Merge branch 'master' into az_map

CMakeLists.txt

@@ -116,6 +116,18 @@ link_directories(
 set(GR_GR-AIR-MODES_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include CACHE INTERNAL "" FORCE)
 set(GR_GR-AIR-MODES_SWIG_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/swig CACHE INTERNAL "" FORCE)
 
+########################################################################
+# Create uninstall target
+########################################################################
+configure_file(
+    ${CMAKE_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in
+    ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake
+@ONLY)
+
+add_custom_target(uninstall
+    ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake
+)
+
 ########################################################################
 # Add subdirectories
 ########################################################################

apps/get_dupes.py

@@ -0,0 +1,23 @@
+#!/usr/bin/env python
+
+import sys, re
+
+if __name__== '__main__':
+    data = sys.stdin.readlines()
+    icaos = []
+    num_icaos = 0
+    for line in data:
+        match = re.match(".*Type.*from (\w+)", line)
+        if match is not None:
+            icao = int(match.group(1), 16)
+            icaos.append(icao)
+
+    #get dupes
+    dupes = sorted([icao for icao in set(icaos) if icaos.count(icao) > 1])
+    count = sum([icaos.count(icao) for icao in dupes])
+    for icao in dupes:
+        print "%x" % icao
+    print "Found %i replies from %i non-unique aircraft, out of a total %i replies (%i likely spurious replies)." \
+            % (count, len(dupes), len(icaos), len(icaos)-count)
+
+

apps/modes_gui

@@ -423,23 +423,15 @@ class adsb_rx_block (gr.top_block):
         else:
             raise NotImplementedError
 
-        self.demod = gr.complex_to_mag()
+        self.rx_path = air_modes.rx_path(rate, options["threshold"], queue)
-        self.avg = gr.moving_average_ff(100, 1.0/100, 400)
-
-        self.preamble = air_modes.modes_preamble(int(rate), float(options["threshold"]))
-        self.slicer = air_modes.modes_slicer(int(rate), 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.demod)
+            self.connect(self.u, self.resample, self.rx_path)
         else:
-            self.connect(self.u, self.demod)
+            self.connect(self.u, self.rx_path)
 
-        self.connect(self.demod, self.avg)
-        self.connect(self.demod, (self.preamble, 0))
-        self.connect(self.avg, (self.preamble, 1))
-        self.connect(self.preamble, self.slicer)
 
 if __name__ == '__main__':
     app = QtGui.QApplication(sys.argv)

apps/modes_rx

@@ -110,24 +110,14 @@ class adsb_rx_block (gr.top_block):
     if options.output_all :
       pass_all = 1
 
-    self.demod = gr.complex_to_mag()
+    self.rx_path = air_modes.rx_path(rate, options.threshold, queue)
-    self.avg = gr.moving_average_ff(100, 1.0/100, 400)
-    
-    self.preamble = air_modes.modes_preamble(rate, options.threshold)
-    #self.framer = air_modes.modes_framer(rate)
-    self.slicer = air_modes.modes_slicer(rate, 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.demod)
+        self.connect(self.u, self.resample, self.rx_path)
     else:
-        self.connect(self.u, self.demod)
+        self.connect(self.u, self.rx_path)
-
-    self.connect(self.demod, self.avg)
-    self.connect(self.demod, (self.preamble, 0))
-    self.connect(self.avg, (self.preamble, 1))
-    self.connect((self.preamble, 0), (self.slicer, 0))
 
   def tune(self, freq):
     result = self.u.set_center_freq(freq, 0)

cmake/cmake_uninstall.cmake.in

@@ -0,0 +1,32 @@
+# http://www.vtk.org/Wiki/CMake_FAQ#Can_I_do_.22make_uninstall.22_with_CMake.3F
+
+IF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+  MESSAGE(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
+ENDIF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+
+FILE(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
+STRING(REGEX REPLACE "\n" ";" files "${files}")
+FOREACH(file ${files})
+  MESSAGE(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
+  IF(EXISTS "$ENV{DESTDIR}${file}")
+    EXEC_PROGRAM(
+      "@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
+      OUTPUT_VARIABLE rm_out
+      RETURN_VALUE rm_retval
+      )
+    IF(NOT "${rm_retval}" STREQUAL 0)
+      MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
+    ENDIF(NOT "${rm_retval}" STREQUAL 0)
+  ELSEIF(IS_SYMLINK "$ENV{DESTDIR}${file}")
+    EXEC_PROGRAM(
+      "@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
+      OUTPUT_VARIABLE rm_out
+      RETURN_VALUE rm_retval
+      )
+    IF(NOT "${rm_retval}" STREQUAL 0)
+      MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
+    ENDIF(NOT "${rm_retval}" STREQUAL 0)
+  ELSE(EXISTS "$ENV{DESTDIR}${file}")
+    MESSAGE(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
+  ENDIF(EXISTS "$ENV{DESTDIR}${file}")
+ENDFOREACH(file)

lib/air_modes_slicer.cc

@@ -134,7 +134,7 @@ int air_modes_slicer::work(int noutput_items,
 			slice_result_t slice_result = slicer(in[i+j*2], in[i+j*2+1], rx_packet.reference_level);
 			if(slice_result.decision) pkt_hdr += 1 << (4-j);
 		}
-		if(pkt_hdr == 17) rx_packet.type = Long_Packet;
+		if(pkt_hdr == 16 or pkt_hdr == 17 or pkt_hdr == 20 or pkt_hdr == 21) rx_packet.type = Long_Packet;
 		else rx_packet.type = Short_Packet;
 		int packet_length = (rx_packet.type == framer_packet_type(Short_Packet)) ? 56 : 112;
 

python/CMakeLists.txt

@@ -42,6 +42,7 @@ GR_PYTHON_INSTALL(
     parse.py
     msprint.py
     raw_server.py
+    rx_path.py
     sbs1.py
     sql.py
     Quaternion.py

python/__init__.py

@@ -51,6 +51,7 @@ from air_modes_swig import *
 
 # import any pure python here
 #
+from rx_path import rx_path
 from parse import parse,modes_reply
 from msprint import output_print
 from sql import output_sql

python/cpr.py

@@ -26,13 +26,9 @@ from air_modes.exceptions import *
 #the decoder is implemented as a class, cpr_decoder, which keeps state for local decoding.
 #the encoder is cpr_encode([lat, lon], type (even=0, odd=1), and surface (0 for surface, 1 for airborne))
 
-latz = 15
+#TODO: remove range/bearing calc from CPR decoder class. you can do this outside of the decoder.
 
-def nbits(surface):
+latz = 15
-	if surface == 1:
-		return 19
-	else:
-		return 17
 
 def nz(ctype):
 	return 4 * latz - ctype
@@ -49,38 +45,30 @@ def dlat(ctype, surface):
 	else:
 		return tmp / nzcalc
 
-def nl_eo(declat_in, ctype):
-	return nl(declat_in) - ctype
-
 def nl(declat_in):
 	if abs(declat_in) >= 87.0:
 		return 1.0
-	return math.floor( (2.0*math.pi) * pow(math.acos(1.0- (1.0-math.cos(math.pi/(2.0*latz))) / pow( math.cos( (math.pi/180.0)*abs(declat_in) ) ,2.0) ),-1.0))
+	return math.floor( (2.0*math.pi) * math.acos(1.0- (1.0-math.cos(math.pi/(2.0*latz))) / math.cos( (math.pi/180.0)*abs(declat_in) )**2 )**-1)
 
 def dlon(declat_in, ctype, surface):
-	if surface == 1:
+	if surface:
 		tmp = 90.0
 	else:
 		tmp = 360.0
-	nlcalc = nl_eo(declat_in, ctype)
+	nlcalc = max(nl(declat_in)-ctype, 1)
-	if nlcalc == 0:
+	return tmp / nlcalc
-		return tmp
-	else:
-		return tmp / max(nlcalc, 1.0)
 
 def decode_lat(enclat, ctype, my_lat, surface):
 	tmp1 = dlat(ctype, surface)
-	tmp2 = float(enclat) / (2**nbits(surface))
+	tmp2 = float(enclat) / (2**17)
 	j = math.floor(my_lat/tmp1) + math.floor(0.5 + ((my_lat % tmp1) / tmp1) - tmp2)
-#	print "dlat gives " + "%.6f " % tmp1 + "with j = " + "%.6f " % j + " and tmp2 = " + "%.6f" % tmp2 + " given enclat " + "%x" % enclat
 
 	return tmp1 * (j + tmp2)
 
 def decode_lon(declat, enclon, ctype, my_lon, surface):
 	tmp1 = dlon(declat, ctype, surface)
-	tmp2 = float(enclon) / (2.0**nbits(surface))
+	tmp2 = float(enclon) / (2**17)
 	m = math.floor(my_lon / tmp1) + math.floor(0.5 + ((my_lon % tmp1) / tmp1) - tmp2)
-#	print "dlon gives " + "%.6f " % tmp1 + "with m = " + "%.6f " % m + " and tmp2 = " + "%.6f" % tmp2 + " given enclon " + "%x" % enclon
 
 	return tmp1 * (m + tmp2)
 
@@ -93,7 +81,11 @@ def cpr_resolve_local(my_location, encoded_location, ctype, surface):
 
 	return [decoded_lat, decoded_lon]
 
-def cpr_resolve_global(evenpos, oddpos, mostrecent, surface):
+def cpr_resolve_global(evenpos, oddpos, mypos, mostrecent, surface):
+	#cannot resolve surface positions unambiguously without knowing receiver position
+	if surface and mypos is None:
+		raise CPRNoPositionError
+	
 	dlateven = dlat(0, surface)
 	dlatodd  = dlat(1, surface)
 
@@ -114,7 +106,6 @@ def cpr_resolve_global(evenpos, oddpos, mostrecent, surface):
 	#This checks to see if the latitudes of the reports straddle a transition boundary
 	#If so, you can't get a globally-resolvable location.
 	if nl(rlateven) != nl(rlatodd):
-		#print "Boundary straddle!"
 		raise CPRBoundaryStraddleError
 
 	if mostrecent == 0:
@@ -122,21 +113,41 @@ def cpr_resolve_global(evenpos, oddpos, mostrecent, surface):
 	else:
 		rlat = rlatodd
 
-	dl = dlon(rlat, mostrecent, surface)
+	#disambiguate latitude
-	nlthing = nl(rlat)
+	if surface:
-	ni = max(nlthing - mostrecent, 1)
+		if mypos[0] < 0:
+			rlat -= 90
 
-	m =  math.floor(((evenpos[1]*(nlthing-1)-oddpos[1]*(nlthing))/2**17)+0.5) #longitude index
+	dl = dlon(rlat, mostrecent, surface)
+	nl_rlat = nl(rlat)
+
+	m = math.floor(((evenpos[1]*(nl_rlat-1)-oddpos[1]*nl_rlat)/2**17)+0.5) #longitude index
+	
+	#when surface positions straddle a disambiguation boundary (90 degrees),
+	#surface decoding will fail. this might never be a problem in real life, but it'll fail in the
+	#test case. the documentation doesn't mention it.
 
 	if mostrecent == 0:
 		enclon = evenpos[1]
 	else:
 		enclon = oddpos[1]
 
-	rlon = dl * (((ni+m) % ni)+enclon/2**17)
+	rlon = dl * ((m % max(nl_rlat-mostrecent,1)) + enclon/2.**17)
 
+	#print "DL: %f nl: %f m: %f rlon: %f" % (dl, nl_rlat, m, rlon)
+	#print "evenpos: %x, oddpos: %x, mostrecent: %i" % (evenpos[1], oddpos[1], mostrecent)
+
+	if surface:
+		#longitudes need to be resolved to the nearest 90 degree segment to the receiver.
+		wat = mypos[1]
+		if wat < 0:
+			wat += 360
+		zone = lambda lon: 90 * (int(lon) / 90)
+		rlon += (zone(wat) - zone(rlon))
+
+	#limit to (-180, 180)
 	if rlon > 180:
-		rlon = rlon - 360.0
+		rlon -= 360.0
 
 	return [rlat, rlon]
 
@@ -174,6 +185,8 @@ class cpr_decoder:
 		self.my_location = my_location
 		self.evenlist = {}
 		self.oddlist = {}
+		self.evenlist_sfc = {}
+		self.oddlist_sfc = {}
 
 	def set_location(new_location):
 		self.my_location = new_location
@@ -183,24 +196,34 @@ class cpr_decoder:
 			for key, item in poslist.items():
 				if time.time() - item[2] > 10:
 					del poslist[key]
+		for poslist in [self.evenlist_sfc, self.oddlist_sfc]:
+			for key, item in poslist.items():
+				if time.time() - item[2] > 25:
+					del poslist[key]
 
 	def decode(self, icao24, encoded_lat, encoded_lon, cpr_format, surface):
+		if surface:
+			oddlist = self.oddlist_sfc
+			evenlist = self.evenlist_sfc
+		else:
+			oddlist = self.oddlist
+			evenlist = self.evenlist
+
 		#add the info to the position reports list for global decoding
 		if cpr_format==1:
-			self.oddlist[icao24] = [encoded_lat, encoded_lon, time.time()]
+			oddlist[icao24] = [encoded_lat, encoded_lon, time.time()]
 		else:
-			self.evenlist[icao24] = [encoded_lat, encoded_lon, time.time()]
+			evenlist[icao24] = [encoded_lat, encoded_lon, time.time()]
 
 		[decoded_lat, decoded_lon] = [None, None]
 
 		#okay, let's traverse the lists and weed out those entries that are older than 10 seconds
 		self.weed_poslists()
 
-		if (icao24 in self.evenlist) \
+		if (icao24 in evenlist) \
-		  and (icao24 in self.oddlist):
+		  and (icao24 in oddlist):
-			newer = (self.oddlist[icao24][2] - self.evenlist[icao24][2]) > 0 #figure out which report is newer
+			newer = (oddlist[icao24][2] - evenlist[icao24][2]) > 0 #figure out which report is newer
-   			[decoded_lat, decoded_lon] = cpr_resolve_global(self.evenlist[icao24][0:2], self.oddlist[icao24][0:2], newer, surface) #do a global decode
+   			[decoded_lat, decoded_lon] = cpr_resolve_global(evenlist[icao24][0:2], oddlist[icao24][0:2], self.my_location, newer, surface) #do a global decode
-
 		else:
 			raise CPRNoPositionError
 
@@ -215,83 +238,95 @@ class cpr_decoder:
 #encode CPR position
 def cpr_encode(lat, lon, ctype, surface):
 	if surface is True:
-		scalar = float(2**19)
+		scalar = 2.**19
 	else:
-		scalar = float(2**17)
+		scalar = 2.**17
 
-	dlati = float(dlat(ctype, False))
+	#encode using 360 constant for segment size.
+	dlati = dlat(ctype, False)
 	yz = math.floor(scalar * ((lat % dlati)/dlati) + 0.5)
 	rlat = dlati * ((yz / scalar) + math.floor(lat / dlati))
 
-	nleo = nl_eo(rlat, ctype)
+	#encode using 360 constant for segment size.
-	if nleo == 0:
+	dloni = dlon(lat, ctype, False)
-		dloni = 360.0
-	else:
-		dloni = 360.0 / nl_eo(rlat, ctype)
-
 	xz = math.floor(scalar * ((lon % dloni)/dloni) + 0.5)
 
-	yz = int(yz % scalar)
+	yz = int(yz) & (2**17-1)
-	xz = int(xz % scalar)
+	xz = int(xz) & (2**17-1)
 
 	return (yz, xz) #lat, lon
 
 if __name__ == '__main__':
 	import sys, random
 	
-	rounds = 10000
+	rounds = 10001
 	threshold = 1e-3 #0.001 deg lat/lon
 	#this accuracy is highly dependent on latitude, since at high
 	#latitudes the corresponding error in longitude is greater
 
 	bs = 0
+	surface = False
+
+	lats = [i/(rounds/170.)-85 for i in range(0,rounds)]
+	lons = [i/(rounds/360.)-180 for i in range(0,rounds)]
 
 	for i in range(0, rounds):
-		decoder = cpr_decoder(None)
+		even_lat = lats[i]
-		even_lat = random.uniform(-85, 85)
+		#even_lat = random.uniform(-85, 85)
-		even_lon = random.uniform(-180,180)
+		even_lon = lons[i]
-		odd_lat = even_lat + 1e-2
+		#even_lon = random.uniform(-180, 180)
-		odd_lon = min(even_lon + 1e-2, 180)
+		odd_lat = even_lat + 1e-3
+		odd_lon = min(even_lon + 1e-3, 180)
+		decoder = cpr_decoder([odd_lat, odd_lon])
 
 		#encode that position
-		(evenenclat, evenenclon) = cpr_encode(even_lat, even_lon, False, False)
+		(evenenclat, evenenclon) = cpr_encode(even_lat, even_lon, False, surface)
-		(oddenclat, oddenclon)   = cpr_encode(odd_lat, odd_lon, True, False)
+		(oddenclat, oddenclon)   = cpr_encode(odd_lat, odd_lon, True, surface)
 
-		#perform a global decode
+		#try to perform a global decode -- this should fail since the decoder
+		#only has heard one position. need two for global decoding.
 		icao = random.randint(0, 0xffffff)
 		try:
-			evenpos = decoder.decode(icao, evenenclat, evenenclon, False, False)
+			evenpos = decoder.decode(icao, evenenclat, evenenclon, False, surface)
-			#print "CPR global decode with only one report: %f %f" % (evenpos[0], evenpos[1])
 			raise Exception("CPR test failure: global decode with only one report")
 		except CPRNoPositionError:
 			pass
 
+		#now try to do a real decode with the last packet's odd complement
+		#watch for a boundary straddle -- this isn't fatal, it just indicates
+		#that the even and odd reports lie on either side of a longitudinal boundary
+		#and so you can't get a position
 		try:
-			(odddeclat, odddeclon, rng, brg) = decoder.decode(icao, oddenclat, oddenclon, True, False)
+			(odddeclat, odddeclon, rng, brg) = decoder.decode(icao, oddenclat, oddenclon, True, surface)
 		except CPRBoundaryStraddleError:
 			bs += 1
 			continue
 		except CPRNoPositionError:
 			raise Exception("CPR test failure: no decode after even/odd inputs")
 
-		#print "Lat: %f Lon: %f" % (ac_lat, ac_lon)
-
 		if abs(odddeclat - odd_lat) > threshold or abs(odddeclon - odd_lon) > threshold:
-			print "odddeclat: %f odd_lat: %f" % (odddeclat, odd_lat)
+			print "F odddeclat: %f odd_lat: %f" % (odddeclat, odd_lat)
-			print "odddeclon: %f odd_lon: %f" % (odddeclon, odd_lon)
+			print "F odddeclon: %f odd_lon: %f" % (odddeclon, odd_lon)
 			raise Exception("CPR test failure: global decode error greater than threshold")
+#		else:
+#			print "S odddeclat: %f odd_lat: %f" % (odddeclat, odd_lat)
+#			print "S odddeclon: %f odd_lon: %f" % (odddeclon, odd_lon)
 
-		nexteven_lat = odd_lat + 1e-2
+		nexteven_lat = odd_lat + 1e-3
-		nexteven_lon = min(odd_lon + 1e-2, 180)
+		nexteven_lon = min(odd_lon + 1e-3, 180)
 
-		(nexteven_enclat, nexteven_enclon) = cpr_encode(nexteven_lat, nexteven_lon, False, False)
+		(nexteven_enclat, nexteven_enclon) = cpr_encode(nexteven_lat, nexteven_lon, False, surface)
 
+		#try a locally-referenced decode
 		try:
-			(evendeclat, evendeclon) = cpr_resolve_local([even_lat, even_lon], [nexteven_enclat, nexteven_enclon], False, False)
+			(evendeclat, evendeclon) = cpr_resolve_local([even_lat, even_lon], [nexteven_enclat, nexteven_enclon], False, surface)
 		except CPRNoPositionError:
 			raise Exception("CPR test failure: local decode failure to resolve")
 
+		#check to see if the positions were valid
 		if abs(evendeclat - nexteven_lat) > threshold or abs(evendeclon - nexteven_lon) > threshold:
+			print "F evendeclat: %f nexteven_lat: %f evenlat: %f" % (evendeclat, nexteven_lat, even_lat)
+			print "F evendeclon: %f nexteven_lon: %f evenlon: %f" % (evendeclon, nexteven_lon, even_lon)
 			raise Exception("CPR test failure: local decode error greater than threshold")
 
 	print "CPR test successful. There were %i boundary straddles over %i rounds." % (bs, rounds)

python/msprint.py

@@ -55,8 +55,8 @@ class output_print(air_modes.parse):
         output += self.print11(data, ecc)
       elif msgtype == 17:
         output += self.print17(data)
-      elif msgtype == 20 or msgtype == 21:
+      elif msgtype == 20 or msgtype == 21 or msgtype == 16:
-        output += self.print20(data, ecc)
+        output += self.printTCAS(data, ecc)
       else:
         output += "No handler for message type %i from %x (but it's in modes_parse)" % (msgtype, ecc)
       return output
@@ -186,36 +186,48 @@ class output_print(air_modes.parse):
 
     return retstr
 
-  def print20(self, data, ecc):
+  def printTCAS(self, data, ecc):
     msgtype = data["df"]
-    if(msgtype == 20):
+    if msgtype == 20 or msgtype == 16:
+      #type 16 does not have fs, dr, um but we get alt here
       [fs, dr, um, alt] = self.parse4(data)
-    else:
+    elif msgtype == 21:
       [fs, dr, um, ident] = self.parse5(data)
-    bds1 = data["bds1"]
+
-    bds2 = data["bds2"]
+    if msgtype == 16:
+      bds1 = data["vds1"]
+      bds2 = data["vds2"]
+    else:
+      bds1 = data["bds1"]
+      bds2 = data["bds2"]
 
     if bds2 != 0:
-      retstr = "No handler for BDS2 == %i from %x" % (bds2, ecc)
+      retstr = "No handler in type %i for BDS2 == %i from %x" % (msgtype, bds2, ecc)
 
     elif bds1 == 0:
-      retstr = "No handler for BDS1 == 0 from %x" % ecc
+      retstr = "No handler in type %i for BDS1 == 0 from %x" % (msgtype, ecc)
     elif bds1 == 1:
-      retstr = "Type 20 link capability report from %x: ACS: 0x%x, BCS: 0x%x, ECS: 0x%x, continues %i" \
+      retstr = "Type %i link capability report from %x: ACS: 0x%x, BCS: 0x%x, ECS: 0x%x, continues %i" \
-                % (ecc, data["acs"], data["bcs"], data["ecs"], data["cfs"])
+                % (msgtype, ecc, data["acs"], data["bcs"], data["ecs"], data["cfs"])
     elif bds1 == 2:
-      retstr = "Type 20 identification from %x with text %s" % (ecc, self.parseMB_id(data))
+      retstr = "Type %i identification from %x with text %s" % (msgtype, ecc, self.parseMB_id(data))
-    elif bds2 == 3:
+    elif bds1 == 3:
-      retstr = "Type 20 TCAS report from %x: " % ecc
+      retstr = "Type %i TCAS report from %x: " % (msgtype, ecc)
       tti = data["tti"]
-      if tti == 1:
+      if msgtype == 16:
-        (resolutions, complements, rat, mte, threat_id) = self.parseMB_TCAS_threatid(data)
+        (resolutions, complements, rat, mte) = self.parse_TCAS_CRM(data)
-        retstr += "threat ID: %x advised: %s complement: %s" % (threat_id, resolutions, complements)
+        retstr += "advised: %s complement: %s" % (resolutions, complements)
-      elif tti == 2:
-        (resolutions, complements, rat, mte, threat_alt, threat_range, threat_bearing) = self.parseMB_TCAS_threatloc(data)
-        retstr += "range: %i bearing: %i alt: %i advised: %s complement: %s" % (threat_range, threat_bearing, threat_alt, resolutions, complements)
       else:
-        retstr += " (no handler for TTI=%i)" % tti
+          if tti == 1:
+            (resolutions, complements, rat, mte, threat_id) = self.parseMB_TCAS_threatid(data)
+            retstr += "threat ID: %x advised: %s complement: %s" % (threat_id, resolutions, complements)
+          elif tti == 2:
+            (resolutions, complements, rat, mte, threat_alt, threat_range, threat_bearing) = self.parseMB_TCAS_threatloc(data)
+            retstr += "range: %i bearing: %i alt: %i advised: %s complement: %s" % (threat_range, threat_bearing, threat_alt, resolutions, complements)
+          else:
+            rat = 0
+            mte = 0
+            retstr += " (no handler for TTI=%i)" % tti
       if mte == 1:
         retstr += " (multiple threats)"
       if rat == 1:
@@ -223,9 +235,9 @@ class output_print(air_modes.parse):
     else:
       retstr = "No handler for BDS1 == %i from %x" % (bds1, ecc)
 
-#    if(msgtype == 20):
+    if(msgtype == 20 or msgtype == 16):
-#      retstr += " at %ift" % altitude
+      retstr += " at %ift" % alt
-#    else:
+    else:
-#      retstr += " ident %x" % ident
+      retstr += " ident %x" % ident
       
     return retstr

python/parse.py

@@ -193,6 +193,22 @@ class mb_reply(data_field):
 #                "vds": (33,8),  "vds1": (33,4), "vds2": (37,4)
 #              }
 
+class mv_reply(data_field):
+  offset = 33
+  types = { "ara": (41,14), "mte": (60,1),  "rac": (55,4), "rat": (59,1),
+            "vds": (33,8),  "vds1": (33,4), "vds2": (37,4)
+          }
+
+  def get_type(self):
+    vds1 = self.get_bits(33,4)
+    vds2 = self.get_bits(37,4)
+    if vds1 not in (3,) or vds2 not in (0,):
+      raise NoHandlerError(bds1)
+    return int(vds1)
+
+  def get_numbits(self):
+    return 56
+
 #the whole Mode S packet type
 class modes_reply(data_field):
   types = { 0: {"df": (1,5), "vs": (6,1), "cc": (7,1), "sl": (9,3), "ri": (14,4), "ac": (20,13), "ap": (33,24)},
@@ -379,15 +395,16 @@ class parse:
                    53: "DON'T TURN LEFT", 54: "DON'T TURN RIGHT"}
     rac_bits    = {55: "DON'T DESCEND", 56: "DON'T CLIMB", 57: "DON'T TURN LEFT", 58: "DON'T TURN RIGHT"}
     ara = data["ara"]
+    rac = data["rac"]
     #check to see which bits are set
     resolutions = ""
-    for bit, name in ara_bits:
+    for bit in ara_bits:
       if ara & (1 << (54-bit)):
-        resolutions += " " + name
+        resolutions += " " + ara_bits[bit]
     complements = ""
-    for bit, name in rac_bits:
+    for bit in rac_bits:
       if rac & (1 << (58-bit)):
-        complements += " " + name
+        complements += " " + rac_bits[bit]
     return (resolutions, complements)
 
   #rat is 1 if resolution advisory terminated <18s ago
@@ -404,3 +421,8 @@ class parse:
     (resolutions, complements) = self.parseMB_TCAS_resolutions(data)
     threat_alt = decode_alt(data["tida"], True)
     return (resolutions, complements, data["rat"], data["mte"], threat_alt, data["tidr"], data["tidb"])
+
+  #type 16 Coordination Reply Message
+  def parse_TCAS_CRM(self, data):
+    (resolutions, complements) = self.parseMB_TCAS_resolutions(data)
+    return (resolutions, complements, data["rat"], data["mte"])

python/rx_path.py

@@ -0,0 +1,50 @@
+#
+# Copyright 2012 Corgan Labs
+# 
+# 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.
+# 
+
+from gnuradio import gr
+import air_modes_swig
+
+class rx_path(gr.hier_block2):
+
+    def __init__(self, rate, threshold, queue):
+        gr.hier_block2.__init__(self, "modes_rx_path",
+                                gr.io_signature(1, 1, gr.sizeof_gr_complex),
+                                gr.io_signature(0,0,0))
+
+        self._rate = int(rate)
+        self._threshold = threshold
+        self._queue = queue
+
+        # Convert incoming I/Q baseband to amplitude
+        self._demod = gr.complex_to_mag()
+
+        # Establish baseline amplitude (noise, interference)
+        self._avg = gr.moving_average_ff(100, 1.0/100, 400) # FIXME
+
+        # Synchronize to Mode-S preamble
+        self._sync = air_modes_swig.modes_preamble(self._rate, self._threshold)
+
+        # Slice Mode-S bits and send to message queue
+        self._slicer = air_modes_swig.modes_slicer(self._rate, self._queue)
+
+        self.connect(self, self._demod, (self._sync, 0))
+        self.connect(self._demod, self._avg, (self._sync, 1))
+        self.connect(self._sync, self._slicer)