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feat: Add --use-lighthouses argument to selectively choose lighthouses to be used for optimization #343

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feat: Add --use-lighthouses argument to selectively choose lighthouses to be used for optimization #343

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32 changes: 28 additions & 4 deletions src/survive.c
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,7 @@ STATIC_CONFIG_ITEM(LH_0_DISABLE, "lighthouse-0-disable", 'b', "Disable lh at idx
STATIC_CONFIG_ITEM(LH_1_DISABLE, "lighthouse-1-disable", 'b', "Disable lh at idx 1", 0)
STATIC_CONFIG_ITEM(LH_2_DISABLE, "lighthouse-2-disable", 'b', "Disable lh at idx 2", 0)
STATIC_CONFIG_ITEM(LH_3_DISABLE, "lighthouse-3-disable", 'b', "Disable lh at idx 3", 0)
STATIC_CONFIG_ITEM(USE_LIGHTHOUSES, "use-lighthouses", 's', "Comma-separated list of lighthouse IDs (hex) to use for tracking.", "")
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@bl4ckb0ne bl4ckb0ne Mar 20, 2026

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Why is this in hexadecimal? It doesn't match with the value units above.


STRUCT_CONFIG_SECTION(SurviveContext)
STRUCT_CONFIG_ITEM("lighthouse-max-update", "Maximum instant move for a lighthouse", .01, t->settings.lh_max_update);
Expand Down Expand Up @@ -229,7 +230,6 @@ SURVIVE_EXPORT int8_t survive_get_bsd_idx(SurviveContext *ctx, survive_channel c

if (ctx->lh_version == 0) {
if (ctx->bsd[channel].mode == 0xFF) {
ctx->bsd[channel] = (BaseStationData){.tracker = ctx->bsd[channel].tracker};
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@bl4ckb0ne bl4ckb0ne Mar 20, 2026

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Why is this removed?

ctx->bsd[channel].mode = channel;
ctx->activeLighthouses++;
SV_INFO("Adding lighthouse ch %d (cnt: %d)", channel, ctx->activeLighthouses);
Expand All @@ -243,7 +243,6 @@ SURVIVE_EXPORT int8_t survive_get_bsd_idx(SurviveContext *ctx, survive_channel c

for (i = 0; i < NUM_GEN2_LIGHTHOUSES; i++) {
if (ctx->bsd[i].mode == 0xFF) {
ctx->bsd[i] = (BaseStationData){.tracker = ctx->bsd[i].tracker};
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@bl4ckb0ne bl4ckb0ne Mar 20, 2026

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Why is this removed?

ctx->bsd[i].mode = channel;
if (ctx->activeLighthouses < i + 1) {
ctx->activeLighthouses = i + 1;
Expand Down Expand Up @@ -502,8 +501,16 @@ SurviveContext *survive_init_internal(int argc, char *const *argv, void *userDat

pctx->callbackStatsTimeBetween = survive_configf(ctx, "output-callback-stats", SC_GET, 0.0);

const char *whitelist = survive_configs(ctx, "use-lighthouses", SC_GET, "");
bool use_whitelist = (whitelist && whitelist[0] != 0);
if(use_whitelist) {
SV_INFO("Using lighthouse whitelist: %s", whitelist);
}

for (int i = 0; i < NUM_GEN2_LIGHTHOUSES; i++) {
if (config_read_lighthouse(ctx->lh_config, &(ctx->bsd[i]), i)) {
// config_read_lighthouse returns true if it found a config
bool has_config = config_read_lighthouse(ctx->lh_config, &(ctx->bsd[i]), i);
if (has_config) {
if (ctx->bsd[i].mode >= 0 && ctx->bsd[i].mode < 16)
ctx->bsd_map[ctx->bsd[i].mode] = i;
ctx->activeLighthouses++;
Expand All @@ -514,7 +521,24 @@ SurviveContext *survive_init_internal(int argc, char *const *argv, void *userDat
if (ctx->bsd[i].disable = survive_configi(ctx, buffer, SC_GET, 0)) {
SV_WARN("Disabling LH %d", i);
}

if (use_whitelist && has_config && !ctx->bsd[i].disable) {
char id_str[16] = {0};
sprintf(id_str, "%X", ctx->bsd[i].BaseStationID); // Use ID from config
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@bl4ckb0ne bl4ckb0ne Mar 20, 2026

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This should use snprintf


// If ID is NOT in list, disable it
if (strstr(whitelist, id_str) == NULL) {
SV_WARN("Lighthouse %s (idx %d) is not in the whitelist. Disabling.", id_str, i);
ctx->bsd[i].disable = 1;
} else {
SV_INFO("Lighthouse %s (idx %d) is in whitelist. Enabling.", id_str, i);
}
}

// If whitelist is active but this LH has no config, disable it until OOTX can identify it.
if (use_whitelist && !has_config) {
ctx->bsd[i].disable = 1;
SV_VERBOSE(50, "LH %d has no config, disabling pending OOTX identification.", i);
}
ctx->bsd[i].tracker = SV_MALLOC(sizeof(struct SurviveKalmanLighthouse));
survive_kalman_lighthouse_init(ctx->bsd[i].tracker, ctx, i);
};
Expand Down
19 changes: 18 additions & 1 deletion src/survive_process_gen2.c
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Expand Up @@ -60,6 +60,22 @@ static void ootx_packet_clbk_d_gen2(ootx_decoder_context *ct, ootx_packet *packe
SV_INFO("Got OOTX packet %d %08x", ctx->bsd[id].mode, (unsigned)v15.id);

b->BaseStationID = v15.id;

const char *whitelist = survive_configs(ctx, "use-lighthouses", SC_GET, "");
SV_INFO("PRINT WHITELIST '%s' is whitelisted", whitelist);
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@bl4ckb0ne bl4ckb0ne Mar 20, 2026

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This print feel out of place, it should be in the if statement below.

if (whitelist && whitelist[0] != 0) {
char id_str[16] = {0};
sprintf(id_str, "%X", b->BaseStationID);
SV_WARN("Checking lighthouse %s (idx %d) ", id_str, id);
if (strstr(whitelist, id_str) == NULL) {
SV_WARN("Lighthouse %s (idx %d) is not in the whitelist. Disabling.", id_str, id);
b->disable = 1;
} else {
SV_INFO("Lighthouse %s (idx %d) discovered and in whitelist. Enabling.", id_str, id);
b->disable = 0;
}
}

for (int i = 0; i < 2; i++) {
b->fcal[i].phase = v15.fcal_phase[i];
b->fcal[i].tilt = v15.fcal_tilt[i];
Expand Down Expand Up @@ -195,7 +211,8 @@ SURVIVE_EXPORT void survive_default_sync_process(SurviveObject *so, survive_chan
SV_WARN("Invalid channel requested(%d) for %s", channel, so->codename)
return;
}

// Run OOTX FIRST. This allows a disabled LH to be identified and (if whitelisted) re-enabled
survive_ootx_behavior(so, bsd_idx, ctx->lh_version, ootx);
if (so->ctx->bsd[bsd_idx].disable)
return;

Expand Down