618 lines
23 KiB
Python
618 lines
23 KiB
Python
"""
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Tracker-Daten
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Mögliche Typen:
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HERO - Regatta Hero
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SDCARD - nur für ESP32 relevant
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LOCAL - Logdatei. GPX ist ungeeignet, weil das Gerät zu jedem Zeitpunkt
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ausgeschaltet werden kann und somit die Datei in einem
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ungültigen Zustand sein kann.
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Es wird eine Datei track.log.geschrieben.
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Um fehlende Daten festzustellen wird ein fortlaufender Zähler
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geschrieben.
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SERVER - spezielle Software benötigt, kann auch ein Raspi an Bord sein
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Der Tracker sendet einen HTTP-POST. Der Server speichert
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die Daten für mehrere Geräte. Vorläufiger Servername:
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trackserver
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NONE - kein Tracking
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Wenn die Verbindung zum Server im Internet nicht funktioniert, werden
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die Positionen in eine Warteschlange gesichert und nach
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Wiederherstellung der Verbindung übertragen.
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TODO
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- Nach einem Disconnect manuelle Neuverbindung ermöglichen
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- Audioausgabe für Regatta Hero
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"""
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import os
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import time
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import paho.mqtt.client as mqtt
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import http.client
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import ssl
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import json
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import socket
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import math
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import subprocess # für Audioausgabe / mpg123
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class Tracker():
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def __init__(self, logger, cfg):
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self.log = logger
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self.appdata = None
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validtypes = ('HERO', 'SDCARD', 'SERVER', 'LOCAL', 'NONE')
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if cfg['tracker']['type'] not in validtypes:
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raise TypeError("Invalid tracker type: '{}'. Only supported: {}".format(cfg['tracker']['type'], ','.join(validtypes)))
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self.ttype = cfg['tracker']['type']
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self.local_lfdno = 0
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self.local_dt = cfg['tracker']['interval'] # Eintrag alle <n> Sekunden schreiben
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self.trace = cfg['tracker']['trace'] # Debugging
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self.trace_fh = None # File Handle der Tracedatei
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self.audiopath = cfg['audiopath']
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self.buoys = {} # Tonnen (Hero=20)
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self.courses = [] # Bahnen
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self.races = [] # Regatten
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self.mqtt_connected = False
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self.activated = False
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self.lat = None # last latitude
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self.lon = None # last longitude
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self.tspos = None # timestamp (hh:ss:mm) as datetime.time
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self.sog = None
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# Statische Daten
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# TODO Wirklich alles hier im Tracker oder ist einiges generisch?
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# appdata?
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self.boatid = cfg['boat']['uuid']
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self.sailno = cfg['boat']['sailno']
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self.boatname = cfg['boat']['name']
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self.boatclass = cfg['boat']['class']
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self.handicap = cfg['boat']['handicap']
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self.club = cfg['boat']['club']
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self.team = cfg['boat']['team']
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if self.ttype == 'HERO':
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# Regatta Hero
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self.hero_orgid = cfg['tracker']['username'] # Eingestellt in Gerätekonfiguration
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self.hero_passcode = cfg['tracker']['password']
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self.hero_host = cfg['tracker']['host']
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self.hero_port = cfg['tracker']['port']
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self.hero_viewerpass = None # Wird vom Server in "org" gesendet
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# Vorlage für Anfragen
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self.http_payload_template = {
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"orgid": self.hero_orgid,
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"passcode": self.hero_passcode,
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"raceid": "",
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"replay": "live",
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"replaytime": 0,
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"updateType": "timerUpdate"
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}
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self.hero_raceid = None # Aktuell ausgewählte Regatta
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self.hero_racephase = 0 # Bei Änderung Event auslösen
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self.hero_shortened = False # Bahnverkürzung aktiv
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# MQTT
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self.client = mqtt.Client()
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self.client.on_connect = self.mqtt_on_connect
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self.client.on_message = self.mqtt_on_message
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self.client_race_age = 0 # Age of last mqtt race data in seconds
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self.hero_orgstatus = None
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self.hero_racestatus = None
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self.hero_timedelta = 0 # Zeitdifferenz zum Server in sec
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self.hero_givenup = False
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# Hole erste Daten vom Server
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self.hero_query_org()
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def is_server_active(self, hostname, port):
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"""
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ohne Netzwerkverbindung wirft socket.gethostbyname eine Exception,
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ggf. "Erro -3 temporary failure in name resolution"
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"""
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try:
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host = socket.gethostbyname(hostname) # DNS Lookup
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s = socket.create_connection((host, port), 2)
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s.close()
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return True
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except Exception:
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pass
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return False
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def is_active(self):
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return self.activated
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def set_active(self, newval):
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self.activated = newval
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def local_tracker(self, cfg, appdata, boatdata):
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self.log.info("Local tracker enabled")
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if not os.path.exists(cfg['histpath']):
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os.makedirs(cfg['histpath'])
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self.log.info(f"History path created: '{cfg['histpath']}'")
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# Zugriff auf Boatdata: Referenzen für leichten schnellen Zugriff
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bv_lat = boatdata.getRef("LAT")
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bv_lon = boatdata.getRef("LON")
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bv_hdop = boatdata.getRef("HDOP")
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bv_tspos = boatdata.getRef("TSPOS")
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trackerfile = os.path.join(cfg['histpath'], "localtrack.log")
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fh = open(trackerfile, 'a+')
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n = 0
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while not appdata.shutdown:
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time.sleep(1)
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if not self.activated:
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continue
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n += 1
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if n % self.local_dt != 0:
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continue
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self.local_lfdno += 1
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data = "{},{}Z,{},{},{}\n".format(
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self.local_lfdno,
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bv_tspos.getValue(),
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bv_lat.getValue(),
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bv_lon.getValue(),
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bv_hdop.getValue())
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fh.write(data)
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fh.flush()
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fh.close()
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def set_hero_raceid(self, newraceid):
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self.hero_raceid = newraceid
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#def set_type(self, newtype):
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# validtypes = ('HERO', 'SDCARD', 'SERVER', 'LOCAL', 'NONE')
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# newtype = newtype.upper()
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# if newtype not in validtypes:
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# raise TypeError(f"Invalid tracker type: '{newtype}'. Only supported: {validtypes}")
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# self.ttype = newtype
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"""
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Audioevents:
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Einfach nur die Zahl
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'eins', 'zwei', 'drei', 'vier', 'fuenf', 'sechs', 'sieben',
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'acht', 'neun', 'zehn',
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<n> Minuten bis zum Start
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'eineMin', 'zweiMin', 'dreiMin', 'vierMin', 'fuenfMin'
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<n> Sekunden bis zum Start
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'fuenfzehn', 'zwanzig', 'dreissig', 'vierzig', 'fuenfzig'
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'30sek_alerter' 30 sec kein GPS. Smartphonetext
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'abbruch' Abbruch der Wettfahrt
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'alive' sehr leises Geräusch
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'allgmRueck'
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'bahnmarke'
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'bahnVerk' Bahnverkürzung
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'batteryLevel' Ladezustand unter 20%. Smartphonetext
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'cellback' Mobilfunkverbindung wiederhergestellt, Daten übertragen
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'einzelRueck'
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'endeEineMinute' Zeitrennen in einer Minute zuende
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'endeWettfahrt' Ende der Wettfahrt
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'endstartVerschiebung'
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'jumping' Springende Koordinaten. Smartphonetext.
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'neueAnsage' Achtung neue Bekanntmachung
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'noconnection' Kein Mobilfunk. GPS-Daten werden zwischengespeichert.
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'runde'
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'startErfolgt' BEEEP
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'startlinie' Startlinie überquert
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'startnotready' Startlinie nicht bereit
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'startready'
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'startVerschiebung'
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'wartenAnkuend' Warten auf Ankündigungssignal
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'ziellinie' Ziellinie überquert
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"""
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def hero_mqtt_subscribe(self, raceid, lastid=None):
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topicbase = f"regattahero/racestatus/{self.hero_orgid}"
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if lastid is not None:
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topic = '/'.join((topicbase, lastid))
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self.client.unsubscribe(topic)
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self.log.info(f"Sent unsubscribe for '{topic}'")
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topic = '/'.join((topicbase, raceid))
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self.client.subscribe(topic)
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self.log.info(f"Sent subscribe for '{topic}'")
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def hero_giveup(self):
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# TODO nach Aufgabe noch ein paar Pakete senden bis dier
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# Tracker dann abgestellt wird.
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self.hero_givenup = True
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def hero_play_audio(self, event, lang='de'):
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"""
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Ein Event ist mit einer Audiodatei gekoppelt. Das Event trägt
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den Basisnamen der Audiodatei. Es werden nur MP3-Dateien unterstützt
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"""
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lang = lang.lower()
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if lang == 'de':
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filename = f"{event}.mp3"
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else:
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filename = f"{event}_{lang}.mp3"
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mp3file = os.path.join(self.audiopath, filename)
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subprocess.Popen(["mpg123", "-q", mp3file])
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def hero_get_degrees(azimut):
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"""
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Winkel von einer Bahnmarke zur nächsten basierend auf dem Datenfeld azimutNext
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"""
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if (azimut <= math.pi * 3/2):
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return math.degrees(2 * math.pi - azimut - math.pi / 2)
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else:
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return math.degrees(2 * math.pi - azimut + math.pi * 3 / 2)
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def hero_query(self, raceid):
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"""
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Query Regatta Hero HTTP-Server
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"""
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ssl_context = ssl.create_default_context()
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conn = http.client.HTTPSConnection(self.hero_host, self.hero_port, context=ssl_context)
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endpoint = '/mapupdate'
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payload = self.http_payload_template
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payload['raceid'] = raceid
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json_data = json.dumps(payload)
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headers = {
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'Content-Type': 'application/json',
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'Content-Length': str(len(json_data))
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}
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data = {} # empty
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try:
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conn.request("POST", endpoint, body=json_data, headers=headers)
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response = conn.getresponse()
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if response.status == 200:
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self.log.info("HTTP: Response received successfully!")
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data = json.loads(response.read().decode())
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else:
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self.log.warning(f"HTTP: Failed to retrieve data. Status code: {response.status}")
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return data
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except http.client.HTTPException as e:
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self.log.warning(f"HTTP error occurred: {e}")
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except ssl.SSLError as ssl_error:
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self.log.warning(f"SSL error occurred: {ssl_error}")
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finally:
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conn.close()
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return data
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def hero_query_org(self):
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"""
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Abfrage des Datenservers / Basisdaten
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- Namen der Regatten und Kurse
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"""
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data = self.hero_query('[No race]')
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self.viewerpass = data['org']['viewerPasscode']
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self.courses = []
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for c in data['org']['courses']:
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self.courses.append(c)
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self.races = []
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for r in data['org']['races'].values():
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if not r['hiderace']:
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self.races.append(r['raceid'])
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# Regatta automatisch auswählen wenn nur genau eine aktivierbar ist
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if len(self.races) == 1:
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self.hero_raceid = self.races[0]
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def hero_query_course(self, raceid):
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"""
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Bojen und Kurs für ein gegebenes Rennen
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"""
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data = self.hero_query(raceid)
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print(self.hero_orgdata)
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# Bojen
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self.buoys.clear()
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for key, val in self.hero_orgdata['org']['buoysets']['default']['buoyset']['marks'].items():
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self.buoys[key] = {
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'label': val['label'],
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'lat': val['label'],
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'lon': val['label']
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}
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print(self.buoys)
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# Kurse
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self.courses = []
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for c in data['org']['courses']:
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self.courses.append(c)
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self.races = []
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for r in data['org']['races'].values():
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if not r['hiderace']:
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self.races.append(r['raceid'])
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def hero_query_race(self, raceid):
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"""
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Aktuelle Regattadaten vom HTTP-Server holen, ggf. weil MQTT nichts mehr sendet
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"""
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data = self.hero_query(raceid)
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self.hero_racestatus = data['race']['racestatus']
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print(self.hero_racestatus)
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# 'raceactive': False
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# 'racefinished': True
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def get_position(self):
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# Positionsabfrage für die Payload
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# LAT, LON, TSPOS, SOG
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return (self.lat, self.lon, self.tspos, self.sog)
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"""
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def hero_add_race(self, raceid):
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self.races.add(raceid)
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def hero_set_races(self, newraces):
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self.races = set(newraces)
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"""
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def hero_get_races(self):
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if not self.hero_orgstatus:
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return []
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races = []
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for r in self.hero_orgstatus['races'].values():
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if not r['hiderace']:
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races.append(r['raceid'])
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return races
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def mqtt_on_connect(self, client, userdata, flags, rc):
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self.mqtt_connected = False
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if rc == 0:
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self.log.info("MQTT connected, subscribing to organisation topic")
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client.subscribe(f"regattahero/orgstatus/{self.hero_orgid}")
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self.mqtt_connected = True
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elif rc == 1:
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self.log.error("MQTT connection refused, unacceptable protocol version")
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elif rc == 2:
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self.log.error("MQTT connection refused, identifier rejected")
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elif rc == 3:
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self.log.error("MQTT connection refused, server unavailable")
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elif rc == 4:
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self.log.error("MQTT connection refused, bad user name or password")
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elif rc == 5:
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self.log.error("MQTT connection refused, not authorized")
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else:
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self.log.info(f"MQTT connection refused, error #{rc}")
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def mqtt_on_message(self, client, userdata, msg):
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"""
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Meldungen vom Server empfangen
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TODO raceid über userdata? dann topic prüfen?
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"""
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if self.trace:
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self.trace_fh.write(msg.topic)
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self.trace_fh.write("\n")
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self.trace_fh.write(msg.payload.decode())
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self.trace_fh.write("\n\n")
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self.trace_fh.flush()
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if msg.topic == f"regattahero/orgstatus/{self.hero_orgid}":
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# kommt alle 10s
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self.hero_orgstatus = json.loads(msg.payload)
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# Zeitdifferenz Client/Server ermitteln für ggf. spätere Warnung
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server_ts = self.appdata.track.hero_orgstatus['timestamp'].split(':')
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sec1 = int(server_ts[0]) * 3600 + int(server_ts[1]) * 60 + int(server_ts[2])
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ts = time.localtime()
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sec2 = ts.tm_hour * 3600 + ts.tm_min * 60 + ts.tm_sec
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self.hero_timedelta = abs(sec1 - sec2)
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if self.hero_orgstatus['allLogout']:
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self.log.info("All logout received!")
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client.disconnect()
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self.activated = False
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return
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if self.hero_orgstatus['message']:
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# TODO Alarm-Funktion nutzen?
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pass
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elif msg.topic.startswith(f"regattahero/racestatus/{self.hero_orgid}"):
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# kommt alle 1s
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# dem Topic angehängt ist noch die raceid
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self.client_race_age = 0
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payload = json.loads(msg.payload)
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self.hero_racestatus = payload['racestatus']
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racephase = payload['racestatus']['racephase']
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if self.hero_racephase != racephase:
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# Phasenänderung! Event!
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print("Event: Phasenübergang {} -> {}".format(self.hero_racephase, racephase))
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if self.hero_racephase == 0:
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if racephase == 1:
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# Startlinie bereit
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self.hero_play_audio('startready')
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print(payload['racestatus'])
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#subprocess.popen("mpg123 -q " + os.path.join(self.audiopath, "startready.mp3"))
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elif self.hero_racephase == 1:
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if racephase == 1:
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# Startlinie bereit
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self.hero_play_audio('startVerschiebung')
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elif racephase == 3:
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# Startverschiebung aufgehoben
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pass
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elif racephase == 4:
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self.hero_play_audio('dreiMin')
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elif self.hero_racephase == 2:
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if racephase == 3:
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self.hero_play_audio('vierMin')
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elif racephase == 4:
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self.hero_play_audio('dreiMin')
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elif self.hero_racephase == 3:
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if racephase == 4:
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self.hero_play_audio('dreiMin')
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if racephase == 1:
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self.hero_play_audio('startVerschiebung')
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elif self.hero_racephase == 4:
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if racephase == 1:
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self.hero_play_audio('startVerschiebung')
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if racephase == 5:
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# Blauer Peter oben
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self.hero_play_audio('zweiMin')
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elif self.hero_racephase == 5:
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if racephase == 1:
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self.hero_play_audio('startVerschiebung')
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elif racephase == 6:
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# Blauer Peter runter
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pass
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elif self.hero_racephase == 6:
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if racephase == 1:
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self.hero_play_audio('startVerschiebung')
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elif self.hero_racephase == 7:
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if racephase == 8:
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# Gestartet
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pass
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elif self.hero_racephase == 8:
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if racephase == 2:
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if payload['racestatus']['recallgeneral']:
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self.hero_play_audio('allgmRueck')
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elif payload['racestatus']['racecancelled']:
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self.hero_play_audio('abbruch')
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elif payload['racestatus']['racefinished']:
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self.hero_play_audio('endeWettfahrt')
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self.hero_racephase = racephase
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# TODO Einzelrückruf, keine Änderung in der Phase!
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#if payload['racestatus']['recallindiv']:
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# self.hero_play_audio('einzelRueck')
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|
|
|
# Timing
|
|
timer = payload['racestatus']['time']
|
|
countdown = {
|
|
-60: 'eineMin',
|
|
-50: 'fuenfzig', -40: 'vierzig', -30: 'dreissig',
|
|
-20: 'zwanzig', -15: 'fuenfzehn', -10: 'zehn',
|
|
-9: 'neun', -8: 'acht', -7: 'sieben', -6: 'sechs',
|
|
-5: 'fuenf', -4: 'vier', -3: 'drei', -2: 'zwei',
|
|
-1: 'eins', 0 : 'startErfolgt'
|
|
}
|
|
# Komplexere Bedingung die nach Start fast keinen Aufwand
|
|
# mehr bedeutet
|
|
if (timer <= 0) and (timer >= -60) and timer in countdown:
|
|
self.hero_play_audio(countdown[timer])
|
|
|
|
# payload['racestatus']['racestarted']
|
|
# payload['racesettings']
|
|
|
|
# Bahnverkürzung
|
|
if payload['racestatus']['shortend'] and not self.hero_shortened:
|
|
self.hero_shortened = True
|
|
self.hero_play_audio('bahnVerk')
|
|
self.log.info("Bahnverkürzung: Zu Bahnmarke {}".format(payload['racestatus']['shortendsel']))
|
|
|
|
"""
|
|
time: negativ: Zeit vor dem Start, positiv: Zeit nach dem Start
|
|
in Sekunden
|
|
flags: [0, 0, 14, 10]
|
|
raceactive: true bedeutet orange Flagge ist oben
|
|
racestarted: true
|
|
|
|
Signale der Wettfahrtleitung hier anzeigen
|
|
Regattaabbruch
|
|
Bahnverkürzung
|
|
Rückrufe
|
|
|
|
"""
|
|
else:
|
|
self.log.warning(f"UNKNOWN TOPIC: {msg.topic}")
|
|
self.log.debug(msg.payload)
|
|
|
|
def mqtt_publish(self, topic, payload, bv_lat, bv_lon, bv_sog):
|
|
"""
|
|
Payload vorbelegt als Template, so daß nur noch die veränderlichen
|
|
GPS-Daten eingefügt werden müssen: LAT LON SOG TIMESTAMP
|
|
|
|
isTracking kann ausgeschaltet werden,
|
|
"""
|
|
lat = bv_lat.getValueRaw()
|
|
lon = bv_lon.getValueRaw()
|
|
sog = bv_sog.getValueRaw()
|
|
if lat and lon and (sog is not None):
|
|
payload['raceid'] = self.hero_raceid
|
|
payload['gps']['lat'] = round(lat, 5)
|
|
payload['gps']['lon'] = round(lon, 5)
|
|
payload['gps']['speed'] = sog
|
|
payload['gps']['timestamp'] = time.strftime("%Y-%m-%dT%H:%M:%S.000Z", time.gmtime())
|
|
self.client.publish(topic, json.dumps(payload))
|
|
else:
|
|
self.log.debug("No GPS data available. Nothing published!")
|
|
|
|
def mqtt_tracker(self, cfg, boat, appdata, boatdata):
|
|
self.log.info("MQTT tracker enabled")
|
|
self.appdata = appdata
|
|
self.client.username_pw_set(username=cfg['mqtt_user'], password=cfg['mqtt_pass'])
|
|
try:
|
|
self.client.connect(cfg['mqtt_host'], cfg['mqtt_port'], 60)
|
|
except ConnectionRefusedError:
|
|
self.log.error("MQTT connection refused. Check username and password.")
|
|
return
|
|
|
|
# Initial die Organisationsdaten abfragen um Tonnen und Kurse zu erhalten
|
|
# self.hero_query_org(cfg['host'], cfg['port'], cfg['username'], cfg['password'])
|
|
|
|
if self.trace:
|
|
tracefile = os.path.join(os.path.expanduser(cfg['logdir']), 'tracker.log')
|
|
self.trace_fh = open(tracefile, 'w+')
|
|
self.log.info(f"MQTT trace file '{tracefile}' enabled")
|
|
|
|
topic = "regattahero/tracker/" + self.hero_orgid
|
|
payload = {
|
|
"passcode": cfg['password'],
|
|
"orgid": self.hero_orgid,
|
|
"raceid": None, # Nach Auswahl einstellen
|
|
"gps": {
|
|
"lat": 0.0,
|
|
"lon": 0.0,
|
|
"speed": 0.0,
|
|
"age": 500, # letzter Kontakt zum GPS empfänger in ms
|
|
# "odo": 1000, # deprecated
|
|
"bat": 1.0,
|
|
"timestamp": "" # ISO8601 Format mit Millisekunden in UTC
|
|
},
|
|
"boat": {
|
|
"boatid": self.boatid,
|
|
"sailno": self.sailno,
|
|
"team": self.team,
|
|
"boatclass": self.boatclass,
|
|
"handicap": self.handicap,
|
|
"club": self.club,
|
|
"boatname": self.boatname,
|
|
"isTracking": True,
|
|
"hasGivenUp": False
|
|
},
|
|
"device": { # optional
|
|
"os" : "linux",
|
|
"osVer" : "OBP60v 0.1",
|
|
"isIOS" : False,
|
|
"isAndroid" : False,
|
|
"isTracker" : True
|
|
}
|
|
}
|
|
|
|
# Zugriff auf Boatdata: Referenzen für leichten schnellen Zugriff
|
|
bv_lat = boatdata.getRef("LAT")
|
|
bv_lon = boatdata.getRef("LON")
|
|
bv_sog = boatdata.getRef("SOG")
|
|
|
|
self.client.loop_start()
|
|
while not appdata.shutdown:
|
|
time.sleep(1)
|
|
self.client_race_age += 1
|
|
if self.activated and self.hero_raceid is not None:
|
|
self.mqtt_publish(topic, payload, bv_lat, bv_lon, bv_sog)
|
|
if self.client_race_age > 15:
|
|
# Server sendet keine Daten mehr oder Verbindung verloren
|
|
# TODO Frage den http-Server nach den letzten Racestatus
|
|
self.log.warning(f"Keine Daten vom MQTT-Sever seit ca. {self.client_race_age} Sekunden")
|
|
self.log.warning("Hole Daten vom HTTP-Server")
|
|
self.hero_query_race(self.hero_raceid)
|
|
if self.hero_racestatus['racefinished'] == True:
|
|
self.hero_racephase = 0
|
|
self.hero_play_audio('endeWettfahrt')
|
|
self.activated = False
|
|
self.client.loop_stop()
|
|
self.client.disconnect()
|
|
if cfg['trace']:
|
|
self.trace_fh.close()
|