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