mirror of
https://github.com/30hours/3lips.git
synced 2024-09-19 11:48:32 +00:00
303 lines
9.6 KiB
Python
303 lines
9.6 KiB
Python
"""
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@file event.py
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@brief Event loop for 3lips.
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@author 30hours
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"""
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import asyncio
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import requests
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import threading
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import asyncio
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import time
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import copy
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import json
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import hashlib
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import os
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import yaml
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from algorithm.associator.AdsbAssociator import AdsbAssociator
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from algorithm.localisation.EllipseParametric import EllipseParametric
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from algorithm.localisation.EllipsoidParametric import EllipsoidParametric
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from algorithm.localisation.SphericalIntersection import SphericalIntersection
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from algorithm.truth.AdsbTruth import AdsbTruth
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from common.Message import Message
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from data.Ellipsoid import Ellipsoid
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from algorithm.geometry.Geometry import Geometry
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# init config file
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try:
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with open('config/config.yml', 'r') as file:
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config = yaml.safe_load(file)
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nSamplesEllipse = config['localisation']['ellipse']['nSamples']
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thresholdEllipse = config['localisation']['ellipse']['threshold']
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nDisplayEllipse = config['localisation']['ellipse']['nDisplay']
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nSamplesEllipsoid = config['localisation']['ellipsoid']['nSamples']
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thresholdEllipsoid = config['localisation']['ellipsoid']['threshold']
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nDisplayEllipsoid = config['localisation']['ellipsoid']['nDisplay']
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tDeleteAdsb = config['associate']['adsb']['tDelete']
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save = config['3lips']['save']
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tDelete = config['3lips']['tDelete']
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except FileNotFoundError:
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print("Error: Configuration file not found.")
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except yaml.YAMLError as e:
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print("Error reading YAML configuration:", e)
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# init event loop
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api = []
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# init config
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tDelete = tDelete
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adsbAssociator = AdsbAssociator()
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ellipseParametricMean = EllipseParametric("mean", nSamplesEllipse, thresholdEllipse)
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ellipseParametricMin = EllipseParametric("min", nSamplesEllipse, thresholdEllipse)
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ellipsoidParametricMean = EllipsoidParametric("mean", nSamplesEllipsoid, thresholdEllipsoid)
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ellipsoidParametricMin = EllipsoidParametric("min", nSamplesEllipsoid, thresholdEllipsoid)
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sphericalIntersection = SphericalIntersection()
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adsbTruth = AdsbTruth(tDeleteAdsb)
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saveFile = '/app/save/' + str(int(time.time())) + '.ndjson'
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async def event():
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print('Start event', flush=True)
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global api, save
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timestamp = int(time.time()*1000)
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api_event = copy.copy(api)
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# list all blah2 radars
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radar_names = []
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for item in api_event:
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for radar in item["server"]:
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radar_names.append(radar)
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radar_names = list(set(radar_names))
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# get detections all radar
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radar_detections_url = [
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"http://" + radar_name + "/api/detection" for radar_name in radar_names]
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radar_detections = []
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for url in radar_detections_url:
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try:
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response = requests.get(url, timeout=1)
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response.raise_for_status()
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data = response.json()
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radar_detections.append(data)
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except requests.exceptions.RequestException as e:
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print(f"Error fetching data from {url}: {e}")
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radar_detections.append(None)
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# get config all radar
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radar_config_url = [
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"http://" + radar_name + "/api/config" for radar_name in radar_names]
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radar_config = []
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for url in radar_config_url:
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try:
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response = requests.get(url, timeout=1)
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response.raise_for_status()
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data = response.json()
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radar_config.append(data)
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except requests.exceptions.RequestException as e:
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print(f"Error fetching data from {url}: {e}")
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radar_config.append(None)
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# store detections in dict
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radar_dict = {}
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for i in range(len(radar_names)):
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radar_dict[radar_names[i]] = {
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"detection": radar_detections[i],
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"config": radar_config[i]
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}
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# store truth in dict
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truth_adsb = {}
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adsb_urls = []
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for item in api_event:
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adsb_urls.append(item["adsb"])
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adsb_urls = list(set(adsb_urls))
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for url in adsb_urls:
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truth_adsb[url] = adsbTruth.process(url)
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# main processing
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for item in api_event:
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start_time = time.time()
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# extract dict for item
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radar_dict_item = {
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key: radar_dict[key]
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for key in item["server"]
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if key in radar_dict
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}
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# associator selection
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if item["associator"] == "adsb-associator":
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associator = adsbAssociator
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else:
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print("Error: Associator invalid.")
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return
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# localisation selection
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if item["localisation"] == "ellipse-parametric-mean":
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localisation = ellipseParametricMean
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elif item["localisation"] == "ellipse-parametric-min":
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localisation = ellipseParametricMin
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elif item["localisation"] == "ellipsoid-parametric-mean":
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localisation = ellipsoidParametricMean
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elif item["localisation"] == "ellipsoid-parametric-min":
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localisation = ellipsoidParametricMin
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elif item["localisation"] == "spherical-intersection":
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localisation = sphericalIntersection
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else:
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print("Error: Localisation invalid.")
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return
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# processing
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associated_dets = associator.process(item["server"], radar_dict_item, timestamp)
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associated_dets_3_radars = {
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key: value
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for key, value in associated_dets.items()
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if isinstance(value, list) and len(value) >= 3
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}
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if associated_dets_3_radars:
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print('Detections from 3 or more radars availble.')
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print(associated_dets_3_radars)
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associated_dets_2_radars = {
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key: value
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for key, value in associated_dets.items()
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if isinstance(value, list) and len(value) >= 2
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}
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localised_dets = localisation.process(associated_dets_3_radars, radar_dict_item)
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if associated_dets:
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print(associated_dets, flush=True)
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# show ellipsoids of associated detections for 1 target
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ellipsoids = {}
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if item["localisation"] == "ellipse-parametric-mean" or \
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item["localisation"] == "ellipsoid-parametric-mean" or \
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item["localisation"] == "ellipse-parametric-min" or \
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item["localisation"] == "ellipsoid-parametric-min":
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if associated_dets_2_radars:
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# get first target key
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key = next(iter(associated_dets_2_radars))
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ellipsoid_radars = []
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for radar in associated_dets_2_radars[key]:
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ellipsoid_radars.append(radar["radar"])
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x_tx, y_tx, z_tx = Geometry.lla2ecef(
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radar_dict_item[radar["radar"]]["config"]['location']['tx']['latitude'],
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radar_dict_item[radar["radar"]]["config"]['location']['tx']['longitude'],
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radar_dict_item[radar["radar"]]["config"]['location']['tx']['altitude']
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)
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x_rx, y_rx, z_rx = Geometry.lla2ecef(
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radar_dict_item[radar["radar"]]["config"]['location']['rx']['latitude'],
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radar_dict_item[radar["radar"]]["config"]['location']['rx']['longitude'],
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radar_dict_item[radar["radar"]]["config"]['location']['rx']['altitude']
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)
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ellipsoid = Ellipsoid(
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[x_tx, y_tx, z_tx],
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[x_rx, y_rx, z_rx],
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radar["radar"]
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)
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points = localisation.sample(ellipsoid, radar["delay"]*1000, nDisplayEllipse)
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for i in range(len(points)):
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lat, lon, alt = Geometry.ecef2lla(points[i][0], points[i][1], points[i][2])
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if item["localisation"] == "ellipsoid-parametric-mean" or \
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item["localisation"] == "ellipsoid-parametric-min":
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alt = round(alt)
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if item["localisation"] == "ellipse-parametric-mean" or \
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item["localisation"] == "ellipse-parametric-min":
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alt = 0
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points[i] = ([round(lat, 3), round(lon, 3), alt])
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ellipsoids[radar["radar"]] = points
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stop_time = time.time()
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# output data to API
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item["timestamp_event"] = timestamp
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item["truth"] = truth_adsb[item["adsb"]]
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item["detections_associated"] = associated_dets
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item["detections_localised"] = localised_dets
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item["ellipsoids"] = ellipsoids
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item["time"] = stop_time - start_time
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print('Method: ' + item["localisation"], flush=True)
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print(item["time"], flush=True)
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# delete old API requests
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api_event = [
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item for item in api_event if timestamp - item["timestamp"] <= tDelete*1000]
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# update API
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api = api_event
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# save to file
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if save:
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append_api_to_file(api)
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# event loop
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async def main():
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while True:
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await event()
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await asyncio.sleep(1)
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def append_api_to_file(api_object, filename=saveFile):
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if not os.path.exists(filename):
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with open(filename, 'w') as new_file:
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pass
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with open(filename, 'a') as json_file:
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json.dump(api_object, json_file)
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json_file.write('\n')
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def short_hash(input_string, length=10):
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hash_object = hashlib.sha256(input_string.encode())
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short_hash = hash_object.hexdigest()[:length]
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return short_hash
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# message received callback
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async def callback_message_received(msg):
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timestamp = int(time.time()*1000)
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# update timestamp if API entry exists
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for x in api:
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if x["hash"] == short_hash(msg):
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x["timestamp"] = timestamp
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break
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# add API entry if does not exist, split URL
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if not any(x.get("hash") == short_hash(msg) for x in api):
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api.append({})
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api[-1]["hash"] = short_hash(msg)
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url_parts = msg.split("&")
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for part in url_parts:
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key, value = part.split("=")
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if key in api[-1]:
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if not isinstance(api[-1][key], list):
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api[-1][key] = [api[-1][key]]
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api[-1][key].append(value)
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else:
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api[-1][key] = value
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api[-1]["timestamp"] = timestamp
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if not isinstance(api[-1]["server"], list):
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api[-1]["server"] = [api[-1]["server"]]
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# json dump
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for item in api:
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if item["hash"] == short_hash(msg):
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output = json.dumps(item)
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break
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return output
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# init messaging
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message_api_request = Message('event', 6969)
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message_api_request.set_callback_message_received(callback_message_received)
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if __name__ == "__main__":
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threading.Thread(target=message_api_request.start_listener).start()
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asyncio.run(main())
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