code rearragements and improvemnts
* removed broken local timezone code * APRS renamed to IS * _parse method moved to gobal scope as parse * improvements on parse method * added ability to parse compressed position report
This commit is contained in:
Rossen Georgiev
parent
87f82d8e32
commit
ff290d32b9
434
aprs.py
434
aprs.py
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@ -5,16 +5,17 @@ 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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logger = logging.getLogger(__name__)
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__all__ = ['APRS', 'GenericError', 'ParseError',
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'LoginError', 'ConnectionError', 'ConnectionDrop']
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__all__ = ['IS', 'GenericError', 'ParseError',
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'LoginError', 'ConnectionError', 'ConnectionDrop', 'parse']
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class APRS(object):
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# IS class is used to connect to aprs-is servers and listen to the feed
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class IS(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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@ -125,7 +126,7 @@ class APRS(object):
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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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callback(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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@ -242,198 +243,141 @@ class APRS(object):
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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]$", path[-2]):
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return path[-1]
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# parse a single packet
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# throws expcetions
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def parse(raw_sentence):
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"""
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Parses position sentences and returns a dict with the useful data
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All attributes are in meteric units
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"""
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logger.debug("Parsing: %s" % raw_sentence)
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if len(raw_sentence) < 14:
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raise ParseError("packet is too short to be valid", raw_sentence)
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(header, body) = raw_sentence.split(':',1)
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(fromcall, path) = header.split('>',1)
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# TODO: validate callsigns??
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path = path.split(',')
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tocall = path[0]
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path = path[1:]
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viacall = path[-1] if re.match(r"^qA[CXUoOSrRRZI]$", path[-2]) else ""
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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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# ------------------------------------------------------------------------------
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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$/>........ Mic-E old posit
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if packet_type in ("`","'"):
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raise ParseError("packet seems to be Mic-Encoded, unable to parse", raw_sentence)
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# STATUS PACKET
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#
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# >DDHHMMzComments
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# >Comments
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elif packet_type == '>':
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raise ParseError("status messages are not supported", raw_sentence)
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# postion report (regular or compressed)
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#
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# !DDMM.hhN/DDDMM.hhW$... POSIT ( no APRS)
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# =DDMM.hhN/DDDMM.hhW$... POSIT (APRS message capable)
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# /DDHHMM/DDMM.hhN/DDDMM.hhW$... Time of last fix (No APRS)
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# @DDHHMM/DDMM.hhN/DDDMM.hhW$CSE/SPD/... Moving (with APRS)
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# @DDHHMM/DDMM.hhN/DDDMM.hhW\CSE/SPD/BRG/NRQ/.... DF report
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# ./YYYYXXXX$csT Compressed (Used in any !=/@ format)
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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
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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' if form not in 'hz' else '') })
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# remove datetime from the body for further parsing
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body = body[7:]
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# comprossed packets start with /
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if body[0] == "/":
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logger.debug("Attempting to parse as compressed position report")
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if len(body) < 13:
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raise ParseError("Invalid compressed packet (less than 13 characters)")
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packet = body[:13]
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extra = body[13:]
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symbol_table = packet[0]
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symbol = packet[9]
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packet = [ord(x) - 33 for x in packet]
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for idx in range(1,9):
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packet[idx] *= math.pow(91, 4 - idx%4) if idx % 4 != 0 else 1
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latitude = 90 - (sum(packet[1:4]) / 380926)
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longitude = -180 + (sum(packet[5:9]) / 190463)
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# parse csT
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c1,s1,ctype = packet[10:13]
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if c1 == -1:
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parsed.update({'gpsfixstatus': 1 if ctype & 0x20 == 0x20 else 0})
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if -1 in [c1, s1]:
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pass
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elif ctype & 0x18 == 0x10:
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parsed.update({'altitude': (1.002 ** (c1 * 91 + s1)) * 0.3048})
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elif c1 >= 0 and c1 <= 89:
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parsed.update({'course': 360 if c1 == 0 else c1 * 4 })
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parsed.update({'speed': (1.08 ** s1 - 1) * 1.852 }) # mul = convert knts to kmh
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elif c1 == 90:
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parsed.update({'radiorange': (2 * 1.08 ** s1) * 1.609344 }) # mul = convert mph to kmh
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# normal position report
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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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logger.debug("Attempting to parse as normal position report")
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try:
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(
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@ -445,22 +389,10 @@ class APRS(object):
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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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extra
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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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# validate longitude and latitude
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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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@ -471,6 +403,7 @@ class APRS(object):
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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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# convert coordinates from DDMM.MM to decimal
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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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@ -478,22 +411,75 @@ class APRS(object):
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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
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raise ParseError("unknown or invalid format", raw_sentence)
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else:
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raise ParseError("format is not supported", raw_sentence)
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raise ParseError("invalid format", raw_sentence)
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logger.debug("Parsed ok.")
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return parsed
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# include symbol in the result
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parsed.update({ 'symbol': symbol, 'symbol_table': symbol_table })
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# include longitude and latitude in the result
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parsed.update({'latitude': latitude, 'longitude': longitude})
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# attempt to parse remaining part of the packet (comment field)
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# try CRS/SPD/
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match = re.findall(r"^([0-9]{3})/([0-9]{3})/", extra)
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if match:
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cse, spd = match[0]
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extra = extra[8:]
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parsed.update({'course': int(cse), 'speed': int(spd)*1.852}) # knots to kms
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# try BRG/NRQ/
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match = re.findall(r"^([0-9]{3})/([0-9]{3})/", extra)
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if match:
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brg, nrq = match[0]
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extra = extra[8:]
|
||||
parsed.update({'bearing': int(brg), 'nrq': int(nrq)})
|
||||
|
||||
#TODO parse PHG
|
||||
|
||||
# try find altitude in comment /A=dddddd
|
||||
match = re.findall(r"^(.*?)/A=([\-0-9]{6})(.*)$", extra)
|
||||
|
||||
if match:
|
||||
extra,altitude,post = match[0]
|
||||
extra += post # glue front and back part together, DONT ASK
|
||||
|
||||
parsed.update({ 'altitude': int(altitude)*0.3048 })
|
||||
|
||||
# try parse comment telemetry
|
||||
match = re.findall(r"^(.*?)\|(([!-{]{2}){2,5})\|(.*)$", extra)
|
||||
if match:
|
||||
extra,telemetry,junk,post = match[0]
|
||||
extra += post
|
||||
|
||||
temp = []
|
||||
for i in range(7):
|
||||
temp.append('')
|
||||
|
||||
try:
|
||||
temp[i] = (ord(telemetry[i*2]) - 33) * 91
|
||||
temp[i] += ord(telemetry[i*2 + 1]) - 33
|
||||
except:
|
||||
continue
|
||||
|
||||
parsed.update({'telemetry': {'seq': temp[0], 'vals': temp[1:6]}})
|
||||
|
||||
if temp[6] != '':
|
||||
parsed['telemetry'].update({'bits': "{0:b}" % temp[7]})
|
||||
|
||||
|
||||
parsed.update({'comment': extra})
|
||||
parsed.update({'parsed': True})
|
||||
else:
|
||||
raise ParseError("format is not supported", raw_sentence)
|
||||
|
||||
logger.debug("Parsed ok.")
|
||||
return parsed
|
||||
|
||||
|
||||
# Exceptions
|
||||
|
|
|
|||
Loading…
Reference in New Issue