dronecot 2.3.0__tar.gz → 2.3.1__tar.gz

{dronecot-2.3.0 → dronecot-2.3.1}/CHANGELOG.md

@@ -1,3 +1,26 @@
+## DroneCOT 2.3.1
+
+- **Fix: CoT `ce`/`le` reported ODID accuracy ENUM CODES as if they were metres.**
+  ASTM F3411 accuracy fields are enum codes; CoT `<point ce= le=>` are metres.
+  Emitting the raw code claimed precision the aircraft never reported, and the
+  worst case inverted the meaning entirely: code `0` means *"unknown / >= 18.52
+  km"* but rendered as `ce="0"` — a perfect fix. Observed live on a DroneBeacon
+  DB120: `HorizAccuracy=9` (ODID *< 30 m*) was drawn on the map at **9 m**, and
+  `BaroAccuracy=0` (unknown) as **zero error**. Codes now decode to metres via
+  tables mirroring `decodeHorizontalAccuracy()`/`decodeVerticalAccuracy()` in
+  opendroneid-core-c; unknown and reserved codes emit the CoT unknown sentinel
+  rather than a fabricated number. Four existing tests asserted the old raw
+  codes and have been corrected.
+- **Fix: absent altitude rendered as sea level.** `<height value>` defaulted to
+  `0`; an unknown altitude now uses the CoT unknown sentinel like `hae`/`ce`/`le`.
+- **Fix: MAC-less feeds shared one placeholder UID.** Serial/MAVLink receivers
+  (DroneScout Bridge, SiK) report no MAC, so a Location- or System-only message
+  had neither MAC nor serial and rendered as `Unknown-BasicID_0`, colliding
+  across every such source. The UID now falls back to `FEED-<sensor_id>`.
+  Measured on a live DroneScout Bridge: 57 correctly identified events alongside
+  3 placeholders. Aggregation is deliberately NOT keyed on the feed — one
+  receiver reports many aircraft, so that would merge distinct drones.
+
 ## DroneCOT 2.3.0
 
 Correctness release for single-message Remote ID. A BLE legacy transmitter fits

{dronecot-2.3.0/dronecot.egg-info → dronecot-2.3.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: dronecot
-Version: 2.3.0
+Version: 2.3.1
 Summary: Display Drones in Team Awareness Kit (TAK).
 Home-page: https://github.com/snstac/dronecot
 Maintainer: Greg Albrecht <oss@undef.net>

{dronecot-2.3.0 → dronecot-2.3.1/dronecot.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: dronecot
-Version: 2.3.0
+Version: 2.3.1
 Summary: Display Drones in Team Awareness Kit (TAK).
 Home-page: https://github.com/snstac/dronecot
 Maintainer: Greg Albrecht <oss@undef.net>

dronecot-2.3.1/src/dronecot/VERSION

@@ -0,0 +1 @@
+2.3.1

{dronecot-2.3.0 → dronecot-2.3.1}/src/dronecot/functions.py

@@ -190,6 +190,60 @@ def _cot_event_with_detail(
     )
 
 
+# ASTM F3411 / Open Drone ID accuracy fields are ENUM CODES, not metres. CoT
+# <point ce=/le=> are metres. Emitting the raw code claims a precision the
+# aircraft never reported -- and the worst case inverts the meaning entirely:
+# code 0 means "unknown / >= 18.52 km" but rendered as ce="0", i.e. a PERFECT
+# fix. Observed live: a DroneBeacon reporting HorizAccuracy=9 (<30 m) was drawn
+# on the map at 9 m, and BaroAccuracy=0 (unknown) as zero error.
+#
+# Values mirror decodeHorizontalAccuracy()/decodeVerticalAccuracy() in
+# opendroneid-core-c. Each code is an upper bound ("less than X"), so using X is
+# the conservative reading.
+CE_LE_UNKNOWN = "9999999.0"
+
+ODID_HORIZ_ACCURACY_M = {
+    1: 18520.0,  # 10 NM
+    2: 7408.0,   # 4 NM
+    3: 3704.0,   # 2 NM
+    4: 1852.0,   # 1 NM
+    5: 926.0,    # 0.5 NM
+    6: 555.6,    # 0.3 NM
+    7: 185.2,    # 0.1 NM
+    8: 92.6,     # 0.05 NM
+    9: 30.0,
+    10: 10.0,
+    11: 3.0,
+    12: 1.0,
+}
+
+ODID_VERT_ACCURACY_M = {1: 150.0, 2: 45.0, 3: 25.0, 4: 10.0, 5: 3.0, 6: 1.0}
+
+
+def _odid_accuracy_m(value, table) -> str:
+    """Map an ODID accuracy enum code to metres for CoT ce/le.
+
+    Returns the CoT unknown sentinel for code 0 (explicitly "unknown"), for any
+    unlisted/reserved code, and for a missing value -- never a fabricated 0.
+    """
+    if value is None:
+        return CE_LE_UNKNOWN
+    try:
+        code = int(value)
+    except (TypeError, ValueError):
+        return CE_LE_UNKNOWN
+    metres = table.get(code)
+    return CE_LE_UNKNOWN if metres is None else str(metres)
+
+
+def _odid_horiz_ce(data: dict) -> str:
+    return _odid_accuracy_m(data.get("HorizAccuracy"), ODID_HORIZ_ACCURACY_M)
+
+
+def _odid_vert_le(data: dict) -> str:
+    return _odid_accuracy_m(data.get("VertAccuracy"), ODID_VERT_ACCURACY_M)
+
+
 def _rid_identity(data: dict) -> Tuple[str, Optional[str]]:
     """Resolve a stable UAS identifier and the advertiser MAC for CoT UIDs.
 
@@ -208,7 +262,16 @@ def _rid_identity(data: dict) -> Tuple[str, Optional[str]]:
     uasid = data.get("BasicID") or data.get("BasicID_0")
     uasid = str(uasid).strip() if uasid else ""
     if not uasid:
-        uasid = f"MAC-{mac.replace(':', '').upper()}" if mac else "Unknown-BasicID_0"
+        if mac:
+            uasid = f"MAC-{mac.replace(':', '').upper()}"
+        else:
+            # Neither serial nor MAC: serial/MAVLink receivers report no MAC at
+            # all. Fall back to the feed that delivered it so two receivers do
+            # not collide, rather than the shared Unknown-BasicID_0 placeholder
+            # that put every such aircraft on one track.
+            feed = src_data.get("sensor_id") or src_data.get("sensor ID")
+            feed = str(feed).strip() if feed else ""
+            uasid = f"FEED-{feed}" if feed else "Unknown-BasicID_0"
 
     return uasid, mac
 
@@ -298,8 +361,8 @@ def rid_op_to_cot_xml(  # NOQA pylint: disable=too-many-locals,too-many-branches
         stale=cot_stale,
         lat=lat,
         lon=lon,
-        ce=str(data.get("HorizAccuracy", "9999999.0")),
-        le=str(data.get("VertAccuracy", "9999999.0")),
+        ce=_odid_horiz_ce(data),
+        le=_odid_vert_le(data),
         hae=str(data.get("OperatorAltitudeGeo", "9999999.0")),
         detail=detail,
         config=config,
@@ -365,7 +428,9 @@ def rid_uas_to_cot_xml(  # NOQA pylint: disable=too-many-locals,too-many-branche
     track.set("course", str(data.get("Direction", 0)))
 
     height: ET.Element = ET.Element("height")
-    height.set("value", str(data.get("AltitudeGeo", 0)))
+    # Never default to 0: an absent altitude is unknown, not sea level. Matches
+    # the CoT unknown sentinel used for hae/ce/le above.
+    height.set("value", str(data.get("AltitudeGeo", CE_LE_UNKNOWN)))
 
     # link: ET.Element = ET.Element("link")
     # link.set("uid", op_uid)
@@ -490,8 +555,8 @@ def rid_uas_to_cot_xml(  # NOQA pylint: disable=too-many-locals,too-many-branche
         stale=cot_stale,
         lat=lat,
         lon=lon,
-        ce=str(data.get("HorizAccuracy", "9999999.0")),
-        le=str(data.get("VertAccuracy", "9999999.0")),
+        ce=_odid_horiz_ce(data),
+        le=_odid_vert_le(data),
         hae=str(data.get("AltitudeGeo", "9999999.0")),
         detail=detail,
         config=config,
@@ -572,8 +637,8 @@ def sensor_status_to_cot(  # NOQA pylint: disable=too-many-locals,too-many-branc
         stale=cot_stale,
         lat=lat,
         lon=lon,
-        ce=str(data.get("HorizAccuracy", "9999999.0")),
-        le=str(data.get("VertAccuracy", "9999999.0")),
+        ce=_odid_horiz_ce(data),
+        le=_odid_vert_le(data),
         hae=hae,
         detail=detail,
         config=config,

{dronecot-2.3.0 → dronecot-2.3.1}/src/dronecot/rid_track.py

@@ -94,8 +94,21 @@ def _is_empty(value: Any) -> bool:
 def track_key(rid: dict) -> Optional[Tuple[str, str]]:
     """Return a ``(kind, value)`` aggregation key for a normalized RID dict.
 
-    Returns ``None`` when the record identifies no transmitter at all, in which
-    case it cannot be safely merged with anything and should pass through.
+    Keyed on the advertiser MAC, falling back to the transmitter's own serial.
+
+    Deliberately NOT keyed on the feed/sensor when neither is present. It is
+    tempting -- a MAC-less serial receiver looks like a single stream -- but a
+    DroneScout-style receiver reports MANY aircraft over one port, so feeding
+    them all into one key would merge distinct drones into a single track: the
+    exact bug this module exists to fix, reintroduced by another route. It also
+    splits rather than merges, because a BasicID message would key on the serial
+    while a Location message from the same aircraft keyed on the feed.
+
+    So a record with neither MAC nor serial passes through unaggregated, and
+    only its rendered UID falls back to the feed (see functions._rid_identity)
+    so that unidentified contacts from different receivers stay distinct.
+
+    Returns ``None`` when the record identifies no transmitter at all.
     """
     meta = rid.get(_META_KEY) or {}
     mac = meta.get("MAC address")

{dronecot-2.3.0 → dronecot-2.3.1}/tests/test_functions.py

@@ -73,8 +73,11 @@ class FunctionsTestCase(unittest.TestCase):
         self.assertIsNotNone(point)
         self.assertEqual(point.get("lat"), "37.7599")
         self.assertEqual(point.get("lon"), "-122.4977")
-        self.assertEqual(point.get("ce"), "12")
-        self.assertEqual(point.get("le"), "5")
+        # ODID accuracy codes, decoded to METRES for CoT: HorizAccuracy 12 is
+        # ODID_HOR_ACC_1_METER and VertAccuracy 5 is ODID_VER_ACC_3_METER. These
+        # previously asserted the raw codes "12"/"5", which claimed 12 m / 5 m.
+        self.assertEqual(point.get("ce"), "1.0")
+        self.assertEqual(point.get("le"), "3.0")
         self.assertEqual(point.get("hae"), "28.0")
 
         detail = cot_xml.find("detail")
@@ -113,8 +116,11 @@ class FunctionsTestCase(unittest.TestCase):
         self.assertIsNotNone(point)
         self.assertEqual(point.get("lat"), "37.7599")
         self.assertEqual(point.get("lon"), "-122.4977")
-        self.assertEqual(point.get("ce"), "12")
-        self.assertEqual(point.get("le"), "5")
+        # ODID accuracy codes, decoded to METRES for CoT: HorizAccuracy 12 is
+        # ODID_HOR_ACC_1_METER and VertAccuracy 5 is ODID_VER_ACC_3_METER. These
+        # previously asserted the raw codes "12"/"5", which claimed 12 m / 5 m.
+        self.assertEqual(point.get("ce"), "1.0")
+        self.assertEqual(point.get("le"), "3.0")
         self.assertEqual(point.get("hae"), "28.0")
 
         detail = cot_xml.find("detail")
@@ -153,8 +159,11 @@ class FunctionsTestCase(unittest.TestCase):
         self.assertIsNotNone(point)
         self.assertEqual(point.get("lat"), "37.7599")
         self.assertEqual(point.get("lon"), "-122.4977")
-        self.assertEqual(point.get("ce"), "12")
-        self.assertEqual(point.get("le"), "5")
+        # ODID accuracy codes, decoded to METRES for CoT: HorizAccuracy 12 is
+        # ODID_HOR_ACC_1_METER and VertAccuracy 5 is ODID_VER_ACC_3_METER. These
+        # previously asserted the raw codes "12"/"5", which claimed 12 m / 5 m.
+        self.assertEqual(point.get("ce"), "1.0")
+        self.assertEqual(point.get("le"), "3.0")
         self.assertEqual(point.get("hae"), "28.0")
 
         detail = cot_xml.find("detail")
@@ -193,8 +202,11 @@ class FunctionsTestCase(unittest.TestCase):
         self.assertIsNotNone(point)
         self.assertEqual(point.get("lat"), "37.7599")
         self.assertEqual(point.get("lon"), "-122.4977")
-        self.assertEqual(point.get("ce"), "12")
-        self.assertEqual(point.get("le"), "5")
+        # ODID accuracy codes, decoded to METRES for CoT: HorizAccuracy 12 is
+        # ODID_HOR_ACC_1_METER and VertAccuracy 5 is ODID_VER_ACC_3_METER. These
+        # previously asserted the raw codes "12"/"5", which claimed 12 m / 5 m.
+        self.assertEqual(point.get("ce"), "1.0")
+        self.assertEqual(point.get("le"), "3.0")
         self.assertEqual(point.get("hae"), "28.0")
 
         detail = cot_xml.find("detail")

{dronecot-2.3.0 → dronecot-2.3.1}/tests/test_rid_track.py

@@ -267,6 +267,56 @@ class TestFieldPadding(unittest.TestCase):
         self.assertEqual(event.get("uid"), "RID.SHORTSN.uas")
 
 
+class TestMaclessSources(unittest.TestCase):
+    """Serial/MAVLink receivers report no MAC at all.
+
+    Measured on a live DroneScout Bridge: 57 correctly identified events
+    alongside 3 rendered under the shared ``Unknown-BasicID_0`` placeholder.
+
+    These records must NOT be aggregated on the feed -- one receiver reports
+    many aircraft, so a feed key would merge distinct drones. Instead they pass
+    through, and only the rendered UID falls back to the feed so contacts from
+    different receivers stay distinct.
+    """
+
+    @staticmethod
+    def _serial_rid(msg, sensor="dronescout"):
+        """Normalize a message the way a serial worker does: NO MAC address."""
+        return rid_normalize.bytes_to_rid_dict(
+            msg, {"sensor_id": sensor, "type": "MAVLink"}
+        )
+
+    def test_macless_without_serial_uses_feed_not_placeholder(self):
+        """The fix: never render under the shared placeholder UID."""
+        rid = self._serial_rid(_system_message(51.5, -0.12))
+        uid, mac = functions._rid_identity(rid)
+        self.assertIsNone(mac)
+        self.assertEqual(uid, "FEED-dronescout")
+        self.assertNotEqual(uid, "Unknown-BasicID_0")
+
+    def test_different_receivers_stay_distinct(self):
+        a = functions._rid_identity(self._serial_rid(_system_message(1.0, 2.0), "rx-a"))[0]
+        b = functions._rid_identity(self._serial_rid(_system_message(3.0, 4.0), "rx-b"))[0]
+        self.assertNotEqual(a, b)
+
+    def test_serial_wins_over_feed_in_uid(self):
+        rid = self._serial_rid(_basic_id_message("SERIAL9"))
+        self.assertEqual(functions._rid_identity(rid)[0], "SERIAL9")
+
+    def test_feed_is_NOT_used_as_an_aggregation_key(self):
+        """Guard against merging distinct aircraft from one multi-drone feed."""
+        rid = self._serial_rid(_location_message(51.5, -0.12))
+        self.assertIsNone(
+            rid_track.track_key(rid),
+            "a MAC-less, serial-less record must not be keyed on its feed",
+        )
+
+    def test_mac_still_wins_when_present(self):
+        rid = _rid(_location_message(1.0, 2.0), "AA:BB:CC:DD:EE:FF")
+        rid["data"]["sensor_id"] = "dronescout"
+        self.assertEqual(rid_track.track_key(rid)[0], "mac")
+
+
 class TestRidIdentity(unittest.TestCase):
     def test_missing_basic_id_falls_back_to_mac(self):
         rid = _rid(_location_message(1.0, 2.0), "DF:72:11:D2:6B:95")
@@ -300,3 +350,52 @@ class TestRidIdentity(unittest.TestCase):
 
 if __name__ == "__main__":
     unittest.main()
+
+
+class TestAccuracyEnums(unittest.TestCase):
+    """ODID accuracy fields are enum CODES; CoT ce/le are METRES.
+
+    Emitting the raw code claims precision the aircraft never reported. Worst
+    case inverts the meaning: code 0 means "unknown / >= 18.52 km" but rendered
+    as ce="0" -- a perfect fix. Observed live on a DroneBeacon: HorizAccuracy=9
+    (<30 m) drawn at 9 m, BaroAccuracy=0 (unknown) as zero error.
+    """
+
+    def test_horizontal_codes_map_to_metres(self):
+        # Mirrors decodeHorizontalAccuracy() in opendroneid-core-c.
+        for code, metres in ((9, "30.0"), (10, "10.0"), (11, "3.0"), (12, "1.0"),
+                             (1, "18520.0"), (6, "555.6")):
+            self.assertEqual(functions._odid_horiz_ce({"HorizAccuracy": code}), metres)
+
+    def test_vertical_codes_map_to_metres(self):
+        for code, metres in ((1, "150.0"), (2, "45.0"), (4, "10.0"), (6, "1.0")):
+            self.assertEqual(functions._odid_vert_le({"VertAccuracy": code}), metres)
+
+    def test_unknown_code_zero_is_not_perfect_precision(self):
+        """The dangerous inversion: 0 means UNKNOWN, never zero error."""
+        self.assertEqual(functions._odid_horiz_ce({"HorizAccuracy": 0}),
+                         functions.CE_LE_UNKNOWN)
+        self.assertEqual(functions._odid_vert_le({"VertAccuracy": 0}),
+                         functions.CE_LE_UNKNOWN)
+
+    def test_missing_or_reserved_codes_are_unknown(self):
+        for probe in ({}, {"HorizAccuracy": None}, {"HorizAccuracy": 15},
+                      {"HorizAccuracy": "junk"}):
+            self.assertEqual(functions._odid_horiz_ce(probe), functions.CE_LE_UNKNOWN)
+
+    def test_end_to_end_cot_uses_metres_not_the_code(self):
+        pack = (bytes([0xF0, ODID_MESSAGE_SIZE, 2])
+                + _basic_id_message("SERIAL1") + _location_message(37.7, -122.4))
+        rid = rid_normalize.bytes_to_rid_dict(pack, {"MAC address": "AA:BB:CC:DD:EE:FF"})
+        rid["HorizAccuracy"] = 9   # ODID: < 30 m
+        rid["VertAccuracy"] = 2    # ODID: < 45 m
+        point = functions.rid_uas_to_cot_xml(rid, {}).find("point")
+        self.assertEqual(point.get("ce"), "30.0")
+        self.assertEqual(point.get("le"), "45.0")
+
+    def test_absent_altitude_is_not_rendered_as_sea_level(self):
+        rid = _rid(_location_message(1.0, 2.0), "AA:BB:CC:DD:EE:FF")
+        rid.pop("AltitudeGeo", None)
+        event = functions.rid_uas_to_cot_xml(rid, {})
+        height = event.find(".//height")
+        self.assertEqual(height.get("value"), functions.CE_LE_UNKNOWN)

dronecot-2.3.0/src/dronecot/VERSION

@@ -1 +0,0 @@
-2.3.0