# # 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 from altitude import decode_alt import cpr import math from modes_exceptions import * #this implements a packet class which can retrieve its own fields. class data_field: def __init__(self, data): self.data = data types = { } offset = 1 #field offset applied to all fields. used for offsetting #subtypes to reconcile with the spec. Really just for readability. #get a particular field from the data def __getitem__(self, fieldname): mytype = self.get_type() if mytype in self.types: if fieldname in self.types[mytype]: #verify it exists in this packet type return self.get_bits(*self.types[mytype][fieldname]) else: raise FieldNotInPacket(fieldname) else: raise NoHandlerError(mytype) #grab all the fields in the packet as a dict def get_fields(self): return {field: self[field] for field in self.types[self.get_type()]} def get_type(self): raise NotImplementedError def get_numbits(self): raise NotImplementedError #retrieve bits from data given the offset and number of bits. #the offset is both left-justified (LSB) and starts at 1, to #correspond to the Mode S spec. Blame them. def get_bits(self, *args): startbit = args[0] num = args[1] bits = (self.data \ >> (self.get_numbits() - startbit - num + self.offset)) \ & ((1 << num) - 1) if len(args) == 3: #construct a subtype from the bit field return args[2](bits) else: #return the bits as a number return bits class bds09_reply(data_field): offset = 6 types = { #BDS0,9 subtype 0 0: {"sub": (6,3), "dew": (10,1), "vew": (11,11), "dns": (22,1), "vns": (23,11), "str": (34,1), "tr": (35,6), "dvr": (41,1), "vr": (42,9)}, #BDS0,9 subtypes 1-2 (differ only in velocity encoding) 1: {"sub": (6,3), "icf": (9,1), "ifr": (10,1), "nuc": (11,3), "dew": (14,1), "vew": (15,10), "dns": (25,1), "vns": (26,10), "vrsrc": (36,1), "dvr": (37,1), "vr": (38,9), "dhd": (49,1), "hd": (50,6)}, #BDS0,9 subtype 3-4 (airspeed and heading) 3: {"sub": (6,3), "icf": (9,1), "ifr": (10,1), "nuc": (11,3), "mhs": (14,1), "hdg": (15,10), "ast": (25,1), "spd": (26,10), "vrsrc": (36,1), "dvr": (37,1), "vr": (38,9), "dhd": (49,1), "hd": (50,6)} } def get_type(self): sub = self.get_bits(6,3) if sub == 0: return 0 if 1 <= sub <= 2: return 1 if 3 <= sub <= 4: return 3 def get_numbits(self): return 51 #type 17 extended squitter data class me_reply(data_field): #types in this format are listed by BDS register #TODO: add comments explaining these fields types = { 0x05: {"ftc": (1,5), "ss": (6,2), "saf": (8,1), "alt": (9,12), "time": (21,1), "cpr": (22,1), "lat": (23,17), "lon": (40,17)}, #airborne position 0x06: {"ftc": (1,5), "mvt": (6,7), "gts": (13,1), "gtk": (14,7), "time": (21,1), "cpr": (22,1), "lat": (23,17), "lon": (40,17)}, #surface position 0x07: {"ftc": (1,5),}, #TODO extended squitter status 0x08: {"ftc": (1,5), "cat": (6,3), "ident": (9,48)}, #extended squitter identification and type 0x09: {"ftc": (1,5), "bds09": (6,51, bds09_reply)}, #0x0A: data link capability report #0x17: common usage capability report #0x18-0x1F: Mode S specific services capability report #0x20: aircraft identification 0x61: {"ftc": (1,5), "eps": (9,3)} } #maps ftc to BDS register def get_type(self): ftc = self.get_bits(1,5) if 1 <= ftc <= 4: return 0x08 elif 5 <= ftc <= 8: return 0x06 elif 9 <= ftc <= 18: return 0x05 elif ftc == 19: return 0x09 elif ftc == 28: return 0x61 else: return NoHandlerError(ftc) def get_numbits(self): return 56 #resolves the TCAS reply types from TTI info class tcas_reply(data_field): offset = 61 types = { 0: {"tti": (61,2)}, #UNKNOWN 1: {"tti": (61,2), "tid": (63,26)}, 2: {"tti": (61,2), "tida": (63,13), "tidr": (76,7), "tidb": (83,6)} } def get_type(self): return self.get_bits(61,2) def get_numbits(self): return 28 #extended squitter types 20,21 MB subfield class mb_reply(data_field): offset = 33 #fields offset by 33 to match documentation #types are based on bds1 subfield types = { 0: {"bds1": (33,4), "bds2": (37,4)}, #TODO 1: {"bds1": (33,4), "bds2": (37,4), "cfs": (41,4), "acs": (45,20), "bcs": (65,16), "ecs": (81,8)}, 2: {"bds1": (33,4), "bds2": (37,4), "ais": (41,48)}, 3: {"bds1": (33,4), "bds2": (37,4), "ara": (41,14), "rac": (55,4), "rat": (59,1), "mte": (60,1), "tcas": (61, 28, tcas_reply)} } def get_type(self): bds1 = self.get_bits(33,4) bds2 = self.get_bits(37,4) if bds1 not in (0,1,2,3) or bds2 not in (0,): raise NoHandlerError(bds1) return int(bds1) def get_numbits(self): return 56 # #type MV (extended squitter type 16) subfields # mv_fields = { "ara": (41,14), "mte": (60,1), "rac": (55,4), "rat": (59,1), # "vds": (33,8), "vds1": (33,4), "vds2": (37,4) # } #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)}, 4: {"df": (1,5), "fs": (6,3), "dr": (9,5), "um": (14,6), "ac": (20,13), "ap": (33,24)}, 5: {"df": (1,5), "fs": (6,3), "dr": (9,5), "um": (14,6), "id": (20,13), "ap": (33,24)}, 11: {"df": (1,5), "ca": (6,3), "aa": (9,24), "pi": (33,24)}, 16: {"df": (1,5), "vs": (6,1), "sl": (9,3), "ri": (14,4), "ac": (20,13), "mv": (33,56), "ap": (88,24)}, 17: {"df": (1,5), "ca": (6,3), "aa": (9,24), "me": (33,56, me_reply), "pi": (88,24)}, 20: {"df": (1,5), "fs": (6,3), "dr": (9,5), "um": (14,6), "ac": (20,13), "mb": (33,56, mb_reply), "ap": (88,24)}, 21: {"df": (1,5), "fs": (6,3), "dr": (9,5), "um": (14,6), "id": (20,13), "mb": (33,56, mb_reply), "ap": (88,24)}, 24: {"df": (1,5), "ke": (6,1), "nd": (7,4), "md": (11,80), "ap": (88,24)} } def is_long(self): return self.data > (1 << 56) def get_numbits(self): return 112 if self.is_long() else 56 def get_type(self): return self.get_bits(1,5) class modes_parse: def __init__(self, mypos): self.my_location = mypos self.cpr = cpr.cpr_decoder(self.my_location) def parse0(self, data): fields = data.get_fields() altitude = decode_alt(data["ac"], True) return [fields["vs"], fields["cc"], fields["sl"], fields["ri"], altitude] def parse4(self, data): fields = data.get_fields() altitude = decode_alt(data["ac"], True) return [data["fs"], data["dr"], data["um"], altitude] def parse5(self, data): return [data["fs"], data["dr"], data["um"], data["id"]] def parse11(self, data, ecc): interrogator = ecc & 0x0F return [data["aa"], interrogator, data["ca"]] categories = [["NO INFO", "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED"],\ ["NO INFO", "SURFACE EMERGENCY VEHICLE", "SURFACE SERVICE VEHICLE", "FIXED OBSTRUCTION", "CLUSTER OBSTRUCTION", "LINE OBSTRUCTION", "RESERVED"],\ ["NO INFO", "GLIDER", "BALLOON/BLIMP", "PARACHUTE", "ULTRALIGHT", "RESERVED", "UAV", "SPACECRAFT"],\ ["NO INFO", "LIGHT", "SMALL", "LARGE", "LARGE HIGH VORTEX", "HEAVY", "HIGH PERFORMANCE", "ROTORCRAFT"]] def parseBDS08(self, data): catstring = self.categories[data["me"]["ftc"]-1][data["me"]["cat"]] msg = "" for i in range(0, 8): msg += self.charmap( data["me"]["ident"] >> (42-6*i) & 0x3F) return (msg, catstring) def charmap(self, d): if d > 0 and d < 27: retval = chr(ord("A")+d-1) elif d == 32: retval = " " elif d > 47 and d < 58: retval = chr(ord("0")+d-48) else: retval = " " return retval def parseBDS05(self, data): icao24 = data["aa"] encoded_lon = data["me"]["lon"] encoded_lat = data["me"]["lat"] cpr_format = data["me"]["cpr"] altitude = decode_alt(data["me"]["alt"], False) [decoded_lat, decoded_lon, rnge, bearing] = self.cpr.decode(icao24, encoded_lat, encoded_lon, cpr_format, 0) return [altitude, decoded_lat, decoded_lon, rnge, bearing] #welp turns out it looks like there's only 17 bits in the BDS0,6 ground packet after all. def parseBDS06(self, data): icao24 = data["aa"] encoded_lon = data["me"]["lon"] encoded_lat = data["me"]["lat"] cpr_format = data["me"]["cpr"] ground_track = data["me"]["gtk"] * 360. / 128 [decoded_lat, decoded_lon, rnge, bearing] = self.cpr.decode(icao24, encoded_lat, encoded_lon, cpr_format, 1) return [ground_track, decoded_lat, decoded_lon, rnge, bearing] def parseBDS09_0(self, data): #0: ["sub", "dew", "vew", "dns", "vns", "str", "tr", "svr", "vr"], bdsobj = data["me"]["bds09"] vert_spd = bdsobj["vr"] * 32 ud = bool(bdsobj["dvr"]) if ud: vert_spd = 0 - vert_spd turn_rate = bdsobj["tr"] * 15/62 rl = bdsobj["str"] if rl: turn_rate = 0 - turn_rate ns_vel = bdsobj["vns"] - 1 ns = bool(bdsobj["dns"]) ew_vel = bdsobj["vew"] - 1 ew = bool(bdsobj["dew"]) velocity = math.hypot(ns_vel, ew_vel) if ew: ew_vel = 0 - ew_vel if ns: ns_vel = 0 - ns_vel heading = math.atan2(ew_vel, ns_vel) * (180.0 / math.pi) if heading < 0: heading += 360 return [velocity, heading, vert_spd, turn_rate] def parseBDS09_1(self, data): #1: ["sub", "icf", "ifr", "nuc", "dew", "vew", "dns", "vns", "vrsrc", "dvr", "vr", "dhd", "hd"], bdsobj = data["me"]["bds09"] alt_geo_diff = bdsobj["hd"] * 25 above_below = bool(bdsobj["dhd"]) if above_below: alt_geo_diff = 0 - alt_geo_diff; vert_spd = float(bdsobj["vr"] - 1) * 64 ud = bool(bdsobj["dvr"]) if ud: vert_spd = 0 - vert_spd vert_src = bool(bdsobj["vrsrc"]) ns_vel = float(bdsobj["vns"]) ns = bool(bdsobj["dns"]) ew_vel = float(bdsobj["vew"]) ew = bool(bdsobj["dew"]) subtype = bdsobj["sub"] if subtype == 0x02: ns_vel <<= 2 ew_vel <<= 2 velocity = math.hypot(ns_vel, ew_vel) if ew: ew_vel = 0 - ew_vel if ns_vel == 0: heading = 0 else: heading = math.atan(float(ew_vel) / float(ns_vel)) * (180.0 / math.pi) if ns: heading = 180 - heading if heading < 0: heading += 360 return [velocity, heading, vert_spd] def parseBDS62(self, data): eps_strings = ["NO EMERGENCY", "GENERAL EMERGENCY", "LIFEGUARD/MEDICAL", "FUEL EMERGENCY", "NO COMMUNICATIONS", "UNLAWFUL INTERFERENCE", "RESERVED", "RESERVED"] return eps_strings[data["me"]["eps"]] def parseMB_id(self, data): #bds1 == 2, bds2 == 0 msg = "" for i in range(0, 8): msg += self.charmap( data["mb"]["ais"] >> (42-6*i) & 0x3F) return (msg) def parseMB_TCAS_resolutions(self, data): #these are LSB because the ICAO are asshats ara_bits = {41: "CLIMB", 42: "DON'T DESCEND", 43: "DON'T DESCEND >500FPM", 44: "DON'T DESCEND >1000FPM", 45: "DON'T DESCEND >2000FPM", 46: "DESCEND", 47: "DON'T CLIMB", 48: "DON'T CLIMB >500FPM", 49: "DON'T CLIMB >1000FPM", 50: "DON'T CLIMB >2000FPM", 51: "TURN LEFT", 52: "TURN RIGHT", 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["mb"]["ara"] #check to see which bits are set resolutions = "" for bit, name in ara_bits: if ara & (1 << (54-bit)): resolutions += " " + name complements = "" for bit, name in rac_bits: if rac & (1 << (58-bit)): complements += " " + name return (resolutions, complements) #rat is 1 if resolution advisory terminated <18s ago #mte is 1 if multiple threats indicated #tti is threat type: 1 if ID, 2 if range/brg/alt #tida is threat altitude in Mode C format def parseMB_TCAS_threatid(self, data): #bds1==3, bds2==0, TTI==1 #3: {"bds1": (33,4), "bds2": (37,4), "ara": (41,14), "rac": (55,4), "rat": (59,1), # "mte": (60,1), "tti": (61,2), "tida": (63,13), "tidr": (76,7), "tidb": (83,6)} (resolutions, complements) = self.parseMB_TCAS_resolutions(data) return (resolutions, complements, data["mb"]["rat"], data["mb"]["mte"], data["mb"]["tcas"]["tid"]) def parseMB_TCAS_threatloc(self, data): #bds1==3, bds2==0, TTI==2 (resolutions, complements) = self.parseMB_TCAS_resolutions(data) threat_alt = decode_alt(data["mb"]["tcas"]["tida"], True) return (resolutions, complements, data["mb"]["rat"], data["mb"]["mte"], threat_alt, data["mb"]["tcas"]["tidr"], data["mb"]["tcas"]["tidb"])