This project is a high-performance Go implementation of the AoxEngine Real-Time Location System (RTLS) core. It processes UWB and BLE sensor data to calculate tag positions using an Extended Kalman Filter (EKF) and broadcasts results to external systems (RBC) and a modern web visualization interface.

• Core Engine:
  • High-throughput UDP Server for receiving sensor data (UNIB protocol).
  • Fusion Pipeline implementing EKF for accurate positioning.
  • Support for TWR (UWB) and RSSI (BLE) measurements.
  • Protocol parsing for various frame types (TWR, RSSI, IMU, LoRa Uplink).
• Data Management:
  • PCAP Support: Read and write compatible AoxEngine binary log (PCAP) files.
  • Replay Mode: Simulate historical data at configurable speeds (1x, 2x, 100x, etc.) while maintaining physics integrity.
• Interfaces:
  • RBC Output: Broadcasts position and status updates to external platforms via UDP/TCP.
  • Web Interface: Built-in HTTP server with a WebSocket API streaming real-time positions.
  • 3D Visualization: React + Three.js frontend for real-time monitoring on floor plans.

• cmd/: Entry points for executables.
  • udp_server: Main engine application.
  • replay: Standalone UDP packet replayer.
  • verify_pcap: Tool to compare PCAP binary content.
  • rbc_sender: Test tool for RBC protocol.
• fusion/: Core algorithms (EKF, Layer Manager, RSSI model).
• server/: UDP server logic and protocol parsing.
• rbc/: External interface (Remote Broadcast) logic.
• web/: HTTP and WebSocket handlers.
• binlog/: PCAP parsing and writing.
• frontend/: React/Vite web application source.

• Go 1.22+
• Node.js & npm (for frontend)

cd frontend
npm install
npm run build
cd ..

# Install dependencies
go mod tidy

# Build main server
go build -o udp_server ./cmd/udp_server

# Build tools (optional)
go build -o replay_tool ./cmd/replay
go build -o verify_pcap ./cmd/verify_pcap

The server can run in Live Mode (listening for UDP packets) or Replay Mode (processing a PCAP file).

• -project <path>: Path to project.xml (required).
• -wogi <path>: Path to wogi.xml (required).
• -port <int>: UDP listen port (default 44333).
• -http <int>: HTTP/WebSocket port (e.g., 8080). Set to 0 to disable.
• -web-root <path>: Path to frontend static files (default "frontend/dist").
• -replay <path>: Path to input PCAP file for simulation.
• -speed <float>: Replay speed multiplier (default 1.0).
• -loop <bool>: Loop replay indefinitely (default false).
• -pcap <path>: Output path to record valid packets to a new PCAP file.

1. Run Live Server with Web UI:

./udp_server -project config/project.xml -wogi config/wogi.xml -http 8080

• Access the dashboard at http://localhost:8080.
• WebSocket stream available at ws://localhost:8080/ws.

2. Replay PCAP with Web UI (Looping Indefinitely): This command runs the replay at 4x speed and serves the frontend interface, continuously looping the PCAP file.

3. Record Live Traffic:

./udp_server -project config/project.xml -wogi config/wogi.xml -pcap captures/

(If a directory is provided, a timestamped filename is generated automatically)

Reads a PCAP file and sends raw UDP packets to a target destination. Unlike the server's internal replay, this sends packets over the network loopback.

./replay_tool -pcap input.pcap -dest 127.0.0.1:44333 -speed 2.0

Compares the payload of two PCAP files to verify data integrity (ignoring timestamps).

./verify_pcap -1 original.pcap -2 recorded.pcap

Test utility to generate RBC protocol messages.

./rbc_sender -udp 127.0.0.1:5000 -tcp 127.0.0.1:6000

The engine relies on project.xml and wogi.xml for:

• Anchor Coordinates: Defined in <anchorlist>.
• Layer/Map Info: Defined in <viewerSettings> and <groups>.
• RBC Destinations: Defined in <txlist>.

The server automatically parses <txlist> to forward position data to configured UDP/TCP endpoints (e.g., "RBCC" type).