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df-aggregator
Commit 79a14e65 by Oleksandr Barabash
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small fixes

parent 777fc1e2
Showing with 52 additions and 102 deletions
df-aggregator.py
......@@ -774,12 +774,13 @@ def write_rx_czml():
"width": 48,
}
receivers_doa = Context.receiver_controller.get_doa()
for index, (station_id, doa_list) in enumerate(receivers_doa.items()):
for doa in doa_list:
for main_index, (station_id, doa_list) in enumerate(receivers_doa.items()):
for slave_index, doa in enumerate(doa_list):
index = main_index * 10 + slave_index
confidence = np.max(int(float(doa.confidence) * 100))
power = np.maximum(-100, float(doa.power) + 100)
print(doa.degrees)
# logging.info(f" {station_id}: {doa.degrees}º ")
if confidence > min_conf and power > min_power:
lob_color = green
elif confidence <= min_conf and power > min_power:
......@@ -856,92 +857,6 @@ def write_rx_czml():
doa.latitude, 15]})
)
# for index, x in enumerate(l_receivers):
# if x.isActive and ms.receiving:
# if x.confidence > min_conf and x.power > min_power:
# lob_color = green
# elif x.confidence <= min_conf and x.power > min_power:
# lob_color = orange
# else:
# lob_color = red
# lob_start_lat = x.latitude
# lob_start_lon = x.longitude
# lob_stop_lat, lob_stop_lon = v.direct(
# lob_start_lat, lob_start_lon, x.doa, x.lob_length()
# )
# lob_packets.append(
# Packet(
# id=f"LOB-{x.station_id}-{index}",
# polyline=Polyline(
# material=Material(
# polylineOutline=PolylineOutlineMaterial(
# color=Color(rgba=lob_color),
# outlineColor=Color(rgba=[0, 0, 0, 255]),
# outlineWidth=2
# )
# ),
# clampToGround=True,
# width=5,
# positions=Position(
# cartographicDegrees=[
# lob_start_lon,
# lob_start_lat,
# height,
# lob_stop_lon,
# lob_stop_lat,
# height
# ]
# )
# )
# )
# )
# heading_start_lat = x.latitude
# heading_start_lon = x.longitude
# heading_stop_lat, heading_stop_lon = v.direct(
# heading_start_lat, heading_start_lon, x.heading, heading_d)
# lob_packets.append(
# Packet(
# id=f"HEADING-{x.station_id}-{index}",
# polyline=Polyline(
# material=PolylineMaterial(
# polylineDash=PolylineDashMaterial(
# color=Color(rgba=gray),
# gapColor=Color(rgba=[0, 0, 0, 0])
# )
# ),
# clampToGround=True,
# width=2,
# positions=Position(
# cartographicDegrees=[
# heading_start_lon,
# heading_start_lat,
# height,
# heading_stop_lon,
# heading_stop_lat,
# height]
# )
# )
# )
# )
# else:
# lob_packets = []
#
# if x.isMobile is True:
# rx_icon = {"image": {"uri": "/static/flipped_car.svg"}}
# # if x.heading > 0 or x.heading < 180:
# # rx_icon = {"image":{"uri":"/static/flipped_car.svg"},
# # "rotation":math.radians(360 - x.heading + 90)}
# # elif x.heading < 0 or x.heading > 180:
# # rx_icon = {"image":{"uri":"/static/car.svg"},
# # "rotation":math.radians(360 - x.heading - 90)}
# else:
# rx_icon = {"image": {"uri": "/static/tower.svg"}}
# receiver_point_packets.append(
# Packet(id=f"{x.station_id}-{index}",
# billboard={**rx_properties, **rx_icon},
# position={"cartographicDegrees": [x.longitude,
# x.latitude, 15]})
# )
document_list = [top, ]
document_list.extend(receiver_point_packets)
document_list.extend(lob_packets)
......
utils/ether_service/entities/receiver.py
......@@ -111,6 +111,7 @@ class Receiver(BasicDataclass):
def clear_bearings(self: "Receiver") -> None:
""" Remove all bearings """
self.bearings = []
nodes = self.tree.get_all()
for node in nodes:
node.items = []
......@@ -147,15 +148,17 @@ class Receiver(BasicDataclass):
absolute_bearings.append(curr_bearing)
i += 1
prev_bearing = absolute_bearings.pop()
if abs(prev_bearing.degrees - curr_bearing.degrees) <= 3:
if abs(prev_bearing.degrees - curr_bearing.degrees) <= 5:
absolute_bearings.append(self.get_median_bearing(prev_bearing,
curr_bearing))
else:
absolute_bearings.append(prev_bearing)
absolute_bearings.append(curr_bearing)
i += 1
for a_bearing in absolute_bearings:
a_bearing.power = a_bearing.power / a_bearing.num
a_bearing.confidence = a_bearing.confidence / a_bearing.num
a_bearing.power = a_bearing.num
a_bearing.confidence /= a_bearing.num
# This code is just copied from the old DF-AGG
if self.inverted:
......@@ -163,7 +166,7 @@ class Receiver(BasicDataclass):
elif self.flipped:
a_bearing.degrees = self.heading + (180 - a_bearing.degrees)
else:
a_bearing.degrees = self.heading + a_bearing.degrees
a_bearing.degrees += self.heading
if a_bearing.degrees < 0:
a_bearing.degrees += 360
elif a_bearing.degrees > 359:
......@@ -171,13 +174,10 @@ class Receiver(BasicDataclass):
return absolute_bearings
def add_packet(self: "Receiver", packet: KrPacket) -> None:
""" Add KrRpi packet to the receiver """
def refresh(self) -> None:
""" Refresh DOA of the receiver """
now = int(time.time() * 1000)
# insert packet
self.tree.insert_node(packet.radio_bearing, packet)
bearings = []
bearings_len = 0
......@@ -187,7 +187,7 @@ class Receiver(BasicDataclass):
bearing = Bearing(node.val, 0, 0, 0)
slice_id = None
for idx, item in enumerate(node.items):
if now - item.t_stamp > 20000: # 20 seconds old
if now - item.t_stamp > 5000: # 5 seconds old
slice_id = idx
else:
bearing.num += 1
......@@ -208,6 +208,28 @@ class Receiver(BasicDataclass):
self.tree.delete_node(node.val)
self.bearings = self.create_absolute_bearings(bearings, bearings_len)
logger.info(f"{self.station_id}, "
f"{[str(x.degrees) + 'º'for x in self.bearings]}")
def add_packet(self: "Receiver", packet: KrPacket) -> None:
""" Add KrRpi packet to the receiver """
self.tree.insert_node(packet.radio_bearing, packet)
# insert packet
# fake_packet = KrPacket(
# packet.t_stamp,
# packet.latitude,
# packet.longitude,
# packet.gps_bearing,
# 13,
# packet.conf,
# packet.power,
# packet.freq,
# packet.ant_type,
# packet.latency,
# packet.doa_array,
# packet.id)
# self.tree.insert_node(fake_packet.radio_bearing, fake_packet)
@staticmethod
def lob_length() -> int:
......
utils/ether_service/utils/ProcessService.py
......@@ -2,7 +2,7 @@
import logging
import signal
from multiprocessing import Process, Value, Queue
from time import sleep
from time import sleep, time
from ..utils.log import init_logging
......@@ -46,13 +46,18 @@ class ProcessService(Process):
signal.signal(signal.SIGTERM, lambda x, y: None)
init_logging(level=self.loglevel)
last_refresh = time()
while self.is_running:
try:
command = self.cmd_queue.get()
command = self.cmd_queue.get(timeout=1)
self.handle_command(*command)
except Exception as ex:
exc_info = type(ex), ex, ex.__traceback__
logger.error("main loop execution error", exc_info=exc_info)
# logger.error("main loop execution error", exc_info=exc_info)
now = time()
if time() - last_refresh >= 1:
last_refresh = now
self.cmd_queue.put_nowait((0,))
sleep(0.001) # sleep for 1ms to prevent 100% CPU load
self.cmd_queue.close()
logger.info(f"{self.name} has been stopped")
......
utils/ether_service/utils/receivers_controller.py
""" ReceiverController implementation """
import logging
import sqlite3
import time
from multiprocessing import Queue
from typing import Optional, Dict, List
......@@ -18,6 +19,7 @@ logger = logging.getLogger()
class ReceiverCommands:
""" Receiver Controller commands """
REFRESH_RECEIVERS = 0
HANDLE_DATA = 200
REGISTER_RECEIVER = 210 # Register new receiver
UNREGISTER_RECEIVER = 220 # Unregister receiver
......@@ -185,9 +187,11 @@ class ReceiverController(ProcessService):
(data_bytes, ) = params
data = json_loads(data_bytes, {})
kr_packet = KrPacket.load(data, unknown=EXCLUDE)
kr_packet.t_stamp = int(time.time() * 1000)
receiver = self.get_registered_receiver(kr_packet.id)
if receiver and receiver.active:
# TODO(s1z): Add bearings to the queue
receiver.update_config(kr_packet)
return receiver.add_packet(kr_packet)
# create receiver if does not exist
......@@ -268,3 +272,7 @@ class ReceiverController(ProcessService):
receiver_doa.append(doa)
doa_list[receiver.station_id] = receiver_doa
self.doa_queue.put_nowait(doa_list)
elif command == ReceiverCommands.REFRESH_RECEIVERS:
for _, receiver in self._registered_receivers.items():
receiver.refresh()
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