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WIP on new faup1090 output, data aging, refactoring

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This commit is contained in:
Oliver Jowett 2017-12-02 17:38:33 +00:00
parent a3cdd47d80
commit 6986b3847f
13 changed files with 335 additions and 455 deletions
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19
comm_b.c
View file

@ -281,6 +281,9 @@ static int decodeBDS40(struct modesMessage *mm, bool store)
mcp_alt = mcp_raw * 16; mcp_alt = mcp_raw * 16;
if (mcp_alt >= 1000 && mcp_alt <= 50000) { if (mcp_alt >= 1000 && mcp_alt <= 50000) {
score += 13; score += 13;
} else {
// unlikely altitude
score -= 2;
} }
} else if (!mcp_valid && mcp_raw == 0) { } else if (!mcp_valid && mcp_raw == 0) {
score += 1; score += 1;
@ -293,6 +296,9 @@ static int decodeBDS40(struct modesMessage *mm, bool store)
fms_alt = fms_raw * 16; fms_alt = fms_raw * 16;
if (fms_alt >= 1000 && fms_alt <= 50000) { if (fms_alt >= 1000 && fms_alt <= 50000) {
score += 13; score += 13;
} else {
// unlikely altitude
score -= 2;
} }
} else if (!fms_valid && fms_raw == 0) { } else if (!fms_valid && fms_raw == 0) {
score += 1; score += 1;
@ -305,6 +311,9 @@ static int decodeBDS40(struct modesMessage *mm, bool store)
baro_setting = 800 + baro_raw * 0.1; baro_setting = 800 + baro_raw * 0.1;
if (baro_setting >= 900 && baro_setting <= 1100) { if (baro_setting >= 900 && baro_setting <= 1100) {
score += 13; score += 13;
} else {
// unlikely pressure setting
score -= 2;
} }
} else if (!baro_valid && baro_raw == 0) { } else if (!baro_valid && baro_raw == 0) {
score += 1; score += 1;
@ -685,14 +694,8 @@ static int decodeBDS60(struct modesMessage *mm, bool store)
} }
// small bonuses for consistent data // small bonuses for consistent data
if (ias_valid && mach_valid) {
double delta = fabs(ias / 666.0 - mach); // Should check IAS vs Mach at given altitude, but the maths is a little involved
if (delta < 0.1) {
score += 5;
} else if (delta > 0.25) {
score -= 5;
}
}
if (baro_rate_valid && inertial_rate_valid) { if (baro_rate_valid && inertial_rate_valid) {
int delta = abs(baro_rate - inertial_rate); int delta = abs(baro_rate - inertial_rate);

8
demod_2400.c
View file

@ -311,9 +311,7 @@ void demodulate2400(struct mag_buf *mag)
mm.timestampMsg = mag->sampleTimestamp + j*5 + (8 + 56) * 12 + bestphase; mm.timestampMsg = mag->sampleTimestamp + j*5 + (8 + 56) * 12 + bestphase;
// compute message receive time as block-start-time + difference in the 12MHz clock // compute message receive time as block-start-time + difference in the 12MHz clock
mm.sysTimestampMsg = mag->sysTimestamp; // start of block time mm.sysTimestampMsg = mag->sysTimestamp + receiveclock_ms_elapsed(mag->sampleTimestamp, mm.timestampMsg);
mm.sysTimestampMsg.tv_nsec += receiveclock_ns_elapsed(mag->sampleTimestamp, mm.timestampMsg);
normalize_timespec(&mm.sysTimestampMsg);
mm.score = bestscore; mm.score = bestscore;
@ -646,9 +644,7 @@ void demodulate2400AC(struct mag_buf *mag)
mm.timestampMsg = mag->sampleTimestamp + f2_clock / 5; // 60MHz -> 12MHz mm.timestampMsg = mag->sampleTimestamp + f2_clock / 5; // 60MHz -> 12MHz
// compute message receive time as block-start-time + difference in the 12MHz clock // compute message receive time as block-start-time + difference in the 12MHz clock
mm.sysTimestampMsg = mag->sysTimestamp; // start of block time mm.sysTimestampMsg = mag->sysTimestamp + receiveclock_ms_elapsed(mag->sampleTimestamp, mm.timestampMsg);
mm.sysTimestampMsg.tv_nsec += receiveclock_ns_elapsed(mag->sampleTimestamp, mm.timestampMsg);
normalize_timespec(&mm.sysTimestampMsg);
decodeModeAMessage(&mm, modeac); decodeModeAMessage(&mm, modeac);

2
dump1090.c
View file

@ -381,7 +381,7 @@ void backgroundTasks(void) {
} }
// always update end time so it is current when requests arrive // always update end time so it is current when requests arrive
Modes.stats_current.end = now; Modes.stats_current.end = mstime();
if (now >= next_stats_update) { if (now >= next_stats_update) {
int i; int i;

4
dump1090.h
View file

@ -272,7 +272,7 @@ struct mag_buf {
uint16_t *data; // Magnitude data. Starts with Modes.trailing_samples worth of overlap from the previous block uint16_t *data; // Magnitude data. Starts with Modes.trailing_samples worth of overlap from the previous block
unsigned length; // Number of valid samples _after_ overlap. Total buffer length is buf->length + Modes.trailing_samples. unsigned length; // Number of valid samples _after_ overlap. Total buffer length is buf->length + Modes.trailing_samples.
uint64_t sampleTimestamp; // Clock timestamp of the start of this block, 12MHz clock uint64_t sampleTimestamp; // Clock timestamp of the start of this block, 12MHz clock
struct timespec sysTimestamp; // Estimated system time at start of block uint64_t sysTimestamp; // Estimated system time at start of block
uint32_t dropped; // Number of dropped samples preceding this buffer uint32_t dropped; // Number of dropped samples preceding this buffer
double mean_level; // Mean of normalized (0..1) signal level double mean_level; // Mean of normalized (0..1) signal level
double mean_power; // Mean of normalized (0..1) power level double mean_power; // Mean of normalized (0..1) power level
@ -392,7 +392,7 @@ struct modesMessage {
uint32_t addr; // Address Announced uint32_t addr; // Address Announced
addrtype_t addrtype; // address format / source addrtype_t addrtype; // address format / source
uint64_t timestampMsg; // Timestamp of the message (12MHz clock) uint64_t timestampMsg; // Timestamp of the message (12MHz clock)
struct timespec sysTimestampMsg; // Timestamp of the message (system time) uint64_t sysTimestampMsg; // Timestamp of the message (system time)
int remote; // If set this message is from a remote station int remote; // If set this message is from a remote station
double signalLevel; // RSSI, in the range [0..1], as a fraction of full-scale power double signalLevel; // RSSI, in the range [0..1], as a fraction of full-scale power
int score; // Scoring from scoreModesMessage, if used int score; // Scoring from scoreModesMessage, if used

2
mode_s.c
View file

@ -674,7 +674,6 @@ int decodeModesMessage(struct modesMessage *mm, unsigned char *msg)
return 0; return 0;
} }
static void decodeESIdentAndCategory(struct modesMessage *mm) static void decodeESIdentAndCategory(struct modesMessage *mm)
{ {
// Aircraft Identification and Category // Aircraft Identification and Category
@ -690,6 +689,7 @@ static void decodeESIdentAndCategory(struct modesMessage *mm)
mm->callsign[5] = ais_charset[getbits(me, 39, 44)]; mm->callsign[5] = ais_charset[getbits(me, 39, 44)];
mm->callsign[6] = ais_charset[getbits(me, 45, 50)]; mm->callsign[6] = ais_charset[getbits(me, 45, 50)];
mm->callsign[7] = ais_charset[getbits(me, 51, 56)]; mm->callsign[7] = ais_charset[getbits(me, 51, 56)];
mm->callsign[8] = 0;
// A common failure mode seems to be to intermittently send // A common failure mode seems to be to intermittently send
// all zeros. Catch that here. // all zeros. Catch that here.

548
net_io.c
View file

@ -53,6 +53,7 @@
#include <inttypes.h> #include <inttypes.h>
#include <assert.h> #include <assert.h>
#include <stdarg.h>
// //
// ============================= Networking ============================= // ============================= Networking =============================
@ -565,11 +566,12 @@ static void modesSendSBSOutput(struct modesMessage *mm, struct aircraft *a) {
localtime_r(&now.tv_sec, &stTime_now); localtime_r(&now.tv_sec, &stTime_now);
// Find message reception time // Find message reception time
localtime_r(&mm->sysTimestampMsg.tv_sec, &stTime_receive); time_t received = (time_t) (mm->sysTimestampMsg / 1000);
localtime_r(&received, &stTime_receive);
// Fields 7 & 8 are the message reception time and date // Fields 7 & 8 are the message reception time and date
p += sprintf(p, "%04d/%02d/%02d,", (stTime_receive.tm_year+1900),(stTime_receive.tm_mon+1), stTime_receive.tm_mday); p += sprintf(p, "%04d/%02d/%02d,", (stTime_receive.tm_year+1900),(stTime_receive.tm_mon+1), stTime_receive.tm_mday);
p += sprintf(p, "%02d:%02d:%02d.%03u,", stTime_receive.tm_hour, stTime_receive.tm_min, stTime_receive.tm_sec, (unsigned) (mm->sysTimestampMsg.tv_nsec / 1000000U)); p += sprintf(p, "%02d:%02d:%02d.%03u,", stTime_receive.tm_hour, stTime_receive.tm_min, stTime_receive.tm_sec, (unsigned) (mm->sysTimestampMsg / 1000));
// Fields 9 & 10 are the current time and date // Fields 9 & 10 are the current time and date
p += sprintf(p, "%04d/%02d/%02d,", (stTime_now.tm_year+1900),(stTime_now.tm_mon+1), stTime_now.tm_mday); p += sprintf(p, "%04d/%02d/%02d,", (stTime_now.tm_year+1900),(stTime_now.tm_mon+1), stTime_now.tm_mday);
@ -920,7 +922,7 @@ static int decodeBinMessage(struct client *c, char *p) {
} }
// record reception time as the time we read it. // record reception time as the time we read it.
clock_gettime(CLOCK_REALTIME, &mm.sysTimestampMsg); mm.sysTimestampMsg = mstime();
ch = *p++; // Grab the signal level ch = *p++; // Grab the signal level
mm.signalLevel = ((unsigned char)ch / 255.0); mm.signalLevel = ((unsigned char)ch / 255.0);
@ -1048,7 +1050,7 @@ static int decodeHexMessage(struct client *c, char *hex) {
} }
// record reception time as the time we read it. // record reception time as the time we read it.
clock_gettime(CLOCK_REALTIME, &mm.sysTimestampMsg); mm.sysTimestampMsg = mstime();
if (l == (MODEAC_MSG_BYTES * 2)) { // ModeA or ModeC if (l == (MODEAC_MSG_BYTES * 2)) { // ModeA or ModeC
Modes.stats_current.remote_received_modeac++; Modes.stats_current.remote_received_modeac++;
@ -1166,6 +1168,13 @@ static char *append_intent_modes(char *p, char *end, intent_modes_t flags, const
return p; return p;
} }
static const char *intent_modes_string(intent_modes_t flags) {
static char buf[256];
buf[0] = 0;
append_intent_modes(buf, buf + sizeof(buf), flags, "", " ");
return buf;
}
static const char *addrtype_short_string(addrtype_t type) { static const char *addrtype_short_string(addrtype_t type) {
switch (type) { switch (type) {
case ADDR_ADSB_ICAO: case ADDR_ADSB_ICAO:
@ -1748,6 +1757,35 @@ static void modesReadFromClient(struct client *c) {
} }
} }
static char *safe_vsnprintf(char *p, char *end, const char *format, va_list ap)
{
p += vsnprintf(p < end ? p : NULL, p < end ? (size_t)(end - p) : 0, format, ap);
return p;
}
static char *safe_snprintf(char *p, char *end, const char *format, ...)
{
va_list ap;
va_start(ap, format);
p += vsnprintf(p < end ? p : NULL, p < end ? (size_t)(end - p) : 0, format, ap);
va_end(ap);
return p;
}
static char *appendFATSV(char *p, char *end, const char *field, const char *format, ...)
{
va_list ap;
va_start(ap, format);
p = safe_snprintf(p, end, "%s\t", field);
p = safe_vsnprintf(p, end, format, ap);
p = safe_snprintf(p, end, "\t");
va_end(ap);
return p;
}
#define TSV_MAX_PACKET_SIZE 400 #define TSV_MAX_PACKET_SIZE 400
static void writeFATSVPositionUpdate(float lat, float lon, float alt) static void writeFATSVPositionUpdate(float lat, float lon, float alt)
@ -1766,22 +1804,20 @@ static void writeFATSVPositionUpdate(float lat, float lon, float alt)
return; return;
char *end = p + TSV_MAX_PACKET_SIZE; char *end = p + TSV_MAX_PACKET_SIZE;
# define bufsize(_p,_e) ((_p) >= (_e) ? (size_t)0 : (size_t)((_e) - (_p)))
p += snprintf(p, bufsize(p, end), "clock\t%" PRIu64, mstime() / 1000); p = appendFATSV(p, end, "clock", "%" PRIu64, messageNow() / 1000);
p += snprintf(p, bufsize(p, end), "\ttype\t%s", "location_update"); p = appendFATSV(p, end, "type", "%s", "location_update");
p += snprintf(p, bufsize(p, end), "\tlat\t%.5f", lat); p = appendFATSV(p, end, "lat", "%.5f", lat);
p += snprintf(p, bufsize(p, end), "\tlon\t%.5f", lon); p = appendFATSV(p, end, "lon", "%.5f", lon);
p += snprintf(p, bufsize(p, end), "\talt\t%.0f", alt); p = appendFATSV(p, end, "alt", "%.0f", alt);
p += snprintf(p, bufsize(p, end), "\taltref\t%s", "egm96_meters"); p = appendFATSV(p, end, "altref", "%s", "egm96_meters");
p += snprintf(p, bufsize(p, end), "\n"); --p; // remove last tab
p = safe_snprintf(p, end, "\n");
if (p <= end) if (p <= end)
completeWrite(&Modes.fatsv_out, p); completeWrite(&Modes.fatsv_out, p);
else else
fprintf(stderr, "fatsv: output too large (max %d, overran by %d)\n", TSV_MAX_PACKET_SIZE, (int) (p - end)); fprintf(stderr, "fatsv: output too large (max %d, overran by %d)\n", TSV_MAX_PACKET_SIZE, (int) (p - end));
# undef bufsize
} }
static void writeFATSVEventMessage(struct modesMessage *mm, const char *datafield, unsigned char *data, size_t len) static void writeFATSVEventMessage(struct modesMessage *mm, const char *datafield, unsigned char *data, size_t len)
@ -1791,26 +1827,18 @@ static void writeFATSVEventMessage(struct modesMessage *mm, const char *datafiel
return; return;
char *end = p + TSV_MAX_PACKET_SIZE; char *end = p + TSV_MAX_PACKET_SIZE;
# define bufsize(_p,_e) ((_p) >= (_e) ? (size_t)0 : (size_t)((_e) - (_p)))
p += snprintf(p, bufsize(p, end), "clock\t%" PRIu64, mstime() / 1000);
if (mm->addr & MODES_NON_ICAO_ADDRESS) {
p += snprintf(p, bufsize(p, end), "\totherid\t%06X", mm->addr & 0xFFFFFF);
} else {
p += snprintf(p, bufsize(p, end), "\thexid\t%06X", mm->addr);
}
p = appendFATSV(p, end, "clock", "%" PRIu64, messageNow() / 1000);
p = appendFATSV(p, end, (mm->addr & MODES_NON_ICAO_ADDRESS) ? "otherid" : "hexid", "%06X", mm->addr & 0xFFFFFF);
if (mm->addrtype != ADDR_ADSB_ICAO) { if (mm->addrtype != ADDR_ADSB_ICAO) {
p += snprintf(p, bufsize(p, end), "\taddrtype\t%s", addrtype_short_string(mm->addrtype)); p = appendFATSV(p, end, "addrtype", "%s", addrtype_short_string(mm->addrtype));
} }
p += snprintf(p, bufsize(p, end), "\t%s\t", datafield); p = safe_snprintf(p, end, "%s\t", datafield);
for (size_t i = 0; i < len; ++i) { for (size_t i = 0; i < len; ++i) {
p += snprintf(p, bufsize(p, end), "%02X", data[i]); p = safe_snprintf(p, end, "%02X", data[i]);
} }
p = safe_snprintf(p, end, "\n");
p += snprintf(p, bufsize(p, end), "\n");
if (p <= end) if (p <= end)
completeWrite(&Modes.fatsv_out, p); completeWrite(&Modes.fatsv_out, p);
@ -1874,52 +1902,6 @@ static void writeFATSVEvent(struct modesMessage *mm, struct aircraft *a)
} }
} }
typedef enum {
TISB_IDENT = 1,
TISB_SQUAWK = 2,
TISB_ALT = 4,
TISB_ALT_GEOM = 8,
TISB_GS = 16,
TISB_IAS = 32,
TISB_TAS = 64,
TISB_LAT = 128,
TISB_LON = 256,
TISB_TRACK = 512,
TISB_MAG_HEADING = 1024,
TISB_TRUE_HEADING = 2048,
TISB_AIRGROUND = 4096,
TISB_CATEGORY = 8192,
TISB_INTENT_ALT = 16384,
TISB_INTENT_HEADING = 32768,
TISB_ALT_SETTING = 65536,
TISB_INTENT_MODES = 131072
} tisb_flags;
struct {
tisb_flags flag;
const char *name;
} tisb_flag_names[] = {
{ TISB_IDENT, "ident" },
{ TISB_SQUAWK, "squawk" },
{ TISB_ALT, "alt" },
{ TISB_ALT_GEOM, "alt_geom" },
{ TISB_GS, "gs" },
{ TISB_IAS, "ias" },
{ TISB_TAS, "tas" },
{ TISB_LAT, "lat" },
{ TISB_LON, "lat" },
{ TISB_TRACK, "track" },
{ TISB_MAG_HEADING, "mag_heading" },
{ TISB_TRUE_HEADING, "true_heading" },
{ TISB_AIRGROUND, "airGround" },
{ TISB_CATEGORY, "category" },
{ TISB_INTENT_ALT, "intent_alt" },
{ TISB_INTENT_HEADING, "intent_heading" },
{ TISB_ALT_SETTING, "alt_setting" },
{ TISB_INTENT_MODES, "intent_modes" },
{ 0, NULL }
};
static inline unsigned unsigned_difference(unsigned v1, unsigned v2) static inline unsigned unsigned_difference(unsigned v1, unsigned v2)
{ {
return (v1 > v2) ? (v1 - v2) : (v2 - v1); return (v1 > v2) ? (v1 - v2) : (v2 - v1);
@ -1931,17 +1913,69 @@ static inline float heading_difference(float h1, float h2)
return (d < 180) ? d : (360 - d); return (d < 180) ? d : (360 - d);
} }
static char *appendFATSVMeta(char *p, char *end, const char *field, struct aircraft *a, const data_validity *source, const char *format, ...)
{
const char *sourcetype;
switch (source->source) {
case SOURCE_MODE_S:
sourcetype = "U";
break;
case SOURCE_MODE_S_CHECKED:
sourcetype = "S";
break;
case SOURCE_TISB:
sourcetype = "T";
break;
case SOURCE_ADSB:
sourcetype = "A";
break;
default:
// don't want to forward data sourced from these
return p;
}
if (!trackDataValid(source)) {
// expired data
return p;
}
if (source->updated > messageNow()) {
// data in the future
return p;
}
if (source->updated < a->fatsv_last_emitted) {
// not updated since last time
return p;
}
uint64_t age = (messageNow() - source->updated) / 1000;
if (age > 255) {
// too old
return p;
}
p = safe_snprintf(p, end, "%s\t", field);
va_list ap;
va_start(ap, format);
p = safe_vsnprintf(p, end, format, ap);
va_end(ap);
p = safe_snprintf(p, end, " %" PRIu64 " %s\t", age, sourcetype);
return p;
}
static void writeFATSV() static void writeFATSV()
{ {
struct aircraft *a; struct aircraft *a;
uint64_t now;
static uint64_t next_update; static uint64_t next_update;
if (!Modes.fatsv_out.service || !Modes.fatsv_out.service->connections) { if (!Modes.fatsv_out.service || !Modes.fatsv_out.service->connections) {
return; // not enabled or no active connections return; // not enabled or no active connections
} }
now = mstime(); uint64_t now = mstime();
if (now < next_update) { if (now < next_update) {
return; return;
} }
@ -1949,14 +1983,9 @@ static void writeFATSV()
// scan once a second at most // scan once a second at most
next_update = now + 1000; next_update = now + 1000;
// Pretend we are "processing a message" so the validity checks work as expected
_messageNow = now;
for (a = Modes.aircrafts; a; a = a->next) { for (a = Modes.aircrafts; a; a = a->next) {
uint64_t minAge;
int useful = 0;
tisb_flags tisb = 0;
char *p, *end;
if (a->messages < 2) // basic filter for bad decodes if (a->messages < 2) // basic filter for bad decodes
continue; continue;
@ -1965,27 +1994,12 @@ static void writeFATSV()
continue; continue;
} }
int altValid = trackDataValidEx(&a->altitude_valid, now, 15000, SOURCE_MODE_S); // for non-ADS-B transponders, DF0/4/16/20 are the only sources of altitude data // some special cases:
int altGeomValid = trackDataValidEx(&a->altitude_geom_valid, now, 15000, SOURCE_MODE_S_CHECKED); int altValid = trackDataValid(&a->altitude_valid);
int airgroundValid = trackDataValidEx(&a->airground_valid, now, 15000, SOURCE_MODE_S_CHECKED); // for non-ADS-B transponders, only trust DF11 CA field int airgroundValid = trackDataValid(&a->airground_valid) && a->airground_valid.source >= SOURCE_MODE_S_CHECKED; // for non-ADS-B transponders, only trust DF11 CA field
int baroRateValid = trackDataValidEx(&a->baro_rate_valid, now, 15000, SOURCE_MODE_S); // Comm-B or ES int gsValid = trackDataValid(&a->gs_valid);
int geomRateValid = trackDataValidEx(&a->geom_rate_valid, now, 15000, SOURCE_MODE_S); // Comm-B or ES int callsignValid = trackDataValid(&a->callsign_valid) && strcmp(a->callsign, " ") != 0;
int positionValid = trackDataValidEx(&a->position_valid, now, 15000, SOURCE_MODE_S_CHECKED); int positionValid = trackDataValid(&a->position_valid);
int trackValid = trackDataValidEx(&a->track_valid, now, 15000, SOURCE_MODE_S); // Comm-B or ES
int trackRateValid = trackDataValidEx(&a->track_rate_valid, now, 15000, SOURCE_MODE_S); // Comm-B
int rollValid = trackDataValidEx(&a->roll_valid, now, 15000, SOURCE_MODE_S); // Comm-B
int trueHeadingValid = trackDataValidEx(&a->true_heading_valid, now, 15000, SOURCE_MODE_S); // Comm-B or ES
int magHeadingValid = trackDataValidEx(&a->mag_heading_valid, now, 15000, SOURCE_MODE_S); // Comm-B or ES
int gsValid = trackDataValidEx(&a->gs_valid, now, 15000, SOURCE_MODE_S); // Comm-B or ES
int iasValid = trackDataValidEx(&a->ias_valid, now, 15000, SOURCE_MODE_S); // Comm-B or ES
int tasValid = trackDataValidEx(&a->tas_valid, now, 15000, SOURCE_MODE_S); // Comm-B or ES
int machValid = trackDataValidEx(&a->mach_valid, now, 15000, SOURCE_MODE_S); // Comm-B
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
// If we are definitely on the ground, suppress any unreliable altitude info. // If we are definitely on the ground, suppress any unreliable altitude info.
// When on the ground, ADS-B transponders don't emit an ADS-B message that includes // When on the ground, ADS-B transponders don't emit an ADS-B message that includes
@ -1996,68 +2010,31 @@ static void writeFATSV()
// if it hasn't changed altitude, heading, or speed much, // if it hasn't changed altitude, heading, or speed much,
// don't update so often // don't update so often
int changed = 0; int changed =
int immediate = 0; (altValid && abs(a->altitude - a->fatsv_emitted_altitude) >= 50) ||
if (altValid && abs(a->altitude - a->fatsv_emitted_altitude) >= 50) { (trackDataValid(&a->altitude_geom_valid) && abs(a->altitude_geom - a->fatsv_emitted_altitude_gnss) >= 50) ||
changed = 1; (trackDataValid(&a->baro_rate_valid) && abs(a->baro_rate - a->fatsv_emitted_baro_rate) > 500) ||
} (trackDataValid(&a->geom_rate_valid) && abs(a->geom_rate - a->fatsv_emitted_geom_rate) > 500) ||
if (altGeomValid && abs(a->altitude_geom - a->fatsv_emitted_altitude_gnss) >= 50) { (trackDataValid(&a->track_valid) && heading_difference(a->track, a->fatsv_emitted_track) >= 2) ||
changed = 1; (trackDataValid(&a->track_rate_valid) && fabs(a->track_rate - a->fatsv_emitted_track_rate) >= 0.5) ||
} (trackDataValid(&a->roll_valid) && fabs(a->roll - a->fatsv_emitted_roll) >= 5.0) ||
if (baroRateValid && abs(a->baro_rate - a->fatsv_emitted_baro_rate) > 500) { (trackDataValid(&a->mag_heading_valid) && heading_difference(a->mag_heading, a->fatsv_emitted_mag_heading) >= 2) ||
changed = 1; (trackDataValid(&a->true_heading_valid) && heading_difference(a->true_heading, a->fatsv_emitted_true_heading) >= 2) ||
} (gsValid && unsigned_difference(a->gs, a->fatsv_emitted_speed) >= 25) ||
if (geomRateValid && abs(a->geom_rate - a->fatsv_emitted_geom_rate) > 500) { (trackDataValid(&a->ias_valid) && unsigned_difference(a->ias, a->fatsv_emitted_speed_ias) >= 25) ||
changed = 1; (trackDataValid(&a->tas_valid) && unsigned_difference(a->tas, a->fatsv_emitted_speed_tas) >= 25) ||
} (trackDataValid(&a->mach_valid) && fabs(a->mach - a->fatsv_emitted_mach) >= 0.02);
if (trackValid && heading_difference(a->track, a->fatsv_emitted_track) >= 2) {
changed = 1;
}
if (trackRateValid && fabs(a->track_rate - a->fatsv_emitted_track_rate) >= 0.5) {
changed = 1;
}
if (rollValid && fabs(a->roll - a->fatsv_emitted_roll) >= 5.0) {
changed = 1;
}
if (magHeadingValid && heading_difference(a->mag_heading, a->fatsv_emitted_mag_heading) >= 2) {
changed = 1;
}
if (trueHeadingValid && heading_difference(a->true_heading, a->fatsv_emitted_true_heading) >= 2) {
changed = 1;
}
if (gsValid && unsigned_difference(a->gs, a->fatsv_emitted_speed) >= 25) {
changed = 1;
}
if (iasValid && unsigned_difference(a->ias, a->fatsv_emitted_speed_ias) >= 25) {
changed = 1;
}
if (tasValid && unsigned_difference(a->tas, a->fatsv_emitted_speed_tas) >= 25) {
changed = 1;
}
if (machValid && fabs(a->mach - a->fatsv_emitted_mach) >= 0.02) {
changed = 1;
}
if (intentAltValid && unsigned_difference(a->intent_altitude, a->fatsv_emitted_intent_altitude) > 50) {
changed = immediate = 1;
}
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;
}
if (callsignValid && strcmp(a->callsign, a->fatsv_emitted_callsign) != 0) {
changed = immediate = 1;
}
if (airgroundValid && ((a->airground == AG_AIRBORNE && a->fatsv_emitted_airground == AG_GROUND) ||
(a->airground == AG_GROUND && a->fatsv_emitted_airground == AG_AIRBORNE))) {
// Air-ground transition, handle it immediately.
changed = immediate = 1;
}
int immediate =
(trackDataValid(&a->intent_altitude_valid) && unsigned_difference(a->intent_altitude, a->fatsv_emitted_intent_altitude) > 50) ||
(trackDataValid(&a->intent_heading_valid) && heading_difference(a->intent_heading, a->fatsv_emitted_intent_heading) > 2) ||
(trackDataValid(&a->intent_modes_valid) && a->intent_modes != a->fatsv_emitted_intent_modes) ||
(trackDataValid(&a->alt_setting_valid) && fabs(a->alt_setting - a->fatsv_emitted_alt_setting) > 0.8) || // 0.8 is the ES message resolution
(callsignValid && strcmp(a->callsign, a->fatsv_emitted_callsign) != 0) ||
(airgroundValid && a->airground == AG_AIRBORNE && a->fatsv_emitted_airground == AG_GROUND) ||
(airgroundValid && a->airground == AG_GROUND && a->fatsv_emitted_airground == AG_AIRBORNE);
uint64_t minAge;
if (immediate) { if (immediate) {
// a change we want to emit right away // a change we want to emit right away
minAge = 0; minAge = 0;
@ -2080,218 +2057,89 @@ static void writeFATSV()
if ((now - a->fatsv_last_emitted) < minAge) if ((now - a->fatsv_last_emitted) < minAge)
continue; continue;
p = prepareWrite(&Modes.fatsv_out, TSV_MAX_PACKET_SIZE); char *p = prepareWrite(&Modes.fatsv_out, TSV_MAX_PACKET_SIZE);
if (!p) if (!p)
return; return;
char *end = p + TSV_MAX_PACKET_SIZE;
end = p + TSV_MAX_PACKET_SIZE; p = appendFATSV(p, end, "clock", "%" PRIu64, messageNow() / 1000);
# define bufsize(_p,_e) ((_p) >= (_e) ? (size_t)0 : (size_t)((_e) - (_p))) p = appendFATSV(p, end, (a->addr & MODES_NON_ICAO_ADDRESS) ? "otherid" : "hexid", "%06X", a->addr & 0xFFFFFF);
p += snprintf(p, bufsize(p, end), "clock\t%" PRIu64, (uint64_t)(a->seen / 1000));
if (a->addr & MODES_NON_ICAO_ADDRESS) {
p += snprintf(p, bufsize(p, end), "\totherid\t%06X", a->addr & 0xFFFFFF);
} else {
p += snprintf(p, bufsize(p, end), "\thexid\t%06X", a->addr);
}
if (a->addrtype != ADDR_ADSB_ICAO) { if (a->addrtype != ADDR_ADSB_ICAO) {
p += snprintf(p, bufsize(p, end), "\taddrtype\t%s", addrtype_short_string(a->addrtype)); p = appendFATSV(p, end, "addrtype", "%s", addrtype_short_string(a->addrtype));
} }
if (a->adsb_version >= 0) { if (a->adsb_version >= 0) {
p += snprintf(p, bufsize(p, end), "\tadsb_version\t%d", a->adsb_version); p = appendFATSV(p, end, "adsbVer", "%d", a->adsb_version);
}
if (trackDataValidEx(&a->callsign_valid, now, 35000, SOURCE_MODE_S) && strcmp(a->callsign, " ") != 0 && a->callsign_valid.updated > a->fatsv_last_emitted) {
p += snprintf(p, bufsize(p,end), "\tident\t%s", a->callsign);
memcpy(a->fatsv_emitted_callsign, a->callsign, sizeof(a->fatsv_emitted_callsign));
switch (a->callsign_valid.source) {
case SOURCE_MODE_S:
p += snprintf(p, bufsize(p,end), "\tiSource\tmodes");
break;
case SOURCE_ADSB:
p += snprintf(p, bufsize(p,end), "\tiSource\tadsb");
break;
case SOURCE_TISB:
p += snprintf(p, bufsize(p,end), "\tiSource\ttisb");
break;
default:
p += snprintf(p, bufsize(p,end), "\tiSource\tunknown");
break;
}
useful = 1;
tisb |= (a->callsign_valid.source == SOURCE_TISB) ? TISB_IDENT : 0;
}
if (trackDataValidEx(&a->squawk_valid, now, 35000, SOURCE_MODE_S) && a->squawk_valid.updated > a->fatsv_last_emitted) {
p += snprintf(p, bufsize(p,end), "\tsquawk\t%04x", a->squawk);
useful = 1;
tisb |= (a->squawk_valid.source == SOURCE_TISB) ? TISB_SQUAWK : 0;
} }
// only emit alt, speed, latlon, track etc if they have been received since the last time // only emit alt, speed, latlon, track etc if they have been received since the last time
// and are not stale // and are not stale
if (altValid && a->altitude_valid.updated > a->fatsv_last_emitted) { char *dataStart = p;
p += snprintf(p, bufsize(p,end), "\talt\t%d", a->altitude);
a->fatsv_emitted_altitude = a->altitude;
useful = 1;
tisb |= (a->altitude_valid.source == SOURCE_TISB) ? TISB_ALT : 0;
}
if (altGeomValid && a->altitude_geom_valid.updated > a->fatsv_last_emitted) { // special cases
p += snprintf(p, bufsize(p,end), "\talt_geom\t%d", a->altitude_geom); if (altValid)
a->fatsv_emitted_altitude_gnss = a->altitude_geom; p = appendFATSVMeta(p, end, "alt", a, &a->altitude_valid, "%d", a->altitude);
useful = 1; if (airgroundValid)
tisb |= (a->altitude_geom_valid.source == SOURCE_TISB) ? TISB_ALT_GEOM : 0; p = appendFATSVMeta(p, end, "ag", a, &a->airground_valid, "%s", a->airground == AG_GROUND ? "G+" : "A+");
} if (strcmp(a->callsign, " ") != 0)
p = appendFATSVMeta(p, end, "ident", a, &a->callsign_valid, "{%s}", a->callsign);
if (baroRateValid && a->baro_rate_valid.updated > a->fatsv_last_emitted) { if (positionValid)
p += snprintf(p, bufsize(p,end), "\tbaro_rate\t%d", a->baro_rate); p = appendFATSVMeta(p, end, "pos", a, &a->position_valid, "{%.5f %.5f}", a->lat, a->lon);
a->fatsv_emitted_baro_rate = a->baro_rate;
useful = 1;
}
if (geomRateValid && a->geom_rate_valid.updated > a->fatsv_last_emitted) {
p += snprintf(p, bufsize(p,end), "\tgeom_rate\t%d", a->geom_rate);
a->fatsv_emitted_geom_rate = a->geom_rate;
useful = 1;
}
if (gsValid && a->gs_valid.updated > a->fatsv_last_emitted) {
p += snprintf(p, bufsize(p,end), "\tgs\t%u", a->gs);
a->fatsv_emitted_speed = a->gs;
useful = 1;
tisb |= (a->gs_valid.source == SOURCE_TISB) ? TISB_GS : 0;
}
if (iasValid && a->ias_valid.updated > a->fatsv_last_emitted) {
p += snprintf(p, bufsize(p,end), "\tias\t%u", a->ias);
a->fatsv_emitted_speed_ias = a->ias;
useful = 1;
tisb |= (a->ias_valid.source == SOURCE_TISB) ? TISB_IAS : 0;
}
if (tasValid && a->tas_valid.updated > a->fatsv_last_emitted) {
p += snprintf(p, bufsize(p,end), "\ttas\t%u", a->tas);
a->fatsv_emitted_speed_tas = a->tas;
useful = 1;
tisb |= (a->tas_valid.source == SOURCE_TISB) ? TISB_TAS : 0;
}
if (machValid && a->mach_valid.updated > a->fatsv_last_emitted) {
p += snprintf(p, bufsize(p,end), "\tmach\t%.3f", a->mach);
a->fatsv_emitted_mach = a->mach;
useful = 1;
}
if (positionValid && a->position_valid.updated > a->fatsv_last_emitted) {
p += snprintf(p, bufsize(p,end), "\tlat\t%.5f\tlon\t%.5f", a->lat, a->lon);
useful = 1;
tisb |= (a->position_valid.source == SOURCE_TISB) ? (TISB_LAT | TISB_LON) : 0;
}
if (trackValid && a->track_valid.updated > a->fatsv_last_emitted) {
p += snprintf(p, bufsize(p,end), "\ttrack\t%.0f", a->track);
a->fatsv_emitted_track = a->track;
useful = 1;
tisb |= (a->track_valid.source == SOURCE_TISB) ? TISB_TRACK : 0;
}
if (trackRateValid && a->track_rate_valid.updated > a->fatsv_last_emitted) {
p += snprintf(p, bufsize(p,end), "\ttrack_rate\t%.2f", a->track_rate);
a->fatsv_emitted_track_rate = a->track_rate;
useful = 1;
}
if (rollValid && a->roll_valid.updated > a->fatsv_last_emitted) {
p += snprintf(p, bufsize(p,end), "\troll\t%.1f", a->roll);
a->fatsv_emitted_roll = a->roll;
useful = 1;
}
if (magHeadingValid && a->mag_heading_valid.updated > a->fatsv_last_emitted) {
p += snprintf(p, bufsize(p,end), "\tmag_heading\t%.0f", a->mag_heading);
a->fatsv_emitted_mag_heading = a->mag_heading;
useful = 1;
tisb |= (a->mag_heading_valid.source == SOURCE_TISB) ? TISB_MAG_HEADING : 0;
}
if (trueHeadingValid && a->true_heading_valid.updated > a->fatsv_last_emitted) {
p += snprintf(p, bufsize(p,end), "\true_heading\t%.0f", a->true_heading);
a->fatsv_emitted_true_heading = a->true_heading;
useful = 1;
tisb |= (a->true_heading_valid.source == SOURCE_TISB) ? TISB_TRUE_HEADING : 0;
}
if (airgroundValid && (a->airground == AG_GROUND || a->airground == AG_AIRBORNE) && a->airground_valid.updated > a->fatsv_last_emitted) {
p += snprintf(p, bufsize(p,end), "\tairGround\t%s", a->airground == AG_GROUND ? "G+" : "A+");
a->fatsv_emitted_airground = a->airground;
useful = 1;
tisb |= (a->airground_valid.source == SOURCE_TISB) ? TISB_AIRGROUND : 0;
}
if (categoryValid && (a->category & 0xF0) != 0xA0 && a->category_valid.updated > a->fatsv_last_emitted) {
// interesting category, not a regular aircraft
p += snprintf(p, bufsize(p,end), "\tcategory\t%02X", a->category);
useful = 1;
tisb |= (a->category_valid.source == SOURCE_TISB) ? TISB_CATEGORY : 0;
}
if (intentAltValid && a->intent_altitude_valid.updated > a->fatsv_last_emitted) {
p += snprintf(p, bufsize(p,end), "\tintent_alt\t%u", a->intent_altitude);
a->fatsv_emitted_intent_altitude = a->intent_altitude;
useful = 1;
tisb |= (a->category_valid.source == SOURCE_TISB) ? TISB_INTENT_ALT : 0;
}
if (intentHeadingValid && a->intent_heading_valid.updated > a->fatsv_last_emitted) {
p += snprintf(p, bufsize(p,end), "\tintent_heading\t%.0f", a->intent_heading);
a->fatsv_emitted_intent_heading = a->intent_heading;
useful = 1;
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;
useful = 1;
tisb |= (a->category_valid.source == SOURCE_TISB) ? TISB_ALT_SETTING : 0;
}
p = appendFATSVMeta(p, end, "squawk", a, &a->squawk_valid, "%04x", a->squawk);
p = appendFATSVMeta(p, end, "altGeo", a, &a->altitude_geom_valid, "%d", a->altitude_geom);
p = appendFATSVMeta(p, end, "vrate", a, &a->baro_rate_valid, "%d", a->baro_rate);
p = appendFATSVMeta(p, end, "vrateGeo", a, &a->geom_rate_valid, "%d", a->geom_rate);
p = appendFATSVMeta(p, end, "gs", a, &a->gs_valid, "%u", a->gs);
p = appendFATSVMeta(p, end, "ias", a, &a->ias_valid, "%u", a->ias);
p = appendFATSVMeta(p, end, "tas", a, &a->tas_valid, "%u", a->tas);
p = appendFATSVMeta(p, end, "mach", a, &a->mach_valid, "%.3f", a->mach);
p = appendFATSVMeta(p, end, "trk", a, &a->track_valid, "%.0f", a->track);
p = appendFATSVMeta(p, end, "trkRate", a, &a->track_rate_valid, "%.2f", a->track_rate);
p = appendFATSVMeta(p, end, "roll", a, &a->roll_valid, "%.1f", a->roll);
p = appendFATSVMeta(p, end, "hdgMag", a, &a->mag_heading_valid, "%.0f", a->mag_heading);
p = appendFATSVMeta(p, end, "hdgTrue", a, &a->true_heading_valid, "%.0f", a->true_heading);
if (a->category != 0xA0)
p = appendFATSVMeta(p, end, "category", a, &a->category_valid, "%02X", a->category);
p = appendFATSVMeta(p, end, "selAlt", a, &a->intent_altitude_valid,"%u", a->intent_altitude);
p = appendFATSVMeta(p, end, "selHdg", a, &a->intent_heading_valid, "%.0f", a->intent_heading);
p = appendFATSVMeta(p, end, "selModes", a, &a->intent_modes_valid, "{%s}", intent_modes_string(a->intent_modes));
p = appendFATSVMeta(p, end, "qnh", a, &a->alt_setting_valid, "%.1f", a->alt_setting);
// if we didn't get anything interesting, bail out. // if we didn't get anything interesting, bail out.
// We don't need to do anything special to unwind prepareWrite(). // We don't need to do anything special to unwind prepareWrite().
if (!useful) { if (p == dataStart) {
continue; continue;
} }
if (tisb != 0) { --p; // remove last tab
p += snprintf(p, bufsize(p,end), "\ttisb\t"); p = safe_snprintf(p, end, "\n");
for (int i = 0; tisb_flag_names[i].name; ++i) {
if (tisb & tisb_flag_names[i].flag) {
p += snprintf(p, bufsize(p,end), "%s ", tisb_flag_names[i].name);
}
}
}
p += snprintf(p, bufsize(p,end), "\n");
if (p <= end) if (p <= end)
completeWrite(&Modes.fatsv_out, p); completeWrite(&Modes.fatsv_out, p);
else else
fprintf(stderr, "fatsv: output too large (max %d, overran by %d)\n", TSV_MAX_PACKET_SIZE, (int) (p - end)); fprintf(stderr, "fatsv: output too large (max %d, overran by %d)\n", TSV_MAX_PACKET_SIZE, (int) (p - end));
# undef bufsize
a->fatsv_emitted_altitude = a->altitude;
a->fatsv_emitted_altitude_gnss = a->altitude_geom;
a->fatsv_emitted_baro_rate = a->baro_rate;
a->fatsv_emitted_geom_rate = a->geom_rate;
a->fatsv_emitted_speed = a->gs;
a->fatsv_emitted_speed_ias = a->ias;
a->fatsv_emitted_mach = a->mach;
a->fatsv_emitted_track = a->track;
a->fatsv_emitted_track_rate = a->track_rate;
a->fatsv_emitted_roll = a->roll;
a->fatsv_emitted_mag_heading = a->mag_heading;
a->fatsv_emitted_true_heading = a->true_heading;
a->fatsv_emitted_airground = a->airground;
a->fatsv_emitted_intent_altitude = a->intent_altitude;
a->fatsv_emitted_intent_heading = a->intent_heading;
a->fatsv_emitted_intent_modes = a->intent_modes;
a->fatsv_emitted_alt_setting = a->alt_setting;
memcpy(a->fatsv_emitted_callsign, a->callsign, sizeof(a->fatsv_emitted_callsign));
a->fatsv_last_emitted = now; a->fatsv_last_emitted = now;
} }
} }

9
sdr_bladerf.c
View file

@ -311,8 +311,7 @@ static void *handle_bladerf_samples(struct bladerf *dev,
MODES_NOTUSED(num_samples); MODES_NOTUSED(num_samples);
// record initial time for later sys timestamp calculation // record initial time for later sys timestamp calculation
struct timespec entryTimestamp; uint64_t entryTimestamp = mstime();
clock_gettime(CLOCK_REALTIME, &entryTimestamp);
pthread_mutex_lock(&Modes.data_mutex); pthread_mutex_lock(&Modes.data_mutex);
if (Modes.exit) { if (Modes.exit) {
@ -413,10 +412,8 @@ static void *handle_bladerf_samples(struct bladerf *dev,
if (blocks_processed) { if (blocks_processed) {
// Get the approx system time for the start of this block // Get the approx system time for the start of this block
unsigned block_duration = 1e9 * outbuf->length / Modes.sample_rate; unsigned block_duration = 1e3 * outbuf->length / Modes.sample_rate;
outbuf->sysTimestamp = entryTimestamp; outbuf->sysTimestamp = entryTimestamp - block_duration;
outbuf->sysTimestamp.tv_nsec -= block_duration;
normalize_timespec(&outbuf->sysTimestamp);
outbuf->mean_level /= blocks_processed; outbuf->mean_level /= blocks_processed;
outbuf->mean_power /= blocks_processed; outbuf->mean_power /= blocks_processed;

2
sdr_ifile.c
View file

@ -217,7 +217,7 @@ void ifileRun()
} }
// Get the system time for the start of this block // Get the system time for the start of this block
clock_gettime(CLOCK_REALTIME, &outbuf->sysTimestamp); outbuf->sysTimestamp = mstime();
toread = MODES_MAG_BUF_SAMPLES * ifile.bytes_per_sample; toread = MODES_MAG_BUF_SAMPLES * ifile.bytes_per_sample;
r = ifile.readbuf; r = ifile.readbuf;

6
sdr_rtlsdr.c
View file

@ -313,12 +313,10 @@ void rtlsdrCallback(unsigned char *buf, uint32_t len, void *ctx) {
// Compute the sample timestamp and system timestamp for the start of the block // Compute the sample timestamp and system timestamp for the start of the block
outbuf->sampleTimestamp = sampleCounter * 12e6 / Modes.sample_rate; outbuf->sampleTimestamp = sampleCounter * 12e6 / Modes.sample_rate;
sampleCounter += slen; sampleCounter += slen;
block_duration = 1e9 * slen / Modes.sample_rate;
// Get the approx system time for the start of this block // Get the approx system time for the start of this block
clock_gettime(CLOCK_REALTIME, &outbuf->sysTimestamp); block_duration = 1e3 * slen / Modes.sample_rate;
outbuf->sysTimestamp.tv_nsec -= block_duration; outbuf->sysTimestamp = mstime() - block_duration;
normalize_timespec(&outbuf->sysTimestamp);
// Copy trailing data from last block (or reset if not valid) // Copy trailing data from last block (or reset if not valid)
if (outbuf->dropped == 0) { if (outbuf->dropped == 0) {

131
track.c
View file

@ -89,6 +89,34 @@ struct aircraft *trackCreateAircraft(struct modesMessage *mm) {
// Copy the first message so we can emit it later when a second message arrives. // Copy the first message so we can emit it later when a second message arrives.
a->first_message = *mm; a->first_message = *mm;
// initialize data validity ages
#define F(f,s,e) do { a->f##_valid.stale_interval = (s) * 1000; a->f##_valid.expire_interval = (e) * 1000; } while (0)
F(callsign, 60, 70); // ADS-B or Comm-B
F(altitude, 15, 70); // ADS-B or Mode S
F(altitude_geom, 60, 70); // ADS-B only
F(geom_delta, 60, 70); // ADS-B only
F(gs, 60, 70); // ADS-B or Comm-B
F(ias, 60, 70); // ADS-B (rare) or Comm-B
F(tas, 60, 70); // ADS-B (rare) or Comm-B
F(mach, 60, 70); // Comm-B only
F(track, 60, 70); // ADS-B or Comm-B
F(track_rate, 60, 70); // Comm-B only
F(roll, 60, 70); // Comm-B only
F(mag_heading, 60, 70); // ADS-B (rare) or Comm-B
F(true_heading, 60, 70); // ADS-B only (rare)
F(baro_rate, 60, 70); // ADS-B or Comm-B
F(geom_rate, 60, 70); // ADS-B or Comm-B
F(squawk, 15, 70); // ADS-B or Mode S
F(category, 60, 70); // ADS-B only
F(airground, 15, 70); // ADS-B or Mode S
F(alt_setting, 60, 70); // Comm-B only
F(intent_altitude, 60, 70); // ADS-B or Comm-B
F(intent_modes, 60, 70); // ADS-B or Comm-B
F(cpr_odd, 60, 70); // ADS-B only
F(cpr_even, 60, 70); // ADS-B only
F(position, 60, 70); // ADS-B only
#undef F
Modes.stats_current.unique_aircraft++; Modes.stats_current.unique_aircraft++;
return (a); return (a);
@ -112,15 +140,18 @@ struct aircraft *trackFindAircraft(uint32_t addr) {
// Should we accept some new data from the given source? // Should we accept some new data from the given source?
// If so, update the validity and return 1 // If so, update the validity and return 1
static int accept_data(data_validity *d, datasource_t source, uint64_t now) static int accept_data(data_validity *d, datasource_t source)
{ {
if (source < d->source && now < d->stale) if (messageNow() < d->updated)
return 0;
if (source < d->source && messageNow() < d->stale)
return 0; return 0;
d->source = source; d->source = source;
d->updated = now; d->updated = messageNow();
d->stale = now + 60000; d->stale = messageNow() + d->stale_interval;
d->expires = now + 70000; d->expires = messageNow() + d->expire_interval;
return 1; return 1;
} }
@ -142,10 +173,10 @@ static void combine_validity(data_validity *to, const data_validity *from1, cons
to->expires = (from1->expires < from2->expires) ? from1->expires : from2->expires; // the earlier of the two expiry times to->expires = (from1->expires < from2->expires) ? from1->expires : from2->expires; // the earlier of the two expiry times
} }
static int compare_validity(const data_validity *lhs, const data_validity *rhs, uint64_t now) { static int compare_validity(const data_validity *lhs, const data_validity *rhs) {
if (now < lhs->stale && lhs->source > rhs->source) if (messageNow() < lhs->stale && lhs->source > rhs->source)
return 1; return 1;
else if (now < rhs->stale && lhs->source < rhs->source) else if (messageNow() < rhs->stale && lhs->source < rhs->source)
return -1; return -1;
else if (lhs->updated > rhs->updated) else if (lhs->updated > rhs->updated)
return 1; return 1;
@ -201,7 +232,7 @@ static void update_range_histogram(double lat, double lon)
// return true if it's OK for the aircraft to have travelled from its last known position // return true if it's OK for the aircraft to have travelled from its last known position
// to a new position at (lat,lon,surface) at a time of now. // to a new position at (lat,lon,surface) at a time of now.
static int speed_check(struct aircraft *a, double lat, double lon, uint64_t now, int surface) static int speed_check(struct aircraft *a, double lat, double lon, int surface)
{ {
uint64_t elapsed; uint64_t elapsed;
double distance; double distance;
@ -212,7 +243,7 @@ static int speed_check(struct aircraft *a, double lat, double lon, uint64_t now,
if (!trackDataValid(&a->position_valid)) if (!trackDataValid(&a->position_valid))
return 1; // no reference, assume OK return 1; // no reference, assume OK
elapsed = trackDataAge(&a->position_valid, now); elapsed = trackDataAge(&a->position_valid);
if (trackDataValid(&a->gs_valid)) if (trackDataValid(&a->gs_valid))
speed = a->gs; speed = a->gs;
@ -256,7 +287,7 @@ static int speed_check(struct aircraft *a, double lat, double lon, uint64_t now,
return inrange; return inrange;
} }
static int doGlobalCPR(struct aircraft *a, struct modesMessage *mm, uint64_t now, double *lat, double *lon, unsigned *nuc) static int doGlobalCPR(struct aircraft *a, struct modesMessage *mm, double *lat, double *lon, unsigned *nuc)
{ {
int result; int result;
int fflag = mm->cpr_odd; int fflag = mm->cpr_odd;
@ -269,7 +300,7 @@ static int doGlobalCPR(struct aircraft *a, struct modesMessage *mm, uint64_t now
// find reference location // find reference location
double reflat, reflon; double reflat, reflon;
if (trackDataValidEx(&a->position_valid, now, 50000, SOURCE_INVALID)) { // Ok to try aircraft relative first if (trackDataValid(&a->position_valid)) { // Ok to try aircraft relative first
reflat = a->lat; reflat = a->lat;
reflon = a->lon; reflon = a->lon;
if (a->pos_nuc < *nuc) if (a->pos_nuc < *nuc)
@ -325,7 +356,7 @@ static int doGlobalCPR(struct aircraft *a, struct modesMessage *mm, uint64_t now
return result; return result;
// check speed limit // check speed limit
if (trackDataValid(&a->position_valid) && a->pos_nuc >= *nuc && !speed_check(a, *lat, *lon, now, surface)) { if (trackDataValid(&a->position_valid) && a->pos_nuc >= *nuc && !speed_check(a, *lat, *lon, surface)) {
Modes.stats_current.cpr_global_speed_checks++; Modes.stats_current.cpr_global_speed_checks++;
return -2; return -2;
} }
@ -333,7 +364,7 @@ static int doGlobalCPR(struct aircraft *a, struct modesMessage *mm, uint64_t now
return result; return result;
} }
static int doLocalCPR(struct aircraft *a, struct modesMessage *mm, uint64_t now, double *lat, double *lon, unsigned *nuc) static int doLocalCPR(struct aircraft *a, struct modesMessage *mm, double *lat, double *lon, unsigned *nuc)
{ {
// relative CPR // relative CPR
// find reference location // find reference location
@ -345,7 +376,7 @@ static int doLocalCPR(struct aircraft *a, struct modesMessage *mm, uint64_t now,
*nuc = mm->cpr_nucp; *nuc = mm->cpr_nucp;
if (trackDataValidEx(&a->position_valid, now, 50000, SOURCE_INVALID)) { if (trackDataValid(&a->position_valid)) {
reflat = a->lat; reflat = a->lat;
reflon = a->lon; reflon = a->lon;
@ -399,7 +430,7 @@ static int doLocalCPR(struct aircraft *a, struct modesMessage *mm, uint64_t now,
} }
// check speed limit // check speed limit
if (trackDataValid(&a->position_valid) && a->pos_nuc >= *nuc && !speed_check(a, *lat, *lon, now, surface)) { if (trackDataValid(&a->position_valid) && a->pos_nuc >= *nuc && !speed_check(a, *lat, *lon, surface)) {
#ifdef DEBUG_CPR_CHECKS #ifdef DEBUG_CPR_CHECKS
fprintf(stderr, "Speed check for %06X with local decoding failed\n", a->addr); fprintf(stderr, "Speed check for %06X with local decoding failed\n", a->addr);
#endif #endif
@ -418,7 +449,7 @@ static uint64_t time_between(uint64_t t1, uint64_t t2)
return t2 - t1; return t2 - t1;
} }
static void updatePosition(struct aircraft *a, struct modesMessage *mm, uint64_t now) static void updatePosition(struct aircraft *a, struct modesMessage *mm)
{ {
int location_result = -1; int location_result = -1;
uint64_t max_elapsed; uint64_t max_elapsed;
@ -449,7 +480,7 @@ static void updatePosition(struct aircraft *a, struct modesMessage *mm, uint64_t
a->cpr_odd_type == a->cpr_even_type && a->cpr_odd_type == a->cpr_even_type &&
time_between(a->cpr_odd_valid.updated, a->cpr_even_valid.updated) <= max_elapsed) { time_between(a->cpr_odd_valid.updated, a->cpr_even_valid.updated) <= max_elapsed) {
location_result = doGlobalCPR(a, mm, now, &new_lat, &new_lon, &new_nuc); location_result = doGlobalCPR(a, mm, &new_lat, &new_lon, &new_nuc);
if (location_result == -2) { if (location_result == -2) {
#ifdef DEBUG_CPR_CHECKS #ifdef DEBUG_CPR_CHECKS
@ -480,7 +511,7 @@ static void updatePosition(struct aircraft *a, struct modesMessage *mm, uint64_t
// Otherwise try relative CPR. // Otherwise try relative CPR.
if (location_result == -1) { if (location_result == -1) {
location_result = doLocalCPR(a, mm, now, &new_lat, &new_lon, &new_nuc); location_result = doLocalCPR(a, mm, &new_lat, &new_lon, &new_nuc);
if (location_result < 0) { if (location_result < 0) {
Modes.stats_current.cpr_local_skipped++; Modes.stats_current.cpr_local_skipped++;
@ -527,7 +558,7 @@ struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
return NULL; return NULL;
} }
uint64_t now = mstime(); _messageNow = mm->sysTimestampMsg;
// Lookup our aircraft or create a new one // Lookup our aircraft or create a new one
a = trackFindAircraft(mm->addr); a = trackFindAircraft(mm->addr);
@ -541,7 +572,7 @@ struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
a->signalLevel[a->signalNext] = mm->signalLevel; a->signalLevel[a->signalNext] = mm->signalLevel;
a->signalNext = (a->signalNext + 1) & 7; a->signalNext = (a->signalNext + 1) & 7;
} }
a->seen = now; a->seen = messageNow();
a->messages++; a->messages++;
// update addrtype, we only ever go towards "more direct" types // update addrtype, we only ever go towards "more direct" types
@ -552,7 +583,7 @@ struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
if (mm->source == SOURCE_ADSB && a->adsb_version < 0) if (mm->source == SOURCE_ADSB && a->adsb_version < 0)
a->adsb_version = 0; a->adsb_version = 0;
if (mm->altitude_valid && mm->altitude_source == ALTITUDE_BARO && accept_data(&a->altitude_valid, mm->source, now)) { if (mm->altitude_valid && mm->altitude_source == ALTITUDE_BARO && accept_data(&a->altitude_valid, mm->source)) {
if (a->modeC_hit) { if (a->modeC_hit) {
int new_modeC = (a->altitude + 49) / 100; int new_modeC = (a->altitude + 49) / 100;
int old_modeC = (mm->altitude + 49) / 100; int old_modeC = (mm->altitude + 49) / 100;
@ -564,18 +595,18 @@ struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
a->altitude = mm->altitude; a->altitude = mm->altitude;
} }
if (mm->squawk_valid && accept_data(&a->squawk_valid, mm->source, now)) { if (mm->squawk_valid && accept_data(&a->squawk_valid, mm->source)) {
if (mm->squawk != a->squawk) { if (mm->squawk != a->squawk) {
a->modeA_hit = 0; a->modeA_hit = 0;
} }
a->squawk = mm->squawk; a->squawk = mm->squawk;
} }
if (mm->altitude_valid && mm->altitude_source == ALTITUDE_GEOM && accept_data(&a->altitude_geom_valid, mm->source, now)) { if (mm->altitude_valid && mm->altitude_source == ALTITUDE_GEOM && accept_data(&a->altitude_geom_valid, mm->source)) {
a->altitude_geom = mm->altitude; a->altitude_geom = mm->altitude;
} }
if (mm->geom_delta_valid && accept_data(&a->geom_delta_valid, mm->source, now)) { if (mm->geom_delta_valid && accept_data(&a->geom_delta_valid, mm->source)) {
a->geom_delta = mm->geom_delta; a->geom_delta = mm->geom_delta;
} }
@ -587,81 +618,81 @@ struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
htype = a->adsb_tah; htype = a->adsb_tah;
} }
if (htype == HEADING_GROUND_TRACK && accept_data(&a->track_valid, mm->source, now)) { if (htype == HEADING_GROUND_TRACK && accept_data(&a->track_valid, mm->source)) {
a->track = mm->heading; a->track = mm->heading;
} else if (htype == HEADING_MAGNETIC && accept_data(&a->mag_heading_valid, mm->source, now)) { } else if (htype == HEADING_MAGNETIC && accept_data(&a->mag_heading_valid, mm->source)) {
a->mag_heading = mm->heading; a->mag_heading = mm->heading;
} else if (htype == HEADING_TRUE && accept_data(&a->true_heading_valid, mm->source, now)) { } else if (htype == HEADING_TRUE && accept_data(&a->true_heading_valid, mm->source)) {
a->true_heading = mm->heading; a->true_heading = mm->heading;
} }
} }
if (mm->track_rate_valid && accept_data(&a->track_rate_valid, mm->source, now)) { if (mm->track_rate_valid && accept_data(&a->track_rate_valid, mm->source)) {
a->track_rate = mm->track_rate; a->track_rate = mm->track_rate;
} }
if (mm->roll_valid && accept_data(&a->roll_valid, mm->source, now)) { if (mm->roll_valid && accept_data(&a->roll_valid, mm->source)) {
a->roll = mm->roll; a->roll = mm->roll;
} }
if (mm->gs_valid && accept_data(&a->gs_valid, mm->source, now)) { if (mm->gs_valid && accept_data(&a->gs_valid, mm->source)) {
a->gs = mm->gs; a->gs = mm->gs;
} }
if (mm->ias_valid && accept_data(&a->ias_valid, mm->source, now)) { if (mm->ias_valid && accept_data(&a->ias_valid, mm->source)) {
a->ias = mm->ias; a->ias = mm->ias;
} }
if (mm->tas_valid && accept_data(&a->tas_valid, mm->source, now)) { if (mm->tas_valid && accept_data(&a->tas_valid, mm->source)) {
a->tas = mm->tas; a->tas = mm->tas;
} }
if (mm->mach_valid && accept_data(&a->mach_valid, mm->source, now)) { if (mm->mach_valid && accept_data(&a->mach_valid, mm->source)) {
a->mach = mm->mach; a->mach = mm->mach;
} }
if (mm->baro_rate_valid && accept_data(&a->baro_rate_valid, mm->source, now)) { if (mm->baro_rate_valid && accept_data(&a->baro_rate_valid, mm->source)) {
a->baro_rate = mm->baro_rate; a->baro_rate = mm->baro_rate;
} }
if (mm->geom_rate_valid && accept_data(&a->geom_rate_valid, mm->source, now)) { if (mm->geom_rate_valid && accept_data(&a->geom_rate_valid, mm->source)) {
a->geom_rate = mm->geom_rate; a->geom_rate = mm->geom_rate;
} }
if (mm->category_valid && accept_data(&a->category_valid, mm->source, now)) { if (mm->category_valid && accept_data(&a->category_valid, mm->source)) {
a->category = mm->category; a->category = mm->category;
} }
if (mm->airground != AG_INVALID && accept_data(&a->airground_valid, mm->source, now)) { if (mm->airground != AG_INVALID && accept_data(&a->airground_valid, mm->source)) {
a->airground = mm->airground; a->airground = mm->airground;
} }
if (mm->callsign_valid && accept_data(&a->callsign_valid, mm->source, now)) { if (mm->callsign_valid && accept_data(&a->callsign_valid, mm->source)) {
memcpy(a->callsign, mm->callsign, sizeof(a->callsign)); memcpy(a->callsign, mm->callsign, sizeof(a->callsign));
} }
// prefer MCP over FMS // prefer MCP over FMS
// unless the source says otherwise // unless the source says otherwise
if (mm->intent.mcp_altitude_valid && mm->intent.altitude_source != INTENT_ALT_FMS && accept_data(&a->intent_altitude_valid, mm->source, now)) { if (mm->intent.mcp_altitude_valid && mm->intent.altitude_source != INTENT_ALT_FMS && accept_data(&a->intent_altitude_valid, mm->source)) {
a->intent_altitude = mm->intent.mcp_altitude; a->intent_altitude = mm->intent.mcp_altitude;
} else if (mm->intent.fms_altitude_valid && accept_data(&a->intent_altitude_valid, mm->source, now)) { } else if (mm->intent.fms_altitude_valid && accept_data(&a->intent_altitude_valid, mm->source)) {
a->intent_altitude = mm->intent.fms_altitude; a->intent_altitude = mm->intent.fms_altitude;
} }
if (mm->intent.heading_valid && accept_data(&a->intent_heading_valid, mm->source, now)) { if (mm->intent.heading_valid && accept_data(&a->intent_heading_valid, mm->source)) {
a->intent_heading = mm->intent.heading; a->intent_heading = mm->intent.heading;
} }
if (mm->intent.modes_valid && accept_data(&a->intent_modes_valid, mm->source, now)) { if (mm->intent.modes_valid && accept_data(&a->intent_modes_valid, mm->source)) {
a->intent_modes = mm->intent.modes; a->intent_modes = mm->intent.modes;
} }
if (mm->intent.alt_setting_valid && accept_data(&a->alt_setting_valid, mm->source, now)) { if (mm->intent.alt_setting_valid && accept_data(&a->alt_setting_valid, mm->source)) {
a->alt_setting = mm->intent.alt_setting; a->alt_setting = mm->intent.alt_setting;
} }
// CPR, even // CPR, even
if (mm->cpr_valid && !mm->cpr_odd && accept_data(&a->cpr_even_valid, mm->source, now)) { if (mm->cpr_valid && !mm->cpr_odd && accept_data(&a->cpr_even_valid, mm->source)) {
a->cpr_even_type = mm->cpr_type; a->cpr_even_type = mm->cpr_type;
a->cpr_even_lat = mm->cpr_lat; a->cpr_even_lat = mm->cpr_lat;
a->cpr_even_lon = mm->cpr_lon; a->cpr_even_lon = mm->cpr_lon;
@ -669,7 +700,7 @@ struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
} }
// CPR, odd // CPR, odd
if (mm->cpr_valid && mm->cpr_odd && accept_data(&a->cpr_odd_valid, mm->source, now)) { if (mm->cpr_valid && mm->cpr_odd && accept_data(&a->cpr_odd_valid, mm->source)) {
a->cpr_odd_type = mm->cpr_type; a->cpr_odd_type = mm->cpr_type;
a->cpr_odd_lat = mm->cpr_lat; a->cpr_odd_lat = mm->cpr_lat;
a->cpr_odd_lon = mm->cpr_lon; a->cpr_odd_lon = mm->cpr_lon;
@ -688,8 +719,8 @@ struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
// Now handle derived data // Now handle derived data
// derive geometric altitude if we have baro + delta // derive geometric altitude if we have baro + delta
if (compare_validity(&a->altitude_valid, &a->altitude_geom_valid, now) > 0 && if (compare_validity(&a->altitude_valid, &a->altitude_geom_valid) > 0 &&
compare_validity(&a->geom_delta_valid, &a->altitude_geom_valid, now) > 0) { compare_validity(&a->geom_delta_valid, &a->altitude_geom_valid) > 0) {
// Baro and delta are both more recent than geometric, derive geometric from baro + delta // Baro and delta are both more recent than geometric, derive geometric from baro + delta
a->altitude_geom = a->altitude + a->geom_delta; a->altitude_geom = a->altitude + a->geom_delta;
combine_validity(&a->altitude_geom_valid, &a->altitude_valid, &a->geom_delta_valid); combine_validity(&a->altitude_geom_valid, &a->altitude_valid, &a->geom_delta_valid);
@ -697,7 +728,7 @@ struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
// If we've got a new cprlat or cprlon // If we've got a new cprlat or cprlon
if (mm->cpr_valid) { if (mm->cpr_valid) {
updatePosition(a, mm, now); updatePosition(a, mm);
} }
return (a); return (a);
@ -837,7 +868,7 @@ static void trackRemoveStaleAircraft(uint64_t now)
EXPIRE(cpr_odd); EXPIRE(cpr_odd);
EXPIRE(cpr_even); EXPIRE(cpr_even);
EXPIRE(position); EXPIRE(position);
#undef EXPIRE
prev = a; a = a->next; prev = a; a = a->next;
} }
} }

37
track.h
View file

@ -64,11 +64,18 @@
*/ */
#define TRACK_MODEAC_MIN_MESSAGES 4 #define TRACK_MODEAC_MIN_MESSAGES 4
// data moves through three states:
// fresh: data is valid. Updates from a less reliable source are not accepted.
// stale: data is valid. Updates from a less reliable source are accepted.
// expired: data is not valid.
typedef struct { typedef struct {
uint64_t stale_interval; /* how long after an update until the data is stale */
uint64_t expire_interval; /* how long after an update until the data expires */
datasource_t source; /* where the data came from */ datasource_t source; /* where the data came from */
uint64_t updated; /* when it arrived */ uint64_t updated; /* when it arrived */
uint64_t stale; /* when it will become stale */ uint64_t stale; /* when it goes stale */
uint64_t expires; /* when it will expire */ uint64_t expires; /* when it expires */
} data_validity; } data_validity;
/* Structure used to describe the state of one tracked aircraft */ /* Structure used to describe the state of one tracked aircraft */
@ -213,33 +220,17 @@ extern uint32_t modeAC_age[4096];
/* is this bit of data valid? */ /* is this bit of data valid? */
static inline int trackDataValid(const data_validity *v) static inline int trackDataValid(const data_validity *v)
{ {
return (v->source != SOURCE_INVALID); return (v->source != SOURCE_INVALID && messageNow() < v->expires);
} }
/* .. with these constraints? */ /* what's the age of this data, in milliseconds? */
static inline int trackDataValidEx(const data_validity *v, static inline uint64_t trackDataAge(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) if (v->source == SOURCE_INVALID)
return ~(uint64_t)0; return ~(uint64_t)0;
if (v->updated >= now) if (v->updated >= messageNow())
return 0; return 0;
return (now - v->updated); return (messageNow() - v->updated);
} }
/* Update aircraft state from data in the provided mesage. /* Update aircraft state from data in the provided mesage.

7
util.c
View file

@ -52,6 +52,8 @@
#include <stdlib.h> #include <stdlib.h>
#include <sys/time.h> #include <sys/time.h>
uint64_t _messageNow = 0;
uint64_t mstime(void) uint64_t mstime(void)
{ {
struct timeval tv; struct timeval tv;
@ -68,6 +70,11 @@ int64_t receiveclock_ns_elapsed(uint64_t t1, uint64_t t2)
return (t2 - t1) * 1000U / 12U; return (t2 - t1) * 1000U / 12U;
} }
int64_t receiveclock_ms_elapsed(uint64_t t1, uint64_t t2)
{
return (t2 - t1) / 12000U;
}
void normalize_timespec(struct timespec *ts) void normalize_timespec(struct timespec *ts)
{ {
if (ts->tv_nsec > 1000000000) { if (ts->tv_nsec > 1000000000) {

9
util.h
View file

@ -25,11 +25,20 @@
/* Returns system time in milliseconds */ /* Returns system time in milliseconds */
uint64_t mstime(void); uint64_t mstime(void);
/* Returns the time for the current message we're dealing with */
extern uint64_t _messageNow;
static inline uint64_t messageNow() {
return _messageNow;
}
/* Returns the time elapsed, in nanoseconds, from t1 to t2, /* Returns the time elapsed, in nanoseconds, from t1 to t2,
* where t1 and t2 are 12MHz counters. * where t1 and t2 are 12MHz counters.
*/ */
int64_t receiveclock_ns_elapsed(uint64_t t1, uint64_t t2); int64_t receiveclock_ns_elapsed(uint64_t t1, uint64_t t2);
/* Same, in milliseconds */
int64_t receiveclock_ms_elapsed(uint64_t t1, uint64_t t2);
/* Normalize the value in ts so that ts->nsec lies in /* Normalize the value in ts so that ts->nsec lies in
* [0,999999999] * [0,999999999]
*/ */