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sdrangel/plugins/feature/satellitetracker/satellitetrackerworker.cpp

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Add Satellite Tracker feature
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///////////////////////////////////////////////////////////////////////////////////
// Copyright (C) 2021 Jon Beniston, M7RCE //
// Copyright (C) 2020 Edouard Griffiths, F4EXB //
// //
// This program is free software; you can redistribute it and/or modify //
// it under the terms of the GNU General Public License as published by //
// the Free Software Foundation as version 3 of the License, or //
// (at your option) any later version. //
// //
// This program is distributed in the hope that it will be useful, //
// but WITHOUT ANY WARRANTY; without even the implied warranty of //
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the //
// GNU General Public License V3 for more details. //
// //
// You should have received a copy of the GNU General Public License //
// along with this program. If not, see <http://www.gnu.org/licenses/>. //
///////////////////////////////////////////////////////////////////////////////////
#include <cmath>
#include <QDebug>
#include <QAbstractSocket>
#include <QTcpServer>
#include <QTcpSocket>
#include <QEventLoop>
#include <QTimer>
#include <QDateTime>
#include "SWGTargetAzimuthElevation.h"
#include "SWGMapItem.h"
#include "webapi/webapiadapterinterface.h"
#include "webapi/webapiutils.h"
#include "util/units.h"
#include "device/deviceset.h"
#include "device/deviceapi.h"
#include "channel/channelwebapiutils.h"
Send AOS to features. Support AOS/LOS in local time on map.
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#include "feature/featurewebapiutils.h"
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#include "maincore.h"
#include "satellitetracker.h"
#include "satellitetrackerworker.h"
#include "satellitetrackerreport.h"
#include "satellitetrackersgp4.h"
MESSAGE_CLASS_DEFINITION(SatelliteTrackerWorker::MsgConfigureSatelliteTrackerWorker, Message)
MESSAGE_CLASS_DEFINITION(SatelliteTrackerReport::MsgReportSat, Message)
MESSAGE_CLASS_DEFINITION(SatelliteTrackerReport::MsgReportAOS, Message)
MESSAGE_CLASS_DEFINITION(SatelliteTrackerReport::MsgReportLOS, Message)
MESSAGE_CLASS_DEFINITION(SatelliteTrackerReport::MsgReportTarget, Message)
SatelliteTrackerWorker::SatelliteTrackerWorker(SatelliteTracker* satelliteTracker, WebAPIAdapterInterface *webAPIAdapterInterface) :
m_satelliteTracker(satelliteTracker),
m_webAPIAdapterInterface(webAPIAdapterInterface),
m_msgQueueToFeature(nullptr),
m_msgQueueToGUI(nullptr),
m_running(false),
m_mutex(QMutex::Recursive),
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m_pollTimer(this),
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m_recalculatePasses(true),
m_flipRotation(false),
m_extendedAzRotation(false)
{
connect(&m_pollTimer, SIGNAL(timeout()), this, SLOT(update()));
}
SatelliteTrackerWorker::~SatelliteTrackerWorker()
{
m_inputMessageQueue.clear();
}
void SatelliteTrackerWorker::reset()
{
QMutexLocker mutexLocker(&m_mutex);
m_inputMessageQueue.clear();
}
bool SatelliteTrackerWorker::startWork()
{
QMutexLocker mutexLocker(&m_mutex);
connect(&m_inputMessageQueue, SIGNAL(messageEnqueued()), this, SLOT(handleInputMessages()));
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connect(thread(), SIGNAL(started()), this, SLOT(started()));
connect(thread(), SIGNAL(finished()), this, SLOT(finished()));
m_recalculatePasses = true;
m_running = true;
return m_running;
}
// startWork() is called from main thread. Timers need to be started on worker thread
void SatelliteTrackerWorker::started()
{
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m_pollTimer.start((int)round(m_settings.m_updatePeriod*1000.0));
// Resume doppler timers
QHashIterator<QString, SatWorkerState *> itr(m_workerState);
while (itr.hasNext())
{
itr.next();
SatWorkerState *satWorkerState = itr.value();
if (satWorkerState->m_dopplerTimer.interval() > 0)
satWorkerState->m_dopplerTimer.start();
}
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disconnect(thread(), SIGNAL(started()), this, SLOT(started()));
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}
void SatelliteTrackerWorker::stopWork()
{
QMutexLocker mutexLocker(&m_mutex);
disconnect(&m_inputMessageQueue, SIGNAL(messageEnqueued()), this, SLOT(handleInputMessages()));
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}
void SatelliteTrackerWorker::finished()
{
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m_pollTimer.stop();
// Stop doppler timers
QHashIterator<QString, SatWorkerState *> itr(m_workerState);
while (itr.hasNext())
{
itr.next();
itr.value()->m_dopplerTimer.stop();
}
m_running = false;
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disconnect(thread(), SIGNAL(finished()), this, SLOT(finished()));
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}
void SatelliteTrackerWorker::handleInputMessages()
{
Message* message;
while ((message = m_inputMessageQueue.pop()) != nullptr)
{
if (handleMessage(*message)) {
delete message;
}
}
}
bool SatelliteTrackerWorker::handleMessage(const Message& message)
{
if (MsgConfigureSatelliteTrackerWorker::match(message))
{
QMutexLocker mutexLocker(&m_mutex);
MsgConfigureSatelliteTrackerWorker& cfg = (MsgConfigureSatelliteTrackerWorker&) message;
applySettings(cfg.getSettings(), cfg.getForce());
return true;
}
else if (SatelliteTracker::MsgSatData::match(message))
{
SatelliteTracker::MsgSatData& satData = (SatelliteTracker::MsgSatData&) message;
m_satellites = satData.getSatellites();
m_recalculatePasses = true;
return true;
}
else
{
return false;
}
}
void SatelliteTrackerWorker::applySettings(const SatelliteTrackerSettings& settings, bool force)
{
qDebug() << "SatelliteTrackerWorker::applySettings:"
<< " m_target: " << settings.m_target
<< " m_satellites: " << settings.m_satellites
<< " m_dateTime: " << settings.m_dateTime
<< " m_utc: " << settings.m_utc
<< " m_updatePeriod: " << settings.m_updatePeriod
<< " force: " << force;
if ((m_settings.m_target != settings.m_target)
|| (m_settings.m_latitude != settings.m_latitude)
|| (m_settings.m_longitude != settings.m_longitude)
|| (m_settings.m_heightAboveSeaLevel != settings.m_heightAboveSeaLevel)
|| (m_settings.m_dateTime != settings.m_dateTime)
|| (m_settings.m_utc != settings.m_utc)
|| (m_settings.m_groundTrackPoints != settings.m_groundTrackPoints)
|| (m_settings.m_minAOSElevation != settings.m_minAOSElevation)
|| (m_settings.m_minPassElevation != settings.m_minPassElevation)
|| (m_settings.m_predictionPeriod != settings.m_predictionPeriod)
|| (m_settings.m_passStartTime != settings.m_passStartTime)
|| (m_settings.m_passFinishTime != settings.m_passFinishTime)
|| (!m_settings.m_drawOnMap && settings.m_drawOnMap)
|| force)
{
// Recalculate immediately
m_recalculatePasses = true;
QTimer::singleShot(1, this, &SatelliteTrackerWorker::update);
m_pollTimer.start((int)round(settings.m_updatePeriod*1000.0));
}
else if ((m_settings.m_updatePeriod != settings.m_updatePeriod) || force)
{
m_pollTimer.start((int)round(settings.m_updatePeriod*1000.0));
}
if (!settings.m_drawOnMap && m_settings.m_drawOnMap)
{
QHashIterator<QString, SatWorkerState *> itr(m_workerState);
while (itr.hasNext())
{
itr.next();
removeFromMap(itr.key());
}
}
// Remove satellites no longer needed
QMutableHashIterator<QString, SatWorkerState *> itr(m_workerState);
while (itr.hasNext())
{
itr.next();
if (settings.m_satellites.indexOf(itr.key()) == -1)
itr.remove();
}
// Add new satellites
for (int i = 0; i < settings.m_satellites.size(); i++)
{
if (!m_workerState.contains(settings.m_satellites[i]))
{
SatWorkerState *satWorkerState = new SatWorkerState(settings.m_satellites[i]);
m_workerState.insert(settings.m_satellites[i], satWorkerState);
connect(&satWorkerState->m_aosTimer, &QTimer::timeout, [this, satWorkerState]() {
aos(satWorkerState);
});
connect(&satWorkerState->m_losTimer, &QTimer::timeout, [this, satWorkerState]() {
los(satWorkerState);
});
m_recalculatePasses = true;
}
}
m_settings = settings;
}
void SatelliteTrackerWorker::removeFromMap(QString id)
{
MessagePipes& messagePipes = MainCore::instance()->getMessagePipes();
QList<MessageQueue*> *mapMessageQueues = messagePipes.getMessageQueues(m_satelliteTracker, "mapitems");
if (mapMessageQueues)
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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sendToMap(mapMessageQueues, id, "", "", "", 0.0f, 0.0, 0.0, 0.0, 0.0, nullptr, nullptr, nullptr, nullptr);
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}
void SatelliteTrackerWorker::sendToMap(QList<MessageQueue*> *mapMessageQueues,
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QString name, QString image, QString model, QString text,
float labelOffset,
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double lat, double lon, double altitude, double rotation,
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QList<QGeoCoordinate *> *track,
QList<QDateTime *> *trackDateTime,
QList<QGeoCoordinate *> *predictedTrack,
QList<QDateTime *> *predictedTrackDateTime)
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{
QList<MessageQueue*>::iterator it = mapMessageQueues->begin();
for (; it != mapMessageQueues->end(); ++it)
{
SWGSDRangel::SWGMapItem *swgMapItem = new SWGSDRangel::SWGMapItem();
swgMapItem->setName(new QString(name));
swgMapItem->setLatitude(lat);
swgMapItem->setLongitude(lon);
swgMapItem->setAltitude(altitude);
swgMapItem->setImage(new QString(image));
swgMapItem->setImageRotation(rotation);
swgMapItem->setText(new QString(text));
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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swgMapItem->setModel(new QString(model));
swgMapItem->setFixedPosition(false);
swgMapItem->setOrientation(0);
swgMapItem->setLabel(new QString(name));
swgMapItem->setLabelAltitudeOffset(labelOffset);
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if (track != nullptr)
{
QList<SWGSDRangel::SWGMapCoordinate *> *mapTrack = new QList<SWGSDRangel::SWGMapCoordinate *>();
for (int i = 0; i < track->size(); i++)
{
SWGSDRangel::SWGMapCoordinate* p = new SWGSDRangel::SWGMapCoordinate();
QGeoCoordinate *c = track->at(i);
p->setLatitude(c->latitude());
p->setLongitude(c->longitude());
p->setAltitude(c->altitude());
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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p->setDateTime(new QString(trackDateTime->at(i)->toString(Qt::ISODate)));
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mapTrack->append(p);
}
swgMapItem->setTrack(mapTrack);
}
if (predictedTrack != nullptr)
{
QList<SWGSDRangel::SWGMapCoordinate *> *mapTrack = new QList<SWGSDRangel::SWGMapCoordinate *>();
for (int i = 0; i < predictedTrack->size(); i++)
{
SWGSDRangel::SWGMapCoordinate* p = new SWGSDRangel::SWGMapCoordinate();
QGeoCoordinate *c = predictedTrack->at(i);
p->setLatitude(c->latitude());
p->setLongitude(c->longitude());
p->setAltitude(c->altitude());
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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p->setDateTime(new QString(predictedTrackDateTime->at(i)->toString(Qt::ISODate)));
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mapTrack->append(p);
}
swgMapItem->setPredictedTrack(mapTrack);
}
MainCore::MsgMapItem *msg = MainCore::MsgMapItem::create(m_satelliteTracker, swgMapItem);
(*it)->push(msg);
}
}
void SatelliteTrackerWorker::update()
{
// Get date and time to calculate position at
QDateTime qdt;
if (m_settings.m_dateTime == "")
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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qdt = m_satelliteTracker->currentDateTimeUtc();
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else if (m_settings.m_utc)
qdt = QDateTime::fromString(m_settings.m_dateTime, Qt::ISODateWithMs);
else
qdt = QDateTime::fromString(m_settings.m_dateTime, Qt::ISODateWithMs).toUTC();
QHashIterator<QString, SatWorkerState *> itr(m_workerState);
while (itr.hasNext())
{
itr.next();
SatWorkerState *satWorkerState = itr.value();
QString name = satWorkerState->m_name;
if (m_satellites.contains(name))
{
SatNogsSatellite *sat = m_satellites.value(name);
if (sat->m_tle != nullptr)
{
// Calculate position, AOS/LOS and other details for satellite
int noOfPasses;
bool recalcAsPastLOS = (satWorkerState->m_satState.m_passes.size() > 0) && (satWorkerState->m_satState.m_passes[0]->m_los < qdt);
if (m_recalculatePasses || recalcAsPastLOS)
noOfPasses = (name == m_settings.m_target) ? 99 : 1;
else
noOfPasses = 0;
getSatelliteState(qdt, sat->m_tle->m_tle0, sat->m_tle->m_tle1, sat->m_tle->m_tle2,
m_settings.m_latitude, m_settings.m_longitude, m_settings.m_heightAboveSeaLevel/1000.0,
m_settings.m_predictionPeriod, m_settings.m_minAOSElevation, m_settings.m_minPassElevation,
m_settings.m_passStartTime, m_settings.m_passFinishTime, m_settings.m_utc,
noOfPasses, m_settings.m_groundTrackPoints, &satWorkerState->m_satState);
// Update AOS/LOS (only set timers if using real time)
if ((m_settings.m_dateTime == "") && (satWorkerState->m_satState.m_passes.size() > 0))
{
// Do we have a new AOS?
if ((satWorkerState->m_aos != satWorkerState->m_satState.m_passes[0]->m_aos) || (satWorkerState->m_los != satWorkerState->m_satState.m_passes[0]->m_los))
{
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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qDebug() << "SatelliteTrackerWorker: Current time: " << qdt.toString(Qt::ISODateWithMs);
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qDebug() << "SatelliteTrackerWorker: New AOS: " << name << " new: " << satWorkerState->m_satState.m_passes[0]->m_aos << " old: " << satWorkerState->m_aos;
qDebug() << "SatelliteTrackerWorker: New LOS: " << name << " new: " << satWorkerState->m_satState.m_passes[0]->m_los << " old: " << satWorkerState->m_los;
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satWorkerState->m_aos = satWorkerState->m_satState.m_passes[0]->m_aos;
satWorkerState->m_los = satWorkerState->m_satState.m_passes[0]->m_los;
if (satWorkerState->m_aos.isValid())
{
if (satWorkerState->m_aos > qdt)
{
satWorkerState->m_aosTimer.setInterval(satWorkerState->m_aos.toMSecsSinceEpoch() - qdt.toMSecsSinceEpoch());
satWorkerState->m_aosTimer.setSingleShot(true);
satWorkerState->m_aosTimer.start();
}
else if (qdt < satWorkerState->m_los)
aos(satWorkerState);
if (satWorkerState->m_los.isValid() && (m_settings.m_target == satWorkerState->m_name))
calculateRotation(satWorkerState);
}
if (satWorkerState->m_los.isValid() && (satWorkerState->m_los > qdt))
{
Satellite Tracker: Ensure LOS is signalled if new AOS is calculated within a second of LOS
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if (satWorkerState->m_losTimer.isActive()) {
qDebug() << "SatelliteTrackerWorker::update m_losTimer.remainingTime: " << satWorkerState->m_losTimer.remainingTime();
}
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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// We can detect a new AOS for a satellite, a little bit before the LOS has occured
// Allow for 5s here (1s doesn't appear to be enough in some cases)
if (satWorkerState->m_losTimer.isActive() && (satWorkerState->m_losTimer.remainingTime() <= 5000))
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{
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satWorkerState->m_losTimer.stop();
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// LOS hasn't been called yet - do so, before we reset timer
los(satWorkerState);
}
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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qDebug() << "SatelliteTrackerWorker:: Interval to LOS " << (satWorkerState->m_los.toMSecsSinceEpoch() - qdt.toMSecsSinceEpoch());
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satWorkerState->m_losTimer.setInterval(satWorkerState->m_los.toMSecsSinceEpoch() - qdt.toMSecsSinceEpoch());
satWorkerState->m_losTimer.setSingleShot(true);
satWorkerState->m_losTimer.start();
}
}
}
else
{
satWorkerState->m_aos = QDateTime();
satWorkerState->m_los = QDateTime();
satWorkerState->m_aosTimer.stop();
satWorkerState->m_losTimer.stop();
}
// Send Az/El of target to Rotator Controllers, if elevation above horizon
if ((name == m_settings.m_target) && (satWorkerState->m_satState.m_elevation >= 0))
{
double azimuth = satWorkerState->m_satState.m_azimuth;
double elevation = satWorkerState->m_satState.m_elevation;
if (m_extendedAzRotation)
{
if (azimuth < 180.0)
azimuth += 360.0;
}
else if (m_flipRotation)
{
azimuth = std::fmod(azimuth + 180.0, 360.0);
elevation = 180.0 - elevation;
}
MessagePipes& messagePipes = MainCore::instance()->getMessagePipes();
QList<MessageQueue*> *rotatorMessageQueues = messagePipes.getMessageQueues(m_satelliteTracker, "target");
if (rotatorMessageQueues)
{
QList<MessageQueue*>::iterator it = rotatorMessageQueues->begin();
for (; it != rotatorMessageQueues->end(); ++it)
{
SWGSDRangel::SWGTargetAzimuthElevation *swgTarget = new SWGSDRangel::SWGTargetAzimuthElevation();
swgTarget->setName(new QString(m_settings.m_target));
swgTarget->setAzimuth(azimuth);
swgTarget->setElevation(elevation);
(*it)->push(MainCore::MsgTargetAzimuthElevation::create(m_satelliteTracker, swgTarget));
}
}
}
// Send to Map
if (m_settings.m_drawOnMap)
{
MessagePipes& messagePipes = MainCore::instance()->getMessagePipes();
QList<MessageQueue*> *mapMessageQueues = messagePipes.getMessageQueues(m_satelliteTracker, "mapitems");
if (mapMessageQueues)
{
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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const QStringList cubeSats({"AISAT-1", "FOX-1B", "FOX-1C", "FOX-1D", "FOX-1E", "FUNCUBE-1", "NO-84"});
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QString image;
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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QString model;
float labelOffset;
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if (sat->m_name == "ISS")
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{
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image = "qrc:///satellitetracker/satellitetracker/iss-32.png";
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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model = "iss.glb";
labelOffset = 15.0f;
}
else if (cubeSats.contains(sat->m_name))
{
image = "qrc:///satellitetracker/satellitetracker/cubesat-32.png";
model = "cubesat.glb";
labelOffset = 0.7f;
}
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else
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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{
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image = "qrc:///satellitetracker/satellitetracker/satellite-32.png";
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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model = "satellite.glb";
labelOffset = 2.5f;
}
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QString text = QString("Name: %1\nAltitude: %2 km\nRange: %3 km\nRange rate: %4 km/s\nSpeed: %5 km/h\nPeriod: %6 mins")
.arg(sat->m_name)
.arg((int)round(satWorkerState->m_satState.m_altitude))
.arg((int)round(satWorkerState->m_satState.m_range))
.arg(satWorkerState->m_satState.m_rangeRate, 0, 'f', 1)
.arg(Units::kmpsToIntegerKPH(satWorkerState->m_satState.m_speed))
.arg((int)round(satWorkerState->m_satState.m_period));
if (satWorkerState->m_satState.m_passes.size() > 0)
{
if ((qdt >= satWorkerState->m_satState.m_passes[0]->m_aos) && (qdt <= satWorkerState->m_satState.m_passes[0]->m_los))
text = text.append("\nSatellite is visible");
else
text = text.append("\nAOS in: %1 mins").arg((int)round((satWorkerState->m_satState.m_passes[0]->m_aos.toSecsSinceEpoch() - qdt.toSecsSinceEpoch())/60.0));
Send AOS to features. Support AOS/LOS in local time on map.
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QString aosDateTime;
QString losDateTime;
if (m_settings.m_utc)
{
aosDateTime = satWorkerState->m_satState.m_passes[0]->m_aos.toString(m_settings.m_dateFormat + " hh:mm");
losDateTime = satWorkerState->m_satState.m_passes[0]->m_los.toString(m_settings.m_dateFormat + " hh:mm");
}
else
{
aosDateTime = satWorkerState->m_satState.m_passes[0]->m_aos.toLocalTime().toString(m_settings.m_dateFormat + " hh:mm");
losDateTime = satWorkerState->m_satState.m_passes[0]->m_los.toLocalTime().toString(m_settings.m_dateFormat + " hh:mm");
}
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text = QString("%1\nAOS: %2\nLOS: %3\nMax El: %4%5")
.arg(text)
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.arg(aosDateTime)
.arg(losDateTime)
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.arg((int)round(satWorkerState->m_satState.m_passes[0]->m_maxElevation))
.arg(QChar(0xb0));
}
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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sendToMap(mapMessageQueues, sat->m_name, image, model, text, labelOffset,
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satWorkerState->m_satState.m_latitude, satWorkerState->m_satState.m_longitude,
satWorkerState->m_satState.m_altitude * 1000.0, 0,
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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&satWorkerState->m_satState.m_groundTrack, &satWorkerState->m_satState.m_groundTrackDateTime,
&satWorkerState->m_satState.m_predictedGroundTrack, &satWorkerState->m_satState.m_predictedGroundTrackDateTime);
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}
}
// Send to GUI
if (getMessageQueueToGUI())
getMessageQueueToGUI()->push(SatelliteTrackerReport::MsgReportSat::create(new SatelliteState(satWorkerState->m_satState)));
}
else
qDebug() << "SatelliteTrackerWorker::update: No TLE for " << sat->m_name << ". Can't compute position.";
}
}
m_recalculatePasses = false;
}
void SatelliteTrackerWorker::aos(SatWorkerState *satWorkerState)
{
qDebug() << "SatelliteTrackerWorker::aos " << satWorkerState->m_name;
// Indicate AOS to GUI
if (getMessageQueueToGUI())
{
int durationMins = (int)round((satWorkerState->m_los.toSecsSinceEpoch() - satWorkerState->m_aos.toSecsSinceEpoch())/60.0);
int maxElevation = 0;
if (satWorkerState->m_satState.m_passes.size() > 0)
maxElevation = satWorkerState->m_satState.m_passes[0]->m_maxElevation;
getMessageQueueToGUI()->push(SatelliteTrackerReport::MsgReportAOS::create(satWorkerState->m_name, durationMins, maxElevation));
}
// Update target
if (m_settings.m_autoTarget && (satWorkerState->m_name != m_settings.m_target))
{
// Only switch if higher priority (earlier in list) or other target not in AOS
SatWorkerState *targetSatWorkerState = m_workerState.value(m_settings.m_target);
int currentTargetIdx = m_settings.m_satellites.indexOf(m_settings.m_target);
int newTargetIdx = m_settings.m_satellites.indexOf(satWorkerState->m_name);
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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if ((newTargetIdx < currentTargetIdx) || !targetSatWorkerState->hasAOS(m_satelliteTracker->currentDateTimeUtc()))
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{
// Stop doppler correction for current target
if (m_workerState.contains(m_settings.m_target))
m_workerState.value(m_settings.m_target)->m_dopplerTimer.stop();
qDebug() << "SatelliteTrackerWorker::aos - autoTarget setting " << satWorkerState->m_name;
m_settings.m_target = satWorkerState->m_name;
// Update GUI with new target
if (getMessageQueueToGUI())
getMessageQueueToGUI()->push(SatelliteTrackerReport::MsgReportTarget::create(satWorkerState->m_name));
}
}
// TODO: Detect if different device sets are used and support multiple sats simultaneously
if (m_settings.m_target == satWorkerState->m_name)
applyDeviceAOSSettings(satWorkerState->m_name);
}
// Determine if we need to flip rotator or use extended azimuth to avoid 360/0 discontinuity
void SatelliteTrackerWorker::calculateRotation(SatWorkerState *satWorkerState)
{
m_flipRotation = false;
m_extendedAzRotation = false;
if (satWorkerState->m_satState.m_passes.size() > 0)
{
SatNogsSatellite *sat = m_satellites.value(satWorkerState->m_name);
bool passes0 = getPassesThrough0Deg(sat->m_tle->m_tle0, sat->m_tle->m_tle1, sat->m_tle->m_tle2,
m_settings.m_latitude, m_settings.m_longitude, m_settings.m_heightAboveSeaLevel/1000.0,
satWorkerState->m_satState.m_passes[0]->m_aos, satWorkerState->m_satState.m_passes[0]->m_los);
if (passes0)
{
double aosAz = satWorkerState->m_satState.m_passes[0]->m_aosAzimuth;
double losAz = satWorkerState->m_satState.m_passes[0]->m_losAzimuth;
double minAz = std::min(aosAz, losAz);
if ((m_settings.m_rotatorMaxAzimuth - 360.0) > minAz)
m_extendedAzRotation = true;
else if (m_settings.m_rotatorMaxElevation == 180.0)
m_flipRotation = true;
}
}
}
void SatelliteTrackerWorker::applyDeviceAOSSettings(const QString& name)
{
// Execute global program/script
if (!m_settings.m_aosCommand.isEmpty())
{
qDebug() << "SatelliteTrackerWorker::aos: executing command: " << m_settings.m_aosCommand;
Make code compatible with Qt 5.12
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#if QT_VERSION >= QT_VERSION_CHECK(5, 14, 0)
Fixed QProcess::execute and QProcess::startDetached warnings
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QStringList allArgs = m_settings.m_aosCommand.split(" ", Qt::SkipEmptyParts);
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#else
QStringList allArgs = m_settings.m_aosCommand.split(" ", QString::SkipEmptyParts);
#endif
Fixed QProcess::execute and QProcess::startDetached warnings
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QString program = allArgs[0];
allArgs.pop_front();
QProcess::startDetached(program, allArgs);
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}
// Update device set
if (m_settings.m_deviceSettings.contains(name))
{
QList<SatelliteTrackerSettings::SatelliteDeviceSettings *> *m_deviceSettingsList = m_settings.m_deviceSettings.value(name);
MainCore *mainCore = MainCore::instance();
// Load presets
for (int i = 0; i < m_deviceSettingsList->size(); i++)
{
SatelliteTrackerSettings::SatelliteDeviceSettings *devSettings = m_deviceSettingsList->at(i);
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if (!devSettings->m_presetGroup.isEmpty())
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{
const MainSettings& mainSettings = mainCore->getSettings();
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const std::vector<DeviceSet*>& deviceSets = mainCore->getDeviceSets();
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if (devSettings->m_deviceSetIndex < (int)deviceSets.size())
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{
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const DeviceSet *deviceSet = deviceSets[devSettings->m_deviceSetIndex];
QString presetType;
if (deviceSet->m_deviceSourceEngine != nullptr) {
presetType = "R";
} else if (deviceSet->m_deviceSinkEngine != nullptr) {
presetType = "T";
} else if (deviceSet->m_deviceMIMOEngine != nullptr) {
presetType = "M";
}
const Preset* preset = mainSettings.getPreset(devSettings->m_presetGroup, devSettings->m_presetFrequency, devSettings->m_presetDescription, presetType);
if (preset != nullptr)
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{
SatelliteTracker: use device set index. API: fixed doppler channels
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qDebug() << "SatelliteTrackerWorker::aos: Loading preset " << preset->getDescription() << " to device set at " << devSettings->m_deviceSetIndex;
MainCore::MsgLoadPreset *msg = MainCore::MsgLoadPreset::create(preset, devSettings->m_deviceSetIndex);
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mainCore->getMainMessageQueue()->push(msg);
}
else
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{
qWarning() << "SatelliteTrackerWorker::aos: Unable to get preset: " << devSettings->m_presetGroup << " " << devSettings->m_presetFrequency << " " << devSettings->m_presetDescription;
}
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}
else
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{
qWarning() << "SatelliteTrackerWorker::aos: device set at " << devSettings->m_deviceSetIndex << " does not exist";
}
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}
}
// Wait a little bit for presets to load before performing other steps
QTimer::singleShot(1000, [this, mainCore, name, m_deviceSettingsList]()
{
for (int i = 0; i < m_deviceSettingsList->size(); i++)
{
SatelliteTrackerSettings::SatelliteDeviceSettings *devSettings = m_deviceSettingsList->at(i);
// Override frequency
if (devSettings->m_frequency != 0)
{
qDebug() << "SatelliteTrackerWorker::aos: setting frequency to: " << devSettings->m_frequency;
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ChannelWebAPIUtils::setCenterFrequency(devSettings->m_deviceSetIndex, devSettings->m_frequency);
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}
// Execute per satellite program/script
if (!devSettings->m_aosCommand.isEmpty())
{
qDebug() << "SatelliteTrackerWorker::aos: executing command: " << devSettings->m_aosCommand;
Make code compatible with Qt 5.12
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#if QT_VERSION >= QT_VERSION_CHECK(5, 14, 0)
Fixed QProcess::execute and QProcess::startDetached warnings
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QStringList allArgs = m_settings.m_aosCommand.split(" ", Qt::SkipEmptyParts);
Make code compatible with Qt 5.12
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#else
QStringList allArgs = m_settings.m_aosCommand.split(" ", QString::SkipEmptyParts);
#endif
Fixed QProcess::execute and QProcess::startDetached warnings
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QString program = allArgs[0];
allArgs.pop_front();
QProcess::startDetached(program, allArgs);
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}
}
// Start acquisition - Need to use WebAPI, in order for GUI to correctly reflect being started
for (int i = 0; i < m_deviceSettingsList->size(); i++)
{
SatelliteTrackerSettings::SatelliteDeviceSettings *devSettings = m_deviceSettingsList->at(i);
if (devSettings->m_startOnAOS)
{
qDebug() << "SatelliteTrackerWorker::aos: starting acqusition";
SatelliteTracker: use device set index. API: fixed doppler channels
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ChannelWebAPIUtils::run(devSettings->m_deviceSetIndex);
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}
}
Send AOS to features. Support AOS/LOS in local time on map.
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// Send AOS message to channels/features
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SatWorkerState *satWorkerState = m_workerState.value(name);
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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SatNogsSatellite *sat = m_satellites.value(satWorkerState->m_name);
// APT needs current time, for current position of satellite, not start of pass which may be in the past
// if the satellite was already visible when Sat Tracker was started
ChannelWebAPIUtils::satelliteAOS(name, satWorkerState->m_satState.m_passes[0]->m_northToSouth,
sat->m_tle->toString(),
m_satelliteTracker->currentDateTimeUtc());
Send AOS to features. Support AOS/LOS in local time on map.
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FeatureWebAPIUtils::satelliteAOS(name, satWorkerState->m_aos, satWorkerState->m_los);
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// Start Doppler correction, if needed
satWorkerState->m_initFrequencyOffset.clear();
bool requiresDoppler = false;
for (int i = 0; i < m_deviceSettingsList->size(); i++)
{
SatelliteTrackerSettings::SatelliteDeviceSettings *devSettings = m_deviceSettingsList->at(i);
if (devSettings->m_doppler.size() > 0)
{
requiresDoppler = true;
for (int j = 0; j < devSettings->m_doppler.size(); j++)
{
int offset;
SatelliteTracker: use device set index. API: fixed doppler channels
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if (ChannelWebAPIUtils::getFrequencyOffset(devSettings->m_deviceSetIndex, devSettings->m_doppler[j], offset))
Add Satellite Tracker feature
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{
satWorkerState->m_initFrequencyOffset.append(offset);
qDebug() << "SatelliteTrackerWorker::applyDeviceAOSSettings: Initial frequency offset: " << offset;
}
else
{
qDebug() << "SatelliteTrackerWorker::applyDeviceAOSSettings: Failed to get initial frequency offset";
satWorkerState->m_initFrequencyOffset.append(0);
}
}
}
}
if (requiresDoppler)
{
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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qDebug() << "SatelliteTrackerWorker::applyDeviceAOSSettings: requiresDoppler";
Fix Doppler timing interval to be seconds not milliseconds
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satWorkerState->m_dopplerTimer.setInterval(m_settings.m_dopplerPeriod * 1000);
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satWorkerState->m_dopplerTimer.start();
connect(&satWorkerState->m_dopplerTimer, &QTimer::timeout, [this, satWorkerState]() {
doppler(satWorkerState);
});
}
Add delay of 1s before starting file sinks, to give time for DSPnotification to be processed in filerecord
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// Start file sinks (need a little delay to ensure sample rate message has been handled in filerecord)
QTimer::singleShot(1000, [this, m_deviceSettingsList]()
{
for (int i = 0; i < m_deviceSettingsList->size(); i++)
{
SatelliteTrackerSettings::SatelliteDeviceSettings *devSettings = m_deviceSettingsList->at(i);
if (devSettings->m_startStopFileSink)
{
qDebug() << "SatelliteTrackerWorker::aos: starting file sinks";
SatelliteTracker: use device set index. API: fixed doppler channels
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ChannelWebAPIUtils::startStopFileSinks(devSettings->m_deviceSetIndex, true);
Add delay of 1s before starting file sinks, to give time for DSPnotification to be processed in filerecord
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}
}
});
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});
}
else
{
Send AOS to features. Support AOS/LOS in local time on map.
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// Send AOS message to channels/features
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SatWorkerState *satWorkerState = m_workerState.value(name);
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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SatNogsSatellite *sat = m_satellites.value(satWorkerState->m_name);
ChannelWebAPIUtils::satelliteAOS(name, satWorkerState->m_satState.m_passes[0]->m_northToSouth,
sat->m_tle->toString(),
m_satelliteTracker->currentDateTimeUtc());
Send AOS to features. Support AOS/LOS in local time on map.
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FeatureWebAPIUtils::satelliteAOS(name, satWorkerState->m_aos, satWorkerState->m_los);
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}
}
void SatelliteTrackerWorker::doppler(SatWorkerState *satWorkerState)
{
qDebug() << "SatelliteTrackerWorker::doppler " << satWorkerState->m_name;
QList<SatelliteTrackerSettings::SatelliteDeviceSettings *> *m_deviceSettingsList = m_settings.m_deviceSettings.value(satWorkerState->m_name);
if (m_deviceSettingsList != nullptr)
{
for (int i = 0; i < m_deviceSettingsList->size(); i++)
{
SatelliteTrackerSettings::SatelliteDeviceSettings *devSettings = m_deviceSettingsList->at(i);
if (devSettings->m_doppler.size() > 0)
{
// Get center frequency for this device
double centerFrequency;
SatelliteTracker: use device set index. API: fixed doppler channels
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if (ChannelWebAPIUtils::getCenterFrequency(devSettings->m_deviceSetIndex, centerFrequency))
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{
// Calculate frequency delta due to Doppler
double c = 299792458.0;
double deltaF = centerFrequency * satWorkerState->m_satState.m_rangeRate * 1000.0 / c;
for (int j = 0; j < devSettings->m_doppler.size(); j++)
{
// For receive, we subtract, transmit we add
SatelliteTracker: use device set index. API: fixed doppler channels
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int offset = satWorkerState->m_initFrequencyOffset[i] - (int)round(deltaF);
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SatelliteTracker: use device set index. API: fixed doppler channels
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if (!ChannelWebAPIUtils::setFrequencyOffset(devSettings->m_deviceSetIndex, devSettings->m_doppler[j], offset))
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qDebug() << "SatelliteTrackerWorker::doppler: Failed to set frequency offset";
}
}
else
SatelliteTracker: use device set index. API: fixed doppler channels
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qDebug() << "SatelliteTrackerWorker::doppler: couldn't get centre frequency for device at " << devSettings->m_deviceSetIndex;
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}
}
}
}
void SatelliteTrackerWorker::los(SatWorkerState *satWorkerState)
{
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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qDebug() << "SatelliteTrackerWorker::los " << satWorkerState->m_name << " target: " << m_settings.m_target;
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// Indicate LOS to GUI
if (getMessageQueueToGUI())
getMessageQueueToGUI()->push(SatelliteTrackerReport::MsgReportLOS::create(satWorkerState->m_name));
// Stop Doppler timer, and set interval to 0, so we don't restart it in start()
satWorkerState->m_dopplerTimer.stop();
satWorkerState->m_dopplerTimer.setInterval(0);
if (m_settings.m_target == satWorkerState->m_name)
{
// Execute program/script
if (!m_settings.m_losCommand.isEmpty())
{
qDebug() << "SatelliteTrackerWorker::los: executing command: " << m_settings.m_losCommand;
Make code compatible with Qt 5.12
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#if QT_VERSION >= QT_VERSION_CHECK(5, 14, 0)
Fixed QProcess::execute and QProcess::startDetached warnings
2021-12-27 13:16:59 -05:00
QStringList allArgs = m_settings.m_losCommand.split(" ", Qt::SkipEmptyParts);
Make code compatible with Qt 5.12
2021-12-27 17:30:18 -05:00
#else
QStringList allArgs = m_settings.m_losCommand.split(" ", QString::SkipEmptyParts);
#endif
Fixed QProcess::execute and QProcess::startDetached warnings
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QString program = allArgs[0];
allArgs.pop_front();
QProcess::startDetached(program, allArgs);
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}
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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// Send LOS message to channels/features
ChannelWebAPIUtils::satelliteLOS(satWorkerState->m_name);
FeatureWebAPIUtils::satelliteLOS(satWorkerState->m_name);
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if (m_settings.m_deviceSettings.contains(satWorkerState->m_name))
{
QList<SatelliteTrackerSettings::SatelliteDeviceSettings *> *m_deviceSettingsList = m_settings.m_deviceSettings.value(satWorkerState->m_name);
// Stop file sinks
for (int i = 0; i < m_deviceSettingsList->size(); i++)
{
SatelliteTrackerSettings::SatelliteDeviceSettings *devSettings = m_deviceSettingsList->at(i);
if (devSettings->m_startStopFileSink)
{
qDebug() << "SatelliteTrackerWorker::los: stopping file sinks";
SatelliteTracker: use device set index. API: fixed doppler channels
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ChannelWebAPIUtils::startStopFileSinks(devSettings->m_deviceSetIndex, false);
Add Satellite Tracker feature
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}
}
// Stop acquisition
for (int i = 0; i < m_deviceSettingsList->size(); i++)
{
SatelliteTrackerSettings::SatelliteDeviceSettings *devSettings = m_deviceSettingsList->at(i);
SatelliteTracker: use device set index. API: fixed doppler channels
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if (devSettings->m_stopOnLOS) {
ChannelWebAPIUtils::stop(devSettings->m_deviceSetIndex);
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}
}
// Execute per satellite program/script
// Do after stopping acquisition, so files are closed by file sink
for (int i = 0; i < m_deviceSettingsList->size(); i++)
{
SatelliteTrackerSettings::SatelliteDeviceSettings *devSettings = m_deviceSettingsList->at(i);
if (!devSettings->m_losCommand.isEmpty())
{
qDebug() << "SatelliteTrackerWorker::los: executing command: " << devSettings->m_losCommand;
Make code compatible with Qt 5.12
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#if QT_VERSION >= QT_VERSION_CHECK(5, 14, 0)
Fixed QProcess::execute and QProcess::startDetached warnings
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QStringList allArgs = devSettings->m_losCommand.split(" ", Qt::SkipEmptyParts);
Make code compatible with Qt 5.12
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#else
QStringList allArgs = devSettings->m_losCommand.split(" ", QString::SkipEmptyParts);
#endif
Fixed QProcess::execute and QProcess::startDetached warnings
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QString program = allArgs[0];
allArgs.pop_front();
QProcess::startDetached(program, allArgs);
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}
}
}
}
// Is another lower-priority satellite with AOS available to switch to?
if (m_settings.m_autoTarget)
{
for (int i = m_settings.m_satellites.indexOf(m_settings.m_target) + 1; i < m_settings.m_satellites.size(); i++)
{
if (m_workerState.contains(m_settings.m_satellites[i]))
{
SatWorkerState *newSatWorkerState = m_workerState.value(m_settings.m_satellites[i]);
Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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if (newSatWorkerState->hasAOS(m_satelliteTracker->currentDateTimeUtc()))
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{
qDebug() << "SatelliteTrackerWorker::los - autoTarget setting " << m_settings.m_satellites[i];
m_settings.m_target = m_settings.m_satellites[i];
// Update GUI with new target
if (getMessageQueueToGUI())
getMessageQueueToGUI()->push(SatelliteTrackerReport::MsgReportTarget::create(m_settings.m_target));
// Apply device settings
applyDeviceAOSSettings(m_settings.m_target);
break;
}
}
}
}
m_recalculatePasses = true;
}
Satellite Tracker: Ensure LOS is signalled if new AOS is calculated within a second of LOS
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Satellite Tracker updates. Add support for replaying of passes in the past, where current time is determined from File Input device. Add latitude and longitude to satellite data table. Update ground track generation to better work with 3D map. Add support for 3D models. Add Cubesat image for 2D map. Send LOS to other plugins, when no device settings are setup. Pass TLEs to other plugins, so they can use a consistent copy for replays.
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bool SatWorkerState::hasAOS(const QDateTime& currentTime)
Satellite Tracker: Ensure LOS is signalled if new AOS is calculated within a second of LOS
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{
return (m_aos <= currentTime) && (m_los > currentTime);
}
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