// dump1090, a Mode S messages decoder for RTLSDR devices.
//
// Copyright (C) 2012 by Salvatore Sanfilippo <antirez@gmail.com>
//
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
#include "dump1090.h"
static int verbose_device_search(char *s);
//
// ============================= Utility functions ==========================
//
void sigintHandler(int dummy) {
MODES_NOTUSED(dummy);
signal(SIGINT, SIG_DFL); // reset signal handler - bit extra safety
Modes.exit = 1; // Signal to threads that we are done
}
//
// =============================== Terminal handling ========================
//
#ifndef _WIN32
// Get the number of rows after the terminal changes size.
int getTermRows() {
struct winsize w;
ioctl(STDOUT_FILENO, TIOCGWINSZ, &w);
return (w.ws_row);
}
// Handle resizing terminal
void sigWinchCallback() {
signal(SIGWINCH, SIG_IGN);
Modes.interactive_rows = getTermRows();
interactiveShowData();
signal(SIGWINCH, sigWinchCallback);
}
#else
int getTermRows() { return MODES_INTERACTIVE_ROWS;}
#endif
//
// =============================== Initialization ===========================
//
void modesInitConfig(void) {
// Default everything to zero/NULL
memset(&Modes, 0, sizeof(Modes));
// Now initialise things that should not be 0/NULL to their defaults
Modes.gain = MODES_MAX_GAIN;
Modes.freq = MODES_DEFAULT_FREQ;
Modes.ppm_error = MODES_DEFAULT_PPM;
Modes.check_crc = 1;
Modes.net_heartbeat_interval = MODES_NET_HEARTBEAT_INTERVAL;
Modes.net_output_sbs_port = MODES_NET_OUTPUT_SBS_PORT;
Modes.net_output_raw_port = MODES_NET_OUTPUT_RAW_PORT;
Modes.net_input_raw_port = MODES_NET_INPUT_RAW_PORT;
Modes.net_output_beast_port = MODES_NET_OUTPUT_BEAST_PORT;
Modes.net_input_beast_port = MODES_NET_INPUT_BEAST_PORT;
Modes.net_http_port = MODES_NET_HTTP_PORT;
Modes.net_fatsv_port = MODES_NET_OUTPUT_FA_TSV_PORT;
Modes.interactive_rows = getTermRows();
Modes.interactive_delete_ttl = MODES_INTERACTIVE_DELETE_TTL;
Modes.interactive_display_ttl = MODES_INTERACTIVE_DISPLAY_TTL;
Modes.fUserLat = MODES_USER_LATITUDE_DFLT;
Modes.fUserLon = MODES_USER_LONGITUDE_DFLT;
Modes.json_interval = 1;
Modes.json_location_accuracy = 1;
Modes.maxRange = 1852 * 300; // 300NM default max range
}
//
//=========================================================================
//
void modesInit(void) {
int i, q;
pthread_mutex_init(&Modes.data_mutex,NULL);
pthread_cond_init(&Modes.data_cond,NULL);
// Allocate the various buffers used by Modes
Modes.trailing_samples = (Modes.oversample ? (MODES_OS_PREAMBLE_SAMPLES + MODES_OS_LONG_MSG_SAMPLES) : (MODES_PREAMBLE_SAMPLES + MODES_LONG_MSG_SAMPLES)) + 16;
if ( ((Modes.icao_cache = (uint32_t *) malloc(sizeof(uint32_t) * MODES_ICAO_CACHE_LEN * 2) ) == NULL) ||
((Modes.pFileData = (uint16_t *) malloc(MODES_ASYNC_BUF_SIZE) ) == NULL) ||
((Modes.magnitude = (uint16_t *) calloc(MODES_ASYNC_BUF_SAMPLES+Modes.trailing_samples, 2) ) == NULL) ||
((Modes.maglut = (uint16_t *) malloc(sizeof(uint16_t) * 256 * 256) ) == NULL) ||
((Modes.log10lut = (uint16_t *) malloc(sizeof(uint16_t) * 256 * 256) ) == NULL) )
{
fprintf(stderr, "Out of memory allocating data buffer.\n");
exit(1);
}
// Clear the buffers that have just been allocated, just in-case
memset(Modes.icao_cache, 0, sizeof(uint32_t) * MODES_ICAO_CACHE_LEN * 2);
memset(Modes.pFileData,127, MODES_ASYNC_BUF_SIZE);
// Validate the users Lat/Lon home location inputs
if ( (Modes.fUserLat > 90.0) // Latitude must be -90 to +90
|| (Modes.fUserLat < -90.0) // and
|| (Modes.fUserLon > 360.0) // Longitude must be -180 to +360
|| (Modes.fUserLon < -180.0) ) {
Modes.fUserLat = Modes.fUserLon = 0.0;
} else if (Modes.fUserLon > 180.0) { // If Longitude is +180 to +360, make it -180 to 0
Modes.fUserLon -= 360.0;
}
// If both Lat and Lon are 0.0 then the users location is either invalid/not-set, or (s)he's in the
// Atlantic ocean off the west coast of Africa. This is unlikely to be correct.
// Set the user LatLon valid flag only if either Lat or Lon are non zero. Note the Greenwich meridian
// is at 0.0 Lon,so we must check for either fLat or fLon being non zero not both.
// Testing the flag at runtime will be much quicker than ((fLon != 0.0) || (fLat != 0.0))
Modes.bUserFlags &= ~MODES_USER_LATLON_VALID;
if ((Modes.fUserLat != 0.0) || (Modes.fUserLon != 0.0)) {
Modes.bUserFlags |= MODES_USER_LATLON_VALID;
}
// Limit the maximum requested raw output size to less than one Ethernet Block
if (Modes.net_output_flush_size > (MODES_OUT_FLUSH_SIZE))
{Modes.net_output_flush_size = MODES_OUT_FLUSH_SIZE;}
if (Modes.net_output_flush_interval > (MODES_OUT_FLUSH_INTERVAL))
{Modes.net_output_flush_interval = MODES_OUT_FLUSH_INTERVAL;}
if (Modes.net_sndbuf_size > (MODES_NET_SNDBUF_MAX))
{Modes.net_sndbuf_size = MODES_NET_SNDBUF_MAX;}
// Initialise the Block Timers to something half sensible
ftime(&Modes.stSystemTimeBlk);
for (i = 0; i < MODES_ASYNC_BUF_NUMBER; i++)
{Modes.stSystemTimeRTL[i] = Modes.stSystemTimeBlk;}
// Each I and Q value varies from 0 to 255, which represents a range from -1 to +1. To get from the
// unsigned (0-255) range you therefore subtract 127 (or 128 or 127.5) from each I and Q, giving you
// a range from -127 to +128 (or -128 to +127, or -127.5 to +127.5)..
//
// To decode the AM signal, you need the magnitude of the waveform, which is given by sqrt((I^2)+(Q^2))
// The most this could be is if I&Q are both 128 (or 127 or 127.5), so you could end up with a magnitude
// of 181.019 (or 179.605, or 180.312)
//
// However, in reality the magnitude of the signal should never exceed the range -1 to +1, because the
// values are I = rCos(w) and Q = rSin(w). Therefore the integer computed magnitude should (can?) never
// exceed 128 (or 127, or 127.5 or whatever)
//
// If we scale up the results so that they range from 0 to 65535 (16 bits) then we need to multiply
// by 511.99, (or 516.02 or 514). antirez's original code multiplies by 360, presumably because he's
// assuming the maximim calculated amplitude is 181.019, and (181.019 * 360) = 65166.
//
// So lets see if we can improve things by subtracting 127.5, Well in integer arithmatic we can't
// subtract half, so, we'll double everything up and subtract one, and then compensate for the doubling
// in the multiplier at the end.
//
// If we do this we can never have I or Q equal to 0 - they can only be as small as +/- 1.
// This gives us a minimum magnitude of root 2 (0.707), so the dynamic range becomes (1.414-255). This
// also affects our scaling value, which is now 65535/(255 - 1.414), or 258.433254
//
// The sums then become mag = 258.433254 * (sqrt((I*2-255)^2 + (Q*2-255)^2) - 1.414)
// or mag = (258.433254 * sqrt((I*2-255)^2 + (Q*2-255)^2)) - 365.4798
//
// We also need to clip mag just incaes any rogue I/Q values somehow do have a magnitude greater than 255.
//
for (i = 0; i <= 255; i++) {
for (q = 0; q <= 255; q++) {
int mag, mag_i, mag_q;
mag_i = (i * 2) - 255;
mag_q = (q * 2) - 255;
mag = (int) round((sqrt((mag_i*mag_i)+(mag_q*mag_q)) * 258.433254) - 365.4798);
Modes.maglut[(i*256)+q] = (uint16_t) ((mag < 65535) ? mag : 65535);
}
}
// Prepare the log10 lookup table.
// This maps from a magnitude value x (scaled as above) to 100log10(x)
for (i = 0; i <= 65535; i++) {
int l10 = (int) round(100 * log10( (i + 365.4798) / 258.433254) );
Modes.log10lut[i] = (uint16_t) ((l10 < 65535 ? l10 : 65535));
}
// Prepare error correction tables
modesInitErrorInfo();
}
//
// =============================== RTLSDR handling ==========================
//
int modesInitRTLSDR(void) {
int j;
int device_count, dev_index = 0;
char vendor[256], product[256], serial[256];
if (Modes.dev_name) {
if ( (dev_index = verbose_device_search(Modes.dev_name)) < 0 )
return -1;
}
device_count = rtlsdr_get_device_count();
if (!device_count) {
fprintf(stderr, "No supported RTLSDR devices found.\n");
return -1;
}
fprintf(stderr, "Found %d device(s):\n", device_count);
for (j = 0; j < device_count; j++) {
rtlsdr_get_device_usb_strings(j, vendor, product, serial);
fprintf(stderr, "%d: %s, %s, SN: %s %s\n", j, vendor, product, serial,
(j == dev_index) ? "(currently selected)" : "");
}
if (rtlsdr_open(&Modes.dev, dev_index) < 0) {
fprintf(stderr, "Error opening the RTLSDR device: %s\n",
strerror(errno));
return -1;
}
// Set gain, frequency, sample rate, and reset the device
rtlsdr_set_tuner_gain_mode(Modes.dev,
(Modes.gain == MODES_AUTO_GAIN) ? 0 : 1);
if (Modes.gain != MODES_AUTO_GAIN) {
int *gains;
int numgains;
numgains = rtlsdr_get_tuner_gains(Modes.dev, NULL);
if (numgains <= 0) {
fprintf(stderr, "Error getting tuner gains\n");
return -1;
}
gains = malloc(numgains * sizeof(int));
if (rtlsdr_get_tuner_gains(Modes.dev, gains) != numgains) {
fprintf(stderr, "Error getting tuner gains\n");
free(gains);
return -1;
}
if (Modes.gain == MODES_MAX_GAIN) {
int highest = -1;
int i;
for (i = 0; i < numgains; ++i) {
if (gains[i] > highest)
highest = gains[i];
}
Modes.gain = highest;
fprintf(stderr, "Max available gain is: %.2f dB\n", Modes.gain/10.0);
} else {
int closest = -1;
int i;
for (i = 0; i < numgains; ++i) {
if (closest == -1 || abs(gains[i] - Modes.gain) < abs(closest - Modes.gain))
closest = gains[i];
}
if (closest != Modes.gain) {
Modes.gain = closest;
fprintf(stderr, "Closest available gain: %.2f dB\n", Modes.gain/10.0);
}
}
free(gains);
fprintf(stderr, "Setting gain to: %.2f dB\n", Modes.gain/10.0);
if (rtlsdr_set_tuner_gain(Modes.dev, Modes.gain) < 0) {
fprintf(stderr, "Error setting tuner gains\n");
return -1;
}
} else {
fprintf(stderr, "Using automatic gain control.\n");
}
rtlsdr_set_freq_correction(Modes.dev, Modes.ppm_error);
if (Modes.enable_agc) rtlsdr_set_agc_mode(Modes.dev, 1);
rtlsdr_set_center_freq(Modes.dev, Modes.freq);
rtlsdr_set_sample_rate(Modes.dev, Modes.oversample ? MODES_OVERSAMPLE_RATE : MODES_DEFAULT_RATE);
rtlsdr_reset_buffer(Modes.dev);
fprintf(stderr, "Gain reported by device: %.2f dB\n",
rtlsdr_get_tuner_gain(Modes.dev)/10.0);
return 0;
}
//
//=========================================================================
//
// We use a thread reading data in background, while the main thread
// handles decoding and visualization of data to the user.
//
// The reading thread calls the RTLSDR API to read data asynchronously, and
// uses a callback to populate the data buffer.
//
// A Mutex is used to avoid races with the decoding thread.
//
void rtlsdrCallback(unsigned char *buf, uint32_t len, void *ctx) {
MODES_NOTUSED(ctx);
// Lock the data buffer variables before accessing them
pthread_mutex_lock(&Modes.data_mutex);
Modes.iDataIn &= (MODES_ASYNC_BUF_NUMBER-1); // Just incase!!!
// Get the system time for this block
ftime(&Modes.stSystemTimeRTL[Modes.iDataIn]);
if (len > MODES_ASYNC_BUF_SIZE) {len = MODES_ASYNC_BUF_SIZE;}
// Queue the new data
Modes.pData[Modes.iDataIn] = (uint16_t *) buf;
Modes.iDataIn = (MODES_ASYNC_BUF_NUMBER-1) & (Modes.iDataIn + 1);
Modes.iDataReady = (MODES_ASYNC_BUF_NUMBER-1) & (Modes.iDataIn - Modes.iDataOut);
if (Modes.iDataReady == 0) {
// Ooooops. We've just received the MODES_ASYNC_BUF_NUMBER'th outstanding buffer
// This means that RTLSDR is currently overwriting the MODES_ASYNC_BUF_NUMBER+1
// buffer, but we havent yet processed it, so we're going to lose it. There
// isn't much we can do to recover the lost data, but we can correct things to
// avoid any additional problems.
Modes.iDataOut = (MODES_ASYNC_BUF_NUMBER-1) & (Modes.iDataOut+1);
Modes.iDataReady = (MODES_ASYNC_BUF_NUMBER-1);
Modes.iDataLost++;
}
// Signal to the other thread that new data is ready, and unlock
pthread_cond_signal(&Modes.data_cond);
pthread_mutex_unlock(&Modes.data_mutex);
}
//
//=========================================================================
//
// This is used when --ifile is specified in order to read data from file
// instead of using an RTLSDR device
//
void readDataFromFile(void) {
pthread_mutex_lock(&Modes.data_mutex);
while(Modes.exit == 0) {
ssize_t nread, toread;
unsigned char *p;
if (Modes.iDataReady) {
pthread_cond_wait(&Modes.data_cond, &Modes.data_mutex);
continue;
}
if (Modes.interactive) {
// When --ifile and --interactive are used together, slow down
// playing at the natural rate of the RTLSDR received.
pthread_mutex_unlock(&Modes.data_mutex);
usleep(64000);
pthread_mutex_lock(&Modes.data_mutex);
}
toread = MODES_ASYNC_BUF_SIZE;
p = (unsigned char *) Modes.pFileData;
while(toread) {
nread = read(Modes.fd, p, toread);
if (nread <= 0) {
// Done.
Modes.exit = 1; // Signal the other threads to exit.
goto OUT;
}
p += nread;
toread -= nread;
}
if (toread) {
// Not enough data on file to fill the buffer? Pad with no signal.
memset(p,127,toread);
}
Modes.iDataIn &= (MODES_ASYNC_BUF_NUMBER-1); // Just incase!!!
// Get the system time for this block
ftime(&Modes.stSystemTimeRTL[Modes.iDataIn]);
// Queue the new data
Modes.pData[Modes.iDataIn] = Modes.pFileData;
Modes.iDataIn = (MODES_ASYNC_BUF_NUMBER-1) & (Modes.iDataIn + 1);
Modes.iDataReady = (MODES_ASYNC_BUF_NUMBER-1) & (Modes.iDataIn - Modes.iDataOut);
// Signal to the other thread that new data is ready
pthread_cond_signal(&Modes.data_cond);
}
OUT:
pthread_mutex_unlock(&Modes.data_mutex);
}
//
//=========================================================================
//
// We read data using a thread, so the main thread only handles decoding
// without caring about data acquisition
//
void *readerThreadEntryPoint(void *arg) {
MODES_NOTUSED(arg);
if (Modes.filename == NULL) {
while (!Modes.exit) {
rtlsdr_read_async(Modes.dev, rtlsdrCallback, NULL,
MODES_ASYNC_BUF_NUMBER,
MODES_ASYNC_BUF_SIZE);
if (!Modes.exit) {
fprintf(stderr, "Warning: lost the connection to the RTLSDR device.\n");
rtlsdr_close(Modes.dev);
do {
sleep(5);
fprintf(stderr, "Trying to reconnect to the RTLSDR device..\n");
} while (!Modes.exit && modesInitRTLSDR() < 0);
}
}
} else {
readDataFromFile();
}
// Wake the main thread (if it's still waiting)
pthread_mutex_lock(&Modes.data_mutex);
Modes.exit = 1; // just in case
pthread_cond_signal(&Modes.data_cond);
pthread_mutex_unlock(&Modes.data_mutex);
#ifndef _WIN32
pthread_exit(NULL);
#else
return NULL;
#endif
}
//
// ============================== Snip mode =================================
//
// Get raw IQ samples and filter everything is < than the specified level
// for more than 256 samples in order to reduce example file size
//
void snipMode(int level) {
int i, q;
uint64_t c = 0;
while ((i = getchar()) != EOF && (q = getchar()) != EOF) {
if (abs(i-127) < level && abs(q-127) < level) {
c++;
if (c > MODES_PREAMBLE_SIZE) continue;
} else {
c = 0;
}
putchar(i);
putchar(q);
}
}
//
// ================================ Main ====================================
//
void showHelp(void) {
printf(
"-----------------------------------------------------------------------------\n"
"| dump1090 ModeS Receiver %45s |\n"
"-----------------------------------------------------------------------------\n"
"--device-index <index> Select RTL device (default: 0)\n"
"--gain <db> Set gain (default: max gain. Use -10 for auto-gain)\n"
"--enable-agc Enable the Automatic Gain Control (default: off)\n"
"--freq <hz> Set frequency (default: 1090 Mhz)\n"
"--ifile <filename> Read data from file (use '-' for stdin)\n"
"--interactive Interactive mode refreshing data on screen\n"
"--interactive-rows <num> Max number of rows in interactive mode (default: 15)\n"
"--interactive-ttl <sec> Remove from list if idle for <sec> (default: 60)\n"
"--interactive-rtl1090 Display flight table in RTL1090 format\n"
"--raw Show only messages hex values\n"
"--net Enable networking\n"
"--modeac Enable decoding of SSR Modes 3/A & 3/C\n"
"--net-only Enable just networking, no RTL device or file used\n"
"--net-bind-address <ip> IP address to bind to (default: Any; Use 127.0.0.1 for private)\n"
"--net-http-port <port> HTTP server port (default: 8080)\n"
"--net-ri-port <port> TCP raw input listen port (default: 30001)\n"
"--net-ro-port <port> TCP raw output listen port (default: 30002)\n"
"--net-sbs-port <port> TCP BaseStation output listen port (default: 30003)\n"
"--net-bi-port <port> TCP Beast input listen port (default: 30004)\n"
"--net-bo-port <port> TCP Beast output listen port (default: 30005)\n"
"--net-fatsv-port <port> FlightAware TSV output port (default: 10001)\n"
"--net-ro-size <size> TCP output minimum size (default: 0)\n"
"--net-ro-interval <rate> TCP output memory flush rate in seconds (default: 0)\n"
"--net-heartbeat <rate> TCP heartbeat rate in seconds (default: 60 sec; 0 to disable)\n"
"--net-buffer <n> TCP buffer size 64Kb * (2^n) (default: n=0, 64Kb)\n"
"--lat <latitude> Reference/receiver latitude for surface posn (opt)\n"
"--lon <longitude> Reference/receiver longitude for surface posn (opt)\n"
"--max-range <distance> Absolute maximum range for position decoding (in nm, default: 300)\n"
"--fix Enable single-bits error correction using CRC\n"
"--no-fix Disable single-bits error correction using CRC\n"
"--no-crc-check Disable messages with broken CRC (discouraged)\n"
"--phase-enhance Enable phase enhancement\n"
"--aggressive More CPU for more messages (two bits fixes, ...)\n"
"--mlat display raw messages in Beast ascii mode\n"
"--stats With --ifile print stats at exit. No other output\n"
"--stats-every <seconds> Show and reset stats every <seconds> seconds\n"
"--onlyaddr Show only ICAO addresses (testing purposes)\n"
"--metric Use metric units (meters, km/h, ...)\n"
"--snip <level> Strip IQ file removing samples < level\n"
"--debug <flags> Debug mode (verbose), see README for details\n"
"--quiet Disable output to stdout. Use for daemon applications\n"
"--ppm <error> Set receiver error in parts per million (default 0)\n"
"--no-decode Don't decode the message contents beyond the minimum necessary\n"
"--write-json <dir> Periodically write json output to <dir> (for serving by a separate webserver)\n"
"--write-json-every <t> Write json output every t seconds (default 1)\n"
"--json-location-accuracy <n> Accuracy of receiver location in json metadata: 0=no location, 1=approximate, 2=exact\n"
"--help Show this help\n"
"\n"
"Debug mode flags: d = Log frames decoded with errors\n"
" D = Log frames decoded with zero errors\n"
" c = Log frames with bad CRC\n"
" C = Log frames with good CRC\n"
" p = Log frames with bad preamble\n"
" n = Log network debugging info\n"
" j = Log frames to frames.js, loadable by debug.html\n",
MODES_DUMP1090_VARIANT " " MODES_DUMP1090_VERSION
);
}
#ifdef _WIN32
void showCopyright(void) {
uint64_t llTime = time(NULL) + 1;
printf(
"-----------------------------------------------------------------------------\n"
"| dump1090 ModeS Receiver Ver : " MODES_DUMP1090_VERSION " |\n"
"-----------------------------------------------------------------------------\n"
"\n"
" Copyright (C) 2012 by Salvatore Sanfilippo <antirez@gmail.com>\n"
" Copyright (C) 2014 by Malcolm Robb <support@attavionics.com>\n"
"\n"
" All rights reserved.\n"
"\n"
" THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS\n"
" ""AS IS"" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT\n"
" LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR\n"
" A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT\n"
" HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,\n"
" SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT\n"
" LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,\n"
" DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY\n"
" THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT\n"
" (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE\n"
" OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\n"
"\n"
" For further details refer to <https://github.com/MalcolmRobb/dump1090>\n"
"\n"
);
// delay for 1 second to give the user a chance to read the copyright
while (llTime >= time(NULL)) {}
}
#endif
static void display_demod_stats(const char *prefix, struct demod_stats *dstats) {
int j;
printf("%d %sdemodulated with 0 errors\n", dstats->demodulated0, prefix);
printf("%d %sdemodulated with 1 error\n", dstats->demodulated1, prefix);
printf("%d %sdemodulated with 2 errors\n", dstats->demodulated2, prefix);
printf("%d %sdemodulated with > 2 errors\n", dstats->demodulated3, prefix);
printf("%d %swith good crc\n", dstats->goodcrc, prefix);
for (j = 0; j < MODES_MAX_PHASE_STATS; ++j)
if (dstats->goodcrc_byphase[j] > 0)
printf(" %d %swith phase offset %d\n", dstats->goodcrc_byphase[j], prefix, j);
printf("%d %swith bad crc\n", dstats->badcrc, prefix);
printf("%d %serrors corrected\n", dstats->fixed, prefix);
for (j = 0; j < MODES_MAX_BITERRORS; j++) {
printf(" %d %swith %d bit %s\n", dstats->bit_fix[j], prefix, j+1, (j==0)?"error":"errors");
}
}
static void reset_demod_stats(struct demod_stats *dstats) {
int j;
dstats->demodulated0 =
dstats->demodulated1 =
dstats->demodulated2 =
dstats->goodcrc =
dstats->badcrc =
dstats->fixed = 0;
for (j = 0; j < MODES_MAX_BITERRORS; j++) {
dstats->bit_fix[j] = 0;
}
for (j = 0; j < MODES_MAX_PHASE_STATS; j++) {
dstats->goodcrc_byphase[j] = 0;
}
}
static void display_stats(void) {
int j;
time_t now = time(NULL);
printf("\n\n");
if (Modes.interactive)
interactiveShowData();
printf("Statistics as at %s", ctime(&now));
printf("%d sample blocks processed\n", Modes.stat_blocks_processed);
printf("%d sample blocks dropped\n", Modes.stat_blocks_dropped);
if (Modes.stat_blocks_processed > 0) {
long cpu_millis = (long)Modes.stat_cputime.tv_sec*1000L + Modes.stat_cputime.tv_nsec/1000000L;
long sample_millis = (long) ((uint64_t)Modes.stat_blocks_processed * MODES_ASYNC_BUF_SAMPLES / (Modes.oversample ? 2400 : 2000));
printf("%ld ms CPU time used to process %ld ms samples, %.1f%% load\n",
cpu_millis, sample_millis, 100.0 * cpu_millis / sample_millis);
}
printf("%d ModeA/C detected\n", Modes.stat_ModeAC);
printf("%d Mode-S preambles with poor correlation\n", Modes.stat_preamble_no_correlation);
printf("%d Mode-S preambles with noise in the quiet period\n", Modes.stat_preamble_not_quiet);
printf("%d valid Mode-S preambles\n", Modes.stat_valid_preamble);
for (j = 0; j < MODES_MAX_PHASE_STATS; ++j)
if (Modes.stat_preamble_phase[j] > 0)
printf(" %d with phase offset %d\n", Modes.stat_preamble_phase[j], j);
printf("%d DF-?? fields corrected for length\n", Modes.stat_DF_Len_Corrected);
printf("%d DF-?? fields corrected for type\n", Modes.stat_DF_Type_Corrected);
display_demod_stats("", &Modes.stat_demod);
if (Modes.phase_enhance) {
printf("%d phase enhancement attempts\n", Modes.stat_out_of_phase);
display_demod_stats("phase enhanced ", &Modes.stat_demod_phasecorrected);
}
printf("%d total usable messages\n",
Modes.stat_messages_total);
fflush(stdout);
Modes.stat_cputime.tv_sec = 0;
Modes.stat_cputime.tv_nsec = 0;
Modes.stat_blocks_processed =
Modes.stat_blocks_dropped = 0;
Modes.stat_ModeAC =
Modes.stat_preamble_no_correlation =
Modes.stat_preamble_not_quiet =
Modes.stat_valid_preamble =
Modes.stat_DF_Len_Corrected =
Modes.stat_DF_Type_Corrected =
Modes.stat_out_of_phase = 0;
Modes.stat_messages_total = 0;
for (j = 0; j < MODES_MAX_PHASE_STATS; j++) {
Modes.stat_preamble_phase[j] = 0;
}
reset_demod_stats(&Modes.stat_demod);
reset_demod_stats(&Modes.stat_demod_phasecorrected);
}
//
//=========================================================================
//
// This function is called a few times every second by main in order to
// perform tasks we need to do continuously, like accepting new clients
// from the net, refreshing the screen in interactive mode, and so forth
//
void backgroundTasks(void) {
static time_t next_stats;
static time_t next_json, next_history;
time_t now = time(NULL);
if (Modes.net) {
modesNetPeriodicWork();
}
// If Modes.aircrafts is not NULL, remove any stale aircraft
if (Modes.aircrafts) {
interactiveRemoveStaleAircrafts();
}
// Refresh screen when in interactive mode
if (Modes.interactive) {
interactiveShowData();
}
if (Modes.stats > 0) {
if (now > next_stats) {
if (next_stats != 0)
display_stats();
next_stats = now + Modes.stats;
}
}
if ((Modes.json_dir || Modes.net_http_port) && now >= next_json) {
writeJsonToFile("aircraft.json", generateAircraftJson);
next_json = now + Modes.json_interval;
}
if ((Modes.json_dir || Modes.net_http_port) && now >= next_history) {
char filebuf[PATH_MAX];
int rewrite_receiver_json = (Modes.json_aircraft_history[HISTORY_SIZE-1].content == NULL);
free(Modes.json_aircraft_history[Modes.json_aircraft_history_next].content); // might be NULL, that's OK.
Modes.json_aircraft_history[Modes.json_aircraft_history_next].content =
generateAircraftJson("/data/aircraft.json", &Modes.json_aircraft_history[Modes.json_aircraft_history_next].clen);
snprintf(filebuf, PATH_MAX, "history_%d.json", Modes.json_aircraft_history_next);
writeJsonToFile(filebuf, generateHistoryJson);
Modes.json_aircraft_history_next = (Modes.json_aircraft_history_next+1) % HISTORY_SIZE;
if (rewrite_receiver_json)
writeJsonToFile("receiver.json", generateReceiverJson); // number of history entries changed
next_history = now + HISTORY_INTERVAL;
}
}
//
//=========================================================================
//
int verbose_device_search(char *s)
{
int i, device_count, device, offset;
char *s2;
char vendor[256], product[256], serial[256];
device_count = rtlsdr_get_device_count();
if (!device_count) {
fprintf(stderr, "No supported devices found.\n");
return -1;
}
fprintf(stderr, "Found %d device(s):\n", device_count);
for (i = 0; i < device_count; i++) {
rtlsdr_get_device_usb_strings(i, vendor, product, serial);
fprintf(stderr, " %d: %s, %s, SN: %s\n", i, vendor, product, serial);
}
fprintf(stderr, "\n");
/* does string look like raw id number */
device = (int)strtol(s, &s2, 0);
if (s2[0] == '\0' && device >= 0 && device < device_count) {
fprintf(stderr, "Using device %d: %s\n",
device, rtlsdr_get_device_name((uint32_t)device));
return device;
}
/* does string exact match a serial */
for (i = 0; i < device_count; i++) {
rtlsdr_get_device_usb_strings(i, vendor, product, serial);
if (strcmp(s, serial) != 0) {
continue;}
device = i;
fprintf(stderr, "Using device %d: %s\n",
device, rtlsdr_get_device_name((uint32_t)device));
return device;
}
/* does string prefix match a serial */
for (i = 0; i < device_count; i++) {
rtlsdr_get_device_usb_strings(i, vendor, product, serial);
if (strncmp(s, serial, strlen(s)) != 0) {
continue;}
device = i;
fprintf(stderr, "Using device %d: %s\n",
device, rtlsdr_get_device_name((uint32_t)device));
return device;
}
/* does string suffix match a serial */
for (i = 0; i < device_count; i++) {
rtlsdr_get_device_usb_strings(i, vendor, product, serial);
offset = strlen(serial) - strlen(s);
if (offset < 0) {
continue;}
if (strncmp(s, serial+offset, strlen(s)) != 0) {
continue;}
device = i;
fprintf(stderr, "Using device %d: %s\n",
device, rtlsdr_get_device_name((uint32_t)device));
return device;
}
fprintf(stderr, "No matching devices found.\n");
return -1;
}
//
//=========================================================================
//
int main(int argc, char **argv) {
int j;
// Set sane defaults
modesInitConfig();
signal(SIGINT, sigintHandler); // Define Ctrl/C handler (exit program)
// Parse the command line options
for (j = 1; j < argc; j++) {
int more = j+1 < argc; // There are more arguments
if (!strcmp(argv[j],"--device-index") && more) {
Modes.dev_name = strdup(argv[++j]);
} else if (!strcmp(argv[j],"--gain") && more) {
Modes.gain = (int) (atof(argv[++j])*10); // Gain is in tens of DBs
} else if (!strcmp(argv[j],"--enable-agc")) {
Modes.enable_agc++;
} else if (!strcmp(argv[j],"--freq") && more) {
Modes.freq = (int) strtoll(argv[++j],NULL,10);
} else if (!strcmp(argv[j],"--ifile") && more) {
Modes.filename = strdup(argv[++j]);
} else if (!strcmp(argv[j],"--fix")) {
Modes.nfix_crc = 1;
} else if (!strcmp(argv[j],"--no-fix")) {
Modes.nfix_crc = 0;
} else if (!strcmp(argv[j],"--no-crc-check")) {
Modes.check_crc = 0;
} else if (!strcmp(argv[j],"--phase-enhance")) {
Modes.phase_enhance = 1;
} else if (!strcmp(argv[j],"--raw")) {
Modes.raw = 1;
} else if (!strcmp(argv[j],"--net")) {
Modes.net = 1;
} else if (!strcmp(argv[j],"--modeac")) {
Modes.mode_ac = 1;
} else if (!strcmp(argv[j],"--net-beast")) {
Modes.beast = 1;
} else if (!strcmp(argv[j],"--net-only")) {
Modes.net = 1;
Modes.net_only = 1;
} else if (!strcmp(argv[j],"--net-heartbeat") && more) {
Modes.net_heartbeat_interval = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--net-ro-size") && more) {
Modes.net_output_flush_size = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--net-ro-rate") && more) {
Modes.net_output_flush_interval = atoi(argv[++j]) / 15; // backwards compatibility
} else if (!strcmp(argv[j],"--net-ro-interval") && more) {
Modes.net_output_flush_interval = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--net-ro-port") && more) {
if (Modes.beast) // Required for legacy backward compatibility
{Modes.net_output_beast_port = atoi(argv[++j]);;}
else
{Modes.net_output_raw_port = atoi(argv[++j]);}
} else if (!strcmp(argv[j],"--net-ri-port") && more) {
Modes.net_input_raw_port = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--net-bo-port") && more) {
Modes.net_output_beast_port = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--net-bi-port") && more) {
Modes.net_input_beast_port = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--net-bind-address") && more) {
Modes.net_bind_address = strdup(argv[++j]);
} else if (!strcmp(argv[j],"--net-http-port") && more) {
Modes.net_http_port = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--net-fatsv-port") && more) {
Modes.net_fatsv_port = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--net-sbs-port") && more) {
Modes.net_output_sbs_port = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--net-buffer") && more) {
Modes.net_sndbuf_size = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--onlyaddr")) {
Modes.onlyaddr = 1;
} else if (!strcmp(argv[j],"--metric")) {
Modes.metric = 1;
} else if (!strcmp(argv[j],"--aggressive")) {
Modes.nfix_crc = MODES_MAX_BITERRORS;
} else if (!strcmp(argv[j],"--interactive")) {
Modes.interactive = 1;
} else if (!strcmp(argv[j],"--interactive-rows") && more) {
Modes.interactive_rows = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--interactive-ttl") && more) {
Modes.interactive_display_ttl = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--lat") && more) {
Modes.fUserLat = atof(argv[++j]);
} else if (!strcmp(argv[j],"--lon") && more) {
Modes.fUserLon = atof(argv[++j]);
} else if (!strcmp(argv[j],"--max-range") && more) {
Modes.maxRange = atof(argv[++j]) * 1852.0; // convert to metres
} else if (!strcmp(argv[j],"--debug") && more) {
char *f = argv[++j];
while(*f) {
switch(*f) {
case 'D': Modes.debug |= MODES_DEBUG_DEMOD; break;
case 'd': Modes.debug |= MODES_DEBUG_DEMODERR; break;
case 'C': Modes.debug |= MODES_DEBUG_GOODCRC; break;
case 'c': Modes.debug |= MODES_DEBUG_BADCRC; break;
case 'p': Modes.debug |= MODES_DEBUG_NOPREAMBLE; break;
case 'n': Modes.debug |= MODES_DEBUG_NET; break;
case 'j': Modes.debug |= MODES_DEBUG_JS; break;
default:
fprintf(stderr, "Unknown debugging flag: %c\n", *f);
exit(1);
break;
}
f++;
}
} else if (!strcmp(argv[j],"--stats")) {
Modes.stats = -1;
} else if (!strcmp(argv[j],"--stats-every") && more) {
Modes.stats = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--snip") && more) {
snipMode(atoi(argv[++j]));
exit(0);
} else if (!strcmp(argv[j],"--help")) {
showHelp();
exit(0);
} else if (!strcmp(argv[j],"--ppm") && more) {
Modes.ppm_error = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--quiet")) {
Modes.quiet = 1;
} else if (!strcmp(argv[j],"--mlat")) {
Modes.mlat = 1;
} else if (!strcmp(argv[j],"--interactive-rtl1090")) {
Modes.interactive = 1;
Modes.interactive_rtl1090 = 1;
} else if (!strcmp(argv[j],"--oversample")) {
Modes.oversample = 1;
#ifndef _WIN32
} else if (!strcmp(argv[j], "--write-json") && more) {
Modes.json_dir = strdup(argv[++j]);
} else if (!strcmp(argv[j], "--write-json-every") && more) {
Modes.json_interval = atoi(argv[++j]);
if (Modes.json_interval < 1)
Modes.json_interval = 1;
} else if (!strcmp(argv[j], "--json-location-accuracy") && more) {
Modes.json_location_accuracy = atoi(argv[++j]);
#endif
} else {
fprintf(stderr,
"Unknown or not enough arguments for option '%s'.\n\n",
argv[j]);
showHelp();
exit(1);
}
}
#ifdef _WIN32
// Try to comply with the Copyright license conditions for binary distribution
if (!Modes.quiet) {showCopyright();}
#endif
#ifndef _WIN32
// Setup for SIGWINCH for handling lines
if (Modes.interactive) {signal(SIGWINCH, sigWinchCallback);}
#endif
if (Modes.mode_ac && Modes.oversample) {
fprintf(stderr,
"Warning: --modeac is currently ignored when --oversample is used;\n"
" no ModeA/C messages will be decoded.\n");
}
// Initialization
modesInit();
if (Modes.net_only) {
fprintf(stderr,"Net-only mode, no RTL device or file open.\n");
} else if (Modes.filename == NULL) {
if (modesInitRTLSDR() < 0) {
exit(1);
}
} else {
if (Modes.filename[0] == '-' && Modes.filename[1] == '\0') {
Modes.fd = STDIN_FILENO;
} else if ((Modes.fd = open(Modes.filename,
#ifdef _WIN32
(O_RDONLY | O_BINARY)
#else
(O_RDONLY)
#endif
)) == -1) {
perror("Opening data file");
exit(1);
}
}
if (Modes.net) modesInitNet();
writeJsonToFile("receiver.json", generateReceiverJson); // once on startup
// If the user specifies --net-only, just run in order to serve network
// clients without reading data from the RTL device
while (Modes.net_only) {
if (Modes.exit) {
display_stats();
exit(0); // If we exit net_only nothing further in main()
}
backgroundTasks();
usleep(100000);
}
// Create the thread that will read the data from the device.
pthread_create(&Modes.reader_thread, NULL, readerThreadEntryPoint, NULL);
pthread_mutex_lock(&Modes.data_mutex);
while (Modes.exit == 0) {
struct timespec cpu_start_time, cpu_end_time;
if (Modes.iDataReady == 0) {
pthread_cond_wait(&Modes.data_cond,&Modes.data_mutex); // This unlocks Modes.data_mutex, and waits for Modes.data_cond
continue; // Once (Modes.data_cond) occurs, it locks Modes.data_mutex
}
// Modes.data_mutex is Locked, and (Modes.iDataReady != 0)
if (Modes.iDataReady) { // Check we have new data, just in case!!
Modes.iDataOut &= (MODES_ASYNC_BUF_NUMBER-1); // Just incase
// Translate the next lot of I/Q samples into Modes.magnitude
computeMagnitudeVector(Modes.pData[Modes.iDataOut]);
Modes.stSystemTimeBlk = Modes.stSystemTimeRTL[Modes.iDataOut];
// Update the input buffer pointer queue
Modes.iDataOut = (MODES_ASYNC_BUF_NUMBER-1) & (Modes.iDataOut + 1);
Modes.iDataReady = (MODES_ASYNC_BUF_NUMBER-1) & (Modes.iDataIn - Modes.iDataOut);
// If we lost some blocks, correct the timestamp
if (Modes.iDataLost) {
Modes.timestampBlk += (MODES_ASYNC_BUF_SAMPLES * 6 * Modes.iDataLost);
Modes.stat_blocks_dropped += Modes.iDataLost;
Modes.iDataLost = 0;
}
// It's safe to release the lock now
pthread_cond_signal (&Modes.data_cond);
pthread_mutex_unlock(&Modes.data_mutex);
// Process data after releasing the lock, so that the capturing
// thread can read data while we perform computationally expensive
// stuff at the same time.
clock_gettime(CLOCK_THREAD_CPUTIME_ID, &cpu_start_time);
if (Modes.oversample)
detectModeS_oversample(Modes.magnitude, MODES_ASYNC_BUF_SAMPLES);
else
detectModeS(Modes.magnitude, MODES_ASYNC_BUF_SAMPLES);
clock_gettime(CLOCK_THREAD_CPUTIME_ID, &cpu_end_time);
Modes.stat_cputime.tv_sec += (cpu_end_time.tv_sec - cpu_start_time.tv_sec);
Modes.stat_cputime.tv_nsec += (cpu_end_time.tv_nsec - cpu_start_time.tv_nsec);
if (Modes.stat_cputime.tv_nsec < 0) {
Modes.stat_cputime.tv_nsec += 1000000000L;
Modes.stat_cputime.tv_sec--;
} else if (Modes.stat_cputime.tv_nsec > 1000000000L) {
Modes.stat_cputime.tv_nsec -= 1000000000L;
Modes.stat_cputime.tv_sec++;
}
// Update the timestamp ready for the next block
if (Modes.oversample)
Modes.timestampBlk += (MODES_ASYNC_BUF_SAMPLES*5);
else
Modes.timestampBlk += (MODES_ASYNC_BUF_SAMPLES*6);
Modes.stat_blocks_processed++;
} else {
pthread_cond_signal (&Modes.data_cond);
pthread_mutex_unlock(&Modes.data_mutex);
}
backgroundTasks();
pthread_mutex_lock(&Modes.data_mutex);
}
pthread_mutex_unlock(&Modes.data_mutex);
// If --stats were given, print statistics
if (Modes.stats) {
display_stats();
}
if (Modes.filename == NULL) {
rtlsdr_cancel_async(Modes.dev); // Cancel rtlsdr_read_async will cause data input thread to terminate cleanly
}
pthread_join(Modes.reader_thread,NULL); // Wait on reader thread exit
// Nothing is touching the rtlsdr device now.
if (Modes.filename == NULL) {
// This currently causes crashes within libusb for unknown reasons:
//rtlsdr_close(Modes.dev);
}
pthread_cond_destroy(&Modes.data_cond); // Thread cleanup - only after the reader thread is dead!
pthread_mutex_destroy(&Modes.data_mutex);
#ifndef _WIN32
pthread_exit(0);
#else
return (0);
#endif
}
//
//=========================================================================
//