gr-air-modes/apps/modes_gui

#!/usr/bin/env python
# Copyright 2012 Nick Foster
# 
# This file is part of gr-air-modes
# 
# gr-air-modes is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 3, or (at your option)
# any later version.
# 
# gr-air-modes is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
# 
# You should have received a copy of the GNU General Public License
# along with gr-air-modes; see the file COPYING.  If not, write to
# the Free Software Foundation, Inc., 51 Franklin Street,
# Boston, MA 02110-1301, USA.
# 

import os, sys, time, threading, datetime, math, csv
from PyQt4 import QtCore,QtGui
from PyQt4.Qwt5 import Qwt
from gnuradio import gr, gru, optfir, eng_notation, blks2
import gnuradio.gr.gr_threading as _threading
import air_modes
from air_modes.exceptions import *
from air_modes.modes_rx_ui import Ui_MainWindow
from air_modes.gui_model import *
import sqlite3

class mainwindow(QtGui.QMainWindow):
    live_data_changed_signal = QtCore.pyqtSignal(QtCore.QString, name='liveDataChanged')
    def __init__(self):
        QtGui.QMainWindow.__init__(self)
        self.ui = Ui_MainWindow()
        self.ui.setupUi(self)

        #set defaults
        #add file, RTL, UHD sources
        self.ui.combo_source.addItems(["UHD device", "RTL-SDR", "File"])
        self.ui.combo_source.setCurrentIndex(0)

        #populate antenna, rate combo boxes based on source
        self.populate_source_options()

        #should round to actual achieved gain
        self.ui.line_gain.insert("30")

        #default to 5dB
        self.ui.line_threshold.insert("5")

        self.ui.prog_rssi.setMinimum(-40)
        self.ui.prog_rssi.setMaximum(0)

        self.ui.combo_ant.setCurrentIndex(self.ui.combo_ant.findText("RX2"))

        #check KML by default, leave the rest unchecked.
        self.ui.check_sbs1.setCheckState(QtCore.Qt.Unchecked)
        self.ui.check_raw.setCheckState(QtCore.Qt.Unchecked)
        self.ui.check_fgfs.setCheckState(QtCore.Qt.Unchecked)
        self.ui.check_kml.setCheckState(QtCore.Qt.Checked)

        self.ui.line_sbs1port.insert("30003")
        self.ui.line_rawport.insert("9988")
        self.ui.line_fgfsport.insert("5500")
        self.ui.line_kmlfilename.insert("modes.kml")

        #disable by default
        self.ui.check_adsbonly.setCheckState(QtCore.Qt.Unchecked)

        self.queue = gr.msg_queue(10)
        self.runner = None
        self.fg = None
        self.outputs = []
        self.updates = []
        self.output_handler = None
        self.kmlgen = None #necessary bc we stop its thread in shutdown
        self.dbname = "air_modes.db"
        self.num_reports = 0
        self.last_report = 0

        self.datamodel = dashboard_data_model(None)
        self.ui.list_aircraft.setModel(self.datamodel)
        self.ui.list_aircraft.setModelColumn(0)

        self.az_model = air_modes.az_map_model(None)
        self.ui.azimuth_map.setModel(self.az_model)

        #set up dashboard views
        self.icaodelegate = ICAOViewDelegate()
        self.ui.list_aircraft.setItemDelegate(self.icaodelegate)
        self.dashboard_mapper = QtGui.QDataWidgetMapper()
        self.dashboard_mapper.setModel(self.datamodel)
        self.dashboard_mapper.addMapping(self.ui.line_icao, 0)
        #self.dashboard_mapper.addMapping(self.ui.prog_rssi, 2)
        self.dashboard_mapper.addMapping(self.ui.line_latitude, 3)
        self.dashboard_mapper.addMapping(self.ui.line_longitude, 4)
        self.dashboard_mapper.addMapping(self.ui.line_alt, 5)
        self.dashboard_mapper.addMapping(self.ui.line_speed, 6)
        #self.dashboard_mapper.addMapping(self.ui.compass_heading, 7)
        self.dashboard_mapper.addMapping(self.ui.line_climb, 8)
        self.dashboard_mapper.addMapping(self.ui.line_ident, 9)
        self.dashboard_mapper.addMapping(self.ui.line_type, 10)
        self.dashboard_mapper.addMapping(self.ui.line_range, 11)

        compass_palette = QtGui.QPalette()
        compass_palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.white)
        self.ui.compass_heading.setPalette(compass_palette)
        self.ui.compass_bearing.setPalette(compass_palette)
        #TODO: change the needle to an aircraft silhouette
        self.ui.compass_heading.setNeedle(Qwt.QwtDialSimpleNeedle(Qwt.QwtDialSimpleNeedle.Ray, False, QtCore.Qt.black))
        self.ui.compass_bearing.setNeedle(Qwt.QwtDialSimpleNeedle(Qwt.QwtDialSimpleNeedle.Ray, False, QtCore.Qt.black))

        #hook up the update signal
        self.ui.list_aircraft.selectionModel().currentRowChanged.connect(self.dashboard_mapper.setCurrentModelIndex)
        self.ui.list_aircraft.selectionModel().currentRowChanged.connect(self.update_heading_widget)
        self.ui.list_aircraft.selectionModel().currentRowChanged.connect(self.update_bearing_widget)
        self.datamodel.dataChanged.connect(self.unmapped_widgets_dataChanged)
        self.ui.list_aircraft.selectionModel().currentRowChanged.connect(self.update_rssi_widget)

        #hook up live data text box update signal
        self.live_data_changed_signal.connect(self.on_append_live_data)

############ widget update functions for non-mapped widgets ############
    def update_heading_widget(self, index):
        if index.model() is not None:
            heading = index.model().data(index.model().index(index.row(), self.datamodel._colnames.index("heading"))).toDouble()[0]
            self.ui.compass_heading.setValue(heading)

    def update_bearing_widget(self, index):
        if index.model() is not None:
            bearing = index.model().data(index.model().index(index.row(), self.datamodel._colnames.index("bearing"))).toDouble()[0]
            self.ui.compass_bearing.setValue(bearing)

    def unmapped_widgets_dataChanged(self, startIndex, endIndex):
        index = self.ui.list_aircraft.selectionModel().currentIndex()
        if index.row() in range(startIndex.row(), endIndex.row()+1): #the current aircraft was affected
            if self.datamodel._colnames.index("heading") in range(startIndex.column(), endIndex.column()+1):
                self.update_heading_widget(index)
            if self.datamodel._colnames.index("bearing") in range(startIndex.column(), endIndex.column()+1):
                self.update_bearing_widget(index)
            if self.datamodel._colnames.index("rssi") in range(startIndex.column(), endIndex.column()+1):
                self.update_rssi_widget(index)

    def update_rssi_widget(self, index):
        if index.model() is not None:
            rssi = index.model().data(index.model().index(index.row(), 2)).toDouble()[0]
            self.ui.prog_rssi.setValue(rssi)
            
    def increment_reportspersec(self, msg):
        self.num_reports += 1

    def update_reportspersec(self):
        dt = time.time() - self.last_report
        if dt >= 1.0:
            self.last_report = time.time()
            self.ui.line_reports.setText("%i" % self.num_reports)
            self.num_reports = 0

##################### dynamic option population ########################
    #goes and gets valid antenna, sample rate options from the device and grays out appropriate things
    def populate_source_options(self):
        sourceid = self.ui.combo_source.currentText()
        self.rates = []
        self.ratetext = []
        self.antennas = []
        
        if sourceid == "UHD device":
            try:
                from gnuradio import uhd
                self.src = uhd.single_usrp_source("", uhd.io_type_t.COMPLEX_FLOAT32, 1)
                self.rates = [rate.start() for rate in self.src.get_samp_rates()]
                self.antennas = self.src.get_antennas()
                self.src = None #deconstruct UHD source for now
                self.ui.combo_ant.setEnabled(True)
                self.ui.combo_rate.setEnabled(True)
                self.ui.stack_source.setCurrentIndex(0)
            except:
                self.rates = []
                self.antennas = []
                self.ui.combo_ant.setEnabled(False)
                self.ui.combo_rate.setEnabled(False)
                self.ui.stack_source.setCurrentIndex(0)
                
        elif sourceid == "RTL-SDR":
            self.rates = [3.2e6]
            self.antennas = ["RX"]
            self.ui.combo_ant.setEnabled(False)
            self.ui.combo_rate.setEnabled(False)
            self.ui.stack_source.setCurrentIndex(0)

        elif sourceid == "File":
            self.rates = [2e6, 4e6, 6e6, 8e6, 10e6]
            self.antennas = ["None"]
            self.ui.combo_ant.setEnabled(False)
            self.ui.combo_rate.setEnabled(True)
            self.ui.stack_source.setCurrentIndex(1)

        self.ui.combo_rate.clear()
        self.ratetext = ["%.3f" % (rate / 1.e6) for rate in self.rates]
        for rate, text in zip(self.rates, self.ratetext):
            self.ui.combo_rate.addItem(text, rate)

        self.ui.combo_ant.clear()
        self.ui.combo_ant.addItems(self.antennas)

        if 4e6 in self.rates:
            self.ui.combo_rate.setCurrentIndex(self.rates.index(4e6))

################ action handlers ####################
    def on_combo_source_currentIndexChanged(self, index):
        self.populate_source_options()

    def on_button_start_released(self):
        #if we're already running, kill it!
        if self.runner is not None:
            self.output_handler.done = True
            self.output_handler = None
            self.outputs = []
            self.updates = []
            self.fg.stop()
            self.runner = None
            self.fg = None
            if self.kmlgen is not None:
                self.kmlgen.done = True
                #TODO FIXME need a way to kill kmlgen safely without delay
                #self.kmlgen.join()
                #self.kmlgen = None

            self.num_reports = 0
            self.ui.line_reports.setText("0")

            self.ui.button_start.setText("Start")

        else: #we aren't already running, let's get this party started
            options = {}
            options["source"] = str(self.ui.combo_source.currentText())
            options["rate"] = float(self.ui.combo_rate.currentText()) * 1e6
            options["antenna"] = str(self.ui.combo_ant.currentText())
            options["gain"] = float(self.ui.line_gain.text())
            options["threshold"] = float(self.ui.line_threshold.text())
            options["filename"] = str(self.ui.line_inputfile.text())

            self.fg = adsb_rx_block(options, self.queue) #create top RX block
            self.runner = top_block_runner(self.fg) #spawn new thread to do RX

            try:
                my_position = [float(self.ui.line_my_lat.text()), float(self.ui.line_my_lon.text())]
            except:
                my_position = None

            self.datamodelout = dashboard_output(my_position, self.datamodel)

            self.outputs = [self.datamodelout.output]
            self.updates = []
            self.lock = threading.Lock() #grab a lock to ensure sql and kml don't step on each other

            #output options to populate outputs, updates
            if self.ui.check_kml.checkState():
                #we spawn a thread to run every 30 seconds (or whatever) to generate KML
                self.kmlgen = air_modes.output_kml(self.ui.line_kmlfilename.text(), self.dbname, my_position, self.lock) #create a KML generating thread

            if self.ui.check_sbs1.checkState():
                sbs1port = int(self.ui.line_sbs1port.text())
                sbs1out = air_modes.output_sbs1(my_position, sbs1port)
                self.outputs.append(sbs1out.output)
                self.updates.append(sbs1out.add_pending_conns)

            if self.ui.check_fgfs.checkState():
                fghost = "127.0.0.1" #TODO FIXME
                fgport = self.ui.line_fgfsport.text()
                fgout = air_modes.output_flightgear(my_position, fghost, int(fgport))
                self.outputs.append(fgout.output)

            if self.ui.check_raw.checkState():
                rawport = air_modes.raw_server(int(self.ui.line_rawport.text()))
                self.outputs.append(rawport.output)
                self.updates.append(rawport.add_pending_conns)

            #add azimuth map output and hook it up
            if my_position is not None:
                self.az_map_output = air_modes.az_map_output(my_position, self.az_model)
                self.outputs.append(self.az_map_output.output)

            self.livedata = air_modes.output_print(my_position)
            #add output for live data box
            self.outputs.append(self.output_live_data)

            #create SQL database for KML and dashboard displays
            self.dbwriter = air_modes.output_sql(my_position, self.dbname, self.lock)
            self.outputs.append(self.dbwriter.output) #now the db will update itself

            #output to update reports/sec widget
            self.outputs.append(self.increment_reportspersec)
            self.updates.append(self.update_reportspersec)

            #create output handler thread
            self.output_handler = output_handler(self.outputs, self.updates, self.queue)

            self.ui.button_start.setText("Stop")

    def on_quit(self):
        if self.runner is not None:
            try:
                self.output_handler.done = True
            except:
                pass
            self.output_handler = None
            self.outputs = []
            self.updates = []
            self.fg.stop()
            self.runner = None
            self.fg = None
            try:
                self.kmlgen.done = True
                #TODO FIXME need a way to kill kmlgen safely without delay
                #self.kmlgen.join()
                #self.kmlgen = None
            except:
                pass

    #slot to catch signal emitted by output_live_data (necessary for
    #thread safety since output_live_data is called by another thread)
    def on_append_live_data(self, msgstr):
        #limit scrollback buffer size -- is there a faster way?
        if(self.ui.text_livedata.document().lineCount() > 500):
            cursor = self.ui.text_livedata.textCursor()
            cursor.movePosition(QtGui.QTextCursor.Start)
            cursor.select(QtGui.QTextCursor.LineUnderCursor)
            cursor.removeSelectedText()
            
        self.ui.text_livedata.append(msgstr)
        self.ui.text_livedata.verticalScrollBar().setSliderPosition(self.ui.text_livedata.verticalScrollBar().maximum())

    def output_live_data(self, msg):
        msgstr = self.livedata.parse(msg)
        if msgstr is not None:
            self.live_data_changed_signal.emit(msgstr)



#the output handler is a thread which runs the various registered output functions when there's a received message.
#it also executes registered updates at the sleep rate -- currently 10Hz.
class output_handler(threading.Thread):
    def __init__(self, outputs, updates, queue):
        threading.Thread.__init__(self)
        self.setDaemon(1)
        self.outputs = outputs
        self.updates = updates
        self.queue = queue
        self.done = False
        self.start()

    def run(self):
        while self.done is False:
            for update in self.updates:
                update()
            while not self.queue.empty_p():
                msg = self.queue.delete_head()
                for output in self.outputs:
                    try:
                        output(msg.to_string())
                    except ADSBError:
                        pass

            time.sleep(0.1)

        self.done = True
        self.outputs = None
        self.updates = None
        self.queue = None
        

class top_block_runner(_threading.Thread):
    def __init__(self, tb):
        _threading.Thread.__init__(self)
        self.setDaemon(1)
        self.tb = tb
        self.done = False
        self.start()

    def run(self):
        self.tb.run()
        self.done = True

#Top block for ADSB receiver. If you define a standard interface you
#can make this common code between the GUI app and the cmdline app
class adsb_rx_block (gr.top_block):
    def __init__(self, options, queue):
        gr.top_block.__init__(self)

        self.options = options
        rate = options["rate"]
        print "Rate: %f" % rate
        use_resampler = False
        freq = 1090e6

        if options["source"] == "UHD device":
            from gnuradio import uhd
            self.u = uhd.single_usrp_source("", uhd.io_type_t.COMPLEX_FLOAT32, 1)
            time_spec = uhd.time_spec(0.0)
            self.u.set_time_now(time_spec)
            self.u.set_antenna(options["antenna"])
            self.u.set_samp_rate(rate)
            rate = self.u.get_samp_rate()
            self.u.set_gain(int(options["gain"]))
            self.u.set_center_freq(freq, 0)
        
        elif options["source"] == "RTL-SDR":
            import osmosdr
            self.u = osmosdr.source_c()
            self.u.set_sample_rate(3.2e6) #fixed for RTL dongles
            rate = int(4e6)
            self.u.set_gain_mode(0) #manual gain mode
            self.u.set_gain(int(options["gain"]))
            self.u.set_center_freq(freq, 0)
            use_resampler = True

        elif options["source"] == "File":
            self.u = gr.file_source(gr.sizeof_gr_complex, options["filename"])
        else:
            raise NotImplementedError

        self.rx_path = air_modes.rx_path(rate, options["threshold"], queue)

        if use_resampler:
            self.lpfiltcoeffs = gr.firdes.low_pass(1, 5*3.2e6, 1.6e6, 300e3)
            self.resample = blks2.rational_resampler_ccf(interpolation=5, decimation=4, taps=self.lpfiltcoeffs)
            self.connect(self.u, self.resample, self.rx_path)
        else:
            self.connect(self.u, self.rx_path)


if __name__ == '__main__':
    app = QtGui.QApplication(sys.argv)
    window = mainwindow()
    app.lastWindowClosed.connect(window.on_quit)
    window.setWindowTitle("Mode S/ADS-B receiver")
    window.show()
    sys.exit(app.exec_())