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Merge pull request #47 from junzis/rtlsdr

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Add RTL-SDR support
This commit is contained in:
Junzi Sun
2019-08-23 14:47:50 +02:00
committed by GitHub
parent 7cb75ea8ca 4906a49e9c
commit 81d7cef6e8
6 changed files with 559 additions and 278 deletions
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72
README.rst
View File

@@ -1,9 +1,7 @@
The Python ADS-B/Mode-S Decoder
===============================
If you find this project useful for your research, please cite our work (bibtex format):
::
If you find this project useful for your research, please considering cite this tool as::
@article{sun2019pymodes,
author={J. {Sun} and H. {V\^u} and J. {Ellerbroek} and J. M. {Hoekstra}},
@@ -18,11 +16,11 @@ If you find this project useful for your research, please cite our work (bibtex
Introduction
---------------------
PyModeS is a Python library designed to decode Mode-S (including ADS-B) message.
Message with following Downlink Formats (DF) are supported:
PyModeS is a Python library designed to decode Mode-S (including ADS-B) message. It can be imported to your python project or be used as a standalone tool to view and save live traffic data.
Messages with following Downlink Formats (DF) are supported:
**DF17 / DF18: Automatic Dependent Surveillance - Broadcast (ADS-B)**
**DF17 / DF18: Automatic Dependent Surveillance-Broadcast (ADS-B)**
- TC=1-4 / BDS 0,8: Aircraft identification and category
- TC=5-8 / BDS 0,6: Surface position
@@ -53,13 +51,13 @@ Message with following Downlink Formats (DF) are supported:
Resources
-----------
Checkout and contribute to this open-source project at:
Check out and contribute to this open-source project at:
https://github.com/junzis/pyModeS
Detailed manual on Mode-S decoding is published at:
https://mode-s.org/decode.
API documentation of pyModeS is at:
The API documentation of pyModeS is at:
http://pymodes.readthedocs.io
@@ -67,7 +65,7 @@ http://pymodes.readthedocs.io
Install
-------
To install latest version from the GitHub:
To install the latest version development from the GitHub:
::
@@ -82,29 +80,43 @@ To install the stable version (2.0) from pip:
Live view traffic (modeslive)
View live traffic (modeslive)
----------------------------------------------------
Supports **Mode-S Beast** and **AVR** raw stream
::
General usage::
modeslive --server [server_address] --port [tcp_port] --rawtype [beast,avr,skysense] --latlon [lat] [lon] --dumpto [folder]
$ modeslive [-h] --source SOURCE [--connect SERVER PORT DATAYPE]
[--latlon LAT LON] [--show-uncertainty] [--dumpto DUMPTO]
Arguments:
-h, --help show this help message and exit
--server SERVER server address or IP
--port PORT raw data port
--rawtype RAWTYPE beast, avr or skysense
--latlon LAT LON receiver position
--show-uncertainty display uncertaint values, default off
--dumpto folder to dump decoded output
arguments:
-h, --help show this help message and exit
--source SOURCE Choose data source, "rtlsdr" or "net"
--connect SERVER PORT DATATYPE
Define server, port and data type. Supported data
types are: ['raw', 'beast', 'skysense']
--latlon LAT LON Receiver latitude and longitude, needed for the surface
position, default none
--show-uncertainty Display uncertainty values, default off
--dumpto DUMPTO Folder to dump decoded output, default none
If you have a RTL-SDR receiver or Mode-S Beast, use modesmixer2 (http://xdeco.org/?page_id=48) to create raw beast TCP stream:
Live with RTL-SDR
*******************
If you have an RTL-SDR receiver plugged to the computer, you can connect it with ``rtlsdr`` source switch, shown as follows::
$ modeslive --source rtlsdr
Live with network data
***************************
If you want to connect to a TCP server that broadcast raw data. use can use ``net`` source switch, for example::
$ modeslive --source net --connect localhost 30002 avr
$ modeslive --source net --connect 127.0.0.1 30005 beast
::
$ modesmixer2 --inSeriel port[:speed[:flow_control]] --outServer beast:[tcp_port]
Example screenshot:
@@ -164,11 +176,7 @@ Core functions for ADS-B decoding
pms.adsb.airborne_velocity(msg)
Note: When you have a fix position of the aircraft, it is convenient to
use `position_with_ref()` method to decode with only one position message
(either odd or even). This works with both airborne and surface position
messages. But the reference position shall be with in 180NM (airborne)
or 45NM (surface) of the true position.
Note: When you have a fix position of the aircraft, it is convenient to use `position_with_ref()` method to decode with only one position message (either odd or even). This works with both airborne and surface position messages. But the reference position shall be within 180NM (airborne) or 45NM (surface) of the true position.
Decode altitude replies in DF4 / DF20
@@ -275,9 +283,7 @@ Meteorological hazard air report (MHR) [Experimental]
Customize the streaming module
******************************
The TCP client module from pyModeS can be re-used to stream and process Mode-S
data as your like. You need to re-implement the ``handle_messages()`` function from
the ``BaseClient`` class to write your own logic to handle the messages.
The TCP client module from pyModeS can be re-used to stream and process Mode-S data as you like. You need to re-implement the ``handle_messages()`` function from the ``BaseClient`` class to write your own logic to handle the messages.
Here is an example:
@@ -317,7 +323,7 @@ Here is an example:
Unit test
---------
To perform unit tests. First install ``tox`` through pip, Then, run the following commands:
To perform unit tests. First, install ``tox`` through pip. Then, run the following commands:
.. code:: bash

155
pyModeS/extra/rtlreader.py Normal file
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@@ -0,0 +1,155 @@
import numpy as np
import pyModeS as pms
from rtlsdr import RtlSdr
from threading import Thread
import time
modes_sample_rate = 2e6
modes_frequency = 1090e6
buffer_size = 1024 * 100
read_size = 1024 * 20
pbits = 8
fbits = 112
preamble = [1, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0]
th_amp = 0.2 # signal amplitude threshold for 0 and 1 bit
th_amp_diff = 0.8 # signal amplitude threshold difference between 0 and 1 bit
class RtlReader(Thread):
def __init__(self, debug=False):
super(RtlReader, self).__init__()
self.signal_buffer = []
self.debug = debug
self.sdr = RtlSdr()
self.sdr.sample_rate = modes_sample_rate
self.sdr.center_freq = modes_frequency
self.sdr.gain = "auto"
# sdr.freq_correction = 75
def _process_buffer(self):
messages = []
# signal_array = np.array(self.signal_buffer)
# pulses_array = np.where(np.array(self.signal_buffer) < th_amp, 0, 1)
# pulses = "".join(str(x) for x in pulses_array)
buffer_length = len(self.signal_buffer)
i = 0
while i < buffer_length:
if self.signal_buffer[i] < th_amp:
i += 1
continue
# if pulses[i : i + pbits * 2] == preamble:
if self._check_preamble(self.signal_buffer[i : i + pbits * 2]):
frame_start = i + pbits * 2
frame_end = i + pbits * 2 + (fbits + 1) * 2
frame_length = (fbits + 1) * 2
frame_pulses = self.signal_buffer[frame_start:frame_end]
msgbin = ""
for j in range(0, frame_length, 2):
p2 = frame_pulses[j : j + 2]
if len(p2) < 2:
break
if p2[0] < th_amp and p2[1] < th_amp:
break
elif p2[0] >= p2[1]:
c = "1"
elif p2[0] < p2[1]:
c = "0"
else:
msgbin = ""
break
msgbin += c
# advance i with a jump
i = frame_start + j
if len(msgbin) > 0:
msghex = pms.bin2hex(msgbin)
if self._check_msg(msghex):
messages.append([msghex, time.time()])
if self.debug:
self._debug_msg(msghex)
elif i > buffer_length - 500:
# save some for next process
break
else:
i += 1
# keep reminder of buffer for next iteration
self.signal_buffer = self.signal_buffer[i:]
return messages
def _check_preamble(self, pulses):
if len(pulses) != 16:
return False
for i in range(16):
if abs(pulses[i] - preamble[i]) > th_amp_diff:
return False
return True
def _check_msg(self, msg):
df = pms.df(msg)
msglen = len(msg)
if df == 17 and msglen == 28:
if pms.crc(msg) == 0:
return True
elif df in [20, 21] and msglen == 28:
return True
elif df in [4, 5, 11] and msglen == 14:
return True
def _debug_msg(self, msg):
df = pms.df(msg)
msglen = len(msg)
if df == 17 and msglen == 28:
print(msg, pms.icao(msg), pms.crc(msg))
elif df in [20, 21] and msglen == 28:
print(msg, pms.icao(msg))
elif df in [4, 5, 11] and msglen == 14:
print(msg, pms.icao(msg))
else:
# print("[*]", msg)
pass
def _read_callback(self, data, rtlsdr_obj):
# scaling signal (imporatant)
amp = np.absolute(data)
amp_norm = np.interp(amp, (amp.min(), amp.max()), (0, 1))
self.signal_buffer.extend(amp_norm.tolist())
if len(self.signal_buffer) >= buffer_size:
messages = self._process_buffer()
self.handle_messages(messages)
def handle_messages(self, messages):
"""re-implement this method to handle the messages"""
for msg, t in messages:
# print("%15.9f %s" % (t, msg))
pass
def stop(self):
self.sdr.cancel_read_async()
def run(self):
self.sdr.read_samples_async(self._read_callback, read_size)
# count = 1
# while count < 1000:
# count += 1
# data = self.sdr.read_samples(read_size)
# self._read_callback(data, None)
if __name__ == "__main__":
rtl = RtlReader()
rtl.debug = True
rtl.start()
rtl.join()

141
pyModeS/extra/tcpclient.py
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@@ -1,6 +1,6 @@
'''
"""
Stream beast raw data from a TCP server, convert to mode-s messages
'''
"""
from __future__ import print_function, division
import os
import sys
@@ -9,47 +9,44 @@ import time
import pyModeS as pms
from threading import Thread
import traceback
import zmq
if (sys.version_info > (3, 0)):
if sys.version_info > (3, 0):
PY_VERSION = 3
else:
PY_VERSION = 2
class BaseClient(Thread):
def __init__(self, host, port, rawtype):
def __init__(self, host, port, datatype):
Thread.__init__(self)
self.host = host
self.port = port
self.buffer = []
self.rawtype = rawtype
if self.rawtype not in ['avr', 'beast', 'skysense']:
print("rawtype must be either avr, beast or skysense")
self.socket = None
self.datatype = datatype
if self.datatype not in ["raw", "beast", "skysense"]:
print("datatype must be either raw, beast or skysense")
os._exit(1)
def connect(self):
while True:
try:
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.settimeout(10) # 10 second timeout
s.connect((self.host, self.port))
print("Server connected - %s:%s" % (self.host, self.port))
print("collecting ADS-B messages...")
return s
except socket.error as err:
print("Socket connection error: %s. reconnecting..." % err)
time.sleep(3)
self.socket = zmq.Context().socket(zmq.STREAM)
self.socket.setsockopt(zmq.LINGER, 0)
self.socket.setsockopt(zmq.RCVTIMEO, 2000)
self.socket.connect("tcp://%s:%s" % (self.host, self.port))
def read_raw_buffer(self):
""" Read raw ADS-B data type.
def read_avr_buffer(self):
# -- testing --
# for b in self.buffer:
# print(chr(b), b)
# Append message with 0-9,A-F,a-f, until stop sign
String strats with "*" and ends with ";". For example:
*5d484ba898f8c6;
*8d400cd5990d7e9a10043e5e6da0;
*a0001498be800030aa0000c7a75f;
"""
messages = []
msg_stop = False
self.current_msg = ""
for b in self.buffer:
if b == 59:
msg_stop = True
@@ -57,9 +54,11 @@ class BaseClient(Thread):
messages.append([self.current_msg, ts])
if b == 42:
msg_stop = False
self.current_msg = ''
self.current_msg = ""
if (not msg_stop) and (48<=b<=57 or 65<=b<=70 or 97<=b<=102):
if (not msg_stop) and (
48 <= b <= 57 or 65 <= b <= 70 or 97 <= b <= 102
):
self.current_msg = self.current_msg + chr(b)
self.buffer = []
@@ -67,7 +66,8 @@ class BaseClient(Thread):
return messages
def read_beast_buffer(self):
'''
"""Handle mode-s beast data type.
<esc> "1" : 6 byte MLAT timestamp, 1 byte signal level,
2 byte Mode-AC
<esc> "2" : 6 byte MLAT timestamp, 1 byte signal level,
@@ -81,8 +81,7 @@ class BaseClient(Thread):
timestamp:
wiki.modesbeast.com/Radarcape:Firmware_Versions#The_GPS_timestamp
'''
"""
messages_mlat = []
msg = []
i = 0
@@ -91,16 +90,16 @@ class BaseClient(Thread):
# then, reset the self.buffer with the remainder
while i < len(self.buffer):
if (self.buffer[i:i+2] == [0x1a, 0x1a]):
msg.append(0x1a)
if self.buffer[i : i + 2] == [0x1A, 0x1A]:
msg.append(0x1A)
i += 1
elif (i == len(self.buffer) - 1) and (self.buffer[i] == 0x1a):
elif (i == len(self.buffer) - 1) and (self.buffer[i] == 0x1A):
# special case where the last bit is 0x1a
msg.append(0x1a)
elif self.buffer[i] == 0x1a:
msg.append(0x1A)
elif self.buffer[i] == 0x1A:
if i == len(self.buffer) - 1:
# special case where the last bit is 0x1a
msg.append(0x1a)
msg.append(0x1A)
elif len(msg) > 0:
messages_mlat.append(msg)
msg = []
@@ -112,12 +111,12 @@ class BaseClient(Thread):
if len(msg) > 0:
reminder = []
for i, m in enumerate(msg):
if (m == 0x1a) and (i < len(msg)-1):
if (m == 0x1A) and (i < len(msg) - 1):
# rewind 0x1a, except when it is at the last bit
reminder.extend([m, m])
else:
reminder.append(m)
self.buffer = [0x1a] + msg
self.buffer = [0x1A] + msg
else:
self.buffer = []
@@ -131,10 +130,10 @@ class BaseClient(Thread):
if msgtype == 0x32:
# Mode-S Short Message, 7 byte, 14-len hexstr
msg = ''.join('%02X' % i for i in mm[8:15])
msg = "".join("%02X" % i for i in mm[8:15])
elif msgtype == 0x33:
# Mode-S Long Message, 14 byte, 28-len hexstr
msg = ''.join('%02X' % i for i in mm[8:22])
msg = "".join("%02X" % i for i in mm[8:22])
else:
# Other message tupe
continue
@@ -215,25 +214,37 @@ class BaseClient(Thread):
messages = []
while len(self.buffer) > SS_MSGLENGTH:
i = 0
if self.buffer[i] == SS_STARTCHAR and self.buffer[i+SS_MSGLENGTH] == SS_STARTCHAR:
if (
self.buffer[i] == SS_STARTCHAR
and self.buffer[i + SS_MSGLENGTH] == SS_STARTCHAR
):
i += 1
if (self.buffer[i]>>7):
#Long message
payload = self.buffer[i:i+14]
if self.buffer[i] >> 7:
# Long message
payload = self.buffer[i : i + 14]
else:
#Short message
payload = self.buffer[i:i+7]
msg = ''.join('%02X' % j for j in payload)
i += 14 #Both message types use 14 bytes
tsbin = self.buffer[i:i+6]
sec = ( (tsbin[0] & 0x7f) << 10) | (tsbin[1] << 2 ) | (tsbin[2] >> 6)
nano = ( (tsbin[2] & 0x3f) << 24) | (tsbin[3] << 16) | (tsbin[4] << 8) | tsbin[5]
ts = sec + nano*1.0e-9
# Short message
payload = self.buffer[i : i + 7]
msg = "".join("%02X" % j for j in payload)
i += 14 # Both message types use 14 bytes
tsbin = self.buffer[i : i + 6]
sec = (
((tsbin[0] & 0x7F) << 10)
| (tsbin[1] << 2)
| (tsbin[2] >> 6)
)
nano = (
((tsbin[2] & 0x3F) << 24)
| (tsbin[3] << 16)
| (tsbin[4] << 8)
| tsbin[5]
)
ts = sec + nano * 1.0e-9
i += 6
#Signal and noise level - Don't care for now
# Signal and noise level - Don't care for now
i += 3
self.buffer = self.buffer[SS_MSGLENGTH:]
messages.append( [msg,ts] )
messages.append([msg, ts])
else:
self.buffer = self.buffer[1:]
return messages
@@ -244,11 +255,11 @@ class BaseClient(Thread):
print("%15.9f %s" % (t, msg))
def run(self):
sock = self.connect()
self.connect()
while True:
try:
received = sock.recv(1024)
received = [i for i in self.socket.recv(4096)]
if PY_VERSION == 2:
received = [ord(i) for i in received]
@@ -261,11 +272,11 @@ class BaseClient(Thread):
# continue
# -- Removed!! Cause delay in low data rate scenario --
if self.rawtype == 'beast':
if self.datatype == "beast":
messages = self.read_beast_buffer()
elif self.rawtype == 'avr':
messages = self.read_avr_buffer()
elif self.rawtype == 'skysense':
elif self.datatype == "raw":
messages = self.read_raw_buffer()
elif self.datatype == "skysense":
messages = self.read_skysense_buffer()
if not messages:
@@ -279,8 +290,8 @@ class BaseClient(Thread):
# Provides the user an option to supply the environment
# variable PYMODES_DEBUG to halt the execution
# for debugging purposes
debug_intent = os.environ.get('PYMODES_DEBUG', 'false')
if debug_intent.lower() == 'true':
debug_intent = os.environ.get("PYMODES_DEBUG", "false")
if debug_intent.lower() == "true":
traceback.print_exc()
sys.exit()
else:
@@ -292,11 +303,11 @@ class BaseClient(Thread):
print("Unexpected Error:", e)
if __name__ == '__main__':
if __name__ == "__main__":
# for testing purpose only
host = sys.argv[1]
port = int(sys.argv[2])
rawtype = sys.argv[3]
client = BaseClient(host=host, port=port, rawtype=rawtype)
datatype = sys.argv[3]
client = BaseClient(host=host, port=port, datatype=datatype)
client.daemon = True
client.run()

136
pyModeS/streamer/modeslive
View File

@@ -9,6 +9,7 @@ import curses
from threading import Lock
import pyModeS as pms
from pyModeS.extra.tcpclient import BaseClient
from pyModeS.extra.rtlreader import RtlReader
from pyModeS.streamer.stream import Stream
from pyModeS.streamer.screen import Screen
@@ -18,30 +19,77 @@ ADSB_TS = []
COMMB_MSG = []
COMMB_TS = []
support_rawtypes = ["raw", "beast", "skysense"]
parser = argparse.ArgumentParser()
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, avr or skysense', required=True)
parser.add_argument('--latlon', help='receiver position', nargs=2, metavar=('LAT', 'LON'), required=True)
parser.add_argument('--show-uncertainty', dest='uncertainty', help='display uncertaint values, default off', action='store_true', required=False, default=False)
parser.add_argument('--dumpto', help='folder to dump decoded output', required=False, default=None)
parser.add_argument(
"--source",
help='Choose data source, "rtlsdr" or "net"',
required=True,
default="net",
)
parser.add_argument(
"--connect",
help="Define server, port and data type. Supported data types are: %s"
% support_rawtypes,
nargs=3,
metavar=("SERVER", "PORT", "DATATYPE"),
default=None,
required=False,
)
parser.add_argument(
"--latlon",
help="Receiver latitude and longitude, needed for the surface position, default none",
nargs=2,
metavar=("LAT", "LON"),
default=None,
required=False,
)
parser.add_argument(
"--show-uncertainty",
dest="uncertainty",
help="Display uncertainty values, default off",
action="store_true",
required=False,
default=False,
)
parser.add_argument(
"--dumpto",
help="Folder to dump decoded output, default none",
required=False,
default=None,
)
args = parser.parse_args()
SERVER = args.server
PORT = int(args.port)
RAWTYPE = args.rawtype
LAT0 = float(args.latlon[0])
LON0 = float(args.latlon[1])
SOURCE = args.source
LATLON = args.latlon
UNCERTAINTY = args.uncertainty
DUMPTO = args.dumpto
if SOURCE == "rtlsdr":
pass
elif SOURCE == "net":
if args.connect is None:
print("Error: --connect argument must not be empty.")
else:
SERVER, PORT, DATATYPE = args.connect
if DATATYPE not in support_rawtypes:
print(
"Data type not supported, avaiable ones are %s"
% support_rawtypes
)
else:
print('Source must be "rtlsdr" or "net".')
sys.exit(1)
if DUMPTO is not None:
# append to current folder except root is given
if DUMPTO[0] != '/':
DUMPTO = os.getcwd() + '/' + DUMPTO
if DUMPTO[0] != "/":
DUMPTO = os.getcwd() + "/" + DUMPTO
if not os.path.isdir(DUMPTO):
print('Error: dump folder (%s) does not exist' % DUMPTO)
print("Error: dump folder (%s) does not exist" % DUMPTO)
sys.exit(1)
@@ -56,7 +104,7 @@ class ModesClient(BaseClient):
local_buffer_ehs_ts = []
for msg, t in messages:
if len(msg) < 28: # only process long messages
if len(msg) < 28: # only process long messages
continue
df = pms.df(msg)
@@ -70,7 +118,6 @@ class ModesClient(BaseClient):
else:
continue
LOCK.acquire()
ADSB_MSG.extend(local_buffer_adsb_msg)
ADSB_TS.extend(local_buffer_adsb_ts)
@@ -79,14 +126,57 @@ class ModesClient(BaseClient):
LOCK.release()
class ModesRtlReader(RtlReader):
"""docstring for ModesRtlReader."""
def __init__(self):
super(ModesRtlReader, self).__init__()
def handle_messages(self, messages):
local_buffer_adsb_msg = []
local_buffer_adsb_ts = []
local_buffer_ehs_msg = []
local_buffer_ehs_ts = []
for msg, t in messages:
if len(msg) < 28: # only process long messages
continue
df = pms.df(msg)
if df == 17 or df == 18:
local_buffer_adsb_msg.append(msg)
local_buffer_adsb_ts.append(t)
elif df == 20 or df == 21:
local_buffer_ehs_msg.append(msg)
local_buffer_ehs_ts.append(t)
else:
continue
LOCK.acquire()
ADSB_MSG.extend(local_buffer_adsb_msg)
ADSB_TS.extend(local_buffer_adsb_ts)
COMMB_MSG.extend(local_buffer_ehs_msg)
COMMB_TS.extend(local_buffer_ehs_ts)
# print(len(ADSB_MSG))
# print(len(COMMB_MSG))
LOCK.release()
# redirect all stdout to null, avoiding messing up with the screen
sys.stdout = open(os.devnull, 'w')
sys.stdout = open(os.devnull, "w")
client = ModesClient(host=SERVER, port=PORT, rawtype=RAWTYPE)
client.daemon = True
client.start()
if SOURCE == "net":
client = ModesClient(host=SERVER, port=PORT, rawtype=DATATYPE)
client.daemon = True
client.start()
elif SOURCE == "rtlsdr":
rtl = ModesRtlReader()
# rtl.debug = True
rtl.daemon = True
rtl.start()
stream = Stream(lat0=LAT0, lon0=LON0, dumpto=DUMPTO)
stream = Stream(latlon=LATLON, dumpto=DUMPTO)
try:
screen = Screen(uncertainty=UNCERTAINTY)
@@ -94,7 +184,7 @@ try:
screen.start()
while True:
if len(ADSB_MSG) > 200:
if len(ADSB_MSG) > 1:
LOCK.acquire()
stream.process_raw(ADSB_TS, ADSB_MSG, COMMB_TS, COMMB_MSG)
ADSB_MSG = []
@@ -107,7 +197,7 @@ try:
try:
screen.update_data(acs)
screen.update()
time.sleep(0.02)
time.sleep(1)
except KeyboardInterrupt:
raise
except:

104
pyModeS/streamer/screen.py
View File

@@ -6,38 +6,39 @@ import time
from threading import Thread
COLUMNS = [
('call', 10),
('lat', 10),
('lon', 10),
('alt', 7),
('gs', 5),
('tas', 5),
('ias', 5),
('mach', 7),
('roc', 7),
('trk', 10),
('hdg', 10),
('live', 6),
("call", 10),
("lat", 10),
("lon", 10),
("alt", 7),
("gs", 5),
("tas", 5),
("ias", 5),
("mach", 7),
("roc", 7),
("trk", 10),
("hdg", 10),
("live", 6),
]
UNCERTAINTY_COLUMNS = [
('|', 5),
('ver', 4),
('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),
("|", 5),
("ver", 4),
("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),
]
class Screen(Thread):
def __init__(self, uncertainty=False):
Thread.__init__(self)
@@ -55,7 +56,6 @@ class Screen(Thread):
if uncertainty:
self.columns.extend(UNCERTAINTY_COLUMNS)
def reset_cursor_pos(self):
self.screen.move(self.y, self.x)
@@ -64,7 +64,12 @@ class Screen(Thread):
def draw_frame(self):
self.screen.border(0)
self.screen.addstr(0, 2, "Online aircraft [%d] ('Ctrl+C' to exit, 'Enter' to lock one)" % len(self.acs))
self.screen.addstr(
0,
2,
"Online aircraft [%d] ('Ctrl+C' to exit, 'Enter' to lock one)"
% len(self.acs),
)
def update(self):
if len(self.acs) == 0:
@@ -81,21 +86,20 @@ class Screen(Thread):
row = 1
header = ' icao'
header = " icao"
for c, cw in self.columns:
header += (cw-len(c))*' ' + c
header += (cw - len(c)) * " " + c
# fill end with spaces
header += (self.scr_w - 2 - len(header)) * ' '
header += (self.scr_w - 2 - len(header)) * " "
if len(header) > self.scr_w - 2:
header = header[:self.scr_w-3] + '>'
header = header[: self.scr_w - 3] + ">"
self.screen.addstr(row, 1, header)
row +=1
self.screen.addstr(row, 1, '-'*(self.scr_w-2))
row += 1
self.screen.addstr(row, 1, "-" * (self.scr_w - 2))
icaos = np.array(list(self.acs.keys()))
icaos = np.sort(icaos)
@@ -105,10 +109,10 @@ class Screen(Thread):
idx = row + self.offset - 3
if idx > len(icaos) - 1:
line = ' '*(self.scr_w-2)
line = " " * (self.scr_w - 2)
else:
line = ''
line = ""
icao = icaos[idx]
ac = self.acs[icao]
@@ -116,22 +120,22 @@ class Screen(Thread):
line += icao
for c, cw in self.columns:
if c=='|':
val = '|'
elif c=='live':
val = str(int(time.time() - ac[c]))+'s'
if c == "|":
val = "|"
elif c == "live":
val = str(ac[c] - int(time.time())) + "s"
elif ac[c] is None:
val = ''
val = ""
else:
val = ac[c]
val_str = str(val)
line += (cw-len(val_str))*' ' + val_str
line += (cw - len(val_str)) * " " + val_str
# fill end with spaces
line += (self.scr_w - 2 - len(line)) * ' '
line += (self.scr_w - 2 - len(line)) * " "
if len(line) > self.scr_w - 2:
line = line[:self.scr_w-3] + '>'
line = line[: self.scr_w - 3] + ">"
if (icao is not None) and (self.lock_icao == icao):
self.screen.addstr(row, 1, line, curses.A_STANDOUT)
@@ -140,11 +144,13 @@ class Screen(Thread):
else:
self.screen.addstr(row, 1, line)
self.screen.addstr(self.scr_h-3, 1, '-'*(self.scr_w-2))
self.screen.addstr(self.scr_h - 3, 1, "-" * (self.scr_w - 2))
total_page = len(icaos) // (self.scr_h - 4) + 1
current_page = self.offset // (self.scr_h - 4) + 1
self.screen.addstr(self.scr_h-2, 1, '(%d / %d)' % (current_page, total_page))
self.screen.addstr(
self.scr_h - 2, 1, "(%d / %d)" % (current_page, total_page)
)
self.reset_cursor_pos()
@@ -168,7 +174,7 @@ class Screen(Thread):
self.offset = offset_intent
else:
self.offset = 0
elif c == curses.KEY_DOWN :
elif c == curses.KEY_DOWN:
y_intent = self.y + 1
if y_intent < self.scr_h - 3:
self.y = y_intent

229
pyModeS/streamer/stream.py
View File

@@ -5,24 +5,27 @@ import datetime
import csv
import pyModeS as pms
class Stream():
def __init__(self, lat0, lon0, dumpto=None):
class Stream:
def __init__(self, latlon=None, dumpto=None):
self.acs = dict()
self.lat0 = lat0
self.lon0 = lon0
if latlon is not None:
self.lat0 = float(latlon[0])
self.lon0 = float(latlon[1])
else:
self.lat0 = None
self.lon0 = None
self.t = 0
self.cache_timeout = 60 # seconds
self.cache_timeout = 60 # seconds
if dumpto is not None and os.path.isdir(dumpto):
self.dumpto = dumpto
else:
self.dumpto = None
def process_raw(self, adsb_ts, adsb_msgs, commb_ts, commb_msgs, tnow=None):
"""process a chunk of adsb and commb messages recieved in the same
time period.
@@ -42,43 +45,43 @@ class Stream():
if icao not in self.acs:
self.acs[icao] = {
'live': None,
'call': None,
'lat': None,
'lon': None,
'alt': None,
'gs': None,
'trk': None,
'roc': None,
'tas': None,
'roll': None,
'rtrk': None,
'ias': None,
'mach': None,
'hdg': None,
'ver' : 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,
"live": None,
"call": None,
"lat": None,
"lon": None,
"alt": None,
"gs": None,
"trk": None,
"roc": None,
"tas": None,
"roll": None,
"rtrk": None,
"ias": None,
"mach": None,
"hdg": None,
"ver": 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]['t'] = t
self.acs[icao]['live'] = int(t)
self.acs[icao]["t"] = t
self.acs[icao]["live"] = int(t)
if 1 <= tc <= 4:
cs = pms.adsb.callsign(msg)
self.acs[icao]['call'] = cs
output_buffer.append([t, icao, 'cs', cs])
self.acs[icao]["call"] = cs
output_buffer.append([t, icao, "cs", cs])
if (5 <= tc <= 8) or (tc == 19):
vdata = pms.adsb.velocity(msg)
@@ -86,42 +89,47 @@ class Stream():
continue
spd, trk, roc, tag = vdata
if tag != 'GS':
if tag != "GS":
continue
if (spd is None) or (trk is None):
continue
self.acs[icao]['gs'] = spd
self.acs[icao]['trk'] = trk
self.acs[icao]['roc'] = roc
self.acs[icao]['tv'] = t
self.acs[icao]["gs"] = spd
self.acs[icao]["trk"] = trk
self.acs[icao]["roc"] = roc
self.acs[icao]["tv"] = t
output_buffer.append([t, icao, 'gs', spd])
output_buffer.append([t, icao, 'trk', trk])
output_buffer.append([t, icao, 'roc', roc])
output_buffer.append([t, icao, "gs", spd])
output_buffer.append([t, icao, "trk", trk])
output_buffer.append([t, icao, "roc", roc])
if (5 <= tc <= 18):
if 5 <= tc <= 18:
oe = pms.adsb.oe_flag(msg)
self.acs[icao][oe] = msg
self.acs[icao]['t'+str(oe)] = t
self.acs[icao]["t" + str(oe)] = t
if ('tpos' in self.acs[icao]) and (t - self.acs[icao]['tpos'] < 180):
if ("tpos" in self.acs[icao]) and (
t - self.acs[icao]["tpos"] < 180
):
# use single message decoding
rlat = self.acs[icao]['lat']
rlon = self.acs[icao]['lon']
rlat = self.acs[icao]["lat"]
rlon = self.acs[icao]["lon"]
latlon = pms.adsb.position_with_ref(msg, rlat, rlon)
elif ('t0' in self.acs[icao]) and ('t1' in self.acs[icao]) and \
(abs(self.acs[icao]['t0'] - self.acs[icao]['t1']) < 10):
elif (
("t0" in self.acs[icao])
and ("t1" in self.acs[icao])
and (abs(self.acs[icao]["t0"] - self.acs[icao]["t1"]) < 10)
):
# use multi message decoding
try:
latlon = pms.adsb.position(
self.acs[icao][0],
self.acs[icao][1],
self.acs[icao]['t0'],
self.acs[icao]['t1'],
self.lat0, self.lon0
)
self.acs[icao]["t0"],
self.acs[icao]["t1"],
self.lat0,
self.lon0,
)
except:
# mix of surface and airborne position message
continue
@@ -129,16 +137,16 @@ class Stream():
latlon = None
if latlon is not None:
self.acs[icao]['tpos'] = t
self.acs[icao]['lat'] = latlon[0]
self.acs[icao]['lon'] = latlon[1]
self.acs[icao]["tpos"] = t
self.acs[icao]["lat"] = latlon[0]
self.acs[icao]["lon"] = latlon[1]
alt = pms.adsb.altitude(msg)
self.acs[icao]['alt'] = alt
self.acs[icao]["alt"] = alt
output_buffer.append([t, icao, 'lat', latlon[0]])
output_buffer.append([t, icao, 'lon', latlon[1]])
output_buffer.append([t, icao, 'alt', alt])
output_buffer.append([t, icao, "lat", latlon[0]])
output_buffer.append([t, icao, "lon", latlon[1]])
output_buffer.append([t, icao, "alt", alt])
local_updated_acs_buffer.append(icao)
@@ -146,35 +154,42 @@ class Stream():
ac = self.acs[icao]
if 9 <= tc <= 18:
ac['nic_bc'] = pms.adsb.nic_b(msg)
ac["nic_bc"] = pms.adsb.nic_b(msg)
if (5 <= tc <= 8) or (9 <= tc <= 18) or (20 <= tc <= 22):
ac['HPL'], ac['RCu'], ac['RCv'] = 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_bc' in ac.keys()):
ac['Rc'] = pms.adsb.nic_v2(msg, ac['nic_a'], ac['nic_bc'])
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_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['HFOMr'], ac['VFOMr'] = pms.adsb.nac_v(msg)
ac["HVE"], ac["VVE"] = pms.adsb.nuc_v(msg)
if ac["ver"] in [1, 2]:
ac["HFOMr"], ac["VFOMr"] = pms.adsb.nac_v(msg)
if tc == 29:
ac['PE_RCu'], ac['PE_VPL'], ac['base'] = pms.adsb.sil(msg, ac['ver'])
ac['EPU'], ac['VEPU'] = pms.adsb.nac_p(msg)
ac["PE_RCu"], ac["PE_VPL"], ac["base"] = pms.adsb.sil(
msg, ac["ver"]
)
ac["EPU"], ac["VEPU"] = pms.adsb.nac_p(msg)
if tc == 31:
ac['ver'] = pms.adsb.version(msg)
ac['EPU'], ac['VEPU'] = 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)
elif ac['ver'] == 2:
ac['nic_a'], ac['nic_bc'] = pms.adsb.nic_a_c(msg)
ac["ver"] = pms.adsb.version(msg)
ac["EPU"], ac["VEPU"] = 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)
elif ac["ver"] == 2:
ac["nic_a"], ac["nic_bc"] = pms.adsb.nic_a_c(msg)
# process commb message
for t, msg in zip(commb_ts, commb_msgs):
@@ -183,32 +198,34 @@ class Stream():
if icao not in self.acs:
continue
self.acs[icao]["live"] = int(t)
bds = pms.bds.infer(msg)
if bds == 'BDS50':
if bds == "BDS50":
roll50 = pms.commb.roll50(msg)
trk50 = pms.commb.trk50(msg)
rtrk50 = pms.commb.rtrk50(msg)
gs50 = pms.commb.gs50(msg)
tas50 = pms.commb.tas50(msg)
self.acs[icao]['t50'] = t
self.acs[icao]["t50"] = t
if tas50:
self.acs[icao]['tas'] = tas50
output_buffer.append([t, icao, 'tas50', tas50])
self.acs[icao]["tas"] = tas50
output_buffer.append([t, icao, "tas50", tas50])
if roll50:
self.acs[icao]['roll'] = roll50
output_buffer.append([t, icao, 'roll50', roll50])
self.acs[icao]["roll"] = roll50
output_buffer.append([t, icao, "roll50", roll50])
if rtrk50:
self.acs[icao]['rtrk'] = rtrk50
output_buffer.append([t, icao, 'rtrk50', rtrk50])
self.acs[icao]["rtrk"] = rtrk50
output_buffer.append([t, icao, "rtrk50", rtrk50])
if trk50:
output_buffer.append([t, icao, 'trk50', trk50])
output_buffer.append([t, icao, "trk50", trk50])
if gs50:
output_buffer.append([t, icao, 'gs50', gs50])
output_buffer.append([t, icao, "gs50", gs50])
elif bds == 'BDS60':
elif bds == "BDS60":
ias60 = pms.commb.ias60(msg)
hdg60 = pms.commb.hdg60(msg)
mach60 = pms.commb.mach60(msg)
@@ -216,28 +233,28 @@ class Stream():
roc60ins = pms.commb.vr60ins(msg)
if ias60 or hdg60 or mach60:
self.acs[icao]['t60'] = t
self.acs[icao]["t60"] = t
if ias60:
self.acs[icao]['ias'] = ias60
self.acs[icao]["ias"] = ias60
if hdg60:
self.acs[icao]['hdg'] = hdg60
self.acs[icao]["hdg"] = hdg60
if mach60:
self.acs[icao]['mach'] = mach60
self.acs[icao]["mach"] = mach60
if roc60baro:
output_buffer.append([t, icao, 'roc60baro', roc60baro])
output_buffer.append([t, icao, "roc60baro", roc60baro])
if roc60ins:
output_buffer.append([t, icao, 'roc60ins', roc60ins])
output_buffer.append([t, icao, "roc60ins", roc60ins])
# clear up old data
for icao in list(self.acs.keys()):
if self.t - self.acs[icao]['live'] > self.cache_timeout:
if self.t - self.acs[icao]["live"] > self.cache_timeout:
del self.acs[icao]
continue
if self.dumpto is not None:
dh = str(datetime.datetime.now().strftime("%Y%m%d_%H"))
fn = self.dumpto + '/pymodes_dump_%s.csv' % dh
fn = self.dumpto + "/pymodes_dump_%s.csv" % dh
output_buffer.sort(key=lambda x: x[0])
with open(fn, "a") as f:
writer = csv.writer(f)
@@ -248,8 +265,4 @@ class Stream():
def get_aircraft(self):
"""all aircraft that are stored in memeory"""
acs = self.acs
icaos = list(acs.keys())
for icao in icaos:
if acs[icao]['lat'] is None:
acs.pop(icao)
return acs