548 lines
21 KiB
Python
548 lines
21 KiB
Python
# target_simulator/gui/payload_router.py
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"""
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Payload router for buffering SFP payloads for the GUI.
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This module extracts the DebugPayloadRouter class so the router can be
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reused and tested independently from the Tkinter window.
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"""
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import threading
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import statistics
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import collections
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import datetime
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import os
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import logging
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import math
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import json
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import ctypes
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import time
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from queue import Queue, Full
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from typing import Dict, Optional, Any, List, Callable, Tuple
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from target_simulator.core.sfp_structures import SFPHeader, SfpRisStatusPayload
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from target_simulator.analysis.simulation_state_hub import SimulationStateHub
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from target_simulator.core.models import Target
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from target_simulator.utils.clock_synchronizer import ClockSynchronizer
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# Module-level logger for this module
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logger = logging.getLogger(__name__)
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PayloadHandler = Callable[[bytearray], None]
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TargetListListener = Callable[[List[Target]], None]
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# --- Constants ---
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M_TO_FT = 3.28084
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class DebugPayloadRouter:
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"""
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A unified router that handles payloads for the entire application.
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It updates the SimulationStateHub and broadcasts processed data to
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registered listeners. This class is thread-safe.
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"""
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def __init__(
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self,
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simulation_hub: Optional[SimulationStateHub] = None,
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):
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self.active_archive = None
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self._log_prefix = "[DebugPayloadRouter]"
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self._lock = threading.Lock()
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self._latest_payloads: Dict[str, Any] = {}
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self._last_raw_packet: Optional[tuple] = None
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self._history_size = 20
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self._history = collections.deque(maxlen=self._history_size)
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self._persist = False
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# Recent latency samples (seconds) computed from clock synchronizer
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self._latency_samples = collections.deque(maxlen=1000)
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self._hub = simulation_hub
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# Timestamp for ownship position integration
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self._last_ownship_update_time: Optional[float] = None
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# Listeners for real-time target data broadcasts
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self._ris_target_listeners: List[TargetListListener] = []
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project_root = os.path.abspath(
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os.path.join(os.path.dirname(__file__), "..", "..")
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)
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self._persist_dir = os.path.join(project_root, "Temp")
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try:
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os.makedirs(self._persist_dir, exist_ok=True)
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except Exception:
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pass
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self._handlers: Dict[int, PayloadHandler] = {
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ord("M"): lambda p: self._update_last_payload("MFD", p),
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ord("S"): lambda p: self._update_last_payload("SAR", p),
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ord("B"): lambda p: self._update_last_payload("BIN", p),
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# JSON payloads may contain antenna nav fields (ant_nav_az / ant_nav_el).
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# Route JSON to a dedicated handler that will both store the raw
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# payload and, when possible, extract antenna az/el to update the hub
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# so the PPI antenna sweep can animate even when using JSON protocol.
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ord("J"): self._handle_json_payload,
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ord("R"): self._handle_ris_status,
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ord("r"): self._handle_ris_status,
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}
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logger.info(f"{self._log_prefix} Initialized (Hub: {self._hub is not None}).")
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self._logger = logger
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# Optional clock synchronizer for latency estimation. ClockSynchronizer
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# requires numpy; if unavailable we simply leave latency estimates at 0.
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try:
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self._clock_sync = ClockSynchronizer()
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except Exception:
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self._clock_sync = None
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def set_archive(self, archive):
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"""Sets the current archive session for recording."""
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with self._lock:
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self.active_archive = archive
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def add_ris_target_listener(self, listener: TargetListListener):
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"""Registers a callback function to receive updates for real targets."""
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with self._lock:
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if listener not in self._ris_target_listeners:
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self._ris_target_listeners.append(listener)
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self._logger.info(f"RIS target listener added: {listener}")
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def remove_ris_target_listener(self, listener: TargetListListener):
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"""Unregisters a callback function."""
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with self._lock:
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try:
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self._ris_target_listeners.remove(listener)
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self._logger.info(f"RIS target listener removed: {listener}")
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except ValueError:
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pass
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def get_handlers(self) -> Dict[int, PayloadHandler]:
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return self._handlers
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def _update_last_payload(self, flow_id: str, payload: Any):
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with self._lock:
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self._latest_payloads[flow_id] = payload
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def _parse_ris_payload_to_targets(
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self, payload: bytearray
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) -> Tuple[List[Target], List[int]]:
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"""
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Parse RIS payload and return a tuple:
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- list of Target objects for entries with flags != 0 (active targets)
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- list of integer target IDs present with flags == 0 (inactive)
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"""
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targets: List[Target] = []
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inactive_ids: List[int] = []
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try:
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parsed_payload = SfpRisStatusPayload.from_buffer_copy(payload)
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for i, ris_target in enumerate(parsed_payload.tgt.tgt):
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if ris_target.flags != 0:
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target = Target(
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target_id=i, trajectory=[], active=True, traceable=True
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)
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# Server's y-axis is East (our x), x-axis is North (our y)
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pos_x_ft = float(ris_target.y) * M_TO_FT
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pos_y_ft = float(ris_target.x) * M_TO_FT
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pos_z_ft = float(ris_target.z) * M_TO_FT
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setattr(target, "_pos_x_ft", pos_x_ft)
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setattr(target, "_pos_y_ft", pos_y_ft)
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setattr(target, "_pos_z_ft", pos_z_ft)
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target._update_current_polar_coords()
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try:
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raw_h = float(ris_target.heading)
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if abs(raw_h) <= (2 * math.pi * 1.1):
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hdg_deg = math.degrees(raw_h)
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unit = "rad"
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else:
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hdg_deg = raw_h
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unit = "deg"
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target.current_heading_deg = hdg_deg % 360
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setattr(target, "_raw_heading", raw_h)
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except (ValueError, TypeError):
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target.current_heading_deg = 0.0
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targets.append(target)
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else:
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inactive_ids.append(int(i))
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except Exception:
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self._logger.exception(
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f"{self._log_prefix} Failed to parse RIS payload into Target objects."
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)
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return targets, inactive_ids
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def _handle_ris_status(self, payload: bytearray):
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reception_timestamp = time.monotonic()
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parsed_payload = None
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try:
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parsed_payload = SfpRisStatusPayload.from_buffer_copy(payload)
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except (ValueError, TypeError):
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self._logger.error("Failed to parse SfpRisStatusPayload from buffer.")
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return
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# --- Update Ownship State ---
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if self._hub:
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try:
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sc = parsed_payload.scenario
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delta_t = 0.0
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if self._last_ownship_update_time is not None:
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delta_t = reception_timestamp - self._last_ownship_update_time
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self._last_ownship_update_time = reception_timestamp
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# Get previous ownship state to integrate position
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old_state = self._hub.get_ownship_state()
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old_pos_xy = old_state.get("position_xy_ft", (0.0, 0.0))
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# Server's vy is East (our x), vx is North (our y)
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ownship_vx_fps = float(sc.vy) * M_TO_FT
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ownship_vy_fps = float(sc.vx) * M_TO_FT
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# Integrate position
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new_pos_x_ft = old_pos_xy[0] + ownship_vx_fps * delta_t
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new_pos_y_ft = old_pos_xy[1] + ownship_vy_fps * delta_t
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ownship_heading_deg = math.degrees(float(sc.true_heading)) % 360
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ownship_state = {
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"timestamp": reception_timestamp,
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"position_xy_ft": (new_pos_x_ft, new_pos_y_ft),
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"altitude_ft": float(sc.baro_altitude) * M_TO_FT,
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"velocity_xy_fps": (ownship_vx_fps, ownship_vy_fps),
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"heading_deg": ownship_heading_deg,
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"latitude": float(sc.latitude),
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"longitude": float(sc.longitude),
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}
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self._hub.set_ownship_state(ownship_state)
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# Store ownship state in archive if available
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with self._lock:
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archive = self.active_archive
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if archive and hasattr(archive, "add_ownship_state"):
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archive.add_ownship_state(ownship_state)
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except Exception:
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self._logger.exception("Failed to update ownship state.")
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# --- Feed clock synchronizer with server timetag (if available) ---
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try:
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if self._clock_sync is not None and parsed_payload is not None:
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try:
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server_timetag = int(parsed_payload.scenario.timetag)
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# Add a sample: raw server timetag + local reception time
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self._clock_sync.add_sample(server_timetag, reception_timestamp)
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# Compute a latency sample if model can estimate client time
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try:
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est_gen = self._clock_sync.to_client_time(server_timetag)
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latency = reception_timestamp - est_gen
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# store only non-negative latencies
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if latency >= 0:
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with self._lock:
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self._latency_samples.append(latency)
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except Exception:
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pass
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except Exception:
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pass
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except Exception:
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pass
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# --- Update Target States ---
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real_targets, inactive_ids = self._parse_ris_payload_to_targets(payload)
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if self._hub:
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try:
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if hasattr(self._hub, "add_real_packet"):
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self._hub.add_real_packet(reception_timestamp)
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for tid in inactive_ids or []:
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if hasattr(self._hub, "clear_real_target_data"):
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self._hub.clear_real_target_data(tid)
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for target in real_targets:
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state_tuple = (
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getattr(target, "_pos_x_ft", 0.0),
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getattr(target, "_pos_y_ft", 0.0),
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getattr(target, "_pos_z_ft", 0.0),
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)
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self._hub.add_real_state(
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target_id=target.target_id,
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timestamp=reception_timestamp,
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state=state_tuple,
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)
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if hasattr(self._hub, "set_real_heading"):
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raw_val = getattr(target, "_raw_heading", None)
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self._hub.set_real_heading(
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target.target_id,
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getattr(target, "current_heading_deg", 0.0),
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raw_value=raw_val,
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)
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except Exception:
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self._logger.exception("Failed to process RIS targets for Hub.")
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with self._lock:
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archive = self.active_archive
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if archive:
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for target in real_targets:
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state_tuple = (
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getattr(target, "_pos_x_ft", 0.0),
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getattr(target, "_pos_y_ft", 0.0),
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getattr(target, "_pos_z_ft", 0.0),
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)
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archive.add_real_state(
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target_id=target.target_id,
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timestamp=reception_timestamp,
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state=state_tuple,
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)
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# --- BROADCAST to all registered listeners ---
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with self._lock:
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for listener in self._ris_target_listeners:
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try:
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listener(real_targets)
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except Exception:
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self._logger.exception(f"Error in RIS target listener: {listener}")
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# --- Update Debug Views (unchanged) ---
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self._update_debug_views(parsed_payload)
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def _update_debug_views(self, parsed_payload: SfpRisStatusPayload):
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"""Helper to populate debug views from a parsed payload."""
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try:
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sc = parsed_payload.scenario
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lines = ["RIS Status Payload:\n", "Scenario:"]
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# ... text generation logic ...
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text_out = "\n".join(lines)
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self._update_last_payload(
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"RIS_STATUS_TEXT", bytearray(text_out.encode("utf-8"))
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)
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# ... JSON generation logic ...
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def _convert_ctypes(value):
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if hasattr(value, "_length_"):
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return list(value)
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if isinstance(value, ctypes._SimpleCData):
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return value.value
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return value
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scenario_dict = {
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f[0]: _convert_ctypes(getattr(sc, f[0])) for f in sc._fields_
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}
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targets_list = [
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{f[0]: _convert_ctypes(getattr(t, f[0])) for f in t._fields_}
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for t in parsed_payload.tgt.tgt
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]
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struct = {"scenario": scenario_dict, "targets": targets_list}
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json_bytes = bytearray(json.dumps(struct, indent=2).encode("utf-8"))
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self._update_last_payload("RIS_STATUS_JSON", json_bytes)
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# --- Propagate antenna azimuth to hub ---
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if self._hub:
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# Get platform heading and relative antenna sweep
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heading_rad = scenario_dict.get("true_heading", scenario_dict.get("platform_azimuth"))
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sweep_rad = scenario_dict.get("ant_nav_az")
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total_az_rad = None
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if heading_rad is not None:
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total_az_rad = float(heading_rad)
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if sweep_rad is not None:
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total_az_rad += float(sweep_rad)
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if total_az_rad is not None:
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az_deg = math.degrees(total_az_rad)
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self._hub.set_antenna_azimuth(az_deg, timestamp=time.monotonic())
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except Exception:
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self._logger.exception("Failed to generate text/JSON for RIS debug view.")
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def _handle_json_payload(self, payload: bytearray):
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"""
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Handle JSON payloads. Store raw JSON and, if present, extract
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antenna navigation fields (ant_nav_az / ant_nav_el) and propagate
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them to the SimulationStateHub so the PPI antenna can animate.
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"""
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try:
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# Always store the raw payload for debug inspection
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self._update_last_payload("JSON", payload)
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if not self._hub:
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return
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# Try to decode and parse JSON
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try:
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text = payload.decode("utf-8")
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obj = json.loads(text)
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except Exception:
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return
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# The JSON may follow the same structure as the RIS debug JSON
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# we generate elsewhere: {"scenario": {...}, "targets": [...]}
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def _find_scenario_field(dct, key):
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if not isinstance(dct, dict):
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return None
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# Direct scenario container
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sc = dct.get("scenario") or dct.get("sc") or dct
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if isinstance(sc, dict) and key in sc:
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return sc.get(key)
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# Top-level key
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if key in dct:
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return dct.get(key)
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# Nested search
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for v in dct.values():
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if isinstance(v, dict) and key in v:
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return v.get(key)
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return None
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# Find platform heading and relative antenna sweep
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heading_val = _find_scenario_field(obj, "true_heading") or _find_scenario_field(
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obj, "platform_azimuth"
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)
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sweep_val = _find_scenario_field(obj, "ant_nav_az")
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total_az_val = None
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if heading_val is not None:
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total_az_val = float(heading_val)
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if sweep_val is not None:
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total_az_val += float(sweep_val)
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if total_az_val is not None:
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try:
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# Values may be in radians or degrees; if small absolute
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# value (< 2*pi) assume radians and convert.
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val = float(total_az_val)
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if abs(val) <= (2 * math.pi + 0.01):
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az_deg = math.degrees(val)
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else:
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az_deg = val
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self._hub.set_antenna_azimuth(az_deg, timestamp=time.monotonic())
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except Exception:
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pass
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# Optionally capture elevation for future UI use
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plat_el = _find_scenario_field(obj, "ant_nav_el") or _find_scenario_field(
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obj, "platform_elevation"
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)
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if plat_el is not None:
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try:
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_ = float(plat_el)
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# For now we don't store elevation in the hub; leave as TODO.
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except Exception:
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pass
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except Exception:
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self._logger.exception("Error handling JSON payload")
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def get_and_clear_latest_payloads(self) -> Dict[str, Any]:
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with self._lock:
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new_payloads = self._latest_payloads
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self._latest_payloads = {}
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return new_payloads
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def update_raw_packet(self, raw_bytes: bytes, addr: tuple):
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with self._lock:
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self._last_raw_packet = (raw_bytes, addr)
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entry = {"ts": datetime.datetime.utcnow(), "addr": addr, "raw": raw_bytes}
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try:
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hdr = SFPHeader.from_buffer_copy(raw_bytes)
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entry["flow"] = int(hdr.SFP_FLOW)
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entry["tid"] = int(hdr.SFP_TID)
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flow_map = {
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ord("M"): "MFD",
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ord("S"): "SAR",
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ord("B"): "BIN",
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ord("J"): "JSON",
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ord("R"): "RIS",
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ord("r"): "ris",
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}
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entry["flow_name"] = flow_map.get(entry["flow"], str(entry["flow"]))
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except Exception:
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pass
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self._history.append(entry)
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if self._persist:
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try:
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ts = entry["ts"].strftime("%Y%m%dT%H%M%S.%f")
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fname = f"sfp_raw_{ts}_{addr[0].replace(':','_')}_{addr[1]}.bin"
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path = os.path.join(self._persist_dir, fname)
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with open(path, "wb") as f:
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f.write(raw_bytes)
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except Exception:
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pass
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def get_and_clear_raw_packet(self) -> Optional[tuple]:
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with self._lock:
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pkt = self._last_raw_packet
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self._last_raw_packet = None
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return pkt
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# --- Latency estimation API ---
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def get_estimated_latency_s(self) -> float:
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"""Return estimated one-way latency in seconds, or 0.0 if unknown."""
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try:
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if self._clock_sync is not None:
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return float(self._clock_sync.get_average_latency_s())
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except Exception:
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pass
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return 0.0
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def get_latency_samples(self, limit: Optional[int] = None) -> List[float]:
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"""Return recent latency samples in seconds (most recent last).
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Args:
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limit: maximum number of samples to return (None = all available)
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"""
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with self._lock:
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samples = list(self._latency_samples)
|
|
if limit is not None and limit > 0:
|
|
return samples[-limit:]
|
|
return samples
|
|
|
|
def get_latency_stats(self, sample_limit: int = 200) -> Dict[str, Any]:
|
|
"""Compute basic statistics over recent latency samples.
|
|
|
|
Returns a dict with mean_ms, std_ms, var_ms, min_ms, max_ms, count.
|
|
"""
|
|
with self._lock:
|
|
samples = list(self._latency_samples)
|
|
|
|
if not samples:
|
|
return {
|
|
"mean_ms": None,
|
|
"std_ms": None,
|
|
"var_ms": None,
|
|
"min_ms": None,
|
|
"max_ms": None,
|
|
"count": 0,
|
|
}
|
|
|
|
if sample_limit and sample_limit > 0:
|
|
samples = samples[-sample_limit:]
|
|
|
|
# Work in milliseconds for reporting
|
|
ms = [s * 1000.0 for s in samples]
|
|
mean = statistics.mean(ms)
|
|
var = statistics.pvariance(ms) if len(ms) > 1 else 0.0
|
|
std = statistics.pstdev(ms) if len(ms) > 1 else 0.0
|
|
return {
|
|
"mean_ms": round(mean, 3),
|
|
"std_ms": round(std, 3),
|
|
"var_ms": round(var, 3),
|
|
"min_ms": round(min(ms), 3),
|
|
"max_ms": round(max(ms), 3),
|
|
"count": len(ms),
|
|
}
|
|
|
|
def get_history(self):
|
|
with self._lock:
|
|
return list(self._history)
|
|
|
|
def clear_history(self):
|
|
with self._lock:
|
|
self._history.clear()
|
|
|
|
def set_history_size(self, n: int):
|
|
with self._lock:
|
|
n = max(1, int(n))
|
|
self._history_size = n
|
|
new_deque = collections.deque(self._history, maxlen=self._history_size)
|
|
self._history = new_deque
|
|
|
|
def set_persist(self, enabled: bool):
|
|
with self._lock:
|
|
self._persist = bool(enabled) |