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

@@ -5,6 +5,9 @@ __pycache__/
 *.py[cod]
 .pytest_cache/
 
+#cython
+*.c
+
 # C extensions
 *.so
 
@@ -58,3 +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

@@ -1,9 +1,43 @@
 The Python ADS-B/Mode-S Decoder
 ===============================
 
-If you find this project useful for your research, please cite our work (bibtex format):
+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.
 
-::
+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.
+
+Introduction
+------------
+
+pyModeS supports the decoding of following types of messages:
+
+- DF4 / DF20: Altitude code
+- DF5 / DF21: Identity code (squawk code)
+
+- 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
+
+
+
+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}},
@@ -16,95 +50,82 @@ If you find this project useful for your research, please cite our work (bibtex
 
 
 
-Introduction
----------------------
-PyModeS is a Python library designed to decode Mode-S (including ADS-B) message.
-Message with following Downlink Formats (DF) are supported:
-
-
-**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 replies**
-
-- 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
-
-
-**DF4 / DF20: Altitude code**
-
-**DF5 / DF21: Identity code (squawk code)**
-
 
 Resources
 -----------
-Checkout and contribute to this open-source project at:
+Check out and contribute to this open-source project at:
 https://github.com/junzis/pyModeS
 
 Detailed manual on Mode-S decoding is published at:
-https://mode-s.org/decode.
+https://mode-s.org/decode
 
-API documentation of pyModeS is at:
+The API documentation of pyModeS is at:
-http://pymodes.readthedocs.io
+https://mode-s.org/api
 
 
 
-Install
+Basic installation
--------
+-------------------
 
-To install latest version from the GitHub:
+Installation examples::
 
-::
+  # stable version
+  pip install pyModeS
 
+  # development version
   pip install git+https://github.com/junzis/pyModeS
 
 
-To install the stable version (2.0) from pip:
+Dependencies ``numpy``, ``pyzmq`` and ``pyrtlsdr`` are installed automatically during previous installations processes.
 
-::
+Advanced installation (using c modules)
+------------------------------------------
 
-  pip install pyModeS
+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)
-Live view traffic (modeslive)
 ----------------------------------------------------
-Supports **Mode-S Beast** and **AVR** raw stream
 
-::
+General usage::
 
-  modeslive --server [server_address] --port [tcp_port] --rawtype [beast,avr,skysense] --latlon [lat] [lon]  --dumpto [folder]
+  $ modeslive [-h] --source SOURCE [--connect SERVER PORT DATAYPE]
+              [--latlon LAT LON] [--show-uncertainty] [--dumpto DUMPTO]
 
-  Arguments:
+  arguments:
    -h, --help            show this help message and exit
-    --server SERVER      server address or IP
+   --source SOURCE       Choose data source, "rtlsdr" or "net"
-    --port PORT          raw data port
+   --connect SERVER PORT DATATYPE
-    --rawtype RAWTYPE    beast, avr or skysense
+                         Define server, port and data type. Supported data
-    --latlon LAT LON     receiver position
+                         types are: ['raw', 'beast', 'skysense']
-    --show-uncertainty   display uncertaint values, default off
+   --latlon LAT LON      Receiver latitude and longitude, needed for the surface
-    --dumpto             folder to dump decoded output
+                         position, default none
+   --show-uncertainty    Display uncertainty values, default off
+   --dumpto DUMPTO       Folder to dump decoded output, default none
 
 
-If you have a RTL-SDR receiver or Mode-S Beast, use modesmixer2 (http://xdeco.org/?page_id=48) to create raw beast TCP stream:
+Live with RTL-SDR
+*******************
+
+If you have an RTL-SDR receiver plugged to the computer, you can connect it with ``rtlsdr`` source switch, shown as follows::
+
+  $ modeslive --source rtlsdr
+
+
+Live with network data
+***************************
+
+If you want to connect to a TCP server that broadcast raw data. use can use ``net`` source switch, for example::
+
+  $ modeslive --source net --connect localhost 30002 raw
+  $ modeslive --source net --connect 127.0.0.1 30005 beast
 
-::
 
-  $ modesmixer2 --inSeriel port[:speed[:flow_control]] --outServer beast:[tcp_port]
 
 Example screenshot:
 
@@ -132,7 +153,7 @@ Common functions
   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 interger
+  pms.gray2int(str)     # Convert grey code to integer
 
 
 Core functions for ADS-B decoding
@@ -146,10 +167,11 @@ Core functions for ADS-B decoding
   # Typecode 1-4
   pms.adsb.callsign(msg)
 
-  # Typecode 5-8 (surface), 9-18 (airborne, barometric height), and 9-18 (airborne, GNSS height)
+  # 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)
@@ -160,15 +182,10 @@ Core functions for ADS-B decoding
   # Typecode: 19
   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)
 
 
-Note: When you have a fix position of the aircraft, it is convenient to
+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.
-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.
 
 
 Decode altitude replies in DF4 / DF20
@@ -275,25 +292,24 @@ Meteorological hazard air report (MHR) [Experimental]
 
 Customize the streaming module
 ******************************
-The TCP client module from pyModeS can be re-used to stream and process Mode-S
+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.
-data as your like. You need to re-implement the ``handle_messages()`` function from
-the ``BaseClient`` class to write your own logic to handle the messages.
 
 Here is an example:
 
 .. code:: python
 
-  from pyModeS.extra.tcpclient import BaseClient
+  import pyModeS as pms
+  from pyModeS.extra.tcpclient import TcpClient
 
-  # define your custom class by extending the BaseClient
+  # define your custom class by extending the TcpClient
   #   - implement your handle_messages() methods
-  class ADSBClient(BaseClient):
+  class ADSBClient(TcpClient):
       def __init__(self, host, port, rawtype):
-          super(ModesClient, self).__init__(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
+              if len(msg) != 28:  # wrong data length
                   continue
 
               df = pms.df(msg)
@@ -301,24 +317,35 @@ Here is an example:
               if df != 17:  # not ADSB
                   continue
 
-              if '1' in pms.crc(msg):     # CRC fail
+              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
+              print(ts, icao, tc, msg)
 
   # run new client, change the host, port, and rawtype if needed
-  client = ADSBClient(host='127.0.0.1', port=30334, rawtype='beast')
+  client = ADSBClient(host='127.0.0.1', port=30005, rawtype='beast')
   client.run()
 
 
 Unit test
 ---------
-To perform unit tests. First install ``tox`` through pip, Then, run the following commands:
+To perform unit tests, ``pytest`` must be install first.
 
-.. code:: bash
+Build Cython extensions
+::
 
-  $ tox
+  $ make ext
+
+Run unit tests
+::
+
+  $ make test
+
+Clean build files
+::
+
+  $ make clean

doc/Makefile

@@ -17,5 +17,5 @@ help:
 # "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
 %: Makefile
 	rm -f source/pyModeS*.rst source/modules.rst
-	sphinx-apidoc -f -e -M -o source/ ../pyModeS
+	sphinx-apidoc -f -e -M -o source/ ../pyModeS  ../pyModeS/decoder/ehs.py ../pyModeS/decoder/els.py  ../pyModeS/streamer ../pyModeS/extra
 	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

doc/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

@@ -14,19 +14,20 @@
 #
 import os
 import sys
-sys.path.insert(0, os.path.abspath('../..'))
+
+sys.path.insert(0, os.path.abspath("../.."))
 
 
 # -- Project information -----------------------------------------------------
 
-project = 'pyModeS'
+project = "pyModeS"
-copyright = '2019, Junzi Sun'
+copyright = "2019, Junzi Sun"
-author = 'Junzi Sun'
+author = "Junzi Sun"
 
 # The short X.Y version
-version = ''
+version = ""
 # The full version, including alpha/beta/rc tags
-release = ''
+release = ""
 
 
 # -- General configuration ---------------------------------------------------
@@ -39,26 +40,24 @@ release = ''
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
 extensions = [
-    'sphinx.ext.autodoc',
+    "sphinx.ext.autodoc",
-    'sphinx.ext.todo',
+    "sphinx.ext.mathjax",
-    'sphinx.ext.coverage',
+    "sphinx.ext.viewcode",
-    'sphinx.ext.mathjax',
+    "sphinx.ext.githubpages",
-    'sphinx.ext.viewcode',
+    "sphinx.ext.napoleon",
-    'sphinx.ext.githubpages',
-    'sphinx.ext.napoleon',
 ]
 
 # Add any paths that contain templates here, relative to this directory.
-# templates_path = ['']
+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'
+source_suffix = ".rst"
 
 # The master toctree document.
-master_doc = 'index'
+master_doc = "index"
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
@@ -82,6 +81,10 @@ pygments_style = None
 # 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
@@ -108,7 +111,7 @@ pygments_style = None
 # -- Options for HTMLHelp output ---------------------------------------------
 
 # Output file base name for HTML help builder.
-htmlhelp_basename = 'pyModeSdoc'
+htmlhelp_basename = "pyModeSdoc"
 
 
 # -- Options for LaTeX output ------------------------------------------------
@@ -117,15 +120,12 @@ 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',
@@ -135,8 +135,7 @@ latex_elements = {
 # (source start file, target name, title,
 #  author, documentclass [howto, manual, or own class]).
 latex_documents = [
-    (master_doc, 'pyModeS.tex', 'pyModeS Documentation',
+    (master_doc, "pyModeS.tex", "pyModeS Documentation", "Junzi Sun", "manual")
-     'Junzi Sun', 'manual'),
 ]
 
 
@@ -144,10 +143,7 @@ latex_documents = [
 
 # One entry per manual page. List of tuples
 # (source start file, name, description, authors, manual section).
-man_pages = [
+man_pages = [(master_doc, "pymodes", "pyModeS Documentation", [author], 1)]
-    (master_doc, 'pymodes', 'pyModeS Documentation',
-     [author], 1)
-]
 
 
 # -- Options for Texinfo output ----------------------------------------------
@@ -156,9 +152,15 @@ man_pages = [
 # (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.',
+        master_doc,
-     'Miscellaneous'),
+        "pyModeS",
+        "pyModeS Documentation",
+        author,
+        "pyModeS",
+        "One line description of project.",
+        "Miscellaneous",
+    )
 ]
 
 
@@ -177,7 +179,7 @@ epub_title = project
 # epub_uid = ''
 
 # A list of files that should not be packed into the epub file.
-epub_exclude_files = ['search.html']
+epub_exclude_files = ["search.html"]
 
 
 # -- Extension configuration -------------------------------------------------

doc/source/index.rst

@@ -9,11 +9,49 @@ Welcome to pyModeS documentation!
 The source code can be found at: https://github.com/junzis/pyModeS
 
 .. toctree::
-   :maxdepth: 3
+  :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
 
-   pyModeS.decoder
-   pyModeS.streamer
-   pyModeS.extra
 
 
 ----

doc/source/make.bat

@@ -1,35 +0,0 @@
-@ECHO OFF
-
-pushd %~dp0
-
-REM Command file for Sphinx documentation
-
-if "%SPHINXBUILD%" == "" (
-	set SPHINXBUILD=sphinx-build
-)
-set SOURCEDIR=.
-set BUILDDIR=_build
-
-if "%1" == "" goto help
-
-%SPHINXBUILD% >NUL 2>NUL
-if errorlevel 9009 (
-	echo.
-	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
-	echo.installed, then set the SPHINXBUILD environment variable to point
-	echo.to the full path of the 'sphinx-build' executable. Alternatively you
-	echo.may add the Sphinx directory to PATH.
-	echo.
-	echo.If you don't have Sphinx installed, grab it from
-	echo.http://sphinx-doc.org/
-	exit /b 1
-)
-
-%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
-goto end
-
-:help
-%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
-
-:end
-popd

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.bds.rst

@@ -10,6 +10,7 @@ Submodules
 ----------
 
 .. toctree::
+   :maxdepth: 4
 
    pyModeS.decoder.bds.bds05
    pyModeS.decoder.bds.bds06
@@ -25,4 +26,3 @@ Submodules
    pyModeS.decoder.bds.bds50
    pyModeS.decoder.bds.bds53
    pyModeS.decoder.bds.bds60
-

doc/source/pyModeS.decoder.common.rst

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

doc/source/pyModeS.decoder.ehs.rst

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

doc/source/pyModeS.decoder.els.rst

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

doc/source/pyModeS.decoder.rst

@@ -10,6 +10,7 @@ Subpackages
 -----------
 
 .. toctree::
+   :maxdepth: 4
 
    pyModeS.decoder.bds
 
@@ -17,14 +18,12 @@ Submodules
 ----------
 
 .. toctree::
+   :maxdepth: 4
 
    pyModeS.decoder.acas
    pyModeS.decoder.adsb
    pyModeS.decoder.allcall
    pyModeS.decoder.commb
-   pyModeS.decoder.common
-   pyModeS.decoder.ehs
-   pyModeS.decoder.els
    pyModeS.decoder.surv
    pyModeS.decoder.uncertainty
-
+   pyModeS.decoder.uplink

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.extra.aero.rst

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

doc/source/pyModeS.extra.rst

@@ -1,16 +0,0 @@
-pyModeS.extra package
-=====================
-
-.. automodule:: pyModeS.extra
-    :members:
-    :undoc-members:
-    :show-inheritance:
-
-Submodules
-----------
-
-.. toctree::
-
-   pyModeS.extra.aero
-   pyModeS.extra.tcpclient
-

doc/source/pyModeS.extra.tcpclient.rst

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

doc/source/pyModeS.rst

@@ -10,8 +10,15 @@ Subpackages
 -----------
 
 .. toctree::
+   :maxdepth: 4
 
    pyModeS.decoder
-    pyModeS.extra
-    pyModeS.streamer
 
+Submodules
+----------
+
+.. toctree::
+   :maxdepth: 4
+
+   pyModeS.c_common
+   pyModeS.common

doc/source/pyModeS.streamer.rst

@@ -1,16 +0,0 @@
-pyModeS.streamer package
-========================
-
-.. automodule:: pyModeS.streamer
-    :members:
-    :undoc-members:
-    :show-inheritance:
-
-Submodules
-----------
-
-.. toctree::
-
-   pyModeS.streamer.screen
-   pyModeS.streamer.stream
-

doc/source/pyModeS.streamer.screen.rst

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

doc/source/pyModeS.streamer.stream.rst

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

pyModeS/__init__.py

@@ -1,15 +1,21 @@
-from __future__ import absolute_import, print_function, division
+import os
+import warnings
 
-from .decoder.common import *
+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 common
 from .decoder import bds
 from .extra import aero
 from .extra import tcpclient
 
-# from .decoder import els        # depricated
-# from .decoder import ehs        # depricated
 
-import os
+warnings.simplefilter("once", DeprecationWarning)
+
 dirpath = os.path.dirname(os.path.realpath(__file__))

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

@@ -1,7 +1,7 @@
-from __future__ import absolute_import, print_function, division
 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
@@ -14,35 +14,15 @@ def hex2int(hexstr):
     return int(hexstr, 16)
 
 
-def int2hex(n):
-    """Convert a integer to hexadecimal string."""
-    return hex(n)[2:].rjust(6, '0').upper()
-
-
 def bin2int(binstr):
     """Convert a binary string to integer."""
     return int(binstr, 2)
 
 
-def bin2hex(hexstr):
-    """Convert a hexdecimal string to integer."""
-    return int2hex(bin2int(hexstr))
-
-
-def bin2np(binstr):
-    """Convert a binary string to numpy array."""
-    return np.array([int(i) for i in binstr])
-
-
-def np2bin(npbin):
-    """Convert a binary numpy array to string."""
-    return np.array2string(npbin, separator='')[1:-1]
-
-
 def df(msg):
-    """Decode Downlink Format vaule, bits 1 to 5."""
+    """Decode Downlink Format value, bits 1 to 5."""
-    msgbin = hex2bin(msg)
+    dfbin = hex2bin(msg[:2])
-    return min(bin2int(msgbin[0:5]), 24)
+    return min(bin2int(dfbin[0:5]), 24)
 
 
 def crc(msg, encode=False):
@@ -59,10 +39,7 @@ def crc(msg, encode=False):
 
     """
     # the CRC generator
-    G = [
+    G = [int("11111111", 2), int("11111010", 2), int("00000100", 2), int("10000000", 2)]
-        int("11111111", 2), int("11111010", 2),
-        int("00000100", 2), int("10000000", 2)
-    ]
 
     if encode:
         msg = msg[:-6] + "000000"
@@ -71,16 +48,22 @@ def crc(msg, encode=False):
     msgbin_split = wrap(msgbin, 8)
     mbytes = list(map(bin2int, msgbin_split))
 
-    for ibyte in range(len(mbytes)-3):
+    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 + 1] = mbytes[ibyte + 1] ^ (
-                mbytes[ibyte+2] = mbytes[ibyte+2] ^ (0xFF & ((G[1] << 8-ibit) | (G[2] >> ibit)))
+                    0xFF & ((G[0] << 8 - ibit) | (G[1] >> ibit))
-                mbytes[ibyte+3] = mbytes[ibyte+3] ^ (0xFF & ((G[2] << 8-ibit) | (G[3] >> 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]
 
@@ -90,24 +73,28 @@ def crc(msg, encode=False):
 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])
+    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 = bin2np(hex2bin(msg))
+    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):
+    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)
+        msgnpbin[i : i + ng] = np.bitwise_xor(msgnpbin[i : i + ng], generator)
 
     # last 24 bits
-    reminder = bin2int(np2bin(msgnpbin[-24:]))
+    msgbin = np.array2string(msgnpbin[-24:], separator="")[1:-1]
+    reminder = bin2int(msgbin)
+
     return reminder
 
 
@@ -139,8 +126,8 @@ def icao(msg):
         addr = msg[2:8]
     elif DF in (0, 4, 5, 16, 20, 21):
         c0 = crc(msg, encode=True)
-        c1 = hex2int(msg[-6:])
+        c1 = int(msg[-6:], 16)
-        addr = '%06X' % (c0 ^ c1)
+        addr = "%06X" % (c0 ^ c1)
     else:
         addr = None
 
@@ -149,23 +136,33 @@ def icao(msg):
 
 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):
+    if (icao is None) or (not isinstance(icao, str)) or (len(icao) != 6):
         return False
 
-    icaoint = hex2int(icao)
+    icaoint = int(icao, 16)
 
-    if 0x200000 < icaoint < 0x27FFFF: return False      # AFI
+    if 0x200000 < icaoint < 0x27FFFF:
-    if 0x280000 < icaoint < 0x28FFFF: return False      # SAM
+        return False  # AFI
-    if 0x500000 < icaoint < 0x5FFFFF: return False      # EUR, NAT
+    if 0x280000 < icaoint < 0x28FFFF:
-    if 0x600000 < icaoint < 0x67FFFF: return False      # MID
+        return False  # SAM
-    if 0x680000 < icaoint < 0x6F0000: return False      # ASIA
+    if 0x500000 < icaoint < 0x5FFFFF:
-    if 0x900000 < icaoint < 0x9FFFFF: return False      # NAM, PAC
+        return False  # EUR, NAT
-    if 0xB00000 < icaoint < 0xBFFFFF: return False      # CAR
+    if 0x600000 < icaoint < 0x67FFFF:
-    if 0xD00000 < icaoint < 0xDFFFFF: return False      # future
+        return False  # MID
-    if 0xF00000 < icaoint < 0xFFFFFF: return False      # future
+    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
 
@@ -178,26 +175,24 @@ def typecode(msg):
     if df(msg) not in (17, 18):
         return None
 
-    msgbin = hex2bin(msg)
+    tcbin = hex2bin(msg[8:10])
-    return bin2int(msgbin[32:37])
+    return bin2int(tcbin[0:5])
 
 
 def cprNL(lat):
     """NL() function in CPR decoding."""
 
-    if lat == 0:
+    if np.isclose(lat, 0):
         return 59
-
+    elif np.isclose(abs(lat), 87):
-    if lat == 87 or lat == -87:
         return 2
-
+    elif lat > 87 or lat < -87:
-    if 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 = 2 * np.pi / (np.arccos(1 - a / b))
     NL = floor(nl)
     return NL
 
@@ -234,10 +229,10 @@ def idcode(msg):
     B4 = mbin[30]
     D4 = mbin[31]
 
-    byte1 = int(A4+A2+A1, 2)
+    byte1 = int(A4 + A2 + A1, 2)
-    byte2 = int(B4+B2+B1, 2)
+    byte2 = int(B4 + B2 + B1, 2)
-    byte3 = int(C4+C2+C1, 2)
+    byte3 = int(C4 + C2 + C1, 2)
-    byte4 = int(D4+D2+D1, 2)
+    byte4 = int(D4 + D2 + D1, 2)
 
     return str(byte1) + str(byte2) + str(byte3) + str(byte4)
 
@@ -264,12 +259,11 @@ def altcode(msg):
     mbit = mbin[25]  # M bit: 26
     qbit = mbin[27]  # Q bit: 28
 
-
+    if mbit == "0":  # unit in ft
-    if mbit == '0':         # unit in ft
+        if qbit == "1":  # 25ft interval
-        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
+        if qbit == "0":  # 100ft interval, above 50175ft
             C1 = mbin[19]
             A1 = mbin[20]
             C2 = mbin[21]
@@ -287,7 +281,7 @@ def altcode(msg):
             graystr = D2 + D4 + A1 + A2 + A4 + B1 + B2 + B4 + C1 + C2 + C4
             alt = gray2alt(graystr)
 
-    if mbit == '1':         # unit in meter
+    if mbit == "1":  # unit in meter
         vbin = mbin[19:25] + mbin[26:31]
         alt = int(bin2int(vbin) * 3.28084)  # convert to ft
 
@@ -308,20 +302,20 @@ def gray2alt(codestr):
     if n100 == 7:
         n100 = 5
 
-    if n500%2:
+    if n500 % 2:
         n100 = 6 - n100
 
-    alt = (n500*500 + n100*100) - 1300
+    alt = (n500 * 500 + n100 * 100) - 1300
     return alt
 
 
 def gray2int(graystr):
     """Convert greycode to binary."""
     num = bin2int(graystr)
-    num ^= (num >> 8)
+    num ^= num >> 8
-    num ^= (num >> 4)
+    num ^= num >> 4
-    num ^= (num >> 2)
+    num ^= num >> 2
-    num ^= (num >> 1)
+    num ^= num >> 1
     return num
 
 
@@ -355,8 +349,8 @@ def wrongstatus(data, sb, msb, lsb):
 
     """
     # status bit, most significant bit, least significant bit
-    status = int(data[sb-1])
+    status = int(data[sb - 1])
-    value = bin2int(data[msb-1:lsb])
+    value = bin2int(data[msb - 1 : lsb])
 
     if not status:
         if value != 0:

pyModeS/decoder/__init__.py

@@ -1,3 +1,142 @@
-from __future__ import absolute_import, print_function, division
+def tell(msg):
+    from pyModeS import common, adsb, commb, bds
 
-from pyModeS.decoder import *
+    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

@@ -1,23 +1,5 @@
-# Copyright (C) 2018 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/>.
-
 """
 Decoding Air-Air Surveillance (ACAS) DF=0/16
 
 [To be implemented]
 """
-
-from __future__ import absolute_import, print_function, division
-from pyModeS.decoder import common

pyModeS/decoder/adsb.py

@@ -1,100 +1,101 @@
-# Copyright (C) 2015 Junzi Sun (TU Delft)
+"""ADS-B module.
 
-# This program is free software: you can redistribute it and/or modify
+The ADS-B module also imports functions from the following modules:
-# 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,
+- pyModeS.decoder.bds.bds05: ``airborne_position()``, ``airborne_position_with_ref()``, ``altitude()``
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
+- pyModeS.decoder.bds.bds06: ``surface_position()``, ``surface_position_with_ref()``, ``surface_velocity()``
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+- pyModeS.decoder.bds.bds08: ``category()``, ``callsign()``
-# GNU General Public License for more details.
+- pyModeS.decoder.bds.bds09: ``airborne_velocity()``, ``altitude_diff()``
-
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <http://www.gnu.org/licenses/>.
-
-"""ADS-B Wrapper.
-
-The ADS-B wrapper also imports functions from the following modules:
-
-- pyModeS.decoder.bds.bds05
-    Functions: ``airborne_position``, ``airborne_position_with_ref``, ``altitude``
-- pyModeS.decoder.bds.bds06
-    Functions: ``surface_position``, ``surface_position_with_ref``, ``surface_velocity``
-- pyModeS.decoder.bds.bds08
-    Functions: ``category``, ``callsign``
-- pyModeS.decoder.bds.bds09
-    Functions: ``airborne_velocity``, ``altitude_diff``
 
 """
 
-from __future__ import absolute_import, print_function, division
-
 import pyModeS as pms
-from pyModeS.decoder import common
+
+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
+from pyModeS.decoder.bds.bds05 import (
-from pyModeS.decoder.bds.bds06 import surface_position, surface_position_with_ref, surface_velocity
+    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 position from a pair of even and odd position message
+    """Decode surface or airborne position from a pair of even and odd
-    (works with both airborne and surface position messages)
+    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 bytes hexadecimal string)
+        msg0 (string): even message (28 hexdigits)
-        msg1 (string): odd message (28 bytes hexadecimal string)
+        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 5 <= tc0 <= 8 and 5 <= tc1 <= 8:
-        if (not lat_ref) or (not lon_ref):
+        if lat_ref is None or lon_ref is None:
-            raise RuntimeError("Surface position encountered, a reference \
+            raise RuntimeError(
-                               position lat/lon required. Location of \
+                "Surface position encountered, a reference position"
-                               receiver can be used.")
+                " 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):
+    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):
+    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 inconsistant message types")
+        raise RuntimeError("Incorrect or inconsistent message types")
 
 
 def position_with_ref(msg, lat_ref, lon_ref):
-    """Decode position with only one message,
+    """Decode position with only one message.
-    knowing reference nearby location, such as previously
+
-    calculated location, ground station, or airport location, etc.
+    A reference position is required, which can be previously
-    Works with both airborne and surface position messages.
+    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 (string): even message (28 bytes hexadecimal string)
+        msg (str): even message (28 hexdigits)
         lat_ref: previous known latitude
         lon_ref: previous known longitude
 
@@ -104,78 +105,70 @@ def position_with_ref(msg, lat_ref, lon_ref):
 
     tc = typecode(msg)
 
-    if 5<=tc<=8:
+    if 5 <= tc <= 8:
         return surface_position_with_ref(msg, lat_ref, lon_ref)
 
-    elif 9<=tc<=18 or 20<=tc<=22:
+    elif 9 <= tc <= 18 or 20 <= tc <= 22:
         return airborne_position_with_ref(msg, lat_ref, lon_ref)
 
     else:
-        raise RuntimeError("incorrect or inconsistant message types")
+        raise RuntimeError("incorrect or inconsistent message types")
 
 
 def altitude(msg):
-    """Decode aircraft altitude
+    """Decode aircraft altitude.
 
     Args:
-        msg (string): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: altitude in feet
-    """
 
+    """
     tc = typecode(msg)
 
-    if tc<5 or tc==19 or tc>22:
+    if tc < 5 or tc == 19 or tc > 22:
         raise RuntimeError("%s: Not a position message" % msg)
 
-    if tc>=5 and tc<=8:
+    elif tc >= 5 and tc <= 8:
         # surface position, altitude 0
         return 0
 
-    msgbin = common.hex2bin(msg)
-    q = msgbin[47]
-    if q:
-        n = common.bin2int(msgbin[40:47]+msgbin[48:52])
-        alt = n * 25 - 1000
-        return alt
     else:
-        return None
+        # airborn position
+        return altitude05(msg)
 
 
-def velocity(msg, rtn_sources=False):
+def velocity(msg, source=False):
-    """Calculate the speed, heading, and vertical rate
+    """Calculate the speed, heading, and vertical rate (handles both airborne or surface message).
-    (handles both airborne or surface message)
 
     Args:
-        msg (string): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
-        rtn_source (boolean): If the function will return
+        source (boolean): Include direction and vertical rate sources in return. Default to False.
-            the sources for direction of travel and vertical
+            If set to True, the function will return six value instead of four.
-            rate. This will change the return value from a four
-            element array to a six element array.
 
     Returns:
-        (int, float, int, string, string, string): speed (kt),
+        int, float, int, string, [string], [string]: Four or six parameters, including:
-            ground track or heading (degree),
+            - Speed (kt)
-            rate of climb/descent (ft/min), speed type
+            - Angle (degree), either ground track or heading
-            ('GS' for ground speed, 'AS' for airspeed),
+            - Vertical rate (ft/min)
-            direction source ('true_north' for ground track / true north
+            - Speed type ('GS' for ground speed, 'AS' for airspeed)
-            as refrence, 'mag_north' for magnetic north as reference),
+            - [Optional] Direction source ('TRUE_NORTH' or 'MAGENTIC_NORTH')
-            rate of climb/descent source ('Baro' for barometer, 'GNSS'
+            - [Optional] Vertical rate source ('BARO' or 'GNSS')
-            for GNSS constellation).
+
+        For surface messages, vertical rate and its respective sources are set to None.
 
-            In the case of surface messages, None will be put in place
-            for vertical rate and its respective sources.
     """
-
     if 5 <= typecode(msg) <= 8:
-        return surface_velocity(msg, rtn_sources)
+        return surface_velocity(msg, source)
 
     elif typecode(msg) == 19:
-        return airborne_velocity(msg, rtn_sources)
+        return airborne_velocity(msg, source)
 
     else:
-        raise RuntimeError("incorrect or inconsistant message types, expecting 4<TC<9 or TC=19")
+        raise RuntimeError(
+            "incorrect or inconsistent message types, expecting 4<TC<9 or TC=19"
+        )
 
 
 def speed_heading(msg):
@@ -183,7 +176,7 @@ def speed_heading(msg):
     (handles both airborne or surface message)
 
     Args:
-        msg (string): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         (int, float): speed (kt), ground track or heading (degree)
@@ -195,7 +188,7 @@ def speed_heading(msg):
 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
+        msg (str): 28 hexdigits string
     Returns:
         int: 0 or 1, for even or odd frame
     """
@@ -207,7 +200,7 @@ def version(msg):
     """ADS-B Version
 
     Args:
-        msg (string): 28 bytes hexadecimal message string, TC = 31
+        msg (str): 28 hexdigits string, TC = 31
 
     Returns:
         int: version number
@@ -215,7 +208,9 @@ def version(msg):
     tc = typecode(msg)
 
     if tc != 31:
-        raise RuntimeError("%s: Not a status operation message, expecting TC = 31" % msg)
+        raise RuntimeError(
+            "%s: Not a status operation message, expecting TC = 31" % msg
+        )
 
     msgbin = common.hex2bin(msg)
     version = common.bin2int(msgbin[72:75])
@@ -227,7 +222,7 @@ def nuc_p(msg):
     """Calculate NUCp, Navigation Uncertainty Category - Position (ADS-B version 1)
 
     Args:
-        msg (string): 28 bytes hexadecimal message string,
+        msg (str): 28 hexdigits string,
 
     Returns:
         int: Horizontal Protection Limit
@@ -241,18 +236,18 @@ def nuc_p(msg):
         raise RuntimeError(
             "%s: Not a surface position message (5<TC<8), \
             airborne position message (8<TC<19), \
-            or airborne position with GNSS height (20<TC<22)" % msg
+            or airborne position with GNSS height (20<TC<22)"
+            % msg
         )
 
     try:
         NUCp = uncertainty.TC_NUCp_lookup[tc]
-        HPL = uncertainty.NUCp[NUCp]['HPL']
+        HPL = uncertainty.NUCp[NUCp]["HPL"]
-        RCu = uncertainty.NUCp[NUCp]['RCu']
+        RCu = uncertainty.NUCp[NUCp]["RCu"]
-        RCv = uncertainty.NUCp[NUCp]['RCv']
+        RCv = uncertainty.NUCp[NUCp]["RCv"]
     except KeyError:
         HPL, RCu, RCv = uncertainty.NA, uncertainty.NA, uncertainty.NA
 
-
     if tc in [20, 21]:
         RCv = uncertainty.NA
 
@@ -263,7 +258,7 @@ def nuc_v(msg):
     """Calculate NUCv, Navigation Uncertainty Category - Velocity (ADS-B version 1)
 
     Args:
-        msg (string): 28 bytes hexadecimal message string,
+        msg (str): 28 hexdigits string,
 
     Returns:
         int or string: 95% Horizontal Velocity Error
@@ -272,15 +267,16 @@ def nuc_v(msg):
     tc = typecode(msg)
 
     if tc != 19:
-        raise RuntimeError("%s: Not an airborne velocity message, expecting TC = 19" % msg)
+        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']
+        HVE = uncertainty.NUCv[NUCv]["HVE"]
-        VVE = uncertainty.NUCv[NUCv]['VVE']
+        VVE = uncertainty.NUCv[NUCv]["VVE"]
     except KeyError:
         HVE, VVE = uncertainty.NA, uncertainty.NA
 
@@ -291,7 +287,7 @@ def nic_v1(msg, NICs):
     """Calculate NIC, navigation integrity category, for ADS-B version 1
 
     Args:
-        msg (string): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
         NICs (int or string): NIC supplement
 
     Returns:
@@ -302,7 +298,8 @@ def nic_v1(msg, NICs):
         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
+            or airborne position with GNSS height (20<TC<22)"
+            % msg
         )
 
     tc = typecode(msg)
@@ -312,8 +309,8 @@ def nic_v1(msg, NICs):
         NIC = NIC[NICs]
 
     try:
-        Rc = uncertainty.NICv1[NIC][NICs]['Rc']
+        Rc = uncertainty.NICv1[NIC][NICs]["Rc"]
-        VPL = uncertainty.NICv1[NIC][NICs]['VPL']
+        VPL = uncertainty.NICv1[NIC][NICs]["VPL"]
     except KeyError:
         Rc, VPL = uncertainty.NA, uncertainty.NA
 
@@ -324,7 +321,7 @@ def nic_v2(msg, NICa, NICbc):
     """Calculate NIC, navigation integrity category, for ADS-B version 2
 
     Args:
-        msg (string): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
         NICa (int or string): NIC supplement - A
         NICbc (int or srting): NIC supplement - B or C
 
@@ -335,22 +332,23 @@ def nic_v2(msg, NICa, NICbc):
         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
+            or airborne position with GNSS height (20<TC<22)"
+            % msg
         )
 
     tc = typecode(msg)
     NIC = uncertainty.TC_NICv2_lookup[tc]
 
-    if 20<=tc<=22:
+    if 20 <= tc <= 22:
         NICs = 0
     else:
-        NICs = NICa*2 + NICbc
+        NICs = NICa * 2 + NICbc
 
     try:
         if isinstance(NIC, dict):
             NIC = NIC[NICs]
 
-        Rc = uncertainty.NICv2[NIC][NICs]['Rc']
+        Rc = uncertainty.NICv2[NIC][NICs]["Rc"]
     except KeyError:
         Rc = uncertainty.NA
 
@@ -361,7 +359,7 @@ def nic_s(msg):
     """Obtain NIC supplement bit, TC=31 message
 
     Args:
-        msg (string): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: NICs number (0 or 1)
@@ -369,7 +367,9 @@ def nic_s(msg):
     tc = typecode(msg)
 
     if tc != 31:
-        raise RuntimeError("%s: Not a status operation message, expecting TC = 31" % msg)
+        raise RuntimeError(
+            "%s: Not a status operation message, expecting TC = 31" % msg
+        )
 
     msgbin = common.hex2bin(msg)
     nic_s = int(msgbin[75])
@@ -381,7 +381,7 @@ def nic_a_c(msg):
     """Obtain NICa/c, navigation integrity category supplements a and c
 
     Args:
-        msg (string): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         (int, int): NICa and NICc number (0 or 1)
@@ -389,7 +389,9 @@ def nic_a_c(msg):
     tc = typecode(msg)
 
     if tc != 31:
-        raise RuntimeError("%s: Not a status operation message, expecting TC = 31" % msg)
+        raise RuntimeError(
+            "%s: Not a status operation message, expecting TC = 31" % msg
+        )
 
     msgbin = common.hex2bin(msg)
     nic_a = int(msgbin[75])
@@ -402,7 +404,7 @@ def nic_b(msg):
     """Obtain NICb, navigation integrity category supplement-b
 
     Args:
-        msg (string): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: NICb number (0 or 1)
@@ -410,7 +412,9 @@ def nic_b(msg):
     tc = typecode(msg)
 
     if tc < 9 or tc > 18:
-        raise RuntimeError("%s: Not a airborne position message, expecting 8<TC<19" % msg)
+        raise RuntimeError(
+            "%s: Not a airborne position message, expecting 8<TC<19" % msg
+        )
 
     msgbin = common.hex2bin(msg)
     nic_b = int(msgbin[39])
@@ -422,7 +426,7 @@ def nac_p(msg):
     """Calculate NACp, Navigation Accuracy Category - Position
 
     Args:
-        msg (string): 28 bytes hexadecimal message string, TC = 29 or 31
+        msg (str): 28 hexdigits string, TC = 29 or 31
 
     Returns:
         int or string: 95% horizontal accuracy bounds, Estimated Position Uncertainty
@@ -431,8 +435,11 @@ def nac_p(msg):
     tc = typecode(msg)
 
     if tc not in [29, 31]:
-        raise RuntimeError("%s: Not a target state and status message, \
+        raise RuntimeError(
-                           or operation status message, expecting TC = 29 or 31" % msg)
+            "%s: Not a target state and status message, \
+                           or operation status message, expecting TC = 29 or 31"
+            % msg
+        )
 
     msgbin = common.hex2bin(msg)
 
@@ -442,8 +449,8 @@ def nac_p(msg):
         NACp = common.bin2int(msgbin[76:80])
 
     try:
-        EPU = uncertainty.NACp[NACp]['EPU']
+        EPU = uncertainty.NACp[NACp]["EPU"]
-        VEPU = uncertainty.NACp[NACp]['VEPU']
+        VEPU = uncertainty.NACp[NACp]["VEPU"]
     except KeyError:
         EPU, VEPU = uncertainty.NA, uncertainty.NA
 
@@ -454,7 +461,7 @@ def nac_v(msg):
     """Calculate NACv, Navigation Accuracy Category - Velocity
 
     Args:
-        msg (string): 28 bytes hexadecimal message string, TC = 19
+        msg (str): 28 hexdigits string, TC = 19
 
     Returns:
         int or string: 95% horizontal accuracy bounds for velocity, Horizontal Figure of Merit
@@ -463,14 +470,16 @@ def nac_v(msg):
     tc = typecode(msg)
 
     if tc != 19:
-        raise RuntimeError("%s: Not an airborne velocity message, expecting TC = 19" % msg)
+        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']
+        HFOMr = uncertainty.NACv[NACv]["HFOMr"]
-        VFOMr = uncertainty.NACv[NACv]['VFOMr']
+        VFOMr = uncertainty.NACv[NACv]["VFOMr"]
     except KeyError:
         HFOMr, VFOMr = uncertainty.NA, uncertainty.NA
 
@@ -481,7 +490,7 @@ def sil(msg, version):
     """Calculate SIL, Surveillance Integrity Level
 
     Args:
-        msg (string): 28 bytes hexadecimal message string with TC = 29, 31
+        msg (str): 28 hexdigits string with TC = 29, 31
 
     Returns:
         int or string: Probability of exceeding Horizontal Radius of Containment RCu
@@ -491,8 +500,11 @@ def sil(msg, version):
     tc = typecode(msg)
 
     if tc not in [29, 31]:
-        raise RuntimeError("%s: Not a target state and status messag, \
+        raise RuntimeError(
-                           or operation status message, expecting TC = 29 or 31" % msg)
+            "%s: Not a target state and status message, \
+                           or operation status message, expecting TC = 29 or 31"
+            % msg
+        )
 
     msgbin = common.hex2bin(msg)
 
@@ -502,12 +514,12 @@ def sil(msg, version):
         SIL = common.bin2int(msgbin[82:84])
 
     try:
-        PE_RCu = uncertainty.SIL[SIL]['PE_RCu']
+        PE_RCu = uncertainty.SIL[SIL]["PE_RCu"]
-        PE_VPL = uncertainty.SIL[SIL]['PE_VPL']
+        PE_VPL = uncertainty.SIL[SIL]["PE_VPL"]
     except KeyError:
         PE_RCu, PE_VPL = uncertainty.NA, uncertainty.NA
 
-    base = 'unknown'
+    base = "unknown"
 
     if version == 2:
         if tc == 29:

pyModeS/decoder/allcall.py

@@ -1,23 +1,5 @@
-# Copyright (C) 2018 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/>.
-
 """
 Decoding all call replies DF=11
 
 [To be implemented]
 """
-
-from __future__ import absolute_import, print_function, division
-from pyModeS.decoder import common

pyModeS/decoder/bds/__init__.py

@@ -18,20 +18,34 @@
 Common functions for Mode-S decoding
 """
 
-from __future__ import absolute_import, print_function, division
 import numpy as np
 
 from pyModeS.extra import aero
-from pyModeS.decoder import common
+from pyModeS import common
-from pyModeS.decoder.bds import bds05, bds06, bds08, bds09, \
+
-    bds10, bds17, bds20, bds30, bds40, bds44, bds45, bds50, bds53, bds60
+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 (String): 28 bytes hexadecimal message string
+        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
@@ -40,6 +54,7 @@ def is50or60(msg, spd_ref, trk_ref, alt_ref):
         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))
@@ -52,26 +67,26 @@ def is50or60(msg, spd_ref, trk_ref, alt_ref):
     v50 = bds50.gs50(msg)
 
     if h50 is None or v50 is None:
-        return 'BDS50,BDS60'
+        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'
+        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)
+    XY5 = vxy(v50 * aero.kts, h50)
-    XY6m = vxy(aero.mach2tas(m60, alt_ref*aero.ft), h60)
+    XY6m = vxy(aero.mach2tas(m60, alt_ref * aero.ft), h60)
-    XY6i = vxy(aero.cas2tas(i60*aero.kts, alt_ref*aero.ft), h60)
+    XY6i = vxy(aero.cas2tas(i60 * aero.kts, alt_ref * aero.ft), h60)
 
-    allbds = ['BDS50', 'BDS60', 'BDS60']
+    allbds = ["BDS50", "BDS60", "BDS60"]
 
     X = np.array([XY5, XY6m, XY6i])
-    Mu = np.array(vxy(spd_ref*aero.kts, trk_ref))
+    Mu = np.array(vxy(spd_ref * aero.kts, trk_ref))
 
     # compute Mahalanobis distance matrix
     # Cov = [[20**2, 0], [0, 20**2]]
@@ -81,10 +96,10 @@ def is50or60(msg, spd_ref, trk_ref, alt_ref):
     # since the covariance matrix is identity matrix,
     #     M-dist is same as eculidian distance
     try:
-        dist = np.linalg.norm(X-Mu, axis=1)
+        dist = np.linalg.norm(X - Mu, axis=1)
         BDS = allbds[np.nanargmin(dist)]
     except ValueError:
-        return 'BDS50,BDS60'
+        return "BDS50,BDS60"
 
     return BDS
 
@@ -93,7 +108,7 @@ def infer(msg, mrar=False):
     """Estimate the most likely BDS code of an message.
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
         mrar (bool): Also infer MRAR (BDS 44) and MHR (BDS 45). Defaults to False.
 
     Returns:
@@ -103,28 +118,28 @@ def infer(msg, mrar=False):
     df = common.df(msg)
 
     if common.allzeros(msg):
-        return 'EMPTY'
+        return "EMPTY"
 
     # For ADS-B / Mode-S extended squitter
     if df == 17:
         tc = common.typecode(msg)
 
         if 1 <= tc <= 4:
-            return 'BDS08'  # indentification and category
+            return "BDS08"  # identification and category
         if 5 <= tc <= 8:
-            return 'BDS06'  # surface movement
+            return "BDS06"  # surface movement
         if 9 <= tc <= 18:
-            return 'BDS05'  # airborne position, baro-alt
+            return "BDS05"  # airborne position, baro-alt
         if tc == 19:
-            return 'BDS09'  # airborne velocity
+            return "BDS09"  # airborne velocity
         if 20 <= tc <= 22:
-            return 'BDS05'  # airborne position, gnss-alt
+            return "BDS05"  # airborne position, gnss-alt
         if tc == 28:
-            return 'BDS61'  # aircraft status
+            return "BDS61"  # aircraft status
         if tc == 29:
-            return 'BDS62'  # target state and status
+            return "BDS62"  # target state and status
         if tc == 31:
-            return 'BDS65'  # operational status
+            return "BDS65"  # operational status
 
     # For Comm-B replies
     IS10 = bds10.is10(msg)
@@ -138,15 +153,27 @@ def infer(msg, mrar=False):
     IS45 = bds45.is45(msg)
 
     if mrar:
-        allbds = np.array(["BDS10", "BDS17", "BDS20", "BDS30", "BDS40",
+        allbds = np.array(
-                           "BDS44", "BDS45", "BDS50", "BDS60"])
+            [
+                "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",
+        allbds = np.array(
-                           "BDS50", "BDS60"])
+            ["BDS10", "BDS17", "BDS20", "BDS30", "BDS40", "BDS50", "BDS60"]
+        )
         mask = [IS10, IS17, IS20, IS30, IS40, IS50, IS60]
 
-    bds = ','.join(sorted(allbds[mask]))
+    bds = ",".join(sorted(allbds[mask]))
 
     if len(bds) == 0:
         return None

pyModeS/decoder/bds/bds05.py

@@ -1,35 +1,18 @@
-# Copyright (C) 2018 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/>.
-
-
 # ------------------------------------------
 #   BDS 0,5
 #   ADS-B TC=9-18
 #   Airborn position
 # ------------------------------------------
 
+from pyModeS import common
 
-from __future__ import absolute_import, print_function, division
-from pyModeS.decoder 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 bytes hexadecimal string)
+        msg0 (string): even message (28 hexdigits)
-        msg1 (string): odd message (28 bytes hexadecimal string)
+        msg1 (string): odd message (28 hexdigits)
         t0 (int): timestamps for the even message
         t1 (int): timestamps for the odd message
 
@@ -40,6 +23,16 @@ def airborne_position(msg0, msg1, t0, t1):
     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
@@ -66,17 +59,17 @@ def airborne_position(msg0, msg1, t0, t1):
         return None
 
     # compute ni, longitude index m, and longitude
-    if (t0 > t1):
+    if t0 > t1:
         lat = lat_even
         nl = common.cprNL(lat)
-        ni = max(common.cprNL(lat)- 0, 1)
+        ni = max(common.cprNL(lat) - 0, 1)
-        m = common.floor(cprlon_even * (nl-1) - cprlon_odd * nl + 0.5)
+        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)
+        m = common.floor(cprlon_even * (nl - 1) - cprlon_odd * nl + 0.5)
         lon = (360.0 / ni) * (m % ni + cprlon_odd)
 
     if lon > 180:
@@ -92,7 +85,7 @@ def airborne_position_with_ref(msg, lat_ref, lon_ref):
     be with in 180NM of the true position.
 
     Args:
-        msg (string): even message (28 bytes hexadecimal string)
+        msg (str): even message (28 hexdigits)
         lat_ref: previous known latitude
         lon_ref: previous known longitude
 
@@ -100,17 +93,17 @@ def airborne_position_with_ref(msg, lat_ref, lon_ref):
         (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
+    d_lat = 360.0 / 59 if i else 360.0 / 60
 
-    j = common.floor(lat_ref / d_lat) \
+    j = common.floor(lat_ref / d_lat) + common.floor(
-        + common.floor(0.5 + ((lat_ref % d_lat) / d_lat) - cprlat)
+        0.5 + ((lat_ref % d_lat) / d_lat) - cprlat
+    )
 
     lat = d_lat * (j + cprlat)
 
@@ -121,8 +114,9 @@ def airborne_position_with_ref(msg, lat_ref, lon_ref):
     else:
         d_lon = 360.0
 
-    m = common.floor(lon_ref / d_lon) \
+    m = common.floor(lon_ref / d_lon) + common.floor(
-        + common.floor(0.5 + ((lon_ref % d_lon) / d_lon) - cprlon)
+        0.5 + ((lon_ref % d_lon) / d_lon) - cprlon
+    )
 
     lon = d_lon * (m + cprlon)
 
@@ -133,7 +127,7 @@ def altitude(msg):
     """Decode aircraft altitude
 
     Args:
-        msg (string): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: altitude in feet
@@ -141,7 +135,7 @@ def altitude(msg):
 
     tc = common.typecode(msg)
 
-    if tc<9 or tc==19 or tc>22:
+    if tc < 9 or tc == 19 or tc > 22:
         raise RuntimeError("%s: Not a airborn position message" % msg)
 
     mb = common.hex2bin(msg)[32:]
@@ -150,7 +144,7 @@ def altitude(msg):
         # barometric altitude
         q = mb[15]
         if q:
-            n = common.bin2int(mb[8:15]+mb[16:20])
+            n = common.bin2int(mb[8:15] + mb[16:20])
             alt = n * 25 - 1000
         else:
             alt = None

pyModeS/decoder/bds/bds06.py

@@ -1,28 +1,10 @@
-# Copyright (C) 2018 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/>.
-
-
 # ------------------------------------------
 #   BDS 0,6
 #   ADS-B TC=5-8
-#   Surface position
+#   Surface movment
 # ------------------------------------------
 
-from __future__ import absolute_import, print_function, division
+from pyModeS import common
-from pyModeS.decoder import common
-import math
 
 
 def surface_position(msg0, msg1, t0, t1, lat_ref, lon_ref):
@@ -30,8 +12,8 @@ def surface_position(msg0, msg1, t0, t1, lat_ref, lon_ref):
     the lat/lon of receiver must be provided to yield the correct solution.
 
     Args:
-        msg0 (string): even message (28 bytes hexadecimal string)
+        msg0 (string): even message (28 hexdigits)
-        msg1 (string): odd message (28 bytes hexadecimal string)
+        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
@@ -73,22 +55,25 @@ def surface_position(msg0, msg1, t0, t1, lat_ref, lon_ref):
         return None
 
     # compute ni, longitude index m, and longitude
-    if (t0 > t1):
+    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)
+        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)
+        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__)
@@ -104,7 +89,7 @@ def surface_position_with_ref(msg, lat_ref, lon_ref):
     be with in 45NM of the true position.
 
     Args:
-        msg (string): even message (28 bytes hexadecimal string)
+        msg (str): even message (28 hexdigits)
         lat_ref: previous known latitude
         lon_ref: previous known longitude
 
@@ -112,17 +97,17 @@ def surface_position_with_ref(msg, lat_ref, lon_ref):
         (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
+    d_lat = 90.0 / 59 if i else 90.0 / 60
 
-    j = common.floor(lat_ref / d_lat) \
+    j = common.floor(lat_ref / d_lat) + common.floor(
-        + common.floor(0.5 + ((lat_ref % d_lat) / d_lat) - cprlat)
+        0.5 + ((lat_ref % d_lat) / d_lat) - cprlat
+    )
 
     lat = d_lat * (j + cprlat)
 
@@ -133,31 +118,33 @@ def surface_position_with_ref(msg, lat_ref, lon_ref):
     else:
         d_lon = 90.0
 
-    m = common.floor(lon_ref / d_lon) \
+    m = common.floor(lon_ref / d_lon) + common.floor(
-        + common.floor(0.5 + ((lon_ref % d_lon) / d_lon) - cprlon)
+        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, rtn_sources=False):
+def surface_velocity(msg, source=False):
-    """Decode surface velocity from from a surface position message
+    """Decode surface velocity from a surface position message
+
     Args:
-        msg (string): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
-        rtn_source (boolean): If the function will return
+        source (boolean): Include direction and vertical rate sources in return. Default to False.
-            the sources for direction of travel and vertical
+            If set to True, the function will return six value instead of four.
-            rate. This will change the return value from a four
-            element array to a six element array.
 
     Returns:
-        (int, float, int, string, string, None): speed (kt),
+        int, float, int, string, [string], [string]: Four or six parameters, including:
-            ground track (degree), None for rate of climb/descend (ft/min),
+            - Speed (kt)
-            and speed type ('GS' for ground speed), direction source
+            - Angle (degree), ground track
-            ('true_north' for ground track / true north as reference),
+            - Vertical rate, always 0
-            None rate of climb/descent source.
+            - 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)
 
@@ -171,7 +158,7 @@ def surface_velocity(msg, rtn_sources=False):
     else:
         trk = None
 
-    # ground movment / speed
+    # ground movement / speed
     mov = common.bin2int(mb[5:12])
 
     if mov == 0 or mov > 124:
@@ -184,11 +171,11 @@ def surface_velocity(msg, rtn_sources=False):
         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])
+        step = (kts[i] - kts[i - 1]) * 1.0 / (movs[i] - movs[i - 1])
-        spd = kts[i-1] + (mov-movs[i-1]) * step
+        spd = kts[i - 1] + (mov - movs[i - 1]) * step
         spd = round(spd, 2)
 
-    if rtn_sources:
+    if source:
-        return spd, trk, 0, 'GS', 'true_north', None
+        return spd, trk, 0, "GS", "TRUE_NORTH", None
     else:
-        return spd, trk, 0, 'GS'
+        return spd, trk, 0, "GS"

pyModeS/decoder/bds/bds08.py

@@ -1,33 +1,17 @@
-# Copyright (C) 2018 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/>.
-
-
 # ------------------------------------------
 #   BDS 0,8
 #   ADS-B TC=1-4
 #   Aircraft identitification and category
 # ------------------------------------------
 
-from __future__ import absolute_import, print_function, division
+from pyModeS import common
-from pyModeS.decoder import common
+
 
 def category(msg):
     """Aircraft category number
 
     Args:
-        msg (string): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: category number
@@ -37,14 +21,15 @@ def category(msg):
         raise RuntimeError("%s: Not a identification message" % msg)
 
     msgbin = common.hex2bin(msg)
-    return common.bin2int(msgbin[5:8])
+    mebin = msgbin[32:87]
+    return common.bin2int(mebin[5:8])
 
 
 def callsign(msg):
     """Aircraft callsign
 
     Args:
-        msg (string): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         string: callsign
@@ -53,11 +38,11 @@ def callsign(msg):
     if common.typecode(msg) < 1 or common.typecode(msg) > 4:
         raise RuntimeError("%s: Not a identification message" % msg)
 
-    chars = '#ABCDEFGHIJKLMNOPQRSTUVWXYZ#####_###############0123456789######'
+    chars = "#ABCDEFGHIJKLMNOPQRSTUVWXYZ#####_###############0123456789######"
     msgbin = common.hex2bin(msg)
     csbin = msgbin[40:96]
 
-    cs = ''
+    cs = ""
     cs += chars[common.bin2int(csbin[0:6])]
     cs += chars[common.bin2int(csbin[6:12])]
     cs += chars[common.bin2int(csbin[12:18])]
@@ -69,5 +54,5 @@ def callsign(msg):
 
     # clean string, remove spaces and marks, if any.
     # cs = cs.replace('_', '')
-    cs = cs.replace('#', '')
+    cs = cs.replace("#", "")
     return cs

pyModeS/decoder/bds/bds09.py

@@ -1,51 +1,33 @@
-# Copyright (C) 2018 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/>.
-
-
 # ------------------------------------------
 #   BDS 0,9
 #   ADS-B TC=19
 #   Aircraft Airborn velocity
 # ------------------------------------------
 
-from __future__ import absolute_import, print_function, division
+from pyModeS import common
-from pyModeS.decoder import common
+
+
 import math
 
 
-def airborne_velocity(msg, rtn_sources=False):
+def airborne_velocity(msg, source=False):
-    """Calculate the speed, track (or heading), and vertical rate
+    """Decode airborne velocity.
 
     Args:
-        msg (string): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
-        rtn_source (boolean): If the function will return
+        source (boolean): Include direction and vertical rate sources in return. Default to False.
-            the sources for direction of travel and vertical
+            If set to True, the function will return six value instead of four.
-            rate. This will change the return value from a four
-            element array to a six element array.
 
     Returns:
-        (int, float, int, string, string, string): speed (kt),
+        int, float, int, string, [string], [string]: Four or six parameters, including:
-            ground track or heading (degree),
+            - Speed (kt)
-            rate of climb/descent (ft/min), speed type
+            - Angle (degree), either ground track or heading
-            ('GS' for ground speed, 'AS' for airspeed),
+            - Vertical rate (ft/min)
-            direction source ('true_north' for ground track / true north
+            - Speed type ('GS' for ground speed, 'AS' for airspeed)
-            as refrence, 'mag_north' for magnetic north as reference),
+            - [Optional] Direction source ('TRUE_NORTH' or 'MAGENTIC_NORTH')
-            rate of climb/descent source ('Baro' for barometer, 'GNSS'
+            - [Optional] Vertical rate source ('BARO' or 'GNSS')
-            for GNSS constellation).
-    """
 
+    """
     if common.typecode(msg) != 19:
         raise RuntimeError("%s: Not a airborne velocity message, expecting TC=19" % msg)
 
@@ -57,12 +39,12 @@ def airborne_velocity(msg, rtn_sources=False):
         return None
 
     if subtype in (1, 2):
-        v_ew_sign = -1 if mb[13]=='1' else 1
+        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_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
@@ -70,19 +52,19 @@ def airborne_velocity(msg, rtn_sources=False):
         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 = 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
 
-        tag = 'GS'
+        spd_type = "GS"
         trk_or_hdg = round(trk, 2)
-        dir_type = 'true_north'
+        dir_type = "TRUE_NORTH"
 
     else:
-        if mb[13] == '0':
+        if mb[13] == "0":
             hdg = None
         else:
             hdg = common.bin2int(mb[14:24]) / 1024.0 * 360.0
@@ -91,37 +73,38 @@ def airborne_velocity(msg, rtn_sources=False):
         trk_or_hdg = hdg
 
         spd = common.bin2int(mb[25:35])
-        spd = None if spd==0 else spd-1
+        spd = None if spd == 0 else spd - 1
         if subtype == 4:  # Supersonic
             spd *= 4
 
-        if mb[24]=='0':
+        if mb[24] == "0":
-            tag = 'IAS'
+            spd_type = "IAS"
         else:
-            tag = 'TAS'
+            spd_type = "TAS"
 
-        dir_type = 'mag_north'
+        dir_type = "MAGENTIC_NORTH"
 
-    vr_source = 'GNSS' if mb[35]=='0' else 'Baro'
+    vr_source = "GNSS" if mb[35] == "0" else "BARO"
-    vr_sign = -1 if mb[36]=='1' else 1
+    vr_sign = -1 if mb[36] == "1" else 1
     vr = common.bin2int(mb[37:46])
-    rocd = None if vr==0 else int(vr_sign*(vr-1)*64)
+    vs = None if vr == 0 else int(vr_sign * (vr - 1) * 64)
 
-    if rtn_sources:
+    if source:
-        return spd, trk_or_hdg, rocd, tag, dir_type, vr_source
+        return spd, trk_or_hdg, vs, spd_type, dir_type, vr_source
     else:
-        return spd, trk_or_hdg, rocd, tag
+        return spd, trk_or_hdg, vs, spd_type
 
 
 def altitude_diff(msg):
-    """Decode the differece between GNSS and barometric altitude
+    """Decode the differece between GNSS and barometric altitude.
 
     Args:
-        msg (string): 28 bytes hexadecimal message string, TC=19
+        msg (str): 28 hexdigits string, TC=19
 
     Returns:
-        int: Altitude difference in ft. Negative value indicates GNSS altitude
+        int: Altitude difference in feet. Negative value indicates GNSS altitude
         below barometric altitude.
+
     """
     tc = common.typecode(msg)
 

pyModeS/decoder/bds/bds10.py

@@ -1,66 +1,52 @@
-# Copyright (C) 2018 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/>.
-
 # ------------------------------------------
 # BDS 1,0
 # Data link capability report
 # ------------------------------------------
 
-from __future__ import absolute_import, print_function, division
+from pyModeS import common
-from pyModeS.decoder.common import hex2bin, bin2int, data, allzeros
+
 
 def is10(msg):
     """Check if a message is likely to be BDS code 1,0
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         bool: True or False
     """
 
-    if allzeros(msg):
+    if common.allzeros(msg):
         return False
 
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
     # first 8 bits must be 0x10
-    if d[0:8] != '00010000':
+    if d[0:8] != "00010000":
         return False
 
     # bit 10 to 14 are reserved
-    if bin2int(d[9:14]) != 0:
+    if common.bin2int(d[9:14]) != 0:
         return False
 
-    # overlay capabilty conflict
+    # overlay capability conflict
-    if d[14] == '1' and bin2int(d[16:23]) < 5:
+    if d[14] == "1" and common.bin2int(d[16:23]) < 5:
         return False
-    if d[14] == '0' and bin2int(d[16:23]) > 4:
+    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 (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: Whether the transponder is OVC capable
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
     return int(d[14])

pyModeS/decoder/bds/bds17.py

@@ -1,45 +1,27 @@
-# Copyright (C) 2018 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/>.
-
-
 # ------------------------------------------
 #   BDS 1,7
 #   Common usage GICB capability report
 # ------------------------------------------
 
-
+from pyModeS import common
-from __future__ import absolute_import, print_function, division
-from pyModeS.decoder.common import hex2bin, bin2int, data, allzeros
 
 
 def is17(msg):
     """Check if a message is likely to be BDS code 1,7
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         bool: True or False
     """
 
-    if allzeros(msg):
+    if common.allzeros(msg):
         return False
 
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if bin2int(d[28:56]) != 0:
+    if common.bin2int(d[28:56]) != 0:
         return False
 
     caps = cap17(msg)
@@ -50,26 +32,54 @@ def is17(msg):
     #     return False
 
     # at least you can respond who you are
-    if 'BDS20' not in caps:
+    if "BDS20" not in caps:
         return False
 
     return True
 
+
 def cap17(msg):
     """Extract capacities from BDS 1,7 message
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
-        list: list of suport BDS codes
+        list: list of support BDS codes
     """
-    allbds = ['05', '06', '07', '08', '09', '0A', '20', '21', '40', '41',
+    allbds = [
-              '42', '43', '44', '45', '48', '50', '51', '52', '53', '54',
+        "05",
-              '55', '56', '5F', '60', 'NA', 'NA', 'E1', 'E2']
+        "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 = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
-    idx = [i for i, v in enumerate(d[:28]) if v=='1']
+    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']
+    capacity = ["BDS" + allbds[i] for i in idx if allbds[i] is not "NA"]
 
     return capacity

pyModeS/decoder/bds/bds20.py

@@ -1,47 +1,32 @@
-# Copyright (C) 2018 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/>.
-
 # ------------------------------------------
 # BDS 2,0
 # Aircraft identification
 # ------------------------------------------
 
-from __future__ import absolute_import, print_function, division
+from pyModeS import common
-from pyModeS.decoder.common import hex2bin, bin2int, data, allzeros
+
 
 def is20(msg):
     """Check if a message is likely to be BDS code 2,0
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         bool: True or False
     """
 
-    if allzeros(msg):
+    if common.allzeros(msg):
         return False
 
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if d[0:8] != '00100000':
+    if d[0:8] != "00100000":
         return False
 
     cs = cs20(msg)
 
-    if '#' in cs:
+    if "#" in cs:
         return False
 
     return True
@@ -51,23 +36,23 @@ def cs20(msg):
     """Aircraft callsign
 
     Args:
-        msg (String): 28 bytes hexadecimal message (BDS40) string
+        msg (str): 28 hexdigits string
 
     Returns:
         string: callsign, max. 8 chars
     """
-    chars = '#ABCDEFGHIJKLMNOPQRSTUVWXYZ#####_###############0123456789######'
+    chars = "#ABCDEFGHIJKLMNOPQRSTUVWXYZ#####_###############0123456789######"
 
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    cs = ''
+    cs = ""
-    cs += chars[bin2int(d[8:14])]
+    cs += chars[common.bin2int(d[8:14])]
-    cs += chars[bin2int(d[14:20])]
+    cs += chars[common.bin2int(d[14:20])]
-    cs += chars[bin2int(d[20:26])]
+    cs += chars[common.bin2int(d[20:26])]
-    cs += chars[bin2int(d[26:32])]
+    cs += chars[common.bin2int(d[26:32])]
-    cs += chars[bin2int(d[32:38])]
+    cs += chars[common.bin2int(d[32:38])]
-    cs += chars[bin2int(d[38:44])]
+    cs += chars[common.bin2int(d[38:44])]
-    cs += chars[bin2int(d[44:50])]
+    cs += chars[common.bin2int(d[44:50])]
-    cs += chars[bin2int(d[50:56])]
+    cs += chars[common.bin2int(d[50:56])]
 
     return cs

pyModeS/decoder/bds/bds30.py

@@ -1,50 +1,35 @@
-# Copyright (C) 2018 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/>.
-
 # ------------------------------------------
 # BDS 3,0
 # ACAS active resolution advisory
 # ------------------------------------------
 
-from __future__ import absolute_import, print_function, division
+from pyModeS import common
-from pyModeS.decoder.common import hex2bin, bin2int, data, allzeros
+
 
 def is30(msg):
     """Check if a message is likely to be BDS code 2,0
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         bool: True or False
     """
 
-    if allzeros(msg):
+    if common.allzeros(msg):
         return False
 
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if d[0:8] != '00110000':
+    if d[0:8] != "00110000":
         return False
 
     # threat type 3 not assigned
-    if d[28:30] == '11':
+    if d[28:30] == "11":
         return False
 
     # reserved for ACAS III, in far future
-    if bin2int(d[15:22]) >= 48:
+    if common.bin2int(d[15:22]) >= 48:
         return False
 
     return True

pyModeS/decoder/bds/bds40.py

@@ -1,66 +1,50 @@
-# Copyright (C) 2018 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/>.
-
 # ------------------------------------------
 # BDS 4,0
 # Selected vertical intention
 # ------------------------------------------
 
-from __future__ import absolute_import, print_function, division
 import warnings
-from pyModeS.decoder.common import hex2bin, bin2int, data, allzeros, wrongstatus
+from pyModeS import common
 
 
 def is40(msg):
     """Check if a message is likely to be BDS code 4,0
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         bool: True or False
     """
 
-    if allzeros(msg):
+    if common.allzeros(msg):
         return False
 
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
     # status bit 1, 14, and 27
 
-    if wrongstatus(d, 1, 2, 13):
+    if common.wrongstatus(d, 1, 2, 13):
         return False
 
-    if wrongstatus(d, 14, 15, 26):
+    if common.wrongstatus(d, 14, 15, 26):
         return False
 
-    if wrongstatus(d, 27, 28, 39):
+    if common.wrongstatus(d, 27, 28, 39):
         return False
 
-    if wrongstatus(d, 48, 49, 51):
+    if common.wrongstatus(d, 48, 49, 51):
         return False
 
-    if wrongstatus(d, 54, 55, 56):
+    if common.wrongstatus(d, 54, 55, 56):
         return False
 
     # bits 40-47 and 52-53 shall all be zero
 
-    if bin2int(d[39:47]) != 0:
+    if common.bin2int(d[39:47]) != 0:
         return False
 
-    if bin2int(d[51:53]) != 0:
+    if common.bin2int(d[51:53]) != 0:
         return False
 
     return True
@@ -70,17 +54,17 @@ def selalt40mcp(msg):
     """Selected altitude, MCP/FCU
 
     Args:
-        msg (String): 28 bytes hexadecimal message (BDS40) string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: altitude in feet
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
     if d[0] == "0":
         return None
 
-    alt = bin2int(d[1:13]) * 16  # ft
+    alt = common.bin2int(d[1:13]) * 16  # ft
     return alt
 
 
@@ -88,17 +72,17 @@ def selalt40fms(msg):
     """Selected altitude, FMS
 
     Args:
-        msg (String): 28 bytes hexadecimal message (BDS40) string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: altitude in feet
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
     if d[13] == "0":
         return None
 
-    alt = bin2int(d[14:26]) * 16  # ft
+    alt = common.bin2int(d[14:26]) * 16  # ft
     return alt
 
 
@@ -106,22 +90,21 @@ def p40baro(msg):
     """Barometric pressure setting
 
     Args:
-        msg (String): 28 bytes hexadecimal message (BDS40) string
+        msg (str): 28 hexdigits string
 
     Returns:
         float: pressure in millibar
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
     if d[26] == "0":
         return None
 
-    p = bin2int(d[27:39]) * 0.1 + 800  # millibar
+    p = common.bin2int(d[27:39]) * 0.1 + 800  # millibar
     return p
 
 
 def alt40mcp(msg):
-    warnings.simplefilter("once", DeprecationWarning)
     warnings.warn(
         "alt40mcp() has been renamed to selalt40mcp(). It will be removed in the future.",
         DeprecationWarning,
@@ -130,7 +113,6 @@ def alt40mcp(msg):
 
 
 def alt40fms(msg):
-    warnings.simplefilter("once", DeprecationWarning)
     warnings.warn(
         "alt40fms() has been renamed to selalt40fms(). It will be removed in the future.",
         DeprecationWarning,

pyModeS/decoder/bds/bds44.py

@@ -1,31 +1,9 @@
-# Copyright (C) 2018 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/>.
-
 # ------------------------------------------
 # BDS 4,4
 # Meteorological routine air report
 # ------------------------------------------
 
-from __future__ import absolute_import, print_function, division
+from pyModeS import common
-from pyModeS.decoder.common import (
-    hex2bin,
-    bin2int,
-    data,
-    allzeros,
-    wrongstatus,
-)
 
 
 def is44(msg):
@@ -34,32 +12,32 @@ def is44(msg):
     Meteorological routine air report
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         bool: True or False
 
     """
-    if allzeros(msg):
+    if common.allzeros(msg):
         return False
 
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
     # status bit 5, 35, 47, 50
-    if wrongstatus(d, 5, 6, 23):
+    if common.wrongstatus(d, 5, 6, 23):
         return False
 
-    if wrongstatus(d, 35, 36, 46):
+    if common.wrongstatus(d, 35, 36, 46):
         return False
 
-    if wrongstatus(d, 47, 48, 49):
+    if common.wrongstatus(d, 47, 48, 49):
         return False
 
-    if wrongstatus(d, 50, 51, 56):
+    if common.wrongstatus(d, 50, 51, 56):
         return False
 
     # Bits 1-4 indicate source, values > 4 reserved and should not occur
-    if bin2int(d[0:4]) > 4:
+    if common.bin2int(d[0:4]) > 4:
         return False
 
     vw, dw = wind44(msg)
@@ -77,20 +55,20 @@ def wind44(msg):
     """Wind speed and direction.
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         (int, float): speed (kt), direction (degree)
 
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
     status = int(d[4])
     if not status:
         return None, None
 
-    speed = bin2int(d[5:14])  # knots
+    speed = common.bin2int(d[5:14])  # knots
-    direction = bin2int(d[14:23]) * 180.0 / 256.0  # degree
+    direction = common.bin2int(d[14:23]) * 180.0 / 256.0  # degree
 
     return round(speed, 0), round(direction, 1)
 
@@ -99,18 +77,18 @@ def temp44(msg):
     """Static air temperature.
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        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 inconsistancy
+            Note: Two values returns due to what seems to be an inconsistency
             error in ICAO 9871 (2008) Appendix A-67.
 
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
     sign = int(d[23])
-    value = bin2int(d[24:34])
+    value = common.bin2int(d[24:34])
 
     if sign:
         value = value - 1024
@@ -128,18 +106,18 @@ def p44(msg):
     """Static pressure.
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: static pressure in hPa
 
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
     if d[34] == "0":
         return None
 
-    p = bin2int(d[35:46])  # hPa
+    p = common.bin2int(d[35:46])  # hPa
 
     return p
 
@@ -148,17 +126,17 @@ def hum44(msg):
     """humidity
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         float: percentage of humidity, [0 - 100] %
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
     if d[49] == "0":
         return None
 
-    hm = bin2int(d[50:56]) * 100.0 / 64  # %
+    hm = common.bin2int(d[50:56]) * 100.0 / 64  # %
 
     return round(hm, 1)
 
@@ -167,17 +145,17 @@ def turb44(msg):
     """Turblence.
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: turbulence level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
 
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
     if d[46] == "0":
         return None
 
-    turb = bin2int(d[47:49])
+    turb = common.bin2int(d[47:49])
 
     return turb

pyModeS/decoder/bds/bds45.py

@@ -1,25 +1,9 @@
-# Copyright (C) 2018 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/>.
-
 # ------------------------------------------
 # BDS 4,5
 # Meteorological hazard report
 # ------------------------------------------
 
-from __future__ import absolute_import, print_function, division
+from pyModeS import common
-from pyModeS.decoder.common import hex2bin, bin2int, data, allzeros, wrongstatus
 
 
 def is45(msg):
@@ -28,44 +12,44 @@ def is45(msg):
     Meteorological hazard report
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         bool: True or False
 
     """
-    if allzeros(msg):
+    if common.allzeros(msg):
         return False
 
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
     # status bit 1, 4, 7, 10, 13, 16, 27, 39
-    if wrongstatus(d, 1, 2, 3):
+    if common.wrongstatus(d, 1, 2, 3):
         return False
 
-    if wrongstatus(d, 4, 5, 6):
+    if common.wrongstatus(d, 4, 5, 6):
         return False
 
-    if wrongstatus(d, 7, 8, 9):
+    if common.wrongstatus(d, 7, 8, 9):
         return False
 
-    if wrongstatus(d, 10, 11, 12):
+    if common.wrongstatus(d, 10, 11, 12):
         return False
 
-    if wrongstatus(d, 13, 14, 15):
+    if common.wrongstatus(d, 13, 14, 15):
         return False
 
-    if wrongstatus(d, 16, 17, 26):
+    if common.wrongstatus(d, 16, 17, 26):
         return False
 
-    if wrongstatus(d, 27, 28, 38):
+    if common.wrongstatus(d, 27, 28, 38):
         return False
 
-    if wrongstatus(d, 39, 40, 51):
+    if common.wrongstatus(d, 39, 40, 51):
         return False
 
     # reserved
-    if bin2int(d[51:56]) != 0:
+    if common.bin2int(d[51:56]) != 0:
         return False
 
     temp = temp45(msg)
@@ -80,17 +64,17 @@ def turb45(msg):
     """Turbulence.
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: Turbulence level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
 
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
-    if d[0] == '0':
+    if d[0] == "0":
         return None
 
-    turb = bin2int(d[1:3])
+    turb = common.bin2int(d[1:3])
     return turb
 
 
@@ -98,17 +82,17 @@ def ws45(msg):
     """Wind shear.
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: Wind shear level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
 
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
-    if d[3] == '0':
+    if d[3] == "0":
         return None
 
-    ws = bin2int(d[4:6])
+    ws = common.bin2int(d[4:6])
     return ws
 
 
@@ -116,17 +100,17 @@ def mb45(msg):
     """Microburst.
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: Microburst level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
 
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
-    if d[6] == '0':
+    if d[6] == "0":
         return None
 
-    mb = bin2int(d[7:9])
+    mb = common.bin2int(d[7:9])
     return mb
 
 
@@ -134,17 +118,17 @@ def ic45(msg):
     """Icing.
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: Icing level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
 
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
-    if d[9] == '0':
+    if d[9] == "0":
         return None
 
-    ic = bin2int(d[10:12])
+    ic = common.bin2int(d[10:12])
     return ic
 
 
@@ -152,17 +136,17 @@ def wv45(msg):
     """Wake vortex.
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: Wake vortex level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
 
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
-    if d[12] == '0':
+    if d[12] == "0":
         return None
 
-    ws = bin2int(d[13:15])
+    ws = common.bin2int(d[13:15])
     return ws
 
 
@@ -170,16 +154,16 @@ def temp45(msg):
     """Static air temperature.
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         float: tmeperature in Celsius degree
 
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
     sign = int(d[16])
-    value = bin2int(d[17:26])
+    value = common.bin2int(d[17:26])
 
     if sign:
         value = value - 512
@@ -194,16 +178,16 @@ def p45(msg):
     """Average static pressure.
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: static pressure in hPa
 
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
-    if d[26] == '0':
+    if d[26] == "0":
         return None
-    p = bin2int(d[27:38])    # hPa
+    p = common.bin2int(d[27:38])  # hPa
     return p
 
 
@@ -211,14 +195,14 @@ def rh45(msg):
     """Radio height.
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: radio height in ft
 
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
-    if d[38] == '0':
+    if d[38] == "0":
         return None
-    rh = bin2int(d[39:51]) * 16
+    rh = common.bin2int(d[39:51]) * 16
     return rh

pyModeS/decoder/bds/bds50.py

@@ -1,25 +1,9 @@
-# Copyright (C) 2018 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/>.
-
 # ------------------------------------------
 # BDS 5,0
 # Track and turn report
 # ------------------------------------------
 
-from __future__ import absolute_import, print_function, division
+from pyModeS import common
-from pyModeS.decoder.common import hex2bin, bin2int, data, allzeros, wrongstatus
 
 
 def is50(msg):
@@ -27,32 +11,32 @@ def is50(msg):
     (Track and turn report)
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         bool: True or False
     """
 
-    if allzeros(msg):
+    if common.allzeros(msg):
         return False
 
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
     # status bit 1, 12, 24, 35, 46
 
-    if wrongstatus(d, 1, 3, 11):
+    if common.wrongstatus(d, 1, 3, 11):
         return False
 
-    if wrongstatus(d, 12, 13, 23):
+    if common.wrongstatus(d, 12, 13, 23):
         return False
 
-    if wrongstatus(d, 24, 25, 34):
+    if common.wrongstatus(d, 24, 25, 34):
         return False
 
-    if wrongstatus(d, 35, 36, 45):
+    if common.wrongstatus(d, 35, 36, 45):
         return False
 
-    if wrongstatus(d, 46, 47, 56):
+    if common.wrongstatus(d, 46, 47, 56):
         return False
 
     roll = roll50(msg)
@@ -77,19 +61,19 @@ def roll50(msg):
     """Roll angle, BDS 5,0 message
 
     Args:
-        msg (String): 28 bytes hexadecimal message (BDS50) string
+        msg (str): 28 hexdigits string
 
     Returns:
         float: angle in degrees,
                negative->left wing down, positive->right wing down
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if d[0] == '0':
+    if d[0] == "0":
         return None
 
     sign = int(d[1])  # 1 -> left wing down
-    value = bin2int(d[2:11])
+    value = common.bin2int(d[2:11])
 
     if sign:
         value = value - 512
@@ -102,18 +86,18 @@ def trk50(msg):
     """True track angle, BDS 5,0 message
 
     Args:
-        msg (String): 28 bytes hexadecimal message (BDS50) string
+        msg (str): 28 hexdigits string
 
     Returns:
         float: angle in degrees to true north (from 0 to 360)
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if d[11] == '0':
+    if d[11] == "0":
         return None
 
     sign = int(d[12])  # 1 -> west
-    value = bin2int(d[13:23])
+    value = common.bin2int(d[13:23])
 
     if sign:
         value = value - 1024
@@ -131,17 +115,17 @@ def gs50(msg):
     """Ground speed, BDS 5,0 message
 
     Args:
-        msg (String): 28 bytes hexadecimal message (BDS50) string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: ground speed in knots
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if d[23] == '0':
+    if d[23] == "0":
         return None
 
-    spd = bin2int(d[24:34]) * 2    # kts
+    spd = common.bin2int(d[24:34]) * 2  # kts
     return spd
 
 
@@ -149,21 +133,21 @@ def rtrk50(msg):
     """Track angle rate, BDS 5,0 message
 
     Args:
-        msg (String): 28 bytes hexadecimal message (BDS50) string
+        msg (str): 28 hexdigits string
 
     Returns:
         float: angle rate in degrees/second
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if d[34] == '0':
+    if d[34] == "0":
         return None
 
     if d[36:45] == "111111111":
         return None
 
     sign = int(d[35])  # 1 -> negative value, two's complement
-    value = bin2int(d[36:45])
+    value = common.bin2int(d[36:45])
     if sign:
         value = value - 512
 
@@ -175,15 +159,15 @@ def tas50(msg):
     """Aircraft true airspeed, BDS 5,0 message
 
     Args:
-        msg (String): 28 bytes hexadecimal message (BDS50) string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: true airspeed in knots
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if d[45] == '0':
+    if d[45] == "0":
         return None
 
-    tas = bin2int(d[46:56]) * 2   # kts
+    tas = common.bin2int(d[46:56]) * 2  # kts
     return tas

pyModeS/decoder/bds/bds53.py

@@ -1,25 +1,9 @@
-# Copyright (C) 2018 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/>.
-
 # ------------------------------------------
 # BDS 5,3
 # Air-referenced state vector
 # ------------------------------------------
 
-from __future__ import absolute_import, print_function, division
+from pyModeS import common
-from pyModeS.decoder.common import hex2bin, bin2int, data, allzeros, wrongstatus
 
 
 def is53(msg):
@@ -27,32 +11,32 @@ def is53(msg):
     (Air-referenced state vector)
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         bool: True or False
     """
 
-    if allzeros(msg):
+    if common.allzeros(msg):
         return False
 
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
     # status bit 1, 13, 24, 34, 47
 
-    if wrongstatus(d, 1, 3, 12):
+    if common.wrongstatus(d, 1, 3, 12):
         return False
 
-    if wrongstatus(d, 13, 14, 23):
+    if common.wrongstatus(d, 13, 14, 23):
         return False
 
-    if wrongstatus(d, 24, 25, 33):
+    if common.wrongstatus(d, 24, 25, 33):
         return False
 
-    if wrongstatus(d, 34, 35, 46):
+    if common.wrongstatus(d, 34, 35, 46):
         return False
 
-    if wrongstatus(d, 47, 49, 56):
+    if common.wrongstatus(d, 47, 49, 56):
         return False
 
     ias = ias53(msg)
@@ -78,18 +62,18 @@ def hdg53(msg):
     """Magnetic heading, BDS 5,3 message
 
     Args:
-        msg (String): 28 bytes hexadecimal message (BDS53) string
+        msg (str): 28 hexdigits string
 
     Returns:
         float: angle in degrees to true north (from 0 to 360)
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if d[0] == '0':
+    if d[0] == "0":
         return None
 
     sign = int(d[1])  # 1 -> west
-    value = bin2int(d[2:12])
+    value = common.bin2int(d[2:12])
 
     if sign:
         value = value - 1024
@@ -107,17 +91,17 @@ def ias53(msg):
     """Indicated airspeed, DBS 5,3 message
 
     Args:
-        msg (String): 28 bytes hexadecimal message
+        msg (str): 28 hexdigits
 
     Returns:
         int: indicated arispeed in knots
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if d[12] == '0':
+    if d[12] == "0":
         return None
 
-    ias = bin2int(d[13:23])    # knots
+    ias = common.bin2int(d[13:23])  # knots
     return ias
 
 
@@ -125,17 +109,17 @@ def mach53(msg):
     """MACH number, DBS 5,3 message
 
     Args:
-        msg (String): 28 bytes hexadecimal message
+        msg (str): 28 hexdigits
 
     Returns:
         float: MACH number
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if d[23] == '0':
+    if d[23] == "0":
         return None
 
-    mach = bin2int(d[24:33]) * 0.008
+    mach = common.bin2int(d[24:33]) * 0.008
     return round(mach, 3)
 
 
@@ -143,35 +127,36 @@ def tas53(msg):
     """Aircraft true airspeed, BDS 5,3 message
 
     Args:
-        msg (String): 28 bytes hexadecimal message
+        msg (str): 28 hexdigits
 
     Returns:
         float: true airspeed in knots
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if d[33] == '0':
+    if d[33] == "0":
         return None
 
-    tas = bin2int(d[34:46]) * 0.5   # kts
+    tas = common.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
+        msg (str): 28 hexdigits (BDS60) string
 
     Returns:
         int: vertical rate in feet/minutes
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if d[46] == '0':
+    if d[46] == "0":
         return None
 
     sign = int(d[47])  # 1 -> negative value, two's complement
-    value = bin2int(d[48:56])
+    value = common.bin2int(d[48:56])
 
     if value == 0 or value == 255:  # all zeros or all ones
         return 0

pyModeS/decoder/bds/bds60.py

@@ -1,56 +1,41 @@
-# Copyright (C) 2018 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/>.
-
 # ------------------------------------------
 # BDS 6,0
 # Heading and speed report
 # ------------------------------------------
 
-from __future__ import absolute_import, print_function, division
+from pyModeS import common
-from pyModeS.decoder.common import hex2bin, bin2int, data, allzeros, wrongstatus
+
 
 def is60(msg):
     """Check if a message is likely to be BDS code 6,0
 
     Args:
-        msg (String): 28 bytes hexadecimal message string
+        msg (str): 28 hexdigits string
 
     Returns:
         bool: True or False
     """
 
-    if allzeros(msg):
+    if common.allzeros(msg):
         return False
 
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
     # status bit 1, 13, 24, 35, 46
 
-    if wrongstatus(d, 1, 2, 12):
+    if common.wrongstatus(d, 1, 2, 12):
         return False
 
-    if wrongstatus(d, 13, 14, 23):
+    if common.wrongstatus(d, 13, 14, 23):
         return False
 
-    if wrongstatus(d, 24, 25, 34):
+    if common.wrongstatus(d, 24, 25, 34):
         return False
 
-    if wrongstatus(d, 35, 36, 45):
+    if common.wrongstatus(d, 35, 36, 45):
         return False
 
-    if wrongstatus(d, 46, 47, 56):
+    if common.wrongstatus(d, 46, 47, 56):
         return False
 
     ias = ias60(msg)
@@ -76,18 +61,18 @@ def hdg60(msg):
     """Megnetic heading of aircraft
 
     Args:
-        msg (String): 28 bytes hexadecimal message (BDS60) string
+        msg (str): 28 hexdigits string
 
     Returns:
         float: heading in degrees to megnetic north (from 0 to 360)
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if d[0] == '0':
+    if d[0] == "0":
         return None
 
     sign = int(d[1])  # 1 -> west
-    value = bin2int(d[2:12])
+    value = common.bin2int(d[2:12])
 
     if sign:
         value = value - 1024
@@ -105,17 +90,17 @@ def ias60(msg):
     """Indicated airspeed
 
     Args:
-        msg (String): 28 bytes hexadecimal message (BDS60) string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: indicated airspeed in knots
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if d[12] == '0':
+    if d[12] == "0":
         return None
 
-    ias = bin2int(d[13:23])    # kts
+    ias = common.bin2int(d[13:23])  # kts
     return ias
 
 
@@ -123,17 +108,17 @@ def mach60(msg):
     """Aircraft MACH number
 
     Args:
-        msg (String): 28 bytes hexadecimal message (BDS60) string
+        msg (str): 28 hexdigits string
 
     Returns:
         float: MACH number
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if d[23] == '0':
+    if d[23] == "0":
         return None
 
-    mach = bin2int(d[24:34]) * 2.048 / 512.0
+    mach = common.bin2int(d[24:34]) * 2.048 / 512.0
     return round(mach, 3)
 
 
@@ -141,18 +126,18 @@ def vr60baro(msg):
     """Vertical rate from barometric measurement, this value may be very noisy.
 
     Args:
-        msg (String): 28 bytes hexadecimal message (BDS60) string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: vertical rate in feet/minutes
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if d[34] == '0':
+    if d[34] == "0":
         return None
 
     sign = int(d[35])  # 1 -> negative value, two's complement
-    value = bin2int(d[36:45])
+    value = common.bin2int(d[36:45])
 
     if value == 0 or value == 511:  # all zeros or all ones
         return 0
@@ -164,21 +149,21 @@ def vr60baro(msg):
 
 
 def vr60ins(msg):
-    """Vertical rate messured by onbard equiments (IRS, AHRS)
+    """Vertical rate measurd by onbard equiments (IRS, AHRS)
 
     Args:
-        msg (String): 28 bytes hexadecimal message (BDS60) string
+        msg (str): 28 hexdigits string
 
     Returns:
         int: vertical rate in feet/minutes
     """
-    d = hex2bin(data(msg))
+    d = common.hex2bin(common.data(msg))
 
-    if d[45] == '0':
+    if d[45] == "0":
         return None
 
     sign = int(d[46])  # 1 -> negative value, two's complement
-    value = bin2int(d[47:56])
+    value = common.bin2int(d[47:56])
 
     if value == 0 or value == 511:  # all zeros or all ones
         return 0

pyModeS/decoder/commb.py

@@ -1,26 +1,27 @@
-"""Comm-B Wrapper.
+"""Comm-B module.
 
-The Comm-B wrapper imports all functions from the following modules:
+The Comm-B module imports all functions from the following modules:
 
-**ELS - elementary surveillance**
+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.bds10
-    - pyModeS.decoder.bds.bds40
+- pyModeS.decoder.bds.bds17
-    - pyModeS.decoder.bds.bds50
+- pyModeS.decoder.bds.bds20
-    - pyModeS.decoder.bds.bds60
+- pyModeS.decoder.bds.bds30
 
-**MRAR and MHR**
+EHS - enhanced surveillance
-    - pyModeS.decoder.bds.bds44
+
-    - pyModeS.decoder.bds.bds45
+- pyModeS.decoder.bds.bds40
+- pyModeS.decoder.bds.bds50
+- pyModeS.decoder.bds.bds60
+
+MRAR and MHR
+
+- pyModeS.decoder.bds.bds44
+- pyModeS.decoder.bds.bds45
 
 """
 
-from __future__ import absolute_import, print_function, division
-
 # ELS - elementary surveillance
 from pyModeS.decoder.bds.bds10 import *
 from pyModeS.decoder.bds.bds17 import *

pyModeS/decoder/ehs.py

@@ -9,7 +9,6 @@ The EHS wrapper imports all functions from the following modules:
 
 """
 
-from __future__ import absolute_import, print_function, division
 import warnings
 
 from pyModeS.decoder.bds.bds40 import *
@@ -17,13 +16,20 @@ from pyModeS.decoder.bds.bds50 import *
 from pyModeS.decoder.bds.bds60 import *
 from pyModeS.decoder.bds import infer
 
-warnings.simplefilter('once', DeprecationWarning)
+warnings.simplefilter("once", DeprecationWarning)
-warnings.warn("pms.ehs module is deprecated. Please use pms.commb instead.", 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)
+    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

@@ -10,13 +10,14 @@ The ELS wrapper imports all functions from the following modules:
 
 """
 
-from __future__ import absolute_import, print_function, division
-
 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)
+warnings.simplefilter("once", DeprecationWarning)
+warnings.warn(
+    "pms.els module is deprecated. Please use pms.commb instead.", DeprecationWarning
+)

pyModeS/decoder/surv.py

@@ -1,23 +1,5 @@
-# Copyright (C) 2018 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/>.
-
 """
 Warpper for short roll call surveillance replies DF=4/5
 
 [To be implemented]
 """
-
-from __future__ import absolute_import, print_function, division
-from pyModeS.decoder import common

pyModeS/decoder/uncertainty.py

@@ -6,120 +6,147 @@ See source code at: https://github.com/junzis/pyModeS/blob/master/pyModeS/decode
 NA = None
 
 TC_NUCp_lookup = {
-    0:0, 5:9, 6:8, 7:7, 8:6,
+    0: 0,
-    9:9, 10:8, 11:7, 12:6, 13:5, 14:4, 15:3, 16:2, 17:1, 18:0,
+    5: 9,
-    20:9, 21:8, 22:0
+    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,
+    5: 11,
-    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,
+    6: 10,
-    20:11, 21:10, 22:0
+    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},
+    5: 11,
-    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,
+    6: 10,
-    20:11, 21:10, 22:0
+    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},
+    9: {"HPL": 7.5, "RCu": 3, "RCv": 4},
-    8: {'HPL':25,       'RCu':10,       'RCv':15},
+    8: {"HPL": 25, "RCu": 10, "RCv": 15},
-    7: {'HPL':185,      'RCu':93,       'RCv':NA},
+    7: {"HPL": 185, "RCu": 93, "RCv": NA},
-    6: {'HPL':370,      'RCu':185,      'RCv':NA},
+    6: {"HPL": 370, "RCu": 185, "RCv": NA},
-    5: {'HPL':926,      'RCu':463,      'RCv':NA},
+    5: {"HPL": 926, "RCu": 463, "RCv": NA},
-    4: {'HPL':1852,     'RCu':926,      'RCv':NA},
+    4: {"HPL": 1852, "RCu": 926, "RCv": NA},
-    3: {'HPL':3704,     'RCu':1852,     'RCv':NA},
+    3: {"HPL": 3704, "RCu": 1852, "RCv": NA},
-    2: {'HPL':18520,    'RCu':9260,     'RCv':NA},
+    2: {"HPL": 18520, "RCu": 9260, "RCv": NA},
-    1: {'HPL':37040,    'RCu':18520,    'RCv':NA},
+    1: {"HPL": 37040, "RCu": 18520, "RCv": NA},
-    0: {'HPL':NA,       'RCu':NA,       'RCv':NA},
+    0: {"HPL": NA, "RCu": NA, "RCv": NA},
 }
 
 NUCv = {
-    0: {'HVE':NA,     'VVE':NA},
+    0: {"HVE": NA, "VVE": NA},
-    1: {'HVE':10,     'VVE':15.2},
+    1: {"HVE": 10, "VVE": 15.2},
-    2: {'HVE':3,      'VVE':4.5},
+    2: {"HVE": 3, "VVE": 4.5},
-    3: {'HVE':1,      'VVE':1.5},
+    3: {"HVE": 1, "VVE": 1.5},
-    4: {'HVE':0.3,    'VVE':0.46},
+    4: {"HVE": 0.3, "VVE": 0.46},
 }
 
 NACp = {
-    11: {'EPU': 3,      'VEPU': 4},
+    11: {"EPU": 3, "VEPU": 4},
-    10: {'EPU': 10,     'VEPU': 15},
+    10: {"EPU": 10, "VEPU": 15},
-    9: {'EPU': 30,      'VEPU': 45},
+    9: {"EPU": 30, "VEPU": 45},
-    8: {'EPU': 93,      'VEPU': NA},
+    8: {"EPU": 93, "VEPU": NA},
-    7: {'EPU': 185,     'VEPU': NA},
+    7: {"EPU": 185, "VEPU": NA},
-    6: {'EPU': 556,     'VEPU': NA},
+    6: {"EPU": 556, "VEPU": NA},
-    5: {'EPU': 926,     'VEPU': NA},
+    5: {"EPU": 926, "VEPU": NA},
-    4: {'EPU': 1852,    'VEPU': NA},
+    4: {"EPU": 1852, "VEPU": NA},
-    3: {'EPU': 3704,    'VEPU': NA},
+    3: {"EPU": 3704, "VEPU": NA},
-    2: {'EPU': 7408,    'VEPU': NA},
+    2: {"EPU": 7408, "VEPU": NA},
-    1: {'EPU': 18520,   'VEPU': NA},
+    1: {"EPU": 18520, "VEPU": NA},
-    0: {'EPU': NA,      'VEPU': NA},
+    0: {"EPU": NA, "VEPU": NA},
 }
 
 NACv = {
-    0: {'HFOMr':NA,     'VFOMr':NA},
+    0: {"HFOMr": NA, "VFOMr": NA},
-    1: {'HFOMr':10,     'VFOMr':15.2},
+    1: {"HFOMr": 10, "VFOMr": 15.2},
-    2: {'HFOMr':3,      'VFOMr':4.5},
+    2: {"HFOMr": 3, "VFOMr": 4.5},
-    3: {'HFOMr':1,      'VFOMr':1.5},
+    3: {"HFOMr": 1, "VFOMr": 1.5},
-    4: {'HFOMr':0.3,    'VFOMr':0.46},
+    4: {"HFOMr": 0.3, "VFOMr": 0.46},
 }
 
 SIL = {
-    3: {'PE_RCu': 1e-7, 'PE_VPL': 2e-7},
+    3: {"PE_RCu": 1e-7, "PE_VPL": 2e-7},
-    2: {'PE_RCu': 1e-5, 'PE_VPL': 1e-5},
+    2: {"PE_RCu": 1e-5, "PE_VPL": 1e-5},
-    1: {'PE_RCu': 1e-3, 'PE_VPL': 1e-3},
+    1: {"PE_RCu": 1e-3, "PE_VPL": 1e-3},
-    0: {'PE_RCu': NA,   'PE_VPL': NA},
+    0: {"PE_RCu": NA, "PE_VPL": NA},
 }
 
 
 NICv1 = {
     # NIC is used as the index at second Level
-
+    11: {0: {"Rc": 7.5, "VPL": 11}},
-    11: {0: {'Rc': 7.5,     'VPL': 11}},
+    10: {0: {"Rc": 25, "VPL": 37.5}},
-    10: {0: {'Rc': 25,      'VPL': 37.5}},
+    9: {1: {"Rc": 75, "VPL": 112}},
-    9: {1: {'Rc': 75,       'VPL': 112}},
+    8: {0: {"Rc": 185, "VPL": NA}},
-    8: {0: {'Rc': 185,      'VPL': NA}},
+    7: {0: {"Rc": 370, "VPL": NA}},
-    7: {0: {'Rc': 370,      'VPL': NA}},
+    6: {0: {"Rc": 926, "VPL": NA}, 1: {"Rc": 1111, "VPL": NA}},
-    6: {
+    5: {0: {"Rc": 1852, "VPL": NA}},
-        0: {'Rc': 926,      'VPL': NA},
+    4: {0: {"Rc": 3702, "VPL": NA}},
-        1: {'Rc': 1111,     'VPL': NA},
+    3: {1: {"Rc": 7408, "VPL": NA}},
-    },
+    2: {0: {"Rc": 14008, "VPL": NA}},
-    5: {0: {'Rc': 1852,     'VPL': NA}},
+    1: {0: {"Rc": 37000, "VPL": NA}},
-    4: {0: {'Rc': 3702,     'VPL': NA}},
+    0: {0: {"Rc": NA, "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}},
-    11: {0: {'Rc': 7.5}},
+    10: {0: {"Rc": 25}},
-    10: {0: {'Rc': 25}},
+    9: {2: {"Rc": 75}, 3: {"Rc": 75}},
-    9: {
+    8: {0: {"Rc": 185}},
-        2: {'Rc': 75},
+    7: {0: {"Rc": 370}, 3: {"Rc": 370}},
-        3: {'Rc': 75},
+    6: {0: {"Rc": 926}, 1: {"Rc": 556}, 2: {"Rc": 556}, 3: {"Rc": 1111}},
-    },
+    5: {0: {"Rc": 1852}},
-    8: {0: {'Rc': 185}},
+    4: {0: {"Rc": 3702}},
-    7: {
+    3: {3: {"Rc": 7408}},
-        0: {'Rc': 370},
+    2: {0: {"Rc": 14008}},
-        3: {'Rc': 370},
+    1: {0: {"Rc": 37000}},
-    },
+    0: {0: {"Rc": NA}},
-    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/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/__init__.py

@@ -1 +0,0 @@
-from __future__ import absolute_import, print_function, division

pyModeS/extra/aero.py

@@ -9,9 +9,9 @@ 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 retruns only pressure [Pa]
+    p = pressure(H)       # calls atmos but returns only pressure [Pa]
     T = temperature(H)    # calculates temperature [K]
-    rho = density(H)      # calls atmos but retruns only pressure [Pa]
+    rho = density(H)      # calls atmos but returns only pressure [Pa]
 
 Speed conversion at altitude H[m] in ISA
 ::
@@ -35,26 +35,26 @@ 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.          # nautical mile -> m
+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.        # Pa, air pressure, 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.  # m, average earth radius
+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
+    rhotrop = 1.225 * (T / 288.15) ** 4.256848030018761
-    dhstrat = np.maximum(0., H - 11000.0)
+    dhstrat = np.maximum(0.0, H - 11000.0)
     rho = rhotrop * np.exp(-dhstrat / 6341.552161)
     p = rho * R * T
     return p, rho, T
@@ -101,8 +101,10 @@ def distance(lat1, lon1, lat2, lon2, H=0):
     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.sin(phi1) * np.sin(phi2) * np.cos(theta1 - theta2) + np.cos(phi1) * np.cos(
-    cos = np.where(cos>1, 1, cos)
+        phi2
+    )
+    cos = np.where(cos > 1, 1, cos)
 
     arc = np.arccos(cos)
     dist = arc * (r_earth + H)  # meters, radius of earth
@@ -114,9 +116,8 @@ def bearing(lat1, lon1, lat2, lon2):
     lon1 = np.radians(lon1)
     lat2 = np.radians(lat2)
     lon2 = np.radians(lon2)
-    x = np.sin(lon2-lon1) * np.cos(lat2)
+    x = np.sin(lon2 - lon1) * np.cos(lat2)
-    y = np.cos(lat1) * np.sin(lat2) \
+    y = np.cos(lat1) * np.sin(lat2) - np.sin(lat1) * np.cos(lat2) * np.cos(lon2 - lon1)
-        - 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
@@ -129,44 +130,44 @@ def bearing(lat1, lon1, lat2, lon2):
 def tas2mach(Vtas, H):
     """True Airspeed to Mach number"""
     a = vsound(H)
-    Mach = Vtas/a
+    Mach = Vtas / a
     return Mach
 
 
 def mach2tas(Mach, H):
     """Mach number to True Airspeed"""
     a = vsound(H)
-    Vtas = Mach*a
+    Vtas = Mach * a
     return Vtas
 
 
 def eas2tas(Veas, H):
     """Equivalent Airspeed to True Airspeed"""
     rho = density(H)
-    Vtas = Veas * np.sqrt(rho0/rho)
+    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)
+    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.+rho0*Vcas*Vcas/(7.*p0))**3.5-1.)
+    qdyn = p0 * ((1.0 + rho0 * Vcas * Vcas / (7.0 * p0)) ** 3.5 - 1.0)
-    Vtas = np.sqrt(7.*p/rho*((1.+qdyn/p)**(2./7.)-1.))
+    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.+rho*Vtas*Vtas/(7.*p))**3.5-1.)
+    qdyn = p * ((1.0 + rho * Vtas * Vtas / (7.0 * p)) ** 3.5 - 1.0)
-    Vcas = np.sqrt(7.*p0/rho0*((qdyn/p0+1.)**(2./7.)-1.))
+    Vcas = np.sqrt(7.0 * p0 / rho0 * ((qdyn / p0 + 1.0) ** (2.0 / 7.0) - 1.0))
     return Vcas
 
 

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

@@ -1,55 +1,54 @@
-'''
+"""Stream beast raw data from a TCP server, convert to mode-s messages."""
-Stream beast raw data from a TCP server, convert to mode-s messages
+
-'''
-from __future__ import print_function, division
 import os
 import sys
-import socket
 import time
 import pyModeS as pms
-from threading import Thread
 import traceback
+import zmq
 
-if (sys.version_info > (3, 0)):
+if sys.version_info > (3, 0):
     PY_VERSION = 3
 else:
     PY_VERSION = 2
 
-class BaseClient(Thread):
+
-    def __init__(self, host, port, rawtype):
+class TcpClient(object):
-        Thread.__init__(self)
+    def __init__(self, host, port, datatype):
+        super(TcpClient, self).__init__()
         self.host = host
         self.port = port
         self.buffer = []
-        self.rawtype = rawtype
+        self.socket = None
-        if self.rawtype not in ['avr', 'beast', 'skysense']:
+        self.datatype = datatype
-            print("rawtype must be either avr, beast or skysense")
+        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):
-        while True:
+        self.socket = zmq.Context().socket(zmq.STREAM)
-            try:
+        self.socket.setsockopt(zmq.LINGER, 0)
-                s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self.socket.setsockopt(zmq.RCVTIMEO, 10000)
-                s.settimeout(10)    # 10 second timeout
+        self.socket.connect("tcp://%s:%s" % (self.host, self.port))
-                s.connect((self.host, self.port))
-                print("Server connected - %s:%s" % (self.host, self.port))
-                print("collecting ADS-B messages...")
-                return s
-            except socket.error as err:
-                print("Socket connection error: %s. reconnecting..." % err)
-                time.sleep(3)
 
+    def stop(self):
+        self.socket.disconnect()
 
-    def read_avr_buffer(self):
+    def read_raw_buffer(self):
-        # -- testing --
+        """ Read raw ADS-B data type.
-        # for b in self.buffer:
-        #     print(chr(b), b)
-
-        # Append message with 0-9,A-F,a-f, until stop sign
 
+        String strats with "*" and ends with ";". For example:
+            *5d484ba898f8c6;
+            *8d400cd5990d7e9a10043e5e6da0;
+            *a0001498be800030aa0000c7a75f;
+        """
         messages = []
 
         msg_stop = False
+        self.current_msg = ""
         for b in self.buffer:
             if b == 59:
                 msg_stop = True
@@ -57,9 +56,9 @@ class BaseClient(Thread):
                 messages.append([self.current_msg, ts])
             if b == 42:
                 msg_stop = False
-                self.current_msg = ''
+                self.current_msg = ""
 
-            if (not msg_stop) and (48<=b<=57 or 65<=b<=70 or 97<=b<=102):
+            if (not msg_stop) and (48 <= b <= 57 or 65 <= b <= 70 or 97 <= b <= 102):
                 self.current_msg = self.current_msg + chr(b)
 
         self.buffer = []
@@ -67,7 +66,8 @@ class BaseClient(Thread):
         return messages
 
     def read_beast_buffer(self):
-        '''
+        """Handle mode-s beast data type.
+
         <esc> "1" : 6 byte MLAT timestamp, 1 byte signal level,
             2 byte Mode-AC
         <esc> "2" : 6 byte MLAT timestamp, 1 byte signal level,
@@ -81,8 +81,7 @@ class BaseClient(Thread):
 
         timestamp:
         wiki.modesbeast.com/Radarcape:Firmware_Versions#The_GPS_timestamp
-        '''
+        """
-
         messages_mlat = []
         msg = []
         i = 0
@@ -91,16 +90,16 @@ class BaseClient(Thread):
         # then, reset the self.buffer with the remainder
 
         while i < len(self.buffer):
-            if (self.buffer[i:i+2] == [0x1a, 0x1a]):
+            if self.buffer[i : i + 2] == [0x1A, 0x1A]:
-                msg.append(0x1a)
+                msg.append(0x1A)
                 i += 1
-            elif (i == len(self.buffer) - 1) and (self.buffer[i] == 0x1a):
+            elif (i == len(self.buffer) - 1) and (self.buffer[i] == 0x1A):
                 # special case where the last bit is 0x1a
-                msg.append(0x1a)
+                msg.append(0x1A)
-            elif self.buffer[i] == 0x1a:
+            elif self.buffer[i] == 0x1A:
                 if i == len(self.buffer) - 1:
                     # special case where the last bit is 0x1a
-                    msg.append(0x1a)
+                    msg.append(0x1A)
                 elif len(msg) > 0:
                     messages_mlat.append(msg)
                     msg = []
@@ -112,12 +111,12 @@ class BaseClient(Thread):
         if len(msg) > 0:
             reminder = []
             for i, m in enumerate(msg):
-                if (m == 0x1a) and (i < len(msg)-1):
+                if (m == 0x1A) and (i < len(msg) - 1):
                     # rewind 0x1a, except when it is at the last bit
                     reminder.extend([m, m])
                 else:
                     reminder.append(m)
-            self.buffer = [0x1a] + msg
+            self.buffer = [0x1A] + msg
         else:
             self.buffer = []
 
@@ -131,14 +130,17 @@ class BaseClient(Thread):
 
             if msgtype == 0x32:
                 # Mode-S Short Message, 7 byte, 14-len hexstr
-                msg = ''.join('%02X' % i for i in mm[8:15])
+                msg = "".join("%02X" % i for i in mm[8:15])
             elif msgtype == 0x33:
                 # Mode-S Long Message, 14 byte, 28-len hexstr
-                msg = ''.join('%02X' % i for i in mm[8:22])
+                msg = "".join("%02X" % i for i in mm[8:22])
             else:
                 # Other message tupe
                 continue
 
+            if len(msg) not in [14, 28]:
+                continue
+
             df = pms.df(msg)
 
             # skip incomplete message
@@ -167,7 +169,7 @@ class BaseClient(Thread):
               Start character '$'
 
             MS field - Payload
-            Postion 1 through 14:
+            Position 1 through 14:
               14 bytes = 112 bits
               Mode-S payload
               In case of DF types that only carry 7 bytes of information
@@ -215,25 +217,33 @@ class BaseClient(Thread):
         messages = []
         while len(self.buffer) > SS_MSGLENGTH:
             i = 0
-            if self.buffer[i] == SS_STARTCHAR and self.buffer[i+SS_MSGLENGTH] == SS_STARTCHAR:
+            if (
+                self.buffer[i] == SS_STARTCHAR
+                and self.buffer[i + SS_MSGLENGTH] == SS_STARTCHAR
+            ):
                 i += 1
-                if (self.buffer[i]>>7):
+                if self.buffer[i] >> 7:
-                    #Long message
+                    # Long message
-                    payload = self.buffer[i:i+14]
+                    payload = self.buffer[i : i + 14]
                 else:
-                    #Short message
+                    # Short message
-                    payload = self.buffer[i:i+7]
+                    payload = self.buffer[i : i + 7]
-                msg = ''.join('%02X' % j for j in payload)
+                msg = "".join("%02X" % j for j in payload)
-                i += 14 #Both message types use 14 bytes
+                i += 14  # Both message types use 14 bytes
-                tsbin = self.buffer[i:i+6]
+                tsbin = self.buffer[i : i + 6]
-                sec   = ( (tsbin[0] & 0x7f) << 10) | (tsbin[1] << 2 ) | (tsbin[2] >> 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]
+                nano = (
-                ts = sec + nano*1.0e-9
+                    ((tsbin[2] & 0x3F) << 24)
+                    | (tsbin[3] << 16)
+                    | (tsbin[4] << 8)
+                    | tsbin[5]
+                )
+                ts = sec + nano * 1.0e-9
                 i += 6
-                #Signal and noise level - Don't care for now
+                # Signal and noise level - Don't care for now
                 i += 3
                 self.buffer = self.buffer[SS_MSGLENGTH:]
-                messages.append( [msg,ts] )
+                messages.append([msg, ts])
             else:
                 self.buffer = self.buffer[1:]
         return messages
@@ -243,12 +253,14 @@ class BaseClient(Thread):
         for msg, t in messages:
             print("%15.9f %s" % (t, msg))
 
-    def run(self):
+    def run(self, raw_pipe_in=None, stop_flag=None, exception_queue=None):
-        sock = self.connect()
+        self.raw_pipe_in = raw_pipe_in
+        self.stop_flag = stop_flag
+        self.connect()
 
         while True:
             try:
-                received = sock.recv(1024)
+                received = [i for i in self.socket.recv(4096)]
 
                 if PY_VERSION == 2:
                     received = [ord(i) for i in received]
@@ -256,16 +268,11 @@ class BaseClient(Thread):
                 self.buffer.extend(received)
                 # print(''.join(x.encode('hex') for x in self.buffer))
 
-                # process self.buffer when it is longer enough
+                if self.datatype == "beast":
-                # if len(self.buffer) < 2048:
-                #     continue
-                # -- Removed!! Cause delay in low data rate scenario --
-
-                if self.rawtype == 'beast':
                     messages = self.read_beast_buffer()
-                elif self.rawtype == 'avr':
+                elif self.datatype == "raw":
-                    messages = self.read_avr_buffer()
+                    messages = self.read_raw_buffer()
-                elif self.rawtype == 'skysense':
+                elif self.datatype == "skysense":
                     messages = self.read_skysense_buffer()
 
                 if not messages:
@@ -273,30 +280,18 @@ class BaseClient(Thread):
                 else:
                     self.handle_messages(messages)
 
-                time.sleep(0.001)
+                # raise RuntimeError("test exception")
+
             except Exception as e:
-
+                tb = traceback.format_exc()
-                # Provides the user an option to supply the environment
+                exception_queue.put(tb)
-                # variable PYMODES_DEBUG to halt the execution
+                raise e
-                # for debugging purposes
-                debug_intent = os.environ.get('PYMODES_DEBUG', 'false')
-                if debug_intent.lower() == 'true':
-                    traceback.print_exc()
-                    sys.exit()
-                else:
-                    print("Unexpected Error:", e)
-
-                try:
-                    sock = self.connect()
-                except Exception as e:
-                    print("Unexpected Error:", e)
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     # for testing purpose only
     host = sys.argv[1]
     port = int(sys.argv[2])
-    rawtype = sys.argv[3]
+    datatype = sys.argv[3]
-    client = BaseClient(host=host, port=port, rawtype=rawtype)
+    client = TcpClient(host=host, port=port, datatype=datatype)
-    client.daemon = True
     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

@@ -1,120 +1,154 @@
 #!/usr/bin/env python
 
-from __future__ import print_function, division
 import os
 import sys
 import time
 import argparse
 import curses
-from threading import Lock
+import signal
-import pyModeS as pms
+import multiprocessing
-from pyModeS.extra.tcpclient import BaseClient
+from pyModeS.streamer.decode import Decode
-from pyModeS.streamer.stream import Stream
 from pyModeS.streamer.screen import Screen
-
+from pyModeS.streamer.source import NetSource, RtlSdrSource
-LOCK = Lock()
-ADSB_MSG = []
-ADSB_TS = []
-COMMB_MSG = []
-COMMB_TS = []
-
-parser = argparse.ArgumentParser()
-parser.add_argument('--server', help='server address or IP', required=True)
-parser.add_argument('--port', help='raw data port', required=True)
-parser.add_argument('--rawtype', help='beast, avr or skysense', required=True)
-parser.add_argument('--latlon', help='receiver position', nargs=2, metavar=('LAT', 'LON'), required=True)
-parser.add_argument('--show-uncertainty', dest='uncertainty', help='display uncertaint values, default off', action='store_true', required=False, default=False)
-parser.add_argument('--dumpto', help='folder to dump decoded output', required=False, default=None)
-args = parser.parse_args()
-
-SERVER = args.server
-PORT = int(args.port)
-RAWTYPE = args.rawtype
-LAT0 = float(args.latlon[0])
-LON0 = float(args.latlon[1])
-UNCERTAINTY = args.uncertainty
-DUMPTO = args.dumpto
-
-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)
-
-
-class ModesClient(BaseClient):
-    def __init__(self, host, port, rawtype):
-        super(ModesClient, self).__init__(host, port, rawtype)
-
-    def handle_messages(self, messages):
-        local_buffer_adsb_msg = []
-        local_buffer_adsb_ts = []
-        local_buffer_ehs_msg = []
-        local_buffer_ehs_ts = []
-
-        for msg, t in messages:
-            if len(msg) < 28:           # only process long messages
-                continue
-
-            df = pms.df(msg)
-
-            if df == 17 or df == 18:
-                local_buffer_adsb_msg.append(msg)
-                local_buffer_adsb_ts.append(t)
-            elif df == 20 or df == 21:
-                local_buffer_ehs_msg.append(msg)
-                local_buffer_ehs_ts.append(t)
-            else:
-                continue
-
-
-        LOCK.acquire()
-        ADSB_MSG.extend(local_buffer_adsb_msg)
-        ADSB_TS.extend(local_buffer_adsb_ts)
-        COMMB_MSG.extend(local_buffer_ehs_msg)
-        COMMB_TS.extend(local_buffer_ehs_ts)
-        LOCK.release()
 
 
 # redirect all stdout to null, avoiding messing up with the screen
-sys.stdout = open(os.devnull, 'w')
+sys.stdout = open(os.devnull, "w")
 
-client = ModesClient(host=SERVER, port=PORT, rawtype=RAWTYPE)
+support_rawtypes = ["raw", "beast", "skysense"]
-client.daemon = True
-client.start()
 
-stream = Stream(lat0=LAT0, lon0=LON0, dumpto=DUMPTO)
+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()
 
-try:
+SOURCE = args.source
-    screen = Screen(uncertainty=UNCERTAINTY)
+LATLON = args.latlon
-    screen.daemon = True
+UNCERTAINTY = args.uncertainty
-    screen.start()
+DUMPTO = args.dumpto
 
-    while True:
+if SOURCE == "rtlsdr":
-        if len(ADSB_MSG) > 200:
+    pass
-            LOCK.acquire()
+elif SOURCE == "net":
-            stream.process_raw(ADSB_TS, ADSB_MSG, COMMB_TS, COMMB_MSG)
+    if args.connect is None:
-            ADSB_MSG = []
+        print("Error: --connect argument must not be empty.")
-            ADSB_TS = []
+    else:
-            COMMB_MSG = []
+        SERVER, PORT, DATATYPE = args.connect
-            COMMB_TS = []
+        if DATATYPE not in support_rawtypes:
-            LOCK.release()
+            print("Data type not supported, available ones are %s" % support_rawtypes)
 
-        acs = stream.get_aircraft()
+else:
-        try:
+    print('Source must be "rtlsdr" or "net".')
-            screen.update_data(acs)
+    sys.exit(1)
-            screen.update()
-            time.sleep(0.02)
-        except KeyboardInterrupt:
-            raise
-        except:
-            continue
 
-except KeyboardInterrupt:
+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)
 
-finally:
+
-    curses.endwin()
+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

@@ -1,46 +1,46 @@
-from __future__ import print_function, division
-import os
 import curses
 import numpy as np
 import time
-from threading import Thread
+import threading
+import traceback
 
 COLUMNS = [
-    ('call', 10),
+    ("call", 10),
-    ('lat', 10),
+    ("lat", 10),
-    ('lon', 10),
+    ("lon", 10),
-    ('alt', 7),
+    ("alt", 7),
-    ('gs', 5),
+    ("gs", 5),
-    ('tas', 5),
+    ("tas", 5),
-    ('ias', 5),
+    ("ias", 5),
-    ('mach', 7),
+    ("mach", 7),
-    ('roc', 7),
+    ("roc", 7),
-    ('trk', 10),
+    ("trk", 10),
-    ('hdg', 10),
+    ("hdg", 10),
-    ('live', 6),
+    ("live", 6),
 ]
 
 UNCERTAINTY_COLUMNS = [
-    ('|', 5),
+    ("|", 5),
-    ('ver', 4),
+    ("ver", 4),
-    ('HPL', 5),
+    ("HPL", 5),
-    ('RCu', 5),
+    ("RCu", 5),
-    ('RCv', 5),
+    ("RCv", 5),
-    ('HVE', 5),
+    ("HVE", 5),
-    ('VVE', 5),
+    ("VVE", 5),
-    ('Rc', 4),
+    ("Rc", 4),
-    ('VPL', 5),
+    ("VPL", 5),
-    ('EPU', 5),
+    ("EPU", 5),
-    ('VEPU', 6),
+    ("VEPU", 6),
-    ('HFOMr', 7),
+    ("HFOMr", 7),
-    ('VFOMr', 7),
+    ("VFOMr", 7),
-    ('PE_RCu', 8),
+    ("PE_RCu", 8),
-    ('PE_VPL', 8),
+    ("PE_VPL", 8),
 ]
 
-class Screen(Thread):
+
+class Screen(object):
     def __init__(self, uncertainty=False):
-        Thread.__init__(self)
+        super(Screen, self).__init__()
         self.screen = curses.initscr()
         curses.noecho()
         curses.mousemask(1)
@@ -55,16 +55,20 @@ class Screen(Thread):
         if uncertainty:
             self.columns.extend(UNCERTAINTY_COLUMNS)
 
-
     def reset_cursor_pos(self):
         self.screen.move(self.y, self.x)
 
-    def update_data(self, acs):
+    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))
+        self.screen.addstr(
+            0,
+            2,
+            "Online aircraft [%d] ('Ctrl+C' to exit, 'Enter' to lock one)"
+            % len(self.acs),
+        )
 
     def update(self):
         if len(self.acs) == 0:
@@ -81,21 +85,20 @@ class Screen(Thread):
 
         row = 1
 
-        header = '  icao'
+        header = "  icao"
         for c, cw in self.columns:
-            header += (cw-len(c))*' ' + c
+            header += (cw - len(c)) * " " + c
 
         # fill end with spaces
-        header += (self.scr_w - 2 - len(header)) * ' '
+        header += (self.scr_w - 2 - len(header)) * " "
 
         if len(header) > self.scr_w - 2:
-            header = header[:self.scr_w-3] + '>'
+            header = header[: self.scr_w - 3] + ">"
-
 
         self.screen.addstr(row, 1, header)
 
-        row +=1
+        row += 1
-        self.screen.addstr(row, 1, '-'*(self.scr_w-2))
+        self.screen.addstr(row, 1, "-" * (self.scr_w - 2))
 
         icaos = np.array(list(self.acs.keys()))
         icaos = np.sort(icaos)
@@ -105,10 +108,10 @@ class Screen(Thread):
             idx = row + self.offset - 3
 
             if idx > len(icaos) - 1:
-                line = ' '*(self.scr_w-2)
+                line = " " * (self.scr_w - 2)
 
             else:
-                line = ''
+                line = ""
 
                 icao = icaos[idx]
                 ac = self.acs[icao]
@@ -116,22 +119,22 @@ class Screen(Thread):
                 line += icao
 
                 for c, cw in self.columns:
-                    if c=='|':
+                    if c == "|":
-                        val = '|'
+                        val = "|"
-                    elif c=='live':
+                    elif c == "live":
-                        val = str(int(time.time() - ac[c]))+'s'
+                        val = str(ac[c] - int(time.time())) + "s"
                     elif ac[c] is None:
-                        val = ''
+                        val = ""
                     else:
                         val = ac[c]
                     val_str = str(val)
-                    line += (cw-len(val_str))*' ' + val_str
+                    line += (cw - len(val_str)) * " " + val_str
 
                 # fill end with spaces
-                line += (self.scr_w - 2 - len(line)) * ' '
+                line += (self.scr_w - 2 - len(line)) * " "
 
                 if len(line) > self.scr_w - 2:
-                    line = line[:self.scr_w-3] + '>'
+                    line = line[: self.scr_w - 3] + ">"
 
             if (icao is not None) and (self.lock_icao == icao):
                 self.screen.addstr(row, 1, line, curses.A_STANDOUT)
@@ -140,15 +143,15 @@ class Screen(Thread):
             else:
                 self.screen.addstr(row, 1, line)
 
-        self.screen.addstr(self.scr_h-3, 1, '-'*(self.scr_w-2))
+        self.screen.addstr(self.scr_h - 3, 1, "-" * (self.scr_w - 2))
 
         total_page = len(icaos) // (self.scr_h - 4) + 1
         current_page = self.offset // (self.scr_h - 4) + 1
-        self.screen.addstr(self.scr_h-2, 1, '(%d / %d)' % (current_page, total_page))
+        self.screen.addstr(self.scr_h - 2, 1, "(%d / %d)" % (current_page, total_page))
 
         self.reset_cursor_pos()
 
-    def run(self):
+    def kye_handling(self):
         self.draw_frame()
         self.scr_h, self.scr_w = self.screen.getmaxyx()
 
@@ -168,7 +171,7 @@ class Screen(Thread):
                     self.offset = offset_intent
                 else:
                     self.offset = 0
-            elif c == curses.KEY_DOWN :
+            elif c == curses.KEY_DOWN:
                 y_intent = self.y + 1
                 if y_intent < self.scr_h - 3:
                     self.y = y_intent
@@ -178,6 +181,38 @@ class Screen(Thread):
                     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/streamer/stream.py

@@ -1,255 +0,0 @@
-from __future__ import absolute_import, print_function, division
-import os
-import time
-import datetime
-import csv
-import pyModeS as pms
-
-class Stream():
-    def __init__(self, lat0, lon0, dumpto=None):
-
-        self.acs = dict()
-
-        self.lat0 = lat0
-        self.lon0 = lon0
-
-        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_msgs, commb_ts, commb_msgs, tnow=None):
-        """process a chunk of adsb and commb messages recieved 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_msgs):
-            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_msgs):
-            icao = pms.icao(msg)
-
-            if icao not in self.acs:
-                continue
-
-            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 memeory"""
-        acs = self.acs
-        icaos = list(acs.keys())
-        for icao in icaos:
-            if acs[icao]['lat'] is None:
-                acs.pop(icao)
-        return acs

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/*
@@ -15,6 +15,13 @@ 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
@@ -30,7 +37,7 @@ setup(
     # 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="2.2",
+    version="2.5",
     description="Python Mode-S and ADS-B Decoder",
     long_description=long_description,
     # The project's main homepage.
@@ -49,21 +56,17 @@ setup(
         "Development Status :: 4 - Beta",
         # Indicate who your project is intended for
         "Intended Audience :: Developers",
-        "Topic :: Software Development :: Build Tools",
+        "Topic :: Software Development :: Libraries",
         # Pick your license as you wish (should match "license" above)
         "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",
-        "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 :: 3.6",
     ],
+    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"]),
@@ -74,7 +77,7 @@ setup(
     # 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=["numpy", "argparse"],
+    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:

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_run_adsb.py

@@ -1,25 +1,28 @@
-from __future__ import print_function
+import sys
-from pyModeS import adsb, ehs
+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
 
-# === Decode sample data file ===
+print("===== Decode ADS-B sample data=====")
 
-def adsb_decode_all(n=None):
+f = open("tests/data/sample_data_adsb.csv", "rt")
-    print("===== Decode ADS-B sample data=====")
-    import csv
-    f = open('tests/data/sample_data_adsb.csv', 'rt')
 
-    msg0 = None
+msg0 = None
-    msg1 = None
+msg1 = None
 
-    for i, r in enumerate(csv.reader(f)):
+tstart = time.time()
-        if n and i > n:
+for i, r in enumerate(csv.reader(f)):
-            break
+
+    ts = int(r[0])
+    m = r[1].encode()
 
-        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:
@@ -37,5 +40,7 @@ def adsb_decode_all(n=None):
             alt = adsb.altitude(m)
             print(ts, m, icao, tc, pos, alt)
 
-if __name__ == '__main__':
+
-    adsb_decode_all(n=100)
+dt = time.time() - tstart
+
+print("Execution time: {} seconds".format(dt))

tests/sample_run_commb.py

@@ -1,14 +1,14 @@
-from __future__ import print_function
 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)])
+        info = [i[-2:] for i in commb.cap17(m)]
 
     elif BDS == "BDS20":
         info = [commb.cs20(m)]
@@ -20,13 +20,30 @@ def bds_info(BDS, m):
         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))
+        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))
+        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))
+        info = (
+            commb.hdg60(m),
+            commb.ias60(m),
+            commb.mach60(m),
+            commb.vr60baro(m),
+            commb.vr60ins(m),
+        )
 
     else:
         info = None
@@ -39,8 +56,7 @@ def commb_decode_all(df, n=None):
 
     print("===== Decode Comm-B sample data (DF=%s)=====" % df)
 
-    f = open('tests/data/sample_data_commb_df%s.csv' % df, 'rt')
+    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:
@@ -55,21 +71,21 @@ def commb_decode_all(df, n=None):
         code = common.altcode(m) if df == 20 else common.idcode(m)
 
         if not BDS:
-            print(ts, m, icao, df, '%5s'%code, 'UNKNOWN')
+            print(ts, m, icao, df, "%5s" % code, "UNKNOWN")
             continue
 
         if len(BDS.split(",")) > 1:
-            print(ts, m, icao, df, '%5s' % code, end=' ')
+            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))
+                    print(" " * 55, _bds, *bds_info(_bds, m))
 
         else:
-            print(ts, m, icao, df, '%5s'%code, BDS, *bds_info(BDS, m))
+            print(ts, m, icao, df, "%5s" % code, BDS, *bds_info(BDS, m))
 
 
-if __name__ == '__main__':
+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",
+    pos = adsb.position(
+        "8D40058B58C901375147EFD09357",
         "8D40058B58C904A87F402D3B8C59",
-                        1446332400, 1446332405)
+        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",
+    pos = adsb.airborne_position_with_ref("8D40058B58C901375147EFD09357", 49.0, 6.0)
-                                          49.0, 6.0)
     assert pos == (49.82410, 6.06785)
-    pos = adsb.airborne_position_with_ref("8D40058B58C904A87F402D3B8C59",
+    pos = adsb.airborne_position_with_ref("8D40058B58C904A87F402D3B8C59", 49.0, 6.0)
-                                          49.0, 6.0)
     assert pos == (49.81755, 6.08442)
 
 
 def test_adsb_surface_position_with_ref():
-    pos = adsb.surface_position_with_ref("8FC8200A3AB8F5F893096B000000",
+    pos = adsb.surface_position_with_ref("8FC8200A3AB8F5F893096B000000", -43.5, 172.5)
-                                         -43.5, 172.5)
     assert pos == (-43.48564, 172.53942)
 
 
 def test_adsb_surface_position():
-    pos = adsb.surface_position("8CC8200A3AC8F009BCDEF2000000",
+    pos = adsb.surface_position(
+        "8CC8200A3AC8F009BCDEF2000000",
         "8FC8200A3AB8F5F893096B000000",
-                                0, 2,
+        0,
-                                -43.496, 172.558)
+        2,
+        -43.496,
+        172.558,
+    )
     assert pos == (-43.48564, 172.53942)
 
+
 def test_adsb_alt():
     assert adsb.altitude("8D40058B58C901375147EFD09357") == 39000
 
@@ -58,10 +74,10 @@ def test_adsb_velocity():
     vgs = adsb.velocity("8D485020994409940838175B284F")
     vas = adsb.velocity("8DA05F219B06B6AF189400CBC33F")
     vgs_surface = adsb.velocity("8FC8200A3AB8F5F893096B000000")
-    assert vgs == (159, 182.88, -832, 'GS')
+    assert vgs == (159, 182.88, -832, "GS")
-    assert vas == (375, 243.98, -2304, 'TAS')
+    assert vas == (375, 243.98, -2304, "TAS")
-    assert vgs_surface == (19.0, 42.2, 0 , 'GS')
+    assert vgs_surface == (19.0, 42.2, 0, "GS")
-    assert adsb.altitude_diff('8D485020994409940838175B284F') == 550
+    assert adsb.altitude_diff("8D485020994409940838175B284F") == 550
 
 
 # def test_nic():

tests/test_bds_inference.py

@@ -1,20 +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'
+def test_bds_infer():
-    assert bds.infer("A0000638FA81C10000000081A92F") == 'BDS17'
+    assert bds.infer("8D406B902015A678D4D220AA4BDA") == "BDS08"
-    assert bds.infer("A0001838201584F23468207CDFA5") == 'BDS20'
+    assert bds.infer("8FC8200A3AB8F5F893096B000000") == "BDS06"
-    assert bds.infer("A0001839CA3800315800007448D9") == 'BDS40'
+    assert bds.infer("8D40058B58C901375147EFD09357") == "BDS05"
-    assert bds.infer("A000139381951536E024D4CCF6B5") == 'BDS50'
+    assert bds.infer("8D485020994409940838175B284F") == "BDS09"
-    assert bds.infer("A00004128F39F91A7E27C46ADC21") == 'BDS60'
+
+    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("A0000000FFDA9517000464000000", 182, 237, 1250) == "BDS50"
-    assert bds.is50or60("A0000000919A5927E23444000000", 413, 54, 18700) == 'BDS60'
+    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

tests/test_commb.py

@@ -1,12 +1,14 @@
 from pyModeS import bds, commb
+
 # from pyModeS import ehs, els    # deprecated
 
-def test_bds20_callsign():
-    assert bds.bds20.cs20("A000083E202CC371C31DE0AA1CCF") == 'KLM1017_'
-    assert bds.bds20.cs20("A0001993202422F2E37CE038738E") == 'IBK2873_'
 
-    assert commb.cs20("A000083E202CC371C31DE0AA1CCF") == 'KLM1017_'
+def test_bds20_callsign():
-    assert commb.cs20("A0001993202422F2E37CE038738E") == 'IBK2873_'
+    assert bds.bds20.cs20("A000083E202CC371C31DE0AA1CCF") == "KLM1017_"
+    assert bds.bds20.cs20("A0001993202422F2E37CE038738E") == "IBK2873_"
+
+    assert commb.cs20("A000083E202CC371C31DE0AA1CCF") == "KLM1017_"
+    assert commb.cs20("A0001993202422F2E37CE038738E") == "IBK2873_"
 
 
 def test_bds40_functions():

tests/test_common.py

@@ -2,57 +2,61 @@ from pyModeS import common
 
 
 def test_conversions():
-    assert common.hex2bin('6E406B') == "011011100100000001101011"
+    assert common.hex2bin("6E406B") == "011011100100000001101011"
-    assert common.bin2hex('011011100100000001101011') == "6E406B"
+
-    assert common.int2hex(11160538) == "AA4BDA"
 
 def test_crc_decode():
     assert common.crc_legacy("8D406B902015A678D4D220AA4BDA") == 0
 
     assert common.crc("8D406B902015A678D4D220AA4BDA") == 0
-    assert common.crc('8d8960ed58bf053cf11bc5932b7d') == 0
+    assert common.crc("8d8960ed58bf053cf11bc5932b7d") == 0
-    assert common.crc('8d45cab390c39509496ca9a32912') == 0
+    assert common.crc("8d45cab390c39509496ca9a32912") == 0
-    assert common.crc('8d49d3d4e1089d00000000744c3b') == 0
+    assert common.crc("8d49d3d4e1089d00000000744c3b") == 0
-    assert common.crc('8d74802958c904e6ef4ba0184d5c') == 0
+    assert common.crc("8d74802958c904e6ef4ba0184d5c") == 0
-    assert common.crc('8d4400cd9b0000b4f87000e71a10') == 0
+    assert common.crc("8d4400cd9b0000b4f87000e71a10") == 0
-    assert common.crc('8d4065de58a1054a7ef0218e226a') == 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
 
-    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 common.int2hex(parity) == "AA4BDA"
+    assert parity == 11160538
+
 
 def test_icao():
     assert common.icao("8D406B902015A678D4D220AA4BDA") == "406B90"
-    assert common.icao("A0001839CA3800315800007448D9") == '400940'
+    assert common.icao("A0001839CA3800315800007448D9") == "400940"
-    assert common.icao("A000139381951536E024D4CCF6B5") == '3C4DD2'
+    assert common.icao("A000139381951536E024D4CCF6B5") == "3C4DD2"
-    assert common.icao("A000029CFFBAA11E2004727281F1") == '4243D0'
+    assert common.icao("A000029CFFBAA11E2004727281F1") == "4243D0"
+
 
 def test_modes_altcode():
     assert common.altcode("A02014B400000000000000F9D514") == 32300
 
+
 def test_modes_idcode():
-    assert common.idcode("A800292DFFBBA9383FFCEB903D01") == '1346'
+    assert common.idcode("A800292DFFBBA9383FFCEB903D01") == "1346"
+
 
 def test_graycode_to_altitude():
-    assert common.gray2alt('00000000010') == -1000
+    assert common.gray2alt("00000000010") == -1000
-    assert common.gray2alt('00000001010') == -500
+    assert common.gray2alt("00000001010") == -500
-    assert common.gray2alt('00000011011') == -100
+    assert common.gray2alt("00000011011") == -100
-    assert common.gray2alt('00000011010') == 0
+    assert common.gray2alt("00000011010") == 0
-    assert common.gray2alt('00000011110') == 100
+    assert common.gray2alt("00000011110") == 100
-    assert common.gray2alt('00000010011') == 600
+    assert common.gray2alt("00000010011") == 600
-    assert common.gray2alt('00000110010') == 1000
+    assert common.gray2alt("00000110010") == 1000
-    assert common.gray2alt('00001001001') == 5800
+    assert common.gray2alt("00001001001") == 5800
-    assert common.gray2alt('00011100100') == 10300
+    assert common.gray2alt("00011100100") == 10300
-    assert common.gray2alt('01100011010') == 32000
+    assert common.gray2alt("01100011010") == 32000
-    assert common.gray2alt('01110000100') == 46300
+    assert common.gray2alt("01110000100") == 46300
-    assert common.gray2alt('01010101100') == 50200
+    assert common.gray2alt("01010101100") == 50200
-    assert common.gray2alt('11011110100') == 73200
+    assert common.gray2alt("11011110100") == 73200
-    assert common.gray2alt('10000000011') == 126600
+    assert common.gray2alt("10000000011") == 126600
-    assert common.gray2alt('10000000001') == 126700
+    assert common.gray2alt("10000000001") == 126700

tests/test_encoder.py

@@ -0,0 +1,23 @@
+from pyModeS import encoder
+
+
+def test_identification():
+    msg = encoder.encode_adsb(
+        icao="406B90", typecode=4, capability=5, category=0, callsign="EZY85MH"
+    )
+    assert msg == "8D406B902015A678D4D220AA4BDA"
+
+
+def test_speed():
+    msg = encoder.encode_adsb(
+        icao="485020",
+        typecode=19,
+        capability=5,
+        speed_type="gs",
+        speed=159,
+        angle=182.88,
+        vertical_rate=-832,
+        vertical_rate_source="gnss",
+        gnss_baro_alt_diff=550,
+    )
+    assert msg == "8D485020994409940838175B284F"

tests/test_tell.py

@@ -0,0 +1,20 @@
+from pyModeS.decoder import tell
+
+messages = [
+    "8D406B902015A678D4D220AA4BDA",
+    "8FC8200A3AB8F5F893096B000000",
+    "8D40058B58C901375147EFD09357",
+    "8D485020994409940838175B284F",
+    "A000083E202CC371C31DE0AA1CCF",
+    "A8001E2520053332C1A820363386",
+    "A000029C85E42F313000007047D3",
+    "A5DC282C2A0108372CA6DA9693B0",
+    "A00015B8C26A00328400004242DA",
+    "A000139381951536E024D4CCF6B5",
+    "A00004128F39F91A7E27C46ADC21",
+]
+
+print("-" * 70)
+for m in messages:
+    tell(m)
+    print("-" * 70)

tox.ini

@@ -1,9 +0,0 @@
-[tox]
-toxworkdir = /tmp/tox
-envlist = py2,py3
-
-[testenv]
-deps =
-  pytest
-  numpy
-commands = py.test