#!/usr/bin/env python2.7 # # Project Horus - Browser-Based Chase Mapper # # Copyright (C) 2018 Mark Jessop # Released under GNU GPL v3 or later # import json import logging import flask from flask_socketio import SocketIO import os.path import pytz import sys import time import traceback from threading import Thread from datetime import datetime, timedelta from dateutil.parser import parse from chasemapper.config import * from chasemapper.earthmaths import * from chasemapper.geometry import * from chasemapper.gps import SerialGPS from chasemapper.gpsd import GPSDAdaptor from chasemapper.atmosphere import time_to_landing from chasemapper.listeners import OziListener, UDPListener, fix_datetime from chasemapper.predictor import predictor_spawn_download, model_download_running from chasemapper.habitat import HabitatChaseUploader, initListenerCallsign, uploadListenerPosition from chasemapper.logger import ChaseLogger from chasemapper.bearings import Bearings # Define Flask Application, and allow automatic reloading of templates for dev work app = flask.Flask(__name__) app.config['SECRET_KEY'] = 'secret!' app.config['TEMPLATES_AUTO_RELOAD'] = True app.jinja_env.auto_reload = True # SocketIO instance socketio = SocketIO(app) # Chase Logger Instance (Initialised in main) chase_logger = None # Global stores of data. # These settings are shared between server and all clients, and are updated dynamically. chasemapper_config = {} # Pointers to objects containing data listeners. # These should all present a .close() function which will be called on # listener profile change, or program exit. data_listeners = [] # These settings are not editable by the client! pred_settings = {} # Offline map settings, again, not editable by the client. map_settings = {'tile_server_enabled': False} # Payload data Stores current_payloads = {} # Archive data which will be passed to the web client current_payload_tracks = {} # Store of payload Track objects which are used to calculate instantaneous parameters. # Chase car position car_track = GenericTrack() # Bearing store bearing_store = None # Habitat Chase-Car uploader object habitat_uploader = None # Copy out any extra fields from incoming telemetry that we want to pass on to the GUI. # At the moment we're really only using the burst timer field. EXTRA_FIELDS = ['bt', 'temp', 'humidity', 'sats', 'snr'] # # Flask Routes # @app.route("/") def flask_index(): """ Render main index page """ return flask.render_template('index.html') @app.route("/get_telemetry_archive") def flask_get_telemetry_archive(): return json.dumps(current_payloads) @app.route("/get_config") def flask_get_config(): return json.dumps(chasemapper_config) @app.route("/get_bearings") def flask_get_bearings(): return json.dumps(bearing_store.bearings) # Some features of the web interface require comparisons with server time, # so provide a route to grab it. @app.route('/server_time') def flask_get_server_time(): return json.dumps(time.time()) @app.route("/tiles/") def flask_server_tiles(filename): """ Serve up a file from the tile server location """ global map_settings if map_settings['tile_server_enabled']: _filename = flask.safe_join(map_settings['tile_server_path'], filename) if os.path.isfile(_filename): return flask.send_file(_filename) else: flask.abort(404) else: flask.abort(404) def flask_emit_event(event_name="none", data={}): """ Emit a socketio event to any clients. """ socketio.emit(event_name, data, namespace='/chasemapper') @socketio.on('client_settings_update', namespace='/chasemapper') def client_settings_update(data): global chasemapper_config, habitat_uploader _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" _habitat_change = "none" if (chasemapper_config['habitat_upload_enabled'] == False) and (data['habitat_upload_enabled'] == True): _habitat_change = "start" elif (chasemapper_config['habitat_upload_enabled'] == True) and (data['habitat_upload_enabled'] == False): _habitat_change = "stop" # Overwrite local config data with data from the client. chasemapper_config = data 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 # Start or Stop the Habitat Chase-Car Uploader. if _habitat_change == "start": if habitat_uploader == None: habitat_uploader = HabitatChaseUploader(update_rate = chasemapper_config['habitat_update_rate'], callsign=chasemapper_config['habitat_call']) elif _habitat_change == "stop": habitat_uploader.close() habitat_uploader = None # Update the habitat uploader with a new update rate, if one has changed. if habitat_uploader != None: habitat_uploader.set_update_rate(chasemapper_config['habitat_update_rate']) habitat_uploader.set_callsign(chasemapper_config['habitat_call']) # Push settings back out to all clients. flask_emit_event('server_settings_update', chasemapper_config) def handle_new_payload_position(data): _lat = data['lat'] _lon = data['lon'] _alt = data['alt'] _time_dt = data['time_dt'] _callsign = data['callsign'] _short_time = _time_dt.strftime("%H:%M:%S") if _callsign not in current_payloads: # New callsign! Create entries in data stores. current_payload_tracks[_callsign] = GenericTrack() current_payloads[_callsign] = { 'telem': {'callsign': _callsign, 'position':[_lat, _lon, _alt], 'max_alt':0.0, 'vel_v':0.0, 'speed':0.0, 'short_time':_short_time, 'time_to_landing':"", 'server_time':time.time()}, 'path': [], 'pred_path': [], 'pred_landing': [], 'burst': [], 'abort_path': [], 'abort_landing': [], 'max_alt': 0.0, 'snr': -255.0 } # Add new data into the payload's track, and get the latest ascent rate. current_payload_tracks[_callsign].add_telemetry({'time': _time_dt, 'lat':_lat, 'lon': _lon, 'alt':_alt, 'comment':_callsign}) _state = current_payload_tracks[_callsign].get_latest_state() if _state != None: _vel_v = _state['ascent_rate'] _speed = _state['speed'] # If this payload is in descent, calculate the time to landing. # Use < -1.0, to avoid jitter when the payload is on the ground. if _vel_v < -1.0: # Try and get the altitude of the chase car - we use this as the expected 'ground' level. _car_state = car_track.get_latest_state() if _car_state != None: _ground_asl = _car_state['alt'] else: _ground_asl = 0.0 # Calculate _ttl = time_to_landing(_alt, _vel_v, ground_asl=_ground_asl) if _ttl is None: _ttl = "" elif _ttl == 0: _ttl = "LANDED" else: _min = _ttl // 60 _sec = _ttl % 60 _ttl = "%02d:%02d" % (_min,_sec) else: _ttl = "" else: _vel_v = 0.0 _ttl = "" # Now update the main telemetry store. current_payloads[_callsign]['telem'] = { 'callsign': _callsign, 'position':[_lat, _lon, _alt], 'vel_v':_vel_v, 'speed':_speed, 'short_time':_short_time, 'time_to_landing': _ttl, 'server_time':time.time() } current_payloads[_callsign]['path'].append([_lat, _lon, _alt]) # Copy out any extra fields we may want to pass onto the GUI. for _field in EXTRA_FIELDS: if _field in data: current_payloads[_callsign]['telem'][_field] = data[_field] # Check if the current payload altitude is higher than our previous maximum altitude. if _alt > current_payloads[_callsign]['max_alt']: current_payloads[_callsign]['max_alt'] = _alt # Add the payload maximum altitude into the telemetry snapshot dictionary. current_payloads[_callsign]['telem']['max_alt'] = current_payloads[_callsign]['max_alt'] # Update the web client. flask_emit_event('telemetry_event', current_payloads[_callsign]['telem']) # Add the position into the logger chase_logger.add_balloon_telemetry(data) def handle_modem_stats(data): """ Basic handling of modem statistics data. If it matches a known payload, send the info to the client. """ if data['source'] in current_payloads: flask_emit_event('modem_stats_event', {'callsign': data['source'], 'snr': data['snr']}) # # Predictor Code # predictor = None predictor_semaphore = False predictor_thread_running = True predictor_thread = None def predictorThread(): """ Run the predictor on a regular interval """ global predictor_thread_running, chasemapper_config logging.info("Predictor loop started.") while predictor_thread_running: run_prediction() for i in range(int(chasemapper_config['pred_update_rate'])): time.sleep(1) if predictor_thread_running == False: break logging.info("Closed predictor loop.") def run_prediction(): ''' Run a Flight Path prediction ''' global chasemapper_config, current_payloads, current_payload_tracks, predictor, predictor_semaphore if (predictor == None) or (chasemapper_config['pred_enabled'] == False): return # Set the semaphore so we don't accidentally kill the predictor object while it's running. predictor_semaphore = True _payload_list = list(current_payload_tracks.keys()) for _payload in _payload_list: # Check the age of the data. # No point re-running the predictor if the data is older than 30 seconds. _pos_age = current_payloads[_payload]['telem']['server_time'] if (time.time()-_pos_age) > 30.0: logging.debug("Skipping prediction for %s due to old data." % _payload) continue _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: _desc_rate = chasemapper_config['pred_desc_rate'] if _current_pos['alt'] > chasemapper_config['pred_burst']: _burst_alt = _current_pos['alt'] + 100 else: _burst_alt = chasemapper_config['pred_burst'] logging.info("Running Predictor for: %s." % _payload) _pred_path = predictor.predict( launch_lat=_current_pos['lat'], launch_lon=_current_pos['lon'], launch_alt=_current_pos['alt'], ascent_rate=_current_pos['ascent_rate'], descent_rate=_desc_rate, burst_alt=_burst_alt, launch_time=_current_pos['time'], descent_mode=_current_pos['is_descending']) if len(_pred_path) > 1: # Valid Prediction! _pred_path.insert(0,_current_pos_list) # Convert from predictor output format to a polyline. _pred_output = [] for _point in _pred_path: _pred_output.append([_point[1], _point[2], _point[3]]) current_payloads[_payload]['pred_path'] = _pred_output current_payloads[_payload]['pred_landing'] = _pred_output[-1] if _current_pos['is_descending']: current_payloads[_payload]['burst'] = [] else: # Determine the burst position. _cur_alt = 0.0 _cur_idx = 0 for i in range(len(_pred_output)): if _pred_output[i][2]>_cur_alt: _cur_alt = _pred_output[i][2] _cur_idx = i 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 if chasemapper_config['show_abort'] and (_current_pos['alt'] < chasemapper_config['pred_burst']) and (_current_pos['is_descending'] == False): logging.info("Running Abort Predictor for: %s." % _payload) _abort_pred_path = predictor.predict( launch_lat=_current_pos['lat'], launch_lon=_current_pos['lon'], launch_alt=_current_pos['alt'], ascent_rate=_current_pos['ascent_rate'], descent_rate=_desc_rate, burst_alt=_current_pos['alt']+200, launch_time=_current_pos['time'], descent_mode=_current_pos['is_descending']) if len(_pred_path) > 1: # Valid Prediction! _abort_pred_path.insert(0,_current_pos_list) # Convert from predictor output format to a polyline. _abort_pred_output = [] for _point in _abort_pred_path: _abort_pred_output.append([_point[1], _point[2], _point[3]]) 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.") current_payloads[_payload]['abort_path'] = [] current_payloads[_payload]['abort_landing'] = [] else: # Zero the abort path and landing current_payloads[_payload]['abort_path'] = [] current_payloads[_payload]['abort_landing'] = [] # Send the web client the updated prediction 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) # Add the prediction run to the logger. chase_logger.add_balloon_prediction(_client_data) # Clear the predictor-running semaphore predictor_semaphore = False def initPredictor(): global predictor, predictor_thread, chasemapper_config, pred_settings try: from cusfpredict.predict import Predictor 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']) if _model_age == "Unknown": 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: # 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 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']) # Start up the predictor thread if it is not running. if predictor_thread == None: 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() logging.error("Loading predictor failed: " + str(e)) flask_emit_event('predictor_model_update',{'model':"Failed - Check Log."}) chasemapper_config['pred_model'] = "Failed - Check Log." print("Loading Predictor failed.") predictor = None def model_download_finished(result): """ Callback for when the model download is finished """ if result == "OK": # Downloader reported OK, restart the predictor. initPredictor() else: # Downloader reported an error, pass on to the client. flask_emit_event('predictor_model_update',{'model':result}) @socketio.on('download_model', namespace='/chasemapper') def download_new_model(data): """ Trigger a download of a new weather model """ global pred_settings, model_download_running # Don't action anything if there is a model download already running logging.info("Web Client Initiated request for new predictor data.") if pred_settings['pred_model_download'] == "none": logging.info("No GFS model download command specified.") flask_emit_event('predictor_model_update',{'model':"No model download cmd."}) return else: _model_cmd = pred_settings['pred_model_download'] flask_emit_event('predictor_model_update',{'model':"Downloading Model."}) _status = predictor_spawn_download(_model_cmd, model_download_finished) flask_emit_event('predictor_model_update',{'model':_status}) # Data Clearing Functions @socketio.on('payload_data_clear', namespace='/chasemapper') def clear_payload_data(data): """ Clear the payload data store """ global predictor_semaphore, current_payloads, current_payload_tracks logging.warning("Client requested all payload data be cleared.") # Wait until any current predictions have finished running. while predictor_semaphore: time.sleep(0.1) current_payloads = {} current_payload_tracks = {} @socketio.on('car_data_clear', namespace='/chasemapper') def clear_car_data(data): """ Clear out the car position track """ global car_track logging.warning("Client requested all chase car data be cleared.") car_track = GenericTrack() @socketio.on('bearing_store_clear', namespace='/chasemapper') def clear_bearing_data(data): """ Clear all bearing data """ global bearing_store logging.warning("Client requested bearing data be cleared.") bearing_store.flush() @socketio.on('mark_recovered', namespace='/chasemapper') def mark_payload_recovered(data): """ Mark a payload as recovered, by uploading a station position """ _callsign = data['recovery_title'] _lat = data['last_pos'][0] _lon = data['last_pos'][1] _alt = data['last_pos'][2] _msg = data['message'] _timestamp = "Recovered at " + datetime.utcnow().strftime("%Y-%m-%d %H:%MZ") try: initListenerCallsign(_callsign, radio=_msg, antenna=_timestamp) uploadListenerPosition(_callsign, _lat, _lon, _alt, chase=False) except Exception as e: logging.error("Unable to mark %s as recovered - %s" % (data['payload_call'], str(e))) return logging.info("Payload %s marked as recovered." % data['payload_call']) # Incoming telemetry handlers def ozi_listener_callback(data): """ Handle a OziMux input message """ # OziMux message contains: # {'lat': -34.87915, 'comment': 'Telemetry Data', 'alt': 26493.0, 'lon': 139.11883, 'time': datetime.datetime(2018, 7, 16, 10, 55, 49, tzinfo=tzutc())} output = {} output['lat'] = float(data['lat']) output['lon'] = float(data['lon']) output['alt'] = float(data['alt']) output['callsign'] = "Payload" output['time_dt'] = data['time'] logging.info("OziMux Data: %.5f, %.5f, %.1f" % (data['lat'], data['lon'], data['alt'])) try: handle_new_payload_position(output) except Exception as e: logging.error("Error Handling Payload Position - %s" % str(e)) def udp_listener_summary_callback(data): ''' Handle a Payload Summary Message from UDPListener ''' # Modem stats messages are also passed in via this callback. # handle them separately. if data['type'] == 'MODEM_STATS': handle_modem_stats(data) return # Otherwise, we have a PAYLOAD_SUMMARY message. # Extract the fields we need. # Convert to something generic we can pass onwards. output = {} output['lat'] = float(data['latitude']) output['lon'] = float(data['longitude']) output['alt'] = float(data['altitude']) output['callsign'] = data['callsign'] if 'time' in data.keys(): _time = data['time'] else: _time = "??:??:??" logging.info("Horus UDP Data: %s, %s, %.5f, %.5f, %.1f" % (output['callsign'], _time, output['lat'], output['lon'], output['alt'])) # Process the 'short time' value if we have been provided it. if 'time' in data.keys(): output['time_dt'] = fix_datetime(data['time']) #_full_time = datetime.utcnow().strftime("%Y-%m-%dT") + data['time'] + "Z" #output['time_dt'] = parse(_full_time) else: # Otherwise use the current UTC time. output['time_dt'] = pytz.utc.localize(datetime.utcnow()) # Copy out any extra fields that we want to pass on to the GUI. for _field in EXTRA_FIELDS: if _field in data: output[_field] = data[_field] try: handle_new_payload_position(output) except Exception as e: logging.error("Error Handling Payload Position - %s" % str(e)) def udp_listener_car_callback(data): ''' Handle car position data ''' # TODO: Make a generic car position function, and have this function pass data into it # so we can add support for other chase car position inputs. global car_track, habitat_uploader, bearing_store _lat = float(data['latitude']) _lon = float(data['longitude']) # Handle when GPSD and/or other GPS data sources return a n/a for altitude. try: _alt = float(data['altitude']) except ValueError: _alt = 0.0 _comment = "CAR" _time_dt = pytz.utc.localize(datetime.utcnow()) logging.debug("Car Position: %.5f, %.5f" % (_lat, _lon)) _car_position_update = { 'time' : _time_dt, 'lat' : _lat, 'lon' : _lon, 'alt' : _alt, 'comment': _comment } # Add in true heading data if we have been supplied it # (Which will be the case once I end up building a better car GPS...) if 'heading' in data: _car_position_update['heading'] = data['heading'] car_track.add_telemetry(_car_position_update) _state = car_track.get_latest_state() _heading = _state['heading'] _speed = _state['speed'] # Push the new car position to the web client flask_emit_event('telemetry_event', {'callsign': 'CAR', 'position':[_lat,_lon,_alt], 'vel_v':0.0, 'heading': _heading, 'speed':_speed}) # Update the Habitat Uploader, if one exists. if habitat_uploader != None: habitat_uploader.update_position(data) # Update the bearing store with the current car state (position & bearing) if bearing_store != None: bearing_store.update_car_position(_state) # Add the car position to the logger, but only if we are moving (>10kph = ~3m/s) if _speed > 3.0: _car_position_update['speed'] = _speed _car_position_update['heading'] = _heading chase_logger.add_car_position(_car_position_update) def udp_listener_bearing_callback(data): global bearing_store, chase_logger if bearing_store != None: bearing_store.add_bearing(data) chase_logger.add_bearing(data) # Data Age Monitoring Thread data_monitor_thread_running = True def check_data_age(): """ Regularly check the age of the payload data, and clear if latest position is older than X minutes.""" global current_payloads, chasemapper_config, predictor_semaphore while data_monitor_thread_running: _now = time.time() _callsigns = list(current_payloads.keys()) for _call in _callsigns: try: _latest_time = current_payloads[_call]['telem']['server_time'] if (_now - _latest_time) > (chasemapper_config['payload_max_age']*60.0): # Data is older than our maximum age! # Make sure we do not have a predictor cycle running. while predictor_semaphore: time.sleep(0.1) # Remove this payload from our global data stores. current_payloads.pop(_call) current_payload_tracks.pop(_call) logging.info("Payload %s telemetry older than maximum age - removed from data store." % _call) except Exception as e: logging.error("Error checking payload data age - %s" % str(e)) time.sleep(2) def start_listeners(profile): """ Stop any currently running listeners, and startup a set of data listeners based on the supplied profile Args: profile (dict): A dictionary containing: 'name' (str): Profile name 'telemetry_source_type' (str): Data source type (ozimux or horus_udp) 'telemetry_source_port' (int): Data source port 'car_source_type' (str): Car Position source type (none, horus_udp or gpsd) 'car_source_port' (int): Car Position source port """ global data_listeners # Stop any existing listeners. for _thread in data_listeners: try: _thread.close() except Exception as e: logging.error("Error closing thread - %s" % str(e)) # Reset the listeners array. data_listeners = [] # Start up a OziMux listener, if we are using one. if profile['telemetry_source_type'] == "ozimux": logging.info("Using OziMux data source on UDP Port %d" % profile['telemetry_source_port']) _ozi_listener = OziListener(telemetry_callback=ozi_listener_callback, port=profile['telemetry_source_port']) data_listeners.append(_ozi_listener) # Start up UDP Broadcast Listener (which we use for car positions even if not for the payload) # Case 1 - Both telemetry and car position sources are set to horus_udp, and have the same port set. Only start a single UDP listener if (profile['telemetry_source_type'] == "horus_udp") and (profile['car_source_type'] == "horus_udp") and (profile['car_source_port'] == profile['telemetry_source_port']): # In this case, we start a single Horus UDP listener. logging.info("Starting single Horus UDP listener on port %d" % profile['telemetry_source_port']) _telem_horus_udp_listener = UDPListener(summary_callback=udp_listener_summary_callback, gps_callback=udp_listener_car_callback, bearing_callback=udp_listener_bearing_callback, port=profile['telemetry_source_port']) _telem_horus_udp_listener.start() data_listeners.append(_telem_horus_udp_listener) else: if profile['telemetry_source_type'] == "horus_udp": # Telemetry via Horus UDP - Start up a listener logging.info("Starting Telemetry Horus UDP listener on port %d" % profile['telemetry_source_port']) _telem_horus_udp_listener = UDPListener(summary_callback=udp_listener_summary_callback, gps_callback=None, bearing_callback=udp_listener_bearing_callback, port=profile['telemetry_source_port']) _telem_horus_udp_listener.start() data_listeners.append(_telem_horus_udp_listener) if profile['car_source_type'] == "horus_udp": # Car Position via Horus UDP - Start up a listener logging.info("Starting Car Position Horus UDP listener on port %d" % profile['car_source_port']) _car_horus_udp_listener = UDPListener(summary_callback=None, gps_callback=udp_listener_car_callback, bearing_callback=udp_listener_bearing_callback, port=profile['car_source_port']) _car_horus_udp_listener.start() data_listeners.append(_car_horus_udp_listener) elif profile['car_source_type'] == "gpsd": # GPSD Car Position Source logging.info("Starting GPSD Car Position Listener.") _gpsd_gps = GPSDAdaptor(hostname=chasemapper_config['car_gpsd_host'], port=chasemapper_config['car_gpsd_port'], callback=udp_listener_car_callback) data_listeners.append(_gpsd_gps) elif profile['car_source_type'] == "serial": # Serial GPS Source. logging.info("Starting Serial GPS Listener.") _serial_gps = SerialGPS(serial_port=chasemapper_config['car_serial_port'], serial_baud=chasemapper_config['car_serial_baud'], callback=udp_listener_car_callback) data_listeners.append(_serial_gps) else: # No Car position. logging.info("No car position data source.") @socketio.on('profile_change', namespace='/chasemapper') def profile_change(data): """ Client has requested a profile change """ global chasemapper_config logging.info("Client requested change to profile: %s" % data) # Change the profile, and restart the listeners. chasemapper_config['selected_profile'] = data start_listeners(chasemapper_config['profiles'][chasemapper_config['selected_profile']]) # Update all clients with the new profile selection flask_emit_event('server_settings_update', chasemapper_config) class WebHandler(logging.Handler): """ Logging Handler for sending log messages via Socket.IO to a Web Client """ def emit(self, record): """ Emit a log message via SocketIO """ if 'socket.io' not in record.msg: # Convert log record into a dictionary log_data = { 'level': record.levelname, 'timestamp': datetime.utcnow().strftime('%Y-%m-%dT%H:%M:%SZ'), 'msg': record.msg } # Emit to all socket.io clients socketio.emit('log_event', log_data, namespace='/chasemapper') if __name__ == "__main__": import argparse parser = argparse.ArgumentParser() 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.") parser.add_argument("-l", "--log", type=str, default=None, help="Custom log file name. (Default: ./log_files/.log") args = parser.parse_args() # Configure logging if args.verbose: _log_level = logging.DEBUG else: _log_level = logging.INFO logging.basicConfig(format='%(asctime)s %(levelname)s:%(message)s', stream=sys.stdout, level=_log_level) # Make flask & socketio only output errors, not every damn GET request. logging.getLogger("requests").setLevel(logging.CRITICAL) logging.getLogger("urllib3").setLevel(logging.CRITICAL) logging.getLogger('werkzeug').setLevel(logging.ERROR) logging.getLogger('socketio').setLevel(logging.ERROR) logging.getLogger('engineio').setLevel(logging.ERROR) web_handler = WebHandler() logging.getLogger().addHandler(web_handler) # Start the Chase Logger chase_logger = ChaseLogger(filename=args.log) # 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 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'], 'pred_model_download': chasemapper_config['pred_model_download'] } # Copy out Offline Map Settings map_settings = { 'tile_server_enabled': chasemapper_config['tile_server_enabled'], 'tile_server_path': chasemapper_config['tile_server_path'] } # Initialise Bearing store bearing_store = Bearings( socketio_instance = socketio, max_bearings = chasemapper_config['max_bearings'], max_bearing_age = chasemapper_config['max_bearing_age']) # Set speed gate for car position object car_track.heading_gate_threshold = chasemapper_config['car_speed_gate'] # Start listeners using the default profile selection. start_listeners(chasemapper_config['profiles'][chasemapper_config['selected_profile']]) # Start up the predictor, if enabled. if chasemapper_config['pred_enabled']: initPredictor() # Start up the Habitat Chase-Car Uploader, if enabled if chasemapper_config['habitat_upload_enabled']: habitat_uploader = HabitatChaseUploader(update_rate = chasemapper_config['habitat_update_rate'], callsign=chasemapper_config['habitat_call']) # Start up the data age monitor thread. _data_age_monitor = Thread(target=check_data_age) _data_age_monitor.start() # Run the Flask app, which will block until CTRL-C'd. socketio.run(app, host=chasemapper_config['flask_host'], port=chasemapper_config['flask_port']) # Close the predictor and data age monitor threads. predictor_thread_running = False data_monitor_thread_running = False # Close the chase logger chase_logger.close() if habitat_uploader != None: habitat_uploader.close() # Attempt to close the running listeners. for _thread in data_listeners: try: _thread.close() except Exception as e: logging.error("Error closing thread - %s" % str(e))