#!/usr/bin/env python # 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. # import os, sys, time, threading, datetime, math, csv from PyQt4 import QtCore,QtGui from PyQt4.Qwt5 import Qwt from gnuradio import gr, gru, optfir, eng_notation, blks2 import gnuradio.gr.gr_threading as _threading import air_modes from air_modes.exceptions import * from air_modes.modes_rx_ui import Ui_MainWindow from air_modes.gui_model import * import sqlite3 class mainwindow(QtGui.QMainWindow): live_data_changed_signal = QtCore.pyqtSignal(QtCore.QString, name='liveDataChanged') def __init__(self): QtGui.QMainWindow.__init__(self) self.ui = Ui_MainWindow() self.ui.setupUi(self) #set defaults #add file, RTL, UHD sources self.ui.combo_source.addItems(["UHD device", "RTL-SDR", "File"]) self.ui.combo_source.setCurrentIndex(0) #populate antenna, rate combo boxes based on source self.populate_source_options() #should round to actual achieved gain self.ui.line_gain.insert("30") #default to 5dB self.ui.line_threshold.insert("5") self.ui.prog_rssi.setMinimum(-40) self.ui.prog_rssi.setMaximum(0) self.ui.combo_ant.setCurrentIndex(self.ui.combo_ant.findText("RX2")) #check KML by default, leave the rest unchecked. self.ui.check_sbs1.setCheckState(QtCore.Qt.Unchecked) self.ui.check_raw.setCheckState(QtCore.Qt.Unchecked) self.ui.check_fgfs.setCheckState(QtCore.Qt.Unchecked) self.ui.check_kml.setCheckState(QtCore.Qt.Checked) self.ui.line_sbs1port.insert("30003") self.ui.line_rawport.insert("9988") self.ui.line_fgfsport.insert("5500") self.ui.line_kmlfilename.insert("modes.kml") #disable by default self.ui.check_adsbonly.setCheckState(QtCore.Qt.Unchecked) self.queue = gr.msg_queue(10) self.runner = None self.fg = None self.outputs = [] self.updates = [] self.output_handler = None self.kmlgen = None #necessary bc we stop its thread in shutdown self.dbname = "air_modes.db" self.num_reports = 0 self.last_report = 0 self.datamodel = dashboard_data_model(None) self.ui.list_aircraft.setModel(self.datamodel) self.ui.list_aircraft.setModelColumn(0) self.az_model = air_modes.az_map_model(None) self.ui.azimuth_map.setModel(self.az_model) #set up dashboard views self.icaodelegate = ICAOViewDelegate() self.ui.list_aircraft.setItemDelegate(self.icaodelegate) self.dashboard_mapper = QtGui.QDataWidgetMapper() self.dashboard_mapper.setModel(self.datamodel) self.dashboard_mapper.addMapping(self.ui.line_icao, 0) #self.dashboard_mapper.addMapping(self.ui.prog_rssi, 2) self.dashboard_mapper.addMapping(self.ui.line_latitude, 3) self.dashboard_mapper.addMapping(self.ui.line_longitude, 4) self.dashboard_mapper.addMapping(self.ui.line_alt, 5) self.dashboard_mapper.addMapping(self.ui.line_speed, 6) #self.dashboard_mapper.addMapping(self.ui.compass_heading, 7) self.dashboard_mapper.addMapping(self.ui.line_climb, 8) self.dashboard_mapper.addMapping(self.ui.line_ident, 9) self.dashboard_mapper.addMapping(self.ui.line_type, 10) self.dashboard_mapper.addMapping(self.ui.line_range, 11) compass_palette = QtGui.QPalette() compass_palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.white) self.ui.compass_heading.setPalette(compass_palette) self.ui.compass_bearing.setPalette(compass_palette) #TODO: change the needle to an aircraft silhouette self.ui.compass_heading.setNeedle(Qwt.QwtDialSimpleNeedle(Qwt.QwtDialSimpleNeedle.Ray, False, QtCore.Qt.black)) self.ui.compass_bearing.setNeedle(Qwt.QwtDialSimpleNeedle(Qwt.QwtDialSimpleNeedle.Ray, False, QtCore.Qt.black)) #hook up the update signal self.ui.list_aircraft.selectionModel().currentRowChanged.connect(self.dashboard_mapper.setCurrentModelIndex) self.ui.list_aircraft.selectionModel().currentRowChanged.connect(self.update_heading_widget) self.ui.list_aircraft.selectionModel().currentRowChanged.connect(self.update_bearing_widget) self.datamodel.dataChanged.connect(self.unmapped_widgets_dataChanged) self.ui.list_aircraft.selectionModel().currentRowChanged.connect(self.update_rssi_widget) #hook up live data text box update signal self.live_data_changed_signal.connect(self.on_append_live_data) ############ widget update functions for non-mapped widgets ############ def update_heading_widget(self, index): if index.model() is not None: heading = index.model().data(index.model().index(index.row(), self.datamodel._colnames.index("heading"))).toDouble()[0] self.ui.compass_heading.setValue(heading) def update_bearing_widget(self, index): if index.model() is not None: bearing = index.model().data(index.model().index(index.row(), self.datamodel._colnames.index("bearing"))).toDouble()[0] self.ui.compass_bearing.setValue(bearing) def unmapped_widgets_dataChanged(self, startIndex, endIndex): index = self.ui.list_aircraft.selectionModel().currentIndex() if index.row() in range(startIndex.row(), endIndex.row()+1): #the current aircraft was affected if self.datamodel._colnames.index("heading") in range(startIndex.column(), endIndex.column()+1): self.update_heading_widget(index) if self.datamodel._colnames.index("bearing") in range(startIndex.column(), endIndex.column()+1): self.update_bearing_widget(index) if self.datamodel._colnames.index("rssi") in range(startIndex.column(), endIndex.column()+1): self.update_rssi_widget(index) def update_rssi_widget(self, index): if index.model() is not None: rssi = index.model().data(index.model().index(index.row(), 2)).toDouble()[0] self.ui.prog_rssi.setValue(rssi) def increment_reportspersec(self, msg): self.num_reports += 1 def update_reportspersec(self): dt = time.time() - self.last_report if dt >= 1.0: self.last_report = time.time() self.ui.line_reports.setText("%i" % self.num_reports) self.num_reports = 0 ##################### dynamic option population ######################## #goes and gets valid antenna, sample rate options from the device and grays out appropriate things def populate_source_options(self): sourceid = self.ui.combo_source.currentText() self.rates = [] self.ratetext = [] self.antennas = [] if sourceid == "UHD device": try: from gnuradio import uhd self.src = uhd.single_usrp_source("", uhd.io_type_t.COMPLEX_FLOAT32, 1) self.rates = [rate.start() for rate in self.src.get_samp_rates()] self.antennas = self.src.get_antennas() self.src = None #deconstruct UHD source for now self.ui.combo_ant.setEnabled(True) self.ui.combo_rate.setEnabled(True) self.ui.stack_source.setCurrentIndex(0) except: self.rates = [] self.antennas = [] self.ui.combo_ant.setEnabled(False) self.ui.combo_rate.setEnabled(False) self.ui.stack_source.setCurrentIndex(0) elif sourceid == "RTL-SDR": self.rates = [3.2e6] self.antennas = ["RX"] self.ui.combo_ant.setEnabled(False) self.ui.combo_rate.setEnabled(False) self.ui.stack_source.setCurrentIndex(0) elif sourceid == "File": self.rates = [2e6, 4e6, 6e6, 8e6, 10e6] self.antennas = ["None"] self.ui.combo_ant.setEnabled(False) self.ui.combo_rate.setEnabled(True) self.ui.stack_source.setCurrentIndex(1) self.ui.combo_rate.clear() self.ratetext = ["%.3f" % (rate / 1.e6) for rate in self.rates] for rate, text in zip(self.rates, self.ratetext): self.ui.combo_rate.addItem(text, rate) self.ui.combo_ant.clear() self.ui.combo_ant.addItems(self.antennas) if 4e6 in self.rates: self.ui.combo_rate.setCurrentIndex(self.rates.index(4e6)) ################ action handlers #################### def on_combo_source_currentIndexChanged(self, index): self.populate_source_options() def on_button_start_released(self): #if we're already running, kill it! if self.runner is not None: self.output_handler.done = True self.output_handler = None self.outputs = [] self.updates = [] self.fg.stop() self.runner = None self.fg = None if self.kmlgen is not None: self.kmlgen.done = True #TODO FIXME need a way to kill kmlgen safely without delay #self.kmlgen.join() #self.kmlgen = None self.num_reports = 0 self.ui.line_reports.setText("0") self.ui.button_start.setText("Start") else: #we aren't already running, let's get this party started options = {} options["source"] = str(self.ui.combo_source.currentText()) options["rate"] = float(self.ui.combo_rate.currentText()) * 1e6 options["antenna"] = str(self.ui.combo_ant.currentText()) options["gain"] = float(self.ui.line_gain.text()) options["threshold"] = float(self.ui.line_threshold.text()) options["filename"] = str(self.ui.line_inputfile.text()) options["pmf"] = self.ui.check_pmf.checkState() self.fg = adsb_rx_block(options, self.queue) #create top RX block self.runner = top_block_runner(self.fg) #spawn new thread to do RX try: my_position = [float(self.ui.line_my_lat.text()), float(self.ui.line_my_lon.text())] except: my_position = None self.datamodelout = dashboard_output(my_position, self.datamodel) self.outputs = [self.datamodelout.output] self.updates = [] self.lock = threading.Lock() #grab a lock to ensure sql and kml don't step on each other #output options to populate outputs, updates if self.ui.check_kml.checkState(): #we spawn a thread to run every 30 seconds (or whatever) to generate KML self.kmlgen = air_modes.output_kml(self.ui.line_kmlfilename.text(), self.dbname, my_position, self.lock) #create a KML generating thread if self.ui.check_sbs1.checkState(): sbs1port = int(self.ui.line_sbs1port.text()) sbs1out = air_modes.output_sbs1(my_position, sbs1port) self.outputs.append(sbs1out.output) self.updates.append(sbs1out.add_pending_conns) if self.ui.check_fgfs.checkState(): fghost = "127.0.0.1" #TODO FIXME fgport = self.ui.line_fgfsport.text() fgout = air_modes.output_flightgear(my_position, fghost, int(fgport)) self.outputs.append(fgout.output) if self.ui.check_raw.checkState(): rawport = air_modes.raw_server(int(self.ui.line_rawport.text())) self.outputs.append(rawport.output) self.updates.append(rawport.add_pending_conns) #add azimuth map output and hook it up if my_position is not None: self.az_map_output = air_modes.az_map_output(my_position, self.az_model) self.outputs.append(self.az_map_output.output) self.livedata = air_modes.output_print(my_position) #add output for live data box self.outputs.append(self.output_live_data) #create SQL database for KML and dashboard displays self.dbwriter = air_modes.output_sql(my_position, self.dbname, self.lock) self.outputs.append(self.dbwriter.output) #now the db will update itself #output to update reports/sec widget self.outputs.append(self.increment_reportspersec) self.updates.append(self.update_reportspersec) #create output handler thread self.output_handler = output_handler(self.outputs, self.updates, self.queue) self.ui.button_start.setText("Stop") def on_quit(self): if self.runner is not None: try: self.output_handler.done = True except: pass self.output_handler = None self.outputs = [] self.updates = [] self.fg.stop() self.runner = None self.fg = None try: self.kmlgen.done = True #TODO FIXME need a way to kill kmlgen safely without delay #self.kmlgen.join() #self.kmlgen = None except: pass #slot to catch signal emitted by output_live_data (necessary for #thread safety since output_live_data is called by another thread) def on_append_live_data(self, msgstr): #limit scrollback buffer size -- is there a faster way? if(self.ui.text_livedata.document().lineCount() > 500): cursor = self.ui.text_livedata.textCursor() cursor.movePosition(QtGui.QTextCursor.Start) cursor.select(QtGui.QTextCursor.LineUnderCursor) cursor.removeSelectedText() self.ui.text_livedata.append(msgstr) self.ui.text_livedata.verticalScrollBar().setSliderPosition(self.ui.text_livedata.verticalScrollBar().maximum()) def output_live_data(self, msg): msgstr = self.livedata.parse(msg) if msgstr is not None: self.live_data_changed_signal.emit(msgstr) #the output handler is a thread which runs the various registered output functions when there's a received message. #it also executes registered updates at the sleep rate -- currently 10Hz. class output_handler(threading.Thread): def __init__(self, outputs, updates, queue): threading.Thread.__init__(self) self.setDaemon(1) self.outputs = outputs self.updates = updates self.queue = queue self.done = False self.start() def run(self): while self.done is False: for update in self.updates: update() while not self.queue.empty_p(): msg = self.queue.delete_head() for output in self.outputs: try: output(msg.to_string()) except ADSBError: pass time.sleep(0.1) self.done = True self.outputs = None self.updates = None self.queue = None class top_block_runner(_threading.Thread): def __init__(self, tb): _threading.Thread.__init__(self) self.setDaemon(1) self.tb = tb self.done = False self.start() def run(self): self.tb.run() self.done = True #Top block for ADSB receiver. If you define a standard interface you #can make this common code between the GUI app and the cmdline app class adsb_rx_block (gr.top_block): def __init__(self, options, queue): gr.top_block.__init__(self) self.options = options rate = options["rate"] print "Rate: %f" % rate use_resampler = False freq = 1090e6 if options["source"] == "UHD device": from gnuradio import uhd self.u = uhd.single_usrp_source("", uhd.io_type_t.COMPLEX_FLOAT32, 1) time_spec = uhd.time_spec(0.0) self.u.set_time_now(time_spec) self.u.set_antenna(options["antenna"]) self.u.set_samp_rate(rate) rate = self.u.get_samp_rate() self.u.set_gain(int(options["gain"])) self.u.set_center_freq(freq, 0) elif options["source"] == "RTL-SDR": import osmosdr self.u = osmosdr.source_c() self.u.set_sample_rate(3.2e6) #fixed for RTL dongles rate = int(4e6) self.u.set_gain_mode(0) #manual gain mode self.u.set_gain(int(options["gain"])) self.u.set_center_freq(freq, 0) use_resampler = True elif options["source"] == "File": self.u = gr.file_source(gr.sizeof_gr_complex, options["filename"]) else: raise NotImplementedError self.rx_path = air_modes.rx_path(rate, options["threshold"], queue, options["pmf"]) if use_resampler: self.lpfiltcoeffs = gr.firdes.low_pass(1, 5*3.2e6, 1.6e6, 300e3) self.resample = blks2.rational_resampler_ccf(interpolation=5, decimation=4, taps=self.lpfiltcoeffs) self.connect(self.u, self.resample, self.rx_path) else: self.connect(self.u, self.rx_path) if __name__ == '__main__': app = QtGui.QApplication(sys.argv) window = mainwindow() app.lastWindowClosed.connect(window.on_quit) window.setWindowTitle("Mode S/ADS-B receiver") window.show() sys.exit(app.exec_())