238 lines
8.7 KiB
Python
238 lines
8.7 KiB
Python
#
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# Copyright 2010, 2012 Nick Foster
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#
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# This file is part of gr-air-modes
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#
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# gr-air-modes is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 3, or (at your option)
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# any later version.
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#
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# gr-air-modes is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with gr-air-modes; see the file COPYING. If not, write to
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# the Free Software Foundation, Inc., 51 Franklin Street,
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# Boston, MA 02110-1301, USA.
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#
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import time, os, sys
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from string import split, join
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import air_modes
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from air_modes.exceptions import *
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import math
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#TODO get rid of class and convert to functions
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#no need for class here
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class output_print:
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def __init__(self, cpr, publisher, callback=None):
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self._cpr = cpr
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self._callback = callback
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#sub to every function that starts with "handle"
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self._fns = [int(l[6:]) for l in dir(self) if l.startswith("handle")]
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for i in self._fns:
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publisher.subscribe("type%i_dl" % i, getattr(self, "handle%i" % i))
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publisher.subscribe("modes_dl", self.catch_nohandler)
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@staticmethod
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def prefix(msg):
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return "(%i %.8f) " % (msg.rssi, msg.timestamp)
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def _print(self, msg):
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if self._callback is None:
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print msg
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else:
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self._callback(msg)
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def catch_nohandler(self, msg):
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if msg.data.get_type() not in self._fns:
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retstr = output_print.prefix(msg)
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retstr += "No handler for message type %i" % msg.data.get_type()
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if "aa" not in msg.data.fields:
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retstr += " from %.6x" % msg.ecc
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else:
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retstr += " from %.6x" % msg.data["aa"]
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self._print(retstr)
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def handle0(self, msg):
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try:
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retstr = output_print.prefix(msg)
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retstr += "Type 0 (short A-A surveillance) from %x at %ift" % (msg.ecc, air_modes.decode_alt(msg.data["ac"], True))
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ri = msg.data["ri"]
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if ri == 0:
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retstr += " (No TCAS)"
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elif ri == 2:
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retstr += " (TCAS resolution inhibited)"
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elif ri == 3:
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retstr += " (Vertical TCAS resolution only)"
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elif ri == 4:
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retstr += " (Full TCAS resolution)"
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elif ri == 9:
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retstr += " (speed <75kt)"
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elif ri > 9:
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retstr += " (speed %i-%ikt)" % (75 * (1 << (ri-10)), 75 * (1 << (ri-9)))
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else:
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raise ADSBError
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except ADSBError:
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return
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if msg.data["vs"] is 1:
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retstr += " (aircraft is on the ground)"
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self._print(retstr)
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@staticmethod
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def fs_text(fs):
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if fs == 1:
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return " (aircraft is on the ground)"
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elif fs == 2:
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return " (AIRBORNE ALERT)"
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elif fs == 3:
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return " (GROUND ALERT)"
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elif fs == 4:
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return " (SPI ALERT)"
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elif fs == 5:
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return " (SPI)"
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else:
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raise ADSBError
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def handle4(self, msg):
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try:
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retstr = output_print.prefix(msg)
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retstr += "Type 4 (short surveillance altitude reply) from %x at %ift" % (msg.ecc, air_modes.decode_alt(msg.data["ac"], True))
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retstr += output_print.fs_text(msg.data["fs"])
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except ADSBError:
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return
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self._print(retstr)
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def handle5(self, msg):
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try:
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retstr = output_print.prefix(msg)
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retstr += "Type 5 (short surveillance ident reply) from %x with ident %i" % (msg.ecc, air_modes.decode_id(msg.data["id"]))
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retstr += output_print.fs_text(msg.data["fs"])
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except ADSBError:
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return
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self._print(retstr)
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def handle11(self, msg):
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try:
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retstr = output_print.prefix(msg)
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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)
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except ADSBError:
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return
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self._print(retstr)
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#the only one which requires state
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def handle17(self, msg):
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icao24 = msg.data["aa"]
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bdsreg = msg.data["me"].get_type()
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retstr = output_print.prefix(msg)
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try:
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if bdsreg == 0x08:
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(ident, typestring) = air_modes.parseBDS08(msg.data)
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retstr += "Type 17 BDS0,8 (ident) from %x type %s ident %s" % (icao24, typestring, ident)
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elif bdsreg == 0x06:
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[ground_track, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS06(msg.data, self._cpr)
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retstr += "Type 17 BDS0,6 (surface report) from %x at (%.6f, %.6f) ground track %i" % (icao24, decoded_lat, decoded_lon, ground_track)
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if rnge is not None and bearing is not None:
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retstr += " (%.2f @ %.0f)" % (rnge, bearing)
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elif bdsreg == 0x05:
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[altitude, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS05(msg.data, self._cpr)
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retstr += "Type 17 BDS0,5 (position report) from %x at (%.6f, %.6f)" % (icao24, decoded_lat, decoded_lon)
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if rnge is not None and bearing is not None:
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retstr += " (" + "%.2f" % rnge + " @ " + "%.0f" % bearing + ")"
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retstr += " at " + str(altitude) + "ft"
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elif bdsreg == 0x09:
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subtype = msg.data["bds09"].get_type()
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if subtype == 0:
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[velocity, heading, vert_spd, turnrate] = air_modes.parseBDS09_0(msg.data)
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retstr += "Type 17 BDS0,9-%i (track report) from %x with velocity %.0fkt heading %.0f VS %.0f turn rate %.0f" \
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% (subtype, icao24, velocity, heading, vert_spd, turnrate)
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elif subtype == 1:
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[velocity, heading, vert_spd] = air_modes.parseBDS09_1(msg.data)
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retstr += "Type 17 BDS0,9-%i (track report) from %x with velocity %.0fkt heading %.0f VS %.0f" % (subtype, icao24, velocity, heading, vert_spd)
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elif subtype == 3:
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[mag_hdg, vel_src, vel, vert_spd, geo_diff] = air_modes.parseBDS09_3(msg.data)
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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" \
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% (subtype, icao24, vel_src, vel, mag_hdg, vert_spd, geo_diff)
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else:
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retstr += "Type 17 BDS0,9-%i from %x not implemented" % (subtype, icao24)
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elif bdsreg == 0x62:
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emerg_str = air_modes.parseBDS62(data)
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retstr += "Type 17 BDS6,2 (emergency) from %x type %s" % (icao24, emerg_str)
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else:
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retstr += "Type 17 with FTC=%i from %x not implemented" % (msg.data["ftc"], icao24)
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except ADSBError:
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return
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self._print(retstr)
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def printTCAS(self, msg):
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msgtype = msg.data["df"]
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if msgtype == 16:
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bds1 = msg.data["vds1"]
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bds2 = msg.data["vds2"]
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else:
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bds1 = msg.data["bds1"]
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bds2 = msg.data["bds2"]
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retstr = output_print.prefix(msg)
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if bds2 != 0:
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retstr += "No handler in type %i for BDS2 == %i from %x" % (msgtype, bds2, msg.ecc)
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elif bds1 == 0:
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retstr += "No handler in type %i for BDS1 == 0 from %x" % (msgtype, msg.ecc)
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elif bds1 == 1:
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retstr += "Type %i link capability report from %x: ACS: 0x%x, BCS: 0x%x, ECS: 0x%x, continues %i" \
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% (msgtype, msg.ecc, msg.data["acs"], msg.data["bcs"], msg.data["ecs"], msg.data["cfs"])
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elif bds1 == 2:
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retstr += "Type %i identification from %x with text %s" % (msgtype, msg.ecc, air_modes.parseMB_id(msg.data))
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elif bds1 == 3:
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retstr += "Type %i TCAS report from %x: " % (msgtype, msg.ecc)
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tti = msg.data["tti"]
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if msgtype == 16:
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(resolutions, complements, rat, mte) = air_modes.parse_TCAS_CRM(msg.data)
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retstr += "advised: %s complement: %s" % (resolutions, complements)
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else:
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if tti == 1:
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(resolutions, complements, rat, mte, threat_id) = air_modes.parseMB_TCAS_threatid(msg.data)
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retstr += "threat ID: %x advised: %s complement: %s" % (threat_id, resolutions, complements)
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elif tti == 2:
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(resolutions, complements, rat, mte, threat_alt, threat_range, threat_bearing) = air_modes.parseMB_TCAS_threatloc(msg.data)
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retstr += "range: %i bearing: %i alt: %i advised: %s complement: %s" % (threat_range, threat_bearing, threat_alt, resolutions, complements)
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else:
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rat = 0
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mte = 0
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retstr += " (no handler for TTI=%i)" % tti
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if mte == 1:
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retstr += " (multiple threats)"
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if rat == 1:
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retstr += " (resolved)"
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else:
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retstr += "No handler for type %i, BDS1 == %i from %x" % (msgtype, bds1, msg.ecc)
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if(msgtype == 20 or msgtype == 16):
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retstr += " at %ift" % air_modes.decode_alt(msg.data["ac"], True)
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else:
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retstr += " ident %x" % air_modes.decode_id(msg.data["id"])
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self._print(retstr)
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handle16 = printTCAS
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handle20 = printTCAS
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handle21 = printTCAS
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