1 // tcas.hxx -- Traffic Alert and Collision Avoidance System (TCAS)
3 // Written by Thorsten Brehm, started December 2010.
5 // Copyright (C) 2010 Thorsten Brehm - brehmt (at) gmail com
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
21 #ifndef __INSTRUMENTS_TCAS_HXX
22 #define __INSTRUMENTS_TCAS_HXX
30 #include <simgear/props/props.hxx>
31 #include <simgear/sound/sample_openal.hxx>
32 #include <simgear/structure/subsystem_mgr.hxx>
33 #include "mk_viii.hxx" // voiceplayer only
41 #include <Main/globals.hxx>
44 # pragma warning( push )
45 # pragma warning( disable: 4355 )
48 ///////////////////////////////////////////////////////////////////////////////
49 // TCAS //////////////////////////////////////////////////////////////////////
50 ///////////////////////////////////////////////////////////////////////////////
52 class TCAS : public SGSubsystem
57 AdvisoryClear = 0, /*< Clear of traffic */
58 AdvisoryIntrusion = 1, /*< Intrusion flag */
59 AdvisoryClimb = AdvisoryIntrusion|(1 << 1), /*< RA climb */
60 AdvisoryDescend = AdvisoryIntrusion|(1 << 2), /*< RA descend */
61 AdvisoryAdjustVSpeed = AdvisoryIntrusion|(1 << 3), /*< RA adjust vertical speed (TCAS II 7.0 only) */
62 AdvisoryMaintVSpeed = AdvisoryIntrusion|(1 << 4), /*< RA maintain vertical speed */
63 AdvisoryMonitorVSpeed = AdvisoryIntrusion|(1 << 5), /*< RA monitor vertical speed */
64 AdvisoryLevelOff = AdvisoryIntrusion|(1 << 6) /*< RA level off (TCAS II 7.1 only) */
69 OptionNone = 0, /*< no option modifier */
70 OptionIncreaseClimb = (1 << 0), /*< increase climb */
71 OptionIncreaseDescend = (1 << 1), /*< increase descend */
72 OptionCrossingClimb = (1 << 2), /*< crossing climb */
73 OptionCrossingDescent = (1 << 3) /*< crossing descent */
78 SwitchOff = 0, /*< TCAS switched off */
79 SwitchStandby = 1, /*< TCAS standby (no TA/RA) */
80 SwitchTaOnly = 2, /*< TCAS in TA-only mode (no RA) */
81 SwitchAuto = 3 /*< TCAS in TA/RA mode */
86 ThreatInvisible = -1,/*< Traffic is invisible to TCAS (i.e. no transponder) */
87 ThreatNone = 0, /*< Traffic is visible but no threat. */
88 ThreatProximity = 1, /*< Proximity intruder traffic (no threat). */
89 ThreatTA = 2, /*< TA-level threat traffic. */
90 ThreatRA = 3 /*< RA-level threat traffic. */
95 int threatLevel; /*< intruder threat level: 0=clear, 1=proximity,
96 2=intruder, 3=proximity intruder */
97 int RA; /*< resolution advisory */
98 int RAOption; /*< option flags for advisory */
103 float Tau; /*< vertical/horizontal protection range in seconds */
104 float DMOD; /*< horizontal protection range in nm */
105 float ALIM; /*< vertical protection range in ft */
110 double maxAltitude; /*< max altitude for this sensitivity level */
111 int sl; /*< sensitivity level */
112 Thresholds TA; /*< thresholds for TA-level threats */
113 Thresholds RA; /*< thresholds for RA-level threats */
124 float relativeAltitudeFt;
136 } LocalInfo; /*< info structure for local aircraft */
138 // /////////////////////////////////////////////////////////////////////////////
139 // // TCAS::Timer //////////////////////////////////////////////////////////////
140 // /////////////////////////////////////////////////////////////////////////////
144 // double start_time;
150 // : running(false) {}
152 // inline void start () { running = true; start_time = globals->get_sim_time_sec(); }
153 // inline void stop () { running = false; }
154 // inline double elapsed () const { assert(running); return globals->get_sim_time_sec() - start_time; }
155 // inline double start_or_elapsed ()
167 /////////////////////////////////////////////////////////////////////////////
168 // TCAS::PropertiesHandler ///////////////////////////////////////////////
169 /////////////////////////////////////////////////////////////////////////////
171 class PropertiesHandler : public FGVoicePlayer::PropertiesHandler
176 PropertiesHandler (TCAS *device) :
177 FGVoicePlayer::PropertiesHandler(), tcas(device) {}
179 PropertiesHandler (void) : FGVoicePlayer::PropertiesHandler() {}
182 /////////////////////////////////////////////////////////////////////////////
183 // TCAS::VoicePlayer ////////////////////////////////////////////////////////
184 /////////////////////////////////////////////////////////////////////////////
190 VoicePlayer (TCAS* tcas) :
191 FGVoicePlayer(&tcas->properties_handler, "tcas") {}
193 ~VoicePlayer (void) {}
199 Voice* pTrafficTraffic;
202 Voice* pClimbCrossing;
203 Voice* pClimbIncrease;
206 Voice* pDescendCrossing;
207 Voice* pDescendIncrease;
209 Voice* pAdjustVSpeed;
211 Voice* pMonitorVSpeed;
217 SGPropertyNode_ptr nodeSoundFilePrefix;
220 /////////////////////////////////////////////////////////////////////////////
221 // TCAS::Annunciator ////////////////////////////////////////////////////////
222 /////////////////////////////////////////////////////////////////////////////
227 Annunciator (TCAS* tcas);
228 ~Annunciator (void) {}
229 void bind (SGPropertyNode* node);
233 void trigger (const ResolutionAdvisory& newAdvisory, bool revertedRA);
234 void test (bool testOk);
236 bool isPlaying (void) { return voicePlayer.is_playing();}
239 ResolutionAdvisory previous;
240 FGVoicePlayer::Voice* pLastVoice;
241 VoicePlayer voicePlayer;
242 SGPropertyNode_ptr nodeGpwsAlertOn;
245 /////////////////////////////////////////////////////////////////////////////
246 // TCAS::AdvisoryCoordinator ////////////////////////////////////////////////
247 /////////////////////////////////////////////////////////////////////////////
249 class AdvisoryCoordinator
252 AdvisoryCoordinator (TCAS* _tcas);
253 ~AdvisoryCoordinator (void) {}
255 void bind (SGPropertyNode* node);
257 void update (int mode);
260 void add (const ResolutionAdvisory& newAdvisory);
265 ResolutionAdvisory current;
266 ResolutionAdvisory previous;
267 SGPropertyNode_ptr nodeTAWarning;
270 /////////////////////////////////////////////////////////////////////////////
271 // TCAS::AdvisoryGenerator //////////////////////////////////////////////////
272 /////////////////////////////////////////////////////////////////////////////
274 class AdvisoryGenerator
277 AdvisoryGenerator (TCAS* _tcas);
278 ~AdvisoryGenerator (void) {}
280 void init (const LocalInfo* _pSelf, const ThreatInfo* _pCurrentThreat);
282 void setAlarmThresholds (const SensitivityLevel* _pAlarmThresholds);
284 int resolution (int mode, int threatLevel, float distanceNm,
285 float altFt, float heading, float velocityKt);
288 float verticalSeparation (float newVerticalFps);
289 void determineRAsense (int& RASense, bool& isCrossing);
293 const LocalInfo* pSelf; /*< info structure for local aircraft */
294 const ThreatInfo* pCurrentThreat; /*< info structure on current intruder/threat */
295 const SensitivityLevel* pAlarmThresholds;
298 /////////////////////////////////////////////////////////////////////////////
299 // TCAS::ThreatDetector /////////////////////////////////////////////////////
300 /////////////////////////////////////////////////////////////////////////////
305 ThreatDetector (TCAS* _tcas);
306 ~ThreatDetector (void) {}
311 bool checkTransponder (const SGPropertyNode* pModel, float velocityKt);
312 int checkThreat (int mode, const SGPropertyNode* pModel);
313 void checkVerticalThreat (void);
314 void horizontalThreat (float bearing, float distanceNm, float heading,
317 void setAlt (float altFt) { self.altFt = altFt;}
318 float getAlt (void) { return self.altFt;}
319 float getVelocityKt (void) { return self.velocityKt;}
322 void unitTest (void);
325 static const SensitivityLevel sensitivityLevels[];
330 SGPropertyNode_ptr nodeLat;
331 SGPropertyNode_ptr nodeLon;
332 SGPropertyNode_ptr nodeAlt;
333 SGPropertyNode_ptr nodeHeading;
334 SGPropertyNode_ptr nodeVelocity;
335 SGPropertyNode_ptr nodeVerticalFps;
337 LocalInfo self; /*< info structure for local aircraft */
338 ThreatInfo currentThreat; /*< info structure on current intruder/threat */
339 const SensitivityLevel* pAlarmThresholds;
345 double nextUpdateTime;
348 SGPropertyNode_ptr nodeModeSwitch;
349 SGPropertyNode_ptr nodeServiceable;
350 SGPropertyNode_ptr nodeSelfTest;
351 SGPropertyNode_ptr nodeDebugTrigger;
352 SGPropertyNode_ptr nodeDebugRA;
353 SGPropertyNode_ptr nodeDebugThreat;
355 PropertiesHandler properties_handler;
356 ThreatDetector threatDetector;
357 AdvisoryCoordinator advisoryCoordinator;
358 AdvisoryGenerator advisoryGenerator;
359 Annunciator annunciator;
362 void selfTest (void);
365 TCAS (SGPropertyNode* node);
367 virtual void bind (void);
368 virtual void unbind (void);
369 virtual void init (void);
370 virtual void update (double dt);
374 # pragma warning( pop )
377 #endif // __INSTRUMENTS_TCAS_HXX