def run(self):
self.setName(self.getThreadPrefix())
builtInDir = self.getStringParam('builtinDir')
systemDir = AVNConfig.getDirWithDefault(self.param,
'systemDir',
defaultSub=os.path.join(
'..', 'plugins'),
belowData=False)
userDir = AVNConfig.getDirWithDefault(self.param, 'userDir', 'plugins')
directories = {
'builtin': {
'dir': builtInDir,
'prefix': 'builtin'
},
'system': {
'dir': systemDir,
'prefix': 'system'
},
'user': {
'dir': userDir,
'prefix': 'user'
}
}
for basedir in ['builtin', 'system', 'user']:
dircfg = directories[basedir]
if not os.path.isdir(dircfg['dir']):
continue
for dirname in os.listdir(dircfg['dir']):
dir = os.path.join(dircfg['dir'], dirname)
if not os.path.isdir(dir):
continue
module = None
moduleName = dircfg['prefix'] + "-" + dirname
try:
module = self.loadPluginFromDir(dir, moduleName)
except:
AVNLog.error("error loading plugin from %s:%s", dir,
traceback.format_exc())
if module is not None:
self.pluginDirs[moduleName] = os.path.realpath(dir)
self.instantiateHandlersFromModule(moduleName, module)
else:
if os.path.exists(os.path.join(
dir, "plugin.js")) or os.path.exists(
os.path.join(dir, "plugin.css")):
self.pluginDirs[moduleName] = dir
for name in self.createdPlugins.keys():
plugin = self.createdPlugins[name]
AVNLog.info("starting plugin %s", name)
thread = threading.Thread(target=plugin.run)
thread.setDaemon(True)
thread.setName("Plugin: %s" % (name))
thread.start()
self.startedThreads[name] = thread
AVNLog.info("pluginhandler finished")
def findAlarm(self, name, useDefault=False):
definedAlarms = self.param.get('Alarm')
rt = None
if definedAlarms is not None:
for cmd in definedAlarms:
if cmd.get('name') is not None and cmd.get('name') == name:
param = cmd.get('parameter')
if param == "":
param = None
if param is not None:
param = AVNUtil.replaceParam(
param, AVNConfig.filterBaseParam(self.getParam()))
rt = {
'command': cmd.get('command'),
'autoclean': self.getBoolean(cmd, 'autoclean'),
'repeat': self.getInt(cmd, 'repeat'),
'parameter': param
}
break
if rt is None and useDefault:
rt = {
'command': self.getStringParam('defaultCommand'),
'parameter': self.getStringParam('defaultParameter'),
'autoclean': True,
'repeat': 1
}
return rt
def findAlarm(self,name,useDefault=False):
definedAlarms=self.param.get('Alarm')
rt=None
if definedAlarms is not None:
for cmd in definedAlarms:
if cmd.get('name') is not None and cmd.get('name') == name:
param=cmd.get('parameter')
if param=="":
param=None
if param is not None:
param=AVNUtil.replaceParam(param,AVNConfig.filterBaseParam(self.getParam()))
rt= {
'command':cmd.get('command'),
'autoclean':self.getBoolean(cmd,'autoclean'),
'repeat':self.getInt(cmd,'repeat'),
'parameter':param
}
break
if rt is None and useDefault:
rt={
'command':self.getStringParam('defaultCommand'),
'parameter':self.getStringParam('defaultParameter'),
'autoclean':True,
'repeat':1}
return rt
def findCommand(self,name):
'''
find a command by its name
:param name:
:return:
'''
for cmd in self.getConfiguredCommands():
if cmd.get('name') is not None and cmd.get('name') == name:
return {'command':AVNUtil.replaceParam(cmd.get('command'),AVNConfig.filterBaseParam(self.getParam())),'repeat':cmd.get('repeat'),'name':cmd.get('name')}
def __init__(self, param):
AVNWorker.__init__(self, param)
self.track = []
#param checks
throw = True
self.getIntParam('cleanup', throw)
self.getFloatParam('mindistance', throw)
self.getFloatParam('interval', throw)
self.tracklock = threading.Lock()
self.trackdir = AVNConfig.getDirWithDefault(self.param, "trackdir",
'tracks')
self.fname = None
def __init__(self, param):
AVNWorker.__init__(self, param)
self.importDir = None
self.lastTimeStamps = {
} #a dictionary of timestamps - key is the directory/filename, value the last read timestamp
self.candidateTimes = {
} #dictionary with candidates for conversion - same layout as lastTimeStamps
self.runningConversions = {
} #dictionary of current running conversions (key is the filename/dirname)
self.waittime = self.getIntParam('waittime', True)
self.chartbase = None
self.extensions = self.getStringParam('knownExtensions').split(',')
self.importDir = AVNConfig.getDirWithDefault(self.param, 'importDir',
'import')
self.workDir = AVNConfig.getDirWithDefault(self.param, 'workDir',
'work')
self.converterDir = self.getStringParam(
'converterDir') # the location of the coneverter python
if self.converterDir is None or self.converterDir == '':
self.converterDir = os.path.join(
os.path.dirname(os.path.realpath(__file__)), "../..",
"chartconvert")
def allowDenyWatcher(self):
"""
checks for the current active LAN to have id_str="wlan-internal"
and open the firewall in this case using the allowDenyCommand
@return:
"""
statusName="FwHandler"
cmd=self.getStringParam(self.P_FWCOMMAND)
if cmd is None or cmd == "":
self.setInfo(statusName, "no command", AVNWorker.Status.INACTIVE)
return
cmdparam=cmd.split(" ")
command=[]
for par in cmdparam:
command.append(AVNUtil.replaceParam(par, AVNConfig.filterBaseParam(self.getParam())))
self.setInfo(statusName,"running",AVNWorker.Status.NMEA)
lastNet=None
lastMode=None
lastResult=-1
lastSuccess=AVNUtil.utcnow()
while True:
try:
status=self.getStatus()
if status.get('wpa_state') is not None and status.get('wpa_state') == 'COMPLETED':
ssid=status.get('ssid')
mode="deny"
if status.get('id_str') is not None and status.get('id_str') == self.PRIVATE_NAME:
mode="allow"
waittime=0
if lastMode == mode and lastNet == ssid:
if lastResult != 0:
waittime=self.COMMAND_REPEAT
else:
waittime=self.COMMAND_REPEAT_OK
if (AVNUtil.utcnow() - lastSuccess) >= waittime:
lastNet=ssid
lastMode=mode
AVNLog.info("running command %s %s",command,mode)
lastResult=AVNUtil.runCommand(command+[mode],statusName+"-command")
if lastResult != 0:
if lastResult is None:
lastResult=-1
AVNLog.error("%s: unable to run firewall command on %s for mode %s, return %d"%(statusName,ssid,mode,lastResult))
self.setInfo(statusName,"unable to run firewall command on %s for %s, return %d"%(ssid,mode,lastResult),AVNWorker.Status.ERROR)
else:
self.setInfo(statusName, "firewall command on %s for %s ok" % (ssid,mode), AVNWorker.Status.NMEA)
self.lastFwInfo=FwInfo(ssid,mode,lastResult)
except:
AVNLog.error("%s: exception %s"%(statusName,traceback.format_exc()))
time.sleep(5)
def __init__(self,param):
AVNWorker.__init__(self, param)
self.track=[]
#param checks
throw=True
self.getIntParam('cleanup', throw)
self.getFloatParam('mindistance', throw)
self.getFloatParam('interval', throw)
self.tracklock=threading.Lock()
trackdir=self.getStringParam("trackdir")
if trackdir == "":
trackdir=unicode(os.path.join(self.getStringParam(AVNConfig.BASEPARAM.DATADIR),'tracks'))
else:
trackdir=AVNUtil.replaceParam(os.path.expanduser(trackdir),AVNConfig.filterBaseParam(param))
self.trackdir=trackdir
self.fname=None
def __init__(self,param):
AVNWorker.__init__(self, param)
self.track=[]
#param checks
throw=True
self.getIntParam('cleanup', throw)
self.getFloatParam('mindistance', throw)
self.getFloatParam('interval', throw)
self.tracklock=threading.Lock()
trackdir=self.getStringParam("trackdir")
if trackdir == "":
trackdir=unicode(os.path.join(self.getStringParam(AVNConfig.BASEPARAM.DATADIR),'tracks'))
else:
trackdir=AVNUtil.replaceParam(os.path.expanduser(trackdir),AVNConfig.filterBaseParam(param))
self.trackdir=trackdir
self.fname=None
def __init__(self,param):
AVNWorker.__init__(self, param)
self.importDir=None
self.lastTimeStamps={} #a dictionary of timestamps - key is the directory/filename, value the last read timestamp
self.candidateTimes={} #dictionary with candidates for conversion - same layout as lastTimeStamps
self.runningConversions={} #dictionary of current running conversions (key is the filename/dirname)
self.waittime=self.getIntParam('waittime',True)
self.chartbase=None
self.extensions=self.getStringParam('knownExtensions').split(',')
self.importDir=AVNUtil.prependBase(AVNUtil.replaceParam(self.getStringParam('importDir'),AVNConfig.filterBaseParam(self.getParam())),self.getStringParam(AVNConfig.BASEPARAM.DATADIR))
self.workDir=AVNUtil.prependBase(AVNUtil.replaceParam(self.getStringParam('workDir'),AVNConfig.filterBaseParam(self.getParam())),self.getStringParam(AVNConfig.BASEPARAM.DATADIR))
self.converterDir=self.getStringParam('converterDir') # the location of the coneverter python
if self.converterDir is None or self.converterDir=='':
self.converterDir=os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..","chartconvert")
def allowDenyWatcher(self):
"""
checks for the current active LAN to have id_str="wlan-internal"
and open the firewall in this case using the allowDenyCommand
@return:
"""
statusName = "FwHandler"
cmd = self.getStringParam(self.P_FWCOMMAND)
if cmd is None or cmd == "":
self.setInfo(statusName, "no command", AVNWorker.Status.INACTIVE)
return
cmdparam = cmd.split(" ")
command = []
for par in cmdparam:
command.append(
AVNUtil.replaceParam(
par, AVNConfig.filterBaseParam(self.getParam())))
self.setInfo(statusName, "running", AVNWorker.Status.NMEA)
lastNet = None
lastMode = None
lastResult = -1
lastSuccess = AVNUtil.utcnow()
while True:
try:
status = self.getStatus()
if status.get('wpa_state') is not None and status.get(
'wpa_state') == 'COMPLETED':
ssid = status.get('ssid')
mode = "deny"
if status.get('id_str') is not None and status.get(
'id_str') == self.PRIVATE_NAME:
mode = "allow"
waittime = 0
if lastMode == mode and lastNet == ssid:
if lastResult != 0:
waittime = self.COMMAND_REPEAT
else:
waittime = self.COMMAND_REPEAT_OK
if (AVNUtil.utcnow() - lastSuccess) >= waittime:
lastNet = ssid
lastMode = mode
AVNLog.info("running command %s %s", command, mode)
lastResult = AVNUtil.runCommand(
command + [mode], statusName + "-command")
if lastResult != 0:
if lastResult is None:
lastResult = -1
AVNLog.error(
"%s: unable to run firewall command on %s for mode %s, return %d"
% (statusName, ssid, mode, lastResult))
self.setInfo(
statusName,
"unable to run firewall command on %s for %s, return %d"
% (ssid, mode, lastResult),
AVNWorker.Status.ERROR)
else:
self.setInfo(
statusName,
"firewall command on %s for %s ok" %
(ssid, mode), AVNWorker.Status.NMEA)
lastSuccess = AVNUtil.utcnow()
self.lastFwInfo = FwInfo(ssid, mode, lastResult)
except:
AVNLog.error("%s: exception %s" %
(statusName, traceback.format_exc()))
time.sleep(5)
def run(self):
self.setName("[%s]%s" % (AVNLog.getThreadId(), self.getName()))
interval = self.getIntParam('interval')
routesdir = AVNUtil.replaceParam(
os.path.expanduser(self.getStringParam("routesdir")),
AVNConfig.filterBaseParam(self.getParam()))
if routesdir == "":
routesdir = os.path.join(
self.getStringParam(AVNConfig.BASEPARAM.DATADIR), u'routes')
self.routesdir = routesdir
if not os.path.isdir(self.routesdir):
AVNLog.info("creating routes directory %s" % (self.routesdir))
os.makedirs(self.routesdir, 0755)
self.fillRouteInfos()
self.currentLegFileName = os.path.join(self.routesdir,
self.currentLegName)
if os.path.exists(self.currentLegFileName):
f = None
try:
f = open(self.currentLegFileName, "r")
strleg = f.read(self.MAXROUTESIZE + 1000)
self.currentLeg = self.parseLeg(strleg)
if self.currentLeg.toWP is not None:
distance = geo.length(
[self.currentLeg.fromWP, self.currentLeg.toWP])
AVNLog.info(
"read current leg, route=%s, from=%s, to=%s, length=%fNM"
%
(self.currentLeg.name, unicode(self.currentLeg.fromWP),
unicode(self.currentLeg.toWP), distance / AVNUtil.NM))
else:
AVNLog.info("read current leg, route=%s, from=%s, to=%s" %
(
self.currentLeg.name,
unicode(self.currentLeg.fromWP),
"NONE",
))
if self.currentLeg.name is not None:
self.activeRouteName = self.currentLeg.name
if self.currentLeg.currentRoute is not None:
#this will also set the active route
self.saveRoute(self.currentLeg.currentRoute)
if self.currentLeg.name != self.currentLeg.currentRoute.name:
AVNLog.error(
"leg inconsistent, name in route %s different from name in leg %s, correcting to route name",
self.currentLeg.name,
self.currentLeg.currentRoute.name)
self.currentLeg.name = self.currentLeg.currentRoute.name
self.activeRouteName = self.currentLeg.name
#write back the corrected leg
self.setCurrentLeg(self.currentLeg)
else:
if self.currentLeg.name is not None:
self.activeRoute = self.loadRoute(self.currentLeg.name)
if self.activeRoute is None:
self.activeRoute = gpx.GPXRoute(
self.currentLeg.name)
self.currentLeg.currentRoute = self.activeRoute
except:
AVNLog.error("error parsing current leg %s: %s" %
(self.currentLegFileName, traceback.format_exc()))
if f is not None:
f.close()
#TODO: open route
else:
AVNLog.info("no current leg %s found" %
(self.currentLegFileName, ))
AVNLog.info("router main loop started")
while True:
hasLeg = False
hasRMB = False
time.sleep(interval)
if self.currentLeg and self.currentLeg.active:
hasLeg = True
if self.currentLeg.anchorDistance is not None:
routerInfo = "Anchor watch, from %s, (anchor radius %dm)" % (
unicode(self.currentLeg.fromWP),
int(self.currentLeg.anchorDistance))
else:
routerInfo = "from %s, to %s, route=%s, activeWp=%d, approach=%s (approach radius %dm)" % (
unicode(self.currentLeg.fromWP)
if self.currentLeg.fromWP else "NONE",
unicode(self.currentLeg.toWP) if self.currentLeg.toWP
else "NONE", self.currentLeg.name
if self.currentLeg.name is not None else "NONE",
self.currentLeg.currentTarget,
"TRUE" if self.currentLeg.approach else "FALSE",
int(self.currentLeg.approachDistance))
AVNLog.debug(routerInfo)
self.setInfo("leg", routerInfo, AVNWorker.Status.RUNNING)
try:
if self.currentLeg is not None and self.currentLeg.anchorDistance is not None:
self.computeAnchor()
else:
self.startStopAlarm(False, 'anchor')
self.startStopAlarm(False, 'gps')
computeRMB = self.getBoolParam("computeRMB")
computeAPB = self.getBoolParam("computeAPB")
if computeRMB or computeAPB:
hasRMB = self.computeRMB(computeRMB, computeAPB)
except Exception as e:
AVNLog.warn("exception in computeRMB %s, retrying",
traceback.format_exc())
try:
self.computeApproach()
except:
AVNLog.warn("exception in computeApproach %s, retrying",
traceback.format_exc())
if (not hasLeg):
self.setInfo("leg", "no leg", AVNWorker.Status.INACTIVE)
if (not hasRMB):
self.setInfo("autopilot", "no autopilot data",
AVNWorker.Status.INACTIVE)
try:
curTPV = self.navdata.getMergedEntries("TPV", [])
lat = curTPV.data.get('lat')
lon = curTPV.data.get('lon')
if lat is not None and lon is not None:
self.startStopAlarm(False, 'gps')
except:
pass
AVNLog.debug("router main loop")
def getUserDir(self):
return AVNConfig.getDirWithDefault(self.param, 'userDir', 'layout')
def run(self):
self.setName("[%s]%s"%(AVNLog.getThreadId(),self.getName()))
interval=self.getIntParam('interval')
routesdir=AVNUtil.replaceParam(os.path.expanduser(self.getStringParam("routesdir")),AVNConfig.filterBaseParam(self.getParam()))
if routesdir == "":
routesdir=os.path.join(self.getStringParam(AVNConfig.BASEPARAM.DATADIR),u'routes')
self.routesdir=routesdir
if not os.path.isdir(self.routesdir):
AVNLog.info("creating routes directory %s"%(self.routesdir))
os.makedirs(self.routesdir,0755)
self.fillRouteInfos()
self.currentLegFileName=os.path.join(self.routesdir,self.currentLegName)
if os.path.exists(self.currentLegFileName):
f=None
try:
f=open(self.currentLegFileName,"r")
strleg=f.read(self.MAXROUTESIZE+1000)
self.currentLeg=self.parseLeg(strleg)
if self.currentLeg.toWP is not None:
distance=geo.length([self.currentLeg.fromWP,self.currentLeg.toWP])
AVNLog.info("read current leg, route=%s, from=%s, to=%s, length=%fNM"%(self.currentLeg.name,
unicode(self.currentLeg.fromWP),unicode(self.currentLeg.toWP),distance/AVNUtil.NM))
else:
AVNLog.info("read current leg, route=%s, from=%s, to=%s"% (self.currentLeg.name,
unicode(self.currentLeg.fromWP),
"NONE",
))
if self.currentLeg.name is not None:
self.activeRouteName=self.currentLeg.name
if self.currentLeg.currentRoute is not None:
#this will also set the active route
self.saveRoute(self.currentLeg.currentRoute)
if self.currentLeg.name != self.currentLeg.currentRoute.name:
AVNLog.error("leg inconsistent, name in route %s different from name in leg %s, correcting to route name",self.currentLeg.name,
self.currentLeg.currentRoute.name)
self.currentLeg.name=self.currentLeg.currentRoute.name
self.activeRouteName=self.currentLeg.name
#write back the corrected leg
self.setCurrentLeg(self.currentLeg)
else:
if self.currentLeg.name is not None:
self.activeRoute=self.loadRoute(self.currentLeg.name)
if self.activeRoute is None:
self.activeRoute=gpx.GPXRoute(self.currentLeg.name)
self.currentLeg.currentRoute=self.activeRoute
except:
AVNLog.error("error parsing current leg %s: %s"%(self.currentLegFileName,traceback.format_exc()))
if f is not None:
f.close()
#TODO: open route
else:
AVNLog.info("no current leg %s found"%(self.currentLegFileName,))
AVNLog.info("router main loop started")
while True:
hasLeg=False
hasRMB=False
time.sleep(interval)
if self.currentLeg and self.currentLeg.active:
hasLeg=True
if self.currentLeg.anchorDistance is not None:
routerInfo = "Anchor watch, from %s, (anchor radius %dm)" % (
unicode(self.currentLeg.fromWP),
int(self.currentLeg.anchorDistance))
else:
routerInfo="from %s, to %s, route=%s, activeWp=%d, approach=%s (approach radius %dm)"%(unicode(self.currentLeg.fromWP)
if self.currentLeg.fromWP else "NONE",unicode(self.currentLeg.toWP) if self.currentLeg.toWP else "NONE",
self.currentLeg.name if self.currentLeg.name is not None else "NONE", self.currentLeg.currentTarget,
"TRUE" if self.currentLeg.approach else "FALSE",int(self.currentLeg.approachDistance))
AVNLog.debug(routerInfo)
self.setInfo("leg",routerInfo
,AVNWorker.Status.RUNNING)
try:
if self.currentLeg is not None and self.currentLeg.anchorDistance is not None:
self.computeAnchor()
else:
self.startStopAlarm(False,'anchor')
self.startStopAlarm(False, 'gps')
computeRMB=self.getBoolParam("computeRMB")
computeAPB=self.getBoolParam("computeAPB")
if computeRMB or computeAPB :
hasRMB=self.computeRMB(computeRMB,computeAPB)
except Exception as e:
AVNLog.warn("exception in computeRMB %s, retrying",traceback.format_exc())
try:
self.computeApproach()
except:
AVNLog.warn("exception in computeApproach %s, retrying",traceback.format_exc())
if (not hasLeg):
self.setInfo("leg","no leg",AVNWorker.Status.INACTIVE)
if (not hasRMB):
self.setInfo("autopilot","no autopilot data",AVNWorker.Status.INACTIVE)
try:
curTPV = self.navdata.getMergedEntries("TPV", [])
lat = curTPV.data.get('lat')
lon = curTPV.data.get('lon')
if lat is not None and lon is not None:
self.startStopAlarm(False,'gps')
except:
pass
AVNLog.debug("router main loop")
def run(self):
self.setName(self.getThreadPrefix())
trackdir=AVNConfig.getDirWithDefault(self.param,"trackdir")
filterstr=self.getStringParam("filter")
if filterstr is None or filterstr == "":
AVNLog.warn("no filter for NMEA logger, exiting logger")
return
feeder=self.findFeeder(self.getStringParam('feederName'))
if feeder is None:
raise Exception("%s: cannot find a suitable feeder (name %s)",self.getName(),self.getStringParam("feederName") or "")
self.feeder=feeder
nmeaFilter=filterstr.split(",")
if trackdir is None:
trackwriter=self.findHandlerByName(AVNTrackWriter.getConfigName())
if trackwriter is not None:
trackdir=trackwriter.getTrackDir()
if trackdir is None or not trackdir :
#2nd try with a default
trackdir = AVNConfig.getDirWithDefault(self.param, "trackdir","tracks")
self.trackdir=trackdir
interval=self.getIntParam('interval')
maxfiles=100
try:
mf=self.getIntParam('maxfiles')
if mf > 0:
maxfiles=mf
except:
pass
self.maxfiles=maxfiles
AVNLog.info("starting logger with maxfiles = %d, filter=%s, interval=%ds",maxfiles,filterstr,interval)
fname=None
f=None
lastcleanup=None
seq=0
last={}
initial=True
while True:
currentTime=datetime.datetime.utcnow()
try:
newFile=False
if not os.path.isdir(self.trackdir):
os.makedirs(self.trackdir, 0775)
curfname=os.path.join(self.trackdir,self.createFileName(currentTime))
#we have to consider time shift backward
if lastcleanup is None or (currentTime > lastcleanup+datetime.timedelta(seconds=60)) or (currentTime < lastcleanup-datetime.timedelta(seconds=5)):
self.cleanup(curfname)
lastcleanup=currentTime
#force reopen file
fname=None
if not curfname == fname:
if fname is not None or initial:
AVNLog.info("new nmea logfile %s",curfname)
initial=False
fname=curfname
if not f is None:
f.close()
newFile=True
last={}
if newFile:
zfname=curfname+".gz"
f=open(curfname,"a")
if os.path.isfile(zfname):
#we must uncompress first
AVNLog.info("decompressing existing nmea log %s",zfname)
try:
zf=gzip.open(zfname,"rb")
while True:
buf=zf.read(100000)
if buf is None or len(buf) == 0:
break
f.write(buf)
zf.close()
except:
AVNLog.error("unable to read old compressed log %s: %s",zfname,traceback.format_exc())
try:
os.unlink(zfname)
except:
pass
newFile=False
self.setInfo('main', "writing to %s"%(curfname,), AVNWorker.Status.NMEA)
seq,data=self.feeder.fetchFromHistory(seq,10,nmeafilter=nmeaFilter)
if len(data)>0:
for line in data:
now=datetime.datetime.utcnow()
key=line[0:6]
prev=last.get(key)
if prev is not None:
diff=now-prev
if diff.seconds < interval:
continue
last[key]=now
self.writeLine(f,line)
except Exception as e:
AVNLog.error("exception in nmea logger: %s",traceback.format_exc());
time.sleep(1)
