def setup(self):
self.logger.info("--------------------------------------")
self.logger.info(" Balloon Mission Computer V4.01 ")
self.logger.info("--------------------------------------")
self.logger.debug("setup")
# setup
with open('data/config.json') as fin:
self.config = json.load(fin)
self.images_dir = self.config["directories"][
"images"] if "directories" in self.config and "images" in self.config[
"directories"] else "./images"
self.tmp_dir = self.config["directories"][
"tmp"] if "directories" in self.config and "tmp" in self.config[
"directories"] else "./tmp"
if not os.path.exists(self.tmp_dir):
os.makedirs(self.tmp_dir)
if not os.path.exists(self.images_dir):
os.makedirs(self.images_dir)
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM) # Broadcom pin-numbering scheme
GPIO.setup(self.config['pins']['BUZZER'], GPIO.OUT)
GPIO.setup(self.config['pins']['LED1'], GPIO.OUT)
GPIO.setup(self.config['pins']['LED2'], GPIO.OUT)
GPIO.output(self.config['pins']['LED1'], GPIO.HIGH)
self.aprs = APRS(self.config['callsign'], self.config['ssid'],
"idoroseman.com")
self.modem = AFSK()
self.gps = Ublox()
self.gps.start()
self.radio = Dorji(self.config['pins'])
self.radio.init()
self.radio_q = queue.Queue()
self.radio_thread = threading.Thread(target=self.radio_worker)
self.radio_thread.start()
self.timers = Timers(self.config['timers'])
self.sensors = Sensors()
self.cam = Camera()
self.ssdv = SSDV(self.config['callsign'], self.config['ssid'])
self.sstv = SSTV()
self.webserver = WebServer()
self.radio_queue(self.config['frequencies']['APRS'],
'data/boatswain_whistle.wav')
for item in ["APRS", "APRS-META", "Imaging", 'Capture']:
self.timers.handle({item: self.config['timers'][item] > 0}, [])
self.timers.handle({"Buzzer": False}, [])
self.ledState = 1
self.imaging_counter = 1
self.state = "init"
self.min_alt = sys.maxsize
self.max_alt = 0
self.prev_alt = 0
self.send_bulltin()
GPIO.output(self.config['pins']['LED1'], GPIO.LOW)
def test_parse_gngga(self):
gps = Ublox()
test_input = [ '$GNGGA,130706.00,3203.82887,N,03452.29882,E,1,08,1.79,99.4,M,17.4,M,,',
'$GNGGA,130702.00,3203.82879,N,03452.29869,E,1,07,1.79,99.9,M,17.4,M,,',
'$GNGGA,124436.00,3203.8585,N,03452.29945,E,1,12,0.91,87.6,M,17.4,M3',
'$GNGGA,115233.003203.82821,N,03452.30067,E,1,12,1.41,89.4,M17.4,M,,' ]
for line in test_input:
tokens = line.split(',')
try:
rv = gps.parse_gngga(tokens)
except:
self.fail()
class BalloonMissionComputer():
# ---------------------------------------------------------------------------
def __init__(self):
if not os.path.exists('tmp/'):
os.makedirs('tmp/')
logging.basicConfig(
format='%(asctime)s %(levelname)s %(name)s: %(message)s',
level=logging.DEBUG,
datefmt='%Y-%m-%d %H:%M:%S')
self.logger = logging.getLogger(__name__)
hdlr = logging.FileHandler('tmp/program.log')
formatter = logging.Formatter(
'%(asctime)s - %(name)s - %(levelname)s - %(message)s',
datefmt='%Y-%m-%d %H:%M:%S')
hdlr.setFormatter(formatter)
self.logger.addHandler(hdlr)
#---------------------------------------------------------------------------
def handle_log(self, msg):
self.webserver.log(msg)
#---------------------------------------------------------------------------
def calc_status_bits(self, gpsdata, sensordata):
bits = [
True, False, sensordata['cam2'] == "ok",
sensordata['cam1'] == "ok", gpsdata['status'] == "fix",
gpsdata['status'] == "lost", gpsdata['status'] == "comm error",
gpsdata['status'] == "i2c error"
]
return ''.join(['1' if val else '0' for val in bits])
status_names = [
'gps i2c err', "gps comm err", "gps no fix", "gps ok", "cam1 ok",
"cam2 ok"
]
# ---------------------------------------------------------------------------
def calc_balloon_state(self, gpsdata):
current_alt = float(gpsdata['alt'])
if self.state == "init" and current_alt > 0:
self.state = "ground"
self.send_bulltin()
if self.state == "ground" and current_alt > self.min_alt + 2000:
self.state = "ascent"
self.send_bulltin()
if self.state == "ascent" and current_alt < self.max_alt - 2000:
self.state = "descent"
self.send_bulltin()
if self.state == "descent" and current_alt < 2000:
self.state = "landed"
self.send_bulltin()
self.timers.set_state('BUZZER', True)
if current_alt > self.max_alt:
self.max_alt = current_alt
if current_alt > 0 and current_alt < self.min_alt:
self.min_alt = current_alt
self.prev_alt = current_alt
# ---------------------------------------------------------------------------
def update_system_datetime(self, gpsdata):
if gpsdata['status'] != "fix":
return
if 'date' not in gpsdata:
return
now = datetime.datetime.now()
gpstime = datetime.datetime.strptime(
gpsdata['date'] + " " + gpsdata['fixTimeStr'], "%d%m%y %H:%M:%S")
diff = int(abs((now - gpstime).total_seconds() / 60))
if diff > 100:
self.logger.info("system time %s" % now)
self.logger.info("gps time %s" % gpstime)
self.logger.info("updating")
# os.system('date -s %s' % gpstime.isoformat())
proc = subprocess.Popen(
["date", "-s %s" % gpstime.isoformat()],
stdout=subprocess.PIPE,
shell=True)
(out, err) = proc.communicate()
self.logger.info("program output:" % out)
self.logger.info("program error:" % err)
#todo: verify we have premissions
# ---------------------------------------------------------------------------
def send_bulltin(self):
try:
self.logger.info("state changed to %s" % self.state)
frame = self.aprs.create_message_msg(
"BLN1BALON", "changed state to %s" % self.state)
self.modem.encode(frame)
self.modem.saveToFile(os.path.join(self.tmp_dir, 'aprs.wav'))
self.radio_queue(self.config['frequencies']['APRS'],
os.path.join(self.tmp_dir, 'aprs.wav'))
except:
pass
# ---------------------------------------------------------------------------
def capture_image(self, archive=True):
# self.logger.debug("capture start")
self.cam.capture()
if archive:
self.cam.archive()
# self.logger.debug("capture end")
# ---------------------------------------------------------------------------
def prep_image(self, id, gpsdata, sensordata):
self.logger.debug("image manutulation start")
self.cam.select(id)
self.cam.resize((320, 256))
self.cam.overlay(self.config['callsign'], gpsdata, sensordata)
self.cam.saveToFile(os.path.join(self.tmp_dir, "image.jpg"))
self.logger.debug("image manipulation end")
# ---------------------------------------------------------------------------
def process_ssdv(self):
self.logger.debug("process ssdv start")
self.logger.debug("jpg->ssdv")
self.ssdv.convert('tmp/image.jpg', 'tmp/image.ssdv')
self.logger.debug("ssdv->aprs")
packets = self.ssdv.prepare(os.path.join(self.tmp_dir, "image.ssdv"))
self.logger.debug("aprs->wav")
self.ssdv.encode(packets, 'tmp/ssdv.wav')
self.timers.trigger("PLAY-SSDV")
self.logger.debug("process ssdv end")
# ---------------------------------------------------------------------------
def process_sstv(self):
self.logger.debug("process sstv start")
self.sstv.image = self.cam.image
self.sstv.process()
self.sstv.saveToFile(os.path.join(self.tmp_dir, 'sstv.wav'))
self.timers.trigger("PLAY-SSTV")
self.logger.debug("process sstv end")
# ---------------------------------------------------------------------------
def gps_reset(self):
self.logger.warning("reset gps")
GPIO.setup(self.config['pins']['GPS_RST'], GPIO.OUT)
GPIO.output(self.config['pins']['GPS_RST'], GPIO.LOW)
time.sleep(1)
GPIO.output(self.config['pins']['GPS_RST'], GPIO.HIGH)
# ---------------------------------------------------------------------------
def setup(self):
self.logger.info("--------------------------------------")
self.logger.info(" Balloon Mission Computer V4.01 ")
self.logger.info("--------------------------------------")
self.logger.debug("setup")
# setup files and directories
with open('data/config.json') as fin:
self.config = json.load(fin)
self.images_dir = self.config["directories"][
"images"] if "directories" in self.config and "images" in self.config[
"directories"] else "./images"
self.tmp_dir = self.config["directories"][
"tmp"] if "directories" in self.config and "tmp" in self.config[
"directories"] else "./tmp"
if not os.path.exists(self.tmp_dir):
os.makedirs(self.tmp_dir)
if not os.path.exists(self.images_dir):
os.makedirs(self.images_dir)
# setup gpio
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM) # Broadcom pin-numbering scheme
GPIO.setup(self.config['pins']['BUZZER'], GPIO.OUT)
GPIO.setup(self.config['pins']['LED1'], GPIO.OUT)
GPIO.setup(self.config['pins']['LED2'], GPIO.OUT)
GPIO.output(self.config['pins']['LED1'], GPIO.HIGH)
# modules
self.aprs = APRS(self.config['callsign'], self.config['ssid'],
"idoroseman.com")
self.modem = AFSK()
try:
self.gps = Ublox()
self.gps.start()
except:
pass
self.radio = Dorji(self.config['pins'])
self.radio.init()
self.radio_q = queue.Queue()
self.radio_thread = threading.Thread(target=self.radio_worker)
self.radio_thread.start()
self.timers = Timers(self.config['timers'])
self.sensors = Sensors()
self.cam = Camera()
self.ssdv = SSDV(self.config['callsign'], self.config['ssid'])
self.sstv = SSTV()
self.webserver = WebServer()
self.radio_queue(self.config['frequencies']['APRS'],
'data/boatswain_whistle.wav')
self.syslog = logging.getLogger()
kh = MyLogHandler()
kh._listeners.append(self.handle_log)
kh.setLevel(logging.DEBUG)
formatter2 = logging.Formatter('%(levelname)s: %(name)s - %(message)s')
kh.setFormatter(formatter2)
self.syslog.addHandler(kh)
# timers
for item in ["APRS", "APRS-META", "Imaging", 'Capture']:
self.timers.set_state(item, self.config['timers'][item] > 0)
self.timers.set_state("Buzzer", False)
# lets go
self.ledState = 1
self.imaging_counter = 1
self.state = "init"
self.min_alt = sys.maxsize
self.max_alt = 0
self.prev_alt = 0
self.send_bulltin()
GPIO.output(self.config['pins']['LED1'], GPIO.LOW)
# ---------------------------------------------------------------------------
def run(self):
self.logger.debug("run")
telemetry = {}
telemCoef = {
'SatCount': 1,
'outside_temp': 10,
'inside_temp': 10,
'barometer': 1,
'battery': 100
}
exitFlag = False
self.prev_gps_status = ""
while not exitFlag:
try:
# blink
self.ledState = 1 - self.ledState
GPIO.output(self.config['pins']['LED1'], GPIO.HIGH)
watchdog = Watchdog(60)
# gps
self.gps.loop()
gpsdata = self.gps.get_data()
self.calc_balloon_state(gpsdata)
if gpsdata['status'] == "fix" and gpsdata['alt'] > 0:
self.sensors.calibrate_alt(gpsdata['alt'])
if gpsdata['status'] != "fix":
gpsdata['alt'] = self.sensors.read_pressure()
# sensors
sensordata = self.sensors.get_data()
sensordata.update(self.cam.status)
status_bits = self.calc_status_bits(gpsdata, sensordata)
telemetry[
'Satellites'] = gpsdata['SatCount'] * telemCoef['SatCount']
telemetry['outside_temp'] = sensordata[
'outside_temp'] * telemCoef['outside_temp']
telemetry['inside_temp'] = sensordata[
'inside_temp'] * telemCoef['inside_temp']
telemetry['barometer'] = sensordata['barometer'] * telemCoef[
'barometer']
telemetry[
'battery'] = sensordata['battery'] * telemCoef['battery']
if gpsdata['status'] != self.prev_gps_status:
frame = self.aprs.create_telem_data_msg(
telemetry, status_bits, gpsdata['alt'])
self.modem.encode(frame)
self.modem.saveToFile(
os.path.join(self.tmp_dir, 'aprs.wav'))
self.radio_queue(self.config['frequencies']['APRS'],
os.path.join(self.tmp_dir, 'aprs.wav'))
self.prev_gps_status = gpsdata['status']
# UI
self.webserver.update(gpsdata, sensordata, self.state)
self.update_system_datetime(gpsdata)
if self.timers.expired("APRS"):
if gpsdata['status'] == "fix":
self.logger.debug("sending location")
frame = self.aprs.create_location_msg(
gpsdata, telemetry, status_bits)
else:
self.logger.debug("sending only telemetry")
frame = self.aprs.create_telem_data_msg(
telemetry, status_bits, gpsdata['alt'])
self.modem.encode(frame)
self.modem.saveToFile(
os.path.join(self.tmp_dir, 'aprs.wav'))
self.radio_queue(self.config['frequencies']['APRS'],
os.path.join(self.tmp_dir, 'aprs.wav'))
with open(os.path.join(self.tmp_dir, "flight.log"),
'a+') as f:
merged = dict()
merged.update(gpsdata)
merged.update(sensordata)
merged['datatime'] = datetime.datetime.now().isoformat(
)
f.write(json.dumps(merged, indent=2))
f.write(',\n')
if self.timers.expired("APRS-META"):
frame = self.aprs.create_telem_name_msg(
telemetry, self.status_names)
self.modem.encode(frame)
self.modem.saveToFile(
os.path.join(self.tmp_dir, 'aprs.wav'))
self.radio_queue(self.config['frequencies']['APRS'],
os.path.join(self.tmp_dir, 'aprs.wav'))
frame = self.aprs.create_telem_eqns_msg(telemCoef)
self.modem.encode(frame)
self.modem.saveToFile(
os.path.join(self.tmp_dir, 'coef.wav'))
self.radio_queue(self.config['frequencies']['APRS'],
os.path.join(self.tmp_dir, 'coef.wav'))
if self.timers.expired("Capture"):
self.capture_image()
if self.timers.expired("Snapshot"):
self.imaging_counter += 1
cam_select = self.imaging_counter % CAMERAS
self.capture_image(archive=False)
self.prep_image(cam_select, gpsdata, sensordata)
self.webserver.snapshot()
if self.timers.expired("Imaging"):
self.imaging_counter += 1
cam_select = self.imaging_counter % CAMERAS
cam_system = self.imaging_counter % (CAMERAS + 1)
self.logger.info("imageing trigger")
self.logger.debug("cam %s system %s" %
(cam_select, cam_system))
self.capture_image(archive=False)
self.prep_image(cam_select, gpsdata, sensordata)
self.webserver.snapshot()
if cam_system == 0:
self.logger.info("->sstv")
_thread.start_new_thread(self.process_sstv, ())
else:
self.logger.info("->ssdv")
_thread.start_new_thread(self.process_ssdv, ())
if self.timers.expired("PLAY-SSDV"):
self.logger.debug("sending ssdv")
self.radio_queue(self.config['frequencies']['APRS'],
os.path.join("data", 'starting_ssdv.wav'))
self.radio_queue(self.config['frequencies']['APRS'],
os.path.join("data", 'habhub.wav'))
self.radio_queue(self.config['frequencies']['APRS'],
os.path.join(self.tmp_dir, 'ssdv.wav'))
if self.timers.expired("PLAY-SSTV"):
self.logger.debug("sending sstv")
self.radio_queue(
self.config['frequencies']['APRS'],
os.path.join("data", 'switching_to_sstv.wav'))
self.radio_queue(self.config['frequencies']['SSTV'],
os.path.join("data", 'starting_sstv.wav'))
self.radio_queue(self.config['frequencies']['SSTV'],
os.path.join(self.tmp_dir, 'sstv.wav'))
if self.timers.expired("Buzzer"):
for i in range(3):
GPIO.output(self.config['pins']['BUZZER'], GPIO.HIGH)
time.sleep(0.5)
GPIO.output(self.config['pins']['BUZZER'], GPIO.LOW)
time.sleep(0.5)
GPIO.output(self.config['pins']['LED1'], GPIO.LOW)
watchdog.stop()
time.sleep(1)
except Watchdog:
self.logger.error("task timedout!")
except KeyboardInterrupt: # If CTRL+C is pressed, exit cleanly
exitFlag = True
self.gps.stop()
break
except Exception as x:
self.logger.exception(x)
self.logger.info("Done.")
# ---------------------------------------------------------------------------
def radio_queue(self, freq, filename):
self.radio_q.put({'freq': freq, 'filename': filename})
# ---------------------------------------------------------------------------
def radio_worker(self):
while True:
item = self.radio_q.get()
self.radio.play(item['freq'], item['filename'])
self.radio_q.task_done()
def setup(self):
self.logger.info("--------------------------------------")
self.logger.info(" Balloon Mission Computer V4.01 ")
self.logger.info("--------------------------------------")
self.logger.debug("setup")
# setup files and directories
with open('data/config.json') as fin:
self.config = json.load(fin)
self.images_dir = self.config["directories"][
"images"] if "directories" in self.config and "images" in self.config[
"directories"] else "./images"
self.tmp_dir = self.config["directories"][
"tmp"] if "directories" in self.config and "tmp" in self.config[
"directories"] else "./tmp"
if not os.path.exists(self.tmp_dir):
os.makedirs(self.tmp_dir)
if not os.path.exists(self.images_dir):
os.makedirs(self.images_dir)
# setup gpio
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM) # Broadcom pin-numbering scheme
GPIO.setup(self.config['pins']['BUZZER'], GPIO.OUT)
GPIO.setup(self.config['pins']['LED1'], GPIO.OUT)
GPIO.setup(self.config['pins']['LED2'], GPIO.OUT)
GPIO.output(self.config['pins']['LED1'], GPIO.HIGH)
# modules
self.aprs = APRS(self.config['callsign'], self.config['ssid'],
"idoroseman.com")
self.modem = AFSK()
try:
self.gps = Ublox()
self.gps.start()
except:
pass
self.radio = Dorji(self.config['pins'])
self.radio.init()
self.radio_q = queue.Queue()
self.radio_thread = threading.Thread(target=self.radio_worker)
self.radio_thread.start()
self.timers = Timers(self.config['timers'])
self.sensors = Sensors()
self.cam = Camera()
self.ssdv = SSDV(self.config['callsign'], self.config['ssid'])
self.sstv = SSTV()
self.webserver = WebServer()
self.radio_queue(self.config['frequencies']['APRS'],
'data/boatswain_whistle.wav')
self.syslog = logging.getLogger()
kh = MyLogHandler()
kh._listeners.append(self.handle_log)
kh.setLevel(logging.DEBUG)
formatter2 = logging.Formatter('%(levelname)s: %(name)s - %(message)s')
kh.setFormatter(formatter2)
self.syslog.addHandler(kh)
# timers
for item in ["APRS", "APRS-META", "Imaging", 'Capture']:
self.timers.set_state(item, self.config['timers'][item] > 0)
self.timers.set_state("Buzzer", False)
# lets go
self.ledState = 1
self.imaging_counter = 1
self.state = "init"
self.min_alt = sys.maxsize
self.max_alt = 0
self.prev_alt = 0
self.send_bulltin()
GPIO.output(self.config['pins']['LED1'], GPIO.LOW)
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
# Set baudrate
import logging
from ublox import Ublox
if __name__ == '__main__':
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('baudRate', type=int, choices=[9600, 115200], help='Specify the baudrate. Must be 9600 or 115200')
parser.add_argument('--device', '-d', help='Specify the serial port device to communicate with. e.g. /dev/ttyO5')
parser.add_argument('--verbose', '-v', action='store_true')
parser.add_argument('--debug', action='store_true')
args = parser.parse_args()
if args.debug:
logging.basicConfig(level=logging.DEBUG)
elif args.verbose:
logging.basicConfig(level=logging.INFO)
else:
logging.basicConfig(level=logging.ERROR)
ublox = Ublox(args.device)
ublox.setBaudRate(args.baudRate)
def main(args):
"""
Main execution method to log u-blox RTK GPS data.
Inputs:
args - List of input arguments as taken from command line execution via
sys.argv[1:].
Outputs:
nav_data - Dictionary whose key-value pairs contain the data unpacked
from the data file.
"""
# Parse input arguments
parsed_args = parse_args(args)
# Create PulsON440 object
gps = Ublox()
# Connect to the GPS
gps.connect()
# Log GPS data
try:
if parsed_args.return_data:
data = gps.log(parsed_args.log_file, True)
else:
gps.log(parsed_args.log_file, False)
except Exception as e:
gps.disconnect()
raise e
# Disconnect GPS
gps.disconnect()
# Return data if requested
if parsed_args.return_data:
return data