continuation of previous work on APRS module
This commit is contained in:
Rossen Georgiev
parent
adee538e54
commit
87f82d8e32
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@ -0,0 +1,524 @@
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# Copyright 2013-2014 (C) Rossen Georgiev
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import socket
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import time
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import datetime
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import re
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import math
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import copy
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import logging
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logger = logging.getLogger("APRS")
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__all__ = ['APRS', 'GenericError', 'ParseError',
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'LoginError', 'ConnectionError', 'ConnectionDrop']
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class APRS(object):
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def __init__(self, host, port, callsign, passwd):
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"""
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APRS module that listens and parses sentences passed by aprs.net servers
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"""
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self.set_server(host, port)
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self.set_login(callsign, passwd)
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self.sock = None
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self.filter = "b/" # empty bud filter
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self._connected = False
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self.buf = ''
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def callsign_filter(self, callsigns):
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"""
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Sets a filter for the specified callsigns. Only those will be sent to us by the server
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"""
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if type(callsigns) is not list or len(callsigns) == 0:
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return False
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return self.set_filter("b/%s" % "/".join(callsigns))
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def set_filter(self, filter):
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self.filter = filter
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logger.info("Setting filter to: %s" % self.filter)
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if self._connected:
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self.sock.sendall("#filter %s\r\n" % self.filter)
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return True
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def set_login(self, callsign, passwd):
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"""
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Set callsign and password
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"""
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self.callsign = callsign
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self.passwd = passwd
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def set_server(self, host, port=14850):
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"""
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Set server ip/host and port to use
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"""
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self.server = (host, port)
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def connect(self, blocking=False):
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"""
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Initiate connection to APRS server and attempt to login
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"""
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if not self._connected:
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while True:
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try:
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logger.info("Attempting connection to %s:%s" % (self.server[0], self.server[1]))
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self._connect()
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logger.info("Sending login information")
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self._send_login()
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logger.info("Filter set to: %s" % self.filter)
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if self.passwd == "-1":
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logger.info("Login successful (receive only)")
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else:
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logger.info("Login successful")
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break
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except:
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if not blocking:
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raise
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time.sleep(30) # attempt to reconnect after 30 seconds
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def close(self):
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"""
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Closes the socket
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Called internally when Exceptions are raised
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"""
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self._connected = False
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self.buf = ''
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if self.sock is not None:
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self.sock.close()
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def consumer(self, callback, blocking=True, immortal=False, raw=False):
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"""
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When a position sentence is received, it will be passed to the callback function
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blocking: if true (default), runs forever, otherwise will return after one sentence
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You can still exit the loop, by raising StopIteration in the callback function
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immortal: When true, consumer will try to reconnect and stop propagation of Parse exceptions.
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if false (default), consumer will return
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raw: when true, raw aprs sentence is passed to the callback, otherwise parsed data as dict
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"""
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if not self._connected:
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raise ConnectionError("not connected to a server")
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while True:
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try:
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for line in self._socket_readlines(blocking):
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if line[0] != "#":
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if raw:
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callback(line)
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else:
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callback(self._parse(line))
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#else:
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# print "Server: %s" % line
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except KeyboardInterrupt:
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raise
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except (ConnectionDrop, ConnectionError):
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self.close()
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if not immortal:
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raise
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else:
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self.connect(blocking=blocking)
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continue
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except GenericError:
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continue
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except StopIteration:
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break
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except:
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#if not immortal:
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# raise
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#logger.exception(e)
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#continue
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raise
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if not blocking:
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break
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def _connect(self):
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"""
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Attemps to open a connection to the server, retries if it fails
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"""
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try:
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self.sock = socket.create_connection(self.server, 15) # 15 seconds connection timeout
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self.sock.settimeout(5) # 5 second timeout to receive server banner
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if self.sock.recv(512)[0] != "#":
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raise ConnectionError("invalid banner from server")
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self.sock.setblocking(True)
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except Exception, e:
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self.close()
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if e == "timed out":
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raise ConnectionError("no banner from server")
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else:
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raise ConnectionError(e)
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self._connected = True
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def _send_login(self):
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"""
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Sends login string to server
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"""
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login_str = "user {0} pass {1} vers pytinyaprs 0.2 filter {2}\r\n".format(self.callsign, self.passwd, self.filter)
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try:
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self.sock.sendall(login_str)
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self.sock.settimeout(5)
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test = self.sock.recv(len(login_str) + 100)
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self.sock.setblocking(True)
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(x, x, callsign, status, x) = test.split(' ',4)
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if callsign != self.callsign:
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raise LoginError("login callsign does not match")
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if status != "verified," and self.passwd != "-1":
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raise LoginError("callsign is not 'verified'")
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except LoginError, e:
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self.close()
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raise LoginError("failed to login: %s" % e)
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except:
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self.close()
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raise LoginError("failed to login")
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def _socket_readlines(self, blocking=False):
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"""
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Generator for complete lines, received from the server
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"""
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try:
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self.sock.setblocking(False)
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except socket.error, e:
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raise ConnectionDrop("connection dropped")
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while True:
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short_buf = ''
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try:
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short_buf = self.sock.recv(1024)
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# sock.recv returns empty if the connection drops
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if not short_buf:
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raise ConnectionDrop("connection dropped")
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except socket.error, e:
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if "Resource temporarily unavailable" in e:
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if not blocking:
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if len(self.buf) == 0:
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break;
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except Exception:
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raise
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self.buf += short_buf
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while "\r\n" in self.buf:
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line, self.buf = self.buf.split("\r\n", 1)
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yield line
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if not blocking:
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raise StopIteration
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# in blocking mode this will fast if there is no data
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# so we should sleep and not hog the CPU
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if blocking:
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time.sleep(0.5)
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def _get_viacall(self, path):
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# VIACALL is always after q construct
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if re.match(r"^qA[CXUoOSrRRZI]$", path[-2]):
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return path[-1]
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else:
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return ""
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def _parse(self, raw_sentence):
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"""
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Parses position sentences and returns a dict with the useful data
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All attributes are in meteric units
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Supported formats:
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FIXED:
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.......!DDMM.hhN/DDDMM.hhW$comments... (fixed short format)
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=DDMM.hhN/DDDMM.hhW$comments (message capable)
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/DDHHMM/DDMM.hhN/DDDMM.hhW$comments... (no APRS is running)
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MOBILE:
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@DDHHMM/DDMM.hhN/DDDMM.hhW$CSE/SPD/comments...
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DF:
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@DDHHMM/DDMM.hhN/DDDMM.hhWCSE/SPD/BRG/NRQ/Comments
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.......z............................. (indicates Zulu date-time)
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......./............................. (indicates LOCAL date-time)
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.......h............................. (Zulu time in hhmmss)
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OBJECT (NOT SUPPORTED):
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;OBJECT___*DDHHMMzDDMM.hhN/DDDMM.hhW$CSE/SPD/comments...
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+OBJECT___*DDHHMMzDDMM.hhN/DDDMM.hhW$CSE/SPD/comments... dos Internal
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-OBJECT___*DDHHMMzDDMM.hhN/DDDMM.hhW$CSE/SPD/comments... Kill object
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_OBJECT___*ditto Internal by APRS DOS showing object was killed
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;AREAOBJ__*DDHHMMzDDMM.hhN/DDDMM.hhWlTyy/Cxx/comments...{width
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ITEMS (NOT SUPPORTED):
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)ITEM!DDMM.hhN/DDDMM.hhW$...
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MIC-E (NOT SUPPORTED):
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'lllc/s$/......... Mic-E no message capability
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'lllc/s$/>........ Mic-E message capability
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`lllc/s$/>........ Mic-E old posit
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NMAE: (NOT SUPPORTED)
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$GPRMC,151447,A,4034.5189,N,10424.4955,W,6.474,132.5,220406,10.1,E*58
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1 Time Stamp
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2 validity - A-ok, V-invalid
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3 current Latitude
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4 North/South
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5 current Longitude
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6 East/West
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7 Speed in knots
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8 True course
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9 Date Stamp
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10 Variation
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11 East/West
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12 checksum
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$GPGGA,151449,4034.5163,N,10424.4937,W,1,06,1.41,21475.8,M,-21.8,M,,*4D
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1 UTC of Position
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2 Latitude
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3 N or S
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4 Longitude
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5 E or W
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6 GPS quality indicator (0=invalid; 1=GPS fix; 2=Diff. GPS fix)
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7 Number of satellites in use [not those in view]
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8 Horizontal dilution of position
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9 Antenna altitude above/below mean sea level (geoid)
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10 Meters (Antenna height unit)
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11 Geoidal separation (Diff. between WGS-84 earth ellipsoid and
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mean sea level. -=geoid is below WGS-84 ellipsoid)
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12 Meters (Units of geoidal separation)
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13 Age in seconds since last update from diff. reference station
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14 Diff. reference station ID#
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15 Checksum
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uBlox: (NOT SUPPORTED)
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$PUBX,00,081350.00,4717.113210,N,00833.915187,E,546.589,G3,2.1,2.0,0.007,77.52,0.007,,0.92,1.19,0.77,9,0,0*5F
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$PUBX,00,hhmmss.ss,Latitude,N,Longitude,E,AltRef,NavStat,Hacc,Vacc,SOG,COG,Vvel,+ageC,HDOP,VDOP,TDOP,GU,RU,DR,*hh
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$PUBX,01,hhmmss.ss,Easting,E,Northing,N,AltMSL,NavStat,Hacc,Vacc,SOG,COG,Vvel,ag+eC,HDOP,VDOP,TDOP,GU,RU,DR,*hh
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$PUBX - Message ID, UBX protocol header, proprietary sentence
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00 - Propietary message identifier: 00
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hhmmss.ss - UTC Time, Current time
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ddmm.mmmm - Latitude, Degrees + minutes
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[NS] - N/S Indicator,
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dddmm.mmmm - Longitude, Degrees + minutes
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[EW] - E/W Indicator,
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546.589 - (meters) Altitude above user datum ellipsoid.
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G3 - Navigation Status, See Table below
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2.1 - Horizontal accuracy estimate.
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2.0 - Vertical accuracy estimate.
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0.007 - Speed over ground
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77.52 - Course over ground
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0.007 - (m/s) Vertical velocity, positive=downwards
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- - Age of most recent DGPS corrections, empty = none available
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0.92 - HDOP, Horizontal Dilution of Precision
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1.19 - VDOP, Vertical Dilution of Precision
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0.77 - TDOP, Time Dilution of Precision
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9 - Number of GPS satellites used in the navigation solution
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0 - Number of GLONASS satellites used in the navigation solution
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0 - DR used
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*5B - Checksum
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Navigation Status
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-----------------
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NF No Fix
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DR Predictive Dead Reckoning Solution
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G2 Stand alone 2D solution
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G3 Stand alone 3D solution
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D2 Differential 2D solution
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D3 Differential 3D solution
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Custom:
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@DDHHMMhDDMM.hhN/DDDMM.hhWO234/038/A=001563
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course: 234 degrees
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speed: 38 kntos
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altitude: 1563 feet
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"""
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logger.debug("Parsing: %s" % raw_sentence)
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if len(raw_sentence) < 14:
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raise ParseError("packet is too short to be valid", raw_sentence)
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(header, body) = raw_sentence.split(':',1)
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(fromcall, path) = header.split('>',1)
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# TODO: validate callsigns??
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path = path.split(',')
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tocall = path[0]
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path = path[1:]
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viacall = self._get_viacall(path)
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parsed = {
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'raw': raw_sentence,
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'from': fromcall,
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'to': tocall,
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'via': viacall,
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'path': path,
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'parsed': False
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}
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packet_type = body[0]
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body = body[1:]
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# attempt to parse the body
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# Mic-encoded packet
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#
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# 'lllc/s$/......... Mic-E no message capability
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# 'lllc/s$/>........ Mic-E message capability
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# `lllc/s$/>........ Mic-E old posit
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if packet_type in ("`","'"):
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raise ParseError("packet seems to be Mic-Encoded, unable to parse", raw_sentence)
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# STATUS PACKET
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#
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# >DDHHMMzComments
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# >Comments
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elif packet_type == '>':
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raise ParseError("status messages are not supported", raw_sentence)
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# postion report (regular or compressed)
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elif packet_type in ('!','=','/','@'):
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# try to parse timestamp
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ts = re.findall(r"^[0-9]{6}[hz\/]$", body[0:7])
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form = ''
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if ts:
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ts = ts[0]
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form = ts[6]
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ts = ts[0:6]
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utc = datetime.datetime.utcnow()
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try:
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if form == 'h': # zulu hhmmss format
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timestamp = utc.strptime("%s %s %s %s" % (utc.year, utc.month, utc.day, ts), "%Y %m %d %H%M%S")
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elif form == 'z': # zulu ddhhss format
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timestamp = utc.strptime("%s %s %s" % (utc.year, utc.month, ts), "%Y %m %d%M%S")
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else: # '/' local ddhhss format (corrected via longitude further down)
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timestamp = utc.strptime("%s %s %s" % (utc.year, utc.month, ts), "%Y %m %d%M%S")
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except:
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raise ParseError("Invalid time", raw_sentence)
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parsed.update({ 'timestamp': timestamp.isoformat() + 'Z' })
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# remove datetime from the body for further parsing
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body = body[7:]
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try:
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(
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lat_deg,
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lat_min,
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lat_dir,
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symbol_table,
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lon_deg,
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lon_min,
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lon_dir,
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symbol,
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comment
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) = re.match(r"^(\d{2})([0-9 ]{2}\.[0-9 ]{2})([NnSs])([\/\\0-9A-Z])(\d{3})([0-9 ]{2}\.[0-9 ]{2})([EeWw])([\x21-\x7e])(.*)$", body).groups()
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logger.debug("Parsing as normal uncompressed format")
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# optional format extention - bearing, speed and altitude (feet)
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extra = re.findall(r"^([0-9]{3})/([0-9]{3})(/A=([0-9]{6})/?)?(.*)$", comment)
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if extra:
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(bearing, speed, empty, altitude, comment) = extra[0]
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parsed.update({ 'bearing': int(bearing), 'speed': int(speed)*0.514444 })
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if altitude:
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parsed.update({ 'altitude': int(altitude)*0.3048 })
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parsed.update({ 'symbol': symbol, 'symbol_table': symbol_table })
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if int(lat_deg) > 89 or int(lat_deg) < 0:
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raise ParseError("latitude is out of range (0-90 degrees)", raw_sentence)
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if int(lon_deg) > 179 or int(lon_deg) < 0:
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raise ParseError("longitutde is out of range (0-180 degrees)", raw_sentence)
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if float(lat_min) >= 60:
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raise ParseError("latitude minutes are out of range (0-60)", raw_sentence)
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if float(lon_min) >= 60:
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raise ParseError("longitude minutes are out of range (0-60)", raw_sentence)
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latitude = int(lat_deg) + ( float(lat_min) / 60.0 )
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longitude = int(lon_deg) + ( float(lon_min) / 60.0 )
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latitude *= -1 if lat_dir in ['S','s'] else 1
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longitude *= -1 if lon_dir in ['W','w'] else 1
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parsed.update({'latitude': latitude, 'longitude': longitude})
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# once we have latitude, and we can aproximate local timezone for dateless format
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if form not in ('h','z',''):
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timestamp = timestamp + datetime.timedelta(hours=math.floor(parsed['latitude']/7.5))
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parsed['timestamp'] = "%sZ" % timestamp.isoformat()
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parsed.update({'parsed': True})
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except Exception, e:
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# failed to match normal sentence sentence
|
||||
raise ParseError("unknown or invalid format", raw_sentence)
|
||||
else:
|
||||
raise ParseError("format is not supported", raw_sentence)
|
||||
|
||||
logger.debug("Parsed ok.")
|
||||
return parsed
|
||||
|
||||
|
||||
# Exceptions
|
||||
class GenericError(Exception):
|
||||
def __init__(self, message):
|
||||
logger.debug("%s: %s" % (self.__class__.__name__, message))
|
||||
self.message = message
|
||||
|
||||
def __str__(self):
|
||||
return self.message
|
||||
|
||||
class ParseError(GenericError):
|
||||
def __init__(self, msg, packet=''):
|
||||
#logger.error("Raw:" + packet)
|
||||
#logger.error(msg)
|
||||
GenericError.__init__(self, msg)
|
||||
self.packet = packet
|
||||
|
||||
class LoginError(GenericError):
|
||||
def __init__(self, message):
|
||||
logger.error("%s: %s" % (self.__class__.__name__, message))
|
||||
self.message = message
|
||||
|
||||
class ConnectionError(GenericError):
|
||||
pass
|
||||
|
||||
class ConnectionDrop(ConnectionError):
|
||||
pass
|
||||
Loading…
Reference in New Issue