#!/usr/bin/env python
# Copyright 2010 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.
# 

my_position = None

from gnuradio import gr, gru, optfir, eng_notation, blks2
from gnuradio.eng_option import eng_option
from optparse import OptionParser
import time, os, sys, threading
from string import split, join
import air_modes
import gnuradio.gr.gr_threading as _threading
import csv
from air_modes.exceptions import *

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

class adsb_rx_block (gr.top_block):
  def __init__(self, options, args, queue):
    gr.top_block.__init__(self)

    self.options = options
    self.args = args
    rate = int(options.rate)
    use_resampler = False
    self.time_source = None

    if options.filename is None and options.udp is None and not options.rtlsdr:
      #UHD source by default
      from gnuradio import uhd
      self.u = uhd.single_usrp_source(options.args, uhd.io_type_t.COMPLEX_FLOAT32, 1)

      #check for GPSDO
      #if you have a GPSDO, UHD will automatically set the timestamp to UTC time
      #as well as automatically set the clock to lock to GPSDO.
      if self.u.get_time_source(0) == 'gpsdo':
        self.time_source = 'gpsdo'
      else:
        self.time_source = None
        self.u.set_time_now(uhd.time_spec(0.0))

      if not options.antenna is None:
        self.u.set_antenna(options.antenna)

      self.u.set_samp_rate(rate)
      rate = int(self.u.get_samp_rate()) #retrieve actual

      if options.gain is None: #set to halfway
        g = self.u.get_gain_range()
        options.gain = (g.start()+g.stop()) / 2.0

      if not(self.tune(options.freq)):
        print "Failed to set initial frequency"

      print "Setting gain to %i" % options.gain
      self.u.set_gain(options.gain)
      print "Gain is %i" % self.u.get_gain()
      
    elif options.rtlsdr: #RTLSDR dongle
        import osmosdr
        self.u = osmosdr.source_c(options.args)
        self.u.set_sample_rate(3.2e6) #fixed for RTL dongles
        if not self.u.set_center_freq(options.freq):
            print "Failed to set initial frequency"

        self.u.set_gain_mode(0) #manual gain mode
        if options.gain is None:
            options.gain = 34
            
        self.u.set_gain(options.gain)
        print "Gain is %i" % self.u.get_gain()

        use_resampler = True
                
    else:
      if options.filename is not None:
        self.u = gr.file_source(gr.sizeof_gr_complex, options.filename)
      elif options.udp is not None:
        self.u = gr.udp_source(gr.sizeof_gr_complex, "localhost", options.udp)
      else:
        raise Exception("No valid source selected")
        

    print "Rate is %i" % (rate,)

    pass_all = 0
    if options.output_all :
      pass_all = 1

    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)

  def tune(self, freq):
    result = self.u.set_center_freq(freq, 0)
    return result

def printraw(msg):
    print msg

def printmlat(msg):
    msglist = pickle.loads(msg)
    for msg in msglist:
        print "mlat message: %x at [%f, %f]" % (msg.data, msg.lat, msg.lon)

if __name__ == '__main__':
  usage = "%prog: [options] output filename"
  parser = OptionParser(option_class=eng_option, usage=usage)
  parser.add_option("-R", "--rx-subdev-spec", type="string",
          help="select USRP Rx side A or B", metavar="SUBDEV")
  parser.add_option("-A", "--antenna", type="string",
          help="select which antenna to use on daughterboard")
  parser.add_option("-D", "--args", type="string",
          help="arguments to pass to UHD/RTL constructor", default="")
  parser.add_option("-f", "--freq", type="eng_float", default=1090e6,
                      help="set receive frequency in Hz [default=%default]", metavar="FREQ")
  parser.add_option("-g", "--gain", type="int", default=None,
                      help="set RF gain", metavar="dB")
  parser.add_option("-r", "--rate", type="eng_float", default=4000000,
                      help="set ADC sample rate [default=%default]")
  parser.add_option("-T", "--threshold", type="eng_float", default=5.0,
                      help="set pulse detection threshold above noise in dB [default=%default]")
  parser.add_option("-a","--output-all", action="store_true", default=False,
                      help="output all frames")
  parser.add_option("-F","--filename", type="string", default=None,
            help="read data from file instead of USRP")
  parser.add_option("-K","--kml", type="string", default=None,
                      help="filename for Google Earth KML output")
  parser.add_option("-P","--sbs1", action="store_true", default=False,
                      help="open an SBS-1-compatible server on port 30003")
  parser.add_option("-w","--raw", action="store_true", default=False,
                      help="open a server outputting raw timestamped data on port 9988")
  parser.add_option("-n","--no-print", action="store_true", default=False,
                      help="disable printing decoded packets to stdout")
  parser.add_option("-l","--location", type="string", default=None,
                      help="GPS coordinates of receiving station in format xx.xxxxx,xx.xxxxx")
  parser.add_option("-u","--udp", type="int", default=None,
                      help="Use UDP source on specified port")
  parser.add_option("-m","--multiplayer", type="string", default=None,
                      help="FlightGear server to send aircraft data, in format host:port")
  parser.add_option("-d","--rtlsdr", action="store_true", default=False,
                      help="Use RTLSDR dongle instead of UHD source")
  parser.add_option("-p","--pmf", action="store_true", default=False,
                      help="Use pulse matched filtering")
  parser.add_option("-s","--mlat-server", type="string", default=None,
                      help="Use a multilateration server to track non-ADS-B aircraft")
                      
  (options, args) = parser.parse_args()

  if options.location is not None:
    reader = csv.reader([options.location], quoting=csv.QUOTE_NONNUMERIC)
    my_position = reader.next()

  queue = gr.msg_queue()
  mlat_queue = None
  
  outputs = [] #registry of plugin output functions
  mlat_outputs = [] #registry of plugin mlat handling functions
  updates = [] #registry of plugin update functions

  if options.raw is True:
    rawport = air_modes.raw_server(9988) #port
    outputs.append(rawport.output)
    outputs.append(printraw)
    updates.append(rawport.add_pending_conns)

  if options.kml is not None:
    #we spawn a thread to run every 30 seconds (or whatever) to generate KML
    dbname = 'adsb.db'
    lock = threading.Lock()
    sqldb = air_modes.output_sql(my_position, dbname, lock) #input into the db
    kmlgen = air_modes.output_kml(options.kml, dbname, my_position, lock) #create a KML generating thread to read from the db
    outputs.append(sqldb.output)

  if options.sbs1 is True:
    sbs1port = air_modes.output_sbs1(my_position, 30003)
    outputs.append(sbs1port.output)
    updates.append(sbs1port.add_pending_conns)
    
  if options.no_print is not True:
    outputs.append(air_modes.output_print(my_position).output)

  if options.multiplayer is not None:
    [fghost, fgport] = options.multiplayer.split(':')
    fgout = air_modes.output_flightgear(my_position, fghost, int(fgport))
    outputs.append(fgout.output)

  fg = adsb_rx_block(options, args, queue)

  if options.mlat_server is not None:
    mlat_queue = gr.msg_queue()
    mlat_client = air_modes.mlat_client(mlat_queue, my_position, options.mlat_server, fg.time_source)
    outputs.append(mlat_client.output) #output to server when we get a report
    updates.append(mlat_client.get_mlat_positions) #check for replies from the server
    #note: this means that get_mlat_positions and printmlat execute in the same thread.
    #you could just have mlat_client spawn a thread to check its socket. might make more sense to do this.
    mlat_outputs.append(printmlat)
  
  runner = top_block_runner(fg)

  while 1:
    try:
      #handle the once-per-loop updates (check for mlat responses, add TCP conns to SBS-1 plugin, etc.)
      for update in updates:
        update()
      
      #main message handler
      if not queue.empty_p() :
        while not queue.empty_p() :
          msg = queue.delete_head() #blocking read

          for out in outputs:
            try:
              out(msg.to_string())
            except air_modes.ADSBError:
              pass

      elif runner.done:
        raise KeyboardInterrupt
      else:
        time.sleep(0.1)

    except KeyboardInterrupt:
      fg.stop()
      runner = None
      if options.kml is not None:
          kmlgen.done = True
      break