dronecot 2.1.4__tar.gz → 2.2.0__tar.gz

{dronecot-2.1.4 → dronecot-2.2.0}/CHANGELOG.md

@@ -1,3 +1,15 @@
+## DroneCOT 2.2.0
+
+- Add `SensorWorker`: periodic `a-f-G-E-S-E` sensor CoT heartbeat, emitted every `SENSOR_KEEPALIVE_PERIOD` seconds (default 30).
+- Position sourced from system gpsd if present (mode 2/3 fix); falls back to static `SENSOR_LAT`/`SENSOR_LON`/`SENSOR_HAE` config; falls back to null island (0, 0, 0).
+- Add `gen_sensor_cot()`: reusable CoT generator for sensor beacon events, used by `SensorWorker`.
+- New constants: `DEFAULT_SENSOR_KEEPALIVE_PERIOD = 30`, `DEFAULT_SENSOR_LAT/LON/HAE = 0.0`.
+- Add `gpsd-py3` as optional runtime dependency (soft import, gracefully absent).
+
+## DroneCOT 2.1.5
+
+- Add `takproto` to postinst pip install; enables TAK Protocol v1 protobuf encoding over WebSocket when connected to TAK Server via `wss://`.
+
 ## DroneCOT 2.1.4
 
 - Fix packaging: `postinst` now installs `aiomqtt` and `pymavlink` via pip for Debian systems where these packages are not yet available in the distro repos.

{dronecot-2.1.4/dronecot.egg-info → dronecot-2.2.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: dronecot
-Version: 2.1.4
+Version: 2.2.0
 Summary: Display Drones in Team Awareness Kit (TAK).
 Home-page: https://github.com/snstac/dronecot
 Maintainer: Greg Albrecht <oss@undef.net>
@@ -22,7 +22,7 @@ Classifier: Operating System :: OS Independent
 Requires-Python: <4,>=3.9
 Description-Content-Type: text/markdown
 License-File: LICENSE
-Requires-Dist: pytak>=5.4.0
+Requires-Dist: pytak>=7.3.0
 Requires-Dist: paho-mqtt<2.0.0
 Requires-Dist: bitstruct
 Requires-Dist: pymavlink

{dronecot-2.1.4 → dronecot-2.2.0/dronecot.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: dronecot
-Version: 2.1.4
+Version: 2.2.0
 Summary: Display Drones in Team Awareness Kit (TAK).
 Home-page: https://github.com/snstac/dronecot
 Maintainer: Greg Albrecht <oss@undef.net>
@@ -22,7 +22,7 @@ Classifier: Operating System :: OS Independent
 Requires-Python: <4,>=3.9
 Description-Content-Type: text/markdown
 License-File: LICENSE
-Requires-Dist: pytak>=5.4.0
+Requires-Dist: pytak>=7.3.0
 Requires-Dist: paho-mqtt<2.0.0
 Requires-Dist: bitstruct
 Requires-Dist: pymavlink

{dronecot-2.1.4 → dronecot-2.2.0}/dronecot.egg-info/requires.txt

@@ -1,4 +1,4 @@
-pytak>=5.4.0
+pytak>=7.3.0
 paho-mqtt<2.0.0
 bitstruct
 pymavlink

{dronecot-2.1.4 → dronecot-2.2.0}/setup.cfg

@@ -48,7 +48,7 @@ package_dir =
 	dronecot = src/dronecot
 python_requires = >=3.9, <4
 install_requires = 
-	pytak >= 5.4.0
+	pytak >= 7.3.0
 	paho-mqtt < 2.0.0
 	bitstruct
 	pymavlink

dronecot-2.2.0/src/dronecot/VERSION

@@ -0,0 +1 @@
+2.2.0

{dronecot-2.1.4 → dronecot-2.2.0}/src/dronecot/__init__.py

@@ -54,6 +54,11 @@ from .constants import (  # NOQA
     DEFAULT_DJI_SENSOR_NAME,
     DEFAULT_DJI_SENSOR_TYPE,
     DEFAULT_DJI_SENSOR_COT_TYPE,
+    # Sensor keep-alive constants
+    DEFAULT_SENSOR_KEEPALIVE_PERIOD,
+    DEFAULT_SENSOR_LAT,
+    DEFAULT_SENSOR_LON,
+    DEFAULT_SENSOR_HAE,
 )
 
 from .functions import (  # NOQA
@@ -69,6 +74,7 @@ from .functions import (  # NOQA
     dji_handle_frame,
     dji_handle_text_line,
     dji_handle_parsed_data,
+    gen_sensor_cot,
 )
 
 from .udp_rid import (  # NOQA
@@ -97,6 +103,7 @@ from .classes import (  # NOQA
     TextNetWorker,
     FileReplayWorker,
     TCPListenerWorker,
+    SensorWorker,
 )
 
 from .dji_exceptions import (  # NOQA

{dronecot-2.1.4 → dronecot-2.2.0}/src/dronecot/classes.py

@@ -31,6 +31,7 @@ from typing import Optional, Union
 from urllib.parse import urlparse
 
 import lzma
+import xml.etree.ElementTree as ET
 
 try:
     import aiomqtt
@@ -804,3 +805,56 @@ class UDPRIDWorker(pytak.QueueWorker):
             raise
         finally:
             transport.close()
+
+
+try:
+    import gpsd as _gpsd
+except ImportError:
+    _gpsd = None  # type: ignore[assignment]
+
+
+class SensorWorker(pytak.QueueWorker):
+    """Periodic sensor CoT heartbeat. Sources position from gpsd, config, or null island."""
+
+    async def run(self, _=-1) -> None:
+        period = int(self.config.get(
+            "SENSOR_KEEPALIVE_PERIOD", dronecot.DEFAULT_SENSOR_KEEPALIVE_PERIOD))
+        self._logger.info(
+            "Running SensorWorker (period=%ds, gpsd=%s)", period, _gpsd is not None)
+        while True:
+            lat, lon, hae, ce, le = await self._get_position()
+            cot = dronecot.gen_sensor_cot(self.config, lat, lon, hae, ce, le)
+            if cot is not None:
+                await self.put_queue(ET.tostring(cot))
+            await asyncio.sleep(period)
+
+    async def _get_position(self):
+        if _gpsd is not None:
+            try:
+                result = await asyncio.to_thread(self._poll_gpsd)
+                if result is not None:
+                    return result
+            except Exception as exc:
+                self._logger.debug("gpsd unavailable: %s", exc)
+        lat = float(self.config.get("SENSOR_LAT") or dronecot.DEFAULT_SENSOR_LAT)
+        lon = float(self.config.get("SENSOR_LON") or dronecot.DEFAULT_SENSOR_LON)
+        hae = float(self.config.get("SENSOR_HAE") or dronecot.DEFAULT_SENSOR_HAE)
+        return lat, lon, hae, "9999999.0", "9999999.0"
+
+    @staticmethod
+    def _poll_gpsd():
+        _gpsd.connect()
+        packet = _gpsd.get_current()
+        if packet.mode < 2:
+            return None
+        try:
+            lat, lon = packet.position()
+        except Exception:
+            return None
+        try:
+            hae = packet.altitude()
+        except Exception:
+            hae = 0.0
+        ce = str(getattr(packet, "error", {}).get("x", "9999999.0") or "9999999.0")
+        le = str(getattr(packet, "error", {}).get("v", "9999999.0") or "9999999.0")
+        return lat, lon, hae, ce, le

{dronecot-2.1.4 → dronecot-2.2.0}/src/dronecot/constants.py

@@ -46,6 +46,12 @@ DEFAULT_OP_COT_TYPE: str = "a-n-G"
 DEFAULT_UAS_COT_TYPE: str = "a-n-A-M-H-Q"
 DEFAULT_HOME_COT_TYPE: str = "a-n-G"
 
+# Sensor keep-alive / heartbeat
+DEFAULT_SENSOR_KEEPALIVE_PERIOD: int = 30  # seconds between a-f-G-E-S-E CoT beacons
+DEFAULT_SENSOR_LAT: float = 0.0
+DEFAULT_SENSOR_LON: float = 0.0
+DEFAULT_SENSOR_HAE: float = 0.0
+
 # Pre-decoded Remote ID JSON over UDP constants
 DEFAULT_UDP_RID_PORT: int = 9999
 DEFAULT_UDP_RID_HOST: str = "0.0.0.0"

{dronecot-2.1.4 → dronecot-2.2.0}/src/dronecot/functions.py

@@ -133,6 +133,8 @@ def create_tasks(config: SectionProxy, clitool: pytak.CLITool) -> Set[pytak.Work
     if config.get("ENABLE_RX_MOCK", "0") == "1":
         tasks.add(dronecot.RXMockWorker(clitool.rx_queue, config))
 
+    tasks.add(dronecot.SensorWorker(clitool.tx_queue, config))
+
     return tasks
 
 
@@ -843,3 +845,55 @@ def dji_handle_frame(
         _DJI_Logger.warning("Error parsing DJI data: %s", exc)
         return []
     return dji_handle_parsed_data(parsed_data, config)
+
+
+def gen_sensor_cot(
+    config: Union[SectionProxy, dict, None] = None,
+    lat: float = 0.0,
+    lon: float = 0.0,
+    hae: float = 0.0,
+    ce: str = "9999999.0",
+    le: str = "9999999.0",
+) -> Optional[ET.Element]:
+    """Generate a periodic sensor beacon CoT event (a-f-G-E-S-E).
+
+    Position sourced from caller: gpsd, static config, or null island.
+    ce/le are '9999999.0' when accuracy is unknown.
+    """
+    config = config or {}
+    sensor_id = config.get("SENSOR_ID", dronecot.DEFAULT_SENSOR_ID)
+    cot_type = config.get("SENSOR_COT_TYPE", dronecot.DEFAULT_SENSOR_COT_TYPE)
+    cot_stale = int(config.get("COT_STALE", pytak.DEFAULT_COT_STALE))
+    callsign = config.get("SENSOR_CALLSIGN", sensor_id)
+    payload_type = config.get("SENSOR_PAYLOAD_TYPE", dronecot.DEFAULT_SENSOR_PAYLOAD_TYPE)
+
+    contact = ET.Element("contact")
+    contact.set("callsign", callsign)
+
+    cuas = ET.Element("__cuas")
+    cuas.set("sensor_id", sensor_id)
+    cuas.set("type", payload_type)
+
+    detail = ET.Element("detail")
+    detail.append(contact)
+    detail.append(cuas)
+
+    cot = pytak.gen_cot_xml(
+        lat=str(lat),
+        lon=str(lon),
+        hae=str(hae),
+        ce=ce,
+        le=le,
+        uid=f"SENSOR.{sensor_id}",
+        cot_type=cot_type,
+        stale=cot_stale,
+    )
+    cot.set("how", "m-g")
+    cot.set("access", config.get("COT_ACCESS", pytak.DEFAULT_COT_ACCESS))
+
+    _detail = cot.find("detail")
+    if _detail is not None:
+        cot.remove(_detail)
+    cot.append(detail)
+
+    return cot

dronecot-2.1.4/src/dronecot/VERSION

@@ -1 +0,0 @@
-2.1.4