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WIP big rewrite of message decoding / aircraft tracking.

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Oliver Jowett 2016-08-27 14:34:14 +01:00
parent f152bf633e
commit 54ca2c7fb2
9 changed files with 1313 additions and 959 deletions
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148
track.h
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@ -2,7 +2,7 @@
//
// track.h: aircraft state tracking prototypes
//
// Copyright (c) 2014,2015 Oliver Jowett <oliver@mutability.co.uk>
// Copyright (c) 2014-2016 Oliver Jowett <oliver@mutability.co.uk>
//
// This file is free software: you may copy, redistribute and/or modify it
// under the terms of the GNU General Public License as published by the
@ -59,63 +59,131 @@
/* Maximum validity of an aircraft position */
#define TRACK_AIRCRAFT_POSITION_TTL 60000
typedef struct {
datasource_t source; /* where the data came from */
uint64_t updated; /* when it arrived */
uint64_t stale; /* when it will become stale */
uint64_t expires; /* when it will expire */
} data_validity;
/* Structure used to describe the state of one tracked aircraft */
struct aircraft {
uint32_t addr; // ICAO address
char flight[16]; // Flight number
double signalLevel[8]; // Last 8 Signal Amplitudes
int signalNext; // next index of signalLevel to use
int altitude; // Altitude (Baro)
int altitude_hae; // Altitude (HAE)
int hae_delta; // Difference between HAE and Baro altitudes
int speed; // Velocity
int track; // Angle of flight
int vert_rate; // Vertical rate.
uint64_t seen; // Time (millis) at which the last packet was received
uint64_t seenLatLon; // Time (millis) at which lat, lon was measured
uint64_t seenAltitude; // Time (millis) at which altitude was measured
uint64_t seenSpeed; // Time (millis) at which speed was measured
uint64_t seenTrack; // Time (millis) at which track was measured
int mlatFlags; // Data derived from mlat messages
int tisbFlags; // Data derived from TIS-B messages
long messages; // Number of Mode S messages received
int modeA; // Squawk
int modeC; // Altitude
double signalLevel[8]; // Last 8 Signal Amplitudes
int signalNext; // next index of signalLevel to use
data_validity callsign_valid;
char callsign[9]; // Flight number
data_validity altitude_valid;
int altitude; // Altitude (Baro)
unsigned altitude_modeC; // (as a Mode C value)
data_validity altitude_gnss_valid;
int altitude_gnss; // Altitude (GNSS)
data_validity gnss_delta_valid;
int gnss_delta; // Difference between GNSS and Baro altitudes
data_validity speed_valid;
unsigned speed;
data_validity speed_ias_valid;
unsigned speed_ias;
data_validity speed_tas_valid;
unsigned speed_tas;
data_validity heading_valid;
unsigned heading; // Heading (OK it's really the track)
data_validity heading_magnetic_valid;
unsigned heading_magnetic; // Heading
data_validity vert_rate_valid;
int vert_rate; // Vertical rate
altitude_source_t vert_rate_source;
data_validity squawk_valid;
unsigned squawk; // Squawk
data_validity category_valid;
unsigned category; // Aircraft category A0 - D7 encoded as a single hex byte
data_validity airground_valid;
airground_t airground; // air/ground status
data_validity cpr_odd_valid; // Last seen even CPR message
airground_t cpr_odd_airground;
unsigned cpr_odd_lat;
unsigned cpr_odd_lon;
unsigned cpr_odd_nuc;
data_validity cpr_even_valid; // Last seen odd CPR message
airground_t cpr_even_airground;
unsigned cpr_even_lat;
unsigned cpr_even_lon;
unsigned cpr_even_nuc;
data_validity position_valid;
double lat, lon; // Coordinated obtained from CPR encoded data
unsigned pos_nuc; // NUCp of last computed position
long modeAcount; // Mode A Squawk hit Count
long modeCcount; // Mode C Altitude hit Count
int modeACflags; // Flags for mode A/C recognition
int fatsv_emitted_altitude; // last FA emitted altitude
int fatsv_emitted_track; // last FA emitted track
int fatsv_emitted_speed; // last FA emitted speed
uint64_t fatsv_last_emitted; // time (millis) aircraft was last FA emitted
int fatsv_emitted_altitude; // last FA emitted altitude
int fatsv_emitted_altitude_gnss; // -"- GNSS altitude
int fatsv_emitted_heading; // -"- true track
int fatsv_emitted_heading_magnetic; // -"- magnetic heading
int fatsv_emitted_speed; // -"- groundspeed
int fatsv_emitted_speed_ias; // -"- IAS
int fatsv_emitted_speed_tas; // -"- TAS
airground_t fatsv_emitted_airground; // -"- air/ground state
// Encoded latitude and longitude as extracted by odd and even CPR encoded messages
uint64_t odd_cprtime;
int odd_cprlat;
int odd_cprlon;
unsigned odd_cprnuc;
uint64_t fatsv_last_emitted; // time (millis) aircraft was last FA emitted
uint64_t even_cprtime;
int even_cprlat;
int even_cprlon;
unsigned even_cprnuc;
double lat, lon; // Coordinated obtained from CPR encoded data
unsigned pos_nuc; // NUCp of last computed position
unsigned category; // Aircraft category A0 - D7 encoded as a single hex byte
int bFlags; // Flags related to valid fields in this structure
struct aircraft *next; // Next aircraft in our linked list
struct modesMessage first_message; // A copy of the first message we received for this aircraft.
};
/* is this bit of data valid? */
static inline int trackDataValid(const data_validity *v)
{
return (v->source != SOURCE_INVALID);
}
/* .. with these constraints? */
static inline int trackDataValidEx(const data_validity *v,
uint64_t now,
uint64_t maxAge,
datasource_t minSource)
{
if (v->source == SOURCE_INVALID)
return 0;
if (v->source < minSource)
return 0;
if (v->updated < now && (now - v->updated) > maxAge)
return 0;
return 1;
}
/* what's the age of this data? */
static inline uint64_t trackDataAge(const data_validity *v,
uint64_t now)
{
if (v->source == SOURCE_INVALID)
return ~(uint64_t)0;
if (v->updated >= now)
return 0;
return (now - v->updated);
}
/* Update aircraft state from data in the provided mesage.
* Return the tracked aircraft.