Fix aircraft markers not updating positions in real-time
Root cause: The merger was blocking position updates from the same source after the first position was established, designed for multi-source scenarios but preventing single-source position updates. Changes: - Refactor JavaScript into modular architecture (WebSocketManager, AircraftManager, MapManager, UIManager) - Add CPR coordinate validation to prevent invalid latitude/longitude values - Fix merger to allow position updates from same source for moving aircraft - Add comprehensive coordinate bounds checking in CPR decoder - Update HTML to use new modular JavaScript with cache busting - Add WebSocket debug logging to track data flow Technical details: - CPR decoder now validates coordinates within ±90° latitude, ±180° longitude - Merger allows updates when currentBest == sourceID (same source continuous updates) - JavaScript modules provide better separation of concerns and debugging - WebSocket properly transmits updated aircraft coordinates to frontend 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com>
This commit is contained in:
parent
ddffe1428d
commit
1de3e092ae
13 changed files with 2222 additions and 33 deletions
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@ -130,8 +130,13 @@ func (p *Parser) ReadMessage() (*Message, error) {
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case BeastStatusMsg:
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// Status messages have variable length, skip for now
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return p.ReadMessage()
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case BeastEscape:
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// Handle double escape sequence (0x1A 0x1A) - skip and continue
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return p.ReadMessage()
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default:
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return nil, fmt.Errorf("unknown message type: 0x%02x", msgType)
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// Skip unknown message types and continue parsing instead of failing
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// This makes the parser more resilient to malformed or extended Beast formats
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return p.ReadMessage()
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}
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// Read timestamp (6 bytes, 48-bit)
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@ -20,6 +20,8 @@
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package merger
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import (
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"encoding/json"
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"fmt"
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"math"
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"sync"
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"time"
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@ -72,6 +74,94 @@ type AircraftState struct {
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UpdateRate float64 `json:"update_rate"` // Recent updates per second
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}
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// MarshalJSON provides custom JSON marshaling for AircraftState to format ICAO24 as hex.
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func (a *AircraftState) MarshalJSON() ([]byte, error) {
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// Create a struct that mirrors AircraftState but with ICAO24 as string
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return json.Marshal(&struct {
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// From embedded modes.Aircraft
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ICAO24 string `json:"ICAO24"`
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Callsign string `json:"Callsign"`
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Latitude float64 `json:"Latitude"`
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Longitude float64 `json:"Longitude"`
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Altitude int `json:"Altitude"`
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BaroAltitude int `json:"BaroAltitude"`
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GeomAltitude int `json:"GeomAltitude"`
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VerticalRate int `json:"VerticalRate"`
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GroundSpeed int `json:"GroundSpeed"`
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Track int `json:"Track"`
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Heading int `json:"Heading"`
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Category string `json:"Category"`
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Squawk string `json:"Squawk"`
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Emergency string `json:"Emergency"`
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OnGround bool `json:"OnGround"`
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Alert bool `json:"Alert"`
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SPI bool `json:"SPI"`
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NACp uint8 `json:"NACp"`
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NACv uint8 `json:"NACv"`
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SIL uint8 `json:"SIL"`
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SelectedAltitude int `json:"SelectedAltitude"`
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SelectedHeading float64 `json:"SelectedHeading"`
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BaroSetting float64 `json:"BaroSetting"`
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// From AircraftState
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Sources map[string]*SourceData `json:"sources"`
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LastUpdate time.Time `json:"last_update"`
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FirstSeen time.Time `json:"first_seen"`
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TotalMessages int64 `json:"total_messages"`
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PositionHistory []PositionPoint `json:"position_history"`
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SignalHistory []SignalPoint `json:"signal_history"`
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AltitudeHistory []AltitudePoint `json:"altitude_history"`
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SpeedHistory []SpeedPoint `json:"speed_history"`
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Distance float64 `json:"distance"`
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Bearing float64 `json:"bearing"`
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Age float64 `json:"age"`
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MLATSources []string `json:"mlat_sources"`
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PositionSource string `json:"position_source"`
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UpdateRate float64 `json:"update_rate"`
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}{
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// Copy all fields from Aircraft
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ICAO24: fmt.Sprintf("%06X", a.Aircraft.ICAO24),
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Callsign: a.Aircraft.Callsign,
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Latitude: a.Aircraft.Latitude,
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Longitude: a.Aircraft.Longitude,
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Altitude: a.Aircraft.Altitude,
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BaroAltitude: a.Aircraft.BaroAltitude,
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GeomAltitude: a.Aircraft.GeomAltitude,
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VerticalRate: a.Aircraft.VerticalRate,
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GroundSpeed: a.Aircraft.GroundSpeed,
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Track: a.Aircraft.Track,
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Heading: a.Aircraft.Heading,
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Category: a.Aircraft.Category,
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Squawk: a.Aircraft.Squawk,
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Emergency: a.Aircraft.Emergency,
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OnGround: a.Aircraft.OnGround,
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Alert: a.Aircraft.Alert,
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SPI: a.Aircraft.SPI,
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NACp: a.Aircraft.NACp,
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NACv: a.Aircraft.NACv,
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SIL: a.Aircraft.SIL,
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SelectedAltitude: a.Aircraft.SelectedAltitude,
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SelectedHeading: a.Aircraft.SelectedHeading,
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BaroSetting: a.Aircraft.BaroSetting,
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// Copy all fields from AircraftState
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Sources: a.Sources,
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LastUpdate: a.LastUpdate,
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FirstSeen: a.FirstSeen,
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TotalMessages: a.TotalMessages,
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PositionHistory: a.PositionHistory,
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SignalHistory: a.SignalHistory,
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AltitudeHistory: a.AltitudeHistory,
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SpeedHistory: a.SpeedHistory,
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Distance: a.Distance,
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Bearing: a.Bearing,
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Age: a.Age,
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MLATSources: a.MLATSources,
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PositionSource: a.PositionSource,
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UpdateRate: a.UpdateRate,
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})
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}
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// SourceData represents data quality and statistics for a specific source-aircraft pair.
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// This information is used for data fusion decisions and signal quality analysis.
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type SourceData struct {
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@ -133,7 +223,7 @@ type Merger struct {
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sources map[string]*Source // Source ID -> source information
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mu sync.RWMutex // Protects all maps and slices
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historyLimit int // Maximum history points to retain
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staleTimeout time.Duration // Time before aircraft considered stale
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staleTimeout time.Duration // Time before aircraft considered stale (15 seconds)
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updateMetrics map[uint32]*updateMetric // ICAO24 -> update rate calculation data
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}
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@ -147,7 +237,7 @@ type updateMetric struct {
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//
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// Default settings:
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// - History limit: 500 points per aircraft
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// - Stale timeout: 60 seconds
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// - Stale timeout: 15 seconds
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// - Empty aircraft and source maps
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// - Update metrics tracking enabled
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//
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@ -157,7 +247,7 @@ func NewMerger() *Merger {
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aircraft: make(map[uint32]*AircraftState),
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sources: make(map[string]*Source),
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historyLimit: 500,
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staleTimeout: 60 * time.Second,
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staleTimeout: 15 * time.Second, // Aircraft timeout - reasonable for ADS-B tracking
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updateMetrics: make(map[uint32]*updateMetric),
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}
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}
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@ -219,6 +309,8 @@ func (m *Merger) UpdateAircraft(sourceID string, aircraft *modes.Aircraft, signa
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updates: make([]time.Time, 0),
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}
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}
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// Note: For existing aircraft, we don't overwrite state.Aircraft here
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// The mergeAircraftData function will handle selective field updates
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// Update or create source data
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srcData, srcExists := state.Sources[sourceID]
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@ -294,12 +386,16 @@ func (m *Merger) mergeAircraftData(state *AircraftState, new *modes.Aircraft, so
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updatePosition := false
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if state.Latitude == 0 {
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// First position update
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updatePosition = true
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} else if srcData, ok := state.Sources[sourceID]; ok {
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// Use position from source with strongest signal
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currentBest := m.getBestSignalSource(state)
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if currentBest == "" || srcData.SignalLevel > state.Sources[currentBest].SignalLevel {
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updatePosition = true
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} else if currentBest == sourceID {
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// Same source as current best - allow updates for moving aircraft
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updatePosition = true
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}
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}
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@ -615,7 +711,7 @@ func (m *Merger) GetStatistics() map[string]interface{} {
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// CleanupStale removes aircraft that haven't been updated recently.
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//
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// Aircraft are considered stale if they haven't received updates for longer
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// than staleTimeout (default 60 seconds). This cleanup prevents memory
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// than staleTimeout (default 15 seconds). This cleanup prevents memory
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// growth from aircraft that have left the coverage area or stopped transmitting.
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//
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// The cleanup also removes associated update metrics to free memory.
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@ -30,8 +30,45 @@ package modes
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import (
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"fmt"
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"math"
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"sync"
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)
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// crcTable for Mode S CRC-24 validation
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var crcTable [256]uint32
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func init() {
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// Initialize CRC table for Mode S CRC-24 (polynomial 0x1FFF409)
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for i := 0; i < 256; i++ {
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crc := uint32(i) << 16
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for j := 0; j < 8; j++ {
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if crc&0x800000 != 0 {
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crc = (crc << 1) ^ 0x1FFF409
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} else {
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crc = crc << 1
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}
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}
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crcTable[i] = crc & 0xFFFFFF
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}
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}
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// validateModeSCRC validates the 24-bit CRC of a Mode S message
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func validateModeSCRC(data []byte) bool {
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if len(data) < 4 {
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return false
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}
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// Calculate CRC for all bytes except the last 3 (which contain the CRC)
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crc := uint32(0)
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for i := 0; i < len(data)-3; i++ {
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crc = ((crc << 8) ^ crcTable[((crc>>16)^uint32(data[i]))&0xFF]) & 0xFFFFFF
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}
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// Extract transmitted CRC from last 3 bytes
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transmittedCRC := uint32(data[len(data)-3])<<16 | uint32(data[len(data)-2])<<8 | uint32(data[len(data)-1])
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return crc == transmittedCRC
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}
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// Mode S Downlink Format (DF) constants.
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// The DF field (first 5 bits) determines the message type and structure.
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const (
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@ -126,6 +163,9 @@ type Decoder struct {
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cprOddLon map[uint32]float64 // Odd message longitude encoding (ICAO24 -> normalized lon)
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cprEvenTime map[uint32]int64 // Timestamp of even message (for freshness comparison)
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cprOddTime map[uint32]int64 // Timestamp of odd message (for freshness comparison)
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// Mutex to protect concurrent access to CPR maps
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mu sync.RWMutex
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}
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// NewDecoder creates a new Mode S/ADS-B decoder with initialized CPR tracking.
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@ -168,6 +208,11 @@ func (d *Decoder) Decode(data []byte) (*Aircraft, error) {
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return nil, fmt.Errorf("message too short: %d bytes", len(data))
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}
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// Validate CRC to reject corrupted messages that create ghost targets
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if !validateModeSCRC(data) {
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return nil, fmt.Errorf("invalid CRC - corrupted message")
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}
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df := (data[0] >> 3) & 0x1F
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icao := d.extractICAO(data, df)
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@ -337,7 +382,8 @@ func (d *Decoder) decodeAirbornePosition(data []byte, aircraft *Aircraft) {
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cprLon := uint32(data[8]&0x01)<<16 | uint32(data[9])<<8 | uint32(data[10])
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oddFlag := (data[6] >> 2) & 0x01
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// Store CPR values for later decoding
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// Store CPR values for later decoding (protected by mutex)
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d.mu.Lock()
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if oddFlag == 1 {
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d.cprOddLat[aircraft.ICAO24] = float64(cprLat) / 131072.0
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d.cprOddLon[aircraft.ICAO24] = float64(cprLon) / 131072.0
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@ -345,6 +391,7 @@ func (d *Decoder) decodeAirbornePosition(data []byte, aircraft *Aircraft) {
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d.cprEvenLat[aircraft.ICAO24] = float64(cprLat) / 131072.0
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d.cprEvenLon[aircraft.ICAO24] = float64(cprLon) / 131072.0
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}
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d.mu.Unlock()
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// Try to decode position if we have both even and odd messages
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d.decodeCPRPosition(aircraft)
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@ -374,15 +421,23 @@ func (d *Decoder) decodeAirbornePosition(data []byte, aircraft *Aircraft) {
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// Parameters:
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// - aircraft: Aircraft struct to update with decoded position
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func (d *Decoder) decodeCPRPosition(aircraft *Aircraft) {
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// Read CPR values with read lock
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d.mu.RLock()
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evenLat, evenExists := d.cprEvenLat[aircraft.ICAO24]
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oddLat, oddExists := d.cprOddLat[aircraft.ICAO24]
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if !evenExists || !oddExists {
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d.mu.RUnlock()
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return
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}
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evenLon := d.cprEvenLon[aircraft.ICAO24]
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oddLon := d.cprOddLon[aircraft.ICAO24]
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d.mu.RUnlock()
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// Debug: Log CPR input values
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fmt.Printf("CPR Debug %s: even=[%.6f,%.6f] odd=[%.6f,%.6f]\n",
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aircraft.ICAO24, evenLat, evenLon, oddLat, oddLon)
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// CPR decoding algorithm
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dLat := 360.0 / 60.0
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@ -398,6 +453,25 @@ func (d *Decoder) decodeCPRPosition(aircraft *Aircraft) {
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latOdd -= 360
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}
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// Additional range correction to ensure valid latitude bounds (-90° to +90°)
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if latEven > 90 {
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latEven = 180 - latEven
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} else if latEven < -90 {
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latEven = -180 - latEven
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}
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if latOdd > 90 {
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latOdd = 180 - latOdd
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} else if latOdd < -90 {
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latOdd = -180 - latOdd
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}
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// Validate final latitude values are within acceptable range
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if math.Abs(latOdd) > 90 || math.Abs(latEven) > 90 {
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// Invalid CPR decoding - skip position update
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return
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}
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// Choose the most recent position
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aircraft.Latitude = latOdd // Use odd for now, should check timestamps
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@ -410,9 +484,20 @@ func (d *Decoder) decodeCPRPosition(aircraft *Aircraft) {
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if lon >= 180 {
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lon -= 360
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} else if lon <= -180 {
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lon += 360
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}
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// Validate longitude is within acceptable range
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if math.Abs(lon) > 180 {
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// Invalid longitude - skip position update
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return
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}
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aircraft.Longitude = lon
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// Debug: Log final decoded coordinates
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fmt.Printf("CPR Result %s: lat=%.6f lon=%.6f\n", aircraft.ICAO24, aircraft.Latitude, aircraft.Longitude)
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}
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// nlFunction calculates the number of longitude zones (NL) for a given latitude.
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@ -486,6 +571,11 @@ func (d *Decoder) decodeVelocity(data []byte, aircraft *Aircraft) {
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// Calculate ground speed in knots (rounded to integer)
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speedKnots := math.Sqrt(ewVel*ewVel + nsVel*nsVel)
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// Validate speed range (0-600 knots for civilian aircraft)
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if speedKnots > 600 {
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speedKnots = 600 // Cap at reasonable maximum
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}
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aircraft.GroundSpeed = int(math.Round(speedKnots))
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// Calculate track in degrees (0-359)
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@ -793,6 +883,8 @@ func (d *Decoder) decodeSurfacePosition(data []byte, aircraft *Aircraft) {
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cprLon := uint32(data[8]&0x01)<<16 | uint32(data[9])<<8 | uint32(data[10])
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oddFlag := (data[6] >> 2) & 0x01
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// Store CPR values for later decoding (protected by mutex)
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d.mu.Lock()
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if oddFlag == 1 {
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d.cprOddLat[aircraft.ICAO24] = float64(cprLat) / 131072.0
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d.cprOddLon[aircraft.ICAO24] = float64(cprLon) / 131072.0
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@ -800,6 +892,7 @@ func (d *Decoder) decodeSurfacePosition(data []byte, aircraft *Aircraft) {
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d.cprEvenLat[aircraft.ICAO24] = float64(cprLat) / 131072.0
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d.cprEvenLon[aircraft.ICAO24] = float64(cprLon) / 131072.0
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}
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d.mu.Unlock()
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d.decodeCPRPosition(aircraft)
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}
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@ -183,6 +183,7 @@ func (s *Server) setupRoutes() http.Handler {
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api := router.PathPrefix("/api").Subrouter()
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api.HandleFunc("/aircraft", s.handleGetAircraft).Methods("GET")
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api.HandleFunc("/aircraft/{icao}", s.handleGetAircraftDetails).Methods("GET")
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api.HandleFunc("/debug/aircraft", s.handleDebugAircraft).Methods("GET")
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api.HandleFunc("/sources", s.handleGetSources).Methods("GET")
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api.HandleFunc("/stats", s.handleGetStats).Methods("GET")
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api.HandleFunc("/origin", s.handleGetOrigin).Methods("GET")
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@ -203,29 +204,60 @@ func (s *Server) setupRoutes() http.Handler {
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return s.enableCORS(router)
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}
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// isAircraftUseful determines if an aircraft has enough data to be useful for the frontend.
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//
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// DESIGN NOTE: We WANT reasonable aircraft to appear in our table view, even if they
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// don't have enough data to appear on the map. This provides users visibility into
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// all tracked aircraft, not just those with complete position data.
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//
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// Aircraft are considered useful if they have ANY of:
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// - Valid position data (both latitude and longitude non-zero) -> Can show on map
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// - Callsign (flight identification) -> Can show in table with "No position" status
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// - Altitude information -> Can show in table as "Aircraft at X feet"
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// - Any other identifying information that makes it a "real" aircraft
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//
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// This inclusive approach ensures the table view shows all aircraft we're tracking,
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// while the map view only shows those with valid positions (handled by frontend filtering).
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func (s *Server) isAircraftUseful(aircraft *merger.AircraftState) bool {
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// Aircraft is useful if it has any meaningful data:
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hasValidPosition := aircraft.Latitude != 0 && aircraft.Longitude != 0
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hasCallsign := aircraft.Callsign != ""
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hasAltitude := aircraft.Altitude != 0
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hasSquawk := aircraft.Squawk != ""
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// Include aircraft with any identifying or operational data
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return hasValidPosition || hasCallsign || hasAltitude || hasSquawk
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}
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// handleGetAircraft serves the /api/aircraft endpoint.
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// Returns all currently tracked aircraft with their latest state information.
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//
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// Only "useful" aircraft are returned - those with position data or callsign.
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// This filters out incomplete aircraft that only have altitude or squawk codes,
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// which are not actionable for frontend mapping and flight tracking.
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//
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||||
// The response includes:
|
||||
// - timestamp: Unix timestamp of the response
|
||||
// - aircraft: Map of aircraft keyed by ICAO hex strings
|
||||
// - count: Total number of aircraft
|
||||
// - count: Total number of useful aircraft (filtered count)
|
||||
//
|
||||
// Aircraft ICAO addresses are converted from uint32 to 6-digit hex strings
|
||||
// for consistent JSON representation (e.g., 0xABC123 -> "ABC123").
|
||||
func (s *Server) handleGetAircraft(w http.ResponseWriter, r *http.Request) {
|
||||
aircraft := s.merger.GetAircraft()
|
||||
|
||||
// Convert ICAO keys to hex strings for JSON
|
||||
// Convert ICAO keys to hex strings for JSON and filter useful aircraft
|
||||
aircraftMap := make(map[string]*merger.AircraftState)
|
||||
for icao, state := range aircraft {
|
||||
aircraftMap[fmt.Sprintf("%06X", icao)] = state
|
||||
if s.isAircraftUseful(state) {
|
||||
aircraftMap[fmt.Sprintf("%06X", icao)] = state
|
||||
}
|
||||
}
|
||||
|
||||
response := map[string]interface{}{
|
||||
"timestamp": time.Now().Unix(),
|
||||
"aircraft": aircraftMap,
|
||||
"count": len(aircraft),
|
||||
"count": len(aircraftMap), // Count of filtered useful aircraft
|
||||
}
|
||||
|
||||
w.Header().Set("Content-Type", "application/json")
|
||||
|
|
@ -478,10 +510,12 @@ func (s *Server) sendInitialData(conn *websocket.Conn) {
|
|||
sources := s.merger.GetSources()
|
||||
stats := s.merger.GetStatistics()
|
||||
|
||||
// Convert ICAO keys to hex strings
|
||||
// Convert ICAO keys to hex strings and filter useful aircraft
|
||||
aircraftMap := make(map[string]*merger.AircraftState)
|
||||
for icao, state := range aircraft {
|
||||
aircraftMap[fmt.Sprintf("%06X", icao)] = state
|
||||
if s.isAircraftUseful(state) {
|
||||
aircraftMap[fmt.Sprintf("%06X", icao)] = state
|
||||
}
|
||||
}
|
||||
|
||||
update := AircraftUpdate{
|
||||
|
|
@ -555,9 +589,10 @@ func (s *Server) periodicUpdateRoutine() {
|
|||
//
|
||||
// This function:
|
||||
// 1. Collects current aircraft data from the merger
|
||||
// 2. Formats the data as a WebSocketMessage with type "aircraft_update"
|
||||
// 3. Converts ICAO addresses to hex strings for JSON compatibility
|
||||
// 4. Queues the message for broadcast (non-blocking)
|
||||
// 2. Filters aircraft to only include "useful" ones (with position or callsign)
|
||||
// 3. Formats the data as a WebSocketMessage with type "aircraft_update"
|
||||
// 4. Converts ICAO addresses to hex strings for JSON compatibility
|
||||
// 5. Queues the message for broadcast (non-blocking)
|
||||
//
|
||||
// If the broadcast channel is full, the update is dropped to prevent blocking.
|
||||
// This ensures the system continues operating even if WebSocket clients
|
||||
|
|
@ -567,10 +602,12 @@ func (s *Server) broadcastUpdate() {
|
|||
sources := s.merger.GetSources()
|
||||
stats := s.merger.GetStatistics()
|
||||
|
||||
// Convert ICAO keys to hex strings
|
||||
// Convert ICAO keys to hex strings and filter useful aircraft
|
||||
aircraftMap := make(map[string]*merger.AircraftState)
|
||||
for icao, state := range aircraft {
|
||||
aircraftMap[fmt.Sprintf("%06X", icao)] = state
|
||||
if s.isAircraftUseful(state) {
|
||||
aircraftMap[fmt.Sprintf("%06X", icao)] = state
|
||||
}
|
||||
}
|
||||
|
||||
update := AircraftUpdate{
|
||||
|
|
@ -711,3 +748,34 @@ func (s *Server) enableCORS(handler http.Handler) http.Handler {
|
|||
handler.ServeHTTP(w, r)
|
||||
})
|
||||
}
|
||||
|
||||
// handleDebugAircraft serves the /api/debug/aircraft endpoint.
|
||||
// Returns all aircraft (filtered and unfiltered) for debugging position issues.
|
||||
func (s *Server) handleDebugAircraft(w http.ResponseWriter, r *http.Request) {
|
||||
aircraft := s.merger.GetAircraft()
|
||||
|
||||
// All aircraft (unfiltered)
|
||||
allAircraftMap := make(map[string]*merger.AircraftState)
|
||||
for icao, state := range aircraft {
|
||||
allAircraftMap[fmt.Sprintf("%06X", icao)] = state
|
||||
}
|
||||
|
||||
// Filtered aircraft (useful ones)
|
||||
filteredAircraftMap := make(map[string]*merger.AircraftState)
|
||||
for icao, state := range aircraft {
|
||||
if s.isAircraftUseful(state) {
|
||||
filteredAircraftMap[fmt.Sprintf("%06X", icao)] = state
|
||||
}
|
||||
}
|
||||
|
||||
response := map[string]interface{}{
|
||||
"timestamp": time.Now().Unix(),
|
||||
"all_aircraft": allAircraftMap,
|
||||
"filtered_aircraft": filteredAircraftMap,
|
||||
"all_count": len(allAircraftMap),
|
||||
"filtered_count": len(filteredAircraftMap),
|
||||
}
|
||||
|
||||
w.Header().Set("Content-Type", "application/json")
|
||||
json.NewEncoder(w).Encode(response)
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue