Hopefully fix broken RTL support.

2013-08-21 21:42:22 -07:00
23 changed files with 184 additions and 299 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,7 +22,7 @@
 # Project setup
 ########################################################################
 cmake_minimum_required(VERSION 2.6)
-project(gr-gr-air-modes CXX C)
+project(gr-gr-air-modes CXX)
 set(gr-gr-air-modes_VERSION_MAJOR 0)
 set(gr-gr-air-modes_VERSION_MINOR 0)
 enable_testing()
@@ -49,8 +49,6 @@ endif()
 ########################################################################
 include(GrBoost)

-find_package(PythonLibs 2)
-
 ########################################################################
 # Install directories
 ########################################################################
@@ -71,22 +69,12 @@ set(GRC_BLOCKS_DIR      ${GR_PKG_DATA_DIR}/grc/blocks)
 ########################################################################
 # Find gnuradio build dependencies
 ########################################################################
-set(GR_REQUIRED_COMPONENTS RUNTIME)
-find_package(Gnuradio "3.7.2" REQUIRED)
+find_package(GnuradioRuntime)

 if(NOT GNURADIO_RUNTIME_FOUND)
    message(FATAL_ERROR "GnuRadio Runtime required to compile gr-air-modes")
 endif()

-########################################################################
-# Find PyZMQ bindings
-########################################################################
-include(GrPython)
-#GR_PYTHON_CHECK_MODULE("PyZMQ" "zmq" "int(zmq.__version__.split('.')[0]) >= 13" PYZMQ_FOUND)
-#if(NOT PYZMQ_FOUND)
-#    message(FATAL_ERROR "Python ZMQ bindings not found.")
-#endif()
-
 ########################################################################
 # Setup the include and linker paths
 ########################################################################
--- a/10
+++ b/10
@@ -1,10 +0,0 @@
-FROM bistromath/gnuradio:3.7.11
-
-ENV num_threads 10
-MAINTAINER bistromath@gmail.com version: 0.1
-
-WORKDIR /opt
-RUN mkdir gr-air-modes
-COPY . gr-air-modes/
-WORKDIR /opt/gr-air-modes
-RUN mkdir build && cd build && cmake ../ && make -j${num_threads} && make install && ldconfig
--- a/1
+++ b/1
@@ -97,7 +97,6 @@ gr-air-modes requires:

 * Python >= 2.5 (written for Python 2.7, Python 3.0 might work)
 ** NumPy and SciPy are required for the FlightGear output plugin.
-* PyZMQ
 * Gnuradio >= 3.5.0
 * Ettus UHD >= 3.4.0 for use with USRPs
 * osmosdr (any version) for use with RTLSDR dongles
--- a/apps/modes_gui
+++ b/apps/modes_gui
@@ -30,7 +30,6 @@ import air_modes
 from air_modes.exceptions import *
 from air_modes.modes_rx_ui import Ui_MainWindow
 from air_modes.gui_model import *
-from air_modes.az_map import *
 import sqlite3
 import zmq

@@ -88,9 +87,7 @@ class mainwindow(QtGui.QMainWindow):
            self.ui.line_my_lat.insert(defaults["latitude"])
        if defaults["longitude"] is not None:
            self.ui.line_my_lon.insert(defaults["longitude"])
-        if defaults["apikey"] is not None:
-            self.ui.line_my_api_key.insert(defaults["apikey"])
-        
+
        #disable by default
        self.ui.check_adsbonly.setCheckState(QtCore.Qt.Unchecked)

@@ -107,7 +104,7 @@ class mainwindow(QtGui.QMainWindow):
        self.ui.list_aircraft.setModel(self.datamodel)
        self.ui.list_aircraft.setModelColumn(0)

-        self.az_model = air_modes.az_map.az_map_model(None)
+        self.az_model = air_modes.az_map_model(None)
        self.ui.azimuth_map.setModel(self.az_model)

        #set up dashboard views
@@ -236,9 +233,7 @@ class mainwindow(QtGui.QMainWindow):
            try:
                import osmosdr
                self.src = osmosdr.source("")
-                self.rates = [rate.start() for rate in self.src.get_sample_rates()
-                             if ((rate.start() % 2.e6) == 0)
-                             or (rate.start() < 4.e6 and ((rate.start()%0.2e6) == 0))]
+                self.rates = [rate.start() for rate in self.src.get_sample_rates() if (rate.start() % 2.e6) == 0]
                self.antennas = ["RX"]
                self.src = None
                self.ui.combo_ant.setEnabled(False)
@@ -268,15 +263,10 @@ class mainwindow(QtGui.QMainWindow):

        #set up recommended sample rate
        if len(self.rates) > 1:
-            if max(self.rates) > 4.e6:
-                recommended_rate = min(x for x in self.rates if x >= 4e6 and
-                                      max(self.rates) % x == 0)
-            else:
-                recommended_rate = max(self.rates)
+            recommended_rate = min(x for x in self.rates if x >= 4e6 and
+                                 max(self.rates) % x == 0)
            if recommended_rate >= 8.e6:
                self.ui.check_pmf.setChecked(True)
-            else:
-                self.ui.check_pmf.setChecked(False)
            self.ui.combo_rate.setCurrentIndex(self.rates.index(recommended_rate))

 ################ action handlers ####################
@@ -324,11 +314,6 @@ class mainwindow(QtGui.QMainWindow):
            except:
                my_position = None

-            try:
-                my_apikey = str(self.ui.line_my_api_key.text())
-            except:
-                my_apikey = None
-
            self._cpr_dec = air_modes.cpr_decoder(my_position)

            self.datamodelout = dashboard_output(self._cpr_dec, self.datamodel, self._publisher)
@@ -351,7 +336,7 @@ class mainwindow(QtGui.QMainWindow):

            #add azimuth map output and hook it up
            if my_position is not None:
-                self.az_map_output = air_modes.az_map.az_map_output(self._cpr_dec, self.az_model, self._publisher)
+                self.az_map_output = air_modes.az_map_output(self._cpr_dec, self.az_model, self._publisher)
                #self._relay.subscribe("dl_data", self.az_map_output.output)

            #set up map
@@ -367,7 +352,7 @@ class mainwindow(QtGui.QMainWindow):
            #create SQL database for KML and dashboard displays
            self.dbwriter = air_modes.output_sql(self._cpr_dec, self.dbname, self.lock, self._publisher)
            self.jsonpgen = air_modes.output_jsonp(self._jsonfile.name, self.dbname, my_position, self.lock, timeout=1)
-            htmlstring = air_modes.html_template(my_apikey, my_position, self._jsonfile.name)
+            htmlstring = air_modes.html_template(my_position, self._jsonfile.name)
            self._htmlfile.write(htmlstring)
            self._htmlfile.flush()
            class WebPage(QtWebKit.QWebPage):
@@ -412,17 +397,13 @@ class mainwindow(QtGui.QMainWindow):
                self.prefs["longitude"] = float(self.ui.line_my_lon.text())
            except:
                pass
-            try:
-                self.prefs["apikey"] = self.ui.line_my_api_key.text()
-            except:
-                pass
-                
+
    def on_quit(self):
        if self.running is True:
-            self._radio.close()
-            self._radio = None
            self._relay.close()
+            self._radio.close()
            self._relay = None
+            self._radio = None
            self._rps_timer = None
            try:
                self.kmlgen.done = True
@@ -475,7 +456,6 @@ class mainwindow(QtGui.QMainWindow):
        defaults["threshold"] = "5"
        defaults["latitude"] = None
        defaults["longitude"] = None
-        defaults["apikey"] = None

        prefs = ConfigParser.ConfigParser(defaults)
        prefs.optionxform = str
--- a/cmake/Modules/FindGnuradioRuntime.cmake
+++ b/cmake/Modules/FindGnuradioRuntime.cmake
@@ -1,36 +1,6 @@
 INCLUDE(FindPkgConfig)
-PKG_CHECK_MODULES(PC_GNURADIO_RUNTIME gnuradio-runtime)
-
-if(PC_GNURADIO_RUNTIME_FOUND)
-  # look for include files
-  FIND_PATH(
-    GNURADIO_RUNTIME_INCLUDE_DIRS
-    NAMES gnuradio/top_block.h
-    HINTS $ENV{GNURADIO_RUNTIME_DIR}/include
-          ${PC_GNURADIO_RUNTIME_INCLUDE_DIRS}
-          ${CMAKE_INSTALL_PREFIX}/include
-    PATHS /usr/local/include
-          /usr/include
-    )
-
-  # look for libs
-  FIND_LIBRARY(
-    GNURADIO_RUNTIME_LIBRARIES
-    NAMES gnuradio-runtime
-    HINTS $ENV{GNURADIO_RUNTIME_DIR}/lib
-          ${PC_GNURADIO_RUNTIME_LIBDIR}
-          ${CMAKE_INSTALL_PREFIX}/lib/
-          ${CMAKE_INSTALL_PREFIX}/lib64/
-    PATHS /usr/local/lib
-          /usr/local/lib64
-          /usr/lib
-          /usr/lib64
-    )
-
-  set(GNURADIO_RUNTIME_FOUND ${PC_GNURADIO_RUNTIME_FOUND})
-endif(PC_GNURADIO_RUNTIME_FOUND)
+PKG_CHECK_MODULES(GNURADIO_RUNTIME gnuradio-runtime)

 INCLUDE(FindPackageHandleStandardArgs)
-# do not check GNURADIO_RUNTIME_INCLUDE_DIRS, is not set when default include path us used.
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(GNURADIO_RUNTIME DEFAULT_MSG GNURADIO_RUNTIME_LIBRARIES)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(GNURADIO_RUNTIME DEFAULT_MSG GNURADIO_RUNTIME_LIBRARIES GNURADIO_RUNTIME_INCLUDE_DIRS)
 MARK_AS_ADVANCED(GNURADIO_RUNTIME_LIBRARIES GNURADIO_RUNTIME_INCLUDE_DIRS)
--- a/cmake/Modules/FindQwt.cmake
+++ b/cmake/Modules/FindQwt.cmake
@@ -4,34 +4,23 @@
 # QWT_FOUND If false, do not try to use Qwt

 find_path (QWT_INCLUDE_DIRS
-    NAMES qwt_plot.h
-    HINTS
-    ${CMAKE_INSTALL_PREFIX}/include/qwt
-    ${CMAKE_PREFIX_PATH}/include/qwt
-    PATHS
-    /usr/local/include/qwt-qt4
-    /usr/local/include/qwt
-    /usr/include/qwt6
-    /usr/include/qwt-qt4
-    /usr/include/qwt
-    /usr/include/qwt5
-    /opt/local/include/qwt
-    /sw/include/qwt
-    /usr/local/lib/qwt.framework/Headers
+	NAMES qwt_plot.h
+	PATHS
+	/usr/local/include/qwt-qt4
+	/usr/local/include/qwt
+	/usr/include/qwt-qt4
+	/usr/include/qwt
+	/opt/local/include/qwt
+	/sw/include/qwt
 )

 find_library (QWT_LIBRARIES
-    NAMES qwt6 qwt6-qt4 qwt qwt-qt4 qwt5 qwtd5
-    HINTS
-    ${CMAKE_INSTALL_PREFIX}/lib
-    ${CMAKE_INSTALL_PREFIX}/lib64
-    ${CMAKE_PREFIX_PATH}/lib 
-    PATHS
-    /usr/local/lib
-    /usr/lib
-    /opt/local/lib
-    /sw/lib
-    /usr/local/lib/qwt.framework
+	NAMES qwt-qt4 qwt
+	PATHS
+	/usr/local/lib
+	/usr/lib
+	/opt/local/lib
+	/sw/lib
 )

 # handle the QUIETLY and REQUIRED arguments and set QWT_FOUND to TRUE if
--- a/cmake/Modules/FindZeroMQ.cmake
+++ b/cmake/Modules/FindZeroMQ.cmake
@@ -0,0 +1,56 @@
+# - Find zeromq libraries
+# This module finds zeromq if it is installed and determines where the
+# include files and libraries are. It also determines what the name of
+# the library is. This code sets the following variables:
+#
+#  ZEROMQ_FOUND               - have the zeromq libs been found
+#  ZEROMQ_LIBRARIES           - path to the zeromq library
+#  ZEROMQ_INCLUDE_DIRS        - path to where zmq.h is found
+#  ZEROMQ_DEBUG_LIBRARIES     - path to the debug library
+
+#INCLUDE(CMakeFindFrameworks)
+# Search for the zeromq framework on Apple.
+#CMAKE_FIND_FRAMEWORKS(ZeroMQ)
+
+IF(WIN32)
+	FIND_LIBRARY(ZEROMQ_DEBUG_LIBRARY
+		NAMES libzmq_d zmq_d
+		PATHS
+			${ZEROMQ_LIBRARIES}
+	)
+ENDIF(WIN32)
+
+FIND_LIBRARY(ZEROMQ_LIBRARY
+	NAMES libzmq zmq 
+	PATHS
+		${ZEROMQ_LIBRARIES}
+		${NSCP_LIBRARYDIR}
+)
+
+#  IF(ZeroMQ_FRAMEWORKS AND NOT ZEROMQ_INCLUDE_DIR)
+#    FOREACH(dir ${ZeroMQ_FRAMEWORKS})
+#      SET(ZEROMQ_FRAMEWORK_INCLUDES ${ZEROMQ_FRAMEWORK_INCLUDES}
+#        ${dir}/Versions/${_CURRENT_VERSION}/include/zeromq${_CURRENT_VERSION})
+#    ENDFOREACH(dir)
+#  ENDIF(ZeroMQ_FRAMEWORKS AND NOT ZEROMQ_INCLUDE_DIR)
+
+FIND_PATH(ZEROMQ_INCLUDE_DIR
+	NAMES zmq.hpp
+	PATHS
+#		${ZEROMQ_FRAMEWORK_INCLUDES}
+		${ZEROMQ_INCLUDE_DIRS}
+		${NSCP_INCLUDEDIR}
+		${ZEROMQ_INCLUDE_DIR}
+)
+
+MARK_AS_ADVANCED(
+  ZEROMQ_DEBUG_LIBRARY
+  ZEROMQ_LIBRARY
+  ZEROMQ_INCLUDE_DIR
+)
+SET(ZEROMQ_INCLUDE_DIRS "${ZEROMQ_INCLUDE_DIR}")
+SET(ZEROMQ_LIBRARIES "${ZEROMQ_LIBRARY}")
+SET(ZEROMQ_DEBUG_LIBRARIES "${ZEROMQ_DEBUG_LIBRARY}")
+
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(ZeroMQ DEFAULT_MSG ZEROMQ_LIBRARIES ZEROMQ_INCLUDE_DIRS)
--- a/cmake/Modules/GrBoost.cmake
+++ b/cmake/Modules/GrBoost.cmake
@@ -87,7 +87,7 @@ set(Boost_NOGO_VERSIONS
  )

 foreach(ver ${Boost_NOGO_VERSIONS})
-  if("${Boost_VERSION}" STREQUAL "${ver}")
+  if(${Boost_VERSION} EQUAL ${ver})
    if(NOT ENABLE_BAD_BOOST)
      MESSAGE(STATUS "WARNING: Found a known bad version of Boost (v${Boost_VERSION}). Disabling.")
      set(Boost_FOUND FALSE)
@@ -95,5 +95,5 @@ foreach(ver ${Boost_NOGO_VERSIONS})
      MESSAGE(STATUS "WARNING: Found a known bad version of Boost (v${Boost_VERSION}). Continuing anyway.")
      set(Boost_FOUND TRUE)
    endif(NOT ENABLE_BAD_BOOST)
-  endif("${Boost_VERSION}" STREQUAL "${ver}")
+  endif(${Boost_VERSION} EQUAL ${ver})
 endforeach(ver)
--- a/include/gr_air_modes/preamble.h
+++ b/include/gr_air_modes/preamble.h
@@ -37,11 +37,11 @@ class AIR_MODES_API preamble : virtual public gr::block
 {
 public:
    typedef boost::shared_ptr<preamble> sptr;
-    static sptr make(float channel_rate, float threshold_db);
+    static sptr make(int channel_rate, float threshold_db);

-    virtual void set_rate(float channel_rate) = 0;
+    virtual void set_rate(int channel_rate) = 0;
    virtual void set_threshold(float threshold_db) = 0;
-    virtual float get_rate(void) = 0;
+    virtual int get_rate(void) = 0;
    virtual float get_threshold(void) = 0;
 };

--- a/lib/preamble_impl.cc
+++ b/lib/preamble_impl.cc
@@ -34,11 +34,11 @@

 namespace gr {

-air_modes::preamble::sptr air_modes::preamble::make(float channel_rate, float threshold_db) {
+air_modes::preamble::sptr air_modes::preamble::make(int channel_rate, float threshold_db) {
    return gnuradio::get_initial_sptr(new air_modes::preamble_impl(channel_rate, threshold_db));
 }

-air_modes::preamble_impl::preamble_impl(float channel_rate, float threshold_db) :
+air_modes::preamble_impl::preamble_impl(int channel_rate, float threshold_db) :
        gr::block ("preamble",
           gr::io_signature::make2 (2, 2, sizeof(float), sizeof(float)), //stream 0 is received data, stream 1 is moving average for reference
           gr::io_signature::make (1, 1, sizeof(float))) //the output soft symbols
@@ -53,11 +53,11 @@ air_modes::preamble_impl::preamble_impl(float channel_rate, float threshold_db)
    d_key = pmt::string_to_symbol("preamble_found");
 }

-void air_modes::preamble_impl::set_rate(float channel_rate) {
+void air_modes::preamble_impl::set_rate(int channel_rate) {
    d_samples_per_chip = channel_rate / d_chip_rate;
    d_samples_per_symbol = d_samples_per_chip * 2;
    d_check_width = 120 * d_samples_per_symbol;
-    d_sample_rate = channel_rate;
+    d_secs_per_sample = 1.0/channel_rate;
    set_output_multiple(1+d_check_width*2);
    set_history(d_samples_per_symbol);
 }
@@ -71,8 +71,8 @@ float air_modes::preamble_impl::get_threshold(void) {
    return d_threshold_db;
 }

-float air_modes::preamble_impl::get_rate(void) {
-    return d_sample_rate;
+int air_modes::preamble_impl::get_rate(void) {
+    return d_samples_per_chip * d_chip_rate;
 }

 static void integrate_and_dump(float *out, const float *in, int chips, int samps_per_chip) {
@@ -97,42 +97,19 @@ static double correlate_preamble(const float *in, int samples_per_chip) {
    return corr;
 }

-static pmt::pmt_t tag_to_timestamp(gr::tag_t tstamp, uint64_t abs_sample_cnt, int rate) {
-    uint64_t last_whole_stamp;
+//todo: make it return a pair of some kind, otherwise you can lose precision
+static double tag_to_timestamp(gr::tag_t tstamp, uint64_t abs_sample_cnt, double secs_per_sample) {
+    uint64_t ts_sample, last_whole_stamp;
    double last_frac_stamp;
-    pmt::pmt_t tstime = pmt::make_tuple(pmt::from_uint64(0), pmt::from_double(0));
-    if(tstamp.key == NULL 
-    || !pmt::is_symbol(tstamp.key) 
-    || pmt::symbol_to_string(tstamp.key) != "rx_time") {
-        last_whole_stamp = 0;
-        last_frac_stamp = 0;
-    } else {
-        last_whole_stamp = pmt::to_uint64(pmt::tuple_ref(tstamp.value, 0));
-        last_frac_stamp = pmt::to_double(pmt::tuple_ref(tstamp.value, 1));
-    }

-    //the timestamp tag has tstamp.offset, the sample index of the timestamp tag
-    //also tstamp.value, a pmt pair with (uint64, double) representing int and
-    //fractional timestamp, respectively.
-    //this function also gets an abs_sample_cnt which represents the sample count to
-    //find a timestamp for. sps is obviously samples per second.
-    //
-    //so (abs_sample_cnt - tstamp.offset) is the delay we apply to the tag
-    //   int((abs_sample_cnt - tstamp.offset)/sps) is the integer offset
-    //   (abs_sample_cnt - tstamp.offset)/sps is the fractional offset
+    if(tstamp.key == NULL || pmt::symbol_to_string(tstamp.key) != "rx_time") return 0;

-    uint64_t int_offset = (abs_sample_cnt - tstamp.offset)/rate;
-    double frac_offset = ((abs_sample_cnt - tstamp.offset) % rate) / double(rate);
-
-    uint64_t abs_whole = last_whole_stamp + int_offset;
-    double abs_frac = last_frac_stamp + frac_offset;
-    if(abs_frac > 1.0f) {
-        abs_frac -= 1.0f;
-        abs_whole += 1;
-    }
-
-    tstime = pmt::make_tuple(pmt::from_uint64(abs_whole), pmt::from_double(abs_frac));
+    last_whole_stamp = pmt::to_uint64(pmt::tuple_ref(tstamp.value, 0));
+    last_frac_stamp = pmt::to_double(pmt::tuple_ref(tstamp.value, 1));
+    ts_sample = tstamp.offset;

+    double tstime = double(abs_sample_cnt * secs_per_sample) + last_whole_stamp + last_frac_stamp;
+    if(0) std::cout << "HEY WE GOT A STAMP AT " << tstime << " TICKS AT SAMPLE " << ts_sample << " ABS SAMPLE CNT IS " << abs_sample_cnt << std::endl;
    return tstime;
 }

@@ -147,7 +124,7 @@ int air_modes::preamble_impl::general_work(int noutput_items,
    int mininputs = std::min(ninput_items[0], ninput_items[1]); //they should be matched but let's be safe
    //round number of input samples down to nearest d_samples_per_chip
    //we also subtract off d_samples_per_chip to allow the bit center finder some leeway
-    const int ninputs = std::max(mininputs - (mininputs % int(d_samples_per_chip)) - int(d_samples_per_chip), 0);
+    const int ninputs = std::max(mininputs - (mininputs % d_samples_per_chip) - d_samples_per_chip, 0);
    if (ninputs <= 0) { consume_each(0); return 0; }

    float *out = (float *) output_items[0];
@@ -217,20 +194,22 @@ int air_modes::preamble_impl::general_work(int noutput_items,

            //all right i'm prepared to call this a preamble
            for(int j=0; j<240; j++) {
-                out[j] = in[i+int(j*d_samples_per_chip)] - inavg[i];
+                out[j] = in[i+j*d_samples_per_chip] - inavg[i];
            }

            //get the timestamp of the preamble
-            pmt::pmt_t tstamp = tag_to_timestamp(d_timestamp, abs_sample_cnt + i, d_sample_rate);
+            double tstamp = tag_to_timestamp(d_timestamp, abs_sample_cnt + i, d_secs_per_sample);

            //now tag the preamble
            add_item_tag(0, //stream ID
                     nitems_written(0), //sample
                     d_key,      //frame_info
-                     tstamp,
+                     pmt::from_double(tstamp),
                     d_me        //block src id
                    );

+            //std::cout << "PREAMBLE" << std::endl;
+
            //produce only one output per work call -- TODO this should probably change
            if(0) std::cout << "Preamble consumed " << i+240*d_samples_per_chip << "with i=" << i << ", returned 240" << std::endl;

--- a/lib/preamble_impl.h
+++ b/lib/preamble_impl.h
@@ -15,26 +15,26 @@ private:
    int d_check_width;
    int d_chip_rate;
    float d_preamble_length_us;
-    float d_samples_per_chip;
-    float d_samples_per_symbol;
+    int d_samples_per_chip;
+    int d_samples_per_symbol;
    float d_threshold_db;
    float d_threshold;
-    gr::tag_t d_timestamp;
    pmt::pmt_t d_me, d_key;
-    int d_sample_rate;
+    gr::tag_t d_timestamp;
+    double d_secs_per_sample;

 public:
-    preamble_impl(float channel_rate, float threshold_db);
+    preamble_impl(int channel_rate, float threshold_db);

    int general_work (int noutput_items,
              gr_vector_int &ninput_items,
              gr_vector_const_void_star &input_items,
              gr_vector_void_star &output_items);

-    void set_rate(float channel_rate);
+    void set_rate(int channel_rate);
    void set_threshold(float threshold_db);
    float get_threshold(void);
-    float get_rate(void);
+    int get_rate(void);
 };

 } //namespace air_modes
--- a/lib/slicer_impl.cc
+++ b/lib/slicer_impl.cc
@@ -158,6 +158,8 @@ int air_modes::slicer_impl::work(int noutput_items,
            }
        }

+        rx_packet.timestamp = pmt::to_double(tag_iter->value);
+
        //here you might want to traverse the whole packet and if you find all 0's, just toss it. don't know why these packets turn up, but they pass ECC.
        bool zeroes = 1;
        for(int m = 0; m < 14; m++) {
@@ -181,15 +183,13 @@ int air_modes::slicer_impl::work(int noutput_items,
        //crc for the other short packets is usually nonzero, so they can't really be trusted that far
        if(rx_packet.crc && (rx_packet.message_type == 11 || rx_packet.message_type == 17)) {continue;}

-        pmt::pmt_t tstamp = tag_iter->value;
-
        d_payload.str("");
        for(int m = 0; m < packet_length/8; m++) {
            d_payload << std::hex << std::setw(2) << std::setfill('0') << unsigned(rx_packet.data[m]);
        }

        d_payload << " " << std::setw(6) << rx_packet.crc << " " << std::dec << rx_packet.reference_level
-                  << " " << pmt::to_uint64(pmt::tuple_ref(tstamp, 0)) << " " << std::setprecision(10) << pmt::to_double(pmt::tuple_ref(tstamp, 1));
+                  << " " << std::setprecision(10) << std::setw(10) << rx_packet.timestamp;
        gr::message::sptr msg = gr::message::make_from_string(std::string(d_payload.str()));
        d_queue->handle(msg);
    }
--- a/lib/slicer_impl.h
+++ b/lib/slicer_impl.h
@@ -38,7 +38,6 @@ private:
    int d_chip_rate;
    int d_samples_per_chip;
    int d_samples_per_symbol;
-    gr::tag_t d_timestamp;
    gr::msg_queue::sptr d_queue;
    std::ostringstream d_payload;

--- a/python/init.py
+++ b/python/init.py
@@ -51,12 +51,6 @@ from air_modes_swig import *

 # import any pure python here
 #
-
-try:
-    import zmq
-except ImportError:
-    raise RuntimeError("PyZMQ not found! Please install libzmq and PyZMQ to run gr-air-modes")
-
 from rx_path import rx_path
 from zmq_socket import zmq_pubsub_iface
 from parse import *
@@ -67,6 +61,7 @@ from kml import output_kml, output_jsonp
 from raw_server import raw_server
 from radio import modes_radio
 from exceptions import *
+from az_map import *
 from types import *
 from altitude import *
 from cpr import cpr_decoder
--- a/python/flightgear.py
+++ b/python/flightgear.py
@@ -18,6 +18,7 @@ class output_flightgear:
    def __init__(self, cprdec, hostname, port, pub):
        self.hostname = hostname
        self.port = port
+        self.localpos = localpos
        self.positions = {}
        self.velocities = {}
        self.callsigns = {}
@@ -25,41 +26,42 @@ class output_flightgear:

        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        self.sock.connect((self.hostname, self.port))
-        pub.subscribe("type17_dl", self.output)
+        pub.subscribe("type17_dl", output)

    def output(self, msg):
+        
        try:
            msgtype = msg.data["df"]
            if msgtype == 17: #ADS-B report
                icao24 = msg.data["aa"]
                bdsreg = msg.data["me"].get_type()
                if bdsreg == 0x08: #ident packet
-                    (ident, actype) = air_modes.parseBDS08(msg.data)
+                    (ident, actype) = air_modes.parseBDS08(data)
                    #select model based on actype
                    self.callsigns[icao24] = [ident, actype]
-
+                    
                elif bdsreg == 0x06: #BDS0,6 pos
-                    [ground_track, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS06(msg.data, self._cpr)
+                    [ground_track, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS06(data, self._cpr)
                    self.positions[icao24] = [decoded_lat, decoded_lon, 0]
                    self.update(icao24)

                elif bdsreg == 0x05: #BDS0,5 pos
-                    [altitude, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS05(msg.data, self._cpr)
+                    [altitude, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS05(data, self._cpr)
                    self.positions[icao24] = [decoded_lat, decoded_lon, altitude]
                    self.update(icao24)

                elif bdsreg == 0x09: #velocity
-                    subtype = msg.data["bds09"].get_type()
+                    subtype = data["bds09"].get_type()
                    if subtype == 0:
-                      [velocity, heading, vert_spd, turnrate] = air_modes.parseBDS09_0(msg.data)
+                      [velocity, heading, vert_spd, turnrate] = air_modes.parseBDS09_0(data)
                    elif subtype == 1:
-                      [velocity, heading, vert_spd] = air_modes.parseBDS09_1(msg.data)
+                      [velocity, heading, vert_spd] = air_modes.parseBDS09_1(data)
                      turnrate = 0
                    else:
                        return

                    self.velocities[icao24] = [velocity, heading, vert_spd, turnrate]
-
+                    
        except ADSBError:
            pass

--- a/python/html_template.py
+++ b/python/html_template.py
@@ -2,7 +2,7 @@
 #HTML template for Mode S map display
 #Nick Foster, 2013

-def html_template(my_apikey, my_position, json_file):
+def html_template(my_position, json_file):
    if my_position is None:
        my_position = [37, -122]

@@ -25,9 +25,9 @@ def html_template(my_apikey, my_position, json_file):
                white-space: nowrap;
            }
        </style>
-        <script type="text/javascript" src="http://maps.google.com/maps/api/js?key=%s">
+        <script type="text/javascript" src="http://maps.google.com/maps/api/js?sensor=false">
        </script>
-        <script type="text/javascript" src="https://raw.githubusercontent.com/googlemaps/v3-utility-library/master/markerwithlabel/src/markerwithlabel.js">
+        <script type="text/javascript" src="http://google-maps-utility-library-v3.googlecode.com/svn/tags/markerwithlabel/1.1.9/src/markerwithlabel.js">
        </script>
        <script type="text/javascript">
            var map;
@@ -53,6 +53,7 @@ def html_template(my_apikey, my_position, json_file):
            };

            function jsonp_callback(results) { // from JSONP
+                clearMarkers();
                airplanes = {};
                for (var i = 0; i < results.length; i++) {
                    airplanes[results[i].icao] = {
@@ -66,20 +67,10 @@ def html_template(my_apikey, my_position, json_file):
                        highlight: results[i].highlight
                    };
                }
-//                clearMarkers();
                refreshIcons();
            }

            function refreshIcons() {
-                //prune the list
-                for(var i = 0; i < planes.length; i++) {
-                    icao = planes[i].get("icao")
-                    if(!(icao in airplanes)) {
-                        planes[i].setMap(null)
-                        planes.splice(i, 1);
-                    };
-                };
-
                for (var airplane in airplanes) {
                    if (airplanes[airplane].highlight != 0) {
                        icon_file = "http://www.nerdnetworks.org/~bistromath/airplane_sprite_highlight.png";
@@ -95,7 +86,7 @@ def html_template(my_apikey, my_position, json_file):
                    };

                    if (airplanes[airplane].ident.length != 8) {
-                        identstr = airplane;
+                        identstr = airplane; 
                    } else {
                        identstr = airplanes[airplane].ident;
                    };
@@ -103,31 +94,14 @@ def html_template(my_apikey, my_position, json_file):
                    var planeOptions = {
                        map: map,
                        position: airplanes[airplane].center,
-                        icao: airplane,
                        icon: plane_icon,
                        labelContent: identstr,
                        labelAnchor: new google.maps.Point(35, -32),
                        labelClass: "labels",
                        labelStyle: {opacity: 0.75}
                    };
-
-                    var i = 0;
-                    for(i; i<planes.length; i++) {
-                        if(planes[i].get("icao") == airplane) {
-                            planes[i].setPosition(airplanes[airplane].center);
-                            if(planes[i].get("icon") != plane_icon) {
-                                planes[i].setIcon(plane_icon); //handles highlight and heading
-                            };
-                            if(planes[i].get("labelContent") != identstr) {
-                                planes[i].set("labelContent", identstr);
-                            };
-                            break;
-                        };
-                    };
-                    if(i == planes.length) {
-                        planeMarker = new MarkerWithLabel(planeOptions);
-                        planes.push(planeMarker);
-                    };
+                    planeMarker = new MarkerWithLabel(planeOptions);
+                    planes.push(planeMarker);
                };
            };

@@ -152,4 +126,4 @@ def html_template(my_apikey, my_position, json_file):
        <div id="map_canvas" style="width:100%%; height:100%%">
        </div>
    </body>
-</html>""" % (my_apikey, my_position[0], my_position[1], json_file)
+</html>""" % (my_position[0], my_position[1], json_file)
--- a/python/parse.py
+++ b/python/parse.py
@@ -335,13 +335,13 @@ def parseBDS09_1(data):
  ew = bool(data["dew"])
  subtype = data["sub"]
  if subtype == 0x02:
-    ns_vel *= 4
-    ew_vel *= 4
+    ns_vel <<= 2
+    ew_vel <<= 2

  velocity = math.hypot(ns_vel, ew_vel)
  if ew:
    ew_vel = 0 - ew_vel
-
+	
  if ns_vel == 0:
    heading = 0
  else:
@@ -423,12 +423,12 @@ def parse_TCAS_CRM(data):
 def make_parser(pub):
  publisher = pub
  def publish(message):
-    [data, ecc, reference, int_timestamp, frac_timestamp] = message.split()
+    [data, ecc, reference, timestamp] = message.split()
    try:
      ret = air_modes.modes_report(modes_reply(int(data, 16)),
                                   int(ecc, 16),
                                   10.0*math.log10(max(1e-8,float(reference))),
-                                   air_modes.stamp(int(int_timestamp), float(frac_timestamp)))
+                                   air_modes.stamp(0, float(timestamp)))
      pub["modes_dl"] = ret
      pub["type%i_dl" % ret.data.get_type()] = ret
    except ADSBError:
--- a/python/radio.py
+++ b/python/radio.py
@@ -27,13 +27,13 @@ from gnuradio import gr, gru, eng_notation, filter, blocks
 from gnuradio.filter import optfir
 from gnuradio.eng_option import eng_option
 from gnuradio.gr.pubsub import pubsub
-from gnuradio.filter import pfb
 from optparse import OptionParser, OptionGroup
 import air_modes
 import zmq
 import threading
 import time
 import re
+import fractions

 class modes_radio (gr.top_block, pubsub):
  def __init__(self, options, context):
@@ -45,17 +45,12 @@ class modes_radio (gr.top_block, pubsub):

    self._resample = None
    self._setup_source(options)
+    if self._resample is not None:
+        self._rate = 4.0e6 #fixed rate we resample to in RTL case

-    if self._rate < 4e6:
-        self._resample = pfb.arb_resampler_ccf(4.e6/self._rate)
-        self._rx_rate = 4e6
-    else:
-        self._rx_rate = self._rate
-
-    self._rx_path = air_modes.rx_path(self._rx_rate, options.threshold,
+    self._rx_path = air_modes.rx_path(self._rate, options.threshold,
                                      self._queue, options.pmf, options.dcblock)

-
    #now subscribe to set various options via pubsub
    self.subscribe("freq", self.set_freq)
    self.subscribe("gain", self.set_gain)
@@ -133,20 +128,8 @@ class modes_radio (gr.top_block, pubsub):
    return self.get_gain()

  def set_rate(self, rate):
-    if(rate < 4e6 and self._rate > 4e6):
-        raise NotImplementedError("Lowering rate <4e6Msps not currently supported.")
-    if(rate < 4e6):
-        self._resample.set_rate(4e6/rate)
-        self._rx_rate = 4e6
-    else:
-        self._rx_rate = rate
-    self._rx_path.set_rate(self._rx_rate)
-    if self._options.source in ("osmocom"):
-        return self._u.set_sample_rate(rate)
-    if self._options.source in ("uhd"):
-        return self._u.set_rate(rate)
-    else:
-        return 0
+    self._rx_path.set_rate(rate)
+    return self._u.set_rate(rate) if self.live_source() else 0

  def set_threshold(self, threshold):
    self._rx_path.set_threshold(threshold)
@@ -192,13 +175,14 @@ class modes_radio (gr.top_block, pubsub):
      self._u.set_gain(options.gain)
      print "Gain is %i" % self._u.get_gain()

-    #TODO: detect if you're using an RTLSDR or Jawbreaker
-    #and set up accordingly.
    elif options.source == "osmocom": #RTLSDR dongle or HackRF Jawbreaker
        import osmosdr
        self._u = osmosdr.source(options.args)
-#        self._u.set_sample_rate(3.2e6) #fixed for RTL dongles
+        rates = self._u.get_sample_rates()
+
        self._u.set_sample_rate(options.rate)
+        actual_rate = int(self._u.get_sample_rate())
+
        if not self._u.set_center_freq(options.freq):
            print "Failed to set initial frequency"

@@ -208,9 +192,14 @@ class modes_radio (gr.top_block, pubsub):
        self._u.set_gain(options.gain)
        print "Gain is %i" % self._u.get_gain()

-        #Note: this should only come into play if using an RTLSDR.
-#        lpfiltcoeffs = gr.firdes.low_pass(1, 5*3.2e6, 1.6e6, 300e3)
-#        self._resample = filter.rational_resampler_ccf(interpolation=5, decimation=4, taps=lpfiltcoeffs)
+        if actual_rate < 4.0e6:
+            gcd = fractions.gcd(4.0e6, actual_rate)
+            interp = 4.0e6 / gcd
+            decim = actual_rate / gcd
+            lpfiltcoeffs = filter.firdes.low_pass(1, interp*actual_rate, 1.6e6, 300e3)
+            self._resample = filter.rational_resampler_ccf(interpolation=interp,
+                                                           decimation=decim,
+                                                           taps=lpfiltcoeffs)

    else:
      #semantically detect whether it's ip.ip.ip.ip:port or filename
@@ -219,16 +208,14 @@ class modes_radio (gr.top_block, pubsub):
          ip, port = re.search("(.*)\:(\d{1,5})", options.source).groups()
        except:
          raise Exception("Please input UDP source e.g. 192.168.10.1:12345")
-        self._u = blocks.udp_source(gr.sizeof_gr_complex, ip, int(port))
+        self._u = gr.udp_source(gr.sizeof_gr_complex, ip, int(port))
        print "Using UDP source %s:%s" % (ip, port)
      else:
        self._u = blocks.file_source(gr.sizeof_gr_complex, options.source)
        print "Using file source %s" % options.source

-    print "Rate is %i" % (options.rate,)
+    print "Rate is %i" % actual_rate

  def close(self):
-    self.stop()
-    self.wait()
    self._sender.close()
    self._u = None
--- a/python/rx_path.py
+++ b/python/rx_path.py
@@ -37,7 +37,7 @@ class rx_path(gr.hier_block2):
        # Convert incoming I/Q baseband to amplitude
        self._demod = blocks.complex_to_mag_squared()
        if use_dcblock:
-            self._dcblock = filter.dc_blocker_cc(100*self._spc,False)
+            self._dcblock = filter.dc_blocker_cc(100*self._spc,True)
            self.connect(self, self._dcblock, self._demod)
        else:
            self.connect(self, self._demod)
@@ -65,13 +65,13 @@ class rx_path(gr.hier_block2):
        self.connect(self._sync, self._slicer)

    def set_rate(self, rate):
-        self._sync.set_rate(int(rate))
+        self._sync.set_rate(rate)
        self._spc = int(rate/2e6)
        self._avg.set_length_and_scale(48*self._spc, 1.0/(48*self._spc))
        if self._bb != self._demod:
            self._pmf.set_length_and_scale(self._spc, 1.0/self._spc)
-#        if self._dcblock is not None:
-#            self._dcblock.set_length(100*self._spc)
+        if self._dcblock is not None:
+            self._dcblock.set_length(100*self._spc)

    def set_threshold(self, threshold):
        self._sync.set_threshold(threshold)
@@ -83,6 +83,6 @@ class rx_path(gr.hier_block2):
    def get_pmf(self, pmf):
        return not (self._bb == self._demod)

-    def get_threshold(self):
+    def get_threshold(self, threshold):
        return self._sync.get_threshold()

--- a/python/sbs1.py
+++ b/python/sbs1.py
@@ -23,7 +23,7 @@
 import time, os, sys, socket
 from string import split, join
 import air_modes
-import datetime
+from datetime import *
 from air_modes.exceptions import *
 import threading

@@ -63,7 +63,7 @@ class output_sbs1:
    #it could be cleaner if there were separate output_* fns
    #but this works
    for i in (0, 4, 5, 11, 17):
-        pub.subscribe("type%i_dl" % i, self.output)
+        pub.subscribe("type%i_dl" % i, output)

    #spawn thread to add new connections as they come in
    self._runner = dumb_task_runner(self.add_pending_conns, 0.1)
@@ -83,7 +83,7 @@ class output_sbs1:
    # dictionary is getting too large.
    if len(self._aircraft_id_map) > 1e4:
      minimum = min(self._aircraft_id_map.values()) + (len(self._aircraft_id_map) - 1e4)
-      for icao, _id in dict(self._aircraft_id_map).iteritems():
+      for icao, _id in self._aircraft_id_map:
        if _id < minimum:
            del self._aircraft_id_map[icao]

@@ -111,7 +111,7 @@ class output_sbs1:
      pass

  def current_time(self):
-    timenow = datetime.datetime.now()
+    timenow = datetime.now()
    return [timenow.strftime("%Y/%m/%d"), timenow.strftime("%H:%M:%S.%f")[0:-3]]

  def decode_fs(self, fs):
@@ -154,7 +154,7 @@ class output_sbs1:
    [datestr, timestr] = self.current_time()
    aircraft_id = self.get_aircraft_id(ecc)
    retstr = "MSG,7,0,%i,%06X,%i,%s,%s,%s,%s,,%s,,,,,,,,,," % (aircraft_id, ecc, aircraft_id+100, datestr, timestr, datestr, timestr, air_modes.decode_alt(shortdata["ac"], True))
-    if shortdata["vs"]:
+    if vs:
      retstr += "1\r\n"
    else:
      retstr += "0\r\n"
@@ -174,7 +174,7 @@ class output_sbs1:

  def pp11(self, shortdata, ecc):
    [datestr, timestr] = self.current_time()
-    aircraft_id = self.get_aircraft_id(shortdata["aa"])
+    aircraft_id = self.get_aircraft_id(icao24)
    return "MSG,8,0,%i,%06X,%i,%s,%s,%s,%s,,,,,,,,,,,,\r\n" % (aircraft_id, shortdata["aa"], aircraft_id+100, datestr, timestr, datestr, timestr)

  def pp17(self, data):
--- a/res/modes_rx.ui
+++ b/res/modes_rx.ui
@@ -6,8 +6,8 @@
   <rect>
    <x>0</x>
    <y>0</y>
-    <width>719</width>
-    <height>454</height>
+    <width>687</width>
+    <height>422</height>
   </rect>
  </property>
  <property name="sizePolicy">
@@ -102,8 +102,8 @@
             <rect>
              <x>10</x>
              <y>20</y>
-              <width>241</width>
-              <height>281</height>
+              <width>236</width>
+              <height>251</height>
             </rect>
            </property>
            <property name="title">
@@ -307,7 +307,7 @@
             <property name="geometry">
              <rect>
               <x>10</x>
-               <y>190</y>
+               <y>200</y>
               <width>221</width>
               <height>22</height>
              </rect>
@@ -320,7 +320,7 @@
             <property name="geometry">
              <rect>
               <x>10</x>
-               <y>210</y>
+               <y>220</y>
               <width>221</width>
               <height>22</height>
              </rect>
@@ -329,16 +329,6 @@
              <string>Use DC blocking filter</string>
             </property>
            </widget>
-            <widget class="QLineEdit" name="line_my_api_key">
-             <property name="geometry">
-              <rect>
-               <x>90</x>
-               <y>250</y>
-               <width>121</width>
-               <height>27</height>
-              </rect>
-             </property>
-            </widget>
           </widget>
           <widget class="QGroupBox" name="group_output">
            <property name="geometry">
@@ -559,19 +549,6 @@
             </property>
            </widget>
           </widget>
-           <widget class="QLabel" name="label_34">
-            <property name="geometry">
-             <rect>
-              <x>20</x>
-              <y>270</y>
-              <width>67</width>
-              <height>17</height>
-             </rect>
-            </property>
-            <property name="text">
-             <string>API Key</string>
-            </property>
-           </widget>
          </widget>
          <widget class="QWidget" name="dashboard">
           <attribute name="title">
@@ -1054,7 +1031,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-     <width>719</width>
+     <width>687</width>
     <height>25</height>
    </rect>
   </property>
--- a/swig/CMakeLists.txt
+++ b/swig/CMakeLists.txt
@@ -39,7 +39,7 @@ set(GR_SWIG_LIBRARIES air_modes)
 #set(GR_SWIG_DOC_FILE ${CMAKE_CURRENT_BINARY_DIR}/gr-air-modes_swig_doc.i)
 #set(GR_SWIG_DOC_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../include)

-GR_SWIG_MAKE(air_modes_swig air_modes_swig.i)
+GR_SWIG_MAKE(air_modes_swig air_modes.i)

 ########################################################################
 # Install the build swig module
--- a/swig/air_modes_swig.i
+++ b/swig/air_modes_swig.i