G31_luatide_proj/tracker.lua

--- 模块功能：GPS TRACKERE 主逻辑
-- @author openLuat
-- @module default
-- @license MIT
-- @copyright openLuat
-- @release 2018.03.27
require "net"
require "misc"
require "mqtt"
require "gpsv2"
require "utils"
require "update"
require "funlib"
require "pins"
require"nvm"
module(..., package.seeall)

-- 无网络重启时间，飞行模式启动时间
local rstTim, flyTim = 600000, 300000
-- 解除报警的等待时间秒,GPS打开的起始时间utc秒
local clearTime, startTime = 300, 0
-- 轨迹消息缓冲区
local trackFile = {{}, {}, {}, {}, {}, {}, {}, {}, {}, {}}
-- 传感器数据
local sens = {
    vib = false, -- 震动检测
    acc = false, -- 开锁检测
    act = false, -- 启动检测
    chg = false, -- 充电检测
    und = false, -- 剪线检测
    wup = false, -- 唤醒检测
    vcc = 0, -- 电池电压
}

local frameSn = 0
--是否发送报警位置
local isSendAlarm = false

-- 配置文件
local dtu = {
    host = "", -- 自定义参数服务器
    passon = 0, --透传标志位
    plate = 0, --识别码标志位
    convert = 0, --hex转换标志位
    reg = 0, -- 登陆注册包
    param_ver = 0, -- 参数版本
    flow = 0, -- 流量监控
    fota = 0, -- 远程升级
    uartReadTime = 500, -- 串口读超时
    netReadTime = 50, -- 网络读超时
    pwrmod = "normal",
    password = "",
    upprot = {}, -- 上行自定义协议
    dwprot = {}, -- 下行自定义协议
    apn = {nil, nil, nil}, -- 用户自定义APN
    cmds = {{}, {}}, -- 自动采集任务参数
    pins = {"", "", ""}, -- 用户自定义IO: netled,netready,rstcnf,
    conf = {{
        -- 数组下标代表通道ID号
        "tcp", 			-- 协议 TCP | UDP | MQTT |
        "ping", 		-- 心跳包内容
        "180", 			-- 心跳包间隔
        "116.62.220.88",  -- HOST 地址
        "21890", 		-- HOST 端口
        1, 				-- 通道透传捆绑的串口ID
        "", 			-- 保持为""
        "", 			-- 保持为""
        "",				-- 自动采集任务间隔
        ""				 -- SSL 标志位	可选"ssl"
    }, {}, {}, {}, {}, {}, {}}, -- 用户通道参数
    preset = {number = "", delay = 1, smsword = "SMS_UPDATE"}, -- 用户预定义的来电电话,延时时间,短信关键字
    uconf = {
        {1, 115200, 8, uart.PAR_NONE, uart.STOP_1},
        {2, 115200, 8, uart.PAR_NONE, uart.STOP_1},
        {3, 115200, 8, uart.PAR_NONE, uart.STOP_1},
    }, -- 串口配置表
    gps = {
        fun = {"1", "9600", "0", "1", "1", "json", "0", ";", "60"}, -- 用户捆绑GPS的串口,波特率，功耗模式，采集间隔,采集方式支持触发和持续, 报文数据格式支持 json 和 hex，缓冲条数,分隔符,状态报文间隔
        pio = {"", "", "", "", "0", "16"}, -- 配置GPS用到的IO: led脚，vib震动输入脚，ACC输入脚,内置电池充电状态监视脚,adc通道,分压比
    },
    warn = {
        gpio = {},
        adc0 = {},
        adc1 = {},
        vbatt = {}
    },
    task = {}, -- 用户自定义任务列表
}

--停止时间阀值
local stopTimeThreshold = 10
--定位上报间隔
local locateReportInterval = 30

----------------------------------------------------------传感器部分----------------------------------------------------------
-- 配置GPS用到的IO: led脚，vib震动输入脚，ACC输入脚,内置电池充电状态监视脚,adc通道,分压比
function sensMonitor(ledio, vibio, accio, chgio, adcid, ratio)
    -- 点火监测采样队列
    local powerVolt, adcQue, acc, chg = 0, {0, 0, 0, 0, 0}
    -- GPS 定位成功指示灯
    if ledio and default.pios[ledio] then
        default.pios[ledio] = nil
        local led = pins.setup(tonumber(ledio:sub(4, -1)), 0)
        sys.subscribe("GPS_MSG_REPORT", led)
    end
    -- 震动传感器检测
    if vibio and default.pios[vibio] then
        pins.setup(tonumber(vibio:sub(4, -1)), function(msg) if msg == cpu.INT_GPIO_NEGEDGE then sens.vib = true end end, pio.PULLUP)
        default.pios[vibio] = nil
    end
    -- ACC开锁检测
    if accio and default.pios[accio] then
        acc = pins.setup(tonumber(accio:sub(4, -1)), nil, pio.PULLUP)
        default.pios[accio] = nil
    end
    -- 内置锂电池充电状态监控脚
    if chgio and default.pios[chgio] then
        chg = pins.setup(tonumber(chgio:sub(4, -1)), nil, pio.PULLUP)
        default.pios[chgio] = nil
    end
    adc.open(tonumber(adcid) or 0)
    while true do
        local adcValue, voltValue = adc.read(tonumber(adcid) or 0)
        if adcValue ~= 0xFFFF or voltValue ~= 0xFFFF then
            voltValue = voltValue * (tonumber(ratio)) / 3
            -- 点火检测部分
            powerVolt = (adcQue[1] + adcQue[2] + adcQue[3] + adcQue[4] + adcQue[5]) / 5
            table.remove(adcQue, 1)
            table.insert(adcQue, voltValue)
            if voltValue + 1500 < powerVolt or voltValue - 1500 > powerVolt then
                sens.act = true
            else
                sens.act = false
            end
        end
        sens.acc, sens.chg = acc and acc() == 0, chg and chg() == 0
        sens.vcc, sens.und = voltValue, voltValue < 4000
        sys.wait(1000)
        sens.vib = false
    end
    adc.close(tonumber(adcid) or 0)
end

----------------------------------------------------------设备逻辑任务----------------------------------------------------------
-- 上报设备状态,这里是用户自定义上报报文的顺序的
-- sta = {"isopen", "vib", "acc", "act", "chg", "und", "volt", "vbat", "csq"}
function deviceMessage(format)
    if format:lower() ~= "hex" then
        return json.encode({
            sta = {gpsv2.isOpen(), sens.vib, sens.acc, sens.act, sens.chg, sens.und, sens.vcc, misc.getVbatt(), net.getRssi()}
        })
    else
        return pack.pack(">b7IHb", 0x55, gpsv2.isOpen() and 1 or 0, sens.vib and 1 or 0,
            sens.acc and 1 or 0, sens.act and 1 or 0, sens.chg and 1 or 0, sens.und and 1 or 0, sens.vcc, misc.getVbatt(), net.getRssi())
    end
end

-- 上传定位信息
-- [是否有效,经度,纬度,海拔,方位角,速度,载噪比,定位卫星,时间戳]
-- 用户自定义上报GPS数据的报文顺序
-- msg = {"isfix", "stamp", "lng", "lat", "altitude", "azimuth", "speed", "sateCno", "sateCnt"},
function locateMessage(format)
    local isFix = gpsv2.isFix() and 1 or 0
    local lng, lat = gpsv2.getDegLocation()
    local altitude = gpsv2.getAltitude()
    local azimuth = gpsv2.getAzimuth()
    local speed = gpsv2.getSpeed()
    local sateCnt = gpsv2.getUsedSateCnt()
    local sateCno = gpsv2.getCno()
    table.sort(sateCno)
    sateCno = table.remove(sateCno) or 0
    if format:lower() ~= "hex" then
        local msg = {["isFix"] = isFix, ["time"] = os.time(), ["lng"] = lng*60*30000, ["lat"] = lat*60*30000,
         ["altitude"] = altitude, ["azimuth"] = azimuth, ["speed"] = speed, ["sateCno"] = sateCno, ["sateCnt"] = sateCnt}
        log.info("tracker.locateMessage", "------->locate data:", json.encode(msg))
        return msg
    else
        return pack.pack(">b2i3H2b3", 0xAA, isFix and 1 or 0, os.time(), lng, lat, altitude, azimuth, speed, sateCno, sateCnt)
    end
end

-- 用户捆绑GPS的串口,波特率，功耗模式，采集间隔,采集方式支持触发和持续, 报文数据格式支持 json 和 hex，缓冲条数,数据分隔符(不包含,),状态报文间隔分钟
function alert(uid, baud, pwmode, sleep, guard, format, num, sep, interval, cid)
    while true do
        if sys.waitUntil("NTP_SUCCEED", 3600*1000) then
            log.info("tracker.alert", "------->ntp succeed, unpack(dtu.gps.fun):", unpack(dtu.gps.fun))
            break
        end
    end
    uid, baud, pwmode, sleep, num = tonumber(uid), tonumber(baud), tonumber(pwmode), tonumber(sleep), tonumber(num) or 0
    guard, interval = tonumber(guard) == 0, (tonumber(interval) or 0) * 60000
    local cnt, report = 0, function(format) 
        log.info("tracker.alert","---------> 0") 
        sys.publish("NET_SENT_RDY_" .. (tonumber(cid) or uid), deviceMessage(format)) 
    end
    --log.info("tracker.alert","------------>", uid, baud, pwmode, sleep, num)
    while true do
        -- 布防判断
        --if not gpsv2.isOpen() and (not guard or sens.vib or sens.acc or sens.act or sens.und or sens.wup) then
        if not gpsv2.isOpen() then
            --sens.wup = false
            startTime = os.time()
            -- GPS TRACKER 模式
            gpsv2.open(uid, baud, pwmode, sleep)
            -- 布防上报
            --report(format)
            --if interval ~= 0 then sys.timerLoopStart(report, interval, format) end
        end
        while gpsv2.isOpen() do
            --[[
            -- 撤防判断
            if os.difftime(os.time(), startTime) > clearTime then
                if guard and sens.vib and sens.acc and sens.act and sens.und and gpsv2.getSpeed() == 0 then
                    sys.timerStopAll(report)
                    gpsv2.close(uid)
                else
                    startTime = os.time()
                end
            end
            ]]
            -- 上报消息
            if sys.waitUntil("GPS_MSG_REPORT") then
                if num == 0 then
                    sys.publish("NET_SENT_RDY_" .. (tonumber(cid) or uid), locateMessage(format))
                else
                    cnt = cnt < num and cnt + 1 or 0
                    table.insert(trackFile, locateMessage(format))
                    if cnt == 0 then sys.publish("NET_SENT_RDY_" .. (tonumber(cid) or uid), table.concat(trackFile, sep)) end
                end
            end
            sys.wait(100)
        end
        sys.wait(100)
    end
end

--传感器监测任务
--sys.taskInit(sensMonitor, unpack(dtu.gps.pio))
--GPS串口任务
sys.taskInit(alert, unpack(dtu.gps.fun))

---------------------------------------------------------- DTU的网络任务部分 ----------------------------------------------------------

--生成请求报文
local function createReqData(protoType)
    if tonumber(protoType) == 0x01 then
        --登录包
        frameSn = 1
        imei = misc.getImei()
        if not imei then
            log.error("tracker.loginMsg","getImei failed!")
            return false
        end
        local binData = funlib.hex2bin("676701000b"..string.format("%04x",frameSn)..string.format("%016s",imei).."00")
        return binData
    elseif tonumber(protoType) == 0x03 then
        --心跳包
        frameSn = (frameSn + 1 > 65535) and 1 or (frameSn + 1)
        local status = gpsv2.isFix() and 1 or 0
        local binData = funlib.hex2bin("6767030004"..string.format("%04x",frameSn)..string.format("%04x",status))
        return binData
    elseif tonumber(protoType) == 0x84 then
        --告警包
        local data = locateMessage("json")
        frameSn = (frameSn + 1 > 65535) and 1 or (frameSn + 1)
        binData = funlib.hex2bin("676784001F"..string.format("%04x",frameSn)..string.format("%08x",data.time)..string.format("%08x",data.lat)
                        ..string.format("%08x",data.lng)..string.format("%02x",data.speed)..string.format("%04x",data.azimuth).."00000000000000000000"
                        ..string.format("%02x",data.isFix).."010000")
        return binData
    else
        return false
    end
end

--解析响应报文
local function parseRespData(packet)
    if not packet then
        log.error("tracker.parseRespData", "packet not existed!")
        return false
    end
    if #packet < 7 then
        log.error("tracker.parseRespData", "packet length < 7!")
        return false
    end
    local parse = {}
    local header = packet:sub(1,2):toHex()
    if header ~= "6767" then
        log.error("tracker.parseRespData", "packet header invalid! packet:", packet:toHex())
        return false
    end
    parse.heaser = header
    local protoType = packet:sub(3,3):toHex()
    parse.protoType = protoType
    local packetLen = tonumber(packet:sub(4,5):toHex(),16)
    if packetLen + 5 ~= #packet then
        log.error("tracker.parseRespData", "packet length error! packet:", packet:toHex())
        return false
    end
    parse.packetLen = packetLen
    --登录响应包
    if protoType == "01" then
        local respSn = tonumber(packet:sub(6,7):toHex(),16)
        parse.respSn = respSn
        return true,parse
    end

    return false

end

---------------------------------------------------------- SOKCET 服务 ----------------------------------------------------------
local function tcpTask(cid, pios, reg, convert, passon, upprot, dwprot, prot, ping, timeout, addr, port, uid, gap, report, intervalTime, ssl)
    cid, prot, timeout, uid = tonumber(cid) or 1, prot:upper(), tonumber(timeout) or 120, tonumber(uid) or 1
    if not ping or ping == "" then ping = "0x00" end
    local login = false
    local heartbeatTimerId = false
    while true do
        local idx = 0
        if not socket.isReady() and not sys.waitUntil("IP_READY_IND", rstTim) then sys.restart("网络初始化失败!") end
        local c = prot == "TCP" and socket.tcp(ssl and ssl:lower() == "ssl") or socket.udp()
        if c:connect(addr, port) then
            -- 登陆报文
            datalink = true
            local retryCount = 0
            while not login do
                local loginData = createReqData(0x01) 
                if loginData then
                    if not c:send(loginData) then
                        retryCount = retryCount + 1
                        log.error("tracker.tcpTask","send loginData failed! loginData:", loginData:toHex(), "retryCount:", retryCount)
                    else
                        local result, data = c:recv(2 * 1000)
                        if not result then
                            retryCount = retryCount + 1
                            log.error("tracker.tcpTask","wait login response timeout! loginData:", loginData:toHex(), "retryCount:", retryCount)
                        else
                            local reqSn = tonumber(loginData:sub(6,7):toHex(),16)
                            local res,parseData = parseRespData(data)
                            if res and parseData.respSn == reqSn then
                                login = true
                                retryCount = 0
                                break
                            else
                                retryCount = retryCount + 1
                                log.error("tracker.tcpTask","parseRespData failed! respData:", data:toHex(), "retryCount:", retryCount) 
                            end
                        end
                    end 
                else
                    log.error("tracker.tcpTask","loginMsg failed!")
                    break
                end
                if retryCount > 3 then
                    retryCount = 0
                    break
                end
                sys.wait(10*1000)
            end

            
            --上报定位/心跳数据报文
            while login do
                local result, data, param = c:recv(timeout * 1000, "GPS_SENT_RDY_" .. (cid or uid))
                --log.info("tracker.tcpTask", "result, data, param", result, data, param and param:toHex())
                if result then
                    if #data>=7 and data:sub(1, 3):toHex() == "676703" then
                        log.info("tracker.tcpTask","recv heartbeat resp data, data:", data:toHex())
                    elseif #data>=7 and data:sub(1, 3):toHex() == "676782" then
                        log.info("tracker.tcpTask","recv locate resp data, data:", data:toHex())
                    elseif #data>=7 and data:sub(1, 3):toHex() == "676784" then
                        log.info("tracker.tcpTask","recv alarm resp data, data:", data:toHex())
                    end
                elseif data == "timeout" then
                    local heartbeatData = createReqData(0x03)
                    if heartbeatData then
                        if not c:send(heartbeatData) then
                            log.error("tracker.tcpTask","send heartbeatData failed! heartbeatData:", heartbeatData:toHex())
                            break 
                        else
                            log.info("tracker.tcpTask","send heartbeatData success, heartbeatData:", heartbeatData:toHex())
                        end
                    else
                        log.error("tracker.tcpTask","create heartbeatData failed!")
                        break 
                    end
                elseif data == ("GPS_SENT_RDY_" .. (cid or uid)) then
                    if not c:send(param) then 
                        log.error("tracker.tcpTask","send locate data failed! locateData:", param:toHex())
                        break 
                    else
                        log.info("tracker.tcpTask","send locate data success, locateData:", param:toHex())
                    end
                else
                    log.error("tracker.tcpTask","recv data failed!")
                    break
                end
            end
        end
        c:close()
        log.error("tracker.tcpTask","datalink failed!")
        datalink = false
        login = false
        sys.wait((2 ^ idx) * 1000)
        idx = idx > 9 and 0 or idx + 1
    end
end


--定位数据预处理
local function locateDataFilterTask( cid )
    cid = tonumber(cid) or 1
    local startTime = os.time()
    local locateData = ""
    local points = {}
    local stopStartTime = 0
    local isStopStart = false
    local isTurning = false
    while true do
        local res,data = sys.waitUntil("NET_SENT_RDY_" .. cid, 60*1000)
        if res then
            --静止超过时间阀值，停止上报位置
            if data.speed == 0 and not isStopStart then
                isStopStart = true
                stopStartTime = os.time()
            elseif data.speed == 0 and isStopStart and stopStartTime>0 and os.time()-stopStartTime > stopTimeThreshold then
                log.info("tracker.locateDataFilterTask","stop > 10s,stop gps send!")
            elseif data.speed > 0 then
                --缓存点位
                if #points == 0 then
                    table.insert(points,data)
                else
                    if #points >= 3 then
                        table.remove(points,1)
                    end
                    table.insert(points,data)
                    --过滤过期的点
                    local tmp_points = {}
                    for i=1,#points do
                        if data.time - points[i].time <= 4 then
                            table.insert(tmp_points,points[i])
                        end
                    end
                    points = tmp_points

                    --达到三个点时，进行拐点检测
                    if #points>=3 then
                        if  math.abs(points[2].azimuth-points[1].azimuth) >= 10 and  math.abs(points[3].azimuth-points[2].azimuth) >= 10 then
                            isTurning = true
                        else
                            isTurning = false
                        end
                    else
                        isTurning = false
                    end
                end

                isStopStart = false
                stopStartTime = 0

                --拐弯时，收到定位数据就上报
                if isTurning then
                    log.info("tracker.locateDataFilterTask","device is turning, start fast report locate!")
                    frameSn = (frameSn + 1 > 65535) and 1 or (frameSn + 1)
                    locateData = funlib.hex2bin("676782001C"..string.format("%04x",frameSn)..string.format("%08x",data.time)..string.format("%08x",data.lat)
                            ..string.format("%08x",data.lng)..string.format("%02x",data.speed)..string.format("%04x",data.azimuth).."00000000000000000000"..string.format("%02x",data.isFix))
                    sys.publish("GPS_SENT_RDY_"..cid, locateData)
                    locateData = ""
                    startTime = os.time()
                else
                    --如果达到间隔时间上报定位包
                    if os.time()-startTime >= locateReportInterval then
                        log.info("tracker.locateDataFilterTask","report interval locate data")
                        frameSn = (frameSn + 1 > 65535) and 1 or (frameSn + 1)
                        locateData = funlib.hex2bin("676782001C"..string.format("%04x",frameSn)..string.format("%08x",data.time)..string.format("%08x",data.lat)
                                ..string.format("%08x",data.lng)..string.format("%02x",data.speed)..string.format("%04x",data.azimuth).."00000000000000000000"..string.format("%02x",data.isFix))
                        sys.publish("GPS_SENT_RDY_"..cid, locateData)
                        locateData = ""
                        startTime = os.time()
                    else
                        locateData = funlib.hex2bin("676702001C"..string.format("%04x",frameSn)..string.format("%08x",data.time)..string.format("%08x",data.lat)
                                ..string.format("%08x",data.lng)..string.format("%02x",data.speed)..string.format("%04x",data.azimuth).."00000000000000000000"..string.format("%02x",data.isFix))
                    end
                end
            else
                log.warn("tracker.locateDataFilterTask","stop start ", os.time()-stopStartTime)
            end
            
        else
            if locateData ~= "" then
                log.info("tracker.locateDataFilterTask", "wait ".."NET_SENT_RDY_" .. cid .." timeout, upload locateData")
                sys.publish("GPS_SENT_RDY_"..cid, locateData)
                locateData = ""
                startTime = os.time()
            else
                log.warn("tracker.locateDataFilterTask", "wait NET_SENT_RDY_" .. cid .." timeout!" )
            end
        end
    end
end

---------------------------------------------------------- 参数配置,任务转发，线程守护主进程----------------------------------------------------------
function connect(pios, conf, reg, convert, passon, upprot, dwprot)
    local flyTag = false
    if not socket.isReady() and not sys.waitUntil("IP_READY_IND", rstTim) then sys.restart("网络初始化失败!") end
    --sys.waitUntil("DTU_PARAM_READY", 120000)
    -- 自动创建透传任务并填入参数
    for k, v in pairs(conf or {}) do
        -- log.info("Task parameter information:", k, pios, reg, convert, passon, upprot, dwprot, unpack(v))
        if v[1] and (v[1]:upper() == "TCP" or v[1]:upper() == "UDP") then
            log.warn("----------------------- TCP/UDP is start! --------------------------------------")
            sys.taskInit(tcpTask, k, pios, reg, convert, passon, upprot, dwprot, unpack(v))
            sys.taskInit(locateDataFilterTask, k)
        end
    end
    -- 守护进程
    datalink = true
    while true do
        -- 这里是网络正常,但是链接服务器失败重启
        if datalink then sys.timerStart(sys.restart, rstTim, "Server connection failed") end
        sys.wait(1000)
    end
end

sys.taskInit(connect, pios, dtu.conf, dtu.reg, tonumber(dtu.convert) or 0, (tonumber(dtu.passon) == 0), dtu.upprot, dtu.dwprot)

--gpio中断
function gpio13IntFnc(msg)
    log.info("tracker.gpio13IntFnc",msg,getGpio13Fnc())
    --上升沿中断
    if msg==cpu.INT_GPIO_POSEDGE then
        log.info("tracker.gpio13IntFnc","up edge")
        locateData = createReqData(0x84)
        sys.publish("GPS_SENT_RDY_1", locateData)
    --下降沿中断
    else
        log.info("tracker.gpio13IntFnc","down edge")
    end
end

--GPIO16配置为中断，可通过getGpio16Fnc()获取输入电平，产生中断时，自动执行gpio16IntFnc函数
getGpio13Fnc = pins.setup(pio.P0_13,gpio13IntFnc)

-- NTP同步后清零一次startTime,避免第一次开机的时候utc时间跳变
sys.subscribe("NTP_SUCCEED", function()
    log.info("tracker.subscribe.NTP_SUCCEED","recv NTP_SUCCEED")
    startTime = os.time() 
end)
-- 订阅服务器远程唤醒指令
--sys.subscribe("REMOTE_WAKEUP", function()sens.wup = true end)