FreeDATA/modem/modem.py

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Wed Dec 23 07:04:24 2020

@author: DJ2LS
"""

# pylint: disable=invalid-name, line-too-long, c-extension-no-member
# pylint: disable=import-outside-toplevel

import atexit
import ctypes
import os
import queue
import threading
import time
from collections import deque
import codec2
import numpy as np
import sounddevice as sd
import structlog
import tci
import cw
from queues import MODEM_TRANSMIT_QUEUE, RIGCTLD_COMMAND_QUEUE
import audio
import event_manager
from modem_frametypes import FRAME_TYPE
import beacon
import demodulator

TESTMODE = False
TXCHANNEL = ""

class RF:
    """Class to encapsulate interactions between the audio device and codec2"""

    log = structlog.get_logger("RF")

    def __init__(self, config, event_queue, fft_queue, service_queue, states) -> None:
        self.config = config
        print(config)
        self.service_queue = service_queue
        self.states = states

        self.sampler_avg = 0
        self.buffer_avg = 0

        # these are crc ids now
        self.audio_input_device = config['AUDIO']['input_device']
        self.audio_output_device = config['AUDIO']['output_device']

        self.tx_audio_level = config['AUDIO']['tx_audio_level']
        self.enable_audio_auto_tune = config['AUDIO']['enable_auto_tune']
        #Dynamically enable FFT data stream when a client connects to FFT web socket
        self.enable_fft_stream = False
        self.tx_delay = config['MODEM']['tx_delay']

        self.radiocontrol = config['RADIO']['control']
        self.rigctld_ip = config['RIGCTLD']['ip']
        self.rigctld_port = config['RIGCTLD']['port']

        self.states.setTransmitting(False)

        self.ptt_state = False
        self.radio_alc = 0.0

        self.tci_ip = config['TCI']['tci_ip']
        self.tci_port = config['TCI']['tci_port']

        self.channel_busy_delay = 0

        self.AUDIO_SAMPLE_RATE_RX = 48000
        self.AUDIO_SAMPLE_RATE_TX = 48000
        self.MODEM_SAMPLE_RATE = codec2.api.FREEDV_FS_8000

        # 8192 Let's do some tests with very small chunks for TX
        self.AUDIO_FRAMES_PER_BUFFER_TX = 1200 if self.radiocontrol in ["tci"] else 2400 * 2
        # 8 * (self.AUDIO_SAMPLE_RATE_RX/self.MODEM_SAMPLE_RATE) == 48
        self.AUDIO_CHANNELS = 1
        self.MODE = 0

        # Locking state for mod out so buffer will be filled before we can use it
        # https://github.com/DJ2LS/FreeDATA/issues/127
        # https://github.com/DJ2LS/FreeDATA/issues/99
        self.mod_out_locked = True
        self.rms_counter = 0

        # Make sure our resampler will work
        assert (self.AUDIO_SAMPLE_RATE_RX / self.MODEM_SAMPLE_RATE) == codec2.api.FDMDV_OS_48  # type: ignore

        self.modem_transmit_queue = MODEM_TRANSMIT_QUEUE
        self.modem_received_queue = queue.Queue()

        self.audio_received_queue = queue.Queue()
        self.audio_transmit_queue = queue.Queue()

        self.data_queue_received = queue.Queue()

        # Init FIFO queue to store modulation out in
        self.modoutqueue = deque()

        self.event_manager = event_manager.EventManager([event_queue])

        self.fft_queue = fft_queue

        self.demodulator = demodulator.Demodulator(self.config, 
                                            self.audio_received_queue, 
                                            self.modem_received_queue,
                                            self.data_queue_received,
                                            self.states,
                                            self.event_manager)

        self.beacon = beacon.Beacon(self.config, self.states, event_queue, 
                                    self.log, MODEM_TRANSMIT_QUEUE)

    # --------------------------------------------------------------------------------------------------------
    def tci_tx_callback(self) -> None:
        """
        Callback for TCI TX
        """
        while True:
            threading.Event().wait(0.01)

            if len(self.modoutqueue) > 0 and not self.mod_out_locked:
                self.radio.set_ptt(True)
                self.event_manager.send_ptt_change(True)

                data_out = self.modoutqueue.popleft()
                self.tci_module.push_audio(data_out)

    def start_modem(self):
        result = False
        
        if not TESTMODE and self.radiocontrol not in ["tci"]:
            result = self.init_audio()
            if not result:
                raise RuntimeError("Unable to init audio devices")
            self.demodulator.start(self.stream)

        elif not TESTMODE:
            result = self.init_tci()
        else:
            result = self.init_mkfifo()

        if result not in [False]:
            # init codec2 instances
            self.init_codec2()

            # init rig control
            self.init_rig_control()

            # init data thread
            self.init_data_threads()
            atexit.register(self.stream.stop)

            # init beacon
            self.beacon.start()
        else:
            return False

    def stop_modem(self):
        try:
            # let's stop the modem service
            self.service_queue.put("stop")
            # simulate audio class active state for reducing cli output
            # self.stream = lambda: None
            # self.stream.active = False
            # self.stream.stop

            self.beacon.stop()

        except Exception:
            self.log.error("[MDM] Error stopping modem")

    def init_audio(self):
        self.log.info(f"[MDM] init: get audio devices", input_device=self.audio_input_device,
                      output_device=self.audio_output_device)
        try:
            result = audio.get_device_index_from_crc(self.audio_input_device, True)
            if result is None:
                raise ValueError("Invalid input device")
            else:
                in_dev_index, in_dev_name = result

            result = audio.get_device_index_from_crc(self.audio_output_device, False)
            if result is None:
                raise ValueError("Invalid output device")
            else:
                out_dev_index, out_dev_name = result

            self.log.info(f"[MDM] init: receiving audio from '{in_dev_name}'")
            self.log.info(f"[MDM] init: transmiting audio on '{out_dev_name}'")
            self.log.debug("[MDM] init: starting pyaudio callback and decoding threads")

            # init codec2 resampler
            self.resampler = codec2.resampler()

            # init audio stream
            self.stream = sd.RawStream(
                channels=1,
                dtype="int16",
                callback=self.callback,
                device=(in_dev_index, out_dev_index),
                samplerate=self.AUDIO_SAMPLE_RATE_RX,
                blocksize=4800,
            )
            self.stream.start()
            return True



        except Exception as audioerr:
            self.log.error("[MDM] init: starting pyaudio callback failed", e=audioerr)
            self.stop_modem()
            return False

    def init_tci(self):
        # placeholder area for processing audio via TCI
        # https://github.com/maksimus1210/TCI
        self.log.warning("[MDM] [TCI] Not yet fully implemented", ip=self.tci_ip, port=self.tci_port)

        # we are trying this by simulating an audio stream Object like with mkfifo
        class Object:
            """An object for simulating audio stream"""
            active = True

        self.stream = Object()

        # lets init TCI module
        self.tci_module = tci.TCICtrl(self.audio_received_queue, self.audio_transmit_queue)

        tci_rx_callback_thread = threading.Thread(
            target=self.tci_rx_callback,
            name="TCI RX CALLBACK THREAD",
            daemon=True,
        )
        tci_rx_callback_thread.start()

        # let's start the audio tx callback
        self.log.debug("[MDM] Starting tci tx callback thread")
        tci_tx_callback_thread = threading.Thread(
            target=self.tci_tx_callback,
            name="TCI TX CALLBACK THREAD",
            daemon=True,
        )
        tci_tx_callback_thread.start()
    def init_mkfifo(self):
        class Object:
            """An object for simulating audio stream"""
            active = True

        self.stream = Object()

        # Create mkfifo buffers
        try:
            os.mkfifo(RXCHANNEL)
            os.mkfifo(TXCHANNEL)
        except Exception as err:
            self.log.info(f"[MDM] init:mkfifo: Exception: {err}")

        mkfifo_write_callback_thread = threading.Thread(
            target=self.mkfifo_write_callback,
            name="MKFIFO WRITE CALLBACK THREAD",
            daemon=True,
        )
        mkfifo_write_callback_thread.start()

        self.log.debug("[MDM] Starting mkfifo_read_callback")
        mkfifo_read_callback_thread = threading.Thread(
            target=self.mkfifo_read_callback,
            name="MKFIFO READ CALLBACK THREAD",
            daemon=True,
        )
        mkfifo_read_callback_thread.start()

    def mkfifo_write_callback(self) -> None:
        """Support testing by writing the audio data to a pipe."""
        while True:
            threading.Event().wait(0.01)

            # -----write
            if len(self.modoutqueue) > 0 and not self.mod_out_locked:
                data_out48k = self.modoutqueue.popleft()
                # print(len(data_out48k))

                with open(TXCHANNEL, "wb") as fifo_write:
                    fifo_write.write(data_out48k)
                    fifo_write.flush()
                    fifo_write.flush()

    # --------------------------------------------------------------------
    def transmit(
            self, mode, repeats: int, repeat_delay: int, frames: bytearray
    ) -> bool:
        """

        Args:
          mode:
          repeats:
          repeat_delay:
          frames:

        """
        self.reset_data_sync()

        if mode == codec2.FREEDV_MODE.datac0.value:
            freedv = self.freedv_datac0_tx
        elif mode == codec2.FREEDV_MODE.datac1.value:
            freedv = self.freedv_datac1_tx
        elif mode == codec2.FREEDV_MODE.datac3.value:
            freedv = self.freedv_datac3_tx
        elif mode == codec2.FREEDV_MODE.datac4.value:
            freedv = self.freedv_datac4_tx
        elif mode == codec2.FREEDV_MODE.datac13.value:
            freedv = self.freedv_datac13_tx
        elif mode == codec2.FREEDV_MODE.fsk_ldpc_0.value:
            freedv = self.freedv_ldpc0_tx
        elif mode == codec2.FREEDV_MODE.fsk_ldpc_1.value:
            freedv = self.freedv_ldpc1_tx
        else:
            return False

        # Wait for some other thread that might be transmitting
        self.states.waitForTransmission()
        self.states.setTransmitting(True)
        # if we're transmitting FreeDATA signals, reset channel busy state
        self.states.set("channel_busy", False)

        start_of_transmission = time.time()
        # TODO Moved ptt toggle some steps before audio is ready for testing
        # Toggle ptt early to save some time and send ptt state via socket
        # self.radio.set_ptt(True)
        # jsondata = {"ptt": "True"}
        # data_out = json.dumps(jsondata)
        # sock.SOCKET_QUEUE.put(data_out)

        # Open codec2 instance
        self.MODE = mode

        # Get number of bytes per frame for mode
        bytes_per_frame = int(codec2.api.freedv_get_bits_per_modem_frame(freedv) / 8)
        payload_bytes_per_frame = bytes_per_frame - 2

        # Init buffer for data
        n_tx_modem_samples = codec2.api.freedv_get_n_tx_modem_samples(freedv)
        mod_out = ctypes.create_string_buffer(n_tx_modem_samples * 2)

        # Init buffer for preample
        n_tx_preamble_modem_samples = codec2.api.freedv_get_n_tx_preamble_modem_samples(
            freedv
        )
        mod_out_preamble = ctypes.create_string_buffer(n_tx_preamble_modem_samples * 2)

        # Init buffer for postamble
        n_tx_postamble_modem_samples = (
            codec2.api.freedv_get_n_tx_postamble_modem_samples(freedv)
        )
        mod_out_postamble = ctypes.create_string_buffer(
            n_tx_postamble_modem_samples * 2
        )

        # Add empty data to handle ptt toggle time
        if self.tx_delay > 0:
            data_delay = int(self.MODEM_SAMPLE_RATE * (self.tx_delay / 1000))  # type: ignore
            mod_out_silence = ctypes.create_string_buffer(data_delay * 2)
            txbuffer = bytes(mod_out_silence)
        else:
            txbuffer = bytes()

        self.log.debug(
            "[MDM] TRANSMIT", mode=self.MODE, payload=payload_bytes_per_frame, delay=self.tx_delay
        )

        for _ in range(repeats):

            # Create modulation for all frames in the list
            for frame in frames:
                # Write preamble to txbuffer
                # codec2 fsk preamble may be broken -
                # at least it sounds like that, so we are disabling it for testing
                if self.MODE not in [
                    codec2.FREEDV_MODE.fsk_ldpc_0.value,
                    codec2.FREEDV_MODE.fsk_ldpc_1.value,
                ]:
                    # Write preamble to txbuffer
                    codec2.api.freedv_rawdatapreambletx(freedv, mod_out_preamble)
                    txbuffer += bytes(mod_out_preamble)

                # Create buffer for data
                # Use this if CRC16 checksum is required (DATAc1-3)
                buffer = bytearray(payload_bytes_per_frame)
                # Set buffersize to length of data which will be send
                buffer[: len(frame)] = frame  # type: ignore

                # Create crc for data frame -
                #   Use the crc function shipped with codec2
                #   to avoid CRC algorithm incompatibilities
                # Generate CRC16
                crc = ctypes.c_ushort(
                    codec2.api.freedv_gen_crc16(bytes(buffer), payload_bytes_per_frame)
                )
                # Convert crc to 2-byte (16-bit) hex string
                crc = crc.value.to_bytes(2, byteorder="big")
                # Append CRC to data buffer
                buffer += crc

                data = (ctypes.c_ubyte * bytes_per_frame).from_buffer_copy(buffer)
                # modulate DATA and save it into mod_out pointer
                codec2.api.freedv_rawdatatx(freedv, mod_out, data)
                txbuffer += bytes(mod_out)

                # codec2 fsk postamble may be broken -
                # at least it sounds like that, so we are disabling it for testing
                if self.MODE not in [
                    codec2.FREEDV_MODE.fsk_ldpc_0.value,
                    codec2.FREEDV_MODE.fsk_ldpc_1.value,
                ]:
                    # Write postamble to txbuffer
                    codec2.api.freedv_rawdatapostambletx(freedv, mod_out_postamble)
                    # Append postamble to txbuffer
                    txbuffer += bytes(mod_out_postamble)

            # Add delay to end of frames
            samples_delay = int(self.MODEM_SAMPLE_RATE * (repeat_delay / 1000))  # type: ignore
            mod_out_silence = ctypes.create_string_buffer(samples_delay * 2)
            txbuffer += bytes(mod_out_silence)

        # Re-sample back up to 48k (resampler works on np.int16)
        x = np.frombuffer(txbuffer, dtype=np.int16)

        self.audio_auto_tune()
        x = audio.set_audio_volume(x, self.tx_audio_level)

        if not self.radiocontrol in ["tci"]:
            txbuffer_out = self.resampler.resample8_to_48(x)
        else:
            txbuffer_out = x

        # Explicitly lock our usage of mod_out_queue if needed
        # This could avoid audio problems on slower CPU
        # we will fill our modout list with all data, then start
        # processing it in audio callback
        self.mod_out_locked = True

        # -------------------------------
        # add modulation to modout_queue
        self.enqueue_modulation(txbuffer_out)

        # Release our mod_out_lock, so we can use the queue
        self.mod_out_locked = False

        # we need to wait manually for tci processing
        if self.radiocontrol in ["tci"]:
            duration = len(txbuffer_out) / 8000
            timestamp_to_sleep = time.time() + duration
            self.log.debug("[MDM] TCI calculated duration", duration=duration)
            tci_timeout_reached = False
            #while time.time() < timestamp_to_sleep:
            #    threading.Event().wait(0.01)
        else:
            timestamp_to_sleep = time.time()
            # set tci timeout reached to True for overriding if not used
            tci_timeout_reached = True

        while self.modoutqueue or not tci_timeout_reached:
            if self.radiocontrol in ["tci"]:
                if time.time() < timestamp_to_sleep:
                    tci_timeout_reached = False
                else:
                    tci_timeout_reached = True
            threading.Event().wait(0.01)
            # if we're transmitting FreeDATA signals, reset channel busy state
            self.states.set("channel_busy", False)

        self.radio.set_ptt(False)

        # Push ptt state to socket stream
        self.event_manager.send_ptt_change(False)

        # After processing, set the locking state back to true to be prepared for next transmission
        self.mod_out_locked = True

        self.modem_transmit_queue.task_done()
        self.states.setTransmitting(False)

        end_of_transmission = time.time()
        transmission_time = end_of_transmission - start_of_transmission
        self.log.debug("[MDM] ON AIR TIME", time=transmission_time)

    def audio_auto_tune(self):
        # enable / disable AUDIO TUNE Feature / ALC correction
        if self.enable_audio_auto_tune:
            if self.radio_alc == 0.0:
                self.tx_audio_level = self.tx_audio_level + 20
            elif 0.0 < self.radio_alc <= 0.1:
                print("0.0 < self.radio_alc <= 0.1")
                self.tx_audio_level = self.tx_audio_level + 2
                self.log.debug("[MDM] AUDIO TUNE", audio_level=str(self.tx_audio_level),
                               alc_level=str(self.radio_alc))
            elif 0.1 < self.radio_alc < 0.2:
                print("0.1 < self.radio_alc < 0.2")
                self.tx_audio_level = self.tx_audio_level
                self.log.debug("[MDM] AUDIO TUNE", audio_level=str(self.tx_audio_level),
                               alc_level=str(self.radio_alc))
            elif 0.2 < self.radio_alc < 0.99:
                print("0.2 < self.radio_alc < 0.99")
                self.tx_audio_level = self.tx_audio_level - 20
                self.log.debug("[MDM] AUDIO TUNE", audio_level=str(self.tx_audio_level),
                               alc_level=str(self.radio_alc))
            elif 1.0 >= self.radio_alc:
                print("1.0 >= self.radio_alc")
                self.tx_audio_level = self.tx_audio_level - 40
                self.log.debug("[MDM] AUDIO TUNE", audio_level=str(self.tx_audio_level),
                               alc_level=str(self.radio_alc))
            else:
                self.log.debug("[MDM] AUDIO TUNE", audio_level=str(self.tx_audio_level),
                               alc_level=str(self.radio_alc))

    def transmit_morse(self, repeats, repeat_delay, frames):
        self.states.waitForTransmission()
        self.states.setTransmitting(True)
        # if we're transmitting FreeDATA signals, reset channel busy state
        self.states.set("channel_busy", False)
        self.log.debug(
            "[MDM] TRANSMIT", mode="MORSE"
        )
        start_of_transmission = time.time()

        txbuffer_out = cw.MorseCodePlayer().text_to_signal("DJ2LS-1")

        self.mod_out_locked = True
        self.enqueue_modulation(txbuffer_out)
        self.mod_out_locked = False

        # we need to wait manually for tci processing
        if self.radiocontrol in ["tci"]:
            duration = len(txbuffer_out) / 8000
            timestamp_to_sleep = time.time() + duration
            self.log.debug("[MDM] TCI calculated duration", duration=duration)
            tci_timeout_reached = False
            #while time.time() < timestamp_to_sleep:
            #    threading.Event().wait(0.01)
        else:
            timestamp_to_sleep = time.time()
            # set tci timeout reached to True for overriding if not used
            tci_timeout_reached = True

        while self.modoutqueue or not tci_timeout_reached:
            if self.radiocontrol in ["tci"]:
                if time.time() < timestamp_to_sleep:
                    tci_timeout_reached = False
                else:
                    tci_timeout_reached = True

            threading.Event().wait(0.01)
            # if we're transmitting FreeDATA signals, reset channel busy state
            self.states.set("channel_busy", False)

        self.radio.set_ptt(False)

        # Push ptt state to socket stream
        self.event_manager.send_ptt_change(False)

        # After processing, set the locking state back to true to be prepared for next transmission
        self.mod_out_locked = True

        self.modem_transmit_queue.task_done()
        self.states.setTransmitting(False)

        end_of_transmission = time.time()
        transmission_time = end_of_transmission - start_of_transmission
        self.log.debug("[MDM] ON AIR TIME", time=transmission_time)

    def enqueue_modulation(self, txbuffer_out):


        chunk_length = self.AUDIO_FRAMES_PER_BUFFER_TX  # 4800
        chunk = [
            txbuffer_out[i: i + chunk_length]
            for i in range(0, len(txbuffer_out), chunk_length)
        ]
        for c in chunk:
            # Pad the chunk, if needed
            if len(c) < chunk_length:
                delta = chunk_length - len(c)
                delta_zeros = np.zeros(delta, dtype=np.int16)
                c = np.append(c, delta_zeros)
                # self.log.debug("[MDM] mod out shorter than audio buffer", delta=delta)
            self.modoutqueue.append(c)

    def init_codec2(self):
        # Open codec2 instances

        # INIT TX MODES - here we need all modes. 
        self.freedv_datac0_tx = codec2.open_instance(codec2.FREEDV_MODE.datac0.value)
        self.freedv_datac1_tx = codec2.open_instance(codec2.FREEDV_MODE.datac1.value)
        self.freedv_datac3_tx = codec2.open_instance(codec2.FREEDV_MODE.datac3.value)
        self.freedv_datac4_tx = codec2.open_instance(codec2.FREEDV_MODE.datac4.value)
        self.freedv_datac13_tx = codec2.open_instance(codec2.FREEDV_MODE.datac13.value)
        self.freedv_ldpc0_tx = codec2.open_instance(codec2.FREEDV_MODE.fsk_ldpc_0.value)
        self.freedv_ldpc1_tx = codec2.open_instance(codec2.FREEDV_MODE.fsk_ldpc_1.value)

    def init_data_threads(self):
        worker_received = threading.Thread(
            target=self.demodulator.worker_received, name="WORKER_THREAD", daemon=True
        )
        worker_received.start()

        worker_transmit = threading.Thread(
            target=self.worker_transmit, name="WORKER_THREAD", daemon=True
        )
        worker_transmit.start()

    # Callback for the audio streaming devices
    def callback(self, data_in48k, outdata, frames, time, status) -> None:
        """
        Receive data into appropriate queue.

        Args:
            data_in48k: Incoming data received
            outdata: Container for the data returned
            frames: Number of frames
            time:
          status:

        """
        # self.log.debug("[MDM] callback")
        try:
            processed_audio_in = self.demodulator.on_audio_received(data_in48k)

            if not self.modoutqueue or self.mod_out_locked:
                data_out48k = np.zeros(frames, dtype=np.int16)
                self.calculate_fft(processed_audio_in)
            else:
                # TODO Moved to this place for testing
                # Maybe we can avoid moments of silence before transmitting
                self.radio.set_ptt(True)
                self.event_manager.send_ptt_change(True)

                data_out48k = self.modoutqueue.popleft()
                self.calculate_fft(data_out48k)
        except Exception as e:
            self.log.warning(f"[MDM] audio callback not ready yet: {e}")

        try:
            outdata[:] = data_out48k[:frames]
        except IndexError as err:
            self.log.debug(f"[MDM] callback writing error: IndexError: {err}")

        # return (data_out48k, audio.pyaudio.paContinue)

    def worker_transmit(self) -> None:
        """Worker for FIFO queue for processing frames to be transmitted"""
        while True:
            # print queue size for debugging purposes
            # TODO Lets check why we have several frames in our transmit queue which causes sometimes a double transmission
            # we could do a cleanup after a transmission so theres no reason sending twice
            queuesize = self.modem_transmit_queue.qsize()
            self.log.debug("[MDM] self.modem_transmit_queue", qsize=queuesize)
            tx = self.modem_transmit_queue.get()

            # TODO Why we is this taking an array instead of a single frame?
            if tx['mode'] in ["morse"]:
                self.transmit_morse(tx['repeat'], tx['repeat_delay'], [tx['frame']])
            else:
                self.transmit(tx['mode'], tx['repeat'], tx['repeat_delay'], [tx['frame']])
            # self.modem_transmit_queue.task_done()

    def get_frequency_offset(self, freedv: ctypes.c_void_p) -> float:
        """
        Ask codec2 for the calculated (audio) frequency offset of the received signal.

        :param freedv: codec2 instance to query
        :type freedv: ctypes.c_void_p
        :return: Offset of audio frequency in Hz
        :rtype: float
        """
        modemStats = codec2.MODEMSTATS()
        codec2.api.freedv_get_modem_extended_stats(freedv, ctypes.byref(modemStats))
        offset = round(modemStats.foff) * (-1)
        return offset

    def init_rig_control(self):
        # Check how we want to control the radio
        if self.radiocontrol == "rigctld":
            import rigctld as rig
        elif self.radiocontrol == "tci":
            self.radio = self.tci_module
        else:
            import rigdummy as rig

        if not self.radiocontrol in ["tci"]:
            self.radio = rig.radio()
            self.radio.open_rig(
                rigctld_ip=self.rigctld_ip,
                rigctld_port=self.rigctld_port,
            )
            hamlib_thread = threading.Thread(
                target=self.update_rig_data, name="HAMLIB_THREAD", daemon=True
            )
        hamlib_thread.start()

        hamlib_set_thread = threading.Thread(
            target=self.set_rig_data, name="HAMLIB_SET_THREAD", daemon=True
        )
        hamlib_set_thread.start()

    def set_rig_data(self) -> None:
        """
            Set rigctld parameters like frequency, mode
            THis needs to be processed in a queue
        """
        while True:
            cmd = RIGCTLD_COMMAND_QUEUE.get()
            if cmd[0] == "set_frequency":
                # [1] = Frequency
                self.radio.set_frequency(cmd[1])
            if cmd[0] == "set_mode":
                # [1] = Mode
                self.radio.set_mode(cmd[1])

    def update_rig_data(self) -> None:
        """
        Request information about the current state of the radio via hamlib
        """
        while True:
            try:
                # this looks weird, but is necessary for avoiding rigctld packet colission sock
                #threading.Event().wait(0.1)
                self.states.set("radio_status", self.radio.get_status())
                #threading.Event().wait(0.25)
                self.states.set("radio_frequency", self.radio.get_frequency())
                threading.Event().wait(0.1)
                self.states.set("radio_mode", self.radio.get_mode())
                threading.Event().wait(0.1)
                self.states.set("radio_bandwidth", self.radio.get_bandwidth())
                threading.Event().wait(0.1)
                if self.states.isTransmitting():
                    self.radio_alc = self.radio.get_alc()
                    threading.Event().wait(0.1)
                self.states.set("radio_rf_power", self.radio.get_level())
                threading.Event().wait(0.1)
                self.states.set("radio_strength", self.radio.get_strength())

            except Exception as e:
                self.log.warning(
                    "[MDM] error getting radio data",
                    e=e,
                )
                threading.Event().wait(1)

    def calculate_fft(self, data) -> None:
        """
        Calculate an average signal strength of the channel to assess
        whether the channel is "busy."
        """
        # Initialize dbfs counter
        # rms_counter = 0

        # https://gist.github.com/ZWMiller/53232427efc5088007cab6feee7c6e4c
        # Fast Fourier Transform, 10*log10(abs) is to scale it to dB
        # and make sure it's not imaginary
        try:
            fftarray = np.fft.rfft(data)

            # Set value 0 to 1 to avoid division by zero
            fftarray[fftarray == 0] = 1
            dfft = 10.0 * np.log10(abs(fftarray))

            # get average of dfft
            avg = np.mean(dfft)

            # Detect signals which are higher than the
            # average + 10 (+10 smoothes the output).
            # Data higher than the average must be a signal.
            # Therefore we are setting it to 100 so it will be highlighted
            # Have to do this when we are not transmitting so our
            # own sending data will not affect this too much
            if not self.states.isTransmitting():
                dfft[dfft > avg + 15] = 100

                # Calculate audio dbfs
                # https://stackoverflow.com/a/9763652
                # calculate dbfs every 50 cycles for reducing CPU load
                self.rms_counter += 1
                if self.rms_counter > 5:
                    d = np.frombuffer(data, np.int16).astype(np.float32)
                    # calculate RMS and then dBFS
                    # https://dsp.stackexchange.com/questions/8785/how-to-compute-dbfs
                    # try except for avoiding runtime errors by division/0
                    try:
                        rms = int(np.sqrt(np.max(d ** 2)))
                        if rms == 0:
                            raise ZeroDivisionError
                        audio_dbfs = 20 * np.log10(rms / 32768)
                        self.states.set("audio_dbfs", audio_dbfs)
                    except Exception as e:
                        self.states.set("audio_dbfs", -100)

                    self.rms_counter = 0

            # Convert data to int to decrease size
            dfft = dfft.astype(int)

            # Create list of dfft
            dfftlist = dfft.tolist()

            # Reduce area where the busy detection is enabled
            # We want to have this in correlation with mode bandwidth
            # TODO This is not correctly and needs to be checked for correct maths
            # dfftlist[0:1] = 10,15Hz
            # Bandwidth[Hz] / 10,15
            # narrowband = 563Hz = 56
            # wideband = 1700Hz = 167
            # 1500Hz = 148
            # 2700Hz = 266
            # 3200Hz = 315

            # slot
            slot = 0
            slot1 = [0, 65]
            slot2 = [65,120]
            slot3 = [120, 176]
            slot4 = [176, 231]
            slot5 = [231, len(dfftlist)]
            slotbusy = [False,False,False,False,False]

            # Set to true if we should increment delay count; else false to decrement
            addDelay=False
            for range in [slot1, slot2, slot3, slot4, slot5]:

                range_start = range[0]
                range_end = range[1]
                # define the area, we are detecting busy state
                slotdfft = dfft[range_start:range_end]
                # Check for signals higher than average by checking for "100"
                # If we have a signal, increment our channel_busy delay counter
                # so we have a smoother state toggle
                if np.sum(slotdfft[slotdfft > avg + 15]) >= 200 and not self.states.isTransmitting():
                    addDelay=True
                    slotbusy[slot]=True
                    #self.states.channel_busy_slot[slot] = True
                # increment slot
                slot += 1
                self.states.set_channel_slot_busy(slotbusy)
            if addDelay:
                # Limit delay counter to a maximum of 200. The higher this value,
                # the longer we will wait until releasing state
                self.states.set("channel_busy", True)
                self.channel_busy_delay = min(self.channel_busy_delay + 10, 200)
            else:
                # Decrement channel busy counter if no signal has been detected.
                self.channel_busy_delay = max(self.channel_busy_delay - 1, 0)
                # When our channel busy counter reaches 0, toggle state to False
                if self.channel_busy_delay == 0:
                    self.states.set("channel_busy", False)
            if (self.enable_fft_stream):
                # erase queue if greater than 10
                if self.fft_queue.qsize() >= 10:
                    self.fft_queue = queue.Queue()
                self.fft_queue.put(dfftlist[:315]) # 315 --> bandwidth 3200
        except Exception as err:
            self.log.error(f"[MDM] calculate_fft: Exception: {err}")
            self.log.debug("[MDM] Setting fft=0")
            # else 0
            self.fft_queue.put([0])

    def reset_data_sync(self) -> None:
        """
        reset sync state for data modes

        :param frames_per_burst: Number of frames per burst requested
        :type frames_per_burst: int
        """

        #codec2.api.freedv_set_sync(self.dat0_datac1_freedv, 0)
        #codec2.api.freedv_set_sync(self.dat0_datac3_freedv, 0)
        #codec2.api.freedv_set_sync(self.dat0_datac4_freedv, 0)
        #codec2.api.freedv_set_sync(self.fsk_ldpc_freedv_0, 0)

    def set_FFT_stream(self, enable: bool):
        # Set config boolean regarding wheter it should sent FFT data to queue
        self.enable_fft_stream = enable

def get_modem_error_state():
    """
    get current state buffer and return True of contains 10

    """

    if RECEIVE_DATAC1 and 10 in DAT0_DATAC1_STATE:
        DAT0_DATAC1_STATE.clear()
        return True
    if RECEIVE_DATAC3 and 10 in DAT0_DATAC3_STATE:
        DAT0_DATAC3_STATE.clear()
        return True
    if RECEIVE_DATAC4 and 10 in DAT0_DATAC4_STATE:
        DAT0_DATAC4_STATE.clear()
        return True

    return False