def output(self, msg):
try:
msgtype = msg.data["df"]
if msgtype == 17: #ADS-B report
icao24 = msg.data["aa"]
bdsreg = msg.data["me"].get_type()
if bdsreg == 0x08: #ident packet
(ident, actype) = air_modes.parseBDS08(msg.data)
#select model based on actype
self.callsigns[icao24] = [ident, actype]
elif bdsreg == 0x06: #BDS0,6 pos
[ground_track, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS06(msg.data, self._cpr)
self.positions[icao24] = [decoded_lat, decoded_lon, 0]
self.update(icao24)
elif bdsreg == 0x05: #BDS0,5 pos
[altitude, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS05(msg.data, self._cpr)
self.positions[icao24] = [decoded_lat, decoded_lon, altitude]
self.update(icao24)
elif bdsreg == 0x09: #velocity
subtype = msg.data["bds09"].get_type()
if subtype == 0:
[velocity, heading, vert_spd, turnrate] = air_modes.parseBDS09_0(msg.data)
elif subtype == 1:
[velocity, heading, vert_spd] = air_modes.parseBDS09_1(msg.data)
turnrate = 0
else:
return
self.velocities[icao24] = [velocity, heading, vert_spd, turnrate]
except ADSBError:
pass
def sql17(self, data):
nw = datetime.datetime.utcnow()
icao24 = data["aa"]
bdsreg = data["me"].get_type()
#self["bds%.2i" % bdsreg] = icao24 #publish under "bds08", "bds06", etc.
#nw = datetime.datetime.utcnow().strftime('%Y-%m-%d %H:%M:%S.%f')
if bdsreg == 0x08:
(msg, typename) = air_modes.parseBDS08(data)
return "INSERT OR REPLACE INTO ident (icao, ident, type) VALUES (?, ?, ?)", (icao24, msg, typename)
elif bdsreg == 0x06:
[ground_track, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS06(data, self._cpr)
altitude = 0
if decoded_lat is None: #no unambiguously valid position available
raise CPRNoPositionError
else:
return "INSERT INTO positions (icao, seen, alt, lat, lon) VALUES (?, ?, ?, ?, ?)", (icao24, nw, altitude, decoded_lat, decoded_lon)
elif bdsreg == 0x05:
[altitude, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS05(data, self._cpr)
if decoded_lat is None: #no unambiguously valid position available
raise CPRNoPositionError
else:
return "INSERT INTO positions (icao, seen, alt, lat, lon) VALUES (?, ?, ?, ?, ?)", (icao24, nw, altitude, decoded_lat, decoded_lon)
elif bdsreg == 0x09:
subtype = data["bds09"].get_type()
if subtype == 0:
[velocity, heading, vert_spd, turnrate] = air_modes.parseBDS09_0(data)
return "INSERT INTO vectors (icao, seen, speed, heading, vertical) VALUES (?, ?, ?, ?, ?)", (icao24, nw, velocity, heading, vert_spd)
elif subtype == 1:
[velocity, heading, vert_spd] = air_modes.parseBDS09_1(data)
return "INSERT INTO vectors (icao, seen, speed, heading, vertical) VALUES (?, ?, ?, ?, ?)", (icao24, nw, velocity, heading, vert_spd)
else:
raise NoHandlerError
return None, None
def sql17(self, data):
icao24 = data["aa"]
bdsreg = data["me"].get_type()
#self["bds%.2i" % bdsreg] = icao24 #publish under "bds08", "bds06", etc.
if bdsreg == 0x08:
(msg, typename) = air_modes.parseBDS08(data)
return "INSERT OR REPLACE INTO ident (icao, ident, type) VALUES (" + "%i" % icao24 + ", '" + msg + "', '" + typename + "')"
elif bdsreg == 0x06:
[ground_track, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS06(data, self._cpr)
altitude = 0
if decoded_lat is None: #no unambiguously valid position available
raise CPRNoPositionError
else:
return "INSERT INTO positions (icao, seen, alt, lat, lon) VALUES (" + "%i" % icao24 + ", datetime('now'), " + str(altitude) + ", " + "%.6f" % decoded_lat + ", " + "%.6f" % decoded_lon + ")"
elif bdsreg == 0x05:
[altitude, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS05(data, self._cpr)
if decoded_lat is None: #no unambiguously valid position available
raise CPRNoPositionError
else:
return "INSERT INTO positions (icao, seen, alt, lat, lon) VALUES (" + "%i" % icao24 + ", datetime('now'), " + str(altitude) + ", " + "%.6f" % decoded_lat + ", " + "%.6f" % decoded_lon + ")"
elif bdsreg == 0x09:
subtype = data["bds09"].get_type()
if subtype == 0:
[velocity, heading, vert_spd, turnrate] = air_modes.parseBDS09_0(data)
return "INSERT INTO vectors (icao, seen, speed, heading, vertical) VALUES (" + "%i" % icao24 + ", datetime('now'), " + "%.0f" % velocity + ", " + "%.0f" % heading + ", " + "%.0f" % vert_spd + ")"
elif subtype == 1:
[velocity, heading, vert_spd] = air_modes.parseBDS09_1(data)
return "INSERT INTO vectors (icao, seen, speed, heading, vertical) VALUES (" + "%i" % icao24 + ", datetime('now'), " + "%.0f" % velocity + ", " + "%.0f" % heading + ", " + "%.0f" % vert_spd + ")"
else:
raise NoHandlerError
def output(self, msg):
try:
msgtype = msg.data["df"]
if msgtype == 17: #ADS-B report
icao24 = msg.data["aa"]
bdsreg = msg.data["me"].get_type()
if bdsreg == 0x08: #ident packet
(ident, actype) = air_modes.parseBDS08(msg.data)
#select model based on actype
self.callsigns[icao24] = [ident, actype]
elif bdsreg == 0x06: #BDS0,6 pos
[ground_track, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS06(msg.data, self._cpr)
self.positions[icao24] = [decoded_lat, decoded_lon, 0]
self.update(icao24)
elif bdsreg == 0x05: #BDS0,5 pos
[altitude, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS05(msg.data, self._cpr)
self.positions[icao24] = [decoded_lat, decoded_lon, altitude]
self.update(icao24)
elif bdsreg == 0x09: #velocity
subtype = msg.data["bds09"].get_type()
if subtype == 0:
[velocity, heading, vert_spd, turnrate] = air_modes.parseBDS09_0(msg.data)
elif subtype == 1:
[velocity, heading, vert_spd] = air_modes.parseBDS09_1(msg.data)
turnrate = 0
else:
return
self.velocities[icao24] = [velocity, heading, vert_spd, turnrate]
except ADSBError:
pass
def output(self, msg):
try:
msgtype = msg.data["df"]
now = time.time()
newrow = {"rssi": msg.rssi, "seen": now}
if msgtype in [0, 4, 20]:
newrow["altitude"] = air_modes.altitude.decode_alt(
msg.data["ac"], True)
newrow["icao"] = msg.ecc
self.model.addRecord(newrow)
elif msgtype == 17:
icao = msg.data["aa"]
newrow["icao"] = icao
subtype = msg.data["ftc"]
if subtype == 4:
(ident, actype) = air_modes.parseBDS08(msg.data)
newrow["ident"] = ident
newrow["type"] = actype
elif 5 <= subtype <= 8:
(ground_track, decoded_lat, decoded_lon, rnge,
bearing) = air_modes.parseBDS06(msg.data, self._cpr)
newrow["heading"] = ground_track
newrow["latitude"] = decoded_lat
newrow["longitude"] = decoded_lon
newrow["altitude"] = 0
if rnge is not None:
newrow["range"] = rnge
newrow["bearing"] = bearing
elif 9 <= subtype <= 18:
(altitude, decoded_lat, decoded_lon, rnge,
bearing) = air_modes.parseBDS05(msg.data, self._cpr)
newrow["altitude"] = altitude
newrow["latitude"] = decoded_lat
newrow["longitude"] = decoded_lon
if rnge is not None:
newrow["range"] = rnge
newrow["bearing"] = bearing
elif subtype == 19:
subsubtype = msg.data["sub"]
velocity = None
heading = None
vert_spd = None
if subsubtype == 0:
(velocity, heading,
vert_spd) = air_modes.parseBDS09_0(msg.data)
elif 1 <= subsubtype <= 2:
(velocity, heading,
vert_spd) = air_modes.parseBDS09_1(msg.data)
newrow["speed"] = velocity
newrow["heading"] = heading
newrow["vertical"] = vert_spd
self.model.addRecord(newrow)
except ADSBError:
return
def output(self, msg):
try:
msgtype = msg.data["df"]
now = time.time()
newrow = {"rssi": msg.rssi, "seen": now}
if msgtype in [0, 4, 20]:
newrow["altitude"] = air_modes.altitude.decode_alt(msg.data["ac"], True)
newrow["icao"] = msg.ecc
self.model.addRecord(newrow)
elif msgtype == 17:
icao = msg.data["aa"]
newrow["icao"] = icao
subtype = msg.data["ftc"]
if subtype == 4:
(ident, actype) = air_modes.parseBDS08(msg.data)
newrow["ident"] = ident
newrow["type"] = actype
elif 5 <= subtype <= 8:
(ground_track, decoded_lat, decoded_lon, rnge, bearing) = air_modes.parseBDS06(msg.data, self._cpr)
newrow["heading"] = ground_track
newrow["latitude"] = decoded_lat
newrow["longitude"] = decoded_lon
newrow["altitude"] = 0
if rnge is not None:
newrow["range"] = rnge
newrow["bearing"] = bearing
elif 9 <= subtype <= 18:
(altitude, decoded_lat, decoded_lon, rnge, bearing) = air_modes.parseBDS05(msg.data, self._cpr)
newrow["altitude"] = altitude
newrow["latitude"] = decoded_lat
newrow["longitude"] = decoded_lon
if rnge is not None:
newrow["range"] = rnge
newrow["bearing"] = bearing
elif subtype == 19:
subsubtype = msg.data["sub"]
velocity = None
heading = None
vert_spd = None
if subsubtype == 0:
(velocity, heading, vert_spd) = air_modes.parseBDS09_0(msg.data)
elif 1 <= subsubtype <= 2:
(velocity, heading, vert_spd) = air_modes.parseBDS09_1(msg.data)
newrow["speed"] = velocity
newrow["heading"] = heading
newrow["vertical"] = vert_spd
self.model.addRecord(newrow)
except ADSBError:
return
def handle17(self, msg):
icao24 = msg.data["aa"]
bdsreg = msg.data["me"].get_type()
retstr = output_print.prefix(msg)
try:
if bdsreg == 0x08:
(ident, typestring) = air_modes.parseBDS08(msg.data)
retstr += "Type 17 BDS0,8 (ident) from %x type %s ident %s" % (icao24, typestring, ident)
elif bdsreg == 0x06:
[ground_track, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS06(msg.data, self._cpr)
retstr += "Type 17 BDS0,6 (surface report) from %x at (%.6f, %.6f) ground track %i" % (icao24, decoded_lat, decoded_lon, ground_track)
if rnge is not None and bearing is not None:
retstr += " (%.2f @ %.0f)" % (rnge, bearing)
elif bdsreg == 0x05:
[altitude, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS05(msg.data, self._cpr)
retstr += "Type 17 BDS0,5 (position report) from %x at (%.6f, %.6f)" % (icao24, decoded_lat, decoded_lon)
if rnge is not None and bearing is not None:
retstr += " (" + "%.2f" % rnge + " @ " + "%.0f" % bearing + ")"
retstr += " at " + str(altitude) + "ft"
elif bdsreg == 0x09:
subtype = msg.data["bds09"].get_type()
if subtype == 0:
[velocity, heading, vert_spd, turnrate] = air_modes.parseBDS09_0(msg.data)
retstr += "Type 17 BDS0,9-%i (track report) from %x with velocity %.0fkt heading %.0f VS %.0f turn rate %.0f" \
% (subtype, icao24, velocity, heading, vert_spd, turnrate)
elif subtype == 1:
[velocity, heading, vert_spd] = air_modes.parseBDS09_1(msg.data)
retstr += "Type 17 BDS0,9-%i (track report) from %x with velocity %.0fkt heading %.0f VS %.0f" % (subtype, icao24, velocity, heading, vert_spd)
elif subtype == 3:
[mag_hdg, vel_src, vel, vert_spd, geo_diff] = air_modes.parseBDS09_3(msg.data)
retstr += "Type 17 BDS0,9-%i (air course report) from %x with %s %.0fkt magnetic heading %.0f VS %.0f geo. diff. from baro. alt. %.0fft" \
% (subtype, icao24, vel_src, vel, mag_hdg, vert_spd, geo_diff)
else:
retstr += "Type 17 BDS0,9-%i from %x not implemented" % (subtype, icao24)
elif bdsreg == 0x62:
emerg_str = air_modes.parseBDS62(data)
retstr += "Type 17 BDS6,2 (emergency) from %x type %s" % (icao24, emerg_str)
else:
retstr += "Type 17 with FTC=%i from %x not implemented" % (msg.data["ftc"], icao24)
except ADSBError:
return
retstr += " with count= %i and hash= %x" %(msg.data["count"],msg.data["hash"])
self._print(retstr)
def receive(self, message, cpr_decoder):
self.__last_heard_time = time.time(
) # TODO: arguably should be an argument
# Unfortunately, gr-air-modes doesn't provide a function to implement this gunk -- imitating its output_flightgear code which
data = message.data
t = data.get_type()
if t == 0:
self.__altitude_feet = air_modes.decode_alt(data['ac'], True)
# TODO more info available here
elif t == 4:
self.__altitude_feet = air_modes.decode_alt(data['ac'], True)
# TODO more info available here
elif t == 5:
self.__ident = air_modes.decode_id(data['id'])
# TODO more info available here
elif t == 17: # ADS-B
bdsreg = data['me'].get_type()
if bdsreg == 0x05:
(self.__altitude_feet, self.__latitude, self.__longitude,
_range, _bearing) = air_modes.parseBDS05(data, cpr_decoder)
elif bdsreg == 0x06:
(_ground_track, self.__latitude, self.__longitude, _range,
_bearing) = air_modes.parseBDS06(data, cpr_decoder)
elif bdsreg == 0x08:
(self.__call,
self.__aircraft_type) = air_modes.parseBDS08(data)
elif bdsreg == 0x09:
subtype = data['bds09'].get_type()
if subtype == 0:
(self.__velocity, self.__heading, self.__vertical_speed,
self.__turn_rate) = air_modes.parseBDS09_0(data)
elif subtype == 1:
(self.__velocity, self.__heading,
self.__vertical_speed) = air_modes.parseBDS09_1(data)
self.__turn_rate = 0 # TODO: or should we keep last?
else:
# TODO report
pass
else:
# TODO report
pass
else:
# TODO report
pass
def receive(self, message, cpr_decoder): self.__last_heard_time = time.time() # TODO: arguably should be an argument # Unfortunately, gr-air-modes doesn't provide a function to implement this gunk -- imitating its output_flightgear code which data = message.data t = data.get_type() if t == 0: self.__altitude_feet = air_modes.decode_alt(data['ac'], True) # TODO more info available here elif t == 4: self.__altitude_feet = air_modes.decode_alt(data['ac'], True) # TODO more info available here elif t == 5: self.__ident = air_modes.decode_id(data['id']) # TODO more info available here elif t == 17: # ADS-B bdsreg = data['me'].get_type() if bdsreg == 0x05: (self.__altitude_feet, self.__latitude, self.__longitude, _range, _bearing) = air_modes.parseBDS05(data, cpr_decoder) elif bdsreg == 0x06: (_ground_track, self.__latitude, self.__longitude, _range, _bearing) = air_modes.parseBDS06(data, cpr_decoder) elif bdsreg == 0x08: (self.__call, self.__aircraft_type) = air_modes.parseBDS08(data) elif bdsreg == 0x09: subtype = data['bds09'].get_type() if subtype == 0: (self.__velocity, self.__heading, self.__vertical_speed, self.__turn_rate) = air_modes.parseBDS09_0(data) elif subtype == 1: (self.__velocity, self.__heading, self.__vertical_speed) = air_modes.parseBDS09_1(data) self.__turn_rate = 0 # TODO: or should we keep last? else: # TODO report pass else: # TODO report pass else: # TODO report pass
def sql17(self, data):
icao24 = data["aa"]
bdsreg = data["me"].get_type()
#self["bds%.2i" % bdsreg] = icao24 #publish under "bds08", "bds06", etc.
if bdsreg == 0x08:
(msg, typename) = air_modes.parseBDS08(data)
return "INSERT OR REPLACE INTO ident (icao, ident, type) VALUES (" + "%i" % icao24 + ", '" + msg + "', '" + typename + "')"
elif bdsreg == 0x06:
[ground_track, decoded_lat, decoded_lon, rnge,
bearing] = air_modes.parseBDS06(data, self._cpr)
altitude = 0
if decoded_lat is None: #no unambiguously valid position available
raise CPRNoPositionError
else:
return "INSERT INTO positions (icao, seen, alt, lat, lon) VALUES (" + "%i" % icao24 + ", datetime('now'), " + str(
altitude
) + ", " + "%.6f" % decoded_lat + ", " + "%.6f" % decoded_lon + ")"
elif bdsreg == 0x05:
[altitude, decoded_lat, decoded_lon, rnge,
bearing] = air_modes.parseBDS05(data, self._cpr)
if decoded_lat is None: #no unambiguously valid position available
raise CPRNoPositionError
else:
return "INSERT INTO positions (icao, seen, alt, lat, lon) VALUES (" + "%i" % icao24 + ", datetime('now'), " + str(
altitude
) + ", " + "%.6f" % decoded_lat + ", " + "%.6f" % decoded_lon + ")"
elif bdsreg == 0x09:
subtype = data["bds09"].get_type()
if subtype == 0:
[velocity, heading, vert_spd,
turnrate] = air_modes.parseBDS09_0(data)
return "INSERT INTO vectors (icao, seen, speed, heading, vertical) VALUES (" + "%i" % icao24 + ", datetime('now'), " + "%.0f" % velocity + ", " + "%.0f" % heading + ", " + "%.0f" % vert_spd + ")"
elif subtype == 1:
[velocity, heading, vert_spd] = air_modes.parseBDS09_1(data)
return "INSERT INTO vectors (icao, seen, speed, heading, vertical) VALUES (" + "%i" % icao24 + ", datetime('now'), " + "%.0f" % velocity + ", " + "%.0f" % heading + ", " + "%.0f" % vert_spd + ")"
else:
raise NoHandlerError
def receive(self, message_wrapper):
message = message_wrapper.message
cpr_decoder = message_wrapper.cpr_decoder
receive_time = message_wrapper.receive_time
self.__last_heard_time = receive_time
# Unfortunately, gr-air-modes doesn't provide a function to implement this gunk -- imitating its output_flightgear code which
data = message.data
t = data.get_type()
if t == 0:
self.__track = self.__track._replace(
altitude=TelemetryItem(air_modes.decode_alt(data['ac'], True) * _METERS_PER_FEET, receive_time))
# TODO more info available here
elif t == 4:
self.__track = self.__track._replace(
altitude=TelemetryItem(air_modes.decode_alt(data['ac'], True) * _METERS_PER_FEET, receive_time))
# TODO more info available here
elif t == 5:
self.__ident = air_modes.decode_id(data['id'])
# TODO more info available here
elif t == 17: # ADS-B
bdsreg = data['me'].get_type()
if bdsreg == 0x05:
# TODO use unused info
(altitude_feet, latitude, longitude, _range, _bearing) = air_modes.parseBDS05(data, cpr_decoder)
self.__track = self.__track._replace(
altitude=TelemetryItem(altitude_feet * _METERS_PER_FEET, receive_time),
latitude=TelemetryItem(latitude, receive_time),
longitude=TelemetryItem(longitude, receive_time),
)
elif bdsreg == 0x06:
# TODO use unused info
(_ground_track, latitude, longitude, _range, _bearing) = air_modes.parseBDS06(data, cpr_decoder)
self.__track = self.__track._replace(
latitude=TelemetryItem(latitude, receive_time),
longitude=TelemetryItem(longitude, receive_time),
)
elif bdsreg == 0x08:
(self.__call, self.__aircraft_type) = air_modes.parseBDS08(data)
elif bdsreg == 0x09:
subtype = data['bds09'].get_type()
if subtype == 0:
(velocity, heading, vertical_speed, _turn_rate) = air_modes.parseBDS09_0(data)
# TODO: note we're stuffing the heading in as track angle. Is there something better to do?
self.__track = self.__track._replace(
h_speed=TelemetryItem(velocity * _KNOTS_TO_METERS_PER_SECOND, receive_time),
heading=TelemetryItem(heading, receive_time),
track_angle=TelemetryItem(heading, receive_time),
v_speed=TelemetryItem(vertical_speed, receive_time),
# TODO add turn rate
)
elif subtype == 1:
(velocity, heading, vertical_speed) = air_modes.parseBDS09_1(data)
self.__track = self.__track._replace(
h_speed=TelemetryItem(velocity * _KNOTS_TO_METERS_PER_SECOND, receive_time),
heading=TelemetryItem(heading, receive_time),
track_angle=TelemetryItem(heading, receive_time),
v_speed=TelemetryItem(vertical_speed, receive_time),
# TODO reset turn rate?
)
else:
# TODO report
pass
else:
# TODO report
pass
else:
# TODO report
pass
def receive(self, message_wrapper):
message = message_wrapper.message
cpr_decoder = message_wrapper.cpr_decoder
receive_time = message_wrapper.receive_time
self.__last_heard_time = receive_time
# Unfortunately, gr-air-modes doesn't provide a function to implement this gunk -- imitating its output_flightgear code which
data = message.data
t = data.get_type()
if t == 0:
self.__track = self.__track._replace(altitude=TelemetryItem(
air_modes.decode_alt(data['ac'], True) *
_METERS_PER_FEET, receive_time))
# TODO more info available here
elif t == 4:
self.__track = self.__track._replace(altitude=TelemetryItem(
air_modes.decode_alt(data['ac'], True) *
_METERS_PER_FEET, receive_time))
# TODO more info available here
elif t == 5:
self.__ident = air_modes.decode_id(data['id'])
# TODO more info available here
elif t == 17: # ADS-B
bdsreg = data['me'].get_type()
if bdsreg == 0x05:
# TODO use unused info
(altitude_feet, latitude, longitude, _range,
_bearing) = air_modes.parseBDS05(data, cpr_decoder)
self.__track = self.__track._replace(
altitude=TelemetryItem(altitude_feet * _METERS_PER_FEET,
receive_time),
latitude=TelemetryItem(latitude, receive_time),
longitude=TelemetryItem(longitude, receive_time),
)
elif bdsreg == 0x06:
# TODO use unused info
(_ground_track, latitude, longitude, _range,
_bearing) = air_modes.parseBDS06(data, cpr_decoder)
self.__track = self.__track._replace(
latitude=TelemetryItem(latitude, receive_time),
longitude=TelemetryItem(longitude, receive_time),
)
elif bdsreg == 0x08:
(self.__call,
self.__aircraft_type) = air_modes.parseBDS08(data)
elif bdsreg == 0x09:
subtype = data['bds09'].get_type()
if subtype == 0:
(velocity, heading, vertical_speed,
_turn_rate) = air_modes.parseBDS09_0(data)
# TODO: note we're stuffing the heading in as track angle. Is there something better to do?
self.__track = self.__track._replace(
h_speed=TelemetryItem(
velocity * _KNOTS_TO_METERS_PER_SECOND,
receive_time),
heading=TelemetryItem(heading, receive_time),
track_angle=TelemetryItem(heading, receive_time),
v_speed=TelemetryItem(vertical_speed, receive_time),
# TODO add turn rate
)
elif subtype == 1:
(velocity, heading,
vertical_speed) = air_modes.parseBDS09_1(data)
self.__track = self.__track._replace(
h_speed=TelemetryItem(
velocity * _KNOTS_TO_METERS_PER_SECOND,
receive_time),
heading=TelemetryItem(heading, receive_time),
track_angle=TelemetryItem(heading, receive_time),
v_speed=TelemetryItem(vertical_speed, receive_time),
# TODO reset turn rate?
)
else:
# TODO report
pass
else:
# TODO report
pass
else:
# TODO report
pass
self.state_changed()