mirror
/
stratux
kopia lustrzana https://github.com/cyoung/stratux
1
0
Forkuj 0
Kod Zgłoszenia Projekty Wydania Wiki Aktywność

Merge pull request #6 from cyoung/master 

Pull latest cyoung commits including SX heartbeat
pull/169/head
AvSquirrel 2015-12-19 13:05:20 -06:00
rodzic 2d2d64a038 c01b72cbd0
commit 1e9d3ae747
2 zmienionych plików z 440 dodań i 65 usunięć
Pokaż statystyki Ściągnij plik aktualizacji Ściągnij plik porównania Expand all files Collapse all files

388
main/gen_gdl90.go
Wyświetl plik

@ -5,6 +5,7 @@ import (
"compress/gzip"
"encoding/hex"
"encoding/json"
"flag"
"fmt"
"io"
"io/ioutil"
@ -30,7 +31,7 @@ const (
maxDatagramSize = 8192
maxUserMsgQueueSize = 25000 // About 10MB per port per connected client.
logDirectory = "/var/log/stratux"
UPLINK_BLOCK_DATA_BITS = 576
UPLINK_BLOCK_BITS = (UPLINK_BLOCK_DATA_BITS + 160)
UPLINK_BLOCK_DATA_BYTES = (UPLINK_BLOCK_DATA_BITS / 8)
@ -60,11 +61,11 @@ const (
TRACK_RESOLUTION = float32(360.0 / 256.0)
)
var uatReplayLog string
var esReplayLog string
var gpsReplayLog string
var ahrsReplayLog string
var dump1090ReplayLog string
var uatReplayLog string
var esReplayLog string
var gpsReplayLog string
var ahrsReplayLog string
var dump1090ReplayLog string
var stratuxBuild string
var stratuxVersion string
@ -75,12 +76,24 @@ var Crc16Table [256]uint16
// Current AHRS, pressure altitude, etc.
var mySituation SituationData
type WriteCloser interface {
io.Writer
io.Closer
}
type ReadCloser interface {
io.Reader
io.Closer
}
// File handles for replay logging.
var uatReplayWriter *gzip.Writer
var esReplayWriter *gzip.Writer
var gpsReplayWriter *gzip.Writer
var ahrsReplayWriter *gzip.Writer
var dump1090ReplayWriter *gzip.Writer
var uatReplayWriter WriteCloser
var esReplayWriter WriteCloser
var gpsReplayWriter WriteCloser
var ahrsReplayWriter WriteCloser
var dump1090ReplayWriter WriteCloser
var developerMode bool
type msg struct {
MessageClass uint
@ -107,47 +120,49 @@ type ADSBTower struct {
Messages_total uint64
}
var ADSBTowers map[string]ADSBTower // Running list of all towers seen. (lat,lng) -> ADSBTower
func constructFilenames() {
// uatReplayLog = "/var/log/stratux-uat.log"
// esReplayLog = "/var/log/stratux-es.log"
// gpsReplayLog = "/var/log/stratux-gps.log"
// ahrsReplayLog = "/var/log/stratux-ahrs.log"
// dump1090ReplayLog = "/var/log/stratux-dump1090.log"
var fileIndexNumber uint
// First, create the log file directory if it does not exist
os.Mkdir(logDirectory,0644)
os.Mkdir(logDirectory, 0644)
f, err := os.Open(indexFilename)
if err != nil {
log.Printf("Unable to open index file %s using index of 0\n", indexFilename)
fileIndexNumber=0
fileIndexNumber = 0
} else {
_, err := fmt.Fscanf(f,"%d\n",&fileIndexNumber)
if err != nil {
log.Printf("Unable to read index file %s using index of 0\n", indexFilename)
}
f.Close()
fileIndexNumber++
_, err := fmt.Fscanf(f, "%d\n", &fileIndexNumber)
if err != nil {
log.Printf("Unable to read index file %s using index of 0\n", indexFilename)
}
f.Close()
fileIndexNumber++
}
fo, err := os.Create(indexFilename)
if err != nil {
log.Printf("Error creating index file %s\n", indexFilename)
}
_, err2 := fmt.Fprintf(fo,"%d\n",fileIndexNumber)
_, err2 := fmt.Fprintf(fo, "%d\n", fileIndexNumber)
if err2 != nil {
log.Printf("Error writing to index file %s\n", indexFilename)
}
fo.Sync()
fo.Close()
uatReplayLog = fmt.Sprintf("%s/%04d-uat.log.gz",logDirectory,fileIndexNumber)
esReplayLog = fmt.Sprintf("%s/%04d-es.log.gz",logDirectory,fileIndexNumber)
gpsReplayLog = fmt.Sprintf("%s/%04d-gps.log.gz",logDirectory,fileIndexNumber)
ahrsReplayLog = fmt.Sprintf("%s/%04d-ahrs.log.gz",logDirectory,fileIndexNumber)
dump1090ReplayLog = fmt.Sprintf("%s/%04d-dump1090.log.gz",logDirectory,fileIndexNumber)
if developerMode == true {
uatReplayLog = fmt.Sprintf("%s/%04d-uat.log", logDirectory, fileIndexNumber)
esReplayLog = fmt.Sprintf("%s/%04d-es.log", logDirectory, fileIndexNumber)
gpsReplayLog = fmt.Sprintf("%s/%04d-gps.log", logDirectory, fileIndexNumber)
ahrsReplayLog = fmt.Sprintf("%s/%04d-ahrs.log", logDirectory, fileIndexNumber)
dump1090ReplayLog = fmt.Sprintf("%s/%04d-dump1090.log", logDirectory, fileIndexNumber)
} else {
uatReplayLog = fmt.Sprintf("%s/%04d-uat.log.gz", logDirectory, fileIndexNumber)
esReplayLog = fmt.Sprintf("%s/%04d-es.log.gz", logDirectory, fileIndexNumber)
gpsReplayLog = fmt.Sprintf("%s/%04d-gps.log.gz", logDirectory, fileIndexNumber)
ahrsReplayLog = fmt.Sprintf("%s/%04d-ahrs.log.gz", logDirectory, fileIndexNumber)
dump1090ReplayLog = fmt.Sprintf("%s/%04d-dump1090.log.gz", logDirectory, fileIndexNumber)
}
}
// Construct the CRC table. Adapted from FAA ref above.
@ -331,6 +346,138 @@ func makeOwnshipGeometricAltitudeReport() bool {
return true
}
/*
"SX" Stratux GDL90 message.
http://hiltonsoftware.com/stratux/StratuxStatusMessage-V01.pdf
*/
func makeSXHeartbeat() []byte {
msg := make([]byte, 29)
msg[0] = 'S'
msg[1] = 'X'
msg[2] = 1
msg[3] = 1 // "message version".
// Firmware version. First 4 bytes of build.
msg[4] = byte(stratuxBuild[0])
msg[5] = byte(stratuxBuild[1])
msg[6] = byte(stratuxBuild[2])
msg[7] = byte(stratuxBuild[3])
//TODO: Hardware revision.
msg[8] = 0xFF
msg[9] = 0xFF
msg[10] = 0xFF
msg[11] = 0xFF
// Valid and enabled flags.
// Valid/Enabled: GPS portion.
if isGPSValid() {
switch mySituation.quality {
case 1: // 1 = 3D GPS.
msg[12] = msg[12] | (1 << 6)
case 2: // 2 = DGPS (SBAS /WAAS).
msg[12] = msg[12] | (1 << 7)
default: // Zero.
}
}
// Valid/Enabled: AHRS portion.
if isAHRSValid() {
msg[12] = msg[12] | (1 << 5)
}
// Valid/Enabled: Pressure altitude portion.
if isTempPressValid() {
msg[12] = msg[12] | (1 << 4)
}
// Valid/Enabled: CPU temperature portion.
if isCPUTempValid() {
msg[12] = msg[12] | (1 << 3)
}
// Valid/Enabled: UAT portion.
if globalSettings.UAT_Enabled {
msg[12] = msg[12] | (1 << 2)
}
// Valid/Enabled: ES portion.
if globalSettings.ES_Enabled {
msg[12] = msg[12] | (1 << 1)
}
// Valid/Enabled: last bit unused.
// Connected hardware: number of radios.
msg[14] = msg[14] | (byte(globalStatus.Devices) << 6)
// Connected hardware: RY835AI.
if globalStatus.RY835AI_connected {
msg[14] = msg[14] | (1 << 5)
}
// Number of GPS satellites locked.
msg[16] = byte(globalStatus.GPS_satellites_locked)
//FIXME: Number of satellites connected. ??
msg[17] = 0xFF
// Summarize number of UAT and 1090ES traffic targets for reports that follow.
var uat_traffic_targets uint16
var es_traffic_targets uint16
for _, traf := range traffic {
switch traf.Last_source {
case TRAFFIC_SOURCE_1090ES:
es_traffic_targets++
case TRAFFIC_SOURCE_UAT:
uat_traffic_targets++
}
}
// Number of UAT traffic targets.
msg[18] = byte((uat_traffic_targets & 0xFF00) >> 8)
msg[19] = byte(uat_traffic_targets & 0xFF)
// Number of 1090ES traffic targets.
msg[20] = byte((es_traffic_targets & 0xFF00) >> 8)
msg[21] = byte(es_traffic_targets & 0xFF)
// Number of UAT messages per minute.
msg[22] = byte((globalStatus.UAT_messages_last_minute & 0xFF00) >> 8)
msg[23] = byte(globalStatus.UAT_messages_last_minute & 0xFF)
// Number of 1090ES messages per minute.
msg[24] = byte((globalStatus.ES_messages_last_minute & 0xFF00) >> 8)
msg[25] = byte(globalStatus.ES_messages_last_minute & 0xFF)
// CPU temperature.
v := uint16(float32(10.0)*globalStatus.CPUTemp) + 32768
msg[26] = byte((v & 0xFF00) >> 8)
msg[27] = byte(v * 0xFF)
// Number of ADS-B towers.
num_towers := uint8(len(ADSBTowers))
msg[28] = byte(num_towers)
// List of ADS-B towers (lat, lng).
for _, tower := range ADSBTowers {
tmp := makeLatLng(float32(tower.Lat))
msg = append(msg, tmp[0]) // Latitude.
msg = append(msg, tmp[1]) // Latitude.
msg = append(msg, tmp[2]) // Latitude.
tmp = makeLatLng(float32(tower.Lng))
msg = append(msg, tmp[0]) // Longitude.
msg = append(msg, tmp[1]) // Longitude.
msg = append(msg, tmp[2]) // Longitude.
}
return prepareMessage(msg)
}
/*
"Stratux" GDL90 message.
@ -407,6 +554,7 @@ func heartBeatSender() {
case <-timer.C:
sendGDL90(makeHeartbeat(), false)
sendGDL90(makeStratuxHeartbeat(), false)
sendGDL90(makeSXHeartbeat(), false)
// sendGDL90(makeTrafficReport())
makeOwnshipReport()
makeOwnshipGeometricAltitudeReport()
@ -481,6 +629,11 @@ func updateMessageStats() {
}
// Check if CPU temperature is valid. Assume <= 0 is invalid.
func isCPUTempValid() bool {
return globalStatus.CPUTemp <= 0
}
/*
cpuTempMonitor() reads the RPi board temperature every second and updates it in globalStatus.
This is broken out into its own function (run as its own goroutine) because the RPi temperature
@ -551,22 +704,24 @@ func replayLog(msg string, msgclass int) {
if len(msg) == 0 { // Blank message.
return
}
var wt *gzip.Writer
var fp WriteCloser
switch msgclass {
case MSGCLASS_UAT:
wt = uatReplayWriter
fp = uatReplayWriter
case MSGCLASS_ES:
wt = esReplayWriter
fp = esReplayWriter
case MSGCLASS_GPS:
wt = gpsReplayWriter
fp = gpsReplayWriter
case MSGCLASS_AHRS:
wt = ahrsReplayWriter
fp = ahrsReplayWriter
case MSGCLASS_DUMP1090:
wt = dump1090ReplayWriter
fp = dump1090ReplayWriter
}
if wt != nil {
if fp != nil {
s := makeReplayLogEntry(msg)
wt.Write([]byte(s))
fp.Write([]byte(s))
}
}
@ -883,7 +1038,7 @@ func replayMark(active bool) {
}
func openReplay(fn string) (*gzip.Writer, error) {
func openReplay(fn string, compressed bool) (WriteCloser, error) {
fp, err := os.OpenFile(fn, os.O_CREATE|os.O_WRONLY|os.O_APPEND, 0666)
if err != nil {
@ -891,11 +1046,18 @@ func openReplay(fn string) (*gzip.Writer, error) {
return nil, err
}
gzw := gzip.NewWriter(fp) //FIXME: Close() on the gzip.Writer will not close the underlying file.
var ret WriteCloser
if compressed {
ret = gzip.NewWriter(fp) //FIXME: Close() on the gzip.Writer will not close the underlying file.
} else {
ret = fp
}
timeFmt := "Mon Jan 2 15:04:05 -0700 MST 2006"
s := fmt.Sprintf("START,%s,%s\n", timeStarted.Format(timeFmt), time.Now().Format(timeFmt)) // Start time marker.
gzw.Write([]byte(s))
return gzw, err
ret.Write([]byte(s))
return ret, err
}
func printStats() {
@ -913,10 +1075,91 @@ func printStats() {
}
}
var uatReplayDone bool
func uatReplay(f ReadCloser, replaySpeed uint64) {
defer f.Close()
rdr := bufio.NewReader(f)
curTick := int64(0)
for {
buf, err := rdr.ReadString('\n')
if err != nil {
break
}
linesplit := strings.Split(buf, ",")
if len(linesplit) < 2 { // Blank line or invalid.
continue
}
if linesplit[0] == "START" { // Reset ticker, new start.
curTick = 0
} else { // If it's not "START", then it's a tick count.
i, err := strconv.ParseInt(linesplit[0], 10, 64)
if err != nil {
log.Printf("invalid tick: '%s'\n", linesplit[0])
continue
}
thisWait := (i - curTick) / int64(replaySpeed)
if thisWait >= 120000000000 { // More than 2 minutes wait, skip ahead.
log.Printf("UAT skipahead - %d seconds.\n", thisWait/1000000000)
} else {
time.Sleep(time.Duration(thisWait) * time.Nanosecond) // Just in case the units change.
}
p := strings.Trim(linesplit[1], " ;\r\n")
log.Printf("%s;\n", p)
buf := fmt.Sprintf("%s;\n", p)
o, msgtype := parseInput(buf)
if o != nil && msgtype != 0 {
relayMessage(msgtype, o)
}
curTick = i
}
}
uatReplayDone = true
}
func openReplayFile(fn string) ReadCloser {
fp, err := os.Open(fn)
if err != nil {
log.Printf("error opening '%s': %s\n", fn, err.Error())
os.Exit(1)
return nil
}
var ret ReadCloser
if strings.HasSuffix(fn, ".gz") { // Open as a compressed replay log, depending on the suffix.
ret, err = gzip.NewReader(fp)
if err != nil {
log.Printf("error opening compressed log '%s': %s\n", fn, err.Error())
os.Exit(1)
return nil
}
} else {
ret = fp
}
return ret
}
func main() {
// replayESFilename := flag.String("eslog", "none", "ES Log filename")
replayUATFilename := flag.String("uatlog", "none", "UAT Log filename")
develFlag := flag.Bool("developer", false, "Developer mode")
replayFlag := flag.Bool("replay", false, "Replay file flag")
replaySpeed := flag.Int("speed", 1, "Replay speed multiplier")
flag.Parse()
timeStarted = time.Now()
runtime.GOMAXPROCS(runtime.NumCPU()) // redundant with Go v1.5+ compiler
if *develFlag == true {
log.Printf("Developer mode flag true!\n")
developerMode = true
}
// Duplicate log.* output to debugLog.
fp, err := os.OpenFile(debugLog, os.O_CREATE|os.O_WRONLY|os.O_APPEND, 0666)
if err != nil {
@ -929,11 +1172,12 @@ func main() {
log.Printf("Stratux %s (%s) starting.\n", stratuxVersion, stratuxBuild)
constructFilenames()
ADSBTowers = make(map[string]ADSBTower)
MsgLog = make([]msg, 0)
crcInit() // Initialize CRC16 table.
sdrInit()
initTraffic()
@ -941,38 +1185,44 @@ func main() {
readSettings()
// Disable replay logs when replaying - so that messages replay data isn't copied into the logs.
// Override after reading in the settings.
if *replayFlag == true {
log.Printf("Replay file %s\n", *replayUATFilename)
globalSettings.ReplayLog = true
}
// Set up the replay logs. Keep these files open in any case, even if replay logging is disabled.
// UAT replay log.
if uatwt, err := openReplay(uatReplayLog); err != nil {
if uatwt, err := openReplay(uatReplayLog, !developerMode); err != nil {
globalSettings.ReplayLog = false
} else {
uatReplayWriter = uatwt
defer uatReplayWriter.Close()
}
// 1090ES replay log.
if eswt, err := openReplay(esReplayLog); err != nil {
if eswt, err := openReplay(esReplayLog, !developerMode); err != nil {
globalSettings.ReplayLog = false
} else {
esReplayWriter = eswt
defer esReplayWriter.Close()
}
// GPS replay log.
if gpswt, err := openReplay(gpsReplayLog); err != nil {
if gpswt, err := openReplay(gpsReplayLog, !developerMode); err != nil {
globalSettings.ReplayLog = false
} else {
gpsReplayWriter = gpswt
defer gpsReplayWriter.Close()
}
// AHRS replay log.
if ahrswt, err := openReplay(ahrsReplayLog); err != nil {
if ahrswt, err := openReplay(ahrsReplayLog, !developerMode); err != nil {
globalSettings.ReplayLog = false
} else {
ahrsReplayWriter = ahrswt
defer ahrsReplayWriter.Close()
}
// Dump1090 replay log.
if dump1090wt, err := openReplay(dump1090ReplayLog); err != nil {
if dump1090wt, err := openReplay(dump1090ReplayLog, !developerMode); err != nil {
globalSettings.ReplayLog = false
} else {
dump1090ReplayWriter = dump1090wt
@ -1000,16 +1250,32 @@ func main() {
reader := bufio.NewReader(os.Stdin)
for {
buf, err := reader.ReadString('\n')
if err != nil {
log.Printf("lost stdin.\n")
break
if *replayFlag == true {
fp := openReplayFile(*replayUATFilename)
playSpeed := uint64(*replaySpeed)
log.Printf("Replay speed: %dx\n", playSpeed)
go uatReplay(fp, playSpeed)
for {
time.Sleep(1 * time.Second)
if uatReplayDone {
//&& esDone {
return
}
}
o, msgtype := parseInput(buf)
if o != nil && msgtype != 0 {
relayMessage(msgtype, o)
} else {
for {
buf, err := reader.ReadString('\n')
if err != nil {
log.Printf("lost stdin.\n")
break
}
o, msgtype := parseInput(buf)
if o != nil && msgtype != 0 {
relayMessage(msgtype, o)
}
}
}
}

117
notes/app-vendor-integration.md
Wyświetl plik

@ -6,14 +6,13 @@ Stratux uses GDL90 protocol over port 4000 UDP. All messages are sent as **unica
network and a DHCP lease is issued to the device, the IP of the DHCP lease is added to the list of clients receiving GDL90 messages.
The GDL90 is "standard" with the exception of two non-standard GDL90-style messages: 0xCC (stratux heartbeat) and 0x4C (AHRS report).
The GDL90 is "standard" with the exception of three non-standard GDL90-style messages: `0xCC` (stratux heartbeat), `0x5358` (another stratux heartbeat), and `0x4C` (AHRS report).
### How to recognize stratux
In order of preference:
1. Look for 0xCC heartbeat message. This is sent at the same time as the GDL90 heartbeat (0x00) message.
1. Look for `0xCC` (or `0x5358`) GDL90 heartbeat message. This is sent at the same time as the GDL90 heartbeat (0x00) message.
2. Look for Wi-Fi network that **starts with** "stratux".
3. Detect 192.168.10.0/24 Wi-Fi connection, verify stratux status with JSON response from ws://192.168.10.1/status.
@ -52,4 +51,114 @@ Traffic information roughly follows this path:
When traffic information is being received both from UAT and 1090ES sources, it is not uncommon to see a flip/flop in tail numbers on targets.
Some 1090ES transponders will send the actual registration number of the aircraft, which then becomes a TIS-B target whose tail number may be
a squawk code.
a squawk code.
### Additional data available to EFBs
Stratux makes available a webserver to retrieve statistics which may be useful to EFBs:
* `http://192.168.10.1/getTowers` - a list of ADS-B towers received with attached message receipt and signal level statistics. Example output:
```json
{
"(28.845592,-96.920400)": {
"Lat": 28.845591545105,
"Lng": -96.920399665833,
"Signal_strength_last_minute": 55,
"Signal_strength_max": 69,
"Messages_last_minute": 97,
"Messages_total": 196
},
"(29.266505,-98.309097)": {
"Lat": 29.266505241394,
"Lng": -98.309097290039,
"Signal_strength_last_minute": 78,
"Signal_strength_max": 78,
"Messages_last_minute": 1,
"Messages_total": 3
},
"(29.702547,-96.900787)": {
"Lat": 29.702546596527,
"Lng": -96.900787353516,
"Signal_strength_last_minute": 87,
"Signal_strength_max": 119,
"Messages_last_minute": 94,
"Messages_total": 203
}
}
```
* `http://192.168.10.1/getStatus` - device status and statistics. Example output (commented JSON):
```json
{
"Version": "v0.5b1", // Software version.
"Devices": 0, // Number of radios connected.
"Connected_Users": 1, // Number of WiFi devices connected.
"UAT_messages_last_minute": 0, // UAT messages received in last minute.
"UAT_messages_max": 17949, // Max UAT messages received in a minute (since last reboot).
"ES_messages_last_minute": 0, // 1090ES messages received in last minute.
"ES_messages_max": 0, // Max 1090ES messages received in a minute (since last reboot).
"GPS_satellites_locked": 0, // Number of GPS satellites used in last GPS lock.
"GPS_connected": true, // GPS unit connected and functioning.
"GPS_solution": "", // "DGPS (WAAS)", "3D GPS", "N/A", or "" when GPS not connected/enabled.
"RY835AI_connected": false, // GPS/AHRS unit - use only for debugging (this will be removed).
"Uptime": 227068, // Device uptime (in milliseconds).
"CPUTemp": 42.236 // CPU temperature (in ºC).
}
```
* http://192.168.10.1/getSettings` - get device settings. Example output:
```json
{
"UAT_Enabled": true,
"ES_Enabled": false,
"GPS_Enabled": true,
"NetworkOutputs": [
{
"Conn": null,
"Ip": "",
"Port": 4000,
"Capability": 5
},
{
"Conn": null,
"Ip": "",
"Port": 49002,
"Capability": 2
}
],
"AHRS_Enabled": false,
"DEBUG": false,
"ReplayLog": true,
"PPM": 0,
"OwnshipModeS": "F00000",
"WatchList": ""
}
```
* `http://192.168.10.1/setSettings` - set device settings. Use an HTTP POST of JSON content in the format given above - posting only the fields containing the settings to be modified.
* `http://192.168.10.1/getSituation` - get GPS/AHRS information. Example output:
```json
{
"Lat": 39.108533,
"Lng": -76.770862,
"Satellites": 7,
"Accuracy": 5.88,
"NACp": 10,
"Alt": 170.10767,
"LastFixLocalTime": "2015-12-18T23:47:06.015563066Z",
"TrueCourse": 0,
"GroundSpeed": 0,
"LastGroundTrackTime": "0001-01-01T00:00:00Z",
"Temp": 6553,
"Pressure_alt": 231.27980834234,
"Pitch": -0.006116937627108,
"Roll": -0.026442866350631,
"Gyro_heading": 45.844213419776,
"LastAttitudeTime": "2015-12-18T23:47:06.774039623Z"
}
```