def computeFromLogs(self,
log,
mac_filter,
pwr_thresh=28,
beacon_thresh=5,
beacon_rpt_int=5,
sort_tuple=4,
output_file="flight.html"):
"""Compute the geolocalization from the log files"""
global app
self.feedData(log, mac_filter)
###DISABLED IN FLIGHT MODE !
if not FLIGHT_MODE:
if app == None:
app = QtGui.QApplication([])
self.gMapDisplay = GoogleMapDisplay(46.518550,
6.562460,
zoom=18,
output_file=output_file)
############################
lastGPS = None
for user in mac_filter:
guess = self.localize_user(user, pwr_thresh, beacon_thresh,
beacon_rpt_int, sort_tuple)
refPosition = GPSPosition(mac_filter[user][0], mac_filter[user][1])
###DISABLED IN FLIGHT MODE !
if not FLIGHT_MODE:
self.gMapDisplay.addLabel(guess[0],
guess[1],
text=user,
fontFamily='sans-serif',
fontSize=18,
fontColor='#00ff00',
strokeWeight=8,
strokeColor='#00ff00',
align='center',
marker=True)
##################################
error = GPSUtil.haversine_meter(GPSPosition(guess[0], guess[1]),
refPosition)
#print "Accuracy of %s : %fm." % (user, error)
###DISABLED IN FLIGHT MODE !
if not FLIGHT_MODE:
for (lat, lon) in mac_filter.values():
self.gMapDisplay.addPoint(lat,
lon,
radius=5,
fillOpacity=1.0,
fillColor='#000000',
strokeColor='#0F000F')
self.gMapDisplay.drawMap()
##################################
return error
def computeFromLogs(self, log, mac_filter, pwr_thresh=28, beacon_thresh=5, beacon_rpt_int=5, sort_tuple=4, output_file="flight.html"): """Compute the geolocalization from the log files""" global app self.feedData(log,mac_filter) ###DISABLED IN FLIGHT MODE ! if not FLIGHT_MODE: if app == None: app = QtGui.QApplication([]) self.gMapDisplay = GoogleMapDisplay(46.518550, 6.562460, zoom=18, output_file=output_file) ############################ lastGPS = None for user in mac_filter: guess = self.localize_user(user, pwr_thresh, beacon_thresh, beacon_rpt_int, sort_tuple) refPosition = GPSPosition(mac_filter[user][0], mac_filter[user][1]) ###DISABLED IN FLIGHT MODE ! if not FLIGHT_MODE: self.gMapDisplay.addLabel(guess[0], guess[1], text=user, fontFamily='sans-serif',fontSize=18, fontColor='#00ff00', strokeWeight=8, strokeColor='#00ff00', align='center', marker=True) ################################## error = GPSUtil.haversine_meter(GPSPosition(guess[0], guess[1]),refPosition) #print "Accuracy of %s : %fm." % (user, error) ###DISABLED IN FLIGHT MODE ! if not FLIGHT_MODE: for (lat,lon) in mac_filter.values(): self.gMapDisplay.addPoint(lat, lon, radius=5, fillOpacity=1.0, fillColor='#000000', strokeColor='#0F000F') self.gMapDisplay.drawMap() ################################## return error
class Sniffer():
"""This class contains the core algorithms reponsible for geolocalizing
people on the ground, using the beacon frames received by their
smartphone and sniffed by a radio interface.
GPS position (lat, lon, alt, heading) should be passed through stdin.
It also provide a communication channel (TCP) with the base station.
If you want to use this script on the plane (gumstix) you should set
FLIGHT_MODE to TRUE.
If you want to compute the localization from the log file, you should set it
to False.
"""
def __init__(self):
#Detected wireless clients and their signal's power + coordinates of the plane
self.clientsSignalPower = {}
#Decrease search area (radius, in meters)
self.reducing_search = False
self.search_radius = 249
#Min acceptable power to localize users
self.MIN_POWER = 0
#Coordinates
self.coord = (0, 0, 0)
self.angle = 0
#Logging system
self.logfile = ""
def readSTDIN(self):
"""
Read STDIN until EOF char received
Receive plane's coordinate from the GPS
"""
try:
buff = ''
while True:
buff += sys.stdin.read(1)
if buff.endswith('\n'):
buff = buff[:-1].split('\n')[-1]
buff = buff.split(', ')
self.angle = float(buff[5])
self.coord = tuple(
(float(buff[0]), float(buff[1]), float(buff[2])))
t = Thread(target=self.send_position_to_station,
args=(self.coord, self.angle))
t.start()
buff = ''
except KeyboardInterrupt:
sys.stdout.flush()
pass
def reduceSearchArea(self, target='c4:88:e5:24:3d:83'):
"""
Route the plane on a smaller circle each 2 minutes
And localize the target user. The latest localization
will be the new center of the next circle.
"""
while True:
(lat, lon) = self.localize_user(target, 30, 100)
self.writeFileForPilot(lat, lon, self.search_radius)
print "Reducing search area to circle : %f,%f radius : %f" % (
lat, lon, self.search_radius)
self.search_radius = self.search_radius * 0.5 #reduce radius for next iteration
if (self.search_radius < 20.0):
sys.exit(0) #End of search !
time.sleep(1 * 60 * 2)
def readRoutingInstructions(self):
"""
Wait for routing instruction send by the base station on the
TCP connection.
"""
while True:
instructions = self.sender.receive()
if not instructions == None:
(event, lat, lon, radius) = instructions
print "Received routing instructions ! %r %r %r" % (lat, lon,
radius)
#compute the center:
radius = float(radius)
radius = min(radius, 249)
self.writeFileForPilot(lat, lon, radius)
self.t = Thread(target=self.reduceSearchArea, args=(''))
self.t.start()
def writeFileForPilot(self, center_x, center_y, radius, altitude=50):
"""This is the command that allows to pass a new waypoint to the
plane's autopilot"""
command = "/smavnet/gapi_sendcoordinates %.8f %.8f %.8f %.8f" % (
float(center_x), float(center_y), altitude, float(radius))
os.system(command)
def compute_center_of_mass(self, samples, sort_tuple, map_pwr_func,
pwr_thresh, beacon_thresh, beacon_rpt_int):
"""Compute the geolocalization of every user that the plane is
aware of
Keyword arguments:
samples -- the list of beacon frames received
following the format : (
sort_tuple -- number of the tuple by which the samples should
be sorted
map_pwr_func -- mapping function of the power
pwr_thresh -- power threshold (min power)
beacon_thresh -- number of beacon frames considered
beacon_rpt_int -- unused
"""
usr = list(set(samples))
usr.sort(key=lambda tup: tup[sort_tuple], reverse=True)
usr = GPSUtil.remove_duplicate_GPS(usr, beacon_rpt_int)
allLat = 0
allLon = 0
pwrs = []
for (lat, lon, alt, pwr, mac) in usr[0:min(len(usr), beacon_thresh)]:
if pwr >= pwr_thresh and lat > 0.0 and lon > 0.0:
pwr = map_pwr_func(pwr)
###DISABLED IN FLIGHT MODE !
if not FLIGHT_MODE:
self.gMapDisplay.addLabel(lat,
lon,
text="%f %f" % (lat, pwr))
#############################
pwrs.append(pwr)
allLat += pwr * lat
allLon += pwr * lon
if sum(pwrs) == 0:
return None
return (allLat / sum(pwrs), allLon / sum(pwrs))
def localize_user(self,
user,
pwr_thresh=20,
beacon_thresh=15,
beacon_rpt_int=5,
sort_tuple=3):
"""Compute the localization of a specific user """
samples = self.clientsSignalPower[user]
pwr_func = lambda x: x * 2**math.log(x / 10.0) # if x > 30 else x
return self.compute_center_of_mass(samples=samples,
sort_tuple=sort_tuple,
map_pwr_func=pwr_func,
pwr_thresh=pwr_thresh,
beacon_thresh=beacon_thresh,
beacon_rpt_int=beacon_rpt_int)
def send_beacon_to_station(self, user, coord, pwr):
self.sender.send("[beacon]%s\t%s\t%s\t%f" %
(user, coord[0], coord[1], pwr))
print "Sending beacon !"
def send_position_to_station(self, coord, angle):
self.log.writePlanePosition(self.planeID, coord, angle)
self.sender.send("[plane]%s\t%s\t%s\t%d" %
(self.planeID, coord[0], coord[1], angle))
def send_localization_to_station(self, user, coord):
self.log.writeLocalization(user, coord)
self.sender.send("[user]%s\t%s\t%s" % (user, coord[0], coord[1]),
retry=True)
def cleanLogFile(self, log):
""" It happens that log files generated by the planes
are somehow corrupted (null bytes, empty lines etc...)
This method tries to correct the format of this log file
"""
clean = []
with open(log) as tsv:
for entry in csv.reader(tsv, dialect="excel-tab"):
if len(entry) == 0:
continue
if entry[0] == "[BEACON]":
if not len(entry) == 7:
if not len(entry) == 13:
print "Unrecoverable line in logfile. Skipped..."
else:
(event0, ts0, mac0, lat0, lon0, alt0,
pwr0MixEvent1, ts1, plane1, lat1, lon1, alt1,
angle1) = entry
pwr0 = float(pwr0MixEvent1.replace("[COORD]", ""))
#print "Invalid line recovered"
frame0 = (event0, ts0, mac0, lat0, lon0, alt0,
pwr0)
frame1 = ("[COORD]", ts1, plane1, lat1, lon1, alt1,
angle1)
clean.append(frame0)
clean.append(frame1)
else:
clean.append(entry)
return clean
def feedData(self, log, mac_filter):
"""Load the data from the logs"""
minPower = 100
maxPower = 0
for entry in self.cleanLogFile(log):
if entry[0] == "[BEACON]":
(event, ts, mac, lat, lon, alt, pwr) = entry
mac = mac[1:-1]
if lat == 0 or lon == 0 or pwr < 0 or not mac in mac_filter:
continue
lat = float(lat)
lon = float(lon)
alt = float(alt)
pwr = float(pwr)
ts = int(ts)
if not mac in self.clientsSignalPower:
self.clientsSignalPower[mac] = []
self.clientsSignalPower[mac].append(
(ts, lat, lon, alt, pwr, mac))
maxPower = max(pwr, maxPower)
minPower = min(pwr, minPower)
def computeFromLogs(self,
log,
mac_filter,
pwr_thresh=28,
beacon_thresh=5,
beacon_rpt_int=5,
sort_tuple=4,
output_file="flight.html"):
"""Compute the geolocalization from the log files"""
global app
self.feedData(log, mac_filter)
###DISABLED IN FLIGHT MODE !
if not FLIGHT_MODE:
if app == None:
app = QtGui.QApplication([])
self.gMapDisplay = GoogleMapDisplay(46.518550,
6.562460,
zoom=18,
output_file=output_file)
############################
lastGPS = None
for user in mac_filter:
guess = self.localize_user(user, pwr_thresh, beacon_thresh,
beacon_rpt_int, sort_tuple)
refPosition = GPSPosition(mac_filter[user][0], mac_filter[user][1])
###DISABLED IN FLIGHT MODE !
if not FLIGHT_MODE:
self.gMapDisplay.addLabel(guess[0],
guess[1],
text=user,
fontFamily='sans-serif',
fontSize=18,
fontColor='#00ff00',
strokeWeight=8,
strokeColor='#00ff00',
align='center',
marker=True)
##################################
error = GPSUtil.haversine_meter(GPSPosition(guess[0], guess[1]),
refPosition)
#print "Accuracy of %s : %fm." % (user, error)
###DISABLED IN FLIGHT MODE !
if not FLIGHT_MODE:
for (lat, lon) in mac_filter.values():
self.gMapDisplay.addPoint(lat,
lon,
radius=5,
fillOpacity=1.0,
fillColor='#000000',
strokeColor='#0F000F')
self.gMapDisplay.drawMap()
##################################
return error
def main(self):
if len(sys.argv) == 2:
computeFromLogs(sys.argv[1])
elif len(sys.argv) == 4:
self.planeID = sys.argv[1]
iface = sys.argv[2]
self.logfile = sys.argv[3]
self.log = Log(self.logfile)
#TCP sender for communication with base station
self.sender = TCPSender()
self.sender.start()
#Thread responsible for reading GPS coordinates
self.t = Thread(target=self.readSTDIN, args=())
self.t.start()
self.receiver = Thread(target=self.readRoutingInstructions,
args=())
self.receiver.start()
sniff(iface=iface, prn=self.trackClients, store=0)
else:
print "Invalid arguments"
print "\tUsage live mode : ./PlaneSniffer <planeID> <interface> <logfile>"
print "\tUsage replay mode : ./PlaneSniffer <logfile>"
def trackClients(self, p):
"""Listen for probe requests/response in the network"""
#We're only concerned by probe request packets
#Also, sometime, addr2 is NoneType (don't know why actually)
#p.type = 0 -> management frame
if not p.haslayer(Dot11) or p.addr2 is None:
return
#Ensure that this is a client
if p.type == 0 and p.subtype in (0, 2, 4):
#Signal strength
#if not p.addr2 == 'c4:88:e5:24:3d:83':
#return
sig_str = 100 - (256 - ord(p.notdecoded[-4:-3]))
self.send_beacon_to_station(p.addr2, self.coord, sig_str)
t = Thread(target=self.send_beacon_to_station,
args=(p.addr2, self.coord, sig_str))
t.start()
self.log.writeBeacon(p.addr2, self.coord, sig_str)
if not p.addr2 in self.clientsSignalPower:
self.clientsSignalPower[p.addr2] = []
self.clientsSignalPower[p.addr2].append(
(self.log.ts(), self.coord[0], self.coord[1], self.coord[2],
sig_str, p.addr2))
center_of_mass = self.localize_user(p.addr2,
pwr_thresh=26,
beacon_thresh=26,
beacon_rpt_int=5,
sort_tuple=3)
if not center_of_mass == None:
t = Thread(target=self.send_localization_to_station,
args=(p.addr2, center_of_mass))
t.start()
class Sniffer():
"""This class contains the core algorithms reponsible for geolocalizing
people on the ground, using the beacon frames received by their
smartphone and sniffed by a radio interface.
GPS position (lat, lon, alt, heading) should be passed through stdin.
It also provide a communication channel (TCP) with the base station.
If you want to use this script on the plane (gumstix) you should set
FLIGHT_MODE to TRUE.
If you want to compute the localization from the log file, you should set it
to False.
"""
def __init__(self):
#Detected wireless clients and their signal's power + coordinates of the plane
self.clientsSignalPower = {}
#Decrease search area (radius, in meters)
self.reducing_search = False
self.search_radius = 249
#Min acceptable power to localize users
self.MIN_POWER = 0
#Coordinates
self.coord = (0,0,0)
self.angle = 0
#Logging system
self.logfile = ""
def readSTDIN(self):
"""
Read STDIN until EOF char received
Receive plane's coordinate from the GPS
"""
try:
buff = ''
while True:
buff += sys.stdin.read(1)
if buff.endswith('\n'):
buff = buff[:-1].split('\n')[-1]
buff = buff.split(', ')
self.angle = float(buff[5])
self.coord = tuple((float(buff[0]), float(buff[1]), float(buff[2])))
t = Thread(target=self.send_position_to_station, args = (self.coord, self.angle))
t.start()
buff = ''
except KeyboardInterrupt:
sys.stdout.flush()
pass
def reduceSearchArea(self, target='c4:88:e5:24:3d:83'):
"""
Route the plane on a smaller circle each 2 minutes
And localize the target user. The latest localization
will be the new center of the next circle.
"""
while True:
(lat,lon) = self.localize_user(target,30,100)
self.writeFileForPilot(lat,lon,self.search_radius)
print "Reducing search area to circle : %f,%f radius : %f" % (lat,lon,self.search_radius)
self.search_radius = self.search_radius * 0.5 #reduce radius for next iteration
if (self.search_radius < 20.0):
sys.exit(0) #End of search !
time.sleep(1*60*2)
def readRoutingInstructions(self):
"""
Wait for routing instruction send by the base station on the
TCP connection.
"""
while True:
instructions = self.sender.receive()
if not instructions == None:
(event, lat,lon ,radius) = instructions
print "Received routing instructions ! %r %r %r" % (lat,lon,radius)
#compute the center:
radius = float(radius)
radius = min(radius, 249)
self.writeFileForPilot(lat,lon,radius)
self.t = Thread(target=self.reduceSearchArea, args = (''))
self.t.start()
def writeFileForPilot(self, center_x, center_y, radius, altitude=50):
"""This is the command that allows to pass a new waypoint to the
plane's autopilot"""
command = "/smavnet/gapi_sendcoordinates %.8f %.8f %.8f %.8f" % (float(center_x), float(center_y), altitude, float(radius))
os.system(command)
def compute_center_of_mass(self,samples, sort_tuple, map_pwr_func, pwr_thresh, beacon_thresh, beacon_rpt_int):
"""Compute the geolocalization of every user that the plane is
aware of
Keyword arguments:
samples -- the list of beacon frames received
following the format : (
sort_tuple -- number of the tuple by which the samples should
be sorted
map_pwr_func -- mapping function of the power
pwr_thresh -- power threshold (min power)
beacon_thresh -- number of beacon frames considered
beacon_rpt_int -- unused
"""
usr = list(set(samples))
usr.sort(key=lambda tup: tup[sort_tuple], reverse=True)
usr = GPSUtil.remove_duplicate_GPS(usr, beacon_rpt_int)
allLat = 0
allLon = 0
pwrs = []
for (lat,lon,alt,pwr,mac) in usr[0:min(len(usr),beacon_thresh)]:
if pwr >= pwr_thresh and lat > 0.0 and lon > 0.0:
pwr = map_pwr_func(pwr)
###DISABLED IN FLIGHT MODE !
if not FLIGHT_MODE:
self.gMapDisplay.addLabel(lat, lon, text="%f %f" % (lat, pwr))
#############################
pwrs.append(pwr)
allLat += pwr * lat
allLon += pwr * lon
if sum(pwrs) == 0:
return None
return (allLat / sum(pwrs), allLon / sum(pwrs))
def localize_user(self, user, pwr_thresh=20, beacon_thresh=15, beacon_rpt_int=5, sort_tuple=3):
"""Compute the localization of a specific user """
samples = self.clientsSignalPower[user]
pwr_func = lambda x : x * 2**math.log(x/10.0)# if x > 30 else x
return self.compute_center_of_mass(samples=samples, sort_tuple=sort_tuple, map_pwr_func=pwr_func, pwr_thresh=pwr_thresh, beacon_thresh=beacon_thresh, beacon_rpt_int=beacon_rpt_int)
def send_beacon_to_station(self, user, coord, pwr):
self.sender.send("[beacon]%s\t%s\t%s\t%f" % (user, coord[0], coord[1], pwr))
print "Sending beacon !"
def send_position_to_station(self, coord, angle):
self.log.writePlanePosition(self.planeID,coord, angle)
self.sender.send("[plane]%s\t%s\t%s\t%d" % (self.planeID, coord[0], coord[1], angle))
def send_localization_to_station(self,user, coord):
self.log.writeLocalization(user,coord)
self.sender.send("[user]%s\t%s\t%s" % (user, coord[0], coord[1]), retry=True)
def cleanLogFile(self,log):
""" It happens that log files generated by the planes
are somehow corrupted (null bytes, empty lines etc...)
This method tries to correct the format of this log file
"""
clean = []
with open(log) as tsv:
for entry in csv.reader(tsv, dialect="excel-tab"):
if len(entry) == 0:
continue
if entry[0] == "[BEACON]":
if not len(entry) == 7:
if not len(entry) == 13:
print "Unrecoverable line in logfile. Skipped..."
else:
(event0, ts0,mac0,lat0,lon0,alt0,pwr0MixEvent1,ts1,plane1,lat1,lon1,alt1,angle1) = entry
pwr0 = float(pwr0MixEvent1.replace("[COORD]",""))
#print "Invalid line recovered"
frame0 = (event0,ts0,mac0,lat0,lon0,alt0,pwr0)
frame1 = ("[COORD]", ts1, plane1, lat1,lon1,alt1,angle1)
clean.append(frame0)
clean.append(frame1)
else:
clean.append(entry)
return clean
def feedData(self, log, mac_filter):
"""Load the data from the logs"""
minPower = 100
maxPower = 0
for entry in self.cleanLogFile(log):
if entry[0] == "[BEACON]":
(event, ts, mac, lat, lon, alt, pwr) = entry
mac = mac[1:-1]
if lat == 0 or lon == 0 or pwr < 0 or not mac in mac_filter:
continue
lat = float(lat)
lon = float(lon)
alt = float(alt)
pwr = float(pwr)
ts = int(ts)
if not mac in self.clientsSignalPower:
self.clientsSignalPower[mac] = []
self.clientsSignalPower[mac].append((ts, lat, lon, alt, pwr, mac))
maxPower = max(pwr, maxPower)
minPower = min(pwr, minPower)
def computeFromLogs(self, log, mac_filter, pwr_thresh=28, beacon_thresh=5, beacon_rpt_int=5, sort_tuple=4, output_file="flight.html"):
"""Compute the geolocalization from the log files"""
global app
self.feedData(log,mac_filter)
###DISABLED IN FLIGHT MODE !
if not FLIGHT_MODE:
if app == None:
app = QtGui.QApplication([])
self.gMapDisplay = GoogleMapDisplay(46.518550, 6.562460, zoom=18, output_file=output_file)
############################
lastGPS = None
for user in mac_filter:
guess = self.localize_user(user, pwr_thresh, beacon_thresh, beacon_rpt_int, sort_tuple)
refPosition = GPSPosition(mac_filter[user][0], mac_filter[user][1])
###DISABLED IN FLIGHT MODE !
if not FLIGHT_MODE:
self.gMapDisplay.addLabel(guess[0], guess[1], text=user,
fontFamily='sans-serif',fontSize=18,
fontColor='#00ff00', strokeWeight=8,
strokeColor='#00ff00', align='center',
marker=True)
##################################
error = GPSUtil.haversine_meter(GPSPosition(guess[0], guess[1]),refPosition)
#print "Accuracy of %s : %fm." % (user, error)
###DISABLED IN FLIGHT MODE !
if not FLIGHT_MODE:
for (lat,lon) in mac_filter.values():
self.gMapDisplay.addPoint(lat, lon, radius=5, fillOpacity=1.0, fillColor='#000000', strokeColor='#0F000F')
self.gMapDisplay.drawMap()
##################################
return error
def main(self):
if len(sys.argv) == 2:
computeFromLogs(sys.argv[1])
elif len(sys.argv) == 4:
self.planeID = sys.argv[1]
iface = sys.argv[2]
self.logfile = sys.argv[3]
self.log = Log(self.logfile)
#TCP sender for communication with base station
self.sender = TCPSender()
self.sender.start()
#Thread responsible for reading GPS coordinates
self.t = Thread(target=self.readSTDIN, args = ())
self.t.start()
self.receiver = Thread(target=self.readRoutingInstructions, args = ())
self.receiver.start()
sniff(iface=iface,prn=self.trackClients,store=0)
else:
print "Invalid arguments"
print "\tUsage live mode : ./PlaneSniffer <planeID> <interface> <logfile>"
print "\tUsage replay mode : ./PlaneSniffer <logfile>"
def trackClients(self, p):
"""Listen for probe requests/response in the network"""
#We're only concerned by probe request packets
#Also, sometime, addr2 is NoneType (don't know why actually)
#p.type = 0 -> management frame
if not p.haslayer(Dot11) or p.addr2 is None :
return
#Ensure that this is a client
if p.type == 0 and p.subtype in (0,2,4):
#Signal strength
#if not p.addr2 == 'c4:88:e5:24:3d:83':
#return
sig_str = 100-(256-ord(p.notdecoded[-4:-3]))
self.send_beacon_to_station(p.addr2, self.coord, sig_str)
t = Thread(target=self.send_beacon_to_station, args = (p.addr2,self.coord,sig_str))
t.start()
self.log.writeBeacon(p.addr2, self.coord, sig_str)
if not p.addr2 in self.clientsSignalPower:
self.clientsSignalPower[p.addr2] = []
self.clientsSignalPower[p.addr2].append((self.log.ts(), self.coord[0], self.coord[1], self.coord[2], sig_str, p.addr2))
center_of_mass = self.localize_user(p.addr2, pwr_thresh=26, beacon_thresh=26, beacon_rpt_int=5, sort_tuple=3)
if not center_of_mass == None:
t = Thread(target=self.send_localization_to_station, args = (p.addr2,center_of_mass))
t.start()