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class AirTrafficController is subclass of GLOBAL
instance variables
busy : bool := false;
radars : set of Radar := {};
obstacles : set of Obstacle := {};
history : map FOId to (seq of Position) := {|->};
operations
OverviewAllRadars: () ==> map FOId to FO
OverviewAllRadars() ==
return merge {r.getDetectedMap() | r in set radars};
private getDirectionVectors : FOId ==> seq of Vector
getDirectionVectors(id) ==
let hist = history(id),
p1 = hist(3),
p2 = hist(2),
p3 = hist(1)
in
return [mk_Vector(p1.coord.X - p2.coord.X,
p1.coord.Y - p2.coord.Y),
mk_Vector(p2.coord.X - p3.coord.X,
p2.coord.Y - p3.coord.Y)]
pre id in set dom history and len history(id) = 3;
public getAltitudeHistory : FOId ==> seq of nat
getAltitudeHistory(id) ==
let hist = history(id),
lastHist = hist(1,...,2)
in
return [lastHist(i).altitude | i in set inds lastHist]
pre id in set dom history and len history(id) = 3;
public updateHistory : () ==> ()
updateHistory() ==
(
cleanUpHistory();
for all r in set radars
do
(for all fo in set r.getDetected()
do
registerHistory(fo);
)
);
private registerHistory : FO ==> ()
registerHistory(fo) ==
(let id = fo.getId()
in
if id in set dom history
then history := history ++ {id |-> addHistory(history(id),
fo.getCoordinates(),
fo.getAltitude())}
else history := history munion {id |-> addHistory([],
fo.getCoordinates(),
fo.getAltitude())}
);
private cleanUpHistory : () ==> ()
cleanUpHistory() ==
(let alldetected = dunion {r.getDetected() | r in set radars},
allids = { fo.getId() | fo in set alldetected }
in
history := allids <: history
);
functions
private addHistory : History * Coordinates * Altitude -> History
addHistory(hist,coord,alt) ==
if len hist > 0
then
let lastValue = last(hist)
in
if lastValue = mk_Position(coord,alt)
then hist
else
if(len hist < 3)
then hist ^ [mk_Position(coord,alt)]
else tl hist ^ [mk_Position(coord,alt)]
else hist ^ [mk_Position(coord,alt)];
private last : History -> Position
last(hist) ==
hist(len hist)
pre len hist > 0;
operations
public addRadar : Radar ==> ()
addRadar(r) ==
radars := {r} union radars;
public addObstacle : Obstacle ==> ()
addObstacle(ob) ==
obstacles := {ob} union obstacles;
public findThreats : () ==> ()
findThreats() ==
let allFOs = dunion { r.getDetected() | r in set radars }
in
(for all fo in set allFOs
do
for all ob in set obstacles
do
if not isFOSafe(ob,fo.getPosition())
then writeObjectWarning(ob,fo)
else
if fo.getId() in set dom history and len history(fo.getId()) = 3
then willFObeSafe(ob,fo);
for all r in set radars
do
if r.saturatedRadar()
then writeRadarWarning(r)
);
public UpdatesPresent:() ==> ()
UpdatesPresent() ==
busy := true;
functions
public detectedByTwoRadars : set of Radar -> set of FO
detectedByTwoRadars(radars) ==
dunion {a.getDetected() inter b.getDetected()
| a,b in set radars & a <> b};
public detectedByAllRadars : set of Radar -> set of FO
detectedByAllRadars(radars) ==
dinter {r.getDetected() | r in set radars};
functions
isFOSafe : Obstacle * Position -> bool
isFOSafe(obs,pos) ==
let obsloc = obs.getCoordinates(),
secureRange = obs.getSecureRange(),
foloc = pos.coord
in
isPointInRange(obsloc,secureRange,foloc) =>
isFOatSafeAltitude(obs.getMSA(),pos);
isFOatSafeAltitude : MinimumSafetyAltitude * Position -> bool
isFOatSafeAltitude(msa,pos) ==
msa <> <NotAllowed> and msa < pos.altitude;
operations
willFObeSafe : Obstacle * FO ==> ()
willFObeSafe(obs,fo) ==
let pred = isPredictPossible(fo)
in
for all p in set pred
do
if not isFOSafe(obs,p)
then
let id = fo.getId(),
cs = fo.getCoordinates(),
alt = fo.getAltitude(),
type = <EstimationWarning>,
msa = obs.getMSA(),
t = time
in
(World`env.handleFOWarningEvent(id, cs, alt, type, msa, t);
return
)
pre fo.getId() in set dom history and len history(fo.getId()) = 3;
private writeObjectWarning : Obstacle * FO ==> ()
writeObjectWarning(obs,fo) ==
let id = fo.getId(),
cs = fo.getCoordinates(),
alt = fo.getAltitude(),
type = obs.getType(),
msa = obs.getMSA(),
t = time
in
World`env.handleFOWarningEvent(id, cs, alt, type, msa, t);
private writeRadarWarning : Radar ==> ()
writeRadarWarning(r) ==
let coord = r.getLocation(),
range = r.getRange(),
radWarn = <Saturated>,
num = card r.getDetected(),
t = time
in
World`env.handleRadarWarningEvent(coord,range,radWarn,num,t);
private isPredictPossible : FO ==> [set of Position]
isPredictPossible(fo)==
let hist = history(fo.getId())
in
if len hist < 3
then return nil
else return predictPosition(fo)
pre fo.getId() in set dom history ;
private predictPosition : FO ==> set of Position
predictPosition(fo) ==
let foid = fo.getId(),
vs = getDirectionVectors(foid),
estVec = vectorRotate(vs(1),signedVectorAngle(vs(2),vs(1))),
estAlt = predictAltitude(getAltitudeHistory(foid)),
estCoo = addVectorToPoint(estVec,history(foid)(3)),
estPos = mk_Position(estCoo,estAlt)
in
return calculateNeighborhood(estPos)
pre fo.getId() in set dom history and len history(fo.getId()) = 3;
functions
private calculateNeighborhood : Position -> set of Position
calculateNeighborhood(pos) ==
{pos,
mk_Position(addVectorToPoint(mk_Vector(2,0),pos),pos.altitude),
mk_Position(addVectorToPoint(mk_Vector(-2,0),pos),pos.altitude),
mk_Position(addVectorToPoint(mk_Vector(0,2),pos),pos.altitude),
mk_Position(addVectorToPoint(mk_Vector(0,-2),pos),pos.altitude)
};
private predictAltitude : seq of nat -> nat
predictAltitude(alts) ==
alts(1) + (alts(1) - alts(2))
pre len alts = 2;
operations
public isFinished : () ==> ()
isFinished() ==
for all r in set radars do
r.isFinished();
public Step : () ==> ()
Step() ==
( busy := true;
--for all r in set radars
--do
-- r.Scan(MSAW`airspace);
updateHistory();
findThreats();
busy := false
);
thread
periodic (1600E6,0,0,0) (Step)
sync
per isFinished => not busy;
end AirTrafficController
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