Temp commit while adding a modes_report class using named tuples. Mlat server definitely broken as a result.

If all your stations lie in a plane (they do), there is an ambiguity about that plane such that there are two solutions.
This means you need to provide an initial guess on the correct side of the plane (i.e., above ground).
In addition, using a very reasonable solution guarantees that the system is as linear as possible.
I'm using the nearest station as a guess; I would have assumed it would work with any station as a guess but this
doesn't appear to be the case.
The Arne Saknussemm is still broken.

CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright 2011,2013 Free Software Foundation, Inc.
+# Copyright 2011 Free Software Foundation, Inc.
 # 
 # This file is part of GNU Radio
 # 
@@ -47,7 +47,23 @@ endif()
 ########################################################################
 # Find boost
 ########################################################################
-include(GrBoost)
+if(UNIX AND EXISTS "/usr/lib64")
+    list(APPEND BOOST_LIBRARYDIR "/usr/lib64") #fedora 64-bit fix
+endif(UNIX AND EXISTS "/usr/lib64")
+set(Boost_ADDITIONAL_VERSIONS
+    "1.35.0" "1.35" "1.36.0" "1.36" "1.37.0" "1.37" "1.38.0" "1.38" "1.39.0" "1.39"
+    "1.40.0" "1.40" "1.41.0" "1.41" "1.42.0" "1.42" "1.43.0" "1.43" "1.44.0" "1.44"
+    "1.45.0" "1.45" "1.46.0" "1.46" "1.47.0" "1.47" "1.48.0" "1.48" "1.49.0" "1.49"
+    "1.50.0" "1.50" "1.51.0" "1.51" "1.52.0" "1.52" "1.53.0" "1.53" "1.54.0" "1.54"
+    "1.55.0" "1.55" "1.56.0" "1.56" "1.57.0" "1.57" "1.58.0" "1.58" "1.59.0" "1.59"
+    "1.60.0" "1.60" "1.61.0" "1.61" "1.62.0" "1.62" "1.63.0" "1.63" "1.64.0" "1.64"
+    "1.65.0" "1.65" "1.66.0" "1.66" "1.67.0" "1.67" "1.68.0" "1.68" "1.69.0" "1.69"
+)
+find_package(Boost "1.35")
+
+if(NOT Boost_FOUND)
+    message(FATAL_ERROR "Boost required to compile gr-air-modes")
+endif()
 
 ########################################################################
 # Install directories
@@ -69,10 +85,15 @@ set(GRC_BLOCKS_DIR      ${GR_PKG_DATA_DIR}/grc/blocks)
 ########################################################################
 # Find gnuradio build dependencies
 ########################################################################
-find_package(GnuradioRuntime)
+find_package(Gruel)
+find_package(GnuradioCore)
 
-if(NOT GNURADIO_RUNTIME_FOUND)
-    message(FATAL_ERROR "GnuRadio Runtime required to compile gr-air-modes")
+if(NOT GRUEL_FOUND)
+    message(FATAL_ERROR "Gruel required to compile gr-air-modes")
+endif()
+
+if(NOT GNURADIO_CORE_FOUND)
+    message(FATAL_ERROR "GnuRadio Core required to compile gr-air-modes")
 endif()
 
 ########################################################################
@@ -81,12 +102,14 @@ endif()
 include_directories(
     ${CMAKE_SOURCE_DIR}/include
     ${Boost_INCLUDE_DIRS}
-    ${GNURADIO_RUNTIME_INCLUDE_DIRS}
+    ${GRUEL_INCLUDE_DIRS}
+    ${GNURADIO_CORE_INCLUDE_DIRS}
 )
 
 link_directories(
     ${Boost_LIBRARY_DIRS}
-    ${GNURADIO_RUNTIME_LIBRARY_DIRS}
+    ${GRUEL_LIBRARY_DIRS}
+    ${GNURADIO_CORE_LIBRARY_DIRS}
 )
 
 # Set component parameters

apps/CMakeLists.txt

@@ -21,6 +21,7 @@ include(GrPython)
 
 GR_PYTHON_INSTALL(
     PROGRAMS
+    mlat_server
     modes_rx
     modes_gui
     uhd_modes.py

apps/mlat_server

@@ -0,0 +1,265 @@
+#!/usr/bin/env python
+#
+# Copyright 2012 Nick Foster
+# 
+# This file is part of gr-air-modes
+# 
+# gr-air-modes is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3, or (at your option)
+# any later version.
+# 
+# gr-air-modes is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+# 
+# You should have received a copy of the GNU General Public License
+# along with gr-air-modes; see the file COPYING.  If not, write to
+# the Free Software Foundation, Inc., 51 Franklin Street,
+# Boston, MA 02110-1301, USA.
+#
+
+#simple multilateration server app.
+#looks at received messages and then attempts to multilaterate positions
+#will not attempt clock synchronization yet; it's up to clients to present
+#accurate timestamps. later on we can do clock sync based on ADS-B packets.
+
+#SECURITY NOTE: THIS SERVER WAS WRITTEN WITH NO REGARD TOWARD SECURITY.
+#NO REAL ATTEMPT AT DATA VALIDATION, MUCH LESS SECURITY, HAS BEEN MADE.
+#USE THIS PROGRAM AT YOUR OWN RISK AND WITH THE UNDERSTANDING THAT THE
+#INTERNET IS A SCARY PLACE FULL OF MEAN PEOPLE.
+
+import time, os, sys, socket, struct
+from string import split, join
+from datetime import *
+import air_modes
+import pickle
+import time
+import bisect
+
+#change this to 0 for ASCII format for debugging. use HIGHEST_PROTOCOL
+#for actual use to keep the pickle size down.
+pickle_prot = 0
+#pickle_prot = pickle.HIGHEST_PROTOCOL
+
+def ordered_insert(a, item):
+    a.insert(bisect.bisect_right(a, item), item)
+
+class client_info:
+    def __init__(self):
+        self.name = ""
+        self.position = []
+        self.offset_secs = 0
+        self.offset_frac_secs = 0.0
+        self.time_source = None
+
+class connection:
+    def __init__(self, addr, sock, clientinfo):
+        self.addr = addr
+        self.sock = sock
+        self.clientinfo = clientinfo
+    
+class mlat_server:
+    def __init__(self, mypos, port):
+        self._s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self._s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+        self._s.bind(('', port))
+        self._s.listen(1)
+        self._s.setblocking(0) #nonblocking
+        self._conns = [] #list of active connections
+        self._reports = {} #hashed by data
+        self._lastreport = 0 #used for pruning
+        self._parser = air_modes.parse(None)
+        self._remnant = None #for piecing together messages across packets
+
+    def __del__(self):
+        self._s.close()
+
+    def get_messages(self):
+        num=0
+        for conn in self._conns:
+            pkt = None
+            try:
+                pkt = conn.sock.recv(16384)
+            except socket.error:
+                print "%s disconnected" % conn.clientinfo.name
+                self._conns.remove(conn)
+            if not pkt: break
+            try:
+                for msg in pkt.splitlines(True):
+                    if msg.endswith("\n"):
+                        if self._remnant:
+                            msg = self._remnant + msg
+                            self._remnant = None
+                        [data, ecc, reference, timestamp_int, timestamp_frac] = msg.split()
+                        st = stamp(conn.clientinfo, int(timestamp_int), float(timestamp_frac))
+                        if data not in self._reports:
+                            self._reports[data] = []
+
+                        #ordered insert
+                        ordered_insert(self._reports[data], st)
+                        if st.tofloat() > self._lastreport:
+                            self._lastreport = st.tofloat()
+                        num += 1
+                    else:
+                        if self._remnant is not None:
+                            raise Exception("Malformed data: " + msg)
+                        else:
+                            self._remnant = msg
+
+            except Exception as e:
+                print "Invalid message from %s: %s..." % (conn.addr, pkt[:64])
+                print e
+
+        #self.prune()
+        return num
+
+    #prune should delete all reports in self._reports older than 5s.
+    #not really tested well
+    def prune(self):
+        for data, stamps in self._reports.iteritems():
+            #check the last stamp first so we don't iterate over
+            #the whole list if we don't have to
+            if self._lastreport - stamps[-1].tofloat() > 5:
+                del self._reports[data]
+            else:
+                for i,st in enumerate(stamps):
+                    if self._lastreport - st.tofloat() > 5:
+                        del self._reports[data][i]
+                if len(self._reports[data]) == 0:
+                    del self._reports[data]
+
+    #return a list of eligible messages for multilateration
+    #eligible reports are:
+    #1. bit-identical
+    #2. from distinct stations (at least 3)
+    #3. within 0.003 seconds of each other
+    #traverse the reports for each data pkt (hash) looking for >3 reports
+    #within 0.003s, then check for unique IPs (this should pass 99% of the time)
+    #let's break a record for most nested loops. this one goes four deep.
+    #it's loop-ception!
+    def get_eligible_reports(self):
+        groups = []
+        for data,stamps in self._reports.iteritems():
+            if len(stamps) >= 4: #quick check before we do a set()
+                stations = set([st.clientinfo for st in stamps])
+                if len(stations) >= 4:
+                    i=0
+                    #it's O(n) since the list is already sorted
+                    #can probably be cleaner and more concise
+                    while(i < len(stamps)):
+                        refstamp = stamps[i].tofloat()
+                        reps = []
+                        while (i<len(stamps)) and (stamps[i].tofloat() < (refstamp + 0.003)):
+                            reps.append(stamps[i])
+                            i+=1
+                        deduped = []
+                        for cinfo in stations:
+                            for st in reps[::-1]:
+                                if st.clientinfo == cinfo:
+                                    deduped.append(st)
+                                    break
+                        if len(deduped) >= 4:
+                            groups.append({"data": data, "stamps": deduped})
+
+        #TODO: pop the entries so you don't issue duplicate reports
+        if len(groups) > 0:
+            return groups
+        return None
+
+    #issue multilaterated positions
+    def output(self, msg):
+        if msg is not None:
+            try:
+                for conn in self._conns[:]: #iterate over a copy of the list
+                    conn.sock.send(msg)
+            except socket.error:
+                print "%s disconnected" % conn.clientinfo.name
+                self._conns.remove(conn)
+                print "Connections: ", len(self._conns)
+
+    #add a new connection to the list
+    def add_pending_conns(self):
+        try:
+            conn, addr = self._s.accept()
+            conn.send("HELO") #yeah it's like that
+            msg = conn.recv(1024)
+            if not msg:
+                return
+            try:
+                clientinfo = pickle.loads(msg)
+            except:
+                print "Invalid pickle received from client"
+                return
+    
+            if clientinfo.__class__.__name__ != "client_info":
+                print "Invalid datatype received from client"
+                return
+
+            self._conns.append(connection(addr[0], conn, clientinfo))
+            print "New connection from %s: %s" % (addr[0], clientinfo.name)
+        except socket.error:
+            pass
+            
+#retrieve altitude from a mode S packet or None if not available
+#returns alt in meters
+def get_modes_altitude(data):
+    df = data["df"] #reply type
+    f2m = 0.3048
+    if df == 0 or df == 4:
+        return air_modes.altitude.decode_alt(data["ac"], True)
+    elif df == 17:
+        bds = data["me"].get_type()
+        if bds == 0x05:
+            return f2m*air_modes.altitude.decode_alt(data["me"]["alt"], False)
+    else:
+        return None
+
+position = [37.76, -117.443, 100]
+
+if __name__=="__main__":
+    srv = mlat_server(position, 19005)
+    while 1:
+        nummsgs = srv.get_messages()
+        if len(srv._conns) > 0:
+            print "Received %i messages" % nummsgs
+        srv.add_pending_conns()
+        reps = srv.get_eligible_reports()
+        if reps:
+            for rep in reps:
+                print "Report with data %x" % rep["data"]
+                for st in rep["stamps"]:
+                    print "Stamp from %s: %f" % (st.clientinfo.name, st.tofloat())
+        srv.prune()
+
+        #now format the reports to get them ready for multilateration
+        #it's expecting a list of tuples [(station[], timestamp)...]
+        #also have to parse the data to pull altitude out of the mix
+        if reps:
+            for rep in reps:
+                alt = get_modes_altitude(air_modes.modes_reply(rep["data"]))
+                if (alt is None and len(rep["stamps"]) > 3) or alt is not None:
+                    mlat_list = [(st.clientinfo.position, st.tofloat()) for st in rep["stamps"]]
+                    print mlat_list
+                    #multilaterate!
+                    try:
+                        pos, senttime = air_modes.mlat.mlat(mlat_list, alt)
+                        if pos is not None:
+                            print "Resolved position: ", pos
+                            #send a report!
+                            msg = "%x %i %i %f %f %f %f %f %f\n" % \
+                                  (rep["data"], len(mlat_list), int(senttime), \
+                                   float(senttime) - int(senttime), \
+                                   pos[0], pos[1], pos[2], 0.0, 0.0)
+                            srv.output(msg)
+
+                    except air_modes.exceptions.MlatNonConvergeError as e:
+                        print e
+
+#DEBUG
+#        else:
+#            msg = "0921354 4 2 0.12345 36.671234 -112.342515 9028.1243 0.0 0.0\n"
+#            srv.output(msg)
+            
+        time.sleep(0.3)

apps/mlat_test.py

@@ -0,0 +1,67 @@
+#!/usr/bin/env python
+
+#test stuff for mlat server
+
+import socket, pickle, time, random, sys, math, numpy
+import air_modes
+
+class rx_data:
+    secs = 0
+    frac_secs = 0.0
+    data = None
+
+class client_info:
+    def __init__(self):
+        self.name = ""
+        self.position = []
+        self.offset_secs = 0
+        self.offset_frac_secs = 0.0
+
+info = client_info()
+info.name = sys.argv[1]
+info.position = [float(sys.argv[2]), float(sys.argv[3]), 100]
+info.offset_secs = 0
+info.offset_frac_secs = 0.0
+
+data1 = rx_data()
+data1.secs = 0
+data1.data = int("0x8da81f875857f10eb65b10cb66f3", 16)
+
+ac_starting_pos = [37.617175, -122.400843, 8000]
+ac_hdg = 130.
+ac_spd = 0.00008
+def get_pos(time):
+    return [ac_starting_pos[0] + ac_spd * time * math.cos(ac_hdg*math.pi/180.), \
+            ac_starting_pos[1] + ac_spd * time * math.sin(ac_hdg*math.pi/180.), \
+            ac_starting_pos[2]]
+
+def get_simulated_timestamp(time, position):
+    prange = numpy.linalg.norm(numpy.array(air_modes.mlat.llh2ecef(position))-numpy.array(air_modes.mlat.llh2geoid(info.position))) / air_modes.mlat.c
+    return time + prange + random.random()*60e-9 - 30e-9
+
+sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+sock.setblocking(1)
+sock.connect(("localhost", 19005))
+sock.send(pickle.dumps(info))
+print sock.recv(1024)
+sock.setblocking(0)
+ts = 0.0
+while 1:
+    pos = get_pos(ts)
+    stamp = get_simulated_timestamp(ts, pos)
+    print "Timestamp: %.10f" % (stamp)
+    print "Position: ", pos
+    data1.secs = int(stamp)
+    data1.frac_secs = float(stamp)
+    data1.frac_secs -= int(data1.frac_secs)
+    sock.send(pickle.dumps([data1]))
+    try:
+        positions = sock.recv(1024)
+    except:
+        pass
+    if positions: print positions
+    ts+=1
+    time.sleep(1)
+
+sock.close()
+sock = None

apps/modes_gui

@@ -19,19 +19,16 @@
 # Boston, MA 02110-1301, USA.
 # 
 
-import os, sys, time, threading, datetime, math, csv, tempfile
-from optparse import OptionParser
-from PyQt4 import QtCore,QtGui,QtWebKit
+import os, sys, time, threading, datetime, math, csv
+from PyQt4 import QtCore,QtGui
 from PyQt4.Qwt5 import Qwt
-from gnuradio import gr, eng_notation
-from gnuradio.eng_option import eng_option
-from gnuradio.gr.pubsub import pubsub
+from gnuradio import gr, gru, optfir, eng_notation, blks2
+import gnuradio.gr.gr_threading as _threading
 import air_modes
 from air_modes.exceptions import *
 from air_modes.modes_rx_ui import Ui_MainWindow
 from air_modes.gui_model import *
 import sqlite3
-import zmq
 
 class mainwindow(QtGui.QMainWindow):
     live_data_changed_signal = QtCore.pyqtSignal(QtCore.QString, name='liveDataChanged')
@@ -42,7 +39,7 @@ class mainwindow(QtGui.QMainWindow):
 
         #set defaults
         #add file, RTL, UHD sources
-        self.ui.combo_source.addItems(["UHD", "Osmocom", "File/UDP"])
+        self.ui.combo_source.addItems(["UHD device", "RTL-SDR", "File"])
         self.ui.combo_source.setCurrentIndex(0)
 
         #populate antenna, rate combo boxes based on source
@@ -54,8 +51,8 @@ class mainwindow(QtGui.QMainWindow):
         #default to 5dB
         self.ui.line_threshold.insert("5")
 
-        self.ui.prog_rssi.setMinimum(0)
-        self.ui.prog_rssi.setMaximum(40)
+        self.ui.prog_rssi.setMinimum(-40)
+        self.ui.prog_rssi.setMaximum(0)
 
         self.ui.combo_ant.setCurrentIndex(self.ui.combo_ant.findText("RX2"))
 
@@ -73,16 +70,18 @@ class mainwindow(QtGui.QMainWindow):
         #disable by default
         self.ui.check_adsbonly.setCheckState(QtCore.Qt.Unchecked)
 
-        #set up the radio stuff
         self.queue = gr.msg_queue(10)
-        self.running = False
+        self.runner = None
+        self.fg = None
+        self.outputs = []
+        self.updates = []
+        self.output_handler = None
         self.kmlgen = None #necessary bc we stop its thread in shutdown
-        self.dbname = "adsb.db"
+        self.dbname = "air_modes.db"
         self.num_reports = 0
         self.last_report = 0
-        self.context = zmq.Context(1)
 
-        self.datamodel = dashboard_sql_model(None)
+        self.datamodel = dashboard_data_model(None)
         self.ui.list_aircraft.setModel(self.datamodel)
         self.ui.list_aircraft.setModelColumn(0)
 
@@ -96,16 +95,15 @@ class mainwindow(QtGui.QMainWindow):
         self.dashboard_mapper.setModel(self.datamodel)
         self.dashboard_mapper.addMapping(self.ui.line_icao, 0)
         #self.dashboard_mapper.addMapping(self.ui.prog_rssi, 2)
-        self.dashboard_mapper.addMapping(self.ui.line_latitude, 2)
-        self.dashboard_mapper.addMapping(self.ui.line_longitude, 3)
-        self.dashboard_mapper.addMapping(self.ui.line_alt, 4)
-        self.dashboard_mapper.addMapping(self.ui.line_speed, 5)
-        #self.dashboard_mapper.addMapping(self.ui.compass_heading, 6)
-        self.dashboard_mapper.addMapping(self.ui.line_climb, 7)
-        self.dashboard_mapper.addMapping(self.ui.line_ident, 8)
-        self.dashboard_mapper.addMapping(self.ui.line_type, 9)
-        #self.dashboard_mapper.addMapping(self.ui.line_range, 11)
-        #self.dashboard_mapper.addMapping(self.ui.compass_bearing, 12)
+        self.dashboard_mapper.addMapping(self.ui.line_latitude, 3)
+        self.dashboard_mapper.addMapping(self.ui.line_longitude, 4)
+        self.dashboard_mapper.addMapping(self.ui.line_alt, 5)
+        self.dashboard_mapper.addMapping(self.ui.line_speed, 6)
+        #self.dashboard_mapper.addMapping(self.ui.compass_heading, 7)
+        self.dashboard_mapper.addMapping(self.ui.line_climb, 8)
+        self.dashboard_mapper.addMapping(self.ui.line_ident, 9)
+        self.dashboard_mapper.addMapping(self.ui.line_type, 10)
+        self.dashboard_mapper.addMapping(self.ui.line_range, 11)
 
         compass_palette = QtGui.QPalette()
         compass_palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.white)
@@ -115,14 +113,12 @@ class mainwindow(QtGui.QMainWindow):
         self.ui.compass_heading.setNeedle(Qwt.QwtDialSimpleNeedle(Qwt.QwtDialSimpleNeedle.Ray, False, QtCore.Qt.black))
         self.ui.compass_bearing.setNeedle(Qwt.QwtDialSimpleNeedle(Qwt.QwtDialSimpleNeedle.Ray, False, QtCore.Qt.black))
 
-        #hook up the update signals which are explicitly necessary
-        #most of the dashboard_mapper and list_aircraft stuff is implicitly done already
+        #hook up the update signal
         self.ui.list_aircraft.selectionModel().currentRowChanged.connect(self.dashboard_mapper.setCurrentModelIndex)
         self.ui.list_aircraft.selectionModel().currentRowChanged.connect(self.update_heading_widget)
         self.ui.list_aircraft.selectionModel().currentRowChanged.connect(self.update_bearing_widget)
-        self.ui.list_aircraft.selectionModel().currentRowChanged.connect(self.update_rssi_widget)
-        self.ui.list_aircraft.selectionModel().currentRowChanged.connect(self.update_map_highlight)
         self.datamodel.dataChanged.connect(self.unmapped_widgets_dataChanged)
+        self.ui.list_aircraft.selectionModel().currentRowChanged.connect(self.update_rssi_widget)
 
         #hook up live data text box update signal
         self.live_data_changed_signal.connect(self.on_append_live_data)
@@ -130,29 +126,29 @@ class mainwindow(QtGui.QMainWindow):
 ############ widget update functions for non-mapped widgets ############
     def update_heading_widget(self, index):
         if index.model() is not None:
-            heading = index.model().data(index.model().index(index.row(), 6)).toDouble()[0]
+            heading = index.model().data(index.model().index(index.row(), self.datamodel._colnames.index("heading"))).toDouble()[0]
             self.ui.compass_heading.setValue(heading)
 
     def update_bearing_widget(self, index):
         if index.model() is not None:
-            bearing = 0#index.model().data(index.model().index(index.row(), 12)).toDouble()[0]
+            bearing = index.model().data(index.model().index(index.row(), self.datamodel._colnames.index("bearing"))).toDouble()[0]
             self.ui.compass_bearing.setValue(bearing)
 
     def unmapped_widgets_dataChanged(self, startIndex, endIndex):
         index = self.ui.list_aircraft.selectionModel().currentIndex()
         if index.row() in range(startIndex.row(), endIndex.row()+1): #the current aircraft was affected
-            if 6 in range(startIndex.column(), endIndex.column()+1):
+            if self.datamodel._colnames.index("heading") in range(startIndex.column(), endIndex.column()+1):
                 self.update_heading_widget(index)
-            if 12 in range(startIndex.column(), endIndex.column()+1):
+            if self.datamodel._colnames.index("bearing") in range(startIndex.column(), endIndex.column()+1):
                 self.update_bearing_widget(index)
-            if 2 in range(startIndex.column(), endIndex.column()+1):
+            if self.datamodel._colnames.index("rssi") in range(startIndex.column(), endIndex.column()+1):
                 self.update_rssi_widget(index)
 
     def update_rssi_widget(self, index):
         if index.model() is not None:
-            rssi = 0#index.model().data(index.model().index(index.row(), 2)).toDouble()[0]
+            rssi = index.model().data(index.model().index(index.row(), 2)).toDouble()[0]
             self.ui.prog_rssi.setValue(rssi)
-
+            
     def increment_reportspersec(self, msg):
         self.num_reports += 1
 
@@ -163,12 +159,6 @@ class mainwindow(QtGui.QMainWindow):
             self.ui.line_reports.setText("%i" % self.num_reports)
             self.num_reports = 0
 
-    def update_map_highlight(self, index):
-        if index.model() is not None:
-            icaostr = index.model().data(index.model().index(index.row(), self.datamodel._colnames.index("icao"))).toString()
-            icao = int(str(icaostr), 16)
-            self.jsonpgen.set_highlight(icao)
-
 ##################### dynamic option population ########################
     #goes and gets valid antenna, sample rate options from the device and grays out appropriate things
     def populate_source_options(self):
@@ -176,13 +166,12 @@ class mainwindow(QtGui.QMainWindow):
         self.rates = []
         self.ratetext = []
         self.antennas = []
-
-        if sourceid == "UHD":
+        
+        if sourceid == "UHD device":
             try:
                 from gnuradio import uhd
                 self.src = uhd.single_usrp_source("", uhd.io_type_t.COMPLEX_FLOAT32, 1)
-                self.rates = [rate.start() for rate in self.src.get_samp_rates()
-                              if (rate.start() % 2.e6) == 0 and rate >= 4e6]
+                self.rates = [rate.start() for rate in self.src.get_samp_rates()]
                 self.antennas = self.src.get_antennas()
                 self.src = None #deconstruct UHD source for now
                 self.ui.combo_ant.setEnabled(True)
@@ -194,26 +183,16 @@ class mainwindow(QtGui.QMainWindow):
                 self.ui.combo_ant.setEnabled(False)
                 self.ui.combo_rate.setEnabled(False)
                 self.ui.stack_source.setCurrentIndex(0)
+                
+        elif sourceid == "RTL-SDR":
+            self.rates = [3.2e6]
+            self.antennas = ["RX"]
+            self.ui.combo_ant.setEnabled(False)
+            self.ui.combo_rate.setEnabled(False)
+            self.ui.stack_source.setCurrentIndex(0)
 
-        elif sourceid == "Osmocom":
-            try:
-                import osmosdr
-                self.src = osmosdr.source_c("")
-                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)
-                self.ui.combo_rate.setEnabled(True)
-                self.ui.stack_source.setCurrentIndex(0)
-            except:
-                self.rates = []
-                self.antennas = []
-                self.ui.combo_ant.setEnabled(False)
-                self.ui.combo_rate.setEnabled(False)
-                self.ui.stack_source.setCurrentIndex(0)
-
-        elif sourceid == "File/UDP":
-            self.rates = [2e6*i for i in range(2,13)]
+        elif sourceid == "File":
+            self.rates = [2e6, 4e6, 6e6, 8e6, 10e6]
             self.antennas = ["None"]
             self.ui.combo_ant.setEnabled(False)
             self.ui.combo_rate.setEnabled(True)
@@ -227,12 +206,8 @@ class mainwindow(QtGui.QMainWindow):
         self.ui.combo_ant.clear()
         self.ui.combo_ant.addItems(self.antennas)
 
-        #set up recommended sample rate
-        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)
-        self.ui.combo_rate.setCurrentIndex(self.rates.index(recommended_rate))
+        if 4e6 in self.rates:
+            self.ui.combo_rate.setCurrentIndex(self.rates.index(4e6))
 
 ################ action handlers ####################
     def on_combo_source_currentIndexChanged(self, index):
@@ -240,47 +215,47 @@ class mainwindow(QtGui.QMainWindow):
 
     def on_button_start_released(self):
         #if we're already running, kill it!
-        if self.running is True:
-            self.on_quit()
+        if self.runner is not None:
+            self.output_handler.done = True
+            self.output_handler = None
+            self.outputs = []
+            self.updates = []
+            self.fg.stop()
+            self.runner = None
+            self.fg = None
+            if self.kmlgen is not None:
+                self.kmlgen.done = True
+                #TODO FIXME need a way to kill kmlgen safely without delay
+                #self.kmlgen.join()
+                #self.kmlgen = None
 
             self.num_reports = 0
             self.ui.line_reports.setText("0")
 
             self.ui.button_start.setText("Start")
-            self.running = False
 
         else: #we aren't already running, let's get this party started
-            parser = OptionParser(option_class=eng_option)
-            air_modes.modes_radio.add_radio_options(parser)
-            (options, args) = parser.parse_args() #sets defaults nicely
-            if str(self.ui.combo_source.currentText()) != "File/UDP":
-                options.source = str(self.ui.combo_source.currentText()).lower()
-            else:
-                options.source = str(self.ui.line_inputfile.text())
-            options.rate = float(self.ui.combo_rate.currentText()) * 1e6
-            options.antenna = str(self.ui.combo_ant.currentText())
-            options.gain = float(self.ui.line_gain.text())
-            options.threshold = float(self.ui.line_threshold.text())
-            options.pmf = self.ui.check_pmf.checkState()
+            options = {}
+            options["source"] = str(self.ui.combo_source.currentText())
+            options["rate"] = float(self.ui.combo_rate.currentText()) * 1e6
+            options["antenna"] = str(self.ui.combo_ant.currentText())
+            options["gain"] = float(self.ui.line_gain.text())
+            options["threshold"] = float(self.ui.line_threshold.text())
+            options["filename"] = str(self.ui.line_inputfile.text())
+            options["pmf"] = self.ui.check_pmf.checkState()
 
-            self._servers = ["inproc://modes-radio-pub"] #TODO ADD REMOTES
-            self._relay = air_modes.zmq_pubsub_iface(self.context, subaddr=self._servers, pubaddr=None)
-
-            if self.ui.check_raw.checkState():
-                options.tcp = int(self.ui.line_rawport.text())
-
-            self._radio = air_modes.modes_radio(options, self.context)
-            self._publisher = pubsub()
-            self._relay.subscribe("dl_data", air_modes.make_parser(self._publisher))
+            self.fg = adsb_rx_block(options, self.queue) #create top RX block
+            self.runner = top_block_runner(self.fg) #spawn new thread to do RX
 
             try:
                 my_position = [float(self.ui.line_my_lat.text()), float(self.ui.line_my_lon.text())]
             except:
                 my_position = None
 
-            self._cpr_dec = air_modes.cpr_decoder(my_position)
-#            self.datamodelout = dashboard_output(self._cpr_dec, self.datamodel, self._publisher)
+            self.datamodelout = dashboard_output(my_position, self.datamodel)
 
+            self.outputs = [self.datamodelout.output]
+            self.updates = []
             self.lock = threading.Lock() #grab a lock to ensure sql and kml don't step on each other
 
             #output options to populate outputs, updates
@@ -290,61 +265,55 @@ class mainwindow(QtGui.QMainWindow):
 
             if self.ui.check_sbs1.checkState():
                 sbs1port = int(self.ui.line_sbs1port.text())
-                sbs1out = air_modes.output_sbs1(self._cpr_dec, sbs1port, self._publisher)
+                sbs1out = air_modes.output_sbs1(my_position, sbs1port)
+                self.outputs.append(sbs1out.output)
+                self.updates.append(sbs1out.add_pending_conns)
 
             if self.ui.check_fgfs.checkState():
                 fghost = "127.0.0.1" #TODO FIXME
                 fgport = self.ui.line_fgfsport.text()
-                fgout = air_modes.output_flightgear(self._cpr_dec, fghost, int(fgport), self._publisher)
+                fgout = air_modes.output_flightgear(my_position, fghost, int(fgport))
+                self.outputs.append(fgout.output)
+
+            if self.ui.check_raw.checkState():
+                rawport = air_modes.raw_server(int(self.ui.line_rawport.text()))
+                self.outputs.append(rawport.output)
+                self.updates.append(rawport.add_pending_conns)
 
             #add azimuth map output and hook it up
             if my_position is not None:
-                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)
+                self.az_map_output = air_modes.az_map_output(my_position, self.az_model)
+                self.outputs.append(self.az_map_output.output)
 
-            #set up map
-            #NOTE this is busted on windows. WebKit requires .htm[l] extensions to render,
-            #so using a temp file doesn't work.
-            self._htmlfile = open("/tmp/mode_s.html", 'wb+')#tempfile.NamedTemporaryFile()
-            self._jsonfile = tempfile.NamedTemporaryFile()
-
-            self.livedata = air_modes.output_print(self._cpr_dec,
-                                                   self._publisher,
-                                                   self.live_data_changed_signal.emit)
+            self.livedata = air_modes.output_print(my_position)
+            #add output for live data box
+            self.outputs.append(self.output_live_data)
 
             #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_position, self._jsonfile.name)
-            self._htmlfile.write(htmlstring)
-            self._htmlfile.flush()
-            class WebPage(QtWebKit.QWebPage):
-                def javaScriptConsoleMessage(self, msg, line, source):
-                    print '%s line %d: %s' % (source, line, msg)
-            page = WebPage()
-            self.ui.mapView.setPage(page)
-            self.ui.mapView.load( QtCore.QUrl( QtCore.QUrl.fromLocalFile("/tmp/mode_s.html") ) )
-            self.ui.mapView.show()
+            self.dbwriter = air_modes.output_sql(my_position, self.dbname, self.lock)
+            self.outputs.append(self.dbwriter.output) #now the db will update itself
 
             #output to update reports/sec widget
-            self._relay.subscribe("dl_data", self.increment_reportspersec)
-            self._rps_timer = QtCore.QTimer()
-            self._rps_timer.timeout.connect(self.update_reportspersec)
-            self._rps_timer.start(1000)
+            self.outputs.append(self.increment_reportspersec)
+            self.updates.append(self.update_reportspersec)
 
-            #start the flowgraph
-            self._radio.start()
+            #create output handler thread
+            self.output_handler = output_handler(self.outputs, self.updates, self.queue)
 
             self.ui.button_start.setText("Stop")
-            self.running = True
 
     def on_quit(self):
-        if self.running is True:
-            self._relay.close()
-            self._radio.close()
-            self._relay = None
-            self._radio = None
-            self._rps_timer = None
+        if self.runner is not None:
+            try:
+                self.output_handler.done = True
+            except:
+                pass
+            self.output_handler = None
+            self.outputs = []
+            self.updates = []
+            self.fg.stop()
+            self.runner = None
+            self.fg = None
             try:
                 self.kmlgen.done = True
                 #TODO FIXME need a way to kill kmlgen safely without delay
@@ -362,10 +331,109 @@ class mainwindow(QtGui.QMainWindow):
             cursor.movePosition(QtGui.QTextCursor.Start)
             cursor.select(QtGui.QTextCursor.LineUnderCursor)
             cursor.removeSelectedText()
-
+            
         self.ui.text_livedata.append(msgstr)
         self.ui.text_livedata.verticalScrollBar().setSliderPosition(self.ui.text_livedata.verticalScrollBar().maximum())
 
+    def output_live_data(self, msg):
+        msgstr = self.livedata.parse(msg)
+        if msgstr is not None:
+            self.live_data_changed_signal.emit(msgstr)
+
+
+
+#the output handler is a thread which runs the various registered output functions when there's a received message.
+#it also executes registered updates at the sleep rate -- currently 10Hz.
+class output_handler(threading.Thread):
+    def __init__(self, outputs, updates, queue):
+        threading.Thread.__init__(self)
+        self.setDaemon(1)
+        self.outputs = outputs
+        self.updates = updates
+        self.queue = queue
+        self.done = False
+        self.start()
+
+    def run(self):
+        while self.done is False:
+            for update in self.updates:
+                update()
+            while not self.queue.empty_p():
+                msg = self.queue.delete_head()
+                for output in self.outputs:
+                    try:
+                        output(msg.to_string())
+                    except ADSBError:
+                        pass
+
+            time.sleep(0.1)
+
+        self.done = True
+        self.outputs = None
+        self.updates = None
+        self.queue = None
+        
+
+class top_block_runner(_threading.Thread):
+    def __init__(self, tb):
+        _threading.Thread.__init__(self)
+        self.setDaemon(1)
+        self.tb = tb
+        self.done = False
+        self.start()
+
+    def run(self):
+        self.tb.run()
+        self.done = True
+
+#Top block for ADSB receiver. If you define a standard interface you
+#can make this common code between the GUI app and the cmdline app
+class adsb_rx_block (gr.top_block):
+    def __init__(self, options, queue):
+        gr.top_block.__init__(self)
+
+        self.options = options
+        rate = options["rate"]
+        print "Rate: %f" % rate
+        use_resampler = False
+        freq = 1090e6
+
+        if options["source"] == "UHD device":
+            from gnuradio import uhd
+            self.u = uhd.single_usrp_source("", uhd.io_type_t.COMPLEX_FLOAT32, 1)
+            time_spec = uhd.time_spec(0.0)
+            self.u.set_time_now(time_spec)
+            self.u.set_antenna(options["antenna"])
+            self.u.set_samp_rate(rate)
+            rate = self.u.get_samp_rate()
+            self.u.set_gain(int(options["gain"]))
+            self.u.set_center_freq(freq, 0)
+        
+        elif options["source"] == "RTL-SDR":
+            import osmosdr
+            self.u = osmosdr.source_c()
+            self.u.set_sample_rate(3.2e6) #fixed for RTL dongles
+            rate = int(4e6)
+            self.u.set_gain_mode(0) #manual gain mode
+            self.u.set_gain(int(options["gain"]))
+            self.u.set_center_freq(freq, 0)
+            use_resampler = True
+
+        elif options["source"] == "File":
+            self.u = gr.file_source(gr.sizeof_gr_complex, options["filename"])
+        else:
+            raise NotImplementedError
+
+        self.rx_path = air_modes.rx_path(rate, options["threshold"], queue, options["pmf"])
+
+        if use_resampler:
+            self.lpfiltcoeffs = gr.firdes.low_pass(1, 5*3.2e6, 1.6e6, 300e3)
+            self.resample = blks2.rational_resampler_ccf(interpolation=5, decimation=4, taps=self.lpfiltcoeffs)
+            self.connect(self.u, self.resample, self.rx_path)
+        else:
+            self.connect(self.u, self.rx_path)
+
+
 if __name__ == '__main__':
     app = QtGui.QApplication(sys.argv)
     window = mainwindow()

apps/modes_rx

@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-# Copyright 2010, 2013 Nick Foster
+# Copyright 2010 Nick Foster
 # 
 # This file is part of gr-air-modes
 # 
@@ -19,80 +19,256 @@
 # Boston, MA 02110-1301, USA.
 # 
 
+my_position = None
+
+from gnuradio import gr, gru, optfir, eng_notation, blks2
 from gnuradio.eng_option import eng_option
-from gnuradio.gr.pubsub import pubsub
 from optparse import OptionParser
-import time, os, sys, threading, math
+import time, os, sys, threading
 from string import split, join
 import air_modes
-from air_modes.types import *
+from air_modes.types import modes_report, stamp
+from air_modes.parse import modes_reply
+import gnuradio.gr.gr_threading as _threading
+import csv
 from air_modes.exceptions import *
-import zmq
+import pickle
 
-#todo: maybe move plugins to separate programs (flightgear, SBS1, etc.)
-def main():
-  my_position = None
-  usage = "%prog: [options]"
-  optparser = OptionParser(option_class=eng_option, usage=usage)
-  air_modes.modes_radio.add_radio_options(optparser)
+class top_block_runner(_threading.Thread):
+    def __init__(self, tb):
+        _threading.Thread.__init__(self)
+        self.setDaemon(1)
+        self.tb = tb
+        self.done = False
+        self.start()
 
-  optparser.add_option("-l","--location", type="string", default=None,
-                       help="GPS coordinates of receiving station in format xx.xxxxx,xx.xxxxx")
-  #data source options
-  optparser.add_option("-a","--remote", type="string", default=None,
-                       help="specify additional servers from which to take data in format tcp://x.x.x.x:y,tcp://....")
-  optparser.add_option("-n","--no-print", action="store_true", default=False,
-                       help="disable printing decoded packets to stdout")
-  #output plugins
-  optparser.add_option("-K","--kml", type="string", default=None,
-                       help="filename for Google Earth KML output")
-  optparser.add_option("-P","--sbs1", action="store_true", default=False,
-                       help="open an SBS-1-compatible server on port 30003")
-  optparser.add_option("-m","--multiplayer", type="string", default=None,
-                       help="FlightGear server to send aircraft data, in format host:port")
+    def run(self):
+        self.tb.run()
+        self.done = True
 
-  (options, args) = optparser.parse_args()
+class adsb_rx_block (gr.top_block):
+  def __init__(self, options, args, queue):
+    gr.top_block.__init__(self)
 
-  #construct the radio
-  context = zmq.Context(1)
-  tb = air_modes.modes_radio(options, context)
-  servers = ["inproc://modes-radio-pub"]
-  if options.remote is not None:
-    servers += options.remote.split(",")
-  relay = air_modes.zmq_pubsub_iface(context, subaddr=servers, pubaddr=None)
-  publisher = pubsub()
-  relay.subscribe("dl_data", air_modes.make_parser(publisher))
+    self.options = options
+    self.args = args
+    rate = int(options.rate)
+    use_resampler = False
+    self.time_source = None
+
+    if options.filename is None and options.udp is None and not options.rtlsdr:
+      #UHD source by default
+      from gnuradio import uhd
+      self.u = uhd.single_usrp_source(options.args, uhd.io_type_t.COMPLEX_FLOAT32, 1)
+
+      #check for GPSDO
+      #if you have a GPSDO, UHD will automatically set the timestamp to UTC time
+      #as well as automatically set the clock to lock to GPSDO.
+      if self.u.get_time_source(0) == 'gpsdo':
+        self.time_source = 'gpsdo'
+      else:
+        self.time_source = None
+        self.u.set_time_now(uhd.time_spec(0.0))
+
+      if not options.antenna is None:
+        self.u.set_antenna(options.antenna)
+
+      self.u.set_samp_rate(rate)
+      rate = int(self.u.get_samp_rate()) #retrieve actual
+
+      if options.gain is None: #set to halfway
+        g = self.u.get_gain_range()
+        options.gain = (g.start()+g.stop()) / 2.0
+
+      if not(self.tune(options.freq)):
+        print "Failed to set initial frequency"
+
+      print "Setting gain to %i" % options.gain
+      self.u.set_gain(options.gain)
+      print "Gain is %i" % self.u.get_gain()
+      
+    elif options.rtlsdr: #RTLSDR dongle
+        import osmosdr
+        self.u = osmosdr.source_c(options.args)
+        self.u.set_sample_rate(3.2e6) #fixed for RTL dongles
+        if not self.u.set_center_freq(options.freq):
+            print "Failed to set initial frequency"
+
+        self.u.set_gain_mode(0) #manual gain mode
+        if options.gain is None:
+            options.gain = 34
+            
+        self.u.set_gain(options.gain)
+        print "Gain is %i" % self.u.get_gain()
+
+        use_resampler = True
+                
+    else:
+      if options.filename is not None:
+        self.u = gr.file_source(gr.sizeof_gr_complex, options.filename)
+      elif options.udp is not None:
+        self.u = gr.udp_source(gr.sizeof_gr_complex, "localhost", options.udp)
+      else:
+        raise Exception("No valid source selected")
+        
+
+    print "Rate is %i" % (rate,)
+
+    pass_all = 0
+    if options.output_all :
+      pass_all = 1
+
+    self.rx_path = air_modes.rx_path(rate, options.threshold, queue, options.pmf)
+
+    if use_resampler:
+        self.lpfiltcoeffs = gr.firdes.low_pass(1, 5*3.2e6, 1.6e6, 300e3)
+        self.resample = blks2.rational_resampler_ccf(interpolation=5, decimation=4, taps=self.lpfiltcoeffs)
+        self.connect(self.u, self.resample, self.rx_path)
+    else:
+        self.connect(self.u, self.rx_path)
+
+  def tune(self, freq):
+    result = self.u.set_center_freq(freq, 0)
+    return result
+
+def printraw(msg):
+    print msg
+
+def printmlat(msg):
+    print "Mlat report: %s" % msg
+
+if __name__ == '__main__':
+  usage = "%prog: [options] output filename"
+  parser = OptionParser(option_class=eng_option, usage=usage)
+  parser.add_option("-R", "--rx-subdev-spec", type="string",
+          help="select USRP Rx side A or B", metavar="SUBDEV")
+  parser.add_option("-A", "--antenna", type="string",
+          help="select which antenna to use on daughterboard")
+  parser.add_option("-D", "--args", type="string",
+          help="arguments to pass to UHD/RTL constructor", default="")
+  parser.add_option("-f", "--freq", type="eng_float", default=1090e6,
+                      help="set receive frequency in Hz [default=%default]", metavar="FREQ")
+  parser.add_option("-g", "--gain", type="int", default=None,
+                      help="set RF gain", metavar="dB")
+  parser.add_option("-r", "--rate", type="eng_float", default=4000000,
+                      help="set ADC sample rate [default=%default]")
+  parser.add_option("-T", "--threshold", type="eng_float", default=5.0,
+                      help="set pulse detection threshold above noise in dB [default=%default]")
+  parser.add_option("-a","--output-all", action="store_true", default=False,
+                      help="output all frames")
+  parser.add_option("-F","--filename", type="string", default=None,
+            help="read data from file instead of USRP")
+  parser.add_option("-K","--kml", type="string", default=None,
+                      help="filename for Google Earth KML output")
+  parser.add_option("-P","--sbs1", action="store_true", default=False,
+                      help="open an SBS-1-compatible server on port 30003")
+  parser.add_option("-w","--raw", action="store_true", default=False,
+                      help="open a server outputting raw timestamped data on port 9988")
+  parser.add_option("-n","--no-print", action="store_true", default=False,
+                      help="disable printing decoded packets to stdout")
+  parser.add_option("-l","--location", type="string", default=None,
+                      help="GPS coordinates of receiving station in format xx.xxxxx,xx.xxxxx")
+  parser.add_option("-u","--udp", type="int", default=None,
+                      help="Use UDP source on specified port")
+  parser.add_option("-m","--multiplayer", type="string", default=None,
+                      help="FlightGear server to send aircraft data, in format host:port")
+  parser.add_option("-d","--rtlsdr", action="store_true", default=False,
+                      help="Use RTLSDR dongle instead of UHD source")
+  parser.add_option("-p","--pmf", action="store_true", default=False,
+                      help="Use pulse matched filtering")
+  parser.add_option("-s","--mlat-server", type="string", default=None,
+                      help="Use a multilateration server to track non-ADS-B aircraft")
+                      
+  (options, args) = parser.parse_args()
 
   if options.location is not None:
-    my_position = [float(n) for n in options.location.split(",")]
+    reader = csv.reader([options.location], quoting=csv.QUOTE_NONNUMERIC)
+    my_position = reader.next()
 
-  #CPR decoder obj to handle getting position from BDS0,5 and BDS0,6 pkts
-  cpr_dec = air_modes.cpr_decoder(my_position)
+  queue = gr.msg_queue()
+  mlat_queue = None
+  
+  outputs = [] #registry of plugin output functions
+  mlat_outputs = [] #registry of plugin mlat handling functions
+  updates = [] #registry of plugin update functions
+
+  if options.raw is True:
+    rawport = air_modes.raw_server(9988) #port
+    outputs.append(rawport.output)
+    outputs.append(printraw)
+    updates.append(rawport.add_pending_conns)
 
   if options.kml is not None:
+    #we spawn a thread to run every 30 seconds (or whatever) to generate KML
     dbname = 'adsb.db'
     lock = threading.Lock()
-    sqldb = air_modes.output_sql(cpr_dec, dbname, lock, publisher) #input into the db
+    sqldb = air_modes.output_sql(my_position, dbname, lock) #input into the db
     kmlgen = air_modes.output_kml(options.kml, dbname, my_position, lock) #create a KML generating thread to read from the db
+    outputs.append(sqldb.output)
 
+  if options.sbs1 is True:
+    sbs1port = air_modes.output_sbs1(my_position, 30003)
+    outputs.append(sbs1port.output)
+    updates.append(sbs1port.add_pending_conns)
+    
   if options.no_print is not True:
-    printer = air_modes.output_print(cpr_dec, publisher)
+    outputs.append(air_modes.output_print(my_position).output)
 
   if options.multiplayer is not None:
     [fghost, fgport] = options.multiplayer.split(':')
-    fgout = air_modes.output_flightgear(cpr_dec, fghost, int(fgport), publisher)
+    fgout = air_modes.output_flightgear(my_position, fghost, int(fgport))
+    outputs.append(fgout.output)
 
-  if options.sbs1 is True:
-    sbs1port = air_modes.output_sbs1(cpr_dec, 30003, publisher)
+  fg = adsb_rx_block(options, args, queue)
 
-  tb.run()
-  tb.close()
+  if options.mlat_server is not None:
+    mlat_queue = gr.msg_queue()
+    mlat_client = air_modes.mlat_client(mlat_queue, my_position, options.mlat_server, fg.time_source)
+    outputs.append(mlat_client.output) #output to server when we get a report
+    updates.append(mlat_client.get_mlat_positions) #check for replies from the server
+    #note: this means that get_mlat_positions and printmlat execute in the same thread.
+    #you could just have mlat_client spawn a thread to check its socket. might make more sense to do this.
+    mlat_outputs.append(printmlat)
+  
+  runner = top_block_runner(fg)
 
-  relay.close()
+  while 1:
+    try:
+      #handle the once-per-loop updates (check for mlat responses, add TCP conns to SBS-1 plugin, etc.)
+      for update in updates:
+        update()
+      
+      #main message handler
+      if not queue.empty_p() :
+        while not queue.empty_p() :
+          msg = queue.delete_head() #blocking read
+          [data, ecc, reference, timestamp_int, timestamp_frac] = msg.to_string().split()
+          #error handling? creating a modes_reply can throw NoHandlerError, but you really want that to be handled by the output plugin in question.
+          msg_tuple = modes_report(modes_reply(long(data, 16)), long(ecc, 16), float(reference), stamp(int(timestamp_int), float(timestamp_frac)))
+          for out in outputs:
+            try:
+              out(msg_tuple)
+            except air_modes.ADSBError:
+              pass
 
-  if options.kml is not None:
-    kmlgen.close()
-    
+      if mlat_queue:
+        if not mlat_queue.empty_p():
+          while not mlat_queue.empty_p():
+            msg = mlat_queue.delete_head()
+            for out in mlat_outputs:
+              try:
+                out(msg.to_string())
+              except air_modes.ADSBError:
+                pass
 
-if __name__ == '__main__':
-  main()
+      if runner.done:
+        raise KeyboardInterrupt
+      else:
+        time.sleep(0.1)
+
+    except KeyboardInterrupt:
+      fg.stop()
+      runner = None
+      if options.kml is not None:
+          kmlgen.done = True
+      break

cmake/Modules/FindGnuradioCore.cmake

@@ -0,0 +1,26 @@
+INCLUDE(FindPkgConfig)
+PKG_CHECK_MODULES(PC_GNURADIO_CORE gnuradio-core)
+
+FIND_PATH(
+    GNURADIO_CORE_INCLUDE_DIRS
+    NAMES gr_random.h
+    HINTS $ENV{GNURADIO_CORE_DIR}/include/gnuradio
+        ${PC_GNURADIO_CORE_INCLUDEDIR}
+    PATHS /usr/local/include/gnuradio
+          /usr/include/gnuradio
+)
+
+FIND_LIBRARY(
+    GNURADIO_CORE_LIBRARIES
+    NAMES gnuradio-core
+    HINTS $ENV{GNURADIO_CORE_DIR}/lib
+        ${PC_GNURADIO_CORE_LIBDIR}
+    PATHS /usr/local/lib
+          /usr/local/lib64
+          /usr/lib
+          /usr/lib64
+)
+
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(GNURADIO_CORE DEFAULT_MSG GNURADIO_CORE_LIBRARIES GNURADIO_CORE_INCLUDE_DIRS)
+MARK_AS_ADVANCED(GNURADIO_CORE_LIBRARIES GNURADIO_CORE_INCLUDE_DIRS)

cmake/Modules/FindGnuradioRuntime.cmake

@@ -1,6 +0,0 @@
-INCLUDE(FindPkgConfig)
-PKG_CHECK_MODULES(GNURADIO_RUNTIME gnuradio-runtime)
-
-INCLUDE(FindPackageHandleStandardArgs)
-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)

cmake/Modules/FindGruel.cmake

@@ -0,0 +1,26 @@
+INCLUDE(FindPkgConfig)
+PKG_CHECK_MODULES(PC_GRUEL gnuradio-core)
+
+FIND_PATH(
+    GRUEL_INCLUDE_DIRS
+    NAMES gruel/attributes.h
+    HINTS $ENV{GRUEL_DIR}/include
+        ${PC_GRUEL_INCLUDEDIR}
+    PATHS /usr/local/include
+          /usr/include
+)
+
+FIND_LIBRARY(
+    GRUEL_LIBRARIES
+    NAMES gruel
+    HINTS $ENV{GRUEL_DIR}/lib
+        ${PC_GRUEL_LIBDIR}
+    PATHS /usr/local/lib
+          /usr/local/lib64
+          /usr/lib
+          /usr/lib64
+)
+
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(GRUEL DEFAULT_MSG GRUEL_LIBRARIES GRUEL_INCLUDE_DIRS)
+MARK_AS_ADVANCED(GRUEL_LIBRARIES GRUEL_INCLUDE_DIRS)

cmake/Modules/FindPyQt4.cmake

@@ -1,7 +1,6 @@
 # Find PyQt4
 # ~~~~~~~~~~
 # Copyright (c) 2007-2008, Simon Edwards <simon@simonzone.com>
-# Copyright (c) 2012, Nicholas Corgan <nick.corgan@ettus.com>
 # Redistribution and use is allowed according to the terms of the BSD license.
 # For details see the accompanying COPYING-CMAKE-SCRIPTS file.
 #
@@ -23,11 +22,10 @@
 #
 # PYQT4_SIP_FLAGS - The SIP flags used to build PyQt.
 
-IF(EXISTS PYQT4_VERSION AND EXISTS PYUIC4_EXECUTABLE)
+IF(EXISTS PYQT4_VERSION)
   # Already in cache, be silent
   SET(PYQT4_FOUND TRUE)
-  SET(PYUIC4_FOUND TRUE)
-ELSE(EXISTS PYQT4_VERSION AND EXISTS PYUIC4_EXECUTABLE)
+ELSE(EXISTS PYQT4_VERSION)
 
   FIND_FILE(_find_pyqt_py FindPyQt.py PATHS ${CMAKE_MODULE_PATH})
 
@@ -42,20 +40,14 @@ ELSE(EXISTS PYQT4_VERSION AND EXISTS PYUIC4_EXECUTABLE)
     SET(PYQT4_FOUND TRUE)
   ENDIF(pyqt_config)
 
-  FIND_PROGRAM(PYUIC4_EXECUTABLE NAMES pyuic4)
-  IF(PYUIC4_EXECUTABLE)
-    SET(PYUIC4_FOUND TRUE)
-  ENDIF(PYUIC4_EXECUTABLE)
-
-  IF(PYQT4_FOUND AND PYUIC4_FOUND)
+  IF(PYQT4_FOUND)
     IF(NOT PYQT4_FIND_QUIETLY)
       MESSAGE(STATUS "Found PyQt4 version: ${PYQT4_VERSION_STR}")
-      MESSAGE(STATUS "Found pyuic4: ${PYUIC4_EXECUTABLE}")
     ENDIF(NOT PYQT4_FIND_QUIETLY)
-  ELSE(PYQT4_FOUND AND PYUIC4_FOUND)
+  ELSE(PYQT4_FOUND)
     IF(PYQT4_FIND_REQUIRED)
       MESSAGE(FATAL_ERROR "Could not find Python")
     ENDIF(PYQT4_FIND_REQUIRED)
-  ENDIF(PYQT4_FOUND AND PYUIC4_FOUND)
+  ENDIF(PYQT4_FOUND)
 
-ENDIF(EXISTS PYQT4_VERSION AND EXISTS PYUIC4_EXECUTABLE)
+ENDIF(EXISTS PYQT4_VERSION)

cmake/Modules/FindZeroMQ.cmake

@@ -1,56 +0,0 @@
-# - 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)

cmake/Modules/GrBoost.cmake

@@ -1,99 +0,0 @@
-# Copyright 2010-2011 Free Software Foundation, Inc.
-#
-# This file is part of GNU Radio
-#
-# GNU Radio is free software; you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation; either version 3, or (at your option)
-# any later version.
-#
-# GNU Radio is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with GNU Radio; see the file COPYING.  If not, write to
-# the Free Software Foundation, Inc., 51 Franklin Street,
-# Boston, MA 02110-1301, USA.
-
-if(DEFINED __INCLUDED_GR_BOOST_CMAKE)
-    return()
-endif()
-set(__INCLUDED_GR_BOOST_CMAKE TRUE)
-
-########################################################################
-# Setup Boost and handle some system specific things
-########################################################################
-
-set(BOOST_REQUIRED_COMPONENTS
-    date_time
-    program_options
-    filesystem
-    system
-    thread
-)
-
-if(UNIX AND NOT BOOST_ROOT AND EXISTS "/usr/lib64")
-    list(APPEND BOOST_LIBRARYDIR "/usr/lib64") #fedora 64-bit fix
-endif(UNIX AND NOT BOOST_ROOT AND EXISTS "/usr/lib64")
-
-if(MSVC)
-    set(BOOST_REQUIRED_COMPONENTS ${BOOST_REQUIRED_COMPONENTS} chrono)
-
-    if (NOT DEFINED BOOST_ALL_DYN_LINK)
-        set(BOOST_ALL_DYN_LINK TRUE)
-    endif()
-    set(BOOST_ALL_DYN_LINK "${BOOST_ALL_DYN_LINK}" CACHE BOOL "boost enable dynamic linking")
-    if(BOOST_ALL_DYN_LINK)
-        add_definitions(-DBOOST_ALL_DYN_LINK) #setup boost auto-linking in msvc
-    else(BOOST_ALL_DYN_LINK)
-        unset(BOOST_REQUIRED_COMPONENTS) #empty components list for static link
-    endif(BOOST_ALL_DYN_LINK)
-endif(MSVC)
-
-find_package(Boost "1.35" COMPONENTS ${BOOST_REQUIRED_COMPONENTS})
-
-# This does not allow us to disable specific versions. It is used
-# internally by cmake to know the formation newer versions. As newer
-# Boost version beyond what is shown here are produced, we must extend
-# this list. To disable Boost versions, see below.
-set(Boost_ADDITIONAL_VERSIONS
-    "1.35.0" "1.35" "1.36.0" "1.36" "1.37.0" "1.37" "1.38.0" "1.38" "1.39.0" "1.39"
-    "1.40.0" "1.40" "1.41.0" "1.41" "1.42.0" "1.42" "1.43.0" "1.43" "1.44.0" "1.44"
-    "1.45.0" "1.45" "1.46.0" "1.46" "1.47.0" "1.47" "1.48.0" "1.48" "1.49.0" "1.49"
-    "1.50.0" "1.50" "1.51.0" "1.51" "1.52.0" "1.52" "1.53.0" "1.53" "1.54.0" "1.54"
-    "1.55.0" "1.55" "1.56.0" "1.56" "1.57.0" "1.57" "1.58.0" "1.58" "1.59.0" "1.59"
-    "1.60.0" "1.60" "1.61.0" "1.61" "1.62.0" "1.62" "1.63.0" "1.63" "1.64.0" "1.64"
-    "1.65.0" "1.65" "1.66.0" "1.66" "1.67.0" "1.67" "1.68.0" "1.68" "1.69.0" "1.69"
-)
-
-# Boost 1.52 disabled, see https://svn.boost.org/trac/boost/ticket/7669
-# Similar problems with Boost 1.46 and 1.47.
-
-OPTION(ENABLE_BAD_BOOST "Enable known bad versions of Boost" OFF)
-if(ENABLE_BAD_BOOST)
-  MESSAGE(STATUS "Enabling use of known bad versions of Boost.")
-endif(ENABLE_BAD_BOOST)
-
-# For any unsuitable Boost version, add the version number below in
-# the following format: XXYYZZ
-# Where:
-#     XX is the major version ('10' for version 1)
-#     YY is the minor version number ('46' for 1.46)
-#     ZZ is the patcher version number (typically just '00')
-set(Boost_NOGO_VERSIONS
-  104600 104601 104700 105200
-  )
-
-foreach(ver ${Boost_NOGO_VERSIONS})
-  if(${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)
-    else(NOT ENABLE_BAD_BOOST)
-      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} EQUAL ${ver})
-endforeach(ver)

include/air_modes_api.h

@@ -22,7 +22,7 @@
 #ifndef INCLUDED_AIR_MODES_API_H
 #define INCLUDED_AIR_MODES_API_H
 
-#include <gnuradio/attributes.h>
+#include <gruel/attributes.h>
 
 #ifdef AIR_MODES_EXPORTS
 #  define AIR_MODES_API __GR_ATTR_EXPORT

include/air_modes_preamble.h

@@ -23,7 +23,7 @@
 #ifndef INCLUDED_AIR_MODES_PREAMBLE_H
 #define INCLUDED_AIR_MODES_PREAMBLE_H
 
-#include <gnuradio/block.h>
+#include <gr_block.h>
 #include <air_modes_api.h>
 
 class air_modes_preamble;
@@ -35,7 +35,7 @@ AIR_MODES_API air_modes_preamble_sptr air_make_modes_preamble(int channel_rate,
  * \brief mode select preamble detection
  * \ingroup block
  */
-class AIR_MODES_API air_modes_preamble : public gr::block
+class AIR_MODES_API air_modes_preamble : public gr_block
 {
 private:
     friend air_modes_preamble_sptr air_make_modes_preamble(int channel_rate, float threshold_db);
@@ -49,7 +49,7 @@ private:
 	float d_threshold_db;
 	float d_threshold;
 	pmt::pmt_t d_me, d_key;
-    gr::tag_t d_timestamp;
+	gr_tag_t d_timestamp;
 	double d_secs_per_sample;
 
 public:
@@ -57,10 +57,6 @@ public:
               gr_vector_int &ninput_items,
               gr_vector_const_void_star &input_items,
               gr_vector_void_star &output_items);
-
-    void set_rate(int channel_rate);
-    void set_threshold(float threshold_db);
-    float get_threshold(void);
 };
 
 #endif /* INCLUDED_AIR_MODES_PREAMBLE_H */

include/air_modes_slicer.h

@@ -23,31 +23,32 @@
 #ifndef INCLUDED_AIR_MODES_slicer_H
 #define INCLUDED_AIR_MODES_slicer_H
 
-#include <gnuradio/sync_block.h>
-#include <gnuradio/msg_queue.h>
+#include <gr_sync_block.h>
+#include <gr_msg_queue.h>
 #include <air_modes_api.h>
 
 class air_modes_slicer;
 typedef boost::shared_ptr<air_modes_slicer> air_modes_slicer_sptr;
 
-AIR_MODES_API air_modes_slicer_sptr air_make_modes_slicer(int channel_rate, gr::msg_queue::sptr queue);
+AIR_MODES_API air_modes_slicer_sptr air_make_modes_slicer(int channel_rate, gr_msg_queue_sptr queue);
 
 /*!
  * \brief mode select slicer detection
  * \ingroup block
  */
-class AIR_MODES_API air_modes_slicer : public gr::sync_block
+class AIR_MODES_API air_modes_slicer : public gr_sync_block
 {
 private:
-    friend air_modes_slicer_sptr air_make_modes_slicer(int channel_rate, gr::msg_queue::sptr queue);
-    air_modes_slicer(int channel_rate, gr::msg_queue::sptr queue);
+    friend air_modes_slicer_sptr air_make_modes_slicer(int channel_rate, gr_msg_queue_sptr queue);
+    air_modes_slicer(int channel_rate, gr_msg_queue_sptr queue);
 
     int d_check_width;
     int d_chip_rate;
     int d_samples_per_chip;
     int d_samples_per_symbol;
-    gr::msg_queue::sptr d_queue;
-    std::ostringstream d_payload;
+    gr_msg_queue_sptr d_queue;
+    unsigned char d_lowconfbits[24];
+    unsigned char d_data[14];
 
 public:
     int work (int noutput_items,

include/air_modes_types.h

@@ -24,20 +24,6 @@
 #define AIR_MODES_TYPES_H
 
 typedef enum { No_Packet = 0, Short_Packet = 1, Fruited_Packet = 2, Long_Packet = 3 } framer_packet_type;
-typedef enum { No_Error = 0, Solution_Found, Too_Many_LCBs, No_Solution, Multiple_Solutions } bruteResultTypeDef;
-
-struct modes_packet {
-	unsigned char data[14];
-//	unsigned char confidence[14]; //112 bits of boolean high/low confidence data for each bit
-	unsigned char lowconfbits[24]; //positions of low confidence bits within the packet
-
-	unsigned long crc;
-	unsigned int numlowconf;
-	framer_packet_type type; //what length packet are we
-	unsigned int message_type;
-	float reference_level;
-	double timestamp;
-};
 
 struct slice_result_t {
 	bool decision;

include/modes_crc.h

@@ -24,7 +24,4 @@
 #define INCLUDED_MODES_CRC_H
 extern const unsigned int modes_crc_table[112];
 int modes_check_crc(unsigned char data[], int length);
-bruteResultTypeDef modes_ec_brute(modes_packet &err_packet);
-unsigned next_set_of_n_elements(unsigned x);
-
 #endif

lib/CMakeLists.txt

@@ -27,7 +27,7 @@ add_library(air_modes SHARED
     air_modes_slicer.cc
     modes_crc.cc
 )
-target_link_libraries(air_modes ${Boost_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})
+target_link_libraries(air_modes ${Boost_LIBRARIES} ${GRUEL_LIBRARIES} ${GNURADIO_CORE_LIBRARIES})
 set_target_properties(air_modes PROPERTIES DEFINE_SYMBOL "AIR_MODES_EXPORTS")
 set_target_properties(air_modes PROPERTIES SOVERSION "${gr-gr-air-modes_VERSION_MAJOR}")
 set_target_properties(air_modes PROPERTIES VERSION "${gr-gr-air-modes_VERSION_MAJOR}.${gr-gr-air-modes_VERSION_MINOR}")

lib/air_modes_preamble.cc

@@ -1,6 +1,5 @@
 /*
 # Copyright 2010 Nick Foster
-# Copyright 2013 Nicholas Corgan
 # 
 # This file is part of gr-air-modes
 # 
@@ -25,12 +24,11 @@
 #include "config.h"
 #endif
 
-#include <ciso646>
 #include <air_modes_preamble.h>
-#include <gnuradio/io_signature.h>
+#include <gr_io_signature.h>
 #include <string.h>
 #include <iostream>
-#include <gnuradio/tags.h>
+#include <gr_tags.h>
 
 air_modes_preamble_sptr air_make_modes_preamble(int channel_rate, float threshold_db)
 {
@@ -38,9 +36,9 @@ air_modes_preamble_sptr air_make_modes_preamble(int channel_rate, float threshol
 }
 
 air_modes_preamble::air_modes_preamble(int channel_rate, float threshold_db) :
-        gr::block ("modes_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 packets
+    gr_block ("modes_preamble",
+                   gr_make_io_signature2 (2, 2, sizeof(float), sizeof(float)), //stream 0 is received data, stream 1 is moving average for reference
+                   gr_make_io_signature (1, 1, sizeof(float))) //the output packets
 {
 	d_chip_rate = 2000000; //2Mchips per second
 	d_samples_per_chip = channel_rate / d_chip_rate; //must be integer number of samples per chip to work
@@ -53,8 +51,8 @@ air_modes_preamble::air_modes_preamble(int channel_rate, float threshold_db) :
 	
 	std::stringstream str;
 	str << name() << unique_id();
-	d_me = pmt::string_to_symbol(str.str());
-	d_key = pmt::string_to_symbol("preamble_found");
+	d_me = pmt::pmt_string_to_symbol(str.str());
+	d_key = pmt::pmt_string_to_symbol("preamble_found");
 	set_history(d_samples_per_symbol);
 }
 
@@ -80,20 +78,31 @@ static double correlate_preamble(const float *in, int samples_per_chip) {
 	return corr;
 }
 
-//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) {
+//takes an rx tag and issues a tag offset appropriately for the preamble
+static const pmt::pmt_t offset_stamp(const gr_tag_t &tstamp, const uint64_t abs_sample_cnt, const double secs_per_sample) {
 	uint64_t ts_sample, last_whole_stamp;
 	double last_frac_stamp;
 
-	if(tstamp.key == NULL || pmt::symbol_to_string(tstamp.key) != "rx_time") return 0;
-
-	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;
+	if(tstamp.key == NULL || pmt::pmt_symbol_to_string(tstamp.key) != "rx_time") {
+		last_whole_stamp = 0;
+		last_frac_stamp = 0;
+		ts_sample = 0;
+	} else {
+		last_whole_stamp = pmt::pmt_to_uint64(pmt::pmt_tuple_ref(tstamp.value, 0));
+		last_frac_stamp = pmt::pmt_to_double(pmt::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;
+	double fractime = double(abs_sample_cnt * secs_per_sample) + last_frac_stamp;
+	last_whole_stamp += int(fractime);
+	fractime -= int(fractime);
+
+	const pmt::pmt_t newval = pmt::pmt_make_tuple(
+		pmt::pmt_from_uint64(last_whole_stamp),
+		pmt::pmt_from_double(fractime)
+	);
+
+	return newval;
 }
 
 int air_modes_preamble::general_work(int noutput_items,
@@ -122,8 +131,8 @@ int air_modes_preamble::general_work(int noutput_items,
 	                             };
 
 	uint64_t abs_sample_cnt = nitems_read(0);
-	std::vector<gr::tag_t> tstamp_tags;
-	get_tags_in_range(tstamp_tags, 0, abs_sample_cnt, abs_sample_cnt + ninputs, pmt::string_to_symbol("rx_time"));
+	std::vector<gr_tag_t> tstamp_tags;
+	get_tags_in_range(tstamp_tags, 0, abs_sample_cnt, abs_sample_cnt + ninputs, pmt::pmt_string_to_symbol("rx_time"));
 	//tags.back() is the most recent timestamp, then.
 	if(tstamp_tags.size() > 0) {
 		d_timestamp = tstamp_tags.back();
@@ -188,16 +197,14 @@ int air_modes_preamble::general_work(int noutput_items,
 				integrate_and_dump(out, &in[i], 240, d_samples_per_chip);
 			}
 
-			//get the timestamp of the preamble
-			double tstamp = tag_to_timestamp(d_timestamp, abs_sample_cnt + i, d_secs_per_sample);
-
+			const pmt::pmt_t new_pmt = offset_stamp(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
-			         pmt::from_double(tstamp),
-			         d_me        //block src id
-			        );
+					nitems_written(0), //sample
+					d_key,      //frame_info
+					new_pmt,
+					d_me        //block src id
+					);
 					 
 			//std::cout << "PREAMBLE" << std::endl;
 			

lib/air_modes_slicer.cc

@@ -1,6 +1,5 @@
 /*
 # Copyright 2010 Nick Foster
-# Copyright 2013 Nicholas Corgan
 # 
 # This file is part of gr-air-modes
 # 
@@ -25,15 +24,14 @@
 #include "config.h"
 #endif
 
-#include <ciso646>
 #include <air_modes_slicer.h>
-#include <gnuradio/io_signature.h>
+#include <gr_io_signature.h>
 #include <air_modes_types.h>
 #include <sstream>
 #include <iomanip>
 #include <modes_crc.h>
 #include <iostream>
-#include <gnuradio/tags.h>
+#include <gr_tags.h>
 
 extern "C"
 {
@@ -41,15 +39,15 @@ extern "C"
 #include <string.h>
 }
 
-air_modes_slicer_sptr air_make_modes_slicer(int channel_rate, gr::msg_queue::sptr queue)
+air_modes_slicer_sptr air_make_modes_slicer(int channel_rate, gr_msg_queue_sptr queue)
 {
 	return air_modes_slicer_sptr (new air_modes_slicer(channel_rate, queue));
 }
 
-air_modes_slicer::air_modes_slicer(int channel_rate, gr::msg_queue::sptr queue) :
-  gr::sync_block ("modes_slicer",
-		  gr::io_signature::make (1, 1, sizeof(float)), //stream 0 is received data, stream 1 is binary preamble detector output
-                  gr::io_signature::make (0, 0, 0) )
+air_modes_slicer::air_modes_slicer(int channel_rate, gr_msg_queue_sptr queue) :
+    gr_sync_block ("modes_slicer",
+                   gr_make_io_signature (1, 1, sizeof(float)), //stream 0 is received data, stream 1 is binary preamble detector output
+                   gr_make_io_signature (0, 0, 0) )
 {
 	//initialize private data here
 	d_chip_rate = 2000000; //2Mchips per second
@@ -107,91 +105,86 @@ int air_modes_slicer::work(int noutput_items,
 
 	if(0) std::cout << "Slicer called with " << size << " samples" << std::endl;
 	
-	std::vector<gr::tag_t> tags;
+	std::vector<gr_tag_t> tags;
 	uint64_t abs_sample_cnt = nitems_read(0);
-	get_tags_in_range(tags, 0, abs_sample_cnt, abs_sample_cnt + size, pmt::string_to_symbol("preamble_found"));
-	std::vector<gr::tag_t>::iterator tag_iter;
+	get_tags_in_range(tags, 0, abs_sample_cnt, abs_sample_cnt + size, pmt::pmt_string_to_symbol("preamble_found"));
+	std::vector<gr_tag_t>::iterator tag_iter;
 
 	for(tag_iter = tags.begin(); tag_iter != tags.end(); tag_iter++) {
 		uint64_t i = tag_iter->offset - abs_sample_cnt;
-		modes_packet rx_packet;
 
-		memset(&rx_packet.data, 0x00, 14 * sizeof(unsigned char));
-		memset(&rx_packet.lowconfbits, 0x00, 24 * sizeof(unsigned char));
-		rx_packet.numlowconf = 0;
+		memset(&d_data, 0x00, 14 * sizeof(unsigned char));
+		memset(&d_lowconfbits, 0x00, 24 * sizeof(unsigned char));
+		unsigned int numlowconf = 0;
 
 		//let's use the preamble to get a reference level for the packet
 		//fixme: a better thing to do is create a bi-level avg 1 and avg 0
 		//through simple statistics, then take the median for your slice level
 		//this won't improve decoding but will improve confidence
-		rx_packet.reference_level = (in[i]
-								   + in[i+2]
-								   + in[i+7]
-								   + in[i+9]) / 4.0;
+		double reference_level = (in[i]
+							    + in[i+2]
+							    + in[i+7]
+							    + in[i+9]) / 4.0;
 
 		i += 16; //move on up to the first bit of the packet data
 		//now let's slice the header so we can determine if it's a short pkt or a long pkt
 		unsigned char pkt_hdr = 0;
 		for(int j=0; j < 5; j++) {
-			slice_result_t slice_result = slicer(in[i+j*2], in[i+j*2+1], rx_packet.reference_level);
+			slice_result_t slice_result = slicer(in[i+j*2], in[i+j*2+1], reference_level);
 			if(slice_result.decision) pkt_hdr += 1 << (4-j);
 		}
-		if(pkt_hdr == 16 or pkt_hdr == 17 or pkt_hdr == 20 or pkt_hdr == 21) rx_packet.type = Long_Packet;
-		else rx_packet.type = Short_Packet;
-		int packet_length = (rx_packet.type == framer_packet_type(Short_Packet)) ? 56 : 112;
+		framer_packet_type type;
+		if(pkt_hdr == 16 or pkt_hdr == 17 or pkt_hdr == 20 or pkt_hdr == 21) type = Long_Packet;
+		else type = Short_Packet;
+		int packet_length = (type == Short_Packet) ? 56 : 112;
 
 		//it's slice time!
 		//TODO: don't repeat your work here, you already have the first 5 bits
+		slice_result_t slice_result;
 		for(int j = 0; j < packet_length; j++) {
-			slice_result_t slice_result = slicer(in[i+j*2], in[i+j*2+1], rx_packet.reference_level);
+			slice_result = slicer(in[i+j*2], in[i+j*2+1], reference_level);
 
 			//put the data into the packet
 			if(slice_result.decision) {
-				rx_packet.data[j/8] += 1 << (7-(j%8));
+				d_data[j/8] += 1 << (7-(j%8));
 			}
 			//put the confidence decision into the packet
 			if(slice_result.confidence) {
-				//rx_packet.confidence[j/8] += 1 << (7-(j%8));
+				//d_confidence[j/8] += 1 << (7-(j%8));
 			} else {
-				if(rx_packet.numlowconf < 24) rx_packet.lowconfbits[rx_packet.numlowconf++] = j;
+				if(numlowconf < 24) d_lowconfbits[numlowconf++] = j;
 			}
 		}
-			
-		/******************** BEGIN TIMESTAMP BS ******************/
-		rx_packet.timestamp = pmt::to_double(tag_iter->value);
-		/******************* END TIMESTAMP BS *********************/
-			
-		//increment for the next round
+
+		uint64_t timestamp_secs = pmt::pmt_to_uint64(pmt::pmt_tuple_ref(tag_iter->value, 0));
+		double timestamp_frac = pmt::pmt_to_double(pmt::pmt_tuple_ref(tag_iter->value, 1));
 
 		//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++) {
-			if(rx_packet.data[m]) zeroes = 0;
+			if(d_data[m]) zeroes = 0;
 		}
 		if(zeroes) {continue;} //toss it
 
-		rx_packet.message_type = (rx_packet.data[0] >> 3) & 0x1F; //get the message type to make decisions on ECC methods
+		unsigned int message_type = (d_data[0] >> 3) & 0x1F; //get the message type to make decisions on ECC methods
 
-		if(rx_packet.type == Short_Packet && rx_packet.message_type != 11 && rx_packet.numlowconf > 0) {continue;}
-		if(rx_packet.message_type == 11 && rx_packet.numlowconf >= 10) {continue;}
+		if(type == Short_Packet && message_type != 11 && numlowconf > 0) {continue;}
+		if(message_type == 11 && numlowconf >= 10) {continue;}
 			
-		rx_packet.crc = modes_check_crc(rx_packet.data, packet_length);
+		unsigned long crc = modes_check_crc(d_data, packet_length);
 
 		//crc for packets that aren't type 11 or type 17 is encoded with the transponder ID, which we don't know
-		//therefore we toss 'em if there's syndrome
-		//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;}
-
-		d_payload.str("");
+		//we forward them if they have no low-confidence bits (see above), but this still lets some crap through.
+		if(crc && (message_type == 11 || message_type == 17)) {continue;}
+		std::ostringstream payload;
 		for(int m = 0; m < packet_length/8; m++) {
-			d_payload << std::hex << std::setw(2) << std::setfill('0') << unsigned(rx_packet.data[m]);
+			payload << std::hex << std::setw(2) << std::setfill('0') << unsigned(d_data[m]);
 		}
 
-		d_payload << " " << std::setw(6) << rx_packet.crc << " " << std::dec << rx_packet.reference_level
-		          << " " << std::setprecision(10) << std::setw(10) << rx_packet.timestamp;
-		gr::message::sptr msg = gr::message::make_from_string(std::string(d_payload.str()));
+		payload << " " << std::setw(6) << crc << " " << std::dec << reference_level
+		          << " " << timestamp_secs << " " << std::setprecision(20) << timestamp_frac;
+			gr_message_sptr msg = gr_make_message_from_string(std::string(payload.str()));
 		d_queue->handle(msg);
 	}
-	if(0) std::cout << "Slicer consumed " << size << ", returned " << size << std::endl;
 	return size;
 }

python/CMakeLists.txt

@@ -34,21 +34,19 @@ GR_PYTHON_INSTALL(
     altitude.py
     az_map.py
     cpr.py
-    html_template.py
     mlat.py
+    mlat_client.py
     exceptions.py
     flightgear.py
     gui_model.py
     kml.py
     parse.py
     msprint.py
-    radio.py
     raw_server.py
     rx_path.py
     sbs1.py
     sql.py
     types.py
-    zmq_socket.py
     Quaternion.py
     DESTINATION ${GR_PYTHON_DIR}/air_modes
 )

python/__init__.py

@@ -52,20 +52,16 @@ from air_modes_swig import *
 # import any pure python here
 #
 from rx_path import rx_path
-from zmq_socket import zmq_pubsub_iface
-from parse import *
+from parse import parse,modes_reply
 from msprint import output_print
 from sql import output_sql
 from sbs1 import output_sbs1
-from kml import output_kml, output_jsonp
+from kml import output_kml
 from raw_server import raw_server
-from radio import modes_radio
+from mlat_client import mlat_client
 from exceptions import *
 from az_map import *
 from types import *
-from altitude import *
-from cpr import cpr_decoder
-from html_template import html_template
 #this is try/excepted in case the user doesn't have numpy installed
 try:
     from flightgear import output_flightgear

python/az_map.py

@@ -26,7 +26,6 @@ from PyQt4 import QtCore, QtGui
 import threading
 import math
 import air_modes
-from air_modes.exceptions import *
 
 
 # model has max range vs. azimuth in n-degree increments
@@ -169,30 +168,30 @@ class az_map(QtGui.QWidget):
         self.ringsize = ringsize
         self.drawPath()
 
-class az_map_output:
-    def __init__(self, cprdec, model, pub):
-        self._cpr = cprdec
+class az_map_output(air_modes.parse):
+    def __init__(self, mypos, model):
+        air_modes.parse.__init__(self, mypos)
         self.model = model
-        pub.subscribe("type17_dl", self.output)
         
     def output(self, msg):
-        try:
-            msgtype = msg.data["df"]
-            now = time.time()
+        [data, ecc, reference, timestamp] = msg.split()
+        data = air_modes.modes_reply(long(data, 16))
+        ecc = long(ecc, 16)
+        rssi = 10.*math.log10(float(reference))
+        msgtype = data["df"]
+        now = time.time()
         
-            if msgtype == 17:
-                icao = msg.data["aa"]
-                subtype = msg.data["ftc"]
-                distance, altitude, bearing = [0,0,0]
-                if 5 <= subtype <= 8:
-                    (ground_track, decoded_lat, decoded_lon, distance, bearing) = air_modes.parseBDS06(msg.data, self._cpr)
-                    altitude = 0
-                elif 9 <= subtype <= 18:
-                    (altitude, decoded_lat, decoded_lon, distance, bearing) = air_modes.parseBDS05(msg.data, self._cpr)
+        if msgtype == 17:
+            icao = data["aa"]
+            subtype = data["ftc"]
+            distance, altitude, bearing = [0,0,0]
+            if 5 <= subtype <= 8:
+                (ground_track, decoded_lat, decoded_lon, distance, bearing) = self.parseBDS06(data)
+                altitude = 0
+            elif 9 <= subtype <= 18:
+                (altitude, decoded_lat, decoded_lon, distance, bearing) = self.parseBDS05(data)
 
-                self.model.addRecord(bearing, altitude, distance)
-        except ADSBError:
-            pass
+            self.model.addRecord(bearing, altitude, distance)
 
 
 ##############################

python/cpr.py

@@ -188,7 +188,7 @@ class cpr_decoder:
 		self.evenlist_sfc = {}
 		self.oddlist_sfc = {}
 
-	def set_location(self, new_location):
+	def set_location(new_location):
 		self.my_location = new_location
 
 	def weed_poslists(self):

python/exceptions.py

@@ -24,12 +24,12 @@ class ADSBError(Exception):
 
 class MetricAltError(ADSBError):
     pass
-
+        
 class ParserError(ADSBError):
     pass
 
 class NoHandlerError(ADSBError):
-    def __init__(self, msgtype=None):
+    def __init__(self, msgtype):
         self.msgtype = msgtype
 
 class MlatNonConvergeError(ADSBError):
@@ -44,4 +44,3 @@ class CPRBoundaryStraddleError(CPRNoPositionError):
 class FieldNotInPacket(ParserError):
     def __init__(self, item):
         self.item = item
-

python/flightgear.py

@@ -14,19 +14,18 @@ from Quaternion import Quat
 import numpy
 from air_modes.exceptions import *
 
-class output_flightgear:
-    def __init__(self, cprdec, hostname, port, pub):
+class output_flightgear(air_modes.parse):
+    def __init__(self, localpos, hostname, port):
+        air_modes.parse.__init__(self, localpos)
         self.hostname = hostname
         self.port = port
         self.localpos = localpos
         self.positions = {}
         self.velocities = {}
         self.callsigns = {}
-        self._cpr = cprdec
 
         self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
         self.sock.connect((self.hostname, self.port))
-        pub.subscribe("type17_dl", output)
 
     def output(self, msg):
         
@@ -36,26 +35,26 @@ class output_flightgear:
                 icao24 = msg.data["aa"]
                 bdsreg = msg.data["me"].get_type()
                 if bdsreg == 0x08: #ident packet
-                    (ident, actype) = air_modes.parseBDS08(data)
+                    (ident, actype) = self.parseBDS08(msg.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(data, self._cpr)
+                    [ground_track, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS06(msg.data)
                     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(data, self._cpr)
+                    [altitude, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS05(msg.data)
                     self.positions[icao24] = [decoded_lat, decoded_lon, altitude]
                     self.update(icao24)
 
                 elif bdsreg == 0x09: #velocity
                     subtype = data["bds09"].get_type()
                     if subtype == 0:
-                      [velocity, heading, vert_spd, turnrate] = air_modes.parseBDS09_0(data)
+                      [velocity, heading, vert_spd, turnrate] = self.parseBDS09_0(msg.data)
                     elif subtype == 1:
-                      [velocity, heading, vert_spd] = air_modes.parseBDS09_1(data)
+                      [velocity, heading, vert_spd] = self.parseBDS09_1(msg.data)
                       turnrate = 0
                     else:
                         return

python/gui_model.py

@@ -22,11 +22,9 @@
 # This file contains data models, view delegates, and associated classes
 # for handling the GUI back end data model.
 
-from PyQt4 import QtCore, QtGui, QtSql
+from PyQt4 import QtCore, QtGui
 import air_modes
 import threading, math, time
-from air_modes.exceptions import *
-from gnuradio.gr.pubsub import pubsub
 
 #fades the ICAOs out as their last report gets older,
 #and display ident if available, ICAO otherwise
@@ -38,16 +36,12 @@ class ICAOViewDelegate(QtGui.QStyledItemDelegate):
             painter.drawRect(option.rect)
 
         #if there's an ident available, use it. otherwise print the ICAO
-        if index.model().data(index.model().index(index.row(), 8)) != QtCore.QVariant():
-            paintstr = index.model().data(index.model().index(index.row(), 8)).toString()
+        if index.model().data(index.model().index(index.row(), 9)) != QtCore.QVariant():
+            paintstr = index.model().data(index.model().index(index.row(), 9)).toString()
         else:
             paintstr = index.model().data(index.model().index(index.row(), 0)).toString()
-
-        #FIXME this is kind of heinous, find out how you got int data out of it last time
-        last_report = time.strptime(str(index.model().data(index.model().index(index.row(), 1)).toString()), "%Y-%m-%d %H:%M:%S")
-        age = (time.mktime(time.gmtime()) - time.mktime(last_report)) - 3600.*time.daylight
-        print age
-
+        last_report = index.model().data(index.model().index(index.row(), 1)).toDouble()[0]
+        age = (time.time() - last_report)
         max_age = 60. #age at which it grays out
         #minimum alpha is 0x40 (oldest), max is 0xFF (newest)
         age = min(age, max_age)
@@ -55,36 +49,150 @@ class ICAOViewDelegate(QtGui.QStyledItemDelegate):
         painter.setPen(QtGui.QColor(0, 0, 0, alpha))
         painter.drawText(option.rect.left()+3, option.rect.top(), option.rect.width(), option.rect.height(), option.displayAlignment, paintstr)
 
-#class dashboard_sql_model(QtCore.QAbstractTableModel):
-#    def __init__(self, parent):
-#        QtCore.QAbstractTableModel.__init__(self, parent)
-
-#    def update(self, icao):
-
-#TODO must add libqt4-sql, libqt4-sql-sqlite, python-qt4-sql to dependencies
-#TODO looks like you're going to have to either integrate this into sql.py (ugh!) or find a way to keep it in sync
-#seems like it wants to have control over maintaining data currency
-#worst case is you make your own damn SQL query model based on abstracttablemodel.
-class dashboard_sql_model(QtSql.QSqlQueryModel):
+#the data model used to display dashboard data.
+class dashboard_data_model(QtCore.QAbstractTableModel):
     def __init__(self, parent):
-        QtSql.QSqlQueryModel.__init__(self, parent)
-        self._query = """select tab1.icao, tab1.seen, tab1.lat, tab1.lon, tab1.alt, speed, heading, vertical, ident, type
-                         from (select * from (select * from positions order by seen desc) group by icao) tab1
-                    left join (select * from (select * from vectors order by seen desc)   group by icao) tab2
-                        on tab1.icao=tab2.icao
-                    left join (select * from (select * from ident)) tab3
-                        on tab1.icao=tab3.icao
-                    where tab1.seen > datetime('now', '-1 minute')"""
-        self._sql = None
-        self._db = QtSql.QSqlDatabase("QSQLITE")
-        self._db.setDatabaseName("adsb.db") #TODO specify this elsewhere
-        self._db.open()
-        #what is this i don't even
-        #fetches the combined data of all three tables for all ICAOs seen in the last minute.
-        #FIXME PyQt's SQLite gives you different results than the SQLite browser
-        self.setQuery(self._query, self._db)
+        QtCore.QAbstractTableModel.__init__(self, parent)
+        self._data = []
+        self.lock = threading.Lock()
+        self._colnames = ["icao", "seen", "rssi", "latitude", "longitude", "altitude", "speed", "heading", "vertical", "ident", "type", "range", "bearing"]
+        #custom precision limits for display
+        self._precisions = [None, None, None, 6, 6, 0, 0, 0, 0, None, None, 2, 0]
+        for field in self._colnames:
+            self.setHeaderData(self._colnames.index(field), QtCore.Qt.Horizontal, field)
+    def rowCount(self, parent=QtCore.QVariant()):
+        return len(self._data)
+    def columnCount(self, parent=QtCore.QVariant()):
+        return len(self._colnames)
+    def data(self, index, role=QtCore.Qt.DisplayRole):
+        if not index.isValid():
+            return QtCore.QVariant()
+        if index.row() >= self.rowCount():
+            return QtCore.QVariant()
+        if index.column() >= self.columnCount():
+            return QtCore.QVariant()
+        if (role != QtCore.Qt.DisplayRole) and (role != QtCore.Qt.EditRole):
+            return QtCore.QVariant()
+        if self._data[index.row()][index.column()] is None:
+            return QtCore.QVariant()
+        else:
+            #if there's a dedicated precision for that column, print it out with the specified precision.
+            #this only works well if you DON'T have other views/widgets that depend on numeric data coming out.
+            #i don't like this, but it works for now. unfortunately it seems like Qt doesn't give you a
+            #good alternative.
+            if self._precisions[index.column()] is not None:
+                return QtCore.QVariant("%.*f" % (self._precisions[index.column()], self._data[index.row()][index.column()]))
+            else:
+                if self._colnames[index.column()] == "icao":
+                    return QtCore.QVariant("%06x" % self._data[index.row()][index.column()]) #return as hex string
+                else:
+                    return QtCore.QVariant(self._data[index.row()][index.column()])
 
-    #the big club
-    def update_all(self, icao):
-        self.setQuery(self._query, self._db)
-        #self.dataChanged.emit(self.createIndex(0, 0), self.createIndex(self.rowCount(), self.columnCount()))
+    def setData(self, index, value, role=QtCore.Qt.EditRole):
+        self.lock.acquire()
+        if not index.isValid():
+            return False
+        if index.row() >= self.rowCount():
+            return False
+        if index.column >= self.columnCount():
+            return False
+        if role != QtCore.Qt.EditRole:
+            return False
+        self._data[index.row()][index.column()] = value
+        self.lock.release()
+
+    #addRecord implements an upsert on self._data; that is,
+    #it updates the row if the ICAO exists, or else it creates a new row.
+    def addRecord(self, record):
+        self.lock.acquire()
+        icaos = [x[0] for x in self._data]
+        if record["icao"] in icaos:
+            row = icaos.index(record["icao"])
+            for column in record:
+                self._data[row][self._colnames.index(column)] = record[column]
+            #create index to existing row and tell the model everything's changed in this row
+            #or inside the for loop, use dataChanged on each changed field (might be better)
+            self.dataChanged.emit(self.createIndex(row, 0), self.createIndex(row, len(self._colnames)-1))
+
+        #only create records for ICAOs with ADS-B reports
+        elif ("latitude" or "speed" or "ident") in record:
+            #find new inserted row number
+            icaos.append(record["icao"])
+            newrowoffset = sorted(icaos).index(record["icao"])
+            self.beginInsertRows(QtCore.QModelIndex(), newrowoffset, newrowoffset)
+            newrecord = [None for x in xrange(len(self._colnames))]
+            for col in xrange(0, len(self._colnames)):
+                if self._colnames[col] in record:
+                    newrecord[col] = record[self._colnames[col]]
+            self._data.append(newrecord)
+            self._data = sorted(self._data, key = lambda x: x[0]) #sort by icao
+            self.endInsertRows()
+        self.lock.release()
+        self.prune()
+
+    #weeds out ICAOs older than 5 minutes
+    def prune(self):
+        self.lock.acquire()
+        for (index,row) in enumerate(self._data):
+            if time.time() - row[1] >= 60:
+                self.beginRemoveRows(QtCore.QModelIndex(), index, index)
+                self._data.pop(index)
+                self.endRemoveRows()
+        self.lock.release()
+                
+class dashboard_output(air_modes.parse):
+    def __init__(self, mypos, model):
+        air_modes.parse.__init__(self, mypos)
+        self.model = model
+    def output(self, msg):
+        [data, ecc, reference, timestamp] = msg.split()
+        data = air_modes.modes_reply(long(data, 16))
+        ecc = long(ecc, 16)
+        rssi = 10.*math.log10(float(reference))
+        msgtype = data["df"]
+        now = time.time()
+        newrow = {"rssi": rssi, "seen": now}
+        if msgtype in [0, 4, 20]:
+            newrow["altitude"] = air_modes.altitude.decode_alt(data["ac"], True)
+            newrow["icao"] = ecc
+            self.model.addRecord(newrow)
+        
+        elif msgtype == 17:
+            icao = data["aa"]
+            newrow["icao"] = icao
+            subtype = data["ftc"]
+            if subtype == 4:
+                (ident, actype) = self.parseBDS08(data)
+                newrow["ident"] = ident
+                newrow["type"] = actype
+            elif 5 <= subtype <= 8:
+                (ground_track, decoded_lat, decoded_lon, rnge, bearing) = self.parseBDS06(data)
+                newrow["heading"] = ground_track
+                newrow["latitude"] = decoded_lat
+                newrow["longitude"] = decoded_lon
+                newrow["altitude"] = 0
+                if rnge is not None:
+                    newrow["range"] = rnge
+                    newrow["bearing"] = bearing
+            elif 9 <= subtype <= 18:
+                (altitude, decoded_lat, decoded_lon, rnge, bearing) = self.parseBDS05(data)
+                newrow["altitude"] = altitude
+                newrow["latitude"] = decoded_lat
+                newrow["longitude"] = decoded_lon
+                if rnge is not None:
+                    newrow["range"] = rnge
+                    newrow["bearing"] = bearing
+            elif subtype == 19:
+                subsubtype = data["sub"]
+                velocity = None
+                heading = None
+                vert_spd = None
+                if subsubtype == 0:
+                    (velocity, heading, vert_spd) = self.parseBDS09_0(data)
+                elif 1 <= subsubtype <= 2:
+                    (velocity, heading, vert_spd) = self.parseBDS09_1(data)
+                newrow["speed"] = velocity
+                newrow["heading"] = heading
+                newrow["vertical"] = vert_spd
+
+            self.model.addRecord(newrow)

python/html_template.py

@@ -1,127 +0,0 @@
-#!/usr/bin/env python
-#HTML template for Mode S map display
-#Nick Foster, 2013
-
-def html_template(my_position, json_file):
-    if my_position is None:
-        my_position = [37, -122]
-
-    return """
-<html>
-    <head>
-        <title>ADS-B Aircraft Map</title>
-        <meta name="viewport" content="initial-scale=1.0, user-scalable=no" />
-        <meta http-equiv="content-type" content="text/html;charset=utf-8" />
-        <style type="text/css">
-            .labels {
-                color: red;
-                background-color: white;
-                font-family: "Lucida Grande", "Arial", sans-serif;
-                font-size: 10px;
-                font-weight: bold;
-                text-align: center;
-                width: 40px;
-                border: 2px solid black;
-                white-space: nowrap;
-            }
-        </style>
-        <script type="text/javascript" src="http://maps.google.com/maps/api/js?sensor=false">
-        </script>
-        <script type="text/javascript">
-            var map;
-            var markers = [];
-            var defaultLocation = new google.maps.LatLng(%f, %f);
-            var defaultZoomLevel = 9;
-
-            function requestJSONP() {
-                var script = document.createElement("script");
-                script.src = "%s?" + Math.random();
-                script.params = Math.random();
-                document.getElementsByTagName('head')[0].appendChild(script);
-            };
-
-            var planeMarker;
-            var planes = [];
-
-            function clearMarkers() {
-                for (var i = 0; i < planes.length; i++) {
-                    planes[i].setMap(null);
-                }
-                planes = [];
-            };
-
-            function jsonp_callback(results) { // from JSONP
-                clearMarkers();
-                airplanes = {};
-                for (var i = 0; i < results.length; i++) {
-                    airplanes[results[i].icao] = {
-                        center: new google.maps.LatLng(results[i].lat, results[i].lon),
-                        heading: results[i].hdg,
-                        altitude: results[i].alt,
-                        type: results[i].type,
-                        ident: results[i].ident,
-                        speed: results[i].speed,
-                        vertical: results[i].vertical,
-                        highlight: results[i].highlight
-                    };
-                }
-                refreshIcons();
-            }
-
-            function refreshIcons() {
-                for (var airplane in airplanes) {
-                    if (airplanes[airplane].highlight != 0) {
-                        icon_file = "http://www.nerdnetworks.org/~bistromath/airplane_sprite_highlight.png";
-                    } else {
-                        icon_file = "http://www.nerdnetworks.org/~bistromath/airplane_sprite.png";
-                    };
-                    var plane_icon = {
-                        url: icon_file,
-                        size: new google.maps.Size(128,128),
-                        origin: new google.maps.Point(parseInt(airplanes[airplane].heading/10)*128,0),
-                        anchor: new google.maps.Point(64,64),
-                        //scaledSize: new google.maps.Size(4608,126)
-                    };
-
-                    identstr = airplanes[airplane].ident;
-                    if (identstr === "" || !identstr) {
-                        identstr = airplanes[airplane].icao;
-                    };
-
-                    var planeOptions = {
-                        map: map,
-                        position: airplanes[airplane].center,
-                        icon: plane_icon,
-                        //label content meaningless unless you use the MarkerWithLabel class from the Maps Utility Library
-                        labelContent: identstr,
-                        labelAnchor: new google.maps.Point(64, 0),
-                        labelClass: "labels",
-                        labelStyle: {opacity: 0.75}
-                    };
-                    planeMarker = new google.maps.Marker(planeOptions);
-                    planes.push(planeMarker);
-                };
-            };
-
-            function initialize()
-            {
-                var myOptions =
-                {
-                    zoom: defaultZoomLevel,
-                    center: defaultLocation,
-                    disableDefaultUI: true,
-                    mapTypeId: google.maps.MapTypeId.TERRAIN
-                };
-
-                map = new google.maps.Map(document.getElementById("map_canvas"), myOptions);
-
-                requestJSONP();
-                setInterval("requestJSONP()", 1000);
-            };
-        </script>
-    </head>
-    <body onload="initialize()">
-        <div id="map_canvas" style="width:100%%; height:100%%">
-        </div>
-    </body>
-</html>""" % (my_position[0], my_position[1], json_file)

python/kml.py

@@ -30,30 +30,21 @@ class output_kml(threading.Thread):
         self.my_coords = localpos
         self._timeout = timeout
         self._lock = lock
-
-        self.shutdown = threading.Event()
-        self.finished = threading.Event()
+        
+        self.done = False
         self.setDaemon(1)
         self.start()
 
     def run(self):
         self._db = sqlite3.connect(self._dbname) #read from the db
-        while self.shutdown.is_set() is False:
+        while self.done is False:
             self.writekml()
-            time.sleep(self._timeout)
-
+            time.sleep(self._timeout) 
+                
+        self.done = True
         self._db.close()
         self._db = None
-        self.finished.set()
-
-    def close(self):
-        self.shutdown.set()
-        self.finished.wait(0.2)
-        #there's a bug here where self._timeout is long and close() has
-        #to wait for the sleep to expire before closing. we just bail
-        #instead with the 0.2 param above.
-
-
+        
     def writekml(self):
         kmlstr = self.genkml()
         if kmlstr is not None:
@@ -64,7 +55,7 @@ class output_kml(threading.Thread):
     def locked_execute(self, c, query):
         with self._lock:
             c.execute(query)
-
+    
     def draw_circle(self, center, rng):
         retstr = ""
         steps=30
@@ -91,7 +82,7 @@ class output_kml(threading.Thread):
 
         retstr = string.lstrip(retstr)
         return retstr
-
+    
     def genkml(self):
         #first let's draw the static content
         retstr="""<?xml version="1.0" encoding="UTF-8"?>\n<kml xmlns="http://www.opengis.net/kml/2.2">\n<Document>\n\t<Style id="airplane">\n\t\t<IconStyle>\n\t\t\t<Icon><href>airports.png</href></Icon>\n\t\t</IconStyle>\n\t</Style>\n\t<Style id="rangering">\n\t<LineStyle>\n\t\t<color>9f4f4faf</color>\n\t\t<width>2</width>\n\t</LineStyle>\n\t</Style>\n\t<Style id="track">\n\t<LineStyle>\n\t\t<color>5fff8f8f</color>\n\t\t<width>4</width>\n\t</LineStyle>\n\t</Style>"""
@@ -101,7 +92,7 @@ class output_kml(threading.Thread):
             for rng in [100, 200, 300]:     
                 retstr += """\n\t\t<Placemark>\n\t\t\t<name>%inm</name>\n\t\t\t<styleUrl>#rangering</styleUrl>\n\t\t\t<LinearRing>\n\t\t\t\t<coordinates>%s</coordinates>\n\t\t\t</LinearRing>\n\t\t</Placemark>""" % (rng, self.draw_circle(self.my_coords, rng),)
             retstr += """\t</Folder>\n"""
-
+        
         retstr +=  """\t<Folder>\n\t\t<name>Aircraft locations</name>\n\t\t<open>0</open>"""
 
         #read the database and add KML
@@ -124,11 +115,11 @@ class output_kml(threading.Thread):
                 if lon is None: lon = 0
                 alt = track[0][2]
                 if alt is None: alt = 0
-
+                
                 metric_alt = alt * 0.3048 #google earth takes meters, the commie bastards
-
+                
                 trackstr = ""
-
+                
                 for pos in track:
                     trackstr += " %f,%f,%f" % (pos[4], pos[3], pos[2]*0.3048)
 
@@ -162,7 +153,7 @@ class output_kml(threading.Thread):
                 seen = 0
                 speed = 0
                 heading = 0
-                vertical = 0
+                vertical = 0        
             #now generate some KML
             retstr+= "\n\t\t<Placemark>\n\t\t\t<name>%s</name>\n\t\t\t<Style><IconStyle><heading>%i</heading></IconStyle></Style>\n\t\t\t<styleUrl>#airplane</styleUrl>\n\t\t\t<description>\n\t\t\t\t<![CDATA[Altitude: %s<br/>Heading: %i<br/>Speed: %i<br/>Vertical speed: %i<br/>ICAO: %x<br/>Last seen: %s]]>\n\t\t\t</description>\n\t\t\t<Point>\n\t\t\t\t<altitudeMode>absolute</altitudeMode>\n\t\t\t\t<extrude>1</extrude>\n\t\t\t\t<coordinates>%s,%s,%i</coordinates>\n\t\t\t</Point>\n\t\t</Placemark>" % (ident, heading, alt, heading, speed, vertical, icao[0], seen, lon, lat, metric_alt, )
 
@@ -170,79 +161,3 @@ class output_kml(threading.Thread):
 
         retstr+= '\n\t</Folder>\n</Document>\n</kml>'
         return retstr
-
-#we just inherit from output_kml because we're doing the same thing, only in a different format.
-class output_jsonp(output_kml):
-    def set_highlight(self, icao):
-        self.highlight = icao
-
-    def genkml(self):
-        retstr="""jsonp_callback(["""
-
-#        if self.my_coords is not None:
-#            retstr += """\n\t<Folder>\n\t\t<name>Range rings</name>\n\t\t<open>0</open>"""
-#            for rng in [100, 200, 300]:
-#                retstr += """\n\t\t<Placemark>\n\t\t\t<name>%inm</name>\n\t\t\t<styleUrl>#rangering</styleUrl>\n\t\t\t<LinearRing>\n\t\t\t\t<coordinates>%s</coordinates>\n\t\t\t</LinearRing>\n\t\t</Placemark>""" % (rng, self.draw_circle(self.my_coords, rng),)
-#            retstr += """\t</Folder>\n"""
-
-#        retstr +=  """\t<Folder>\n\t\t<name>Aircraft locations</name>\n\t\t<open>0</open>"""
-
-        #read the database and add KML
-        q = "select distinct icao from positions where seen > datetime('now', '-5 minute')"
-        c = self._db.cursor()
-        self.locked_execute(c, q)
-        icaolist = c.fetchall()
-        #now we have a list icaolist of all ICAOs seen in the last 5 minutes
-
-        for icao in icaolist:
-            icao = icao[0]
-
-            #now get metadata
-            q = "select ident, type from ident where icao=%i" % icao
-            self.locked_execute(c, q)
-            r = c.fetchall()
-            if len(r) != 0:
-                ident = r[0][0]
-                actype = r[0][1]
-            else: 
-                ident=""
-                actype = ""
-            if ident is None: ident = ""
-            #get most recent speed/heading/vertical
-            q = "select seen, speed, heading, vertical from vectors where icao=%i order by seen desc limit 1" % icao
-            self.locked_execute(c, q)
-            r = c.fetchall()
-            if len(r) != 0:
-                seen = r[0][0]
-                speed = r[0][1]
-                heading = r[0][2]
-                vertical = r[0][3]
-
-            else:
-                seen = 0
-                speed = 0
-                heading = 0
-                vertical = 0
-
-            q = "select lat, lon, alt from positions where icao=%i order by seen desc limit 1" % icao
-            self.locked_execute(c, q)
-            r = c.fetchall()
-            if len(r) != 0:
-                lat = r[0][0]
-                lon = r[0][1]
-                alt = r[0][2]
-            else:
-                lat = 0
-                lon = 0
-                alt = 0
-
-            highlight = 0
-            if hasattr(self, 'highlight'):
-                if self.highlight == icao:
-                    highlight = 1
-
-            #now generate some JSONP
-            retstr+= """{"icao": "%.6x", "lat": %f, "lon": %f, "alt": %i, "hdg": %i, "speed": %i, "vertical": %i, "ident": "%s", "type": "%s", "highlight": %i},""" % (icao, lat, lon, alt, heading, speed, vertical, ident, actype, highlight)
-
-        retstr+= """]);"""
-        return retstr

python/mlat.py

@@ -95,28 +95,31 @@ c = 299792458 / 1.0003 #modified for refractive index of air, why not
 #we use limit as a goal to stop solving when we get "close enough" (error magnitude in meters for that iteration)
 #basically 20 meters is way less than the anticipated error of the system so it doesn't make sense to continue
 #it's possible this could fail in situations where the solution converges slowly
-#TODO: this fails to converge for some seriously advantageous geometry
-def mlat_iter(rel_stations, prange_obs, xguess = [0,0,0], limit = 20, maxrounds = 100):
-    xerr = [1e9, 1e9, 1e9]
+#THIS WORKS PLEASE DON'T MESS WITH IT
+def mlat_iter(stations, prange_obs, guess = [0,0,0], limit = 20, maxrounds = 100):
+    xerr = [1e9, 1e9, 1e9, 1e9]
     rounds = 0
-    while numpy.linalg.norm(xerr) > limit:
-        prange_est = [[numpy.linalg.norm(station - xguess)] for station in rel_stations]
+    while numpy.linalg.norm(xerr[:3]) > limit:
+        #get p_i, the estimated pseudoranges based on the latest position guess
+        prange_est = [[numpy.linalg.norm(station - guess)] for station in stations]
+        #get the difference d_p^ between the observed and calculated pseudoranges
         dphat = prange_obs - prange_est
-        H = numpy.array([(numpy.array(-rel_stations[row,:])+xguess) / prange_est[row] for row in range(0,len(rel_stations))])
+        #create a matrix of partial differentials to find the slope of the error in X,Y,Z,t directions
+        H = numpy.array([(numpy.array(-stations[row,:])+guess) / prange_est[row] for row in range(len(stations))])
+        H = numpy.append(H, numpy.ones(len(prange_obs)).reshape(len(prange_obs),1)*c, axis=1)
         #now we have H, the Jacobian, and can solve for residual error
-        xerr = numpy.linalg.lstsq(H, dphat)[0].flatten()
-        xguess += xerr
-        #print xguess, xerr
+        solved = numpy.linalg.lstsq(H, dphat)
+        xerr = solved[0].flatten()
+        guess += xerr[:3] #we ignore the time error for xguess
         rounds += 1
         if rounds > maxrounds:
-            raise Exception("Failed to converge!")
-            break
-    return xguess
+            raise MlatNonConvergeError("Failed to converge!")
+    return (guess, xerr[3])
 
 #func mlat:
 #uses a modified GPS pseudorange solver to locate aircraft by multilateration.
 #replies is a list of reports, in ([lat, lon, alt], timestamp) format
-#altitude is the barometric altitude of the aircraft as returned by the aircraft
+#altitude is the barometric altitude of the aircraft as returned by the aircraft, if any
 #returns the estimated position of the aircraft in (lat, lon, alt) geoid-corrected WGS84.
 #let's make it take a list of tuples so we can sort by them
 def mlat(replies, altitude):
@@ -124,76 +127,70 @@ def mlat(replies, altitude):
 
     stations = [sorted_reply[0] for sorted_reply in sorted_replies]
     timestamps = [sorted_reply[1] for sorted_reply in sorted_replies]
+    nearest_llh = stations[0]
+    stations_xyz = numpy.array([llh2geoid(station) for station in stations])
 
-    me_llh = stations[0]
-    me = llh2geoid(stations[0])
+    #the absolute time shouldn't matter at all except perhaps in
+    #maintaining floating-point precision; in other words you can
+    #add a constant here and it should fall out in the solver as time error
+    prange_obs = [[c*stamp] for stamp in timestamps]
 
-    
-    #list of stations in XYZ relative to me
-    rel_stations = [numpy.array(llh2geoid(station)) - numpy.array(me) for station in stations[1:]]
-    rel_stations.append([0,0,0] - numpy.array(me))
-    rel_stations = numpy.array(rel_stations) #convert list of arrays to 2d array
+    #if no alt, use a reasonably large number (in meters)
+    #since if all your stations lie in a plane (they basically will),
+    #there's a reasonable solution at negative altitude as well
+    if altitude is None:
+        altitude = 20000
+    firstguess = numpy.array(llh2ecef((nearest_llh[0], nearest_llh[1], altitude)))
 
-    #differentiate the timestamps to get TDOA, multiply by c to get pseudorange
-    prange_obs = [[c*(stamp-timestamps[0])] for stamp in timestamps[1:]]
-
-    #so here we calc the estimated pseudorange to the center of the earth, using station[0] as a reference point for the geoid
-    #in other words, we say "if the aircraft were directly overhead of station[0], this is the prange to the center of the earth"
-    #this is a necessary approximation since we don't know the location of the aircraft yet
-    #if the dang earth were actually round this wouldn't be an issue
-    prange_obs.append( [numpy.linalg.norm(llh2ecef((me_llh[0], me_llh[1], altitude)))] ) #use ECEF not geoid since alt is MSL not GPS
     prange_obs = numpy.array(prange_obs)
-
-    #xguess = llh2ecef([37.617175,-122.400843, 8000])-numpy.array(me)
-    #xguess = [0,0,0]
-    #start our guess directly overhead, who cares
-    xguess = numpy.array(llh2ecef([me_llh[0], me_llh[1], altitude])) - numpy.array(me)
+    xyzpos, time_offset = mlat_iter(stations_xyz, prange_obs, firstguess, maxrounds=100)
+    llhpos = ecef2llh(xyzpos)
     
-    xyzpos = mlat_iter(rel_stations, prange_obs, xguess)
-    llhpos = ecef2llh(xyzpos+me)
-    
-    #now, we could return llhpos right now and be done with it.
-    #but the assumption we made above, namely that the aircraft is directly above the
-    #nearest station, results in significant error due to the oblateness of the Earth's geometry.
-    #so now we solve AGAIN, but this time with the corrected pseudorange of the aircraft altitude
-    #this might not be really useful in practice but the sim shows >50m errors without it
-    #and <4cm errors with it, not that we'll get that close in reality but hey let's do it right
-    prange_obs[-1] = [numpy.linalg.norm(llh2ecef((llhpos[0], llhpos[1], altitude)))]
-    xyzpos_corr = mlat_iter(rel_stations, prange_obs, xyzpos) #start off with a really close guess
-    llhpos = ecef2llh(xyzpos_corr+me)
+    return (llhpos, time_offset)
 
-    #and now, what the hell, let's try to get dilution of precision data
-    #avec is the unit vector of relative ranges to the aircraft from each of the stations
-#    for i in range(len(avec)):
-#        avec[i] = numpy.array(avec[i]) / numpy.linalg.norm(numpy.array(avec[i]))
-#    numpy.append(avec, [[-1],[-1],[-1],[-1]], 1) #must be # of stations
-#    doparray = numpy.linalg.inv(avec.T*avec)
-#the diagonal elements of doparray will be the x, y, z DOPs.
-    
-    return llhpos
+#tests the mlat_iter algorithm using sample data from Farrell & Barth (p.147)
+def farrell_barth_test():
+    pranges = numpy.array([[22228206.42],
+                           [24096139.11],
+                           [21729070.63],
+                           [21259581.09]])
+    svpos = numpy.array([[7766188.44, -21960535.34, 12522838.56],
+                         [-25922679.66, -6629461.28, 31864.37],
+                         [-5743774.02, -25828319.92, 1692757.72],
+                         [-2786005.69, -15900725.80, 21302003.49]])
 
+    #this is the "correct" resolved position, not the real receiver position
+    known_pos = numpy.array( [-2430745.0959362, -4702345.11359277, 3546568.70599656])
+
+    pos, time_offset = mlat_iter(svpos, pranges)
+    print "Position: ", pos
+    print "LLH: ", ecef2llh(pos)
+    error = numpy.linalg.norm(pos - known_pos)
+    print "Error: ", error
+    if error < 1e-3:
+        print "Farrell & Barth test OK"
+    else:
+        raise Exception("ERROR: Failed Farrell & Barth test")
 
 if __name__ == '__main__':
-    #here's some test data to validate the algorithm
+    #check to see that you haven't screwed up mlat_iter
+    farrell_barth_test()
+
+    #construct simulated returns from these stations
     teststations = [[37.76225, -122.44254, 100], [37.680016,-121.772461, 100], [37.385844,-122.083082, 100], [37.701207,-122.309418, 100]]
     testalt      = 8000
     testplane    = numpy.array(llh2ecef([37.617175,-122.400843, testalt]))
-    testme       = llh2geoid(teststations[0])
-    teststamps   = [10, 
-                    10 + numpy.linalg.norm(testplane-numpy.array(llh2geoid(teststations[1]))) / c,
-                    10 + numpy.linalg.norm(testplane-numpy.array(llh2geoid(teststations[2]))) / c,
-                    10 + numpy.linalg.norm(testplane-numpy.array(llh2geoid(teststations[3]))) / c,
-                ]
+    tx_time      = 10 #time offset to apply to timestamps
+    teststamps   = [tx_time+numpy.linalg.norm(testplane-numpy.array(llh2geoid(station))) / c for station in teststations]
 
-    print teststamps
+    print "Actual pranges: ", sorted([numpy.linalg.norm(testplane - numpy.array(llh2geoid(station))) for station in teststations])
 
-    replies = []
-    for i in range(0, len(teststations)):
-        replies.append((teststations[i], teststamps[i]))
-    ans = mlat(replies, testalt)
+    replies = [(station, stamp) for station,stamp in zip(teststations, teststamps)]
+
+    ans, offset = mlat(replies, testalt)
     error = numpy.linalg.norm(numpy.array(llh2ecef(ans))-numpy.array(testplane))
-    range = numpy.linalg.norm(llh2geoid(ans)-numpy.array(testme))
-    print testplane-testme
-    print ans
+    rng = numpy.linalg.norm(llh2geoid(ans)-numpy.array(llh2geoid(teststations[0])))
+    print "Resolved lat/lon/alt: ", ans
     print "Error: %.2fm" % (error)
-    print "Range: %.2fkm (from first station in list)" % (range/1000)
+    print "Range: %.2fkm (from first station in list)" % (rng/1000)
+    print "Aircraft-local transmit time: %.8fs" % (offset)

python/msprint.py

@@ -25,194 +25,198 @@ import air_modes
 from air_modes.exceptions import *
 import math
 
-#TODO get rid of class and convert to functions
-#no need for class here
-class output_print:
-  def __init__(self, cpr, publisher, callback=None):
-    self._cpr = cpr
-    self._callback = callback
-    #sub to every function that starts with "handle"
-    self._fns = [int(l[6:]) for l in dir(self) if l.startswith("handle")]
-    for i in self._fns:
-      publisher.subscribe("type%i_dl" % i, getattr(self, "handle%i" % i))
-    
-    publisher.subscribe("modes_dl", self.catch_nohandler)
-
-  @staticmethod
-  def prefix(msg):
-    return "(%i %.8f) " % (msg.rssi, msg.timestamp)
-
-  def _print(self, msg):
-    if self._callback is None:
-        print msg
-    else:
-        self._callback(msg)
-
-  def catch_nohandler(self, msg):
-    if msg.data.get_type() not in self._fns:
-      retstr = output_print.prefix(msg)
-      retstr += "No handler for message type %i" % msg.data.get_type()
-      if "aa" not in msg.data.fields:
-        retstr += " from %.6x" % msg.ecc
-      else:
-        retstr += " from %.6x" % msg.data["aa"]
-      self._print(retstr)
+class output_print(air_modes.parse):
+  def __init__(self, mypos):
+      air_modes.parse.__init__(self, mypos)
       
-  def handle0(self, msg):
+  def parse(self, msg):
+
+    if msg.reference == 0.0:
+      refdb = -150.0
+    else:
+      refdb = 20.0*math.log10(msg.reference)
+    output = "(%.0f %.10f) " % (refdb, float(msg.timestamp));
+
     try:
-      retstr = output_print.prefix(msg)
-      retstr += "Type 0 (short A-A surveillance) from %x at %ift" % (msg.ecc, air_modes.decode_alt(msg.data["ac"], True))
-      ri = msg.data["ri"]
-      if ri == 0:
-        retstr += " (No TCAS)"
-      elif ri == 2:
-        retstr += " (TCAS resolution inhibited)"
-      elif ri == 3:
-        retstr += " (Vertical TCAS resolution only)"
-      elif ri == 4:
-        retstr += " (Full TCAS resolution)"
-      elif ri == 9:
-        retstr += " (speed <75kt)"
-      elif ri > 9:
-        retstr += " (speed %i-%ikt)" % (75 * (1 << (ri-10)), 75 * (1 << (ri-9)))
+      msgtype = msg.data["df"]
+      if msgtype == 0:
+        output += self.print0(msg.data, msg.ecc)
+      elif msgtype == 4:
+        output += self.print4(msg.data, msg.ecc)
+      elif msgtype == 5:
+        output += self.print5(msg.data, msg.ecc)
+      elif msgtype == 11:
+        output += self.print11(msg.data, msg.ecc)
+      elif msgtype == 17:
+        output += self.print17(msg.data)
+      elif msgtype == 20 or msgtype == 21 or msgtype == 16:
+        output += self.printTCAS(msg.data, msg.ecc)
       else:
-        raise ADSBError
+        output += "No handler for message type %i from %x (but it's in modes_parse)" % (msgtype, msg.ecc)
+      return output
+    except NoHandlerError as e:
+      output += "No handler for message type %s from %x" % (e.msgtype, msg.ecc)
+      return output
+    except MetricAltError:
+      pass
+    except CPRNoPositionError:
+      pass
 
-    except ADSBError:
-        return
+  def output(self, msg):
+      parsed = self.parse(msg)
+      if parsed is not None:
+          print self.parse(msg)
 
-    if msg.data["vs"] is 1:
+  def print0(self, shortdata, ecc):
+    [vs, cc, sl, ri, altitude] = self.parse0(shortdata)
+	
+    retstr = "Type 0 (short A-A surveillance) from %x at %ift" % (ecc, altitude)
+    if ri == 0:
+      retstr += " (No TCAS)"
+    elif ri == 2:
+      retstr += " (TCAS resolution inhibited)"
+    elif ri == 3:
+      retstr += " (Vertical TCAS resolution only)"
+    elif ri == 4:
+      retstr += " (Full TCAS resolution)"
+    elif ri == 9:
+      retstr += " (speed <75kt)"
+    elif ri > 9:
+      retstr += " (speed %i-%ikt)" % (75 * (1 << (ri-10)), 75 * (1 << (ri-9)))
+
+    if vs is True:
       retstr += " (aircraft is on the ground)"
 
-    self._print(retstr)
+    return retstr
+
+  def print4(self, shortdata, ecc):
+
+    [fs, dr, um, altitude] = self.parse4(shortdata)
+
+    retstr = "Type 4 (short surveillance altitude reply) from %x at %ift" % (ecc, altitude)
 
-  @staticmethod
-  def fs_text(fs):
     if fs == 1:
-      return " (aircraft is on the ground)"
+      retstr += " (aircraft is on the ground)"
     elif fs == 2:
-      return " (AIRBORNE ALERT)"
+      retstr += " (AIRBORNE ALERT)"
     elif fs == 3:
-      return " (GROUND ALERT)"
+      retstr += " (GROUND ALERT)"
     elif fs == 4:
-      return " (SPI ALERT)"
+      retstr += " (SPI ALERT)"
     elif fs == 5:
-      return " (SPI)"
+      retstr += " (SPI)"
+
+    return retstr
+
+  def print5(self, shortdata, ecc):
+    [fs, dr, um, ident] = self.parse5(shortdata)
+
+    retstr = "Type 5 (short surveillance ident reply) from %x with ident %i" % (ecc, ident)
+
+    if fs == 1:
+      retstr += " (aircraft is on the ground)"
+    elif fs == 2:
+      retstr += " (AIRBORNE ALERT)"
+    elif fs == 3:
+      retstr += " (GROUND ALERT)"
+    elif fs == 4:
+      retstr += " (SPI ALERT)"
+    elif fs == 5:
+      retstr += " (SPI)"
+
+    return retstr
+
+  def print11(self, data, ecc):
+    [icao24, interrogator, ca] = self.parse11(data, ecc)
+    retstr = "Type 11 (all call reply) from %x in reply to interrogator %i with capability level %i" % (icao24, interrogator, ca+1)
+    return retstr
+
+  def print17(self, data):
+    icao24 = data["aa"]
+    bdsreg = data["me"].get_type()
+
+    retstr = None
+
+    if bdsreg == 0x08:
+      (msg, typestring) = self.parseBDS08(data)
+      retstr = "Type 17 BDS0,8 (ident) from %x type %s ident %s" % (icao24, typestring, msg)
+
+    elif bdsreg == 0x06:
+      [ground_track, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS06(data)
+      retstr = "Type 17 BDS0,6 (surface report) from %x at (%.6f, %.6f) ground track %i" % (icao24, decoded_lat, decoded_lon, ground_track)
+      if rnge is not None and bearing is not None:
+        retstr += " (%.2f @ %.0f)" % (rnge, bearing)
+
+    elif bdsreg == 0x05:
+      [altitude, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS05(data)
+      retstr = "Type 17 BDS0,5 (position report) from %x at (%.6f, %.6f)" % (icao24, decoded_lat, decoded_lon)
+      if rnge is not None and bearing is not None:
+        retstr += " (" + "%.2f" % rnge + " @ " + "%.0f" % bearing + ")"
+      retstr += " at " + str(altitude) + "ft"
+
+    elif bdsreg == 0x09:
+      subtype = data["bds09"].get_type()
+      if subtype == 0:
+        [velocity, heading, vert_spd, turnrate] = self.parseBDS09_0(data)
+        retstr = "Type 17 BDS0,9-%i (track report) from %x with velocity %.0fkt heading %.0f VS %.0f turn rate %.0f" \
+                 % (subtype, icao24, velocity, heading, vert_spd, turnrate)
+      elif subtype == 1:
+        [velocity, heading, vert_spd] = self.parseBDS09_1(data)
+        retstr = "Type 17 BDS0,9-%i (track report) from %x with velocity %.0fkt heading %.0f VS %.0f" % (subtype, icao24, velocity, heading, vert_spd)
+      elif subtype == 3:
+        [mag_hdg, vel_src, vel, vert_spd, geo_diff] = self.parseBDS09_3(data)
+        retstr = "Type 17 BDS0,9-%i (air course report) from %x with %s %.0fkt magnetic heading %.0f VS %.0f geo. diff. from baro. alt. %.0fft" \
+                 % (subtype, icao24, vel_src, vel, mag_hdg, vert_spd, geo_diff)
+    
+      else:
+        retstr = "Type 17 BDS0,9-%i from %x not implemented" % (subtype, icao24)
+
+    elif bdsreg == 0x62:
+      emerg_str = self.parseBDS62(data)
+      retstr = "Type 17 BDS6,2 (emergency) from %x type %s" % (icao24, emerg_str)
+      
     else:
-      raise ADSBError
+      retstr = "Type 17 with FTC=%i from %x not implemented" % (data["ftc"], icao24)
 
-  def handle4(self, msg):
-    try:
-      retstr = output_print.prefix(msg)
-      retstr += "Type 4 (short surveillance altitude reply) from %x at %ift" % (msg.ecc, air_modes.decode_alt(msg.data["ac"], True))
-      retstr += output_print.fs_text(msg.data["fs"])    
-    except ADSBError:
-      return
-    self._print(retstr)
+    return retstr
 
-  def handle5(self, msg):
-    try:
-      retstr = output_print.prefix(msg)
-      retstr += "Type 5 (short surveillance ident reply) from %x with ident %i" % (msg.ecc, air_modes.decode_id(msg.data["id"]))
-      retstr += output_print.fs_text(msg.data["fs"])
-    except ADSBError:
-      return
-    self._print(retstr)
-
-  def handle11(self, msg):
-    try:
-      retstr = output_print.prefix(msg)
-      retstr += "Type 11 (all call reply) from %x in reply to interrogator %i with capability level %i" % (msg.data["aa"], msg.ecc & 0xF, msg.data["ca"]+1)
-    except ADSBError:
-      return
-    self._print(retstr)
-
-  #the only one which requires state
-  def handle17(self, msg):
-    icao24 = msg.data["aa"]
-    bdsreg = msg.data["me"].get_type()
-
-    retstr = output_print.prefix(msg)
-    try:
-        if bdsreg == 0x08:
-          (ident, typestring) = air_modes.parseBDS08(msg.data)
-          retstr += "Type 17 BDS0,8 (ident) from %x type %s ident %s" % (icao24, typestring, ident)
-
-        elif bdsreg == 0x06:
-          [ground_track, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS06(msg.data, self._cpr)
-          retstr += "Type 17 BDS0,6 (surface report) from %x at (%.6f, %.6f) ground track %i" % (icao24, decoded_lat, decoded_lon, ground_track)
-          if rnge is not None and bearing is not None:
-            retstr += " (%.2f @ %.0f)" % (rnge, bearing)
-
-        elif bdsreg == 0x05:
-          [altitude, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS05(msg.data, self._cpr)
-          retstr += "Type 17 BDS0,5 (position report) from %x at (%.6f, %.6f)" % (icao24, decoded_lat, decoded_lon)
-          if rnge is not None and bearing is not None:
-            retstr += " (" + "%.2f" % rnge + " @ " + "%.0f" % bearing + ")"
-          retstr += " at " + str(altitude) + "ft"
-
-        elif bdsreg == 0x09:
-          subtype = msg.data["bds09"].get_type()
-          if subtype == 0:
-            [velocity, heading, vert_spd, turnrate] = air_modes.parseBDS09_0(msg.data)
-            retstr += "Type 17 BDS0,9-%i (track report) from %x with velocity %.0fkt heading %.0f VS %.0f turn rate %.0f" \
-                     % (subtype, icao24, velocity, heading, vert_spd, turnrate)
-          elif subtype == 1:
-            [velocity, heading, vert_spd] = air_modes.parseBDS09_1(msg.data)
-            retstr += "Type 17 BDS0,9-%i (track report) from %x with velocity %.0fkt heading %.0f VS %.0f" % (subtype, icao24, velocity, heading, vert_spd)
-          elif subtype == 3:
-            [mag_hdg, vel_src, vel, vert_spd, geo_diff] = air_modes.parseBDS09_3(msg.data)
-            retstr += "Type 17 BDS0,9-%i (air course report) from %x with %s %.0fkt magnetic heading %.0f VS %.0f geo. diff. from baro. alt. %.0fft" \
-                     % (subtype, icao24, vel_src, vel, mag_hdg, vert_spd, geo_diff)
-
-          else:
-            retstr += "Type 17 BDS0,9-%i from %x not implemented" % (subtype, icao24)
-
-        elif bdsreg == 0x62:
-          emerg_str = air_modes.parseBDS62(data)
-          retstr += "Type 17 BDS6,2 (emergency) from %x type %s" % (icao24, emerg_str)
-
-        else:
-          retstr += "Type 17 with FTC=%i from %x not implemented" % (msg.data["ftc"], icao24)
-    except ADSBError:
-        return
-
-    self._print(retstr)
-
-  def printTCAS(self, msg):
-    msgtype = msg.data["df"]
+  def printTCAS(self, data, ecc):
+    msgtype = data["df"]
+    if msgtype == 20 or msgtype == 16:
+      #type 16 does not have fs, dr, um but we get alt here
+      [fs, dr, um, alt] = self.parse4(data)
+    elif msgtype == 21:
+      [fs, dr, um, ident] = self.parse5(data)
 
     if msgtype == 16:
-      bds1 = msg.data["vds1"]
-      bds2 = msg.data["vds2"]
+      bds1 = data["vds1"]
+      bds2 = data["vds2"]
     else:
-      bds1 = msg.data["bds1"]
-      bds2 = msg.data["bds2"]
-
-    retstr = output_print.prefix(msg)
+      bds1 = data["bds1"]
+      bds2 = data["bds2"]
 
     if bds2 != 0:
-      retstr += "No handler in type %i for BDS2 == %i from %x" % (msgtype, bds2, msg.ecc)
+      retstr = "No handler in type %i for BDS2 == %i from %x" % (msgtype, bds2, ecc)
 
     elif bds1 == 0:
-      retstr += "No handler in type %i for BDS1 == 0 from %x" % (msgtype, msg.ecc)
+      retstr = "No handler in type %i for BDS1 == 0 from %x" % (msgtype, ecc)
     elif bds1 == 1:
-      retstr += "Type %i link capability report from %x: ACS: 0x%x, BCS: 0x%x, ECS: 0x%x, continues %i" \
-                % (msgtype, msg.ecc, msg.data["acs"], msg.data["bcs"], msg.data["ecs"], msg.data["cfs"])
+      retstr = "Type %i link capability report from %x: ACS: 0x%x, BCS: 0x%x, ECS: 0x%x, continues %i" \
+                % (msgtype, ecc, data["acs"], data["bcs"], data["ecs"], data["cfs"])
     elif bds1 == 2:
-      retstr += "Type %i identification from %x with text %s" % (msgtype, msg.ecc, air_modes.parseMB_id(msg.data))
+      retstr = "Type %i identification from %x with text %s" % (msgtype, ecc, self.parseMB_id(data))
     elif bds1 == 3:
-      retstr += "Type %i TCAS report from %x: " % (msgtype, msg.ecc)
-      tti = msg.data["tti"]
+      retstr = "Type %i TCAS report from %x: " % (msgtype, ecc)
+      tti = data["tti"]
       if msgtype == 16:
-        (resolutions, complements, rat, mte) = air_modes.parse_TCAS_CRM(msg.data)
+        (resolutions, complements, rat, mte) = self.parse_TCAS_CRM(data)
         retstr += "advised: %s complement: %s" % (resolutions, complements)
       else:
           if tti == 1:
-            (resolutions, complements, rat, mte, threat_id) = air_modes.parseMB_TCAS_threatid(msg.data)
+            (resolutions, complements, rat, mte, threat_id) = self.parseMB_TCAS_threatid(data)
             retstr += "threat ID: %x advised: %s complement: %s" % (threat_id, resolutions, complements)
           elif tti == 2:
-            (resolutions, complements, rat, mte, threat_alt, threat_range, threat_bearing) = air_modes.parseMB_TCAS_threatloc(msg.data)
+            (resolutions, complements, rat, mte, threat_alt, threat_range, threat_bearing) = self.parseMB_TCAS_threatloc(data)
             retstr += "range: %i bearing: %i alt: %i advised: %s complement: %s" % (threat_range, threat_bearing, threat_alt, resolutions, complements)
           else:
             rat = 0
@@ -223,15 +227,11 @@ class output_print:
       if rat == 1:
         retstr += " (resolved)"
     else:
-      retstr += "No handler for type %i, BDS1 == %i from %x" % (msgtype, bds1, msg.ecc)
+      retstr = "No handler for BDS1 == %i from %x" % (bds1, ecc)
 
     if(msgtype == 20 or msgtype == 16):
-      retstr += " at %ift" % air_modes.decode_alt(msg.data["ac"], True)
+      retstr += " at %ift" % alt
     else:
-      retstr += " ident %x" % air_modes.decode_id(msg.data["id"])
-
-    self._print(retstr)
-
-  handle16 = printTCAS
-  handle20 = printTCAS
-  handle21 = printTCAS
+      retstr += " ident %x" % ident
+      
+    return retstr

python/parse.py

@@ -23,8 +23,8 @@ import time, os, sys
 from string import split, join
 from altitude import decode_alt
 import math
-import air_modes
 from air_modes.exceptions import *
+from air_modes import cpr
 
 #this implements a packet class which can retrieve its own fields.
 class data_field:
@@ -231,207 +231,198 @@ class modes_reply(data_field):
   def get_type(self):
     return self.get_bits(1,5)
 
-#unscramble mode A/C-style squawk codes for type 5 replies below
-def decode_id(id):
-  
-  C1 = 0x1000
-  A1 = 0x0800
-  C2 = 0x0400
-  A2 = 0x0200	#this represents the order in which the bits come
-  C4 = 0x0100
-  A4 = 0x0080
-  B1 = 0x0020
-  D1 = 0x0010
-  B2 = 0x0008
-  D2 = 0x0004
-  B4 = 0x0002
-  D4 = 0x0001
-  
-  a = ((id & A1) >> 11) + ((id & A2) >> 8) + ((id & A4) >> 5)
-  b = ((id & B1) >> 5)  + ((id & B2) >> 2) + ((id & B4) << 1)
-  c = ((id & C1) >> 12) + ((id & C2) >> 9) + ((id & C4) >> 6)
-  d = ((id & D1) >> 2)  + ((id & D2) >> 1) + ((id & D4) << 2)
-   
-  return (a * 1000) + (b * 100) + (c * 10) + d
+class parse:
+  def __init__(self, mypos):
+      self.my_location = mypos
+      self.cpr = cpr.cpr_decoder(self.my_location)
+    
+  def parse0(self, data):
+    altitude = decode_alt(data["ac"], True)
+    return [data["vs"], data["cc"], data["sl"], data["ri"], altitude]
 
-#decode ident squawks
-def charmap(d):
-  if d > 0 and d < 27:
-    retval = chr(ord("A")+d-1)
-  elif d == 32:
-    retval = " "
-  elif d > 47 and d < 58:
-    retval = chr(ord("0")+d-48)
-  else:
-    retval = " "
+  def parse4(self, data):
+    altitude = decode_alt(data["ac"], True)
+    return [data["fs"], data["dr"], data["um"], altitude]
 
-  return retval
+  def parse5(self, data):
+    return [data["fs"], data["dr"], data["um"], data["id"]]
+
+  def parse11(self, data, ecc):
+    interrogator = ecc & 0x0F
+    return [data["aa"], interrogator, data["ca"]]    
 
-def parseBDS08(data):
   categories = [["NO INFO", "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED"],\
                 ["NO INFO", "SURFACE EMERGENCY VEHICLE", "SURFACE SERVICE VEHICLE", "FIXED OBSTRUCTION", "CLUSTER OBSTRUCTION", "LINE OBSTRUCTION", "RESERVED"],\
                 ["NO INFO", "GLIDER", "BALLOON/BLIMP", "PARACHUTE", "ULTRALIGHT", "RESERVED", "UAV", "SPACECRAFT"],\
                 ["NO INFO", "LIGHT", "SMALL", "LARGE", "LARGE HIGH VORTEX", "HEAVY", "HIGH PERFORMANCE", "ROTORCRAFT"]]
 
-  catstring = categories[data["ftc"]-1][data["cat"]]
+  def parseBDS08(self, data):
+    catstring = self.categories[data["ftc"]-1][data["cat"]]
 
-  msg = ""
-  for i in range(0, 8):
-    msg += charmap(data["ident"] >> (42-6*i) & 0x3F)
-  return (msg, catstring)
+    msg = ""
+    for i in range(0, 8):
+      msg += self.charmap(data["ident"] >> (42-6*i) & 0x3F)
+    return (msg, catstring)
 
-#NOTE: this is stateful -- requires CPR decoder
-def parseBDS05(data, cprdec):
-  altitude = decode_alt(data["alt"], False)
-  [decoded_lat, decoded_lon, rnge, bearing] = cprdec.decode(data["aa"], data["lat"], data["lon"], data["cpr"], 0)
-  return [altitude, decoded_lat, decoded_lon, rnge, bearing]
+  def charmap(self, d):
+    if d > 0 and d < 27:
+      retval = chr(ord("A")+d-1)
+    elif d == 32:
+      retval = " "
+    elif d > 47 and d < 58:
+      retval = chr(ord("0")+d-48)
+    else:
+      retval = " "
 
-#NOTE: this is stateful -- requires CPR decoder
-def parseBDS06(data, cprdec):
-  ground_track = data["gtk"] * 360. / 128
-  [decoded_lat, decoded_lon, rnge, bearing] = cprdec.decode(data["aa"], data["lat"], data["lon"], data["cpr"], 1)
-  return [ground_track, decoded_lat, decoded_lon, rnge, bearing]
+    return retval
 
-def parseBDS09_0(data):
-  #0: ["sub", "dew", "vew", "dns", "vns", "str", "tr", "svr", "vr"],
-  vert_spd = data["vr"] * 32
-  ud = bool(data["dvr"])
-  if ud:
-    vert_spd = 0 - vert_spd
-  turn_rate = data["tr"] * 15/62
-  rl = data["str"]
-  if rl:
-    turn_rate = 0 - turn_rate
-  ns_vel = data["vns"] - 1
-  ns = bool(data["dns"])
-  ew_vel = data["vew"] - 1
-  ew = bool(data["dew"])
+  def parseBDS05(self, data):
+    icao24 = data["aa"]
+
+    encoded_lon = data["lon"]
+    encoded_lat = data["lat"]
+    cpr_format = data["cpr"]
+    altitude = decode_alt(data["alt"], False)
+
+    [decoded_lat, decoded_lon, rnge, bearing] = self.cpr.decode(icao24, encoded_lat, encoded_lon, cpr_format, 0)
+
+    return [altitude, decoded_lat, decoded_lon, rnge, bearing]
+
+
+  #welp turns out it looks like there's only 17 bits in the BDS0,6 ground packet after all.
+  def parseBDS06(self, data):
+    icao24 = data["aa"]
+ 
+    encoded_lon = data["lon"]
+    encoded_lat = data["lat"]
+    cpr_format = data["cpr"]
+    ground_track = data["gtk"] * 360. / 128
+    [decoded_lat, decoded_lon, rnge, bearing] = self.cpr.decode(icao24, encoded_lat, encoded_lon, cpr_format, 1)
+    return [ground_track, decoded_lat, decoded_lon, rnge, bearing]
+
+  def parseBDS09_0(self, data):
+    #0: ["sub", "dew", "vew", "dns", "vns", "str", "tr", "svr", "vr"],
+    vert_spd = data["vr"] * 32
+    ud = bool(data["dvr"])
+    if ud:
+      vert_spd = 0 - vert_spd
+    turn_rate = data["tr"] * 15/62
+    rl = data["str"]
+    if rl:
+      turn_rate = 0 - turn_rate
+    ns_vel = data["vns"] - 1
+    ns = bool(data["dns"])
+    ew_vel = data["vew"] - 1
+    ew = bool(data["dew"])
     
-  velocity = math.hypot(ns_vel, ew_vel)
-  if ew:
-    ew_vel = 0 - ew_vel
-  if ns:
-    ns_vel = 0 - ns_vel
-  heading = math.atan2(ew_vel, ns_vel) * (180.0 / math.pi)
-  if heading < 0:
-    heading += 360
+    velocity = math.hypot(ns_vel, ew_vel)
+    if ew:
+      ew_vel = 0 - ew_vel
+    if ns:
+      ns_vel = 0 - ns_vel
+    heading = math.atan2(ew_vel, ns_vel) * (180.0 / math.pi)
+    if heading < 0:
+      heading += 360
 
-  return [velocity, heading, vert_spd, turn_rate]
+    return [velocity, heading, vert_spd, turn_rate]
 
-def parseBDS09_1(data):
-  #1: ["sub", "icf", "ifr", "nuc", "dew", "vew", "dns", "vns", "vrsrc", "dvr", "vr", "dhd", "hd"],
-  alt_geo_diff = data["hd"] * 25
-  above_below = bool(data["dhd"])
-  if above_below:
-    alt_geo_diff = 0 - alt_geo_diff;
-  vert_spd = float(data["vr"] - 1) * 64
-  ud = bool(data["dvr"])
-  if ud:
-    vert_spd = 0 - vert_spd
-  vert_src = bool(data["vrsrc"])
-  ns_vel = float(data["vns"])
-  ns = bool(data["dns"])
-  ew_vel = float(data["vew"])
-  ew = bool(data["dew"])
-  subtype = data["sub"]
-  if subtype == 0x02:
-    ns_vel <<= 2
-    ew_vel <<= 2
+  def parseBDS09_1(self, data):
+    #1: ["sub", "icf", "ifr", "nuc", "dew", "vew", "dns", "vns", "vrsrc", "dvr", "vr", "dhd", "hd"],
+    alt_geo_diff = data["hd"] * 25
+    above_below = bool(data["dhd"])
+    if above_below:
+      alt_geo_diff = 0 - alt_geo_diff;
+    vert_spd = float(data["vr"] - 1) * 64
+    ud = bool(data["dvr"])
+    if ud:
+      vert_spd = 0 - vert_spd
+    vert_src = bool(data["vrsrc"])
+    ns_vel = float(data["vns"])
+    ns = bool(data["dns"])
+    ew_vel = float(data["vew"])
+    ew = bool(data["dew"])
+    subtype = data["sub"]
+    if subtype == 0x02:
+      ns_vel <<= 2
+      ew_vel <<= 2
 
-  velocity = math.hypot(ns_vel, ew_vel)
-  if ew:
-    ew_vel = 0 - ew_vel
+    velocity = math.hypot(ns_vel, ew_vel)
+    if ew:
+      ew_vel = 0 - ew_vel
 	
-  if ns_vel == 0:
-    heading = 0
-  else:
-    heading = math.atan(float(ew_vel) / float(ns_vel)) * (180.0 / math.pi)
-  if ns:
-    heading = 180 - heading
-  if heading < 0:
-    heading += 360
+    if ns_vel == 0:
+      heading = 0
+    else:
+      heading = math.atan(float(ew_vel) / float(ns_vel)) * (180.0 / math.pi)
+    if ns:
+      heading = 180 - heading
+    if heading < 0:
+      heading += 360
 
-  return [velocity, heading, vert_spd]
+    return [velocity, heading, vert_spd]
 
-def parseBDS09_3(data):
+  def parseBDS09_3(self, data):
     #3: {"sub", "icf", "ifr", "nuc", "mhs", "hdg", "ast", "spd", "vrsrc",
     #    "dvr", "vr", "dhd", "hd"}
-  mag_hdg = data["mhs"] * 360. / 1024
-  vel_src = "TAS" if data["ast"] == 1 else "IAS"
-  vel = data["spd"]
-  if data["sub"] == 4:
-      vel *= 4
-  vert_spd = float(data["vr"] - 1) * 64
-  if data["dvr"] == 1:
-      vert_spd = 0 - vert_spd
-  geo_diff = float(data["hd"] - 1) * 25
-  return [mag_hdg, vel_src, vel, vert_spd, geo_diff]
+    mag_hdg = data["mhs"] * 360. / 1024
+    vel_src = "TAS" if data["ast"] == 1 else "IAS"
+    vel = data["spd"]
+    if data["sub"] == 4:
+        vel *= 4
+    vert_spd = float(data["vr"] - 1) * 64
+    if data["dvr"] == 1:
+        vert_spd = 0 - vert_spd
+    geo_diff = float(data["hd"] - 1) * 25
+    return [mag_hdg, vel_src, vel, vert_spd, geo_diff]
       
 
-def parseBDS62(data):
-  eps_strings = ["NO EMERGENCY", "GENERAL EMERGENCY", "LIFEGUARD/MEDICAL", "FUEL EMERGENCY",
-                 "NO COMMUNICATIONS", "UNLAWFUL INTERFERENCE", "RESERVED", "RESERVED"]
-  return eps_strings[data["eps"]]
+  def parseBDS62(self, data):
+    eps_strings = ["NO EMERGENCY", "GENERAL EMERGENCY", "LIFEGUARD/MEDICAL", "FUEL EMERGENCY",
+                   "NO COMMUNICATIONS", "UNLAWFUL INTERFERENCE", "RESERVED", "RESERVED"]
+    return eps_strings[data["eps"]]
 
-def parseMB_id(data): #bds1 == 2, bds2 == 0
-  msg = ""
-  for i in range(0, 8):
-    msg += charmap( data["ais"] >> (42-6*i) & 0x3F)
-  return (msg)
+  def parseMB_id(self, data): #bds1 == 2, bds2 == 0
+    msg = ""
+    for i in range(0, 8):
+      msg += self.charmap( data["ais"] >> (42-6*i) & 0x3F)
+    return (msg)
 
-def parseMB_TCAS_resolutions(data):
-  #these are LSB because the ICAO are asshats
-  ara_bits    = {41: "CLIMB", 42: "DON'T DESCEND", 43: "DON'T DESCEND >500FPM", 44: "DON'T DESCEND >1000FPM",
-                 45: "DON'T DESCEND >2000FPM", 46: "DESCEND", 47: "DON'T CLIMB", 48: "DON'T CLIMB >500FPM",
-                 49: "DON'T CLIMB >1000FPM", 50: "DON'T CLIMB >2000FPM", 51: "TURN LEFT", 52: "TURN RIGHT",
-                 53: "DON'T TURN LEFT", 54: "DON'T TURN RIGHT"}
-  rac_bits    = {55: "DON'T DESCEND", 56: "DON'T CLIMB", 57: "DON'T TURN LEFT", 58: "DON'T TURN RIGHT"}
-  ara = data["ara"]
-  rac = data["rac"]
-  #check to see which bits are set
-  resolutions = ""
-  for bit in ara_bits:
-    if ara & (1 << (54-bit)):
-      resolutions += " " + ara_bits[bit]
-  complements = ""
-  for bit in rac_bits:
-    if rac & (1 << (58-bit)):
-      complements += " " + rac_bits[bit]
-  return (resolutions, complements)
+  def parseMB_TCAS_resolutions(self, data):
+    #these are LSB because the ICAO are asshats
+    ara_bits    = {41: "CLIMB", 42: "DON'T DESCEND", 43: "DON'T DESCEND >500FPM", 44: "DON'T DESCEND >1000FPM",
+                   45: "DON'T DESCEND >2000FPM", 46: "DESCEND", 47: "DON'T CLIMB", 48: "DON'T CLIMB >500FPM",
+                   49: "DON'T CLIMB >1000FPM", 50: "DON'T CLIMB >2000FPM", 51: "TURN LEFT", 52: "TURN RIGHT",
+                   53: "DON'T TURN LEFT", 54: "DON'T TURN RIGHT"}
+    rac_bits    = {55: "DON'T DESCEND", 56: "DON'T CLIMB", 57: "DON'T TURN LEFT", 58: "DON'T TURN RIGHT"}
+    ara = data["ara"]
+    rac = data["rac"]
+    #check to see which bits are set
+    resolutions = ""
+    for bit in ara_bits:
+      if ara & (1 << (54-bit)):
+        resolutions += " " + ara_bits[bit]
+    complements = ""
+    for bit in rac_bits:
+      if rac & (1 << (58-bit)):
+        complements += " " + rac_bits[bit]
+    return (resolutions, complements)
 
-#rat is 1 if resolution advisory terminated <18s ago
-#mte is 1 if multiple threats indicated
-#tti is threat type: 1 if ID, 2 if range/brg/alt
-#tida is threat altitude in Mode C format
-def parseMB_TCAS_threatid(data): #bds1==3, bds2==0, TTI==1
-  #3: {"bds1": (33,4), "bds2": (37,4), "ara": (41,14), "rac": (55,4), "rat": (59,1),
-  #    "mte": (60,1), "tti": (61,2),  "tida": (63,13), "tidr": (76,7), "tidb": (83,6)}
-  (resolutions, complements) = parseMB_TCAS_resolutions(data)
-  return (resolutions, complements, data["rat"], data["mte"], data["tid"])
+  #rat is 1 if resolution advisory terminated <18s ago
+  #mte is 1 if multiple threats indicated
+  #tti is threat type: 1 if ID, 2 if range/brg/alt
+  #tida is threat altitude in Mode C format
+  def parseMB_TCAS_threatid(self, data): #bds1==3, bds2==0, TTI==1
+    #3: {"bds1": (33,4), "bds2": (37,4), "ara": (41,14), "rac": (55,4), "rat": (59,1),
+    #    "mte": (60,1), "tti": (61,2),  "tida": (63,13), "tidr": (76,7), "tidb": (83,6)}
+    (resolutions, complements) = self.parseMB_TCAS_resolutions(data)
+    return (resolutions, complements, data["rat"], data["mte"], data["tid"])
 
-def parseMB_TCAS_threatloc(data): #bds1==3, bds2==0, TTI==2
-  (resolutions, complements) = parseMB_TCAS_resolutions(data)
-  threat_alt = decode_alt(data["tida"], True)
-  return (resolutions, complements, data["rat"], data["mte"], threat_alt, data["tidr"], data["tidb"])
+  def parseMB_TCAS_threatloc(self, data): #bds1==3, bds2==0, TTI==2
+    (resolutions, complements) = self.parseMB_TCAS_resolutions(data)
+    threat_alt = decode_alt(data["tida"], True)
+    return (resolutions, complements, data["rat"], data["mte"], threat_alt, data["tidr"], data["tidb"])
 
-#type 16 Coordination Reply Message
-def parse_TCAS_CRM(data):
-  (resolutions, complements) = parseMB_TCAS_resolutions(data)
-  return (resolutions, complements, data["rat"], data["mte"])
-
-#this decorator takes a pubsub and returns a function which parses and publishes messages
-def make_parser(pub):
-  publisher = pub
-  def publish(message):
-    [data, ecc, reference, timestamp] = message.split()
-    try:
-      ret = air_modes.modes_report(modes_reply(int(data, 16)),
-                                   int(ecc, 16),
-                                   20.0*math.log10(float(reference)),
-                                   air_modes.stamp(0, float(timestamp)))
-      pub["modes_dl"] = ret
-      pub["type%i_dl" % ret.data.get_type()] = ret
-    except ADSBError:
-      pass
-
-  return publish
+  #type 16 Coordination Reply Message
+  def parse_TCAS_CRM(self, data):
+    (resolutions, complements) = self.parseMB_TCAS_resolutions(data)
+    return (resolutions, complements, data["rat"], data["mte"])

python/radio.py

@@ -1,208 +0,0 @@
-# Copyright 2013 Nick Foster
-# 
-# This file is part of gr-air-modes
-# 
-# gr-air-modes is free software; you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation; either version 3, or (at your option)
-# any later version.
-# 
-# gr-air-modes is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-# 
-# You should have received a copy of the GNU General Public License
-# along with gr-air-modes; see the file COPYING.  If not, write to
-# the Free Software Foundation, Inc., 51 Franklin Street,
-# Boston, MA 02110-1301, USA.
-#
-
-# Radio interface for Mode S RX.
-# Handles all hardware- and source-related functionality
-# You pass it options, it gives you data.
-# It uses the pubsub interface to allow clients to subscribe to its data feeds.
-
-from gnuradio import gr, gru, eng_notation, filter
-from gnuradio.filter import optfir
-from gnuradio.eng_option import eng_option
-from gnuradio.gr.pubsub import pubsub
-from optparse import OptionParser, OptionGroup
-import air_modes
-import zmq
-import threading
-import time
-import re
-
-class modes_radio (gr.top_block, pubsub):
-  def __init__(self, options, context):
-    gr.top_block.__init__(self)
-    pubsub.__init__(self)
-    self._options = options
-    self._queue = gr.msg_queue()
-    self._rate = int(options.rate)
-
-    self._resample = None
-    self._setup_source(options)
-
-    self._rx_path = air_modes.rx_path(self._rate, options.threshold, self._queue, options.pmf)
-
-    #now subscribe to set various options via pubsub
-    self.subscribe("freq", self.set_freq)
-    self.subscribe("gain", self.set_gain)
-    self.subscribe("rate", self.set_rate)
-    self.subscribe("rate", self._rx_path.set_rate)
-    self.subscribe("threshold", self._rx_path.set_threshold)
-    self.subscribe("pmf", self._rx_path.set_pmf)
-
-    self.publish("freq", self.get_freq)
-    self.publish("gain", self.get_gain)
-    self.publish("rate", self.get_rate)
-    self.publish("threshold", self._rx_path.get_threshold)
-    self.publish("pmf", self._rx_path.get_pmf)
-
-    if self._resample is not None:
-        self.connect(self._u, self._resample, self._rx_path)
-    else:
-        self.connect(self._u, self._rx_path)
-
-    #Publish messages when they come back off the queue
-    server_addr = ["inproc://modes-radio-pub"]
-    if options.tcp is not None:
-        server_addr += ["tcp://*:%i" % options.tcp]
-
-    self._sender = air_modes.zmq_pubsub_iface(context, subaddr=None, pubaddr=server_addr)
-    self._async_sender = gru.msgq_runner(self._queue, self.send)
-
-  def send(self, msg):
-    self._sender["dl_data"] = msg.to_string()
-
-  @staticmethod
-  def add_radio_options(parser):
-    group = OptionGroup(parser, "Receiver setup options")
-      
-    #Choose source
-    group.add_option("-s","--source", type="string", default="uhd",
-                      help="Choose source: uhd, osmocom, <filename>, or <ip:port> [default=%default]")
-    group.add_option("-t","--tcp", type="int", default=None, metavar="PORT",
-                      help="Open a TCP server on this port to publish reports")
-
-    #UHD/Osmocom args
-    group.add_option("-R", "--subdev", type="string",
-                      help="select USRP Rx side A or B", metavar="SUBDEV")
-    group.add_option("-A", "--antenna", type="string",
-                      help="select which antenna to use on daughterboard")
-    group.add_option("-D", "--args", type="string",
-                      help="arguments to pass to radio constructor", default="")
-    group.add_option("-f", "--freq", type="eng_float", default=1090e6,
-                      help="set receive frequency in Hz [default=%default]", metavar="FREQ")
-    group.add_option("-g", "--gain", type="int", default=None,
-                      help="set RF gain", metavar="dB")
-
-    #RX path args
-    group.add_option("-r", "--rate", type="eng_float", default=4e6,
-                      help="set sample rate [default=%default]")
-    group.add_option("-T", "--threshold", type="eng_float", default=5.0,
-                      help="set pulse detection threshold above noise in dB [default=%default]")
-    group.add_option("-p","--pmf", action="store_true", default=False,
-                      help="Use pulse matched filtering [default=%default]")
-
-    parser.add_option_group(group)
-
-  def live_source(self):
-    return self._options.source is 'uhd' or self._options.source is 'osmocom'
-
-  def set_freq(self, freq):
-    return self._u.set_center_freq(freq, 0) if live_source() else 0
-
-  def set_gain(self, gain):
-    return self._u.set_gain(gain) if live_source() else 0
-
-  def set_rate(self, rate):
-    return self._u.set_rate(rate) if live_source() else 0
-
-  def get_freq(self, freq):
-    return self._u.get_center_freq(freq, 0) if live_source() else 1090e6
-    
-  def get_gain(self, gain):
-    return self._u.get_gain() if live_source() else 0
-
-  def get_rate(self, rate):
-    return self._u.get_rate() if live_source() else self._rate
-
-  def _setup_source(self, options):
-    if options.source == "uhd":
-      #UHD source by default
-      from gnuradio import uhd
-      self._u = uhd.single_usrp_source(options.args, uhd.io_type_t.COMPLEX_FLOAT32, 1)
-
-      if(options.subdev):
-        self._u.set_subdev_spec(options.subdev, 0)
-
-      if not self._u.set_center_freq(options.freq):
-        print "Failed to set initial frequency"
-
-      #check for GPSDO
-      #if you have a GPSDO, UHD will automatically set the timestamp to UTC time
-      #as well as automatically set the clock to lock to GPSDO.
-      if self._u.get_time_source(0) != 'gpsdo':
-        self._u.set_time_now(uhd.time_spec(0.0))
-
-      if options.antenna is not None:
-        self._u.set_antenna(options.antenna)
-
-      self._u.set_samp_rate(options.rate)
-      options.rate = int(self._u.get_samp_rate()) #retrieve actual
-
-      if options.gain is None: #set to halfway
-        g = self._u.get_gain_range()
-        options.gain = (g.start()+g.stop()) / 2.0
-
-      print "Setting gain to %i" % options.gain
-      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.
-    #ALSO TODO: Actually set gain appropriately using gain bins in HackRF driver.
-    #osmocom doesn't have gain bucket distribution like UHD does
-    elif options.source == "osmocom": #RTLSDR dongle or HackRF Jawbreaker
-        import osmosdr
-        self._u = osmosdr.source_c(options.args)
-#        self._u.set_sample_rate(3.2e6) #fixed for RTL dongles
-        self._u.set_sample_rate(options.rate)
-        if not self._u.set_center_freq(options.freq):
-            print "Failed to set initial frequency"
-
-        self._u.set_gain_mode(0) #manual gain mode
-        if options.gain is None:
-            options.gain = 34
-###DO NOT COMMIT
-        self._u.set_gain(14, "RF", 0)
-        self._u.set_gain(40, "IF", 0)
-        #self._u.set_gain(14, "BB", 0)
-###DO NOT COMMIT
-#        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)
-                
-    else:
-      #semantically detect whether it's ip.ip.ip.ip:port or filename
-      if ':' in options.source:
-        try:
-          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 = gr.udp_source(gr.sizeof_gr_complex, ip, int(port))
-        print "Using UDP source %s:%s" % (ip, port)
-      else:
-        self._u = gr.file_source(gr.sizeof_gr_complex, options.source)
-        print "Using file source %s" % options.source
-
-    print "Rate is %i" % (options.rate,)
-
-  def close(self):
-    self._sender.close()

python/rx_path.py

@@ -1,5 +1,5 @@
 #
-# Copyright 2012, 2013 Corgan Labs, Nick Foster
+# Copyright 2012 Corgan Labs
 # 
 # This file is part of gr-air-modes
 # 
@@ -19,7 +19,7 @@
 # Boston, MA 02110-1301, USA.
 # 
 
-from gnuradio import gr, blocks
+from gnuradio import gr
 import air_modes_swig
 
 class rx_path(gr.hier_block2):
@@ -35,17 +35,17 @@ class rx_path(gr.hier_block2):
         self._spc = int(rate/2e6)
 
         # Convert incoming I/Q baseband to amplitude
-        self._demod = blocks.complex_to_mag()
+        self._demod = gr.complex_to_mag()
         self._bb = self._demod
 
         # Pulse matched filter for 0.5us pulses
         if use_pmf:
-            self._pmf = blocks.moving_average_ff(self._spc, 1.0/self._spc)#, self._rate)
+            self._pmf = gr.moving_average_ff(self._spc, 1.0/self._spc, self._rate)
             self.connect(self._demod, self._pmf)
             self._bb = self._pmf
 
         # Establish baseline amplitude (noise, interference)
-        self._avg = blocks.moving_average_ff(48*self._spc, 1.0/(48*self._spc))#, self._rate) # 3 preambles
+        self._avg = gr.moving_average_ff(48*self._spc, 1.0/(48*self._spc), self._rate) # 3 preambles
 
         # Synchronize to Mode-S preamble
         self._sync = air_modes_swig.modes_preamble(self._rate, self._threshold)
@@ -58,25 +58,3 @@ class rx_path(gr.hier_block2):
         self.connect(self._bb, (self._sync, 0))
         self.connect(self._bb, self._avg, (self._sync, 1))
         self.connect(self._sync, self._slicer)
-
-    def set_rate(self, rate):
-        self._sync.set_rate(rate)
-        self._slicer.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)
-
-    def set_threshold(self, threshold):
-        self._sync.set_threshold(threshold)
-
-    def set_pmf(self, pmf):
-        #TODO must be done when top block is stopped
-        pass
-
-    def get_pmf(self, pmf):
-        return not (self._bb == self._demod)
-
-    def get_threshold(self, threshold):
-        return self._sync.get_threshold()
-            

python/sbs1.py

@@ -25,30 +25,10 @@ from string import split, join
 import air_modes
 from datetime import *
 from air_modes.exceptions import *
-import threading
 
-class dumb_task_runner(threading.Thread):
-    def __init__(self, task, interval):
-        threading.Thread.__init__(self)
-        self._task = task
-        self._interval = interval
-        self.shutdown = threading.Event()
-        self.finished = threading.Event()
-        self.setDaemon(True)
-        self.start()
-
-    def run(self):
-        while not self.shutdown.is_set():
-            self._task()
-            time.sleep(self._interval)
-        self.finished.set()
-
-    def close(self):
-        self.shutdown.set()
-        self.finished.wait(self._interval)
-
-class output_sbs1:
-  def __init__(self, cprdec, port, pub):
+class output_sbs1(air_modes.parse):
+  def __init__(self, mypos, port):
+    air_modes.parse.__init__(self, mypos)
     self._s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
     self._s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
     self._s.bind(('', port))
@@ -58,16 +38,6 @@ class output_sbs1:
     self._aircraft_id_map = {} # dictionary of icao24 to aircraft IDs
     self._aircraft_id_count = 0 # Current Aircraft ID count
 
-    self._cpr = cprdec
-
-    #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, output)
-
-    #spawn thread to add new connections as they come in
-    self._runner = dumb_task_runner(self.add_pending_conns, 0.1)
-
   def __del__(self):
     self._s.close()
 
@@ -124,15 +94,14 @@ class output_sbs1:
     elif fs == 3:
       return "1,0,0,1"
     elif fs == 4:
-      return "1,0,1,"
+      return "1,0,0,"
     elif fs == 5:
-      return "0,0,1,"
+      return "0,0,0,"
     else:
       return ",,,"
 
   def parse(self, msg):
     #assembles a SBS-1-style output string from the received message
-
     msgtype = msg.data["df"]
     outmsg = None
 
@@ -152,8 +121,9 @@ class output_sbs1:
 
   def pp0(self, shortdata, ecc):
     [datestr, timestr] = self.current_time()
+    [vs, cc, sl, ri, altitude] = self.parse0(shortdata)
     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))
+    retstr = "MSG,7,0,%i,%06X,%i,%s,%s,%s,%s,,%s,,,,,,,,,," % (aircraft_id, ecc, aircraft_id+100, datestr, timestr, datestr, timestr, altitude)
     if vs:
       retstr += "1\r\n"
     else:
@@ -162,20 +132,24 @@ class output_sbs1:
 
   def pp4(self, shortdata, ecc):
     [datestr, timestr] = self.current_time()
+    [fs, dr, um, altitude] = self.parse4(shortdata)
     aircraft_id = self.get_aircraft_id(ecc)
-    retstr = "MSG,5,0,%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))
-    return retstr + self.decode_fs(shortdata["fs"]) + "\r\n"
+    retstr = "MSG,5,0,%i,%06X,%i,%s,%s,%s,%s,,%s,,,,,,," % (aircraft_id, ecc, aircraft_id+100, datestr, timestr, datestr, timestr, altitude)
+    return retstr + self.decode_fs(fs) + "\r\n"
 
   def pp5(self, shortdata, ecc):
+    # I'm not sure what to do with the identiifcation shortdata & 0x1FFF
     [datestr, timestr] = self.current_time()
+    [fs, dr, um, ident] = self.parse5(shortdata)
     aircraft_id = self.get_aircraft_id(ecc)
-    retstr = "MSG,6,0,%i,%06X,%i,%s,%s,%s,%s,,,,,,,,%04i," % (aircraft_id, ecc, aircraft_id+100, datestr, timestr, datestr, timestr, air_modes.decode_id(shortdata["id"]))
-    return retstr + self.decode_fs(shortdata["fs"]) + "\r\n"
+    retstr = "MSG,6,0,%i,%06X,%i,%s,%s,%s,%s,,,,,,,,," % (aircraft_id, ecc, aircraft_id+100, datestr, timestr, datestr, timestr)
+    return retstr + self.decode_fs(fs) + "\r\n"
 
   def pp11(self, shortdata, ecc):
     [datestr, timestr] = self.current_time()
+    [icao24, interrogator, ca] = self.parse11(shortdata, ecc)
     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)
+    return "MSG,8,0,%i,%06X,%i,%s,%s,%s,%s,,,,,,,,,,,,\r\n" % (aircraft_id, icao24, aircraft_id+100, datestr, timestr, datestr, timestr)
 
   def pp17(self, data):
     icao24 = data["aa"]
@@ -189,12 +163,12 @@ class output_sbs1:
 
     if bdsreg == 0x08:
       # Aircraft Identification
-      (msg, typestring) = air_modes.parseBDS08(data)
+      (msg, typestring) = self.parseBDS08(data)
       retstr = "MSG,1,0,%i,%06X,%i,%s,%s,%s,%s,%s,,,,,,,,,,,\r\n" % (aircraft_id, icao24, aircraft_id+100, datestr, timestr, datestr, timestr, msg)
 
     elif bdsreg == 0x06:
       # Surface position measurement
-      [ground_track, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS06(data, self._cpr)
+      [ground_track, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS06(data)
       altitude = 0
       if decoded_lat is None: #no unambiguously valid position available
         retstr = None
@@ -204,7 +178,7 @@ class output_sbs1:
     elif bdsreg == 0x05:
       # Airborne position measurements
       # WRONG (rnge, bearing), is this still true?
-      [altitude, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS05(data, self._cpr)
+      [altitude, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS05(data)
       if decoded_lat is None: #no unambiguously valid position available
         retstr = None
       else:
@@ -215,7 +189,7 @@ class output_sbs1:
       # WRONG (heading, vert_spd), Is this still true?
       subtype = data["bds09"].get_type()
       if subtype == 0 or subtype == 1:
-        parser = air_modes.parseBDS09_0 if subtype == 0 else air_modes.parseBDS09_1
+        parser = self.parseBDS09_0 if subtype == 0 else self.parseBDS09_1
         [velocity, heading, vert_spd] = parser(data)
         retstr = "MSG,4,0,%i,%06X,%i,%s,%s,%s,%s,,,%.1f,%.1f,,,%i,,,,,\r\n" % (aircraft_id, icao24, aircraft_id+100, datestr, timestr, datestr, timestr, velocity, heading, vert_spd)
 

python/sql.py

@@ -24,63 +24,64 @@ from string import split, join
 import air_modes
 import sqlite3
 from air_modes.exceptions import *
-from gnuradio.gr.pubsub import pubsub
 
-class output_sql:
-  def __init__(self, cpr, filename, lock, publisher):
-    #pubsub.__init__(self)
-    self._cpr = cpr
-    self._lock = lock;
-    #create the database
-    self.filename = filename
-    self._db = sqlite3.connect(filename)
-    #now execute a schema to create the tables you need
-    c = self._db.cursor()
-    query = """CREATE TABLE IF NOT EXISTS "positions" (
-              "icao" INTEGER KEY NOT NULL,
-              "seen" DATETIME NOT NULL,
-              "alt"  INTEGER,
-              "lat"  REAL,
-              "lon"  REAL
-          );"""
-    c.execute(query)
-    query = """CREATE TABLE IF NOT EXISTS "vectors" (
-              "icao"     INTEGER KEY NOT NULL,
-              "seen"     DATETIME NOT NULL,
-              "speed"    REAL,
-              "heading"  REAL,
-              "vertical" REAL
-          );"""
-    c.execute(query)
-    query = """CREATE TABLE IF NOT EXISTS "ident" (
-              "icao"     INTEGER PRIMARY KEY NOT NULL,
-              "ident"    TEXT NOT NULL,
-              "type"     TEXT NOT NULL
-          );"""
-    c.execute(query)
-    c.close()
-    self._db.commit()
-    #we close the db conn now to reopen it in the output() thread context.
-    self._db.close()
-    self._db = None
-    publisher.subscribe("type17_dl", self.insert)
+class output_sql(air_modes.parse):
+  def __init__(self, mypos, filename, lock):
+    air_modes.parse.__init__(self, mypos)
 
-  def insert(self, message):
+    self._lock = lock
+    with self._lock:
+      #create the database
+      self.filename = filename
+      self.db = sqlite3.connect(filename)
+      #now execute a schema to create the tables you need
+      c = self.db.cursor()
+      query = """CREATE TABLE IF NOT EXISTS "positions" (
+                "icao" INTEGER KEY NOT NULL,
+                "seen" TEXT NOT NULL,
+                "alt"  INTEGER,
+                "lat"  REAL,
+                "lon"  REAL
+            );"""
+      c.execute(query)
+      query = """CREATE TABLE IF NOT EXISTS "vectors" (
+                "icao"     INTEGER KEY NOT NULL,
+                "seen"     TEXT NOT NULL,
+                "speed"    REAL,
+                "heading"  REAL,
+                "vertical" REAL
+            );"""
+      c.execute(query)
+      query = """CREATE TABLE IF NOT EXISTS "ident" (
+                "icao"     INTEGER PRIMARY KEY NOT NULL,
+                "ident"    TEXT NOT NULL
+            );"""
+      c.execute(query)
+      c.close()
+      self.db.commit()
+      #we close the db conn now to reopen it in the output() thread context.
+      self.db.close()
+      self.db = None
+
+  def __del__(self):
+    self.db = None
+
+  def output(self, message):
     with self._lock:
       try:
         #we're checking to see if the db is empty, and creating the db object
         #if it is. the reason for this is so that the db writing is done within
         #the thread context of output(), rather than the thread context of the
-        #constructor.
-        if self._db is None:
-          self._db = sqlite3.connect(self.filename)
-
+        #constructor. that way you can spawn a thread to do output().
+        if self.db is None:
+          self.db = sqlite3.connect(self.filename)
+          
         query = self.make_insert_query(message)
         if query is not None:
-            c = self._db.cursor()
+            c = self.db.cursor()
             c.execute(query)
             c.close()
-            self._db.commit()
+            self.db.commit()
 
       except ADSBError:
         pass
@@ -92,38 +93,43 @@ class output_sql:
     msgtype = msg.data["df"]
     if msgtype == 17:
       query = self.sql17(msg.data)
-      #self["new_adsb"] = data["aa"] #publish change notification
 
     return query
 
   def sql17(self, data):
     icao24 = data["aa"]
     bdsreg = data["me"].get_type()
-    #self["bds%.2i" % bdsreg] = icao24 #publish under "bds08", "bds06", etc.
+
+    retstr = None
 
     if bdsreg == 0x08:
       (msg, typename) = self.parseBDS08(data)
-      return "INSERT OR REPLACE INTO ident (icao, ident, type) VALUES (%i, '%s', '%s')" % (icao24, msg, typename)
+      retstr = "INSERT OR REPLACE INTO ident (icao, ident) VALUES (" + "%i" % icao24 + ", '" + msg + "')"
+
     elif bdsreg == 0x06:
-      [ground_track, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS06(data, self._cpr)
+      [ground_track, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS06(data)
       altitude = 0
       if decoded_lat is None: #no unambiguously valid position available
-        raise CPRNoPositionError
+        retstr = None
       else:
-        return "INSERT INTO positions (icao, seen, alt, lat, lon) VALUES (%i, datetime('now'), %i, %.6f, %.6f)" % (icao24, int(altitude), decoded_lat, decoded_lon)
+        retstr = "INSERT INTO positions (icao, seen, alt, lat, lon) VALUES (" + "%i" % icao24 + ", datetime('now'), " + str(altitude) + ", " + "%.6f" % decoded_lat + ", " + "%.6f" % decoded_lon + ")"
+
     elif bdsreg == 0x05:
-      [altitude, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS05(data, self._cpr)
+      [altitude, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS05(data)
       if decoded_lat is None: #no unambiguously valid position available
-        raise CPRNoPositionError
+        retstr = None
       else:
-        return "INSERT INTO positions (icao, seen, alt, lat, lon) VALUES (%i, datetime('now'), %i, %.6f, %.6f)" % (icao24, int(altitude), decoded_lat, decoded_lon)
+        retstr = "INSERT INTO positions (icao, seen, alt, lat, lon) VALUES (" + "%i" % icao24 + ", datetime('now'), " + str(altitude) + ", " + "%.6f" % decoded_lat + ", " + "%.6f" % decoded_lon + ")"
+
     elif bdsreg == 0x09:
       subtype = data["bds09"].get_type()
       if subtype == 0:
         [velocity, heading, vert_spd, turnrate] = self.parseBDS09_0(data)
-        return "INSERT INTO vectors (icao, seen, speed, heading, vertical) VALUES (%i, datetime('now'), %.0f, %.0f, %.0f)" % (icao24, velocity, heading, vert_spd)
+        retstr = "INSERT INTO vectors (icao, seen, speed, heading, vertical) VALUES (" + "%i" % icao24 + ", datetime('now'), " + "%.0f" % velocity + ", " + "%.0f" % heading + ", " + "%.0f" % vert_spd + ")"
       elif subtype == 1:
-        [velocity, heading, vert_spd] = self.parseBDS09_1(data)
-        return "INSERT INTO vectors (icao, seen, speed, heading, vertical) VALUES (%i, datetime('now'), %.0f, %.0f, %.0f)" % (icao24, velocity, heading, vert_spd)
+        [velocity, heading, vert_spd] = self.parseBDS09_1(data)  
+        retstr = "INSERT INTO vectors (icao, seen, speed, heading, vertical) VALUES (" + "%i" % icao24 + ", datetime('now'), " + "%.0f" % velocity + ", " + "%.0f" % heading + ", " + "%.0f" % vert_spd + ")"
       else:
-        raise NoHandlerError
+        retstr = None
+        
+    return retstr

python/types.py

@@ -21,35 +21,23 @@
 
 from collections import namedtuple
 
-#this is a timestamp that preserves precision when used with UTC timestamps.
-#ordinary double-precision timestamps lose significant fractional precision
-#when the exponent is as large as necessary for UTC.
+#this is a timestamp that preserves precision when used with UTC timestamps
+#ordinary double-precision timestamp would lose significant fractional precision
+#when the mantissa is as large as necessary for UTC timestamps.
 class stamp:
     def __init__(self, secs, frac_secs):
         self.secs = secs
         self.frac_secs = frac_secs
-        self.secs += int(self.frac_secs)
-        self.frac_secs -= int(self.frac_secs)
     def __lt__(self, other):
-        if isinstance(other, self.__class__):
-            if self.secs == other.secs:
-                return self.frac_secs < other.frac_secs
-            else:
-                return self.secs < other.secs
-        elif isinstance(other, float):
-            return float(self) > other
+        if self.secs == other.secs:
+            return self.frac_secs < other.frac_secs
         else:
-            raise TypeError
+            return self.secs < other.secs
     def __gt__(self, other):
-        if type(other) is type(self):
-            if self.secs == other.secs:
-                return self.frac_secs > other.frac_secs
-            else:
-                return self.secs > other.secs
-        elif type(other) is type(float):
-            return float(self) > other
+        if self.secs == other.secs:
+            return self.frac_secs > other.frac_secs
         else:
-            raise TypeError
+            return self.secs > other.secs
     def __eq__(self, other):
         if isinstance(other, self.__class__):
             return self.secs == other.secs and self.frac_secs == other.frac_secs
@@ -58,50 +46,17 @@ class stamp:
         else:
             raise TypeError
     def __ne__(self, other):
-        return not (self == other)
+        return self.secs != other.secs or self.frac_secs != other.frac_secs
     def __le__(self, other):
         return (self == other) or (self < other)
     def __ge__(self, other):
         return (self == other) or (self > other)
 
-    def __add__(self, other):
-        if isinstance(other, self.__class__):
-            ipart = self.secs + other.secs
-            fpart = self.frac_secs + other.frac_secs
-            return stamp(ipart, fpart)
-        elif isinstance(other, float):
-            return self + stamp(0, other)
-        elif isinstance(other, int):
-            return self + stamp(other, 0)            
-        else:
-            raise TypeError
-            
-    def __sub__(self, other):
-        if isinstance(other, self.__class__):
-            ipart = self.secs - other.secs
-            fpart = self.frac_secs - other.frac_secs
-            return stamp(ipart, fpart)
-        elif isinstance(other, float):
-            return self - stamp(0, other)
-        elif isinstance(other, int):
-            return self - stamp(other, 0)
-        else:
-            raise TypeError
-
     #to ensure we don't hash by stamp
-    #TODO fixme with a reasonable hash in case you feel like you'd hash by stamp
     __hash__ = None
     
     #good to within ms for comparison
     def __float__(self):
         return self.secs + self.frac_secs
 
-    def __str__(self):
-        return "%f" % float(self)
-
-#a Mode S report including the modes_reply data object
-modes_report = namedtuple('modes_report', ['data', 'ecc', 'rssi', 'timestamp'])
-#lat, lon, alt
-#TODO: a position class internally represented as ECEF XYZ which can easily be used for multilateration and distance calculation
-llh = namedtuple('llh', ['lat', 'lon', 'alt'])
-mlat_report = namedtuple('mlat_report', ['data', 'nreps', 'timestamp', 'llh', 'hdop', 'vdop'])
+modes_report = namedtuple('modes_report', ['data', 'ecc', 'reference', 'timestamp'])

python/zmq_socket.py

@@ -1,140 +0,0 @@
-# Copyright 2013 Nick Foster
-# 
-# This file is part of gr-air-modes
-# 
-# gr-air-modes is free software; you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation; either version 3, or (at your option)
-# any later version.
-# 
-# gr-air-modes is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-# 
-# You should have received a copy of the GNU General Public License
-# along with gr-air-modes; see the file COPYING.  If not, write to
-# the Free Software Foundation, Inc., 51 Franklin Street,
-# Boston, MA 02110-1301, USA.
-
-#this serves as a bridge between ZMQ subscriber and the GR pubsub callbacks interface
-#creates a thread, publishes socket data to pubsub subscribers
-#just a convenient way to create an aggregating socket with callbacks on receive
-#can use this for inproc:// signalling with minimal overhead
-#not sure if it's a good idea to use this yet
-
-import time
-import threading
-import zmq
-from gnuradio.gr.pubsub import pubsub
-import Queue
-
-class zmq_pubsub_iface(threading.Thread):
-    def __init__(self, context, subaddr=None, pubaddr=None):
-        threading.Thread.__init__(self)
-        #private data
-        self._queue = Queue.Queue()
-        self._subsocket = context.socket(zmq.SUB)
-        self._pubsocket = context.socket(zmq.PUB)
-        self._subaddr = subaddr
-        self._pubaddr = pubaddr
-        if type(self._subaddr) is str:
-            self._subaddr = [self._subaddr]
-        if type(self._pubaddr) is str:
-            self._pubaddr = [self._pubaddr]
-        self._sub_connected = False
-        self._pubsub = pubsub()
-        if self._pubaddr is not None:
-            for addr in self._pubaddr:
-                self._pubsocket.bind(addr)
-
-        self._poller = zmq.Poller()
-        self._poller.register(self._subsocket, zmq.POLLIN)
-        
-        #public data
-        self.shutdown = threading.Event()
-        self.finished = threading.Event()
-        #init
-        self.setDaemon(True)
-        self.start()
-
-    def subscribe(self, key, subscriber):
-        if not self._sub_connected:
-            if not self._subaddr:
-                raise Exception("No subscriber address set")
-            for addr in self._subaddr:
-                self._subsocket.connect(addr)
-            self._sub_connected = True
-        self._subsocket.setsockopt(zmq.SUBSCRIBE, key)
-        self._pubsub.subscribe(key, subscriber)
-
-    def unsubscribe(self, key, subscriber):
-        self._subsocket.setsockopt(zmq.UNSUBSCRIBE, key)
-        self._pubsub.unsubscribe(key, subscriber)
-
-    #executed from the thread context(s) of the caller(s)
-    #so we use a queue to push sending into the run loop
-    #since sockets must be used in the thread they were created in
-    def __setitem__(self, key, val):
-        if not self._pubaddr:
-            raise Exception("No publisher address set")
-        if not self.shutdown.is_set():
-            self._queue.put([key, val])
-
-    def __getitem__(self, key):
-        return self._pubsub[key]
-
-    def run(self):
-        done = False
-        while not self.shutdown.is_set() and not done:
-            if self.shutdown.is_set():
-                done = True
-            #send
-            while not self._queue.empty():
-                self._pubsocket.send_multipart(self._queue.get())
-            #receive
-            if self._sub_connected:
-                socks = dict(self._poller.poll(timeout=0))
-                while self._subsocket in socks \
-                  and socks[self._subsocket] == zmq.POLLIN:
-                    [address, msg] = self._subsocket.recv_multipart()
-                    self._pubsub[address] = msg
-                    socks = dict(self._poller.poll(timeout=0))
-            #snooze
-            if not done:
-                time.sleep(0.1)
-
-        self._subsocket.close()
-        self._pubsocket.close()
-        self.finished.set()
-
-    def close(self):
-        self.shutdown.set()
-        #self._queue.join() #why does this block forever
-        self.finished.wait(0.2)
-
-def pr(x):
-    print x
-
-if __name__ == "__main__":
-    #create socket pair
-    context = zmq.Context(1)
-    sock1 = zmq_pubsub_iface(context, subaddr="inproc://sock2-pub", pubaddr="inproc://sock1-pub")
-    sock2 = zmq_pubsub_iface(context, subaddr="inproc://sock1-pub", pubaddr=["inproc://sock2-pub", "tcp://*:5433"])
-    sock3 = zmq_pubsub_iface(context, subaddr="tcp://localhost:5433", pubaddr=None)
-
-    sock1.subscribe("data1", pr)
-    sock2.subscribe("data2", pr)
-    sock3.subscribe("data3", pr)
-
-    for i in range(10):
-        sock1["data2"] = "HOWDY"
-        sock2["data3"] = "DRAW"
-        sock2["data1"] = "PARDNER"
-        time.sleep(0.1)
-
-    time.sleep(0.1)
-
-    sock1.close()
-    sock2.close()
-    sock3.close()

res/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright 2011,2013 Free Software Foundation, Inc.
+# Copyright 2011 Free Software Foundation, Inc.
 # 
 # This file is part of GNU Radio
 # 
@@ -31,17 +31,14 @@ if(NOT PYQT4_FOUND)
     return()
 endif()
 
-if(NOT PYUIC4_FOUND)
-    message(STATUS "pyuic4 not found, not installing GUI application")
-    return()
-endif()
-
 find_package(Qwt)
 if(NOT QWT_FOUND)
     message(STATUS "Qwt not found, not installing GUI application")
     return()
 endif()
 
+
+set(PYUIC4_COMPILE pyuic4)
 set(RX_UI_SRC ${CMAKE_CURRENT_SOURCE_DIR}/modes_rx.ui)
 set(RX_UI_PY_PRE_MASSAGE ${CMAKE_CURRENT_BINARY_DIR}/modes_rx_ui_borked.py)
 set(RX_UI_PY ${CMAKE_CURRENT_BINARY_DIR}/modes_rx_ui.py)
@@ -52,7 +49,7 @@ add_custom_target(rx_ui ALL
 )
 
 add_custom_command(OUTPUT ${RX_UI_PY_PRE_MASSAGE}
-    COMMAND ${PYUIC4_EXECUTABLE} ${RX_UI_SRC} > ${RX_UI_PY_PRE_MASSAGE}
+    COMMAND ${PYUIC4_COMPILE} ${RX_UI_SRC} > ${RX_UI_PY_PRE_MASSAGE}
     MAIN_DEPENDENCY ${RX_UI_SRC}
 )
 

res/modes_rx.ui

@@ -365,7 +365,7 @@
               </rect>
              </property>
              <property name="text">
-              <string>TCP</string>
+              <string>Raw</string>
              </property>
             </widget>
             <widget class="QLineEdit" name="line_kmlfilename">
@@ -856,7 +856,7 @@
              <string>Climb</string>
             </property>
            </widget>
-           <widget class="QwtCompass" name="compass_heading" native="true">
+           <widget class="QwtCompass" name="compass_heading">
             <property name="geometry">
              <rect>
               <x>200</x>
@@ -865,10 +865,10 @@
               <height>91</height>
              </rect>
             </property>
-            <property name="readOnly" stdset="0">
+            <property name="readOnly">
              <bool>true</bool>
             </property>
-            <property name="lineWidth" stdset="0">
+            <property name="lineWidth">
              <number>4</number>
             </property>
            </widget>
@@ -901,7 +901,7 @@
              <bool>true</bool>
             </property>
            </widget>
-           <widget class="QwtCompass" name="compass_bearing" native="true">
+           <widget class="QwtCompass" name="compass_bearing">
             <property name="geometry">
              <rect>
               <x>-20</x>
@@ -910,10 +910,10 @@
               <height>91</height>
              </rect>
             </property>
-            <property name="readOnly" stdset="0">
+            <property name="readOnly">
              <bool>true</bool>
             </property>
-            <property name="lineWidth" stdset="0">
+            <property name="lineWidth">
              <number>4</number>
             </property>
            </widget>
@@ -928,16 +928,6 @@
             </item>
            </layout>
           </widget>
-          <widget class="QWidget" name="map_tab">
-           <attribute name="title">
-            <string>Map</string>
-           </attribute>
-           <layout class="QGridLayout" name="gridLayout_8">
-            <item row="0" column="0">
-             <widget class="QWebView" name="mapView" native="true"/>
-            </item>
-           </layout>
-          </widget>
           <widget class="QWidget" name="livedatatab">
            <property name="sizePolicy">
             <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
@@ -1026,6 +1016,11 @@
   <widget class="QStatusBar" name="statusbar"/>
  </widget>
  <customwidgets>
+  <customwidget>
+   <class>QwtCompass</class>
+   <extends>QwtDial</extends>
+   <header>qwt_compass.h</header>
+  </customwidget>
   <customwidget>
    <class>QwtDial</class>
    <extends>QWidget</extends>
@@ -1037,17 +1032,6 @@
    <header location="global">air_modes/az_map</header>
    <container>1</container>
   </customwidget>
-  <customwidget>
-   <class>QwtCompass</class>
-   <extends>QwtDial</extends>
-   <header>qwt_compass.h</header>
-  </customwidget>
-  <customwidget>
-   <class>QWebView</class>
-   <extends>QWidget</extends>
-   <header location="global">QtWebKit/qwebview.h</header>
-   <container>1</container>
-  </customwidget>
  </customwidgets>
  <resources/>
  <connections/>

swig/CMakeLists.txt

@@ -31,8 +31,11 @@ include(GrPython)
 ########################################################################
 # Setup swig generation
 ########################################################################
-foreach(incdir ${GNURADIO_RUNTIME_INCLUDE_DIRS})
-    list(APPEND GR_SWIG_INCLUDE_DIRS ${incdir}/gnuradio/swig)
+foreach(incdir ${GNURADIO_CORE_INCLUDE_DIRS})
+    list(APPEND GR_SWIG_INCLUDE_DIRS ${incdir}/swig)
+endforeach(incdir)
+foreach(incdir ${GRUEL_INCLUDE_DIRS})
+    list(APPEND GR_SWIG_INCLUDE_DIRS ${incdir}/gruel/swig)
 endforeach(incdir)
 
 set(GR_SWIG_LIBRARIES air_modes)

swig/air_modes.i

@@ -5,7 +5,7 @@
 %{
 #include "air_modes_preamble.h"
 #include "air_modes_slicer.h"
-#include <gnuradio/msg_queue.h>
+#include <gr_msg_queue.h>
 %}
 
 // ----------------------------------------------------------------
@@ -21,24 +21,20 @@ GR_SWIG_BLOCK_MAGIC(air,modes_preamble);
 
 air_modes_preamble_sptr air_make_modes_preamble (int channel_rate, float threshold_db);
 
-class air_modes_preamble : public gr::sync_block
+class air_modes_preamble : public gr_sync_block
 {
-  set_rate(int channel_rate);
-  set_threshold(float threshold_db);
-  int get_threshold(void);
 private:
   air_modes_preamble (int channel_rate, float threshold_db);
 };
 
 GR_SWIG_BLOCK_MAGIC(air,modes_slicer);
 
-air_modes_slicer_sptr air_make_modes_slicer (int channel_rate, gr::msg_queue::sptr queue);
+air_modes_slicer_sptr air_make_modes_slicer (int channel_rate, gr_msg_queue_sptr queue);
 
-class air_modes_slicer : public gr::block
+class air_modes_slicer : public gr_block
 {
-  set_rate(int channel_rate);
 private:
-    air_modes_slicer (int channel_rate, gr::msg_queue::sptr queue);
+	air_modes_slicer (int channel_rate, gr_msg_queue_sptr queue);
 };
 
 // ----------------------------------------------------------------