receive.ml -> server.ml, airprox.ml and aircraft.ml

Makefile

@@ -108,8 +108,6 @@ visu3d: lib
 wind:
 	cd $(WIND); $(MAKE)
 
-receive: tmtc
-	$(TMTC)/receive
 
 static_h :
 	PAPARAZZI_HOME=`pwd` PAPARAZZI_SRC=`pwd` make -f Makefile.gen
@@ -142,6 +140,7 @@ deb :
 	dpkg-buildpackage -rfakeroot
 
 clean:
+	rm -fr dox
 	find . -mindepth 2 -name Makefile -exec sh -c '$(MAKE) -C `dirname {}` $@' \; 
 	find . -name '*~' -exec rm -f {} \;
 

conf/control_panel.xml.example

@@ -20,7 +20,7 @@
   </section>
 
   <section name="programs">
-    <program name="receive" command="sw/ground_segment/tmtc/receive">
+    <program name="server" command="sw/ground_segment/tmtc/server">
       <arg flag="-b" variable="ivy_bus"/>
     </program>
     <program name="multimon" command="sw/ground_segment/multimon/multimon">
@@ -87,7 +87,7 @@
     <session name="Sim 1@Garmisch : 192.168.1">
       <variable name="ivy_bus" value="192.168.1:2010"/>
       <variable name="map" value="garmisch.xml"/>
-      <program name="receive"><arg flag="-n"/><arg flag="-http"/></program>
+      <program name="server"><arg flag="-n"/><arg flag="-http"/></program>
       <program name="http server"/>     
       <program name="sim"><arg flag="-a" constant="Twin1"/></program>
       <program name="cockpit"><arg flag="-render" constant="0"/></program>
@@ -98,7 +98,7 @@
 
     <session name="Sim 2@Garmisch">
       <variable name="map" value="garmisch.xml"/>
-      <program name="receive"/>     
+      <program name="server"/>     
       <program name="gaia"/>
       <program name="sim"><arg flag="-a" constant="Twin1"/></program>
       <program name="sim"><arg flag="-a" constant="Twin2"/></program>
@@ -116,7 +116,7 @@
 
   <session name="Replay MAV05">
       <variable name="map" value="garmisch.xml"/>
-      <program name="receive"><arg flag="-n"/></program>
+      <program name="server"><arg flag="-n"/></program>
       <program name="cockpit"></program>
       <program name="map 2d ml"/>
       <program name="play"/>
@@ -129,7 +129,7 @@
       <program name="multimon"><arg flag="-p" constant="/tmp/multimon"/></program>
       <program name="modem"><arg flag="-d" constant="/tmp/multimon"/></program>
       <program name="modem"><arg flag="-d" constant="/dev/ttyUSB0"/></program>
-      <program name="receive"/>     
+      <program name="server"/>     
       <program name="messages"><arg flag="-c" constant="telemetry_ap:*"/><arg flag="-c" constant="ground"/></program>
       <program name="cockpit"/>
       <program name="map 2d ml"/>

conf/control_panel.xml.sys

@@ -1,84 +0,0 @@
-<?xml version="1.0"?>
-
-<control_panel name="paparazzi control panel">
-
-  <section name="hosts">
-    <host name="localhost" ip="127.0.0.1"/>
-  </section>
-
-  <section name="variables">
-    <variable name="downlink_serial_port" value="/dev/ttyUSB0"/>
-    <variable name="fbw_serial_port"      value="/dev/ttyS1"/>
-    <variable name="ap_serial_port"       value="/dev/ttyS0"/>
-    <variable name="ivy_bus"              value="127.25.255.255:2009"/>
-    <variable name="map"                  value="maps/muret_UTM.xml"/>
-    <variable name="flight_plan"          value="flight_plans/muret1.xml"/>
-  </section>
-
-  <section name="programs">
-    <program name="receive" command="/usr/share/paparazzi/bin/receive.opt">
-      <arg flag="-b " variable="ivy_bus"/>
-    </program>
-    <program name="cockpit" command="/usr/share/paparazzi/bin/cockpit.pl">
-      <arg flag="-b " variable="ivy_bus"/>
-    </program>
-    <program name="map 2d" command="/usr/share/paparazzi/bin/map.pl">
-      <arg flag="-b " variable="ivy_bus"/>
-      <arg flag="-m " variable="map"/>
-      <arg flag="-f " variable="flight_plan"/>
-    </program>
-    <program name="map 2d ml" command="/usr/share/paparazzi/bin/map2d.opt">
-      <arg flag="-b " variable="ivy_bus"/>
-<!--      <arg flag="-m" variable="map"/> -->
-    </program>
-    <program name="map 3d" command="/usr/share/paparazzi/bin/mapGL.opt">
-      <arg flag="-b " variable="ivy_bus"/>
-      <arg flag="-m " variable="map"/>
-      <arg flag="-f " variable="flight_plan"/>
-    </program>
-    <program name="messages" command="/usr/share/paparazzi/bi/messages.opt">
-      <arg flag="-b " variable="ivy_bus"/>
-    </program>
-    <program name="speech" command="/usr/share/paparazzi/bin/paparazzi_speak.pl">
-      <arg flag="-b " variable="ivy_bus"/>
-      <arg flag="-t " variable="paparazzi_home"/>
-    </program>
-    <program name="wind" command ="/usr/share/paparazzi/bin/wind"/>
-    <program name="plot" command ="/usr/share/paparazzi/bin/plot.pl"/>
-    <program name="play" command="/usr/share/paparazzi/bin/play.opt">
-      <arg flag="-b " variable="ivy_bus"/>
-    </program>
-    <program name="sim" command="/usr/share/paparazzi/bin/simsitl.pl">
-      <arg flag="-b " variable="ivy_bus"/>
-      <arg flag="-a " constant="Thon1"/>
-    </program>
-    <program name="hitl" command="/usr/share/paparazzi/bin/simhitl.out">
-      <arg flag="-fbw " variable="fbw_serial_port"/>
-      <arg flag="-ap " variable="ap_serial_port"/>
-    </program>
-    <program name="configurator" command="/usr/share/paparazzi/bin/configurator"/>
-    <program name="medit" command="/usr/share/paparazzi/bin/medit.out"/>
-  </section>
-
-  <section name="sessions">
-
-    <session name="soft sim 2">
-      <variable name="ivy_bus" value="127.25.255.255:3333"/>
-      <program name="receive"/>
-      <program name="sim"><arg flag="-a" constant="Thon1"/></program>
-      <program name="sim"><arg flag="-a" constant="Thon2"/></program>
-      <program name="cockpit"/>
-      <program name="map 2d"/>
-      <program name="map 3d"/>
-    </session>
-
-    <session name="flight">
-      <program name="receive"/>
-      <program name="cockpit"/>
-      <program name="mission"/>
-      <program name="map2d"/>
-    </session>
-
-  </section>
-
-</control_panel>

sw/ground_segment/tmtc/Makefile

@@ -24,11 +24,11 @@ include ../../../conf/Makefile.local
 CONF = ../../../conf
 VAR = ../../../var
 
-all: hw_modem_listen receive messages wavecard $(VAR)/boa.conf
+all: hw_modem_listen server messages wavecard $(VAR)/boa.conf
 # stereo_demod
 
 clean:
-	rm -f hw_modem_listen wavecard_connect receive messages *.bak *~ core *.o .depend *.opt *.out *.cm*
+	rm -f hw_modem_listen wavecard_connect server messages *.bak *~ core *.o .depend *.opt *.out *.cm*
 
 OCAMLC = ocamlc
 OCAMLOPT = ocamlopt
@@ -64,10 +64,10 @@ stereo_demod : ../multimon/multimon.cma stereo_demod.ml ../../lib/ocaml/lib-pprz
 	@echo 'exec lablgtk2 -I $$PAPARAZZI_SRC/sw/lib/ocaml -I $$PAPARAZZI_SRC/sw/ground_segment/multimon glibivy-ocaml.cma lib-pprz.cma -I $$PAPARAZZI_SRC/sw/ground_segment/tmtc $$PAPARAZZI_SRC/sw/ground_segment/multimon/multimon.cma $$PAPARAZZI_SRC/sw/ground_segment/tmtc/stereo_demod.ml $$*' >> $@
 	@chmod a+x $@
 
-receive : wind.cmo receive.ml ../../lib/ocaml/lib-pprz.cma
+server : aircraft.cmo wind.cmo airprox.cmo server.ml ../../lib/ocaml/lib-pprz.cma
 	$(OCAMLC) $(INCLUDES) -o $@.out lablgtk.cma glibivy-ocaml.cma lib-pprz.cma $^
 	@cat ../../../pprz_src_test.sh > $@
-	@echo 'exec lablgtk2 -I $$PAPARAZZI_SRC/sw/lib/ocaml glibivy-ocaml.cma lib-pprz.cma -I $$PAPARAZZI_SRC/sw/ground_segment/tmtc $$PAPARAZZI_SRC/sw/ground_segment/tmtc/wind.cmo $$PAPARAZZI_SRC/sw/ground_segment/tmtc/receive.ml $$*' >> $@
+	@echo 'exec lablgtk2 -I $$PAPARAZZI_SRC/sw/lib/ocaml glibivy-ocaml.cma lib-pprz.cma -I $$PAPARAZZI_SRC/sw/ground_segment/tmtc $$PAPARAZZI_SRC/sw/ground_segment/tmtc/aircraft.cmo $$PAPARAZZI_SRC/sw/ground_segment/tmtc/wind.cmo $$PAPARAZZI_SRC/sw/ground_segment/tmtc/airprox.cmo $$PAPARAZZI_SRC/sw/ground_segment/tmtc/server.ml $$*' >> $@
 	@chmod a+x $@
 
 wavecard : wavecard_connect.ml ../../lib/ocaml/lib-pprz.cma
@@ -85,7 +85,8 @@ modem.cmo : modem.cmi
 %.cmi : %.mli
 	$(OCAMLC) $(INCLUDES) $<
 
-
+aircraft.cmo : aircraft.cmi
+airprox.cmo : airprox.cmi
 
 wavecard_c : wavecard_c.c wavecard_utils_c.c wavecard_foo_c.c
 	gcc -Wall -o $@ $^ `pkg-config --cflags glib-2.0` `pkg-config --libs glib-2.0`

sw/ground_segment/tmtc/aircraft.ml

@@ -0,0 +1,113 @@
+(*
+ * $Id$
+ *
+ * Copyright (C) ENAC
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
+type ac_cam = {
+    mutable phi : float; (* Rad, right = >0 *)
+    mutable theta : float; (* Rad, front = >0 *)
+  }
+
+type inflight_calib = {
+    mutable if_mode : int; (* DOWN|OFF|UP *)
+    mutable if_val1 : float;
+    mutable if_val2 : float
+  }
+
+type contrast_status = string (** DEFAULT|WAITING|SET *)
+type infrared = {
+    mutable gps_hybrid_mode : int;
+    mutable gps_hybrid_factor : float;
+    mutable contrast_status : contrast_status;
+    mutable contrast_value : int
+  }
+
+type rc_status = string (** OK, LOST, REALLY_LOST *)
+type rc_mode = string (** MANUAL, AUTO, FAILSAFE *)
+type fbw = {
+    mutable rc_status : rc_status;
+    mutable rc_mode : rc_mode;
+  }
+
+let gps_nb_channels = 16
+type svinfo = {  
+    svid : int;
+    flags : int;
+    qi : int;
+    cno : int;
+    elev : int;
+    azim : int
+  }
+
+let svinfo_init = {  
+    svid = 0 ;
+    flags = 0;
+    qi = 0;
+    cno = 0;
+    elev = 0;
+    azim = 0;
+  }
+
+type horiz_mode = 
+    Circle of Latlong.utm * int
+  | Segment of Latlong.utm * Latlong.utm
+  | UnknownHorizMode
+
+type aircraft = { 
+    id : string;
+    mutable pos : Latlong.utm;
+    mutable roll    : float;
+    mutable pitch   : float;
+    mutable nav_ref    : Latlong.utm;
+    mutable desired_east    : float;
+    mutable desired_north    : float;
+    mutable desired_altitude    : float;
+    mutable desired_course : float;
+    mutable desired_climb : float;
+    mutable gspeed  : float;
+    mutable course  : float;
+    mutable alt     : float;
+    mutable climb   : float;
+    mutable cur_block : int;
+    mutable cur_stage : int;
+    mutable throttle : float;
+    mutable throttle_accu : float;
+    mutable rpm  : float;
+    mutable temp : float;
+    mutable bat  : float;
+    mutable amp : float;
+    mutable energy  : int;
+    mutable ap_mode : int;
+    mutable gaz_mode : int;
+    mutable lateral_mode : int;
+    mutable horizontal_mode : int;
+    cam : ac_cam;
+    mutable gps_mode : int;
+    inflight_calib : inflight_calib;
+    infrared : infrared;
+    fbw : fbw;
+    svinfo : svinfo array;
+    mutable flight_time : int;
+    mutable stage_time : int;
+    mutable block_time : int;
+    mutable horiz_mode : horiz_mode
+  }

sw/ground_segment/tmtc/aircraft.mli

@@ -0,0 +1,95 @@
+(*
+ * $Id$
+ *
+ * Copyright (C) ENAC
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
+(** State of an A/C handled by the server *)
+
+type ac_cam = { mutable phi : float; mutable theta : float; }
+type inflight_calib = {
+  mutable if_mode : int;
+  mutable if_val1 : float;
+  mutable if_val2 : float;
+}
+type contrast_status = string
+type infrared = {
+  mutable gps_hybrid_mode : int;
+  mutable gps_hybrid_factor : float;
+  mutable contrast_status : contrast_status;
+  mutable contrast_value : int;
+}
+type rc_status = string
+type rc_mode = string
+type fbw = { mutable rc_status : rc_status; mutable rc_mode : rc_mode; }
+val gps_nb_channels : int
+type svinfo = {
+  svid : int;
+  flags : int;
+  qi : int;
+  cno : int;
+  elev : int;
+  azim : int;
+}
+val svinfo_init : svinfo
+type horiz_mode =
+    Circle of Latlong.utm * int
+  | Segment of Latlong.utm * Latlong.utm
+  | UnknownHorizMode
+type aircraft = {
+  id : string;
+  mutable pos : Latlong.utm;
+  mutable roll : float;
+  mutable pitch : float;
+  mutable nav_ref : Latlong.utm;
+  mutable desired_east : float;
+  mutable desired_north : float;
+  mutable desired_altitude : float;
+  mutable desired_course : float;
+  mutable desired_climb : float;
+  mutable gspeed : float;
+  mutable course : float;
+  mutable alt : float;
+  mutable climb : float;
+  mutable cur_block : int;
+  mutable cur_stage : int;
+  mutable throttle : float;
+  mutable throttle_accu : float;
+  mutable rpm : float;
+  mutable temp : float;
+  mutable bat : float;
+  mutable amp : float;
+  mutable energy : int;
+  mutable ap_mode : int;
+  mutable gaz_mode : int;
+  mutable lateral_mode : int;
+  mutable horizontal_mode : int;
+  cam : ac_cam;
+  mutable gps_mode : int;
+  inflight_calib : inflight_calib;
+  infrared : infrared;
+  fbw : fbw;
+  svinfo : svinfo array;
+  mutable flight_time : int;
+  mutable stage_time : int;
+  mutable block_time : int;
+  mutable horiz_mode : horiz_mode;
+}

sw/ground_segment/tmtc/airprox.ml

@@ -0,0 +1,73 @@
+(*
+ * $Id$
+ *
+ * Air Proximity Alert Module
+ *  
+ * Copyright (C) ENAC, Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
+open Aircraft
+open Latlong
+
+module Alerts_Pprz = Pprz.Protocol(struct let name = "alert" end)
+
+(** computes distance between 2d points                                       *)
+let distance = fun (x1, y1) (x2, y2) ->
+  sqrt (((x1 -. x2) **2.) +. ((y1 -. y2)**2.))
+
+
+(** check if there is an airprox between aircraft1 and aircraft2              *)
+(** if the altitude difference is less than 10 meters                         *)
+(**    and if the horizontal distance is less than 100 meters (5s between     *)
+(**    2 aircraft at 10m/s                                                    *)
+let airprox = fun aircraft1 aircraft2 ->
+  let x1 = aircraft1.pos.utm_x and x2 = aircraft2.pos.utm_x and 
+      y1 = aircraft1.pos.utm_y and y2 = aircraft2.pos.utm_y and
+      z1 = aircraft1.alt and z2 = aircraft2.alt in
+  let alt_difference = abs_float (z1 -. z2) and
+      dist =  distance (x1, y1) (x2, y2) in
+ ((alt_difference < 10.0) && (dist < 100.0))
+
+(** return airprox level                                                      *)
+(** level is warning if the distance between both aircraft is increasing      *)
+(** level is crictical otherwise                                              *)
+let airprox_level = fun aircraft1 aircraft2 ->
+  let x1 = aircraft1.pos.utm_x and x2 = aircraft2.pos.utm_x and 
+      y1 = aircraft1.pos.utm_y and y2 = aircraft2.pos.utm_y in
+  let d0 = distance (x1, y1) (x2, y2) in 
+  let course1 = aircraft1.course and course2 = aircraft2.course and
+      speed1 = aircraft1.gspeed and speed2 = aircraft2.gspeed in
+  (** FIXME: must have the real angle and not a course *)
+  let halfpi = Latlong.pi /. 2. in
+  let vx1 = speed1 *. (cos (halfpi -. course1)) and 
+      vx2 = speed2 *. (cos (halfpi -. course2)) and
+      vy1 = speed1 *. (sin (halfpi -. course1)) and 
+      vy2 = speed2 *. (sin (halfpi -. course2)) in
+  let d1 = distance 
+      (x1+. vx1 *. 0.2, x2+. vx2 *. 0.2) 
+      (y1+. vy1 *. 0.2, y2+. vy2 *. 0.2) in
+  if d1 < d0 then "CRITICAL" else "WARNING"
+
+(** send a airprox alert on ivy if there is an airprox between ac_name1 and   *)
+(**    ac_name2                                                               *)
+type alert_level = string option
+let check_airprox = fun ac1 ac2 ->
+  if airprox ac1 ac2 then Some (airprox_level ac1 ac2) else None

sw/ground_segment/tmtc/airprox.mli

@@ -0,0 +1,29 @@
+(*
+ * $Id$
+ *
+ * Air Proximity Alert Module
+ *  
+ * Copyright (C) ENAC, Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
+type alert_level = string option
+val check_airprox : Aircraft.aircraft -> Aircraft.aircraft -> alert_level
+(** [check_airprox ac1 ac2] Returns airprox level *)

sw/ground_segment/tmtc/server.ml

@@ -29,6 +29,7 @@ let gps_mode_3D = 3
 
 open Printf
 open Latlong
+open Aircraft
 module U = Unix
 
 module Tele_Class = struct let name = "telemetry_ap" end
@@ -67,97 +68,7 @@ let check_index = fun i t where ->
     i
 
 let get_indexed_value = fun t i ->
-  if i >= 0 then t.(i) else "UNK"
-  
-type ac_cam = {
-    mutable phi : float; (* Rad, right = >0 *)
-    mutable theta : float; (* Rad, front = >0 *)
-  }
-
-type inflight_calib = {
-    mutable if_mode : int; (* DOWN|OFF|UP *)
-    mutable if_val1 : float;
-    mutable if_val2 : float
-  }
-
-type contrast_status = string (** DEFAULT|WAITING|SET *)
-type infrared = {
-    mutable gps_hybrid_mode : int;
-    mutable gps_hybrid_factor : float;
-    mutable contrast_status : contrast_status;
-    mutable contrast_value : int
-  }
-
-type rc_status = string (** OK, LOST, REALLY_LOST *)
-type rc_mode = string (** MANUAL, AUTO, FAILSAFE *)
-type fbw = {
-    mutable rc_status : rc_status;
-    mutable rc_mode : rc_mode;
-  }
-
-let gps_nb_channels = 16
-type svinfo = {  
-    svid : int;
-    flags : int;
-    qi : int;
-    cno : int;
-    elev : int;
-    azim : int
-  }
-
-let svinfo_init = {  
-    svid = 0 ;
-    flags = 0;
-    qi = 0;
-    cno = 0;
-    elev = 0;
-    azim = 0;
-  }
-
-type horiz_mode = 
-    Circle of utm * int
-  | Segment of utm * utm
-  | UnknownHorizMode
-
-type aircraft = { 
-    id : string;
-    mutable pos : Latlong.utm;
-    mutable roll    : float;
-    mutable pitch   : float;
-    mutable nav_ref    : Latlong.utm;
-    mutable desired_east    : float;
-    mutable desired_north    : float;
-    mutable desired_altitude    : float;
-    mutable desired_course : float;
-    mutable desired_climb : float;
-    mutable gspeed  : float;
-    mutable course  : float;
-    mutable alt     : float;
-    mutable climb   : float;
-    mutable cur_block : int;
-    mutable cur_stage : int;
-    mutable throttle : float;
-    mutable throttle_accu : float;
-    mutable rpm  : float;
-    mutable temp : float;
-    mutable bat  : float;
-    mutable amp : float;
-    mutable energy  : int;
-    mutable ap_mode : int;
-    mutable gaz_mode : int;
-    mutable lateral_mode : int;
-    mutable horizontal_mode : int;
-    cam : ac_cam;
-    mutable gps_mode : int;
-    inflight_calib : inflight_calib;
-    infrared : infrared;
-    fbw : fbw;
-    svinfo : svinfo array;
-    mutable flight_time : int;
-    mutable stage_time : int;
-    mutable block_time : int;
-    mutable horiz_mode : horiz_mode
-  }
+  if i >= 0 then t.(i) else "UNK"  
 
 (** The aircrafts store *)
 let aircrafts = Hashtbl.create 3
@@ -541,10 +452,35 @@ let wind_clear = fun _sender vs ->
 let periodic = fun period cb ->
   ignore (Glib.Timeout.add period (fun () -> cb (); true))
 
+(** add the periodic airprox check for the aircraft (name) on all aircraft     *)
+(**    already known                                                           *)
+let periodic_airprox_check = fun name ->
+  let thisac = Hashtbl.find aircrafts name in
+  let aircrafts2list = fun () ->
+    let list = ref [] in
+    Hashtbl.iter (fun name a -> list := name :: !list) aircrafts;
+    !list in
+  let ac_names = List.filter (fun a -> a <> name) (aircrafts2list ()) in
+  let list_ac = List.map (fun name -> Hashtbl.find aircrafts name) ac_names in
+
+  let check_airprox = fun ac ->
+    match Airprox.check_airprox thisac ac with
+      None -> ()
+    | Some level ->
+	let vs =
+	  ["ac_id", Pprz.String (thisac.id ^ "," ^ ac.id) ; "level", Pprz.String level; "value", Pprz.String ac.id] in
+	Alerts_Pprz.message_send my_id "AIR_PROX" vs in
+  
+  List.iter 
+    (fun ac ->
+      periodic aircraft_alerts_period (fun () -> check_airprox ac)
+    ) list_ac
+
 let register_aircraft = fun name a ->
   Hashtbl.add aircrafts name a;
   periodic aircraft_msg_period (fun () -> send_aircraft_msg name);
   periodic aircraft_alerts_period (fun () -> check_alerts a);
+  periodic_airprox_check name;
   periodic wind_msg_period (fun () -> send_wind a);
   Wind.new_ac name 1000;
   ignore(Ground_Pprz.message_bind "WIND_CLEAR" wind_clear)