511 lines
16 KiB
Python
511 lines
16 KiB
Python
# 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 logging
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logger = logging.getLogger(__name__)
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__all__ = ['IS', 'GenericError', 'ParseError',
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'LoginError', 'ConnectionError', 'ConnectionDrop', 'parse']
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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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"""
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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(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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# 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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logger.debug("Attempting to parse as normal position report")
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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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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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# 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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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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# 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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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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except Exception, e:
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# failed to match normal sentence sentence
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raise ParseError("invalid format", raw_sentence)
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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:]
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parsed.update({'bearing': int(brg), 'nrq': int(nrq)})
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#TODO parse PHG
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# try find altitude in comment /A=dddddd
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match = re.findall(r"^(.*?)/A=([\-0-9]{6})(.*)$", extra)
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if match:
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extra,altitude,post = match[0]
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extra += post # glue front and back part together, DONT ASK
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parsed.update({ 'altitude': int(altitude)*0.3048 })
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# try parse comment telemetry
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match = re.findall(r"^(.*?)\|(([!-{]{2}){2,5})\|(.*)$", extra)
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if match:
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extra,telemetry,junk,post = match[0]
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extra += post
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temp = []
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for i in range(7):
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temp.append('')
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try:
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temp[i] = (ord(telemetry[i*2]) - 33) * 91
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temp[i] += ord(telemetry[i*2 + 1]) - 33
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except:
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continue
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parsed.update({'telemetry': {'seq': temp[0], 'vals': temp[1:6]}})
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if temp[6] != '':
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parsed['telemetry'].update({'bits': "{0:b}" % temp[7]})
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parsed.update({'comment': extra})
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parsed.update({'parsed': True})
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else:
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raise ParseError("format is not supported", raw_sentence)
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logger.debug("Parsed ok.")
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return parsed
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# Exceptions
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class GenericError(Exception):
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def __init__(self, message):
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logger.debug("%s: %s" % (self.__class__.__name__, message))
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self.message = message
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def __str__(self):
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return self.message
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class ParseError(GenericError):
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def __init__(self, msg, packet=''):
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#logger.error("Raw:" + packet)
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#logger.error(msg)
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GenericError.__init__(self, msg)
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self.packet = packet
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class LoginError(GenericError):
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def __init__(self, message):
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logger.error("%s: %s" % (self.__class__.__name__, message))
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self.message = message
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class ConnectionError(GenericError):
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pass
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class ConnectionDrop(ConnectionError):
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pass
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