esp-idf/examples/wifi/ftm/main/ftm_main.c

/* Wi-Fi FTM Example

   This example code is in the Public Domain (or CC0 licensed, at your option.)

   Unless required by applicable law or agreed to in writing, this
   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
   CONDITIONS OF ANY KIND, either express or implied.
*/

#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <string.h>
#include "nvs_flash.h"
#include "cmd_system.h"
#include "argtable3/argtable3.h"
#include "freertos/FreeRTOS.h"
#include "freertos/event_groups.h"
#include "esp_event.h"
#include "esp_log.h"
#include "esp_err.h"
#include "esp_wifi.h"
#include "esp_console.h"

typedef struct {
    struct arg_str *ssid;
    struct arg_str *password;
    struct arg_end *end;
} wifi_args_t;

typedef struct {
    struct arg_str *ssid;
    struct arg_end *end;
} wifi_scan_arg_t;

typedef struct {
    /* FTM Initiator */
    struct arg_lit *initiator;
    struct arg_int *frm_count;
    struct arg_int *burst_period;
    struct arg_str *ssid;
    /* FTM Responder */
    struct arg_lit *responder;
    struct arg_lit *enable;
    struct arg_lit *disable;
    struct arg_int *offset;
    struct arg_end *end;
} wifi_ftm_args_t;

static wifi_args_t sta_args;
static wifi_args_t ap_args;
static wifi_scan_arg_t scan_args;
static wifi_ftm_args_t ftm_args;

wifi_config_t g_ap_config = {
    .ap.max_connection = 4,
    .ap.authmode = WIFI_AUTH_WPA2_PSK,
    .ap.ftm_responder = true
};

#define ETH_ALEN 6
#define MAX_CONNECT_RETRY_ATTEMPTS  5

static bool s_reconnect = true;
static int s_retry_num = 0;
static const char *TAG_STA = "ftm_station";
static const char *TAG_AP = "ftm_ap";

static EventGroupHandle_t wifi_event_group;
const int CONNECTED_BIT = BIT0;
const int DISCONNECTED_BIT = BIT1;

static EventGroupHandle_t ftm_event_group;
const int FTM_REPORT_BIT = BIT0;
const int FTM_FAILURE_BIT = BIT1;
wifi_ftm_report_entry_t *g_ftm_report;
uint8_t g_ftm_report_num_entries;
static uint32_t g_rtt_est, g_dist_est;
bool g_ap_started;
uint8_t g_ap_channel;
uint8_t g_ap_bssid[ETH_ALEN];

const int g_report_lvl =
#ifdef CONFIG_ESP_FTM_REPORT_SHOW_DIAG
    BIT0 |
#endif
#ifdef CONFIG_ESP_FTM_REPORT_SHOW_RTT
    BIT1 |
#endif
#ifdef CONFIG_ESP_FTM_REPORT_SHOW_T1T2T3T4
    BIT2 |
#endif
#ifdef CONFIG_ESP_FTM_REPORT_SHOW_RSSI
    BIT3 |
#endif
0;

uint16_t g_scan_ap_num;
wifi_ap_record_t *g_ap_list_buffer;

static void event_handler(void *arg, esp_event_base_t event_base,
                          int32_t event_id, void *event_data)
{
	if (event_id == WIFI_EVENT_STA_CONNECTED) {
        wifi_event_sta_connected_t *event = (wifi_event_sta_connected_t *)event_data;

        ESP_LOGI(TAG_STA, "Connected to %s (BSSID: "MACSTR", Channel: %d)", event->ssid,
                 MAC2STR(event->bssid), event->channel);

        memcpy(g_ap_bssid, event->bssid, ETH_ALEN);
        g_ap_channel = event->channel;
        xEventGroupClearBits(wifi_event_group, DISCONNECTED_BIT);
        xEventGroupSetBits(wifi_event_group, CONNECTED_BIT);
    } else if (event_id == WIFI_EVENT_STA_DISCONNECTED) {
        if (s_reconnect && ++s_retry_num < MAX_CONNECT_RETRY_ATTEMPTS) {
            ESP_LOGI(TAG_STA, "sta disconnect, retry attempt %d...", s_retry_num);
            esp_wifi_connect();
        } else {
            ESP_LOGI(TAG_STA, "sta disconnected");
        }
        xEventGroupClearBits(wifi_event_group, CONNECTED_BIT);
        xEventGroupSetBits(wifi_event_group, DISCONNECTED_BIT);
    } else if (event_id == WIFI_EVENT_FTM_REPORT) {
        wifi_event_ftm_report_t *event = (wifi_event_ftm_report_t *) event_data;

        if (event->status == FTM_STATUS_SUCCESS) {
            g_rtt_est = event->rtt_est;
            g_dist_est = event->dist_est;
            g_ftm_report = event->ftm_report_data;
            g_ftm_report_num_entries = event->ftm_report_num_entries;
            xEventGroupSetBits(ftm_event_group, FTM_REPORT_BIT);
        } else {
            ESP_LOGI(TAG_STA, "FTM procedure with Peer("MACSTR") failed! (Status - %d)",
                     MAC2STR(event->peer_mac), event->status);
            xEventGroupSetBits(ftm_event_group, FTM_FAILURE_BIT);
        }
    } else if (event_id == WIFI_EVENT_AP_START) {
        g_ap_started = true;
    } else if (event_id == WIFI_EVENT_AP_STOP) {
        g_ap_started = false;
    }
}

static void ftm_process_report(void)
{
    int i;
    char *log = malloc(200);

    if (!g_report_lvl)
        return;

    if (!log) {
        ESP_LOGE(TAG_STA, "Failed to alloc buffer for FTM report");
        return;
    }

    bzero(log, 200);
    sprintf(log, "%s%s%s%s", g_report_lvl & BIT0 ? " Diag |":"", g_report_lvl & BIT1 ? "   RTT   |":"",
                 g_report_lvl & BIT2 ? "       T1       |       T2       |       T3       |       T4       |":"",
                 g_report_lvl & BIT3 ? "  RSSI  |":"");
    ESP_LOGI(TAG_STA, "FTM Report:");
    ESP_LOGI(TAG_STA, "|%s", log);
    for (i = 0; i < g_ftm_report_num_entries; i++) {
        char *log_ptr = log;

        bzero(log, 200);
        if (g_report_lvl & BIT0) {
            log_ptr += sprintf(log_ptr, "%6d|", g_ftm_report[i].dlog_token);
        }
        if (g_report_lvl & BIT1) {
            log_ptr += sprintf(log_ptr, "%7u  |", g_ftm_report[i].rtt);
        }
        if (g_report_lvl & BIT2) {
            log_ptr += sprintf(log_ptr, "%14llu  |%14llu  |%14llu  |%14llu  |", g_ftm_report[i].t1,
                                        g_ftm_report[i].t2, g_ftm_report[i].t3, g_ftm_report[i].t4);
        }
        if (g_report_lvl & BIT3) {
            log_ptr += sprintf(log_ptr, "%6d  |", g_ftm_report[i].rssi);
        }
        ESP_LOGI(TAG_STA, "|%s", log);
    }
    free(log);
}

void initialise_wifi(void)
{
    esp_log_level_set("wifi", ESP_LOG_WARN);
    static bool initialized = false;

    if (initialized) {
        return;
    }

    ESP_ERROR_CHECK(esp_netif_init());
    wifi_event_group = xEventGroupCreate();
    ftm_event_group = xEventGroupCreate();
    ESP_ERROR_CHECK( esp_event_loop_create_default() );
    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
    ESP_ERROR_CHECK(esp_wifi_init(&cfg));

    esp_event_handler_instance_t instance_any_id;
    ESP_ERROR_CHECK(esp_event_handler_instance_register(WIFI_EVENT,
                                                        ESP_EVENT_ANY_ID,
                                                        &event_handler,
                                                        NULL,
                                                        &instance_any_id));

    ESP_ERROR_CHECK(esp_wifi_set_storage(WIFI_STORAGE_RAM) );
    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_NULL) );
    ESP_ERROR_CHECK(esp_wifi_start() );
    initialized = true;
}

static bool wifi_cmd_sta_join(const char *ssid, const char *pass)
{
    int bits = xEventGroupWaitBits(wifi_event_group, CONNECTED_BIT, 0, 1, 0);

    wifi_config_t wifi_config = { 0 };

    strlcpy((char *) wifi_config.sta.ssid, ssid, sizeof(wifi_config.sta.ssid));
    if (pass) {
        strlcpy((char *) wifi_config.sta.password, pass, sizeof(wifi_config.sta.password));
    }

    if (bits & CONNECTED_BIT) {
        s_reconnect = false;
        xEventGroupClearBits(wifi_event_group, CONNECTED_BIT);
        ESP_ERROR_CHECK( esp_wifi_disconnect() );
        xEventGroupWaitBits(wifi_event_group, DISCONNECTED_BIT, 0, 1, portTICK_RATE_MS);
    }

    s_reconnect = true;
    s_retry_num = 0;
    ESP_ERROR_CHECK( esp_wifi_set_mode(WIFI_MODE_STA) );
    ESP_ERROR_CHECK( esp_wifi_set_config(ESP_IF_WIFI_STA, &wifi_config) );
    ESP_ERROR_CHECK( esp_wifi_connect() );

    xEventGroupWaitBits(wifi_event_group, CONNECTED_BIT, 0, 1, 5000 / portTICK_RATE_MS);

    return true;
}

static int wifi_cmd_sta(int argc, char **argv)
{
    int nerrors = arg_parse(argc, argv, (void **) &sta_args);

    if (nerrors != 0) {
        arg_print_errors(stderr, sta_args.end, argv[0]);
        return 1;
    }

    ESP_LOGI(TAG_STA, "sta connecting to '%s'", sta_args.ssid->sval[0]);
    wifi_cmd_sta_join(sta_args.ssid->sval[0], sta_args.password->sval[0]);
    return 0;
}

static bool wifi_perform_scan(const char *ssid, bool internal)
{
    wifi_scan_config_t scan_config = { 0 };
    scan_config.ssid = (uint8_t *) ssid;
    uint8_t i;

    ESP_ERROR_CHECK( esp_wifi_set_mode(WIFI_MODE_STA) );
    ESP_ERROR_CHECK( esp_wifi_scan_start(&scan_config, true) );

    esp_wifi_scan_get_ap_num(&g_scan_ap_num);
    if (g_scan_ap_num == 0) {
        ESP_LOGI(TAG_STA, "No matching AP found");
        return false;
    }

    if (g_ap_list_buffer) {
        free(g_ap_list_buffer);
    }
    g_ap_list_buffer = malloc(g_scan_ap_num * sizeof(wifi_ap_record_t));
    if (g_ap_list_buffer == NULL) {
        ESP_LOGE(TAG_STA, "Failed to malloc buffer to print scan results");
        return false;
    }

    if (esp_wifi_scan_get_ap_records(&g_scan_ap_num, (wifi_ap_record_t *)g_ap_list_buffer) == ESP_OK) {
        if (!internal) {
            for (i = 0; i < g_scan_ap_num; i++) {
                ESP_LOGI(TAG_STA, "[%s][rssi=%d]""%s", g_ap_list_buffer[i].ssid, g_ap_list_buffer[i].rssi,
                         g_ap_list_buffer[i].ftm_responder ? "[FTM Responder]" : "");
            }
        }
    }

    ESP_LOGI(TAG_STA, "sta scan done");

    return true;
}

static int wifi_cmd_scan(int argc, char **argv)
{
    int nerrors = arg_parse(argc, argv, (void **) &scan_args);

    if (nerrors != 0) {
        arg_print_errors(stderr, scan_args.end, argv[0]);
        return 1;
    }

    ESP_LOGI(TAG_STA, "sta start to scan");
    if ( scan_args.ssid->count == 1 ) {
        wifi_perform_scan(scan_args.ssid->sval[0], false);
    } else {
        wifi_perform_scan(NULL, false);
    }
    return 0;
}

static bool wifi_cmd_ap_set(const char* ssid, const char* pass)
{
    s_reconnect = false;
    strlcpy((char*) g_ap_config.ap.ssid, ssid, MAX_SSID_LEN);
    if (pass) {
        if (strlen(pass) != 0 && strlen(pass) < 8) {
            s_reconnect = true;
            ESP_LOGE(TAG_AP, "password less than 8");
            return false;
        }
        strlcpy((char*) g_ap_config.ap.password, pass, MAX_PASSPHRASE_LEN);
    }

    if (strlen(pass) == 0) {
        g_ap_config.ap.authmode = WIFI_AUTH_OPEN;
    }

    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP));
    ESP_ERROR_CHECK(esp_wifi_set_config(ESP_IF_WIFI_AP, &g_ap_config));
    return true;
}

static int wifi_cmd_ap(int argc, char** argv)
{
    int nerrors = arg_parse(argc, argv, (void**) &ap_args);

    if (nerrors != 0) {
        arg_print_errors(stderr, ap_args.end, argv[0]);
        return 1;
    }

    wifi_cmd_ap_set(ap_args.ssid->sval[0], ap_args.password->sval[0]);
    ESP_LOGI(TAG_AP, "Starting SoftAP with FTM Responder support, SSID - %s, Password - %s", ap_args.ssid->sval[0], ap_args.password->sval[0]);
    return 0;
}

static int wifi_cmd_query(int argc, char **argv)
{
    wifi_config_t cfg;
    wifi_mode_t mode;

    esp_wifi_get_mode(&mode);
    if (WIFI_MODE_AP == mode) {
        esp_wifi_get_config(WIFI_IF_AP, &cfg);
        ESP_LOGI(TAG_AP, "AP mode, %s %s", cfg.ap.ssid, cfg.ap.password);
    } else if (WIFI_MODE_STA == mode) {
        int bits = xEventGroupWaitBits(wifi_event_group, CONNECTED_BIT, 0, 1, 0);
        if (bits & CONNECTED_BIT) {
            esp_wifi_get_config(WIFI_IF_STA, &cfg);
            ESP_LOGI(TAG_STA, "sta mode, connected %s", cfg.ap.ssid);
        } else {
            ESP_LOGI(TAG_STA, "sta mode, disconnected");
        }
    } else {
        ESP_LOGI(TAG_STA, "NULL mode");
        return 0;
    }

    return 0;
}

wifi_ap_record_t *find_ftm_responder_ap(const char *ssid)
{
    bool retry_scan = false;
    uint8_t i;

    if (!ssid)
        return NULL;

retry:
    if (!g_ap_list_buffer || (g_scan_ap_num == 0)) {
        ESP_LOGI(TAG_STA, "Scanning for %s", ssid);
        if (false == wifi_perform_scan(ssid, true)) {
            return NULL;
        }
    }

    for (i = 0; i < g_scan_ap_num; i++) {
        if (strcmp((const char *)g_ap_list_buffer[i].ssid, ssid) == 0)
            return &g_ap_list_buffer[i];
    }

    if (!retry_scan) {
        retry_scan = true;
        if (g_ap_list_buffer) {
            free(g_ap_list_buffer);
            g_ap_list_buffer = NULL;
        }
        goto retry;
    }

    ESP_LOGI(TAG_STA, "No matching AP found");

    return NULL;
}

static int wifi_cmd_ftm(int argc, char **argv)
{
    int nerrors = arg_parse(argc, argv, (void **) &ftm_args);
    wifi_ap_record_t *ap_record;
    EventBits_t bits;

    wifi_ftm_initiator_cfg_t ftmi_cfg = {
        .frm_count = 32,
        .burst_period = 2,
    };

    if (nerrors != 0) {
        arg_print_errors(stderr, ftm_args.end, argv[0]);
        return 0;
    }

    if (ftm_args.initiator->count != 0 && ftm_args.responder->count != 0) {
        ESP_LOGE(TAG_STA, "Invalid FTM cmd argument");
        return 0;
    }

    if (ftm_args.responder->count != 0)
        goto ftm_responder;

    bits = xEventGroupWaitBits(wifi_event_group, CONNECTED_BIT, 0, 1, 0);
    if (bits & CONNECTED_BIT && !ftm_args.ssid->count) {
        memcpy(ftmi_cfg.resp_mac, g_ap_bssid, ETH_ALEN);
        ftmi_cfg.channel = g_ap_channel;
    } else if (ftm_args.ssid->count == 1) {
        ap_record = find_ftm_responder_ap(ftm_args.ssid->sval[0]);
        if (ap_record) {
            memcpy(ftmi_cfg.resp_mac, ap_record->bssid, 6);
            ftmi_cfg.channel = ap_record->primary;
        } else {
            return 0;
        }
    } else {
        ESP_LOGE(TAG_STA, "Provide SSID of the AP in disconnected state!");
        return 0;
    }

    if (ftm_args.frm_count->count != 0) {
        uint8_t count = ftm_args.frm_count->ival[0];
        if (count != 0 && count != 8 && count != 16 &&
            count != 24 && count != 32 && count != 64) {
            ESP_LOGE(TAG_STA, "Invalid Frame Count! Valid options are 0/8/16/24/32/64");
            return 0;
        }
        ftmi_cfg.frm_count = count;
    }

    if (ftm_args.burst_period->count != 0) {
        if (ftm_args.burst_period->ival[0] >= 2 &&
                ftm_args.burst_period->ival[0] < 256) {
            ftmi_cfg.burst_period = ftm_args.burst_period->ival[0];
        } else {
            ESP_LOGE(TAG_STA, "Invalid Burst Period! Valid range is 2-255");
            return 0;
        }
    }

    ESP_LOGI(TAG_STA, "Requesting FTM session with Frm Count - %d, Burst Period - %dmSec (0: No Preference)",
             ftmi_cfg.frm_count, ftmi_cfg.burst_period*100);

    if (ESP_OK != esp_wifi_ftm_initiate_session(&ftmi_cfg)) {
        ESP_LOGE(TAG_STA, "Failed to start FTM session");
        return 0;
    }

    bits = xEventGroupWaitBits(ftm_event_group, FTM_REPORT_BIT | FTM_FAILURE_BIT,
                                           pdFALSE, pdFALSE, portMAX_DELAY);
    /* Processing data from FTM session */
    if (bits & FTM_REPORT_BIT) {
        ftm_process_report();
        free(g_ftm_report);
        g_ftm_report = NULL;
        g_ftm_report_num_entries = 0;
        ESP_LOGI(TAG_STA, "Estimated RTT - %d nSec, Estimated Distance - %d.%02d meters",
                          g_rtt_est, g_dist_est / 100, g_dist_est % 100);
        xEventGroupClearBits(ftm_event_group, FTM_REPORT_BIT);
    } else {
        /* Failure case */
    }

    return 0;

ftm_responder:
    if (ftm_args.offset->count != 0) {
        int16_t offset_cm = ftm_args.offset->ival[0];

        esp_wifi_ftm_resp_set_offset(offset_cm);
    }

    if (ftm_args.enable->count != 0) {
        if (!g_ap_started) {
            ESP_LOGE(TAG_AP, "Start the SoftAP first with 'ap' command");
            return 0;
        }
        g_ap_config.ap.ftm_responder = true;
        ESP_ERROR_CHECK(esp_wifi_set_config(ESP_IF_WIFI_AP, &g_ap_config));
        ESP_LOGI(TAG_AP, "Re-starting SoftAP with FTM Responder enabled");

        return 0;
    }

    if (ftm_args.disable->count != 0) {
        if (!g_ap_started) {
            ESP_LOGE(TAG_AP, "Start the SoftAP first with 'ap' command");
            return 0;
        }
        g_ap_config.ap.ftm_responder = false;
        ESP_ERROR_CHECK(esp_wifi_set_config(ESP_IF_WIFI_AP, &g_ap_config));
        ESP_LOGI(TAG_AP, "Re-starting SoftAP with FTM Responder disabled");
    }

    return 0;
}

void register_wifi(void)
{
    sta_args.ssid = arg_str1(NULL, NULL, "<ssid>", "SSID of AP");
    sta_args.password = arg_str0(NULL, NULL, "<pass>", "password of AP");
    sta_args.end = arg_end(2);

    const esp_console_cmd_t sta_cmd = {
        .command = "sta",
        .help = "WiFi is station mode, join specified soft-AP",
        .hint = NULL,
        .func = &wifi_cmd_sta,
        .argtable = &sta_args
    };

    ESP_ERROR_CHECK( esp_console_cmd_register(&sta_cmd) );

    ap_args.ssid = arg_str1(NULL, NULL, "<ssid>", "SSID of AP");
    ap_args.password = arg_str0(NULL, NULL, "<pass>", "password of AP");
    ap_args.end = arg_end(2);

    const esp_console_cmd_t ap_cmd = {
        .command = "ap",
        .help = "AP mode, configure ssid and password",
        .hint = NULL,
        .func = &wifi_cmd_ap,
        .argtable = &ap_args
    };

    ESP_ERROR_CHECK( esp_console_cmd_register(&ap_cmd) );

    scan_args.ssid = arg_str0(NULL, NULL, "<ssid>", "SSID of AP want to be scanned");
    scan_args.end = arg_end(1);

    const esp_console_cmd_t scan_cmd = {
        .command = "scan",
        .help = "WiFi is station mode, start scan ap",
        .hint = NULL,
        .func = &wifi_cmd_scan,
        .argtable = &scan_args
    };

    ESP_ERROR_CHECK( esp_console_cmd_register(&scan_cmd) );

    const esp_console_cmd_t query_cmd = {
        .command = "query",
        .help = "query WiFi info",
        .hint = NULL,
        .func = &wifi_cmd_query,
    };
    ESP_ERROR_CHECK( esp_console_cmd_register(&query_cmd) );

    /* FTM Initiator commands */
    ftm_args.initiator = arg_lit0("I", "ftm_initiator", "FTM Initiator mode");
    ftm_args.ssid = arg_str0("s", "ssid", "SSID", "SSID of AP");
    ftm_args.frm_count = arg_int0("c", "frm_count", "<0/8/16/24/32/64>", "FTM frames to be exchanged (0: No preference)");
    ftm_args.burst_period = arg_int0("p", "burst_period", "<2-255 (x 100 mSec)>", "Periodicity of FTM bursts in 100's of miliseconds (0: No preference)");
    /* FTM Responder commands */
    ftm_args.responder = arg_lit0("R", "ftm_responder", "FTM Responder mode");
    ftm_args.enable = arg_lit0("e", "enable", "Restart SoftAP with FTM enabled");
    ftm_args.disable = arg_lit0("d", "disable", "Restart SoftAP with FTM disabled");
    ftm_args.offset = arg_int0("o", "offset", "Offset in cm", "T1 offset in cm for FTM Responder");
    ftm_args.end = arg_end(1);

    const esp_console_cmd_t ftm_cmd = {
        .command = "ftm",
        .help = "FTM command",
        .hint = NULL,
        .func = &wifi_cmd_ftm,
        .argtable = &ftm_args
    };

    ESP_ERROR_CHECK( esp_console_cmd_register(&ftm_cmd) );
}

void app_main(void)
{
    esp_err_t ret = nvs_flash_init();
    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
        ESP_ERROR_CHECK(nvs_flash_erase());
        ret = nvs_flash_init();
    }
    ESP_ERROR_CHECK( ret );

    initialise_wifi();

    esp_console_repl_t *repl = NULL;
    esp_console_repl_config_t repl_config = ESP_CONSOLE_REPL_CONFIG_DEFAULT();
    esp_console_dev_uart_config_t uart_config = ESP_CONSOLE_DEV_UART_CONFIG_DEFAULT();
    repl_config.prompt = "ftm>";
    // init console REPL environment
    ESP_ERROR_CHECK(esp_console_new_repl_uart(&uart_config, &repl_config, &repl));
    /* Register commands */
    register_system();
    register_wifi();

    printf("\n ==========================================================\n");
    printf(" |                      Steps to test FTM                 |\n");
    printf(" |                                                        |\n");
    printf(" |  1. Use 'help' for detailed information on parameters  |\n");
    printf(" |  2. Start SoftAP with command 'ap <SSID> <password>'   |\n");
    printf(" |                          OR                            |\n");
    printf(" |  2. Use 'scan' command to search for external AP's     |\n");
    printf(" |  3. On second device initiate FTM with an AP using     |\n");
    printf(" |     command 'ftm -I -s <SSID>'                         |\n");
    printf(" ==========================================================\n\n");

    // start console REPL
    ESP_ERROR_CHECK(esp_console_start_repl(repl));
}