2015-08-15 03:10:16 +00:00
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package main
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import (
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2015-08-22 01:00:43 +00:00
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"bufio"
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"encoding/hex"
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2015-08-22 01:00:43 +00:00
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"log"
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"math"
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2015-08-22 01:00:43 +00:00
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"net"
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"strconv"
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"strings"
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"sync"
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2015-08-15 03:10:16 +00:00
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"time"
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)
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//-0b2b48fe3aef1f88621a0856110a31c01105c4e6c4e6c40a9a820300000000000000;rs=7;
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/*
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HDR:
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MDB Type: 1
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Address: 2B48FE (TIS-B track file address)
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SV:
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NIC: 6
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Latitude: +41.4380
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Longitude: -84.1056
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Altitude: 2300 ft (barometric)
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N/S velocity: -65 kt
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E/W velocity: -98 kt
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Track: 236
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Speed: 117 kt
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Vertical rate: 0 ft/min (from barometric altitude)
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UTC coupling: no
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TIS-B site ID: 1
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MS:
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Emitter category: No information
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Callsign: unavailable
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Emergency status: No emergency
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UAT version: 2
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SIL: 2
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Transmit MSO: 38
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NACp: 8
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NACv: 1
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NICbaro: 0
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Capabilities:
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Active modes:
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Target track type: true heading
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AUXSV:
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Sec. altitude: unavailable
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*/
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type TrafficInfo struct {
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icao_addr uint32
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addr_type uint8
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lat float32
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lng float32
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position_valid bool
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alt uint32
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track uint16
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speed uint16
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speed_valid bool
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vvel int16
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tail string
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last_seen time.Time
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}
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2015-08-15 03:58:53 +00:00
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var traffic map[uint32]TrafficInfo
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var trafficMutex *sync.Mutex
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func cleanupOldEntries() {
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for icao_addr, ti := range traffic {
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if time.Since(ti.last_seen).Seconds() > float64(60) { //FIXME: 60 seconds with no update on this address - stop displaying.
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delete(traffic, icao_addr)
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}
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}
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}
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func sendTrafficUpdates() {
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trafficMutex.Lock()
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defer trafficMutex.Unlock()
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cleanupOldEntries()
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for _, ti := range traffic {
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makeTrafficReport(ti)
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}
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}
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2015-08-15 03:10:16 +00:00
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func makeTrafficReport(ti TrafficInfo) {
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msg := make([]byte, 28)
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// See p.16.
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msg[0] = 0x14 // Message type "Traffic Report".
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msg[1] = 0x10 | ti.addr_type // Alert status, address type.
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// ICAO Address.
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msg[2] = byte((ti.icao_addr & 0x00FF0000) >> 16)
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msg[3] = byte((ti.icao_addr & 0x0000FF00) >> 8)
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msg[4] = byte((ti.icao_addr & 0x000000FF))
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lat := float32(ti.lat)
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tmp := makeLatLng(lat)
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msg[5] = tmp[0] // Latitude.
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msg[6] = tmp[1] // Latitude.
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msg[7] = tmp[2] // Latitude.
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lng := float32(ti.lng)
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tmp = makeLatLng(lng)
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msg[8] = tmp[0] // Longitude.
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msg[9] = tmp[1] // Longitude.
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msg[10] = tmp[2] // Longitude.
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//Altitude: OK
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//TODO: 0xFFF "invalid altitude."
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alt := uint16(ti.alt)
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alt = (alt + 1000) / 25
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alt = alt & 0xFFF // Should fit in 12 bits.
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msg[11] = byte((alt & 0xFF0) >> 4) // Altitude.
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msg[12] = byte((alt & 0x00F) << 4)
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msg[12] = byte(((alt & 0x00F) << 4) | 0x8) //FIXME. "Airborne".
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msg[13] = 0x11 //FIXME.
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// Horizontal velocity (speed).
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msg[14] = byte((ti.speed & 0x0FF0) >> 4)
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msg[15] = byte((ti.speed & 0x000F) << 4)
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// Vertical velocity.
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vvel := ti.vvel / 64 // 64fpm resolution.
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msg[15] = msg[15] | byte((vvel&0x0F00)>>8)
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msg[16] = byte(vvel & 0x00FF)
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// Track.
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trk := uint8(float32(ti.track) / TRACK_RESOLUTION) // Resolution is ~1.4 degrees.
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msg[17] = byte(trk)
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msg[18] = 0x01 // "light"
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2015-08-22 01:00:43 +00:00
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//TODO: text identifier (tail).
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2015-08-20 20:47:05 +00:00
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sendGDL90(prepareMessage(msg))
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}
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func parseDownlinkReport(s string) {
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var ti TrafficInfo
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s = s[1:]
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frame := make([]byte, len(s)/2)
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hex.Decode(frame, []byte(s))
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// Header.
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// msg_type := (uint8(frame[0]) >> 3) & 0x1f
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icao_addr := (uint32(frame[1]) << 16) | (uint32(frame[2]) << 8) | uint32(frame[3])
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trafficMutex.Lock()
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defer trafficMutex.Unlock()
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if curTi, ok := traffic[icao_addr]; ok { // Retrieve the current entry, as it may contain some useful information like "tail" from 1090ES.
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ti = curTi
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}
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ti.icao_addr = icao_addr
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ti.addr_type = uint8(frame[0]) & 0x07
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// OK.
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// fmt.Printf("%d, %d, %06X\n", msg_type, ti.addr_type, ti.icao_addr)
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nic := uint8(frame[11]) & 15 //TODO: Meaning?
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raw_lat := (uint32(frame[4]) << 15) | (uint32(frame[5]) << 7) | (uint32(frame[6]) >> 1)
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raw_lon := ((uint32(frame[6]) & 0x01) << 23) | (uint32(frame[7]) << 15) | (uint32(frame[8]) << 7) | (uint32(frame[9]) >> 1)
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lat := float32(0.0)
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lng := float32(0.0)
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position_valid := false
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if nic != 0 || raw_lat != 0 || raw_lon != 0 {
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position_valid = true
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lat = float32(raw_lat) * 360.0 / 16777216.0
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if lat > 90 {
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lat = lat - 180
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}
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lng = float32(raw_lon) * 360.0 / 16777216.0
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if lng > 180 {
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lng = lng - 360
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}
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}
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ti.lat = lat
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ti.lng = lng
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ti.position_valid = position_valid
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raw_alt := (uint32(frame[10]) << 4) | ((uint32(frame[11]) & 0xf0) >> 4)
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// alt_geo := false // Barometric if not geometric.
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alt := uint32(0)
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if raw_alt != 0 {
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// alt_geo = (uint8(frame[9]) & 1) != 0
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alt = ((raw_alt - 1) * 25) - 1000
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}
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ti.alt = alt
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//OK.
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// fmt.Printf("%d, %t, %f, %f, %t, %d\n", nic, position_valid, lat, lng, alt_geo, alt)
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airground_state := (uint8(frame[12]) >> 6) & 0x03
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//OK.
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// fmt.Printf("%d\n", airground_state)
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ns_vel := int16(0)
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ew_vel := int16(0)
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track := uint16(0)
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speed_valid := false
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speed := uint16(0)
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vvel := int16(0)
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// vvel_geo := false
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if airground_state == 0 || airground_state == 1 { // Subsonic. Supersonic.
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// N/S velocity.
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ns_vel_valid := false
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ew_vel_valid := false
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raw_ns := ((int16(frame[12]) & 0x1f) << 6) | ((int16(frame[13]) & 0xfc) >> 2)
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if (raw_ns & 0x3ff) != 0 {
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ns_vel_valid = true
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ns_vel = ((raw_ns & 0x3ff) - 1)
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if (raw_ns & 0x400) != 0 {
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ns_vel = 0 - ns_vel
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}
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if airground_state == 1 { // Supersonic.
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ns_vel = ns_vel * 4
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}
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}
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// E/W velocity.
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raw_ew := ((int16(frame[13]) & 0x03) << 9) | (int16(frame[14]) << 1) | ((int16(frame[15] & 0x80)) >> 7)
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if (raw_ew & 0x3ff) != 0 {
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ew_vel_valid = true
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ew_vel = (raw_ew & 0x3ff) - 1
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if (raw_ew & 0x400) != 0 {
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ew_vel = 0 - ew_vel
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}
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if airground_state == 1 { // Supersonic
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ew_vel = ew_vel * 4
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}
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}
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if ns_vel_valid && ew_vel_valid {
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if ns_vel != 0 && ew_vel != 0 {
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//TODO: Track type
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track = (360 + 90 - uint16(math.Atan2(float64(ns_vel), float64(ew_vel))*180/math.Pi)) % 360
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}
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speed_valid = true
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speed = uint16(math.Sqrt(float64((ns_vel * ns_vel) + (ew_vel * ew_vel))))
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}
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// Vertical velocity.
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raw_vvel := ((int16(frame[15]) & 0x7f) << 4) | ((int16(frame[16]) & 0xf0) >> 4)
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if (raw_vvel & 0x1ff) != 0 {
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// vvel_geo = (raw_vvel & 0x400) == 0
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vvel = ((raw_vvel & 0x1ff) - 1) * 64
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if (raw_vvel & 0x200) != 0 {
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vvel = 0 - vvel
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}
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}
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} else if airground_state == 2 { // Ground vehicle.
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//TODO.
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return
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}
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ti.track = track
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ti.speed = speed
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ti.vvel = vvel
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ti.speed_valid = speed_valid
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//OK.
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2015-08-20 17:06:40 +00:00
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// fmt.Printf("ns_vel %d, ew_vel %d, track %d, speed_valid %t, speed %d, vvel_geo %t, vvel %d\n", ns_vel, ew_vel, track, speed_valid, speed, vvel_geo, vvel)
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2015-08-20 17:06:40 +00:00
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/*
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utc_coupled := false
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tisb_site_id := uint8(0)
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2015-08-15 03:10:16 +00:00
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2015-08-20 17:06:40 +00:00
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if (uint8(frame[0]) & 7) == 2 || (uint8(frame[0]) & 7) == 3 { //TODO: Meaning?
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tisb_site_id = uint8(frame[16]) & 0x0f
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} else {
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utc_coupled = (uint8(frame[16]) & 0x08) != 0
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}
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*/
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2015-08-15 03:10:16 +00:00
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//OK.
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2015-08-20 17:06:40 +00:00
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// fmt.Printf("tisb_site_id %d, utc_coupled %t\n", tisb_site_id, utc_coupled)
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2015-08-15 03:10:16 +00:00
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2015-08-15 03:58:53 +00:00
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ti.last_seen = time.Now()
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2015-08-15 03:10:16 +00:00
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2015-08-15 03:58:53 +00:00
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traffic[ti.icao_addr] = ti
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2015-08-20 17:06:40 +00:00
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}
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2015-08-22 01:00:43 +00:00
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func esListen() {
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for {
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if !globalSettings.ES_Enabled {
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time.Sleep(1 * time.Second) // Don't do much unless ES is actually enabled.
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continue
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}
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dump1090Addr := "127.0.0.1:30003"
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inConn, err := net.Dial("tcp", dump1090Addr)
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if err != nil { // Local connection failed.
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time.Sleep(1 * time.Second)
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continue
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}
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rdr := bufio.NewReader(inConn)
|
|
|
|
for {
|
|
|
|
buf, err := rdr.ReadString('\n')
|
|
|
|
if err != nil { // Must have disconnected?
|
|
|
|
break
|
|
|
|
}
|
|
|
|
buf = strings.Trim(buf, "\r\n")
|
|
|
|
//log.Printf("%s\n", buf)
|
|
|
|
x := strings.Split(buf, ",")
|
|
|
|
if len(x) < 22 {
|
|
|
|
continue
|
|
|
|
}
|
|
|
|
icao := x[4]
|
|
|
|
icaoDecf, err := strconv.ParseInt(icao, 16, 32)
|
|
|
|
if err != nil {
|
|
|
|
continue
|
|
|
|
}
|
|
|
|
icaoDec := uint32(icaoDecf)
|
|
|
|
trafficMutex.Lock()
|
|
|
|
// Retrieve previous information on this ICAO code.
|
|
|
|
var ti TrafficInfo
|
|
|
|
if val, ok := traffic[icaoDec]; ok {
|
|
|
|
ti = val
|
|
|
|
}
|
2015-08-20 17:06:40 +00:00
|
|
|
|
2015-08-22 01:00:43 +00:00
|
|
|
ti.icao_addr = icaoDec
|
|
|
|
|
|
|
|
//FIXME: Some stale information will be renewed.
|
|
|
|
valid_change := true
|
|
|
|
if x[1] == "3" {
|
|
|
|
//MSG,3,111,11111,AC2BB7,111111,2015/07/28,03:59:12.363,2015/07/28,03:59:12.353,,5550,,,42.35847,-83.42212,,,,,,0
|
|
|
|
//MSG,3,111,11111,A5D007,111111, , , , ,,35000,,,42.47454,-82.57433,,,0,0,0,0
|
|
|
|
alt := x[11]
|
|
|
|
lat := x[14]
|
|
|
|
lng := x[15]
|
|
|
|
|
|
|
|
if len(alt) == 0 || len(lat) == 0 || len(lng) == 0 { //FIXME.
|
|
|
|
valid_change = false
|
|
|
|
}
|
|
|
|
|
|
|
|
altFloat, err := strconv.ParseFloat(alt, 32)
|
|
|
|
if err != nil {
|
|
|
|
log.Printf("err parsing alt (%s): %s\n", alt, err.Error())
|
|
|
|
valid_change = false
|
|
|
|
}
|
|
|
|
|
|
|
|
latFloat, err := strconv.ParseFloat(lat, 32)
|
|
|
|
if err != nil {
|
|
|
|
log.Printf("err parsing lat (%s): %s\n", lat, err.Error())
|
|
|
|
valid_change = false
|
|
|
|
}
|
|
|
|
lngFloat, err := strconv.ParseFloat(lng, 32)
|
|
|
|
if err != nil {
|
|
|
|
log.Printf("err parsing lng (%s): %s\n", lng, err.Error())
|
|
|
|
valid_change = false
|
|
|
|
}
|
|
|
|
|
|
|
|
//log.Printf("icao=%s, icaoDec=%d, alt=%s, lat=%s, lng=%s\n", icao, icaoDec, alt, lat, lng)
|
|
|
|
if valid_change {
|
|
|
|
ti.alt = uint32(altFloat)
|
|
|
|
ti.lat = float32(latFloat)
|
|
|
|
ti.lng = float32(lngFloat)
|
|
|
|
ti.position_valid = true
|
|
|
|
}
|
|
|
|
}
|
|
|
|
if x[1] == "4" {
|
|
|
|
// MSG,4,111,11111,A3B557,111111,2015/07/28,06:13:36.417,2015/07/28,06:13:36.398,,,414,278,,,-64,,,,,0
|
|
|
|
speed := x[12]
|
|
|
|
track := x[13]
|
|
|
|
vvel := x[16]
|
|
|
|
|
|
|
|
if len(speed) == 0 || len(track) == 0 || len(vvel) == 0 {
|
|
|
|
valid_change = false
|
|
|
|
}
|
|
|
|
|
|
|
|
speedFloat, err := strconv.ParseFloat(speed, 32)
|
|
|
|
if err != nil {
|
|
|
|
log.Printf("err parsing speed (%s): %s\n", speed, err.Error())
|
|
|
|
valid_change = false
|
|
|
|
}
|
|
|
|
|
|
|
|
trackFloat, err := strconv.ParseFloat(track, 32)
|
|
|
|
if err != nil {
|
|
|
|
log.Printf("err parsing track (%s): %s\n", track, err.Error())
|
|
|
|
valid_change = false
|
|
|
|
}
|
|
|
|
vvelFloat, err := strconv.ParseFloat(vvel, 32)
|
|
|
|
if err != nil {
|
|
|
|
log.Printf("err parsing vvel (%s): %s\n", vvel, err.Error())
|
|
|
|
valid_change = false
|
|
|
|
}
|
|
|
|
|
|
|
|
//log.Printf("icao=%s, icaoDec=%d, vel=%s, hdg=%s, vr=%s\n", icao, icaoDec, vel, hdg, vr)
|
|
|
|
if valid_change {
|
|
|
|
ti.speed = uint16(speedFloat)
|
|
|
|
ti.track = uint16(trackFloat)
|
|
|
|
ti.vvel = int16(vvelFloat)
|
|
|
|
ti.speed_valid = true
|
|
|
|
}
|
|
|
|
}
|
|
|
|
if x[1] == "1" {
|
|
|
|
// MSG,1,,,%02X%02X%02X,,,,,,%s,,,,,,,,0,0,0,0
|
|
|
|
tail := x[10]
|
2015-08-20 17:06:40 +00:00
|
|
|
|
2015-08-22 01:00:43 +00:00
|
|
|
if len(tail) == 0 {
|
|
|
|
valid_change = false
|
|
|
|
}
|
2015-08-20 17:06:40 +00:00
|
|
|
|
2015-08-22 01:00:43 +00:00
|
|
|
if valid_change {
|
|
|
|
ti.tail = tail
|
|
|
|
}
|
|
|
|
}
|
2015-08-20 17:06:40 +00:00
|
|
|
|
2015-08-22 01:00:43 +00:00
|
|
|
// Update "last seen" (any type of message, as long as the ICAO addr can be parsed).
|
|
|
|
ti.last_seen = time.Now()
|
|
|
|
|
|
|
|
ti.addr_type = 0 //FIXME: ADS-B with ICAO address.
|
|
|
|
|
|
|
|
traffic[icaoDec] = ti // Update information on this ICAO code.
|
|
|
|
trafficMutex.Unlock()
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
func initTraffic() {
|
|
|
|
traffic = make(map[uint32]TrafficInfo)
|
|
|
|
trafficMutex = &sync.Mutex{}
|
|
|
|
go esListen()
|
|
|
|
}
|