# # Copyright 2010, 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 time, os, sys from string import split, join import air_modes from air_modes.exceptions import * import math #TODO get rid of class and convert to functions #no need for class here class output_print: def __init__(self, cpr, publisher, callback=None): self._cpr = cpr self._callback = callback #sub to every function that starts with "handle" self._fns = [int(l[6:]) for l in dir(self) if l.startswith("handle")] for i in self._fns: publisher.subscribe("type%i_dl" % i, getattr(self, "handle%i" % i)) publisher.subscribe("modes_dl", self.catch_nohandler) @staticmethod def prefix(msg): return "(%i %.8f) " % (msg.rssi, msg.timestamp) def _print(self, msg): if self._callback is None: print msg else: self._callback(msg) def catch_nohandler(self, msg): if msg.data.get_type() not in self._fns: retstr = output_print.prefix(msg) retstr += "No handler for message type %i" % msg.data.get_type() if "aa" not in msg.data.fields: retstr += " from %.6x" % msg.ecc else: retstr += " from %.6x" % msg.data["aa"] self._print(retstr) def handle0(self, msg): try: retstr = output_print.prefix(msg) retstr += "Type 0 (short A-A surveillance) from %x at %ift" % (msg.ecc, air_modes.decode_alt(msg.data["ac"], True)) ri = msg.data["ri"] if ri == 0: retstr += " (No TCAS)" elif ri == 2: retstr += " (TCAS resolution inhibited)" elif ri == 3: retstr += " (Vertical TCAS resolution only)" elif ri == 4: retstr += " (Full TCAS resolution)" elif ri == 9: retstr += " (speed <75kt)" elif ri > 9: retstr += " (speed %i-%ikt)" % (75 * (1 << (ri-10)), 75 * (1 << (ri-9))) else: raise ADSBError except ADSBError: return if msg.data["vs"] is 1: retstr += " (aircraft is on the ground)" self._print(retstr) @staticmethod def fs_text(fs): if fs == 1: return " (aircraft is on the ground)" elif fs == 2: return " (AIRBORNE ALERT)" elif fs == 3: return " (GROUND ALERT)" elif fs == 4: return " (SPI ALERT)" elif fs == 5: return " (SPI)" else: raise ADSBError def handle4(self, msg): try: retstr = output_print.prefix(msg) retstr += "Type 4 (short surveillance altitude reply) from %x at %ift" % (msg.ecc, air_modes.decode_alt(msg.data["ac"], True)) retstr += output_print.fs_text(msg.data["fs"]) except ADSBError: return self._print(retstr) def handle5(self, msg): try: retstr = output_print.prefix(msg) retstr += "Type 5 (short surveillance ident reply) from %x with ident %i" % (msg.ecc, air_modes.decode_id(msg.data["id"])) retstr += output_print.fs_text(msg.data["fs"]) except ADSBError: return self._print(retstr) def handle11(self, msg): try: retstr = output_print.prefix(msg) retstr += "Type 11 (all call reply) from %x in reply to interrogator %i with capability level %i" % (msg.data["aa"], msg.ecc & 0xF, msg.data["ca"]+1) except ADSBError: return self._print(retstr) #the only one which requires state def handle17(self, msg): icao24 = msg.data["aa"] bdsreg = msg.data["me"].get_type() retstr = output_print.prefix(msg) try: if bdsreg == 0x08: (ident, typestring) = air_modes.parseBDS08(msg.data) retstr += "Type 17 BDS0,8 (ident) from %x type %s ident %s" % (icao24, typestring, ident) elif bdsreg == 0x06: [ground_track, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS06(msg.data, self._cpr) retstr += "Type 17 BDS0,6 (surface report) from %x at (%.6f, %.6f) ground track %i" % (icao24, decoded_lat, decoded_lon, ground_track) if rnge is not None and bearing is not None: retstr += " (%.2f @ %.0f)" % (rnge, bearing) elif bdsreg == 0x05: [altitude, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS05(msg.data, self._cpr) retstr += "Type 17 BDS0,5 (position report) from %x at (%.6f, %.6f)" % (icao24, decoded_lat, decoded_lon) if rnge is not None and bearing is not None: retstr += " (" + "%.2f" % rnge + " @ " + "%.0f" % bearing + ")" retstr += " at " + str(altitude) + "ft" elif bdsreg == 0x09: subtype = msg.data["bds09"].get_type() if subtype == 0: [velocity, heading, vert_spd, turnrate] = air_modes.parseBDS09_0(msg.data) retstr += "Type 17 BDS0,9-%i (track report) from %x with velocity %.0fkt heading %.0f VS %.0f turn rate %.0f" \ % (subtype, icao24, velocity, heading, vert_spd, turnrate) elif subtype == 1: [velocity, heading, vert_spd] = air_modes.parseBDS09_1(msg.data) retstr += "Type 17 BDS0,9-%i (track report) from %x with velocity %.0fkt heading %.0f VS %.0f" % (subtype, icao24, velocity, heading, vert_spd) elif subtype == 3: [mag_hdg, vel_src, vel, vert_spd, geo_diff] = air_modes.parseBDS09_3(msg.data) retstr += "Type 17 BDS0,9-%i (air course report) from %x with %s %.0fkt magnetic heading %.0f VS %.0f geo. diff. from baro. alt. %.0fft" \ % (subtype, icao24, vel_src, vel, mag_hdg, vert_spd, geo_diff) else: retstr += "Type 17 BDS0,9-%i from %x not implemented" % (subtype, icao24) elif bdsreg == 0x62: emerg_str = air_modes.parseBDS62(data) retstr += "Type 17 BDS6,2 (emergency) from %x type %s" % (icao24, emerg_str) else: retstr += "Type 17 with FTC=%i from %x not implemented" % (msg.data["ftc"], icao24) except ADSBError: return self._print(retstr) def printTCAS(self, msg): msgtype = msg.data["df"] if msgtype == 16: bds1 = msg.data["vds1"] bds2 = msg.data["vds2"] else: bds1 = msg.data["bds1"] bds2 = msg.data["bds2"] retstr = output_print.prefix(msg) if bds2 != 0: retstr += "No handler in type %i for BDS2 == %i from %x" % (msgtype, bds2, msg.ecc) elif bds1 == 0: retstr += "No handler in type %i for BDS1 == 0 from %x" % (msgtype, msg.ecc) elif bds1 == 1: retstr += "Type %i link capability report from %x: ACS: 0x%x, BCS: 0x%x, ECS: 0x%x, continues %i" \ % (msgtype, msg.ecc, msg.data["acs"], msg.data["bcs"], msg.data["ecs"], msg.data["cfs"]) elif bds1 == 2: retstr += "Type %i identification from %x with text %s" % (msgtype, msg.ecc, air_modes.parseMB_id(msg.data)) elif bds1 == 3: retstr += "Type %i TCAS report from %x: " % (msgtype, msg.ecc) tti = msg.data["tti"] if msgtype == 16: (resolutions, complements, rat, mte) = air_modes.parse_TCAS_CRM(msg.data) retstr += "advised: %s complement: %s" % (resolutions, complements) else: if tti == 1: (resolutions, complements, rat, mte, threat_id) = air_modes.parseMB_TCAS_threatid(msg.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) = air_modes.parseMB_TCAS_threatloc(msg.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: retstr += " (resolved)" else: retstr += "No handler for type %i, BDS1 == %i from %x" % (msgtype, bds1, msg.ecc) if(msgtype == 20 or msgtype == 16): retstr += " at %ift" % air_modes.decode_alt(msg.data["ac"], True) else: retstr += " ident %x" % air_modes.decode_id(msg.data["id"]) self._print(retstr) handle16 = printTCAS handle20 = printTCAS handle21 = printTCAS