// Part of dump1090, a Mode S message decoder for RTLSDR devices. // // track.h: aircraft state tracking prototypes // // Copyright (c) 2014-2016 Oliver Jowett // // 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 // Free Software Foundation, either version 2 of the License, or (at your // option) any later version. // // This file is distributed in the hope that it will be useful, but // WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program. If not, see . // This file incorporates work covered by the following copyright and // permission notice: // // Copyright (C) 2012 by Salvatore Sanfilippo // // All rights reserved. // // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions are // met: // // * Redistributions of source code must retain the above copyright // notice, this list of conditions and the following disclaimer. // // * Redistributions in binary form must reproduce the above copyright // notice, this list of conditions and the following disclaimer in the // documentation and/or other materials provided with the distribution. // // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef DUMP1090_TRACK_H #define DUMP1090_TRACK_H /* Maximum age of tracked aircraft in milliseconds */ #define TRACK_AIRCRAFT_TTL 300000 /* Maximum age of a tracked aircraft with only 1 message received, in milliseconds */ #define TRACK_AIRCRAFT_ONEHIT_TTL 60000 /* Maximum validity of an aircraft position */ #define TRACK_AIRCRAFT_POSITION_TTL 60000 /* Minimum number of repeated Mode A/C replies with a particular Mode A code needed in a * 1 second period before accepting that code. */ #define TRACK_MODEAC_MIN_MESSAGES 4 /* Special value for Rc unknown (100NM) */ #define RC_UNKNOWN 185200 // 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 { 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 */ uint64_t updated; /* when it arrived */ uint64_t stale; /* when it goes stale */ uint64_t expires; /* when it expires */ } data_validity; /* Structure used to describe the state of one tracked aircraft */ struct aircraft { uint32_t addr; // ICAO address addrtype_t addrtype; // highest priority address type seen for this aircraft uint64_t seen; // Time (millis) at which the last packet was received long messages; // Number of Mode S messages received 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_baro_valid; int altitude_baro; // Altitude (Baro) data_validity altitude_geom_valid; int altitude_geom; // Altitude (Geometric) data_validity geom_delta_valid; int geom_delta; // Difference between Geometric and Baro altitudes data_validity gs_valid; float gs; data_validity ias_valid; unsigned ias; data_validity tas_valid; unsigned tas; data_validity mach_valid; float mach; data_validity track_valid; float track; // Ground track data_validity track_rate_valid; float track_rate; // Rate of change of ground track, degrees/second data_validity roll_valid; float roll; // Roll angle, degrees right data_validity mag_heading_valid; float mag_heading; // Magnetic heading data_validity true_heading_valid; float true_heading; // True heading data_validity baro_rate_valid; int baro_rate; // Vertical rate (barometric) data_validity geom_rate_valid; int geom_rate; // Vertical rate (geometric) data_validity squawk_valid; unsigned squawk; // Squawk data_validity emergency_valid; emergency_t emergency; // Emergency/priority status unsigned category; // Aircraft category A0 - D7 encoded as a single hex byte. 00 = unset data_validity airground_valid; airground_t airground; // air/ground status data_validity nav_qnh_valid; float nav_qnh; // Altimeter setting (QNH/QFE), millibars data_validity nav_altitude_valid; unsigned nav_altitude; // FMS or FCU selected altitude data_validity nav_heading_valid; float nav_heading; // target heading, degrees (0-359) data_validity nav_modes_valid; nav_modes_t nav_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; unsigned cpr_odd_lon; unsigned cpr_odd_nic; unsigned cpr_odd_rc; data_validity cpr_even_valid; // Last seen odd CPR message cpr_type_t cpr_even_type; unsigned cpr_even_lat; unsigned cpr_even_lon; unsigned cpr_even_nic; unsigned cpr_even_rc; data_validity position_valid; double lat, lon; // Coordinated obtained from CPR encoded data unsigned pos_nic; // NIC of last computed position unsigned pos_rc; // Rc of last computed position // data extracted from opstatus etc int adsb_version; // ADS-B version (from ADS-B operational status); -1 means no ADS-B messages seen heading_type_t adsb_hrd; // Heading Reference Direction setting (from ADS-B operational status) heading_type_t adsb_tah; // Track Angle / Heading setting (from ADS-B operational status) data_validity nic_a_valid; data_validity nic_c_valid; data_validity nic_baro_valid; data_validity nac_p_valid; data_validity nac_v_valid; data_validity sil_valid; data_validity gva_valid; data_validity sda_valid; unsigned nic_a : 1; // NIC supplement A from opstatus unsigned nic_c : 1; // NIC supplement C from opstatus unsigned nic_baro : 1; // NIC baro supplement from TSS or opstatus unsigned nac_p : 4; // NACp from TSS or opstatus unsigned nac_v : 3; // NACv from airborne velocity or opstatus unsigned sil : 2; // SIL from TSS or opstatus sil_type_t sil_type; // SIL supplement from TSS or opstatus int modeA_hit; // did our squawk match a possible mode A reply in the last check period? int modeC_hit; // did our altitude match a possible mode C reply in the last check period? int fatsv_emitted_altitude_baro; // last FA emitted altitude int fatsv_emitted_altitude_geom; // -"- GNSS altitude int fatsv_emitted_baro_rate; // -"- barometric rate int fatsv_emitted_geom_rate; // -"- geometric rate float fatsv_emitted_track; // -"- true track float fatsv_emitted_track_rate; // -"- track rate of change float fatsv_emitted_mag_heading; // -"- magnetic heading float fatsv_emitted_true_heading; // -"- true heading float fatsv_emitted_roll; // -"- roll angle float fatsv_emitted_gs; // -"- groundspeed unsigned fatsv_emitted_ias; // -"- IAS unsigned fatsv_emitted_tas; // -"- TAS float fatsv_emitted_mach; // -"- Mach number airground_t fatsv_emitted_airground; // -"- air/ground state unsigned fatsv_emitted_nav_altitude; // -"- target altitude float fatsv_emitted_nav_heading; // -"- target heading nav_modes_t fatsv_emitted_nav_modes; // -"- enabled navigation modes float fatsv_emitted_nav_qnh; // -"- altimeter setting unsigned char fatsv_emitted_bds_10[7]; // -"- BDS 1,0 message unsigned char fatsv_emitted_bds_30[7]; // -"- BDS 3,0 message unsigned char fatsv_emitted_es_status[7]; // -"- ES operational status message unsigned char fatsv_emitted_es_acas_ra[7]; // -"- ES ACAS RA report message char fatsv_emitted_callsign[9]; // -"- callsign addrtype_t fatsv_emitted_addrtype; // -"- address type (assumed ADSB_ICAO initially) int fatsv_emitted_adsb_version; // -"- ADS-B version (assumed non-ADS-B initially) unsigned fatsv_emitted_category; // -"- ADS-B emitter category (assumed A0 initially) unsigned fatsv_emitted_squawk; // -"- squawk unsigned fatsv_emitted_nac_p; // -"- NACp unsigned fatsv_emitted_nac_v; // -"- NACv unsigned fatsv_emitted_sil; // -"- SIL sil_type_t fatsv_emitted_sil_type; // -"- SIL supplement unsigned fatsv_emitted_nic_baro; // -"- NICbaro emergency_t fatsv_emitted_emergency; // -"- emergency/priority status uint64_t fatsv_last_emitted; // time (millis) aircraft was last FA emitted uint64_t fatsv_last_force_emit; // time (millis) we last emitted only-on-change data struct aircraft *next; // Next aircraft in our linked list struct modesMessage first_message; // A copy of the first message we received for this aircraft. }; /* Mode A/C tracking is done separately, not via the aircraft list, * and via a flat array rather than a list since there are only 4k possible values * (nb: we ignore the ident/SPI bit when tracking) */ extern uint32_t modeAC_count[4096]; extern uint32_t modeAC_match[4096]; extern uint32_t modeAC_age[4096]; /* is this bit of data valid? */ static inline int trackDataValid(const data_validity *v) { return (v->source != SOURCE_INVALID && messageNow() < v->expires); } /* is this bit of data fresh? */ static inline int trackDataFresh(const data_validity *v) { return (v->source != SOURCE_INVALID && messageNow() < v->stale); } /* what's the age of this data, in milliseconds? */ static inline uint64_t trackDataAge(const data_validity *v) { if (v->source == SOURCE_INVALID) return ~(uint64_t)0; if (v->updated >= messageNow()) return 0; return (messageNow() - v->updated); } /* Update aircraft state from data in the provided mesage. * Return the tracked aircraft. */ struct modesMessage; struct aircraft *trackUpdateFromMessage(struct modesMessage *mm); /* Call periodically */ void trackPeriodicUpdate(); /* Convert from a (hex) mode A value to a 0-4095 index */ static inline unsigned modeAToIndex(unsigned modeA) { return (modeA & 0x0007) | ((modeA & 0x0070) >> 1) | ((modeA & 0x0700) >> 2) | ((modeA & 0x7000) >> 3); } /* Convert from a 0-4095 index to a (hex) mode A value */ static inline unsigned indexToModeA(unsigned index) { return (index & 0007) | ((index & 0070) << 1) | ((index & 0700) << 2) | ((index & 07000) << 3); } #endif