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app: location: Use zbus subscriber instead of listener
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Updated the location module to use zbus subscribe instead of a listener
for consistency and easier logic. Removed semaphores and modem lib
connection handling. Connection handling might be needed unless the
location lib doesn't handle this internally, but it should probably be
dealt with using the Zephyr State Machine Framework.

Signed-off-by: Gregers Gram Rygg <[email protected]>
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@gregersrygg
gregersrygg committed Jun 4, 2024
1 parent 3e844fd commit f0545bd
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Showing 2 changed files with 45 additions and 59 deletions.
10 changes: 8 additions & 2 deletions app/src/modules/location/Kconfig.location
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Original file line number Diff line number Diff line change
Expand Up @@ -11,12 +11,18 @@ config APP_LOCATION_THREAD_STACK_SIZE
int "Thread stack size"
default 4096

config APP_LOCATION_ZBUS_QUEUE_SIZE
int "Message queue size"
default 5
help
ZBus subscriber message queue size.

config APP_LOCATION_WATCHDOG_TIMEOUT_SECONDS
int "Watchdog timeout seconds"
default 120

config APP_LOCATION_TRIGGER_TIMEOUT_SECONDS
int "Wait for trigger timeout seconds"
config APP_LOCATION_ZBUS_TIMEOUT_SECONDS
int "Wait for zbus timeout seconds"
default 60

module = APP_LOCATION
Expand Down
94 changes: 37 additions & 57 deletions app/src/modules/location/location.c
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Original file line number Diff line number Diff line change
Expand Up @@ -22,13 +22,10 @@
LOG_MODULE_REGISTER(location_module, CONFIG_APP_LOCATION_LOG_LEVEL);

BUILD_ASSERT(CONFIG_APP_LOCATION_WATCHDOG_TIMEOUT_SECONDS >
CONFIG_APP_LOCATION_TRIGGER_TIMEOUT_SECONDS,
"Watchdog timeout must be greater than trigger timeout");
CONFIG_APP_LOCATION_ZBUS_TIMEOUT_SECONDS,
"Watchdog timeout must be greater than trigger timeout");


static K_SEM_DEFINE(location_lib_sem, 1, 1);
static K_SEM_DEFINE(modem_init_sem, 0, 1);
static K_SEM_DEFINE(trigger_sem, 0, 1);
ZBUS_SUBSCRIBER_DEFINE(location, CONFIG_APP_LOCATION_ZBUS_QUEUE_SIZE);

static void location_event_handler(const struct location_event_data *event_data);

Expand All @@ -42,14 +39,30 @@ static void task_wdt_callback(int channel_id, void *user_data)
SEND_FATAL_ERROR();
}

void trigger_location_update(void)
{
int err;
struct location_config config = {0};

location_config_defaults_set(&config, 0, NULL);
config.mode = LOCATION_REQ_MODE_ALL;
err = location_request(&config);
if (err == -EBUSY) {
LOG_WRN("Location request already in progress");
} else if (err) {
LOG_ERR("Unable to send location request: %d", err);
}
}

void location_task(void)
{
int err = 0;
struct location_config config = {0};
const struct zbus_channel *chan;
int task_wdt_id;
const uint32_t wdt_timeout_ms = (CONFIG_APP_LOCATION_WATCHDOG_TIMEOUT_SECONDS * MSEC_PER_SEC);
const k_timeout_t zbus_timeout = K_SECONDS(CONFIG_APP_LOCATION_ZBUS_TIMEOUT_SECONDS);

k_sem_take(&modem_init_sem, K_FOREVER);
LOG_DBG("Location module task started");

task_wdt_id = task_wdt_add(wdt_timeout_ms, task_wdt_callback, (void *)k_current_get());
if (task_wdt_id < 0) {
Expand All @@ -59,74 +72,51 @@ void location_task(void)
}

err = location_init(location_event_handler);
if (err)
{
if (err) {
LOG_ERR("Unable to init location library: %d", err);
SEND_FATAL_ERROR();
return;
}

LOG_DBG("location library initialized");

#if defined(CONFIG_LOCATION_METHOD_GNSS)
err = lte_lc_func_mode_set(LTE_LC_FUNC_MODE_ACTIVATE_GNSS);
if (err)
{
if (err) {
LOG_ERR("Unable to init GNSS: %d", err);
} else {
LOG_DBG("GNSS initialized");
}
#endif

while (true)
{
while (true) {
err = task_wdt_feed(task_wdt_id);
if (err) {
LOG_ERR("Failed to feed the watchdog: %d", err);
SEND_FATAL_ERROR();
return;
}

err = k_sem_take(&trigger_sem, K_SECONDS(CONFIG_APP_LOCATION_TRIGGER_TIMEOUT_SECONDS));
err = zbus_sub_wait(&location, &chan, zbus_timeout);
if (err == -EAGAIN) {
// Continue so we can feed the watchdog and wait for semaphore again.
continue;
} else if (err) {
LOG_ERR("zbus_sub_wait, error: %d", err);
SEND_FATAL_ERROR();
return;
}

location_config_defaults_set(&config, 0, NULL);
config.mode = LOCATION_REQ_MODE_ALL;
err = location_request(&config);
if (err)
{
LOG_ERR("Unable to send location request: %d", err);
if (&TRIGGER_CHAN == chan) {
LOG_DBG("Trigger received");
trigger_location_update();
}
k_sem_take(&location_lib_sem, K_FOREVER);
}
}

K_THREAD_DEFINE(location_module_tid, CONFIG_APP_LOCATION_THREAD_STACK_SIZE,
location_task, NULL, NULL, NULL,
K_HIGHEST_APPLICATION_THREAD_PRIO, 0, 0);

static void trigger_callback(const struct zbus_channel *chan)
{
if (&TRIGGER_CHAN == chan)
{
LOG_DBG("Trigger received");
k_sem_give(&trigger_sem);
}
if (&CLOUD_CHAN == chan)
{
LOG_DBG("Cloud status received");
const enum cloud_status *status = zbus_chan_const_msg(chan);

if (*status == CLOUD_CONNECTED)
{
LOG_DBG("Cloud connected, initializing location");
k_sem_give(&modem_init_sem);
}
}
}

ZBUS_LISTENER_DEFINE(location, trigger_callback);

#if defined(CONFIG_LOCATION_METHOD_GNSS)
/* Take time from PVT data and apply it to system time. */
static void apply_gnss_time(const struct nrf_modem_gnss_pvt_data_frame *pvt_data)
Expand Down Expand Up @@ -165,17 +155,15 @@ static void report_gnss_location(const struct nrf_modem_gnss_pvt_data_frame *pvt
};

err = nrf_cloud_coap_location_send(&gnss_pvt, true);
if (err)
{
if (err) {
LOG_ERR("Failed to send location data: %d", err);
}
}
#endif /* CONFIG_LOCATION_METHOD_GNSS */

static void location_event_handler(const struct location_event_data *event_data)
{
switch (event_data->id)
{
switch (event_data->id) {
case LOCATION_EVT_LOCATION:
LOG_DBG("Got location: lat: %f, lon: %f, acc: %f",
(double) event_data->location.latitude,
Expand Down Expand Up @@ -211,12 +199,4 @@ static void location_event_handler(const struct location_event_data *event_data)
LOG_DBG("Getting location: Unknown event %d", event_data->id);
break;
}
if (event_data->id == LOCATION_EVT_LOCATION ||
event_data->id == LOCATION_EVT_RESULT_UNKNOWN ||
event_data->id == LOCATION_EVT_TIMEOUT ||
event_data->id == LOCATION_EVT_ERROR)
{
/* request completed */
k_sem_give(&location_lib_sem);
}
}

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