def __init__(self, config="track_server.cfg"):
# Logging
logging.basicConfig(filename=self.log_file,
level=self.log_level,
filemode='w',
format='%(asctime)s %(levelname)s: %(message)s')
self.logger = logging.getLogger("trackserver")
# Configuration file
self.config = None
if os.path.exists(config):
self.config = ConfigParser.ConfigParser()
self.config.read(config)
if self.config.has_option("Database", "db_user"):
self.db_user = self.config.get("Database", "db_user")
if self.config.has_option("Database", "db_pass"):
self.db_pass = self.config.get("Database", "db_pass")
if self.config.has_option("Database", "db_host"):
self.db_host = self.config.get("Database", "db_host")
if self.config.has_option("Database", "db_name"):
self.db_name = self.config.get("Database", "db_name")
# DB connection with general purposes
self.db = MySQLdb.connect(self.db_host, self.db_user, self.db_pass,
self.db_name)
# DB connection specific for thread _process_msg()
self.db_process = MySQLdb.connect(self.db_host, self.db_user,
self.db_pass, self.db_name)
# DB connection specific for thread _update()
self.db_update = MySQLdb.connect(self.db_host, self.db_user,
self.db_pass, self.db_name)
# Emane service
self.service = EventService(('224.1.2.8', 45703, self.net_iface))
# Queue of unprocessed messages from track generator
self.msg_queue = deque([])
# List of NEMs available in the simulation
self.nems = []
def setpathloss(self, numnodes):
""" Send EMANE pathloss events to connect all NEMs in a chain.
"""
if self.session.emane.version < self.session.emane.EMANE091:
service = emaneeventservice.EventService()
e = emaneeventpathloss.EventPathloss(1)
old = True
else:
if self.session.emane.version == self.session.emane.EMANE091:
dev = "lo"
else:
dev = self.session.obj("ctrlnet").brname
service = EventService(eventchannel=("224.1.2.8", 45703, dev),
otachannel=None)
old = False
for i in range(1, numnodes + 1):
rxnem = i
# inform rxnem that it can hear node to the left with 10dB noise
txnem = rxnem - 1
if txnem > 0:
if old:
e.set(0, txnem, 10.0, 10.0)
service.publish(emaneeventpathloss.EVENT_ID,
emaneeventservice.PLATFORMID_ANY, rxnem,
emaneeventservice.COMPONENTID_ANY,
e.export())
else:
e = PathlossEvent()
e.append(txnem, forward=10.0, reverse=10.0)
service.publish(rxnem, e)
# inform rxnem that it can hear node to the right with 10dB noise
txnem = rxnem + 1
if txnem > numnodes:
continue
if old:
e.set(0, txnem, 10.0, 10.0)
service.publish(emaneeventpathloss.EVENT_ID,
emaneeventservice.PLATFORMID_ANY, rxnem,
emaneeventservice.COMPONENTID_ANY, e.export())
else:
e = PathlossEvent()
e.append(txnem, forward=10.0, reverse=10.0)
service.publish(rxnem, e)
def init_nodes(service):
if __name__ == "__main__":
with open_tdma():
time.sleep(5)
esh = EMANEShell('localhost', 47000)
# Debug level
#esh.do_loglevel('4')
# haifa airport, Naharia, Tiberias, Haifa airport 33.013 35.05
service = EventService(('224.1.2.8', 45703, 'emanenode0'))
init_nodes(service)
raw_input("Press Enter to continue...")
print "Done"
def setpathloss(self, numnodes):
""" Send EMANE pathloss events to connect all NEMs in a chain.
"""
if self.session.emane.version < self.session.emane.EMANE091:
service = emaneeventservice.EventService()
e = emaneeventpathloss.EventPathloss(1)
old = True
else:
if self.session.emane.version == self.session.emane.EMANE091:
dev = "lo"
else:
dev = self.session.obj("ctrlnet").brname
service = EventService(eventchannel=("224.1.2.8", 45703, dev),
otachannel=None)
old = False
for i in xrange(1, numnodes + 1):
rxnem = i
# inform rxnem that it can hear node to the left with 10dB noise
txnem = rxnem - 1
if txnem > 0:
if old:
e.set(0, txnem, 10.0, 10.0)
service.publish(emaneeventpathloss.EVENT_ID,
emaneeventservice.PLATFORMID_ANY, rxnem,
emaneeventservice.COMPONENTID_ANY, e.export())
else:
e = PathlossEvent()
e.append(txnem, forward=10.0, reverse=10.0)
service.publish(rxnem, e)
# inform rxnem that it can hear node to the right with 10dB noise
txnem = rxnem + 1
if txnem > numnodes:
continue
if old:
e.set(0, txnem, 10.0, 10.0)
service.publish(emaneeventpathloss.EVENT_ID,
emaneeventservice.PLATFORMID_ANY, rxnem,
emaneeventservice.COMPONENTID_ANY, e.export())
else:
e = PathlossEvent()
e.append(txnem, forward=10.0, reverse=10.0)
service.publish(rxnem, e)
if i == 0:
continue
for counter in range(0, 2000):
counter = float(counter) / 2000
lon = coordinates[i - 1][0] + counter * (coordinates[i][0] -
coordinates[i - 1][0])
lat = coordinates[i - 1][1] + counter * (coordinates[i][1] -
coordinates[i - 1][1])
os.system(sdtcmd_path + " " + "node node-02 position" + " " +
str(lon)[0:7] + "," + str(lat)[0:7])
os.system(sdtcmd_path + " " + "wait 50.0")
# create an event setting plane position
event = LocationEvent()
event.append(12, latitude=lat, longitude=lon, altitude=500.000000)
service.publish(0, event)
event = LocationEvent()
event.append(7, latitude=lat, longitude=lon, altitude=500.000000)
service.publish(0, event)
time.sleep(0.01)
time.sleep(20)
if __name__ == "__main__":
#haifa airport, Naharia, Tiberias, Haifa airport
coordinates = [(35.0433, 32.8119), (35.121314, 33.017947),
(35.532089, 32.794592), (35.0433, 32.8119)]
service = EventService(('224.1.2.8', 45703, 'emanenode0'))
init_nodes(service)
move_node(service, coordinates)
print "Done"
#!/usr/bin/env python
from emanesh.events import EventService
from emanesh.events import LocationEvent
# create the event service
service = EventService(('224.1.2.8',45703,'emanenode0'))
# create an event setting 10's position
event = LocationEvent()
event.append(10,latitude=40.031290,longitude=-74.523095,altitude=3.000000)
# publish the event
service.publish(0,event)
#!/usr/bin/env python
from emanesh.events import EventService
from emanesh.events import PathlossEvent
#
# create the event service
service = EventService(('224.1.2.8', 45703, 'emanenode0'))
#
# create an event setting the pathloss between 1 & 10
event = PathlossEvent()
event.append(9, forward=900)
event.append(7, forward=900)
#
# publish the event
service.publish(9, event)
service.publish(7, event)
#
# create an event setting the pathloss between 9 & 10
event = PathlossEvent()
event.append(9, forward=90)
event.append(10, forward=90)
#
# publish the event
service.publish(9, event)
service.publish(10, event)
action="append",
type="int",
dest="target",
help="Only send an event to the target")
optionParser.add_option("-r",
"--reference",
action="append",
type="int",
dest="reference",
help="Send events to targeted NEMs but only include information for the reference NEM.")
(options, args) = optionParser.parse_args()
service = EventService((options.group,options.port,options.device))
if len(args) < 2:
print >>sys.stderr,"missing arguments"
exit(1)
nems = args[0].split(':')
if len(nems) == 0 or len(nems) > 2:
print >>sys.stderr,"invalid NEMID format:",args[0]
exit(1)
try:
nems = [int(x) for x in nems]
except:
print >>sys.stderr,"invalid NEMID format:",args[0]
dest="target",
help="Only send an event to the target")
optionParser.add_option(
"-r",
"--reference",
action="append",
type="int",
dest="reference",
help=
"Send events to NEMs in the range but only include information for the reference NEM."
)
(options, args) = optionParser.parse_args()
service = EventService((options.group, options.port, options.device))
if len(args) < 2:
print >> sys.stderr, "missing arguments"
exit(1)
nems = args[0].split(':')
if len(nems) == 0 or len(nems) > 2:
print >> sys.stderr, "invalid NEMID format:", args[0]
exit(1)
try:
nems = [int(x) for x in nems]
except:
print >> sys.stderr, "invalid NEMID format:", args[0]
class TrackServer:
"""Read ptracks data through a multicast address and update the position of aircraft nodes on a MySQL database.
"""
update_interval = 1.0
log_file = "track_server.log"
log_level = logging.DEBUG
net_tracks = "235.12.2.4"
net_iface = "ctrl0"
db_name = 'atn_sim'
db_user = '******'
db_pass = '******'
db_host = '172.17.255.254'
tracks = {}
def __init__(self, config="track_server.cfg"):
# Logging
logging.basicConfig(filename=self.log_file,
level=self.log_level,
filemode='w',
format='%(asctime)s %(levelname)s: %(message)s')
self.logger = logging.getLogger("trackserver")
# Configuration file
self.config = None
if os.path.exists(config):
self.config = ConfigParser.ConfigParser()
self.config.read(config)
if self.config.has_option("Database", "db_user"):
self.db_user = self.config.get("Database", "db_user")
if self.config.has_option("Database", "db_pass"):
self.db_pass = self.config.get("Database", "db_pass")
if self.config.has_option("Database", "db_host"):
self.db_host = self.config.get("Database", "db_host")
if self.config.has_option("Database", "db_name"):
self.db_name = self.config.get("Database", "db_name")
# DB connection with general purposes
self.db = MySQLdb.connect(self.db_host, self.db_user, self.db_pass,
self.db_name)
# DB connection specific for thread _process_msg()
self.db_process = MySQLdb.connect(self.db_host, self.db_user,
self.db_pass, self.db_name)
# DB connection specific for thread _update()
self.db_update = MySQLdb.connect(self.db_host, self.db_user,
self.db_pass, self.db_name)
# Emane service
self.service = EventService(('224.1.2.8', 45703, self.net_iface))
# Queue of unprocessed messages from track generator
self.msg_queue = deque([])
# List of NEMs available in the simulation
self.nems = []
def start(self):
self.logger.info("Initiating server")
self._init_nodes_table()
self._init_nems_table()
self._init_mapings()
# t1 = threading.Thread(target=self._update_from_emane, args=())
t1 = threading.Thread(target=self._update_from_tracks, args=())
t2 = threading.Thread(target=self.listen, args=())
t3 = threading.Thread(target=self._process_queue, args=())
t1.start()
t2.start()
t3.start()
self.db.close()
def stop(self):
pass
def listen(self):
# Retrieving list of nodes
nodes = emane_utils.get_all_locations()
for n in nodes:
self.nems.append(n["nem"])
if len(nodes) == 0:
self.logger.error("Cannot read nodes' positions from Emane")
# IP address of incoming messages
ip = ni.ifaddresses(self.net_iface)[2][0]['addr']
sock = mcast_socket.McastSocket(local_port=1970, reuse=True)
sock.mcast_add(self.net_tracks, ip)
self.logger.info("Waiting for track messages on %s:%d" %
(self.net_tracks, 1970))
while True:
data, sender_addr = sock.recvfrom(1024)
# Inserting received messages in the queue
self.msg_queue.append(data)
def _process_queue(self):
while True:
if len(self.msg_queue) == 0:
time.sleep(0.5)
continue
else:
self._process_msg(self.msg_queue.popleft())
def _process_msg(self, data):
FT_TO_M = 0.3048
KT_TO_MPS = 0.51444444444
message = data.split("#")
# ex: 101#114#1#7003#-1#4656.1#-16.48614#-47.947058#210.8#9.7#353.9#TAM6543#B737#21653.3006492
msg_ver = int(message[0])
msg_typ = int(message[1])
if msg_typ != 114:
return
msg_num = int(message[2]) # node id
msg_ssr = message[3]
msg_spi = int(message[4]) # if spi > 0, SPI=ON, otherwise SPI=OFF
msg_alt = float(message[5]) # altitude (feet)
msg_lat = float(message[6]) # latitude (degrees)
msg_lon = float(message[7]) # longitude (degrees)
msg_vel = float(message[8]) # velocity (knots)
msg_cbr = float(message[9]) # climb rate (m/s)
msg_azm = float(message[10]) # azimuth (degrees)
msg_csg = message[11] # callsign
msg_per = message[12] # aircraft performance type
msg_tim = float(message[13]) # timestamp (see "hora de inicio")
if msg_num in self.track2nem:
nemid = self.track2nem[msg_num]
else:
nemid = msg_num
if nemid not in self.nems:
# Current track does not exists in the simulation
return
#
# Update node's physical parameters using Emane API
#
event = LocationEvent()
event.append(nemid,
latitude=msg_lat,
longitude=msg_lon,
altitude=msg_alt * FT_TO_M,
azimuth=msg_azm,
magnitude=msg_vel * KT_TO_MPS,
elevation=0.0)
self.service.publish(0, event)
#
# Update local variables
#
obj = {
'latitude': msg_lat,
'longitude': msg_lon,
'altitude': msg_alt * FT_TO_M,
'pitch': 0.0,
'roll': 0.0,
'yaw': 0.0,
'azimuth': msg_azm,
'elevation': 0.0,
'magnitude': msg_vel * KT_TO_MPS,
}
self.tracks[nemid] = obj
#
# Update transponder's parameters using database shared memory
#
try:
cursor = self.db_process.cursor()
cursor.execute(
"SELECT callsign, performance_type, ssr_squawk FROM transponder WHERE nem_id=%d"
% nemid)
result = cursor.fetchone()
if result is None:
return
db_callsign = result[0]
db_perftype = result[1]
db_squawk = result[2]
if db_callsign[
0] != msg_csg or db_perftype != msg_per or db_squawk != msg_ssr:
sql = "UPDATE transponder SET callsign='%s', performance_type='%s', ssr_squawk='%s' " \
"WHERE nem_id=%d" % (msg_csg, msg_per, msg_ssr, nemid)
cursor.execute(sql)
self.db_process.commit()
cursor.close()
except MySQLdb.Error, e:
logging.warn("listen(): MySQL Error [%d]: %s" %
(e.args[0], e.args[1]))
dest="device",
help="Event channel multicast device")
(options, args) = optionParser.parse_args()
if len(args) == 1:
if os.path.isfile(args[0]):
schedule = TDMASchedule(args[0])
else:
print >>sys.stderr, "unable to open:",args[0]
exit(1)
else:
print >>sys.stderr, "invalid number of arguments"
exit(1)
eventService = EventService((options.group,options.port,options.device))
info = schedule.info()
structure = schedule.structure()
frameDefaults = schedule.defaultsFrame();
for nodeId in info:
event = TDMAScheduleEvent(**schedule.defaults())
for frameIndex in info[nodeId]:
for slotIndex,args in info[nodeId][frameIndex].items():
defaults = args
for key,value in frameDefaults[frameIndex].items():
defaults["frame." + key] = value
event.append(frameIndex,slotIndex,**defaults)
def main():
global conf_file
global node_conf_file
global ENABLE_TIMEKEEPER
global max_tdf
global topo_size
os.system("sudo chmod -R 777 /tmp")
os.system("sudo rm -rf /tmp/emane")
if is_root() == 0:
print "Must be run as root"
sys.exit(-1)
arg_list = sys.argv
if len(arg_list) == 1:
conf_file = cwd + "/conf/emane.conf"
node_conf_file = cwd + "/conf/node.conf"
else:
i = 1
while i < len(arg_list):
if arg_list[i] == "-D":
ENABLE_TIMEKEEPER = 0
else:
ENABLE_TIMEKEEPER = 1
conf_files_dir = arg_list[1]
if os.path.isdir(conf_files_dir) == True:
conf_file = conf_files_dir + "/emane.conf"
node_conf_file = conf_files_dir + "/node.conf"
if os.path.exists(conf_file) == False or os.path.exists(
node_conf_file) == False:
print "Config files do not exist"
sys.exit(-1)
else:
print "Config directory specified is incorrect"
sys.exit(-1)
i = i + 1
Node, run_time, n_nodes, eventmanagergroup, timeslice = configure()
topo_size = n_nodes
# create experiment-data directory
with open(cwd + "/experiment-data/exp-info.txt", "w") as f:
f.write("Conf file path : " + conf_file + "\n")
f.write("Node Conf file : " + node_conf_file + "\n")
f.write("Run time : " + str(run_time) + "\n")
f.write("N_nodes : " + str(n_nodes) + "\n")
# copy node_config file and emane_conf file
os.system("mkdir -p " + cwd + "/experiment-data")
start_LXCs()
print "Timeslice = ", timeslice
print "Setting initial location values to all lxcs ..."
nemid = 1
temp_list = eventmanagergroup.split(":")
eventmanagergroupaddress = temp_list[0]
eventmanagergroupport = int(temp_list[1])
service = EventService(
(eventmanagergroupaddress, eventmanagergroupport, 'br0'))
event = LocationEvent()
i = 1
while i <= n_nodes:
pathlossevt = PathlossEvent()
j = 1
while j <= n_nodes:
if i != j:
pathlossevt.append(j, forward=90, reverse=90)
j = j + 1
i = i + 1
while nemid <= n_nodes:
event.append(nemid,
latitude=Node[nemid]["lattitude"],
longitude=Node[nemid]["longitude"],
altitude=Node[nemid]["altitude"])
nemid = nemid + 1
service.publish(0, event)
time.sleep(2)
print "Location events published. All nodes set to initial positions. Waiting for 30 sec for routing updates to stabilize"
time.sleep(50)
# Timekeeper portion
freeze_quantum = 1000000 # in nano seconds
nemid = 1
while nemid <= n_nodes:
pid = int(getpidfromname("node-" + str(nemid)))
print "PID of node ", nemid, " = ", pid, " TDF = ", Node[nemid]["tdf"]
if pid != -1 and ENABLE_TIMEKEEPER == 1:
dilate_all(pid, Node[nemid]["tdf"])
addToExp(pid)
if max_tdf < Node[nemid]["tdf"]:
max_tdf = Node[nemid]["tdf"]
nemid += 1
lxc_pid = int(getpidfromname("node-1"))
if os.path.exists(cwd + "/exp_finished.txt"):
os.unlink(cwd + "/exp_finished.txt")
# send commands to execute to each LXC
nemid = 1
while nemid <= n_nodes:
if nemid % 2 == 0:
process = subprocess.Popen([
"python", "lxc_command_dispatcher.py",
str(0),
str(nemid), Node[nemid]["cmd"]
])
else:
process = subprocess.Popen([
"python", "lxc_command_dispatcher.py",
str(1),
str(nemid), Node[nemid]["cmd"]
])
nemid += 1
print "Set freeze_quantum = ", freeze_quantum * max_tdf
if ENABLE_TIMEKEEPER == 1 and max_tdf >= 1:
set_cpu_affinity(int(os.getpid()))
set_cbe_experiment_timeslice(freeze_quantum * max_tdf)
print "Timekeeper synchronizing ..."
synchronizeAndFreeze()
startExp()
print "Synchronized CBE experiment started ..."
start_time = int(get_current_virtual_time_pid(int(lxc_pid)))
prev_time = start_time
print "Experiment start time", start_time, " local Time = " + str(
datetime.now())
sys.stdout.flush()
else:
print "Experiment Started with TimeKeeper disabled - Ignoring TDF settings"
try:
k = 0
while True:
if ENABLE_TIMEKEEPER == 1:
curr_time = int(get_current_virtual_time_pid(int(lxc_pid)))
if curr_time - start_time >= run_time:
break
else:
if curr_time - prev_time >= 1:
k = k + (curr_time - prev_time)
print k, " secs of virtual time elapsed"
prev_time = curr_time
else:
if k >= run_time:
break
k = k + 1
print k, " secs of real time elapsed"
# sleep until runtime expires
time.sleep(1)
except KeyboardInterrupt:
pass
# stop Exp
print "Stopping Synchronized experiment, local time = " + str(
datetime.now())
if ENABLE_TIMEKEEPER == 1:
stopExp()
time.sleep(10)
stop_LXCs(max_tdf)
dest="device",
help="Event channel multicast device")
(options, args) = optionParser.parse_args()
if len(args) == 1:
if os.path.isfile(args[0]):
schedule = TDMASchedule(args[0])
else:
print >> sys.stderr, "unable to open:", args[0]
exit(1)
else:
print >> sys.stderr, "invalid number of arguments"
exit(1)
eventService = EventService((options.group, options.port, options.device))
info = schedule.info()
structure = schedule.structure()
frameDefaults = schedule.defaultsFrame()
for nodeId in info:
event = TDMAScheduleEvent(**schedule.defaults())
for frameIndex in info[nodeId]:
for slotIndex, args in info[nodeId][frameIndex].items():
defaults = args
for key, value in frameDefaults[frameIndex].items():
defaults["frame." + key] = value
event.append(frameIndex, slotIndex, **defaults)
#!/usr/bin/env python
from emanesh.events import EventService
from emanesh.events import PathlossEvent
# create the event service
service = EventService(('224.1.2.8',45703,'emanenode0'))
# create an event setting the pathloss between 1 & 10
event = PathlossEvent()
event.append(1,forward=90)
event.append(10,forward=90)
# publish the event
service.publish(1,event)
service.publish(10,event)
# create an event setting the pathloss between 9 & 10
event = PathlossEvent()
event.append(9,forward=90)
event.append(10,forward=90)
# publish the event
service.publish(9,event)
service.publish(10,event)