From c2626f3bbf2f44313c66dba27ffcf0542d26c0e5 Mon Sep 17 00:00:00 2001 From: Fernando Date: Thu, 16 Jul 2026 14:28:21 -0400 Subject: [PATCH 1/2] Port ground station into avionics monorepo --- .dockerignore | 15 + .github/workflows/ground-station.yml | 102 + .gitignore | 17 +- .vscode/extensions.json | 8 +- .vscode/settings.json | 5 +- Cargo.lock | 2197 ++++++++++++++++- Cargo.toml | 27 +- README.md | 16 +- apps/README.md | 12 +- apps/antenna-tracker/.python-version | 1 + apps/antenna-tracker/ARCHITECTURE.md | 183 ++ apps/antenna-tracker/Cargo.toml | 20 + apps/antenna-tracker/README.md | 95 + apps/antenna-tracker/antenna_service.py | 415 ++++ apps/antenna-tracker/example_pipeline.py | 401 +++ apps/antenna-tracker/fake_gps_ingest.py | 58 + apps/antenna-tracker/main.py | 431 ++++ apps/antenna-tracker/predictor_service.py | 388 +++ apps/antenna-tracker/pyproject.toml | 15 + apps/antenna-tracker/remote.py | 169 ++ apps/antenna-tracker/rocket_gps.jsonl | 1610 ++++++++++++ apps/antenna-tracker/src/main.rs | 179 ++ apps/antenna-tracker/tests/conftest.py | 7 + .../tests/test_continuous_unwrap.py | 71 + .../tests/test_pointing_math.py | 81 + apps/antenna-tracker/uv.lock | 698 ++++++ apps/command-dispatcher/Cargo.toml | 21 + apps/command-dispatcher/README.md | 66 + apps/command-dispatcher/src/cli.rs | 24 + apps/command-dispatcher/src/commands.rs | 211 ++ apps/command-dispatcher/src/dispatcher.rs | 124 + apps/command-dispatcher/src/health.rs | 49 + apps/command-dispatcher/src/keepalive.rs | 127 + apps/command-dispatcher/src/main.rs | 67 + apps/ground-station-web/.dockerignore | 21 + apps/ground-station-web/.eslintignore | 14 + apps/ground-station-web/.eslintrc.cjs | 30 + apps/ground-station-web/.gitignore | 16 + apps/ground-station-web/.prettierignore | 15 + apps/ground-station-web/.prettierrc | 8 + apps/ground-station-web/Dockerfile | 43 + apps/ground-station-web/README.md | 16 + apps/ground-station-web/bun.lock | 1457 +++++++++++ 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.../src/routes/state/+page.svelte | 276 +++ .../src/routes/state/api/+server.ts | 160 ++ .../src/routes/trajectory/+page.svelte | 374 +++ .../src/routes/trajectory/api/+server.ts | 140 ++ .../appspecific/com.chrome.devtools.json | 1 + .../static/android-chrome-192x192.png | Bin 0 -> 17697 bytes .../static/android-chrome-512x512.png | Bin 0 -> 70537 bytes .../static/apple-touch-icon.png | Bin 0 -> 15781 bytes .../static/favicon-16x16.png | Bin 0 -> 744 bytes .../static/favicon-32x32.png | Bin 0 -> 1806 bytes apps/ground-station-web/static/favicon.ico | Bin 0 -> 15406 bytes apps/ground-station-web/static/icon_bg.png | Bin 0 -> 9701 bytes .../static/models/rocket.glb | Bin 0 -> 36752 bytes .../static/site.webmanifest | 11 + .../static/textures/cubemap/road.hdr | Bin 0 -> 1482793 bytes .../static/textures/navball.png | Bin 0 -> 92315 bytes apps/ground-station-web/svelte.config.js | 15 + apps/ground-station-web/tsconfig.json | 12 + apps/ground-station-web/vite.config.ts | 43 + apps/sergw/Cargo.toml | 2 +- apps/telemetry-ingestor/Cargo.toml | 21 + apps/telemetry-ingestor/README.md | 50 + .../src/connection_manager.rs | 34 + apps/telemetry-ingestor/src/heartbeat.rs | 41 + apps/telemetry-ingestor/src/main.rs | 62 + .../telemetry-ingestor/src/message_handler.rs | 108 + apps/telemetry-ingestor/src/savers/argus.rs | 41 + .../src/savers/barometer.rs | 15 + apps/telemetry-ingestor/src/savers/command.rs | 107 + apps/telemetry-ingestor/src/savers/event.rs | 28 + apps/telemetry-ingestor/src/savers/imu.rs | 44 + apps/telemetry-ingestor/src/savers/log.rs | 17 + .../telemetry-ingestor/src/savers/madgwick.rs | 24 + apps/telemetry-ingestor/src/savers/message.rs | 142 ++ apps/telemetry-ingestor/src/savers/mod.rs | 11 + apps/telemetry-ingestor/src/savers/radio.rs | 15 + apps/telemetry-ingestor/src/savers/sbg.rs | 182 ++ apps/telemetry-ingestor/src/savers/state.rs | 28 + apps/tile-provider/.dockerignore | 11 + apps/tile-provider/.gitignore | 6 + apps/tile-provider/Dockerfile | 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tools/ground-station/remote-test/remote.py create mode 100755 tools/ground-station/sbg-test/.gitignore create mode 100755 tools/ground-station/sbg-test/.python-version create mode 100755 tools/ground-station/sbg-test/README.md create mode 100755 tools/ground-station/sbg-test/build_sbg_utils.py create mode 100755 tools/ground-station/sbg-test/fix_perms.py create mode 100644 tools/ground-station/sbg-test/foo.py create mode 100755 tools/ground-station/sbg-test/gps_orientation.py create mode 100755 tools/ground-station/sbg-test/latest_measurement.py create mode 100755 tools/ground-station/sbg-test/main.py create mode 100755 tools/ground-station/sbg-test/pyproject.toml create mode 100755 tools/ground-station/sbg-test/sbg_reader.py create mode 100755 tools/ground-station/sbg-test/uv.lock create mode 100755 tools/ground-station/scripts/port_prog_finder.sh create mode 100755 tools/ground-station/scripts/postcreate.sh create mode 100755 tools/ground-station/scripts/requirements/0_dev_deps.sh create mode 100755 tools/ground-station/ssh-setup/README.md create mode 100755 tools/ground-station/ssh-setup/bootstrap.py create mode 100755 tools/ground-station/ssh-setup/server.py create mode 100755 tools/ground-station/tenna-manual/README.md create mode 100755 tools/ground-station/tenna-manual/manual.py create mode 100755 tools/ground-station/tenna-manual/pyproject.toml create mode 100755 tools/ground-station/tenna-manual/remote.py create mode 100755 tools/ground-station/tenna-setup/README.md create mode 100755 tools/ground-station/tenna-setup/bluetooth.sh create mode 100755 tools/ground-station/tenna-setup/setup.sh create mode 100755 tools/ground-station/virtual-serial/Cargo.toml create mode 100755 tools/ground-station/virtual-serial/src/main.rs diff --git a/.dockerignore b/.dockerignore new file mode 100644 index 0000000..a0dc26f --- /dev/null +++ b/.dockerignore @@ -0,0 +1,15 @@ +.git +.github +.idea +.vscode +target +**/node_modules +**/.svelte-kit +**/.venv +**/.pytest_cache +**/__pycache__ +**/*.db +**/*.db-shm +**/*.db-wal +deployments/ground-station/db/data +apps/tile-provider/tiles_data diff --git a/.github/workflows/ground-station.yml b/.github/workflows/ground-station.yml new file mode 100644 index 0000000..b23703b --- /dev/null +++ b/.github/workflows/ground-station.yml @@ -0,0 +1,102 @@ +name: Ground Station + +on: + push: + branches: [main] + paths: + - "apps/antenna-tracker/**" + - "apps/command-dispatcher/**" + - "apps/ground-station-web/**" + - "apps/sergw/**" + - "apps/telemetry-ingestor/**" + - "apps/tile-provider/**" + - "deployments/ground-station/**" + - "tools/ground-station/**" + - "Cargo.toml" + - "Cargo.lock" + - ".github/workflows/ground-station.yml" + pull_request: + paths: + - "apps/antenna-tracker/**" + - "apps/command-dispatcher/**" + - "apps/ground-station-web/**" + - "apps/sergw/**" + - "apps/telemetry-ingestor/**" + - "apps/tile-provider/**" + - "deployments/ground-station/**" + - "tools/ground-station/**" + - "Cargo.toml" + - "Cargo.lock" + - ".github/workflows/ground-station.yml" + +jobs: + rust-host: + name: Rust host applications + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - uses: dtolnay/rust-toolchain@nightly + with: + components: clippy, rustfmt + - name: Install native dependencies + run: sudo apt-get update && sudo apt-get install -y libudev-dev pkg-config + - name: Check formatting + run: cargo fmt --all -- --check + - name: Lint ground-station crates + run: cargo clippy --locked -p sergw -p command-dispatcher -p telemetry-ingestor -p gps-ingest -p manual-command-dispatcher -p virtual-serial --all-targets -- -D warnings + - name: Test ground-station crates + run: cargo test --locked -p sergw -p command-dispatcher -p telemetry-ingestor -p gps-ingest -p manual-command-dispatcher -p virtual-serial + + web: + name: Ground-station web + runs-on: ubuntu-latest + defaults: + run: + working-directory: apps/ground-station-web + steps: + - uses: actions/checkout@v4 + - uses: oven-sh/setup-bun@v2 + with: + bun-version: "1.3.14" + - run: bun install --frozen-lockfile + - run: bun run check + - run: bun run test + - run: bun run build + + bun-services: + name: Bun tests (${{ matrix.app }}) + runs-on: ubuntu-latest + strategy: + matrix: + app: + - apps/tile-provider + - deployments/ground-station/db + defaults: + run: + working-directory: ${{ matrix.app }} + steps: + - uses: actions/checkout@v4 + - uses: oven-sh/setup-bun@v2 + with: + bun-version: "1.3.14" + - run: bun install --frozen-lockfile + - run: bun test + + antenna-python: + name: Antenna Python + runs-on: ubuntu-latest + defaults: + run: + working-directory: apps/antenna-tracker + steps: + - uses: actions/checkout@v4 + - uses: astral-sh/setup-uv@v6 + - run: uv run --frozen pytest -q + + compose: + name: Compose configuration + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - run: docker compose -f deployments/ground-station/compose.yaml config --quiet + - run: docker compose -f deployments/ground-station/compose.yaml --profile radio config --quiet diff --git a/.gitignore b/.gitignore index 1c113fc..713f93d 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,18 @@ /target .DS_Store -.uv-cache \ No newline at end of file +.uv-cache + +# Host application dependencies and build output +node_modules/ +.svelte-kit/ +.venv/ +.pytest_cache/ +__pycache__/ +*.py[cod] + +# Runtime data +*.db +*.db-shm +*.db-wal +deployments/ground-station/db/data/ +apps/tile-provider/tiles_data/ diff --git a/.vscode/extensions.json b/.vscode/extensions.json index bc7a0b2..dd83308 100644 --- a/.vscode/extensions.json +++ b/.vscode/extensions.json @@ -2,6 +2,10 @@ "recommendations": [ "dustypomerleau.rust-syntax", "1yib.rust-bundle", - "polymeilex.rust-targets" + "polymeilex.rust-targets", + "svelte.svelte-vscode", + "oven.bun-vscode", + "ms-python.python", + "charliermarsh.ruff" ] -} \ No newline at end of file +} diff --git a/.vscode/settings.json b/.vscode/settings.json index b059cc1..c303074 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -30,9 +30,12 @@ "chrono", "defmt", "heapless", + "libsql", "mavlink", + "ratatui", "serde", "sergw", + "SvelteKit", "uorocketry" ] -} \ No newline at end of file +} diff --git a/Cargo.lock b/Cargo.lock index 1873abb..9879c36 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -2,6 +2,17 @@ # It is not intended for manual editing. version = 4 +[[package]] +name = "aes" +version = "0.8.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b169f7a6d4742236a0a00c541b845991d0ac43e546831af1249753ab4c3aa3a0" +dependencies = [ + "cfg-if", + "cipher", + "cpufeatures", +] + [[package]] name = "ahash" version = "0.8.12" @@ -11,7 +22,7 @@ dependencies = [ "cfg-if", "once_cell", "version_check", - "zerocopy", + "zerocopy 0.8.27", ] [[package]] @@ -32,6 +43,27 @@ dependencies = [ "as-slice", ] +[[package]] +name = "allocator-api2" +version = "0.2.21" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923" + +[[package]] +name = "android-tzdata" +version = "0.1.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e999941b234f3131b00bc13c22d06e8c5ff726d1b6318ac7eb276997bbb4fef0" + +[[package]] +name = "android_system_properties" +version = "0.1.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "819e7219dbd41043ac279b19830f2efc897156490d7fd6ea916720117ee66311" +dependencies = [ + "libc", +] + [[package]] name = "anstream" version = "0.6.21" @@ -143,12 +175,12 @@ dependencies = [ "num-traits", "panic-probe", "pid", - "prost", + "prost 0.14.1", "serde", "smlang", "static_cell", "stm32-fmc", - "strum", + "strum 0.27.2", "uor-high-level", "uor-peripherals", "uor-utils", @@ -163,6 +195,39 @@ dependencies = [ "stable_deref_trait", ] +[[package]] +name = "async-stream" +version = "0.3.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0b5a71a6f37880a80d1d7f19efd781e4b5de42c88f0722cc13bcb6cc2cfe8476" +dependencies = [ + "async-stream-impl", + "futures-core", + "pin-project-lite", +] + +[[package]] +name = "async-stream-impl" +version = "0.3.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c7c24de15d275a1ecfd47a380fb4d5ec9bfe0933f309ed5e705b775596a3574d" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.106", +] + +[[package]] +name = "async-trait" +version = "0.1.89" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9035ad2d096bed7955a320ee7e2230574d28fd3c3a0f186cbea1ff3c7eed5dbb" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.106", +] + [[package]] name = "atoi" version = "2.0.0" @@ -187,6 +252,51 @@ version = "1.5.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "c08606f8c3cbf4ce6ec8e28fb0014a2c086708fe954eaa885384a6165172e7e8" +[[package]] +name = "axum" +version = "0.6.20" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3b829e4e32b91e643de6eafe82b1d90675f5874230191a4ffbc1b336dec4d6bf" +dependencies = [ + "async-trait", + "axum-core", + "bitflags 1.3.2", + "bytes", + "futures-util", + "http", + "http-body", + "hyper", + "itoa", + "matchit", + "memchr", + "mime", + "percent-encoding", + "pin-project-lite", + "rustversion", + "serde", + "sync_wrapper", + "tower", + "tower-layer", + "tower-service", +] + +[[package]] +name = "axum-core" +version = "0.3.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "759fa577a247914fd3f7f76d62972792636412fbfd634cd452f6a385a74d2d2c" +dependencies = [ + "async-trait", + "bytes", + "futures-util", + "http", + "http-body", + "mime", + "rustversion", + "tower-layer", + "tower-service", +] + [[package]] name = "bare-metal" version = "0.2.5" @@ -202,6 +312,44 @@ version = "0.13.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "9e1b586273c5702936fe7b7d6896644d8be71e6314cfe09d3167c95f712589e8" +[[package]] +name = "base64" +version = "0.21.7" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9d297deb1925b89f2ccc13d7635fa0714f12c87adce1c75356b39ca9b7178567" + +[[package]] +name = "bincode" +version = "1.3.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b1f45e9417d87227c7a56d22e471c6206462cba514c7590c09aff4cf6d1ddcad" +dependencies = [ + "serde", +] + +[[package]] +name = "bindgen" +version = "0.66.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f2b84e06fc203107bfbad243f4aba2af864eb7db3b1cf46ea0a023b0b433d2a7" +dependencies = [ + "bitflags 2.10.0", + "cexpr", + "clang-sys", + "lazy_static", + "lazycell", + "log", + "peeking_take_while", + "prettyplease", + "proc-macro2", + "quote", + "regex", + "rustc-hash", + "shlex 1.3.0", + "syn 2.0.106", + "which", +] + [[package]] name = "bit_field" version = "0.10.2" @@ -244,6 +392,21 @@ dependencies = [ "aligned", ] +[[package]] +name = "block-padding" +version = "0.3.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a8894febbff9f758034a5b8e12d87918f56dfc64a8e1fe757d65e29041538d93" +dependencies = [ + "generic-array", +] + +[[package]] +name = "bumpalo" +version = "3.20.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "72f5acc6cb2ba439de613abc23857ec3d78374d8ed5ac84e9d11336e87da8649" + [[package]] name = "byteorder" version = "1.5.0" @@ -255,6 +418,52 @@ name = "bytes" version = "1.11.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33" +dependencies = [ + "serde", +] + +[[package]] +name = "cassowary" +version = "0.3.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "df8670b8c7b9dae1793364eafadf7239c40d669904660c5960d74cfd80b46a53" + +[[package]] +name = "castaway" +version = "0.2.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "dec551ab6e7578819132c713a93c022a05d60159dc86e7a7050223577484c55a" +dependencies = [ + "rustversion", +] + +[[package]] +name = "cbc" +version = "0.1.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "26b52a9543ae338f279b96b0b9fed9c8093744685043739079ce85cd58f289a6" +dependencies = [ + "cipher", +] + +[[package]] +name = "cc" +version = "1.2.67" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e17dd265a7d0f31ef544e1b20e03add05d3b45b491b633b10d67145d2acc1a38" +dependencies = [ + "find-msvc-tools", + "shlex 2.0.1", +] + +[[package]] +name = "cexpr" +version = "0.6.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6fac387a98bb7c37292057cffc56d62ecb629900026402633ae9160df93a8766" +dependencies = [ + "nom", +] [[package]] name = "cfg-if" @@ -262,6 +471,12 @@ version = "1.0.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "9555578bc9e57714c812a1f84e4fc5b4d21fcb063490c624de019f7464c91268" +[[package]] +name = "cfg_aliases" +version = "0.1.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "fd16c4719339c4530435d38e511904438d07cce7950afa3718a84ac36c10e89e" + [[package]] name = "cfg_aliases" version = "0.2.1" @@ -273,7 +488,11 @@ name = "chrono" version = "0.4.38" source = "git+https://github.com/uorocketry/chrono#02c0d2a797d91b724e9f3df19e5493f850934584" dependencies = [ + "android-tzdata", + "iana-time-zone", "num-traits", + "serde", + "windows-targets 0.52.6", ] [[package]] @@ -282,7 +501,33 @@ version = "0.4.41" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "c469d952047f47f91b68d1cba3f10d63c11d73e4636f24f08daf0278abf01c4d" dependencies = [ + "android-tzdata", + "iana-time-zone", + "js-sys", "num-traits", + "wasm-bindgen", + "windows-link 0.1.3", +] + +[[package]] +name = "cipher" +version = "0.4.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "773f3b9af64447d2ce9850330c473515014aa235e6a783b02db81ff39e4a3dad" +dependencies = [ + "crypto-common", + "inout", +] + +[[package]] +name = "clang-sys" +version = "1.8.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0b023947811758c97c59bf9d1c188fd619ad4718dcaa767947df1cadb14f39f4" +dependencies = [ + "glob", + "libc", + "libloading", ] [[package]] @@ -325,12 +570,52 @@ version = "0.7.6" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "a1d728cc89cf3aee9ff92b05e62b19ee65a02b5702cff7d5a377e32c6ae29d8d" +[[package]] +name = "cmake" +version = "0.1.58" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c0f78a02292a74a88ac736019ab962ece0bc380e3f977bf72e376c5d78ff0678" +dependencies = [ + "cc", +] + [[package]] name = "colorchoice" version = "1.0.4" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "b05b61dc5112cbb17e4b6cd61790d9845d13888356391624cbe7e41efeac1e75" +[[package]] +name = "command-dispatcher" +version = "1.0.1" +dependencies = [ + "chrono 0.4.38", + "clap", + "hostname", + "libsql", + "mavlink", + "messages-prost", + "prost 0.14.1", + "serde", + "serde_json", + "tokio", + "tracing", + "tracing-subscriber", +] + +[[package]] +name = "compact_str" +version = "0.7.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f86b9c4c00838774a6d902ef931eff7470720c51d90c2e32cfe15dc304737b3f" +dependencies = [ + "castaway", + "cfg-if", + "itoa", + "ryu", + "static_assertions", +] + [[package]] name = "const-default" version = "1.0.0" @@ -346,6 +631,16 @@ dependencies = [ "unicode-segmentation", ] +[[package]] +name = "core-foundation" +version = "0.9.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "91e195e091a93c46f7102ec7818a2aa394e1e1771c3ab4825963fa03e45afb8f" +dependencies = [ + "core-foundation-sys", + "libc", +] + [[package]] name = "core-foundation" version = "0.10.0" @@ -395,18 +690,71 @@ dependencies = [ "syn 2.0.106", ] +[[package]] +name = "cpufeatures" +version = "0.2.17" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "59ed5838eebb26a2bb2e58f6d5b5316989ae9d08bab10e0e6d103e656d1b0280" +dependencies = [ + "libc", +] + [[package]] name = "crc-any" version = "2.5.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "a62ec9ff5f7965e4d7280bd5482acd20aadb50d632cf6c1d74493856b011fa73" +[[package]] +name = "crc32fast" +version = "1.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9481c1c90cbf2ac953f07c8d4a58aa3945c425b7185c9154d67a65e4230da511" +dependencies = [ + "cfg-if", +] + [[package]] name = "critical-section" version = "1.2.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b" +[[package]] +name = "crossterm" +version = "0.27.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f476fe445d41c9e991fd07515a6f463074b782242ccf4a5b7b1d1012e70824df" +dependencies = [ + "bitflags 2.10.0", + "crossterm_winapi", + "libc", + "mio 0.8.11", + "parking_lot", + "signal-hook", + "signal-hook-mio", + "winapi", +] + +[[package]] +name = "crossterm_winapi" +version = "0.9.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "acdd7c62a3665c7f6830a51635d9ac9b23ed385797f70a83bb8bafe9c572ab2b" +dependencies = [ + "winapi", +] + +[[package]] +name = "crypto-common" +version = "0.1.7" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "78c8292055d1c1df0cce5d180393dc8cce0abec0a7102adb6c7b1eef6016d60a" +dependencies = [ + "generic-array", + "typenum", +] + [[package]] 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[[package]] name = "linux-raw-sys" @@ -1373,6 +2259,15 @@ version = "0.4.27" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "13dc2df351e3202783a1fe0d44375f7295ffb4049267b0f3018346dc122a1d94" +[[package]] +name = "lru" +version = "0.12.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "234cf4f4a04dc1f57e24b96cc0cd600cf2af460d4161ac5ecdd0af8e1f3b2a38" +dependencies = [ + "hashbrown 0.15.5", +] + [[package]] name = "mach2" version = "0.4.3" @@ -1388,6 +2283,28 @@ version = "0.8.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "0ca88d725a0a943b096803bd34e73a4437208b6077654cc4ecb2947a5f91618d" +[[package]] +name = "manual-command-dispatcher" +version = "1.0.1" +dependencies = [ + "clap", + "crossterm", + "futures", + "mavlink", + "messages-prost", + "prost 0.14.1", + "ratatui", + "tokio", + "tracing", + "tracing-subscriber", +] + +[[package]] +name = "matchit" +version = "0.7.3" +source = 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+dependencies = [ + "windows-sys 0.61.2", +] + [[package]] name = "num-complex" version = "0.4.6" @@ -1595,6 +2593,12 @@ version = "1.70.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "384b8ab6d37215f3c5301a95a4accb5d64aa607f1fcb26a11b5303878451b4fe" +[[package]] +name = "openssl-probe" +version = "0.1.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d05e27ee213611ffe7d6348b942e8f942b37114c00cc03cec254295a4a17852e" + [[package]] name = "panic-probe" version = "0.3.2" @@ -1605,12 +2609,47 @@ dependencies = [ "defmt 0.3.100", ] +[[package]] +name = "parking_lot" +version = "0.12.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "93857453250e3077bd71ff98b6a65ea6621a19bb0f559a85248955ac12c45a1a" +dependencies = [ + "lock_api", + "parking_lot_core", +] + +[[package]] +name = "parking_lot_core" +version = "0.9.12" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = 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"67eabc2ef2a60eb7faa00097bd1ffdb5bd28e62bf39990626a582201b7a754e5" +dependencies = [ + "siphasher", + "uncased", ] [[package]] @@ -1651,6 +2729,26 @@ dependencies = [ "num-traits", ] +[[package]] +name = "pin-project" +version = "1.1.13" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "2466b2336ed02bcdca6b294417127b90ec92038d1d5c4fbeac971a922e0e0924" +dependencies = [ + "pin-project-internal", +] + +[[package]] +name = "pin-project-internal" +version = "1.1.13" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c96395f0a926bc13b1c17622aaddda1ecb55d49c8f1bf9777e4d877800a43f8b" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.106", +] + [[package]] name = "pin-project-lite" version = "0.2.16" @@ -1681,7 +2779,7 @@ version = "0.2.21" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "85eae3c4ed2f50dcfe72643da4befc30deadb458a9b590d720cde2f2b1e97da9" dependencies = [ - "zerocopy", + "zerocopy 0.8.27", ] [[package]] @@ -1725,6 +2823,16 @@ dependencies = [ "unicode-ident", ] +[[package]] +name = "prost" +version = "0.12.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "deb1435c188b76130da55f17a466d252ff7b1418b2ad3e037d127b94e3411f29" +dependencies = [ + "bytes", + "prost-derive 0.12.6", +] + [[package]] name = "prost" version = "0.14.1" @@ -1732,7 +2840,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "7231bd9b3d3d33c86b58adbac74b5ec0ad9f496b19d22801d773636feaa95f3d" dependencies = [ "bytes", - "prost-derive", + "prost-derive 0.14.1", ] [[package]] @@ -1742,19 +2850,32 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "ac6c3320f9abac597dcbc668774ef006702672474aad53c6d596b62e487b40b1" dependencies = [ "heck", - "itertools", + "itertools 0.14.0", "log", "multimap", "once_cell", "petgraph", "prettyplease", - "prost", + "prost 0.14.1", "prost-types", "regex", "syn 2.0.106", "tempfile", ] +[[package]] +name = "prost-derive" +version = "0.12.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "81bddcdb20abf9501610992b6759a4c888aef7d1a7247ef75e2404275ac24af1" +dependencies = [ + "anyhow", + "itertools 0.12.1", + "proc-macro2", + "quote", + "syn 2.0.106", +] + [[package]] name = "prost-derive" version = "0.14.1" @@ -1762,7 +2883,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "9120690fafc389a67ba3803df527d0ec9cbbc9cc45e4cc20b332996dfb672425" dependencies = [ "anyhow", - "itertools", + "itertools 0.14.0", "proc-macro2", "quote", "syn 2.0.106", @@ -1774,7 +2895,7 @@ version = "0.14.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "b9b4db3d6da204ed77bb26ba83b6122a73aeb2e87e25fbf7ad2e84c4ccbf8f72" dependencies = [ - "prost", + "prost 0.14.1", ] [[package]] @@ -1865,16 +2986,43 @@ version = "5.3.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = 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+dependencies = [ + "ppv-lite86", + "rand_core 0.6.4", +] + [[package]] name = "rand_chacha" version = "0.9.0" @@ -1890,6 +3038,9 @@ name = "rand_core" version = "0.6.4" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c" +dependencies = [ + "getrandom 0.2.17", +] [[package]] name = "rand_core" @@ -1897,7 +3048,36 @@ version = "0.9.3" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "99d9a13982dcf210057a8a78572b2217b667c3beacbf3a0d8b454f6f82837d38" dependencies = [ - "getrandom", + "getrandom 0.3.3", +] + +[[package]] +name = "ratatui" +version = "0.26.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f44c9e68fd46eda15c646fbb85e1040b657a58cdc8c98db1d97a55930d991eef" +dependencies = [ + "bitflags 2.10.0", + "cassowary", + "compact_str", + "crossterm", + "itertools 0.12.1", + "lru", + "paste", + "stability", + "strum 0.26.3", + 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"f6ccf251212114b54433ec949fd6a7841275f9ada20dddd2f29e9ceea4501493" +[[package]] +name = "unicode-truncate" +version = "1.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b3644627a5af5fa321c95b9b235a72fd24cd29c648c2c379431e6628655627bf" +dependencies = [ + "itertools 0.13.0", + "unicode-segmentation", + "unicode-width", +] + [[package]] name = "unicode-width" version = "0.1.14" @@ -2515,6 +4252,12 @@ version = "0.2.6" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "ebc1c04c71510c7f702b52b7c350734c9ff1295c464a03335b00bb84fc54f853" +[[package]] +name = "untrusted" +version = "0.9.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8ecb6da28b8a351d773b68d5825ac39017e680750f980f3a1a85cd8dd28a47c1" + [[package]] name = "uor-drivers" version = "1.0.1" @@ -2547,7 +4290,7 @@ dependencies = [ "mavlink-core 0.16.2", "num-derive 0.4.2", "num-traits", - "rand", + "rand 0.9.2", "serde", "serde_arrays 0.2.0", "ts-rs", @@ -2568,7 +4311,7 @@ dependencies = [ "embedded-io", "embedded-io-async", "heapless 0.9.2", - "prost", + "prost 0.14.1", "uor-utils", ] @@ -2595,7 +4338,7 @@ dependencies = [ "glob", "heapless 0.9.2", "mavlink", - "prost", + "prost 0.14.1", "prost-build", "protoc-bin-vendored", "serde", @@ -2656,6 +4399,24 @@ version = "0.2.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "06abde3611657adf66d383f00b093d7faecc7fa57071cce2578660c9f1010821" +[[package]] +name = "uuid" +version = "1.24.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "bf3923a6f5c4c6382e0b653c4117f48d631ea17f38ed86e2a828e6f7412f5239" +dependencies = [ + "getrandom 0.4.3", + "js-sys", + "serde_core", + "wasm-bindgen", +] + +[[package]] +name = "valuable" +version = "0.1.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ba73ea9cf16a25df0c8caa16c51acb937d5712a8429db78a3ee29d5dcacd3a65" + [[package]] name = "vcell" version = "0.1.3" @@ -2668,6 +4429,18 @@ version = "0.9.5" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a" +[[package]] +name = "virtual-serial" +version = "1.0.1" +dependencies = [ + "anyhow", + "clap", + "libc", + "nix 0.28.0", + "tracing", + "tracing-subscriber", +] + [[package]] name = "void" version = "1.0.2" @@ -2683,6 +4456,21 @@ dependencies = [ "vcell", ] +[[package]] +name = "want" +version = "0.3.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "bfa7760aed19e106de2c7c0b581b509f2f25d3dacaf737cb82ac61bc6d760b0e" +dependencies = [ + "try-lock", +] + +[[package]] +name = "wasi" +version = "0.11.1+wasi-snapshot-preview1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ccf3ec651a847eb01de73ccad15eb7d99f80485de043efb2f370cd654f4ea44b" + [[package]] name = "wasi" version = "0.14.2+wasi-0.2.4" @@ -2692,6 +4480,97 @@ dependencies = [ "wit-bindgen-rt", ] +[[package]] +name = "wasm-bindgen" +version = "0.2.126" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "4b067c0c11094aef6b7a801c1e34a26affafdf3d051dba08456b868789aaf9a4" +dependencies = [ + "cfg-if", + "once_cell", + "rustversion", + "wasm-bindgen-macro", + "wasm-bindgen-shared", +] + +[[package]] +name = "wasm-bindgen-macro" +version = "0.2.126" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "167ce5e579f6bcf889c4f7175a8a5a585de84e8ff93976ce393efa5f2837aab1" +dependencies = [ + "quote", + "wasm-bindgen-macro-support", +] + +[[package]] +name = "wasm-bindgen-macro-support" +version = "0.2.126" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f3997c7839262f4ef12cf90b818d6340c18e80f263f1a94bf157d0ec4420380e" +dependencies = [ + "bumpalo", + "proc-macro2", + "quote", + "syn 2.0.106", + "wasm-bindgen-shared", +] + +[[package]] +name = "wasm-bindgen-shared" +version = "0.2.126" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "dc1b4cb0cc549fcf58d7dfc081778139b3d283a081644e833e84682ad71cea24" +dependencies = [ + "unicode-ident", +] + +[[package]] +name = "webpki-roots" +version = "0.26.11" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "521bc38abb08001b01866da9f51eb7c5d647a19260e00054a8c7fd5f9e57f7a9" +dependencies = [ + "webpki-roots 1.0.8", +] + +[[package]] +name = "webpki-roots" +version = "1.0.8" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "bf85cb06032201fa7c6f829d7db5a7e5aa45bcc0655327713065f6f0576731bf" +dependencies = [ + "rustls-pki-types", +] + +[[package]] +name = "which" +version = "4.4.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "87ba24419a2078cd2b0f2ede2691b6c66d8e47836da3b6db8265ebad47afbfc7" +dependencies = [ + "either", + "home", + "once_cell", + "rustix 0.38.44", +] + +[[package]] +name = "winapi" +version = "0.3.9" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5c839a674fcd7a98952e593242ea400abe93992746761e38641405d28b00f419" +dependencies = [ + "winapi-i686-pc-windows-gnu", + "winapi-x86_64-pc-windows-gnu", +] + +[[package]] +name = "winapi-i686-pc-windows-gnu" +version = "0.4.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6" + [[package]] name = "winapi-util" version = "0.1.11" @@ -2701,6 +4580,47 @@ dependencies = [ "windows-sys 0.61.2", ] +[[package]] +name = "winapi-x86_64-pc-windows-gnu" +version = "0.4.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f" + +[[package]] +name = "windows-core" +version = "0.62.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b8e83a14d34d0623b51dce9581199302a221863196a1dde71a7663a4c2be9deb" +dependencies = [ + "windows-implement", + "windows-interface", + "windows-link 0.2.1", + "windows-result", + "windows-strings", +] + +[[package]] +name = "windows-implement" +version = "0.60.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "053e2e040ab57b9dc951b72c264860db7eb3b0200ba345b4e4c3b14f67855ddf" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.106", +] + +[[package]] +name = "windows-interface" +version = "0.59.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3f316c4a2570ba26bbec722032c4099d8c8bc095efccdc15688708623367e358" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.106", +] + [[package]] name = "windows-link" version = "0.1.3" @@ -2713,6 +4633,33 @@ version = "0.2.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5" +[[package]] +name = "windows-result" +version = "0.4.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7781fa89eaf60850ac3d2da7af8e5242a5ea78d1a11c49bf2910bb5a73853eb5" +dependencies = [ + "windows-link 0.2.1", +] + +[[package]] +name = "windows-strings" +version = "0.5.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7837d08f69c77cf6b07689544538e017c1bfcf57e34b4c0ff58e6c2cd3b37091" +dependencies = [ + "windows-link 0.2.1", +] + +[[package]] +name = "windows-sys" +version = "0.48.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "677d2418bec65e3338edb076e806bc1ec15693c5d0104683f2efe857f61056a9" +dependencies = [ + "windows-targets 0.48.5", +] + [[package]] name = "windows-sys" version = "0.52.0" @@ -2740,6 +4687,21 @@ dependencies = [ "windows-link 0.2.1", ] +[[package]] +name = "windows-targets" +version = "0.48.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9a2fa6e2155d7247be68c096456083145c183cbbbc2764150dda45a87197940c" +dependencies = [ + "windows_aarch64_gnullvm 0.48.5", + "windows_aarch64_msvc 0.48.5", + "windows_i686_gnu 0.48.5", + "windows_i686_msvc 0.48.5", + "windows_x86_64_gnu 0.48.5", + "windows_x86_64_gnullvm 0.48.5", + "windows_x86_64_msvc 0.48.5", +] + [[package]] name = "windows-targets" version = "0.52.6" @@ -2773,6 +4735,12 @@ dependencies = [ "windows_x86_64_msvc 0.53.0", ] +[[package]] +name = "windows_aarch64_gnullvm" +version = "0.48.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8" + [[package]] name = "windows_aarch64_gnullvm" version = "0.52.6" @@ -2785,6 +4753,12 @@ version = "0.53.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "86b8d5f90ddd19cb4a147a5fa63ca848db3df085e25fee3cc10b39b6eebae764" +[[package]] +name = "windows_aarch64_msvc" +version = "0.48.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc" + [[package]] name = "windows_aarch64_msvc" version = "0.52.6" @@ -2797,6 +4771,12 @@ version = "0.53.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "c7651a1f62a11b8cbd5e0d42526e55f2c99886c77e007179efff86c2b137e66c" +[[package]] +name = "windows_i686_gnu" +version = "0.48.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e" + [[package]] name = "windows_i686_gnu" version = "0.52.6" @@ -2821,6 +4801,12 @@ version = "0.53.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "9ce6ccbdedbf6d6354471319e781c0dfef054c81fbc7cf83f338a4296c0cae11" +[[package]] +name = "windows_i686_msvc" +version = "0.48.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406" + [[package]] name = "windows_i686_msvc" version = "0.52.6" @@ -2833,6 +4819,12 @@ version = "0.53.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "581fee95406bb13382d2f65cd4a908ca7b1e4c2f1917f143ba16efe98a589b5d" +[[package]] +name = "windows_x86_64_gnu" +version = "0.48.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e" + [[package]] name = "windows_x86_64_gnu" version = "0.52.6" @@ -2845,6 +4837,12 @@ version = "0.53.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "2e55b5ac9ea33f2fc1716d1742db15574fd6fc8dadc51caab1c16a3d3b4190ba" +[[package]] +name = "windows_x86_64_gnullvm" +version = "0.48.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc" + [[package]] name = "windows_x86_64_gnullvm" version = "0.52.6" @@ -2857,6 +4855,12 @@ version = "0.53.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "0a6e035dd0599267ce1ee132e51c27dd29437f63325753051e71dd9e42406c57" +[[package]] +name = "windows_x86_64_msvc" +version = "0.48.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538" + [[package]] name = "windows_x86_64_msvc" version = "0.52.6" @@ -2878,13 +4882,34 @@ dependencies = [ "bitflags 2.10.0", ] +[[package]] +name = "zerocopy" +version = "0.7.35" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0" +dependencies = [ + "byteorder", + "zerocopy-derive 0.7.35", +] + [[package]] name = "zerocopy" version = "0.8.27" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "0894878a5fa3edfd6da3f88c4805f4c8558e2b996227a3d864f47fe11e38282c" dependencies = [ - "zerocopy-derive", + "zerocopy-derive 0.8.27", +] + +[[package]] +name = "zerocopy-derive" +version = "0.7.35" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.106", ] [[package]] @@ -2897,3 +4922,15 @@ dependencies = [ "quote", "syn 2.0.106", ] + +[[package]] +name = "zeroize" +version = "1.9.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e13c156562582aa81c60cb29407084cdb54c4164760106ab78e6c5b0858cf64e" + +[[package]] +name = "zmij" +version = "1.0.23" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "29666d0abbfad1e3dc4dcf6144730dd3a3ab225bbbdac83319345b1b44ccfc1b" diff --git a/Cargo.toml b/Cargo.toml index 5c09e27..e1fa4bf 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -1,7 +1,16 @@ [workspace] resolver = "2" -members = ["apps/sergw", "boards/*", "common/*"] +members = [ + "apps/antenna-tracker", + "apps/command-dispatcher", + "apps/sergw", + "apps/telemetry-ingestor", + "boards/*", + "common/*", + "tools/ground-station/manual-command-dispatcher", + "tools/ground-station/virtual-serial", +] # Specify which members to build by default. Some libraries, such as messages, contain dev-dependencies that will give # compile errors if built directly. @@ -20,6 +29,7 @@ license-file = "LICENSE" [workspace.dependencies] bitflags = { version = "2.10.0", default-features = false } chrono = { git = "https://github.com/uorocketry/chrono", default-features = false } +clap = { version = "4.5.16", features = ["derive"] } cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] } cortex-m-rt = "0.7.1" critical-section = "1.1" @@ -41,15 +51,30 @@ embedded-io = { version = "0.6.1" } embedded-io-async = { version = "0.6.1" } enum_dispatch = "0.3.11" heapless = "0.9.1" +hostname = "0.4.0" +libsql = "0.9.20" libm = "0.2.11" +mavlink = { git = "https://github.com/uorocketry/rust-mavlink.git", features = [ + "uorocketry", + "std", + "tcp", + "udp", + "direct-serial", + "serde", +], default-features = false } +messages-prost = { git = "https://github.com/uorocketry/messages-prost", features = ["std"], default-features = false } nb = "1.1.0" num-traits = { version = "0.2.19", default-features = false } panic-probe = { version = "0.3", features = ["print-defmt"] } prost = { version = "0.14.1", default-features = false, features = ["derive"] } serde = { version = "1.0.150", features = ["derive"], default-features = false } serde-csv-core = { version = "0.3.2", features = ["defmt"] } +serde_json = "1" smlang = "0.8.0" static_cell = "2" +tokio = { version = "1", features = ["full"] } +tracing = "0.1.40" +tracing-subscriber = "0.3.18" uor-drivers = { path = "./common/drivers" } uor-high-level = { path = "./common/high-level" } uor-peripherals = { path = "./common/peripherals" } diff --git a/README.md b/README.md index c926dd3..c68d877 100644 --- a/README.md +++ b/README.md @@ -1,21 +1,23 @@ # uORocketry Avionics Software Monorepo -Welcome to the uORocketry's avionics software monorepo. This is where we house all of our packages and crates from various boards and our ground station software. We're currently in the process of migrating our other repos to this monorepo so bear with us. +Firmware, shared avionics libraries, host applications, and ground-station deployment configuration live in this repository. ## Monorepo Structure -This monorepo is houses three main types of packages. ### Boards -Embedded software developed for each of our boards can be found at `boards/*`. +Embedded software developed for each board lives in `boards/*`. See [boards/](./boards/) for more details. ### Common Logic -Common logic shared between boards and possibly ground station can be found at `common/*`. +Reusable drivers, peripherals, high-level logic, and utilities live in `common/*`. See [common/](./common/). - + +The complete ground-station stack is defined in [`deployments/ground-station/`](./deployments/ground-station/). Development and field utilities live in [`tools/ground-station/`](./tools/ground-station/), with architecture notes in [`docs/ground-station/`](./docs/ground-station/). diff --git a/apps/README.md b/apps/README.md index d4f2c9b..2f0f0bb 100644 --- a/apps/README.md +++ b/apps/README.md @@ -1,3 +1,13 @@ # Apps -This directory houses applications that can run on your machine. It can be anything from ground station code to specific testing apps for interfacing with boards etc. \ No newline at end of file +Host-side applications that can be built, tested, and run independently: + +- `sergw`: serial-to-TCP radio gateway +- `telemetry-ingestor`: MAVLink telemetry persistence +- `command-dispatcher`: database-backed outbound command delivery +- `ground-station-web`: operator interface and backend-for-frontend +- `tile-provider`: offline map tile storage and downloads +- `antenna-tracker`: optional GPS prediction and antenna control pipeline +- `argus`, `phil-cart`, `persistence`, and `grafana`: board and test infrastructure + +Deployment composition belongs under `deployments/`; app directories should not contain copies of other applications. diff --git a/apps/antenna-tracker/.python-version b/apps/antenna-tracker/.python-version new file mode 100755 index 0000000..e4fba21 --- /dev/null +++ b/apps/antenna-tracker/.python-version @@ -0,0 +1 @@ +3.12 diff --git a/apps/antenna-tracker/ARCHITECTURE.md b/apps/antenna-tracker/ARCHITECTURE.md new file mode 100755 index 0000000..13020a3 --- /dev/null +++ b/apps/antenna-tracker/ARCHITECTURE.md @@ -0,0 +1,183 @@ +# GPS Ingest Architecture + +## Overview + +The optional antenna-tracker toolset is a focused data-processing pipeline rather than a deployed RGS microservice. Its `gps-ingest` binary streams GPS coordinates and altitude data from MAVLink POSTCARD messages as JSON lines for the Python predictor and antenna-control tools. + +## System Architecture + +This program is designed to fit into the antenna tracker architecture shown in the system diagram: + +``` +MAVLink Source → gps-ingest → JSON Lines → Predictor (Python) → Antenna Tracker API + ↓ ↓ ↓ ↓ ↓ + SerGW/Radio (Rust) stdout pipe example_pipeline.py (External System) +``` + +### Component Roles + +1. **GPS Stream (gps-ingest)** + - **Language**: Rust + - **Input**: MAVLink POSTCARD messages (via TCP/UDP connection) + - **Output**: JSON lines to stdout + - **Purpose**: Extract and format GPS/altitude data from MAVLink telemetry + +2. **Predictor (example_pipeline.py)** + - **Language**: Python + - **Input**: JSON lines from gps-ingest (via pipe) + - **Output**: Prediction commands + - **Purpose**: Process GPS data and predict future positions + +3. **Antenna Tracker API** + - **Language**: Python library + - **Input**: Commands from predictor + - **Output**: Hardware control signals + - **Purpose**: Control antenna positioning hardware + +## Data Flow + +``` +MAVLink POSTCARD → RadioFrame (protobuf) → SbgGpsPos/SbgAir → JSON Lines → Python Script → Predictions → API Commands +``` + +### MAVLink Message Processing + +The program processes the following MAVLink messages: + +- **POSTCARD_MESSAGE**: Contains a protobuf-encoded `RadioFrame` with telemetry data + - Extracts `SbgGpsPos` data for GPS coordinates (latitude, longitude) + - Extracts `SbgAir` data for barometric altitude +- **RADIO_STATUS**: Logged for monitoring but not used for GPS output + +### Data Validation + +Before outputting a sample, the program validates: +- GPS coordinates are not near (0, 0) - invalid GPS fix +- GPS coordinates are within Canada bounds (lat: 41.68 to 83.11, lon: -141.00 to -52.62) +- All required fields are present (lat, lon, altitude_m) + +### JSON Output Format + +The program outputs one JSON line per complete sample: + +```json +{"lat":45.123456,"lon":-75.654321,"altitude_m":100.5,"ts":"2024-01-01T12:00:00Z","source":"gps-ingest"} +``` + +Each line contains: +- `lat`: Latitude in degrees (f64) +- `lon`: Longitude in degrees (f64) +- `altitude_m`: Altitude in meters (f64) - from barometric pressure, not GPS +- `ts`: ISO 8601 timestamp (RFC3339 format) +- `source`: Always "gps-ingest" + +The program only outputs when it has received both GPS position and altitude data, ensuring complete samples. + +## Usage Patterns + +### Basic Usage +```bash +# Stream GPS data (default: tcpout:127.0.0.1:5656) +cargo run -p gps-ingest + +# Use different MAVLink connection +cargo run -p gps-ingest -- --connection udpin:0.0.0.0:14550 + +# Pretty JSON output +cargo run -p gps-ingest -- --pretty +``` + +### Piping to Other Programs +```bash +# Extract just latitude +cargo run -p gps-ingest | jq -r '.lat' + +# Format coordinates +cargo run -p gps-ingest | jq -r '"\(.lat),\(.lon),\(.altitude_m)"' + +# Filter recent samples +cargo run -p gps-ingest | jq -r 'select(.ts | fromdateiso8601 > (now - 3600))' +``` + +### Integration with Python +```python +import subprocess +import json + +# Run gps-ingest and capture output line by line +proc = subprocess.Popen( + ["cargo", "run", "-p", "gps-ingest"], + stdout=subprocess.PIPE, + text=True +) + +for line in proc.stdout: + line = line.strip() + if not line: + continue + try: + data = json.loads(line) + print(f"Position: {data['lat']}, {data['lon']}, Altitude: {data['altitude_m']}m") + except json.JSONDecodeError: + continue +``` + +## Design Principles + +1. **Single Responsibility**: Only extracts GPS data from MAVLink, doesn't process it +2. **Unix Philosophy**: Does one thing well, outputs to stdout +3. **JSON Lines**: One complete sample per line for easy streaming and parsing +4. **Configurable**: MAVLink connection string can be specified +5. **Error Handling**: Automatic reconnection on connection loss +6. **Data Validation**: Filters invalid coordinates before output +7. **Real-time**: Streams data as it arrives, not batch processing + +## Connection Management + +- Automatically connects to the specified MAVLink endpoint +- Handles connection failures gracefully with automatic reconnection +- Reconnection delay: 1 second after connection loss +- Logs connection status and errors using structured logging (tracing) + +## Future Enhancements + +- **Connection Retry Backoff**: Exponential backoff for reconnection attempts +- **Data Filtering**: Time range and quality filters +- **Multiple Formats**: CSV, XML, or binary output options +- **WebSocket Output**: Real-time streaming over network +- **Data Validation**: Additional quality checks and outlier detection +- **Rate Limiting**: Configurable output rate limiting + +## Dependencies + +- **mavlink**: MAVLink protocol support for uORocketry message set +- **messages-prost**: Protobuf message definitions for RadioFrame and SBG data +- **serde**: JSON serialization/deserialization +- **tokio**: Async runtime for MAVLink I/O operations +- **clap**: Command-line argument parsing +- **chrono**: Timestamp handling and formatting +- **tracing**: Structured logging +- **prost**: Protobuf decoding +- **anyhow**: Error handling + +## Building and Testing + +```bash +# Build the project +cargo build --release + +# Check compilation +cargo check + +# Run with verbose logging +RUST_LOG=debug cargo run +``` + +## Integration Notes + +- The program is designed to be lightweight and fast +- JSON lines output is optimized for parsing by other tools +- Error conditions are handled gracefully with automatic reconnection +- The program can be easily integrated into CI/CD pipelines +- MAVLink connections are properly managed and automatically recovered +- Designed to work with SerGW (Serial Gateway) which bridges serial devices to TCP diff --git a/apps/antenna-tracker/Cargo.toml b/apps/antenna-tracker/Cargo.toml new file mode 100755 index 0000000..92bdd2c --- /dev/null +++ b/apps/antenna-tracker/Cargo.toml @@ -0,0 +1,20 @@ +[package] +name = "gps-ingest" +version.workspace = true +authors.workspace = true +publish.workspace = true +license.workspace = true +edition = "2021" + +[dependencies] +tokio = { workspace = true } +serde = { workspace = true, features = ["derive", "std"] } +serde_json = { workspace = true } +chrono = { workspace = true, features = ["clock", "serde", "std"] } +clap = { workspace = true } +tracing = { workspace = true } +tracing-subscriber = { workspace = true } +mavlink = { workspace = true } +messages-prost = { workspace = true } +anyhow = "1.0" +prost = { workspace = true } diff --git a/apps/antenna-tracker/README.md b/apps/antenna-tracker/README.md new file mode 100755 index 0000000..d4cd41c --- /dev/null +++ b/apps/antenna-tracker/README.md @@ -0,0 +1,95 @@ +# Antenna Tracker Tools + +Optional antenna-tracking tools, including the Rust `gps-ingest` stream extractor and Python prediction/control pipeline. This directory is a development and field utility, not a default RGS runtime service. + +## Features + +- Connects to MAVLink and listens for POSTCARD messages +- Extracts GPS position data from `SbgGpsPos` messages +- Extracts altitude data from `SbgAir` messages +- Validates coordinates (filters invalid coordinates near 0,0 and outside Canada bounds) +- Outputs JSON lines to stdout (one complete sample per line) +- Automatic reconnection on connection loss +- Designed to be piped to other programs + +## Usage + +### Basic usage (default MAVLink connection) +```bash +cargo run -p gps-ingest +``` + +### Specify MAVLink connection string +```bash +cargo run -p gps-ingest -- --connection tcpout:127.0.0.1:5656 +``` + +### Use UDP input instead +```bash +cargo run -- --connection udpin:0.0.0.0:14550 +``` + +### Pretty JSON output (multi-line) +```bash +cargo run -p gps-ingest -- --pretty +``` + +### Pipe output to another program +```bash +cargo run | jq '.lat' +``` + +## Command Line Options + +- `--connection`: MAVLink connection string (default: `tcpout:127.0.0.1:5656`) + - Examples: `tcpout:127.0.0.1:5656`, `udpin:0.0.0.0:14550`, `udpout:192.168.1.100:14550` +- `--pretty`: Print pretty JSON (multi-line) instead of compact single-line JSON (default: false) +- `-h, --help`: Show help information + +## Output Format + +The program outputs JSON lines (one per complete sample) with the following structure: + +```json +{"lat":45.123456,"lon":-75.654321,"altitude_m":100.5,"ts":"2024-01-01T12:00:00Z","source":"gps-ingest"} +``` + +Each line contains: +- `lat`: Latitude in degrees (f64) +- `lon`: Longitude in degrees (f64) +- `altitude_m`: Altitude in meters (f64) +- `ts`: ISO 8601 timestamp (RFC3339 format) +- `source`: Always "gps-ingest" + +The program only outputs a line when it has received both GPS position (from `SbgGpsPos`) and altitude (from `SbgAir`) data, ensuring complete samples. + +## How It Works + +1. Connects to the specified MAVLink endpoint +2. Listens for `POSTCARD_MESSAGE` MAVLink messages +3. Decodes the protobuf `RadioFrame` from each POSTCARD message +4. Extracts GPS coordinates from `SbgGpsPos` data +5. Extracts altitude from `SbgAir` data +6. Validates coordinates (must be within Canada bounds and not near 0,0) +7. Outputs a JSON line when all required fields are available +8. Automatically reconnects if the connection is lost + +## Building + +```bash +cargo build --release +``` + +The binary will be available at `target/release/gps-ingest`. + +## Dependencies + +- `mavlink`: MAVLink protocol support +- `messages-prost`: Protobuf message definitions for radio frames +- `serde` + `serde_json`: JSON serialization +- `chrono`: Timestamp handling +- `tokio`: Async runtime +- `clap`: Command line argument parsing +- `tracing`: Structured logging +- `anyhow`: Error handling +- `prost`: Protobuf decoding diff --git a/apps/antenna-tracker/antenna_service.py b/apps/antenna-tracker/antenna_service.py new file mode 100755 index 0000000..15e423b --- /dev/null +++ b/apps/antenna-tracker/antenna_service.py @@ -0,0 +1,415 @@ +#!/usr/bin/env python3 +""" +Antenna service abstraction used by gps-ingest REPL. + +Provides a uniform API over either a real ODrive-backed antenna or a mock +software implementation when hardware is not available. +""" + +from __future__ import annotations + +import time +from dataclasses import dataclass +from typing import Dict, Tuple, Optional + + +@dataclass +class AntennaConfig: + # Motion limits (degrees) + limits_yaw_deg: Tuple[float, float] = (-370.0, 370.0) # Multi-turn support to match manual.py + limits_pitch_deg: Tuple[float, float] = (-1.0, 90.0) + # Gear ratios for converting degrees <-> motor turns (optional if using real controller differently) + gear_ratio_yaw: float = 30.0 + gear_ratio_pitch: float = 36.0 + # Hardware toggles + use_real_hardware: bool = False + # Optional debug prints + debug: bool = False + # ODrive motor/controller settings + pole_pairs: int = 7 + torque_constant: float = 8.27 / 150.0 + current_limit: float = 30.0 + regen_current_limit: float = 4.0 + dc_max_negative_current: float = -6.0 + dc_max_positive_current: float = 60.0 + calibration_current: float = 8.0 + calibration_timeout: float = 30.0 + # Controller gains + pos_gain: float = 2.0 + vel_gain: float = 0.10 + vel_integrator_gain: float = 3.0 + # Trap trajectory defaults (in degrees per second) + trap_vel_limit_degps: float = 120.0 + trap_accel_limit_degps2: float = 90.0 + trap_decel_limit_degps2: float = 90.0 + # Direction (+1 normal, -1 if mechanics/wiring are reversed) + dir_yaw: float = +1.0 + dir_pitch: float = +1.0 + # Velocity control (controller mode) + vel_ramp_rate_degps2_yaw: float = 180.0 + vel_ramp_rate_degps2_pitch: float = 180.0 + max_vel_degps_yaw: float = 120.0 + max_vel_degps_pitch: float = 120.0 + + +class AntennaService: + """Facade for antenna control. Falls back to a mock implementation if hardware is not enabled.""" + + def __init__(self, config: AntennaConfig): + self.config = config + self._connected = False + self._configured = False + self._calibrated = False + self._engaged = False + # Internal state (degrees) + self._yaw_deg = 0.0 + self._pitch_deg = 0.0 + # Hardware handles (if any) + self._device = None # ODrive device + self._axes: Dict[str, object] = {} # {'yaw': axis0, 'pitch': axis1} + self._offset_turns: Dict[str, float] = {"yaw": 0.0, "pitch": 0.0} + # Lazily imported enums (only when hardware is enabled) + self._AxisState = None + self._ControlMode = None + self._InputMode = None + + # ---- Lifecycle ---- + def connect(self) -> bool: + if not self.config.use_real_hardware: + self._connected = True + return True + try: + import odrive # type: ignore + from odrive.enums import AxisState, ControlMode, InputMode # type: ignore + self._AxisState = AxisState + self._ControlMode = ControlMode + self._InputMode = InputMode + print("AntennaService: Searching for ODrive...") + self._device = odrive.find_any() + if not self._device: + print("AntennaService: no ODrive found") + self._connected = False + return False + self._axes = {"yaw": self._device.axis0, "pitch": self._device.axis1} + self._device.clear_errors() + self._connected = True + if self.config.debug: + print(f"AntennaService: connected to ODrive serial {self._device.serial_number}") + return True + except Exception as e: # pragma: no cover + print("AntennaService: hardware connect failed:", e) + self._connected = False + return False + + def configure(self) -> bool: + if not self._connected: + return False + if not self.config.use_real_hardware: + self._configured = True + return True + try: + dev = self._device + assert dev is not None + # Global device configuration + dev.config.enable_brake_resistor = True + dev.config.brake_resistance = 2.0 + dev.config.dc_max_negative_current = self.config.dc_max_negative_current + dev.config.dc_max_positive_current = self.config.dc_max_positive_current + dev.config.max_regen_current = self.config.regen_current_limit + # Per-axis configuration + for name, axis in self._axes.items(): + # Mirror manual.py behavior + axis.controller.config.vel_limit = float('inf') + mcfg = axis.motor.config + ccfg = axis.controller.config + tcfg = axis.trap_traj.config + # Motor settings + mcfg.pole_pairs = self.config.pole_pairs + mcfg.torque_constant = self.config.torque_constant + mcfg.current_lim = self.config.current_limit + mcfg.calibration_current = self.config.calibration_current + # Controller settings + ccfg.input_mode = self._InputMode.TRAP_TRAJ + ccfg.control_mode = self._ControlMode.POSITION_CONTROL + ccfg.pos_gain = self.config.pos_gain + ccfg.vel_gain = self.config.vel_gain + ccfg.vel_integrator_gain = self.config.vel_integrator_gain + # Trap trajectory limits (in motor turns per second) + if name == 'yaw': + gear_ratio = self.config.gear_ratio_yaw + else: # pitch + gear_ratio = self.config.gear_ratio_pitch + + tcfg.vel_limit = (self.config.trap_vel_limit_degps / 360.0) * gear_ratio + tcfg.accel_limit = (self.config.trap_accel_limit_degps2 / 360.0) * gear_ratio + tcfg.decel_limit = (self.config.trap_decel_limit_degps2 / 360.0) * gear_ratio + # Keep controller vel_limit in sync with trap traj + ccfg.vel_limit = tcfg.vel_limit + # Ensure non-circular setpoints for both axes + ccfg.circular_setpoints = False + self._configured = True + if self.config.debug: + print("AntennaService: configured motors and controller") + return True + except Exception as e: + print("AntennaService: configure failed:", e) + return False + + def calibrate(self) -> bool: + if not self._configured: + return False + if not self.config.use_real_hardware: + self._calibrated = True + return True + try: + dev = self._device + assert dev is not None + dev.clear_errors() + timeout_s = self.config.calibration_timeout + # Start calibration on both axes simultaneously + for name, ax in self._axes.items(): + if self.config.debug: + print(f"AntennaService: requesting calibration for {name} axis...") + ax.requested_state = self._AxisState.FULL_CALIBRATION_SEQUENCE + + # Wait until both axes are idle or timeout + start = time.time() + while True: + all_idle = all(ax.current_state == self._AxisState.IDLE for ax in self._axes.values()) + if all_idle: + break + if time.time() - start > timeout_s: + print("AntennaService: calibration timed out for one or more axes") + return False + time.sleep(0.2) + + # Set both axes to closed loop control + for name, ax in self._axes.items(): + ax.requested_state = self._AxisState.CLOSED_LOOP_CONTROL + time.sleep(0.5) + + # Check for errors on both axes + for name, ax in self._axes.items(): + if ax.error != 0: + try: + from odrive.utils import dump_errors # type: ignore + dump_errors(dev) + except Exception: + pass + print(f"AntennaService: {name} axis error after calibration") + return False + if self.config.debug: + print(f"AntennaService: {name} axis calibration complete") + self._calibrated = True + self._engaged = True + if self.config.debug: + print("AntennaService: calibration successful") + return True + except Exception as e: + print("AntennaService: calibrate failed:", e) + return False + + def engage(self) -> bool: + if not self._calibrated: + return False + if not self.config.use_real_hardware: + self._engaged = True + return True + try: + for ax in self._axes.values(): + ax.requested_state = self._AxisState.CLOSED_LOOP_CONTROL + time.sleep(0.2) + self._engaged = True + return not self._has_errors() + except Exception: + return False + + def disengage(self) -> bool: + if not self.config.use_real_hardware: + self._engaged = False + return True + try: + for ax in self._axes.values(): + ax.requested_state = self._AxisState.IDLE + time.sleep(0.2) + self._engaged = False + return not self._has_errors() + except Exception: + return False + + def stop(self) -> bool: + if not self.config.use_real_hardware: + return True + try: + for ax in self._axes.values(): + ax.controller.input_vel = 0 + return not self._has_errors() + except Exception: + return False + + # ---- Velocity control (controller mode) ---- + def enter_velocity_mode(self) -> bool: + if not self._connected: + return False + if not self.config.use_real_hardware: + # No-op in mock mode + return True + try: + for name, ax in self._axes.items(): + ccfg = ax.controller.config + ccfg.control_mode = self._ControlMode.VELOCITY_CONTROL + ccfg.input_mode = self._InputMode.VEL_RAMP + # Configure ramp rates per axis + if name == 'yaw': + ramp_deg_s2 = self.config.vel_ramp_rate_degps2_yaw + max_deg_s = self.config.max_vel_degps_yaw + gear = self.config.gear_ratio_yaw + else: + ramp_deg_s2 = self.config.vel_ramp_rate_degps2_pitch + max_deg_s = self.config.max_vel_degps_pitch + gear = self.config.gear_ratio_pitch + ccfg.vel_ramp_rate = (ramp_deg_s2 / 360.0) * gear + ccfg.vel_limit = max(1.0, (max_deg_s / 360.0) * gear * 1.5) + return True + except Exception: + return False + + def set_velocity(self, *, pitch_dps: Optional[float] = None, yaw_dps: Optional[float] = None) -> bool: + if pitch_dps is None and yaw_dps is None: + return True + if not self.config.use_real_hardware: + # In mock mode, just accept + return True + try: + if pitch_dps is not None: + turns_per_s = (self.config.dir_pitch * pitch_dps / 360.0) * self.config.gear_ratio_pitch + self._axes['pitch'].controller.input_vel = turns_per_s + if yaw_dps is not None: + turns_per_s = (self.config.dir_yaw * yaw_dps / 360.0) * self.config.gear_ratio_yaw + self._axes['yaw'].controller.input_vel = turns_per_s + return not self._has_errors() + except Exception: + return False + + def calculate_max_permissible_velocity(self, axis_name: str, requested_velocity_degps: float) -> float: + """Limit velocity so motion can stop before hitting position limits.""" + if requested_velocity_degps == 0.0: + return 0.0 + pos = self.get_position() + current_pos = pos[axis_name] + lo, hi = (self.config.limits_pitch_deg if axis_name == 'pitch' else self.config.limits_yaw_deg) + max_accel = self.config.vel_ramp_rate_degps2_pitch if axis_name == 'pitch' else self.config.vel_ramp_rate_degps2_yaw + if requested_velocity_degps > 0: + available = hi - current_pos + direction = 1.0 + else: + available = current_pos - lo + direction = -1.0 + if available <= 0: + return 0.0 + max_stop_vel = (2.0 * max_accel * max(available, 0.0)) ** 0.5 + limited = max_stop_vel if abs(requested_velocity_degps) > max_stop_vel else abs(requested_velocity_degps) + return direction * limited + + def zero(self) -> None: + if not self.config.use_real_hardware: + self._yaw_deg = 0.0 + self._pitch_deg = 0.0 + return + for name, ax in self._axes.items(): + self._offset_turns[name] = float(ax.encoder.pos_estimate) + + # ---- Status ---- + def get_position(self) -> Dict[str, float]: + if not self.config.use_real_hardware: + return {"yaw": self._yaw_deg, "pitch": self._pitch_deg} + pos: Dict[str, float] = {} + for name, ax in self._axes.items(): + turns = float(ax.encoder.pos_estimate) - self._offset_turns[name] + if name == 'yaw': + deg = (turns / self.config.gear_ratio_yaw) * 360.0 + pos[name] = self.config.dir_yaw * deg + else: + deg = (turns / self.config.gear_ratio_pitch) * 360.0 + pos[name] = self.config.dir_pitch * deg + return pos + + def status(self) -> Dict[str, bool]: + return { + "connected": self._connected, + "configured": self._configured, + "calibrated": self._calibrated, + "engaged": self._engaged, + } + + # ---- Command ---- + def set_position(self, *, pitch: Optional[float] = None, yaw: Optional[float] = None, bypass_limits: bool = False) -> bool: + # Always print when called, with arguments + if self.config.debug: + print(f"AntennaService: set_position called with pitch={pitch} yaw={yaw} bypass_limits={bypass_limits}") + + if pitch is None and yaw is None: + return True + + # Clamp in logical space (positive-up convention) with optional debug warnings + orig_pitch, orig_yaw = pitch, yaw + if pitch is not None and not bypass_limits: + lo, hi = self.config.limits_pitch_deg + new_pitch = max(lo, min(hi, pitch)) + if new_pitch != pitch and self.config.debug: + print(f"WARNING: Pitch clamped {pitch:.2f}° -> {new_pitch:.2f}°") + pitch = new_pitch + if yaw is not None and not bypass_limits: + lo, hi = self.config.limits_yaw_deg + new_yaw = max(lo, min(hi, yaw)) + if new_yaw != yaw and self.config.debug: + print(f"WARNING: Yaw clamped {yaw:.2f}° -> {new_yaw:.2f}°") + yaw = new_yaw + + if not self.config.use_real_hardware: + if self.config.debug: + print(f"AntennaService: (TEST) set_position to pitch={pitch} yaw={yaw}") + if pitch is not None: + self._pitch_deg = pitch + if yaw is not None: + self._yaw_deg = yaw + if self.config.debug: + print(f"AntennaService: (TEST) internal state now pitch={self._pitch_deg:.2f} yaw={self._yaw_deg:.2f}") + return True + + try: + # Map to hardware direction and send + if self.config.debug: + print(f"AntennaService: (HW) set_position to pitch={pitch} yaw={yaw}") + if pitch is not None: + pitch_hw = self.config.dir_pitch * pitch + turns = (pitch_hw / 360.0) * self.config.gear_ratio_pitch + self._offset_turns["pitch"] + if self.config.debug: + print(f"AntennaService: (HW) pitch command: pitch_hw={pitch_hw:.2f}, turns={turns:.4f}") + self._axes["pitch"].controller.input_pos = turns + if yaw is not None: + yaw_hw = self.config.dir_yaw * yaw + turns = (yaw_hw / 360.0) * self.config.gear_ratio_yaw + self._offset_turns["yaw"] + if self.config.debug: + print(f"AntennaService: (HW) yaw command: yaw_hw={yaw_hw:.2f}, turns={turns:.4f}") + self._axes["yaw"].controller.input_pos = turns + return not self._has_errors() + except Exception as e: + print("AntennaService: set_position failed:", e) + return False + + # ---- Internal ---- + def _has_errors(self) -> bool: + if not self.config.use_real_hardware: + return False + try: + if any(getattr(ax, 'error', 0) for ax in self._axes.values()): + try: + from odrive.utils import dump_errors # type: ignore + dump_errors(self._device) + except Exception: + pass + return True + return False + except Exception: + return True diff --git a/apps/antenna-tracker/example_pipeline.py b/apps/antenna-tracker/example_pipeline.py new file mode 100755 index 0000000..c872e9c --- /dev/null +++ b/apps/antenna-tracker/example_pipeline.py @@ -0,0 +1,401 @@ +#!/usr/bin/env python3 +""" +Example Python script that demonstrates how gps-ingest can be used in a pipeline. +This simulates the "predictor" component from the antenna tracker architecture. +""" + +import json +import subprocess +import sys +import time +import shlex +import select +from typing import Dict, List, Optional +from dataclasses import dataclass +from datetime import datetime, timezone +import math +import numpy as np + +# Antenna tracker location (observer) +ANTENNA_LAT_DEG = 48.48058344683317 +ANTENNA_LON_DEG = -81.33124126482966 +ANTENNA_ALT_M = 300.0 + +# Toggle between real gps-ingest and test mode (easily tweakable) +USE_REAL_GPS_INGEST = False +# Test coordinates for the target (rocket) when not using real gps-ingest +TEST_TARGET_LAT_DEG = 48.48158344683317 +TEST_TARGET_LON_DEG = -81.33124126482966 +TEST_TARGET_ALT_M = 301.0 + +# Antenna yaw-zero reference and normalization (easily tweakable) +# Yaw-zero is the mechanical zero direction; with South as zero we set 180° from North +ANTENNA_YAW_ZERO_DEG = 180.0 # due South +ROTATION_NORMALIZATION = "pm180" # "pm180" for [-180,180], or "0to360" for [0,360) + +# History configuration +HISTORY_MAX_SAMPLES = 200 +STREAM_TIMEOUT_S = 15.0 +TARGET_STREAM_SAMPLES = 10 # try to collect up to this many per run if available + +# WGS84 ellipsoid constants +_WGS84_A = 6378137.0 # semi-major axis [m] +_WGS84_F = 1.0 / 298.257223563 # flattening +_WGS84_E2 = _WGS84_F * (2.0 - _WGS84_F) # eccentricity squared + +@dataclass +class GpsPoint: + latitude: float + longitude: float + altitude: float + timestamp: str + source: str + +@dataclass +class Prediction: + target_lat: float + target_lon: float + target_alt: float + confidence: float + prediction_time: str + +class GpsPredictor: + """Simple GPS predictor that demonstrates pipeline usage""" + + def __init__(self, gps_ingest_path: str = "cargo run -p gps-ingest"): + self.gps_ingest_path = gps_ingest_path + self.last_position: Optional[GpsPoint] = None + # Each entry: (t_epoch_s, lat, lon, alt) + self.history: List[tuple[float, float, float, float]] = [] + + def _add_sample(self, pos: GpsPoint) -> None: + t = time.time() + self.history.append((t, pos.latitude, pos.longitude, pos.altitude)) + if len(self.history) > HISTORY_MAX_SAMPLES: + self.history = self.history[-HISTORY_MAX_SAMPLES:] + self.last_position = pos + + def _add_sample_from_dict(self, d: Dict) -> None: + pos = GpsPoint( + latitude=d['lat'], + longitude=d['lon'], + altitude=d['altitude_m'], + timestamp=d['ts'], + source=d.get('source', 'gps-ingest') + ) + self._add_sample(pos) + + def get_latest_gps_data(self) -> Optional[Dict]: + """Get GPS data by streaming stdout; accumulate multiple samples for regression when possible. + If USE_REAL_GPS_INGEST is False, return test coordinates and add them to history. + """ + try: + if not USE_REAL_GPS_INGEST: + # Test mode: return synthetic sample and add to history + now = datetime.now(timezone.utc).isoformat() + print( + f"[TEST MODE] Using fixed coordinates lat={TEST_TARGET_LAT_DEG}, lon={TEST_TARGET_LON_DEG}, alt={TEST_TARGET_ALT_M}m" + ) + d = { + "lat": TEST_TARGET_LAT_DEG, + "lon": TEST_TARGET_LON_DEG, + "altitude_m": TEST_TARGET_ALT_M, + "ts": now, + "source": "test" + } + self._add_sample_from_dict(d) + return d + + cmd = shlex.split(self.gps_ingest_path) + proc = subprocess.Popen( + cmd, + stdout=subprocess.PIPE, + stderr=subprocess.STDOUT, + text=True, + bufsize=1, # line-buffered + cwd=".." + ) + + start = time.monotonic() + timeout_s = STREAM_TIMEOUT_S + samples_collected = 0 + last_valid: Optional[Dict] = None + + assert proc.stdout is not None + while True: + # Break if timed out + if time.monotonic() - start > timeout_s: + break + + rlist, _, _ = select.select([proc.stdout], [], [], 0.5) + if not rlist: + # Also break if process has exited and there's nothing to read + if proc.poll() is not None: + break + continue + + line = proc.stdout.readline() + if not line: + # EOF + if proc.poll() is not None: + break + continue + + line = line.strip() + if not line: + continue + + # Expect JSON lines from gps-ingest; skip logs + if not (line.startswith("{") and line.endswith("}")): + continue + + try: + candidate = json.loads(line) + except json.JSONDecodeError: + continue + + if ( + candidate.get("lat") is not None + and candidate.get("lon") is not None + and candidate.get("altitude_m") is not None + and candidate.get("ts") is not None + ): + # Accept both gps-ingest and test sources for accumulation + self._add_sample_from_dict(candidate) + last_valid = candidate + samples_collected += 1 + if samples_collected >= TARGET_STREAM_SAMPLES: + break + + # Ensure process is stopped + if proc.poll() is None: + try: + proc.terminate() + try: + proc.wait(timeout=2) + except subprocess.TimeoutExpired: + proc.kill() + except Exception: + pass + + return last_valid + + except FileNotFoundError as e: + print(f"gps-ingest not found: {e}", file=sys.stderr) + return None + except Exception as e: + print(f"Error getting GPS data: {e}", file=sys.stderr) + return None + + def predict_next_position(self, current_pos: GpsPoint) -> Prediction: + """Predict next position (+1s) using linear regression over accumulated history.""" + # Ensure the current point is included + self._add_sample(current_pos) + + if len(self.history) < 2: + # Not enough data; return current as predicted + t_iso = datetime.now(timezone.utc).isoformat() + return Prediction( + target_lat=current_pos.latitude, + target_lon=current_pos.longitude, + target_alt=current_pos.altitude, + confidence=0.5, + prediction_time=t_iso, + ) + + # Prepare data for regression + times = np.array([t for (t, _, _, _) in self.history], dtype=float) + lats = np.array([lat for (_, lat, _, _) in self.history], dtype=float) + lons = np.array([lon for (_, _, lon, _) in self.history], dtype=float) + alts = np.array([alt for (_, _, _, alt) in self.history], dtype=float) + + # Normalize time to improve conditioning + t0 = times[0] + t_rel = times - t0 + t_future = (times[-1] + 1.0) - t0 # predict 1 second ahead + + try: + lat_slope, lat_intercept = np.polyfit(t_rel, lats, 1) + lon_slope, lon_intercept = np.polyfit(t_rel, lons, 1) + alt_slope, alt_intercept = np.polyfit(t_rel, alts, 1) + + pred_lat = lat_slope * t_future + lat_intercept + pred_lon = lon_slope * t_future + lon_intercept + pred_alt = alt_slope * t_future + alt_intercept + confidence = 0.9 if len(self.history) >= 5 else 0.7 + except Exception: + # Fallback if polyfit fails (e.g., numerical issues) + pred_lat = current_pos.latitude + pred_lon = current_pos.longitude + pred_alt = current_pos.altitude + confidence = 0.5 + + return Prediction( + target_lat=pred_lat, + target_lon=pred_lon, + target_alt=pred_alt, + confidence=confidence, + prediction_time=datetime.now(timezone.utc).isoformat() + ) + + @staticmethod + def _geodetic_to_ecef(lat_deg: float, lon_deg: float, h_m: float) -> tuple[float, float, float]: + lat = math.radians(lat_deg) + lon = math.radians(lon_deg) + sin_lat = math.sin(lat) + cos_lat = math.cos(lat) + sin_lon = math.sin(lon) + cos_lon = math.cos(lon) + # Prime vertical radius of curvature + N = _WGS84_A / math.sqrt(1.0 - _WGS84_E2 * sin_lat * sin_lat) + x = (N + h_m) * cos_lat * cos_lon + y = (N + h_m) * cos_lat * sin_lon + z = (N * (1.0 - _WGS84_E2) + h_m) * sin_lat + return x, y, z + + @staticmethod + def _ecef_to_enu(dx: tuple[float, float, float], lat0_deg: float, lon0_deg: float) -> tuple[float, float, float]: + lat0 = math.radians(lat0_deg) + lon0 = math.radians(lon0_deg) + sin_lat = math.sin(lat0) + cos_lat = math.cos(lat0) + sin_lon = math.sin(lon0) + cos_lon = math.cos(lon0) + dx_x, dx_y, dx_z = dx + # Rotation from ECEF delta to ENU at observer + e = -sin_lon * dx_x + cos_lon * dx_y + n = -sin_lat * cos_lon * dx_x - sin_lat * sin_lon * dx_y + cos_lat * dx_z + u = cos_lat * cos_lon * dx_x + cos_lat * sin_lon * dx_y + sin_lat * dx_z + return e, n, u + + @staticmethod + def normalize_angle_0_360(deg: float) -> float: + return (deg % 360.0 + 360.0) % 360.0 + + @staticmethod + def normalize_angle_pm180(deg: float) -> float: + d = GpsPredictor.normalize_angle_0_360(deg) + return d - 360.0 if d > 180.0 else d + + @staticmethod + def initial_bearing_deg(lat1_deg: float, lon1_deg: float, lat2_deg: float, lon2_deg: float) -> float: + """Great-circle initial bearing from point 1 to point 2, degrees cw from North.""" + lat1 = math.radians(lat1_deg) + lat2 = math.radians(lat2_deg) + dlon = math.radians(lon2_deg - lon1_deg) + x = math.sin(dlon) * math.cos(lat2) + y = math.cos(lat1) * math.sin(lat2) - math.sin(lat1) * math.cos(lat2) * math.cos(dlon) + brng = math.degrees(math.atan2(x, y)) + return GpsPredictor.normalize_angle_0_360(brng) + + def compute_az_el(self, obs_lat: float, obs_lon: float, obs_alt: float, + tgt_lat: float, tgt_lon: float, tgt_alt: float) -> tuple[float, float]: + """Compute azimuth (yaw, degrees cw from North) and elevation (pitch, degrees) from observer to target.""" + x_o, y_o, z_o = self._geodetic_to_ecef(obs_lat, obs_lon, obs_alt) + x_t, y_t, z_t = self._geodetic_to_ecef(tgt_lat, tgt_lon, tgt_alt) + dx = (x_t - x_o, y_t - y_o, z_t - z_o) + e, n, u = self._ecef_to_enu(dx, obs_lat, obs_lon) + az_rad = math.atan2(e, n) # 0 at North, +East + el_rad = math.atan2(u, math.hypot(e, n)) + az_deg = math.degrees(az_rad) + if az_deg < 0: + az_deg += 360.0 + el_deg = math.degrees(el_rad) + return az_deg, el_deg + + def rotation_from_yaw_zero(self, bearing_deg: float, yaw_zero_deg: float, mode: str = "pm180") -> float: + raw = bearing_deg - yaw_zero_deg + if mode == "0to360": + return GpsPredictor.normalize_angle_0_360(raw) + return GpsPredictor.normalize_angle_pm180(raw) + + def run_prediction_cycle(self): + """Main prediction cycle - simulates continuous operation""" + print("=== GPS Predictor Starting ===") + print("Getting latest GPS data...") + + data = self.get_latest_gps_data() + + if not data: + print("No valid GPS data available") + return + + # Create GPS point from the new/last data + current_pos = GpsPoint( + latitude=data['lat'], + longitude=data['lon'], + altitude=data['altitude_m'], + timestamp=data['ts'], + source=data.get('source', 'gps-ingest') + ) + + print(f"Current Position: {current_pos.latitude:.6f}, {current_pos.longitude:.6f}") + print(f"Altitude: {current_pos.altitude:.1f}m") + print(f"Source: {current_pos.source}") + print(f"Timestamp: {current_pos.timestamp}") + + # Compute az/el for current position + az_deg, el_deg = self.compute_az_el( + ANTENNA_LAT_DEG, ANTENNA_LON_DEG, ANTENNA_ALT_M, + current_pos.latitude, current_pos.longitude, current_pos.altitude + ) + # Compute great-circle initial bearing (from North, cw) and rotation from yaw-zero=South + bearing_deg = self.initial_bearing_deg( + ANTENNA_LAT_DEG, ANTENNA_LON_DEG, + current_pos.latitude, current_pos.longitude + ) + rotation_deg = self.rotation_from_yaw_zero( + bearing_deg, ANTENNA_YAW_ZERO_DEG, ROTATION_NORMALIZATION + ) + print(f"\nPointing (current):") + print(f" Yaw (azimuth): {az_deg:.2f}° | Pitch (elevation): {el_deg:.2f}°") + print(f" Great-circle bearing: {bearing_deg:.2f}° from North") + print(f" Antenna rotation (yaw-zero=South): {rotation_deg:.2f}° [{ROTATION_NORMALIZATION}]") + + # Predict next position (+1s) using regression over accumulated history + prediction = self.predict_next_position(current_pos) + + print(f"\nPrediction (1 second ahead) [linear regression]:") + print(f" Target: {prediction.target_lat:.6f}, {prediction.target_lon:.6f}") + print(f" Altitude: {prediction.target_alt:.1f}m") + print(f" Confidence: {prediction.confidence:.2f}") + + # Compute az/el, bearing and rotation for predicted position + az_pred_deg, el_pred_deg = self.compute_az_el( + ANTENNA_LAT_DEG, ANTENNA_LON_DEG, ANTENNA_ALT_M, + prediction.target_lat, prediction.target_lon, prediction.target_alt + ) + bearing_pred_deg = self.initial_bearing_deg( + ANTENNA_LAT_DEG, ANTENNA_LON_DEG, + prediction.target_lat, prediction.target_lon + ) + rotation_pred_deg = self.rotation_from_yaw_zero( + bearing_pred_deg, ANTENNA_YAW_ZERO_DEG, ROTATION_NORMALIZATION + ) + print(f"\nPointing (predicted +1s):") + print(f" Yaw (azimuth): {az_pred_deg:.2f}° | Pitch (elevation): {el_pred_deg:.2f}°") + print(f" Great-circle bearing: {bearing_pred_deg:.2f}° from North") + print(f" Antenna rotation (yaw-zero=South): {rotation_pred_deg:.2f}° [{ROTATION_NORMALIZATION}]") + + # In a real system, this would be sent to the antenna tracker API + print(f"\nSending to antenna tracker API...") + print( + f" COMMAND: TRACK yaw={az_pred_deg:.2f} pitch={el_pred_deg:.2f} rotation={rotation_pred_deg:.2f} (at +1s)" + ) + + self.last_position = current_pos + +def main(): + """Main function demonstrating the pipeline""" + predictor = GpsPredictor() + + try: + predictor.run_prediction_cycle() + except KeyboardInterrupt: + print("\nPrediction cycle interrupted") + except Exception as e: + print(f"Error in prediction cycle: {e}", file=sys.stderr) + sys.exit(1) + +if __name__ == "__main__": + main() diff --git a/apps/antenna-tracker/fake_gps_ingest.py b/apps/antenna-tracker/fake_gps_ingest.py new file mode 100644 index 0000000..62ffbc9 --- /dev/null +++ b/apps/antenna-tracker/fake_gps_ingest.py @@ -0,0 +1,58 @@ +#!/usr/bin/env python3 +import sys +import time +import json +import argparse +from datetime import datetime + + +def parse_args(): + p = argparse.ArgumentParser(description="Replay JSONL GPS as timed stdout") + p.add_argument("jsonl", help="Input JSONL with fields: ts, lat, lon, altitude_m, source") + p.add_argument("--speed", type=float, default=1.0, help="Time scale (2.0 = 2x faster)") + p.add_argument("--loop", action="store_true", help="Loop forever") + p.add_argument("--delay", type=float, default=0.0, help="Seconds to wait before first sample") + return p.parse_args() + + +def iso_to_epoch(s: str) -> float: + if s.endswith('Z'): + s = s[:-1] + "+00:00" + return datetime.fromisoformat(s).timestamp() + + +def replay(path: str, speed: float, loop: bool, delay: float) -> None: + while True: + prev_t = None + first = True + with open(path, "r") as f: + for line in f: + line = line.strip() + if not line: + continue + try: + obj = json.loads(line) + except Exception: + continue + t = iso_to_epoch(str(obj.get("ts"))) + if first: + if delay > 0: + time.sleep(delay) + first = False + if prev_t is not None: + dt = max(0.0, (t - prev_t) / max(1e-6, speed)) + time.sleep(dt) + sys.stdout.write(json.dumps(obj) + "\n") + sys.stdout.flush() + prev_t = t + if not loop: + break + + +def main() -> None: + a = parse_args() + replay(a.jsonl, a.speed, a.loop, a.delay) + + +if __name__ == "__main__": + main() diff --git a/apps/antenna-tracker/main.py b/apps/antenna-tracker/main.py new file mode 100755 index 0000000..7d7c9d5 --- /dev/null +++ b/apps/antenna-tracker/main.py @@ -0,0 +1,431 @@ +#!/usr/bin/env python3 +""" +gps-ingest CLI REPL for antenna integration. + +Commands: + - gps: stream-print latest GPS samples; Ctrl-C to stop + - prediction: print current prediction, pointing angles and antenna rotation + - rotate: print the command that would rotate antenna to predicted angles + - yolo: continuously (auto) print predicted rotation; Ctrl-C to stop + +This CLI uses PredictorService as the API layer managing background ingestion +and prediction. +""" + +from __future__ import annotations + +import sys +import time +from dataclasses import asdict +import os +import json + +from predictor_service import PredictorConfig, PredictorService +from antenna_service import AntennaConfig, AntennaService +from remote import XboxController + + +def _print_gps(sample) -> None: + print( + f"[{sample.ts_iso}] lat={sample.lat:.8f} lon={sample.lon:.8f} alt={sample.alt_m:.1f}m src={sample.source}" + ) + + +def cmd_gps(svc: PredictorService) -> None: + print("Streaming GPS (Ctrl-C to stop)...") + try: + # Print existing history first + hist = svc.get_history() + last_ts = None + for s in hist: + _print_gps(s) + last_ts = s.ts_iso + while True: + s = svc.get_latest() + if s and s.ts_iso != last_ts: + _print_gps(s) + last_ts = s.ts_iso + time.sleep(0.1) + except KeyboardInterrupt: + print("\nStopped GPS stream.") + + +def cmd_prediction(svc: PredictorService) -> None: + latest = svc.get_latest() + pred = svc.get_prediction() + if not latest: + print("No GPS yet.") + return + print("Antenna:") + print( + f" lat={svc.config.antenna_lat_deg:.8f} lon={svc.config.antenna_lon_deg:.8f} alt={svc.config.antenna_alt_m:.1f}m" + ) + print("Latest GPS:") + _print_gps(latest) + if not pred: + print("No prediction yet.") + return + az, el = svc.compute_az_el(pred.lat, pred.lon, pred.alt_m) + bearing = svc.initial_bearing_deg( + svc.config.antenna_lat_deg, svc.config.antenna_lon_deg, pred.lat, pred.lon + ) + + # Preview the rotation we would send (without updating the accumulator) + if svc.config.yaw_normalization == "continuous" and svc._last_yaw_cmd is not None: + rotation_preview = svc.rotation_from_yaw_zero_continuous(az, svc._last_yaw_cmd) + else: + rotation_preview = svc._rotation_from_yaw_zero_basic(az) + + print("Prediction (+1s):") + print( + f" lat={pred.lat:.8f} lon={pred.lon:.8f} alt={pred.alt_m:.1f}m conf={pred.confidence:.2f} ts={pred.ts_iso}" + ) + print(f" yaw(az from North)={az:.2f}° pitch(el)={el:.2f}°") + print(f" bearing={bearing:.2f}° from North; rotation(yaw-zero={svc.config.antenna_yaw_zero_deg:.1f}, mode={svc.config.yaw_normalization})={rotation_preview:.2f}°") + + # Show what would be sent to the antenna + yaw_cmd, pit_cmd = svc.yaw_pitch_from_target(pred.lat, pred.lon, pred.alt_m) + print(f"ROTATE pitch={pit_cmd:.2f}° yaw={yaw_cmd:.2f}°") + + +def cmd_rotate(svc: PredictorService, ant: AntennaService) -> None: + pred = svc.get_prediction() + if not pred: + print("No prediction available.") + return + + yaw_cmd, pit_cmd = svc.yaw_pitch_from_target(pred.lat, pred.lon, pred.alt_m) + ok = ant.set_position(pitch=pit_cmd, yaw=yaw_cmd, bypass_limits=False) + if ok: + print(f"ROTATE pitch={pit_cmd:.2f}° yaw={yaw_cmd:.2f}° (sent)") + else: + print("Failed to send rotation command") + + +# def cmd_yolo(svc: PredictorService, ant: AntennaService) -> None: +def cmd_yolo(svc: PredictorService, ant: AntennaService | None = None, *, do_move: bool = False) -> None: + print("Auto-tracking predictions (Ctrl-C to stop)...") + try: + while True: + pred = svc.get_prediction() + if pred: + yaw_cmd, pit_cmd = svc.yaw_pitch_from_target(pred.lat, pred.lon, pred.alt_m) + if do_move and ant is not None: + ant.set_position(pitch=pit_cmd, yaw=yaw_cmd, bypass_limits=False) + print(f"\rpitch={pit_cmd:+06.2f}° yaw={yaw_cmd:+07.2f}°", end="") + time.sleep(0.3) + except KeyboardInterrupt: + print("\nStopped auto-tracking.") + + +def cmd_demo(svc: PredictorService, ant: AntennaService, jsonl_path: str, *, speed: float = 10.0, delay: float = 5.0, do_move: bool = False) -> None: + """Preview first 5 lines of the JSONL, then stream using the replay script with delay.""" + abs_jsonl = os.path.abspath(jsonl_path) + if not os.path.exists(abs_jsonl): + print(f"JSONL not found: {abs_jsonl}") + return + print(f"Demo preview (first 5 lines) from {abs_jsonl}:") + try: + with open(abs_jsonl, 'r') as f: + shown = 0 + for line in f: + line = line.strip() + if not line: + continue + try: + obj = json.loads(line) + except Exception: + continue + ts = obj.get('ts') + lat = obj.get('lat') + lon = obj.get('lon') + alt = obj.get('altitude_m') + src = obj.get('source', 'jsonl') + print(f" [{ts}] lat={lat:.8f} lon={lon:.8f} alt={alt:.1f}m src={src}") + shown += 1 + if shown >= 5: + break + except Exception as e: + print("Failed to preview JSONL:", e) + return + + # Reconfigure predictor to use external feed via replay script + svc.stop() + script_path = os.path.abspath(os.path.join(os.path.dirname(__file__), 'fake_gps_ingest.py')) + svc.config.use_real_gps_ingest = True + svc.config.num_samples = 8 + svc.config.gps_ingest_cmd = f"python3 {script_path} {abs_jsonl} --speed {speed} --delay {delay}" + print(f"Starting demo stream with delay={delay}s, speed={speed}x...{' (MOVING)' if do_move else ''}") + svc.start() + # Run like yolo (auto-tracking printout); Ctrl-C to stop + cmd_yolo(svc, ant if do_move else None, do_move=do_move) +def cmd_calibrate(ant: AntennaService) -> None: + """Calibrate the antenna motors using the same logic as manual.py""" + print("Clearing errors and calibrating axes...") + if not ant._connected: + print("ERROR: Antenna not connected. Run connect first.") + return + + # Clear any existing errors before calibration + if hasattr(ant, '_device') and ant._device: + ant._device.clear_errors() + + print(f"Calibrating both axes simultaneously (timeout: {ant.config.calibration_timeout}s)...") + + # Start calibration on both axes + for name, ax in ant._axes.items(): + print(f"Requesting calibration for {name} axis...") + ax.requested_state = ant._AxisState.FULL_CALIBRATION_SEQUENCE + + start = time.time() + # Wait for both axes to finish calibration or timeout + while True: + all_idle = all(ax.current_state == ant._AxisState.IDLE for ax in ant._axes.values()) + if all_idle: + break + if time.time() - start > ant.config.calibration_timeout: + print("ERROR: Calibration timed out for one or more axes") + return + time.sleep(0.2) + + # Set both axes to closed loop control + for name, ax in ant._axes.items(): + ax.requested_state = ant._AxisState.CLOSED_LOOP_CONTROL + time.sleep(0.5) + + # Check for errors on both axes + for name, ax in ant._axes.items(): + if ax.error != 0: + print(f"ERROR: {name} axis has error after calibration") + # Use the existing _has_errors method which will dump errors + ant._has_errors() + return + print(f"{name.capitalize()} axis calibration complete.") + + print("All axes calibrated successfully.") + ant._calibrated = True + ant._engaged = True + + +def cmd_engage(ant: AntennaService) -> None: + """Engage the antenna motors for closed loop control""" + if not ant._connected: + print("ERROR: Antenna not connected. Run connect first.") + return + if not ant._calibrated: + print("ERROR: Antenna not calibrated. Run calibrate first.") + return + if ant._engaged: + print("Antenna is already engaged.") + return + + print("Engaging antenna motors...") + if ant.engage(): + print("Antenna motors engaged successfully.") + else: + print("ERROR: Failed to engage antenna motors.") + + +def cmd_disengage(ant: AntennaService) -> None: + """Disengage the antenna motors and set to idle""" + if not ant._connected: + print("ERROR: Antenna not connected. Run connect first.") + return + if not ant._engaged: + print("Antenna is already disengaged.") + return + + print("Disengaging antenna motors...") + if ant.disengage(): + print("Antenna motors disengaged successfully.") + else: + print("ERROR: Failed to disengage antenna motors.") + + +def cmd_help() -> None: + print("Available commands:") + print(" gps - Stream GPS history and live updates (Ctrl-C to stop)") + print(" prediction - Show current prediction, pointing angles and antenna rotation") + print(" rotate - Rotate antenna to current prediction (respects limits)") + print(" yolo - Auto-track predictions continuously (no motion)") + print(" yolo-move - Auto-track and MOVE antenna continuously (Ctrl-C to stop)") + print(" demo [path] - Replay JSONL with 5s delay (like yolo; no motion); default is apps/antenna-tracker/rocket_gps.jsonl") + print(" demo-move [path] - Replay JSONL with 5s delay and MOVE antenna continuously") + print(" pos [bypass] - Set absolute position in degrees; add 'bypass' to ignore limits") + print(" zero - Set current encoder offsets as zero for both axes") + print(" set-yaw-zero - Set predictor yaw-zero at runtime (no restart)") + print(" controller - Enter controller mode (Xbox): LX=yaw, RY=pitch; X=zero, Y=go to zero, B=idle") + print(" calibrate - Calibrate antenna motors (clears errors, runs full calibration)") + print(" engage - Engage antenna motors for closed loop control") + print(" disengage - Disengage antenna motors and set to idle") + print(" help - Show this help message") + print(" quit/exit - Exit the program") + + +def _run_controller_mode(ant: AntennaService) -> None: + """Controller mode similar to manual.py: LX=yaw, RY=pitch; X=zero, Y=go to zero, B=idle.""" + ctl = XboxController(deadzone=0.1) + if not ctl.start(): + print("ERROR: failed to start controller") + return + print("\nController mode (VELOCITY). Ctrl-C to exit.") + print("X=set zero here, Y=go to zero, B=idle") + try: + # Switch to velocity mode + if not ant.enter_velocity_mode(): + print("ERROR: couldn't enter velocity mode") + return + last_x = last_y = last_b = False + while True: + if not ctl.is_connected(): + print("Controller disconnected.") + break + xb = ctl.get_button('X') + yb = ctl.get_button('Y') + bb = ctl.get_button('B') + + if xb and not last_x: + ant.zero() + print("Zero position set at current location") + + if yb and not last_y: + # Temporarily move to zero using position control + ant.set_position(pitch=0.0, yaw=0.0, bypass_limits=False) + time.sleep(0.5) + + if bb and not last_b: + print("EMERGENCY STOP: setting IDLE") + ant.disengage() + break + + last_x, last_y, last_b = xb, yb, bb + + yaw_in = ctl.get_axis('LX') + pitch_in = -ctl.get_axis('RY') + yaw_dps = yaw_in * ant.config.max_vel_degps_yaw + pitch_dps = pitch_in * ant.config.max_vel_degps_pitch + # Apply kinematic limits based on remaining travel + yaw_dps_limited = ant.calculate_max_permissible_velocity('yaw', yaw_dps) + pitch_dps_limited = ant.calculate_max_permissible_velocity('pitch', pitch_dps) + ant.set_velocity(pitch_dps=pitch_dps_limited, yaw_dps=yaw_dps_limited) + + # Optional: show position when moving + if abs(yaw_in) > 0.05 or abs(pitch_in) > 0.05: + pos_deg = ant.get_position() + print(f"\rpitch={pos_deg['pitch']:+06.2f}° yaw={pos_deg['yaw']:+07.2f}°", end="") + time.sleep(0.02) + except KeyboardInterrupt: + print("\nExiting controller mode...") + finally: + ctl.stop() + + +def cmd_pos(ant: AntennaService, args: str) -> None: + """Set absolute pitch/yaw in degrees, like manual.py set_pos. + + Usage: pos [bypass] + """ + parts = args.split() + if len(parts) < 2: + print("Usage: pos [bypass]") + return + try: + pitch = float(parts[0]) + yaw = float(parts[1]) + except ValueError: + print("Usage: pos [bypass]") + return + bypass = False + if len(parts) >= 3 and parts[2].lower() in ("bypass", "true", "yes", "on"): + bypass = True + if bypass: + # Mirror manual.py: announce limits bypass explicitly + print(f"LIMITS BYPASSED: Pitch set to {pitch:.2f}°; Yaw set to {yaw:.2f}°") + ok = ant.set_position(pitch=pitch, yaw=yaw, bypass_limits=bypass) + # If not bypassing, AntennaService will WARN on clamps when debug=True + if ok: + print(f"Pitch Degrees: {pitch:.2f}, Yaw Degrees: {yaw:.2f}") + else: + print("ERROR: Failed to send position command") + + +def main() -> None: + cfg = PredictorConfig() + svc = PredictorService(cfg) + ant = AntennaService(AntennaConfig()) + ant.connect(); ant.configure(); ant.calibrate(); ant.engage() + svc.start() + print("gps-ingest REPL. Type 'help' for commands.") + try: + while True: + try: + cmd = input("> ").strip().lower() + except EOFError: + break + if cmd in ("quit", "exit"): + break + if cmd == "help": + cmd_help() + elif cmd == "gps": + cmd_gps(svc) + elif cmd == "prediction": + cmd_prediction(svc) + elif cmd == "rotate": + cmd_rotate(svc, ant) + elif cmd == "yolo": + cmd_yolo(svc, None, do_move=False) + elif cmd == "yolo-move": + cmd_yolo(svc, ant, do_move=True) + elif cmd.startswith("demo"): + parts = cmd.split(maxsplit=1) + if len(parts) == 2 and parts[1]: + path = parts[1].strip() + else: + path = os.path.abspath(os.path.join(os.path.dirname(__file__), 'rocket_gps.jsonl')) + if cmd.startswith("demo-move"): + cmd_demo(svc, ant, path, do_move=True) + else: + cmd_demo(svc, ant, path, do_move=False) + elif cmd.startswith("pos"): + # usage: pos [bypass] + args = cmd[len("pos"):].strip() + cmd_pos(ant, args) + elif cmd == "zero": + ant.zero() + print("Zero position set from encoder.") + elif cmd.startswith("set-yaw-zero"): + parts = cmd.split() + if len(parts) != 2: + print("Usage: set-yaw-zero ") + else: + try: + new_zero = float(parts[1]) + svc.config.antenna_yaw_zero_deg = new_zero + svc.reset_yaw_continuity() + print(f"Set yaw-zero to {new_zero:.2f}° and reset continuity.") + except ValueError: + print("Invalid number. Usage: set-yaw-zero ") + elif cmd == "controller": + _run_controller_mode(ant) + elif cmd == "calibrate": + cmd_calibrate(ant) + elif cmd == "engage": + cmd_engage(ant) + elif cmd == "disengage": + cmd_disengage(ant) + elif cmd == "": + continue + else: + print("Unknown command. Type 'help' for available commands.") + finally: + print("Shutting down...") + svc.stop() + # Ensure antenna is disengaged and set to idle before exit + if ant._engaged: + print("Disengaging antenna motors...") + ant.disengage() + print("Cleanup complete.") + + +if __name__ == "__main__": + main() diff --git a/apps/antenna-tracker/predictor_service.py b/apps/antenna-tracker/predictor_service.py new file mode 100755 index 0000000..7905d72 --- /dev/null +++ b/apps/antenna-tracker/predictor_service.py @@ -0,0 +1,388 @@ +#!/usr/bin/env python3 +""" +Prediction service for gps-ingest. + +Self-managed background process that ingests GPS samples (from the Rust gps-ingest +binary or from test coordinates), maintains a short history, and exposes the +latest GPS and a next-position prediction. Also provides geodesy helpers for +antenna pointing. +""" + +from __future__ import annotations + +import json +import math +import select +import shlex +import subprocess +import threading +import time +from dataclasses import dataclass, field +from datetime import datetime, timezone +from typing import List, Optional, Tuple + +try: + import numpy as np +except Exception: # pragma: no cover - optional dependency + np = None # type: ignore + + +# ----------------------- +# Timestamp helper +# ----------------------- +def _parse_iso_to_epoch(ts_iso: str) -> float: + """Parse ISO-8601 string to UNIX epoch seconds. Handles 'Z' and '+00:00'.""" + return datetime.fromisoformat(ts_iso.replace('Z', '+00:00')).timestamp() + + +# ----------------------- +# Configuration and Models +# ----------------------- + +@dataclass +class PredictorConfig: + # Antenna site + antenna_lat_deg: float = 48.480495 + antenna_lon_deg: float = -81.331258 + antenna_alt_m: float = 294.04 + antenna_yaw_zero_deg: float = 270.0 # yaw-zero = West + yaw_normalization: str = "continuous" # options: "continuous", "pm180", "0to360" + # Debug flag to silence prints in tests unless enabled + debug: bool = False + + # Data source + use_real_gps_ingest: bool = False + gps_ingest_cmd: str = "cargo run -p gps-ingest" + test_target_lat_deg: float = 48.480345 + test_target_lon_deg: float = -81.331308 + test_target_alt_m: float = 299 + + # Prediction/history + num_samples: int = 1 # how many samples to keep (and fit). 1 means latest only + + +@dataclass +class GpsSample: + lat: float + lon: float + alt_m: float + ts_iso: str + source: str + t_epoch: float + + +@dataclass +class Prediction: + lat: float + lon: float + alt_m: float + confidence: float + ts_iso: str + + +# ----------------------- +# Prediction Service +# ----------------------- + +class PredictorService: + def __init__(self, config: PredictorConfig): + self.config = config + self._history: List[GpsSample] = [] + self._history_lock = threading.Lock() + self._stop = threading.Event() + self._thread: Optional[threading.Thread] = None + self._last_prediction: Optional[Prediction] = None + self._last_yaw_cmd: Optional[float] = None + + # ---- Public API ---- + def start(self) -> None: + if self._thread and self._thread.is_alive(): + return + self._stop.clear() + self._thread = threading.Thread(target=self._run_loop, name="PredictorService", daemon=True) + self._thread.start() + + def stop(self) -> None: + self._stop.set() + if self._thread: + self._thread.join(timeout=2) + + def get_history(self) -> List[GpsSample]: + with self._history_lock: + return list(self._history) + + def get_latest(self) -> Optional[GpsSample]: + with self._history_lock: + return self._history[-1] if self._history else None + + def get_prediction(self) -> Optional[Prediction]: + return self._last_prediction + + # ---- Yaw normalization helpers ---- + @staticmethod + def _normalize_0_360(deg: float) -> float: + return (deg % 360.0 + 360.0) % 360.0 + + @staticmethod + def _normalize_pm180(deg: float) -> float: + d = PredictorService._normalize_0_360(deg) + return d - 360.0 if d > 180.0 else d + + def _rotation_from_yaw_zero_basic(self, bearing_deg: float) -> float: + """Yaw relative to yaw-zero (single-turn), honoring config.yaw_normalization (0to360 or pm180).""" + raw = bearing_deg - self.config.antenna_yaw_zero_deg + if self.config.yaw_normalization == "0to360": + return PredictorService._normalize_0_360(raw) + # default for 'pm180' or anything else non-continuous + return PredictorService._normalize_pm180(raw) + + def rotation_from_yaw_zero_continuous(self, bearing_deg: float, ref_yaw_deg: float) -> float: + """ + Map desired yaw (bearing - yaw_zero) to nearest 360°-equivalent near ref_yaw_deg. + Enables multi-turn continuity (no wrap jumps). + """ + desired_mod = PredictorService._normalize_0_360(bearing_deg - self.config.antenna_yaw_zero_deg) + ref_mod = PredictorService._normalize_0_360(ref_yaw_deg) + delta = PredictorService._normalize_pm180(desired_mod - ref_mod) # shortest delta in [-180, 180] + return ref_yaw_deg + delta + + # ---- Internal loop ---- + def _run_loop(self) -> None: + if self.config.use_real_gps_ingest: + self._loop_real() + else: + self._loop_test() + + def _loop_test(self) -> None: + # Emit the same test coordinate repeatedly, no timeout + while not self._stop.is_set(): + now = datetime.now(timezone.utc).isoformat() + sample = GpsSample( + lat=self.config.test_target_lat_deg, + lon=self.config.test_target_lon_deg, + alt_m=self.config.test_target_alt_m, + ts_iso=now, + source="test", + t_epoch=time.time(), + ) + self._push_sample(sample) + self._compute_prediction() + self._stop.wait(0.5) + + def _loop_real(self) -> None: + # Spawn gps-ingest and stream lines indefinitely + while not self._stop.is_set(): + try: + cmd = shlex.split(self.config.gps_ingest_cmd) + proc = subprocess.Popen( + cmd, + stdout=subprocess.PIPE, + stderr=subprocess.STDOUT, + text=True, + ) + except Exception: + # Backoff if launching fails + self._stop.wait(1.0) + continue + + try: + assert proc.stdout is not None + while not self._stop.is_set(): + rlist, _, _ = select.select([proc.stdout], [], [], 0.5) + if not rlist: + if proc.poll() is not None: + break + continue + line = proc.stdout.readline() + if not line: + if proc.poll() is not None: + break + continue + line = line.strip() + if not (line.startswith("{") and line.endswith("}")): + continue + try: + data = json.loads(line) + except Exception: + continue + if ( + data.get("lat") is None + or data.get("lon") is None + or data.get("altitude_m") is None + or data.get("ts") is None + ): + continue + # Prefer GPS-provided timestamp to improve model robustness + try: + t_epoch_parsed = _parse_iso_to_epoch(str(data["ts"])) + except Exception: + t_epoch_parsed = time.time() + sample = GpsSample( + lat=float(data["lat"]), + lon=float(data["lon"]), + alt_m=float(data["altitude_m"]), + ts_iso=str(data["ts"]), + source=str(data.get("source", "gps-ingest")), + t_epoch=t_epoch_parsed, + ) + self._push_sample(sample) + self._compute_prediction() + finally: + try: + if proc.poll() is None: + proc.terminate() + try: + proc.wait(timeout=1) + except subprocess.TimeoutExpired: + proc.kill() + except Exception: + pass + + def _push_sample(self, sample: GpsSample) -> None: + with self._history_lock: + self._history.append(sample) + if self.config.num_samples > 0 and len(self._history) > self.config.num_samples: + self._history = self._history[-self.config.num_samples :] + + # ----------------------- + # Prediction and Geodesy + # ----------------------- + def _compute_prediction(self) -> None: + hist = self.get_history() + if not hist: + self._last_prediction = None + return + if len(hist) == 1 or np is None: + s = hist[-1] + self._last_prediction = Prediction( + lat=s.lat, + lon=s.lon, + alt_m=s.alt_m, + confidence=0.5, + ts_iso=datetime.now(timezone.utc).isoformat(), + ) + return + # Fit linear model per component + times = [s.t_epoch for s in hist] + lats = [s.lat for s in hist] + lons = [s.lon for s in hist] + alts = [s.alt_m for s in hist] + t0 = times[0] + t_rel = [t - t0 for t in times] + t_future = (times[-1] + 1.0) - t0 + try: + lat_slope, lat_intercept = np.polyfit(t_rel, lats, 1) # type: ignore[attr-defined] + lon_slope, lon_intercept = np.polyfit(t_rel, lons, 1) # type: ignore[attr-defined] + alt_slope, alt_intercept = np.polyfit(t_rel, alts, 1) # type: ignore[attr-defined] + pred_lat = float(lat_slope * t_future + lat_intercept) + pred_lon = float(lon_slope * t_future + lon_intercept) + pred_alt = float(alt_slope * t_future + alt_intercept) + confidence = 0.9 if len(hist) >= 5 else 0.7 + except Exception: + s = hist[-1] + pred_lat, pred_lon, pred_alt, confidence = s.lat, s.lon, s.alt_m, 0.5 + self._last_prediction = Prediction( + lat=pred_lat, + lon=pred_lon, + alt_m=pred_alt, + confidence=confidence, + ts_iso=datetime.now(timezone.utc).isoformat(), + ) + + # WGS84 constants + _WGS84_A = 6378137.0 + _WGS84_F = 1.0 / 298.257223563 + _WGS84_E2 = _WGS84_F * (2.0 - _WGS84_F) + + # Geodesy helpers + @staticmethod + def _geodetic_to_ecef(lat_deg: float, lon_deg: float, h_m: float) -> Tuple[float, float, float]: + lat = math.radians(lat_deg) + lon = math.radians(lon_deg) + sin_lat = math.sin(lat) + cos_lat = math.cos(lat) + sin_lon = math.sin(lon) + cos_lon = math.cos(lon) + N = PredictorService._WGS84_A / math.sqrt(1.0 - PredictorService._WGS84_E2 * sin_lat * sin_lat) + x = (N + h_m) * cos_lat * cos_lon + y = (N + h_m) * cos_lat * sin_lon + z = (N * (1.0 - PredictorService._WGS84_E2) + h_m) * sin_lat + # Verbose print only when debug enabled + # Note: staticmethod, cannot access self.config; keep quiet by default + # If needed, enable prints in callers + # print("_geodetic_to_ecef", "in:", lat_deg, lon_deg, h_m, "\n", "out:", x, y, z) + return x, y, z + + + @staticmethod + def _ecef_to_enu(dx: Tuple[float, float, float], lat0_deg: float, lon0_deg: float) -> Tuple[float, float, float]: + lat0 = math.radians(lat0_deg) + lon0 = math.radians(lon0_deg) + sin_lat = math.sin(lat0) + cos_lat = math.cos(lat0) + sin_lon = math.sin(lon0) + cos_lon = math.cos(lon0) + dx_x, dx_y, dx_z = dx + e = -sin_lon * dx_x + cos_lon * dx_y + n = -sin_lat * cos_lon * dx_x - sin_lat * sin_lon * dx_y + cos_lat * dx_z + u = cos_lat * cos_lon * dx_x + cos_lat * sin_lon * dx_y + sin_lat * dx_z + return e, n, u + + @staticmethod + def initial_bearing_deg(lat1_deg: float, lon1_deg: float, lat2_deg: float, lon2_deg: float) -> float: + lat1 = math.radians(lat1_deg) + lat2 = math.radians(lat2_deg) + dlon = math.radians(lon2_deg - lon1_deg) + x = math.sin(dlon) * math.cos(lat2) + y = math.cos(lat1) * math.sin(lat2) - math.sin(lat1) * math.cos(lat2) * math.cos(dlon) + brng = math.degrees(math.atan2(x, y)) + return PredictorService._normalize_0_360(brng) + + + + def compute_az_el(self, tgt_lat: float, tgt_lon: float, tgt_alt: float) -> Tuple[float, float]: + if self.config.debug: + print("Calculating antenna ecef") + x_o, y_o, z_o = self._geodetic_to_ecef( + self.config.antenna_lat_deg, self.config.antenna_lon_deg, self.config.antenna_alt_m + ) + if self.config.debug: + print("Calculating target ecef") + x_t, y_t, z_t = self._geodetic_to_ecef(tgt_lat, tgt_lon, tgt_alt) + e, n, u = self._ecef_to_enu((x_t - x_o, y_t - y_o, z_t - z_o), self.config.antenna_lat_deg, self.config.antenna_lon_deg) + az = math.degrees(math.atan2(e, n)) + if az < 0: + az += 360.0 + el = math.degrees(math.atan2(u, math.hypot(e, n))) + if self.config.debug: + print("Calculated AZ:", az) + print("Calculated EL:", el) + return az, el + + def yaw_pitch_from_target(self, tgt_lat: float, tgt_lon: float, tgt_alt: float) -> Tuple[float, float]: + """ + Compute yaw (relative to yaw-zero) and pitch. + Modes: + - continuous: unwrap around last commanded yaw + - pm180 / 0to360: single-turn normalized output + Updates self._last_yaw_cmd for continuity. + """ + if self.config.debug: + print("Calculating Yaw pitch from target") + az, el = self.compute_az_el(tgt_lat, tgt_lon, tgt_alt) # az from North + + if self.config.yaw_normalization == "continuous" and self._last_yaw_cmd is not None: + yaw_rel = self.rotation_from_yaw_zero_continuous(az, self._last_yaw_cmd) + elif self.config.yaw_normalization == "continuous": + # first command in continuous mode: seed using pm180 for a near value + yaw_rel = self._rotation_from_yaw_zero_basic(az) + else: + yaw_rel = self._rotation_from_yaw_zero_basic(az) + + # Remember last commanded yaw for continuity + self._last_yaw_cmd = yaw_rel + return yaw_rel, el + + def reset_yaw_continuity(self) -> None: + """Reset the last yaw command to seed continuous unwrapping fresh.""" + self._last_yaw_cmd = None diff --git a/apps/antenna-tracker/pyproject.toml b/apps/antenna-tracker/pyproject.toml new file mode 100755 index 0000000..5531232 --- /dev/null +++ b/apps/antenna-tracker/pyproject.toml @@ -0,0 +1,15 @@ +[project] +name = "gps-ingest" +version = "0.1.0" +description = "Add your description here" +readme = "README.md" +requires-python = ">=3.12" +dependencies = [ + "numpy>=2.3.2", + "odrive>=0.6.10.post0", +] + +[dependency-groups] +dev = [ + "pytest>=8.0.0", +] diff --git a/apps/antenna-tracker/remote.py b/apps/antenna-tracker/remote.py new file mode 100755 index 0000000..3887537 --- /dev/null +++ b/apps/antenna-tracker/remote.py @@ -0,0 +1,169 @@ +#!/usr/bin/env python3 +import errno +import fcntl +import os +import struct +import threading +import time +from typing import Dict, Optional + + +EVENT_FMT = 'IhBB' +EVENT_SIZE = struct.calcsize(EVENT_FMT) + +JS_EVENT_BUTTON = 0x01 +JS_EVENT_AXIS = 0x02 +JS_EVENT_INIT = 0x80 + + +BUTTON_INDEX_TO_NAME: Dict[int, str] = { + 0: 'A', 1: 'B', 2: 'X', 3: 'Y', + 4: 'LB', 5: 'RB', 6: 'Back', 7: 'Start', + 8: 'Guide', 9: 'LThumb', 10: 'RThumb', +} + +AXIS_INDEX_TO_NAME: Dict[int, str] = { + 0: 'LX', 1: 'LY', 2: 'LT', + 3: 'RX', 4: 'RY', 5: 'RT', +} + +BUTTON_NAME_TO_INDEX: Dict[str, int] = {v: k for k, v in BUTTON_INDEX_TO_NAME.items()} +AXIS_NAME_TO_INDEX: Dict[str, int] = {v: k for k, v in AXIS_INDEX_TO_NAME.items()} + + +def _normalize_axis(value: int) -> float: + if value <= -32767: + return -1.0 + if value >= 32767: + return 1.0 + return value / 32767.0 + + +class XboxController: + """Simple Linux joystick reader for Xbox controllers using /dev/input/js*. + + Exposes a minimal API expected by manual.py: + - start() -> bool + - stop() -> None + - is_connected() -> bool + - get_button(name: str) -> bool + - get_axis(name: str) -> float in [-1.0, 1.0] + """ + + def __init__(self, deadzone: float = 0.1, device_path: str = '/dev/input/js0') -> None: + self.device_path: str = device_path + self.deadzone: float = max(0.0, min(0.9, deadzone)) + self._thread: Optional[threading.Thread] = None + self._stop_event = threading.Event() + self._connected: bool = False + self._fd: Optional[int] = None + self._lock = threading.Lock() + self._buttons: Dict[str, bool] = {name: False for name in BUTTON_NAME_TO_INDEX.keys()} + self._axes: Dict[str, float] = {name: 0.0 for name in AXIS_NAME_TO_INDEX.keys()} + + def start(self) -> bool: + if self._thread and self._thread.is_alive(): + return True + self._stop_event.clear() + self._thread = threading.Thread(target=self._reader_loop, name='XboxControllerReader', daemon=True) + self._thread.start() + # Give the thread a short time to attempt initial open + time.sleep(0.1) + return True + + def stop(self) -> None: + self._stop_event.set() + if self._thread and self._thread.is_alive(): + self._thread.join(timeout=1.5) + self._close_device() + + def is_connected(self) -> bool: + return self._connected + + def get_button(self, name: str) -> bool: + with self._lock: + return bool(self._buttons.get(name, False)) + + def get_axis(self, name: str) -> float: + with self._lock: + value = float(self._axes.get(name, 0.0)) + if abs(value) < self.deadzone: + return 0.0 + return value + + # Internal + def _open_device(self) -> None: + try: + fd = os.open(self.device_path, os.O_RDONLY | os.O_NONBLOCK) + # Ensure non-blocking + fl = fcntl.fcntl(fd, fcntl.F_GETFL) + fcntl.fcntl(fd, fcntl.F_SETFL, fl | os.O_NONBLOCK) + self._fd = fd + self._connected = True + except FileNotFoundError: + self._connected = False + except PermissionError: + self._connected = False + + def _close_device(self) -> None: + if self._fd is not None: + try: + os.close(self._fd) + except OSError: + pass + finally: + self._fd = None + self._connected = False + + def _reader_loop(self) -> None: + last_attempt = 0.0 + while not self._stop_event.is_set(): + # Ensure device is open + if self._fd is None: + now = time.time() + if now - last_attempt < 0.5: + time.sleep(0.05) + continue + last_attempt = now + self._open_device() + if self._fd is None: + time.sleep(0.3) + continue + + # Read any available events + try: + data = os.read(self._fd, EVENT_SIZE) + if not data: + time.sleep(0.01) + continue + if len(data) < EVENT_SIZE: + continue + timestamp, value, ev_type, number = struct.unpack(EVENT_FMT, data) + if ev_type & JS_EVENT_INIT: + continue + if ev_type & JS_EVENT_BUTTON: + name = BUTTON_INDEX_TO_NAME.get(number) + if name is not None: + with self._lock: + self._buttons[name] = (value != 0) + elif ev_type & JS_EVENT_AXIS: + name = AXIS_INDEX_TO_NAME.get(number) + if name is not None: + norm = _normalize_axis(value) + with self._lock: + self._axes[name] = norm + # Gentle yield + time.sleep(0.001) + except BlockingIOError: + time.sleep(0.01) + continue + except OSError as e: + if e.errno == errno.ENODEV: + # Device disconnected + self._close_device() + time.sleep(0.3) + continue + # Other I/O error: reset and retry + self._close_device() + time.sleep(0.2) + continue diff --git a/apps/antenna-tracker/rocket_gps.jsonl b/apps/antenna-tracker/rocket_gps.jsonl new file mode 100644 index 0000000..973fe37 --- /dev/null +++ b/apps/antenna-tracker/rocket_gps.jsonl @@ -0,0 +1,1610 @@ +{"ts": "2025-08-20T02:28:49.973597+00:00", "lat": 48.4807521, "lon": -81.3332565, "altitude_m": 295.04, "source": "sim"} +{"ts": "2025-08-20T02:28:50.123597+00:00", "lat": 48.4807175, "lon": -81.3332573, "altitude_m": 298.27, "source": "sim"} +{"ts": "2025-08-20T02:28:50.273597+00:00", "lat": 48.4807133, "lon": -81.3332919, "altitude_m": 299.12, "source": "sim"} +{"ts": "2025-08-20T02:28:50.373597+00:00", "lat": 48.4807306, "lon": -81.3332501, "altitude_m": 294.56, "source": "sim"} +{"ts": "2025-08-20T02:28:50.473597+00:00", "lat": 48.4807256, "lon": -81.33327, "altitude_m": 289.83, "source": "sim"} +{"ts": 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tracing::{error, info, warn}; + +#[derive(Parser, Debug, Clone)] +#[command( + version, + about = "Stream latest GPS coordinates and altitude from MAVLink POSTCARD messages as JSON lines" +)] +struct Args { + /// MAVLink connection string (e.g., tcpout:127.0.0.1:5656, udpin:0.0.0.0:14550) + #[arg(long, default_value = "tcpout:127.0.0.1:5656")] + connection: String, + + /// Print pretty JSON (multi-line) instead of compact single-line JSON + #[arg(long, default_value_t = false)] + pretty: bool, +} + +#[derive(Default, Debug, Clone, Serialize)] +struct LatestSample { + lat: Option, + lon: Option, + altitude_m: Option, + ts: String, + source: &'static str, +} + +#[tokio::main] +async fn main() -> Result<()> { + tracing_subscriber::fmt().with_max_level(tracing::Level::INFO).init(); + + let args = Args::parse(); + + let mut latest = LatestSample { + ts: Utc::now().to_rfc3339(), + source: "gps-ingest", + ..Default::default() + }; + + loop { + info!("Connecting to MAVLink at {}", args.connection); + let conn = match mavlink::connect::(&args.connection) { + Ok(c) => c, + Err(e) => { + error!("Failed to connect to MAVLink: {}", e); + tokio::time::sleep(std::time::Duration::from_secs(1)).await; + continue; + } + }; + info!("Connected!"); + + // Receive loop; on any error, break to reconnect after 1s + loop { + match conn.recv() { + Ok((_header, msg)) => match msg { + MavMessage::POSTCARD_MESSAGE(card) => { + // Each POSTCARD message wraps a length-delimited RadioFrame (protobuf) + match messages_prost::radio::RadioFrame::decode_length_delimited(&card.message[..]) { + Ok(frame) => handle_radio_frame(frame, &mut latest, args.pretty), + Err(_) => warn!("Failed to decode RadioFrame from POSTCARD message"), + } + } + MavMessage::RADIO_STATUS(status) => { + info!("Radio status: rssi={}, remrssi={}", status.rssi, status.remrssi); + } + _other => { + // Not relevant for GPS/altitude output + } + }, + Err(err) => match err { + mavlink::error::MessageReadError::Io(io_err) => match io_err.kind() { + std::io::ErrorKind::WouldBlock => { + // No data available; yield briefly + tokio::task::yield_now().await; + } + _ => { + error!("MAVLink IO error: {:?}. Will reconnect.", io_err); + break; + } + }, + other => { + error!("MAVLink recv error: {:?}. Will reconnect.", other); + break; + } + }, + } + } + + // Reconnect delay + tokio::time::sleep(std::time::Duration::from_secs(1)).await; + } +} + +fn handle_radio_frame( + frame: radio::RadioFrame, + latest: &mut LatestSample, + pretty: bool, +) { + use radio::radio_frame::Payload; + + match frame.payload { + Some(Payload::Sbg(sbg)) => match sbg.data { + Some(sbg_data::Data::GpsPos(gps_pos)) => { + if let Some(d) = gps_pos.data { + let lat = d.latitude; + let lon = d.longitude; + + // Skip if lat or lon is very close to 0 (invalid GPS coordinates) + if lat.abs() < 0.001 || lon.abs() < 0.001 { + warn!("Invalid GPS coordinates (near 0,0): lat={}, lon={}", lat, lon); + return; + } + + // Check if coordinates are within Canada's bounds + // Bounds: [minLat, minLon, maxLat, maxLon] = [41.68, -141.00, 83.11, -52.62] + if !(41.68..=83.11).contains(&lat) || !(-141.00..=-52.62).contains(&lon) { + warn!("GPS coordinates outside Canada bounds: lat={}, lon={}", lat, lon); + return; + } + + latest.lat = Some(lat); + latest.lon = Some(lon); + // Do not use GPS altitude; we prefer barometric altitude from SbgAir + latest.ts = Utc::now().to_rfc3339(); + // Only output if we have all required fields + if latest.lat.is_some() && latest.lon.is_some() && latest.altitude_m.is_some() { + output(latest, pretty); + } + } + } + Some(sbg_data::Data::Air(air)) => { + if let Some(d) = air.data { + latest.altitude_m = Some(d.altitude as f64); + latest.ts = Utc::now().to_rfc3339(); + // Only output if we have all required fields + if latest.lat.is_some() && latest.lon.is_some() && latest.altitude_m.is_some() { + output(latest, pretty); + } + } + } + // Other SBG data not needed for this tool + _ => { + // println!("other sbg"); + } + }, + // We intentionally ignore other payloads (IMU, logs, etc.) + _payload => { + // println!("other payload: {:?}", _payload); + // print payload json + // if let Ok(s) = serde_json::to_string_pretty(&payload) { + // println!("{}", s); + // } + } + } +} + +fn output( + sample: &LatestSample, + pretty: bool, +) { + // Additional validation to ensure we never output invalid data + if sample.lat.is_none() || sample.lon.is_none() || sample.altitude_m.is_none() { + return; + } + + if pretty { + if let Ok(s) = serde_json::to_string_pretty(sample) { + println!("{}", s); + } + } else if let Ok(s) = serde_json::to_string(sample) { + println!("{}", s); + } +} diff --git a/apps/antenna-tracker/tests/conftest.py b/apps/antenna-tracker/tests/conftest.py new file mode 100644 index 0000000..764c57b --- /dev/null +++ b/apps/antenna-tracker/tests/conftest.py @@ -0,0 +1,7 @@ +import os +import sys + +# Ensure project root (directory containing predictor_service.py) is on sys.path +PROJECT_ROOT = os.path.abspath(os.path.join(os.path.dirname(__file__), os.pardir)) +if PROJECT_ROOT not in sys.path: + sys.path.insert(0, PROJECT_ROOT) diff --git a/apps/antenna-tracker/tests/test_continuous_unwrap.py b/apps/antenna-tracker/tests/test_continuous_unwrap.py new file mode 100644 index 0000000..778d76d --- /dev/null +++ b/apps/antenna-tracker/tests/test_continuous_unwrap.py @@ -0,0 +1,71 @@ +import pytest + +from predictor_service import PredictorConfig, PredictorService + + +def normalize_0_360(deg: float) -> float: + return (deg % 360.0 + 360.0) % 360.0 + + +def normalize_pm180(deg: float) -> float: + d = normalize_0_360(deg) + return d - 360.0 if d > 180.0 else d + + +def step_ok(a, b, tol=1e-9): + return abs(a - b) <= tol + + +def unwrap_seq_check(bearing_seq, yaw_zero=194.0, seed_mode="pm180"): + pcfg = PredictorConfig( + antenna_yaw_zero_deg=yaw_zero, + yaw_normalization="continuous", + use_real_gps_ingest=False, + ) + svc = PredictorService(pcfg) + svc.reset_yaw_continuity() + + def rot_basic(b): + raw = b - yaw_zero + return normalize_pm180(raw) if seed_mode != "0to360" else normalize_0_360(raw) + + def rot_cont(b, ref): + desired_mod = normalize_0_360(b - yaw_zero) + ref_mod = normalize_0_360(ref) + delta = normalize_pm180(desired_mod - ref_mod) + return ref + delta + + cont_vals = [] + for i, b in enumerate(bearing_seq): + if i == 0: + y = rot_basic(b) + else: + y = rot_cont(b, cont_vals[-1]) + cont_vals.append(y) + + for i in range(1, len(bearing_seq)): + bearing_step = bearing_seq[i] - bearing_seq[i - 1] + expected = normalize_pm180(bearing_step) + got = cont_vals[i] - cont_vals[i - 1] + assert step_ok(got, expected, tol=1e-7), f"step {i} expected {expected}, got {got}" + + return cont_vals + + +@pytest.mark.parametrize( + "seq", + [ + list(range(350, 371, 5)) + [0, 5, 10, 15, 20, 25, 30], + [30, 25, 20, 15, 10, 5, 0, 355, 350, 345, 340], + list(range(0, 1081, 15)), + [350, 355, 0, 5, 10, 5, 0, 355, 350, 355, 0, 5], + ], +) +def test_continuous_unwrap(seq): + _ = unwrap_seq_check(seq) + + +def test_clamping_interplay_with_accumulator(): + seq = list(range(0, 721, 10)) + vals = unwrap_seq_check(seq) + assert vals[-1] > 350.0 diff --git a/apps/antenna-tracker/tests/test_pointing_math.py b/apps/antenna-tracker/tests/test_pointing_math.py new file mode 100644 index 0000000..91c3fff --- /dev/null +++ b/apps/antenna-tracker/tests/test_pointing_math.py @@ -0,0 +1,81 @@ +import math +import pytest + +from predictor_service import PredictorConfig, PredictorService +from antenna_service import AntennaConfig, AntennaService + + +def normalize_0_360(deg: float) -> float: + return (deg % 360.0 + 360.0) % 360.0 + + +def normalize_pm180(deg: float) -> float: + d = normalize_0_360(deg) + return d - 360.0 if d > 180.0 else d + + +def destination_point(lat_deg, lon_deg, bearing_deg, distance_m, radius_m=6371000.0): + lat1 = math.radians(lat_deg) + lon1 = math.radians(lon_deg) + brng = math.radians(bearing_deg) + dr = distance_m / radius_m + sin_lat1 = math.sin(lat1) + cos_lat1 = math.cos(lat1) + sin_dr = math.sin(dr) + cos_dr = math.cos(dr) + sin_lat2 = sin_lat1 * cos_dr + cos_lat1 * sin_dr * math.cos(brng) + lat2 = math.asin(sin_lat2) + y = math.sin(brng) * sin_dr * cos_lat1 + x = cos_dr - sin_lat1 * sin_lat2 + lon2 = lon1 + math.atan2(y, x) + return math.degrees(lat2), (math.degrees(lon2) + 540) % 360 - 180 + + +def expected_el(distance_m: float, alt_delta_m: float) -> float: + return math.degrees(math.atan2(alt_delta_m, max(distance_m, 1e-9))) + + +bearings = [0, 45, 90, 135, 180, 225, 270, 315] +distances = [1.0, 100.0, 1000.0] +alt_deltas = [0.0, +5.0, -5.0, +100.0, -100.0] + + +@pytest.mark.parametrize("d", distances) +@pytest.mark.parametrize("dh", alt_deltas) +@pytest.mark.parametrize("b", bearings) +def test_az_el_yaw_and_commands(b, d, dh): + pcfg = PredictorConfig(yaw_normalization="pm180", use_real_gps_ingest=False) + svc = PredictorService(pcfg) + acfg = AntennaConfig(use_real_hardware=False) + + tgt_lat, tgt_lon = destination_point(pcfg.antenna_lat_deg, pcfg.antenna_lon_deg, b, d) + tgt_alt = pcfg.antenna_alt_m + dh + + az, el = svc.compute_az_el(tgt_lat, tgt_lon, tgt_alt) + + az_exp = b % 360.0 + el_exp = expected_el(d, dh) + + tol_az = 0.5 + tol_el = 0.5 + assert abs((az - az_exp + 540) % 360 - 180) <= tol_az + assert abs(el - el_exp) <= tol_el + + yaw = normalize_pm180(az - pcfg.antenna_yaw_zero_deg) + yaw_exp = normalize_pm180(az_exp - pcfg.antenna_yaw_zero_deg) + assert abs(yaw - yaw_exp) <= tol_az + + yaw_lo, yaw_hi = acfg.limits_yaw_deg + pit_lo, pit_hi = acfg.limits_pitch_deg + yaw_cmd = max(yaw_lo, min(yaw_hi, yaw)) + pit_cmd = max(pit_lo, min(pit_hi, el)) + + yaw_turns = (acfg.dir_yaw * yaw_cmd / 360.0) * acfg.gear_ratio_yaw + pit_turns = (acfg.dir_pitch * pit_cmd / 360.0) * acfg.gear_ratio_pitch + + ant = AntennaService(acfg) + ok = ant.set_position(pitch=el, yaw=yaw) + assert ok + pos = ant.get_position() + assert math.isclose(pos["yaw"], yaw_cmd, abs_tol=1e-6) + assert math.isclose(pos["pitch"], pit_cmd, abs_tol=1e-6) diff --git a/apps/antenna-tracker/uv.lock b/apps/antenna-tracker/uv.lock new file mode 100755 index 0000000..965ca7d --- /dev/null +++ b/apps/antenna-tracker/uv.lock @@ -0,0 +1,698 @@ +version = 1 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+libsql = { workspace = true } +serde_json = { workspace = true } +hostname = { workspace = true } +prost = { workspace = true } diff --git a/apps/command-dispatcher/README.md b/apps/command-dispatcher/README.md new file mode 100755 index 0000000..5f8db0a --- /dev/null +++ b/apps/command-dispatcher/README.md @@ -0,0 +1,66 @@ +# RGS Command Dispatcher + +A service that monitors the `OutgoingCommand` table in the RGS database for pending commands and sends them to the designated gateway via a TCP MAVLink connection. It also reports its own health status. + +## Features + +- Polls the `OutgoingCommand` table for commands with status 'Pending'. +- Parses command types and parameters from the database. +- Constructs appropriate `messages::RadioMessage` payloads. +- Serializes messages using `postcard`. +- Sends MAVLink `POSTCARD_MESSAGE` packets to a TCP gateway. +- Updates command status (`Sending`, `Sent`, `Failed`) in the database. +- Manages connection to the TCP gateway, attempting reconnection on failure. +- Reports its operational status to the `ServiceStatus` table. +- Queues a periodic Ping keepalive, replacing the former standalone heartbeat service. + +## Prerequisites + +- RGS LibSQL database (with `OutgoingCommand` and `ServiceStatus` tables) accessible. +- RGS Gateway service running and accepting TCP MAVLink connections. + +## Usage + +### Running the Dispatcher + +```sh +# From the rgs workspace root +cargo run -p command-dispatcher -- [options] +# Or directly if built: +# ./target/debug/command-dispatcher [options] +``` + +### Parameters + +| Parameter | Description | Default | +|-----------------------------|--------------------------------------------------------------------------|----------------------------| +| `--libsql-url` | LibSQL database URL | http://localhost:8080 | +| `--libsql-auth-token` | Auth token for remote LibSQL DB | *empty* | +| `--gateway-connection-string` | MAVLink gateway connection string (e.g., `tcpout:localhost:5656`) | `tcpout:127.0.0.1:5656` | +| `--poll-interval-secs` | DB polling interval (seconds) | 5 | +| `--keepalive-interval-secs` | Automatic Ping interval; set to `0` to disable | 30 | + +## Operational Details + +- Checks the database for pending commands every `--poll-interval-secs` seconds. +- Attempts to maintain a persistent connection to the gateway, reconnecting if the connection drops. +- Processes commands sequentially in the order they are fetched (ordered by `created_at`). +- Updates its status in the `ServiceStatus` table every 15 seconds. +- Keeps at most one dispatcher-generated Ping pending or sending, preventing backlog growth while the gateway is unavailable. +- Handles command types: `Ping`, `DeployDrogue`, `DeployMain`, `PowerDown`, `RadioRateChange`. + +## Troubleshooting + +1. **Database Issues** + - Verify LibSQL server is running and accessible. + - Check `--libsql-url` and `--libsql-auth-token` parameters. + - Ensure the `OutgoingCommand` and `ServiceStatus` tables exist. +2. **Gateway Connection Issues** + - Verify the Gateway service is running and accessible. + - Check `--gateway-connection-string` parameter. + - Ensure network connectivity between the dispatcher and the gateway. + - Check dispatcher logs for connection attempt errors. +3. **Commands Stuck in 'Pending' or 'Sending'** + - Check dispatcher logs for errors during command processing (parsing, serialization, sending). + - Verify the gateway is correctly receiving and acknowledging messages (if applicable). + - Check the command `attempts` count and `error_message` in the `OutgoingCommand` table. diff --git a/apps/command-dispatcher/src/cli.rs b/apps/command-dispatcher/src/cli.rs new file mode 100755 index 0000000..ce4357f --- /dev/null +++ b/apps/command-dispatcher/src/cli.rs @@ -0,0 +1,24 @@ +use clap::Parser; + +#[derive(Parser, Debug, Clone)] +#[command(version, about, long_about = None)] +pub struct Args { + #[arg(long, default_value = "http://localhost:8080")] + pub libsql_url: String, + + #[arg(long, default_value = "")] + pub libsql_auth_token: String, + + #[arg( + long, + default_value = "tcpout:127.0.0.1:5656", + help = "Gateway MAVLink connection string (e.g., tcpout:localhost:5656, udpin:0.0.0.0:14550)" + )] + pub gateway_connection_string: String, + + #[arg(long, default_value_t = 5)] + pub poll_interval_secs: u64, + + #[arg(long, default_value_t = 30, help = "Seconds between automatic Ping keepalives; set to 0 to disable")] + pub keepalive_interval_secs: u64, +} diff --git a/apps/command-dispatcher/src/commands.rs b/apps/command-dispatcher/src/commands.rs new file mode 100755 index 0000000..145b06a --- /dev/null +++ b/apps/command-dispatcher/src/commands.rs @@ -0,0 +1,211 @@ +use std::time::Instant; + +use chrono::Utc; +use libsql::{params as libsql_params, Connection}; +use mavlink::{uorocketry::MavMessage, MavConnection, MavHeader}; +use messages_prost::command as cmd; +use messages_prost::common::Node; +use messages_prost::radio::radio_frame::Payload; +use messages_prost::radio::RadioFrame; +use prost::Message as _; +use serde::Deserialize; +use tracing::{error, info}; + +// Struct to represent a row from the OutgoingCommand table +#[derive(Debug)] +pub struct OutgoingCommandRow { + pub id: i64, + pub command_type: String, + pub parameters: Option, + pub source_service: String, +} + +// Parameter structs for deserialization +#[derive(Deserialize, Debug)] +struct DeployDrogueParams { + val: bool, +} +#[derive(Deserialize, Debug)] +struct DeployMainParams { + val: bool, +} +#[derive(Deserialize, Debug)] +struct PowerDownParams { + board: String, +} +#[derive(Deserialize, Debug)] +struct RadioRateChangeParams { + rate: String, +} +#[derive(Deserialize, Debug)] +struct PingParams { + id: u32, +} + +fn parse_board(s: &str) -> Node { + match s { + "PressureBoard" => Node::PressureBoard, + "StrainBoard" => Node::StrainBoard, + "TemperatureBoard" => Node::TemperatureBoard, + "GroundStation" => Node::GroundStation, + "Phoenix" => Node::Phoenix, + _ => Node::Unspecified, + } +} + +fn parse_radio_rate(s: &str) -> i32 { + match s.to_lowercase().as_str() { + "low" | "slow" | "0" => cmd::RadioRate::RateLow as i32, + "medium" | "1" => cmd::RadioRate::RateMedium as i32, + "high" | "fast" | "2" => cmd::RadioRate::RateHigh as i32, + _ => cmd::RadioRate::RateLow as i32, + } +} + +pub async fn process_single_command( + db_conn: &Connection, + gateway_conn: &mut Box + Sync + Send>, + command_row: OutgoingCommandRow, + start_instant: Instant, +) -> Result<(), (i64, Box)> { + let cmd_id = command_row.id; + info!( + "[Cmd ID: {}] Processing command of type '{}' from '{}'. Params: {:?}", + cmd_id, command_row.command_type, command_row.source_service, command_row.parameters + ); + + let queued_at_ts = Utc::now().timestamp(); + db_conn + .execute( + "UPDATE OutgoingCommand SET status = 'Sending', queued_at = ?, attempts = attempts + 1 WHERE id = ?", + libsql_params![queued_at_ts, cmd_id], + ) + .await + .map_err(|e| (cmd_id, e.into()))?; + info!("[Cmd ID: {}] Marked as 'Sending'.", cmd_id); + + let default_target = Node::PressureBoard as i32; + + let command_payload: cmd::Command = match command_row.command_type.as_str() { + "DeployDrogue" => { + let params: DeployDrogueParams = serde_json::from_str(command_row.parameters.as_deref().unwrap_or("{}")) + .map_err(|e| (cmd_id, Box::new(e) as Box))?; + cmd::Command { + node: default_target, + data: Some(cmd::command::Data::DeployDrogue(cmd::DeployDrogue { val: params.val })), + } + } + "DeployMain" => { + let params: DeployMainParams = serde_json::from_str(command_row.parameters.as_deref().unwrap_or("{}")) + .map_err(|e| (cmd_id, Box::new(e) as Box))?; + cmd::Command { + node: default_target, + data: Some(cmd::command::Data::DeployMain(cmd::DeployMain { val: params.val })), + } + } + "PowerDown" => { + let params_str = command_row.parameters.as_deref().ok_or_else(|| { + ( + cmd_id, + Box::new(std::io::Error::new(std::io::ErrorKind::InvalidInput, "Missing parameters for PowerDown")) as Box, + ) + })?; + let params: PowerDownParams = serde_json::from_str(params_str).map_err(|e| (cmd_id, Box::new(e) as Box))?; + let board = parse_board(¶ms.board) as i32; + cmd::Command { + node: board, + data: Some(cmd::command::Data::PowerDown(cmd::PowerDown { board })), + } + } + "PowerUpCamera" => cmd::Command { + node: default_target, + data: Some(cmd::command::Data::PowerUpCamera(cmd::PowerUpCamera {})), + }, + "PowerDownCamera" => cmd::Command { + node: default_target, + data: Some(cmd::command::Data::PowerDownCamera(cmd::PowerDownCamera {})), + }, + "RadioRateChange" => { + let params_str = command_row.parameters.as_deref().ok_or_else(|| { + ( + cmd_id, + Box::new(std::io::Error::new( + std::io::ErrorKind::InvalidInput, + "Missing parameters for RadioRateChange", + )) as Box, + ) + })?; + let params: RadioRateChangeParams = serde_json::from_str(params_str).map_err(|e| (cmd_id, Box::new(e) as Box))?; + cmd::Command { + node: default_target, + data: Some(cmd::command::Data::RadioRateChange(cmd::RadioRateChange { + rate: parse_radio_rate(¶ms.rate), + })), + } + } + "Ping" => { + let id = command_row + .parameters + .as_deref() + .and_then(|s| serde_json::from_str::(s).ok()) + .map(|p| p.id) + .unwrap_or(0); + cmd::Command { + node: default_target, + data: Some(cmd::command::Data::Ping(cmd::Ping { id })), + } + } + _ => { + let err_msg = format!("Unknown command type: {}", command_row.command_type); + error!("[Cmd ID: {}] {}", cmd_id, err_msg); + db_conn + .execute( + "UPDATE OutgoingCommand SET status = 'Failed', sent_at = ?, error_message = ? WHERE id = ?", + libsql_params![Utc::now().timestamp(), err_msg.clone(), cmd_id], + ) + .await + .map_err(|e| (cmd_id, e.into()))?; + return Err((cmd_id, err_msg.into())); + } + }; + + let millis_since_start = start_instant.elapsed().as_millis() as u64; + let frame = RadioFrame { + node: Node::GroundStation as i32, + payload: Some(Payload::Command(command_payload)), + millis_since_start, + }; + let bytes = RadioFrame::encode_length_delimited_to_vec(&frame); + + let mut fixed_payload = [0u8; 255]; + let len = bytes.len().min(255); + fixed_payload[..len].copy_from_slice(&bytes[..len]); + let send_msg = MavMessage::POSTCARD_MESSAGE(mavlink::uorocketry::POSTCARD_MESSAGE_DATA { message: fixed_payload }); + + info!("[Cmd ID: {}] Sending MAVLink message...", cmd_id); + match gateway_conn.send(&MavHeader::default(), &send_msg) { + Ok(_) => { + info!("[Cmd ID: {}] Successfully sent. Updating status to 'Sent'.", cmd_id); + db_conn + .execute( + "UPDATE OutgoingCommand SET status = 'Sent', sent_at = ? WHERE id = ?", + libsql_params![Utc::now().timestamp(), cmd_id], + ) + .await + .map_err(|e| (cmd_id, e.into()))?; + Ok(()) + } + Err(mav_err) => { + let err_msg = format!("Failed to send MAVLink message: {}", mav_err); + error!("[Cmd ID: {}] {}", cmd_id, err_msg); + db_conn + .execute( + "UPDATE OutgoingCommand SET status = 'Failed', sent_at = ?, error_message = ? WHERE id = ?", + libsql_params![Utc::now().timestamp(), err_msg.clone(), cmd_id], + ) + .await + .map_err(|e_db| (cmd_id, e_db.into()))?; + Err((cmd_id, mav_err.into())) + } + } +} diff --git a/apps/command-dispatcher/src/dispatcher.rs b/apps/command-dispatcher/src/dispatcher.rs new file mode 100755 index 0000000..d5cb022 --- /dev/null +++ b/apps/command-dispatcher/src/dispatcher.rs @@ -0,0 +1,124 @@ +use std::time::{Duration, Instant}; + +use libsql::{params as libsql_params, Connection}; +use mavlink::{connect, uorocketry::MavMessage, MavConnection}; +use tracing::{error, info, warn}; + +use crate::cli::Args; +use crate::commands::{process_single_command, OutgoingCommandRow}; + +pub async fn run_dispatcher( + db_conn: Connection, + args: Args, + start_instant: Instant, +) -> Result<(), Box> { + info!( + "Dispatcher loop starting. Poll Interval: {}s. Gateway: {}", + args.poll_interval_secs, args.gateway_connection_string + ); + + let mut gateway_conn_opt: Option + Sync + Send>> = None; + let gateway_connection_string = args.gateway_connection_string.clone(); + // let host_string = hostname::get() + // .unwrap_or_default() + // .to_string_lossy() + // .to_string(); + // let instance_id_string = format!( + // "{}@{}-{}", + // crate::SERVICE_ID, + // host_string, + // std::process::id() + // ); + + loop { + if gateway_conn_opt.is_none() { + info!("Attempting to connect to gateway: {}", gateway_connection_string); + match connect::(&gateway_connection_string) { + Ok(conn) => { + info!("Successfully connected to gateway."); + gateway_conn_opt = Some(conn); + // TODO: Consider logic to reset status of commands stuck in 'Sending' from a previous session/connection drop. + } + Err(error) => { + error!("Failed to connect to gateway: {}. Retrying in 5 seconds...", error); + gateway_conn_opt = None; + tokio::time::sleep(Duration::from_secs(5)).await; + continue; + } + } + } + + if let Some(ref mut current_gateway_conn) = gateway_conn_opt { + info!("Fetching pending commands..."); + let stmt = match db_conn.prepare( + "SELECT id, command_type, parameters, source_service FROM OutgoingCommand WHERE status = 'Pending' ORDER BY created_at ASC LIMIT 10" + ).await { + Ok(s) => s, + Err(e) => { + error!("Failed to prepare DB statement: {:?}. Retrying poll cycle.", e); + tokio::time::sleep(Duration::from_secs(args.poll_interval_secs)).await; + continue; + } + }; + + let rows_result = stmt.query(libsql_params![]).await; + let mut commands: Vec = Vec::new(); + + match rows_result { + Ok(mut rows) => loop { + match rows.next().await { + Ok(Some(row)) => { + commands.push(OutgoingCommandRow { + id: row.get(0)?, + command_type: row.get(1)?, + parameters: row.get(2)?, + source_service: row.get(3)?, + }); + } + Ok(None) => { + break; + } + Err(e) => { + error!("Error fetching a row from database: {:?}. Processing partial batch if any.", e); + break; + } + } + }, + Err(e) => { + error!("Failed to execute query for pending commands: {:?}. Retrying poll cycle.", e); + tokio::time::sleep(Duration::from_secs(args.poll_interval_secs)).await; + continue; + } + } + + if commands.is_empty() { + // info!("No pending commands found."); // Keep commented out info for potential debugging + } else { + info!("Fetched {} pending command(s). Processing...", commands.len()); + for command_row in commands { + let process_result = process_single_command(&db_conn, current_gateway_conn, command_row, start_instant).await; + + if let Err(e) = process_result { + let (cmd_id, err_details) = e; + error!("Error processing command (ID: {}): {:?}", cmd_id, err_details); + let error_string = err_details.to_string().to_lowercase(); + if error_string.contains("connection") + || error_string.contains("broken pipe") + || error_string.contains("os error 104") + || error_string.contains("os error 32") + || error_string.contains("failed to send") + { + warn!("Gateway connection likely lost (error: {}). Resetting connection.", err_details); + break; + } + } + } + } + } + + // Always sleep a bit so we don't busy loop even when not connected + tokio::time::sleep(Duration::from_secs(args.poll_interval_secs)).await; + } + // Unreachable code + // Ok(()) +} diff --git a/apps/command-dispatcher/src/health.rs b/apps/command-dispatcher/src/health.rs new file mode 100755 index 0000000..83065ad --- /dev/null +++ b/apps/command-dispatcher/src/health.rs @@ -0,0 +1,49 @@ +use std::time::Duration; + +use chrono::Utc; +use libsql::{params as libsql_params, Connection}; +use tracing::{info, warn}; + +use crate::SERVICE_ID; + +pub async fn run_service_status_task(db_conn: Connection) -> Result<(), Box> { + let hostname_str = hostname::get() + .map(|s| s.into_string().unwrap_or_else(|_| "invalid_hostname".to_string())) + .unwrap_or_else(|_| "unknown_hostname".to_string()); + + let service_instance_id = format!("{}@{}-{}", SERVICE_ID, hostname_str, std::process::id()); + let start_time_ts = Utc::now().timestamp(); + + info!("Service status task started for instance: {}. Update interval: 15s", service_instance_id); + + loop { + let current_timestamp = Utc::now().timestamp(); + let status_message = "Running and polling DB for commands".to_string(); + let current_status = "Running"; + + let instance_id_clone = service_instance_id.clone(); + let hostname_clone = hostname_str.clone(); + + let result = db_conn.execute( + "INSERT INTO ServiceStatus (service_instance_id, service_name, hostname, status, status_message, last_heartbeat_at, start_time) VALUES (?1, ?2, ?3, ?4, ?5, ?6, ?7) \ + ON CONFLICT(service_instance_id) DO UPDATE SET service_name=excluded.service_name, hostname=excluded.hostname, status=excluded.status, status_message=excluded.status_message, last_heartbeat_at=excluded.last_heartbeat_at", + libsql_params![ + instance_id_clone, + SERVICE_ID, + hostname_clone, + current_status, + status_message, + current_timestamp, + start_time_ts, + ], + ).await; + + if let Err(e) = result { + warn!("Failed to update ServiceStatus for {}: DB Error: {}", service_instance_id, e); + } + + tokio::time::sleep(Duration::from_secs(15)).await; + } + // Unreachable code + // Ok(()) +} diff --git a/apps/command-dispatcher/src/keepalive.rs b/apps/command-dispatcher/src/keepalive.rs new file mode 100644 index 0000000..422103e --- /dev/null +++ b/apps/command-dispatcher/src/keepalive.rs @@ -0,0 +1,127 @@ +use std::time::Duration; + +use chrono::Utc; +use libsql::{params as libsql_params, Connection}; +use serde::Serialize; +use tracing::{info, warn}; + +const KEEPALIVE_SOURCE: &str = "command-dispatcher-keepalive"; + +#[derive(Debug, Serialize)] +struct PingParameters { + id: u32, +} + +fn ping_parameters(id: u32) -> Result { + serde_json::to_string(&PingParameters { id }) +} + +async fn enqueue_keepalive( + db_conn: &Connection, + ping_id: u32, +) -> Result> { + let parameters = ping_parameters(ping_id)?; + let result = db_conn + .execute( + "INSERT INTO OutgoingCommand (command_type, parameters, status, created_at, source_service) \ + SELECT 'Ping', ?1, 'Pending', ?2, ?3 \ + WHERE NOT EXISTS ( \ + SELECT 1 FROM OutgoingCommand \ + WHERE command_type = 'Ping' AND source_service = ?3 \ + AND status IN ('Pending', 'Sending') \ + )", + libsql_params![parameters, Utc::now().timestamp(), KEEPALIVE_SOURCE], + ) + .await?; + Ok(result > 0) +} + +pub async fn run_keepalive_task( + db_conn: Connection, + interval_secs: u64, +) -> Result<(), Box> { + if interval_secs == 0 { + info!("Automatic command keepalives are disabled"); + return Ok(()); + } + + info!("Command keepalive task started. Interval: {}s", interval_secs); + let mut interval = tokio::time::interval(Duration::from_secs(interval_secs)); + interval.tick().await; + let mut next_ping_id = 1_u32; + + loop { + interval.tick().await; + match enqueue_keepalive(&db_conn, next_ping_id).await { + Ok(true) => { + info!("Queued automatic Ping keepalive {}", next_ping_id); + next_ping_id = next_ping_id.wrapping_add(1); + } + Ok(false) => { + info!("Keepalive already pending; skipping this interval"); + } + Err(error) => { + warn!("Failed to queue automatic Ping keepalive: {}", error); + } + } + } +} + +#[cfg(test)] +mod tests { + use libsql::Builder; + + use super::*; + + #[test] + fn serializes_ping_parameters_for_the_dispatcher() { + assert_eq!(ping_parameters(42).unwrap(), r#"{"id":42}"#); + } + + #[test] + fn keepalive_source_is_distinct_from_user_commands() { + assert_eq!(KEEPALIVE_SOURCE, "command-dispatcher-keepalive"); + } + + #[tokio::test] + async fn keeps_only_one_active_keepalive_in_the_queue() { + let db = Builder::new_local(":memory:").build().await.unwrap(); + let connection = db.connect().unwrap(); + connection + .execute( + "CREATE TABLE OutgoingCommand ( \ + id INTEGER PRIMARY KEY AUTOINCREMENT, \ + command_type TEXT NOT NULL, \ + parameters TEXT, \ + status TEXT NOT NULL, \ + created_at INTEGER NOT NULL, \ + source_service TEXT NOT NULL \ + )", + (), + ) + .await + .unwrap(); + + assert!(enqueue_keepalive(&connection, 1).await.unwrap()); + assert!(!enqueue_keepalive(&connection, 2).await.unwrap()); + + connection + .execute("UPDATE OutgoingCommand SET status = 'Sent' WHERE id = 1", ()) + .await + .unwrap(); + assert!(enqueue_keepalive(&connection, 2).await.unwrap()); + + let mut rows = connection + .query("SELECT parameters, source_service FROM OutgoingCommand ORDER BY id", ()) + .await + .unwrap(); + let first = rows.next().await.unwrap().unwrap(); + let first_parameters = first.get::(0).unwrap(); + let second = rows.next().await.unwrap().unwrap(); + let second_parameters = second.get::(0).unwrap(); + let second_source = second.get::(1).unwrap(); + assert_eq!(first_parameters, r#"{"id":1}"#); + assert_eq!(second_parameters, r#"{"id":2}"#); + assert_eq!(second_source, KEEPALIVE_SOURCE); + } +} diff --git a/apps/command-dispatcher/src/main.rs b/apps/command-dispatcher/src/main.rs new file mode 100755 index 0000000..66c42d7 --- /dev/null +++ b/apps/command-dispatcher/src/main.rs @@ -0,0 +1,67 @@ +mod cli; +use cli::Args; +mod health; +use health::run_service_status_task; +mod keepalive; +use keepalive::run_keepalive_task; +mod dispatcher; +use dispatcher::run_dispatcher; +mod commands; + +use clap::Parser; // For Args::parse() +use libsql::Builder; +use tracing::{error, info}; // Only error and info are used in main + // Tokio is brought in by #[tokio::main] + +pub const SERVICE_ID: &str = "command-dispatcher"; + +#[tokio::main] +async fn main() -> Result<(), Box> { + let args = Args::parse(); + let start_instant = std::time::Instant::now(); + tracing_subscriber::fmt().with_max_level(tracing::Level::INFO).init(); + + info!("{} starting...", SERVICE_ID); + + info!("Attempting to connect to database: {}", args.libsql_url); + let db = Builder::new_remote(args.libsql_url.clone(), args.libsql_auth_token.clone()) + .build() + .await?; + let db_connection = match db.connect() { + Ok(connection) => { + info!("Database connection established successfully"); + connection + } + Err(e) => { + error!("Failed to get database connection: {:?}", e); + return Err(e.into()); + } + }; + info!("Obtained database connection handle."); + + let db_conn_for_health = db_connection.clone(); + let service_status_handle = tokio::spawn(async move { + if let Err(e) = run_service_status_task(db_conn_for_health).await { + error!("Service status task exited with error: {:?}", e); + } + }); + + let db_conn_for_keepalive = db_connection.clone(); + let keepalive_interval_secs = args.keepalive_interval_secs; + let keepalive_handle = tokio::spawn(async move { + if let Err(e) = run_keepalive_task(db_conn_for_keepalive, keepalive_interval_secs).await { + error!("Command keepalive task exited with error: {:?}", e); + } + }); + + info!("Command dispatcher initialized. Starting dispatch loop..."); + + if let Err(e) = run_dispatcher(db_connection, args, start_instant).await { + error!("Dispatcher loop exited with critical error: {:?}", e); + service_status_handle.abort(); + keepalive_handle.abort(); + return Err(e); + } + + Ok(()) +} diff --git a/apps/ground-station-web/.dockerignore b/apps/ground-station-web/.dockerignore new file mode 100755 index 0000000..16db3bc --- /dev/null +++ b/apps/ground-station-web/.dockerignore @@ -0,0 +1,21 @@ +Dockerfile* +docker-compose* +.dockerignore +.git +.gitignore +README.md +LICENSE +.vscode +Makefile +helm-charts +.env +.editorconfig +.idea +coverage* +node_modules +.svelte-kit +build +dist +*.log +.DS_Store +Thumbs.db diff --git a/apps/ground-station-web/.eslintignore b/apps/ground-station-web/.eslintignore new file mode 100755 index 0000000..de8342d --- /dev/null +++ b/apps/ground-station-web/.eslintignore @@ -0,0 +1,14 @@ +.DS_Store +node_modules +/build +/.svelte-kit +svelte.config.js +/package +.env +.env.* +!.env.example + +target/ +tailwind.config.ts +playwright.config.ts +proto/ diff --git a/apps/ground-station-web/.eslintrc.cjs b/apps/ground-station-web/.eslintrc.cjs new file mode 100755 index 0000000..d246c7f --- /dev/null +++ b/apps/ground-station-web/.eslintrc.cjs @@ -0,0 +1,30 @@ +module.exports = { + root: true, + parser: '@typescript-eslint/parser', + extends: [ + 'eslint:recommended', + 'plugin:@typescript-eslint/recommended', + 'prettier', + 'plugin:svelte/recommended' + ], + plugins: ['@typescript-eslint'], + ignorePatterns: ['*.cjs', 'e2e/'], + overrides: [ + { + files: ['*.svelte'], + parser: 'svelte-eslint-parser', + parserOptions: { + parser: '@typescript-eslint/parser' + } + } + ], + parserOptions: { + project: './tsconfig.json', + extraFileExtensions: ['.svelte'] // This is a required setting in `@typescript-eslint/parser` v4.24.0. + }, + env: { + browser: true, + es2017: true, + node: true + } +}; diff --git a/apps/ground-station-web/.gitignore b/apps/ground-station-web/.gitignore new file mode 100755 index 0000000..e62c128 --- /dev/null +++ b/apps/ground-station-web/.gitignore @@ -0,0 +1,16 @@ +.DS_Store +node_modules +/build +.svelte-kit +/package +.env +!.env.example +.vercel +.output +vite.config.ts.*.mjs +/test-results/ +/playwright-report/ +/playwright/.cache/ +/test-results/ +/playwright-report/ +/playwright/.cache/ diff --git a/apps/ground-station-web/.prettierignore b/apps/ground-station-web/.prettierignore new file mode 100755 index 0000000..8b8963b --- /dev/null +++ b/apps/ground-station-web/.prettierignore @@ -0,0 +1,15 @@ +.DS_Store +node_modules +/build +/.svelte-kit +/package +.env +.env.* +!.env.example + +# Ignore lock files for package managers +package-lock.json +yarn.lock +bun.lockb +data +proto diff --git a/apps/ground-station-web/.prettierrc b/apps/ground-station-web/.prettierrc new file mode 100755 index 0000000..9573023 --- /dev/null +++ b/apps/ground-station-web/.prettierrc @@ -0,0 +1,8 @@ +{ + "useTabs": true, + "singleQuote": true, + "trailingComma": "none", + "printWidth": 100, + "plugins": ["prettier-plugin-svelte"], + "overrides": [{ "files": "*.svelte", "options": { "parser": "svelte" } }] +} diff --git a/apps/ground-station-web/Dockerfile b/apps/ground-station-web/Dockerfile new file mode 100755 index 0000000..e2db007 --- /dev/null +++ b/apps/ground-station-web/Dockerfile @@ -0,0 +1,43 @@ +# Use the official Bun image +FROM oven/bun:1 AS base +WORKDIR /usr/src/app + +# Install dependencies into temp directory +# This will cache them and speed up future builds +FROM base AS install +RUN mkdir -p /temp/dev +COPY package.json bun.lock /temp/dev/ +RUN cd /temp/dev && bun install --frozen-lockfile + +# Install with --production (exclude devDependencies) +RUN mkdir -p /temp/prod +COPY package.json bun.lock /temp/prod/ +RUN cd /temp/prod && bun install --frozen-lockfile --production --ignore-scripts + +# Copy node_modules from temp directory +# Then copy all (non-ignored) project files into the image +FROM base AS prerelease +COPY --from=install /temp/dev/node_modules node_modules +COPY . . + +# Build the application +ENV NODE_ENV=production +RUN bun run postinstall && bun run build + +# Copy production dependencies and built application into final image +FROM base AS release +COPY --from=install /temp/prod/node_modules node_modules +COPY --from=prerelease /usr/src/app/build build +COPY --from=prerelease /usr/src/app/package.json . + +USER bun + +# Expose the port the app runs on +EXPOSE 3000/tcp + +# Set environment variables for production +ENV NODE_ENV=production +ENV PORT=3000 + +# Start the application +CMD ["bun", "build/index.js"] diff --git a/apps/ground-station-web/README.md b/apps/ground-station-web/README.md new file mode 100755 index 0000000..b61230a --- /dev/null +++ b/apps/ground-station-web/README.md @@ -0,0 +1,16 @@ +# RGS Web + +The web frontend for the uORocketry Ground Station. + +## Getting Started + +Install [Bun](https://bun.sh/), then run these commands from `apps/ground-station-web`: + +Then, run the following + +```bash +bun install --frozen-lockfile +bun run dev +``` + +The Vite development server prints its local URL when it starts. 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--rgs-rail-w: 184px; + --rgs-rail-collapsed-w: 48px; + --rgs-space-1: 4px; + --rgs-space-2: 8px; + --rgs-space-3: 12px; + --rgs-space-4: 16px; + --rgs-bg: #f4f6f8; + --rgs-surface: #ffffff; + --rgs-surface-alt: #e9edf1; + --rgs-surface-active: #dce8f2; + --rgs-text: #101418; + --rgs-text-muted: #36414a; + --rgs-border: #66717a; + --rgs-border-subtle: #c5ccd1; + --rgs-accent: #005ea8; + --rgs-good: #176b2c; + --rgs-warn: #7a4b00; + --rgs-danger: #b42318; + --rgs-focus: #005fcc; + --rgs-shadow: 0 1px 2px rgb(16 20 24 / 14%); +} + +[data-carbon-theme='g80'], +[data-carbon-theme='g90'], +[data-carbon-theme='g100'] { + --rgs-bg: #0b0f12; + --rgs-surface: #151b20; + --rgs-surface-alt: #20282e; + --rgs-surface-active: #17364b; + --rgs-text: #f5f7f8; + --rgs-text-muted: #c1c8cd; + --rgs-border: #7d8991; + --rgs-border-subtle: #3c474f; + --rgs-accent: #78b9ee; + --rgs-good: #6fdc8c; + --rgs-warn: #f1c21b; + --rgs-danger: #ff8389; + --rgs-focus: #78a9ff; + --rgs-shadow: none; +} + +html, +body { + min-width: 320px; + min-height: 100%; + margin: 0; + background: var(--rgs-bg); + color: var(--rgs-text); +} + +body, +button, +input, +select, +textarea { + font-family: inherit !important; +} + +button, +a, +input, +select, +textarea { + font-variant-numeric: tabular-nums; +} + +:focus-visible { + outline: 2px solid var(--rgs-focus) !important; + outline-offset: 2px; +} + +a { + color: var(--rgs-accent); +} + +h1, +h2, +h3, +p { + margin-block-start: 0; +} + +h1 { + font-size: 1.25rem; + line-height: 1.4; +} + +h2 { + font-size: 1rem; + line-height: 1.4; +} + +h3 { + font-size: 0.875rem; + line-height: 1.4; +} + +.rgs-page { + display: flex; + min-width: 0; + flex-direction: column; + gap: var(--rgs-space-2); + padding: var(--rgs-space-3); +} + +.rgs-page-header { + display: flex; + min-height: 32px; + align-items: center; + justify-content: space-between; + gap: var(--rgs-space-2); +} + +.rgs-page-title { + margin: 0; + font-size: 1.15rem; + font-weight: 600; + letter-spacing: 0.02em; + text-transform: uppercase; +} + +.rgs-page-actions { + display: flex; + align-items: center; + gap: var(--rgs-space-1); + flex-wrap: wrap; +} + +.rgs-grid { + display: grid; + grid-template-columns: repeat(12, minmax(0, 1fr)); + gap: var(--rgs-space-2); +} + +.rgs-panel { + min-width: 0; + border: 1px solid var(--rgs-border-subtle); + background: var(--rgs-surface); + box-shadow: var(--rgs-shadow); +} + +.rgs-panel-header { + display: flex; + min-height: 32px; + align-items: center; + justify-content: space-between; + gap: var(--rgs-space-2); + padding: var(--rgs-space-1) var(--rgs-space-3); + border-bottom: 1px solid var(--rgs-border-subtle); + background: var(--rgs-surface-alt); +} + +.rgs-panel-header h2, +.rgs-panel-header h3 { + margin: 0; + font-weight: 600; + letter-spacing: 0.04em; + text-transform: uppercase; +} + +.rgs-panel-body { + padding: var(--rgs-space-3); +} + +.rgs-muted { + color: var(--rgs-text-muted); +} + +.rgs-status { + display: inline-flex; + align-items: center; + gap: 6px; + font-size: 0.78rem; + font-weight: 600; + letter-spacing: 0.04em; + text-transform: uppercase; +} + +.rgs-status::before { + width: 8px; + height: 8px; + border: 1px solid currentColor; + border-radius: 50%; + background: currentColor; + content: ''; +} + +.rgs-status--good { + color: var(--rgs-good); +} +.rgs-status--warn { + color: var(--rgs-warn); +} +.rgs-status--danger { + color: var(--rgs-danger); +} +.rgs-status--neutral { + color: var(--rgs-text-muted); +} + +.rgs-empty { + display: grid; + min-height: 96px; + place-items: center; + padding: var(--rgs-space-4); + color: var(--rgs-text-muted); + text-align: center; +} + +.rgs-value { + font-size: clamp(1.4rem, 2.5vw, 2rem); + font-weight: 600; + line-height: 1.1; + font-variant-numeric: tabular-nums; +} + +.rgs-unit { + margin-left: 0.3em; + color: var(--rgs-text-muted); + font-size: 0.55em; + font-weight: 500; +} + +/* Carbon remains the control toolkit, but RGS owns density and composition. */ +.cds--content, +.bx--content { + padding: 0 !important; + background: transparent !important; +} + +.cds--grid, +.bx--grid { + max-width: none !important; + padding: var(--rgs-space-3) !important; +} + +.cds--row, +.bx--row { + margin-block-end: var(--rgs-space-2) !important; +} + +.cds--tile, +.bx--tile { + min-height: 0 !important; + padding: var(--rgs-space-3) !important; + border: 1px solid var(--rgs-border-subtle); + background: var(--rgs-surface) !important; +} + +.cds--btn, +.bx--btn { + min-height: 32px !important; + padding-block: 0 !important; +} + +.cds--data-table td, +.cds--data-table th, +.bx--data-table td, +.bx--data-table th { + height: 32px !important; + padding: 4px 8px !important; + font-family: inherit !important; +} + +.cds--data-table-container, +.bx--data-table-container, +.cds--structured-list, +.bx--structured-list { + max-width: 100%; + overflow-x: auto; +} + +.rgs-route-title { + display: flex; + align-items: center; + justify-content: space-between; + gap: var(--rgs-space-2); + margin-bottom: var(--rgs-space-2); +} + +.rgs-route-title h1, +.rgs-route-title h2 { + margin: 0; + font-size: 1.1rem; + font-weight: 600; + letter-spacing: 0.03em; + text-transform: uppercase; +} + +.rgs-route > :first-child > [class*='col'] > .cds--tile:first-child, +.rgs-route > :first-child > [class*='col'] > .bx--tile:first-child { + box-shadow: none; +} + +.rgs-route h1, +.rgs-route h2 { + letter-spacing: 0.02em; +} + +.telemetry-route > .cds--row > [class*='col'] > .cds--tile, +.telemetry-route > .bx--row > [class*='col'] > .bx--tile { + padding: 0 !important; + border: 0; + background: transparent !important; + box-shadow: none; +} + +.telemetry-route > .cds--row > [class*='col'] > .cds--tile > .cds--tile, +.telemetry-route > .bx--row > [class*='col'] > .bx--tile > .bx--tile { + margin-top: var(--rgs-space-2); +} + +@media (max-width: 767px) { + .rgs-route .cds--row, + .rgs-route .bx--row { + margin-inline: 0 !important; + } + + .rgs-route [class*='col'] { + max-width: 100% !important; + flex-basis: 100% !important; + } +} + +.cds--inline-notification, +.bx--inline-notification { + min-height: 36px !important; + margin: var(--rgs-space-2) 0 !important; +} + +::-webkit-scrollbar { + width: 10px; + height: 10px; +} +::-webkit-scrollbar-track { + background: transparent; +} +::-webkit-scrollbar-thumb { + border: 2px solid transparent; + border-radius: 8px; + background: color-mix(in srgb, var(--rgs-border) 70%, transparent); + background-clip: padding-box; +} + +@media (max-width: 767px) { + .rgs-page { + padding: var(--rgs-space-2); + } + .rgs-page-header { + align-items: flex-start; + flex-direction: column; + } + .rgs-page-actions { + width: 100%; + } + .rgs-grid { + grid-template-columns: 1fr; + } + .rgs-panel-body { + padding: var(--rgs-space-2); + } + .cds--grid, + .bx--grid { + padding: var(--rgs-space-2) !important; + } + .cds--btn, + .bx--btn { + min-height: 44px !important; + } +} + +@media (prefers-reduced-motion: reduce) { + *, + *::before, + *::after { + scroll-behavior: auto !important; + animation-duration: 0.01ms !important; + animation-iteration-count: 1 !important; + transition-duration: 0.01ms !important; + } +} diff --git a/apps/ground-station-web/src/app.d.ts b/apps/ground-station-web/src/app.d.ts new file mode 100755 index 0000000..fde5a49 --- /dev/null +++ b/apps/ground-station-web/src/app.d.ts @@ -0,0 +1,14 @@ +// See https://kit.svelte.dev/docs/types#app +// for information about these interfaces +declare global { + namespace App { + interface Locals { + clientIp?: string; + remoteAddress?: string; + } + // interface PageData {} + // interface Platform {} + } +} + +export { }; diff --git a/apps/ground-station-web/src/app.html b/apps/ground-station-web/src/app.html new file mode 100755 index 0000000..cbe80cf --- /dev/null +++ b/apps/ground-station-web/src/app.html @@ -0,0 +1,19 @@ + + + + + + + RGS Client + + + + + + + %sveltekit.head% + + +
%sveltekit.body%
+ + diff --git a/apps/ground-station-web/src/hooks.server.ts b/apps/ground-station-web/src/hooks.server.ts new file mode 100755 index 0000000..3444281 --- /dev/null +++ b/apps/ground-station-web/src/hooks.server.ts @@ -0,0 +1,113 @@ +import type { Handle } from '@sveltejs/kit'; + +function getClientIp(event: Parameters[0]['event']): string | null { + // X-Forwarded-For may include a list. Take the first non-empty token (original client). + const xff = event.request.headers.get('x-forwarded-for'); + if (xff) { + const parts = xff.split(',').map((s) => s.trim()).filter(Boolean); + const first = parts[0]; + if (first) return first; + } + const realIp = event.request.headers.get('x-real-ip'); + if (realIp) return realIp; + // Fall back to platform specific data + const remote = event.getClientAddress?.() || event.locals.remoteAddress; + if (typeof remote === 'string' && remote.length > 0) return remote; + return null; +} + +type Cidr = { base: bigint; maskBits: number }; + +function parseIpToBigInt(ip: string): bigint | null { + // Strip IPv6 zone or port if present + const cleaned = ip.replace(/^\[|\]$/g, '').replace(/%.*$/, ''); + if (cleaned.includes(':')) { + // IPv6 + const parts = cleaned.split('::'); + let hextets: string[] = []; + if (parts.length === 1) { + hextets = cleaned.split(':'); + } else if (parts.length === 2) { + const left = parts[0] ? parts[0].split(':') : []; + const right = parts[1] ? parts[1].split(':') : []; + const fill = new Array(8 - (left.length + right.length)).fill('0'); + hextets = [...left, ...fill, ...right]; + } else { + return null; + } + if (hextets.length !== 8) return null; + let value = 0n; + for (const h of hextets) { + const n = BigInt(parseInt(h || '0', 16)); + value = (value << 16n) + n; + } + return value; + } else { + // IPv4 possibly with port + const withoutPort = cleaned.split(':')[0]; + const segs = withoutPort.split('.'); + if (segs.length !== 4) return null; + let val = 0n; + for (const s of segs) { + const n = Number(s); + if (Number.isNaN(n) || n < 0 || n > 255) return null; + val = (val << 8n) + BigInt(n); + } + // map IPv4 into IPv6-mapped space for uniform compare: ::ffff:a.b.c.d + return (0xffffn << 32n) + val; + } +} + +function parseCidr(cidr: string): Cidr | null { + const [ip, bitsStr] = cidr.trim().split('/'); + if (!ip || !bitsStr) return null; + const bits = Number(bitsStr); + if (Number.isNaN(bits) || bits < 0 || bits > 128) return null; + const ipVal = parseIpToBigInt(ip); + if (ipVal === null) return null; + return { base: ipVal, maskBits: bits }; +} + +function ipInCidrs(ip: string, cidrs: string[]): boolean { + const ipVal = parseIpToBigInt(ip); + if (ipVal === null) return false; + for (const c of cidrs) { + const parsed = parseCidr(c); + if (!parsed) continue; + const { base, maskBits } = parsed; + const mask = maskBits === 0 ? 0n : (~0n) << BigInt(128 - maskBits); + if ((ipVal & mask) === (base & mask)) return true; + } + return false; +} + +function isProtectedPath(pathname: string, protectedPrefixes: string[]): boolean { + return protectedPrefixes.some((p) => p && pathname.startsWith(p)); +} + +export const handle: Handle = async ({ event, resolve }) => { + const ip = getClientIp(event) ?? 'unknown'; + + // Make IP available to endpoints via locals + event.locals.clientIp = ip; + + // Pull config from env + const subnetEnv = process.env['ALLOWED_SUBNETS'] ?? ''; + const protectedEnv = process.env['PROTECTED_PATH_PREFIXES'] ?? ''; + const allowedCidrs = subnetEnv.split(',').map((s) => s.trim()).filter(Boolean); + const protectedPrefixes = protectedEnv.split(',').map((s) => s.trim()).filter(Boolean); + + // Log all incoming requests with IP and path + console.log(`[req] ${event.request.method} ${event.url.pathname} ip=${ip}`); + + // Enforce subnet on protected paths + if (isProtectedPath(event.url.pathname, protectedPrefixes)) { + const ok = ip !== 'unknown' && ipInCidrs(ip, allowedCidrs); + if (!ok) { + console.log(`[req] ${event.request.method} ${event.url.pathname} ip=${ip} denied`); + return new Response('Forbidden! This page is for internal use only. Want to know more? Come visit our booth!', { status: 403 }); + } + } + + return resolve(event); +}; diff --git a/apps/ground-station-web/src/lib/assets/hydra_provider_logo.svg b/apps/ground-station-web/src/lib/assets/hydra_provider_logo.svg new file mode 100755 index 0000000..625a146 --- /dev/null +++ b/apps/ground-station-web/src/lib/assets/hydra_provider_logo.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/apps/ground-station-web/src/lib/common/LRUCache.ts b/apps/ground-station-web/src/lib/common/LRUCache.ts new file mode 100755 index 0000000..68a2f52 --- /dev/null +++ b/apps/ground-station-web/src/lib/common/LRUCache.ts @@ -0,0 +1,33 @@ +/** + * Least Recently Used (LRU) cache implementation. + */ +export class LRUCache { + public cache = new Map(); + public capacity: number; + + constructor(capacity: number) { + this.capacity = capacity; + } + + get(key: K): V | undefined { + const value = this.cache.get(key); + if (value) { + this.cache.delete(key); + this.cache.set(key, value); // Move to the end + } + return value; + } + + put(key: K, value: V): void { + this.cache.delete(key); + this.cache.set(key, value); + if (this.cache.size > this.capacity) { + const oldest = this.cache.keys().next(); + if (!oldest.done) this.cache.delete(oldest.value); + } + } + + clear(): void { + this.cache.clear(); + } +} diff --git a/apps/ground-station-web/src/lib/common/persistentStorage.ts b/apps/ground-station-web/src/lib/common/persistentStorage.ts new file mode 100755 index 0000000..6ccd2bd --- /dev/null +++ b/apps/ground-station-web/src/lib/common/persistentStorage.ts @@ -0,0 +1,54 @@ +import { writable, type Writable } from "svelte/store"; + +// Custom replacement for Skeleton's localStorageStore +export function persistentStore(key: string, initialValue: T): Writable { + // Check for browser environment + if (typeof window === 'undefined' || !window.localStorage) { + console.warn(`localStorage not available for key "${key}", using non-persistent store.`); + return writable(initialValue); + } + + let storedValue: T | undefined = undefined; + try { + const storedItem = window.localStorage.getItem(key); + if (storedItem !== null) { + storedValue = JSON.parse(storedItem) as T; + } + } catch (e) { + console.error(`Error reading localStorage key “${key}”:`, e); + storedValue = undefined; // Use initial value if parsing fails + } + + const store = writable(storedValue !== undefined ? storedValue : initialValue); + + store.subscribe((value) => { + try { + window.localStorage.setItem(key, JSON.stringify(value)); + } catch (e) { + console.error(`Error setting localStorage key “${key}”:`, e); + } + }); + + // Sync store with changes from other tabs + const handleStorage = (event: StorageEvent) => { + if (event.key === key && event.newValue !== null) { + try { + store.set(JSON.parse(event.newValue) as T); + } catch (e) { + console.error(`Error parsing storage event for key “${key}”:`, e); + } + } else if (event.key === key && event.newValue === null) { + // Item was removed in another tab, reset to initial + store.set(initialValue); + } + }; + + window.addEventListener('storage', handleStorage); + + // Return a store that cleans up the event listener on unsubscribe + // (This requires modifying the return slightly if true cleanup is needed, + // but for settings, they usually live for the app lifetime) + // For simplicity now, we don't return the enhanced store with cleanup. + + return store; +} \ No newline at end of file diff --git a/apps/ground-station-web/src/lib/common/settings.ts b/apps/ground-station-web/src/lib/common/settings.ts new file mode 100755 index 0000000..e91c5dd --- /dev/null +++ b/apps/ground-station-web/src/lib/common/settings.ts @@ -0,0 +1,149 @@ +import { writable, type Writable } from 'svelte/store'; +import { persistentStore } from './persistentStorage'; + +// Settings type definitions + +type ValueT = + | { + valueDescription: 'string'; + value: Writable; + placeholder?: string; + } + | { + valueDescription: 'number'; + value: Writable; + min?: number; + max?: number; + step?: number; + } + | { + valueDescription: 'boolean'; + value: Writable; + } + | { + valueDescription: 'array'; + value: Writable; + } + | { + valueDescription: 'kv'; + value: Writable<{ [key: string]: string }>; + } + | { + valueDescription: 'enum'; + options: string[]; + value: Writable; + }; + +type Setting = { name: string; description?: string } & ValueT; + +type SettingsGroup = { + name: string; + settings: Setting[]; +}; + +// Settings + +const uiSettings = { + name: 'ui', + settings: [ + { + name: 'theme', + description: 'Select the application theme', + valueDescription: 'enum', + options: ['white', 'g100'], + value: persistentStore('ui.theme', 'white') + } + ] +} satisfies SettingsGroup; + +const notificationSettings = { + name: 'notifications', + settings: [ + { + name: 'consoleNotifications', + description: 'Enable on-screen console notifications', + valueDescription: 'boolean', + value: persistentStore('notifications.consoleNotifications', false) + } + ] +} satisfies SettingsGroup; + +const flightSettings = { + name: 'flight', + settings: [ + // Altitude page + { + name: 'altitudeMinutes', + valueDescription: 'number', + description: 'Minutes to look back for altitude', + value: persistentStore('flight.altitudeMinutes', 15), + min: 1, + max: 1440, + step: 1 + }, + { + name: 'altitudeQnhKpa', + valueDescription: 'number', + description: 'QNH (kPa) for barometric altitude', + value: persistentStore('flight.altitudeQnhKpa', 100), + min: 80, + max: 110, + step: 0.1 + }, + // IMU page + { + name: 'imuMinutes', + valueDescription: 'number', + description: 'Minutes to look back for IMU', + value: persistentStore('flight.imuMinutes', 10), + min: 1, + max: 1440, + step: 1 + }, + // Trajectory page + { + name: 'trajMinutes', + valueDescription: 'number', + description: 'Minutes to look back for trajectory', + value: persistentStore('flight.trajMinutes', 240), + min: 1, + max: 1440, + step: 1 + }, + { + name: 'trajMaxPoints', + valueDescription: 'number', + description: 'Max points on map path', + value: persistentStore('flight.trajMaxPoints', 3000), + min: 100, + max: 20000, + step: 100 + }, + { + name: 'trajRadiusKm', + valueDescription: 'number', + description: 'Radius around center (km)', + value: persistentStore('flight.trajRadiusKm', 50), + min: 1, + max: 500, + step: 1 + } + ] +} satisfies SettingsGroup; + +export const settings = [uiSettings, notificationSettings, flightSettings]; + +export const findSetting = (name: string): Setting | undefined => { + const groupName = name.split('.')[0]; + const group = settings.find((group) => group.name === groupName); + if (group) { + // Find setting in group + const settingName = name.split('.')[1]; + const setting = group.settings.find((setting) => setting.name === settingName); + if (setting) { + return setting; + } + } + + return undefined; +}; diff --git a/apps/ground-station-web/src/lib/common/stringCmp.ts b/apps/ground-station-web/src/lib/common/stringCmp.ts new file mode 100755 index 0000000..bec1b6e --- /dev/null +++ b/apps/ground-station-web/src/lib/common/stringCmp.ts @@ -0,0 +1,75 @@ +// https://github.com/aceakash/string-similarity + +/** + * Calculates the similarity between two strings. + * @param first string to compare + * @param second string to compare + * @returns a number between 0 and 1, where 1 is a perfect match + */ + +export function getStringDifference(first: string, second: string) { + first = first.replace(/\s+/g, ''); + second = second.replace(/\s+/g, ''); + + if (first === second) return 1; // identical or empty + if (first.length < 2 || second.length < 2) return 0; // if either is a 0-letter or 1-letter string + + const firstBigrams = new Map(); + for (let i = 0; i < first.length - 1; i++) { + const bigram = first.substring(i, i + 2); + const count = firstBigrams.has(bigram) ? firstBigrams.get(bigram) + 1 : 1; + + firstBigrams.set(bigram, count); + } + + let intersectionSize = 0; + for (let i = 0; i < second.length - 1; i++) { + const bigram = second.substring(i, i + 2); + const count = firstBigrams.has(bigram) ? firstBigrams.get(bigram) : 0; + + if (count > 0) { + firstBigrams.set(bigram, count - 1); + intersectionSize++; + } + } + + return (2.0 * intersectionSize) / (first.length + second.length - 2); +} + +/** + * Helper function that maps all strings to a score + * but uses shortcuts to avoid calling getStringDifference on all strings + * @param mainString + * @param targetStrings + * @returns an array with the score of each string in the array + */ +export function getStringScores(baseString: string, stringLst: string[]): number[] { + baseString = baseString.toLowerCase(); + // Calculate starts with score + const scores: number[] = stringLst.map((curStr) => { + curStr = curStr.toLocaleLowerCase().replace('-', ' '); + if (curStr === baseString) { + return 4; + } + // Starting or ending with gets priority over including + if (curStr.startsWith(baseString)) { + return 3; + } + + // Starting or ending with gets priority over including + if (curStr.endsWith(baseString)) { + return 2; + } + + if (curStr.includes(baseString)) { + return 1; + } + return getStringDifference(baseString, curStr); + }); + + return scores; +} + +export function sum(a: number, b: number) { + return a + b; +} diff --git a/apps/ground-station-web/src/lib/common/theme.ts b/apps/ground-station-web/src/lib/common/theme.ts new file mode 100755 index 0000000..2e04055 --- /dev/null +++ b/apps/ground-station-web/src/lib/common/theme.ts @@ -0,0 +1,36 @@ +import { browser } from '$app/environment'; +import { findSetting } from '$lib/common/settings'; +import { derived, writable, type Readable, type Writable } from 'svelte/store'; + +export type CarbonTheme = 'white' | 'g10' | 'g80' | 'g90' | 'g100'; + +const allowedThemes: CarbonTheme[] = ['white', 'g10', 'g80', 'g90', 'g100']; + +export function resolveCarbonTheme(value: string): CarbonTheme { + return (allowedThemes as readonly string[]).includes(value) ? (value as CarbonTheme) : 'g100'; +} + +// Source store from settings; fallback to writable if missing +const themeSetting = findSetting('ui.theme'); +const rawThemeStore: Writable = + themeSetting && themeSetting.valueDescription === 'enum' + ? (themeSetting.value as Writable) + : writable('white'); + +export const carbonTheme: Readable = derived(rawThemeStore, (v, set) => { + set(resolveCarbonTheme(v)); +}); + +// Apply to document root for Carbon styling +if (browser) { + carbonTheme.subscribe((t) => { + const html = document.documentElement; + html.setAttribute('theme', t); + html.setAttribute('data-carbon-theme', t); + }); +} + +// Optional setter for programmatic changes +export function setAppTheme(value: string) { + rawThemeStore.set(value); +} diff --git a/apps/ground-station-web/src/lib/common/utils.ts b/apps/ground-station-web/src/lib/common/utils.ts new file mode 100755 index 0000000..1b72aaa --- /dev/null +++ b/apps/ground-station-web/src/lib/common/utils.ts @@ -0,0 +1,103 @@ +import { onDestroy, onMount } from 'svelte'; +import { writable, type Writable } from 'svelte/store'; + +export const theme: Writable = writable(); + +export function onThemeChange(callback: () => void) { + const unsubscribe = theme.subscribe(callback); + onDestroy(() => { + unsubscribe(); + }); + return unsubscribe; +} + +export function onInterval(callback: () => void, milliseconds: number) { + onMount(() => { + const interval = setInterval(callback, milliseconds); + return () => { + clearInterval(interval); + }; + }); +} + +export function formatVariableName(name: string): string { + return name + .split('_') + .map((word) => word.charAt(0).toUpperCase() + word.slice(1)) + .join(' '); +} + +// ThisIsCamelCase -> This Is Camel Case +export function formatCamelCase(name: string): string { + return name.replace(/([A-Z])/g, ' $1').replace(/^./, (str) => str.toUpperCase()); +} + +export function getRandomHexColorFromString(str: string, contrastThreshold = 0.8): string { + // Convert the string to a unique number by summing the character codes + let num = 0; + for (let i = 0; i < str.length; i++) { + num += str.charCodeAt(i); + } + + // Use the string-based number as the seed for the random number generator + const random = Math.sin(num) * 10000; + const randomNumber = Math.floor((random - Math.floor(random)) * 16777216); + + // Convert the random number to a hex color string + const hexColor = '#' + randomNumber.toString(16).padStart(6, '0'); + + // Calculate the relative luminance of the color + const r = parseInt(hexColor.substring(1, 3), 16); + const g = parseInt(hexColor.substring(3, 5), 16); + const b = parseInt(hexColor.substring(5, 7), 16); + const relativeLuminance = (0.2126 * r + 0.7152 * g + 0.0722 * b) / 255; + + // Adjust the color if the contrast is too low + if (relativeLuminance > contrastThreshold) { + return getRandomHexColorFromString(str + 'a', contrastThreshold); + } + + return hexColor; +} + +export function max(a: number, b: number) { + return a > b ? a : b; +} + +type LatLngLiteral = { lat: number; lng: number }; + +export function haversineDistance(coord1: LatLngLiteral, coord2: LatLngLiteral): number { + const R = 6371; // Radius of the Earth in km + const dLat = toRad(coord2.lat - coord1.lat); + const dLon = toRad(coord2.lng - coord1.lng); + + const a = + Math.sin(dLat / 2) * Math.sin(dLat / 2) + + Math.cos(toRad(coord1.lat)) * + Math.cos(toRad(coord2.lat)) * + Math.sin(dLon / 2) * + Math.sin(dLon / 2); + + const c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1 - a)); + return R * c; +} + +function toRad(v: number) { + return (v * Math.PI) / 180; +} + +export function roundToDecimalPlaces(num: number, decimalPlaces: number) { + const factor = Math.pow(10, decimalPlaces); + return Math.round(num * factor) / factor; +} + +// 1.04, 3 -> 1.040 +// 1.5, 2 -> 1.50 +export function padFloatToDecimalPlaces(num: number, decimalPlaces: number) { + const factor = Math.pow(10, decimalPlaces); + return (Math.round(num * factor) / factor).toFixed(decimalPlaces); +} + +export function toPlainObject(instance: T) { + return Object.assign({}, instance); +} diff --git a/apps/ground-station-web/src/lib/components/Common/ConfirmModal.svelte b/apps/ground-station-web/src/lib/components/Common/ConfirmModal.svelte new file mode 100644 index 0000000..c8aebdf --- /dev/null +++ b/apps/ground-station-web/src/lib/components/Common/ConfirmModal.svelte @@ -0,0 +1,109 @@ + + + { + event.preventDefault(); + cancel(); + }} +> +
+ {title} +
+

{message}

+
+ + +
+ + + diff --git a/apps/ground-station-web/src/lib/components/Common/Timeline/Timeline.svelte b/apps/ground-station-web/src/lib/components/Common/Timeline/Timeline.svelte new file mode 100755 index 0000000..9897b16 --- /dev/null +++ b/apps/ground-station-web/src/lib/components/Common/Timeline/Timeline.svelte @@ -0,0 +1,173 @@ + + +
+ {#each ticks as tick} +
+
+ {#if zoomLevel === 0} + {tickFormatterHour.format(tickPositionToTime(tick))} + {:else} + {tickFormatterShort.format(tickPositionToTime(tick))} + {/if} +
+
+ {/each} + +
+
+ {needleFormatter.format(needleTime)} +
+
+
+ + diff --git a/apps/ground-station-web/src/lib/components/Common/ToastContainer.svelte b/apps/ground-station-web/src/lib/components/Common/ToastContainer.svelte new file mode 100755 index 0000000..00ca62a --- /dev/null +++ b/apps/ground-station-web/src/lib/components/Common/ToastContainer.svelte @@ -0,0 +1,32 @@ + + +{#if $toasts.length > 0} +
+ {#each $toasts as toast (toast.id)} + toastStore.remove(toast.id)} + /> + {/each} +
+{/if} + + diff --git a/apps/ground-station-web/src/lib/components/HeadingCompass/HeadingCompass.svelte b/apps/ground-station-web/src/lib/components/HeadingCompass/HeadingCompass.svelte new file mode 100755 index 0000000..95aa4af --- /dev/null +++ b/apps/ground-station-web/src/lib/components/HeadingCompass/HeadingCompass.svelte @@ -0,0 +1,178 @@ + + +
+ + + + {#each lines as line} + + {/each} + + {#each texts as text} + + {text.text} + + {/each} + + + + + + + + + + {($headingTweened * RAD2DEG).toFixed(2)}° + + +
+ + diff --git a/apps/ground-station-web/src/lib/components/Navball/NavBall.svelte b/apps/ground-station-web/src/lib/components/Navball/NavBall.svelte new file mode 100755 index 0000000..f8b3b08 --- /dev/null +++ b/apps/ground-station-web/src/lib/components/Navball/NavBall.svelte @@ -0,0 +1,37 @@ + + +
+
+ + + + + +
+
+ + diff --git a/apps/ground-station-web/src/lib/components/Navball/NavBallScene.svelte b/apps/ground-station-web/src/lib/components/Navball/NavBallScene.svelte new file mode 100755 index 0000000..1b42ca4 --- /dev/null +++ b/apps/ground-station-web/src/lib/components/Navball/NavBallScene.svelte @@ -0,0 +1,67 @@ + + + + + + + + + + + + { + v.x *= 0.5; + v.y *= 0.5; + v.x -= 0.25; + v.y -= 0.25; + return v; + })} + /> + + + + +{#await map then tex} + + + + +{/await} diff --git a/apps/ground-station-web/src/lib/components/Navball/NavBallShader/fragment.glsl b/apps/ground-station-web/src/lib/components/Navball/NavBallShader/fragment.glsl new file mode 100755 index 0000000..4ed0a47 --- /dev/null +++ b/apps/ground-station-web/src/lib/components/Navball/NavBallShader/fragment.glsl @@ -0,0 +1,20 @@ +uniform sampler2D uTexture; + +varying vec2 vUv; +varying vec3 vNormal; +varying vec3 vViewPosition; + +void main() { + vec3 viewDirection = normalize(-vViewPosition); + + float fresnelEffect = pow(1.0 - dot(viewDirection, normalize(vNormal)), 2.0); + fresnelEffect = clamp(fresnelEffect, 0.0, 1.0); + + + vec4 textureColor = texture2D(uTexture, vUv) ; + vec4 edgeColor = vec4(0.0, 0.0, 0.0, 1.0); + + vec4 finalColor = mix(textureColor, edgeColor, fresnelEffect); + + gl_FragColor = finalColor; +} diff --git a/apps/ground-station-web/src/lib/components/Navball/NavBallShader/vertex.glsl b/apps/ground-station-web/src/lib/components/Navball/NavBallShader/vertex.glsl new file mode 100755 index 0000000..726fadf --- /dev/null +++ b/apps/ground-station-web/src/lib/components/Navball/NavBallShader/vertex.glsl @@ -0,0 +1,11 @@ +varying vec2 vUv; +varying vec3 vNormal; +varying vec3 vViewPosition; + +void main() { + vUv = uv; + vNormal = normalize(normalMatrix * normal); + vec4 pos = modelViewMatrix * vec4(position, 1.0); + vViewPosition = pos.xyz; + gl_Position = projectionMatrix * pos; +} diff --git a/apps/ground-station-web/src/lib/realtime/flightDirector.ts b/apps/ground-station-web/src/lib/realtime/flightDirector.ts new file mode 100755 index 0000000..0ac4680 --- /dev/null +++ b/apps/ground-station-web/src/lib/realtime/flightDirector.ts @@ -0,0 +1,9 @@ +export const defaultLaunchCoordinates = [45.4215, -75.6972]; +export const defaultLaunchCoords = { + lat: defaultLaunchCoordinates[0], + lng: defaultLaunchCoordinates[1] +}; +export const defaultTargetAltitude = 7000; +export const defaultRelativeAltitude = 360; + +// export const flightDirector = latestCollectionWritable(Collections.FlightDirector); diff --git a/apps/ground-station-web/src/lib/realtime/metrics.ts b/apps/ground-station-web/src/lib/realtime/metrics.ts new file mode 100755 index 0000000..247ad45 --- /dev/null +++ b/apps/ground-station-web/src/lib/realtime/metrics.ts @@ -0,0 +1,38 @@ +// ground_altitude = ($air?.altitude ?? 0) - $flightDirector.relativeAltitude; +// export const ground_altitude: Readable = derived( +// [flightDirector, air], +// ([$flightDirector, $air]) => { +// return ($air?.altitude ?? 0) - ($flightDirector?.relativeAltitude ?? 0); +// } +// ); + +// $: total_traveled_distance = haversineDistance($rocketPosition, $launchPoint); +// export const total_traveled_distance: Readable = derived( +// [rocketPos, flightDirector], +// ([$rocketPos, $flightDirector]) => { +// return haversineDistance( +// { lat: $rocketPos?.latitude ?? 0, lng: $rocketPos?.longitude ?? 0 }, +// { lat: $flightDirector?.latitude ?? 0, lng: $flightDirector?.longitude ?? 0 } +// ); +// } +// ); + +// For reference: +// function calcGForce(vf: number, t: number) { +// return vf / (t * 9.81); +// } + +// FIXME: The G-Force calculation is wrong since it's not given a proper time delta +// Should also be calculated on database view (?) + +// export const g_force: Readable = derived(nav, ($nav) => { +// if ($nav.velocity) { +// return calcGForce($nav.velocity[1], 0.1); +// } +// return 0; +// }); + +// const _g_force = 0; +// export const max_g_force: Readable = derived(g_force, ($g_force) => { +// return max($g_force, _g_force); +// }); diff --git a/apps/ground-station-web/src/lib/realtime/sse.test.ts b/apps/ground-station-web/src/lib/realtime/sse.test.ts new file mode 100644 index 0000000..ddc1fb6 --- /dev/null +++ b/apps/ground-station-web/src/lib/realtime/sse.test.ts @@ -0,0 +1,16 @@ +import { describe, expect, it } from 'vitest'; +import { getFreshnessStatus } from './sse'; + +describe('getFreshnessStatus', () => { + const now = 100_000; + + it('reports connecting before the first update', () => { + expect(getFreshnessStatus(null, now, 5_000, 60_000)).toBe('connecting'); + }); + + it('uses the configured live, stale, and offline boundaries', () => { + expect(getFreshnessStatus(now - 5_000, now, 5_000, 60_000)).toBe('live'); + expect(getFreshnessStatus(now - 5_001, now, 5_000, 60_000)).toBe('stale'); + expect(getFreshnessStatus(now - 60_001, now, 5_000, 60_000)).toBe('offline'); + }); +}); diff --git a/apps/ground-station-web/src/lib/realtime/sse.ts b/apps/ground-station-web/src/lib/realtime/sse.ts new file mode 100644 index 0000000..393b543 --- /dev/null +++ b/apps/ground-station-web/src/lib/realtime/sse.ts @@ -0,0 +1,96 @@ +import { browser } from '$app/environment'; +import { readable, type Readable } from 'svelte/store'; +import type { ConnectionStatus } from './types'; + +export type SseResource = { + data: T | null; + status: ConnectionStatus; + error: string | null; + lastUpdated: number | null; +}; + +type Options = { + event?: string; + staleAfterMs?: number; + offlineAfterMs?: number; +}; + +export function getFreshnessStatus( + lastUpdated: number | null, + now: number, + staleAfterMs: number, + offlineAfterMs: number +): ConnectionStatus { + if (lastUpdated === null) return 'connecting'; + const age = now - lastUpdated; + if (age > offlineAfterMs) return 'offline'; + if (age > staleAfterMs) return 'stale'; + return 'live'; +} + +export function createSseResource(url: string, options: Options = {}): Readable> { + const eventName = options.event ?? 'message'; + const staleAfterMs = options.staleAfterMs ?? 5_000; + const offlineAfterMs = options.offlineAfterMs ?? 60_000; + + return readable>( + { data: null, status: 'connecting', error: null, lastUpdated: null }, + (set) => { + if (!browser) return; + + let source: EventSource | null = null; + let data: T | null = null; + let lastUpdated: number | null = null; + let stopped = false; + let attempts = 0; + let reconnectTimer: ReturnType | null = null; + + const publish = (status: ConnectionStatus, error: string | null = null) => + set({ data, status, error, lastUpdated }); + + const connect = () => { + if (stopped) return; + publish(data ? 'stale' : 'connecting'); + source = new EventSource(url); + source.onopen = () => { + attempts = 0; + if (data) publish('live'); + }; + const handleMessage = (event: MessageEvent) => { + try { + data = JSON.parse(event.data) as T; + lastUpdated = Date.now(); + publish('live'); + } catch { + publish('error', 'Received malformed realtime data'); + } + }; + if (eventName === 'message') source.onmessage = handleMessage; + else source.addEventListener(eventName, handleMessage as EventListener); + source.onerror = () => { + source?.close(); + source = null; + attempts += 1; + publish(data ? 'stale' : 'offline', 'Realtime connection interrupted'); + const delay = Math.min(30_000, 500 * 2 ** Math.max(0, attempts - 1)); + reconnectTimer = setTimeout(connect, delay); + }; + }; + + const freshnessTimer = setInterval(() => { + if (!lastUpdated || !data) return; + const freshness = getFreshnessStatus(lastUpdated, Date.now(), staleAfterMs, offlineAfterMs); + if (freshness === 'offline') publish('offline', 'No recent data'); + else if (freshness === 'stale') publish('stale', 'Data is stale'); + }, 1_000); + + connect(); + return () => { + stopped = true; + source?.close(); + if (reconnectTimer) clearTimeout(reconnectTimer); + clearInterval(freshnessTimer); + }; + } + ); +} diff --git a/apps/ground-station-web/src/lib/realtime/types.ts b/apps/ground-station-web/src/lib/realtime/types.ts new file mode 100644 index 0000000..e8be546 --- /dev/null +++ b/apps/ground-station-web/src/lib/realtime/types.ts @@ -0,0 +1,49 @@ +export type ConnectionStatus = 'connecting' | 'live' | 'stale' | 'offline' | 'error'; + +export type TimedValue = { + value: T | null; + updatedAt: number | null; +}; + +export type FlightTransition = { + id: number; + kind: 'State' | 'Event'; + value: string; + timestamp: number | null; +}; + +export type TrajectoryPoint = { + timestamp: number; + lat: number; + lon: number; +}; + +export type OverviewSnapshot = { + generatedAt: number; + flight: { + state: FlightTransition | null; + event: FlightTransition | null; + altitudeM: TimedValue; + gnssAltitudeM: TimedValue; + verticalVelocityMps: TimedValue; + accelerationMps2: TimedValue; + position: TimedValue<{ lat: number; lon: number }>; + satellites: TimedValue; + }; + radio: { + updatedAt: number | null; + rssiDbm: number | null; + framesPerSecond: number; + packetLossPercent: number; + totalFrames: number; + }; + services: { + updatedAt: number; + running: number; + total: number; + degraded: string[]; + available: boolean; + }; + recentTransitions: FlightTransition[]; + trajectory: TrajectoryPoint[]; +}; diff --git a/apps/ground-station-web/src/lib/server/db.ts b/apps/ground-station-web/src/lib/server/db.ts new file mode 100755 index 0000000..ebac47b --- /dev/null +++ b/apps/ground-station-web/src/lib/server/db.ts @@ -0,0 +1,27 @@ +import { createClient, type Client } from "@libsql/client"; + +const LIBSQL_URL = process.env.DB_URL || "http://localhost:5001"; // Prefer Traefik DNS in deployment; override with DB_URL +let client: Client | null = null; + +/** + * Returns a singleton instance of the LibSQL database client. + * Initializes the client on the first call. + */ +export function getDbClient(): Client { + if (!client) { + client = createClient({ + url: LIBSQL_URL, + }); + console.log("LibSQL client initialized."); // More generic message now + } + return client; +} + +// Optional: Add a function to close the client if needed during app shutdown +export function closeDbClient(): void { + if (client) { + client.close(); + client = null; + console.log("LibSQL client closed."); + } +} \ No newline at end of file diff --git a/apps/ground-station-web/src/lib/server/services.ts b/apps/ground-station-web/src/lib/server/services.ts new file mode 100644 index 0000000..204d07e --- /dev/null +++ b/apps/ground-station-web/src/lib/server/services.ts @@ -0,0 +1,57 @@ +import http from 'node:http'; +import type { IncomingMessage } from 'node:http'; + +export type ServiceStatus = 'running' | 'exited' | 'restarting' | 'unknown'; +export type ServiceSummary = { name: string; status: ServiceStatus; composeService: string | null }; + +const DOCKER_SOCKET = '/var/run/docker.sock'; +const COMPOSE_PROJECT = process.env.COMPOSE_PROJECT_NAME ?? 'ground-station'; + +export function dockerRequest( + path: string, + method = 'GET', + body?: string +): Promise<{ status: number; text: () => Promise; json: () => Promise; ok: boolean }> { + return new Promise((resolve, reject) => { + const req = http.request( + { + socketPath: DOCKER_SOCKET, + path, + method, + headers: body + ? { 'Content-Type': 'application/json', 'Content-Length': Buffer.byteLength(body) } + : undefined + }, + (res: IncomingMessage) => { + const chunks: Buffer[] = []; + res.on('data', (chunk) => chunks.push(Buffer.isBuffer(chunk) ? chunk : Buffer.from(chunk))); + res.on('end', () => { + const buffer = Buffer.concat(chunks); + const status = res.statusCode ?? 500; + resolve({ + status, + ok: status >= 200 && status < 300, + text: async () => buffer.toString('utf8'), + json: async () => JSON.parse(buffer.toString('utf8') || 'null') + }); + }); + } + ); + req.on('error', reject); + if (body) req.write(body); + req.end(); + }); +} + +export async function listServices(): Promise { + const response = await dockerRequest('/containers/json?all=true'); + if (!response.ok) throw new Error(`Docker API error: ${response.status}`); + const containers: any[] = await response.json(); + return containers + .filter((container) => container.Labels?.['com.docker.compose.project'] === COMPOSE_PROJECT) + .map((container) => ({ + name: container.Names?.[0]?.replace(/^\//, '') ?? container.Id.substring(0, 12), + status: (container.State as ServiceStatus) ?? 'unknown', + composeService: container.Labels?.['com.docker.compose.service'] ?? null + })); +} diff --git a/apps/ground-station-web/src/lib/stores.ts b/apps/ground-station-web/src/lib/stores.ts new file mode 100755 index 0000000..8bd8175 --- /dev/null +++ b/apps/ground-station-web/src/lib/stores.ts @@ -0,0 +1,29 @@ +// import { cacheExchange, Client, fetchExchange, subscriptionExchange } from '@urql/svelte'; +import { writable, type Writable } from 'svelte/store'; +// import { createClient as createWSClient } from 'graphql-ws'; + +export const commandBoxToggle: Writable = writable(); + +// const graphQLWSEndpoint = window.location.origin.replace(/^http/, 'ws') + '/graphql'; +// const wsClient = createWSClient({ +// url: graphQLWSEndpoint +// }); + +// export const gqlClient = new Client({ +// url: '/graphql', +// exchanges: [ +// cacheExchange, +// fetchExchange, +// subscriptionExchange({ +// forwardSubscription(request) { +// const input = { ...request, query: request.query || '' }; +// return { +// subscribe(sink) { +// const unsubscribe = wsClient.subscribe(input, sink); +// return { unsubscribe }; +// } +// }; +// } +// }) +// ] +// }); diff --git a/apps/ground-station-web/src/lib/stores/toastStore.ts b/apps/ground-station-web/src/lib/stores/toastStore.ts new file mode 100755 index 0000000..fb944c0 --- /dev/null +++ b/apps/ground-station-web/src/lib/stores/toastStore.ts @@ -0,0 +1,33 @@ +import { writable } from 'svelte/store'; + +export type ToastType = 'info' | 'success' | 'warning' | 'error'; + +export interface Toast { + id: number; + message: string; + type: ToastType; + duration?: number; // Optional duration in ms; used by Carbon's ToastNotification +} + +const { subscribe, update } = writable([]); + +let nextId = 0; + +function addToast(message: string, type: ToastType = 'info', duration: number = 3000) { + const id = nextId++; + update((toasts) => [...toasts, { id, message, type, duration }]); +} + +function removeToast(id: number) { + update((toasts) => toasts.filter((toast) => toast.id !== id)); +} + +export const toastStore = { + subscribe, + add: addToast, + remove: removeToast, + info: (message: string, duration?: number) => addToast(message, 'info', duration), + success: (message: string, duration?: number) => addToast(message, 'success', duration), + warning: (message: string, duration?: number) => addToast(message, 'warning', duration), + error: (message: string, duration?: number) => addToast(message, 'error', duration) +}; \ No newline at end of file diff --git a/apps/ground-station-web/src/lib/stores/uiStore.ts b/apps/ground-station-web/src/lib/stores/uiStore.ts new file mode 100755 index 0000000..99865da --- /dev/null +++ b/apps/ground-station-web/src/lib/stores/uiStore.ts @@ -0,0 +1,3 @@ +import { writable } from 'svelte/store'; + +export const isImmersiveMode = writable(false); \ No newline at end of file diff --git a/apps/ground-station-web/src/routes/+layout.svelte b/apps/ground-station-web/src/routes/+layout.svelte new file mode 100644 index 0000000..1311d73 --- /dev/null +++ b/apps/ground-station-web/src/routes/+layout.svelte @@ -0,0 +1,407 @@ + + + + + {#if $isImmersiveMode} +
+ + {@render children?.()} +
+ {:else} +
+
+ + + RGSGROUND STATION + +
+ + {online ? 'CLIENT ONLINE' : 'CLIENT OFFLINE'} + + + +
+
+ + {#if mobileOpen} + + {/if} + + + +
{@render children?.()}
+
+ {/if} + + + diff --git a/apps/ground-station-web/src/routes/+layout.ts b/apps/ground-station-web/src/routes/+layout.ts new file mode 100755 index 0000000..d72160a --- /dev/null +++ b/apps/ground-station-web/src/routes/+layout.ts @@ -0,0 +1,3 @@ +export const ssr = false; +export const prerender = false; +export const csr = true; diff --git a/apps/ground-station-web/src/routes/+page.svelte b/apps/ground-station-web/src/routes/+page.svelte new file mode 100644 index 0000000..bd899f5 --- /dev/null +++ b/apps/ground-station-web/src/routes/+page.svelte @@ -0,0 +1,481 @@ + + + + Mission Overview | RGS + + + +
+
+
+

Mission Overview

+
REALTIME FLIGHT AND GROUND SYSTEM STATUS
+
+
{$overview.status}
+
+ + {#if !$overview.data} +
+ {#each Array(9) as _}
{/each} +
+ {:else} + {@const snapshot = $overview.data} +
+
CURRENT FLIGHT STATE
+
{snapshot.flight.state?.value ?? 'NO STATE'}
+
+ T+ {duration(snapshot.flight.state?.timestamp)} + EVENT {snapshot.flight.event?.value ?? '---'} + UPDATED {age(snapshot.flight.state?.timestamp)} +
+
+ +
+ + BARO ALTITUDE + {fixed(value(snapshot.flight.altitudeM))}M + {age(snapshot.flight.altitudeM.updatedAt)} + + + VERT VELOCITY + {fixed(value(snapshot.flight.verticalVelocityMps))}M/S + {age(snapshot.flight.verticalVelocityMps.updatedAt)} + + + ACCELERATION + {fixed(value(snapshot.flight.accelerationMps2), 2)}M/S² + {age(snapshot.flight.accelerationMps2.updatedAt)} + + + RADIO RSSI + {fixed(snapshot.radio.rssiDbm, 0)}DBM + {age(snapshot.radio.updatedAt)} + + + PACKET LOSS + {fixed(snapshot.radio.packetLossPercent, 2)}% + {snapshot.radio.framesPerSecond.toFixed(1)} FPS + + + GNSS SATELLITES + {fixed(value(snapshot.flight.satellites), 0)}SV + {age(snapshot.flight.satellites.updatedAt)} + +
+ +
+ +
+

Trajectory

+ OPEN MAP → +
+
+ {#if snapshot.trajectory.length > 1} + + + + + +
+ LAT {value(snapshot.flight.position)?.lat.toFixed(6)} + LON {value(snapshot.flight.position)?.lon.toFixed(6)} +
+ {:else} +
NO VALID POSITION TRACK
+ {/if} +
+ + +
+

System Health

+
+ + RADIO LINK{snapshot.radio.framesPerSecond > 0 ? 'RECEIVING' : 'NO FRAMES'} + + + SERVICES{snapshot.services.available + ? `${snapshot.services.running}/${snapshot.services.total} RUNNING` + : 'UNAVAILABLE'} + +
+ GNSS{value(snapshot.flight.position) ? 'FIX VALID' : 'NO FIX'} +
+
+ TELEMETRY{$overview.status} +
+
+ {#if snapshot.services.degraded.length} +
+ ATTENTION{snapshot.services.degraded.join(', ')} +
+ {/if} +
+ +
+
+

Recent Transitions

+ VIEW HISTORY → +
+ {#if snapshot.recentTransitions.length} +
    + {#each snapshot.recentTransitions.slice(0, 8) as transition} +
  1. + {transition.kind}{transition.value} +
    2. + {/each} +
+ {:else}
NO FLIGHT TRANSITIONS RECORDED
{/if} +
+
+ {/if} +
+ + diff --git a/apps/ground-station-web/src/routes/altitude/+page.svelte b/apps/ground-station-web/src/routes/altitude/+page.svelte new file mode 100755 index 0000000..1543e63 --- /dev/null +++ b/apps/ground-station-web/src/routes/altitude/+page.svelte @@ -0,0 +1,248 @@ + + +
+
+
+

Altitude

+
BAROMETRIC AND GNSS ALTITUDE SOURCES
+
+
+ {connected ? 'LIVE' : error ? 'ERROR' : 'PAUSED'} + + +
+
+ {#if error}{/if} +
+
+ BAROMETER{latest?.barometer ? latest.barometer.altitude_m.toFixed(1) : '---'}M{latest?.barometer + ? `${mToFeet(latest.barometer.altitude_m).toFixed(1)} FT · ${latest.barometer.pressure_kpa.toFixed(3)} KPA` + : 'NO DATA'} +
+
+ SBG AIR{latest?.sbgAir ? latest.sbgAir.altitude_m.toFixed(1) : '---'}M{latest?.sbgAir + ? `${mToFeet(latest.sbgAir.altitude_m).toFixed(1)} FT · ${latest.sbgAir.pressure_kpa.toFixed(3)} KPA` + : 'NO DATA'} +
+
+ GNSS{latest?.gnss ? latest.gnss.altitude_m.toFixed(1) : '---'}M{latest?.gnss ? `${mToFeet(latest.gnss.altitude_m).toFixed(1)} FT · GPS` : 'NO DATA'} +
+
+
+
+

Altitude History

+ QNH {qnhKpa.toFixed(1)} KPA +
+
+
+
+ + diff --git a/apps/ground-station-web/src/routes/altitude/api/+server.ts b/apps/ground-station-web/src/routes/altitude/api/+server.ts new file mode 100755 index 0000000..a0a9665 --- /dev/null +++ b/apps/ground-station-web/src/routes/altitude/api/+server.ts @@ -0,0 +1,187 @@ +import { getDbClient } from '$lib/server/db'; +import { json, error } from '@sveltejs/kit'; +import type { RequestHandler } from './$types'; + +const DEFAULT_QNH_KPA = 102.5; // Estimated Timmin's ON average for August 2025 at CYTS + +function altitudeFromPressureKPa(pressureKpa: number, qnhKpa: number = DEFAULT_QNH_KPA): number { + if (!isFinite(pressureKpa) || pressureKpa <= 0) return NaN; + const ratio = pressureKpa / qnhKpa; + return 44330 * (1 - Math.pow(ratio, 0.190263)); +} + +function altitudeFromPressurePa(pressurePa: number, qnhKpa: number = DEFAULT_QNH_KPA): number { + return altitudeFromPressureKPa(pressurePa / 1000, qnhKpa); +} + +async function getLatestSnapshot(qnhKpa: number) { + const db = getDbClient(); + + const [baroLatest, airLatest, gnssLatest] = await Promise.all([ + // Barometer latest (RadioFrame timestamp) + db.execute({ + sql: + "SELECT rf.timestamp_epoch AS ts, b.id AS id, b.pressure_kpa AS pressure_kpa, b.temperature_celsius AS temperature_celsius FROM RadioFrame rf JOIN Barometer b ON rf.data_type = 'Barometer' AND rf.data_id = b.id ORDER BY rf.timestamp_epoch DESC LIMIT 1", + args: [] + }), + // SbgAir latest (RadioFrame timestamp) + db.execute({ + sql: + "SELECT rf.timestamp_epoch AS ts, a.id AS id, a.pressure_abs AS pressure_pa FROM RadioFrame rf JOIN SbgAir a ON rf.data_type = 'SbgAir' AND rf.data_id = a.id ORDER BY rf.timestamp_epoch DESC LIMIT 1", + args: [] + }), + // SbgGpsPos latest valid altitude > 0 (RadioFrame timestamp) + db.execute({ + sql: + "SELECT rf.timestamp_epoch AS ts, p.id AS id, p.altitude AS altitude_m FROM RadioFrame rf JOIN SbgGpsPos p ON rf.data_type = 'SbgGpsPos' AND rf.data_id = p.id WHERE p.altitude IS NOT NULL AND p.altitude > 0 ORDER BY rf.timestamp_epoch DESC LIMIT 1", + args: [] + }) + ]); + + const latestBaroRow: any = baroLatest.rows[0] ?? null; + const latestAirRow: any = airLatest.rows[0] ?? null; + const latestGnssRow: any = gnssLatest.rows[0] ?? null; + + const latest = { + barometer: latestBaroRow + ? { + ts: Number(latestBaroRow.ts), + pressure_kpa: Number(latestBaroRow.pressure_kpa), + temperature_celsius: latestBaroRow.temperature_celsius !== null ? Number(latestBaroRow.temperature_celsius) : null, + altitude_m: altitudeFromPressureKPa(Number(latestBaroRow.pressure_kpa), qnhKpa) + } + : null, + sbgAir: latestAirRow + ? { + ts: Number(latestAirRow.ts), + pressure_pa: Number(latestAirRow.pressure_pa), + pressure_kpa: Number(latestAirRow.pressure_pa) / 1000, + altitude_m: altitudeFromPressurePa(Number(latestAirRow.pressure_pa), qnhKpa) + } + : null, + gnss: latestGnssRow + ? { + ts: Number(latestGnssRow.ts), + altitude_m: Number(latestGnssRow.altitude_m) + } + : null + }; + + return latest; +} + +async function getSeries(minutes: number, qnhKpa: number, maxPoints: number) { + const db = getDbClient(); + const seconds = Number.isFinite(minutes) && minutes > 0 ? Math.floor(minutes * 60) : 900; + const targetPoints = Number.isFinite(maxPoints) && maxPoints > 0 ? Math.floor(maxPoints) : 1500; + const bucketSizeSec = Math.max(1, Math.ceil(seconds / targetPoints)); + + const [baroSeriesRes, airSeriesRes, gnssSeriesRes] = await Promise.all([ + // Barometer series joined with RadioFrame for timestamps, bucket-averaged + db.execute({ + sql: + "SELECT CAST(rf.timestamp_epoch / ? AS INTEGER) * ? AS bucket_ts, AVG(b.pressure_kpa) AS pressure_kpa FROM RadioFrame rf JOIN Barometer b ON rf.data_type = 'Barometer' AND rf.data_id = b.id WHERE rf.timestamp_epoch >= strftime('%s','now') - ? GROUP BY bucket_ts ORDER BY bucket_ts ASC", + args: [bucketSizeSec, bucketSizeSec, seconds] + }), + // SbgAir series bucket-averaged + db.execute({ + sql: + "SELECT CAST(rf.timestamp_epoch / ? AS INTEGER) * ? AS bucket_ts, AVG(a.pressure_abs) AS pressure_pa FROM RadioFrame rf JOIN SbgAir a ON rf.data_type = 'SbgAir' AND rf.data_id = a.id WHERE rf.timestamp_epoch >= strftime('%s','now') - ? GROUP BY bucket_ts ORDER BY bucket_ts ASC", + args: [bucketSizeSec, bucketSizeSec, seconds] + }), + // GNSS series (ignore <= 0), bucket-averaged + db.execute({ + sql: + "SELECT CAST(rf.timestamp_epoch / ? AS INTEGER) * ? AS bucket_ts, AVG(p.altitude) AS altitude_m FROM RadioFrame rf JOIN SbgGpsPos p ON rf.data_type = 'SbgGpsPos' AND rf.data_id = p.id WHERE rf.timestamp_epoch >= strftime('%s','now') - ? AND p.altitude IS NOT NULL AND p.altitude > 0 GROUP BY bucket_ts ORDER BY bucket_ts ASC", + args: [bucketSizeSec, bucketSizeSec, seconds] + }) + ]); + + // Convert to Carbon line chart format + const data: Array<{ group: string; date: Date; value: number }> = []; + + for (const row of baroSeriesRes.rows as any[]) { + const ts = Number((row as any).bucket_ts); + const pressureKpa = Number((row as any).pressure_kpa); + const alt = altitudeFromPressureKPa(pressureKpa, qnhKpa); + if (isFinite(alt)) data.push({ group: 'Altitude (Barometer)', date: new Date(ts * 1000), value: alt }); + } + for (const row of airSeriesRes.rows as any[]) { + const ts = Number((row as any).bucket_ts); + const pressurePa = Number((row as any).pressure_pa); + const alt = altitudeFromPressurePa(pressurePa, qnhKpa); + if (isFinite(alt)) data.push({ group: 'Altitude (SBG Air)', date: new Date(ts * 1000), value: alt }); + } + for (const row of gnssSeriesRes.rows as any[]) { + const ts = Number((row as any).bucket_ts); + const alt = Number((row as any).altitude_m); + if (isFinite(alt) && alt > 0) data.push({ group: 'Altitude (GNSS)', date: new Date(ts * 1000), value: alt }); + } + + return { data }; +} + +export const GET: RequestHandler = async ({ url, request }) => { + const minutes = Number(url.searchParams.get('minutes') || '999'); + const maxPoints = Number(url.searchParams.get('max_points') || '1500'); + // Ignore any client-provided qnh_kpa. Use DEFAULT_QNH_KPA. + const qnhKpa = DEFAULT_QNH_KPA; + const useSSE = url.searchParams.get('sse') === '1'; + + if (useSSE) { + const encoder = new TextEncoder(); + const activeControllers: Set = (globalThis as any).__altitudeControllers ?? new Set(); + (globalThis as any).__altitudeControllers = activeControllers; + let poller: NodeJS.Timeout | null = (globalThis as any).__altitudePoller ?? null; + const stream = new ReadableStream({ + start(controller) { + activeControllers.add(controller); + const poll = async () => { + try { + const [latest, series] = await Promise.all([getLatestSnapshot(qnhKpa), getSeries(minutes, qnhKpa, maxPoints)]); + const chunk = encoder.encode(`event: altitude\n` + `data: ${JSON.stringify({ latest, series, qnh_kpa: qnhKpa })}\n\n`); + for (const c of Array.from(activeControllers)) { + try { c.enqueue(chunk); } catch { try { c.close(); } catch { } activeControllers.delete(c); } + } + } catch (e) { + const err = encoder.encode(`event: error\n` + `data: {"message":"Failed to fetch altitude data"}\n\n`); + for (const c of Array.from(activeControllers)) { + try { c.enqueue(err); } catch { try { c.close(); } catch { } activeControllers.delete(c); } + } + console.error('Altitude central poll error:', e); + } + }; + if (!poller) { + poller = setInterval(poll, 1000); + (globalThis as any).__altitudePoller = poller; + poll(); + } + request.signal.addEventListener('abort', () => { + activeControllers.delete(controller); + try { controller.close(); } catch { } + if (activeControllers.size === 0 && poller) { + clearInterval(poller); + (globalThis as any).__altitudePoller = null; + } + }); + }, + cancel() { } + }); + + return new Response(stream, { + headers: { + 'Content-Type': 'text/event-stream', + 'Cache-Control': 'no-cache, no-transform', + Connection: 'keep-alive' + } + }); + } + + try { + const [latest, series] = await Promise.all([getLatestSnapshot(qnhKpa), getSeries(minutes, qnhKpa, maxPoints)]); + return json({ latest, series, qnh_kpa: qnhKpa }); + } catch (e: any) { + console.error('Altitude API GET error:', e); + throw error(500, `Failed to fetch altitude data: ${e.message}`); + } +}; diff --git a/apps/ground-station-web/src/routes/commands/+page.server.ts b/apps/ground-station-web/src/routes/commands/+page.server.ts new file mode 100755 index 0000000..9b5b622 --- /dev/null +++ b/apps/ground-station-web/src/routes/commands/+page.server.ts @@ -0,0 +1,151 @@ +// This file will handle loading existing commands and processing the dispatch form action. +import { getDbClient } from '$lib/server/db'; +import { fail } from '@sveltejs/kit'; +import type { Actions, PageServerLoad } from './$types'; + +// Load existing commands +export const load: PageServerLoad = async () => { + console.log('Loading commands for /commands page...'); + const db = getDbClient(); + try { + const result = await db.execute({ + sql: 'SELECT id, command_type, parameters, status, created_at, queued_at, sent_at, attempts, error_message, source_service FROM OutgoingCommand ORDER BY created_at DESC LIMIT 100', + args: [] + }); + console.log(`Loaded ${result.rows.length} commands.`); + // Convert row data if necessary (e.g., timestamps) + const commands = result.rows.map(row => ({ + ...row, + // Ensure numeric fields are numbers, text is string, etc. + id: Number(row.id), + created_at: Number(row.created_at), + queued_at: row.queued_at ? Number(row.queued_at) : null, + sent_at: row.sent_at ? Number(row.sent_at) : null, + attempts: Number(row.attempts), + // Keep text fields as is (assuming they come correctly typed from libsql client) + command_type: String(row.command_type), + parameters: row.parameters as string | null, // Type assertion might be needed depending on client + status: String(row.status), + error_message: row.error_message as string | null, + source_service: String(row.source_service) + })); + return { commands }; + } catch (e: any) { + console.error('Error loading commands:', e); + // Return empty array or an error state + return { commands: [], error: 'Failed to load commands.' }; + } +}; + +// Handle form submission for dispatching new commands and deleting existing ones +export const actions: Actions = { + dispatch: async ({ request }) => { + const formData = await request.formData(); + const command_type = formData.get('command_type') as string; + + let parameters: string | null = null; + const params: Record = {}; + + try { + switch (command_type) { + case 'DeployDrogue': + case 'DeployMain': + // These commands might not need user parameters, set defaults if needed + params.val = true; // Example default + break; + case 'PowerDown': + const board = formData.get('param_board') as string; + if (!board) throw new Error('Board parameter is required for PowerDown.'); + params.board = board; + break; + case 'PowerUpCamera': + // no parameters + break; + case 'PowerDownCamera': + // no parameters + break; + case 'RadioRateChange': + const rate = formData.get('param_rate') as string; + if (!rate) throw new Error('Rate parameter is required for RadioRateChange.'); + params.rate = rate; + break; + case 'Ping': + // No parameters needed + break; + default: + return fail(400, { error: `Unknown command type: ${command_type}` }); + } + + // Only serialize parameters if needed + if (Object.keys(params).length > 0) { + parameters = JSON.stringify(params); + } + + const db = getDbClient(); + const now = Math.floor(Date.now() / 1000); + const source_service = 'rgs-web-commands'; + + console.log(`Dispatching command: ${command_type} with params: ${parameters}`); + + await db.execute({ + sql: 'INSERT INTO OutgoingCommand (command_type, parameters, status, created_at, attempts, source_service) VALUES (?, ?, ?, ?, ?, ?)', + args: [command_type, parameters, 'Pending', now, 0, source_service] + }); + + console.log('Command inserted successfully.'); + return { success: true, message: `Command '${command_type}' dispatched.` }; + + } catch (e: any) { + console.error('Error dispatching command:', e); + return fail(500, { error: e.message || 'Failed to dispatch command.' }); + } + }, + + // Action to delete a single command + deleteSingle: async ({ request }) => { + const formData = await request.formData(); + const idValue = formData.get('id'); + + if (!idValue || typeof idValue !== 'string') { + return fail(400, { error: 'Invalid or missing command ID for deletion.' }); + } + const id = idValue as string; + + const db = getDbClient(); + try { + console.log(`Deleting command with ID: ${id}`); + const result = await db.execute({ + sql: 'DELETE FROM OutgoingCommand WHERE id = ?', + args: [id] + }); + + if (result.rowsAffected === 0) { + console.warn(`Command with ID ${id} not found for deletion.`); + return fail(404, { error: `Command with ID ${id} not found.` }); + } + + console.log(`Command ${id} deleted successfully.`); + return { success: true, message: `Command ${id} deleted.` }; + } catch (e: any) { + console.error(`Error deleting command ${id}:`, e); + return fail(500, { error: e.message || `Failed to delete command ${id}.` }); + } + }, + + // Action to delete all commands + deleteAll: async () => { + const db = getDbClient(); + try { + console.log('Deleting all commands...'); + const result = await db.execute({ + sql: 'DELETE FROM OutgoingCommand', + args: [] + }); + console.log(`${result.rowsAffected} commands deleted.`); + return { success: true, message: `All (${result.rowsAffected}) commands deleted.` }; + } catch (e: any) { + console.error('Error deleting all commands:', e); + return fail(500, { error: e.message || 'Failed to delete all commands.' }); + } + } +}; \ No newline at end of file diff --git a/apps/ground-station-web/src/routes/commands/+page.svelte b/apps/ground-station-web/src/routes/commands/+page.svelte new file mode 100755 index 0000000..665e155 --- /dev/null +++ b/apps/ground-station-web/src/routes/commands/+page.svelte @@ -0,0 +1,310 @@ + + + + + + +

Dispatch New Command

+
{ + dispatching = true; + return async ({ update }) => { + await update({ reset: false }); + }; + }} + > + ({ id: c, text: c }))} + selectedId={selectedCommand} + label="Command Type" + on:select={(e) => (selectedCommand = e.detail.selectedItem.id)} + size="sm" + /> + + {#if needsParams} +
+

Parameters

+ {#if currentParams.includes('board')} + ({ id: b, text: b }))} + selectedId={param_board} + label="Target Board" + on:select={(e) => (param_board = e.detail.selectedItem.id)} + size="sm" + /> + + {/if} + {#if currentParams.includes('rate')} + ({ id: r, text: r }))} + selectedId={param_rate} + label="Radio Rate" + on:select={(e) => (param_rate = e.detail.selectedItem.id)} + size="sm" + /> + + {/if} +
+ {/if} +
+ +
+ +
+ + + + + + +
+

Command History (Last 100)

+
+ +
{ + if ( + !requestDelete( + formElement, + 'Delete all command history? This action cannot be undone.', + cancel + ) + ) + return; + return async ({ update }) => { + await update(); + }; + }} + style="display:inline-block; margin-left: 0.5rem;" + > + +
+
+
+ {#if data.error} + + {/if} + + + + ID + Type + Params + Status + Attempts + Created + Queued + Sent + Source + Error + Actions + + + + {#each data.commands as command (command.id)} + + {command.id} + {command.command_type} + {command.parameters || '-'} + {command.status} + {command.attempts} + {formatTimestamp(command.created_at)} + {formatTimestamp(command.queued_at)} + {formatTimestamp(command.sent_at)} + {command.source_service} + {command.error_message || '-'} + +
{ + if ( + !requestDelete( + formElement, + `Delete command ${command.id}? This action cannot be undone.`, + cancel + ) + ) + return; + return async ({ update }) => { + await update(); + }; + }} + class="inline-block" + > + + + + + + {:else} + + No commands found. + + {/each} + +
+ + + + + + (pendingDeleteForm = null)} +/> diff --git a/apps/ground-station-web/src/routes/debug/+layout.svelte b/apps/ground-station-web/src/routes/debug/+layout.svelte new file mode 100755 index 0000000..250394e --- /dev/null +++ b/apps/ground-station-web/src/routes/debug/+layout.svelte @@ -0,0 +1,9 @@ + + + + {@render children?.()} + diff --git a/apps/ground-station-web/src/routes/debug/coord-mock/+page.svelte b/apps/ground-station-web/src/routes/debug/coord-mock/+page.svelte new file mode 100755 index 0000000..83fbf87 --- /dev/null +++ b/apps/ground-station-web/src/routes/debug/coord-mock/+page.svelte @@ -0,0 +1,174 @@ + + +
+
+ +
+ +

Coordinate Mock

+
+
Lat: {selectedLat != null ? selectedLat.toFixed(6) : '—'}
+
Lon: {selectedLon != null ? selectedLon.toFixed(6) : '—'}
+
+ + + +
+ +
+ + {#if notice} + + {/if} + +
+
+ + diff --git a/apps/ground-station-web/src/routes/debug/coord-mock/api/+server.ts b/apps/ground-station-web/src/routes/debug/coord-mock/api/+server.ts new file mode 100755 index 0000000..c3ffba4 --- /dev/null +++ b/apps/ground-station-web/src/routes/debug/coord-mock/api/+server.ts @@ -0,0 +1,119 @@ +import { getDbClient } from '$lib/server/db'; +import { json, error } from '@sveltejs/kit'; +import type { RequestHandler } from './$types'; + +function nowEpoch(): number { + return Math.floor(Date.now() / 1000); +} + +function clampAltitudeMeters(v: unknown): number { + const n = Number(v); + if (!Number.isFinite(n)) return 0; + return Math.max(0, Math.min(5000, Math.round(n))); +} + +function pressureKpaFromAltitude(altitudeMeters: number, qnhKpa: number = 102.5): number { + // Invert standard atmosphere: p = p0 * (1 - h/44330)^(1/0.190263) + const ratio = 1 - Math.max(0, altitudeMeters) / 44330; + const p = qnhKpa * Math.pow(Math.max(1e-6, ratio), 1 / 0.190263); + return p; +} + +function normalizeLatLon(v: unknown, min: number, max: number): number { + const n = Number(v); + if (!Number.isFinite(n)) throw error(400, 'Invalid coordinate'); + if (n < min || n > max) throw error(400, 'Coordinate out of range'); + return n; +} + +export const POST: RequestHandler = async ({ request }) => { + const db = getDbClient(); + const body = await request.json().catch(() => null); + if (!body) throw error(400, 'Invalid JSON'); + + const latitude = normalizeLatLon(body.lat, -90, 90); + const longitude = normalizeLatLon(body.lon, -180, 180); + const altitude_m = clampAltitudeMeters(body.alt); + + const ts = nowEpoch(); + + const transaction = await db.transaction("write"); + try { + // Insert SbgGpsPos + const gpsRes = await transaction.execute({ + sql: `INSERT INTO SbgGpsPos (latitude, longitude, time_of_week, undulation, altitude, time_stamp, status, latitude_accuracy, longitude_accuracy, altitude_accuracy, num_sv_used, base_station_id, differential_age) + VALUES (?, ?, 0, 0.0, ?, ?, 'OK', 0.0, 0.0, 0.0, 0, 0, 0)`, + args: [latitude, longitude, altitude_m, ts] + }); + const gpsId = Number(gpsRes.lastInsertRowid ?? 0); + + // Insert SbgEkfNav + const ekfRes = await transaction.execute({ + sql: `INSERT INTO SbgEkfNav (status, velocity_north, velocity_east, velocity_down, velocity_std_dev_north, velocity_std_dev_east, velocity_std_dev_down, position_latitude, position_longitude, position_altitude, position_std_dev_latitude, position_std_dev_longitude, position_std_dev_altitude, time_stamp, undulation) + VALUES ('OK', 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, ?, ?, ?, 0.0, 0.0, 0.0, ?, 0.0)`, + args: [latitude, longitude, altitude_m, ts] + }); + + // Insert SbgAir + const airRes = await transaction.execute({ + sql: `INSERT INTO SbgAir (time_stamp, status, pressure_abs, altitude, pressure_diff, true_airspeed, air_temperature) + VALUES (?, 'OK', ?, ?, NULL, NULL, NULL)`, + args: [ts, Math.round(pressureKpaFromAltitude(altitude_m) * 1000), altitude_m] + }); + const airId = Number(airRes.lastInsertRowid ?? 0); + + // Insert Barometer + const baroRes = await transaction.execute({ + sql: `INSERT INTO Barometer (pressure_kpa, temperature_celsius) + VALUES (?, NULL)`, + args: [pressureKpaFromAltitude(altitude_m)] + }); + const baroId = Number(baroRes.lastInsertRowid ?? 0); + + // Create RadioFrame rows for each insert so downstream queries can join on timestamps + const isoTs = new Date(ts * 1000).toISOString(); + await transaction.execute({ + sql: `INSERT INTO RadioFrame (timestamp, timestamp_epoch, node, data_type, data_id, millis_since_start) + VALUES (?, ?, 'Gps', 'SbgGpsPos', ?, NULL)`, + args: [isoTs, ts, gpsId] + }); + await transaction.execute({ + sql: `INSERT INTO RadioFrame (timestamp, timestamp_epoch, node, data_type, data_id, millis_since_start) + VALUES (?, ?, 'Sbg', 'SbgAir', ?, NULL)`, + args: [isoTs, ts, airId] + }); + await transaction.execute({ + sql: `INSERT INTO RadioFrame (timestamp, timestamp_epoch, node, data_type, data_id, millis_since_start) + VALUES (?, ?, 'Barometer', 'Barometer', ?, NULL)`, + args: [isoTs, ts, baroId] + }); + + // Commit the transaction + await transaction.commit(); + + return json({ + success: true, + inserted: { + gps: gpsRes.rowsAffected, + ekf: ekfRes.rowsAffected, + air: airRes.rowsAffected, + baro: baroRes.rowsAffected + }, + lat: latitude, + lon: longitude, + alt: altitude_m + }); + } catch (e: any) { + // Rollback on error + try { + await transaction.rollback(); + } catch (rollbackError) { + console.error('Rollback failed:', rollbackError); + } + console.error('Coord-mock insert failed', e); + throw error(500, e?.message ?? 'Insert failed'); + } finally { + // Always close the transaction + transaction.close(); + } +}; diff --git a/apps/ground-station-web/src/routes/imu/+page.svelte b/apps/ground-station-web/src/routes/imu/+page.svelte new file mode 100755 index 0000000..32a0015 --- /dev/null +++ b/apps/ground-station-web/src/routes/imu/+page.svelte @@ -0,0 +1,255 @@ + + + + + + +
+

IMU Metrics

+
+ + {#if connected} + + {:else} + + {/if} +
+
+ + {#if error} + + {/if} + + + + + +

Peak Accel

+
+ {stats ? stats.peak_accel_mps2.toFixed(2) : '—'} m/s² +
+ from sensor + + + + +

Peak Accel (Δv/Δt)

+
+ {stats ? stats.peak_accel_from_dvdt_mps2.toFixed(2) : '—'} m/s² +
+ from integration + + + + +

Peak |ω|

+
+ {stats ? stats.peak_gyro_rads.toFixed(2) : '—'} rad/s +
+ gyro + + + + +

Peak Rate (Δθ/Δt)

+
+ {stats ? stats.peak_rate_from_dadt_rads.toFixed(2) : '—'} rad/s +
+ from integration + + + + + + + +

Cumulative Δv

+
+ {stats ? stats.cumulative_delta_v_mps.toFixed(2) : '—'} m/s +
+ + + + +

Rotation

+
+ {stats ? stats.cumulative_rotation_turns.toFixed(2) : '—'} turns +
+ + + + +

IMU Temperature

+
+ {stats && stats.latest_temperature_c != null + ? stats.latest_temperature_c.toFixed(1) + : '—'} °C +
+ + + + + + + + + + + + + + diff --git a/apps/ground-station-web/src/routes/imu/api/+server.ts b/apps/ground-station-web/src/routes/imu/api/+server.ts new file mode 100755 index 0000000..e420b3c --- /dev/null +++ b/apps/ground-station-web/src/routes/imu/api/+server.ts @@ -0,0 +1,187 @@ +import { getDbClient } from '$lib/server/db'; +import { json, error } from '@sveltejs/kit'; +import type { RequestHandler } from './$types'; + +const encoder = new TextEncoder(); +const activeControllers = new Set(); +let pollIntervalId: NodeJS.Timeout | null = null; +let lastPayload: any = null; + +type ImuRow = { + ts: number; + accelerometer_x: number | null; + accelerometer_y: number | null; + accelerometer_z: number | null; + gyroscope_x: number | null; + gyroscope_y: number | null; + gyroscope_z: number | null; + delta_velocity_x: number | null; + delta_velocity_y: number | null; + delta_velocity_z: number | null; + delta_angle_x: number | null; + delta_angle_y: number | null; + delta_angle_z: number | null; + temperature: number | null; +}; + +function magnitude(x: number, y: number, z: number): number { + return Math.sqrt(x * x + y * y + z * z); +} + +async function fetchImuSeries(minutes: number): Promise { + const db = getDbClient(); + const seconds = Number.isFinite(minutes) && minutes > 0 ? Math.floor(minutes * 60) : 600; + const res = await db.execute({ + sql: `SELECT rf.timestamp_epoch AS ts, + i.accelerometer_x, i.accelerometer_y, i.accelerometer_z, + i.gyroscope_x, i.gyroscope_y, i.gyroscope_z, + i.delta_velocity_x, i.delta_velocity_y, i.delta_velocity_z, + i.delta_angle_x, i.delta_angle_y, i.delta_angle_z, + i.temperature AS temperature + FROM RadioFrame rf + JOIN SbgImu i ON rf.data_type = 'SbgImu' AND rf.data_id = i.id + WHERE rf.timestamp_epoch >= strftime('%s','now') - ? + ORDER BY rf.timestamp_epoch ASC`, + args: [seconds] + }); + return res.rows as unknown as ImuRow[]; +} + +function buildMetrics(rows: ImuRow[]) { + const accelChart: Array<{ group: string; date: Date; value: number }> = []; + const gyroChart: Array<{ group: string; date: Date; value: number }> = []; + + let prev: ImuRow | null = null; + let prevAccelDvdt = 0; + let cumDeltaV = 0; + let cumRotation = 0; + + let peakAccel = 0; // m/s^2 from accelerometer + let peakAccelDvdt = 0; // m/s^2 from delta_v/dt + let peakGyro = 0; // rad/s from gyro + let peakOmegaDadt = 0; // rad/s from delta_angle/dt + let latestTemp: number | null = null; + + for (const r of rows) { + const date = new Date(r.ts * 1000); + const ax = Number(r.accelerometer_x ?? 0); + const ay = Number(r.accelerometer_y ?? 0); + const az = Number(r.accelerometer_z ?? 0); + const gx = Number(r.gyroscope_x ?? 0); + const gy = Number(r.gyroscope_y ?? 0); + const gz = Number(r.gyroscope_z ?? 0); + const dvx = Number(r.delta_velocity_x ?? 0); + const dvy = Number(r.delta_velocity_y ?? 0); + const dvz = Number(r.delta_velocity_z ?? 0); + const dax = Number(r.delta_angle_x ?? 0); + const day = Number(r.delta_angle_y ?? 0); + const daz = Number(r.delta_angle_z ?? 0); + + latestTemp = r.temperature ?? latestTemp; + + const accelMag = magnitude(ax, ay, az); + peakAccel = Math.max(peakAccel, accelMag); + accelChart.push({ group: 'Accel |a| (sensor)', date, value: accelMag }); + + const gyroMag = magnitude(gx, gy, gz); + peakGyro = Math.max(peakGyro, gyroMag); + gyroChart.push({ group: 'Gyro |ω| (sensor)', date, value: gyroMag }); + + if (prev && r.ts > prev.ts) { + const dt = Math.max(1e-6, r.ts - prev.ts); + const dvMag = magnitude(dvx, dvy, dvz); + const daMag = magnitude(dax, day, daz); + + const accelDvdt = dvMag / dt; + const omegaDadt = daMag / dt; + + peakAccelDvdt = Math.max(peakAccelDvdt, accelDvdt); + peakOmegaDadt = Math.max(peakOmegaDadt, omegaDadt); + accelChart.push({ group: 'Accel |Δv/Δt|', date, value: accelDvdt }); + gyroChart.push({ group: 'Rate |Δθ/Δt|', date, value: omegaDadt }); + + cumDeltaV += dvMag; + cumRotation += daMag; + + // Jerk could be added later if needed using prevAccelDvdt + prevAccelDvdt = accelDvdt; + } + + prev = r; + } + + const stats = { + peak_accel_mps2: peakAccel, + peak_accel_from_dvdt_mps2: peakAccelDvdt, + peak_gyro_rads: peakGyro, + peak_rate_from_dadt_rads: peakOmegaDadt, + cumulative_delta_v_mps: cumDeltaV, + cumulative_rotation_turns: cumRotation / (2 * Math.PI), + latest_temperature_c: latestTemp + }; + + return { accelChart, gyroChart, stats }; +} + +async function getPayload(minutes: number) { + const series = await fetchImuSeries(minutes); + const { accelChart, gyroChart, stats } = buildMetrics(series); + return { series: { accel: accelChart, gyro: gyroChart }, stats }; +} + +export const GET: RequestHandler = async ({ url, request }) => { + const minutes = Number(url.searchParams.get('minutes') || '999'); + const useSSE = url.searchParams.get('sse') === '1'; + + if (useSSE) { + const stream = new ReadableStream({ + start(controller) { + activeControllers.add(controller); + if (!pollIntervalId) { + const poll = async () => { + try { + const payload = await getPayload(minutes); + lastPayload = payload; + const chunk = encoder.encode(`event: imu\n` + `data: ${JSON.stringify(payload)}\n\n`); + for (const c of Array.from(activeControllers)) { + try { c.enqueue(chunk); } catch { try { c.close(); } catch { } activeControllers.delete(c); } + } + } catch (e) { + const err = encoder.encode(`event: error\n` + `data: {"message":"Failed to compute IMU metrics"}\n\n`); + for (const c of Array.from(activeControllers)) { + try { c.enqueue(err); } catch { try { c.close(); } catch { } activeControllers.delete(c); } + } + console.error('IMU central poll error', e); + } + }; + pollIntervalId = setInterval(poll, 2000); + poll(); + } else if (lastPayload) { + controller.enqueue(encoder.encode(`event: imu\n` + `data: ${JSON.stringify(lastPayload)}\n\n`)); + } + request.signal.addEventListener('abort', () => { + activeControllers.delete(controller); + try { controller.close(); } catch { } + if (activeControllers.size === 0 && pollIntervalId) { clearInterval(pollIntervalId); pollIntervalId = null; } + }); + }, + cancel() { } + }); + + return new Response(stream, { + headers: { + 'Content-Type': 'text/event-stream', + 'Cache-Control': 'no-cache, no-transform', + Connection: 'keep-alive' + } + }); + } + + try { + const payload = await getPayload(minutes); + return json(payload); + } catch (e: any) { + console.error('IMU API error', e); + throw error(500, `Failed to fetch IMU metrics: ${e.message}`); + } +}; diff --git a/apps/ground-station-web/src/routes/map-downloader/+page.svelte b/apps/ground-station-web/src/routes/map-downloader/+page.svelte new file mode 100755 index 0000000..4a8a7ea --- /dev/null +++ b/apps/ground-station-web/src/routes/map-downloader/+page.svelte @@ -0,0 +1,481 @@ + + +
+
+ +
+ +

Download Settings

+ + +
+ + + + + + +
+ + {#if job?.status === 'processing'} + + {/if} +
+ + {#if job} +
+
+
0 ? (job.downloaded / job.total) * 100 : 0}%`} + >
+
+
{job.downloaded}/{job.total} tiles
+
+
Lat: {job.lat.toFixed(6)}
+
Lon: {job.lon.toFixed(6)}
+
Zoom: {job.minZoom}-{job.maxZoom}
+
Radius: {job.radius.toFixed(1)}km
+
+ {#if job.status === 'failed'} +
+ +
+ {/if} + {#if job.status !== 'processing'} +
+ +
+ {/if} +
+ {/if} + + {#if job?.status} + + {/if} + +
+
+ + diff --git a/apps/ground-station-web/src/routes/mock/+page.svelte b/apps/ground-station-web/src/routes/mock/+page.svelte new file mode 100755 index 0000000..b246628 --- /dev/null +++ b/apps/ground-station-web/src/routes/mock/+page.svelte @@ -0,0 +1,356 @@ + + + + + +

Mock SBG IMU Data Inserter

+ + + + + + +

Device Sensors Control

+ {#if sensorError} + + {/if} + {#if !isListeningToSensors} + + {:else} + + {/if} +

+ Uses device orientation (alpha, beta, gamma) for gyroscope fields; may require + permissions. +

+ + + + + + + +
{ + e.preventDefault(); + handleSubmit(); + }} + > + + + + + + +

+ Accelerometers (m/s²) +

+ + + + + + +

+ Gyroscopes (α, β, γ) +

+ + + + + + +

+ Delta Velocity (m/s) +

+ + + + + + +

+ Delta Angle (rad) +

+ + + + + + + + + + + + + + + +
+ + + + diff --git a/apps/ground-station-web/src/routes/mock/api/+server.ts b/apps/ground-station-web/src/routes/mock/api/+server.ts new file mode 100755 index 0000000..802928f --- /dev/null +++ b/apps/ground-station-web/src/routes/mock/api/+server.ts @@ -0,0 +1,76 @@ +import { getDbClient } from '$lib/server/db'; // Assuming this path is correct +import { json, error as svelteKitError } from '@sveltejs/kit'; +import type { RequestHandler } from './$types'; + +// Define the expected payload structure from the client +interface MockSbgImuPayload { + time_stamp: number; + status: string; + accelerometer_x?: number | null; + accelerometer_y?: number | null; + accelerometer_z?: number | null; + gyroscope_x?: number | null; + gyroscope_y?: number | null; + gyroscope_z?: number | null; + delta_velocity_x?: number | null; + delta_velocity_y?: number | null; + delta_velocity_z?: number | null; + delta_angle_x?: number | null; + delta_angle_y?: number | null; + delta_angle_z?: number | null; + temperature?: number | null; +} + +export const POST: RequestHandler = async ({ request }) => { + try { + const payload = await request.json() as MockSbgImuPayload; + + // Basic validation (can be more extensive) + if (!payload.time_stamp || !payload.status) { + return svelteKitError(400, 'Missing required fields: time_stamp and status'); + } + + const db = getDbClient(); + + const result = await db.execute({ + sql: `INSERT INTO SbgImu ( + time_stamp, status, + accelerometer_x, accelerometer_y, accelerometer_z, + gyroscope_x, gyroscope_y, gyroscope_z, + delta_velocity_x, delta_velocity_y, delta_velocity_z, + delta_angle_x, delta_angle_y, delta_angle_z, + temperature + ) VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?);`, + args: [ + payload.time_stamp, + payload.status, + payload.accelerometer_x ?? null, + payload.accelerometer_y ?? null, + payload.accelerometer_z ?? null, + payload.gyroscope_x ?? null, + payload.gyroscope_y ?? null, + payload.gyroscope_z ?? null, + payload.delta_velocity_x ?? null, + payload.delta_velocity_y ?? null, + payload.delta_velocity_z ?? null, + payload.delta_angle_x ?? null, + payload.delta_angle_y ?? null, + payload.delta_angle_z ?? null, + payload.temperature ?? null, + ], + }); + + return json({ + message: 'Mock IMU data inserted successfully', + rowId: result.lastInsertRowid ? String(result.lastInsertRowid) : null + }, { status: 201 }); + + } catch (e: any) { + console.error("Error inserting mock IMU data:", e); + // Check for specific error types if needed, e.g., JSON parsing errors + if (e instanceof SyntaxError) { + return svelteKitError(400, 'Invalid JSON payload'); + } + return svelteKitError(500, e.message || 'Failed to insert mock IMU data'); + } +}; \ No newline at end of file diff --git a/apps/ground-station-web/src/routes/mock/types.ts b/apps/ground-station-web/src/routes/mock/types.ts new file mode 100755 index 0000000..87dd798 --- /dev/null +++ b/apps/ground-station-web/src/routes/mock/types.ts @@ -0,0 +1,40 @@ +// import { graphql } from 'gql.tada'; + +// export const InsertQuaternionDocument = graphql(` +// mutation InsertQuaternionMutation( +// $time_stamp: Int = 10 +// $time_stamp1: Int = 10 +// $w: Float = 1.5 +// $x: Float = 1.5 +// $y: Float = 1.5 +// $z: Float = 1.5 +// ) { +// insert_rocket_message( +// objects: { +// rocket_sensor_message: { +// data: { +// rocket_sensor_quat: { +// data: { +// status: 10 +// quat_w: $w +// quat_x: $x +// quat_y: $y +// quat_z: $z +// euler_std_dev_x: 0 +// euler_std_dev_y: 0 +// euler_std_dev_z: 0 +// time_stamp: $time_stamp1 +// } +// } +// component_id: 0 +// } +// } +// time_stamp: $time_stamp +// sender: "phone" +// message_type: "sensor" +// } +// ) { +// affected_rows +// } +// } +// `); diff --git a/apps/ground-station-web/src/routes/navball/+page.svelte b/apps/ground-station-web/src/routes/navball/+page.svelte new file mode 100755 index 0000000..d9ecb07 --- /dev/null +++ b/apps/ground-station-web/src/routes/navball/+page.svelte @@ -0,0 +1,103 @@ + + + + + + +
+ {#if error} + + {/if} +
+ +
+
+ +
+
+ + + + +

IMU Readout

+

Roll: {roll.toFixed(2)}°

+

Pitch: {pitch.toFixed(2)}°

+

+ Pointing: + 0 ? 'green' : 'red'}>{pitch > 0 ? 'Up' : 'Down'} +

+ {#if imuData} +

Status: {imuData.status}

+ {/if} + + + + diff --git a/apps/ground-station-web/src/routes/navball/api/+server.ts b/apps/ground-station-web/src/routes/navball/api/+server.ts new file mode 100755 index 0000000..f220454 --- /dev/null +++ b/apps/ground-station-web/src/routes/navball/api/+server.ts @@ -0,0 +1,129 @@ +import type { RequestHandler } from './$types'; +import { getDbClient } from '$lib/server/db'; + +// Module-scope state +let latestQuatData: any = { + time_stamp: Math.floor(Date.now() / 1000), + status: 'INITIALIZING', + quaternion_w: 1, + quaternion_x: 0, + quaternion_y: 0, + quaternion_z: 0 +}; +const activeControllers = new Set(); +const encoder = new TextEncoder(); +let dbPollingIntervalId: NodeJS.Timeout | null = null; +const DB_POLL_INTERVAL_MS = 500; + +async function fetchAndUpdateQuatData() { + try { + const db = getDbClient(); + const result = await db.execute({ + sql: `SELECT time_stamp, quaternion_w, quaternion_x, quaternion_y, quaternion_z, status FROM SbgEkfQuat ORDER BY id DESC LIMIT 1` + }); + latestQuatData = result.rows[0] ?? { + time_stamp: Math.floor(Date.now() / 1000), + status: 'NO_DATA', + quaternion_w: 1, + quaternion_x: 0, + quaternion_y: 0, + quaternion_z: 0 + }; + } catch (e: any) { + console.error('Error fetching EKF quaternion in central poller:', e); + latestQuatData = { ...latestQuatData, status: 'DB_ERROR', errorDetails: e.message }; + } + + // Broadcast + prune closed sockets + const message = `data: ${JSON.stringify(latestQuatData)}\n\n`; + for (const controller of Array.from(activeControllers)) { + try { + controller.enqueue(encoder.encode(message)); + } catch { + try { + controller.close(); + } catch {} + activeControllers.delete(controller); + } + } +} + +function ensurePoller() { + if (dbPollingIntervalId) return; + void fetchAndUpdateQuatData(); + dbPollingIntervalId = setInterval(fetchAndUpdateQuatData, DB_POLL_INTERVAL_MS); +} + +function stopPollerWhenIdle() { + if (activeControllers.size === 0 && dbPollingIntervalId) { + clearInterval(dbPollingIntervalId); + dbPollingIntervalId = null; + } +} + +export const GET: RequestHandler = (event) => { + let controllerForThisClient: ReadableStreamDefaultController; + + const stream = new ReadableStream({ + start(controller) { + controllerForThisClient = controller; + activeControllers.add(controllerForThisClient); + ensurePoller(); + console.log('SSE client connected. Total clients:', activeControllers.size); + + // Initial event flush + controller.enqueue(encoder.encode(`data: ${JSON.stringify(latestQuatData)}\n\n`)); + + // Robust cleanup with Node adapter if available + const node = (event as any)?.platform?.node as { req?: any; res?: any } | undefined; + if (node) { + const cleanup = () => { + if (controllerForThisClient) { + activeControllers.delete(controllerForThisClient); + stopPollerWhenIdle(); + try { + controllerForThisClient.close(); + } catch {} + node.req.off?.('close', cleanup); + node.res.off?.('close', cleanup); + node.req.off?.('aborted', cleanup); + console.log( + 'SSE client disconnected (socket close). Total clients:', + activeControllers.size + ); + } + }; + node.req.on?.('close', cleanup); + node.res.on?.('close', cleanup); + node.req.on?.('aborted', cleanup); + } + + // Fallback: abort signal + event.request.signal.addEventListener('abort', () => { + if (controllerForThisClient) { + activeControllers.delete(controllerForThisClient); + stopPollerWhenIdle(); + try { + controllerForThisClient.close(); + } catch {} + console.log('SSE client disconnected (abort). Total clients:', activeControllers.size); + } + }); + }, + cancel() { + if (controllerForThisClient) { + activeControllers.delete(controllerForThisClient); + stopPollerWhenIdle(); + console.log('SSE client disconnected (cancel). Total clients:', activeControllers.size); + } + } + }); + + return new Response(stream, { + headers: { + 'Content-Type': 'text/event-stream', + 'Cache-Control': 'no-cache, no-transform', + Connection: 'keep-alive' + } + }); +}; diff --git a/apps/ground-station-web/src/routes/overview/api/+server.ts b/apps/ground-station-web/src/routes/overview/api/+server.ts new file mode 100644 index 0000000..80448f5 --- /dev/null +++ b/apps/ground-station-web/src/routes/overview/api/+server.ts @@ -0,0 +1,219 @@ +import { getDbClient } from '$lib/server/db'; +import { listServices } from '$lib/server/services'; +import type { FlightTransition, OverviewSnapshot } from '$lib/realtime/types'; +import { json } from '@sveltejs/kit'; +import type { RequestHandler } from './$types'; + +const QNH_KPA = 102.5; + +function altitudeFromPressure(pressureKpa: number): number { + return 44330 * (1 - Math.pow(pressureKpa / QNH_KPA, 0.190263)); +} + +function numberOrNull(value: unknown): number | null { + if (value === null || value === undefined) return null; + const number = Number(value); + return Number.isFinite(number) ? number : null; +} + +async function getSnapshot(): Promise { + const db = getDbClient(); + const [ + stateRows, + eventRows, + baroRows, + gpsRows, + velocityRows, + imuRows, + radioRows, + frameRows, + lossRows, + transitionRows, + pathRows, + serviceResult + ] = await Promise.all([ + db.execute({ + sql: `SELECT ps.id, ps.state AS value, rf.timestamp_epoch AS ts FROM PhoenixState ps JOIN RadioFrame rf ON rf.data_type = 'PhoenixState' AND rf.data_id = ps.id ORDER BY rf.timestamp_epoch DESC LIMIT 1`, + args: [] + }), + db.execute({ + sql: `SELECT pe.id, pe.event AS value, rf.timestamp_epoch AS ts FROM PhoenixEvent pe JOIN RadioFrame rf ON rf.data_type = 'PhoenixEvent' AND rf.data_id = pe.id ORDER BY rf.timestamp_epoch DESC LIMIT 1`, + args: [] + }), + db.execute({ + sql: `SELECT b.pressure_kpa, rf.timestamp_epoch AS ts FROM Barometer b JOIN RadioFrame rf ON rf.data_type = 'Barometer' AND rf.data_id = b.id ORDER BY rf.timestamp_epoch DESC LIMIT 1`, + args: [] + }), + db.execute({ + sql: `SELECT p.altitude, p.latitude, p.longitude, p.num_sv_used, rf.timestamp_epoch AS ts FROM SbgGpsPos p JOIN RadioFrame rf ON rf.data_type = 'SbgGpsPos' AND rf.data_id = p.id WHERE p.latitude IS NOT NULL AND p.longitude IS NOT NULL ORDER BY rf.timestamp_epoch DESC LIMIT 1`, + args: [] + }), + db.execute({ + sql: `SELECT v.velocity_down, rf.timestamp_epoch AS ts FROM SbgGpsVel v JOIN RadioFrame rf ON rf.data_type = 'SbgGpsVel' AND rf.data_id = v.id ORDER BY rf.timestamp_epoch DESC LIMIT 1`, + args: [] + }), + db.execute({ + sql: `SELECT i.accelerometer_x, i.accelerometer_y, i.accelerometer_z, rf.timestamp_epoch AS ts FROM SbgImu i JOIN RadioFrame rf ON rf.data_type = 'SbgImu' AND rf.data_id = i.id ORDER BY rf.timestamp_epoch DESC LIMIT 1`, + args: [] + }), + db.execute({ + sql: `SELECT timestamp, rssi FROM RadioMetrics ORDER BY timestamp DESC LIMIT 1`, + args: [] + }), + db.execute({ + sql: `SELECT COUNT(*) AS total, SUM(CASE WHEN timestamp_epoch >= strftime('%s','now') - 10 THEN 1 ELSE 0 END) AS recent FROM RadioFrame`, + args: [] + }), + db.execute({ + sql: `SELECT COALESCE(SUM(packets_lost), 0) AS lost FROM RadioMetrics`, + args: [] + }), + db.execute({ + sql: `SELECT id, kind, value, ts FROM (SELECT ps.id, 'State' AS kind, ps.state AS value, rf.timestamp_epoch AS ts FROM PhoenixState ps JOIN RadioFrame rf ON rf.data_type = 'PhoenixState' AND rf.data_id = ps.id UNION ALL SELECT pe.id, 'Event' AS kind, pe.event AS value, rf.timestamp_epoch AS ts FROM PhoenixEvent pe JOIN RadioFrame rf ON rf.data_type = 'PhoenixEvent' AND rf.data_id = pe.id) ORDER BY ts DESC LIMIT 12`, + args: [] + }), + db.execute({ + sql: `SELECT rf.timestamp_epoch AS ts, p.latitude AS lat, p.longitude AS lon FROM SbgGpsPos p JOIN RadioFrame rf ON rf.data_type = 'SbgGpsPos' AND rf.data_id = p.id WHERE p.latitude IS NOT NULL AND p.longitude IS NOT NULL AND p.latitude != 0 AND p.longitude != 0 ORDER BY rf.timestamp_epoch DESC LIMIT 120`, + args: [] + }), + listServices() + .then((services) => ({ services, available: true })) + .catch(() => ({ services: [], available: false })) + ]); + + const state: any = stateRows.rows[0]; + const event: any = eventRows.rows[0]; + const baro: any = baroRows.rows[0]; + const gps: any = gpsRows.rows[0]; + const velocity: any = velocityRows.rows[0]; + const imu: any = imuRows.rows[0]; + const radio: any = radioRows.rows[0]; + const frames: any = frameRows.rows[0] ?? {}; + const losses: any = lossRows.rows[0] ?? {}; + const totalFrames = Number(frames.total ?? 0); + const totalLost = Number(losses.lost ?? 0); + const gpsTimestamp = numberOrNull(gps?.ts); + const imuValues = [imu?.accelerometer_x, imu?.accelerometer_y, imu?.accelerometer_z].map( + numberOrNull + ); + const acceleration = imuValues.every((value) => value !== null) + ? Math.hypot(...(imuValues as number[])) + : null; + + const transition = (row: any): FlightTransition => ({ + id: Number(row.id), + kind: row.kind as 'State' | 'Event', + value: String(row.value), + timestamp: numberOrNull(row.ts) + }); + + return { + generatedAt: Date.now(), + flight: { + state: state + ? { + id: Number(state.id), + kind: 'State', + value: String(state.value), + timestamp: numberOrNull(state.ts) + } + : null, + event: event + ? { + id: Number(event.id), + kind: 'Event', + value: String(event.value), + timestamp: numberOrNull(event.ts) + } + : null, + altitudeM: { + value: baro ? altitudeFromPressure(Number(baro.pressure_kpa)) : null, + updatedAt: numberOrNull(baro?.ts) + }, + gnssAltitudeM: { value: numberOrNull(gps?.altitude), updatedAt: gpsTimestamp }, + verticalVelocityMps: { + value: velocity?.velocity_down == null ? null : -Number(velocity.velocity_down), + updatedAt: numberOrNull(velocity?.ts) + }, + accelerationMps2: { value: acceleration, updatedAt: numberOrNull(imu?.ts) }, + position: { + value: gps ? { lat: Number(gps.latitude), lon: Number(gps.longitude) } : null, + updatedAt: gpsTimestamp + }, + satellites: { value: numberOrNull(gps?.num_sv_used), updatedAt: gpsTimestamp } + }, + radio: { + updatedAt: numberOrNull(radio?.timestamp), + rssiDbm: numberOrNull(radio?.rssi), + framesPerSecond: Number(frames.recent ?? 0) / 10, + packetLossPercent: totalFrames > 0 ? (totalLost / totalFrames) * 100 : 0, + totalFrames + }, + services: { + updatedAt: Date.now(), + running: serviceResult.services.filter((service) => service.status === 'running').length, + total: serviceResult.services.length, + degraded: serviceResult.services + .filter((service) => service.status !== 'running') + .map((service) => service.name), + available: serviceResult.available + }, + recentTransitions: transitionRows.rows.map(transition), + trajectory: [...pathRows.rows] + .reverse() + .map((row: any) => ({ + timestamp: Number(row.ts), + lat: Number(row.lat), + lon: Number(row.lon) + })) + }; +} + +export const GET: RequestHandler = async ({ url, request }) => { + if (url.searchParams.get('sse') !== '1') return json(await getSnapshot()); + + let interval: ReturnType; + let closed = false; + const encoder = new TextEncoder(); + const stream = new ReadableStream({ + start(controller) { + const push = async () => { + if (closed) return; + try { + const snapshot = await getSnapshot(); + controller.enqueue( + encoder.encode(`event: overview\ndata: ${JSON.stringify(snapshot)}\n\n`) + ); + } catch (error) { + console.error('Overview update failed', error); + controller.enqueue( + encoder.encode(`event: error\ndata: {"message":"Overview unavailable"}\n\n`) + ); + } + }; + void push(); + interval = setInterval(push, 1_000); + request.signal.addEventListener('abort', () => { + closed = true; + clearInterval(interval); + try { + controller.close(); + } catch { + /* already closed */ + } + }); + }, + cancel() { + closed = true; + clearInterval(interval); + } + }); + + return new Response(stream, { + headers: { + 'Content-Type': 'text/event-stream', + 'Cache-Control': 'no-cache, no-transform', + Connection: 'keep-alive' + } + }); +}; diff --git a/apps/ground-station-web/src/routes/radio/+page.svelte b/apps/ground-station-web/src/routes/radio/+page.svelte new file mode 100755 index 0000000..2c3178b --- /dev/null +++ b/apps/ground-station-web/src/routes/radio/+page.svelte @@ -0,0 +1,390 @@ + + + + + + +
+

Radio Metrics

+
+ + {#if connected} + + {:else} + + {/if} +
+
+ + {#if error} + + {/if} + + {#if metrics.length === 0 && !loading} + + {/if} + + {#if metrics.length > 0} + + + + +

Latest RSSI

+ {#if metrics[0]?.rssi !== null} +
+ {metrics[0].rssi} dBm +
+ + {getRssiStatus(metrics[0].rssi).status} + + {:else} +
N/A
+ {/if} + + + + +

Frames per second

+ {#if totals?.frames_per_second != null} +
+ {totals.frames_per_second.toFixed(2)} fps +
+ 10 + ? 'green' + : totals.frames_per_second > 3 + ? 'blue' + : 'red'} + size="sm" + > + {totals.frames_per_second > 10 + ? 'High' + : totals.frames_per_second > 3 + ? 'Moderate' + : 'Low'} + + {:else} +
N/A
+ {/if} + + + + +

Total Packet Loss

+ {#if totals} +
+ {totals.total_packets_lost} +
+ + {totals.packet_loss_percentage.toFixed(2)}% + + + {:else} +
N/A
+ {/if} + + + + +

Connection Status

+
+ {connected ? 'Live' : 'Static'} +
+ + {connected ? 'Real-time' : 'Manual Refresh'} + + + + + + + + + + Timestamp + RSSI + RSSI Status + Packets Lost + Packet Loss Status + + + + {#each metrics as metric (metric.timestamp)} + + {formatTimestamp(metric.timestamp)} + + {metric.rssi !== null ? `${metric.rssi} dBm` : 'N/A'} + + + + {getRssiStatus(metric.rssi).status} + + + {metric.packets_lost} + + + {getPacketLossStatus(metric.packets_lost).status} + + + + {/each} + +
+ {/if} + + + + diff --git a/apps/ground-station-web/src/routes/radio/api/+server.ts b/apps/ground-station-web/src/routes/radio/api/+server.ts new file mode 100755 index 0000000..fe3903c --- /dev/null +++ b/apps/ground-station-web/src/routes/radio/api/+server.ts @@ -0,0 +1,139 @@ +import { getDbClient } from '$lib/server/db'; +import { json } from '@sveltejs/kit'; +import type { RequestHandler } from './$types'; + +const encoder = new TextEncoder(); +const activeControllers = new Set(); +let pollIntervalId: NodeJS.Timeout | null = null; + +async function pollAndBroadcast() { + const db = getDbClient(); + try { + const metricsResult = await db.execute({ + sql: `SELECT timestamp, rssi, packets_lost FROM RadioMetrics ORDER BY timestamp DESC LIMIT 20`, + args: [] + }); + // Throughput: frames per second over last 10 seconds + const fpsRes = await db.execute({ + sql: `SELECT COUNT(*) AS cnt FROM RadioFrame WHERE timestamp_epoch >= strftime('%s','now') - 10`, + args: [] + }); + const framesIn10s = Number((fpsRes.rows[0] as any)?.cnt ?? 0); + const frames_per_second = framesIn10s / 10.0; + + let total_packets_lost = 0; + let total_radio_frames = 0; + try { + const summary = await db.execute({ + sql: `SELECT total_packets_lost, total_radio_frames FROM MetricsSummary LIMIT 1`, + args: [] + }); + if (summary.rows.length > 0) { + const row: any = summary.rows[0]; + total_packets_lost = Number(row.total_packets_lost ?? 0); + total_radio_frames = Number(row.total_radio_frames ?? 0); + } + } catch (_) { + const [lostAgg, frameAgg] = await Promise.all([ + db.execute({ sql: `SELECT COALESCE(SUM(packets_lost), 0) AS total FROM RadioMetrics`, args: [] }), + db.execute({ sql: `SELECT COUNT(*) AS total FROM RadioFrame`, args: [] }) + ]); + total_packets_lost = Number((lostAgg.rows[0] as any).total ?? 0); + total_radio_frames = Number((frameAgg.rows[0] as any).total ?? 0); + } + + const packet_loss_ratio = total_radio_frames > 0 ? total_packets_lost / total_radio_frames : 0; + const packet_loss_percentage = packet_loss_ratio * 100; + + const payload = { + metrics: metricsResult.rows, + totals: { total_packets_lost, total_radio_frames, packet_loss_ratio, packet_loss_percentage, frames_per_second } + }; + const chunk = encoder.encode(`event: metrics\n` + `data: ${JSON.stringify(payload)}\n\n`); + for (const c of Array.from(activeControllers)) { + try { c.enqueue(chunk); } catch { try { c.close(); } catch { } activeControllers.delete(c); } + } + } catch (e) { + const errChunk = encoder.encode(`event: error\n` + `data: {"message":"Failed to fetch radio metrics"}\n\n`); + for (const c of Array.from(activeControllers)) { + try { c.enqueue(errChunk); } catch { try { c.close(); } catch { } activeControllers.delete(c); } + } + console.error('Radio central poll error:', e); + } +} + +function ensurePoller() { + if (!pollIntervalId) { + pollIntervalId = setInterval(pollAndBroadcast, 5000); + // kick immediately + pollAndBroadcast(); + } +} + +export const GET: RequestHandler = async ({ url, request }) => { + const useSSE = url.searchParams.get('sse') === '1'; + + if (useSSE) { + const stream = new ReadableStream({ + start(controller) { + activeControllers.add(controller); + ensurePoller(); + request.signal.addEventListener('abort', () => { + activeControllers.delete(controller); + try { controller.close(); } catch { } + }); + }, + cancel() { } + }); + + return new Response(stream, { + headers: { + 'Content-Type': 'text/event-stream', + 'Cache-Control': 'no-cache, no-transform', + 'Connection': 'keep-alive' + } + }); + } + + // Regular GET request + const db = getDbClient(); + const metricsResult = await db.execute({ + sql: `SELECT timestamp, rssi, packets_lost FROM RadioMetrics ORDER BY timestamp DESC LIMIT 20`, + args: [] + }); + + // Summary (prefer summary table, fallback to aggregates) + let total_packets_lost = 0; + let total_radio_frames = 0; + try { + const summary = await db.execute({ + sql: `SELECT total_packets_lost, total_radio_frames FROM MetricsSummary LIMIT 1`, + args: [] + }); + if (summary.rows.length > 0) { + const row: any = summary.rows[0]; + total_packets_lost = Number(row.total_packets_lost ?? 0); + total_radio_frames = Number(row.total_radio_frames ?? 0); + } + } catch (_) { + const [lostAgg, frameAgg] = await Promise.all([ + db.execute({ sql: `SELECT COALESCE(SUM(packets_lost), 0) AS total FROM RadioMetrics`, args: [] }), + db.execute({ sql: `SELECT COUNT(*) AS total FROM RadioFrame`, args: [] }) + ]); + total_packets_lost = Number((lostAgg.rows[0] as any).total ?? 0); + total_radio_frames = Number((frameAgg.rows[0] as any).total ?? 0); + } + + const packet_loss_ratio = total_radio_frames > 0 ? total_packets_lost / total_radio_frames : 0; + const packet_loss_percentage = packet_loss_ratio * 100; + + return json({ + metrics: metricsResult.rows, + totals: { + total_packets_lost, + total_radio_frames, + packet_loss_ratio, + packet_loss_percentage + } + }); +}; diff --git a/apps/ground-station-web/src/routes/sbg/+page.server.ts b/apps/ground-station-web/src/routes/sbg/+page.server.ts new file mode 100755 index 0000000..d5a2495 --- /dev/null +++ b/apps/ground-station-web/src/routes/sbg/+page.server.ts @@ -0,0 +1,58 @@ +import { getDbClient } from '$lib/server/db'; +import type { Row } from '@libsql/client'; +import type { PageServerLoad } from './$types'; + +// Helper function to get the latest row from a table +async function getLatestRow(tableName: string): Promise { + const db = getDbClient(); + try { + const result = await db.execute({ + sql: `SELECT * FROM ${tableName} ORDER BY time_stamp DESC LIMIT 1`, + args: [] + }); + return result.rows.length > 0 ? result.rows[0] : null; + } catch (e: any) { + console.error(`Error fetching latest row from ${tableName}:`, e); + // Depending on requirements, you might want to throw, return null, or a specific error object + return null; // Return null on error for graceful handling + } +} + +export const load: PageServerLoad = async () => { + console.log("Loading initial SBG data for /sbg page..."); + + // Fetch latest data from relevant tables in parallel + const [ + latestUtcTime, + latestAir, + latestEkfQuat, + latestEkfNav, + latestImu, + latestGpsVel, + latestGpsPos + ] = await Promise.all([ + getLatestRow('SbgUtcTime'), + getLatestRow('SbgAir'), + getLatestRow('SbgEkfQuat'), + getLatestRow('SbgEkfNav'), + getLatestRow('SbgImu'), + getLatestRow('SbgGpsVel'), + getLatestRow('SbgGpsPos') + ]); + + console.log("Finished loading initial SBG data."); + + // Return the data in a structured way + // Handle potential nulls if a table is empty or an error occurred + return { + sbgData: { + utcTime: latestUtcTime ?? {}, + air: latestAir ?? {}, + ekfQuat: latestEkfQuat ?? {}, + ekfNav: latestEkfNav ?? {}, + imu: latestImu ?? {}, + gpsVel: latestGpsVel ?? {}, + gpsPos: latestGpsPos ?? {}, + } + }; +}; \ No newline at end of file diff --git a/apps/ground-station-web/src/routes/sbg/+page.svelte b/apps/ground-station-web/src/routes/sbg/+page.svelte new file mode 100755 index 0000000..4c85a87 --- /dev/null +++ b/apps/ground-station-web/src/routes/sbg/+page.svelte @@ -0,0 +1,306 @@ + + + + SBG Sensor Status + + + + + + + + + + Last updated: {lastUpdated.toLocaleString()} + {#if isLoading} + + {/if} + + +

+ EKF Navigation + {sbgData.ekfNav?.status ?? 'N/A'} +

+ + + + Field + Value + + + + + Timestamp + {formatTimestamp(sbgData.ekfNav?.time_stamp)} + + + Latitude + {formatNum(sbgData.ekfNav?.position_latitude, 7)}° (±{formatNum( + sbgData.ekfNav?.position_std_dev_latitude, + 2 + )}m) + + + Longitude + {formatNum(sbgData.ekfNav?.position_longitude, 7)}° (±{formatNum( + sbgData.ekfNav?.position_std_dev_longitude, + 2 + )}m) + + + Altitude + {formatNum(sbgData.ekfNav?.position_altitude, 2)} m (±{formatNum( + sbgData.ekfNav?.position_std_dev_altitude, + 2 + )}m) + + + Vel N/E/D + {formatNum(sbgData.ekfNav?.velocity_north)} / {formatNum( + sbgData.ekfNav?.velocity_east + )} / {formatNum(sbgData.ekfNav?.velocity_down)} m/s + + + + +

+ Air Data + {sbgData.air?.status ?? 'N/A'} +

+ + + + Field + Value + + + + + Timestamp + {formatTimestamp(sbgData.air?.time_stamp)} + + + Abs Pressure + {formatNum(sbgData.air?.pressure_abs, 2)} Pa + + + Altitude + {formatNum(sbgData.air?.altitude, 2)} m + + + Diff Pressure + {formatNum(sbgData.air?.pressure_diff, 2)} Pa + + + True Airspeed + {formatNum(sbgData.air?.true_airspeed, 2)} m/s + + + Temperature + {formatNum(sbgData.air?.air_temperature, 1)} °C + + + + +

+ IMU Data + {sbgData.imu?.status ?? 'N/A'} +

+ + + + Field + Value + + + + + Timestamp + {formatTimestamp(sbgData.imu?.time_stamp)} + + + Accel X/Y/Z + {formatNum(sbgData.imu?.accelerometer_x)} / {formatNum( + sbgData.imu?.accelerometer_y + )} / {formatNum(sbgData.imu?.accelerometer_z)} m/s² + + + Gyro X/Y/Z + {formatNum(sbgData.imu?.gyroscope_x)} / {formatNum(sbgData.imu?.gyroscope_y)} / {formatNum( + sbgData.imu?.gyroscope_z + )} rad/s + + + Temperature + {formatNum(sbgData.imu?.temperature, 1)} °C + + + + + + + + + i?.text ?? ''} + on:select={(e) => { + selectedMetric = e.detail.selectedItem; + connectSSE(); + }} + size="sm" + label="Metric" + /> + + + + + diff --git a/apps/ground-station-web/src/routes/sbg/api/+server.ts b/apps/ground-station-web/src/routes/sbg/api/+server.ts new file mode 100755 index 0000000..bcabc02 --- /dev/null +++ b/apps/ground-station-web/src/routes/sbg/api/+server.ts @@ -0,0 +1,220 @@ +import { getDbClient } from '$lib/server/db'; +import { json, error } from '@sveltejs/kit'; +import type { Row } from '@libsql/client'; +import type { RequestHandler } from './$types'; + +// Re-use the helper function (could be moved to a shared lib if used elsewhere too) +async function getLatestRow(tableName: string): Promise { + const db = getDbClient(); + try { + const result = await db.execute({ + sql: `SELECT * FROM ${tableName} ORDER BY time_stamp DESC LIMIT 1`, + args: [] + }); + return result.rows.length > 0 ? result.rows[0] : null; + } catch (e: any) { + console.error(`Error fetching latest row from ${tableName} for API:`, e); + return null; + } +} + +// Map of supported metrics to their safe table/column definitions +// This prevents SQL injection since table/columns are not taken directly from user input +const METRICS: Record = { + air_altitude: { table: 'SbgAir', columns: [{ key: 'altitude', label: 'Altitude (m)' }] }, + air_pressure: { + table: 'SbgAir', + columns: [ + { key: 'pressure_abs', label: 'Abs Pressure (Pa)' }, + { key: 'pressure_diff', label: 'Diff Pressure (Pa)' } + ] + }, + air_true_airspeed: { table: 'SbgAir', columns: [{ key: 'true_airspeed', label: 'True Airspeed (m/s)' }] }, + ekf_altitude: { table: 'SbgEkfNav', columns: [{ key: 'position_altitude', label: 'Altitude (m)' }] }, + gpsvel_velocity: { + table: 'SbgGpsVel', + columns: [ + { key: 'velocity_north', label: 'Vel North (m/s)' }, + { key: 'velocity_east', label: 'Vel East (m/s)' }, + { key: 'velocity_down', label: 'Vel Down (m/s)' } + ] + }, + gpsvel_course: { table: 'SbgGpsVel', columns: [{ key: 'course', label: 'Course (deg)' }] }, + imu_temperature: { table: 'SbgImu', columns: [{ key: 'temperature', label: 'IMU Temp (°C)' }] }, + imu_accel: { + table: 'SbgImu', + columns: [ + { key: 'accelerometer_x', label: 'Accel X (m/s²)' }, + { key: 'accelerometer_y', label: 'Accel Y (m/s²)' }, + { key: 'accelerometer_z', label: 'Accel Z (m/s²)' } + ] + }, + imu_gyro: { + table: 'SbgImu', + columns: [ + { key: 'gyroscope_x', label: 'Gyro X (rad/s)' }, + { key: 'gyroscope_y', label: 'Gyro Y (rad/s)' }, + { key: 'gyroscope_z', label: 'Gyro Z (rad/s)' } + ] + } +}; + +async function getMetricSeries(metric: string, minutes: number) { + const def = METRICS[metric]; + if (!def) { + throw error(400, `Unsupported metric: ${metric}`); + } + const db = getDbClient(); + const seconds = Math.max(1, Math.floor(minutes * 60)); + + // Build a SELECT that returns ts and one column per requested series + const selectCols = ['time_stamp AS ts', ...def.columns.map((c) => `${c.key} AS ${c.key}`)].join(', '); + const sql = `SELECT ${selectCols} FROM ${def.table} WHERE time_stamp >= strftime('%s','now') - ? ORDER BY time_stamp ASC`; + + const result = await db.execute({ sql, args: [seconds] }); + + // Convert rows into Carbon Charts data format: { group, date, value } + const data: Array<{ group: string; date: Date; value: number }> = []; + for (const row of result.rows) { + const ts = Number(row.ts); + for (const col of def.columns) { + const val = row[col.key] as number | null | undefined; + if (typeof val === 'number') { + data.push({ group: col.label, date: new Date(ts * 1000), value: val }); + } + } + } + + return { + metric, + table: def.table, + seriesLabels: def.columns.map((c) => c.label), + data + }; +} + +const encoder = new TextEncoder(); +const activeControllers = new Set(); +let pollIntervalId: NodeJS.Timeout | null = null; +let lastMetricPayload: any = null; +let lastSnapshotPayload: any = null; + +async function centralPoll(metric: string | null, minutes: number) { + // If metric is provided, poll metric + snapshot; otherwise only snapshot + try { + const series = metric ? await getMetricSeries(metric, minutes) : null; + const snapshot = await Promise.all([ + getLatestRow('SbgUtcTime'), + getLatestRow('SbgAir'), + getLatestRow('SbgEkfQuat'), + getLatestRow('SbgEkfNav'), + getLatestRow('SbgImu'), + getLatestRow('SbgGpsVel'), + getLatestRow('SbgGpsPos') + ]).then(([utc, air, quat, nav, imu, vel, pos]) => ({ + utcTime: utc ?? {}, + air: air ?? {}, + ekfQuat: quat ?? {}, + ekfNav: nav ?? {}, + imu: imu ?? {}, + gpsVel: vel ?? {}, + gpsPos: pos ?? {} + })); + if (series) lastMetricPayload = series; + lastSnapshotPayload = snapshot; + const chunks: Uint8Array[] = []; + if (series) chunks.push(encoder.encode(`event: metric\n` + `data: ${JSON.stringify(series)}\n\n`)); + chunks.push(encoder.encode(`event: snapshot\n` + `data: ${JSON.stringify(snapshot)}\n\n`)); + for (const c of Array.from(activeControllers)) { + try { for (const ch of chunks) c.enqueue(ch); } catch { try { c.close(); } catch { } activeControllers.delete(c); } + } + } catch (e) { + const err = encoder.encode(`event: error\n` + `data: {"message":"Failed to fetch data"}\n\n`); + for (const c of Array.from(activeControllers)) { + try { c.enqueue(err); } catch { try { c.close(); } catch { } activeControllers.delete(c); } + } + console.error('SBG central poll error:', e); + } +} + +export const GET: RequestHandler = async ({ url, request }) => { + const metric = url.searchParams.get('metric'); + const minutes = Number(url.searchParams.get('minutes') || '10'); + const useSSE = url.searchParams.get('sse') === '1'; + + if (metric && useSSE) { + const stream = new ReadableStream({ + start(controller) { + activeControllers.add(controller); + if (!pollIntervalId) { + pollIntervalId = setInterval(() => centralPoll(metric, minutes), 5000); + centralPoll(metric, minutes); + } else { + if (lastMetricPayload) controller.enqueue(encoder.encode(`event: metric\n` + `data: ${JSON.stringify(lastMetricPayload)}\n\n`)); + if (lastSnapshotPayload) controller.enqueue(encoder.encode(`event: snapshot\n` + `data: ${JSON.stringify(lastSnapshotPayload)}\n\n`)); + } + request.signal.addEventListener('abort', () => { + activeControllers.delete(controller); + try { controller.close(); } catch { } + if (activeControllers.size === 0 && pollIntervalId) { clearInterval(pollIntervalId); pollIntervalId = null; } + }); + }, + cancel() { } + }); + + return new Response(stream, { + headers: { + 'Content-Type': 'text/event-stream', + 'Cache-Control': 'no-cache, no-transform', + Connection: 'keep-alive' + } + }); + } + + if (metric) { + try { + const series = await getMetricSeries(metric, minutes); + return json(series); + } catch (e: any) { + if (e?.status && e?.body) throw e; // forward handled errors + console.error('Error fetching metric series:', e); + throw error(500, `Failed to fetch metric series: ${e.message}`); + } + } + + // Fallback: latest snapshot, preserving existing behavior + try { + const [ + latestUtcTime, + latestAir, + latestEkfQuat, + latestEkfNav, + latestImu, + latestGpsVel, + latestGpsPos + ] = await Promise.all([ + getLatestRow('SbgUtcTime'), + getLatestRow('SbgAir'), + getLatestRow('SbgEkfQuat'), + getLatestRow('SbgEkfNav'), + getLatestRow('SbgImu'), + getLatestRow('SbgGpsVel'), + getLatestRow('SbgGpsPos') + ]); + + const responseData = { + utcTime: latestUtcTime ?? {}, + air: latestAir ?? {}, + ekfQuat: latestEkfQuat ?? {}, + ekfNav: latestEkfNav ?? {}, + imu: latestImu ?? {}, + gpsVel: latestGpsVel ?? {}, + gpsPos: latestGpsPos ?? {} + }; + + return json(responseData); + } catch (e: any) { + console.error('Error in SBG API GET handler:', e); + throw error(500, `Failed to fetch SBG data: ${e.message}`); + } +}; \ No newline at end of file diff --git a/apps/ground-station-web/src/routes/services/+page.svelte b/apps/ground-station-web/src/routes/services/+page.svelte new file mode 100755 index 0000000..0c4286b --- /dev/null +++ b/apps/ground-station-web/src/routes/services/+page.svelte @@ -0,0 +1,500 @@ + + + + + +
+

Service Manager

+ View Service Logs → +
+ + + + + + + + + + Service + Status + Actions + + + + {#if !loading && services.length === 0} + + No services found + + + + {:else} + {#each services as s} + + {s.name} + + {#if s.status === 'running'} + running + {:else if s.status === 'exited'} + stopped + {:else if s.status === 'restarting'} + restarting + {:else} + unknown + {/if} + + +
+ {#if s.status === 'running'} + + {:else} + + {/if} + + +
+ + + {/each} + {/if} + +
+ + + + + + + + + i?.text ?? ''} + on:select={(e) => { + selectedService = e.detail.selectedItem?.id ?? null; + }} + size="sm" + /> + + + + + + + + + + + + + + + + + + + + + +
+ {logText} +
+ + + + + + + + + + + + diff --git a/apps/ground-station-web/src/routes/services/api/+server.ts b/apps/ground-station-web/src/routes/services/api/+server.ts new file mode 100755 index 0000000..81845ac --- /dev/null +++ b/apps/ground-station-web/src/routes/services/api/+server.ts @@ -0,0 +1,32 @@ +import { error, json } from '@sveltejs/kit'; +import { dockerRequest, listServices } from '$lib/server/services'; + +async function containerAction(service: string, action: 'start' | 'stop' | 'restart') { + let p = `/containers/${encodeURIComponent(service)}/${action}`; + if (action === 'restart') p += '?t=5'; + const res = await dockerRequest(p, 'POST'); + if (!(res.status === 204 || res.status === 304)) { + throw new Error(`Docker ${action} failed with status ${res.status}`); + } +} + +export async function GET() { + try { + const services = await listServices(); + return json(services); + } catch (e: any) { + throw error(500, e.message ?? 'Failed to list services'); + } +} + +export async function POST({ url }) { + const action = (url.searchParams.get('action') as 'start' | 'stop' | 'restart') ?? 'start'; + const service = url.searchParams.get('service'); + if (!service) throw error(400, 'service is required'); + try { + await containerAction(service, action); + return new Response(null, { status: 204 }); + } catch (e: any) { + throw error(500, e.message ?? 'Operation failed'); + } +} diff --git a/apps/ground-station-web/src/routes/services/logs/+page.svelte b/apps/ground-station-web/src/routes/services/logs/+page.svelte new file mode 100755 index 0000000..275df85 --- /dev/null +++ b/apps/ground-station-web/src/routes/services/logs/+page.svelte @@ -0,0 +1,343 @@ + + + + + +

Service Logs

+

View and stream logs from Docker services

+ + + + {#if errorMsg} + + + + + + {/if} + + + + +

Configuration

+ + i?.text ?? ''} + on:select={(e) => onServiceChange(e.detail.selectedItem?.id ?? '')} + size="sm" + disabled={loading} + /> + + + + + +
+ + + +
+ +
+ + + +
+ + {#if selectedService} +
+ + Service: {selectedService} + + {#if streaming} + Streaming + {/if} +
+ {/if} + + + + + +
+

Logs

+ {#if streaming} + + {/if} +
+ + {#if !selectedService} +
+ Select a service to view logs +
+ {:else if !logText && !streaming} +
+ Click "Get Logs" to fetch logs or "Start Stream" for real-time logs +
+ {:else} +
+ + {logText || 'Connecting to stream...'} + +
+ {/if} + + + + + + + + diff --git a/apps/ground-station-web/src/routes/services/logs/api/+server.ts b/apps/ground-station-web/src/routes/services/logs/api/+server.ts new file mode 100755 index 0000000..421b0f7 --- /dev/null +++ b/apps/ground-station-web/src/routes/services/logs/api/+server.ts @@ -0,0 +1,93 @@ +import { error } from '@sveltejs/kit'; +import http from 'node:http'; + +const DOCKER_SOCKET = '/var/run/docker.sock'; + +function dockerRequest(path: string): Promise<{ status: number; text: () => Promise; ok: boolean; }> { + return new Promise((resolve, reject) => { + const req = http.request({ + socketPath: DOCKER_SOCKET, + path, + method: 'GET' + }, (res) => { + const chunks: Buffer[] = []; + res.on('data', (c) => chunks.push(Buffer.isBuffer(c) ? c : Buffer.from(c))); + res.on('end', () => { + const buf = Buffer.concat(chunks); + const status = res.statusCode ?? 500; + resolve({ + status, + ok: status >= 200 && status < 300, + text: async () => buf.toString('utf8') + }); + }); + }); + req.on('error', reject); + req.end(); + }); +} + +async function getContainerLogs(containerName: string, tail: string, grep?: string): Promise { + try { + // First, get container info to find the container ID + const containersRes = await dockerRequest('/containers/json?all=true'); + if (!containersRes.ok) { + throw new Error(`Failed to list containers: ${containersRes.status}`); + } + + const containers = JSON.parse(await containersRes.text()); + const container = containers.find((c: any) => + c.Names?.some((name: string) => name.includes(containerName)) || + c.Labels?.['com.docker.compose.service'] === containerName + ); + + if (!container) { + throw new Error(`Container not found: ${containerName}`); + } + + // Get logs from the container + const logsRes = await dockerRequest(`/containers/${container.Id}/logs?stdout=1&stderr=1&tail=${tail}×tamps=0`); + if (!logsRes.ok) { + throw new Error(`Failed to get logs: ${logsRes.status}`); + } + + let logs = await logsRes.text(); + + // Apply grep filter if specified + if (grep) { + try { + const grepRegex = new RegExp(grep, 'i'); + logs = logs.split('\n').filter(line => grepRegex.test(line)).join('\n'); + } catch (e) { + throw new Error('Invalid regex pattern'); + } + } + + return logs; + } catch (e: any) { + throw new Error(`Failed to get container logs: ${e.message}`); + } +} + +export async function GET({ url }) { + const service = url.searchParams.get('service'); + const tail = url.searchParams.get('tail') || '50'; + const grep = url.searchParams.get('grep'); + + if (!service) { + throw error(400, 'service parameter is required'); + } + + try { + const logs = await getContainerLogs(service, tail, grep || undefined); + + return new Response(logs, { + headers: { + 'Content-Type': 'text/plain; charset=utf-8' + } + }); + } catch (e: any) { + console.error('Error fetching logs:', e); + throw error(500, e.message || 'Failed to fetch logs'); + } +} diff --git a/apps/ground-station-web/src/routes/services/logs/stream/+server.ts b/apps/ground-station-web/src/routes/services/logs/stream/+server.ts new file mode 100755 index 0000000..a58b976 --- /dev/null +++ b/apps/ground-station-web/src/routes/services/logs/stream/+server.ts @@ -0,0 +1,235 @@ +// src/routes/logs/+server.ts +import { error } from '@sveltejs/kit'; +import http from 'node:http'; + +const DOCKER_SOCKET = '/var/run/docker.sock'; + +function dockerRequestStream(path: string): Promise<{ status: number; stream: NodeJS.ReadableStream; ok: boolean; }> { + return new Promise((resolve, reject) => { + const req = http.request({ + socketPath: DOCKER_SOCKET, + path, + method: 'GET' + }, (res) => { + const status = res.statusCode ?? 500; + resolve({ + status, + ok: status >= 200 && status < 300, + stream: res + }); + }); + req.on('error', reject); + req.end(); + }); +} + +async function findContainer(containerName: string): Promise { + // First, get container info to find the container ID + const containersRes = await new Promise<{ status: number; text: () => Promise; ok: boolean; }>((resolve, reject) => { + const req = http.request({ + socketPath: DOCKER_SOCKET, + path: '/containers/json?all=true', + method: 'GET' + }, (res) => { + const chunks: Buffer[] = []; + res.on('data', (c) => chunks.push(Buffer.isBuffer(c) ? c : Buffer.from(c))); + res.on('end', () => { + const buf = Buffer.concat(chunks); + const status = res.statusCode ?? 500; + resolve({ + status, + ok: status >= 200 && status < 300, + text: async () => buf.toString('utf8') + }); + }); + }); + req.on('error', reject); + req.end(); + }); + + if (!containersRes.ok) { + throw new Error(`Failed to list containers: ${containersRes.status}`); + } + + const containers = JSON.parse(await containersRes.text()); + const container = containers.find((c: any) => + c.Names?.some((name: string) => name.includes(containerName)) || + c.Labels?.['com.docker.compose.service'] === containerName + ); + + if (!container) { + throw new Error(`Container not found: ${containerName}`); + } + + return container.Id; +} + +export async function GET({ url }) { + const service = url.searchParams.get('service'); + const tail = url.searchParams.get('tail') || '50'; + const grep = url.searchParams.get('grep'); + + if (!service) { + throw error(400, 'service parameter is required'); + } + + // Set up Server-Sent Events with true real-time streaming + const stream = new ReadableStream({ + start(controller) { + let isControllerClosed = false; + let dockerStream: any = null; + + // Safe function to enqueue data + const safeEnqueue = (data: string) => { + if (!isControllerClosed && controller.desiredSize !== null) { + try { + controller.enqueue(new TextEncoder().encode(data)); + } catch (e) { + console.error('Error enqueueing data:', e); + isControllerClosed = true; + } + } + }; + + // Safe function to close controller + const safeClose = () => { + if (!isControllerClosed) { + try { + isControllerClosed = true; + controller.close(); + } catch (e) { + console.error('Error closing controller:', e); + } + } + }; + + // Set a timeout to prevent hanging streams + const timeoutId = setTimeout(() => { + if (!isControllerClosed) { + console.log('Log stream timeout reached, closing'); + safeEnqueue(`data: ${JSON.stringify({ type: 'error', line: 'Stream timeout reached' })}\n\n`); + safeClose(); + } + }, 300000); // 5 minutes timeout + + // Send heartbeat every 30 seconds to keep connection alive + const heartbeatId = setInterval(() => { + if (!isControllerClosed) { + safeEnqueue(`data: ${JSON.stringify({ type: 'heartbeat', timestamp: Date.now() })}\n\n`); + } + }, 30000); + + // Cleanup function + const cleanup = () => { + // Clear timeout + if (timeoutId) { + clearTimeout(timeoutId); + } + + // Clear heartbeat + if (heartbeatId) { + clearInterval(heartbeatId); + } + + // Close Docker stream if open + if (dockerStream && !dockerStream.destroyed) { + try { + dockerStream.destroy(); + } catch (e) { + console.error('Error destroying Docker stream:', e); + } + } + + safeClose(); + }; + + // Start streaming process + (async () => { + try { + // Send initial connection message + safeEnqueue(`data: ${JSON.stringify({ type: 'connected', message: 'Connected to log stream' })}\n\n`); + + // Find the container + const containerId = await findContainer(service); + safeEnqueue(`data: ${JSON.stringify({ type: 'info', line: `Found container: ${containerId}` })}\n\n`); + + // Get logs stream from the container with follow=1 for real-time streaming + const logsRes = await dockerRequestStream(`/containers/${containerId}/logs?stdout=1&stderr=1&tail=${tail}×tamps=0&follow=1`); + + if (!logsRes.ok) { + throw new Error(`Failed to get logs: ${logsRes.status}`); + } + + dockerStream = logsRes.stream; + + // Create regex filter if specified + let filter: RegExp | null = null; + if (grep) { + try { + filter = new RegExp(grep, 'i'); + } catch (e) { + safeEnqueue(`data: ${JSON.stringify({ type: 'error', line: 'Invalid regex pattern, using literal search' })}\n\n`); + // Fallback to literal search + const needle = grep.toLowerCase(); + filter = new RegExp(needle.replace(/[.*+?^${}()|[\]\\]/g, '\\$&'), 'i'); + } + } + + // Stream logs in real-time + dockerStream.on('data', (chunk: Buffer) => { + if (isControllerClosed) return; + + const lines = chunk.toString().split('\n').filter(line => line.trim()); + + for (const line of lines) { + if (isControllerClosed) break; + + // Apply filter if specified + if (filter && !filter.test(line)) continue; + + // Send the log line as an SSE event + safeEnqueue(`data: ${JSON.stringify({ type: 'log', line })}\n\n`); + } + }); + + // Handle stream end + dockerStream.on('end', () => { + if (!isControllerClosed) { + safeEnqueue(`data: ${JSON.stringify({ type: 'closed', code: 0 })}\n\n`); + cleanup(); + } + }); + + // Handle stream errors + dockerStream.on('error', (err: Error) => { + if (!isControllerClosed) { + console.error('Docker stream error:', err); + safeEnqueue(`data: ${JSON.stringify({ type: 'error', line: err.message })}\n\n`); + cleanup(); + } + }); + + } catch (e: any) { + if (!isControllerClosed) { + console.error('Error setting up log stream:', e); + safeEnqueue(`data: ${JSON.stringify({ type: 'error', line: e.message })}\n\n`); + cleanup(); + } + } + })(); + + // Handle client disconnect + url.searchParams.get('_disconnect') && cleanup(); + } + }); + + return new Response(stream, { + headers: { + 'Content-Type': 'text/event-stream', + 'Cache-Control': 'no-cache', + 'Connection': 'keep-alive', + 'Access-Control-Allow-Origin': '*', + 'Access-Control-Allow-Headers': 'Cache-Control' + } + }); +} diff --git a/apps/ground-station-web/src/routes/settings/+page.svelte b/apps/ground-station-web/src/routes/settings/+page.svelte new file mode 100644 index 0000000..2ade3b3 --- /dev/null +++ b/apps/ground-station-web/src/routes/settings/+page.svelte @@ -0,0 +1,103 @@ + + +Settings | RGS + +
+
+
+

Settings

+
LOCAL OPERATOR PREFERENCES
+
+ +
+ + {#each settings as group} +
+

{format(group.name)}

+
+ {#each group.settings as setting} + {@const Component = componentFor(setting.valueDescription)} +
+
+ {format(setting.name)} +

{setting.description ?? 'No description available'}

+
+
+
+ {/each} +
+
+ {/each} +
+ + diff --git a/apps/ground-station-web/src/routes/settings/components/BooleanSetting.svelte b/apps/ground-station-web/src/routes/settings/components/BooleanSetting.svelte new file mode 100755 index 0000000..e182218 --- /dev/null +++ b/apps/ground-station-web/src/routes/settings/components/BooleanSetting.svelte @@ -0,0 +1,17 @@ + + + diff --git a/apps/ground-station-web/src/routes/settings/components/EnumSetting.svelte b/apps/ground-station-web/src/routes/settings/components/EnumSetting.svelte new file mode 100755 index 0000000..f4d6edd --- /dev/null +++ b/apps/ground-station-web/src/routes/settings/components/EnumSetting.svelte @@ -0,0 +1,25 @@ + + + diff --git a/apps/ground-station-web/src/routes/settings/components/NumberSetting.svelte b/apps/ground-station-web/src/routes/settings/components/NumberSetting.svelte new file mode 100755 index 0000000..b3a8216 --- /dev/null +++ b/apps/ground-station-web/src/routes/settings/components/NumberSetting.svelte @@ -0,0 +1,26 @@ + + + diff --git a/apps/ground-station-web/src/routes/settings/components/StringSetting.svelte b/apps/ground-station-web/src/routes/settings/components/StringSetting.svelte new file mode 100755 index 0000000..502b925 --- /dev/null +++ b/apps/ground-station-web/src/routes/settings/components/StringSetting.svelte @@ -0,0 +1,23 @@ + + + diff --git a/apps/ground-station-web/src/routes/settings/components/UnsupportedSetting.svelte b/apps/ground-station-web/src/routes/settings/components/UnsupportedSetting.svelte new file mode 100755 index 0000000..13332df --- /dev/null +++ b/apps/ground-station-web/src/routes/settings/components/UnsupportedSetting.svelte @@ -0,0 +1,14 @@ + + +
+ {setting.valueDescription.toUpperCase()} + {setting.description} (Not Implemented) +
diff --git a/apps/ground-station-web/src/routes/state/+page.svelte b/apps/ground-station-web/src/routes/state/+page.svelte new file mode 100755 index 0000000..9e50908 --- /dev/null +++ b/apps/ground-station-web/src/routes/state/+page.svelte @@ -0,0 +1,276 @@ + + + + Flight State + + +
+
+
+

Flight State

+
STATE MACHINE AND EVENT TRANSITIONS
+
+
+ {connected ? 'LIVE' : (error ?? 'CONNECTING')} +
+
+ +
+
+ CURRENT{items.find((item) => item.kind === 'State')?.value ?? 'NO STATE'} +
+
+ LATEST EVENT{items.find((item) => item.kind === 'Event')?.value ?? 'NO EVENT'} +
+
+ LAST UPDATE{items[0] ? formatTs(items[0].ts) : 'WAITING'} +
+
+ +
+
+

Transition Timeline

+
+ {#each ['All', 'State', 'Event'] as option} + + {/each} +
+
+ {#if visibleItems.length} +
    + {#each visibleItems as item, index (getUniqueKey(item, index))} +
  1. + + {item.kind} + {item.value} + + {formatDuration(item.duration_s)} +
    2. + {/each} +
+ {:else}
NO TRANSITIONS RECEIVED
{/if} +
+
+ + diff --git a/apps/ground-station-web/src/routes/state/api/+server.ts b/apps/ground-station-web/src/routes/state/api/+server.ts new file mode 100755 index 0000000..f08444a --- /dev/null +++ b/apps/ground-station-web/src/routes/state/api/+server.ts @@ -0,0 +1,160 @@ +import { getDbClient } from '$lib/server/db'; +import type { RequestHandler } from './$types'; + +type Row = { id: number; kind: 'State' | 'Event'; value: string; ts: number | null; duration_s: number | null }; + +// Central SSE state +const encoder = new TextEncoder(); +const activeControllers: Set = new Set(); +let pollIntervalId: NodeJS.Timeout | null = null; +let lastBroadcastStateId: number | null = null; +let lastBroadcastEventId: number | null = null; + +async function getLatest(kind: 'State' | 'Event'): Promise { + const db = getDbClient(); + // Use Phoenix* tables + const table = kind === 'State' ? 'PhoenixState' : 'PhoenixEvent'; + const column = kind === 'State' ? 'state' : 'event'; + const dataType = kind === 'State' ? 'PhoenixState' : 'PhoenixEvent'; + try { + const res = await db.execute({ + sql: `SELECT t.id AS id, t.${column} AS value, rf.timestamp_epoch AS ts + FROM ${table} t + JOIN RadioFrame rf ON rf.data_id = t.id AND rf.data_type = '${dataType}' + ORDER BY rf.timestamp_epoch DESC + LIMIT 1`, + args: [] + }); + if (res.rows.length) { + const r = res.rows[0]; + const tsNum = r.ts ? Number(r.ts) : null; + const now = Math.floor(Date.now() / 1000); + const duration = tsNum != null ? Math.max(0, now - tsNum) : null; + return { id: Number(r.id), kind, value: String(r.value), ts: tsNum, duration_s: duration }; + } + } catch (e) { + console.error(`${kind} API: join query failed, falling back`, e); + } + try { + const res2 = await db.execute({ + sql: `SELECT id, ${column} AS value FROM ${table} ORDER BY id DESC LIMIT 1`, + args: [] + }); + if (res2.rows.length) { + const r = res2.rows[0]; + return { id: Number(r.id), kind, value: String(r.value), ts: null, duration_s: null }; + } + } catch (e) { + console.error(`${kind} API: fallback latest query failed`, e); + } + return null; +} + +async function getSnapshot(limit = 50): Promise { + const db = getDbClient(); + try { + // Only transitions (changes) for state and event using window LAG over time + const stateRes = await db.execute({ + sql: `WITH ordered AS ( + SELECT ps.id AS id, + ps.state AS value, + rf.timestamp_epoch AS ts, + LAG(ps.state) OVER (ORDER BY rf.timestamp_epoch ASC) AS prev_value, + LEAD(rf.timestamp_epoch) OVER (ORDER BY rf.timestamp_epoch ASC) AS next_ts + FROM PhoenixState ps + JOIN RadioFrame rf ON rf.data_id = ps.id AND rf.data_type = 'PhoenixState' + ) + SELECT id, value, ts, + COALESCE(next_ts, strftime('%s','now')) - ts AS duration_s, + 'State' AS kind + FROM ordered + WHERE prev_value IS NULL OR value <> prev_value + ORDER BY ts DESC + LIMIT ?`, + args: [limit] + }); + const eventRes = await db.execute({ + sql: `WITH ordered AS ( + SELECT pe.id AS id, + pe.event AS value, + rf.timestamp_epoch AS ts, + LAG(pe.event) OVER (ORDER BY rf.timestamp_epoch ASC) AS prev_value, + LEAD(rf.timestamp_epoch) OVER (ORDER BY rf.timestamp_epoch ASC) AS next_ts + FROM PhoenixEvent pe + JOIN RadioFrame rf ON rf.data_id = pe.id AND rf.data_type = 'PhoenixEvent' + ) + SELECT id, value, ts, + COALESCE(next_ts, strftime('%s','now')) - ts AS duration_s, + 'Event' AS kind + FROM ordered + WHERE prev_value IS NULL OR value <> prev_value + ORDER BY ts DESC + LIMIT ?`, + args: [limit] + }); + const toRow = (r: any) => ({ id: Number(r.id), kind: r.kind as 'State' | 'Event', value: String(r.value), ts: r.ts ? Number(r.ts) : null, duration_s: r.duration_s != null ? Number(r.duration_s) : null }); + return [...stateRes.rows.map(toRow), ...eventRes.rows.map(toRow)] + .sort((a, b) => (b.ts ?? 0) - (a.ts ?? 0)) + .slice(0, limit); + } catch (e) { + console.error('State API snapshot failed', e); + return []; + } +} + +function ensurePoller() { + if (pollIntervalId) return; + pollIntervalId = setInterval(async () => { + try { + const [s, e] = await Promise.all([getLatest('State'), getLatest('Event')]); + const newRows: Row[] = []; + if (s && (lastBroadcastStateId === null || s.id !== lastBroadcastStateId)) { + lastBroadcastStateId = s.id; + newRows.push(s); + } + if (e && (lastBroadcastEventId === null || e.id !== lastBroadcastEventId)) { + lastBroadcastEventId = e.id; + newRows.push(e); + } + if (newRows.length) { + newRows.sort((a, b) => (b.ts ?? 0) - (a.ts ?? 0)); + const payload = JSON.stringify(newRows); + const chunk = encoder.encode(`event: append\n` + `data: ${payload}\n\n`); + for (const c of Array.from(activeControllers)) { + try { c.enqueue(chunk); } catch { try { c.close(); } catch { } activeControllers.delete(c); } + } + } + } catch (e) { + // ignore single tick failures + } + }, 1000); +} + +export const GET: RequestHandler = async ({ request }) => { + const stream = new ReadableStream({ + start(controller) { + activeControllers.add(controller); + ensurePoller(); + // Initial snapshot for quick render + getSnapshot(50) + .then((rows) => controller.enqueue(encoder.encode(`event: snapshot\n` + `data: ${JSON.stringify(rows)}\n\n`))) + .catch(() => { }); + request.signal.addEventListener('abort', () => { + activeControllers.delete(controller); + try { controller.close(); } catch { } + if (activeControllers.size === 0 && pollIntervalId) { clearInterval(pollIntervalId); pollIntervalId = null; } + }); + }, + cancel() { + // best-effort cleanup + } + }); + + return new Response(stream, { + headers: { + 'Content-Type': 'text/event-stream', + 'Cache-Control': 'no-cache, no-transform', + Connection: 'keep-alive' + } + }); +}; diff --git a/apps/ground-station-web/src/routes/trajectory/+page.svelte b/apps/ground-station-web/src/routes/trajectory/+page.svelte new file mode 100755 index 0000000..b347dad --- /dev/null +++ b/apps/ground-station-web/src/routes/trajectory/+page.svelte @@ -0,0 +1,374 @@ + + +
+ +
+
+

Trajectory

+
+ + + {#if latest} + Lat: {latest.lat.toFixed(6)} + Lon: {latest.lon.toFixed(6)} + {#if latest.lat_acc != null}Lat σ: {latest.lat_acc.toFixed(2)}°{/if} + {#if latest.lon_acc != null}Lon σ: {latest.lon_acc.toFixed(2)}°{/if} + {#if latest.num_sv_used != null} + SV used: {latest.num_sv_used} + {/if} + {/if} +
+
+
+ +
+
+ + {#if connected} + + {:else} + + {/if} +
+
+ {#if error} + + {/if} + + +
+
+ + diff --git a/apps/ground-station-web/src/routes/trajectory/api/+server.ts b/apps/ground-station-web/src/routes/trajectory/api/+server.ts new file mode 100755 index 0000000..055d31e --- /dev/null +++ b/apps/ground-station-web/src/routes/trajectory/api/+server.ts @@ -0,0 +1,140 @@ +import { getDbClient } from '$lib/server/db'; +import { json, error } from '@sveltejs/kit'; +import type { RequestHandler } from './$types'; + +const DEFAULT_CENTER = { lat: 47.986877, lon: -81.848765 }; +const DEFAULT_RADIUS_KM = 50; + +function computeBoundingBox(lat: number, lon: number, radiusKm: number) { + const latDelta = radiusKm / 111.32; // degrees + const cosLat = Math.cos((lat * Math.PI) / 180); + const lonDelta = radiusKm / (111.32 * Math.max(0.0001, cosLat)); + return { + minLat: lat - latDelta, + maxLat: lat + latDelta, + minLon: lon - lonDelta, + maxLon: lon + lonDelta + }; +} + +async function getLatest(lat: number, lon: number, radiusKm: number) { + const db = getDbClient(); + const { minLat, maxLat, minLon, maxLon } = computeBoundingBox(lat, lon, radiusKm); + const res = await db.execute({ + sql: + "SELECT rf.timestamp_epoch AS ts, p.latitude AS lat, p.longitude AS lon, p.latitude_accuracy AS lat_acc, p.longitude_accuracy AS lon_acc, p.num_sv_used AS num_sv_used FROM RadioFrame rf JOIN SbgGpsPos p ON rf.data_type = 'SbgGpsPos' AND rf.data_id = p.id WHERE p.latitude IS NOT NULL AND p.longitude IS NOT NULL AND p.latitude != 0 AND p.longitude != 0 AND p.latitude BETWEEN ? AND ? AND p.longitude BETWEEN ? AND ? ORDER BY rf.timestamp_epoch DESC LIMIT 1", + args: [minLat, maxLat, minLon, maxLon] + }); + const row: any = res.rows[0] ?? null; + if (!row) return null; + return { + ts: Number(row.ts), + lat: Number(row.lat), + lon: Number(row.lon), + lat_acc: row.lat_acc != null ? Number(row.lat_acc) : null, + lon_acc: row.lon_acc != null ? Number(row.lon_acc) : null, + num_sv_used: row.num_sv_used != null ? Number(row.num_sv_used) : null + }; +} + +async function getSeries(minutes: number, maxPoints: number, lat: number, lon: number, radiusKm: number) { + const db = getDbClient(); + const seconds = Math.max(1, Math.floor(minutes * 60)); + const targetPoints = Math.max(50, Math.floor(maxPoints)); + const bucketSizeSec = Math.max(1, Math.ceil(seconds / targetPoints)); + const { minLat, maxLat, minLon, maxLon } = computeBoundingBox(lat, lon, radiusKm); + + // Less distracting decimation: choose the last point within each time bucket + const res = await db.execute({ + sql: + "WITH cte AS (" + + " SELECT CAST(rf.timestamp_epoch / ? AS INTEGER) * ? AS bucket_ts, rf.timestamp_epoch AS ts, p.latitude AS lat, p.longitude AS lon" + + " FROM RadioFrame rf JOIN SbgGpsPos p ON rf.data_type = 'SbgGpsPos' AND rf.data_id = p.id" + + " WHERE rf.timestamp_epoch >= strftime('%s','now') - ?" + + " AND p.latitude IS NOT NULL AND p.longitude IS NOT NULL AND p.latitude != 0 AND p.longitude != 0" + + " AND p.latitude BETWEEN ? AND ? AND p.longitude BETWEEN ? AND ?" + + ") SELECT c1.bucket_ts AS bucket_ts, c1.lat AS lat, c1.lon AS lon" + + " FROM cte c1 JOIN (SELECT bucket_ts, MAX(ts) AS mts FROM cte GROUP BY bucket_ts) c2" + + " ON c1.bucket_ts = c2.bucket_ts AND c1.ts = c2.mts" + + " ORDER BY c1.bucket_ts ASC", + args: [bucketSizeSec, bucketSizeSec, seconds, minLat, maxLat, minLon, maxLon] + }); + + const points = (res.rows as any[]).map((r) => ({ + ts: Number((r as any).bucket_ts), + lat: Number((r as any).lat), + lon: Number((r as any).lon) + })); + return { points }; +} + +export const GET: RequestHandler = async ({ url, request }) => { + const minutes = Number(url.searchParams.get('minutes') || '240'); + const maxPoints = Number(url.searchParams.get('max_points') || '3000'); + const lat = Number(url.searchParams.get('lat') || String(DEFAULT_CENTER.lat)); + const lon = Number(url.searchParams.get('lon') || String(DEFAULT_CENTER.lon)); + const radiusKm = Number(url.searchParams.get('radius_km') || String(DEFAULT_RADIUS_KM)); + const useSSE = url.searchParams.get('sse') === '1'; + + if (!Number.isFinite(lat) || !Number.isFinite(lon) || !Number.isFinite(radiusKm)) { + throw error(400, 'Invalid lat/lon/radius'); + } + + if (useSSE) { + let cancelled = false; + let intervalId: any; + const stream = new ReadableStream({ + start(controller) { + const encoder = new TextEncoder(); + function sendEvent(event: string, payload: unknown) { + if (cancelled) return; + const data = typeof payload === 'string' ? payload : JSON.stringify(payload); + const chunk = `event: ${event}\n` + `data: ${data}\n\n`; + controller.enqueue(encoder.encode(chunk)); + } + const push = async () => { + if (cancelled) return; + try { + const [latest, series] = await Promise.all([ + getLatest(lat, lon, radiusKm), + getSeries(minutes, maxPoints, lat, lon, radiusKm) + ]); + sendEvent('trajectory', { latest, series, center: { lat, lon }, radius_km: radiusKm }); + } catch (e) { + console.error('Trajectory SSE push error:', e); + sendEvent('error', { message: 'Failed to fetch trajectory data' }); + } + }; + push(); + intervalId = setInterval(push, 5000); + request.signal.addEventListener('abort', () => { + cancelled = true; + clearInterval(intervalId); + }); + }, + cancel() { + cancelled = true; + if (intervalId) clearInterval(intervalId); + } + }); + + return new Response(stream, { + headers: { + 'Content-Type': 'text/event-stream', + 'Cache-Control': 'no-cache, no-transform', + Connection: 'keep-alive' + } + }); + } + + try { + const [latest, series] = await Promise.all([ + getLatest(lat, lon, radiusKm), + getSeries(minutes, maxPoints, lat, lon, radiusKm) + ]); + return json({ latest, series, center: { lat, lon }, radius_km: radiusKm }); + } catch (e: any) { + console.error('Trajectory API GET error:', e); + throw error(500, `Failed to fetch trajectory data: ${e.message}`); + } +}; diff --git a/apps/ground-station-web/static/.well-known/appspecific/com.chrome.devtools.json 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