303 lines
10 KiB
Python
303 lines
10 KiB
Python
'''
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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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import pyModeS as pms
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from threading import Thread
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import traceback
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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', 'skysense']:
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print("rawtype must be either avr, beast or skysense")
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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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df = pms.df(msg)
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# skip incomplete message
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if df in [0, 4, 5, 11] and len(msg) != 14:
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continue
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if df in [16, 17, 18, 19, 20, 21, 24] and len(msg) != 28:
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continue
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messages.append([msg, ts])
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return messages
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def read_skysense_buffer(self):
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"""Skysense stream format.
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::
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----------------------------------------------------------------------------------
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Field SS MS MS MS MS MS MS MS MS MS MS MS MS MS MS TS TS TS TS TS TS RS RS RS
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----------------------------------------------------------------------------------
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Position: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
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----------------------------------------------------------------------------------
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SS field - Start character
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Position 0:
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1 byte = 8 bits
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Start character '$'
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MS field - Payload
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Postion 1 through 14:
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14 bytes = 112 bits
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Mode-S payload
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In case of DF types that only carry 7 bytes of information
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position 8 through 14 are set to 0x00.
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TS field - Time stamp
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Position 15 through 20:
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6 bytes = 48 bits
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Time stamp with fields as:
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Lock Status - Status of internal time keeping mechanism
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Equal to 1 if operating normally
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Bit 47 - 1 bit
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Time of day in UTC seconds, between 0 and 86399
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Bits 46 through 30 - 17 bits
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Nanoseconds into current second, between 0 and 999999999
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Bits 29 through 0 - 30 bits
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RS field - Signal Level
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Position 21 through 23:
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3 bytes = 24 bits
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RSSI (received signal strength indication) and relative
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noise level with fields
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RNL, Q12.4 unsigned fixed point binary with 4 fractional
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bits and 8 integer bits.
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This is and indication of the noise level of the message.
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Roughly 40 counts per 10dBm.
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Bits 23 through 12 - 12 bits
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RSSI, Q12.4 unsigned fixed point binary with 4 fractional
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bits and 8 integer bits.
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This is an indication of the signal level of the received
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message in ADC counts. Roughly 40 counts per 10dBm.
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Bits 11 through 0 - 12 bits
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"""
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SS_MSGLENGTH = 24
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SS_STARTCHAR = 0x24
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if len(self.buffer) <= SS_MSGLENGTH:
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return None
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messages = []
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while len(self.buffer) > SS_MSGLENGTH:
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i = 0
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if self.buffer[i] == SS_STARTCHAR and self.buffer[i+SS_MSGLENGTH] == SS_STARTCHAR:
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i += 1
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if (self.buffer[i]>>7):
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#Long message
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payload = self.buffer[i:i+14]
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else:
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#Short message
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payload = self.buffer[i:i+7]
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msg = ''.join('%02X' % j for j in payload)
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i += 14 #Both message types use 14 bytes
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tsbin = self.buffer[i:i+6]
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sec = ( (tsbin[0] & 0x7f) << 10) | (tsbin[1] << 2 ) | (tsbin[2] >> 6)
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nano = ( (tsbin[2] & 0x3f) << 24) | (tsbin[3] << 16) | (tsbin[4] << 8) | tsbin[5]
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ts = sec + nano*1.0e-9
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i += 6
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#Signal and noise level - Don't care for now
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i += 3
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self.buffer = self.buffer[SS_MSGLENGTH:]
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messages.append( [msg,ts] )
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else:
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self.buffer = self.buffer[1:]
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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("%15.9f %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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elif self.rawtype == 'skysense':
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messages = self.read_skysense_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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# Provides the user an option to supply the environment
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# variable PYMODES_DEBUG to halt the execution
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# for debugging purposes
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debug_intent = os.environ.get('PYMODES_DEBUG', 'false')
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if debug_intent.lower() == 'true':
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traceback.print_exc()
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sys.exit()
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else:
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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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rawtype = sys.argv[3]
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client = BaseClient(host=host, port=port, rawtype=rawtype)
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client.daemon = True
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client.run()
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