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track.h
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track.h
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// Part of dump1090, a Mode S message decoder for RTLSDR devices.
//
// track.h: aircraft state tracking prototypes
//
// Copyright (c) 2014-2016 Oliver Jowett <[email protected]>
//
// 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 <http://www.gnu.org/licenses/>.
// This file incorporates work covered by the following copyright and
// permission notice:
//
// Copyright (C) 2012 by Salvatore Sanfilippo <[email protected]>
//
// 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 a reliable tracked aircraft in milliseconds */
#define TRACK_AIRCRAFT_TTL 300000
/* Maximum age of an unreliable tracked aircraft, in milliseconds */
#define TRACK_AIRCRAFT_UNRELIABLE_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
/* Minimum number of DF17 messages required to mark a track as reliable */
#define TRACK_RELIABLE_DF17_MESSAGES 2
/* Minimum number of DF11 messages required to mark a track as reliable */
#define TRACK_RELIABLE_DF11_MESSAGES 3
/* Minimum number of any sort of messages required to mark a track as reliable */
#define TRACK_RELIABLE_ANY_MESSAGES 5
/* Special value for Rc unknown */
#define RC_UNKNOWN 0
// 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
int reliable; // Do we think this is a real aircraft, not noise?
long reliableDF11; // Number of "reliable" DF11s (no CRC errors corrected, IID = 0) received
long reliableDF17; // Number of "reliable" DF17s (no CRC errors corrected) received
long discarded; // Number of messages discarded as possibly-noise
double signalLevel[8]; // Last 8 Signal Amplitudes
int signalNext; // next index of signalLevel to use
data_validity callsign_valid;
char callsign[9]; // Flight number
int callsign_matched; // Interactive callsign filter matched
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_mcp_valid;
int nav_altitude_mcp; // FCU/MCP selected altitude
data_validity nav_altitude_fms_valid;
int nav_altitude_fms; // FMS selected altitude
data_validity nav_altitude_src_valid;
nav_altitude_source_t nav_altitude_src; // source of altitude used by automation
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; // Coordinates 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
int adsr_version; // As above, for ADS-R messages
int tisb_version; // As above, for TIS-B messages
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; // NACp from TSS or opstatus
unsigned nac_v; // NACv from airborne velocity or opstatus
unsigned sil; // SIL from TSS or opstatus
sil_type_t sil_type; // SIL supplement from TSS or opstatus
unsigned gva; // GVA from opstatus
unsigned sda; // SDA from opstatus
// data extracted from MRAR
data_validity mrar_source_valid;
data_validity wind_valid; // speed and direction
data_validity pressure_valid;
data_validity temperature_valid;
data_validity turbulence_valid;
data_validity humidity_valid;
mrar_source_t mrar_source;
float wind_speed;
float wind_dir;
float pressure;
float temperature;
hazard_t turbulence;
float humidity;
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
int fatsv_emitted_nav_altitude_mcp; // -"- MCP altitude
int fatsv_emitted_nav_altitude_fms; // -"- FMS altitude
nav_altitude_source_t fatsv_emitted_nav_altitude_src; // -"- automation altitude source
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_17[7]; // -"- BDS 1,7 message
unsigned char fatsv_emitted_bds_30[7]; // -"- BDS 3,0 message
unsigned char fatsv_emitted_unknown_commb[7]; // -"- unrecognized Comm-B 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
};
/* 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);
}
/* Great Circle distance in m */
double greatcircle(double lat0, double lon0, double lat1, double lon1);
/* Get bearing from 2 points */
double get_bearing(double lat0, double lon0, double lat1, double lon1);
#endif