Added programmatic DO-365B configuration (with and without SUM)

C++/examples/DaidalusAlerting.cpp

@@ -70,8 +70,8 @@ int main(int argc, char* argv[]) {
       conf = base_filename.substr(0,base_filename.find_last_of('.'));
       if (!daa.loadFromFile(arga)) {
         if (arga == "no_sum") {
-          // Configure DAIDALUS as in DO-365A, but without SUM
-          daa.set_DO_365A(true,false);
+          // Configure DAIDALUS as in DO-365B, without SUM
+          daa.set_DO_365B(true,false);
           conf = "no_sum";
         } else if (arga == "nom_a") {
           // Configure DAIDALUS to Nominal A: Buffered DWC, Kinematic Bands, Turn Rate 1.5 [deg/s]
@@ -129,8 +129,8 @@ int main(int argc, char* argv[]) {
   }
   if (daa.numberOfAlerters()==0) {
     // If no alerter has been configured, configure alerters as in
-    // DO_365A Phase I and Phase II
-    daa.set_DO_365A();
+    // DO_365B Phase I, Phase II, and Non-Cooperative, with SUM
+    daa.set_DO_365B();
   }
   if (params.size() > 0) {
     daa.setParameterData(params);

C++/examples/DaidalusBatch.cpp

@@ -168,12 +168,12 @@ int main(int argc, const char* argv[]) {
 	Daidalus daa;
 
 	if (config == "") {
-		// Configure alerters as in DO_365A Phase I and Phase II
-		daa.set_DO_365A();
+		// Configure alerters as in DO_365B Phase I, Phase II, and Non-Cooperative, with SUM
+		daa.set_DO_365B();
 	} else if (!daa.loadFromFile(config)) {
 		if (config == "no_sum") {
-			// Configure DAIDALUS as in DO-365A, but without SUM
-			daa.set_DO_365A(true,false);
+			// Configure DAIDALUS as in DO-365B, without SUM
+			daa.set_DO_365B(true,false);
 		} else if (config == "nom_a") {
 			// Configure DAIDALUS to Nominal A: Buffered DWC, Kinematic Bands, Turn Rate 1.5 [deg/s]
 			daa.set_Buffered_WC_DO_365(false);

C++/examples/DaidalusExample.cpp

@@ -305,8 +305,8 @@ int main(int argc, char* argv[]) {
       if (daa.loadFromFile(arga)) {
         std::cout << "Loading configuration file " << arga << std::endl;
       } else if (arga == "no_sum") {
-        // Configure DAIDALUS to Nominal A: Buffered DWC, Kinematic Bands, Turn Rate 1.5 [deg/s]
-        daa.set_DO_365A(true,false);
+        // Configure DAIDALUS as in DO-365B, without SUM
+        daa.set_DO_365B(true,false);
       } else if (arga == "nom_a") {
         // Configure DAIDALUS to Nominal A: Buffered DWC, Kinematic Bands, Turn Rate 1.5 [deg/s]
         daa.set_Buffered_WC_DO_365(false);
@@ -339,8 +339,8 @@ int main(int argc, char* argv[]) {
 
   if (daa.numberOfAlerters()==0) {
     // If no alerter has been configured, configure alerters as in
-    // DO_365A Phase I and Phase II
-    daa.set_DO_365A();
+    // DO_365B Phase I, Phase II, and Non-Cooperative, with SUM
+    daa.set_DO_365B();
   }
 
   double t = 0.0;

C++/include/Alerter.h

@@ -108,6 +108,35 @@ class Alerter : ParameterAcceptor {
    */
   static const Alerter& DWC_Phase_II();
 
+  /**
+   * @return DO-365B HAZ preventive thresholds Non-Cooperative, i.e., DTHR=2200ft, ZTHR=450ft,
+   * TTHR=0s, TCOA=0, alerting time = 55s, early alerting time = 110s,
+   * bands region = NONE
+   */
+  static const AlertThresholds& DO_365_Non_Coop_HAZ_preventive();
+
+  /**
+   * @return DO-365B HAZ corrective thresholds Non-Cooperative, i.e., DTHR=2200ft, ZTHR=450ft,
+   * TTHR=0s, TCOA=0, alerting time = 55s, early alerting time = 110s,
+   * bands region = MID
+   */
+  static const AlertThresholds& DO_365_Non_Coop_HAZ_corrective();
+
+  /**
+   * @return DO-365B HAZ warning thresholds Non-Cooperative, i.e., DTHR=2200ft, ZTHR=450ft,
+   * TTHR=0s, TCOA=0, alerting time = 25s, early alerting time = 90s,
+   * bands region = NEAR
+   */
+  static const AlertThresholds& DO_365_Non_Coop_HAZ_warning();
+
+  /**
+   * @return alerting thresholds as defined in RTCA DO-365B Non-Cooperative
+   * Maneuver guidance logic produces multilevel bands:
+   * MID: Corrective
+   * NEAR: Warning
+   */
+  static const Alerter& DWC_Non_Coop();
+
   /**
    * @return DO-365 HAZ preventive thresholds Phase I (en-route), i.e., DTHR=0.66nmi, ZTHR=700ft,
    * TTHR=35s, TCOA=0, alerting time = 50s, early alerting time = 75s,
@@ -166,6 +195,35 @@ class Alerter : ParameterAcceptor {
    */
   static const Alerter& DWC_Phase_II_SUM();
 
+  /**
+   * @return DO-365B HAZ preventive thresholds Non-Cooperative, i.e., DTHR=2200ft, ZTHR=450ft,
+   * TTHR=0s, TCOA=0, alerting time = 50s, early alerting time = 110s,
+   * bands region = NONE, with SUM
+   */
+  static const AlertThresholds& DO_365_Non_Coop_HAZ_preventive_SUM();
+
+  /**
+   * @return DO-365B HAZ corrective thresholds Non-Cooperative, i.e., DTHR=2200ft, ZTHR=450ft,
+   * TTHR=0s, TCOA=0, alerting time = 50s, early alerting time = 110s,
+   * bands region = MID, with SUM
+   */
+  static const AlertThresholds& DO_365_Non_Coop_HAZ_corrective_SUM();
+
+  /**
+   * @return DO-365B HAZ warning thresholds Non-Cooperative, i.e., DTHR=2200ft, ZTHR=450ft,
+   * TTHR=0s, TCOA=0, alerting time = 20s, early alerting time = 90s,
+   * bands region = NEAR, with SUM
+   */
+  static const AlertThresholds& DO_365_Non_Coop_HAZ_warning_SUM();
+
+  /**
+   * @return alerting thresholds as defined in RTCA DO-365B Non-Cooperative, with SUM
+   * Maneuver guidance logic produces multilevel bands:
+   * MID: Corrective
+   * NEAR: Warning
+   */
+  static const Alerter& DWC_Non_Coop_SUM();
+
   /**
    * @return buffered HAZ preventive thresholds, i.e., DTHR=1nmi, ZTHR=750ft,
    * TTHR=35s, TCOA=20s, alerting time = 60s, early alerting time = 75s,

C++/include/Daidalus.h

@@ -109,7 +109,7 @@ class Daidalus : public GenericStateBands, public ErrorReporter {
   /**
    * Construct an empty Daidalus object.
    * NOTE: This object doesn't have any alert configured. Alerters can be
-   * configured either programmatically, set_DO_365A(true,true) or
+   * configured either programmatically, set_DO_365B() or
    * via a configuration file with the method loadFromFile(configurationfile)
    **/
   Daidalus();
@@ -141,6 +141,17 @@ class Daidalus : public GenericStateBands, public ErrorReporter {
    */
   void set_DO_365A(bool type=true, bool sum=true);
 
+  /*
+   * Set Daidalus object such that
+   * - Configure two alerters (Phase I, Phase II, and Non-Cooperative) as defined as in RTCA DO-365B
+   * - Maneuver guidance logic assumes kinematic maneuvers
+   * - Turn rate is set to 3 deg/s, when type is true, and to  1.5 deg/s
+   *   when type is false.
+   * - Configure Sensor Uncertainty Migitation (SUM) when sum is true
+   * - Bands don't saturate until NMAC
+   */
+  void set_DO_365B(bool type=true, bool sum=true);
+
   /*
    * Set DAIDALUS object such that
    * - Alerting thresholds are buffered

C++/include/WCVTable.h

@@ -58,11 +58,17 @@ class WCVTable : public ParameterTable {
   static const WCVTable& DO_365_DWC_Phase_I();
 
   /**
-   * @return DO-365 Well-Clear thresholds Phase II (DTA), i.e., DTHR=0.66nmi, ZTHR=450ft,
-   * TTHR=35s, TCOA=0.
+   * @return DO-365 Well-Clear thresholds Phase II (DTA), i.e., DTHR=1500ft, ZTHR=450ft,
+   * TTHR=0, TCOA=0.
    */
   static const WCVTable& DO_365_DWC_Phase_II();
 
+  /**
+   * @return DO-365 Well-Clear thresholds Non-Cooperative, i.e., DTHR=2200ft, ZTHR=450ft,
+   * TTHR=0, TCOA=0.
+   */
+  static const WCVTable& DO_365_DWC_Non_Coop();
+
   /**
    * @return buffered preventive thresholds Phase I (en-route), i.e., DTHR=1.0nmi, ZTHR=750ft,
    * TTHR=35s, TCOA=20.

C++/include/WCV_TAUMOD.h

@@ -50,6 +50,12 @@ class WCV_TAUMOD : public WCV_tvar {
    */
   static const WCV_TAUMOD& DO_365_DWC_Phase_II();
 
+  /**
+   * @return DO-365 Well-Clear thresholds Non-Cooperative, i.e., DTHR=2200 [ft], ZTHR=450ft,
+   * TTHR=0s, TCOA=0.
+   */
+  static const WCV_TAUMOD& DO_365_DWC_Non_Coop();
+
   /**
    * @return buffered preventive thresholds Phase I (en-route), i.e., DTHR=1nmi, ZTHR=750ft,
    * TTHR=35s, TCOA=20.

C++/include/WCV_TAUMOD_SUM.h

@@ -48,6 +48,12 @@ class WCV_TAUMOD_SUM : public WCV_TAUMOD {
    */
   static const WCV_TAUMOD_SUM& DO_365_DWC_Phase_II();
 
+  /**
+   * @return DO-365 Well-Clear thresholds Non-Cooperative, i.e., DTHR=2200 [ft], ZTHR=450ft,
+   * TTHR=0s, TCOA=0.
+   */
+  static const WCV_TAUMOD_SUM& DO_365_DWC_Non_Coop();
+
   virtual ConflictData conflictDetectionWithTrafficState(const TrafficState& ownship, const TrafficState& intruder,
       double B, double T) const;
 

C++/src/Alerter.cpp

@@ -141,6 +141,98 @@ const Alerter& Alerter::DWC_Phase_II() {
   return alerter;
 }
 
+/**
+ * @return DO-365B HAZ preventive thresholds Non-Cooperative, i.e., DTHR=2200ft, ZTHR=450ft,
+ * TTHR=0s, TCOA=0, alerting time = 55s, early alerting time = 110s,
+ * bands region = NONE
+ */
+const AlertThresholds& Alerter::DO_365_Non_Coop_HAZ_preventive() {
+  static AlertThresholds preventive(&WCV_TAUMOD::DO_365_DWC_Non_Coop(),55,110,BandsRegion::NONE);
+  return preventive;
+}
+
+/**
+ * @return DO-365B HAZ corrective thresholds Non-Cooperative, i.e., DTHR=2200ft, ZTHR=450ft,
+ * TTHR=0s, TCOA=0, alerting time = 55s, early alerting time = 110s,
+ * bands region = MID
+ */
+const AlertThresholds& Alerter::DO_365_Non_Coop_HAZ_corrective() {
+  static AlertThresholds preventive(&WCV_TAUMOD::DO_365_DWC_Non_Coop(),55,110,BandsRegion::MID);
+  return preventive;
+}
+
+/**
+ * @return DO-365B HAZ warning thresholds Non-Cooperative, i.e., DTHR=2200ft, ZTHR=450ft,
+ * TTHR=0s, TCOA=0, alerting time = 25s, early alerting time = 90s,
+ * bands region = NEAR
+ */
+const AlertThresholds& Alerter::DO_365_Non_Coop_HAZ_warning() {
+  static AlertThresholds warning(&WCV_TAUMOD::DO_365_DWC_Non_Coop(),25,90,BandsRegion::NEAR);
+  return warning;
+}
+
+/**
+ * @return alerting thresholds as defined in RTCA DO-365B Non-Cooperative
+ * Maneuver guidance logic produces multilevel bands:
+ * MID: Corrective
+ * NEAR: Warning
+ */
+const Alerter& Alerter::DWC_Non_Coop() {
+  static Alerter alerter("DWC_Non_Coop");
+  if (!alerter.isValid()) {
+    alerter.addLevel(DO_365_Non_Coop_HAZ_preventive());
+    alerter.addLevel(DO_365_Non_Coop_HAZ_corrective());
+    alerter.addLevel(DO_365_Non_Coop_HAZ_warning());
+  }
+  return alerter;
+}
+
+/**
+ * @return DO-365B HAZ preventive thresholds Non-Cooperative, i.e., DTHR=2200ft, ZTHR=450ft,
+ * TTHR=0s, TCOA=0, alerting time = 50s, early alerting time = 110s,
+ * bands region = NONE, with SUM
+ */
+const AlertThresholds& Alerter::DO_365_Non_Coop_HAZ_preventive_SUM() {
+  static AlertThresholds preventive(&WCV_TAUMOD_SUM::DO_365_DWC_Non_Coop(),50,110,BandsRegion::NONE);
+  return preventive;
+}
+
+/**
+ * @return DO-365B HAZ corrective thresholds Non-Cooperative, i.e., DTHR=2200ft, ZTHR=450ft,
+ * TTHR=0s, TCOA=0, alerting time = 50s, early alerting time = 110s,
+ * bands region = MID, with SUM
+ */
+const AlertThresholds& Alerter::DO_365_Non_Coop_HAZ_corrective_SUM() {
+  static AlertThresholds preventive(&WCV_TAUMOD_SUM::DO_365_DWC_Non_Coop(),50,110,BandsRegion::MID);
+  return preventive;
+}
+
+/**
+ * @return DO-365B HAZ warning thresholds Non-Cooperative, i.e., DTHR=2200ft, ZTHR=450ft,
+ * TTHR=0s, TCOA=0, alerting time = 20s, early alerting time = 90s,
+ * bands region = NEAR, with SUM
+ */
+const AlertThresholds& Alerter::DO_365_Non_Coop_HAZ_warning_SUM() {
+  static AlertThresholds warning(&WCV_TAUMOD_SUM::DO_365_DWC_Non_Coop(),20,90,BandsRegion::NEAR);
+  return warning;
+}
+
+/**
+ * @return alerting thresholds as defined in RTCA DO-365B Non-Cooperative, with SUM
+ * Maneuver guidance logic produces multilevel bands:
+ * MID: Corrective
+ * NEAR: Warning
+ */
+const Alerter& Alerter::DWC_Non_Coop_SUM() {
+  static Alerter alerter("DWC_Non_Coop_SUM");
+  if (!alerter.isValid()) {
+    alerter.addLevel(DO_365_Non_Coop_HAZ_preventive_SUM());
+    alerter.addLevel(DO_365_Non_Coop_HAZ_corrective_SUM());
+    alerter.addLevel(DO_365_Non_Coop_HAZ_warning_SUM());
+  }
+  return alerter;
+}
+
 /**
  * @return DO-365 HAZ preventive thresholds Phase I (en-route), i.e., DTHR=0.66nmi, ZTHR=700ft,
  * TTHR=35s, TCOA=0, alerting time = 50s, early alerting time = 75s,

C++/src/Daidalus.cpp

@@ -87,7 +87,7 @@ namespace larcfm {
 /**
  * Construct an empty Daidalus object.
  * NOTE: This object doesn't have any alert configured. Alerters can be
- * configured either programmatically, set_DO_365A(true,true) or
+ * configured either programmatically, set_DO_365B() or
  * via a configuration file with the method loadFromFile(configurationfile)
  **/
 Daidalus::Daidalus() : error("Daidalus") {}
@@ -153,6 +153,24 @@ void Daidalus::set_DO_365A(bool type, bool sum) {
   setDTAAlerter(2);
 }
 
+/*
+ * Set Daidalus object such that
+ * - Configure two alerters (Phase I, Phase II, and Non-Cooperative) as defined as in RTCA DO-365B
+ * - Maneuver guidance logic assumes kinematic maneuvers
+ * - Turn rate is set to 3 deg/s, when type is true, and to  1.5 deg/s
+ *   when type is false.
+ * - Configure Sensor Uncertainty Migitation (SUM) when sum is true
+ * - Bands don't saturate until NMAC
+ */
+void Daidalus::set_DO_365B(bool type, bool sum) {
+  set_DO_365A(type,sum);
+  if (sum) {
+    addAlerter(Alerter::DWC_Non_Coop_SUM());
+  } else {
+    addAlerter(Alerter::DWC_Non_Coop());
+  }
+}
+
 /*
  * Set DAIDALUS object such that
  * - Alerting thresholds are buffered

C++/src/WCVTable.cpp

@@ -70,14 +70,23 @@ const WCVTable& WCVTable::DO_365_DWC_Phase_I() {
 }
 
 /**
- * @return DO-365 Well-Clear thresholds Phase II (DTA), i.e., DTHR=0.66nmi, ZTHR=450ft,
- * TTHR=35s, TCOA=0.
+ * @return DO-365 Well-Clear thresholds Phase II (DTA), i.e., DTHR=1500ft, ZTHR=450ft,
+ * TTHR=0, TCOA=0.
  */
 const WCVTable& WCVTable::DO_365_DWC_Phase_II() {
   static WCVTable dwc(1500,"ft",450,"ft",0,"s",0,"s");
   return dwc;
 }
 
+/**
+ * @return DO-365 Well-Clear thresholds Non-Cooperative, i.e., DTHR=2200ft, ZTHR=450ft,
+ * TTHR=0, TCOA=0.
+ */
+const WCVTable& WCVTable::DO_365_DWC_Non_Coop() {
+  static WCVTable dwc(2200,"ft",450,"ft",0,"s",0,"s");
+  return dwc;
+}
+
 /**
  * @return buffered preventive thresholds Phase I (en-route), i.e., DTHR=1.0nmi, ZTHR=750ft,
  * TTHR=35s, TCOA=20.

C++/src/WCV_TAUMOD.cpp

@@ -67,6 +67,15 @@ const WCV_TAUMOD& WCV_TAUMOD::DO_365_DWC_Phase_II() {
   return dwc;
 }
 
+/**
+ * @return DO-365 Well-Clear thresholds Non-Cooperative, i.e., DTHR=2200 [ft], ZTHR=450ft,
+ * TTHR=0s, TCOA=0.
+ */
+const WCV_TAUMOD& WCV_TAUMOD::DO_365_DWC_Non_Coop() {
+  static WCV_TAUMOD dwc(WCVTable::DO_365_DWC_Non_Coop());
+  return dwc;
+}
+
 /**
  * @return buffered preventive thresholds Phase I (en-route), i.e., DTHR=1nmi, ZTHR=750ft,
  * TTHR=35s, TCOA=20.

C++/src/WCV_TAUMOD_SUM.cpp

@@ -81,6 +81,15 @@ const WCV_TAUMOD_SUM& WCV_TAUMOD_SUM::DO_365_DWC_Phase_II() {
   return dwc;
 }
 
+/**
+ * @return DO-365 Well-Clear thresholds Non-Cooperative, i.e., DTHR=2200 [ft], ZTHR=450ft,
+ * TTHR=0s, TCOA=0.
+ */
+const WCV_TAUMOD_SUM& WCV_TAUMOD_SUM::DO_365_DWC_Non_Coop() {
+  static WCV_TAUMOD_SUM dwc(WCVTable::DO_365_DWC_Non_Coop());
+  return dwc;
+}
+
 void WCV_TAUMOD_SUM::copyFrom(const WCV_TAUMOD_SUM& wcv) {
   if (&wcv != this) {
     id = wcv.id;