def main():
ship = 'knossos'
if len(sys.argv) > 1: ship = sys.argv[1]
try:
print ships[ship][2]
except:
pass
f = open(ships[ship][1])
l = f.readline()
for l in f:
try:
fields = l.split('\t')
lat = float(fields[3])
lon = float(fields[4])
sog = float(fields[2])
cog = float(fields[5])
except ValueError:
print >> sys.stderr, l,
continue
aismsg = aislib.AISPositionReportMessage(mmsi=ships[ship][0],
pa=1,
lon=int((lon) * 60 * 10000),
lat=int((lat) * 60 * 10000),
heading=int(cog),
sog=int(sog * 10),
cog=int(cog * 10),
status=0,
ts=60,
raim=1,
comm_state=82419)
ais = aislib.AIS(aismsg)
payload = ais.build_payload(False)
print payload
time.sleep(2)
# print "nav status: %d" % aismsg.get_attr("status")
aismsg2 = ais.decode(payload)
ais2 = aislib.AIS(aismsg2)
payload2 = ais2.build_payload(False)
# print payload2
# print "nav status: %d" % aismsg2.get_attr("status")
#print aismsg.id
#print aismsg.repeat
#bitstr = aismsg.build_bitstream()
#print bitstr.bin
# #print bitstr.len
f.close()
def getAisStr(self, mssi_, LatLon):
# status
# 0 - undarway
# 1 - anchore
# 2 - not under command
# 3 - restricted movability
# 4 - contrained
# 5 - moored
# 6 - aground
# 7 - engaged in finish
# 8 - under way sailing
# 9 - high speed craft
# 10 - wing in ground effect
# 11 - power driven vessel towing
# 12 - power driven vessel pushing
# 13 - reserved 13
# 15 - undefined
a = aislib.AISPositionReportMessage(mmsi=mssi_,
pa=1,
lon=int((LatLon.lon) * 60 * 10000),
lat=int((LatLon.lat) * 60 * 10000),
status=15,
ts=30,
raim=0,
comm_state=0)
ais = aislib.AIS(a)
#print("ais",ais)
p = ais.build_payload(False)
#print("payload",p)
return p
def aisCallback(self, data):
rospy.loginfo(data)
for ship in data.ships:
aisreport = ais.AISPositionReportMessage(
mmsi=ship.ID,
lon=int(ship.lon * 600000),
lat=int(ship.lat * 600000),
heading=int(headingToBearingDegrees(ship.headingDegrees)) %
360)
aismsg = ais.AIS(aisreport)
sock.sendto(aismsg.build_payload(), (UDP_IP, UDP_PORT))
def as_AIS_report(self, route={}):
# Message Type 5
aismsg = aislib.AISStaticAndVoyageReportMessage(mmsi=self.mmsi,
imo=self.imo,
callsign=self.callsign,
shipname=self.name,
shiptype=36,
to_bow=5,to_stern=5,to_port=1,to_starboard=1,
draught=int(self.draught * 10.0),
epfd=1, month=5, day=14, hour=20, minute=15,
destination='CANBERRA')
ais = aislib.AIS(aismsg)
payload = ais.build_payload(False)
return payload
def as_AIS_pos_report(self):
# return an NMEA encoded position report
aismsg = aislib.AISPositionReportMessage( \
mmsi = self.vessel.mmsi, \
status = 8, \
sog = int(self.speed*10.0), \
pa = 1, \
lon = int(self.pos.x * 600000),
lat = int(self.pos.y * 600000),
# lon = (25*60+00)*10000,
# lat = (35*60+30)*10000,
cog = int(self.course * 10.0),
ts = 40,
raim = 1,
comm_state = 82419
)
ais = aislib.AIS(aismsg)
payload = ais.build_payload(False)
return payload
# Tests for Message Type 1
#
print('Tests for Message Type 1')
aismsg = aislib.AISPositionReportMessage(mmsi=237772000,
status=8,
sog=75,
pa=1,
lon=(25 * 60 + 00) * 10000,
lat=(35 * 60 + 30) * 10000,
cog=2800,
ts=40,
raim=1,
comm_state=82419)
ais = aislib.AIS(aismsg)
payload = ais.build_payload(False)
print(payload) # !AIVDM,1,1,,A,13RhLp801;QjL>0DD38:t?w@2D7k,0*3E
aismsg2 = ais.decode(payload)
ais2 = aislib.AIS(aismsg2)
payload2 = ais2.build_payload(False)
assert payload == payload2
#
# Tests for Message Type 2 (payload format as type 1)
#
print('Tests for Message Type 2 (payload format as type 1)')
aismsg = aislib.AISPositionReportMessage(id=2,
mmsi=237772000,
int_lat_1 = int(latfloat)
int_lat_1 = int_lat_1 * 60 * 10000
int_lat_2 = latfloat - float((int(latfloat)))
int_lat_2 = int_lat_2 * 60 * 10000
int_lat_3 = int_lat_2 + int_lat_1
aismsg.lat = int(int_lat_3)
int_long_1 = int(longfloat)
int_long_1 = int_long_1 * 60 * 10000
int_long_2 = longfloat - float((int(longfloat)))
int_long_2 = int_long_2 * 60 * 10000
int_long_3 = int_long_2 + int_long_1
aismsg.lon = int(int_long_3)
heading = float(doc.Document.Style.IconStyle.heading.text)
heading = heading * 10
aismsg.cog = int(heading)
ais = aislib.AIS(aismsg)
payload = ais.build_payload(False)
conn.send(payload)
conn.send('\n\r')
time.sleep(1)
except KeyboardInterrupt:
print("Got ctrl+c, exit... bye!")
#conn.close()
#p.close()
s.close()
sys.exit()
except:
print("Session closed, restart server")
#conn.close()
#p.close()
s.close()
# current_waypoint = data_yaml['current_waypoint']
longitude, latitude = transform(inProj, outProj, east, north)
# print(longitude, latitude)
aismsg1 = aislib.AISPositionReportMessage(
mmsi=imei,
sog=min(int(round(data_yaml['gnss_speed'] * 19.4384)),
1022), # vitesse en dixieme de noeuds
pa=1,
lat=int(round(latitude * 60e4)),
lon=int(round(longitude * 60e4)),
cog=min(int(data_yaml['gnss_heading'] * 10.), 3599) #, # max 3600
# ts = msg_date.second
)
ais1 = aislib.AIS(aismsg1)
payload1 = ais1.build_payload(False)
ser.write(payload1 + '\n')
aismsg2 = aislib.AISStaticAndVoyageReportMessage(shipname=ship_name,
mmsi=imei,
epfd=3,
month=msg_date.month,
day=msg_date.day,
hour=msg_date.hour,
minute=msg_date.minute,
destination="WAYPOINT " +
str(current_waypoint))
ais2 = aislib.AIS(aismsg2)
payload2 = ais2.build_payload(False)
ser.write(payload2 + '\n')