add draft data process

.gitignore

+
+__pycache__/

CMakeLists.txt

@@ -10,12 +10,13 @@ find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclpy REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
 
 
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/Ais.msg"
-  # DEPENDENCIES geometry_msgs # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg
+ament_python_install_package(${PROJECT_NAME})
+
+install(PROGRAMS
+  scripts/demo.py
+  DESTINATION lib/${PROJECT_NAME}
 )
 
 

ais2msg/util.py

+import pyais
+from aismsg.msg import AISObject, Radio
+
+
+def get_AISobj(msg):
+
+    decode_msg = pyais.decode(msg)
+    aisobj = AISObject()
+
+    process_data(decode_msg, aisobj)
+
+    return aisobj
+
+
+def get_object_data_from_type(msg_type, obj):
+
+    msg_type = int(msg_type)
+    match msg_type:
+        case 1 | 2 | 3:
+            return obj.position
+        case _:
+            return None
+
+
+def process_data(decode_msg, obj):
+    msg_type = int(decode_msg.asdict()["msg_type"])
+    process_message_data(decode_msg, get_object_data_from_type(msg_type, obj))
+
+
+def process_message_data(decode_msg, msg):
+
+    decode_msg_dict = decode_msg.asdict()
+    process_header(decode_msg_dict, msg.ais_header)
+
+    for key, value in decode_msg_dict.items():
+        process_field_data(key, value, msg)
+
+    if msg.ais_header.msg_type in (1, 2, 3, 4, 9, 11, 18):
+        process_radio(decode_msg, msg.radio)
+
+
+def process_header(decode_msg_dict, header):
+
+    header.msg_type = decode_msg_dict["msg_type"]
+    header.repeat = decode_msg_dict["repeat"]
+    header.mmsi = str(decode_msg_dict["mmsi"])
+
+
+def process_field_data(key, value, msg):
+
+    if key in ("msg_type", "repeat", "mmsi", "radio", "spare_1"):
+        return
+
+    match key:
+        case "status":
+            msg.status = int(value)
+        case "turn":
+            msg.turn = float(value)
+        case "speed":
+            msg.speed = value
+        case "accuracy":
+            msg.accuracy = value
+        case "lon":
+            msg.lon = value
+        case "lat":
+            msg.lat = value
+        case "course":
+            msg.course = value
+        case "heading":
+            msg.heading = value
+        case "second":
+            msg.second = value
+        case "maneuver":
+            msg.maneuver = int(value)
+        case "raim":
+            msg.raim = value
+        case _:
+            print(f"Unspecified data type \"{key}\" given! Ignore!!")
+
+
+def process_radio(decode_msg, radio):
+
+
+    radio.status = decode_msg.asdict()["radio"]
+    radio.is_sotdma = decode_msg.is_sotdma
+    communication_state = decode_msg.get_communication_state()
+
+    for key, value in communication_state.items():
+
+        if value == None:
+            continue
+
+        process_radio_field_data(key, value, radio)
+
+
+
+def process_radio_field_data(key, value, ros_radio_msg):
+
+    match key:
+        case "sync_state":
+            ros_radio_msg.sync_state = int(value)
+        case "received_stations":
+            ros_radio_msg.receive_station_num = value
+        case "slot_timeout":
+            ros_radio_msg.slot_timeout = value
+        case "slot_number":
+            ros_radio_msg.slot_num = value
+        case "slot_offset":
+            ros_radio_msg.slot_offset = value
+        case "utc_hour":
+            ros_radio_msg.utc_hour = value
+        case "utc_minute":
+            ros_radio_msg.utc_minute = value
+        case "keep_flag":
+            ros_radio_msg.keep_flag = value
+        case "slot_increment":
+            ros_radio_msg.slot_increment = value
+        case "num_slots":
+            ros_radio_msg.allocate_slot = value
+        case _:
+            print(f"Unspecified radio data type \"{key}\" given! Ignore!!")

msg/Ais.msg

-
-uint8 msg_type 1
-uint8 repeat 0
-uint64 mmsi
-
-

package.xml

@@ -9,16 +9,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
-  <member_of_group>rosidl_interface_packages</member_of_group>
-
-  <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclpy</depend>
 
-  <exec_depend>rosidl_default_runtime</exec_depend>
-
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

scripts/ais2msg.py

@@ -11,4 +11,6 @@ for msg in TCPConnection(HOST, port=PORT):
 
     print('*' * 80)
     print(decoded_message)
+    # print('*' * 80)
+    # print(decoded_message.get_communication_state())
 

scripts/demo.py

+#!/usr/bin/env python3
+
+import pyais
+from ais2msg.util import get_AISobj
+
+
+def demo():
+
+    # test type 1
+    testcase = [
+        "!AIVDM,1,1,,A,15RTgt0PAso;90TKcjM8h6g208CQ,0*4A",  # type 1
+        "!AIVDM,1,1,,B,25Cjtd0Oj;Jp7ilG7=UkKBoB0<06,0*60",  # type 2
+        "!AIVDM,1,1,,A,38Id705000rRVJhE7cl9n;160000,0*40",  # type 3
+    ]
+    for idx, data in enumerate(testcase):
+        print("*" * 30 + " type " + str(idx+1) + " " + "*" * 30)
+        msg = get_AISobj(data)
+        print(msg.position)
+
+
+if __name__ == '__main__':
+    demo()