def __init__(self):
# Screen state defaults
self.def_pan = (0.0, 0.0)
self.def_zoom = 1.0
# Screen state overrides per client
self.client_pan = dict()
self.client_zoom = dict()
self.client_ar = dict()
self.route_acid = None
# Timing bookkeeping counters
self.prevtime = 0.0
self.samplecount = 0
self.prevcount = 0
# Output event timers
self.slow_timer = Timer()
self.slow_timer.timeout.connect(self.send_siminfo)
self.slow_timer.timeout.connect(self.send_route_data)
self.slow_timer.start(int(1000 / self.siminfo_rate))
self.fast_timer = Timer()
self.fast_timer.timeout.connect(self.send_aircraft_data)
self.fast_timer.start(int(1000 / self.acupdate_rate))
def __init__(self):
# Screen state defaults
self.def_pan = (0.0, 0.0)
self.def_zoom = 1.0
# Screen state overrides per client
self.client_pan = dict()
self.client_zoom = dict()
self.client_ar = dict()
self.route_acid = None
# Timing bookkeeping counters
self.prevtime = 0.0
self.samplecount = 0
self.prevcount = 0
# Output event timers
self.slow_timer = Timer()
self.slow_timer.timeout.connect(self.send_siminfo)
self.slow_timer.timeout.connect(self.send_route_data)
self.slow_timer.start(int(1000 / self.siminfo_rate))
self.fast_timer = Timer()
self.fast_timer.timeout.connect(self.send_aircraft_data)
self.fast_timer.start(int(1000 / self.acupdate_rate))
def run(self):
''' Start the main loop of this node. '''
hex_id = get_hexid(self.node_id)
try:
while self.running:
# Get new events from the I/O thread
# while self.event_io.poll(0):
if self.event_io.getsockopt(zmq.EVENTS) & zmq.POLLIN:
msg = self.event_io.recv_multipart()
route, eventname, data = msg[:-2], msg[-2], msg[-1]
# route back to sender is acquired by reversing the incoming route
route.reverse()
if eventname == b'QUIT':
print(f'# Node({hex_id}): Quitting (Received QUIT from server)')
self.quit()
else:
pydata = msgpack.unpackb(data, object_hook=decode_ndarray, raw=False)
self.event(eventname, pydata, route)
# Perform a simulation step
self.step()
# Process timers
Timer.update_timers()
except KeyboardInterrupt:
print(f'# Node({hex_id}): Quitting (KeyboardInterrupt)')
self.quit()
def run(self):
''' Start the main loop of this node. '''
while self.running:
# Perform a simulation step
self.step()
# Process timers
Timer.update_timers()
def run(self):
''' Start the main loop of this node. '''
while self.running:
# Perform a simulation step
self.step()
# Process timers
Timer.update_timers()
def step(self):
''' Perform one iteration step. Reimplemented in Simulation. '''
# Process timers
Timer.update_timers()
# Get new events from the I/O thread
# while self.event_io.poll(0):
if self.event_io.getsockopt(zmq.EVENTS) & zmq.POLLIN:
msg = self.event_io.recv_multipart()
route, eventname, data = msg[:-2], msg[-2], msg[-1]
# route back to sender is acquired by reversing the incoming route
route.reverse()
if eventname == b'QUIT':
self.quit()
else:
pydata = msgpack.unpackb(
data, object_hook=decode_ndarray, raw=False)
bs.sim.event(eventname, pydata, route)
def step(self):
''' Perform one iteration step. Reimplemented in Simulation. '''
# Process timers
Timer.update_timers()
# Get new events from the I/O thread
# while self.event_io.poll(0):
if self.event_io.getsockopt(zmq.EVENTS) & zmq.POLLIN:
msg = self.event_io.recv_multipart()
route, eventname, data = msg[:-2], msg[-2], msg[-1]
# route back to sender is acquired by reversing the incoming route
route.reverse()
if eventname == b'QUIT':
self.quit()
else:
pydata = msgpack.unpackb(
data, object_hook=decode_ndarray, encoding='utf-8')
self.event(eventname, pydata, route)
def run(self):
''' Start the main loop of this node. '''
while self.running:
# Get new events from the I/O thread
while self.poll():
res = self.event_io.recv_multipart()
sender_id = res[0]
name = res[1]
if name == b'QUIT':
self.quit()
else:
data = msgpack.unpackb(res[2], object_hook=decode_ndarray, encoding='utf-8')
self.event(name, data, sender_id)
# Perform a simulation step
self.step()
# Process timers
Timer.update_timers()
def run(self):
''' Start the main loop of this node. '''
while self.running:
# Get new events from the I/O thread
# while self.event_io.poll(0):
if self.event_io.getsockopt(zmq.EVENTS) & zmq.POLLIN:
msg = self.event_io.recv_multipart()
route, eventname, data = msg[:-2], msg[-2], msg[-1]
# route back to sender is acquired by reversing the incoming route
route.reverse()
if eventname == b'QUIT':
self.quit()
else:
pydata = msgpack.unpackb(data, object_hook=decode_ndarray, encoding='utf-8')
self.event(eventname, pydata, route)
# Perform a simulation step
self.step()
# Process timers
Timer.update_timers()
def run(self):
''' Start the main loop of this node. '''
while self.running:
# Get new events from the I/O thread
while self.poll():
res = self.event_io.recv_multipart()
sender_id = res[0]
name = res[1]
if name == b'QUIT':
self.quit()
else:
data = msgpack.unpackb(res[2],
object_hook=decode_ndarray,
encoding='utf-8')
self.event(name, data, sender_id)
# Perform a simulation step
self.step()
# Process timers
Timer.update_timers()
def run(self):
''' Start the main loop of this node. '''
while self.running:
# Get new events from the I/O thread
# while self.event_io.poll(0):
if self.event_io.getsockopt(zmq.EVENTS) & zmq.POLLIN:
msg = self.event_io.recv_multipart()
route, eventname, data = msg[:-2], msg[-2], msg[-1]
# route back to sender is acquired by reversing the incoming route
route.reverse()
if eventname == b'QUIT':
self.quit()
else:
pydata = msgpack.unpackb(data, object_hook=decode_ndarray, encoding='utf-8')
self.event(eventname, pydata, route)
# Perform a simulation step
self.step()
# Process timers
Timer.update_timers()
class ScreenIO(object):
"""Class within sim task which sends/receives data to/from GUI task"""
# =========================================================================
# Settings
# =========================================================================
# Update rate of simulation info messages [Hz]
siminfo_rate = 1
# Update rate of aircraft update messages [Hz]
acupdate_rate = 5
# =========================================================================
# Functions
# =========================================================================
def __init__(self):
# Screen state defaults
self.def_pan = (0.0, 0.0)
self.def_zoom = 1.0
# Screen state overrides per client
self.client_pan = dict()
self.client_zoom = dict()
self.client_ar = dict()
self.route_acid = None
# Timing bookkeeping counters
self.prevtime = 0.0
self.samplecount = 0
self.prevcount = 0
# Output event timers
self.slow_timer = Timer()
self.slow_timer.timeout.connect(self.send_siminfo)
self.slow_timer.timeout.connect(self.send_route_data)
self.slow_timer.start(int(1000 / self.siminfo_rate))
self.fast_timer = Timer()
self.fast_timer.timeout.connect(self.send_aircraft_data)
self.fast_timer.start(int(1000 / self.acupdate_rate))
def update(self):
if bs.sim.state == bs.OP:
self.samplecount += 1
def reset(self):
self.samplecount = 0
self.prevcount = 0
self.prevtime = 0.0
# Communicate reset to gui
bs.sim.send_event(b'RESET', b'ALL')
def echo(self, text='', flags=0):
bs.sim.send_event(b'ECHO', dict(text=text, flags=flags))
def cmdline(self, text):
bs.sim.send_event(b'CMDLINE', text)
def getviewctr(self):
return self.client_pan.get(stack.sender()) or self.def_pan
def getviewbounds(self):
# Get appropriate lat/lon/zoom/aspect ratio
sender = stack.sender()
lat, lon = self.client_pan.get(sender) or self.def_pan
zoom = self.client_zoom.get(sender) or self.def_zoom
ar = self.client_ar.get(sender) or 1.0
lat0 = lat - 1.0 / (zoom * ar)
lat1 = lat + 1.0 / (zoom * ar)
lon0 = lon - 1.0 / (zoom * np.cos(np.radians(lat)))
lon1 = lon + 1.0 / (zoom * np.cos(np.radians(lat)))
return lat0, lat1, lon0, lon1
def zoom(self, zoom, absolute=True):
sender = stack.sender()
if sender:
if absolute:
self.client_zoom[sender] = zoom
else:
self.client_zoom[sender] = zoom * self.client_zoom.get(
sender, self.def_zoom)
else:
self.def_zoom = zoom * (1.0 if absolute else self.def_zoom)
self.client_zoom.clear()
bs.sim.send_event(b'PANZOOM', dict(zoom=zoom, absolute=absolute))
def pan(self, *args):
''' Move center of display, relative of to absolute position lat,lon '''
lat, lon = 0, 0
absolute = False
if args[0] == "LEFT":
lon = -0.5
elif args[0] == "RIGHT":
lon = 0.5
elif args[0] == "UP":
lat = 0.5
elif args[0] == "DOWN":
lat = -0.5
else:
absolute = True
lat, lon = args
sender = stack.sender()
if sender:
if absolute:
self.client_pan[sender] = (lat, lon)
else:
ll = self.client_pan.get(sender) or self.def_pan
self.client_pan[sender] = (lat + ll[0], lon + ll[1])
else:
self.def_pan = (lat, lon) if absolute else (lat + self.def_pan[0],
lon + self.def_pan[1])
self.client_pan.clear()
bs.sim.send_event(b'PANZOOM', dict(pan=(lat, lon), absolute=absolute))
def shownd(self, acid):
bs.sim.send_event(b'SHOWND', acid)
def symbol(self):
bs.sim.send_event(b'DISPLAYFLAG', dict(flag='SYM'))
def feature(self, switch, argument=None):
bs.sim.send_event(b'DISPLAYFLAG', dict(flag=switch, args=argument))
def trails(self, sw):
bs.sim.send_event(b'DISPLAYFLAG', dict(flag='TRAIL', args=sw))
def showroute(self, acid):
''' Toggle show route for this aircraft '''
self.route_acid = acid
return True
def addnavwpt(self, name, lat, lon):
''' Add custom waypoint to visualization '''
bs.sim.send_event(b'DEFWPT', dict(name=name, lat=lat, lon=lon))
return True
def show_file_dialog(self):
bs.sim.send_event(b'SHOWDIALOG', dict(dialog='OPENFILE'))
return ''
def show_cmd_doc(self, cmd=''):
bs.sim.send_event(b'SHOWDIALOG', dict(dialog='DOC', args=cmd))
def filteralt(self, *args):
bs.sim.send_event(b'DISPLAYFLAG', dict(flag='FILTERALT', args=args))
def objappend(self, objtype, objname, data):
"""Add a drawing object to the radar screen using the following inputs:
objtype: "LINE"/"POLY" /"BOX"/"CIRCLE" = string with type of object
objname: string with a name as key for reference
objdata: lat,lon data, depending on type:
POLY/LINE: lat0,lon0,lat1,lon1,lat2,lon2,....
BOX : lat0,lon0,lat1,lon1 (bounding box coordinates)
CIRCLE: latctr,lonctr,radiusnm (circle parameters)
"""
bs.sim.send_event(b'SHAPE',
dict(name=objname, shape=objtype, coordinates=data))
def event(self, eventname, eventdata, sender_rte):
if eventname == b'PANZOOM':
self.client_pan[sender_rte[-1]] = eventdata['pan']
self.client_zoom[sender_rte[-1]] = eventdata['zoom']
self.client_ar[sender_rte[-1]] = eventdata['ar']
return True
return False
# =========================================================================
# Slots
# =========================================================================
def send_siminfo(self):
t = time.time()
dt = np.maximum(t - self.prevtime, 0.00001) # avoid divide by 0
speed = (self.samplecount - self.prevcount) / dt * bs.sim.simdt
bs.sim.send_stream(b'SIMINFO',
(speed, bs.sim.simdt, bs.sim.simt,
str(bs.sim.utc.replace(microsecond=0)),
bs.traf.ntraf, bs.sim.state, stack.get_scenname()))
self.prevtime = t
self.prevcount = self.samplecount
def send_aircraft_data(self):
data = dict()
data['simt'] = bs.sim.simt
data['id'] = bs.traf.id
data['lat'] = bs.traf.lat
data['lon'] = bs.traf.lon
data['alt'] = bs.traf.alt
data['tas'] = bs.traf.tas
data['cas'] = bs.traf.cas
data['gs'] = bs.traf.gs
data['inconf'] = bs.traf.asas.inconf
data['tcpamax'] = bs.traf.asas.tcpamax
data['nconf_cur'] = len(bs.traf.asas.confpairs_unique)
data['nconf_tot'] = len(bs.traf.asas.confpairs_all)
data['nlos_cur'] = len(bs.traf.asas.lospairs_unique)
data['nlos_tot'] = len(bs.traf.asas.lospairs_all)
data['trk'] = bs.traf.trk
data['vs'] = bs.traf.vs
data['vmin'] = bs.traf.asas.vmin
data['vmax'] = bs.traf.asas.vmax
# Trails, send only new line segments to be added
data['swtrails'] = bs.traf.trails.active
data['traillat0'] = bs.traf.trails.newlat0
data['traillon0'] = bs.traf.trails.newlon0
data['traillat1'] = bs.traf.trails.newlat1
data['traillon1'] = bs.traf.trails.newlon1
bs.traf.trails.clearnew()
# Last segment which is being built per aircraft
data['traillastlat'] = bs.traf.trails.lastlat
data['traillastlon'] = bs.traf.trails.lastlon
# Transition level as defined in traf
data['translvl'] = bs.traf.translvl
# ASAS resolutions for visualization. Only send when evaluated
if bs.traf.asas.asaseval:
data['asasn'] = bs.traf.asas.asasn
data['asase'] = bs.traf.asas.asase
else:
data['asasn'] = np.zeros(bs.traf.ntraf, dtype=np.float32)
data['asase'] = np.zeros(bs.traf.ntraf, dtype=np.float32)
bs.sim.send_stream(b'ACDATA', data)
def send_route_data(self):
if self.route_acid:
data = dict()
data['acid'] = self.route_acid
idx = bs.traf.id2idx(self.route_acid)
if idx >= 0:
route = bs.traf.ap.route[idx]
data['iactwp'] = route.iactwp
# We also need the corresponding aircraft position
data['aclat'] = bs.traf.lat[idx]
data['aclon'] = bs.traf.lon[idx]
data['wplat'] = route.wplat
data['wplon'] = route.wplon
data['wpalt'] = route.wpalt
data['wpspd'] = route.wpspd
data['wpname'] = route.wpname
bs.sim.send_stream(b'ROUTEDATA', data) # Send route data to GUI
def step(self):
''' Perform one iteration step. Reimplemented in Simulation. '''
# Process timers
Timer.update_timers()
class ScreenIO(object):
"""Class within sim task which sends/receives data to/from GUI task"""
# =========================================================================
# Settings
# =========================================================================
# Update rate of simulation info messages [Hz]
siminfo_rate = 1
# Update rate of aircraft update messages [Hz]
acupdate_rate = 5
# =========================================================================
# Functions
# =========================================================================
def __init__(self):
# Screen state defaults
self.def_pan = (0.0, 0.0)
self.def_zoom = 1.0
# Screen state overrides per client
self.client_pan = dict()
self.client_zoom = dict()
self.client_ar = dict()
self.route_acid = None
# Timing bookkeeping counters
self.prevtime = 0.0
self.samplecount = 0
self.prevcount = 0
# Output event timers
self.slow_timer = Timer()
self.slow_timer.timeout.connect(self.send_siminfo)
self.slow_timer.timeout.connect(self.send_route_data)
self.slow_timer.start(int(1000 / self.siminfo_rate))
self.fast_timer = Timer()
self.fast_timer.timeout.connect(self.send_aircraft_data)
self.fast_timer.start(int(1000 / self.acupdate_rate))
def update(self):
if bs.sim.state == bs.OP:
self.samplecount += 1
def reset(self):
self.samplecount = 0
self.prevcount = 0
self.prevtime = 0.0
# Communicate reset to gui
bs.sim.send_event(b'RESET', b'ALL')
def echo(self, text='', flags=0):
bs.sim.send_event(b'ECHO', dict(text=text, flags=flags))
def cmdline(self, text):
bs.sim.send_event(b'CMDLINE', text)
def getviewctr(self):
return self.client_pan.get(stack.sender()) or self.def_pan
def getviewbounds(self):
# Get appropriate lat/lon/zoom/aspect ratio
sender = stack.sender()
lat, lon = self.client_pan.get(sender) or self.def_pan
zoom = self.client_zoom.get(sender) or self.def_zoom
ar = self.client_ar.get(sender) or 1.0
lat0 = lat - 1.0 / (zoom * ar)
lat1 = lat + 1.0 / (zoom * ar)
lon0 = lon - 1.0 / (zoom * np.cos(np.radians(lat)))
lon1 = lon + 1.0 / (zoom * np.cos(np.radians(lat)))
return lat0, lat1, lon0, lon1
def zoom(self, zoom, absolute=True):
sender = stack.sender()
if sender:
if absolute:
self.client_zoom[sender] = zoom
else:
self.client_zoom[sender] = zoom * self.client_zoom.get(sender, self.def_zoom)
else:
self.def_zoom = zoom * (1.0 if absolute else self.def_zoom)
self.client_zoom.clear()
bs.sim.send_event(b'PANZOOM', dict(zoom=zoom, absolute=absolute))
def pan(self, *args):
''' Move center of display, relative of to absolute position lat,lon '''
lat, lon = 0, 0
absolute = False
if args[0] == "LEFT":
lon = -0.5
elif args[0] == "RIGHT":
lon = 0.5
elif args[0] == "UP":
lat = 0.5
elif args[0] == "DOWN":
lat = -0.5
else:
absolute = True
lat, lon = args
sender = stack.sender()
if sender:
if absolute:
self.client_pan[sender] = (lat, lon)
else:
ll = self.client_pan.get(sender) or self.def_pan
self.client_pan[sender] = (lat + ll[0], lon + ll[1])
else:
self.def_pan = (lat,lon) if absolute else (lat + self.def_pan[0],
lon + self.def_pan[1])
self.client_pan.clear()
bs.sim.send_event(b'PANZOOM', dict(pan=(lat,lon), absolute=absolute))
def shownd(self, acid):
bs.sim.send_event(b'SHOWND', acid)
def symbol(self):
bs.sim.send_event(b'DISPLAYFLAG', dict(flag='SYM'))
def feature(self, switch, argument=None):
bs.sim.send_event(b'DISPLAYFLAG', dict(flag=switch, args=argument))
def trails(self,sw):
bs.sim.send_event(b'DISPLAYFLAG', dict(flag='TRAIL', args=sw))
def showroute(self, acid):
''' Toggle show route for this aircraft '''
self.route_acid = acid
return True
def addnavwpt(self, name, lat, lon):
''' Add custom waypoint to visualization '''
bs.sim.send_event(b'DEFWPT', dict(name=name, lat=lat, lon=lon))
return True
def show_file_dialog(self):
bs.sim.send_event(b'SHOWDIALOG', dict(dialog='OPENFILE'))
return ''
def show_cmd_doc(self, cmd=''):
bs.sim.send_event(b'SHOWDIALOG', dict(dialog='DOC', args=cmd))
def filteralt(self, *args):
bs.sim.send_event(b'DISPLAYFLAG', dict(flag='FILTERALT', args=args))
def objappend(self, objtype, objname, data):
"""Add a drawing object to the radar screen using the following inputs:
objtype: "LINE"/"POLY" /"BOX"/"CIRCLE" = string with type of object
objname: string with a name as key for reference
objdata: lat,lon data, depending on type:
POLY/LINE: lat0,lon0,lat1,lon1,lat2,lon2,....
BOX : lat0,lon0,lat1,lon1 (bounding box coordinates)
CIRCLE: latctr,lonctr,radiusnm (circle parameters)
"""
bs.sim.send_event(b'SHAPE', dict(name=objname, shape=objtype, coordinates=data))
def event(self, eventname, eventdata, sender_rte):
if eventname == b'PANZOOM':
self.client_pan[sender_rte[-1]] = eventdata['pan']
self.client_zoom[sender_rte[-1]] = eventdata['zoom']
self.client_ar[sender_rte[-1]] = eventdata['ar']
return True
return False
# =========================================================================
# Slots
# =========================================================================
def send_siminfo(self):
t = time.time()
dt = np.maximum(t - self.prevtime, 0.00001) # avoid divide by 0
speed = (self.samplecount - self.prevcount) / dt * bs.sim.simdt
bs.sim.send_stream(b'SIMINFO', (speed, bs.sim.simdt, bs.sim.simt,
bs.sim.simtclock, bs.traf.ntraf, bs.sim.state, stack.get_scenname()))
self.prevtime = t
self.prevcount = self.samplecount
def send_aircraft_data(self):
data = dict()
data['simt'] = bs.sim.simt
data['id'] = bs.traf.id
data['lat'] = bs.traf.lat
data['lon'] = bs.traf.lon
data['alt'] = bs.traf.alt
data['tas'] = bs.traf.tas
data['cas'] = bs.traf.cas
data['iconf'] = bs.traf.asas.iconf
data['confcpalat'] = bs.traf.asas.latowncpa
data['confcpalon'] = bs.traf.asas.lonowncpa
data['trk'] = bs.traf.hdg
data['vs'] = bs.traf.vs
data['vmin'] = bs.traf.asas.vmin
data['vmax'] = bs.traf.asas.vmax
# Trails, send only new line segments to be added
data['swtrails'] = bs.traf.trails.active
data['traillat0'] = bs.traf.trails.newlat0
data['traillon0'] = bs.traf.trails.newlon0
data['traillat1'] = bs.traf.trails.newlat1
data['traillon1'] = bs.traf.trails.newlon1
bs.traf.trails.clearnew()
# Last segment which is being built per aircraft
data['traillastlat'] = bs.traf.trails.lastlat
data['traillastlon'] = bs.traf.trails.lastlon
# Conflict statistics
data['nconf_tot'] = len(bs.traf.asas.conflist_all)
data['nlos_tot'] = len(bs.traf.asas.LOSlist_all)
data['nconf_exp'] = len(bs.traf.asas.conflist_exp)
data['nlos_exp'] = len(bs.traf.asas.LOSlist_exp)
data['nconf_cur'] = len(bs.traf.asas.conflist_now)
data['nlos_cur'] = len(bs.traf.asas.LOSlist_now)
# Transition level as defined in traf
data['translvl'] = bs.traf.translvl
# ASAS resolutions for visualization. Only send when evaluated
if bs.traf.asas.asaseval:
data['asasn'] = bs.traf.asas.asasn
data['asase'] = bs.traf.asas.asase
else:
data['asasn'] = np.zeros(bs.traf.ntraf, dtype=np.float32)
data['asase'] = np.zeros(bs.traf.ntraf, dtype=np.float32)
bs.sim.send_stream(b'ACDATA', data)
def send_route_data(self):
if self.route_acid:
data = dict()
data['acid'] = self.route_acid
idx = bs.traf.id2idx(self.route_acid)
if idx >= 0:
route = bs.traf.ap.route[idx]
data['iactwp'] = route.iactwp
# We also need the corresponding aircraft position
data['aclat'] = bs.traf.lat[idx]
data['aclon'] = bs.traf.lon[idx]
data['wplat'] = route.wplat
data['wplon'] = route.wplon
data['wpalt'] = route.wpalt
data['wpspd'] = route.wpspd
data['wpname'] = route.wpname
bs.sim.send_stream(b'ROUTEDATA', data) # Send route data to GUI
