feat: advertise IQR-trimmed mean position derived from heard repeater adverts

justfile

@@ -54,6 +54,10 @@ events:
 events-pretty:
     @tail -F ~/.donglora/orac-events.jsonl | jq .
 
+# Dump heard repeater positions + IQR-trimmed average we'd advertise
+positions: _ensure_tools
+    @uv run python -c 'from orac.state import load_state, heard_positions, average_heard_position; load_state(); ps = heard_positions(); print(f"heard {len(ps)} unique positions:"); [print(f"  {lat:+.3f}, {lon:+.3f}") for lat, lon in sorted(ps)]; avg = average_heard_position(); print(f"IQR-trimmed mean: {avg}" if avg else "no positions yet")'
+
 # Clean cached artifacts
 clean:
     @rm -rf .pytest_cache .ruff_cache __pycache__ orac/__pycache__ tests/__pycache__

orac/bot.py

@@ -161,6 +161,16 @@ def _handle_sigusr1(signum: int, _frame: object) -> None:  # noqa: ARG001
         rt.dump_metrics()
 
 
+def _handle_sigint(_signum: int, _frame: object) -> None:
+    """SIGINT: flag the IOThread for shutdown *before* KeyboardInterrupt
+    unwinds the main thread, so the interrupted serial read exits cleanly
+    instead of looking like a device disconnect."""
+    rt = _active_runtime
+    if rt is not None:
+        rt.io_thread.stop()
+    raise KeyboardInterrupt
+
+
 # ── Connect loop ─────────────────────────────────────────────────
 
 
@@ -235,6 +245,9 @@ def main() -> None:
     # SIGUSR1 dumps metrics; not available on all platforms (e.g. Windows).
     with contextlib.suppress(ValueError, AttributeError):
         signal.signal(signal.SIGUSR1, _handle_sigusr1)
+    # SIGINT: pre-set stop_event so IOThread's interrupted read exits cleanly.
+    with contextlib.suppress(ValueError, AttributeError):
+        signal.signal(signal.SIGINT, _handle_sigint)
 
     port = sys.argv[1] if len(sys.argv) > 1 else None
 

orac/crypto.py

@@ -300,9 +300,22 @@ def compute_mac(secret: bytes, ciphertext: bytes) -> bytes:
 
 
 def build_advert_payload() -> bytes:
-    """Build the inner ADVERT payload: pubkey + timestamp + signature + app_data."""
+    """Build the inner ADVERT payload: pubkey + timestamp + signature + app_data.
+
+    If we've heard at least 5 unique repeater positions, include our averaged
+    position in the advert's app_data.
+    """
+    from orac.state import average_heard_position, heard_position_count
+
     timestamp = struct.pack("<I", int(time.time()))
-    app_data = bytes([0x81]) + BOT_NAME.encode("utf-8")
+    name_bytes = BOT_NAME.encode("utf-8")
+    if heard_position_count() >= 5 and (avg := average_heard_position()) is not None:
+        lat_i = int(round(avg[0] * 1_000_000))
+        lon_i = int(round(avg[1] * 1_000_000))
+        # flags: has_name (0x80) | has_location (0x10) | chat node (0x01)
+        app_data = bytes([0x91]) + struct.pack("<ii", lat_i, lon_i) + name_bytes
+    else:
+        app_data = bytes([0x81]) + name_bytes
     sign_msg = _pubkey_bytes + timestamp + app_data
     signature = sign(sign_msg)
     return _pubkey_bytes + timestamp + signature + app_data

orac/dispatch.py

@@ -55,7 +55,7 @@ from orac.meshcore import (
 )
 from orac.reply_state import PendingAckTable, ReplyCache
 from orac.runtime import Metrics, TxItem, TxPriority, TxQueue
-from orac.state import get_channel_history, record_channel_msg
+from orac.state import get_channel_history, record_channel_msg, record_heard_position
 from orac.worker import ChannelReplyWork, ChannelScreenWork, DmReplyWork, Worker
 
 log = logging.getLogger("orac")
@@ -220,10 +220,12 @@ class RxRouter:
         result = try_decode_advert(raw_payload)
         if result is None:
             return
-        adv_pubkey, name = result
+        adv_pubkey, name, node_type, position = result
         if adv_pubkey == pubkey_bytes():
             return  # our own advert echo
         register_node(adv_pubkey, name)
+        if node_type == 2 and position is not None:
+            record_heard_position(position[0], position[1])
         logfmt.net(
             "ADVERT %s (hash=0x%02x pk=%s...)",
             name,

orac/meshcore.py

@@ -554,8 +554,15 @@ def try_decrypt_anon_req(
     return sender_pubkey, peer_name, None
 
 
-def try_decode_advert(raw_payload: bytes) -> tuple[bytes, str] | None:
-    """Decode and verify an ADVERT payload. Returns (pubkey, name) or None."""
+def try_decode_advert(
+    raw_payload: bytes,
+) -> tuple[bytes, str, int, tuple[float, float] | None] | None:
+    """Decode and verify an ADVERT payload.
+
+    Returns (pubkey, name, node_type, position_or_None) or None on failure.
+    node_type: low nibble of app_data flags (1=chat, 2=repeater, 3=room).
+    position: (lat, lon) in degrees, or None if advert lacks location.
+    """
     if len(raw_payload) < 100:
         return None
 
@@ -568,10 +575,15 @@ def try_decode_advert(raw_payload: bytes) -> tuple[bytes, str] | None:
         return None
 
     name = ""
+    node_type = 0
+    position: tuple[float, float] | None = None
     if app_data:
         flags = app_data[0]
+        node_type = flags & 0x0F
         pos = 1
-        if flags & 0x10:  # has location
+        if flags & 0x10 and pos + 8 <= len(app_data):  # has location
+            lat_i, lon_i = struct.unpack("<ii", app_data[pos : pos + 8])
+            position = (lat_i / 1_000_000.0, lon_i / 1_000_000.0)
             pos += 8
         if flags & 0x20:  # feat1
             pos += 2
@@ -580,4 +592,4 @@ def try_decode_advert(raw_payload: bytes) -> tuple[bytes, str] | None:
         if flags & 0x80 and pos < len(app_data):  # has name
             name = app_data[pos:].decode("utf-8", errors="replace")
 
-    return pubkey, name if name else pubkey.hex()[:8]
+    return pubkey, name if name else pubkey.hex()[:8], node_type, position

orac/runtime.py

@@ -28,6 +28,8 @@ from enum import IntEnum
 from typing import Any
 
 import donglora as dl
+from serial import SerialException
+
 from orac import logfmt
 from orac.constants import (
     ADVERT_INTERVAL,
@@ -413,7 +415,13 @@ class IOThread(threading.Thread):
                 for _ in range(RX_DRAIN_PER_TICK):
                     if self._stop_event.is_set():
                         return
-                    pkt = dl.recv(self._conn)
+                    try:
+                        pkt = dl.recv(self._conn)
+                    except (SerialException, OSError):
+                        # Shutdown: signal interrupted a blocking serial read.
+                        if self._stop_event.is_set():
+                            return
+                        raise
                     if pkt is None:
                         break
                     self._metrics.inc("rx_total")
@@ -453,6 +461,8 @@ class IOThread(threading.Thread):
                             log.exception("gauge_collector failed")
                     self._last_gauge_dump = now
         except BaseException as e:  # surface fatal errors to main thread
+            if self._stop_event.is_set():
+                return  # expected: shutdown race
             self.last_error = e
             log.exception("IOThread died: %s", e)
             raise

orac/state.py

@@ -21,6 +21,7 @@ _state: dict[str, dict[str, object]] = {
     "channel_history": {},  # channel_name -> list of messages
     "dm_history": {},  # peer_pubkey_hex -> list of messages
     "known_nodes": {},  # pubkey_hex -> {"name": str, "seen": float}
+    "heard_positions": [],  # list of [lat, lon] rounded to 3 decimals (dedup'd)
 }
 
 
@@ -94,6 +95,68 @@ def known_node_count() -> int:
     return len(_state["known_nodes"])
 
 
+# ── Heard repeater positions ─────────────────────────────────────
+
+
+def record_heard_position(lat: float, lon: float) -> None:
+    """Record a repeater position (rounded to 3 decimals, dedup'd as a set)."""
+    entry = [round(lat, 3), round(lon, 3)]
+    positions: list[list[float]] = _state["heard_positions"]  # type: ignore[assignment]
+    if entry in positions:
+        return
+    positions.append(entry)
+    save_state()
+
+
+def heard_position_count() -> int:
+    return len(_state["heard_positions"])  # type: ignore[arg-type]
+
+
+def _iqr_bounds(values: list[float]) -> tuple[float, float]:
+    """Return (lo, hi) IQR fence: [Q1 - 1.5*IQR, Q3 + 1.5*IQR]."""
+    s = sorted(values)
+    n = len(s)
+
+    # Linear interpolation quantiles (same as numpy default).
+    def q(p: float) -> float:
+        idx = p * (n - 1)
+        lo_i = int(idx)
+        hi_i = min(lo_i + 1, n - 1)
+        frac = idx - lo_i
+        return s[lo_i] * (1 - frac) + s[hi_i] * frac
+
+    q1, q3 = q(0.25), q(0.75)
+    iqr = q3 - q1
+    return q1 - 1.5 * iqr, q3 + 1.5 * iqr
+
+
+def heard_positions() -> list[tuple[float, float]]:
+    """All recorded heard positions."""
+    return [(p[0], p[1]) for p in _state["heard_positions"]]  # type: ignore[union-attr]
+
+
+def average_heard_position() -> tuple[float, float] | None:
+    """IQR-trimmed mean of heard positions. Rejects lat/lon outliers
+    (e.g., null-island 0/0 or bogus points) before averaging. Falls back
+    to a plain mean when there are too few points for a robust IQR."""
+    positions = heard_positions()
+    if not positions:
+        return None
+    if len(positions) < 4:
+        lat = sum(p[0] for p in positions) / len(positions)
+        lon = sum(p[1] for p in positions) / len(positions)
+        return lat, lon
+
+    lat_lo, lat_hi = _iqr_bounds([p[0] for p in positions])
+    lon_lo, lon_hi = _iqr_bounds([p[1] for p in positions])
+    kept = [p for p in positions if lat_lo <= p[0] <= lat_hi and lon_lo <= p[1] <= lon_hi]
+    if not kept:
+        kept = positions
+    lat = sum(p[0] for p in kept) / len(kept)
+    lon = sum(p[1] for p in kept) / len(kept)
+    return lat, lon
+
+
 # ── Channel history ──────────────────────────────────────────────