kopia lustrzana https://github.com/projecthorus/horus-gui
Add relative position displays.
Mark Jessop
rodzic
7354e3928f
commit
c515c9eed9
16
README.md
16
README.md
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@ -4,7 +4,7 @@ Telemetry demodulator for the following modems in use by Project Horus
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* Horus Binary Modes
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* v1 - Legacy 22 byte mode, Golay FEC
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* v2 - 16/32-byte modes, LDPC FEC (Still in development)
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* RTTY (7N2 only)
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* RTTY (7N2 only, for now)
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Written by Mark Jessop <vk5qi@rfhead.net>
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@ -13,18 +13,14 @@ Written by Mark Jessop <vk5qi@rfhead.net>
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### TODO LIST - Important Stuff
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* Audio input via pyAudio and spectrum display. - DONE
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* Integrate Horus Modems (need help from @xssfox!) - First pass DONE
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* Basic display of decoded data (RTTY or HEX data for binary) - DONE
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* Save/Reload settings to file - Initial pass done.
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* Decode horus binary data (move horusbinary.py into a library?)
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* Upload telemetry to Habitat, with upload status - DONE
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* Better build system (build horuslib as part of package build?)
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* Stop decoded data pane from resizing on bad/long decodes - TODO
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* Export of telemetry via Horus UDP
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* Better build system
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* Windows binary
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### TODO LIST - Extras
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* UDP input from GQRX
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* Waterfall Display
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* Waterfall Display (? Need something GPU accelerated if possible...)
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## Usage
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@ -38,8 +34,6 @@ $ make
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$ make install
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```
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TODO: Make a separate horusdemodlib python package, which handles building of the library.
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### Create a Virtual Environment
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Create a virtual environment and install dependencies.
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@ -13,6 +13,7 @@ class FFTProcess(object):
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self,
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nfft=8192,
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stride=4096,
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update_decimation=1,
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fs=48000,
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sample_width=2,
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range=[100, 4000],
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@ -20,6 +21,8 @@ class FFTProcess(object):
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):
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self.nfft = nfft
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self.stride = stride
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self.update_decimation = update_decimation
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self.update_counter = 0
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self.fs = fs
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self.sample_width = sample_width
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self.range = range
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@ -61,7 +64,10 @@ class FFTProcess(object):
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) - 20 * np.log10(self.nfft)
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if self.callback != None:
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self.callback({"fft": _fft[self.mask], "scale": self.fft_scale[self.mask]})
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if self.update_counter % self.update_decimation == 0:
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self.callback({"fft": _fft[self.mask], "scale": self.fft_scale[self.mask]})
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self.update_counter += 1
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def process_block(self, samples):
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""" Add a block of samples to the input buffer. Calculate and process FFTs if the buffer is big enough """
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153
horusgui/gui.py
153
horusgui/gui.py
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@ -29,8 +29,9 @@ from .fft import *
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from .modem import *
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from .config import *
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from .habitat import *
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from .utils import position_info
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from horusdemodlib.demod import HorusLib, Mode
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from horusdemodlib.decoder import decode_packet
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from horusdemodlib.decoder import decode_packet, parse_ukhas_string
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from horusdemodlib.payloads import *
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from . import __version__
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@ -76,10 +77,11 @@ d0 = Dock("Audio", size=(300, 50))
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d0_modem = Dock("Modem", size=(300, 80))
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d0_habitat = Dock("Habitat", size=(300, 200))
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d0_other = Dock("Other", size=(300, 100))
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d1 = Dock("Spectrum", size=(800, 400))
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d1 = Dock("Spectrum", size=(800, 350))
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d2_stats = Dock("Modem Stats", size=(70, 300))
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d2_snr = Dock("SNR", size=(730, 300))
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d3 = Dock("Data", size=(800, 50))
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d3_data = Dock("Data", size=(800, 50))
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d3_position = Dock("Position", size=(800, 50))
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d4 = Dock("Log", size=(800, 150))
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# Arrange docks.
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area.addDock(d0)
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@ -88,8 +90,9 @@ area.addDock(d0_modem, "bottom", d0)
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area.addDock(d0_habitat, "bottom", d0_modem)
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area.addDock(d0_other, "below", d0_habitat)
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area.addDock(d2_stats, "bottom", d1)
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area.addDock(d3, "bottom", d2_stats)
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area.addDock(d4, "bottom", d3)
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area.addDock(d3_data, "bottom", d2_stats)
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area.addDock(d3_position, "bottom", d3_data)
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area.addDock(d4, "bottom", d3_position)
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area.addDock(d2_snr, "right", d2_stats)
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d0_habitat.raiseDock()
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@ -273,18 +276,65 @@ w3_snr.addWidget(widgets["snrPlot"], 0, 1, 2, 1)
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d2_snr.addWidget(w3_snr)
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# Telemetry Data
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w4 = pg.LayoutWidget()
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w4_data = pg.LayoutWidget()
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widgets["latestRawSentenceLabel"] = QtGui.QLabel("<b>Latest Packet (Raw):</b>")
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widgets["latestRawSentenceData"] = QtGui.QLabel("NO DATA")
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widgets["latestRawSentenceData"].setFont(QtGui.QFont("Courier New", 18, QtGui.QFont.Bold))
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widgets["latestRawSentenceData"].setTextInteractionFlags(QtCore.Qt.TextSelectableByMouse)
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widgets["latestDecodedSentenceLabel"] = QtGui.QLabel("<b>Latest Packet (Decoded):</b>")
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widgets["latestDecodedSentenceData"] = QtGui.QLabel("NO DATA")
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widgets["latestDecodedSentenceData"].setFont(QtGui.QFont("Courier New", 18, QtGui.QFont.Bold))
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w4.addWidget(widgets["latestRawSentenceLabel"], 0, 0, 1, 1)
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w4.addWidget(widgets["latestRawSentenceData"], 0, 1, 1, 6)
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w4.addWidget(widgets["latestDecodedSentenceLabel"], 1, 0, 1, 1)
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w4.addWidget(widgets["latestDecodedSentenceData"], 1, 1, 1, 6)
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d3.addWidget(w4)
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widgets["latestDecodedSentenceData"].setTextInteractionFlags(QtCore.Qt.TextSelectableByMouse)
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w4_data.addWidget(widgets["latestRawSentenceLabel"], 0, 0, 1, 1)
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w4_data.addWidget(widgets["latestRawSentenceData"], 0, 1, 1, 6)
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w4_data.addWidget(widgets["latestDecodedSentenceLabel"], 1, 0, 1, 1)
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w4_data.addWidget(widgets["latestDecodedSentenceData"], 1, 1, 1, 6)
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d3_data.addWidget(w4_data)
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w4_position = pg.LayoutWidget()
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widgets["latestPacketCallsignLabel"] = QtGui.QLabel("<b>Callsign</b>")
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widgets["latestPacketCallsignValue"] = QtGui.QLabel("---")
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widgets["latestPacketCallsignValue"].setFont(QtGui.QFont("Courier New", 16, QtGui.QFont.Bold))
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widgets["latestPacketTimeLabel"] = QtGui.QLabel("<b>Time</b>")
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widgets["latestPacketTimeValue"] = QtGui.QLabel("---")
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widgets["latestPacketTimeValue"].setFont(QtGui.QFont("Courier New", 16, QtGui.QFont.Bold))
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widgets["latestPacketLatitudeLabel"] = QtGui.QLabel("<b>Latitude</b>")
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widgets["latestPacketLatitudeValue"] = QtGui.QLabel("---")
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widgets["latestPacketLatitudeValue"].setFont(QtGui.QFont("Courier New", 16, QtGui.QFont.Bold))
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widgets["latestPacketLongitudeLabel"] = QtGui.QLabel("<b>Longitude</b>")
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widgets["latestPacketLongitudeValue"] = QtGui.QLabel("---")
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widgets["latestPacketLongitudeValue"].setFont(QtGui.QFont("Courier New", 16, QtGui.QFont.Bold))
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widgets["latestPacketAltitudeLabel"] = QtGui.QLabel("<b>Altitude</b>")
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widgets["latestPacketAltitudeValue"] = QtGui.QLabel("---")
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widgets["latestPacketAltitudeValue"].setFont(QtGui.QFont("Courier New", 16, QtGui.QFont.Bold))
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widgets["latestPacketBearingLabel"] = QtGui.QLabel("<b>Bearing</b>")
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widgets["latestPacketBearingValue"] = QtGui.QLabel("---")
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widgets["latestPacketBearingValue"].setFont(QtGui.QFont("Courier New", 16, QtGui.QFont.Bold))
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widgets["latestPacketElevationLabel"] = QtGui.QLabel("<b>Elevation</b>")
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widgets["latestPacketElevationValue"] = QtGui.QLabel("---")
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widgets["latestPacketElevationValue"].setFont(QtGui.QFont("Courier New", 16, QtGui.QFont.Bold))
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widgets["latestPacketRangeLabel"] = QtGui.QLabel("<b>Range (km)</b>")
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widgets["latestPacketRangeValue"] = QtGui.QLabel("---")
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widgets["latestPacketRangeValue"].setFont(QtGui.QFont("Courier New", 16, QtGui.QFont.Bold))
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w4_position.addWidget(widgets["latestPacketCallsignLabel"], 0, 0, 1, 2)
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w4_position.addWidget(widgets["latestPacketCallsignValue"], 1, 0, 1, 2)
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w4_position.addWidget(widgets["latestPacketTimeLabel"], 0, 2, 1, 1)
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w4_position.addWidget(widgets["latestPacketTimeValue"], 1, 2, 1, 1)
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w4_position.addWidget(widgets["latestPacketLatitudeLabel"], 0, 3, 1, 1)
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w4_position.addWidget(widgets["latestPacketLatitudeValue"], 1, 3, 1, 1)
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w4_position.addWidget(widgets["latestPacketLongitudeLabel"], 0, 4, 1, 1)
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w4_position.addWidget(widgets["latestPacketLongitudeValue"], 1, 4, 1, 1)
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w4_position.addWidget(widgets["latestPacketAltitudeLabel"], 0, 5, 1, 1)
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w4_position.addWidget(widgets["latestPacketAltitudeValue"], 1, 5, 1, 1)
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w4_position.addWidget(widgets["latestPacketBearingLabel"], 0, 7, 1, 1)
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w4_position.addWidget(widgets["latestPacketBearingValue"], 1, 7, 1, 1)
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w4_position.addWidget(widgets["latestPacketElevationLabel"], 0, 8, 1, 1)
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w4_position.addWidget(widgets["latestPacketElevationValue"], 1, 8, 1, 1)
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w4_position.addWidget(widgets["latestPacketRangeLabel"], 0, 9, 1, 1)
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w4_position.addWidget(widgets["latestPacketRangeValue"], 1, 9, 1, 1)
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w4_position.layout.setRowStretch(1, 6)
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d3_position.addWidget(w4_position)
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w5 = pg.LayoutWidget()
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widgets["console"] = QtWidgets.QPlainTextEdit()
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@ -442,20 +492,37 @@ def handle_new_packet(frame):
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if len(frame.data) > 0:
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if type(frame.data) == bytes:
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_packet = frame.data.hex()
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# Packets from the binary decoders are provided as raw bytes.
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# Conver them to a hexadecimal representation for display in the 'raw' area.
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_packet = frame.data.hex().upper()
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else:
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# RTTY packets are provided as a string, and can be displayed directly
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_packet = frame.data
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# Update the raw display.
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widgets["latestRawSentenceData"].setText(f"{_packet}")
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# Immediately upload RTTY packets.
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if _packet.startswith('$$$$$'):
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# TODO: Check CRC!!!
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habitat_uploader.add(_packet[3:]+'\n')
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widgets["latestDecodedSentenceData"].setText(f"{_packet}")
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else:
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# TODO: Handle binary packets.
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_decoded = None
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if type(frame.data) == str:
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# RTTY packet handling.
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# Attempt to extract fields from it:
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try:
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_decoded = parse_ukhas_string(frame.data)
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# If we get here, the string is valid!
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widgets["latestDecodedSentenceData"].setText(f"{_packet}")
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# Upload the string to Habitat
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_decoded_str = "$$" + frame.data.split('$')[-1] + '\n'
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habitat_uploader.add(_decoded_str)
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except Exception as e:
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widgets["latestDecodedSentenceData"].setText("DECODE FAILED")
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logging.error(f"Decode Failed: {str(e)}")
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else:
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# Handle binary packets
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try:
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_decoded = decode_packet(frame.data)
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widgets["latestDecodedSentenceData"].setText(_decoded['ukhas_str'])
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@ -463,10 +530,38 @@ def handle_new_packet(frame):
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except Exception as e:
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widgets["latestDecodedSentenceData"].setText("DECODE FAILED")
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logging.error(f"Decode Failed: {str(e)}")
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# If we have extracted data, update the decoded data display
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if _decoded:
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widgets["latestPacketCallsignValue"].setText(_decoded['callsign'])
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widgets["latestPacketTimeValue"].setText(_decoded['time'])
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widgets["latestPacketLatitudeValue"].setText(f"{_decoded['latitude']:.5f}")
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widgets["latestPacketLongitudeValue"].setText(f"{_decoded['longitude']:.5f}")
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widgets["latestPacketAltitudeValue"].setText(f"{_decoded['altitude']}")
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# Attempt to update the range/elevation/bearing fields.
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try:
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_station_lat = float(widgets["userLatEntry"].text())
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_station_lon = float(widgets["userLonEntry"].text())
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_station_alt = 0.0
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if (_station_lat != 0.0) or (_station_lon != 0.0):
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_position_info = position_info(
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(_station_lat, _station_lon, _station_alt),
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(_decoded['latitude'], _decoded['longitude'], _decoded['altitude'])
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)
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widgets['latestPacketBearingValue'].setText(f"{_position_info['bearing']:.1f}")
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widgets['latestPacketElevationValue'].setText(f"{_position_info['elevation']:.1f}")
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widgets['latestPacketRangeValue'].setText(f"{_position_info['straight_distance']/1000.0:.1f}")
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except Exception as e:
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logging.error(f"Could not calculate relative position to payload - {str(e)}")
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def start_decoding():
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global widgets, audio_stream, fft_process, horus_modem, audio_devices, running, fft_update_queue, status_update_queue
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global widgets, audio_stream, fft_process, horus_modem, habitat_uploader, audio_devices, running, fft_update_queue, status_update_queue
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if not running:
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# Grab settings off widgets
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@ -491,13 +586,27 @@ def start_decoding():
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# Reset data fields
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widgets["latestRawSentenceData"].setText("NO DATA")
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widgets["latestDecodedSentenceData"].setText("NO DATA")
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widgets["latestPacketCallsignValue"].setText("---")
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widgets["latestPacketTimeValue"].setText("---")
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widgets["latestPacketLatitudeValue"].setText("---")
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widgets["latestPacketLongitudeValue"].setText("---")
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widgets["latestPacketAltitudeValue"].setText("---")
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widgets["latestPacketElevationValue"].setText("---")
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widgets["latestPacketBearingValue"].setText("---")
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widgets["latestPacketRangeValue"].setText("---")
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# Ensure the Habitat upload is set correctly.
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habitat_uploader.inhibit = not widgets["habitatUploadSelector"].isChecked()
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# Init FFT Processor
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NFFT = 2 ** 14
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NFFT = 2 ** 13
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STRIDE = 2 ** 13
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fft_process = FFTProcess(
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nfft=NFFT, stride=STRIDE, fs=_sample_rate, callback=add_fft_update
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nfft=NFFT,
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stride=STRIDE,
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update_decimation=1,
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fs=_sample_rate,
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callback=add_fft_update
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)
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# Setup Modem
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@ -0,0 +1,83 @@
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from math import radians, degrees, sin, cos, atan2, sqrt, pi
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# Earthmaths code by Daniel Richman (thanks!)
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# Copyright 2012 (C) Daniel Richman; GNU GPL 3
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def position_info(listener, balloon):
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"""
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Calculate and return information from 2 (lat, lon, alt) tuples
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Returns a dict with:
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- angle at centre
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- great circle distance
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- distance in a straight line
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- bearing (azimuth or initial course)
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- elevation (altitude)
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Input and output latitudes, longitudes, angles, bearings and elevations are
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in degrees, and input altitudes and output distances are in meters.
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"""
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# Earth:
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radius = 6371000.0
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(lat1, lon1, alt1) = listener
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(lat2, lon2, alt2) = balloon
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lat1 = radians(lat1)
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lat2 = radians(lat2)
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lon1 = radians(lon1)
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lon2 = radians(lon2)
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# Calculate the bearing, the angle at the centre, and the great circle
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# distance using Vincenty's_formulae with f = 0 (a sphere). See
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# http://en.wikipedia.org/wiki/Great_circle_distance#Formulas and
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# http://en.wikipedia.org/wiki/Great-circle_navigation and
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# http://en.wikipedia.org/wiki/Vincenty%27s_formulae
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d_lon = lon2 - lon1
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sa = cos(lat2) * sin(d_lon)
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sb = (cos(lat1) * sin(lat2)) - (sin(lat1) * cos(lat2) * cos(d_lon))
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bearing = atan2(sa, sb)
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aa = sqrt((sa ** 2) + (sb ** 2))
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ab = (sin(lat1) * sin(lat2)) + (cos(lat1) * cos(lat2) * cos(d_lon))
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angle_at_centre = atan2(aa, ab)
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great_circle_distance = angle_at_centre * radius
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# Armed with the angle at the centre, calculating the remaining items
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# is a simple 2D triangley circley problem:
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# Use the triangle with sides (r + alt1), (r + alt2), distance in a
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# straight line. The angle between (r + alt1) and (r + alt2) is the
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# angle at the centre. The angle between distance in a straight line and
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# (r + alt1) is the elevation plus pi/2.
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# Use sum of angle in a triangle to express the third angle in terms
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# of the other two. Use sine rule on sides (r + alt1) and (r + alt2),
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# expand with compound angle formulae and solve for tan elevation by
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# dividing both sides by cos elevation
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ta = radius + alt1
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tb = radius + alt2
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ea = (cos(angle_at_centre) * tb) - ta
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eb = sin(angle_at_centre) * tb
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elevation = atan2(ea, eb)
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# Use cosine rule to find unknown side.
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distance = sqrt((ta ** 2) + (tb ** 2) - 2 * tb * ta * cos(angle_at_centre))
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# Give a bearing in range 0 <= b < 2pi
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if bearing < 0:
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bearing += 2 * pi
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return {
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"listener": listener, "balloon": balloon,
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"listener_radians": (lat1, lon1, alt1),
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"balloon_radians": (lat2, lon2, alt2),
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"angle_at_centre": degrees(angle_at_centre),
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"angle_at_centre_radians": angle_at_centre,
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"bearing": degrees(bearing),
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"bearing_radians": bearing,
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"great_circle_distance": great_circle_distance,
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"straight_distance": distance,
|
||||
"elevation": degrees(elevation),
|
||||
"elevation_radians": elevation
|
||||
}
|
||||
Ładowanie…
Reference in New Issue