Merge branch 'master' into adsb_encoder

* remove unused functions

* cythonize common

* add bds05

* separate cleanly cython and python, bds05, bds06, modulo issues

* bds08

* bds09

* optimisations in bds09

* "make" things easier

* clean up useless stuff

* add make options

* fix hidden altitude() call

* minor updates to C code

* update tests

* update benchmark

* consolidation

* update clean script

* reduce complexity and change default type to str

Co-authored-by: Xavier Olive <1360812+xoolive@users.noreply.github.com>

.gitignore

@@ -3,6 +3,10 @@
 # Byte-compiled / optimized / DLL files
 __pycache__/
 *.py[cod]
+.pytest_cache/
+
+#cython
+*.c
 
 # C extensions
 *.so
@@ -57,3 +61,9 @@ target/
 
 # PyCharm
 .idea/
+
+# Environments
+.env
+.venv
+env/
+venv/

Makefile

@@ -0,0 +1,19 @@
+install:
+	pip install . --upgrade
+
+uninstall:
+	pip uninstall pyModeS -y
+
+ext:
+	python setup.py build_ext --inplace
+
+test:
+	python -m pytest tests
+
+clean:
+	find pyModeS/decoder -type f -name '*.c' -delete
+	find pyModeS/decoder -type f -name '*.so' -delete
+	find . | grep -E "(__pycache__|\.pyc|\.pyo$$)" | xargs rm -rf
+	rm -rf *.egg-info
+	rm -rf .pytest_cache
+	rm -rf build/*

README.rst

@@ -1,145 +1,351 @@
-A Python Mode-S Decoder
-=======================
+The Python ADS-B/Mode-S Decoder
+===============================
 
-Python library for Mode-S message decoding. Two separate methods are
-implemented to decode the following messages:
+PyModeS is a Python library designed to decode Mode-S (including ADS-B) message. It can be imported to your python project or used as a standalone tool to view and save live traffic data.
 
--  Automatic Dependent Surveillance - Broadcast (ADS-B) (DF17)
+This is a project created by Junzi Sun, who works at `TU Delft <https://www.tudelft.nl/en/>`_, `Aerospace Engineering Faculty <https://www.tudelft.nl/en/ae/>`_, `CNS/ATM research group <http://cs.lr.tudelft.nl/atm/>`_. It is supported by many `contributors <https://github.com/junzis/pyModeS/graphs/contributors>`_ from different institutions.
 
-   -  aircraft information that contains: ICAO address, position,
-      altitude, velocity (ground speed), callsign, etc.
+Introduction
+------------
 
--  Mode-S Enhanced Surveillance (EHS) (DF20 and DF21). Additional information in response to SSR interrogation, such as: true airspeed, indicated airspeed, mach number, wind, temperature, etc.
+pyModeS supports the decoding of following types of messages:
 
-   - BDS 2,0   Aircraft identification
-   - BDS 2,1   Aircraft and airline registration markings
-   - BDS 4,0   Selected vertical intention
-   - BDS 4,4   Meteorological routine air report
-   - BDS 5,0   Track and turn report
-   - BDS 5,3   Air-referenced state vector
-   - BDS 6,0   Heading and speed report
+- DF4 / DF20: Altitude code
+- DF5 / DF21: Identity code (squawk code)
 
-A detailed manual on Mode-S decoding is published by the author, at:
-http://adsb-decode-guide.readthedocs.io
+- 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
+  - TC=9-18 / BDS 0,5: Airborne position
+  - TC=19   / BDS 0,9: Airborne velocity
+  - TC=28   / BDS 6,1: Airborne status [to be implemented]
+  - TC=29   / BDS 6,2: Target state and status information [to be implemented]
+  - TC=31   / BDS 6,5: Aircraft operational status [to be implemented]
+
+- DF20 / DF21: Mode-S Comm-B messages
+
+  - BDS 1,0: Data link capability report
+  - BDS 1,7: Common usage GICB capability report
+  - BDS 2,0: Aircraft identification
+  - BDS 3,0: ACAS active resolution advisory
+  - BDS 4,0: Selected vertical intention
+  - BDS 4,4: Meteorological routine air report (experimental)
+  - BDS 4,5: Meteorological hazard report (experimental)
+  - BDS 5,0: Track and turn report
+  - BDS 6,0: Heading and speed report
 
 
-Source code
+
+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}},
+      journal={IEEE Transactions on Intelligent Transportation Systems},
+      title={pyModeS: Decoding Mode-S Surveillance Data for Open Air Transportation Research},
+      year={2019},
+      doi={10.1109/TITS.2019.2914770},
+      ISSN={1524-9050},
+  }
+
+
+
+
+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
 
-API documentation at:
-http://pymodes.readthedocs.io
+Detailed manual on Mode-S decoding is published at:
+https://mode-s.org/decode
 
-Install
--------
+The API documentation of pyModeS is at:
+https://mode-s.org/api
 
-Checkout source code, or install using pip:
 
+
+Basic installation
+-------------------
+
+Installation examples::
+
+  # stable version
+  pip install pyModeS
+
+  # development version
+  pip install git+https://github.com/junzis/pyModeS
+
+
+Dependencies ``numpy``, ``pyzmq`` and ``pyrtlsdr`` are installed automatically during previous installations processes.
+
+Advanced installation (using c modules)
+------------------------------------------
+
+If you want to make use of the (faster) c module, install ``pyModeS`` as follows::
+
+  git clone https://github.com/junzis/pyModeS
+  cd pyModeS
+  make ext
+  make install
+
+
+View live traffic (modeslive)
+----------------------------------------------------
+
+General usage::
+
+  $ modeslive [-h] --source SOURCE [--connect SERVER PORT DATAYPE]
+              [--latlon LAT LON] [--show-uncertainty] [--dumpto DUMPTO]
+
+  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
+
+
+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 raw
+  $ modeslive --source net --connect 127.0.0.1 30005 beast
+
+
+
+Example screenshot:
+
+.. image:: https://github.com/junzis/pyModeS/raw/master/doc/modeslive-screenshot.png
+   :width: 700px
+
+
+Use the library
+---------------
+
+.. code:: python
+
+  import pyModeS as pms
+
+
+Common functions
+*****************
+
+.. code:: python
+
+  pms.df(msg)                 # Downlink Format
+  pms.icao(msg)               # Infer the ICAO address from the message
+  pms.crc(msg, encode=False)  # Perform CRC or generate parity bit
+
+  pms.hex2bin(str)      # Convert hexadecimal string to binary string
+  pms.bin2int(str)      # Convert binary string to integer
+  pms.hex2int(str)      # Convert hexadecimal string to integer
+  pms.gray2int(str)     # Convert grey code to integer
+
+
+Core functions for ADS-B decoding
+*********************************
+
+.. code:: python
+
+  pms.adsb.icao(msg)
+  pms.adsb.typecode(msg)
+
+  # Typecode 1-4
+  pms.adsb.callsign(msg)
+
+  # Typecode 5-8 (surface), 9-18 (airborne, barometric height), and 20-22 (airborne, GNSS height)
+  pms.adsb.position(msg_even, msg_odd, t_even, t_odd, lat_ref=None, lon_ref=None)
+  pms.adsb.airborne_position(msg_even, msg_odd, t_even, t_odd)
+  pms.adsb.surface_position(msg_even, msg_odd, t_even, t_odd, lat_ref, lon_ref)
+  pms.adsb.surface_velocity(msg)
+
+  pms.adsb.position_with_ref(msg, lat_ref, lon_ref)
+  pms.adsb.airborne_position_with_ref(msg, lat_ref, lon_ref)
+  pms.adsb.surface_position_with_ref(msg, lat_ref, lon_ref)
+
+  pms.adsb.altitude(msg)
+
+  # Typecode: 19
+  pms.adsb.velocity(msg)          # Handles both surface & airborne messages
+  pms.adsb.speed_heading(msg)     # Handles both surface & airborne messages
+  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 within 180NM (airborne) or 45NM (surface) of the true position.
+
+
+Decode altitude replies in DF4 / DF20
+**************************************
+.. code:: python
+
+  pms.common.altcode(msg)   # Downlink format must be 4 or 20
+
+
+Decode identity replies in DF5 / DF21
+**************************************
+.. code:: python
+
+  pms.common.idcode(msg)   # Downlink format must be 5 or 21
+
+
+
+Common Mode-S functions
+************************
+
+.. code:: python
+
+  pms.icao(msg)           # Infer the ICAO address from the message
+  pms.bds.infer(msg)      # Infer the Modes-S BDS register
+
+  # Check if BDS is 5,0 or 6,0, give reference speed, track, altitude (from ADS-B)
+  pms.bds.is50or60(msg, spd_ref, trk_ref, alt_ref)
+
+  # Check each BDS explicitly
+  pms.bds.bds10.is10(msg)
+  pms.bds.bds17.is17(msg)
+  pms.bds.bds20.is20(msg)
+  pms.bds.bds30.is30(msg)
+  pms.bds.bds40.is40(msg)
+  pms.bds.bds44.is44(msg)
+  pms.bds.bds50.is50(msg)
+  pms.bds.bds60.is60(msg)
+
+
+
+Mode-S Elementary Surveillance (ELS)
+*************************************
+
+.. code:: python
+
+  pms.commb.ovc10(msg)      # Overlay capability, BDS 1,0
+  pms.commb.cap17(msg)      # GICB capability, BDS 1,7
+  pms.commb.cs20(msg)       # Callsign, BDS 2,0
+
+
+Mode-S Enhanced Surveillance (EHS)
+***********************************
+
+.. code:: python
+
+  # BDS 4,0
+  pms.commb.selalt40mcp(msg)   # MCP/FCU selected altitude (ft)
+  pms.commb.selalt40fms(msg)   # FMS selected altitude (ft)
+  pms.commb.p40baro(msg)    # Barometric pressure (mb)
+
+  # BDS 5,0
+  pms.commb.roll50(msg)     # Roll angle (deg)
+  pms.commb.trk50(msg)      # True track angle (deg)
+  pms.commb.gs50(msg)       # Ground speed (kt)
+  pms.commb.rtrk50(msg)     # Track angle rate (deg/sec)
+  pms.commb.tas50(msg)      # True airspeed (kt)
+
+  # BDS 6,0
+  pms.commb.hdg60(msg)      # Magnetic heading (deg)
+  pms.commb.ias60(msg)      # Indicated airspeed (kt)
+  pms.commb.mach60(msg)     # Mach number (-)
+  pms.commb.vr60baro(msg)   # Barometric altitude rate (ft/min)
+  pms.commb.vr60ins(msg)    # Inertial vertical speed (ft/min)
+
+
+Meteorological routine air report (MRAR) [Experimental]
+********************************************************
+
+.. code:: python
+
+  # BDS 4,4
+  pms.commb.wind44(msg)     # Wind speed (kt) and direction (true) (deg)
+  pms.commb.temp44(msg)     # Static air temperature (C)
+  pms.commb.p44(msg)        # Average static pressure (hPa)
+  pms.commb.hum44(msg)      # Humidity (%)
+
+
+Meteorological hazard air report (MHR) [Experimental]
+*******************************************************
+
+.. code:: python
+
+  # BDS 4,5
+  pms.commb.turb45(msg)     # Turbulence level (0-3)
+  pms.commb.ws45(msg)       # Wind shear level (0-3)
+  pms.commb.mb45(msg)       # Microburst level (0-3)
+  pms.commb.ic45(msg)       # Icing level (0-3)
+  pms.commb.wv45(msg)       # Wake vortex level (0-3)
+  pms.commb.temp45(msg)     # Static air temperature (C)
+  pms.commb.p45(msg)        # Average static pressure (hPa)
+  pms.commb.rh45(msg)       # Radio height (ft)
+
+
+
+Customize the streaming module
+******************************
+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 ``TcpClient`` class to write your own logic to handle the messages.
+
+Here is an example:
+
+.. code:: python
+
+  import pyModeS as pms
+  from pyModeS.extra.tcpclient import TcpClient
+
+  # define your custom class by extending the TcpClient
+  #   - implement your handle_messages() methods
+  class ADSBClient(TcpClient):
+      def __init__(self, host, port, rawtype):
+          super(ADSBClient, self).__init__(host, port, rawtype)
+
+      def handle_messages(self, messages):
+          for msg, ts in messages:
+              if len(msg) != 28:  # wrong data length
+                  continue
+
+              df = pms.df(msg)
+
+              if df != 17:  # not ADSB
+                  continue
+
+              if pms.crc(msg) !=0:  # CRC fail
+                  continue
+
+              icao = pms.adsb.icao(msg)
+              tc = pms.adsb.typecode(msg)
+
+              # TODO: write you magic code here
+              print(ts, icao, tc, msg)
+
+  # run new client, change the host, port, and rawtype if needed
+  client = ADSBClient(host='127.0.0.1', port=30005, rawtype='beast')
+  client.run()
+
+
+Unit test
+---------
+To perform unit tests, ``pytest`` must be install first.
+
+Build Cython extensions
 ::
 
-    pip install pyModeS
+  $ make ext
 
-Usage
------
+Run unit tests
+::
 
-.. code:: python
+  $ make test
 
-    import pyModeS as pms
+Clean build files
+::
 
-
-Common function for Mode-S message:
-
-.. code:: python
-
-    pms.df(msg)                 # Downlink Format
-    pms.crc(msg, encode=False)  # Perform CRC or generate parity bit
-
-    pms.hex2bin(str)    # Convert hexadecimal string to binary string
-    pms.bin2int(str)    # Convert binary string to integer
-    pms.hex2int(str)    # Convert hexadecimal string to integer
-
-
-Core functions for ADS-B decoding:
-
-.. code:: python
-
-    pms.adsb.icao(msg)
-    pms.adsb.callsign(msg)
-
-    pms.adsb.position(msg_even, msg_odd, t_even, t_odd, lat_ref=None, lon_ref=None)
-    pms.adsb.airborne_position(msg_even, msg_odd, t_even, t_odd)
-    pms.adsb.surface_position(msg_even, msg_odd, t_even, t_odd, lat_ref, lon_ref)
-
-    pms.adsb.position_with_ref(msg, lat_ref, lon_ref)
-    pms.adsb.airborne_position_with_ref(msg, lat_ref, lon_ref)
-    pms.adsb.surface_position_with_ref(msg, lat_ref, lon_ref)
-
-    pms.adsb.altitude(msg)
-
-    pms.adsb.velocity(msg)          # handles both surface & airborne messages
-    pms.adsb.speed_heading(msg)     # handles both surface & airborne messages
-    pms.adsb.surface_velocity(msg)
-    pms.adsb.airborne_velocity(msg)
-
-
-**Hint: 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.**
-
-Core functions for EHS decoding:
-
-.. code:: python
-
-    pms.ehs.icao(msg)       # ICAO address
-    pms.ehs.BDS(msg)        # Comm-B Data Selector Version
-
-    # for BDS version 2,0
-    pms.ehs.isBDS20(msg)    # Check if message is BDS 2,0
-    pms.ehs.callsign(msg)   # Aircraft callsign
-
-    # for BDS version 4,0
-    pms.ehs.isBDS40(msg)    # Check if message is BDS 4,0
-    pms.ehs.alt40mcp(msg)   # MCP/FCU selected altitude (ft)
-    pms.ehs.alt40fms(msg)   # FMS selected altitude (ft)
-    pms.ehs.p40baro(msg)    # Barometric pressure (mb)
-
-    # for BDS version 4,4
-    pms.ehs.isBDS44(msg, rev=False) # Check if message is BDS 4,4
-    pms.ehs.wind44(msg, rev=False)  # wind speed (kt) and heading (deg)
-    pms.ehs.temp44(msg, rev=False)  # temperature (C)
-    pms.ehs.p44(msg, rev=False)     # pressure (hPa)
-    pms.ehs.hum44(msg, rev=False)   # humidity (%)
-
-    # for BDS version 5,0
-    pms.ehs.isBDS50(msg)    # Check if message is BDS 5,0
-    pms.ehs.roll50(msg)     # roll angle (deg)
-    pms.ehs.trk50(msg)      # track angle (deg)
-    pms.ehs.gs50(msg)       # ground speed (kt)
-    pms.ehs.rtrk50(msg)     # track angle rate (deg/sec)
-    pms.ehs.tas50(msg)      # true airspeed (kt)
-
-    # for BDS version 5,3
-    pms.ehs.isBDS53(msg)    # Check if message is BDS 5,3
-    pms.ehs.hdg53(msg)      # magnetic heading (deg)
-    pms.ehs.ias53(msg)      # indicated airspeed (kt)
-    pms.ehs.mach53(msg)     # MACH number
-    pms.ehs.tas53(msg)      # true airspeed (kt)
-    pms.ehs.vr53(msg)       # vertical rate (fpm)
-
-    # for BDS version 6,0
-    pms.ehs.isBDS60(msg)    # Check if message is BDS 6,0
-    pms.ehs.hdg60(msg)      # heading (deg)
-    pms.ehs.ias60(msg)      # indicated airspeed (kt)
-    pms.ehs.mach60(msg)     # MACH number
-    pms.ehs.vr60baro(msg)   # barometric altitude rate (ft/min)
-    pms.ehs.vr60ins(msg)    # inertial vertical speed (ft/min)
-
-Developement
-------------
-To run tests, run the following commands:
-```
-$ tox
-```
+  $ make clean

doc/.gitignore

@@ -1,3 +0,0 @@
-_build
-_static
-_templates

doc/Makefile

@@ -1,225 +1,21 @@
-# Makefile for Sphinx documentation
+# Minimal makefile for Sphinx documentation
 #
 
 # You can set these variables from the command line.
 SPHINXOPTS    =
 SPHINXBUILD   = sphinx-build
-PAPER         =
-BUILDDIR      = _build
+SOURCEDIR     = source
+BUILDDIR      = build
 
-# Internal variables.
-PAPEROPT_a4     = -D latex_paper_size=a4
-PAPEROPT_letter = -D latex_paper_size=letter
-ALLSPHINXOPTS   = -d $(BUILDDIR)/doctrees $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) .
-# the i18n builder cannot share the environment and doctrees with the others
-I18NSPHINXOPTS  = $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) .
-
-.PHONY: help
+# Put it first so that "make" without argument is like "make help".
 help:
-	@echo "Please use \`make <target>' where <target> is one of"
-	@echo "  html       to make standalone HTML files"
-	@echo "  dirhtml    to make HTML files named index.html in directories"
-	@echo "  singlehtml to make a single large HTML file"
-	@echo "  pickle     to make pickle files"
-	@echo "  json       to make JSON files"
-	@echo "  htmlhelp   to make HTML files and a HTML help project"
-	@echo "  qthelp     to make HTML files and a qthelp project"
-	@echo "  applehelp  to make an Apple Help Book"
-	@echo "  devhelp    to make HTML files and a Devhelp project"
-	@echo "  epub       to make an epub"
-	@echo "  epub3      to make an epub3"
-	@echo "  latex      to make LaTeX files, you can set PAPER=a4 or PAPER=letter"
-	@echo "  latexpdf   to make LaTeX files and run them through pdflatex"
-	@echo "  latexpdfja to make LaTeX files and run them through platex/dvipdfmx"
-	@echo "  text       to make text files"
-	@echo "  man        to make manual pages"
-	@echo "  texinfo    to make Texinfo files"
-	@echo "  info       to make Texinfo files and run them through makeinfo"
-	@echo "  gettext    to make PO message catalogs"
-	@echo "  changes    to make an overview of all changed/added/deprecated items"
-	@echo "  xml        to make Docutils-native XML files"
-	@echo "  pseudoxml  to make pseudoxml-XML files for display purposes"
-	@echo "  linkcheck  to check all external links for integrity"
-	@echo "  doctest    to run all doctests embedded in the documentation (if enabled)"
-	@echo "  coverage   to run coverage check of the documentation (if enabled)"
-	@echo "  dummy      to check syntax errors of document sources"
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
 
-.PHONY: clean
-clean:
-	rm -rf $(BUILDDIR)/*
+.PHONY: help Makefile
 
-.PHONY: html
-html:
-	$(SPHINXBUILD) -b html $(ALLSPHINXOPTS) $(BUILDDIR)/html
-	@echo
-	@echo "Build finished. The HTML pages are in $(BUILDDIR)/html."
-
-.PHONY: dirhtml
-dirhtml:
-	$(SPHINXBUILD) -b dirhtml $(ALLSPHINXOPTS) $(BUILDDIR)/dirhtml
-	@echo
-	@echo "Build finished. The HTML pages are in $(BUILDDIR)/dirhtml."
-
-.PHONY: singlehtml
-singlehtml:
-	$(SPHINXBUILD) -b singlehtml $(ALLSPHINXOPTS) $(BUILDDIR)/singlehtml
-	@echo
-	@echo "Build finished. The HTML page is in $(BUILDDIR)/singlehtml."
-
-.PHONY: pickle
-pickle:
-	$(SPHINXBUILD) -b pickle $(ALLSPHINXOPTS) $(BUILDDIR)/pickle
-	@echo
-	@echo "Build finished; now you can process the pickle files."
-
-.PHONY: json
-json:
-	$(SPHINXBUILD) -b json $(ALLSPHINXOPTS) $(BUILDDIR)/json
-	@echo
-	@echo "Build finished; now you can process the JSON files."
-
-.PHONY: htmlhelp
-htmlhelp:
-	$(SPHINXBUILD) -b htmlhelp $(ALLSPHINXOPTS) $(BUILDDIR)/htmlhelp
-	@echo
-	@echo "Build finished; now you can run HTML Help Workshop with the" \
-	      ".hhp project file in $(BUILDDIR)/htmlhelp."
-
-.PHONY: qthelp
-qthelp:
-	$(SPHINXBUILD) -b qthelp $(ALLSPHINXOPTS) $(BUILDDIR)/qthelp
-	@echo
-	@echo "Build finished; now you can run "qcollectiongenerator" with the" \
-	      ".qhcp project file in $(BUILDDIR)/qthelp, like this:"
-	@echo "# qcollectiongenerator $(BUILDDIR)/qthelp/pyModeS.qhcp"
-	@echo "To view the help file:"
-	@echo "# assistant -collectionFile $(BUILDDIR)/qthelp/pyModeS.qhc"
-
-.PHONY: applehelp
-applehelp:
-	$(SPHINXBUILD) -b applehelp $(ALLSPHINXOPTS) $(BUILDDIR)/applehelp
-	@echo
-	@echo "Build finished. The help book is in $(BUILDDIR)/applehelp."
-	@echo "N.B. You won't be able to view it unless you put it in" \
-	      "~/Library/Documentation/Help or install it in your application" \
-	      "bundle."
-
-.PHONY: devhelp
-devhelp:
-	$(SPHINXBUILD) -b devhelp $(ALLSPHINXOPTS) $(BUILDDIR)/devhelp
-	@echo
-	@echo "Build finished."
-	@echo "To view the help file:"
-	@echo "# mkdir -p $$HOME/.local/share/devhelp/pyModeS"
-	@echo "# ln -s $(BUILDDIR)/devhelp $$HOME/.local/share/devhelp/pyModeS"
-	@echo "# devhelp"
-
-.PHONY: epub
-epub:
-	$(SPHINXBUILD) -b epub $(ALLSPHINXOPTS) $(BUILDDIR)/epub
-	@echo
-	@echo "Build finished. The epub file is in $(BUILDDIR)/epub."
-
-.PHONY: epub3
-epub3:
-	$(SPHINXBUILD) -b epub3 $(ALLSPHINXOPTS) $(BUILDDIR)/epub3
-	@echo
-	@echo "Build finished. The epub3 file is in $(BUILDDIR)/epub3."
-
-.PHONY: latex
-latex:
-	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
-	@echo
-	@echo "Build finished; the LaTeX files are in $(BUILDDIR)/latex."
-	@echo "Run \`make' in that directory to run these through (pdf)latex" \
-	      "(use \`make latexpdf' here to do that automatically)."
-
-.PHONY: latexpdf
-latexpdf:
-	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
-	@echo "Running LaTeX files through pdflatex..."
-	$(MAKE) -C $(BUILDDIR)/latex all-pdf
-	@echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex."
-
-.PHONY: latexpdfja
-latexpdfja:
-	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
-	@echo "Running LaTeX files through platex and dvipdfmx..."
-	$(MAKE) -C $(BUILDDIR)/latex all-pdf-ja
-	@echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex."
-
-.PHONY: text
-text:
-	$(SPHINXBUILD) -b text $(ALLSPHINXOPTS) $(BUILDDIR)/text
-	@echo
-	@echo "Build finished. The text files are in $(BUILDDIR)/text."
-
-.PHONY: man
-man:
-	$(SPHINXBUILD) -b man $(ALLSPHINXOPTS) $(BUILDDIR)/man
-	@echo
-	@echo "Build finished. The manual pages are in $(BUILDDIR)/man."
-
-.PHONY: texinfo
-texinfo:
-	$(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
-	@echo
-	@echo "Build finished. The Texinfo files are in $(BUILDDIR)/texinfo."
-	@echo "Run \`make' in that directory to run these through makeinfo" \
-	      "(use \`make info' here to do that automatically)."
-
-.PHONY: info
-info:
-	$(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
-	@echo "Running Texinfo files through makeinfo..."
-	make -C $(BUILDDIR)/texinfo info
-	@echo "makeinfo finished; the Info files are in $(BUILDDIR)/texinfo."
-
-.PHONY: gettext
-gettext:
-	$(SPHINXBUILD) -b gettext $(I18NSPHINXOPTS) $(BUILDDIR)/locale
-	@echo
-	@echo "Build finished. The message catalogs are in $(BUILDDIR)/locale."
-
-.PHONY: changes
-changes:
-	$(SPHINXBUILD) -b changes $(ALLSPHINXOPTS) $(BUILDDIR)/changes
-	@echo
-	@echo "The overview file is in $(BUILDDIR)/changes."
-
-.PHONY: linkcheck
-linkcheck:
-	$(SPHINXBUILD) -b linkcheck $(ALLSPHINXOPTS) $(BUILDDIR)/linkcheck
-	@echo
-	@echo "Link check complete; look for any errors in the above output " \
-	      "or in $(BUILDDIR)/linkcheck/output.txt."
-
-.PHONY: doctest
-doctest:
-	$(SPHINXBUILD) -b doctest $(ALLSPHINXOPTS) $(BUILDDIR)/doctest
-	@echo "Testing of doctests in the sources finished, look at the " \
-	      "results in $(BUILDDIR)/doctest/output.txt."
-
-.PHONY: coverage
-coverage:
-	$(SPHINXBUILD) -b coverage $(ALLSPHINXOPTS) $(BUILDDIR)/coverage
-	@echo "Testing of coverage in the sources finished, look at the " \
-	      "results in $(BUILDDIR)/coverage/python.txt."
-
-.PHONY: xml
-xml:
-	$(SPHINXBUILD) -b xml $(ALLSPHINXOPTS) $(BUILDDIR)/xml
-	@echo
-	@echo "Build finished. The XML files are in $(BUILDDIR)/xml."
-
-.PHONY: pseudoxml
-pseudoxml:
-	$(SPHINXBUILD) -b pseudoxml $(ALLSPHINXOPTS) $(BUILDDIR)/pseudoxml
-	@echo
-	@echo "Build finished. The pseudo-XML files are in $(BUILDDIR)/pseudoxml."
-
-.PHONY: dummy
-dummy:
-	$(SPHINXBUILD) -b dummy $(ALLSPHINXOPTS) $(BUILDDIR)/dummy
-	@echo
-	@echo "Build finished. Dummy builder generates no files."
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	rm -f source/pyModeS*.rst source/modules.rst
+	sphinx-apidoc -f -e -M -o source/ ../pyModeS  ../pyModeS/decoder/ehs.py ../pyModeS/decoder/els.py  ../pyModeS/streamer ../pyModeS/extra
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

doc/README.rst

@@ -0,0 +1,7 @@
+How to generate the apidoc
+====================================
+
+::
+
+  cd doc
+  make html

doc/conf.py

@@ -1,337 +0,0 @@
-# -*- coding: utf-8 -*-
-#
-# pyModeS documentation build configuration file, created by
-# sphinx-quickstart on Tue Aug 16 15:47:05 2016.
-#
-# This file is execfile()d with the current directory set to its
-# containing dir.
-#
-# Note that not all possible configuration values are present in this
-# autogenerated file.
-#
-# All configuration values have a default; values that are commented out
-# serve to show the default.
-
-# If extensions (or modules to document with autodoc) are in another directory,
-# add these directories to sys.path here. If the directory is relative to the
-# documentation root, use os.path.abspath to make it absolute, like shown here.
-#
-# import os
-# import sys
-# sys.path.insert(0, os.path.abspath('.'))
-
-# -- General configuration ------------------------------------------------
-
-# If your documentation needs a minimal Sphinx version, state it here.
-#
-# needs_sphinx = '1.0'
-
-# Add any Sphinx extension module names here, as strings. They can be
-# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
-# ones.
-extensions = [
-    'sphinx.ext.autodoc',
-    'sphinx.ext.doctest',
-    'sphinx.ext.todo',
-    'sphinx.ext.coverage',
-]
-
-# Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
-
-# The suffix(es) of source filenames.
-# You can specify multiple suffix as a list of string:
-#
-# source_suffix = ['.rst', '.md']
-source_suffix = '.rst'
-
-# The encoding of source files.
-#
-# source_encoding = 'utf-8-sig'
-
-# The master toctree document.
-master_doc = 'index'
-
-# General information about the project.
-project = u'pyModeS'
-copyright = u'2016, Junzi Sun'
-author = u'Junzi Sun'
-
-# The version info for the project you're documenting, acts as replacement for
-# |version| and |release|, also used in various other places throughout the
-# built documents.
-#
-# The short X.Y version.
-version = u'1.0.5'
-# The full version, including alpha/beta/rc tags.
-release = u'1.0.5'
-
-# The language for content autogenerated by Sphinx. Refer to documentation
-# for a list of supported languages.
-#
-# This is also used if you do content translation via gettext catalogs.
-# Usually you set "language" from the command line for these cases.
-language = None
-
-# There are two options for replacing |today|: either, you set today to some
-# non-false value, then it is used:
-#
-# today = ''
-#
-# Else, today_fmt is used as the format for a strftime call.
-#
-# today_fmt = '%B %d, %Y'
-
-# List of patterns, relative to source directory, that match files and
-# directories to ignore when looking for source files.
-# This patterns also effect to html_static_path and html_extra_path
-exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
-
-# The reST default role (used for this markup: `text`) to use for all
-# documents.
-#
-# default_role = None
-
-# If true, '()' will be appended to :func: etc. cross-reference text.
-#
-# add_function_parentheses = True
-
-# If true, the current module name will be prepended to all description
-# unit titles (such as .. function::).
-#
-# add_module_names = True
-
-# If true, sectionauthor and moduleauthor directives will be shown in the
-# output. They are ignored by default.
-#
-# show_authors = False
-
-# The name of the Pygments (syntax highlighting) style to use.
-pygments_style = 'sphinx'
-
-# A list of ignored prefixes for module index sorting.
-# modindex_common_prefix = []
-
-# If true, keep warnings as "system message" paragraphs in the built documents.
-# keep_warnings = False
-
-# If true, `todo` and `todoList` produce output, else they produce nothing.
-todo_include_todos = True
-
-
-# -- Options for HTML output ----------------------------------------------
-
-# The theme to use for HTML and HTML Help pages.  See the documentation for
-# a list of builtin themes.
-#
-# html_theme = 'alabaster'
-
-# Theme options are theme-specific and customize the look and feel of a theme
-# further.  For a list of options available for each theme, see the
-# documentation.
-#
-# html_theme_options = {}
-
-# Add any paths that contain custom themes here, relative to this directory.
-# html_theme_path = []
-
-# The name for this set of Sphinx documents.
-# "<project> v<release> documentation" by default.
-#
-# html_title = u'pyModeS v1.0.5'
-
-# A shorter title for the navigation bar.  Default is the same as html_title.
-#
-# html_short_title = None
-
-# The name of an image file (relative to this directory) to place at the top
-# of the sidebar.
-#
-# html_logo = None
-
-# The name of an image file (relative to this directory) to use as a favicon of
-# the docs.  This file should be a Windows icon file (.ico) being 16x16 or 32x32
-# pixels large.
-#
-# html_favicon = None
-
-# Add any paths that contain custom static files (such as style sheets) here,
-# relative to this directory. They are copied after the builtin static files,
-# so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
-
-# Add any extra paths that contain custom files (such as robots.txt or
-# .htaccess) here, relative to this directory. These files are copied
-# directly to the root of the documentation.
-#
-# html_extra_path = []
-
-# If not None, a 'Last updated on:' timestamp is inserted at every page
-# bottom, using the given strftime format.
-# The empty string is equivalent to '%b %d, %Y'.
-#
-# html_last_updated_fmt = None
-
-# If true, SmartyPants will be used to convert quotes and dashes to
-# typographically correct entities.
-#
-# html_use_smartypants = True
-
-# Custom sidebar templates, maps document names to template names.
-#
-# html_sidebars = {}
-
-# Additional templates that should be rendered to pages, maps page names to
-# template names.
-#
-# html_additional_pages = {}
-
-# If false, no module index is generated.
-#
-# html_domain_indices = True
-
-# If false, no index is generated.
-#
-# html_use_index = True
-
-# If true, the index is split into individual pages for each letter.
-#
-# html_split_index = False
-
-# If true, links to the reST sources are added to the pages.
-#
-# html_show_sourcelink = True
-
-# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
-#
-# html_show_sphinx = True
-
-# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
-#
-# html_show_copyright = True
-
-# If true, an OpenSearch description file will be output, and all pages will
-# contain a <link> tag referring to it.  The value of this option must be the
-# base URL from which the finished HTML is served.
-#
-# html_use_opensearch = ''
-
-# This is the file name suffix for HTML files (e.g. ".xhtml").
-# html_file_suffix = None
-
-# Language to be used for generating the HTML full-text search index.
-# Sphinx supports the following languages:
-#   'da', 'de', 'en', 'es', 'fi', 'fr', 'hu', 'it', 'ja'
-#   'nl', 'no', 'pt', 'ro', 'ru', 'sv', 'tr', 'zh'
-#
-# html_search_language = 'en'
-
-# A dictionary with options for the search language support, empty by default.
-# 'ja' uses this config value.
-# 'zh' user can custom change `jieba` dictionary path.
-#
-# html_search_options = {'type': 'default'}
-
-# The name of a javascript file (relative to the configuration directory) that
-# implements a search results scorer. If empty, the default will be used.
-#
-# html_search_scorer = 'scorer.js'
-
-# Output file base name for HTML help builder.
-htmlhelp_basename = 'pyModeSdoc'
-
-# -- Options for LaTeX output ---------------------------------------------
-
-latex_elements = {
-     # The paper size ('letterpaper' or 'a4paper').
-     #
-     # 'papersize': 'letterpaper',
-
-     # The font size ('10pt', '11pt' or '12pt').
-     #
-     # 'pointsize': '10pt',
-
-     # Additional stuff for the LaTeX preamble.
-     #
-     # 'preamble': '',
-
-     # Latex figure (float) alignment
-     #
-     # 'figure_align': 'htbp',
-}
-
-# Grouping the document tree into LaTeX files. List of tuples
-# (source start file, target name, title,
-#  author, documentclass [howto, manual, or own class]).
-latex_documents = [
-    (master_doc, 'pyModeS.tex', u'pyModeS Documentation',
-     u'Junzi Sun', 'manual'),
-]
-
-# The name of an image file (relative to this directory) to place at the top of
-# the title page.
-#
-# latex_logo = None
-
-# For "manual" documents, if this is true, then toplevel headings are parts,
-# not chapters.
-#
-# latex_use_parts = False
-
-# If true, show page references after internal links.
-#
-# latex_show_pagerefs = False
-
-# If true, show URL addresses after external links.
-#
-# latex_show_urls = False
-
-# Documents to append as an appendix to all manuals.
-#
-# latex_appendices = []
-
-# If false, no module index is generated.
-#
-# latex_domain_indices = True
-
-
-# -- Options for manual page output ---------------------------------------
-
-# One entry per manual page. List of tuples
-# (source start file, name, description, authors, manual section).
-man_pages = [
-    (master_doc, 'pymodes', u'pyModeS Documentation',
-     [author], 1)
-]
-
-# If true, show URL addresses after external links.
-#
-# man_show_urls = False
-
-
-# -- Options for Texinfo output -------------------------------------------
-
-# Grouping the document tree into Texinfo files. List of tuples
-# (source start file, target name, title, author,
-#  dir menu entry, description, category)
-texinfo_documents = [
-    (master_doc, 'pyModeS', u'pyModeS Documentation',
-     author, 'pyModeS', 'One line description of project.',
-     'Miscellaneous'),
-]
-
-# Documents to append as an appendix to all manuals.
-#
-# texinfo_appendices = []
-
-# If false, no module index is generated.
-#
-# texinfo_domain_indices = True
-
-# How to display URL addresses: 'footnote', 'no', or 'inline'.
-#
-# texinfo_show_urls = 'footnote'
-
-# If true, do not generate a @detailmenu in the "Top" node's menu.
-#
-# texinfo_no_detailmenu = False

doc/index.rst

@@ -1,40 +0,0 @@
-.. pyModeS documentation master file, created by
-   sphinx-quickstart on Tue Aug 16 15:47:05 2016.
-   You can adapt this file completely to your liking, but it should at least
-   contain the root `toctree` directive.
-
-
-pyModeS APIs
-=====================
-
-This document contains all the functions within pyModeS package. 
-
-Source code and user guide: https://github.com/junzis/pyModeS
-
-
-pyModeS.adsb module
--------------------
-
-.. automodule:: pyModeS.adsb
-    :members:
-    :undoc-members:
-    :show-inheritance:
-
-
-pyModeS.ehs module
-------------------
-
-.. automodule:: pyModeS.ehs
-    :members:
-    :undoc-members:
-    :show-inheritance:
-
-
-pyModeS.util module
--------------------
-
-.. automodule:: pyModeS.util
-    :members:
-    :undoc-members:
-    :show-inheritance:
-

doc/requirements.txt

@@ -1 +0,0 @@
-pyModeS==1.1.0

doc/source/_templates/layout.html

@@ -0,0 +1,17 @@
+{% extends "!layout.html" %}
+
+{% block footer %}
+{{ super() }}
+
+<!-- Global site tag (gtag.js) - Google Analytics -->
+<script async src="https://www.googletagmanager.com/gtag/js?id=UA-74700456-1"></script>
+<script>
+  window.dataLayer = window.dataLayer || [];
+  function gtag(){dataLayer.push(arguments);}
+  gtag('js', new Date());
+
+  gtag('config', 'UA-74700456-1');
+</script>
+
+
+{% endblock %}

doc/source/conf.py

@@ -0,0 +1,190 @@
+# -*- coding: utf-8 -*-
+#
+# Configuration file for the Sphinx documentation builder.
+#
+# This file does only contain a selection of the most common options. For a
+# full list see the documentation:
+# http://www.sphinx-doc.org/en/master/config
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+
+sys.path.insert(0, os.path.abspath("../.."))
+
+
+# -- Project information -----------------------------------------------------
+
+project = "pyModeS"
+copyright = "2019, Junzi Sun"
+author = "Junzi Sun"
+
+# The short X.Y version
+version = ""
+# The full version, including alpha/beta/rc tags
+release = ""
+
+
+# -- General configuration ---------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    "sphinx.ext.autodoc",
+    "sphinx.ext.mathjax",
+    "sphinx.ext.viewcode",
+    "sphinx.ext.githubpages",
+    "sphinx.ext.napoleon",
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ["_templates"]
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+# source_suffix = ['.rst', '.md']
+source_suffix = ".rst"
+
+# The master toctree document.
+master_doc = "index"
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = []
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = None
+
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+# html_theme = 'alabaster'
+html_theme = "neo_rtd_theme"
+import sphinx_theme
+
+html_theme_path = [sphinx_theme.get_html_theme_path()]
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#
+# html_theme_options = {}
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+# html_static_path = ['']
+
+# Custom sidebar templates, must be a dictionary that maps document names
+# to template names.
+#
+# The default sidebars (for documents that don't match any pattern) are
+# defined by theme itself.  Builtin themes are using these templates by
+# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
+# 'searchbox.html']``.
+#
+# html_sidebars = {}
+
+
+# -- Options for HTMLHelp output ---------------------------------------------
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = "pyModeSdoc"
+
+
+# -- Options for LaTeX output ------------------------------------------------
+
+latex_elements = {
+    # The paper size ('letterpaper' or 'a4paper').
+    #
+    # 'papersize': 'letterpaper',
+    # The font size ('10pt', '11pt' or '12pt').
+    #
+    # 'pointsize': '10pt',
+    # Additional stuff for the LaTeX preamble.
+    #
+    # 'preamble': '',
+    # Latex figure (float) alignment
+    #
+    # 'figure_align': 'htbp',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title,
+#  author, documentclass [howto, manual, or own class]).
+latex_documents = [
+    (master_doc, "pyModeS.tex", "pyModeS Documentation", "Junzi Sun", "manual")
+]
+
+
+# -- Options for manual page output ------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [(master_doc, "pymodes", "pyModeS Documentation", [author], 1)]
+
+
+# -- Options for Texinfo output ----------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+    (
+        master_doc,
+        "pyModeS",
+        "pyModeS Documentation",
+        author,
+        "pyModeS",
+        "One line description of project.",
+        "Miscellaneous",
+    )
+]
+
+
+# -- Options for Epub output -------------------------------------------------
+
+# Bibliographic Dublin Core info.
+epub_title = project
+
+# The unique identifier of the text. This can be a ISBN number
+# or the project homepage.
+#
+# epub_identifier = ''
+
+# A unique identification for the text.
+#
+# epub_uid = ''
+
+# A list of files that should not be packed into the epub file.
+epub_exclude_files = ["search.html"]
+
+
+# -- Extension configuration -------------------------------------------------
+
+# -- Options for todo extension ----------------------------------------------
+
+# If true, `todo` and `todoList` produce output, else they produce nothing.
+todo_include_todos = True

doc/source/index.rst

@@ -0,0 +1,68 @@
+.. pyModeS documentation master file, created by
+   sphinx-quickstart on Mon Apr  1 13:13:10 2019.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+Welcome to pyModeS documentation!
+===================================
+
+The source code can be found at: https://github.com/junzis/pyModeS
+
+.. toctree::
+  :caption: Core modules
+  :maxdepth: 2
+
+  pyModeS.decoder.adsb
+  pyModeS.decoder.commb
+
+
+.. toctree::
+  :caption: ADS-B messages
+  :maxdepth: 2
+
+  pyModeS.decoder.bds.bds05
+  pyModeS.decoder.bds.bds06
+  pyModeS.decoder.bds.bds08
+  pyModeS.decoder.bds.bds09
+
+
+.. toctree::
+  :caption: ELS - elementary surveillance
+  :maxdepth: 2
+
+  pyModeS.decoder.bds.bds10
+  pyModeS.decoder.bds.bds17
+  pyModeS.decoder.bds.bds20
+  pyModeS.decoder.bds.bds30
+
+
+.. toctree::
+  :caption: EHS - enhanced surveillance
+  :maxdepth: 2
+
+  pyModeS.decoder.bds.bds40
+  pyModeS.decoder.bds.bds50
+  pyModeS.decoder.bds.bds60
+
+
+.. toctree::
+  :caption: MRAR / MHR
+  :maxdepth: 2
+
+  pyModeS.decoder.bds.bds44
+  pyModeS.decoder.bds.bds45
+
+
+
+----
+
+.. include:: ../../README.rst
+
+----
+
+Indices and tables
+**********************
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`

doc/source/modules.rst

@@ -0,0 +1,7 @@
+pyModeS
+=======
+
+.. toctree::
+   :maxdepth: 4
+
+   pyModeS

doc/source/pyModeS.c_common.rst

@@ -0,0 +1,7 @@
+pyModeS.c\_common module
+========================
+
+.. automodule:: pyModeS.c_common
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.common.rst

@@ -0,0 +1,7 @@
+pyModeS.common module
+=====================
+
+.. automodule:: pyModeS.common
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.acas.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.acas module
+===========================
+
+.. automodule:: pyModeS.decoder.acas
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.adsb.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.adsb module
+===========================
+
+.. automodule:: pyModeS.decoder.adsb
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.allcall.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.allcall module
+==============================
+
+.. automodule:: pyModeS.decoder.allcall
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds05.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds05 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds05
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds06.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds06 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds06
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds08.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds08 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds08
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds09.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds09 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds09
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds10.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds10 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds10
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds17.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds17 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds17
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds20.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds20 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds20
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds30.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds30 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds30
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds40.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds40 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds40
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds44.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds44 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds44
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds45.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds45 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds45
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds50.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds50 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds50
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds53.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds53 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds53
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds60.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds60 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds60
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.rst

@@ -0,0 +1,28 @@
+pyModeS.decoder.bds package
+===========================
+
+.. automodule:: pyModeS.decoder.bds
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Submodules
+----------
+
+.. toctree::
+   :maxdepth: 4
+
+   pyModeS.decoder.bds.bds05
+   pyModeS.decoder.bds.bds06
+   pyModeS.decoder.bds.bds08
+   pyModeS.decoder.bds.bds09
+   pyModeS.decoder.bds.bds10
+   pyModeS.decoder.bds.bds17
+   pyModeS.decoder.bds.bds20
+   pyModeS.decoder.bds.bds30
+   pyModeS.decoder.bds.bds40
+   pyModeS.decoder.bds.bds44
+   pyModeS.decoder.bds.bds45
+   pyModeS.decoder.bds.bds50
+   pyModeS.decoder.bds.bds53
+   pyModeS.decoder.bds.bds60

doc/source/pyModeS.decoder.commb.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.commb module
+============================
+
+.. automodule:: pyModeS.decoder.commb
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.rst

@@ -0,0 +1,29 @@
+pyModeS.decoder package
+=======================
+
+.. automodule:: pyModeS.decoder
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Subpackages
+-----------
+
+.. toctree::
+   :maxdepth: 4
+
+   pyModeS.decoder.bds
+
+Submodules
+----------
+
+.. toctree::
+   :maxdepth: 4
+
+   pyModeS.decoder.acas
+   pyModeS.decoder.adsb
+   pyModeS.decoder.allcall
+   pyModeS.decoder.commb
+   pyModeS.decoder.surv
+   pyModeS.decoder.uncertainty
+   pyModeS.decoder.uplink

doc/source/pyModeS.decoder.surv.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.surv module
+===========================
+
+.. automodule:: pyModeS.decoder.surv
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.uncertainty.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.uncertainty module
+==================================
+
+.. automodule:: pyModeS.decoder.uncertainty
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.uplink.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.uplink module
+=============================
+
+.. automodule:: pyModeS.decoder.uplink
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.rst

@@ -0,0 +1,24 @@
+pyModeS package
+===============
+
+.. automodule:: pyModeS
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Subpackages
+-----------
+
+.. toctree::
+   :maxdepth: 4
+
+   pyModeS.decoder
+
+Submodules
+----------
+
+.. toctree::
+   :maxdepth: 4
+
+   pyModeS.c_common
+   pyModeS.common

pyModeS/__init__.py

@@ -1,5 +1,21 @@
-from __future__ import absolute_import, print_function, division
+import os
+import warnings
 
-from .util import *
-from . import adsb
-from . import ehs
+try:
+    from . import c_common as common
+    from .c_common import *
+except:
+    from . import common
+    from .common import *
+
+from .decoder import tell
+from .decoder import adsb
+from .decoder import commb
+from .decoder import bds
+from .extra import aero
+from .extra import tcpclient
+
+
+warnings.simplefilter("once", DeprecationWarning)
+
+dirpath = os.path.dirname(os.path.realpath(__file__))

pyModeS/adsb.py

@@ -1,663 +0,0 @@
-# Copyright (C) 2015 Junzi Sun (TU Delft)
-
-# This program 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 of the License, or
-# (at your option) any later version.
-
-# This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
-
-"""
-A python package for decoding ABS-D messages.
-"""
-
-from __future__ import absolute_import, print_function, division
-import math
-from . import util
-
-
-def df(msg):
-    """Get the downlink format (DF) number
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        int: DF number
-    """
-    return util.df(msg)
-
-
-def icao(msg):
-    """Get the ICAO 24 bits address, bytes 3 to 8.
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        String: ICAO address in 6 bytes hexadecimal string
-    """
-    return msg[2:8]
-
-
-def data(msg):
-    """Return the data frame in the message, bytes 9 to 22"""
-    return msg[8:22]
-
-
-def typecode(msg):
-    """Type code of ADS-B message
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        int: type code number
-    """
-    msgbin = util.hex2bin(msg)
-    return util.bin2int(msgbin[32:37])
-
-
-# ---------------------------------------------
-# Aircraft Identification
-# ---------------------------------------------
-def category(msg):
-    """Aircraft category number
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        int: category number
-    """
-
-    if typecode(msg) < 1 or typecode(msg) > 4:
-        raise RuntimeError("%s: Not a identification message" % msg)
-    msgbin = util.hex2bin(msg)
-    return util.bin2int(msgbin[5:8])
-
-
-def callsign(msg):
-    """Aircraft callsign
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        string: callsign
-    """
-
-    if typecode(msg) < 1 or typecode(msg) > 4:
-        raise RuntimeError("%s: Not a identification message" % msg)
-
-    chars = '#ABCDEFGHIJKLMNOPQRSTUVWXYZ#####_###############0123456789######'
-    msgbin = util.hex2bin(msg)
-    csbin = msgbin[40:96]
-
-    cs = ''
-    cs += chars[util.bin2int(csbin[0:6])]
-    cs += chars[util.bin2int(csbin[6:12])]
-    cs += chars[util.bin2int(csbin[12:18])]
-    cs += chars[util.bin2int(csbin[18:24])]
-    cs += chars[util.bin2int(csbin[24:30])]
-    cs += chars[util.bin2int(csbin[30:36])]
-    cs += chars[util.bin2int(csbin[36:42])]
-    cs += chars[util.bin2int(csbin[42:48])]
-
-    # clean string, remove spaces and marks, if any.
-    # cs = cs.replace('_', '')
-    cs = cs.replace('#', '')
-    return cs
-
-
-# ---------------------------------------------
-# Positions
-# ---------------------------------------------
-
-def oe_flag(msg):
-    """Check the odd/even flag. Bit 54, 0 for even, 1 for odd.
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        int: 0 or 1, for even or odd frame
-    """
-    if typecode(msg) < 5 or typecode(msg) > 18:
-        raise RuntimeError("%s: Not a position message" % msg)
-
-    msgbin = util.hex2bin(msg)
-    return int(msgbin[53])
-
-
-def cprlat(msg):
-    """CPR encoded latitude
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        int: encoded latitude
-    """
-    if typecode(msg) < 5 or typecode(msg) > 18:
-        raise RuntimeError("%s: Not a position message" % msg)
-
-    msgbin = util.hex2bin(msg)
-    return util.bin2int(msgbin[54:71])
-
-
-def cprlon(msg):
-    """CPR encoded longitude
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        int: encoded longitude
-    """
-    if typecode(msg) < 5 or typecode(msg) > 18:
-        raise RuntimeError("%s: Not a position message" % msg)
-
-    msgbin = util.hex2bin(msg)
-    return util.bin2int(msgbin[71:88])
-
-
-def position(msg0, msg1, t0, t1, lat_ref=None, lon_ref=None):
-    """Decode position from a pair of even and odd position message
-    (works with both airborne and surface position messages)
-
-    Args:
-        msg0 (string): even message (28 bytes hexadecimal string)
-        msg1 (string): odd message (28 bytes hexadecimal string)
-        t0 (int): timestamps for the even message
-        t1 (int): timestamps for the odd message
-
-    Returns:
-        (float, float): (latitude, longitude) of the aircraft
-    """
-    if (5 <= typecode(msg0) <= 8 and 5 <= typecode(msg1) <= 8):
-        if (not lat_ref) or (not lon_ref):
-            raise RuntimeError("Surface position encountered, a reference \
-                               position lat/lon required. Location of \
-                               receiver can be used.")
-        else:
-            return surface_position(msg0, msg1, t0, t1, lat_ref, lon_ref)
-
-    elif (9 <= typecode(msg0) <= 18 and 9 <= typecode(msg1) <= 18):
-        return airborne_position(msg0, msg1, t0, t1)
-
-    else:
-        raise RuntimeError("incorrect or inconsistant message types")
-
-
-def airborne_position(msg0, msg1, t0, t1):
-    """Decode airborn position from a pair of even and odd position message
-
-    Args:
-        msg0 (string): even message (28 bytes hexadecimal string)
-        msg1 (string): odd message (28 bytes hexadecimal string)
-        t0 (int): timestamps for the even message
-        t1 (int): timestamps for the odd message
-
-    Returns:
-        (float, float): (latitude, longitude) of the aircraft
-    """
-
-    msgbin0 = util.hex2bin(msg0)
-    msgbin1 = util.hex2bin(msg1)
-
-    # 131072 is 2^17, since CPR lat and lon are 17 bits each.
-    cprlat_even = util.bin2int(msgbin0[54:71]) / 131072.0
-    cprlon_even = util.bin2int(msgbin0[71:88]) / 131072.0
-    cprlat_odd = util.bin2int(msgbin1[54:71]) / 131072.0
-    cprlon_odd = util.bin2int(msgbin1[71:88]) / 131072.0
-
-    air_d_lat_even = 360.0 / 60
-    air_d_lat_odd = 360.0 / 59
-
-    # compute latitude index 'j'
-    j = util.floor(59 * cprlat_even - 60 * cprlat_odd + 0.5)
-
-    lat_even = float(air_d_lat_even * (j % 60 + cprlat_even))
-    lat_odd = float(air_d_lat_odd * (j % 59 + cprlat_odd))
-
-    if lat_even >= 270:
-        lat_even = lat_even - 360
-
-    if lat_odd >= 270:
-        lat_odd = lat_odd - 360
-
-    # check if both are in the same latidude zone, exit if not
-    if _cprNL(lat_even) != _cprNL(lat_odd):
-        return None
-
-    # compute ni, longitude index m, and longitude
-    if (t0 > t1):
-        lat = lat_even
-        nl = _cprNL(lat)
-        ni = max(_cprNL(lat)- 0, 1)
-        m = util.floor(cprlon_even * (nl-1) - cprlon_odd * nl + 0.5)
-        lon = (360.0 / ni) * (m % ni + cprlon_even)
-    else:
-        lat = lat_odd
-        nl = _cprNL(lat)
-        ni = max(_cprNL(lat) - 1, 1)
-        m = util.floor(cprlon_even * (nl-1) - cprlon_odd * nl + 0.5)
-        lon = (360.0 / ni) * (m % ni + cprlon_odd)
-
-    if lon > 180:
-        lon = lon - 360
-
-    return round(lat, 5), round(lon, 5)
-
-
-def position_with_ref(msg, lat_ref, lon_ref):
-    """Decode position with only one message,
-    knowing reference nearby location, such as previously
-    calculated location, ground station, or airport location, etc.
-    Works with both airborne and surface position messages.
-    The reference position shall be with in 180NM (airborne) or 45NM (surface)
-    of the true position.
-
-    Args:
-        msg0 (string): even message (28 bytes hexadecimal string)
-        msg1 (string): odd message (28 bytes hexadecimal string)
-        t0 (int): timestamps for the even message
-        t1 (int): timestamps for the odd message
-
-    Returns:
-        (float, float): (latitude, longitude) of the aircraft
-    """
-    if 5 <= typecode(msg) <= 8:
-        return surface_position_with_ref(msg, lat_ref, lon_ref)
-
-    elif 9 <= typecode(msg) <= 18:
-        return airborne_position_with_ref(msg, lat_ref, lon_ref)
-
-    else:
-        raise RuntimeError("incorrect or inconsistant message types")
-
-
-def airborne_position_with_ref(msg, lat_ref, lon_ref):
-    """Decode airborne position with only one message,
-    knowing reference nearby location, such as previously calculated location,
-    ground station, or airport location, etc. The reference position shall
-    be with in 180NM of the true position.
-
-    Args:
-        msg (string): even message (28 bytes hexadecimal string)
-        lat_ref: previous known latitude
-        lon_ref: previous known longitude
-
-    Returns:
-        (float, float): (latitude, longitude) of the aircraft
-    """
-
-    i = oe_flag(msg)
-    d_lat = 360.0/59 if i else 360.0/60
-
-    msgbin = util.hex2bin(msg)
-    cprlat = util.bin2int(msgbin[54:71]) / 131072.0
-    cprlon = util.bin2int(msgbin[71:88]) / 131072.0
-
-    j = util.floor(lat_ref / d_lat) \
-        + util.floor(0.5 + ((lat_ref % d_lat) / d_lat) - cprlat)
-
-    lat = d_lat * (j + cprlat)
-
-    ni = _cprNL(lat) - i
-
-    if ni > 0:
-        d_lon = 360.0 / ni
-    else:
-        d_lon = 360.0
-
-    m = util.floor(lon_ref / d_lon) \
-        + util.floor(0.5 + ((lon_ref % d_lon) / d_lon) - cprlon)
-
-    lon = d_lon * (m + cprlon)
-
-    return round(lat, 5), round(lon, 5)
-
-
-def surface_position(msg0, msg1, t0, t1, lat_ref, lon_ref):
-    """Decode surface position from a pair of even and odd position message,
-    the lat/lon of receiver must be provided to yield the correct solution.
-
-    Args:
-        msg0 (string): even message (28 bytes hexadecimal string)
-        msg1 (string): odd message (28 bytes hexadecimal string)
-        t0 (int): timestamps for the even message
-        t1 (int): timestamps for the odd message
-        lat_ref (float): latitude of the receiver
-        lon_ref (float): longitude of the receiver
-
-    Returns:
-        (float, float): (latitude, longitude) of the aircraft
-    """
-
-    msgbin0 = util.hex2bin(msg0)
-    msgbin1 = util.hex2bin(msg1)
-
-    # 131072 is 2^17, since CPR lat and lon are 17 bits each.
-    cprlat_even = util.bin2int(msgbin0[54:71]) / 131072.0
-    cprlon_even = util.bin2int(msgbin0[71:88]) / 131072.0
-    cprlat_odd = util.bin2int(msgbin1[54:71]) / 131072.0
-    cprlon_odd = util.bin2int(msgbin1[71:88]) / 131072.0
-
-    air_d_lat_even = 90.0 / 60
-    air_d_lat_odd = 90.0 / 59
-
-    # compute latitude index 'j'
-    j = util.floor(59 * cprlat_even - 60 * cprlat_odd + 0.5)
-
-    # solution for north hemisphere
-    lat_even_n = float(air_d_lat_even * (j % 60 + cprlat_even))
-    lat_odd_n = float(air_d_lat_odd * (j % 59 + cprlat_odd))
-
-    # solution for north hemisphere
-    lat_even_s = lat_even_n - 90.0
-    lat_odd_s = lat_odd_n - 90.0
-
-    # chose which solution corrispondes to receiver location
-    lat_even = lat_even_n if lat_ref > 0 else lat_even_s
-    lat_odd = lat_odd_n if lat_ref > 0 else lat_odd_s
-
-    # check if both are in the same latidude zone, rare but possible
-    if _cprNL(lat_even) != _cprNL(lat_odd):
-        return None
-
-    # compute ni, longitude index m, and longitude
-    if (t0 > t1):
-        lat = lat_even
-        nl = _cprNL(lat_even)
-        ni = max(_cprNL(lat_even) - 0, 1)
-        m = util.floor(cprlon_even * (nl-1) - cprlon_odd * nl + 0.5)
-        lon = (90.0 / ni) * (m % ni + cprlon_even)
-    else:
-        lat = lat_odd
-        nl = _cprNL(lat_odd)
-        ni = max(_cprNL(lat_odd) - 1, 1)
-        m = util.floor(cprlon_even * (nl-1) - cprlon_odd * nl + 0.5)
-        lon = (90.0 / ni) * (m % ni + cprlon_odd)
-
-    # four possible longitude solutions
-    lons = [lon, lon + 90.0, lon + 180.0, lon + 270.0]
-
-    # the closest solution to receiver is the correct one
-    dls = [abs(lon_ref - l) for l in lons]
-    imin = min(range(4), key=dls.__getitem__)
-    lon = lons[imin]
-
-    return round(lat, 5), round(lon, 5)
-
-
-def surface_position_with_ref(msg, lat_ref, lon_ref):
-    """Decode surface position with only one message,
-    knowing reference nearby location, such as previously calculated location,
-    ground station, or airport location, etc. The reference position shall
-    be with in 45NM of the true position.
-
-    Args:
-        msg (string): even message (28 bytes hexadecimal string)
-        lat_ref: previous known latitude
-        lon_ref: previous known longitude
-
-    Returns:
-        (float, float): (latitude, longitude) of the aircraft
-    """
-
-    i = oe_flag(msg)
-    d_lat = 90.0/59 if i else 90.0/60
-
-    msgbin = util.hex2bin(msg)
-    cprlat = util.bin2int(msgbin[54:71]) / 131072.0
-    cprlon = util.bin2int(msgbin[71:88]) / 131072.0
-
-    j = util.floor(lat_ref / d_lat) \
-        + util.floor(0.5 + ((lat_ref % d_lat) / d_lat) - cprlat)
-
-    lat = d_lat * (j + cprlat)
-
-    ni = _cprNL(lat) - i
-
-    if ni > 0:
-        d_lon = 90.0 / ni
-    else:
-        d_lon = 90.0
-
-    m = util.floor(lon_ref / d_lon) \
-        + util.floor(0.5 + ((lon_ref % d_lon) / d_lon) - cprlon)
-
-    lon = d_lon * (m + cprlon)
-
-    return round(lat, 5), round(lon, 5)
-
-
-def _cprNL(lat):
-    """NL() function in CPR decoding
-    """
-    if lat == 0:
-        return 59
-
-    if lat == 87 or lat == -87:
-        return 2
-
-    if lat > 87 or lat < -87:
-        return 1
-
-    nz = 15
-    a = 1 - math.cos(math.pi / (2 * nz))
-    b = math.cos(math.pi / 180.0 * abs(lat)) ** 2
-    nl = 2 * math.pi / (math.acos(1 - a/b))
-    NL = util.floor(nl)
-    return NL
-
-
-def altitude(msg):
-    """Decode aircraft altitude
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        int: altitude in feet
-    """
-    if typecode(msg) < 9 or typecode(msg) > 18:
-        raise RuntimeError("%s: Not a position message" % msg)
-
-    msgbin = util.hex2bin(msg)
-    q = msgbin[47]
-    if q:
-        n = util.bin2int(msgbin[40:47]+msgbin[48:52])
-        alt = n * 25 - 1000
-        return alt
-    else:
-        return None
-
-
-def nic(msg):
-    """Calculate NIC, navigation integrity category
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        int: NIC number (from 0 to 11), -1 if not applicable
-    """
-    if typecode(msg) < 9 or typecode(msg) > 18:
-        raise RuntimeError("%s: Not a airborne position message" % msg)
-
-    msgbin = util.hex2bin(msg)
-    tc = typecode(msg)
-    nic_sup_b = util.bin2int(msgbin[39])
-
-    if tc in [0, 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:
-        nic = 6
-    elif tc == 12:
-        nic = 7
-    elif tc == 11:
-        if nic_sup_b:
-            nic = 9
-        else:
-            nic = 8
-    elif tc in [10, 21]:
-        nic = 10
-    elif tc in [9, 20]:
-        nic = 11
-    else:
-        nic = -1
-    return nic
-
-
-# ---------------------------------------------
-# Velocity
-# ---------------------------------------------
-
-def velocity(msg):
-    """Calculate the speed, heading, and vertical rate
-    (handles both airborne or surface message)
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        (int, float, int, string): speed (kt), heading (degree),
-            rate of climb/descend (ft/min), and speed type
-            ('GS' for ground speed, 'AS' for airspeed)
-    """
-
-    if 5 <= typecode(msg) <= 8:
-        return surface_velocity(msg)
-
-    elif typecode(msg) == 19:
-        return airborne_velocity(msg)
-
-    else:
-        raise RuntimeError("incorrect or inconsistant message types")
-
-def speed_heading(msg):
-    """Get speed and heading only from the velocity message
-    (handles both airborne or surface message)
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        (int, float): speed (kt), heading (degree)
-    """
-    spd, hdg, rocd, tag = velocity(msg)
-    return spd, hdg
-
-
-def airborne_velocity(msg):
-    """Calculate the speed, heading, and vertical rate
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        (int, float, int, string): speed (kt), heading (degree),
-            rate of climb/descend (ft/min), and speed type
-            ('GS' for ground speed, 'AS' for airspeed)
-    """
-
-    if typecode(msg) != 19:
-        raise RuntimeError("%s: Not a airborne velocity message" % msg)
-
-    msgbin = util.hex2bin(msg)
-
-    subtype = util.bin2int(msgbin[37:40])
-
-    if subtype in (1, 2):
-        v_ew_sign = util.bin2int(msgbin[45])
-        v_ew = util.bin2int(msgbin[46:56]) - 1       # east-west velocity
-
-        v_ns_sign = util.bin2int(msgbin[56])
-        v_ns = util.bin2int(msgbin[57:67]) - 1       # north-south velocity
-
-        v_we = -1*v_ew if v_ew_sign else v_ew
-        v_sn = -1*v_ns if v_ns_sign else v_ns
-
-        spd = math.sqrt(v_sn*v_sn + v_we*v_we)  # unit in kts
-
-        hdg = math.atan2(v_we, v_sn)
-        hdg = math.degrees(hdg)                 # convert to degrees
-        hdg = hdg if hdg >= 0 else hdg + 360    # no negative val
-
-        tag = 'GS'
-
-    else:
-        hdg = util.bin2int(msgbin[46:56]) / 1024.0 * 360.0
-        spd = util.bin2int(msgbin[57:67])
-
-        tag = 'AS'
-
-    vr_sign = util.bin2int(msgbin[68])
-    vr = (util.bin2int(msgbin[69:78]) - 1) * 64     # vertical rate, fpm
-    rocd = -1*vr if vr_sign else vr                 # rate of climb/descend
-
-    return int(spd), round(hdg, 1), int(rocd), tag
-
-
-def surface_velocity(msg):
-    """Decode surface velocity from from a surface position message
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        (int, float, int, string): speed (kt), heading (degree),
-            rate of climb/descend (ft/min), and speed type
-            ('GS' for ground speed, 'AS' for airspeed)
-    """
-
-    if typecode(msg) < 5 or typecode(msg) > 8:
-        raise RuntimeError("%s: Not a surface message" % msg)
-
-    msgbin = util.hex2bin(msg)
-
-    # heading
-    hdg_status = int(msgbin[44])
-    if hdg_status == 1:
-        hdg = util.bin2int(msgbin[45:52]) * 360.0 / 128.0
-        hdg = round(hdg, 1)
-    else:
-        hdg = None
-
-    # ground movment / speed
-    mov = util.bin2int(msgbin[37:44])
-
-    if mov == 0 or mov > 124:
-        spd = None
-    elif mov == 1:
-        spd = 0
-    elif mov == 124:
-        spd = 175
-    else:
-        movs = [2, 9, 13, 39, 94, 109, 124]
-        kts = [0.125, 1, 2, 15, 70, 100, 175]
-        i = next(m[0] for m in enumerate(movs) if m[1] > mov)
-        step = (kts[i] - kts[i-1]) * 1.0 / (movs[i]-movs[i-1])
-        spd = kts[i-1] + (mov-movs[i-1]) * step
-        spd = round(spd, 2)
-
-    return spd, hdg, 0, 'GS'

pyModeS/c_common.pxd

@@ -0,0 +1,23 @@
+# cython: language_level=3
+
+cdef int char_to_int(unsigned char binstr)
+cdef unsigned char int_to_char(unsigned char i)
+
+cpdef str hex2bin(str hexstr)
+cpdef long bin2int(str binstr)
+cpdef long hex2int(str binstr)
+
+cpdef unsigned char df(str msg)
+cpdef long crc(str msg, bint encode=*)
+
+cpdef long floor(double x)
+cpdef str icao(str msg)
+cpdef bint is_icao_assigned(str icao)
+
+cpdef int typecode(str msg)
+cpdef int cprNL(double lat)
+cpdef str idcode(str msg)
+cpdef int altcode(str msg)
+
+cpdef str data(str msg)
+cpdef bint allzeros(str msg)

pyModeS/c_common.pyx

@@ -0,0 +1,429 @@
+# cython: language_level=3
+
+cimport cython
+from cpython cimport array
+from cpython.bytes cimport PyBytes_GET_SIZE
+from cpython.bytearray cimport PyByteArray_GET_SIZE
+
+from libc.math cimport abs, cos, acos, fabs, M_PI as pi, floor as c_floor
+
+
+cdef int char_to_int(unsigned char binstr):
+    if 48 <= binstr <= 57:  # 0 to 9
+        return binstr - 48
+    if 97 <= binstr <= 102: # a to f
+        return binstr - 97 + 10
+    if 65 <= binstr <= 70: # A to F
+        return binstr - 65 + 10
+    return 0
+
+cdef unsigned char int_to_char(unsigned char i):
+    if i < 10:
+        return 48 + i  # "0" + i
+    return 97 - 10 + i  # "a" - 10 + i
+
+@cython.boundscheck(False)
+@cython.overflowcheck(False)
+cpdef str hex2bin(str hexstr):
+    """Convert a hexdecimal string to binary string, with zero fillings."""
+    # num_of_bits = len(hexstr) * 4
+    cdef hexbytes = bytes(hexstr.encode())
+    cdef Py_ssize_t len_hexstr = PyBytes_GET_SIZE(hexbytes)
+    # binstr = bin(int(hexbytes, 16))[2:].zfill(int(num_of_bits))
+    cdef bytearray _binstr = bytearray(4 * len_hexstr)
+    cdef unsigned char[:] binstr = _binstr
+    cdef unsigned char int_
+    cdef Py_ssize_t i
+    for i in range(len_hexstr):
+        int_ = char_to_int(hexbytes[i])
+        binstr[4*i] = int_to_char((int_  >> 3) & 1)
+        binstr[4*i+1] = int_to_char((int_ >> 2) & 1)
+        binstr[4*i+2] = int_to_char((int_ >> 1) & 1)
+        binstr[4*i+3] = int_to_char((int_) & 1)
+    return _binstr.decode()
+
+@cython.boundscheck(False)
+cpdef long bin2int(str binstr):
+    """Convert a binary string to integer."""
+    # return int(binstr, 2)
+    cdef bytearray binbytes = bytearray(binstr.encode())
+    cdef Py_ssize_t len_ = PyByteArray_GET_SIZE(binbytes)
+    cdef long cumul = 0
+    cdef unsigned char[:] v_binstr = binbytes
+    for i in range(len_):
+        cumul = 2*cumul + char_to_int(v_binstr[i])
+    return cumul
+
+@cython.boundscheck(False)
+cpdef long hex2int(str hexstr):
+    """Convert a binary string to integer."""
+    # return int(hexstr, 2)
+    cdef bytearray binbytes = bytearray(hexstr.encode())
+    cdef Py_ssize_t len_ = PyByteArray_GET_SIZE(binbytes)
+    cdef long cumul = 0
+    cdef unsigned char[:] v_hexstr = binbytes
+    for i in range(len_):
+        cumul = 16*cumul + char_to_int(v_hexstr[i])
+    return cumul
+
+@cython.boundscheck(False)
+cpdef unsigned char df(str msg):
+    """Decode Downlink Format vaule, bits 1 to 5."""
+    cdef str dfbin = hex2bin(msg[:2])
+    # return min(bin2int(dfbin[0:5]), 24)
+    cdef long df = bin2int(dfbin[0:5])
+    if df > 24:
+        return 24
+    return df
+
+# the CRC generator
+# G = [int("11111111", 2), int("11111010", 2), int("00000100", 2), int("10000000", 2)]
+cdef array.array _G = array.array('l', [0b11111111, 0b11111010, 0b00000100, 0b10000000])
+
+@cython.boundscheck(False)
+@cython.wraparound(False)
+cpdef long crc(str msg, bint encode=False):
+    """Mode-S Cyclic Redundancy Check.
+
+    Detect if bit error occurs in the Mode-S message. When encode option is on,
+    the checksum is generated.
+
+    Args:
+        msg (string): 28 bytes hexadecimal message string
+        encode (bool): True to encode the date only and return the checksum
+    Returns:
+        int: message checksum, or partity bits (encoder)
+
+    """
+    # the CRC generator
+    # G = [int("11111111", 2), int("11111010", 2), int("00000100", 2), int("10000000", 2)]
+    # cdef array.array _G = array.array('l', [0b11111111, 0b11111010, 0b00000100, 0b10000000])
+    cdef long[4] G = _G
+
+    # msgbin_split = wrap(msgbin, 8)
+    # mbytes = list(map(bin2int, msgbin_split))
+    cdef bytearray _msgbin = bytearray(hex2bin(msg).encode())
+    cdef unsigned char[:] msgbin = _msgbin
+
+    cdef Py_ssize_t len_msgbin = PyByteArray_GET_SIZE(_msgbin)
+    cdef Py_ssize_t len_mbytes = len_msgbin // 8
+    cdef Py_ssize_t i
+
+    if encode:
+        for i in range(len_msgbin - 24, len_msgbin):
+            msgbin[i] = 0
+
+    cdef array.array _mbytes = array.array(
+        'l', [bin2int(_msgbin[8*i:8*i+8].decode()) for i in range(len_mbytes)]
+    )
+
+    cdef long[:] mbytes = _mbytes
+
+    cdef long bits, mask
+    cdef Py_ssize_t ibyte, ibit
+
+    for ibyte in range(len_mbytes - 3):
+        for ibit in range(8):
+            mask = 0x80 >> ibit
+            bits = mbytes[ibyte] & mask
+
+            if bits > 0:
+                mbytes[ibyte] = mbytes[ibyte] ^ (G[0] >> ibit)
+                mbytes[ibyte + 1] = mbytes[ibyte + 1] ^ (
+                    0xFF & ((G[0] << 8 - ibit) | (G[1] >> ibit))
+                )
+                mbytes[ibyte + 2] = mbytes[ibyte + 2] ^ (
+                    0xFF & ((G[1] << 8 - ibit) | (G[2] >> ibit))
+                )
+                mbytes[ibyte + 3] = mbytes[ibyte + 3] ^ (
+                    0xFF & ((G[2] << 8 - ibit) | (G[3] >> ibit))
+                )
+
+    cdef long result = (mbytes[len_mbytes-3] << 16) | (mbytes[len_mbytes-2] << 8) | mbytes[len_mbytes-1]
+
+    return result
+
+
+
+cpdef long floor(double x):
+    """Mode-S floor function.
+
+    Defined as the greatest integer value k, such that k <= x
+    For example: floor(3.6) = 3 and floor(-3.6) = -4
+
+    """
+    return <long> c_floor(x)
+
+cpdef str icao(str msg):
+    """Calculate the ICAO address from an Mode-S message.
+
+    Applicable only with DF4, DF5, DF20, DF21 messages.
+
+    Args:
+        msg (String): 28 bytes hexadecimal message string
+
+    Returns:
+        String: ICAO address in 6 bytes hexadecimal string
+
+    """
+    cdef unsigned char DF = df(msg)
+    cdef long c0, c1
+
+    if DF in (11, 17, 18):
+        addr = msg[2:8]
+    elif DF in (0, 4, 5, 16, 20, 21):
+        c0 = crc(msg, encode=True)
+        c1 = hex2int(msg[-6:])
+        addr = "%06X" % (c0 ^ c1)
+    else:
+        addr = None
+
+    return addr
+
+
+cpdef bint is_icao_assigned(str icao):
+    """Check whether the ICAO address is assigned (Annex 10, Vol 3)."""
+    if (icao is None) or (not isinstance(icao, str)) or (len(icao) != 6):
+        return False
+
+    cdef long icaoint = hex2int(icao)
+
+    if 0x200000 < icaoint < 0x27FFFF:
+        return False  # AFI
+    if 0x280000 < icaoint < 0x28FFFF:
+        return False  # SAM
+    if 0x500000 < icaoint < 0x5FFFFF:
+        return False  # EUR, NAT
+    if 0x600000 < icaoint < 0x67FFFF:
+        return False  # MID
+    if 0x680000 < icaoint < 0x6F0000:
+        return False  # ASIA
+    if 0x900000 < icaoint < 0x9FFFFF:
+        return False  # NAM, PAC
+    if 0xB00000 < icaoint < 0xBFFFFF:
+        return False  # CAR
+    if 0xD00000 < icaoint < 0xDFFFFF:
+        return False  # future
+    if 0xF00000 < icaoint < 0xFFFFFF:
+        return False  # future
+
+    return True
+
+@cython.boundscheck(False)
+@cython.wraparound(False)
+cpdef int typecode(str msg):
+    """Type code of ADS-B message
+
+    Args:
+        msg (string): 28 bytes hexadecimal message string
+
+    Returns:
+        int: type code number
+    """
+    if df(msg) not in (17, 18):
+        return -1
+        # return None
+
+    cdef str tcbin = hex2bin(msg[8:10])
+    return bin2int(tcbin[0:5])
+
+@cython.cdivision(True)
+cpdef int cprNL(double lat):
+    """NL() function in CPR decoding."""
+
+    if abs(lat) <= 1e-08:
+        return 59
+    elif abs(abs(lat) - 87) <= 1e-08 + 1e-05 * 87:
+        return 2
+    elif lat > 87 or lat < -87:
+        return 1
+
+    cdef int nz = 15
+    cdef double a = 1 - cos(pi / (2 * nz))
+    cdef double b = cos(pi / 180.0 * fabs(lat)) ** 2
+    cdef double nl = 2 * pi / (acos(1 - a / b))
+    NL = floor(nl)
+    return NL
+
+@cython.boundscheck(False)
+@cython.wraparound(False)
+cpdef str idcode(str msg):
+    """Compute identity (squawk code).
+
+    Applicable only for DF5 or DF21 messages, bit 20-32.
+    credit: @fbyrkjeland
+
+    Args:
+        msg (String): 28 bytes hexadecimal message string
+
+    Returns:
+        string: squawk code
+
+    """
+    if df(msg) not in [5, 21]:
+        raise RuntimeError("Message must be Downlink Format 5 or 21.")
+
+    cdef bytearray _mbin = bytearray(hex2bin(msg).encode())
+    cdef unsigned char[:] mbin = _mbin
+
+    cdef bytearray _idcode = bytearray(4)
+    cdef unsigned char[:] idcode = _idcode
+
+    cdef unsigned char C1 = mbin[19]
+    cdef unsigned char A1 = mbin[20]
+    cdef unsigned char C2 = mbin[21]
+    cdef unsigned char A2 = mbin[22]
+    cdef unsigned char C4 = mbin[23]
+    cdef unsigned char A4 = mbin[24]
+    # _ = mbin[25]
+    cdef unsigned char B1 = mbin[26]
+    cdef unsigned char D1 = mbin[27]
+    cdef unsigned char B2 = mbin[28]
+    cdef unsigned char D2 = mbin[29]
+    cdef unsigned char B4 = mbin[30]
+    cdef unsigned char D4 = mbin[31]
+
+    # byte1 = int(A4 + A2 + A1, 2)
+    # byte2 = int(B4 + B2 + B1, 2)
+    # byte3 = int(C4 + C2 + C1, 2)
+    # byte4 = int(D4 + D2 + D1, 2)
+
+    idcode[0] = int_to_char((char_to_int(A4)*2 + char_to_int(A2))*2 + char_to_int(A1))
+    idcode[1] = int_to_char((char_to_int(B4)*2 + char_to_int(B2))*2 + char_to_int(B1))
+    idcode[2] = int_to_char((char_to_int(C4)*2 + char_to_int(C2))*2 + char_to_int(C1))
+    idcode[3] = int_to_char((char_to_int(D4)*2 + char_to_int(D2))*2 + char_to_int(D1))
+
+    return _idcode.decode()
+
+    #return str(byte1) + str(byte2) + str(byte3) + str(byte4)
+
+
+@cython.boundscheck(False)
+@cython.wraparound(False)
+cpdef int altcode(str msg):
+    """Compute the altitude.
+
+    Applicable only for DF4 or DF20 message, bit 20-32.
+    credit: @fbyrkjeland
+
+    Args:
+        msg (String): 28 bytes hexadecimal message string
+
+    Returns:
+        int: altitude in ft
+
+    """
+    if df(msg) not in [0, 4, 16, 20]:
+        raise RuntimeError("Message must be Downlink Format 0, 4, 16, or 20.")
+
+    # Altitude code, bit 20-32
+    cdef bytearray _mbin = bytearray(hex2bin(msg).encode())
+    cdef unsigned char[:] mbin = _mbin
+
+    cdef char mbit = mbin[25]  # M bit: 26
+    cdef char qbit = mbin[27]  # Q bit: 28
+    cdef int alt = 0
+    cdef bytearray vbin
+    cdef bytearray _graybytes = bytearray(11)
+    cdef unsigned char[:] graybytes = _graybytes
+
+    if mbit == 48:  # unit in ft, "0" -> 48
+        if qbit == 49:  # 25ft interval, "1" -> 49
+            vbin = _mbin[19:25] + _mbin[26:27] + _mbin[28:32]
+            alt = bin2int(vbin.decode()) * 25 - 1000
+        if qbit == 48:  # 100ft interval, above 50175ft, "0" -> 48
+            graybytes[8] = mbin[19]
+            graybytes[2] = mbin[20]
+            graybytes[9] = mbin[21]
+            graybytes[3] = mbin[22]
+            graybytes[10] = mbin[23]
+            graybytes[4] = mbin[24]
+            # _ = mbin[25]
+            graybytes[5] = mbin[26]
+            # cdef char D1 = mbin[27]  # always zero
+            graybytes[6] = mbin[28]
+            graybytes[0] = mbin[29]
+            graybytes[7] = mbin[30]
+            graybytes[1] = mbin[31]
+            # graybytes = D2 + D4 + A1 + A2 + A4 + B1 + B2 + B4 + C1 + C2 + C4
+
+            alt = gray2alt(_graybytes.decode())
+
+    if mbit == 49:  # unit in meter, "1" -> 49
+        vbin = _mbin[19:25] + _mbin[26:31]
+        alt = int(bin2int(vbin.decode()) * 3.28084)  # convert to ft
+
+    return alt
+
+
+
+cpdef int gray2alt(str codestr):
+    cdef str gc500 = codestr[:8]
+    cdef int n500 = gray2int(gc500)
+
+    # in 100-ft step must be converted first
+    cdef str gc100 = codestr[8:]
+    cdef int n100 = gray2int(gc100)
+
+    if n100 in [0, 5, 6]:
+        return -1
+        #return None
+
+    if n100 == 7:
+        n100 = 5
+
+    if n500 % 2:
+        n100 = 6 - n100
+
+    alt = (n500 * 500 + n100 * 100) - 1300
+    return alt
+
+
+cdef int gray2int(str graystr):
+    """Convert greycode to binary."""
+    cdef int num = bin2int(graystr)
+    num ^= num >> 8
+    num ^= num >> 4
+    num ^= num >> 2
+    num ^= num >> 1
+    return num
+
+
+cpdef str data(str msg):
+    """Return the data frame in the message, bytes 9 to 22."""
+    return msg[8:-6]
+
+
+cpdef bint allzeros(str msg):
+    """Check if the data bits are all zeros.
+
+    Args:
+        msg (String): 28 bytes hexadecimal message string
+
+    Returns:
+        bool: True or False
+
+    """
+    d = hex2bin(data(msg))
+
+    if bin2int(d) > 0:
+        return False
+    else:
+        return True
+
+
+def wrongstatus(data, sb, msb, lsb):
+    """Check if the status bit and field bits are consistency.
+
+    This Function is used for checking BDS code versions.
+
+    """
+    # status bit, most significant bit, least significant bit
+    status = int(data[sb - 1])
+    value = bin2int(data[msb - 1 : lsb])
+
+    if not status:
+        if value != 0:
+            return True
+
+    return False

pyModeS/common.py

@@ -0,0 +1,359 @@
+import numpy as np
+from textwrap import wrap
+
+
+def hex2bin(hexstr):
+    """Convert a hexdecimal string to binary string, with zero fillings."""
+    num_of_bits = len(hexstr) * 4
+    binstr = bin(int(hexstr, 16))[2:].zfill(int(num_of_bits))
+    return binstr
+
+
+def hex2int(hexstr):
+    """Convert a hexdecimal string to integer."""
+    return int(hexstr, 16)
+
+
+def bin2int(binstr):
+    """Convert a binary string to integer."""
+    return int(binstr, 2)
+
+
+def df(msg):
+    """Decode Downlink Format value, bits 1 to 5."""
+    dfbin = hex2bin(msg[:2])
+    return min(bin2int(dfbin[0:5]), 24)
+
+
+def crc(msg, encode=False):
+    """Mode-S Cyclic Redundancy Check.
+
+    Detect if bit error occurs in the Mode-S message. When encode option is on,
+    the checksum is generated.
+
+    Args:
+        msg (string): 28 bytes hexadecimal message string
+        encode (bool): True to encode the date only and return the checksum
+    Returns:
+        int: message checksum, or partity bits (encoder)
+
+    """
+    # the CRC generator
+    G = [int("11111111", 2), int("11111010", 2), int("00000100", 2), int("10000000", 2)]
+
+    if encode:
+        msg = msg[:-6] + "000000"
+
+    msgbin = hex2bin(msg)
+    msgbin_split = wrap(msgbin, 8)
+    mbytes = list(map(bin2int, msgbin_split))
+
+    for ibyte in range(len(mbytes) - 3):
+        for ibit in range(8):
+            mask = 0x80 >> ibit
+            bits = mbytes[ibyte] & mask
+
+            if bits > 0:
+                mbytes[ibyte] = mbytes[ibyte] ^ (G[0] >> ibit)
+                mbytes[ibyte + 1] = mbytes[ibyte + 1] ^ (
+                    0xFF & ((G[0] << 8 - ibit) | (G[1] >> ibit))
+                )
+                mbytes[ibyte + 2] = mbytes[ibyte + 2] ^ (
+                    0xFF & ((G[1] << 8 - ibit) | (G[2] >> ibit))
+                )
+                mbytes[ibyte + 3] = mbytes[ibyte + 3] ^ (
+                    0xFF & ((G[2] << 8 - ibit) | (G[3] >> ibit))
+                )
+
+    result = (mbytes[-3] << 16) | (mbytes[-2] << 8) | mbytes[-1]
+
+    return result
+
+
+def crc_legacy(msg, encode=False):
+    """Mode-S Cyclic Redundancy Check. (Legacy code, 2x slow)."""
+    # the polynominal generattor code for CRC [1111111111111010000001001]
+    generator = np.array(
+        [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1]
+    )
+    ng = len(generator)
+
+    msgnpbin = np.array([int(i) for i in hex2bin(msg)])
+
+    if encode:
+        msgnpbin[-24:] = [0] * 24
+
+    # loop all bits, except last 24 piraty bits
+    for i in range(len(msgnpbin) - 24):
+        if msgnpbin[i] == 0:
+            continue
+
+        # perform XOR, when 1
+        msgnpbin[i : i + ng] = np.bitwise_xor(msgnpbin[i : i + ng], generator)
+
+    # last 24 bits
+    msgbin = np.array2string(msgnpbin[-24:], separator="")[1:-1]
+    reminder = bin2int(msgbin)
+
+    return reminder
+
+
+def floor(x):
+    """Mode-S floor function.
+
+    Defined as the greatest integer value k, such that k <= x
+    For example: floor(3.6) = 3 and floor(-3.6) = -4
+
+    """
+    return int(np.floor(x))
+
+
+def icao(msg):
+    """Calculate the ICAO address from an Mode-S message.
+
+    Applicable only with DF4, DF5, DF20, DF21 messages.
+
+    Args:
+        msg (String): 28 bytes hexadecimal message string
+
+    Returns:
+        String: ICAO address in 6 bytes hexadecimal string
+
+    """
+    DF = df(msg)
+
+    if DF in (11, 17, 18):
+        addr = msg[2:8]
+    elif DF in (0, 4, 5, 16, 20, 21):
+        c0 = crc(msg, encode=True)
+        c1 = int(msg[-6:], 16)
+        addr = "%06X" % (c0 ^ c1)
+    else:
+        addr = None
+
+    return addr
+
+
+def is_icao_assigned(icao):
+    """Check whether the ICAO address is assigned (Annex 10, Vol 3)."""
+    if (icao is None) or (not isinstance(icao, str)) or (len(icao) != 6):
+        return False
+
+    icaoint = int(icao, 16)
+
+    if 0x200000 < icaoint < 0x27FFFF:
+        return False  # AFI
+    if 0x280000 < icaoint < 0x28FFFF:
+        return False  # SAM
+    if 0x500000 < icaoint < 0x5FFFFF:
+        return False  # EUR, NAT
+    if 0x600000 < icaoint < 0x67FFFF:
+        return False  # MID
+    if 0x680000 < icaoint < 0x6F0000:
+        return False  # ASIA
+    if 0x900000 < icaoint < 0x9FFFFF:
+        return False  # NAM, PAC
+    if 0xB00000 < icaoint < 0xBFFFFF:
+        return False  # CAR
+    if 0xD00000 < icaoint < 0xDFFFFF:
+        return False  # future
+    if 0xF00000 < icaoint < 0xFFFFFF:
+        return False  # future
+
+    return True
+
+
+def typecode(msg):
+    """Type code of ADS-B message
+
+    Args:
+        msg (string): 28 bytes hexadecimal message string
+
+    Returns:
+        int: type code number
+    """
+    if df(msg) not in (17, 18):
+        return None
+
+    tcbin = hex2bin(msg[8:10])
+    return bin2int(tcbin[0:5])
+
+
+def cprNL(lat):
+    """NL() function in CPR decoding."""
+
+    if np.isclose(lat, 0):
+        return 59
+    elif np.isclose(abs(lat), 87):
+        return 2
+    elif lat > 87 or lat < -87:
+        return 1
+
+    nz = 15
+    a = 1 - np.cos(np.pi / (2 * nz))
+    b = np.cos(np.pi / 180.0 * abs(lat)) ** 2
+    nl = 2 * np.pi / (np.arccos(1 - a / b))
+    NL = floor(nl)
+    return NL
+
+
+def idcode(msg):
+    """Compute identity (squawk code).
+
+    Applicable only for DF5 or DF21 messages, bit 20-32.
+    credit: @fbyrkjeland
+
+    Args:
+        msg (String): 28 bytes hexadecimal message string
+
+    Returns:
+        string: squawk code
+
+    """
+    if df(msg) not in [5, 21]:
+        raise RuntimeError("Message must be Downlink Format 5 or 21.")
+
+    mbin = hex2bin(msg)
+
+    C1 = mbin[19]
+    A1 = mbin[20]
+    C2 = mbin[21]
+    A2 = mbin[22]
+    C4 = mbin[23]
+    A4 = mbin[24]
+    # _ = mbin[25]
+    B1 = mbin[26]
+    D1 = mbin[27]
+    B2 = mbin[28]
+    D2 = mbin[29]
+    B4 = mbin[30]
+    D4 = mbin[31]
+
+    byte1 = int(A4 + A2 + A1, 2)
+    byte2 = int(B4 + B2 + B1, 2)
+    byte3 = int(C4 + C2 + C1, 2)
+    byte4 = int(D4 + D2 + D1, 2)
+
+    return str(byte1) + str(byte2) + str(byte3) + str(byte4)
+
+
+def altcode(msg):
+    """Compute the altitude.
+
+    Applicable only for DF4 or DF20 message, bit 20-32.
+    credit: @fbyrkjeland
+
+    Args:
+        msg (String): 28 bytes hexadecimal message string
+
+    Returns:
+        int: altitude in ft
+
+    """
+    if df(msg) not in [0, 4, 16, 20]:
+        raise RuntimeError("Message must be Downlink Format 0, 4, 16, or 20.")
+
+    # Altitude code, bit 20-32
+    mbin = hex2bin(msg)
+
+    mbit = mbin[25]  # M bit: 26
+    qbit = mbin[27]  # Q bit: 28
+
+    if mbit == "0":  # unit in ft
+        if qbit == "1":  # 25ft interval
+            vbin = mbin[19:25] + mbin[26] + mbin[28:32]
+            alt = bin2int(vbin) * 25 - 1000
+        if qbit == "0":  # 100ft interval, above 50175ft
+            C1 = mbin[19]
+            A1 = mbin[20]
+            C2 = mbin[21]
+            A2 = mbin[22]
+            C4 = mbin[23]
+            A4 = mbin[24]
+            # _ = mbin[25]
+            B1 = mbin[26]
+            # D1 = mbin[27]     # always zero
+            B2 = mbin[28]
+            D2 = mbin[29]
+            B4 = mbin[30]
+            D4 = mbin[31]
+
+            graystr = D2 + D4 + A1 + A2 + A4 + B1 + B2 + B4 + C1 + C2 + C4
+            alt = gray2alt(graystr)
+
+    if mbit == "1":  # unit in meter
+        vbin = mbin[19:25] + mbin[26:31]
+        alt = int(bin2int(vbin) * 3.28084)  # convert to ft
+
+    return alt
+
+
+def gray2alt(codestr):
+    gc500 = codestr[:8]
+    n500 = gray2int(gc500)
+
+    # in 100-ft step must be converted first
+    gc100 = codestr[8:]
+    n100 = gray2int(gc100)
+
+    if n100 in [0, 5, 6]:
+        return None
+
+    if n100 == 7:
+        n100 = 5
+
+    if n500 % 2:
+        n100 = 6 - n100
+
+    alt = (n500 * 500 + n100 * 100) - 1300
+    return alt
+
+
+def gray2int(graystr):
+    """Convert greycode to binary."""
+    num = bin2int(graystr)
+    num ^= num >> 8
+    num ^= num >> 4
+    num ^= num >> 2
+    num ^= num >> 1
+    return num
+
+
+def data(msg):
+    """Return the data frame in the message, bytes 9 to 22."""
+    return msg[8:-6]
+
+
+def allzeros(msg):
+    """Check if the data bits are all zeros.
+
+    Args:
+        msg (String): 28 bytes hexadecimal message string
+
+    Returns:
+        bool: True or False
+
+    """
+    d = hex2bin(data(msg))
+
+    if bin2int(d) > 0:
+        return False
+    else:
+        return True
+
+
+def wrongstatus(data, sb, msb, lsb):
+    """Check if the status bit and field bits are consistency.
+
+    This Function is used for checking BDS code versions.
+
+    """
+    # status bit, most significant bit, least significant bit
+    status = int(data[sb - 1])
+    value = bin2int(data[msb - 1 : lsb])
+
+    if not status:
+        if value != 0:
+            return True
+
+    return False

pyModeS/decoder/__init__.py

@@ -0,0 +1,142 @@
+def tell(msg):
+    from pyModeS import common, adsb, commb, bds
+
+    def _print(label, value, unit=None):
+        print("%20s: " % label, end="")
+        print("%s " % value, end="")
+        if unit:
+            print(unit)
+        else:
+            print()
+
+    df = common.df(msg)
+    icao = common.icao(msg)
+
+    _print("Message", msg)
+    _print("ICAO address", icao)
+    _print("Downlink Format", df)
+
+    if df == 17:
+        _print("Protocol", "Mode-S Extended Squitter (ADS-B)")
+
+        tc = common.typecode(msg)
+        if 1 <= tc <= 4:  # callsign
+            callsign = adsb.callsign(msg)
+            _print("Type", "Identitification and category")
+            _print("Callsign:", callsign)
+
+        if 5 <= tc <= 8:  # surface position
+            _print("Type", "Surface position")
+            oe = adsb.oe_flag(msg)
+            msgbin = common.hex2bin(msg)
+            cprlat = common.bin2int(msgbin[54:71]) / 131072.0
+            cprlon = common.bin2int(msgbin[71:88]) / 131072.0
+            v = adsb.surface_velocity(msg)
+            _print("CPR format", "Odd" if oe else "Even")
+            _print("CPR Latitude", cprlat)
+            _print("CPR Longitude", cprlon)
+            _print("Speed", v[0], "knots")
+            _print("Track", v[1], "degrees")
+
+        if 9 <= tc <= 18:  # airborne position
+            _print("Type", "Airborne position (with barometric altitude)")
+            alt = adsb.altitude(msg)
+            oe = adsb.oe_flag(msg)
+            msgbin = common.hex2bin(msg)
+            cprlat = common.bin2int(msgbin[54:71]) / 131072.0
+            cprlon = common.bin2int(msgbin[71:88]) / 131072.0
+            _print("CPR format", "Odd" if oe else "Even")
+            _print("CPR Latitude", cprlat)
+            _print("CPR Longitude", cprlon)
+            _print("Altitude", alt, "feet")
+
+        if tc == 19:
+            _print("Type", "Airborne velocity")
+            spd, trk, vr, t = adsb.velocity(msg)
+            types = {"GS": "Ground speed", "TAS": "True airspeed"}
+            _print("Speed", spd, "knots")
+            _print("Track", trk, "degrees")
+            _print("Vertical rate", vr, "feet/minute")
+            _print("Type", types[t])
+
+        if 20 <= tc <= 22:  # airborne position
+            _print("Type", "Airborne position (with GNSS altitude)")
+            alt = adsb.altitude(msg)
+            oe = adsb.oe_flag(msg)
+            msgbin = common.hex2bin(msg)
+            cprlat = common.bin2int(msgbin[54:71]) / 131072.0
+            cprlon = common.bin2int(msgbin[71:88]) / 131072.0
+            _print("CPR format", "Odd" if oe else "Even")
+            _print("CPR Latitude", cprlat)
+            _print("CPR Longitude", cprlon)
+            _print("Altitude", alt, "feet")
+
+    if df == 20:
+        _print("Protocol", "Mode-S Comm-B altitude reply")
+        _print("Altitude", common.altcode(msg), "feet")
+
+    if df == 21:
+        _print("Protocol", "Mode-S Comm-B identity reply")
+        _print("Squawk code", common.idcode(msg))
+
+    if df == 20 or df == 21:
+        labels = {
+            "BDS10": "Data link capability",
+            "BDS17": "GICB capability",
+            "BDS20": "Aircraft identification",
+            "BDS30": "ACAS resolution",
+            "BDS40": "Vertical intention report",
+            "BDS50": "Track and turn report",
+            "BDS60": "Heading and speed report",
+            "BDS44": "Meteorological routine air report",
+            "BDS45": "Meteorological hazard report",
+            "EMPTY": "[No information available]",
+        }
+
+        BDS = bds.infer(msg, mrar=True)
+        if BDS in labels.keys():
+            _print("BDS", "%s (%s)" % (BDS, labels[BDS]))
+        else:
+            _print("BDS", BDS)
+
+        if BDS == "BDS20":
+            callsign = commb.cs20(msg)
+            _print("Callsign", callsign)
+
+        if BDS == "BDS40":
+            _print("MCP target alt", commb.selalt40mcp(msg), "feet")
+            _print("FMS Target alt", commb.selalt40fms(msg), "feet")
+            _print("Pressure", commb.p40baro(msg), "millibar")
+
+        if BDS == "BDS50":
+            _print("Roll angle", commb.roll50(msg), "degrees")
+            _print("Track angle", commb.trk50(msg), "degrees")
+            _print("Track rate", commb.rtrk50(msg), "degree/second")
+            _print("Ground speed", commb.gs50(msg), "knots")
+            _print("True airspeed", commb.tas50(msg), "knots")
+
+        if BDS == "BDS60":
+            _print("Megnatic Heading", commb.hdg60(msg), "degrees")
+            _print("Indicated airspeed", commb.ias60(msg), "knots")
+            _print("Mach number", commb.mach60(msg))
+            _print("Vertical rate (Baro)", commb.vr60baro(msg), "feet/minute")
+            _print("Vertical rate (INS)", commb.vr60ins(msg), "feet/minute")
+
+        if BDS == "BDS44":
+            _print("Wind speed", commb.wind44(msg)[0], "knots")
+            _print("Wind direction", commb.wind44(msg)[1], "degrees")
+            _print("Temperature 1", commb.temp44(msg)[0], "Celsius")
+            _print("Temperature 2", commb.temp44(msg)[1], "Celsius")
+            _print("Pressure", commb.p44(msg), "hPa")
+            _print("Humidity", commb.hum44(msg), "%")
+            _print("Turbulence", commb.turb44(msg))
+
+        if BDS == "BDS45":
+            _print("Turbulence", commb.turb45(msg))
+            _print("Wind shear", commb.ws45(msg))
+            _print("Microbust", commb.mb45(msg))
+            _print("Icing", commb.ic45(msg))
+            _print("Wake vortex", commb.wv45(msg))
+            _print("Temperature", commb.temp45(msg), "Celsius")
+            _print("Pressure", commb.p45(msg), "hPa")
+            _print("Radio height", commb.rh45(msg), "feet")

pyModeS/decoder/acas.py

@@ -0,0 +1,5 @@
+"""
+Decoding Air-Air Surveillance (ACAS) DF=0/16
+
+[To be implemented]
+"""

pyModeS/decoder/adsb.py

@@ -0,0 +1,535 @@
+"""ADS-B module.
+
+The ADS-B module also imports functions from the following modules:
+
+- pyModeS.decoder.bds.bds05: ``airborne_position()``, ``airborne_position_with_ref()``, ``altitude()``
+- pyModeS.decoder.bds.bds06: ``surface_position()``, ``surface_position_with_ref()``, ``surface_velocity()``
+- pyModeS.decoder.bds.bds08: ``category()``, ``callsign()``
+- pyModeS.decoder.bds.bds09: ``airborne_velocity()``, ``altitude_diff()``
+
+"""
+
+import pyModeS as pms
+
+from pyModeS 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 as altitude05,
+)
+from pyModeS.decoder.bds.bds06 import (
+    surface_position,
+    surface_position_with_ref,
+    surface_velocity,
+)
+from pyModeS.decoder.bds.bds08 import category, callsign
+from pyModeS.decoder.bds.bds09 import airborne_velocity, altitude_diff
+
+
+def df(msg):
+    return common.df(msg)
+
+
+def icao(msg):
+    return common.icao(msg)
+
+
+def typecode(msg):
+    return common.typecode(msg)
+
+
+def position(msg0, msg1, t0, t1, lat_ref=None, lon_ref=None):
+    """Decode surface or airborne position from a pair of even and odd
+    position messages.
+
+    Note, that to decode surface position using the position message pair,
+    the reference position has to be provided.
+
+    Args:
+        msg0 (string): even message (28 hexdigits)
+        msg1 (string): odd message (28 hexdigits)
+        t0 (int): timestamps for the even message
+        t1 (int): timestamps for the odd message
+        lat_ref (float): latitude of reference position
+        lon_ref (float): longitude of reference position
+
+    Returns:
+        (float, float): (latitude, longitude) of the aircraft
+
+    """
+    tc0 = typecode(msg0)
+    tc1 = typecode(msg1)
+
+    if 5 <= tc0 <= 8 and 5 <= tc1 <= 8:
+        if lat_ref is None or lon_ref is None:
+            raise RuntimeError(
+                "Surface position encountered, a reference position"
+                " lat/lon required. Location of receiver can be used."
+            )
+        else:
+            return surface_position(msg0, msg1, t0, t1, lat_ref, lon_ref)
+
+    elif 9 <= tc0 <= 18 and 9 <= tc1 <= 18:
+        # Airborne position with barometric height
+        return airborne_position(msg0, msg1, t0, t1)
+
+    elif 20 <= tc0 <= 22 and 20 <= tc1 <= 22:
+        # Airborne position with GNSS height
+        return airborne_position(msg0, msg1, t0, t1)
+
+    else:
+        raise RuntimeError("Incorrect or inconsistent message types")
+
+
+def position_with_ref(msg, lat_ref, lon_ref):
+    """Decode position with only one message.
+
+    A reference position is required, which can be previously
+    calculated location, ground station, or airport location.
+    The function works with both airborne and surface position messages.
+    The reference position shall be with in 180NM (airborne) or 45NM (surface)
+    of the true position.
+
+    Args:
+        msg (str): even message (28 hexdigits)
+        lat_ref: previous known latitude
+        lon_ref: previous known longitude
+
+    Returns:
+        (float, float): (latitude, longitude) of the aircraft
+    """
+
+    tc = typecode(msg)
+
+    if 5 <= tc <= 8:
+        return surface_position_with_ref(msg, lat_ref, lon_ref)
+
+    elif 9 <= tc <= 18 or 20 <= tc <= 22:
+        return airborne_position_with_ref(msg, lat_ref, lon_ref)
+
+    else:
+        raise RuntimeError("incorrect or inconsistent message types")
+
+
+def altitude(msg):
+    """Decode aircraft altitude.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: altitude in feet
+
+    """
+    tc = typecode(msg)
+
+    if tc < 5 or tc == 19 or tc > 22:
+        raise RuntimeError("%s: Not a position message" % msg)
+
+    elif tc >= 5 and tc <= 8:
+        # surface position, altitude 0
+        return 0
+
+    else:
+        # airborn position
+        return altitude05(msg)
+
+
+def velocity(msg, source=False):
+    """Calculate the speed, heading, and vertical rate (handles both airborne or surface message).
+
+    Args:
+        msg (str): 28 hexdigits string
+        source (boolean): Include direction and vertical rate sources in return. Default to False.
+            If set to True, the function will return six value instead of four.
+
+    Returns:
+        int, float, int, string, [string], [string]: Four or six parameters, including:
+            - Speed (kt)
+            - Angle (degree), either ground track or heading
+            - Vertical rate (ft/min)
+            - Speed type ('GS' for ground speed, 'AS' for airspeed)
+            - [Optional] Direction source ('TRUE_NORTH' or 'MAGENTIC_NORTH')
+            - [Optional] Vertical rate source ('BARO' or 'GNSS')
+
+        For surface messages, vertical rate and its respective sources are set to None.
+
+    """
+    if 5 <= typecode(msg) <= 8:
+        return surface_velocity(msg, source)
+
+    elif typecode(msg) == 19:
+        return airborne_velocity(msg, source)
+
+    else:
+        raise RuntimeError(
+            "incorrect or inconsistent message types, expecting 4<TC<9 or TC=19"
+        )
+
+
+def speed_heading(msg):
+    """Get speed and ground track (or heading) from the velocity message
+    (handles both airborne or surface message)
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        (int, float): speed (kt), ground track or heading (degree)
+    """
+    spd, trk_or_hdg, rocd, tag = velocity(msg)
+    return spd, trk_or_hdg
+
+
+def oe_flag(msg):
+    """Check the odd/even flag. Bit 54, 0 for even, 1 for odd.
+    Args:
+        msg (str): 28 hexdigits string
+    Returns:
+        int: 0 or 1, for even or odd frame
+    """
+    msgbin = common.hex2bin(msg)
+    return int(msgbin[53])
+
+
+def version(msg):
+    """ADS-B Version
+
+    Args:
+        msg (str): 28 hexdigits string, TC = 31
+
+    Returns:
+        int: version number
+    """
+    tc = typecode(msg)
+
+    if tc != 31:
+        raise RuntimeError(
+            "%s: Not a status operation message, expecting TC = 31" % msg
+        )
+
+    msgbin = common.hex2bin(msg)
+    version = common.bin2int(msgbin[72:75])
+
+    return version
+
+
+def nuc_p(msg):
+    """Calculate NUCp, Navigation Uncertainty Category - Position (ADS-B version 1)
+
+    Args:
+        msg (str): 28 hexdigits 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
+        )
+
+    try:
+        NUCp = uncertainty.TC_NUCp_lookup[tc]
+        HPL = uncertainty.NUCp[NUCp]["HPL"]
+        RCu = uncertainty.NUCp[NUCp]["RCu"]
+        RCv = uncertainty.NUCp[NUCp]["RCv"]
+    except KeyError:
+        HPL, RCu, RCv = uncertainty.NA, uncertainty.NA, uncertainty.NA
+
+    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 (str): 28 hexdigits 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])
+
+    try:
+        HVE = uncertainty.NUCv[NUCv]["HVE"]
+        VVE = uncertainty.NUCv[NUCv]["VVE"]
+    except KeyError:
+        HVE, VVE = uncertainty.NA, uncertainty.NA
+
+    return HVE, VVE
+
+
+def nic_v1(msg, NICs):
+    """Calculate NIC, navigation integrity category, for ADS-B version 1
+
+    Args:
+        msg (str): 28 hexdigits string
+        NICs (int or string): NIC supplement
+
+    Returns:
+        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)
+    NIC = uncertainty.TC_NICv1_lookup[tc]
+
+    if isinstance(NIC, dict):
+        NIC = NIC[NICs]
+
+    try:
+        Rc = uncertainty.NICv1[NIC][NICs]["Rc"]
+        VPL = uncertainty.NICv1[NIC][NICs]["VPL"]
+    except KeyError:
+        Rc, VPL = uncertainty.NA, uncertainty.NA
+
+    return Rc, VPL
+
+
+def nic_v2(msg, NICa, NICbc):
+    """Calculate NIC, navigation integrity category, for ADS-B version 2
+
+    Args:
+        msg (str): 28 hexdigits string
+        NICa (int or string): NIC supplement - A
+        NICbc (int or srting): NIC supplement - B or C
+
+    Returns:
+        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)
+    NIC = uncertainty.TC_NICv2_lookup[tc]
+
+    if 20 <= tc <= 22:
+        NICs = 0
+    else:
+        NICs = NICa * 2 + NICbc
+
+    try:
+        if isinstance(NIC, dict):
+            NIC = NIC[NICs]
+
+        Rc = uncertainty.NICv2[NIC][NICs]["Rc"]
+    except KeyError:
+        Rc = uncertainty.NA
+
+    return Rc
+
+
+def nic_s(msg):
+    """Obtain NIC supplement bit, TC=31 message
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: NICs number (0 or 1)
+    """
+    tc = typecode(msg)
+
+    if tc != 31:
+        raise RuntimeError(
+            "%s: Not a status operation message, expecting TC = 31" % msg
+        )
+
+    msgbin = common.hex2bin(msg)
+    nic_s = int(msgbin[75])
+
+    return nic_s
+
+
+def nic_a_c(msg):
+    """Obtain NICa/c, navigation integrity category supplements a and c
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        (int, int): NICa and NICc number (0 or 1)
+    """
+    tc = typecode(msg)
+
+    if tc != 31:
+        raise RuntimeError(
+            "%s: Not a status operation message, expecting TC = 31" % msg
+        )
+
+    msgbin = common.hex2bin(msg)
+    nic_a = int(msgbin[75])
+    nic_c = int(msgbin[51])
+
+    return nic_a, nic_c
+
+
+def nic_b(msg):
+    """Obtain NICb, navigation integrity category supplement-b
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: NICb number (0 or 1)
+    """
+    tc = typecode(msg)
+
+    if tc < 9 or tc > 18:
+        raise RuntimeError(
+            "%s: Not a airborne position message, expecting 8<TC<19" % msg
+        )
+
+    msgbin = common.hex2bin(msg)
+    nic_b = int(msgbin[39])
+
+    return nic_b
+
+
+def nac_p(msg):
+    """Calculate NACp, Navigation Accuracy Category - Position
+
+    Args:
+        msg (str): 28 hexdigits string, TC = 29 or 31
+
+    Returns:
+        int or string: 95% horizontal accuracy bounds, Estimated Position Uncertainty
+        int or string: 95% vertical accuracy bounds, Vertical Estimated Position Uncertainty
+    """
+    tc = typecode(msg)
+
+    if tc not in [29, 31]:
+        raise RuntimeError(
+            "%s: Not a target state and status message, \
+                           or operation status message, expecting TC = 29 or 31"
+            % msg
+        )
+
+    msgbin = common.hex2bin(msg)
+
+    if tc == 29:
+        NACp = common.bin2int(msgbin[71:75])
+    elif tc == 31:
+        NACp = common.bin2int(msgbin[76:80])
+
+    try:
+        EPU = uncertainty.NACp[NACp]["EPU"]
+        VEPU = uncertainty.NACp[NACp]["VEPU"]
+    except KeyError:
+        EPU, VEPU = uncertainty.NA, uncertainty.NA
+
+    return EPU, VEPU
+
+
+def nac_v(msg):
+    """Calculate NACv, Navigation Accuracy Category - Velocity
+
+    Args:
+        msg (str): 28 hexdigits string, TC = 19
+
+    Returns:
+        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
+        )
+
+    msgbin = common.hex2bin(msg)
+    NACv = common.bin2int(msgbin[42:45])
+
+    try:
+        HFOMr = uncertainty.NACv[NACv]["HFOMr"]
+        VFOMr = uncertainty.NACv[NACv]["VFOMr"]
+    except KeyError:
+        HFOMr, VFOMr = uncertainty.NA, uncertainty.NA
+
+    return HFOMr, VFOMr
+
+
+def sil(msg, version):
+    """Calculate SIL, Surveillance Integrity Level
+
+    Args:
+        msg (str): 28 hexdigits 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 "sample", or 'unknown'
+    """
+    tc = typecode(msg)
+
+    if tc not in [29, 31]:
+        raise RuntimeError(
+            "%s: Not a target state and status message, \
+                           or operation status message, expecting TC = 29 or 31"
+            % msg
+        )
+
+    msgbin = common.hex2bin(msg)
+
+    if tc == 29:
+        SIL = common.bin2int(msgbin[76:78])
+    elif tc == 31:
+        SIL = common.bin2int(msgbin[82:84])
+
+    try:
+        PE_RCu = uncertainty.SIL[SIL]["PE_RCu"]
+        PE_VPL = uncertainty.SIL[SIL]["PE_VPL"]
+    except KeyError:
+        PE_RCu, PE_VPL = uncertainty.NA, uncertainty.NA
+
+    base = "unknown"
+
+    if version == 2:
+        if tc == 29:
+            SIL_SUP = common.bin2int(msgbin[39])
+        elif tc == 31:
+            SIL_SUP = common.bin2int(msgbin[86])
+
+        if SIL_SUP == 0:
+            base = "hour"
+        elif SIL_SUP == 1:
+            base = "sample"
+
+    return PE_RCu, PE_VPL, base

pyModeS/decoder/allcall.py

@@ -0,0 +1,5 @@
+"""
+Decoding all call replies DF=11
+
+[To be implemented]
+"""

pyModeS/decoder/bds/__init__.py

@@ -0,0 +1,181 @@
+# Copyright (C) 2015 Junzi Sun (TU Delft)
+
+# This program 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 of the License, or
+# (at your option) any later version.
+
+# This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
+
+
+"""
+Common functions for Mode-S decoding
+"""
+
+import numpy as np
+
+from pyModeS.extra import aero
+from pyModeS import common
+
+from pyModeS.decoder.bds import (
+    bds05,
+    bds06,
+    bds08,
+    bds09,
+    bds10,
+    bds17,
+    bds20,
+    bds30,
+    bds40,
+    bds44,
+    bds45,
+    bds50,
+    bds53,
+    bds60,
+)
+
+
+def is50or60(msg, spd_ref, trk_ref, alt_ref):
+    """Use reference ground speed and trk to determine BDS50 and DBS60.
+
+    Args:
+        msg (str): 28 hexdigits string
+        spd_ref (float): reference speed (ADS-B ground speed), kts
+        trk_ref (float): reference track (ADS-B track angle), deg
+        alt_ref (float): reference altitude (ADS-B altitude), ft
+
+    Returns:
+        String or None: BDS version, or possible versions, or None if nothing matches.
+
+    """
+
+    def vxy(v, angle):
+        vx = v * np.sin(np.radians(angle))
+        vy = v * np.cos(np.radians(angle))
+        return vx, vy
+
+    if not (bds50.is50(msg) and bds60.is60(msg)):
+        return None
+
+    h50 = bds50.trk50(msg)
+    v50 = bds50.gs50(msg)
+
+    if h50 is None or v50 is None:
+        return "BDS50,BDS60"
+
+    h60 = bds60.hdg60(msg)
+    m60 = bds60.mach60(msg)
+    i60 = bds60.ias60(msg)
+
+    if h60 is None or (m60 is None and i60 is None):
+        return "BDS50,BDS60"
+
+    m60 = np.nan if m60 is None else m60
+    i60 = np.nan if i60 is None else i60
+
+    XY5 = vxy(v50 * aero.kts, h50)
+    XY6m = vxy(aero.mach2tas(m60, alt_ref * aero.ft), h60)
+    XY6i = vxy(aero.cas2tas(i60 * aero.kts, alt_ref * aero.ft), h60)
+
+    allbds = ["BDS50", "BDS60", "BDS60"]
+
+    X = np.array([XY5, XY6m, XY6i])
+    Mu = np.array(vxy(spd_ref * aero.kts, trk_ref))
+
+    # compute Mahalanobis distance matrix
+    # Cov = [[20**2, 0], [0, 20**2]]
+    # mmatrix = np.sqrt(np.dot(np.dot(X-Mu, np.linalg.inv(Cov)), (X-Mu).T))
+    # dist = np.diag(mmatrix)
+
+    # since the covariance matrix is identity matrix,
+    #     M-dist is same as eculidian distance
+    try:
+        dist = np.linalg.norm(X - Mu, axis=1)
+        BDS = allbds[np.nanargmin(dist)]
+    except ValueError:
+        return "BDS50,BDS60"
+
+    return BDS
+
+
+def infer(msg, mrar=False):
+    """Estimate the most likely BDS code of an message.
+
+    Args:
+        msg (str): 28 hexdigits string
+        mrar (bool): Also infer MRAR (BDS 44) and MHR (BDS 45). Defaults to False.
+
+    Returns:
+        String or None: BDS version, or possible versions, or None if nothing matches.
+
+    """
+    df = common.df(msg)
+
+    if common.allzeros(msg):
+        return "EMPTY"
+
+    # For ADS-B / Mode-S extended squitter
+    if df == 17:
+        tc = common.typecode(msg)
+
+        if 1 <= tc <= 4:
+            return "BDS08"  # identification and category
+        if 5 <= tc <= 8:
+            return "BDS06"  # surface movement
+        if 9 <= tc <= 18:
+            return "BDS05"  # airborne position, baro-alt
+        if tc == 19:
+            return "BDS09"  # airborne velocity
+        if 20 <= tc <= 22:
+            return "BDS05"  # airborne position, gnss-alt
+        if tc == 28:
+            return "BDS61"  # aircraft status
+        if tc == 29:
+            return "BDS62"  # target state and status
+        if tc == 31:
+            return "BDS65"  # operational status
+
+    # For Comm-B replies
+    IS10 = bds10.is10(msg)
+    IS17 = bds17.is17(msg)
+    IS20 = bds20.is20(msg)
+    IS30 = bds30.is30(msg)
+    IS40 = bds40.is40(msg)
+    IS50 = bds50.is50(msg)
+    IS60 = bds60.is60(msg)
+    IS44 = bds44.is44(msg)
+    IS45 = bds45.is45(msg)
+
+    if mrar:
+        allbds = np.array(
+            [
+                "BDS10",
+                "BDS17",
+                "BDS20",
+                "BDS30",
+                "BDS40",
+                "BDS44",
+                "BDS45",
+                "BDS50",
+                "BDS60",
+            ]
+        )
+        mask = [IS10, IS17, IS20, IS30, IS40, IS44, IS45, IS50, IS60]
+    else:
+        allbds = np.array(
+            ["BDS10", "BDS17", "BDS20", "BDS30", "BDS40", "BDS50", "BDS60"]
+        )
+        mask = [IS10, IS17, IS20, IS30, IS40, IS50, IS60]
+
+    bds = ",".join(sorted(allbds[mask]))
+
+    if len(bds) == 0:
+        return None
+    else:
+        return bds

pyModeS/decoder/bds/bds05.py

@@ -0,0 +1,155 @@
+# ------------------------------------------
+#   BDS 0,5
+#   ADS-B TC=9-18
+#   Airborn position
+# ------------------------------------------
+
+from pyModeS import common
+
+
+def airborne_position(msg0, msg1, t0, t1):
+    """Decode airborn position from a pair of even and odd position message
+
+    Args:
+        msg0 (string): even message (28 hexdigits)
+        msg1 (string): odd message (28 hexdigits)
+        t0 (int): timestamps for the even message
+        t1 (int): timestamps for the odd message
+
+    Returns:
+        (float, float): (latitude, longitude) of the aircraft
+    """
+
+    mb0 = common.hex2bin(msg0)[32:]
+    mb1 = common.hex2bin(msg1)[32:]
+
+    oe0 = int(mb0[21])
+    oe1 = int(mb1[21])
+    if oe0 == 0 and oe1 == 1:
+        pass
+    elif oe0 == 1 and oe1 == 0:
+        mb0, mb1 = mb1, mb0
+        t0, t1 = t1, t0
+    else:
+        raise RuntimeError("Both even and odd CPR frames are required.")
+
+    # 131072 is 2^17, since CPR lat and lon are 17 bits each.
+    cprlat_even = common.bin2int(mb0[22:39]) / 131072.0
+    cprlon_even = common.bin2int(mb0[39:56]) / 131072.0
+    cprlat_odd = common.bin2int(mb1[22:39]) / 131072.0
+    cprlon_odd = common.bin2int(mb1[39:56]) / 131072.0
+
+    air_d_lat_even = 360.0 / 60
+    air_d_lat_odd = 360.0 / 59
+
+    # compute latitude index 'j'
+    j = common.floor(59 * cprlat_even - 60 * cprlat_odd + 0.5)
+
+    lat_even = float(air_d_lat_even * (j % 60 + cprlat_even))
+    lat_odd = float(air_d_lat_odd * (j % 59 + cprlat_odd))
+
+    if lat_even >= 270:
+        lat_even = lat_even - 360
+
+    if lat_odd >= 270:
+        lat_odd = lat_odd - 360
+
+    # check if both are in the same latidude zone, exit if not
+    if common.cprNL(lat_even) != common.cprNL(lat_odd):
+        return None
+
+    # compute ni, longitude index m, and longitude
+    if t0 > t1:
+        lat = lat_even
+        nl = common.cprNL(lat)
+        ni = max(common.cprNL(lat) - 0, 1)
+        m = common.floor(cprlon_even * (nl - 1) - cprlon_odd * nl + 0.5)
+        lon = (360.0 / ni) * (m % ni + cprlon_even)
+    else:
+        lat = lat_odd
+        nl = common.cprNL(lat)
+        ni = max(common.cprNL(lat) - 1, 1)
+        m = common.floor(cprlon_even * (nl - 1) - cprlon_odd * nl + 0.5)
+        lon = (360.0 / ni) * (m % ni + cprlon_odd)
+
+    if lon > 180:
+        lon = lon - 360
+
+    return round(lat, 5), round(lon, 5)
+
+
+def airborne_position_with_ref(msg, lat_ref, lon_ref):
+    """Decode airborne position with only one message,
+    knowing reference nearby location, such as previously calculated location,
+    ground station, or airport location, etc. The reference position shall
+    be with in 180NM of the true position.
+
+    Args:
+        msg (str): even message (28 hexdigits)
+        lat_ref: previous known latitude
+        lon_ref: previous known longitude
+
+    Returns:
+        (float, float): (latitude, longitude) of the aircraft
+    """
+
+    mb = common.hex2bin(msg)[32:]
+
+    cprlat = common.bin2int(mb[22:39]) / 131072.0
+    cprlon = common.bin2int(mb[39:56]) / 131072.0
+
+    i = int(mb[21])
+    d_lat = 360.0 / 59 if i else 360.0 / 60
+
+    j = common.floor(lat_ref / d_lat) + common.floor(
+        0.5 + ((lat_ref % d_lat) / d_lat) - cprlat
+    )
+
+    lat = d_lat * (j + cprlat)
+
+    ni = common.cprNL(lat) - i
+
+    if ni > 0:
+        d_lon = 360.0 / ni
+    else:
+        d_lon = 360.0
+
+    m = common.floor(lon_ref / d_lon) + common.floor(
+        0.5 + ((lon_ref % d_lon) / d_lon) - cprlon
+    )
+
+    lon = d_lon * (m + cprlon)
+
+    return round(lat, 5), round(lon, 5)
+
+
+def altitude(msg):
+    """Decode aircraft altitude
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: altitude in feet
+    """
+
+    tc = common.typecode(msg)
+
+    if tc < 9 or tc == 19 or tc > 22:
+        raise RuntimeError("%s: Not a airborn position message" % msg)
+
+    mb = common.hex2bin(msg)[32:]
+
+    if tc < 19:
+        # barometric altitude
+        q = mb[15]
+        if q:
+            n = common.bin2int(mb[8:15] + mb[16:20])
+            alt = n * 25 - 1000
+        else:
+            alt = None
+    else:
+        # GNSS altitude, meters -> feet
+        alt = common.bin2int(mb[8:20]) * 3.28084
+
+    return alt

pyModeS/decoder/bds/bds06.py

@@ -0,0 +1,181 @@
+# ------------------------------------------
+#   BDS 0,6
+#   ADS-B TC=5-8
+#   Surface movment
+# ------------------------------------------
+
+from pyModeS import common
+
+
+def surface_position(msg0, msg1, t0, t1, lat_ref, lon_ref):
+    """Decode surface position from a pair of even and odd position message,
+    the lat/lon of receiver must be provided to yield the correct solution.
+
+    Args:
+        msg0 (string): even message (28 hexdigits)
+        msg1 (string): odd message (28 hexdigits)
+        t0 (int): timestamps for the even message
+        t1 (int): timestamps for the odd message
+        lat_ref (float): latitude of the receiver
+        lon_ref (float): longitude of the receiver
+
+    Returns:
+        (float, float): (latitude, longitude) of the aircraft
+    """
+
+    msgbin0 = common.hex2bin(msg0)
+    msgbin1 = common.hex2bin(msg1)
+
+    # 131072 is 2^17, since CPR lat and lon are 17 bits each.
+    cprlat_even = common.bin2int(msgbin0[54:71]) / 131072.0
+    cprlon_even = common.bin2int(msgbin0[71:88]) / 131072.0
+    cprlat_odd = common.bin2int(msgbin1[54:71]) / 131072.0
+    cprlon_odd = common.bin2int(msgbin1[71:88]) / 131072.0
+
+    air_d_lat_even = 90.0 / 60
+    air_d_lat_odd = 90.0 / 59
+
+    # compute latitude index 'j'
+    j = common.floor(59 * cprlat_even - 60 * cprlat_odd + 0.5)
+
+    # solution for north hemisphere
+    lat_even_n = float(air_d_lat_even * (j % 60 + cprlat_even))
+    lat_odd_n = float(air_d_lat_odd * (j % 59 + cprlat_odd))
+
+    # solution for north hemisphere
+    lat_even_s = lat_even_n - 90.0
+    lat_odd_s = lat_odd_n - 90.0
+
+    # chose which solution corrispondes to receiver location
+    lat_even = lat_even_n if lat_ref > 0 else lat_even_s
+    lat_odd = lat_odd_n if lat_ref > 0 else lat_odd_s
+
+    # check if both are in the same latidude zone, rare but possible
+    if common.cprNL(lat_even) != common.cprNL(lat_odd):
+        return None
+
+    # compute ni, longitude index m, and longitude
+    if t0 > t1:
+        lat = lat_even
+        nl = common.cprNL(lat_even)
+        ni = max(common.cprNL(lat_even) - 0, 1)
+        m = common.floor(cprlon_even * (nl - 1) - cprlon_odd * nl + 0.5)
+        lon = (90.0 / ni) * (m % ni + cprlon_even)
+    else:
+        lat = lat_odd
+        nl = common.cprNL(lat_odd)
+        ni = max(common.cprNL(lat_odd) - 1, 1)
+        m = common.floor(cprlon_even * (nl - 1) - cprlon_odd * nl + 0.5)
+        lon = (90.0 / ni) * (m % ni + cprlon_odd)
+
+    # four possible longitude solutions
+    lons = [lon, lon + 90.0, lon + 180.0, lon + 270.0]
+
+    # make sure lons are between -180 and 180
+    lons = [(l + 180) % 360 - 180 for l in lons]
+
+    # the closest solution to receiver is the correct one
+    dls = [abs(lon_ref - l) for l in lons]
+    imin = min(range(4), key=dls.__getitem__)
+    lon = lons[imin]
+
+    return round(lat, 5), round(lon, 5)
+
+
+def surface_position_with_ref(msg, lat_ref, lon_ref):
+    """Decode surface position with only one message,
+    knowing reference nearby location, such as previously calculated location,
+    ground station, or airport location, etc. The reference position shall
+    be with in 45NM of the true position.
+
+    Args:
+        msg (str): even message (28 hexdigits)
+        lat_ref: previous known latitude
+        lon_ref: previous known longitude
+
+    Returns:
+        (float, float): (latitude, longitude) of the aircraft
+    """
+
+    mb = common.hex2bin(msg)[32:]
+
+    cprlat = common.bin2int(mb[22:39]) / 131072.0
+    cprlon = common.bin2int(mb[39:56]) / 131072.0
+
+    i = int(mb[21])
+    d_lat = 90.0 / 59 if i else 90.0 / 60
+
+    j = common.floor(lat_ref / d_lat) + common.floor(
+        0.5 + ((lat_ref % d_lat) / d_lat) - cprlat
+    )
+
+    lat = d_lat * (j + cprlat)
+
+    ni = common.cprNL(lat) - i
+
+    if ni > 0:
+        d_lon = 90.0 / ni
+    else:
+        d_lon = 90.0
+
+    m = common.floor(lon_ref / d_lon) + common.floor(
+        0.5 + ((lon_ref % d_lon) / d_lon) - cprlon
+    )
+
+    lon = d_lon * (m + cprlon)
+
+    return round(lat, 5), round(lon, 5)
+
+
+def surface_velocity(msg, source=False):
+    """Decode surface velocity from a surface position message
+
+    Args:
+        msg (str): 28 hexdigits string
+        source (boolean): Include direction and vertical rate sources in return. Default to False.
+            If set to True, the function will return six value instead of four.
+
+    Returns:
+        int, float, int, string, [string], [string]: Four or six parameters, including:
+            - Speed (kt)
+            - Angle (degree), ground track
+            - Vertical rate, always 0
+            - Speed type ('GS' for ground speed, 'AS' for airspeed)
+            - [Optional] Direction source ('TRUE_NORTH')
+            - [Optional] Vertical rate source (None)
+
+    """
+    if common.typecode(msg) < 5 or common.typecode(msg) > 8:
+        raise RuntimeError("%s: Not a surface message, expecting 5<TC<8" % msg)
+
+    mb = common.hex2bin(msg)[32:]
+
+    # ground track
+    trk_status = int(mb[12])
+    if trk_status == 1:
+        trk = common.bin2int(mb[13:20]) * 360.0 / 128.0
+        trk = round(trk, 1)
+    else:
+        trk = None
+
+    # ground movement / speed
+    mov = common.bin2int(mb[5:12])
+
+    if mov == 0 or mov > 124:
+        spd = None
+    elif mov == 1:
+        spd = 0
+    elif mov == 124:
+        spd = 175
+    else:
+        movs = [2, 9, 13, 39, 94, 109, 124]
+        kts = [0.125, 1, 2, 15, 70, 100, 175]
+        i = next(m[0] for m in enumerate(movs) if m[1] > mov)
+        step = (kts[i] - kts[i - 1]) * 1.0 / (movs[i] - movs[i - 1])
+        spd = kts[i - 1] + (mov - movs[i - 1]) * step
+        spd = round(spd, 2)
+
+    if source:
+        return spd, trk, 0, "GS", "TRUE_NORTH", None
+    else:
+        return spd, trk, 0, "GS"

pyModeS/decoder/bds/bds08.py

@@ -0,0 +1,58 @@
+# ------------------------------------------
+#   BDS 0,8
+#   ADS-B TC=1-4
+#   Aircraft identitification and category
+# ------------------------------------------
+
+from pyModeS import common
+
+
+def category(msg):
+    """Aircraft category number
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: category number
+    """
+
+    if common.typecode(msg) < 1 or common.typecode(msg) > 4:
+        raise RuntimeError("%s: Not a identification message" % msg)
+
+    msgbin = common.hex2bin(msg)
+    mebin = msgbin[32:87]
+    return common.bin2int(mebin[5:8])
+
+
+def callsign(msg):
+    """Aircraft callsign
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        string: callsign
+    """
+
+    if common.typecode(msg) < 1 or common.typecode(msg) > 4:
+        raise RuntimeError("%s: Not a identification message" % msg)
+
+    chars = "#ABCDEFGHIJKLMNOPQRSTUVWXYZ#####_###############0123456789######"
+    msgbin = common.hex2bin(msg)
+    csbin = msgbin[40:96]
+
+    cs = ""
+    cs += chars[common.bin2int(csbin[0:6])]
+    cs += chars[common.bin2int(csbin[6:12])]
+    cs += chars[common.bin2int(csbin[12:18])]
+    cs += chars[common.bin2int(csbin[18:24])]
+    cs += chars[common.bin2int(csbin[24:30])]
+    cs += chars[common.bin2int(csbin[30:36])]
+    cs += chars[common.bin2int(csbin[36:42])]
+    cs += chars[common.bin2int(csbin[42:48])]
+
+    # clean string, remove spaces and marks, if any.
+    # cs = cs.replace('_', '')
+    cs = cs.replace("#", "")
+    return cs

pyModeS/decoder/bds/bds09.py

@@ -0,0 +1,121 @@
+# ------------------------------------------
+#   BDS 0,9
+#   ADS-B TC=19
+#   Aircraft Airborn velocity
+# ------------------------------------------
+
+from pyModeS import common
+
+
+import math
+
+
+def airborne_velocity(msg, source=False):
+    """Decode airborne velocity.
+
+    Args:
+        msg (str): 28 hexdigits string
+        source (boolean): Include direction and vertical rate sources in return. Default to False.
+            If set to True, the function will return six value instead of four.
+
+    Returns:
+        int, float, int, string, [string], [string]: Four or six parameters, including:
+            - Speed (kt)
+            - Angle (degree), either ground track or heading
+            - Vertical rate (ft/min)
+            - Speed type ('GS' for ground speed, 'AS' for airspeed)
+            - [Optional] Direction source ('TRUE_NORTH' or 'MAGENTIC_NORTH')
+            - [Optional] Vertical rate source ('BARO' or 'GNSS')
+
+    """
+    if common.typecode(msg) != 19:
+        raise RuntimeError("%s: Not a airborne velocity message, expecting TC=19" % msg)
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:8])
+
+    if common.bin2int(mb[14:24]) == 0 or common.bin2int(mb[25:35]) == 0:
+        return None
+
+    if subtype in (1, 2):
+        v_ew_sign = -1 if mb[13] == "1" else 1
+        v_ew = common.bin2int(mb[14:24]) - 1  # east-west velocity
+        if subtype == 2:  # Supersonic
+            v_ew *= 4
+
+        v_ns_sign = -1 if mb[24] == "1" else 1
+        v_ns = common.bin2int(mb[25:35]) - 1  # north-south velocity
+        if subtype == 2:  # Supersonic
+            v_ns *= 4
+
+        v_we = v_ew_sign * v_ew
+        v_sn = v_ns_sign * v_ns
+
+        spd = math.sqrt(v_sn * v_sn + v_we * v_we)  # unit in kts
+        spd = int(spd)
+
+        trk = math.atan2(v_we, v_sn)
+        trk = math.degrees(trk)  # convert to degrees
+        trk = trk if trk >= 0 else trk + 360  # no negative val
+
+        spd_type = "GS"
+        trk_or_hdg = round(trk, 2)
+        dir_type = "TRUE_NORTH"
+
+    else:
+        if mb[13] == "0":
+            hdg = None
+        else:
+            hdg = common.bin2int(mb[14:24]) / 1024.0 * 360.0
+            hdg = round(hdg, 2)
+
+        trk_or_hdg = hdg
+
+        spd = common.bin2int(mb[25:35])
+        spd = None if spd == 0 else spd - 1
+        if subtype == 4:  # Supersonic
+            spd *= 4
+
+        if mb[24] == "0":
+            spd_type = "IAS"
+        else:
+            spd_type = "TAS"
+
+        dir_type = "MAGENTIC_NORTH"
+
+    vr_source = "GNSS" if mb[35] == "0" else "BARO"
+    vr_sign = -1 if mb[36] == "1" else 1
+    vr = common.bin2int(mb[37:46])
+    vs = None if vr == 0 else int(vr_sign * (vr - 1) * 64)
+
+    if source:
+        return spd, trk_or_hdg, vs, spd_type, dir_type, vr_source
+    else:
+        return spd, trk_or_hdg, vs, spd_type
+
+
+def altitude_diff(msg):
+    """Decode the differece between GNSS and barometric altitude.
+
+    Args:
+        msg (str): 28 hexdigits string, TC=19
+
+    Returns:
+        int: Altitude difference in feet. Negative value indicates GNSS altitude
+        below barometric altitude.
+
+    """
+    tc = common.typecode(msg)
+
+    if tc != 19:
+        raise RuntimeError("%s: Not a airborne velocity message, expecting TC=19" % msg)
+
+    msgbin = common.hex2bin(msg)
+    sign = -1 if int(msgbin[80]) else 1
+    value = common.bin2int(msgbin[81:88])
+
+    if value == 0 or value == 127:
+        return None
+    else:
+        return sign * (value - 1) * 25  # in ft.

pyModeS/decoder/bds/bds10.py

@@ -0,0 +1,52 @@
+# ------------------------------------------
+# BDS 1,0
+# Data link capability report
+# ------------------------------------------
+
+from pyModeS import common
+
+
+def is10(msg):
+    """Check if a message is likely to be BDS code 1,0
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+    """
+
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    # first 8 bits must be 0x10
+    if d[0:8] != "00010000":
+        return False
+
+    # bit 10 to 14 are reserved
+    if common.bin2int(d[9:14]) != 0:
+        return False
+
+    # overlay capability conflict
+    if d[14] == "1" and common.bin2int(d[16:23]) < 5:
+        return False
+    if d[14] == "0" and common.bin2int(d[16:23]) > 4:
+        return False
+
+    return True
+
+
+def ovc10(msg):
+    """Return the overlay control capability
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Whether the transponder is OVC capable
+    """
+    d = common.hex2bin(common.data(msg))
+
+    return int(d[14])

pyModeS/decoder/bds/bds17.py

@@ -0,0 +1,85 @@
+# ------------------------------------------
+#   BDS 1,7
+#   Common usage GICB capability report
+# ------------------------------------------
+
+from pyModeS import common
+
+
+def is17(msg):
+    """Check if a message is likely to be BDS code 1,7
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+    """
+
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    if common.bin2int(d[28:56]) != 0:
+        return False
+
+    caps = cap17(msg)
+
+    # basic BDS codes for ADS-B shall be supported
+    #   assuming ADS-B out is installed (2017EU/2020US mandate)
+    # if not set(['BDS05', 'BDS06', 'BDS08', 'BDS09', 'BDS20']).issubset(caps):
+    #     return False
+
+    # at least you can respond who you are
+    if "BDS20" not in caps:
+        return False
+
+    return True
+
+
+def cap17(msg):
+    """Extract capacities from BDS 1,7 message
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        list: list of support BDS codes
+    """
+    allbds = [
+        "05",
+        "06",
+        "07",
+        "08",
+        "09",
+        "0A",
+        "20",
+        "21",
+        "40",
+        "41",
+        "42",
+        "43",
+        "44",
+        "45",
+        "48",
+        "50",
+        "51",
+        "52",
+        "53",
+        "54",
+        "55",
+        "56",
+        "5F",
+        "60",
+        "NA",
+        "NA",
+        "E1",
+        "E2",
+    ]
+
+    d = common.hex2bin(common.data(msg))
+    idx = [i for i, v in enumerate(d[:28]) if v == "1"]
+    capacity = ["BDS" + allbds[i] for i in idx if allbds[i] is not "NA"]
+
+    return capacity

pyModeS/decoder/bds/bds20.py

@@ -0,0 +1,58 @@
+# ------------------------------------------
+# BDS 2,0
+# Aircraft identification
+# ------------------------------------------
+
+from pyModeS import common
+
+
+def is20(msg):
+    """Check if a message is likely to be BDS code 2,0
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+    """
+
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    if d[0:8] != "00100000":
+        return False
+
+    cs = cs20(msg)
+
+    if "#" in cs:
+        return False
+
+    return True
+
+
+def cs20(msg):
+    """Aircraft callsign
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        string: callsign, max. 8 chars
+    """
+    chars = "#ABCDEFGHIJKLMNOPQRSTUVWXYZ#####_###############0123456789######"
+
+    d = common.hex2bin(common.data(msg))
+
+    cs = ""
+    cs += chars[common.bin2int(d[8:14])]
+    cs += chars[common.bin2int(d[14:20])]
+    cs += chars[common.bin2int(d[20:26])]
+    cs += chars[common.bin2int(d[26:32])]
+    cs += chars[common.bin2int(d[32:38])]
+    cs += chars[common.bin2int(d[38:44])]
+    cs += chars[common.bin2int(d[44:50])]
+    cs += chars[common.bin2int(d[50:56])]
+
+    return cs

pyModeS/decoder/bds/bds30.py

@@ -0,0 +1,35 @@
+# ------------------------------------------
+# BDS 3,0
+# ACAS active resolution advisory
+# ------------------------------------------
+
+from pyModeS import common
+
+
+def is30(msg):
+    """Check if a message is likely to be BDS code 2,0
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+    """
+
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    if d[0:8] != "00110000":
+        return False
+
+    # threat type 3 not assigned
+    if d[28:30] == "11":
+        return False
+
+    # reserved for ACAS III, in far future
+    if common.bin2int(d[15:22]) >= 48:
+        return False
+
+    return True

pyModeS/decoder/bds/bds40.py

@@ -0,0 +1,120 @@
+# ------------------------------------------
+# BDS 4,0
+# Selected vertical intention
+# ------------------------------------------
+
+import warnings
+from pyModeS import common
+
+
+def is40(msg):
+    """Check if a message is likely to be BDS code 4,0
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+    """
+
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    # status bit 1, 14, and 27
+
+    if common.wrongstatus(d, 1, 2, 13):
+        return False
+
+    if common.wrongstatus(d, 14, 15, 26):
+        return False
+
+    if common.wrongstatus(d, 27, 28, 39):
+        return False
+
+    if common.wrongstatus(d, 48, 49, 51):
+        return False
+
+    if common.wrongstatus(d, 54, 55, 56):
+        return False
+
+    # bits 40-47 and 52-53 shall all be zero
+
+    if common.bin2int(d[39:47]) != 0:
+        return False
+
+    if common.bin2int(d[51:53]) != 0:
+        return False
+
+    return True
+
+
+def selalt40mcp(msg):
+    """Selected altitude, MCP/FCU
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: altitude in feet
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[0] == "0":
+        return None
+
+    alt = common.bin2int(d[1:13]) * 16  # ft
+    return alt
+
+
+def selalt40fms(msg):
+    """Selected altitude, FMS
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: altitude in feet
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[13] == "0":
+        return None
+
+    alt = common.bin2int(d[14:26]) * 16  # ft
+    return alt
+
+
+def p40baro(msg):
+    """Barometric pressure setting
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: pressure in millibar
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[26] == "0":
+        return None
+
+    p = common.bin2int(d[27:39]) * 0.1 + 800  # millibar
+    return p
+
+
+def alt40mcp(msg):
+    warnings.warn(
+        "alt40mcp() has been renamed to selalt40mcp(). It will be removed in the future.",
+        DeprecationWarning,
+    )
+    return selalt40mcp(msg)
+
+
+def alt40fms(msg):
+    warnings.warn(
+        "alt40fms() has been renamed to selalt40fms(). It will be removed in the future.",
+        DeprecationWarning,
+    )
+    return selalt40mcp(msg)

pyModeS/decoder/bds/bds44.py

@@ -0,0 +1,161 @@
+# ------------------------------------------
+# BDS 4,4
+# Meteorological routine air report
+# ------------------------------------------
+
+from pyModeS import common
+
+
+def is44(msg):
+    """Check if a message is likely to be BDS code 4,4.
+
+    Meteorological routine air report
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+
+    """
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    # status bit 5, 35, 47, 50
+    if common.wrongstatus(d, 5, 6, 23):
+        return False
+
+    if common.wrongstatus(d, 35, 36, 46):
+        return False
+
+    if common.wrongstatus(d, 47, 48, 49):
+        return False
+
+    if common.wrongstatus(d, 50, 51, 56):
+        return False
+
+    # Bits 1-4 indicate source, values > 4 reserved and should not occur
+    if common.bin2int(d[0:4]) > 4:
+        return False
+
+    vw, dw = wind44(msg)
+    if vw is not None and vw > 250:
+        return False
+
+    temp, temp2 = temp44(msg)
+    if min(temp, temp2) > 60 or max(temp, temp2) < -80:
+        return False
+
+    return True
+
+
+def wind44(msg):
+    """Wind speed and direction.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        (int, float): speed (kt), direction (degree)
+
+    """
+    d = common.hex2bin(common.data(msg))
+
+    status = int(d[4])
+    if not status:
+        return None, None
+
+    speed = common.bin2int(d[5:14])  # knots
+    direction = common.bin2int(d[14:23]) * 180.0 / 256.0  # degree
+
+    return round(speed, 0), round(direction, 1)
+
+
+def temp44(msg):
+    """Static air temperature.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float, float: temperature and alternative temperature in Celsius degree.
+            Note: Two values returns due to what seems to be an inconsistency
+            error in ICAO 9871 (2008) Appendix A-67.
+
+    """
+    d = common.hex2bin(common.data(msg))
+
+    sign = int(d[23])
+    value = common.bin2int(d[24:34])
+
+    if sign:
+        value = value - 1024
+
+    temp = value * 0.25  # celsius
+    temp = round(temp, 2)
+
+    temp_alternative = value * 0.125  # celsius
+    temp_alternative = round(temp_alternative, 3)
+
+    return temp, temp_alternative
+
+
+def p44(msg):
+    """Static pressure.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: static pressure in hPa
+
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[34] == "0":
+        return None
+
+    p = common.bin2int(d[35:46])  # hPa
+
+    return p
+
+
+def hum44(msg):
+    """humidity
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: percentage of humidity, [0 - 100] %
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[49] == "0":
+        return None
+
+    hm = common.bin2int(d[50:56]) * 100.0 / 64  # %
+
+    return round(hm, 1)
+
+
+def turb44(msg):
+    """Turblence.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: turbulence level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
+
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[46] == "0":
+        return None
+
+    turb = common.bin2int(d[47:49])
+
+    return turb

pyModeS/decoder/bds/bds45.py

@@ -0,0 +1,208 @@
+# ------------------------------------------
+# BDS 4,5
+# Meteorological hazard report
+# ------------------------------------------
+
+from pyModeS import common
+
+
+def is45(msg):
+    """Check if a message is likely to be BDS code 4,5.
+
+    Meteorological hazard report
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+
+    """
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    # status bit 1, 4, 7, 10, 13, 16, 27, 39
+    if common.wrongstatus(d, 1, 2, 3):
+        return False
+
+    if common.wrongstatus(d, 4, 5, 6):
+        return False
+
+    if common.wrongstatus(d, 7, 8, 9):
+        return False
+
+    if common.wrongstatus(d, 10, 11, 12):
+        return False
+
+    if common.wrongstatus(d, 13, 14, 15):
+        return False
+
+    if common.wrongstatus(d, 16, 17, 26):
+        return False
+
+    if common.wrongstatus(d, 27, 28, 38):
+        return False
+
+    if common.wrongstatus(d, 39, 40, 51):
+        return False
+
+    # reserved
+    if common.bin2int(d[51:56]) != 0:
+        return False
+
+    temp = temp45(msg)
+    if temp:
+        if temp > 60 or temp < -80:
+            return False
+
+    return True
+
+
+def turb45(msg):
+    """Turbulence.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Turbulence level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
+
+    """
+    d = common.hex2bin(common.data(msg))
+    if d[0] == "0":
+        return None
+
+    turb = common.bin2int(d[1:3])
+    return turb
+
+
+def ws45(msg):
+    """Wind shear.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Wind shear level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
+
+    """
+    d = common.hex2bin(common.data(msg))
+    if d[3] == "0":
+        return None
+
+    ws = common.bin2int(d[4:6])
+    return ws
+
+
+def mb45(msg):
+    """Microburst.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Microburst level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
+
+    """
+    d = common.hex2bin(common.data(msg))
+    if d[6] == "0":
+        return None
+
+    mb = common.bin2int(d[7:9])
+    return mb
+
+
+def ic45(msg):
+    """Icing.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Icing level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
+
+    """
+    d = common.hex2bin(common.data(msg))
+    if d[9] == "0":
+        return None
+
+    ic = common.bin2int(d[10:12])
+    return ic
+
+
+def wv45(msg):
+    """Wake vortex.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Wake vortex level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
+
+    """
+    d = common.hex2bin(common.data(msg))
+    if d[12] == "0":
+        return None
+
+    ws = common.bin2int(d[13:15])
+    return ws
+
+
+def temp45(msg):
+    """Static air temperature.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: tmeperature in Celsius degree
+
+    """
+    d = common.hex2bin(common.data(msg))
+
+    sign = int(d[16])
+    value = common.bin2int(d[17:26])
+
+    if sign:
+        value = value - 512
+
+    temp = value * 0.25  # celsius
+    temp = round(temp, 1)
+
+    return temp
+
+
+def p45(msg):
+    """Average static pressure.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: static pressure in hPa
+
+    """
+    d = common.hex2bin(common.data(msg))
+    if d[26] == "0":
+        return None
+    p = common.bin2int(d[27:38])  # hPa
+    return p
+
+
+def rh45(msg):
+    """Radio height.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: radio height in ft
+
+    """
+    d = common.hex2bin(common.data(msg))
+    if d[38] == "0":
+        return None
+    rh = common.bin2int(d[39:51]) * 16
+    return rh

pyModeS/decoder/bds/bds50.py

@@ -0,0 +1,173 @@
+# ------------------------------------------
+# BDS 5,0
+# Track and turn report
+# ------------------------------------------
+
+from pyModeS import common
+
+
+def is50(msg):
+    """Check if a message is likely to be BDS code 5,0
+    (Track and turn report)
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+    """
+
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    # status bit 1, 12, 24, 35, 46
+
+    if common.wrongstatus(d, 1, 3, 11):
+        return False
+
+    if common.wrongstatus(d, 12, 13, 23):
+        return False
+
+    if common.wrongstatus(d, 24, 25, 34):
+        return False
+
+    if common.wrongstatus(d, 35, 36, 45):
+        return False
+
+    if common.wrongstatus(d, 46, 47, 56):
+        return False
+
+    roll = roll50(msg)
+    if (roll is not None) and abs(roll) > 60:
+        return False
+
+    gs = gs50(msg)
+    if gs is not None and gs > 600:
+        return False
+
+    tas = tas50(msg)
+    if tas is not None and tas > 500:
+        return False
+
+    if (gs is not None) and (tas is not None) and (abs(tas - gs) > 200):
+        return False
+
+    return True
+
+
+def roll50(msg):
+    """Roll angle, BDS 5,0 message
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: angle in degrees,
+               negative->left wing down, positive->right wing down
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[0] == "0":
+        return None
+
+    sign = int(d[1])  # 1 -> left wing down
+    value = common.bin2int(d[2:11])
+
+    if sign:
+        value = value - 512
+
+    angle = value * 45.0 / 256.0  # degree
+    return round(angle, 1)
+
+
+def trk50(msg):
+    """True track angle, BDS 5,0 message
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: angle in degrees to true north (from 0 to 360)
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[11] == "0":
+        return None
+
+    sign = int(d[12])  # 1 -> west
+    value = common.bin2int(d[13:23])
+
+    if sign:
+        value = value - 1024
+
+    trk = value * 90.0 / 512.0
+
+    # convert from [-180, 180] to [0, 360]
+    if trk < 0:
+        trk = 360 + trk
+
+    return round(trk, 3)
+
+
+def gs50(msg):
+    """Ground speed, BDS 5,0 message
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: ground speed in knots
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[23] == "0":
+        return None
+
+    spd = common.bin2int(d[24:34]) * 2  # kts
+    return spd
+
+
+def rtrk50(msg):
+    """Track angle rate, BDS 5,0 message
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: angle rate in degrees/second
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[34] == "0":
+        return None
+
+    if d[36:45] == "111111111":
+        return None
+
+    sign = int(d[35])  # 1 -> negative value, two's complement
+    value = common.bin2int(d[36:45])
+    if sign:
+        value = value - 512
+
+    angle = value * 8.0 / 256.0  # degree / sec
+    return round(angle, 3)
+
+
+def tas50(msg):
+    """Aircraft true airspeed, BDS 5,0 message
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: true airspeed in knots
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[45] == "0":
+        return None
+
+    tas = common.bin2int(d[46:56]) * 2  # kts
+    return tas

pyModeS/decoder/bds/bds53.py

@@ -0,0 +1,167 @@
+# ------------------------------------------
+# BDS 5,3
+# Air-referenced state vector
+# ------------------------------------------
+
+from pyModeS import common
+
+
+def is53(msg):
+    """Check if a message is likely to be BDS code 5,3
+    (Air-referenced state vector)
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+    """
+
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    # status bit 1, 13, 24, 34, 47
+
+    if common.wrongstatus(d, 1, 3, 12):
+        return False
+
+    if common.wrongstatus(d, 13, 14, 23):
+        return False
+
+    if common.wrongstatus(d, 24, 25, 33):
+        return False
+
+    if common.wrongstatus(d, 34, 35, 46):
+        return False
+
+    if common.wrongstatus(d, 47, 49, 56):
+        return False
+
+    ias = ias53(msg)
+    if ias is not None and ias > 500:
+        return False
+
+    mach = mach53(msg)
+    if mach is not None and mach > 1:
+        return False
+
+    tas = tas53(msg)
+    if tas is not None and tas > 500:
+        return False
+
+    vr = vr53(msg)
+    if vr is not None and abs(vr) > 8000:
+        return False
+
+    return True
+
+
+def hdg53(msg):
+    """Magnetic heading, BDS 5,3 message
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: angle in degrees to true north (from 0 to 360)
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[0] == "0":
+        return None
+
+    sign = int(d[1])  # 1 -> west
+    value = common.bin2int(d[2:12])
+
+    if sign:
+        value = value - 1024
+
+    hdg = value * 90.0 / 512.0  # degree
+
+    # convert from [-180, 180] to [0, 360]
+    if hdg < 0:
+        hdg = 360 + hdg
+
+    return round(hdg, 3)
+
+
+def ias53(msg):
+    """Indicated airspeed, DBS 5,3 message
+
+    Args:
+        msg (str): 28 hexdigits
+
+    Returns:
+        int: indicated arispeed in knots
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[12] == "0":
+        return None
+
+    ias = common.bin2int(d[13:23])  # knots
+    return ias
+
+
+def mach53(msg):
+    """MACH number, DBS 5,3 message
+
+    Args:
+        msg (str): 28 hexdigits
+
+    Returns:
+        float: MACH number
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[23] == "0":
+        return None
+
+    mach = common.bin2int(d[24:33]) * 0.008
+    return round(mach, 3)
+
+
+def tas53(msg):
+    """Aircraft true airspeed, BDS 5,3 message
+
+    Args:
+        msg (str): 28 hexdigits
+
+    Returns:
+        float: true airspeed in knots
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[33] == "0":
+        return None
+
+    tas = common.bin2int(d[34:46]) * 0.5  # kts
+    return round(tas, 1)
+
+
+def vr53(msg):
+    """Vertical rate
+
+    Args:
+        msg (str): 28 hexdigits (BDS60) string
+
+    Returns:
+        int: vertical rate in feet/minutes
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[46] == "0":
+        return None
+
+    sign = int(d[47])  # 1 -> negative value, two's complement
+    value = common.bin2int(d[48:56])
+
+    if value == 0 or value == 255:  # all zeros or all ones
+        return 0
+
+    value = value - 256 if sign else value
+    roc = value * 64  # feet/min
+
+    return roc

pyModeS/decoder/bds/bds60.py

@@ -0,0 +1,174 @@
+# ------------------------------------------
+# BDS 6,0
+# Heading and speed report
+# ------------------------------------------
+
+from pyModeS import common
+
+
+def is60(msg):
+    """Check if a message is likely to be BDS code 6,0
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+    """
+
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    # status bit 1, 13, 24, 35, 46
+
+    if common.wrongstatus(d, 1, 2, 12):
+        return False
+
+    if common.wrongstatus(d, 13, 14, 23):
+        return False
+
+    if common.wrongstatus(d, 24, 25, 34):
+        return False
+
+    if common.wrongstatus(d, 35, 36, 45):
+        return False
+
+    if common.wrongstatus(d, 46, 47, 56):
+        return False
+
+    ias = ias60(msg)
+    if ias is not None and ias > 500:
+        return False
+
+    mach = mach60(msg)
+    if mach is not None and mach > 1:
+        return False
+
+    vr_baro = vr60baro(msg)
+    if vr_baro is not None and abs(vr_baro) > 6000:
+        return False
+
+    vr_ins = vr60ins(msg)
+    if vr_ins is not None and abs(vr_ins) > 6000:
+        return False
+
+    return True
+
+
+def hdg60(msg):
+    """Megnetic heading of aircraft
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: heading in degrees to megnetic north (from 0 to 360)
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[0] == "0":
+        return None
+
+    sign = int(d[1])  # 1 -> west
+    value = common.bin2int(d[2:12])
+
+    if sign:
+        value = value - 1024
+
+    hdg = value * 90 / 512.0  # degree
+
+    # convert from [-180, 180] to [0, 360]
+    if hdg < 0:
+        hdg = 360 + hdg
+
+    return round(hdg, 3)
+
+
+def ias60(msg):
+    """Indicated airspeed
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: indicated airspeed in knots
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[12] == "0":
+        return None
+
+    ias = common.bin2int(d[13:23])  # kts
+    return ias
+
+
+def mach60(msg):
+    """Aircraft MACH number
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: MACH number
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[23] == "0":
+        return None
+
+    mach = common.bin2int(d[24:34]) * 2.048 / 512.0
+    return round(mach, 3)
+
+
+def vr60baro(msg):
+    """Vertical rate from barometric measurement, this value may be very noisy.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: vertical rate in feet/minutes
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[34] == "0":
+        return None
+
+    sign = int(d[35])  # 1 -> negative value, two's complement
+    value = common.bin2int(d[36:45])
+
+    if value == 0 or value == 511:  # all zeros or all ones
+        return 0
+
+    value = value - 512 if sign else value
+
+    roc = value * 32  # feet/min
+    return roc
+
+
+def vr60ins(msg):
+    """Vertical rate measurd by onbard equiments (IRS, AHRS)
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: vertical rate in feet/minutes
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[45] == "0":
+        return None
+
+    sign = int(d[46])  # 1 -> negative value, two's complement
+    value = common.bin2int(d[47:56])
+
+    if value == 0 or value == 511:  # all zeros or all ones
+        return 0
+
+    value = value - 512 if sign else value
+
+    roc = value * 32  # feet/min
+    return roc

pyModeS/decoder/commb.py

@@ -0,0 +1,38 @@
+"""Comm-B module.
+
+The Comm-B module imports all functions from the following modules:
+
+ELS - elementary surveillance
+
+- pyModeS.decoder.bds.bds10
+- pyModeS.decoder.bds.bds17
+- pyModeS.decoder.bds.bds20
+- pyModeS.decoder.bds.bds30
+
+EHS - enhanced surveillance
+
+- pyModeS.decoder.bds.bds40
+- pyModeS.decoder.bds.bds50
+- pyModeS.decoder.bds.bds60
+
+MRAR and MHR
+
+- pyModeS.decoder.bds.bds44
+- pyModeS.decoder.bds.bds45
+
+"""
+
+# ELS - elementary surveillance
+from pyModeS.decoder.bds.bds10 import *
+from pyModeS.decoder.bds.bds17 import *
+from pyModeS.decoder.bds.bds20 import *
+from pyModeS.decoder.bds.bds30 import *
+
+# ELS - enhanced surveillance
+from pyModeS.decoder.bds.bds40 import *
+from pyModeS.decoder.bds.bds50 import *
+from pyModeS.decoder.bds.bds60 import *
+
+# MRAR and MHR
+from pyModeS.decoder.bds.bds44 import *
+from pyModeS.decoder.bds.bds45 import *

pyModeS/decoder/ehs.py

@@ -0,0 +1,35 @@
+"""EHS Wrapper.
+
+``pyModeS.ehs`` is deprecated, please use ``pyModeS.commb`` instead.
+
+The EHS wrapper imports all functions from the following modules:
+    - pyModeS.decoder.bds.bds40
+    - pyModeS.decoder.bds.bds50
+    - pyModeS.decoder.bds.bds60
+
+"""
+
+import warnings
+
+from pyModeS.decoder.bds.bds40 import *
+from pyModeS.decoder.bds.bds50 import *
+from pyModeS.decoder.bds.bds60 import *
+from pyModeS.decoder.bds import infer
+
+warnings.simplefilter("once", DeprecationWarning)
+warnings.warn(
+    "pms.ehs module is deprecated. Please use pms.commb instead.", DeprecationWarning
+)
+
+
+def BDS(msg):
+    warnings.warn(
+        "pms.ehs.BDS() is deprecated, use pms.bds.infer() instead.", DeprecationWarning
+    )
+    return infer(msg)
+
+
+def icao(msg):
+    from pyModeS.decoder.common import icao
+
+    return icao(msg)

pyModeS/decoder/els.py

@@ -0,0 +1,23 @@
+"""ELS Wrapper.
+
+``pyModeS.els`` is deprecated, please use ``pyModeS.commb`` instead.
+
+The ELS wrapper imports all functions from the following modules:
+    - pyModeS.decoder.bds.bds10
+    - pyModeS.decoder.bds.bds17
+    - pyModeS.decoder.bds.bds20
+    - pyModeS.decoder.bds.bds30
+
+"""
+
+from pyModeS.decoder.bds.bds10 import *
+from pyModeS.decoder.bds.bds17 import *
+from pyModeS.decoder.bds.bds20 import *
+from pyModeS.decoder.bds.bds30 import *
+
+import warnings
+
+warnings.simplefilter("once", DeprecationWarning)
+warnings.warn(
+    "pms.els module is deprecated. Please use pms.commb instead.", DeprecationWarning
+)

pyModeS/decoder/surv.py

@@ -0,0 +1,5 @@
+"""
+Warpper for short roll call surveillance replies DF=4/5
+
+[To be implemented]
+"""

pyModeS/decoder/uncertainty.py

@@ -0,0 +1,152 @@
+"""Uncertainty parameters.
+
+See source code at: https://github.com/junzis/pyModeS/blob/master/pyModeS/decoder/uncertainty.py
+"""
+
+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}, 3: {"Rc": 370}},
+    6: {0: {"Rc": 926}, 1: {"Rc": 556}, 2: {"Rc": 556}, 3: {"Rc": 1111}},
+    5: {0: {"Rc": 1852}},
+    4: {0: {"Rc": 3702}},
+    3: {3: {"Rc": 7408}},
+    2: {0: {"Rc": 14008}},
+    1: {0: {"Rc": 37000}},
+    0: {0: {"Rc": NA}},
+}

pyModeS/decoder/uplink.py

@@ -0,0 +1,25 @@
+from pyModeS import common
+
+
+def uplink_icao(msg):
+    """Calculate the ICAO address from a Mode-S interrogation (uplink message)"""
+    p_gen = 0xFFFA0480 << ((len(msg) - 14) * 4)
+    data = int(msg[:-6], 16)
+    PA = int(msg[-6:], 16)
+    ad = 0
+    topbit = 0b1 << (len(msg) * 4 - 25)
+    for j in range(0, len(msg) * 4, 1):
+        if data & topbit:
+            data ^= p_gen
+        data = (data << 1) + ((PA >> 23) & 1)
+        PA = PA << 1
+        if j > (len(msg) * 4 - 26):
+            ad = ad + ((data >> (len(msg) * 4 - 25)) & 1)
+            ad = ad << 1
+    return "%06X" % (ad >> 2)
+
+
+def uf(msg):
+    """Decode Uplink Format value, bits 1 to 5."""
+    ufbin = common.hex2bin(msg[:2])
+    return min(common.bin2int(ufbin[0:5]), 24)

pyModeS/ehs.py

@@ -1,912 +0,0 @@
-# Copyright (C) 2016 Junzi Sun (TU Delft)
-
-# This program 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 of the License, or
-# (at your option) any later version.
-
-# This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
-
-"""
-A python package for decoding ModeS (DF20, DF21) messages.
-"""
-
-from __future__ import absolute_import, print_function, division
-from . import util
-
-def df(msg):
-    """Get the downlink format (DF) number
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        int: DF number
-    """
-    return util.df(msg)
-
-
-def data(msg):
-    """Return the data frame in the message, bytes 9 to 22"""
-    return msg[8:22]
-
-
-def icao(msg):
-    """Calculate the ICAO address from an Mode-S message
-    with DF4, DF5, DF20, DF21
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        String: ICAO address in 6 bytes hexadecimal string
-    """
-
-    if df(msg) not in (4, 5, 20, 21):
-        # raise RuntimeError("Message DF must be in (4, 5, 20, 21)")
-        return None
-
-    c0 = util.bin2int(util.crc(msg, encode=True))
-    c1 = util.hex2int(msg[-6:])
-    icao = '%06X' % (c0 ^ c1)
-    return icao
-
-
-def checkbits(data, sb, msb, lsb):
-    """Check if the status bit and field bits are consistency. This Function
-    is used for checking BDS code versions.
-    """
-
-    # status bit, most significant bit, least significant bit
-    status = int(data[sb-1])
-    value = util.bin2int(data[msb-1:lsb])
-
-    if not status:
-        if value != 0:
-            return False
-
-    return True
-
-
-# ------------------------------------------
-# Common functions
-# ------------------------------------------
-def isnull(msg):
-    """check if the data bits are all zeros
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        bool: True or False
-    """
-    d = util.hex2bin(data(msg))
-
-    if util.bin2int(d) > 0:
-        return False
-    else:
-        return True
-
-
-def df20alt(msg):
-    """Computes the altitude from DF20  bit 20-32
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        int: altitude in ft
-    """
-
-    if df(msg) != 20:
-        raise RuntimeError("Message must be Downlink Format 20.")
-
-    # Altitude code, bit 20-32
-    mbin = util.hex2bin(msg)
-
-    mbit = mbin[25]   # M bit: 26
-    qbit = mbin[27]   # Q bit: 28
-
-
-    if mbit == '0':         # unit in ft
-        if qbit == '1':     # 25ft interval
-            vbin = mbin[19:25] + mbin[26] + mbin[28:32]
-            alt = util.bin2int(vbin) * 25
-        if qbit == '0':     # 100ft interval
-            # to be implemented
-            alt = None
-    if mbit == '1':         # unit in meter
-        vbin = mbin[19:25] + mbin[26:32]
-        alt = int(util.bin2int(vbin) * 3.28084)  # convert to ft
-
-    return alt
-
-# ------------------------------------------
-# DF 20/21, BDS 2,0
-# ------------------------------------------
-
-def isBDS20(msg):
-    """Check if a message is likely to be BDS code 2,0
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        bool: True or False
-    """
-
-    if isnull(msg):
-        return False
-
-    # status bit 1, 14, and 27
-    d = util.hex2bin(data(msg))
-
-    result = True
-
-    if util.bin2int(d[0:4]) != 2 or util.bin2int(d[4:8]) != 0:
-        result &= False
-
-    cs = callsign(msg)
-
-    if '#' in cs:
-        result &= False
-
-    return result
-
-
-def callsign(msg):
-    """Aircraft callsign
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS40) string
-
-    Returns:
-        string: callsign, max. 8 chars
-    """
-    chars = '#ABCDEFGHIJKLMNOPQRSTUVWXYZ#####_###############0123456789######'
-
-    d = util.hex2bin(data(msg))
-
-    cs = ''
-    cs += chars[util.bin2int(d[8:14])]
-    cs += chars[util.bin2int(d[14:20])]
-    cs += chars[util.bin2int(d[20:26])]
-    cs += chars[util.bin2int(d[26:32])]
-    cs += chars[util.bin2int(d[32:38])]
-    cs += chars[util.bin2int(d[38:44])]
-    cs += chars[util.bin2int(d[44:50])]
-    cs += chars[util.bin2int(d[50:56])]
-
-    return cs
-
-
-# ------------------------------------------
-# DF 20/21, BDS 4,0
-# ------------------------------------------
-
-def isBDS40(msg):
-    """Check if a message is likely to be BDS code 4,0
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        bool: True or False
-    """
-
-    if isnull(msg):
-        return False
-
-    # status bit 1, 14, and 27
-    d = util.hex2bin(data(msg))
-
-    result = True
-
-    result = result & checkbits(d, 1, 2, 13) \
-        & checkbits(d, 14, 15, 26) & checkbits(d, 27, 28, 39)
-
-    # bits 40-47 and 52-53 shall all be zero
-    if util.bin2int(d[39:47]) != 0:
-        result &= False
-
-    if util.bin2int(d[51:53]) != 0:
-        result &= False
-
-    return result
-
-
-def alt40mcp(msg):
-    """Selected altitude, MCP/FCU
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS40) string
-
-    Returns:
-        int: altitude in feet
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[0] == '0':
-        return None
-
-    alt = util.bin2int(d[1:13]) * 16    # ft
-    return alt
-
-
-def alt40fms(msg):
-    """Selected altitude, FMS
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS40) string
-
-    Returns:
-        int: altitude in feet
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[13] == '0':
-        return None
-
-    alt = util.bin2int(d[14:26]) * 16    # ft
-    return alt
-
-
-def p40baro(msg):
-    """Barometric pressure setting
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS40) string
-
-    Returns:
-        float: pressure in millibar
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[26] == '0':
-        return None
-
-    p = util.bin2int(d[27:39]) * 0.1 + 800    # millibar
-    return p
-
-
-# ------------------------------------------
-# DF 20/21, BDS 4,4
-# ------------------------------------------
-
-def isBDS44(msg, rev=False):
-    """Check if a message is likely to be BDS code 4,4
-    Meteorological routine air report
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-        rev (bool): using revised version
-
-    Returns:
-        bool: True or False
-    """
-
-    if isnull(msg):
-        return False
-
-    d = util.hex2bin(data(msg))
-
-    result = True
-
-    if not rev:
-        # status bit 5, 35, 47, 50
-        result = result & checkbits(d, 5, 6, 23) \
-            & checkbits(d, 35, 36, 46) & checkbits(d, 47, 48, 49) \
-            & checkbits(d, 50, 51, 56)
-
-    else:
-        # status bit 5, 15, 24, 36, 49
-        result = result & checkbits(d, 5, 6, 14) \
-            & checkbits(d, 15, 16, 23) & checkbits(d, 24, 25, 35) \
-            & checkbits(d, 36, 37, 47) & checkbits(d, 49, 50, 56)
-
-    if not result:
-        return False
-
-    vw = wind44(msg, rev=rev)
-    if vw is not None and vw[0] > 250:
-        result &= False
-
-    # if temp44(msg):
-    #     if temp44(msg) > 60 or temp44(msg) < -80:
-    #         result &= False
-
-    return result
-
-
-def wind44(msg, rev=False):
-    """reported wind speed and direction
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS44) string
-        rev (bool): using revised version
-
-    Returns:
-        (int, float): speed (kt), direction (degree)
-    """
-    d = util.hex2bin(data(msg))
-
-    if not rev:
-        status = int(d[4])
-        if not status:
-            return None
-
-        speed = util.bin2int(d[5:14])   # knots
-        direction = util.bin2int(d[14:23]) * 180.0 / 256.0  # degree
-
-    else:
-        spd_status = int(d[4])
-        dir_status = int(d[14])
-
-        if (not spd_status) or (not dir_status):
-            return None
-
-        speed = util.bin2int(d[5:14])   # knots
-        direction = util.bin2int(d[15:23]) * 180.0 / 128.0  # degree
-
-    return round(speed, 0), round(direction, 1)
-
-
-def temp44(msg, rev=False):
-    """reported air temperature
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS44) string
-        rev (bool): using revised version
-
-    Returns:
-        float: tmeperature in Celsius degree
-    """
-    d = util.hex2bin(data(msg))
-
-    if not rev:
-        if d[22] == '0':
-            return None
-
-        sign = int(d[23])
-        temp = util.bin2int(d[24:34]) * 0.125   # celsius
-        temp = round(temp, 1)
-    else:
-        if d[23] == '0':
-            return None
-
-        sign = int(d[24])
-        temp = util.bin2int(d[25:35]) * 0.125   # celsius
-        temp = round(temp, 1)
-
-    return -1*temp if sign else temp
-
-
-def p44(msg, rev=False):
-    """reported average static pressure
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS44) string
-        rev (bool): using revised version
-
-    Returns:
-        int: static pressure in hPa
-    """
-    d = util.hex2bin(data(msg))
-
-    if not rev:
-        if d[34] == '0':
-            return None
-
-        p = util.bin2int(d[35:46])    # hPa
-
-    else:
-        if d[35] == '0':
-            return None
-
-        p = util.bin2int(d[36:47])    # hPa
-
-    return p
-
-
-def hum44(msg, rev=False):
-    """reported humidity
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS44) string
-        rev (bool): using revised version
-
-    Returns:
-        float: percentage of humidity, [0 - 100] %
-    """
-    d = util.hex2bin(data(msg))
-
-    if not rev:
-        if d[49] == '0':
-            return None
-
-        hm = util.bin2int(d[50:56]) * 100.0 / 64    # %
-
-    else:
-        if d[48] == '0':
-            return None
-
-        hm = util.bin2int(d[49:56])    # %
-
-    return round(hm, 1)
-
-
-# ------------------------------------------
-# DF 20/21, BDS 5,0
-# Track and turn report
-# ------------------------------------------
-
-def isBDS50(msg):
-    """Check if a message is likely to be BDS code 5,0
-    (Track and turn report)
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        bool: True or False
-    """
-
-    if isnull(msg):
-        return False
-
-    # status bit 1, 12, 24, 35, 46
-    d = util.hex2bin(data(msg))
-
-    result = True
-
-    result = result & checkbits(d, 1, 3, 11) & checkbits(d, 12, 13, 23) \
-        & checkbits(d, 24, 25, 34) & checkbits(d, 35, 36, 45) \
-        & checkbits(d, 46, 47, 56)
-
-    if not result:
-        return False
-
-    if d[2:11] == "000000000":
-        result &= True
-    else:
-        roll = abs(roll50(msg))
-        if roll and roll > 30:
-            result &= False
-
-    gs = gs50(msg)
-    if gs is not None and gs > 600:
-        result &= False
-
-    tas = tas50(msg)
-    if tas is not None and tas > 500:
-        result &= False
-
-    if (gs is not None) and (tas is not None) and (abs(tas - gs) > 200):
-        result &= False
-
-    return result
-
-
-def roll50(msg):
-    """Roll angle, BDS 5,0 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS50) string
-
-    Returns:
-        float: angle in degrees,
-               negative->left wing down, positive->right wing down
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[0] == '0':
-        return None
-
-    sign = int(d[1])    # 1 -> left wing down
-    value = util.bin2int(d[2:11]) * 45.0 / 256.0    # degree
-    angle = -1 * value if sign else value
-    return round(angle, 1)
-
-
-def trk50(msg):
-    """True track angle, BDS 5,0 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS50) string
-
-    Returns:
-        float: angle in degrees to true north (from 0 to 360)
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[11] == '0':
-        return None
-
-    sign = int(d[12])   # 1 -> west
-    value = util.bin2int(d[13:23]) * 90.0 / 512.0    # degree
-    angle = 360 - value if sign else value
-    return round(angle, 1)
-
-
-def gs50(msg):
-    """Ground speed, BDS 5,0 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS50) string
-
-    Returns:
-        int: ground speed in knots
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[23] == '0':
-        return None
-
-    spd = util.bin2int(d[24:34]) * 2    # kts
-    return spd
-
-
-def rtrk50(msg):
-    """Track angle rate, BDS 5,0 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS50) string
-
-    Returns:
-        float: angle rate in degrees/second
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[34] == '0':
-        return None
-
-    if d[36:45] == "111111111":
-        return None
-
-    sign = int(d[35])    # 1 -> minus
-    value = util.bin2int(d[36:45]) * 8.0 / 256.0    # degree / sec
-    angle = -1 * value if sign else value
-    return round(angle, 3)
-
-
-def tas50(msg):
-    """Aircraft true airspeed, BDS 5,0 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS50) string
-
-    Returns:
-        int: true airspeed in knots
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[45] == '0':
-        return None
-
-    tas = util.bin2int(d[46:56]) * 2   # kts
-    return tas
-
-
-# ------------------------------------------
-# DF 20/21, BDS 5,3
-# Air-referenced state vector
-# ------------------------------------------
-
-def isBDS53(msg):
-    """Check if a message is likely to be BDS code 5,3
-    (Air-referenced state vector)
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        bool: True or False
-    """
-
-    if isnull(msg):
-        return False
-
-    # status bit 1, 13, 24, 34, 47
-    d = util.hex2bin(data(msg))
-
-    result = True
-
-    result = result & checkbits(d, 1, 3, 12) & checkbits(d, 13, 14, 23) \
-        & checkbits(d, 24, 25, 33) & checkbits(d, 34, 35, 46) \
-        & checkbits(d, 47, 49, 56)
-
-    if not result:
-        return False
-
-    ias = ias53(msg)
-    if ias is not None and ias > 500:
-        result &= False
-
-    mach = mach53(msg)
-    if mach is not None and mach > 1:
-        result &= False
-
-    tas = tas53(msg)
-    if tas is not None and tas > 500:
-        result &= False
-
-    vr = vr53(msg)
-    if vr is not None and abs(vr) > 8000:
-        result &= False
-
-    return result
-
-
-def hdg53(msg):
-    """Magnetic heading, BDS 5,3 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS53) string
-
-    Returns:
-        float: angle in degrees to true north (from 0 to 360)
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[0] == '0':
-        return None
-
-    sign = int(d[1])                               # 1 -> west
-    value = util.bin2int(d[2:12]) * 90.0 / 512.0   # degree
-    angle = 360 - value if sign else value
-    return round(angle, 1)
-
-
-def ias53(msg):
-    """Indicated airspeed, DBS 5,3 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message
-
-    Returns:
-        int: indicated arispeed in knots
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[12] == '0':
-        return None
-
-    ias = util.bin2int(d[13:23])    # knots
-    return ias
-
-
-def mach53(msg):
-    """MACH number, DBS 5,3 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message
-
-    Returns:
-        float: MACH number
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[23] == '0':
-        return None
-
-    mach = util.bin2int(d[24:33]) * 0.008
-    return round(mach, 3)
-
-
-def tas53(msg):
-    """Aircraft true airspeed, BDS 5,3 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message
-
-    Returns:
-        float: true airspeed in knots
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[33] == '0':
-        return None
-
-    tas = util.bin2int(d[34:46]) * 0.5   # kts
-    return round(tas, 1)
-
-def vr53(msg):
-    """Vertical rate
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS60) string
-
-    Returns:
-        int: vertical rate in feet/minutes
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[46] == '0':
-        return None
-
-    sign = d[47]                            # 1 -> minus
-    value = util.bin2int(d[48:56]) * 64     # feet/min
-    roc = -1*value if sign else value
-    return roc
-
-
-# ------------------------------------------
-# DF 20/21, BDS 6,0
-# ------------------------------------------
-
-def isBDS60(msg):
-    """Check if a message is likely to be BDS code 6,0
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        bool: True or False
-    """
-
-    if isnull(msg):
-        return False
-
-    # status bit 1, 13, 24, 35, 46
-    d = util.hex2bin(data(msg))
-
-    result = True
-
-    result = result & checkbits(d, 1, 2, 12) & checkbits(d, 13, 14, 23) \
-        & checkbits(d, 24, 25, 34) & checkbits(d, 35, 36, 45) \
-        & checkbits(d, 46, 47, 56)
-
-    if not result:
-        return False
-
-    ias = ias60(msg)
-    if ias is not None and ias > 500:
-        result &= False
-
-    mach = mach60(msg)
-    if mach is not None and mach > 1:
-        result &= False
-
-    vrb = vr60baro(msg)
-    if vrb is not None and abs(vrb) > 5000:
-        result &= False
-
-    vri = vr60ins(msg)
-    if vri is not None and abs(vri) > 5000:
-        result &= False
-
-    return result
-
-
-def hdg60(msg):
-    """Megnetic heading of aircraft
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS60) string
-
-    Returns:
-        float: heading in degrees to megnetic north (from 0 to 360)
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[0] == '0':
-        return None
-
-    sign = int(d[1])    # 1 -> west
-    value = util.bin2int(d[2:12]) * 90 / 512.0  # degree
-    hdg = 360 - value if sign else value
-    return round(hdg, 1)
-
-
-def ias60(msg):
-    """Indicated airspeed
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS60) string
-
-    Returns:
-        int: indicated airspeed in knots
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[12] == '0':
-        return None
-
-    ias = util.bin2int(d[13:23])    # kts
-    return ias
-
-
-def mach60(msg):
-    """Aircraft MACH number
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS60) string
-
-    Returns:
-        float: MACH number
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[23] == '0':
-        return None
-
-    mach = util.bin2int(d[24:34]) * 2.048 / 512.0
-    return round(mach, 3)
-
-
-def vr60baro(msg):
-    """Vertical rate from barometric measurement
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS60) string
-
-    Returns:
-        int: vertical rate in feet/minutes
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[34] == '0':
-        return None
-
-    sign = d[35]    # 1 -> minus
-    value = util.bin2int(d[36:45]) * 32   # feet/min
-    roc = -1*value if sign else value
-    return roc
-
-
-def vr60ins(msg):
-    """Vertical rate messured by onbard equiments (IRS, AHRS)
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS60) string
-
-    Returns:
-        int: vertical rate in feet/minutes
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[45] == '0':
-        return None
-
-    sign = d[46]    # 1 -> minus
-    value = util.bin2int(d[47:56]) * 32   # feet/min
-    roc = -1*value if sign else value
-    return roc
-
-
-def BDS(msg):
-    """Estimate the most likely BDS code of an message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        String or None: Version: "BDS20", "BDS40", "BDS50", or "BDS60". Or None, if nothing matched
-    """
-
-    if isnull(msg):
-        return None
-
-    is20 = isBDS20(msg)
-    is40 = isBDS40(msg)
-    is44 = isBDS44(msg)
-    is44rev = isBDS44(msg, rev=True)
-    is50 = isBDS50(msg)
-    is53 = isBDS53(msg)
-    is60 = isBDS60(msg)
-
-    BDS = ["BDS20", "BDS40", "BDS44", "BDS44REV", "BDS50", "BDS53", "BDS60"]
-    isBDS = [is20, is40, is44, is44rev, is50, is53, is60]
-
-    if sum(isBDS) == 0:
-        return None
-    if sum(isBDS) == 1:
-        return BDS[isBDS.index(True)]
-    else:
-        return [bds for (bds, i) in zip(BDS, isBDS) if i]

pyModeS/encoder/__init__.py

@@ -0,0 +1,68 @@
+from .bds.bds08 import me08
+from .bds.bds09 import me09
+from pyModeS import common
+
+
+def encode_adsb(**kwargs):
+    """Encode ADS-B message.
+
+    Args:
+        icao (string): Transponder ICAO address (6 hexdigits)
+        capability (int): Transponder capability, between 0 and 7
+        typecode (int): Typecode, less than 32
+
+        callsign (string): Callsign (6 hexdigits)
+        category (int): Aircraft category, between 0 and 7, Default to 0.
+
+        speed (int): Speed in knots.
+        angle (float): Track angle or heading angle in degrees.
+        vertical_rate (int): vertical rate in feet/minute
+        intent_change (int): Intent change flag, 0 or 1. Default to 0.
+        ifr_capability (int): IFR capability flag, 0 or 1. Default to 1.
+        navigation_quality (int): NUC (ver 0) or NACv (ver 1, 2), between 0 and 7.
+            Default to 0.
+        supersonic (bool): Is this a supersonic flight? Default to False.
+        speed_type (str): Speed type: GS, IAS, or TAS. Default to GS.
+        vertical_rate_source (str): GNSS or BARO. Default to BARO.
+        gnss_baro_alt_diff (int): Different between GNSS and barometric altitude in feet.
+            Negative value indicates GNSS altitude below barometric altitude. Default to 0
+
+    Returns:
+        string: 28 hexdigits raw message
+
+    """
+    tc = kwargs.get("typecode")
+
+    if 1 <= tc <= 4:
+        me = me08(**kwargs)
+    elif tc == 19:
+        me = me09(**kwargs)
+
+    msg = _constuct(**dict(kwargs, me=me))
+    return msg
+
+
+def _constuct(**kwargs):
+    icao = kwargs.get("icao")
+    me = kwargs.get("me")
+    capability = kwargs.get("capability", 6)
+
+    if icao is None or len(icao) != 6:
+        raise Exception("Transponder address must be 6 hexadecimal characters.")
+
+    if me is None or len(me) != 14:
+        raise Exception("Message be 14 hexadecimal characters.")
+
+    if capability > 6:
+        raise Exception("Transponder capability must be smaller than 7.")
+
+    header_bin = "10001" + "{0:03b}".format(capability)
+    header_hex = "{0:02X}".format(int(header_bin, 2))
+
+    msg = header_hex + icao + me + "000000"
+
+    pi = common.crc(msg, encode=True)
+    pi_hex = "{0:06X}".format(pi)
+
+    msg = msg[:-6] + pi_hex
+    return msg

pyModeS/encoder/bds/bds05.py

@@ -0,0 +1,5 @@
+# ------------------------------------------
+#   BDS 0,5
+#   ADS-B TC=9-18
+#   Airborn position
+# ------------------------------------------

pyModeS/encoder/bds/bds06.py

@@ -0,0 +1,5 @@
+# ------------------------------------------
+#   BDS 0,6
+#   ADS-B TC=5-8
+#   Surface position
+# ------------------------------------------

pyModeS/encoder/bds/bds08.py

@@ -0,0 +1,40 @@
+# ------------------------------------------
+#   BDS 0,8
+#   ADS-B TC=1-4
+#   Aircraft identitification and category
+# ------------------------------------------
+
+from pyModeS import common
+
+charmap = "#ABCDEFGHIJKLMNOPQRSTUVWXYZ##### ###############0123456789######"
+
+
+def me08(callsign, **kwargs):
+    cs = callsign
+    tc = kwargs.get("typecode")
+    cat = kwargs.get("category", 0)
+
+    if len(cs) > 8:
+        raise Exception("callsign must contain less than 9 characters")
+
+    if tc > 4:
+        raise Exception("typecode must be less 5")
+
+    if cat > 7:
+        raise Exception("category must be less 8")
+
+    if not cs.isalnum():
+        raise Exception("callsign must only contain alphanumeric characters")
+
+    cs = "{:<8}".format(cs.upper())
+
+    idx = [charmap.index(c) for c in cs]
+    me_bin = (
+        "{0:05b}".format(tc)
+        + "{0:03b}".format(cat)
+        + "".join("{0:06b}".format(i) for i in idx)
+    )
+
+    me_hex = "{0:04X}".format(int(me_bin, 2))
+
+    return me_hex

pyModeS/encoder/bds/bds09.py

@@ -0,0 +1,119 @@
+# ------------------------------------------
+#   BDS 0,9
+#   ADS-B TC=19
+#   Aircraft Airborn velocity
+# ------------------------------------------
+
+import numpy as np
+
+
+def me09(speed, angle, vertical_rate, **kwargs):
+    spd = speed
+    agl = angle
+    vr = vertical_rate
+
+    tc = kwargs.get("typecode")
+    intent = kwargs.get("intent_change", 0)
+    ifr = kwargs.get("ifr_capability", 1)
+    navq = kwargs.get("navigation_quality", 0)
+    supersonic = kwargs.get("supersonic", False)
+    spd_type = kwargs.get("speed_type", "gs").lower()
+    vr_source = kwargs.get("vertical_rate_source", "baro").lower()
+    alt_diff = kwargs.get("gnss_baro_alt_diff", 0)
+
+    if tc != 19:
+        raise Exception("Typecode must be 19.")
+
+    if intent not in (0, 1):
+        raise Exception("Intent change flag must be 0 or 1.")
+
+    if ifr not in (0, 1):
+        raise Exception("IFR capability flag must be 0 or 1.")
+
+    if type(supersonic) != bool:
+        raise Exception("Subsonic flag must be True or False.")
+
+    if navq > 7:
+        raise Exception("Navigation quality indicator must be smaller than 8.")
+
+    if spd_type not in ["gs", "tas"]:
+        raise Exception("Speed type must be 'gs', 'ias', or 'tas'.")
+
+    if vr_source not in ["baro", "gnss"]:
+        raise Exception("Vertical rate source must be 'baro' or 'gnss'.")
+
+    me_bin = ""
+
+    # typecode
+    me_bin += "{0:05b}".format(tc)
+
+    # sub-type
+    if supersonic:
+        if spd_type == "gs":
+            me_bin += "010"
+        else:
+            me_bin += "100"
+    else:
+        if spd_type == "gs":
+            me_bin += "001"
+        else:
+            me_bin += "011"
+
+    # intent, ifr, navigation quality
+    me_bin += str(intent) + str(ifr) + "{0:03b}".format(navq)
+
+    # speed and angle part
+    if spd_type == "gs":
+        vx = spd * np.sin(np.radians(agl))
+        vy = spd * np.cos(np.radians(agl))
+
+        if supersonic:
+            vx /= 4
+            vy /= 4
+
+        vx = int(round(vx))
+        vy = int(round(vy))
+
+        sew = "0" if vx >= 0 else "1"
+        sns = "0" if vy >= 0 else "1"
+        vew = "{0:010b}".format(min(abs(vx), 1023) + 1)
+        vns = "{0:010b}".format(min(abs(vy), 1023) + 1)
+
+        me_bin += sew + vew + sns + vns
+
+    elif spd_type == "ias" or spd_type == "tas":
+        hdg = int(round(agl * 1024 / 360))
+        hdg = min(hdg, 1023)
+
+        air_type = "1" if spd_type == "tas" else "0"
+
+        if supersonic:
+            spd /= 4
+
+        spd = min(int(round(spd)), 1023)
+
+        me_bin += "1" + "{0:010b}".format(hdg) + air_type + "{0:010b}".format(spd)
+
+    # vertical rate source
+    me_bin += "1" if vr_source == "baro" else "0"
+
+    # vertical rate
+    me_bin += "0" if vr > 0 else "1"
+    vr = int(round((abs(vr) / 64 + 1)))
+    vr = min(vr, 511)
+    me_bin += "{0:09b}".format(vr)
+
+    # reserved
+    me_bin += "00"
+
+    # altitude difference
+    me_bin += "1" if alt_diff < 0 else "0"
+    alt_diff = int(round(abs(alt_diff) / 25 + 1))
+    alt_diff = min(alt_diff, 127)
+    me_bin += "{0:07b}".format(alt_diff)
+    print(me_bin)
+
+    # convert to hexdigits
+    me_hex = "{0:04X}".format(int(me_bin, 2))
+
+    return me_hex

pyModeS/extra/aero.py

@@ -0,0 +1,185 @@
+"""
+Functions for aeronautics in this module
+
+- physical quantities always in SI units
+- lat,lon,course and heading in degrees
+
+International Standard Atmosphere
+::
+
+    p,rho,T = atmos(H)    # atmos as function of geopotential altitude H [m]
+    a = vsound(H)         # speed of sound [m/s] as function of H[m]
+    p = pressure(H)       # calls atmos but returns only pressure [Pa]
+    T = temperature(H)    # calculates temperature [K]
+    rho = density(H)      # calls atmos but returns only pressure [Pa]
+
+Speed conversion at altitude H[m] in ISA
+::
+
+    Mach = tas2mach(Vtas,H)    # true airspeed (Vtas) to mach number conversion
+    Vtas = mach2tas(Mach,H)    # true airspeed (Vtas) to mach number conversion
+    Vtas = eas2tas(Veas,H)     # equivalent airspeed to true airspeed, H in [m]
+    Veas = tas2eas(Vtas,H)     # true airspeed to equivent airspeed, H in [m]
+    Vtas = cas2tas(Vcas,H)     # Vcas  to Vtas conversion both m/s, H in [m]
+    Vcas = tas2cas(Vtas,H)     # Vtas to Vcas conversion both m/s, H in [m]
+    Vcas = mach2cas(Mach,H)    # Mach to Vcas conversion Vcas in m/s, H in [m]
+    Mach   = cas2mach(Vcas,H)  # Vcas to mach copnversion Vcas in m/s, H in [m]
+
+"""
+
+import numpy as np
+
+"""Aero and geo Constants """
+kts = 0.514444  # knot -> m/s
+ft = 0.3048  # ft -> m
+fpm = 0.00508  # ft/min -> m/s
+inch = 0.0254  # inch -> m
+sqft = 0.09290304  # 1 square foot
+nm = 1852.0  # nautical mile -> m
+lbs = 0.453592  # pound -> kg
+g0 = 9.80665  # m/s2, Sea level gravity constant
+R = 287.05287  # m2/(s2 x K), gas constant, sea level ISA
+p0 = 101325.0  # Pa, air pressure, sea level ISA
+rho0 = 1.225  # kg/m3, air density, sea level ISA
+T0 = 288.15  # K, temperature, sea level ISA
+gamma = 1.40  # cp/cv for air
+gamma1 = 0.2  # (gamma-1)/2 for air
+gamma2 = 3.5  # gamma/(gamma-1) for air
+beta = -0.0065  # [K/m] ISA temp gradient below tropopause
+r_earth = 6371000.0  # m, average earth radius
+a0 = 340.293988  # m/s, sea level speed of sound ISA, sqrt(gamma*R*T0)
+
+
+def atmos(H):
+    # H in metres
+    T = np.maximum(288.15 - 0.0065 * H, 216.65)
+    rhotrop = 1.225 * (T / 288.15) ** 4.256848030018761
+    dhstrat = np.maximum(0.0, H - 11000.0)
+    rho = rhotrop * np.exp(-dhstrat / 6341.552161)
+    p = rho * R * T
+    return p, rho, T
+
+
+def temperature(H):
+    p, r, T = atmos(H)
+    return T
+
+
+def pressure(H):
+    p, r, T = atmos(H)
+    return p
+
+
+def density(H):
+    p, r, T = atmos(H)
+    return r
+
+
+def vsound(H):
+    """Speed of sound"""
+    T = temperature(H)
+    a = np.sqrt(gamma * R * T)
+    return a
+
+
+def distance(lat1, lon1, lat2, lon2, H=0):
+    """
+    Compute spherical distance from spherical coordinates.
+
+    For two locations in spherical coordinates
+    (1, theta, phi) and (1, theta', phi')
+    cosine( arc length ) =
+       sin phi sin phi' cos(theta-theta') + cos phi cos phi'
+    distance = rho * arc length
+    """
+
+    # phi = 90 - latitude
+    phi1 = np.radians(90.0 - lat1)
+    phi2 = np.radians(90.0 - lat2)
+
+    # theta = longitude
+    theta1 = np.radians(lon1)
+    theta2 = np.radians(lon2)
+
+    cos = np.sin(phi1) * np.sin(phi2) * np.cos(theta1 - theta2) + np.cos(phi1) * np.cos(
+        phi2
+    )
+    cos = np.where(cos > 1, 1, cos)
+
+    arc = np.arccos(cos)
+    dist = arc * (r_earth + H)  # meters, radius of earth
+    return dist
+
+
+def bearing(lat1, lon1, lat2, lon2):
+    lat1 = np.radians(lat1)
+    lon1 = np.radians(lon1)
+    lat2 = np.radians(lat2)
+    lon2 = np.radians(lon2)
+    x = np.sin(lon2 - lon1) * np.cos(lat2)
+    y = np.cos(lat1) * np.sin(lat2) - np.sin(lat1) * np.cos(lat2) * np.cos(lon2 - lon1)
+    initial_bearing = np.arctan2(x, y)
+    initial_bearing = np.degrees(initial_bearing)
+    bearing = (initial_bearing + 360) % 360
+    return bearing
+
+
+# -----------------------------------------------------
+# Speed conversions, altitude H all in meters
+# -----------------------------------------------------
+def tas2mach(Vtas, H):
+    """True Airspeed to Mach number"""
+    a = vsound(H)
+    Mach = Vtas / a
+    return Mach
+
+
+def mach2tas(Mach, H):
+    """Mach number to True Airspeed"""
+    a = vsound(H)
+    Vtas = Mach * a
+    return Vtas
+
+
+def eas2tas(Veas, H):
+    """Equivalent Airspeed to True Airspeed"""
+    rho = density(H)
+    Vtas = Veas * np.sqrt(rho0 / rho)
+    return Vtas
+
+
+def tas2eas(Vtas, H):
+    """True Airspeed to Equivalent Airspeed"""
+    rho = density(H)
+    Veas = Vtas * np.sqrt(rho / rho0)
+    return Veas
+
+
+def cas2tas(Vcas, H):
+    """Calibrated Airspeed to True Airspeed"""
+    p, rho, T = atmos(H)
+    qdyn = p0 * ((1.0 + rho0 * Vcas * Vcas / (7.0 * p0)) ** 3.5 - 1.0)
+    Vtas = np.sqrt(7.0 * p / rho * ((1.0 + qdyn / p) ** (2.0 / 7.0) - 1.0))
+    return Vtas
+
+
+def tas2cas(Vtas, H):
+    """True Airspeed to Calibrated Airspeed"""
+    p, rho, T = atmos(H)
+    qdyn = p * ((1.0 + rho * Vtas * Vtas / (7.0 * p)) ** 3.5 - 1.0)
+    Vcas = np.sqrt(7.0 * p0 / rho0 * ((qdyn / p0 + 1.0) ** (2.0 / 7.0) - 1.0))
+    return Vcas
+
+
+def mach2cas(Mach, H):
+    """Mach number to Calibrated Airspeed"""
+    Vtas = mach2tas(Mach, H)
+    Vcas = tas2cas(Vtas, H)
+    return Vcas
+
+
+def cas2mach(Vcas, H):
+    """Calibrated Airspeed to Mach number"""
+    Vtas = cas2tas(Vcas, H)
+    Mach = tas2mach(Vtas, H)
+    return Mach

pyModeS/extra/rtlreader.py

@@ -0,0 +1,188 @@
+import traceback
+import numpy as np
+import pyModeS as pms
+from rtlsdr import RtlSdr
+import time
+
+sampling_rate = 2e6
+smaples_per_microsec = 2
+
+modes_frequency = 1090e6
+buffer_size = 1024 * 200
+read_size = 1024 * 100
+
+pbits = 8
+fbits = 112
+preamble = [1, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0]
+th_amp_diff = 0.8  # signal amplitude threshold difference between 0 and 1 bit
+
+
+class RtlReader(object):
+    def __init__(self, **kwargs):
+        super(RtlReader, self).__init__()
+        self.signal_buffer = []  # amplitude of the sample only
+        self.sdr = RtlSdr()
+        self.sdr.sample_rate = sampling_rate
+        self.sdr.center_freq = modes_frequency
+        self.sdr.gain = "auto"
+
+        self.debug = kwargs.get("debug", False)
+        self.raw_pipe_in = None
+        self.stop_flag = False
+        self.noise_floor = 1e6
+
+    def _calc_noise(self):
+        """Calculate noise floor"""
+        window = smaples_per_microsec * 100
+        total_len = len(self.signal_buffer)
+        means = (
+            np.array(self.signal_buffer[: total_len // window * window])
+            .reshape(-1, window)
+            .mean(axis=1)
+        )
+        return min(means)
+
+    def _process_buffer(self):
+        """process raw IQ data in the buffer"""
+
+        # update noise floor
+        self.noise_floor = min(self._calc_noise(), self.noise_floor)
+
+        # set minimum signal amplitude
+        min_sig_amp = 3.162 * self.noise_floor  # 10 dB SNR
+
+        # Mode S messages
+        messages = []
+
+        buffer_length = len(self.signal_buffer)
+
+        i = 0
+        while i < buffer_length:
+            if self.signal_buffer[i] < min_sig_amp:
+                i += 1
+                continue
+
+            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]
+
+                threshold = max(frame_pulses) * 0.2
+
+                msgbin = []
+                for j in range(0, frame_length, 2):
+                    p2 = frame_pulses[j : j + 2]
+                    if len(p2) < 2:
+                        break
+
+                    if p2[0] < threshold and p2[1] < threshold:
+                        break
+                    elif p2[0] >= p2[1]:
+                        c = 1
+                    elif p2[0] < p2[1]:
+                        c = 0
+                    else:
+                        msgbin = []
+                        break
+
+                    msgbin.append(c)
+
+                # advance i with a jump
+                i = frame_start + j
+
+                if len(msgbin) > 0:
+                    msghex = pms.bin2hex("".join([str(i) for i in 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
+
+        # reset the buffer
+        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):
+        amp = np.absolute(data)
+        self.signal_buffer.extend(amp.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, *args, **kwargs):
+        self.sdr.close()
+
+    def run(self, raw_pipe_in=None, stop_flag=None, exception_queue=None):
+        self.raw_pipe_in = raw_pipe_in
+        self.stop_flag = stop_flag
+
+        try:
+            # raise RuntimeError("test exception")
+
+            while True:
+                data = self.sdr.read_samples(read_size)
+                self._read_callback(data, None)
+
+        except Exception as e:
+            tb = traceback.format_exc()
+            if exception_queue is not None:
+                exception_queue.put(tb)
+            raise e
+
+
+if __name__ == "__main__":
+    import signal
+
+    rtl = RtlReader()
+    signal.signal(signal.SIGINT, rtl.stop)
+
+    rtl.debug = True
+    rtl.run()

pyModeS/extra/tcpclient.py

@@ -0,0 +1,297 @@
+"""Stream beast raw data from a TCP server, convert to mode-s messages."""
+
+import os
+import sys
+import time
+import pyModeS as pms
+import traceback
+import zmq
+
+if sys.version_info > (3, 0):
+    PY_VERSION = 3
+else:
+    PY_VERSION = 2
+
+
+class TcpClient(object):
+    def __init__(self, host, port, datatype):
+        super(TcpClient, self).__init__()
+        self.host = host
+        self.port = port
+        self.buffer = []
+        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)
+
+        self.raw_pipe_in = None
+        self.stop_flag = False
+
+    def connect(self):
+        self.socket = zmq.Context().socket(zmq.STREAM)
+        self.socket.setsockopt(zmq.LINGER, 0)
+        self.socket.setsockopt(zmq.RCVTIMEO, 10000)
+        self.socket.connect("tcp://%s:%s" % (self.host, self.port))
+
+    def stop(self):
+        self.socket.disconnect()
+
+    def read_raw_buffer(self):
+        """ Read raw ADS-B data type.
+
+        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
+                ts = time.time()
+                messages.append([self.current_msg, ts])
+            if b == 42:
+                msg_stop = False
+                self.current_msg = ""
+
+            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 = []
+
+        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,
+            7 byte Mode-S short frame
+        <esc> "3" : 6 byte MLAT timestamp, 1 byte signal level,
+            14 byte Mode-S long frame
+        <esc> "4" : 6 byte MLAT timestamp, status data, DIP switch
+            configuration settings (not on Mode-S Beast classic)
+        <esc><esc>: true 0x1a
+        <esc> is 0x1a, and "1", "2" and "3" are 0x31, 0x32 and 0x33
+
+        timestamp:
+        wiki.modesbeast.com/Radarcape:Firmware_Versions#The_GPS_timestamp
+        """
+        messages_mlat = []
+        msg = []
+        i = 0
+
+        # process the buffer until the last divider <esc> 0x1a
+        # then, reset the self.buffer with the remainder
+
+        while i < len(self.buffer):
+            if self.buffer[i : i + 2] == [0x1A, 0x1A]:
+                msg.append(0x1A)
+                i += 1
+            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:
+                if i == len(self.buffer) - 1:
+                    # special case where the last bit is 0x1a
+                    msg.append(0x1A)
+                elif len(msg) > 0:
+                    messages_mlat.append(msg)
+                    msg = []
+            else:
+                msg.append(self.buffer[i])
+            i += 1
+
+        # save the reminder for next reading cycle, if not empty
+        if len(msg) > 0:
+            reminder = []
+            for i, m in enumerate(msg):
+                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
+        else:
+            self.buffer = []
+
+        # extract messages
+        messages = []
+        for mm in messages_mlat:
+            ts = time.time()
+
+            msgtype = mm[0]
+            # print(''.join('%02X' % i for i in mm))
+
+            if msgtype == 0x32:
+                # Mode-S Short Message, 7 byte, 14-len hexstr
+                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])
+            else:
+                # Other message tupe
+                continue
+
+            if len(msg) not in [14, 28]:
+                continue
+
+            df = pms.df(msg)
+
+            # skip incomplete message
+            if df in [0, 4, 5, 11] and len(msg) != 14:
+                continue
+            if df in [16, 17, 18, 19, 20, 21, 24] and len(msg) != 28:
+                continue
+
+            messages.append([msg, ts])
+        return messages
+
+    def read_skysense_buffer(self):
+        """Skysense stream format.
+
+        ::
+
+            ----------------------------------------------------------------------------------
+            Field      SS MS MS MS MS MS MS MS MS MS MS MS MS MS MS TS TS TS TS TS TS RS RS RS
+            ----------------------------------------------------------------------------------
+            Position:   0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
+            ----------------------------------------------------------------------------------
+
+            SS field - Start character
+            Position 0:
+              1 byte = 8 bits
+              Start character '$'
+
+            MS field - Payload
+            Position 1 through 14:
+              14 bytes = 112 bits
+              Mode-S payload
+              In case of DF types that only carry 7 bytes of information
+                position 8 through 14 are set to 0x00.
+
+            TS field - Time stamp
+            Position 15 through 20:
+              6 bytes = 48 bits
+              Time stamp with fields as:
+
+                Lock Status - Status of internal time keeping mechanism
+                Equal to 1 if operating normally
+                Bit 47 - 1 bit
+
+                Time of day in UTC seconds, between 0 and 86399
+                Bits 46 through 30 - 17 bits
+
+                Nanoseconds into current second, between 0 and 999999999
+                Bits 29 through 0 - 30 bits
+
+            RS field - Signal Level
+            Position 21 through 23:
+              3 bytes = 24 bits
+              RSSI (received signal strength indication) and relative
+                noise level with fields
+
+              RNL, Q12.4 unsigned fixed point binary with 4 fractional
+                bits and 8 integer bits.
+              This is and indication of the noise level of the message.
+                Roughly 40 counts per 10dBm.
+              Bits 23 through 12 - 12 bits
+
+              RSSI, Q12.4 unsigned fixed point binary with 4 fractional
+                bits and 8 integer bits.
+              This is an indication of the signal level of the received
+                message in ADC counts. Roughly 40 counts per 10dBm.
+              Bits 11 through 0 - 12 bits
+        """
+        SS_MSGLENGTH = 24
+        SS_STARTCHAR = 0x24
+
+        if len(self.buffer) <= SS_MSGLENGTH:
+            return None
+
+        messages = []
+        while len(self.buffer) > SS_MSGLENGTH:
+            i = 0
+            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]
+                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
+                i += 6
+                # Signal and noise level - Don't care for now
+                i += 3
+                self.buffer = self.buffer[SS_MSGLENGTH:]
+                messages.append([msg, ts])
+            else:
+                self.buffer = self.buffer[1:]
+        return 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))
+
+    def run(self, raw_pipe_in=None, stop_flag=None, exception_queue=None):
+        self.raw_pipe_in = raw_pipe_in
+        self.stop_flag = stop_flag
+        self.connect()
+
+        while True:
+            try:
+                received = [i for i in self.socket.recv(4096)]
+
+                if PY_VERSION == 2:
+                    received = [ord(i) for i in received]
+
+                self.buffer.extend(received)
+                # print(''.join(x.encode('hex') for x in self.buffer))
+
+                if self.datatype == "beast":
+                    messages = self.read_beast_buffer()
+                elif self.datatype == "raw":
+                    messages = self.read_raw_buffer()
+                elif self.datatype == "skysense":
+                    messages = self.read_skysense_buffer()
+
+                if not messages:
+                    continue
+                else:
+                    self.handle_messages(messages)
+
+                # raise RuntimeError("test exception")
+
+            except Exception as e:
+                tb = traceback.format_exc()
+                exception_queue.put(tb)
+                raise e
+
+
+if __name__ == "__main__":
+    # for testing purpose only
+    host = sys.argv[1]
+    port = int(sys.argv[2])
+    datatype = sys.argv[3]
+    client = TcpClient(host=host, port=port, datatype=datatype)
+    client.run()

pyModeS/streamer/decode.py

@@ -0,0 +1,288 @@
+import os
+import time
+import datetime
+import csv
+import pyModeS as pms
+
+
+class Decode:
+    def __init__(self, latlon=None, dumpto=None):
+
+        self.acs = dict()
+
+        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
+
+        if dumpto is not None and os.path.isdir(dumpto):
+            self.dumpto = dumpto
+        else:
+            self.dumpto = None
+
+    def process_raw(self, adsb_ts, adsb_msg, commb_ts, commb_msg, tnow=None):
+        """process a chunk of adsb and commb messages received in the same
+        time period.
+        """
+        if tnow is None:
+            tnow = time.time()
+
+        self.t = tnow
+
+        local_updated_acs_buffer = []
+        output_buffer = []
+
+        # process adsb message
+        for t, msg in zip(adsb_ts, adsb_msg):
+            icao = pms.icao(msg)
+            tc = pms.adsb.typecode(msg)
+
+            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,
+                }
+
+            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])
+
+            if (5 <= tc <= 8) or (tc == 19):
+                vdata = pms.adsb.velocity(msg)
+                if vdata is None:
+                    continue
+
+                spd, trk, roc, tag = vdata
+                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
+
+                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:
+                oe = pms.adsb.oe_flag(msg)
+                self.acs[icao][oe] = msg
+                self.acs[icao]["t" + str(oe)] = t
+
+                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"]
+                    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)
+                ):
+                    # 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,
+                        )
+                    except:
+                        # mix of surface and airborne position message
+                        continue
+                else:
+                    latlon = None
+
+                if latlon is not None:
+                    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
+
+                    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)
+
+            # 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):
+                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 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)
+
+            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)
+
+            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)
+
+        # process commb message
+        for t, msg in zip(commb_ts, commb_msg):
+            icao = pms.icao(msg)
+
+            if icao not in self.acs:
+                continue
+
+            self.acs[icao]["live"] = int(t)
+
+            bds = pms.bds.infer(msg)
+
+            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
+                if 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])
+                if rtrk50:
+                    self.acs[icao]["rtrk"] = rtrk50
+                    output_buffer.append([t, icao, "rtrk50", rtrk50])
+
+                if trk50:
+                    output_buffer.append([t, icao, "trk50", trk50])
+                if gs50:
+                    output_buffer.append([t, icao, "gs50", gs50])
+
+            elif bds == "BDS60":
+                ias60 = pms.commb.ias60(msg)
+                hdg60 = pms.commb.hdg60(msg)
+                mach60 = pms.commb.mach60(msg)
+                roc60baro = pms.commb.vr60baro(msg)
+                roc60ins = pms.commb.vr60ins(msg)
+
+                if ias60 or hdg60 or mach60:
+                    self.acs[icao]["t60"] = t
+                if ias60:
+                    self.acs[icao]["ias"] = ias60
+                if hdg60:
+                    self.acs[icao]["hdg"] = hdg60
+                if mach60:
+                    self.acs[icao]["mach"] = mach60
+
+                if roc60baro:
+                    output_buffer.append([t, icao, "roc60baro", roc60baro])
+                if 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:
+                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
+            output_buffer.sort(key=lambda x: x[0])
+            with open(fn, "a") as f:
+                writer = csv.writer(f)
+                writer.writerows(output_buffer)
+
+        return
+
+    def get_aircraft(self):
+        """all aircraft that are stored in memory"""
+        acs = self.acs
+        return acs
+
+    def run(self, raw_pipe_out, ac_pipe_in, exception_queue):
+        local_buffer = []
+        while True:
+            try:
+                while raw_pipe_out.poll():
+                    data = raw_pipe_out.recv()
+                    local_buffer.append(data)
+
+                for data in local_buffer:
+                    self.process_raw(
+                        data["adsb_ts"],
+                        data["adsb_msg"],
+                        data["commb_ts"],
+                        data["commb_msg"],
+                    )
+                local_buffer = []
+
+                acs = self.get_aircraft()
+                ac_pipe_in.send(acs)
+                time.sleep(0.001)
+
+            except Exception as e:
+                tb = traceback.format_exc()
+                exception_queue.put((e, tb))

pyModeS/streamer/modeslive

@@ -0,0 +1,154 @@
+#!/usr/bin/env python
+
+import os
+import sys
+import time
+import argparse
+import curses
+import signal
+import multiprocessing
+from pyModeS.streamer.decode import Decode
+from pyModeS.streamer.screen import Screen
+from pyModeS.streamer.source import NetSource, RtlSdrSource
+
+
+# redirect all stdout to null, avoiding messing up with the screen
+sys.stdout = open(os.devnull, "w")
+
+support_rawtypes = ["raw", "beast", "skysense"]
+
+parser = argparse.ArgumentParser()
+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()
+
+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, available 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 not os.path.isdir(DUMPTO):
+        print("Error: dump folder (%s) does not exist" % DUMPTO)
+        sys.exit(1)
+
+
+raw_pipe_in, raw_pipe_out = multiprocessing.Pipe()
+ac_pipe_in, ac_pipe_out = multiprocessing.Pipe()
+exception_queue = multiprocessing.Queue()
+stop_flag = multiprocessing.Value("b", False)
+
+if SOURCE == "net":
+    source = NetSource(host=SERVER, port=PORT, rawtype=DATATYPE)
+elif SOURCE == "rtlsdr":
+    source = RtlSdrSource()
+
+
+recv_process = multiprocessing.Process(
+    target=source.run, args=(raw_pipe_in, stop_flag, exception_queue)
+)
+
+
+decode = Decode(latlon=LATLON, dumpto=DUMPTO)
+decode_process = multiprocessing.Process(
+    target=decode.run, args=(raw_pipe_out, ac_pipe_in, exception_queue)
+)
+
+screen = Screen(uncertainty=UNCERTAINTY)
+screen_process = multiprocessing.Process(
+    target=screen.run, args=(ac_pipe_out, exception_queue)
+)
+
+
+def shutdown():
+    stop_flag.value = True
+    curses.endwin()
+    sys.stdout = sys.__stdout__
+    recv_process.terminate()
+    decode_process.terminate()
+    screen_process.terminate()
+    recv_process.join()
+    decode_process.join()
+    screen_process.join()
+
+
+def closeall(signal, frame):
+    print("KeyboardInterrupt (ID: {}). Cleaning up...".format(signal))
+    shutdown()
+    sys.exit(0)
+
+
+signal.signal(signal.SIGINT, closeall)
+
+recv_process.start()
+decode_process.start()
+screen_process.start()
+
+
+while True:
+    if (
+        (not recv_process.is_alive())
+        or (not decode_process.is_alive())
+        or (not screen_process.is_alive())
+    ):
+        shutdown()
+        while not exception_queue.empty():
+            trackback = exception_queue.get()
+            print(trackback)
+
+        sys.exit(1)
+
+    time.sleep(0.01)

pyModeS/streamer/screen.py

@@ -0,0 +1,218 @@
+import curses
+import numpy as np
+import time
+import threading
+import traceback
+
+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),
+]
+
+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),
+]
+
+
+class Screen(object):
+    def __init__(self, uncertainty=False):
+        super(Screen, self).__init__()
+        self.screen = curses.initscr()
+        curses.noecho()
+        curses.mousemask(1)
+        self.screen.keypad(True)
+        self.y = 3
+        self.x = 1
+        self.offset = 0
+        self.acs = {}
+        self.lock_icao = None
+
+        self.columns = COLUMNS
+        if uncertainty:
+            self.columns.extend(UNCERTAINTY_COLUMNS)
+
+    def reset_cursor_pos(self):
+        self.screen.move(self.y, self.x)
+
+    def update_ac(self, acs):
+        self.acs = acs
+
+    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),
+        )
+
+    def update(self):
+        if len(self.acs) == 0:
+            return
+
+        resized = curses.is_term_resized(self.scr_h, self.scr_w)
+        if resized is True:
+            self.scr_h, self.scr_w = self.screen.getmaxyx()
+            self.screen.clear()
+            curses.resizeterm(self.scr_h, self.scr_w)
+
+        self.screen.refresh()
+        self.draw_frame()
+
+        row = 1
+
+        header = "  icao"
+        for c, cw in self.columns:
+            header += (cw - len(c)) * " " + c
+
+        # fill end with spaces
+        header += (self.scr_w - 2 - len(header)) * " "
+
+        if len(header) > self.scr_w - 2:
+            header = header[: self.scr_w - 3] + ">"
+
+        self.screen.addstr(row, 1, header)
+
+        row += 1
+        self.screen.addstr(row, 1, "-" * (self.scr_w - 2))
+
+        icaos = np.array(list(self.acs.keys()))
+        icaos = np.sort(icaos)
+
+        for row in range(3, self.scr_h - 3):
+            icao = None
+            idx = row + self.offset - 3
+
+            if idx > len(icaos) - 1:
+                line = " " * (self.scr_w - 2)
+
+            else:
+                line = ""
+
+                icao = icaos[idx]
+                ac = self.acs[icao]
+
+                line += icao
+
+                for c, cw in self.columns:
+                    if c == "|":
+                        val = "|"
+                    elif c == "live":
+                        val = str(ac[c] - int(time.time())) + "s"
+                    elif ac[c] is None:
+                        val = ""
+                    else:
+                        val = ac[c]
+                    val_str = str(val)
+                    line += (cw - len(val_str)) * " " + val_str
+
+                # fill end with spaces
+                line += (self.scr_w - 2 - len(line)) * " "
+
+                if len(line) > self.scr_w - 2:
+                    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)
+            elif row == self.y:
+                self.screen.addstr(row, 1, line, curses.A_BOLD)
+            else:
+                self.screen.addstr(row, 1, line)
+
+        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.reset_cursor_pos()
+
+    def kye_handling(self):
+        self.draw_frame()
+        self.scr_h, self.scr_w = self.screen.getmaxyx()
+
+        while True:
+            c = self.screen.getch()
+
+            if c == curses.KEY_HOME:
+                self.x = 1
+                self.y = 1
+            elif c == curses.KEY_NPAGE:
+                offset_intent = self.offset + (self.scr_h - 4)
+                if offset_intent < len(self.acs) - 5:
+                    self.offset = offset_intent
+            elif c == curses.KEY_PPAGE:
+                offset_intent = self.offset - (self.scr_h - 4)
+                if offset_intent > 0:
+                    self.offset = offset_intent
+                else:
+                    self.offset = 0
+            elif c == curses.KEY_DOWN:
+                y_intent = self.y + 1
+                if y_intent < self.scr_h - 3:
+                    self.y = y_intent
+            elif c == curses.KEY_UP:
+                y_intent = self.y - 1
+                if y_intent > 2:
+                    self.y = y_intent
+            elif c == curses.KEY_ENTER or c == 10 or c == 13:
+                self.lock_icao = (self.screen.instr(self.y, 1, 6)).decode()
+            elif c == 27:  # escape key
+                self.lock_icao = None
+            elif c == curses.KEY_F5:
+                self.screen.refresh()
+                self.draw_frame()
+
+    def run(self, ac_pipe_out, exception_queue):
+        local_buffer = []
+        key_thread = threading.Thread(target=self.kye_handling)
+        key_thread.daemon = True
+        key_thread.start()
+
+        while True:
+            try:
+                # raise RuntimeError("test exception")
+
+                while ac_pipe_out.poll():
+                    acs = ac_pipe_out.recv()
+                    local_buffer.append(acs)
+
+                for acs in local_buffer:
+                    self.update_ac(acs)
+
+                local_buffer = []
+
+                self.update()
+            except curses.error:
+                pass
+            except Exception as e:
+                tb = traceback.format_exc()
+                exception_queue.put(tb)
+                time.sleep(0.1)
+                raise e
+
+            time.sleep(0.001)

pyModeS/streamer/source.py

@@ -0,0 +1,91 @@
+import pyModeS as pms
+from pyModeS.extra.tcpclient import TcpClient
+from pyModeS.extra.rtlreader import RtlReader
+
+
+class NetSource(TcpClient):
+    def __init__(self, host, port, rawtype):
+        super(NetSource, self).__init__(host, port, rawtype)
+        self.reset_local_buffer()
+
+    def reset_local_buffer(self):
+        self.local_buffer_adsb_msg = []
+        self.local_buffer_adsb_ts = []
+        self.local_buffer_commb_msg = []
+        self.local_buffer_commb_ts = []
+
+    def handle_messages(self, messages):
+
+        if self.stop_flag.value is True:
+            self.stop()
+            return
+
+        for msg, t in messages:
+            if len(msg) < 28:  # only process long messages
+                continue
+
+            df = pms.df(msg)
+
+            if df == 17 or df == 18:
+                self.local_buffer_adsb_msg.append(msg)
+                self.local_buffer_adsb_ts.append(t)
+            elif df == 20 or df == 21:
+                self.local_buffer_commb_msg.append(msg)
+                self.local_buffer_commb_ts.append(t)
+            else:
+                continue
+
+        if len(self.local_buffer_adsb_msg) > 1:
+            self.raw_pipe_in.send(
+                {
+                    "adsb_ts": self.local_buffer_adsb_ts,
+                    "adsb_msg": self.local_buffer_adsb_msg,
+                    "commb_ts": self.local_buffer_commb_ts,
+                    "commb_msg": self.local_buffer_commb_msg,
+                }
+            )
+            self.reset_local_buffer()
+
+
+class RtlSdrSource(RtlReader):
+    def __init__(self):
+        super(RtlSdrSource, self).__init__()
+        self.reset_local_buffer()
+
+    def reset_local_buffer(self):
+        self.local_buffer_adsb_msg = []
+        self.local_buffer_adsb_ts = []
+        self.local_buffer_commb_msg = []
+        self.local_buffer_commb_ts = []
+
+    def handle_messages(self, messages):
+
+        if self.stop_flag.value is True:
+            self.stop()
+            return
+
+        for msg, t in messages:
+            if len(msg) < 28:  # only process long messages
+                continue
+
+            df = pms.df(msg)
+
+            if df == 17 or df == 18:
+                self.local_buffer_adsb_msg.append(msg)
+                self.local_buffer_adsb_ts.append(t)
+            elif df == 20 or df == 21:
+                self.local_buffer_commb_msg.append(msg)
+                self.local_buffer_commb_ts.append(t)
+            else:
+                continue
+
+        if len(self.local_buffer_adsb_msg) > 1:
+            self.raw_pipe_in.send(
+                {
+                    "adsb_ts": self.local_buffer_adsb_ts,
+                    "adsb_msg": self.local_buffer_adsb_msg,
+                    "commb_ts": self.local_buffer_commb_ts,
+                    "commb_msg": self.local_buffer_commb_msg,
+                }
+            )
+            self.reset_local_buffer()

pyModeS/util.py

@@ -1,87 +0,0 @@
-# Copyright (C) 2015 Junzi Sun (TU Delft)
-
-# This program 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 of the License, or
-# (at your option) any later version.
-
-# This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
-
-
-"""
-Common functions for ADS-B and Mode-S EHS decoder
-"""
-
-
-import math
-
-# the polynominal generattor code for CRC
-GENERATOR = "1111111111111010000001001"
-
-
-def hex2bin(hexstr):
-    """Convert a hexdecimal string to binary string, with zero fillings. """
-    scale = 16
-    num_of_bits = len(hexstr) * math.log(scale, 2)
-    binstr = bin(int(hexstr, scale))[2:].zfill(int(num_of_bits))
-    return binstr
-
-
-def bin2int(binstr):
-    """Convert a binary string to integer. """
-    return int(binstr, 2)
-
-
-def hex2int(hexstr):
-    """Convert a hexdecimal string to integer. """
-    return int(hexstr, 16)
-
-
-def df(msg):
-    """Decode Downlink Format vaule, bits 1 to 5."""
-    msgbin = hex2bin(msg)
-    return bin2int(msgbin[0:5])
-
-
-def crc(msg, encode=False):
-    """Mode-S Cyclic Redundancy Check
-    Detect if bit error occurs in the Mode-S message
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-        encode (bool): True to encode the date only and return the checksum
-    Returns:
-        string: message checksum, or partity bits (encoder)
-    """
-
-    msgbin = list(hex2bin(msg))
-
-    if encode:
-        msgbin[-24:] = ['0'] * 24
-
-    # loop all bits, except last 24 piraty bits
-    for i in range(len(msgbin)-24):
-        # if 1, perform modulo 2 multiplication,
-        if msgbin[i] == '1':
-            for j in range(len(GENERATOR)):
-                # modulo 2 multiplication = XOR
-                msgbin[i+j] = str((int(msgbin[i+j]) ^ int(GENERATOR[j])))
-
-    # last 24 bits
-    reminder = ''.join(msgbin[-24:])
-    return reminder
-
-
-def floor(x):
-    """ Mode-S floor function
-
-        Defined as the greatest integer value k, such that k <= x
-
-        eg.: floor(3.6) = 3, while floor(-3.6) = -4
-    """
-    return int(math.floor(x))

setup.py

@@ -4,9 +4,9 @@ See:
 https://packaging.python.org/en/latest/distributing.html
 https://github.com/pypa/sampleproject
 
-Steps for deploying a new verison:
+Steps for deploying a new version:
 1. Increase the version number
-2. remove the old deployment under [dist] folder
+2. remove the old deployment under [dist] and [build] folder
 3. run: python setup.py sdist
    run: python setup.py bdist_wheel --universal
 4. twine upload dist/*
@@ -14,6 +14,14 @@ Steps for deploying a new verison:
 
 # Always prefer setuptools over distutils
 from setuptools import setup, find_packages
+
+# Compile some parts
+from setuptools.extension import Extension
+from Cython.Build import cythonize
+
+extensions = [Extension("pyModeS.c_common", ["pyModeS/c_common.pyx"])]
+
+
 # To use a consistent encoding
 from codecs import open
 from os import path
@@ -21,73 +29,55 @@ from os import path
 here = path.abspath(path.dirname(__file__))
 
 # Get the long description from the README file
-with open(path.join(here, 'README.rst'), encoding='utf-8') as f:
+with open(path.join(here, "README.rst"), encoding="utf-8") as f:
     long_description = f.read()
 
 setup(
-    name='pyModeS',
-
+    name="pyModeS",
     # Versions should comply with PEP440.  For a discussion on single-sourcing
     # the version across setup.py and the project code, see
     # https://packaging.python.org/en/latest/single_source_version.html
-    version='1.1.1',
-
-    description='Python Mode-S Decoder',
+    version="2.5",
+    description="Python Mode-S and ADS-B Decoder",
     long_description=long_description,
-
     # The project's main homepage.
-    url='https://github.com/junzis/pyModes',
-
+    url="https://github.com/junzis/pyModeS",
     # Author details
-    author='Junzi Sun',
-    author_email='j.sun-1@tudelft.nl',
-
+    author="Junzi Sun",
+    author_email="j.sun-1@tudelft.nl",
     # Choose your license
-    license='GNU GPL v3',
-
+    license="GNU GPL v3",
     # See https://pypi.python.org/pypi?%3Aaction=list_classifiers
     classifiers=[
         # How mature is this project? Common values are
         #   3 - Alpha
         #   4 - Beta
         #   5 - Production/Stable
-        'Development Status :: 3 - Alpha',
-
+        "Development Status :: 4 - Beta",
         # Indicate who your project is intended for
-        'Intended Audience :: Developers',
-        'Topic :: Software Development :: Build Tools',
-
+        "Intended Audience :: Developers",
+        "Topic :: Software Development :: Libraries",
         # Pick your license as you wish (should match "license" above)
-        'License :: OSI Approved :: MIT License',
-
+        "License :: OSI Approved :: GNU General Public License v3 (GPLv3)",
         # Specify the Python versions you support here. In particular, ensure
         # that you indicate whether you support Python 2, Python 3 or both.
-        'Programming Language :: Python :: 2',
-        'Programming Language :: Python :: 2.6',
-        'Programming Language :: Python :: 2.7',
-        'Programming Language :: Python :: 3',
-        'Programming Language :: Python :: 3.3',
-        'Programming Language :: Python :: 3.4',
-        'Programming Language :: Python :: 3.5',
+        # "Programming Language :: Python :: 2",
+        "Programming Language :: Python :: 3",
     ],
-
+    ext_modules=cythonize(extensions),
     # What does your project relate to?
-    keywords='Mode-S ADS-B EHS decoding',
-
+    keywords="Mode-S ADS-B EHS ELS Comm-B",
     # You can just specify the packages manually here if your project is
     # simple. Or you can use find_packages().
-    packages=find_packages(exclude=['contrib', 'docs', 'tests']),
-
+    packages=find_packages(exclude=["contrib", "docs", "tests"]),
     # Alternatively, if you want to distribute just a my_module.py, uncomment
     # this:
     #   py_modules=["my_module"],
-
     # List run-time dependencies here.  These will be installed by pip when
     # your project is installed. For an analysis of "install_requires" vs pip's
     # requirements files see:
     # https://packaging.python.org/en/latest/requirements.html
-    install_requires=[''],
-
+    install_requires=["numpy", "pyzmq", "pyrtlsdr"],
     # List additional groups of dependencies here (e.g. development
     # dependencies). You can install these using the following syntax,
     # for example:
@@ -96,20 +86,17 @@ setup(
     #     'dev': ['check-manifest'],
     #     'test': ['coverage'],
     # },
-
     # If there are data files included in your packages that need to be
     # installed, specify them here.  If using Python 2.6 or less, then these
     # have to be included in MANIFEST.in as well.
     # package_data={
     #     'sample': ['package_data.dat'],
     # },
-
     # Although 'package_data' is the preferred approach, in some case you may
     # need to place data files outside of your packages. See:
     # http://docs.python.org/3.4/distutils/setupscript.html#installing-additional-files # noqa
     # In this case, 'data_file' will be installed into '<sys.prefix>/my_data'
     # data_files=[('my_data', ['data/data_file'])],
-
     # To provide executable scripts, use entry points in preference to the
     # "scripts" keyword. Entry points provide cross-platform support and allow
     # pip to create the appropriate form of executable for the target platform.
@@ -118,4 +105,5 @@ setup(
     #         'sample=sample:main',
     #     ],
     # },
+    scripts=["pyModeS/streamer/modeslive"],
 )

tests/benchmark.py

@@ -0,0 +1,130 @@
+import sys
+import time
+import pandas as pd
+from tqdm import tqdm
+from pyModeS.decoder import adsb
+
+fin = sys.argv[1]
+
+df = pd.read_csv(fin, names=["ts", "df", "icao", "msg"])
+df_adsb = df[df["df"] == 17].copy()
+
+total = df_adsb.shape[0]
+
+
+def native():
+
+    from pyModeS.decoder import common
+
+    # airborne position
+    m_air_0 = None
+    m_air_1 = None
+
+    # surface position
+    m_surf_0 = None
+    m_surf_1 = None
+
+    for i, r in tqdm(df_adsb.iterrows(), total=total):
+        ts = r.ts
+        m = r.msg
+
+        downlink_format = common.df(m)
+        crc = common.crc(m)
+        icao = adsb.icao(m)
+        tc = adsb.typecode(m)
+
+        if 1 <= tc <= 4:
+            category = adsb.category(m)
+            callsign = adsb.callsign(m)
+        if tc == 19:
+            velocity = adsb.velocity(m)
+
+        if 5 <= tc <= 8:
+            if adsb.oe_flag(m):
+                m_surf_1 = m
+                t1 = ts
+            else:
+                m_surf_0 = m
+                t0 = ts
+
+            if m_surf_0 and m_surf_1:
+                position = adsb.surface_position(
+                    m_surf_0, m_surf_1, t0, t1, 50.01, 4.35
+                )
+                altitude = adsb.altitude(m)
+
+        if 9 <= tc <= 18:
+            if adsb.oe_flag(m):
+                m_air_1 = m
+                t1 = ts
+            else:
+                m_air_0 = m
+                t0 = ts
+
+            if m_air_0 and m_air_1:
+                position = adsb.position(m_air_0, m_air_1, t0, t1)
+                altitude = adsb.altitude(m)
+
+
+def cython():
+
+    from pyModeS.decoder import c_common as common
+
+    # airborne position
+    m_air_0 = None
+    m_air_1 = None
+
+    # surface position
+    m_surf_0 = None
+    m_surf_1 = None
+
+    for i, r in tqdm(df_adsb.iterrows(), total=total):
+        ts = r.ts
+        m = r.msg
+
+        downlink_format = common.df(m)
+        crc = common.crc(m)
+        icao = adsb.icao(m)
+        tc = adsb.typecode(m)
+
+        if 1 <= tc <= 4:
+            category = adsb.category(m)
+            callsign = adsb.callsign(m)
+        if tc == 19:
+            velocity = adsb.velocity(m)
+
+        if 5 <= tc <= 8:
+            if adsb.oe_flag(m):
+                m_surf_1 = m
+                t1 = ts
+            else:
+                m_surf_0 = m
+                t0 = ts
+
+            if m_surf_0 and m_surf_1:
+                position = adsb.surface_position(
+                    m_surf_0, m_surf_1, t0, t1, 50.01, 4.35
+                )
+                altitude = adsb.altitude(m)
+
+        if 9 <= tc <= 18:
+            if adsb.oe_flag(m):
+                m_air_1 = m
+                t1 = ts
+            else:
+                m_air_0 = m
+                t0 = ts
+
+            if m_air_0 and m_air_1:
+                position = adsb.position(m_air_0, m_air_1, t0, t1)
+                altitude = adsb.altitude(m)
+
+
+if __name__ == "__main__":
+    t1 = time.time()
+    native()
+    dt1 = time.time() - t1
+
+    t2 = time.time()
+    cython()
+    dt2 = time.time() - t2

tests/sample_data_test.py

@@ -1,83 +0,0 @@
-from pyModeS import adsb, ehs, util
-
-
-# === Decode sample data file ===
-
-def adsb_decode_all(n=None):
-    print("===== Decode all ADS-B sample data=====")
-    import csv
-    f = open('tests/sample_data_adsb.csv', 'rt')
-
-    msg0 = None
-    msg1 = None
-
-    for i, r in enumerate(csv.reader(f)):
-        if n and i > n:
-            break
-
-        ts = r[0]
-        m = r[1]
-        icao = adsb.icao(m)
-        tc = adsb.typecode(m)
-        if 1 <= tc <= 4:
-            print(ts, m, icao, tc, adsb.category(m), adsb.callsign(m))
-        if tc == 19:
-            print(ts, m, icao, tc, adsb.velocity(m))
-        if 5 <= tc <= 18:
-            if adsb.oe_flag(m):
-                msg1 = m
-                t1 = ts
-            else:
-                msg0 = m
-                t0 = ts
-
-            if msg0 and msg1:
-                pos = adsb.position(msg0, msg1, t0, t1)
-                alt = adsb.altitude(m)
-                print(ts, m, icao, tc, pos, alt)
-
-
-def ehs_decode_all(n=None):
-    print("===== Decode all Mode-S EHS sample data=====")
-    import csv
-    f = open('tests/sample_data_ehs.csv', 'rt')
-    for i, r in enumerate(csv.reader(f)):
-        if n and i > n:
-            break
-
-        ts = r[1]
-        m = r[2]
-        icao = ehs.icao(m)
-        vBDS = ehs.BDS(m)
-
-        if vBDS:
-            if isinstance(vBDS, list):
-                print(ts, m, icao, vBDS)
-            if vBDS == "BDS20":
-                print(ts, m, icao, vBDS, ehs.callsign(m))
-
-            if vBDS == "BDS40":
-                print(ts, m, icao, vBDS, ehs.alt40mcp(m),
-                      ehs.alt40fms(m), ehs.p40baro(m))
-
-            if vBDS == "BDS44":
-                print(ts, m, icao, vBDS, ehs.wind44(m),
-                      ehs.temp44(m), ehs.p44(m))
-
-            if vBDS == "BDS50":
-                print(ts, m, icao, vBDS, ehs.roll50(m), ehs.trk50(m),
-                      ehs.gs50(m), ehs.rtrk50(m), ehs.tas50(m))
-
-            if vBDS == "BDS53":
-                print(ts, m, icao, vBDS, ehs.hdg53(m), ehs.ias53(m),
-                      ehs.mach53(m), ehs.tas53(m), ehs.vr53(m))
-
-            if vBDS == "BDS60":
-                print(ts, m, icao, vBDS, ehs.hdg60(m), ehs.ias60(m),
-                      ehs.mach60(m), ehs.vr60baro(m), ehs.vr60ins(m))
-        else:
-            print(ts, m, icao, 'UNKNOWN')
-
-if __name__ == '__main__':
-    # adsb_decode_all(100)
-    ehs_decode_all(100)

tests/sample_run_adsb.py

@@ -0,0 +1,46 @@
+import sys
+import time
+import csv
+
+if len(sys.argv) > 1 and sys.argv[1] == "cython":
+    from pyModeS.c_decoder import adsb
+else:
+    from pyModeS.decoder import adsb
+
+print("===== Decode ADS-B sample data=====")
+
+f = open("tests/data/sample_data_adsb.csv", "rt")
+
+msg0 = None
+msg1 = None
+
+tstart = time.time()
+for i, r in enumerate(csv.reader(f)):
+
+    ts = int(r[0])
+    m = r[1].encode()
+
+    icao = adsb.icao(m)
+    tc = adsb.typecode(m)
+
+    if 1 <= tc <= 4:
+        print(ts, m, icao, tc, adsb.category(m), adsb.callsign(m))
+    if tc == 19:
+        print(ts, m, icao, tc, adsb.velocity(m))
+    if 5 <= tc <= 18:
+        if adsb.oe_flag(m):
+            msg1 = m
+            t1 = ts
+        else:
+            msg0 = m
+            t0 = ts
+
+        if msg0 and msg1:
+            pos = adsb.position(msg0, msg1, t0, t1)
+            alt = adsb.altitude(m)
+            print(ts, m, icao, tc, pos, alt)
+
+
+dt = time.time() - tstart
+
+print("Execution time: {} seconds".format(dt))

tests/sample_run_commb.py

@@ -0,0 +1,91 @@
+from pyModeS import commb, common, bds
+
+# === Decode sample data file ===
+
+
+def bds_info(BDS, m):
+    if BDS == "BDS10":
+        info = [commb.ovc10(m)]
+
+    elif BDS == "BDS17":
+        info = [i[-2:] for i in commb.cap17(m)]
+
+    elif BDS == "BDS20":
+        info = [commb.cs20(m)]
+
+    elif BDS == "BDS40":
+        info = (commb.selalt40mcp(m), commb.selalt40fms(m), commb.p40baro(m))
+
+    elif BDS == "BDS44":
+        info = (commb.wind44(m), commb.temp44(m), commb.p44(m), commb.hum44(m))
+
+    elif BDS == "BDS44REV":
+        info = (
+            commb.wind44(m, rev=True),
+            commb.temp44(m, rev=True),
+            commb.p44(m, rev=True),
+            commb.hum44(m, rev=True),
+        )
+
+    elif BDS == "BDS50":
+        info = (
+            commb.roll50(m),
+            commb.trk50(m),
+            commb.gs50(m),
+            commb.rtrk50(m),
+            commb.tas50(m),
+        )
+
+    elif BDS == "BDS60":
+        info = (
+            commb.hdg60(m),
+            commb.ias60(m),
+            commb.mach60(m),
+            commb.vr60baro(m),
+            commb.vr60ins(m),
+        )
+
+    else:
+        info = None
+
+    return info
+
+
+def commb_decode_all(df, n=None):
+    import csv
+
+    print("===== Decode Comm-B sample data (DF=%s)=====" % df)
+
+    f = open("tests/data/sample_data_commb_df%s.csv" % df, "rt")
+
+    for i, r in enumerate(csv.reader(f)):
+        if n and i > n:
+            break
+
+        ts = r[0]
+        m = r[2]
+
+        df = common.df(m)
+        icao = common.icao(m)
+        BDS = bds.infer(m)
+        code = common.altcode(m) if df == 20 else common.idcode(m)
+
+        if not BDS:
+            print(ts, m, icao, df, "%5s" % code, "UNKNOWN")
+            continue
+
+        if len(BDS.split(",")) > 1:
+            print(ts, m, icao, df, "%5s" % code, end=" ")
+            for i, _bds in enumerate(BDS.split(",")):
+                if i == 0:
+                    print(_bds, *bds_info(_bds, m))
+                else:
+                    print(" " * 55, _bds, *bds_info(_bds, m))
+
+        else:
+            print(ts, m, icao, df, "%5s" % code, BDS, *bds_info(BDS, m))
+
+
+if __name__ == "__main__":
+    commb_decode_all(df=20, n=100)
+    commb_decode_all(df=21, n=100)

tests/test_adsb.py

@@ -2,12 +2,13 @@ from pyModeS import adsb
 
 # === TEST ADS-B package ===
 
+
 def test_adsb_icao():
     assert adsb.icao("8D406B902015A678D4D220AA4BDA") == "406B90"
 
 
 def test_adsb_category():
-    assert adsb.category("8D406B902015A678D4D220AA4BDA") == 5
+    assert adsb.category("8D406B902015A678D4D220AA4BDA") == 0
 
 
 def test_adsb_callsign():
@@ -15,9 +16,22 @@ def test_adsb_callsign():
 
 
 def test_adsb_position():
-    pos = adsb.position("8D40058B58C901375147EFD09357",
-                        "8D40058B58C904A87F402D3B8C59",
-                        1446332400, 1446332405)
+    pos = adsb.position(
+        "8D40058B58C901375147EFD09357",
+        "8D40058B58C904A87F402D3B8C59",
+        1446332400,
+        1446332405,
+    )
+    assert pos == (49.81755, 6.08442)
+
+
+def test_adsb_position_swap_odd_even():
+    pos = adsb.position(
+        "8D40058B58C904A87F402D3B8C59",
+        "8D40058B58C901375147EFD09357",
+        1446332405,
+        1446332400,
+    )
     assert pos == (49.81755, 6.08442)
 
 
@@ -29,27 +43,29 @@ def test_adsb_position_with_ref():
 
 
 def test_adsb_airborne_position_with_ref():
-    pos = adsb.airborne_position_with_ref("8D40058B58C901375147EFD09357",
-                                          49.0, 6.0)
+    pos = adsb.airborne_position_with_ref("8D40058B58C901375147EFD09357", 49.0, 6.0)
     assert pos == (49.82410, 6.06785)
-    pos = adsb.airborne_position_with_ref("8D40058B58C904A87F402D3B8C59",
-                                          49.0, 6.0)
+    pos = adsb.airborne_position_with_ref("8D40058B58C904A87F402D3B8C59", 49.0, 6.0)
     assert pos == (49.81755, 6.08442)
 
 
 def test_adsb_surface_position_with_ref():
-    pos = adsb.surface_position_with_ref("8FC8200A3AB8F5F893096B000000",
-                                         -43.5, 172.5)
+    pos = adsb.surface_position_with_ref("8FC8200A3AB8F5F893096B000000", -43.5, 172.5)
     assert pos == (-43.48564, 172.53942)
 
 
 def test_adsb_surface_position():
-    pos = adsb.surface_position("8CC8200A3AC8F009BCDEF2000000",
-                                "8FC8200A3AB8F5F893096B000000",
-                                0, 2,
-                                -43.496, 172.558)
+    pos = adsb.surface_position(
+        "8CC8200A3AC8F009BCDEF2000000",
+        "8FC8200A3AB8F5F893096B000000",
+        0,
+        2,
+        -43.496,
+        172.558,
+    )
     assert pos == (-43.48564, 172.53942)
 
+
 def test_adsb_alt():
     assert adsb.altitude("8D40058B58C901375147EFD09357") == 39000
 
@@ -58,21 +74,22 @@ def test_adsb_velocity():
     vgs = adsb.velocity("8D485020994409940838175B284F")
     vas = adsb.velocity("8DA05F219B06B6AF189400CBC33F")
     vgs_surface = adsb.velocity("8FC8200A3AB8F5F893096B000000")
-    assert vgs == (159, 182.9, -832, 'GS')
-    assert vas == (376, 244.0, -2304, 'AS')
-    assert vgs_surface == (19.0, 42.2, 0 , 'GS')
+    assert vgs == (159, 182.88, -832, "GS")
+    assert vas == (375, 243.98, -2304, "TAS")
+    assert vgs_surface == (19.0, 42.2, 0, "GS")
+    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

tests/test_bds_inference.py

@@ -0,0 +1,36 @@
+from pyModeS import bds
+
+
+def test_bds_infer():
+    assert bds.infer("8D406B902015A678D4D220AA4BDA") == "BDS08"
+    assert bds.infer("8FC8200A3AB8F5F893096B000000") == "BDS06"
+    assert bds.infer("8D40058B58C901375147EFD09357") == "BDS05"
+    assert bds.infer("8D485020994409940838175B284F") == "BDS09"
+
+    assert bds.infer("A800178D10010080F50000D5893C") == "BDS10"
+    assert bds.infer("A0000638FA81C10000000081A92F") == "BDS17"
+    assert bds.infer("A0001838201584F23468207CDFA5") == "BDS20"
+    assert bds.infer("A0001839CA3800315800007448D9") == "BDS40"
+    assert bds.infer("A000139381951536E024D4CCF6B5") == "BDS50"
+    assert bds.infer("A00004128F39F91A7E27C46ADC21") == "BDS60"
+
+
+def test_bds_is50or60():
+    assert bds.is50or60("A0001838201584F23468207CDFA5", 0, 0, 0) == None
+    assert bds.is50or60("A0000000FFDA9517000464000000", 182, 237, 1250) == "BDS50"
+    assert bds.is50or60("A0000000919A5927E23444000000", 413, 54, 18700) == "BDS60"
+
+
+def test_surface_position():
+    msg0 = "8FE48C033A9FA184B934E744C6FD"
+    msg1 = "8FE48C033A9FA68F7C3D39B1C2F0"
+
+    t0 = 1565608663102
+    t1 = 1565608666214
+
+    lat_ref = -23.4265448
+    lon_ref = -46.4816258
+
+    lat, lon = bds.bds06.surface_position(msg0, msg1, t0, t1, lat_ref, lon_ref)
+
+    assert abs(lon_ref - lon) < 0.05

tests/test_c_common.py

@@ -0,0 +1,58 @@
+try:
+    from pyModeS.decoder import c_common as common
+
+    def test_conversions():
+        assert common.hex2bin("6E406B") == "011011100100000001101011"
+
+    def test_crc_decode():
+
+        assert common.crc("8D406B902015A678D4D220AA4BDA") == 0
+        assert common.crc("8d8960ed58bf053cf11bc5932b7d") == 0
+        assert common.crc("8d45cab390c39509496ca9a32912") == 0
+        assert common.crc("8d74802958c904e6ef4ba0184d5c") == 0
+        assert common.crc("8d4400cd9b0000b4f87000e71a10") == 0
+        assert common.crc("8d4065de58a1054a7ef0218e226a") == 0
+
+        assert common.crc("c80b2dca34aa21dd821a04cb64d4") == 10719924
+        assert common.crc("a800089d8094e33a6004e4b8a522") == 4805588
+        assert common.crc("a8000614a50b6d32bed000bbe0ed") == 5659991
+        assert common.crc("a0000410bc900010a40000f5f477") == 11727682
+        assert common.crc("8d4ca251204994b1c36e60a5343d") == 16
+        assert common.crc("b0001718c65632b0a82040715b65") == 353333
+
+    def test_crc_encode():
+        parity = common.crc("8D406B902015A678D4D220AA4BDA", encode=True)
+        assert parity == 11160538
+
+    def test_icao():
+        assert common.icao("8D406B902015A678D4D220AA4BDA") == "406B90"
+        assert common.icao("A0001839CA3800315800007448D9") == "400940"
+        assert common.icao("A000139381951536E024D4CCF6B5") == "3C4DD2"
+        assert common.icao("A000029CFFBAA11E2004727281F1") == "4243D0"
+
+    def test_modes_altcode():
+        assert common.altcode("A02014B400000000000000F9D514") == 32300
+
+    def test_modes_idcode():
+        assert common.idcode("A800292DFFBBA9383FFCEB903D01") == "1346"
+
+    def test_graycode_to_altitude():
+        assert common.gray2alt("00000000010") == -1000
+        assert common.gray2alt("00000001010") == -500
+        assert common.gray2alt("00000011011") == -100
+        assert common.gray2alt("00000011010") == 0
+        assert common.gray2alt("00000011110") == 100
+        assert common.gray2alt("00000010011") == 600
+        assert common.gray2alt("00000110010") == 1000
+        assert common.gray2alt("00001001001") == 5800
+        assert common.gray2alt("00011100100") == 10300
+        assert common.gray2alt("01100011010") == 32000
+        assert common.gray2alt("01110000100") == 46300
+        assert common.gray2alt("01010101100") == 50200
+        assert common.gray2alt("11011110100") == 73200
+        assert common.gray2alt("10000000011") == 126600
+        assert common.gray2alt("10000000001") == 126700
+
+
+except:
+    pass