kopia lustrzana https://github.com/projecthorus/chasemapper
938 wiersze
35 KiB
Python
938 wiersze
35 KiB
Python
#!/usr/bin/env python2.7
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#
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# Project Horus - Browser-Based Chase Mapper
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#
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# Copyright (C) 2018 Mark Jessop <vk5qi@rfhead.net>
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# Released under GNU GPL v3 or later
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#
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import json
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import logging
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import flask
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from flask_socketio import SocketIO
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import os.path
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import pytz
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import sys
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import time
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import traceback
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from threading import Thread
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from datetime import datetime, timedelta
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from dateutil.parser import parse
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from chasemapper.config import *
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from chasemapper.earthmaths import *
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from chasemapper.geometry import *
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from chasemapper.gps import SerialGPS
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from chasemapper.gpsd import GPSDAdaptor
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from chasemapper.atmosphere import time_to_landing
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from chasemapper.listeners import OziListener, UDPListener, fix_datetime
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from chasemapper.predictor import predictor_spawn_download, model_download_running
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from chasemapper.habitat import HabitatChaseUploader, initListenerCallsign, uploadListenerPosition
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from chasemapper.logger import ChaseLogger
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from chasemapper.bearings import Bearings
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# Define Flask Application, and allow automatic reloading of templates for dev work
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app = flask.Flask(__name__)
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app.config['SECRET_KEY'] = 'secret!'
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app.config['TEMPLATES_AUTO_RELOAD'] = True
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app.jinja_env.auto_reload = True
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# SocketIO instance
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socketio = SocketIO(app)
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# Chase Logger Instance (Initialised in main)
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chase_logger = None
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# Global stores of data.
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# These settings are shared between server and all clients, and are updated dynamically.
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chasemapper_config = {}
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# Pointers to objects containing data listeners.
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# These should all present a .close() function which will be called on
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# listener profile change, or program exit.
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data_listeners = []
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# These settings are not editable by the client!
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pred_settings = {}
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# Offline map settings, again, not editable by the client.
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map_settings = {'tile_server_enabled': False}
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# Payload data Stores
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current_payloads = {} # Archive data which will be passed to the web client
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current_payload_tracks = {} # Store of payload Track objects which are used to calculate instantaneous parameters.
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# Chase car position
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car_track = GenericTrack()
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# Bearing store
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bearing_store = None
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# Habitat Chase-Car uploader object
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habitat_uploader = None
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# Copy out any extra fields from incoming telemetry that we want to pass on to the GUI.
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# At the moment we're really only using the burst timer field.
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EXTRA_FIELDS = ['bt', 'temp', 'humidity', 'sats', 'snr']
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#
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# Flask Routes
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#
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@app.route("/")
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def flask_index():
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""" Render main index page """
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return flask.render_template('index.html')
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@app.route("/get_telemetry_archive")
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def flask_get_telemetry_archive():
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return json.dumps(current_payloads)
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@app.route("/get_config")
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def flask_get_config():
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return json.dumps(chasemapper_config)
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@app.route("/get_bearings")
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def flask_get_bearings():
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return json.dumps(bearing_store.bearings)
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# Some features of the web interface require comparisons with server time,
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# so provide a route to grab it.
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@app.route('/server_time')
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def flask_get_server_time():
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return json.dumps(time.time())
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@app.route("/tiles/<path:filename>")
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def flask_server_tiles(filename):
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""" Serve up a file from the tile server location """
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global map_settings
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if map_settings['tile_server_enabled']:
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_filename = flask.safe_join(map_settings['tile_server_path'], filename)
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if os.path.isfile(_filename):
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return flask.send_file(_filename)
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else:
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flask.abort(404)
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else:
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flask.abort(404)
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def flask_emit_event(event_name="none", data={}):
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""" Emit a socketio event to any clients. """
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socketio.emit(event_name, data, namespace='/chasemapper')
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@socketio.on('client_settings_update', namespace='/chasemapper')
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def client_settings_update(data):
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global chasemapper_config, habitat_uploader
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_predictor_change = "none"
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if (chasemapper_config['pred_enabled'] == False) and (data['pred_enabled'] == True):
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_predictor_change = "restart"
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elif (chasemapper_config['pred_enabled'] == True) and (data['pred_enabled'] == False):
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_predictor_change = "stop"
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_habitat_change = "none"
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if (chasemapper_config['habitat_upload_enabled'] == False) and (data['habitat_upload_enabled'] == True):
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_habitat_change = "start"
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elif (chasemapper_config['habitat_upload_enabled'] == True) and (data['habitat_upload_enabled'] == False):
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_habitat_change = "stop"
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# Overwrite local config data with data from the client.
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chasemapper_config = data
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if _predictor_change == "restart":
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# Wait until any current predictions have finished.
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while predictor_semaphore:
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time.sleep(0.1)
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# Attempt to start the predictor.
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initPredictor()
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elif _predictor_change == "stop":
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# Wait until any current predictions have finished.
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while predictor_semaphore:
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time.sleep(0.1)
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predictor = None
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# Start or Stop the Habitat Chase-Car Uploader.
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if _habitat_change == "start":
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if habitat_uploader == None:
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habitat_uploader = HabitatChaseUploader(update_rate = chasemapper_config['habitat_update_rate'],
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callsign=chasemapper_config['habitat_call'])
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elif _habitat_change == "stop":
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habitat_uploader.close()
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habitat_uploader = None
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# Update the habitat uploader with a new update rate, if one has changed.
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if habitat_uploader != None:
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habitat_uploader.set_update_rate(chasemapper_config['habitat_update_rate'])
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habitat_uploader.set_callsign(chasemapper_config['habitat_call'])
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# Push settings back out to all clients.
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flask_emit_event('server_settings_update', chasemapper_config)
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def handle_new_payload_position(data):
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_lat = data['lat']
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_lon = data['lon']
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_alt = data['alt']
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_time_dt = data['time_dt']
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_callsign = data['callsign']
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_short_time = _time_dt.strftime("%H:%M:%S")
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if _callsign not in current_payloads:
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# New callsign! Create entries in data stores.
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current_payload_tracks[_callsign] = GenericTrack()
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current_payloads[_callsign] = {
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'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()},
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'path': [],
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'pred_path': [],
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'pred_landing': [],
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'burst': [],
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'abort_path': [],
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'abort_landing': [],
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'max_alt': 0.0,
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'snr': -255.0
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}
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# Add new data into the payload's track, and get the latest ascent rate.
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current_payload_tracks[_callsign].add_telemetry({'time': _time_dt, 'lat':_lat, 'lon': _lon, 'alt':_alt, 'comment':_callsign})
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_state = current_payload_tracks[_callsign].get_latest_state()
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if _state != None:
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_vel_v = _state['ascent_rate']
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_speed = _state['speed']
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# If this payload is in descent, calculate the time to landing.
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# Use < -1.0, to avoid jitter when the payload is on the ground.
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if _vel_v < -1.0:
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# Try and get the altitude of the chase car - we use this as the expected 'ground' level.
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_car_state = car_track.get_latest_state()
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if _car_state != None:
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_ground_asl = _car_state['alt']
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else:
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_ground_asl = 0.0
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# Calculate
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_ttl = time_to_landing(_alt, _vel_v, ground_asl=_ground_asl)
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if _ttl is None:
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_ttl = ""
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elif _ttl == 0:
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_ttl = "LANDED"
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else:
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_min = _ttl // 60
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_sec = _ttl % 60
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_ttl = "%02d:%02d" % (_min,_sec)
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else:
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_ttl = ""
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else:
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_vel_v = 0.0
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_ttl = ""
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# Now update the main telemetry store.
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current_payloads[_callsign]['telem'] = {
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'callsign': _callsign,
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'position':[_lat, _lon, _alt],
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'vel_v':_vel_v,
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'speed':_speed,
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'short_time':_short_time,
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'time_to_landing': _ttl,
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'server_time':time.time()
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}
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current_payloads[_callsign]['path'].append([_lat, _lon, _alt])
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# Copy out any extra fields we may want to pass onto the GUI.
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for _field in EXTRA_FIELDS:
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if _field in data:
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current_payloads[_callsign]['telem'][_field] = data[_field]
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# Check if the current payload altitude is higher than our previous maximum altitude.
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if _alt > current_payloads[_callsign]['max_alt']:
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current_payloads[_callsign]['max_alt'] = _alt
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# Add the payload maximum altitude into the telemetry snapshot dictionary.
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current_payloads[_callsign]['telem']['max_alt'] = current_payloads[_callsign]['max_alt']
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# Update the web client.
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flask_emit_event('telemetry_event', current_payloads[_callsign]['telem'])
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# Add the position into the logger
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chase_logger.add_balloon_telemetry(data)
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def handle_modem_stats(data):
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""" Basic handling of modem statistics data. If it matches a known payload, send the info to the client. """
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if data['source'] in current_payloads:
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flask_emit_event('modem_stats_event', {'callsign': data['source'], 'snr': data['snr']})
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#
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# Predictor Code
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#
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predictor = None
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predictor_semaphore = False
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predictor_thread_running = True
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predictor_thread = None
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def predictorThread():
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""" Run the predictor on a regular interval """
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global predictor_thread_running, chasemapper_config
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logging.info("Predictor loop started.")
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while predictor_thread_running:
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run_prediction()
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for i in range(int(chasemapper_config['pred_update_rate'])):
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time.sleep(1)
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if predictor_thread_running == False:
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break
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logging.info("Closed predictor loop.")
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def run_prediction():
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''' Run a Flight Path prediction '''
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global chasemapper_config, current_payloads, current_payload_tracks, predictor, predictor_semaphore
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if (predictor == None) or (chasemapper_config['pred_enabled'] == False):
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return
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# Set the semaphore so we don't accidentally kill the predictor object while it's running.
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predictor_semaphore = True
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_payload_list = list(current_payload_tracks.keys())
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for _payload in _payload_list:
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# Check the age of the data.
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# No point re-running the predictor if the data is older than 30 seconds.
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_pos_age = current_payloads[_payload]['telem']['server_time']
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if (time.time()-_pos_age) > 30.0:
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logging.debug("Skipping prediction for %s due to old data." % _payload)
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continue
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_current_pos = current_payload_tracks[_payload].get_latest_state()
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_current_pos_list = [0,_current_pos['lat'], _current_pos['lon'], _current_pos['alt']]
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_pred_ok = False
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_abort_pred_ok = False
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if _current_pos['is_descending']:
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_desc_rate = _current_pos['landing_rate']
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else:
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_desc_rate = chasemapper_config['pred_desc_rate']
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if _current_pos['alt'] > chasemapper_config['pred_burst']:
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_burst_alt = _current_pos['alt'] + 100
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else:
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_burst_alt = chasemapper_config['pred_burst']
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logging.info("Running Predictor for: %s." % _payload)
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_pred_path = predictor.predict(
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launch_lat=_current_pos['lat'],
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launch_lon=_current_pos['lon'],
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launch_alt=_current_pos['alt'],
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ascent_rate=_current_pos['ascent_rate'],
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descent_rate=_desc_rate,
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burst_alt=_burst_alt,
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launch_time=_current_pos['time'],
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descent_mode=_current_pos['is_descending'])
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if len(_pred_path) > 1:
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# Valid Prediction!
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_pred_path.insert(0,_current_pos_list)
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# Convert from predictor output format to a polyline.
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_pred_output = []
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for _point in _pred_path:
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_pred_output.append([_point[1], _point[2], _point[3]])
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current_payloads[_payload]['pred_path'] = _pred_output
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current_payloads[_payload]['pred_landing'] = _pred_output[-1]
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if _current_pos['is_descending']:
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current_payloads[_payload]['burst'] = []
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else:
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# Determine the burst position.
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_cur_alt = 0.0
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_cur_idx = 0
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for i in range(len(_pred_output)):
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if _pred_output[i][2]>_cur_alt:
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_cur_alt = _pred_output[i][2]
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_cur_idx = i
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current_payloads[_payload]['burst'] = _pred_output[_cur_idx]
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_pred_ok = True
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logging.info("Prediction Updated, %d data points." % len(_pred_path))
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else:
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current_payloads[_payload]['pred_path'] = []
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current_payloads[_payload]['pred_landing'] = []
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current_payloads[_payload]['burst'] = []
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logging.error("Prediction Failed.")
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# Abort predictions
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if chasemapper_config['show_abort'] and (_current_pos['alt'] < chasemapper_config['pred_burst']) and (_current_pos['is_descending'] == False):
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logging.info("Running Abort Predictor for: %s." % _payload)
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_abort_pred_path = predictor.predict(
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launch_lat=_current_pos['lat'],
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launch_lon=_current_pos['lon'],
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launch_alt=_current_pos['alt'],
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ascent_rate=_current_pos['ascent_rate'],
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descent_rate=_desc_rate,
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burst_alt=_current_pos['alt']+200,
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launch_time=_current_pos['time'],
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descent_mode=_current_pos['is_descending'])
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if len(_pred_path) > 1:
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# Valid Prediction!
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_abort_pred_path.insert(0,_current_pos_list)
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# Convert from predictor output format to a polyline.
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_abort_pred_output = []
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for _point in _abort_pred_path:
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_abort_pred_output.append([_point[1], _point[2], _point[3]])
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current_payloads[_payload]['abort_path'] = _abort_pred_output
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current_payloads[_payload]['abort_landing'] = _abort_pred_output[-1]
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_abort_pred_ok = True
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logging.info("Abort Prediction Updated, %d data points." % len(_pred_path))
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else:
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logging.error("Prediction Failed.")
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current_payloads[_payload]['abort_path'] = []
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current_payloads[_payload]['abort_landing'] = []
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else:
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# Zero the abort path and landing
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current_payloads[_payload]['abort_path'] = []
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current_payloads[_payload]['abort_landing'] = []
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# Send the web client the updated prediction data.
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if _pred_ok or _abort_pred_ok:
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_client_data = {
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'callsign': _payload,
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'pred_path': current_payloads[_payload]['pred_path'],
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'pred_landing': current_payloads[_payload]['pred_landing'],
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'burst': current_payloads[_payload]['burst'],
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'abort_path': current_payloads[_payload]['abort_path'],
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'abort_landing': current_payloads[_payload]['abort_landing']
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}
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flask_emit_event('predictor_update', _client_data)
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# Add the prediction run to the logger.
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chase_logger.add_balloon_prediction(_client_data)
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# Clear the predictor-running semaphore
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predictor_semaphore = False
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def initPredictor():
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global predictor, predictor_thread, chasemapper_config, pred_settings
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try:
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from cusfpredict.predict import Predictor
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from cusfpredict.utils import gfs_model_age, available_gfs
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# Check if we have any GFS data
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_model_age = gfs_model_age(pred_settings['gfs_path'])
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if _model_age == "Unknown":
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logging.error("No GFS data in directory.")
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chasemapper_config['pred_model'] = "No GFS Data."
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flask_emit_event('predictor_model_update',{'model':"No GFS data."})
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chasemapper_config['pred_enabled'] = False
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else:
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# Check model contains data to at least 4 hours into the future.
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(_model_start, _model_end) = available_gfs(pred_settings['gfs_path'])
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_model_now = datetime.utcnow() + timedelta(0,60*60*4)
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if (_model_now < _model_start) or (_model_now > _model_end):
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# No suitable GFS data!
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logging.error("GFS Data in directory does not cover now!")
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chasemapper_config['pred_model'] = "Old GFS Data."
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flask_emit_event('predictor_model_update',{'model':"Old GFS data."})
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chasemapper_config['pred_enabled'] = False
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else:
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chasemapper_config['pred_model'] = _model_age
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flask_emit_event('predictor_model_update',{'model':_model_age})
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predictor = Predictor(bin_path=pred_settings['pred_binary'], gfs_path=pred_settings['gfs_path'])
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# Start up the predictor thread if it is not running.
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if predictor_thread == None:
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predictor_thread = Thread(target=predictorThread)
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predictor_thread.start()
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# Set the predictor to enabled, and update the clients.
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chasemapper_config['pred_enabled'] = True
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flask_emit_event('server_settings_update', chasemapper_config)
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except Exception as e:
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traceback.print_exc()
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logging.error("Loading predictor failed: " + str(e))
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flask_emit_event('predictor_model_update',{'model':"Failed - Check Log."})
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|
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/<timestamp>.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))
|