ラズパイとADS-B受信機でミニ飛行機レーダーを作ろう

wget https://www.flightaware.com/adsb/piaware/files/packages/pool/piaware/f/flightaware-apt-repository/flightaware-apt-repository_1.2_all.deb

sudo dpkg -i flightaware-apt-repository_1.2_all.deb

sudo apt update

sudo apt install -y dump1090-fa

sudo systemctl enable dump1090-fa

sudo apt install -y python3-opencv

sudo reboot

import time
import requests

# 航空機データを取得する関数
def get_aircraft_positions():
    try:
        res = requests.get("http://localhost:8080/data/aircraft.json", timeout=1)
        return [a for a in res.json().get("aircraft", []) if 'lat' in a and 'lon' in a]
    except:
        return []

# 10秒ごとに航空機データを表示
while True:
    aircraft_list = get_aircraft_positions()

    print(f"現在受信中の航空機数: {len(aircraft_list)} 機")
    for a in aircraft_list:
        hex_id = a.get('hex', '不明')
        flight = a.get('flight', hex_id).strip()
        lat = a.get('lat')
        lon = a.get('lon')
        alt = a.get('alt_baro', '不明')
        speed = a.get('gs', '不明')
        track = a.get('track', '不明')

        print(f"便名: {flight} | 緯度: {lat} | 経度: {lon} | 高度: {alt} ft | 速度: {speed} kt | 方位: {track}°")

    # 10秒待機
    time.sleep(10)

import time
import requests
import math

# 自宅の緯度・経度に変更してください（例：東京駅付近）
HOME_LAT = 35.681236
HOME_LON = 139.767125

# 航空機データを取得する関数
def get_aircraft_positions():
    try:
        res = requests.get("http://localhost:8080/data/aircraft.json", timeout=1)
        return [a for a in res.json().get("aircraft", []) if 'lat' in a and 'lon' in a]
    except:
        return []

# ハーサイン距離計算（地球上の2点間の距離をkmで返す）
def haversine(lat1, lon1, lat2, lon2):
    R = 6371.0  # 地球の半径 (km)
    lat1_rad = math.radians(lat1)
    lon1_rad = math.radians(lon1)
    lat2_rad = math.radians(lat2)
    lon2_rad = math.radians(lon2)
    dlat = lat2_rad - lat1_rad
    dlon = lon2_rad - lon1_rad
    a = math.sin(dlat/2)**2 + math.cos(lat1_rad) * math.cos(lat2_rad) * math.sin(dlon/2)**2
    c = 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a))
    return R * c

# 10秒ごとに一番近い航空機を表示
while True:
    aircraft_list = get_aircraft_positions()
    closest = None
    min_distance = float('inf')

    for a in aircraft_list:
        lat = a.get('lat')
        lon = a.get('lon')
        if lat is not None and lon is not None:
            distance = haversine(HOME_LAT, HOME_LON, lat, lon)
            if distance < min_distance:
                min_distance = distance
                closest = a

    if closest:
        flight = closest.get('flight', closest.get('hex', '不明')).strip()
        print(f"最も近い便名: {flight} | 自宅からの距離: {min_distance:.2f} km")
    else:
        print("航空機データが取得できませんでした。")

    time.sleep(10)

sudo raspi-config nonint do_i2c 0

import smbus
import time
import requests
import math

ADDR = 0x27 # LCDのI2Cアドレス（例: 0x27や0x3F、使用前にi2cdetectで確認）
bus = smbus.SMBus(1)

# 自宅の緯度・経度に変更してください（例：東京駅付近）
HOME_LAT = 35.681236
HOME_LON = 139.767125

def write(data, mode=0):
    for val in [(data & 0xF0), ((data << 4) & 0xF0)]:
        b = val | mode | 0x08
        bus.write_byte(ADDR, b | 0x04)
        time.sleep(0.0005)
        bus.write_byte(ADDR, b)

def init():
    for cmd in [0x33, 0x32, 0x06, 0x0C, 0x28, 0x01]:
        write(cmd)
    time.sleep(0.001)

def message(text, row=0, col=0):
    addr = 0x80 + col if row == 0 else 0xC0 + col
    write(addr)
    for c in text.ljust(16 - col):
        write(ord(c), 1)

# 航空機データを取得する関数
def get_aircraft_positions():
    try:
        res = requests.get("http://localhost:8080/data/aircraft.json", timeout=1)
        return [a for a in res.json().get("aircraft", []) if 'lat' in a and 'lon' in a]
    except:
        return []

# ハーサイン距離計算（地球上の2点間の距離をkmで返す）
def haversine(lat1, lon1, lat2, lon2):
    R = 6371.0  # 地球の半径 (km)
    lat1_rad = math.radians(lat1)
    lon1_rad = math.radians(lon1)
    lat2_rad = math.radians(lat2)
    lon2_rad = math.radians(lon2)
    dlat = lat2_rad - lat1_rad
    dlon = lon2_rad - lon1_rad
    a = math.sin(dlat/2)**2 + math.cos(lat1_rad) * math.cos(lat2_rad) * math.sin(dlon/2)**2
    c = 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a))
    return R * c

prev_line1 = ""
prev_line2 = ""

while True:
    aircraft_list = get_aircraft_positions()
    closest = None
    min_distance = float('inf')

    for a in aircraft_list:
        lat = a.get('lat')
        lon = a.get('lon')
        if lat is not None and lon is not None:
            distance = haversine(HOME_LAT, HOME_LON, lat, lon)
            if distance < min_distance:
                min_distance = distance
                closest = a

    if closest:
        flight = closest.get('flight', closest.get('hex', 'UNKNOWN')).strip()
        line1 = flight
        line2 = "Dist: {:.2f} km".format(min_distance)
    else:
        line1 = "No aircraft"
        line2 = "in range"

    # 表示内容に変化があるときだけ更新
    if line1 != prev_line1 or line2 != prev_line2:
        print(f"Updating display:\n{line1}\n{line2}")
        init()
        message(line1, row=0, col=0)
        message(line2, row=1, col=2)
        prev_line1 = line1
        prev_line2 = line2

    time.sleep(2)

import cv2
import requests
import numpy as np
import math
import time

# 自宅の緯度経度（例：東京駅周辺）
HOME_LAT = 35.6812
HOME_LON = 139.7671

# ウィンドウサイズと中心座標
WIDTH = 480
HEIGHT = 480
CENTER_X = WIDTH // 2
CENTER_Y = HEIGHT // 2

# 縮尺（緯度経度 → ピクセル）
SCALE = 400

# 航空機データ取得関数
def get_aircraft_positions():
    try:
        res = requests.get("http://localhost:8080/data/aircraft.json", timeout=1)
        return [a for a in res.json().get("aircraft", []) if 'lat' in a and 'lon' in a]
    except:
        return []

# 点線円を描く関数    
def draw_dotted_circle(img, center, radius, color=(0, 255, 0), spacing=2, dot_length=1):
    cx, cy = center
    circumference = 2 * math.pi * radius
    steps = int(circumference / (spacing + dot_length))

    for i in range(steps):
        angle_start = 2 * math.pi * (i * (spacing + dot_length)) / circumference
        angle_end = angle_start + (dot_length / radius)

        x1 = int(cx + radius * math.cos(angle_start))
        y1 = int(cy + radius * math.sin(angle_start))
        x2 = int(cx + radius * math.cos(angle_end))
        y2 = int(cy + radius * math.sin(angle_end))

        cv2.line(img, (x1, y1), (x2, y2), color, 1)

# 三角形で航空機を描画する関数
def draw_triangle(img, center, angle_deg, color=(0, 255, 0)):
    x, y = center
    length = 15
    width = 5
    angle_rad = math.radians(angle_deg)

    tip = (int(x + length * math.sin(angle_rad)), int(y - length * math.cos(angle_rad)))
    left = (int(x - width * math.cos(angle_rad)), int(y - width * math.sin(angle_rad)))
    right = (int(x + width * math.cos(angle_rad)), int(y + width * math.sin(angle_rad)))

    points = np.array([tip, left, right], dtype=np.int32)
    cv2.fillPoly(img, [points], color)

cv2.namedWindow("Radar Display")
cv2.resizeWindow("Radar Display", WIDTH, HEIGHT)

last_update = 0
aircraft_list = []

while True:
    frame = np.zeros((HEIGHT, WIDTH, 3), dtype=np.uint8)

    # 中心（自宅）のマーカー
    cv2.circle(frame, (CENTER_X, CENTER_Y), 2, (0, 255, 0), -1)
    
    # 緑の点線の中央縦線
    for y in range(0, HEIGHT, 10):
        if (y // 10) % 2 == 0:
            cv2.line(frame, (CENTER_X, y), (CENTER_X, y + 5), (0, 255, 0), 1)

    # 緑の点線の中央横線
    for x in range(0, WIDTH, 10):
        if (x // 10) % 2 == 0:
            cv2.line(frame, (x, CENTER_Y), (x + 5, CENTER_Y), (0, 255, 0), 1)

    # 点線円を3本描く
    for r in [60, 140, 220]:
        draw_dotted_circle(frame, (CENTER_X, CENTER_Y), r)


    # 1秒ごとにデータ更新
    if time.time() - last_update > 1.0:
        aircraft_list = get_aircraft_positions()
        last_update = time.time()

    # 各航空機を描画
    for a in aircraft_list:
        dx = (a['lon'] - HOME_LON) * SCALE
        dy = (a['lat'] - HOME_LAT) * SCALE
        x = int(CENTER_X + dx)
        y = int(CENTER_Y - dy)

        if 0 <= x < WIDTH and 0 <= y < HEIGHT:
            if 'track' in a and isinstance(a['track'], (int, float)):
                draw_triangle(frame, (x, y), a['track'])
            else:
                cv2.circle(frame, (x, y), 5, (0, 255, 0), -1)

    cv2.imshow("Radar Display", frame)

    if cv2.waitKey(30) & 0xFF == 27:  # ESCキーで終了
        break

cv2.destroyAllWindows()

git clone https://github.com/pimoroni/hyperpixel2r
cd hyperpixel2r
sudo ./install.sh

sudo nano /boot/config.txt

sudo raspi-config nonint do_i2c 1

import cv2
import requests
import numpy as np
import math
import time

# 自宅の緯度経度に変更してください（以下は東京駅周辺）
HOME_LAT = 35.6812
HOME_LON = 139.7671

# 画面サイズと中心座標
WIDTH = 480
HEIGHT = 480
CENTER_X = WIDTH // 2
CENTER_Y = HEIGHT // 2

# 緯度経度→ピクセル変換倍率
SCALE = 300

# 飛行機アイコンの読み込み（アルファチャンネル付き）
icon = cv2.imread("plane_icon.png", cv2.IMREAD_UNCHANGED)
icon_h, icon_w = icon.shape[:2]

# 背景レーダー動画の読み込み
cap = cv2.VideoCapture("radar.mp4")
fps = cap.get(cv2.CAP_PROP_FPS)
delay = int(1000 / fps) if fps > 0 else 33  # フレーム遅延時間(ms)

# 航空機データ取得関数
def get_aircraft_positions():
    try:
        res = requests.get("http://localhost:8080/data/aircraft.json", timeout=1)
        return [a for a in res.json().get("aircraft", []) if 'lat' in a and 'lon' in a]
    except:
        return []

# 飛行機アイコンを回転描画する関数
def draw_icon_rotated(img, icon, center, angle_deg):
    x, y = center
    M = cv2.getRotationMatrix2D((icon_w // 2, icon_h // 2), -angle_deg, 1.0)
    rotated = cv2.warpAffine(
        icon, M, (icon_w, icon_h),
        flags=cv2.INTER_NEAREST,
        borderMode=cv2.BORDER_CONSTANT,
        borderValue=(0, 0, 0, 0)
    )

    # アイコン貼り付け位置の計算
    x1 = x - icon_w // 2
    y1 = y - icon_h // 2
    x2 = x1 + icon_w
    y2 = y1 + icon_h

    # 画面外ならスキップ
    if x1 < 0 or y1 < 0 or x2 > img.shape[1] or y2 > img.shape[0]:
        return

    # ROI合成（アルファブレンド）
    roi = img[y1:y2, x1:x2]
    if rotated.shape[2] == 4:
        alpha = rotated[:, :, 3] / 255.0
        for c in range(3):
            roi[:, :, c] = (1 - alpha) * roi[:, :, c] + alpha * rotated[:, :, c]

# ウィンドウを全画面表示
cv2.namedWindow("Radar Display", cv2.WINDOW_NORMAL)
cv2.setWindowProperty("Radar Display", cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN)

# 初期化
aircraft_list = []
last_update = 0

while True:
    now = time.time()
    if now - last_update >= 1.0:
        aircraft_list = get_aircraft_positions()
        last_update = now    
    
    # 動画フレームの読み込み
    ret, video_frame = cap.read()
    if not ret:
        cap.set(cv2.CAP_PROP_POS_FRAMES, 0)  # 動画を最初に戻す
        continue

    # 動画のリサイズ（1.8倍ズーム＋アスペクト比維持）
    video_h, video_w = video_frame.shape[:2]
    scale = min(WIDTH / video_w, HEIGHT / video_h) * 1.8
    new_w = int(video_w * scale)
    new_h = int(video_h * scale)
    resized = cv2.resize(video_frame, (new_w, new_h), interpolation=cv2.INTER_NEAREST)
    resized = cv2.convertScaleAbs(resized, alpha=0.6, beta=0)  # 薄く表示

    # 最終描画フレーム（黒背景）
    frame = np.zeros((HEIGHT, WIDTH, 3), dtype=np.uint8)

    # 動画の貼り付け位置計算（中央寄せ）
    x_offset = (WIDTH - new_w) // 2
    y_offset = (HEIGHT - new_h) // 2
    x1_dst = max(x_offset, 0)
    y1_dst = max(y_offset, 0)
    x1_src = max(-x_offset, 0)
    y1_src = max(-y_offset, 0)
    x2_dst = min(x_offset + new_w, WIDTH)
    y2_dst = min(y_offset + new_h, HEIGHT)
    x2_src = x1_src + (x2_dst - x1_dst)
    y2_src = y1_src + (y2_dst - y1_dst)

    # 動画フレームを合成
    frame[y1_dst:y2_dst, x1_dst:x2_dst] = resized[y1_src:y2_src, x1_src:x2_src]

    # 航空機データ取得
    aircraft_list = get_aircraft_positions()

    # 航空機ごとにアイコンを描画
    for a in aircraft_list:
        dx = (a['lon'] - HOME_LON) * SCALE
        dy = (a['lat'] - HOME_LAT) * SCALE
        x = int(CENTER_X + dx)
        y = int(CENTER_Y - dy)

        # 画面内に収まっているか判定
        if 0 <= x < WIDTH and 0 <= y < HEIGHT:
            if 'track' in a and isinstance(a['track'], (int, float)):
                draw_icon_rotated(frame, icon, (x, y), a['track'])
            else:
                cv2.circle(frame, (x, y), 5, (0, 255, 0), -1)

    # フレーム表示
    cv2.imshow("Radar Display", frame)

    # ESCキーで終了
    key = cv2.waitKey(delay) & 0xFF
    if key == 27:
        break

# 終了処理
cap.release()
cv2.destroyAllWindows()

import cv2
import requests
import numpy as np
import math
import time

# 自宅の緯度経度に変更してください（以下は東京駅周辺）
HOME_LAT = 35.6812
HOME_LON = 139.7671

# 画面サイズと中心座標
WIDTH = 480
HEIGHT = 480
CENTER_X = WIDTH // 2
CENTER_Y = HEIGHT // 2

# 緯度経度→ピクセル変換倍率
SCALE = 600

# 飛行機アイコンの読み込み（アルファチャンネル付き）
icon = cv2.imread("plane_icon.png", cv2.IMREAD_UNCHANGED)
icon_h, icon_w = icon.shape[:2]

# 背景レーダー動画の読み込み
cap = cv2.VideoCapture("radar.mp4")
fps = cap.get(cv2.CAP_PROP_FPS)
delay = int(1000 / fps) if fps > 0 else 33  # フレーム遅延時間(ms)

# 航空機データ取得関数
def get_aircraft_positions():
    try:
        res = requests.get("http://localhost:8080/data/aircraft.json", timeout=1)
        return [a for a in res.json().get("aircraft", []) if 'lat' in a and 'lon' in a]
    except:
        return []

# 飛行機アイコンを回転描画する関数
def draw_icon_rotated(img, icon, center, angle_deg):
    x, y = center
    M = cv2.getRotationMatrix2D((icon_w // 2, icon_h // 2), -angle_deg, 1.0)
    rotated = cv2.warpAffine(
        icon, M, (icon_w, icon_h),
        flags=cv2.INTER_NEAREST,
        borderMode=cv2.BORDER_CONSTANT,
        borderValue=(0, 0, 0, 0)
    )

    # アイコン貼り付け位置の計算
    x1 = x - icon_w // 2
    y1 = y - icon_h // 2
    x2 = x1 + icon_w
    y2 = y1 + icon_h

    # 画面外ならスキップ
    if x1 < 0 or y1 < 0 or x2 > img.shape[1] or y2 > img.shape[0]:
        return

    # ROI合成（アルファブレンド）
    roi = img[y1:y2, x1:x2]
    if rotated.shape[2] == 4:
        alpha = rotated[:, :, 3] / 255.0
        for c in range(3):
            roi[:, :, c] = (1 - alpha) * roi[:, :, c] + alpha * rotated[:, :, c]

# ウィンドウを全画面表示
cv2.namedWindow("Radar Display", cv2.WINDOW_NORMAL)
cv2.setWindowProperty("Radar Display", cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN)

# 初期化
aircraft_list = []
last_update = 0

while True:
    now = time.time()
    if now - last_update >= 1.0:
        aircraft_list = get_aircraft_positions()
        last_update = now    
    
    # 動画フレームの読み込み
    ret, video_frame = cap.read()
    if not ret:
        cap.set(cv2.CAP_PROP_POS_FRAMES, 0)  # 動画を最初に戻す
        continue

    # 動画のリサイズ（1.8倍ズーム＋アスペクト比維持）
    video_h, video_w = video_frame.shape[:2]
    scale = min(WIDTH / video_w, HEIGHT / video_h) * 1.8
    new_w = int(video_w * scale)
    new_h = int(video_h * scale)
    resized = cv2.resize(video_frame, (new_w, new_h), interpolation=cv2.INTER_NEAREST)
    resized = cv2.convertScaleAbs(resized, alpha=0.6, beta=0)  # 薄く表示

    # 最終描画フレーム（黒背景）
    frame = np.zeros((HEIGHT, WIDTH, 3), dtype=np.uint8)

    # 動画の貼り付け位置計算（中央寄せ）
    x_offset = (WIDTH - new_w) // 2
    y_offset = (HEIGHT - new_h) // 2
    x1_dst = max(x_offset, 0)
    y1_dst = max(y_offset, 0)
    x1_src = max(-x_offset, 0)
    y1_src = max(-y_offset, 0)
    x2_dst = min(x_offset + new_w, WIDTH)
    y2_dst = min(y_offset + new_h, HEIGHT)
    x2_src = x1_src + (x2_dst - x1_dst)
    y2_src = y1_src + (y2_dst - y1_dst)

    # 動画フレームを合成
    frame[y1_dst:y2_dst, x1_dst:x2_dst] = resized[y1_src:y2_src, x1_src:x2_src]

    # 航空機データ取得
    aircraft_list = get_aircraft_positions()

    # 航空機ごとにアイコンを描画
    for a in aircraft_list:
        dx = (a['lon'] - HOME_LON) * SCALE
        dy = (a['lat'] - HOME_LAT) * SCALE
        x = int(CENTER_X + dx)
        y = int(CENTER_Y - dy)

        # 画面内に収まっているか判定
        if 0 <= x < WIDTH and 0 <= y < HEIGHT:
            if 'track' in a and isinstance(a['track'], (int, float)):
                draw_icon_rotated(frame, icon, (x, y), a['track'])
            else:
                cv2.circle(frame, (x, y), 5, (0, 255, 0), -1)
                
            # --- 便名を描画 ---
            if 'flight' in a and a['flight']:
                flight_text = a['flight']
                font = cv2.FONT_HERSHEY_SIMPLEX
                font_scale = 0.5
                thickness = 1
                text_size, _ = cv2.getTextSize(flight_text, font, font_scale, thickness)
                text_x = x - text_size[0] // 2 + 6
                text_y = y + icon_h // 2 + text_size[1] - 2 # アイコン下
                cv2.putText(frame, flight_text, (text_x, text_y), font, font_scale, (0, 255, 0), thickness, cv2.LINE_AA)                

    # フレーム表示
    cv2.imshow("Radar Display", frame)

    # ESCキーで終了
    key = cv2.waitKey(delay) & 0xFF
    if key == 27:
        break

# 終了処理
cap.release()
cv2.destroyAllWindows()

sudo bash -c "$(wget -O - https://repo-feed.flightradar24.com/install_fr24_rpi.sh)"

fr24feed-status

sudo systemctl stop fr24feed
sudo systemctl disable fr24feed

#!/usr/bin/python3
# -*- coding: utf-8 -*-
import os
import sys
import time
import math
import smbus2
import requests
import numpy as np
import cv2
from PIL import Image
sys.path.append("..")
from lib import LCD_1inch28

# ── QMC5883L 設定 ──
QMC5883L_ADDRESS = 0x0D
X_OFFSET    = -110.0
Y_OFFSET    = -587.5
X_SCALE     = 1.0234375
Y_SCALE     = 0.95
DECLINATION = -8.0
HEADING_OFFSET = 76.4

# ── 自宅座標とスケール ──
HOME_LAT = 35.6812
HOME_LON = 139.7671
SCALE = 250 #350
WIDTH = 240
HEIGHT = 240
CENTER_X = WIDTH // 2
CENTER_Y = HEIGHT // 2

# ── LCD 初期化 ──
disp = LCD_1inch28.LCD_1inch28()
disp.Init()
disp.clear()

# ── I2C 初期化 ──
bus = smbus2.SMBus(1)
bus.write_byte_data(QMC5883L_ADDRESS, 0x0B, 0x01)
time.sleep(0.1)
bus.write_byte_data(QMC5883L_ADDRESS, 0x09, 0x1D)
time.sleep(0.1)

# ── 方位取得 ──
def read_axis(reg_lsb):
    lsb = bus.read_byte_data(QMC5883L_ADDRESS, reg_lsb)
    msb = bus.read_byte_data(QMC5883L_ADDRESS, reg_lsb + 1)
    value = (msb << 8) | lsb
    if value >= 0x8000:
        value -= 0x10000
    return value

def get_heading():
    raw_x = read_axis(0x00)
    raw_y = read_axis(0x02)
    adj_x = (raw_x - X_OFFSET) * X_SCALE
    adj_y = (raw_y - Y_OFFSET) * Y_SCALE
    raw_heading = math.degrees(math.atan2(adj_y, adj_x))
    if raw_heading < 0:
        raw_heading += 360.0
    heading = (raw_heading - HEADING_OFFSET + DECLINATION) % 360.0
    return heading

# ── 航空機データ取得 ──
def get_aircraft_positions():
    try:
        res = requests.get("http://192.168.1.46:8080/data/aircraft.json", timeout=1)
        return [a for a in res.json().get("aircraft", []) if 'lat' in a and 'lon' in a]
    except:
        return []

# ── 背景画像の読み込み ──
original = Image.open("dragon2.png").convert("RGB")
original = original.resize((240, 240))
original_cv = cv2.cvtColor(np.array(original), cv2.COLOR_RGB2BGR)

# ── メインループ ──
last_update = 0
aircraft_list = []

while True:
    # 背景画像をコピー（毎回初期化）
    frame = original_cv.copy()

    # 1秒ごとに航空機情報を更新
    if time.time() - last_update > 2.0:
        aircraft_list = get_aircraft_positions()
        last_update = time.time()
    print("航空機数: {}".format(len(aircraft_list)))
    for a in aircraft_list:
        print("  LAT: {:.4f}, LON: {:.4f}".format(a['lat'], a['lon']))        

    # 航空機を黄色い円で描画
    for a in aircraft_list:
        dx = (a['lon'] - HOME_LON) * SCALE
        dy = (a['lat'] - HOME_LAT) * SCALE
        x = int(CENTER_X + dx)
        y = int(CENTER_Y - dy)
        if 0 <= x < WIDTH and 0 <= y < HEIGHT:
            cv2.circle(frame, (x, y), 6, (0, 255, 255), -1)  # BGRで黄色

    # OpenCV → PIL に変換して回転
    image_pil = Image.fromarray(cv2.cvtColor(frame, cv2.COLOR_BGR2RGB))
    # ── センサー読み取り ──
    raw_x = read_axis(0x00)
    raw_y = read_axis(0x02)
    raw_z = read_axis(0x04)

    adj_x = (raw_x - X_OFFSET) * X_SCALE
    adj_y = (raw_y - Y_OFFSET) * Y_SCALE

    raw_heading = math.degrees(math.atan2(adj_y, adj_x))
    if raw_heading < 0:
        raw_heading += 360.0

    heading = raw_heading - HEADING_OFFSET + DECLINATION
    heading %= 360.0

    # ── デバッグ表示 ──
    #print("raw_x = {:6d}, raw_y = {:6d}, heading = {:.2f}°".format(raw_x, raw_y, heading))
    rotated = image_pil.rotate(heading, expand=True)

    # 黒背景に中央配置
    background = Image.new("RGB", (240, 240), (0, 0, 0))
    x_offset = (240 - rotated.width) // 2
    y_offset = (240 - rotated.height) // 2
    background.paste(rotated, (x_offset, y_offset))

    # LCDに表示
    disp.ShowImage(background)

    time.sleep(0.3)

import requests
import math
from datetime import datetime
from PIL import Image, ImageDraw, ImageFont
from io import BytesIO
import cv2
import numpy as np
import re

# ===============================
# 設定
# ===============================

# 自宅の緯度経度に変更してください（以下は東京駅周辺）
HOME_LAT = 35.6812
HOME_LON = 139.7671

# RapidAPI（AeroDataBox）キー
RAPIDAPI_KEY = "RapidAPIキーを入力してください"

# dump1090-fa のローカルURL
DUMP1090_URL = "http://localhost:8080/data/aircraft.json"

# ===============================
# 航空機データ取得関数
# ===============================
def get_aircraft_positions_dump1090():
    """dump1090-fa から航空機位置データを取得"""
    try:
        res = requests.get(DUMP1090_URL, timeout=1)
        data = res.json()
        return [a for a in data.get("aircraft", []) if 'lat' in a and 'lon' in a]
    except:
        return []

# ===============================
# 距離計算
# ===============================

def haversine(lat1, lon1, lat2, lon2):
    """2点間の距離（km）をハーサイン式で計算"""
    R = 6371.0
    dlat = math.radians(lat2 - lat1)
    dlon = math.radians(lon2 - lon1)
    a = math.sin(dlat / 2)**2 + math.cos(math.radians(lat1)) * math.cos(math.radians(lat2)) * math.sin(dlon / 2)**2
    return R * 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a))

# ===============================
# AeroDataBox から便情報取得
# ===============================

def get_flight_info(flight_number):
    """便名から到着地と到着時刻を取得"""
    date = datetime.today().strftime('%Y-%m-%d')
    url = f"https://aerodatabox.p.rapidapi.com/flights/number/{flight_number}/{date}"
    headers = {
        "X-RapidAPI-Key": RAPIDAPI_KEY,
        "X-RapidAPI-Host": "aerodatabox.p.rapidapi.com"
    }
    try:
        res = requests.get(url, headers=headers, timeout=3)
        data = res.json()
        if isinstance(data, list) and data:
            f = data[0]
            flight = f['number']
            airport = f['arrival']['airport']['name']
            time_str = f['arrival']['scheduledTime']['local']
            arrival_time = datetime.fromisoformat(time_str).strftime('%H:%M')
            return flight, airport, arrival_time
    except:
        pass
    return None, None, None

# ===============================
# メイン処理
# ===============================

# 航空機データを取得
aircraft_list = get_aircraft_positions_dump1090()

if not aircraft_list:
    print("航空機が見つかりませんでした。")
    exit()

# ===============================
# 距離順にソートして3機選択
# ===============================

for a in aircraft_list:
     # 各航空機について、自宅（HOME_LAT, HOME_LON）からの距離を計算して追加
    a["distance"] = haversine(HOME_LAT, HOME_LON, a["lat"], a["lon"])
    
# 距離（"distance"）の値を基準に昇順ソート（最も近い機体が先頭に来る）
aircraft_list.sort(key=lambda x: x["distance"])
# 最も近い3機だけを抽出
closest_aircrafts = aircraft_list[:3]

# ===============================
# 表示処理（3機を縦に並べて描画）
# ===============================

icao_to_iata = {
    "ANA": "NH", "JAL": "JL", "ADO": "HD", "SNA": "7G", "SKY": "BC",
    "APJ": "MM", "FDA": "JH", "CPA": "CX", "UAE": "EK", "THA": "TG",
    "MAS": "MH", "CES": "MU", "CSN": "CZ", "CCA": "CA", "PAL": "PR",
    "TGW": "TR", "SIA": "SQ", "JST": "JQ", "JJP": "GK", "TNA": "9C",
    "BAW": "BA", "AAL": "AA", "UAL": "UA", "DAL": "DL", "KLM": "KL",
    "AFR": "AF", "DLH": "LH", "QFA": "QF",
}

base = Image.new("RGB", (1280, 720), (0, 0, 80))
draw = ImageDraw.Draw(base)
font_path = "/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf"
font = ImageFont.truetype(font_path, 60)

y_base = 60          # 1段目（最初の航空機情報）の描画開始位置（上から60pxの位置）
block_height = 220   # 各段の高さ（1つの航空機情報を描く縦スペース）

# ==== 近い3機を順に処理して、便情報を取得 ====
for idx, ac in enumerate(closest_aircrafts):
    # 航空機の便名（flight）を取得。空白やNoneの場合は空文字に置き換え
    ident = ac.get("flight", "").strip()
    
    # 便名が空、または先頭が英字でない（例: 数字のみや不正データ）の場合はスキップ
    if not ident or not ident[0].isalpha():
        continue
    
    # AeroDataBox APIを使って、便名から到着地と到着時刻を取得
    flight, airport, arrival_time = get_flight_info(ident)
    if not all([flight, airport, arrival_time]):
        continue
    
    print(f"[{idx}] 便名: {flight}")
    print(f"    距離: {ac['distance']:.1f} km")
    print(f"    到着地: {airport}")
    print(f"    到着時刻: {arrival_time}")
    print()
    
    # 便名の先頭3文字を抽出（例: "JAL124" → "JAL"）
    airline_code = flight.strip()[:3].upper()
    
    # ICAOコード（3文字）をIATAコード（2文字）に変換
    # 変換できない場合は、先頭2文字をそのまま使う    
    iata = icao_to_iata.get(airline_code, airline_code[:2])
    
     # 便名から数字部分だけを抽出（例: "JAL124" → "124"）
    flight_number = ''.join(re.findall(r'\d+', flight))
    
    # 到着地の文字列を最大9文字までに制限（長すぎる地名対策）
    destination = airport[:9]

    # ==== 航空会社ロゴの取得 ====
    # Daisycon APIを利用して、航空会社のロゴ画像を取得
    # IATAコードを使ってURLを生成（白色ロゴ・横幅300px）
    if iata == "BC":
        # スカイマーク（IATA: BC）は正しいロゴが取得できないため、例外的に Airhex（https://content.airhex.com/）のロゴを使用
        url = "https://content.airhex.com/content/logos/airlines_BC_300_100_s.png"
    else:
        # それ以外の航空会社は Daisycon から白色ロゴを取得
        url = f"https://images.daisycon.io/airline/?width=300&height=95&color=ffffff&iata={iata}"
        
    img_data = requests.get(url, timeout=5).content# 画像データをダウンロード（バイナリとして取得）
    logo = Image.open(BytesIO(img_data)).convert("RGBA")# 取得したロゴをRGBA形式（透過対応）で読み込み
    white_bg = Image.new("RGBA", logo.size, (255,255,255,255))# 白背景を作成（透過部分を白に塗りつぶすため）
    logo_with_white = Image.alpha_composite(white_bg, logo)# 白背景とロゴを合成（透過部分が白になる）
    logo_w, logo_h = logo_with_white.size# ロゴ画像の幅と高さを取得（後で配置位置を計算するため）

    # 配置位置
    y_offset = y_base + idx * block_height
    base.paste(logo_with_white.convert("RGB"), (40, y_offset), mask=logo_with_white.split()[3])

    # テキスト描画
    text_start_x = 360  # テキストの描画開始位置（左からのオフセット）
    # 便名（数字部分）を描画
    draw.text((text_start_x, y_offset+10), flight_number, fill=(255,255,255), font=font)
    # 到着地（空港名）を描画
    draw.text((text_start_x+190, y_offset+10), destination, fill=(255,255,255), font=font)
    # 到着予定時刻を描画
    draw.text((text_start_x+630, y_offset+10), arrival_time, fill=(255,255,255), font=font)

# ===============================
# OpenCVで全画面表示
# ===============================

cv2.namedWindow("Flight Info", cv2.WINDOW_NORMAL)
cv2.setWindowProperty("Flight Info", cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN)
img_cv = cv2.cvtColor(np.array(base), cv2.COLOR_RGB2BGR)
cv2.imshow("Flight Info", img_cv)

while True:
    if cv2.waitKey(10) == 27:
        break
cv2.destroyAllWindows()