Merge pull request #546 from ianmcorvidae/request-position

Add a `--request-position` argument to request positions from nodes

Author: ianmcorvidae

meshtastic/__main__.py

@@ -435,6 +435,13 @@ def onConnected(interface):
                 print(f"Sending telemetry request to {args.dest} (this could take a while)")
                 interface.sendTelemetry(destinationId=args.dest, wantResponse=True)
 
+        if args.request_position:
+            if args.dest == BROADCAST_ADDR:
+                meshtastic.util.our_exit("Warning: Must use a destination node ID.")
+            else:
+                print(f"Sending position request to {args.dest} (this could take a while)")
+                interface.sendPosition(destinationId=args.dest, wantResponse=True)
+
         if args.gpio_wrb or args.gpio_rd or args.gpio_watch:
             if args.dest == BROADCAST_ADDR:
                 meshtastic.util.our_exit("Warning: Must use a destination node ID.")
@@ -1299,7 +1306,15 @@ def initParser():
     group.add_argument(
         "--request-telemetry",
         help="Request telemetry from a node. "
-        "You need pass the destination ID as argument with '--dest'. "
+        "You need to pass the destination ID as argument with '--dest'. "
+        "For repeaters, the nodeNum is required.",
+        action="store_true",
+    )
+
+    group.add_argument(
+        "--request-position",
+        help="Request the position from a nade. "
+        "You need to pass the destination ID as an argument with '--dest'. "
         "For repeaters, the nodeNum is required.",
         action="store_true",
     )

meshtastic/mesh_interface.py

@@ -381,13 +381,50 @@ def sendPosition(
         p.time = timeSec
         logging.debug(f"p.time:{p.time}")
 
-        return self.sendData(
+        if wantResponse:
+            onResponse = self.onResponsePosition
+        else:
+            onResponse = None
+
+        d = self.sendData(
             p,
             destinationId,
             portNum=portnums_pb2.PortNum.POSITION_APP,
             wantAck=wantAck,
             wantResponse=wantResponse,
+            onResponse=onResponse,
         )
+        if wantResponse:
+            self.waitForPosition()
+        return d
+
+    def onResponsePosition(self, p):
+        """on response for position"""
+        if p["decoded"]["portnum"] == 'POSITION_APP':
+            self._acknowledgment.receivedPosition = True
+            position = mesh_pb2.Position()
+            position.ParseFromString(p["decoded"]["payload"])
+
+            ret = "Position received: "
+            if position.latitude_i != 0 and position.longitude_i != 0:
+                ret += f"({position.latitude_i * 10**-7}, {position.longitude_i * 10**-7})"
+            else:
+                ret += "(unknown)"
+            if position.altitude != 0:
+                ret += f" {position.altitude}m"
+
+            if position.precision_bits not in [0,32]:
+                ret += f" precision:{position.precision_bits}"
+            elif position.precision_bits == 32:
+                ret += " full precision"
+            elif position.precision_bits == 0:
+                ret += " position disabled"
+
+            print(ret)
+
+        elif p["decoded"]["portnum"] == 'ROUTING_APP':
+            if p["decoded"]["routing"]["errorReason"] == 'NO_RESPONSE':
+                our_exit("No response from node. At least firmware 2.1.22 is required on the destination node.")
 
     def sendTraceRoute(self, dest: Union[int, str], hopLimit: int):
         """Send the trace route"""
@@ -445,11 +482,6 @@ def sendTelemetry(self, destinationId=BROADCAST_ADDR, wantResponse=False):
         else:
             onResponse = None
 
-        if destinationId.startswith("!"):
-            destinationId = int(destinationId[1:], 16)
-        else:
-            destinationId = int(destinationId)
-
         self.sendData(
             r,
             destinationId=destinationId,
@@ -573,6 +605,12 @@ def waitForTelemetry(self):
         if not success:
             raise MeshInterface.MeshInterfaceError("Timed out waiting for telemetry")
 
+    def waitForPosition(self):
+        """Wait for position"""
+        success = self._timeout.waitForPosition(self._acknowledgment)
+        if not success:
+            raise MeshInterface.MeshInterfaceError("Timed out waiting for position")
+
     def getMyNodeInfo(self) -> Optional[Dict]:
         """Get info about my node."""
         if self.myInfo is None or self.nodesByNum is None:

meshtastic/util.py

@@ -206,6 +206,16 @@ def waitForTelemetry(self, acknowledgment) -> bool:
             time.sleep(self.sleepInterval)
         return False
 
+    def waitForPosition(self, acknowledgment) -> bool:
+        """Block until position response is received. Returns True if position response has been received."""
+        self.reset()
+        while time.time() < self.expireTime:
+            if getattr(acknowledgment, "receivedPosition", None):
+                acknowledgment.reset()
+                return True
+            time.sleep(self.sleepInterval)
+        return False
+
 class Acknowledgment:
     "A class that records which type of acknowledgment was just received, if any."
 
@@ -216,6 +226,7 @@ def __init__(self):
         self.receivedImplAck = False
         self.receivedTraceRoute = False
         self.receivedTelemetry = False
+        self.receivedPosition = False
 
     def reset(self):
         """reset"""
@@ -224,6 +235,7 @@ def reset(self):
         self.receivedImplAck = False
         self.receivedTraceRoute = False
         self.receivedTelemetry = False
+        self.receivedPosition = False
 
 
 class DeferredExecution: