From 7685f1590f69e2f51ea318053c2924436cb0ae7d Mon Sep 17 00:00:00 2001
From: JoseAndresMR <josmilrom@gmail.com>
Date: Mon, 25 Jun 2018 16:19:07 +0200
Subject: [PATCH 1/4] for first merge with upstream

---
 pyModeS/streamer/stream.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/pyModeS/streamer/stream.py b/pyModeS/streamer/stream.py
index 174afab..0c618e6 100644
--- a/pyModeS/streamer/stream.py
+++ b/pyModeS/streamer/stream.py
@@ -106,7 +106,8 @@ class Stream():
                     self.acs[icao]['lat'] = latlon[0]
                     self.acs[icao]['lon'] = latlon[1]
                     self.acs[icao]['alt'] = adsb.altitude(msg)
-                    local_updated_acs_buffer.append(icao)acs[icao]['adsb_version'] 
+                    # local_updated_acs_buffer.append(icao)acs[icao]['adsb_version']
+                    local_updated_acs_buffer.append(acs[icao]['adsb_version'])
 
             # Uncertainty & accuracy
             if (5 <= tc <= 8):

From 715d0a3c6692765a520ee0dfb159d36277b53013 Mon Sep 17 00:00:00 2001
From: JoseAndresMR <josmilrom@gmail.com>
Date: Tue, 26 Jun 2018 16:22:42 +0200
Subject: [PATCH 2/4] implementation of uncertainty values from csv files

---
 pyModeS/decoder/adsb.py                       | 228 +++++++++---------
 pyModeS/decoder/adsb_ua_parameters/NACp.csv   |  13 +
 pyModeS/decoder/adsb_ua_parameters/NACv.csv   |   6 +
 pyModeS/decoder/adsb_ua_parameters/NIC_v1.csv |  22 ++
 pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv |  26 ++
 pyModeS/decoder/adsb_ua_parameters/NUCp.csv   |  18 ++
 pyModeS/decoder/adsb_ua_parameters/NUCv.csv   |   6 +
 pyModeS/decoder/adsb_ua_parameters/SIL.csv    |   5 +
 pyModeS/streamer/stream.py                    |  52 ++--
 9 files changed, 241 insertions(+), 135 deletions(-)
 create mode 100644 pyModeS/decoder/adsb_ua_parameters/NACp.csv
 create mode 100644 pyModeS/decoder/adsb_ua_parameters/NACv.csv
 create mode 100644 pyModeS/decoder/adsb_ua_parameters/NIC_v1.csv
 create mode 100644 pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv
 create mode 100644 pyModeS/decoder/adsb_ua_parameters/NUCp.csv
 create mode 100644 pyModeS/decoder/adsb_ua_parameters/NUCv.csv
 create mode 100644 pyModeS/decoder/adsb_ua_parameters/SIL.csv

diff --git a/pyModeS/decoder/adsb.py b/pyModeS/decoder/adsb.py
index 3230706..a604040 100644
--- a/pyModeS/decoder/adsb.py
+++ b/pyModeS/decoder/adsb.py
@@ -19,6 +19,7 @@ The wrapper for decoding ADS-B messages
 
 from __future__ import absolute_import, print_function, division
 from pyModeS.decoder import common
+import pandas as pd # JoseAndresMR: I suppose you already have pandas in a common function, just change all occurrencies
 # from pyModeS.decoder.bds import bds05, bds06, bds09
 
 from pyModeS.decoder.bds.bds05 import airborne_position, airborne_position_with_ref, altitude
@@ -197,63 +198,30 @@ def version(msg):
     return version
 
 
-def nic_v1(msg, nic_sup_b):
-    """Calculate NIC, navigation integrity category for ADS-B version 1
+def nic_v1(msg,nic_sup_b):
+    """Calculate NIC, navigation integrity category, for ADS-B version 1
 
     Args:
         msg (string): 28 bytes hexadecimal message string
         nic_sup_b (int or string): NIC supplement
 
     Returns:
-        int: NIC number (from 0 to 11), -1 if not applicable
+        int or string: Horizontal Radius of Containment 
+        int or string: Vertical Protection Limit
     """
     if typecode(msg) < 5 or typecode(msg) > 22:
         raise RuntimeError("%s: Not a surface position message (5<TC<8), \
                            airborne position message (8<TC<19), \
                            or airborne position with GNSS height (20<TC<22)" % msg)
 
-    tc = typecode(msg)
+    tc = typecode(msg)               
 
-    if nic_sup_b in ['0', '1']:
-        nic_sup_b = int(nic_sup_b)
+    nic_df = pd.read_csv('/home/josmilrom/Libraries/pyModeS/pyModeS/decoder/adsb_ua_parameters/NIC_v1.csv', sep=',')
+    nic_df_extract = nic_df[(nic_df.TC == tc) & (nic_df.NICs == nic_sup_b)]   
 
-    if tc in [0, 8, 18, 22]:
-        nic = 0
-    elif tc == 17:
-        nic = 1
-    elif tc == 16:
-        if nic_sup_b:
-            nic = 3
-        else:
-            nic = 2
-    elif tc == 15:
-        nic = 4
-    elif tc == 14:
-        nic = 5
-    elif tc == 13:
-        if nic_sup_b:
-            nic = 6
-        else:
-            nic = 6
-    elif tc == 12:
-        nic = 7
-    elif tc == 11:
-        if nic_sup_b:
-            nic = 9
-        else:
-            nic = 8
-    elif tc in [6, 10, 21]:
-        nic = 10
-    elif tc in [5, 9, 20]:
-        nic = 11
-    elif tc == 7:
-        if nic_sup_b:
-            nic = 9
-        else:
-            nic = 8
-    else:
-        nic = -1
-    return nic
+    Rc = nic_df_extract['Rc'][0]
+    VPL = nic_df_extract['VPL'][0]
+    return Rc, VPL
 
 
 def nic_v2(msg, nic_a, nic_b, nic_c):
@@ -264,77 +232,31 @@ def nic_v2(msg, nic_a, nic_b, nic_c):
         nic_a (int or string): NIC supplement
         nic_b (int or srting): NIC supplement
         nic_c (int or string): NIC supplement
+
     Returns:
-        int: NIC number (from 0 to 11), -1 if not applicable
+        int or string: Horizontal Radius of Containment 
     """
     if typecode(msg) < 5 or typecode(msg) > 22:
         raise RuntimeError("%s: Not a surface position message (5<TC<8) \
                            airborne position message (8<TC<19), \
                            or airborne position with GNSS height (20<TC<22)" % msg)
 
-    tc = typecode(msg)
+    tc = typecode(msg)               
 
-    if nic_a in ['0', '1']:
-        nic_a = int(nic_a)
+    nic_df = pd.read_csv('/home/josmilrom/Libraries/pyModeS/pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv', sep=',')
 
-    if nic_b in ['0', '1']:
-        nic_b = int(nic_b)
+    if tc in range(5,9):
+        nic_df_extract = [(nic_df.TC == tc) & (nic_df.NICa == nic_a) & (nic_df.NICc == nic_c)]
+    elif tc in range(9,19):
+        nic_df_extract = [(nic_df.TC == tc) & (nic_df.NICa == nic_a) & (nic_df.NICb == nic_b)]
+    elif tc in range(20,23):
+        nic_df_extract = [nic_df.TC == tc]
 
-    if nic_c in ['0', '1']:
-        nic_c = int(nic_c)
-
-    if tc in [0, 18, 22]:
-        nic = 0
-    elif tc == 17:
-        nic = 1
-    elif tc == 16:
-        if nic_a:
-            nic = 3
-        else:
-            nic = 2
-    elif tc == 15:
-        nic = 4
-    elif tc == 14:
-        nic = 5
-    elif tc == 13:
-        if nic_a:
-            nic = 6
-        else:
-            if nic_b:
-                nic = 6
-            else:
-                nic = 6
-    elif tc == 12:
-        nic = 7
-    elif tc == 11:
-        if nic_a:
-            nic = 9
-        else:
-            nic = 8
-    elif tc in [6, 10, 21]:
-        nic = 10
-    elif tc in [5, 9, 20]:
-        nic = 11
-    elif tc == 8:
-        if nic_a:
-            if nic_c:
-                nic = 7
-            else:
-                nic = 6
-        else:
-            if nic_c:
-                nic = 6
-            else:
-                nic = 0
-    elif tc == 7:
-        if nic_a:
-            nic = 9
-        else:
-            nic = 8
-    else:
-        nic = -1
-    return nic
+    Rc = nic_df_extract['Rc'][0]
 
+    return Rc
+    
+    
 
 def nic_s(msg):
     """Obtain NIC supplement bit, TC=31 message
@@ -404,7 +326,8 @@ def nac_p(msg):
         msg (string): 28 bytes hexadecimal message string, TC = 29 or 31
 
     Returns:
-        int: NACp number (0 or 1)
+        int or string: 95% horizontal accuracy bounds, Estimated Position Uncertainty
+        int or string: 95% vertical accuracy bounds, Vertical Estimated Position Uncertainty
     """
     tc = typecode(msg)
 
@@ -414,13 +337,19 @@ def nac_p(msg):
 
     msgbin = common.hex2bin(msg)
 
+    nacp_df = pd.read_csv('/home/josmilrom/Libraries/pyModeS/pyModeS/decoder/adsb_ua_parameters/NACp.csv', sep=',')
+
     if tc == 29:
         nac_p = common.bin2int(msgbin[71:75])
+        nacp_df_extract = nac_p[nacp_df.NACp == nac_p]
     elif tc == 31:
         nac_p = common.bin2int(msgbin[76:80])
+        nacp_df_extract = nac_p[nacp_df.NACp == nac_p]
 
-    return nac_p
+    HFU = nacp_df_extract['HFU'][0]
+    VEPU = nacp_df_extract['VEPU'][0]
 
+    return HFU, VEPU
 
 def nac_v(msg):
     """Calculate NACv, Navigation Accuracy Category - Velocity
@@ -429,16 +358,23 @@ def nac_v(msg):
         msg (string): 28 bytes hexadecimal message string, TC = 19
 
     Returns:
-        int: NACv number (from 0 to 4), -1 if not applicable
+        int or string: 95% horizontal accuracy bounds for velocity, Horizontal Figure of Merit 
+        int or string: 95% vertical accuracy bounds for velocity, Vertical Figure of Merit
     """
     tc = typecode(msg)
 
     if tc != 19:
         raise RuntimeError("%s: Not an airborne velocity message, expecting TC = 19" % msg)
 
+    nacv_df = pd.read_csv('/home/josmilrom/Libraries/pyModeS/pyModeS/decoder/adsb_ua_parameters/NACv.csv', sep=',')
+
     msgbin = common.hex2bin(msg)
     nac_v = common.bin2int(msgbin[42:45])
-    return nac_v
+    nacv_df_extract = nacv_df[nacv_df.NACv == nac_v]
+    HFOMr = nacv_df_extract['HFOMr'][0]
+    VFOMr = nacv_df_extract['VFOMr'][0]
+
+    return HFOMr, VFOMr
 
 
 def sil(msg, version):
@@ -448,7 +384,9 @@ def sil(msg, version):
         msg (string): 28 bytes hexadecimal message string with TC = 29, 31
 
     Returns:
-        (int, int): sil number and sil supplement (only for v2)
+        int or string: Probability of exceeding Horizontal Radius of Containment RCu 
+        int or string: Probability of exceeding Vertical Integrity Containment Region VPL 
+        string: SIL supplement based on "per hour" or "per sample"
     """
     tc = typecode(msg)
 
@@ -456,6 +394,8 @@ def sil(msg, version):
         raise RuntimeError("%s: Not a target state and status messag, \
                            or operation status message, expecting TC = 29 or 31" % msg)
 
+    sil_df = pd.read_csv('/home/josmilrom/Libraries/pyModeS/pyModeS/decoder/adsb_ua_parameters/SIL.csv', sep=',')
+
     msgbin = common.hex2bin(msg)
 
     if tc == 29:
@@ -463,12 +403,76 @@ def sil(msg, version):
     elif tc == 31:
         sil = common.bin2int(msg[82:84])
 
-    sil_sup = None
+    sil_df_extract = sil_df[sil_df.NACv == sil]
+    PR_RCu = sil_df_extract['PR_RCu'][0]
+    PE_VPL = sil_df_extract['PE_VPL'][0]
 
+    if version == 1:
+        return PR_RCu, PE_VPL
     if version == 2:
-        if version == 29:
+        if tc == 29:
             sil_sup = common.bin2int(msgbin[39])
-        elif version == 31:
+        elif tc == 31:
             sil_sup = common.bin2int(msgbin[86])
+        
+        if sil_sup == 0:
+            base = "per hour"
+        elif sil_sup == 1:
+            base = "per sample"
 
-    return sil, sil_sup
+        return PR_RCu, PE_VPL, base
+
+def nuc_p(msg):
+    """Calculate NUCp, Navigation Uncertainty Category - Position
+
+    Args:
+        msg (string): 28 bytes hexadecimal message string,
+
+    Returns:
+        int or string: Horizontal Protection Limit
+        int or string: 95% Containment Radius - Horizontal
+        int or string: 95% Containment Radius - Vertical (only for airborne position with GNSS height messages)
+
+    """
+    tc = typecode(msg)
+
+    if typecode(msg) < 5 or typecode(msg) > 22:
+        raise RuntimeError("%s: Not a surface position message (5<TC<8), \
+                           airborne position message (8<TC<19), \
+                           or airborne position with GNSS height (20<TC<22)" % msg)
+
+    nucp_df = pd.read_csv('/home/josmilrom/Libraries/pyModeS/pyModeS/decoder/adsb_ua_parameters/NUCp.csv', sep=',')
+
+    nucp_df_extract = nucp_df[nucp_df.TC == tc]
+    HPL = nucp_df_extract['HPL'][0]
+    RCu = nucp_df_extract['RCu'][0]
+
+    if tc not in range(20,23):
+        return HPL, RCu
+    else: 
+        RCv = nucp_df_extract['RCv'][0]
+        return HPL, RCu, RCv
+
+def nuc_v(msg):
+    """Calculate NUCv, Navigation Uncertainty Category - Velocity
+
+    Args:
+        msg (string): 28 bytes hexadecimal message string,
+
+    Returns:
+        int or string: 95% Horizontal Velocity Error 
+        int or string: 95% Vertical Velocity Error
+    """
+    tc = typecode(msg)
+
+    if tc != 19:
+        raise RuntimeError("%s: Not an airborne velocity message, expecting TC = 19" % msg)
+
+    nucv_df = pd.read_csv('/home/josmilrom/Libraries/pyModeS/pyModeS/decoder/adsb_ua_parameters/NUCv.csv', sep=',')
+
+    nucv_df_extract = nucv_df[nucv_df.TC == tc]
+
+    HVE = nucv_df_extract['HVE'][0]
+    VVE = nucv_df_extract['VVE'][0]
+
+    return HVE, VVE
\ No newline at end of file
diff --git a/pyModeS/decoder/adsb_ua_parameters/NACp.csv b/pyModeS/decoder/adsb_ua_parameters/NACp.csv
new file mode 100644
index 0000000..5e0d802
--- /dev/null
+++ b/pyModeS/decoder/adsb_ua_parameters/NACp.csv
@@ -0,0 +1,13 @@
+NACp,HFU,VEPU
+11,3,4
+10,10,15
+9,30,45
+8,93,'undefined’
+7,185,'undefined’
+6,556,'undefined’
+5,926,'undefined’
+4,1852,'undefined’
+3,3704,'undefined’
+2,7408,'undefined’
+1,18520,'undefined’
+0,‘unknown’,'undefined’
diff --git a/pyModeS/decoder/adsb_ua_parameters/NACv.csv b/pyModeS/decoder/adsb_ua_parameters/NACv.csv
new file mode 100644
index 0000000..d5a8d25
--- /dev/null
+++ b/pyModeS/decoder/adsb_ua_parameters/NACv.csv
@@ -0,0 +1,6 @@
+NAVc,HFOMr,VFOMr
+0,'unknown’,'unknown’
+1,10,"15,2"
+2,3,"4,5"
+3,1,"1,5"
+4,"0,3","0,46"
diff --git a/pyModeS/decoder/adsb_ua_parameters/NIC_v1.csv b/pyModeS/decoder/adsb_ua_parameters/NIC_v1.csv
new file mode 100644
index 0000000..d5fe23a
--- /dev/null
+++ b/pyModeS/decoder/adsb_ua_parameters/NIC_v1.csv
@@ -0,0 +1,22 @@
+TC,NICs,NIC,Rc,VPL
+5,0,12,"7,5",'undefined’
+6,0,11,25,'undefined’
+7,1,10,75,'undefined’
+7,0,9,185,'undefined’
+8,0,1,'unknown’,'undefined’
+9,0,11,"7,5",11
+10,0,10,25,"37,5"
+11,1,9,75,112
+11,0,8,185,'undefined’
+12,0,7,370,'undefined’
+13,0,6,926,'undefined’
+13,1,6,1111,'undefined’
+14,0,5,1852,'undefined’
+15,0,4,3702,'undefined’
+16,1,3,7408,'undefined’
+16,0,2,14008,'undefined’
+17,0,1,37000,'undefined’
+18,0,0,'unknown’,'undefined’
+20,0,11,"7,5",11
+21,0,10,25,"37,5"
+22,0,0,'unknown’,112
diff --git a/pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv b/pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv
new file mode 100644
index 0000000..47eb6cf
--- /dev/null
+++ b/pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv
@@ -0,0 +1,26 @@
+TC,NICa,NICb,NICc,NIC,Rc
+5,0,0,0,11,"7,5"
+6,0,0,0,10,25
+7,1,0,0,9,75
+7,0,0,0,8,185
+8,1,0,1,7,370
+8,1,0,0,6,556
+8,0,0,1,6,1111
+8,0,0,0,0,'unknown’
+9,0,0,0,11,"7,5"
+10,0,0,0,10,25
+11,1,1,0,9,75
+11,0,0,0,8,185
+12,0,0,0,4,370
+13,0,1,0,6,556
+13,0,0,0,6,926
+13,1,1,0,6,1111
+14,0,0,0,5,1852
+15,0,0,0,4,3704
+16,1,1,0,3,7408
+16,0,0,0,2,14800
+17,0,0,0,1,37000
+18,0,0,0,0,'unknown’
+20,0,0,0,11,"7,5"
+21,0,0,0,10,25
+22,0,0,0,0,'unknown’
diff --git a/pyModeS/decoder/adsb_ua_parameters/NUCp.csv b/pyModeS/decoder/adsb_ua_parameters/NUCp.csv
new file mode 100644
index 0000000..e131e4c
--- /dev/null
+++ b/pyModeS/decoder/adsb_ua_parameters/NUCp.csv
@@ -0,0 +1,18 @@
+TC,NUCp,HPL,Rcu,Rcv
+5,9,"7,5",3,'undefined’
+6,8,25,10,'undefined’
+7,7,185,93,'undefined’
+8,6,'unknown’,'unknown’,'undefined’
+9,9,"7,5",3,'undefined’
+10,8,25,10,'undefined’
+11,7,185,93,'undefined’
+12,6,370,185,'undefined’
+13,5,926,463,'undefined’
+14,4,1852,926,'undefined’
+15,3,3704,1852,'undefined’
+16,2,18520,9260,'undefined’
+17,1,37040,18520,'undefined’
+18,0,'unknown’,'unknown’,'undefined’
+20,9,"7,5",3,4
+21,8,25,10,15
+22,0,'unknown’,'unknown’,'unknown’
diff --git a/pyModeS/decoder/adsb_ua_parameters/NUCv.csv b/pyModeS/decoder/adsb_ua_parameters/NUCv.csv
new file mode 100644
index 0000000..bf45a30
--- /dev/null
+++ b/pyModeS/decoder/adsb_ua_parameters/NUCv.csv
@@ -0,0 +1,6 @@
+NUCp,HVE,VVE
+0,'unknown’,'unknown’
+1,10,"15,2"
+2,3,"4,5"
+3,1,"1,5"
+4,"0,3","1,46"
diff --git a/pyModeS/decoder/adsb_ua_parameters/SIL.csv b/pyModeS/decoder/adsb_ua_parameters/SIL.csv
new file mode 100644
index 0000000..e31c5bc
--- /dev/null
+++ b/pyModeS/decoder/adsb_ua_parameters/SIL.csv
@@ -0,0 +1,5 @@
+SIL,PE_Rcu,PE_VPL
+0,'unknown’,'unknown’
+1,10**(-3),10**(-3)
+2,10**(-5),10**(-5)
+3,10**(-7),10**(-7)
diff --git a/pyModeS/streamer/stream.py b/pyModeS/streamer/stream.py
index 497e066..2fbd568 100644
--- a/pyModeS/streamer/stream.py
+++ b/pyModeS/streamer/stream.py
@@ -48,10 +48,10 @@ class Stream():
                     'mach': None,
                     'hdg': None,
                     'ver' : None,
-                    'NIC' : None,
-                    'NACp' : None,
-                    'NACv' : None,
-                    'SIL' : None
+                    'nic_s' : None,
+                    'nic_a' : None,
+                    'nic_b' : None,
+                    'nic_c' : None
                 }
 
             self.acs[icao]['live'] = int(t)
@@ -106,38 +106,44 @@ class Stream():
                     self.acs[icao]['tpos'] = t
                     self.acs[icao]['lat'] = latlon[0]
                     self.acs[icao]['lon'] = latlon[1]
-<<<<<<< HEAD
-                    self.acs[icao]['alt'] = adsb.altitude(msg)
-                    # local_updated_acs_buffer.append(icao)acs[icao]['adsb_version']
-                    local_updated_acs_buffer.append(acs[icao]['adsb_version'])
-=======
                     self.acs[icao]['alt'] = pms.adsb.altitude(msg)
                     local_updated_acs_buffer.append(icao)
->>>>>>> upstream/master
 
             # Uncertainty & accuracy
             ac = self.acs[icao]
 
             if (5 <= tc <= 8) or (9 <= tc <= 18) or (20 <= tc <= 22):
+                if 20 <= tc <= 22:
+                    ac['HPL'], ac['RCu'], ac['RCv'] = pms.adsb.nuc_p(msg)
+                else:
+                    ac['HPL'], ac['RCu'] = pms.adsb.nuc_p(msg)
+
                 if (ac['ver'] == 1) and ('nic_s' in ac.keys()):
-                    self.acs[icao]['NIC'] = pms.adsb.nic_v1(msg, ac['nic_s'])
+                    ac['Rc'], ac['VPL'] = pms.adsb.nic_v1(msg, ac['nic_s'])
                 elif (ac['ver'] == 2) and ('nic_a' in ac.keys()) and ('nic_b' in ac.keys()):
-                    self.acs[icao]['NIC'] = pms.adsb.nic_v2(msg, ac['nic_a'], ac['nic_b'], ac['nic_c'])
+                    ac['Rc'], ac['VPL'] = pms.adsb.nic_v2(msg, ac['nic_a'], ac['nic_b'], ac['nic_c'])
+
             if tc == 19:
+                ac['HVE'], ac['VVE'] = pms.adsb.nuc_v(msg)
                 if ac['ver'] in [1, 2]:
-                    self.acs[icao]['NACv'] = pms.adsb.nac_v(msg)
+                    ac['HFU'], ac['VEPU'] = pms.adsb.nac_v(msg)
+
             if tc == 29:
-                if ac['ver'] != None:
-                    self.acs[icao]['SIL'], self.acs[icao]['sil_s'] = pms.adsb.sil(msg, ac['ver'])
-                self.acs[icao]['NACp'] = pms.adsb.nac_p(msg)
+                if ac['ver'] == 1:
+                    ac['PR_RCu'], ac['PE_VPL'] = pms.adsb.sil(msg, ac['ver'])  
+                elif  ac['ver'] == 2:
+                    ac['PR_RCu'], ac['PE_VPL'], ac['sil_base'] = pms.adsb.sil(msg, ac['ver'])
+                ac['HFOMr'], ac['VFOMr'] = pms.adsb.nac_p(msg)
+
             if tc == 31:
-                self.acs[icao]['ver']  = pms.adsb.version(msg)
-                self.acs[icao]['SIL'] = pms.adsb.version(msg)
-                self.acs[icao]['NACp'] = pms.adsb.nac_p(msg)
-                if self.acs[icao]['ver']  == 1:
-                    self.acs[icao]['nic_s'] = pms.adsb.nic_s(msg)
-                elif self.acs[icao]['ver']  == 2:
-                    self.acs[icao]['nic_a'], self.acs[icao]['nic_c'] = pms.adsb.nic_a_c(msg)
+                ac['ver']  = pms.adsb.version(msg)
+                ac['HFOMr'], ac['VFOMr'] = pms.adsb.nac_p(msg)
+                if ac['ver']  == 1:
+                    ac['nic_s'] = pms.adsb.nic_s(msg)
+                    ac['PR_RCu'], ac['PE_VPL'] = pms.adsb.sil(msg, ac['ver'])  
+                elif ac['ver']  == 2:
+                    ac['nic_a'], ac['nic_c'] = pms.adsb.nic_a_c(msg)
+                    ac['PR_RCu'], ac['PE_VPL'], ac['sil_base'] = pms.adsb.sil(msg, ac['ver'])
 
 
         # process commb message

From 44b277f0adea3cc8f6b99c220d855eae2a3e2d04 Mon Sep 17 00:00:00 2001
From: JoseAndresMR <josmilrom@gmail.com>
Date: Tue, 26 Jun 2018 23:15:57 +0200
Subject: [PATCH 3/4] various fixing

---
 pyModeS/decoder/adsb.py                       | 10 +++++-----
 pyModeS/decoder/adsb_ua_parameters/NACv.csv   |  8 ++++----
 pyModeS/decoder/adsb_ua_parameters/NIC_v1.csv | 16 ++++++++--------
 pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv |  6 +++---
 pyModeS/decoder/adsb_ua_parameters/NUCp.csv   |  6 +++---
 pyModeS/decoder/adsb_ua_parameters/NUCv.csv   |  8 ++++----
 6 files changed, 27 insertions(+), 27 deletions(-)

diff --git a/pyModeS/decoder/adsb.py b/pyModeS/decoder/adsb.py
index a604040..ec0d9d2 100644
--- a/pyModeS/decoder/adsb.py
+++ b/pyModeS/decoder/adsb.py
@@ -246,11 +246,11 @@ def nic_v2(msg, nic_a, nic_b, nic_c):
     nic_df = pd.read_csv('/home/josmilrom/Libraries/pyModeS/pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv', sep=',')
 
     if tc in range(5,9):
-        nic_df_extract = [(nic_df.TC == tc) & (nic_df.NICa == nic_a) & (nic_df.NICc == nic_c)]
+        nic_df_extract = nic_df[(nic_df.TC == tc) & (nic_df.NICa == nic_a) & (nic_df.NICc == nic_c)]
     elif tc in range(9,19):
-        nic_df_extract = [(nic_df.TC == tc) & (nic_df.NICa == nic_a) & (nic_df.NICb == nic_b)]
+        nic_df_extract = nic_df[(nic_df.TC == tc) & (nic_df.NICa == nic_a) & (nic_df.NICb == nic_b)]
     elif tc in range(20,23):
-        nic_df_extract = [nic_df.TC == tc]
+        nic_df_extract = nic_df[nic_df.TC == tc]
 
     Rc = nic_df_extract['Rc'][0]
 
@@ -341,10 +341,10 @@ def nac_p(msg):
 
     if tc == 29:
         nac_p = common.bin2int(msgbin[71:75])
-        nacp_df_extract = nac_p[nacp_df.NACp == nac_p]
+        nacp_df_extract = nacp_df[nacp_df.NACp == nac_p]
     elif tc == 31:
         nac_p = common.bin2int(msgbin[76:80])
-        nacp_df_extract = nac_p[nacp_df.NACp == nac_p]
+        nacp_df_extract = nacp_df[nacp_df.NACp == nac_p]
 
     HFU = nacp_df_extract['HFU'][0]
     VEPU = nacp_df_extract['VEPU'][0]
diff --git a/pyModeS/decoder/adsb_ua_parameters/NACv.csv b/pyModeS/decoder/adsb_ua_parameters/NACv.csv
index d5a8d25..ea2c325 100644
--- a/pyModeS/decoder/adsb_ua_parameters/NACv.csv
+++ b/pyModeS/decoder/adsb_ua_parameters/NACv.csv
@@ -1,6 +1,6 @@
 NAVc,HFOMr,VFOMr
 0,'unknown’,'unknown’
-1,10,"15,2"
-2,3,"4,5"
-3,1,"1,5"
-4,"0,3","0,46"
+1,10,15.2
+2,3,4.5
+3,1,1.5
+4,0.3,0.46
diff --git a/pyModeS/decoder/adsb_ua_parameters/NIC_v1.csv b/pyModeS/decoder/adsb_ua_parameters/NIC_v1.csv
index d5fe23a..6befdfb 100644
--- a/pyModeS/decoder/adsb_ua_parameters/NIC_v1.csv
+++ b/pyModeS/decoder/adsb_ua_parameters/NIC_v1.csv
@@ -1,11 +1,11 @@
 TC,NICs,NIC,Rc,VPL
-5,0,12,"7,5",'undefined’
-6,0,11,25,'undefined’
-7,1,10,75,'undefined’
-7,0,9,185,'undefined’
+5,0,11,7.5,'undefined’
+6,0,10,25,'undefined’
+7,1,9,75,'undefined’
+7,0,8,185,'undefined’
 8,0,1,'unknown’,'undefined’
-9,0,11,"7,5",11
-10,0,10,25,"37,5"
+9,0,11,7.5,11
+10,0,10,25,37.5
 11,1,9,75,112
 11,0,8,185,'undefined’
 12,0,7,370,'undefined’
@@ -17,6 +17,6 @@ TC,NICs,NIC,Rc,VPL
 16,0,2,14008,'undefined’
 17,0,1,37000,'undefined’
 18,0,0,'unknown’,'undefined’
-20,0,11,"7,5",11
-21,0,10,25,"37,5"
+20,0,11,7.5,11
+21,0,10,25,37.5
 22,0,0,'unknown’,112
diff --git a/pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv b/pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv
index 47eb6cf..d2d0119 100644
--- a/pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv
+++ b/pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv
@@ -1,5 +1,5 @@
 TC,NICa,NICb,NICc,NIC,Rc
-5,0,0,0,11,"7,5"
+5,0,0,0,11,7.5
 6,0,0,0,10,25
 7,1,0,0,9,75
 7,0,0,0,8,185
@@ -7,7 +7,7 @@ TC,NICa,NICb,NICc,NIC,Rc
 8,1,0,0,6,556
 8,0,0,1,6,1111
 8,0,0,0,0,'unknown’
-9,0,0,0,11,"7,5"
+9,0,0,0,11,7.5
 10,0,0,0,10,25
 11,1,1,0,9,75
 11,0,0,0,8,185
@@ -21,6 +21,6 @@ TC,NICa,NICb,NICc,NIC,Rc
 16,0,0,0,2,14800
 17,0,0,0,1,37000
 18,0,0,0,0,'unknown’
-20,0,0,0,11,"7,5"
+20,0,0,0,11,7.5
 21,0,0,0,10,25
 22,0,0,0,0,'unknown’
diff --git a/pyModeS/decoder/adsb_ua_parameters/NUCp.csv b/pyModeS/decoder/adsb_ua_parameters/NUCp.csv
index e131e4c..2a84020 100644
--- a/pyModeS/decoder/adsb_ua_parameters/NUCp.csv
+++ b/pyModeS/decoder/adsb_ua_parameters/NUCp.csv
@@ -1,9 +1,9 @@
 TC,NUCp,HPL,Rcu,Rcv
-5,9,"7,5",3,'undefined’
+5,9,7.5,3,'undefined’
 6,8,25,10,'undefined’
 7,7,185,93,'undefined’
 8,6,'unknown’,'unknown’,'undefined’
-9,9,"7,5",3,'undefined’
+9,9,7.5,3,'undefined’
 10,8,25,10,'undefined’
 11,7,185,93,'undefined’
 12,6,370,185,'undefined’
@@ -13,6 +13,6 @@ TC,NUCp,HPL,Rcu,Rcv
 16,2,18520,9260,'undefined’
 17,1,37040,18520,'undefined’
 18,0,'unknown’,'unknown’,'undefined’
-20,9,"7,5",3,4
+20,9,7.5,3,4
 21,8,25,10,15
 22,0,'unknown’,'unknown’,'unknown’
diff --git a/pyModeS/decoder/adsb_ua_parameters/NUCv.csv b/pyModeS/decoder/adsb_ua_parameters/NUCv.csv
index bf45a30..f5645a5 100644
--- a/pyModeS/decoder/adsb_ua_parameters/NUCv.csv
+++ b/pyModeS/decoder/adsb_ua_parameters/NUCv.csv
@@ -1,6 +1,6 @@
 NUCp,HVE,VVE
 0,'unknown’,'unknown’
-1,10,"15,2"
-2,3,"4,5"
-3,1,"1,5"
-4,"0,3","1,46"
+1,10,15.2
+2,3,4.5
+3,1,1.5
+4,0.3,1.46

From 0df6a664a35e54413f9bc27576773ab4dcefd8cb Mon Sep 17 00:00:00 2001
From: Junzi Sun <junzisun@gmail.com>
Date: Wed, 27 Jun 2018 22:08:13 +0200
Subject: [PATCH 4/4] resturctue the uncertainty module, and some additional
 fixings.

---
 pyModeS/__init__.py                           |   5 +-
 pyModeS/decoder/adsb.py                       | 246 +++++++++---------
 pyModeS/decoder/adsb_ua_parameters/NACp.csv   |  13 -
 pyModeS/decoder/adsb_ua_parameters/NACv.csv   |   6 -
 pyModeS/decoder/adsb_ua_parameters/NIC_v1.csv |  22 --
 pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv |  26 --
 pyModeS/decoder/adsb_ua_parameters/NUCp.csv   |  18 --
 pyModeS/decoder/adsb_ua_parameters/NUCv.csv   |   6 -
 pyModeS/decoder/adsb_ua_parameters/SIL.csv    |   5 -
 pyModeS/decoder/uncertainty.py                | 120 +++++++++
 pyModeS/streamer/pmslive                      |   1 +
 pyModeS/streamer/screen.py                    |  17 +-
 pyModeS/streamer/stream.py                    |  42 +--
 tests/test_adsb.py                            |  26 +-
 14 files changed, 298 insertions(+), 255 deletions(-)
 delete mode 100644 pyModeS/decoder/adsb_ua_parameters/NACp.csv
 delete mode 100644 pyModeS/decoder/adsb_ua_parameters/NACv.csv
 delete mode 100644 pyModeS/decoder/adsb_ua_parameters/NIC_v1.csv
 delete mode 100644 pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv
 delete mode 100644 pyModeS/decoder/adsb_ua_parameters/NUCp.csv
 delete mode 100644 pyModeS/decoder/adsb_ua_parameters/NUCv.csv
 delete mode 100644 pyModeS/decoder/adsb_ua_parameters/SIL.csv
 create mode 100644 pyModeS/decoder/uncertainty.py

diff --git a/pyModeS/__init__.py b/pyModeS/__init__.py
index 31b6ee8..3cf9c09 100644
--- a/pyModeS/__init__.py
+++ b/pyModeS/__init__.py
@@ -6,7 +6,10 @@ from .decoder import commb
 from .decoder import common
 from .decoder import bds
 from .extra import aero
-from .extra import beastclient
+from .extra import tcpclient
 
 from .decoder import els        # depricated
 from .decoder import ehs        # depricated
+
+import os
+dirpath = os.path.dirname(os.path.realpath(__file__))
diff --git a/pyModeS/decoder/adsb.py b/pyModeS/decoder/adsb.py
index ec0d9d2..ce1b1bb 100644
--- a/pyModeS/decoder/adsb.py
+++ b/pyModeS/decoder/adsb.py
@@ -18,10 +18,12 @@ The wrapper for decoding ADS-B messages
 """
 
 from __future__ import absolute_import, print_function, division
-from pyModeS.decoder import common
-import pandas as pd # JoseAndresMR: I suppose you already have pandas in a common function, just change all occurrencies
-# from pyModeS.decoder.bds import bds05, bds06, bds09
 
+import pyModeS as pms
+from pyModeS.decoder import common
+from pyModeS.decoder import uncertainty
+
+# from pyModeS.decoder.bds import bds05, bds06, bds09
 from pyModeS.decoder.bds.bds05 import airborne_position, airborne_position_with_ref, altitude
 from pyModeS.decoder.bds.bds06 import surface_position, surface_position_with_ref, surface_velocity
 from pyModeS.decoder.bds.bds08 import category, callsign
@@ -198,65 +200,127 @@ def version(msg):
     return version
 
 
-def nic_v1(msg,nic_sup_b):
+def nuc_p(msg):
+    """Calculate NUCp, Navigation Uncertainty Category - Position (ADS-B version 1)
+
+    Args:
+        msg (string): 28 bytes hexadecimal message string,
+
+    Returns:
+        int: Horizontal Protection Limit
+        int: 95% Containment Radius - Horizontal (meters)
+        int: 95% Containment Radius - Vertical (meters)
+
+    """
+    tc = typecode(msg)
+
+    if typecode(msg) < 5 or typecode(msg) > 22:
+        raise RuntimeError(
+            "%s: Not a surface position message (5<TC<8), \
+            airborne position message (8<TC<19), \
+            or airborne position with GNSS height (20<TC<22)" % msg
+        )
+
+    NUCp = uncertainty.TC_NUCp_lookup[tc]
+
+    HPL = uncertainty.NUCp[NUCp]['HPL']
+    RCu = uncertainty.NUCp[NUCp]['RCu']
+    RCv = uncertainty.NUCp[NUCp]['RCv']
+
+    if tc in [20, 21]:
+        RCv = uncertainty.NA
+
+    return HPL, RCu, RCv
+
+
+def nuc_v(msg):
+    """Calculate NUCv, Navigation Uncertainty Category - Velocity (ADS-B version 1)
+
+    Args:
+        msg (string): 28 bytes hexadecimal message string,
+
+    Returns:
+        int or string: 95% Horizontal Velocity Error
+        int or string: 95% Vertical Velocity Error
+    """
+    tc = typecode(msg)
+
+    if tc != 19:
+        raise RuntimeError("%s: Not an airborne velocity message, expecting TC = 19" % msg)
+
+
+    msgbin = common.hex2bin(msg)
+    NUCv = common.bin2int(msgbin[42:45])
+
+    HVE = uncertainty.NUCv[NUCv]['HVE']
+    VVE = uncertainty.NUCv[NUCv]['VVE']
+
+    return HVE, VVE
+
+
+def nic_v1(msg, NICs):
     """Calculate NIC, navigation integrity category, for ADS-B version 1
 
     Args:
         msg (string): 28 bytes hexadecimal message string
-        nic_sup_b (int or string): NIC supplement
+        NICs (int or string): NIC supplement
 
     Returns:
-        int or string: Horizontal Radius of Containment 
+        int or string: Horizontal Radius of Containment
         int or string: Vertical Protection Limit
     """
     if typecode(msg) < 5 or typecode(msg) > 22:
-        raise RuntimeError("%s: Not a surface position message (5<TC<8), \
-                           airborne position message (8<TC<19), \
-                           or airborne position with GNSS height (20<TC<22)" % msg)
+        raise RuntimeError(
+            "%s: Not a surface position message (5<TC<8), \
+            airborne position message (8<TC<19), \
+            or airborne position with GNSS height (20<TC<22)" % msg
+        )
 
-    tc = typecode(msg)               
+    tc = typecode(msg)
+    NIC = uncertainty.TC_NICv1_lookup[tc]
 
-    nic_df = pd.read_csv('/home/josmilrom/Libraries/pyModeS/pyModeS/decoder/adsb_ua_parameters/NIC_v1.csv', sep=',')
-    nic_df_extract = nic_df[(nic_df.TC == tc) & (nic_df.NICs == nic_sup_b)]   
+    if isinstance(NIC, dict):
+        NIC = NIC[NICs]
+
+    Rc = uncertainty.NICv1[NIC][NICs]['Rc']
+    VPL = uncertainty.NICv1[NIC][NICs]['VPL']
 
-    Rc = nic_df_extract['Rc'][0]
-    VPL = nic_df_extract['VPL'][0]
     return Rc, VPL
 
 
-def nic_v2(msg, nic_a, nic_b, nic_c):
+def nic_v2(msg, NICa, NICbc):
     """Calculate NIC, navigation integrity category, for ADS-B version 2
 
     Args:
         msg (string): 28 bytes hexadecimal message string
-        nic_a (int or string): NIC supplement
-        nic_b (int or srting): NIC supplement
-        nic_c (int or string): NIC supplement
+        NICa (int or string): NIC supplement - A
+        NICbc (int or srting): NIC supplement - B or C
 
     Returns:
-        int or string: Horizontal Radius of Containment 
+        int or string: Horizontal Radius of Containment
     """
     if typecode(msg) < 5 or typecode(msg) > 22:
-        raise RuntimeError("%s: Not a surface position message (5<TC<8) \
-                           airborne position message (8<TC<19), \
-                           or airborne position with GNSS height (20<TC<22)" % msg)
+        raise RuntimeError(
+            "%s: Not a surface position message (5<TC<8), \
+            airborne position message (8<TC<19), \
+            or airborne position with GNSS height (20<TC<22)" % msg
+        )
 
-    tc = typecode(msg)               
+    tc = typecode(msg)
+    NIC = uncertainty.TC_NICv2_lookup[tc]
 
-    nic_df = pd.read_csv('/home/josmilrom/Libraries/pyModeS/pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv', sep=',')
+    if 20<=tc<=22:
+        NICs = 0
+    else:
+        NICs = NICa*2 + NICbc
 
-    if tc in range(5,9):
-        nic_df_extract = nic_df[(nic_df.TC == tc) & (nic_df.NICa == nic_a) & (nic_df.NICc == nic_c)]
-    elif tc in range(9,19):
-        nic_df_extract = nic_df[(nic_df.TC == tc) & (nic_df.NICa == nic_a) & (nic_df.NICb == nic_b)]
-    elif tc in range(20,23):
-        nic_df_extract = nic_df[nic_df.TC == tc]
+    if isinstance(NIC, dict):
+        NIC = NIC[NICs]
 
-    Rc = nic_df_extract['Rc'][0]
+    Rc = uncertainty.NICv2[NIC][NICs]['Rc']
 
     return Rc
-    
-    
+
 
 def nic_s(msg):
     """Obtain NIC supplement bit, TC=31 message
@@ -337,19 +401,15 @@ def nac_p(msg):
 
     msgbin = common.hex2bin(msg)
 
-    nacp_df = pd.read_csv('/home/josmilrom/Libraries/pyModeS/pyModeS/decoder/adsb_ua_parameters/NACp.csv', sep=',')
-
     if tc == 29:
-        nac_p = common.bin2int(msgbin[71:75])
-        nacp_df_extract = nacp_df[nacp_df.NACp == nac_p]
+        NACp = common.bin2int(msgbin[71:75])
     elif tc == 31:
-        nac_p = common.bin2int(msgbin[76:80])
-        nacp_df_extract = nacp_df[nacp_df.NACp == nac_p]
+        NACp = common.bin2int(msgbin[76:80])
 
-    HFU = nacp_df_extract['HFU'][0]
-    VEPU = nacp_df_extract['VEPU'][0]
+    EPU = uncertainty.NACp[NACp]['EPU']
+    VEPU = uncertainty.NACp[NACp]['VEPU']
 
-    return HFU, VEPU
+    return EPU, VEPU
 
 def nac_v(msg):
     """Calculate NACv, Navigation Accuracy Category - Velocity
@@ -358,7 +418,7 @@ def nac_v(msg):
         msg (string): 28 bytes hexadecimal message string, TC = 19
 
     Returns:
-        int or string: 95% horizontal accuracy bounds for velocity, Horizontal Figure of Merit 
+        int or string: 95% horizontal accuracy bounds for velocity, Horizontal Figure of Merit
         int or string: 95% vertical accuracy bounds for velocity, Vertical Figure of Merit
     """
     tc = typecode(msg)
@@ -366,13 +426,11 @@ def nac_v(msg):
     if tc != 19:
         raise RuntimeError("%s: Not an airborne velocity message, expecting TC = 19" % msg)
 
-    nacv_df = pd.read_csv('/home/josmilrom/Libraries/pyModeS/pyModeS/decoder/adsb_ua_parameters/NACv.csv', sep=',')
-
     msgbin = common.hex2bin(msg)
-    nac_v = common.bin2int(msgbin[42:45])
-    nacv_df_extract = nacv_df[nacv_df.NACv == nac_v]
-    HFOMr = nacv_df_extract['HFOMr'][0]
-    VFOMr = nacv_df_extract['VFOMr'][0]
+    NACv = common.bin2int(msgbin[42:45])
+
+    HFOMr = uncertainty.NACv[NACv]['HFOMr']
+    VFOMr = uncertainty.NACv[NACv]['VFOMr']
 
     return HFOMr, VFOMr
 
@@ -384,9 +442,9 @@ def sil(msg, version):
         msg (string): 28 bytes hexadecimal message string with TC = 29, 31
 
     Returns:
-        int or string: Probability of exceeding Horizontal Radius of Containment RCu 
-        int or string: Probability of exceeding Vertical Integrity Containment Region VPL 
-        string: SIL supplement based on "per hour" or "per sample"
+        int or string: Probability of exceeding Horizontal Radius of Containment RCu
+        int or string: Probability of exceeding Vertical Integrity Containment Region VPL
+        string: SIL supplement based on per "hour" or "sample", or 'unknown'
     """
     tc = typecode(msg)
 
@@ -394,85 +452,27 @@ def sil(msg, version):
         raise RuntimeError("%s: Not a target state and status messag, \
                            or operation status message, expecting TC = 29 or 31" % msg)
 
-    sil_df = pd.read_csv('/home/josmilrom/Libraries/pyModeS/pyModeS/decoder/adsb_ua_parameters/SIL.csv', sep=',')
-
     msgbin = common.hex2bin(msg)
 
     if tc == 29:
-        sil = common.bin2int(msgbin[76:78])
+        SIL = common.bin2int(msgbin[76:78])
     elif tc == 31:
-        sil = common.bin2int(msg[82:84])
+        SIL = common.bin2int(msgbin[82:84])
 
-    sil_df_extract = sil_df[sil_df.NACv == sil]
-    PR_RCu = sil_df_extract['PR_RCu'][0]
-    PE_VPL = sil_df_extract['PE_VPL'][0]
+    PE_RCu = uncertainty.SIL[SIL]['PE_RCu']
+    PE_VPL = uncertainty.SIL[SIL]['PE_VPL']
+
+    base = 'unknown'
 
-    if version == 1:
-        return PR_RCu, PE_VPL
     if version == 2:
         if tc == 29:
-            sil_sup = common.bin2int(msgbin[39])
+            SIL_SUP = common.bin2int(msgbin[39])
         elif tc == 31:
-            sil_sup = common.bin2int(msgbin[86])
-        
-        if sil_sup == 0:
-            base = "per hour"
-        elif sil_sup == 1:
-            base = "per sample"
+            SIL_SUP = common.bin2int(msgbin[86])
 
-        return PR_RCu, PE_VPL, base
+        if SIL_SUP == 0:
+            base = "hour"
+        elif SIL_SUP == 1:
+            base = "sample"
 
-def nuc_p(msg):
-    """Calculate NUCp, Navigation Uncertainty Category - Position
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string,
-
-    Returns:
-        int or string: Horizontal Protection Limit
-        int or string: 95% Containment Radius - Horizontal
-        int or string: 95% Containment Radius - Vertical (only for airborne position with GNSS height messages)
-
-    """
-    tc = typecode(msg)
-
-    if typecode(msg) < 5 or typecode(msg) > 22:
-        raise RuntimeError("%s: Not a surface position message (5<TC<8), \
-                           airborne position message (8<TC<19), \
-                           or airborne position with GNSS height (20<TC<22)" % msg)
-
-    nucp_df = pd.read_csv('/home/josmilrom/Libraries/pyModeS/pyModeS/decoder/adsb_ua_parameters/NUCp.csv', sep=',')
-
-    nucp_df_extract = nucp_df[nucp_df.TC == tc]
-    HPL = nucp_df_extract['HPL'][0]
-    RCu = nucp_df_extract['RCu'][0]
-
-    if tc not in range(20,23):
-        return HPL, RCu
-    else: 
-        RCv = nucp_df_extract['RCv'][0]
-        return HPL, RCu, RCv
-
-def nuc_v(msg):
-    """Calculate NUCv, Navigation Uncertainty Category - Velocity
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string,
-
-    Returns:
-        int or string: 95% Horizontal Velocity Error 
-        int or string: 95% Vertical Velocity Error
-    """
-    tc = typecode(msg)
-
-    if tc != 19:
-        raise RuntimeError("%s: Not an airborne velocity message, expecting TC = 19" % msg)
-
-    nucv_df = pd.read_csv('/home/josmilrom/Libraries/pyModeS/pyModeS/decoder/adsb_ua_parameters/NUCv.csv', sep=',')
-
-    nucv_df_extract = nucv_df[nucv_df.TC == tc]
-
-    HVE = nucv_df_extract['HVE'][0]
-    VVE = nucv_df_extract['VVE'][0]
-
-    return HVE, VVE
\ No newline at end of file
+    return PE_RCu, PE_VPL, base
diff --git a/pyModeS/decoder/adsb_ua_parameters/NACp.csv b/pyModeS/decoder/adsb_ua_parameters/NACp.csv
deleted file mode 100644
index 5e0d802..0000000
--- a/pyModeS/decoder/adsb_ua_parameters/NACp.csv
+++ /dev/null
@@ -1,13 +0,0 @@
-NACp,HFU,VEPU
-11,3,4
-10,10,15
-9,30,45
-8,93,'undefined’
-7,185,'undefined’
-6,556,'undefined’
-5,926,'undefined’
-4,1852,'undefined’
-3,3704,'undefined’
-2,7408,'undefined’
-1,18520,'undefined’
-0,‘unknown’,'undefined’
diff --git a/pyModeS/decoder/adsb_ua_parameters/NACv.csv b/pyModeS/decoder/adsb_ua_parameters/NACv.csv
deleted file mode 100644
index ea2c325..0000000
--- a/pyModeS/decoder/adsb_ua_parameters/NACv.csv
+++ /dev/null
@@ -1,6 +0,0 @@
-NAVc,HFOMr,VFOMr
-0,'unknown’,'unknown’
-1,10,15.2
-2,3,4.5
-3,1,1.5
-4,0.3,0.46
diff --git a/pyModeS/decoder/adsb_ua_parameters/NIC_v1.csv b/pyModeS/decoder/adsb_ua_parameters/NIC_v1.csv
deleted file mode 100644
index 6befdfb..0000000
--- a/pyModeS/decoder/adsb_ua_parameters/NIC_v1.csv
+++ /dev/null
@@ -1,22 +0,0 @@
-TC,NICs,NIC,Rc,VPL
-5,0,11,7.5,'undefined’
-6,0,10,25,'undefined’
-7,1,9,75,'undefined’
-7,0,8,185,'undefined’
-8,0,1,'unknown’,'undefined’
-9,0,11,7.5,11
-10,0,10,25,37.5
-11,1,9,75,112
-11,0,8,185,'undefined’
-12,0,7,370,'undefined’
-13,0,6,926,'undefined’
-13,1,6,1111,'undefined’
-14,0,5,1852,'undefined’
-15,0,4,3702,'undefined’
-16,1,3,7408,'undefined’
-16,0,2,14008,'undefined’
-17,0,1,37000,'undefined’
-18,0,0,'unknown’,'undefined’
-20,0,11,7.5,11
-21,0,10,25,37.5
-22,0,0,'unknown’,112
diff --git a/pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv b/pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv
deleted file mode 100644
index d2d0119..0000000
--- a/pyModeS/decoder/adsb_ua_parameters/NIC_v2.csv
+++ /dev/null
@@ -1,26 +0,0 @@
-TC,NICa,NICb,NICc,NIC,Rc
-5,0,0,0,11,7.5
-6,0,0,0,10,25
-7,1,0,0,9,75
-7,0,0,0,8,185
-8,1,0,1,7,370
-8,1,0,0,6,556
-8,0,0,1,6,1111
-8,0,0,0,0,'unknown’
-9,0,0,0,11,7.5
-10,0,0,0,10,25
-11,1,1,0,9,75
-11,0,0,0,8,185
-12,0,0,0,4,370
-13,0,1,0,6,556
-13,0,0,0,6,926
-13,1,1,0,6,1111
-14,0,0,0,5,1852
-15,0,0,0,4,3704
-16,1,1,0,3,7408
-16,0,0,0,2,14800
-17,0,0,0,1,37000
-18,0,0,0,0,'unknown’
-20,0,0,0,11,7.5
-21,0,0,0,10,25
-22,0,0,0,0,'unknown’
diff --git a/pyModeS/decoder/adsb_ua_parameters/NUCp.csv b/pyModeS/decoder/adsb_ua_parameters/NUCp.csv
deleted file mode 100644
index 2a84020..0000000
--- a/pyModeS/decoder/adsb_ua_parameters/NUCp.csv
+++ /dev/null
@@ -1,18 +0,0 @@
-TC,NUCp,HPL,Rcu,Rcv
-5,9,7.5,3,'undefined’
-6,8,25,10,'undefined’
-7,7,185,93,'undefined’
-8,6,'unknown’,'unknown’,'undefined’
-9,9,7.5,3,'undefined’
-10,8,25,10,'undefined’
-11,7,185,93,'undefined’
-12,6,370,185,'undefined’
-13,5,926,463,'undefined’
-14,4,1852,926,'undefined’
-15,3,3704,1852,'undefined’
-16,2,18520,9260,'undefined’
-17,1,37040,18520,'undefined’
-18,0,'unknown’,'unknown’,'undefined’
-20,9,7.5,3,4
-21,8,25,10,15
-22,0,'unknown’,'unknown’,'unknown’
diff --git a/pyModeS/decoder/adsb_ua_parameters/NUCv.csv b/pyModeS/decoder/adsb_ua_parameters/NUCv.csv
deleted file mode 100644
index f5645a5..0000000
--- a/pyModeS/decoder/adsb_ua_parameters/NUCv.csv
+++ /dev/null
@@ -1,6 +0,0 @@
-NUCp,HVE,VVE
-0,'unknown’,'unknown’
-1,10,15.2
-2,3,4.5
-3,1,1.5
-4,0.3,1.46
diff --git a/pyModeS/decoder/adsb_ua_parameters/SIL.csv b/pyModeS/decoder/adsb_ua_parameters/SIL.csv
deleted file mode 100644
index e31c5bc..0000000
--- a/pyModeS/decoder/adsb_ua_parameters/SIL.csv
+++ /dev/null
@@ -1,5 +0,0 @@
-SIL,PE_Rcu,PE_VPL
-0,'unknown’,'unknown’
-1,10**(-3),10**(-3)
-2,10**(-5),10**(-5)
-3,10**(-7),10**(-7)
diff --git a/pyModeS/decoder/uncertainty.py b/pyModeS/decoder/uncertainty.py
new file mode 100644
index 0000000..2e22882
--- /dev/null
+++ b/pyModeS/decoder/uncertainty.py
@@ -0,0 +1,120 @@
+NA = None
+
+TC_NUCp_lookup = {
+    0:0, 5:9, 6:8, 7:7, 8:6,
+    9:9, 10:8, 11:7, 12:6, 13:5, 14:4, 15:3, 16:2, 17:1, 18:0,
+    20:9, 21:8, 22:0
+}
+
+TC_NICv1_lookup = {
+    5:11, 6:10, 7:9, 8:0,
+    9:11, 10:10, 11:{1:9, 0:8}, 12:7, 13:6, 14:5, 15:4, 16:{1:3, 0:2}, 17:1, 18:0,
+    20:11, 21:10, 22:0
+}
+
+TC_NICv2_lookup = {
+    5:11, 6:10, 7:{2:9, 0:8}, 8:{3:7, 2:6, 1:6, 0:0},
+    9:11, 10:10, 11:{3:9, 0:8}, 12:7, 13:6, 14:5, 15:4, 16:{3:3, 0:2}, 17:1, 18:0,
+    20:11, 21:10, 22:0
+}
+
+
+NUCp = {
+    9: {'HPL':7.5,      'RCu':3,        'RCv':4},
+    8: {'HPL':25,       'RCu':10,       'RCv':15},
+    7: {'HPL':185,      'RCu':93,       'RCv':NA},
+    6: {'HPL':370,      'RCu':185,      'RCv':NA},
+    5: {'HPL':926,      'RCu':463,      'RCv':NA},
+    4: {'HPL':1852,     'RCu':926,      'RCv':NA},
+    3: {'HPL':3704,     'RCu':1852,     'RCv':NA},
+    2: {'HPL':18520,    'RCu':9260,     'RCv':NA},
+    1: {'HPL':37040,    'RCu':18520,    'RCv':NA},
+    0: {'HPL':NA,       'RCu':NA,       'RCv':NA},
+}
+
+NUCv = {
+    0: {'HVE':NA,     'VVE':NA},
+    1: {'HVE':10,     'VVE':15.2},
+    2: {'HVE':3,      'VVE':4.5},
+    3: {'HVE':1,      'VVE':1.5},
+    4: {'HVE':0.3,    'VVE':0.46},
+}
+
+NACp = {
+    11: {'EPU': 3,      'VEPU': 4},
+    10: {'EPU': 10,     'VEPU': 15},
+    9: {'EPU': 30,      'VEPU': 45},
+    8: {'EPU': 93,      'VEPU': NA},
+    7: {'EPU': 185,     'VEPU': NA},
+    6: {'EPU': 556,     'VEPU': NA},
+    5: {'EPU': 926,     'VEPU': NA},
+    4: {'EPU': 1852,    'VEPU': NA},
+    3: {'EPU': 3704,    'VEPU': NA},
+    2: {'EPU': 7408,    'VEPU': NA},
+    1: {'EPU': 18520,   'VEPU': NA},
+    0: {'EPU': NA,      'VEPU': NA},
+}
+
+NACv = {
+    0: {'HFOMr':NA,     'VFOMr':NA},
+    1: {'HFOMr':10,     'VFOMr':15.2},
+    2: {'HFOMr':3,      'VFOMr':4.5},
+    3: {'HFOMr':1,      'VFOMr':1.5},
+    4: {'HFOMr':0.3,    'VFOMr':0.46},
+}
+
+SIL = {
+    3: {'PE_RCu': 1e-7, 'PE_VPL': 2e-7},
+    2: {'PE_RCu': 1e-5, 'PE_VPL': 1e-5},
+    1: {'PE_RCu': 1e-3, 'PE_VPL': 1e-3},
+    0: {'PE_RCu': NA,   'PE_VPL': NA},
+}
+
+
+NICv1 = {
+    # NIC is used as the index at second Level
+
+    11: {0: {'Rc': 7.5,     'VPL': 11}},
+    10: {0: {'Rc': 25,      'VPL': 37.5}},
+    9: {1: {'Rc': 75,       'VPL': 112}},
+    8: {0: {'Rc': 185,      'VPL': NA}},
+    7: {0: {'Rc': 370,      'VPL': NA}},
+    6: {
+        0: {'Rc': 926,      'VPL': NA},
+        1: {'Rc': 1111,     'VPL': NA},
+    },
+    5: {0: {'Rc': 1852,     'VPL': NA}},
+    4: {0: {'Rc': 3702,     'VPL': NA}},
+    3: {1: {'Rc': 7408,     'VPL': NA}},
+    2: {0: {'Rc': 14008,    'VPL': NA}},
+    1: {0: {'Rc': 37000,    'VPL': NA}},
+    0: {0: {'Rc': NA,       'VPL': NA}},
+}
+
+NICv2 = {
+    # Decimal value of [NICa NICb/NICc] is used as the index at second Level
+
+    11: {0: {'Rc': 7.5}},
+    10: {0: {'Rc': 25}},
+    9: {
+        2: {'Rc': 75},
+        3: {'Rc': 75},
+    },
+    8: {0: {'Rc': 185}},
+    7: {
+        0: {'Rc': 370},
+        2: {'Rc': 370},
+    },
+    6: {
+        0: {'Rc': 926},
+        1: {'Rc': 556},
+        2: {'Rc': 556},
+        3: {'Rc': 1111},
+    },
+    5: {0: {'Rc': 1852}},
+    4: {0: {'Rc': 3702}},
+    3: {2: {'Rc': 7408}},
+    2: {0: {'Rc': 14008}},
+    1: {0: {'Rc': 37000}},
+    0: {0: {'Rc': NA}},
+}
diff --git a/pyModeS/streamer/pmslive b/pyModeS/streamer/pmslive
index 463a74e..9db9980 100755
--- a/pyModeS/streamer/pmslive
+++ b/pyModeS/streamer/pmslive
@@ -22,6 +22,7 @@ parser.add_argument('--server', help='server address or IP', required=True)
 parser.add_argument('--port', help='raw data port', required=True)
 parser.add_argument('--rawtype', help='beast or avr', required=True)
 parser.add_argument('--latlon', help='receiver position', nargs=2, metavar=('LAT', 'LON'), required=True)
+parser.add_argument('--show-uncertainty', help='display uncertainty indicators', required=False)
 args = parser.parse_args()
 
 SERVER = args.server
diff --git a/pyModeS/streamer/screen.py b/pyModeS/streamer/screen.py
index 1e9494d..f0bb623 100644
--- a/pyModeS/streamer/screen.py
+++ b/pyModeS/streamer/screen.py
@@ -17,10 +17,19 @@ COLUMNS = [
     ('trk', 10),
     ('hdg', 10),
     ('ver', 4),
-    ('NIC', 5),
-    ('NACv', 5),
-    ('NACp', 5),
-    ('SIL', 5),
+    ('HPL', 5),
+    ('RCu', 5),
+    ('RCv', 5),
+    ('HVE', 5),
+    ('VVE', 5),
+    ('Rc', 4),
+    ('VPL', 5),
+    ('EPU', 5),
+    ('VEPU', 6),
+    ('HFOMr', 7),
+    ('VFOMr', 7),
+    ('PE_RCu', 8),
+    ('PE_VPL', 8),
     ('live', 6),
 ]
 
diff --git a/pyModeS/streamer/stream.py b/pyModeS/streamer/stream.py
index 2fbd568..9d6bda9 100644
--- a/pyModeS/streamer/stream.py
+++ b/pyModeS/streamer/stream.py
@@ -48,10 +48,19 @@ class Stream():
                     'mach': None,
                     'hdg': None,
                     'ver' : None,
-                    'nic_s' : None,
-                    'nic_a' : None,
-                    'nic_b' : None,
-                    'nic_c' : None
+                    'HPL' : None,
+                    'RCu' : None,
+                    'RCv' : None,
+                    'HVE' : None,
+                    'VVE' : None,
+                    'Rc' : None,
+                    'VPL' : None,
+                    'EPU' : None,
+                    'VEPU' : None,
+                    'HFOMr' : None,
+                    'VFOMr' : None,
+                    'PE_RCu' : None,
+                    'PE_VPL' : None,
                 }
 
             self.acs[icao]['live'] = int(t)
@@ -112,38 +121,35 @@ class Stream():
             # Uncertainty & accuracy
             ac = self.acs[icao]
 
+            if 9 <= tc <= 18:
+                ac['nic_bc'] = pms.adsb.nic_b(msg)
+
             if (5 <= tc <= 8) or (9 <= tc <= 18) or (20 <= tc <= 22):
-                if 20 <= tc <= 22:
-                    ac['HPL'], ac['RCu'], ac['RCv'] = pms.adsb.nuc_p(msg)
-                else:
-                    ac['HPL'], ac['RCu'] = pms.adsb.nuc_p(msg)
+                ac['HPL'], ac['RCu'], ac['RCv'] = pms.adsb.nuc_p(msg)
 
                 if (ac['ver'] == 1) and ('nic_s' in ac.keys()):
                     ac['Rc'], ac['VPL'] = pms.adsb.nic_v1(msg, ac['nic_s'])
-                elif (ac['ver'] == 2) and ('nic_a' in ac.keys()) and ('nic_b' in ac.keys()):
-                    ac['Rc'], ac['VPL'] = pms.adsb.nic_v2(msg, ac['nic_a'], ac['nic_b'], ac['nic_c'])
+                elif (ac['ver'] == 2) and ('nic_a' in ac.keys()) and ('nic_bc' in ac.keys()):
+                    ac['Rc'] = pms.adsb.nic_v2(msg, ac['nic_a'], ac['nic_bc'])
 
             if tc == 19:
                 ac['HVE'], ac['VVE'] = pms.adsb.nuc_v(msg)
                 if ac['ver'] in [1, 2]:
-                    ac['HFU'], ac['VEPU'] = pms.adsb.nac_v(msg)
+                    ac['EPU'], ac['VEPU'] = pms.adsb.nac_v(msg)
 
             if tc == 29:
-                if ac['ver'] == 1:
-                    ac['PR_RCu'], ac['PE_VPL'] = pms.adsb.sil(msg, ac['ver'])  
-                elif  ac['ver'] == 2:
-                    ac['PR_RCu'], ac['PE_VPL'], ac['sil_base'] = pms.adsb.sil(msg, ac['ver'])
+                ac['PE_RCu'], ac['PE_VPL'], ac['base'] = pms.adsb.sil(msg, ac['ver'])
                 ac['HFOMr'], ac['VFOMr'] = pms.adsb.nac_p(msg)
 
             if tc == 31:
                 ac['ver']  = pms.adsb.version(msg)
                 ac['HFOMr'], ac['VFOMr'] = pms.adsb.nac_p(msg)
+                ac['PE_RCu'], ac['PE_VPL'], ac['sil_base'] = pms.adsb.sil(msg, ac['ver'])
+
                 if ac['ver']  == 1:
                     ac['nic_s'] = pms.adsb.nic_s(msg)
-                    ac['PR_RCu'], ac['PE_VPL'] = pms.adsb.sil(msg, ac['ver'])  
                 elif ac['ver']  == 2:
-                    ac['nic_a'], ac['nic_c'] = pms.adsb.nic_a_c(msg)
-                    ac['PR_RCu'], ac['PE_VPL'], ac['sil_base'] = pms.adsb.sil(msg, ac['ver'])
+                    ac['nic_a'], ac['nic_bc'] = pms.adsb.nic_a_c(msg)
 
 
         # process commb message
diff --git a/tests/test_adsb.py b/tests/test_adsb.py
index 63b38f8..e4b14d6 100644
--- a/tests/test_adsb.py
+++ b/tests/test_adsb.py
@@ -64,16 +64,16 @@ def test_adsb_velocity():
     assert adsb.altitude_diff('8D485020994409940838175B284F') == 550
 
 
-def test_nic():
-    assert adsb.nic('8D3C70A390AB11F55B8C57F65FE6') == 0
-    assert adsb.nic('8DE1C9738A4A430B427D219C8225') == 1
-    assert adsb.nic('8D44058880B50006B1773DC2A7E9') == 2
-    assert adsb.nic('8D44058881B50006B1773DC2A7E9') == 3
-    assert adsb.nic('8D4AB42A78000640000000FA0D0A') == 4
-    assert adsb.nic('8D4405887099F5D9772F37F86CB6') == 5
-    assert adsb.nic('8D4841A86841528E72D9B472DAC2') == 6
-    assert adsb.nic('8D44057560B9760C0B840A51C89F') == 7
-    assert adsb.nic('8D40621D58C382D690C8AC2863A7') == 8
-    assert adsb.nic('8F48511C598D04F12CCF82451642') == 9
-    assert adsb.nic('8DA4D53A50DBF8C6330F3B35458F') == 10
-    assert adsb.nic('8D3C4ACF4859F1736F8E8ADF4D67') == 11
+# def test_nic():
+#     assert adsb.nic('8D3C70A390AB11F55B8C57F65FE6') == 0
+#     assert adsb.nic('8DE1C9738A4A430B427D219C8225') == 1
+#     assert adsb.nic('8D44058880B50006B1773DC2A7E9') == 2
+#     assert adsb.nic('8D44058881B50006B1773DC2A7E9') == 3
+#     assert adsb.nic('8D4AB42A78000640000000FA0D0A') == 4
+#     assert adsb.nic('8D4405887099F5D9772F37F86CB6') == 5
+#     assert adsb.nic('8D4841A86841528E72D9B472DAC2') == 6
+#     assert adsb.nic('8D44057560B9760C0B840A51C89F') == 7
+#     assert adsb.nic('8D40621D58C382D690C8AC2863A7') == 8
+#     assert adsb.nic('8F48511C598D04F12CCF82451642') == 9
+#     assert adsb.nic('8DA4D53A50DBF8C6330F3B35458F') == 10
+#     assert adsb.nic('8D3C4ACF4859F1736F8E8ADF4D67') == 11