kopia lustrzana https://github.com/cyoung/stratux
Merge branch 'master' into rework
Joseph Poirier
commit
83dcc24787
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@ -0,0 +1,26 @@
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Copyright (c) 2015 Christopher Young.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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||||
notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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||||
notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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||||
* Neither the name of the Joseph D Poirier nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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@ -0,0 +1,4 @@
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all:
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GOARCH=6 go-linux-arm build gen_gdl90.go traffic.go ry835ai.go
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clean:
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rm -f gen_gdl90
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167
gen_gdl90.go
167
gen_gdl90.go
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@ -15,7 +15,7 @@ import (
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const (
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stratuxVersion = "v0.1"
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configLocation = "stratux.conf"
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configLocation = "/etc/stratux.conf"
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ipadAddr = "192.168.10.255:4000" // Port 4000 for FreeFlight RANGR.
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maxDatagramSize = 8192
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UPLINK_BLOCK_DATA_BITS = 576
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@ -39,11 +39,16 @@ const (
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MSGCLASS_UAT = 0
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MSGCLASS_ES = 1
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LON_LAT_RESOLUTION = float32(180.0 / 8388608.0)
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TRACK_RESOLUTION = float32(360.0 / 256.0)
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)
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var Crc16Table [256]uint16
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var outConn *net.UDPConn
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var myGPS GPSData
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type msg struct {
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MessageClass uint
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TimeReceived time.Time
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@ -103,18 +108,143 @@ func prepareMessage(data []byte) []byte {
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return tmp
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}
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func makeLatLng(v float32) []byte {
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ret := make([]byte, 3)
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v = v / LON_LAT_RESOLUTION
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wk := int32(v)
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ret[0] = byte((wk & 0xFF0000) >> 16)
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ret[1] = byte((wk & 0x00FF00) >> 8)
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ret[2] = byte((wk & 0x0000FF))
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return ret
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}
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func isGPSValid() bool {
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return time.Since(myGPS.lastFixLocalTime).Seconds() < 15
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}
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func isGPSGroundTrackValid() bool {
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return time.Since(myGPS.lastGroundTrackTime).Seconds() < 15
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}
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//TODO
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func makeOwnshipReport() bool {
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if !isGPSValid() {
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return false
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}
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msg := make([]byte, 28)
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// See p.16.
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msg[0] = 0x0A // Message type "Ownship".
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msg[1] = 0x01 // Alert status, address type.
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msg[2] = 1 // Address.
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msg[3] = 1 // Address.
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msg[4] = 1 // Address.
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tmp := makeLatLng(myGPS.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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tmp = makeLatLng(myGPS.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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//TODO: 0xFFF "invalid altitude."
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//FIXME: This is **PRESSURE ALTITUDE**
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alt := uint16(myGPS.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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if isGPSGroundTrackValid() {
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msg[12] = byte(((alt & 0x00F) << 4) | 0xB) // "Airborne" + "True Heading"
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} else {
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msg[12] = byte((alt & 0x00F) << 4)
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}
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msg[13] = 0xBB // NIC and NACp.
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gdSpeed := uint16(0) // 1kt resolution.
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if isGPSGroundTrackValid() {
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gdSpeed = myGPS.groundSpeed
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}
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gdSpeed = gdSpeed & 0x0FFF // Should fit in 12 bits.
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msg[14] = byte((gdSpeed & 0xFF0) >> 4)
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msg[15] = byte((gdSpeed & 0x00F) << 4)
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verticalVelocity := int16(1000 / 64) // ft/min. 64 ft/min resolution.
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//TODO: 0x800 = no information available.
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verticalVelocity = verticalVelocity & 0x0FFF // Should fit in 12 bits.
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msg[15] = msg[15] | byte((verticalVelocity & 0x0F00) >> 8)
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msg[16] = byte(verticalVelocity & 0xFF)
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// Showing magnetic (corrected) on ForeFlight. Needs to be True Heading.
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groundTrack := uint16(0)
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if isGPSGroundTrackValid() {
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groundTrack = myGPS.trueCourse
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}
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trk := uint8(float32(groundTrack) / TRACK_RESOLUTION) // Resolution is ~1.4 degrees.
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msg[17] = byte(trk)
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msg[18] = 0x01 // "Light (ICAO) < 15,500 lbs"
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outConn.Write(prepareMessage(msg))
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return true
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}
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//TODO
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func makeOwnshipGeometricAltitudeReport() bool {
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if !isGPSValid() {
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return false
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}
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msg := make([]byte, 5)
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// See p.28.
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msg[0] = 0x0B // Message type "Ownship Geo Alt".
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alt := int16(myGPS.alt)
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alt = alt/5
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msg[1] = byte(alt >> 8) // Altitude.
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msg[2] = byte(alt & 0x00FF) // Altitude.
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//TODO: "Figure of Merit". 0x7FFF "Not available".
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msg[3] = 0x00
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msg[4] = 0x0A
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outConn.Write(prepareMessage(msg))
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return true
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}
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func makeInitializationMessage() []byte {
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msg := make([]byte, 3)
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// See p.13.
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msg[0] = 0x02 // Message type "Initialization".
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msg[1] = 0x00 //TODO
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msg[2] = 0x00 //TODO
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return prepareMessage(msg)
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}
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func makeHeartbeat() []byte {
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msg := make([]byte, 7)
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// See p.10.
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msg[0] = 0x00 // Message type "Heartbeat".
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msg[1] = 0x01 // "UAT Initialized".
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msg[1] = 0x01 // "UAT Initialized". //FIXME
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msg[1] = 0x91 //FIXME: GPS valid. Addr talkback.
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nowUTC := time.Now().UTC()
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// Seconds since 0000Z.
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midnightUTC := time.Date(nowUTC.Year(), nowUTC.Month(), nowUTC.Day(), 0, 0, 0, 0, time.UTC)
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secondsSinceMidnightUTC := uint32(nowUTC.Sub(midnightUTC).Seconds())
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msg[2] = byte((secondsSinceMidnightUTC >> 16) << 7)
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msg[2] = byte(((secondsSinceMidnightUTC >> 16) << 7) | 0x1) // UTC OK.
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msg[3] = byte((secondsSinceMidnightUTC & 0xFF))
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msg[4] = byte((secondsSinceMidnightUTC & 0xFFFF) >> 8)
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@ -143,6 +273,12 @@ func relayMessage(msgtype uint16, msg []byte) {
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func heartBeatSender() {
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for {
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outConn.Write(makeHeartbeat())
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// outConn.Write(makeTrafficReport())
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makeOwnshipReport()
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makeOwnshipGeometricAltitudeReport()
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outConn.Write(makeInitializationMessage())
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sendTrafficUpdates()
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updateStatus()
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time.Sleep(1 * time.Second)
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}
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}
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@ -165,8 +301,13 @@ func updateStatus() {
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MsgLog = t
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globalStatus.UAT_messages_last_minute = UAT_messages_last_minute
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globalStatus.ES_messages_last_minute = ES_messages_last_minute
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if isGPSValid() {
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globalStatus.GPS_satellites_locked = myGPS.satellites
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}
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}
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func parseInput(buf string) ([]byte, uint16) {
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x := strings.Split(buf, ";") // Discard everything after the first ';'.
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if len(x) == 0 {
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@ -178,6 +319,10 @@ func parseInput(buf string) ([]byte, uint16) {
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}
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msgtype := uint16(0)
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if s[0] == '-' {
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parseDownlinkReport(s)
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}
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s = s[1:]
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msglen := len(s) / 2
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@ -208,7 +353,6 @@ func parseInput(buf string) ([]byte, uint16) {
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thisMsg.TimeReceived = time.Now()
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thisMsg.Data = frame
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MsgLog = append(MsgLog, thisMsg)
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updateStatus()
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return frame, msgtype
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}
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@ -216,6 +360,7 @@ func parseInput(buf string) ([]byte, uint16) {
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type settings struct {
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UAT_Enabled bool
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ES_Enabled bool
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GPS_Enabled bool
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}
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type status struct {
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@ -225,7 +370,7 @@ type status struct {
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UAT_messages_max uint
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ES_messages_last_minute uint
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ES_messages_max uint
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GPS_satellites_locked uint
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GPS_satellites_locked uint16
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}
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var globalSettings settings
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@ -257,6 +402,9 @@ func handleManagementConnection(conn net.Conn) {
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fmt.Printf("%s - error: %s\n", s, err.Error())
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} else {
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fmt.Printf("new settings: %s\n", s)
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if !globalSettings.GPS_Enabled && newSettings.GPS_Enabled { // GPS was enabled, restart the reader thread.
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go gpsReader()
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}
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globalSettings = newSettings
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saveSettings()
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}
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@ -284,6 +432,7 @@ func managementInterface() {
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func defaultSettings() {
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globalSettings.UAT_Enabled = true //TODO
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globalSettings.ES_Enabled = false //TODO
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globalSettings.GPS_Enabled = false //TODO
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}
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func readSettings() {
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@ -326,6 +475,10 @@ func saveSettings() {
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func main() {
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MsgLog = make([]msg, 0)
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crcInit() // Initialize CRC16 table.
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initTraffic()
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globalStatus.Version = stratuxVersion
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globalStatus.Devices = 123 //TODO
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globalStatus.UAT_messages_last_minute = 567 //TODO
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@ -333,7 +486,9 @@ func main() {
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readSettings()
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crcInit() // Initialize CRC16 table.
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if globalSettings.GPS_Enabled {
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go gpsReader()
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}
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// Open UDP port to send out the messages.
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addr, err := net.ResolveUDPAddr("udp", ipadAddr)
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|
|
|
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@ -67,10 +67,6 @@ echo blacklist rtl2832 >>/etc/modprobe.d/rtl-sdr-blacklist.conf
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echo "# prevent power down of wireless when idle" >>/etc/modprobe.d/8192cu.conf
|
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echo "options 8192cu rtw_power_mgnt=0 rtw_enusbss=0" >>/etc/modprobe.d/8192cu.conf
|
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|
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#usb hub power
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echo "max_usb_current=1" >>/boot/config.txt
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|
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|
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EOF
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|
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echo "*** STRATUX COMPILE/PACKAGE INSTALL ***"
|
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|
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@ -103,14 +99,12 @@ cp dump1090 /usr/bin/
|
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EOF
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|
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echo " - Stratux"
|
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|
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scp_in_to_qemu /root/spindle/gen_gdl90 /tmp/gen_gdl90
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|
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ssh_in_to_qemu chroot /mnt sh -l -ex - <<\EOF
|
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apt-get install -y golang-go
|
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cd /root
|
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|
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mkdir /root/go
|
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export GOPATH=/root/go
|
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|
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|
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rm -rf stratux
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git clone https://github.com/cyoung/stratux
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cd stratux
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@ -118,12 +112,9 @@ cd dump978
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make
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cp dump978 /usr/bin/
|
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cd ..
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go build gen_gdl90.go
|
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|
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go get github.com/sevlyar/go-daemon
|
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go build 1090es_relay.go
|
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|
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cp gen_gdl90 /usr/bin/
|
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mv /tmp/gen_gdl90 /usr/bin/gen_gdl90
|
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chmod +x /usr/bin/gen_gdl90
|
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cp start_uat.sh /usr/bin/start_uat
|
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cp init.d-stratux /etc/init.d/stratux
|
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cp start_stratux.sh /usr/sbin/stratux
|
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|
|
@ -132,7 +123,15 @@ chmod 755 /usr/sbin/stratux
|
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chmod 755 /etc/init.d/stratux
|
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ln -s /etc/init.d/stratux /etc/rc2.d/S01stratux
|
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ln -s /etc/init.d/stratux /etc/rc6.d/K01stratux
|
||||
|
||||
echo -n '{"UAT_Enabled":false,"ES_Enabled":true,"GPS_Enabled":true}' >/etc/stratux.conf
|
||||
|
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update-rc.d stratux enable
|
||||
|
||||
#usb hub power
|
||||
echo "max_usb_current=1" >>/boot/config.txt
|
||||
|
||||
|
||||
EOF
|
||||
|
||||
echo "**** END STRATUX SETUP *****"
|
||||
|
|
|
|||
|
|
@ -0,0 +1,186 @@
|
|||
package main
|
||||
|
||||
|
||||
import (
|
||||
"fmt"
|
||||
"github.com/tarm/serial"
|
||||
"time"
|
||||
"strings"
|
||||
"strconv"
|
||||
)
|
||||
|
||||
type GPSData struct {
|
||||
lastFixSinceMidnightUTC uint32
|
||||
lat float32
|
||||
lng float32
|
||||
quality uint8
|
||||
satellites uint16
|
||||
accuracy float32 // Meters.
|
||||
alt float32 // Feet.
|
||||
alt_accuracy float32
|
||||
lastFixLocalTime time.Time
|
||||
trueCourse uint16
|
||||
groundSpeed uint16
|
||||
lastGroundTrackTime time.Time
|
||||
}
|
||||
|
||||
var serialConfig *serial.Config
|
||||
var serialPort *serial.Port
|
||||
|
||||
func initGPSSerialReader() bool {
|
||||
serialConfig = &serial.Config{Name: "/dev/ttyACM0", Baud: 9600}
|
||||
p, err := serial.OpenPort(serialConfig)
|
||||
if err != nil {
|
||||
fmt.Printf("serial port err: %s\n", err.Error())
|
||||
return false
|
||||
}
|
||||
serialPort = p
|
||||
return true
|
||||
}
|
||||
|
||||
func processNMEALine(l string) bool {
|
||||
x := strings.Split(l, ",")
|
||||
if x[0] == "$GNVTG" { // Ground track information.
|
||||
if len(x) < 10 {
|
||||
return false
|
||||
}
|
||||
trueCourse := uint16(0)
|
||||
if len(x[1]) > 0 {
|
||||
tc, err := strconv.ParseFloat(x[1], 32)
|
||||
if err != nil {
|
||||
return false
|
||||
}
|
||||
trueCourse = uint16(tc)
|
||||
} else {
|
||||
// No movement.
|
||||
myGPS.trueCourse = 0
|
||||
myGPS.groundSpeed = 0
|
||||
myGPS.lastGroundTrackTime = time.Time{}
|
||||
return true
|
||||
}
|
||||
groundSpeed, err := strconv.ParseFloat(x[5], 32) // Knots.
|
||||
if err != nil {
|
||||
return false
|
||||
}
|
||||
|
||||
myGPS.trueCourse = uint16(trueCourse)
|
||||
myGPS.groundSpeed = uint16(groundSpeed)
|
||||
myGPS.lastGroundTrackTime = time.Now()
|
||||
} else if x[0] == "$GNGGA" { // GPS fix.
|
||||
if len(x) < 15 {
|
||||
return false
|
||||
}
|
||||
var fix GPSData
|
||||
|
||||
fix = myGPS
|
||||
|
||||
// Timestamp.
|
||||
if len(x[1]) < 9 {
|
||||
return false
|
||||
}
|
||||
hr, err1 := strconv.Atoi(x[1][0:2])
|
||||
min, err2 := strconv.Atoi(x[1][2:4])
|
||||
sec, err3 := strconv.Atoi(x[1][4:6])
|
||||
if err1 != nil || err2 != nil || err3 != nil {
|
||||
return false
|
||||
}
|
||||
|
||||
fix.lastFixSinceMidnightUTC = uint32((hr * 60 * 60) + (min * 60) + sec)
|
||||
|
||||
// Latitude.
|
||||
if len(x[2]) < 10 {
|
||||
return false
|
||||
}
|
||||
hr, err1 = strconv.Atoi(x[2][0:2])
|
||||
minf, err2 := strconv.ParseFloat(x[2][2:10], 32)
|
||||
if err1 != nil || err2 != nil {
|
||||
return false
|
||||
}
|
||||
|
||||
fix.lat = float32(hr) + float32(minf / 60.0)
|
||||
if x[3] == "S" { // South = negative.
|
||||
fix.lat = -fix.lat
|
||||
}
|
||||
|
||||
// Longitude.
|
||||
if len(x[4]) < 11 {
|
||||
return false
|
||||
}
|
||||
hr, err1 = strconv.Atoi(x[4][0:3])
|
||||
minf, err2 = strconv.ParseFloat(x[4][3:11], 32)
|
||||
if err1 != nil || err2 != nil {
|
||||
return false
|
||||
}
|
||||
|
||||
fix.lng = float32(hr) + float32(minf / 60.0)
|
||||
if x[5] == "W" { // West = negative.
|
||||
fix.lng = -fix.lng
|
||||
}
|
||||
|
||||
// Quality indicator.
|
||||
q, err1 := strconv.Atoi(x[6])
|
||||
if err1 != nil {
|
||||
return false
|
||||
}
|
||||
fix.quality = uint8(q)
|
||||
|
||||
// Satellites.
|
||||
sat, err1 := strconv.Atoi(x[7])
|
||||
if err1 != nil {
|
||||
return false
|
||||
}
|
||||
fix.satellites = uint16(sat)
|
||||
|
||||
// Accuracy.
|
||||
hdop, err1 := strconv.ParseFloat(x[8], 32)
|
||||
if err1 != nil {
|
||||
return false
|
||||
}
|
||||
fix.accuracy = float32(hdop * 5.0) //FIXME: 5 meters ~ 1.0 HDOP?
|
||||
|
||||
// Altitude.
|
||||
alt, err1 := strconv.ParseFloat(x[9], 32)
|
||||
if err1 != nil {
|
||||
return false
|
||||
}
|
||||
fix.alt = float32(alt * 3.28084) // Covnert to feet.
|
||||
|
||||
//TODO: Altitude accuracy.
|
||||
fix.alt_accuracy = 0
|
||||
|
||||
// Timestamp.
|
||||
fix.lastFixLocalTime = time.Now()
|
||||
|
||||
myGPS = fix
|
||||
|
||||
}
|
||||
return true
|
||||
}
|
||||
|
||||
func gpsSerialReader() {
|
||||
defer serialPort.Close()
|
||||
for {
|
||||
if !globalSettings.GPS_Enabled { // GPS was turned off. Shut down.
|
||||
break
|
||||
}
|
||||
buf := make([]byte, 1024)
|
||||
n, err := serialPort.Read(buf)
|
||||
if err != nil {
|
||||
fmt.Printf("gps unit read error: %s\n", err.Error())
|
||||
return
|
||||
}
|
||||
s := string(buf[:n])
|
||||
x := strings.Split(s, "\n")
|
||||
for _, l := range x {
|
||||
processNMEALine(l)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
func gpsReader() {
|
||||
if initGPSSerialReader() {
|
||||
gpsSerialReader()
|
||||
} else {
|
||||
globalSettings.GPS_Enabled = false
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,286 @@
|
|||
package main
|
||||
|
||||
import (
|
||||
"encoding/hex"
|
||||
"math"
|
||||
"time"
|
||||
)
|
||||
|
||||
//-0b2b48fe3aef1f88621a0856110a31c01105c4e6c4e6c40a9a820300000000000000;rs=7;
|
||||
|
||||
|
||||
/*
|
||||
|
||||
HDR:
|
||||
MDB Type: 1
|
||||
Address: 2B48FE (TIS-B track file address)
|
||||
SV:
|
||||
NIC: 6
|
||||
Latitude: +41.4380
|
||||
Longitude: -84.1056
|
||||
Altitude: 2300 ft (barometric)
|
||||
N/S velocity: -65 kt
|
||||
E/W velocity: -98 kt
|
||||
Track: 236
|
||||
Speed: 117 kt
|
||||
Vertical rate: 0 ft/min (from barometric altitude)
|
||||
UTC coupling: no
|
||||
TIS-B site ID: 1
|
||||
MS:
|
||||
Emitter category: No information
|
||||
Callsign: unavailable
|
||||
Emergency status: No emergency
|
||||
UAT version: 2
|
||||
SIL: 2
|
||||
Transmit MSO: 38
|
||||
NACp: 8
|
||||
NACv: 1
|
||||
NICbaro: 0
|
||||
Capabilities:
|
||||
Active modes:
|
||||
Target track type: true heading
|
||||
AUXSV:
|
||||
Sec. altitude: unavailable
|
||||
|
||||
*/
|
||||
|
||||
type TrafficInfo struct {
|
||||
icao_addr uint32
|
||||
addr_type uint8
|
||||
|
||||
lat float32
|
||||
lng float32
|
||||
|
||||
position_valid bool
|
||||
|
||||
alt uint32
|
||||
|
||||
track uint16
|
||||
speed uint16
|
||||
speed_valid bool
|
||||
|
||||
vvel int16
|
||||
|
||||
tail string
|
||||
|
||||
last_seen time.Time
|
||||
}
|
||||
|
||||
var traffic map[uint32]TrafficInfo
|
||||
|
||||
func cleanupOldEntries() {
|
||||
for icao_addr, ti := range traffic {
|
||||
if time.Since(ti.last_seen).Seconds() > float64(60) { //FIXME: 60 seconds with no update on this address - stop displaying.
|
||||
delete(traffic, icao_addr)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
func sendTrafficUpdates() {
|
||||
cleanupOldEntries()
|
||||
for _, ti := range traffic {
|
||||
makeTrafficReport(ti)
|
||||
}
|
||||
}
|
||||
|
||||
func initTraffic() {
|
||||
traffic = make(map[uint32]TrafficInfo)
|
||||
}
|
||||
|
||||
func makeTrafficReport(ti TrafficInfo) {
|
||||
msg := make([]byte, 28)
|
||||
// See p.16.
|
||||
msg[0] = 0x14 // Message type "Traffic Report".
|
||||
|
||||
msg[1] = 0x10 | ti.addr_type // Alert status, address type.
|
||||
|
||||
// ICAO Address.
|
||||
msg[2] = byte((ti.icao_addr & 0x00FF0000) >> 16)
|
||||
msg[3] = byte((ti.icao_addr & 0x0000FF00) >> 8)
|
||||
msg[4] = byte((ti.icao_addr & 0x000000FF))
|
||||
|
||||
lat := float32(ti.lat)
|
||||
tmp := makeLatLng(lat)
|
||||
|
||||
msg[5] = tmp[0] // Latitude.
|
||||
msg[6] = tmp[1] // Latitude.
|
||||
msg[7] = tmp[2] // Latitude.
|
||||
|
||||
lng := float32(ti.lng)
|
||||
tmp = makeLatLng(lng)
|
||||
|
||||
msg[8] = tmp[0] // Longitude.
|
||||
msg[9] = tmp[1] // Longitude.
|
||||
msg[10] = tmp[2] // Longitude.
|
||||
|
||||
|
||||
//Altitude: OK
|
||||
//TODO: 0xFFF "invalid altitude."
|
||||
alt := uint16(ti.alt)
|
||||
alt = (alt + 1000)/25
|
||||
alt = alt & 0xFFF // Should fit in 12 bits.
|
||||
|
||||
msg[11] = byte((alt & 0xFF0) >> 4) // Altitude.
|
||||
msg[12] = byte((alt & 0x00F) << 4)
|
||||
|
||||
msg[12] = byte(((alt & 0x00F) << 4) | 0x8) //FIXME. "Airborne".
|
||||
|
||||
msg[13] = 0x11 //FIXME.
|
||||
|
||||
// Horizontal velocity (speed).
|
||||
|
||||
msg[14] = byte((ti.speed & 0x0FF0) >> 4)
|
||||
msg[15] = byte((ti.speed & 0x000F) << 4)
|
||||
|
||||
// Vertical velocity.
|
||||
vvel := ti.vvel / 64 // 64fpm resolution.
|
||||
msg[15] = msg[15] | byte((vvel & 0x0F00) >> 8)
|
||||
msg[16] = byte(vvel & 0x00FF)
|
||||
|
||||
// Track.
|
||||
trk := uint8(float32(ti.track) / TRACK_RESOLUTION) // Resolution is ~1.4 degrees.
|
||||
msg[17] = byte(trk)
|
||||
|
||||
msg[18] = 0x01 // "light"
|
||||
|
||||
outConn.Write(prepareMessage(msg))
|
||||
}
|
||||
|
||||
|
||||
func parseDownlinkReport(s string) {
|
||||
var ti TrafficInfo
|
||||
s = s[1:]
|
||||
frame := make([]byte, len(s)/2)
|
||||
hex.Decode(frame, []byte(s))
|
||||
|
||||
// Header.
|
||||
// msg_type := (uint8(frame[0]) >> 3) & 0x1f
|
||||
ti.addr_type = uint8(frame[0]) & 0x07
|
||||
ti.icao_addr = (uint32(frame[1]) << 16) | (uint32(frame[2]) << 8) | uint32(frame[3])
|
||||
|
||||
// OK.
|
||||
// fmt.Printf("%d, %d, %06X\n", msg_type, ti.addr_type, ti.icao_addr)
|
||||
|
||||
nic := uint8(frame[11]) & 15 //TODO: Meaning?
|
||||
|
||||
raw_lat := (uint32(frame[4]) << 15) | (uint32(frame[5]) << 7) | (uint32(frame[6]) >> 1)
|
||||
raw_lon := ((uint32(frame[6]) & 0x01) << 23) | (uint32(frame[7]) << 15) | (uint32(frame[8]) << 7) | (uint32(frame[9]) >> 1)
|
||||
|
||||
lat := float32(0.0)
|
||||
lng := float32(0.0)
|
||||
|
||||
position_valid := false
|
||||
if nic != 0 || raw_lat != 0 || raw_lon != 0 {
|
||||
position_valid = true
|
||||
lat = float32(raw_lat) * 360.0 / 16777216.0
|
||||
if lat > 90 {
|
||||
lat = lat - 180
|
||||
}
|
||||
lng = float32(raw_lon) * 360.0 / 16777216.0
|
||||
if lng > 180 {
|
||||
lng = lng - 360
|
||||
}
|
||||
}
|
||||
ti.lat = lat
|
||||
ti.lng = lng
|
||||
ti.position_valid = position_valid
|
||||
|
||||
raw_alt := (uint32(frame[10]) << 4) | ((uint32(frame[11]) & 0xf0) >> 4)
|
||||
// alt_geo := false // Barometric if not geometric.
|
||||
alt := uint32(0)
|
||||
if raw_alt != 0 {
|
||||
// alt_geo = (uint8(frame[9]) & 1) != 0
|
||||
alt = ((raw_alt - 1) * 25) - 1000
|
||||
}
|
||||
ti.alt = alt
|
||||
|
||||
//OK.
|
||||
// fmt.Printf("%d, %t, %f, %f, %t, %d\n", nic, position_valid, lat, lng, alt_geo, alt)
|
||||
|
||||
airground_state := (uint8(frame[12]) >> 6) & 0x03
|
||||
//OK.
|
||||
// fmt.Printf("%d\n", airground_state)
|
||||
|
||||
ns_vel := int16(0)
|
||||
ew_vel := int16(0)
|
||||
track := uint16(0)
|
||||
speed_valid := false
|
||||
speed := uint16(0)
|
||||
vvel := int16(0)
|
||||
// vvel_geo := false
|
||||
if airground_state == 0 || airground_state == 1 { // Subsonic. Supersonic.
|
||||
// N/S velocity.
|
||||
ns_vel_valid := false
|
||||
ew_vel_valid := false
|
||||
raw_ns := ((int16(frame[12]) & 0x1f) << 6) | ((int16(frame[13]) & 0xfc) >> 2)
|
||||
if (raw_ns & 0x3ff) != 0 {
|
||||
ns_vel_valid = true
|
||||
ns_vel = ((raw_ns & 0x3ff) - 1)
|
||||
if (raw_ns & 0x400) != 0 {
|
||||
ns_vel = 0 - ns_vel
|
||||
}
|
||||
if airground_state == 1 { // Supersonic.
|
||||
ns_vel = ns_vel * 4
|
||||
}
|
||||
}
|
||||
// E/W velocity.
|
||||
raw_ew := ((int16(frame[13]) & 0x03) << 9) | (int16(frame[14]) << 1) | ((int16(frame[15] & 0x80)) >> 7)
|
||||
if (raw_ew & 0x3ff) != 0 {
|
||||
ew_vel_valid = true
|
||||
ew_vel = (raw_ew & 0x3ff) - 1
|
||||
if (raw_ew & 0x400) != 0 {
|
||||
ew_vel = 0 - ew_vel
|
||||
}
|
||||
if airground_state == 1 { // Supersonic
|
||||
ew_vel = ew_vel * 4
|
||||
}
|
||||
}
|
||||
if ns_vel_valid && ew_vel_valid {
|
||||
if ns_vel != 0 && ew_vel != 0 {
|
||||
//TODO: Track type
|
||||
track = (360 + 90 - uint16(math.Atan2(float64(ns_vel), float64(ew_vel)) * 180 / math.Pi)) % 360
|
||||
}
|
||||
speed_valid = true
|
||||
speed = uint16(math.Sqrt(float64((ns_vel * ns_vel) + (ew_vel * ew_vel))))
|
||||
}
|
||||
|
||||
// Vertical velocity.
|
||||
raw_vvel := ((int16(frame[15]) & 0x7f) << 4) | ((int16(frame[16]) & 0xf0) >> 4)
|
||||
if (raw_vvel & 0x1ff) != 0 {
|
||||
// vvel_geo = (raw_vvel & 0x400) == 0
|
||||
vvel = ((raw_vvel & 0x1ff) - 1) * 64
|
||||
if (raw_vvel & 0x200) != 0 {
|
||||
vvel = 0 - vvel
|
||||
}
|
||||
}
|
||||
} else if airground_state == 2 { // Ground vehicle.
|
||||
//TODO.
|
||||
return
|
||||
}
|
||||
|
||||
ti.track = track
|
||||
ti.speed = speed
|
||||
ti.vvel = vvel
|
||||
ti.speed_valid = speed_valid
|
||||
|
||||
//OK.
|
||||
// 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)
|
||||
|
||||
/*
|
||||
utc_coupled := false
|
||||
tisb_site_id := uint8(0)
|
||||
|
||||
if (uint8(frame[0]) & 7) == 2 || (uint8(frame[0]) & 7) == 3 { //TODO: Meaning?
|
||||
tisb_site_id = uint8(frame[16]) & 0x0f
|
||||
} else {
|
||||
utc_coupled = (uint8(frame[16]) & 0x08) != 0
|
||||
}
|
||||
*/
|
||||
|
||||
//OK.
|
||||
// fmt.Printf("tisb_site_id %d, utc_coupled %t\n", tisb_site_id, utc_coupled)
|
||||
|
||||
ti.last_seen = time.Now()
|
||||
|
||||
traffic[ti.icao_addr] = ti
|
||||
}
|
||||
Ładowanie…
Reference in New Issue