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gpsd support (#97)

Browse source 
As the branch mlat-gps but with some latest changes.
Also rebased on main.
This commit is contained in:
kx1t 2024-06-07 14:40:20 -04:00 committed by GitHub
commit ba6eb7bc1e
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6 changed files with 249 additions and 20 deletions
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1
.hadolint.yaml
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@ -4,3 +4,4 @@ ignored:
- DL3008
- SC3054
- SC3044
- DL3015

4
Dockerfile
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@ -43,6 +43,10 @@ RUN TEMP_PACKAGES=() && \
ln -s /usr/local/bin/mlat-client /usr/bin/mlat-client && \
popd && \
rm -rf /git && \
# Compile distance binary
curl -sSL https://raw.githubusercontent.com/sdr-enthusiasts/docker-adsb-ultrafeeder/main/downloads/distance-in-meters.c -o /distance-in-meters.c && \
gcc -static /distance-in-meters.c -o /usr/local/bin/distance -lm -Ofast && \
rm -f /distance-in-meters.c && \
#
# Clean up and install POST_PACKAGES:
apt-get remove -q -y "${TEMP_PACKAGES[@]}" && \

76
README.md
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@ -38,6 +38,9 @@
- [Configuring the Core Temperature graphs](#configuring-the-core-temperature-graphs)
- [Reducing Disk IO for Graphs1090](#reducing-disk-io-for-graphs1090)
- [`timelapse1090` Configuration](#timelapse1090-configuration)
- [Updating your location with GPSD](#updating-your-location-with-gpsd)
- [Basic Installation and Configuration of your GPS hardware and `gpsd` drivers](#basic-installation-and-configuration-of-your-gps-hardware-and-gpsd-drivers)
- [Optional parameters regulating the restart of `mlat-client` when the location changes](#optional-parameters-regulating-the-restart-of-mlat-client-when-the-location-changes)
- [Web Pages](#web-pages)
- [Paths](#paths)
- [Display of Metrix with Grafana and Prometheus/InfluxDB](#display-of-metrix-with-grafana-and-prometheusinfluxdb)
@ -728,6 +731,79 @@ Legacy: **We recommend AGAINST enabling this feature** as it has been replaced w
| `TIMELAPSE1090_INTERVAL` | Snapshot interval in seconds | `10` |
| `TIMELAPSE1090_HISTORY` | Time saved in hours | `24` |
## Updating your location with GPSD
This feature enables you to deploy Ultrafeeder while you are moving around. It will read your current longitude/latitude/altitude from a GPS unit that is connected to `gpsd` on your host system, and ensure that the map will show your current location. It will also restart any `mlat-client` instances once it detects that you moved from your previous location.
### Basic Installation and Configuration of your GPS hardware and `gpsd` drivers
The simplest way of getting this to work is to acquire a ["VK163" USB GPS "Mouse"](https://a.co/d/0D7Tj0n), similar to the one in the link. You can connect this mouse to any USB port on your machine.
For this to work, you should install and configure GPSD to work on your host machine. The `DEVICES` parameter is probably correct as shown below, but you may want to double-check that data is received on that device (`cat /dev/ttyACM0`) and adjust it if needed:
```bash
sudo apt update && sudo apt install -y gpsd
cat < EOM | sudo tee /etc/default/gpsd
# Devices gpsd should collect to at boot time.
# They need to be read/writeable, either by user gpsd or the group dialout.
DEVICES="/dev/ttyACM0"
# Other options you want to pass to gpsd
GPSD_OPTIONS="-G"
# Automatically hot add/remove USB GPS devices via gpsdctl
USBAUTO="true"
EOM
cat < EOM | sudo tee /lib/systemd/system/gpsd.socket
[Unit]
Description=GPS (Global Positioning System) Daemon Sockets
[Socket]
ListenStream=/run/gpsd.sock
ListenStream=[::]:2947
ListenStream=0.0.0.0:2947
SocketMode=0600
BindIPv6Only=yes
[Install]
WantedBy=sockets.target
EOM
sudo systemctl daemon-reload
sudo systemctl restart gpsd gpsd.socket
```
Then, you can add the following values to `ultrafeeder` service settings in `docker-compose.yml`:
```yaml
services:
...
ultrafeeder:
...
extra_hosts:
- "host.docker.internal:host-gateway"
...
environment:
ULTRAFEEDER-CONFIG=
gpsd,host.docker.internal,2947;
...
```
Finally, restart the container with `docker compose up -d`
This will:
- install and configure `gpsd` (`/etc/default/gpsd`) so it makes GPS data available on the default TCP port 2947 of your host system
- configure the ultrafeeder docker container to read GPSD data
- configure the ultrafeeder container so the hostname `host.docker.internal` always resolves to the IP address of the underlying machine (where `gpsd` is running)
### Optional parameters regulating the restart of `mlat-client` when the location changes
The following parameters are all optional and are subject to change. You don't need to set them unless you want to change the default behavior:
| Environment Variable | Purpose | Default |
| -------------------- | ------- | ------- |
| `GPSD_MIN_DISTANCE` | Distance (in meters) that your station must move before it's considered moving (maximum 40 meters) | `20` (meters) |
| `GPSD_MLAT_WAIT` | The wait period (in seconds) your station must be stationary before mlat is started (minimum 90 seconds) | `90` (seconds) |
| `GPSD_CHECK_INTERVAL` | How often the container checks for updated location information. (minimum 5 seconds) | `30` (seconds) |
## Web Pages
If you have configured the container as described above, you should be able to browse to the following web pages:

171
rootfs/etc/s6-overlay/scripts/mlat-client
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@ -1,5 +1,5 @@
#!/command/with-contenv bash
# shellcheck shell=bash disable=SC1091,SC2015,SC2016
# shellcheck shell=bash disable=SC1091,SC2015,SC2016,SC2001
#---------------------------------------------------------------------------------------------
# Copyright (C) 2023-2024, Ramon F. Kolb (kx1t) and contributors
@ -51,18 +51,84 @@ then
exec sleep infinity
fi
if [[ -z "$LAT$READSB_LAT" ]]; then
"${s6wrap[@]}" --args echo "ERROR: READSB_LAT or LAT must be defined - MLAT will be disabled."
exec sleep infinity
fi
function check_gpsd() {
if (( GPSD == 0 )) || ! [[ -f /run/readsb/gpsd.json ]]; then
return 1
fi
if new_lat="$(jq -r .lat /run/readsb/gpsd.json)" \
&& [[ "$new_lat" != "null" ]] \
&& new_lon="$(jq -r .lon /run/readsb/gpsd.json)" \
&& [[ "$new_lon" != "null" ]] \
&& new_alt="$(jq -r .altMSL /run/readsb/gpsd.json)" \
&& [[ "$new_alt" != "null" ]] \
if [[ -z "$LONG$READSB_LON" ]]; then
"${s6wrap[@]}" --args echo "ERROR: READSB_LON or LONG must be defined - MLAT will be disabled."
exec sleep infinity
fi
if [[ -z "$ALT$READSB_ALT" ]]; then
"${s6wrap[@]}" --args echo "ERROR: READSB_ALT or ALT must be defined - MLAT will be disabled."
exec sleep infinity
then
# yay, vars are set and not null
return 0
else
new_lat=""
new_lon=""
new_alt=""
return 1
fi
}
GPSD=0
if grep -qs "gpsd" <<< "$ULTRAFEEDER_CONFIG" || grep -qs "gpsd" <<< "$ULTRAFEEDER_NET_CONNECTOR"; then
GPSD=1
LOCATION_PERSIST=/var/globe_history/gpsd_last_location
if [[ -f "$LOCATION_PERSIST" ]]; then
read new_lat new_lon new_alt < "$LOCATION_PERSIST"
fi
# initialize "old" location for gpsd movement detection
# use zero island as starting point if location persist does not exit
old_lat=${new_lat:-0}
old_lon=${new_lon:-0}
# wait for gpsd to continue with startup
"${s6wrap[@]}" --args echo "GPSD configured, waiting for gpsd to provide location data"
while ! check_gpsd; do
sleep "${GPSD_CHECK_INTERVAL:-30}" & wait $!
done
"${s6wrap[@]}" --args echo "GPSD has provided location data"
GPSD_MIN_DISTANCE="${GPSD_MIN_DISTANCE:-20}"
# enforce gpsd min distance is no larger than 40m
if (( GPSD_MIN_DISTANCE > 40 )); then
GPSD_MIN_DISTANCE=40
fi
GPSD_CHECK_INTERVAL="${GPSD_CHECK_INTERVAL:-30}"
if (( GPSD_CHECK_INTERVAL < 5 )); then
GPSD_CHECK_INTERVAL=5
fi
# in seconds
no_movement_required=${GPSD_MLAT_WAIT:-90}
# enforce it to be longer than the checking interval for implementation reasons
if (( no_movement_required < GPSD_CHECK_INTERVAL )); then
no_movement_required="${GPSD_CHECK_INTERVAL}"
fi
# enforce 90 second minimum
if (( no_movement_required < 90 )); then
no_movement_required=90
fi
# set no_movement to a number higher than the required time of no movement
# this way on startup there is no bogus message printed about starting mlat-clients with a new location
no_movement=$(( 2 * no_movement_required ))
else
if [[ -z "$LAT$READSB_LAT" ]]; then
"${s6wrap[@]}" --args echo "ERROR: READSB_LAT or LAT must be defined or GPSD must be enabled - MLAT will be disabled."
exec sleep infinity
fi
if [[ -z "$LONG$READSB_LON" ]]; then
"${s6wrap[@]}" --args echo "ERROR: READSB_LON or LONG must be defined or GPSD must be enabled - MLAT will be disabled."
exec sleep infinity
fi
if [[ -z "$ALT$READSB_ALT" ]]; then
"${s6wrap[@]}" --args echo "ERROR: READSB_ALT or ALT must be defined or GPSD must be enabled - MLAT will be disabled."
exec sleep infinity
fi
fi
# MLAT_CONFIG has the following format:
@ -176,24 +242,25 @@ do
fi
# add LAT/LON/ALT to instance:
if [[ -n "${lat_arg}" ]]; then
MLAT_PARAM+=(--lat "${lat_arg}")
if [[ -n "${new_lat:-$lat_arg}" ]]; then
MLAT_PARAM+=(--lat "${new_lat:-$lat_arg}")
elif [[ -n "${LAT}" ]]; then
MLAT_PARAM+=(--lat "${LAT}")
elif [[ -n "${READSB_LAT}" ]]; then
MLAT_PARAM+=(--lat "${READSB_LAT}")
fi
if [[ -n "${lon_arg}" ]]; then
MLAT_PARAM+=(--lon "${lon_arg}")
if [[ -n "${new_lon:-$lon_arg}" ]]; then
MLAT_PARAM+=(--lon "${new_lon:-$lon_arg}")
elif [[ -n "${LONG}" ]]; then
MLAT_PARAM+=(--lon "${LONG}")
elif [[ -n "${READSB_LON}" ]]; then
MLAT_PARAM+=(--lon "${READSB_LON}")
fi
if [[ -n "${alt_arg}" ]]; then
MLAT_PARAM+=(--alt "${alt_arg}")
if [[ -n "${new_alt:-$alt_arg}" ]]; then
MLAT_PARAM+=(--alt "${new_alt:-$alt_arg}")
elif [[ -n "${ALT}" ]]; then
MLAT_PARAM+=(--alt "${ALT}")
elif [[ -n "${READSB_ALT}" ]]; then
@ -217,6 +284,12 @@ do
# shellcheck disable=SC2048,SC2086
execstring="$(echo ${MLAT_CMD} ${MLAT_PARAM[*]} | xargs)"
if (( GPSD == 1 )); then
# when GPSD is active, just write the pid array, mlat-client will be started by the gpsd checking logic later
# use a long random PID so that it's detected as "not running"
pid_array["${RANDOM}${RANDOM}${RANDOM}"]="${MLAT_PARAM[*]}"
continue
fi
# stagger by 15 second so they don't all start at the same time
sleep "${MLAT_STARTUP_STAGGER:-15}" & wait $!
@ -244,12 +317,61 @@ sleep 5 & wait $!
# Now iterate over all MLAT-client instances and check if they are still running:
while true
do
if (( GPSD == 1 )); then
if ! check_gpsd; then
# don't do mlat client restarts if GPSD is configured but not providing a position
sleep "${GPSD_CHECK_INTERVAL}" & wait $!
continue
fi
distance="$(distance "$old_lat" "$old_lon" "$new_lat" "$new_lon")"
if ! [[ -f "$LOCATION_PERSIST" ]]; then
echo "$new_lat" "$new_lon" "$new_alt" > "$LOCATION_PERSIST"
fi
if (( ${distance%%.*} > ${GPSD_MIN_DISTANCE:-20} )); then
msg="Receiver moved ${distance%%.*} meters"
# kill the mlat-client instances so they get restarted with the new GPS coords
if pkill -f "/usr/bin/python3 /usr/bin/mlat-client" >/dev/null 2>&1; then
msg+=" - Stopping all mlat-clients"
fi
"${s6wrap[@]}" --args echo "${msg}"
old_lat="$new_lat"
old_lon="$new_lon"
# new location means the receiver has moved, sleep a bit and then check again
no_movement=0
sleep "${GPSD_CHECK_INTERVAL:-30}" & wait $!
# as the recevier has moved, mlat-clients are not restarted until there has been no movement for some time
# thus we continue skipping the mlat-client restart section of the loop
continue
else
# no movement during the checking interval, allow mlat-clients to be restarted
(( no_movement += ${GPSD_CHECK_INTERVAL:-30} )) || true
if (( no_movement < no_movement_required )); then
msg="Receiver moved less than ${GPSD_MIN_DISTANCE} meters, $(( no_movement_required - no_movement )) seconds remaining before starting mlat-clients"
"${s6wrap[@]}" --args echo "${msg}"
sleep "${GPSD_CHECK_INTERVAL:-30}" & wait $!
continue
elif (( no_movement / ${GPSD_CHECK_INTERVAL:-30} == no_movement_required / ${GPSD_CHECK_INTERVAL:-30} )); then
"${s6wrap[@]}" --args echo "Receiver stationary - starting all mlat-clients with new location"
echo "$new_lat" "$new_lon" "$new_alt" > "$LOCATION_PERSIST"
fi
fi
fi
for mlat_pid in "${!pid_array[@]}"
do
if ! kill -0 "${mlat_pid}" >/dev/null 2>&1
then
# it exited - let's restart:
sleep "${RESTARTTIMER}" & wait $!
if [[ ! -f /run/readsb/gpsd.json ]] || [[ "$(jq -r .lat /run/readsb/gpsd.json)" == "null" ]]; then
# only sleep for a bit if the restarts aren't caused by GPS movement:
sleep "${RESTARTTIMER}" & wait $!
fi
servername="$(awk '{print $4}' <<< "${pid_array[$mlat_pid]}")"
servername="${servername%%:*}"
@ -257,8 +379,16 @@ do
# shellcheck disable=SC2086
execstring="$(echo ${MLAT_CMD} ${pid_array[$mlat_pid]} | xargs)"
# If GPSD is active, then replace the lat/lon/alt params with the ones from GPSD
if (( GPSD == 1 )); then
execstring="$(sed "s/^\(.*\s\+--lat\s\+\)[0-9.-]\+\(.*\)$/\1${new_lat}\2/g" <<< "$execstring")"
execstring="$(sed "s/^\(.*\s\+--lon\s\+\)[0-9.-]\+\(.*\)$/\1${new_lon}\2/g" <<< "$execstring")"
execstring="$(sed "s/^\(.*\s\+--alt\s\+\)[mft0-9.-]\+\(.*\)$/\1${new_alt}m\2/g" <<< "$execstring")"
fi
#shellcheck disable=SC2069,SC2086
if [[ "${LOGLEVEL}" == "verbose" ]]; then
"${s6wrap[@]}" --prepend="$(basename "$0")][${servername}" --args echo "Restarting: ${execstring}"
"${s6wrap[@]}" --prepend="$(basename "$0")][${servername}" --args ${execstring} &
elif [[ "${LOGLEVEL}" == "error" ]]; then
"${s6wrap[@]}" --ignore=stdout --prepend="$(basename "$0")][${servername}" --args ${execstring} &
@ -270,5 +400,6 @@ do
unset "pid_array[${mlat_pid}]"
fi
done
sleep 10 & wait $!
sleep "${GPSD_CHECK_INTERVAL:-30}" & wait $!
done

8
rootfs/etc/s6-overlay/scripts/readsb
View file

@ -31,6 +31,14 @@ if ! [[ "$LOGLEVEL" =~ ^(verbose|error|none)$ ]]; then
LOGLEVEL="verbose"
fi
LOCATION_PERSIST=/var/globe_history/gpsd_last_location
if [[ -f "$LOCATION_PERSIST" ]] && { grep -qs "gpsd" <<< "$ULTRAFEEDER_CONFIG" || grep -qs "gpsd" <<< "$ULTRAFEEDER_NET_CONNECTOR"; }; then
read LAT LON ALT < "$LOCATION_PERSIST"
READSB_LAT=""
READSB_LON=""
READSB_ALT=""
fi
# Build the readsb command line based on options
READSB_BIN="/usr/local/bin/readsb"

9
rootfs/scripts/interpret_ultrafeeder_config
View file

@ -123,6 +123,15 @@ do
MLATHUB_CONF_ARR+=("--net-connector=${mlathub_str}")
;;
gpsd)
# add gpsd_in parameter to $READSB_CONF_ARR
readsb_str="${param[1]},${param[2]}"
if [[ -n "${param[3]}" ]] && [[ -n "${param[4]}" ]]; then
readsb_str="$readsb_str,${param[3]},${param[4]}"
fi
READSB_CONF_ARR+=("--net-connector=${readsb_str},gpsd_in")
;;
*)
# Check if there's anything in ${ULTRAFEEDER_NET_CONNECTOR} -- if not, it's a bad config element. If yes, add it as if it were ADSB
if [[ -z "${ULTRAFEEDER_NET_CONNECTOR}" ]]; then