Updated autocorr graph to use the new detector block

gnuradio/gr-dji_droneid/examples/autocorrelator_test.grc

@@ -56,6 +56,29 @@ blocks:
     coordinate: [552, 8.0]
     rotation: 0
     state: true
+- name: burst_threshold
+  id: variable_qtgui_range
+  parameters:
+    comment: ''
+    gui_hint: ''
+    label: Burst Detection Threshold
+    min_len: '200'
+    orient: QtCore.Qt.Horizontal
+    outputmsgname: value
+    rangeType: float
+    showports: 'False'
+    start: '0'
+    step: '0.05'
+    stop: '1'
+    value: '.7'
+    widget: counter_slider
+  states:
+    bus_sink: false
+    bus_source: false
+    bus_structure: null
+    coordinate: [2312, 8.0]
+    rotation: 0
+    state: true
 - name: channels_2ghz
   id: variable
   parameters:
@@ -211,6 +234,18 @@ blocks:
     coordinate: [400, 8.0]
     rotation: 0
     state: true
+- name: long_cp_len
+  id: variable
+  parameters:
+    comment: ''
+    value: dji_droneid.utils.get_cyclic_prefix_lengths(samp_rate)[0]
+  states:
+    bus_sink: false
+    bus_source: false
+    bus_structure: null
+    coordinate: [2176, 92.0]
+    rotation: 0
+    state: enabled
 - name: samp_rate
   id: variable
   parameters:
@@ -223,6 +258,18 @@ blocks:
     coordinate: [248, 4.0]
     rotation: 0
     state: enabled
+- name: short_cp_len
+  id: variable
+  parameters:
+    comment: ''
+    value: dji_droneid.utils.get_cyclic_prefix_lengths(samp_rate)[1]
+  states:
+    bus_sink: false
+    bus_source: false
+    bus_structure: null
+    coordinate: [2176, 180.0]
+    rotation: 0
+    state: enabled
 - name: zc_seq
   id: variable
   parameters:
@@ -235,177 +282,23 @@ blocks:
     coordinate: [1960, 12.0]
     rotation: 0
     state: enabled
-- name: analog_const_source_x_0
-  id: analog_const_source_x
+- name: blocks_delay_0
+  id: blocks_delay
   parameters:
     affinity: ''
     alias: ''
     comment: ''
-    const: '0'
+    delay: (fft_size * 4) + (short_cp_len * 3) + long_cp_len + fft_size
     maxoutbuf: '0'
     minoutbuf: '0'
-    type: float
-  states:
-    bus_sink: false
-    bus_source: false
-    bus_structure: null
-    coordinate: [1056, 1012.0]
-    rotation: 180
-    state: true
-- name: blocks_complex_to_mag_1
-  id: blocks_complex_to_mag
-  parameters:
-    affinity: ''
-    alias: ''
-    comment: ''
-    maxoutbuf: '0'
-    minoutbuf: '0'
-    vlen: '1'
-  states:
-    bus_sink: false
-    bus_source: false
-    bus_structure: null
-    coordinate: [1992, 932.0]
-    rotation: 0
-    state: true
-- name: blocks_complex_to_mag_squared_0
-  id: blocks_complex_to_mag_squared
-  parameters:
-    affinity: ''
-    alias: ''
-    comment: ''
-    maxoutbuf: '0'
-    minoutbuf: '0'
-    vlen: '1'
-  states:
-    bus_sink: false
-    bus_source: false
-    bus_structure: null
-    coordinate: [1048, 580.0]
-    rotation: 0
-    state: true
-- name: blocks_complex_to_mag_squared_1
-  id: blocks_complex_to_mag_squared
-  parameters:
-    affinity: ''
-    alias: ''
-    comment: ''
-    maxoutbuf: '0'
-    minoutbuf: '0'
-    vlen: '1'
-  states:
-    bus_sink: false
-    bus_source: false
-    bus_structure: null
-    coordinate: [1048, 1140.0]
-    rotation: 0
-    state: true
-- name: blocks_divide_xx_0
-  id: blocks_divide_xx
-  parameters:
-    affinity: ''
-    alias: ''
-    comment: ''
-    maxoutbuf: '0'
-    minoutbuf: '0'
-    num_inputs: '2'
+    num_ports: '1'
     type: complex
     vlen: '1'
   states:
     bus_sink: false
     bus_source: false
     bus_structure: null
-    coordinate: [1712, 932.0]
-    rotation: 0
-    state: true
-- name: blocks_float_to_complex_0
-  id: blocks_float_to_complex
-  parameters:
-    affinity: ''
-    alias: ''
-    comment: ''
-    maxoutbuf: '0'
-    minoutbuf: '0'
-    vlen: '1'
-  states:
-    bus_sink: false
-    bus_source: false
-    bus_structure: null
-    coordinate: [1056, 948.0]
-    rotation: 0
-    state: true
-- name: blocks_moving_average_xx_0
-  id: blocks_moving_average_xx
-  parameters:
-    affinity: ''
-    alias: ''
-    comment: ''
-    length: fft_size
-    max_iter: '4000'
-    maxoutbuf: '0'
-    minoutbuf: '0'
-    scale: 1 / (fft_size - 1)
-    type: float
-    vlen: '1'
-  states:
-    bus_sink: false
-    bus_source: false
-    bus_structure: null
-    coordinate: [1048, 644.0]
-    rotation: 180
-    state: true
-- name: blocks_multiply_const_xx_0
-  id: blocks_multiply_const_xx
-  parameters:
-    affinity: ''
-    alias: ''
-    comment: ''
-    const: 1 / fft_size
-    maxoutbuf: '0'
-    minoutbuf: '0'
-    type: complex
-    vlen: '1'
-  states:
-    bus_sink: false
-    bus_source: false
-    bus_structure: null
-    coordinate: [1376, 476.0]
-    rotation: 0
-    state: true
-- name: blocks_multiply_const_xx_0_0
-  id: blocks_multiply_const_xx
-  parameters:
-    affinity: ''
-    alias: ''
-    comment: ''
-    const: dji_droneid.utils.variance_vector(zc_seq)
-    maxoutbuf: '0'
-    minoutbuf: '0'
-    type: float
-    vlen: '1'
-  states:
-    bus_sink: false
-    bus_source: false
-    bus_structure: null
-    coordinate: [1056, 788.0]
-    rotation: 0
-    state: true
-- name: blocks_nlog10_ff_0
-  id: blocks_nlog10_ff
-  parameters:
-    affinity: ''
-    alias: ''
-    comment: ''
-    k: '0'
-    maxoutbuf: '0'
-    minoutbuf: '0'
-    n: '10'
-    vlen: '1'
-  states:
-    bus_sink: false
-    bus_source: false
-    bus_structure: null
-    coordinate: [2040, 1132.0]
+    coordinate: [1008, 436.0]
     rotation: 0
     state: true
 - name: blocks_selector_0
@@ -431,41 +324,37 @@ blocks:
     coordinate: [880, 208.0]
     rotation: 0
     state: disabled
-- name: blocks_transcendental_0
-  id: blocks_transcendental
+- name: dji_droneid_burst_extractor_0
+  id: dji_droneid_burst_extractor
   parameters:
     affinity: ''
     alias: ''
     comment: ''
     maxoutbuf: '0'
     minoutbuf: '0'
-    name: sqrt
-    type: float
+    sample_rate: samp_rate
+    threshold: burst_threshold
   states:
     bus_sink: false
     bus_source: false
     bus_structure: null
-    coordinate: [1056, 868.0]
-    rotation: 180
+    coordinate: [1400, 456.0]
+    rotation: 0
     state: true
-- name: fft_filter_xxx_0
-  id: fft_filter_xxx
+- name: dji_droneid_detector_0
+  id: dji_droneid_detector
   parameters:
     affinity: ''
     alias: ''
     comment: ''
-    decim: '1'
     maxoutbuf: '0'
     minoutbuf: '0'
-    nthreads: '1'
-    samp_delay: '0'
-    taps: dji_droneid.utils.conj_vector(zc_seq)
-    type: ccc
+    sample_rate: samp_rate
   states:
     bus_sink: false
     bus_source: false
     bus_structure: null
-    coordinate: [1056, 452.0]
+    coordinate: [968, 532.0]
     rotation: 0
     state: true
 - name: filter_fft_low_pass_filter_0
@@ -880,7 +769,7 @@ blocks:
     coordinate: [136, 360.0]
     rotation: 0
     state: enabled
-- name: qtgui_time_sink_x_0
+- name: qtgui_time_sink_x_1
   id: qtgui_time_sink_x
   parameters:
     affinity: ''
@@ -908,11 +797,11 @@ blocks:
     color8: dark red
     color9: dark green
     comment: ''
-    ctrlpanel: 'True'
+    ctrlpanel: 'False'
     entags: 'True'
     grid: 'False'
     gui_hint: ''
-    label1: Correlator Output
+    label1: Signal 1
     label10: Signal 10
     label2: Signal 2
     label3: Signal 3
@@ -934,7 +823,7 @@ blocks:
     marker8: '-1'
     marker9: '-1'
     name: '""'
-    nconnections: '2'
+    nconnections: '1'
     size: '1024'
     srate: samp_rate
     stemplot: 'False'
@@ -954,7 +843,7 @@ blocks:
     tr_mode: qtgui.TRIG_MODE_FREE
     tr_slope: qtgui.TRIG_SLOPE_POS
     tr_tag: '""'
-    type: float
+    type: msg_complex
     update_time: '0.10'
     width1: '1'
     width10: '1'
@@ -974,28 +863,18 @@ blocks:
     bus_sink: false
     bus_source: false
     bus_structure: null
-    coordinate: [2352, 996.0]
+    coordinate: [1856, 456.0]
     rotation: 0
-    state: true
+    state: enabled
 
 connections:
-- [analog_const_source_x_0, '0', blocks_float_to_complex_0, '1']
-- [blocks_complex_to_mag_1, '0', qtgui_time_sink_x_0, '0']
-- [blocks_complex_to_mag_squared_0, '0', blocks_moving_average_xx_0, '0']
-- [blocks_complex_to_mag_squared_1, '0', blocks_nlog10_ff_0, '0']
-- [blocks_divide_xx_0, '0', blocks_complex_to_mag_1, '0']
-- [blocks_float_to_complex_0, '0', blocks_divide_xx_0, '1']
-- [blocks_moving_average_xx_0, '0', blocks_multiply_const_xx_0_0, '0']
-- [blocks_multiply_const_xx_0, '0', blocks_divide_xx_0, '0']
-- [blocks_multiply_const_xx_0_0, '0', blocks_transcendental_0, '0']
-- [blocks_nlog10_ff_0, '0', qtgui_time_sink_x_0, '1']
+- [blocks_delay_0, '0', dji_droneid_burst_extractor_0, '0']
 - [blocks_selector_0, '0', fosphor_glfw_sink_c_0, '0']
-- [blocks_transcendental_0, '0', blocks_float_to_complex_0, '0']
-- [fft_filter_xxx_0, '0', blocks_multiply_const_xx_0, '0']
-- [filter_fft_low_pass_filter_0, '0', blocks_complex_to_mag_squared_0, '0']
-- [filter_fft_low_pass_filter_0, '0', blocks_complex_to_mag_squared_1, '0']
+- [dji_droneid_burst_extractor_0, bursts, qtgui_time_sink_x_1, in]
+- [dji_droneid_detector_0, '0', dji_droneid_burst_extractor_0, '1']
+- [filter_fft_low_pass_filter_0, '0', blocks_delay_0, '0']
 - [filter_fft_low_pass_filter_0, '0', blocks_selector_0, '1']
-- [filter_fft_low_pass_filter_0, '0', fft_filter_xxx_0, '0']
+- [filter_fft_low_pass_filter_0, '0', dji_droneid_detector_0, '0']
 - [osmosdr_source_0, '0', blocks_selector_0, '0']
 - [osmosdr_source_0, '0', filter_fft_low_pass_filter_0, '0']
 

gnuradio/gr-dji_droneid/grc/CMakeLists.txt

@@ -7,5 +7,6 @@
 #
 
 install(FILES
-    DESTINATION share/gnuradio/grc/blocks
+    dji_droneid_burst_extractor.block.yml
+    dji_droneid_detector.block.yml DESTINATION share/gnuradio/grc/blocks
 )

gnuradio/gr-dji_droneid/grc/dji_droneid_burst_extractor.block.yml

@@ -0,0 +1,52 @@
+id: dji_droneid_burst_extractor
+label: Burst Extractor
+category: '[dji_droneid]'
+
+templates:
+  imports: from gnuradio import dji_droneid
+  make: dji_droneid.burst_extractor(${sample_rate}, ${threshold})
+  callbacks:
+    - set_threshold(${threshold})
+
+#  Make one 'parameters' list entry for every parameter you want settable from the GUI.
+#     Keys include:
+#     * id (makes the value accessible as keyname, e.g. in the make entry)
+#     * label (label shown in the GUI)
+#     * dtype (e.g. int, float, complex, byte, short, xxx_vector, ...)
+#     * default
+parameters:
+- id: sample_rate
+  label: Sample Rate (Hz)
+  dtype: float
+- id: threshold
+  label: Threshold
+  dtype: float
+  default: 0.7
+
+#  Make one 'inputs' list entry per input and one 'outputs' list entry per output.
+#  Keys include:
+#      * label (an identifier for the GUI)
+#      * domain (optional - stream or message. Default is stream)
+#      * dtype (e.g. int, float, complex, byte, short, xxx_vector, ...)
+#      * vlen (optional - data stream vector length. Default is 1)
+#      * optional (optional - set to 1 for optional inputs. Default is 0)
+inputs:
+- label: samples
+  domain: stream
+  dtype: complex
+  vlen: 1
+  optional: 0
+- label: scores
+  domain: stream
+  dtype: float
+  vlen: 1
+  optional: 0
+
+outputs:
+- label: bursts
+  domain: message
+  optional: 1
+
+#  'file_format' specifies the version of the GRC yml format used in the file
+#  and should usually not be changed.
+file_format: 1

gnuradio/gr-dji_droneid/grc/dji_droneid_detector.block.yml

@@ -0,0 +1,43 @@
+id: dji_droneid_detector
+label: DJI DroneID Detector
+category: '[dji_droneid]'
+
+templates:
+  imports: from gnuradio import dji_droneid
+  make: dji_droneid.detector(${sample_rate})
+
+#  Make one 'parameters' list entry for every parameter you want settable from the GUI.
+#     Keys include:
+#     * id (makes the value accessible as keyname, e.g. in the make entry)
+#     * label (label shown in the GUI)
+#     * dtype (e.g. int, float, complex, byte, short, xxx_vector, ...)
+#     * default
+parameters:
+- id: sample_rate
+  label: Sample Rate (Hz)
+  dtype: float
+
+#  Make one 'inputs' list entry per input and one 'outputs' list entry per output.
+#  Keys include:
+#      * label (an identifier for the GUI)
+#      * domain (optional - stream or message. Default is stream)
+#      * dtype (e.g. int, float, complex, byte, short, xxx_vector, ...)
+#      * vlen (optional - data stream vector length. Default is 1)
+#      * optional (optional - set to 1 for optional inputs. Default is 0)
+inputs:
+- label: in
+  domain: stream
+  dtype: complex
+  vlen: 1
+  optional: 0
+
+outputs:
+- label: out
+  domain: stream
+  dtype: float
+  vlen: 1
+  optional: 0
+
+#  'file_format' specifies the version of the GRC yml format used in the file
+#  and should usually not be changed.
+file_format: 1

gnuradio/gr-dji_droneid/include/gnuradio/dji_droneid/CMakeLists.txt

@@ -11,5 +11,7 @@
 ########################################################################
 install(FILES
     api.h
-    utils.h DESTINATION include/gnuradio/dji_droneid
+    utils.h
+    burst_extractor.h
+    detector.h DESTINATION include/gnuradio/dji_droneid
 )

gnuradio/gr-dji_droneid/include/gnuradio/dji_droneid/burst_extractor.h

@@ -0,0 +1,45 @@
+/* -*- c++ -*- */
+/*
+ * Copyright 2022 gr-dji_droneid author.
+ *
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ */
+
+#ifndef INCLUDED_DJI_DRONEID_BURST_EXTRACTOR_H
+#define INCLUDED_DJI_DRONEID_BURST_EXTRACTOR_H
+
+#include <gnuradio/dji_droneid/api.h>
+#include <gnuradio/sync_block.h>
+
+namespace gr {
+namespace dji_droneid {
+
+/*!
+ * \brief <+description of block+>
+ * \ingroup dji_droneid
+ *
+ */
+class DJI_DRONEID_API burst_extractor : virtual public gr::sync_block
+{
+public:
+    typedef std::shared_ptr<burst_extractor> sptr;
+
+    /*!
+     * \brief Return a shared_ptr to a new instance of dji_droneid::burst_extractor.
+     *
+     * To avoid accidental use of raw pointers, dji_droneid::burst_extractor's
+     * constructor is in a private implementation
+     * class. dji_droneid::burst_extractor::make is the public interface for
+     * creating new instances.
+     */
+    static sptr make(float sample_rate, float threshold);
+
+    virtual void set_threshold(float threshold) = 0;
+
+    virtual pmt::pmt_t get_output_port_name() const = 0;
+};
+
+} // namespace dji_droneid
+} // namespace gr
+
+#endif /* INCLUDED_DJI_DRONEID_BURST_EXTRACTOR_H */

gnuradio/gr-dji_droneid/include/gnuradio/dji_droneid/detector.h

@@ -0,0 +1,41 @@
+/* -*- c++ -*- */
+/*
+ * Copyright 2022 gr-dji_droneid author.
+ *
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ */
+
+#ifndef INCLUDED_DJI_DRONEID_DETECTOR_H
+#define INCLUDED_DJI_DRONEID_DETECTOR_H
+
+#include <gnuradio/dji_droneid/api.h>
+#include <gnuradio/hier_block2.h>
+
+namespace gr {
+namespace dji_droneid {
+
+/*!
+ * \brief <+description of block+>
+ * \ingroup dji_droneid
+ *
+ */
+class DJI_DRONEID_API detector : virtual public gr::hier_block2
+{
+public:
+    typedef std::shared_ptr<detector> sptr;
+
+    /*!
+     * \brief Return a shared_ptr to a new instance of dji_droneid::detector.
+     *
+     * To avoid accidental use of raw pointers, dji_droneid::detector's
+     * constructor is in a private implementation
+     * class. dji_droneid::detector::make is the public interface for
+     * creating new instances.
+     */
+    static sptr make(float sample_rate);
+};
+
+} // namespace dji_droneid
+} // namespace gr
+
+#endif /* INCLUDED_DJI_DRONEID_DETECTOR_H */

gnuradio/gr-dji_droneid/lib/CMakeLists.txt

@@ -13,6 +13,8 @@ include(GrPlatform) #define LIB_SUFFIX
 
 list(APPEND dji_droneid_sources
     utils.cc
+    burst_extractor_impl.cc
+    detector_impl.cc
 )
 
 set(dji_droneid_sources "${dji_droneid_sources}" PARENT_SCOPE)
@@ -22,7 +24,8 @@ if(NOT dji_droneid_sources)
 endif(NOT dji_droneid_sources)
 
 add_library(gnuradio-dji_droneid SHARED ${dji_droneid_sources})
-target_link_libraries(gnuradio-dji_droneid gnuradio::gnuradio-runtime gnuradio-fft fftw3 gnuradio-blocks gnuradio-filter)
+target_link_libraries(gnuradio-dji_droneid gnuradio::gnuradio-runtime gnuradio-fft
+        fftw3 gnuradio-blocks gnuradio-filter gnuradio-analog)
 target_include_directories(gnuradio-dji_droneid
     PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include>
     PUBLIC $<INSTALL_INTERFACE:include>

gnuradio/gr-dji_droneid/lib/burst_extractor_impl.cc

@@ -0,0 +1,110 @@
+/* -*- c++ -*- */
+/*
+ * Copyright 2022 gr-dji_droneid author.
+ *
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ */
+
+#include "burst_extractor_impl.h"
+#include <gnuradio/io_signature.h>
+
+#include <gnuradio/dji_droneid/utils.h>
+
+namespace gr {
+namespace dji_droneid {
+
+burst_extractor::sptr burst_extractor::make(const float sample_rate, const float threshold)
+{
+    return gnuradio::make_block_sptr<burst_extractor_impl>(sample_rate, threshold);
+}
+
+
+/*
+ * The private constructor
+ */
+burst_extractor_impl::burst_extractor_impl(const float sample_rate, const float threshold)
+    : gr::sync_block("burst_extractor",
+                     gr::io_signature::make2(
+                         2, 2, sizeof(std::complex<float>), sizeof(float)),
+                     gr::io_signature::make(
+                         0, 0, 0)),
+      output_port_name_(pmt::mp("bursts")), threshold_(threshold), sample_tag_(pmt::mp("start_index"))
+{
+    message_port_register_out(output_port_name_);
+
+    const auto fft_size = utils::get_fft_size(sample_rate);
+    const auto [long_cp_len, short_cp_len] = utils::get_cyclic_prefix_lengths(sample_rate);
+
+    const auto full_frame_length = long_cp_len + (short_cp_len * 8) + (fft_size * 9);
+    const auto extract_size = full_frame_length + (fft_size * 2);
+
+    buffer_.resize(extract_size);
+    remaining_samples_ = -1;
+    buffer_ptr_ = nullptr;
+
+    metadata_ = pmt::make_dict();
+}
+
+/*
+ * Our virtual destructor.
+ */
+burst_extractor_impl::~burst_extractor_impl() {}
+
+int burst_extractor_impl::work(int noutput_items,
+                               gr_vector_const_void_star& input_items,
+                               gr_vector_void_star& output_items)
+{
+    std::lock_guard<decltype(settings_lock_)> l(settings_lock_);
+
+    auto in_samples = static_cast<const std::complex<float> *>(input_items[0]);
+    auto in_scores = static_cast<const float *>(input_items[1]);
+
+    // This is HORRIBLY inefficient, but works for now.  A much better way would be to copy out chunks of
+    // samples at a time after the threshold has been passed, but that requires effort.
+
+    // Walk through each sample of the input either looking for the threshold to be passed, or accumulating
+    // samples in the buffer until all samples have been read
+    for (auto idx = decltype(noutput_items){0}; idx < noutput_items; idx++) {
+        // First step is for when no burst has yet been detected.  Check if the threshold has been met, and
+        // if so then start buffering up samples
+        if (remaining_samples_ == -1) {
+            if (in_scores[idx] >= threshold_) {
+                remaining_samples_ = static_cast<int32_t>(buffer_.size());
+                buffer_[0] = in_samples[idx];
+                buffer_ptr_ = &buffer_[1];
+                start_index_ = nitems_read(0) + idx;
+            }
+        // This state is for the last sample that's read for a burst
+        } else if (remaining_samples_ == 1) {
+            *buffer_ptr_++ = in_samples[idx];
+            publish_message();
+            remaining_samples_ = -1;
+            buffer_ptr_ = nullptr;
+        // Finally, this state is for when there are still more samples to read for a burst
+        } else {
+            *buffer_ptr_++ = in_samples[idx];
+            remaining_samples_--;
+        }
+    }
+
+    // Tell runtime system how many output items we produced.
+    return noutput_items;
+}
+
+void burst_extractor_impl::publish_message() {
+    // Update the metadata with the current burst's start index
+    metadata_ = pmt::dict_add(metadata_, sample_tag_, pmt::from_uint64(start_index_));
+
+    // Build a PDU pair and send it
+    const auto pdu = pmt::cons(
+        metadata_, pmt::init_c32vector(buffer_.size(), buffer_));
+    message_port_pub(output_port_name_, pdu);
+}
+
+void burst_extractor_impl::set_threshold(const float threshold) {
+    std::lock_guard<decltype(settings_lock_)> l(settings_lock_);
+    threshold_ = threshold;
+}
+
+} /* namespace dji_droneid */
+} /* namespace gr */

gnuradio/gr-dji_droneid/lib/burst_extractor_impl.h

@@ -0,0 +1,52 @@
+/* -*- c++ -*- */
+/*
+ * Copyright 2022 gr-dji_droneid author.
+ *
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ */
+
+#ifndef INCLUDED_DJI_DRONEID_BURST_EXTRACTOR_IMPL_H
+#define INCLUDED_DJI_DRONEID_BURST_EXTRACTOR_IMPL_H
+
+#include <gnuradio/dji_droneid/burst_extractor.h>
+
+namespace gr {
+namespace dji_droneid {
+
+class burst_extractor_impl : public burst_extractor
+{
+private:
+    const pmt::pmt_t output_port_name_;
+    float threshold_;
+    const pmt::pmt_t sample_tag_;
+
+    pmt::pmt_t metadata_;
+    uint64_t start_index_;
+    std::vector<std::complex<float>> buffer_;
+    std::complex<float> * buffer_ptr_;
+    int32_t remaining_samples_;
+
+    std::mutex settings_lock_;
+
+    void publish_message();
+
+public:
+    burst_extractor_impl(float sample_rate, float threshold);
+    ~burst_extractor_impl();
+
+    void set_threshold(float threshold) override;
+
+    pmt::pmt_t get_output_port_name() const override {
+        return output_port_name_;
+    }
+
+    // Where all the action really happens
+    int work(int noutput_items,
+             gr_vector_const_void_star& input_items,
+             gr_vector_void_star& output_items);
+};
+
+} // namespace dji_droneid
+} // namespace gr
+
+#endif /* INCLUDED_DJI_DRONEID_BURST_EXTRACTOR_IMPL_H */

gnuradio/gr-dji_droneid/lib/detector_impl.cc

@@ -0,0 +1,71 @@
+/* -*- c++ -*- */
+/*
+ * Copyright 2022 gr-dji_droneid author.
+ *
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ */
+
+#include "detector_impl.h"
+#include <gnuradio/io_signature.h>
+
+#include <gnuradio/dji_droneid/utils.h>
+
+
+namespace gr {
+namespace dji_droneid {
+
+detector::sptr detector::make(float sample_rate)
+{
+    return gnuradio::make_block_sptr<detector_impl>(sample_rate);
+}
+
+
+/*
+ * The private constructor
+ */
+detector_impl::detector_impl(const float sample_rate)
+    : gr::hier_block2("detector",
+                      gr::io_signature::make(
+                          1 /* min inputs */, 1 /* max inputs */, sizeof(gr_complex)),
+                      gr::io_signature::make(
+                          1 /* min outputs */, 1 /*max outputs */, sizeof(float)))
+{
+    const auto fft_size = utils::get_fft_size(sample_rate);
+    const auto zc = utils::create_zc(fft_size, 4);
+    const auto zc_variance = utils::variance_vector(zc);
+
+    corr_filter_ = gr::filter::fft_filter_ccc::make(1, utils::conj_vector(zc));
+
+    c2mag_sq_ = gr::blocks::complex_to_mag_squared::make();
+    moving_avg_ = gr::blocks::moving_average_ff::make(static_cast<int32_t>(fft_size), 1.0f / static_cast<float>(fft_size - 1));
+    mult_const_ff_ = gr::blocks::multiply_const_ff::make(zc_variance);
+    transcendental_ = gr::blocks::transcendental::make("sqrt");
+    float_to_complex_ = gr::blocks::float_to_complex::make();
+    const_source_ = gr::analog::sig_source_f::make(0, gr::analog::GR_CONST_WAVE, 0, 0, 0);
+
+    mult_const_cc_ = gr::blocks::multiply_const_cc::make({1.0f / static_cast<float>(fft_size), 0});
+    divide_ = gr::blocks::divide_cc::make();
+    c2mag_ = gr::blocks::complex_to_mag::make();
+
+    connect(self(), 0, corr_filter_, 0);
+    connect(self(), 0, c2mag_sq_, 0);
+    connect(corr_filter_, 0, mult_const_cc_, 0);
+    connect(c2mag_sq_, 0, moving_avg_, 0);
+    connect(moving_avg_, 0, mult_const_ff_, 0);
+    connect(mult_const_ff_, 0, transcendental_, 0);
+    connect(transcendental_, 0, float_to_complex_, 0);
+    connect(const_source_, 0, float_to_complex_, 1);
+    connect(mult_const_cc_, 0, divide_, 0);
+    connect(float_to_complex_, 0, divide_, 1);
+    connect(divide_, 0, c2mag_, 0);
+    connect(c2mag_, 0, self(), 0);
+}
+
+/*
+ * Our virtual destructor.
+ */
+detector_impl::~detector_impl() {}
+
+
+} /* namespace dji_droneid */
+} /* namespace gr */

gnuradio/gr-dji_droneid/lib/detector_impl.h

@@ -0,0 +1,50 @@
+/* -*- c++ -*- */
+/*
+ * Copyright 2022 gr-dji_droneid author.
+ *
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ */
+
+#ifndef INCLUDED_DJI_DRONEID_DETECTOR_IMPL_H
+#define INCLUDED_DJI_DRONEID_DETECTOR_IMPL_H
+
+#include <gnuradio/dji_droneid/detector.h>
+
+#include <gnuradio/blocks/complex_to_mag_squared.h>
+#include <gnuradio/blocks/moving_average.h>
+#include <gnuradio/blocks/multiply_const.h>
+#include <gnuradio/blocks/transcendental.h>
+#include <gnuradio/blocks/float_to_complex.h>
+#include <gnuradio/analog/sig_source.h>
+#include <gnuradio/blocks/divide.h>
+#include <gnuradio/blocks/complex_to_mag.h>
+#include <gnuradio/filter/fft_filter_ccc.h>
+
+namespace gr {
+namespace dji_droneid {
+
+class detector_impl : public detector
+{
+private:
+    gr::blocks::complex_to_mag_squared::sptr c2mag_sq_;
+    gr::blocks::moving_average_ff::sptr moving_avg_;
+    gr::blocks::multiply_const_ff::sptr mult_const_ff_;
+    gr::blocks::transcendental::sptr transcendental_;
+    gr::blocks::float_to_complex::sptr float_to_complex_;
+    gr::analog::sig_source_f::sptr const_source_;
+    gr::blocks::divide_cc::sptr divide_;
+    gr::blocks::complex_to_mag::sptr c2mag_;
+    gr::blocks::multiply_const_cc::sptr mult_const_cc_;
+    gr::filter::fft_filter_ccc::sptr corr_filter_;
+
+public:
+    detector_impl(float sample_rate);
+    ~detector_impl();
+
+    // Where all the action really happens
+};
+
+} // namespace dji_droneid
+} // namespace gr
+
+#endif /* INCLUDED_DJI_DRONEID_DETECTOR_IMPL_H */

gnuradio/gr-dji_droneid/lib/qa_detector.cc

@@ -0,0 +1,21 @@
+/* -*- c++ -*- */
+/*
+ * Copyright 2022 gr-dji_droneid author.
+ *
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ */
+
+#include <gnuradio/attributes.h>
+#include <gnuradio/dji_droneid/detector.h>
+#include <boost/test/unit_test.hpp>
+
+namespace gr {
+namespace dji_droneid {
+
+BOOST_AUTO_TEST_CASE(test_detector_replace_with_specific_test_name)
+{
+    // Put test here
+}
+
+} /* namespace dji_droneid */
+} /* namespace gr */

gnuradio/gr-dji_droneid/python/dji_droneid/bindings/CMakeLists.txt

@@ -29,7 +29,9 @@ include(GrPybind)
 ########################################################################
 
 list(APPEND dji_droneid_python_files
-    utils_python.cc python_bindings.cc)
+    utils_python.cc
+    burst_extractor_python.cc
+    detector_python.cc python_bindings.cc)
 
 GR_PYBIND_MAKE_OOT(dji_droneid
    ../../..

gnuradio/gr-dji_droneid/python/dji_droneid/bindings/burst_extractor_python.cc

@@ -0,0 +1,59 @@
+/*
+ * Copyright 2022 Free Software Foundation, Inc.
+ *
+ * This file is part of GNU Radio
+ *
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ */
+
+/***********************************************************************************/
+/* This file is automatically generated using bindtool and can be manually edited  */
+/* The following lines can be configured to regenerate this file during cmake      */
+/* If manual edits are made, the following tags should be modified accordingly.    */
+/* BINDTOOL_GEN_AUTOMATIC(0)                                                       */
+/* BINDTOOL_USE_PYGCCXML(0)                                                        */
+/* BINDTOOL_HEADER_FILE(burst_extractor.h)                                        */
+/* BINDTOOL_HEADER_FILE_HASH(7bf7a5ce653e37c004b46a6f723a4319)                     */
+/***********************************************************************************/
+
+#include <pybind11/complex.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+namespace py = pybind11;
+
+#include <gnuradio/dji_droneid/burst_extractor.h>
+// pydoc.h is automatically generated in the build directory
+#include <burst_extractor_pydoc.h>
+
+void bind_burst_extractor(py::module& m)
+{
+
+    using burst_extractor = ::gr::dji_droneid::burst_extractor;
+
+
+    py::class_<burst_extractor,
+               gr::sync_block,
+               gr::block,
+               gr::basic_block,
+               std::shared_ptr<burst_extractor>>(m, "burst_extractor", D(burst_extractor))
+
+        .def(py::init(&burst_extractor::make),
+             py::arg("sample_rate"),
+             py::arg("threshold"),
+             D(burst_extractor, make))
+
+
+        .def("set_threshold",
+             &burst_extractor::set_threshold,
+             py::arg("threshold"),
+             D(burst_extractor, set_threshold))
+
+
+        .def("get_output_port_name",
+             &burst_extractor::get_output_port_name,
+             D(burst_extractor, get_output_port_name))
+
+        ;
+}

gnuradio/gr-dji_droneid/python/dji_droneid/bindings/detector_python.cc

@@ -0,0 +1,59 @@
+/*
+ * Copyright 2022 Free Software Foundation, Inc.
+ *
+ * This file is part of GNU Radio
+ *
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ */
+
+/***********************************************************************************/
+/* This file is automatically generated using bindtool and can be manually edited  */
+/* The following lines can be configured to regenerate this file during cmake      */
+/* If manual edits are made, the following tags should be modified accordingly.    */
+/* BINDTOOL_GEN_AUTOMATIC(0)                                                       */
+/* BINDTOOL_USE_PYGCCXML(0)                                                        */
+/* BINDTOOL_HEADER_FILE(detector.h)                                        */
+/* BINDTOOL_HEADER_FILE_HASH(17867f37e707405fecba12ebe8de8db3)                     */
+/***********************************************************************************/
+
+#include <pybind11/complex.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+namespace py = pybind11;
+
+#include <gnuradio/dji_droneid/detector.h>
+// pydoc.h is automatically generated in the build directory
+#include <detector_pydoc.h>
+
+void bind_detector(py::module& m)
+{
+
+    using detector    = gr::dji_droneid::detector;
+
+
+    py::class_<detector, gr::hier_block2,
+        std::shared_ptr<detector>>(m, "detector", D(detector))
+
+        .def(py::init(&detector::make),
+           D(detector,make)
+        )
+        
+
+
+
+        ;
+
+
+
+
+}
+
+
+
+
+
+
+
+

gnuradio/gr-dji_droneid/python/dji_droneid/bindings/docstrings/burst_extractor_pydoc_template.h

@@ -0,0 +1,34 @@
+/*
+ * Copyright 2022 Free Software Foundation, Inc.
+ *
+ * This file is part of GNU Radio
+ *
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ */
+#include "pydoc_macros.h"
+#define D(...) DOC(gr, dji_droneid, __VA_ARGS__)
+/*
+  This file contains placeholders for docstrings for the Python bindings.
+  Do not edit! These were automatically extracted during the binding process
+  and will be overwritten during the build process
+ */
+
+
+static const char* __doc_gr_dji_droneid_burst_extractor = R"doc()doc";
+
+
+static const char* __doc_gr_dji_droneid_burst_extractor_burst_extractor_0 = R"doc()doc";
+
+
+static const char* __doc_gr_dji_droneid_burst_extractor_burst_extractor_1 = R"doc()doc";
+
+
+static const char* __doc_gr_dji_droneid_burst_extractor_make = R"doc()doc";
+
+
+static const char* __doc_gr_dji_droneid_burst_extractor_set_threshold = R"doc()doc";
+
+
+static const char* __doc_gr_dji_droneid_burst_extractor_get_output_port_name =
+    R"doc()doc";

gnuradio/gr-dji_droneid/python/dji_droneid/bindings/docstrings/detector_pydoc_template.h

@@ -0,0 +1,27 @@
+/*
+ * Copyright 2022 Free Software Foundation, Inc.
+ *
+ * This file is part of GNU Radio
+ *
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ */
+#include "pydoc_macros.h"
+#define D(...) DOC(gr, dji_droneid, __VA_ARGS__)
+/*
+  This file contains placeholders for docstrings for the Python bindings.
+  Do not edit! These were automatically extracted during the binding process
+  and will be overwritten during the build process
+ */
+
+
+
+ static const char *__doc_gr_dji_droneid_detector = R"doc()doc";
+
+
+ static const char *__doc_gr_dji_droneid_detector_detector = R"doc()doc";
+
+
+ static const char *__doc_gr_dji_droneid_detector_make = R"doc()doc";
+
+  

gnuradio/gr-dji_droneid/python/dji_droneid/bindings/python_bindings.cc

@@ -22,6 +22,8 @@ namespace py = pybind11;
 /**************************************/
 // BINDING_FUNCTION_PROTOTYPES(
     void bind_utils(py::module& m);
+    void bind_burst_extractor(py::module& m);
+    void bind_detector(py::module& m);
 // ) END BINDING_FUNCTION_PROTOTYPES
 
 
@@ -51,5 +53,7 @@ PYBIND11_MODULE(dji_droneid_python, m)
     /**************************************/
     // BINDING_FUNCTION_CALLS(
     bind_utils(m);
+    bind_burst_extractor(m);
+    bind_detector(m);
     // ) END BINDING_FUNCTION_CALLS
 }