Reorganize CPR decoder as a class to keep it simple
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Nick Foster
parent
105950c176
commit
a43d8ee3a7
118
python/cpr.py
118
python/cpr.py
@ -154,59 +154,6 @@ def cpr_resolve_global(evenpos, oddpos, mostrecent, surface): #ok this is consid
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return [rlat, rlon]
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def weed_poslist(poslist):
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for key, item in poslist.items():
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if time.time() - item[2] > 900:
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del poslist[key]
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def cpr_decode(my_location, icao24, encoded_lat, encoded_lon, cpr_format, evenlist, oddlist, lkplist, surface, longdata):
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#add the info to the position reports list for global decoding
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if cpr_format==1:
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oddlist[icao24] = [encoded_lat, encoded_lon, time.time()]
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else:
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evenlist[icao24] = [encoded_lat, encoded_lon, time.time()]
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[decoded_lat, decoded_lon] = [None, None]
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#okay, let's traverse the lists and weed out those entries that are older than 15 minutes, as they're unlikely to be useful.
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weed_poslist(lkplist)
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weed_poslist(evenlist)
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weed_poslist(oddlist)
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if surface==1:
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validrange = 45
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else:
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validrange = 180
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if icao24 in lkplist:
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#do emitter-centered local decoding
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[decoded_lat, decoded_lon] = cpr_resolve_local(lkplist[icao24][0:2], [encoded_lat, encoded_lon], cpr_format, surface)
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lkplist[icao24] = [decoded_lat, decoded_lon, time.time()] #update the local position for next time
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elif ((icao24 in evenlist) and (icao24 in oddlist) and abs(evenlist[icao24][2] - oddlist[icao24][2]) < 10):
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# print "debug: valid even/odd positions, performing global decode."
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newer = (oddlist[icao24][2] - evenlist[icao24][2]) > 0 #figure out which report is newer
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[decoded_lat, decoded_lon] = cpr_resolve_global(evenlist[icao24][0:2], oddlist[icao24][0:2], newer, surface) #do a global decode
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if decoded_lat is not None:
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lkplist[icao24] = [decoded_lat, decoded_lon, time.time()]
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elif my_location is not None: #if we have a location, use it
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[local_lat, local_lon] = cpr_resolve_local(my_location, [encoded_lat, encoded_lon], cpr_format, surface) #try local decoding
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[rnge, bearing] = range_bearing(my_location, [local_lat, local_lon])
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if rnge < validrange: #if the local decoding can be guaranteed valid
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lkplist[icao24] = [local_lat, local_lon, time.time()] #update the local position for next time
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[decoded_lat, decoded_lon] = [local_lat, local_lon]
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#print "settled on position: %.6f, %.6f" % (decoded_lat, decoded_lon,)
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if decoded_lat is not None:
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[rnge, bearing] = range_bearing(my_location, [decoded_lat, decoded_lon])
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else:
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rnge = None
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bearing = None
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return [decoded_lat, decoded_lon, rnge, bearing]
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#calculate range and bearing between two lat/lon points
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#should probably throw this in the mlat py somewhere or make another lib
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@ -237,3 +184,68 @@ def range_bearing(loc_a, loc_b):
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return [rnge, bearing]
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class cpr_decoder:
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def __init__(self, my_location):
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self.my_location = my_location
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self.lkplist = []
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self.evenlist = []
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self.oddlist = []
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def set_location(new_location):
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self.my_location = new_location
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def weed_poslists(self):
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for poslist in [self.lkplist, self.evenlist, self.oddlist]:
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for key, item in poslist.items():
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if time.time() - item[2] > 900:
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del poslist[key]
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def decode(icao24, encoded_lat, encoded_lon, cpr_format, surface):
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#def cpr_decode(my_location, icao24, encoded_lat, encoded_lon, cpr_format, evenlist, oddlist, lkplist, surface):
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#add the info to the position reports list for global decoding
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if cpr_format==1:
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oddlist[icao24] = [encoded_lat, encoded_lon, time.time()]
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else:
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evenlist[icao24] = [encoded_lat, encoded_lon, time.time()]
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[decoded_lat, decoded_lon] = [None, None]
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#okay, let's traverse the lists and weed out those entries that are older than 15 minutes, as they're unlikely to be useful.
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self.weed_poslists()
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if surface==1:
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validrange = 45
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else:
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validrange = 180
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if icao24 in self.lkplist:
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#do emitter-centered local decoding
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[decoded_lat, decoded_lon] = cpr_resolve_local(self.lkplist[icao24][0:2], [encoded_lat, encoded_lon], cpr_format, surface)
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self.lkplist[icao24] = [decoded_lat, decoded_lon, time.time()] #update the local position for next time
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elif ((icao24 in self.evenlist) and (icao24 in self.oddlist) and abs(self.evenlist[icao24][2] - self.oddlist[icao24][2]) < 10):
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# print "debug: valid even/odd positions, performing global decode."
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newer = (self.oddlist[icao24][2] - self.evenlist[icao24][2]) > 0 #figure out which report is newer
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[decoded_lat, decoded_lon] = cpr_resolve_global(self.evenlist[icao24][0:2], self.oddlist[icao24][0:2], newer, surface) #do a global decode
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if decoded_lat is not None:
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self.lkplist[icao24] = [decoded_lat, decoded_lon, time.time()]
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elif self.my_location is not None: #if we have a location, use it
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[local_lat, local_lon] = cpr_resolve_local(self.my_location, [encoded_lat, encoded_lon], cpr_format, surface) #try local decoding
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[rnge, bearing] = range_bearing(self.my_location, [local_lat, local_lon])
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if rnge < validrange: #if the local decoding can be guaranteed valid
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self.lkplist[icao24] = [local_lat, local_lon, time.time()] #update the local position for next time
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[decoded_lat, decoded_lon] = [local_lat, local_lon]
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#print "settled on position: %.6f, %.6f" % (decoded_lat, decoded_lon,)
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if decoded_lat is not None:
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[rnge, bearing] = range_bearing(self.my_location, [decoded_lat, decoded_lon])
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else:
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rnge = None
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bearing = None
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return [decoded_lat, decoded_lon, rnge, bearing]
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@ -29,6 +29,7 @@ import math
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class modes_parse:
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def __init__(self, mypos):
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self.my_location = mypos
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self.cpr_decoder = cpr_decoder(self.my_location)
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def parse0(self, shortdata, parity, ecc):
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# shortdata = long(shortdata, 16)
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@ -148,16 +149,6 @@ class modes_parse:
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return retval
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#lkplist is the last known position, for emitter-centered decoding. evenlist and oddlist are the last
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#received encoded position data for each reporting type. all dictionaries indexed by ICAO number.
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_lkplist = {}
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_evenlist = {}
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_oddlist = {}
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_evenlist_ground = {}
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_oddlist_ground = {}
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#the above dictionaries are all in the format [lat, lon, time].
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def parseBDS05(self, shortdata, longdata, parity, ecc):
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icao24 = shortdata & 0xFFFFFF
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@ -169,7 +160,7 @@ class modes_parse:
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altitude = decode_alt(enc_alt, False)
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[decoded_lat, decoded_lon, rnge, bearing] = cpr_decode(self.my_location, icao24, encoded_lat, encoded_lon, cpr_format, self._evenlist, self._oddlist, self._lkplist, 0, longdata)
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[decoded_lat, decoded_lon, rnge, bearing] = cpr_decoder.decode(icao24, encoded_lat, encoded_lon, cpr_format, 0)
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return [altitude, decoded_lat, decoded_lon, rnge, bearing]
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@ -186,7 +177,7 @@ class modes_parse:
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altitude = 0
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[decoded_lat, decoded_lon, rnge, bearing] = cpr_decode(self.my_location, icao24, encoded_lat, encoded_lon, cpr_format, self._evenlist_ground, self._oddlist_ground, self._lkplist, 1, longdata)
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[decoded_lat, decoded_lon, rnge, bearing] = cpr_decoder.decode(icao24, encoded_lat, encoded_lon, cpr_format, 1)
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return [altitude, decoded_lat, decoded_lon, rnge, bearing]
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