HabDec_to_AntennaRotor

Habdec2Rotor.py

#!/usr/bin/env python3

import string
import json
import time
from pprint import pprint

import threading
import time
from ws4py.client.threadedclient import WebSocketClient # pip install ws4py

import urllib3
user_agent = {'user-agent': 'Mozilla/5.0 (Windows NT 6.3; rv:36.0) Gecko/20100101 Firefox/36.0'}
urllib3.disable_warnings()
http = urllib3.PoolManager(10, user_agent)


# get flights from HABITAT
def getFlights():
	_url = (
		"http://habitat.habhub.org/habitat/_design/flight/_view/end_start_including_payloads?startkey=["
		+ str(int(time.time()))
		+ "]&include_docs=True"
	)
	flights_json = http.request("GET", _url)
	flights = json.loads(flights_json.data.decode("utf-8"))["rows"]
	res = [f for f in flights if f["doc"]["type"] == "flight"]
	return res


# get payloads from ^^^ flights
def getPayloads(i_flights=None):
	_url = (
		"http://habitat.habhub.org/habitat/_design/flight/_view/end_start_including_payloads?startkey=["
		+ str(int(time.time()))
		+ "]&include_docs=True"
	)
	all_docs = http.request("GET", _url)
	all_docs = json.loads(all_docs.data.decode("utf-8"))["rows"]

	if not i_flights:
		i_flights = getFlights()

	flyingPayloadsIds = []
	for f in i_flights:
		flyingPayloadsIds.extend(f["doc"]["payloads"])

	res = []
	for f in all_docs:
		if (
			f["doc"]["type"] == "payload_configuration"
			and f["doc"]["_id"] in flyingPayloadsIds
		):
			res.append(f)

	return res


# convert from NMEA to decimal
def degree_2_decimal(i_pos):
	i_pos = float(i_pos)
	degs = math.trunc(i_pos / 100)
	mins = i_pos - 100.0 * degs
	res = degs + mins / 60.0
	return res


# parse sentences based on lat/lon/alt positional info
class SentenceParser(object):
	def __init__(self):
		self.callsign = ''
		self.lat_pos = -1 # latitude  position in sentence
		self.lon_pos = -1 # longitude position in sentence
		self.alt_pos = -1 # altitude  position in sentence
		self.lat_is_NMEA = False
		self.lon_is_NMEA = False
	def parse_sentence(self, i_sentence):
		'''
		input HAB sentence: $$$$callsign,time,lat,lon,alt,sensor*CRC
		return tuple(lat,lon,alt)
		'''
		tokens = i_sentence.split(',')
		lat = tokens[self.lat_pos]
		if self.lat_is_NMEA:
			lat = degree_2_decimal(lat)
		else:
			lat = float(lat)

		lon = tokens[self.lon_pos]
		if self.lon_is_NMEA:
			lon = degree_2_decimal(lon)
		else:
			lon = float(lon)

		alt = tokens[self.alt_pos]

		return lat, lon, alt



# get info on sentence structure for all payloads from HABITAT
def get_payloads_data():
	flights = getFlights()
	payloads = getPayloads(flights)

	payloads_info = {} # key: callsign, value: SentenceParser

	print("Building payloads info from HABITAT")
	for p in payloads:
		for s in p['doc']['sentences']:
			# pprint(s)
			s_parser = SentenceParser()
			s_parser.callsign = s['callsign']
			for fi, field in enumerate(s['fields']):
				# print fi, field
				if field['sensor'] == 'stdtelem.coordinate' and  field['name'] == 'latitude':
					s_parser.lat_pos = fi
					if field['format'] == 'dd.mm.mmmm':
						s_parser.lat_is_NMEA = True
				if field['sensor'] == 'stdtelem.coordinate' and  field['name'] == 'longitude':
					s_parser.lon_pos = fi
					if field['format'] == 'dd.mm.mmmm':
						s_parser.lon_is_NMEA = True
				if field['name'] == 'altitude':
					s_parser.alt_pos = fi
			payloads_info[s_parser.callsign] = s_parser

		# return
	return payloads_info


# HABDEC connection
class HabDecClient(WebSocketClient):
	def received_message(self, m):
		data = str(m.data)
		cmd_type = 'cmd::sentence='
		# cmd_type = 'cmd::info:liveprint='
		if data.startswith(cmd_type):
			sentence = data.replace(cmd_type, '')
			self.sentence_callback(sentence)
	def opened(self):
		print("Opened Connection")
	def closed(self, code, reason=None):
		print("Closed down", code, reason)


def main():
	payloads_info = get_payloads_data()

	def parsing_callback(sentence):
		print('parsing_callback:', sentence)
		try:
			sentence = sentence[sentence.rindex('$'):]
			sentence = sentence[:sentence.index('*')]
		except:
			pass
		tokens = sentence.split(',')
		callsign = tokens[0]
		if callsign in payloads_info:
			lat,lon,alt = payloads_info[callsign].parse_sentence(sentence)
			# calculate azimuth and elevation from antenna to lat/lon/alt
			# ie. https://github.com/projecthorus/horus_utils/blob/master/horuslib/earthmaths.py
			# send to rotor
			print(callsign, lat, lon, alt)
		else:
			print('No info for this callsign: ', callsign)

	habdec_client = HabDecClient( "ws://localhost:5555")
	habdec_client.sentence_callback = parsing_callback
	habdec_client.connect()
	threading.Thread( target = lambda: habdec_client.run_forever() ).start()

	while 1:
		try:
			time.sleep(1)
		except KeyboardInterrupt:
			return


if __name__ == "__main__":
	main()