Egi testing

adsb-mqtt/adsb-mqtt.py

@@ -43,6 +43,9 @@
 import mqtt_wrapper
 import pandas as pd
 
+
+ID = str(random.randint(1,100001))
+
 # Clean out observations this often
 OBSERVATION_CLEAN_INTERVAL = 30
 # Socket read timeout
@@ -423,11 +426,15 @@ def dump1090Read(self) -> str:
  def run(self):
  """Run the flight tracker.
  """
- self.__mqtt_bridge = mqtt_wrapper.bridge(host = self.__mqtt_broker, port = self.__mqtt_port, client_id = "skyscan-adsb-mqtt-%d" % (os.getpid())) # TOOD: , user_id = args.mqtt_user, password = args.mqtt_password)
+ timeHeartbeat = 0
+ self.__mqtt_bridge = mqtt_wrapper.bridge(host = self.__mqtt_broker, port = self.__mqtt_port, client_id = "skyscan-adsb-mqtt-%s" % (ID)) # TOOD: , user_id = args.mqtt_user, password = args.mqtt_password)
  #threading.Thread(target = self.__publish_thread, daemon = True).start()
-
+ self.__mqtt_bridge.publish("skyscan/registration", "skyscan-adsb-mqtt-"+ID+" Registration", 0, False)
 
  while True:
+ if timeHeartbeat < time.mktime(time.gmtime()):
+ timeHeartbeat = time.mktime(time.gmtime()) + 10
+ self.__mqtt_bridge.publish("skyscan/heartbeat", "skyscan-adsb-mqtt-"+ID+" Heartbeat", 0, False)
  if not self.dump1090Connect():
  continue
  for data in self.dump1090Read():
@@ -446,6 +453,7 @@ def run(self):
  retain = False
  self.__mqtt_bridge.publish(self.__mqtt_topic, self.__observations[icao24].json(), 0, retain)
  #logging.info("%s alt %5d trk %3d spd %3d %s" % (self.__observations[icao24].getIcao24(), self.__observations[icao24].getAltitude(), self.__observations[icao24].getHeading(), self.__observations[icao24].getGroundSpeed(), self.__observations[icao24].getType()))
+ time.sleep(0.01)
 
  def cleanObservations(self):
  """Clean observations for planes not seen in a while

axis-ptz/camera.py

@@ -24,7 +24,7 @@
 from sensecam_control import vapix_control,vapix_config
 
 
-
+ID = str(random.randint(1,100001))
 tiltCorrect = 15
 args = None
 camera = None
@@ -238,17 +238,23 @@ def main():
  # Sleep for a bit so we're not hammering the HAT with updates
  time.sleep(0.005)
  print("connecting to MQTT broker at "+ args.mqtt_host+", channel '"+args.mqtt_topic+"'")
- client = mqtt.Client("skyscan-axis-ptz-camera") #create new instance
+ client = mqtt.Client("skyscan-axis-ptz-camera-" + ID) #create new instance
 
  client.on_message=on_message #attach function to callback
 
  client.connect(args.mqtt_host) #connect to broker
  client.loop_start() #start the loop
  client.subscribe(args.mqtt_topic+"/#")
+ client.publish("skyscan/registration", "skyscan-axis-ptz-camera-"+ID+" Registration", 0, False)
+
  #############################################
  ## Main Loop ##
  #############################################
+ timeHeartbeat = 0
  while True:
+ if timeHeartbeat < time.mktime(time.gmtime()):
+ timeHeartbeat = time.mktime(time.gmtime()) + 10
+ client.publish("skyscan/heartbeat", "skyscan-axis-ptz-camera-"+ID+" Heartbeat", 0, False)
  time.sleep(0.1)
 
 

docker-compose.yml

@@ -72,12 +72,9 @@ services:
 
  egi:
  build: ./egi
- entrypoint: "/app/egi.py -m mqtt"
- environment:
- - LAT=${LAT}
- - LONG=${LONG}
- - ALT=${ALT}
- - ROLL=${ROLL}
- - PITCH=${PITCH}
- - YAW=${YAW}
+ entrypoint: bash -c "gpsd ${GPS_SERIAL} -F /var/run/gpsd.sock && python3 egi_mqtt.py -m mqtt -l ${LAT} -L ${LONG} -a ${ALT} -r ${ROLL} -p ${PITCH} -y ${YAW}"
+ devices:
+ - /dev/ttyACM0
+ depends_on:
+ - mqtt
  restart: unless-stopped

egi/Dockerfile

@@ -1,13 +1,15 @@
 FROM debian
 
 RUN apt update && \
- apt install -y python3 python3-pip && \
- pip3 install paho-mqtt
+ apt install -y python3 python3-pip gpsd-clients gpsd
 
 RUN mkdir -p /app/
 WORKDIR /app
+ADD *.txt /app/ 
+RUN pip3 install -r requirements.txt
 ADD *.py /app/
 
-#ENTRYPOINT python3 /tmp/egi.py
+ENTRYPOINT sh -c "gpsd /dev/ttyACM0 -F /var/run/gpsd.sock && bash"
 
-#docker run -d --restart unless-stopped --network=host -v /home/pi/:/tmp/ --name lamp docker-registry.iqt.org/mission-capabilities/rpi-stats-reporting/lamp-control
+#docker run -it --device=/dev/ttyACM0 skyscan_egi
+#python3 egi_mqtt.py -h

egi/egi_mqtt.py

@@ -0,0 +1,137 @@
+#!/usr/bin/env python3
+
+from gps import *
+import paho.mqtt.client as mqtt #import the client1
+import time
+import random
+import json
+import os
+import argparse
+import logging
+import coloredlogs
+import threading
+
+gpsd = None #seting the global variable
+Active = True
+styles = {'critical': {'bold': True, 'color': 'red'}, 'debug': {'color': 'green'}, 'error': {'color': 'red'}, 'info': {'color': 'white'}, 'notice': {'color': 'magenta'}, 'spam': {'color': 'green', 'faint': True}, 'success': {'bold': True, 'color': 'green'}, 'verbose': {'color': 'blue'}, 'warning': {'color': 'yellow'}}
+level = logging.INFO 
+coloredlogs.install(level=level, fmt='%(asctime)s.%(msecs)03d \033[0;90m%(levelname)-8s '
+ ''
+ '\033[0;36m%(filename)-18s%(lineno)3d\033[00m '
+ '%(message)s',
+ level_styles = styles)
+logging.info("Initializing EGI")
+
+#######################################################
+## Initialize Variables ##
+#######################################################
+config = {}
+config['Local'] = ["127.0.0.1", "skyscan/egi", "Local MQTT Bus"] # updated based on naming convention here: https://www.hivemq.com/blog/mqtt-essentials-part-5-mqtt-topics-best-practices/
+timeTrigger = time.mktime(time.gmtime()) + 10
+timeHeartbeat = time.mktime(time.gmtime()) + 10
+ID = str(random.randint(1,100001))
+
+
+class GpsPoller(threading.Thread):
+ def __init__(self):
+ threading.Thread.__init__(self)
+ global gpsd #bring it in scope
+ gpsd = gps(mode=WATCH_ENABLE|WATCH_NEWSTYLE)
+ self.current_value = None
+ self.running = True #setting the thread running to true
+
+ def run(self):
+ global gpsd
+ while self.running:
+ gpsd.next() #this will continue to loop and grab EACH set of gpsd info to clear the buffer
+
+
+LLA = [38.9510808,-77.3841834,130.1337]
+RPY = [0,0,0]
+
+parser = argparse.ArgumentParser(description='An MQTT based camera controller')
+parser.add_argument('-m', '--mqtt-host', help="MQTT broker hostname", default='127.0.0.1')
+parser.add_argument('-l', '--latitude', help="Latitude (decimal degrees)", default=LLA[0])
+parser.add_argument('-L', '--longitude', help="Longitude (decimal degrees)", default=LLA[1])
+parser.add_argument('-a', '--altitude', help="Altitude (meters)", default=LLA[2])
+parser.add_argument('-r', '--roll', help="Roll Angle of Camera (degrees)", default=RPY[0])
+parser.add_argument('-p', '--pitch', help="Pitch Angle of Camera (degrees)", default=RPY[1])
+parser.add_argument('-y', '--yaw', help="Yaw Angle of Camera (degrees from True North)", default=RPY[2])
+try:
+ args = parser.parse_args()
+except:
+ logging.critical("Error in Command Line Argument Parsing. Are all environment variables set?", exc_info=True)
+ raise
+
+
+state = {}
+state['time'] = time.strftime("%Y-%m-%dT%H:%M:%SZ",time.gmtime())
+state['lat'] = float(args.latitude)
+state['long'] = float(args.longitude)
+state['alt'] = float(args.altitude)
+state['roll'] = float(args.roll)
+state['pitch'] = float(args.pitch)
+state['yaw'] = float(args.yaw)
+state['fix'] = 0
+logging.info("Initial State Array: " + str(state))
+
+
+#######################################################
+## Local MQTT Callback Function ##
+#######################################################
+def on_message_local(client, userdata, message):
+ payload = str(message.payload.decode("utf-8"))
+ logging.info('Message Received: ' + message.topic + ' | ' + payload)
+
+def on_disconnect(client, userdata, rc):
+ global Active
+ Active = False
+
+#############################################
+## Initialize Local MQTT Bus ##
+#############################################
+Unit = 'Local'
+broker_address=config[Unit][0]
+broker_address=args.mqtt_host
+local_topic= config[Unit][1]
+logging.info("connecting to MQTT broker at "+broker_address+", channel '"+local_topic+"'")
+clientLocal = mqtt.Client("EGI-"+ID) #create new instance
+clientLocal.on_message = on_message_local #attach function to callback
+clientLocal.on_disconnect = on_disconnect
+try:
+ clientLocal.connect(broker_address) #connect to broker
+except:
+ logging.critical("Could not connect to MQTT Broker.", exc_info=True)
+ raise
+clientLocal.loop_start() #start the loop
+clientLocal.publish("skyscan/registration","EGI-"+ID+" Registration")
+
+gpsp = GpsPoller() # create the thread
+try:
+ gpsp.start() # start it up
+ #############################################
+ ## Main Loop ##
+ #############################################
+ while Active:
+ state['fix'] = gpsd.fix.status
+ if gpsd.fix.status:
+ state['time'] = gpsd.fix.time
+ state['lat'] = gpsd.fix.latitude
+ state['long'] = gpsd.fix.longitude
+ state['alt'] = gpsd.fix.altitude
+ if timeTrigger < time.mktime(time.gmtime()):
+ timeTrigger = time.mktime(time.gmtime()) + 10
+ clientLocal.publish(local_topic,json.dumps(state))
+ if timeHeartbeat < time.mktime(time.gmtime()):
+ timeHeartbeat = time.mktime(time.gmtime()) + 30
+ logging.info("Current EGI State: " + json.dumps(state))
+ time.sleep(0.01)
+except (KeyboardInterrupt, SystemExit): #when you press ctrl+c
+ logging.info("Killing GPS Thread...")
+ gpsp.running = False
+ gpsp.join(2)
+except:
+ logging.critical("Error starting GPS.", exc_info=True)
+ gpsp.running = False
+ gpsp.join(2)
+ raise

egi/requirements.txt

@@ -0,0 +1,3 @@
+paho-mqtt==1.5.0
+coloredlogs
+gps

env-example

@@ -14,4 +14,5 @@ CAMERA_MOVE_SPEED=50 # The speed at which the Axis will move for Pan/Tilt
 CAMERA_DELAY=0.5 # How many seconds after issuing a Pan/Tilt command should a picture be taken
 CAMERA_ZOOM=9999 # The zoom setting for the camera (0-9999)
 CAMERA_LEAD=0.25 # How many seconds ahead of a plane's predicted location should the camera be positioned
-RTL_DEV=1 # The device ID for the RTL-SDR - set using the rtl_eeprom program
+RTL_DEV=1 # The device ID for the RTL-SDR - set using the rtl_eeprom program
+GPS_SERIAL=/dev/ttyACM0 # GPS module serial port

pan-tilt-pi/camera.py

@@ -22,6 +22,8 @@
 import pantilthat
 from picamera import PiCamera
 
+ID = str(random.randint(1,100001))
+
 camera = PiCamera()
 
 tiltCorrect = 15
@@ -183,17 +185,22 @@ def main():
  # Sleep for a bit so we're not hammering the HAT with updates
  time.sleep(0.005)
  print("connecting to MQTT broker at "+ args.mqtt_host+", channel '"+args.mqtt_topic+"'")
- client = mqtt.Client("pan-tilt-pi-camera") #create new instance
+ client = mqtt.Client("pan-tilt-pi-camera-" + ID) #create new instance
 
  client.on_message=on_message #attach function to callback
 
  client.connect(args.mqtt_host) #connect to broker
  client.loop_start() #start the loop
  client.subscribe(args.mqtt_topic+"/#")
+ client.publish("skyscan/registration", "pan-tilt-pi-camera-"+ID+" Registration", 0, False)
  #############################################
  ## Main Loop ##
  #############################################
+ timeHeartbeat = 0
  while True:
+ if timeHeartbeat < time.mktime(time.gmtime()):
+ timeHeartbeat = time.mktime(time.gmtime()) + 10
+ client.publish("Heartbeat", "pan-tilt-pi-camera-"+ID+" Heartbeat", 0, False)
  time.sleep(0.1)