update pmslive and tcpclient, add support for AVR.
This commit is contained in:
Junzi Sun
@@ -0,0 +1,198 @@
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'''
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Stream beast raw data from a TCP server, convert to mode-s messages
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'''
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from __future__ import print_function, division
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import os
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import sys
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import socket
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import time
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from threading import Thread
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if (sys.version_info > (3, 0)):
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PY_VERSION = 3
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else:
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PY_VERSION = 2
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class BaseClient(Thread):
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def __init__(self, host, port, rawtype):
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Thread.__init__(self)
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self.host = host
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self.port = port
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self.buffer = []
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self.rawtype = rawtype
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if self.rawtype not in ['avr', 'beast']:
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print("rawtype must be either avr or beast")
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os._exit(1)
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def connect(self):
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while True:
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try:
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s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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s.settimeout(10) # 10 second timeout
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s.connect((self.host, self.port))
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print("Server connected - %s:%s" % (self.host, self.port))
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print("collecting ADS-B messages...")
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return s
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except socket.error as err:
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print("Socket connection error: %s. reconnecting..." % err)
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time.sleep(3)
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def read_avr_buffer(self):
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# -- testing --
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# for b in self.buffer:
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# print(chr(b), b)
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# Append message with 0-9,A-F,a-f, until stop sign
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messages = []
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msg_stop = False
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for b in self.buffer:
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if b == 59:
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msg_stop = True
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ts = time.time()
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messages.append([self.current_msg, ts])
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if b == 42:
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msg_stop = False
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self.current_msg = ''
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if (not msg_stop) and (48<=b<=57 or 65<=b<=70 or 97<=b<=102):
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self.current_msg = self.current_msg + chr(b)
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self.buffer = []
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return messages
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def read_beast_buffer(self):
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'''
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<esc> "1" : 6 byte MLAT timestamp, 1 byte signal level,
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2 byte Mode-AC
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<esc> "2" : 6 byte MLAT timestamp, 1 byte signal level,
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7 byte Mode-S short frame
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<esc> "3" : 6 byte MLAT timestamp, 1 byte signal level,
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14 byte Mode-S long frame
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<esc> "4" : 6 byte MLAT timestamp, status data, DIP switch
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configuration settings (not on Mode-S Beast classic)
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<esc><esc>: true 0x1a
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<esc> is 0x1a, and "1", "2" and "3" are 0x31, 0x32 and 0x33
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timestamp:
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wiki.modesbeast.com/Radarcape:Firmware_Versions#The_GPS_timestamp
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'''
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messages_mlat = []
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msg = []
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i = 0
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# process the buffer until the last divider <esc> 0x1a
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# then, reset the self.buffer with the remainder
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while i < len(self.buffer):
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if (self.buffer[i:i+2] == [0x1a, 0x1a]):
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msg.append(0x1a)
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i += 1
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elif (i == len(self.buffer) - 1) and (self.buffer[i] == 0x1a):
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# special case where the last bit is 0x1a
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msg.append(0x1a)
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elif self.buffer[i] == 0x1a:
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if i == len(self.buffer) - 1:
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# special case where the last bit is 0x1a
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msg.append(0x1a)
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elif len(msg) > 0:
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messages_mlat.append(msg)
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msg = []
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else:
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msg.append(self.buffer[i])
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i += 1
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# save the reminder for next reading cycle, if not empty
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if len(msg) > 0:
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reminder = []
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for i, m in enumerate(msg):
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if (m == 0x1a) and (i < len(msg)-1):
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# rewind 0x1a, except when it is at the last bit
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reminder.extend([m, m])
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else:
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reminder.append(m)
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self.buffer = [0x1a] + msg
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else:
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self.buffer = []
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# extract messages
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messages = []
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for mm in messages_mlat:
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ts = time.time()
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msgtype = mm[0]
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# print(''.join('%02X' % i for i in mm))
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if msgtype == 0x32:
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# Mode-S Short Message, 7 byte, 14-len hexstr
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msg = ''.join('%02X' % i for i in mm[8:15])
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elif msgtype == 0x33:
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# Mode-S Long Message, 14 byte, 28-len hexstr
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msg = ''.join('%02X' % i for i in mm[8:22])
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else:
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# Other message tupe
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continue
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if len(msg) not in [14, 28]:
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# incomplete message
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continue
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messages.append([msg, ts])
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return messages
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def handle_messages(self, messages):
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"""re-implement this method to handle the messages"""
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for msg, t in messages:
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print("%f %s" % (t, msg))
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def run(self):
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sock = self.connect()
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while True:
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try:
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received = sock.recv(1024)
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if PY_VERSION == 2:
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received = [ord(i) for i in received]
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self.buffer.extend(received)
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# print(''.join(x.encode('hex') for x in self.buffer))
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# process self.buffer when it is longer enough
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# if len(self.buffer) < 2048:
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# continue
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# -- Removed!! Cause delay in low data rate scenario --
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if self.rawtype == 'beast':
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messages = self.read_beast_buffer()
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elif self.rawtype == 'avr':
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messages = self.read_avr_buffer()
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if not messages:
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continue
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else:
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self.handle_messages(messages)
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time.sleep(0.001)
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except Exception as e:
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print("Unexpected Error:", e)
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try:
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sock = self.connect()
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except Exception as e:
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print("Unexpected Error:", e)
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if __name__ == '__main__':
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# for testing purpose only
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host = sys.argv[1]
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port = int(sys.argv[2])
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client = BaseClient(host=host, port=port)
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client.daemon = True
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client.run()
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