git workflow

* Created branch mods20230421a

* nic_v2 NIC return is set to None when a KeyError exception is raised

* process_raw receives additional return values from nuc_p, nic_v2, nuc_v, nac_v, nac_p .  hum44, p44, temp44, turb44, wind44, tk50, gs50, roc60baro, roc60ins, tc, and icao added to acs dictionary.

---------

Co-authored-by: Mike M <>

.coveragerc

@@ -0,0 +1,12 @@
+[run]
+branch = True
+include = */pyModeS/*
+omit = *tests*
+
+[report]
+exclude_lines =
+    coverage: ignore
+    raise NotImplementedError
+    if TYPE_CHECKING:
+
+ignore_errors = True

.github/dependabot.yml

@@ -0,0 +1,11 @@
+version: 2
+updates:
+  - package-ecosystem: "pip"
+    directory: "/"
+    schedule:
+      interval: "monthly"
+
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "monthly"

.github/workflows/build-publish.yml

@@ -0,0 +1,16 @@
+name: build and publish
+
+on:
+  release:
+    types: [created]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Build and publish to pypi
+        uses: JRubics/poetry-publish@v2.0
+        with:
+          poetry_version: "==1.8.2"
+          pypi_token: ${{ secrets.PYPI_API_TOKEN_PYMODES }}

.github/workflows/run-tests.yml

@@ -0,0 +1,70 @@
+name: tests
+
+on:
+  push:
+  pull_request_target:
+  workflow_dispatch:
+
+env:
+  POETRY_VERSION: "1.6.1"
+
+jobs:
+  deploy:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+        python-version: ["3.9", "3.10", "3.11", "3.12"]
+
+    env:
+      PYTHON_VERSION: ${{ matrix.python-version }}
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      # virtualenv cache should depends on OS, Python version and `poetry.lock` (and optionally workflow files).
+      - name: Cache Packages
+        uses: actions/cache@v4
+        if: ${{ !startsWith(runner.os, 'windows') }}
+        with:
+          path: |
+            ~/.local
+            .venv
+          key: poetry-${{ runner.os }}-${{ env.PYTHON_VERSION }}-${{ hashFiles('**/poetry.lock') }}
+
+      - name: Add poetry to windows path
+        if: "startsWith(runner.os, 'windows')"
+        run: |
+          echo "C:\Users\runneradmin\.local\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+
+      - name: Install and configure Poetry
+        uses: snok/install-poetry@v1.4.0
+        with:
+          version: ${{ env.POETRY_VERSION }}
+          virtualenvs-create: true
+          virtualenvs-in-project: true
+
+      - name: Display Python version
+        run: poetry run python -c "import sys; print(sys.version)"
+
+      - name: Install dependencies
+        run: |
+          poetry install
+
+      - name: Type checking
+        run: |
+          poetry run mypy pyModeS
+
+      - name: Run tests
+        run: |
+          poetry run pytest tests --cov --cov-report term-missing
+
+      - name: Upload coverage to Codecov
+        uses: codecov/codecov-action@v4
+        with:
+          env_vars: PYTHON_VERSION

.gitignore

@@ -3,6 +3,7 @@
 # Byte-compiled / optimized / DLL files
 __pycache__/
 *.py[cod]
+.pytest_cache/
 
 # C extensions
 *.so
@@ -57,3 +58,9 @@ target/
 
 # PyCharm
 .idea/
+
+# Environments
+.env
+.venv
+env/
+venv/

Makefile

@@ -0,0 +1,26 @@
+install:
+	pip install . --upgrade
+
+uninstall:
+	pip uninstall pyModeS -y
+
+ext:
+	python setup.py build_ext --inplace
+
+test:
+	make clean
+	@echo ""
+	@echo "[Test with py_common]"
+	python -m pytest tests
+	@echo ""
+	@echo "[Test with c_common]"
+	python setup.py build_ext --inplace
+	python -m pytest tests
+
+clean:
+	find pyModeS -type f -name '*.c' -delete
+	find pyModeS -type f -name '*.so' -delete
+	find . | grep -E "(__pycache__|\.pyc|\.pyo$$)" | xargs rm -rf
+	rm -rf *.egg-info
+	rm -rf .pytest_cache
+	rm -rf build/*

README.rst

@@ -1,53 +1,152 @@
-The Python Mode-S Decoder
-=========================
+The Python ADS-B/Mode-S Decoder
+===============================
 
-Python library for Mode-S message decoding. Support Downlink Formats (DF) are:
+PyModeS is a Python library designed to decode Mode-S (including ADS-B) messages. It can be imported to your python project or used as a standalone tool to view and save live traffic data.
 
--  Automatic Dependent Surveillance - Broadcast (ADS-B) (DF17)
+This is a project created by Junzi Sun, who works at `TU Delft <https://www.tudelft.nl/en/>`_, `Aerospace Engineering Faculty <https://www.tudelft.nl/en/ae/>`_, `CNS/ATM research group <http://cs.lr.tudelft.nl/atm/>`_. It is supported by many `contributors <https://github.com/junzis/pyModeS/graphs/contributors>`_ from different institutions.
 
-   -  aircraft information that contains: ICAO address, position, altitude, velocity (ground speed), callsign, etc.
+Introduction
+------------
 
--  Mode-S Comm-B replies :Additional information in response to SSR interrogation, such as true airspeed, indicated airspeed, mach number, wind, temperature, etc.
+pyModeS supports the decoding of following types of messages:
 
-   - DF20: Altitude
-   - DF21: Squawk code
-   - DF20/21 BDS 2,0   Aircraft identification
-   - DF20/21 BDS 2,1   Aircraft and airline registration markings
-   - DF20/21 BDS 4,0   Selected vertical intention
-   - DF20/21 BDS 4,4   Meteorological routine air report
-   - DF20/21 BDS 5,0   Track and turn report
-   - DF20/21 BDS 5,3   Air-referenced state vector
-   - DF20/21 BDS 6,0   Heading and speed report
+- DF4 / DF20: Altitude code
+- DF5 / DF21: Identity code (squawk code)
 
-Detailed manual on Mode-S decoding is published by the author, at:
-http://mode-s.org/decode
+- DF17 / DF18: Automatic Dependent Surveillance-Broadcast (ADS-B)
+
+  - TC=1-4  / BDS 0,8: Aircraft identification and category
+  - TC=5-8  / BDS 0,6: Surface position
+  - TC=9-18 / BDS 0,5: Airborne position
+  - TC=19   / BDS 0,9: Airborne velocity
+  - TC=28   / BDS 6,1: Airborne status [to be implemented]
+  - TC=29   / BDS 6,2: Target state and status information [to be implemented]
+  - TC=31   / BDS 6,5: Aircraft operational status [to be implemented]
+
+- DF20 / DF21: Mode-S Comm-B messages
+
+  - BDS 1,0: Data link capability report
+  - BDS 1,7: Common usage GICB capability report
+  - BDS 2,0: Aircraft identification
+  - BDS 3,0: ACAS active resolution advisory
+  - BDS 4,0: Selected vertical intention
+  - BDS 4,4: Meteorological routine air report (experimental)
+  - BDS 4,5: Meteorological hazard report (experimental)
+  - BDS 5,0: Track and turn report
+  - BDS 6,0: Heading and speed report
 
 
-Source code
+
+If you find this project useful for your research, please considering cite this tool as::
+
+  @article{sun2019pymodes,
+      author={J. {Sun} and H. {V\^u} and J. {Ellerbroek} and J. M. {Hoekstra}},
+      journal={IEEE Transactions on Intelligent Transportation Systems},
+      title={pyModeS: Decoding Mode-S Surveillance Data for Open Air Transportation Research},
+      year={2019},
+      doi={10.1109/TITS.2019.2914770},
+      ISSN={1524-9050},
+  }
+
+
+
+
+Resources
 -----------
-Checkout and contribute to this open source project at:
+Check out and contribute to this open-source project at:
 https://github.com/junzis/pyModeS
 
-API documentation at:
-http://pymodes.readthedocs.io
+Detailed manual on Mode-S decoding is published at:
+https://mode-s.org/decode
+
+The API documentation of pyModeS is at:
+https://mode-s.org/api
 
 
-Install
--------
 
-The easiest installation is to use pip:
+Basic installation
+-------------------
 
-::
+Installation examples::
 
+  # stable version
   pip install pyModeS
 
-To install latest devlopment version from the GitHub:
-
-::
+  # conda (compiled) version
+  conda install -c conda-forge pymodes
 
+  # development version
   pip install git+https://github.com/junzis/pyModeS
 
 
+Dependencies ``numpy``, and ``pyzmq`` are installed automatically during previous installations processes. 
+
+If you need to connect pyModeS to a RTL-SDR receiver, ``pyrtlsdr`` need to be installed manually::
+
+  pip install pyrtlsdr
+
+
+Advanced installation (using c modules)
+------------------------------------------
+
+If you want to make use of the (faster) c module, install ``pyModeS`` as follows::
+
+  # conda (compiled) version
+  conda install -c conda-forge pymodes
+
+  # stable version
+  pip install pyModeS
+
+  # development version
+  git clone https://github.com/junzis/pyModeS
+  cd pyModeS
+  poetry install -E rtlsdr
+
+
+View live traffic (modeslive)
+----------------------------------------------------
+
+General usage::
+
+  $ modeslive [-h] --source SOURCE [--connect SERVER PORT DATAYPE]
+              [--latlon LAT LON] [--show-uncertainty] [--dumpto DUMPTO]
+
+  arguments:
+   -h, --help            show this help message and exit
+   --source SOURCE       Choose data source, "rtlsdr" or "net"
+   --connect SERVER PORT DATATYPE
+                         Define server, port and data type. Supported data
+                         types are: ['raw', 'beast', 'skysense']
+   --latlon LAT LON      Receiver latitude and longitude, needed for the surface
+                         position, default none
+   --show-uncertainty    Display uncertainty values, default off
+   --dumpto DUMPTO       Folder to dump decoded output, default none
+
+
+Live with RTL-SDR
+*******************
+
+If you have an RTL-SDR receiver connected to your computer, you can use the ``rtlsdr`` source switch (require ``pyrtlsdr`` package), with command::
+
+  $ modeslive --source rtlsdr
+
+
+Live with network data
+***************************
+
+If you want to connect to a TCP server that broadcast raw data. use can use ``net`` source switch, for example::
+
+  $ modeslive --source net --connect localhost 30002 raw
+  $ modeslive --source net --connect 127.0.0.1 30005 beast
+
+
+
+Example screenshot:
+
+.. image:: https://github.com/junzis/pyModeS/raw/master/doc/modeslive-screenshot.png
+   :width: 700px
+
+
 Use the library
 ---------------
 
@@ -56,36 +155,37 @@ Use the library
   import pyModeS as pms
 
 
-Common functions:
+Common functions
 *****************
 
 .. code:: python
 
   pms.df(msg)                 # Downlink Format
+  pms.icao(msg)               # Infer the ICAO address from the message
   pms.crc(msg, encode=False)  # Perform CRC or generate parity bit
 
-  pms.hex2bin(str)    # Convert hexadecimal string to binary string
-  pms.bin2int(str)    # Convert binary string to integer
-  pms.hex2int(str)    # Convert hexadecimal string to integer
-
-  pms.gray2int(str)    # Convert grey code to interger
+  pms.hex2bin(str)      # Convert hexadecimal string to binary string
+  pms.bin2int(str)      # Convert binary string to integer
+  pms.hex2int(str)      # Convert hexadecimal string to integer
+  pms.gray2int(str)     # Convert grey code to integer
 
 
-Core functions for ADS-B decoding:
-**********************************
+Core functions for ADS-B decoding
+*********************************
 
 .. code:: python
 
   pms.adsb.icao(msg)
   pms.adsb.typecode(msg)
 
-  # typecode 1-4
+  # Typecode 1-4
   pms.adsb.callsign(msg)
 
-  # typecode 5-8 (surface) and 9-18 (airborne)
+  # Typecode 5-8 (surface), 9-18 (airborne, barometric height), and 20-22 (airborne, GNSS height)
   pms.adsb.position(msg_even, msg_odd, t_even, t_odd, lat_ref=None, lon_ref=None)
   pms.adsb.airborne_position(msg_even, msg_odd, t_even, t_odd)
   pms.adsb.surface_position(msg_even, msg_odd, t_even, t_odd, lat_ref, lon_ref)
+  pms.adsb.surface_velocity(msg)
 
   pms.adsb.position_with_ref(msg, lat_ref, lon_ref)
   pms.adsb.airborne_position_with_ref(msg, lat_ref, lon_ref)
@@ -93,85 +193,185 @@ Core functions for ADS-B decoding:
 
   pms.adsb.altitude(msg)
 
-  # typecode: 19
-  pms.adsb.velocity(msg)          # handles both surface & airborne messages
-  pms.adsb.speed_heading(msg)     # handles both surface & airborne messages
-  pms.adsb.surface_velocity(msg)
+  # Typecode: 19
+  pms.adsb.velocity(msg)          # Handles both surface & airborne messages
+  pms.adsb.speed_heading(msg)     # Handles both surface & airborne messages
   pms.adsb.airborne_velocity(msg)
 
 
-Note: When you have a fix position of the aircraft, it is convenient to
-use `position_with_ref()` method to decode with only one position message
-(either odd or even). This works with both airborne and surface position
-messages. But the reference position shall be with in 180NM (airborne)
-or 45NM (surface) of the true position.
+Note: When you have a fix position of the aircraft, it is convenient to use `position_with_ref()` method to decode with only one position message (either odd or even). This works with both airborne and surface position messages. But the reference position shall be within 180NM (airborne) or 45NM (surface) of the true position.
 
-Core functions for ELS decoding:
-********************************
+
+Decode altitude replies in DF4 / DF20
+**************************************
+.. code:: python
+
+  pms.common.altcode(msg)   # Downlink format must be 4 or 20
+
+
+Decode identity replies in DF5 / DF21
+**************************************
+.. code:: python
+
+  pms.common.idcode(msg)   # Downlink format must be 5 or 21
+
+
+
+Common Mode-S functions
+************************
 
 .. code:: python
 
-  pms.els.icao(msg)       # ICAO address
-  pms.els.df4alt(msg)     # Altitude from any DF4 message
-  pms.ehs.df5id(msg)     # Squawk code from any DF5 message
+  pms.icao(msg)           # Infer the ICAO address from the message
+  pms.bds.infer(msg)      # Infer the Modes-S BDS register
+
+  # Check if BDS is 5,0 or 6,0, give reference speed, track, altitude (from ADS-B)
+  pms.bds.is50or60(msg, spd_ref, trk_ref, alt_ref)
+
+  # Check each BDS explicitly
+  pms.bds.bds10.is10(msg)
+  pms.bds.bds17.is17(msg)
+  pms.bds.bds20.is20(msg)
+  pms.bds.bds30.is30(msg)
+  pms.bds.bds40.is40(msg)
+  pms.bds.bds44.is44(msg)
+  pms.bds.bds50.is50(msg)
+  pms.bds.bds60.is60(msg)
 
 
-Core functions for EHS decoding:
-********************************
+
+Mode-S Elementary Surveillance (ELS)
+*************************************
 
 .. code:: python
 
-  pms.ehs.icao(msg)       # ICAO address
-  pms.ehs.df20alt(msg)    # Altitude from any DF20 message
-  pms.ehs.df21id(msg)     # Squawk code from any DF21 message
+  pms.commb.ovc10(msg)      # Overlay capability, BDS 1,0
+  pms.commb.cap17(msg)      # GICB capability, BDS 1,7
+  pms.commb.cs20(msg)       # Callsign, BDS 2,0
 
-  pms.ehs.BDS(msg)        # Comm-B Data Selector Version
 
-  # for BDS version 2,0
-  pms.ehs.isBDS20(msg)    # Check if message is BDS 2,0
-  pms.ehs.callsign(msg)   # Aircraft callsign
+Mode-S Enhanced Surveillance (EHS)
+***********************************
 
-  # for BDS version 4,0
-  pms.ehs.isBDS40(msg)    # Check if message is BDS 4,0
-  pms.ehs.alt40mcp(msg)   # MCP/FCU selected altitude (ft)
-  pms.ehs.alt40fms(msg)   # FMS selected altitude (ft)
-  pms.ehs.p40baro(msg)    # Barometric pressure (mb)
+.. code:: python
 
-  # for BDS version 4,4
-  pms.ehs.isBDS44(msg, rev=False) # Check if message is BDS 4,4
-  pms.ehs.wind44(msg, rev=False)  # wind speed (kt) and heading (deg)
-  pms.ehs.temp44(msg, rev=False)  # temperature (C)
-  pms.ehs.p44(msg, rev=False)     # pressure (hPa)
-  pms.ehs.hum44(msg, rev=False)   # humidity (%)
+  # BDS 4,0
+  pms.commb.selalt40mcp(msg)   # MCP/FCU selected altitude (ft)
+  pms.commb.selalt40fms(msg)   # FMS selected altitude (ft)
+  pms.commb.p40baro(msg)    # Barometric pressure (mb)
 
-  # for BDS version 5,0
-  pms.ehs.isBDS50(msg)    # Check if message is BDS 5,0
-  pms.ehs.roll50(msg)     # roll angle (deg)
-  pms.ehs.trk50(msg)      # track angle (deg)
-  pms.ehs.gs50(msg)       # ground speed (kt)
-  pms.ehs.rtrk50(msg)     # track angle rate (deg/sec)
-  pms.ehs.tas50(msg)      # true airspeed (kt)
+  # BDS 5,0
+  pms.commb.roll50(msg)     # Roll angle (deg)
+  pms.commb.trk50(msg)      # True track angle (deg)
+  pms.commb.gs50(msg)       # Ground speed (kt)
+  pms.commb.rtrk50(msg)     # Track angle rate (deg/sec)
+  pms.commb.tas50(msg)      # True airspeed (kt)
 
-  # for BDS version 5,3
-  pms.ehs.isBDS53(msg)    # Check if message is BDS 5,3
-  pms.ehs.hdg53(msg)      # magnetic heading (deg)
-  pms.ehs.ias53(msg)      # indicated airspeed (kt)
-  pms.ehs.mach53(msg)     # MACH number
-  pms.ehs.tas53(msg)      # true airspeed (kt)
-  pms.ehs.vr53(msg)       # vertical rate (fpm)
+  # BDS 6,0
+  pms.commb.hdg60(msg)      # Magnetic heading (deg)
+  pms.commb.ias60(msg)      # Indicated airspeed (kt)
+  pms.commb.mach60(msg)     # Mach number (-)
+  pms.commb.vr60baro(msg)   # Barometric altitude rate (ft/min)
+  pms.commb.vr60ins(msg)    # Inertial vertical speed (ft/min)
 
-  # for BDS version 6,0
-  pms.ehs.isBDS60(msg)    # Check if message is BDS 6,0
-  pms.ehs.hdg60(msg)      # heading (deg)
-  pms.ehs.ias60(msg)      # indicated airspeed (kt)
-  pms.ehs.mach60(msg)     # MACH number
-  pms.ehs.vr60baro(msg)   # barometric altitude rate (ft/min)
-  pms.ehs.vr60ins(msg)    # inertial vertical speed (ft/min)
 
-Developement
-------------
-To perform unit tests. First install ``tox`` through pip, Then, run the following commands:
+Meteorological reports [Experimental]
+**************************************
 
-.. code:: bash
+To identify BDS 4,4 and 4,5 codes, you must set ``mrar`` argument to ``True`` in the ``infer()`` function:
 
-  $ tox
+.. code:: python
+
+  pms.bds.infer(msg. mrar=True) 
+
+Once the correct MRAR and MHR messages are identified, decode them as follows:
+
+
+Meteorological routine air report (MRAR)
++++++++++++++++++++++++++++++++++++++++++
+
+.. code:: python
+
+  # BDS 4,4
+  pms.commb.wind44(msg)     # Wind speed (kt) and direction (true) (deg)
+  pms.commb.temp44(msg)     # Static air temperature (C)
+  pms.commb.p44(msg)        # Average static pressure (hPa)
+  pms.commb.hum44(msg)      # Humidity (%)
+
+
+Meteorological hazard air report (MHR)
++++++++++++++++++++++++++++++++++++++++++
+
+.. code:: python
+
+  # BDS 4,5
+  pms.commb.turb45(msg)     # Turbulence level (0-3)
+  pms.commb.ws45(msg)       # Wind shear level (0-3)
+  pms.commb.mb45(msg)       # Microburst level (0-3)
+  pms.commb.ic45(msg)       # Icing level (0-3)
+  pms.commb.wv45(msg)       # Wake vortex level (0-3)
+  pms.commb.temp45(msg)     # Static air temperature (C)
+  pms.commb.p45(msg)        # Average static pressure (hPa)
+  pms.commb.rh45(msg)       # Radio height (ft)
+
+
+
+Customize the streaming module
+******************************
+The TCP client module from pyModeS can be re-used to stream and process Mode-S data as you like. You need to re-implement the ``handle_messages()`` function from the ``TcpClient`` class to write your own logic to handle the messages.
+
+Here is an example:
+
+.. code:: python
+
+  import pyModeS as pms
+  from pyModeS.extra.tcpclient import TcpClient
+
+  # define your custom class by extending the TcpClient
+  #   - implement your handle_messages() methods
+  class ADSBClient(TcpClient):
+      def __init__(self, host, port, rawtype):
+          super(ADSBClient, self).__init__(host, port, rawtype)
+
+      def handle_messages(self, messages):
+          for msg, ts in messages:
+              if len(msg) != 28:  # wrong data length
+                  continue
+
+              df = pms.df(msg)
+
+              if df != 17:  # not ADSB
+                  continue
+
+              if pms.crc(msg) !=0:  # CRC fail
+                  continue
+
+              icao = pms.adsb.icao(msg)
+              tc = pms.adsb.typecode(msg)
+
+              # TODO: write you magic code here
+              print(ts, icao, tc, msg)
+
+  # run new client, change the host, port, and rawtype if needed
+  client = ADSBClient(host='127.0.0.1', port=30005, rawtype='beast')
+  client.run()
+
+
+Unit test
+---------
+To perform unit tests, ``pytest`` must be install first.
+
+Build Cython extensions
+::
+
+  $ make ext
+
+Run unit tests
+::
+
+  $ make test
+
+Clean build files
+::
+
+  $ make clean

build.py

@@ -0,0 +1,67 @@
+import os
+import shutil
+import sys
+
+# import pip
+from Cython.Build import cythonize
+from setuptools import Distribution, Extension
+from setuptools.command import build_ext
+
+
+def build() -> None:
+    compile_args = []
+
+    if sys.platform == "linux":
+        compile_args += ["-Wno-pointer-sign", "-Wno-unused-variable"]
+
+    extensions = [
+        Extension(
+            "pyModeS.c_common",
+            ["pyModeS/c_common.pyx"],
+            extra_compile_args=compile_args,
+        ),
+        Extension(
+            "pyModeS.decoder.flarm.decode",
+            [
+                "pyModeS/decoder/flarm/decode.pyx",
+                "pyModeS/decoder/flarm/core.c",
+            ],
+            extra_compile_args=compile_args,
+            include_dirs=["pyModeS/decoder/flarm"],
+        ),
+        # Extension(
+        #     "pyModeS.extra.demod2400.core",
+        #     [
+        #         "pyModeS/extra/demod2400/core.pyx",
+        #         "pyModeS/extra/demod2400/demod2400.c",
+        #     ],
+        #     extra_compile_args=compile_args,
+        #     include_dirs=["pyModeS/extra/demod2400"],
+        #     libraries=["m"],
+        # ),
+    ]
+
+    ext_modules = cythonize(
+        extensions,
+        compiler_directives={"binding": True, "language_level": 3},
+    )
+
+    distribution = Distribution({"name": "extended", "ext_modules": ext_modules})
+    distribution.package_dir = "extended"  # type: ignore
+
+    cmd = build_ext.build_ext(distribution)
+    cmd.verbose = True  # type: ignore
+    cmd.ensure_finalized()  # type: ignore
+    cmd.run()
+
+    # Copy built extensions back to the project
+    for output in cmd.get_output_mapping():
+        relative_extension = os.path.relpath(output, cmd.build_lib)
+        shutil.copyfile(output, relative_extension)
+        mode = os.stat(relative_extension).st_mode
+        mode |= (mode & 0o444) >> 2
+        os.chmod(relative_extension, mode)
+
+
+if __name__ == "__main__":
+    build()

doc/.gitignore

@@ -1,3 +0,0 @@
-_build
-_static
-_templates

doc/Makefile

@@ -1,225 +1,21 @@
-# Makefile for Sphinx documentation
+# Minimal makefile for Sphinx documentation
 #
 
 # You can set these variables from the command line.
 SPHINXOPTS    =
 SPHINXBUILD   = sphinx-build
-PAPER         =
-BUILDDIR      = _build
+SOURCEDIR     = source
+BUILDDIR      = build
 
-# Internal variables.
-PAPEROPT_a4     = -D latex_paper_size=a4
-PAPEROPT_letter = -D latex_paper_size=letter
-ALLSPHINXOPTS   = -d $(BUILDDIR)/doctrees $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) .
-# the i18n builder cannot share the environment and doctrees with the others
-I18NSPHINXOPTS  = $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) .
-
-.PHONY: help
+# Put it first so that "make" without argument is like "make help".
 help:
-	@echo "Please use \`make <target>' where <target> is one of"
-	@echo "  html       to make standalone HTML files"
-	@echo "  dirhtml    to make HTML files named index.html in directories"
-	@echo "  singlehtml to make a single large HTML file"
-	@echo "  pickle     to make pickle files"
-	@echo "  json       to make JSON files"
-	@echo "  htmlhelp   to make HTML files and a HTML help project"
-	@echo "  qthelp     to make HTML files and a qthelp project"
-	@echo "  applehelp  to make an Apple Help Book"
-	@echo "  devhelp    to make HTML files and a Devhelp project"
-	@echo "  epub       to make an epub"
-	@echo "  epub3      to make an epub3"
-	@echo "  latex      to make LaTeX files, you can set PAPER=a4 or PAPER=letter"
-	@echo "  latexpdf   to make LaTeX files and run them through pdflatex"
-	@echo "  latexpdfja to make LaTeX files and run them through platex/dvipdfmx"
-	@echo "  text       to make text files"
-	@echo "  man        to make manual pages"
-	@echo "  texinfo    to make Texinfo files"
-	@echo "  info       to make Texinfo files and run them through makeinfo"
-	@echo "  gettext    to make PO message catalogs"
-	@echo "  changes    to make an overview of all changed/added/deprecated items"
-	@echo "  xml        to make Docutils-native XML files"
-	@echo "  pseudoxml  to make pseudoxml-XML files for display purposes"
-	@echo "  linkcheck  to check all external links for integrity"
-	@echo "  doctest    to run all doctests embedded in the documentation (if enabled)"
-	@echo "  coverage   to run coverage check of the documentation (if enabled)"
-	@echo "  dummy      to check syntax errors of document sources"
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
 
-.PHONY: clean
-clean:
-	rm -rf $(BUILDDIR)/*
+.PHONY: help Makefile
 
-.PHONY: html
-html:
-	$(SPHINXBUILD) -b html $(ALLSPHINXOPTS) $(BUILDDIR)/html
-	@echo
-	@echo "Build finished. The HTML pages are in $(BUILDDIR)/html."
-
-.PHONY: dirhtml
-dirhtml:
-	$(SPHINXBUILD) -b dirhtml $(ALLSPHINXOPTS) $(BUILDDIR)/dirhtml
-	@echo
-	@echo "Build finished. The HTML pages are in $(BUILDDIR)/dirhtml."
-
-.PHONY: singlehtml
-singlehtml:
-	$(SPHINXBUILD) -b singlehtml $(ALLSPHINXOPTS) $(BUILDDIR)/singlehtml
-	@echo
-	@echo "Build finished. The HTML page is in $(BUILDDIR)/singlehtml."
-
-.PHONY: pickle
-pickle:
-	$(SPHINXBUILD) -b pickle $(ALLSPHINXOPTS) $(BUILDDIR)/pickle
-	@echo
-	@echo "Build finished; now you can process the pickle files."
-
-.PHONY: json
-json:
-	$(SPHINXBUILD) -b json $(ALLSPHINXOPTS) $(BUILDDIR)/json
-	@echo
-	@echo "Build finished; now you can process the JSON files."
-
-.PHONY: htmlhelp
-htmlhelp:
-	$(SPHINXBUILD) -b htmlhelp $(ALLSPHINXOPTS) $(BUILDDIR)/htmlhelp
-	@echo
-	@echo "Build finished; now you can run HTML Help Workshop with the" \
-	      ".hhp project file in $(BUILDDIR)/htmlhelp."
-
-.PHONY: qthelp
-qthelp:
-	$(SPHINXBUILD) -b qthelp $(ALLSPHINXOPTS) $(BUILDDIR)/qthelp
-	@echo
-	@echo "Build finished; now you can run "qcollectiongenerator" with the" \
-	      ".qhcp project file in $(BUILDDIR)/qthelp, like this:"
-	@echo "# qcollectiongenerator $(BUILDDIR)/qthelp/pyModeS.qhcp"
-	@echo "To view the help file:"
-	@echo "# assistant -collectionFile $(BUILDDIR)/qthelp/pyModeS.qhc"
-
-.PHONY: applehelp
-applehelp:
-	$(SPHINXBUILD) -b applehelp $(ALLSPHINXOPTS) $(BUILDDIR)/applehelp
-	@echo
-	@echo "Build finished. The help book is in $(BUILDDIR)/applehelp."
-	@echo "N.B. You won't be able to view it unless you put it in" \
-	      "~/Library/Documentation/Help or install it in your application" \
-	      "bundle."
-
-.PHONY: devhelp
-devhelp:
-	$(SPHINXBUILD) -b devhelp $(ALLSPHINXOPTS) $(BUILDDIR)/devhelp
-	@echo
-	@echo "Build finished."
-	@echo "To view the help file:"
-	@echo "# mkdir -p $$HOME/.local/share/devhelp/pyModeS"
-	@echo "# ln -s $(BUILDDIR)/devhelp $$HOME/.local/share/devhelp/pyModeS"
-	@echo "# devhelp"
-
-.PHONY: epub
-epub:
-	$(SPHINXBUILD) -b epub $(ALLSPHINXOPTS) $(BUILDDIR)/epub
-	@echo
-	@echo "Build finished. The epub file is in $(BUILDDIR)/epub."
-
-.PHONY: epub3
-epub3:
-	$(SPHINXBUILD) -b epub3 $(ALLSPHINXOPTS) $(BUILDDIR)/epub3
-	@echo
-	@echo "Build finished. The epub3 file is in $(BUILDDIR)/epub3."
-
-.PHONY: latex
-latex:
-	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
-	@echo
-	@echo "Build finished; the LaTeX files are in $(BUILDDIR)/latex."
-	@echo "Run \`make' in that directory to run these through (pdf)latex" \
-	      "(use \`make latexpdf' here to do that automatically)."
-
-.PHONY: latexpdf
-latexpdf:
-	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
-	@echo "Running LaTeX files through pdflatex..."
-	$(MAKE) -C $(BUILDDIR)/latex all-pdf
-	@echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex."
-
-.PHONY: latexpdfja
-latexpdfja:
-	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
-	@echo "Running LaTeX files through platex and dvipdfmx..."
-	$(MAKE) -C $(BUILDDIR)/latex all-pdf-ja
-	@echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex."
-
-.PHONY: text
-text:
-	$(SPHINXBUILD) -b text $(ALLSPHINXOPTS) $(BUILDDIR)/text
-	@echo
-	@echo "Build finished. The text files are in $(BUILDDIR)/text."
-
-.PHONY: man
-man:
-	$(SPHINXBUILD) -b man $(ALLSPHINXOPTS) $(BUILDDIR)/man
-	@echo
-	@echo "Build finished. The manual pages are in $(BUILDDIR)/man."
-
-.PHONY: texinfo
-texinfo:
-	$(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
-	@echo
-	@echo "Build finished. The Texinfo files are in $(BUILDDIR)/texinfo."
-	@echo "Run \`make' in that directory to run these through makeinfo" \
-	      "(use \`make info' here to do that automatically)."
-
-.PHONY: info
-info:
-	$(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
-	@echo "Running Texinfo files through makeinfo..."
-	make -C $(BUILDDIR)/texinfo info
-	@echo "makeinfo finished; the Info files are in $(BUILDDIR)/texinfo."
-
-.PHONY: gettext
-gettext:
-	$(SPHINXBUILD) -b gettext $(I18NSPHINXOPTS) $(BUILDDIR)/locale
-	@echo
-	@echo "Build finished. The message catalogs are in $(BUILDDIR)/locale."
-
-.PHONY: changes
-changes:
-	$(SPHINXBUILD) -b changes $(ALLSPHINXOPTS) $(BUILDDIR)/changes
-	@echo
-	@echo "The overview file is in $(BUILDDIR)/changes."
-
-.PHONY: linkcheck
-linkcheck:
-	$(SPHINXBUILD) -b linkcheck $(ALLSPHINXOPTS) $(BUILDDIR)/linkcheck
-	@echo
-	@echo "Link check complete; look for any errors in the above output " \
-	      "or in $(BUILDDIR)/linkcheck/output.txt."
-
-.PHONY: doctest
-doctest:
-	$(SPHINXBUILD) -b doctest $(ALLSPHINXOPTS) $(BUILDDIR)/doctest
-	@echo "Testing of doctests in the sources finished, look at the " \
-	      "results in $(BUILDDIR)/doctest/output.txt."
-
-.PHONY: coverage
-coverage:
-	$(SPHINXBUILD) -b coverage $(ALLSPHINXOPTS) $(BUILDDIR)/coverage
-	@echo "Testing of coverage in the sources finished, look at the " \
-	      "results in $(BUILDDIR)/coverage/python.txt."
-
-.PHONY: xml
-xml:
-	$(SPHINXBUILD) -b xml $(ALLSPHINXOPTS) $(BUILDDIR)/xml
-	@echo
-	@echo "Build finished. The XML files are in $(BUILDDIR)/xml."
-
-.PHONY: pseudoxml
-pseudoxml:
-	$(SPHINXBUILD) -b pseudoxml $(ALLSPHINXOPTS) $(BUILDDIR)/pseudoxml
-	@echo
-	@echo "Build finished. The pseudo-XML files are in $(BUILDDIR)/pseudoxml."
-
-.PHONY: dummy
-dummy:
-	$(SPHINXBUILD) -b dummy $(ALLSPHINXOPTS) $(BUILDDIR)/dummy
-	@echo
-	@echo "Build finished. Dummy builder generates no files."
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	rm -f source/pyModeS*.rst source/modules.rst
+	sphinx-apidoc -f -e -M -o source/ ../pyModeS  ../pyModeS/decoder/ehs.py ../pyModeS/decoder/els.py  ../pyModeS/streamer ../pyModeS/extra
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

doc/README.rst

@@ -0,0 +1,7 @@
+How to generate the apidoc
+====================================
+
+::
+
+  cd doc
+  make html

doc/conf.py

@@ -1,337 +0,0 @@
-# -*- coding: utf-8 -*-
-#
-# pyModeS documentation build configuration file, created by
-# sphinx-quickstart on Tue Aug 16 15:47:05 2016.
-#
-# This file is execfile()d with the current directory set to its
-# containing dir.
-#
-# Note that not all possible configuration values are present in this
-# autogenerated file.
-#
-# All configuration values have a default; values that are commented out
-# serve to show the default.
-
-# If extensions (or modules to document with autodoc) are in another directory,
-# add these directories to sys.path here. If the directory is relative to the
-# documentation root, use os.path.abspath to make it absolute, like shown here.
-#
-# import os
-# import sys
-# sys.path.insert(0, os.path.abspath('.'))
-
-# -- General configuration ------------------------------------------------
-
-# If your documentation needs a minimal Sphinx version, state it here.
-#
-# needs_sphinx = '1.0'
-
-# Add any Sphinx extension module names here, as strings. They can be
-# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
-# ones.
-extensions = [
-    'sphinx.ext.autodoc',
-    'sphinx.ext.doctest',
-    'sphinx.ext.todo',
-    'sphinx.ext.coverage',
-]
-
-# Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
-
-# The suffix(es) of source filenames.
-# You can specify multiple suffix as a list of string:
-#
-# source_suffix = ['.rst', '.md']
-source_suffix = '.rst'
-
-# The encoding of source files.
-#
-# source_encoding = 'utf-8-sig'
-
-# The master toctree document.
-master_doc = 'index'
-
-# General information about the project.
-project = u'pyModeS'
-copyright = u'2016, Junzi Sun'
-author = u'Junzi Sun'
-
-# The version info for the project you're documenting, acts as replacement for
-# |version| and |release|, also used in various other places throughout the
-# built documents.
-#
-# The short X.Y version.
-version = u'1.0.5'
-# The full version, including alpha/beta/rc tags.
-release = u'1.0.5'
-
-# The language for content autogenerated by Sphinx. Refer to documentation
-# for a list of supported languages.
-#
-# This is also used if you do content translation via gettext catalogs.
-# Usually you set "language" from the command line for these cases.
-language = None
-
-# There are two options for replacing |today|: either, you set today to some
-# non-false value, then it is used:
-#
-# today = ''
-#
-# Else, today_fmt is used as the format for a strftime call.
-#
-# today_fmt = '%B %d, %Y'
-
-# List of patterns, relative to source directory, that match files and
-# directories to ignore when looking for source files.
-# This patterns also effect to html_static_path and html_extra_path
-exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
-
-# The reST default role (used for this markup: `text`) to use for all
-# documents.
-#
-# default_role = None
-
-# If true, '()' will be appended to :func: etc. cross-reference text.
-#
-# add_function_parentheses = True
-
-# If true, the current module name will be prepended to all description
-# unit titles (such as .. function::).
-#
-# add_module_names = True
-
-# If true, sectionauthor and moduleauthor directives will be shown in the
-# output. They are ignored by default.
-#
-# show_authors = False
-
-# The name of the Pygments (syntax highlighting) style to use.
-pygments_style = 'sphinx'
-
-# A list of ignored prefixes for module index sorting.
-# modindex_common_prefix = []
-
-# If true, keep warnings as "system message" paragraphs in the built documents.
-# keep_warnings = False
-
-# If true, `todo` and `todoList` produce output, else they produce nothing.
-todo_include_todos = True
-
-
-# -- Options for HTML output ----------------------------------------------
-
-# The theme to use for HTML and HTML Help pages.  See the documentation for
-# a list of builtin themes.
-#
-# html_theme = 'alabaster'
-
-# Theme options are theme-specific and customize the look and feel of a theme
-# further.  For a list of options available for each theme, see the
-# documentation.
-#
-# html_theme_options = {}
-
-# Add any paths that contain custom themes here, relative to this directory.
-# html_theme_path = []
-
-# The name for this set of Sphinx documents.
-# "<project> v<release> documentation" by default.
-#
-# html_title = u'pyModeS v1.0.5'
-
-# A shorter title for the navigation bar.  Default is the same as html_title.
-#
-# html_short_title = None
-
-# The name of an image file (relative to this directory) to place at the top
-# of the sidebar.
-#
-# html_logo = None
-
-# The name of an image file (relative to this directory) to use as a favicon of
-# the docs.  This file should be a Windows icon file (.ico) being 16x16 or 32x32
-# pixels large.
-#
-# html_favicon = None
-
-# Add any paths that contain custom static files (such as style sheets) here,
-# relative to this directory. They are copied after the builtin static files,
-# so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
-
-# Add any extra paths that contain custom files (such as robots.txt or
-# .htaccess) here, relative to this directory. These files are copied
-# directly to the root of the documentation.
-#
-# html_extra_path = []
-
-# If not None, a 'Last updated on:' timestamp is inserted at every page
-# bottom, using the given strftime format.
-# The empty string is equivalent to '%b %d, %Y'.
-#
-# html_last_updated_fmt = None
-
-# If true, SmartyPants will be used to convert quotes and dashes to
-# typographically correct entities.
-#
-# html_use_smartypants = True
-
-# Custom sidebar templates, maps document names to template names.
-#
-# html_sidebars = {}
-
-# Additional templates that should be rendered to pages, maps page names to
-# template names.
-#
-# html_additional_pages = {}
-
-# If false, no module index is generated.
-#
-# html_domain_indices = True
-
-# If false, no index is generated.
-#
-# html_use_index = True
-
-# If true, the index is split into individual pages for each letter.
-#
-# html_split_index = False
-
-# If true, links to the reST sources are added to the pages.
-#
-# html_show_sourcelink = True
-
-# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
-#
-# html_show_sphinx = True
-
-# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
-#
-# html_show_copyright = True
-
-# If true, an OpenSearch description file will be output, and all pages will
-# contain a <link> tag referring to it.  The value of this option must be the
-# base URL from which the finished HTML is served.
-#
-# html_use_opensearch = ''
-
-# This is the file name suffix for HTML files (e.g. ".xhtml").
-# html_file_suffix = None
-
-# Language to be used for generating the HTML full-text search index.
-# Sphinx supports the following languages:
-#   'da', 'de', 'en', 'es', 'fi', 'fr', 'hu', 'it', 'ja'
-#   'nl', 'no', 'pt', 'ro', 'ru', 'sv', 'tr', 'zh'
-#
-# html_search_language = 'en'
-
-# A dictionary with options for the search language support, empty by default.
-# 'ja' uses this config value.
-# 'zh' user can custom change `jieba` dictionary path.
-#
-# html_search_options = {'type': 'default'}
-
-# The name of a javascript file (relative to the configuration directory) that
-# implements a search results scorer. If empty, the default will be used.
-#
-# html_search_scorer = 'scorer.js'
-
-# Output file base name for HTML help builder.
-htmlhelp_basename = 'pyModeSdoc'
-
-# -- Options for LaTeX output ---------------------------------------------
-
-latex_elements = {
-     # The paper size ('letterpaper' or 'a4paper').
-     #
-     # 'papersize': 'letterpaper',
-
-     # The font size ('10pt', '11pt' or '12pt').
-     #
-     # 'pointsize': '10pt',
-
-     # Additional stuff for the LaTeX preamble.
-     #
-     # 'preamble': '',
-
-     # Latex figure (float) alignment
-     #
-     # 'figure_align': 'htbp',
-}
-
-# Grouping the document tree into LaTeX files. List of tuples
-# (source start file, target name, title,
-#  author, documentclass [howto, manual, or own class]).
-latex_documents = [
-    (master_doc, 'pyModeS.tex', u'pyModeS Documentation',
-     u'Junzi Sun', 'manual'),
-]
-
-# The name of an image file (relative to this directory) to place at the top of
-# the title page.
-#
-# latex_logo = None
-
-# For "manual" documents, if this is true, then toplevel headings are parts,
-# not chapters.
-#
-# latex_use_parts = False
-
-# If true, show page references after internal links.
-#
-# latex_show_pagerefs = False
-
-# If true, show URL addresses after external links.
-#
-# latex_show_urls = False
-
-# Documents to append as an appendix to all manuals.
-#
-# latex_appendices = []
-
-# If false, no module index is generated.
-#
-# latex_domain_indices = True
-
-
-# -- Options for manual page output ---------------------------------------
-
-# One entry per manual page. List of tuples
-# (source start file, name, description, authors, manual section).
-man_pages = [
-    (master_doc, 'pymodes', u'pyModeS Documentation',
-     [author], 1)
-]
-
-# If true, show URL addresses after external links.
-#
-# man_show_urls = False
-
-
-# -- Options for Texinfo output -------------------------------------------
-
-# Grouping the document tree into Texinfo files. List of tuples
-# (source start file, target name, title, author,
-#  dir menu entry, description, category)
-texinfo_documents = [
-    (master_doc, 'pyModeS', u'pyModeS Documentation',
-     author, 'pyModeS', 'One line description of project.',
-     'Miscellaneous'),
-]
-
-# Documents to append as an appendix to all manuals.
-#
-# texinfo_appendices = []
-
-# If false, no module index is generated.
-#
-# texinfo_domain_indices = True
-
-# How to display URL addresses: 'footnote', 'no', or 'inline'.
-#
-# texinfo_show_urls = 'footnote'
-
-# If true, do not generate a @detailmenu in the "Top" node's menu.
-#
-# texinfo_no_detailmenu = False

doc/index.rst

@@ -1,40 +0,0 @@
-.. pyModeS documentation master file, created by
-   sphinx-quickstart on Tue Aug 16 15:47:05 2016.
-   You can adapt this file completely to your liking, but it should at least
-   contain the root `toctree` directive.
-
-
-pyModeS APIs
-=====================
-
-This document contains all the functions within pyModeS package. 
-
-Source code and user guide: https://github.com/junzis/pyModeS
-
-
-pyModeS.adsb module
--------------------
-
-.. automodule:: pyModeS.adsb
-    :members:
-    :undoc-members:
-    :show-inheritance:
-
-
-pyModeS.ehs module
-------------------
-
-.. automodule:: pyModeS.ehs
-    :members:
-    :undoc-members:
-    :show-inheritance:
-
-
-pyModeS.util module
--------------------
-
-.. automodule:: pyModeS.util
-    :members:
-    :undoc-members:
-    :show-inheritance:
-

doc/requirements.txt

@@ -1 +0,0 @@
-pyModeS==1.1.0

doc/source/_templates/layout.html

@@ -0,0 +1,17 @@
+{% extends "!layout.html" %}
+
+{% block footer %}
+{{ super() }}
+
+<!-- Global site tag (gtag.js) - Google Analytics -->
+<script async src="https://www.googletagmanager.com/gtag/js?id=UA-74700456-1"></script>
+<script>
+  window.dataLayer = window.dataLayer || [];
+  function gtag(){dataLayer.push(arguments);}
+  gtag('js', new Date());
+
+  gtag('config', 'UA-74700456-1');
+</script>
+
+
+{% endblock %}

doc/source/conf.py

@@ -0,0 +1,190 @@
+# -*- coding: utf-8 -*-
+#
+# Configuration file for the Sphinx documentation builder.
+#
+# This file does only contain a selection of the most common options. For a
+# full list see the documentation:
+# http://www.sphinx-doc.org/en/master/config
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+
+sys.path.insert(0, os.path.abspath("../.."))
+
+
+# -- Project information -----------------------------------------------------
+
+project = "pyModeS"
+copyright = "2019, Junzi Sun"
+author = "Junzi Sun"
+
+# The short X.Y version
+version = ""
+# The full version, including alpha/beta/rc tags
+release = ""
+
+
+# -- General configuration ---------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    "sphinx.ext.autodoc",
+    "sphinx.ext.mathjax",
+    "sphinx.ext.viewcode",
+    "sphinx.ext.githubpages",
+    "sphinx.ext.napoleon",
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ["_templates"]
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+# source_suffix = ['.rst', '.md']
+source_suffix = ".rst"
+
+# The master toctree document.
+master_doc = "index"
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = []
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = None
+
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+# html_theme = 'alabaster'
+html_theme = "neo_rtd_theme"
+import sphinx_theme
+
+html_theme_path = [sphinx_theme.get_html_theme_path()]
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#
+# html_theme_options = {}
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+# html_static_path = ['']
+
+# Custom sidebar templates, must be a dictionary that maps document names
+# to template names.
+#
+# The default sidebars (for documents that don't match any pattern) are
+# defined by theme itself.  Builtin themes are using these templates by
+# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
+# 'searchbox.html']``.
+#
+# html_sidebars = {}
+
+
+# -- Options for HTMLHelp output ---------------------------------------------
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = "pyModeSdoc"
+
+
+# -- Options for LaTeX output ------------------------------------------------
+
+latex_elements = {
+    # The paper size ('letterpaper' or 'a4paper').
+    #
+    # 'papersize': 'letterpaper',
+    # The font size ('10pt', '11pt' or '12pt').
+    #
+    # 'pointsize': '10pt',
+    # Additional stuff for the LaTeX preamble.
+    #
+    # 'preamble': '',
+    # Latex figure (float) alignment
+    #
+    # 'figure_align': 'htbp',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title,
+#  author, documentclass [howto, manual, or own class]).
+latex_documents = [
+    (master_doc, "pyModeS.tex", "pyModeS Documentation", "Junzi Sun", "manual")
+]
+
+
+# -- Options for manual page output ------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [(master_doc, "pymodes", "pyModeS Documentation", [author], 1)]
+
+
+# -- Options for Texinfo output ----------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+    (
+        master_doc,
+        "pyModeS",
+        "pyModeS Documentation",
+        author,
+        "pyModeS",
+        "One line description of project.",
+        "Miscellaneous",
+    )
+]
+
+
+# -- Options for Epub output -------------------------------------------------
+
+# Bibliographic Dublin Core info.
+epub_title = project
+
+# The unique identifier of the text. This can be a ISBN number
+# or the project homepage.
+#
+# epub_identifier = ''
+
+# A unique identification for the text.
+#
+# epub_uid = ''
+
+# A list of files that should not be packed into the epub file.
+epub_exclude_files = ["search.html"]
+
+
+# -- Extension configuration -------------------------------------------------
+
+# -- Options for todo extension ----------------------------------------------
+
+# If true, `todo` and `todoList` produce output, else they produce nothing.
+todo_include_todos = True

doc/source/index.rst

@@ -0,0 +1,68 @@
+.. pyModeS documentation master file, created by
+   sphinx-quickstart on Mon Apr  1 13:13:10 2019.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+Welcome to pyModeS documentation!
+===================================
+
+The source code can be found at: https://github.com/junzis/pyModeS
+
+.. toctree::
+  :caption: Core modules
+  :maxdepth: 2
+
+  pyModeS.decoder.adsb
+  pyModeS.decoder.commb
+
+
+.. toctree::
+  :caption: ADS-B messages
+  :maxdepth: 2
+
+  pyModeS.decoder.bds.bds05
+  pyModeS.decoder.bds.bds06
+  pyModeS.decoder.bds.bds08
+  pyModeS.decoder.bds.bds09
+
+
+.. toctree::
+  :caption: ELS - elementary surveillance
+  :maxdepth: 2
+
+  pyModeS.decoder.bds.bds10
+  pyModeS.decoder.bds.bds17
+  pyModeS.decoder.bds.bds20
+  pyModeS.decoder.bds.bds30
+
+
+.. toctree::
+  :caption: EHS - enhanced surveillance
+  :maxdepth: 2
+
+  pyModeS.decoder.bds.bds40
+  pyModeS.decoder.bds.bds50
+  pyModeS.decoder.bds.bds60
+
+
+.. toctree::
+  :caption: MRAR / MHR
+  :maxdepth: 2
+
+  pyModeS.decoder.bds.bds44
+  pyModeS.decoder.bds.bds45
+
+
+
+----
+
+.. include:: ../../README.rst
+
+----
+
+Indices and tables
+**********************
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`

doc/source/modules.rst

@@ -0,0 +1,7 @@
+pyModeS
+=======
+
+.. toctree::
+   :maxdepth: 4
+
+   pyModeS

doc/source/pyModeS.c_common.rst

@@ -0,0 +1,7 @@
+pyModeS.c\_common module
+========================
+
+.. automodule:: pyModeS.c_common
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.common.rst

@@ -0,0 +1,7 @@
+pyModeS.common module
+=====================
+
+.. automodule:: pyModeS.common
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.acas.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.acas module
+===========================
+
+.. automodule:: pyModeS.decoder.acas
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.adsb.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.adsb module
+===========================
+
+.. automodule:: pyModeS.decoder.adsb
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.allcall.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.allcall module
+==============================
+
+.. automodule:: pyModeS.decoder.allcall
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds05.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds05 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds05
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds06.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds06 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds06
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds08.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds08 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds08
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds09.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds09 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds09
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds10.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds10 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds10
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds17.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds17 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds17
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds20.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds20 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds20
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds30.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds30 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds30
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds40.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds40 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds40
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds44.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds44 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds44
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds45.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds45 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds45
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds50.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds50 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds50
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds53.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds53 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds53
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.bds60.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.bds.bds60 module
+================================
+
+.. automodule:: pyModeS.decoder.bds.bds60
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.bds.rst

@@ -0,0 +1,28 @@
+pyModeS.decoder.bds package
+===========================
+
+.. automodule:: pyModeS.decoder.bds
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Submodules
+----------
+
+.. toctree::
+   :maxdepth: 4
+
+   pyModeS.decoder.bds.bds05
+   pyModeS.decoder.bds.bds06
+   pyModeS.decoder.bds.bds08
+   pyModeS.decoder.bds.bds09
+   pyModeS.decoder.bds.bds10
+   pyModeS.decoder.bds.bds17
+   pyModeS.decoder.bds.bds20
+   pyModeS.decoder.bds.bds30
+   pyModeS.decoder.bds.bds40
+   pyModeS.decoder.bds.bds44
+   pyModeS.decoder.bds.bds45
+   pyModeS.decoder.bds.bds50
+   pyModeS.decoder.bds.bds53
+   pyModeS.decoder.bds.bds60

doc/source/pyModeS.decoder.commb.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.commb module
+============================
+
+.. automodule:: pyModeS.decoder.commb
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.rst

@@ -0,0 +1,29 @@
+pyModeS.decoder package
+=======================
+
+.. automodule:: pyModeS.decoder
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Subpackages
+-----------
+
+.. toctree::
+   :maxdepth: 4
+
+   pyModeS.decoder.bds
+
+Submodules
+----------
+
+.. toctree::
+   :maxdepth: 4
+
+   pyModeS.decoder.acas
+   pyModeS.decoder.adsb
+   pyModeS.decoder.allcall
+   pyModeS.decoder.commb
+   pyModeS.decoder.surv
+   pyModeS.decoder.uncertainty
+   pyModeS.decoder.uplink

doc/source/pyModeS.decoder.surv.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.surv module
+===========================
+
+.. automodule:: pyModeS.decoder.surv
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.uncertainty.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.uncertainty module
+==================================
+
+.. automodule:: pyModeS.decoder.uncertainty
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.decoder.uplink.rst

@@ -0,0 +1,7 @@
+pyModeS.decoder.uplink module
+=============================
+
+.. automodule:: pyModeS.decoder.uplink
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/pyModeS.rst

@@ -0,0 +1,24 @@
+pyModeS package
+===============
+
+.. automodule:: pyModeS
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Subpackages
+-----------
+
+.. toctree::
+   :maxdepth: 4
+
+   pyModeS.decoder
+
+Submodules
+----------
+
+.. toctree::
+   :maxdepth: 4
+
+   pyModeS.c_common
+   pyModeS.common

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+description = "Python HTTP for Humans."
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pyModeS/.gitignore

@@ -0,0 +1,3 @@
+decoder/flarm/decode.c
+extra/demod2400/core.c
+c_common.c

pyModeS/__init__.py

@@ -1,6 +1,35 @@
-from __future__ import absolute_import, print_function, division
+import os
+import warnings
 
-from .util import *
-from . import adsb
-from . import ehs
-from . import els
+try:
+    from . import c_common as common
+    from .c_common import *
+except Exception:
+    from . import py_common as common  # type: ignore
+    from .py_common import *  # type: ignore
+
+from .decoder import tell
+from .decoder import adsb
+from .decoder import commb
+from .decoder import allcall
+from .decoder import surv
+from .decoder import bds
+from .extra import aero
+from .extra import tcpclient
+
+__all__ = [
+    "common",
+    "tell",
+    "adsb",
+    "commb",
+    "allcall",
+    "surv",
+    "bds",
+    "aero",
+    "tcpclient",
+]
+
+
+warnings.simplefilter("once", DeprecationWarning)
+
+dirpath = os.path.dirname(os.path.realpath(__file__))

pyModeS/adsb.py

@@ -1,696 +0,0 @@
-# Copyright (C) 2015 Junzi Sun (TU Delft)
-
-# This program 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 of the License, or
-# (at your option) any later version.
-
-# This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
-
-"""
-A python package for decoding ABS-D messages.
-"""
-
-from __future__ import absolute_import, print_function, division
-import math
-from . import util
-
-
-def df(msg):
-    """Get the downlink format (DF) number
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        int: DF number
-    """
-    return util.df(msg)
-
-
-def icao(msg):
-    """Get the ICAO 24 bits address, bytes 3 to 8.
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        String: ICAO address in 6 bytes hexadecimal string
-    """
-    return msg[2:8]
-
-
-def data(msg):
-    """Return the data frame in the message, bytes 9 to 22"""
-    return msg[8:22]
-
-
-def typecode(msg):
-    """Type code of ADS-B message
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        int: type code number
-    """
-    msgbin = util.hex2bin(msg)
-    return util.bin2int(msgbin[32:37])
-
-
-# ---------------------------------------------
-# Aircraft Identification
-# ---------------------------------------------
-def category(msg):
-    """Aircraft category number
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        int: category number
-    """
-
-    if typecode(msg) < 1 or typecode(msg) > 4:
-        raise RuntimeError("%s: Not a identification message" % msg)
-    msgbin = util.hex2bin(msg)
-    return util.bin2int(msgbin[5:8])
-
-
-def callsign(msg):
-    """Aircraft callsign
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        string: callsign
-    """
-
-    if typecode(msg) < 1 or typecode(msg) > 4:
-        raise RuntimeError("%s: Not a identification message" % msg)
-
-    chars = '#ABCDEFGHIJKLMNOPQRSTUVWXYZ#####_###############0123456789######'
-    msgbin = util.hex2bin(msg)
-    csbin = msgbin[40:96]
-
-    cs = ''
-    cs += chars[util.bin2int(csbin[0:6])]
-    cs += chars[util.bin2int(csbin[6:12])]
-    cs += chars[util.bin2int(csbin[12:18])]
-    cs += chars[util.bin2int(csbin[18:24])]
-    cs += chars[util.bin2int(csbin[24:30])]
-    cs += chars[util.bin2int(csbin[30:36])]
-    cs += chars[util.bin2int(csbin[36:42])]
-    cs += chars[util.bin2int(csbin[42:48])]
-
-    # clean string, remove spaces and marks, if any.
-    # cs = cs.replace('_', '')
-    cs = cs.replace('#', '')
-    return cs
-
-
-# ---------------------------------------------
-# Positions
-# ---------------------------------------------
-
-def oe_flag(msg):
-    """Check the odd/even flag. Bit 54, 0 for even, 1 for odd.
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        int: 0 or 1, for even or odd frame
-    """
-    if typecode(msg) < 5 or typecode(msg) > 18:
-        raise RuntimeError("%s: Not a position message" % msg)
-
-    msgbin = util.hex2bin(msg)
-    return int(msgbin[53])
-
-
-def cprlat(msg):
-    """CPR encoded latitude
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        int: encoded latitude
-    """
-    if typecode(msg) < 5 or typecode(msg) > 18:
-        raise RuntimeError("%s: Not a position message" % msg)
-
-    msgbin = util.hex2bin(msg)
-    return util.bin2int(msgbin[54:71])
-
-
-def cprlon(msg):
-    """CPR encoded longitude
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        int: encoded longitude
-    """
-    if typecode(msg) < 5 or typecode(msg) > 18:
-        raise RuntimeError("%s: Not a position message" % msg)
-
-    msgbin = util.hex2bin(msg)
-    return util.bin2int(msgbin[71:88])
-
-
-def position(msg0, msg1, t0, t1, lat_ref=None, lon_ref=None):
-    """Decode position from a pair of even and odd position message
-    (works with both airborne and surface position messages)
-
-    Args:
-        msg0 (string): even message (28 bytes hexadecimal string)
-        msg1 (string): odd message (28 bytes hexadecimal string)
-        t0 (int): timestamps for the even message
-        t1 (int): timestamps for the odd message
-
-    Returns:
-        (float, float): (latitude, longitude) of the aircraft
-    """
-    if (5 <= typecode(msg0) <= 8 and 5 <= typecode(msg1) <= 8):
-        if (not lat_ref) or (not lon_ref):
-            raise RuntimeError("Surface position encountered, a reference \
-                               position lat/lon required. Location of \
-                               receiver can be used.")
-        else:
-            return surface_position(msg0, msg1, t0, t1, lat_ref, lon_ref)
-
-    elif (9 <= typecode(msg0) <= 18 and 9 <= typecode(msg1) <= 18):
-        return airborne_position(msg0, msg1, t0, t1)
-
-    else:
-        raise RuntimeError("incorrect or inconsistant message types")
-
-
-def airborne_position(msg0, msg1, t0, t1):
-    """Decode airborn position from a pair of even and odd position message
-
-    Args:
-        msg0 (string): even message (28 bytes hexadecimal string)
-        msg1 (string): odd message (28 bytes hexadecimal string)
-        t0 (int): timestamps for the even message
-        t1 (int): timestamps for the odd message
-
-    Returns:
-        (float, float): (latitude, longitude) of the aircraft
-    """
-
-    msgbin0 = util.hex2bin(msg0)
-    msgbin1 = util.hex2bin(msg1)
-
-    # 131072 is 2^17, since CPR lat and lon are 17 bits each.
-    cprlat_even = util.bin2int(msgbin0[54:71]) / 131072.0
-    cprlon_even = util.bin2int(msgbin0[71:88]) / 131072.0
-    cprlat_odd = util.bin2int(msgbin1[54:71]) / 131072.0
-    cprlon_odd = util.bin2int(msgbin1[71:88]) / 131072.0
-
-    air_d_lat_even = 360.0 / 60
-    air_d_lat_odd = 360.0 / 59
-
-    # compute latitude index 'j'
-    j = util.floor(59 * cprlat_even - 60 * cprlat_odd + 0.5)
-
-    lat_even = float(air_d_lat_even * (j % 60 + cprlat_even))
-    lat_odd = float(air_d_lat_odd * (j % 59 + cprlat_odd))
-
-    if lat_even >= 270:
-        lat_even = lat_even - 360
-
-    if lat_odd >= 270:
-        lat_odd = lat_odd - 360
-
-    # check if both are in the same latidude zone, exit if not
-    if _cprNL(lat_even) != _cprNL(lat_odd):
-        return None
-
-    # compute ni, longitude index m, and longitude
-    if (t0 > t1):
-        lat = lat_even
-        nl = _cprNL(lat)
-        ni = max(_cprNL(lat)- 0, 1)
-        m = util.floor(cprlon_even * (nl-1) - cprlon_odd * nl + 0.5)
-        lon = (360.0 / ni) * (m % ni + cprlon_even)
-    else:
-        lat = lat_odd
-        nl = _cprNL(lat)
-        ni = max(_cprNL(lat) - 1, 1)
-        m = util.floor(cprlon_even * (nl-1) - cprlon_odd * nl + 0.5)
-        lon = (360.0 / ni) * (m % ni + cprlon_odd)
-
-    if lon > 180:
-        lon = lon - 360
-
-    return round(lat, 5), round(lon, 5)
-
-
-def position_with_ref(msg, lat_ref, lon_ref):
-    """Decode position with only one message,
-    knowing reference nearby location, such as previously
-    calculated location, ground station, or airport location, etc.
-    Works with both airborne and surface position messages.
-    The reference position shall be with in 180NM (airborne) or 45NM (surface)
-    of the true position.
-
-    Args:
-        msg (string): even message (28 bytes hexadecimal string)
-        lat_ref: previous known latitude
-        lon_ref: previous known longitude
-
-    Returns:
-        (float, float): (latitude, longitude) of the aircraft
-    """
-    if 5 <= typecode(msg) <= 8:
-        return surface_position_with_ref(msg, lat_ref, lon_ref)
-
-    elif 9 <= typecode(msg) <= 18:
-        return airborne_position_with_ref(msg, lat_ref, lon_ref)
-
-    else:
-        raise RuntimeError("incorrect or inconsistant message types")
-
-
-def airborne_position_with_ref(msg, lat_ref, lon_ref):
-    """Decode airborne position with only one message,
-    knowing reference nearby location, such as previously calculated location,
-    ground station, or airport location, etc. The reference position shall
-    be with in 180NM of the true position.
-
-    Args:
-        msg (string): even message (28 bytes hexadecimal string)
-        lat_ref: previous known latitude
-        lon_ref: previous known longitude
-
-    Returns:
-        (float, float): (latitude, longitude) of the aircraft
-    """
-
-    i = oe_flag(msg)
-    d_lat = 360.0/59 if i else 360.0/60
-
-    msgbin = util.hex2bin(msg)
-    cprlat = util.bin2int(msgbin[54:71]) / 131072.0
-    cprlon = util.bin2int(msgbin[71:88]) / 131072.0
-
-    j = util.floor(lat_ref / d_lat) \
-        + util.floor(0.5 + ((lat_ref % d_lat) / d_lat) - cprlat)
-
-    lat = d_lat * (j + cprlat)
-
-    ni = _cprNL(lat) - i
-
-    if ni > 0:
-        d_lon = 360.0 / ni
-    else:
-        d_lon = 360.0
-
-    m = util.floor(lon_ref / d_lon) \
-        + util.floor(0.5 + ((lon_ref % d_lon) / d_lon) - cprlon)
-
-    lon = d_lon * (m + cprlon)
-
-    return round(lat, 5), round(lon, 5)
-
-
-def surface_position(msg0, msg1, t0, t1, lat_ref, lon_ref):
-    """Decode surface position from a pair of even and odd position message,
-    the lat/lon of receiver must be provided to yield the correct solution.
-
-    Args:
-        msg0 (string): even message (28 bytes hexadecimal string)
-        msg1 (string): odd message (28 bytes hexadecimal string)
-        t0 (int): timestamps for the even message
-        t1 (int): timestamps for the odd message
-        lat_ref (float): latitude of the receiver
-        lon_ref (float): longitude of the receiver
-
-    Returns:
-        (float, float): (latitude, longitude) of the aircraft
-    """
-
-    msgbin0 = util.hex2bin(msg0)
-    msgbin1 = util.hex2bin(msg1)
-
-    # 131072 is 2^17, since CPR lat and lon are 17 bits each.
-    cprlat_even = util.bin2int(msgbin0[54:71]) / 131072.0
-    cprlon_even = util.bin2int(msgbin0[71:88]) / 131072.0
-    cprlat_odd = util.bin2int(msgbin1[54:71]) / 131072.0
-    cprlon_odd = util.bin2int(msgbin1[71:88]) / 131072.0
-
-    air_d_lat_even = 90.0 / 60
-    air_d_lat_odd = 90.0 / 59
-
-    # compute latitude index 'j'
-    j = util.floor(59 * cprlat_even - 60 * cprlat_odd + 0.5)
-
-    # solution for north hemisphere
-    lat_even_n = float(air_d_lat_even * (j % 60 + cprlat_even))
-    lat_odd_n = float(air_d_lat_odd * (j % 59 + cprlat_odd))
-
-    # solution for north hemisphere
-    lat_even_s = lat_even_n - 90.0
-    lat_odd_s = lat_odd_n - 90.0
-
-    # chose which solution corrispondes to receiver location
-    lat_even = lat_even_n if lat_ref > 0 else lat_even_s
-    lat_odd = lat_odd_n if lat_ref > 0 else lat_odd_s
-
-    # check if both are in the same latidude zone, rare but possible
-    if _cprNL(lat_even) != _cprNL(lat_odd):
-        return None
-
-    # compute ni, longitude index m, and longitude
-    if (t0 > t1):
-        lat = lat_even
-        nl = _cprNL(lat_even)
-        ni = max(_cprNL(lat_even) - 0, 1)
-        m = util.floor(cprlon_even * (nl-1) - cprlon_odd * nl + 0.5)
-        lon = (90.0 / ni) * (m % ni + cprlon_even)
-    else:
-        lat = lat_odd
-        nl = _cprNL(lat_odd)
-        ni = max(_cprNL(lat_odd) - 1, 1)
-        m = util.floor(cprlon_even * (nl-1) - cprlon_odd * nl + 0.5)
-        lon = (90.0 / ni) * (m % ni + cprlon_odd)
-
-    # four possible longitude solutions
-    lons = [lon, lon + 90.0, lon + 180.0, lon + 270.0]
-
-    # the closest solution to receiver is the correct one
-    dls = [abs(lon_ref - l) for l in lons]
-    imin = min(range(4), key=dls.__getitem__)
-    lon = lons[imin]
-
-    return round(lat, 5), round(lon, 5)
-
-
-def surface_position_with_ref(msg, lat_ref, lon_ref):
-    """Decode surface position with only one message,
-    knowing reference nearby location, such as previously calculated location,
-    ground station, or airport location, etc. The reference position shall
-    be with in 45NM of the true position.
-
-    Args:
-        msg (string): even message (28 bytes hexadecimal string)
-        lat_ref: previous known latitude
-        lon_ref: previous known longitude
-
-    Returns:
-        (float, float): (latitude, longitude) of the aircraft
-    """
-
-    i = oe_flag(msg)
-    d_lat = 90.0/59 if i else 90.0/60
-
-    msgbin = util.hex2bin(msg)
-    cprlat = util.bin2int(msgbin[54:71]) / 131072.0
-    cprlon = util.bin2int(msgbin[71:88]) / 131072.0
-
-    j = util.floor(lat_ref / d_lat) \
-        + util.floor(0.5 + ((lat_ref % d_lat) / d_lat) - cprlat)
-
-    lat = d_lat * (j + cprlat)
-
-    ni = _cprNL(lat) - i
-
-    if ni > 0:
-        d_lon = 90.0 / ni
-    else:
-        d_lon = 90.0
-
-    m = util.floor(lon_ref / d_lon) \
-        + util.floor(0.5 + ((lon_ref % d_lon) / d_lon) - cprlon)
-
-    lon = d_lon * (m + cprlon)
-
-    return round(lat, 5), round(lon, 5)
-
-
-def _cprNL(lat):
-    """NL() function in CPR decoding
-    """
-    if lat == 0:
-        return 59
-
-    if lat == 87 or lat == -87:
-        return 2
-
-    if lat > 87 or lat < -87:
-        return 1
-
-    nz = 15
-    a = 1 - math.cos(math.pi / (2 * nz))
-    b = math.cos(math.pi / 180.0 * abs(lat)) ** 2
-    nl = 2 * math.pi / (math.acos(1 - a/b))
-    NL = util.floor(nl)
-    return NL
-
-
-def altitude(msg):
-    """Decode aircraft altitude
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        int: altitude in feet
-    """
-
-    if typecode(msg) < 5 or typecode(msg) > 18:
-        raise RuntimeError("%s: Not a position message" % msg)
-
-    if typecode(msg) >=5 and typecode(msg) <=8:
-        # surface position, altitude 0
-        return 0
-
-    msgbin = util.hex2bin(msg)
-    q = msgbin[47]
-    if q:
-        n = util.bin2int(msgbin[40:47]+msgbin[48:52])
-        alt = n * 25 - 1000
-        return alt
-    else:
-        return None
-
-
-def nic(msg):
-    """Calculate NIC, navigation integrity category
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        int: NIC number (from 0 to 11), -1 if not applicable
-    """
-    if typecode(msg) < 9 or typecode(msg) > 18:
-        raise RuntimeError("%s: Not a airborne position message, expecting 8<TC<19" % msg)
-
-    msgbin = util.hex2bin(msg)
-    tc = typecode(msg)
-    nic_sup_b = util.bin2int(msgbin[39])
-
-    if tc in [0, 18, 22]:
-        nic = 0
-    elif tc == 17:
-        nic = 1
-    elif tc == 16:
-        if nic_sup_b:
-            nic = 3
-        else:
-            nic = 2
-    elif tc == 15:
-        nic = 4
-    elif tc == 14:
-        nic = 5
-    elif tc == 13:
-        nic = 6
-    elif tc == 12:
-        nic = 7
-    elif tc == 11:
-        if nic_sup_b:
-            nic = 9
-        else:
-            nic = 8
-    elif tc in [10, 21]:
-        nic = 10
-    elif tc in [9, 20]:
-        nic = 11
-    else:
-        nic = -1
-    return nic
-
-
-# ---------------------------------------------
-# Velocity
-# ---------------------------------------------
-
-def velocity(msg):
-    """Calculate the speed, heading, and vertical rate
-    (handles both airborne or surface message)
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        (int, float, int, string): speed (kt), ground track or heading (degree),
-            rate of climb/descend (ft/min), and speed type
-            ('GS' for ground speed, 'AS' for airspeed)
-    """
-
-    if 5 <= typecode(msg) <= 8:
-        return surface_velocity(msg)
-
-    elif typecode(msg) == 19:
-        return airborne_velocity(msg)
-
-    else:
-        raise RuntimeError("incorrect or inconsistant message types, expecting 4<TC<9 or TC=19")
-
-def speed_heading(msg):
-    """Get speed and ground track (or heading) from the velocity message
-    (handles both airborne or surface message)
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        (int, float): speed (kt), ground track or heading (degree)
-    """
-    spd, trk_or_hdg, rocd, tag = velocity(msg)
-    return spd, trk_or_hdg
-
-
-def airborne_velocity(msg):
-    """Calculate the speed, track (or heading), and vertical rate
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        (int, float, int, string): speed (kt), ground track or heading (degree),
-            rate of climb/descend (ft/min), and speed type
-            ('GS' for ground speed, 'AS' for airspeed)
-    """
-
-    if typecode(msg) != 19:
-        raise RuntimeError("%s: Not a airborne velocity message, expecting TC=19" % msg)
-
-    msgbin = util.hex2bin(msg)
-
-    subtype = util.bin2int(msgbin[37:40])
-
-    if util.bin2int(msgbin[46:56]) == 0 or util.bin2int(msgbin[57:67]) == 0:
-        return None
-
-    if subtype in (1, 2):
-        v_ew_sign = -1 if int(msgbin[45]) else 1
-        v_ew = util.bin2int(msgbin[46:56]) - 1       # east-west velocity
-
-        v_ns_sign = -1 if int(msgbin[56]) else 1
-        v_ns = util.bin2int(msgbin[57:67]) - 1       # north-south velocity
-
-
-        v_we = v_ew_sign * v_ew
-        v_sn = v_ns_sign * v_ns
-
-        spd = math.sqrt(v_sn*v_sn + v_we*v_we)  # unit in kts
-
-        trk = math.atan2(v_we, v_sn)
-        trk = math.degrees(trk)                 # convert to degrees
-        trk = trk if trk >= 0 else trk + 360    # no negative val
-
-        tag = 'GS'
-        trk_or_hdg = trk
-
-    else:
-        hdg = util.bin2int(msgbin[46:56]) / 1024.0 * 360.0
-        spd = util.bin2int(msgbin[57:67])
-
-        tag = 'AS'
-        trk_or_hdg = hdg
-
-    vr_sign = -1 if int(msgbin[68]) else 1
-    vr = (util.bin2int(msgbin[69:78]) - 1) * 64     # vertical rate, fpm
-    rocd = vr_sign * vr
-
-    return int(spd), round(trk_or_hdg, 1), int(rocd), tag
-
-
-def surface_velocity(msg):
-    """Decode surface velocity from from a surface position message
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        (int, float, int, string): speed (kt), ground track (degree),
-            rate of climb/descend (ft/min), and speed type
-            ('GS' for ground speed, 'AS' for airspeed)
-    """
-
-    if typecode(msg) < 5 or typecode(msg) > 8:
-        raise RuntimeError("%s: Not a surface message, expecting 5<TC<8" % msg)
-
-    msgbin = util.hex2bin(msg)
-
-    # ground track
-    trk_status = int(msgbin[44])
-    if trk_status == 1:
-        trk = util.bin2int(msgbin[45:52]) * 360.0 / 128.0
-        trk = round(trk, 1)
-    else:
-        trk = None
-
-    # ground movment / speed
-    mov = util.bin2int(msgbin[37:44])
-
-    if mov == 0 or mov > 124:
-        spd = None
-    elif mov == 1:
-        spd = 0
-    elif mov == 124:
-        spd = 175
-    else:
-        movs = [2, 9, 13, 39, 94, 109, 124]
-        kts = [0.125, 1, 2, 15, 70, 100, 175]
-        i = next(m[0] for m in enumerate(movs) if m[1] > mov)
-        step = (kts[i] - kts[i-1]) * 1.0 / (movs[i]-movs[i-1])
-        spd = kts[i-1] + (mov-movs[i-1]) * step
-        spd = round(spd, 2)
-
-    return spd, trk, 0, 'GS'
-
-def altitude_diff(msg):
-    """Decode the differece between GNSS and barometric altitude
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string, TC=19
-
-    Returns:
-        int: Altitude difference in ft. Negative value indicates GNSS altitude
-            below barometric altitude.
-    """
-
-    if typecode(msg) != 19:
-        raise RuntimeError("incorrect message types, expecting TC=19")
-
-    msgbin = util.hex2bin(msg)
-    sign = -1 if int(msgbin[80]) else 1
-    value = util.bin2int(msgbin[81:88])
-
-    if value == 0 or value == 127:
-        return None
-    else:
-        return sign * (value - 1) * 25    # in ft.

pyModeS/c_common.pxd

@@ -0,0 +1,28 @@
+# cython: language_level=3
+
+cdef int char_to_int(unsigned char binstr)
+cdef unsigned char int_to_char(unsigned char i)
+
+cpdef str hex2bin(str hexstr)
+cpdef long bin2int(str binstr)
+cpdef long hex2int(str hexstr)
+cpdef str bin2hex(str binstr)
+
+cpdef unsigned char df(str msg)
+cpdef long crc(str msg, bint encode=*)
+
+cpdef long floor(double x)
+cpdef str icao(str msg)
+cpdef bint is_icao_assigned(str icao)
+
+cpdef int typecode(str msg)
+cpdef int cprNL(double lat)
+
+cpdef str idcode(str msg)
+cpdef str squawk(str binstr)
+
+cpdef int altcode(str msg)
+cpdef int altitude(str binstr)
+
+cpdef str data(str msg)
+cpdef bint allzeros(str msg)

pyModeS/c_common.pyi

@@ -0,0 +1,18 @@
+def hex2bin(hexstr: str) -> str: ...
+def bin2int(binstr: str) -> int: ...
+def hex2int(hexstr: str) -> int: ...
+def bin2hex(binstr: str) -> str: ...
+def df(msg: str) -> int: ...
+def crc(msg: str, encode: bool = False) -> int: ...
+def floor(x: float) -> float: ...
+def icao(msg: str) -> str: ...
+def is_icao_assigned(icao: str) -> bool: ...
+def typecode(msg: str) -> int: ...
+def cprNL(lat: float) -> int: ...
+def idcode(msg: str) -> str: ...
+def squawk(binstr: str) -> str: ...
+def altcode(msg: str) -> int: ...
+def altitude(binstr: str) -> int: ...
+def data(msg: str) -> str: ...
+def allzeros(msg: str) -> bool: ...
+def wrongstatus(data: str, sb: int, msb: int, lsb: int) -> bool: ...

pyModeS/c_common.pyx

@@ -0,0 +1,405 @@
+# cython: language_level=3
+
+cimport cython
+from cpython cimport array
+from cpython.bytes cimport PyBytes_GET_SIZE
+from cpython.bytearray cimport PyByteArray_GET_SIZE
+
+from libc.math cimport abs, cos, acos, fabs, M_PI as pi, floor as c_floor
+
+
+cdef int char_to_int(unsigned char binstr):
+    if 48 <= binstr <= 57:  # 0 to 9
+        return binstr - 48
+    if 97 <= binstr <= 102: # a to f
+        return binstr - 97 + 10
+    if 65 <= binstr <= 70: # A to F
+        return binstr - 65 + 10
+    return 0
+
+cdef unsigned char int_to_char(unsigned char i):
+    if i < 10:
+        return 48 + i  # "0" + i
+    return 97 - 10 + i  # "a" - 10 + i
+
+@cython.boundscheck(False)
+@cython.overflowcheck(False)
+cpdef str hex2bin(str hexstr):
+    """Convert a hexadecimal string to binary string, with zero fillings."""
+    # num_of_bits = len(hexstr) * 4
+    cdef hexbytes = bytes(hexstr.encode())
+    cdef Py_ssize_t len_hexstr = PyBytes_GET_SIZE(hexbytes)
+    # binstr = bin(int(hexbytes, 16))[2:].zfill(int(num_of_bits))
+    cdef bytearray _binstr = bytearray(4 * len_hexstr)
+    cdef unsigned char[:] binstr = _binstr
+    cdef unsigned char int_
+    cdef Py_ssize_t i
+    for i in range(len_hexstr):
+        int_ = char_to_int(hexbytes[i])
+        binstr[4*i] = int_to_char((int_  >> 3) & 1)
+        binstr[4*i+1] = int_to_char((int_ >> 2) & 1)
+        binstr[4*i+2] = int_to_char((int_ >> 1) & 1)
+        binstr[4*i+3] = int_to_char((int_) & 1)
+    return _binstr.decode()
+
+@cython.boundscheck(False)
+cpdef long bin2int(str binstr):
+    """Convert a binary string to integer."""
+    # return int(binstr, 2)
+    cdef bytearray binbytes = bytearray(binstr.encode())
+    cdef Py_ssize_t len_ = PyByteArray_GET_SIZE(binbytes)
+    cdef long cumul = 0
+    cdef unsigned char[:] v_binstr = binbytes
+    for i in range(len_):
+        cumul = 2*cumul + char_to_int(v_binstr[i])
+    return cumul
+
+@cython.boundscheck(False)
+cpdef long hex2int(str hexstr):
+    """Convert a binary string to integer."""
+    # return int(hexstr, 2)
+    cdef bytearray binbytes = bytearray(hexstr.encode())
+    cdef Py_ssize_t len_ = PyByteArray_GET_SIZE(binbytes)
+    cdef long cumul = 0
+    cdef unsigned char[:] v_hexstr = binbytes
+    for i in range(len_):
+        cumul = 16*cumul + char_to_int(v_hexstr[i])
+    return cumul
+
+@cython.boundscheck(False)
+cpdef str bin2hex(str binstr):
+    return "{0:X}".format(int(binstr, 2))
+
+
+@cython.boundscheck(False)
+cpdef unsigned char df(str msg):
+    """Decode Downlink Format value, bits 1 to 5."""
+    cdef str dfbin = hex2bin(msg[:2])
+    # return min(bin2int(dfbin[0:5]), 24)
+    cdef long df = bin2int(dfbin[0:5])
+    if df > 24:
+        return 24
+    return df
+
+# the CRC generator
+# G = [int("11111111", 2), int("11111010", 2), int("00000100", 2), int("10000000", 2)]
+cdef array.array _G = array.array('l', [0b11111111, 0b11111010, 0b00000100, 0b10000000])
+
+@cython.boundscheck(False)
+@cython.wraparound(False)
+cpdef long crc(str msg, bint encode=False):
+    """Mode-S Cyclic Redundancy Check.
+
+    Detect if bit error occurs in the Mode-S message. When encode option is on,
+    the checksum is generated.
+
+    Args:
+        msg (string): 28 bytes hexadecimal message string
+        encode (bool): True to encode the date only and return the checksum
+    Returns:
+        int: message checksum, or partity bits (encoder)
+
+    """
+    # the CRC generator
+    # G = [int("11111111", 2), int("11111010", 2), int("00000100", 2), int("10000000", 2)]
+    # cdef array.array _G = array.array('l', [0b11111111, 0b11111010, 0b00000100, 0b10000000])
+    cdef long[4] G = _G
+
+    # msgbin_split = wrap(msgbin, 8)
+    # mbytes = list(map(bin2int, msgbin_split))
+    cdef bytearray _msgbin = bytearray(hex2bin(msg).encode())
+    cdef unsigned char[:] msgbin = _msgbin
+
+    cdef Py_ssize_t len_msgbin = PyByteArray_GET_SIZE(_msgbin)
+    cdef Py_ssize_t len_mbytes = len_msgbin // 8
+    cdef Py_ssize_t i
+
+    if encode:
+        for i in range(len_msgbin - 24, len_msgbin):
+            msgbin[i] = 0
+
+    cdef array.array _mbytes = array.array(
+        'l', [bin2int(_msgbin[8*i:8*i+8].decode()) for i in range(len_mbytes)]
+    )
+
+    cdef long[:] mbytes = _mbytes
+
+    cdef long bits, mask
+    cdef Py_ssize_t ibyte, ibit
+
+    for ibyte in range(len_mbytes - 3):
+        for ibit in range(8):
+            mask = 0x80 >> ibit
+            bits = mbytes[ibyte] & mask
+
+            if bits > 0:
+                mbytes[ibyte] = mbytes[ibyte] ^ (G[0] >> ibit)
+                mbytes[ibyte + 1] = mbytes[ibyte + 1] ^ (
+                    0xFF & ((G[0] << 8 - ibit) | (G[1] >> ibit))
+                )
+                mbytes[ibyte + 2] = mbytes[ibyte + 2] ^ (
+                    0xFF & ((G[1] << 8 - ibit) | (G[2] >> ibit))
+                )
+                mbytes[ibyte + 3] = mbytes[ibyte + 3] ^ (
+                    0xFF & ((G[2] << 8 - ibit) | (G[3] >> ibit))
+                )
+
+    cdef long result = (mbytes[len_mbytes-3] << 16) | (mbytes[len_mbytes-2] << 8) | mbytes[len_mbytes-1]
+
+    return result
+
+
+
+cpdef long floor(double x):
+    """Mode-S floor function.
+
+    Defined as the greatest integer value k, such that k <= x
+    For example: floor(3.6) = 3 and floor(-3.6) = -4
+
+    """
+    return <long> c_floor(x)
+
+cpdef str icao(str msg):
+    """Calculate the ICAO address from an Mode-S message."""
+    cdef unsigned char DF = df(msg)
+    cdef long c0, c1
+
+    if DF in (11, 17, 18):
+        addr = msg[2:8]
+    elif DF in (0, 4, 5, 16, 20, 21):
+        c0 = crc(msg, encode=True)
+        c1 = hex2int(msg[-6:])
+        addr = "%06X" % (c0 ^ c1)
+    else:
+        addr = None
+
+    return addr
+
+
+cpdef bint is_icao_assigned(str icao):
+    """Check whether the ICAO address is assigned (Annex 10, Vol 3)."""
+    if (icao is None) or (not isinstance(icao, str)) or (len(icao) != 6):
+        return False
+
+    cdef long icaoint = hex2int(icao)
+
+    if 0x200000 < icaoint < 0x27FFFF:
+        return False  # AFI
+    if 0x280000 < icaoint < 0x28FFFF:
+        return False  # SAM
+    if 0x500000 < icaoint < 0x5FFFFF:
+        return False  # EUR, NAT
+    if 0x600000 < icaoint < 0x67FFFF:
+        return False  # MID
+    if 0x680000 < icaoint < 0x6F0000:
+        return False  # ASIA
+    if 0x900000 < icaoint < 0x9FFFFF:
+        return False  # NAM, PAC
+    if 0xB00000 < icaoint < 0xBFFFFF:
+        return False  # CAR
+    if 0xD00000 < icaoint < 0xDFFFFF:
+        return False  # future
+    if 0xF00000 < icaoint < 0xFFFFFF:
+        return False  # future
+
+    return True
+
+@cython.boundscheck(False)
+@cython.wraparound(False)
+cpdef int typecode(str msg):
+    """Type code of ADS-B message"""
+    if df(msg) not in (17, 18):
+        return -1
+        # return None
+
+    cdef str tcbin = hex2bin(msg[8:10])
+    return bin2int(tcbin[0:5])
+
+@cython.cdivision(True)
+cpdef int cprNL(double lat):
+    """NL() function in CPR decoding."""
+
+    if abs(lat) <= 1e-08:
+        return 59
+    elif abs(abs(lat) - 87) <= 1e-08 + 1e-05 * 87:
+        return 2
+    elif lat > 87 or lat < -87:
+        return 1
+
+    cdef int nz = 15
+    cdef double a = 1 - cos(pi / (2 * nz))
+    cdef double b = cos(pi / 180 * fabs(lat)) ** 2
+    cdef double nl = 2 * pi / (acos(1 - a / b))
+    NL = floor(nl)
+    return NL
+
+@cython.boundscheck(False)
+@cython.wraparound(False)
+cpdef str idcode(str msg):
+    """Compute identity (squawk code)."""
+    if df(msg) not in [5, 21]:
+        raise RuntimeError("Message must be Downlink Format 5 or 21.")
+
+    squawk_code = squawk(hex2bin(msg)[19:32])
+    return squawk_code
+
+
+@cython.boundscheck(False)
+@cython.wraparound(False)
+cpdef str squawk(str binstr):
+    """Compute identity (squawk code)."""
+
+    if len(binstr) != 13 or set(binstr) != set('01'):
+        raise RuntimeError("Input must be 13 bits binary string")
+
+    cdef bytearray _mbin = bytearray(binstr.encode())
+    cdef unsigned char[:] mbin = _mbin
+
+    cdef bytearray _idcode = bytearray(4)
+    cdef unsigned char[:] idcode = _idcode
+
+    cdef unsigned char C1 = mbin[0]
+    cdef unsigned char A1 = mbin[1]
+    cdef unsigned char C2 = mbin[2]
+    cdef unsigned char A2 = mbin[3]
+    cdef unsigned char C4 = mbin[4]
+    cdef unsigned char A4 = mbin[5]
+    # X = mbin[6]
+    cdef unsigned char B1 = mbin[7]
+    cdef unsigned char D1 = mbin[8]
+    cdef unsigned char B2 = mbin[9]
+    cdef unsigned char D2 = mbin[10]
+    cdef unsigned char B4 = mbin[11]
+    cdef unsigned char D4 = mbin[12]
+
+    idcode[0] = int_to_char((char_to_int(A4)*2 + char_to_int(A2))*2 + char_to_int(A1))
+    idcode[1] = int_to_char((char_to_int(B4)*2 + char_to_int(B2))*2 + char_to_int(B1))
+    idcode[2] = int_to_char((char_to_int(C4)*2 + char_to_int(C2))*2 + char_to_int(C1))
+    idcode[3] = int_to_char((char_to_int(D4)*2 + char_to_int(D2))*2 + char_to_int(D1))
+
+    return _idcode.decode()
+
+
+@cython.boundscheck(False)
+@cython.wraparound(False)
+cpdef int altcode(str msg):
+    """Compute the altitude."""
+    if df(msg) not in [0, 4, 16, 20]:
+        raise RuntimeError("Message must be Downlink Format 0, 4, 16, or 20.")
+
+    alt = altitude(hex2bin(msg)[19:32])
+    return alt
+
+
+@cython.boundscheck(False)
+@cython.wraparound(False)
+cpdef int altitude(str binstr):
+
+    if len(binstr) != 13 or not set(binstr).issubset(set("01")):
+        raise RuntimeError("Input must be 13 bits binary string")
+
+    cdef bytearray _mbin = bytearray(binstr.encode())
+    cdef unsigned char[:] mbin = _mbin
+
+    cdef char Mbit = binstr[6]
+    cdef char Qbit = binstr[8]
+
+    cdef int alt = 0
+    cdef bytearray vbin
+    cdef bytearray _graybytes = bytearray(11)
+    cdef unsigned char[:] graybytes = _graybytes
+
+    if bin2int(binstr) == 0:
+        # altitude unknown or invalid
+        alt = -999999
+
+    elif Mbit == 48:  # unit in ft, "0" -> 48
+        if Qbit == 49:  # 25ft interval, "1" -> 49
+            vbin = _mbin[:6] + _mbin[7:8] + _mbin[9:]
+            alt = bin2int(vbin.decode()) * 25 - 1000
+        if Qbit == 48:  # 100ft interval, above 50175ft, "0" -> 48
+            graybytes[8] = mbin[0]
+            graybytes[2] = mbin[1]
+            graybytes[9] = mbin[2]
+            graybytes[3] = mbin[3]
+            graybytes[10] = mbin[4]
+            graybytes[4] = mbin[5]
+            # M = mbin[6]
+            graybytes[5] = mbin[7]
+            # Q = mbin[8]
+            graybytes[6] = mbin[9]
+            graybytes[0] = mbin[10]
+            graybytes[7] = mbin[11]
+            graybytes[1] = mbin[12]
+
+            alt = gray2alt(_graybytes.decode())
+
+    elif Mbit == 49:  # unit in meter, "1" -> 49
+        vbin = _mbin[:6] + _mbin[7:]
+        alt = int(bin2int(vbin.decode()) * 3.28084)  # convert to ft
+
+    return alt
+
+
+cpdef int gray2alt(str codestr):
+    cdef str gc500 = codestr[:8]
+    cdef int n500 = gray2int(gc500)
+
+    # in 100-ft step must be converted first
+    cdef str gc100 = codestr[8:]
+    cdef int n100 = gray2int(gc100)
+
+    if n100 in [0, 5, 6]:
+        return -1
+        #return None
+
+    if n100 == 7:
+        n100 = 5
+
+    if n500 % 2:
+        n100 = 6 - n100
+
+    alt = (n500 * 500 + n100 * 100) - 1300
+    return alt
+
+
+cdef int gray2int(str graystr):
+    """Convert greycode to binary."""
+    cdef int num = bin2int(graystr)
+    num ^= num >> 8
+    num ^= num >> 4
+    num ^= num >> 2
+    num ^= num >> 1
+    return num
+
+
+cpdef str data(str msg):
+    """Return the data frame in the message, bytes 9 to 22."""
+    return msg[8:-6]
+
+
+cpdef bint allzeros(str msg):
+    """Check if the data bits are all zeros."""
+    d = hex2bin(data(msg))
+
+    if bin2int(d) > 0:
+        return False
+    else:
+        return True
+
+
+def wrongstatus(data, sb, msb, lsb):
+    """Check if the status bit and field bits are consistency.
+
+    This Function is used for checking BDS code versions.
+
+    """
+    # status bit, most significant bit, least significant bit
+    status = int(data[sb - 1])
+    value = bin2int(data[msb - 1 : lsb])
+
+    if not status:
+        if value != 0:
+            return True
+
+    return False

pyModeS/common.pyi

@@ -0,0 +1,22 @@
+from typing import Optional
+
+def hex2bin(hexstr: str) -> str: ...
+def bin2int(binstr: str) -> int: ...
+def hex2int(hexstr: str) -> int: ...
+def bin2hex(binstr: str) -> str: ...
+def df(msg: str) -> int: ...
+def crc(msg: str, encode: bool = False) -> int: ...
+def floor(x: float) -> float: ...
+def icao(msg: str) -> Optional[str]: ...
+def is_icao_assigned(icao: str) -> bool: ...
+def typecode(msg: str) -> Optional[int]: ...
+def cprNL(lat: float) -> int: ...
+def idcode(msg: str) -> str: ...
+def squawk(binstr: str) -> str: ...
+def altcode(msg: str) -> Optional[int]: ...
+def altitude(binstr: str) -> Optional[int]: ...
+def gray2alt(binstr: str) -> Optional[int]: ...
+def gray2int(binstr: str) -> int: ...
+def data(msg: str) -> str: ...
+def allzeros(msg: str) -> bool: ...
+def wrongstatus(data: str, sb: int, msb: int, lsb: int) -> bool: ...

pyModeS/decoder/__init__.py

@@ -0,0 +1,237 @@
+def tell(msg: str) -> None:
+    from .. import common, adsb, commb, bds
+
+    def _print(label, value, unit=None):
+        print("%28s: " % label, end="")
+        print("%s " % value, end="")
+        if unit:
+            print(unit)
+        else:
+            print()
+
+    df = common.df(msg)
+    icao = common.icao(msg)
+
+    _print("Message", msg)
+    _print("ICAO address", icao)
+    _print("Downlink Format", df)
+
+    if df == 17:
+        _print("Protocol", "Mode-S Extended Squitter (ADS-B)")
+
+        tc = common.typecode(msg)
+
+        if tc is None:
+            _print("ERROR", "Unknown typecode")
+            return
+
+        if 1 <= tc <= 4:  # callsign
+            callsign = adsb.callsign(msg)
+            _print("Type", "Identification and category")
+            _print("Callsign:", callsign)
+
+        if 5 <= tc <= 8:  # surface position
+            _print("Type", "Surface position")
+            oe = adsb.oe_flag(msg)
+            msgbin = common.hex2bin(msg)
+            cprlat = common.bin2int(msgbin[54:71]) / 131072.0
+            cprlon = common.bin2int(msgbin[71:88]) / 131072.0
+            v = adsb.surface_velocity(msg)
+            _print("CPR format", "Odd" if oe else "Even")
+            _print("CPR Latitude", cprlat)
+            _print("CPR Longitude", cprlon)
+            _print("Speed", v[0], "knots")
+            _print("Track", v[1], "degrees")
+
+        if 9 <= tc <= 18:  # airborne position
+            _print("Type", "Airborne position (with barometric altitude)")
+            alt = adsb.altitude(msg)
+            oe = adsb.oe_flag(msg)
+            msgbin = common.hex2bin(msg)
+            cprlat = common.bin2int(msgbin[54:71]) / 131072.0
+            cprlon = common.bin2int(msgbin[71:88]) / 131072.0
+            _print("CPR format", "Odd" if oe else "Even")
+            _print("CPR Latitude", cprlat)
+            _print("CPR Longitude", cprlon)
+            _print("Altitude", alt, "feet")
+
+        if tc == 19:
+            _print("Type", "Airborne velocity")
+            velocity = adsb.velocity(msg)
+            if velocity is not None:
+                spd, trk, vr, t = velocity
+                types = {"GS": "Ground speed", "TAS": "True airspeed"}
+                _print("Speed", spd, "knots")
+                _print("Track", trk, "degrees")
+                _print("Vertical rate", vr, "feet/minute")
+                _print("Type", types[t])
+
+        if 20 <= tc <= 22:  # airborne position
+            _print("Type", "Airborne position (with GNSS altitude)")
+            alt = adsb.altitude(msg)
+            oe = adsb.oe_flag(msg)
+            msgbin = common.hex2bin(msg)
+            cprlat = common.bin2int(msgbin[54:71]) / 131072.0
+            cprlon = common.bin2int(msgbin[71:88]) / 131072.0
+            _print("CPR format", "Odd" if oe else "Even")
+            _print("CPR Latitude", cprlat)
+            _print("CPR Longitude", cprlon)
+            _print("Altitude", alt, "feet")
+
+        if tc == 29:  # target state and status
+            _print("Type", "Target State and Status")
+            subtype = common.bin2int((common.hex2bin(msg)[32:])[5:7])
+            _print("Subtype", subtype)
+            tcas_operational = adsb.tcas_operational(msg)
+            types_29 = {0: "Not Engaged", 1: "Engaged"}
+            tcas_operational_types = {0: "Not Operational", 1: "Operational"}
+            if subtype == 0:
+                emergency_types = {
+                    0: "No emergency",
+                    1: "General emergency",
+                    2: "Lifeguard/medical emergency",
+                    3: "Minimum fuel",
+                    4: "No communications",
+                    5: "Unlawful interference",
+                    6: "Downed aircraft",
+                    7: "Reserved",
+                }
+                vertical_horizontal_types = {
+                    1: "Acquiring mode",
+                    2: "Capturing/Maintaining mode",
+                }
+                tcas_ra_types = {0: "Not active", 1: "Active"}
+                alt, alt_source, alt_ref = adsb.target_altitude(msg)
+                angle, angle_type, angle_source = adsb.target_angle(msg)
+                vertical_mode = adsb.vertical_mode(msg)
+                horizontal_mode = adsb.horizontal_mode(msg)
+                tcas_ra = adsb.tcas_ra(msg)
+                emergency_status = adsb.emergency_status(msg)
+                _print("Target altitude", alt, "feet")
+                _print("Altitude source", alt_source)
+                _print("Altitude reference", alt_ref)
+                _print("Angle", angle, "°")
+                _print("Angle Type", angle_type)
+                _print("Angle Source", angle_source)
+                if vertical_mode is not None:
+                    _print(
+                        "Vertical mode",
+                        vertical_horizontal_types[vertical_mode],
+                    )
+                if horizontal_mode is not None:
+                    _print(
+                        "Horizontal mode",
+                        vertical_horizontal_types[horizontal_mode],
+                    )
+                _print(
+                    "TCAS/ACAS",
+                    tcas_operational_types[tcas_operational]
+                    if tcas_operational
+                    else None,
+                )
+                _print("TCAS/ACAS RA", tcas_ra_types[tcas_ra])
+                _print("Emergency status", emergency_types[emergency_status])
+            else:
+                alt, alt_source = adsb.selected_altitude(msg)  # type: ignore
+                baro = adsb.baro_pressure_setting(msg)
+                hdg = adsb.selected_heading(msg)
+                autopilot = adsb.autopilot(msg)
+                vnav = adsb.vnav_mode(msg)
+                alt_hold = adsb.altitude_hold_mode(msg)
+                app = adsb.approach_mode(msg)
+                lnav = adsb.lnav_mode(msg)
+                _print("Selected altitude", alt, "feet")
+                _print("Altitude source", alt_source)
+                _print(
+                    "Barometric pressure setting",
+                    baro,
+                    "" if baro is None else "millibars",
+                )
+                _print("Selected Heading", hdg, "°")
+                if not (common.bin2int((common.hex2bin(msg)[32:])[46]) == 0):
+                    _print(
+                        "Autopilot", types_29[autopilot] if autopilot else None
+                    )
+                    _print("VNAV mode", types_29[vnav] if vnav else None)
+                    _print(
+                        "Altitude hold mode",
+                        types_29[alt_hold] if alt_hold else None,
+                    )
+                    _print("Approach mode", types_29[app] if app else None)
+                    _print(
+                        "TCAS/ACAS",
+                        tcas_operational_types[tcas_operational]
+                        if tcas_operational
+                        else None,
+                    )
+                    _print("LNAV mode", types_29[lnav] if lnav else None)
+
+    if df == 20:
+        _print("Protocol", "Mode-S Comm-B altitude reply")
+        _print("Altitude", common.altcode(msg), "feet")
+
+    if df == 21:
+        _print("Protocol", "Mode-S Comm-B identity reply")
+        _print("Squawk code", common.idcode(msg))
+
+    if df == 20 or df == 21:
+        labels = {
+            "BDS10": "Data link capability",
+            "BDS17": "GICB capability",
+            "BDS20": "Aircraft identification",
+            "BDS30": "ACAS resolution",
+            "BDS40": "Vertical intention report",
+            "BDS50": "Track and turn report",
+            "BDS60": "Heading and speed report",
+            "BDS44": "Meteorological routine air report",
+            "BDS45": "Meteorological hazard report",
+            "EMPTY": "[No information available]",
+        }
+
+        BDS = bds.infer(msg, mrar=True)
+        if BDS is not None and BDS in labels.keys():
+            _print("BDS", "%s (%s)" % (BDS, labels[BDS]))
+        else:
+            _print("BDS", BDS)
+
+        if BDS == "BDS20":
+            callsign = commb.cs20(msg)
+            _print("Callsign", callsign)
+
+        if BDS == "BDS40":
+            _print("MCP target alt", commb.selalt40mcp(msg), "feet")
+            _print("FMS Target alt", commb.selalt40fms(msg), "feet")
+            _print("Pressure", commb.p40baro(msg), "millibar")
+
+        if BDS == "BDS50":
+            _print("Roll angle", commb.roll50(msg), "degrees")
+            _print("Track angle", commb.trk50(msg), "degrees")
+            _print("Track rate", commb.rtrk50(msg), "degree/second")
+            _print("Ground speed", commb.gs50(msg), "knots")
+            _print("True airspeed", commb.tas50(msg), "knots")
+
+        if BDS == "BDS60":
+            _print("Magnetic Heading", commb.hdg60(msg), "degrees")
+            _print("Indicated airspeed", commb.ias60(msg), "knots")
+            _print("Mach number", commb.mach60(msg))
+            _print("Vertical rate (Baro)", commb.vr60baro(msg), "feet/minute")
+            _print("Vertical rate (INS)", commb.vr60ins(msg), "feet/minute")
+
+        if BDS == "BDS44":
+            _print("Wind speed", commb.wind44(msg)[0], "knots")
+            _print("Wind direction", commb.wind44(msg)[1], "degrees")
+            _print("Temperature 1", commb.temp44(msg)[0], "Celsius")
+            _print("Temperature 2", commb.temp44(msg)[1], "Celsius")
+            _print("Pressure", commb.p44(msg), "hPa")
+            _print("Humidity", commb.hum44(msg), "%")
+            _print("Turbulence", commb.turb44(msg))
+
+        if BDS == "BDS45":
+            _print("Turbulence", commb.turb45(msg))
+            _print("Wind shear", commb.ws45(msg))
+            _print("Microbust", commb.mb45(msg))
+            _print("Icing", commb.ic45(msg))
+            _print("Wake vortex", commb.wv45(msg))
+            _print("Temperature", commb.temp45(msg), "Celsius")
+            _print("Pressure", commb.p45(msg), "hPa")
+            _print("Radio height", commb.rh45(msg), "feet")

pyModeS/decoder/acas.py

@@ -0,0 +1,5 @@
+"""
+Decoding Air-Air Surveillance (ACAS) DF=0/16
+
+[To be implemented]
+"""

pyModeS/decoder/adsb.py

@@ -0,0 +1,653 @@
+"""ADS-B module.
+
+The ADS-B module also imports functions from the following modules:
+
+- bds05: ``airborne_position()``, ``airborne_position_with_ref()``,
+  ``altitude()``
+- bds06: ``surface_position()``, ``surface_position_with_ref()``,
+  ``surface_velocity()``
+- bds08: ``category()``, ``callsign()``
+- bds09: ``airborne_velocity()``, ``altitude_diff()``
+
+"""
+
+from __future__ import annotations
+
+from datetime import datetime
+
+from .. import common
+from . import uncertainty
+from .bds.bds05 import airborne_position, airborne_position_with_ref
+from .bds.bds05 import altitude as altitude05
+from .bds.bds06 import (
+    surface_position,
+    surface_position_with_ref,
+    surface_velocity,
+)
+from .bds.bds08 import callsign, category
+from .bds.bds09 import airborne_velocity, altitude_diff
+from .bds.bds61 import emergency_squawk, emergency_state, is_emergency
+from .bds.bds62 import (
+    altitude_hold_mode,
+    approach_mode,
+    autopilot,
+    baro_pressure_setting,
+    emergency_status,
+    horizontal_mode,
+    lnav_mode,
+    selected_altitude,
+    selected_heading,
+    target_altitude,
+    target_angle,
+    tcas_operational,
+    tcas_ra,
+    vertical_mode,
+    vnav_mode,
+)
+
+__all__ = [
+    "airborne_position",
+    "airborne_position_with_ref",
+    "altitude05",
+    "surface_position",
+    "surface_position_with_ref",
+    "surface_velocity",
+    "callsign",
+    "category",
+    "airborne_velocity",
+    "altitude_diff",
+    "emergency_squawk",
+    "emergency_state",
+    "is_emergency",
+    "df",
+    "icao",
+    "typecode",
+    "position",
+    "position_with_ref",
+    "altitude",
+    "velocity",
+    "speed_heading",
+    "oe_flag",
+    "version",
+    "nuc_p",
+    "nuc_v",
+    "nic_v1",
+    "nic_v2",
+    "nic_s",
+    "nic_a_c",
+    "nic_b",
+    "nac_p",
+    "nac_v",
+    "sil",
+    "selected_altitude",
+    "target_altitude",
+    "vertical_mode",
+    "horizontal_mode",
+    "selected_heading",
+    "target_angle",
+    "baro_pressure_setting",
+    "autopilot",
+    "vnav_mode",
+    "altitude_hold_mode",
+    "approach_mode",
+    "lnav_mode",
+    "tcas_operational",
+    "tcas_ra",
+    "emergency_status",
+]
+
+
+def df(msg: str) -> int:
+    return common.df(msg)
+
+
+def icao(msg: str) -> None | str:
+    return common.icao(msg)
+
+
+def typecode(msg: str) -> None | int:
+    return common.typecode(msg)
+
+
+def position(
+    msg0: str,
+    msg1: str,
+    t0: int | datetime,
+    t1: int | datetime,
+    lat_ref: None | float = None,
+    lon_ref: None | float = None,
+) -> None | tuple[float, float]:
+    """Decode surface or airborne position from a pair of even and odd
+    position messages.
+
+    Note, that to decode surface position using the position message pair,
+    the reference position has to be provided.
+
+    Args:
+        msg0 (string): even message (28 hexdigits)
+        msg1 (string): odd message (28 hexdigits)
+        t0 (int): timestamps for the even message
+        t1 (int): timestamps for the odd message
+        lat_ref (float): latitude of reference position
+        lon_ref (float): longitude of reference position
+
+    Returns:
+        (float, float): (latitude, longitude) of the aircraft
+
+    """
+    tc0 = typecode(msg0)
+    tc1 = typecode(msg1)
+
+    if tc0 is None or tc1 is None:
+        raise RuntimeError("Incorrect or inconsistent message types")
+
+    if 5 <= tc0 <= 8 and 5 <= tc1 <= 8:
+        if lat_ref is None or lon_ref is None:
+            raise RuntimeError(
+                "Surface position encountered, a reference position"
+                " lat/lon required. Location of receiver can be used."
+            )
+        else:
+            return surface_position(msg0, msg1, t0, t1, lat_ref, lon_ref)
+
+    elif 9 <= tc0 <= 18 and 9 <= tc1 <= 18:
+        # Airborne position with barometric height
+        return airborne_position(msg0, msg1, t0, t1)
+
+    elif 20 <= tc0 <= 22 and 20 <= tc1 <= 22:
+        # Airborne position with GNSS height
+        return airborne_position(msg0, msg1, t0, t1)
+
+    else:
+        raise RuntimeError("Incorrect or inconsistent message types")
+
+
+def position_with_ref(msg: str, lat_ref: float, lon_ref: float) -> tuple[float, float]:
+    """Decode position with only one message.
+
+    A reference position is required, which can be previously
+    calculated location, ground station, or airport location.
+    The function works with both airborne and surface position messages.
+    The reference position shall be within 180NM (airborne) or 45NM (surface)
+    of the true position.
+
+    Args:
+        msg (str): even message (28 hexdigits)
+        lat_ref: previous known latitude
+        lon_ref: previous known longitude
+
+    Returns:
+        (float, float): (latitude, longitude) of the aircraft
+    """
+
+    tc = typecode(msg)
+
+    if tc is None:
+        raise RuntimeError("incorrect or inconsistent message types")
+
+    if 5 <= tc <= 8:
+        return surface_position_with_ref(msg, lat_ref, lon_ref)
+
+    elif 9 <= tc <= 18 or 20 <= tc <= 22:
+        return airborne_position_with_ref(msg, lat_ref, lon_ref)
+
+    else:
+        raise RuntimeError("incorrect or inconsistent message types")
+
+
+def altitude(msg: str) -> None | float:
+    """Decode aircraft altitude.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: altitude in feet
+
+    """
+    tc = typecode(msg)
+
+    if tc is None or tc < 5 or tc == 19 or tc > 22:
+        raise RuntimeError("%s: Not a position message" % msg)
+
+    elif tc >= 5 and tc <= 8:
+        # surface position, altitude 0
+        return 0
+
+    else:
+        # airborn position
+        return altitude05(msg)
+
+
+def velocity(
+    msg: str, source: bool = False
+) -> None | tuple[None | float, None | float, None | int, str]:
+    """Calculate the speed, heading, and vertical rate
+       (handles both airborne or surface message).
+
+    Args:
+        msg (str): 28 hexdigits string
+        source (boolean): Include direction and vertical rate sources in return.
+            Default to False.
+            If set to True, the function will return six value instead of four.
+
+    Returns:
+        int, float, int, string, [string], [string]:
+            - Speed (kt)
+            - Angle (degree), either ground track or heading
+            - Vertical rate (ft/min)
+            - Speed type ('GS' for ground speed, 'AS' for airspeed)
+            - [Optional] Direction source ('TRUE_NORTH' or 'MAGNETIC_NORTH')
+            - [Optional] Vertical rate source ('BARO' or 'GNSS')
+
+        For surface messages, vertical rate and its respective sources are set
+        to None.
+
+    """
+    tc = typecode(msg)
+    error = "incorrect or inconsistent message types, expecting 4<TC<9 or TC=19"
+    if tc is None:
+        raise RuntimeError(error)
+
+    if 5 <= tc <= 8:
+        return surface_velocity(msg, source)
+
+    elif tc == 19:
+        return airborne_velocity(msg, source)
+
+    else:
+        raise RuntimeError(error)
+
+
+def speed_heading(msg: str) -> None | tuple[None | float, None | float]:
+    """Get speed and ground track (or heading) from the velocity message
+    (handles both airborne or surface message)
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        (int, float): speed (kt), ground track or heading (degree)
+    """
+    decoded = velocity(msg)
+    if decoded is None:
+        return None
+    spd, trk_or_hdg, rocd, tag = decoded
+    return spd, trk_or_hdg
+
+
+def oe_flag(msg: str) -> int:
+    """Check the odd/even flag. Bit 54, 0 for even, 1 for odd.
+    Args:
+        msg (str): 28 hexdigits string
+    Returns:
+        int: 0 or 1, for even or odd frame
+    """
+    msgbin = common.hex2bin(msg)
+    return int(msgbin[53])
+
+
+def version(msg: str) -> int:
+    """ADS-B Version
+
+    Args:
+        msg (str): 28 hexdigits string, TC = 31
+
+    Returns:
+        int: version number
+    """
+    tc = typecode(msg)
+
+    if tc != 31:
+        raise RuntimeError(
+            "%s: Not a status operation message, expecting TC = 31" % msg
+        )
+
+    msgbin = common.hex2bin(msg)
+    version = common.bin2int(msgbin[72:75])
+
+    return version
+
+
+def nuc_p(msg: str) -> tuple[int, None | float, None | int, None | int]:
+    """Calculate NUCp, Navigation Uncertainty Category - Position
+    (ADS-B version 1)
+
+    Args:
+        msg (str): 28 hexdigits string,
+
+    Returns:
+        int: NUCp, Navigation Uncertainty Category (position)
+        int: Horizontal Protection Limit
+        int: 95% Containment Radius - Horizontal (meters)
+        int: 95% Containment Radius - Vertical (meters)
+
+    """
+    tc = typecode(msg)
+
+    if tc is None or tc < 5 or tc is None or tc > 22:
+        raise RuntimeError(
+            "%s: Not a surface position message (5<TC<8), \
+            airborne position message (8<TC<19), \
+            or airborne position with GNSS height (20<TC<22)"
+            % msg
+        )
+
+    NUCp = uncertainty.TC_NUCp_lookup[tc]
+    index = uncertainty.NUCp.get(NUCp, None)
+
+    if index is not None:
+        HPL = index["HPL"]
+        RCu = index["RCu"]
+        RCv = index["RCv"]
+    else:
+        HPL, RCu, RCv = uncertainty.NA, uncertainty.NA, uncertainty.NA
+
+    RCv = uncertainty.NA
+
+    # RCv only available for GNSS height
+    if tc == 20:
+        RCv = 4
+    elif tc == 21:
+        RCv = 15
+
+    return NUCp, HPL, RCu, RCv
+
+
+def nuc_v(msg: str) -> tuple[int, None | float, None | float]:
+    """Calculate NUCv, Navigation Uncertainty Category - Velocity
+    (ADS-B version 1)
+
+    Args:
+        msg (str): 28 hexdigits string,
+
+    Returns:
+        int: NUCv, Navigation Uncertainty Category (velocity)
+        int or string: 95% Horizontal Velocity Error
+        int or string: 95% Vertical Velocity Error
+    """
+    tc = typecode(msg)
+
+    if tc != 19:
+        raise RuntimeError(
+            "%s: Not an airborne velocity message, expecting TC = 19" % msg
+        )
+
+    msgbin = common.hex2bin(msg)
+    NUCv = common.bin2int(msgbin[42:45])
+    index = uncertainty.NUCv.get(NUCv, None)
+
+    if index is not None:
+        HVE = index["HVE"]
+        VVE = index["VVE"]
+    else:
+        HVE, VVE = uncertainty.NA, uncertainty.NA
+
+    return NUCv, HVE, VVE
+
+
+def nic_v1(msg: str, NICs: int) -> tuple[int, None | float, None | float]:
+    """Calculate NIC, navigation integrity category, for ADS-B version 1
+
+    Args:
+        msg (str): 28 hexdigits string
+        NICs (int or string): NIC supplement
+
+    Returns:
+        int: NIC, Navigation Integrity Category
+        int or string: Horizontal Radius of Containment
+        int or string: Vertical Protection Limit
+    """
+    tc = typecode(msg)
+    if tc is None or tc < 5 or tc > 22:
+        raise RuntimeError(
+            "%s: Not a surface position message (5<TC<8), \
+            airborne position message (8<TC<19), \
+            or airborne position with GNSS height (20<TC<22)"
+            % msg
+        )
+
+    NIC = uncertainty.TC_NICv1_lookup[tc]
+
+    if isinstance(NIC, dict):
+        NIC = NIC[NICs]
+
+    d_index = uncertainty.NICv1.get(NIC, None)
+    Rc, VPL = uncertainty.NA, uncertainty.NA
+
+    if d_index is not None:
+        index = d_index.get(NICs, None)
+        if index is not None:
+            Rc = index["Rc"]
+            VPL = index["VPL"]
+
+    return NIC, Rc, VPL
+
+
+def nic_v2(msg: str, NICa: int, NICbc: int) -> tuple[int | None, int | None]:
+    """Calculate NIC, navigation integrity category, for ADS-B version 2
+
+    Args:
+        msg (str): 28 hexdigits string
+        NICa (int or string): NIC supplement - A
+        NICbc (int or string): NIC supplement - B or C
+
+    Returns:
+        int: NIC, Navigation Integrity Category
+        int or string: Horizontal Radius of Containment
+    """
+    tc = typecode(msg)
+    if tc is None or tc < 5 or tc > 22:
+        raise RuntimeError(
+            "%s: Not a surface position message (5<TC<8), \
+            airborne position message (8<TC<19), \
+            or airborne position with GNSS height (20<TC<22)"
+            % msg
+        )
+
+    NIC = uncertainty.TC_NICv2_lookup[tc]
+
+    if 20 <= tc <= 22:
+        NICs = 0
+    else:
+        NICs = NICa * 2 + NICbc
+
+    try:
+        if isinstance(NIC, dict):
+            NIC = NIC[NICs]
+        Rc = uncertainty.NICv2[NIC][NICs]["Rc"]
+    except KeyError:
+        return None, None
+
+    return NIC, Rc  # type: ignore
+
+
+def nic_s(msg: str) -> int:
+    """Obtain NIC supplement bit, TC=31 message
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: NICs number (0 or 1)
+    """
+    tc = typecode(msg)
+
+    if tc != 31:
+        raise RuntimeError(
+            "%s: Not a status operation message, expecting TC = 31" % msg
+        )
+
+    msgbin = common.hex2bin(msg)
+    nic_s = int(msgbin[75])
+
+    return nic_s
+
+
+def nic_a_c(msg: str) -> tuple[int, int]:
+    """Obtain NICa/c, navigation integrity category supplements a and c
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        (int, int): NICa and NICc number (0 or 1)
+    """
+    tc = typecode(msg)
+
+    if tc != 31:
+        raise RuntimeError(
+            "%s: Not a status operation message, expecting TC = 31" % msg
+        )
+
+    msgbin = common.hex2bin(msg)
+    nic_a = int(msgbin[75])
+    nic_c = int(msgbin[51])
+
+    return nic_a, nic_c
+
+
+def nic_b(msg: str) -> int:
+    """Obtain NICb, navigation integrity category supplement-b
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: NICb number (0 or 1)
+    """
+    tc = typecode(msg)
+
+    if tc is None or tc < 9 or tc > 18:
+        raise RuntimeError(
+            "%s: Not a airborne position message, expecting 8<TC<19" % msg
+        )
+
+    msgbin = common.hex2bin(msg)
+    nic_b = int(msgbin[39])
+
+    return nic_b
+
+
+def nac_p(msg: str) -> tuple[int, int | None, int | None]:
+    """Calculate NACp, Navigation Accuracy Category - Position
+
+    Args:
+        msg (str): 28 hexdigits string, TC = 29 or 31
+
+    Returns:
+        int: NACp, Navigation Accuracy Category (position)
+        int or string: 95% horizontal accuracy bounds,
+            Estimated Position Uncertainty
+        int or string: 95% vertical accuracy bounds,
+            Vertical Estimated Position Uncertainty
+    """
+    tc = typecode(msg)
+
+    if tc not in [29, 31]:
+        raise RuntimeError(
+            "%s: Not a target state and status message, \
+                           or operation status message, expecting TC = 29 or 31"
+            % msg
+        )
+
+    msgbin = common.hex2bin(msg)
+
+    if tc == 29:
+        NACp = common.bin2int(msgbin[71:75])
+    elif tc == 31:
+        NACp = common.bin2int(msgbin[76:80])
+
+    try:
+        EPU = uncertainty.NACp[NACp]["EPU"]
+        VEPU = uncertainty.NACp[NACp]["VEPU"]
+    except KeyError:
+        EPU, VEPU = uncertainty.NA, uncertainty.NA
+
+    return NACp, EPU, VEPU
+
+
+def nac_v(msg: str) -> tuple[int, float | None, float | None]:
+    """Calculate NACv, Navigation Accuracy Category - Velocity
+
+    Args:
+        msg (str): 28 hexdigits string, TC = 19
+
+    Returns:
+        int: NACv, Navigation Accuracy Category (velocity)
+        int or string: 95% horizontal accuracy bounds for velocity,
+            Horizontal Figure of Merit
+        int or string: 95% vertical accuracy bounds for velocity,
+            Vertical Figure of Merit
+    """
+    tc = typecode(msg)
+
+    if tc != 19:
+        raise RuntimeError(
+            "%s: Not an airborne velocity message, expecting TC = 19" % msg
+        )
+
+    msgbin = common.hex2bin(msg)
+    NACv = common.bin2int(msgbin[42:45])
+
+    try:
+        HFOMr = uncertainty.NACv[NACv]["HFOMr"]
+        VFOMr = uncertainty.NACv[NACv]["VFOMr"]
+    except KeyError:
+        HFOMr, VFOMr = uncertainty.NA, uncertainty.NA
+
+    return NACv, HFOMr, VFOMr
+
+
+def sil(
+    msg: str,
+    version: None | int,
+) -> tuple[float | None, float | None, str]:
+    """Calculate SIL, Surveillance Integrity Level
+
+    Args:
+        msg (str): 28 hexdigits string with TC = 29, 31
+
+    Returns:
+        int or string:
+            Probability of exceeding Horizontal Radius of Containment RCu
+        int or string:
+            Probability of exceeding Vertical Integrity Containment Region VPL
+        string: SIL supplement based on per "hour" or "sample", or 'unknown'
+    """
+    tc = typecode(msg)
+
+    if tc not in [29, 31]:
+        raise RuntimeError(
+            "%s: Not a target state and status message, \
+                           or operation status message, expecting TC = 29 or 31"
+            % msg
+        )
+
+    msgbin = common.hex2bin(msg)
+
+    if tc == 29:
+        SIL = common.bin2int(msgbin[76:78])
+    elif tc == 31:
+        SIL = common.bin2int(msgbin[82:84])
+
+    try:
+        PE_RCu = uncertainty.SIL[SIL]["PE_RCu"]
+        PE_VPL = uncertainty.SIL[SIL]["PE_VPL"]
+    except KeyError:
+        PE_RCu, PE_VPL = uncertainty.NA, uncertainty.NA
+
+    base = "unknown"
+
+    if version == 2:
+        if tc == 29:
+            SIL_SUP = common.bin2int(msgbin[39])
+        elif tc == 31:
+            SIL_SUP = common.bin2int(msgbin[86])
+
+        if SIL_SUP == 0:
+            base = "hour"
+        elif SIL_SUP == 1:
+            base = "sample"
+
+    return PE_RCu, PE_VPL, base

pyModeS/decoder/allcall.py

@@ -0,0 +1,98 @@
+"""
+Decode all-call reply messages, with downlink format 11
+"""
+
+
+from __future__ import annotations
+from typing import Callable, TypeVar
+
+from .. import common
+
+T = TypeVar("T")
+F = Callable[[str], T]
+
+
+def _checkdf(func: F[T]) -> F[T]:
+
+    """Ensure downlink format is 11."""
+
+    def wrapper(msg: str) -> T:
+        df = common.df(msg)
+        if df != 11:
+            raise RuntimeError(
+                "Incorrect downlink format, expect 11, got {}".format(df)
+            )
+        return func(msg)
+
+    return wrapper
+
+
+@_checkdf
+def icao(msg: str) -> None | str:
+    """Decode transponder code (ICAO address).
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        string: ICAO address
+
+    """
+    return common.icao(msg)
+
+
+@_checkdf
+def interrogator(msg: str) -> str:
+    """Decode interrogator identifier code.
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        int: interrogator identifier code
+
+    """
+    # the CRC remainder contains the CL and IC field.
+    # the top three bits are CL field and last four bits are IC field.
+    remainder = common.crc(msg)
+    if remainder > 79:
+        IC = "corrupt IC"
+    elif remainder < 16:
+        IC = "II" + str(remainder)
+    else:
+        IC = "SI" + str(remainder - 16)
+    return IC
+
+
+@_checkdf
+def capability(msg: str) -> tuple[int, None | str]:
+    """Decode transponder capability.
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        int, str: transponder capability, description
+
+    """
+    msgbin = common.hex2bin(msg)
+    ca = common.bin2int(msgbin[5:8])
+
+    if ca == 0:
+        text = "level 1 transponder"
+    elif ca == 4:
+        text = "level 2 transponder, ability to set CA to 7, on ground"
+    elif ca == 5:
+        text = "level 2 transponder, ability to set CA to 7, airborne"
+    elif ca == 6:
+        text = (
+            "evel 2 transponder, ability to set CA to 7, "
+            "either airborne or ground"
+        )
+    elif ca == 7:
+        text = (
+            "Downlink Request value is not 0, "
+            "or the Flight Status is 2, 3, 4 or 5, "
+            "and either airborne or on the ground"
+        )
+    else:
+        text = None
+
+    return ca, text

pyModeS/decoder/bds/__init__.py

@@ -0,0 +1,195 @@
+# Copyright (C) 2015 Junzi Sun (TU Delft)
+
+# This program 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 of the License, or
+# (at your option) any later version.
+
+# This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
+
+
+"""
+Common functions for Mode-S decoding
+"""
+
+from typing import Optional
+
+import numpy as np
+
+from ... import common
+from ...extra import aero
+from . import (  # noqa: F401
+    bds10,
+    bds17,
+    bds20,
+    bds30,
+    bds40,
+    bds44,
+    bds45,
+    bds50,
+    bds60,
+    bds61,
+    bds62,
+)
+
+
+def is50or60(
+    msg: str, spd_ref: float, trk_ref: float, alt_ref: float
+) -> Optional[str]:
+    """Use reference ground speed and trk to determine BDS50 and DBS60.
+
+    Args:
+        msg (str): 28 hexdigits string
+        spd_ref (float): reference speed (ADS-B ground speed), kts
+        trk_ref (float): reference track (ADS-B track angle), deg
+        alt_ref (float): reference altitude (ADS-B altitude), ft
+
+    Returns:
+        String or None: BDS version, or possible versions,
+          or None if nothing matches.
+
+    """
+
+    def vxy(v, angle):
+        vx = v * np.sin(np.radians(angle))
+        vy = v * np.cos(np.radians(angle))
+        return vx, vy
+
+    # message must be both BDS 50 and 60 before processing
+    if not (bds50.is50(msg) and bds60.is60(msg)):
+        return None
+
+    # --- assuming BDS60 ---
+    h60 = bds60.hdg60(msg)
+    m60 = bds60.mach60(msg)
+    i60 = bds60.ias60(msg)
+
+    # additional check now knowing the altitude
+    if (m60 is not None) and (i60 is not None):
+        ias_ = aero.mach2cas(m60, alt_ref * aero.ft) / aero.kts
+        if abs(i60 - ias_) > 20:
+            return "BDS50"
+
+    if h60 is None or (m60 is None and i60 is None):
+        return "BDS50,BDS60"
+
+    m60 = np.nan if m60 is None else m60
+    i60 = np.nan if i60 is None else i60
+
+    # --- assuming BDS50 ---
+    h50 = bds50.trk50(msg)
+    v50 = bds50.gs50(msg)
+
+    if h50 is None or v50 is None:
+        return "BDS50,BDS60"
+
+    XY5 = vxy(v50 * aero.kts, h50)
+    XY6m = vxy(aero.mach2tas(m60, alt_ref * aero.ft), h60)
+    XY6i = vxy(aero.cas2tas(i60 * aero.kts, alt_ref * aero.ft), h60)
+
+    allbds = ["BDS50", "BDS60", "BDS60"]
+
+    X = np.array([XY5, XY6m, XY6i])
+    Mu = np.array(vxy(spd_ref * aero.kts, trk_ref))
+
+    # compute Mahalanobis distance matrix
+    # Cov = [[20**2, 0], [0, 20**2]]
+    # mmatrix = np.sqrt(np.dot(np.dot(X-Mu, np.linalg.inv(Cov)), (X-Mu).T))
+    # dist = np.diag(mmatrix)
+
+    # since the covariance matrix is identity matrix,
+    #     M-dist is same as eculidian distance
+    try:
+        dist = np.linalg.norm(X - Mu, axis=1)
+        BDS = allbds[np.nanargmin(dist)]
+    except ValueError:
+        return "BDS50,BDS60"
+
+    return BDS
+
+
+def infer(msg: str, mrar: bool = False) -> Optional[str]:
+    """Estimate the most likely BDS code of an message.
+
+    Args:
+        msg (str): 28 hexdigits string
+        mrar (bool): Also infer MRAR (BDS 44) and MHR (BDS 45).
+          Defaults to False.
+
+    Returns:
+        String or None: BDS version, or possible versions,
+          or None if nothing matches.
+
+    """
+    df = common.df(msg)
+
+    if common.allzeros(msg):
+        return "EMPTY"
+
+    # For ADS-B / Mode-S extended squitter
+    if df == 17:
+        tc = common.typecode(msg)
+        if tc is None:
+            return None
+
+        if 1 <= tc <= 4:
+            return "BDS08"  # identification and category
+        if 5 <= tc <= 8:
+            return "BDS06"  # surface movement
+        if 9 <= tc <= 18:
+            return "BDS05"  # airborne position, baro-alt
+        if tc == 19:
+            return "BDS09"  # airborne velocity
+        if 20 <= tc <= 22:
+            return "BDS05"  # airborne position, gnss-alt
+        if tc == 28:
+            return "BDS61"  # aircraft status
+        if tc == 29:
+            return "BDS62"  # target state and status
+        if tc == 31:
+            return "BDS65"  # operational status
+
+    # For Comm-B replies
+    IS10 = bds10.is10(msg)
+    IS17 = bds17.is17(msg)
+    IS20 = bds20.is20(msg)
+    IS30 = bds30.is30(msg)
+    IS40 = bds40.is40(msg)
+    IS50 = bds50.is50(msg)
+    IS60 = bds60.is60(msg)
+    IS44 = bds44.is44(msg)
+    IS45 = bds45.is45(msg)
+
+    if mrar:
+        allbds = np.array(
+            [
+                "BDS10",
+                "BDS17",
+                "BDS20",
+                "BDS30",
+                "BDS40",
+                "BDS44",
+                "BDS45",
+                "BDS50",
+                "BDS60",
+            ]
+        )
+        mask = [IS10, IS17, IS20, IS30, IS40, IS44, IS45, IS50, IS60]
+    else:
+        allbds = np.array(
+            ["BDS10", "BDS17", "BDS20", "BDS30", "BDS40", "BDS50", "BDS60"]
+        )
+        mask = [IS10, IS17, IS20, IS30, IS40, IS50, IS60]
+
+    bds = ",".join(sorted(allbds[mask]))
+
+    if len(bds) == 0:
+        return None
+    else:
+        return bds

pyModeS/decoder/bds/bds05.py

@@ -0,0 +1,162 @@
+# ------------------------------------------
+#   BDS 0,5
+#   ADS-B TC=9-18
+#   Airborne position
+# ------------------------------------------
+
+from __future__ import annotations
+
+from datetime import datetime
+
+from ... import common
+
+
+def airborne_position(
+    msg0: str, msg1: str, t0: int | datetime, t1: int | datetime
+) -> None | tuple[float, float]:
+    """Decode airborne position from a pair of even and odd position message
+
+    Args:
+        msg0 (string): even message (28 hexdigits)
+        msg1 (string): odd message (28 hexdigits)
+        t0 (int): timestamps for the even message
+        t1 (int): timestamps for the odd message
+
+    Returns:
+        (float, float): (latitude, longitude) of the aircraft
+    """
+
+    mb0 = common.hex2bin(msg0)[32:]
+    mb1 = common.hex2bin(msg1)[32:]
+
+    oe0 = int(mb0[21])
+    oe1 = int(mb1[21])
+    if oe0 == 0 and oe1 == 1:
+        pass
+    elif oe0 == 1 and oe1 == 0:
+        mb0, mb1 = mb1, mb0
+        t0, t1 = t1, t0
+    else:
+        raise RuntimeError("Both even and odd CPR frames are required.")
+
+    # 131072 is 2^17, since CPR lat and lon are 17 bits each.
+    cprlat_even = common.bin2int(mb0[22:39]) / 131072
+    cprlon_even = common.bin2int(mb0[39:56]) / 131072
+    cprlat_odd = common.bin2int(mb1[22:39]) / 131072
+    cprlon_odd = common.bin2int(mb1[39:56]) / 131072
+
+    air_d_lat_even = 360 / 60
+    air_d_lat_odd = 360 / 59
+
+    # compute latitude index 'j'
+    j = common.floor(59 * cprlat_even - 60 * cprlat_odd + 0.5)
+
+    lat_even = float(air_d_lat_even * (j % 60 + cprlat_even))
+    lat_odd = float(air_d_lat_odd * (j % 59 + cprlat_odd))
+
+    if lat_even >= 270:
+        lat_even = lat_even - 360
+
+    if lat_odd >= 270:
+        lat_odd = lat_odd - 360
+
+    # check if both are in the same latidude zone, exit if not
+    if common.cprNL(lat_even) != common.cprNL(lat_odd):
+        return None
+
+    # compute ni, longitude index m, and longitude
+    # (people pass int+int or datetime+datetime)
+    if t0 > t1:  # type: ignore
+        lat = lat_even
+        nl = common.cprNL(lat)
+        ni = max(common.cprNL(lat) - 0, 1)
+        m = common.floor(cprlon_even * (nl - 1) - cprlon_odd * nl + 0.5)
+        lon = (360 / ni) * (m % ni + cprlon_even)
+    else:
+        lat = lat_odd
+        nl = common.cprNL(lat)
+        ni = max(common.cprNL(lat) - 1, 1)
+        m = common.floor(cprlon_even * (nl - 1) - cprlon_odd * nl + 0.5)
+        lon = (360 / ni) * (m % ni + cprlon_odd)
+
+    if lon > 180:
+        lon = lon - 360
+
+    return lat, lon
+
+
+def airborne_position_with_ref(
+    msg: str, lat_ref: float, lon_ref: float
+) -> tuple[float, float]:
+    """Decode airborne position with only one message,
+    knowing reference nearby location, such as previously calculated location,
+    ground station, or airport location, etc. The reference position shall
+    be within 180NM of the true position.
+
+    Args:
+        msg (str): even message (28 hexdigits)
+        lat_ref: previous known latitude
+        lon_ref: previous known longitude
+
+    Returns:
+        (float, float): (latitude, longitude) of the aircraft
+    """
+
+    mb = common.hex2bin(msg)[32:]
+
+    cprlat = common.bin2int(mb[22:39]) / 131072
+    cprlon = common.bin2int(mb[39:56]) / 131072
+
+    i = int(mb[21])
+    d_lat = 360 / 59 if i else 360 / 60
+
+    j = common.floor(lat_ref / d_lat) + common.floor(
+        0.5 + ((lat_ref % d_lat) / d_lat) - cprlat
+    )
+
+    lat = d_lat * (j + cprlat)
+
+    ni = common.cprNL(lat) - i
+
+    if ni > 0:
+        d_lon = 360 / ni
+    else:
+        d_lon = 360
+
+    m = common.floor(lon_ref / d_lon) + common.floor(
+        0.5 + ((lon_ref % d_lon) / d_lon) - cprlon
+    )
+
+    lon = d_lon * (m + cprlon)
+
+    return lat, lon
+
+
+def altitude(msg: str) -> None | int:
+    """Decode aircraft altitude
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: altitude in feet
+    """
+
+    tc = common.typecode(msg)
+
+    if tc is None or tc < 9 or tc == 19 or tc > 22:
+        raise RuntimeError("%s: Not an airborne position message" % msg)
+
+    mb = common.hex2bin(msg)[32:]
+    altbin = mb[8:20]
+
+    if tc < 19:
+        altcode = altbin[0:6] + "0" + altbin[6:]
+        alt = common.altitude(altcode)
+        if alt != -999999:
+            return alt
+        else:
+            # return None if altitude is invalid
+            return None
+    else:
+        return common.bin2int(altbin) * 3.28084  # type: ignore

pyModeS/decoder/bds/bds06.py

@@ -0,0 +1,197 @@
+# ------------------------------------------
+#   BDS 0,6
+#   ADS-B TC=5-8
+#   Surface movement
+# ------------------------------------------
+
+from __future__ import annotations
+
+from datetime import datetime
+
+from ... import common
+
+
+def surface_position(
+    msg0: str,
+    msg1: str,
+    t0: int | datetime,
+    t1: int | datetime,
+    lat_ref: float,
+    lon_ref: float,
+) -> None | tuple[float, float]:
+    """Decode surface position from a pair of even and odd position message,
+    the lat/lon of receiver must be provided to yield the correct solution.
+
+    Args:
+        msg0 (string): even message (28 hexdigits)
+        msg1 (string): odd message (28 hexdigits)
+        t0 (int): timestamps for the even message
+        t1 (int): timestamps for the odd message
+        lat_ref (float): latitude of the receiver
+        lon_ref (float): longitude of the receiver
+
+    Returns:
+        (float, float): (latitude, longitude) of the aircraft
+    """
+
+    msgbin0 = common.hex2bin(msg0)
+    msgbin1 = common.hex2bin(msg1)
+
+    # 131072 is 2^17, since CPR lat and lon are 17 bits each.
+    cprlat_even = common.bin2int(msgbin0[54:71]) / 131072
+    cprlon_even = common.bin2int(msgbin0[71:88]) / 131072
+    cprlat_odd = common.bin2int(msgbin1[54:71]) / 131072
+    cprlon_odd = common.bin2int(msgbin1[71:88]) / 131072
+
+    air_d_lat_even = 90 / 60
+    air_d_lat_odd = 90 / 59
+
+    # compute latitude index 'j'
+    j = common.floor(59 * cprlat_even - 60 * cprlat_odd + 0.5)
+
+    # solution for north hemisphere
+    lat_even_n = float(air_d_lat_even * (j % 60 + cprlat_even))
+    lat_odd_n = float(air_d_lat_odd * (j % 59 + cprlat_odd))
+
+    # solution for north hemisphere
+    lat_even_s = lat_even_n - 90
+    lat_odd_s = lat_odd_n - 90
+
+    # chose which solution corrispondes to receiver location
+    lat_even = lat_even_n if lat_ref > 0 else lat_even_s
+    lat_odd = lat_odd_n if lat_ref > 0 else lat_odd_s
+
+    # check if both are in the same latidude zone, rare but possible
+    if common.cprNL(lat_even) != common.cprNL(lat_odd):
+        return None
+
+    # compute ni, longitude index m, and longitude
+    # (people pass int+int or datetime+datetime)
+    if t0 > t1:  # type: ignore
+        lat = lat_even
+        nl = common.cprNL(lat_even)
+        ni = max(common.cprNL(lat_even) - 0, 1)
+        m = common.floor(cprlon_even * (nl - 1) - cprlon_odd * nl + 0.5)
+        lon = (90 / ni) * (m % ni + cprlon_even)
+    else:
+        lat = lat_odd
+        nl = common.cprNL(lat_odd)
+        ni = max(common.cprNL(lat_odd) - 1, 1)
+        m = common.floor(cprlon_even * (nl - 1) - cprlon_odd * nl + 0.5)
+        lon = (90 / ni) * (m % ni + cprlon_odd)
+
+    # four possible longitude solutions
+    lons = [lon, lon + 90, lon + 180, lon + 270]
+
+    # make sure lons are between -180 and 180
+    lons = [(lon + 180) % 360 - 180 for lon in lons]
+
+    # the closest solution to receiver is the correct one
+    dls = [abs(lon_ref - lon) for lon in lons]
+    imin = min(range(4), key=dls.__getitem__)
+    lon = lons[imin]
+
+    return lat, lon
+
+
+def surface_position_with_ref(
+    msg: str, lat_ref: float, lon_ref: float
+) -> tuple[float, float]:
+    """Decode surface position with only one message,
+    knowing reference nearby location, such as previously calculated location,
+    ground station, or airport location, etc. The reference position shall
+    be within 45NM of the true position.
+
+    Args:
+        msg (str): even message (28 hexdigits)
+        lat_ref: previous known latitude
+        lon_ref: previous known longitude
+
+    Returns:
+        (float, float): (latitude, longitude) of the aircraft
+    """
+
+    mb = common.hex2bin(msg)[32:]
+
+    cprlat = common.bin2int(mb[22:39]) / 131072
+    cprlon = common.bin2int(mb[39:56]) / 131072
+
+    i = int(mb[21])
+    d_lat = 90 / 59 if i else 90 / 60
+
+    j = common.floor(lat_ref / d_lat) + common.floor(
+        0.5 + ((lat_ref % d_lat) / d_lat) - cprlat
+    )
+
+    lat = d_lat * (j + cprlat)
+
+    ni = common.cprNL(lat) - i
+
+    if ni > 0:
+        d_lon = 90 / ni
+    else:
+        d_lon = 90
+
+    m = common.floor(lon_ref / d_lon) + common.floor(
+        0.5 + ((lon_ref % d_lon) / d_lon) - cprlon
+    )
+
+    lon = d_lon * (m + cprlon)
+
+    return lat, lon
+
+
+def surface_velocity(
+    msg: str, source: bool = False
+) -> tuple[None | float, None | float, int, str]:
+    """Decode surface velocity from a surface position message
+
+    Args:
+        msg (str): 28 hexdigits string
+        source (boolean): Include direction and vertical rate sources in return.
+            Default to False.
+            If set to True, the function will return six value instead of four.
+
+    Returns:
+        int, float, int, string, [string], [string]:
+            - Speed (kt)
+            - Angle (degree), ground track
+            - Vertical rate, always 0
+            - Speed type ('GS' for ground speed, 'AS' for airspeed)
+            - [Optional] Direction source ('TRUE_NORTH')
+            - [Optional] Vertical rate source (None)
+
+    """
+    tc = common.typecode(msg)
+    if tc is None or tc < 5 or tc > 8:
+        raise RuntimeError("%s: Not a surface message, expecting 5<TC<8" % msg)
+
+    mb = common.hex2bin(msg)[32:]
+
+    # ground track
+    trk_status = int(mb[12])
+    if trk_status == 1:
+        trk = common.bin2int(mb[13:20]) * 360 / 128
+    else:
+        trk = None
+
+    # ground movement / speed
+    mov = common.bin2int(mb[5:12])
+
+    if mov == 0 or mov > 124:
+        spd = None
+    elif mov == 1:
+        spd = 0.0
+    elif mov == 124:
+        spd = 175.0
+    else:
+        mov_lb = [2, 9, 13, 39, 94, 109, 124]
+        kts_lb: list[float] = [0.125, 1, 2, 15, 70, 100, 175]
+        step: list[float] = [0.125, 0.25, 0.5, 1, 2, 5]
+        i = next(m[0] for m in enumerate(mov_lb) if m[1] > mov)
+        spd = kts_lb[i - 1] + (mov - mov_lb[i - 1]) * step[i - 1]
+
+    if source:
+        return spd, trk, 0, "GS", "TRUE_NORTH", None  # type: ignore
+    else:
+        return spd, trk, 0, "GS"

pyModeS/decoder/bds/bds08.py

@@ -0,0 +1,60 @@
+# ------------------------------------------
+#   BDS 0,8
+#   ADS-B TC=1-4
+#   Aircraft identification and category
+# ------------------------------------------
+
+from ... import common
+
+
+def category(msg: str) -> int:
+    """Aircraft category number
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: category number
+    """
+
+    tc = common.typecode(msg)
+    if tc is None or tc < 1 or tc > 4:
+        raise RuntimeError("%s: Not a identification message" % msg)
+
+    msgbin = common.hex2bin(msg)
+    mebin = msgbin[32:87]
+    return common.bin2int(mebin[5:8])
+
+
+def callsign(msg: str) -> str:
+    """Aircraft callsign
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        string: callsign
+    """
+    tc = common.typecode(msg)
+
+    if tc is None or tc < 1 or tc > 4:
+        raise RuntimeError("%s: Not a identification message" % msg)
+
+    chars = "#ABCDEFGHIJKLMNOPQRSTUVWXYZ#####_###############0123456789######"
+    msgbin = common.hex2bin(msg)
+    csbin = msgbin[40:96]
+
+    cs = ""
+    cs += chars[common.bin2int(csbin[0:6])]
+    cs += chars[common.bin2int(csbin[6:12])]
+    cs += chars[common.bin2int(csbin[12:18])]
+    cs += chars[common.bin2int(csbin[18:24])]
+    cs += chars[common.bin2int(csbin[24:30])]
+    cs += chars[common.bin2int(csbin[30:36])]
+    cs += chars[common.bin2int(csbin[36:42])]
+    cs += chars[common.bin2int(csbin[42:48])]
+
+    # clean string, remove spaces and marks, if any.
+    # cs = cs.replace('_', '')
+    cs = cs.replace("#", "")
+    return cs

pyModeS/decoder/bds/bds09.py

@@ -0,0 +1,147 @@
+# ------------------------------------------
+#   BDS 0,9
+#   ADS-B TC=19
+#   Aircraft Airborne velocity
+# ------------------------------------------
+
+from __future__ import annotations
+
+import math
+
+from ... import common
+
+
+def airborne_velocity(
+    msg: str, source: bool = False
+) -> None | tuple[None | int, None | float, None | int, str]:
+    """Decode airborne velocity.
+
+    Args:
+        msg (str): 28 hexdigits string
+        source (boolean): Include direction and vertical rate sources in return.
+            Default to False.
+            If set to True, the function will return six value instead of four.
+
+    Returns:
+        int, float, int, string, [string], [string]:
+            - Speed (kt)
+            - Angle (degree), either ground track or heading
+            - Vertical rate (ft/min)
+            - Speed type ('GS' for ground speed, 'AS' for airspeed)
+            - [Optional] Direction source ('TRUE_NORTH' or 'MAGNETIC_NORTH')
+            - [Optional] Vertical rate source ('BARO' or 'GNSS')
+
+    """
+    if common.typecode(msg) != 19:
+        raise RuntimeError(
+            "%s: Not a airborne velocity message, expecting TC=19" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:8])
+
+    if common.bin2int(mb[14:24]) == 0 or common.bin2int(mb[25:35]) == 0:
+        return None
+
+    trk_or_hdg: None | float
+    spd: None | float
+
+    if subtype in (1, 2):
+        v_ew = common.bin2int(mb[14:24])
+        v_ns = common.bin2int(mb[25:35])
+
+        if v_ew == 0 or v_ns == 0:
+            spd = None
+            trk_or_hdg = None
+            vs = None
+        else:
+            v_ew_sign = -1 if mb[13] == "1" else 1
+            v_ew = v_ew - 1  # east-west velocity
+            if subtype == 2:  # Supersonic
+                v_ew *= 4
+
+            v_ns_sign = -1 if mb[24] == "1" else 1
+            v_ns = v_ns - 1  # north-south velocity
+            if subtype == 2:  # Supersonic
+                v_ns *= 4
+
+            v_we = v_ew_sign * v_ew
+            v_sn = v_ns_sign * v_ns
+
+            spd = math.sqrt(v_sn * v_sn + v_we * v_we)  # unit in kts
+            spd = int(spd)
+
+            trk = math.atan2(v_we, v_sn)
+            trk = math.degrees(trk)  # convert to degrees
+            trk = trk if trk >= 0 else trk + 360  # no negative val
+
+            trk_or_hdg = trk
+
+        spd_type = "GS"
+        dir_type = "TRUE_NORTH"
+
+    else:
+        if mb[13] == "0":
+            hdg = None
+        else:
+            hdg = common.bin2int(mb[14:24]) / 1024 * 360.0
+
+        trk_or_hdg = hdg
+
+        spd = common.bin2int(mb[25:35])
+        spd = None if spd == 0 else spd - 1
+        if subtype == 4 and spd is not None:  # Supersonic
+            spd *= 4
+
+        if mb[24] == "0":
+            spd_type = "IAS"
+        else:
+            spd_type = "TAS"
+
+        dir_type = "MAGNETIC_NORTH"
+
+    vr_source = "GNSS" if mb[35] == "0" else "BARO"
+    vr_sign = -1 if mb[36] == "1" else 1
+    vr = common.bin2int(mb[37:46])
+    vs = None if vr == 0 else int(vr_sign * (vr - 1) * 64)
+
+    if source:
+        return (  # type: ignore
+            spd,
+            trk_or_hdg,
+            vs,
+            spd_type,
+            dir_type,
+            vr_source,
+        )
+    else:
+        return spd, trk_or_hdg, vs, spd_type
+
+
+def altitude_diff(msg: str) -> None | float:
+    """Decode the differece between GNSS and barometric altitude.
+
+    Args:
+        msg (str): 28 hexdigits string, TC=19
+
+    Returns:
+        int: Altitude difference in feet. Negative value indicates GNSS altitude
+        below barometric altitude.
+
+    """
+    tc = common.typecode(msg)
+
+    if tc is None or tc != 19:
+        raise RuntimeError(
+            "%s: Not a airborne velocity message, expecting TC=19" % msg
+        )
+
+    msgbin = common.hex2bin(msg)
+    sign = -1 if int(msgbin[80]) else 1
+    value = common.bin2int(msgbin[81:88])
+
+    if value == 0 or value == 127:
+        return None
+    else:
+        return sign * (value - 1) * 25  # in ft.

pyModeS/decoder/bds/bds10.py

@@ -0,0 +1,53 @@
+# ------------------------------------------
+# BDS 1,0
+# Data link capability report
+# ------------------------------------------
+
+
+from ... import common
+
+
+def is10(msg: str) -> bool:
+    """Check if a message is likely to be BDS code 1,0
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+    """
+
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    # first 8 bits must be 0x10
+    if d[0:8] != "00010000":
+        return False
+
+    # bit 10 to 14 are reserved
+    if common.bin2int(d[9:14]) != 0:
+        return False
+
+    # overlay capability conflict
+    if d[14] == "1" and common.bin2int(d[16:23]) < 5:
+        return False
+    if d[14] == "0" and common.bin2int(d[16:23]) > 4:
+        return False
+
+    return True
+
+
+def ovc10(msg: str) -> int:
+    """Return the overlay control capability
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Whether the transponder is OVC capable
+    """
+    d = common.hex2bin(common.data(msg))
+
+    return int(d[14])

pyModeS/decoder/bds/bds17.py

@@ -0,0 +1,83 @@
+# ------------------------------------------
+#   BDS 1,7
+#   Common usage GICB capability report
+# ------------------------------------------
+
+from typing import List
+
+from ... import common
+
+
+def is17(msg: str) -> bool:
+    """Check if a message is likely to be BDS code 1,7
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+    """
+
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    if common.bin2int(d[24:56]) != 0:
+        return False
+
+    caps = cap17(msg)
+
+    # basic BDS codes for ADS-B shall be supported
+    #   assuming ADS-B out is installed (2017EU/2020US mandate)
+    # if not set(['BDS05', 'BDS06', 'BDS08', 'BDS09', 'BDS20']).issubset(caps):
+    #     return False
+
+    # at least you can respond who you are
+    if "BDS20" not in caps:
+        return False
+
+    return True
+
+
+def cap17(msg: str) -> List[str]:
+    """Extract capacities from BDS 1,7 message
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        list: list of supported BDS codes
+    """
+    allbds = [
+        "05",
+        "06",
+        "07",
+        "08",
+        "09",
+        "0A",
+        "20",
+        "21",
+        "40",
+        "41",
+        "42",
+        "43",
+        "44",
+        "45",
+        "48",
+        "50",
+        "51",
+        "52",
+        "53",
+        "54",
+        "55",
+        "56",
+        "5F",
+        "60",
+    ]
+
+    d = common.hex2bin(common.data(msg))
+    idx = [i for i, v in enumerate(d[:24]) if v == "1"]
+    capacity = ["BDS" + allbds[i] for i in idx]
+
+    return capacity

pyModeS/decoder/bds/bds20.py

@@ -0,0 +1,60 @@
+# ------------------------------------------
+# BDS 2,0
+# Aircraft identification
+# ------------------------------------------
+
+from ... import common
+
+
+def is20(msg: str) -> bool:
+    """Check if a message is likely to be BDS code 2,0
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+    """
+
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    if d[0:8] != "00100000":
+        return False
+
+    # allow empty callsign
+    if common.bin2int(d[8:56]) == 0:
+        return True
+
+    if "#" in cs20(msg):
+        return False
+
+    return True
+
+
+def cs20(msg: str) -> str:
+    """Aircraft callsign
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        string: callsign, max. 8 chars
+    """
+    chars = "#ABCDEFGHIJKLMNOPQRSTUVWXYZ#####_###############0123456789######"
+
+    d = common.hex2bin(common.data(msg))
+
+    cs = ""
+    cs += chars[common.bin2int(d[8:14])]
+    cs += chars[common.bin2int(d[14:20])]
+    cs += chars[common.bin2int(d[20:26])]
+    cs += chars[common.bin2int(d[26:32])]
+    cs += chars[common.bin2int(d[32:38])]
+    cs += chars[common.bin2int(d[38:44])]
+    cs += chars[common.bin2int(d[44:50])]
+    cs += chars[common.bin2int(d[50:56])]
+
+    return cs

pyModeS/decoder/bds/bds30.py

@@ -0,0 +1,35 @@
+# ------------------------------------------
+# BDS 3,0
+# ACAS active resolution advisory
+# ------------------------------------------
+
+from ... import common
+
+
+def is30(msg: str) -> bool:
+    """Check if a message is likely to be BDS code 3,0
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+    """
+
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    if d[0:8] != "00110000":
+        return False
+
+    # threat type 3 not assigned
+    if d[28:30] == "11":
+        return False
+
+    # reserved for ACAS III, in far future
+    if common.bin2int(d[15:22]) >= 48:
+        return False
+
+    return True

pyModeS/decoder/bds/bds40.py

@@ -0,0 +1,124 @@
+# ------------------------------------------
+# BDS 4,0
+# Selected vertical intention
+# ------------------------------------------
+
+import warnings
+from typing import Optional
+
+from ... import common
+
+
+def is40(msg: str) -> bool:
+    """Check if a message is likely to be BDS code 4,0
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+    """
+
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    # status bit 1, 14, and 27
+
+    if common.wrongstatus(d, 1, 2, 13):
+        return False
+
+    if common.wrongstatus(d, 14, 15, 26):
+        return False
+
+    if common.wrongstatus(d, 27, 28, 39):
+        return False
+
+    if common.wrongstatus(d, 48, 49, 51):
+        return False
+
+    if common.wrongstatus(d, 54, 55, 56):
+        return False
+
+    # bits 40-47 and 52-53 shall all be zero
+
+    if common.bin2int(d[39:47]) != 0:
+        return False
+
+    if common.bin2int(d[51:53]) != 0:
+        return False
+
+    return True
+
+
+def selalt40mcp(msg: str) -> Optional[int]:
+    """Selected altitude, MCP/FCU
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: altitude in feet
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[0] == "0":
+        return None
+
+    alt = common.bin2int(d[1:13]) * 16  # ft
+    return alt
+
+
+def selalt40fms(msg: str) -> Optional[int]:
+    """Selected altitude, FMS
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: altitude in feet
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[13] == "0":
+        return None
+
+    alt = common.bin2int(d[14:26]) * 16  # ft
+    return alt
+
+
+def p40baro(msg: str) -> Optional[float]:
+    """Barometric pressure setting
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: pressure in millibar
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[26] == "0":
+        return None
+
+    p = common.bin2int(d[27:39]) * 0.1 + 800  # millibar
+    return p
+
+
+def alt40mcp(msg: str) -> Optional[int]:
+    warnings.warn(
+        """alt40mcp() has been renamed to selalt40mcp().
+        It will be removed in the future.""",
+        DeprecationWarning,
+    )
+    return selalt40mcp(msg)
+
+
+def alt40fms(msg: str) -> Optional[int]:
+    warnings.warn(
+        """alt40fms() has been renamed to selalt40fms().
+        It will be removed in the future.""",
+        DeprecationWarning,
+    )
+    return selalt40fms(msg)

pyModeS/decoder/bds/bds44.py

@@ -0,0 +1,161 @@
+# ------------------------------------------
+# BDS 4,4
+# Meteorological routine air report
+# ------------------------------------------
+
+from typing import Optional, Tuple
+
+from ... import common
+
+
+def is44(msg: str) -> bool:
+    """Check if a message is likely to be BDS code 4,4.
+
+    Meteorological routine air report
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+
+    """
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    # status bit 5, 35, 47, 50
+    if common.wrongstatus(d, 5, 6, 23):
+        return False
+
+    if common.wrongstatus(d, 35, 36, 46):
+        return False
+
+    if common.wrongstatus(d, 47, 48, 49):
+        return False
+
+    if common.wrongstatus(d, 50, 51, 56):
+        return False
+
+    # Bits 1-4 indicate source, values > 4 reserved and should not occur
+    if common.bin2int(d[0:4]) > 4:
+        return False
+
+    vw, dw = wind44(msg)
+    if vw is not None and vw > 250:
+        return False
+
+    temp, temp2 = temp44(msg)
+    if min(temp, temp2) > 60 or max(temp, temp2) < -80:
+        return False
+
+    return True
+
+
+def wind44(msg: str) -> Tuple[Optional[int], Optional[float]]:
+    """Wind speed and direction.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        (int, float): speed (kt), direction (degree)
+
+    """
+    d = common.hex2bin(common.data(msg))
+
+    status = int(d[4])
+    if not status:
+        return None, None
+
+    speed = common.bin2int(d[5:14])  # knots
+    direction = common.bin2int(d[14:23]) * 180 / 256  # degree
+
+    return speed, direction
+
+
+def temp44(msg: str) -> Tuple[float, float]:
+    """Static air temperature.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float, float: temperature and alternative temperature in Celsius degree.
+            Note: Two values returns due to what seems to be an inconsistency
+            error in ICAO 9871 (2008) Appendix A-67.
+
+    """
+    d = common.hex2bin(common.data(msg))
+
+    sign = int(d[23])
+    value = common.bin2int(d[24:34])
+
+    if sign:
+        value = value - 1024
+
+    temp = value * 0.25  # celsius
+
+    temp_alternative = value * 0.125  # celsius
+
+    return temp, temp_alternative
+
+
+def p44(msg: str) -> Optional[int]:
+    """Static pressure.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: static pressure in hPa
+
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[34] == "0":
+        return None
+
+    p = common.bin2int(d[35:46])  # hPa
+
+    return p
+
+
+def hum44(msg: str) -> Optional[float]:
+    """humidity
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: percentage of humidity, [0 - 100] %
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[49] == "0":
+        return None
+
+    hm = common.bin2int(d[50:56]) * 100 / 64  # %
+
+    return hm
+
+
+def turb44(msg: str) -> Optional[int]:
+    """Turbulence.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: turbulence level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
+
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[46] == "0":
+        return None
+
+    turb = common.bin2int(d[47:49])
+
+    return turb

pyModeS/decoder/bds/bds45.py

@@ -0,0 +1,209 @@
+# ------------------------------------------
+# BDS 4,5
+# Meteorological hazard report
+# ------------------------------------------
+
+from typing import Optional
+
+from ... import common
+
+
+def is45(msg: str) -> bool:
+    """Check if a message is likely to be BDS code 4,5.
+
+    Meteorological hazard report
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+
+    """
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    # status bit 1, 4, 7, 10, 13, 16, 27, 39
+    if common.wrongstatus(d, 1, 2, 3):
+        return False
+
+    if common.wrongstatus(d, 4, 5, 6):
+        return False
+
+    if common.wrongstatus(d, 7, 8, 9):
+        return False
+
+    if common.wrongstatus(d, 10, 11, 12):
+        return False
+
+    if common.wrongstatus(d, 13, 14, 15):
+        return False
+
+    if common.wrongstatus(d, 16, 17, 26):
+        return False
+
+    if common.wrongstatus(d, 27, 28, 38):
+        return False
+
+    if common.wrongstatus(d, 39, 40, 51):
+        return False
+
+    # reserved
+    if common.bin2int(d[51:56]) != 0:
+        return False
+
+    temp = temp45(msg)
+    if temp:
+        if temp > 60 or temp < -80:
+            return False
+
+    return True
+
+
+def turb45(msg: str) -> Optional[int]:
+    """Turbulence.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Turbulence level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
+
+    """
+    d = common.hex2bin(common.data(msg))
+    if d[0] == "0":
+        return None
+
+    turb = common.bin2int(d[1:3])
+    return turb
+
+
+def ws45(msg: str) -> Optional[int]:
+    """Wind shear.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Wind shear level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
+
+    """
+    d = common.hex2bin(common.data(msg))
+    if d[3] == "0":
+        return None
+
+    ws = common.bin2int(d[4:6])
+    return ws
+
+
+def mb45(msg: str) -> Optional[int]:
+    """Microburst.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Microburst level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
+
+    """
+    d = common.hex2bin(common.data(msg))
+    if d[6] == "0":
+        return None
+
+    mb = common.bin2int(d[7:9])
+    return mb
+
+
+def ic45(msg: str) -> Optional[int]:
+    """Icing.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Icing level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
+
+    """
+    d = common.hex2bin(common.data(msg))
+    if d[9] == "0":
+        return None
+
+    ic = common.bin2int(d[10:12])
+    return ic
+
+
+def wv45(msg: str) -> Optional[int]:
+    """Wake vortex.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Wake vortex level. 0=NIL, 1=Light, 2=Moderate, 3=Severe
+
+    """
+    d = common.hex2bin(common.data(msg))
+    if d[12] == "0":
+        return None
+
+    ws = common.bin2int(d[13:15])
+    return ws
+
+
+def temp45(msg: str) -> Optional[float]:
+    """Static air temperature.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: tmeperature in Celsius degree
+
+    """
+    d = common.hex2bin(common.data(msg))
+
+    sign = int(d[16])
+    value = common.bin2int(d[17:26])
+
+    if sign:
+        value = value - 512
+
+    temp = value * 0.25  # celsius
+
+    return temp
+
+
+def p45(msg: str) -> Optional[int]:
+    """Average static pressure.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: static pressure in hPa
+
+    """
+    d = common.hex2bin(common.data(msg))
+    if d[26] == "0":
+        return None
+    p = common.bin2int(d[27:38])  # hPa
+    return p
+
+
+def rh45(msg: str) -> Optional[int]:
+    """Radio height.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: radio height in ft
+
+    """
+    d = common.hex2bin(common.data(msg))
+    if d[38] == "0":
+        return None
+    rh = common.bin2int(d[39:51]) * 16
+    return rh

pyModeS/decoder/bds/bds50.py

@@ -0,0 +1,175 @@
+# ------------------------------------------
+# BDS 5,0
+# Track and turn report
+# ------------------------------------------
+
+from typing import Optional
+
+from ... import common
+
+
+def is50(msg: str) -> bool:
+    """Check if a message is likely to be BDS code 5,0
+    (Track and turn report)
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+    """
+
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    # status bit 1, 12, 24, 35, 46
+
+    if common.wrongstatus(d, 1, 3, 11):
+        return False
+
+    if common.wrongstatus(d, 12, 13, 23):
+        return False
+
+    if common.wrongstatus(d, 24, 25, 34):
+        return False
+
+    if common.wrongstatus(d, 35, 36, 45):
+        return False
+
+    if common.wrongstatus(d, 46, 47, 56):
+        return False
+
+    roll = roll50(msg)
+    if (roll is not None) and abs(roll) > 50:
+        return False
+
+    gs = gs50(msg)
+    if gs is not None and gs > 600:
+        return False
+
+    tas = tas50(msg)
+    if tas is not None and tas > 500:
+        return False
+
+    if (gs is not None) and (tas is not None) and (abs(tas - gs) > 200):
+        return False
+
+    return True
+
+
+def roll50(msg: str) -> Optional[float]:
+    """Roll angle, BDS 5,0 message
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: angle in degrees,
+               negative->left wing down, positive->right wing down
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[0] == "0":
+        return None
+
+    sign = int(d[1])  # 1 -> left wing down
+    value = common.bin2int(d[2:11])
+
+    if sign:
+        value = value - 512
+
+    angle = value * 45 / 256  # degree
+    return angle
+
+
+def trk50(msg: str) -> Optional[float]:
+    """True track angle, BDS 5,0 message
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: angle in degrees to true north (from 0 to 360)
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[11] == "0":
+        return None
+
+    sign = int(d[12])  # 1 -> west
+    value = common.bin2int(d[13:23])
+
+    if sign:
+        value = value - 1024
+
+    trk = value * 90 / 512.0
+
+    # convert from [-180, 180] to [0, 360]
+    if trk < 0:
+        trk = 360 + trk
+
+    return trk
+
+
+def gs50(msg: str) -> Optional[float]:
+    """Ground speed, BDS 5,0 message
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: ground speed in knots
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[23] == "0":
+        return None
+
+    spd = common.bin2int(d[24:34]) * 2  # kts
+    return spd
+
+
+def rtrk50(msg: str) -> Optional[float]:
+    """Track angle rate, BDS 5,0 message
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: angle rate in degrees/second
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[34] == "0":
+        return None
+
+    if d[36:45] == "111111111":
+        return None
+
+    sign = int(d[35])  # 1 -> negative value, two's complement
+    value = common.bin2int(d[36:45])
+    if sign:
+        value = value - 512
+
+    angle = value * 8 / 256  # degree / sec
+    return angle
+
+
+def tas50(msg: str) -> Optional[float]:
+    """Aircraft true airspeed, BDS 5,0 message
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: true airspeed in knots
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[45] == "0":
+        return None
+
+    tas = common.bin2int(d[46:56]) * 2  # kts
+    return tas

pyModeS/decoder/bds/bds53.py

@@ -0,0 +1,169 @@
+# ------------------------------------------
+# BDS 5,3
+# Air-referenced state vector
+# ------------------------------------------
+
+from typing import Optional
+
+from ... import common
+
+
+def is53(msg: str) -> bool:
+    """Check if a message is likely to be BDS code 5,3
+    (Air-referenced state vector)
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+    """
+
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    # status bit 1, 13, 24, 34, 47
+
+    if common.wrongstatus(d, 1, 3, 12):
+        return False
+
+    if common.wrongstatus(d, 13, 14, 23):
+        return False
+
+    if common.wrongstatus(d, 24, 25, 33):
+        return False
+
+    if common.wrongstatus(d, 34, 35, 46):
+        return False
+
+    if common.wrongstatus(d, 47, 49, 56):
+        return False
+
+    ias = ias53(msg)
+    if ias is not None and ias > 500:
+        return False
+
+    mach = mach53(msg)
+    if mach is not None and mach > 1:
+        return False
+
+    tas = tas53(msg)
+    if tas is not None and tas > 500:
+        return False
+
+    vr = vr53(msg)
+    if vr is not None and abs(vr) > 8000:
+        return False
+
+    return True
+
+
+def hdg53(msg: str) -> Optional[float]:
+    """Magnetic heading, BDS 5,3 message
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: angle in degrees to true north (from 0 to 360)
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[0] == "0":
+        return None
+
+    sign = int(d[1])  # 1 -> west
+    value = common.bin2int(d[2:12])
+
+    if sign:
+        value = value - 1024
+
+    hdg = value * 90 / 512  # degree
+
+    # convert from [-180, 180] to [0, 360]
+    if hdg < 0:
+        hdg = 360 + hdg
+
+    return hdg
+
+
+def ias53(msg: str) -> Optional[float]:
+    """Indicated airspeed, DBS 5,3 message
+
+    Args:
+        msg (str): 28 hexdigits
+
+    Returns:
+        int: indicated arispeed in knots
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[12] == "0":
+        return None
+
+    ias = common.bin2int(d[13:23])  # knots
+    return ias
+
+
+def mach53(msg: str) -> Optional[float]:
+    """MACH number, DBS 5,3 message
+
+    Args:
+        msg (str): 28 hexdigits
+
+    Returns:
+        float: MACH number
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[23] == "0":
+        return None
+
+    mach = common.bin2int(d[24:33]) * 0.008
+    return mach
+
+
+def tas53(msg: str) -> Optional[float]:
+    """Aircraft true airspeed, BDS 5,3 message
+
+    Args:
+        msg (str): 28 hexdigits
+
+    Returns:
+        float: true airspeed in knots
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[33] == "0":
+        return None
+
+    tas = common.bin2int(d[34:46]) * 0.5  # kts
+    return tas
+
+
+def vr53(msg: str) -> Optional[int]:
+    """Vertical rate
+
+    Args:
+        msg (str): 28 hexdigits (BDS60) string
+
+    Returns:
+        int: vertical rate in feet/minutes
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[46] == "0":
+        return None
+
+    sign = int(d[47])  # 1 -> negative value, two's complement
+    value = common.bin2int(d[48:56])
+
+    if value == 0 or value == 255:  # all zeros or all ones
+        return 0
+
+    value = value - 256 if sign else value
+    roc = value * 64  # feet/min
+
+    return roc

pyModeS/decoder/bds/bds60.py

@@ -0,0 +1,185 @@
+# ------------------------------------------
+# BDS 6,0
+# Heading and speed report
+# ------------------------------------------
+
+from typing import Optional
+
+from ... import common
+from ...extra import aero
+
+
+def is60(msg: str) -> bool:
+    """Check if a message is likely to be BDS code 6,0
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: True or False
+    """
+
+    if common.allzeros(msg):
+        return False
+
+    d = common.hex2bin(common.data(msg))
+
+    # status bit 1, 13, 24, 35, 46
+
+    if common.wrongstatus(d, 1, 2, 12):
+        return False
+
+    if common.wrongstatus(d, 13, 14, 23):
+        return False
+
+    if common.wrongstatus(d, 24, 25, 34):
+        return False
+
+    if common.wrongstatus(d, 35, 36, 45):
+        return False
+
+    if common.wrongstatus(d, 46, 47, 56):
+        return False
+
+    ias = ias60(msg)
+    if ias is not None and ias > 500:
+        return False
+
+    mach = mach60(msg)
+    if mach is not None and mach > 1:
+        return False
+
+    vr_baro = vr60baro(msg)
+    if vr_baro is not None and abs(vr_baro) > 6000:
+        return False
+
+    vr_ins = vr60ins(msg)
+    if vr_ins is not None and abs(vr_ins) > 6000:
+        return False
+
+    # additional check knowing altitude
+    if (mach is not None) and (ias is not None) and (common.df(msg) == 20):
+        alt = common.altcode(msg)
+        if alt is not None:
+            ias_ = aero.mach2cas(mach, alt * aero.ft) / aero.kts
+            if abs(ias - ias_) > 20:
+                return False
+
+    return True
+
+
+def hdg60(msg: str) -> Optional[float]:
+    """Megnetic heading of aircraft
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: heading in degrees to megnetic north (from 0 to 360)
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[0] == "0":
+        return None
+
+    sign = int(d[1])  # 1 -> west
+    value = common.bin2int(d[2:12])
+
+    if sign:
+        value = value - 1024
+
+    hdg = value * 90 / 512  # degree
+
+    # convert from [-180, 180] to [0, 360]
+    if hdg < 0:
+        hdg = 360 + hdg
+
+    return hdg
+
+
+def ias60(msg: str) -> Optional[float]:
+    """Indicated airspeed
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: indicated airspeed in knots
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[12] == "0":
+        return None
+
+    ias = common.bin2int(d[13:23])  # kts
+    return ias
+
+
+def mach60(msg: str) -> Optional[float]:
+    """Aircraft MACH number
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: MACH number
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[23] == "0":
+        return None
+
+    mach = common.bin2int(d[24:34]) * 2.048 / 512.0
+    return mach
+
+
+def vr60baro(msg: str) -> Optional[int]:
+    """Vertical rate from barometric measurement, this value may be very noisy.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: vertical rate in feet/minutes
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[34] == "0":
+        return None
+
+    sign = int(d[35])  # 1 -> negative value, two's complement
+    value = common.bin2int(d[36:45])
+
+    if value == 0 or value == 511:  # all zeros or all ones
+        return 0
+
+    value = value - 512 if sign else value
+
+    roc = value * 32  # feet/min
+    return roc
+
+
+def vr60ins(msg: str) -> Optional[int]:
+    """Vertical rate measurd by onbard equiments (IRS, AHRS)
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: vertical rate in feet/minutes
+    """
+    d = common.hex2bin(common.data(msg))
+
+    if d[45] == "0":
+        return None
+
+    sign = int(d[46])  # 1 -> negative value, two's complement
+    value = common.bin2int(d[47:56])
+
+    if value == 0 or value == 511:  # all zeros or all ones
+        return 0
+
+    value = value - 512 if sign else value
+
+    roc = value * 32  # feet/min
+    return roc

pyModeS/decoder/bds/bds61.py

@@ -0,0 +1,87 @@
+# ------------------------------------------
+#   BDS 6,1
+#   ADS-B TC=28
+#   Aircraft Airborne status
+# ------------------------------------------
+
+from ... import common
+
+
+def is_emergency(msg: str) -> bool:
+    """Check if the aircraft is reporting an emergency.
+
+    Non-emergencies are either a subtype of zero (no information) or
+    subtype of one and a value of zero (no emergency).
+    Subtype = 2 indicates an ACAS RA broadcast, look in BDS 3,0
+
+    :param msg: 28 bytes hexadecimal message string
+    :return: if the aircraft has declared an emergency
+    """
+    if common.typecode(msg) != 28:
+        raise RuntimeError(
+            "%s: Not an airborne status message, expecting TC=28" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+    subtype = common.bin2int(mb[5:8])
+
+    if subtype == 2:
+        raise RuntimeError("%s: Emergency message is ACAS-RA, not implemented")
+
+    emergency_state = common.bin2int(mb[8:11])
+
+    if subtype == 1 and emergency_state == 1:
+        return True
+    else:
+        return False
+
+
+def emergency_state(msg: str) -> int:
+    """Decode aircraft emergency state.
+
+    Value   Meaning
+    -----   -----------------------
+    0       No emergency
+    1       General emergency
+    2       Lifeguard/Medical
+    3       Minimum fuel
+    4       No communications
+    5       Unlawful communications
+    6-7     Reserved
+
+    :param msg: 28 bytes hexadecimal message string
+    :return: emergency state
+    """
+
+    mb = common.hex2bin(msg)[32:]
+    subtype = common.bin2int(mb[5:8])
+
+    if subtype == 2:
+        raise RuntimeError("%s: Emergency message is ACAS-RA, not implemented")
+
+    emergency_state = common.bin2int(mb[8:11])
+    return emergency_state
+
+
+def emergency_squawk(msg: str) -> str:
+    """Decode squawk code.
+
+    Emergency value 1: squawk 7700.
+    Emergency value 4: squawk 7600.
+    Emergency value 5: squawk 7500.
+
+    :param msg: 28 bytes hexadecimal message string
+    :return: aircraft squawk code
+    """
+    if common.typecode(msg) != 28:
+        raise RuntimeError(
+            "%s: Not an airborne status message, expecting TC=28" % msg
+        )
+
+    msgbin = common.hex2bin(msg)
+
+    # construct the 13 bits Mode A ID code
+    idcode = msgbin[43:56]
+
+    squawk = common.squawk(idcode)
+    return squawk

pyModeS/decoder/bds/bds62.py

@@ -0,0 +1,552 @@
+# ------------------------------------------
+#   BDS 6,2
+#   ADS-B TC=29
+#   Target State and Status
+# ------------------------------------------
+
+from __future__ import annotations
+
+from ... import common
+
+
+def selected_altitude(msg: str) -> tuple[None | float, str]:
+    """Decode selected altitude.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Selected altitude (ft)
+        string: Source ('MCP/FCU' or 'FMS')
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        raise RuntimeError(
+            "%s: ADS-B version 1 target state and status message does not"
+            " contain selected altitude, use target altitude instead" % msg
+        )
+
+    alt = common.bin2int(mb[9:20])
+    if alt == 0:
+        return None, "N/A"
+    alt = (alt - 1) * 32
+    alt_source = "MCP/FCU" if int(mb[8]) == 0 else "FMS"
+
+    return alt, alt_source
+
+
+def target_altitude(msg: str) -> tuple[None | int, str, str]:
+    """Decode target altitude.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Target altitude (ft)
+        string: Source ('MCP/FCU', 'Holding mode' or 'FMS/RNAV')
+        string: Altitude reference, either pressure altitude or barometric
+           corrected altitude ('FL' or 'MSL')
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 1:
+        raise RuntimeError(
+            "%s: ADS-B version 2 target state and status message does not"
+            " contain target altitude, use selected altitude instead" % msg
+        )
+
+    alt_avail = common.bin2int(mb[7:9])
+    if alt_avail == 0:
+        return None, "N/A", ""
+    elif alt_avail == 1:
+        alt_source = "MCP/FCU"
+    elif alt_avail == 2:
+        alt_source = "Holding mode"
+    else:
+        alt_source = "FMS/RNAV"
+
+    alt_ref = "FL" if int(mb[9]) == 0 else "MSL"
+
+    alt = -1000 + common.bin2int(mb[15:25]) * 100
+
+    return alt, alt_source, alt_ref
+
+
+def vertical_mode(msg: str) -> None | int:
+    """Decode vertical mode.
+
+    Value   Meaning
+    -----   -----------------------
+    1       "Acquiring" mode
+    2       "Capturing" or "Maintaining" mode
+    3       Reserved
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Vertical mode
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 1:
+        raise RuntimeError(
+            "%s: ADS-B version 2 target state and status message does not"
+            " contain vertical mode, use vnav mode instead" % msg
+        )
+
+    vertical_mode = common.bin2int(mb[13:15])
+    if vertical_mode == 0:
+        return None
+
+    return vertical_mode
+
+
+def horizontal_mode(msg: str) -> None | int:
+    """Decode horizontal mode.
+
+    Value   Meaning
+    -----   -----------------------
+    1       "Acquiring" mode
+    2       "Capturing" or "Maintaining" mode
+    3       Reserved
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Horizontal mode
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 1:
+        raise RuntimeError(
+            "%s: ADS-B version 2 target state and status message does not "
+            "contain horizontal mode, use lnav mode instead" % msg
+        )
+
+    horizontal_mode = common.bin2int(mb[25:27])
+    if horizontal_mode == 0:
+        return None
+
+    return horizontal_mode
+
+
+def selected_heading(msg: str) -> None | float:
+    """Decode selected heading.
+
+    Args:
+        msg (str): 28 bytes hexadecimal message string
+
+    Returns:
+        float: Selected heading (degree)
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        raise RuntimeError(
+            "%s: ADS-B version 1 target state and status message does not "
+            "contain selected heading, use target angle instead" % msg
+        )
+
+    if int(mb[29]) == 0:
+        return None
+    else:
+        hdg_sign = int(mb[30])
+        hdg = (hdg_sign + 1) * common.bin2int(mb[31:39]) * (180 / 256)
+
+    return hdg
+
+
+def target_angle(msg: str) -> tuple[None | int, str, str]:
+    """Decode target heading/track angle.
+
+    Args:
+        msg (str): 28 bytes hexadecimal message string
+
+    Returns:
+        int: Target angle (degree)
+        string: Angle type ('Heading' or 'Track')
+        string: Source ('MCP/FCU', 'Autopilot Mode' or 'FMS/RNAV')
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 1:
+        raise RuntimeError(
+            "%s: ADS-B version 2 target state and status message does not "
+            "contain target angle, use selected heading instead" % msg
+        )
+
+    angle_avail = common.bin2int(mb[25:27])
+    if angle_avail == 0:
+        return None, "", "N/A"
+    else:
+        angle = common.bin2int(mb[27:36])
+
+        if angle_avail == 1:
+            angle_source = "MCP/FCU"
+        elif angle_avail == 2:
+            angle_source = "Autopilot mode"
+        else:
+            angle_source = "FMS/RNAV"
+
+        angle_type = "Heading" if int(mb[36]) else "Track"
+
+    return angle, angle_type, angle_source
+
+
+def baro_pressure_setting(msg: str) -> None | float:
+    """Decode barometric pressure setting.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: Barometric pressure setting (millibars)
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        raise RuntimeError(
+            "%s: ADS-B version 1 target state and status message does not "
+            "contain barometric pressure setting" % msg
+        )
+
+    baro = common.bin2int(mb[20:29])
+    if baro == 0:
+        return None
+
+    return 800 + (baro - 1) * 0.8
+
+
+def autopilot(msg) -> None | bool:
+    """Decode autopilot engagement.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: Autopilot engaged
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        raise RuntimeError(
+            "%s: ADS-B version 1 target state and status message does not "
+            "contain autopilot engagement" % msg
+        )
+
+    if int(mb[46]) == 0:
+        return None
+
+    autopilot = True if int(mb[47]) == 1 else False
+
+    return autopilot
+
+
+def vnav_mode(msg) -> None | bool:
+    """Decode VNAV mode.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: VNAV mode engaged
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        raise RuntimeError(
+            "%s: ADS-B version 1 target state and status message does not "
+            "contain vnav mode, use vertical mode instead" % msg
+        )
+
+    if int(mb[46]) == 0:
+        return None
+
+    vnav_mode = True if int(mb[48]) == 1 else False
+
+    return vnav_mode
+
+
+def altitude_hold_mode(msg) -> None | bool:
+    """Decode altitude hold mode.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: Altitude hold mode engaged
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        raise RuntimeError(
+            "%s: ADS-B version 1 target state and status message does not "
+            "contain altitude hold mode" % msg
+        )
+
+    if int(mb[46]) == 0:
+        return None
+
+    alt_hold_mode = True if int(mb[49]) == 1 else False
+
+    return alt_hold_mode
+
+
+def approach_mode(msg) -> None | bool:
+    """Decode approach mode.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: Approach mode engaged
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        raise RuntimeError(
+            "%s: ADS-B version 1 target state and status message does not "
+            "contain approach mode" % msg
+        )
+
+    if int(mb[46]) == 0:
+        return None
+
+    app_mode = True if int(mb[51]) == 1 else False
+
+    return app_mode
+
+
+def lnav_mode(msg) -> None | bool:
+    """Decode LNAV mode.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: LNAV mode engaged
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        raise RuntimeError(
+            "%s: ADS-B version 1 target state and status message does not "
+            "contain lnav mode, use horizontal mode instead" % msg
+        )
+
+    if int(mb[46]) == 0:
+        return None
+
+    lnav_mode = True if int(mb[53]) == 1 else False
+
+    return lnav_mode
+
+
+def tcas_operational(msg) -> None | bool:
+    """Decode TCAS/ACAS operational.
+
+    Args:
+        msg (str): 28 bytes hexadecimal message string
+
+    Returns:
+        bool: TCAS/ACAS operational
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        tcas = True if int(mb[51]) == 0 else False
+    else:
+        tcas = True if int(mb[52]) == 1 else False
+
+    return tcas
+
+
+def tcas_ra(msg) -> bool:
+    """Decode TCAS/ACAS Resolution advisory.
+
+    Args:
+        msg (str): 28 bytes hexadecimal message string
+
+    Returns:
+        bool: TCAS/ACAS Resolution advisory active
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 1:
+        raise RuntimeError(
+            "%s: ADS-B version 2 target state and status message does not "
+            "contain TCAS/ACAS RA" % msg
+        )
+
+    tcas_ra = True if int(mb[52]) == 1 else False
+
+    return tcas_ra
+
+
+def emergency_status(msg) -> int:
+    """Decode aircraft emergency status.
+
+    Value   Meaning
+    -----   -----------------------
+    0       No emergency
+    1       General emergency
+    2       Lifeguard/medical emergency
+    3       Minimum fuel
+    4       No communications
+    5       Unlawful interference
+    6       Downed aircraft
+    7       Reserved
+
+    Args:
+        msg (str): 28 bytes hexadecimal message string
+
+    Returns:
+        int: Emergency status
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 1:
+        raise RuntimeError(
+            "%s: ADS-B version 2 target state and status message does not "
+            "contain emergency status" % msg
+        )
+
+    return common.bin2int(mb[53:56])

pyModeS/decoder/commb.py

@@ -0,0 +1,88 @@
+"""Comm-B module.
+
+The Comm-B module imports all functions from the following modules:
+
+ELS - elementary surveillance
+
+- pyModeS.decoder.bds.bds10
+- pyModeS.decoder.bds.bds17
+- pyModeS.decoder.bds.bds20
+- pyModeS.decoder.bds.bds30
+
+EHS - enhanced surveillance
+
+- pyModeS.decoder.bds.bds40
+- pyModeS.decoder.bds.bds50
+- pyModeS.decoder.bds.bds60
+
+MRAR and MHR
+
+- pyModeS.decoder.bds.bds44
+- pyModeS.decoder.bds.bds45
+
+"""
+
+# ELS - elementary surveillance
+from .bds.bds10 import is10, ovc10
+from .bds.bds17 import is17, cap17
+from .bds.bds20 import is20, cs20
+from .bds.bds30 import is30
+
+# ELS - enhanced surveillance
+from .bds.bds40 import (
+    is40,
+    selalt40fms,
+    selalt40mcp,
+    p40baro,
+    alt40fms,
+    alt40mcp,
+)
+from .bds.bds50 import is50, roll50, trk50, gs50, rtrk50, tas50
+from .bds.bds60 import is60, hdg60, ias60, mach60, vr60baro, vr60ins
+
+# MRAR and MHR
+from .bds.bds44 import is44, wind44, temp44, p44, hum44, turb44
+from .bds.bds45 import is45, turb45, ws45, mb45, ic45, wv45, temp45, p45, rh45
+
+__all__ = [
+    "is10",
+    "ovc10",
+    "is17",
+    "cap17",
+    "is20",
+    "cs20",
+    "is30",
+    "is40",
+    "selalt40fms",
+    "selalt40mcp",
+    "p40baro",
+    "alt40fms",
+    "alt40mcp",
+    "is50",
+    "roll50",
+    "trk50",
+    "gs50",
+    "rtrk50",
+    "tas50",
+    "is60",
+    "hdg60",
+    "ias60",
+    "mach60",
+    "vr60baro",
+    "vr60ins",
+    "is44",
+    "wind44",
+    "temp44",
+    "p44",
+    "hum44",
+    "turb44",
+    "is45",
+    "turb45",
+    "ws45",
+    "mb45",
+    "ic45",
+    "wv45",
+    "temp45",
+    "p45",
+    "rh45",
+]

pyModeS/decoder/ehs.py

@@ -0,0 +1,66 @@
+"""EHS Wrapper.
+
+``pyModeS.ehs`` is deprecated, please use ``pyModeS.commb`` instead.
+
+The EHS wrapper imports all functions from the following modules:
+    - pyModeS.decoder.bds.bds40
+    - pyModeS.decoder.bds.bds50
+    - pyModeS.decoder.bds.bds60
+
+"""
+
+import warnings
+
+from .bds.bds40 import (
+    is40,
+    selalt40fms,
+    selalt40mcp,
+    p40baro,
+    alt40fms,
+    alt40mcp,
+)
+from .bds.bds50 import is50, roll50, trk50, gs50, rtrk50, tas50
+from .bds.bds60 import is60, hdg60, ias60, mach60, vr60baro, vr60ins
+from .bds import infer
+
+__all__ = [
+    "is40",
+    "selalt40fms",
+    "selalt40mcp",
+    "p40baro",
+    "alt40fms",
+    "alt40mcp",
+    "is50",
+    "roll50",
+    "trk50",
+    "gs50",
+    "rtrk50",
+    "tas50",
+    "is60",
+    "hdg60",
+    "ias60",
+    "mach60",
+    "vr60baro",
+    "vr60ins",
+    "infer",
+]
+
+warnings.simplefilter("once", DeprecationWarning)
+warnings.warn(
+    "pms.ehs module is deprecated. Please use pms.commb instead.",
+    DeprecationWarning,
+)
+
+
+def BDS(msg):
+    warnings.warn(
+        "pms.ehs.BDS() is deprecated, use pms.bds.infer() instead.",
+        DeprecationWarning,
+    )
+    return infer(msg)
+
+
+def icao(msg):
+    from . import common
+
+    return common.icao(msg)

pyModeS/decoder/els.py

@@ -0,0 +1,35 @@
+"""ELS Wrapper.
+
+``pyModeS.els`` is deprecated, please use ``pyModeS.commb`` instead.
+
+The ELS wrapper imports all functions from the following modules:
+    - pyModeS.decoder.bds.bds10
+    - pyModeS.decoder.bds.bds17
+    - pyModeS.decoder.bds.bds20
+    - pyModeS.decoder.bds.bds30
+
+"""
+
+import warnings
+
+from .bds.bds10 import is10, ovc10
+from .bds.bds17 import cap17, is17
+from .bds.bds20 import cs20, is20
+from .bds.bds30 import is30
+
+warnings.simplefilter("once", DeprecationWarning)
+warnings.warn(
+    "pms.els module is deprecated. Please use pms.commb instead.",
+    DeprecationWarning,
+)
+
+
+__all__ = [
+    "is10",
+    "ovc10",
+    "is17",
+    "cap17",
+    "is20",
+    "cs20",
+    "is30",
+]

pyModeS/decoder/flarm/__init__.py

@@ -0,0 +1,26 @@
+from typing import TypedDict
+from typing_extensions import Annotated
+
+from .decode import flarm as flarm_decode
+
+__all__ = ["DecodedMessage", "flarm"]
+
+
+class DecodedMessage(TypedDict):
+    timestamp: int
+    icao24: str
+    latitude: float
+    longitude: float
+    altitude: Annotated[int, "m"]
+    vertical_speed: Annotated[float, "m/s"]
+    groundspeed: int
+    track: int
+    type: str
+    sensorLatitude: float
+    sensorLongitude: float
+    isIcao24: bool
+    noTrack: bool
+    stealth: bool
+
+
+flarm = flarm_decode

pyModeS/decoder/flarm/core.c

@@ -0,0 +1,124 @@
+#include "core.h"
+
+/*
+ *
+ * https://pastebin.com/YK2f8bfm
+ *
+ * NEW ENCRYPTION
+ *
+ * Swiss glider anti-colission system moved to a new encryption scheme: XXTEA
+ * The algorithm encrypts all the packet after the header: total 20 bytes or 5 long int words of data
+ *
+ * XXTEA description and code are found here: http://en.wikipedia.org/wiki/XXTEA
+ * The system uses 6 iterations of the main loop.
+ *
+ * The system version 6 sends two type of packets: position and ... some unknown data
+ * The difference is made by bit 0 of byte 3 of the packet: for position data this bit is zero.
+ *
+ * For position data the key used depends on the time and transmitting device address.
+ * The key is as well obscured by a weird algorithm.
+ * The code to generate the key is:
+ *
+ * */
+
+void make_key(int *key, long time, long address)
+{
+  const long key1[4] = {0xe43276df, 0xdca83759, 0x9802b8ac, 0x4675a56b};
+  const long key1b[4] = {0xfc78ea65, 0x804b90ea, 0xb76542cd, 0x329dfa32};
+  const long *table = ((((time >> 23) & 255) & 0x01) != 0) ? key1b : key1;
+
+  for (int i = 0; i < 4; i++)
+  {
+    key[i] = obscure(table[i] ^ ((time >> 6) ^ address), 0x045D9F3B) ^ 0x87B562F4;
+  }
+}
+
+long obscure(long key, unsigned long seed)
+{
+  unsigned int m1 = seed * (key ^ (key >> 16));
+  unsigned int m2 = seed * (m1 ^ (m1 >> 16));
+  return m2 ^ (m2 >> 16);
+}
+
+/*
+ * NEW PACKET FORMAT:
+ *
+ * Byte     Bits
+ *  0     AAAA AAAA    device address
+ *  1     AAAA AAAA
+ *  2     AAAA AAAA
+ *  3     00aa 0000    aa = 10 or 01
+ *
+ *  4     vvvv vvvv    vertical speed
+ *  5     xxxx xxvv
+ *  6     gggg gggg    GPS status
+ *  7     tttt gggg    plane type
+ *
+ *  8     LLLL LLLL    Latitude
+ *  9     LLLL LLLL
+ * 10     aaaa aLLL
+ * 11     aaaa aaaa    Altitude
+ *
+ * 12     NNNN NNNN    Longitude
+ * 13     NNNN NNNN
+ * 14     xxxx NNNN
+ * 15     FFxx xxxx    multiplying factor
+ *
+ * 16     SSSS SSSS    as in version 4
+ * 17     ssss ssss
+ * 18     KKKK KKKK
+ * 19     kkkk kkkk
+ *
+ * 20     EEEE EEEE
+ * 21     eeee eeee
+ * 22     PPPP PPPP
+ * 24     pppp pppp
+ * */
+
+/*
+ * https://en.wikipedia.org/wiki/XXTEA
+ */
+
+void btea(uint32_t *v, int n, uint32_t const key[4])
+{
+  uint32_t y, z, sum;
+  unsigned p, rounds, e;
+  if (n > 1)
+  { /* Coding Part */
+    /* Unused, should remove? */
+    rounds = 6 + 52 / n;
+    sum = 0;
+    z = v[n - 1];
+    do
+    {
+      sum += DELTA;
+      e = (sum >> 2) & 3;
+      for (p = 0; p < (unsigned)n - 1; p++)
+      {
+        y = v[p + 1];
+        z = v[p] += MX;
+      }
+      y = v[0];
+      z = v[n - 1] += MX;
+    } while (--rounds);
+  }
+  else if (n < -1)
+  { /* Decoding Part */
+    n = -n;
+    rounds = 6; // + 52 / n;
+    sum = rounds * DELTA;
+    y = v[0];
+    do
+    {
+      e = (sum >> 2) & 3;
+      for (p = n - 1; p > 0; p--)
+      {
+        z = v[p - 1];
+        y = v[p] -= MX;
+      }
+      z = v[n - 1];
+      y = v[0] -= MX;
+      sum -= DELTA;
+    } while (--rounds);
+  }
+}

pyModeS/decoder/flarm/core.h

@@ -0,0 +1,13 @@
+#ifndef __CORE_H__
+#define __CORE_H__
+
+#include <stdint.h>
+
+#define DELTA 0x9e3779b9
+#define MX (((z >> 5 ^ y << 2) + (y >> 3 ^ z << 4)) ^ ((sum ^ y) + (key[(p & 3) ^ e] ^ z)))
+
+void make_key(int *key, long time, long address);
+long obscure(long key, unsigned long seed);
+void btea(uint32_t *v, int n, uint32_t const key[4]);
+
+#endif

pyModeS/decoder/flarm/core.pxd

@@ -0,0 +1,4 @@
+
+cdef extern from "core.h":
+    void make_key(int*, long time, long address)
+    void btea(int*, int, int*)

pyModeS/decoder/flarm/decode.pyi

@@ -0,0 +1,14 @@
+from typing import Any
+
+from . import DecodedMessage
+
+AIRCRAFT_TYPES: list[str]
+
+
+def flarm(
+    timestamp: int,
+    msg: str,
+    refLat: float,
+    refLon: float,
+    **kwargs: Any,
+) -> DecodedMessage: ...

pyModeS/decoder/flarm/decode.pyx

@@ -0,0 +1,147 @@
+from cpython cimport array
+
+from .core cimport make_key as c_make_key, btea as c_btea
+
+import array
+import math
+from ctypes import c_byte
+from textwrap import wrap
+
+AIRCRAFT_TYPES = [
+    "Unknown",  # 0
+    "Glider",  # 1
+    "Tow-Plane",  # 2
+    "Helicopter",  # 3
+    "Parachute",  # 4
+    "Parachute Drop-Plane",  # 5
+    "Hangglider",  # 6
+    "Paraglider",  # 7
+    "Aircraft",  # 8
+    "Jet",  # 9
+    "UFO",  # 10
+    "Balloon",  # 11
+    "Airship",  # 12
+    "UAV",  # 13
+    "Reserved",  # 14
+    "Static Obstacle",  # 15
+]
+
+cdef long bytearray2int(str icao24):
+    return (
+        (int(icao24[4:6], 16) & 0xFF)
+        | ((int(icao24[2:4], 16) & 0xFF) << 8)
+        | ((int(icao24[:2], 16) & 0xFF) << 16)
+    )
+
+cpdef array.array make_key(long timestamp, str icao24):
+    cdef long addr = bytearray2int(icao24)
+    cdef array.array a = array.array('i', [0, 0, 0, 0])
+    c_make_key(a.data.as_ints, timestamp, (addr << 8) & 0xffffff)
+    return a
+
+cpdef array.array btea(long timestamp, str msg):
+    cdef int p
+    cdef str icao24 = msg[4:6] + msg[2:4] + msg[:2]
+    cdef array.array key = make_key(timestamp, icao24)
+
+    pieces = wrap(msg[8:], 8)
+    cdef array.array toDecode = array.array('i', len(pieces) * [0])
+    for i, piece in enumerate(pieces):
+        p = 0
+        for elt in wrap(piece, 2)[::-1]:
+            p = (p << 8) + int(elt, 16)
+        toDecode[i] = p
+
+    c_btea(toDecode.data.as_ints, -5, key.data.as_ints)
+    return toDecode
+
+cdef float velocity(int ns, int ew):
+    return math.hypot(ew / 4, ns / 4)
+
+def heading(ns, ew, velocity):
+    if velocity < 1e-6:
+        velocity = 1
+    return (math.atan2(ew / velocity / 4, ns / velocity / 4) / 0.01745) % 360
+
+def turningRate(a1, a2):
+    return ((((a2 - a1)) + 540) % 360) - 180
+
+def flarm(long timestamp, str msg, float refLat, float refLon, **kwargs):
+    """Decode a FLARM message.
+
+    Args:
+        timestamp (int)
+        msg (str)
+        refLat (float): the receiver's location
+        refLon (float): the receiver's location
+
+    Returns:
+        a dictionary with all decoded fields. Any extra keyword argument passed
+        is included in the output dictionary.
+    """
+    cdef str icao24 = msg[4:6] + msg[2:4] + msg[:2]
+    cdef int magic = int(msg[6:8], 16)
+
+    if magic != 0x10 and magic != 0x20:
+        return None
+
+    cdef array.array decoded = btea(timestamp, msg)
+
+    cdef int aircraft_type = (decoded[0] >> 28) & 0xF
+    cdef int gps = (decoded[0] >> 16) & 0xFFF
+    cdef int raw_vs = c_byte(decoded[0] & 0x3FF).value
+
+    noTrack = ((decoded[0] >> 14) & 0x1) == 1
+    stealth = ((decoded[0] >> 13) & 0x1) == 1
+
+    cdef int altitude =  (decoded[1] >> 19) & 0x1FFF
+
+    cdef int lat = decoded[1] & 0x7FFFF
+
+    cdef int mult_factor = 1 << ((decoded[2] >> 30) & 0x3)
+    cdef int lon = decoded[2] & 0xFFFFF
+
+    ns = list(
+        c_byte((decoded[3] >> (i * 8)) & 0xFF).value * mult_factor
+        for i in range(4)
+    )
+    ew = list(
+        c_byte((decoded[4] >> (i * 8)) & 0xFF).value * mult_factor
+        for i in range(4)
+    )
+
+    cdef int roundLat = int(refLat * 1e7) >> 7
+    lat = (lat - roundLat) % 0x080000
+    if lat >= 0x040000:
+        lat -= 0x080000
+    lat = (((lat + roundLat) << 7) + 0x40) 
+
+    roundLon = int(refLon * 1e7) >> 7
+    lon = (lon - roundLon) % 0x100000
+    if lon >= 0x080000:
+        lon -= 0x100000
+    lon = (((lon + roundLon) << 7) + 0x40)
+
+    speed = sum(velocity(n, e) for n, e in zip(ns, ew)) / 4
+
+    heading4 = heading(ns[0], ew[0], speed)
+    heading8 = heading(ns[1], ew[1], speed)
+
+    return dict(
+        timestamp=timestamp,
+        icao24=icao24,
+        latitude=lat * 1e-7,
+        longitude=lon * 1e-7,
+        geoaltitude=altitude,
+        vertical_speed=raw_vs * mult_factor / 10,
+        groundspeed=speed,
+        track=heading4 - 4 * turningRate(heading4, heading8) / 4,
+        type=AIRCRAFT_TYPES[aircraft_type],
+        sensorLatitude=refLat,
+        sensorLongitude=refLon,
+        isIcao24=magic==0x10,
+        noTrack=noTrack,
+        stealth=stealth,
+        gps=gps,
+        **kwargs
+    )

pyModeS/decoder/surv.py

@@ -0,0 +1,138 @@
+"""
+Decode short roll call surveillance replies, with downlink format 4 or 5
+"""
+
+from __future__ import annotations
+from typing import Callable, TypeVar
+
+from .. import common
+
+T = TypeVar("T")
+F = Callable[[str], T]
+
+
+def _checkdf(func: F[T]) -> F[T]:
+    """Ensure downlink format is 4 or 5."""
+
+    def wrapper(msg: str) -> T:
+        df = common.df(msg)
+        if df not in [4, 5]:
+            raise RuntimeError(
+                "Incorrect downlink format, expect 4 or 5, got {}".format(df)
+            )
+        return func(msg)
+
+    return wrapper
+
+
+@_checkdf
+def fs(msg: str) -> tuple[int, str]:
+    """Decode flight status.
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        int, str: flight status, description
+
+    """
+    msgbin = common.hex2bin(msg)
+    fs = common.bin2int(msgbin[5:8])
+    text = ""
+
+    if fs == 0:
+        text = "no alert, no SPI, aircraft is airborne"
+    elif fs == 1:
+        text = "no alert, no SPI, aircraft is on-ground"
+    elif fs == 2:
+        text = "alert, no SPI, aircraft is airborne"
+    elif fs == 3:
+        text = "alert, no SPI, aircraft is on-ground"
+    elif fs == 4:
+        text = "alert, SPI, aircraft is airborne or on-ground"
+    elif fs == 5:
+        text = "no alert, SPI, aircraft is airborne or on-ground"
+
+    return fs, text
+
+
+@_checkdf
+def dr(msg: str) -> tuple[int, str]:
+    """Decode downlink request.
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        int, str: downlink request, description
+
+    """
+    msgbin = common.hex2bin(msg)
+    dr = common.bin2int(msgbin[8:13])
+
+    text = ""
+
+    if dr == 0:
+        text = "no downlink request"
+    elif dr == 1:
+        text = "request to send Comm-B message"
+    elif dr == 4:
+        text = "Comm-B broadcast 1 available"
+    elif dr == 5:
+        text = "Comm-B broadcast 2 available"
+    elif dr >= 16:
+        text = "ELM downlink segments available: {}".format(dr - 15)
+
+    return dr, text
+
+
+@_checkdf
+def um(msg: str) -> tuple[int, int, None | str]:
+    """Decode utility message.
+
+    Utility message contains interrogator identifier and reservation type.
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        int, str: interrogator identifier code that triggered the reply, and
+        reservation type made by the interrogator
+    """
+    msgbin = common.hex2bin(msg)
+    iis = common.bin2int(msgbin[13:17])
+    ids = common.bin2int(msgbin[17:19])
+    if ids == 0:
+        ids_text = None
+    if ids == 1:
+        ids_text = "Comm-B interrogator identifier code"
+    if ids == 2:
+        ids_text = "Comm-C interrogator identifier code"
+    if ids == 3:
+        ids_text = "Comm-D interrogator identifier code"
+    return iis, ids, ids_text
+
+
+@_checkdf
+def altitude(msg: str) -> None | int:
+    """Decode altitude.
+
+    Args:
+        msg (String): 14 hexdigits string
+
+    Returns:
+        int: altitude in ft
+
+    """
+    return common.altcode(msg)
+
+
+@_checkdf
+def identity(msg: str) -> str:
+    """Decode squawk code.
+
+    Args:
+        msg (String): 14 hexdigits string
+
+    Returns:
+        string: squawk code
+
+    """
+    return common.idcode(msg)

pyModeS/decoder/uncertainty.py

@@ -0,0 +1,200 @@
+"""Uncertainty parameters.
+
+"""
+
+from __future__ import annotations
+
+import sys
+
+if sys.version_info < (3, 8):
+    from typing_extensions import TypedDict
+else:
+    from typing import TypedDict
+
+NA = None
+
+TC_NUCp_lookup = {
+    0: 0,
+    5: 9,
+    6: 8,
+    7: 7,
+    8: 6,
+    9: 9,
+    10: 8,
+    11: 7,
+    12: 6,
+    13: 5,
+    14: 4,
+    15: 3,
+    16: 2,
+    17: 1,
+    18: 0,
+    20: 9,
+    21: 8,
+    22: 0,
+}
+
+TC_NICv1_lookup: dict[int, int | dict[int, int]] = {
+    5: 11,
+    6: 10,
+    7: 9,
+    8: 0,
+    9: 11,
+    10: 10,
+    11: {1: 9, 0: 8},
+    12: 7,
+    13: 6,
+    14: 5,
+    15: 4,
+    16: {1: 3, 0: 2},
+    17: 1,
+    18: 0,
+    20: 11,
+    21: 10,
+    22: 0,
+}
+
+TC_NICv2_lookup: dict[int, int | dict[int, int]] = {
+    5: 11,
+    6: 10,
+    7: {2: 9, 0: 8},
+    8: {3: 7, 2: 6, 1: 6, 0: 0},
+    9: 11,
+    10: 10,
+    11: {3: 9, 0: 8},
+    12: 7,
+    13: 6,
+    14: 5,
+    15: 4,
+    16: {3: 3, 0: 2},
+    17: 1,
+    18: 0,
+    20: 11,
+    21: 10,
+    22: 0,
+}
+
+
+class NUCpEntry(TypedDict):
+    HPL: None | float
+    RCu: None | int
+    RCv: None | int
+
+
+NUCp: dict[int, NUCpEntry] = {
+    9: {"HPL": 7.5, "RCu": 3, "RCv": 4},
+    8: {"HPL": 25, "RCu": 10, "RCv": 15},
+    7: {"HPL": 185, "RCu": 93, "RCv": NA},
+    6: {"HPL": 370, "RCu": 185, "RCv": NA},
+    5: {"HPL": 926, "RCu": 463, "RCv": NA},
+    4: {"HPL": 1852, "RCu": 926, "RCv": NA},
+    3: {"HPL": 3704, "RCu": 1852, "RCv": NA},
+    2: {"HPL": 18520, "RCu": 9260, "RCv": NA},
+    1: {"HPL": 37040, "RCu": 18520, "RCv": NA},
+    0: {"HPL": NA, "RCu": NA, "RCv": NA},
+}
+
+
+class NUCvEntry(TypedDict):
+    HVE: None | float
+    VVE: None | float
+
+
+NUCv: dict[int, NUCvEntry] = {
+    0: {"HVE": NA, "VVE": NA},
+    1: {"HVE": 10, "VVE": 15.2},
+    2: {"HVE": 3, "VVE": 4.5},
+    3: {"HVE": 1, "VVE": 1.5},
+    4: {"HVE": 0.3, "VVE": 0.46},
+}
+
+
+class NACpEntry(TypedDict):
+    EPU: None | int
+    VEPU: None | int
+
+
+NACp: dict[int, NACpEntry] = {
+    11: {"EPU": 3, "VEPU": 4},
+    10: {"EPU": 10, "VEPU": 15},
+    9: {"EPU": 30, "VEPU": 45},
+    8: {"EPU": 93, "VEPU": NA},
+    7: {"EPU": 185, "VEPU": NA},
+    6: {"EPU": 556, "VEPU": NA},
+    5: {"EPU": 926, "VEPU": NA},
+    4: {"EPU": 1852, "VEPU": NA},
+    3: {"EPU": 3704, "VEPU": NA},
+    2: {"EPU": 7408, "VEPU": NA},
+    1: {"EPU": 18520, "VEPU": NA},
+    0: {"EPU": NA, "VEPU": NA},
+}
+
+
+class NACvEntry(TypedDict):
+    HFOMr: None | float
+    VFOMr: None | float
+
+
+NACv: dict[int, NACvEntry] = {
+    0: {"HFOMr": NA, "VFOMr": NA},
+    1: {"HFOMr": 10, "VFOMr": 15.2},
+    2: {"HFOMr": 3, "VFOMr": 4.5},
+    3: {"HFOMr": 1, "VFOMr": 1.5},
+    4: {"HFOMr": 0.3, "VFOMr": 0.46},
+}
+
+
+class SILEntry(TypedDict):
+    PE_RCu: None | float
+    PE_VPL: None | float
+
+
+SIL: dict[int, SILEntry] = {
+    3: {"PE_RCu": 1e-7, "PE_VPL": 2e-7},
+    2: {"PE_RCu": 1e-5, "PE_VPL": 1e-5},
+    1: {"PE_RCu": 1e-3, "PE_VPL": 1e-3},
+    0: {"PE_RCu": NA, "PE_VPL": NA},
+}
+
+
+class NICv1Entry(TypedDict):
+    Rc: None | float
+    VPL: None | float
+
+
+NICv1: dict[int, dict[int, NICv1Entry]] = {
+    # NIC is used as the index at second Level
+    11: {0: {"Rc": 7.5, "VPL": 11}},
+    10: {0: {"Rc": 25, "VPL": 37.5}},
+    9: {1: {"Rc": 75, "VPL": 112}},
+    8: {0: {"Rc": 185, "VPL": NA}},
+    7: {0: {"Rc": 370, "VPL": NA}},
+    6: {0: {"Rc": 926, "VPL": NA}, 1: {"Rc": 1111, "VPL": NA}},
+    5: {0: {"Rc": 1852, "VPL": NA}},
+    4: {0: {"Rc": 3702, "VPL": NA}},
+    3: {1: {"Rc": 7408, "VPL": NA}},
+    2: {0: {"Rc": 14008, "VPL": NA}},
+    1: {0: {"Rc": 37000, "VPL": NA}},
+    0: {0: {"Rc": NA, "VPL": NA}},
+}
+
+
+class NICv2Entry(TypedDict):
+    Rc: None | float
+
+
+NICv2: dict[int, dict[int, NICv2Entry]] = {
+    # Decimal value of [NICa NICb/NICc] is used as the index at second Level
+    11: {0: {"Rc": 7.5}},
+    10: {0: {"Rc": 25}},
+    9: {2: {"Rc": 75}, 3: {"Rc": 75}},
+    8: {0: {"Rc": 185}},
+    7: {0: {"Rc": 370}, 3: {"Rc": 370}},
+    6: {0: {"Rc": 926}, 1: {"Rc": 556}, 2: {"Rc": 556}, 3: {"Rc": 1111}},
+    5: {0: {"Rc": 1852}},
+    4: {0: {"Rc": 3702}},
+    3: {3: {"Rc": 7408}},
+    2: {0: {"Rc": 14008}},
+    1: {0: {"Rc": 37000}},
+    0: {0: {"Rc": NA}},
+}

pyModeS/decoder/uplink.py

@@ -0,0 +1,229 @@
+from typing import Optional
+from .. import common
+from textwrap import wrap
+
+
+def uplink_icao(msg: str) -> str:
+    "Calculate the ICAO address from a Mode-S interrogation (uplink message)"
+    p_gen = 0xFFFA0480 << ((len(msg) - 14) * 4)
+    data = int(msg[:-6], 16)
+    PA = int(msg[-6:], 16)
+    ad = 0
+    topbit = 0b1 << (len(msg) * 4 - 25)
+    for j in range(0, len(msg) * 4, 1):
+        if data & topbit:
+            data ^= p_gen
+        data = (data << 1) + ((PA >> 23) & 1)
+        PA = PA << 1
+        if j > (len(msg) * 4 - 26):
+            ad = ad + ((data >> (len(msg) * 4 - 25)) & 1)
+            ad = ad << 1
+    return "%06X" % (ad >> 2)
+
+
+def uf(msg: str) -> int:
+    """Decode Uplink Format value, bits 1 to 5."""
+    ufbin = common.hex2bin(msg[:2])
+    return min(common.bin2int(ufbin[0:5]), 24)
+
+
+def bds(msg: str) -> Optional[str]:
+    "Decode requested BDS register from selective (Roll Call) interrogation."
+    UF = uf(msg)
+    msgbin = common.hex2bin(msg)
+    msgbin_split = wrap(msgbin, 8)
+    mbytes = list(map(common.bin2int, msgbin_split))
+
+    if UF in {4, 5, 20, 21}:
+
+        di = mbytes[1] & 0x7  # DI - Designator Identification
+        RR = mbytes[1] >> 3 & 0x1F
+        if RR > 15:
+            BDS1 = RR - 16
+            if di == 7:
+                RRS = mbytes[2] & 0x0F
+                BDS2 = RRS
+            elif di == 3:
+                RRS = ((mbytes[2] & 0x1) << 3) | ((mbytes[3] & 0xE0) >> 5)
+                BDS2 = RRS
+            else:
+                # for other values of DI, the BDS2 is assumed 0
+                # (as per ICAO Annex 10 Vol IV)
+                BDS2 = 0
+
+            return str(format(BDS1,"X")) + str(format(BDS2,"X"))
+        else:
+            return None
+    else:
+        return None
+
+
+def pr(msg: str) -> Optional[int]:
+    """Decode PR (probability of reply) field from All Call interrogation.
+    Interpretation:
+    0 signifies reply with probability of 1
+    1 signifies reply with probability of 1/2
+    2 signifies reply with probability of 1/4
+    3 signifies reply with probability of 1/8
+    4 signifies reply with probability of 1/16
+    5, 6, 7 not assigned
+    8 signifies disregard lockout, reply with probability of 1
+    9 signifies disregard lockout, reply with probability of 1/2
+    10 signifies disregard lockout, reply with probability of 1/4
+    11 signifies disregard lockout, reply with probability of 1/8
+    12 signifies disregard lockout, reply with probability of 1/16
+    13, 14, 15 not assigned.
+    """
+    msgbin = common.hex2bin(msg)
+    msgbin_split = wrap(msgbin, 8)
+    mbytes = list(map(common.bin2int, msgbin_split))
+    if uf(msg) == 11:
+        return ((mbytes[0] & 0x7) << 1) | ((mbytes[1] & 0x80) >> 7)
+    else:
+        return None
+
+
+def ic(msg: str) -> Optional[str]:
+    """Decode IC (interrogator code) from a ground-based interrogation."""
+
+    UF = uf(msg)
+    msgbin = common.hex2bin(msg)
+    msgbin_split = wrap(msgbin, 8)
+    mbytes = list(map(common.bin2int, msgbin_split))
+    IC = None
+    if UF == 11:
+
+        codeLabel = mbytes[1] & 0x7
+        icField = (mbytes[1] >> 3) & 0xF
+
+        # Store the Interogator Code
+        ic_switcher = {
+            0: "II" + str(icField),
+            1: "SI" + str(icField),
+            2: "SI" + str(icField + 16),
+            3: "SI" + str(icField + 32),
+            4: "SI" + str(icField + 48),
+        }
+        IC = ic_switcher.get(codeLabel, "")
+
+    if UF in {4, 5, 20, 21}:
+        di = mbytes[1] & 0x7
+        RR = mbytes[1] >> 3 & 0x1F
+        if RR > 15:
+            BDS1 = RR - 16  # noqa: F841
+        if di == 0 or di == 1 or di == 7:
+            # II
+            II = (mbytes[2] >> 4) & 0xF
+            IC = "II" + str(II)
+        elif di == 3:
+            # SI
+            SI = (mbytes[2] >> 2) & 0x3F
+            IC = "SI" + str(SI)
+    return IC
+
+
+def lockout(msg):
+    """Decode the lockout command from selective (Roll Call) interrogation."""
+    msgbin = common.hex2bin(msg)
+    msgbin_split = wrap(msgbin, 8)
+    mbytes = list(map(common.bin2int, msgbin_split))
+
+    if uf(msg) in {4, 5, 20, 21}:
+        lockout = False
+        di = mbytes[1] & 0x7
+        if (di == 1 or di == 7):
+            # LOS
+            if ((mbytes[3] & 0x40) >> 6) == 1:
+                lockout = True
+        elif di == 3:
+            # LSS
+            if ((mbytes[2] & 0x2) >> 1) == 1:
+                lockout = True
+        return lockout
+    else:
+        return None
+
+
+def uplink_fields(msg):
+    """Decode individual fields of a ground-based interrogation."""
+    msgbin = common.hex2bin(msg)
+    msgbin_split = wrap(msgbin, 8)
+    mbytes = list(map(common.bin2int, msgbin_split))
+    PR = ""
+    IC = ""
+    lockout = False
+    di = ""
+    RR = ""
+    RRS = ""
+    BDS = ""
+    if uf(msg) == 11:
+
+        # Probability of Reply decoding
+
+        PR = ((mbytes[0] & 0x7) << 1) | ((mbytes[1] & 0x80) >> 7)
+
+        #  Get cl and ic bit fields from the data
+        #  Decode the SI or II interrogator code
+        codeLabel = mbytes[1] & 0x7
+        icField = (mbytes[1] >> 3) & 0xF
+
+        # Store the Interogator Code
+        ic_switcher = {
+            0: "II" + str(icField),
+            1: "SI" + str(icField),
+            2: "SI" + str(icField + 16),
+            3: "SI" + str(icField + 32),
+            4: "SI" + str(icField + 48),
+        }
+        IC = ic_switcher.get(codeLabel, "")
+
+    if uf(msg) in {4, 5, 20, 21}:
+        # Decode the DI and get the lockout information conveniently
+        # (LSS or LOS)
+
+        # DI - Designator Identification
+        di = mbytes[1] & 0x7
+        RR = mbytes[1] >> 3 & 0x1F
+        if RR > 15:
+            BDS1 = RR - 16
+            BDS2 = 0
+        if di == 0:
+            # II
+            II = (mbytes[2] >> 4) & 0xF
+            IC = "II" + str(II)            
+        elif di == 1:
+            # II
+            II = (mbytes[2] >> 4) & 0xF
+            IC = "II" + str(II)
+            if ((mbytes[3] & 0x40) >> 6) == 1:
+                lockout = True        
+        elif di == 7:
+            # LOS
+            if ((mbytes[3] & 0x40) >> 6) == 1:
+                lockout = True
+            # II
+            II = (mbytes[2] >> 4) & 0xF
+            IC = "II" + str(II)
+            RRS = mbytes[2] & 0x0F
+            BDS2 = RRS
+        elif di == 3:
+            # LSS
+            if ((mbytes[2] & 0x2) >> 1) == 1:
+                lockout = True
+            # SI
+            SI = (mbytes[2] >> 2) & 0x3F
+            IC = "SI" + str(SI)
+            RRS = ((mbytes[2] & 0x1) << 3) | ((mbytes[3] & 0xE0) >> 5)
+            BDS2 = RRS
+        if RR > 15:
+            BDS = str(format(BDS1,"X")) + str(format(BDS2,"X"))
+            
+    return {
+        "DI": di,
+        "IC": IC,
+        "LOS": lockout,
+        "PR": PR,
+        "RR": RR,
+        "RRS": RRS,
+        "BDS": BDS,
+    }

pyModeS/ehs.py

@@ -1,999 +0,0 @@
-# Copyright (C) 2016 Junzi Sun (TU Delft)
-
-# This program 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 of the License, or
-# (at your option) any later version.
-
-# This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
-
-"""
-A python package for decoding ModeS (DF20, DF21) messages.
-"""
-
-from __future__ import absolute_import, print_function, division
-from . import util, modes_common
-
-def icao(msg):
-    return modes_common.icao(msg)
-
-def data(msg):
-    """Return the data frame in the message, bytes 9 to 22"""
-    return msg[8:22]
-
-def isnull(msg):
-    """check if the data bits are all zeros
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        bool: True or False
-    """
-    d = util.hex2bin(data(msg))
-
-    if util.bin2int(d) > 0:
-        return False
-    else:
-        return True
-
-def checkbits(data, sb, msb, lsb):
-    """Check if the status bit and field bits are consistency. This Function
-    is used for checking BDS code versions.
-    """
-
-    # status bit, most significant bit, least significant bit
-    status = int(data[sb-1])
-    value = util.bin2int(data[msb-1:lsb])
-
-    if not status:
-        if value != 0:
-            return False
-
-    return True
-
-# ------------------------------------------
-# Common functions
-# ------------------------------------------
-
-def df20alt(msg):
-    """Computes the altitude from DF20 message, bit 20-32
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        int: altitude in ft
-    """
-
-    if util.df(msg) != 20:
-        raise RuntimeError("Message must be Downlink Format 20.")
-
-    return modes_common.altcode(msg)
-
-
-def df21id(msg):
-    """Computes identity (squawk code) from DF21, bit 20-32
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        string: squawk code
-    """
-
-    if util.df(msg) != 21:
-        raise RuntimeError("Message must be Downlink Format 21.")
-
-    return modes_common.idcode(msg)
-
-# ------------------------------------------
-# BDS 1,7
-# Common usage GICB capability report
-# ------------------------------------------
-
-def isBDS17(msg):
-    """Check if a message is likely to be BDS code 1,7
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        bool: True or False
-    """
-
-    if isnull(msg):
-        return False
-
-    d = util.hex2bin(data(msg))
-
-    result = True
-
-    if util.bin2int(d[28:56]) != 0:
-        result &= False
-
-    caps = cap17(msg)
-
-    # basic BDS codes for ADS-B shall be supported
-    #   assuming ADS-B out is installed (2017EU/2020US mandate)
-    if not set(['BDS05', 'BDS06', 'BDS09', 'BDS20']).issubset(caps):
-        result &= False
-
-    return result
-
-def cap17(msg):
-    """Extract capacities from BDS 1,7 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        list: list of suport BDS codes
-    """
-    allbds = ['05', '06', '07', '08', '09', '0A', '20', '21', '40', '41',
-              '42', '43', '44', '45', '48', '50', '51', '52', '53', '54',
-              '55', '56', '5F', '60', 'NA', 'NA', 'E1', 'E2']
-
-    d = util.hex2bin(data(msg))
-    idx = [i for i, v in enumerate(d[:28]) if v=='1']
-    capacity = ['BDS'+allbds[i] for i in idx if allbds[i] is not 'NA']
-
-    return capacity
-
-# ------------------------------------------
-# BDS 2,0
-# Aircraft identification
-# ------------------------------------------
-
-def isBDS20(msg):
-    """Check if a message is likely to be BDS code 2,0
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        bool: True or False
-    """
-
-    if isnull(msg):
-        return False
-
-    # status bit 1, 14, and 27
-    d = util.hex2bin(data(msg))
-
-    result = True
-
-    if util.bin2int(d[0:4]) != 2 or util.bin2int(d[4:8]) != 0:
-        result &= False
-
-    cs = callsign(msg)
-
-    if '#' in cs:
-        result &= False
-
-    return result
-
-
-def callsign(msg):
-    """Aircraft callsign
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS40) string
-
-    Returns:
-        string: callsign, max. 8 chars
-    """
-    chars = '#ABCDEFGHIJKLMNOPQRSTUVWXYZ#####_###############0123456789######'
-
-    d = util.hex2bin(data(msg))
-
-    cs = ''
-    cs += chars[util.bin2int(d[8:14])]
-    cs += chars[util.bin2int(d[14:20])]
-    cs += chars[util.bin2int(d[20:26])]
-    cs += chars[util.bin2int(d[26:32])]
-    cs += chars[util.bin2int(d[32:38])]
-    cs += chars[util.bin2int(d[38:44])]
-    cs += chars[util.bin2int(d[44:50])]
-    cs += chars[util.bin2int(d[50:56])]
-
-    return cs
-
-
-# ------------------------------------------
-# BDS 4,0
-# Selected vertical intention
-# ------------------------------------------
-
-def isBDS40(msg):
-    """Check if a message is likely to be BDS code 4,0
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        bool: True or False
-    """
-
-    if isnull(msg):
-        return False
-
-    # status bit 1, 14, and 27
-    d = util.hex2bin(data(msg))
-
-    result = True
-
-    result = result & checkbits(d, 1, 2, 13) \
-        & checkbits(d, 14, 15, 26) & checkbits(d, 27, 28, 39)
-
-    # bits 40-47 and 52-53 shall all be zero
-    if util.bin2int(d[39:47]) != 0:
-        result &= False
-
-    if util.bin2int(d[51:53]) != 0:
-        result &= False
-
-    return result
-
-
-def alt40mcp(msg):
-    """Selected altitude, MCP/FCU
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS40) string
-
-    Returns:
-        int: altitude in feet
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[0] == '0':
-        return None
-
-    alt = util.bin2int(d[1:13]) * 16    # ft
-    return alt
-
-
-def alt40fms(msg):
-    """Selected altitude, FMS
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS40) string
-
-    Returns:
-        int: altitude in feet
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[13] == '0':
-        return None
-
-    alt = util.bin2int(d[14:26]) * 16    # ft
-    return alt
-
-
-def p40baro(msg):
-    """Barometric pressure setting
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS40) string
-
-    Returns:
-        float: pressure in millibar
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[26] == '0':
-        return None
-
-    p = util.bin2int(d[27:39]) * 0.1 + 800    # millibar
-    return p
-
-
-# ------------------------------------------
-# BDS 4,4
-# Meteorological routine air report
-# ------------------------------------------
-
-def isBDS44(msg, rev=False):
-    """Check if a message is likely to be BDS code 4,4
-    Meteorological routine air report
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-        rev (bool): using revised version
-
-    Returns:
-        bool: True or False
-    """
-
-    if isnull(msg):
-        return False
-
-    d = util.hex2bin(data(msg))
-
-    result = True
-
-    if not rev:
-        # status bit 5, 35, 47, 50
-        result = result & checkbits(d, 5, 6, 23) \
-            & checkbits(d, 35, 36, 46) & checkbits(d, 47, 48, 49) \
-            & checkbits(d, 50, 51, 56)
-        # Bits 1-4 indicate source, values > 4 reserved and should not occur
-        if util.bin2int(d[0:4]) > 4:
-            result &= False
-    else:
-        # status bit 5, 15, 24, 36, 49
-        result = result & checkbits(d, 5, 6, 14) \
-            & checkbits(d, 15, 16, 23) & checkbits(d, 24, 25, 35) \
-            & checkbits(d, 36, 37, 47) & checkbits(d, 49, 50, 56)
-        # Bits 1-4 are reserved and should be zero
-        if util.bin2int(d[0:4]) != 0:
-            result &= False
-
-    if not result:
-        return False
-
-    vw = wind44(msg, rev=rev)
-    if vw is not None and vw[0] > 250:
-        result &= False
-
-    if temp44(msg):
-        if temp44(msg) > 60 or temp44(msg) < -80:
-            result &= False
-    elif temp44(msg) == 0:
-        result &= False
-
-    return result
-
-
-def wind44(msg, rev=False):
-    """reported wind speed and direction
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS44) string
-        rev (bool): using revised version
-
-    Returns:
-        (int, float): speed (kt), direction (degree)
-    """
-    d = util.hex2bin(data(msg))
-
-    if not rev:
-        status = int(d[4])
-        if not status:
-            return None
-
-        speed = util.bin2int(d[5:14])   # knots
-        direction = util.bin2int(d[14:23]) * 180.0 / 256.0  # degree
-
-    else:
-        spd_status = int(d[4])
-        dir_status = int(d[14])
-
-        if (not spd_status) or (not dir_status):
-            return None
-
-        speed = util.bin2int(d[5:14])   # knots
-        direction = util.bin2int(d[15:23]) * 180.0 / 128.0  # degree
-
-    return round(speed, 0), round(direction, 1)
-
-
-def temp44(msg, rev=False):
-    """reported air temperature
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS44) string
-        rev (bool): using revised version
-
-    Returns:
-        float: tmeperature in Celsius degree
-    """
-    d = util.hex2bin(data(msg))
-
-    if not rev:
-        # if d[22] == '0':
-        #     return None
-
-        sign = int(d[23])
-        value = util.bin2int(d[24:34])
-
-        if sign:
-            value = value - 1024
-
-        temp = value * 0.125   # celsius
-        temp = round(temp, 1)
-    else:
-        # if d[23] == '0':
-        #     return None
-
-        sign = int(d[24])
-        value = util.bin2int(d[25:35])
-
-        if sign:
-            value = value - 1024
-
-        temp = value * 0.125   # celsius
-        temp = round(temp, 1)
-
-    return -1*temp if sign else temp
-
-
-def p44(msg, rev=False):
-    """reported average static pressure
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS44) string
-        rev (bool): using revised version
-
-    Returns:
-        int: static pressure in hPa
-    """
-    d = util.hex2bin(data(msg))
-
-    if not rev:
-        if d[34] == '0':
-            return None
-
-        p = util.bin2int(d[35:46])    # hPa
-
-    else:
-        if d[35] == '0':
-            return None
-
-        p = util.bin2int(d[36:47])    # hPa
-
-    return p
-
-
-def hum44(msg, rev=False):
-    """reported humidity
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS44) string
-        rev (bool): using revised version
-
-    Returns:
-        float: percentage of humidity, [0 - 100] %
-    """
-    d = util.hex2bin(data(msg))
-
-    if not rev:
-        if d[49] == '0':
-            return None
-
-        hm = util.bin2int(d[50:56]) * 100.0 / 64    # %
-
-    else:
-        if d[48] == '0':
-            return None
-
-        hm = util.bin2int(d[49:56])    # %
-
-    return round(hm, 1)
-
-
-# ------------------------------------------
-# BDS 5,0
-# Track and turn report
-# ------------------------------------------
-
-def isBDS50(msg):
-    """Check if a message is likely to be BDS code 5,0
-    (Track and turn report)
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        bool: True or False
-    """
-
-    if isnull(msg):
-        return False
-
-    # status bit 1, 12, 24, 35, 46
-    d = util.hex2bin(data(msg))
-
-    result = True
-
-    result = result & checkbits(d, 1, 3, 11) & checkbits(d, 12, 13, 23) \
-        & checkbits(d, 24, 25, 34) & checkbits(d, 35, 36, 45) \
-        & checkbits(d, 46, 47, 56)
-
-    if not result:
-        return False
-
-    if d[2:11] == "000000000":
-        result &= True
-    else:
-        roll = abs(roll50(msg))
-        if roll and roll > 60:
-            result &= False
-
-    gs = gs50(msg)
-    if gs is not None and gs > 600:
-        result &= False
-
-    tas = tas50(msg)
-    if tas is not None and tas > 500:
-        result &= False
-
-    if (gs is not None) and (tas is not None) and (abs(tas - gs) > 200):
-        result &= False
-
-    return result
-
-
-def roll50(msg):
-    """Roll angle, BDS 5,0 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS50) string
-
-    Returns:
-        float: angle in degrees,
-               negative->left wing down, positive->right wing down
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[0] == '0':
-        return None
-
-    sign = int(d[1])    # 1 -> left wing down
-    value = util.bin2int(d[2:11])
-
-    if sign:
-        value = value - 512
-
-    angle = value * 45.0 / 256.0    # degree
-    return round(angle, 1)
-
-
-def trk50(msg):
-    """True track angle, BDS 5,0 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS50) string
-
-    Returns:
-        float: angle in degrees to true north (from 0 to 360)
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[11] == '0':
-        return None
-
-    sign = int(d[12])   # 1 -> west
-    value = util.bin2int(d[13:23])
-
-    if sign:
-        value = value - 1024
-
-    trk = value * 90.0 / 512.0
-
-    # convert from [-180, 180] to [0, 360]
-    if trk < 0:
-        trk = 360 + trk
-
-    return round(trk, 1)
-
-
-def gs50(msg):
-    """Ground speed, BDS 5,0 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS50) string
-
-    Returns:
-        int: ground speed in knots
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[23] == '0':
-        return None
-
-    spd = util.bin2int(d[24:34]) * 2    # kts
-    return spd
-
-
-def rtrk50(msg):
-    """Track angle rate, BDS 5,0 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS50) string
-
-    Returns:
-        float: angle rate in degrees/second
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[34] == '0':
-        return None
-
-    if d[36:45] == "111111111":
-        return None
-
-    sign = int(d[35])    # 1 -> negative value, two's complement
-    value = util.bin2int(d[36:45])
-    if sign:
-        value = value - 512
-
-    angle = value * 8.0 / 256.0    # degree / sec
-    return round(angle, 3)
-
-
-def tas50(msg):
-    """Aircraft true airspeed, BDS 5,0 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS50) string
-
-    Returns:
-        int: true airspeed in knots
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[45] == '0':
-        return None
-
-    tas = util.bin2int(d[46:56]) * 2   # kts
-    return tas
-
-
-# ------------------------------------------
-# BDS 5,3
-# Air-referenced state vector
-# ------------------------------------------
-
-def isBDS53(msg):
-    """Check if a message is likely to be BDS code 5,3
-    (Air-referenced state vector)
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        bool: True or False
-    """
-
-    if isnull(msg):
-        return False
-
-    # status bit 1, 13, 24, 34, 47
-    d = util.hex2bin(data(msg))
-
-    result = True
-
-    result = result & checkbits(d, 1, 3, 12) & checkbits(d, 13, 14, 23) \
-        & checkbits(d, 24, 25, 33) & checkbits(d, 34, 35, 46) \
-        & checkbits(d, 47, 49, 56)
-
-    if not result:
-        return False
-
-    ias = ias53(msg)
-    if ias is not None and ias > 500:
-        result &= False
-
-    mach = mach53(msg)
-    if mach is not None and mach > 1:
-        result &= False
-
-    tas = tas53(msg)
-    if tas is not None and tas > 500:
-        result &= False
-
-    vr = vr53(msg)
-    if vr is not None and abs(vr) > 8000:
-        result &= False
-
-    return result
-
-
-def hdg53(msg):
-    """Magnetic heading, BDS 5,3 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS53) string
-
-    Returns:
-        float: angle in degrees to true north (from 0 to 360)
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[0] == '0':
-        return None
-
-    sign = int(d[1])    # 1 -> west
-    value = util.bin2int(d[2:12])
-
-    if sign:
-        value = value - 1024
-
-    hdg = value * 90.0 / 512.0   # degree
-
-    # convert from [-180, 180] to [0, 360]
-    if hdg < 0:
-        hdg = 360 + hdg
-
-    return round(hdg, 1)
-
-
-def ias53(msg):
-    """Indicated airspeed, DBS 5,3 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message
-
-    Returns:
-        int: indicated arispeed in knots
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[12] == '0':
-        return None
-
-    ias = util.bin2int(d[13:23])    # knots
-    return ias
-
-
-def mach53(msg):
-    """MACH number, DBS 5,3 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message
-
-    Returns:
-        float: MACH number
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[23] == '0':
-        return None
-
-    mach = util.bin2int(d[24:33]) * 0.008
-    return round(mach, 3)
-
-
-def tas53(msg):
-    """Aircraft true airspeed, BDS 5,3 message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message
-
-    Returns:
-        float: true airspeed in knots
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[33] == '0':
-        return None
-
-    tas = util.bin2int(d[34:46]) * 0.5   # kts
-    return round(tas, 1)
-
-def vr53(msg):
-    """Vertical rate
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS60) string
-
-    Returns:
-        int: vertical rate in feet/minutes
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[46] == '0':
-        return None
-
-    sign = int(d[47])    # 1 -> negative value, two's complement
-    value = util.bin2int(d[48:56])
-
-    if value == 0 or value == 255:  # all zeros or all ones
-        return 0
-
-    value = value - 256 if sign else value
-    roc = value * 64     # feet/min
-
-    return roc
-
-
-# ------------------------------------------
-# BDS 6,0
-# ------------------------------------------
-
-def isBDS60(msg):
-    """Check if a message is likely to be BDS code 6,0
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        bool: True or False
-    """
-
-    if isnull(msg):
-        return False
-
-    # status bit 1, 13, 24, 35, 46
-    d = util.hex2bin(data(msg))
-
-    result = True
-
-    result = result & checkbits(d, 1, 2, 12) & checkbits(d, 13, 14, 23) \
-        & checkbits(d, 24, 25, 34) & checkbits(d, 35, 36, 45) \
-        & checkbits(d, 46, 47, 56)
-
-    if not result:
-        return False
-
-    ias = ias60(msg)
-    if ias is not None and ias > 500:
-        result &= False
-
-    mach = mach60(msg)
-    if mach is not None and mach > 1:
-        result &= False
-
-    # leave out the check from vertical rates,
-    #   due to very noisy measurement
-
-    return result
-
-
-def hdg60(msg):
-    """Megnetic heading of aircraft
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS60) string
-
-    Returns:
-        float: heading in degrees to megnetic north (from 0 to 360)
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[0] == '0':
-        return None
-
-    sign = int(d[1])    # 1 -> west
-    value = util.bin2int(d[2:12])
-
-    if sign:
-        value = value - 1024
-
-    hdg = value * 90 / 512.0  # degree
-
-    # convert from [-180, 180] to [0, 360]
-    if hdg < 0:
-        hdg = 360 + hdg
-
-    return round(hdg, 1)
-
-
-def ias60(msg):
-    """Indicated airspeed
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS60) string
-
-    Returns:
-        int: indicated airspeed in knots
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[12] == '0':
-        return None
-
-    ias = util.bin2int(d[13:23])    # kts
-    return ias
-
-
-def mach60(msg):
-    """Aircraft MACH number
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS60) string
-
-    Returns:
-        float: MACH number
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[23] == '0':
-        return None
-
-    mach = util.bin2int(d[24:34]) * 2.048 / 512.0
-    return round(mach, 3)
-
-
-def vr60baro(msg):
-    """Vertical rate from barometric measurement, this value may be very noisy.
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS60) string
-
-    Returns:
-        int: vertical rate in feet/minutes
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[34] == '0':
-        return None
-
-    sign = int(d[35])    # 1 -> negative value, two's complement
-    value = util.bin2int(d[36:45])
-
-    if value == 0 or value == 511:  # all zeros or all ones
-        return 0
-
-    value = value - 512 if sign else value
-
-    roc = value * 32   # feet/min
-    return roc
-
-
-def vr60ins(msg):
-    """Vertical rate messured by onbard equiments (IRS, AHRS)
-
-    Args:
-        msg (String): 28 bytes hexadecimal message (BDS60) string
-
-    Returns:
-        int: vertical rate in feet/minutes
-    """
-    d = util.hex2bin(data(msg))
-
-    if d[45] == '0':
-        return None
-
-    sign = int(d[46])    # 1 -> negative value, two's complement
-    value = util.bin2int(d[47:56])
-
-    if value == 0 or value == 511:  # all zeros or all ones
-        return 0
-
-    value = value - 512 if sign else value
-
-    roc = value * 32   # feet/min
-    return roc
-
-
-def BDS(msg):
-    """Estimate the most likely BDS code of an message
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        String or None: Version: "BDS20", "BDS40", "BDS50", or "BDS60". Or None, if nothing matched
-    """
-
-    if isnull(msg):
-        return None
-
-    is17 = isBDS17(msg)
-    is20 = isBDS20(msg)
-    is40 = isBDS40(msg)
-    is44 = isBDS44(msg)
-    is44rev = isBDS44(msg, rev=True)
-    is50 = isBDS50(msg)
-    is53 = isBDS53(msg)
-    is60 = isBDS60(msg)
-
-    BDS = ["BDS17", "BDS20", "BDS40", "BDS44", "BDS44REV", "BDS50", "BDS53", "BDS60"]
-    isBDS = [is17, is20, is40, is44, is44rev, is50, is53, is60]
-
-    if sum(isBDS) == 0:
-        return None
-    elif sum(isBDS) == 1:
-        return BDS[isBDS.index(True)]
-    else:
-        return [bds for (bds, i) in zip(BDS, isBDS) if i]

pyModeS/els.py

@@ -1,37 +0,0 @@
-from __future__ import absolute_import, print_function, division
-from . import util, modes_common
-
-def icao(msg):
-    return modes_common.icao(msg)
-
-
-def df4alt(msg):
-    """Computes the altitude from DF4 message, bit 20-32
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        int: altitude in ft
-    """
-
-    if util.df(msg) != 4:
-        raise RuntimeError("Message must be Downlink Format 4.")
-
-    return modes_common.altcode(msg)
-
-
-def df5id(msg):
-    """Computes identity (squawk code) from DF5 message, bit 20-32
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        string: squawk code
-    """
-
-    if util.df(msg) != 5:
-        raise RuntimeError("Message must be Downlink Format 5.")
-
-    return modes_common.idcode(msg)

pyModeS/extra/aero.py

@@ -0,0 +1,185 @@
+"""
+Functions for aeronautics in this module
+
+- physical quantities always in SI units
+- lat,lon,course and heading in degrees
+
+International Standard Atmosphere
+::
+
+    p,rho,T = atmos(H)    # atmos as function of geopotential altitude H [m]
+    a = vsound(H)         # speed of sound [m/s] as function of H[m]
+    p = pressure(H)       # calls atmos but returns only pressure [Pa]
+    T = temperature(H)    # calculates temperature [K]
+    rho = density(H)      # calls atmos but returns only pressure [Pa]
+
+Speed conversion at altitude H[m] in ISA
+::
+
+    Mach = tas2mach(Vtas,H)    # true airspeed (Vtas) to mach number conversion
+    Vtas = mach2tas(Mach,H)    # mach number to true airspeed (Vtas) conversion
+    Vtas = eas2tas(Veas,H)     # equivalent airspeed to true airspeed, H in [m]
+    Veas = tas2eas(Vtas,H)     # true airspeed to equivent airspeed, H in [m]
+    Vtas = cas2tas(Vcas,H)     # Vcas  to Vtas conversion both m/s, H in [m]
+    Vcas = tas2cas(Vtas,H)     # Vtas to Vcas conversion both m/s, H in [m]
+    Vcas = mach2cas(Mach,H)    # Mach to Vcas conversion Vcas in m/s, H in [m]
+    Mach   = cas2mach(Vcas,H)  # Vcas to mach copnversion Vcas in m/s, H in [m]
+
+"""
+
+import numpy as np
+
+"""Aero and geo Constants """
+kts = 0.514444  # knot -> m/s
+ft = 0.3048  # ft -> m
+fpm = 0.00508  # ft/min -> m/s
+inch = 0.0254  # inch -> m
+sqft = 0.09290304  # 1 square foot
+nm = 1852  # nautical mile -> m
+lbs = 0.453592  # pound -> kg
+g0 = 9.80665  # m/s2, Sea level gravity constant
+R = 287.05287  # m2/(s2 x K), gas constant, sea level ISA
+p0 = 101325  # Pa, air pressure, sea level ISA
+rho0 = 1.225  # kg/m3, air density, sea level ISA
+T0 = 288.15  # K, temperature, sea level ISA
+gamma = 1.40  # cp/cv for air
+gamma1 = 0.2  # (gamma-1)/2 for air
+gamma2 = 3.5  # gamma/(gamma-1) for air
+beta = -0.0065  # [K/m] ISA temp gradient below tropopause
+r_earth = 6371000  # m, average earth radius
+a0 = 340.293988  # m/s, sea level speed of sound ISA, sqrt(gamma*R*T0)
+
+
+def atmos(H):
+    # H in metres
+    T = np.maximum(288.15 - 0.0065 * H, 216.65)
+    rhotrop = 1.225 * (T / 288.15) ** 4.256848030018761
+    dhstrat = np.maximum(0.0, H - 11000.0)
+    rho = rhotrop * np.exp(-dhstrat / 6341.552161)
+    p = rho * R * T
+    return p, rho, T
+
+
+def temperature(H):
+    p, r, T = atmos(H)
+    return T
+
+
+def pressure(H):
+    p, r, T = atmos(H)
+    return p
+
+
+def density(H):
+    p, r, T = atmos(H)
+    return r
+
+
+def vsound(H):
+    """Speed of sound"""
+    T = temperature(H)
+    a = np.sqrt(gamma * R * T)
+    return a
+
+
+def distance(lat1, lon1, lat2, lon2, H=0):
+    """
+    Compute spherical distance from spherical coordinates.
+
+    For two locations in spherical coordinates
+    (1, theta, phi) and (1, theta', phi')
+    cosine( arc length ) =
+       sin phi sin phi' cos(theta-theta') + cos phi cos phi'
+    distance = rho * arc length
+    """
+
+    # phi = 90 - latitude
+    phi1 = np.radians(90 - lat1)
+    phi2 = np.radians(90 - lat2)
+
+    # theta = longitude
+    theta1 = np.radians(lon1)
+    theta2 = np.radians(lon2)
+
+    cos = np.sin(phi1) * np.sin(phi2) * np.cos(theta1 - theta2) + np.cos(phi1) * np.cos(
+        phi2
+    )
+    cos = np.where(cos > 1, 1, cos)
+
+    arc = np.arccos(cos)
+    dist = arc * (r_earth + H)  # meters, radius of earth
+    return dist
+
+
+def bearing(lat1, lon1, lat2, lon2):
+    lat1 = np.radians(lat1)
+    lon1 = np.radians(lon1)
+    lat2 = np.radians(lat2)
+    lon2 = np.radians(lon2)
+    x = np.sin(lon2 - lon1) * np.cos(lat2)
+    y = np.cos(lat1) * np.sin(lat2) - np.sin(lat1) * np.cos(lat2) * np.cos(lon2 - lon1)
+    initial_bearing = np.arctan2(x, y)
+    initial_bearing = np.degrees(initial_bearing)
+    bearing = (initial_bearing + 360) % 360
+    return bearing
+
+
+# -----------------------------------------------------
+# Speed conversions, altitude H all in meters
+# -----------------------------------------------------
+def tas2mach(Vtas, H):
+    """True Airspeed to Mach number"""
+    a = vsound(H)
+    Mach = Vtas / a
+    return Mach
+
+
+def mach2tas(Mach, H):
+    """Mach number to True Airspeed"""
+    a = vsound(H)
+    Vtas = Mach * a
+    return Vtas
+
+
+def eas2tas(Veas, H):
+    """Equivalent Airspeed to True Airspeed"""
+    rho = density(H)
+    Vtas = Veas * np.sqrt(rho0 / rho)
+    return Vtas
+
+
+def tas2eas(Vtas, H):
+    """True Airspeed to Equivalent Airspeed"""
+    rho = density(H)
+    Veas = Vtas * np.sqrt(rho / rho0)
+    return Veas
+
+
+def cas2tas(Vcas, H):
+    """Calibrated Airspeed to True Airspeed"""
+    p, rho, T = atmos(H)
+    qdyn = p0 * ((1 + rho0 * Vcas * Vcas / (7 * p0)) ** 3.5 - 1.0)
+    Vtas = np.sqrt(7 * p / rho * ((1 + qdyn / p) ** (2 / 7.0) - 1.0))
+    return Vtas
+
+
+def tas2cas(Vtas, H):
+    """True Airspeed to Calibrated Airspeed"""
+    p, rho, T = atmos(H)
+    qdyn = p * ((1 + rho * Vtas * Vtas / (7 * p)) ** 3.5 - 1.0)
+    Vcas = np.sqrt(7 * p0 / rho0 * ((qdyn / p0 + 1.0) ** (2 / 7.0) - 1.0))
+    return Vcas
+
+
+def mach2cas(Mach, H):
+    """Mach number to Calibrated Airspeed"""
+    Vtas = mach2tas(Mach, H)
+    Vcas = tas2cas(Vtas, H)
+    return Vcas
+
+
+def cas2mach(Vcas, H):
+    """Calibrated Airspeed to Mach number"""
+    Vtas = cas2tas(Vcas, H)
+    Mach = tas2mach(Vtas, H)
+    return Mach

pyModeS/extra/rtlreader.py

@@ -0,0 +1,209 @@
+from __future__ import annotations
+
+import time
+import traceback
+import numpy as np
+import pyModeS as pms
+
+from typing import Any
+
+
+import_msg = """
+---------------------------------------------------------------------
+Warning: pyrtlsdr not installed (required for using RTL-SDR devices)!
+---------------------------------------------------------------------"""
+
+try:
+    import rtlsdr  # type: ignore
+except ImportError:
+    print(import_msg)
+
+sampling_rate = 2e6
+smaples_per_microsec = 2
+
+modes_frequency = 1090e6
+buffer_size = 1024 * 200
+read_size = 1024 * 100
+
+pbits = 8
+fbits = 112
+preamble = [1, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0]
+th_amp_diff = 0.8  # signal amplitude threshold difference between 0 and 1 bit
+
+
+class RtlReader(object):
+    def __init__(self, **kwargs) -> None:
+        super(RtlReader, self).__init__()
+        self.signal_buffer: list[float] = []  # amplitude of the sample only
+        self.sdr = rtlsdr.RtlSdr()
+        self.sdr.sample_rate = sampling_rate
+        self.sdr.center_freq = modes_frequency
+        self.sdr.gain = "auto"
+
+        self.debug = kwargs.get("debug", False)
+        self.raw_pipe_in = None
+        self.stop_flag = False
+        self.noise_floor = 1e6
+
+        self.exception_queue = None
+
+    def _calc_noise(self) -> float:
+        """Calculate noise floor"""
+        window = smaples_per_microsec * 100
+        total_len = len(self.signal_buffer)
+        means = (
+            np.array(self.signal_buffer[: total_len // window * window])
+            .reshape(-1, window)
+            .mean(axis=1)
+        )
+        return min(means)
+
+    def _process_buffer(self) -> list[list[Any]]:
+        """process raw IQ data in the buffer"""
+
+        # update noise floor
+        self.noise_floor = min(self._calc_noise(), self.noise_floor)
+
+        # set minimum signal amplitude
+        min_sig_amp = 3.162 * self.noise_floor  # 10 dB SNR
+
+        # Mode S messages
+        messages = []
+
+        buffer_length = len(self.signal_buffer)
+
+        i = 0
+        while i < buffer_length:
+            if self.signal_buffer[i] < min_sig_amp:
+                i += 1
+                continue
+
+            frame_start = i + pbits * 2
+            if self._check_preamble(self.signal_buffer[i:frame_start]):
+                frame_length = (fbits + 1) * 2
+                frame_end = frame_start + frame_length
+                frame_pulses = self.signal_buffer[frame_start:frame_end]
+
+                threshold = max(frame_pulses) * 0.2
+
+                msgbin: list[int] = []
+                for j in range(0, frame_length, 2):
+                    j_2 = j + 2
+                    p2 = frame_pulses[j:j_2]
+                    if len(p2) < 2:
+                        break
+
+                    if p2[0] < threshold and p2[1] < threshold:
+                        break
+                    elif p2[0] >= p2[1]:
+                        c = 1
+                    elif p2[0] < p2[1]:
+                        c = 0
+                    else:
+                        msgbin = []
+                        break
+
+                    msgbin.append(c)
+
+                # advance i with a jump
+                i = frame_start + j
+
+                if len(msgbin) > 0:
+                    msghex = pms.bin2hex("".join([str(i) for i in msgbin]))
+                    if self._check_msg(msghex):
+                        messages.append([msghex, time.time()])
+                    if self.debug:
+                        self._debug_msg(msghex)
+
+            # elif i > buffer_length - 500:
+            #     # save some for next process
+            #     break
+            else:
+                i += 1
+
+        # reset the buffer
+        self.signal_buffer = self.signal_buffer[i:]
+
+        return messages
+
+    def _check_preamble(self, pulses) -> bool:
+        if len(pulses) != 16:
+            return False
+
+        for i in range(16):
+            if abs(pulses[i] - preamble[i]) > th_amp_diff:
+                return False
+
+        return True
+
+    def _check_msg(self, msg) -> bool:
+        df = pms.df(msg)
+        msglen = len(msg)
+        if df == 17 and msglen == 28:
+            if pms.crc(msg) == 0:
+                return True
+        elif df in [20, 21] and msglen == 28:
+            return True
+        elif df in [4, 5, 11] and msglen == 14:
+            return True
+        return False
+
+    def _debug_msg(self, msg) -> None:
+        df = pms.df(msg)
+        msglen = len(msg)
+        if df == 17 and msglen == 28:
+            print(msg, pms.icao(msg), pms.crc(msg))
+        elif df in [20, 21] and msglen == 28:
+            print(msg, pms.icao(msg))
+        elif df in [4, 5, 11] and msglen == 14:
+            print(msg, pms.icao(msg))
+        else:
+            # print("[*]", msg)
+            pass
+
+    def _read_callback(self, data, rtlsdr_obj) -> None:
+        amp = np.absolute(data)
+        self.signal_buffer.extend(amp.tolist())
+
+        if len(self.signal_buffer) >= buffer_size:
+            messages = self._process_buffer()
+            self.handle_messages(messages)
+
+    def handle_messages(self, messages) -> None:
+        """re-implement this method to handle the messages"""
+        for msg, t in messages:
+            # print("%15.9f %s" % (t, msg))
+            pass
+
+    def stop(self, *args, **kwargs) -> None:
+        self.sdr.close()
+
+    def run(
+        self, raw_pipe_in=None, stop_flag=None, exception_queue=None
+    ) -> None:
+        self.raw_pipe_in = raw_pipe_in
+        self.exception_queue = exception_queue
+        self.stop_flag = stop_flag
+
+        try:
+            # raise RuntimeError("test exception")
+
+            while True:
+                data = self.sdr.read_samples(read_size)
+                self._read_callback(data, None)
+
+        except Exception as e:
+            tb = traceback.format_exc()
+            if self.exception_queue is not None:
+                self.exception_queue.put(tb)
+            raise e
+
+
+if __name__ == "__main__":
+    import signal
+
+    rtl = RtlReader()
+    signal.signal(signal.SIGINT, rtl.stop)
+
+    rtl.debug = True
+    rtl.run()

pyModeS/extra/tcpclient.py

@@ -0,0 +1,396 @@
+"""Stream beast raw data from a TCP server, convert to mode-s messages."""
+
+import os
+import sys
+import time
+import pyModeS as pms
+import traceback
+import zmq
+import math
+
+
+class TcpClient(object):
+    def __init__(self, host, port, datatype):
+        super(TcpClient, self).__init__()
+        self.host = host
+        self.port = port
+        self.buffer = []
+        self.socket = None
+        self.datatype = datatype
+        if self.datatype not in ["raw", "beast", "skysense"]:
+            print("datatype must be either raw, beast or skysense")
+            os._exit(1)
+
+        self.raw_pipe_in = None
+        self.stop_flag = False
+
+        self.exception_queue = None
+
+    def connect(self):
+        self.socket = zmq.Context().socket(zmq.STREAM)
+        self.socket.setsockopt(zmq.LINGER, 0)
+        self.socket.setsockopt(zmq.RCVTIMEO, 10000)
+        self.socket.connect("tcp://%s:%s" % (self.host, self.port))
+
+    def stop(self):
+        self.socket.close()
+
+    def read_raw_buffer(self):
+        """ Read raw ADS-B data type.
+
+        String strats with "*" and ends with ";". For example:
+            *5d484ba898f8c6;
+            *8d400cd5990d7e9a10043e5e6da0;
+            *a0001498be800030aa0000c7a75f;
+        """
+        messages = []
+
+        msg_stop = False
+        self.current_msg = ""
+        for b in self.buffer:
+            if b == 59:
+                msg_stop = True
+                ts = time.time()
+                messages.append([self.current_msg, ts])
+            if b == 42:
+                msg_stop = False
+                self.current_msg = ""
+
+            if (not msg_stop) and (48 <= b <= 57 or 65 <= b <= 70 or 97 <= b <= 102):
+                self.current_msg = self.current_msg + chr(b)
+
+        self.buffer = []
+
+        return messages
+
+    def read_beast_buffer(self):
+        """Handle mode-s beast data type.
+
+        <esc> "1" : 6 byte MLAT timestamp, 1 byte signal level,
+            2 byte Mode-AC
+        <esc> "2" : 6 byte MLAT timestamp, 1 byte signal level,
+            7 byte Mode-S short frame
+        <esc> "3" : 6 byte MLAT timestamp, 1 byte signal level,
+            14 byte Mode-S long frame
+        <esc> "4" : 6 byte MLAT timestamp, status data, DIP switch
+            configuration settings (not on Mode-S Beast classic)
+        <esc><esc>: true 0x1a
+        <esc> is 0x1a, and "1", "2" and "3" are 0x31, 0x32 and 0x33
+
+        timestamp:
+        wiki.modesbeast.com/Radarcape:Firmware_Versions#The_GPS_timestamp
+        """
+        messages_mlat = []
+        msg = []
+        i = 0
+
+        # process the buffer until the last divider <esc> 0x1a
+        # then, reset the self.buffer with the remainder
+
+        while i < len(self.buffer):
+            if self.buffer[i : i + 2] == [0x1A, 0x1A]:
+                msg.append(0x1A)
+                i += 1
+            elif (i == len(self.buffer) - 1) and (self.buffer[i] == 0x1A):
+                # special case where the last bit is 0x1a
+                msg.append(0x1A)
+            elif self.buffer[i] == 0x1A:
+                if i == len(self.buffer) - 1:
+                    # special case where the last bit is 0x1a
+                    msg.append(0x1A)
+                elif len(msg) > 0:
+                    messages_mlat.append(msg)
+                    msg = []
+            else:
+                msg.append(self.buffer[i])
+            i += 1
+
+        # save the reminder for next reading cycle, if not empty
+        if len(msg) > 0:
+            reminder = []
+            for i, m in enumerate(msg):
+                if (m == 0x1A) and (i < len(msg) - 1):
+                    # rewind 0x1a, except when it is at the last bit
+                    reminder.extend([m, m])
+                else:
+                    reminder.append(m)
+            self.buffer = [0x1A] + msg
+        else:
+            self.buffer = []
+
+        # extract messages
+        messages = []
+        for mm in messages_mlat:
+            ts = time.time()
+
+            msgtype = mm[0]
+            # print(''.join('%02X' % i for i in mm))
+
+            if msgtype == 0x32:
+                # Mode-S Short Message, 7 byte, 14-len hexstr
+                msg = "".join("%02X" % i for i in mm[8:15])
+            elif msgtype == 0x33:
+                # Mode-S Long Message, 14 byte, 28-len hexstr
+                msg = "".join("%02X" % i for i in mm[8:22])
+            else:
+                # Other message tupe
+                continue
+
+            if len(msg) not in [14, 28]:
+                continue
+
+            df = pms.df(msg)
+
+            # skip incomplete message
+            if df in [0, 4, 5, 11] and len(msg) != 14:
+                continue
+            if df in [16, 17, 18, 19, 20, 21, 24] and len(msg) != 28:
+                continue
+
+            messages.append([msg, ts])
+        return messages
+
+    def read_beast_buffer_rssi_piaware(self):
+        """Handle mode-s beast data type.
+
+        <esc> "1" : 6 byte MLAT timestamp, 1 byte signal level,
+            2 byte Mode-AC
+        <esc> "2" : 6 byte MLAT timestamp, 1 byte signal level,
+            7 byte Mode-S short frame
+        <esc> "3" : 6 byte MLAT timestamp, 1 byte signal level,
+            14 byte Mode-S long frame
+        <esc> "4" : 6 byte MLAT timestamp, status data, DIP switch
+            configuration settings (not on Mode-S Beast classic)
+        <esc><esc>: true 0x1a
+        <esc> is 0x1a, and "1", "2" and "3" are 0x31, 0x32 and 0x33
+
+        timestamp:
+        wiki.modesbeast.com/Radarcape:Firmware_Versions#The_GPS_timestamp
+        """
+        messages_mlat = []
+        msg = []
+        i = 0
+
+        # process the buffer until the last divider <esc> 0x1a
+        # then, reset the self.buffer with the remainder
+
+        while i < len(self.buffer):
+            if self.buffer[i : i + 2] == [0x1A, 0x1A]:
+                msg.append(0x1A)
+                i += 1
+            elif (i == len(self.buffer) - 1) and (self.buffer[i] == 0x1A):
+                # special case where the last bit is 0x1a
+                msg.append(0x1A)
+            elif self.buffer[i] == 0x1A:
+                if i == len(self.buffer) - 1:
+                    # special case where the last bit is 0x1a
+                    msg.append(0x1A)
+                elif len(msg) > 0:
+                    messages_mlat.append(msg)
+                    msg = []
+            else:
+                msg.append(self.buffer[i])
+            i += 1
+
+        # save the reminder for next reading cycle, if not empty
+        if len(msg) > 0:
+            reminder = []
+            for i, m in enumerate(msg):
+                if (m == 0x1A) and (i < len(msg) - 1):
+                    # rewind 0x1a, except when it is at the last bit
+                    reminder.extend([m, m])
+                else:
+                    reminder.append(m)
+            self.buffer = [0x1A] + msg
+        else:
+            self.buffer = []
+
+        # extract messages
+        messages = []
+        for mm in messages_mlat:
+            ts = time.time()
+
+            msgtype = mm[0]
+            # print(''.join('%02X' % i for i in mm))
+
+            if msgtype == 0x32:
+                # Mode-S Short Message, 7 byte, 14-len hexstr
+                msg = "".join("%02X" % i for i in mm[8:15])
+            elif msgtype == 0x33:
+                # Mode-S Long Message, 14 byte, 28-len hexstr
+                msg = "".join("%02X" % i for i in mm[8:22])
+            else:
+                # Other message tupe
+                continue
+
+            if len(msg) not in [14, 28]:
+                continue
+
+            '''
+                we get the raw 0-255 byte value (raw_rssi = mm[7])
+                we scale it to 0.0 - 1.0 (voltage = raw_rssi / 255)
+                we convert it to a dBFS power value (rolling the squaring of the voltage into the dB calculation)
+            '''
+
+            df = pms.df(msg)
+            raw_rssi = mm[7] # eighth byte of Mode-S message should contain RSSI value
+            rssi_ratio = raw_rssi / 255 
+            signalLevel = rssi_ratio ** 2 
+            dbfs_rssi = 10 * math.log10(signalLevel) 
+ 
+            # skip incomplete message
+            if df in [0, 4, 5, 11] and len(msg) != 14:
+                continue
+            if df in [16, 17, 18, 19, 20, 21, 24] and len(msg) != 28:
+                continue
+
+            messages.append([msg, dbfs_rssi, ts])
+        return messages
+
+    def read_skysense_buffer(self):
+        """Skysense stream format.
+
+        ::
+
+            ----------------------------------------------------------------------------------
+            Field      SS MS MS MS MS MS MS MS MS MS MS MS MS MS MS TS TS TS TS TS TS RS RS RS
+            ----------------------------------------------------------------------------------
+            Position:   0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
+            ----------------------------------------------------------------------------------
+
+            SS field - Start character
+            Position 0:
+              1 byte = 8 bits
+              Start character '$'
+
+            MS field - Payload
+            Position 1 through 14:
+              14 bytes = 112 bits
+              Mode-S payload
+              In case of DF types that only carry 7 bytes of information
+                position 8 through 14 are set to 0x00.
+
+            TS field - Time stamp
+            Position 15 through 20:
+              6 bytes = 48 bits
+              Time stamp with fields as:
+
+                Lock Status - Status of internal time keeping mechanism
+                Equal to 1 if operating normally
+                Bit 47 - 1 bit
+
+                Time of day in UTC seconds, between 0 and 86399
+                Bits 46 through 30 - 17 bits
+
+                Nanoseconds into current second, between 0 and 999999999
+                Bits 29 through 0 - 30 bits
+
+            RS field - Signal Level
+            Position 21 through 23:
+              3 bytes = 24 bits
+              RSSI (received signal strength indication) and relative
+                noise level with fields
+
+              RNL, Q12.4 unsigned fixed point binary with 4 fractional
+                bits and 8 integer bits.
+              This is and indication of the noise level of the message.
+                Roughly 40 counts per 10dBm.
+              Bits 23 through 12 - 12 bits
+
+              RSSI, Q12.4 unsigned fixed point binary with 4 fractional
+                bits and 8 integer bits.
+              This is an indication of the signal level of the received
+                message in ADC counts. Roughly 40 counts per 10dBm.
+              Bits 11 through 0 - 12 bits
+        """
+        SS_MSGLENGTH = 24
+        SS_STARTCHAR = 0x24
+
+        if len(self.buffer) <= SS_MSGLENGTH:
+            return None
+
+        messages = []
+        while len(self.buffer) > SS_MSGLENGTH:
+            i = 0
+            if (
+                self.buffer[i] == SS_STARTCHAR
+                and self.buffer[i + SS_MSGLENGTH] == SS_STARTCHAR
+            ):
+                i += 1
+                if self.buffer[i] >> 7:
+                    # Long message
+                    payload = self.buffer[i : i + 14]
+                else:
+                    # Short message
+                    payload = self.buffer[i : i + 7]
+                msg = "".join("%02X" % j for j in payload)
+                i += 14  # Both message types use 14 bytes
+                tsbin = self.buffer[i : i + 6]
+                sec = ((tsbin[0] & 0x7F) << 10) | (tsbin[1] << 2) | (tsbin[2] >> 6)
+                nano = (
+                    ((tsbin[2] & 0x3F) << 24)
+                    | (tsbin[3] << 16)
+                    | (tsbin[4] << 8)
+                    | tsbin[5]
+                )
+                ts = sec + nano * 1.0e-9
+                i += 6
+                # Signal and noise level - Don't care for now
+                i += 3
+                self.buffer = self.buffer[SS_MSGLENGTH:]
+                messages.append([msg, ts])
+            else:
+                self.buffer = self.buffer[1:]
+        return messages
+
+    def handle_messages(self, messages):
+        """re-implement this method to handle the messages"""
+        for msg, t in messages:
+            print("%15.9f %s" % (t, msg))
+
+    def run(self, raw_pipe_in=None, stop_flag=None, exception_queue=None):
+        self.raw_pipe_in = raw_pipe_in
+        self.exception_queue = exception_queue
+        self.stop_flag = stop_flag
+        self.connect()
+
+        while True:
+            try:
+                received = [i for i in self.socket.recv(4096)]
+
+                self.buffer.extend(received)
+                # print(''.join(x.encode('hex') for x in self.buffer))
+
+                if self.datatype == "beast":
+                    messages = self.read_beast_buffer()
+                elif self.datatype == "raw":
+                    messages = self.read_raw_buffer()
+                elif self.datatype == "skysense":
+                    messages = self.read_skysense_buffer()
+
+                if not messages:
+                    continue
+                else:
+                    self.handle_messages(messages)
+
+                # raise RuntimeError("test exception")
+
+            except zmq.error.Again:
+                continue
+            except Exception as e:
+                tb = traceback.format_exc()
+                if self.exception_queue is not None:
+                    self.exception_queue.put(tb)
+                raise e
+
+
+if __name__ == "__main__":
+    # for testing purpose only
+    host = sys.argv[1]
+    port = int(sys.argv[2])
+    datatype = sys.argv[3]
+    client = TcpClient(host=host, port=port, datatype=datatype)
+    try:
+        client.run()
+    finally:
+        client.stop()

pyModeS/modes_common.py

@@ -1,131 +0,0 @@
-from __future__ import absolute_import, print_function, division
-from . import util
-
-
-def icao(msg):
-    """Calculate the ICAO address from an Mode-S message
-    with DF4, DF5, DF20, DF21
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        String: ICAO address in 6 bytes hexadecimal string
-    """
-
-    if util.df(msg) not in (4, 5, 20, 21):
-        # raise RuntimeError("Message DF must be in (4, 5, 20, 21)")
-        return None
-
-    c0 = util.bin2int(util.crc(msg, encode=True))
-    c1 = util.hex2int(msg[-6:])
-    addr = '%06X' % (c0 ^ c1)
-    return addr
-
-
-def idcode(msg):
-    """Computes identity (squawk code) from DF5 or DF21 message, bit 20-32.
-    credit: @fbyrkjeland
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        string: squawk code
-    """
-
-    if util.df(msg) not in [5, 21]:
-        raise RuntimeError("Message must be Downlink Format 5 or 21.")
-
-    mbin = util.hex2bin(msg)
-
-    C1 = mbin[19]
-    A1 = mbin[20]
-    C2 = mbin[21]
-    A2 = mbin[22]
-    C4 = mbin[23]
-    A4 = mbin[24]
-    # _ = mbin[25]
-    B1 = mbin[26]
-    D1 = mbin[27]
-    B2 = mbin[28]
-    D2 = mbin[29]
-    B4 = mbin[30]
-    D4 = mbin[31]
-
-    byte1 = int(A4+A2+A1, 2)
-    byte2 = int(B4+B2+B1, 2)
-    byte3 = int(C4+C2+C1, 2)
-    byte4 = int(D4+D2+D1, 2)
-
-    return str(byte1) + str(byte2) + str(byte3) + str(byte4)
-
-
-def altcode(msg):
-    """Computes the altitude from DF4 or DF20 message, bit 20-32.
-    credit: @fbyrkjeland
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        int: altitude in ft
-    """
-
-    if util.df(msg) not in [4, 20]:
-        raise RuntimeError("Message must be Downlink Format 4 or 20.")
-
-    # Altitude code, bit 20-32
-    mbin = util.hex2bin(msg)
-
-    mbit = mbin[25]   # M bit: 26
-    qbit = mbin[27]   # Q bit: 28
-
-
-    if mbit == '0':         # unit in ft
-        if qbit == '1':     # 25ft interval
-            vbin = mbin[19:25] + mbin[26] + mbin[28:32]
-            alt = util.bin2int(vbin) * 25 - 1000
-        if qbit == '0':     # 100ft interval, above 50175ft
-            C1 = mbin[19]
-            A1 = mbin[20]
-            C2 = mbin[21]
-            A2 = mbin[22]
-            C4 = mbin[23]
-            A4 = mbin[24]
-            # _ = mbin[25]
-            B1 = mbin[26]
-            # D1 = mbin[27]     # always zero
-            B2 = mbin[28]
-            D2 = mbin[29]
-            B4 = mbin[30]
-            D4 = mbin[31]
-
-            graystr =  D2 + D4 + A1 + A2 + A4 + B1 + B2 + B4 + C1 + C2 + C4
-            alt = gray2alt(graystr)
-
-    if mbit == '1':         # unit in meter
-        vbin = mbin[19:25] + mbin[26:31]
-        alt = int(util.bin2int(vbin) * 3.28084)  # convert to ft
-
-    return alt
-
-def gray2alt(codestr):
-    gc500 = codestr[:8]
-    n500 = util.gray2int(gc500)
-
-    # in 100-ft step must be converted first
-    gc100 = codestr[8:]
-    n100 = util.gray2int(gc100)
-
-    if n100 in [0, 5, 6]:
-        return None
-
-    if n100 == 7:
-        n100 = 5
-
-    if n500%2:
-        n100 = 6 - n100
-
-    alt = (n500*500 + n100*100) - 1300
-    return alt

pyModeS/py_common.py

@@ -0,0 +1,488 @@
+from typing import Optional
+
+import numpy as np
+from textwrap import wrap
+
+
+def hex2bin(hexstr: str) -> str:
+    """Convert a hexadecimal string to binary string, with zero fillings."""
+    num_of_bits = len(hexstr) * 4
+    binstr = bin(int(hexstr, 16))[2:].zfill(int(num_of_bits))
+    return binstr
+
+
+def hex2int(hexstr: str) -> int:
+    """Convert a hexadecimal string to integer."""
+    return int(hexstr, 16)
+
+
+def bin2int(binstr: str) -> int:
+    """Convert a binary string to integer."""
+    return int(binstr, 2)
+
+
+def bin2hex(binstr: str) -> str:
+    """Convert a binary string to hexadecimal string."""
+    return "{0:X}".format(int(binstr, 2))
+
+
+def df(msg: str) -> int:
+    """Decode Downlink Format value, bits 1 to 5."""
+    dfbin = hex2bin(msg[:2])
+    return min(bin2int(dfbin[0:5]), 24)
+
+
+def crc(msg: str, encode: bool = False) -> int:
+    """Mode-S Cyclic Redundancy Check.
+
+    Detect if bit error occurs in the Mode-S message. When encode option is on,
+    the checksum is generated.
+
+    Args:
+        msg: 28 bytes hexadecimal message string
+        encode: True to encode the date only and return the checksum
+    Returns:
+        int: message checksum, or partity bits (encoder)
+
+    """
+    # the CRC generator
+    G = [int("11111111", 2), int("11111010", 2), int("00000100", 2), int("10000000", 2)]
+
+    if encode:
+        msg = msg[:-6] + "000000"
+
+    msgbin = hex2bin(msg)
+    msgbin_split = wrap(msgbin, 8)
+    mbytes = list(map(bin2int, msgbin_split))
+
+    for ibyte in range(len(mbytes) - 3):
+        for ibit in range(8):
+            mask = 0x80 >> ibit
+            bits = mbytes[ibyte] & mask
+
+            if bits > 0:
+                mbytes[ibyte] = mbytes[ibyte] ^ (G[0] >> ibit)
+                mbytes[ibyte + 1] = mbytes[ibyte + 1] ^ (
+                    0xFF & ((G[0] << 8 - ibit) | (G[1] >> ibit))
+                )
+                mbytes[ibyte + 2] = mbytes[ibyte + 2] ^ (
+                    0xFF & ((G[1] << 8 - ibit) | (G[2] >> ibit))
+                )
+                mbytes[ibyte + 3] = mbytes[ibyte + 3] ^ (
+                    0xFF & ((G[2] << 8 - ibit) | (G[3] >> ibit))
+                )
+
+    result = (mbytes[-3] << 16) | (mbytes[-2] << 8) | mbytes[-1]
+
+    return result
+
+
+def crc_legacy(msg: str, encode: bool = False) -> int:
+    """Mode-S Cyclic Redundancy Check. (Legacy code, 2x slow)."""
+    # the polynominal generattor code for CRC [1111111111111010000001001]
+    generator = np.array(
+        [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1]
+    )
+    ng = len(generator)
+
+    msgnpbin = np.array([int(i) for i in hex2bin(msg)])
+
+    if encode:
+        msgnpbin[-24:] = [0] * 24
+
+    # loop all bits, except last 24 piraty bits
+    for i in range(len(msgnpbin) - 24):
+        if msgnpbin[i] == 0:
+            continue
+
+        # perform XOR, when 1
+        msgnpbin[i : i + ng] = np.bitwise_xor(msgnpbin[i : i + ng], generator)
+
+    # last 24 bits
+    msgbin = np.array2string(msgnpbin[-24:], separator="")[1:-1]
+    reminder = bin2int(msgbin)
+
+    return reminder
+
+
+def floor(x: float) -> int:
+    """Mode-S floor function.
+
+    Defined as the greatest integer value k, such that k <= x
+    For example: floor(3.6) = 3 and floor(-3.6) = -4
+
+    """
+    return int(np.floor(x))
+
+
+def icao(msg: str) -> Optional[str]:
+    """Calculate the ICAO address from an Mode-S message.
+
+    Applicable only with DF4, DF5, DF20, DF21 messages.
+
+    Args:
+        msg (String): 28 bytes hexadecimal message string
+
+    Returns:
+        String: ICAO address in 6 bytes hexadecimal string
+
+    """
+    addr: Optional[str]
+    DF = df(msg)
+
+    if DF in (11, 17, 18):
+        addr = msg[2:8]
+    elif DF in (0, 4, 5, 16, 20, 21):
+        c0 = crc(msg, encode=True)
+        c1 = int(msg[-6:], 16)
+        addr = "%06X" % (c0 ^ c1)
+    else:
+        addr = None
+
+    return addr
+
+
+def is_icao_assigned(icao: str) -> bool:
+    """Check whether the ICAO address is assigned (Annex 10, Vol 3)."""
+    if (icao is None) or (not isinstance(icao, str)) or (len(icao) != 6):
+        return False
+
+    icaoint = int(icao, 16)
+
+    if 0x200000 < icaoint < 0x27FFFF:
+        return False  # AFI
+    if 0x280000 < icaoint < 0x28FFFF:
+        return False  # SAM
+    if 0x500000 < icaoint < 0x5FFFFF:
+        return False  # EUR, NAT
+    if 0x600000 < icaoint < 0x67FFFF:
+        return False  # MID
+    if 0x680000 < icaoint < 0x6F0000:
+        return False  # ASIA
+    if 0x900000 < icaoint < 0x9FFFFF:
+        return False  # NAM, PAC
+    if 0xB00000 < icaoint < 0xBFFFFF:
+        return False  # CAR
+    if 0xD00000 < icaoint < 0xDFFFFF:
+        return False  # future
+    if 0xF00000 < icaoint < 0xFFFFFF:
+        return False  # future
+
+    return True
+
+
+def typecode(msg: str) -> Optional[int]:
+    """Type code of ADS-B message
+
+    Args:
+        msg (string): 28 bytes hexadecimal message string
+
+    Returns:
+        int: type code number
+    """
+    if df(msg) not in (17, 18):
+        return None
+
+    tcbin = hex2bin(msg[8:10])
+    return bin2int(tcbin[0:5])
+
+
+def cprNL(lat: float) -> int:
+    """NL() function in CPR decoding."""
+
+    if np.isclose(lat, 0):
+        return 59
+    elif np.isclose(abs(lat), 87):
+        return 2
+    elif lat > 87 or lat < -87:
+        return 1
+
+    nz = 15
+    a = 1 - np.cos(np.pi / (2 * nz))
+    b = np.cos(np.pi / 180 * abs(lat)) ** 2
+    nl = 2 * np.pi / (np.arccos(1 - a / b))
+    NL = floor(nl)
+    return NL
+
+
+def idcode(msg: str) -> str:
+    """Compute identity code (squawk) encoded in DF5 or DF21 message.
+
+    Args:
+        msg (String): 28 bytes hexadecimal message string
+
+    Returns:
+        string: squawk code
+
+    """
+    if df(msg) not in [5, 21]:
+        raise RuntimeError("Message must be Downlink Format 5 or 21.")
+
+    mbin = hex2bin(msg)
+    idcodebin = mbin[19:32]
+
+    return squawk(idcodebin)
+
+
+def squawk(binstr: str) -> str:
+    """Decode 13 bits identity (squawk) code.
+
+    Args:
+        binstr (String): 13 bits binary string
+
+    Returns:
+        string: squawk code
+
+    """
+    if len(binstr) != 13 or not set(binstr).issubset(set("01")):
+        raise RuntimeError("Input must be 13 bits binary string")
+
+    C1 = binstr[0]
+    A1 = binstr[1]
+    C2 = binstr[2]
+    A2 = binstr[3]
+    C4 = binstr[4]
+    A4 = binstr[5]
+    # X = binstr[6]
+    B1 = binstr[7]
+    D1 = binstr[8]
+    B2 = binstr[9]
+    D2 = binstr[10]
+    B4 = binstr[11]
+    D4 = binstr[12]
+
+    byte1 = int(A4 + A2 + A1, 2)
+    byte2 = int(B4 + B2 + B1, 2)
+    byte3 = int(C4 + C2 + C1, 2)
+    byte4 = int(D4 + D2 + D1, 2)
+
+    return str(byte1) + str(byte2) + str(byte3) + str(byte4)
+
+
+def altcode(msg: str) -> Optional[int]:
+    """Compute altitude encoded in DF4 or DF20 message.
+
+    Args:
+        msg (String): 28 bytes hexadecimal message string
+
+    Returns:
+        int: altitude in ft
+
+    """
+    alt: Optional[int]
+
+    if df(msg) not in [0, 4, 16, 20]:
+        raise RuntimeError("Message must be Downlink Format 0, 4, 16, or 20.")
+
+    # Altitude code, bit 20-32
+    mbin = hex2bin(msg)
+
+    altitude_code = mbin[19:32]
+
+    alt = altitude(altitude_code)
+
+    return alt
+
+
+def altitude(binstr: str) -> Optional[int]:
+    """Decode 13 bits altitude code.
+
+    Args:
+        binstr (String): 13 bits binary string
+
+    Returns:
+        int: altitude in ft
+
+    """
+    alt: Optional[int]
+
+    if len(binstr) != 13 or not set(binstr).issubset(set("01")):
+        raise RuntimeError("Input must be 13 bits binary string")
+
+    Mbit = binstr[6]
+    Qbit = binstr[8]
+
+    if bin2int(binstr) == 0:
+        # altitude unknown or invalid
+        alt = None
+
+    elif Mbit == "0":  # unit in ft
+        if Qbit == "1":  # 25ft interval
+            vbin = binstr[:6] + binstr[7] + binstr[9:]
+            alt = bin2int(vbin) * 25 - 1000
+        if Qbit == "0":  # 100ft interval, above 50187.5ft
+            C1 = binstr[0]
+            A1 = binstr[1]
+            C2 = binstr[2]
+            A2 = binstr[3]
+            C4 = binstr[4]
+            A4 = binstr[5]
+            # M = binstr[6]
+            B1 = binstr[7]
+            # Q = binstr[8]
+            B2 = binstr[9]
+            D2 = binstr[10]
+            B4 = binstr[11]
+            D4 = binstr[12]
+
+            graystr = D2 + D4 + A1 + A2 + A4 + B1 + B2 + B4 + C1 + C2 + C4
+            alt = gray2alt(graystr)
+
+    if Mbit == "1":  # unit in meter
+        vbin = binstr[:6] + binstr[7:]
+        alt = int(bin2int(vbin) * 3.28084)  # convert to ft
+
+    return alt
+
+
+def gray2alt(binstr: str) -> Optional[int]:
+    gc500 = binstr[:8]
+    n500 = gray2int(gc500)
+
+    # in 100-ft step must be converted first
+    gc100 = binstr[8:]
+    n100 = gray2int(gc100)
+
+    if n100 in [0, 5, 6]:
+        return None
+
+    if n100 == 7:
+        n100 = 5
+
+    if n500 % 2:
+        n100 = 6 - n100
+
+    alt = (n500 * 500 + n100 * 100) - 1300
+    return alt
+
+
+def gray2int(binstr: str) -> int:
+    """Convert greycode to binary."""
+    num = bin2int(binstr)
+    num ^= num >> 8
+    num ^= num >> 4
+    num ^= num >> 2
+    num ^= num >> 1
+    return num
+
+
+def data(msg: str) -> str:
+    """Return the data frame in the message, bytes 9 to 22."""
+    return msg[8:-6]
+
+
+def allzeros(msg: str) -> bool:
+    """Check if the data bits are all zeros.
+
+    Args:
+        msg (String): 28 bytes hexadecimal message string
+
+    Returns:
+        bool: True or False
+
+    """
+    d = hex2bin(data(msg))
+
+    if bin2int(d) > 0:
+        return False
+    else:
+        return True
+
+
+def wrongstatus(data: str, sb: int, msb: int, lsb: int) -> bool:
+    """Check if the status bit and field bits are consistency.
+
+    This Function is used for checking BDS code versions.
+
+    """
+    # status bit, most significant bit, least significant bit
+    status = int(data[sb - 1])
+    value = bin2int(data[msb - 1 : lsb])
+
+    if not status:
+        if value != 0:
+            return True
+
+    return False
+
+
+def fs(msg):
+    """Decode flight status for DF 4, 5, 20, and 21.
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        int, str: flight status, description
+
+    """
+    msgbin = hex2bin(msg)
+    fs = bin2int(msgbin[5:8])
+    text = None
+
+    if fs == 0:
+        text = "no alert, no SPI, aircraft is airborne"
+    elif fs == 1:
+        text = "no alert, no SPI, aircraft is on-ground"
+    elif fs == 2:
+        text = "alert, no SPI, aircraft is airborne"
+    elif fs == 3:
+        text = "alert, no SPI, aircraft is on-ground"
+    elif fs == 4:
+        text = "alert, SPI, aircraft is airborne or on-ground"
+    elif fs == 5:
+        text = "no alert, SPI, aircraft is airborne or on-ground"
+
+    return fs, text
+
+
+def dr(msg):
+    """Decode downlink request for DF 4, 5, 20, and 21.
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        int, str: downlink request, description
+
+    """
+    msgbin = hex2bin(msg)
+    dr = bin2int(msgbin[8:13])
+
+    text = None
+
+    if dr == 0:
+        text = "no downlink request"
+    elif dr == 1:
+        text = "request to send Comm-B message"
+    elif dr == 4:
+        text = "Comm-B broadcast 1 available"
+    elif dr == 5:
+        text = "Comm-B broadcast 2 available"
+    elif dr >= 16:
+        text = "ELM downlink segments available: {}".format(dr - 15)
+
+    return dr, text
+
+
+def um(msg):
+    """Decode utility message for DF 4, 5, 20, and 21.
+
+    Utility message contains interrogator identifier and reservation type.
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        int, str: interrogator identifier code that triggered the reply, and
+        reservation type made by the interrogator
+    """
+    msgbin = hex2bin(msg)
+    iis = bin2int(msgbin[13:17])
+    ids = bin2int(msgbin[17:19])
+    if ids == 0:
+        ids_text = None
+    if ids == 1:
+        ids_text = "Comm-B interrogator identifier code"
+    if ids == 2:
+        ids_text = "Comm-C interrogator identifier code"
+    if ids == 3:
+        ids_text = "Comm-D interrogator identifier code"
+    return iis, ids, ids_text

pyModeS/streamer/decode.py

@@ -0,0 +1,313 @@
+import os
+import time
+import traceback
+import datetime
+import csv
+import pyModeS as pms
+
+
+class Decode:
+    def __init__(self, latlon=None, dumpto=None):
+
+        self.acs = dict()
+
+        if latlon is not None:
+            self.lat0 = float(latlon[0])
+            self.lon0 = float(latlon[1])
+        else:
+            self.lat0 = None
+            self.lon0 = None
+
+        self.t = 0
+        self.cache_timeout = 60  # seconds
+
+        if dumpto is not None and os.path.isdir(dumpto):
+            self.dumpto = dumpto
+        else:
+            self.dumpto = None
+
+    def process_raw(self, adsb_ts, adsb_msg, commb_ts, commb_msg, tnow=None):
+        """process a chunk of adsb and commb messages received in the same
+        time period.
+        """
+        if tnow is None:
+            tnow = time.time()
+
+        self.t = tnow
+
+        local_updated_acs_buffer = []
+        output_buffer = []
+
+        # process adsb message
+        for t, msg in zip(adsb_ts, adsb_msg):
+            icao = pms.icao(msg)
+            tc = pms.adsb.typecode(msg)
+
+            if icao not in self.acs:
+                self.acs[icao] = {
+                    "live": None,
+                    "call": None,
+                    "lat": None,
+                    "lon": None,
+                    "alt": None,
+                    "gs": None,
+                    "trk": None,
+                    "roc": None,
+                    "tas": None,
+                    "roll": None,
+                    "rtrk": None,
+                    "ias": None,
+                    "mach": None,
+                    "hdg": None,
+                    "ver": None,
+                    "HPL": None,
+                    "RCu": None,
+                    "RCv": None,
+                    "HVE": None,
+                    "VVE": None,
+                    "Rc": None,
+                    "VPL": None,
+                    "EPU": None,
+                    "VEPU": None,
+                    "HFOMr": None,
+                    "VFOMr": None,
+                    "PE_RCu": None,
+                    "PE_VPL": None,
+                    "hum44" : None,
+                    "p44" : None,
+                    "temp44" : None,
+                    "turb44" : None,
+                    "wind44" : None,
+                }
+
+            self.acs[icao]["tc"] = tc
+            self.acs[icao]["icao"] = icao
+            self.acs[icao]["t"] = t
+            self.acs[icao]["live"] = int(t)
+
+            if 1 <= tc <= 4:
+                cs = pms.adsb.callsign(msg)
+                self.acs[icao]["call"] = cs
+                output_buffer.append([t, icao, "cs", cs])
+
+            if (5 <= tc <= 8) or (tc == 19):
+                vdata = pms.adsb.velocity(msg)
+                if vdata is None:
+                    continue
+
+                spd, trk, roc, tag = vdata
+                if tag != "GS":
+                    continue
+                if (spd is None) or (trk is None):
+                    continue
+
+                self.acs[icao]["gs"] = spd
+                self.acs[icao]["trk"] = trk
+                self.acs[icao]["roc"] = roc
+                self.acs[icao]["tv"] = t
+
+                output_buffer.append([t, icao, "gs", spd])
+                output_buffer.append([t, icao, "trk", trk])
+                output_buffer.append([t, icao, "roc", roc])
+
+            if 5 <= tc <= 18:
+                oe = pms.adsb.oe_flag(msg)
+                self.acs[icao][oe] = msg
+                self.acs[icao]["t" + str(oe)] = t
+
+                if ("tpos" in self.acs[icao]) and (t - self.acs[icao]["tpos"] < 180):
+                    # use single message decoding
+                    rlat = self.acs[icao]["lat"]
+                    rlon = self.acs[icao]["lon"]
+                    latlon = pms.adsb.position_with_ref(msg, rlat, rlon)
+                elif (
+                    ("t0" in self.acs[icao])
+                    and ("t1" in self.acs[icao])
+                    and (abs(self.acs[icao]["t0"] - self.acs[icao]["t1"]) < 10)
+                ):
+                    # use multi message decoding
+                    try:
+                        latlon = pms.adsb.position(
+                            self.acs[icao][0],
+                            self.acs[icao][1],
+                            self.acs[icao]["t0"],
+                            self.acs[icao]["t1"],
+                            self.lat0,
+                            self.lon0,
+                        )
+                    except:
+                        # mix of surface and airborne position message
+                        continue
+                else:
+                    latlon = None
+
+                if latlon is not None:
+                    self.acs[icao]["tpos"] = t
+                    self.acs[icao]["lat"] = latlon[0]
+                    self.acs[icao]["lon"] = latlon[1]
+
+                    alt = pms.adsb.altitude(msg)
+                    self.acs[icao]["alt"] = alt
+
+                    output_buffer.append([t, icao, "lat", latlon[0]])
+                    output_buffer.append([t, icao, "lon", latlon[1]])
+                    output_buffer.append([t, icao, "alt", alt])
+
+                    local_updated_acs_buffer.append(icao)
+
+            # Uncertainty & accuracy
+            ac = self.acs[icao]
+
+            if 9 <= tc <= 18:
+                ac["nic_bc"] = pms.adsb.nic_b(msg)
+
+            if (5 <= tc <= 8) or (9 <= tc <= 18) or (20 <= tc <= 22):
+                ac["NUCp"], ac["HPL"], ac["RCu"], ac["RCv"] = pms.adsb.nuc_p(msg)
+
+                if (ac["ver"] == 1) and ("nic_s" in ac.keys()):
+                    ac["Rc"], ac["VPL"] = pms.adsb.nic_v1(msg, ac["nic_s"])
+                elif (
+                    (ac["ver"] == 2)
+                    and ("nic_a" in ac.keys())
+                    and ("nic_bc" in ac.keys())
+                ):
+                    ac["NIC"], ac["Rc"] = pms.adsb.nic_v2(msg, ac["nic_a"], ac["nic_bc"])
+
+            if tc == 19:
+                ac["NUCv"], ac["HVE"], ac["VVE"] = pms.adsb.nuc_v(msg)
+                if ac["ver"] in [1, 2]:
+                    ac["NACv"], ac["HFOMr"], ac["VFOMr"] = pms.adsb.nac_v(msg)
+
+            if tc == 29:
+                ac["PE_RCu"], ac["PE_VPL"], ac["base"] = pms.adsb.sil(msg, ac["ver"])
+                ac["NACp"], ac["HEPU"], ac["VEPU"] = pms.adsb.nac_p(msg)
+
+            if tc == 31:
+                ac["ver"] = pms.adsb.version(msg)
+                ac["NACp"], ac["HEPU"], ac["VEPU"] = pms.adsb.nac_p(msg)
+                ac["PE_RCu"], ac["PE_VPL"], ac["sil_base"] = pms.adsb.sil(
+                    msg, ac["ver"]
+                )
+
+                if ac["ver"] == 1:
+                    ac["nic_s"] = pms.adsb.nic_s(msg)
+                elif ac["ver"] == 2:
+                    ac["nic_a"], ac["nic_bc"] = pms.adsb.nic_a_c(msg)
+
+        # process commb message
+        for t, msg in zip(commb_ts, commb_msg):
+            icao = pms.icao(msg)
+
+            if icao not in self.acs:
+                continue
+
+            self.acs[icao]["icao"] = icao
+            self.acs[icao]["t"] = t
+            self.acs[icao]["live"] = int(t)
+
+            bds = pms.bds.infer(msg)
+
+            if bds == "BDS50":
+                roll50 = pms.commb.roll50(msg)
+                trk50 = pms.commb.trk50(msg)
+                rtrk50 = pms.commb.rtrk50(msg)
+                gs50 = pms.commb.gs50(msg)
+                tas50 = pms.commb.tas50(msg)
+
+                self.acs[icao]["t50"] = t
+                if tas50:
+                    self.acs[icao]["tas"] = tas50
+                    output_buffer.append([t, icao, "tas50", tas50])
+                if roll50:
+                    self.acs[icao]["roll"] = roll50
+                    output_buffer.append([t, icao, "roll50", roll50])
+                if rtrk50:
+                    self.acs[icao]["rtrk"] = rtrk50
+                    output_buffer.append([t, icao, "rtrk50", rtrk50])
+
+                if trk50:
+                    self.acs[icao]["trk50"] = trk50
+                    output_buffer.append([t, icao, "trk50", trk50])
+                if gs50:
+                    self.acs[icao]["gs50"] = gs50
+                    output_buffer.append([t, icao, "gs50", gs50])
+
+            elif bds == "BDS60":
+                ias60 = pms.commb.ias60(msg)
+                hdg60 = pms.commb.hdg60(msg)
+                mach60 = pms.commb.mach60(msg)
+                roc60baro = pms.commb.vr60baro(msg)
+                roc60ins = pms.commb.vr60ins(msg)
+
+                if ias60 or hdg60 or mach60:
+                    self.acs[icao]["t60"] = t
+                if ias60:
+                    self.acs[icao]["ias"] = ias60
+                    output_buffer.append([t, icao, "ias60", ias60])
+                if hdg60:
+                    self.acs[icao]["hdg"] = hdg60
+                    output_buffer.append([t, icao, "hdg60", hdg60])
+                if mach60:
+                    self.acs[icao]["mach"] = mach60
+                    output_buffer.append([t, icao, "mach60", mach60])
+
+                if roc60baro:
+                    self.acs[icao]["roc60baro"] = roc60baro
+                    output_buffer.append([t, icao, "roc60baro", roc60baro])
+                if roc60ins:
+                    self.acs[icao]["roc60ins"] = roc60ins
+                    output_buffer.append([t, icao, "roc60ins", roc60ins])
+
+            elif bds == "BDS44":
+                if(pms.commb.is44(msg)):
+                    self.acs[icao]["hum44"] = pms.commb.hum44(msg)
+                    self.acs[icao]["p44"] = pms.commb.p44(msg)
+                    self.acs[icao]["temp44"] = pms.commb.temp44(msg)
+                    self.acs[icao]["turb44"] = pms.commb.turb44(msg)
+                    self.acs[icao]["wind44"] = pms.commb.wind44(msg)
+
+        # clear up old data
+        for icao in list(self.acs.keys()):
+            if self.t - self.acs[icao]["live"] > self.cache_timeout:
+                del self.acs[icao]
+                continue
+
+        if self.dumpto is not None:
+            dh = str(datetime.datetime.now().strftime("%Y%m%d_%H"))
+            fn = self.dumpto + "/pymodes_dump_%s.csv" % dh
+            output_buffer.sort(key=lambda x: x[0])
+            with open(fn, "a") as f:
+                writer = csv.writer(f)
+                writer.writerows(output_buffer)
+
+        return
+
+    def get_aircraft(self):
+        """all aircraft that are stored in memory"""
+        acs = self.acs
+        return acs
+
+    def run(self, raw_pipe_out, ac_pipe_in, exception_queue):
+        local_buffer = []
+        while True:
+            try:
+                while raw_pipe_out.poll():
+                    data = raw_pipe_out.recv()
+                    local_buffer.append(data)
+
+                for data in local_buffer:
+                    self.process_raw(
+                        data["adsb_ts"],
+                        data["adsb_msg"],
+                        data["commb_ts"],
+                        data["commb_msg"],
+                    )
+                local_buffer = []
+
+                acs = self.get_aircraft()
+                ac_pipe_in.send(acs)
+                time.sleep(0.001)
+
+            except Exception as e:
+                tb = traceback.format_exc()
+                exception_queue.put((e, tb))

pyModeS/streamer/modeslive.py

@@ -0,0 +1,155 @@
+#!/usr/bin/env python
+
+import os
+import sys
+import time
+import argparse
+import curses
+import signal
+import multiprocessing
+from pyModeS.streamer.decode import Decode
+from pyModeS.streamer.screen import Screen
+from pyModeS.streamer.source import NetSource, RtlSdrSource  # , RtlSdrSource24
+
+
+def main():
+
+    support_rawtypes = ["raw", "beast", "skysense"]
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--source",
+        help='Choose data source, "rtlsdr", "rtlsdr24" or "net"',
+        required=True,
+        default="net",
+    )
+    parser.add_argument(
+        "--connect",
+        help="Define server, port and data type. Supported data types are: {}".format(
+            support_rawtypes
+        ),
+        nargs=3,
+        metavar=("SERVER", "PORT", "DATATYPE"),
+        default=None,
+        required=False,
+    )
+    parser.add_argument(
+        "--latlon",
+        help="Receiver latitude and longitude, needed for the surface position, default none",
+        nargs=2,
+        metavar=("LAT", "LON"),
+        default=None,
+        required=False,
+    )
+    parser.add_argument(
+        "--show-uncertainty",
+        dest="uncertainty",
+        help="Display uncertainty values, default off",
+        action="store_true",
+        required=False,
+        default=False,
+    )
+    parser.add_argument(
+        "--dumpto",
+        help="Folder to dump decoded output, default none",
+        required=False,
+        default=None,
+    )
+    args = parser.parse_args()
+
+    SOURCE = args.source
+    LATLON = args.latlon
+    UNCERTAINTY = args.uncertainty
+    DUMPTO = args.dumpto
+
+    if SOURCE in ["rtlsdr", "rtlsdr24"]:
+        pass
+    elif SOURCE == "net":
+        if args.connect is None:
+            print("Error: --connect argument must not be empty.")
+        else:
+            SERVER, PORT, DATATYPE = args.connect
+            if DATATYPE not in support_rawtypes:
+                print(
+                    "Data type not supported, available ones are %s"
+                    % support_rawtypes
+                )
+
+    else:
+        print('Source must be "rtlsdr" or "net".')
+        sys.exit(1)
+
+    if DUMPTO is not None:
+        # append to current folder except root is given
+        if DUMPTO[0] != "/":
+            DUMPTO = os.getcwd() + "/" + DUMPTO
+
+        if not os.path.isdir(DUMPTO):
+            print("Error: dump folder (%s) does not exist" % DUMPTO)
+            sys.exit(1)
+
+    # redirect all stdout to null, avoiding messing up with the screen
+    sys.stdout = open(os.devnull, "w")
+
+    raw_pipe_in, raw_pipe_out = multiprocessing.Pipe()
+    ac_pipe_in, ac_pipe_out = multiprocessing.Pipe()
+    exception_queue = multiprocessing.Queue()
+    stop_flag = multiprocessing.Value("b", False)
+
+    if SOURCE == "net":
+        source = NetSource(host=SERVER, port=PORT, rawtype=DATATYPE)
+    elif SOURCE == "rtlsdr":
+        source = RtlSdrSource()
+    # elif SOURCE == "rtlsdr24":
+    #     source = RtlSdrSource24()
+
+    recv_process = multiprocessing.Process(
+        target=source.run, args=(raw_pipe_in, stop_flag, exception_queue)
+    )
+
+    decode = Decode(latlon=LATLON, dumpto=DUMPTO)
+    decode_process = multiprocessing.Process(
+        target=decode.run, args=(raw_pipe_out, ac_pipe_in, exception_queue)
+    )
+
+    screen = Screen(uncertainty=UNCERTAINTY)
+    screen_process = multiprocessing.Process(
+        target=screen.run, args=(ac_pipe_out, exception_queue)
+    )
+
+    def shutdown():
+        stop_flag.value = True
+        curses.endwin()
+        sys.stdout = sys.__stdout__
+        recv_process.terminate()
+        decode_process.terminate()
+        screen_process.terminate()
+        recv_process.join()
+        decode_process.join()
+        screen_process.join()
+
+    def closeall(signal, frame):
+        print("KeyboardInterrupt (ID: {}). Cleaning up...".format(signal))
+        shutdown()
+        sys.exit(0)
+
+    signal.signal(signal.SIGINT, closeall)
+
+    recv_process.start()
+    decode_process.start()
+    screen_process.start()
+
+    while True:
+        if (
+            (not recv_process.is_alive())
+            or (not decode_process.is_alive())
+            or (not screen_process.is_alive())
+        ):
+            shutdown()
+            while not exception_queue.empty():
+                trackback = exception_queue.get()
+                print(trackback)
+
+            sys.exit(1)
+
+        time.sleep(0.01)

pyModeS/streamer/screen.py

@@ -0,0 +1,218 @@
+import curses
+import numpy as np
+import time
+import threading
+import traceback
+
+COLUMNS = [
+    ("call", 10),
+    ("lat", 10),
+    ("lon", 10),
+    ("alt", 7),
+    ("gs", 5),
+    ("tas", 5),
+    ("ias", 5),
+    ("mach", 7),
+    ("roc", 7),
+    ("trk", 10),
+    ("hdg", 10),
+    ("live", 6),
+]
+
+UNCERTAINTY_COLUMNS = [
+    ("|", 5),
+    ("ver", 4),
+    ("HPL", 5),
+    ("RCu", 5),
+    ("RCv", 5),
+    ("HVE", 5),
+    ("VVE", 5),
+    ("Rc", 4),
+    ("VPL", 5),
+    ("EPU", 5),
+    ("VEPU", 6),
+    ("HFOMr", 7),
+    ("VFOMr", 7),
+    ("PE_RCu", 8),
+    ("PE_VPL", 8),
+]
+
+
+class Screen(object):
+    def __init__(self, uncertainty=False):
+        super(Screen, self).__init__()
+        self.screen = curses.initscr()
+        curses.noecho()
+        curses.mousemask(1)
+        self.screen.keypad(True)
+        self.y = 3
+        self.x = 1
+        self.offset = 0
+        self.acs = {}
+        self.lock_icao = None
+
+        self.columns = COLUMNS
+        if uncertainty:
+            self.columns.extend(UNCERTAINTY_COLUMNS)
+
+    def reset_cursor_pos(self):
+        self.screen.move(self.y, self.x)
+
+    def update_ac(self, acs):
+        self.acs = acs
+
+    def draw_frame(self):
+        self.screen.border(0)
+        self.screen.addstr(
+            0,
+            2,
+            "Online aircraft [%d] ('Ctrl+C' to exit, 'Enter' to lock one)"
+            % len(self.acs),
+        )
+
+    def update(self):
+        if len(self.acs) == 0:
+            return
+
+        resized = curses.is_term_resized(self.scr_h, self.scr_w)
+        if resized is True:
+            self.scr_h, self.scr_w = self.screen.getmaxyx()
+            self.screen.clear()
+            curses.resizeterm(self.scr_h, self.scr_w)
+
+        self.screen.refresh()
+        self.draw_frame()
+
+        row = 1
+
+        header = "  icao"
+        for c, cw in self.columns:
+            header += (cw - len(c)) * " " + c
+
+        # fill end with spaces
+        header += (self.scr_w - 2 - len(header)) * " "
+
+        if len(header) > self.scr_w - 2:
+            header = header[: self.scr_w - 3] + ">"
+
+        self.screen.addstr(row, 1, header)
+
+        row += 1
+        self.screen.addstr(row, 1, "-" * (self.scr_w - 2))
+
+        icaos = np.array(list(self.acs.keys()))
+        icaos = np.sort(icaos)
+
+        for row in range(3, self.scr_h - 3):
+            icao = None
+            idx = row + self.offset - 3
+
+            if idx > len(icaos) - 1:
+                line = " " * (self.scr_w - 2)
+
+            else:
+                line = ""
+
+                icao = icaos[idx]
+                ac = self.acs[icao]
+
+                line += icao
+
+                for c, cw in self.columns:
+                    if c == "|":
+                        val = "|"
+                    elif c == "live":
+                        val = str(ac[c] - int(time.time())) + "s"
+                    elif ac[c] is None:
+                        val = ""
+                    else:
+                        val = ac[c]
+                    val_str = str(val)
+                    line += (cw - len(val_str)) * " " + val_str
+
+                # fill end with spaces
+                line += (self.scr_w - 2 - len(line)) * " "
+
+                if len(line) > self.scr_w - 2:
+                    line = line[: self.scr_w - 3] + ">"
+
+            if (icao is not None) and (self.lock_icao == icao):
+                self.screen.addstr(row, 1, line, curses.A_STANDOUT)
+            elif row == self.y:
+                self.screen.addstr(row, 1, line, curses.A_BOLD)
+            else:
+                self.screen.addstr(row, 1, line)
+
+        self.screen.addstr(self.scr_h - 3, 1, "-" * (self.scr_w - 2))
+
+        total_page = len(icaos) // (self.scr_h - 4) + 1
+        current_page = self.offset // (self.scr_h - 4) + 1
+        self.screen.addstr(self.scr_h - 2, 1, "(%d / %d)" % (current_page, total_page))
+
+        self.reset_cursor_pos()
+
+    def kye_handling(self):
+        self.draw_frame()
+        self.scr_h, self.scr_w = self.screen.getmaxyx()
+
+        while True:
+            c = self.screen.getch()
+
+            if c == curses.KEY_HOME:
+                self.x = 1
+                self.y = 1
+            elif c == curses.KEY_NPAGE:
+                offset_intent = self.offset + (self.scr_h - 4)
+                if offset_intent < len(self.acs) - 5:
+                    self.offset = offset_intent
+            elif c == curses.KEY_PPAGE:
+                offset_intent = self.offset - (self.scr_h - 4)
+                if offset_intent > 0:
+                    self.offset = offset_intent
+                else:
+                    self.offset = 0
+            elif c == curses.KEY_DOWN:
+                y_intent = self.y + 1
+                if y_intent < self.scr_h - 3:
+                    self.y = y_intent
+            elif c == curses.KEY_UP:
+                y_intent = self.y - 1
+                if y_intent > 2:
+                    self.y = y_intent
+            elif c == curses.KEY_ENTER or c == 10 or c == 13:
+                self.lock_icao = (self.screen.instr(self.y, 1, 6)).decode()
+            elif c == 27:  # escape key
+                self.lock_icao = None
+            elif c == curses.KEY_F5:
+                self.screen.refresh()
+                self.draw_frame()
+
+    def run(self, ac_pipe_out, exception_queue):
+        local_buffer = []
+        key_thread = threading.Thread(target=self.kye_handling)
+        key_thread.daemon = True
+        key_thread.start()
+
+        while True:
+            try:
+                # raise RuntimeError("test exception")
+
+                while ac_pipe_out.poll():
+                    acs = ac_pipe_out.recv()
+                    local_buffer.append(acs)
+
+                for acs in local_buffer:
+                    self.update_ac(acs)
+
+                local_buffer = []
+
+                self.update()
+            except curses.error:
+                pass
+            except Exception as e:
+                tb = traceback.format_exc()
+                exception_queue.put(tb)
+                time.sleep(0.1)
+                raise e
+
+            time.sleep(0.001)