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First stab at using real exception handling instead of returning [None] everywhere

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This commit is contained in:
Nick Foster 2012-06-19 15:43:43 -07:00
parent e3ac472a1a
commit db62aaf399
10 changed files with 148 additions and 94 deletions
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1
python/CMakeLists.txt
View File

@ -34,6 +34,7 @@ GR_PYTHON_INSTALL(
altitude.py
cpr.py
mlat.py
modes_exceptions.py
modes_flightgear.py
modes_kml.py
modes_parse.py

1
python/__init__.py
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@ -56,6 +56,7 @@ from modes_sql import modes_output_sql
from modes_sbs1 import modes_output_sbs1
from modes_kml import modes_kml
from modes_raw_server import modes_raw_server
from modes_exceptions import *
#this is try/excepted in case the user doesn't have numpy installed
try:
from modes_flightgear import modes_flightgear

24
python/altitude.py
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@ -23,6 +23,8 @@
# For reference into the methodology used to decode altitude,
# see RTCA DO-181D p.42
from modes_exceptions import *
def decode_alt(alt, bit13):
mbit = alt & 0x0040
qbit = alt & 0x0010
@ -30,7 +32,7 @@ def decode_alt(alt, bit13):
if mbit and bit13:
#TBD: bits 20-25, 27-31 encode alt in meters
#remember that bits are left justified (bit 20 is MSB)
return "METRIC ERROR"
raise MetricAltError
if qbit: #a mode S-style reply
#bit13 is false for BDS0,5 ADS-B squitters, and is true otherwise
@ -122,12 +124,14 @@ def encode_alt_modes(alt, bit13):
return (encalt & 0x0F) | tmp1 | tmp2 | (mbit << 6) | (qbit << 4)
if __name__ == "__main__":
for alt in range(-1000, 101400, 25):
dec = decode_alt(encode_alt_modes(alt, False), False)
if dec != alt:
print "Failure at %i with bit13 clear (got %s)" % (alt, dec)
for alt in range(-1000, 101400, 25):
dec = decode_alt(encode_alt_modes(alt, True), True)
if dec != alt:
print "Failure at %i with bit13 set (got %s)" % (alt, dec)
try:
for alt in range(-1000, 101400, 25):
dec = decode_alt(encode_alt_modes(alt, False), False)
if dec != alt:
print "Failure at %i with bit13 clear (got %s)" % (alt, dec)
for alt in range(-1000, 101400, 25):
dec = decode_alt(encode_alt_modes(alt, True), True)
if dec != alt:
print "Failure at %i with bit13 set (got %s)" % (alt, dec)
except MetricAltError:
print "Failure at %i due to metric alt bit" % alt

31
python/cpr.py
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@ -20,9 +20,8 @@
# Boston, MA 02110-1301, USA.
#
#from string import split, join
#from math import pi, floor, cos, acos
import math, time
from modes_exceptions import *
#this implements CPR position decoding and encoding.
#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))
@ -121,7 +120,7 @@ def cpr_resolve_global(evenpos, oddpos, mostrecent, surface):
#If so, you can't get a globally-resolvable location.
if nl(rlateven) != nl(rlatodd):
#print "Boundary straddle!"
return (None, None,)
raise CPRBoundaryStraddleError
if mostrecent == 0:
rlat = rlateven
@ -218,8 +217,9 @@ class cpr_decoder:
elif ((icao24 in self.evenlist) and (icao24 in self.oddlist) and abs(self.evenlist[icao24][2] - self.oddlist[icao24][2]) < 10):
newer = (self.oddlist[icao24][2] - self.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
if decoded_lat is not None:
self.lkplist[icao24] = [decoded_lat, decoded_lon, time.time()]
self.lkplist[icao24] = [decoded_lat, decoded_lon, time.time()]
else:
raise CPRNoPositionError
#so we really can't guarantee that local decoding will work unless you are POSITIVE that you can't hear more than 180nm out.
#this will USUALLY work, but you can't guarantee it!
@ -230,7 +230,7 @@ class cpr_decoder:
# self.lkplist[icao24] = [local_lat, local_lon, time.time()] #update the local position for next time
# [decoded_lat, decoded_lon] = [local_lat, local_lon]
if decoded_lat is not None and self.my_location is not None:
if self.my_location is not None:
[rnge, bearing] = range_bearing(self.my_location, [decoded_lat, decoded_lon])
else:
rnge = None
@ -283,15 +283,21 @@ if __name__ == '__main__':
#perform a global decode
icao = random.randint(0, 0xffffff)
evenpos = decoder.decode(icao, evenenclat, evenenclon, False, False)
if evenpos != [None, None, None, None]:
try:
evenpos = decoder.decode(icao, evenenclat, evenenclon, False, False)
#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")
(odddeclat, odddeclon, rng, brg) = decoder.decode(icao, oddenclat, oddenclon, True, False)
except CPRNoPositionError:
pass
if odddeclat is None: #boundary straddle, just move on, it's normal
try:
(odddeclat, odddeclon, rng, brg) = decoder.decode(icao, oddenclat, oddenclon, True, False)
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 - ac_lat) > threshold or abs(odddeclon - ac_lon) > threshold:
@ -299,7 +305,10 @@ if __name__ == '__main__':
#print "odddeclon: %f ac_lon: %f" % (odddeclon, ac_lon)
raise Exception("CPR test failure: global decode error greater than threshold")
(evendeclat, evendeclon) = cpr_resolve_local([ac_lat, ac_lon], [evenenclat, evenenclon], False, False)
try:
(evendeclat, evendeclon) = cpr_resolve_local([ac_lat, ac_lon], [evenenclat, evenenclon], False, False)
except CPRNoPositionError:
raise Exception("CPR test failure: local decode failure to resolve")
if abs(evendeclat - ac_lat) > threshold or abs(evendeclon - ac_lon) > threshold:
raise Exception("CPR test failure: local decode error greater than threshold")

42
python/modes_exceptions.py Normal file
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@ -0,0 +1,42 @@
#
# 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.
#
class ADSBError(Exception):
pass
class MetricAltError(ADSBError):
pass
class ParserError(ADSBError):
pass
class NoHandlerError(ADSBError):
def __init__(self, msgtype):
self.msgtype = msgtype
class MlatNonConvergeError(ADSBError):
pass
class CPRNoPositionError(ADSBError):
pass
class CPRBoundaryStraddleError(CPRNoPositionError):
pass

51
python/modes_flightgear.py
View File

@ -11,6 +11,7 @@ import string, threading, math, time
from air_modes.modes_sql import modes_output_sql
from Quaternion import Quat
import numpy
from modes_exceptions import *
class modes_flightgear(modes_parse.modes_parse):
def __init__(self, localpos, hostname, port):
@ -31,36 +32,38 @@ class modes_flightgear(modes_parse.modes_parse):
longdata = long(longdata, 16)
msgtype = int(msgtype)
if msgtype == 17: #ADS-B report
icao24 = shortdata & 0xFFFFFF
subtype = (longdata >> 51) & 0x1F
if subtype == 4: #ident packet
(ident, actype) = self.parseBDS08(shortdata, longdata)
#select model based on actype
self.callsigns[icao24] = [ident, actype]
elif 5 <= subtype <= 8: #BDS0,6 pos
[altitude, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS06(shortdata, longdata)
if(decoded_lat is not None):
try:
if msgtype == 17: #ADS-B report
icao24 = shortdata & 0xFFFFFF
subtype = (longdata >> 51) & 0x1F
if subtype == 4: #ident packet
(ident, actype) = self.parseBDS08(shortdata, longdata)
#select model based on actype
self.callsigns[icao24] = [ident, actype]
elif 5 <= subtype <= 8: #BDS0,6 pos
[altitude, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS06(shortdata, longdata)
self.positions[icao24] = [decoded_lat, decoded_lon, altitude]
self.update(icao24)
elif 9 <= subtype <= 18: #BDS0,5 pos
[altitude, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS05(shortdata, longdata)
if(decoded_lat is not None):
elif 9 <= subtype <= 18: #BDS0,5 pos
[altitude, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS05(shortdata, longdata)
self.positions[icao24] = [decoded_lat, decoded_lon, altitude]
self.update(icao24)
elif subtype == 19: #velocity
subsubtype = (longdata >> 48) & 0x07
if subsubtype == 0:
[velocity, heading, vert_spd, turnrate] = self.parseBDS09_0(shortdata, longdata)
elif subsubtype == 1:
[velocity, heading, vert_spd] = self.parseBDS09_1(shortdata, longdata)
turnrate = 0
else:
return
self.velocities[icao24] = [velocity, heading, vert_spd, turnrate]
elif subtype == 19: #velocity
subsubtype = (longdata >> 48) & 0x07
if subsubtype == 0:
[velocity, heading, vert_spd, turnrate] = self.parseBDS09_0(shortdata, longdata)
elif subsubtype == 1:
[velocity, heading, vert_spd] = self.parseBDS09_1(shortdata, longdata)
turnrate = 0
else:
return
self.velocities[icao24] = [velocity, heading, vert_spd, turnrate]
except ADSBError:
pass
def update(self, icao24):
#check to see that ICAO24 appears in all three records and that the data looks valid

16
python/modes_parse.py
View File

@ -25,6 +25,7 @@ from string import split, join
from altitude import decode_alt
import cpr
import math
from modes_exceptions import *
class modes_parse:
def __init__(self, mypos):
@ -32,9 +33,6 @@ class modes_parse:
self.cpr = cpr.cpr_decoder(self.my_location)
def parse0(self, shortdata):
# shortdata = long(shortdata, 16)
#parity = long(parity)
vs = bool(shortdata >> 26 & 0x1) #ground sensor -- airborne when 0
cc = bool(shortdata >> 25 & 0x1) #crosslink capability, binary
sl = shortdata >> 21 & 0x07 #operating sensitivity of onboard TCAS system. 0 means no TCAS sensitivity reported, 1-7 give TCAS sensitivity
@ -46,7 +44,6 @@ class modes_parse:
return [vs, cc, sl, ri, altitude]
def parse4(self, shortdata):
# shortdata = long(shortdata, 16)
fs = shortdata >> 24 & 0x07 #flight status: 0 is airborne normal, 1 is ground normal, 2 is airborne alert, 3 is ground alert, 4 is alert SPI, 5 is normal SPI
dr = shortdata >> 19 & 0x1F #downlink request: 0 means no req, bit 0 is Comm-B msg rdy bit, bit 1 is TCAS info msg rdy, bit 2 is Comm-B bcast #1 msg rdy, bit2+bit0 is Comm-B bcast #2 msg rdy,
#bit2+bit1 is TCAS info and Comm-B bcast #1 msg rdy, bit2+bit1+bit0 is TCAS info and Comm-B bcast #2 msg rdy, 8-15 N/A, 16-31 req to send N-15 segments
@ -59,7 +56,6 @@ class modes_parse:
def parse5(self, shortdata):
# shortdata = long(shortdata, 16)
fs = shortdata >> 24 & 0x07 #flight status: 0 is airborne normal, 1 is ground normal, 2 is airborne alert, 3 is ground alert, 4 is alert SPI, 5 is normal SPI
dr = shortdata >> 19 & 0x1F #downlink request: 0 means no req, bit 0 is Comm-B msg rdy bit, bit 1 is TCAS info msg rdy, bit 2 is Comm-B bcast #1 msg rdy, bit2+bit0 is Comm-B bcast #2 msg rdy,
#bit2+bit1 is TCAS info and Comm-B bcast #1 msg rdy, bit2+bit1+bit0 is TCAS info and Comm-B bcast #2 msg rdy, 8-15 N/A, 16-31 req to send N-15 segments
@ -68,7 +64,6 @@ class modes_parse:
return [fs, dr, um]
def parse11(self, shortdata, ecc):
# shortdata = long(shortdata, 16)
interrogator = ecc & 0x0F
ca = shortdata >> 13 & 0x3F #capability
@ -114,9 +109,6 @@ class modes_parse:
msg = ""
for i in range(0, 8):
msg += self.charmap( longdata >> (42-6*i) & 0x3F)
#retstr = "Type 17 subtype 04 (ident) from " + "%x" % icao24 + " with data " + msg
return (msg, catstring)
def charmap(self, d):
@ -155,8 +147,6 @@ class modes_parse:
encoded_lat = (longdata >> 17) & 0x1FFFF
cpr_format = (longdata >> 34) & 1
# enc_alt = (longdata >> 36) & 0x0FFF
altitude = 0
[decoded_lat, decoded_lon, rnge, bearing] = self.cpr.decode(icao24, encoded_lat, encoded_lon, cpr_format, 1)
@ -189,8 +179,6 @@ class modes_parse:
if heading < 0:
heading += 360
#retstr = "Type 17 subtype 09-0 (track report) from " + "%x" % icao24 + " with velocity " + "%.0f" % velocity + "kt heading " + "%.0f" % heading + " VS " + "%.0f" % vert_spd
return [velocity, heading, vert_spd, turn_rate]
def parseBDS09_1(self, shortdata, longdata):
@ -232,7 +220,5 @@ class modes_parse:
if heading < 0:
heading += 360
#retstr = "Type 17 subtype 09-1 (track report) from " + "%x" % icao24 + " with velocity " + "%.0f" % velocity + "kt heading " + "%.0f" % heading + " VS " + "%.0f" % vert_spd
return [velocity, heading, vert_spd]

49
python/modes_print.py
View File

@ -1,5 +1,5 @@
#
# Copyright 2010 Nick Foster
# Copyright 2010, 2012 Nick Foster
#
# This file is part of gr-air-modes
#
@ -19,10 +19,10 @@
# Boston, MA 02110-1301, USA.
#
import time, os, sys
from string import split, join
import modes_parse
from modes_exceptions import *
import math
class modes_output_print(modes_parse.modes_parse):
@ -39,30 +39,33 @@ class modes_output_print(modes_parse.modes_parse):
timestamp = float(timestamp)
msgtype = int(msgtype)
output = None;
if msgtype == 0:
output = self.print0(shortdata, ecc)
elif msgtype == 4:
output = self.print4(shortdata, ecc)
elif msgtype == 5:
output = self.print5(shortdata, ecc)
elif msgtype == 11:
output = self.print11(shortdata, ecc)
elif msgtype == 17:
output = self.print17(shortdata, longdata)
else:
output = "No handler for message type " + str(msgtype) + " from %x" % ecc
#TODO this is suspect
if reference == 0.0:
refdb = -150.0
refdb = -150.0
else:
refdb = 10.0*math.log10(reference)
if output is not None:
output = "(%.0f %.10f) " % (refdb, timestamp) + output
print output
refdb = 10.0*math.log10(reference)
output = "(%.0f %.10f) " % (refdb, timestamp);
try:
if msgtype == 0:
output += self.print0(shortdata, ecc)
elif msgtype == 4:
output += self.print4(shortdata, ecc)
elif msgtype == 5:
output += self.print5(shortdata, ecc)
elif msgtype == 11:
output += self.print11(shortdata, ecc)
elif msgtype == 17:
output += self.print17(shortdata, longdata)
print output
except NoHandlerError as e:
output += "No handler for message type " + str(e.msgtype) + " from %x" % ecc
print output
except MetricAltError:
pass
except CPRNoPositionError:
pass
def print0(self, shortdata, ecc):
[vs, cc, sl, ri, altitude] = self.parse0(shortdata)

16
python/modes_sbs1.py
View File

@ -24,6 +24,7 @@ import time, os, sys, socket
from string import split, join
import modes_parse
from datetime import *
from modes_exceptions import *
class modes_output_sbs1(modes_parse.modes_parse):
def __init__(self, mypos):
@ -61,14 +62,15 @@ class modes_output_sbs1(modes_parse.modes_parse):
return self._aircraft_id_count
def output(self, msg):
sbs1_msg = self.parse(msg)
if sbs1_msg is not None:
try:
sbs1_msg = self.parse(msg)
for conn in self._conns[:]: #iterate over a copy of the list
try:
conn.send(sbs1_msg)
except socket.error:
self._conns.remove(conn)
print "Connections: ", len(self._conns)
conn.send(sbs1_msg)
except socket.error:
self._conns.remove(conn)
print "Connections: ", len(self._conns)
except ADSBError:
pass
def add_pending_conns(self):
try:

11
python/modes_sql.py
View File

@ -23,6 +23,7 @@ import time, os, sys
from string import split, join
import modes_parse
import sqlite3
from modes_exceptions import *
class modes_output_sql(modes_parse.modes_parse):
def __init__(self, mypos, filename):
@ -58,13 +59,15 @@ class modes_output_sql(modes_parse.modes_parse):
self.db.close()
def output(self, message):
query = self.make_insert_query(message)
if query is not None:
try:
query = self.make_insert_query(message)
c = self.db.cursor()
c.execute(query)
c.close()
self.db.commit() #not sure if i have to do this
self.db.commit()
except ADSBError:
pass
def make_insert_query(self, message):
#assembles a SQL query tailored to our database
#this version ignores anything that isn't Type 17 for now, because we just don't care