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auvstatus.py
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auvstatus.py
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#! /usr/bin/env python3
# -*- coding: utf-8 -*-
'''
v 2.76 - Improved Water Leak location reporting
v 2.75 - Put Chiton/Ayeris indicator back on for Galene
v 2.74 - Support for docking ops - first working version
v 2.73 - Adding NeedCommsTimeProfileStation to the parsing
v 2.72 - Critical messages < 31 characters were sometimes not reported!
v 2.71 - Fixed bug parsing default timeout, etc, when mission is Run vs Loaded
v 2.70 - Moved next waypoint out of ImptMisc to its own mission-specific query
v 2.69 - Working on parsing one-waypoint missions in case of no Nav To entry
v 2.68 - Muting query timeout for average_current :^(
v 2.67 - Added Fore Aft Aux to water critical message
v 2.66 - Fixed copy/paste bug where OT triggers Paused event
v 2.65 - Removed old debugging code which made error in mission defaults
v 2.64 - Projected battery remaining shows days if > 5 days remaining
v 2.63 - Parsing powerOnly piscivore cam for ahi also
v 2.62 - Changed the way defaults and full mission names are retrieved
v 2.61 - Upped the mA expectation for piscivore
v 2.60 - Added Waterlinked to the list of potential DVLs, and Ahi DVL on = True
v 2.59 - Report piscivore powerOnly widget for daphne also
v 2.58 - Remove year from mission start time if not recovered
v 2.57 - Make mission name red if DEFAULT > 15 minutes
v 2.56 - Quieting the No dataProcessed message
v 2.55 - Properly come up paused after critical
v 2.54 - Smarter schedule parsing for upcoming missions
v 2.53 - Added age colors for argo battery and show ARGO battery when on shore
v 2.52 - Fixed integer timeout bug
v 2.51 - Fixed bug parsing Pause status when recent critical
v 2.50 - Show age of last good Argo Battery Record
v 2.49 - Show orange status for Piscivore cameras sending old data
v 2.48 - Updated battery to use 3 queries
v 2.47 - Implemented API-based retrieval of default values (lightly tested)
v 2.46 - Accounted for age of battery update in calculating Amps remaining
v 2.45 - YASD - Yet another speed definition ApproachSpeedNotFirstTime
v 2.44 - Added parsing of environmental critical
v 2.43 - Some light formatting
v 2.42 - If two GPS fixes are too close together (30 mins), get an older one
v 2.41 - Adding volt and amp battery threshold display
v 2.40 - Working on recovering dead reckon data
v 2.39 - Added piscivore camera debug info
v 2.38 - Increased URL timeout to 8s. Display version on widget
v 2.37 - Schedule is NOT paused upon boot-up or restart. Added mission default
v 2.36 - Added another overthreshold scenario (migrated to github)
v 2.35 - Make Next comm label red if more than an hour overdue
v 2.34 - Report piscivore cam amps instead of generic label
v 2.33 - Make Sat comm label red if last comm more than an hour overdue
v 2.32 - Don't pause schedule on ESP stop messages
v 2.31 - Adjusting range for piscivore camera current-to-status
v 2.3 - Added piscivore camera status widget
v 2.28 - If Critical since last schedule resume, then schedule = paused
v 2.27 - Add Schedule Pause indicator (untested)
v 2.26 - Maybe fixed a lastlines empty parsing bug around 431
v 2.25 - Added rudimentary camera indicator for Galene.
v 2.24 - Made station Lookup use 3 decimals.
v 2.24 - Added arrow for high-side/low-side GF.
v 2.23 - Lookup table for waypoint names in the Nav projection section
v 2.22 - Added dot for log age. Added [ASAP] to schedule. Extended sparkline.
v 2.21 - Added Argo battery status (low or OK)
v 2.20 - Added freshness label to the depth sparkline
v 2.19 - Use last 7 values to calculate current draw
v 2.18 - Added projection of hours remaining on battery
v 2.17 - Added new NeedComms syntax
v 2.16 - Dynamically adjust max depth for sparkline
v 2.15 - Improved retrieval of Depth Data for full record
v 2.14 - New style query for Depth Data. Changed GPS query to limit 2
v 2.13 - Reformatted and relocated sparkline
v 2.12 - In progress sparkline for depth
v 2.11 - Fixed data decoding from ASCII retrieve
v 2.1 - Updated to Python 3
v 2.03 - Fixed pontus-specific UBAT formatting
v 2.02 - Adding #sticky note functionality
v 2.01 - Missing variable initialization in recovered vehicle
v 2.0 - Implemented config file
v 1.96 - Starting to incorporate config file. Removed email function
v 1.95a - Implemented over threshold
v 1.94 - Added indicator for failure to communicate with CTD
v 1.93 - Added battery discharge rate meter indicator
v 1.92 - Added report for number of bad battery sticks
v 1.91 - In progress, Adding new Data parsing
v 1.9 - Fixed Navigating to Parsing
v 1.8 - Added Motor Lock Fault parsing
v 1.7 - Minor enhancements
v 1.6 - Updated needcomms parsing
v 1.5 - Updated default mission list
v 1.4 - Bumping version number after misc changes.
v 1.3 - Streamlined code so it doesn't download data for recovered vehicles
v 1.2 - making UBAT pontus-specific (move to svg["pontus"] for more vehicles)
v 1.1 - adding cart
v 1.0 - works for pontus
Usage: auvstatus.py -v pontus -r (see a summary of reports)
auvstatus.py -v pontus > pontusfile.svg (save svg display)
'''
import argparse
import sys
import time
import os
import urllib.request, urllib.error, urllib.parse
import json
import math
import re
from collections import deque
from LRAUV_svg import svgtext,svghead,svgpontus,svggalene,svgbadbattery,svgtail,svglabels,svgerror,svgerrorhead,svgwaterleak,svgstickynote,svgpiscivore # define the svg text?
from config_auv import servername, basefilepath
import ssl
ssl._create_default_https_context = ssl._create_unverified_context
def get_options():
parser = argparse.ArgumentParser(usage = __doc__)
# parser.add_argument('infile', type = argparse.FileType('rU'), nargs='?',default = sys.stdin, help="output of vars_retrieve")
parser.add_argument("-b", "--DEBUG", action="store_true", help="Print debug info")
parser.add_argument("-r", "--report", action="store_true", help="print results")
parser.add_argument("-f", "--savefile", action="store_true", help="save to SVG named by vehicle at default location")
parser.add_argument("-v", "--vehicle", default="pontus" , help="specify vehicle")
parser.add_argument("--printhtml",action="store_true" , help="print auv.html web links")
parser.add_argument("-m", "--missions",action="store_true" , help="spit out mission defaults")
parser.add_argument("--newmissions",action="store_true" , help="test new mission defaults")
parser.add_argument("-a", "--anyway",action="store_true" , help="process even after recovery")
parser.add_argument("-i", "--inst",default="mbari" , help="choose the server (mbari or whoi)")
parser.add_argument("Args", nargs='*')
options = parser.parse_args()
return options
def unpackJSON(data):
if type(data) == type(b'x'):
data = data.decode('utf-8')
structured = json.loads(data)
# if DEBUG:
# print("### STRUCTURED:",structured, file=sys.stderr)
if 'result' in structured:
result = structured['result']
elif 'chartData' in structured:
result = structured['chartData']
else:
result = structured
return result
def runQuery(event="",limit="",name="",match="",timeafter="1234567890123"):
limit_str=""
if limit:
limit_str = "&limit={}".format(limit)
if match:
match = "&text.matches=" + match
if name:
name = "&name=" + name
if event:
event = "&eventTypes=" + event
'''send a generic query to the REST API. Extra parameters can be over packed into limit (2)'''
vehicle = VEHICLE
if not timeafter or int(timeafter) < 1234567890123:
timeafter="1234567890123"
BaseQuery = "https://{ser}/TethysDash/api/events?vehicles={v}{e}{n}{tm}{l}&from={t}"
URL = BaseQuery.format(ser=servername,v=vehicle,e=event,n=name,tm=match,l=limit_str,t=timeafter)
if DEBUG:
print("### QUERY:",URL, file=sys.stderr)
try:
connection = urllib.request.urlopen(URL,timeout=8)
if connection:
raw = connection.read()
structured = json.loads(raw)
connection.close()
result = structured['result']
else:
print("# Query timeout",URL, file=sys.stderr)
result = ''
return result
except urllib.error.HTTPError or ssl.SSLError:
if ssl.SSLError:
print("# QUERY TIMEOUT:",URL, file=sys.stderr)
else:
print("# FAILURE IN QUERY:",URL, file=sys.stderr)
handleURLerror()
return None
def runNewStyleQuery(api="",extrastring=""):
# example /events? or /data?
# https://okeanids.mbari.org/TethysDash/api/vconfig?vehicle=makai&gitTag=2020-07-18a&since=2020-07-21
# https://okeanids.mbari.org/TethysDash/api/deployments/last?vehicle=pontus
# https://okeanids.mbari.org/TethysDash/api/data?vehicle=pontus
if api:
apistring = "{a}?vehicle={v}".format(a=api,v=VEHICLE)
'''send a generic query to the REST API. Extra parameters can be over packed into limit (2)'''
NewBaseQuery = "https://{ser}/TethysDash/api/{apistring}{e}"
URL = NewBaseQuery.format(ser=servername,apistring=apistring,e=extrastring)
if DEBUG:
print("### NEW QUERY:",URL, file=sys.stderr)
try:
connection = urllib.request.urlopen(URL,timeout=8)
if connection:
datastream = connection.read()
result = unpackJSON(datastream)
else:
print("# Query timeout",URL, file=sys.stderr)
result = ''
return result
except urllib.error.HTTPError or ssl.SSLError:
if ssl.SSLError:
if DEBUG:
print("\n### HTTP ERROR:",URL, file=sys.stderr)
if not "PowerOnly" in URL and not "average_current" in URL and not "battery_voltage" in URL and not "battery_charge" in URL and not "data/depth" in URL:
print("# NEW QUERY TIMEOUT:",URL, file=sys.stderr)
handleURLerror()
else:
print("# FAILURE IN QUERY:",URL, file=sys.stderr)
handleURLerror()
return None
def getDeployment():
'''return start time for deployment'''
startTime = 0
try:
launchString = runQuery(event="launch",limit="1")
if launchString:
startTime = launchString[0]['unixTime']
if DEBUG:
print("# LAUNCH STRING:",launchString, file=sys.stderr)
except ssl.SSLError:
print("# DEPLOYMENT TIMEOUT",VEHICLE, file=sys.stderr)
return startTime
def getNewDeployment():
'''return start time for deployment and deploymentID. Starts too early!'''
startTime = 0
deployID = ""
try:
launchData = runNewStyleQuery(api="deployments/last")
if launchData:
startTime = launchData.get('startEvent',{}).get('unixTime',0)
deployID = launchData.get('deploymentId',"")
except ssl.SSLError:
print("# DEPLOYMENT TIMEOUT",VEHICLE, file=sys.stderr)
if DEBUG:
print("### DEPLOYMENT TIME:",startTime, file=sys.stderr)
print("### DEPLOYMENT ID:",deployID, file=sys.stderr)
print("### New Deploy String:",launchData, file=sys.stderr)
return startTime,deployID
def getRecovery(starttime):
launchString = runQuery(event="recover",limit="1",timeafter=starttime)
recover = False
if launchString:
recover = launchString[0]['unixTime']
return recover
def getPlugged(starttime):
launchString = runQuery(event="deploy",limit="1",timeafter=starttime)
plugged = False
if launchString:
plugged = launchString[0]['unixTime']
return plugged
def getGPS(starttime,mylimit="1"):
''' extract the most recent GPS entry'''
if DEBUG:
print("###\n### RUNNING GPS LIMIT 1 starttime:",starttime, file=sys.stderr)
qString = runQuery(event="gpsFix",limit=mylimit,timeafter=starttime)
retstring=""
if qString:
retstring = qString
return retstring
def getArgo(starttime,mylimit="1"):
''' extract the most recent GPS entry'''
if DEBUG:
print("###\n### RUNNING ARGO LIMIT 50 starttime:",starttime, file=sys.stderr)
qString = runQuery(event="argoReceive",limit=mylimit,timeafter=starttime)
retstring=""
if qString:
retstring = qString
return retstring
def getArgo50(starttime,mylimit="100"):
''' extract the most recent GPS entry'''
if DEBUG:
print("###\n### RUNNING ARGO LIMIT 50 starttime:",starttime, file=sys.stderr)
qString = runQuery(event="argoReceive",limit=mylimit,timeafter=starttime)
retstring=""
if qString:
retstring = qString
return retstring
def newGetOldGPS(starttime,mylimit="2"):
''' extract the most recent GPS entry'''
if DEBUG:
print("###\n### RUNNING NEW OLD GPS LIMIT 2 starttime:",starttime, file=sys.stderr)
qString = runQuery(event="gpsFix",limit=mylimit,timeafter=starttime)
retstring=""
if qString and len(qString) > 1:
# CHANGING FROM [1] to [-1] to allow getting older records
retstring = [qString[-1]]
if DEBUG:
print ("###\n### NEW OLD GPS:",retstring, file=sys.stderr)
return retstring
def getMissionDefaults():
'''https://okeanids.mbari.org/TethysDash/api/commands/script?path=Science/altitudeServo_approach_backseat_poweronly.tl'''
'''{"description":"Maximum duration of mission","name":"MissionTimeout","unit":"hour","value":"12"},{"description":"How often to surface for commumications","name":"NeedCommsTime","unit":"minute","value":"180"},'''
'''MBARI specific Utility script. Not routinely used.
SurfacingIntervalDuringListening
print standard defaults for the listed missions. some must have inheritance because it doesn't get them all'''
missions=["Science/profile_station","Science/sci2","Science/mbts_sci2","Transport/keepstation","Maintenance/ballast_and_trim","Transport/keepstation_3km","Transport/transit_3km","Science/spiral_cast"]
missions=["Science/mbts_sci2","Science/profile_station"]
for mission in missions:
URL = "https://{}/TethysDash/api/git/mission/{}.xml".format(servername,mission)
print("\n#===========================\n",mission, "\n", file=sys.stderr)
try:
connection = urllib.request.urlopen(URL,timeout=8)
if connection: # here?
raw = connection.read()
structured = json.loads(raw)
connection.close()
result = structured['result']
print(URL, file=sys.stderr)
try:
splitted = str(result).split("{")
for item in splitted:
print(item, file=sys.stderr)
except KeyError:
print("NA", file=sys.stderr)
except urllib.error.HTTPError:
print("# FAILED TO FIND MISSION",mission, file=sys.stderr)
def getNewMissionDefaults(missionn):
Speed = None
NCTime = None
TimeOut = None
Docked = False
"""NOTE: This mission name needs the suffix!"""
'''https://okeanids.mbari.org/TethysDash/api/commands/script?path=Science/altitudeServo_approach_backseat_poweronly.tl'''
'''{"description":"Maximum duration of mission","name":"MissionTimeout","unit":"hour","value":"12"},{"description":"How often to surface for commumications","name":"NeedCommsTime","unit":"minute","value":"180"},'''
missions=["Science/mbts_sci2.tl","Transport/keepstation.tl"]
# TEMPORARY FOR DEBUGGING
# missionn=missions[1]
URL = "https://{}/TethysDash/api/commands/script?path={}".format(servername,missionn)
if DEBUG:
print("\n#===========================\n",missionn, "\n", file=sys.stderr)
print("\n#===========================\n",URL, "\n", file=sys.stderr)
if missionn:
try:
connection = urllib.request.urlopen(URL,timeout=8)
if connection: # here?
raw = connection.read()
structured = json.loads(raw)
connection.close()
result = structured['result']['scriptArgs']
# if DEBUG:
# print(result, file=sys.stderr)
for subfield in result:
sfn = subfield.get('name')
if "NeedCommsTime" in sfn:
'''needcomms expects minutes'''
NCTime = subfield.get('value',None)
if subfield.get('unit',0)=='hour':
NCTime = int(NCTime)*60
if DEBUG:
print("FOUND NEEDCOMMS TIME:",subfield, file=sys.stderr)
# Mission Timeout = DockedTime plus 5 mins
elif sfn=="DockedTime":
TimeOut = subfield.get('value',None)
Docked=True
if subfield.get('unit',0)=='minute':
TimeOut = int(TimeOut)/60
if DEBUG:
print("FOUND DOCKED TIME:", subfield, file=sys.stderr)
elif sfn=="MissionTimeout" and not Docked:
'''Timeout expects hours'''
TimeOut = subfield.get('value',None)
if subfield.get('unit',0)=='minute':
TimeOut = int(TimeOut)/60
if DEBUG:
print("FOUND MISSION TIMEOUT:", subfield, file=sys.stderr)
elif sfn=="Speed":
Speed = subfield.get('value',None)
if DEBUG:
print(f"FOUND SPEED IN NEW DEFAULTS {subfield}", file=sys.stderr)
# try:
# splitted = str(result).split("{")
# for item in splitted:
# print(item, file=sys.stderr)
# except KeyError:
# print("NA", file=sys.stderr)
if DEBUG:
print(NCTime,TimeOut,Speed, file=sys.stderr)
except urllib.error.HTTPError:
print("# FAILED TO FIND NEW MISSION",missionn, file=sys.stderr)
return NCTime,TimeOut,Speed,Docked
def getNotes(starttime):
'''get notes with #widget in the text'''
qString = runQuery(event="note",limit="10",timeafter=starttime)
# if DEBUG:
# print("# NOTESTRING FOUND",qString, file=sys.stderr)
retstring = ''
if qString:
retstring=qString
return retstring
def getCritical(starttime):
'''get critical entries, like drop weight'''
qString = runQuery(event="logCritical",limit="1000",timeafter=starttime)
retstring = ""
if qString:
retstring = qString
return retstring
def getFaults(starttime):
'''
Software Overcurrent Add swatch to thruster section?
LCB fault: Software Overcurrent
Hardware Overcurrent
On overcurrent errors, the component varies. Probably worth having a special indicator and report what is flagged
LCB Fault
2020-03-06T00:10:13.771Z,1583453413.771 [CBIT](CRITICAL): Communications Fault in component: RDI_Pathfinder
2020-03-06T00:09:26.051Z,1583453366.051 [RDI_Pathfinder](FAULT): DVL failed to acquire valid data within timeout.'''
qString = runQuery(event="logFault",limit="2000",timeafter=starttime)
retstring = ""
if qString:
retstring = qString
return retstring
def getImportant(starttime,inputname=""):
qString = runQuery(event="logImportant",name=inputname,limit="2000",timeafter=starttime)
retstring = ""
if qString:
retstring = qString
return retstring
def getCBIT(starttime):
'''may also hold some DVL info'''
qString = runQuery(name="CBIT",timeafter=starttime)
retstring = ""
if qString:
retstring = qString
return retstring
def getDrop(starttime):
qString = runQuery(name="DropWeight",limit="2000",timeafter=starttime)
retstring = ""
if qString:
retstring = qString
return retstring
def getComms(starttime):
qString = runQuery(event="sbdReceive",limit="2000",timeafter=starttime)
retstring = ""
if qString:
retstring = qString
if DEBUG:
print("# GETCOMMS\n#\nPrinting Comms SBD", len(retstring), file=sys.stderr)
# for rec in retstring:
# print >> sys.stderr, rec
return retstring
def getDataAsc(starttime,mission):
''' TODO: cache batteries for when there is a new log file
OR if you don't find it, rerun the Query with limit 2 and parse the second file
Entries from shore.asc use same deque "trick" to get values. get maybe 150 lines
2020-03-04T20:58:38.153Z,1583355518.153 Unknown==>platform_battery_charge=126.440002 Ah
2020-03-04T20:58:38.153Z,1583355518.153 Unknown==>platform_battery_voltage=14.332275 V
Split on '='
['2020-03-03T09:17:56.203Z,1583227076.203 Unknown', '', '>platform_battery_charge', '153.968887 Ah']
'''
'''https://okeanids.mbari.org/TethysDash/data/pontus/realtime/sbdlogs/2020/202003/20200303T074113/shore.csv
2020/202003/20200303T074113
With Ahi: 2023-10-25T01:52:45.597Z,1698198765.597 Unknown==>platform_battery_voltage=15.262939 V
look for platform_battery_charge or platform_battery_voltage
WetLabsUBAT.flow_rate=0.333607 l/s
'''
Bailout=False
DataURL='https://{ser}/TethysDash/data/{vehicle}/realtime/sbdlogs/{extrapath}/shore.asc'
volt = 0
amp = 0
volttime = 0
flowtime = 0
flow = 999
Tracking = []
TrackTime = []
allpaths =[]
NeedTracking = True
if DEBUG:
print("# Running Old Data query...")
record = runQuery(event="dataProcessed",limit="10",timeafter=starttime)
if record:
for checkpath in record:
if not (checkpath['path'] in allpaths):
allpaths.append(checkpath['path'])
if DEBUG:
print("# Found (allpaths) Data Path", allpaths,file=sys.stderr)
else:
if DEBUG:
print("# No dataProcessed Path found", file=sys.stderr)
return volt,amp,volttime,flow,flowtime,Tracking,TrackTime
#moving duplicate checking above
# if (len(allpaths) ==3): # get three most recent
# if allpaths[0]==allpaths[1]: # if first two are the same, drop second
# z=allpaths.pop(1)
# else: # otherwise drop last one
# z=allpaths.pop(2)
firstlast = 0
for pathpart in allpaths[:2]:
volt = 0
amp = 0
volttime=0
extrapath = pathpart
NewURL = DataURL.format(ser=servername,vehicle=VEHICLE,extrapath=extrapath)
if DEBUG:
print("# DATA ASC URL",NewURL, file=sys.stderr)
datacon = urllib.request.urlopen(NewURL,timeout=8)
content = datacon.read().decode('utf-8').splitlines()
# if DEBUG:
# print("# DATA content",content[:10], file=sys.stderr)
# pull last X lines from queue. This was causing problems on some missions so increased it
lastlines = list(deque(content))
#lastlines = list(deque(content))
lastlines.reverse() #in place
# if DEBUG:
# print("dimensions of lastlines",len(lastlines), file=sys.stderr)
# print("# Lastlines (reversed):",lastlines[0:10], file=sys.stderr)
# for li in lastlines:
# if "flow" in li:
# print("#",li, file=sys.stderr)
#
# if DEBUG:
# print("# Lastlines first):",lastlines[0], file=sys.stderr)
# trying to avoid parsing the same part twice
# THIS doesn't work even if the first entity is the same
if lastlines and (firstlast == lastlines[0]):
Bailout = True
lastlines=[]
break
elif lastlines:
firstlast = lastlines[0]
else: # not lastlines
Bailout = True
lastlines=[]
break
for nextline in lastlines:
# if DEBUG:
# print >> sys.stderr, "#Battery nextline:",nextline.rstrip()
if "platform_battery_" in nextline:
if not('BPC1' in nextline):
fields = nextline.split("=")
if (volt==0) and ("voltage" in nextline) and (VEHICLE!='ahi'):
if DEBUG:
print("# Found Data Battery Voltage",fields[2:], file=sys.stderr)
volt = float(fields[3].split(" ")[0])
# in seconds not MS
if amp == 0 and "charge" in nextline:
if DEBUG:
print("# Found Data Battery Charge",fields[2:], file=sys.stderr)
amp = float(fields[3].split(" ")[0])
volttime = int(float(fields[0].split(',')[1].split(" ")[0])*1000)
else:
# VEHICLE=='ahi' and "voltage" in nextline: # Use BPC1
fields = nextline.split('>')[1].split("=")
if (volt==0) and ("voltage" in nextline) and (VEHICLE=='ahi'):
if DEBUG:
print("\n# Found AHI Data Battery Voltage",fields, file=sys.stderr)
volt = float(fields[1].split(" ")[0])
volttime = int(float(nextline.split('>')[0].split(',')[1].split(" ")[0])*1000)
if VEHICLE == 'pontus':
''' Fault UBAT flow rate is below the specified threshold of 0.05 l/s. WetLabsUBAT'''
'''WetLabsUBAT.flow_rate=0.333607 l/s'''
if (flow == 999) and "WetLabsUBAT.flow_rate" in nextline:
if DEBUG:
print("# FLOWDATA",nextline.rstrip(), file=sys.stderr)
flowfields = nextline.split("=")
flow = int(1000 * float(flowfields[-1].split(" ")[0]))
flowtime = int(float(flowfields[0].split(',')[1].split(" ")[0])*1000)
if DEBUG:
print("# FLOWNUM",flow, file=sys.stderr)
if ("acoustic" in mission or "CircleSample" in mission) and NeedTracking:
'''2020-10-10T20:41:20.873Z,1602362480.873 Unknown-->Tracking.range_to_contact=389.093750 m'''
if len(Tracking) < 2:
if "Tracking.range" in nextline:
tfields = nextline.split("=")
trange = int(float(tfields[-1].split(" ")[0]))
ttime = int(float(tfields[0].split(',')[1].split(" ")[0])*1000)
if trange:
Tracking.append(trange)
TrackTime.append(ttime)
else:
NeedTracking = False
else:
NeedTracking = False
if (volt) and (amp) and (VEHICLE == 'pontus' and flow < 999) and (NeedTracking == False):
Bailout = True
break
if Bailout == True:
break
if DEBUG:
if len(TrackTime) > 1:
print("#> Complete tracking:",Tracking, TrackTime, elapsed(TrackTime[0] - now), file=sys.stderr)
return volt,amp,volttime,flow,flowtime,Tracking,TrackTime
def getNewUBATFlow(starttime):
'''Returns the most recent flow rate from the UBAT sensor'''
'''PowerOnly.component_avgCurrent_loadControl'''
'''https://okeanids.mbari.org/TethysDash/api/data/WetLabsUBAT.flow_rate?vehicle=pontus&from=0&maxlen=2'''
record = runNewStyleQuery(api="data/WetLabsUBAT.flow_rate",extrastring="&from=0&maxlen=1")
if record:
flow = record['values'][:]
flowtime = record['times'][:]
else:
flow=999
flowtime=""
return flow,flowtime
def ampToCat(val):
'''convert piscivore current draw to number of cameras'''
'''each camera draws 100, not 50, so upping ranges'''
'''Cameras now drawing 375 ma total. upping ranges again'''
cat = False
ival = int(val)
'''for piscivore, convert raw current to category'''
if ival <=30:
cat = 0
elif ival < 176:
cat = 1
elif ival > 390:
cat = 3
elif ival > 175:
cat = 2
return cat
def getNewPlanktivore(starttime):
'''https://okeanids.mbari.org/TethysDash/api/data/_.planktivore_HM_AvgRois?vehicle=ahi&maxlen=10&from=1701196801652
https://okeanids.mbari.org/TethysDash/api/data/_.ayeris_particle_counts?vehicle=galene&maxlen=10&from=1701196801652
_.ayeris_particle_counts=996.500000 count/s
{"name":"_.planktivore_HM_AvgRois","units":"count/s","values":[0.602051,0.0,0.301025,0.602051,0.0,0.0,0.301025,0.0,0.301025,0.0],"times":[1715273810966,1715273962095,1715273992123,1715274201341,1715274241384,1715274366502,1715274414547,1715274559677,1715274600716,1715274824916]}
2024-05-08T03:19:18.234Z,1715138358.234 Unknown-->_.planktivore_LM_AvgRois=2.650269 count/s
2024-05-08T03:19:39.255Z,1715138379.255 Unknown-->_.planktivore_HM_AvgRois=0.477119 count/s'''
nowcat=-999
origtime = False
nowpowtime = False
if DEBUG:
print(f"# Plank &maxlen=10&from={starttime}", file=sys.stderr)
record = runNewStyleQuery(api="data/_.planktivore_HM_AvgRois",extrastring=f"&maxlen=10&from={starttime}")
'''(-ago_cellcomms / (60*1000)) > (needcomms+60):'''
if record and nowcat < -998: #nowcat check not needed because no loop
nowcat = ampToCat(record['values'][-1])
nowpow = "{}".format(int(record['values'][-1])) + "ma"
nowpowtime = record['times'][-1]
# -1 to 15, 16-65, 66-125
agopowtime = now - nowpowtime
if (agopowtime / (60*1000)) > (needcomms+60):
nowpow="Too Old"
nowcat=5
if DEBUG:
print("# PowerOnly too old",elapsed(nowpowtime - now), file=sys.stderr)
for v,t in zip(record['values'][::-1],record['times'][::-1]):
tc = ampToCat(v)
if tc == nowcat:
nowpowtime = t
else:
break
if DEBUG:
print("# record",record['values'], file=sys.stderr)
# print("# ORIGTIME",elapsed(origtime - now), file=sys.stderr)
print("# FIRST TIME",elapsed(nowpowtime - now), file=sys.stderr)
else:
nowpow="PISC"
nowpowtime=False
return nowcat,nowpowtime,nowpow
def getNewCameraPower(starttime):
nowcat=-999
origtime = False
nowpowtime = False
'''Returns the most recent power consumption for the piscivore cameras'''
'''PowerOnly.component_avgCurrent_loadControl'''
'''https://okeanids.mbari.org/TethysDash/api/data/PowerOnly.component_avgCurrent_loadControl?vehicle=pontus
# updated to add extra string if values are not being reported?
https://okeanids.mbari.org/TethysDash/api/data/PowerOnly.component_avgCurrent_loadControl?vehicle=pontus&maxlen=10&from=1701196801652'''
if DEBUG:
print(f"# NewPowerOnly &maxlen=10&from={starttime}", file=sys.stderr)
record = runNewStyleQuery(api="data/PowerOnly.component_avgCurrent_loadControl",extrastring=f"&maxlen=10&from={starttime}")
'''(-ago_cellcomms / (60*1000)) > (needcomms+60):'''
if record and nowcat < -998: #nowcat check not needed because no loop
nowcat = ampToCat(record['values'][-1])
nowpow = "{}".format(int(record['values'][-1])) + "ma"
nowpowtime = record['times'][-1]
# -1 to 15, 16-65, 66-125
agopowtime = now - nowpowtime
if (agopowtime / (60*1000)) > (needcomms+60):
nowpow="Too Old"
nowcat=5
if DEBUG:
print("# PowerOnly too old",elapsed(nowpowtime - now), file=sys.stderr)
for v,t in zip(record['values'][::-1],record['times'][::-1]):
tc = ampToCat(v)
if tc == nowcat:
nowpowtime = t
else:
break
if DEBUG:
print("# record",record['values'], file=sys.stderr)
# print("# ORIGTIME",elapsed(origtime - now), file=sys.stderr)
print("# FIRST TIME",elapsed(nowpowtime - now), file=sys.stderr)
else:
nowpow="PISC"
nowpowtime=False
return nowcat,nowpowtime,nowpow
def getNewNavigating(missiontime):
recordlist = getImportant(missiontime)
StationLat = False
StationLon = False
ReachedWaypoint = False
NavigatingTo = False
WaypointName = "Waypoint"
myre = re.compile(r'WP ?([\d\.\-]+)[ ,]+([\d\.\-]+)')
wayre = re.compile(r'point: ?([\d\.\-]+)[ ,]+([\d\.\-]+)')
RawWaypoints={"C1" : "-121.847,36.797",
"M1" : "-122.022,36.750",
"M2" : "-122.375999,36.691",
"3km" : "-121.824326,36.806965",
"Sta.N" : "-121.9636,36.9026",
"Sta.S" : "-121.8934,36.6591",
"NEreal" : "-121.900002,36.919998",
"NE" : "-121.9,36.9"}
TruncatedWaypoints = {
"36.797,-121.847": "C1" ,
"36.797,-121.850": "C1 profile",
"36.750,-122.022": "M1" ,
"36.691,-122.376": "M2" ,
"36.807,-121.824": "3km" ,
"36.903,-121.964": "Sta.N" ,
"36.659,-121.893": "Sta.S" ,
"36.920,-121.900": "NE-b",
"36.900,-121.900": "NE",
"36.81,-121.98": "Lower Soquel",
"36.77,-121.89": "Krill Shelf",
"36.82,-121.86": "N. Spur",
"36.712,-122.187" : "MARS",
"36.722,-122.187" : "Canon 1N",
"36.713,-122.176" : "Canon 1E",
"36.704,-122.187" : "Canon 1S",
"36.713,-122.198" : "Canon 1W",
"36.731,-122.187" : "Canon 2N",
"36.713,-122.165" : "Canon 2E",
"36.695,-122.187" : "Canon 2S",
"36.713,-122.209" : "Canon 2W",
"36.87,-121.96" : "Upper Soquel",
"36.903,-121.113" : "Dock Site"
}
if DEBUG:
print(f"Parsing Waypoints for current mission",file=sys.stderr)
for Record in recordlist:
RecordText = Record.get("text","NA")
# This will only parse the most recent event in the queue between Reached or Nav
if not NavigatingTo and not ReachedWaypoint:
if Record["text"].startswith("Navigating to") and not "box" in Record["text"]:
if DEBUG:
print("## Found Navigating To Event", Record["text"], file=sys.stderr)
'''Navigating to waypoint: 36.750000,-122.022003'''
NavRes = wayre.search(Record["text"].replace("arcdeg",""))
if NavRes:
textlat,textlon = NavRes.groups()
if textlat:
StationLat = float(textlat)
StationLon = float(textlon)
if DEBUG:
print("## Got LatLon from Navigating To", StationLat,StationLon, file=sys.stderr)
NavigatingTo = Record["unixTime"]
if Record["text"].lower().startswith("reached waypoint"):
if DEBUG:
print("## Found Reached Event", Record["text"], Record["unixTime"], file=sys.stderr)
waresult = wayre.search(Record["text"])
if waresult:
textlat,textlon=waresult.groups()
if textlat:
StationLat = float(textlat)
StationLon = float(textlon)
if DEBUG:
print("## Got ReachedWaypoint", StationLat,StationLon, file=sys.stderr)
ReachedWaypoint = Record["unixTime"]
if StationLat:
LookupLL = f"{round(StationLat,3):.3f},{round(StationLon,3):.3f}"
if DEBUG:
print("## Looking up Station", LookupLL, file=sys.stderr)
WaypointName = TruncatedWaypoints.get(LookupLL,"Station.") # if not found, use "Station"
return StationLat, StationLon, ReachedWaypoint, WaypointName
def getNewNextWaypoint():
wpq = ""
'''https://okeanids.mbari.org/TethysDash/api/wp?vehicle=pontus
"result": {
"missionLatLonArgs": [
{
"name": "Lat",
"value": "36.806966"
},
{
"name": "Lon",
"value": "-121.824326"
}
],
"points": [
{
"lat": 36.903,
"lon": -122.113
}
],
'''
wpq = runNewStyleQuery(api="wp")
if DEBUG:
print("## QUERYING FOR WAYPOINTS", file=sys.stderr)
if not wpq:
return None,None
else:
wpr = wpq.get('points',None) # (get only First result of this)
# List will contain all the waypoints. Only use if there is only one.
if wpr and len(wpr)==1:
wp_lat = wpr[0].get('lat',None)
wp_lon = wpr[0].get('lon',None)
if DEBUG:
print(f"WAYPOINT LAT AND LON: {wpr} \n {wp_lat} {wp_lon}",file=sys.stderr)
return wp_lat,wp_lon
else:
return None,None
def getNewLatLon(starttime=1676609209829):
'''https://okeanids.mbari.org/TethysDash/api/data/depth?vehicle=pontus&maxlen=200
https://okeanids.mbari.org/TethysDash/api/data/depth?vehicle=triton&maxlen=2&from=1676609209829
'''
depthl = []
timed = []
choplat = []
choplon = []
chopt = []
maxdepthseconds = 480
# if we are constraining with a from statement
howlongago = int(now - 10+maxdepthseconds*60*1000)
rec_lat = runNewStyleQuery(api="data/latitude_fix",extrastring=f"&maxlen=400&from={starttime}")
rec_lon = runNewStyleQuery(api="data/longitude_fix",extrastring=f"&maxlen=400&from={starttime}")
# if DEBUG:
# print("# LATLON",rec_lat,rec_lon, file=sys.stderr)
if not rec_lat:
return choplat,choplon,False
latitudes = rec_lat['values'][:]
longitudes = rec_lon['values'][:]
millis = rec_lat['times'][:]
elapse_list = [elapsed(m - now) for m in millis]
from itertools import groupby
llist=[k for k, g in groupby(zip(latitudes,longitudes,millis,elapse_list))]
lat,lon,mill,elapse = zip(*llist)
# if DEBUG:
# for j in llist:
# print(j, file=sys.stderr)
bearinglist=[]
for i in range(len(llist)-1):
# deltadist,deltat,speedmadegood,bearing
# distance(site,gpstime,oldsite,oldgpstime)
bearinglist.append( (mill[i],) + distance( (lat[i+1],lon[i+1]),mill[i+1],(lat[i],lon[i]),mill[i]) )
# for z in bearinglist:
# print(z[0],z[3],z[4], file=sys.stderr)
# for k in cdd:
# print(f"{k};{cdd.get(k)}", file=sys.stderr)
# depthl = [-0.993011,0.102385,0.065651,0.117626,0.060571,0.105122,2.669861,17.237305,28.119141,31.023926,30.093750,29.107910,0.071512,0.076593,0.081284,0.126614,0.086754,0.059008,1.560425,40.828125,1.911346,20.146484,1.978973,40.566406,2.295471,40.296875,2.434631,40.497070,1.792938,40.433594,0.143028,0.074247,1.753479,40.653320,14.269775,1.691742,39.653320,1.316193,40.268555,1.810150,18.678711,17.157227,31.187012,30.313477,28.996582,0.170383,0.097305,0.067604,0.130524,0.091835,1.672180,39.883789,1.678436,40.720703,2.512756,3.323242,40.277344,1.808563,40.340820,3.286133,2.399048,12.588135,0.106293,0.089098,0.108639,1.649902,39.648438,10.620605,1.938721,30.812012,0.092224,0.044939,0.150452,0.158268,0.080893,0.059008,0.101604,0.103167,1.726135,40.442383,8.166504,1.699158,40.311523,2.993469,2.450623,34.390625,22.701172,0.234081,0.076202,1.844910,40.644531,34.384766,34.854492,27.496094,30.463867,30.583008,28.158691,0.100822,0.126614,0.150063,0.220406]
# millis = [1676497296190,1676497452506,1676497521881,1676497853558,1676497959418,1676497960217,1676498110631,1676498229806,1676498308178,1676498378481,1676498494060,1676500238921,1676500298712,1676500339930,1676500750518,1676501082201,1676501238954,1676501239366,1676501766221,1676501887410,1676502033260,1676502106414,1676502173458,1676502314893,1676502452638,1676502591218,1676502726162,1676502864738,1676503000918,1676503141900,1676503280473,1676503443286,1676503518242,1676503663286,1676503761056,1676503805098,1676503941247,1676504076986,1676504219634,1676504356158,1676504424433,1676504483023,1676504625626,1676504762994,1676506604327,1676506663304,1676506707348,1676507137945,1676507186970,1676507199997,1676507327348,1676507462698,1676507601282,1676507741872,1676507872787,1676507886522,1676508021049,1676508157225,1676508297401,1676508424267,1676508437599,1676508484061,1676508513148,1676508646066,1676508659573,1676508784502,1676508925910,1676509030133,1676509064074,1676509174778,1676509238600,1676509534745,1676510163866,1676510164308,1676510184145,1676510219290,1676510279217,1676510279612,1676510395234,1676510539487,1676510653418,1676510679673,1676510818271,1676510944323,1676510958462,1676511077685,1676511102317,1676511145158,1676511355273,1676511429762,1676511557810,1676511590196,1676511658837,1676511723883,1676511813189,1676513466133,1676513612535,1676513666698,1676513718046,1676513836238,1676513861722]
timed = [(x/1000)/60 for x in millis] # in minutes
nowmin = (now/1000)/60
fakedepth = 10
padded = False
if nowmin - max(timed) > 4:
timed = timed + [max(timed),max(timed)+2,nowmin]
depthl = depthl + [1,fakedepth,fakedepth]
padded = True
md = max(timed)
if (False): # TESTING
depthl = [1,1,10,10,50,50,100,100,150,150,200,200,250,250,150,150,25,25]
millis = [10,20,30,40,50,60,70,80,100,130,150,170,190,200,250,350,400,480]
timed = millis
# This list is now padded so the last 3 values are placeholders
if (md - min(timed) > maxdepthseconds-1):
chopt = [x for x in timed if md - x < maxdepthseconds]
chopd = depthl[-len(chopt):] # last n elements
else:
chopt = timed
chopd = depthl
# if DEBUG:
# for i in range(len(chopt)):
# print("# Chop",i,chopt[i],hours(60000*chopt[i]), file=sys.stderr)
return chopt,chopd,padded
def getNewDepth(starttime=1676609209829):
'''https://okeanids.mbari.org/TethysDash/api/data/depth?vehicle=pontus&maxlen=200
https://okeanids.mbari.org/TethysDash/api/data/depth?vehicle=triton&maxlen=2&from=1676609209829
'''
depthl = []
timed = []
chopt = []
chopd = []
maxdepthseconds = 480
# if we are constraining with a from statement
howlongago = int(now - 10+maxdepthseconds*60*1000)
record = runNewStyleQuery(api="data/depth",extrastring=f"&maxlen=400&from={starttime}")
# if DEBUG:
# print("# DEPTH RECORD",record, file=sys.stderr)
if not record:
return chopt,chopd,False
depthl = record['values'][:]
millis = record['times'][:]
if DEBUG:
print("# LENGTH DEPTH RECORD",len(millis), file=sys.stderr)
# depthl = [-0.993011,0.102385,0.065651,0.117626,0.060571,0.105122,2.669861,17.237305,28.119141,31.023926,30.093750,29.107910,0.071512,0.076593,0.081284,0.126614,0.086754,0.059008,1.560425,40.828125,1.911346,20.146484,1.978973,40.566406,2.295471,40.296875,2.434631,40.497070,1.792938,40.433594,0.143028,0.074247,1.753479,40.653320,14.269775,1.691742,39.653320,1.316193,40.268555,1.810150,18.678711,17.157227,31.187012,30.313477,28.996582,0.170383,0.097305,0.067604,0.130524,0.091835,1.672180,39.883789,1.678436,40.720703,2.512756,3.323242,40.277344,1.808563,40.340820,3.286133,2.399048,12.588135,0.106293,0.089098,0.108639,1.649902,39.648438,10.620605,1.938721,30.812012,0.092224,0.044939,0.150452,0.158268,0.080893,0.059008,0.101604,0.103167,1.726135,40.442383,8.166504,1.699158,40.311523,2.993469,2.450623,34.390625,22.701172,0.234081,0.076202,1.844910,40.644531,34.384766,34.854492,27.496094,30.463867,30.583008,28.158691,0.100822,0.126614,0.150063,0.220406]
# millis = [1676497296190,1676497452506,1676497521881,1676497853558,1676497959418,1676497960217,1676498110631,1676498229806,1676498308178,1676498378481,1676498494060,1676500238921,1676500298712,1676500339930,1676500750518,1676501082201,1676501238954,1676501239366,1676501766221,1676501887410,1676502033260,1676502106414,1676502173458,1676502314893,1676502452638,1676502591218,1676502726162,1676502864738,1676503000918,1676503141900,1676503280473,1676503443286,1676503518242,1676503663286,1676503761056,1676503805098,1676503941247,1676504076986,1676504219634,1676504356158,1676504424433,1676504483023,1676504625626,1676504762994,1676506604327,1676506663304,1676506707348,1676507137945,1676507186970,1676507199997,1676507327348,1676507462698,1676507601282,1676507741872,1676507872787,1676507886522,1676508021049,1676508157225,1676508297401,1676508424267,1676508437599,1676508484061,1676508513148,1676508646066,1676508659573,1676508784502,1676508925910,1676509030133,1676509064074,1676509174778,1676509238600,1676509534745,1676510163866,1676510164308,1676510184145,1676510219290,1676510279217,1676510279612,1676510395234,1676510539487,1676510653418,1676510679673,1676510818271,1676510944323,1676510958462,1676511077685,1676511102317,1676511145158,1676511355273,1676511429762,1676511557810,1676511590196,1676511658837,1676511723883,1676511813189,1676513466133,1676513612535,1676513666698,1676513718046,1676513836238,1676513861722]
timed = [(x/1000)/60 for x in millis] # in minutes
nowmin = (now/1000)/60
fakedepth = 10
padded = False
if nowmin - max(timed) > 4:
timed = timed + [max(timed),max(timed)+2,nowmin]
depthl = depthl + [1,fakedepth,fakedepth]