Add chasemapper module. Settings now loaded from configuration file.

bearings
Mark Jessop 2018-07-19 22:14:01 +09:30
rodzic 2888e5ad07
commit cfb4e13aed
6 zmienionych plików z 300 dodań i 88 usunięć

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@ -0,0 +1,7 @@
#!/usr/bin/env python
#
# Project Horus - Browser-Based Chase Mapper
#
# Copyright (C) 2018 Mark Jessop <vk5qi@rfhead.net>
# Released under GNU GPL v3 or later
#

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#!/usr/bin/env python
#
# Project Horus - Browser-Based Chase Mapper - Config Reader
#
# Copyright (C) 2018 Mark Jessop <vk5qi@rfhead.net>
# Released under GNU GPL v3 or later
#
import logging
try:
# Python 2
from ConfigParser import RawConfigParser
except ImportError:
# Python 3
from configparser import RawConfigParser
default_config = {
# Start location for the map (until either a chase car position, or balloon position is available.)
'default_lat': -34.9,
'default_lon': 138.6,
# Predictor settings
'pred_enabled': False, # Enable running and display of predicted flight paths.
# Default prediction settings (actual values will be used once the flight is underway)
'pred_model': "Disabled",
'pred_desc_rate': 6.0,
'pred_burst': 28000,
'show_abort': True, # Show a prediction of an 'abort' paths (i.e. if the balloon bursts *now*)
'pred_update_rate': 15 # Update predictor every 15 seconds.
}
def parse_config_file(filename):
""" Parse a Configuration File """
chase_config = default_config.copy()
config = RawConfigParser()
config.read(filename)
# Map Defaults
chase_config['flask_host'] = config.get('map', 'flask_host')
chase_config['flask_port'] = config.getint('map', 'flask_port')
chase_config['default_lat'] = config.get('map', 'default_lat')
chase_config['default_lon'] = config.get('map', 'default_lon')
# Source Selection
chase_config['data_source'] = config.get('source', 'type')
chase_config['ozimux_port'] = config.getint('source', 'ozimux_port')
chase_config['horus_udp_port'] = config.getint('source', 'horus_udp_port')
# Car GPS Data
chase_config['car_gps_source'] = config.get('car_gps','source')
chase_config['car_gpsd_host'] = config.get('car_gps','gpsd_host')
chase_config['car_gpsd_port'] = config.getint('car_gps','gpsd_port')
# Predictor
chase_config['pred_enabled'] = config.getboolean('predictor', 'predictor_enabled')
chase_config['pred_burst'] = config.getfloat('predictor', 'default_burst')
chase_config['pred_desc_rate'] = config.getfloat('predictor', 'default_descent_rate')
chase_config['pred_binary'] = config.get('predictor','pred_binary')
chase_config['pred_gfs_directory'] = config.get('predictor', 'gfs_directory')
chase_config['pred_model_download'] = config.get('predictor', 'model_download')
return chase_config
def read_config(filename, default_cfg="horusmapper.cfg.example"):
""" Read in a Horus Mapper configuration file,and return as a dict. """
try:
config_dict = parse_config_file(filename)
except Exception as e:
logging.error("Could not parse %s, trying default: %s" % (filename, str(e)))
try:
config_dict = parse_config_file(default_cfg)
except Exception as e:
logging.critical("Could not parse example config file! - %s" % str(e))
config_dict = None
return config_dict
if __name__ == "__main__":
import sys
print(read_config(sys.argv[1]))

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#!/usr/bin/env python
#
# Project Horus - Browser-Based Chase Mapper - Predictor
#
# Copyright (C) 2018 Mark Jessop <vk5qi@rfhead.net>
# Released under GNU GPL v3 or later
#

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@ -0,0 +1,68 @@
#
# Project Horus Chase-Mapper Configuration File
#
# Copy this file to horusmapper.cfg and modify as required.
#
# Telemetry Data Source
[source]
# Data source type:
# ozimux - Read data in OziMux format
# horus_udp - Read Horus UDP Broadcast 'Payload Summary' messages
type = ozimux
# Ozimux Data source UDP port
ozimux_port = 8942
# 'Payload Summary' (also car GPS messages) UDP listen port
horus_udp_port = 55672
# Chase-Car Position Settings
[car_gps]
# Chase car Position data Source
# none - No Chase-Car GPS
# horus_udp - Read Horus UDP Broadcast 'Car GPS' messages
# gpsd - Poll GPSD for positions. (TO BE IMPLEMENTED)
source = horus_udp
# GPSD Host/Port
# TO BE IMPLEMENTED
gpsd_host = localhost
gpsd_port = 2947
# Map Defaults
[map]
# Host/port to host webserver on
flask_host = 0.0.0.0
flask_port = 5001
# Default map centre
default_lat = -34.9
default_lon = 138.6
# Predictor Settings
# Use of the predictor requires installing the CUSF Predictor Python Wrapper from here:
# https://github.com/darksidelemm/cusf_predictor_wrapper
# You also need to compile the predictor binary, and copy it into this directory.
[predictor]
# Enable Predictor (True/False)
predictor_enabled = False
# Predictor defaults - these can be modified at runtime in the web interface.
default_burst = 30000
default_descent_rate = 5.0
# Predictory Binary Location
# Where to find the built CUSF predictor binary. This will usually be ./pred or pred.exe (on Windows)
pred_binary = ./pred
# Directory containing GFS model data.
gfs_directory = ./gfs/
# Wind Model Download Command
# Optional command to enable downloading of wind data via a web client button.
# Example: (this will require copying the get_wind_data.py script to this dirctory)
# model_download = python get_wind_data.py --lat=-33 --lon=139 --latdelta=10 --londelta=10 -f 24 -m 0p50 -o gfs
# The gfs directory (above) will be cleared of all .dat files prior to the above command being run.
model_download = none

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@ -13,13 +13,14 @@ import sys
import time
import traceback
from threading import Thread
from datetime import datetime
from datetime import datetime, timedelta
from dateutil.parser import parse
from horuslib import *
from horuslib.geometry import *
from horuslib.atmosphere import time_to_landing
from horuslib.listener import OziListener, UDPListener
from horuslib.earthmaths import *
from chasemapper.config import *
# Define Flask Application, and allow automatic reloading of templates for dev work
@ -34,27 +35,12 @@ socketio = SocketIO(app)
# Global stores of data.
# Don't expose these settings to the client!
pred_settings = {
'pred_binary': "./pred",
'gfs_path': "./gfs/",
}
# These settings are shared between server and all clients, and are updated dynamically.
chasemapper_config = {
# Start location for the map (until either a chase car position, or balloon position is available.)
'default_lat': -34.9,
'default_lon': 138.6,
chasemapper_config = {}
# Predictor settings
'pred_enabled': False, # Enable running and display of predicted flight paths.
# Default prediction settings (actual values will be used once the flight is underway)
'pred_model': "Disabled",
'pred_desc_rate': 6.0,
'pred_burst': 28000,
'show_abort': True, # Show a prediction of an 'abort' paths (i.e. if the balloon bursts *now*)
'pred_update_rate': 15 # Update predictor every 15 seconds.
}
# These settings are not editable by the client!
pred_settings = {}
# Payload data Stores
current_payloads = {} # Archive data which will be passed to the web client
@ -93,11 +79,28 @@ def flask_emit_event(event_name="none", data={}):
def client_settings_update(data):
global chasemapper_config
_predictor_change = "none"
if (chasemapper_config['pred_enabled'] == False) and (data['pred_enabled'] == True):
_predictor_change = "restart"
elif (chasemapper_config['pred_enabled'] == True) and (data['pred_enabled'] == False):
_predictor_change = "stop"
# Overwrite local config data with data from the client.
# TODO: Some sanitization of this data... this could lead to bad things.
chasemapper_config = data
# Updates based on
if _predictor_change == "restart":
# Wait until any current predictions have finished.
while predictor_semaphore:
time.sleep(0.1)
# Attempt to start the predictor.
initPredictor()
elif _predictor_change == "stop":
# Wait until any current predictions have finished.
while predictor_semaphore:
time.sleep(0.1)
predictor = None
# Push settings back out to all clients.
flask_emit_event('server_settings_update', chasemapper_config)
@ -119,7 +122,7 @@ def handle_new_payload_position(data):
current_payload_tracks[_callsign] = GenericTrack()
current_payloads[_callsign] = {
'telem': {'callsign': _callsign, 'position':[_lat, _lon, _alt], 'vel_v':0.0, 'speed':0.0, 'short_time':_short_time, 'time_to_landing':""},
'telem': {'callsign': _callsign, 'position':[_lat, _lon, _alt], 'vel_v':0.0, 'speed':0.0, 'short_time':_short_time, 'time_to_landing':"", 'server_time':time.time()},
'path': [],
'pred_path': [],
'pred_landing': [],
@ -168,7 +171,8 @@ def handle_new_payload_position(data):
'vel_v':_vel_v,
'speed':_speed,
'short_time':_short_time,
'time_to_landing': _ttl}
'time_to_landing': _ttl,
'server_time':time.time()}
current_payloads[_callsign]['path'].append([_lat, _lon, _alt])
@ -211,6 +215,9 @@ def run_prediction():
_current_pos = current_payload_tracks[_payload].get_latest_state()
_current_pos_list = [0,_current_pos['lat'], _current_pos['lon'], _current_pos['alt']]
_pred_ok = False
_abort_pred_ok = False
if _current_pos['is_descending']:
_desc_rate = _current_pos['landing_rate']
else:
@ -256,9 +263,12 @@ def run_prediction():
current_payloads[_payload]['burst'] = _pred_output[_cur_idx]
_pred_ok = True
logging.info("Prediction Updated, %d data points." % len(_pred_path))
else:
current_payloads[_payload]['pred_path'] = []
current_payloads[_payload]['pred_landing'] = []
current_payloads[_payload]['burst'] = []
logging.error("Prediction Failed.")
# Abort predictions
@ -286,7 +296,7 @@ def run_prediction():
current_payloads[_payload]['abort_path'] = _abort_pred_output
current_payloads[_payload]['abort_landing'] = _abort_pred_output[-1]
_abort_pred_ok = True
logging.info("Abort Prediction Updated, %d data points." % len(_pred_path))
else:
logging.error("Prediction Failed.")
@ -300,22 +310,23 @@ def run_prediction():
predictor_semaphore = False
# Send the web client the updated prediction data.
_client_data = {
'callsign': _payload,
'pred_path': current_payloads[_payload]['pred_path'],
'pred_landing': current_payloads[_payload]['pred_landing'],
'burst': current_payloads[_payload]['burst'],
'abort_path': current_payloads[_payload]['abort_path'],
'abort_landing': current_payloads[_payload]['abort_landing']
}
flask_emit_event('predictor_update', _client_data)
if _pred_ok or _abort_pred_ok:
_client_data = {
'callsign': _payload,
'pred_path': current_payloads[_payload]['pred_path'],
'pred_landing': current_payloads[_payload]['pred_landing'],
'burst': current_payloads[_payload]['burst'],
'abort_path': current_payloads[_payload]['abort_path'],
'abort_landing': current_payloads[_payload]['abort_landing']
}
flask_emit_event('predictor_update', _client_data)
def initPredictor():
global predictor, predictor_thread, chasemapper_config
global predictor, predictor_thread, chasemapper_config, pred_settings
try:
from cusfpredict.predict import Predictor
from cusfpredict.utils import gfs_model_age
from cusfpredict.utils import gfs_model_age, available_gfs
# Check if we have any GFS data
_model_age = gfs_model_age(pred_settings['gfs_path'])
@ -323,18 +334,31 @@ def initPredictor():
logging.error("No GFS data in directory.")
chasemapper_config['pred_model'] = "No GFS Data."
flask_emit_event('predictor_model_update',{'model':"No GFS data."})
chasemapper_config['pred_enabled'] = False
else:
chasemapper_config['pred_model'] = _model_age
flask_emit_event('predictor_model_update',{'model':_model_age})
predictor = Predictor(bin_path=pred_settings['pred_binary'], gfs_path=pred_settings['gfs_path'])
# Check model contains data to at least 4 hours into the future.
(_model_start, _model_end) = available_gfs(pred_settings['gfs_path'])
_model_now = datetime.utcnow() + timedelta(0,60*60*4)
if (_model_now < _model_start) or (_model_now > _model_end):
# No suitable GFS data!
logging.error("GFS Data in directory does not cover now!")
chasemapper_config['pred_model'] = "Old GFS Data."
flask_emit_event('predictor_model_update',{'model':"Old GFS data."})
chasemapper_config['pred_enabled'] = False
# Start up the predictor thread.
predictor_thread = Thread(target=predictorThread)
predictor_thread.start()
else:
chasemapper_config['pred_model'] = _model_age
flask_emit_event('predictor_model_update',{'model':_model_age})
predictor = Predictor(bin_path=pred_settings['pred_binary'], gfs_path=pred_settings['gfs_path'])
# Set the predictor to enabled, and update the clients.
chasemapper_config['pred_enabled'] = True
flask_emit_event('server_settings_update', chasemapper_config)
# Start up the predictor thread.
predictor_thread = Thread(target=predictorThread)
predictor_thread.start()
# Set the predictor to enabled, and update the clients.
chasemapper_config['pred_enabled'] = True
flask_emit_event('server_settings_update', chasemapper_config)
except Exception as e:
traceback.print_exc()
@ -426,18 +450,7 @@ def udp_listener_car_callback(data):
if __name__ == "__main__":
import argparse
parser = argparse.ArgumentParser()
group = parser.add_mutually_exclusive_group()
parser.add_argument("-p","--port",default=5001,help="Port to run Web Server on.")
group.add_argument("--ozimux", action="store_true", default=False, help="Take payload input via OziMux (listen on port 8942).")
group.add_argument("--summary", action="store_true", default=False, help="Take payload input data via Payload Summary Broadcasts.")
parser.add_argument("--clamp", action="store_false", default=True, help="Clamp all tracks to ground.")
parser.add_argument("--nolabels", action="store_true", default=False, help="Inhibit labels on placemarks.")
parser.add_argument("--predict", action="store_true", help="Enable Flight Path Predictions.")
parser.add_argument("--predict_binary", type=str, default="./pred", help="Location of the CUSF predictor binary. Defaut = ./pred")
parser.add_argument("--burst_alt", type=float, default=30000.0, help="Expected Burst Altitude (m). Default = 30000")
parser.add_argument("--descent_rate", type=float, default=5.0, help="Expected Descent Rate (m/s, positive value). Default = 5.0")
parser.add_argument("--abort", action="store_true", default=False, help="Enable 'Abort' Predictions.")
parser.add_argument("--predict_rate", type=int, default=15, help="Run predictions every X seconds. Default = 15 seconds.")
parser.add_argument("-c", "--config", type=str, default="horusmapper.cfg", help="Configuration file.")
parser.add_argument("-v", "--verbose", action="store_true", default=False, help="Verbose output.")
args = parser.parse_args()
@ -455,32 +468,58 @@ if __name__ == "__main__":
logging.getLogger('socketio').setLevel(logging.ERROR)
logging.getLogger('engineio').setLevel(logging.ERROR)
if args.ozimux:
# Attempt to read in config file.
chasemapper_config = read_config(args.config)
# Die if we cannot read a valid config file.
if chasemapper_config == None:
logging.critical("Could not read any configuration data. Exiting")
sys.exit(1)
# Copy out the predictor settings to another dictionary.
pred_settings = {
'pred_binary': chasemapper_config['pred_binary'],
'gfs_path': chasemapper_config['pred_gfs_directory'],
'model_download': chasemapper_config['pred_model_download']
}
running_threads = []
# Start up the primary data source
if chasemapper_config['data_source'] == "ozimux":
logging.info("Using OziMux data source.")
_listener = OziListener(telemetry_callback=ozi_listener_callback)
_ozi_listener = OziListener(telemetry_callback=ozi_listener_callback, port=chasemapper_config['ozimux_port'])
running_threads.append(_ozi_listener)
# Start up UDP Broadcast Listener (which we use for car positions even if not for the payload)
if args.summary:
logging.info("Using Payload Summary data source.")
_broadcast_listener = UDPListener(summary_callback=udp_listener_summary_callback,
gps_callback=udp_listener_car_callback)
else:
_broadcast_listener = UDPListener(summary_callback=None,
gps_callback=udp_listener_car_callback)
if (chasemapper_config['data_source'] == "horus_udp") or (chasemapper_config['car_gps_source'] == "horus_udp"):
_horus_udp_port = chasemapper_config['horus_udp_port']
if chasemapper_config['data_source'] == "horus_udp":
_summary_callback = udp_listener_summary_callback
else:
_summary_callback = None
_broadcast_listener.start()
if chasemapper_config['car_gps_source'] == "horus_udp":
_gps_callback = udp_listener_car_callback
else:
_gps_callback = None
if args.predict:
logging.info("Starting Horus UDP Listener")
_horus_udp_listener = UDPListener(summary_callback=_summary_callback,
gps_callback=_gps_callback)
_horus_udp_listener.start()
running_threads.append(_horus_udp_listener)
if chasemapper_config['pred_enabled']:
initPredictor()
# Run the Flask app, which will block until CTRL-C'd.
socketio.run(app, host='0.0.0.0', port=args.port)
# Attempt to close the listener.
try:
predictor_thread_running = False
_broadcast_listener.close()
_listener.close()
except:
pass
socketio.run(app, host=chasemapper_config['flask_host'], port=chasemapper_config['flask_port'])
# Attempt to close the listeners.
predictor_thread_running = False
for _thread in running_threads:
try:
_thread.close()
except Exception as e:
logging.error("Error closing thread.")

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@ -475,6 +475,7 @@
var temp_data = {};
temp_data.telem = data;
temp_data.path = [data.position];
temp_data.burst = [];
temp_data.pred_path = [];
temp_data.pred_landing = [];
temp_data.abort_path = [];
@ -550,21 +551,21 @@
// Add the landing marker if it doesnt exist.
if (balloon_positions[_callsign].pred_marker == null){
balloon_positions[callsign].pred_marker = L.marker(data.pred_landing,{title:callsign + " Landing", icon: balloonLandingIcons[balloon_positions[callsign].colour]})
.bindTooltip(callsign + " Landing",{permanent:false,direction:'right'})
balloon_positions[_callsign].pred_marker = L.marker(data.pred_landing,{title:_callsign + " Landing", icon: balloonLandingIcons[balloon_positions[_callsign].colour]})
.bindTooltip(_callsign + " Landing",{permanent:false,direction:'right'})
.addTo(map);
}else{
balloon_positions[callsign].pred_marker.setLatLng(data.pred_landing);
balloon_positions[_callsign].pred_marker.setLatLng(data.pred_landing);
}
if(data.burst.length == 3){
// There is burst data!
if (balloon_positions[_callsign].burst_marker == null){
var _burst_txt = callsign + "Burst (" + data.burst[2].toFixed(0) + "m)";
balloon_positions[callsign].burst_marker = L.marker(data.burst,{title:_burst_txt, icon: burstIcon})
var _burst_txt = _callsign + "Burst (" + data.burst[2].toFixed(0) + "m)";
balloon_positions[_callsign].burst_marker = L.marker(data.burst,{title:_burst_txt, icon: burstIcon})
.bindTooltip(_burst_txt,{permanent:false,direction:'right'})
.addTo(map);
}else{
balloon_positions[callsign].burst_marker.setLatLng(data.burst);
balloon_positions[_callsign].burst_marker.setLatLng(data.burst);
}
}else{
// No burst data, or we are in descent.
@ -579,13 +580,13 @@
if (data.abort_landing.length == 3){
// Only update the abort data if there is actually abort data to show.
if (balloon_positions[_callsign].abort_marker == null){
balloon_positions[callsign].abort_marker = L.marker(data.abort_landing,{title:callsign + " Abort", icon: abortIcon})
.bindTooltip(callsign + " Abort Landing",{permanent:false,direction:'right'});
balloon_positions[_callsign].abort_marker = L.marker(data.abort_landing,{title:_callsign + " Abort", icon: abortIcon})
.bindTooltip(_callsign + " Abort Landing",{permanent:false,direction:'right'});
if(chase_config.show_abort == true){
balloon_positions[callsign].abort_marker.addTo(map);
balloon_positions[_callsign].abort_marker.addTo(map);
}
}else{
balloon_positions[callsign].abort_marker.setLatLng(data.abort_landing);
balloon_positions[_callsign].abort_marker.setLatLng(data.abort_landing);
}
balloon_positions[_callsign].abort_path.setLatLngs(data.abort_path);
@ -594,7 +595,7 @@
balloon_positions[_callsign].abort_path.setLatLngs([]);
if (balloon_positions[_callsign].abort_marker != null){
balloon_positions[callsign].abort_marker.remove();
balloon_positions[_callsign].abort_marker.remove();
}
}
});