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sdrangel/plugins/feature/satellitetracker/satellitetrackerworker.cpp

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///////////////////////////////////////////////////////////////////////////////////
// Copyright (C) 2021-2023 Jon Beniston, M7RCE <jon@beniston.com> //
// Copyright (C) 2021-2022 Edouard Griffiths, F4EXB <f4exb06@gmail.com> //
// Copyright (C) 2022 Jiří Pinkava <jiri.pinkava@rossum.ai> //
// Copyright (C) 2023 Daniele Forsi <iu5hkx@gmail.com> //
// //
// 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/channelapi.h"
#include "channel/channelwebapiutils.h"
#include "feature/featurewebapiutils.h"
#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_pollTimer(this),
m_recalculatePasses(true),
m_flipRotation(false),
m_extendedAzRotation(false)
{
connect(&m_pollTimer, SIGNAL(timeout()), this, SLOT(update()));
}
SatelliteTrackerWorker::~SatelliteTrackerWorker()
{
qDebug() << "SatelliteTrackerWorker::~SatelliteTrackerWorker";
stopWork();
m_inputMessageQueue.clear();
// Remove satellites from Map
QHashIterator<QString, SatWorkerState *> itr(m_workerState);
while (itr.hasNext())
{
itr.next();
if (m_settings.m_drawOnMap) {
removeFromMap(itr.key());
}
}
qDeleteAll(m_workerState);
}
void SatelliteTrackerWorker::startWork()
{
qDebug() << "SatelliteTrackerWorker::startWork";
QMutexLocker mutexLocker(&m_mutex);
connect(&m_inputMessageQueue, SIGNAL(messageEnqueued()), this, SLOT(handleInputMessages()));
m_recalculatePasses = true;
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();
}
// Handle any messages already on the queue
handleInputMessages();
}
void SatelliteTrackerWorker::stopWork()
{
qDebug() << "SatelliteTrackerWorker::stopWork";
QMutexLocker mutexLocker(&m_mutex);
disconnect(&m_inputMessageQueue, SIGNAL(messageEnqueued()), this, SLOT(handleInputMessages()));
m_pollTimer.stop();
// Stop doppler timers
QHashIterator<QString, SatWorkerState *> itr(m_workerState);
while (itr.hasNext())
{
itr.next();
itr.value()->m_dopplerTimer.stop();
}
}
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.getSettingsKeys(), 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, const QList<QString>& settingsKeys, bool force)
{
qDebug() << "SatelliteTrackerWorker::applySettings:" << settings.getDebugString(settingsKeys, force) << " force: " << force;
if (settingsKeys.contains("target")
|| settingsKeys.contains("latitude")
|| settingsKeys.contains("longitude")
|| settingsKeys.contains("heightAboveSeaLevel")
|| settingsKeys.contains("dateTime")
|| settingsKeys.contains("utc")
|| settingsKeys.contains("groundTrackPoints")
|| settingsKeys.contains("minAOSElevation")
|| settingsKeys.contains("minPassElevation")
|| settingsKeys.contains("predictionPeriod")
|| settingsKeys.contains("passStartTime")
|| settingsKeys.contains("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 (settingsKeys.contains("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)
{
if (m_settings.m_drawOnMap) {
removeFromMap(itr.key());
}
delete itr.value();
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;
}
}
if (settingsKeys.contains("target") && (settings.m_target != m_settings.m_target))
{
if (m_workerState.contains(m_settings.m_target))
{
SatWorkerState *satWorkerState = m_workerState.value(m_settings.m_target);
disableDoppler(satWorkerState);
}
if (m_workerState.contains(settings.m_target))
{
SatWorkerState *satWorkerState = m_workerState.value(settings.m_target);
if (satWorkerState->hasAOS(m_satelliteTracker->currentDateTimeUtc())) {
enableDoppler(satWorkerState);
}
}
}
if (force) {
m_settings = settings;
} else {
m_settings.applySettings(settingsKeys, settings);
}
}
void SatelliteTrackerWorker::removeFromMap(QString id)
{
QList<ObjectPipe*> mapMessagePipes;
MainCore::instance()->getMessagePipes().getMessagePipes(m_satelliteTracker, "mapitems", mapMessagePipes);
if (mapMessagePipes.size() > 0) {
sendToMap(mapMessagePipes, id, "", "", "", 0.0f, 0.0, 0.0, 0.0, 0.0, nullptr, nullptr, nullptr, nullptr);
}
}
void SatelliteTrackerWorker::sendToMap(
const QList<ObjectPipe*>& mapMessagePipes,
QString name,
QString image,
QString model,
QString text,
float labelOffset,
double lat,
double lon,
double altitude,
double rotation,
QList<QGeoCoordinate *> *track,
QList<QDateTime *> *trackDateTime,
QList<QGeoCoordinate *> *predictedTrack,
QList<QDateTime *> *predictedTrackDateTime
)
{
for (const auto& pipe : mapMessagePipes)
{
MessageQueue *messageQueue = qobject_cast<MessageQueue*>(pipe->m_element);
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));
swgMapItem->setModel(new QString(model));
swgMapItem->setFixedPosition(false);
swgMapItem->setOrientation(0);
swgMapItem->setLabel(new QString(name));
swgMapItem->setLabelAltitudeOffset(labelOffset);
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());
p->setDateTime(new QString(trackDateTime->at(i)->toString(Qt::ISODate)));
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());
p->setDateTime(new QString(predictedTrackDateTime->at(i)->toString(Qt::ISODate)));
mapTrack->append(p);
}
swgMapItem->setPredictedTrack(mapTrack);
}
MainCore::MsgMapItem *msg = MainCore::MsgMapItem::create(m_satelliteTracker, swgMapItem);
messageQueue->push(msg);
}
}
void SatelliteTrackerWorker::update()
{
// Get date and time to calculate position at
QDateTime qdt;
if (m_settings.m_dateTime == "")
qdt = m_satelliteTracker->currentDateTimeUtc();
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();
bool timeReversed = m_lastUpdateDateTime > qdt;
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 || timeReversed)
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
if (satWorkerState->m_satState.m_passes.size() > 0)
{
// Only use timers if using real time
if (m_settings.m_dateTimeSelect == SatelliteTrackerSettings::NOW)
{
// Do we have a new pass?
if ((satWorkerState->m_aos != satWorkerState->m_satState.m_passes[0].m_aos) || (satWorkerState->m_los != satWorkerState->m_satState.m_passes[0].m_los))
{
qDebug() << "SatelliteTrackerWorker: Current time: " << qdt.toString(Qt::ISODateWithMs);
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;
satWorkerState->m_aos = satWorkerState->m_satState.m_passes[0].m_aos;
satWorkerState->m_los = satWorkerState->m_satState.m_passes[0].m_los;
satWorkerState->m_hasSignalledAOS = false;
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))
{
if (satWorkerState->m_losTimer.isActive()) {
qDebug() << "SatelliteTrackerWorker::update m_losTimer.remainingTime: " << satWorkerState->m_losTimer.remainingTime();
}
// 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))
{
satWorkerState->m_losTimer.stop();
// LOS hasn't been called yet - do so, before we reset timer
los(satWorkerState);
}
qDebug() << "SatelliteTrackerWorker:: Interval to LOS " << (satWorkerState->m_los.toMSecsSinceEpoch() - qdt.toMSecsSinceEpoch());
satWorkerState->m_losTimer.setInterval(satWorkerState->m_los.toMSecsSinceEpoch() - qdt.toMSecsSinceEpoch());
satWorkerState->m_losTimer.setSingleShot(true);
satWorkerState->m_losTimer.start();
}
}
}
else
{
// Do we need to signal LOS?
if (satWorkerState->m_hasSignalledAOS && !satWorkerState->hasAOS(qdt))
{
los(satWorkerState);
satWorkerState->m_hasSignalledAOS = false;
}
// Do we have a new pass?
if ((satWorkerState->m_aos != satWorkerState->m_satState.m_passes[0].m_aos) || (satWorkerState->m_los != satWorkerState->m_satState.m_passes[0].m_los))
{
satWorkerState->m_aos = satWorkerState->m_satState.m_passes[0].m_aos;
satWorkerState->m_los = satWorkerState->m_satState.m_passes[0].m_los;
satWorkerState->m_hasSignalledAOS = false;
}
// Check if we need to signal AOS
if (!satWorkerState->m_hasSignalledAOS && satWorkerState->m_aos.isValid() && satWorkerState->hasAOS(qdt)) {
aos(satWorkerState);
}
}
}
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 + m_settings.m_azimuthOffset;
double elevation = satWorkerState->m_satState.m_elevation + m_settings.m_elevationOffset;
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;
}
QList<ObjectPipe*> rotatorPipes;
MainCore::instance()->getMessagePipes().getMessagePipes(m_satelliteTracker, "target", rotatorPipes);
for (const auto& pipe : rotatorPipes)
{
MessageQueue *messageQueue = qobject_cast<MessageQueue*>(pipe->m_element);
SWGSDRangel::SWGTargetAzimuthElevation *swgTarget = new SWGSDRangel::SWGTargetAzimuthElevation();
swgTarget->setName(new QString(m_settings.m_target));
swgTarget->setAzimuth(azimuth);
swgTarget->setElevation(elevation);
messageQueue->push(MainCore::MsgTargetAzimuthElevation::create(m_satelliteTracker, swgTarget));
}
}
// Send to Map
if (m_settings.m_drawOnMap)
{
QList<ObjectPipe*> mapMessagePipes;
MainCore::instance()->getMessagePipes().getMessagePipes(m_satelliteTracker, "mapitems", mapMessagePipes);
if (mapMessagePipes.size() > 0)
{
const QStringList cubeSats({"AISAT-1", "FOX-1B", "FOX-1C", "FOX-1D", "FOX-1E", "FUNCUBE-1", "NO-84"});
QString image;
QString model;
float labelOffset;
if (sat->m_name == "ISS")
{
image = "qrc:///satellitetracker/satellitetracker/iss-32.png";
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;
}
else
{
image = "qrc:///satellitetracker/satellitetracker/satellite-32.png";
model = "satellite.glb";
labelOffset = 2.5f;
}
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));
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");
}
text = QString("%1\nAOS: %2\nLOS: %3\nMax El: %4%5")
.arg(text)
.arg(aosDateTime)
.arg(losDateTime)
.arg((int)round(satWorkerState->m_satState.m_passes[0].m_maxElevation))
.arg(QChar(0xb0));
}
sendToMap(
mapMessagePipes,
sat->m_name,
image,
model,
text,
labelOffset,
satWorkerState->m_satState.m_latitude, satWorkerState->m_satState.m_longitude,
satWorkerState->m_satState.m_altitude * 1000.0, 0,
&satWorkerState->m_satState.m_groundTrack, &satWorkerState->m_satState.m_groundTrackDateTime,
&satWorkerState->m_satState.m_predictedGroundTrack, &satWorkerState->m_satState.m_predictedGroundTrackDateTime
);
}
}
// Send to GUI
if (getMessageQueueToGUI())
getMessageQueueToGUI()->push(SatelliteTrackerReport::MsgReportSat::create(new SatelliteState(satWorkerState->m_satState)));
// Sent to Feature for Web report
if (m_msgQueueToFeature)
m_msgQueueToFeature->push(SatelliteTrackerReport::MsgReportSat::create(new SatelliteState(satWorkerState->m_satState)));
}
else
qDebug() << "SatelliteTrackerWorker::update: No TLE for " << sat->m_name << ". Can't compute position.";
}
}
m_lastUpdateDateTime = qdt;
m_recalculatePasses = false;
}
void SatelliteTrackerWorker::aos(SatWorkerState *satWorkerState)
{
qDebug() << "SatelliteTrackerWorker::aos " << satWorkerState->m_name;
satWorkerState->m_hasSignalledAOS = true;
// Indicate AOS to GUI
if (getMessageQueueToGUI())
{
QString speech = substituteVariables(m_settings.m_aosSpeech, satWorkerState->m_name);
getMessageQueueToGUI()->push(SatelliteTrackerReport::MsgReportAOS::create(satWorkerState->m_name, speech));
}
// 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);
if ((newTargetIdx < currentTargetIdx) || !targetSatWorkerState->hasAOS(m_satelliteTracker->currentDateTimeUtc()))
{
// Stop doppler correction for current target
if (m_workerState.contains(m_settings.m_target))
disableDoppler(m_workerState.value(m_settings.m_target));
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;
}
}
}
QString SatelliteTrackerWorker::substituteVariables(const QString &textIn, const QString &satelliteName)
{
SatWorkerState *satWorkerState = m_workerState.value(satelliteName);
if (!satWorkerState) {
return "";
}
int durationMins = (int)round((satWorkerState->m_los.toSecsSinceEpoch() - satWorkerState->m_aos.toSecsSinceEpoch())/60.0);
QString text = textIn;
text = text.replace("${name}", satelliteName);
text = text.replace("${duration}", QString::number(durationMins));
if (satWorkerState->m_satState.m_passes.size() > 0)
{
text = text.replace("${aos}", satWorkerState->m_satState.m_passes[0].m_aos.toString());
text = text.replace("${los}", satWorkerState->m_satState.m_passes[0].m_los.toString());
text = text.replace("${elevation}", QString::number(std::round(satWorkerState->m_satState.m_passes[0].m_maxElevation)));
text = text.replace("${aosAzimuth}", QString::number(std::round(satWorkerState->m_satState.m_passes[0].m_aosAzimuth)));
text = text.replace("${losAzimuth}", QString::number(std::round(satWorkerState->m_satState.m_passes[0].m_losAzimuth)));
text = text.replace("${northToSouth}", QString::number(satWorkerState->m_satState.m_passes[0].m_northToSouth));
text = text.replace("${latitude}", QString::number(satWorkerState->m_satState.m_latitude));
text = text.replace("${longitude}", QString::number(satWorkerState->m_satState.m_longitude));
text = text.replace("${altitude}", QString::number(satWorkerState->m_satState.m_altitude));
text = text.replace("${azimuth}", QString::number(std::round(satWorkerState->m_satState.m_azimuth)));
text = text.replace("${elevation}", QString::number(std::round(satWorkerState->m_satState.m_elevation)));
text = text.replace("${range}", QString::number(std::round(satWorkerState->m_satState.m_range)));
text = text.replace("${rangeRate}", QString::number(std::round(satWorkerState->m_satState.m_rangeRate)));
text = text.replace("${speed}", QString::number(std::round(satWorkerState->m_satState.m_speed)));
text = text.replace("${period}", QString::number(satWorkerState->m_satState.m_period));
}
return text;
}
void SatelliteTrackerWorker::executeCommand(const QString &command, const QString &satelliteName)
{
if (!command.isEmpty())
{
// Replace variables
QString cmd = substituteVariables(command, satelliteName);
QStringList allArgs = QProcess::splitCommand(cmd);
qDebug() << "SatelliteTrackerWorker::executeCommand: Executing: " << allArgs;
QString program = allArgs[0];
allArgs.pop_front();
QProcess::startDetached(program, allArgs);
}
}
void SatelliteTrackerWorker::applyDeviceAOSSettings(const QString& name)
{
// Execute global program/script
if (!m_settings.m_aosCommand.isEmpty()) {
executeCommand(m_settings.m_aosCommand, name);
}
// 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);
if (!devSettings->m_presetGroup.isEmpty())
{
const MainSettings& mainSettings = mainCore->getSettings();
const std::vector<DeviceSet*>& deviceSets = mainCore->getDeviceSets();
if (devSettings->m_deviceSetIndex < (int)deviceSets.size())
{
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)
{
qDebug() << "SatelliteTrackerWorker::aos: Loading preset " << preset->getDescription() << " to device set at " << devSettings->m_deviceSetIndex;
MainCore::MsgLoadPreset *msg = MainCore::MsgLoadPreset::create(preset, devSettings->m_deviceSetIndex);
mainCore->getMainMessageQueue()->push(msg);
}
else
{
qWarning() << "SatelliteTrackerWorker::aos: Unable to get preset: " << devSettings->m_presetGroup << " " << devSettings->m_presetFrequency << " " << devSettings->m_presetDescription;
}
}
else
{
qWarning() << "SatelliteTrackerWorker::aos: device set at " << devSettings->m_deviceSetIndex << " does not exist";
}
}
}
// Wait a little bit for presets to load before performing other steps
QTimer::singleShot(1000, [this, 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;
ChannelWebAPIUtils::setCenterFrequency(devSettings->m_deviceSetIndex, devSettings->m_frequency);
}
// Execute per satellite program/script
if (!devSettings->m_aosCommand.isEmpty()) {
executeCommand(devSettings->m_aosCommand, name);
}
}
// 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 acquisition";
ChannelWebAPIUtils::run(devSettings->m_deviceSetIndex);
}
}
// Send AOS message to channels/features
SatWorkerState *satWorkerState = m_workerState.value(name);
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());
FeatureWebAPIUtils::satelliteAOS(name, satWorkerState->m_aos, satWorkerState->m_los);
// Start Doppler correction, if needed
enableDoppler(satWorkerState);
// Start file sinks (need a little delay to ensure sample rate message has been handled in filerecord)
QTimer::singleShot(1000, [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";
ChannelWebAPIUtils::startStopFileSinks(devSettings->m_deviceSetIndex, true);
}
}
});
});
}
else
{
// Send AOS message to channels/features
SatWorkerState *satWorkerState = m_workerState.value(name);
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());
FeatureWebAPIUtils::satelliteAOS(name, satWorkerState->m_aos, satWorkerState->m_los);
}
}
void SatelliteTrackerWorker::enableDoppler(SatWorkerState *satWorkerState)
{
QList<SatelliteTrackerSettings::SatelliteDeviceSettings *> *m_deviceSettingsList = m_settings.m_deviceSettings.value(satWorkerState->m_name);
if (m_deviceSettingsList)
{
satWorkerState->m_doppler.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++) {
satWorkerState->m_doppler.append(0);
}
}
}
if (requiresDoppler)
{
qDebug() << "SatelliteTrackerWorker::applyDeviceAOSSettings: Enabling doppler for " << satWorkerState->m_name;
satWorkerState->m_dopplerTimer.setInterval(m_settings.m_dopplerPeriod * 1000);
satWorkerState->m_dopplerTimer.start();
connect(&satWorkerState->m_dopplerTimer, &QTimer::timeout, [this, satWorkerState]() {
doppler(satWorkerState);
});
}
}
}
void SatelliteTrackerWorker::disableDoppler(SatWorkerState *satWorkerState)
{
// 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);
// Remove doppler correction from any channel
QList<SatelliteTrackerSettings::SatelliteDeviceSettings *> *m_deviceSettingsList = m_settings.m_deviceSettings.value(satWorkerState->m_name);
if (m_deviceSettingsList)
{
for (int i = 0; i < m_deviceSettingsList->size(); i++)
{
SatelliteTrackerSettings::SatelliteDeviceSettings *devSettings = m_deviceSettingsList->at(i);
if (devSettings->m_doppler.size() > 0)
{
for (int j = 0; j < devSettings->m_doppler.size(); j++)
{
int offset;
if (ChannelWebAPIUtils::getFrequencyOffset(devSettings->m_deviceSetIndex, devSettings->m_doppler[j], offset))
{
// Remove old doppler
offset += satWorkerState->m_doppler[i];
if (!ChannelWebAPIUtils::setFrequencyOffset(devSettings->m_deviceSetIndex, devSettings->m_doppler[j], offset))
qDebug() << "SatelliteTrackerWorker::doppler: Failed to set frequency offset";
}
else
qDebug() << "SatelliteTrackerWorker::doppler: Failed to get frequency offset";
}
satWorkerState->m_doppler[i] = 0;
}
}
}
}
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)
{
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;
if (ChannelWebAPIUtils::getCenterFrequency(devSettings->m_deviceSetIndex, centerFrequency))
{
// Calculate frequency delta due to Doppler
double c = 299792458.0;
double deltaF = centerFrequency * satWorkerState->m_satState.m_rangeRate * 1000.0 / c;
int doppler = (int)round(deltaF);
for (int j = 0; j < devSettings->m_doppler.size(); j++)
{
int offset;
if (ChannelWebAPIUtils::getFrequencyOffset(devSettings->m_deviceSetIndex, devSettings->m_doppler[j], offset))
{
// Apply doppler - For receive, we subtract, transmit we add
std::vector<DeviceSet*>& deviceSets = MainCore::instance()->getDeviceSets();
ChannelAPI *channel = deviceSets[devSettings->m_deviceSetIndex]->getChannelAt(j);
int tx = false;
if (channel) {
tx = channel->getStreamType() == ChannelAPI::StreamSingleSource; // What if MIMO?
}
// Remove old doppler and apply new
int initOffset;
if (tx)
{
initOffset = offset - satWorkerState->m_doppler[i];
offset = initOffset + doppler;
}
else
{
initOffset = offset + satWorkerState->m_doppler[i];
offset = initOffset - doppler;
}
if (!ChannelWebAPIUtils::setFrequencyOffset(devSettings->m_deviceSetIndex, devSettings->m_doppler[j], offset))
qDebug() << "SatelliteTrackerWorker::doppler: Failed to set frequency offset";
}
else
qDebug() << "SatelliteTrackerWorker::doppler: Failed to get frequency offset";
}
satWorkerState->m_doppler[i] = doppler;
}
else
qDebug() << "SatelliteTrackerWorker::doppler: couldn't get centre frequency for device at " << devSettings->m_deviceSetIndex;
}
}
}
}
void SatelliteTrackerWorker::los(SatWorkerState *satWorkerState)
{
qDebug() << "SatelliteTrackerWorker::los " << satWorkerState->m_name << " target: " << m_settings.m_target;
// Indicate LOS to GUI
if (getMessageQueueToGUI())
{
QString speech = substituteVariables(m_settings.m_losSpeech, satWorkerState->m_name);
getMessageQueueToGUI()->push(SatelliteTrackerReport::MsgReportLOS::create(satWorkerState->m_name, speech));
}
disableDoppler(satWorkerState);
if (m_settings.m_target == satWorkerState->m_name)
{
// Execute program/script
if (!m_settings.m_losCommand.isEmpty()) {
executeCommand(m_settings.m_losCommand, satWorkerState->m_name);
}
// Send LOS message to channels/features
ChannelWebAPIUtils::satelliteLOS(satWorkerState->m_name);
FeatureWebAPIUtils::satelliteLOS(satWorkerState->m_name);
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";
ChannelWebAPIUtils::startStopFileSinks(devSettings->m_deviceSetIndex, false);
}
}
// Stop acquisition
for (int i = 0; i < m_deviceSettingsList->size(); i++)
{
SatelliteTrackerSettings::SatelliteDeviceSettings *devSettings = m_deviceSettingsList->at(i);
if (devSettings->m_stopOnLOS) {
ChannelWebAPIUtils::stop(devSettings->m_deviceSetIndex);
}
}
// 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()) {
executeCommand(devSettings->m_losCommand, satWorkerState->m_name);
}
}
}
}
// 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]);
if (newSatWorkerState->hasAOS(m_satelliteTracker->currentDateTimeUtc()))
{
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;
}
bool SatWorkerState::hasAOS(const QDateTime& currentTime)
{
return (m_aos <= currentTime) && (m_los > currentTime);
}
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