396 lines
13 KiB
C++
396 lines
13 KiB
C++
// tcas.hxx -- Traffic Alert and Collision Avoidance System (TCAS)
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//
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// Written by Thorsten Brehm, started December 2010.
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//
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// Copyright (C) 2010 Thorsten Brehm - brehmt (at) gmail com
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA.
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#ifndef __INSTRUMENTS_TCAS_HXX
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#define __INSTRUMENTS_TCAS_HXX
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#include <assert.h>
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#include <vector>
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#include <deque>
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#include <map>
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#include <simgear/props/props.hxx>
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#include <simgear/structure/subsystem_mgr.hxx>
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#include <Sound/voiceplayer.hxx>
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using std::vector;
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using std::deque;
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using std::map;
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class SGSampleGroup;
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#include <Main/globals.hxx>
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#ifdef _MSC_VER
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# pragma warning( push )
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# pragma warning( disable: 4355 )
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#endif
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///////////////////////////////////////////////////////////////////////////////
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// TCAS //////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////
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class TCAS : public SGSubsystem
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{
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typedef enum
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{
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AdvisoryClear = 0, /*< Clear of traffic */
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AdvisoryIntrusion = 1, /*< Intrusion flag */
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AdvisoryClimb = AdvisoryIntrusion|(1 << 1), /*< RA climb */
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AdvisoryDescend = AdvisoryIntrusion|(1 << 2), /*< RA descend */
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AdvisoryAdjustVSpeed = AdvisoryIntrusion|(1 << 3), /*< RA adjust vertical speed (TCAS II 7.0 only) */
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AdvisoryMaintVSpeed = AdvisoryIntrusion|(1 << 4), /*< RA maintain vertical speed */
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AdvisoryMonitorVSpeed = AdvisoryIntrusion|(1 << 5), /*< RA monitor vertical speed */
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AdvisoryLevelOff = AdvisoryIntrusion|(1 << 6) /*< RA level off (TCAS II 7.1 only) */
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} EnumAdvisory;
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typedef enum
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{
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OptionNone = 0, /*< no option modifier */
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OptionIncreaseClimb = (1 << 0), /*< increase climb */
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OptionIncreaseDescend = (1 << 1), /*< increase descend */
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OptionCrossingClimb = (1 << 2), /*< crossing climb */
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OptionCrossingDescent = (1 << 3) /*< crossing descent */
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} EnumAdvisoryOption;
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typedef enum
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{
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SwitchOff = 0, /*< TCAS switched off */
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SwitchStandby = 1, /*< TCAS standby (no TA/RA) */
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SwitchTaOnly = 2, /*< TCAS in TA-only mode (no RA) */
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SwitchAuto = 3 /*< TCAS in TA/RA mode */
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} EnumModeSwitch;
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typedef enum
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{
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ThreatInvisible = -1,/*< Traffic is invisible to TCAS (i.e. no transponder) */
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ThreatNone = 0, /*< Traffic is visible but no threat. */
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ThreatProximity = 1, /*< Proximity intruder traffic (no threat). */
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ThreatTA = 2, /*< TA-level threat traffic. */
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ThreatRA = 3 /*< RA-level threat traffic. */
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} EnumThreatLevel;
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typedef struct
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{
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int threatLevel; /*< intruder threat level: 0=clear, 1=proximity,
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2=intruder, 3=proximity intruder */
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int RA; /*< resolution advisory */
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int RAOption; /*< option flags for advisory */
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} ResolutionAdvisory;
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typedef struct
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{
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float Tau; /*< vertical/horizontal protection range in seconds */
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float DMOD; /*< horizontal protection range in nm */
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float ALIM; /*< vertical protection range in ft */
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} Thresholds;
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typedef struct
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{
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double maxAltitude; /*< max altitude for this sensitivity level */
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int sl; /*< sensitivity level */
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Thresholds TA; /*< thresholds for TA-level threats */
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Thresholds RA; /*< thresholds for RA-level threats */
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} SensitivityLevel;
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typedef struct
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{
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std::string callsign;
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bool verticalTA;
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bool verticalRA;
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bool horizontalTA;
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bool horizontalRA;
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bool isTracked;
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float horizontalTau;
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float verticalTau;
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float relativeAltitudeFt;
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float verticalFps;
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int RASense;
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} ThreatInfo;
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typedef struct
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{
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int threatLevel;
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double TAtimestamp;
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double RAtimestamp;
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} TrackerTarget;
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typedef map<std::string,TrackerTarget*> TrackerTargets;
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typedef struct
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{
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double lat;
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double lon;
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float pressureAltFt;
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float radarAltFt;
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float heading;
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float velocityKt;
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float verticalFps;
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} LocalInfo; /*< info structure for local aircraft */
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/////////////////////////////////////////////////////////////////////////////
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// TCAS::PropertiesHandler ///////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////////////////
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class PropertiesHandler : public FGVoicePlayer::PropertiesHandler
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{
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public:
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PropertiesHandler (TCAS *) :
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FGVoicePlayer::PropertiesHandler() {}
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PropertiesHandler (void) : FGVoicePlayer::PropertiesHandler() {}
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};
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/////////////////////////////////////////////////////////////////////////////
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// TCAS::VoicePlayer ////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////////////////
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class VoicePlayer :
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public FGVoicePlayer
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{
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public:
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VoicePlayer (TCAS* tcas) :
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FGVoicePlayer(&tcas->properties_handler, "tcas") {}
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~VoicePlayer (void) {}
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void init (void);
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struct
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{
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Voice* pTrafficTraffic;
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Voice* pClimb;
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Voice* pClimbNow;
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Voice* pClimbCrossing;
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Voice* pClimbIncrease;
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Voice* pDescend;
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Voice* pDescendNow;
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Voice* pDescendCrossing;
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Voice* pDescendIncrease;
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Voice* pClear;
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Voice* pAdjustVSpeed;
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Voice* pMaintVSpeed;
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Voice* pMonitorVSpeed;
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Voice* pLevelOff;
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Voice* pTestOk;
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Voice* pTestFail;
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} Voices;
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private:
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SGPropertyNode_ptr nodeSoundFilePrefix;
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};
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/////////////////////////////////////////////////////////////////////////////
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// TCAS::Annunciator ////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////////////////
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class Annunciator
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{
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public:
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Annunciator (TCAS* tcas);
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~Annunciator (void) {}
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void bind (SGPropertyNode* node);
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void init (void);
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void update (void);
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void trigger (const ResolutionAdvisory& newAdvisory, bool revertedRA);
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void test (bool testOk);
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void clear (void);
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bool isPlaying (void) { return voicePlayer.is_playing();}
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private:
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TCAS* tcas;
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ResolutionAdvisory previous;
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FGVoicePlayer::Voice* pLastVoice;
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VoicePlayer voicePlayer;
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SGPropertyNode_ptr nodeGpwsAlertOn;
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};
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/////////////////////////////////////////////////////////////////////////////
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// TCAS::AdvisoryCoordinator ////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////////////////
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class AdvisoryCoordinator
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{
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public:
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AdvisoryCoordinator (TCAS* _tcas);
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~AdvisoryCoordinator (void) {}
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void bind (SGPropertyNode* node);
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void init (void);
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void reinit (void);
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void update (int mode);
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void clear (void);
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void add (const ResolutionAdvisory& newAdvisory);
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private:
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TCAS* tcas;
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double lastTATime;
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ResolutionAdvisory current;
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ResolutionAdvisory previous;
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SGPropertyNode_ptr nodeTAWarning;
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};
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/////////////////////////////////////////////////////////////////////////////
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// TCAS::Tracker ////////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////////////////
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class Tracker
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{
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public:
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Tracker (TCAS* _tcas);
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~Tracker (void) {}
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void update (void);
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void add (const std::string callsign, int detectedLevel);
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bool active (void) { return haveTargets;}
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bool newTraffic (void) { return newTargets;}
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bool isTracked (std::string callsign) { if (!haveTargets) return false;else return _isTracked(callsign);}
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bool _isTracked (std::string callsign);
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int getThreatLevel (std::string callsign);
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private:
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double currentTime;
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bool haveTargets;
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bool newTargets;
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TrackerTargets targets;
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};
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/////////////////////////////////////////////////////////////////////////////
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// TCAS::AdvisoryGenerator //////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////////////////
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class AdvisoryGenerator
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{
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public:
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AdvisoryGenerator (TCAS* _tcas);
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~AdvisoryGenerator (void) {}
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void init (const LocalInfo* _pSelf, ThreatInfo* _pCurrentThreat);
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void setAlarmThresholds (const SensitivityLevel* _pAlarmThresholds);
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int resolution (int mode, int threatLevel, float distanceNm,
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float altFt, float heading, float velocityKt);
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private:
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float verticalSeparation (float newVerticalFps);
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void determineRAsense (int& RASense, bool& isCrossing);
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private:
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TCAS* tcas;
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const LocalInfo* pSelf; /*< info structure for local aircraft */
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ThreatInfo* pCurrentThreat; /*< info structure on current intruder/threat */
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const SensitivityLevel* pAlarmThresholds;
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};
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/////////////////////////////////////////////////////////////////////////////
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// TCAS::ThreatDetector /////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////////////////
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class ThreatDetector
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{
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public:
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ThreatDetector (TCAS* _tcas);
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~ThreatDetector (void) {}
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void init (void);
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void update (void);
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bool checkTransponder (const SGPropertyNode* pModel, float velocityKt);
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int checkThreat (int mode, const SGPropertyNode* pModel);
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void checkVerticalThreat (void);
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void horizontalThreat (float bearing, float distanceNm, float heading,
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float velocityKt);
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void setPressureAlt (float altFt) { self.pressureAltFt = altFt;}
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float getPressureAlt (void) { return self.pressureAltFt;}
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void setRadarAlt (float altFt) { self.radarAltFt = altFt;}
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float getRadarAlt (void) { return self.radarAltFt;}
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float getVelocityKt (void) { return self.velocityKt;}
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int getRASense (void) { return currentThreat.RASense;}
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private:
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void unitTest (void);
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private:
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static const SensitivityLevel sensitivityLevels[];
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TCAS* tcas;
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#ifdef FEATURE_TCAS_DEBUG_THREAT_DETECTOR
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int checkCount;
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#endif // of FEATURE_TCAS_DEBUG_THREAT_DETECTOR
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SGPropertyNode_ptr nodeLat;
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SGPropertyNode_ptr nodeLon;
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SGPropertyNode_ptr nodePressureAlt;
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SGPropertyNode_ptr nodeRadarAlt;
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SGPropertyNode_ptr nodeHeading;
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SGPropertyNode_ptr nodeVelocity;
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SGPropertyNode_ptr nodeVerticalFps;
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LocalInfo self; /*< info structure for local aircraft */
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ThreatInfo currentThreat; /*< info structure on current intruder/threat */
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const SensitivityLevel* pAlarmThresholds;
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};
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private:
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std::string name;
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int num;
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double nextUpdateTime;
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int selfTestStep;
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SGPropertyNode_ptr nodeModeSwitch;
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SGPropertyNode_ptr nodeServiceable;
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SGPropertyNode_ptr nodeSelfTest;
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SGPropertyNode_ptr nodeDebugTrigger;
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SGPropertyNode_ptr nodeDebugRA;
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SGPropertyNode_ptr nodeDebugThreat;
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PropertiesHandler properties_handler;
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ThreatDetector threatDetector;
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Tracker tracker;
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AdvisoryCoordinator advisoryCoordinator;
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AdvisoryGenerator advisoryGenerator;
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Annunciator annunciator;
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private:
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void selfTest (void);
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public:
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TCAS (SGPropertyNode* node);
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virtual void bind (void);
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virtual void unbind (void);
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virtual void init (void);
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virtual void reinit (void);
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virtual void update (double dt);
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};
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#ifdef _MSC_VER
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# pragma warning( pop )
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#endif
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#endif // __INSTRUMENTS_TCAS_HXX
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