Tweak tracking of AP modes, emit in json & faup1090 output

comm_b.c

@@ -383,9 +383,11 @@ static int decodeBDS40(struct modesMessage *mm, bool store)
         }
 
         if (mode_valid) {
-            mm->intent.mode_vnav = (mode_raw & 4) ? 1 : 0;
+            mm->intent.modes_valid = 1;
-            mm->intent.mode_alt_hold = (mode_raw & 2) ? 1 : 0;
+            mm->intent.modes =
-            mm->intent.mode_approach = (mode_raw & 1) ? 1 : 0;
+                ((mode_raw & 4) ? INTENT_MODE_VNAV : 0) |
+                ((mode_raw & 2) ? INTENT_MODE_ALT_HOLD : 0) |
+                ((mode_raw & 1) ? INTENT_MODE_APPROACH : 0);
         }
 
         if (source_valid) {

dump1090.h

@@ -205,6 +205,14 @@ typedef enum {
     COMMB_HEADING_SPEED
 } commb_format_t;
 
+typedef enum {
+    INTENT_MODE_AUTOPILOT = 1,
+    INTENT_MODE_VNAV = 2,
+    INTENT_MODE_ALT_HOLD = 4,
+    INTENT_MODE_APPROACH = 8,
+    INTENT_MODE_LNAV = 16
+} intent_modes_t;
+
 #define MODES_NON_ICAO_ADDRESS       (1<<24) // Set on addresses to indicate they are not ICAO addresses
 
 #define MODES_DEBUG_DEMOD (1<<0)
@@ -526,6 +534,7 @@ struct modesMessage {
         unsigned fms_altitude_valid : 1;
         unsigned mcp_altitude_valid : 1;
         unsigned alt_setting_valid : 1;
+        unsigned modes_valid : 1;
 
         float    heading;       // heading, degrees (0-359) (could be magnetic or true heading; magnetic recommended)
         unsigned fms_altitude;  // FMS selected altitude
@@ -534,12 +543,7 @@ struct modesMessage {
 
         enum { INTENT_ALT_INVALID, INTENT_ALT_UNKNOWN, INTENT_ALT_AIRCRAFT, INTENT_ALT_MCP, INTENT_ALT_FMS } altitude_source;
 
-        unsigned mode_autopilot : 1;    // Autopilot engaged
+        intent_modes_t modes;
-        unsigned mode_vnav : 1;         // Vertical Navigation Mode active
-        unsigned mode_alt_hold : 1;     // Altitude Hold Mode active
-        unsigned mode_approach : 1;     // Approach Mode active
-        unsigned mode_lnav : 1;         // Lateral Navigation Mode active
-
     } intent;
 };
 

mode_s.c

@@ -968,13 +968,15 @@ static void decodeESTargetStatus(struct modesMessage *mm, int check_imf)
         // 45-46: SIL
 
         if (getbit(me, 47)) {
-            mm->intent.mode_autopilot = getbit(me, 48);
+            mm->intent.modes_valid = 1;
-            mm->intent.mode_vnav = getbit(me, 49);
+            mm->intent.modes =
-            mm->intent.mode_alt_hold = getbit(me, 50);
+                (getbit(me, 48) ? INTENT_MODE_AUTOPILOT : 0) |
-            // 51: IMF
+                (getbit(me, 49) ? INTENT_MODE_VNAV : 0) |
-            mm->intent.mode_approach = getbit(me, 52);
+                (getbit(me, 50) ? INTENT_MODE_ALT_HOLD : 0) |
-            // 53: TCAS operational
+                // 51: IMF
-            mm->intent.mode_lnav = getbit(me, 54);
+                (getbit(me, 52) ? INTENT_MODE_APPROACH : 0) |
+                // 53: TCAS operational
+                (getbit(me, 54) ? INTENT_MODE_LNAV : 0);
         }
 
         // 55-56 reserved
@@ -1342,6 +1344,28 @@ static const char *commb_format_to_string(commb_format_t format) {
     }
 }
 
+static const char *intent_modes_to_string(intent_modes_t flags)
+{
+    static char buf[128];
+
+    buf[0] = 0;
+    if (flags & INTENT_MODE_AUTOPILOT)
+        strcat(buf, "autopilot ");
+    if (flags & INTENT_MODE_VNAV)
+        strcat(buf, "vnav ");
+    if (flags & INTENT_MODE_ALT_HOLD)
+        strcat(buf, "althold ");
+    if (flags & INTENT_MODE_APPROACH)
+        strcat(buf, "approach ");
+    if (flags & INTENT_MODE_LNAV)
+        strcat(buf, "lnav ");
+
+    if (buf[0] != 0)
+        buf[strlen(buf)-1] = 0;
+
+    return buf;
+}
+
 static void print_hex_bytes(unsigned char *data, size_t len) {
     size_t i;
     for (i = 0; i < len; ++i) {
@@ -1749,18 +1773,8 @@ void displayModesMessage(struct modesMessage *mm) {
             }
         }
 
-        if (mm->intent.mode_autopilot ||
+        if (mm->intent.modes_valid) {
-            mm->intent.mode_vnav ||
+            printf("    Active modes:            %s\n", intent_modes_to_string(mm->intent.modes));
-            mm->intent.mode_alt_hold ||
-            mm->intent.mode_approach ||
-            mm->intent.mode_lnav) {
-            printf("    Active modes:            ");
-            if (mm->intent.mode_autopilot) printf("autopilot ");
-            if (mm->intent.mode_vnav) printf("VNAV ");
-            if (mm->intent.mode_alt_hold) printf("altitude-hold ");
-            if (mm->intent.mode_approach) printf("approach ");
-            if (mm->intent.mode_lnav) printf("LNAV ");
-            printf("\n");
         }
     }
 

net_io.c

@@ -1135,6 +1135,37 @@ static char *append_flags(char *p, char *end, struct aircraft *a, datasource_t s
     return p;
 }
 
+static struct {
+    intent_modes_t flag;
+    const char *name;
+} intent_modes_names[] = {
+    { INTENT_MODE_AUTOPILOT, "autopilot" },
+    { INTENT_MODE_VNAV,      "vnav" },
+    { INTENT_MODE_ALT_HOLD,  "althold" },
+    { INTENT_MODE_APPROACH,  "approach" },
+    { INTENT_MODE_LNAV,      "lnav" },
+    { 0, NULL }
+};
+
+static char *append_intent_modes(char *p, char *end, intent_modes_t flags, const char *quote, const char *sep)
+{
+    int first = 1;
+    for (int i = 0; intent_modes_names[i].name; ++i) {
+        if (!(flags & intent_modes_names[i].flag)) {
+            continue;
+        }
+
+        if (!first) {
+            p += snprintf(p, end-p, "%s", sep);
+        }
+
+        first = 0;
+        p += snprintf(p, end-p, "%s%s%s", quote, intent_modes_names[i].name, quote);
+    }
+
+    return p;
+}
+
 static const char *addrtype_short_string(addrtype_t type) {
     switch (type) {
     case ADDR_ADSB_ICAO:
@@ -1231,6 +1262,11 @@ char *generateAircraftJson(const char *url_path, int *len) {
             p += snprintf(p, end-p, ",\"intent_alt\":%d", a->intent_altitude);
         if (trackDataValid(&a->intent_heading_valid))
             p += snprintf(p, end-p, ",\"intent_heading\":%.1f", a->intent_heading);
+        if (trackDataValid(&a->intent_modes_valid)) {
+            p += snprintf(p, end-p, ",\"intent_modes\":[");
+            p = append_intent_modes(p, end, a->intent_modes, "\"", ",");
+            p += snprintf(p, end-p, "]");
+        }
         if (trackDataValid(&a->alt_setting_valid))
             p += snprintf(p, end-p, ",\"alt_setting\":%.1f", a->alt_setting);
 
@@ -1855,7 +1891,8 @@ typedef enum {
     TISB_CATEGORY = 8192,
     TISB_INTENT_ALT = 16384,
     TISB_INTENT_HEADING = 32768,
-    TISB_ALT_SETTING = 65536
+    TISB_ALT_SETTING = 65536,
+    TISB_INTENT_MODES = 131072
 } tisb_flags;
 
 struct {
@@ -1879,6 +1916,7 @@ struct {
     { TISB_INTENT_ALT, "intent_alt" },
     { TISB_INTENT_HEADING, "intent_heading" },
     { TISB_ALT_SETTING, "alt_setting" },
+    { TISB_INTENT_MODES, "intent_modes" },
     { 0, NULL }
 };
 
@@ -1945,6 +1983,7 @@ static void writeFATSV()
         int categoryValid = trackDataValidEx(&a->category_valid, now, 15000, SOURCE_MODE_S_CHECKED);
         int intentAltValid = trackDataValidEx(&a->intent_altitude_valid, now, 15000, SOURCE_MODE_S); // Comm-B or ES
         int intentHeadingValid = trackDataValidEx(&a->intent_heading_valid, now, 15000, SOURCE_MODE_S);  // Comm-B or ES
+        int intentModesValid = trackDataValidEx(&a->intent_modes_valid, now, 15000, SOURCE_MODE_S); // Comm-B or ES
         int altSettingValid = trackDataValidEx(&a->alt_setting_valid, now, 15000, SOURCE_MODE_S);    // Comm-B or ES
         int callsignValid = trackDataValidEx(&a->callsign_valid, now, 15000, SOURCE_MODE_S);         // Comm-B or ES
 
@@ -2004,6 +2043,9 @@ static void writeFATSV()
         if (intentHeadingValid && heading_difference(a->intent_heading, a->fatsv_emitted_intent_heading) > 2) {
             changed = immediate = 1;
         }
+        if (intentModesValid && a->intent_modes != a->fatsv_emitted_intent_modes) {
+            changed = immediate = 1;
+        }
         if (altSettingValid && fabs(a->alt_setting - a->fatsv_emitted_alt_setting) > 0.8) { // 0.8 is the ES message resolution
             changed = immediate = 1;
         }
@@ -2212,6 +2254,13 @@ static void writeFATSV()
             tisb |= (a->category_valid.source == SOURCE_TISB) ? TISB_INTENT_HEADING : 0;
         }
 
+        if (intentModesValid && a->intent_modes_valid.updated > a->fatsv_last_emitted) {
+            p += snprintf(p, end-p, "\tintent_modes\t");
+            p = append_intent_modes(p, end, a->intent_modes, "", " ");
+            a->fatsv_emitted_intent_modes = a->intent_modes;
+            tisb |= (a->category_valid.source == SOURCE_TISB) ? TISB_INTENT_MODES : 0;
+        }
+
         if (altSettingValid && a->alt_setting_valid.updated > a->fatsv_last_emitted) {
             p += snprintf(p, bufsize(p,end), "\talt_setting\t%.1f", a->alt_setting);
             a->fatsv_emitted_alt_setting = a->alt_setting;

track.c

@@ -652,6 +652,10 @@ struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
         a->intent_heading = mm->intent.heading;
     }
 
+    if (mm->intent.modes_valid && accept_data(&a->intent_modes_valid, mm->source, now)) {
+        a->intent_modes = mm->intent.modes;
+    }
+
     if (mm->intent.alt_setting_valid && accept_data(&a->alt_setting_valid, mm->source, now)) {
         a->alt_setting = mm->intent.alt_setting;
     }

track.h

@@ -145,6 +145,9 @@ struct aircraft {
     data_validity intent_heading_valid;
     float         intent_heading; // intent heading, degrees (0-359)
 
+    data_validity intent_modes_valid;
+    intent_modes_t intent_modes;  // enabled modes (autopilot, vnav, etc)
+
     data_validity cpr_odd_valid;        // Last seen even CPR message
     cpr_type_t    cpr_odd_type;
     unsigned      cpr_odd_lat;
@@ -184,6 +187,7 @@ struct aircraft {
     airground_t   fatsv_emitted_airground;        //      -"-         air/ground state
     unsigned      fatsv_emitted_intent_altitude;  //      -"-         intent altitude
     float         fatsv_emitted_intent_heading;   //      -"-         intent heading
+    intent_modes_t fatsv_emitted_intent_modes;    //      -"-         enabled modes
     float         fatsv_emitted_alt_setting;      //      -"-         altimeter setting
     unsigned char fatsv_emitted_bds_10[7];        //      -"-         BDS 1,0 message
     unsigned char fatsv_emitted_bds_30[7];        //      -"-         BDS 3,0 message