_LOCAL_CLASSES  = YES
 # included.
 # The default value is: NO.
 
-EXTRACT_LOCAL_METHODS  = NO
+EXTRACT_LOCAL_METHODS  = YES
 
 # If this flag is set to YES, the members of anonymous namespaces will be
 # extracted and appear in the documentation as a namespace called

source/CMakeLists.txt

@@ -566,7 +566,7 @@ add_custom_target(check
 
 add_custom_target(generate_documentation
 	COMMAND ${CMAKE_COMMAND} -E echo "Run doxygen from ${CMAKE_SOURCE_DIR}"
-	COMMAND cd ${WORKSPACE_DIR} && doxygen source/doxygen.config
+	COMMAND cd ${WORKSPACE_DIR} && doxygen doxygen.config
 	COMMENT "Run documentation generator"
 	)
 

source/include/localisation/cs_MeshTopology.h

@@ -16,8 +16,57 @@
 #include <localisation/cs_MeshTopologyResearch.h>
 #endif
 
-class MeshTopology : EventListener {
+/**
+ * Keeps track of the rssi distance of this crownstone to
+ * the crownstones in its direct environment.
+ *
+ * Several related commands are available over UART.
+ */
+class MeshTopology: EventListener {
+	/**
+	 * Set this to true to make every crownstone in the sphere to send a noop message
+	 * on every tick, and make every crownstone respond with a neighbor message with that rssi.
+	 *
+	 * (This gives the highest possible frequency trip wire)
+	 */
+	static constexpr bool TripwireResearch = false;
+
 public:
+	/**
+	 * Initializes the class:
+	 * - Reads State.
+	 * - Allocates buffer.
+	 * - Starts listening for events.
+	 */
+	cs_ret_code_t init();
+
+	/**
+	 * Commands handled:
+	 *  - CMD_MESH_TOPO_GET_RSSI
+	 *  - CMD_MESH_TOPO_RESET
+	 *  - CMD_MESH_TOPO_GET_MAC
+	 *
+	 * Internal usage:
+	 *  - EVT_RECV_MESH_MSG
+	 *  - EVT_TICK
+	 */
+	void handleEvent(event_t &evt);
+
+	/**
+	 * Get the MAC address of a neighbouring crownstone.
+	 *
+	 * @param[in] stoneId    The stone ID of the crownstone.
+	 *
+	 * @return ERR_WAIT_FOR_SUCCESS    When the MAC address is requested. Wait for EVT_MESH_TOPO_MAC_RESULT.
+	 *                                 However, there will be no event if it times out.
+	 * @return ERR_NOT_FOUND           When the stone is not a known neighbour.
+	 */
+	cs_ret_code_t getMacAddress(stone_id_t stoneId);
+
+	// --------------------------------
+	// ---------- parameters ----------
+	// --------------------------------
+
 	/**
 	 * Maximum number of neighbours in the list.
 	 */
@@ -47,24 +96,6 @@ class MeshTopology : EventListener {
 	 */
 	static constexpr uint16_t FAST_INTERVAL_TIMEOUT_SECONDS            = 5 * 60;
 
-	/**
-	 * Initializes the class:
-	 * - Reads State.
-	 * - Allocates buffer.
-	 * - Starts listening for events.
-	 */
-	cs_ret_code_t init();
-
-	/**
-	 * Get the MAC address of a neighbouring crownstone.
-	 *
-	 * @param[in] stoneId    The stone ID of the crownstone.
-	 *
-	 * @return ERR_WAIT_FOR_SUCCESS    When the MAC address is requested. Wait for EVT_MESH_TOPO_MAC_RESULT.
-	 *                                 However, there will be no event if it times out.
-	 * @return ERR_NOT_FOUND           When the stone is not a known neighbour.
-	 */
-	cs_ret_code_t getMacAddress(stone_id_t stoneId);
 
 private:
 	static constexpr uint8_t INDEX_NOT_FOUND = 0xFF;
@@ -79,6 +110,10 @@ class MeshTopology : EventListener {
 		uint8_t lastSeenSecondsAgo;
 	};
 
+	// ---------------------------------------
+	// ---------- runtime variables ----------
+	// ---------------------------------------
+
 	/**
 	 * Stone ID of this crownstone, read on init.
 	 */
@@ -119,6 +154,10 @@ class MeshTopology : EventListener {
 	 */
 	uint8_t _msgCount = 0;
 
+	// -------------------------------------
+	// ---------- private methods ----------
+	// -------------------------------------
+
 	/**
 	 * Resets the stored topology.
 	 */
@@ -134,6 +173,11 @@ class MeshTopology : EventListener {
 	 */
 	void updateNeighbour(neighbour_node_t& node, stone_id_t id, int8_t rssi, uint8_t channel);
 
+	/**
+	 * sets the three rssi values to RSSI_INIT
+	 */
+	void clearNeighbourRssi(neighbour_node_t& node);
+
 	/**
 	 * Find a neighbour in the list.
 	 */
@@ -154,30 +198,48 @@ class MeshTopology : EventListener {
 	 */
 	void sendNext();
 
+	/**
+	 * Sends a neighbour message for the given node over the mesh.
+	 * No checks are executed.
+	 *
+	 * Returns the message struct for convenience.
+	 */
+	cs_mesh_model_msg_neighbour_rssi_t sendNeighbourMessageOverMesh(neighbour_node_t& node);
+
 	/**
 	 * Sends the RSSI to a neighbour over UART.
 	 */
 	void sendRssiToUart(stone_id_t reveiverId, cs_mesh_model_msg_neighbour_rssi_t& packet);
 
-	// Event handlers
+	// ------------------------------------
+	// ---------- event handlers ----------
+	// ------------------------------------
+
 	void onNeighbourRssi(stone_id_t id, cs_mesh_model_msg_neighbour_rssi_t& packet);
+
 	cs_ret_code_t onStoneMacMsg(MeshMsgEvent& meshMsg);
+
+	/**
+	 * Handles mesh messages:
+	 *  - CS_MESH_MODEL_TYPE_NEIGHBOUR_RSSI
+	 *  - CS_MESH_MODEL_TYPE_STONE_MAC
+	 *
+	 *  Also calls `add` if .hops == 0, regarless of the packet type.
+	 */
 	void onMeshMsg(MeshMsgEvent& packet, cs_result_t& result);
-	void onTickSecond();
 
 	/**
-	 * Print all neighbours.
+	 * neighbors are removed from the list when their individual countdown expires.
+	 * See TIMEOUT_SECONDS.
 	 */
-	void print();
+	void onTickSecond();
 
-public:
 	/**
-	 * Internal usage.
+	 * Prints all neighbours.
 	 */
-	void handleEvent(event_t& evt);
+	void print();
 
 #if BUILD_MESH_TOPOLOGY_RESEARCH == 1
-private:
 	MeshTopologyResearch _research;
 #endif
 };

source/src/localisation/cs_MeshTopology.cpp

@@ -85,15 +85,11 @@ void MeshTopology::add(stone_id_t id, int8_t rssi, uint8_t channel) {
 	if (id == 0 || id == _myId) {
 		return;
 	}
-	//	auto compressedRssiData = compressRssi(rssi,channel);
 
 	uint8_t index = find(id);
 	if (index == INDEX_NOT_FOUND) {
 		if (_neighbourCount < MAX_NEIGHBOURS) {
-			// Init RSSI
-			_neighbours[_neighbourCount].rssiChannel37 = RSSI_INIT;
-			_neighbours[_neighbourCount].rssiChannel38 = RSSI_INIT;
-			_neighbours[_neighbourCount].rssiChannel39 = RSSI_INIT;
+			clearNeighbourRssi(_neighbours[_neighbourCount]);
 			updateNeighbour(_neighbours[_neighbourCount], id, rssi, channel);
 			_neighbourCount++;
 		}
@@ -107,7 +103,6 @@ void MeshTopology::add(stone_id_t id, int8_t rssi, uint8_t channel) {
 }
 
 void MeshTopology::updateNeighbour(neighbour_node_t& node, stone_id_t id, int8_t rssi, uint8_t channel) {
-	// TODO: averaging.
 	LOGMeshTopologyDebug("updateNeighbour id=%u rssi=%i channel=%u", id, rssi, channel);
 	node.id = id;
 	switch (channel) {
@@ -127,6 +122,13 @@ void MeshTopology::updateNeighbour(neighbour_node_t& node, stone_id_t id, int8_t
 	node.lastSeenSecondsAgo = 0;
 }
 
+
+void MeshTopology::clearNeighbourRssi(neighbour_node_t& node) {
+	node.rssiChannel37 = RSSI_INIT;
+	node.rssiChannel38 = RSSI_INIT;
+	node.rssiChannel39 = RSSI_INIT;
+}
+
 uint8_t MeshTopology::find(stone_id_t id) {
 	for (uint8_t index = 0; index < _neighbourCount; ++index) {
 		if (_neighbours[index].id == id) {
@@ -198,22 +200,15 @@ void MeshTopology::sendNext() {
 			node.id,
 			node.lastSeenSecondsAgo);
 
-	cs_mesh_model_msg_neighbour_rssi_t meshPayload = {
-			.type               = 0,
-			.neighbourId        = node.id,
-			.rssiChannel37      = node.rssiChannel37,
-			.rssiChannel38      = node.rssiChannel38,
-			.rssiChannel39      = node.rssiChannel39,
-			.lastSeenSecondsAgo = node.lastSeenSecondsAgo,
-			.counter            = _msgCount++};
+	cs_mesh_model_msg_neighbour_rssi_t meshPayload = sendNeighbourMessageOverMesh(node);
 
 	TYPIFY(CMD_SEND_MESH_MSG) meshMsg;
-	meshMsg.type                   = CS_MESH_MODEL_TYPE_NEIGHBOUR_RSSI;
-	meshMsg.reliability            = CS_MESH_RELIABILITY_LOWEST;
-	meshMsg.urgency                = CS_MESH_URGENCY_LOW;
+	meshMsg.type = CS_MESH_MODEL_TYPE_NEIGHBOUR_RSSI;
+	meshMsg.reliability = CS_MESH_RELIABILITY_LOWEST;
+	meshMsg.urgency = CS_MESH_URGENCY_LOW;
 	meshMsg.flags.flags.doNotRelay = false;
-	meshMsg.payload                = reinterpret_cast<uint8_t*>(&meshPayload);
-	meshMsg.size                   = sizeof(meshPayload);
+	meshMsg.payload = reinterpret_cast<uint8_t*>(&meshPayload);
+	meshMsg.size = sizeof(meshPayload);
 
 	event_t event(CS_TYPE::CMD_SEND_MESH_MSG, &meshMsg, sizeof(meshMsg));
 	event.dispatch();
@@ -225,6 +220,32 @@ void MeshTopology::sendNext() {
 	_nextSendIndex++;
 }
 
+
+cs_mesh_model_msg_neighbour_rssi_t MeshTopology::sendNeighbourMessageOverMesh(neighbour_node_t& node) {
+	cs_mesh_model_msg_neighbour_rssi_t meshPayload = {
+				.type = 0,
+				.neighbourId = node.id,
+				.rssiChannel37 = node.rssiChannel37,
+				.rssiChannel38 = node.rssiChannel38,
+				.rssiChannel39 = node.rssiChannel39,
+				.lastSeenSecondsAgo = node.lastSeenSecondsAgo,
+				.counter = _msgCount++
+		};
+
+		TYPIFY(CMD_SEND_MESH_MSG) meshMsg;
+		meshMsg.type = CS_MESH_MODEL_TYPE_NEIGHBOUR_RSSI;
+		meshMsg.reliability = CS_MESH_RELIABILITY_LOWEST;
+		meshMsg.urgency = CS_MESH_URGENCY_LOW;
+		meshMsg.flags.flags.doNotRelay = false;
+		meshMsg.payload = reinterpret_cast<uint8_t*>(&meshPayload);
+		meshMsg.size = sizeof(meshPayload);
+
+		event_t event(CS_TYPE::CMD_SEND_MESH_MSG, &meshMsg, sizeof(meshMsg));
+		event.dispatch();
+
+		return meshPayload;
+}
+
 void MeshTopology::sendRssiToUart(stone_id_t receiverId, cs_mesh_model_msg_neighbour_rssi_t& packet) {
 	LOGMeshTopologyDebug("sendRssiToUart receiverId=%u senderId=%u", receiverId, packet.neighbourId);
 	mesh_topology_neighbour_rssi_uart_t uartMsg = {
@@ -310,6 +331,18 @@ void MeshTopology::onMeshMsg(MeshMsgEvent& packet, cs_result_t& result) {
 	if (packet.type == CS_MESH_MODEL_TYPE_STONE_MAC) {
 		result.returnCode = onStoneMacMsg(packet);
 	}
+
+	if constexpr (TripwireResearch) {
+		LOGMeshTopologyVerbose("forward noop as neighbour mesh msg for tripwire");
+		if(packet.type == CS_MESH_MODEL_TYPE_CMD_NOOP) {
+			neighbour_node_t node = {};
+			clearNeighbourRssi(node);
+			updateNeighbour(node, packet.srcStoneId, packet.rssi, packet.channel);
+			sendNeighbourMessageOverMesh(node);
+		}
+	}
+
+
 	add(packet.srcStoneId, packet.rssi, packet.channel);
 }
 
@@ -394,6 +427,12 @@ void MeshTopology::handleEvent(event_t& evt) {
 			if (*packet % (1000 / TICK_INTERVAL_MS) == 0) {
 				onTickSecond();
 			}
+
+			if constexpr(TripwireResearch) {
+				LOGMeshTopologyVerbose("send a noop for tripwire");
+				sendNoop();
+			}
+
 			break;
 		}
 		case CS_TYPE::CMD_MESH_TOPO_GET_MAC: {