release version 2.4 - fix import errors

moved pms.adsb.surface_velocity under typecode 5-8

.gitignore

@@ -58,3 +58,9 @@ target/
 
 # PyCharm
 .idea/
+
+# Environments
+.env
+.venv
+env/
+venv/

README.rst

@@ -1,9 +1,7 @@
 The Python ADS-B/Mode-S Decoder
 ===============================
 
-If you find this project useful for your research, please cite our work (bibtex format):
-
-::
+If you find this project useful for your research, please considering cite this tool as::
 
   @article{sun2019pymodes,
       author={J. {Sun} and H. {V\^u} and J. {Ellerbroek} and J. M. {Hoekstra}},
@@ -18,11 +16,11 @@ If you find this project useful for your research, please cite our work (bibtex
 
 Introduction
 ---------------------
-PyModeS is a Python library designed to decode Mode-S (including ADS-B) message.
-Message with following Downlink Formats (DF) are supported:
+PyModeS is a Python library designed to decode Mode-S (including ADS-B) message. It can be imported to your python project or be used as a standalone tool to view and save live traffic data.
 
+Messages with following Downlink Formats (DF) are supported:
 
-**DF17 / DF18: Automatic Dependent Surveillance - Broadcast (ADS-B)**
+**DF17 / DF18: Automatic Dependent Surveillance-Broadcast (ADS-B)**
 
 - TC=1-4  / BDS 0,8: Aircraft identification and category
 - TC=5-8  / BDS 0,6: Surface position
@@ -53,13 +51,13 @@ Message with following Downlink Formats (DF) are supported:
 
 Resources
 -----------
-Checkout and contribute to this open-source project at:
+Check out and contribute to this open-source project at:
 https://github.com/junzis/pyModeS
 
 Detailed manual on Mode-S decoding is published at:
 https://mode-s.org/decode.
 
-API documentation of pyModeS is at:
+The API documentation of pyModeS is at:
 http://pymodes.readthedocs.io
 
 
@@ -67,44 +65,61 @@ http://pymodes.readthedocs.io
 Install
 -------
 
-To install latest version from the GitHub:
+The pyModeS can be installed with extra option ``[all]`` in order to install dependencies ``pyzmq`` and ``pyrtlsdr`` automatically.
 
-::
-
-  pip install git+https://github.com/junzis/pyModeS
-
-
-To install the stable version (2.0) from pip:
-
-::
+Installation examples::
 
+  # stable version, basic
   pip install pyModeS
 
+  # stable version, including dependencies for streamer and rtlsdr
+  pip install pyModeS[all]
+
+  # development version, basic
+  pip install git+https://github.com/junzis/pyModeS
+
+  # development version, including dependencies for streamer and rtlsdr
+  pip install git+https://github.com/junzis/pyModeS#egg=pyModeS[all]
 
 
-Live view traffic (modeslive)
+
+View live traffic (modeslive)
 ----------------------------------------------------
-Supports **Mode-S Beast** and **AVR** raw stream
 
-::
+General usage::
 
-  modeslive --server [server_address] --port [tcp_port] --rawtype [beast,avr,skysense] --latlon [lat] [lon]  --dumpto [folder]
+  $ modeslive [-h] --source SOURCE [--connect SERVER PORT DATAYPE]
+              [--latlon LAT LON] [--show-uncertainty] [--dumpto DUMPTO]
 
-  Arguments:
-    -h, --help           show this help message and exit
-    --server SERVER      server address or IP
-    --port PORT          raw data port
-    --rawtype RAWTYPE    beast, avr or skysense
-    --latlon LAT LON     receiver position
-    --show-uncertainty   display uncertaint values, default off
-    --dumpto             folder to dump decoded output
+  arguments:
+   -h, --help            show this help message and exit
+   --source SOURCE       Choose data source, "rtlsdr" or "net"
+   --connect SERVER PORT DATATYPE
+                         Define server, port and data type. Supported data
+                         types are: ['raw', 'beast', 'skysense']
+   --latlon LAT LON      Receiver latitude and longitude, needed for the surface
+                         position, default none
+   --show-uncertainty    Display uncertainty values, default off
+   --dumpto DUMPTO       Folder to dump decoded output, default none
 
 
-If you have a RTL-SDR receiver or Mode-S Beast, use modesmixer2 (http://xdeco.org/?page_id=48) to create raw beast TCP stream:
+Live with RTL-SDR
+*******************
+
+If you have an RTL-SDR receiver plugged to the computer, you can connect it with ``rtlsdr`` source switch, shown as follows::
+
+  $ modeslive --source rtlsdr
+
+
+Live with network data
+***************************
+
+If you want to connect to a TCP server that broadcast raw data. use can use ``net`` source switch, for example::
+
+  $ modeslive --source net --connect localhost 30002 raw
+  $ modeslive --source net --connect 127.0.0.1 30005 beast
 
-::
 
-  $ modesmixer2 --inSeriel port[:speed[:flow_control]] --outServer beast:[tcp_port]
 
 Example screenshot:
 
@@ -150,6 +165,7 @@ Core functions for ADS-B decoding
   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 +176,10 @@ 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
-use `position_with_ref()` method to decode with only one position message
-(either odd or even). This works with both airborne and surface position
-messages. But the reference position shall be with in 180NM (airborne)
-or 45NM (surface) of the true position.
+Note: When you have a fix position of the aircraft, it is convenient to use `position_with_ref()` method to decode with only one position message (either odd or even). This works with both airborne and surface position messages. But the reference position shall be within 180NM (airborne) or 45NM (surface) of the true position.
 
 
 Decode altitude replies in DF4 / DF20
@@ -275,49 +286,48 @@ Meteorological hazard air report (MHR) [Experimental]
 
 Customize the streaming module
 ******************************
-The TCP client module from pyModeS can be re-used to stream and process Mode-S
-data as your like. You need to re-implement the ``handle_messages()`` function from
-the ``BaseClient`` class to write your own logic to handle the messages.
+The TCP client module from pyModeS can be re-used to stream and process Mode-S data as you like. You need to re-implement the ``handle_messages()`` function from the ``TcpClient`` 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)
 
-              if df != 17:                # not ADSB
+              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. First, install ``tox`` through pip. Then, run the following commands:
 
 .. code:: bash
 

pyModeS/__init__.py

@@ -1,6 +1,10 @@
 from __future__ import absolute_import, print_function, division
 
+import os
+import warnings
+
 from .decoder.common import *
+from .decoder import tell
 from .decoder import adsb
 from .decoder import commb
 from .decoder import common
@@ -8,8 +12,6 @@ from .decoder import bds
 from .extra import aero
 from .extra import tcpclient
 
-# from .decoder import els        # depricated
-# from .decoder import ehs        # depricated
+warnings.simplefilter("once", DeprecationWarning)
 
-import os
 dirpath = os.path.dirname(os.path.realpath(__file__))

pyModeS/decoder/__init__.py

@@ -1,3 +1,145 @@
 from __future__ import absolute_import, print_function, division
 
-from pyModeS.decoder import *
+from pyModeS.decoder import adsb, commb, common, bds
+
+
+def tell(msg):
+    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("Protocal", "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 postition")
+            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("Protocal", "Mode-S Comm-B altitude reply")
+        _print("Altitude", common.altcode(msg), "feet")
+
+    if df == 21:
+        _print("Protocal", "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/adsb.py

@@ -35,20 +35,32 @@ from pyModeS.decoder import common
 from pyModeS.decoder import uncertainty
 
 # from pyModeS.decoder.bds import bds05, bds06, bds09
-from pyModeS.decoder.bds.bds05 import airborne_position, airborne_position_with_ref, altitude
-from pyModeS.decoder.bds.bds06 import surface_position, surface_position_with_ref, surface_velocity
+from pyModeS.decoder.bds.bds05 import (
+    airborne_position,
+    airborne_position_with_ref,
+    altitude,
+)
+from pyModeS.decoder.bds.bds06 import (
+    surface_position,
+    surface_position_with_ref,
+    surface_velocity,
+)
 from pyModeS.decoder.bds.bds08 import category, callsign
 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
     (works with both airborne and surface position messages)
@@ -65,19 +77,21 @@ def position(msg0, msg1, t0, t1, lat_ref=None, lon_ref=None):
     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):
-            raise RuntimeError("Surface position encountered, a reference \
+            raise RuntimeError(
+                "Surface position encountered, a reference \
                                position lat/lon required. Location of \
-                               receiver can be used.")
+                               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)
 
@@ -104,10 +118,10 @@ 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:
@@ -126,17 +140,17 @@ def altitude(msg):
 
     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:
+    if 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])
+        n = common.bin2int(msgbin[40:47] + msgbin[48:52])
         alt = n * 25 - 1000
         return alt
     else:
@@ -175,7 +189,9 @@ def velocity(msg, rtn_sources=False):
         return airborne_velocity(msg, rtn_sources)
 
     else:
-        raise RuntimeError("incorrect or inconsistant message types, expecting 4<TC<9 or TC=19")
+        raise RuntimeError(
+            "incorrect or inconsistant message types, expecting 4<TC<9 or TC=19"
+        )
 
 
 def speed_heading(msg):
@@ -215,7 +231,9 @@ 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])
@@ -241,18 +259,18 @@ 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']
-        RCu = uncertainty.NUCp[NUCp]['RCu']
-        RCv = uncertainty.NUCp[NUCp]['RCv']
+        HPL = uncertainty.NUCp[NUCp]["HPL"]
+        RCu = uncertainty.NUCp[NUCp]["RCu"]
+        RCv = uncertainty.NUCp[NUCp]["RCv"]
     except KeyError:
         HPL, RCu, RCv = uncertainty.NA, uncertainty.NA, uncertainty.NA
 
-
     if tc in [20, 21]:
         RCv = uncertainty.NA
 
@@ -272,15 +290,16 @@ 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']
-        VVE = uncertainty.NUCv[NUCv]['VVE']
+        HVE = uncertainty.NUCv[NUCv]["HVE"]
+        VVE = uncertainty.NUCv[NUCv]["VVE"]
     except KeyError:
         HVE, VVE = uncertainty.NA, uncertainty.NA
 
@@ -302,7 +321,8 @@ 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 +332,8 @@ def nic_v1(msg, NICs):
         NIC = NIC[NICs]
 
     try:
-        Rc = uncertainty.NICv1[NIC][NICs]['Rc']
-        VPL = uncertainty.NICv1[NIC][NICs]['VPL']
+        Rc = uncertainty.NICv1[NIC][NICs]["Rc"]
+        VPL = uncertainty.NICv1[NIC][NICs]["VPL"]
     except KeyError:
         Rc, VPL = uncertainty.NA, uncertainty.NA
 
@@ -335,22 +355,23 @@ 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
 
@@ -369,7 +390,9 @@ 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])
@@ -389,7 +412,9 @@ 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])
@@ -410,7 +435,9 @@ 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])
@@ -431,8 +458,11 @@ def nac_p(msg):
     tc = typecode(msg)
 
     if tc not in [29, 31]:
-        raise RuntimeError("%s: Not a target state and status message, \
-                           or operation status message, expecting TC = 29 or 31" % msg)
+        raise RuntimeError(
+            "%s: Not a target state and status message, \
+                           or operation status message, expecting TC = 29 or 31"
+            % msg
+        )
 
     msgbin = common.hex2bin(msg)
 
@@ -442,8 +472,8 @@ def nac_p(msg):
         NACp = common.bin2int(msgbin[76:80])
 
     try:
-        EPU = uncertainty.NACp[NACp]['EPU']
-        VEPU = uncertainty.NACp[NACp]['VEPU']
+        EPU = uncertainty.NACp[NACp]["EPU"]
+        VEPU = uncertainty.NACp[NACp]["VEPU"]
     except KeyError:
         EPU, VEPU = uncertainty.NA, uncertainty.NA
 
@@ -463,14 +493,16 @@ 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']
-        VFOMr = uncertainty.NACv[NACv]['VFOMr']
+        HFOMr = uncertainty.NACv[NACv]["HFOMr"]
+        VFOMr = uncertainty.NACv[NACv]["VFOMr"]
     except KeyError:
         HFOMr, VFOMr = uncertainty.NA, uncertainty.NA
 
@@ -491,8 +523,11 @@ def sil(msg, version):
     tc = typecode(msg)
 
     if tc not in [29, 31]:
-        raise RuntimeError("%s: Not a target state and status messag, \
-                           or operation status message, expecting TC = 29 or 31" % msg)
+        raise RuntimeError(
+            "%s: Not a target state and status messag, \
+                           or operation status message, expecting TC = 29 or 31"
+            % msg
+        )
 
     msgbin = common.hex2bin(msg)
 
@@ -502,12 +537,12 @@ def sil(msg, version):
         SIL = common.bin2int(msgbin[82:84])
 
     try:
-        PE_RCu = uncertainty.SIL[SIL]['PE_RCu']
-        PE_VPL = uncertainty.SIL[SIL]['PE_VPL']
+        PE_RCu = uncertainty.SIL[SIL]["PE_RCu"]
+        PE_VPL = uncertainty.SIL[SIL]["PE_VPL"]
     except KeyError:
         PE_RCu, PE_VPL = uncertainty.NA, uncertainty.NA
 
-    base = 'unknown'
+    base = "unknown"
 
     if version == 2:
         if tc == 29:

pyModeS/decoder/bds/__init__.py

@@ -23,8 +23,22 @@ import numpy as np
 
 from pyModeS.extra import aero
 from pyModeS.decoder 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):
@@ -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)
-    XY6m = vxy(aero.mach2tas(m60, alt_ref*aero.ft), h60)
-    XY6i = vxy(aero.cas2tas(i60*aero.kts, alt_ref*aero.ft), h60)
+    XY5 = vxy(v50 * aero.kts, h50)
+    XY6m = vxy(aero.mach2tas(m60, alt_ref * aero.ft), h60)
+    XY6i = vxy(aero.cas2tas(i60 * aero.kts, alt_ref * aero.ft), h60)
 
-    allbds = ['BDS50', 'BDS60', 'BDS60']
+    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
 
@@ -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"  # indentification 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",
-                           "BDS44", "BDS45", "BDS50", "BDS60"])
+        allbds = np.array(
+            [
+                "BDS10",
+                "BDS17",
+                "BDS20",
+                "BDS30",
+                "BDS40",
+                "BDS44",
+                "BDS45",
+                "BDS50",
+                "BDS60",
+            ]
+        )
         mask = [IS10, IS17, IS20, IS30, IS40, IS44, IS45, IS50, IS60]
     else:
-        allbds = np.array(["BDS10", "BDS17", "BDS20", "BDS30", "BDS40",
-                           "BDS50", "BDS60"])
+        allbds = np.array(
+            ["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

@@ -24,6 +24,7 @@
 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
 
@@ -40,6 +41,16 @@ 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 +77,17 @@ 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)
-        m = common.floor(cprlon_even * (nl-1) - cprlon_odd * nl + 0.5)
+        ni = max(common.cprNL(lat) - 0, 1)
+        m = common.floor(cprlon_even * (nl - 1) - cprlon_odd * nl + 0.5)
         lon = (360.0 / ni) * (m % ni + cprlon_even)
     else:
         lat = lat_odd
         nl = common.cprNL(lat)
         ni = max(common.cprNL(lat) - 1, 1)
-        m = common.floor(cprlon_even * (nl-1) - cprlon_odd * nl + 0.5)
+        m = common.floor(cprlon_even * (nl - 1) - cprlon_odd * nl + 0.5)
         lon = (360.0 / ni) * (m % ni + cprlon_odd)
 
     if lon > 180:
@@ -100,17 +111,17 @@ 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) \
-        + common.floor(0.5 + ((lat_ref % d_lat) / d_lat) - cprlat)
+    j = common.floor(lat_ref / d_lat) + common.floor(
+        0.5 + ((lat_ref % d_lat) / d_lat) - cprlat
+    )
 
     lat = d_lat * (j + cprlat)
 
@@ -121,8 +132,9 @@ def airborne_position_with_ref(msg, lat_ref, lon_ref):
     else:
         d_lon = 360.0
 
-    m = common.floor(lon_ref / d_lon) \
-        + common.floor(0.5 + ((lon_ref % d_lon) / d_lon) - cprlon)
+    m = common.floor(lon_ref / d_lon) + common.floor(
+        0.5 + ((lon_ref % d_lon) / d_lon) - cprlon
+    )
 
     lon = d_lon * (m + cprlon)
 
@@ -141,7 +153,7 @@ 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 +162,7 @@ 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

@@ -73,22 +73,25 @@ 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__)
@@ -112,17 +115,17 @@ 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) \
-        + common.floor(0.5 + ((lat_ref % d_lat) / d_lat) - cprlat)
+    j = common.floor(lat_ref / d_lat) + common.floor(
+        0.5 + ((lat_ref % d_lat) / d_lat) - cprlat
+    )
 
     lat = d_lat * (j + cprlat)
 
@@ -133,8 +136,9 @@ def surface_position_with_ref(msg, lat_ref, lon_ref):
     else:
         d_lon = 90.0
 
-    m = common.floor(lon_ref / d_lon) \
-        + common.floor(0.5 + ((lon_ref % d_lon) / d_lon) - cprlon)
+    m = common.floor(lon_ref / d_lon) + common.floor(
+        0.5 + ((lon_ref % d_lon) / d_lon) - cprlon
+    )
 
     lon = d_lon * (m + cprlon)
 
@@ -184,11 +188,11 @@ 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])
-        spd = kts[i-1] + (mov-movs[i-1]) * step
+        step = (kts[i] - kts[i - 1]) * 1.0 / (movs[i] - movs[i - 1])
+        spd = kts[i - 1] + (mov - movs[i - 1]) * step
         spd = round(spd, 2)
 
     if rtn_sources:
-        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

@@ -23,6 +23,7 @@
 from __future__ import absolute_import, print_function, division
 from pyModeS.decoder import common
 
+
 def category(msg):
     """Aircraft category number
 
@@ -37,7 +38,8 @@ 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):
@@ -53,11 +55,11 @@ 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 +71,5 @@ 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

@@ -57,32 +57,32 @@ 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 = common.bin2int(mb[14:24]) - 1       # east-west velocity
-        if subtype == 2: # Supersonic
+        v_ew_sign = -1 if mb[13] == "1" else 1
+        v_ew = common.bin2int(mb[14:24]) - 1  # east-west velocity
+        if subtype == 2:  # Supersonic
             v_ew *= 4
 
-        v_ns_sign = -1 if mb[24]=='1' else 1
-        v_ns = common.bin2int(mb[25:35]) - 1       # north-south velocity
-        if subtype == 2: # Supersonic
+        v_ns_sign = -1 if mb[24] == "1" else 1
+        v_ns = common.bin2int(mb[25:35]) - 1  # north-south velocity
+        if subtype == 2:  # Supersonic
             v_ns *= 4
 
         v_we = v_ew_sign * v_ew
         v_sn = v_ns_sign * v_ns
 
-        spd = math.sqrt(v_sn*v_sn + v_we*v_we)  # unit in kts
+        spd = 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
+        trk = math.degrees(trk)  # convert to degrees
+        trk = trk if trk >= 0 else trk + 360  # no negative val
 
-        tag = 'GS'
+        tag = "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
@@ -91,27 +91,27 @@ 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
-        if subtype == 4: # Supersonic
+        spd = None if spd == 0 else spd - 1
+        if subtype == 4:  # Supersonic
             spd *= 4
 
-        if mb[24]=='0':
-            tag = 'IAS'
+        if mb[24] == "0":
+            tag = "IAS"
         else:
-            tag = 'TAS'
-        
-        dir_type = 'mag_north'
+            tag = "TAS"
 
-    vr_source = 'GNSS' if mb[35]=='0' else 'Baro'
-    vr_sign = -1 if mb[36]=='1' else 1
+        dir_type = "mag_north"
+
+    vr_source = "GNSS" if mb[35] == "0" else "Baro"
+    vr_sign = -1 if mb[36] == "1" else 1
     vr = common.bin2int(mb[37:46])
-    rocd = None if vr==0 else int(vr_sign*(vr-1)*64)
+    rocd = None if vr == 0 else int(vr_sign * (vr - 1) * 64)
 
     if rtn_sources:
         return spd, trk_or_hdg, rocd, tag, dir_type, vr_source
     else:
         return spd, trk_or_hdg, rocd, tag
-    
+
 
 def altitude_diff(msg):
     """Decode the differece between GNSS and barometric altitude
@@ -135,4 +135,4 @@ def altitude_diff(msg):
     if value == 0 or value == 127:
         return None
     else:
-        return sign * (value - 1) * 25    # in ft.
+        return sign * (value - 1) * 25  # in ft.

pyModeS/decoder/bds/bds10.py

@@ -21,6 +21,7 @@
 from __future__ import absolute_import, print_function, division
 from pyModeS.decoder.common import hex2bin, bin2int, data, allzeros
 
+
 def is10(msg):
     """Check if a message is likely to be BDS code 1,0
 
@@ -37,7 +38,7 @@ def is10(msg):
     d = hex2bin(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
@@ -45,13 +46,14 @@ def is10(msg):
         return False
 
     # overlay capabilty conflict
-    if d[14] == '1' and bin2int(d[16:23]) < 5:
+    if d[14] == "1" and bin2int(d[16:23]) < 5:
         return False
-    if d[14] == '0' and bin2int(d[16:23]) > 4:
+    if d[14] == "0" and bin2int(d[16:23]) > 4:
         return False
 
     return True
 
+
 def ovc10(msg):
     """Return the overlay control capability
 

pyModeS/decoder/bds/bds17.py

@@ -50,11 +50,12 @@ 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
 
@@ -64,12 +65,39 @@ def cap17(msg):
     Returns:
         list: list of suport BDS codes
     """
-    allbds = ['05', '06', '07', '08', '09', '0A', '20', '21', '40', '41',
-              '42', '43', '44', '45', '48', '50', '51', '52', '53', '54',
-              '55', '56', '5F', '60', 'NA', 'NA', 'E1', 'E2']
+    allbds = [
+        "05",
+        "06",
+        "07",
+        "08",
+        "09",
+        "0A",
+        "20",
+        "21",
+        "40",
+        "41",
+        "42",
+        "43",
+        "44",
+        "45",
+        "48",
+        "50",
+        "51",
+        "52",
+        "53",
+        "54",
+        "55",
+        "56",
+        "5F",
+        "60",
+        "NA",
+        "NA",
+        "E1",
+        "E2",
+    ]
 
     d = hex2bin(data(msg))
-    idx = [i for i, v in enumerate(d[:28]) if v=='1']
-    capacity = ['BDS'+allbds[i] for i in idx if allbds[i] is not 'NA']
+    idx = [i for i, v in enumerate(d[:28]) if v == "1"]
+    capacity = ["BDS" + allbds[i] for i in idx if allbds[i] is not "NA"]
 
     return capacity

pyModeS/decoder/bds/bds20.py

@@ -21,6 +21,7 @@
 from __future__ import absolute_import, print_function, division
 from pyModeS.decoder.common import hex2bin, bin2int, data, allzeros
 
+
 def is20(msg):
     """Check if a message is likely to be BDS code 2,0
 
@@ -36,12 +37,12 @@ def is20(msg):
 
     d = hex2bin(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
@@ -56,11 +57,11 @@ def cs20(msg):
     Returns:
         string: callsign, max. 8 chars
     """
-    chars = '#ABCDEFGHIJKLMNOPQRSTUVWXYZ#####_###############0123456789######'
+    chars = "#ABCDEFGHIJKLMNOPQRSTUVWXYZ#####_###############0123456789######"
 
     d = hex2bin(data(msg))
 
-    cs = ''
+    cs = ""
     cs += chars[bin2int(d[8:14])]
     cs += chars[bin2int(d[14:20])]
     cs += chars[bin2int(d[20:26])]

pyModeS/decoder/bds/bds30.py

@@ -21,6 +21,7 @@
 from __future__ import absolute_import, print_function, division
 from pyModeS.decoder.common import hex2bin, bin2int, data, allzeros
 
+
 def is30(msg):
     """Check if a message is likely to be BDS code 2,0
 
@@ -36,11 +37,11 @@ def is30(msg):
 
     d = hex2bin(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

pyModeS/decoder/bds/bds40.py

@@ -121,7 +121,6 @@ def p40baro(msg):
 
 
 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 +129,6 @@ 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

@@ -19,13 +19,7 @@
 # ------------------------------------------
 
 from __future__ import absolute_import, print_function, division
-from pyModeS.decoder.common import (
-    hex2bin,
-    bin2int,
-    data,
-    allzeros,
-    wrongstatus,
-)
+from pyModeS.decoder.common import hex2bin, bin2int, data, allzeros, wrongstatus
 
 
 def is44(msg):

pyModeS/decoder/bds/bds45.py

@@ -87,7 +87,7 @@ def turb45(msg):
 
     """
     d = hex2bin(data(msg))
-    if d[0] == '0':
+    if d[0] == "0":
         return None
 
     turb = bin2int(d[1:3])
@@ -105,7 +105,7 @@ def ws45(msg):
 
     """
     d = hex2bin(data(msg))
-    if d[3] == '0':
+    if d[3] == "0":
         return None
 
     ws = bin2int(d[4:6])
@@ -123,7 +123,7 @@ def mb45(msg):
 
     """
     d = hex2bin(data(msg))
-    if d[6] == '0':
+    if d[6] == "0":
         return None
 
     mb = bin2int(d[7:9])
@@ -141,7 +141,7 @@ def ic45(msg):
 
     """
     d = hex2bin(data(msg))
-    if d[9] == '0':
+    if d[9] == "0":
         return None
 
     ic = bin2int(d[10:12])
@@ -159,7 +159,7 @@ def wv45(msg):
 
     """
     d = hex2bin(data(msg))
-    if d[12] == '0':
+    if d[12] == "0":
         return None
 
     ws = bin2int(d[13:15])
@@ -184,7 +184,7 @@ def temp45(msg):
     if sign:
         value = value - 512
 
-    temp = value * 0.25   # celsius
+    temp = value * 0.25  # celsius
     temp = round(temp, 1)
 
     return temp
@@ -201,9 +201,9 @@ def p45(msg):
 
     """
     d = hex2bin(data(msg))
-    if d[26] == '0':
+    if d[26] == "0":
         return None
-    p = bin2int(d[27:38])    # hPa
+    p = bin2int(d[27:38])  # hPa
     return p
 
 
@@ -218,7 +218,7 @@ def rh45(msg):
 
     """
     d = hex2bin(data(msg))
-    if d[38] == '0':
+    if d[38] == "0":
         return None
     rh = bin2int(d[39:51]) * 16
     return rh

pyModeS/decoder/bds/bds50.py

@@ -85,16 +85,16 @@ def roll50(msg):
     """
     d = hex2bin(data(msg))
 
-    if d[0] == '0':
+    if d[0] == "0":
         return None
 
-    sign = int(d[1])    # 1 -> left wing down
+    sign = int(d[1])  # 1 -> left wing down
     value = bin2int(d[2:11])
 
     if sign:
         value = value - 512
 
-    angle = value * 45.0 / 256.0    # degree
+    angle = value * 45.0 / 256.0  # degree
     return round(angle, 1)
 
 
@@ -109,10 +109,10 @@ def trk50(msg):
     """
     d = hex2bin(data(msg))
 
-    if d[11] == '0':
+    if d[11] == "0":
         return None
 
-    sign = int(d[12])   # 1 -> west
+    sign = int(d[12])  # 1 -> west
     value = bin2int(d[13:23])
 
     if sign:
@@ -138,10 +138,10 @@ def gs50(msg):
     """
     d = hex2bin(data(msg))
 
-    if d[23] == '0':
+    if d[23] == "0":
         return None
 
-    spd = bin2int(d[24:34]) * 2    # kts
+    spd = bin2int(d[24:34]) * 2  # kts
     return spd
 
 
@@ -156,18 +156,18 @@ def rtrk50(msg):
     """
     d = hex2bin(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
+    sign = int(d[35])  # 1 -> negative value, two's complement
     value = bin2int(d[36:45])
     if sign:
         value = value - 512
 
-    angle = value * 8.0 / 256.0    # degree / sec
+    angle = value * 8.0 / 256.0  # degree / sec
     return round(angle, 3)
 
 
@@ -182,8 +182,8 @@ def tas50(msg):
     """
     d = hex2bin(data(msg))
 
-    if d[45] == '0':
+    if d[45] == "0":
         return None
 
-    tas = bin2int(d[46:56]) * 2   # kts
+    tas = bin2int(d[46:56]) * 2  # kts
     return tas

pyModeS/decoder/bds/bds53.py

@@ -85,16 +85,16 @@ def hdg53(msg):
     """
     d = hex2bin(data(msg))
 
-    if d[0] == '0':
+    if d[0] == "0":
         return None
 
-    sign = int(d[1])    # 1 -> west
+    sign = int(d[1])  # 1 -> west
     value = bin2int(d[2:12])
 
     if sign:
         value = value - 1024
 
-    hdg = value * 90.0 / 512.0   # degree
+    hdg = value * 90.0 / 512.0  # degree
 
     # convert from [-180, 180] to [0, 360]
     if hdg < 0:
@@ -114,10 +114,10 @@ def ias53(msg):
     """
     d = hex2bin(data(msg))
 
-    if d[12] == '0':
+    if d[12] == "0":
         return None
 
-    ias = bin2int(d[13:23])    # knots
+    ias = bin2int(d[13:23])  # knots
     return ias
 
 
@@ -132,7 +132,7 @@ def mach53(msg):
     """
     d = hex2bin(data(msg))
 
-    if d[23] == '0':
+    if d[23] == "0":
         return None
 
     mach = bin2int(d[24:33]) * 0.008
@@ -150,12 +150,13 @@ def tas53(msg):
     """
     d = hex2bin(data(msg))
 
-    if d[33] == '0':
+    if d[33] == "0":
         return None
 
-    tas = bin2int(d[34:46]) * 0.5   # kts
+    tas = bin2int(d[34:46]) * 0.5  # kts
     return round(tas, 1)
 
+
 def vr53(msg):
     """Vertical rate
 
@@ -167,16 +168,16 @@ def vr53(msg):
     """
     d = hex2bin(data(msg))
 
-    if d[46] == '0':
+    if d[46] == "0":
         return None
 
-    sign = int(d[47])    # 1 -> negative value, two's complement
+    sign = int(d[47])  # 1 -> negative value, two's complement
     value = bin2int(d[48:56])
 
     if value == 0 or value == 255:  # all zeros or all ones
         return 0
 
     value = value - 256 if sign else value
-    roc = value * 64     # feet/min
+    roc = value * 64  # feet/min
 
     return roc

pyModeS/decoder/bds/bds60.py

@@ -21,6 +21,7 @@
 from __future__ import absolute_import, print_function, division
 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
 
@@ -83,10 +84,10 @@ def hdg60(msg):
     """
     d = hex2bin(data(msg))
 
-    if d[0] == '0':
+    if d[0] == "0":
         return None
 
-    sign = int(d[1])    # 1 -> west
+    sign = int(d[1])  # 1 -> west
     value = bin2int(d[2:12])
 
     if sign:
@@ -112,10 +113,10 @@ def ias60(msg):
     """
     d = hex2bin(data(msg))
 
-    if d[12] == '0':
+    if d[12] == "0":
         return None
 
-    ias = bin2int(d[13:23])    # kts
+    ias = bin2int(d[13:23])  # kts
     return ias
 
 
@@ -130,7 +131,7 @@ def mach60(msg):
     """
     d = hex2bin(data(msg))
 
-    if d[23] == '0':
+    if d[23] == "0":
         return None
 
     mach = bin2int(d[24:34]) * 2.048 / 512.0
@@ -148,10 +149,10 @@ def vr60baro(msg):
     """
     d = hex2bin(data(msg))
 
-    if d[34] == '0':
+    if d[34] == "0":
         return None
 
-    sign = int(d[35])    # 1 -> negative value, two's complement
+    sign = int(d[35])  # 1 -> negative value, two's complement
     value = bin2int(d[36:45])
 
     if value == 0 or value == 511:  # all zeros or all ones
@@ -159,7 +160,7 @@ def vr60baro(msg):
 
     value = value - 512 if sign else value
 
-    roc = value * 32   # feet/min
+    roc = value * 32  # feet/min
     return roc
 
 
@@ -174,10 +175,10 @@ def vr60ins(msg):
     """
     d = hex2bin(data(msg))
 
-    if d[45] == '0':
+    if d[45] == "0":
         return None
 
-    sign = int(d[46])    # 1 -> negative value, two's complement
+    sign = int(d[46])  # 1 -> negative value, two's complement
     value = bin2int(d[47:56])
 
     if value == 0 or value == 511:  # all zeros or all ones
@@ -185,5 +186,5 @@ def vr60ins(msg):
 
     value = value - 512 if sign else value
 
-    roc = value * 32   # feet/min
+    roc = value * 32  # feet/min
     return roc

pyModeS/decoder/common.py

@@ -2,6 +2,7 @@ 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
@@ -16,7 +17,8 @@ def hex2int(hexstr):
 
 def int2hex(n):
     """Convert a integer to hexadecimal string."""
-    return hex(n)[2:].rjust(6, '0').upper()
+    # strip 'L' for python 2
+    return hex(n)[2:].rjust(6, "0").upper().rstrip("L")
 
 
 def bin2int(binstr):
@@ -36,7 +38,7 @@ def bin2np(binstr):
 
 def np2bin(npbin):
     """Convert a binary numpy array to string."""
-    return np.array2string(npbin, separator='')[1:-1]
+    return np.array2string(npbin, separator="")[1:-1]
 
 
 def df(msg):
@@ -59,10 +61,7 @@ def crc(msg, encode=False):
 
     """
     # the CRC generator
-    G = [
-        int("11111111", 2), int("11111010", 2),
-        int("00000100", 2), int("10000000", 2)
-    ]
+    G = [int("11111111", 2), int("11111010", 2), int("00000100", 2), int("10000000", 2)]
 
     if encode:
         msg = msg[:-6] + "000000"
@@ -71,16 +70,22 @@ 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+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)))
+                mbytes[ibyte + 1] = mbytes[ibyte + 1] ^ (
+                    0xFF & ((G[0] << 8 - ibit) | (G[1] >> ibit))
+                )
+                mbytes[ibyte + 2] = mbytes[ibyte + 2] ^ (
+                    0xFF & ((G[1] << 8 - ibit) | (G[2] >> ibit))
+                )
+                mbytes[ibyte + 3] = mbytes[ibyte + 3] ^ (
+                    0xFF & ((G[2] << 8 - ibit) | (G[3] >> ibit))
+                )
 
     result = (mbytes[-3] << 16) | (mbytes[-2] << 8) | mbytes[-1]
 
@@ -90,7 +95,9 @@ 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))
@@ -99,12 +106,12 @@ def crc_legacy(msg, encode=False):
         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:]))
@@ -140,7 +147,7 @@ def icao(msg):
     elif DF in (0, 4, 5, 16, 20, 21):
         c0 = crc(msg, encode=True)
         c1 = hex2int(msg[-6:])
-        addr = '%06X' % (c0 ^ c1)
+        addr = "%06X" % (c0 ^ c1)
     else:
         addr = None
 
@@ -149,23 +156,33 @@ 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)
 
-    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
+    if 0x200000 < icaoint < 0x27FFFF:
+        return False  # AFI
+    if 0x280000 < icaoint < 0x28FFFF:
+        return False  # SAM
+    if 0x500000 < icaoint < 0x5FFFFF:
+        return False  # EUR, NAT
+    if 0x600000 < icaoint < 0x67FFFF:
+        return False  # MID
+    if 0x680000 < icaoint < 0x6F0000:
+        return False  # ASIA
+    if 0x900000 < icaoint < 0x9FFFFF:
+        return False  # NAM, PAC
+    if 0xB00000 < icaoint < 0xBFFFFF:
+        return False  # CAR
+    if 0xD00000 < icaoint < 0xDFFFFF:
+        return False  # future
+    if 0xF00000 < icaoint < 0xFFFFFF:
+        return False  # future
 
     return True
 
+
 def typecode(msg):
     """Type code of ADS-B message
 
@@ -197,7 +214,7 @@ def cprNL(lat):
     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 +251,10 @@ def idcode(msg):
     B4 = mbin[30]
     D4 = mbin[31]
 
-    byte1 = int(A4+A2+A1, 2)
-    byte2 = int(B4+B2+B1, 2)
-    byte3 = int(C4+C2+C1, 2)
-    byte4 = int(D4+D2+D1, 2)
+    byte1 = int(A4 + A2 + A1, 2)
+    byte2 = int(B4 + B2 + B1, 2)
+    byte3 = int(C4 + C2 + C1, 2)
+    byte4 = int(D4 + D2 + D1, 2)
 
     return str(byte1) + str(byte2) + str(byte3) + str(byte4)
 
@@ -261,15 +278,14 @@ def altcode(msg):
     # Altitude code, bit 20-32
     mbin = hex2bin(msg)
 
-    mbit = mbin[25]   # M bit: 26
-    qbit = mbin[27]   # Q bit: 28
+    mbit = mbin[25]  # M bit: 26
+    qbit = mbin[27]  # Q bit: 28
 
-
-    if mbit == '0':         # unit in ft
-        if qbit == '1':     # 25ft interval
+    if mbit == "0":  # unit in ft
+        if qbit == "1":  # 25ft interval
             vbin = mbin[19:25] + mbin[26] + mbin[28:32]
             alt = bin2int(vbin) * 25 - 1000
-        if qbit == '0':     # 100ft interval, above 50175ft
+        if qbit == "0":  # 100ft interval, above 50175ft
             C1 = mbin[19]
             A1 = mbin[20]
             C2 = mbin[21]
@@ -284,10 +300,10 @@ def altcode(msg):
             B4 = mbin[30]
             D4 = mbin[31]
 
-            graystr =  D2 + D4 + A1 + A2 + A4 + B1 + B2 + B4 + C1 + C2 + C4
+            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 +324,20 @@ 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 >> 4)
-    num ^= (num >> 2)
-    num ^= (num >> 1)
+    num ^= num >> 8
+    num ^= num >> 4
+    num ^= num >> 2
+    num ^= num >> 1
     return num
 
 
@@ -355,8 +371,8 @@ def wrongstatus(data, sb, msb, lsb):
 
     """
     # status bit, most significant bit, least significant bit
-    status = int(data[sb-1])
-    value = bin2int(data[msb-1:lsb])
+    status = int(data[sb - 1])
+    value = bin2int(data[msb - 1 : lsb])
 
     if not status:
         if value != 0:

pyModeS/decoder/ehs.py

@@ -17,13 +17,20 @@ from pyModeS.decoder.bds.bds50 import *
 from pyModeS.decoder.bds.bds60 import *
 from pyModeS.decoder.bds import infer
 
-warnings.simplefilter('once', DeprecationWarning)
-warnings.warn("pms.ehs module is deprecated. Please use pms.commb instead.", DeprecationWarning)
+warnings.simplefilter("once", DeprecationWarning)
+warnings.warn(
+    "pms.ehs module is deprecated. Please use pms.commb instead.", DeprecationWarning
+)
+
 
 def BDS(msg):
-    warnings.warn("pms.ehs.BDS() is deprecated, use pms.bds.infer() instead.", DeprecationWarning)
+    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

@@ -18,5 +18,8 @@ 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/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,
-    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
+    0: 0,
+    5: 9,
+    6: 8,
+    7: 7,
+    8: 6,
+    9: 9,
+    10: 8,
+    11: 7,
+    12: 6,
+    13: 5,
+    14: 4,
+    15: 3,
+    16: 2,
+    17: 1,
+    18: 0,
+    20: 9,
+    21: 8,
+    22: 0,
 }
 
 TC_NICv1_lookup = {
-    5:11, 6:10, 7:9, 8:0,
-    9:11, 10:10, 11:{1:9, 0:8}, 12:7, 13:6, 14:5, 15:4, 16:{1:3, 0:2}, 17:1, 18:0,
-    20:11, 21:10, 22:0
+    5: 11,
+    6: 10,
+    7: 9,
+    8: 0,
+    9: 11,
+    10: 10,
+    11: {1: 9, 0: 8},
+    12: 7,
+    13: 6,
+    14: 5,
+    15: 4,
+    16: {1: 3, 0: 2},
+    17: 1,
+    18: 0,
+    20: 11,
+    21: 10,
+    22: 0,
 }
 
 TC_NICv2_lookup = {
-    5:11, 6:10, 7:{2:9, 0:8}, 8:{3:7, 2:6, 1:6, 0:0},
-    9:11, 10:10, 11:{3:9, 0:8}, 12:7, 13:6, 14:5, 15:4, 16:{3:3, 0:2}, 17:1, 18:0,
-    20:11, 21:10, 22:0
+    5: 11,
+    6: 10,
+    7: {2: 9, 0: 8},
+    8: {3: 7, 2: 6, 1: 6, 0: 0},
+    9: 11,
+    10: 10,
+    11: {3: 9, 0: 8},
+    12: 7,
+    13: 6,
+    14: 5,
+    15: 4,
+    16: {3: 3, 0: 2},
+    17: 1,
+    18: 0,
+    20: 11,
+    21: 10,
+    22: 0,
 }
 
 
 NUCp = {
-    9: {'HPL':7.5,      'RCu':3,        'RCv':4},
-    8: {'HPL':25,       'RCu':10,       'RCv':15},
-    7: {'HPL':185,      'RCu':93,       'RCv':NA},
-    6: {'HPL':370,      'RCu':185,      'RCv':NA},
-    5: {'HPL':926,      'RCu':463,      'RCv':NA},
-    4: {'HPL':1852,     'RCu':926,      'RCv':NA},
-    3: {'HPL':3704,     'RCu':1852,     'RCv':NA},
-    2: {'HPL':18520,    'RCu':9260,     'RCv':NA},
-    1: {'HPL':37040,    'RCu':18520,    'RCv':NA},
-    0: {'HPL':NA,       'RCu':NA,       'RCv':NA},
+    9: {"HPL": 7.5, "RCu": 3, "RCv": 4},
+    8: {"HPL": 25, "RCu": 10, "RCv": 15},
+    7: {"HPL": 185, "RCu": 93, "RCv": NA},
+    6: {"HPL": 370, "RCu": 185, "RCv": NA},
+    5: {"HPL": 926, "RCu": 463, "RCv": NA},
+    4: {"HPL": 1852, "RCu": 926, "RCv": NA},
+    3: {"HPL": 3704, "RCu": 1852, "RCv": NA},
+    2: {"HPL": 18520, "RCu": 9260, "RCv": NA},
+    1: {"HPL": 37040, "RCu": 18520, "RCv": NA},
+    0: {"HPL": NA, "RCu": NA, "RCv": NA},
 }
 
 NUCv = {
-    0: {'HVE':NA,     'VVE':NA},
-    1: {'HVE':10,     'VVE':15.2},
-    2: {'HVE':3,      'VVE':4.5},
-    3: {'HVE':1,      'VVE':1.5},
-    4: {'HVE':0.3,    'VVE':0.46},
+    0: {"HVE": NA, "VVE": NA},
+    1: {"HVE": 10, "VVE": 15.2},
+    2: {"HVE": 3, "VVE": 4.5},
+    3: {"HVE": 1, "VVE": 1.5},
+    4: {"HVE": 0.3, "VVE": 0.46},
 }
 
 NACp = {
-    11: {'EPU': 3,      'VEPU': 4},
-    10: {'EPU': 10,     'VEPU': 15},
-    9: {'EPU': 30,      'VEPU': 45},
-    8: {'EPU': 93,      'VEPU': NA},
-    7: {'EPU': 185,     'VEPU': NA},
-    6: {'EPU': 556,     'VEPU': NA},
-    5: {'EPU': 926,     'VEPU': NA},
-    4: {'EPU': 1852,    'VEPU': NA},
-    3: {'EPU': 3704,    'VEPU': NA},
-    2: {'EPU': 7408,    'VEPU': NA},
-    1: {'EPU': 18520,   'VEPU': NA},
-    0: {'EPU': NA,      'VEPU': NA},
+    11: {"EPU": 3, "VEPU": 4},
+    10: {"EPU": 10, "VEPU": 15},
+    9: {"EPU": 30, "VEPU": 45},
+    8: {"EPU": 93, "VEPU": NA},
+    7: {"EPU": 185, "VEPU": NA},
+    6: {"EPU": 556, "VEPU": NA},
+    5: {"EPU": 926, "VEPU": NA},
+    4: {"EPU": 1852, "VEPU": NA},
+    3: {"EPU": 3704, "VEPU": NA},
+    2: {"EPU": 7408, "VEPU": NA},
+    1: {"EPU": 18520, "VEPU": NA},
+    0: {"EPU": NA, "VEPU": NA},
 }
 
 NACv = {
-    0: {'HFOMr':NA,     'VFOMr':NA},
-    1: {'HFOMr':10,     'VFOMr':15.2},
-    2: {'HFOMr':3,      'VFOMr':4.5},
-    3: {'HFOMr':1,      'VFOMr':1.5},
-    4: {'HFOMr':0.3,    'VFOMr':0.46},
+    0: {"HFOMr": NA, "VFOMr": NA},
+    1: {"HFOMr": 10, "VFOMr": 15.2},
+    2: {"HFOMr": 3, "VFOMr": 4.5},
+    3: {"HFOMr": 1, "VFOMr": 1.5},
+    4: {"HFOMr": 0.3, "VFOMr": 0.46},
 }
 
 SIL = {
-    3: {'PE_RCu': 1e-7, 'PE_VPL': 2e-7},
-    2: {'PE_RCu': 1e-5, 'PE_VPL': 1e-5},
-    1: {'PE_RCu': 1e-3, 'PE_VPL': 1e-3},
-    0: {'PE_RCu': NA,   'PE_VPL': NA},
+    3: {"PE_RCu": 1e-7, "PE_VPL": 2e-7},
+    2: {"PE_RCu": 1e-5, "PE_VPL": 1e-5},
+    1: {"PE_RCu": 1e-3, "PE_VPL": 1e-3},
+    0: {"PE_RCu": NA, "PE_VPL": NA},
 }
 
 
 NICv1 = {
     # NIC is used as the index at second Level
-
-    11: {0: {'Rc': 7.5,     'VPL': 11}},
-    10: {0: {'Rc': 25,      'VPL': 37.5}},
-    9: {1: {'Rc': 75,       'VPL': 112}},
-    8: {0: {'Rc': 185,      'VPL': NA}},
-    7: {0: {'Rc': 370,      'VPL': NA}},
-    6: {
-        0: {'Rc': 926,      'VPL': NA},
-        1: {'Rc': 1111,     'VPL': NA},
-    },
-    5: {0: {'Rc': 1852,     'VPL': NA}},
-    4: {0: {'Rc': 3702,     'VPL': NA}},
-    3: {1: {'Rc': 7408,     'VPL': NA}},
-    2: {0: {'Rc': 14008,    'VPL': NA}},
-    1: {0: {'Rc': 37000,    'VPL': NA}},
-    0: {0: {'Rc': NA,       'VPL': NA}},
+    11: {0: {"Rc": 7.5, "VPL": 11}},
+    10: {0: {"Rc": 25, "VPL": 37.5}},
+    9: {1: {"Rc": 75, "VPL": 112}},
+    8: {0: {"Rc": 185, "VPL": NA}},
+    7: {0: {"Rc": 370, "VPL": NA}},
+    6: {0: {"Rc": 926, "VPL": NA}, 1: {"Rc": 1111, "VPL": NA}},
+    5: {0: {"Rc": 1852, "VPL": NA}},
+    4: {0: {"Rc": 3702, "VPL": NA}},
+    3: {1: {"Rc": 7408, "VPL": NA}},
+    2: {0: {"Rc": 14008, "VPL": NA}},
+    1: {0: {"Rc": 37000, "VPL": NA}},
+    0: {0: {"Rc": NA, "VPL": NA}},
 }
 
 NICv2 = {
     # Decimal value of [NICa NICb/NICc] is used as the index at second Level
-
-    11: {0: {'Rc': 7.5}},
-    10: {0: {'Rc': 25}},
-    9: {
-        2: {'Rc': 75},
-        3: {'Rc': 75},
-    },
-    8: {0: {'Rc': 185}},
-    7: {
-        0: {'Rc': 370},
-        3: {'Rc': 370},
-    },
-    6: {
-        0: {'Rc': 926},
-        1: {'Rc': 556},
-        2: {'Rc': 556},
-        3: {'Rc': 1111},
-    },
-    5: {0: {'Rc': 1852}},
-    4: {0: {'Rc': 3702}},
-    3: {3: {'Rc': 7408}},
-    2: {0: {'Rc': 14008}},
-    1: {0: {'Rc': 37000}},
-    0: {0: {'Rc': NA}},
+    11: {0: {"Rc": 7.5}},
+    10: {0: {"Rc": 25}},
+    9: {2: {"Rc": 75}, 3: {"Rc": 75}},
+    8: {0: {"Rc": 185}},
+    7: {0: {"Rc": 370}, 3: {"Rc": 370}},
+    6: {0: {"Rc": 926}, 1: {"Rc": 556}, 2: {"Rc": 556}, 3: {"Rc": 1111}},
+    5: {0: {"Rc": 1852}},
+    4: {0: {"Rc": 3702}},
+    3: {3: {"Rc": 7408}},
+    2: {0: {"Rc": 14008}},
+    1: {0: {"Rc": 37000}},
+    0: {0: {"Rc": NA}},
 }

pyModeS/extra/aero.py

@@ -30,31 +30,31 @@ Speed conversion at altitude H[m] in ISA
 import numpy as np
 
 """Aero and geo Constants """
-kts = 0.514444      # knot -> m/s
-ft = 0.3048         # ft -> m
-fpm = 0.00508       # ft/min -> m/s
-inch = 0.0254       # inch -> m
-sqft = 0.09290304   # 1 square foot
-nm = 1852.          # 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
-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
-a0 = 340.293988     # m/s, sea level speed of sound ISA, sqrt(gamma*R*T0)
+kts = 0.514444  # knot -> m/s
+ft = 0.3048  # ft -> m
+fpm = 0.00508  # ft/min -> m/s
+inch = 0.0254  # inch -> m
+sqft = 0.09290304  # 1 square foot
+nm = 1852.0  # nautical mile -> m
+lbs = 0.453592  # pound -> kg
+g0 = 9.80665  # m/s2, Sea level gravity constant
+R = 287.05287  # m2/(s2 x K), gas constant, sea level ISA
+p0 = 101325.0  # Pa, air pressure, sea level ISA
+rho0 = 1.225  # kg/m3, air density, sea level ISA
+T0 = 288.15  # K, temperature, sea level ISA
+gamma = 1.40  # cp/cv for air
+gamma1 = 0.2  # (gamma-1)/2 for air
+gamma2 = 3.5  # gamma/(gamma-1) for air
+beta = -0.0065  # [K/m] ISA temp gradient below tropopause
+r_earth = 6371000.0  # m, average earth radius
+a0 = 340.293988  # m/s, sea level speed of sound ISA, sqrt(gamma*R*T0)
 
 
 def atmos(H):
     # H in metres
     T = np.maximum(288.15 - 0.0065 * H, 216.65)
-    rhotrop = 1.225 * (T / 288.15)**4.256848030018761
-    dhstrat = np.maximum(0., H - 11000.0)
+    rhotrop = 1.225 * (T / 288.15) ** 4.256848030018761
+    dhstrat = np.maximum(0.0, H - 11000.0)
     rho = rhotrop * np.exp(-dhstrat / 6341.552161)
     p = rho * R * T
     return p, rho, T
@@ -101,11 +101,13 @@ 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.where(cos>1, 1, cos)
+    cos = np.sin(phi1) * np.sin(phi2) * np.cos(theta1 - theta2) + np.cos(phi1) * np.cos(
+        phi2
+    )
+    cos = np.where(cos > 1, 1, cos)
 
     arc = np.arccos(cos)
-    dist = arc * (r_earth + H)   # meters, radius of earth
+    dist = arc * (r_earth + H)  # meters, radius of earth
     return dist
 
 
@@ -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)
-    y = np.cos(lat1) * np.sin(lat2) \
-        - np.sin(lat1) * np.cos(lat2) * np.cos(lon2-lon1)
+    x = np.sin(lon2 - lon1) * np.cos(lat2)
+    y = np.cos(lat1) * np.sin(lat2) - np.sin(lat1) * np.cos(lat2) * np.cos(lon2 - lon1)
     initial_bearing = np.arctan2(x, y)
     initial_bearing = np.degrees(initial_bearing)
     bearing = (initial_bearing + 360) % 360
@@ -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.)
-    Vtas = np.sqrt(7.*p/rho*((1.+qdyn/p)**(2./7.)-1.))
+    qdyn = p0 * ((1.0 + rho0 * Vcas * Vcas / (7.0 * p0)) ** 3.5 - 1.0)
+    Vtas = np.sqrt(7.0 * p / rho * ((1.0 + qdyn / p) ** (2.0 / 7.0) - 1.0))
     return Vtas
 
 
 def tas2cas(Vtas, H):
     """True Airspeed to Calibrated Airspeed"""
     p, rho, T = atmos(H)
-    qdyn = p*((1.+rho*Vtas*Vtas/(7.*p))**3.5-1.)
-    Vcas = np.sqrt(7.*p0/rho0*((qdyn/p0+1.)**(2./7.)-1.))
+    qdyn = p * ((1.0 + rho * Vtas * Vtas / (7.0 * p)) ** 3.5 - 1.0)
+    Vcas = np.sqrt(7.0 * p0 / rho0 * ((qdyn / p0 + 1.0) ** (2.0 / 7.0) - 1.0))
     return Vcas
 
 

pyModeS/extra/rtlreader.py

@@ -0,0 +1,162 @@
+import numpy as np
+import pyModeS as pms
+from rtlsdr import RtlSdr
+import time
+
+modes_sample_rate = 2e6
+modes_frequency = 1090e6
+buffer_size = 1024 * 100
+read_size = 1024 * 20
+
+pbits = 8
+fbits = 112
+preamble = [1, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0]
+th_amp = 0.2  # signal amplitude threshold for 0 and 1 bit
+th_amp_diff = 0.8  # signal amplitude threshold difference between 0 and 1 bit
+
+
+class RtlReader(object):
+    def __init__(self, **kwargs):
+        super(RtlReader, self).__init__()
+        self.signal_buffer = []
+        self.sdr = RtlSdr()
+        self.sdr.sample_rate = modes_sample_rate
+        self.sdr.center_freq = modes_frequency
+        self.sdr.gain = "auto"
+        # sdr.freq_correction = 75
+
+        self.debug = kwargs.get("debug", False)
+        self.raw_pipe_in = None
+        self.stop_flag = False
+
+    def _process_buffer(self):
+        messages = []
+
+        # signal_array = np.array(self.signal_buffer)
+        # pulses_array = np.where(np.array(self.signal_buffer) < th_amp, 0, 1)
+        # pulses = "".join(str(x) for x in pulses_array)
+        buffer_length = len(self.signal_buffer)
+
+        i = 0
+        while i < buffer_length:
+            if self.signal_buffer[i] < th_amp:
+                i += 1
+                continue
+
+            # if pulses[i : i + pbits * 2] == preamble:
+            if self._check_preamble(self.signal_buffer[i : i + pbits * 2]):
+                frame_start = i + pbits * 2
+                frame_end = i + pbits * 2 + (fbits + 1) * 2
+                frame_length = (fbits + 1) * 2
+                frame_pulses = self.signal_buffer[frame_start:frame_end]
+
+                msgbin = ""
+                for j in range(0, frame_length, 2):
+                    p2 = frame_pulses[j : j + 2]
+                    if len(p2) < 2:
+                        break
+
+                    if p2[0] < th_amp and p2[1] < th_amp:
+                        break
+                    elif p2[0] >= p2[1]:
+                        c = "1"
+                    elif p2[0] < p2[1]:
+                        c = "0"
+                    else:
+                        msgbin = ""
+                        break
+                    msgbin += c
+
+                # advance i with a jump
+                i = frame_start + j
+
+                if len(msgbin) > 0:
+                    msghex = pms.bin2hex(msgbin)
+                    if self._check_msg(msghex):
+                        messages.append([msghex, time.time()])
+                    if self.debug:
+                        self._debug_msg(msghex)
+
+            elif i > buffer_length - 500:
+                # save some for next process
+                break
+            else:
+                i += 1
+
+        # keep reminder of buffer for next iteration
+        self.signal_buffer = self.signal_buffer[i:]
+        return messages
+
+    def _check_preamble(self, pulses):
+        if len(pulses) != 16:
+            return False
+
+        for i in range(16):
+            if abs(pulses[i] - preamble[i]) > th_amp_diff:
+                return False
+
+        return True
+
+    def _check_msg(self, msg):
+        df = pms.df(msg)
+        msglen = len(msg)
+        if df == 17 and msglen == 28:
+            if pms.crc(msg) == 0:
+                return True
+        elif df in [20, 21] and msglen == 28:
+            return True
+        elif df in [4, 5, 11] and msglen == 14:
+            return True
+
+    def _debug_msg(self, msg):
+        df = pms.df(msg)
+        msglen = len(msg)
+        if df == 17 and msglen == 28:
+            print(msg, pms.icao(msg), pms.crc(msg))
+        elif df in [20, 21] and msglen == 28:
+            print(msg, pms.icao(msg))
+        elif df in [4, 5, 11] and msglen == 14:
+            print(msg, pms.icao(msg))
+        else:
+            # print("[*]", msg)
+            pass
+
+    def _read_callback(self, data, rtlsdr_obj):
+        # scaling signal (imporatant)
+        amp = np.absolute(data)
+        amp_norm = np.interp(amp, (amp.min(), amp.max()), (0, 1))
+        self.signal_buffer.extend(amp_norm.tolist())
+
+        if len(self.signal_buffer) >= buffer_size:
+            messages = self._process_buffer()
+            self.handle_messages(messages)
+
+    def handle_messages(self, messages):
+        """re-implement this method to handle the messages"""
+        for msg, t in messages:
+            # print("%15.9f %s" % (t, msg))
+            pass
+
+    def stop(self, *args, **kwargs):
+        self.sdr.cancel_read_async()
+
+    def run(self, raw_pipe_in=None, stop_flag=None):
+        self.raw_pipe_in = raw_pipe_in
+        self.stop_flag = stop_flag
+        self.sdr.read_samples_async(self._read_callback, read_size)
+
+        # count = 1
+        # while count < 1000:
+        #     count += 1
+        #     data = self.sdr.read_samples(read_size)
+        #     self._read_callback(data, None)
+
+
+if __name__ == "__main__":
+    import signal
+
+    rtl = RtlReader()
+    signal.signal(signal.SIGINT, rtl.stop)
+
+    rtl.debug = True
+    rtl.run()

pyModeS/extra/tcpclient.py

@@ -1,55 +1,55 @@
-'''
-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):
-        Thread.__init__(self)
+
+class TcpClient(object):
+    def __init__(self, host, port, datatype):
+        super(TcpClient, self).__init__()
         self.host = host
         self.port = port
         self.buffer = []
-        self.rawtype = rawtype
-        if self.rawtype not in ['avr', 'beast', 'skysense']:
-            print("rawtype must be either avr, beast or skysense")
+        self.socket = None
+        self.datatype = datatype
+        if self.datatype not in ["raw", "beast", "skysense"]:
+            print("datatype must be either raw, beast or skysense")
             os._exit(1)
 
+        self.raw_pipe_in = None
+        self.stop_flag = False
+
     def connect(self):
-        while True:
-            try:
-                s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-                s.settimeout(10)    # 10 second timeout
-                s.connect((self.host, self.port))
-                print("Server connected - %s:%s" % (self.host, self.port))
-                print("collecting ADS-B messages...")
-                return s
-            except socket.error as err:
-                print("Socket connection error: %s. reconnecting..." % err)
-                time.sleep(3)
+        self.socket = zmq.Context().socket(zmq.STREAM)
+        self.socket.setsockopt(zmq.LINGER, 0)
+        self.socket.setsockopt(zmq.RCVTIMEO, 10000)
+        self.socket.connect("tcp://%s:%s" % (self.host, self.port))
 
+    def stop(self):
+        self.socket.disconnect()
 
-    def read_avr_buffer(self):
-        # -- testing --
-        # for b in self.buffer:
-        #     print(chr(b), b)
-
-        # Append message with 0-9,A-F,a-f, until stop sign
+    def read_raw_buffer(self):
+        """ Read raw ADS-B data type.
 
+        String strats with "*" and ends with ";". For example:
+            *5d484ba898f8c6;
+            *8d400cd5990d7e9a10043e5e6da0;
+            *a0001498be800030aa0000c7a75f;
+        """
         messages = []
 
         msg_stop = False
+        self.current_msg = ""
         for b in self.buffer:
             if b == 59:
                 msg_stop = True
@@ -57,9 +57,9 @@ 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 +67,8 @@ 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 +82,7 @@ class BaseClient(Thread):
 
         timestamp:
         wiki.modesbeast.com/Radarcape:Firmware_Versions#The_GPS_timestamp
-        '''
-
+        """
         messages_mlat = []
         msg = []
         i = 0
@@ -91,16 +91,16 @@ class BaseClient(Thread):
         # then, reset the self.buffer with the remainder
 
         while i < len(self.buffer):
-            if (self.buffer[i:i+2] == [0x1a, 0x1a]):
-                msg.append(0x1a)
+            if self.buffer[i : i + 2] == [0x1A, 0x1A]:
+                msg.append(0x1A)
                 i += 1
-            elif (i == len(self.buffer) - 1) and (self.buffer[i] == 0x1a):
+            elif (i == len(self.buffer) - 1) and (self.buffer[i] == 0x1A):
                 # special case where the last bit is 0x1a
-                msg.append(0x1a)
-            elif self.buffer[i] == 0x1a:
+                msg.append(0x1A)
+            elif self.buffer[i] == 0x1A:
                 if i == len(self.buffer) - 1:
                     # special case where the last bit is 0x1a
-                    msg.append(0x1a)
+                    msg.append(0x1A)
                 elif len(msg) > 0:
                     messages_mlat.append(msg)
                     msg = []
@@ -112,12 +112,12 @@ 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 +131,17 @@ 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
@@ -215,25 +218,33 @@ 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):
-                    #Long message
-                    payload = self.buffer[i:i+14]
+                if self.buffer[i] >> 7:
+                    # Long message
+                    payload = self.buffer[i : i + 14]
                 else:
-                    #Short message
-                    payload = self.buffer[i:i+7]
-                msg = ''.join('%02X' % j for j in payload)
-                i += 14 #Both message types use 14 bytes
-                tsbin = self.buffer[i:i+6]
-                sec   = ( (tsbin[0] & 0x7f) << 10) | (tsbin[1] << 2 ) | (tsbin[2] >> 6)
-                nano  = ( (tsbin[2] & 0x3f) << 24) | (tsbin[3] << 16) | (tsbin[4] << 8) | tsbin[5]
-                ts = sec + nano*1.0e-9
+                    # Short message
+                    payload = self.buffer[i : i + 7]
+                msg = "".join("%02X" % j for j in payload)
+                i += 14  # Both message types use 14 bytes
+                tsbin = self.buffer[i : i + 6]
+                sec = ((tsbin[0] & 0x7F) << 10) | (tsbin[1] << 2) | (tsbin[2] >> 6)
+                nano = (
+                    ((tsbin[2] & 0x3F) << 24)
+                    | (tsbin[3] << 16)
+                    | (tsbin[4] << 8)
+                    | tsbin[5]
+                )
+                ts = sec + nano * 1.0e-9
                 i += 6
-                #Signal and noise level - Don't care for now
+                # Signal and noise level - Don't care for now
                 i += 3
                 self.buffer = self.buffer[SS_MSGLENGTH:]
-                messages.append( [msg,ts] )
+                messages.append([msg, ts])
             else:
                 self.buffer = self.buffer[1:]
         return messages
@@ -243,12 +254,14 @@ class BaseClient(Thread):
         for msg, t in messages:
             print("%15.9f %s" % (t, msg))
 
-    def run(self):
-        sock = self.connect()
+    def run(self, raw_pipe_in=None, stop_flag=None):
+        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]
@@ -261,11 +274,11 @@ class BaseClient(Thread):
                 #     continue
                 # -- Removed!! Cause delay in low data rate scenario --
 
-                if self.rawtype == 'beast':
+                if self.datatype == "beast":
                     messages = self.read_beast_buffer()
-                elif self.rawtype == 'avr':
-                    messages = self.read_avr_buffer()
-                elif self.rawtype == 'skysense':
+                elif self.datatype == "raw":
+                    messages = self.read_raw_buffer()
+                elif self.datatype == "skysense":
                     messages = self.read_skysense_buffer()
 
                 if not messages:
@@ -273,14 +286,12 @@ class BaseClient(Thread):
                 else:
                     self.handle_messages(messages)
 
-                time.sleep(0.001)
             except Exception as e:
-
                 # Provides the user an option to supply the environment
                 # variable PYMODES_DEBUG to halt the execution
                 # for debugging purposes
-                debug_intent = os.environ.get('PYMODES_DEBUG', 'false')
-                if debug_intent.lower() == 'true':
+                debug_intent = os.environ.get("PYMODES_DEBUG", "false")
+                if debug_intent.lower() == "true":
                     traceback.print_exc()
                     sys.exit()
                 else:
@@ -288,15 +299,15 @@ class BaseClient(Thread):
 
                 try:
                     sock = self.connect()
+                    time.sleep(1)
                 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]
-    client = BaseClient(host=host, port=port, rawtype=rawtype)
-    client.daemon = True
+    datatype = sys.argv[3]
+    client = TcpClient(host=host, port=port, datatype=datatype)
     client.run()

pyModeS/streamer/decode.py

@@ -0,0 +1,284 @@
+from __future__ import absolute_import, print_function, division
+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 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_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 memeory"""
+        acs = self.acs
+        return acs
+
+    def run(self, raw_pipe_out, ac_pipe_in):
+        local_buffer = []
+        while True:
+            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)

pyModeS/streamer/modeslive

@@ -3,118 +3,132 @@
 from __future__ import print_function, division
 import os
 import sys
-import time
 import argparse
 import curses
-from threading import Lock
-import pyModeS as pms
-from pyModeS.extra.tcpclient import BaseClient
-from pyModeS.streamer.stream import Stream
+import signal
+import multiprocessing
+from pyModeS.streamer.decode import Decode
 from pyModeS.streamer.screen import Screen
-
-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()
+from pyModeS.streamer.source import NetSource, RtlSdrSource
 
 
 # redirect all stdout to null, avoiding messing up with the screen
-sys.stdout = open(os.devnull, 'w')
+sys.stdout = open(os.devnull, "w")
 
-client = ModesClient(host=SERVER, port=PORT, rawtype=RAWTYPE)
-client.daemon = True
-client.start()
 
-stream = Stream(lat0=LAT0, lon0=LON0, dumpto=DUMPTO)
+support_rawtypes = ["raw", "beast", "skysense"]
 
-try:
-    screen = Screen(uncertainty=UNCERTAINTY)
-    screen.daemon = True
-    screen.start()
+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()
 
-    while True:
-        if len(ADSB_MSG) > 200:
-            LOCK.acquire()
-            stream.process_raw(ADSB_TS, ADSB_MSG, COMMB_TS, COMMB_MSG)
-            ADSB_MSG = []
-            ADSB_TS = []
-            COMMB_MSG = []
-            COMMB_TS = []
-            LOCK.release()
+SOURCE = args.source
+LATLON = args.latlon
+UNCERTAINTY = args.uncertainty
+DUMPTO = args.dumpto
 
-        acs = stream.get_aircraft()
-        try:
-            screen.update_data(acs)
-            screen.update()
-            time.sleep(0.02)
-        except KeyboardInterrupt:
-            raise
-        except:
-            continue
+if SOURCE == "rtlsdr":
+    pass
+elif SOURCE == "net":
+    if args.connect is None:
+        print("Error: --connect argument must not be empty.")
+    else:
+        SERVER, PORT, DATATYPE = args.connect
+        if DATATYPE not in support_rawtypes:
+            print("Data type not supported, avaiable ones are %s" % support_rawtypes)
 
-except KeyboardInterrupt:
-    sys.exit(0)
+else:
+    print('Source must be "rtlsdr" or "net".')
+    sys.exit(1)
 
-finally:
+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_event = multiprocessing.Event()
+# ac_event = multiprocessing.Event()
+# raw_queue = multiprocessing.Queue()
+# ac_queue = multiprocessing.Queue()
+
+raw_pipe_in, raw_pipe_out = multiprocessing.Pipe()
+ac_pipe_in, ac_pipe_out = multiprocessing.Pipe()
+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))
+
+
+decode = Decode(latlon=LATLON, dumpto=DUMPTO)
+decode_process = multiprocessing.Process(
+    target=decode.run, args=(raw_pipe_out, ac_pipe_in)
+)
+
+screen = Screen(uncertainty=UNCERTAINTY)
+screen_process = multiprocessing.Process(target=screen.run, args=(ac_pipe_out,))
+
+
+def closeall(signal, frame):
+    print("KeyboardInterrupt (ID: {}). Cleaning up...".format(signal))
+    stop_flag.value = True
     curses.endwin()
+    recv_process.terminate()
+    decode_process.terminate()
+    screen_process.terminate()
+    recv_process.join()
+    decode_process.join()
+    screen_process.join()
+    exit(0)
+
+
+signal.signal(signal.SIGINT, closeall)
+
+recv_process.start()
+decode_process.start()
+screen_process.start()

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
 
 COLUMNS = [
-    ('call', 10),
-    ('lat', 10),
-    ('lon', 10),
-    ('alt', 7),
-    ('gs', 5),
-    ('tas', 5),
-    ('ias', 5),
-    ('mach', 7),
-    ('roc', 7),
-    ('trk', 10),
-    ('hdg', 10),
-    ('live', 6),
+    ("call", 10),
+    ("lat", 10),
+    ("lon", 10),
+    ("alt", 7),
+    ("gs", 5),
+    ("tas", 5),
+    ("ias", 5),
+    ("mach", 7),
+    ("roc", 7),
+    ("trk", 10),
+    ("hdg", 10),
+    ("live", 6),
 ]
 
 UNCERTAINTY_COLUMNS = [
-    ('|', 5),
-    ('ver', 4),
-    ('HPL', 5),
-    ('RCu', 5),
-    ('RCv', 5),
-    ('HVE', 5),
-    ('VVE', 5),
-    ('Rc', 4),
-    ('VPL', 5),
-    ('EPU', 5),
-    ('VEPU', 6),
-    ('HFOMr', 7),
-    ('VFOMr', 7),
-    ('PE_RCu', 8),
-    ('PE_VPL', 8),
+    ("|", 5),
+    ("ver", 4),
+    ("HPL", 5),
+    ("RCu", 5),
+    ("RCv", 5),
+    ("HVE", 5),
+    ("VVE", 5),
+    ("Rc", 4),
+    ("VPL", 5),
+    ("EPU", 5),
+    ("VEPU", 6),
+    ("HFOMr", 7),
+    ("VFOMr", 7),
+    ("PE_RCu", 8),
+    ("PE_VPL", 8),
 ]
 
-class Screen(Thread):
+
+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
-        self.screen.addstr(row, 1, '-'*(self.scr_w-2))
+        row += 1
+        self.screen.addstr(row, 1, "-" * (self.scr_w - 2))
 
         icaos = np.array(list(self.acs.keys()))
         icaos = np.sort(icaos)
@@ -105,10 +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=='|':
-                        val = '|'
-                    elif c=='live':
-                        val = str(int(time.time() - ac[c]))+'s'
+                    if c == "|":
+                        val = "|"
+                    elif c == "live":
+                        val = str(ac[c] - int(time.time())) + "s"
                     elif ac[c] is None:
-                        val = ''
+                        val = ""
                     else:
                         val = ac[c]
                     val_str = str(val)
-                    line += (cw-len(val_str))*' ' + val_str
+                    line += (cw - len(val_str)) * " " + val_str
 
                 # fill end with spaces
-                line += (self.scr_w - 2 - len(line)) * ' '
+                line += (self.scr_w - 2 - len(line)) * " "
 
                 if len(line) > self.scr_w - 2:
-                    line = line[:self.scr_w-3] + '>'
+                    line = line[: self.scr_w - 3] + ">"
 
             if (icao is not None) and (self.lock_icao == icao):
                 self.screen.addstr(row, 1, line, curses.A_STANDOUT)
@@ -140,15 +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 +181,30 @@ 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):
+        local_buffer = []
+        key_thread = threading.Thread(target=self.kye_handling)
+        key_thread.start()
+
+        while True:
+            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 = []
+
+            try:
+                self.update()
+            except:
+                pass
+
+            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

@@ -6,7 +6,7 @@ https://github.com/pypa/sampleproject
 
 Steps for deploying a new verison:
 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/*
@@ -30,7 +30,7 @@ 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="2.4",
     description="Python Mode-S and ADS-B Decoder",
     long_description=long_description,
     # The project's main homepage.
@@ -74,7 +74,7 @@ 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", "argparse", "pyzmq", "pyrtlsdr"],
     # List additional groups of dependencies here (e.g. development
     # dependencies). You can install these using the following syntax,
     # for example:

tests/sample_run_adsb.py

@@ -4,10 +4,12 @@ from pyModeS import adsb, ehs
 
 # === Decode sample data file ===
 
+
 def adsb_decode_all(n=None):
     print("===== Decode ADS-B sample data=====")
     import csv
-    f = open('tests/data/sample_data_adsb.csv', 'rt')
+
+    f = open("tests/data/sample_data_adsb.csv", "rt")
 
     msg0 = None
     msg1 = None
@@ -37,5 +39,6 @@ def adsb_decode_all(n=None):
                 alt = adsb.altitude(m)
                 print(ts, m, icao, tc, pos, alt)
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     adsb_decode_all(n=100)

tests/sample_run_commb.py

@@ -3,12 +3,13 @@ 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 +21,30 @@ 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 +57,7 @@ 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 +72,21 @@ 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",
-                        "8D40058B58C904A87F402D3B8C59",
-                        1446332400, 1446332405)
+    pos = adsb.position(
+        "8D40058B58C901375147EFD09357",
+        "8D40058B58C904A87F402D3B8C59",
+        1446332400,
+        1446332405,
+    )
+    assert pos == (49.81755, 6.08442)
+
+
+def test_adsb_position_swap_odd_even():
+    pos = adsb.position(
+        "8D40058B58C904A87F402D3B8C59",
+        "8D40058B58C901375147EFD09357",
+        1446332405,
+        1446332400,
+    )
     assert pos == (49.81755, 6.08442)
 
 
@@ -29,27 +43,29 @@ def test_adsb_position_with_ref():
 
 
 def test_adsb_airborne_position_with_ref():
-    pos = adsb.airborne_position_with_ref("8D40058B58C901375147EFD09357",
-                                          49.0, 6.0)
+    pos = adsb.airborne_position_with_ref("8D40058B58C901375147EFD09357", 49.0, 6.0)
     assert pos == (49.82410, 6.06785)
-    pos = adsb.airborne_position_with_ref("8D40058B58C904A87F402D3B8C59",
-                                          49.0, 6.0)
+    pos = adsb.airborne_position_with_ref("8D40058B58C904A87F402D3B8C59", 49.0, 6.0)
     assert pos == (49.81755, 6.08442)
 
 
 def test_adsb_surface_position_with_ref():
-    pos = adsb.surface_position_with_ref("8FC8200A3AB8F5F893096B000000",
-                                         -43.5, 172.5)
+    pos = adsb.surface_position_with_ref("8FC8200A3AB8F5F893096B000000", -43.5, 172.5)
     assert pos == (-43.48564, 172.53942)
 
 
 def test_adsb_surface_position():
-    pos = adsb.surface_position("8CC8200A3AC8F009BCDEF2000000",
-                                "8FC8200A3AB8F5F893096B000000",
-                                0, 2,
-                                -43.496, 172.558)
+    pos = adsb.surface_position(
+        "8CC8200A3AC8F009BCDEF2000000",
+        "8FC8200A3AB8F5F893096B000000",
+        0,
+        2,
+        -43.496,
+        172.558,
+    )
     assert pos == (-43.48564, 172.53942)
 
+
 def test_adsb_alt():
     assert adsb.altitude("8D40058B58C901375147EFD09357") == 39000
 
@@ -58,10 +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 vas == (375, 243.98, -2304, 'TAS')
-    assert vgs_surface == (19.0, 42.2, 0 , 'GS')
-    assert adsb.altitude_diff('8D485020994409940838175B284F') == 550
+    assert vgs == (159, 182.88, -832, "GS")
+    assert vas == (375, 243.98, -2304, "TAS")
+    assert vgs_surface == (19.0, 42.2, 0, "GS")
+    assert adsb.altitude_diff("8D485020994409940838175B284F") == 550
 
 
 # def test_nic():

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

tests/test_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_'
-    assert commb.cs20("A0001993202422F2E37CE038738E") == 'IBK2873_'
+def test_bds20_callsign():
+    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():
@@ -21,14 +23,14 @@ def test_bds40_functions():
 
 def test_bds50_functions():
     assert bds.bds50.roll50("A000139381951536E024D4CCF6B5") == 2.1
-    assert bds.bds50.roll50("A0001691FFD263377FFCE02B2BF9") == -0.4     # signed value
+    assert bds.bds50.roll50("A0001691FFD263377FFCE02B2BF9") == -0.4  # signed value
     assert bds.bds50.trk50("A000139381951536E024D4CCF6B5") == 114.258
     assert bds.bds50.gs50("A000139381951536E024D4CCF6B5") == 438
     assert bds.bds50.rtrk50("A000139381951536E024D4CCF6B5") == 0.125
     assert bds.bds50.tas50("A000139381951536E024D4CCF6B5") == 424
 
     assert commb.roll50("A000139381951536E024D4CCF6B5") == 2.1
-    assert commb.roll50("A0001691FFD263377FFCE02B2BF9") == -0.4     # signed value
+    assert commb.roll50("A0001691FFD263377FFCE02B2BF9") == -0.4  # signed value
     assert commb.trk50("A000139381951536E024D4CCF6B5") == 114.258
     assert commb.gs50("A000139381951536E024D4CCF6B5") == 438
     assert commb.rtrk50("A000139381951536E024D4CCF6B5") == 0.125

tests/test_common.py

@@ -2,57 +2,63 @@ from pyModeS import common
 
 
 def test_conversions():
-    assert common.hex2bin('6E406B') == "011011100100000001101011"
-    assert common.bin2hex('011011100100000001101011') == "6E406B"
+    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('8d45cab390c39509496ca9a32912') == 0
-    assert common.crc('8d49d3d4e1089d00000000744c3b') == 0
-    assert common.crc('8d74802958c904e6ef4ba0184d5c') == 0
-    assert common.crc('8d4400cd9b0000b4f87000e71a10') == 0
-    assert common.crc('8d4065de58a1054a7ef0218e226a') == 0
+    assert common.crc("8d8960ed58bf053cf11bc5932b7d") == 0
+    assert common.crc("8d45cab390c39509496ca9a32912") == 0
+    assert common.crc("8d49d3d4e1089d00000000744c3b") == 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
 
-    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"
 
+
 def test_icao():
     assert common.icao("8D406B902015A678D4D220AA4BDA") == "406B90"
-    assert common.icao("A0001839CA3800315800007448D9") == '400940'
-    assert common.icao("A000139381951536E024D4CCF6B5") == '3C4DD2'
-    assert common.icao("A000029CFFBAA11E2004727281F1") == '4243D0'
+    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'
+    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
+    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

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

@@ -6,4 +6,6 @@ envlist = py2,py3
 deps =
   pytest
   numpy
+  pyzmq
+  pyrtlsdr
 commands = py.test