kopia lustrzana https://github.com/projecthorus/wenet
Added habitat upload support for imagery packets. Telemetry GUI loads by default with start_rx.sh
Mark Jessop
rodzic
43f6f57455
commit
11fc3d73d0
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@ -10,6 +10,7 @@ from threading import Thread
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import traceback
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import socket
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import json
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import sys
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import Queue
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import datetime
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from WenetPackets import *
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@ -20,6 +21,11 @@ import numpy as np
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imu_plot_history_size = 60 # Seconds.
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user_callsign = "N0CALL"
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if len(sys.argv) > 1:
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user_callsign = sys.argv[1]
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app = QtGui.QApplication([])
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# Configure PyQtGraph to use black plots on a transparent background.
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@ -73,19 +79,19 @@ gpsFrameLayout.addWidget(gpsFixValidValue,8,1)
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gpsFrame.setLayout(gpsFrameLayout)
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def updateGpsFrame(gps_data):
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""" Update GPS Data Frame with a WenetPackets GPS Data dictionary """
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try:
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gpsTimeValue.setText(gps_data['timestamp'])
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gpsLatitudeValue.setText("%.5f" % gps_data['latitude'])
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gpsLongitudeValue.setText("%.5f" % gps_data['longitude'])
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gpsAltitudeValue.setText("%d m" % int(gps_data['altitude']))
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gpsSpeedValue.setText("H %d kph V %.1f m/s" % ( int(gps_data['ground_speed']), gps_data['ascent_rate']))
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gpsHeadingValue.setText("%.1f deg" % gps_data['heading'])
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gpsSatsValue.setText("%d" % gps_data['numSV'])
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gpsFixValidValue.setText(gps_data['gpsFix_str'])
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except:
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traceback.print_exc()
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pass
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""" Update GPS Data Frame with a WenetPackets GPS Data dictionary """
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try:
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gpsTimeValue.setText(gps_data['timestamp'])
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gpsLatitudeValue.setText("%.5f" % gps_data['latitude'])
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gpsLongitudeValue.setText("%.5f" % gps_data['longitude'])
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gpsAltitudeValue.setText("%d m" % int(gps_data['altitude']))
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gpsSpeedValue.setText("H %d kph V %.1f m/s" % ( int(gps_data['ground_speed']), gps_data['ascent_rate']))
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gpsHeadingValue.setText("%.1f deg" % gps_data['heading'])
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gpsSatsValue.setText("%d" % gps_data['numSV'])
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gpsFixValidValue.setText(gps_data['gpsFix_str'])
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except:
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traceback.print_exc()
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pass
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#
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# IMU Telemetry Data Frame
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@ -174,57 +180,57 @@ roll_curve = imuPlot_Roll.plot(x=imu_times, y=roll_values, pen=pg.mkPen('k',widt
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pitch_curve = imuPlot_Pitch.plot(x=imu_times, y=pitch_values, pen=pg.mkPen('k',width=2))
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def updateIMUFrame(imu_data):
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""" Update IMU Frame and Plots with new IMU data """
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global imu_times, heading_values, roll_values, pitch_values, heading_curve, roll_curve, pitch_curve
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try:
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imuTimeValue.setText(imu_data['timestamp'])
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imuTempValue.setText("%d" % imu_data['temp'])
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imuCalStatus_System_OK.setText("%d" % imu_data['sys_cal'])
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imuCalStatus_Gyro_OK.setText("%d" % imu_data['gyro_cal'])
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imuCalStatus_Accel_OK.setText("%d" % imu_data['accel_cal'])
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imuCalStatus_Magnet_OK.setText("%d" % imu_data['magnet_cal'])
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imuEulerHeadingValue.setText("%.1f" % imu_data['euler_heading'])
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imuEulerRollValue.setText("%.1f" % imu_data['euler_roll'])
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imuEulerPitchValue.setText("%.1f" % imu_data['euler_pitch'])
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""" Update IMU Frame and Plots with new IMU data """
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global imu_times, heading_values, roll_values, pitch_values, heading_curve, roll_curve, pitch_curve
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try:
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imuTimeValue.setText(imu_data['timestamp'])
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imuTempValue.setText("%d" % imu_data['temp'])
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imuCalStatus_System_OK.setText("%d" % imu_data['sys_cal'])
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imuCalStatus_Gyro_OK.setText("%d" % imu_data['gyro_cal'])
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imuCalStatus_Accel_OK.setText("%d" % imu_data['accel_cal'])
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imuCalStatus_Magnet_OK.setText("%d" % imu_data['magnet_cal'])
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imuEulerHeadingValue.setText("%.1f" % imu_data['euler_heading'])
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imuEulerRollValue.setText("%.1f" % imu_data['euler_roll'])
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imuEulerPitchValue.setText("%.1f" % imu_data['euler_pitch'])
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latest_imu_time = imu_data['iTOW']
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latest_euler_heading = imu_data['euler_heading']
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latest_euler_roll = imu_data['euler_roll']
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latest_euler_pitch = imu_data['euler_pitch']
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latest_imu_time = imu_data['iTOW']
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latest_euler_heading = imu_data['euler_heading']
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latest_euler_roll = imu_data['euler_roll']
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latest_euler_pitch = imu_data['euler_pitch']
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if imu_times[0] == 0:
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# We need to initialise the arrays.
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imu_times[0] = latest_imu_time
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heading_values[0] = latest_euler_heading
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roll_values[0] = latest_euler_roll
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pitch_values[0] = latest_euler_pitch
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else:
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# Append, and crop arrays if they are too big.
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imu_times.append(latest_imu_time)
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heading_values.append(latest_euler_heading)
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roll_values.append(latest_euler_roll)
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pitch_values.append(latest_euler_pitch)
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if imu_times[0] == 0:
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# We need to initialise the arrays.
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imu_times[0] = latest_imu_time
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heading_values[0] = latest_euler_heading
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roll_values[0] = latest_euler_roll
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pitch_values[0] = latest_euler_pitch
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else:
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# Append, and crop arrays if they are too big.
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imu_times.append(latest_imu_time)
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heading_values.append(latest_euler_heading)
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roll_values.append(latest_euler_roll)
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pitch_values.append(latest_euler_pitch)
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if len(imu_times) > buffer_size:
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imu_times = imu_times[-1*buffer_size:]
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heading_values = heading_values[-1*buffer_size:]
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roll_values = roll_values[-1*buffer_size:]
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pitch_values = pitch_values[-1*buffer_size:]
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if len(imu_times) > buffer_size:
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imu_times = imu_times[-1*buffer_size:]
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heading_values = heading_values[-1*buffer_size:]
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roll_values = roll_values[-1*buffer_size:]
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pitch_values = pitch_values[-1*buffer_size:]
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# Update plots
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heading_curve.setData(x=(np.array(imu_times)-latest_imu_time), y=heading_values)
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roll_curve.setData(x=(np.array(imu_times)-latest_imu_time), y = roll_values)
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pitch_curve.setData(x=(np.array(imu_times)-latest_imu_time), y=pitch_values)
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# Update plots
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heading_curve.setData(x=(np.array(imu_times)-latest_imu_time), y=heading_values)
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roll_curve.setData(x=(np.array(imu_times)-latest_imu_time), y = roll_values)
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pitch_curve.setData(x=(np.array(imu_times)-latest_imu_time), y=pitch_values)
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except:
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traceback.print_exc()
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pass
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except:
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traceback.print_exc()
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pass
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# Telemetry Log
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packetSnifferFrame = QtGui.QFrame()
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packetSnifferFrame.setFixedSize(1300,150)
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packetSnifferFrame.setFixedSize(1200,150)
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packetSnifferFrame.setFrameStyle(QtGui.QFrame.Box)
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packetSnifferTitle = QtGui.QLabel("<b><u>Telemetry Log</u></b>")
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console = QtGui.QPlainTextEdit()
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@ -234,6 +240,40 @@ packetSnifferLayout.addWidget(packetSnifferTitle)
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packetSnifferLayout.addWidget(console)
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packetSnifferFrame.setLayout(packetSnifferLayout)
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# Habitat Upload Frame
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uploadFrame = QtGui.QFrame()
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uploadFrame.setFixedSize(200,150)
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uploadFrame.setFrameStyle(QtGui.QFrame.Box)
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uploadFrame.setLineWidth(1)
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uploadFrameTitle = QtGui.QLabel("<b><u>Habitat Upload</u></b>")
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uploadFrameHabitat = QtGui.QCheckBox("Habitat Upload")
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uploadFrameHabitat.setChecked(True)
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uploadFrameCallsignLabel = QtGui.QLabel("<b>Your Callsign:</b>")
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uploadFrameCallsign = QtGui.QLineEdit(user_callsign)
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uploadFrameCallsign.setMaxLength(10)
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uploadFrameHabitatStatus = QtGui.QLabel("Last Upload: ")
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uploadFrameLayout = QtGui.QGridLayout()
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uploadFrameLayout.addWidget(uploadFrameTitle,0,0,1,1)
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uploadFrameLayout.addWidget(uploadFrameCallsignLabel,1,0,1,1)
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uploadFrameLayout.addWidget(uploadFrameCallsign,1,1,1,1)
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uploadFrameLayout.addWidget(uploadFrameHabitat,2,0,1,2)
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uploadFrameLayout.addWidget(uploadFrameHabitatStatus,3,0,1,2)
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uploadFrame.setLayout(uploadFrameLayout)
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def imageTelemetryHandler(packet):
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(upload_ok, error) = image_telemetry_upload(packet, user_callsign = str(uploadFrameCallsign.text()))
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timestamp = datetime.datetime.utcnow().strftime("%Y%m%d-%H%M%SZ")
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if upload_ok:
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uploadFrameHabitatStatus.setText("Last Upload: %s" % datetime.utcnow().strftime("%H:%M:%S"))
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console.appendPlainText("%s \tHabitat Upload: OK")
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else:
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uploadFrameHabitatStatus.setText("Last Upload: Failed!")
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console.appendPlainText("%s \tHabitat Upload: FAIL: %s" % (timestamp, error))
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# Main Window
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main_widget = QtGui.QWidget()
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@ -242,8 +282,10 @@ main_widget.setLayout(layout)
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layout.addWidget(gpsFrame,0,0)
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layout.addWidget(imuFrame,0,1)
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layout.addWidget(imuPlot,0,2)
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layout.addWidget(packetSnifferFrame,1,0,1,4)
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layout.addWidget(imuPlot,0,2,1,2)
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layout.addWidget(packetSnifferFrame,1,0,1,3)
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layout.addWidget(uploadFrame,1,3,1,1)
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mainwin = QtGui.QMainWindow()
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mainwin.setWindowTitle("Wenet GPS/IMU Telemetry Console")
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@ -258,69 +300,73 @@ mainwin.show()
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rxqueue = Queue.Queue(32)
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def process_udp(udp_packet):
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""" Process received UDP packets. """
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# Grab timestamp.
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timestamp = datetime.datetime.utcnow().strftime("%Y%m%d-%H%M%SZ")
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""" Process received UDP packets. """
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# Grab timestamp.
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timestamp = datetime.datetime.utcnow().strftime("%Y%m%d-%H%M%SZ")
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# Parse JSON, and extract packet.
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packet_dict = json.loads(udp_packet)
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packet = packet_dict['packet']
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# Parse JSON, and extract packet.
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packet_dict = json.loads(udp_packet)
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packet = packet_dict['packet']
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# Decode GPS and IMU packets, and pass onto their respective GUI update functions.
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packet_type = decode_packet_type(packet)
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# Decode GPS and IMU packets, and pass onto their respective GUI update functions.
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packet_type = decode_packet_type(packet)
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if packet_type == WENET_PACKET_TYPES.GPS_TELEMETRY:
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gps_data = gps_telemetry_decoder(packet)
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updateGpsFrame(gps_data)
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elif packet_type == WENET_PACKET_TYPES.ORIENTATION_TELEMETRY:
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orientation_data = orientation_telemetry_decoder(packet)
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updateIMUFrame(orientation_data)
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else:
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# Convert to string, and print to terminal with timestamp.
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console.appendPlainText("%s \t%s" % (timestamp,packet_to_string(packet)))
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if packet_type == WENET_PACKET_TYPES.GPS_TELEMETRY:
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gps_data = gps_telemetry_decoder(packet)
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updateGpsFrame(gps_data)
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elif packet_type == WENET_PACKET_TYPES.ORIENTATION_TELEMETRY:
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orientation_data = orientation_telemetry_decoder(packet)
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updateIMUFrame(orientation_data)
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elif packet_type == WENET_PACKET_TYPES.IMAGE_TELEMETRY:
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# Print to console, then attempt to upload packet.
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console.appendPlainText("%s \t%s" % (timestamp,packet_to_string(packet)))
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imageTelemetryHandler(packet)
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else:
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# Convert to string, and print to terminal with timestamp.
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console.appendPlainText("%s \t%s" % (timestamp,packet_to_string(packet)))
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udp_listener_running = False
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def udp_rx_thread():
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""" Listen on a port for UDP broadcast packets, and pass them onto process_udp()"""
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global udp_listener_running
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s = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
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s.settimeout(1)
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s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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try:
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s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEPORT, 1)
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except:
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pass
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s.bind(('',WENET_TELEMETRY_UDP_PORT))
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print("Started UDP Listener Thread.")
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udp_listener_running = True
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while udp_listener_running:
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try:
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m = s.recvfrom(2048)
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except socket.timeout:
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m = None
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if m != None:
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try:
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rxqueue.put_nowait(m[0])
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except:
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traceback.print_exc()
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pass
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print("Closing UDP Listener")
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s.close()
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""" Listen on a port for UDP broadcast packets, and pass them onto process_udp()"""
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global udp_listener_running
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s = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
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s.settimeout(1)
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s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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try:
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s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEPORT, 1)
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except:
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pass
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s.bind(('',WENET_TELEMETRY_UDP_PORT))
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print("Started UDP Listener Thread.")
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udp_listener_running = True
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while udp_listener_running:
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try:
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m = s.recvfrom(2048)
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except socket.timeout:
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m = None
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if m != None:
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try:
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rxqueue.put_nowait(m[0])
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except:
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traceback.print_exc()
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pass
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print("Closing UDP Listener")
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s.close()
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t = Thread(target=udp_rx_thread)
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t.start()
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def read_queue():
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try:
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if rxqueue.qsize()>0:
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packet = rxqueue.get_nowait()
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process_udp(packet)
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except:
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traceback.print_exc()
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pass
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try:
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if rxqueue.qsize()>0:
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packet = rxqueue.get_nowait()
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process_udp(packet)
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except:
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traceback.print_exc()
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pass
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# Start a timer to attempt to read a packet from the queue every 100ms.
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timer = QtCore.QTimer()
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@ -330,7 +376,7 @@ timer.start(100)
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## Start Qt event loop unless running in interactive mode.
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if __name__ == '__main__':
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import sys
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if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'):
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QtGui.QApplication.instance().exec_()
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udp_listener_running = False
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import sys
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if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'):
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QtGui.QApplication.instance().exec_()
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udp_listener_running = False
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@ -65,7 +65,7 @@ def ssdv_decode_callsign(code):
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while code:
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callsign += _ssdv_callsign_alphabet[code % 40]
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code /= 40
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return callsign
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def ssdv_packet_info(packet):
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@ -138,11 +138,11 @@ def text_message_string(packet):
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# The above
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def gps_weeksecondstoutc(gpsweek, gpsseconds, leapseconds):
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""" Convert time in GPS time (GPS Week, seconds-of-week) to a UTC timestamp """
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epoch = datetime.datetime.strptime("1980-01-06 00:00:00","%Y-%m-%d %H:%M:%S")
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elapsed = datetime.timedelta(days=(gpsweek*7),seconds=(gpsseconds+leapseconds))
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timestamp = epoch + elapsed
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return timestamp.isoformat()
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""" Convert time in GPS time (GPS Week, seconds-of-week) to a UTC timestamp """
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epoch = datetime.datetime.strptime("1980-01-06 00:00:00","%Y-%m-%d %H:%M:%S")
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elapsed = datetime.timedelta(days=(gpsweek*7),seconds=(gpsseconds+leapseconds))
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timestamp = epoch + elapsed
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return timestamp.isoformat()
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def gps_telemetry_decoder(packet):
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""" Extract GPS telemetry data from a packet, and return it as a dictionary.
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@ -524,13 +524,13 @@ def image_telemetry_string(packet):
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# CRC16 function for the above.
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def crc16_ccitt(data):
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"""
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Calculate the CRC16 CCITT checksum of *data*.
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(CRC16 CCITT: start 0xFFFF, poly 0x1021)
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"""
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crc16 = crcmod.predefined.mkCrcFun('crc-ccitt-false')
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return hex(crc16(data))[2:].upper().zfill(4)
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"""
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Calculate the CRC16 CCITT checksum of *data*.
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(CRC16 CCITT: start 0xFFFF, poly 0x1021)
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"""
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crc16 = crcmod.predefined.mkCrcFun('crc-ccitt-false')
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return hex(crc16(data))[2:].upper().zfill(4)
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def image_telemetry_habitat_string(packet):
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@ -575,37 +575,37 @@ def image_telemetry_habitat_string(packet):
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def image_telemetry_upload(packet, user_callsign="N0CALL"):
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""" Upload an image telemetry packet to habitat. """
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sentence = image_telemetry_habitat_string(packet)
|
||||
sentence = image_telemetry_habitat_string(packet)
|
||||
|
||||
sentence_b64 = b64encode(sentence)
|
||||
sentence_b64 = b64encode(sentence)
|
||||
|
||||
date = datetime.datetime.utcnow().isoformat("T") + "Z"
|
||||
date = datetime.datetime.utcnow().isoformat("T") + "Z"
|
||||
|
||||
data = {
|
||||
"type": "payload_telemetry",
|
||||
"data": {
|
||||
"_raw": sentence_b64
|
||||
},
|
||||
"receivers": {
|
||||
user_callsign: {
|
||||
"time_created": date,
|
||||
"time_uploaded": date,
|
||||
},
|
||||
},
|
||||
}
|
||||
try:
|
||||
c = httplib.HTTPConnection("habitat.habhub.org",timeout=5)
|
||||
c.request(
|
||||
"PUT",
|
||||
"/habitat/_design/payload_telemetry/_update/add_listener/%s" % sha256(sentence_b64).hexdigest(),
|
||||
json.dumps(data), # BODY
|
||||
{"Content-Type": "application/json"} # HEADERS
|
||||
)
|
||||
data = {
|
||||
"type": "payload_telemetry",
|
||||
"data": {
|
||||
"_raw": sentence_b64
|
||||
},
|
||||
"receivers": {
|
||||
user_callsign: {
|
||||
"time_created": date,
|
||||
"time_uploaded": date,
|
||||
},
|
||||
},
|
||||
}
|
||||
try:
|
||||
c = httplib.HTTPConnection("habitat.habhub.org",timeout=5)
|
||||
c.request(
|
||||
"PUT",
|
||||
"/habitat/_design/payload_telemetry/_update/add_listener/%s" % sha256(sentence_b64).hexdigest(),
|
||||
json.dumps(data), # BODY
|
||||
{"Content-Type": "application/json"} # HEADERS
|
||||
)
|
||||
|
||||
response = c.getresponse()
|
||||
return "Image Telemetry: Uploaded to Habitat Successfuly."
|
||||
except Exception as e:
|
||||
return "Failed to upload to Habitat: %s" % (str(e))
|
||||
response = c.getresponse()
|
||||
return (True, "Image Telemetry: Uploaded to Habitat Successfuly.")
|
||||
except Exception as e:
|
||||
return (False, "Failed to upload to Habitat: %s" % (str(e)))
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -19,6 +19,8 @@ python ssdv_upload.py $MYCALL &
|
|||
|
||||
# Start the SSDV RX GUI.
|
||||
python rx_gui.py &
|
||||
# Start the Telemetry GUI.
|
||||
python TelemetryGUI.py $MYCALL &
|
||||
|
||||
# Uncomment the following line if using a V3 RTLSDR and need the Bias-Tee enabled.
|
||||
# rtl_biast -b 1
|
||||
|
|
|
|||
|
|
@ -1131,7 +1131,7 @@ class UBloxGPS(object):
|
|||
self.gps.send_message(CLASS_CFG, MSG_CFG_NAV5,'\x00')
|
||||
|
||||
# Additional checks to be sure we're in the right dynamic model.
|
||||
if self.rx_counder % 40 == 0:
|
||||
if self.rx_counter % 40 == 0:
|
||||
self.gps.set_preferred_dynamic_model(self.dynamic_model)
|
||||
|
||||
# Send data to the callback function.
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue