kopia lustrzana https://github.com/cyoung/stratux
359 wiersze
8.3 KiB
Go
359 wiersze
8.3 KiB
Go
package main
|
|
|
|
import (
|
|
"encoding/hex"
|
|
"math"
|
|
"sync"
|
|
"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
|
|
var trafficMutex *sync.Mutex
|
|
|
|
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() {
|
|
trafficMutex.Lock()
|
|
defer trafficMutex.Unlock()
|
|
cleanupOldEntries()
|
|
for _, ti := range traffic {
|
|
makeTrafficReport(ti)
|
|
}
|
|
}
|
|
|
|
func initTraffic() {
|
|
traffic = make(map[uint32]TrafficInfo)
|
|
trafficMutex = &sync.Mutex{}
|
|
}
|
|
|
|
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"
|
|
|
|
sendGDL90(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()
|
|
|
|
trafficMutex.Lock()
|
|
traffic[ti.icao_addr] = ti
|
|
trafficMutex.Unlock()
|
|
}
|
|
|
|
//TODO
|
|
/*
|
|
// dump1090Addr = "127.0.0.1:30003"
|
|
inConn, err := net.Dial("tcp", dump1090Addr)
|
|
if err != nil {
|
|
time.Sleep(1 * time.Second)
|
|
continue
|
|
}
|
|
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, ",")
|
|
//TODO: Add more sophisticated stuff that combines heading/speed updates with the location.
|
|
if len(x) < 22 {
|
|
continue
|
|
}
|
|
icao := x[4]
|
|
icaoDec, err := strconv.ParseInt(icao, 16, 32)
|
|
if err != nil {
|
|
continue
|
|
}
|
|
mutex.Lock()
|
|
// Retrieve previous information on this ICAO code.
|
|
var pi PositionInfo
|
|
if _, ok := blips[icaoDec]; ok {
|
|
pi = blips[icaoDec]
|
|
}
|
|
|
|
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
|
|
alt := x[11]
|
|
lat := x[14]
|
|
lng := x[15]
|
|
|
|
//log.Printf("icao=%s, icaoDec=%d, alt=%s, lat=%s, lng=%s\n", icao, icaoDec, alt, lat, lng)
|
|
pi.alt = alt
|
|
pi.lat = lat
|
|
pi.lng = lng
|
|
}
|
|
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
|
|
vel := x[12]
|
|
hdg := x[13]
|
|
vr := x[16]
|
|
|
|
//log.Printf("icao=%s, icaoDec=%d, vel=%s, hdg=%s, vr=%s\n", icao, icaoDec, vel, hdg, vr)
|
|
pi.vel = vel
|
|
pi.hdg = hdg
|
|
pi.vr = vr
|
|
}
|
|
if x[1] == "1" {
|
|
// MSG,1,,,%02X%02X%02X,,,,,,%s,,,,,,,,0,0,0,0
|
|
tail := x[10]
|
|
pi.tail = tail
|
|
}
|
|
|
|
// Update "last seen" (any type of message).
|
|
pi.last_seen = time.Now()
|
|
|
|
blips[icaoDec] = pi // Update information on this ICAO code.
|
|
mutex.Unlock()
|
|
*/
|