You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
237 lines
8.7 KiB
237 lines
8.7 KiB
#
|
|
# 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
|
|
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"] == 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
|