mirror of
https://github.com/Colorado-Mesh/meshcore-bot-firmware.git
synced 2026-08-11 16:20:29 +00:00
forge: step 4 — wire bot runtime observation
This commit is contained in:
cj-vana
@@ -1,7 +1,7 @@
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From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
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From: cj-vana <cj@depth23.online>
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Date: Thu, 14 May 2026 13:36:50 -0600
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Subject: [PATCH] Add companion firmware bot core
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Date: Thu, 14 May 2026 14:03:07 -0600
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Subject: [PATCH 1/2] Add companion firmware bot core
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---
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examples/companion_radio/BotPolicy.cpp | 58 +++++++
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316
patches/meshcore/0002-Wire-companion-firmware-bot-runtime.patch
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316
patches/meshcore/0002-Wire-companion-firmware-bot-runtime.patch
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@@ -0,0 +1,316 @@
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From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
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From: cj-vana <cj@depth23.online>
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Date: Thu, 14 May 2026 14:03:07 -0600
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Subject: [PATCH 2/2] Wire companion firmware bot runtime
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---
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examples/companion_radio/FirmwareBot.cpp | 24 ++++
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examples/companion_radio/FirmwareBot.h | 2 +
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examples/companion_radio/MyMesh.cpp | 136 ++++++++++++++++++++++-
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examples/companion_radio/MyMesh.h | 24 ++++
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4 files changed, 184 insertions(+), 2 deletions(-)
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diff --git a/examples/companion_radio/FirmwareBot.cpp b/examples/companion_radio/FirmwareBot.cpp
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index c9447282..2d4b7395 100644
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--- a/examples/companion_radio/FirmwareBot.cpp
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+++ b/examples/companion_radio/FirmwareBot.cpp
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@@ -150,6 +150,30 @@ bool parseCommand(const char* text, size_t text_len, BotCommand* command) {
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return true;
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}
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+bool splitChannelText(const char* text, size_t text_len, char* sender, size_t sender_len, const char** body,
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+ size_t* body_len) {
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+ if (body) *body = text;
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+ if (body_len) *body_len = text_len;
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+ if (!text) return false;
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+
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+ for (size_t i = 0; i < text_len; i++) {
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+ if (text[i] == 0) break;
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+ if (text[i] == ':' && i + 1 < text_len && text[i + 1] == ' ') {
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+ if (sender && sender_len > 0) {
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+ size_t copy_len = i;
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+ if (copy_len >= sender_len) copy_len = sender_len - 1;
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+ if (copy_len > 0) memcpy(sender, text, copy_len);
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+ sender[copy_len] = 0;
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+ }
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+ size_t start = i + 2;
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+ if (body) *body = &text[start];
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+ if (body_len) *body_len = text_len - start;
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+ return true;
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+ }
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+ }
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+ return false;
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+}
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+
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BotWriteResult writeResponse(char* output, size_t output_len, const char* text, size_t text_len, size_t* written) {
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if (written) *written = 0;
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if (!output || output_len == 0) return BOT_WRITE_NO_SPACE;
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diff --git a/examples/companion_radio/FirmwareBot.h b/examples/companion_radio/FirmwareBot.h
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index 8fce16ab..8b267b89 100644
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--- a/examples/companion_radio/FirmwareBot.h
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+++ b/examples/companion_radio/FirmwareBot.h
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@@ -6,6 +6,8 @@ namespace FirmwareBot {
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BotWriteResult normalizeText(const char* input, size_t input_len, char* output, size_t output_len, size_t* written);
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bool parseCommand(const char* text, size_t text_len, BotCommand* command);
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+bool splitChannelText(const char* text, size_t text_len, char* sender, size_t sender_len, const char** body,
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+ size_t* body_len);
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BotWriteResult writeResponse(char* output, size_t output_len, const char* text, size_t text_len, size_t* written);
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BotFingerprint fingerprintFor(const BotMessage& message);
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BotCommandId commandIdForName(const char* name, size_t len);
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diff --git a/examples/companion_radio/MyMesh.cpp b/examples/companion_radio/MyMesh.cpp
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index e8c1914b..481038f4 100644
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--- a/examples/companion_radio/MyMesh.cpp
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+++ b/examples/companion_radio/MyMesh.cpp
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@@ -3,6 +3,11 @@
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#include <Arduino.h> // needed for PlatformIO
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#include <Mesh.h>
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+#if CMESH_BOT_ENABLED
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+#include "BotPolicy.h"
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+#include "FirmwareBot.h"
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+#endif
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+
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#define CMD_APP_START 1
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#define CMD_SEND_TXT_MSG 2
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#define CMD_SEND_CHANNEL_TXT_MSG 3
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@@ -105,8 +110,21 @@
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#define DIRECT_SEND_PERHOP_EXTRA_MILLIS 250
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#define LAZY_CONTACTS_WRITE_DELAY 5000
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+#if CMESH_BOT_ENABLED
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+#define BOT_AUTO_LOCAL_FIRST_DELAY_MILLIS 60000UL
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+#define BOT_AUTO_ADVERT_INTERVAL_MILLIS (24UL * 60UL * 60UL * 1000UL)
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+#endif
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+
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#define PUBLIC_GROUP_PSK "izOH6cXN6mrJ5e26oRXNcg=="
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+#if CMESH_BOT_ENABLED
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+static size_t botBoundedStrLen(const char *value, size_t max_len) {
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+ size_t len = 0;
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+ while (value && len < max_len && value[len] != 0) len++;
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+ return len;
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+}
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+#endif
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+
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// these are _pushed_ to client app at any time
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#define PUSH_CODE_ADVERT 0x80
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#define PUSH_CODE_PATH_UPDATED 0x81
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@@ -514,6 +532,9 @@ void MyMesh::onMessageRecv(const ContactInfo &from, mesh::Packet *pkt, uint32_t
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const char *text) {
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markConnectionActive(from); // in case this is from a server, and we have a connection
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queueMessage(from, TXT_TYPE_PLAIN, pkt, sender_timestamp, NULL, 0, text);
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+#if CMESH_BOT_ENABLED
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+ observeBotDirectMessage(from, sender_timestamp, from.id.pub_key, BOT_SENDER_KEY_PREFIX_LEN, text);
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+#endif
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}
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void MyMesh::onCommandDataRecv(const ContactInfo &from, mesh::Packet *pkt, uint32_t sender_timestamp,
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@@ -528,8 +549,104 @@ void MyMesh::onSignedMessageRecv(const ContactInfo &from, mesh::Packet *pkt, uin
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// from.sync_since change needs to be persisted
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dirty_contacts_expiry = futureMillis(LAZY_CONTACTS_WRITE_DELAY);
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queueMessage(from, TXT_TYPE_SIGNED_PLAIN, pkt, sender_timestamp, sender_prefix, 4, text);
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+#if CMESH_BOT_ENABLED
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+ observeBotDirectMessage(from, sender_timestamp, sender_prefix, 4, text);
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+#endif
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+}
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+
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+#if CMESH_BOT_ENABLED
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+void MyMesh::observeBotDirectMessage(const ContactInfo &from, uint32_t sender_timestamp, const uint8_t *sender_prefix,
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+ size_t sender_prefix_len, const char *text) {
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+ BotMessage message;
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+ memset(&message, 0, sizeof(message));
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+ message.channel_kind = BotPolicy::classifyChannel(NULL, 0, true);
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+ StrHelper::strzcpy(message.sender_name, from.name, sizeof(message.sender_name));
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+ size_t prefix_len = sender_prefix_len;
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+ if (prefix_len > sizeof(message.sender_key_prefix)) prefix_len = sizeof(message.sender_key_prefix);
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+ if (sender_prefix && prefix_len > 0) memcpy(message.sender_key_prefix, sender_prefix, prefix_len);
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+ message.sender_timestamp = sender_timestamp;
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+ FirmwareBot::normalizeText(text, botBoundedStrLen(text, BOT_MAX_TEXT_LEN), message.text, sizeof(message.text),
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+ &message.text_len);
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+ recordBotObservation(message);
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+}
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+
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+void MyMesh::observeBotChannelMessage(const char *channel_name, const char *text, uint32_t sender_timestamp) {
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+ BotMessage message;
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+ memset(&message, 0, sizeof(message));
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+ size_t channel_len = botBoundedStrLen(channel_name, BOT_MAX_CHANNEL_NAME_LEN);
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+ message.channel_kind = BotPolicy::classifyChannel(channel_name, channel_len, false);
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+ if (channel_name && channel_len > 0) {
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+ memcpy(message.channel_name, channel_name, channel_len);
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+ message.channel_name[channel_len] = 0;
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+ }
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+ message.sender_timestamp = sender_timestamp;
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+
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+ const char *body = text;
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+ size_t body_len = botBoundedStrLen(text, BOT_MAX_TEXT_LEN);
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+ FirmwareBot::splitChannelText(text, body_len, message.sender_name, sizeof(message.sender_name), &body, &body_len);
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+ FirmwareBot::normalizeText(body, body_len, message.text, sizeof(message.text), &message.text_len);
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+ recordBotObservation(message);
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+}
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+
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+void MyMesh::recordBotObservation(const BotMessage &message) {
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+ bot_stats.observed_messages++;
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+ BotPolicyDecision decision = BotPolicy::decide(message.channel_kind);
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+ if (decision == BOT_POLICY_IGNORE) {
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+ bot_stats.ignored_messages++;
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+ return;
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+ }
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+ if (decision == BOT_POLICY_EMERGENCY_FORWARD) {
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+ bot_stats.emergency_messages++;
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+ return;
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+ }
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+
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+ BotCommand command;
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+ if (FirmwareBot::parseCommand(message.text, message.text_len, &command)) {
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+ bot_stats.eligible_messages++;
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+ } else if (message.text_len > 0 && (message.text[0] == '!' || message.text[0] == '/')) {
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+ bot_stats.parse_errors++;
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+ }
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+}
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+
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+bool MyMesh::sendBotSelfAdvert(bool flood) {
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+ mesh::Packet* pkt;
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+ if (_prefs.advert_loc_policy == ADVERT_LOC_NONE) {
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+ pkt = createSelfAdvert(_prefs.node_name);
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+ } else {
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+ pkt = createSelfAdvert(_prefs.node_name, sensors.node_lat, sensors.node_lon);
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+ }
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+ if (!pkt) return false;
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+
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+ if (flood) {
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+ TransportKey default_scope;
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+ memcpy(&default_scope.key, _prefs.default_scope_key, sizeof(default_scope.key));
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+ sendFloodScoped(default_scope, pkt, 0);
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+ } else {
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+ sendZeroHop(pkt);
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+ }
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+ return true;
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}
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+void MyMesh::scheduleBotLocalAdvert(unsigned long interval_millis) {
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+ next_bot_local_advert = interval_millis > 0 ? futureMillis(interval_millis) : 0;
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+}
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+
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+void MyMesh::scheduleBotFloodAdvert(unsigned long interval_millis) {
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+ next_bot_flood_advert = interval_millis > 0 ? futureMillis(interval_millis) : 0;
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+}
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+
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+void MyMesh::tickBot() {
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+ if (next_bot_local_advert && millisHasNowPassed(next_bot_local_advert)) {
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+ sendBotSelfAdvert(false);
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+ scheduleBotLocalAdvert(BOT_AUTO_ADVERT_INTERVAL_MILLIS);
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+ }
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+ if (next_bot_flood_advert && millisHasNowPassed(next_bot_flood_advert)) {
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+ sendBotSelfAdvert(true);
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+ scheduleBotFloodAdvert(BOT_AUTO_ADVERT_INTERVAL_MILLIS);
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+ }
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+}
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+#endif
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+
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void MyMesh::onChannelMessageRecv(const mesh::GroupChannel &channel, mesh::Packet *pkt, uint32_t timestamp,
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const char *text) {
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int i = 0;
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@@ -566,15 +683,17 @@ void MyMesh::onChannelMessageRecv(const mesh::GroupChannel &channel, mesh::Packe
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if (_ui) _ui->notify(UIEventType::channelMessage);
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#endif
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}
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-#ifdef DISPLAY_CLASS
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- // Get the channel name from the channel index
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const char *channel_name = "Unknown";
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ChannelDetails channel_details;
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if (getChannel(channel_idx, channel_details)) {
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channel_name = channel_details.name;
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}
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+#ifdef DISPLAY_CLASS
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if (_ui) _ui->newMsg(path_len, channel_name, text, offline_queue_len);
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#endif
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+#if CMESH_BOT_ENABLED
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+ observeBotChannelMessage(channel_name, text, timestamp);
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+#endif
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}
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void MyMesh::onChannelDataRecv(const mesh::GroupChannel &channel, mesh::Packet *pkt, uint16_t data_type,
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@@ -856,6 +975,11 @@ MyMesh::MyMesh(mesh::Radio &radio, mesh::RNG &rng, mesh::RTCClock &rtc, SimpleMe
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dirty_contacts_expiry = 0;
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memset(advert_paths, 0, sizeof(advert_paths));
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memset(send_scope.key, 0, sizeof(send_scope.key));
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+#if CMESH_BOT_ENABLED
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+ memset(&bot_stats, 0, sizeof(bot_stats));
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+ next_bot_local_advert = 0;
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+ next_bot_flood_advert = 0;
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+#endif
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// defaults
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memset(&_prefs, 0, sizeof(_prefs));
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@@ -956,6 +1080,10 @@ void MyMesh::begin(bool has_display) {
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radio_driver.setRxBoostedGainMode(_prefs.rx_boosted_gain);
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MESH_DEBUG_PRINTLN("RX Boosted Gain Mode: %s",
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radio_driver.getRxBoostedGainMode() ? "Enabled" : "Disabled");
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+#if CMESH_BOT_ENABLED
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+ scheduleBotLocalAdvert(BOT_AUTO_LOCAL_FIRST_DELAY_MILLIS);
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+ scheduleBotFloodAdvert(BOT_AUTO_ADVERT_INTERVAL_MILLIS);
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+#endif
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}
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const char *MyMesh::getNodeName() {
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@@ -2172,6 +2300,10 @@ void MyMesh::loop() {
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dirty_contacts_expiry = 0;
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}
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+#if CMESH_BOT_ENABLED
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+ tickBot();
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+#endif
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+
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#ifdef DISPLAY_CLASS
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if (_ui) _ui->setHasConnection(_serial->isConnected());
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#endif
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diff --git a/examples/companion_radio/MyMesh.h b/examples/companion_radio/MyMesh.h
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index aeff591c..d72a496a 100644
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--- a/examples/companion_radio/MyMesh.h
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+++ b/examples/companion_radio/MyMesh.h
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@@ -4,6 +4,13 @@
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#include <Mesh.h>
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#include "AbstractUITask.h"
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+#ifndef CMESH_BOT_ENABLED
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+#define CMESH_BOT_ENABLED 0
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+#endif
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+#if CMESH_BOT_ENABLED
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+#include "BotTypes.h"
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+#endif
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+
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/*------------ Frame Protocol --------------*/
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#define FIRMWARE_VER_CODE 11
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@@ -192,6 +199,17 @@ private:
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return _store->putBlobByKey(key, key_len, src_buf, len);
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}
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+#if CMESH_BOT_ENABLED
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+ void observeBotDirectMessage(const ContactInfo &from, uint32_t sender_timestamp, const uint8_t *sender_prefix,
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+ size_t sender_prefix_len, const char *text);
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+ void observeBotChannelMessage(const char *channel_name, const char *text, uint32_t sender_timestamp);
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+ void recordBotObservation(const BotMessage &message);
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+ void tickBot();
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+ void scheduleBotLocalAdvert(unsigned long interval_millis);
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+ void scheduleBotFloodAdvert(unsigned long interval_millis);
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+ bool sendBotSelfAdvert(bool flood);
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+#endif
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+
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void checkCLIRescueCmd();
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void checkSerialInterface();
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bool isValidClientRepeatFreq(uint32_t f) const;
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@@ -223,6 +241,12 @@ private:
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TransportKey send_scope;
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+#if CMESH_BOT_ENABLED
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+ BotStats bot_stats;
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+ unsigned long next_bot_local_advert;
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+ unsigned long next_bot_flood_advert;
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+#endif
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+
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uint8_t cmd_frame[MAX_FRAME_SIZE + 1];
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uint8_t out_frame[MAX_FRAME_SIZE + 1];
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CayenneLPP telemetry;
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