dashboard: show sensor node RS485 diagnostics

2026-07-26 18:10:50 -06:00
parent 35c0721b47
commit f145730b14
10 changed files with 266 additions and 1 deletions
@@ -0,0 +1,135 @@
+#include <ArduinoJson.h>
+#include <HardwareSerial.h>
+
+#include "sensor_node_receiver.h"
+
+namespace {
+constexpr int SENSOR_NODE_RS485_RX_PIN = 43;
+constexpr int SENSOR_NODE_RS485_TX_PIN = 44;
+constexpr uint32_t SENSOR_NODE_RS485_BAUD = 115200;
+constexpr size_t SENSOR_NODE_RS485_MAX_LINE = 1900;
+constexpr size_t SENSOR_NODE_RS485_RX_BUFFER = 4096;
+constexpr unsigned long SENSOR_NODE_STALE_MS = 1500;
+
+HardwareSerial sensorNodeSerial(1);
+SensorNodeDashboardStatus sensorNodeStatus;
+String receiveLine;
+bool discardUntilNewline = false;
+bool sequenceInitialized = false;
+
+void recordSequence(uint32_t bootId, uint32_t sequence) {
+    if (!sequenceInitialized || bootId != sensorNodeStatus.bootId) {
+        if (sequenceInitialized && bootId != sensorNodeStatus.bootId) {
+            sensorNodeStatus.nodeRestarts++;
+        }
+        sensorNodeStatus.bootId = bootId;
+        sensorNodeStatus.frameSequence = sequence;
+        sequenceInitialized = true;
+        return;
+    }
+
+    uint32_t delta = sequence - sensorNodeStatus.frameSequence;
+    if (delta > 1 && delta < 0x80000000UL) {
+        sensorNodeStatus.framesDropped += delta - 1;
+    }
+    sensorNodeStatus.frameSequence = sequence;
+}
+
+void parseSensorNodeFrame(const String &line) {
+    StaticJsonDocument<3072> doc;
+    DeserializationError error = deserializeJson(doc, line);
+    if (error) {
+        sensorNodeStatus.parseErrors++;
+        return;
+    }
+
+    const char *type = doc["type"] | "";
+    if (strcmp(type, "sensor_status") != 0 || (int)(doc["schema_version"] | 0) != 1) {
+        return;
+    }
+
+    uint32_t bootId = doc["boot_id"] | 0;
+    uint32_t sequence = doc["frame_sequence"] | 0;
+    recordSequence(bootId, sequence);
+
+    JsonObject imu = doc["imu"];
+    sensorNodeStatus.imuOnline = imu["online"] | false;
+    sensorNodeStatus.imuValid = imu["valid"] | false;
+    sensorNodeStatus.imuAccuracy = imu["accuracy"] | 0;
+    sensorNodeStatus.stability = String((const char *)(imu["stability"] | "unknown"));
+
+    JsonObject level = imu["level_calibration"];
+    sensorNodeStatus.levelCalibrationValid = level["valid"] | false;
+    sensorNodeStatus.pitchDegrees = sensorNodeStatus.levelCalibrationValid
+        ? (float)(level["pitch_degrees"] | 0.0f)
+        : (float)(imu["pitch_degrees"] | 0.0f);
+    sensorNodeStatus.rollDegrees = sensorNodeStatus.levelCalibrationValid
+        ? (float)(level["roll_degrees"] | 0.0f)
+        : (float)(imu["roll_degrees"] | 0.0f);
+
+    JsonObject gps = doc["gps"];
+    sensorNodeStatus.gpsOnline = gps["online"] | false;
+    sensorNodeStatus.gpsFix = gps["fix"] | false;
+    sensorNodeStatus.satellites = gps["satellites"] | 0;
+    sensorNodeStatus.hdop = gps["hdop"].isNull() ? 0 : (float)gps["hdop"];
+    sensorNodeStatus.latitude = gps["latitude"] | 0.0;
+    sensorNodeStatus.longitude = gps["longitude"] | 0.0;
+    sensorNodeStatus.speedKph = gps["speed_kph"] | 0.0f;
+    sensorNodeStatus.firmwareVersion = String((const char *)(doc["firmware_version"] | ""));
+    sensorNodeStatus.frameReceived = true;
+    sensorNodeStatus.framesReceived++;
+    sensorNodeStatus.lastFrameMs = millis();
+}
+}
+
+void initSensorNodeRs485() {
+    receiveLine.reserve(SENSOR_NODE_RS485_MAX_LINE);
+    sensorNodeSerial.setRxBufferSize(SENSOR_NODE_RS485_RX_BUFFER);
+    sensorNodeSerial.begin(
+        SENSOR_NODE_RS485_BAUD,
+        SERIAL_8N1,
+        SENSOR_NODE_RS485_RX_PIN,
+        SENSOR_NODE_RS485_TX_PIN
+    );
+    Serial.println("Sensor node RS485: RX GPIO43 / TX GPIO44 @ 115200");
+}
+
+void processSensorNodeRs485() {
+    while (sensorNodeSerial.available() > 0) {
+        char value = (char)sensorNodeSerial.read();
+        if (value == '\r') continue;
+
+        if (value != '\n') {
+            if (discardUntilNewline) continue;
+            if (receiveLine.length() < SENSOR_NODE_RS485_MAX_LINE) {
+                receiveLine += value;
+            } else {
+                receiveLine = "";
+                discardUntilNewline = true;
+                sensorNodeStatus.oversizedFrames++;
+            }
+            continue;
+        }
+
+        if (discardUntilNewline) {
+            discardUntilNewline = false;
+            receiveLine = "";
+            continue;
+        }
+
+        if (receiveLine.length() > 0) {
+            parseSensorNodeFrame(receiveLine);
+        }
+        receiveLine = "";
+    }
+}
+
+bool sensorNodeRs485Connected() {
+    return sensorNodeStatus.frameReceived &&
+           millis() - sensorNodeStatus.lastFrameMs <= SENSOR_NODE_STALE_MS;
+}
+
+const SensorNodeDashboardStatus &getSensorNodeStatus() {
+    return sensorNodeStatus;
+}
+