From f8f08ecd373053f237ae576c3d3354e759c7a4bb Mon Sep 17 00:00:00 2001
From: Nick Foster <nick@ettus.com>
Date: Tue, 18 Jun 2013 19:06:30 -0700
Subject: [PATCH] Flightgear plugin modified for new parser interface.

---
 apps/modes_rx        |  3 +--
 python/flightgear.py | 27 +++++++++++++--------------
 2 files changed, 14 insertions(+), 16 deletions(-)

diff --git a/apps/modes_rx b/apps/modes_rx
index 9293f22..b47a9c0 100755
--- a/apps/modes_rx
+++ b/apps/modes_rx
@@ -98,8 +98,7 @@ def main():
 
   if options.multiplayer is not None:
     [fghost, fgport] = options.multiplayer.split(':')
-    fgout = air_modes.output_flightgear(my_position, fghost, int(fgport))
-    relay.subscribe("dl_data", fgout.output)
+    fgout = air_modes.output_flightgear(cpr_dec, fghost, int(fgport), publisher)
 
   if options.sbs1 is True:
     sbs1port = air_modes.output_sbs1(cpr_dec, 30003, publisher)
diff --git a/python/flightgear.py b/python/flightgear.py
index b28c3c6..ebfed94 100755
--- a/python/flightgear.py
+++ b/python/flightgear.py
@@ -14,49 +14,48 @@ from Quaternion import Quat
 import numpy
 from air_modes.exceptions import *
 
-class output_flightgear(air_modes.parse):
-    def __init__(self, localpos, hostname, port):
-        air_modes.parse.__init__(self, localpos)
+class output_flightgear:
+    def __init__(self, cprdec, hostname, port, pub):
         self.hostname = hostname
         self.port = port
         self.localpos = localpos
         self.positions = {}
         self.velocities = {}
         self.callsigns = {}
+        self._cpr = cprdec
 
         self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
         self.sock.connect((self.hostname, self.port))
+        pub.subscribe("type17_dl", output)
 
-    def output(self, message):
-        [data, ecc, reference, timestamp] = message.split()
-        data = air_modes.modes_reply(long(data, 16))
+    def output(self, msg):
         
         try:
-            msgtype = data["df"]
+            msgtype = msg.data["df"]
             if msgtype == 17: #ADS-B report
-                icao24 = data["aa"]
-                bdsreg = data["me"].get_type()
+                icao24 = msg.data["aa"]
+                bdsreg = msg.data["me"].get_type()
                 if bdsreg == 0x08: #ident packet
-                    (ident, actype) = self.parseBDS08(data)
+                    (ident, actype) = air_modes.parseBDS08(data)
                     #select model based on actype
                     self.callsigns[icao24] = [ident, actype]
                     
                 elif bdsreg == 0x06: #BDS0,6 pos
-                    [ground_track, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS06(data)
+                    [ground_track, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS06(data, self._cpr)
                     self.positions[icao24] = [decoded_lat, decoded_lon, 0]
                     self.update(icao24)
 
                 elif bdsreg == 0x05: #BDS0,5 pos
-                    [altitude, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS05(data)
+                    [altitude, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS05(data, self._cpr)
                     self.positions[icao24] = [decoded_lat, decoded_lon, altitude]
                     self.update(icao24)
 
                 elif bdsreg == 0x09: #velocity
                     subtype = data["bds09"].get_type()
                     if subtype == 0:
-                      [velocity, heading, vert_spd, turnrate] = self.parseBDS09_0(data)
+                      [velocity, heading, vert_spd, turnrate] = air_modes.parseBDS09_0(data)
                     elif subtype == 1:
-                      [velocity, heading, vert_spd] = self.parseBDS09_1(data)
+                      [velocity, heading, vert_spd] = air_modes.parseBDS09_1(data)
                       turnrate = 0
                     else:
                         return