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lr1110: added script to eval position using LoRaCloud
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| // Real position of GPS in order to calculate real error (assumes stationary GPS) | ||
| // Rename this file to location.h | ||
| #define REAL_LAT (35.12345) | ||
| #define REAL_LON (-119.12345) |
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| # Replace the data below with yours and rename this file to lora-cloud.auth, used by lora-cloud.sh | ||
| AUTH_TOKEN='AQE000000000000000000000/0000000CQ' | ||
| REAL_LAT=35.12345 | ||
| REAL_LON=-119.12345 |
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| #! /usr/bin/bash -e | ||
| # Parse the output of the sketch and send the NAV data to LoRaCloud to get the position | ||
| # Uses `curl`` to perform the request, `date`` to convert unix timestamp to readable date, and | ||
| # `bc` to calculate real error | ||
| # This script was developed on Linux, adapting it to MacOS or Windows will require some changes to paths | ||
| # For the auth tokens, create a .lora-cloud.auth file assigning the AUTH_TOKEN variable | ||
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| SERIAL=$(echo /dev/serial/by-id/usb-Seeed_Wio_Tracker_1110_*) | ||
| BAUD=115200 | ||
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| # URL="https://gls.loracloud.com/api/v3/solve/gnss_lr1110_singleframe" # deprecated | ||
| URL="https://mgs.loracloud.com/api/v1/solve/gnss_lora_edge_singleframe" | ||
| source lora-cloud.auth | ||
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| # haversine formula for distance | ||
| function haversine() { | ||
| local lat1=$1 | ||
| local lon1=$2 | ||
| local lat2=$REAL_LAT | ||
| local lon2=$REAL_LON | ||
| local expr=" | ||
| torad = 3.141593/180 | ||
| avglat = s(($lat1- $lat2)*torad/2) | ||
| avglon = s(($lon1- $lon2)*torad/2) | ||
| a = avglat*avglat + c($lat1*torad)*c($lat2*torad)*avglon*avglon | ||
| dist = 12742000 * a(sqrt(a) / sqrt(1-a)) *3 | ||
| scale=0 | ||
| dist/3 | ||
| " | ||
| # echo " Expr: $expr"m | ||
| echo " Real error: $(bc -l <<<"$expr")m" | ||
| } | ||
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| # query LoRaCloud | ||
| function query() { | ||
| local data=$1 | ||
| local time=$2 | ||
| local accuracy=$3 | ||
| echo "LoRaCloud:" | ||
| # add gnss_capture_time to body if available | ||
| if [[ -n "$time" ]]; then | ||
| # LoRaCloud is not explicit about when to measure the acquisition time in the device | ||
| # Specifying an accuracy <16s causes it to use the specified time as initial estimate | ||
| # Lower values causes it to reject solutions outside that error bound | ||
| # Higher values causes it to use the time encoded in the payload (16s granularity) | ||
| # Best is probably accuracy=15 or omitting this altogether | ||
| # Note that the docs are self-contradictory, saying that the default time is the server's... | ||
| local body='{"payload":"'$data'", | ||
| "gnss_capture_time":'$time',"gnss_capture_time_accuracy":15}' | ||
| # "gnss_assist_position":'$ASSIST_POS'}' | ||
| else | ||
| local body='{"payload":"'$data'"}' | ||
| fi | ||
| local header=="Accept: application/json;Ocp-Apim-Subscription-Key: $AUTH_TOKEN;" | ||
| local res=$(curl -s -S -d "$body" \ | ||
| -HAccept:application/json -HOcp-Apim-Subscription-Key:$AUTH_TOKEN \ | ||
| $URL) | ||
| # echo " Result: $res" | ||
| local POS_RE='"llh":\[([-0-9.]*),([-0-9.]*),([-0-9.]*)' | ||
| local GPS_RE='"capture_time_gps":([0-9.]*)' | ||
| local UTC_RE='"capture_time_utc":([0-9.]*)' | ||
| local ACC_RE='"accuracy":([0-9.]*)' | ||
| local ERR_RE='"errors": *[[](.*)]' | ||
| if [[ "$res" =~ $ERR_RE ]]; then | ||
| echo " *** Location error: ${BASH_REMATCH[1]}" | ||
| # echo " Request body: $body" | ||
| else | ||
| if [[ "$res" =~ $POS_RE ]]; then | ||
| local lat=${BASH_REMATCH[1]} | ||
| local lon=${BASH_REMATCH[2]} | ||
| local alt=${BASH_REMATCH[3]} | ||
| echo " Position: $lat $lon alt: $alt" | ||
| haversine $lat $lon | ||
| fi | ||
| if [[ "$res" =~ $ACC_RE ]]; then | ||
| local acc=${BASH_REMATCH[1]} | ||
| if [[ "$acc" = 0* ]]; then echo " Claimed accuracy: unknown"; else echo " Claimed accuracy: ${acc}m"; fi | ||
| fi | ||
| if [[ "$res" =~ $GPS_RE ]]; then | ||
| local gps=${BASH_REMATCH[1]} | ||
| local delta=$(( ${gps%.*} - $time )) # note: integer only... | ||
| echo " GPS time: $gps -- delta=${delta}s" # delta to what we submitted in the request | ||
| fi | ||
| if [[ "$res" =~ $UTC_RE ]]; then | ||
| local txt=$(date -u -Iseconds -d "@${BASH_REMATCH[1]}") | ||
| echo " UTC time: ${BASH_REMATCH[1]} -- $txt" | ||
| fi | ||
| fi | ||
| } | ||
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| RE='^NAV( @([0-9]*))?: *([0-9a-zA-Z]*)' # regular expression for NAV line output by sketch | ||
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| stty -F$SERIAL 115200 | ||
| while IFS=\b read -r line; do | ||
| if [[ "$line" =~ $RE ]]; then | ||
| echo "$line" | ||
| time=${BASH_REMATCH[2]} | ||
| data=${BASH_REMATCH[3]} | ||
| query "$data" "$time" | ||
| else | ||
| echo "$line" | ||
| fi | ||
| done <$SERIAL |
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