kopia lustrzana https://github.com/cyoung/stratux
Formatting.
Christopher Young
rodzic
c85f3a0787
commit
1cee936266
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@ -622,7 +622,7 @@ func heartBeatSender() {
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}
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*/
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// ---end traffic demo code ---
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sendTrafficUpdates()
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updateStatus()
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@ -872,8 +872,7 @@ func parseInput(buf string) ([]byte, uint16) {
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if s[0] == '-' {
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parseDownlinkReport(s, int32(thisSignalStrength))
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}
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s = s[1:]
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msglen := len(s) / 2
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212
main/traffic.go
212
main/traffic.go
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@ -67,46 +67,46 @@ const (
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TARGET_TYPE_ADSR = 2
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TARGET_TYPE_TISB = 3
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// Assign next type to UAT messages with address qualifier == 2
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// (code corresponds to and UAT GBT targets with Mode S addresses..
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// (code corresponds to and UAT GBT targets with Mode S addresses..
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// for we'll treat them as ADS-R in the UI. Might be able to assign as TYPE_ADSR if we see a proper emitter category and NIC > 7.
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TARGET_TYPE_TISB_S = 4
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TARGET_TYPE_TISB_S = 4
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)
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type TrafficInfo struct {
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Icao_addr uint32
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Tail string
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Emitter_category uint8 // Formatted using GDL90 standard, e.g. in a Mode ES report, A7 becomes 0x07, B0 becomes 0x08, etc.
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OnGround bool // Air-ground status. On-ground is "true".
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Addr_type uint8 // UAT address qualifier. Used by GDL90 format, so translations for ES TIS-B/ADS-R are needed.
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TargetType uint8 // types decribed in const above
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SignalLevel int32 // Arbitrary signal level reported by dump1090 and dump978.
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Position_valid bool // set when position report received. Unset after n seconds? (To-do)
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Lat float32 // decimal degrees, north positive
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Lng float32 // decimal degrees, east positive
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Alt int32 // Pressure altitude, feet
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GnssDiffFromBaroAlt int32 // GNSS altitude above WGS84 datum. Reported in TC 20-22 messages
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AltIsGNSS bool // Pressure alt = 0; GNSS alt = 1
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NIC int // Navigation Integrity Category.
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NACp int // Navigation Accuracy Category for Position.
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Track uint16 // degrees true
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Speed uint16 // knots
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Speed_valid bool // set when speed report received.
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Vvel int16 // feet per minute
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Timestamp time.Time // timestamp of traffic message, UTC
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Icao_addr uint32
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Tail string
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Emitter_category uint8 // Formatted using GDL90 standard, e.g. in a Mode ES report, A7 becomes 0x07, B0 becomes 0x08, etc.
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OnGround bool // Air-ground status. On-ground is "true".
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Addr_type uint8 // UAT address qualifier. Used by GDL90 format, so translations for ES TIS-B/ADS-R are needed.
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TargetType uint8 // types decribed in const above
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SignalLevel int32 // Arbitrary signal level reported by dump1090 and dump978.
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Position_valid bool // set when position report received. Unset after n seconds? (To-do)
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Lat float32 // decimal degrees, north positive
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Lng float32 // decimal degrees, east positive
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Alt int32 // Pressure altitude, feet
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GnssDiffFromBaroAlt int32 // GNSS altitude above WGS84 datum. Reported in TC 20-22 messages
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AltIsGNSS bool // Pressure alt = 0; GNSS alt = 1
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NIC int // Navigation Integrity Category.
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NACp int // Navigation Accuracy Category for Position.
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Track uint16 // degrees true
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Speed uint16 // knots
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Speed_valid bool // set when speed report received.
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Vvel int16 // feet per minute
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Timestamp time.Time // timestamp of traffic message, UTC
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// Parameters starting at 'Age' are calculated after message receipt.
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// Mode S transmits position and track in separate messages, and altitude can also be
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// received from interrogations.
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Age float64 // seconds ago traffic last seen
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Last_seen time.Time // time of last position update, relative to Stratux startup. Used for timing out expired data.
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Last_alt time.Time // time of last altitude update, relative to Stratux startup
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Last_GnssDiff time.Time // time of last GnssDiffFromBaroAlt update, relative to Stratux startup
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Last_GnssDiffAlt int32 // altitude at last GnssDiffFromBaroAlt update
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Last_speed time.Time // time of last velocity / track update, relative to Stratux startup
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Last_source uint8 // last SDR on which this target was observed
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ExtrapolatedPosition bool // TO-DO: True if Stratux is "coasting" the target from last known position.
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Bearing float64 // TO-DO: Bearing in degrees true to traffic from ownship
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Distance float64 // TO-DO: Distance to traffic from ownship
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Age float64 // seconds ago traffic last seen
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Last_seen time.Time // time of last position update, relative to Stratux startup. Used for timing out expired data.
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Last_alt time.Time // time of last altitude update, relative to Stratux startup
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Last_GnssDiff time.Time // time of last GnssDiffFromBaroAlt update, relative to Stratux startup
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Last_GnssDiffAlt int32 // altitude at last GnssDiffFromBaroAlt update
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Last_speed time.Time // time of last velocity / track update, relative to Stratux startup
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Last_source uint8 // last SDR on which this target was observed
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ExtrapolatedPosition bool // TO-DO: True if Stratux is "coasting" the target from last known position.
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Bearing float64 // TO-DO: Bearing in degrees true to traffic from ownship
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Distance float64 // TO-DO: Distance to traffic from ownship
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}
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type dump1090Data struct {
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@ -118,7 +118,7 @@ type dump1090Data struct {
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SBS_MsgType int // type of SBS message (used in "old" 1090 parsing)
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SignalLevel int // 0-255
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Tail *string
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Squawk *int // 12-bit squawk code in octal format
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Squawk *int // 12-bit squawk code in octal format
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Emitter_category *int
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OnGround *bool
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Lat *float32
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@ -126,13 +126,13 @@ type dump1090Data struct {
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Position_valid bool
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NACp *int
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Alt *int
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AltIsGNSS bool //
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AltIsGNSS bool //
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GnssDiffFromBaroAlt *int16 // GNSS height above baro altitude in feet; valid range is -3125 to 3125. +/- 3138 indicates larger difference.
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Vvel *int16
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Speed_valid bool
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Speed *uint16
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Track *uint16
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Timestamp time.Time // time traffic last seen, UTC
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Timestamp time.Time // time traffic last seen, UTC
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}
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var traffic map[uint32]TrafficInfo
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@ -152,14 +152,14 @@ func sendTrafficUpdates() {
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defer trafficMutex.Unlock()
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cleanupOldEntries()
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var msg []byte
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if ((stratuxClock.Time.Second() % 10) == 0) {
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if (stratuxClock.Time.Second() % 10) == 0 {
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log.Printf("List of all aircraft being tracked:\n")
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log.Printf("==================================================================\n")
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}
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for icao, ti := range traffic { // TO-DO: Limit number of aircraft in traffic message. ForeFlight 7.5 chokes at ~1000-2000 messages depending on iDevice RAM. Practical limit likely around ~500 aircraft without filtering.
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// DEBUG: Print the list of all tracked targets (with data) to the log every ten seconds
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if ((stratuxClock.Time.Second() % 10) == 0) {
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if (stratuxClock.Time.Second() % 10) == 0 {
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s_out, err := json.Marshal(ti)
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if err != nil {
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log.Printf("Error generating output: %s\n", err.Error())
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@ -241,7 +241,7 @@ func makeTrafficReportMsg(ti TrafficInfo) []byte {
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}
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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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// "m" field. Lower four bits define indicator bits:
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// - - 0 0 "tt" (msg[17]) is not valid
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// - - 0 1 "tt" is true track
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@ -251,22 +251,22 @@ func makeTrafficReportMsg(ti TrafficInfo) []byte {
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// - 1 - - Report is extrapolated
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// 0 - - - On ground
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// 1 - - - Airborne
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// Define tt type / validity
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if ti.Speed_valid {
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msg[12] = msg[12] | 0x01 // assume true track
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msg[12] = msg[12] | 0x01 // assume true track
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}
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if ti.ExtrapolatedPosition {
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msg[12] = msg[12] | 0x04
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}
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if !ti.OnGround {
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msg[12] = msg[12] | 0x08 // Airborne.
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}
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// Position containment / navigational accuracy
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msg[13] = ((byte(ti.NIC) << 4) & 0xF0) | ((byte(ti.NACp) & 0x0F))
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msg[13] = ((byte(ti.NIC) << 4) & 0xF0) | (byte(ti.NACp) & 0x0F)
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// Horizontal velocity (speed).
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@ -307,10 +307,10 @@ func parseDownlinkReport(s string, signalLevel int32) {
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msg_type := (uint8(frame[0]) >> 3) & 0x1f
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addr_type := uint8(frame[0]) & 0x07
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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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// Retrieve previous information on this ICAO code.
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if val, ok := traffic[icao_addr]; ok { // if we've already seen it, copy it in to do updates as it may contain some useful information like "tail" from 1090ES.
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ti = val
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@ -321,9 +321,9 @@ func parseDownlinkReport(s string, signalLevel int32) {
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ti.Icao_addr = icao_addr
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ti.ExtrapolatedPosition = false
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}
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ti.Addr_type = addr_type
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// Parse tail number, if available.
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if msg_type == 1 || msg_type == 3 { // Need "MS" portion of message.
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base40_alphabet := string("0123456789ABCDEFGHIJKLMNOPQRTSUVWXYZ ..")
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@ -351,7 +351,7 @@ func parseDownlinkReport(s string, signalLevel int32) {
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ti.Tail = "u" + ti.Tail
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}
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}
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// Extract emitter category.
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if msg_type == 1 || msg_type == 3 {
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v := (uint16(frame[17]) << 8) | (uint16(frame[18]))
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@ -362,11 +362,11 @@ func parseDownlinkReport(s string, signalLevel int32) {
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// fmt.Printf("%d, %d, %06X\n", msg_type, ti.Addr_type, ti.Icao_addr)
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ti.NIC = int(frame[11] & 0x0F)
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if ((msg_type == 1) || (msg_type == 3)) { // Since NACp is passed with normal UATreports, no need to use our ES hack.
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ti.NACp = int((frame[25] >> 4) & 0x0F)
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if (msg_type == 1) || (msg_type == 3) { // Since NACp is passed with normal UATreports, no need to use our ES hack.
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ti.NACp = int((frame[25] >> 4) & 0x0F)
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}
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ti.SignalLevel = signalLevel
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if ti.Addr_type == 0 {
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@ -377,11 +377,11 @@ func parseDownlinkReport(s string, signalLevel int32) {
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ti.TargetType = TARGET_TYPE_ADSR
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} else if ti.Addr_type == 2 {
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ti.TargetType = TARGET_TYPE_TISB_S
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if ((ti.NIC >= 7) && (ti.Emitter_category > 0)) { // If NIC is sufficiently and emitter type is transmitted, we'll assume it's ADS-R.
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if (ti.NIC >= 7) && (ti.Emitter_category > 0) { // If NIC is sufficiently and emitter type is transmitted, we'll assume it's ADS-R.
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ti.TargetType = TARGET_TYPE_ADSR
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}
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}
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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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@ -418,7 +418,7 @@ func parseDownlinkReport(s string, signalLevel int32) {
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ti.Alt = alt
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ti.AltIsGNSS = alt_geo
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ti.Last_alt = stratuxClock.Time
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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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@ -502,7 +502,7 @@ func parseDownlinkReport(s string, signalLevel int32) {
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if ti.Speed_valid {
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ti.Last_speed = stratuxClock.Time
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}
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//OK.
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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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@ -521,7 +521,7 @@ func parseDownlinkReport(s string, signalLevel int32) {
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// fmt.Printf("tisb_site_id %d, utc_coupled %t\n", tisb_site_id, utc_coupled)
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ti.Timestamp = time.Now()
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ti.Last_source = TRAFFIC_SOURCE_UAT
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traffic[ti.Icao_addr] = ti
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@ -566,12 +566,12 @@ func esListen() {
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thisMsg.TimeReceived = stratuxClock.Time
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thisMsg.Data = []byte(buf)
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MsgLog = append(MsgLog, thisMsg)
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icao := uint32(newTi.Icao_addr)
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var ti TrafficInfo
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trafficMutex.Lock()
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// Retrieve previous information on this ICAO code.
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if val, ok := traffic[icao]; ok { // if we've already seen it, copy it in to do updates
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ti = val
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@ -582,39 +582,39 @@ func esListen() {
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ti.Icao_addr = icao
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ti.ExtrapolatedPosition = false
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}
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ti.SignalLevel = int32(newTi.SignalLevel)
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// generate human readable summary of message types for debug
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// TO-DO: Use for ES message statistics?
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/*
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var s1 string
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if newTi.DF == 17 {
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s1 = "ADS-B"
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}
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if newTi.DF == 18 {
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s1 = "ADS-R / TIS-B"
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}
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var s1 string
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if newTi.DF == 17 {
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s1 = "ADS-B"
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}
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if newTi.DF == 18 {
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s1 = "ADS-R / TIS-B"
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}
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if newTi.DF == 4 || newTi.DF == 20 {
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s1 = "Surveillance, Alt. Reply"
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}
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if newTi.DF == 4 || newTi.DF == 20 {
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s1 = "Surveillance, Alt. Reply"
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}
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if newTi.DF == 5 || newTi.DF == 21 {
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s1 = "Surveillance, Ident. Reply"
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}
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if newTi.DF == 5 || newTi.DF == 21 {
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s1 = "Surveillance, Ident. Reply"
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}
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if newTi.DF == 11 {
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s1 = "All-call Reply"
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}
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if newTi.DF == 11 {
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s1 = "All-call Reply"
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}
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if newTi.DF == 0 {
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s1 = "Short Air-Air Surv."
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}
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if newTi.DF == 0 {
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s1 = "Short Air-Air Surv."
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}
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if newTi.DF == 16 {
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s1 = "Long Air-Air Surv."
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}
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if newTi.DF == 16 {
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s1 = "Long Air-Air Surv."
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}
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*/
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//log.Printf("Mode S message from icao=%X, DF=%02d, CA=%02d, TC=%02d (%s)\n", ti.Icao_addr, newTi.DF, newTi.CA, newTi.TypeCode, s1)
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@ -622,18 +622,18 @@ func esListen() {
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// and Mode S messages (DF=0, DF = 4, and DF = 20).
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ti.AltIsGNSS = newTi.AltIsGNSS
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if newTi.Alt != nil {
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ti.Alt = int32(*newTi.Alt)
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ti.Last_alt = stratuxClock.Time
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}
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if newTi.GnssDiffFromBaroAlt != nil {
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ti.GnssDiffFromBaroAlt = int32(*newTi.GnssDiffFromBaroAlt) // we can estimate pressure altitude from GNSS height with this parameter!
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ti.Last_GnssDiff = stratuxClock.Time
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ti.Last_GnssDiffAlt = ti.Alt
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}
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// Position updates are provided only by ES messages (DF=17 and DF=18; multiple TCs)
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if newTi.Position_valid { // i.e. DF17 or DF18 message decoded successfully by dump1090
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valid_position := true
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@ -691,8 +691,8 @@ func esListen() {
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ti.Speed = speed
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ti.Speed_valid = true
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ti.Last_speed = stratuxClock.Time // only update "last seen" data on position updates
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}
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} else if (((newTi.DF == 17) || (newTi.DF == 18)) && (newTi.TypeCode == 19)) { // invalid speed on velocity message only
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}
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} else if ((newTi.DF == 17) || (newTi.DF == 18)) && (newTi.TypeCode == 19) { // invalid speed on velocity message only
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ti.Speed_valid = false
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}
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@ -730,20 +730,20 @@ func esListen() {
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nic = 11
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}
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ti.NIC = nic
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if ((ti.NACp < 7) && (ti.NACp < ti.NIC)) {
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if (ti.NACp < 7) && (ti.NACp < ti.NIC) {
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ti.NACp = ti.NIC // initialize to NIC, since NIC is sent with every position report, and not all emitters report NACp.
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}
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}
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if newTi.NACp != nil {
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ti.NACp = *newTi.NACp
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}
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if newTi.Emitter_category != nil {
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ti.Emitter_category = uint8(*newTi.Emitter_category) // validate dump1090 on live traffic
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}
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ti.Emitter_category = uint8(*newTi.Emitter_category) // validate dump1090 on live traffic
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}
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// Set the target type. DF=18 messages are sent by ground station, so we look at CA
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// (repurposed to Control Field in DF18) to determine if it's ADS-R or TIS-B.
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if newTi.DF == 17 {
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@ -753,15 +753,15 @@ func esListen() {
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if newTi.CA == 6 {
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ti.TargetType = TARGET_TYPE_ADSR
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ti.Addr_type = 2
|
||||
} else if (newTi.CA == 2) { // 2 = TIS-B with ICAO address, 5 = TIS-B without ICAO address
|
||||
} else if newTi.CA == 2 { // 2 = TIS-B with ICAO address, 5 = TIS-B without ICAO address
|
||||
ti.TargetType = TARGET_TYPE_TISB
|
||||
ti.Addr_type = 2
|
||||
} else if (newTi.CA == 5) {
|
||||
} else if newTi.CA == 5 {
|
||||
ti.TargetType = TARGET_TYPE_TISB
|
||||
ti.Addr_type = 3
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
if newTi.OnGround != nil { // DF=11 messages don't report "on ground" status so we need to check for valid values.
|
||||
ti.OnGround = bool(*newTi.OnGround)
|
||||
}
|
||||
|
|
@ -780,14 +780,14 @@ func esListen() {
|
|||
ti.Timestamp = newTi.Timestamp // only update "last seen" data on position updates
|
||||
ti.Last_source = TRAFFIC_SOURCE_1090ES
|
||||
/*
|
||||
s_out, err := json.Marshal(ti)
|
||||
if err != nil {
|
||||
log.Printf("Error generating output: %s\n", err.Error())
|
||||
} else {
|
||||
log.Printf("%X (DF%d) => %s\n", ti.Icao_addr, newTi.DF, string(s_out))
|
||||
}
|
||||
s_out, err := json.Marshal(ti)
|
||||
if err != nil {
|
||||
log.Printf("Error generating output: %s\n", err.Error())
|
||||
} else {
|
||||
log.Printf("%X (DF%d) => %s\n", ti.Icao_addr, newTi.DF, string(s_out))
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
traffic[ti.Icao_addr] = ti // Update information on this ICAO code.
|
||||
registerTrafficUpdate(ti)
|
||||
seenTraffic[ti.Icao_addr] = true // Mark as seen.
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue