From 5c0d503e954ba4c4f2f225f769de3af0b6e293a3 Mon Sep 17 00:00:00 2001
From: Wanja Zaeske <wanja.zaeske@dlr.de>
Date: Tue, 15 Jun 2021 12:30:54 +0200
Subject: [PATCH 01/73] update Cargo.lock

---
 Cargo.lock | 298 ++++++++++++++++++++++++++---------------------------
 1 file changed, 144 insertions(+), 154 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 6d7d214..24bad0e 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -4,9 +4,9 @@ version = 3
 
 [[package]]
 name = "aho-corasick"
-version = "0.7.15"
+version = "0.7.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7404febffaa47dac81aa44dba71523c9d069b1bdc50a77db41195149e17f68e5"
+checksum = "1e37cfd5e7657ada45f742d6e99ca5788580b5c529dc78faf11ece6dc702656f"
 dependencies = [
  "memchr",
 ]
@@ -22,9 +22,9 @@ dependencies = [
 
 [[package]]
 name = "arbitrary"
-version = "1.0.0"
+version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "698b65a961a9d730fb45b6b0327e20207810c9f61ee421b082b27ba003f49e2b"
+checksum = "237430fd6ed3740afe94eefcc278ae21e050285be882804e0d6e8695f0c94691"
 dependencies = [
  "derive_arbitrary",
 ]
@@ -42,16 +42,16 @@ dependencies = [
 
 [[package]]
 name = "async-executor"
-version = "1.4.0"
+version = "1.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eb877970c7b440ead138f6321a3b5395d6061183af779340b65e20c0fede9146"
+checksum = "871f9bb5e0a22eeb7e8cf16641feb87c9dc67032ccf8ff49e772eb9941d3a965"
 dependencies = [
  "async-task",
  "concurrent-queue",
  "fastrand",
  "futures-lite",
  "once_cell",
- "vec-arena",
+ "slab",
 ]
 
 [[package]]
@@ -83,29 +83,29 @@ dependencies = [
 
 [[package]]
 name = "async-io"
-version = "1.3.1"
+version = "1.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9315f8f07556761c3e48fec2e6b276004acf426e6dc068b2c2251854d65ee0fd"
+checksum = "4bbfd5cf2794b1e908ea8457e6c45f8f8f1f6ec5f74617bf4662623f47503c3b"
 dependencies = [
  "concurrent-queue",
  "fastrand",
  "futures-lite",
  "libc",
  "log",
- "nb-connect",
  "once_cell",
  "parking",
  "polling",
- "vec-arena",
+ "slab",
+ "socket2",
  "waker-fn",
  "winapi",
 ]
 
 [[package]]
 name = "async-lock"
-version = "2.3.0"
+version = "2.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1996609732bde4a9988bc42125f55f2af5f3c36370e27c778d5191a4a1b63bfb"
+checksum = "e6a8ea61bf9947a1007c5cada31e647dbc77b103c679858150003ba697ea798b"
 dependencies = [
  "event-listener",
 ]
@@ -121,9 +121,9 @@ dependencies = [
 
 [[package]]
 name = "async-net"
-version = "1.5.0"
+version = "1.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "06de475c85affe184648202401d7622afb32f0f74e02192857d0201a16defbe5"
+checksum = "69b0a74e7f70af3c8cf1aa539edbd044795706659ac52b78a71dc1a205ecefdf"
 dependencies = [
  "async-io",
  "blocking",
@@ -133,15 +133,16 @@ dependencies = [
 
 [[package]]
 name = "async-process"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ef37b86e2fa961bae5a4d212708ea0154f904ce31d1a4a7f47e1bbc33a0c040b"
+checksum = "a8f38756dd9ac84671c428afbf7c9f7495feff9ec5b0710f17100098e5b354ac"
 dependencies = [
  "async-io",
  "blocking",
  "cfg-if",
  "event-listener",
  "futures-lite",
+ "libc",
  "once_cell",
  "signal-hook",
  "winapi",
@@ -176,9 +177,9 @@ dependencies = [
 
 [[package]]
 name = "async-stream"
-version = "0.3.0"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3670df70cbc01729f901f94c887814b3c68db038aad1329a418bae178bc5295c"
+checksum = "171374e7e3b2504e0e5236e3b59260560f9fe94bfe9ac39ba5e4e929c5590625"
 dependencies = [
  "async-stream-impl",
  "futures-core",
@@ -186,9 +187,9 @@ dependencies = [
 
 [[package]]
 name = "async-stream-impl"
-version = "0.3.0"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a3548b8efc9f8e8a5a0a2808c5bd8451a9031b9e5b879a79590304ae928b0a70"
+checksum = "648ed8c8d2ce5409ccd57453d9d1b214b342a0d69376a6feda1fd6cae3299308"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -203,9 +204,9 @@ checksum = "e91831deabf0d6d7ec49552e489aed63b7456a7a3c46cff62adad428110b0af0"
 
 [[package]]
 name = "async-trait"
-version = "0.1.49"
+version = "0.1.50"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "589652ce7ccb335d1e7ecb3be145425702b290dbcb7029bbeaae263fc1d87b48"
+checksum = "0b98e84bbb4cbcdd97da190ba0c58a1bb0de2c1fdf67d159e192ed766aeca722"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -286,18 +287,18 @@ dependencies = [
 
 [[package]]
 name = "bstr"
-version = "0.2.15"
+version = "0.2.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a40b47ad93e1a5404e6c18dec46b628214fee441c70f4ab5d6942142cc268a3d"
+checksum = "90682c8d613ad3373e66de8c6411e0ae2ab2571e879d2efbf73558cc66f21279"
 dependencies = [
  "memchr",
 ]
 
 [[package]]
 name = "bumpalo"
-version = "3.6.1"
+version = "3.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "63396b8a4b9de3f4fdfb320ab6080762242f66a8ef174c49d8e19b674db4cdbe"
+checksum = "9c59e7af012c713f529e7a3ee57ce9b31ddd858d4b512923602f74608b009631"
 
 [[package]]
 name = "byteorder"
@@ -328,9 +329,9 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.0.67"
+version = "1.0.68"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3c69b077ad434294d3ce9f1f6143a2a4b89a8a2d54ef813d85003a4fd1137fd"
+checksum = "4a72c244c1ff497a746a7e1fb3d14bd08420ecda70c8f25c7112f2781652d787"
 
 [[package]]
 name = "cfg-if"
@@ -363,18 +364,20 @@ dependencies = [
 ]
 
 [[package]]
-name = "cpuid-bool"
-version = "0.1.2"
+name = "cpufeatures"
+version = "0.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8aebca1129a03dc6dc2b127edd729435bbc4a37e1d5f4d7513165089ceb02634"
+checksum = "ed00c67cb5d0a7d64a44f6ad2668db7e7530311dd53ea79bcd4fb022c64911c8"
+dependencies = [
+ "libc",
+]
 
 [[package]]
 name = "crossbeam-utils"
-version = "0.8.3"
+version = "0.8.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e7e9d99fa91428effe99c5c6d4634cdeba32b8cf784fc428a2a687f61a952c49"
+checksum = "d82cfc11ce7f2c3faef78d8a684447b40d503d9681acebed6cb728d45940c4db"
 dependencies = [
- "autocfg",
  "cfg-if",
  "lazy_static",
 ]
@@ -439,9 +442,9 @@ dependencies = [
 
 [[package]]
 name = "derive_arbitrary"
-version = "1.0.0"
+version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "df89dd0d075dea5cc5fdd6d5df6b8a61172a710b3efac1d6bdb9dd8b78f82c1a"
+checksum = "5f1281ee141df08871db9fe261ab5312179eac32d1e314134ceaa8dd7c042f5a"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -471,9 +474,9 @@ checksum = "f7531096570974c3a9dcf9e4b8e1cede1ec26cf5046219fb3b9d897503b9be59"
 
 [[package]]
 name = "fastrand"
-version = "1.4.0"
+version = "1.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ca5faf057445ce5c9d4329e382b2ce7ca38550ef3b73a5348362d5f24e0c7fe3"
+checksum = "77b705829d1e87f762c2df6da140b26af5839e1033aa84aa5f56bb688e4e1bdb"
 dependencies = [
  "instant",
 ]
@@ -496,9 +499,9 @@ dependencies = [
 
 [[package]]
 name = "futures"
-version = "0.3.14"
+version = "0.3.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a9d5813545e459ad3ca1bff9915e9ad7f1a47dc6a91b627ce321d5863b7dd253"
+checksum = "0e7e43a803dae2fa37c1f6a8fe121e1f7bf9548b4dfc0522a42f34145dadfc27"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -511,9 +514,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.14"
+version = "0.3.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ce79c6a52a299137a6013061e0cf0e688fce5d7f1bc60125f520912fdb29ec25"
+checksum = "e682a68b29a882df0545c143dc3646daefe80ba479bcdede94d5a703de2871e2"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -521,15 +524,15 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.14"
+version = "0.3.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "098cd1c6dda6ca01650f1a37a794245eb73181d0d4d4e955e2f3c37db7af1815"
+checksum = "0402f765d8a89a26043b889b26ce3c4679d268fa6bb22cd7c6aad98340e179d1"
 
 [[package]]
 name = "futures-executor"
-version = "0.3.14"
+version = "0.3.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "10f6cb7042eda00f0049b1d2080aa4b93442997ee507eb3828e8bd7577f94c9d"
+checksum = "badaa6a909fac9e7236d0620a2f57f7664640c56575b71a7552fbd68deafab79"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -538,15 +541,15 @@ dependencies = [
 
 [[package]]
 name = "futures-io"
-version = "0.3.14"
+version = "0.3.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "365a1a1fb30ea1c03a830fdb2158f5236833ac81fa0ad12fe35b29cddc35cb04"
+checksum = "acc499defb3b348f8d8f3f66415835a9131856ff7714bf10dadfc4ec4bdb29a1"
 
 [[package]]
 name = "futures-lite"
-version = "1.11.3"
+version = "1.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b4481d0cd0de1d204a4fa55e7d45f07b1d958abcb06714b3446438e2eff695fb"
+checksum = "7694489acd39452c77daa48516b894c153f192c3578d5a839b62c58099fcbf48"
 dependencies = [
  "fastrand",
  "futures-core",
@@ -559,10 +562,11 @@ dependencies = [
 
 [[package]]
 name = "futures-macro"
-version = "0.3.14"
+version = "0.3.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "668c6733a182cd7deb4f1de7ba3bf2120823835b3bcfbeacf7d2c4a773c1bb8b"
+checksum = "a4c40298486cdf52cc00cd6d6987892ba502c7656a16a4192a9992b1ccedd121"
 dependencies = [
+ "autocfg",
  "proc-macro-hack",
  "proc-macro2",
  "quote",
@@ -571,15 +575,15 @@ dependencies = [
 
 [[package]]
 name = "futures-sink"
-version = "0.3.14"
+version = "0.3.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5c5629433c555de3d82861a7a4e3794a4c40040390907cfbfd7143a92a426c23"
+checksum = "a57bead0ceff0d6dde8f465ecd96c9338121bb7717d3e7b108059531870c4282"
 
 [[package]]
 name = "futures-task"
-version = "0.3.14"
+version = "0.3.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ba7aa51095076f3ba6d9a1f702f74bd05ec65f555d70d2033d55ba8d69f581bc"
+checksum = "8a16bef9fc1a4dddb5bee51c989e3fbba26569cbb0e31f5b303c184e3dd33dae"
 
 [[package]]
 name = "futures-timer"
@@ -589,10 +593,11 @@ checksum = "e64b03909df88034c26dc1547e8970b91f98bdb65165d6a4e9110d94263dbb2c"
 
 [[package]]
 name = "futures-util"
-version = "0.3.14"
+version = "0.3.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c144ad54d60f23927f0a6b6d816e4271278b64f005ad65e4e35291d2de9c025"
+checksum = "feb5c238d27e2bf94ffdfd27b2c29e3df4a68c4193bb6427384259e2bf191967"
 dependencies = [
+ "autocfg",
  "futures-channel",
  "futures-core",
  "futures-io",
@@ -619,9 +624,9 @@ dependencies = [
 
 [[package]]
 name = "getrandom"
-version = "0.2.2"
+version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c9495705279e7140bf035dde1f6e750c162df8b625267cd52cc44e0b156732c8"
+checksum = "7fcd999463524c52659517fe2cea98493cfe485d10565e7b0fb07dbba7ad2753"
 dependencies = [
  "cfg-if",
  "libc",
@@ -658,9 +663,9 @@ dependencies = [
 
 [[package]]
 name = "globset"
-version = "0.4.6"
+version = "0.4.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c152169ef1e421390738366d2f796655fec62621dabbd0fd476f905934061e4a"
+checksum = "f0fc1b9fa0e64ffb1aa5b95daa0f0f167734fd528b7c02eabc581d9d843649b1"
 dependencies = [
  "aho-corasick",
  "bstr",
@@ -695,9 +700,9 @@ dependencies = [
 
 [[package]]
 name = "heck"
-version = "0.3.2"
+version = "0.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "87cbf45460356b7deeb5e3415b5563308c0a9b057c85e12b06ad551f98d0a6ac"
+checksum = "6d621efb26863f0e9924c6ac577e8275e5e6b77455db64ffa6c65c904e9e132c"
 dependencies = [
  "unicode-segmentation",
 ]
@@ -724,15 +729,15 @@ dependencies = [
 
 [[package]]
 name = "httparse"
-version = "1.3.6"
+version = "1.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bc35c995b9d93ec174cf9a27d425c7892722101e14993cd227fdb51d70cf9589"
+checksum = "f3a87b616e37e93c22fb19bcd386f02f3af5ea98a25670ad0fce773de23c5e68"
 
 [[package]]
 name = "idna"
-version = "0.2.2"
+version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "89829a5d69c23d348314a7ac337fe39173b61149a9864deabd260983aed48c21"
+checksum = "418a0a6fab821475f634efe3ccc45c013f742efe03d853e8d3355d5cb850ecf8"
 dependencies = [
  "matches",
  "unicode-bidi",
@@ -741,9 +746,9 @@ dependencies = [
 
 [[package]]
 name = "ignore"
-version = "0.4.17"
+version = "0.4.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b287fb45c60bb826a0dc68ff08742b9d88a2fea13d6e0c286b3172065aaf878c"
+checksum = "713f1b139373f96a2e0ce3ac931cd01ee973c3c5dd7c40c0c2efe96ad2b6751d"
 dependencies = [
  "crossbeam-utils",
  "globset",
@@ -820,9 +825,9 @@ checksum = "dd25036021b0de88a0aff6b850051563c6516d0bf53f8638938edbb9de732736"
 
 [[package]]
 name = "js-sys"
-version = "0.3.50"
+version = "0.3.51"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2d99f9e3e84b8f67f846ef5b4cbbc3b1c29f6c759fcbce6f01aa0e73d932a24c"
+checksum = "83bdfbace3a0e81a4253f73b49e960b053e396a11012cbd49b9b74d6a2b67062"
 dependencies = [
  "wasm-bindgen",
 ]
@@ -844,9 +849,9 @@ checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
 
 [[package]]
 name = "libc"
-version = "0.2.93"
+version = "0.2.97"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9385f66bf6105b241aa65a61cb923ef20efc665cb9f9bb50ac2f0c4b7f378d41"
+checksum = "12b8adadd720df158f4d70dfe7ccc6adb0472d7c55ca83445f6a5ab3e36f8fb6"
 
 [[package]]
 name = "log"
@@ -866,19 +871,9 @@ checksum = "7ffc5c5338469d4d3ea17d269fa8ea3512ad247247c30bd2df69e68309ed0a08"
 
 [[package]]
 name = "memchr"
-version = "2.3.4"
+version = "2.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0ee1c47aaa256ecabcaea351eae4a9b01ef39ed810004e298d2511ed284b1525"
-
-[[package]]
-name = "nb-connect"
-version = "1.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a19900e7eee95eb2b3c2e26d12a874cc80aaf750e31be6fcbe743ead369fa45d"
-dependencies = [
- "libc",
- "socket2",
-]
+checksum = "b16bd47d9e329435e309c58469fe0791c2d0d1ba96ec0954152a5ae2b04387dc"
 
 [[package]]
 name = "num-traits"
@@ -901,9 +896,9 @@ dependencies = [
 
 [[package]]
 name = "once_cell"
-version = "1.7.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "af8b08b04175473088b46763e51ee54da5f9a164bc162f615b91bc179dbf15a3"
+checksum = "692fcb63b64b1758029e0a96ee63e049ce8c5948587f2f7208df04625e5f6b56"
 
 [[package]]
 name = "opaque-debug"
@@ -989,14 +984,14 @@ checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
 [[package]]
 name = "polling"
-version = "2.0.3"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4fc12d774e799ee9ebae13f4076ca003b40d18a11ac0f3641e6f899618580b7b"
+checksum = "92341d779fa34ea8437ef4d82d440d5e1ce3f3ff7f824aa64424cd481f9a1f25"
 dependencies = [
  "cfg-if",
  "libc",
  "log",
- "wepoll-sys",
+ "wepoll-ffi",
  "winapi",
 ]
 
@@ -1020,9 +1015,9 @@ checksum = "bc881b2c22681370c6a780e47af9840ef841837bc98118431d4e1868bd0c1086"
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.26"
+version = "1.0.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a152013215dca273577e18d2bf00fa862b89b24169fb78c4c95aeb07992c9cec"
+checksum = "f0d8caf72986c1a598726adc988bb5984792ef84f5ee5aa50209145ee8077038"
 dependencies = [
  "unicode-xid",
 ]
@@ -1050,9 +1045,9 @@ dependencies = [
 
 [[package]]
 name = "rand_chacha"
-version = "0.3.0"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e12735cf05c9e10bf21534da50a147b924d555dc7a547c42e6bb2d5b6017ae0d"
+checksum = "e6c10a63a0fa32252be49d21e7709d4d4baf8d231c2dbce1eaa8141b9b127d88"
 dependencies = [
  "ppv-lite86",
  "rand_core",
@@ -1087,9 +1082,9 @@ dependencies = [
 
 [[package]]
 name = "regex"
-version = "1.4.5"
+version = "1.5.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "957056ecddbeba1b26965114e191d2e8589ce74db242b6ea25fc4062427a5c19"
+checksum = "d07a8629359eb56f1e2fb1652bb04212c072a87ba68546a04065d525673ac461"
 dependencies = [
  "aho-corasick",
  "memchr",
@@ -1098,9 +1093,9 @@ dependencies = [
 
 [[package]]
 name = "regex-syntax"
-version = "0.6.23"
+version = "0.6.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "24d5f089152e60f62d28b835fbff2cd2e8dc0baf1ac13343bef92ab7eed84548"
+checksum = "f497285884f3fcff424ffc933e56d7cbca511def0c9831a7f9b5f6153e3cc89b"
 
 [[package]]
 name = "ringbuffer"
@@ -1128,18 +1123,18 @@ dependencies = [
 
 [[package]]
 name = "serde"
-version = "1.0.125"
+version = "1.0.126"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "558dc50e1a5a5fa7112ca2ce4effcb321b0300c0d4ccf0776a9f60cd89031171"
+checksum = "ec7505abeacaec74ae4778d9d9328fe5a5d04253220a85c4ee022239fc996d03"
 dependencies = [
  "serde_derive",
 ]
 
 [[package]]
 name = "serde_derive"
-version = "1.0.125"
+version = "1.0.126"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b093b7a2bb58203b5da3056c05b4ec1fed827dcfdb37347a8841695263b3d06d"
+checksum = "963a7dbc9895aeac7ac90e74f34a5d5261828f79df35cbed41e10189d3804d43"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1159,13 +1154,13 @@ dependencies = [
 
 [[package]]
 name = "sha-1"
-version = "0.9.4"
+version = "0.9.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dfebf75d25bd900fd1e7d11501efab59bc846dbc76196839663e6637bba9f25f"
+checksum = "8c4cfa741c5832d0ef7fab46cabed29c2aae926db0b11bb2069edd8db5e64e16"
 dependencies = [
  "block-buffer",
  "cfg-if",
- "cpuid-bool",
+ "cpufeatures",
  "digest",
  "opaque-debug",
 ]
@@ -1182,9 +1177,9 @@ dependencies = [
 
 [[package]]
 name = "signal-hook"
-version = "0.3.8"
+version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ef33d6d0cd06e0840fba9985aab098c147e67e05cee14d412d3345ed14ff30ac"
+checksum = "470c5a6397076fae0094aaf06a08e6ba6f37acb77d3b1b91ea92b4d6c8650c39"
 dependencies = [
  "libc",
  "signal-hook-registry",
@@ -1192,18 +1187,18 @@ dependencies = [
 
 [[package]]
 name = "signal-hook-registry"
-version = "1.3.0"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "16f1d0fef1604ba8f7a073c7e701f213e056707210e9020af4528e0101ce11a6"
+checksum = "e51e73328dc4ac0c7ccbda3a494dfa03df1de2f46018127f60c693f2648455b0"
 dependencies = [
  "libc",
 ]
 
 [[package]]
 name = "slab"
-version = "0.4.2"
+version = "0.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c111b5bd5695e56cffe5129854aa230b39c93a305372fdbb2668ca2394eea9f8"
+checksum = "f173ac3d1a7e3b28003f40de0b5ce7fe2710f9b9dc3fc38664cebee46b3b6527"
 
 [[package]]
 name = "smol"
@@ -1241,9 +1236,9 @@ checksum = "8ea5119cdb4c55b55d432abb513a0429384878c15dde60cc77b1c99de1a95a6a"
 
 [[package]]
 name = "syn"
-version = "1.0.69"
+version = "1.0.73"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "48fe99c6bd8b1cc636890bcc071842de909d902c81ac7dab53ba33c421ab8ffb"
+checksum = "f71489ff30030d2ae598524f61326b902466f72a0fb1a8564c001cc63425bcc7"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1261,9 +1256,9 @@ dependencies = [
 
 [[package]]
 name = "terminal_size"
-version = "0.1.16"
+version = "0.1.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "86ca8ced750734db02076f44132d802af0b33b09942331f4459dde8636fd2406"
+checksum = "633c1a546cee861a1a6d0dc69ebeca693bf4296661ba7852b9d21d159e0506df"
 dependencies = [
  "libc",
  "winapi",
@@ -1290,18 +1285,18 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.24"
+version = "1.0.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e0f4a65597094d4483ddaed134f409b2cb7c1beccf25201a9f73c719254fa98e"
+checksum = "fa6f76457f59514c7eeb4e59d891395fab0b2fd1d40723ae737d64153392e9c6"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.24"
+version = "1.0.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7765189610d8241a44529806d6fd1f2e0a08734313a35d5b3a556f92b381f3c0"
+checksum = "8a36768c0fbf1bb15eca10defa29526bda730a2376c2ab4393ccfa16fb1a318d"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1380,9 +1375,9 @@ dependencies = [
 
 [[package]]
 name = "unicode-normalization"
-version = "0.1.17"
+version = "0.1.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "07fbfce1c8a97d547e8b5334978438d9d6ec8c20e38f56d4a4374d181493eaef"
+checksum = "d54590932941a9e9266f0832deed84ebe1bf2e4c9e4a3554d393d18f5e854bf9"
 dependencies = [
  "tinyvec",
 ]
@@ -1401,9 +1396,9 @@ checksum = "9337591893a19b88d8d87f2cec1e73fad5cdfd10e5a6f349f498ad6ea2ffb1e3"
 
 [[package]]
 name = "unicode-xid"
-version = "0.2.1"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f7fe0bb3479651439c9112f72b6c505038574c9fbb575ed1bf3b797fa39dd564"
+checksum = "8ccb82d61f80a663efe1f787a51b16b5a51e3314d6ac365b08639f52387b33f3"
 
 [[package]]
 name = "uom"
@@ -1418,9 +1413,9 @@ dependencies = [
 
 [[package]]
 name = "url"
-version = "2.2.1"
+version = "2.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ccd964113622c8e9322cfac19eb1004a07e636c545f325da085d5cdde6f1f8b"
+checksum = "a507c383b2d33b5fc35d1861e77e6b383d158b2da5e14fe51b83dfedf6fd578c"
 dependencies = [
  "form_urlencoded",
  "idna",
@@ -1430,25 +1425,20 @@ dependencies = [
 
 [[package]]
 name = "utf-8"
-version = "0.7.5"
+version = "0.7.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "05e42f7c18b8f902290b009cde6d651262f956c98bc51bca4cd1d511c9cd85c7"
+checksum = "09cc8ee72d2a9becf2f2febe0205bbed8fc6615b7cb429ad062dc7b7ddd036a9"
 
 [[package]]
 name = "value-bag"
-version = "1.0.0-alpha.6"
+version = "1.0.0-alpha.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6b676010e055c99033117c2343b33a40a30b91fecd6c49055ac9cd2d6c305ab1"
+checksum = "dd320e1520f94261153e96f7534476ad869c14022aee1e59af7c778075d840ae"
 dependencies = [
  "ctor",
+ "version_check",
 ]
 
-[[package]]
-name = "vec-arena"
-version = "1.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "34b2f665b594b07095e3ac3f718e13c2197143416fae4c5706cffb7b1af8d7f1"
-
 [[package]]
 name = "vec_map"
 version = "0.8.2"
@@ -1486,9 +1476,9 @@ checksum = "fd6fbd9a79829dd1ad0cc20627bf1ed606756a7f77edff7b66b7064f9cb327c6"
 
 [[package]]
 name = "wasm-bindgen"
-version = "0.2.73"
+version = "0.2.74"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "83240549659d187488f91f33c0f8547cbfef0b2088bc470c116d1d260ef623d9"
+checksum = "d54ee1d4ed486f78874278e63e4069fc1ab9f6a18ca492076ffb90c5eb2997fd"
 dependencies = [
  "cfg-if",
  "wasm-bindgen-macro",
@@ -1496,9 +1486,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-backend"
-version = "0.2.73"
+version = "0.2.74"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae70622411ca953215ca6d06d3ebeb1e915f0f6613e3b495122878d7ebec7dae"
+checksum = "3b33f6a0694ccfea53d94db8b2ed1c3a8a4c86dd936b13b9f0a15ec4a451b900"
 dependencies = [
  "bumpalo",
  "lazy_static",
@@ -1511,9 +1501,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-futures"
-version = "0.4.23"
+version = "0.4.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "81b8b767af23de6ac18bf2168b690bed2902743ddf0fb39252e36f9e2bfc63ea"
+checksum = "5fba7978c679d53ce2d0ac80c8c175840feb849a161664365d1287b41f2e67f1"
 dependencies = [
  "cfg-if",
  "js-sys",
@@ -1523,9 +1513,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro"
-version = "0.2.73"
+version = "0.2.74"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3e734d91443f177bfdb41969de821e15c516931c3c3db3d318fa1b68975d0f6f"
+checksum = "088169ca61430fe1e58b8096c24975251700e7b1f6fd91cc9d59b04fb9b18bd4"
 dependencies = [
  "quote",
  "wasm-bindgen-macro-support",
@@ -1533,9 +1523,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro-support"
-version = "0.2.73"
+version = "0.2.74"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d53739ff08c8a68b0fdbcd54c372b8ab800b1449ab3c9d706503bc7dd1621b2c"
+checksum = "be2241542ff3d9f241f5e2cb6dd09b37efe786df8851c54957683a49f0987a97"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1546,25 +1536,25 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-shared"
-version = "0.2.73"
+version = "0.2.74"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d9a543ae66aa233d14bb765ed9af4a33e81b8b58d1584cf1b47ff8cd0b9e4489"
+checksum = "d7cff876b8f18eed75a66cf49b65e7f967cb354a7aa16003fb55dbfd25b44b4f"
 
 [[package]]
 name = "web-sys"
-version = "0.3.50"
+version = "0.3.51"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a905d57e488fec8861446d3393670fb50d27a262344013181c2cdf9fff5481be"
+checksum = "e828417b379f3df7111d3a2a9e5753706cae29c41f7c4029ee9fd77f3e09e582"
 dependencies = [
  "js-sys",
  "wasm-bindgen",
 ]
 
 [[package]]
-name = "wepoll-sys"
-version = "3.0.1"
+name = "wepoll-ffi"
+version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fcb14dea929042224824779fbc82d9fab8d2e6d3cbc0ac404de8edf489e77ff"
+checksum = "d743fdedc5c64377b5fc2bc036b01c7fd642205a0d96356034ae3404d49eb7fb"
 dependencies = [
  "cc",
 ]

From 450aa92638ba332561a992953c3dce0cda1adc27 Mon Sep 17 00:00:00 2001
From: wucke13 <wucke13@gmail.com>
Date: Mon, 24 May 2021 12:56:52 +0200
Subject: [PATCH 02/73] introduce test failure

---
 .github/workflows/rust.yml | 1 +
 src/alerts/mode_1.rs       | 4 +---
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index e5d10e8..4412fab 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -39,6 +39,7 @@ jobs:
       - name: Run tests
         run: cargo test --verbose
 
+
   clippy_check:
     runs-on: ubuntu-latest
     steps:
diff --git a/src/alerts/mode_1.rs b/src/alerts/mode_1.rs
index 61151bf..f2556b3 100644
--- a/src/alerts/mode_1.rs
+++ b/src/alerts/mode_1.rs
@@ -33,9 +33,7 @@ impl AlertSystem for Mode1 {
         let rod = -state.climb_rate.get::<foot_per_minute>();
 
         match state.steep_approach {
-            true if WARNING_ENVELOPE_STEEP_APPROACH.contains(rod, altitude) => {
-                Some(AlertLevel::Warning)
-            }
+            true if WARNING_ENVELOPE_STEEP_APPROACH.contains(rod, altitude) => None,
             true if CAUTION_ENVELOPE_STEEP_APPROACH.contains(rod, altitude) => {
                 Some(AlertLevel::Caution)
             }

From 4d7700768e4950718806af878ec93257e64182ed Mon Sep 17 00:00:00 2001
From: wucke13 <wucke13@gmail.com>
Date: Wed, 30 Jun 2021 08:31:58 +0200
Subject: [PATCH 03/73] refine hydrajobs meta

---
 flake.nix | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/flake.nix b/flake.nix
index 6461e34..a30f83a 100644
--- a/flake.nix
+++ b/flake.nix
@@ -26,6 +26,9 @@
     };
 
     # Hail to the Hydra
-    hydraJobs = packages;
+    hydraJobs.opentaws."system" = packages.opentaws // { meta = {
+      timeout = 86400;
+      maxSilent = 36000;
+    };};
   });
 }

From 23394260e1003941a0627c209da81fd7f55936a8 Mon Sep 17 00:00:00 2001
From: wucke13 <wucke13@gmail.com>
Date: Thu, 29 Jul 2021 15:21:11 +0200
Subject: [PATCH 04/73] Revert "introduce test failure"

This reverts commit 5a80acddd1131aa26f06afb43e6fab33296348a6.
---
 .github/workflows/rust.yml | 1 -
 src/alerts/mode_1.rs       | 4 +++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 4412fab..e5d10e8 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -39,7 +39,6 @@ jobs:
       - name: Run tests
         run: cargo test --verbose
 
-
   clippy_check:
     runs-on: ubuntu-latest
     steps:
diff --git a/src/alerts/mode_1.rs b/src/alerts/mode_1.rs
index f2556b3..61151bf 100644
--- a/src/alerts/mode_1.rs
+++ b/src/alerts/mode_1.rs
@@ -33,7 +33,9 @@ impl AlertSystem for Mode1 {
         let rod = -state.climb_rate.get::<foot_per_minute>();
 
         match state.steep_approach {
-            true if WARNING_ENVELOPE_STEEP_APPROACH.contains(rod, altitude) => None,
+            true if WARNING_ENVELOPE_STEEP_APPROACH.contains(rod, altitude) => {
+                Some(AlertLevel::Warning)
+            }
             true if CAUTION_ENVELOPE_STEEP_APPROACH.contains(rod, altitude) => {
                 Some(AlertLevel::Caution)
             }

From 7f5ad681ba9ae11dc8509944e78821f9f5bb180d Mon Sep 17 00:00:00 2001
From: wucke13 <wucke13@gmail.com>
Date: Thu, 29 Jul 2021 15:24:27 +0200
Subject: [PATCH 05/73] bump versions

---
 Cargo.lock                       | 138 +++++++++++++++----------------
 flake.lock                       |  74 ++++++++++++++---
 flake.nix                        |  62 ++++++++------
 src/{alerts/mod.rs => alerts.rs} |   0
 4 files changed, 167 insertions(+), 107 deletions(-)
 rename src/{alerts/mod.rs => alerts.rs} (100%)

diff --git a/Cargo.lock b/Cargo.lock
index 24bad0e..150a130 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -83,12 +83,11 @@ dependencies = [
 
 [[package]]
 name = "async-io"
-version = "1.4.1"
+version = "1.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4bbfd5cf2794b1e908ea8457e6c45f8f8f1f6ec5f74617bf4662623f47503c3b"
+checksum = "a811e6a479f2439f0c04038796b5cfb3d2ad56c230e0f2d3f7b04d68cfee607b"
 dependencies = [
  "concurrent-queue",
- "fastrand",
  "futures-lite",
  "libc",
  "log",
@@ -121,13 +120,12 @@ dependencies = [
 
 [[package]]
 name = "async-net"
-version = "1.6.0"
+version = "1.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "69b0a74e7f70af3c8cf1aa539edbd044795706659ac52b78a71dc1a205ecefdf"
+checksum = "5373304df79b9b4395068fb080369ec7178608827306ce4d081cba51cac551df"
 dependencies = [
  "async-io",
  "blocking",
- "fastrand",
  "futures-lite",
 ]
 
@@ -204,9 +202,9 @@ checksum = "e91831deabf0d6d7ec49552e489aed63b7456a7a3c46cff62adad428110b0af0"
 
 [[package]]
 name = "async-trait"
-version = "0.1.50"
+version = "0.1.51"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0b98e84bbb4cbcdd97da190ba0c58a1bb0de2c1fdf67d159e192ed766aeca722"
+checksum = "44318e776df68115a881de9a8fd1b9e53368d7a4a5ce4cc48517da3393233a5e"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -215,9 +213,9 @@ dependencies = [
 
 [[package]]
 name = "async-tungstenite"
-version = "0.13.1"
+version = "0.14.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "07b30ef0ea5c20caaa54baea49514a206308989c68be7ecd86c7f956e4da6378"
+checksum = "8645e929ec7964448a901db9da30cd2ae8c7fecf4d6176af427837531dbbb63b"
 dependencies = [
  "async-std",
  "futures-io",
@@ -329,9 +327,9 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.0.68"
+version = "1.0.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4a72c244c1ff497a746a7e1fb3d14bd08420ecda70c8f25c7112f2781652d787"
+checksum = "e70cc2f62c6ce1868963827bd677764c62d07c3d9a3e1fb1177ee1a9ab199eb2"
 
 [[package]]
 name = "cfg-if"
@@ -365,9 +363,9 @@ dependencies = [
 
 [[package]]
 name = "cpufeatures"
-version = "0.1.4"
+version = "0.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ed00c67cb5d0a7d64a44f6ad2668db7e7530311dd53ea79bcd4fb022c64911c8"
+checksum = "66c99696f6c9dd7f35d486b9d04d7e6e202aa3e8c40d553f2fdf5e7e0c6a71ef"
 dependencies = [
  "libc",
 ]
@@ -474,9 +472,9 @@ checksum = "f7531096570974c3a9dcf9e4b8e1cede1ec26cf5046219fb3b9d897503b9be59"
 
 [[package]]
 name = "fastrand"
-version = "1.4.1"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77b705829d1e87f762c2df6da140b26af5839e1033aa84aa5f56bb688e4e1bdb"
+checksum = "b394ed3d285a429378d3b384b9eb1285267e7df4b166df24b7a6939a04dc392e"
 dependencies = [
  "instant",
 ]
@@ -499,9 +497,9 @@ dependencies = [
 
 [[package]]
 name = "futures"
-version = "0.3.15"
+version = "0.3.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0e7e43a803dae2fa37c1f6a8fe121e1f7bf9548b4dfc0522a42f34145dadfc27"
+checksum = "1adc00f486adfc9ce99f77d717836f0c5aa84965eb0b4f051f4e83f7cab53f8b"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -514,9 +512,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.15"
+version = "0.3.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e682a68b29a882df0545c143dc3646daefe80ba479bcdede94d5a703de2871e2"
+checksum = "74ed2411805f6e4e3d9bc904c95d5d423b89b3b25dc0250aa74729de20629ff9"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -524,15 +522,15 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.15"
+version = "0.3.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0402f765d8a89a26043b889b26ce3c4679d268fa6bb22cd7c6aad98340e179d1"
+checksum = "af51b1b4a7fdff033703db39de8802c673eb91855f2e0d47dcf3bf2c0ef01f99"
 
 [[package]]
 name = "futures-executor"
-version = "0.3.15"
+version = "0.3.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "badaa6a909fac9e7236d0620a2f57f7664640c56575b71a7552fbd68deafab79"
+checksum = "4d0d535a57b87e1ae31437b892713aee90cd2d7b0ee48727cd11fc72ef54761c"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -541,9 +539,9 @@ dependencies = [
 
 [[package]]
 name = "futures-io"
-version = "0.3.15"
+version = "0.3.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "acc499defb3b348f8d8f3f66415835a9131856ff7714bf10dadfc4ec4bdb29a1"
+checksum = "0b0e06c393068f3a6ef246c75cdca793d6a46347e75286933e5e75fd2fd11582"
 
 [[package]]
 name = "futures-lite"
@@ -562,9 +560,9 @@ dependencies = [
 
 [[package]]
 name = "futures-macro"
-version = "0.3.15"
+version = "0.3.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a4c40298486cdf52cc00cd6d6987892ba502c7656a16a4192a9992b1ccedd121"
+checksum = "c54913bae956fb8df7f4dc6fc90362aa72e69148e3f39041fbe8742d21e0ac57"
 dependencies = [
  "autocfg",
  "proc-macro-hack",
@@ -575,15 +573,15 @@ dependencies = [
 
 [[package]]
 name = "futures-sink"
-version = "0.3.15"
+version = "0.3.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a57bead0ceff0d6dde8f465ecd96c9338121bb7717d3e7b108059531870c4282"
+checksum = "c0f30aaa67363d119812743aa5f33c201a7a66329f97d1a887022971feea4b53"
 
 [[package]]
 name = "futures-task"
-version = "0.3.15"
+version = "0.3.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a16bef9fc1a4dddb5bee51c989e3fbba26569cbb0e31f5b303c184e3dd33dae"
+checksum = "bbe54a98670017f3be909561f6ad13e810d9a51f3f061b902062ca3da80799f2"
 
 [[package]]
 name = "futures-timer"
@@ -593,9 +591,9 @@ checksum = "e64b03909df88034c26dc1547e8970b91f98bdb65165d6a4e9110d94263dbb2c"
 
 [[package]]
 name = "futures-util"
-version = "0.3.15"
+version = "0.3.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "feb5c238d27e2bf94ffdfd27b2c29e3df4a68c4193bb6427384259e2bf191967"
+checksum = "67eb846bfd58e44a8481a00049e82c43e0ccb5d61f8dc071057cb19249dd4d78"
 dependencies = [
  "autocfg",
  "futures-channel",
@@ -663,9 +661,9 @@ dependencies = [
 
 [[package]]
 name = "globset"
-version = "0.4.7"
+version = "0.4.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0fc1b9fa0e64ffb1aa5b95daa0f0f167734fd528b7c02eabc581d9d843649b1"
+checksum = "10463d9ff00a2a068db14231982f5132edebad0d7660cd956a1c30292dbcbfbd"
 dependencies = [
  "aho-corasick",
  "bstr",
@@ -709,9 +707,9 @@ dependencies = [
 
 [[package]]
 name = "hermit-abi"
-version = "0.1.18"
+version = "0.1.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "322f4de77956e22ed0e5032c359a0f1273f1f7f0d79bfa3b8ffbc730d7fbcc5c"
+checksum = "62b467343b94ba476dcb2500d242dadbb39557df889310ac77c5d99100aaac33"
 dependencies = [
  "libc",
 ]
@@ -779,9 +777,9 @@ dependencies = [
 
 [[package]]
 name = "instant"
-version = "0.1.9"
+version = "0.1.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "61124eeebbd69b8190558df225adf7e4caafce0d743919e5d6b19652314ec5ec"
+checksum = "bee0328b1209d157ef001c94dd85b4f8f64139adb0eac2659f4b08382b2f474d"
 dependencies = [
  "cfg-if",
 ]
@@ -849,9 +847,9 @@ checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
 
 [[package]]
 name = "libc"
-version = "0.2.97"
+version = "0.2.98"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12b8adadd720df158f4d70dfe7ccc6adb0472d7c55ca83445f6a5ab3e36f8fb6"
+checksum = "320cfe77175da3a483efed4bc0adc1968ca050b098ce4f2f1c13a56626128790"
 
 [[package]]
 name = "log"
@@ -972,9 +970,9 @@ checksum = "d4fd5641d01c8f18a23da7b6fe29298ff4b55afcccdf78973b24cf3175fee32e"
 
 [[package]]
 name = "pin-project-lite"
-version = "0.2.6"
+version = "0.2.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dc0e1f259c92177c30a4c9d177246edd0a3568b25756a977d0632cf8fa37e905"
+checksum = "8d31d11c69a6b52a174b42bdc0c30e5e11670f90788b2c471c31c1d17d449443"
 
 [[package]]
 name = "pin-utils"
@@ -1015,9 +1013,9 @@ checksum = "bc881b2c22681370c6a780e47af9840ef841837bc98118431d4e1868bd0c1086"
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.27"
+version = "1.0.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0d8caf72986c1a598726adc988bb5984792ef84f5ee5aa50209145ee8077038"
+checksum = "5c7ed8b8c7b886ea3ed7dde405212185f423ab44682667c8c6dd14aa1d9f6612"
 dependencies = [
  "unicode-xid",
 ]
@@ -1033,9 +1031,9 @@ dependencies = [
 
 [[package]]
 name = "rand"
-version = "0.8.3"
+version = "0.8.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0ef9e7e66b4468674bfcb0c81af8b7fa0bb154fa9f28eb840da5c447baeb8d7e"
+checksum = "2e7573632e6454cf6b99d7aac4ccca54be06da05aca2ef7423d22d27d4d4bcd8"
 dependencies = [
  "libc",
  "rand_chacha",
@@ -1055,27 +1053,27 @@ dependencies = [
 
 [[package]]
 name = "rand_core"
-version = "0.6.2"
+version = "0.6.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "34cf66eb183df1c5876e2dcf6b13d57340741e8dc255b48e40a26de954d06ae7"
+checksum = "d34f1408f55294453790c48b2f1ebbb1c5b4b7563eb1f418bcfcfdbb06ebb4e7"
 dependencies = [
  "getrandom",
 ]
 
 [[package]]
 name = "rand_hc"
-version = "0.3.0"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3190ef7066a446f2e7f42e239d161e905420ccab01eb967c9eb27d21b2322a73"
+checksum = "d51e9f596de227fda2ea6c84607f5558e196eeaf43c986b724ba4fb8fdf497e7"
 dependencies = [
  "rand_core",
 ]
 
 [[package]]
 name = "rand_pcg"
-version = "0.3.0"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7de198537002b913568a3847e53535ace266f93526caf5c360ec41d72c5787f0"
+checksum = "59cad018caf63deb318e5a4586d99a24424a364f40f1e5778c29aca23f4fc73e"
 dependencies = [
  "rand_core",
 ]
@@ -1143,9 +1141,9 @@ dependencies = [
 
 [[package]]
 name = "serde_json"
-version = "1.0.64"
+version = "1.0.65"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "799e97dc9fdae36a5c8b8f2cae9ce2ee9fdce2058c57a93e6099d919fd982f79"
+checksum = "28c5e91e4240b46c4c19219d6cc84784444326131a4210f496f948d5cc827a29"
 dependencies = [
  "itoa",
  "ryu",
@@ -1154,9 +1152,9 @@ dependencies = [
 
 [[package]]
 name = "sha-1"
-version = "0.9.6"
+version = "0.9.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8c4cfa741c5832d0ef7fab46cabed29c2aae926db0b11bb2069edd8db5e64e16"
+checksum = "1a0c8611594e2ab4ebbf06ec7cbbf0a99450b8570e96cbf5188b5d5f6ef18d81"
 dependencies = [
  "block-buffer",
  "cfg-if",
@@ -1220,9 +1218,9 @@ dependencies = [
 
 [[package]]
 name = "socket2"
-version = "0.4.0"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9e3dfc207c526015c632472a77be09cf1b6e46866581aecae5cc38fb4235dea2"
+checksum = "765f090f0e423d2b55843402a07915add955e7d60657db13707a159727326cad"
 dependencies = [
  "libc",
  "winapi",
@@ -1236,9 +1234,9 @@ checksum = "8ea5119cdb4c55b55d432abb513a0429384878c15dde60cc77b1c99de1a95a6a"
 
 [[package]]
 name = "syn"
-version = "1.0.73"
+version = "1.0.74"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f71489ff30030d2ae598524f61326b902466f72a0fb1a8564c001cc63425bcc7"
+checksum = "1873d832550d4588c3dbc20f01361ab00bfe741048f71e3fecf145a7cc18b29c"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1285,18 +1283,18 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.25"
+version = "1.0.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fa6f76457f59514c7eeb4e59d891395fab0b2fd1d40723ae737d64153392e9c6"
+checksum = "93119e4feac1cbe6c798c34d3a53ea0026b0b1de6a120deef895137c0529bfe2"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.25"
+version = "1.0.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a36768c0fbf1bb15eca10defa29526bda730a2376c2ab4393ccfa16fb1a318d"
+checksum = "060d69a0afe7796bf42e9e2ff91f5ee691fb15c53d38b4b62a9a53eb23164745"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1314,9 +1312,9 @@ dependencies = [
 
 [[package]]
 name = "tinyvec"
-version = "1.2.0"
+version = "1.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5b5220f05bb7de7f3f53c7c065e1199b3172696fe2db9f9c4d8ad9b4ee74c342"
+checksum = "848a1e1181b9f6753b5e96a092749e29b11d19ede67dfbbd6c7dc7e0f49b5338"
 dependencies = [
  "tinyvec_macros",
 ]
@@ -1384,9 +1382,9 @@ dependencies = [
 
 [[package]]
 name = "unicode-segmentation"
-version = "1.7.1"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bb0d2e7be6ae3a5fa87eed5fb451aff96f2573d2694942e40543ae0bbe19c796"
+checksum = "8895849a949e7845e06bd6dc1aa51731a103c42707010a5b591c0038fb73385b"
 
 [[package]]
 name = "unicode-width"
diff --git a/flake.lock b/flake.lock
index 6d27e4b..74a0d60 100644
--- a/flake.lock
+++ b/flake.lock
@@ -1,15 +1,30 @@
 {
   "nodes": {
+    "flake-utils": {
+      "locked": {
+        "lastModified": 1614513358,
+        "narHash": "sha256-LakhOx3S1dRjnh0b5Dg3mbZyH0ToC9I8Y2wKSkBaTzU=",
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "rev": "5466c5bbece17adaab2d82fae80b46e807611bf3",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "type": "github"
+      }
+    },
     "naersk": {
       "inputs": {
         "nixpkgs": "nixpkgs"
       },
       "locked": {
-        "lastModified": 1618068541,
-        "narHash": "sha256-enxg0QB53Zis0VJWfJsrX7zCjurpi7lW78EKXbJdzpQ=",
+        "lastModified": 1623927034,
+        "narHash": "sha256-sGxlmfp5eXL5sAMNqHSb04Zq6gPl+JeltIZ226OYN0w=",
         "owner": "nmattia",
         "repo": "naersk",
-        "rev": "b3b099d669fc8b18d361c249091c9fe95d57ebbb",
+        "rev": "e09c320446c5c2516d430803f7b19f5833781337",
         "type": "github"
       },
       "original": {
@@ -20,11 +35,11 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1618561750,
-        "narHash": "sha256-AQIkvh+CQMCZWyKMDP1MalYbk38HWmfeUtjmmH1IFoU=",
+        "lastModified": 1627561173,
+        "narHash": "sha256-Y5ihBYW1UpyXVz1T14MTjDlg9gkS480Kz9jSCq3WqbI=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "98d6b081d12ebe7e443e62c40ebaeeddbe5bb9fc",
+        "rev": "4bdce59e5451d8716cfe3e684f4dc181b1b2faff",
         "type": "github"
       },
       "original": {
@@ -34,11 +49,11 @@
     },
     "nixpkgs_2": {
       "locked": {
-        "lastModified": 1618561750,
-        "narHash": "sha256-AQIkvh+CQMCZWyKMDP1MalYbk38HWmfeUtjmmH1IFoU=",
+        "lastModified": 1627561173,
+        "narHash": "sha256-Y5ihBYW1UpyXVz1T14MTjDlg9gkS480Kz9jSCq3WqbI=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "98d6b081d12ebe7e443e62c40ebaeeddbe5bb9fc",
+        "rev": "4bdce59e5451d8716cfe3e684f4dc181b1b2faff",
         "type": "github"
       },
       "original": {
@@ -46,20 +61,55 @@
         "type": "indirect"
       }
     },
+    "nixpkgs_3": {
+      "locked": {
+        "lastModified": 1617325113,
+        "narHash": "sha256-GksR0nvGxfZ79T91UUtWjjccxazv6Yh/MvEJ82v1Xmw=",
+        "owner": "nixos",
+        "repo": "nixpkgs",
+        "rev": "54c1e44240d8a527a8f4892608c4bce5440c3ecb",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
     "root": {
       "inputs": {
         "naersk": "naersk",
         "nixpkgs": "nixpkgs_2",
+        "rust-overlay": "rust-overlay",
         "utils": "utils"
       }
     },
+    "rust-overlay": {
+      "inputs": {
+        "flake-utils": "flake-utils",
+        "nixpkgs": "nixpkgs_3"
+      },
+      "locked": {
+        "lastModified": 1627524933,
+        "narHash": "sha256-7qCl4c+vZ+yJhdiOE/yA3rS5wHcuTWIr/opACzrF7tQ=",
+        "owner": "oxalica",
+        "repo": "rust-overlay",
+        "rev": "b5ee17f42141064953982ece1944ee29b4f88107",
+        "type": "github"
+      },
+      "original": {
+        "owner": "oxalica",
+        "repo": "rust-overlay",
+        "type": "github"
+      }
+    },
     "utils": {
       "locked": {
-        "lastModified": 1618217525,
-        "narHash": "sha256-WGrhVczjXTiswQaoxQ+0PTfbLNeOQM6M36zvLn78AYg=",
+        "lastModified": 1623875721,
+        "narHash": "sha256-A8BU7bjS5GirpAUv4QA+QnJ4CceLHkcXdRp4xITDB0s=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "c6169a2772643c4a93a0b5ac1c61e296cba68544",
+        "rev": "f7e004a55b120c02ecb6219596820fcd32ca8772",
         "type": "github"
       },
       "original": {
diff --git a/flake.nix b/flake.nix
index a30f83a..074dab0 100644
--- a/flake.nix
+++ b/flake.nix
@@ -2,33 +2,45 @@
   inputs = {
     utils.url = "github:numtide/flake-utils";
     naersk.url = "github:nmattia/naersk";
+    rust-overlay.url = "github:oxalica/rust-overlay";
   };
 
-  outputs = { self, nixpkgs, utils, naersk}:
-  utils.lib.eachSystem [ "aarch64-linux" "i686-linux" "x86_64-linux" ] (system:
-  let
-    pkgs = nixpkgs.legacyPackages."${system}";
-    naersk-lib = naersk.lib."${system}";
-  in rec {
-    packages.opentaws = naersk-lib.buildPackage {
-      pname = "opentaws";
-      root = ./.;
-      doCheck = true;
-      doDoc = true;
-      copyLibs = true;
-      doDocFail = true;
-      copyTarget = true;
-    };
-    defaultPackage = packages.opentaws;
+  outputs = { self, nixpkgs, utils, naersk, rust-overlay }:
+    utils.lib.eachSystem [ "aarch64-linux" "i686-linux" "x86_64-linux" ]
+    (system:
+      let
+        overlays = [ (import rust-overlay) ];
+        pkgs = import nixpkgs { inherit system overlays; };
+        naersk-lib = naersk.lib."${system}";
+      in rec {
+        packages.opentaws = naersk-lib.buildPackage {
+          pname = "opentaws";
+          root = ./.;
+          doCheck = true;
+          doDoc = true;
+          copyLibs = true;
+          doDocFail = true;
+          copyTarget = true;
+        };
+        defaultPackage = packages.opentaws;
 
-    devShell = pkgs.mkShell {
-      nativeBuildInputs = with pkgs; [ rustc cargo ];
-    };
+        devShell = pkgs.mkShell {
+          nativeBuildInputs = with pkgs;
+            [
+              (rust-bin.stable.latest.default.override {
+                extensions =
+                  [ "rust-src" "clippy" "rustfmt" "llvm-tools-preview" ];
+                targets = [ "arm-unknown-linux-gnueabihf" ];
+              })
+            ];
+        };
 
-    # Hail to the Hydra
-    hydraJobs.opentaws."system" = packages.opentaws // { meta = {
-      timeout = 86400;
-      maxSilent = 36000;
-    };};
-  });
+        # Hail to the Hydra
+        hydraJobs.opentaws."system" = packages.opentaws // {
+          meta = {
+            timeout = 86400;
+            maxSilent = 36000;
+          };
+        };
+      });
 }
diff --git a/src/alerts/mod.rs b/src/alerts.rs
similarity index 100%
rename from src/alerts/mod.rs
rename to src/alerts.rs

From 3a815b7a9df1e23eda6126e8e6d29b6636a66f88 Mon Sep 17 00:00:00 2001
From: wucke13 <wucke13@gmail.com>
Date: Thu, 20 May 2021 09:50:57 +0200
Subject: [PATCH 06/73] fix broken no_std build

---
 Cargo.lock    |  9 +++++++++
 Cargo.toml    | 36 ++++++++++++++++++------------------
 src/alerts.rs |  4 +++-
 3 files changed, 30 insertions(+), 19 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 150a130..cb5a687 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -844,6 +844,9 @@ name = "lazy_static"
 version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
+dependencies = [
+ "spin",
+]
 
 [[package]]
 name = "libc"
@@ -1226,6 +1229,12 @@ dependencies = [
  "winapi",
 ]
 
+[[package]]
+name = "spin"
+version = "0.5.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6e63cff320ae2c57904679ba7cb63280a3dc4613885beafb148ee7bf9aa9042d"
+
 [[package]]
 name = "strsim"
 version = "0.8.0"
diff --git a/Cargo.toml b/Cargo.toml
index b488f47..f297916 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -23,32 +23,32 @@ maintenance = { status = "actively-developed" }
 
 [features]
 default = ["use-serde"]
-use-serde = ["serde", "uom/use_serde"]
+use-serde = ["uom/use_serde"]
 
 [dependencies]
 casey = "0.3"
-lazy_static = "1"
-uom = { version = "0", default-features = false, features = [ "f64", "si", "use_serde" ] }
+lazy_static = { version = "1", features = [ "spin_no_std" ] }
+uom = { version = "0", default-features = false, features = [ "f64", "si" ] }
 ringbuffer = "0.4"
-serde = { version = "1.0", default-features = false, features = ["derive"], optional = true }
-
-[dev-dependencies]
-arbitrary = { version = "1", features = ["derive"] }
-cucumber_rust = {version = "0.8", features = [ "macros" ] }
-futures = "0"
-rand = "*"
-rand_pcg = "*"
-uom = { version = "*", features = [ "f64", "si", "std", "use_serde" ] }
-
-# for examples/flightgear
-async-tungstenite = { version = "*", features = [ "async-std-runtime" ] }
-serde = { version = "^1.0", features = [ "derive" ] }
-serde_json = "1.0"
-smol = "^1.0"
+serde = { version = "1.0", default-features = false, features = [ "derive" ] }
 
+# testing ang examples
+arbitrary = { version = "1", features = ["derive"], optional = true }
+async-tungstenite = { version = "*", features = [ "async-std-runtime" ], optional = true }
+cucumber_rust = { version = "0.8", features = [ "macros" ], optional = true  }
+futures = { version = "0", optional = true }
+rand = { version = "*", optional = true }
+rand_pcg = { version = "*", optional = true }
+serde_json = { version = "1.0", optional = true }
+smol = { version = "1.0", optional = true }
 
 
 [[test]]
 name = "cucumber"
 harness = false # Allows Cucumber to print output instead of libtest
 path = "tests/cucumber.rs"
+required-features = [ "arbitrary", "cucumber_rust", "futures", "rand", "rand_pcg", "serde_json" ]
+
+[[example]]
+name = "flightgear"
+required-features = [ "async-tungstenite", "futures", "serde_json", "smol" ]
diff --git a/src/alerts.rs b/src/alerts.rs
index 174bf58..9ef8acf 100644
--- a/src/alerts.rs
+++ b/src/alerts.rs
@@ -185,7 +185,9 @@ impl IntoIterator for &AlertState {
     type IntoIter = AlertStateIter;
     fn into_iter(self) -> Self::IntoIter {
         let mut alerts = self.all_alerts;
-        alerts.sort_by_key(|option| option.map(|(a, l)| priority(a, l)).unwrap_or(u8::MAX));
+        //alerts.sort_by_key(|option| option.map(|(a, l)| priority(a, l)).unwrap_or(u8::MAX));
+        // does not work on no_std.
+        // TODO implement a small sorting algorithm
 
         AlertStateIter {
             sorted_alerts: alerts,

From c5d2da5c81e45fb2ce111492e4a172d22d572701 Mon Sep 17 00:00:00 2001
From: wucke13 <wucke13@gmail.com>
Date: Fri, 1 Oct 2021 13:47:24 +0200
Subject: [PATCH 07/73] update dependencies

---
 Cargo.lock | 54 +++++++++++++++++++++++++++++++++++++++++++++++-------
 Cargo.toml |  4 ++--
 2 files changed, 49 insertions(+), 9 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index cb5a687..c0fb126 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -29,6 +29,12 @@ dependencies = [
  "derive_arbitrary",
 ]
 
+[[package]]
+name = "array-init"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6945cc5422176fc5e602e590c2878d2c2acd9a4fe20a4baa7c28022521698ec6"
+
 [[package]]
 name = "async-channel"
 version = "1.6.1"
@@ -392,9 +398,9 @@ dependencies = [
 
 [[package]]
 name = "cucumber_rust"
-version = "0.8.4"
+version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6cc67008716666beb00d20d63debed61b55c78f1ccdf4efb629ddae3205d0f52"
+checksum = "5d1cc772687e83e581621d37bb11543237dc55618dbc04c8e600928e532dc879"
 dependencies = [
  "async-stream",
  "async-trait",
@@ -406,19 +412,21 @@ dependencies = [
  "gherkin_rust",
  "globwalk",
  "inventory",
+ "once_cell",
  "pathdiff",
  "regex",
  "shh",
  "termcolor",
  "textwrap 0.12.1",
  "thiserror",
+ "tracing",
 ]
 
 [[package]]
 name = "cucumber_rust_codegen"
-version = "0.1.0"
+version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4ebf7a94fedf6f251d5cb208ea536496a191c552509a052976af59792199cbc8"
+checksum = "4762e59ca6ebc62e043d2ad5ca09e91561520573fd2263df0263320787d3ffc4"
 dependencies = [
  "inflections",
  "itertools",
@@ -1100,11 +1108,11 @@ checksum = "f497285884f3fcff424ffc933e56d7cbca511def0c9831a7f9b5f6153e3cc89b"
 
 [[package]]
 name = "ringbuffer"
-version = "0.4.0"
+version = "0.8.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2b101211f7486839baff92d890cffb81b3e8d63ade98d0f434aae27cef1fed10"
+checksum = "72dfeba9c94fdc308dcfe165efa6855c698f317484b736605ff859c5fa81d992"
 dependencies = [
- "generic-array",
+ "array-init",
 ]
 
 [[package]]
@@ -1334,6 +1342,38 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cda74da7e1a664f795bb1f8a87ec406fb89a02522cf6e50620d016add6dbbf5c"
 
+[[package]]
+name = "tracing"
+version = "0.1.28"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "84f96e095c0c82419687c20ddf5cb3eadb61f4e1405923c9dc8e53a1adacbda8"
+dependencies = [
+ "cfg-if",
+ "pin-project-lite",
+ "tracing-attributes",
+ "tracing-core",
+]
+
+[[package]]
+name = "tracing-attributes"
+version = "0.1.16"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "98863d0dd09fa59a1b79c6750ad80dbda6b75f4e71c437a6a1a8cb91a8bcbd77"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "tracing-core"
+version = "0.1.20"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46125608c26121c81b0c6d693eab5a420e416da7e43c426d2e8f7df8da8a3acf"
+dependencies = [
+ "lazy_static",
+]
+
 [[package]]
 name = "tungstenite"
 version = "0.13.0"
diff --git a/Cargo.toml b/Cargo.toml
index f297916..8d79281 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -29,13 +29,13 @@ use-serde = ["uom/use_serde"]
 casey = "0.3"
 lazy_static = { version = "1", features = [ "spin_no_std" ] }
 uom = { version = "0", default-features = false, features = [ "f64", "si" ] }
-ringbuffer = "0.4"
+ringbuffer = "0.8"
 serde = { version = "1.0", default-features = false, features = [ "derive" ] }
 
 # testing ang examples
 arbitrary = { version = "1", features = ["derive"], optional = true }
 async-tungstenite = { version = "*", features = [ "async-std-runtime" ], optional = true }
-cucumber_rust = { version = "0.8", features = [ "macros" ], optional = true  }
+cucumber_rust = { version = "0.9", features = [ "macros" ], optional = true  }
 futures = { version = "0", optional = true }
 rand = { version = "*", optional = true }
 rand_pcg = { version = "*", optional = true }

From 77aab58902355feb00c4409af9bdf16392f24a77 Mon Sep 17 00:00:00 2001
From: Wanja Zaeske <wanja.zaeske@dlr.de>
Date: Tue, 2 Nov 2021 09:11:02 +0100
Subject: [PATCH 08/73] major step forward

+ split openTAWS into multiple crates in a workspace
  + `aviation_database` contains data of airports
  + `taws_minimal` is a `no_std` reference implementations of a taws
  + `kd_tree` implementation of nearest neighbour lookup
  + `kd_tree_sort` implementation of kd tree generator
  + `opentaws` core library containing alert functionalities
+ add aviation_database interface and implementation
+ add kd_tree implementation for nearest neighbour lookup in aviation
  database
+ start implementation of PDA, Mode3 and Five Hundred Foot Altitude
  Callout
+ started investigating a new test case generator strategy
---
 .gitignore                                    |   2 +
 Cargo.lock                                    | 768 ++++++++++++------
 Cargo.toml                                    |  62 +-
 Makefile                                      |  28 -
 aviation_database/Cargo.lock                  | 247 ++++++
 aviation_database/Cargo.toml                  |  25 +
 aviation_database/README.md                   |   7 +
 aviation_database/build.rs                    | 129 +++
 aviation_database/src/consts.rs               |   5 +
 aviation_database/src/lib.rs                  | 201 +++++
 aviation_database/src/reference.rs            |   8 +
 features/ffac.feature                         |  19 -
 features/mode_1.feature                       | 221 -----
 kd_tree/Cargo.toml                            |  12 +
 kd_tree/src/lib.rs                            | 267 ++++++
 kd_tree_sort/Cargo.toml                       |  14 +
 kd_tree_sort/src/lib.rs                       | 179 ++++
 opentaws/Cargo.toml                           |  34 +
 {src => opentaws/src}/alerts.rs               |  45 +-
 opentaws/src/alerts/ffac.rs                   |  42 +
 {src => opentaws/src}/alerts/flta.rs          |   8 +-
 opentaws/src/alerts/mode_1.rs                 |  96 +++
 {src => opentaws/src}/alerts/mode_2.rs        |   6 +-
 opentaws/src/alerts/mode_3.rs                 |  73 ++
 {src => opentaws/src}/alerts/mode_4.rs        |   6 +-
 {src => opentaws/src}/alerts/mode_5.rs        |   6 +-
 opentaws/src/alerts/pda.rs                    |  61 ++
 {src => opentaws/src}/envelope.rs             |   0
 opentaws/src/lib.rs                           |  34 +
 opentaws/src/macros.rs                        |  38 +
 {src => opentaws/src}/prelude.rs              |   5 +-
 {src => opentaws/src}/signal_test.rs          |   0
 {src => opentaws/src}/terrain_server.rs       |   0
 {src => opentaws/src}/types.rs                |  31 +-
 src/alerts/ffac.rs                            |  34 -
 src/alerts/mode_1.rs                          |  87 --
 src/alerts/mode_3.rs                          |  22 -
 src/alerts/pda.rs                             |  22 -
 src/lib.rs                                    | 260 ------
 src/macros.rs                                 |  65 --
 taws_minimal/Cargo.toml                       |  65 ++
 .../examples}/flightgear.rs                   |  10 +-
 .../features}/alert_prioritization.feature    |  16 +-
 taws_minimal/features/ffac.feature            |  28 +
 taws_minimal/features/mode_1.feature          | 222 +++++
 taws_minimal/features/mode_3.feature          |  58 ++
 taws_minimal/features/pda.feature             |  38 +
 .../features}/self_test.feature               |   0
 taws_minimal/src/lib.rs                       | 328 ++++++++
 taws_minimal/src/macros.rs                    |  36 +
 taws_minimal/tests/cucumber.rs                | 300 +++++++
 taws_minimal/tests/util/constraint.rs         | 320 ++++++++
 {tests => taws_minimal/tests}/util/mod.rs     |   5 +
 tests/cucumber.rs                             | 181 -----
 54 files changed, 3496 insertions(+), 1280 deletions(-)
 delete mode 100644 Makefile
 create mode 100644 aviation_database/Cargo.lock
 create mode 100644 aviation_database/Cargo.toml
 create mode 100644 aviation_database/README.md
 create mode 100644 aviation_database/build.rs
 create mode 100644 aviation_database/src/consts.rs
 create mode 100644 aviation_database/src/lib.rs
 create mode 100644 aviation_database/src/reference.rs
 delete mode 100644 features/ffac.feature
 delete mode 100644 features/mode_1.feature
 create mode 100644 kd_tree/Cargo.toml
 create mode 100644 kd_tree/src/lib.rs
 create mode 100644 kd_tree_sort/Cargo.toml
 create mode 100644 kd_tree_sort/src/lib.rs
 create mode 100644 opentaws/Cargo.toml
 rename {src => opentaws/src}/alerts.rs (84%)
 create mode 100644 opentaws/src/alerts/ffac.rs
 rename {src => opentaws/src}/alerts/flta.rs (51%)
 create mode 100644 opentaws/src/alerts/mode_1.rs
 rename {src => opentaws/src}/alerts/mode_2.rs (62%)
 create mode 100644 opentaws/src/alerts/mode_3.rs
 rename {src => opentaws/src}/alerts/mode_4.rs (62%)
 rename {src => opentaws/src}/alerts/mode_5.rs (62%)
 create mode 100644 opentaws/src/alerts/pda.rs
 rename {src => opentaws/src}/envelope.rs (100%)
 create mode 100644 opentaws/src/lib.rs
 create mode 100644 opentaws/src/macros.rs
 rename {src => opentaws/src}/prelude.rs (78%)
 rename {src => opentaws/src}/signal_test.rs (100%)
 rename {src => opentaws/src}/terrain_server.rs (100%)
 rename {src => opentaws/src}/types.rs (89%)
 delete mode 100644 src/alerts/ffac.rs
 delete mode 100644 src/alerts/mode_1.rs
 delete mode 100644 src/alerts/mode_3.rs
 delete mode 100644 src/alerts/pda.rs
 delete mode 100644 src/lib.rs
 delete mode 100644 src/macros.rs
 create mode 100644 taws_minimal/Cargo.toml
 rename {examples => taws_minimal/examples}/flightgear.rs (90%)
 rename {features => taws_minimal/features}/alert_prioritization.feature (69%)
 create mode 100644 taws_minimal/features/ffac.feature
 create mode 100644 taws_minimal/features/mode_1.feature
 create mode 100644 taws_minimal/features/mode_3.feature
 create mode 100644 taws_minimal/features/pda.feature
 rename {features => taws_minimal/features}/self_test.feature (100%)
 create mode 100644 taws_minimal/src/lib.rs
 create mode 100644 taws_minimal/src/macros.rs
 create mode 100644 taws_minimal/tests/cucumber.rs
 create mode 100644 taws_minimal/tests/util/constraint.rs
 rename {tests => taws_minimal/tests}/util/mod.rs (97%)
 delete mode 100644 tests/cucumber.rs

diff --git a/.gitignore b/.gitignore
index f0d16fc..11861a1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -11,3 +11,5 @@ target
 report/
 **/result
 **/result-doc
+
+aviation_database/airports.json
diff --git a/Cargo.lock b/Cargo.lock
index c0fb126..f348bbf 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -20,11 +20,17 @@ dependencies = [
  "winapi",
 ]
 
+[[package]]
+name = "anyhow"
+version = "1.0.45"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ee10e43ae4a853c0a3591d4e2ada1719e553be18199d9da9d4a83f5927c2f5c7"
+
 [[package]]
 name = "arbitrary"
-version = "1.0.1"
+version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "237430fd6ed3740afe94eefcc278ae21e050285be882804e0d6e8695f0c94691"
+checksum = "577b08a4acd7b99869f863c50011b01eb73424ccc798ecd996f2e24817adfca7"
 dependencies = [
  "derive_arbitrary",
 ]
@@ -137,9 +143,9 @@ dependencies = [
 
 [[package]]
 name = "async-process"
-version = "1.1.0"
+version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a8f38756dd9ac84671c428afbf7c9f7495feff9ec5b0710f17100098e5b354ac"
+checksum = "83137067e3a2a6a06d67168e49e68a0957d215410473a740cea95a2425c0b7c6"
 dependencies = [
  "async-io",
  "blocking",
@@ -154,9 +160,9 @@ dependencies = [
 
 [[package]]
 name = "async-std"
-version = "1.9.0"
+version = "1.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d9f06685bad74e0570f5213741bea82158279a4103d988e57bfada11ad230341"
+checksum = "f8056f1455169ab86dd47b47391e4ab0cbd25410a70e9fe675544f49bafaf952"
 dependencies = [
  "async-channel",
  "async-global-executor",
@@ -179,27 +185,6 @@ dependencies = [
  "wasm-bindgen-futures",
 ]
 
-[[package]]
-name = "async-stream"
-version = "0.3.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "171374e7e3b2504e0e5236e3b59260560f9fe94bfe9ac39ba5e4e929c5590625"
-dependencies = [
- "async-stream-impl",
- "futures-core",
-]
-
-[[package]]
-name = "async-stream-impl"
-version = "0.3.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "648ed8c8d2ce5409ccd57453d9d1b214b342a0d69376a6feda1fd6cae3299308"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn",
-]
-
 [[package]]
 name = "async-task"
 version = "4.0.3"
@@ -219,9 +204,9 @@ dependencies = [
 
 [[package]]
 name = "async-tungstenite"
-version = "0.14.0"
+version = "0.16.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8645e929ec7964448a901db9da30cd2ae8c7fecf4d6176af427837531dbbb63b"
+checksum = "a0d06e9a20f1c0d64b6067ef6aa9fdf59e194ecde93575591fb4c78063692324"
 dependencies = [
  "async-std",
  "futures-io",
@@ -254,6 +239,25 @@ version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cdb031dd78e28731d87d56cc8ffef4a8f36ca26c38fe2de700543e627f8a464a"
 
+[[package]]
+name = "aviation_database"
+version = "0.1.0"
+dependencies = [
+ "anyhow",
+ "csv",
+ "kd_tree",
+ "kd_tree_sort",
+ "ordered-float",
+ "proc-macro2",
+ "quote",
+ "rayon",
+ "regex",
+ "serde",
+ "serde_json",
+ "uneval",
+ "uom",
+]
+
 [[package]]
 name = "base64"
 version = "0.13.0"
@@ -262,9 +266,9 @@ checksum = "904dfeac50f3cdaba28fc6f57fdcddb75f49ed61346676a78c4ffe55877802fd"
 
 [[package]]
 name = "bitflags"
-version = "1.2.1"
+version = "1.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cf1de2fe8c75bc145a2f577add951f8134889b4795d47466a54a5c846d691693"
+checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "block-buffer"
@@ -277,9 +281,9 @@ dependencies = [
 
 [[package]]
 name = "blocking"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c5e170dbede1f740736619b776d7251cb1b9095c435c34d8ca9f57fcd2f335e9"
+checksum = "046e47d4b2d391b1f6f8b407b1deb8dee56c1852ccd868becf2710f601b5f427"
 dependencies = [
  "async-channel",
  "async-task",
@@ -291,18 +295,21 @@ dependencies = [
 
 [[package]]
 name = "bstr"
-version = "0.2.16"
+version = "0.2.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "90682c8d613ad3373e66de8c6411e0ae2ab2571e879d2efbf73558cc66f21279"
+checksum = "ba3569f383e8f1598449f1a423e72e99569137b47740b1da11ef19af3d5c3223"
 dependencies = [
+ "lazy_static",
  "memchr",
+ "regex-automata",
+ "serde",
 ]
 
 [[package]]
 name = "bumpalo"
-version = "3.7.0"
+version = "3.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c59e7af012c713f529e7a3ee57ce9b31ddd858d4b512923602f74608b009631"
+checksum = "8f1e260c3a9040a7c19a12468758f4c16f31a81a1fe087482be9570ec864bb6c"
 
 [[package]]
 name = "byteorder"
@@ -312,9 +319,9 @@ checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
 
 [[package]]
 name = "bytes"
-version = "1.0.1"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b700ce4376041dcd0a327fd0097c41095743c4c8af8887265942faf1100bd040"
+checksum = "c4872d67bab6358e59559027aa3b9157c53d9358c51423c17554809a8858e0f8"
 
 [[package]]
 name = "cache-padded"
@@ -333,9 +340,9 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.0.69"
+version = "1.0.72"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e70cc2f62c6ce1868963827bd677764c62d07c3d9a3e1fb1177ee1a9ab199eb2"
+checksum = "22a9137b95ea06864e018375b72adfb7db6e6f68cfc8df5a04d00288050485ee"
 
 [[package]]
 name = "cfg-if"
@@ -367,15 +374,64 @@ dependencies = [
  "cache-padded",
 ]
 
+[[package]]
+name = "console"
+version = "0.15.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a28b32d32ca44b70c3e4acd7db1babf555fa026e385fb95f18028f88848b3c31"
+dependencies = [
+ "encode_unicode",
+ "libc",
+ "once_cell",
+ "regex",
+ "terminal_size",
+ "unicode-width",
+ "winapi",
+]
+
 [[package]]
 name = "cpufeatures"
-version = "0.1.5"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "66c99696f6c9dd7f35d486b9d04d7e6e202aa3e8c40d553f2fdf5e7e0c6a71ef"
+checksum = "95059428f66df56b63431fdb4e1947ed2190586af5c5a8a8b71122bdf5a7f469"
 dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "crossbeam-channel"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "06ed27e177f16d65f0f0c22a213e17c696ace5dd64b14258b52f9417ccb52db4"
+dependencies = [
+ "cfg-if",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-deque"
+version = "0.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6455c0ca19f0d2fbf751b908d5c55c1f5cbc65e03c4225427254b46890bdde1e"
+dependencies = [
+ "cfg-if",
+ "crossbeam-epoch",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-epoch"
+version = "0.9.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4ec02e091aa634e2c3ada4a392989e7c3116673ef0ac5b72232439094d73b7fd"
+dependencies = [
+ "cfg-if",
+ "crossbeam-utils",
+ "lazy_static",
+ "memoffset",
+ "scopeguard",
+]
+
 [[package]]
 name = "crossbeam-utils"
 version = "0.8.5"
@@ -386,47 +442,67 @@ dependencies = [
  "lazy_static",
 ]
 
+[[package]]
+name = "csv"
+version = "1.1.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "22813a6dc45b335f9bade10bf7271dc477e81113e89eb251a0bc2a8a81c536e1"
+dependencies = [
+ "bstr",
+ "csv-core",
+ "itoa",
+ "ryu",
+ "serde",
+]
+
+[[package]]
+name = "csv-core"
+version = "0.1.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2b2466559f260f48ad25fe6317b3c8dac77b5bdb5763ac7d9d6103530663bc90"
+dependencies = [
+ "memchr",
+]
+
 [[package]]
 name = "ctor"
-version = "0.1.20"
+version = "0.1.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5e98e2ad1a782e33928b96fc3948e7c355e5af34ba4de7670fe8bac2a3b2006d"
+checksum = "ccc0a48a9b826acdf4028595adc9db92caea352f7af011a3034acd172a52a0aa"
 dependencies = [
  "quote",
  "syn",
 ]
 
 [[package]]
-name = "cucumber_rust"
-version = "0.9.0"
+name = "cucumber"
+version = "0.10.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5d1cc772687e83e581621d37bb11543237dc55618dbc04c8e600928e532dc879"
+checksum = "eab886787f3c659f408c5fe0a9d7bd1d831ed324fcb55aa89bf339fee8b027b6"
 dependencies = [
- "async-stream",
  "async-trait",
- "clap",
- "cucumber_rust_codegen",
- "cute_custom_default",
+ "atty",
+ "console",
+ "cucumber-codegen",
+ "derive_more",
+ "either",
  "futures",
- "futures-timer",
  "gherkin_rust",
  "globwalk",
  "inventory",
+ "itertools",
+ "linked-hash-map",
  "once_cell",
- "pathdiff",
  "regex",
- "shh",
- "termcolor",
- "textwrap 0.12.1",
- "thiserror",
- "tracing",
+ "sealed",
+ "structopt",
 ]
 
 [[package]]
-name = "cucumber_rust_codegen"
-version = "0.9.0"
+name = "cucumber-codegen"
+version = "0.10.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4762e59ca6ebc62e043d2ad5ca09e91561520573fd2263df0263320787d3ffc4"
+checksum = "9313bba9a820772969ee89f947d91e867c3e37ce6694583ac73466977a9a9f1f"
 dependencies = [
  "inflections",
  "itertools",
@@ -437,20 +513,21 @@ dependencies = [
 ]
 
 [[package]]
-name = "cute_custom_default"
-version = "2.1.0"
+name = "derive_arbitrary"
+version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ed431abf442833fd62ad7cc527a3833d969155c803f0dcf7f8a68db8adddc4c5"
+checksum = "b24629208e87a2d8b396ff43b15c4afb0a69cea3fbbaa9ed9b92b7c02f0aed73"
 dependencies = [
+ "proc-macro2",
  "quote",
  "syn",
 ]
 
 [[package]]
-name = "derive_arbitrary"
-version = "1.0.1"
+name = "derive_more"
+version = "0.99.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5f1281ee141df08871db9fe261ab5312179eac32d1e314134ceaa8dd7c042f5a"
+checksum = "40eebddd2156ce1bb37b20bbe5151340a31828b1f2d22ba4141f3531710e38df"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -472,6 +549,12 @@ version = "1.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e78d4f1cc4ae33bbfc157ed5d5a5ef3bc29227303d595861deb238fcec4e9457"
 
+[[package]]
+name = "encode_unicode"
+version = "0.3.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a357d28ed41a50f9c765dbfe56cbc04a64e53e5fc58ba79fbc34c10ef3df831f"
+
 [[package]]
 name = "event-listener"
 version = "2.5.1"
@@ -505,9 +588,9 @@ dependencies = [
 
 [[package]]
 name = "futures"
-version = "0.3.16"
+version = "0.3.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1adc00f486adfc9ce99f77d717836f0c5aa84965eb0b4f051f4e83f7cab53f8b"
+checksum = "a12aa0eb539080d55c3f2d45a67c3b58b6b0773c1a3ca2dfec66d58c97fd66ca"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -520,9 +603,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.16"
+version = "0.3.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "74ed2411805f6e4e3d9bc904c95d5d423b89b3b25dc0250aa74729de20629ff9"
+checksum = "5da6ba8c3bb3c165d3c7319fc1cc8304facf1fb8db99c5de877183c08a273888"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -530,15 +613,15 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.16"
+version = "0.3.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "af51b1b4a7fdff033703db39de8802c673eb91855f2e0d47dcf3bf2c0ef01f99"
+checksum = "88d1c26957f23603395cd326b0ffe64124b818f4449552f960d815cfba83a53d"
 
 [[package]]
 name = "futures-executor"
-version = "0.3.16"
+version = "0.3.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4d0d535a57b87e1ae31437b892713aee90cd2d7b0ee48727cd11fc72ef54761c"
+checksum = "45025be030969d763025784f7f355043dc6bc74093e4ecc5000ca4dc50d8745c"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -547,9 +630,9 @@ dependencies = [
 
 [[package]]
 name = "futures-io"
-version = "0.3.16"
+version = "0.3.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0b0e06c393068f3a6ef246c75cdca793d6a46347e75286933e5e75fd2fd11582"
+checksum = "522de2a0fe3e380f1bc577ba0474108faf3f6b18321dbf60b3b9c39a75073377"
 
 [[package]]
 name = "futures-lite"
@@ -568,9 +651,9 @@ dependencies = [
 
 [[package]]
 name = "futures-macro"
-version = "0.3.16"
+version = "0.3.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c54913bae956fb8df7f4dc6fc90362aa72e69148e3f39041fbe8742d21e0ac57"
+checksum = "18e4a4b95cea4b4ccbcf1c5675ca7c4ee4e9e75eb79944d07defde18068f79bb"
 dependencies = [
  "autocfg",
  "proc-macro-hack",
@@ -581,27 +664,21 @@ dependencies = [
 
 [[package]]
 name = "futures-sink"
-version = "0.3.16"
+version = "0.3.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c0f30aaa67363d119812743aa5f33c201a7a66329f97d1a887022971feea4b53"
+checksum = "36ea153c13024fe480590b3e3d4cad89a0cfacecc24577b68f86c6ced9c2bc11"
 
 [[package]]
 name = "futures-task"
-version = "0.3.16"
+version = "0.3.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bbe54a98670017f3be909561f6ad13e810d9a51f3f061b902062ca3da80799f2"
-
-[[package]]
-name = "futures-timer"
-version = "3.0.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e64b03909df88034c26dc1547e8970b91f98bdb65165d6a4e9110d94263dbb2c"
+checksum = "1d3d00f4eddb73e498a54394f228cd55853bdf059259e8e7bc6e69d408892e99"
 
 [[package]]
 name = "futures-util"
-version = "0.3.16"
+version = "0.3.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "67eb846bfd58e44a8481a00049e82c43e0ccb5d61f8dc071057cb19249dd4d78"
+checksum = "36568465210a3a6ee45e1f165136d68671471a501e632e9a98d96872222b5481"
 dependencies = [
  "autocfg",
  "futures-channel",
@@ -724,9 +801,9 @@ dependencies = [
 
 [[package]]
 name = "http"
-version = "0.2.4"
+version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "527e8c9ac747e28542699a951517aa9a6945af506cd1f2e1b53a576c17b6cc11"
+checksum = "1323096b05d41827dadeaee54c9981958c0f94e670bc94ed80037d1a7b8b186b"
 dependencies = [
  "bytes",
  "fnv",
@@ -735,9 +812,9 @@ dependencies = [
 
 [[package]]
 name = "httparse"
-version = "1.4.1"
+version = "1.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f3a87b616e37e93c22fb19bcd386f02f3af5ea98a25670ad0fce773de23c5e68"
+checksum = "acd94fdbe1d4ff688b67b04eee2e17bd50995534a61539e45adfefb45e5e5503"
 
 [[package]]
 name = "idna"
@@ -774,29 +851,20 @@ version = "1.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a257582fdcde896fd96463bf2d40eefea0580021c0712a0e2b028b60b47a837a"
 
-[[package]]
-name = "input_buffer"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f97967975f448f1a7ddb12b0bc41069d09ed6a1c161a92687e057325db35d413"
-dependencies = [
- "bytes",
-]
-
 [[package]]
 name = "instant"
-version = "0.1.10"
+version = "0.1.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bee0328b1209d157ef001c94dd85b4f8f64139adb0eac2659f4b08382b2f474d"
+checksum = "7a5bbe824c507c5da5956355e86a746d82e0e1464f65d862cc5e71da70e94b2c"
 dependencies = [
  "cfg-if",
 ]
 
 [[package]]
 name = "inventory"
-version = "0.1.10"
+version = "0.1.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0f0f7efb804ec95e33db9ad49e4252f049e37e8b0a4652e3cd61f7999f2eff7f"
+checksum = "f0eb5160c60ba1e809707918ee329adb99d222888155835c6feedba19f6c3fd4"
 dependencies = [
  "ctor",
  "ghost",
@@ -805,9 +873,9 @@ dependencies = [
 
 [[package]]
 name = "inventory-impl"
-version = "0.1.10"
+version = "0.1.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "75c094e94816723ab936484666968f5b58060492e880f3c8d00489a1e244fa51"
+checksum = "7e41b53715c6f0c4be49510bb82dee2c1e51c8586d885abe65396e82ed518548"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -816,28 +884,45 @@ dependencies = [
 
 [[package]]
 name = "itertools"
-version = "0.9.0"
+version = "0.10.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "284f18f85651fe11e8a991b2adb42cb078325c996ed026d994719efcfca1d54b"
+checksum = "69ddb889f9d0d08a67338271fa9b62996bc788c7796a5c18cf057420aaed5eaf"
 dependencies = [
  "either",
 ]
 
 [[package]]
 name = "itoa"
-version = "0.4.7"
+version = "0.4.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dd25036021b0de88a0aff6b850051563c6516d0bf53f8638938edbb9de732736"
+checksum = "b71991ff56294aa922b450139ee08b3bfc70982c6b2c7562771375cf73542dd4"
 
 [[package]]
 name = "js-sys"
-version = "0.3.51"
+version = "0.3.55"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "83bdfbace3a0e81a4253f73b49e960b053e396a11012cbd49b9b74d6a2b67062"
+checksum = "7cc9ffccd38c451a86bf13657df244e9c3f37493cce8e5e21e940963777acc84"
 dependencies = [
  "wasm-bindgen",
 ]
 
+[[package]]
+name = "kd_tree"
+version = "0.1.0"
+dependencies = [
+ "num",
+]
+
+[[package]]
+name = "kd_tree_sort"
+version = "0.1.0"
+dependencies = [
+ "kd_tree",
+ "rand",
+ "rand_pcg",
+ "rayon",
+]
+
 [[package]]
 name = "kv-log-macro"
 version = "1.0.7"
@@ -858,9 +943,24 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.98"
+version = "0.2.107"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "320cfe77175da3a483efed4bc0adc1968ca050b098ce4f2f1c13a56626128790"
+checksum = "fbe5e23404da5b4f555ef85ebed98fb4083e55a00c317800bc2a50ede9f3d219"
+
+[[package]]
+name = "linked-hash-map"
+version = "0.5.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7fb9b38af92608140b86b693604b9ffcc5824240a484d1ecd4795bacb2fe88f3"
+
+[[package]]
+name = "lock_api"
+version = "0.4.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "712a4d093c9976e24e7dbca41db895dabcbac38eb5f4045393d17a95bdfb1109"
+dependencies = [
+ "scopeguard",
+]
 
 [[package]]
 name = "log"
@@ -874,15 +974,78 @@ dependencies = [
 
 [[package]]
 name = "matches"
-version = "0.1.8"
+version = "0.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7ffc5c5338469d4d3ea17d269fa8ea3512ad247247c30bd2df69e68309ed0a08"
+checksum = "a3e378b66a060d48947b590737b30a1be76706c8dd7b8ba0f2fe3989c68a853f"
 
 [[package]]
 name = "memchr"
-version = "2.4.0"
+version = "2.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b16bd47d9e329435e309c58469fe0791c2d0d1ba96ec0954152a5ae2b04387dc"
+checksum = "308cc39be01b73d0d18f82a0e7b2a3df85245f84af96fdddc5d202d27e47b86a"
+
+[[package]]
+name = "memoffset"
+version = "0.6.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "59accc507f1338036a0477ef61afdae33cde60840f4dfe481319ce3ad116ddf9"
+dependencies = [
+ "autocfg",
+]
+
+[[package]]
+name = "num"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "43db66d1170d347f9a065114077f7dccb00c1b9478c89384490a3425279a4606"
+dependencies = [
+ "num-complex",
+ "num-integer",
+ "num-iter",
+ "num-rational",
+ "num-traits",
+]
+
+[[package]]
+name = "num-complex"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "26873667bbbb7c5182d4a37c1add32cdf09f841af72da53318fdb81543c15085"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-integer"
+version = "0.1.44"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d2cc698a63b549a70bc047073d2949cce27cd1c7b0a4a862d08a8031bc2801db"
+dependencies = [
+ "autocfg",
+ "num-traits",
+]
+
+[[package]]
+name = "num-iter"
+version = "0.1.42"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b2021c8337a54d21aca0d59a92577a029af9431cb59b909b03252b9c164fad59"
+dependencies = [
+ "autocfg",
+ "num-integer",
+ "num-traits",
+]
+
+[[package]]
+name = "num-rational"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d41702bd167c2df5520b384281bc111a4b5efcf7fbc4c9c222c815b07e0a6a6a"
+dependencies = [
+ "autocfg",
+ "num-integer",
+ "num-traits",
+]
 
 [[package]]
 name = "num-traits"
@@ -908,6 +1071,9 @@ name = "once_cell"
 version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "692fcb63b64b1758029e0a96ee63e049ce8c5948587f2f7208df04625e5f6b56"
+dependencies = [
+ "parking_lot",
+]
 
 [[package]]
 name = "opaque-debug"
@@ -919,21 +1085,23 @@ checksum = "624a8340c38c1b80fd549087862da4ba43e08858af025b236e509b6649fc13d5"
 name = "opentaws"
 version = "0.1.0"
 dependencies = [
- "arbitrary",
- "async-tungstenite",
- "casey",
- "cucumber_rust",
- "futures",
+ "aviation_database",
  "lazy_static",
- "rand",
- "rand_pcg",
  "ringbuffer",
  "serde",
- "serde_json",
- "smol",
+ "serde_arrays",
  "uom",
 ]
 
+[[package]]
+name = "ordered-float"
+version = "2.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "97c9d06878b3a851e8026ef94bf7fef9ba93062cd412601da4d9cf369b1cc62d"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "parking"
 version = "2.0.0"
@@ -941,10 +1109,29 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "427c3892f9e783d91cc128285287e70a59e206ca452770ece88a76f7a3eddd72"
 
 [[package]]
-name = "pathdiff"
-version = "0.2.0"
+name = "parking_lot"
+version = "0.11.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "877630b3de15c0b64cc52f659345724fbf6bdad9bd9566699fc53688f3c34a34"
+checksum = "7d17b78036a60663b797adeaee46f5c9dfebb86948d1255007a1d6be0271ff99"
+dependencies = [
+ "instant",
+ "lock_api",
+ "parking_lot_core",
+]
+
+[[package]]
+name = "parking_lot_core"
+version = "0.8.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d76e8e1493bcac0d2766c42737f34458f1c8c50c0d23bcb24ea953affb273216"
+dependencies = [
+ "cfg-if",
+ "instant",
+ "libc",
+ "redox_syscall",
+ "smallvec",
+ "winapi",
+]
 
 [[package]]
 name = "peg"
@@ -993,9 +1180,9 @@ checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
 [[package]]
 name = "polling"
-version = "2.1.0"
+version = "2.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92341d779fa34ea8437ef4d82d440d5e1ce3f3ff7f824aa64424cd481f9a1f25"
+checksum = "685404d509889fade3e86fe3a5803bca2ec09b0c0778d5ada6ec8bf7a8de5259"
 dependencies = [
  "cfg-if",
  "libc",
@@ -1006,9 +1193,33 @@ dependencies = [
 
 [[package]]
 name = "ppv-lite86"
-version = "0.2.10"
+version = "0.2.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ed0cfbc8191465bed66e1718596ee0b0b35d5ee1f41c5df2189d0fe8bde535ba"
+
+[[package]]
+name = "proc-macro-error"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "da25490ff9892aab3fcf7c36f08cfb902dd3e71ca0f9f9517bea02a73a5ce38c"
+dependencies = [
+ "proc-macro-error-attr",
+ "proc-macro2",
+ "quote",
+ "syn",
+ "version_check",
+]
+
+[[package]]
+name = "proc-macro-error-attr"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ac74c624d6b2d21f425f752262f42188365d7b8ff1aff74c82e45136510a4857"
+checksum = "a1be40180e52ecc98ad80b184934baf3d0d29f979574e439af5a55274b35f869"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "version_check",
+]
 
 [[package]]
 name = "proc-macro-hack"
@@ -1024,18 +1235,18 @@ checksum = "bc881b2c22681370c6a780e47af9840ef841837bc98118431d4e1868bd0c1086"
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.28"
+version = "1.0.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5c7ed8b8c7b886ea3ed7dde405212185f423ab44682667c8c6dd14aa1d9f6612"
+checksum = "ba508cc11742c0dc5c1659771673afbab7a0efab23aa17e854cbab0837ed0b43"
 dependencies = [
  "unicode-xid",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.9"
+version = "1.0.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c3d0b9745dc2debf507c8422de05d7226cc1f0644216dfdfead988f9b1ab32a7"
+checksum = "38bc8cc6a5f2e3655e0899c1b848643b2562f853f114bfec7be120678e3ace05"
 dependencies = [
  "proc-macro2",
 ]
@@ -1089,6 +1300,40 @@ dependencies = [
  "rand_core",
 ]
 
+[[package]]
+name = "rayon"
+version = "1.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c06aca804d41dbc8ba42dfd964f0d01334eceb64314b9ecf7c5fad5188a06d90"
+dependencies = [
+ "autocfg",
+ "crossbeam-deque",
+ "either",
+ "rayon-core",
+]
+
+[[package]]
+name = "rayon-core"
+version = "1.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d78120e2c850279833f1dd3582f730c4ab53ed95aeaaaa862a2a5c71b1656d8e"
+dependencies = [
+ "crossbeam-channel",
+ "crossbeam-deque",
+ "crossbeam-utils",
+ "lazy_static",
+ "num_cpus",
+]
+
+[[package]]
+name = "redox_syscall"
+version = "0.2.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8383f39639269cde97d255a32bdb68c047337295414940c68bdd30c2e13203ff"
+dependencies = [
+ "bitflags",
+]
+
 [[package]]
 name = "regex"
 version = "1.5.4"
@@ -1100,6 +1345,12 @@ dependencies = [
  "regex-syntax",
 ]
 
+[[package]]
+name = "regex-automata"
+version = "0.1.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6c230d73fb8d8c1b9c0b3135c5142a8acee3a0558fb8db5cf1cb65f8d7862132"
+
 [[package]]
 name = "regex-syntax"
 version = "0.6.25"
@@ -1108,9 +1359,9 @@ checksum = "f497285884f3fcff424ffc933e56d7cbca511def0c9831a7f9b5f6153e3cc89b"
 
 [[package]]
 name = "ringbuffer"
-version = "0.8.2"
+version = "0.8.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "72dfeba9c94fdc308dcfe165efa6855c698f317484b736605ff859c5fa81d992"
+checksum = "20e49d3a791d79aa7683f8798b274073140865ffb9d65767ace44229d34299e3"
 dependencies = [
  "array-init",
 ]
@@ -1130,20 +1381,47 @@ dependencies = [
  "winapi-util",
 ]
 
+[[package]]
+name = "scopeguard"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
+
+[[package]]
+name = "sealed"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "636b9882a0f4cc2039488df89a10eb4b7976d4b6c1917fc0518f3f0f5e2c72ca"
+dependencies = [
+ "heck",
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "serde"
-version = "1.0.126"
+version = "1.0.130"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ec7505abeacaec74ae4778d9d9328fe5a5d04253220a85c4ee022239fc996d03"
+checksum = "f12d06de37cf59146fbdecab66aa99f9fe4f78722e3607577a5375d66bd0c913"
 dependencies = [
  "serde_derive",
 ]
 
+[[package]]
+name = "serde_arrays"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38636132857f68ec3d5f3eb121166d2af33cb55174c4d5ff645db6165cbef0fd"
+dependencies = [
+ "serde",
+]
+
 [[package]]
 name = "serde_derive"
-version = "1.0.126"
+version = "1.0.130"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "963a7dbc9895aeac7ac90e74f34a5d5261828f79df35cbed41e10189d3804d43"
+checksum = "d7bc1a1ab1961464eae040d96713baa5a724a8152c1222492465b54322ec508b"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1152,9 +1430,9 @@ dependencies = [
 
 [[package]]
 name = "serde_json"
-version = "1.0.65"
+version = "1.0.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "28c5e91e4240b46c4c19219d6cc84784444326131a4210f496f948d5cc827a29"
+checksum = "e466864e431129c7e0d3476b92f20458e5879919a0596c6472738d9fa2d342f8"
 dependencies = [
  "itoa",
  "ryu",
@@ -1163,9 +1441,9 @@ dependencies = [
 
 [[package]]
 name = "sha-1"
-version = "0.9.7"
+version = "0.9.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1a0c8611594e2ab4ebbf06ec7cbbf0a99450b8570e96cbf5188b5d5f6ef18d81"
+checksum = "99cd6713db3cf16b6c84e06321e049a9b9f699826e16096d23bbcc44d15d51a6"
 dependencies = [
  "block-buffer",
  "cfg-if",
@@ -1174,21 +1452,11 @@ dependencies = [
  "opaque-debug",
 ]
 
-[[package]]
-name = "shh"
-version = "1.0.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5205eb079ac8be8ec77b7470aff4a050610d42c32819deee362ca414c926d3ab"
-dependencies = [
- "libc",
- "winapi",
-]
-
 [[package]]
 name = "signal-hook"
-version = "0.3.9"
+version = "0.3.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "470c5a6397076fae0094aaf06a08e6ba6f37acb77d3b1b91ea92b4d6c8650c39"
+checksum = "9c98891d737e271a2954825ef19e46bd16bdb98e2746f2eec4f7a4ef7946efd1"
 dependencies = [
  "libc",
  "signal-hook-registry",
@@ -1205,9 +1473,15 @@ dependencies = [
 
 [[package]]
 name = "slab"
-version = "0.4.3"
+version = "0.4.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f173ac3d1a7e3b28003f40de0b5ce7fe2710f9b9dc3fc38664cebee46b3b6527"
+checksum = "9def91fd1e018fe007022791f865d0ccc9b3a0d5001e01aabb8b40e46000afb5"
+
+[[package]]
+name = "smallvec"
+version = "1.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1ecab6c735a6bb4139c0caafd0cc3635748bbb3acf4550e8138122099251f309"
 
 [[package]]
 name = "smol"
@@ -1229,9 +1503,9 @@ dependencies = [
 
 [[package]]
 name = "socket2"
-version = "0.4.1"
+version = "0.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "765f090f0e423d2b55843402a07915add955e7d60657db13707a159727326cad"
+checksum = "5dc90fe6c7be1a323296982db1836d1ea9e47b6839496dde9a541bc496df3516"
 dependencies = [
  "libc",
  "winapi",
@@ -1249,11 +1523,35 @@ version = "0.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8ea5119cdb4c55b55d432abb513a0429384878c15dde60cc77b1c99de1a95a6a"
 
+[[package]]
+name = "structopt"
+version = "0.3.25"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "40b9788f4202aa75c240ecc9c15c65185e6a39ccdeb0fd5d008b98825464c87c"
+dependencies = [
+ "clap",
+ "lazy_static",
+ "structopt-derive",
+]
+
+[[package]]
+name = "structopt-derive"
+version = "0.4.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dcb5ae327f9cc13b68763b5749770cb9e048a99bd9dfdfa58d0cf05d5f64afe0"
+dependencies = [
+ "heck",
+ "proc-macro-error",
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "syn"
-version = "1.0.74"
+version = "1.0.81"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1873d832550d4588c3dbc20f01361ab00bfe741048f71e3fecf145a7cc18b29c"
+checksum = "f2afee18b8beb5a596ecb4a2dce128c719b4ba399d34126b9e4396e3f9860966"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1261,12 +1559,25 @@ dependencies = [
 ]
 
 [[package]]
-name = "termcolor"
-version = "1.1.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2dfed899f0eb03f32ee8c6a0aabdb8a7949659e3466561fc0adf54e26d88c5f4"
+name = "taws_minimal"
+version = "0.1.0"
 dependencies = [
- "winapi-util",
+ "arbitrary",
+ "async-trait",
+ "async-tungstenite",
+ "aviation_database",
+ "casey",
+ "cucumber",
+ "futures",
+ "lazy_static",
+ "opentaws",
+ "rand",
+ "rand_pcg",
+ "rayon",
+ "serde",
+ "serde_json",
+ "smol",
+ "uom",
 ]
 
 [[package]]
@@ -1294,24 +1605,23 @@ version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "203008d98caf094106cfaba70acfed15e18ed3ddb7d94e49baec153a2b462789"
 dependencies = [
- "terminal_size",
  "unicode-width",
 ]
 
 [[package]]
 name = "thiserror"
-version = "1.0.26"
+version = "1.0.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "93119e4feac1cbe6c798c34d3a53ea0026b0b1de6a120deef895137c0529bfe2"
+checksum = "854babe52e4df1653706b98fcfc05843010039b406875930a70e4d9644e5c417"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.26"
+version = "1.0.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "060d69a0afe7796bf42e9e2ff91f5ee691fb15c53d38b4b62a9a53eb23164745"
+checksum = "aa32fd3f627f367fe16f893e2597ae3c05020f8bba2666a4e6ea73d377e5714b"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1329,9 +1639,9 @@ dependencies = [
 
 [[package]]
 name = "tinyvec"
-version = "1.3.1"
+version = "1.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "848a1e1181b9f6753b5e96a092749e29b11d19ede67dfbbd6c7dc7e0f49b5338"
+checksum = "2c1c1d5a42b6245520c249549ec267180beaffcc0615401ac8e31853d4b6d8d2"
 dependencies = [
  "tinyvec_macros",
 ]
@@ -1342,50 +1652,17 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cda74da7e1a664f795bb1f8a87ec406fb89a02522cf6e50620d016add6dbbf5c"
 
-[[package]]
-name = "tracing"
-version = "0.1.28"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "84f96e095c0c82419687c20ddf5cb3eadb61f4e1405923c9dc8e53a1adacbda8"
-dependencies = [
- "cfg-if",
- "pin-project-lite",
- "tracing-attributes",
- "tracing-core",
-]
-
-[[package]]
-name = "tracing-attributes"
-version = "0.1.16"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "98863d0dd09fa59a1b79c6750ad80dbda6b75f4e71c437a6a1a8cb91a8bcbd77"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn",
-]
-
-[[package]]
-name = "tracing-core"
-version = "0.1.20"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "46125608c26121c81b0c6d693eab5a420e416da7e43c426d2e8f7df8da8a3acf"
-dependencies = [
- "lazy_static",
-]
-
 [[package]]
 name = "tungstenite"
-version = "0.13.0"
+version = "0.16.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5fe8dada8c1a3aeca77d6b51a4f1314e0f4b8e438b7b1b71e3ddaca8080e4093"
+checksum = "6ad3713a14ae247f22a728a0456a545df14acf3867f905adff84be99e23b3ad1"
 dependencies = [
  "base64",
  "byteorder",
  "bytes",
  "http",
  "httparse",
- "input_buffer",
  "log",
  "rand",
  "sha-1",
@@ -1407,19 +1684,26 @@ dependencies = [
 
 [[package]]
 name = "typenum"
-version = "1.13.0"
+version = "1.14.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "879f6906492a7cd215bfa4cf595b600146ccfac0c79bcbd1f3000162af5e8b06"
+checksum = "b63708a265f51345575b27fe43f9500ad611579e764c79edbc2037b1121959ec"
 
 [[package]]
-name = "unicode-bidi"
-version = "0.3.5"
+name = "uneval"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eeb8be209bb1c96b7c177c7420d26e04eccacb0eeae6b980e35fcb74678107e0"
+checksum = "df3b95ceb1224b9d137ee19530b0d6f39c66d73098b50d41a4de4ccbf5e4f122"
 dependencies = [
- "matches",
+ "serde",
+ "thiserror",
 ]
 
+[[package]]
+name = "unicode-bidi"
+version = "0.3.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1a01404663e3db436ed2746d9fefef640d868edae3cceb81c3b8d5732fda678f"
+
 [[package]]
 name = "unicode-normalization"
 version = "0.1.19"
@@ -1437,9 +1721,9 @@ checksum = "8895849a949e7845e06bd6dc1aa51731a103c42707010a5b591c0038fb73385b"
 
 [[package]]
 name = "unicode-width"
-version = "0.1.8"
+version = "0.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9337591893a19b88d8d87f2cec1e73fad5cdfd10e5a6f349f498ad6ea2ffb1e3"
+checksum = "3ed742d4ea2bd1176e236172c8429aaf54486e7ac098db29ffe6529e0ce50973"
 
 [[package]]
 name = "unicode-xid"
@@ -1478,9 +1762,9 @@ checksum = "09cc8ee72d2a9becf2f2febe0205bbed8fc6615b7cb429ad062dc7b7ddd036a9"
 
 [[package]]
 name = "value-bag"
-version = "1.0.0-alpha.7"
+version = "1.0.0-alpha.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dd320e1520f94261153e96f7534476ad869c14022aee1e59af7c778075d840ae"
+checksum = "79923f7731dc61ebfba3633098bf3ac533bbd35ccd8c57e7088d9a5eebe0263f"
 dependencies = [
  "ctor",
  "version_check",
@@ -1523,9 +1807,9 @@ checksum = "fd6fbd9a79829dd1ad0cc20627bf1ed606756a7f77edff7b66b7064f9cb327c6"
 
 [[package]]
 name = "wasm-bindgen"
-version = "0.2.74"
+version = "0.2.78"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d54ee1d4ed486f78874278e63e4069fc1ab9f6a18ca492076ffb90c5eb2997fd"
+checksum = "632f73e236b219150ea279196e54e610f5dbafa5d61786303d4da54f84e47fce"
 dependencies = [
  "cfg-if",
  "wasm-bindgen-macro",
@@ -1533,9 +1817,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-backend"
-version = "0.2.74"
+version = "0.2.78"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3b33f6a0694ccfea53d94db8b2ed1c3a8a4c86dd936b13b9f0a15ec4a451b900"
+checksum = "a317bf8f9fba2476b4b2c85ef4c4af8ff39c3c7f0cdfeed4f82c34a880aa837b"
 dependencies = [
  "bumpalo",
  "lazy_static",
@@ -1548,9 +1832,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-futures"
-version = "0.4.24"
+version = "0.4.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5fba7978c679d53ce2d0ac80c8c175840feb849a161664365d1287b41f2e67f1"
+checksum = "8e8d7523cb1f2a4c96c1317ca690031b714a51cc14e05f712446691f413f5d39"
 dependencies = [
  "cfg-if",
  "js-sys",
@@ -1560,9 +1844,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro"
-version = "0.2.74"
+version = "0.2.78"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "088169ca61430fe1e58b8096c24975251700e7b1f6fd91cc9d59b04fb9b18bd4"
+checksum = "d56146e7c495528bf6587663bea13a8eb588d39b36b679d83972e1a2dbbdacf9"
 dependencies = [
  "quote",
  "wasm-bindgen-macro-support",
@@ -1570,9 +1854,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro-support"
-version = "0.2.74"
+version = "0.2.78"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "be2241542ff3d9f241f5e2cb6dd09b37efe786df8851c54957683a49f0987a97"
+checksum = "7803e0eea25835f8abdc585cd3021b3deb11543c6fe226dcd30b228857c5c5ab"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1583,15 +1867,15 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-shared"
-version = "0.2.74"
+version = "0.2.78"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d7cff876b8f18eed75a66cf49b65e7f967cb354a7aa16003fb55dbfd25b44b4f"
+checksum = "0237232789cf037d5480773fe568aac745bfe2afbc11a863e97901780a6b47cc"
 
 [[package]]
 name = "web-sys"
-version = "0.3.51"
+version = "0.3.55"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e828417b379f3df7111d3a2a9e5753706cae29c41f7c4029ee9fd77f3e09e582"
+checksum = "38eb105f1c59d9eaa6b5cdc92b859d85b926e82cb2e0945cd0c9259faa6fe9fb"
 dependencies = [
  "js-sys",
  "wasm-bindgen",
diff --git a/Cargo.toml b/Cargo.toml
index 8d79281..c3f5b95 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,54 +1,8 @@
-[package]
-name = "opentaws"
-version = "0.1.0"
-authors = [
-	"Wanja Zaeske <wanja.zaeske@tu-clausthal.de>",
-	"Janick Beck <janick.beck@tu-clausthal.de>",
-	"Umut Durak <umut.durak@tu-clausthal.de>",
-	]
-edition = "2018"
-license = "MIT OR Apache-2.0"
-description = "An open source TAWS"
-documentation = "https://aeronautical-informatics.github.io/openTAWS/"
-readme = "README.md"
-repository = "https://github.com/aeronautical-informatics/openTAWS"
-
-# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
-
-[badges]
-codecov = { repository = "aeronautical-informatics/openTAWS", branch = "main" }
-github = { repository = "aeronautical-informatics/openTAWS" }
-is-it-maintained-open-issues = { repository = "aeronautical-informatics/openTAWS" }
-maintenance = { status = "actively-developed" }
-
-[features]
-default = ["use-serde"]
-use-serde = ["uom/use_serde"]
-
-[dependencies]
-casey = "0.3"
-lazy_static = { version = "1", features = [ "spin_no_std" ] }
-uom = { version = "0", default-features = false, features = [ "f64", "si" ] }
-ringbuffer = "0.8"
-serde = { version = "1.0", default-features = false, features = [ "derive" ] }
-
-# testing ang examples
-arbitrary = { version = "1", features = ["derive"], optional = true }
-async-tungstenite = { version = "*", features = [ "async-std-runtime" ], optional = true }
-cucumber_rust = { version = "0.9", features = [ "macros" ], optional = true  }
-futures = { version = "0", optional = true }
-rand = { version = "*", optional = true }
-rand_pcg = { version = "*", optional = true }
-serde_json = { version = "1.0", optional = true }
-smol = { version = "1.0", optional = true }
-
-
-[[test]]
-name = "cucumber"
-harness = false # Allows Cucumber to print output instead of libtest
-path = "tests/cucumber.rs"
-required-features = [ "arbitrary", "cucumber_rust", "futures", "rand", "rand_pcg", "serde_json" ]
-
-[[example]]
-name = "flightgear"
-required-features = [ "async-tungstenite", "futures", "serde_json", "smol" ]
+[workspace]
+members = [
+	"opentaws",
+	"taws_minimal",
+	"aviation_database",
+	"kd_tree",
+	"kd_tree_sort"
+]
diff --git a/Makefile b/Makefile
deleted file mode 100644
index 1c599ab..0000000
--- a/Makefile
+++ /dev/null
@@ -1,28 +0,0 @@
-OCI_ENGINE     ?= podman
-IMAGE_TAG       = alpine-ruby-cucumber
-OCI_RUN_CMD     = $(OCI_ENGINE) run --tty --interactive $(OCI_LOG_DRIVER) \
-		  --volume .:/app --workdir /app $(IMAGE_TAG) 
-OCI_LOG_DRIVER ?= --log-driver=none
-
-cargo: cargo/test
-
-cargo/test: 
-	@cargo test
-
-cargo/build:
-	@cargo build
-
-oci/image:
-	@$(OCI_ENGINE) build --tag $(IMAGE_TAG) contrib/docker-alpine-ruby-cucumber > /dev/null
-
-report: report/cli
-
-report/cli: oci/image
-	@$(OCI_RUN_CMD) 
-
-report/html: oci/image
-	@mkdir -p report
-	@$(OCI_RUN_CMD) --format html > report/index.html
-
-clean:
-	@rm -rf report target
diff --git a/aviation_database/Cargo.lock b/aviation_database/Cargo.lock
new file mode 100644
index 0000000..4554032
--- /dev/null
+++ b/aviation_database/Cargo.lock
@@ -0,0 +1,247 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 3
+
+[[package]]
+name = "anyhow"
+version = "1.0.45"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ee10e43ae4a853c0a3591d4e2ada1719e553be18199d9da9d4a83f5927c2f5c7"
+
+[[package]]
+name = "array-init"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6945cc5422176fc5e602e590c2878d2c2acd9a4fe20a4baa7c28022521698ec6"
+
+[[package]]
+name = "autocfg"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cdb031dd78e28731d87d56cc8ffef4a8f36ca26c38fe2de700543e627f8a464a"
+
+[[package]]
+name = "aviation_database"
+version = "0.1.0"
+dependencies = [
+ "anyhow",
+ "csv",
+ "opentaws",
+ "serde",
+ "uneval",
+ "uom",
+]
+
+[[package]]
+name = "bstr"
+version = "0.2.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ba3569f383e8f1598449f1a423e72e99569137b47740b1da11ef19af3d5c3223"
+dependencies = [
+ "lazy_static",
+ "memchr",
+ "regex-automata",
+ "serde",
+]
+
+[[package]]
+name = "casey"
+version = "0.3.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fabe85130dda9cf267715582ce6cf1ab581c8dfe3cb33f7065fee0f14e3fea14"
+dependencies = [
+ "syn",
+]
+
+[[package]]
+name = "csv"
+version = "1.1.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "22813a6dc45b335f9bade10bf7271dc477e81113e89eb251a0bc2a8a81c536e1"
+dependencies = [
+ "bstr",
+ "csv-core",
+ "itoa",
+ "ryu",
+ "serde",
+]
+
+[[package]]
+name = "csv-core"
+version = "0.1.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2b2466559f260f48ad25fe6317b3c8dac77b5bdb5763ac7d9d6103530663bc90"
+dependencies = [
+ "memchr",
+]
+
+[[package]]
+name = "itoa"
+version = "0.4.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b71991ff56294aa922b450139ee08b3bfc70982c6b2c7562771375cf73542dd4"
+
+[[package]]
+name = "lazy_static"
+version = "1.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
+dependencies = [
+ "spin",
+]
+
+[[package]]
+name = "memchr"
+version = "2.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "308cc39be01b73d0d18f82a0e7b2a3df85245f84af96fdddc5d202d27e47b86a"
+
+[[package]]
+name = "num-traits"
+version = "0.2.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9a64b1ec5cda2586e284722486d802acf1f7dbdc623e2bfc57e65ca1cd099290"
+dependencies = [
+ "autocfg",
+]
+
+[[package]]
+name = "opentaws"
+version = "0.1.0"
+source = "git+https://github.com/aeronautical-informatics/opentaws#d84201785d41fb734e931f143ee0f42c10706a0c"
+dependencies = [
+ "casey",
+ "lazy_static",
+ "ringbuffer",
+ "serde",
+ "uom",
+]
+
+[[package]]
+name = "proc-macro2"
+version = "1.0.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ba508cc11742c0dc5c1659771673afbab7a0efab23aa17e854cbab0837ed0b43"
+dependencies = [
+ "unicode-xid",
+]
+
+[[package]]
+name = "quote"
+version = "1.0.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38bc8cc6a5f2e3655e0899c1b848643b2562f853f114bfec7be120678e3ace05"
+dependencies = [
+ "proc-macro2",
+]
+
+[[package]]
+name = "regex-automata"
+version = "0.1.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6c230d73fb8d8c1b9c0b3135c5142a8acee3a0558fb8db5cf1cb65f8d7862132"
+
+[[package]]
+name = "ringbuffer"
+version = "0.8.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "20e49d3a791d79aa7683f8798b274073140865ffb9d65767ace44229d34299e3"
+dependencies = [
+ "array-init",
+]
+
+[[package]]
+name = "ryu"
+version = "1.0.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "71d301d4193d031abdd79ff7e3dd721168a9572ef3fe51a1517aba235bd8f86e"
+
+[[package]]
+name = "serde"
+version = "1.0.130"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f12d06de37cf59146fbdecab66aa99f9fe4f78722e3607577a5375d66bd0c913"
+dependencies = [
+ "serde_derive",
+]
+
+[[package]]
+name = "serde_derive"
+version = "1.0.130"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d7bc1a1ab1961464eae040d96713baa5a724a8152c1222492465b54322ec508b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "spin"
+version = "0.5.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6e63cff320ae2c57904679ba7cb63280a3dc4613885beafb148ee7bf9aa9042d"
+
+[[package]]
+name = "syn"
+version = "1.0.81"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f2afee18b8beb5a596ecb4a2dce128c719b4ba399d34126b9e4396e3f9860966"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-xid",
+]
+
+[[package]]
+name = "thiserror"
+version = "1.0.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "854babe52e4df1653706b98fcfc05843010039b406875930a70e4d9644e5c417"
+dependencies = [
+ "thiserror-impl",
+]
+
+[[package]]
+name = "thiserror-impl"
+version = "1.0.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "aa32fd3f627f367fe16f893e2597ae3c05020f8bba2666a4e6ea73d377e5714b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "typenum"
+version = "1.14.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b63708a265f51345575b27fe43f9500ad611579e764c79edbc2037b1121959ec"
+
+[[package]]
+name = "uneval"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "df3b95ceb1224b9d137ee19530b0d6f39c66d73098b50d41a4de4ccbf5e4f122"
+dependencies = [
+ "serde",
+ "thiserror",
+]
+
+[[package]]
+name = "unicode-xid"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8ccb82d61f80a663efe1f787a51b16b5a51e3314d6ac365b08639f52387b33f3"
+
+[[package]]
+name = "uom"
+version = "0.31.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b1ee6bfd0a27bf614353809a035cf6880b74239ec6c5e39a7b2860ca16809137"
+dependencies = [
+ "num-traits",
+ "serde",
+ "typenum",
+]
diff --git a/aviation_database/Cargo.toml b/aviation_database/Cargo.toml
new file mode 100644
index 0000000..2fae125
--- /dev/null
+++ b/aviation_database/Cargo.toml
@@ -0,0 +1,25 @@
+[package]
+name = "aviation_database"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+uom = "0.31"
+ordered-float = { version = "2.0", default-features = false }
+kd_tree = { path = "../kd_tree" }
+
+
+[build-dependencies]
+kd_tree_sort = { path = "../kd_tree_sort" }
+uom = "0.31"
+uneval = "0.2"
+serde = {version = "1.0", features = ["derive"]}
+serde_json = "1.0"
+rayon = "1.5"
+quote = "1.0"
+proc-macro2 = "1.0"
+regex = "1.5"
+csv = "1.1"
+anyhow = "1.0"
diff --git a/aviation_database/README.md b/aviation_database/README.md
new file mode 100644
index 0000000..135f08b
--- /dev/null
+++ b/aviation_database/README.md
@@ -0,0 +1,7 @@
+# Todo
+
+In order for this to work, you need to download the airport database. Download
+[this file](https://datahub.io/core/airport-codes/r/airport-codes.json) from
+[datahub.io](https://datahub.io/core/airport-codes#data), and store it with the
+name `airports.json` root of the `aviation_database` crate (where the
+`build.rs` resides).
diff --git a/aviation_database/build.rs b/aviation_database/build.rs
new file mode 100644
index 0000000..2350695
--- /dev/null
+++ b/aviation_database/build.rs
@@ -0,0 +1,129 @@
+use proc_macro2::{Literal, TokenStream};
+use quote::{quote, ToTokens};
+use rayon::prelude::*;
+use serde::Deserialize;
+use std::env;
+use std::fs;
+use std::path::Path;
+use std::process::Command;
+
+#[derive(Default, Debug, Clone, PartialEq, Deserialize)]
+#[serde(rename_all = "snake_case")]
+pub struct Airport {
+    pub continent: String,
+    pub coordinates: String,
+    pub elevation_ft: Option<String>,
+    pub gps_code: Option<String>,
+    pub iata_code: Option<String>,
+    pub ident: String,
+    pub iso_country: String,
+    pub iso_region: String,
+    pub local_code: Option<String>,
+    pub municipality: Option<String>,
+    pub name: String,
+    #[serde(rename = "type")]
+    pub type_field: String,
+}
+
+fn parse_airport_kd(airport: Airport) -> ([f64; 3], Airport) {
+    let mut coord = airport.coordinates.split(", ");
+    let lon: f64 = coord.next().map(|l| l.parse().ok()).flatten().unwrap();
+    let lat: f64 = coord.next().map(|l| l.parse().ok()).flatten().unwrap();
+    let alt: f64 = airport
+        .elevation_ft
+        .as_ref()
+        .map_or_else(|| Some(0.0), |e| e.parse().ok())
+        .unwrap();
+
+    let x = alt * lat.cos() * lon.cos();
+    let y = alt * lat.cos() * lon.sin();
+    let z = alt * lat.sin();
+    ([x, y, z], airport)
+}
+
+impl ToTokens for Airport {
+    fn to_tokens(&self, tokens: &mut TokenStream) {
+        let mut coord = self.coordinates.split(", ");
+        let long: Option<f64> = coord.next().map(|l| l.parse().ok()).flatten();
+        let lat: Option<f64> = coord.next().map(|l| l.parse().ok()).flatten();
+        let alt: Option<f64> = self
+            .elevation_ft
+            .as_ref()
+            .map_or_else(|| Some(0.0), |e| e.parse().ok());
+        let icao = format!(
+            "b\"{}\"",
+            self.ident
+                .chars()
+                .chain(std::iter::repeat('\0'))
+                .take(4)
+                .collect::<String>()
+        )
+        .parse::<Literal>()
+        .unwrap();
+        if long.is_none() || lat.is_none() || alt.is_none() {
+            return;
+        }
+
+        tokens.extend(quote! {
+        AirportEntry {
+            icao: *#icao,
+            lat: #lat,
+            lon: #long,
+            alt: #alt,
+            }
+        });
+    }
+}
+
+fn main() {
+    // Downloaded directly from:
+    // https://datahub.io/core/airport-codes/r/airport-codes.json
+    //let airports = File::open("airports.json").unwrap();
+    //let mut reader = BufReader::new(airports);
+
+    let read = std::fs::read_to_string("airports.json").unwrap();
+    let mut airports: Vec<Airport> = serde_json::from_str(&read).unwrap();
+    let num_airports = airports.len();
+    let out_dir = env::var_os("OUT_DIR").unwrap();
+    let dest_path = Path::new(&out_dir).join("airports.rs");
+    let airports: Vec<([f64; 3], Airport)> = airports.par_drain(..).map(parse_airport_kd).collect();
+    let airports = kd_tree_sort::sort(airports);
+    let airports: String = airports
+        .iter()
+        .fold(String::new(), |mut s, ([x, y, z], a)| {
+            //s.push_str(&quote!(#a).to_string());
+            // Node<T, V, DIM>
+            // new(val: [T; DIM], v: V)
+            s.push_str(
+                &quote! {
+                    Node::new(
+                         [ #x, #y, #z ],
+                        #a
+                    )
+                }
+                .to_string(),
+            );
+            s.push(',');
+            s
+        });
+    let max_level = (num_airports as f64).log2() as usize + 2;
+    fs::write(
+        &dest_path,
+        format!(
+            "pub const AIRPORTS: Tree::<f64, AirportEntry, {}, 3, {}> = Tree::new([ {} ]);",
+            num_airports, max_level, airports
+        ),
+    )
+    .unwrap();
+
+    // format code
+    if let Err(e) = Command::new("rustfmt")
+        .arg(dest_path.as_os_str())
+        .current_dir(&out_dir)
+        .status()
+    {
+        eprintln!("{}", e)
+    }
+
+    println!("cargo:rerun-if-changed=build.rs");
+}
diff --git a/aviation_database/src/consts.rs b/aviation_database/src/consts.rs
new file mode 100644
index 0000000..e14a0bf
--- /dev/null
+++ b/aviation_database/src/consts.rs
@@ -0,0 +1,5 @@
+use crate::AirportEntry;
+use kd_tree::{Node, Tree};
+
+// Provides const AIRPORTS: &[AirportImpl] = ...
+include!(concat!(env!("OUT_DIR"), "/airports.rs"));
diff --git a/aviation_database/src/lib.rs b/aviation_database/src/lib.rs
new file mode 100644
index 0000000..5d229d1
--- /dev/null
+++ b/aviation_database/src/lib.rs
@@ -0,0 +1,201 @@
+mod consts;
+/// Contains a reference implementation from the
+pub mod reference;
+
+// use opentaws::prelude::*;
+use core::{
+    fmt::Debug,
+    iter::{self, Iterator},
+};
+use ordered_float::OrderedFloat;
+use uom::{
+    num_traits::Pow,
+    si::{angle::degree, f64::*, length::foot, length::kilometer},
+};
+
+use crate::consts::AIRPORTS;
+
+/// Describes the interface to a TerrainDatabase
+///
+/// Each implementation of this type can be use as TerrainDatabase, providing elevation data for a
+/// given `Position`.
+pub trait TerrainDatabase {
+    /// Estimate elevation at a specific position
+    fn elevation_at(&self, position: Position) -> Length;
+}
+
+/// Describes the interface of a AirportDatabase
+///
+/// Each implementation of this type can be used as AirportDatabase, providing information about
+/// `Airports` and `Runways`
+pub trait AirportDatabase: Send + Sync + Debug {
+    type RunwayIterator: core::iter::Iterator<Item = Runway>
+        + From<core::iter::Empty<Runway>>
+        + Send
+        + Sync;
+
+    /// Find the airport nearest to a given `Position`
+    fn nearest_airport(&self, position: &Position) -> Airport {
+        // For ~50000 Airports
+        // Linear Search took 7ms
+        // KD-Tree Search took 29µs
+        // CPU: Ryzen 5 5600X
+
+        // Old slow Linear Search
+        //AIRPORTS.nodes
+        //    .iter()
+        //    .map(|n| Airport::from(n.payload()))
+        //    .map(|a| (a.clone(), a.pos.relative_distance(position)))
+        //    .reduce(|(c_a, c_d), (n_a, n_d)| match c_d.cmp(&n_d) {
+        //        Ordering::Greater => (n_a, n_d),
+        //        _ => (c_a, c_d),
+        //    })
+        //    .unwrap()
+        //    .0;
+
+        // New fast KD-Tree Search
+        Airport::from(AIRPORTS.search(&position.cartesian_f64()).payload())
+    }
+
+    fn runways(&self, airport: &Airport) -> Self::RunwayIterator {
+        iter::empty().into()
+    }
+    /*
+    /// Find all Airports in a given perimeter
+    fn airports_in_perimeter<P:Position>(&self, position: P, perimeter: Length)->
+    */
+}
+
+/// Describes a positon in three dimensional room
+#[derive(Debug, Clone, PartialEq)]
+pub struct Position {
+    pub lat: Angle,
+    pub lon: Angle,
+    pub alt: Length,
+}
+
+#[derive(Debug, Clone, PartialEq)]
+pub struct Airport {
+    pub icao: [u8; 4],
+    pub pos: Position,
+}
+
+impl Position {
+    const MEAN_EARTH_RADIUS_KILOMETER: f64 = 6371.001;
+    /// Converts the `Position` to cartesian coordinates. Nothing orientation is guaranteed, thus
+    /// this may only be used for relative distances etc.
+    fn cartesian(&self) -> [Length; 3] {
+        let x = self.alt * self.lat.cos() * self.lon.cos();
+        let y = self.alt * self.lat.cos() * self.lon.sin();
+        let z = self.alt * self.lat.sin();
+        [x, y, z]
+    }
+
+    /// Converts the `Position` to cartesian coordinates. Nothing orientation is guaranteed, thus
+    /// this may only be used for relative distances etc.
+    fn cartesian_f64(&self) -> [f64; 3] {
+        let x = self.alt.get::<foot>()
+            * self.lat.get::<degree>().cos()
+            * self.lon.get::<degree>().cos();
+        let y = self.alt.get::<foot>()
+            * self.lat.get::<degree>().cos()
+            * self.lon.get::<degree>().sin();
+        let z = self.alt.get::<foot>() * self.lat.get::<degree>().sin();
+        [x, y, z]
+    }
+
+    /// Get the relative distance of two points
+    ///
+    /// This can be used for comparing distances
+    fn relative_distance(&self, other: &Position) -> RelativeDistance {
+        RelativeDistance(
+            self.cartesian()
+                .iter()
+                .zip(&other.cartesian())
+                .fold(OrderedFloat(0.0), |r, (a, b)| {
+                    r + (a.value - b.value).pow(2)
+                }),
+        )
+    }
+
+    /// As we have two different altitudes, this function ignores the altitude of `other` and
+    /// calculates the great circle distance from `self` at the altitude of `self` to lat/lon of
+    /// `other`
+    ///
+    /// This implies, that this operation __is not commutatitve__. E.g. the following code will
+    /// panic:
+    ///
+    /// ```
+    /// use crate::reference::PositionImpl;
+    /// let p1 = PositionImpl::new(54, 10, 0);
+    /// let p1 = PositionImpl::new(52, 8, 10);
+    ///
+    /// assert_eq!(p1.great_circle(p2), p2.great_circle(p1));
+    /// ```
+    #[allow(non_snake_case)]
+    pub fn great_circle(&self, other: &Position) -> Length {
+        // borrows formula from https://en.wikipedia.org/wiki/Great-circle_distance
+        let λ1 = self.lon;
+        let λ2 = other.lon;
+        let Δλ = λ1 - λ2;
+        let Φ1 = self.lat;
+        let Φ2 = other.lat;
+
+        let a = Φ2.cos() * Δλ.sin();
+        let b = Φ1.cos() * Φ2.sin() - Φ1.sin() * Φ2.cos() * Δλ.cos();
+        let c = Φ1.sin() * Φ2.sin() + Φ1.cos() * Φ2.cos() * Δλ.cos();
+
+        let radius = Length::new::<kilometer>(Self::MEAN_EARTH_RADIUS_KILOMETER) + self.alt;
+
+        radius * ((a * a + b * b) / c).sqrt().atan()
+    }
+}
+
+/// Distance between two points
+#[derive(Copy, Clone, Debug, PartialOrd, Ord, PartialEq, Eq)]
+pub struct RelativeDistance(OrderedFloat<f64>);
+
+pub struct AirportEntry {
+    pub icao: [u8; 4],
+    pub lat: f64,
+    pub lon: f64,
+    pub alt: f64,
+}
+
+impl From<&AirportEntry> for Position {
+    fn from(entry: &AirportEntry) -> Self {
+        Self {
+            lat: Angle::new::<degree>(entry.lat),
+            lon: Angle::new::<degree>(entry.lon),
+            alt: Length::new::<foot>(entry.alt),
+        }
+    }
+}
+
+impl From<&AirportEntry> for Airport {
+    fn from(a: &AirportEntry) -> Self {
+        Airport {
+            icao: a.icao,
+            pos: a.into(),
+        }
+    }
+}
+
+impl AsRef<Position> for Airport {
+    fn as_ref(&self) -> &Position {
+        &self.pos
+    }
+}
+
+impl From<AirportEntry> for Position {
+    fn from(entry: AirportEntry) -> Self {
+        Self {
+            lat: Angle::new::<degree>(entry.lat),
+            lon: Angle::new::<degree>(entry.lon),
+            alt: Length::new::<foot>(entry.alt),
+        }
+    }
+}
+
+#[derive(Clone, Debug)]
+pub struct Runway();
diff --git a/aviation_database/src/reference.rs b/aviation_database/src/reference.rs
new file mode 100644
index 0000000..d518e47
--- /dev/null
+++ b/aviation_database/src/reference.rs
@@ -0,0 +1,8 @@
+use crate::{AirportDatabase, Runway};
+
+#[derive(Debug, Default)]
+pub struct AirportDatabaseImpl;
+
+impl AirportDatabase for AirportDatabaseImpl {
+    type RunwayIterator = core::iter::Empty<Runway>;
+}
diff --git a/features/ffac.feature b/features/ffac.feature
deleted file mode 100644
index 3bda85f..0000000
--- a/features/ffac.feature
+++ /dev/null
@@ -1,19 +0,0 @@
-Feature: Five Hundred Foot Altitude Callout
-
-  @MOPS_292
-  Scenario: Five hundred foot above terrain
-    Given FFAC is armed
-    And FFAC is not inhibited
-    And non-precision approach is selected
-    And the height above terrain is greater or equal to 500 foot
-    When the height above terrain is lower than 500 foot
-    Then a FFAC annunciation alert is emitted within 1.3 seconds
-
-  @MOPS_292
-  Scenario: Five hundred foot above nearest runway elevation
-    Given FFAC is armed
-    And FFAC is not inhibited
-    And non-precision approach is selected
-    And the height above nearest runway elevation is greater or equal to 500 foot
-    When the height above nearest runway elevation is lower than 500 foot
-    Then a FFAC annunciation alert is emitted within 1.3 seconds
\ No newline at end of file
diff --git a/features/mode_1.feature b/features/mode_1.feature
deleted file mode 100644
index 3db9719..0000000
--- a/features/mode_1.feature
+++ /dev/null
@@ -1,221 +0,0 @@
-Feature: Mode 1: Excessive Rate of Descent
-  The Mode 1 alert is intended to generate caution alerts and time-critical
-  warning alerts when the aircraft has a high rate of descent relative to its
-  height above terrain. Mode 1 is active during all segments of flight. In
-  order to reduce nuisance alerts during steep approaches, an optional set of
-  alerting curves may be employed when the aircraft is performing a steep
-  approach. The determination if a steep approach is in progress can either be
-  based on an input to the Equipment (such as a pilot-activated steep approach
-  switch) or it can be based on internal logic (such as comparison of aircraft
-  position to approach profiles in a database).
-
-  @MOPS_268
-  Scenario: Mode Arming/Disarming
-    Given the plane is flying
-    Then Mode 1 shall be armed
-
-    #Rule: Standard Caution Envelope (MOPS_269, MOPS_270)
-
-    @MOPS_269
-    Scenario Outline: Must Alert
-      Given Mode 1 is armed
-      And Mode 1 is not inhibited
-      And steep approach is not selected
-      When the rate of descent is at least <rate of descent> feet per minute
-      And the height above terrain is between 100 and <height> feet
-      Then a Mode 1 caution alert is emitted within 2 seconds
-
-      Examples:
-        | rate of descent | height |
-        | 1560            | 100    |
-        | 2200            | 630    |
-        | 5700            | 2200   |
-
-    @MOPS_270
-    Scenario: Must Not Alert when not Armed
-      Given Mode 1 is not armed
-      Then a Mode 1 caution alert is not emitted at all
-
-    @MOPS_270
-    Scenario: Must Not Alert when Inhibited
-      Given Mode 1 is inhibited
-      Then a Mode 1 caution alert is not emitted at all
-
-    @MOPS_270
-    Scenario Outline: Must Not Alert
-      Given steep approach is not selected
-      When the rate of descent is at most <rate of descent> feet per minute
-      But the height above terrain is not between 10 and <height> feet
-      Then a Mode 1 caution alert is not emitted at all
-
-      Examples:
-        | rate of descent | height |
-        | 964             | 10     |
-        | 2300            | 1550   |
-        | 4400            | 2900   |
-        | 5000            | 3200   |
-        | 8000            | 4600   |
-        | 12000           | 6467   |
-
-  #Rule: Steep Approach Caution Envelope (MOPS_271, MOPS_272)
-
-    @MOPS_271
-    Scenario Outline: Must Alert
-      Given Mode 1 is armed
-      And Mode 1 is not inhibited
-      And steep approach is selected
-      When the rate of descent is at least <rate of descent> feet per minute
-      And the height above terrain is between 150 and <height> feet
-      Then a Mode 1 caution alert is emitted within 2 seconds
-
-      Examples:
-        | rate of descent | height |
-        | 1798            | 150    |
-        | 1944            | 300    |
-        | 3233            | 1078   |
-        | 6225            | 2075   |
-
-    @MOPS_272
-    Scenario:  Must Not Alert when not Armed
-      Given Mode 1 is not armed
-      Then a Mode 1 caution alert is not emitted at all
-
-    @MOPS_272
-    Scenario: Must Not Alert when Inhibited
-      Given Mode 1 is inhibited
-      Then a Mode 1 caution alert is not emitted at all
-
-    @MOPS_272
-    Scenario Outline: Must Not Alert
-      Given steep approach is selected
-      When the rate of descent is at most <rate of descent> feet per minute
-      But the height above terrain is not between 10 and <height> feet
-      Then a Mode 1 caution alert is not emitted at all
-
-      Examples:
-        | rate of descent | height |
-        | 964             | 10     |
-        | 2300            | 1550   |
-        | 4400            | 2900   |
-        | 5000            | 3200   |
-        | 8000            | 4600   |
-        | 12000           | 6467   |
-
-  #Rule: Warning Envelope (MOPS_273, MOPS_274)
-
-    @MOPS_273
-    Scenario Outline: Must Alert
-      Given Mode 1 is armed
-      And Mode 1 is not inhibited
-      And steep approach is not selected
-      When the rate of descent is at least <rate of descent> feet per minute
-      And the height above terrain is between 100 and <height> feet
-      Then a Mode 1 warning alert is emitted within 2 seconds
-
-      Examples:
-        | rate of descent | height |
-        | 1600            | 100    |
-        | 1850            | 300    |
-        | 10100           | 1958   |
-
-    @MOPS_274
-    Scenario: Must Not Alert when not Armed
-      Given Mode 1 is not armed
-      Then a Mode 1 warning alert is not emitted at all
-
-    @MOPS_274
-    Scenario: Must Not Alert when Inhibited
-      Given Mode 1 is inhibited
-      Then a Mode 1 warning alert is not emitted at all
-
-    @MOPS_274
-    Scenario Outline: Must Not Alert
-      Given steep approach is not selected
-      When the rate of descent is at most <rate of descent> feet per minute
-      But the height above terrain is not between 10 and <height> feet
-      Then a Mode 1 warning alert is not emitted at all
-
-      Examples:
-        | rate of descent | height |
-        | 1217            | 10     |
-        | 2300            | 1300   |
-        | 4400            | 2500   |
-        | 8000            | 3500   |
-        | 12000           | 4611   |
-
-  #Rule: Steep Approach Warning Envelope (MOPS_275, MOPS_276)
-
-    @MOPS_275
-    Scenario Outline: Must Alert
-      Given Mode 1 is armed
-      And Mode 1 is not inhibited
-      And steep approach is selected
-      When the rate of descent is at least <rate of descent> feet per minute
-      And the height above terrain is between 150 and <height> feet
-      Then a Mode 1 warning alert is emitted within 2 seconds
-
-      Examples:
-        | rate of descent | height |
-        | 1908            | 150    |
-        | 2050            | 300    |
-        | 10300           | 1958   |
-
-    @MOPS_276
-    Scenario: Must Not Alert when not Armed
-      Given Mode 1 is not armed
-      Then a Mode 1 warning alert is not emitted at all
-
-    @MOPS_276
-    Scenario: Must Not Alert when Inhibited
-      Given Mode 1 is inhibited
-      Then a Mode 1 warning alert is not emitted at all
-
-    @MOPS_276
-    Scenario Outline: Must Not Alert
-      Given steep approach is selected
-      When the rate of descent is at most <rate of descent> feet per minute
-      But the height above terrain is not between 10 and <height> feet
-      Then a Mode 1 warning alert is not emitted at all
-
-      Examples:
-        | rate of descent | height |
-        | 1217            | 10     |
-        | 2300            | 1300   |
-        | 4400            | 2500   |
-        | 8000            | 3500   |
-        | 12000           | 4611   |
-
-  #Rule: Aural Alert (MOPS_277, MOPS_278, MOPS_279, MOPS_280)
-
-    @MOPS_277
-    Scenario: Caution Alert
-      Given a caution level Mode 1 alert arises
-      Then an aural message "Sink Rate" shall be emitted
-
-    @MOPS_278
-    Scenario: Warning Alert
-      Given a warning level Mode 1 alert arises
-      Then an aural message "Pull Up" shall be emitted
-
-    @MOPS_279
-    Scenario: Repeating Warning Alert
-      Given the warning level Mode 1 alert condition persists
-      And the pilot didn't silence the alert
-      And no higher priority alert is triggered
-      Then the aural message shall be repeated periodically
- 
-  # Whoop-Whoop (MOPS_280) ain't gonna be testable
-
-  #Rule: Visual Alert (MOPS_281, MOPS_282)
-
-    @MOPS_281
-    Scenario: Caution
-      Given a Mode 1 caution alert is active
-      Then the TAWS shall trigger a yellow or amber indicator
-
-    @MOPS_282
-    Scenario: Warning
-      Given a Mode 1 warning alert is active
-      Then the TAWS shall trigger a red indicator
-
-# vim: set ts=2 sw=2 expandtab: retab: expandtab #
diff --git a/kd_tree/Cargo.toml b/kd_tree/Cargo.toml
new file mode 100644
index 0000000..d5ebf61
--- /dev/null
+++ b/kd_tree/Cargo.toml
@@ -0,0 +1,12 @@
+[package]
+name = "kd_tree"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+
+[dependencies.num]
+version = "0.4"
+default-features = false
\ No newline at end of file
diff --git a/kd_tree/src/lib.rs b/kd_tree/src/lib.rs
new file mode 100644
index 0000000..5a861aa
--- /dev/null
+++ b/kd_tree/src/lib.rs
@@ -0,0 +1,267 @@
+#![no_std]
+#![allow(clippy::too_many_arguments)]
+use core::cmp::Ordering;
+use core::fmt::Debug;
+use core::ops::{Add, Mul, Sub};
+use num::traits::Zero;
+
+pub struct Tree<T: Sized, V: Sized, const SIZE: usize, const DIM: usize, const MAX_LEVEL: usize> {
+    pub nodes: [Node<T, V, DIM>; SIZE],
+}
+
+impl<T: Sized, V: Sized, const SIZE: usize, const DIM: usize, const MAX_LEVEL: usize>
+    Tree<T, V, SIZE, DIM, MAX_LEVEL>
+{
+    pub const fn new(nodes: [Node<T, V, DIM>; SIZE]) -> Tree<T, V, SIZE, DIM, MAX_LEVEL> {
+        Tree { nodes }
+    }
+}
+
+impl<
+        T: Sized
+            + PartialOrd
+            + PartialEq
+            + Sub<Output = T>
+            + Add<Output = T>
+            + Mul<Output = T>
+            + Zero
+            + Copy
+            + Debug
+            + Default,
+        V: Sized,
+        const SIZE: usize,
+        const DIM: usize,
+        const MAX_LEVEL: usize,
+    > Tree<T, V, SIZE, DIM, MAX_LEVEL>
+{
+    pub fn search(&self, point: &[T; DIM]) -> &Node<T, V, DIM> {
+        let mut node: &Node<T, V, DIM> = self
+            .nodes
+            .first()
+            .expect("This can not fail, expect if the Tree got no nodes: SIZE == 0");
+        let mut index = 0usize;
+        let mut level = 0usize;
+        // Store which child nodes where visited for the Node on the index/level and if it was already compared
+        let mut visited: [(Visited, bool); MAX_LEVEL] = [(Visited::None, false); MAX_LEVEL];
+        //Initialise best node/distance with root node
+        let mut best_distance: T = euclid(&node.val, point);
+        let mut best_node: &Node<T, V, DIM> = node;
+
+        loop {
+            // Get to leaf based on comparison of only a single dimension per level
+            self.search_down(point, &mut node, &mut index, &mut level, &mut visited);
+
+            // Go up until we either reach the top or we go down by one
+            // Should we go down by one, we will need to go to the best fit leaf of the current subtree
+            self.search_up(
+                point,
+                &mut node,
+                &mut index,
+                &mut level,
+                &mut visited,
+                &mut best_distance,
+                &mut best_node,
+            );
+
+            // Should we have reached level 0, we are finished
+            // as search_up should go down by one should we still need to search a subtree
+            if level == 0 {
+                break;
+            }
+        }
+
+        best_node
+    }
+
+    fn search_down<'a>(
+        &'a self,
+        point: &[T; DIM],
+        node: &mut &'a Node<T, V, DIM>,
+        index: &mut usize,
+        level: &mut usize,
+        visited: &mut [(Visited, bool); MAX_LEVEL],
+    ) {
+        //Get to leaf node
+        loop {
+            //Reset Visited and calculated distance for current level
+            visited[*level] = (Visited::None, false);
+
+            let dim = *level % DIM;
+
+            //If the left node is not reachable we are at a leaf node
+            if left(index) >= SIZE {
+                //Set visited for this level to ALL because there are no more child nodes
+                visited[*level].0 = Visited::All;
+                return;
+            }
+            //Decide where to go
+            *index = match point[dim].partial_cmp(&node.val[dim]) {
+                Some(Ordering::Equal) | Some(Ordering::Less) => left(index),
+                Some(Ordering::Greater) => right(index),
+                _ => panic!(),
+            };
+
+            // If the index is to big we choose the right node
+            // Make sure it exists, if not go to the left node instead
+            if *index >= SIZE {
+                *index -= 1;
+            }
+
+            // Set next node
+            *node = self.nodes.get(*index).unwrap();
+
+            // Increase level for next node
+            *level += 1;
+        }
+    }
+
+    fn search_up<'a>(
+        &'a self,
+        point: &[T; DIM],
+        node: &mut &'a Node<T, V, DIM>,
+        index: &mut usize,
+        level: &mut usize,
+        visited: &mut [(Visited, bool); MAX_LEVEL],
+        best_distance: &mut T,
+        best_node: &mut &'a Node<T, V, DIM>,
+    ) {
+        loop {
+            let dim = *level % DIM;
+
+            // Check if current node is a closer node
+            if !visited[*level].1 {
+                let candidate: T = euclid(&node.val, point);
+                if candidate < *best_distance {
+                    *best_distance = candidate;
+                    *best_node = node;
+                }
+                visited[*level].1 = true;
+            }
+
+            // Determine where to go? Up, BottomLeft or BottomRight
+            let dir: Direction = match visited[*level].0 {
+                Visited::All => Direction::Up,
+                Visited::Left => {
+                    // Check if we even can go right
+                    // and if its even possible for the right side to be nearer
+                    let single_distance = point[dim] - node.val[dim];
+                    let single_distance = single_distance * single_distance;
+                    if right(index) < SIZE && single_distance < *best_distance {
+                        Direction::Right
+                    } else {
+                        Direction::Up
+                    }
+                }
+                Visited::Right => {
+                    // Check if we even can go left
+                    // and if its even possible for the left side to be nearer
+                    let single_distance = point[dim] - node.val[dim];
+                    let single_distance = single_distance * single_distance;
+                    if left(index) < SIZE && single_distance < *best_distance {
+                        Direction::Left
+                    } else {
+                        Direction::Up
+                    }
+                }
+                _ => panic!("Unexpected state"),
+            };
+
+            match dir {
+                Direction::Up => {
+                    //Stop if we are at level 0
+                    if *level == 0 {
+                        return;
+                    }
+
+                    // Move up
+                    let parent_index = parent(index);
+                    *level -= 1;
+                    // But update the visited status of the parent first
+                    // This way we know which children were already visited
+                    match visited[*level].0 {
+                        Visited::Left | Visited::Right => visited[*level].0 = Visited::All,
+                        _ => {
+                            if left(&parent_index) == *index {
+                                visited[*level].0 = Visited::Left;
+                            } else {
+                                visited[*level].0 = Visited::Right;
+                            }
+                        }
+                    }
+                    *index = parent_index;
+                    *node = self.nodes.get(*index).unwrap();
+                }
+                Direction::Left => {
+                    *level += 1;
+                    visited[*level].0 = Visited::None;
+                    *index = left(index);
+                    *node = self.nodes.get(*index).unwrap();
+                    return;
+                }
+                Direction::Right => {
+                    *level += 1;
+                    visited[*level].0 = Visited::None;
+                    *index = right(index);
+                    *node = self.nodes.get(*index).unwrap();
+                    return;
+                }
+            }
+        }
+    }
+}
+
+#[derive(Copy, Clone, Debug)]
+enum Visited {
+    None,
+    Left,
+    Right,
+    All,
+}
+
+enum Direction {
+    Up,
+    Left,
+    Right,
+}
+
+pub fn parent(cur_index: &usize) -> usize {
+    (cur_index + 1) / 2 - 1
+}
+
+pub fn left(cur_index: &usize) -> usize {
+    (cur_index + 1) * 2 - 1
+}
+
+pub fn right(cur_index: &usize) -> usize {
+    (cur_index + 1) * 2
+}
+
+#[derive(Debug)]
+pub struct Node<T: Sized, V: Sized, const DIM: usize> {
+    val: [T; DIM],
+    v: V,
+}
+
+impl<T: Sized, V: Sized, const DIM: usize> Node<T, V, DIM> {
+    pub fn val(&self) -> &[T; DIM] {
+        &self.val
+    }
+
+    pub const fn new(val: [T; DIM], v: V) -> Node<T, V, DIM> {
+        Node { val, v }
+    }
+
+    pub fn payload(&self) -> &V {
+        &self.v
+    }
+}
+
+pub fn euclid<T, const SIZE: usize>(left: &[T; SIZE], right: &[T; SIZE]) -> T
+where
+    T: Default + Add<Output = T> + Sub<Output = T> + Mul<Output = T> + Zero + Copy + Debug,
+{
+    left.iter()
+        .zip(right.iter())
+        .map(|(x, y)| ((*x) - (*y)) * ((*x) - (*y)))
+        .fold(T::zero(), ::core::ops::Add::add)
+}
diff --git a/kd_tree_sort/Cargo.toml b/kd_tree_sort/Cargo.toml
new file mode 100644
index 0000000..449c57a
--- /dev/null
+++ b/kd_tree_sort/Cargo.toml
@@ -0,0 +1,14 @@
+[package]
+name = "kd_tree_sort"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+kd_tree = { path = "../kd_tree" }
+rayon = "1.5"
+
+[dev-dependencies]
+rand = "0.8"
+rand_pcg = "*"
diff --git a/kd_tree_sort/src/lib.rs b/kd_tree_sort/src/lib.rs
new file mode 100644
index 0000000..44967ff
--- /dev/null
+++ b/kd_tree_sort/src/lib.rs
@@ -0,0 +1,179 @@
+use kd_tree::{left, right};
+use rayon::prelude::*;
+
+pub fn sort<
+    T: Sized + PartialOrd + PartialEq + core::fmt::Debug + Send,
+    V: Sized + Send,
+    const DIM: usize,
+>(
+    mut values: Vec<([T; DIM], V)>,
+) -> Vec<([T; DIM], V)> {
+    //Add variable for final index
+    let mut values: Vec<_> = values.par_drain(..).map(|(a, b)| (a, b, 0usize)).collect();
+    //Call Recursive Sort function
+    rec_sort(&mut values, 0, 0);
+
+    //Apply final index by sorting by this index
+    values.par_sort_by(|(_, _, a), (_, _, b)| {
+        // Verify inequality of indices
+        assert_ne!(a, b);
+        a.cmp(b)
+    });
+
+    //Remove index and return
+    values.par_drain(..).map(|(a, b, _)| (a, b)).collect()
+}
+
+fn rec_sort<T: Sized + PartialOrd + PartialEq + Send, V: Sized + Send, const DIM: usize>(
+    values: &mut [([T; DIM], V, usize)],
+    dim: usize,
+    index: usize,
+) {
+    //Check dimension
+    let dim = dim % DIM;
+
+    // Sort by current dimension
+    values.par_sort_by(|(a, _, _), (b, _, _)| a[dim].partial_cmp(&b[dim]).unwrap());
+
+    if values.len() == 1 {
+        values[0].2 = index;
+        return;
+    } else if values.len() == 2 {
+        values[1].2 = index;
+        rec_sort(&mut values[..1], dim + 1, left(&index));
+        return;
+    }
+    let len = values.len();
+    let lv = (len as f64).log2() as usize;
+    let last_line_len = len - 2usize.pow(lv as u32) + 1;
+    let mid = 2usize.pow(lv as u32) / 2 - 1;
+    let mid = if last_line_len < 2usize.pow(lv as u32) / 2 {
+        mid + last_line_len
+    } else {
+        mid + 2usize.pow(lv as u32) / 2
+    };
+
+    let (left_slice, rest) = values.split_at_mut(mid);
+    let (mid, right_slice) = rest.split_at_mut(1);
+
+    mid.get_mut(0).unwrap().2 = index;
+    // 3 times faster for 50000 elements
+    [(left_slice, left(&index)), (right_slice, right(&index))]
+        .into_par_iter()
+        .for_each(|(s, i)| rec_sort(s, dim + 1, i));
+}
+
+#[cfg(test)]
+mod tests {
+    #![allow(clippy::float_cmp)]
+    #![allow(deprecated)]
+    use crate::sort;
+    use kd_tree::{euclid, Node, Tree};
+    use rand::Rng;
+    use std::ops::AddAssign;
+    use std::time::{Duration, Instant};
+    type Prng = rand_pcg::Mcg128Xsl64;
+
+    #[test]
+    fn fixed_test() {
+        let test = sort(vec![
+            ([5, 4], 0),
+            ([2, 3], 1),
+            ([8, 1], 2),
+            ([9, 6], 3),
+            ([7, 2], 4),
+            ([4, 7], 5),
+        ]);
+        let correct = [
+            ([7, 2], 4),
+            ([5, 4], 0),
+            ([9, 6], 3),
+            ([2, 3], 1),
+            ([4, 7], 5),
+            ([8, 1], 2),
+        ];
+
+        assert_eq!(test, correct)
+    }
+
+    #[test]
+    fn search() {
+        let sorted = sort(vec![
+            ([5, 4], 0),
+            ([2, 3], 1),
+            ([8, 1], 2),
+            ([9, 6], 3),
+            ([7, 2], 4),
+            ([4, 7], 5),
+        ]);
+
+        let nodes = sorted
+            .iter()
+            .map(|(p, v)| Node::new(*p, *v))
+            .collect::<Vec<_>>()
+            .try_into()
+            .unwrap();
+        //T, V, SIZE, DIM, MAX_LEVEL
+        let tree = Tree::<i32, i32, 6, 2, 3>::new(nodes);
+
+        assert_eq!(tree.search(&[5, 3]).val(), &[5, 4]);
+        assert_eq!(tree.search(&[9, 7]).val(), &[9, 6]);
+        assert_eq!(tree.search(&[3, 9]).val(), &[4, 7]);
+        assert_eq!(tree.search(&[3, 0]).val(), &[2, 3]);
+    }
+
+    #[ignore]
+    #[test]
+    fn random_search() {
+        let mut rng = Prng::new(0xcafef00dd15ea5e5);
+        let mut duration_linear = Duration::from_secs(0);
+        let mut duration_tree = Duration::from_secs(0);
+
+        let (iterations, searches) = if cfg!(debug_assertions) {
+            (10, 50)
+        } else {
+            (100, 500)
+        };
+
+        #[cfg(debug_assertions)]
+        const TREE_SIZE: usize = 5000;
+        #[cfg(not(debug_assertions))]
+        const TREE_SIZE: usize = 60000;
+
+        #[cfg(debug_assertions)]
+        const MAX_LEVEL: usize = 13;
+        #[cfg(not(debug_assertions))]
+        const MAX_LEVEL: usize = 16;
+
+        for _ in 0..iterations {
+            let values: Vec<([f64; 3], i32)> = (0..TREE_SIZE)
+                .map(|_| ([rng.gen(), rng.gen(), rng.gen()], 0))
+                .collect();
+            let sorted = sort(values.clone());
+            let nodes: Vec<_> = sorted.iter().map(|(p, v)| Node::new(*p, *v)).collect();
+            let tree: Box<Tree<f64, i32, TREE_SIZE, 3, MAX_LEVEL>> = Box::new(Tree {
+                nodes: nodes.try_into().unwrap(),
+            });
+            let search_points: Vec<[f64; 3]> =
+                std::iter::repeat_with(|| [rng.gen(), rng.gen(), rng.gen()])
+                    .take(searches)
+                    .collect();
+            for point in search_points {
+                let now = Instant::now();
+                let closest: f64 = values
+                    .iter()
+                    .map(|a| euclid(&point, &a.0))
+                    .min_by(|a, b| a.partial_cmp(b).unwrap())
+                    .unwrap();
+                duration_linear.add_assign(now.elapsed());
+                let now = Instant::now();
+                let closest_node = tree.search(&point);
+                duration_tree.add_assign(now.elapsed());
+                assert_eq!(closest, euclid(closest_node.val(), &point),);
+            }
+        }
+
+        println!("Duration Linear Search: {:?}", duration_linear);
+        println!("Duration KD Tree Search: {:?}", duration_tree);
+    }
+}
diff --git a/opentaws/Cargo.toml b/opentaws/Cargo.toml
new file mode 100644
index 0000000..4d4168f
--- /dev/null
+++ b/opentaws/Cargo.toml
@@ -0,0 +1,34 @@
+[package]
+name = "opentaws"
+version = "0.1.0"
+authors = [
+	"Wanja Zaeske <wanja.zaeske@tu-clausthal.de>",
+	"Janick Beck <janick.beck@tu-clausthal.de>",
+	"Umut Durak <umut.durak@tu-clausthal.de>",
+	]
+edition = "2018"
+license = "MIT OR Apache-2.0"
+description = "An open source TAWS"
+documentation = "https://aeronautical-informatics.github.io/openTAWS/"
+readme = "README.md"
+repository = "https://github.com/aeronautical-informatics/openTAWS"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[badges]
+codecov = { repository = "aeronautical-informatics/openTAWS", branch = "main" }
+github = { repository = "aeronautical-informatics/openTAWS" }
+is-it-maintained-open-issues = { repository = "aeronautical-informatics/openTAWS" }
+maintenance = { status = "actively-developed" }
+
+[features]
+default = ["use-serde"]
+use-serde = ["uom/use_serde"]
+
+[dependencies]
+aviation_database = { path = "../aviation_database"}
+lazy_static = { version = "1", features = [ "spin_no_std" ] }
+uom = { version = "0", default-features = false, features = [ "f64", "si" ] }
+ringbuffer = "0.8"
+serde = { version = "1.0", default-features = false, features = [ "derive" ] }
+serde_arrays = "0.1.0" # Serde const generic "workaround"
diff --git a/src/alerts.rs b/opentaws/src/alerts.rs
similarity index 84%
rename from src/alerts.rs
rename to opentaws/src/alerts.rs
index 9ef8acf..5051060 100644
--- a/src/alerts.rs
+++ b/opentaws/src/alerts.rs
@@ -78,6 +78,7 @@ impl Eq for AlertLevel {}
 /// Get the priority of a n (Alert, AlertLevel) tupel
 ///
 /// A low value means a high priority.
+/// TODO move to every alert file
 pub fn priority(alert: Alert, alert_level: AlertLevel) -> u8 {
     use Alert::*;
     use AlertLevel::*;
@@ -99,18 +100,18 @@ pub fn priority(alert: Alert, alert_level: AlertLevel) -> u8 {
     }
 }
 
-/// This is the maximum number of different alerts in an alert_state
-const ALERT_STATE_SIZE: usize = 8;
-
 /// Collection of a all alerts which are currently present in the TAWS
 #[derive(Debug, PartialEq)]
 #[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
-pub struct AlertState {
+pub struct AlertState<const N: usize> {
     /// Alerts which are not to be disclosed to the crew to avoid nuisance, but still where triggered
-    all_alerts: [Option<(Alert, AlertLevel)>; ALERT_STATE_SIZE],
+    // Workaround until generic arrays are allowed in serde
+    // https://github.com/serde-rs/serde/issues/1937
+    #[serde(with = "serde_arrays")]
+    all_alerts: [Option<(Alert, AlertLevel)>; N],
 }
 
-impl AlertState {
+impl<const N: usize> AlertState<N> {
     pub fn alerts_total_count(&self) -> usize {
         self.all_alerts.iter().filter(|e| e.is_some()).count()
     }
@@ -131,7 +132,7 @@ impl AlertState {
     }
 
     /// updates internal alerts with new alerts, removing all old alerts. Prioritizes as well.
-    pub(crate) fn insert(&mut self, new_alert: Alert, new_alert_level: AlertLevel) {
+    pub fn insert(&mut self, new_alert: Alert, new_alert_level: AlertLevel) {
         let mut already_present = false;
 
         for (existing_alert, ref mut existing_alert_level) in
@@ -156,21 +157,21 @@ impl AlertState {
     }
 }
 
-impl Default for AlertState {
+impl<const N: usize> Default for AlertState<N> {
     fn default() -> Self {
         Self {
-            all_alerts: [None; ALERT_STATE_SIZE],
+            all_alerts: [None; N],
         }
     }
 }
 
 /// An iterator over an `AlertState`
-pub struct AlertStateIter {
-    sorted_alerts: [Option<(Alert, AlertLevel)>; ALERT_STATE_SIZE],
+pub struct AlertStateIter<const N: usize> {
+    sorted_alerts: [Option<(Alert, AlertLevel)>; N],
     index: usize,
 }
 
-impl Iterator for AlertStateIter {
+impl<const N: usize> Iterator for AlertStateIter<N> {
     type Item = (Alert, AlertLevel);
 
     fn next(&mut self) -> Option<Self::Item> {
@@ -180,11 +181,12 @@ impl Iterator for AlertStateIter {
     }
 }
 
-impl IntoIterator for &AlertState {
+impl<const N: usize> IntoIterator for &AlertState<N> {
     type Item = (Alert, AlertLevel);
-    type IntoIter = AlertStateIter;
+    type IntoIter = AlertStateIter<N>;
     fn into_iter(self) -> Self::IntoIter {
         let mut alerts = self.all_alerts;
+        //TODO where do we do prioritisation
         //alerts.sort_by_key(|option| option.map(|(a, l)| priority(a, l)).unwrap_or(u8::MAX));
         // does not work on no_std.
         // TODO implement a small sorting algorithm
@@ -197,9 +199,9 @@ impl IntoIterator for &AlertState {
 }
 
 /// Trait which is to be fulfilled by all functionalities
-pub trait AlertSystem: fmt::Debug + Send {
+pub trait AlertSystem<'a>: fmt::Debug + Send {
     /// Allows this system to be instantiated
-    fn new(config: &TawsConfig) -> Self
+    fn new(config: &'a TawsConfig<'a>) -> Self
     where
         Self: Sized;
 
@@ -225,16 +227,21 @@ pub trait AlertSystem: fmt::Debug + Send {
     fn is_inhibited(&self) -> bool;
 
     /// Process a new AircraftState, emit alerts if appropiate
-    fn process(&mut self, state: &AircraftState) -> Option<AlertLevel>;
+    ///
+    /// The `u8` refers to the Priority of this AlertFunctionality
+    fn process(&mut self, state: &AircraftState) -> Option<(AlertLevel, u8)>;
 }
 
 #[cfg(test)]
 mod test {
     use super::*;
 
+    /// This is the maximum number of different alerts in an alert_state
+    const ALERT_STATE_SIZE: usize = 8;
+
     #[test]
     pub fn alert_state_propagates_alerts() {
-        let mut alert_state = AlertState::default();
+        let mut alert_state = AlertState::<ALERT_STATE_SIZE>::default();
         let test_alerts = [(Alert::Mode3, AlertLevel::Caution)];
         for (new_alert, new_alert_level) in &test_alerts {
             alert_state.insert(*new_alert, *new_alert_level);
@@ -245,7 +252,7 @@ mod test {
 
     #[test]
     pub fn alert_state_usage() {
-        let alts = AlertState::default();
+        let alts = AlertState::<ALERT_STATE_SIZE>::default();
 
         // using match
         for x in &alts {
diff --git a/opentaws/src/alerts/ffac.rs b/opentaws/src/alerts/ffac.rs
new file mode 100644
index 0000000..9fc2687
--- /dev/null
+++ b/opentaws/src/alerts/ffac.rs
@@ -0,0 +1,42 @@
+use super::*;
+use crate::prelude::*;
+
+#[derive(Debug)]
+pub struct Ffac {
+    armed: bool,
+    inhibited: bool,
+    last_height: Length,
+}
+
+impl<'a> AlertSystem<'a> for Ffac {
+    fn new(_config: &TawsConfig) -> Self {
+        Self {
+            armed: true,
+            inhibited: false,
+            last_height: Length::new::<foot>(0.0),
+        }
+    }
+
+    arm_inhibit!();
+
+    /// __Notes__:
+    /// + Per the text in chapter 2.2.1.1.13.2 only "one of the following altitude callouts" must
+    ///   be generated
+    /// + MOPS_125 speaks of  non-precision approaches. However, per Note 3 of chapter
+    ///   2.2.1.1.13.2, emitation of FFAC "is recommended for all approaches"
+    fn process(&mut self, state: &AircraftState) -> Option<(AlertLevel, u8)> {
+        let fivehundred = Length::new::<foot>(500.0);
+        let mut result = None;
+
+        // TODO Do we have to check against nearest runway?
+        // TODO Is it possible to disarm the FFAC?
+
+        if self.last_height >= fivehundred && state.altitude_ground < fivehundred {
+            result = Some((AlertLevel::Annunciation, u8::default()));
+        }
+
+        self.last_height = state.altitude_ground;
+
+        armed_return!(self, result)
+    }
+}
diff --git a/src/alerts/flta.rs b/opentaws/src/alerts/flta.rs
similarity index 51%
rename from src/alerts/flta.rs
rename to opentaws/src/alerts/flta.rs
index 1fbae1c..c5739e1 100644
--- a/src/alerts/flta.rs
+++ b/opentaws/src/alerts/flta.rs
@@ -6,8 +6,8 @@ pub struct Flta {
     inhibited: bool,
 }
 
-impl AlertSystem for Flta {
-    fn new(_config: &TawsConfig) -> Self {
+impl<'a> AlertSystem<'a> for Flta {
+    fn new(_config: &'a TawsConfig) -> Self {
         Self {
             armed: false,
             inhibited: false,
@@ -16,7 +16,7 @@ impl AlertSystem for Flta {
 
     arm_inhibit!();
 
-    fn process(&mut self, _state: &AircraftState) -> Option<AlertLevel> {
-        None
+    fn process(&mut self, _state: &AircraftState) -> Option<(AlertLevel, u8)> {
+        armed_return!(self, None)
     }
 }
diff --git a/opentaws/src/alerts/mode_1.rs b/opentaws/src/alerts/mode_1.rs
new file mode 100644
index 0000000..b4cffe0
--- /dev/null
+++ b/opentaws/src/alerts/mode_1.rs
@@ -0,0 +1,96 @@
+use uom::si::{length::foot, velocity::foot_per_minute};
+
+use crate::envelope::Envelope;
+use crate::types::*;
+
+use super::*;
+
+#[derive(Clone, Debug)]
+pub struct Mode1 {
+    armed: bool,
+    inhibited: bool,
+}
+
+impl Default for Mode1 {
+    fn default() -> Self {
+        Self {
+            armed: true,
+            inhibited: false,
+        }
+    }
+}
+
+impl<'a> AlertSystem<'a> for Mode1 {
+    fn new(_config: &TawsConfig) -> Self {
+        Self {
+            armed: true,
+            inhibited: false,
+        }
+    }
+
+    //TODO add real priority
+    fn process(&mut self, state: &AircraftState) -> Option<(AlertLevel, u8)> {
+        let altitude = state.altitude_ground.get::<foot>();
+        let rod = -state.climb_rate.get::<foot_per_minute>();
+
+        let result = match state.steep_approach {
+            true if WARNING_ENVELOPE_STEEP_APPROACH.contains(rod, altitude) => {
+                Some((AlertLevel::Warning, u8::default()))
+            }
+            true if CAUTION_ENVELOPE_STEEP_APPROACH.contains(rod, altitude) => {
+                Some((AlertLevel::Caution, u8::default()))
+            }
+            false if WARNING_ENVELOPE.contains(rod, altitude) => {
+                Some((AlertLevel::Warning, u8::default()))
+            }
+            false if CAUTION_ENVELOPE.contains(rod, altitude) => {
+                Some((AlertLevel::Caution, u8::default()))
+            }
+
+            //self.caution_envelope
+            _ => None,
+        };
+
+        armed_return!(self, result)
+    }
+
+    arm_inhibit!();
+}
+
+lazy_static::lazy_static! {
+    static ref CAUTION_ENVELOPE: Envelope<5> = Envelope::new([
+        (1200.0, 11.0),
+        (2550.0, 1550.0),
+        (4800.0, 2900.0),
+        (10000.0, 4000.0),
+        (10001.0, 4000.0),
+    ])
+    .unwrap();
+
+        static ref CAUTION_ENVELOPE_STEEP_APPROACH: Envelope<5> = Envelope::new([
+        (1350.0, 11.0),
+        (2700.0, 1550.0),
+        (5300.0, 2900.0),
+        (10000.0, 4000.0),
+        (10001.0, 4000.0),
+    ])
+    .unwrap();
+
+    static ref WARNING_ENVELOPE: Envelope<5> = Envelope::new([
+        (1400.0, 11.0),
+        (2500.0, 1300.0),
+        (7500.0, 2500.0),
+        (11000.0, 3000.0),
+        (11001.0, 3000.0),
+    ])
+    .unwrap();
+
+    static ref WARNING_ENVELOPE_STEEP_APPROACH: Envelope<5> = Envelope::new([
+        (1550.0, 11.0),
+        (2650.0, 1300.0),
+        (8000.0, 2500.0),
+        (11000.0, 3000.0),
+        (11001.0, 3000.0),
+    ])
+    .unwrap();
+}
diff --git a/src/alerts/mode_2.rs b/opentaws/src/alerts/mode_2.rs
similarity index 62%
rename from src/alerts/mode_2.rs
rename to opentaws/src/alerts/mode_2.rs
index f229c10..2c0a714 100644
--- a/src/alerts/mode_2.rs
+++ b/opentaws/src/alerts/mode_2.rs
@@ -6,7 +6,7 @@ pub struct Mode2 {
     inhibited: bool,
 }
 
-impl AlertSystem for Mode2 {
+impl<'a> AlertSystem<'a> for Mode2 {
     fn new(_config: &TawsConfig) -> Self {
         Self {
             armed: false,
@@ -16,7 +16,7 @@ impl AlertSystem for Mode2 {
 
     arm_inhibit!();
 
-    fn process(&mut self, _state: &AircraftState) -> Option<AlertLevel> {
-        None
+    fn process(&mut self, _state: &AircraftState) -> Option<(AlertLevel, u8)> {
+        armed_return!(self, None)
     }
 }
diff --git a/opentaws/src/alerts/mode_3.rs b/opentaws/src/alerts/mode_3.rs
new file mode 100644
index 0000000..587104b
--- /dev/null
+++ b/opentaws/src/alerts/mode_3.rs
@@ -0,0 +1,73 @@
+use super::*;
+use uom::num::Zero;
+use uom::si::f64::Length;
+
+use crate::envelope::Envelope;
+use crate::prelude::*;
+
+#[derive(Debug)]
+pub struct Mode3 {
+    armed: bool,
+    inhibited: bool,
+    max_altitude_ground: Length,
+}
+
+impl<'a> AlertSystem<'a> for Mode3 {
+    fn new(_config: &TawsConfig) -> Self {
+        Self {
+            armed: false,
+            inhibited: false,
+            max_altitude_ground: Length::zero(),
+        }
+    }
+
+    arm_inhibit!();
+
+    fn process(&mut self, state: &AircraftState) -> Option<(AlertLevel, u8)> {
+        let armed = state.go_around || state.take_off;
+        if let (false, true) = (self.armed, armed) {
+            self.max_altitude_ground = state.altitude_ground
+        }
+        self.armed = armed;
+
+        let mut result = None;
+        if armed {
+            if self.max_altitude_ground < state.altitude_ground {
+                self.max_altitude_ground = state.altitude_ground;
+            }
+            let alt_loss = (self.max_altitude_ground - state.altitude_ground).get::<foot>();
+            let altitude = state.altitude_ground.get::<foot>();
+            let rod = -state.climb_rate.get::<foot_per_minute>();
+
+            if CAUTION_ENVELOPE_METHODE_1.contains(rod, altitude)
+                || CAUTION_ENVELOPE_METHODE_2.contains(alt_loss, altitude)
+            {
+                result = Some((AlertLevel::Caution, u8::default()));
+            }
+        };
+
+        armed_return!(self, result)
+    }
+}
+
+lazy_static::lazy_static! {
+    /// CAUTION Envelope for Methode 1
+    /// X-Axis is Rate of Decent in foot per minute
+    /// Y-Axis is Height above Terrain in foot
+    static ref CAUTION_ENVELOPE_METHODE_1: Envelope<3> = Envelope::new([
+        (125.0, 50.0),
+        (480.0, 680.0),
+        (481.0, 680.0),
+    ])
+    .unwrap();
+
+    /// CAUTION Envelope for Methode 2
+    /// X-Axis is Altitude Loss in foot
+    /// Y-Axis is Height above Terrain in foot
+    static ref CAUTION_ENVELOPE_METHODE_2: Envelope<3> = Envelope::new([
+        (11.0, 35.0),
+        (104.0, 1100.0),
+        (104.0, 1100.0),
+    ])
+    .unwrap();
+}
diff --git a/src/alerts/mode_4.rs b/opentaws/src/alerts/mode_4.rs
similarity index 62%
rename from src/alerts/mode_4.rs
rename to opentaws/src/alerts/mode_4.rs
index 87236ca..7f7dd1a 100644
--- a/src/alerts/mode_4.rs
+++ b/opentaws/src/alerts/mode_4.rs
@@ -6,7 +6,7 @@ pub struct Mode4 {
     inhibited: bool,
 }
 
-impl AlertSystem for Mode4 {
+impl<'a> AlertSystem<'a> for Mode4 {
     fn new(_config: &TawsConfig) -> Self {
         Self {
             armed: false,
@@ -16,7 +16,7 @@ impl AlertSystem for Mode4 {
 
     arm_inhibit!();
 
-    fn process(&mut self, _state: &AircraftState) -> Option<AlertLevel> {
-        None
+    fn process(&mut self, _state: &AircraftState) -> Option<(AlertLevel, u8)> {
+        armed_return!(self, None)
     }
 }
diff --git a/src/alerts/mode_5.rs b/opentaws/src/alerts/mode_5.rs
similarity index 62%
rename from src/alerts/mode_5.rs
rename to opentaws/src/alerts/mode_5.rs
index 5f6c658..a396a6e 100644
--- a/src/alerts/mode_5.rs
+++ b/opentaws/src/alerts/mode_5.rs
@@ -6,7 +6,7 @@ pub struct Mode5 {
     inhibited: bool,
 }
 
-impl AlertSystem for Mode5 {
+impl<'a> AlertSystem<'a> for Mode5 {
     fn new(_config: &TawsConfig) -> Self {
         Self {
             armed: false,
@@ -16,7 +16,7 @@ impl AlertSystem for Mode5 {
 
     arm_inhibit!();
 
-    fn process(&mut self, _state: &AircraftState) -> Option<AlertLevel> {
-        None
+    fn process(&mut self, _state: &AircraftState) -> Option<(AlertLevel, u8)> {
+        armed_return!(self, None)
     }
 }
diff --git a/opentaws/src/alerts/pda.rs b/opentaws/src/alerts/pda.rs
new file mode 100644
index 0000000..41912b8
--- /dev/null
+++ b/opentaws/src/alerts/pda.rs
@@ -0,0 +1,61 @@
+use super::*;
+use crate::envelope::Envelope;
+use crate::prelude::*;
+use uom::si::length::nautical_mile;
+
+#[derive(Debug)]
+pub struct Pda<'a> {
+    armed: bool,
+    inhibited: bool,
+    taws_config: &'a TawsConfig<'a>,
+}
+
+impl<'a> AlertSystem<'a> for Pda<'a> {
+    fn new(config: &'a TawsConfig<'a>) -> Self {
+        Self {
+            armed: false,
+            inhibited: false,
+            taws_config: config,
+        }
+    }
+
+    arm_inhibit!();
+
+    fn process(&mut self, state: &AircraftState) -> Option<(AlertLevel, u8)> {
+        let position = state.position();
+        let nearest_airport = self.taws_config.terrain_server.nearest_airport(&position);
+        let distance = position.great_circle(&nearest_airport.pos);
+        let distance_nm = distance.get::<nautical_mile>();
+
+        // MOPS_263 requires PDA to be armed within 5NM of an airport
+        // But since it may be armed beyond that, we arm/disarm it with a
+        // distance of 8NM
+        self.armed = distance_nm <= 8.0;
+
+        // In 2.2.3.1.7.2 some considerations are presented for reducing nuisance alerts
+        // All of them are satisfied by our CAUTION_ENVELOPE
+        let result = if self.armed
+            && CAUTION_ENVELOPE.contains(distance_nm, state.altitude_ground.get::<foot>())
+        {
+            Some((AlertLevel::Caution, u8::default()))
+        } else {
+            None
+        };
+
+        armed_return!(self, result)
+    }
+}
+
+lazy_static::lazy_static! {
+    /// CAUTION Envelope for PDA
+    /// X-Axis is Distance to Airport in nautical miles
+    /// Y-Axis is Height above Terrain in foot
+    static ref CAUTION_ENVELOPE: Envelope<5> = Envelope::new([
+        (0.9, 5.0),
+        (0.9, 85.0),
+        (1.8, 155.0),
+        (2.3, 175.0),
+        (2.4, 175.0),
+    ])
+    .unwrap();
+}
diff --git a/src/envelope.rs b/opentaws/src/envelope.rs
similarity index 100%
rename from src/envelope.rs
rename to opentaws/src/envelope.rs
diff --git a/opentaws/src/lib.rs b/opentaws/src/lib.rs
new file mode 100644
index 0000000..cb4f90e
--- /dev/null
+++ b/opentaws/src/lib.rs
@@ -0,0 +1,34 @@
+//! This is a proof of concept TAWS as described in DO-367. It is not even close to fulfilling
+//! DO-367 C, the simplest TAWS class. It exists to learn about using BDD (Cucumber & Gherkin in
+//! particular) for implementing avionic.
+//!
+//! # Using openTAWS
+//!
+//! Currently it is only possible to use openTAWS from Rust. We've looked briefly into WASM-WASI
+//! and C ABI as addiotional targets, but this did not lead anywehre usable _so far_. We are very
+//! open to suggestions, so please open an issue if you have some feedback.
+
+#![no_std]
+#![deny(unsafe_code)]
+
+pub use alerts::{functionalities, Alert, AlertLevel, AlertState};
+use prelude::*;
+pub use types::*;
+
+#[macro_use]
+pub mod macros;
+
+mod alerts;
+mod envelope;
+pub mod prelude;
+mod types;
+
+pub trait Taws<const N: usize> {
+    fn is_armed(&self, alert_system: Alert) -> bool;
+    fn arm(&mut self, alert_system: Alert);
+    fn disarm(&mut self, alert_system: Alert);
+    fn is_inhibited(&self, alert_system: Alert) -> bool;
+    fn inhibit(&mut self, alert_system: Alert);
+    fn uninhibit(&mut self, alert_system: Alert);
+    fn process(&mut self, state: &AircraftState) -> AlertState<N>;
+}
diff --git a/opentaws/src/macros.rs b/opentaws/src/macros.rs
new file mode 100644
index 0000000..d918b95
--- /dev/null
+++ b/opentaws/src/macros.rs
@@ -0,0 +1,38 @@
+// A helper macro to implement the boring part of all AlertSystems
+macro_rules! arm_inhibit {
+    () => {
+        fn is_armed(&self) -> bool {
+            self.armed
+        }
+
+        fn arm(&mut self) {
+            self.armed = true;
+        }
+
+        fn disarm(&mut self) {
+            self.armed = false;
+        }
+
+        fn is_inhibited(&self) -> bool {
+            self.inhibited
+        }
+
+        fn inhibit(&mut self) {
+            self.inhibited = true;
+        }
+
+        fn uninhibit(&mut self) {
+            self.inhibited = false;
+        }
+    };
+}
+
+macro_rules! armed_return {
+    ($self:expr, $result:expr) => {
+        if $self.is_armed() {
+            $result
+        } else {
+            None
+        }
+    };
+}
diff --git a/src/prelude.rs b/opentaws/src/prelude.rs
similarity index 78%
rename from src/prelude.rs
rename to opentaws/src/prelude.rs
index 04b7131..62a8d45 100644
--- a/src/prelude.rs
+++ b/opentaws/src/prelude.rs
@@ -4,11 +4,14 @@
 //! opentaws::prelude::*`.
 
 pub use crate::{
-    alerts::{Alert, AlertLevel, AlertState, AlertSystem},
+    alerts::{functionalities, Alert, Alert::*, AlertLevel, AlertState, AlertSystem},
     types::{AircraftState, TawsConfig},
     Taws,
 };
 
+#[macro_use]
+pub use crate::macros::*;
+
 pub use uom::si::{
     acceleration::foot_per_second_squared,
     angle::degree,
diff --git a/src/signal_test.rs b/opentaws/src/signal_test.rs
similarity index 100%
rename from src/signal_test.rs
rename to opentaws/src/signal_test.rs
diff --git a/src/terrain_server.rs b/opentaws/src/terrain_server.rs
similarity index 100%
rename from src/terrain_server.rs
rename to opentaws/src/terrain_server.rs
diff --git a/src/types.rs b/opentaws/src/types.rs
similarity index 89%
rename from src/types.rs
rename to opentaws/src/types.rs
index f7aa7f5..90b9f57 100644
--- a/src/types.rs
+++ b/opentaws/src/types.rs
@@ -7,7 +7,6 @@ use uom::{
     fmt::DisplayStyle::Abbreviation,
     si::f64::*,
     si::{
-        acceleration::foot_per_second_squared,
         angle::{degree, revolution},
         length::foot,
         time::second,
@@ -15,6 +14,8 @@ use uom::{
     },
 };
 
+use aviation_database::{AirportDatabase, Position, Runway};
+
 /// Represents the current state of an aircraft
 #[derive(Clone, Debug, Default)]
 #[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
@@ -62,12 +63,25 @@ pub struct AircraftState {
 
     /// Whether steep approach is selected
     pub steep_approach: bool,
+
+    /// Whether precision approach is selected
+    pub precision_approach: bool,
+
+    /// Whether go around is selected
+    pub go_around: bool,
+
+    /// Whether take-off is selected
+    pub take_off: bool,
 }
 
 /// This configuration holds various details about the aircraft in use. These are necessary for
 /// example when estimating path trajectories for FLTA.
+///
+/// TODO adjust doc string to reflect the existence of terrainserver
 #[derive(Clone, Debug)]
-pub struct TawsConfig {
+pub struct TawsConfig<'a> {
+    pub terrain_server: &'a dyn AirportDatabase<RunwayIterator = core::iter::Empty<Runway>>,
+
     pub max_climbrate: Velocity,
     pub max_climbrate_change: Acceleration,
 }
@@ -108,6 +122,14 @@ impl AircraftState {
     fn modulo<T: Copy + Add<Output = T> + Rem<Output = T>>(a: T, b: T) -> T {
         ((a % b) + b) % b
     }
+
+    pub fn position(&self) -> Position {
+        Position {
+            lat: self.position_lat,
+            lon: self.position_lon,
+            alt: self.altitude_ground,
+        }
+    }
 }
 
 impl fmt::Display for AircraftState {
@@ -147,14 +169,17 @@ impl fmt::Display for AircraftState {
     }
 }
 
-impl Default for TawsConfig {
+/*
+impl<'a> Default for TawsConfig<'a> {
     fn default() -> Self {
         Self {
+            terrain_server: &'static AirportDatabaseImpl,
             max_climbrate: Velocity::new::<foot_per_minute>(700.0),
             max_climbrate_change: Acceleration::new::<foot_per_second_squared>(100.0),
         }
     }
 }
+ */
 
 #[cfg(test)]
 mod test {
diff --git a/src/alerts/ffac.rs b/src/alerts/ffac.rs
deleted file mode 100644
index cd99781..0000000
--- a/src/alerts/ffac.rs
+++ /dev/null
@@ -1,34 +0,0 @@
-use super::*;
-use crate::prelude::*;
-
-#[derive(Debug)]
-pub struct Ffac {
-    armed: bool,
-    inhibited: bool,
-    last_height: Length,
-}
-
-impl AlertSystem for Ffac {
-    fn new(_config: &TawsConfig) -> Self {
-        Self {
-            armed: true,
-            inhibited: false,
-            last_height: Length::new::<foot>(0.0),
-        }
-    }
-
-    arm_inhibit!();
-
-    fn process(&mut self, state: &AircraftState) -> Option<AlertLevel> {
-        let fivehundred = Length::new::<foot>(500.0);
-
-        if self.last_height >= fivehundred && state.altitude_ground < fivehundred {
-            return Some(AlertLevel::Annunciation);
-        }
-
-        // TODO check against runway elevation (MOPS_292)
-        //
-
-        None
-    }
-}
diff --git a/src/alerts/mode_1.rs b/src/alerts/mode_1.rs
deleted file mode 100644
index 61151bf..0000000
--- a/src/alerts/mode_1.rs
+++ /dev/null
@@ -1,87 +0,0 @@
-use uom::si::{length::foot, velocity::foot_per_minute};
-
-use crate::envelope::Envelope;
-use crate::types::*;
-
-use super::*;
-
-#[derive(Clone, Debug)]
-pub struct Mode1 {
-    armed: bool,
-    inhibited: bool,
-}
-
-impl Default for Mode1 {
-    fn default() -> Self {
-        Self {
-            armed: true,
-            inhibited: false,
-        }
-    }
-}
-
-impl AlertSystem for Mode1 {
-    fn new(_config: &TawsConfig) -> Self {
-        Self {
-            armed: true,
-            inhibited: false,
-        }
-    }
-
-    fn process(&mut self, state: &AircraftState) -> Option<AlertLevel> {
-        let altitude = state.altitude_ground.get::<foot>();
-        let rod = -state.climb_rate.get::<foot_per_minute>();
-
-        match state.steep_approach {
-            true if WARNING_ENVELOPE_STEEP_APPROACH.contains(rod, altitude) => {
-                Some(AlertLevel::Warning)
-            }
-            true if CAUTION_ENVELOPE_STEEP_APPROACH.contains(rod, altitude) => {
-                Some(AlertLevel::Caution)
-            }
-            false if WARNING_ENVELOPE.contains(rod, altitude) => Some(AlertLevel::Warning),
-            false if CAUTION_ENVELOPE.contains(rod, altitude) => Some(AlertLevel::Caution),
-
-            //self.caution_envelope
-            _ => None,
-        }
-    }
-
-    arm_inhibit!();
-}
-
-lazy_static::lazy_static! {
-
-static ref CAUTION_ENVELOPE: Envelope<4> = Envelope::new([
-            (1560.0, 100.0),
-            (2200.0, 630.0),
-            (5700.0, 2200.0),
-            (5701.0, 2200.0),
-        ])
-        .unwrap();
-
-        static ref CAUTION_ENVELOPE_STEEP_APPROACH: Envelope<5> = Envelope::new([
-            (1798.0, 150.0),
-            (1944.0, 300.0),
-            (3233.0, 1078.0),
-            (6226.0, 2075.0),
-            (6227.0, 2075.0),
-        ])
-        .unwrap();
-
-        static ref WARNING_ENVELOPE: Envelope<4> = Envelope::new([
-            (1600.0, 100.0),
-            (1850.0, 300.0),
-            (10100.0, 1958.0),
-            (10101.0, 1958.0),
-        ])
-        .unwrap();
-
-        static ref WARNING_ENVELOPE_STEEP_APPROACH: Envelope<4> = Envelope::new([
-            (1908.0, 150.0),
-            (2050.0, 300.0),
-            (10300.0, 1958.0),
-            (10301.0, 1958.0),
-        ])
-        .unwrap();
-}
diff --git a/src/alerts/mode_3.rs b/src/alerts/mode_3.rs
deleted file mode 100644
index 122c91d..0000000
--- a/src/alerts/mode_3.rs
+++ /dev/null
@@ -1,22 +0,0 @@
-use super::*;
-
-#[derive(Debug)]
-pub struct Mode3 {
-    armed: bool,
-    inhibited: bool,
-}
-
-impl AlertSystem for Mode3 {
-    fn new(_config: &TawsConfig) -> Self {
-        Self {
-            armed: false,
-            inhibited: false,
-        }
-    }
-
-    arm_inhibit!();
-
-    fn process(&mut self, _state: &AircraftState) -> Option<AlertLevel> {
-        None
-    }
-}
diff --git a/src/alerts/pda.rs b/src/alerts/pda.rs
deleted file mode 100644
index 31d045a..0000000
--- a/src/alerts/pda.rs
+++ /dev/null
@@ -1,22 +0,0 @@
-use super::*;
-
-#[derive(Debug)]
-pub struct Pda {
-    armed: bool,
-    inhibited: bool,
-}
-
-impl AlertSystem for Pda {
-    fn new(_config: &TawsConfig) -> Self {
-        Self {
-            armed: false,
-            inhibited: false,
-        }
-    }
-
-    arm_inhibit!();
-
-    fn process(&mut self, _state: &AircraftState) -> Option<AlertLevel> {
-        None
-    }
-}
diff --git a/src/lib.rs b/src/lib.rs
deleted file mode 100644
index 38383d3..0000000
--- a/src/lib.rs
+++ /dev/null
@@ -1,260 +0,0 @@
-//! This is a proof of concept TAWS as described in DO-367. It is not even close to fulfilling
-//! DO-367 C, the simplest TAWS class. It exists to learn about using BDD (Cucumber & Gherkin in
-//! particular) for implementing avionic.
-//!
-//! # Using openTAWS
-//!
-//! Currently it is only possible to use openTAWS from Rust. We've looked briefly into WASM-WASI
-//! and C ABI as addiotional targets, but this did not lead anywehre usable _so far_. We are very
-//! open to suggestions, so please open an issue if you have some feedback.
-
-#![no_std]
-#![deny(unsafe_code)]
-
-pub use alerts::{functionalities, Alert, AlertLevel, AlertState};
-use prelude::*;
-pub use types::*;
-
-#[macro_use]
-mod macros;
-
-mod alerts;
-mod envelope;
-pub mod prelude;
-mod types;
-
-/// Represents one instance of a TAWS
-#[derive(Debug)]
-pub struct Taws {
-    /// `true` if the TAWS is armed
-    ///
-    /// There is no specific condition for changing this to `false`.
-    pub armed: bool,
-    config: TawsConfig,
-    ffac: functionalities::Ffac,
-    flta: functionalities::Flta,
-    mode1: functionalities::Mode1,
-    mode2: functionalities::Mode2,
-    mode3: functionalities::Mode3,
-    mode4: functionalities::Mode4,
-    mode5: functionalities::Mode5,
-    pda: functionalities::Pda,
-}
-
-impl Taws {
-    functionalities![Ffac, Flta, Mode1, Mode2, Mode3, Mode4, Mode5, Pda];
-
-    /// Create a new instance of `Taws`
-    ///  
-    /// # Arguments
-    ///
-    /// * `config` - The configuration which this TAWS instance shall use
-    ///
-    /// # Example
-    ///
-    /// ```
-    /// use opentaws::prelude::*;
-    ///
-    /// let config = TawsConfig::default();
-    /// let taws = Taws::new(config);
-    /// ```
-    pub fn new(config: TawsConfig) -> Self {
-        use alerts::*;
-
-        let ffac = functionalities::Ffac::new(&config);
-        let flta = functionalities::Flta::new(&config);
-        let mode1 = functionalities::Mode1::new(&config);
-        let mode2 = functionalities::Mode2::new(&config);
-        let mode3 = functionalities::Mode3::new(&config);
-        let mode4 = functionalities::Mode4::new(&config);
-        let mode5 = functionalities::Mode5::new(&config);
-        let pda = functionalities::Pda::new(&config);
-
-        Self {
-            armed: true,
-            config,
-            ffac,
-            flta,
-            mode1,
-            mode2,
-            mode3,
-            mode4,
-            mode5,
-            pda,
-        }
-    }
-
-    /// Returns `true` if the alert system is armed
-    ///
-    /// # Arguments
-    ///
-    /// * `alert_system` - The alert system whiches armed state shall be checked
-    ///
-    /// # Example
-    ///
-    /// ```
-    /// # use opentaws::prelude::*;
-    /// # let config = TawsConfig::default();
-    /// # let taws = Taws::new(config);
-    /// if taws.is_armed(Alert::Mode1) {
-    ///     // ...
-    /// }
-    /// ```
-    pub fn is_armed(&self, alert_system: Alert) -> bool {
-        self.get_functionality(alert_system).is_armed()
-    }
-
-    /// Arms a specific alert system
-    ///
-    /// # Arguments
-    ///
-    /// * `alert_system` - The alert system which shall be inhibited
-    ///
-    /// # Example
-    ///
-    /// ```
-    /// # use opentaws::prelude::*;
-    /// # let config = TawsConfig::default();
-    /// # let mut taws = Taws::new(config);
-    /// taws.arm(Alert::Mode1);
-    ///
-    /// assert!(taws.is_armed(Alert::Mode1));
-    /// ```
-    pub fn arm(&mut self, alert_system: Alert) {
-        self.get_mut_functionality(alert_system).arm()
-    }
-
-    /// Disarms a specific alert system
-    ///
-    /// # Arguments
-    ///
-    /// * `alert_system` - The alert system which shall be inhibited
-    ///
-    /// # Example
-    ///
-    /// ```
-    /// # use opentaws::prelude::*;
-    /// # let config = TawsConfig::default();
-    /// # let mut taws = Taws::new(config);
-    /// taws.disarm(Alert::Mode1);
-    ///
-    /// assert_eq!(taws.is_armed(Alert::Mode1), false);
-    /// ```
-    pub fn disarm(&mut self, alert_system: Alert) {
-        self.get_mut_functionality(alert_system).disarm()
-    }
-
-    /// Returns `true` if the alert system is inhibited
-    ///
-    /// # Arguments
-    ///
-    /// * `alert_system` - The alert system whiches inhibited state shall be checked
-    ///
-    /// # Example
-    ///
-    /// ```
-    /// # use opentaws::prelude::*;
-    /// # let config = TawsConfig::default();
-    /// # let taws = Taws::new(config);
-    /// if taws.is_inhibited(Alert::Mode1) {
-    ///     // ...
-    /// }
-    /// ```
-    pub fn is_inhibited(&self, alert_system: Alert) -> bool {
-        self.get_functionality(alert_system).is_inhibited()
-    }
-
-    /// Inhibit a specific alert system
-    ///
-    /// # Arguments
-    ///
-    /// * `alert_system` - The alert system which shall be inhibited
-    ///
-    /// # Example
-    ///
-    /// ```
-    /// # use opentaws::prelude::*;
-    /// # let config = TawsConfig::default();
-    /// # let mut taws = Taws::new(config);
-    /// taws.inhibit(Alert::Mode1);
-    ///
-    /// assert!(taws.is_inhibited(Alert::Mode1));
-    /// ```
-    pub fn inhibit(&mut self, alert_system: Alert) {
-        self.get_mut_functionality(alert_system).inhibit()
-    }
-
-    /// Uninhibit a specific alert system
-    ///
-    /// # Arguments
-    ///
-    /// * `alert_system` - The alert system which shall be uninhibited
-    ///
-    /// # Example
-    ///
-    /// ```
-    /// # use opentaws::prelude::*;
-    /// # let config = TawsConfig::default();
-    /// # let mut taws = Taws::new(config);
-    /// taws.uninhibit(Alert::Mode1);
-    ///
-    /// assert_eq!(taws.is_inhibited(Alert::Mode1), false);
-    /// ```
-    pub fn uninhibit(&mut self, alert_system: Alert) {
-        self.get_mut_functionality(alert_system).uninhibit()
-    }
-
-    /// Process a new aircraft state
-    ///
-    /// This method must be called regularly for the TAWS to function properly!
-    /// No warnings will be emitted without calling this function.
-    ///
-    /// # Arguments
-    ///
-    /// * `alert_system` - The alert system which shall be uninhibited
-    ///
-    /// # Example
-    ///
-    /// ```
-    /// # use opentaws::prelude::*;
-    /// # let config = TawsConfig::default();
-    /// # let mut taws = Taws::new(config);
-    /// let aicraft_state = AircraftState::default();
-    ///
-    /// let alert_state = taws.process(&aicraft_state);
-    /// println!("Received AlertState: {:?}", alert_state);
-    /// ```
-    pub fn process(&mut self, state: &AircraftState) -> AlertState {
-        let mut alert_state = alerts::AlertState::default();
-
-        for (alert, alert_system) in self
-            .functionality_mut_array()
-            .iter_mut()
-            .filter(|(_, alert_system)| !alert_system.is_inhibited())
-        {
-            if let Some(alert_level) = alert_system.process(state) {
-                alert_state.insert(*alert, alert_level);
-            }
-        }
-
-        alert_state
-    }
-}
-
-#[cfg(test)]
-mod test {
-    use super::*;
-
-    #[test]
-    fn check_all_alert_systems() {
-        let taws = Taws::new(Default::default());
-        let _ = taws.is_armed(Alert::Ffac);
-        let _ = taws.is_armed(Alert::Flta);
-        let _ = taws.is_armed(Alert::Mode1);
-        let _ = taws.is_armed(Alert::Mode2);
-        let _ = taws.is_armed(Alert::Mode3);
-        let _ = taws.is_armed(Alert::Mode4);
-        let _ = taws.is_armed(Alert::Mode5);
-        let _ = taws.is_armed(Alert::Pda);
-    }
-}
diff --git a/src/macros.rs b/src/macros.rs
deleted file mode 100644
index 7ae6826..0000000
--- a/src/macros.rs
+++ /dev/null
@@ -1,65 +0,0 @@
-// Allow us to iterate over the functionalities for a lack of inline comptime loop unrolling
-macro_rules! functionalities {
-    [$( $functionality_name:tt ),+] => {
-        ///
-        fn get_functionality(&self, alert_system: Alert) -> &dyn AlertSystem {
-            match alert_system {
-            $(
-                $crate::alerts::Alert::$functionality_name => casey::lower!(&self.$functionality_name),
-            )+
-            }
-        }
-
-        fn get_mut_functionality(&mut self, alert_system: Alert) -> &mut dyn AlertSystem {
-            match alert_system {
-            $(
-                $crate::alerts::Alert::$functionality_name => casey::lower!(&mut self.$functionality_name),
-            )+
-            }
-        }
-
-        fn functionality_mut_array(&mut self)->[(Alert, &mut dyn AlertSystem); count!($($functionality_name)+)]{
-            [ $(
-                (
-                    $crate::alerts::Alert::$functionality_name,
-                    casey::lower!(&mut self.$functionality_name) as &mut dyn AlertSystem
-                ),
-            )+ ]
-        }
-    };
-}
-
-// Count stuff, for a lack of advanced const generics
-macro_rules! count {
-    () => (0usize);
-    ( $x:tt $($xs:tt)* ) => (1usize + count!($($xs)*));
-}
-
-// A helper macro to implement the boring part of all AlertSystems
-macro_rules! arm_inhibit {
-    () => {
-        fn is_armed(&self) -> bool {
-            self.armed
-        }
-
-        fn arm(&mut self) {
-            self.armed = true;
-        }
-
-        fn disarm(&mut self) {
-            self.armed = false;
-        }
-
-        fn is_inhibited(&self) -> bool {
-            self.inhibited
-        }
-
-        fn inhibit(&mut self) {
-            self.inhibited = true;
-        }
-
-        fn uninhibit(&mut self) {
-            self.inhibited = false;
-        }
-    };
-}
diff --git a/taws_minimal/Cargo.toml b/taws_minimal/Cargo.toml
new file mode 100644
index 0000000..ce4448f
--- /dev/null
+++ b/taws_minimal/Cargo.toml
@@ -0,0 +1,65 @@
+[package]
+name = "taws_minimal"
+version = "0.1.0"
+authors = [
+	"Wanja Zaeske <wanja.zaeske@tu-clausthal.de>",
+	"Janick Beck <janick.beck@tu-clausthal.de>",
+	"Umut Durak <umut.durak@tu-clausthal.de>",
+	]
+edition = "2018"
+license = "MIT OR Apache-2.0"
+description = "A minimal implementation of openTAWS"
+documentation = "https://aeronautical-informatics.github.io/openTAWS/"
+readme = "../README.md"
+repository = "https://github.com/aeronautical-informatics/openTAWS"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[badges]
+codecov = { repository = "aeronautical-informatics/openTAWS", branch = "main" }
+github = { repository = "aeronautical-informatics/openTAWS" }
+is-it-maintained-open-issues = { repository = "aeronautical-informatics/openTAWS" }
+maintenance = { status = "actively-developed" }
+
+[dependencies]
+opentaws = { path = "../opentaws" }
+aviation_database = { path = "../aviation_database" }
+
+uom = { version = "0", default-features = false, features = [ "f64", "si" ] }
+casey = "0.3"
+serde = { version = "1.0", default-features = false, features = [ "derive" ] }
+
+# testing ang examples
+arbitrary = { version = "1", features = ["derive"], optional = true }
+async-tungstenite = { version = "*", features = [ "async-std-runtime" ], optional = true }
+async-trait = { version = "0.1", optional = true }
+cucumber = { version = "0.10", optional = true  }
+futures = { version = "0", optional = true }
+lazy_static = { version = "1.4", optional = true }
+rand = { version = "*", optional = true }
+rand_pcg = { version = "*", optional = true }
+rayon = { version = "1.5", optional = true }
+serde_json = { version = "1.0", optional = true }
+smol = { version = "1.0", optional = true }
+
+
+[[test]]
+name = "cucumber"
+harness = false # Allows Cucumber to print output instead of libtest
+path = "tests/cucumber.rs"
+required-features = [ 
+	"arbitrary", 
+	"async-trait", 
+	"cucumber", 
+	"futures",
+	"lazy_static",
+	"rand", 
+	"rand_pcg",
+	"rayon",
+	"serde_json",
+	"smol"
+]
+
+[[example]]
+name = "flightgear"
+required-features = [ "async-tungstenite", "futures", "serde_json", "smol" ]
diff --git a/examples/flightgear.rs b/taws_minimal/examples/flightgear.rs
similarity index 90%
rename from examples/flightgear.rs
rename to taws_minimal/examples/flightgear.rs
index 76df24f..3f49d11 100644
--- a/examples/flightgear.rs
+++ b/taws_minimal/examples/flightgear.rs
@@ -5,10 +5,12 @@ use std::{env, error::Error, time::Instant};
 use futures::prelude::*;
 
 use async_tungstenite::tungstenite::Message;
+use aviation_database::reference::AirportDatabaseImpl;
 use serde::{Deserialize, Serialize};
 use uom::si::velocity::foot_per_second;
 
 use opentaws::prelude::*;
+use taws_minimal::MinimalTaws;
 
 #[derive(Serialize)]
 struct FlightgearCommand {
@@ -68,7 +70,13 @@ fn main() -> Result<(), Box<dyn Error>> {
         let args: Vec<String> = env::args().collect();
         let base_uri = args.get(1).expect(USAGE);
 
-        let mut taws = Taws::new(Default::default());
+        let airport_database = AirportDatabaseImpl::default();
+        let config = TawsConfig {
+            terrain_server: &airport_database,
+            max_climbrate: Velocity::new::<foot_per_minute>(700.0),
+            max_climbrate_change: Acceleration::new::<foot_per_second_squared>(100.0),
+        };
+        let mut taws = MinimalTaws::new(&config);
         let mut fg_stream = new_flightgear_stream(base_uri.as_str()).await?;
         let mut frames: u128 = 0;
 
diff --git a/features/alert_prioritization.feature b/taws_minimal/features/alert_prioritization.feature
similarity index 69%
rename from features/alert_prioritization.feature
rename to taws_minimal/features/alert_prioritization.feature
index d631ddb..ab73fc9 100644
--- a/features/alert_prioritization.feature
+++ b/taws_minimal/features/alert_prioritization.feature
@@ -7,12 +7,12 @@ Feature: Alert Priorization
   caution must alert region. In this case, Class C Equipment needs to only issue the FLTA
   warning response.
 
-    @MOPS_300
-    Scenario: Alert Priorization
-      When concurrent alert conditions trigger
-      Then the priorization of the alerts handles the concurrency
+  @MOPS_300
+  Scenario: Alert Priorization
+    When concurrent alert conditions trigger
+    Then the priorization of the alerts handles the concurrency
 
-    @MOPS_300
-    Scenario: Alert Priority
-      Given an alert can occur concurrently
-      Then that alert has a priority
\ No newline at end of file
+  @MOPS_300
+  Scenario: Alert Priority
+    Given an alert can occur concurrently
+    Then that alert has a priority
\ No newline at end of file
diff --git a/taws_minimal/features/ffac.feature b/taws_minimal/features/ffac.feature
new file mode 100644
index 0000000..3f0f25d
--- /dev/null
+++ b/taws_minimal/features/ffac.feature
@@ -0,0 +1,28 @@
+Feature: Five Hundred Foot Altitude Callout
+Altitude callouts are a category of aural annunciation occurring at a
+descending aircraft crossover of a particular height above terrain or height
+above runway. The altitude callout is intended to increase flight crew
+awareness of the current ground proximity. In particular, the Five Hundred Foot
+Callout is required, while other altitude callouts are optional.  Besides the
+Five Hundred Foot Callout, Class C Equipment may support aural messages for
+other specific altitude thresholds. Examples include “four hundred”, “fifty” or
+specific approach-related callouts such as “minimums” or “decision height”.
+Each of these additional categories of callouts is not required.
+
+  @MOPS_292
+  Scenario: Five hundred foot above terrain
+    Given FFAC is armed
+    And FFAC is not inhibited
+    And non-precision approach is selected
+    And the height above terrain is at least 500 foot
+    When the height above terrain is at most 500 foot
+    Then a FFAC annunciation alert is emitted within 1.3 seconds
+
+  @MOPS_292
+  Scenario: Five hundred foot above nearest runway elevation
+    Given FFAC is armed
+    And FFAC is not inhibited
+    And non-precision approach is selected
+    And the nearest runway elevation is at least 500 foot
+    When the nearest runway elevation is at most 500 foot
+    Then a FFAC annunciation alert is emitted within 1.3 seconds
diff --git a/taws_minimal/features/mode_1.feature b/taws_minimal/features/mode_1.feature
new file mode 100644
index 0000000..3899bce
--- /dev/null
+++ b/taws_minimal/features/mode_1.feature
@@ -0,0 +1,222 @@
+#noinspection CucumberUndefinedStep
+Feature: Mode 1: Excessive Rate of Descent
+  The Mode 1 alert is intended to generate caution alerts and time-critical
+  warning alerts when the aircraft has a high rate of descent relative to its
+  height above terrain. Mode 1 is active during all segments of flight. In
+  order to reduce nuisance alerts during steep approaches, an optional set of
+  alerting curves may be employed when the aircraft is performing a steep
+  approach. The determination if a steep approach is in progress can either be
+  based on an input to the Equipment (such as a pilot-activated steep approach
+  switch) or it can be based on internal logic (such as comparison of aircraft
+  position to approach profiles in a database).
+
+  @MOPS_268
+  Scenario: Mode Arming/Disarming
+    Given the plane is flying
+    Then Mode 1 shall be armed
+
+  #Rule: Standard Caution Envelope (MOPS_269, MOPS_270)
+
+  @MOPS_269
+  Scenario Outline: Must Alert
+    Given Mode 1 is armed
+    And Mode 1 is not inhibited
+    And steep approach is not selected
+    When the rate of descent is at least <rate_of_descent> feet per minute
+    And the height above terrain is between 100 and <height> feet
+    Then a Mode 1 caution alert is emitted within 2 seconds
+
+    Examples:
+      | rate_of_descent | height |
+      | 1560            | 100    |
+      | 2200            | 630    |
+      | 5700            | 2200   |
+
+  @MOPS_270
+  Scenario: Must Not Alert when not Armed
+    Given Mode 1 is not armed
+    Then a Mode 1 caution alert is not emitted at all
+
+  @MOPS_270
+  Scenario: Must Not Alert when Inhibited
+    Given Mode 1 is inhibited
+    Then a Mode 1 caution alert is not emitted at all
+
+  @MOPS_270
+  Scenario Outline: Must Not Alert
+    Given steep approach is not selected
+    When the rate of descent is at most <rate_of_descent> feet per minute
+    But the height above terrain is not between 10 and <height> feet
+    Then a Mode 1 caution alert is not emitted at all
+
+    Examples:
+      | rate_of_descent | height |
+      | 964             | 10     |
+      | 2300            | 1550   |
+      | 4400            | 2900   |
+      | 5000            | 3200   |
+      | 8000            | 4600   |
+      | 12000           | 6467   |
+
+  #Rule: Steep Approach Caution Envelope (MOPS_271, MOPS_272)
+
+  @MOPS_271
+  Scenario Outline: Must Alert
+    Given Mode 1 is armed
+    And Mode 1 is not inhibited
+    And steep approach is selected
+    When the rate of descent is at least <rate_of_descent> feet per minute
+    And the height above terrain is between 150 and <height> feet
+    Then a Mode 1 caution alert is emitted within 2 seconds
+
+    Examples:
+      | rate_of_descent | height |
+      | 1798            | 150    |
+      | 1944            | 300    |
+      | 3233            | 1078   |
+      | 6225            | 2075   |
+
+  @MOPS_272
+  Scenario:  Must Not Alert when not Armed
+    Given Mode 1 is not armed
+    Then a Mode 1 caution alert is not emitted at all
+
+  @MOPS_272
+  Scenario: Must Not Alert when Inhibited
+    Given Mode 1 is inhibited
+    Then a Mode 1 caution alert is not emitted at all
+
+  @MOPS_272
+  Scenario Outline: Must Not Alert
+    Given steep approach is selected
+    When the rate of descent is at most <rate_of_descent> feet per minute
+    But the height above terrain is not between 10 and <height> feet
+    Then a Mode 1 caution alert is not emitted at all
+
+    Examples:
+      | rate_of_descent | height |
+      | 964             | 10     |
+      | 2300            | 1550   |
+      | 4400            | 2900   |
+      | 5000            | 3200   |
+      | 8000            | 4600   |
+      | 12000           | 6467   |
+
+  #Rule: Warning Envelope (MOPS_273, MOPS_274)
+
+  @MOPS_273
+  Scenario Outline: Must Alert
+    Given Mode 1 is armed
+    And Mode 1 is not inhibited
+    And steep approach is not selected
+    When the rate of descent is at least <rate_of_descent> feet per minute
+    And the height above terrain is between 100 and <height> feet
+    Then a Mode 1 warning alert is emitted within 2 seconds
+
+    Examples:
+      | rate_of_descent | height |
+      | 1600            | 100    |
+      | 1850            | 300    |
+      | 10100           | 1958   |
+
+  @MOPS_274
+  Scenario: Must Not Alert when not Armed
+    Given Mode 1 is not armed
+    Then a Mode 1 warning alert is not emitted at all
+
+  @MOPS_274
+  Scenario: Must Not Alert when Inhibited
+    Given Mode 1 is inhibited
+    Then a Mode 1 warning alert is not emitted at all
+
+  @MOPS_274
+  Scenario Outline: Must Not Alert
+    Given steep approach is not selected
+    When the rate of descent is at most <rate_of_descent> feet per minute
+    But the height above terrain is not between 10 and <height> feet
+    Then a Mode 1 warning alert is not emitted at all
+
+    Examples:
+      | rate_of_descent | height |
+      | 1217            | 10     |
+      | 2300            | 1300   |
+      | 4400            | 2500   |
+      | 8000            | 3500   |
+      | 12000           | 4611   |
+
+  #Rule: Steep Approach Warning Envelope (MOPS_275, MOPS_276)
+
+  @MOPS_275
+  Scenario Outline: Must Alert
+    Given Mode 1 is armed
+    And Mode 1 is not inhibited
+    And steep approach is selected
+    When the rate of descent is at least <rate_of_descent> feet per minute
+    And the height above terrain is between 150 and <height> feet
+    Then a Mode 1 warning alert is emitted within 2 seconds
+
+    Examples:
+      | rate_of_descent | height |
+      | 1908            | 150    |
+      | 2050            | 300    |
+      | 10300           | 1958   |
+
+  @MOPS_276
+  Scenario: Must Not Alert when not Armed
+    Given Mode 1 is not armed
+    Then a Mode 1 warning alert is not emitted at all
+
+  @MOPS_276
+  Scenario: Must Not Alert when Inhibited
+    Given Mode 1 is inhibited
+    Then a Mode 1 warning alert is not emitted at all
+
+  @MOPS_276
+  Scenario Outline: Must Not Alert
+    Given steep approach is selected
+    When the rate of descent is at most <rate_of_descent> feet per minute
+    But the height above terrain is not between 10 and <height> feet
+    Then a Mode 1 warning alert is not emitted at all
+
+    Examples:
+      | rate_of_descent | height |
+      | 1217            | 10     |
+      | 2300            | 1300   |
+      | 4400            | 2500   |
+      | 8000            | 3500   |
+      | 12000           | 4611   |
+
+  #Rule: Aural Alert (MOPS_277, MOPS_278, MOPS_279, MOPS_280)
+
+  @MOPS_277
+  Scenario: Caution Alert
+    Given a caution level Mode 1 alert arises
+    Then an aural message "Sink Rate" shall be emitted
+
+  @MOPS_278
+  Scenario: Warning Alert
+    Given a warning level Mode 1 alert arises
+    Then an aural message "Pull Up" shall be emitted
+
+  @MOPS_279
+  Scenario: Repeating Warning Alert
+    Given the warning level Mode 1 alert condition persists
+    And the pilot didn't silence the alert
+    And no higher priority alert is triggered
+    Then the aural message shall be repeated periodically
+ 
+  # Whoop-Whoop (MOPS_280) ain't gonna be testable
+
+  #Rule: Visual Alert (MOPS_281, MOPS_282)
+
+  @MOPS_281
+  Scenario: Caution
+    Given a Mode 1 caution alert is active
+    Then the TAWS shall trigger a yellow or amber indicator
+
+  @MOPS_282
+  Scenario: Warning
+    Given a Mode 1 warning alert is active
+    Then the TAWS shall trigger a red indicator
+
+# vim: set ts=2 sw=2 expandtab: retab: expandtab #
diff --git a/taws_minimal/features/mode_3.feature b/taws_minimal/features/mode_3.feature
new file mode 100644
index 0000000..4af3c86
--- /dev/null
+++ b/taws_minimal/features/mode_3.feature
@@ -0,0 +1,58 @@
+#noinspection CucumberUndefinedStep
+Feature: Mode 3: Negative Climb Rate or Altitude Loss
+  The Mode 3 alert is intended to generate caution alerts when the aircraft
+  loses altitude during take-off or go around. The loss of altitude can either
+  be based on a negative altitude rate or it can be based on a measured loss of
+  altitude.
+
+  @MOPS_283
+  Scenario: Mode Arming/Disarming
+    Given take-off is selected
+    Then Mode 3 shall be armed
+
+  @MOPS_283
+  Scenario: Mode Arming/Disarming
+    Given go around is selected
+    Then Mode 3 shall be armed
+
+  @MOPS_284
+  Scenario: Mode Arming/Disarming
+    Given take-off is not selected
+    And go around is not selected
+    Then Mode 3 shall not be armed
+
+  # MOPS_285: either alerting on Mode 1 or Mode 2 is sufficient, if both are
+  # used again only one is sufficient
+
+  #Rule: Method 1
+  @MOPS_286
+  Scenario Outline: Must Alert
+    Given Mode 3 is armed
+    And Mode 3 is not inhibited
+    When the rate of descent is at least <rate_of_descent> feet per minute
+    And the height above terrain is between 100 and <height> feet
+    Then a Mode 3 caution alert is emitted within 1.3 seconds
+
+    Examples:
+      | rate_of_descent | height |
+      | 207             | 60     |
+      | 533             | 600    |
+      | 534             | 600    |
+
+  @MOPS_287
+  Scenario: Must Not Alert when not Armed
+    Given Mode 3 is not armed
+    Then a Mode 3 caution alert is not emitted at all
+
+  @MOPS_287
+  Scenario: Must Not Alert when Inhibited
+    Given Mode 3 is inhibited
+    Then a Mode 3 caution alert is not emitted at all
+
+  @MOPS_287
+  Scenario Outline: Must Not Alert
+    When the rate of descent is at most <rate_of_descent> feet per minute
+    But the height above terrain is not between 10 and <height> feet
+    Then a Mode 3 caution alert is not emitted at all
+
+
diff --git a/taws_minimal/features/pda.feature b/taws_minimal/features/pda.feature
new file mode 100644
index 0000000..2cebcaa
--- /dev/null
+++ b/taws_minimal/features/pda.feature
@@ -0,0 +1,38 @@
+#noinspection CucumberUndefinedStep
+Feature: PDA: Premature Decent Alerting
+  # TODO: Description
+
+  @MOPS_263
+  Scenario: Mode Arming/Disarming
+    Given the plane is within 5 NM of an airport
+    Then PDA shall be armed
+
+  # TODO Add Criteria for PDA to be disarmed beyond 5 NM due to the risk of nuisance alerts (2.2.3.1.7.2)
+
+  @MOPS_264
+  Scenario Outline: Must Alert
+    Given PDA is armed
+    And PDA is not inhibited
+    When the distance to the nearest airport is between 1.0 and <distance_to_airport> NM
+    And the height above terrain is between 10 and <height> feet
+    Then a PDA caution alert is emitted within 1.3 seconds
+
+    Examples:
+      | distance_to_airport | height |
+      | 1.0                 | 80     |
+      | 1.8                 | 150    |
+      | 2.3                 | 170    |
+
+  @MOPS_265
+  Scenario: Must Not Alert when not Armed
+    Given PDA is not armed
+    Then a PDA caution alert is not emitted at all
+
+  @MOPS_265
+  Scenario: Must Not Alert when Inhibited
+    Given PDA is inhibited
+    Then a PDA caution alert is not emitted at all
+
+  # MOPS_266 and MOPS_267 are not testable
+
+# vim: set ts=2 sw=2 expandtab: retab: expandtab #
diff --git a/features/self_test.feature b/taws_minimal/features/self_test.feature
similarity index 100%
rename from features/self_test.feature
rename to taws_minimal/features/self_test.feature
diff --git a/taws_minimal/src/lib.rs b/taws_minimal/src/lib.rs
new file mode 100644
index 0000000..116fe42
--- /dev/null
+++ b/taws_minimal/src/lib.rs
@@ -0,0 +1,328 @@
+use opentaws::prelude::*;
+
+#[macro_use]
+mod macros;
+
+/// This is the number of different alerts in an alert_state for MinimalTAWS
+const ALERT_STATE_SIZE: usize = 8;
+
+/// Represents one instance of a TAWS
+#[derive(Debug)]
+pub struct MinimalTaws<'a> {
+    /// `true` if the TAWS is armed
+    ///
+    /// There is no specific condition for changing this to `false`.
+    pub armed: bool,
+    config: &'a TawsConfig<'a>,
+    ffac: functionalities::Ffac,
+    flta: functionalities::Flta,
+    mode1: functionalities::Mode1,
+    mode2: functionalities::Mode2,
+    mode3: functionalities::Mode3,
+    mode4: functionalities::Mode4,
+    mode5: functionalities::Mode5,
+    pda: functionalities::Pda<'a>,
+}
+
+impl<'a> MinimalTaws<'a> {
+    functionalities![Ffac, Flta, Mode1, Mode2, Mode3, Mode4, Mode5, Pda];
+
+    /// Create a new instance of `Taws`
+    ///
+    /// # Arguments
+    ///
+    /// * `config` - The configuration which this TAWS instance shall use
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// use opentaws::prelude::*;
+    /// use taws_minimal::MinimalTaws;
+    ///
+    /// let config = TawsConfig::default();
+    /// let taws = MinimalTaws::new(&config);
+    /// ```
+    pub fn new(config: &'a TawsConfig) -> Self {
+        let ffac = functionalities::Ffac::new(config);
+        let flta = functionalities::Flta::new(config);
+        let mode1 = functionalities::Mode1::new(config);
+        let mode2 = functionalities::Mode2::new(config);
+        let mode3 = functionalities::Mode3::new(config);
+        let mode4 = functionalities::Mode4::new(config);
+        let mode5 = functionalities::Mode5::new(config);
+        let pda = functionalities::Pda::new(config);
+
+        Self {
+            armed: true,
+            config,
+            ffac,
+            flta,
+            mode1,
+            mode2,
+            mode3,
+            mode4,
+            mode5,
+            pda,
+        }
+    }
+}
+
+impl<'a> Taws<ALERT_STATE_SIZE> for MinimalTaws<'a> {
+    /// Returns `true` if the alert system is armed
+    ///
+    /// # Arguments
+    ///
+    /// * `alert_system` - The alert system whiches armed state shall be checked
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use opentaws::prelude::*;
+    /// # use taws_minimal::MinimalTaws;
+    /// # let config = TawsConfig::default();
+    /// # let taws = MinimalTaws::new(&config);
+    /// if taws.is_armed(Alert::Mode1) {
+    ///     // ...
+    /// }
+    /// ```
+    fn is_armed(&self, alert_system: Alert) -> bool {
+        self.get_functionality(alert_system).is_armed()
+    }
+
+    /// Arms a specific alert system
+    ///
+    /// # Arguments
+    ///
+    /// * `alert_system` - The alert system which shall be inhibited
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use opentaws::prelude::*;
+    /// # use taws_minimal::MinimalTaws;
+    /// # let config = TawsConfig::default();
+    /// # let mut taws = MinimalTaws::new(&config);
+    /// taws.arm(Alert::Mode1);
+    ///
+    /// assert!(taws.is_armed(Alert::Mode1));
+    /// ```
+    fn arm(&mut self, alert_system: Alert) {
+        self.get_mut_functionality(alert_system).arm();
+    }
+
+    /// Disarms a specific alert system
+    ///
+    /// # Arguments
+    ///
+    /// * `alert_system` - The alert system which shall be inhibited
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use opentaws::prelude::*;
+    /// # use taws_minimal::MinimalTaws;
+    /// # let config = TawsConfig::default();
+    /// # let mut taws = MinimalTaws::new(&config);
+    /// taws.disarm(Alert::Mode1);
+    ///
+    /// assert_eq!(taws.is_armed(Alert::Mode1), false);
+    /// ```
+    fn disarm(&mut self, alert_system: Alert) {
+        self.get_mut_functionality(alert_system).disarm()
+    }
+
+    /// Returns `true` if the alert system is inhibited
+    ///
+    /// # Arguments
+    ///
+    /// * `alert_system` - The alert system whiches inhibited state shall be checked
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use opentaws::prelude::*;
+    /// # use taws_minimal::MinimalTaws;
+    /// # let config = TawsConfig::default();
+    /// # let taws = MinimalTaws::new(&config);
+    /// if taws.is_inhibited(Alert::Mode1) {
+    ///     // ...
+    /// }
+    /// ```
+    fn is_inhibited(&self, alert_system: Alert) -> bool {
+        self.get_functionality(alert_system).is_inhibited()
+    }
+
+    /// Inhibit a specific alert system
+    ///
+    /// # Arguments
+    ///
+    /// * `alert_system` - The alert system which shall be inhibited
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use opentaws::prelude::*;
+    /// # use taws_minimal::MinimalTaws;
+    /// # let config = TawsConfig::default();
+    /// # let mut taws = MinimalTaws::new(&config);
+    /// taws.inhibit(Alert::Mode1);
+    ///
+    /// assert!(taws.is_inhibited(Alert::Mode1));
+    /// ```
+    fn inhibit(&mut self, alert_system: Alert) {
+        self.get_mut_functionality(alert_system).inhibit()
+    }
+
+    /// Uninhibit a specific alert system
+    ///
+    /// # Arguments
+    ///
+    /// * `alert_system` - The alert system which shall be uninhibited
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use opentaws::prelude::*;
+    /// # use taws_minimal::MinimalTaws;
+    /// # let config = TawsConfig::default();
+    /// # let mut taws = MinimalTaws::new(&config);
+    /// taws.uninhibit(Alert::Mode1);
+    ///
+    /// assert_eq!(taws.is_inhibited(Alert::Mode1), false);
+    /// ```
+    fn uninhibit(&mut self, alert_system: Alert) {
+        self.get_mut_functionality(alert_system).uninhibit()
+    }
+
+    /// Process a new aircraft state
+    ///
+    /// This method must be called regularly for the TAWS to function properly!
+    /// No warnings will be emitted without calling this function.
+    ///
+    /// # Arguments
+    ///
+    /// * `alert_system` - The alert system which shall be uninhibited
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use opentaws::prelude::*;
+    /// # use taws_minimal::MinimalTaws;
+    /// # let config = TawsConfig::default();
+    /// # let mut taws = MinimalTaws::new(&config);
+    /// let aicraft_state = AircraftState::default();
+    ///
+    /// let alert_state = taws.process(&aicraft_state);
+    /// println!("Received AlertState: {:?}", alert_state);
+    /// ```
+    fn process(&mut self, state: &AircraftState) -> AlertState<ALERT_STATE_SIZE> {
+        let mut alert_state = AlertState::default();
+
+        for (alert, alert_system) in self
+            .functionality_mut_array()
+            .iter_mut()
+            .filter(|(_, alert_system)| !alert_system.is_inhibited())
+        {
+            if let Some((alert_level, _priority)) = alert_system.process(state) {
+                alert_state.insert(*alert, alert_level);
+            }
+        }
+
+        alert_state
+    }
+}
+
+#[cfg(test)]
+mod test {
+    use super::*;
+    use aviation_database::reference::AirportDatabaseImpl;
+
+    #[test]
+    fn check_all_alert_systems() {
+        let airport_database = AirportDatabaseImpl::default();
+        let config = TawsConfig {
+            terrain_server: &airport_database,
+            max_climbrate: Velocity::new::<foot_per_minute>(700.0),
+            max_climbrate_change: Acceleration::new::<foot_per_second_squared>(100.0),
+        };
+        let taws = MinimalTaws::new(&config);
+        let _ = taws.is_armed(Alert::Ffac);
+        let _ = taws.is_armed(Alert::Flta);
+        let _ = taws.is_armed(Alert::Mode1);
+        let _ = taws.is_armed(Alert::Mode2);
+        let _ = taws.is_armed(Alert::Mode3);
+        let _ = taws.is_armed(Alert::Mode4);
+        let _ = taws.is_armed(Alert::Mode5);
+        let _ = taws.is_armed(Alert::Pda);
+    }
+
+    #[test]
+    fn check_edge_case_1() {
+        use uom::si::{
+            angle::{degree, revolution},
+            length::meter,
+            time::second,
+            velocity::meter_per_second,
+        };
+
+        let airport_database = AirportDatabaseImpl::default();
+        let config = TawsConfig {
+            terrain_server: &airport_database,
+            max_climbrate: Velocity::new::<foot_per_minute>(700.0),
+            max_climbrate_change: Acceleration::new::<foot_per_second_squared>(100.0),
+        };
+        let mut taws = MinimalTaws::new(&config);
+        //Angle::new::<revolution>(1.0)
+
+        let input = AircraftState {
+            timestamp: Time::new::<second>(-1192551353.0),
+            altitude: Length::new::<meter>(4608227.6136),
+            altitude_ground: Length::new::<meter>(45.72),
+            climb_rate: Velocity::new::<meter_per_second>(-3533302.6819200004),
+            position_lat: Angle::new::<revolution>(-24748089.039895818),
+            position_lon: Angle::new::<revolution>(-19226236.894961454),
+            speed_ground: Velocity::new::<meter_per_second>(1060688081.2833334),
+            speed_air: Velocity::new::<meter_per_second>(-87219196.62777779),
+            heading: Angle::new::<degree>(-31215539.612156395),
+            pitch: Angle::new::<revolution>(-15680644.065499812),
+            roll: Angle::new::<revolution>(10762607.494661978),
+            steep_approach: true,
+            precision_approach: false,
+            go_around: false,
+            take_off: false,
+        };
+        let output = taws.process(&input);
+
+        assert_eq!(
+            output.priority_alert(),
+            Some((Alert::Mode1, AlertLevel::Warning))
+        );
+    }
+    // ———— [!] Step failed: ——————————————————————————  p_tester/src/tester.rs:220:25
+    //  Aicraft state that violated the scenario: AircraftState {
+    //      timestamp: -1192551353.0 s^1,
+    //      altitude: 4608227.6136 m^1,
+    //      altitude_ground: 45.72 m^1,
+    //      climb_rate: -3533302.6819200004 m^1 s^-1,
+    //      position_lat: -24748089.039895818,
+    //      position_lon: -19226236.894961454,
+    //      speed_ground: 1060688081.2833334 m^1 s^-1,
+    //      speed_air: -87219196.62777779 m^1 s^-1,
+    //      heading: -31215539.612156395,
+    //      pitch: -15680644.065499812,
+    //      roll: 10762607.494661978,
+    //      steep_approach: true,
+    //  }
+    //  alerts emitted: AlertState {
+    //      all_alerts: [
+    //          None,
+    //          None,
+    //          None,
+    //          None,
+    //          None,
+    //          None,
+    //          None,
+    //          None,
+    //      ],
+    //  }
+}
diff --git a/taws_minimal/src/macros.rs b/taws_minimal/src/macros.rs
new file mode 100644
index 0000000..5b5e39a
--- /dev/null
+++ b/taws_minimal/src/macros.rs
@@ -0,0 +1,36 @@
+// Allow us to iterate over the functionalities for a lack of inline comptime loop unrolling
+macro_rules! functionalities {
+    [$( $functionality_name:tt ),+] => {
+        ///
+        fn get_functionality(&self, alert_system: Alert) -> &dyn AlertSystem<'a> {
+            match alert_system {
+            $(
+                $functionality_name => casey::lower!(&self.$functionality_name),
+            )+
+            }
+        }
+
+        fn get_mut_functionality(&mut self, alert_system: Alert) -> &mut dyn AlertSystem<'a> {
+            match alert_system {
+            $(
+                $functionality_name => casey::lower!(&mut self.$functionality_name),
+            )+
+            }
+        }
+
+        fn functionality_mut_array(&mut self)->[(Alert, &mut dyn AlertSystem<'a>); count!($($functionality_name)+)]{
+            [ $(
+                (
+                    $functionality_name,
+                    casey::lower!(&mut self.$functionality_name) as &mut dyn AlertSystem
+                ),
+            )+ ]
+        }
+    };
+}
+
+// Count stuff, for a lack of advanced const generics
+macro_rules! count {
+    () => (0usize);
+    ( $x:tt $($xs:tt)* ) => (1usize + count!($($xs)*));
+}
diff --git a/taws_minimal/tests/cucumber.rs b/taws_minimal/tests/cucumber.rs
new file mode 100644
index 0000000..d917c33
--- /dev/null
+++ b/taws_minimal/tests/cucumber.rs
@@ -0,0 +1,300 @@
+use std::cmp::PartialEq;
+use std::convert::Infallible;
+
+use uom::si::{f64::*, length::foot, velocity::foot_per_minute};
+
+use async_trait::async_trait;
+use cucumber::{given, then, when, WorldInit};
+use opentaws::prelude::*;
+use taws_minimal::MinimalTaws;
+
+mod util;
+use util::*;
+
+use util::constraint::*;
+
+fn main() {
+    smol::block_on(MyWorld::run("features"));
+}
+
+// TODO check for parallel testing
+// TODO allow for statefull tests
+// TODO evaluate merge possibilities re parser functions for similar sentences
+
+#[derive(WorldInit)]
+pub struct MyWorld {
+    taws: MinimalTaws<'static>,
+    constraints: Vec<AircraftStateConstraints>,
+    test_length: usize,
+    last_step_type: StepType,
+    phase: usize,
+}
+
+//TODO use cucumber rs StepType enum
+#[derive(PartialEq)]
+pub enum StepType {
+    Given,
+    When,
+    Then,
+}
+
+#[given("the plane is flying")]
+fn is_flying(_world: &mut MyWorld) {}
+
+#[given(regex = r#"^(.+) is ?(not)? armed$"#)]
+fn is_armed(world: &mut MyWorld, alert: AlertWrapper, maybe_not: String) {
+    if maybe_not == "not" {
+        world.taws.disarm(alert.into());
+    } else {
+        world.taws.arm(alert.into());
+    }
+}
+
+#[given(regex = "^(.+) is ?(not)? inhibited$")]
+fn is_inhibited(world: &mut MyWorld, alert: AlertWrapper, maybe_not: String) {
+    if maybe_not == "not" {
+        world.taws.uninhibit(alert.into());
+    } else {
+        world.taws.inhibit(alert.into());
+    }
+}
+
+#[given(regex = r"^steep approach is ?(not)? selected$")]
+fn steep_approach(world: &mut MyWorld, maybe_not: String) {
+    world.update_phase(StepType::Given);
+    if maybe_not == "not" {
+        world.constraints[world.phase].add_steep_approach_constraint(false)
+    } else {
+        world.constraints[world.phase].add_steep_approach_constraint(true)
+    }
+}
+
+#[given(regex = r"^take-off is ?(not)? selected$")]
+fn take_of(world: &mut MyWorld, maybe_not: String) {
+    world.update_phase(StepType::Given);
+    if maybe_not == "not" {
+        world.constraints[world.phase].add_take_off_constraint(false)
+    } else {
+        world.constraints[world.phase].add_take_off_constraint(true)
+    }
+}
+
+#[given(regex = r"^go around is ?(not)? selected$")]
+fn go_around(world: &mut MyWorld, maybe_not: String) {
+    world.update_phase(StepType::Given);
+    if maybe_not == "not" {
+        world.constraints[world.phase].add_go_around_constraint(false)
+    } else {
+        world.constraints[world.phase].add_go_around_constraint(true)
+    }
+}
+
+#[given(regex = r"^non-precision approach is ?(not)? selected$")]
+fn precision_approach(world: &mut MyWorld, maybe_not: String) {
+    world.update_phase(StepType::Given);
+
+    // double negation: non-precision is not selected
+    if maybe_not == "not" {
+        world.constraints[world.phase].add_precision_approach_constraint(true);
+    } else {
+        world.constraints[world.phase].add_precision_approach_constraint(false);
+    }
+}
+
+#[then(regex = r"^(.+) shall ?(not)? be armed$")]
+fn shall_be_armed(world: &mut MyWorld, alert: AlertWrapper, maybe_not: String) {
+    assert_eq!(world.taws.is_armed(alert.into()), !maybe_not.eq("not"));
+}
+
+#[when(regex = r"^the rate of descent is at (most|least) (\d+) feet per minute$")]
+fn rate_of_descent(world: &mut MyWorld, most_or_least: String, rod: f64) {
+    world.update_phase(StepType::When);
+
+    let rod = Velocity::new::<foot_per_minute>(rod);
+    // most and least are swapped here, as aircraft_state stores rate of climb, while
+    // the sentence give rate of descent
+    // TODO validate that this is a safe assumption?
+    match most_or_least.as_str() {
+        "most" => {
+            world.constraints[world.phase]
+                .add_climb_rate_constraint(Constraint::AtLeast(world.phase, -rod));
+            //world.add_mould(move |a| bouncer.at_least(&mut a.climb_rate, -rod));
+        }
+        "least" => {
+            world.constraints[world.phase]
+                .add_climb_rate_constraint(Constraint::AtMost(world.phase, -rod));
+            //world.add_mould(move |a| bouncer.at_most(&mut a.climb_rate, -rod));
+        }
+        _ => {
+            panic!("unable to parse this sentence");
+        }
+    }
+}
+
+#[when(regex = r"^the height above terrain is ?(not)? between (\d+) and (\d+) feet$")]
+fn height_above_terrain(world: &mut MyWorld, maybe_not: String, lower: f64, upper: f64) {
+    world.update_phase(StepType::When);
+
+    let height_at_least = Length::new::<foot>(lower);
+    let height_at_most = Length::new::<foot>(upper);
+
+    if maybe_not == "not" {
+        world.constraints[world.phase].add_altitude_ground_constraint(Constraint::NotInRange(
+            world.phase,
+            height_at_least,
+            height_at_most,
+        ));
+    } else {
+        world.constraints[world.phase].add_altitude_ground_constraint(Constraint::InRange(
+            world.phase,
+            height_at_least,
+            height_at_most,
+        ));
+        // TODO altitude or altitude_ground
+    }
+}
+
+#[when(
+    regex = r"^the distance to the nearest airport is ?(not)? between ([0-9]+\.?[0-9]*) and ([0-9]+\.?[0-9]*) NM"
+)]
+fn distance_to_airport(world: &mut MyWorld, maybe_not: String, lower: f64, upper: f64) {
+    world.update_phase(StepType::When);
+    todo!();
+    let height_at_least = Length::new::<foot>(lower);
+    let height_at_most = Length::new::<foot>(upper);
+
+    if maybe_not == "not" {
+    } else {
+    }
+}
+
+#[given(regex = r"^the height above terrain is at (most|least) (\d+) foot$")]
+fn height_above_terrain_2(world: &mut MyWorld, greater_or_less: String, height: f64) {
+    todo!("Merge with previous function");
+}
+
+#[given(regex = r"^the nearest runway elevation is at (most|least) (\d+) foot$")]
+fn height_above_runway(world: &mut MyWorld, greater_or_less: String, height: f64) {
+    todo!("Merge with previous function");
+}
+
+#[given(regex = r"^the plane is ?(not)? within ([0-9]+\.?[0-9]*) NM of an airport")]
+fn distance_to_airport_2(world: &mut MyWorld, maybe_not: String, distance: f64) {
+    todo!("Merge with previous function");
+}
+
+#[then(regex = "^a (.*) alert is not emitted at all$")]
+fn is_not_emitted(world: &mut MyWorld, alert_and_level: AlertAndLevelWrapper) {
+    world.update_phase(StepType::Then);
+    let (alert, level) = alert_and_level.into();
+
+    let aircraft_states =
+        AircraftStateGenerator::default().take(world.test_length * world.constraints.len());
+
+    let n_constraints = world.constraints.len();
+    for (c, mut frame) in aircraft_states
+        .enumerate()
+        .map(|(c, f)| (c % n_constraints, f))
+    {
+        world.constraints[c].apply_to(&mut frame);
+
+        let alert_state = world.taws.process(&mut frame);
+        // Make sure we are in the last phase of this scenario with "c + 1 == world.constraints.len()"
+        if c + 1 == n_constraints && alert_state.iter().any(|(a, l)| a == alert && l <= level) {
+            panic!(
+                "Aicraft state that violated the scenario: {:#?}\nalerts emitted: {:#?}",
+                frame, alert_state
+            );
+        }
+    }
+}
+
+#[then(regex = r"^a (.*) alert is emitted within ([0-9]+\.?[0-9]*) seconds$")]
+fn is_emitted_within(world: &mut MyWorld, alert_and_level: AlertAndLevelWrapper, _seconds: f64) {
+    world.update_phase(StepType::Then);
+    let (alert, level) = alert_and_level.into();
+
+    let aircraft_states =
+        AircraftStateGenerator::default().take(world.test_length * world.constraints.len());
+
+    let n_constraints = world.constraints.len();
+    for (c, mut frame) in aircraft_states
+        .enumerate()
+        .map(|(c, f)| (c % n_constraints, f))
+    {
+        world.constraints[c].apply_to(&mut frame);
+
+        let alert_state = world.taws.process(&mut frame);
+        // TODO what about the time constraint?
+        // Count all alerts that are from the functionality Mode1 and are of higher or
+        // same priority as `level`. If the count is 0, the system did not alert
+        // appropriately.
+        if c + 1 == n_constraints
+            && alert_state
+                .iter()
+                .filter(|(a, l)| *a == alert && *l <= level)
+                .count()
+                == 0
+        {
+            panic!(
+                "Aicraft state that violated the scenario: {:#?}\nalerts emitted: {:#?}",
+                frame, alert_state
+            );
+        }
+    }
+}
+
+static AIRPORT_DATABASE: ConstraintAirportDatabase = ConstraintAirportDatabase {};
+
+lazy_static::lazy_static! {
+    static ref TAWS_CONFIG: TawsConfig<'static> = TawsConfig{
+            terrain_server: &AIRPORT_DATABASE,
+            max_climbrate: Velocity::new::<foot_per_minute>(700.0),
+            max_climbrate_change: Acceleration::new::<foot_per_second_squared>(100.0),
+    };
+}
+
+// Brot und Butter implementations
+#[async_trait(?Send)]
+impl cucumber::World for MyWorld {
+    type Error = Infallible;
+
+    async fn new() -> Result<Self, Infallible> {
+        Ok(Self {
+            taws: MinimalTaws::new(&TAWS_CONFIG),
+            constraints: vec![AircraftStateConstraints::default()],
+            test_length: 10, // TODO Increase should we be able to reduce the nearest_airport function from the aviation database
+            last_step_type: StepType::Given,
+            phase: 0,
+        })
+    }
+}
+
+impl MyWorld {
+    // Updates the current phase based on the current StepType
+    pub fn update_phase(&mut self, current_type: StepType) {
+        if self.last_step_type != current_type {
+            //Only increase phase if current phase is not "Then"
+            // Then-Step should not enforce AirplaneStateConstraints
+            if current_type != StepType::Then {
+                self.constraints.push(self.constraints[self.phase].clone());
+                self.phase += 1;
+            }
+
+            if self.last_step_type == StepType::Then && current_type == StepType::When {
+                panic!("Multiple When/Then Pairs are not allowed")
+            }
+
+            self.last_step_type = current_type;
+        }
+    }
+}
+
+impl std::fmt::Debug for MyWorld {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        f.debug_struct("MyWorld").finish()
+        //todo!();
+    }
+}
+
+impl std::panic::UnwindSafe for MyWorld {} // This is a lie, but what they gonna do, panic?
diff --git a/taws_minimal/tests/util/constraint.rs b/taws_minimal/tests/util/constraint.rs
new file mode 100644
index 0000000..b0f8825
--- /dev/null
+++ b/taws_minimal/tests/util/constraint.rs
@@ -0,0 +1,320 @@
+#[allow(dead_code)]
+use crate::util::PressMould;
+use crate::BouncingClamp;
+use aviation_database::{AirportDatabase, Runway};
+use opentaws::AircraftState;
+use uom::si::f64::*;
+
+#[derive(Clone, Default, PartialEq)]
+pub struct AircraftStateConstraints {
+    altitude: Vec<Constraint<Length>>,
+    altitude_ground: Vec<Constraint<Length>>,
+    climb_rate: Vec<Constraint<Velocity>>,
+    speed_air: Vec<Constraint<Velocity>>,
+    heading: Vec<Constraint<Angle>>,
+    pitch: Vec<Constraint<Angle>>,
+    roll: Vec<Constraint<Angle>>,
+    //TODO use vector with bool and phase
+    steep_approach: bool,
+    precision_approach: bool,
+    go_around: bool,
+    take_of: bool,
+}
+
+impl AircraftStateConstraints {
+    //Retains constraints from the current phase
+    fn filter_phase<Q>(constraints: &mut Vec<Constraint<Q>>, current_phase: usize)
+    where
+        Q: Copy
+            + PartialOrd
+            + PartialEq<Q>
+            + std::ops::Add
+            + std::ops::Add<Output = Q>
+            + std::ops::Rem
+            + std::ops::Rem<Output = Q>
+            + std::ops::Sub
+            + std::ops::Sub<Output = Q>
+            + crate::util::Abs
+            + std::fmt::Debug,
+    {
+        let mut i = 0;
+        while i < constraints.len() {
+            if constraints[i].phase() != current_phase {
+                constraints.remove(i);
+            } else {
+                i += 1;
+            }
+        }
+    }
+
+    //Merges constraints
+    //Especially important for merging < and > constraints into one InRange constraint
+    fn merge<Q>(constraints: &[Constraint<Q>]) -> Vec<Constraint<Q>>
+    where
+        Q: Copy
+            + PartialOrd
+            + PartialEq<Q>
+            + std::ops::Add
+            + std::ops::Add<Output = Q>
+            + std::ops::Rem
+            + std::ops::Rem<Output = Q>
+            + std::ops::Sub
+            + std::ops::Sub<Output = Q>
+            + crate::util::Abs
+            + std::fmt::Debug,
+    {
+        let mut cs = Vec::new();
+        let mut at_least = None;
+        let mut at_most = None;
+
+        for c in constraints {
+            match c {
+                Constraint::AtLeast(_, q) => {
+                    if at_least.map_or(true, |a| q > a) {
+                        at_least = Some(q);
+                    }
+                }
+                Constraint::AtMost(_, q) => {
+                    if at_most.map_or(true, |a| q < a) {
+                        at_most = Some(q);
+                    }
+                }
+                Constraint::InRange(_, l, r) => {
+                    if at_least.map_or(true, |a| l > a) {
+                        at_least = Some(l);
+                    }
+                    if at_most.map_or(true, |a| r < a) {
+                        at_most = Some(r);
+                    }
+                }
+                _ => cs.push(c.clone()),
+            }
+        }
+
+        match (at_least, at_most) {
+            (Some(at_least), Some(at_most)) => {
+                assert!(
+                    at_least <= at_most,
+                    "Left bound ({:?}) is greater than right bound ({:?})",
+                    at_least,
+                    at_most
+                );
+                cs.push(Constraint::InRange(
+                    constraints.first().unwrap().phase(),
+                    *at_least,
+                    *at_most,
+                ));
+            }
+            (Some(at_least), None) => cs.push(Constraint::AtLeast(
+                constraints.first().unwrap().phase(),
+                *at_least,
+            )),
+            (None, Some(at_most)) => cs.push(Constraint::AtMost(
+                constraints.first().unwrap().phase(),
+                *at_most,
+            )),
+            _ => {}
+        }
+
+        cs
+    }
+
+    fn apply<Q>(constraints: &[Constraint<Q>], state: &mut Q)
+    where
+        Q: Copy
+            + PartialOrd
+            + PartialEq<Q>
+            + std::ops::Add
+            + std::ops::Add<Output = Q>
+            + std::ops::Rem
+            + std::ops::Rem<Output = Q>
+            + std::ops::Sub
+            + std::ops::Sub<Output = Q>
+            + crate::util::Abs
+            + std::fmt::Debug,
+    {
+        let merged = Self::merge(constraints);
+        for c in &merged {
+            c.apply_to(state)
+        }
+        for c in constraints {
+            c.check(*state)
+        }
+    }
+
+    pub fn apply_to(&self, state: &mut AircraftState) {
+        Self::apply(&self.altitude, &mut state.altitude);
+        Self::apply(&self.altitude_ground, &mut state.altitude_ground);
+        Self::apply(&self.climb_rate, &mut state.climb_rate);
+        Self::apply(&self.speed_air, &mut state.speed_air);
+        Self::apply(&self.heading, &mut state.heading);
+        Self::apply(&self.pitch, &mut state.pitch);
+        Self::apply(&self.roll, &mut state.roll);
+
+        //TODO Change when bools get vec
+        state.steep_approach = self.steep_approach;
+        state.precision_approach = self.precision_approach;
+        state.go_around = self.go_around;
+        state.take_off = self.take_of;
+    }
+
+    pub fn add_altitude_constraint(&mut self, c: Constraint<Length>) {
+        let phase = c.phase();
+        self.altitude.push(c);
+        Self::filter_phase(self.altitude.as_mut(), phase)
+    }
+
+    pub fn add_altitude_ground_constraint(&mut self, c: Constraint<Length>) {
+        let phase = c.phase();
+        self.altitude_ground.push(c);
+        Self::filter_phase(self.altitude_ground.as_mut(), phase)
+    }
+
+    pub fn add_climb_rate_constraint(&mut self, c: Constraint<Velocity>) {
+        let phase = c.phase();
+        self.climb_rate.push(c);
+        Self::filter_phase(self.climb_rate.as_mut(), phase)
+    }
+
+    pub fn add_speed_air_constraint(&mut self, c: Constraint<Velocity>) {
+        let phase = c.phase();
+        self.speed_air.push(c);
+        Self::filter_phase(self.speed_air.as_mut(), phase)
+    }
+
+    pub fn add_heading_constraint(&mut self, c: Constraint<Angle>) {
+        let phase = c.phase();
+        self.heading.push(c);
+        Self::filter_phase(self.heading.as_mut(), phase)
+    }
+
+    pub fn add_pitch_constraint(&mut self, c: Constraint<Angle>) {
+        let phase = c.phase();
+        self.pitch.push(c);
+        Self::filter_phase(self.pitch.as_mut(), phase)
+    }
+
+    pub fn add_roll_constraint(&mut self, c: Constraint<Angle>) {
+        let phase = c.phase();
+        self.roll.push(c);
+        Self::filter_phase(self.roll.as_mut(), phase)
+    }
+
+    pub fn add_steep_approach_constraint(&mut self, c: bool) {
+        self.steep_approach = c;
+    }
+
+    pub fn add_precision_approach_constraint(&mut self, c: bool) {
+        self.precision_approach = c;
+    }
+
+    pub fn add_go_around_constraint(&mut self, c: bool) {
+        self.go_around = c;
+    }
+
+    pub fn add_take_off_constraint(&mut self, c: bool) {
+        self.take_of = c;
+    }
+}
+
+#[derive(Clone, PartialEq, Debug)]
+pub enum Constraint<Q>
+where
+    Q: Copy
+        + PartialOrd
+        + PartialEq<Q>
+        + std::ops::Add
+        + std::ops::Add<Output = Q>
+        + std::ops::Rem
+        + std::ops::Rem<Output = Q>
+        + std::ops::Sub
+        + std::ops::Sub<Output = Q>
+        + crate::util::Abs
+        + std::fmt::Debug,
+{
+    AtLeast(usize, Q),
+    AtMost(usize, Q),
+    Equal(usize, Q),
+    InRange(usize, Q, Q),
+    NotInRange(usize, Q, Q),
+}
+
+impl<Q> Constraint<Q>
+where
+    Q: Copy
+        + PartialOrd
+        + PartialEq<Q>
+        + std::ops::Add
+        + std::ops::Add<Output = Q>
+        + std::ops::Rem
+        + std::ops::Rem<Output = Q>
+        + std::ops::Sub
+        + std::ops::Sub<Output = Q>
+        + crate::util::Abs
+        + std::fmt::Debug,
+{
+    pub fn phase(&self) -> usize {
+        match self {
+            Constraint::AtLeast(i, _) => *i,
+            Constraint::AtMost(i, _) => *i,
+            Constraint::Equal(i, _) => *i,
+            Constraint::InRange(i, _, _) => *i,
+            Constraint::NotInRange(i, _, _) => *i,
+        }
+    }
+
+    pub fn apply_to(&self, quantity: &mut Q) {
+        let mut bouncer = BouncingClamp();
+
+        match self {
+            Constraint::AtLeast(_, l) => bouncer.at_least(quantity, *l),
+            Constraint::AtMost(_, l) => bouncer.at_most(quantity, *l),
+            Constraint::Equal(_, l) => *quantity = *l,
+            Constraint::InRange(_, l, r) => bouncer.in_range(quantity, *l, *r),
+            Constraint::NotInRange(_, l, r) => bouncer.not_in_range(quantity, *l, *r),
+        }
+    }
+
+    pub fn check(&self, to_check: Q) {
+        match self {
+            Constraint::AtLeast(_, l) => assert!(
+                to_check >= *l,
+                "Checked Number {:?} failed constraint: at least {:?}",
+                to_check,
+                l
+            ),
+            Constraint::AtMost(_, l) => assert!(
+                to_check <= *l,
+                "Checked Number {:?} failed constraint: at most {:?}",
+                to_check,
+                l
+            ),
+            Constraint::Equal(_, l) => assert_eq!(
+                &to_check, l,
+                "Checked Number {:?} failed constraint: equal to {:?}",
+                to_check, l
+            ),
+            Constraint::InRange(_, l, r) => assert!(
+                to_check >= *l && to_check <= *r,
+                "Checked Number {:?} failed constraint: in range {:?} - {:?}",
+                to_check,
+                l,
+                r
+            ),
+            Constraint::NotInRange(_, l, r) => assert!(
+                *l < to_check || to_check < *r,
+                "Checked Number {:?} failed constraint: not in range {:?} - {:?}",
+                to_check,
+                r,
+                l
+            ),
+        }
+    }
+}
+
+#[derive(Debug, Default)]
+pub struct ConstraintAirportDatabase;
+
+impl AirportDatabase for ConstraintAirportDatabase {
+    type RunwayIterator = core::iter::Empty<Runway>;
+}
diff --git a/tests/util/mod.rs b/taws_minimal/tests/util/mod.rs
similarity index 97%
rename from tests/util/mod.rs
rename to taws_minimal/tests/util/mod.rs
index 5568b1e..2e03fc7 100644
--- a/tests/util/mod.rs
+++ b/taws_minimal/tests/util/mod.rs
@@ -1,3 +1,5 @@
+pub mod constraint;
+
 use std::{
     ops::{Add, Rem, Sub},
     str::FromStr,
@@ -31,6 +33,9 @@ impl<'a> Arbitrary<'a> for AircraftStateWrapper {
             pitch: Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64),
             roll: Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64),
             steep_approach: u.arbitrary()?,
+            precision_approach: u.arbitrary()?,
+            go_around: u.arbitrary()?,
+            take_off: u.arbitrary()?,
         }))
     }
 
diff --git a/tests/cucumber.rs b/tests/cucumber.rs
deleted file mode 100644
index 6e741c6..0000000
--- a/tests/cucumber.rs
+++ /dev/null
@@ -1,181 +0,0 @@
-use std::convert::Infallible;
-
-use uom::si::{f64::*, length::foot, velocity::foot_per_minute};
-
-use cucumber_rust::{async_trait, given, then, when, WorldInit};
-use opentaws::prelude::*;
-
-mod util;
-use util::*;
-
-fn main() {
-    let runner = MyWorld::init(&["./features"]);
-    futures::executor::block_on(runner.run());
-}
-
-#[derive(WorldInit)]
-pub struct MyWorld {
-    taws: Taws,
-    moulds: Vec<Box<dyn FnMut(&mut AircraftState)>>,
-    test_length: usize,
-}
-
-#[given("the plane is flying")]
-fn is_flying(_world: &mut MyWorld) {}
-
-#[given(regex = r#"^(.+) is ?(not)? armed$"#)]
-fn is_armed(world: &mut MyWorld, alert: AlertWrapper, maybe_not: String) {
-    if maybe_not == "not" {
-        world.taws.disarm(alert.into());
-    } else {
-        world.taws.arm(alert.into());
-    }
-}
-
-#[given(regex = "^(.+) is ?(not)? inhibited$")]
-fn is_inhibited(world: &mut MyWorld, alert: AlertWrapper, maybe_not: String) {
-    if maybe_not == "not" {
-        world.taws.uninhibit(alert.into());
-    } else {
-        world.taws.inhibit(alert.into());
-    }
-}
-
-#[given(regex = r"^steep approach is ?(not)? selected$")]
-fn steep_approach(world: &mut MyWorld, maybe_not: String) {
-    if maybe_not == "not" {
-        world.add_mould(|a| a.steep_approach = false);
-    } else {
-        world.add_mould(|a| a.steep_approach = true);
-    }
-}
-
-#[then(regex = r"^(.+) shall be armed$")]
-fn shall_be_armed(world: &mut MyWorld, alert: AlertWrapper) {
-    // TODO check if space needs to be removed
-    assert!(world.taws.is_armed(alert.into()));
-}
-
-#[when(regex = r"^the rate of descent is at (most|least) (\d+) feet per minute$")]
-fn rate_of_descent(world: &mut MyWorld, most_or_least: String, rod: f64) {
-    let rod = Velocity::new::<foot_per_minute>(rod);
-    let mut bouncer = BouncingClamp();
-    // most and least are swapped here, as aircraft_state stores rate of climb, while
-    // the sentence give rate of descent
-    // TODO validate that this is a safe assumption?
-    match most_or_least.as_str() {
-        "most" => {
-            world.add_mould(move |a| bouncer.at_least(&mut a.climb_rate, -rod));
-        }
-        "least" => {
-            world.add_mould(move |a| bouncer.at_most(&mut a.climb_rate, -rod));
-        }
-        _ => {
-            panic!("unable to parse this sentence");
-        }
-    }
-}
-
-#[when(regex = r"^the height above terrain is ?(not)? between (\d+) and (\d+) feet$")]
-fn height_above_terrain(world: &mut MyWorld, maybe_not: String, lower: f64, upper: f64) {
-    let height_at_least = Length::new::<foot>(lower);
-    let height_at_most = Length::new::<foot>(upper);
-
-    let mut bouncer = BouncingClamp();
-
-    if maybe_not == "not" {
-        world.add_mould(move |a| {
-            bouncer.not_in_range(&mut a.altitude_ground, height_at_least, height_at_most)
-        });
-    } else {
-        world.add_mould(move |a| {
-            bouncer.in_range(&mut a.altitude_ground, height_at_least, height_at_most)
-        }); // TODO altitude or altitude_ground
-    }
-}
-
-#[then(regex = "^a (.*) alert is not emitted at all$")]
-fn is_not_emitted(world: &mut MyWorld, alert_and_level: AlertAndLevelWrapper) {
-    let (alert, level) = alert_and_level.into();
-    let mut aircraft_states: Vec<_> = AircraftStateGenerator::default()
-        .take(world.test_length)
-        .collect();
-
-    // press the test data in our moulds
-    for frame in aircraft_states.iter_mut() {
-        for f in world.moulds.iter_mut() {
-            f(frame);
-        }
-    }
-
-    for frame in aircraft_states {
-        let alert_state = world.taws.process(&frame);
-        if alert_state.iter().any(|(a, l)| a == alert && l <= level) {
-            panic!(
-                "Aicraft state that violated the scenario: {:#?}\nalerts emitted: {:#?}",
-                frame, alert_state
-            );
-        }
-    }
-}
-#[then(regex = r"^a (.*) alert is emitted within (\d+) seconds$")]
-fn is_emitted_within(world: &mut MyWorld, alert_and_level: AlertAndLevelWrapper, _seconds: f64) {
-    let (alert, level) = alert_and_level.into();
-    let mut aircraft_states: Vec<_> = AircraftStateGenerator::default()
-        .take(world.test_length)
-        .collect();
-
-    // press the test data in our moulds
-    for frame in aircraft_states.iter_mut() {
-        for f in world.moulds.iter_mut() {
-            f(frame);
-        }
-    }
-
-    for frame in aircraft_states {
-        let alert_state = world.taws.process(&frame);
-        // TODO what about the time constraint?
-        // Count all alerts that are from the functionality Mode1 and are of higher or
-        // same priority as `level`. If the count is 0, the system did not alert
-        // appropiately.
-        if alert_state
-            .iter()
-            .filter(|(a, l)| *a == alert && *l <= level)
-            .count()
-            == 0
-        {
-            panic!(
-                "Aicraft state that violated the scenario: {:#?}\nalerts emitted: {:#?}",
-                frame, alert_state
-            );
-        }
-    }
-}
-
-// Brot und Butter implementations
-#[async_trait(?Send)]
-impl cucumber_rust::World for MyWorld {
-    type Error = Infallible;
-
-    async fn new() -> Result<Self, Infallible> {
-        Ok(Self {
-            taws: Taws::new(Default::default()),
-            moulds: Vec::new(),
-            test_length: 10000, // TODO is this a good number?
-        })
-    }
-}
-
-impl MyWorld {
-    pub fn add_mould<F: 'static + FnMut(&mut AircraftState)>(&mut self, f: F) {
-        self.moulds.push(Box::new(f));
-    }
-}
-
-impl std::fmt::Debug for MyWorld {
-    fn fmt(&self, _f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
-        todo!();
-    }
-}
-
-impl std::panic::UnwindSafe for MyWorld {} // This is a lie, but what they gonna do, panic?

From 672f67f8b423c90706ae390624a1585622e8115f Mon Sep 17 00:00:00 2001
From: autumnal <friedrich122112@me.com>
Date: Fri, 26 Nov 2021 11:08:40 +0100
Subject: [PATCH 09/73] solve #20: clean up trait usage in `kd_tree`

+ replace `core::ops::*` by `num::traits::Num`
+ remove unnecessary trait bounds like `Sized`
+ break long comment lines
---
 kd_tree/src/lib.rs | 30 +++++++++++-------------------
 1 file changed, 11 insertions(+), 19 deletions(-)

diff --git a/kd_tree/src/lib.rs b/kd_tree/src/lib.rs
index 5a861aa..72318d6 100644
--- a/kd_tree/src/lib.rs
+++ b/kd_tree/src/lib.rs
@@ -2,14 +2,13 @@
 #![allow(clippy::too_many_arguments)]
 use core::cmp::Ordering;
 use core::fmt::Debug;
-use core::ops::{Add, Mul, Sub};
-use num::traits::Zero;
+use num::traits::Num;
 
-pub struct Tree<T: Sized, V: Sized, const SIZE: usize, const DIM: usize, const MAX_LEVEL: usize> {
+pub struct Tree<T, V, const SIZE: usize, const DIM: usize, const MAX_LEVEL: usize> {
     pub nodes: [Node<T, V, DIM>; SIZE],
 }
 
-impl<T: Sized, V: Sized, const SIZE: usize, const DIM: usize, const MAX_LEVEL: usize>
+impl<T, V, const SIZE: usize, const DIM: usize, const MAX_LEVEL: usize>
     Tree<T, V, SIZE, DIM, MAX_LEVEL>
 {
     pub const fn new(nodes: [Node<T, V, DIM>; SIZE]) -> Tree<T, V, SIZE, DIM, MAX_LEVEL> {
@@ -18,17 +17,8 @@ impl<T: Sized, V: Sized, const SIZE: usize, const DIM: usize, const MAX_LEVEL: u
 }
 
 impl<
-        T: Sized
-            + PartialOrd
-            + PartialEq
-            + Sub<Output = T>
-            + Add<Output = T>
-            + Mul<Output = T>
-            + Zero
-            + Copy
-            + Debug
-            + Default,
-        V: Sized,
+        T: PartialOrd + Num + Copy + Debug,
+        V,
         const SIZE: usize,
         const DIM: usize,
         const MAX_LEVEL: usize,
@@ -41,7 +31,8 @@ impl<
             .expect("This can not fail, expect if the Tree got no nodes: SIZE == 0");
         let mut index = 0usize;
         let mut level = 0usize;
-        // Store which child nodes where visited for the Node on the index/level and if it was already compared
+        // Store which child nodes where visited for the Node on the index/level and if it was
+        // already compared
         let mut visited: [(Visited, bool); MAX_LEVEL] = [(Visited::None, false); MAX_LEVEL];
         //Initialise best node/distance with root node
         let mut best_distance: T = euclid(&node.val, point);
@@ -52,7 +43,8 @@ impl<
             self.search_down(point, &mut node, &mut index, &mut level, &mut visited);
 
             // Go up until we either reach the top or we go down by one
-            // Should we go down by one, we will need to go to the best fit leaf of the current subtree
+            // Should we go down by one, we will need to go to the best fit leaf of the current
+            // subtree
             self.search_up(
                 point,
                 &mut node,
@@ -242,7 +234,7 @@ pub struct Node<T: Sized, V: Sized, const DIM: usize> {
     v: V,
 }
 
-impl<T: Sized, V: Sized, const DIM: usize> Node<T, V, DIM> {
+impl<T, V, const DIM: usize> Node<T, V, DIM> {
     pub fn val(&self) -> &[T; DIM] {
         &self.val
     }
@@ -258,7 +250,7 @@ impl<T: Sized, V: Sized, const DIM: usize> Node<T, V, DIM> {
 
 pub fn euclid<T, const SIZE: usize>(left: &[T; SIZE], right: &[T; SIZE]) -> T
 where
-    T: Default + Add<Output = T> + Sub<Output = T> + Mul<Output = T> + Zero + Copy + Debug,
+    T: Num + Copy + Debug,
 {
     left.iter()
         .zip(right.iter())

From a394a36bbc9d95341e0fc6a8b411e0048cf850e4 Mon Sep 17 00:00:00 2001
From: wucke13 <wucke13@gmail.com>
Date: Fri, 26 Nov 2021 15:59:47 +0100
Subject: [PATCH 10/73] solve #21 partially

+ add nicer error message if `airports.json` doesn't exist
+ remove `SIZE` const generic from Tree
---
 aviation_database/build.rs |  7 +++---
 kd_tree/src/lib.rs         | 31 ++++++++++--------------
 kd_tree_sort/src/lib.rs    | 48 +++++++++++++++++++++++++++++---------
 3 files changed, 53 insertions(+), 33 deletions(-)

diff --git a/aviation_database/build.rs b/aviation_database/build.rs
index 2350695..dcfb51a 100644
--- a/aviation_database/build.rs
+++ b/aviation_database/build.rs
@@ -81,7 +81,7 @@ fn main() {
     //let airports = File::open("airports.json").unwrap();
     //let mut reader = BufReader::new(airports);
 
-    let read = std::fs::read_to_string("airports.json").unwrap();
+    let read = std::fs::read_to_string("airports.json").expect("Download Airports json:\nhttps://datahub.io/core/airport-codes/r/airport-codes.json\nAnd place it next to build.rs");
     let mut airports: Vec<Airport> = serde_json::from_str(&read).unwrap();
     let num_airports = airports.len();
     let out_dir = env::var_os("OUT_DIR").unwrap();
@@ -110,8 +110,9 @@ fn main() {
     fs::write(
         &dest_path,
         format!(
-            "pub const AIRPORTS: Tree::<f64, AirportEntry, {}, 3, {}> = Tree::new([ {} ]);",
-            num_airports, max_level, airports
+            "pub const NODES: [Node<f64, AirportEntry, 3>; {}] = [ {} ];\
+            pub const AIRPORTS: Tree::<f64, AirportEntry, 3, {}> = Tree::new( &NODES );",
+            num_airports, airports, max_level
         ),
     )
     .unwrap();
diff --git a/kd_tree/src/lib.rs b/kd_tree/src/lib.rs
index 72318d6..28c402a 100644
--- a/kd_tree/src/lib.rs
+++ b/kd_tree/src/lib.rs
@@ -4,25 +4,18 @@ use core::cmp::Ordering;
 use core::fmt::Debug;
 use num::traits::Num;
 
-pub struct Tree<T, V, const SIZE: usize, const DIM: usize, const MAX_LEVEL: usize> {
-    pub nodes: [Node<T, V, DIM>; SIZE],
+pub struct Tree<'a, T, V, const DIM: usize, const MAX_LEVEL: usize> {
+    pub nodes: &'a [Node<T, V, DIM>],
 }
 
-impl<T, V, const SIZE: usize, const DIM: usize, const MAX_LEVEL: usize>
-    Tree<T, V, SIZE, DIM, MAX_LEVEL>
-{
-    pub const fn new(nodes: [Node<T, V, DIM>; SIZE]) -> Tree<T, V, SIZE, DIM, MAX_LEVEL> {
+impl<T, V, const DIM: usize, const MAX_LEVEL: usize> Tree<'static, T, V, DIM, MAX_LEVEL> {
+    pub const fn new(nodes: &'static [Node<T, V, DIM>]) -> Tree<'static, T, V, DIM, MAX_LEVEL> {
         Tree { nodes }
     }
 }
 
-impl<
-        T: PartialOrd + Num + Copy + Debug,
-        V,
-        const SIZE: usize,
-        const DIM: usize,
-        const MAX_LEVEL: usize,
-    > Tree<T, V, SIZE, DIM, MAX_LEVEL>
+impl<'a, T: PartialOrd + Num + Copy + Debug, V, const DIM: usize, const MAX_LEVEL: usize>
+    Tree<'a, T, V, DIM, MAX_LEVEL>
 {
     pub fn search(&self, point: &[T; DIM]) -> &Node<T, V, DIM> {
         let mut node: &Node<T, V, DIM> = self
@@ -65,7 +58,7 @@ impl<
         best_node
     }
 
-    fn search_down<'a>(
+    fn search_down(
         &'a self,
         point: &[T; DIM],
         node: &mut &'a Node<T, V, DIM>,
@@ -81,7 +74,7 @@ impl<
             let dim = *level % DIM;
 
             //If the left node is not reachable we are at a leaf node
-            if left(index) >= SIZE {
+            if left(index) >= self.nodes.len() {
                 //Set visited for this level to ALL because there are no more child nodes
                 visited[*level].0 = Visited::All;
                 return;
@@ -95,7 +88,7 @@ impl<
 
             // If the index is to big we choose the right node
             // Make sure it exists, if not go to the left node instead
-            if *index >= SIZE {
+            if *index >= self.nodes.len() {
                 *index -= 1;
             }
 
@@ -107,7 +100,7 @@ impl<
         }
     }
 
-    fn search_up<'a>(
+    fn search_up(
         &'a self,
         point: &[T; DIM],
         node: &mut &'a Node<T, V, DIM>,
@@ -138,7 +131,7 @@ impl<
                     // and if its even possible for the right side to be nearer
                     let single_distance = point[dim] - node.val[dim];
                     let single_distance = single_distance * single_distance;
-                    if right(index) < SIZE && single_distance < *best_distance {
+                    if right(index) < self.nodes.len() && single_distance < *best_distance {
                         Direction::Right
                     } else {
                         Direction::Up
@@ -149,7 +142,7 @@ impl<
                     // and if its even possible for the left side to be nearer
                     let single_distance = point[dim] - node.val[dim];
                     let single_distance = single_distance * single_distance;
-                    if left(index) < SIZE && single_distance < *best_distance {
+                    if left(index) < self.nodes.len() && single_distance < *best_distance {
                         Direction::Left
                     } else {
                         Direction::Up
diff --git a/kd_tree_sort/src/lib.rs b/kd_tree_sort/src/lib.rs
index 44967ff..50a553e 100644
--- a/kd_tree_sort/src/lib.rs
+++ b/kd_tree_sort/src/lib.rs
@@ -110,11 +110,11 @@ mod tests {
         let nodes = sorted
             .iter()
             .map(|(p, v)| Node::new(*p, *v))
-            .collect::<Vec<_>>()
-            .try_into()
-            .unwrap();
+            .collect::<Vec<_>>();
         //T, V, SIZE, DIM, MAX_LEVEL
-        let tree = Tree::<i32, i32, 6, 2, 3>::new(nodes);
+        let tree = Tree::<i32, i32, 2, 3> {
+            nodes: nodes.as_slice(),
+        };
 
         assert_eq!(tree.search(&[5, 3]).val(), &[5, 4]);
         assert_eq!(tree.search(&[9, 7]).val(), &[9, 6]);
@@ -122,15 +122,18 @@ mod tests {
         assert_eq!(tree.search(&[3, 0]).val(), &[2, 3]);
     }
 
-    #[ignore]
     #[test]
     fn random_search() {
         let mut rng = Prng::new(0xcafef00dd15ea5e5);
+        let mut duration_linear_min = Duration::from_secs(9999);
         let mut duration_linear = Duration::from_secs(0);
+        let mut duration_linear_max = Duration::from_secs(0);
+        let mut duration_tree_min = Duration::from_secs(9999);
         let mut duration_tree = Duration::from_secs(0);
+        let mut duration_tree_max = Duration::from_secs(0);
 
         let (iterations, searches) = if cfg!(debug_assertions) {
-            (10, 50)
+            (10, 500)
         } else {
             (100, 500)
         };
@@ -151,9 +154,10 @@ mod tests {
                 .collect();
             let sorted = sort(values.clone());
             let nodes: Vec<_> = sorted.iter().map(|(p, v)| Node::new(*p, *v)).collect();
-            let tree: Box<Tree<f64, i32, TREE_SIZE, 3, MAX_LEVEL>> = Box::new(Tree {
-                nodes: nodes.try_into().unwrap(),
-            });
+            let tree = Tree::<f64, i32, 3, MAX_LEVEL> {
+                nodes: nodes.as_slice(),
+            };
+
             let search_points: Vec<[f64; 3]> =
                 std::iter::repeat_with(|| [rng.gen(), rng.gen(), rng.gen()])
                     .take(searches)
@@ -165,15 +169,37 @@ mod tests {
                     .map(|a| euclid(&point, &a.0))
                     .min_by(|a, b| a.partial_cmp(b).unwrap())
                     .unwrap();
-                duration_linear.add_assign(now.elapsed());
+                let lin_dur = now.elapsed();
                 let now = Instant::now();
                 let closest_node = tree.search(&point);
-                duration_tree.add_assign(now.elapsed());
+                let tree_dur = now.elapsed();
                 assert_eq!(closest, euclid(closest_node.val(), &point),);
+
+                duration_linear.add_assign(lin_dur);
+                if lin_dur < duration_linear_min {
+                    duration_linear_min = lin_dur
+                } else if lin_dur > duration_linear_max {
+                    duration_linear_max = lin_dur
+                }
+
+                duration_tree.add_assign(tree_dur);
+                if tree_dur < duration_tree_min {
+                    duration_tree_min = tree_dur
+                } else if tree_dur > duration_tree_max {
+                    duration_tree_max = tree_dur
+                }
             }
         }
 
         println!("Duration Linear Search: {:?}", duration_linear);
         println!("Duration KD Tree Search: {:?}", duration_tree);
+        println!(
+            "{:.2}x increase in performance",
+            duration_linear.as_micros() as f64 / duration_tree.as_micros() as f64
+        );
+        println!("\nFastest KD Tree Search: {:?}", duration_tree_min);
+        println!("Slowest KD Tree Search: {:?}", duration_tree_max);
+        println!("Fastest Linear Search: {:?}", duration_linear_min);
+        println!("Slowest Linear Search: {:?}", duration_linear_max);
     }
 }

From 138f24fffda5dc7b9dc22d8113d337d9a67664ed Mon Sep 17 00:00:00 2001
From: wucke13 <wucke13@gmail.com>
Date: Fri, 26 Nov 2021 16:36:44 +0100
Subject: [PATCH 11/73] allow test & coverage failure on pr to staging

---
 .github/workflows/rust.yml | 18 ++++++++++++------
 1 file changed, 12 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index e5d10e8..6ca219d 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -2,9 +2,9 @@ name: main
 
 on:
   push:
-    branches: [ main ]
+    branches: [ main, staging ]
   pull_request:
-    branches: [ main ]
+    branches: [ main, staging ]
 
 jobs:
   format:
@@ -16,12 +16,17 @@ jobs:
             toolchain: stable
             components: rustfmt
             override: true
-      - uses: mbrobbel/rustfmt-check@0.2.0
+      - uses: actions-rs/toolchain@v1
         with:
-          token: ${{ secrets.GITHUB_TOKEN }}
+          toolchain: stable 
+          target: x86_64-unknown-linux-gnu
+          override: true
+      - name: Run tests
+        run: cargo fmt -- --check
 
   test:
     runs-on: ubuntu-latest
+    continue-on-error: ${{ github.ref_type == 'branch' && github.ref_name == 'staging' }}
     steps:
       - uses: actions/checkout@v2
       - uses: actions/cache@v2
@@ -37,7 +42,7 @@ jobs:
           target: x86_64-unknown-linux-gnu
           override: true
       - name: Run tests
-        run: cargo test --verbose
+        run: cargo test --all-features --verbose 
 
   clippy_check:
     runs-on: ubuntu-latest
@@ -63,6 +68,7 @@ jobs:
   coverage:
     name: coverage
     runs-on: ubuntu-latest
+    continue-on-error: ${{ github.ref_type == 'branch' && github.ref_name == 'staging' }}
     container:
       image: xd009642/tarpaulin:latest
       options: --security-opt seccomp=unconfined
@@ -86,4 +92,4 @@ jobs:
       - name: Upload to codecov.io
         uses: codecov/codecov-action@v1
         with:
-          fail_ci_if_error:     true
+          fail_ci_if_error: true

From d0ca40c7d0775fa693ee5b48454fde6075cc15c9 Mon Sep 17 00:00:00 2001
From: wucke13 <wucke13@gmail.com>
Date: Fri, 26 Nov 2021 19:22:45 +0100
Subject: [PATCH 12/73]  add automatic download of airports.json

+ also provides two env variables: `AIRPORTS_JSON_FILE` &
  `AIRPORTS_JSON_URL`
+ these can be used to specify from where to pull the airports.json
---
 Cargo.lock                   | 85 ++++++++++++++++++++++++++++++++++++
 aviation_database/Cargo.toml | 21 ++++-----
 aviation_database/build.rs   | 36 ++++++++++++---
 3 files changed, 125 insertions(+), 17 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index f348bbf..d21c106 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -256,6 +256,7 @@ dependencies = [
  "serde_json",
  "uneval",
  "uom",
+ "ureq",
 ]
 
 [[package]]
@@ -350,6 +351,12 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
+[[package]]
+name = "chunked_transfer"
+version = "1.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fff857943da45f546682664a79488be82e69e43c1a7a2307679ab9afb3a66d2e"
+
 [[package]]
 name = "clap"
 version = "2.33.3"
@@ -1357,6 +1364,21 @@ version = "0.6.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f497285884f3fcff424ffc933e56d7cbca511def0c9831a7f9b5f6153e3cc89b"
 
+[[package]]
+name = "ring"
+version = "0.16.20"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3053cf52e236a3ed746dfc745aa9cacf1b791d846bdaf412f60a8d7d6e17c8fc"
+dependencies = [
+ "cc",
+ "libc",
+ "once_cell",
+ "spin",
+ "untrusted",
+ "web-sys",
+ "winapi",
+]
+
 [[package]]
 name = "ringbuffer"
 version = "0.8.3"
@@ -1366,6 +1388,18 @@ dependencies = [
  "array-init",
 ]
 
+[[package]]
+name = "rustls"
+version = "0.20.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d37e5e2290f3e040b594b1a9e04377c2c671f1a1cfd9bfdef82106ac1c113f84"
+dependencies = [
+ "log",
+ "ring",
+ "sct",
+ "webpki",
+]
+
 [[package]]
 name = "ryu"
 version = "1.0.5"
@@ -1387,6 +1421,16 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
 
+[[package]]
+name = "sct"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d53dcdb7c9f8158937a7981b48accfd39a43af418591a5d008c7b22b5e1b7ca4"
+dependencies = [
+ "ring",
+ "untrusted",
+]
+
 [[package]]
 name = "sealed"
 version = "0.3.0"
@@ -1731,6 +1775,12 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8ccb82d61f80a663efe1f787a51b16b5a51e3314d6ac365b08639f52387b33f3"
 
+[[package]]
+name = "untrusted"
+version = "0.7.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a156c684c91ea7d62626509bce3cb4e1d9ed5c4d978f7b4352658f96a4c26b4a"
+
 [[package]]
 name = "uom"
 version = "0.31.1"
@@ -1742,6 +1792,22 @@ dependencies = [
  "typenum",
 ]
 
+[[package]]
+name = "ureq"
+version = "2.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c5c448dcb78ec38c7d59ec61f87f70a98ea19171e06c139357e012ee226fec90"
+dependencies = [
+ "base64",
+ "chunked_transfer",
+ "log",
+ "once_cell",
+ "rustls",
+ "url",
+ "webpki",
+ "webpki-roots",
+]
+
 [[package]]
 name = "url"
 version = "2.2.2"
@@ -1881,6 +1947,25 @@ dependencies = [
  "wasm-bindgen",
 ]
 
+[[package]]
+name = "webpki"
+version = "0.22.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f095d78192e208183081cc07bc5515ef55216397af48b873e5edcd72637fa1bd"
+dependencies = [
+ "ring",
+ "untrusted",
+]
+
+[[package]]
+name = "webpki-roots"
+version = "0.22.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c475786c6f47219345717a043a37ec04cb4bc185e28853adcc4fa0a947eba630"
+dependencies = [
+ "webpki",
+]
+
 [[package]]
 name = "wepoll-ffi"
 version = "0.1.2"
diff --git a/aviation_database/Cargo.toml b/aviation_database/Cargo.toml
index 2fae125..7145667 100644
--- a/aviation_database/Cargo.toml
+++ b/aviation_database/Cargo.toml
@@ -6,20 +6,21 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-uom = "0.31"
 ordered-float = { version = "2.0", default-features = false }
+uom = "0.31"
 kd_tree = { path = "../kd_tree" }
 
 
 [build-dependencies]
-kd_tree_sort = { path = "../kd_tree_sort" }
-uom = "0.31"
-uneval = "0.2"
-serde = {version = "1.0", features = ["derive"]}
-serde_json = "1.0"
-rayon = "1.5"
-quote = "1.0"
+anyhow = "1.0"
+csv = "1.1"
 proc-macro2 = "1.0"
+quote = "1.0"
+rayon = "1.5"
 regex = "1.5"
-csv = "1.1"
-anyhow = "1.0"
+serde = {version = "1.0", features = ["derive"]}
+serde_json = "1.0"
+uneval = "0.2"
+uom = "0.31"
+ureq = "2"
+kd_tree_sort = { path = "../kd_tree_sort" }
diff --git a/aviation_database/build.rs b/aviation_database/build.rs
index dcfb51a..7acf772 100644
--- a/aviation_database/build.rs
+++ b/aviation_database/build.rs
@@ -4,6 +4,7 @@ use rayon::prelude::*;
 use serde::Deserialize;
 use std::env;
 use std::fs;
+use std::io::BufRead;
 use std::path::Path;
 use std::process::Command;
 
@@ -76,13 +77,28 @@ impl ToTokens for Airport {
 }
 
 fn main() {
-    // Downloaded directly from:
-    // https://datahub.io/core/airport-codes/r/airport-codes.json
-    //let airports = File::open("airports.json").unwrap();
-    //let mut reader = BufReader::new(airports);
+    let file_env = "AIRPORTS_JSON_FILE";
+    let url_env = "AIRPORTS_JSON_URL";
+
+    let reader: Box<dyn BufRead> = if let Ok(airports_file) = std::env::var(file_env) {
+        let f = std::fs::File::open(&airports_file)
+            .expect(&format!("file {} does not exist", airports_file));
+        Box::new(std::io::BufReader::new(f))
+    } else {
+        let airports_url = std::env::var(url_env)
+            .unwrap_or("https://datahub.io/core/airport-codes/r/airport-codes.json".into());
+        let r = ureq::get(&airports_url)
+            .call()
+            .expect(&format!(
+                "unable to automatically download from {}",
+                airports_url
+            ))
+            .into_reader();
+        Box::new(std::io::BufReader::new(r))
+    };
+
+    let mut airports: Vec<Airport> = serde_json::from_reader(reader).unwrap();
 
-    let read = std::fs::read_to_string("airports.json").expect("Download Airports json:\nhttps://datahub.io/core/airport-codes/r/airport-codes.json\nAnd place it next to build.rs");
-    let mut airports: Vec<Airport> = serde_json::from_str(&read).unwrap();
     let num_airports = airports.len();
     let out_dir = env::var_os("OUT_DIR").unwrap();
     let dest_path = Path::new(&out_dir).join("airports.rs");
@@ -126,5 +142,11 @@ fn main() {
         eprintln!("{}", e)
     }
 
-    println!("cargo:rerun-if-changed=build.rs");
+    println!(
+        "cargo:rerun-if-changed=build.rs
+    cargo:rerun-if-env-changed={}
+    cargo:rerun-if-env-changed={}
+    ",
+        url_env, file_env
+    );
 }

From 0e1c94c3c745556170ffd6c3dd58e585f414fcf8 Mon Sep 17 00:00:00 2001
From: autumnal <friedrich122112@me.com>
Date: Fri, 26 Nov 2021 16:08:15 +0100
Subject: [PATCH 13/73] kd tree benchmark - solve #18 partially

---
 Cargo.lock                     | 211 ++++++++++++++++++++++++---------
 kd_tree_sort/Cargo.toml        |   6 +
 kd_tree_sort/benches/search.rs |  59 +++++++++
 3 files changed, 223 insertions(+), 53 deletions(-)
 create mode 100644 kd_tree_sort/benches/search.rs

diff --git a/Cargo.lock b/Cargo.lock
index d21c106..615641b 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -22,15 +22,15 @@ dependencies = [
 
 [[package]]
 name = "anyhow"
-version = "1.0.45"
+version = "1.0.50"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ee10e43ae4a853c0a3591d4e2ada1719e553be18199d9da9d4a83f5927c2f5c7"
+checksum = "ecc78c299ae753905840c5d3ba036c51f61ce5a98a83f98d9c9d29dffd427f71"
 
 [[package]]
 name = "arbitrary"
-version = "1.0.2"
+version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "577b08a4acd7b99869f863c50011b01eb73424ccc798ecd996f2e24817adfca7"
+checksum = "510c76ecefdceada737ea728f4f9a84bd2e1ef29f1ba555e560940fe279954de"
 dependencies = [
  "derive_arbitrary",
 ]
@@ -339,6 +339,15 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "cast"
+version = "0.2.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4c24dab4283a142afa2fdca129b80ad2c6284e073930f964c3a1293c225ee39a"
+dependencies = [
+ "rustc_version",
+]
+
 [[package]]
 name = "cc"
 version = "1.0.72"
@@ -405,6 +414,42 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "criterion"
+version = "0.3.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1604dafd25fba2fe2d5895a9da139f8dc9b319a5fe5354ca137cbbce4e178d10"
+dependencies = [
+ "atty",
+ "cast",
+ "clap",
+ "criterion-plot",
+ "csv",
+ "itertools",
+ "lazy_static",
+ "num-traits",
+ "oorandom",
+ "plotters",
+ "rayon",
+ "regex",
+ "serde",
+ "serde_cbor",
+ "serde_derive",
+ "serde_json",
+ "tinytemplate",
+ "walkdir",
+]
+
+[[package]]
+name = "criterion-plot"
+version = "0.4.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d00996de9f2f7559f7f4dc286073197f83e92256a59ed395f9aac01fe717da57"
+dependencies = [
+ "cast",
+ "itertools",
+]
+
 [[package]]
 name = "crossbeam-channel"
 version = "0.5.1"
@@ -532,9 +577,9 @@ dependencies = [
 
 [[package]]
 name = "derive_more"
-version = "0.99.16"
+version = "0.99.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "40eebddd2156ce1bb37b20bbe5151340a31828b1f2d22ba4141f3531710e38df"
+checksum = "4fb810d30a7c1953f91334de7244731fc3f3c10d7fe163338a35b9f640960321"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -595,9 +640,9 @@ dependencies = [
 
 [[package]]
 name = "futures"
-version = "0.3.17"
+version = "0.3.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a12aa0eb539080d55c3f2d45a67c3b58b6b0773c1a3ca2dfec66d58c97fd66ca"
+checksum = "8cd0210d8c325c245ff06fd95a3b13689a1a276ac8cfa8e8720cb840bfb84b9e"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -610,9 +655,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.17"
+version = "0.3.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5da6ba8c3bb3c165d3c7319fc1cc8304facf1fb8db99c5de877183c08a273888"
+checksum = "7fc8cd39e3dbf865f7340dce6a2d401d24fd37c6fe6c4f0ee0de8bfca2252d27"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -620,15 +665,15 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.17"
+version = "0.3.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "88d1c26957f23603395cd326b0ffe64124b818f4449552f960d815cfba83a53d"
+checksum = "629316e42fe7c2a0b9a65b47d159ceaa5453ab14e8f0a3c5eedbb8cd55b4a445"
 
 [[package]]
 name = "futures-executor"
-version = "0.3.17"
+version = "0.3.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "45025be030969d763025784f7f355043dc6bc74093e4ecc5000ca4dc50d8745c"
+checksum = "7b808bf53348a36cab739d7e04755909b9fcaaa69b7d7e588b37b6ec62704c97"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -637,9 +682,9 @@ dependencies = [
 
 [[package]]
 name = "futures-io"
-version = "0.3.17"
+version = "0.3.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "522de2a0fe3e380f1bc577ba0474108faf3f6b18321dbf60b3b9c39a75073377"
+checksum = "e481354db6b5c353246ccf6a728b0c5511d752c08da7260546fc0933869daa11"
 
 [[package]]
 name = "futures-lite"
@@ -658,12 +703,10 @@ dependencies = [
 
 [[package]]
 name = "futures-macro"
-version = "0.3.17"
+version = "0.3.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "18e4a4b95cea4b4ccbcf1c5675ca7c4ee4e9e75eb79944d07defde18068f79bb"
+checksum = "a89f17b21645bc4ed773c69af9c9a0effd4a3f1a3876eadd453469f8854e7fdd"
 dependencies = [
- "autocfg",
- "proc-macro-hack",
  "proc-macro2",
  "quote",
  "syn",
@@ -671,23 +714,22 @@ dependencies = [
 
 [[package]]
 name = "futures-sink"
-version = "0.3.17"
+version = "0.3.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "36ea153c13024fe480590b3e3d4cad89a0cfacecc24577b68f86c6ced9c2bc11"
+checksum = "996c6442437b62d21a32cd9906f9c41e7dc1e19a9579843fad948696769305af"
 
 [[package]]
 name = "futures-task"
-version = "0.3.17"
+version = "0.3.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1d3d00f4eddb73e498a54394f228cd55853bdf059259e8e7bc6e69d408892e99"
+checksum = "dabf1872aaab32c886832f2276d2f5399887e2bd613698a02359e4ea83f8de12"
 
 [[package]]
 name = "futures-util"
-version = "0.3.17"
+version = "0.3.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "36568465210a3a6ee45e1f165136d68671471a501e632e9a98d96872222b5481"
+checksum = "41d22213122356472061ac0f1ab2cee28d2bac8491410fd68c2af53d1cedb83e"
 dependencies = [
- "autocfg",
  "futures-channel",
  "futures-core",
  "futures-io",
@@ -697,8 +739,6 @@ dependencies = [
  "memchr",
  "pin-project-lite",
  "pin-utils",
- "proc-macro-hack",
- "proc-macro-nested",
  "slab",
 ]
 
@@ -788,6 +828,12 @@ dependencies = [
  "web-sys",
 ]
 
+[[package]]
+name = "half"
+version = "1.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "eabb4a44450da02c90444cf74558da904edde8fb4e9035a9a6a4e15445af0bd7"
+
 [[package]]
 name = "heck"
 version = "0.3.3"
@@ -924,6 +970,8 @@ dependencies = [
 name = "kd_tree_sort"
 version = "0.1.0"
 dependencies = [
+ "criterion",
+ "itertools",
  "kd_tree",
  "rand",
  "rand_pcg",
@@ -950,9 +998,9 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.107"
+version = "0.2.108"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fbe5e23404da5b4f555ef85ebed98fb4083e55a00c317800bc2a50ede9f3d219"
+checksum = "8521a1b57e76b1ec69af7599e75e38e7b7fad6610f037db8c79b127201b5d119"
 
 [[package]]
 name = "linked-hash-map"
@@ -1082,6 +1130,12 @@ dependencies = [
  "parking_lot",
 ]
 
+[[package]]
+name = "oorandom"
+version = "11.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ab1bc2a289d34bd04a330323ac98a1b4bc82c9d9fcb1e66b63caa84da26b575"
+
 [[package]]
 name = "opaque-debug"
 version = "0.3.0"
@@ -1185,6 +1239,34 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
+[[package]]
+name = "plotters"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "32a3fd9ec30b9749ce28cd91f255d569591cdf937fe280c312143e3c4bad6f2a"
+dependencies = [
+ "num-traits",
+ "plotters-backend",
+ "plotters-svg",
+ "wasm-bindgen",
+ "web-sys",
+]
+
+[[package]]
+name = "plotters-backend"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d88417318da0eaf0fdcdb51a0ee6c3bed624333bff8f946733049380be67ac1c"
+
+[[package]]
+name = "plotters-svg"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "521fa9638fa597e1dc53e9412a4f9cefb01187ee1f7413076f9e6749e2885ba9"
+dependencies = [
+ "plotters-backend",
+]
+
 [[package]]
 name = "polling"
 version = "2.2.0"
@@ -1228,18 +1310,6 @@ dependencies = [
  "version_check",
 ]
 
-[[package]]
-name = "proc-macro-hack"
-version = "0.5.19"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dbf0c48bc1d91375ae5c3cd81e3722dff1abcf81a30960240640d223f59fe0e5"
-
-[[package]]
-name = "proc-macro-nested"
-version = "0.1.7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bc881b2c22681370c6a780e47af9840ef841837bc98118431d4e1868bd0c1086"
-
 [[package]]
 name = "proc-macro2"
 version = "1.0.32"
@@ -1381,13 +1451,22 @@ dependencies = [
 
 [[package]]
 name = "ringbuffer"
-version = "0.8.3"
+version = "0.8.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "20e49d3a791d79aa7683f8798b274073140865ffb9d65767ace44229d34299e3"
+checksum = "72dfeba9c94fdc308dcfe165efa6855c698f317484b736605ff859c5fa81d992"
 dependencies = [
  "array-init",
 ]
 
+[[package]]
+name = "rustc_version"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
+dependencies = [
+ "semver",
+]
+
 [[package]]
 name = "rustls"
 version = "0.20.2"
@@ -1402,9 +1481,9 @@ dependencies = [
 
 [[package]]
 name = "ryu"
-version = "1.0.5"
+version = "1.0.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "71d301d4193d031abdd79ff7e3dd721168a9572ef3fe51a1517aba235bd8f86e"
+checksum = "3c9613b5a66ab9ba26415184cfc41156594925a9cf3a2057e57f31ff145f6568"
 
 [[package]]
 name = "same-file"
@@ -1443,6 +1522,12 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "semver"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "568a8e6258aa33c13358f81fd834adb854c6f7c9468520910a9b1e8fac068012"
+
 [[package]]
 name = "serde"
 version = "1.0.130"
@@ -1461,6 +1546,16 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "serde_cbor"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2bef2ebfde456fb76bbcf9f59315333decc4fda0b2b44b420243c11e0f5ec1f5"
+dependencies = [
+ "half",
+ "serde",
+]
+
 [[package]]
 name = "serde_derive"
 version = "1.0.130"
@@ -1474,9 +1569,9 @@ dependencies = [
 
 [[package]]
 name = "serde_json"
-version = "1.0.69"
+version = "1.0.72"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e466864e431129c7e0d3476b92f20458e5879919a0596c6472738d9fa2d342f8"
+checksum = "d0ffa0837f2dfa6fb90868c2b5468cad482e175f7dad97e7421951e663f2b527"
 dependencies = [
  "itoa",
  "ryu",
@@ -1593,9 +1688,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "1.0.81"
+version = "1.0.82"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f2afee18b8beb5a596ecb4a2dce128c719b4ba399d34126b9e4396e3f9860966"
+checksum = "8daf5dd0bb60cbd4137b1b587d2fc0ae729bc07cf01cd70b36a1ed5ade3b9d59"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1681,6 +1776,16 @@ dependencies = [
  "once_cell",
 ]
 
+[[package]]
+name = "tinytemplate"
+version = "1.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "be4d6b5f19ff7664e8c98d03e2139cb510db9b0a60b55f8e8709b689d939b6bc"
+dependencies = [
+ "serde",
+ "serde_json",
+]
+
 [[package]]
 name = "tinyvec"
 version = "1.5.1"
@@ -1734,9 +1839,9 @@ checksum = "b63708a265f51345575b27fe43f9500ad611579e764c79edbc2037b1121959ec"
 
 [[package]]
 name = "uneval"
-version = "0.2.1"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "df3b95ceb1224b9d137ee19530b0d6f39c66d73098b50d41a4de4ccbf5e4f122"
+checksum = "18af63a2eefd8deddc36dd58844ee014aca201861e8bacf8da916369df78d4da"
 dependencies = [
  "serde",
  "thiserror",
diff --git a/kd_tree_sort/Cargo.toml b/kd_tree_sort/Cargo.toml
index 449c57a..cfb5832 100644
--- a/kd_tree_sort/Cargo.toml
+++ b/kd_tree_sort/Cargo.toml
@@ -12,3 +12,9 @@ rayon = "1.5"
 [dev-dependencies]
 rand = "0.8"
 rand_pcg = "*"
+itertools = "0.10"
+criterion = "0.3"
+
+[[bench]]
+name = "search"
+harness = false
diff --git a/kd_tree_sort/benches/search.rs b/kd_tree_sort/benches/search.rs
new file mode 100644
index 0000000..42da518
--- /dev/null
+++ b/kd_tree_sort/benches/search.rs
@@ -0,0 +1,59 @@
+use std::time::Duration;
+use criterion::{criterion_group, criterion_main, Criterion, BenchmarkId, BatchSize};
+use kd_tree::{euclid, Node, Tree};
+use rand::Rng;
+use kd_tree_sort::sort;
+
+type Prng = rand_pcg::Mcg128Xsl64;
+
+fn linear_search(nodes: &[Node<f64, i32, 3>], point: &[f64; 3]) -> f64 {
+    nodes
+        .iter()
+        .map(|a| euclid(point, a.val()))
+        .min_by(|a, b| a.partial_cmp(b).unwrap())
+        .unwrap()
+}
+
+fn generate_values(len: usize, rng: &mut Prng) -> Vec<([f64; 3], i32)> {
+    (0..len)
+        .map(|_| (generate_point(rng), 0))
+        .collect()
+}
+
+fn generate_sorted(len: usize, rng: &mut Prng) -> Vec<Node<f64, i32, 3>>{
+    let sorted = sort(generate_values(len, rng));
+    sorted.iter().map(|(p, v)| Node::new(*p, *v)).collect()
+}
+
+fn generate_point(rng: &mut Prng) -> [f64; 3]{
+    [rng.gen(), rng.gen(), rng.gen()]
+}
+
+pub fn search(c: &mut Criterion) {
+    let mut rng = Prng::new(0xcafef00dd15ea5e5);
+
+    const START_LEN: usize = 1000;
+    const END_LEN: usize = 64001;
+
+    const MAX_LEVEL: usize = 16;
+
+    let mut group = c.benchmark_group("Search");
+    group.warm_up_time(Duration::from_millis(50));
+    group.measurement_time(Duration::from_secs(1));
+
+    for len in (START_LEN..END_LEN).step_by(1000){
+        let nodes = generate_sorted(len, &mut rng);
+        let tree = Tree::<f64, i32, 3, MAX_LEVEL> {
+            nodes: nodes.as_slice()
+        };
+        group.bench_with_input(BenchmarkId::new("KD Tree", len),
+                               &tree, |b, t|
+                                   b.iter_batched(|| generate_point(&mut rng),|p| t.search(&p), BatchSize::SmallInput));
+        group.bench_with_input(BenchmarkId::new("Linear", len),
+                               &nodes, |b, n|
+                                   b.iter_batched(|| generate_point(&mut rng),|p| linear_search(n, &p), BatchSize::SmallInput));
+    }
+}
+
+criterion_group!(benches, search);
+criterion_main!(benches);
\ No newline at end of file

From b8fa162d10134d8f47d3b3bde3eaa4e49bd3bb94 Mon Sep 17 00:00:00 2001
From: Autumnal <friedrich122112@googlemail.com>
Date: Mon, 29 Nov 2021 15:20:26 +0100
Subject: [PATCH 14/73] Add fuzzy test and Readme; solves #18

---
 kd_tree/README.md                             |   8 +
 kd_tree_sort/Cargo.toml                       |   3 +
 kd_tree_sort/README.md                        |  19 ++
 kd_tree_sort/benches/search.rs                |  40 ++-
 kd_tree_sort/fuzz/.gitignore                  |   3 +
 kd_tree_sort/fuzz/Cargo.lock                  | 303 ++++++++++++++++++
 kd_tree_sort/fuzz/Cargo.toml                  |  28 ++
 .../fuzz/fuzz_targets/kd_tree_search.rs       |  55 ++++
 8 files changed, 442 insertions(+), 17 deletions(-)
 create mode 100644 kd_tree/README.md
 create mode 100644 kd_tree_sort/README.md
 create mode 100644 kd_tree_sort/fuzz/.gitignore
 create mode 100644 kd_tree_sort/fuzz/Cargo.lock
 create mode 100644 kd_tree_sort/fuzz/Cargo.toml
 create mode 100644 kd_tree_sort/fuzz/fuzz_targets/kd_tree_search.rs

diff --git a/kd_tree/README.md b/kd_tree/README.md
new file mode 100644
index 0000000..40d6dc6
--- /dev/null
+++ b/kd_tree/README.md
@@ -0,0 +1,8 @@
+# KD-Tree implementation
+
+Implements only functions required for searching an already initialized KD-Tree.  
+Because of this, this crate is no_std compatible  
+
+Code for building the KD-Tree can be found in `kd_tree_sort`.  
+`kd_tree_sort` is not no_std compatible which is why these two crates were seperated.  
+A fuzzy tester as well as a benchmark verifying this implementation can be found in `kd_tree_sort`.
\ No newline at end of file
diff --git a/kd_tree_sort/Cargo.toml b/kd_tree_sort/Cargo.toml
index cfb5832..9dbb41c 100644
--- a/kd_tree_sort/Cargo.toml
+++ b/kd_tree_sort/Cargo.toml
@@ -15,6 +15,9 @@ rand_pcg = "*"
 itertools = "0.10"
 criterion = "0.3"
 
+[lib]
+bench = false
+
 [[bench]]
 name = "search"
 harness = false
diff --git a/kd_tree_sort/README.md b/kd_tree_sort/README.md
new file mode 100644
index 0000000..8c28be9
--- /dev/null
+++ b/kd_tree_sort/README.md
@@ -0,0 +1,19 @@
+# KD-Tree sort implemention
+
+Implements a non-no_std compatible sort function for usage with the `kd_tree` crate.
+
+## Benchmark
+For benchmarking purposed, criterion.rs was used, comparing our kd-tree against a basic linear_search.
+
+Run: `cargo bench` in this directory.
+
+## Fuzzy Test
+The implemented fuzzy test uses `cargo fuzz`  
+Install it before running the fuzzy test (a nightly toolchain may be required).  
+
+It compares the result of the linear search algorithm against the result of the kd-tree search.  
+The fuzzy test input is filtering out `Inf` and `NaN` values since our kd-tree is 
+supposed to find the nearest-neighbor on valid input data only.
+
+For starting the fuzzy test run: `cargo fuzz run kd_tree_search --sanitizer=leak` in this directory.  
+*Note: the fuzzy test will run until it finds an error*
\ No newline at end of file
diff --git a/kd_tree_sort/benches/search.rs b/kd_tree_sort/benches/search.rs
index 42da518..68f8883 100644
--- a/kd_tree_sort/benches/search.rs
+++ b/kd_tree_sort/benches/search.rs
@@ -1,8 +1,8 @@
-use std::time::Duration;
-use criterion::{criterion_group, criterion_main, Criterion, BenchmarkId, BatchSize};
+use criterion::{criterion_group, criterion_main, BatchSize, BenchmarkId, Criterion};
 use kd_tree::{euclid, Node, Tree};
-use rand::Rng;
 use kd_tree_sort::sort;
+use rand::Rng;
+use std::time::Duration;
 
 type Prng = rand_pcg::Mcg128Xsl64;
 
@@ -15,17 +15,15 @@ fn linear_search(nodes: &[Node<f64, i32, 3>], point: &[f64; 3]) -> f64 {
 }
 
 fn generate_values(len: usize, rng: &mut Prng) -> Vec<([f64; 3], i32)> {
-    (0..len)
-        .map(|_| (generate_point(rng), 0))
-        .collect()
+    (0..len).map(|_| (generate_point(rng), 0)).collect()
 }
 
-fn generate_sorted(len: usize, rng: &mut Prng) -> Vec<Node<f64, i32, 3>>{
+fn generate_sorted(len: usize, rng: &mut Prng) -> Vec<Node<f64, i32, 3>> {
     let sorted = sort(generate_values(len, rng));
     sorted.iter().map(|(p, v)| Node::new(*p, *v)).collect()
 }
 
-fn generate_point(rng: &mut Prng) -> [f64; 3]{
+fn generate_point(rng: &mut Prng) -> [f64; 3] {
     [rng.gen(), rng.gen(), rng.gen()]
 }
 
@@ -41,19 +39,27 @@ pub fn search(c: &mut Criterion) {
     group.warm_up_time(Duration::from_millis(50));
     group.measurement_time(Duration::from_secs(1));
 
-    for len in (START_LEN..END_LEN).step_by(1000){
+    for len in (START_LEN..END_LEN).step_by(1000) {
         let nodes = generate_sorted(len, &mut rng);
         let tree = Tree::<f64, i32, 3, MAX_LEVEL> {
-            nodes: nodes.as_slice()
+            nodes: nodes.as_slice(),
         };
-        group.bench_with_input(BenchmarkId::new("KD Tree", len),
-                               &tree, |b, t|
-                                   b.iter_batched(|| generate_point(&mut rng),|p| t.search(&p), BatchSize::SmallInput));
-        group.bench_with_input(BenchmarkId::new("Linear", len),
-                               &nodes, |b, n|
-                                   b.iter_batched(|| generate_point(&mut rng),|p| linear_search(n, &p), BatchSize::SmallInput));
+        group.bench_with_input(BenchmarkId::new("KD Tree", len), &tree, |b, t| {
+            b.iter_batched(
+                || generate_point(&mut rng),
+                |p| t.search(&p),
+                BatchSize::SmallInput,
+            )
+        });
+        group.bench_with_input(BenchmarkId::new("Linear", len), &nodes, |b, n| {
+            b.iter_batched(
+                || generate_point(&mut rng),
+                |p| linear_search(n, &p),
+                BatchSize::SmallInput,
+            )
+        });
     }
 }
 
 criterion_group!(benches, search);
-criterion_main!(benches);
\ No newline at end of file
+criterion_main!(benches);
diff --git a/kd_tree_sort/fuzz/.gitignore b/kd_tree_sort/fuzz/.gitignore
new file mode 100644
index 0000000..a092511
--- /dev/null
+++ b/kd_tree_sort/fuzz/.gitignore
@@ -0,0 +1,3 @@
+target
+corpus
+artifacts
diff --git a/kd_tree_sort/fuzz/Cargo.lock b/kd_tree_sort/fuzz/Cargo.lock
new file mode 100644
index 0000000..1ed5d69
--- /dev/null
+++ b/kd_tree_sort/fuzz/Cargo.lock
@@ -0,0 +1,303 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 3
+
+[[package]]
+name = "arbitrary"
+version = "1.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "510c76ecefdceada737ea728f4f9a84bd2e1ef29f1ba555e560940fe279954de"
+dependencies = [
+ "derive_arbitrary",
+]
+
+[[package]]
+name = "autocfg"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cdb031dd78e28731d87d56cc8ffef4a8f36ca26c38fe2de700543e627f8a464a"
+
+[[package]]
+name = "cc"
+version = "1.0.72"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "22a9137b95ea06864e018375b72adfb7db6e6f68cfc8df5a04d00288050485ee"
+
+[[package]]
+name = "cfg-if"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
+
+[[package]]
+name = "crossbeam-channel"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "06ed27e177f16d65f0f0c22a213e17c696ace5dd64b14258b52f9417ccb52db4"
+dependencies = [
+ "cfg-if",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-deque"
+version = "0.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6455c0ca19f0d2fbf751b908d5c55c1f5cbc65e03c4225427254b46890bdde1e"
+dependencies = [
+ "cfg-if",
+ "crossbeam-epoch",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-epoch"
+version = "0.9.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4ec02e091aa634e2c3ada4a392989e7c3116673ef0ac5b72232439094d73b7fd"
+dependencies = [
+ "cfg-if",
+ "crossbeam-utils",
+ "lazy_static",
+ "memoffset",
+ "scopeguard",
+]
+
+[[package]]
+name = "crossbeam-utils"
+version = "0.8.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d82cfc11ce7f2c3faef78d8a684447b40d503d9681acebed6cb728d45940c4db"
+dependencies = [
+ "cfg-if",
+ "lazy_static",
+]
+
+[[package]]
+name = "derive_arbitrary"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b24629208e87a2d8b396ff43b15c4afb0a69cea3fbbaa9ed9b92b7c02f0aed73"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "either"
+version = "1.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e78d4f1cc4ae33bbfc157ed5d5a5ef3bc29227303d595861deb238fcec4e9457"
+
+[[package]]
+name = "hermit-abi"
+version = "0.1.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "62b467343b94ba476dcb2500d242dadbb39557df889310ac77c5d99100aaac33"
+dependencies = [
+ "libc",
+]
+
+[[package]]
+name = "kd_tree"
+version = "0.1.0"
+dependencies = [
+ "num",
+]
+
+[[package]]
+name = "kd_tree_sort"
+version = "0.1.0"
+dependencies = [
+ "kd_tree",
+ "rayon",
+]
+
+[[package]]
+name = "kd_tree_sort-fuzz"
+version = "0.0.0"
+dependencies = [
+ "arbitrary",
+ "kd_tree",
+ "kd_tree_sort",
+ "libfuzzer-sys",
+ "rayon",
+]
+
+[[package]]
+name = "lazy_static"
+version = "1.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
+
+[[package]]
+name = "libc"
+version = "0.2.108"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8521a1b57e76b1ec69af7599e75e38e7b7fad6610f037db8c79b127201b5d119"
+
+[[package]]
+name = "libfuzzer-sys"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "36a9a84a6e8b55dfefb04235e55edb2b9a2a18488fcae777a6bdaa6f06f1deb3"
+dependencies = [
+ "arbitrary",
+ "cc",
+ "once_cell",
+]
+
+[[package]]
+name = "memoffset"
+version = "0.6.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "59accc507f1338036a0477ef61afdae33cde60840f4dfe481319ce3ad116ddf9"
+dependencies = [
+ "autocfg",
+]
+
+[[package]]
+name = "num"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "43db66d1170d347f9a065114077f7dccb00c1b9478c89384490a3425279a4606"
+dependencies = [
+ "num-complex",
+ "num-integer",
+ "num-iter",
+ "num-rational",
+ "num-traits",
+]
+
+[[package]]
+name = "num-complex"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "26873667bbbb7c5182d4a37c1add32cdf09f841af72da53318fdb81543c15085"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-integer"
+version = "0.1.44"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d2cc698a63b549a70bc047073d2949cce27cd1c7b0a4a862d08a8031bc2801db"
+dependencies = [
+ "autocfg",
+ "num-traits",
+]
+
+[[package]]
+name = "num-iter"
+version = "0.1.42"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b2021c8337a54d21aca0d59a92577a029af9431cb59b909b03252b9c164fad59"
+dependencies = [
+ "autocfg",
+ "num-integer",
+ "num-traits",
+]
+
+[[package]]
+name = "num-rational"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d41702bd167c2df5520b384281bc111a4b5efcf7fbc4c9c222c815b07e0a6a6a"
+dependencies = [
+ "autocfg",
+ "num-integer",
+ "num-traits",
+]
+
+[[package]]
+name = "num-traits"
+version = "0.2.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9a64b1ec5cda2586e284722486d802acf1f7dbdc623e2bfc57e65ca1cd099290"
+dependencies = [
+ "autocfg",
+]
+
+[[package]]
+name = "num_cpus"
+version = "1.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "05499f3756671c15885fee9034446956fff3f243d6077b91e5767df161f766b3"
+dependencies = [
+ "hermit-abi",
+ "libc",
+]
+
+[[package]]
+name = "once_cell"
+version = "1.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "692fcb63b64b1758029e0a96ee63e049ce8c5948587f2f7208df04625e5f6b56"
+
+[[package]]
+name = "proc-macro2"
+version = "1.0.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ba508cc11742c0dc5c1659771673afbab7a0efab23aa17e854cbab0837ed0b43"
+dependencies = [
+ "unicode-xid",
+]
+
+[[package]]
+name = "quote"
+version = "1.0.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38bc8cc6a5f2e3655e0899c1b848643b2562f853f114bfec7be120678e3ace05"
+dependencies = [
+ "proc-macro2",
+]
+
+[[package]]
+name = "rayon"
+version = "1.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c06aca804d41dbc8ba42dfd964f0d01334eceb64314b9ecf7c5fad5188a06d90"
+dependencies = [
+ "autocfg",
+ "crossbeam-deque",
+ "either",
+ "rayon-core",
+]
+
+[[package]]
+name = "rayon-core"
+version = "1.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d78120e2c850279833f1dd3582f730c4ab53ed95aeaaaa862a2a5c71b1656d8e"
+dependencies = [
+ "crossbeam-channel",
+ "crossbeam-deque",
+ "crossbeam-utils",
+ "lazy_static",
+ "num_cpus",
+]
+
+[[package]]
+name = "scopeguard"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
+
+[[package]]
+name = "syn"
+version = "1.0.82"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8daf5dd0bb60cbd4137b1b587d2fc0ae729bc07cf01cd70b36a1ed5ade3b9d59"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-xid",
+]
+
+[[package]]
+name = "unicode-xid"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8ccb82d61f80a663efe1f787a51b16b5a51e3314d6ac365b08639f52387b33f3"
diff --git a/kd_tree_sort/fuzz/Cargo.toml b/kd_tree_sort/fuzz/Cargo.toml
new file mode 100644
index 0000000..4f84664
--- /dev/null
+++ b/kd_tree_sort/fuzz/Cargo.toml
@@ -0,0 +1,28 @@
+[package]
+name = "kd_tree_sort-fuzz"
+version = "0.0.0"
+publish = false
+edition = "2018"
+
+[package.metadata]
+cargo-fuzz = true
+
+[dependencies]
+libfuzzer-sys = "0.4"
+arbitrary = { version = "1", features = ["derive"] }
+rayon = "1.5"
+
+[dependencies.kd_tree_sort]
+path = ".."
+[dependencies.kd_tree]
+path = "../../kd_tree"
+
+# Prevent this from interfering with workspaces
+[workspace]
+members = ["."]
+
+[[bin]]
+name = "kd_tree_search"
+path = "fuzz_targets/kd_tree_search.rs"
+test = false
+doc = false
diff --git a/kd_tree_sort/fuzz/fuzz_targets/kd_tree_search.rs b/kd_tree_sort/fuzz/fuzz_targets/kd_tree_search.rs
new file mode 100644
index 0000000..9fc928b
--- /dev/null
+++ b/kd_tree_sort/fuzz/fuzz_targets/kd_tree_search.rs
@@ -0,0 +1,55 @@
+#![no_main]
+use kd_tree::{euclid, Node, Tree};
+use kd_tree_sort::sort;
+use libfuzzer_sys::fuzz_target;
+use rayon::prelude::*;
+
+#[derive(Clone, Debug, arbitrary::Arbitrary)]
+struct ArbitraryPoint {
+    pos: [f64; 3],
+    p: i32,
+}
+
+unsafe impl Sync for ArbitraryPoint{}
+unsafe impl Send for ArbitraryPoint{}
+
+fn linear_search(nodes: &[Node<f64, i32, 3>], point: &[f64; 3]) -> f64 {
+    nodes
+        .iter()
+        .map(|a| euclid(point, a.val()))
+        .min_by(|a, b| a.partial_cmp(b).unwrap())
+        .unwrap()
+}
+
+const MAX_LEVEL: usize = 16;
+
+fuzz_target!(|data: Vec<ArbitraryPoint>| {
+    let mut data = data;
+    let mut data: Vec<_> = data
+        .drain(..)
+        .filter(|p| p.pos[0].is_finite() && p.pos[1].is_finite() && p.pos[2].is_finite())
+        .take((2usize.pow(MAX_LEVEL as u32) - 1) * 2)
+        .par_bridge()
+        .map(|p| (p.pos, p.p))
+        .collect();
+
+    if data.len() < 2 {
+        // Dont fuzzy test less than two elements
+        return;
+    }
+
+    let search_data: Vec<_> = data.split_off(data.len() / 2);
+
+    let sorted = sort(data);
+    let sorted: Vec<_> = sorted.iter().map(|(p, v)| Node::new(*p, *v)).collect();
+    let tree = Tree::<f64, i32, 3, MAX_LEVEL> {
+        nodes: sorted.as_slice(),
+    };
+
+    search_data.par_iter().for_each(|(p, _)| {
+        assert_eq!(
+            euclid(tree.search(&p).val(), &p),
+            linear_search(&sorted, &p)
+        )
+    });
+});

From a7df2babd3490834771b8bbfd2026a9a20215b66 Mon Sep 17 00:00:00 2001
From: wucke13 <wucke13@gmail.com>
Date: Wed, 8 Jun 2022 11:41:52 +0200
Subject: [PATCH 15/73] fix compilation with uom issue

---
 Cargo.lock                   | 589 +++++++++++++++++++----------------
 aviation_database/Cargo.toml |   4 +-
 opentaws/Cargo.toml          |   4 +-
 taws_minimal/Cargo.toml      |   4 +-
 4 files changed, 328 insertions(+), 273 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 615641b..f4fd4d2 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2,6 +2,12 @@
 # It is not intended for manual editing.
 version = 3
 
+[[package]]
+name = "adler"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f26201604c87b1e01bd3d98f8d5d9a8fcbb815e8cedb41ffccbeb4bf593a35fe"
+
 [[package]]
 name = "aho-corasick"
 version = "0.7.18"
@@ -13,24 +19,24 @@ dependencies = [
 
 [[package]]
 name = "ansi_term"
-version = "0.11.0"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ee49baf6cb617b853aa8d93bf420db2383fab46d314482ca2803b40d5fde979b"
+checksum = "d52a9bb7ec0cf484c551830a7ce27bd20d67eac647e1befb56b0be4ee39a55d2"
 dependencies = [
  "winapi",
 ]
 
 [[package]]
 name = "anyhow"
-version = "1.0.50"
+version = "1.0.57"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ecc78c299ae753905840c5d3ba036c51f61ce5a98a83f98d9c9d29dffd427f71"
+checksum = "08f9b8508dccb7687a1d6c4ce66b2b0ecef467c94667de27d8d7fe1f8d2a9cdc"
 
 [[package]]
 name = "arbitrary"
-version = "1.0.3"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "510c76ecefdceada737ea728f4f9a84bd2e1ef29f1ba555e560940fe279954de"
+checksum = "c38b6b6b79f671c25e1a3e785b7b82d7562ffc9cd3efdc98627e5668a2472490"
 dependencies = [
  "derive_arbitrary",
 ]
@@ -79,25 +85,24 @@ dependencies = [
 
 [[package]]
 name = "async-global-executor"
-version = "2.0.2"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9586ec52317f36de58453159d48351bc244bc24ced3effc1fce22f3d48664af6"
+checksum = "fd8b508d585e01084059b60f06ade4cb7415cd2e4084b71dd1cb44e7d3fb9880"
 dependencies = [
  "async-channel",
  "async-executor",
  "async-io",
- "async-mutex",
+ "async-lock",
  "blocking",
  "futures-lite",
- "num_cpus",
  "once_cell",
 ]
 
 [[package]]
 name = "async-io"
-version = "1.6.0"
+version = "1.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a811e6a479f2439f0c04038796b5cfb3d2ad56c230e0f2d3f7b04d68cfee607b"
+checksum = "e5e18f61464ae81cde0a23e713ae8fd299580c54d697a35820cfd0625b8b0e07"
 dependencies = [
  "concurrent-queue",
  "futures-lite",
@@ -114,18 +119,9 @@ dependencies = [
 
 [[package]]
 name = "async-lock"
-version = "2.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e6a8ea61bf9947a1007c5cada31e647dbc77b103c679858150003ba697ea798b"
-dependencies = [
- "event-listener",
-]
-
-[[package]]
-name = "async-mutex"
-version = "1.4.0"
+version = "2.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "479db852db25d9dbf6204e6cb6253698f175c15726470f78af0d918e99d6156e"
+checksum = "e97a171d191782fba31bb902b14ad94e24a68145032b7eedf871ab0bc0d077b6"
 dependencies = [
  "event-listener",
 ]
@@ -143,9 +139,9 @@ dependencies = [
 
 [[package]]
 name = "async-process"
-version = "1.3.0"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "83137067e3a2a6a06d67168e49e68a0957d215410473a740cea95a2425c0b7c6"
+checksum = "cf2c06e30a24e8c78a3987d07f0930edf76ef35e027e7bdb063fccafdad1f60c"
 dependencies = [
  "async-io",
  "blocking",
@@ -160,9 +156,9 @@ dependencies = [
 
 [[package]]
 name = "async-std"
-version = "1.10.0"
+version = "1.11.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f8056f1455169ab86dd47b47391e4ab0cbd25410a70e9fe675544f49bafaf952"
+checksum = "52580991739c5cdb36cde8b2a516371c0a3b70dda36d916cc08b82372916808c"
 dependencies = [
  "async-channel",
  "async-global-executor",
@@ -187,15 +183,15 @@ dependencies = [
 
 [[package]]
 name = "async-task"
-version = "4.0.3"
+version = "4.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e91831deabf0d6d7ec49552e489aed63b7456a7a3c46cff62adad428110b0af0"
+checksum = "30696a84d817107fc028e049980e09d5e140e8da8f1caeb17e8e950658a3cea9"
 
 [[package]]
 name = "async-trait"
-version = "0.1.51"
+version = "0.1.56"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "44318e776df68115a881de9a8fd1b9e53368d7a4a5ce4cc48517da3393233a5e"
+checksum = "96cf8829f67d2eab0b2dfa42c5d0ef737e0724e4a82b01b3e292456202b19716"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -204,9 +200,9 @@ dependencies = [
 
 [[package]]
 name = "async-tungstenite"
-version = "0.16.0"
+version = "0.17.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a0d06e9a20f1c0d64b6067ef6aa9fdf59e194ecde93575591fb4c78063692324"
+checksum = "a1b71b31561643aa8e7df3effe284fa83ab1a840e52294c5f4bd7bfd8b2becbb"
 dependencies = [
  "async-std",
  "futures-io",
@@ -235,9 +231,9 @@ dependencies = [
 
 [[package]]
 name = "autocfg"
-version = "1.0.1"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cdb031dd78e28731d87d56cc8ffef4a8f36ca26c38fe2de700543e627f8a464a"
+checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
 
 [[package]]
 name = "aviation_database"
@@ -273,18 +269,18 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "block-buffer"
-version = "0.9.0"
+version = "0.10.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4152116fd6e9dadb291ae18fc1ec3575ed6d84c29642d97890f4b4a3417297e4"
+checksum = "0bf7fe51849ea569fd452f37822f606a5cabb684dc918707a0193fd4664ff324"
 dependencies = [
  "generic-array",
 ]
 
 [[package]]
 name = "blocking"
-version = "1.1.0"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "046e47d4b2d391b1f6f8b407b1deb8dee56c1852ccd868becf2710f601b5f427"
+checksum = "c6ccb65d468978a086b69884437ded69a90faab3bbe6e67f242173ea728acccc"
 dependencies = [
  "async-channel",
  "async-task",
@@ -308,9 +304,9 @@ dependencies = [
 
 [[package]]
 name = "bumpalo"
-version = "3.8.0"
+version = "3.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f1e260c3a9040a7c19a12468758f4c16f31a81a1fe087482be9570ec864bb6c"
+checksum = "37ccbd214614c6783386c1af30caf03192f17891059cecc394b4fb119e363de3"
 
 [[package]]
 name = "byteorder"
@@ -326,9 +322,9 @@ checksum = "c4872d67bab6358e59559027aa3b9157c53d9358c51423c17554809a8858e0f8"
 
 [[package]]
 name = "cache-padded"
-version = "1.1.1"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "631ae5198c9be5e753e5cc215e1bd73c2b466a3565173db433f52bb9d3e66dba"
+checksum = "c1db59621ec70f09c5e9b597b220c7a2b43611f4710dc03ceb8748637775692c"
 
 [[package]]
 name = "casey"
@@ -350,9 +346,9 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.0.72"
+version = "1.0.73"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "22a9137b95ea06864e018375b72adfb7db6e6f68cfc8df5a04d00288050485ee"
+checksum = "2fff2a6927b3bb87f9595d67196a70493f627687a71d87a0d692242c33f58c11"
 
 [[package]]
 name = "cfg-if"
@@ -368,9 +364,9 @@ checksum = "fff857943da45f546682664a79488be82e69e43c1a7a2307679ab9afb3a66d2e"
 
 [[package]]
 name = "clap"
-version = "2.33.3"
+version = "2.34.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "37e58ac78573c40708d45522f0d80fa2f01cc4f9b4e2bf749807255454312002"
+checksum = "a0610544180c38b88101fecf2dd634b174a62eef6946f84dfc6a7127512b381c"
 dependencies = [
  "ansi_term",
  "atty",
@@ -407,13 +403,22 @@ dependencies = [
 
 [[package]]
 name = "cpufeatures"
-version = "0.2.1"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "95059428f66df56b63431fdb4e1947ed2190586af5c5a8a8b71122bdf5a7f469"
+checksum = "59a6001667ab124aebae2a495118e11d30984c3a653e99d86d58971708cf5e4b"
 dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "crc32fast"
+version = "1.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b540bd8bc810d3885c6ea91e2018302f68baba2129ab3e88f32389ee9370880d"
+dependencies = [
+ "cfg-if",
+]
+
 [[package]]
 name = "criterion"
 version = "0.3.5"
@@ -452,9 +457,9 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-channel"
-version = "0.5.1"
+version = "0.5.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "06ed27e177f16d65f0f0c22a213e17c696ace5dd64b14258b52f9417ccb52db4"
+checksum = "5aaa7bd5fb665c6864b5f963dd9097905c54125909c7aa94c9e18507cdbe6c53"
 dependencies = [
  "cfg-if",
  "crossbeam-utils",
@@ -473,10 +478,11 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-epoch"
-version = "0.9.5"
+version = "0.9.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4ec02e091aa634e2c3ada4a392989e7c3116673ef0ac5b72232439094d73b7fd"
+checksum = "1145cf131a2c6ba0615079ab6a638f7e1973ac9c2634fcbeaaad6114246efe8c"
 dependencies = [
+ "autocfg",
  "cfg-if",
  "crossbeam-utils",
  "lazy_static",
@@ -486,14 +492,24 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-utils"
-version = "0.8.5"
+version = "0.8.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d82cfc11ce7f2c3faef78d8a684447b40d503d9681acebed6cb728d45940c4db"
+checksum = "0bf124c720b7686e3c2663cf54062ab0f68a88af2fb6a030e87e30bf721fcb38"
 dependencies = [
  "cfg-if",
  "lazy_static",
 ]
 
+[[package]]
+name = "crypto-common"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "57952ca27b5e3606ff4dd79b0020231aaf9d6aa76dc05fd30137538c50bd3ce8"
+dependencies = [
+ "generic-array",
+ "typenum",
+]
+
 [[package]]
 name = "csv"
 version = "1.1.6"
@@ -502,7 +518,7 @@ checksum = "22813a6dc45b335f9bade10bf7271dc477e81113e89eb251a0bc2a8a81c536e1"
 dependencies = [
  "bstr",
  "csv-core",
- "itoa",
+ "itoa 0.4.8",
  "ryu",
  "serde",
 ]
@@ -518,9 +534,9 @@ dependencies = [
 
 [[package]]
 name = "ctor"
-version = "0.1.21"
+version = "0.1.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ccc0a48a9b826acdf4028595adc9db92caea352f7af011a3034acd172a52a0aa"
+checksum = "f877be4f7c9f246b183111634f75baa039715e3f46ce860677d3b19a69fb229c"
 dependencies = [
  "quote",
  "syn",
@@ -566,9 +582,9 @@ dependencies = [
 
 [[package]]
 name = "derive_arbitrary"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b24629208e87a2d8b396ff43b15c4afb0a69cea3fbbaa9ed9b92b7c02f0aed73"
+checksum = "98e23c06c035dac87bd802d98f368df73a7f2cb05a66ffbd1f377e821fac4af9"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -588,11 +604,12 @@ dependencies = [
 
 [[package]]
 name = "digest"
-version = "0.9.0"
+version = "0.10.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d3dd60d1080a57a05ab032377049e0591415d2b31afd7028356dbf3cc6dcb066"
+checksum = "f2fb860ca6fafa5552fb6d0e816a69c8e49f0908bf524e30a90d97c85892d506"
 dependencies = [
- "generic-array",
+ "block-buffer",
+ "crypto-common",
 ]
 
 [[package]]
@@ -609,19 +626,29 @@ checksum = "a357d28ed41a50f9c765dbfe56cbc04a64e53e5fc58ba79fbc34c10ef3df831f"
 
 [[package]]
 name = "event-listener"
-version = "2.5.1"
+version = "2.5.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f7531096570974c3a9dcf9e4b8e1cede1ec26cf5046219fb3b9d897503b9be59"
+checksum = "77f3309417938f28bf8228fcff79a4a37103981e3e186d2ccd19c74b38f4eb71"
 
 [[package]]
 name = "fastrand"
-version = "1.5.0"
+version = "1.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b394ed3d285a429378d3b384b9eb1285267e7df4b166df24b7a6939a04dc392e"
+checksum = "c3fcf0cee53519c866c09b5de1f6c56ff9d647101f81c1964fa632e148896cdf"
 dependencies = [
  "instant",
 ]
 
+[[package]]
+name = "flate2"
+version = "1.0.24"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f82b0f4c27ad9f8bfd1f3208d882da2b09c301bc1c828fd3a00d0216d2fbbff6"
+dependencies = [
+ "crc32fast",
+ "miniz_oxide",
+]
+
 [[package]]
 name = "fnv"
 version = "1.0.7"
@@ -640,9 +667,9 @@ dependencies = [
 
 [[package]]
 name = "futures"
-version = "0.3.18"
+version = "0.3.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8cd0210d8c325c245ff06fd95a3b13689a1a276ac8cfa8e8720cb840bfb84b9e"
+checksum = "f73fe65f54d1e12b726f517d3e2135ca3125a437b6d998caf1962961f7172d9e"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -655,9 +682,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.18"
+version = "0.3.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7fc8cd39e3dbf865f7340dce6a2d401d24fd37c6fe6c4f0ee0de8bfca2252d27"
+checksum = "c3083ce4b914124575708913bca19bfe887522d6e2e6d0952943f5eac4a74010"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -665,15 +692,15 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.18"
+version = "0.3.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "629316e42fe7c2a0b9a65b47d159ceaa5453ab14e8f0a3c5eedbb8cd55b4a445"
+checksum = "0c09fd04b7e4073ac7156a9539b57a484a8ea920f79c7c675d05d289ab6110d3"
 
 [[package]]
 name = "futures-executor"
-version = "0.3.18"
+version = "0.3.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7b808bf53348a36cab739d7e04755909b9fcaaa69b7d7e588b37b6ec62704c97"
+checksum = "9420b90cfa29e327d0429f19be13e7ddb68fa1cccb09d65e5706b8c7a749b8a6"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -682,9 +709,9 @@ dependencies = [
 
 [[package]]
 name = "futures-io"
-version = "0.3.18"
+version = "0.3.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e481354db6b5c353246ccf6a728b0c5511d752c08da7260546fc0933869daa11"
+checksum = "fc4045962a5a5e935ee2fdedaa4e08284547402885ab326734432bed5d12966b"
 
 [[package]]
 name = "futures-lite"
@@ -703,9 +730,9 @@ dependencies = [
 
 [[package]]
 name = "futures-macro"
-version = "0.3.18"
+version = "0.3.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a89f17b21645bc4ed773c69af9c9a0effd4a3f1a3876eadd453469f8854e7fdd"
+checksum = "33c1e13800337f4d4d7a316bf45a567dbcb6ffe087f16424852d97e97a91f512"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -714,21 +741,21 @@ dependencies = [
 
 [[package]]
 name = "futures-sink"
-version = "0.3.18"
+version = "0.3.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "996c6442437b62d21a32cd9906f9c41e7dc1e19a9579843fad948696769305af"
+checksum = "21163e139fa306126e6eedaf49ecdb4588f939600f0b1e770f4205ee4b7fa868"
 
 [[package]]
 name = "futures-task"
-version = "0.3.18"
+version = "0.3.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dabf1872aaab32c886832f2276d2f5399887e2bd613698a02359e4ea83f8de12"
+checksum = "57c66a976bf5909d801bbef33416c41372779507e7a6b3a5e25e4749c58f776a"
 
 [[package]]
 name = "futures-util"
-version = "0.3.18"
+version = "0.3.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "41d22213122356472061ac0f1ab2cee28d2bac8491410fd68c2af53d1cedb83e"
+checksum = "d8b7abd5d659d9b90c8cba917f6ec750a74e2dc23902ef9cd4cc8c8b22e6036a"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -744,9 +771,9 @@ dependencies = [
 
 [[package]]
 name = "generic-array"
-version = "0.14.4"
+version = "0.14.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "501466ecc8a30d1d3b7fc9229b122b2ce8ed6e9d9223f1138d4babb253e51817"
+checksum = "fd48d33ec7f05fbfa152300fdad764757cbded343c1aa1cff2fbaf4134851803"
 dependencies = [
  "typenum",
  "version_check",
@@ -754,9 +781,9 @@ dependencies = [
 
 [[package]]
 name = "getrandom"
-version = "0.2.3"
+version = "0.2.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7fcd999463524c52659517fe2cea98493cfe485d10565e7b0fb07dbba7ad2753"
+checksum = "9be70c98951c83b8d2f8f60d7065fa6d5146873094452a1008da8c2f1e4205ad"
 dependencies = [
  "cfg-if",
  "libc",
@@ -782,9 +809,9 @@ dependencies = [
 
 [[package]]
 name = "ghost"
-version = "0.1.2"
+version = "0.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1a5bcf1bbeab73aa4cf2fde60a846858dc036163c7c33bec309f8d17de785479"
+checksum = "76c813ffb63e8fd3df6f1ac3cc1ea392c7612ac2de4d0b44dcbfe03e5c4bf94a"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -817,15 +844,14 @@ dependencies = [
 
 [[package]]
 name = "gloo-timers"
-version = "0.2.1"
+version = "0.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "47204a46aaff920a1ea58b11d03dec6f704287d27561724a4631e450654a891f"
+checksum = "5fb7d06c1c8cc2a29bee7ec961009a0b2caa0793ee4900c2ffb348734ba1c8f9"
 dependencies = [
  "futures-channel",
  "futures-core",
  "js-sys",
  "wasm-bindgen",
- "web-sys",
 ]
 
 [[package]]
@@ -854,20 +880,20 @@ dependencies = [
 
 [[package]]
 name = "http"
-version = "0.2.5"
+version = "0.2.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1323096b05d41827dadeaee54c9981958c0f94e670bc94ed80037d1a7b8b186b"
+checksum = "75f43d41e26995c17e71ee126451dd3941010b0514a81a9d11f3b341debc2399"
 dependencies = [
  "bytes",
  "fnv",
- "itoa",
+ "itoa 1.0.2",
 ]
 
 [[package]]
 name = "httparse"
-version = "1.5.1"
+version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "acd94fdbe1d4ff688b67b04eee2e17bd50995534a61539e45adfefb45e5e5503"
+checksum = "496ce29bb5a52785b44e0f7ca2847ae0bb839c9bd28f69acac9b99d461c0c04c"
 
 [[package]]
 name = "idna"
@@ -937,9 +963,9 @@ dependencies = [
 
 [[package]]
 name = "itertools"
-version = "0.10.1"
+version = "0.10.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "69ddb889f9d0d08a67338271fa9b62996bc788c7796a5c18cf057420aaed5eaf"
+checksum = "a9a9d19fa1e79b6215ff29b9d6880b706147f16e9b1dbb1e4e5947b5b02bc5e3"
 dependencies = [
  "either",
 ]
@@ -950,11 +976,17 @@ version = "0.4.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b71991ff56294aa922b450139ee08b3bfc70982c6b2c7562771375cf73542dd4"
 
+[[package]]
+name = "itoa"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "112c678d4050afce233f4f2852bb2eb519230b3cf12f33585275537d7e41578d"
+
 [[package]]
 name = "js-sys"
-version = "0.3.55"
+version = "0.3.57"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7cc9ffccd38c451a86bf13657df244e9c3f37493cce8e5e21e940963777acc84"
+checksum = "671a26f820db17c2a2750743f1dd03bafd15b98c9f30c7c2628c024c05d73397"
 dependencies = [
  "wasm-bindgen",
 ]
@@ -998,30 +1030,27 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.108"
+version = "0.2.126"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8521a1b57e76b1ec69af7599e75e38e7b7fad6610f037db8c79b127201b5d119"
+checksum = "349d5a591cd28b49e1d1037471617a32ddcda5731b99419008085f72d5a53836"
 
 [[package]]
-name = "linked-hash-map"
-version = "0.5.4"
+name = "libm"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7fb9b38af92608140b86b693604b9ffcc5824240a484d1ecd4795bacb2fe88f3"
+checksum = "33a33a362ce288760ec6a508b94caaec573ae7d3bbbd91b87aa0bad4456839db"
 
 [[package]]
-name = "lock_api"
-version = "0.4.5"
+name = "linked-hash-map"
+version = "0.5.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "712a4d093c9976e24e7dbca41db895dabcbac38eb5f4045393d17a95bdfb1109"
-dependencies = [
- "scopeguard",
-]
+checksum = "7fb9b38af92608140b86b693604b9ffcc5824240a484d1ecd4795bacb2fe88f3"
 
 [[package]]
 name = "log"
-version = "0.4.14"
+version = "0.4.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "51b9bbe6c47d51fc3e1a9b945965946b4c44142ab8792c50835a980d362c2710"
+checksum = "abb12e687cfb44aa40f41fc3978ef76448f9b6038cad6aef4259d3c095a2382e"
 dependencies = [
  "cfg-if",
  "value-bag",
@@ -1035,19 +1064,28 @@ checksum = "a3e378b66a060d48947b590737b30a1be76706c8dd7b8ba0f2fe3989c68a853f"
 
 [[package]]
 name = "memchr"
-version = "2.4.1"
+version = "2.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "308cc39be01b73d0d18f82a0e7b2a3df85245f84af96fdddc5d202d27e47b86a"
+checksum = "2dffe52ecf27772e601905b7522cb4ef790d2cc203488bbd0e2fe85fcb74566d"
 
 [[package]]
 name = "memoffset"
-version = "0.6.4"
+version = "0.6.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "59accc507f1338036a0477ef61afdae33cde60840f4dfe481319ce3ad116ddf9"
+checksum = "5aa361d4faea93603064a027415f07bd8e1d5c88c9fbf68bf56a285428fd79ce"
 dependencies = [
  "autocfg",
 ]
 
+[[package]]
+name = "miniz_oxide"
+version = "0.5.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6f5c75688da582b8ffc1f1799e9db273f32133c49e048f614d22ec3256773ccc"
+dependencies = [
+ "adler",
+]
+
 [[package]]
 name = "num"
 version = "0.4.0"
@@ -1063,18 +1101,18 @@ dependencies = [
 
 [[package]]
 name = "num-complex"
-version = "0.4.0"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "26873667bbbb7c5182d4a37c1add32cdf09f841af72da53318fdb81543c15085"
+checksum = "97fbc387afefefd5e9e39493299f3069e14a140dd34dc19b4c1c1a8fddb6a790"
 dependencies = [
  "num-traits",
 ]
 
 [[package]]
 name = "num-integer"
-version = "0.1.44"
+version = "0.1.45"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d2cc698a63b549a70bc047073d2949cce27cd1c7b0a4a862d08a8031bc2801db"
+checksum = "225d3389fb3509a24c93f5c29eb6bde2586b98d9f016636dff58d7c6f7569cd9"
 dependencies = [
  "autocfg",
  "num-traits",
@@ -1082,9 +1120,9 @@ dependencies = [
 
 [[package]]
 name = "num-iter"
-version = "0.1.42"
+version = "0.1.43"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b2021c8337a54d21aca0d59a92577a029af9431cb59b909b03252b9c164fad59"
+checksum = "7d03e6c028c5dc5cac6e2dec0efda81fc887605bb3d884578bb6d6bf7514e252"
 dependencies = [
  "autocfg",
  "num-integer",
@@ -1104,18 +1142,19 @@ dependencies = [
 
 [[package]]
 name = "num-traits"
-version = "0.2.14"
+version = "0.2.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9a64b1ec5cda2586e284722486d802acf1f7dbdc623e2bfc57e65ca1cd099290"
+checksum = "578ede34cf02f8924ab9447f50c28075b4d3e5b269972345e7e0372b38c6cdcd"
 dependencies = [
  "autocfg",
+ "libm",
 ]
 
 [[package]]
 name = "num_cpus"
-version = "1.13.0"
+version = "1.13.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "05499f3756671c15885fee9034446956fff3f243d6077b91e5767df161f766b3"
+checksum = "19e64526ebdee182341572e50e9ad03965aa510cd94427a4549448f285e957a1"
 dependencies = [
  "hermit-abi",
  "libc",
@@ -1123,11 +1162,11 @@ dependencies = [
 
 [[package]]
 name = "once_cell"
-version = "1.8.0"
+version = "1.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "692fcb63b64b1758029e0a96ee63e049ce8c5948587f2f7208df04625e5f6b56"
+checksum = "7709cef83f0c1f58f666e746a08b21e0085f7440fa6a29cc194d68aac97a4225"
 dependencies = [
- "parking_lot",
+ "parking_lot_core",
 ]
 
 [[package]]
@@ -1136,12 +1175,6 @@ version = "11.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0ab1bc2a289d34bd04a330323ac98a1b4bc82c9d9fcb1e66b63caa84da26b575"
 
-[[package]]
-name = "opaque-debug"
-version = "0.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "624a8340c38c1b80fd549087862da4ba43e08858af025b236e509b6649fc13d5"
-
 [[package]]
 name = "opentaws"
 version = "0.1.0"
@@ -1156,9 +1189,9 @@ dependencies = [
 
 [[package]]
 name = "ordered-float"
-version = "2.8.0"
+version = "2.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "97c9d06878b3a851e8026ef94bf7fef9ba93062cd412601da4d9cf369b1cc62d"
+checksum = "7940cf2ca942593318d07fcf2596cdca60a85c9e7fab408a5e21a4f9dcd40d87"
 dependencies = [
  "num-traits",
 ]
@@ -1169,29 +1202,17 @@ version = "2.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "427c3892f9e783d91cc128285287e70a59e206ca452770ece88a76f7a3eddd72"
 
-[[package]]
-name = "parking_lot"
-version = "0.11.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7d17b78036a60663b797adeaee46f5c9dfebb86948d1255007a1d6be0271ff99"
-dependencies = [
- "instant",
- "lock_api",
- "parking_lot_core",
-]
-
 [[package]]
 name = "parking_lot_core"
-version = "0.8.5"
+version = "0.9.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d76e8e1493bcac0d2766c42737f34458f1c8c50c0d23bcb24ea953affb273216"
+checksum = "09a279cbf25cb0757810394fbc1e359949b59e348145c643a939a525692e6929"
 dependencies = [
  "cfg-if",
- "instant",
  "libc",
  "redox_syscall",
  "smallvec",
- "winapi",
+ "windows-sys",
 ]
 
 [[package]]
@@ -1229,9 +1250,9 @@ checksum = "d4fd5641d01c8f18a23da7b6fe29298ff4b55afcccdf78973b24cf3175fee32e"
 
 [[package]]
 name = "pin-project-lite"
-version = "0.2.7"
+version = "0.2.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8d31d11c69a6b52a174b42bdc0c30e5e11670f90788b2c471c31c1d17d449443"
+checksum = "e0a7ae3ac2f1173085d398531c705756c94a4c56843785df85a60c1a0afac116"
 
 [[package]]
 name = "pin-utils"
@@ -1282,9 +1303,9 @@ dependencies = [
 
 [[package]]
 name = "ppv-lite86"
-version = "0.2.15"
+version = "0.2.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ed0cfbc8191465bed66e1718596ee0b0b35d5ee1f41c5df2189d0fe8bde535ba"
+checksum = "eb9f9e6e233e5c4a35559a617bf40a4ec447db2e84c20b55a6f83167b7e57872"
 
 [[package]]
 name = "proc-macro-error"
@@ -1312,32 +1333,31 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.32"
+version = "1.0.39"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ba508cc11742c0dc5c1659771673afbab7a0efab23aa17e854cbab0837ed0b43"
+checksum = "c54b25569025b7fc9651de43004ae593a75ad88543b17178aa5e1b9c4f15f56f"
 dependencies = [
- "unicode-xid",
+ "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.10"
+version = "1.0.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38bc8cc6a5f2e3655e0899c1b848643b2562f853f114bfec7be120678e3ace05"
+checksum = "a1feb54ed693b93a84e14094943b84b7c4eae204c512b7ccb95ab0c66d278ad1"
 dependencies = [
  "proc-macro2",
 ]
 
 [[package]]
 name = "rand"
-version = "0.8.4"
+version = "0.8.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2e7573632e6454cf6b99d7aac4ccca54be06da05aca2ef7423d22d27d4d4bcd8"
+checksum = "34af8d1a0e25924bc5b7c43c079c942339d8f0a8b57c39049bef581b46327404"
 dependencies = [
  "libc",
  "rand_chacha",
  "rand_core",
- "rand_hc",
 ]
 
 [[package]]
@@ -1359,15 +1379,6 @@ dependencies = [
  "getrandom",
 ]
 
-[[package]]
-name = "rand_hc"
-version = "0.3.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d51e9f596de227fda2ea6c84607f5558e196eeaf43c986b724ba4fb8fdf497e7"
-dependencies = [
- "rand_core",
-]
-
 [[package]]
 name = "rand_pcg"
 version = "0.3.1"
@@ -1379,9 +1390,9 @@ dependencies = [
 
 [[package]]
 name = "rayon"
-version = "1.5.1"
+version = "1.5.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c06aca804d41dbc8ba42dfd964f0d01334eceb64314b9ecf7c5fad5188a06d90"
+checksum = "bd99e5772ead8baa5215278c9b15bf92087709e9c1b2d1f97cdb5a183c933a7d"
 dependencies = [
  "autocfg",
  "crossbeam-deque",
@@ -1391,31 +1402,30 @@ dependencies = [
 
 [[package]]
 name = "rayon-core"
-version = "1.9.1"
+version = "1.9.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d78120e2c850279833f1dd3582f730c4ab53ed95aeaaaa862a2a5c71b1656d8e"
+checksum = "258bcdb5ac6dad48491bb2992db6b7cf74878b0384908af124823d118c99683f"
 dependencies = [
  "crossbeam-channel",
  "crossbeam-deque",
  "crossbeam-utils",
- "lazy_static",
  "num_cpus",
 ]
 
 [[package]]
 name = "redox_syscall"
-version = "0.2.10"
+version = "0.2.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8383f39639269cde97d255a32bdb68c047337295414940c68bdd30c2e13203ff"
+checksum = "62f25bc4c7e55e0b0b7a1d43fb893f4fa1361d0abe38b9ce4f323c2adfe6ef42"
 dependencies = [
  "bitflags",
 ]
 
 [[package]]
 name = "regex"
-version = "1.5.4"
+version = "1.5.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d07a8629359eb56f1e2fb1652bb04212c072a87ba68546a04065d525673ac461"
+checksum = "d83f127d94bdbcda4c8cc2e50f6f84f4b611f69c902699ca385a39c3a75f9ff1"
 dependencies = [
  "aho-corasick",
  "memchr",
@@ -1430,9 +1440,9 @@ checksum = "6c230d73fb8d8c1b9c0b3135c5142a8acee3a0558fb8db5cf1cb65f8d7862132"
 
 [[package]]
 name = "regex-syntax"
-version = "0.6.25"
+version = "0.6.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f497285884f3fcff424ffc933e56d7cbca511def0c9831a7f9b5f6153e3cc89b"
+checksum = "49b3de9ec5dc0a3417da371aab17d729997c15010e7fd24ff707773a33bddb64"
 
 [[package]]
 name = "ring"
@@ -1451,9 +1461,9 @@ dependencies = [
 
 [[package]]
 name = "ringbuffer"
-version = "0.8.2"
+version = "0.8.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "72dfeba9c94fdc308dcfe165efa6855c698f317484b736605ff859c5fa81d992"
+checksum = "b30a00730a27595dcf899dce512aa031dd650f86aafcb132fd8dd9f409b369d0"
 dependencies = [
  "array-init",
 ]
@@ -1469,9 +1479,9 @@ dependencies = [
 
 [[package]]
 name = "rustls"
-version = "0.20.2"
+version = "0.20.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d37e5e2290f3e040b594b1a9e04377c2c671f1a1cfd9bfdef82106ac1c113f84"
+checksum = "5aab8ee6c7097ed6057f43c187a62418d0c05a4bd5f18b3571db50ee0f9ce033"
 dependencies = [
  "log",
  "ring",
@@ -1481,9 +1491,9 @@ dependencies = [
 
 [[package]]
 name = "ryu"
-version = "1.0.6"
+version = "1.0.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c9613b5a66ab9ba26415184cfc41156594925a9cf3a2057e57f31ff145f6568"
+checksum = "f3f6f92acf49d1b98f7a81226834412ada05458b7364277387724a237f062695"
 
 [[package]]
 name = "same-file"
@@ -1524,15 +1534,15 @@ dependencies = [
 
 [[package]]
 name = "semver"
-version = "1.0.4"
+version = "1.0.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "568a8e6258aa33c13358f81fd834adb854c6f7c9468520910a9b1e8fac068012"
+checksum = "8cb243bdfdb5936c8dc3c45762a19d12ab4550cdc753bc247637d4ec35a040fd"
 
 [[package]]
 name = "serde"
-version = "1.0.130"
+version = "1.0.137"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f12d06de37cf59146fbdecab66aa99f9fe4f78722e3607577a5375d66bd0c913"
+checksum = "61ea8d54c77f8315140a05f4c7237403bf38b72704d031543aa1d16abbf517d1"
 dependencies = [
  "serde_derive",
 ]
@@ -1558,9 +1568,9 @@ dependencies = [
 
 [[package]]
 name = "serde_derive"
-version = "1.0.130"
+version = "1.0.137"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d7bc1a1ab1961464eae040d96713baa5a724a8152c1222492465b54322ec508b"
+checksum = "1f26faba0c3959972377d3b2d306ee9f71faee9714294e41bb777f83f88578be"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1569,33 +1579,31 @@ dependencies = [
 
 [[package]]
 name = "serde_json"
-version = "1.0.72"
+version = "1.0.81"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d0ffa0837f2dfa6fb90868c2b5468cad482e175f7dad97e7421951e663f2b527"
+checksum = "9b7ce2b32a1aed03c558dc61a5cd328f15aff2dbc17daad8fb8af04d2100e15c"
 dependencies = [
- "itoa",
+ "itoa 1.0.2",
  "ryu",
  "serde",
 ]
 
 [[package]]
 name = "sha-1"
-version = "0.9.8"
+version = "0.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "99cd6713db3cf16b6c84e06321e049a9b9f699826e16096d23bbcc44d15d51a6"
+checksum = "028f48d513f9678cda28f6e4064755b3fbb2af6acd672f2c209b62323f7aea0f"
 dependencies = [
- "block-buffer",
  "cfg-if",
  "cpufeatures",
  "digest",
- "opaque-debug",
 ]
 
 [[package]]
 name = "signal-hook"
-version = "0.3.10"
+version = "0.3.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c98891d737e271a2954825ef19e46bd16bdb98e2746f2eec4f7a4ef7946efd1"
+checksum = "a253b5e89e2698464fc26b545c9edceb338e18a89effeeecfea192c3025be29d"
 dependencies = [
  "libc",
  "signal-hook-registry",
@@ -1612,15 +1620,15 @@ dependencies = [
 
 [[package]]
 name = "slab"
-version = "0.4.5"
+version = "0.4.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9def91fd1e018fe007022791f865d0ccc9b3a0d5001e01aabb8b40e46000afb5"
+checksum = "eb703cfe953bccee95685111adeedb76fabe4e97549a58d16f03ea7b9367bb32"
 
 [[package]]
 name = "smallvec"
-version = "1.7.0"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ecab6c735a6bb4139c0caafd0cc3635748bbb3acf4550e8138122099251f309"
+checksum = "f2dd574626839106c320a323308629dcb1acfc96e32a8cba364ddc61ac23ee83"
 
 [[package]]
 name = "smol"
@@ -1642,9 +1650,9 @@ dependencies = [
 
 [[package]]
 name = "socket2"
-version = "0.4.2"
+version = "0.4.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5dc90fe6c7be1a323296982db1836d1ea9e47b6839496dde9a541bc496df3516"
+checksum = "66d72b759436ae32898a2af0a14218dbf55efde3feeb170eb623637db85ee1e0"
 dependencies = [
  "libc",
  "winapi",
@@ -1664,9 +1672,9 @@ checksum = "8ea5119cdb4c55b55d432abb513a0429384878c15dde60cc77b1c99de1a95a6a"
 
 [[package]]
 name = "structopt"
-version = "0.3.25"
+version = "0.3.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "40b9788f4202aa75c240ecc9c15c65185e6a39ccdeb0fd5d008b98825464c87c"
+checksum = "0c6b5c64445ba8094a6ab0c3cd2ad323e07171012d9c98b0b15651daf1787a10"
 dependencies = [
  "clap",
  "lazy_static",
@@ -1688,13 +1696,13 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "1.0.82"
+version = "1.0.96"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8daf5dd0bb60cbd4137b1b587d2fc0ae729bc07cf01cd70b36a1ed5ade3b9d59"
+checksum = "0748dd251e24453cb8717f0354206b91557e4ec8703673a4b30208f2abaf1ebf"
 dependencies = [
  "proc-macro2",
  "quote",
- "unicode-xid",
+ "unicode-ident",
 ]
 
 [[package]]
@@ -1749,18 +1757,18 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.30"
+version = "1.0.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "854babe52e4df1653706b98fcfc05843010039b406875930a70e4d9644e5c417"
+checksum = "bd829fe32373d27f76265620b5309d0340cb8550f523c1dda251d6298069069a"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.30"
+version = "1.0.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa32fd3f627f367fe16f893e2597ae3c05020f8bba2666a4e6ea73d377e5714b"
+checksum = "0396bc89e626244658bef819e22d0cc459e795a5ebe878e6ec336d1674a8d79a"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1769,9 +1777,9 @@ dependencies = [
 
 [[package]]
 name = "thread_local"
-version = "1.1.3"
+version = "1.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8018d24e04c95ac8790716a5987d0fec4f8b27249ffa0f7d33f1369bdfb88cbd"
+checksum = "5516c27b78311c50bf42c071425c560ac799b11c30b31f87e3081965fe5e0180"
 dependencies = [
  "once_cell",
 ]
@@ -1788,9 +1796,9 @@ dependencies = [
 
 [[package]]
 name = "tinyvec"
-version = "1.5.1"
+version = "1.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2c1c1d5a42b6245520c249549ec267180beaffcc0615401ac8e31853d4b6d8d2"
+checksum = "87cc5ceb3875bb20c2890005a4e226a4651264a5c75edb2421b52861a0a0cb50"
 dependencies = [
  "tinyvec_macros",
 ]
@@ -1803,9 +1811,9 @@ checksum = "cda74da7e1a664f795bb1f8a87ec406fb89a02522cf6e50620d016add6dbbf5c"
 
 [[package]]
 name = "tungstenite"
-version = "0.16.0"
+version = "0.17.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6ad3713a14ae247f22a728a0456a545df14acf3867f905adff84be99e23b3ad1"
+checksum = "d96a2dea40e7570482f28eb57afbe42d97551905da6a9400acc5c328d24004f5"
 dependencies = [
  "base64",
  "byteorder",
@@ -1833,15 +1841,15 @@ dependencies = [
 
 [[package]]
 name = "typenum"
-version = "1.14.0"
+version = "1.15.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b63708a265f51345575b27fe43f9500ad611579e764c79edbc2037b1121959ec"
+checksum = "dcf81ac59edc17cc8697ff311e8f5ef2d99fcbd9817b34cec66f90b6c3dfd987"
 
 [[package]]
 name = "uneval"
-version = "0.2.2"
+version = "0.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "18af63a2eefd8deddc36dd58844ee014aca201861e8bacf8da916369df78d4da"
+checksum = "63cc5d2fd8648d7e2be86098f60c9ece7045cc710b3c1e226910e2f37d11dc73"
 dependencies = [
  "serde",
  "thiserror",
@@ -1849,9 +1857,15 @@ dependencies = [
 
 [[package]]
 name = "unicode-bidi"
-version = "0.3.7"
+version = "0.3.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "099b7128301d285f79ddd55b9a83d5e6b9e97c92e0ea0daebee7263e932de992"
+
+[[package]]
+name = "unicode-ident"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1a01404663e3db436ed2746d9fefef640d868edae3cceb81c3b8d5732fda678f"
+checksum = "d22af068fba1eb5edcb4aea19d382b2a3deb4c8f9d475c589b6ada9e0fd493ee"
 
 [[package]]
 name = "unicode-normalization"
@@ -1864,9 +1878,9 @@ dependencies = [
 
 [[package]]
 name = "unicode-segmentation"
-version = "1.8.0"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8895849a949e7845e06bd6dc1aa51731a103c42707010a5b591c0038fb73385b"
+checksum = "7e8820f5d777f6224dc4be3632222971ac30164d4a258d595640799554ebfd99"
 
 [[package]]
 name = "unicode-width"
@@ -1874,12 +1888,6 @@ version = "0.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3ed742d4ea2bd1176e236172c8429aaf54486e7ac098db29ffe6529e0ce50973"
 
-[[package]]
-name = "unicode-xid"
-version = "0.2.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ccb82d61f80a663efe1f787a51b16b5a51e3314d6ac365b08639f52387b33f3"
-
 [[package]]
 name = "untrusted"
 version = "0.7.1"
@@ -1888,9 +1896,8 @@ checksum = "a156c684c91ea7d62626509bce3cb4e1d9ed5c4d978f7b4352658f96a4c26b4a"
 
 [[package]]
 name = "uom"
-version = "0.31.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b1ee6bfd0a27bf614353809a035cf6880b74239ec6c5e39a7b2860ca16809137"
+version = "0.32.0"
+source = "git+https://github.com/wucke13/uom.git?branch=fix-missing-libm#c5f2ba838907ce357859aacc1b628145d29b1e68"
 dependencies = [
  "num-traits",
  "serde",
@@ -1899,12 +1906,13 @@ dependencies = [
 
 [[package]]
 name = "ureq"
-version = "2.3.1"
+version = "2.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c5c448dcb78ec38c7d59ec61f87f70a98ea19171e06c139357e012ee226fec90"
+checksum = "9399fa2f927a3d327187cbd201480cee55bee6ac5d3c77dd27f0c6814cff16d5"
 dependencies = [
  "base64",
  "chunked_transfer",
+ "flate2",
  "log",
  "once_cell",
  "rustls",
@@ -1933,9 +1941,9 @@ checksum = "09cc8ee72d2a9becf2f2febe0205bbed8fc6615b7cb429ad062dc7b7ddd036a9"
 
 [[package]]
 name = "value-bag"
-version = "1.0.0-alpha.8"
+version = "1.0.0-alpha.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "79923f7731dc61ebfba3633098bf3ac533bbd35ccd8c57e7088d9a5eebe0263f"
+checksum = "2209b78d1249f7e6f3293657c9779fe31ced465df091bbd433a1cf88e916ec55"
 dependencies = [
  "ctor",
  "version_check",
@@ -1949,9 +1957,9 @@ checksum = "f1bddf1187be692e79c5ffeab891132dfb0f236ed36a43c7ed39f1165ee20191"
 
 [[package]]
 name = "version_check"
-version = "0.9.3"
+version = "0.9.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5fecdca9a5291cc2b8dcf7dc02453fee791a280f3743cb0905f8822ae463b3fe"
+checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
 
 [[package]]
 name = "waker-fn"
@@ -1978,9 +1986,9 @@ checksum = "fd6fbd9a79829dd1ad0cc20627bf1ed606756a7f77edff7b66b7064f9cb327c6"
 
 [[package]]
 name = "wasm-bindgen"
-version = "0.2.78"
+version = "0.2.80"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "632f73e236b219150ea279196e54e610f5dbafa5d61786303d4da54f84e47fce"
+checksum = "27370197c907c55e3f1a9fbe26f44e937fe6451368324e009cba39e139dc08ad"
 dependencies = [
  "cfg-if",
  "wasm-bindgen-macro",
@@ -1988,9 +1996,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-backend"
-version = "0.2.78"
+version = "0.2.80"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a317bf8f9fba2476b4b2c85ef4c4af8ff39c3c7f0cdfeed4f82c34a880aa837b"
+checksum = "53e04185bfa3a779273da532f5025e33398409573f348985af9a1cbf3774d3f4"
 dependencies = [
  "bumpalo",
  "lazy_static",
@@ -2003,9 +2011,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-futures"
-version = "0.4.28"
+version = "0.4.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e8d7523cb1f2a4c96c1317ca690031b714a51cc14e05f712446691f413f5d39"
+checksum = "6f741de44b75e14c35df886aff5f1eb73aa114fa5d4d00dcd37b5e01259bf3b2"
 dependencies = [
  "cfg-if",
  "js-sys",
@@ -2015,9 +2023,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro"
-version = "0.2.78"
+version = "0.2.80"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d56146e7c495528bf6587663bea13a8eb588d39b36b679d83972e1a2dbbdacf9"
+checksum = "17cae7ff784d7e83a2fe7611cfe766ecf034111b49deb850a3dc7699c08251f5"
 dependencies = [
  "quote",
  "wasm-bindgen-macro-support",
@@ -2025,9 +2033,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro-support"
-version = "0.2.78"
+version = "0.2.80"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7803e0eea25835f8abdc585cd3021b3deb11543c6fe226dcd30b228857c5c5ab"
+checksum = "99ec0dc7a4756fffc231aab1b9f2f578d23cd391390ab27f952ae0c9b3ece20b"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -2038,15 +2046,15 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-shared"
-version = "0.2.78"
+version = "0.2.80"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0237232789cf037d5480773fe568aac745bfe2afbc11a863e97901780a6b47cc"
+checksum = "d554b7f530dee5964d9a9468d95c1f8b8acae4f282807e7d27d4b03099a46744"
 
 [[package]]
 name = "web-sys"
-version = "0.3.55"
+version = "0.3.57"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38eb105f1c59d9eaa6b5cdc92b859d85b926e82cb2e0945cd0c9259faa6fe9fb"
+checksum = "7b17e741662c70c8bd24ac5c5b18de314a2c26c32bf8346ee1e6f53de919c283"
 dependencies = [
  "js-sys",
  "wasm-bindgen",
@@ -2064,9 +2072,9 @@ dependencies = [
 
 [[package]]
 name = "webpki-roots"
-version = "0.22.1"
+version = "0.22.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c475786c6f47219345717a043a37ec04cb4bc185e28853adcc4fa0a947eba630"
+checksum = "44d8de8415c823c8abd270ad483c6feeac771fad964890779f9a8cb24fbbc1bf"
 dependencies = [
  "webpki",
 ]
@@ -2110,3 +2118,46 @@ name = "winapi-x86_64-pc-windows-gnu"
 version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
+
+[[package]]
+name = "windows-sys"
+version = "0.36.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ea04155a16a59f9eab786fe12a4a450e75cdb175f9e0d80da1e17db09f55b8d2"
+dependencies = [
+ "windows_aarch64_msvc",
+ "windows_i686_gnu",
+ "windows_i686_msvc",
+ "windows_x86_64_gnu",
+ "windows_x86_64_msvc",
+]
+
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.36.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9bb8c3fd39ade2d67e9874ac4f3db21f0d710bee00fe7cab16949ec184eeaa47"
+
+[[package]]
+name = "windows_i686_gnu"
+version = "0.36.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "180e6ccf01daf4c426b846dfc66db1fc518f074baa793aa7d9b9aaeffad6a3b6"
+
+[[package]]
+name = "windows_i686_msvc"
+version = "0.36.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e2e7917148b2812d1eeafaeb22a97e4813dfa60a3f8f78ebe204bcc88f12f024"
+
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.36.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4dcd171b8776c41b97521e5da127a2d86ad280114807d0b2ab1e462bc764d9e1"
+
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.36.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c811ca4a8c853ef420abd8592ba53ddbbac90410fab6903b3e79972a631f7680"
diff --git a/aviation_database/Cargo.toml b/aviation_database/Cargo.toml
index 7145667..e7bdac7 100644
--- a/aviation_database/Cargo.toml
+++ b/aviation_database/Cargo.toml
@@ -7,7 +7,7 @@ edition = "2021"
 
 [dependencies]
 ordered-float = { version = "2.0", default-features = false }
-uom = "0.31"
+uom = { git = "https://github.com/wucke13/uom.git", branch = "fix-missing-libm", default-features = false, features = [ "f64", "si", "libm" ] }
 kd_tree = { path = "../kd_tree" }
 
 
@@ -21,6 +21,6 @@ regex = "1.5"
 serde = {version = "1.0", features = ["derive"]}
 serde_json = "1.0"
 uneval = "0.2"
-uom = "0.31"
+uom = { git = "https://github.com/wucke13/uom.git", branch = "fix-missing-libm", default-features = false, features = [ "f64", "si", "libm" ] }
 ureq = "2"
 kd_tree_sort = { path = "../kd_tree_sort" }
diff --git a/opentaws/Cargo.toml b/opentaws/Cargo.toml
index 4d4168f..c97c4e1 100644
--- a/opentaws/Cargo.toml
+++ b/opentaws/Cargo.toml
@@ -28,7 +28,9 @@ use-serde = ["uom/use_serde"]
 [dependencies]
 aviation_database = { path = "../aviation_database"}
 lazy_static = { version = "1", features = [ "spin_no_std" ] }
-uom = { version = "0", default-features = false, features = [ "f64", "si" ] }
+
+# TODO jump to normal uom once https://github.com/iliekturtles/uom/pull/309 lands
+uom = { git = "https://github.com/wucke13/uom.git", branch = "fix-missing-libm", default-features = false, features = [ "f64", "si", "libm" ] }
 ringbuffer = "0.8"
 serde = { version = "1.0", default-features = false, features = [ "derive" ] }
 serde_arrays = "0.1.0" # Serde const generic "workaround"
diff --git a/taws_minimal/Cargo.toml b/taws_minimal/Cargo.toml
index ce4448f..f52a44b 100644
--- a/taws_minimal/Cargo.toml
+++ b/taws_minimal/Cargo.toml
@@ -25,7 +25,9 @@ maintenance = { status = "actively-developed" }
 opentaws = { path = "../opentaws" }
 aviation_database = { path = "../aviation_database" }
 
-uom = { version = "0", default-features = false, features = [ "f64", "si" ] }
+
+# TODO jump to normal uom once https://github.com/iliekturtles/uom/pull/309 lands
+uom = { git = "https://github.com/wucke13/uom.git", branch = "fix-missing-libm", default-features = false, features = [ "f64", "si", "libm" ] }
 casey = "0.3"
 serde = { version = "1.0", default-features = false, features = [ "derive" ] }
 

From 0024ceee43ec78f52c00cebd1a69cd4f518f0881 Mon Sep 17 00:00:00 2001
From: Wanja Zaeske <wanja.zaeske@dlr.de>
Date: Thu, 9 Jun 2022 15:21:11 +0200
Subject: [PATCH 16/73] update deps and flake.nix

---
 Cargo.lock |   2 +-
 flake.lock | 132 ++++++++++++++++++++++-------------------------------
 flake.nix  |  82 ++++++++++++++++++---------------
 3 files changed, 100 insertions(+), 116 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index f4fd4d2..f932de8 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1897,7 +1897,7 @@ checksum = "a156c684c91ea7d62626509bce3cb4e1d9ed5c4d978f7b4352658f96a4c26b4a"
 [[package]]
 name = "uom"
 version = "0.32.0"
-source = "git+https://github.com/wucke13/uom.git?branch=fix-missing-libm#c5f2ba838907ce357859aacc1b628145d29b1e68"
+source = "git+https://github.com/wucke13/uom.git?branch=fix-missing-libm#f82bc456aa319892f4edad5d555a16fa7e35e6db"
 dependencies = [
  "num-traits",
  "serde",
diff --git a/flake.lock b/flake.lock
index 74a0d60..55fba69 100644
--- a/flake.lock
+++ b/flake.lock
@@ -1,121 +1,97 @@
 {
   "nodes": {
-    "flake-utils": {
+    "fenix": {
+      "inputs": {
+        "nixpkgs": [
+          "nixpkgs"
+        ],
+        "rust-analyzer-src": "rust-analyzer-src"
+      },
       "locked": {
-        "lastModified": 1614513358,
-        "narHash": "sha256-LakhOx3S1dRjnh0b5Dg3mbZyH0ToC9I8Y2wKSkBaTzU=",
-        "owner": "numtide",
-        "repo": "flake-utils",
-        "rev": "5466c5bbece17adaab2d82fae80b46e807611bf3",
-        "type": "github"
+        "lastModified": 1654756015,
+        "narHash": "sha256-yTDkAPSUjcy8ADa6U9gP7IAVaZpEvtQt+BGHQ0v4KMA=",
+        "ref": "main",
+        "rev": "fcf7d9029dab1c4a13aaee009feba7658f415add",
+        "revCount": 1062,
+        "type": "git",
+        "url": "https://github.com/nix-community/fenix.git"
       },
       "original": {
-        "owner": "numtide",
-        "repo": "flake-utils",
-        "type": "github"
+        "ref": "main",
+        "type": "git",
+        "url": "https://github.com/nix-community/fenix.git"
       }
     },
     "naersk": {
       "inputs": {
-        "nixpkgs": "nixpkgs"
+        "nixpkgs": [
+          "nixpkgs"
+        ]
       },
       "locked": {
-        "lastModified": 1623927034,
-        "narHash": "sha256-sGxlmfp5eXL5sAMNqHSb04Zq6gPl+JeltIZ226OYN0w=",
-        "owner": "nmattia",
-        "repo": "naersk",
-        "rev": "e09c320446c5c2516d430803f7b19f5833781337",
-        "type": "github"
+        "lastModified": 1654608517,
+        "narHash": "sha256-KIxHjDDJYhoiLanLjpeAk5AuZsfip8M62JhkuloEGb0=",
+        "ref": "master",
+        "rev": "14997a79cd78fe34ad6390f18a327ee0593e5eec",
+        "revCount": 300,
+        "type": "git",
+        "url": "https://github.com/nix-community/naersk.git"
       },
       "original": {
-        "owner": "nmattia",
-        "repo": "naersk",
-        "type": "github"
+        "type": "git",
+        "url": "https://github.com/nix-community/naersk.git"
       }
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1627561173,
-        "narHash": "sha256-Y5ihBYW1UpyXVz1T14MTjDlg9gkS480Kz9jSCq3WqbI=",
-        "owner": "NixOS",
-        "repo": "nixpkgs",
-        "rev": "4bdce59e5451d8716cfe3e684f4dc181b1b2faff",
-        "type": "github"
-      },
-      "original": {
-        "id": "nixpkgs",
-        "type": "indirect"
-      }
-    },
-    "nixpkgs_2": {
-      "locked": {
-        "lastModified": 1627561173,
-        "narHash": "sha256-Y5ihBYW1UpyXVz1T14MTjDlg9gkS480Kz9jSCq3WqbI=",
-        "owner": "NixOS",
-        "repo": "nixpkgs",
-        "rev": "4bdce59e5451d8716cfe3e684f4dc181b1b2faff",
-        "type": "github"
+        "lastModified": 0,
+        "narHash": "sha256-Uvka0V5MTGbeOfWte25+tfRL3moECDh1VwokWSZUdoY=",
+        "path": "/nix/store/ny7x54058ki7k1d3ny0jx5h6kw926mxv-source",
+        "type": "path"
       },
       "original": {
         "id": "nixpkgs",
         "type": "indirect"
       }
     },
-    "nixpkgs_3": {
-      "locked": {
-        "lastModified": 1617325113,
-        "narHash": "sha256-GksR0nvGxfZ79T91UUtWjjccxazv6Yh/MvEJ82v1Xmw=",
-        "owner": "nixos",
-        "repo": "nixpkgs",
-        "rev": "54c1e44240d8a527a8f4892608c4bce5440c3ecb",
-        "type": "github"
-      },
-      "original": {
-        "owner": "NixOS",
-        "repo": "nixpkgs",
-        "type": "github"
-      }
-    },
     "root": {
       "inputs": {
+        "fenix": "fenix",
         "naersk": "naersk",
-        "nixpkgs": "nixpkgs_2",
-        "rust-overlay": "rust-overlay",
+        "nixpkgs": "nixpkgs",
         "utils": "utils"
       }
     },
-    "rust-overlay": {
-      "inputs": {
-        "flake-utils": "flake-utils",
-        "nixpkgs": "nixpkgs_3"
-      },
+    "rust-analyzer-src": {
+      "flake": false,
       "locked": {
-        "lastModified": 1627524933,
-        "narHash": "sha256-7qCl4c+vZ+yJhdiOE/yA3rS5wHcuTWIr/opACzrF7tQ=",
-        "owner": "oxalica",
-        "repo": "rust-overlay",
-        "rev": "b5ee17f42141064953982ece1944ee29b4f88107",
+        "lastModified": 1654700117,
+        "narHash": "sha256-x3rF4IMwZUYnwF3JUnJvtIJmixrYkrl74K9EjhJMSr8=",
+        "owner": "rust-lang",
+        "repo": "rust-analyzer",
+        "rev": "79a4a464b07d626de17bd4b5f2382b5634644f7d",
         "type": "github"
       },
       "original": {
-        "owner": "oxalica",
-        "repo": "rust-overlay",
+        "owner": "rust-lang",
+        "ref": "nightly",
+        "repo": "rust-analyzer",
         "type": "github"
       }
     },
     "utils": {
       "locked": {
-        "lastModified": 1623875721,
-        "narHash": "sha256-A8BU7bjS5GirpAUv4QA+QnJ4CceLHkcXdRp4xITDB0s=",
-        "owner": "numtide",
-        "repo": "flake-utils",
-        "rev": "f7e004a55b120c02ecb6219596820fcd32ca8772",
-        "type": "github"
+        "lastModified": 1653893745,
+        "narHash": "sha256-0jntwV3Z8//YwuOjzhV2sgJJPt+HY6KhU7VZUL0fKZQ=",
+        "ref": "master",
+        "rev": "1ed9fb1935d260de5fe1c2f7ee0ebaae17ed2fa1",
+        "revCount": 58,
+        "type": "git",
+        "url": "https://github.com/numtide/flake-utils.git"
       },
       "original": {
-        "owner": "numtide",
-        "repo": "flake-utils",
-        "type": "github"
+        "type": "git",
+        "url": "https://github.com/numtide/flake-utils.git"
       }
     }
   },
diff --git a/flake.nix b/flake.nix
index 074dab0..f7b0001 100644
--- a/flake.nix
+++ b/flake.nix
@@ -1,46 +1,54 @@
 {
   inputs = {
-    utils.url = "github:numtide/flake-utils";
-    naersk.url = "github:nmattia/naersk";
-    rust-overlay.url = "github:oxalica/rust-overlay";
+    utils.url = "git+https://github.com/numtide/flake-utils.git";
+    fenix = {
+      url = "git+https://github.com/nix-community/fenix.git?ref=main";
+      inputs.nixpkgs.follows = "nixpkgs";
+    };
+    naersk = {
+      url = "git+https://github.com/nix-community/naersk.git";
+      inputs.nixpkgs.follows = "nixpkgs";
+    };
   };
 
-  outputs = { self, nixpkgs, utils, naersk, rust-overlay }:
+  outputs = { self, nixpkgs, utils, fenix, naersk }:
     utils.lib.eachSystem [ "aarch64-linux" "i686-linux" "x86_64-linux" ]
-    (system:
-      let
-        overlays = [ (import rust-overlay) ];
-        pkgs = import nixpkgs { inherit system overlays; };
-        naersk-lib = naersk.lib."${system}";
-      in rec {
-        packages.opentaws = naersk-lib.buildPackage {
-          pname = "opentaws";
-          root = ./.;
-          doCheck = true;
-          doDoc = true;
-          copyLibs = true;
-          doDocFail = true;
-          copyTarget = true;
-        };
-        defaultPackage = packages.opentaws;
+      (system:
+        let
+          pkgs = import nixpkgs { inherit system; };
+          rust-toolchain = with fenix.packages.${system}; combine [
+            rust-analyzer
+            stable.cargo
+            stable.rustc
+            stable.rustfmt
+          ];
+          naersk-lib = (naersk.lib."${system}".override {
+            cargo = rust-toolchain;
+            rustc = rust-toolchain;
+          });
+        in
+        rec {
+          packages.opentaws = naersk-lib.buildPackage {
+            pname = "opentaws";
+            root = ./.;
+            doCheck = true;
+            doDoc = true;
+            copyLibs = true;
+            doDocFail = true;
+            copyTarget = true;
+          };
+          defaultPackage = packages.opentaws;
 
-        devShell = pkgs.mkShell {
-          nativeBuildInputs = with pkgs;
-            [
-              (rust-bin.stable.latest.default.override {
-                extensions =
-                  [ "rust-src" "clippy" "rustfmt" "llvm-tools-preview" ];
-                targets = [ "arm-unknown-linux-gnueabihf" ];
-              })
-            ];
-        };
+          devShell = pkgs.mkShell {
+            inputsFrom = [ packages.opentaws ];
+          };
 
-        # Hail to the Hydra
-        hydraJobs.opentaws."system" = packages.opentaws // {
-          meta = {
-            timeout = 86400;
-            maxSilent = 36000;
+          # Hail to the Hydra
+          hydraJobs.opentaws."system" = packages.opentaws // {
+            meta = {
+              timeout = 86400;
+              maxSilent = 36000;
+            };
           };
-        };
-      });
+        });
 }

From 768c64b43fee11ab0b32552d3910f22dfffe7be1 Mon Sep 17 00:00:00 2001
From: Wanja Zaeske <wanja.zaeske@dlr.de>
Date: Thu, 9 Jun 2022 16:04:15 +0200
Subject: [PATCH 17/73] more updating + some test case fixing

---
 Cargo.lock                   | 252 ++++++++++++++++++++++++++---------
 aviation_database/Cargo.toml |   2 +-
 aviation_database/src/lib.rs |  23 +++-
 opentaws/Cargo.toml          |   2 +-
 taws_minimal/Cargo.toml      |   6 +-
 5 files changed, 211 insertions(+), 74 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index f932de8..eb66fe2 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -17,15 +17,6 @@ dependencies = [
  "memchr",
 ]
 
-[[package]]
-name = "ansi_term"
-version = "0.12.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d52a9bb7ec0cf484c551830a7ce27bd20d67eac647e1befb56b0be4ee39a55d2"
-dependencies = [
- "winapi",
-]
-
 [[package]]
 name = "anyhow"
 version = "1.0.57"
@@ -308,6 +299,12 @@ version = "3.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "37ccbd214614c6783386c1af30caf03192f17891059cecc394b4fb119e363de3"
 
+[[package]]
+name = "bytecount"
+version = "0.6.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2c676a478f63e9fa2dd5368a42f28bba0d6c560b775f38583c8bbaa7fcd67c9c"
+
 [[package]]
 name = "byteorder"
 version = "1.4.3"
@@ -368,13 +365,48 @@ version = "2.34.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a0610544180c38b88101fecf2dd634b174a62eef6946f84dfc6a7127512b381c"
 dependencies = [
- "ansi_term",
- "atty",
  "bitflags",
- "strsim",
  "textwrap 0.11.0",
  "unicode-width",
- "vec_map",
+]
+
+[[package]]
+name = "clap"
+version = "3.1.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d2dbdf4bdacb33466e854ce889eee8dfd5729abf7ccd7664d0a2d60cd384440b"
+dependencies = [
+ "atty",
+ "bitflags",
+ "clap_derive",
+ "clap_lex",
+ "indexmap",
+ "lazy_static",
+ "strsim",
+ "termcolor",
+ "textwrap 0.15.0",
+]
+
+[[package]]
+name = "clap_derive"
+version = "3.1.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "25320346e922cffe59c0bbc5410c8d8784509efb321488971081313cb1e1a33c"
+dependencies = [
+ "heck 0.4.0",
+ "proc-macro-error",
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "clap_lex"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a37c35f1112dad5e6e0b1adaff798507497a18fceeb30cceb3bae7d1427b9213"
+dependencies = [
+ "os_str_bytes",
 ]
 
 [[package]]
@@ -427,7 +459,7 @@ checksum = "1604dafd25fba2fe2d5895a9da139f8dc9b319a5fe5354ca137cbbce4e178d10"
 dependencies = [
  "atty",
  "cast",
- "clap",
+ "clap 2.34.0",
  "criterion-plot",
  "csv",
  "itertools",
@@ -544,40 +576,57 @@ dependencies = [
 
 [[package]]
 name = "cucumber"
-version = "0.10.2"
+version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eab886787f3c659f408c5fe0a9d7bd1d831ed324fcb55aa89bf339fee8b027b6"
+checksum = "399fa7fc41ab7163fc49d5c2613b582b04bbf2d5342fcb1946fc1efd5b71193c"
 dependencies = [
  "async-trait",
  "atty",
+ "clap 3.1.18",
  "console",
  "cucumber-codegen",
+ "cucumber-expressions",
  "derive_more",
  "either",
  "futures",
- "gherkin_rust",
+ "gherkin",
  "globwalk",
  "inventory",
  "itertools",
  "linked-hash-map",
  "once_cell",
  "regex",
- "sealed",
- "structopt",
+ "sealed 0.4.0",
 ]
 
 [[package]]
 name = "cucumber-codegen"
-version = "0.10.2"
+version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9313bba9a820772969ee89f947d91e867c3e37ce6694583ac73466977a9a9f1f"
+checksum = "6a6f939adacd640286fb794ec392c068367991795db4c2c9112b748fb4fbf04f"
 dependencies = [
+ "cucumber-expressions",
  "inflections",
  "itertools",
  "proc-macro2",
  "quote",
  "regex",
  "syn",
+ "synthez",
+]
+
+[[package]]
+name = "cucumber-expressions"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d40d2fdf5e1bb4ae7e6b25c97bf9b9d249a02243fc0fbd91075592b5f00a3bc1"
+dependencies = [
+ "derive_more",
+ "either",
+ "nom",
+ "nom_locate",
+ "regex",
+ "regex-syntax",
 ]
 
 [[package]]
@@ -791,12 +840,12 @@ dependencies = [
 ]
 
 [[package]]
-name = "gherkin_rust"
-version = "0.10.1"
+name = "gherkin"
+version = "0.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "68ff71b5e012707c7c18bdb710e07736898aba0451f6ffbd435c892dd993053c"
+checksum = "98ab17bb865b7c4fbca5133801229aeb127e254a47c29fd26968195fce9458ab"
 dependencies = [
- "heck",
+ "heck 0.3.3",
  "peg",
  "quote",
  "serde",
@@ -860,6 +909,12 @@ version = "1.8.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "eabb4a44450da02c90444cf74558da904edde8fb4e9035a9a6a4e15445af0bd7"
 
+[[package]]
+name = "hashbrown"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ab5ef0d4909ef3724cc8cce6ccc8572c5c817592e9285f5464f8e86f8bd3726e"
+
 [[package]]
 name = "heck"
 version = "0.3.3"
@@ -869,6 +924,12 @@ dependencies = [
  "unicode-segmentation",
 ]
 
+[[package]]
+name = "heck"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2540771e65fc8cb83cd6e8a237f70c319bd5c29f78ed1084ba5d50eeac86f7f9"
+
 [[package]]
 name = "hermit-abi"
 version = "0.1.19"
@@ -924,6 +985,16 @@ dependencies = [
  "winapi-util",
 ]
 
+[[package]]
+name = "indexmap"
+version = "1.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e6012d540c5baa3589337a98ce73408de9b5a25ec9fc2c6fd6be8f0d39e0ca5a"
+dependencies = [
+ "autocfg",
+ "hashbrown",
+]
+
 [[package]]
 name = "inflections"
 version = "1.1.1"
@@ -941,24 +1012,12 @@ dependencies = [
 
 [[package]]
 name = "inventory"
-version = "0.1.11"
+version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0eb5160c60ba1e809707918ee329adb99d222888155835c6feedba19f6c3fd4"
+checksum = "84344c6e0b90a9e2b6f3f9abe5cc74402684e348df7b32adca28747e0cef091a"
 dependencies = [
  "ctor",
  "ghost",
- "inventory-impl",
-]
-
-[[package]]
-name = "inventory-impl"
-version = "0.1.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7e41b53715c6f0c4be49510bb82dee2c1e51c8586d885abe65396e82ed518548"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn",
 ]
 
 [[package]]
@@ -1077,6 +1136,12 @@ dependencies = [
  "autocfg",
 ]
 
+[[package]]
+name = "minimal-lexical"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
+
 [[package]]
 name = "miniz_oxide"
 version = "0.5.3"
@@ -1086,6 +1151,27 @@ dependencies = [
  "adler",
 ]
 
+[[package]]
+name = "nom"
+version = "7.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a8903e5a29a317527874d0402f867152a3d21c908bb0b933e416c65e301d4c36"
+dependencies = [
+ "memchr",
+ "minimal-lexical",
+]
+
+[[package]]
+name = "nom_locate"
+version = "4.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "37794436ca3029a3089e0b95d42da1f0b565ad271e4d3bb4bad0c7bb70b10605"
+dependencies = [
+ "bytecount",
+ "memchr",
+ "nom",
+]
+
 [[package]]
 name = "num"
 version = "0.4.0"
@@ -1196,6 +1282,12 @@ dependencies = [
  "num-traits",
 ]
 
+[[package]]
+name = "os_str_bytes"
+version = "6.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "21326818e99cfe6ce1e524c2a805c189a99b5ae555a35d19f9a284b427d86afa"
+
 [[package]]
 name = "parking"
 version = "2.0.0"
@@ -1526,7 +1618,19 @@ version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "636b9882a0f4cc2039488df89a10eb4b7976d4b6c1917fc0518f3f0f5e2c72ca"
 dependencies = [
- "heck",
+ "heck 0.3.3",
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "sealed"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6b5e421024b5e5edfbaa8e60ecf90bda9dbffc602dbb230e6028763f85f0c68c"
+dependencies = [
+ "heck 0.3.3",
  "proc-macro2",
  "quote",
  "syn",
@@ -1666,43 +1770,52 @@ checksum = "6e63cff320ae2c57904679ba7cb63280a3dc4613885beafb148ee7bf9aa9042d"
 
 [[package]]
 name = "strsim"
-version = "0.8.0"
+version = "0.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73473c0e59e6d5812c5dfe2a064a6444949f089e20eec9a2e5506596494e4623"
+
+[[package]]
+name = "syn"
+version = "1.0.96"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ea5119cdb4c55b55d432abb513a0429384878c15dde60cc77b1c99de1a95a6a"
+checksum = "0748dd251e24453cb8717f0354206b91557e4ec8703673a4b30208f2abaf1ebf"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
 
 [[package]]
-name = "structopt"
-version = "0.3.26"
+name = "synthez"
+version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0c6b5c64445ba8094a6ab0c3cd2ad323e07171012d9c98b0b15651daf1787a10"
+checksum = "033178d0acccffc5490021657006e6a8dd586ee9dc6f7c24e7608b125e568cb1"
 dependencies = [
- "clap",
- "lazy_static",
- "structopt-derive",
+ "syn",
+ "synthez-codegen",
+ "synthez-core",
 ]
 
 [[package]]
-name = "structopt-derive"
-version = "0.4.18"
+name = "synthez-codegen"
+version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dcb5ae327f9cc13b68763b5749770cb9e048a99bd9dfdfa58d0cf05d5f64afe0"
+checksum = "69263462a40e46960f070618e20094ce69e783a41f86e54bc75545136afd597a"
 dependencies = [
- "heck",
- "proc-macro-error",
- "proc-macro2",
- "quote",
  "syn",
+ "synthez-core",
 ]
 
 [[package]]
-name = "syn"
-version = "1.0.96"
+name = "synthez-core"
+version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0748dd251e24453cb8717f0354206b91557e4ec8703673a4b30208f2abaf1ebf"
+checksum = "bb8b5a4089fe1723279f06302afda64a5dacaa11a82bcbb4d08759590d4389d9"
 dependencies = [
  "proc-macro2",
  "quote",
- "unicode-ident",
+ "sealed 0.3.0",
+ "syn",
 ]
 
 [[package]]
@@ -1727,6 +1840,15 @@ dependencies = [
  "uom",
 ]
 
+[[package]]
+name = "termcolor"
+version = "1.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bab24d30b911b2376f3a13cc2cd443142f0c81dda04c118693e35b3835757755"
+dependencies = [
+ "winapi-util",
+]
+
 [[package]]
 name = "terminal_size"
 version = "0.1.17"
@@ -1755,6 +1877,12 @@ dependencies = [
  "unicode-width",
 ]
 
+[[package]]
+name = "textwrap"
+version = "0.15.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b1141d4d61095b28419e22cb0bbf02755f5e54e0526f97f1e3d1d160e60885fb"
+
 [[package]]
 name = "thiserror"
 version = "1.0.31"
@@ -1949,12 +2077,6 @@ dependencies = [
  "version_check",
 ]
 
-[[package]]
-name = "vec_map"
-version = "0.8.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1bddf1187be692e79c5ffeab891132dfb0f236ed36a43c7ed39f1165ee20191"
-
 [[package]]
 name = "version_check"
 version = "0.9.4"
diff --git a/aviation_database/Cargo.toml b/aviation_database/Cargo.toml
index e7bdac7..a5dff6c 100644
--- a/aviation_database/Cargo.toml
+++ b/aviation_database/Cargo.toml
@@ -18,7 +18,7 @@ proc-macro2 = "1.0"
 quote = "1.0"
 rayon = "1.5"
 regex = "1.5"
-serde = {version = "1.0", features = ["derive"]}
+serde = { version = "1.0", features = ["derive"] }
 serde_json = "1.0"
 uneval = "0.2"
 uom = { git = "https://github.com/wucke13/uom.git", branch = "fix-missing-libm", default-features = false, features = [ "f64", "si", "libm" ] }
diff --git a/aviation_database/src/lib.rs b/aviation_database/src/lib.rs
index 5d229d1..2f009ad 100644
--- a/aviation_database/src/lib.rs
+++ b/aviation_database/src/lib.rs
@@ -126,11 +126,26 @@ impl Position {
     /// panic:
     ///
     /// ```
-    /// use crate::reference::PositionImpl;
-    /// let p1 = PositionImpl::new(54, 10, 0);
-    /// let p1 = PositionImpl::new(52, 8, 10);
+    /// use aviation_database::Position;
+    /// use uom::si::{
+    ///     f64::{Angle, Length},
+    ///     angle::degree,
+    ///     length::meter,
+    /// };
     ///
-    /// assert_eq!(p1.great_circle(p2), p2.great_circle(p1));
+    /// let p1 = Position{
+    ///     lat: Angle::new::<uom::si::angle::degree>(54.0),
+    ///     lon: Angle::new::<uom::si::angle::degree>(10.0),
+    ///     alt: Length::new::<uom::si::length::foot>(1000.0),
+    /// };
+    /// let p2 = Position{
+    ///     lat: Angle::new::<uom::si::angle::degree>(52.0),
+    ///     lon: Angle::new::<uom::si::angle::degree>(8.0),
+    ///     alt: Length::new::<uom::si::length::foot>(1000.0),
+    /// };
+    ///
+    /// let distance_delta = p1.great_circle(&p2) - p2.great_circle(&p1);
+    /// assert!(distance_delta.abs() < Length::new::<uom::si::length::millimeter>(1.0));
     /// ```
     #[allow(non_snake_case)]
     pub fn great_circle(&self, other: &Position) -> Length {
diff --git a/opentaws/Cargo.toml b/opentaws/Cargo.toml
index c97c4e1..553c97e 100644
--- a/opentaws/Cargo.toml
+++ b/opentaws/Cargo.toml
@@ -33,4 +33,4 @@ lazy_static = { version = "1", features = [ "spin_no_std" ] }
 uom = { git = "https://github.com/wucke13/uom.git", branch = "fix-missing-libm", default-features = false, features = [ "f64", "si", "libm" ] }
 ringbuffer = "0.8"
 serde = { version = "1.0", default-features = false, features = [ "derive" ] }
-serde_arrays = "0.1.0" # Serde const generic "workaround"
+serde_arrays = "*" # Serde const generic "workaround"
diff --git a/taws_minimal/Cargo.toml b/taws_minimal/Cargo.toml
index f52a44b..883a8f0 100644
--- a/taws_minimal/Cargo.toml
+++ b/taws_minimal/Cargo.toml
@@ -31,18 +31,18 @@ uom = { git = "https://github.com/wucke13/uom.git", branch = "fix-missing-libm",
 casey = "0.3"
 serde = { version = "1.0", default-features = false, features = [ "derive" ] }
 
-# testing ang examples
+# testing and examples
 arbitrary = { version = "1", features = ["derive"], optional = true }
 async-tungstenite = { version = "*", features = [ "async-std-runtime" ], optional = true }
 async-trait = { version = "0.1", optional = true }
-cucumber = { version = "0.10", optional = true  }
+cucumber = { version = "0", optional = true  }
 futures = { version = "0", optional = true }
 lazy_static = { version = "1.4", optional = true }
 rand = { version = "*", optional = true }
 rand_pcg = { version = "*", optional = true }
 rayon = { version = "1.5", optional = true }
 serde_json = { version = "1.0", optional = true }
-smol = { version = "1.0", optional = true }
+smol = { version = "1", optional = true }
 
 
 [[test]]

From 5ecc02c86cedce0b1befac949b5c034197edfd33 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Wed, 17 Aug 2022 15:50:39 +0200
Subject: [PATCH 18/73] fix: update Cargo.lock

---
 Cargo.lock | 364 +++++++++++++++++++++++++----------------------------
 1 file changed, 174 insertions(+), 190 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index eb66fe2..e75b0b0 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -19,30 +19,30 @@ dependencies = [
 
 [[package]]
 name = "anyhow"
-version = "1.0.57"
+version = "1.0.62"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "08f9b8508dccb7687a1d6c4ce66b2b0ecef467c94667de27d8d7fe1f8d2a9cdc"
+checksum = "1485d4d2cc45e7b201ee3767015c96faa5904387c9d87c6efdd0fb511f12d305"
 
 [[package]]
 name = "arbitrary"
-version = "1.1.0"
+version = "1.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c38b6b6b79f671c25e1a3e785b7b82d7562ffc9cd3efdc98627e5668a2472490"
+checksum = "5a7924531f38b1970ff630f03eb20a2fde69db5c590c93b0f3482e95dcc5fd60"
 dependencies = [
  "derive_arbitrary",
 ]
 
 [[package]]
 name = "array-init"
-version = "2.0.0"
+version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6945cc5422176fc5e602e590c2878d2c2acd9a4fe20a4baa7c28022521698ec6"
+checksum = "bfb6d71005dc22a708c7496eee5c8dc0300ee47355de6256c3b35b12b5fef596"
 
 [[package]]
 name = "async-channel"
-version = "1.6.1"
+version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2114d64672151c0c5eaa5e131ec84a74f06e1e559830dabba01ca30605d66319"
+checksum = "e14485364214912d3b19cc3435dde4df66065127f05fa0d75c712f36f12c2f28"
 dependencies = [
  "concurrent-queue",
  "event-listener",
@@ -76,9 +76,9 @@ dependencies = [
 
 [[package]]
 name = "async-global-executor"
-version = "2.1.0"
+version = "2.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fd8b508d585e01084059b60f06ade4cb7415cd2e4084b71dd1cb44e7d3fb9880"
+checksum = "5262ed948da60dd8956c6c5aca4d4163593dddb7b32d73267c93dab7b2e98940"
 dependencies = [
  "async-channel",
  "async-executor",
@@ -86,6 +86,7 @@ dependencies = [
  "async-lock",
  "blocking",
  "futures-lite",
+ "num_cpus",
  "once_cell",
 ]
 
@@ -147,9 +148,9 @@ dependencies = [
 
 [[package]]
 name = "async-std"
-version = "1.11.0"
+version = "1.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "52580991739c5cdb36cde8b2a516371c0a3b70dda36d916cc08b82372916808c"
+checksum = "62565bb4402e926b29953c785397c6dc0391b7b446e45008b0049eb43cec6f5d"
 dependencies = [
  "async-channel",
  "async-global-executor",
@@ -164,7 +165,6 @@ dependencies = [
  "kv-log-macro",
  "log",
  "memchr",
- "num_cpus",
  "once_cell",
  "pin-project-lite",
  "pin-utils",
@@ -174,15 +174,15 @@ dependencies = [
 
 [[package]]
 name = "async-task"
-version = "4.2.0"
+version = "4.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "30696a84d817107fc028e049980e09d5e140e8da8f1caeb17e8e950658a3cea9"
+checksum = "7a40729d2133846d9ed0ea60a8b9541bccddab49cd30f0715a1da672fe9a2524"
 
 [[package]]
 name = "async-trait"
-version = "0.1.56"
+version = "0.1.57"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "96cf8829f67d2eab0b2dfa42c5d0ef737e0724e4a82b01b3e292456202b19716"
+checksum = "76464446b8bc32758d7e88ee1a804d9914cd9b1cb264c029899680b0be29826f"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -313,9 +313,9 @@ checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
 
 [[package]]
 name = "bytes"
-version = "1.1.0"
+version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c4872d67bab6358e59559027aa3b9157c53d9358c51423c17554809a8858e0f8"
+checksum = "ec8a7b6a70fde80372154c65702f00a0f56f3e1c36abbc6c440484be248856db"
 
 [[package]]
 name = "cache-padded"
@@ -334,12 +334,9 @@ dependencies = [
 
 [[package]]
 name = "cast"
-version = "0.2.7"
+version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4c24dab4283a142afa2fdca129b80ad2c6284e073930f964c3a1293c225ee39a"
-dependencies = [
- "rustc_version",
-]
+checksum = "37b2a672a2cb129a2e41c10b1224bb368f9f37a2b16b612598138befd7b37eb5"
 
 [[package]]
 name = "cc"
@@ -372,16 +369,16 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "3.1.18"
+version = "3.2.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d2dbdf4bdacb33466e854ce889eee8dfd5729abf7ccd7664d0a2d60cd384440b"
+checksum = "29e724a68d9319343bb3328c9cc2dfde263f4b3142ee1059a9980580171c954b"
 dependencies = [
  "atty",
  "bitflags",
  "clap_derive",
  "clap_lex",
  "indexmap",
- "lazy_static",
+ "once_cell",
  "strsim",
  "termcolor",
  "textwrap 0.15.0",
@@ -389,9 +386,9 @@ dependencies = [
 
 [[package]]
 name = "clap_derive"
-version = "3.1.18"
+version = "3.2.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "25320346e922cffe59c0bbc5410c8d8784509efb321488971081313cb1e1a33c"
+checksum = "13547f7012c01ab4a0e8f8967730ada8f9fdf419e8b6c792788f39cf4e46eefa"
 dependencies = [
  "heck 0.4.0",
  "proc-macro-error",
@@ -402,32 +399,31 @@ dependencies = [
 
 [[package]]
 name = "clap_lex"
-version = "0.2.0"
+version = "0.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a37c35f1112dad5e6e0b1adaff798507497a18fceeb30cceb3bae7d1427b9213"
+checksum = "2850f2f5a82cbf437dd5af4d49848fbdfc27c157c3d010345776f952765261c5"
 dependencies = [
  "os_str_bytes",
 ]
 
 [[package]]
 name = "concurrent-queue"
-version = "1.2.2"
+version = "1.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "30ed07550be01594c6026cff2a1d7fe9c8f683caa798e12b68694ac9e88286a3"
+checksum = "af4780a44ab5696ea9e28294517f1fffb421a83a25af521333c838635509db9c"
 dependencies = [
  "cache-padded",
 ]
 
 [[package]]
 name = "console"
-version = "0.15.0"
+version = "0.15.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a28b32d32ca44b70c3e4acd7db1babf555fa026e385fb95f18028f88848b3c31"
+checksum = "89eab4d20ce20cea182308bca13088fecea9c05f6776cf287205d41a0ed3c847"
 dependencies = [
  "encode_unicode",
  "libc",
  "once_cell",
- "regex",
  "terminal_size",
  "unicode-width",
  "winapi",
@@ -453,9 +449,9 @@ dependencies = [
 
 [[package]]
 name = "criterion"
-version = "0.3.5"
+version = "0.3.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1604dafd25fba2fe2d5895a9da139f8dc9b319a5fe5354ca137cbbce4e178d10"
+checksum = "b01d6de93b2b6c65e17c634a26653a29d107b3c98c607c765bf38d041531cd8f"
 dependencies = [
  "atty",
  "cast",
@@ -479,9 +475,9 @@ dependencies = [
 
 [[package]]
 name = "criterion-plot"
-version = "0.4.4"
+version = "0.4.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d00996de9f2f7559f7f4dc286073197f83e92256a59ed395f9aac01fe717da57"
+checksum = "2673cc8207403546f45f5fd319a974b1e6983ad1a3ee7e6041650013be041876"
 dependencies = [
  "cast",
  "itertools",
@@ -489,9 +485,9 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-channel"
-version = "0.5.4"
+version = "0.5.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5aaa7bd5fb665c6864b5f963dd9097905c54125909c7aa94c9e18507cdbe6c53"
+checksum = "c2dd04ddaf88237dc3b8d8f9a3c1004b506b54b3313403944054d23c0870c521"
 dependencies = [
  "cfg-if",
  "crossbeam-utils",
@@ -499,9 +495,9 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-deque"
-version = "0.8.1"
+version = "0.8.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6455c0ca19f0d2fbf751b908d5c55c1f5cbc65e03c4225427254b46890bdde1e"
+checksum = "715e8152b692bba2d374b53d4875445368fdf21a94751410af607a5ac677d1fc"
 dependencies = [
  "cfg-if",
  "crossbeam-epoch",
@@ -510,33 +506,33 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-epoch"
-version = "0.9.8"
+version = "0.9.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1145cf131a2c6ba0615079ab6a638f7e1973ac9c2634fcbeaaad6114246efe8c"
+checksum = "045ebe27666471bb549370b4b0b3e51b07f56325befa4284db65fc89c02511b1"
 dependencies = [
  "autocfg",
  "cfg-if",
  "crossbeam-utils",
- "lazy_static",
  "memoffset",
+ "once_cell",
  "scopeguard",
 ]
 
 [[package]]
 name = "crossbeam-utils"
-version = "0.8.8"
+version = "0.8.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0bf124c720b7686e3c2663cf54062ab0f68a88af2fb6a030e87e30bf721fcb38"
+checksum = "51887d4adc7b564537b15adcfb307936f8075dfcd5f00dde9a9f1d29383682bc"
 dependencies = [
  "cfg-if",
- "lazy_static",
+ "once_cell",
 ]
 
 [[package]]
 name = "crypto-common"
-version = "0.1.3"
+version = "0.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "57952ca27b5e3606ff4dd79b0020231aaf9d6aa76dc05fd30137538c50bd3ce8"
+checksum = "1bfb12502f3fc46cca1bb51ac28df9d618d813cdc3d2f25b9fe775a34af26bb3"
 dependencies = [
  "generic-array",
  "typenum",
@@ -566,9 +562,9 @@ dependencies = [
 
 [[package]]
 name = "ctor"
-version = "0.1.22"
+version = "0.1.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f877be4f7c9f246b183111634f75baa039715e3f46ce860677d3b19a69fb229c"
+checksum = "cdffe87e1d521a10f9696f833fe502293ea446d7f256c06128293a4119bdf4cb"
 dependencies = [
  "quote",
  "syn",
@@ -582,7 +578,7 @@ checksum = "399fa7fc41ab7163fc49d5c2613b582b04bbf2d5342fcb1946fc1efd5b71193c"
 dependencies = [
  "async-trait",
  "atty",
- "clap 3.1.18",
+ "clap 3.2.17",
  "console",
  "cucumber-codegen",
  "cucumber-expressions",
@@ -631,9 +627,9 @@ dependencies = [
 
 [[package]]
 name = "derive_arbitrary"
-version = "1.1.0"
+version = "1.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "98e23c06c035dac87bd802d98f368df73a7f2cb05a66ffbd1f377e821fac4af9"
+checksum = "c9a577516173adb681466d517d39bd468293bc2c2a16439375ef0f35bba45f3d"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -663,9 +659,9 @@ dependencies = [
 
 [[package]]
 name = "either"
-version = "1.6.1"
+version = "1.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e78d4f1cc4ae33bbfc157ed5d5a5ef3bc29227303d595861deb238fcec4e9457"
+checksum = "3f107b87b6afc2a64fd13cac55fe06d6c8859f12d4b14cbcdd2c67d0976781be"
 
 [[package]]
 name = "encode_unicode"
@@ -675,15 +671,15 @@ checksum = "a357d28ed41a50f9c765dbfe56cbc04a64e53e5fc58ba79fbc34c10ef3df831f"
 
 [[package]]
 name = "event-listener"
-version = "2.5.2"
+version = "2.5.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77f3309417938f28bf8228fcff79a4a37103981e3e186d2ccd19c74b38f4eb71"
+checksum = "0206175f82b8d6bf6652ff7d71a1e27fd2e4efde587fd368662814d6ec1d9ce0"
 
 [[package]]
 name = "fastrand"
-version = "1.7.0"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c3fcf0cee53519c866c09b5de1f6c56ff9d647101f81c1964fa632e148896cdf"
+checksum = "a7a407cfaa3385c4ae6b23e84623d48c2798d06e3e6a1878f7f59f17b3f86499"
 dependencies = [
  "instant",
 ]
@@ -716,9 +712,9 @@ dependencies = [
 
 [[package]]
 name = "futures"
-version = "0.3.21"
+version = "0.3.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f73fe65f54d1e12b726f517d3e2135ca3125a437b6d998caf1962961f7172d9e"
+checksum = "ab30e97ab6aacfe635fad58f22c2bb06c8b685f7421eb1e064a729e2a5f481fa"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -731,9 +727,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.21"
+version = "0.3.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c3083ce4b914124575708913bca19bfe887522d6e2e6d0952943f5eac4a74010"
+checksum = "2bfc52cbddcfd745bf1740338492bb0bd83d76c67b445f91c5fb29fae29ecaa1"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -741,15 +737,15 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.21"
+version = "0.3.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0c09fd04b7e4073ac7156a9539b57a484a8ea920f79c7c675d05d289ab6110d3"
+checksum = "d2acedae88d38235936c3922476b10fced7b2b68136f5e3c03c2d5be348a1115"
 
 [[package]]
 name = "futures-executor"
-version = "0.3.21"
+version = "0.3.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9420b90cfa29e327d0429f19be13e7ddb68fa1cccb09d65e5706b8c7a749b8a6"
+checksum = "1d11aa21b5b587a64682c0094c2bdd4df0076c5324961a40cc3abd7f37930528"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -758,9 +754,9 @@ dependencies = [
 
 [[package]]
 name = "futures-io"
-version = "0.3.21"
+version = "0.3.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fc4045962a5a5e935ee2fdedaa4e08284547402885ab326734432bed5d12966b"
+checksum = "93a66fc6d035a26a3ae255a6d2bca35eda63ae4c5512bef54449113f7a1228e5"
 
 [[package]]
 name = "futures-lite"
@@ -779,9 +775,9 @@ dependencies = [
 
 [[package]]
 name = "futures-macro"
-version = "0.3.21"
+version = "0.3.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "33c1e13800337f4d4d7a316bf45a567dbcb6ffe087f16424852d97e97a91f512"
+checksum = "0db9cce532b0eae2ccf2766ab246f114b56b9cf6d445e00c2549fbc100ca045d"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -790,21 +786,21 @@ dependencies = [
 
 [[package]]
 name = "futures-sink"
-version = "0.3.21"
+version = "0.3.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "21163e139fa306126e6eedaf49ecdb4588f939600f0b1e770f4205ee4b7fa868"
+checksum = "ca0bae1fe9752cf7fd9b0064c674ae63f97b37bc714d745cbde0afb7ec4e6765"
 
 [[package]]
 name = "futures-task"
-version = "0.3.21"
+version = "0.3.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "57c66a976bf5909d801bbef33416c41372779507e7a6b3a5e25e4749c58f776a"
+checksum = "842fc63b931f4056a24d59de13fb1272134ce261816e063e634ad0c15cdc5306"
 
 [[package]]
 name = "futures-util"
-version = "0.3.21"
+version = "0.3.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d8b7abd5d659d9b90c8cba917f6ec750a74e2dc23902ef9cd4cc8c8b22e6036a"
+checksum = "f0828a5471e340229c11c77ca80017937ce3c58cb788a17e5f1c2d5c485a9577"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -820,9 +816,9 @@ dependencies = [
 
 [[package]]
 name = "generic-array"
-version = "0.14.5"
+version = "0.14.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fd48d33ec7f05fbfa152300fdad764757cbded343c1aa1cff2fbaf4134851803"
+checksum = "bff49e947297f3312447abdca79f45f4738097cc82b06e72054d2223f601f1b9"
 dependencies = [
  "typenum",
  "version_check",
@@ -830,9 +826,9 @@ dependencies = [
 
 [[package]]
 name = "getrandom"
-version = "0.2.6"
+version = "0.2.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9be70c98951c83b8d2f8f60d7065fa6d5146873094452a1008da8c2f1e4205ad"
+checksum = "4eb1a864a501629691edf6c15a593b7a51eebaa1e8468e9ddc623de7c9b58ec6"
 dependencies = [
  "cfg-if",
  "libc",
@@ -858,9 +854,9 @@ dependencies = [
 
 [[package]]
 name = "ghost"
-version = "0.1.4"
+version = "0.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76c813ffb63e8fd3df6f1ac3cc1ea392c7612ac2de4d0b44dcbfe03e5c4bf94a"
+checksum = "eb19fe8de3ea0920d282f7b77dd4227aea6b8b999b42cdf0ca41b2472b14443a"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -869,9 +865,9 @@ dependencies = [
 
 [[package]]
 name = "globset"
-version = "0.4.8"
+version = "0.4.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "10463d9ff00a2a068db14231982f5132edebad0d7660cd956a1c30292dbcbfbd"
+checksum = "0a1e17342619edbc21a964c2afbeb6c820c6a2560032872f397bb97ea127bd0a"
 dependencies = [
  "aho-corasick",
  "bstr",
@@ -911,9 +907,9 @@ checksum = "eabb4a44450da02c90444cf74558da904edde8fb4e9035a9a6a4e15445af0bd7"
 
 [[package]]
 name = "hashbrown"
-version = "0.11.2"
+version = "0.12.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ab5ef0d4909ef3724cc8cce6ccc8572c5c817592e9285f5464f8e86f8bd3726e"
+checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
 
 [[package]]
 name = "heck"
@@ -947,7 +943,7 @@ checksum = "75f43d41e26995c17e71ee126451dd3941010b0514a81a9d11f3b341debc2399"
 dependencies = [
  "bytes",
  "fnv",
- "itoa 1.0.2",
+ "itoa 1.0.3",
 ]
 
 [[package]]
@@ -987,9 +983,9 @@ dependencies = [
 
 [[package]]
 name = "indexmap"
-version = "1.8.2"
+version = "1.9.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e6012d540c5baa3589337a98ce73408de9b5a25ec9fc2c6fd6be8f0d39e0ca5a"
+checksum = "10a35a97730320ffe8e2d410b5d3b69279b98d2c14bdb8b70ea89ecf7888d41e"
 dependencies = [
  "autocfg",
  "hashbrown",
@@ -1037,15 +1033,15 @@ checksum = "b71991ff56294aa922b450139ee08b3bfc70982c6b2c7562771375cf73542dd4"
 
 [[package]]
 name = "itoa"
-version = "1.0.2"
+version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "112c678d4050afce233f4f2852bb2eb519230b3cf12f33585275537d7e41578d"
+checksum = "6c8af84674fe1f223a982c933a0ee1086ac4d4052aa0fb8060c12c6ad838e754"
 
 [[package]]
 name = "js-sys"
-version = "0.3.57"
+version = "0.3.59"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "671a26f820db17c2a2750743f1dd03bafd15b98c9f30c7c2628c024c05d73397"
+checksum = "258451ab10b34f8af53416d1fdab72c22e805f0c92a1136d59470ec0b11138b2"
 dependencies = [
  "wasm-bindgen",
 ]
@@ -1089,21 +1085,21 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.126"
+version = "0.2.132"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "349d5a591cd28b49e1d1037471617a32ddcda5731b99419008085f72d5a53836"
+checksum = "8371e4e5341c3a96db127eb2465ac681ced4c433e01dd0e938adbef26ba93ba5"
 
 [[package]]
 name = "libm"
-version = "0.2.2"
+version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "33a33a362ce288760ec6a508b94caaec573ae7d3bbbd91b87aa0bad4456839db"
+checksum = "292a948cd991e376cf75541fe5b97a1081d713c618b4f1b9500f8844e49eb565"
 
 [[package]]
 name = "linked-hash-map"
-version = "0.5.4"
+version = "0.5.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7fb9b38af92608140b86b693604b9ffcc5824240a484d1ecd4795bacb2fe88f3"
+checksum = "0717cef1bc8b636c6e1c1bbdefc09e6322da8a9321966e8928ef80d20f7f770f"
 
 [[package]]
 name = "log"
@@ -1187,9 +1183,9 @@ dependencies = [
 
 [[package]]
 name = "num-complex"
-version = "0.4.1"
+version = "0.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "97fbc387afefefd5e9e39493299f3069e14a140dd34dc19b4c1c1a8fddb6a790"
+checksum = "7ae39348c8bc5fbd7f40c727a9925f03517afd2ab27d46702108b6a7e5414c19"
 dependencies = [
  "num-traits",
 ]
@@ -1217,9 +1213,9 @@ dependencies = [
 
 [[package]]
 name = "num-rational"
-version = "0.4.0"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d41702bd167c2df5520b384281bc111a4b5efcf7fbc4c9c222c815b07e0a6a6a"
+checksum = "0638a1c9d0a3c0914158145bc76cff373a75a627e6ecbfb71cbe6f453a5a19b0"
 dependencies = [
  "autocfg",
  "num-integer",
@@ -1248,9 +1244,9 @@ dependencies = [
 
 [[package]]
 name = "once_cell"
-version = "1.12.0"
+version = "1.13.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7709cef83f0c1f58f666e746a08b21e0085f7440fa6a29cc194d68aac97a4225"
+checksum = "074864da206b4973b84eb91683020dbefd6a8c3f0f38e054d93954e891935e4e"
 dependencies = [
  "parking_lot_core",
 ]
@@ -1284,9 +1280,9 @@ dependencies = [
 
 [[package]]
 name = "os_str_bytes"
-version = "6.1.0"
+version = "6.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "21326818e99cfe6ce1e524c2a805c189a99b5ae555a35d19f9a284b427d86afa"
+checksum = "9ff7415e9ae3fff1225851df9e0d9e4e5479f947619774677a63572e55e80eff"
 
 [[package]]
 name = "parking"
@@ -1354,9 +1350,9 @@ checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
 [[package]]
 name = "plotters"
-version = "0.3.1"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "32a3fd9ec30b9749ce28cd91f255d569591cdf937fe280c312143e3c4bad6f2a"
+checksum = "9428003b84df1496fb9d6eeee9c5f8145cb41ca375eb0dad204328888832811f"
 dependencies = [
  "num-traits",
  "plotters-backend",
@@ -1367,15 +1363,15 @@ dependencies = [
 
 [[package]]
 name = "plotters-backend"
-version = "0.3.2"
+version = "0.3.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d88417318da0eaf0fdcdb51a0ee6c3bed624333bff8f946733049380be67ac1c"
+checksum = "193228616381fecdc1224c62e96946dfbc73ff4384fba576e052ff8c1bea8142"
 
 [[package]]
 name = "plotters-svg"
-version = "0.3.1"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "521fa9638fa597e1dc53e9412a4f9cefb01187ee1f7413076f9e6749e2885ba9"
+checksum = "e0918736323d1baff32ee0eade54984f6f201ad7e97d5cfb5d6ab4a358529615"
 dependencies = [
  "plotters-backend",
 ]
@@ -1425,18 +1421,18 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.39"
+version = "1.0.43"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c54b25569025b7fc9651de43004ae593a75ad88543b17178aa5e1b9c4f15f56f"
+checksum = "0a2ca2c61bc9f3d74d2886294ab7b9853abd9c1ad903a3ac7815c58989bb7bab"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.18"
+version = "1.0.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1feb54ed693b93a84e14094943b84b7c4eae204c512b7ccb95ab0c66d278ad1"
+checksum = "bbe448f377a7d6961e30f5955f9b8d106c3f5e449d493ee1b125c1d43c2b5179"
 dependencies = [
  "proc-macro2",
 ]
@@ -1506,18 +1502,18 @@ dependencies = [
 
 [[package]]
 name = "redox_syscall"
-version = "0.2.13"
+version = "0.2.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "62f25bc4c7e55e0b0b7a1d43fb893f4fa1361d0abe38b9ce4f323c2adfe6ef42"
+checksum = "fb5a58c1855b4b6819d59012155603f0b22ad30cad752600aadfcb695265519a"
 dependencies = [
  "bitflags",
 ]
 
 [[package]]
 name = "regex"
-version = "1.5.6"
+version = "1.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d83f127d94bdbcda4c8cc2e50f6f84f4b611f69c902699ca385a39c3a75f9ff1"
+checksum = "4c4eb3267174b8c6c2f654116623910a0fef09c4753f8dd83db29c48a0df988b"
 dependencies = [
  "aho-corasick",
  "memchr",
@@ -1532,9 +1528,9 @@ checksum = "6c230d73fb8d8c1b9c0b3135c5142a8acee3a0558fb8db5cf1cb65f8d7862132"
 
 [[package]]
 name = "regex-syntax"
-version = "0.6.26"
+version = "0.6.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49b3de9ec5dc0a3417da371aab17d729997c15010e7fd24ff707773a33bddb64"
+checksum = "a3f87b73ce11b1619a3c6332f45341e0047173771e8b8b73f87bfeefb7b56244"
 
 [[package]]
 name = "ring"
@@ -1560,15 +1556,6 @@ dependencies = [
  "array-init",
 ]
 
-[[package]]
-name = "rustc_version"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
-dependencies = [
- "semver",
-]
-
 [[package]]
 name = "rustls"
 version = "0.20.6"
@@ -1583,9 +1570,9 @@ dependencies = [
 
 [[package]]
 name = "ryu"
-version = "1.0.10"
+version = "1.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f3f6f92acf49d1b98f7a81226834412ada05458b7364277387724a237f062695"
+checksum = "4501abdff3ae82a1c1b477a17252eb69cee9e66eb915c1abaa4f44d873df9f09"
 
 [[package]]
 name = "same-file"
@@ -1636,17 +1623,11 @@ dependencies = [
  "syn",
 ]
 
-[[package]]
-name = "semver"
-version = "1.0.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8cb243bdfdb5936c8dc3c45762a19d12ab4550cdc753bc247637d4ec35a040fd"
-
 [[package]]
 name = "serde"
-version = "1.0.137"
+version = "1.0.143"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "61ea8d54c77f8315140a05f4c7237403bf38b72704d031543aa1d16abbf517d1"
+checksum = "53e8e5d5b70924f74ff5c6d64d9a5acd91422117c60f48c4e07855238a254553"
 dependencies = [
  "serde_derive",
 ]
@@ -1672,9 +1653,9 @@ dependencies = [
 
 [[package]]
 name = "serde_derive"
-version = "1.0.137"
+version = "1.0.143"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1f26faba0c3959972377d3b2d306ee9f71faee9714294e41bb777f83f88578be"
+checksum = "d3d8e8de557aee63c26b85b947f5e59b690d0454c753f3adeb5cd7835ab88391"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1683,11 +1664,11 @@ dependencies = [
 
 [[package]]
 name = "serde_json"
-version = "1.0.81"
+version = "1.0.83"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b7ce2b32a1aed03c558dc61a5cd328f15aff2dbc17daad8fb8af04d2100e15c"
+checksum = "38dd04e3c8279e75b31ef29dbdceebfe5ad89f4d0937213c53f7d49d01b3d5a7"
 dependencies = [
- "itoa 1.0.2",
+ "itoa 1.0.3",
  "ryu",
  "serde",
 ]
@@ -1724,15 +1705,18 @@ dependencies = [
 
 [[package]]
 name = "slab"
-version = "0.4.6"
+version = "0.4.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eb703cfe953bccee95685111adeedb76fabe4e97549a58d16f03ea7b9367bb32"
+checksum = "4614a76b2a8be0058caa9dbbaf66d988527d86d003c11a94fbd335d7661edcef"
+dependencies = [
+ "autocfg",
+]
 
 [[package]]
 name = "smallvec"
-version = "1.8.0"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f2dd574626839106c320a323308629dcb1acfc96e32a8cba364ddc61ac23ee83"
+checksum = "2fd0db749597d91ff862fd1d55ea87f7855a744a8425a64695b6fca237d1dad1"
 
 [[package]]
 name = "smol"
@@ -1776,9 +1760,9 @@ checksum = "73473c0e59e6d5812c5dfe2a064a6444949f089e20eec9a2e5506596494e4623"
 
 [[package]]
 name = "syn"
-version = "1.0.96"
+version = "1.0.99"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0748dd251e24453cb8717f0354206b91557e4ec8703673a4b30208f2abaf1ebf"
+checksum = "58dbef6ec655055e20b86b15a8cc6d439cca19b667537ac6a1369572d151ab13"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1885,18 +1869,18 @@ checksum = "b1141d4d61095b28419e22cb0bbf02755f5e54e0526f97f1e3d1d160e60885fb"
 
 [[package]]
 name = "thiserror"
-version = "1.0.31"
+version = "1.0.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bd829fe32373d27f76265620b5309d0340cb8550f523c1dda251d6298069069a"
+checksum = "f5f6586b7f764adc0231f4c79be7b920e766bb2f3e51b3661cdb263828f19994"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.31"
+version = "1.0.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0396bc89e626244658bef819e22d0cc459e795a5ebe878e6ec336d1674a8d79a"
+checksum = "12bafc5b54507e0149cdf1b145a5d80ab80a90bcd9275df43d4fff68460f6c21"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1939,9 +1923,9 @@ checksum = "cda74da7e1a664f795bb1f8a87ec406fb89a02522cf6e50620d016add6dbbf5c"
 
 [[package]]
 name = "tungstenite"
-version = "0.17.2"
+version = "0.17.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d96a2dea40e7570482f28eb57afbe42d97551905da6a9400acc5c328d24004f5"
+checksum = "e27992fd6a8c29ee7eef28fc78349aa244134e10ad447ce3b9f0ac0ed0fa4ce0"
 dependencies = [
  "base64",
  "byteorder",
@@ -1991,15 +1975,15 @@ checksum = "099b7128301d285f79ddd55b9a83d5e6b9e97c92e0ea0daebee7263e932de992"
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.0"
+version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d22af068fba1eb5edcb4aea19d382b2a3deb4c8f9d475c589b6ada9e0fd493ee"
+checksum = "c4f5b37a154999a8f3f98cc23a628d850e154479cd94decf3414696e12e31aaf"
 
 [[package]]
 name = "unicode-normalization"
-version = "0.1.19"
+version = "0.1.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d54590932941a9e9266f0832deed84ebe1bf2e4c9e4a3554d393d18f5e854bf9"
+checksum = "854cbdc4f7bc6ae19c820d44abdc3277ac3e1b2b93db20a636825d9322fb60e6"
 dependencies = [
  "tinyvec",
 ]
@@ -2025,7 +2009,7 @@ checksum = "a156c684c91ea7d62626509bce3cb4e1d9ed5c4d978f7b4352658f96a4c26b4a"
 [[package]]
 name = "uom"
 version = "0.32.0"
-source = "git+https://github.com/wucke13/uom.git?branch=fix-missing-libm#f82bc456aa319892f4edad5d555a16fa7e35e6db"
+source = "git+https://github.com/wucke13/uom.git?branch=fix-missing-libm#d87446532affa55eecb697a227fcf09d0b02f55b"
 dependencies = [
  "num-traits",
  "serde",
@@ -2034,9 +2018,9 @@ dependencies = [
 
 [[package]]
 name = "ureq"
-version = "2.4.0"
+version = "2.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9399fa2f927a3d327187cbd201480cee55bee6ac5d3c77dd27f0c6814cff16d5"
+checksum = "b97acb4c28a254fd7a4aeec976c46a7fa404eac4d7c134b30c75144846d7cb8f"
 dependencies = [
  "base64",
  "chunked_transfer",
@@ -2102,15 +2086,15 @@ dependencies = [
 
 [[package]]
 name = "wasi"
-version = "0.10.2+wasi-snapshot-preview1"
+version = "0.11.0+wasi-snapshot-preview1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fd6fbd9a79829dd1ad0cc20627bf1ed606756a7f77edff7b66b7064f9cb327c6"
+checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
 
 [[package]]
 name = "wasm-bindgen"
-version = "0.2.80"
+version = "0.2.82"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "27370197c907c55e3f1a9fbe26f44e937fe6451368324e009cba39e139dc08ad"
+checksum = "fc7652e3f6c4706c8d9cd54832c4a4ccb9b5336e2c3bd154d5cccfbf1c1f5f7d"
 dependencies = [
  "cfg-if",
  "wasm-bindgen-macro",
@@ -2118,13 +2102,13 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-backend"
-version = "0.2.80"
+version = "0.2.82"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "53e04185bfa3a779273da532f5025e33398409573f348985af9a1cbf3774d3f4"
+checksum = "662cd44805586bd52971b9586b1df85cdbbd9112e4ef4d8f41559c334dc6ac3f"
 dependencies = [
  "bumpalo",
- "lazy_static",
  "log",
+ "once_cell",
  "proc-macro2",
  "quote",
  "syn",
@@ -2133,9 +2117,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-futures"
-version = "0.4.30"
+version = "0.4.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6f741de44b75e14c35df886aff5f1eb73aa114fa5d4d00dcd37b5e01259bf3b2"
+checksum = "fa76fb221a1f8acddf5b54ace85912606980ad661ac7a503b4570ffd3a624dad"
 dependencies = [
  "cfg-if",
  "js-sys",
@@ -2145,9 +2129,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro"
-version = "0.2.80"
+version = "0.2.82"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "17cae7ff784d7e83a2fe7611cfe766ecf034111b49deb850a3dc7699c08251f5"
+checksum = "b260f13d3012071dfb1512849c033b1925038373aea48ced3012c09df952c602"
 dependencies = [
  "quote",
  "wasm-bindgen-macro-support",
@@ -2155,9 +2139,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro-support"
-version = "0.2.80"
+version = "0.2.82"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "99ec0dc7a4756fffc231aab1b9f2f578d23cd391390ab27f952ae0c9b3ece20b"
+checksum = "5be8e654bdd9b79216c2929ab90721aa82faf65c48cdf08bdc4e7f51357b80da"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -2168,15 +2152,15 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-shared"
-version = "0.2.80"
+version = "0.2.82"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d554b7f530dee5964d9a9468d95c1f8b8acae4f282807e7d27d4b03099a46744"
+checksum = "6598dd0bd3c7d51095ff6531a5b23e02acdc81804e30d8f07afb77b7215a140a"
 
 [[package]]
 name = "web-sys"
-version = "0.3.57"
+version = "0.3.59"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7b17e741662c70c8bd24ac5c5b18de314a2c26c32bf8346ee1e6f53de919c283"
+checksum = "ed055ab27f941423197eb86b2035720b1a3ce40504df082cac2ecc6ed73335a1"
 dependencies = [
  "js-sys",
  "wasm-bindgen",
@@ -2194,9 +2178,9 @@ dependencies = [
 
 [[package]]
 name = "webpki-roots"
-version = "0.22.3"
+version = "0.22.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "44d8de8415c823c8abd270ad483c6feeac771fad964890779f9a8cb24fbbc1bf"
+checksum = "f1c760f0d366a6c24a02ed7816e23e691f5d92291f94d15e836006fd11b04daf"
 dependencies = [
  "webpki",
 ]

From acfc1f9fc8ba10676f62cde029548d2def5820ee Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Wed, 17 Aug 2022 16:07:35 +0200
Subject: [PATCH 19/73] fix(opentaws): Impl default trait for TawsConfig

---
 opentaws/src/types.rs | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/opentaws/src/types.rs b/opentaws/src/types.rs
index 90b9f57..7c10399 100644
--- a/opentaws/src/types.rs
+++ b/opentaws/src/types.rs
@@ -1,5 +1,6 @@
 use core::{
     fmt,
+    iter::Empty,
     ops::{Add, Rem},
 };
 
@@ -7,6 +8,7 @@ use uom::{
     fmt::DisplayStyle::Abbreviation,
     si::f64::*,
     si::{
+        acceleration::foot_per_second_squared,
         angle::{degree, revolution},
         length::foot,
         time::second,
@@ -14,7 +16,7 @@ use uom::{
     },
 };
 
-use aviation_database::{AirportDatabase, Position, Runway};
+use aviation_database::{reference::AirportDatabaseImpl, AirportDatabase, Position, Runway};
 
 /// Represents the current state of an aircraft
 #[derive(Clone, Debug, Default)]
@@ -169,17 +171,16 @@ impl fmt::Display for AircraftState {
     }
 }
 
-/*
 impl<'a> Default for TawsConfig<'a> {
     fn default() -> Self {
+        static AIRPORT_DATABASE: AirportDatabaseImpl = AirportDatabaseImpl {};
         Self {
-            terrain_server: &'static AirportDatabaseImpl,
+            terrain_server: &AIRPORT_DATABASE,
             max_climbrate: Velocity::new::<foot_per_minute>(700.0),
             max_climbrate_change: Acceleration::new::<foot_per_second_squared>(100.0),
         }
     }
 }
- */
 
 #[cfg(test)]
 mod test {

From 53075b3a9578903a780719fefb5229006912975c Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Tue, 23 Aug 2022 14:50:51 +0200
Subject: [PATCH 20/73] fix(PDA): invalid envelope

---
 opentaws/src/alerts/pda.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opentaws/src/alerts/pda.rs b/opentaws/src/alerts/pda.rs
index 41912b8..8d64f66 100644
--- a/opentaws/src/alerts/pda.rs
+++ b/opentaws/src/alerts/pda.rs
@@ -52,7 +52,7 @@ lazy_static::lazy_static! {
     /// Y-Axis is Height above Terrain in foot
     static ref CAUTION_ENVELOPE: Envelope<5> = Envelope::new([
         (0.9, 5.0),
-        (0.9, 85.0),
+        (0.90001, 85.0),
         (1.8, 155.0),
         (2.3, 175.0),
         (2.4, 175.0),

From 75e704e0327fee3c0e072cfb8502e72b641445be Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Tue, 23 Aug 2022 14:53:33 +0200
Subject: [PATCH 21/73] Refactor cucumber tests

---
 Cargo.lock                                    |   1 +
 taws_minimal/Cargo.toml                       |  31 +-
 taws_minimal/tests/cucumber.rs                | 374 +++++++-----------
 taws_minimal/tests/util/aircraft_state.rs     |  57 +++
 .../aircraft_state.rs}                        | 115 +-----
 .../util/constraints/airport_database.rs      |   8 +
 .../tests/util/constraints/constraint.rs      | 146 +++++++
 taws_minimal/tests/util/constraints/mod.rs    |   9 +
 .../tests/util/constraints/press_mould.rs     |  86 ++++
 taws_minimal/tests/util/mod.rs                | 218 +---------
 taws_minimal/tests/util/parameters.rs         | 168 ++++++++
 taws_minimal/tests/util/world.rs              |  49 +++
 12 files changed, 700 insertions(+), 562 deletions(-)
 create mode 100644 taws_minimal/tests/util/aircraft_state.rs
 rename taws_minimal/tests/util/{constraint.rs => constraints/aircraft_state.rs} (67%)
 create mode 100644 taws_minimal/tests/util/constraints/airport_database.rs
 create mode 100644 taws_minimal/tests/util/constraints/constraint.rs
 create mode 100644 taws_minimal/tests/util/constraints/mod.rs
 create mode 100644 taws_minimal/tests/util/constraints/press_mould.rs
 create mode 100644 taws_minimal/tests/util/parameters.rs
 create mode 100644 taws_minimal/tests/util/world.rs

diff --git a/Cargo.lock b/Cargo.lock
index e75b0b0..883585d 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1818,6 +1818,7 @@ dependencies = [
  "rand",
  "rand_pcg",
  "rayon",
+ "regex",
  "serde",
  "serde_json",
  "smol",
diff --git a/taws_minimal/Cargo.toml b/taws_minimal/Cargo.toml
index 883a8f0..812cf61 100644
--- a/taws_minimal/Cargo.toml
+++ b/taws_minimal/Cargo.toml
@@ -5,7 +5,7 @@ authors = [
 	"Wanja Zaeske <wanja.zaeske@tu-clausthal.de>",
 	"Janick Beck <janick.beck@tu-clausthal.de>",
 	"Umut Durak <umut.durak@tu-clausthal.de>",
-	]
+]
 edition = "2018"
 license = "MIT OR Apache-2.0"
 description = "A minimal implementation of openTAWS"
@@ -27,15 +27,21 @@ aviation_database = { path = "../aviation_database" }
 
 
 # TODO jump to normal uom once https://github.com/iliekturtles/uom/pull/309 lands
-uom = { git = "https://github.com/wucke13/uom.git", branch = "fix-missing-libm", default-features = false, features = [ "f64", "si", "libm" ] }
+uom = { git = "https://github.com/wucke13/uom.git", branch = "fix-missing-libm", default-features = false, features = [
+	"f64",
+	"si",
+	"libm",
+] }
 casey = "0.3"
-serde = { version = "1.0", default-features = false, features = [ "derive" ] }
+serde = { version = "1.0", default-features = false, features = ["derive"] }
 
 # testing and examples
 arbitrary = { version = "1", features = ["derive"], optional = true }
-async-tungstenite = { version = "*", features = [ "async-std-runtime" ], optional = true }
+async-tungstenite = { version = "*", features = [
+	"async-std-runtime",
+], optional = true }
 async-trait = { version = "0.1", optional = true }
-cucumber = { version = "0", optional = true  }
+cucumber = { version = "0", optional = true }
 futures = { version = "0", optional = true }
 lazy_static = { version = "1.4", optional = true }
 rand = { version = "*", optional = true }
@@ -43,25 +49,26 @@ rand_pcg = { version = "*", optional = true }
 rayon = { version = "1.5", optional = true }
 serde_json = { version = "1.0", optional = true }
 smol = { version = "1", optional = true }
+regex = "1.6.0"
 
 
 [[test]]
 name = "cucumber"
 harness = false # Allows Cucumber to print output instead of libtest
 path = "tests/cucumber.rs"
-required-features = [ 
-	"arbitrary", 
-	"async-trait", 
-	"cucumber", 
+required-features = [
+	"arbitrary",
+	"async-trait",
+	"cucumber",
 	"futures",
 	"lazy_static",
-	"rand", 
+	"rand",
 	"rand_pcg",
 	"rayon",
 	"serde_json",
-	"smol"
+	"smol",
 ]
 
 [[example]]
 name = "flightgear"
-required-features = [ "async-tungstenite", "futures", "serde_json", "smol" ]
+required-features = ["async-tungstenite", "futures", "serde_json", "smol"]
diff --git a/taws_minimal/tests/cucumber.rs b/taws_minimal/tests/cucumber.rs
index d917c33..297f88b 100644
--- a/taws_minimal/tests/cucumber.rs
+++ b/taws_minimal/tests/cucumber.rs
@@ -1,17 +1,15 @@
-use std::cmp::PartialEq;
-use std::convert::Infallible;
-
-use uom::si::{f64::*, length::foot, velocity::foot_per_minute};
+//mod constraints;
+mod util;
 
-use async_trait::async_trait;
 use cucumber::{given, then, when, WorldInit};
-use opentaws::prelude::*;
-use taws_minimal::MinimalTaws;
 
-mod util;
-use util::*;
-
-use util::constraint::*;
+use opentaws::prelude::*;
+use uom::si::f64::{Length, Velocity};
+use uom::si::{length, velocity};
+use util::aircraft_state::AircraftStateGenerator;
+use util::constraints::Constraint;
+use util::parameters::*;
+use util::world::MyWorld;
 
 fn main() {
     smol::block_on(MyWorld::run("features"));
@@ -21,280 +19,204 @@ fn main() {
 // TODO allow for statefull tests
 // TODO evaluate merge possibilities re parser functions for similar sentences
 
-#[derive(WorldInit)]
-pub struct MyWorld {
-    taws: MinimalTaws<'static>,
-    constraints: Vec<AircraftStateConstraints>,
-    test_length: usize,
-    last_step_type: StepType,
-    phase: usize,
-}
+#[given(expr = "the plane {maybe} flying")]
+fn given_flying(_world: &mut MyWorld, _maybe: MaybeParameter) {}
 
-//TODO use cucumber rs StepType enum
-#[derive(PartialEq)]
-pub enum StepType {
-    Given,
-    When,
-    Then,
-}
-
-#[given("the plane is flying")]
-fn is_flying(_world: &mut MyWorld) {}
-
-#[given(regex = r#"^(.+) is ?(not)? armed$"#)]
-fn is_armed(world: &mut MyWorld, alert: AlertWrapper, maybe_not: String) {
-    if maybe_not == "not" {
-        world.taws.disarm(alert.into());
-    } else {
-        world.taws.arm(alert.into());
+#[given(expr = "{alert} {maybe} armed")]
+fn given_alert_armed(world: &mut MyWorld, alert: AlertParameter, maybe: MaybeParameter) {
+    let alert: Alert = alert.into();
+    match maybe.into() {
+        true => world.taws.arm(alert),
+        false => world.taws.disarm(alert),
     }
 }
 
-#[given(regex = "^(.+) is ?(not)? inhibited$")]
-fn is_inhibited(world: &mut MyWorld, alert: AlertWrapper, maybe_not: String) {
-    if maybe_not == "not" {
-        world.taws.uninhibit(alert.into());
-    } else {
-        world.taws.inhibit(alert.into());
+#[given(expr = "{alert} {maybe} inhibited")]
+fn given_alert_inhibited(world: &mut MyWorld, alert: AlertParameter, maybe: MaybeParameter) {
+    let alert: Alert = alert.into();
+    match maybe.into() {
+        true => world.taws.inhibit(alert),
+        false => world.taws.uninhibit(alert),
     }
 }
 
-#[given(regex = r"^steep approach is ?(not)? selected$")]
-fn steep_approach(world: &mut MyWorld, maybe_not: String) {
-    world.update_phase(StepType::Given);
-    if maybe_not == "not" {
-        world.constraints[world.phase].add_steep_approach_constraint(false)
-    } else {
-        world.constraints[world.phase].add_steep_approach_constraint(true)
-    }
+#[given(expr = "a {alert} {alert_level} alert {maybe} active")]
+fn given_alert_level_active(
+    _world: &mut MyWorld,
+    _alert: AlertParameter,
+    _level: AlertLevelParameter,
+    _maybe: MaybeParameter,
+) {
+    todo!()
 }
 
-#[given(regex = r"^take-off is ?(not)? selected$")]
-fn take_of(world: &mut MyWorld, maybe_not: String) {
-    world.update_phase(StepType::Given);
-    if maybe_not == "not" {
-        world.constraints[world.phase].add_take_off_constraint(false)
-    } else {
-        world.constraints[world.phase].add_take_off_constraint(true)
-    }
+#[given(expr = "steep approach {maybe} selected")]
+fn given_steep_approach_selected(world: &mut MyWorld, maybe: MaybeParameter) {
+    world.constraints[world.phase].add_steep_approach_constraint(maybe.into());
 }
 
-#[given(regex = r"^go around is ?(not)? selected$")]
-fn go_around(world: &mut MyWorld, maybe_not: String) {
-    world.update_phase(StepType::Given);
-    if maybe_not == "not" {
-        world.constraints[world.phase].add_go_around_constraint(false)
-    } else {
-        world.constraints[world.phase].add_go_around_constraint(true)
-    }
+#[given(expr = "non-precision approach {maybe} selected")]
+fn given_precision_approach_selected(world: &mut MyWorld, maybe: MaybeParameter) {
+    let maybe: bool = maybe.into();
+    world.constraints[world.phase].add_precision_approach_constraint(!maybe);
 }
 
-#[given(regex = r"^non-precision approach is ?(not)? selected$")]
-fn precision_approach(world: &mut MyWorld, maybe_not: String) {
-    world.update_phase(StepType::Given);
+#[given(expr = "take-off {maybe} selected")]
+fn given_take_off(world: &mut MyWorld, maybe: MaybeParameter) {
+    world.constraints[world.phase].add_take_off_constraint(maybe.into());
+}
 
-    // double negation: non-precision is not selected
-    if maybe_not == "not" {
-        world.constraints[world.phase].add_precision_approach_constraint(true);
-    } else {
-        world.constraints[world.phase].add_precision_approach_constraint(false);
-    }
+#[given(expr = "go around {maybe} selected")]
+fn given_go_around(world: &mut MyWorld, maybe: MaybeParameter) {
+    world.constraints[world.phase].add_go_around_constraint(maybe.into());
 }
 
-#[then(regex = r"^(.+) shall ?(not)? be armed$")]
-fn shall_be_armed(world: &mut MyWorld, alert: AlertWrapper, maybe_not: String) {
-    assert_eq!(world.taws.is_armed(alert.into()), !maybe_not.eq("not"));
+#[given(expr = "the height above terrain is {constraint} foot")]
+#[when(expr = "the height above terrain is {constraint} foot")]
+fn given_height_above_terrain(world: &mut MyWorld, height_above_terrain: ConstraintParameter) {
+    let height_above_terrain: Constraint<f64> = height_above_terrain.into();
+
+    let unit = Length::new::<length::foot>(1.0);
+    let height_above_terrain = match height_above_terrain {
+        Constraint::AtLeast(p, a) => Constraint::AtLeast(p, a * unit),
+        Constraint::AtMost(p, a) => Constraint::AtMost(p, a * unit),
+        Constraint::Equal(p, a) => Constraint::Equal(p, a * unit),
+        Constraint::InRange(p, a, b) => Constraint::InRange(p, a * unit, b * unit),
+        Constraint::NotInRange(p, a, b) => Constraint::NotInRange(p, a * unit, b * unit),
+    };
+
+    //let height_above_terrain = height_above_terrain * Length::new::<length::foot>(1.0);
+
+    world.constraints[world.phase].add_altitude_ground_constraint(height_above_terrain);
 }
 
-#[when(regex = r"^the rate of descent is at (most|least) (\d+) feet per minute$")]
-fn rate_of_descent(world: &mut MyWorld, most_or_least: String, rod: f64) {
-    world.update_phase(StepType::When);
-
-    let rod = Velocity::new::<foot_per_minute>(rod);
-    // most and least are swapped here, as aircraft_state stores rate of climb, while
-    // the sentence give rate of descent
-    // TODO validate that this is a safe assumption?
-    match most_or_least.as_str() {
-        "most" => {
-            world.constraints[world.phase]
-                .add_climb_rate_constraint(Constraint::AtLeast(world.phase, -rod));
-            //world.add_mould(move |a| bouncer.at_least(&mut a.climb_rate, -rod));
-        }
-        "least" => {
-            world.constraints[world.phase]
-                .add_climb_rate_constraint(Constraint::AtMost(world.phase, -rod));
-            //world.add_mould(move |a| bouncer.at_most(&mut a.climb_rate, -rod));
-        }
-        _ => {
-            panic!("unable to parse this sentence");
-        }
-    }
+#[when(expr = "the rate of descent is {constraint} feet per minute")]
+fn when_rate_of_descent(world: &mut MyWorld, rate_of_descent: ConstraintParameter) {
+    let rate_of_descent: Constraint<f64> = rate_of_descent.into();
+
+    let unit = Velocity::new::<velocity::foot_per_minute>(-1.0);
+    let climb_rate = match rate_of_descent {
+        Constraint::AtLeast(p, a) => Constraint::AtMost(p, a * unit),
+        Constraint::AtMost(p, a) => Constraint::AtLeast(p, a * unit),
+        Constraint::Equal(p, a) => Constraint::Equal(p, a * unit),
+        Constraint::InRange(p, a, b) => Constraint::InRange(p, b * unit, a * unit),
+        Constraint::NotInRange(p, a, b) => Constraint::NotInRange(p, b * unit, a * unit),
+    };
+
+    world.constraints[world.phase].add_climb_rate_constraint(climb_rate);
 }
 
-#[when(regex = r"^the height above terrain is ?(not)? between (\d+) and (\d+) feet$")]
-fn height_above_terrain(world: &mut MyWorld, maybe_not: String, lower: f64, upper: f64) {
-    world.update_phase(StepType::When);
-
-    let height_at_least = Length::new::<foot>(lower);
-    let height_at_most = Length::new::<foot>(upper);
-
-    if maybe_not == "not" {
-        world.constraints[world.phase].add_altitude_ground_constraint(Constraint::NotInRange(
-            world.phase,
-            height_at_least,
-            height_at_most,
-        ));
-    } else {
-        world.constraints[world.phase].add_altitude_ground_constraint(Constraint::InRange(
-            world.phase,
-            height_at_least,
-            height_at_most,
-        ));
-        // TODO altitude or altitude_ground
-    }
+#[when(expr = "the height above terrain is {constraint} feet")]
+fn when_height_above_terrain(world: &mut MyWorld, height_above_ground: ConstraintParameter) {
+    let height_above_ground: Constraint<f64> = height_above_ground.into();
+
+    let unit = Length::new::<length::foot>(1.0);
+    let height_above_ground = match height_above_ground {
+        Constraint::AtLeast(p, a) => Constraint::AtLeast(p, a * unit),
+        Constraint::AtMost(p, a) => Constraint::AtMost(p, a * unit),
+        Constraint::Equal(p, a) => Constraint::Equal(p, a * unit),
+        Constraint::InRange(p, a, b) => Constraint::InRange(p, a * unit, b * unit),
+        Constraint::NotInRange(p, a, b) => Constraint::NotInRange(p, a * unit, b * unit),
+    };
+
+    world.constraints[world.phase].add_altitude_ground_constraint(height_above_ground);
 }
 
-#[when(
-    regex = r"^the distance to the nearest airport is ?(not)? between ([0-9]+\.?[0-9]*) and ([0-9]+\.?[0-9]*) NM"
-)]
-fn distance_to_airport(world: &mut MyWorld, maybe_not: String, lower: f64, upper: f64) {
-    world.update_phase(StepType::When);
+#[given(expr = "the plane is {constraint} NM of an airport")]
+#[when(expr = "the distance to the nearest airport is {constraint} NM")]
+fn when_distance_to_airport(_world: &mut MyWorld, _distance: ConstraintParameter) {
     todo!();
-    let height_at_least = Length::new::<foot>(lower);
-    let height_at_most = Length::new::<foot>(upper);
-
-    if maybe_not == "not" {
-    } else {
-    }
 }
 
-#[given(regex = r"^the height above terrain is at (most|least) (\d+) foot$")]
-fn height_above_terrain_2(world: &mut MyWorld, greater_or_less: String, height: f64) {
-    todo!("Merge with previous function");
+#[when(expr = "a failure is detected by the continuos monitoring")]
+#[when(expr = "the initiated self-test detects a failure")]
+fn when_failure_detected(world: &mut MyWorld) {
+    todo!();
 }
 
-#[given(regex = r"^the nearest runway elevation is at (most|least) (\d+) foot$")]
-fn height_above_runway(world: &mut MyWorld, greater_or_less: String, height: f64) {
-    todo!("Merge with previous function");
+#[given(expr = "the self-test is initiated")]
+#[when(expr = "the self-test is initiated")]
+fn when_self_test_initiated(_world: &mut MyWorld) {
+    todo!();
 }
 
-#[given(regex = r"^the plane is ?(not)? within ([0-9]+\.?[0-9]*) NM of an airport")]
-fn distance_to_airport_2(world: &mut MyWorld, maybe_not: String, distance: f64) {
-    todo!("Merge with previous function");
+#[when(expr = "the rate of input data reduces or stagnates")]
+fn when_data_rate_reduces(_world: &mut MyWorld) {
+    todo!();
 }
 
-#[then(regex = "^a (.*) alert is not emitted at all$")]
-fn is_not_emitted(world: &mut MyWorld, alert_and_level: AlertAndLevelWrapper) {
-    world.update_phase(StepType::Then);
-    let (alert, level) = alert_and_level.into();
+#[then(expr = "{alert} {maybe} be armed")]
+fn then_alert_armed(world: &mut MyWorld, alert: AlertParameter, maybe: MaybeParameter) {
+    assert_eq!(world.taws.is_armed(alert.into()), maybe.into())
+}
 
-    let aircraft_states =
-        AircraftStateGenerator::default().take(world.test_length * world.constraints.len());
+#[then(expr = "a {alert} {alert_level} alert {maybe} emitted( at all)")]
+fn then_alert_emitted(
+    world: &mut MyWorld,
+    alert: AlertParameter,
+    level: AlertLevelParameter,
+    should_emit: MaybeParameter,
+) {
+    let alert: Alert = alert.into();
+    let level: AlertLevel = level.into();
+    let should_emit: bool = should_emit.into();
 
     let n_constraints = world.constraints.len();
+    let aircraft_states = AircraftStateGenerator::default().take(world.test_length * n_constraints);
+
     for (c, mut frame) in aircraft_states
         .enumerate()
         .map(|(c, f)| (c % n_constraints, f))
     {
         world.constraints[c].apply_to(&mut frame);
 
-        let alert_state = world.taws.process(&mut frame);
+        let alert_state = world.taws.process(&frame);
+        let emitted = alert_state.iter().any(|(a, l)| a == alert && l <= level);
+        //println!("{:#?}", alert_state);
+        assert_eq!(emitted, should_emit);
+        //alert_state.iter().filter(|(a, l)| a == alert).
         // Make sure we are in the last phase of this scenario with "c + 1 == world.constraints.len()"
-        if c + 1 == n_constraints && alert_state.iter().any(|(a, l)| a == alert && l <= level) {
+        /*if c + 1 == n_constraints && alert_state.iter().any(|(a, l)| a == alert && l <= level) {
             panic!(
                 "Aicraft state that violated the scenario: {:#?}\nalerts emitted: {:#?}",
                 frame, alert_state
             );
-        }
+        }*/
     }
 }
 
-#[then(regex = r"^a (.*) alert is emitted within ([0-9]+\.?[0-9]*) seconds$")]
-fn is_emitted_within(world: &mut MyWorld, alert_and_level: AlertAndLevelWrapper, _seconds: f64) {
-    world.update_phase(StepType::Then);
-    let (alert, level) = alert_and_level.into();
-
-    let aircraft_states =
-        AircraftStateGenerator::default().take(world.test_length * world.constraints.len());
+#[then(expr = "a {alert} {alert_level} alert {maybe} emitted {constraint} seconds")]
+fn then_alert_emitted_within(
+    world: &mut MyWorld,
+    alert: AlertParameter,
+    level: AlertLevelParameter,
+    should_emit: MaybeParameter,
+    _time: ConstraintParameter,
+) {
+    let alert: Alert = alert.into();
+    let level: AlertLevel = level.into();
+    let should_emit: bool = should_emit.into();
 
     let n_constraints = world.constraints.len();
+    let aircraft_states = AircraftStateGenerator::default().take(world.test_length * n_constraints);
+
     for (c, mut frame) in aircraft_states
         .enumerate()
         .map(|(c, f)| (c % n_constraints, f))
     {
         world.constraints[c].apply_to(&mut frame);
 
-        let alert_state = world.taws.process(&mut frame);
-        // TODO what about the time constraint?
-        // Count all alerts that are from the functionality Mode1 and are of higher or
-        // same priority as `level`. If the count is 0, the system did not alert
-        // appropriately.
-        if c + 1 == n_constraints
-            && alert_state
-                .iter()
-                .filter(|(a, l)| *a == alert && *l <= level)
-                .count()
-                == 0
-        {
+        let alert_state = world.taws.process(&frame);
+        let emitted = alert_state.iter().any(|(a, l)| a == alert && l <= level);
+        //println!("{:#?}", alert_state);
+        assert_eq!(emitted, should_emit);
+        //alert_state.iter().filter(|(a, l)| a == alert).
+        // Make sure we are in the last phase of this scenario with "c + 1 == world.constraints.len()"
+        /*if c + 1 == n_constraints && alert_state.iter().any(|(a, l)| a == alert && l <= level) {
             panic!(
                 "Aicraft state that violated the scenario: {:#?}\nalerts emitted: {:#?}",
                 frame, alert_state
             );
-        }
+        }*/
     }
 }
-
-static AIRPORT_DATABASE: ConstraintAirportDatabase = ConstraintAirportDatabase {};
-
-lazy_static::lazy_static! {
-    static ref TAWS_CONFIG: TawsConfig<'static> = TawsConfig{
-            terrain_server: &AIRPORT_DATABASE,
-            max_climbrate: Velocity::new::<foot_per_minute>(700.0),
-            max_climbrate_change: Acceleration::new::<foot_per_second_squared>(100.0),
-    };
-}
-
-// Brot und Butter implementations
-#[async_trait(?Send)]
-impl cucumber::World for MyWorld {
-    type Error = Infallible;
-
-    async fn new() -> Result<Self, Infallible> {
-        Ok(Self {
-            taws: MinimalTaws::new(&TAWS_CONFIG),
-            constraints: vec![AircraftStateConstraints::default()],
-            test_length: 10, // TODO Increase should we be able to reduce the nearest_airport function from the aviation database
-            last_step_type: StepType::Given,
-            phase: 0,
-        })
-    }
-}
-
-impl MyWorld {
-    // Updates the current phase based on the current StepType
-    pub fn update_phase(&mut self, current_type: StepType) {
-        if self.last_step_type != current_type {
-            //Only increase phase if current phase is not "Then"
-            // Then-Step should not enforce AirplaneStateConstraints
-            if current_type != StepType::Then {
-                self.constraints.push(self.constraints[self.phase].clone());
-                self.phase += 1;
-            }
-
-            if self.last_step_type == StepType::Then && current_type == StepType::When {
-                panic!("Multiple When/Then Pairs are not allowed")
-            }
-
-            self.last_step_type = current_type;
-        }
-    }
-}
-
-impl std::fmt::Debug for MyWorld {
-    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
-        f.debug_struct("MyWorld").finish()
-        //todo!();
-    }
-}
-
-impl std::panic::UnwindSafe for MyWorld {} // This is a lie, but what they gonna do, panic?
diff --git a/taws_minimal/tests/util/aircraft_state.rs b/taws_minimal/tests/util/aircraft_state.rs
new file mode 100644
index 0000000..c1176db
--- /dev/null
+++ b/taws_minimal/tests/util/aircraft_state.rs
@@ -0,0 +1,57 @@
+use arbitrary::{Arbitrary, Unstructured};
+use opentaws::prelude::*;
+use rand::RngCore;
+
+#[derive(Debug, Clone)]
+struct AircraftStateWrapper(AircraftState);
+
+impl<'a> Arbitrary<'a> for AircraftStateWrapper {
+    fn arbitrary(u: &mut Unstructured<'a>) -> arbitrary::Result<Self> {
+        Ok(AircraftStateWrapper(AircraftState {
+            timestamp: Time::new::<second>(<i32 as Arbitrary>::arbitrary(u)? as f64),
+            altitude: Length::new::<foot>(<i32 as Arbitrary>::arbitrary(u)? as f64),
+            altitude_ground: Length::new::<foot>(<i32 as Arbitrary>::arbitrary(u)? as f64),
+            climb_rate: Velocity::new::<foot_per_minute>(<i32 as Arbitrary>::arbitrary(u)? as f64),
+            position_lat: Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64),
+            position_lon: Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64),
+            speed_ground: Velocity::new::<knot>(<i32 as Arbitrary>::arbitrary(u)? as f64),
+            speed_air: Velocity::new::<knot>(<i32 as Arbitrary>::arbitrary(u)? as f64),
+            heading: Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64),
+            pitch: Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64),
+            roll: Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64),
+            steep_approach: u.arbitrary()?,
+            precision_approach: u.arbitrary()?,
+            go_around: u.arbitrary()?,
+            take_off: u.arbitrary()?,
+        }))
+    }
+
+    fn size_hint(_depth: usize) -> (usize, Option<usize>) {
+        (std::mem::size_of::<AircraftStateWrapper>(), None)
+    }
+}
+
+// AircraftState generator
+type Prng = rand_pcg::Mcg128Xsl64;
+pub struct AircraftStateGenerator(pub Prng);
+
+impl Default for AircraftStateGenerator {
+    fn default() -> Self {
+        Self(Prng::new(0xcafef00dd15ea5e5))
+    }
+}
+
+impl Iterator for AircraftStateGenerator {
+    type Item = AircraftState;
+
+    fn next(&mut self) -> Option<Self::Item> {
+        let bytes_needed = AircraftStateWrapper::size_hint(0).0;
+        let mut buf = Vec::with_capacity(bytes_needed);
+        while buf.len() < bytes_needed {
+            buf.extend_from_slice(&self.0.next_u64().to_le_bytes());
+        }
+        let mut u = Unstructured::new(&mut buf);
+
+        Some(AircraftStateWrapper::arbitrary(&mut u).unwrap().0) // the unwrap is safe, we guarantee that enough bytes are available
+    }
+}
diff --git a/taws_minimal/tests/util/constraint.rs b/taws_minimal/tests/util/constraints/aircraft_state.rs
similarity index 67%
rename from taws_minimal/tests/util/constraint.rs
rename to taws_minimal/tests/util/constraints/aircraft_state.rs
index b0f8825..b28637b 100644
--- a/taws_minimal/tests/util/constraint.rs
+++ b/taws_minimal/tests/util/constraints/aircraft_state.rs
@@ -1,9 +1,6 @@
-#[allow(dead_code)]
-use crate::util::PressMould;
-use crate::BouncingClamp;
-use aviation_database::{AirportDatabase, Runway};
+use super::{constraint::Constraint, press_mould};
 use opentaws::AircraftState;
-use uom::si::f64::*;
+use uom::si::f64::{Angle, Length, Velocity};
 
 #[derive(Clone, Default, PartialEq)]
 pub struct AircraftStateConstraints {
@@ -34,7 +31,7 @@ impl AircraftStateConstraints {
             + std::ops::Rem<Output = Q>
             + std::ops::Sub
             + std::ops::Sub<Output = Q>
-            + crate::util::Abs
+            + press_mould::Abs
             + std::fmt::Debug,
     {
         let mut i = 0;
@@ -60,7 +57,7 @@ impl AircraftStateConstraints {
             + std::ops::Rem<Output = Q>
             + std::ops::Sub
             + std::ops::Sub<Output = Q>
-            + crate::util::Abs
+            + press_mould::Abs
             + std::fmt::Debug,
     {
         let mut cs = Vec::new();
@@ -130,7 +127,7 @@ impl AircraftStateConstraints {
             + std::ops::Rem<Output = Q>
             + std::ops::Sub
             + std::ops::Sub<Output = Q>
-            + crate::util::Abs
+            + press_mould::Abs
             + std::fmt::Debug,
     {
         let merged = Self::merge(constraints);
@@ -216,105 +213,3 @@ impl AircraftStateConstraints {
         self.take_of = c;
     }
 }
-
-#[derive(Clone, PartialEq, Debug)]
-pub enum Constraint<Q>
-where
-    Q: Copy
-        + PartialOrd
-        + PartialEq<Q>
-        + std::ops::Add
-        + std::ops::Add<Output = Q>
-        + std::ops::Rem
-        + std::ops::Rem<Output = Q>
-        + std::ops::Sub
-        + std::ops::Sub<Output = Q>
-        + crate::util::Abs
-        + std::fmt::Debug,
-{
-    AtLeast(usize, Q),
-    AtMost(usize, Q),
-    Equal(usize, Q),
-    InRange(usize, Q, Q),
-    NotInRange(usize, Q, Q),
-}
-
-impl<Q> Constraint<Q>
-where
-    Q: Copy
-        + PartialOrd
-        + PartialEq<Q>
-        + std::ops::Add
-        + std::ops::Add<Output = Q>
-        + std::ops::Rem
-        + std::ops::Rem<Output = Q>
-        + std::ops::Sub
-        + std::ops::Sub<Output = Q>
-        + crate::util::Abs
-        + std::fmt::Debug,
-{
-    pub fn phase(&self) -> usize {
-        match self {
-            Constraint::AtLeast(i, _) => *i,
-            Constraint::AtMost(i, _) => *i,
-            Constraint::Equal(i, _) => *i,
-            Constraint::InRange(i, _, _) => *i,
-            Constraint::NotInRange(i, _, _) => *i,
-        }
-    }
-
-    pub fn apply_to(&self, quantity: &mut Q) {
-        let mut bouncer = BouncingClamp();
-
-        match self {
-            Constraint::AtLeast(_, l) => bouncer.at_least(quantity, *l),
-            Constraint::AtMost(_, l) => bouncer.at_most(quantity, *l),
-            Constraint::Equal(_, l) => *quantity = *l,
-            Constraint::InRange(_, l, r) => bouncer.in_range(quantity, *l, *r),
-            Constraint::NotInRange(_, l, r) => bouncer.not_in_range(quantity, *l, *r),
-        }
-    }
-
-    pub fn check(&self, to_check: Q) {
-        match self {
-            Constraint::AtLeast(_, l) => assert!(
-                to_check >= *l,
-                "Checked Number {:?} failed constraint: at least {:?}",
-                to_check,
-                l
-            ),
-            Constraint::AtMost(_, l) => assert!(
-                to_check <= *l,
-                "Checked Number {:?} failed constraint: at most {:?}",
-                to_check,
-                l
-            ),
-            Constraint::Equal(_, l) => assert_eq!(
-                &to_check, l,
-                "Checked Number {:?} failed constraint: equal to {:?}",
-                to_check, l
-            ),
-            Constraint::InRange(_, l, r) => assert!(
-                to_check >= *l && to_check <= *r,
-                "Checked Number {:?} failed constraint: in range {:?} - {:?}",
-                to_check,
-                l,
-                r
-            ),
-            Constraint::NotInRange(_, l, r) => assert!(
-                *l < to_check || to_check < *r,
-                "Checked Number {:?} failed constraint: not in range {:?} - {:?}",
-                to_check,
-                r,
-                l
-            ),
-        }
-    }
-}
-
-#[derive(Debug, Default)]
-pub struct ConstraintAirportDatabase;
-
-impl AirportDatabase for ConstraintAirportDatabase {
-    type RunwayIterator = core::iter::Empty<Runway>;
-}
diff --git a/taws_minimal/tests/util/constraints/airport_database.rs b/taws_minimal/tests/util/constraints/airport_database.rs
new file mode 100644
index 0000000..14faee0
--- /dev/null
+++ b/taws_minimal/tests/util/constraints/airport_database.rs
@@ -0,0 +1,8 @@
+use aviation_database::{AirportDatabase, Runway};
+
+#[derive(Debug, Default)]
+pub struct ConstraintAirportDatabase;
+
+impl AirportDatabase for ConstraintAirportDatabase {
+    type RunwayIterator = core::iter::Empty<Runway>;
+}
diff --git a/taws_minimal/tests/util/constraints/constraint.rs b/taws_minimal/tests/util/constraints/constraint.rs
new file mode 100644
index 0000000..58ea0ba
--- /dev/null
+++ b/taws_minimal/tests/util/constraints/constraint.rs
@@ -0,0 +1,146 @@
+use std::any::Any;
+
+use uom::num_traits::{Signed, Zero};
+
+use super::press_mould::{self, PressMould};
+
+#[derive(Clone, PartialEq, Debug)]
+pub enum Constraint<Q>
+where
+    Q: Copy
+        + PartialOrd
+        + PartialEq<Q>
+        + std::ops::Add
+        + std::ops::Add<Output = Q>
+        + std::ops::Rem
+        + std::ops::Rem<Output = Q>
+        + std::ops::Sub
+        + std::ops::Sub<Output = Q>
+        + press_mould::Abs
+        + std::fmt::Debug,
+{
+    AtLeast(usize, Q),
+    AtMost(usize, Q),
+    Equal(usize, Q),
+    InRange(usize, Q, Q),
+    NotInRange(usize, Q, Q),
+}
+
+impl<Q> Constraint<Q>
+where
+    Q: Copy
+        + PartialOrd
+        + PartialEq<Q>
+        + std::ops::Add
+        + std::ops::Add<Output = Q>
+        + std::ops::Rem
+        + std::ops::Rem<Output = Q>
+        + std::ops::Sub
+        + std::ops::Sub<Output = Q>
+        + press_mould::Abs
+        + std::fmt::Debug,
+{
+    pub fn phase(&self) -> usize {
+        match self {
+            Constraint::AtLeast(i, _) => *i,
+            Constraint::AtMost(i, _) => *i,
+            Constraint::Equal(i, _) => *i,
+            Constraint::InRange(i, _, _) => *i,
+            Constraint::NotInRange(i, _, _) => *i,
+        }
+    }
+
+    pub fn apply_to(&self, quantity: &mut Q) {
+        let mut bouncer = press_mould::BouncingClamp();
+
+        match self {
+            Constraint::AtLeast(_, l) => bouncer.at_least(quantity, *l),
+            Constraint::AtMost(_, l) => bouncer.at_most(quantity, *l),
+            Constraint::Equal(_, l) => *quantity = *l,
+            Constraint::InRange(_, l, r) => bouncer.in_range(quantity, *l, *r),
+            Constraint::NotInRange(_, l, r) => bouncer.not_in_range(quantity, *l, *r),
+        }
+    }
+
+    pub fn check(&self, to_check: Q) {
+        match self {
+            Constraint::AtLeast(_, l) => assert!(
+                to_check >= *l,
+                "Checked Number {:?} failed constraint: at least {:?}",
+                to_check,
+                l
+            ),
+            Constraint::AtMost(_, l) => assert!(
+                to_check <= *l,
+                "Checked Number {:?} failed constraint: at most {:?}",
+                to_check,
+                l
+            ),
+            Constraint::Equal(_, l) => assert_eq!(
+                &to_check, l,
+                "Checked Number {:?} failed constraint: equal to {:?}",
+                to_check, l
+            ),
+            Constraint::InRange(_, l, r) => assert!(
+                to_check >= *l && to_check <= *r,
+                "Checked Number {:?} failed constraint: in range {:?} - {:?}",
+                to_check,
+                l,
+                r
+            ),
+            Constraint::NotInRange(_, l, r) => assert!(
+                *l < to_check || to_check < *r,
+                "Checked Number {:?} failed constraint: not in range {:?} - {:?}",
+                to_check,
+                r,
+                l
+            ),
+        }
+    }
+}
+
+/*impl<Q, R, Z> std::ops::Mul<R> for Constraint<Q>
+where
+    Q: Copy
+        + PartialOrd
+        + PartialEq<Q>
+        + std::ops::Add
+        + std::ops::Add<Output = Q>
+        + std::ops::Rem
+        + std::ops::Rem<Output = Q>
+        + std::ops::Sub
+        + std::ops::Sub<Output = Q>
+        + press_mould::Abs
+        + std::fmt::Debug
+        + std::ops::Mul<R, Output = Z>,
+    R: Copy + Zero + PartialOrd<R>,
+    Z: Copy
+        + PartialOrd
+        + PartialEq<Z>
+        + std::ops::Add
+        + std::ops::Add<Output = Z>
+        + std::ops::Rem
+        + std::ops::Rem<Output = Z>
+        + std::ops::Sub
+        + std::ops::Sub<Output = Z>
+        + press_mould::Abs
+        + std::fmt::Debug,
+{
+    type Output = Constraint<Z>;
+
+    fn mul(self, r: R) -> Constraint<Z> {
+        let zero = R::zero();
+        match self {
+            Constraint::AtLeast(x, y) if r >= zero => Constraint::AtLeast(x, y * r),
+            Constraint::AtLeast(x, y) if r < zero => Constraint::AtMost(x, y * r),
+            Constraint::AtMost(x, y) if r >= zero => Constraint::AtMost(x, y * r),
+            Constraint::AtMost(x, y) if r < zero => Constraint::AtLeast(x, y * r),
+            Constraint::Equal(x, y) => Constraint::Equal(x, y * r),
+            Constraint::InRange(x, a, b) if r >= zero => Constraint::InRange(x, a * r, b * r),
+            Constraint::InRange(x, a, b) if r < zero => Constraint::InRange(x, b * r, a * r),
+            Constraint::NotInRange(x, a, b) if r >= zero => Constraint::NotInRange(x, a * r, b * r),
+            Constraint::NotInRange(x, a, b) if r < zero => Constraint::NotInRange(x, b * r, a * r),
+            _ => panic!("cannot happen"),
+        }
+    }
+}*/
diff --git a/taws_minimal/tests/util/constraints/mod.rs b/taws_minimal/tests/util/constraints/mod.rs
new file mode 100644
index 0000000..4e76f4e
--- /dev/null
+++ b/taws_minimal/tests/util/constraints/mod.rs
@@ -0,0 +1,9 @@
+mod aircraft_state;
+mod airport_database;
+mod constraint;
+mod press_mould;
+
+pub use aircraft_state::*;
+pub use airport_database::*;
+pub use constraint::*;
+pub use press_mould::*;
diff --git a/taws_minimal/tests/util/constraints/press_mould.rs b/taws_minimal/tests/util/constraints/press_mould.rs
new file mode 100644
index 0000000..2fd1268
--- /dev/null
+++ b/taws_minimal/tests/util/constraints/press_mould.rs
@@ -0,0 +1,86 @@
+use std::ops::{Add, Rem, Sub};
+
+use uom::num_traits::Signed;
+
+// for the lack of a better word
+pub trait PressMould<T> {
+    fn at_least(&mut self, value: &mut T, at_least: T);
+    fn at_most(&mut self, value: &mut T, at_most: T);
+    fn in_range(&mut self, value: &mut T, at_least: T, at_most: T);
+    fn not_in_range(&mut self, value: &mut T, range_from: T, range_to: T);
+}
+
+// Stupid
+pub struct BouncingClamp();
+
+impl<T> PressMould<T> for BouncingClamp
+where
+    T: Copy
+        + Clone
+        + std::fmt::Debug
+        + PartialOrd
+        + Add<Output = T>
+        + Rem<Output = T>
+        + Sub<Output = T>
+        + Abs,
+{
+    fn at_least(&mut self, value: &mut T, at_least: T) {
+        if *value < at_least {
+            *value = at_least + (at_least - *value)
+        }
+        assert!(*value >= at_least);
+    }
+
+    fn at_most(&mut self, value: &mut T, at_most: T) {
+        if *value > at_most {
+            *value = at_most - (*value - at_most)
+        }
+        assert!(*value <= at_most);
+    }
+
+    fn in_range(&mut self, value: &mut T, at_least: T, at_most: T) {
+        assert!(at_least <= at_most);
+
+        if at_least == at_most {
+            *value = at_least;
+            return;
+        }
+
+        let modulo = |a: T, b: T| ((a % b) + b) % b;
+
+        let span = at_most - at_least;
+        let bounced = (modulo(*value + span, span + span) - span).abs();
+        *value = bounced + at_least;
+
+        assert!(at_least <= *value && *value <= at_most);
+    }
+
+    fn not_in_range(&mut self, value: &mut T, at_most: T, at_least: T) {
+        assert!(at_most <= at_least);
+        if *value > at_most && *value < at_least {
+            *value = *value + (at_least - at_most);
+        }
+        assert!(*value < at_least || at_most < *value);
+    }
+}
+
+pub trait Abs: Sized {
+    fn abs(self) -> Self;
+}
+
+impl Abs for f64 {
+    fn abs(self) -> Self {
+        self.abs()
+    }
+}
+
+impl<D: ?Sized, U: ?Sized, V: ?Sized> Abs for uom::si::Quantity<D, U, V>
+where
+    D: uom::si::Dimension,
+    U: uom::si::Units<V>,
+    V: uom::num_traits::Num + uom::Conversion<V> + Signed,
+{
+    fn abs(self) -> Self {
+        self.abs()
+    }
+}
diff --git a/taws_minimal/tests/util/mod.rs b/taws_minimal/tests/util/mod.rs
index 2e03fc7..47e8216 100644
--- a/taws_minimal/tests/util/mod.rs
+++ b/taws_minimal/tests/util/mod.rs
@@ -1,214 +1,4 @@
-pub mod constraint;
-
-use std::{
-    ops::{Add, Rem, Sub},
-    str::FromStr,
-};
-
-use arbitrary::{Arbitrary, Unstructured};
-use rand::RngCore;
-
-use uom::{
-    num::Signed,
-    si::{f64::*, length::foot, time::second, velocity::foot_per_minute},
-};
-
-use opentaws::prelude::*;
-
-#[derive(Debug, Clone)]
-struct AircraftStateWrapper(AircraftState);
-
-impl<'a> Arbitrary<'a> for AircraftStateWrapper {
-    fn arbitrary(u: &mut Unstructured<'a>) -> arbitrary::Result<Self> {
-        Ok(AircraftStateWrapper(AircraftState {
-            timestamp: Time::new::<second>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            altitude: Length::new::<foot>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            altitude_ground: Length::new::<foot>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            climb_rate: Velocity::new::<foot_per_minute>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            position_lat: Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            position_lon: Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            speed_ground: Velocity::new::<knot>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            speed_air: Velocity::new::<knot>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            heading: Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            pitch: Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            roll: Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            steep_approach: u.arbitrary()?,
-            precision_approach: u.arbitrary()?,
-            go_around: u.arbitrary()?,
-            take_off: u.arbitrary()?,
-        }))
-    }
-
-    fn size_hint(_depth: usize) -> (usize, Option<usize>) {
-        (std::mem::size_of::<AircraftStateWrapper>(), None)
-    }
-}
-
-// Parser magic
-pub struct AlertWrapper(Alert);
-impl FromStr for AlertWrapper {
-    type Err = String;
-    fn from_str(s: &str) -> Result<Self, Self::Err> {
-        let mut input_word = s.to_lowercase();
-        input_word.retain(|c| !c.is_whitespace());
-        Ok(Self(match input_word.as_str() {
-            "ffac" => Alert::Ffac,
-            "flta" => Alert::Flta,
-            "mode1" => Alert::Mode1,
-            "mode2" => Alert::Mode2,
-            "mode3" => Alert::Mode3,
-            "mode4" => Alert::Mode4,
-            "mode5" => Alert::Mode5,
-            "pda" => Alert::Pda,
-            _ => {
-                panic!("unable to convert {} into a variant of `Alert`", s);
-            }
-        }))
-    }
-}
-impl Into<Alert> for AlertWrapper {
-    fn into(self) -> Alert {
-        self.0
-    }
-}
-
-pub struct AlertLevelWrapper(AlertLevel);
-impl FromStr for AlertLevelWrapper {
-    type Err = String;
-    fn from_str(s: &str) -> Result<Self, Self::Err> {
-        let mut input_word = s.to_string();
-        input_word.retain(|c| !c.is_whitespace());
-        Ok(Self(match input_word.as_str() {
-            "warning" => AlertLevel::Warning,
-            "caution" => AlertLevel::Caution,
-            "annunciation" => AlertLevel::Annunciation,
-            _ => {
-                panic!(r#"unable to convert "{}" into a variant of `Alert`"#, s);
-            }
-        }))
-    }
-}
-
-pub struct AlertAndLevelWrapper(Alert, AlertLevel);
-impl FromStr for AlertAndLevelWrapper {
-    type Err = String;
-    fn from_str(s: &str) -> Result<Self, Self::Err> {
-        let word_vec: Vec<_> = s.rsplitn(2, ' ').collect();
-        let alert: AlertWrapper = word_vec[1].parse()?;
-        let level: AlertLevelWrapper = word_vec[0].parse()?;
-        Ok(Self(alert.0, level.0))
-    }
-}
-impl Into<(Alert, AlertLevel)> for AlertAndLevelWrapper {
-    fn into(self) -> (Alert, AlertLevel) {
-        (self.0, self.1)
-    }
-}
-
-// AircraftState generator
-type Prng = rand_pcg::Mcg128Xsl64;
-pub struct AircraftStateGenerator(pub Prng);
-
-impl Default for AircraftStateGenerator {
-    fn default() -> Self {
-        Self(Prng::new(0xcafef00dd15ea5e5))
-    }
-}
-
-impl Iterator for AircraftStateGenerator {
-    type Item = AircraftState;
-
-    fn next(&mut self) -> Option<Self::Item> {
-        let bytes_needed = AircraftStateWrapper::size_hint(0).0;
-        let mut buf = Vec::with_capacity(bytes_needed);
-        while buf.len() < bytes_needed {
-            buf.extend_from_slice(&self.0.next_u64().to_le_bytes());
-        }
-        let mut u = Unstructured::new(&mut buf);
-
-        Some(AircraftStateWrapper::arbitrary(&mut u).unwrap().0) // the unwrap is safe, we guarantee that enough bytes are available
-    }
-}
-
-// for the lack of a better word
-pub trait PressMould<T> {
-    fn at_least(&mut self, value: &mut T, at_least: T);
-    fn at_most(&mut self, value: &mut T, at_most: T);
-    fn in_range(&mut self, value: &mut T, at_least: T, at_most: T);
-    fn not_in_range(&mut self, value: &mut T, range_from: T, range_to: T);
-}
-
-// Stupid
-pub struct BouncingClamp();
-
-impl<T> PressMould<T> for BouncingClamp
-where
-    T: Copy
-        + Clone
-        + std::fmt::Debug
-        + PartialOrd
-        + Add<Output = T>
-        + Rem<Output = T>
-        + Sub<Output = T>
-        + Abs,
-{
-    fn at_least(&mut self, value: &mut T, at_least: T) {
-        if *value < at_least {
-            *value = at_least + (at_least - *value)
-        }
-        assert!(*value >= at_least);
-    }
-
-    fn at_most(&mut self, value: &mut T, at_most: T) {
-        if *value > at_most {
-            *value = at_most - (*value - at_most)
-        }
-        assert!(*value <= at_most);
-    }
-
-    fn in_range(&mut self, value: &mut T, at_least: T, at_most: T) {
-        assert!(at_least <= at_most);
-
-        if at_least == at_most {
-            *value = at_least;
-            return;
-        }
-
-        let modulo = |a: T, b: T| ((a % b) + b) % b;
-
-        let span = at_most - at_least;
-        let bounced = (modulo(*value + span, span + span) - span).abs();
-        *value = bounced + at_least;
-
-        assert!(at_least <= *value && *value <= at_most);
-    }
-
-    fn not_in_range(&mut self, value: &mut T, at_most: T, at_least: T) {
-        assert!(at_most <= at_least);
-        if *value > at_most && *value < at_least {
-            *value = *value + (at_least - at_most);
-        }
-        assert!(*value < at_least || at_most < *value);
-    }
-}
-
-pub trait Abs: Sized {
-    fn abs(self) -> Self;
-}
-
-impl Abs for f64 {
-    fn abs(self) -> Self {
-        self.abs()
-    }
-}
-
-impl<D: ?Sized, U: ?Sized, V: ?Sized> Abs for uom::si::Quantity<D, U, V>
-where
-    D: uom::si::Dimension,
-    U: uom::si::Units<V>,
-    V: uom::num_traits::Num + uom::Conversion<V> + Signed,
-{
-    fn abs(self) -> Self {
-        self.abs()
-    }
-}
+pub mod aircraft_state;
+pub mod constraints;
+pub mod parameters;
+pub mod world;
diff --git a/taws_minimal/tests/util/parameters.rs b/taws_minimal/tests/util/parameters.rs
new file mode 100644
index 0000000..9aee731
--- /dev/null
+++ b/taws_minimal/tests/util/parameters.rs
@@ -0,0 +1,168 @@
+use std::str::FromStr;
+
+use cucumber::Parameter;
+use lazy_static::lazy_static;
+use opentaws::{Alert, AlertLevel};
+use regex::Regex;
+use uom::si::f64::Length;
+use uom::si::length;
+
+use super::constraints::Constraint;
+
+pub struct MaybeParameter(bool);
+
+impl Into<bool> for MaybeParameter {
+    fn into(self) -> bool {
+        self.0
+    }
+}
+
+impl FromStr for MaybeParameter {
+    type Err = String;
+
+    fn from_str(s: &str) -> Result<Self, Self::Err> {
+        let mut maybe = s.trim().to_lowercase();
+        maybe.retain(|c| !c.is_whitespace());
+        match maybe.as_str() {
+            "is" | "should" | "shall" => Ok(Self(true)),
+            "isnot" | "shouldnot" | "shallnot" => Ok(Self(false)),
+            _ => Err(format!("unknown word: {s}")),
+        }
+    }
+}
+
+impl Parameter for MaybeParameter {
+    const NAME: &'static str = "maybe";
+    const REGEX: &'static str = "(?:is|should|shall)\\s*(?:not)?";
+}
+
+pub struct AlertParameter(Alert);
+
+impl FromStr for AlertParameter {
+    type Err = String;
+
+    fn from_str(s: &str) -> Result<Self, Self::Err> {
+        let mut alert = s.trim().to_lowercase();
+        alert.retain(|c| !c.is_whitespace());
+        match alert.as_str() {
+            "ffac" => Ok(Self(Alert::Ffac)),
+            "flta" => Ok(Self(Alert::Flta)),
+            "mode1" => Ok(Self(Alert::Mode1)),
+            "mode2" => Ok(Self(Alert::Mode2)),
+            "mode3" => Ok(Self(Alert::Mode3)),
+            "mode4" => Ok(Self(Alert::Mode4)),
+            "mode5" => Ok(Self(Alert::Mode5)),
+            "pda" => Ok(Self(Alert::Pda)),
+            _ => Err(format!("unknown alert: {s}")),
+        }
+    }
+}
+
+impl Into<Alert> for AlertParameter {
+    fn into(self) -> Alert {
+        self.0
+    }
+}
+
+impl Parameter for AlertParameter {
+    const NAME: &'static str = "alert";
+    const REGEX: &'static str = "(?:[a-zA-Z]+\\s*[0-9]*)";
+}
+
+pub struct AlertLevelParameter(AlertLevel);
+
+impl Into<AlertLevel> for AlertLevelParameter {
+    fn into(self) -> AlertLevel {
+        self.0
+    }
+}
+
+impl FromStr for AlertLevelParameter {
+    type Err = String;
+
+    fn from_str(s: &str) -> Result<Self, Self::Err> {
+        let mut alert_level = s.trim().to_lowercase();
+        alert_level.retain(|c| !c.is_whitespace());
+        match alert_level.as_str() {
+            "warning" => Ok(Self(AlertLevel::Warning)),
+            "caution" => Ok(Self(AlertLevel::Caution)),
+            "annunciation" => Ok(Self(AlertLevel::Annunciation)),
+            _ => Err(format!("invalid alert level: {}", s)),
+        }
+    }
+}
+
+impl Parameter for AlertLevelParameter {
+    const NAME: &'static str = "alert_level";
+    const REGEX: &'static str = "(?:[Ww]arning|[Cc]aution|[Aa]nnunciation)";
+}
+
+pub struct ConstraintParameter(Constraint<f64>);
+
+impl FromStr for ConstraintParameter {
+    type Err = String;
+
+    fn from_str(s: &str) -> Result<Self, Self::Err> {
+        const PATTERN: &str = concat!(
+            "(?P<type>at least|at most|within|between|not between)",
+            "\\s*(?P<q1>[+-]?(?:[0-9]*[.])?[0-9]+)",
+            "(?:\\s*and\\s*(?P<q2>[+-]?(?:[0-9]*[.])?[0-9]+))?"
+        );
+
+        lazy_static! {
+            static ref REGEX: Regex = Regex::new(PATTERN).unwrap();
+        }
+
+        let captures = REGEX.captures(s).ok_or("invalid constraint string")?;
+        let typ = captures
+            .name("type")
+            .ok_or("constaint type not found")?
+            .as_str();
+        let q1 = captures.name("q1").ok_or("quantity not found")?.as_str();
+        let q2 = captures.name("q2").map(|x| x.as_str());
+
+        let q1 = q1.parse::<f64>().map_err(|_| "invalid quantity format")?;
+        let q2 = q2
+            .map(|x| x.parse::<f64>())
+            .transpose()
+            .map_err(|_| "invalid quantity format")?;
+
+        match typ {
+            "at least" => match q2 {
+                Some(_) => Err(format!("unexpected: {}", s)),
+                None => Ok(Self(Constraint::AtLeast(0, q1))),
+            },
+            "at most" | "within" => match q2 {
+                Some(_) => Err(format!("unexpected: {}", s)),
+                None => Ok(Self(Constraint::AtMost(0, q1))),
+            },
+            "between" => match q2 {
+                Some(q2) if q1 <= q2 => Ok(Self(Constraint::InRange(0, q1, q2))),
+                Some(q2) => Ok(Self(Constraint::InRange(0, q2, q1))),
+                None => Err(format!("missing second bound: {}", s)),
+            },
+            "not between" => match q2 {
+                Some(q2) if q1 <= q2 => Ok(Self(Constraint::NotInRange(0, q1, q2))),
+                Some(q2) => Ok(Self(Constraint::NotInRange(0, q2, q1))),
+                None => Err(format!("missing second bound: {}", s)),
+            },
+            _ => Err(format!("invalid constraint type: {}", s)),
+        }
+    }
+}
+
+impl Into<Constraint<f64>> for ConstraintParameter {
+    fn into(self) -> Constraint<f64> {
+        self.0
+    }
+}
+
+impl Parameter for ConstraintParameter {
+    const NAME: &'static str = "constraint";
+
+    const REGEX: &'static str = concat!(
+        "(?:at least|at most|within|between|not between)",
+        "\\s*[+-]?(?:[0-9]*[.])?[0-9]+",
+        "(?:\\s*and\\s*[+-]?(?:[0-9]*[.])?[0-9]+)?"
+    );
+}
diff --git a/taws_minimal/tests/util/world.rs b/taws_minimal/tests/util/world.rs
new file mode 100644
index 0000000..0603d75
--- /dev/null
+++ b/taws_minimal/tests/util/world.rs
@@ -0,0 +1,49 @@
+use std::convert::Infallible;
+
+use async_trait::async_trait;
+use cucumber::WorldInit;
+use opentaws::prelude::*;
+use taws_minimal::MinimalTaws;
+
+use super::constraints::{AircraftStateConstraints, ConstraintAirportDatabase};
+
+static AIRPORT_DATABASE: ConstraintAirportDatabase = ConstraintAirportDatabase {};
+
+lazy_static::lazy_static! {
+    static ref TAWS_CONFIG: TawsConfig<'static> = TawsConfig{
+            terrain_server: &AIRPORT_DATABASE,
+            max_climbrate: Velocity::new::<foot_per_minute>(700.0),
+            max_climbrate_change: Acceleration::new::<foot_per_second_squared>(100.0),
+    };
+}
+
+#[derive(WorldInit)]
+pub struct MyWorld {
+    pub taws: MinimalTaws<'static>,
+    pub constraints: Vec<AircraftStateConstraints>,
+    pub test_length: usize,
+    pub phase: usize,
+}
+
+#[async_trait(?Send)]
+impl cucumber::World for MyWorld {
+    type Error = Infallible;
+
+    async fn new() -> Result<Self, Infallible> {
+        Ok(Self {
+            taws: MinimalTaws::new(&TAWS_CONFIG),
+            constraints: vec![AircraftStateConstraints::default()],
+            test_length: 10,
+            phase: 0,
+        })
+    }
+}
+
+impl std::fmt::Debug for MyWorld {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        f.debug_struct("MyWorld").finish()
+        //todo!();
+    }
+}
+
+impl std::panic::UnwindSafe for MyWorld {} // This is a lie, but what they gonna do, panic?

From f3319a32d42ed95d7425588a71d1f8568bd6e442 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Wed, 24 Aug 2022 13:50:05 +0200
Subject: [PATCH 22/73] fix: use raw string literals for regexprs.

---
 taws_minimal/tests/util/parameters.rs | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/taws_minimal/tests/util/parameters.rs b/taws_minimal/tests/util/parameters.rs
index 9aee731..547c39b 100644
--- a/taws_minimal/tests/util/parameters.rs
+++ b/taws_minimal/tests/util/parameters.rs
@@ -33,7 +33,7 @@ impl FromStr for MaybeParameter {
 
 impl Parameter for MaybeParameter {
     const NAME: &'static str = "maybe";
-    const REGEX: &'static str = "(?:is|should|shall)\\s*(?:not)?";
+    const REGEX: &'static str = r"(?:is|should|shall)\s*(?:not)?";
 }
 
 pub struct AlertParameter(Alert);
@@ -66,7 +66,7 @@ impl Into<Alert> for AlertParameter {
 
 impl Parameter for AlertParameter {
     const NAME: &'static str = "alert";
-    const REGEX: &'static str = "(?:[a-zA-Z]+\\s*[0-9]*)";
+    const REGEX: &'static str = r"(?:[a-zA-Z]+\s*[0-9]*)";
 }
 
 pub struct AlertLevelParameter(AlertLevel);
@@ -104,9 +104,9 @@ impl FromStr for ConstraintParameter {
 
     fn from_str(s: &str) -> Result<Self, Self::Err> {
         const PATTERN: &str = concat!(
-            "(?P<type>at least|at most|within|between|not between)",
-            "\\s*(?P<q1>[+-]?(?:[0-9]*[.])?[0-9]+)",
-            "(?:\\s*and\\s*(?P<q2>[+-]?(?:[0-9]*[.])?[0-9]+))?"
+            r"(?P<type>at least|at most|within|between|not between)",
+            r"\s*(?P<q1>[+-]?(?:[0-9]*[.])?[0-9]+)",
+            r"(?:\s*and\s*(?P<q2>[+-]?(?:[0-9]*[.])?[0-9]+))?"
         );
 
         lazy_static! {
@@ -161,8 +161,8 @@ impl Parameter for ConstraintParameter {
     const NAME: &'static str = "constraint";
 
     const REGEX: &'static str = concat!(
-        "(?:at least|at most|within|between|not between)",
-        "\\s*[+-]?(?:[0-9]*[.])?[0-9]+",
-        "(?:\\s*and\\s*[+-]?(?:[0-9]*[.])?[0-9]+)?"
+        r"(?:at least|at most|within|between|not between)\s*",
+        r"[+-]?(?:[0-9]*[.])?[0-9]+",
+        r"(?:\s*and\s*[+-]?(?:[0-9]*[.])?[0-9]+)?"
     );
 }

From a73046b1cdbc5ff1b8fb78d4de84c7ceddefa9fe Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Wed, 24 Aug 2022 13:52:17 +0200
Subject: [PATCH 23/73] fix: remove unused stuff

---
 taws_minimal/tests/cucumber.rs                | 20 --------
 .../tests/util/constraints/constraint.rs      | 46 -------------------
 taws_minimal/tests/util/world.rs              |  1 -
 3 files changed, 67 deletions(-)

diff --git a/taws_minimal/tests/cucumber.rs b/taws_minimal/tests/cucumber.rs
index 297f88b..51f4411 100644
--- a/taws_minimal/tests/cucumber.rs
+++ b/taws_minimal/tests/cucumber.rs
@@ -85,8 +85,6 @@ fn given_height_above_terrain(world: &mut MyWorld, height_above_terrain: Constra
         Constraint::NotInRange(p, a, b) => Constraint::NotInRange(p, a * unit, b * unit),
     };
 
-    //let height_above_terrain = height_above_terrain * Length::new::<length::foot>(1.0);
-
     world.constraints[world.phase].add_altitude_ground_constraint(height_above_terrain);
 }
 
@@ -172,16 +170,7 @@ fn then_alert_emitted(
 
         let alert_state = world.taws.process(&frame);
         let emitted = alert_state.iter().any(|(a, l)| a == alert && l <= level);
-        //println!("{:#?}", alert_state);
         assert_eq!(emitted, should_emit);
-        //alert_state.iter().filter(|(a, l)| a == alert).
-        // Make sure we are in the last phase of this scenario with "c + 1 == world.constraints.len()"
-        /*if c + 1 == n_constraints && alert_state.iter().any(|(a, l)| a == alert && l <= level) {
-            panic!(
-                "Aicraft state that violated the scenario: {:#?}\nalerts emitted: {:#?}",
-                frame, alert_state
-            );
-        }*/
     }
 }
 
@@ -208,15 +197,6 @@ fn then_alert_emitted_within(
 
         let alert_state = world.taws.process(&frame);
         let emitted = alert_state.iter().any(|(a, l)| a == alert && l <= level);
-        //println!("{:#?}", alert_state);
         assert_eq!(emitted, should_emit);
-        //alert_state.iter().filter(|(a, l)| a == alert).
-        // Make sure we are in the last phase of this scenario with "c + 1 == world.constraints.len()"
-        /*if c + 1 == n_constraints && alert_state.iter().any(|(a, l)| a == alert && l <= level) {
-            panic!(
-                "Aicraft state that violated the scenario: {:#?}\nalerts emitted: {:#?}",
-                frame, alert_state
-            );
-        }*/
     }
 }
diff --git a/taws_minimal/tests/util/constraints/constraint.rs b/taws_minimal/tests/util/constraints/constraint.rs
index 58ea0ba..726a6be 100644
--- a/taws_minimal/tests/util/constraints/constraint.rs
+++ b/taws_minimal/tests/util/constraints/constraint.rs
@@ -98,49 +98,3 @@ where
         }
     }
 }
-
-/*impl<Q, R, Z> std::ops::Mul<R> for Constraint<Q>
-where
-    Q: Copy
-        + PartialOrd
-        + PartialEq<Q>
-        + std::ops::Add
-        + std::ops::Add<Output = Q>
-        + std::ops::Rem
-        + std::ops::Rem<Output = Q>
-        + std::ops::Sub
-        + std::ops::Sub<Output = Q>
-        + press_mould::Abs
-        + std::fmt::Debug
-        + std::ops::Mul<R, Output = Z>,
-    R: Copy + Zero + PartialOrd<R>,
-    Z: Copy
-        + PartialOrd
-        + PartialEq<Z>
-        + std::ops::Add
-        + std::ops::Add<Output = Z>
-        + std::ops::Rem
-        + std::ops::Rem<Output = Z>
-        + std::ops::Sub
-        + std::ops::Sub<Output = Z>
-        + press_mould::Abs
-        + std::fmt::Debug,
-{
-    type Output = Constraint<Z>;
-
-    fn mul(self, r: R) -> Constraint<Z> {
-        let zero = R::zero();
-        match self {
-            Constraint::AtLeast(x, y) if r >= zero => Constraint::AtLeast(x, y * r),
-            Constraint::AtLeast(x, y) if r < zero => Constraint::AtMost(x, y * r),
-            Constraint::AtMost(x, y) if r >= zero => Constraint::AtMost(x, y * r),
-            Constraint::AtMost(x, y) if r < zero => Constraint::AtLeast(x, y * r),
-            Constraint::Equal(x, y) => Constraint::Equal(x, y * r),
-            Constraint::InRange(x, a, b) if r >= zero => Constraint::InRange(x, a * r, b * r),
-            Constraint::InRange(x, a, b) if r < zero => Constraint::InRange(x, b * r, a * r),
-            Constraint::NotInRange(x, a, b) if r >= zero => Constraint::NotInRange(x, a * r, b * r),
-            Constraint::NotInRange(x, a, b) if r < zero => Constraint::NotInRange(x, b * r, a * r),
-            _ => panic!("cannot happen"),
-        }
-    }
-}*/
diff --git a/taws_minimal/tests/util/world.rs b/taws_minimal/tests/util/world.rs
index 0603d75..145d65d 100644
--- a/taws_minimal/tests/util/world.rs
+++ b/taws_minimal/tests/util/world.rs
@@ -42,7 +42,6 @@ impl cucumber::World for MyWorld {
 impl std::fmt::Debug for MyWorld {
     fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
         f.debug_struct("MyWorld").finish()
-        //todo!();
     }
 }
 

From f7eada8767cacaf49c1fd8853f7d09ffc95e4c26 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Wed, 24 Aug 2022 13:54:31 +0200
Subject: [PATCH 24/73] fix: remove cucumber steps with todos.

---
 taws_minimal/tests/cucumber.rs | 23 -----------------------
 1 file changed, 23 deletions(-)

diff --git a/taws_minimal/tests/cucumber.rs b/taws_minimal/tests/cucumber.rs
index 51f4411..083e080 100644
--- a/taws_minimal/tests/cucumber.rs
+++ b/taws_minimal/tests/cucumber.rs
@@ -120,29 +120,6 @@ fn when_height_above_terrain(world: &mut MyWorld, height_above_ground: Constrain
     world.constraints[world.phase].add_altitude_ground_constraint(height_above_ground);
 }
 
-#[given(expr = "the plane is {constraint} NM of an airport")]
-#[when(expr = "the distance to the nearest airport is {constraint} NM")]
-fn when_distance_to_airport(_world: &mut MyWorld, _distance: ConstraintParameter) {
-    todo!();
-}
-
-#[when(expr = "a failure is detected by the continuos monitoring")]
-#[when(expr = "the initiated self-test detects a failure")]
-fn when_failure_detected(world: &mut MyWorld) {
-    todo!();
-}
-
-#[given(expr = "the self-test is initiated")]
-#[when(expr = "the self-test is initiated")]
-fn when_self_test_initiated(_world: &mut MyWorld) {
-    todo!();
-}
-
-#[when(expr = "the rate of input data reduces or stagnates")]
-fn when_data_rate_reduces(_world: &mut MyWorld) {
-    todo!();
-}
-
 #[then(expr = "{alert} {maybe} be armed")]
 fn then_alert_armed(world: &mut MyWorld, alert: AlertParameter, maybe: MaybeParameter) {
     assert_eq!(world.taws.is_armed(alert.into()), maybe.into())

From 1f988abe1b35356d374f42b0fc86bdf2e30e9be4 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Wed, 24 Aug 2022 13:56:05 +0200
Subject: [PATCH 25/73] fix: regex version

---
 taws_minimal/Cargo.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/taws_minimal/Cargo.toml b/taws_minimal/Cargo.toml
index 812cf61..27948d9 100644
--- a/taws_minimal/Cargo.toml
+++ b/taws_minimal/Cargo.toml
@@ -49,7 +49,7 @@ rand_pcg = { version = "*", optional = true }
 rayon = { version = "1.5", optional = true }
 serde_json = { version = "1.0", optional = true }
 smol = { version = "1", optional = true }
-regex = "1.6.0"
+regex = "1"
 
 
 [[test]]

From 115d69ae8d2fa594f9ff227ce7100fa9b1b7ad16 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Wed, 24 Aug 2022 14:03:38 +0200
Subject: [PATCH 26/73] fix: constraint type bounds

---
 taws_minimal/tests/util/constraints/constraint.rs | 10 ++--------
 1 file changed, 2 insertions(+), 8 deletions(-)

diff --git a/taws_minimal/tests/util/constraints/constraint.rs b/taws_minimal/tests/util/constraints/constraint.rs
index 726a6be..cf10307 100644
--- a/taws_minimal/tests/util/constraints/constraint.rs
+++ b/taws_minimal/tests/util/constraints/constraint.rs
@@ -9,12 +9,9 @@ pub enum Constraint<Q>
 where
     Q: Copy
         + PartialOrd
-        + PartialEq<Q>
-        + std::ops::Add
+        + PartialEq
         + std::ops::Add<Output = Q>
-        + std::ops::Rem
         + std::ops::Rem<Output = Q>
-        + std::ops::Sub
         + std::ops::Sub<Output = Q>
         + press_mould::Abs
         + std::fmt::Debug,
@@ -30,12 +27,9 @@ impl<Q> Constraint<Q>
 where
     Q: Copy
         + PartialOrd
-        + PartialEq<Q>
-        + std::ops::Add
+        + PartialEq
         + std::ops::Add<Output = Q>
-        + std::ops::Rem
         + std::ops::Rem<Output = Q>
-        + std::ops::Sub
         + std::ops::Sub<Output = Q>
         + press_mould::Abs
         + std::fmt::Debug,

From 6f77642b2e8e27b438edb1cc1ab1b045b1e37122 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Wed, 24 Aug 2022 14:20:48 +0200
Subject: [PATCH 27/73] fix: removed the mould out out openTAWS

---
 taws_minimal/tests/util/constraints/aircraft_state.rs     | 8 ++++----
 taws_minimal/tests/util/constraints/constraint.rs         | 8 ++++----
 .../{press_mould.rs => constraint_enforcement.rs}         | 4 ++--
 taws_minimal/tests/util/constraints/mod.rs                | 4 ++--
 4 files changed, 12 insertions(+), 12 deletions(-)
 rename taws_minimal/tests/util/constraints/{press_mould.rs => constraint_enforcement.rs} (96%)

diff --git a/taws_minimal/tests/util/constraints/aircraft_state.rs b/taws_minimal/tests/util/constraints/aircraft_state.rs
index b28637b..4167447 100644
--- a/taws_minimal/tests/util/constraints/aircraft_state.rs
+++ b/taws_minimal/tests/util/constraints/aircraft_state.rs
@@ -1,4 +1,4 @@
-use super::{constraint::Constraint, press_mould};
+use super::{constraint::Constraint, constraint_enforcement};
 use opentaws::AircraftState;
 use uom::si::f64::{Angle, Length, Velocity};
 
@@ -31,7 +31,7 @@ impl AircraftStateConstraints {
             + std::ops::Rem<Output = Q>
             + std::ops::Sub
             + std::ops::Sub<Output = Q>
-            + press_mould::Abs
+            + constraint_enforcement::Abs
             + std::fmt::Debug,
     {
         let mut i = 0;
@@ -57,7 +57,7 @@ impl AircraftStateConstraints {
             + std::ops::Rem<Output = Q>
             + std::ops::Sub
             + std::ops::Sub<Output = Q>
-            + press_mould::Abs
+            + constraint_enforcement::Abs
             + std::fmt::Debug,
     {
         let mut cs = Vec::new();
@@ -127,7 +127,7 @@ impl AircraftStateConstraints {
             + std::ops::Rem<Output = Q>
             + std::ops::Sub
             + std::ops::Sub<Output = Q>
-            + press_mould::Abs
+            + constraint_enforcement::Abs
             + std::fmt::Debug,
     {
         let merged = Self::merge(constraints);
diff --git a/taws_minimal/tests/util/constraints/constraint.rs b/taws_minimal/tests/util/constraints/constraint.rs
index cf10307..f58c2e7 100644
--- a/taws_minimal/tests/util/constraints/constraint.rs
+++ b/taws_minimal/tests/util/constraints/constraint.rs
@@ -2,7 +2,7 @@ use std::any::Any;
 
 use uom::num_traits::{Signed, Zero};
 
-use super::press_mould::{self, PressMould};
+use super::constraint_enforcement::{self, ConstraintEnforcer};
 
 #[derive(Clone, PartialEq, Debug)]
 pub enum Constraint<Q>
@@ -13,7 +13,7 @@ where
         + std::ops::Add<Output = Q>
         + std::ops::Rem<Output = Q>
         + std::ops::Sub<Output = Q>
-        + press_mould::Abs
+        + constraint_enforcement::Abs
         + std::fmt::Debug,
 {
     AtLeast(usize, Q),
@@ -31,7 +31,7 @@ where
         + std::ops::Add<Output = Q>
         + std::ops::Rem<Output = Q>
         + std::ops::Sub<Output = Q>
-        + press_mould::Abs
+        + constraint_enforcement::Abs
         + std::fmt::Debug,
 {
     pub fn phase(&self) -> usize {
@@ -45,7 +45,7 @@ where
     }
 
     pub fn apply_to(&self, quantity: &mut Q) {
-        let mut bouncer = press_mould::BouncingClamp();
+        let mut bouncer = constraint_enforcement::BouncingClamp();
 
         match self {
             Constraint::AtLeast(_, l) => bouncer.at_least(quantity, *l),
diff --git a/taws_minimal/tests/util/constraints/press_mould.rs b/taws_minimal/tests/util/constraints/constraint_enforcement.rs
similarity index 96%
rename from taws_minimal/tests/util/constraints/press_mould.rs
rename to taws_minimal/tests/util/constraints/constraint_enforcement.rs
index 2fd1268..885d66a 100644
--- a/taws_minimal/tests/util/constraints/press_mould.rs
+++ b/taws_minimal/tests/util/constraints/constraint_enforcement.rs
@@ -3,7 +3,7 @@ use std::ops::{Add, Rem, Sub};
 use uom::num_traits::Signed;
 
 // for the lack of a better word
-pub trait PressMould<T> {
+pub trait ConstraintEnforcer<T> {
     fn at_least(&mut self, value: &mut T, at_least: T);
     fn at_most(&mut self, value: &mut T, at_most: T);
     fn in_range(&mut self, value: &mut T, at_least: T, at_most: T);
@@ -13,7 +13,7 @@ pub trait PressMould<T> {
 // Stupid
 pub struct BouncingClamp();
 
-impl<T> PressMould<T> for BouncingClamp
+impl<T> ConstraintEnforcer<T> for BouncingClamp
 where
     T: Copy
         + Clone
diff --git a/taws_minimal/tests/util/constraints/mod.rs b/taws_minimal/tests/util/constraints/mod.rs
index 4e76f4e..a95063c 100644
--- a/taws_minimal/tests/util/constraints/mod.rs
+++ b/taws_minimal/tests/util/constraints/mod.rs
@@ -1,9 +1,9 @@
 mod aircraft_state;
 mod airport_database;
 mod constraint;
-mod press_mould;
+mod constraint_enforcement;
 
 pub use aircraft_state::*;
 pub use airport_database::*;
 pub use constraint::*;
-pub use press_mould::*;
+pub use constraint_enforcement::*;

From 7ac071d4dc3bde5f33ad65a8afad9b1d73bcd4ff Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Mon, 29 Aug 2022 10:05:59 +0200
Subject: [PATCH 28/73] fix: remove todo/empty cucumber step

---
 taws_minimal/tests/cucumber.rs | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/taws_minimal/tests/cucumber.rs b/taws_minimal/tests/cucumber.rs
index 083e080..0f2fff8 100644
--- a/taws_minimal/tests/cucumber.rs
+++ b/taws_minimal/tests/cucumber.rs
@@ -40,16 +40,6 @@ fn given_alert_inhibited(world: &mut MyWorld, alert: AlertParameter, maybe: Mayb
     }
 }
 
-#[given(expr = "a {alert} {alert_level} alert {maybe} active")]
-fn given_alert_level_active(
-    _world: &mut MyWorld,
-    _alert: AlertParameter,
-    _level: AlertLevelParameter,
-    _maybe: MaybeParameter,
-) {
-    todo!()
-}
-
 #[given(expr = "steep approach {maybe} selected")]
 fn given_steep_approach_selected(world: &mut MyWorld, maybe: MaybeParameter) {
     world.constraints[world.phase].add_steep_approach_constraint(maybe.into());

From d284f2d65be8253346ae9523c11bc6b6b7e185dc Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Mon, 29 Aug 2022 10:08:44 +0200
Subject: [PATCH 29/73] factor out ConstraintEnforcer impl from
 AircraftStateConstraints

---
 taws_minimal/tests/cucumber.rs                |  6 ++-
 ..._state.rs => aircraft_state_constraint.rs} | 41 +++++++++----------
 .../tests/util/constraints/constraint.rs      |  7 +++-
 .../constraints/constraint_enforcement.rs     |  1 +
 taws_minimal/tests/util/constraints/mod.rs    |  4 +-
 5 files changed, 32 insertions(+), 27 deletions(-)
 rename taws_minimal/tests/util/constraints/{aircraft_state.rs => aircraft_state_constraint.rs} (84%)

diff --git a/taws_minimal/tests/cucumber.rs b/taws_minimal/tests/cucumber.rs
index 0f2fff8..ee31744 100644
--- a/taws_minimal/tests/cucumber.rs
+++ b/taws_minimal/tests/cucumber.rs
@@ -11,6 +11,8 @@ use util::constraints::Constraint;
 use util::parameters::*;
 use util::world::MyWorld;
 
+use crate::util::constraints::BouncingClamp;
+
 fn main() {
     smol::block_on(MyWorld::run("features"));
 }
@@ -133,7 +135,7 @@ fn then_alert_emitted(
         .enumerate()
         .map(|(c, f)| (c % n_constraints, f))
     {
-        world.constraints[c].apply_to(&mut frame);
+        world.constraints[c].apply_to::<BouncingClamp>(&mut frame);
 
         let alert_state = world.taws.process(&frame);
         let emitted = alert_state.iter().any(|(a, l)| a == alert && l <= level);
@@ -160,7 +162,7 @@ fn then_alert_emitted_within(
         .enumerate()
         .map(|(c, f)| (c % n_constraints, f))
     {
-        world.constraints[c].apply_to(&mut frame);
+        world.constraints[c].apply_to::<BouncingClamp>(&mut frame);
 
         let alert_state = world.taws.process(&frame);
         let emitted = alert_state.iter().any(|(a, l)| a == alert && l <= level);
diff --git a/taws_minimal/tests/util/constraints/aircraft_state.rs b/taws_minimal/tests/util/constraints/aircraft_state_constraint.rs
similarity index 84%
rename from taws_minimal/tests/util/constraints/aircraft_state.rs
rename to taws_minimal/tests/util/constraints/aircraft_state_constraint.rs
index 4167447..64e57a7 100644
--- a/taws_minimal/tests/util/constraints/aircraft_state.rs
+++ b/taws_minimal/tests/util/constraints/aircraft_state_constraint.rs
@@ -1,7 +1,8 @@
-use super::{constraint::Constraint, constraint_enforcement};
-use opentaws::AircraftState;
+use opentaws::prelude::*;
 use uom::si::f64::{Angle, Length, Velocity};
 
+use super::{constraint_enforcement, Constraint, ConstraintEnforcer};
+
 #[derive(Clone, Default, PartialEq)]
 pub struct AircraftStateConstraints {
     altitude: Vec<Constraint<Length>>,
@@ -25,11 +26,8 @@ impl AircraftStateConstraints {
         Q: Copy
             + PartialOrd
             + PartialEq<Q>
-            + std::ops::Add
             + std::ops::Add<Output = Q>
-            + std::ops::Rem
             + std::ops::Rem<Output = Q>
-            + std::ops::Sub
             + std::ops::Sub<Output = Q>
             + constraint_enforcement::Abs
             + std::fmt::Debug,
@@ -51,11 +49,8 @@ impl AircraftStateConstraints {
         Q: Copy
             + PartialOrd
             + PartialEq<Q>
-            + std::ops::Add
             + std::ops::Add<Output = Q>
-            + std::ops::Rem
             + std::ops::Rem<Output = Q>
-            + std::ops::Sub
             + std::ops::Sub<Output = Q>
             + constraint_enforcement::Abs
             + std::fmt::Debug,
@@ -116,37 +111,41 @@ impl AircraftStateConstraints {
         cs
     }
 
-    fn apply<Q>(constraints: &[Constraint<Q>], state: &mut Q)
+    fn apply<Q, TEnforcer>(constraints: &[Constraint<Q>], state: &mut Q)
     where
         Q: Copy
             + PartialOrd
             + PartialEq<Q>
-            + std::ops::Add
             + std::ops::Add<Output = Q>
-            + std::ops::Rem
             + std::ops::Rem<Output = Q>
-            + std::ops::Sub
             + std::ops::Sub<Output = Q>
             + constraint_enforcement::Abs
             + std::fmt::Debug,
+        TEnforcer: ConstraintEnforcer<Q> + Default,
     {
         let merged = Self::merge(constraints);
         for c in &merged {
-            c.apply_to(state)
+            c.apply_to::<TEnforcer>(state)
         }
         for c in constraints {
             c.check(*state)
         }
     }
 
-    pub fn apply_to(&self, state: &mut AircraftState) {
-        Self::apply(&self.altitude, &mut state.altitude);
-        Self::apply(&self.altitude_ground, &mut state.altitude_ground);
-        Self::apply(&self.climb_rate, &mut state.climb_rate);
-        Self::apply(&self.speed_air, &mut state.speed_air);
-        Self::apply(&self.heading, &mut state.heading);
-        Self::apply(&self.pitch, &mut state.pitch);
-        Self::apply(&self.roll, &mut state.roll);
+    pub fn apply_to<TEnforcer>(&self, state: &mut AircraftState)
+    where
+        TEnforcer: ConstraintEnforcer<Length>
+            + ConstraintEnforcer<Velocity>
+            + ConstraintEnforcer<Angle>
+            + Default,
+    {
+        Self::apply::<Length, TEnforcer>(&self.altitude, &mut state.altitude);
+        Self::apply::<Length, TEnforcer>(&self.altitude_ground, &mut state.altitude_ground);
+        Self::apply::<Velocity, TEnforcer>(&self.climb_rate, &mut state.climb_rate);
+        Self::apply::<Velocity, TEnforcer>(&self.speed_air, &mut state.speed_air);
+        Self::apply::<Angle, TEnforcer>(&self.heading, &mut state.heading);
+        Self::apply::<Angle, TEnforcer>(&self.pitch, &mut state.pitch);
+        Self::apply::<Angle, TEnforcer>(&self.roll, &mut state.roll);
 
         //TODO Change when bools get vec
         state.steep_approach = self.steep_approach;
diff --git a/taws_minimal/tests/util/constraints/constraint.rs b/taws_minimal/tests/util/constraints/constraint.rs
index f58c2e7..2adb97a 100644
--- a/taws_minimal/tests/util/constraints/constraint.rs
+++ b/taws_minimal/tests/util/constraints/constraint.rs
@@ -44,8 +44,11 @@ where
         }
     }
 
-    pub fn apply_to(&self, quantity: &mut Q) {
-        let mut bouncer = constraint_enforcement::BouncingClamp();
+    pub fn apply_to<TEnforcer>(&self, quantity: &mut Q)
+    where
+        TEnforcer: ConstraintEnforcer<Q> + Default,
+    {
+        let mut bouncer = TEnforcer::default();
 
         match self {
             Constraint::AtLeast(_, l) => bouncer.at_least(quantity, *l),
diff --git a/taws_minimal/tests/util/constraints/constraint_enforcement.rs b/taws_minimal/tests/util/constraints/constraint_enforcement.rs
index 885d66a..9c0bc14 100644
--- a/taws_minimal/tests/util/constraints/constraint_enforcement.rs
+++ b/taws_minimal/tests/util/constraints/constraint_enforcement.rs
@@ -11,6 +11,7 @@ pub trait ConstraintEnforcer<T> {
 }
 
 // Stupid
+#[derive(Default)]
 pub struct BouncingClamp();
 
 impl<T> ConstraintEnforcer<T> for BouncingClamp
diff --git a/taws_minimal/tests/util/constraints/mod.rs b/taws_minimal/tests/util/constraints/mod.rs
index a95063c..7ffb39b 100644
--- a/taws_minimal/tests/util/constraints/mod.rs
+++ b/taws_minimal/tests/util/constraints/mod.rs
@@ -1,9 +1,9 @@
-mod aircraft_state;
+mod aircraft_state_constraint;
 mod airport_database;
 mod constraint;
 mod constraint_enforcement;
 
-pub use aircraft_state::*;
+pub use aircraft_state_constraint::*;
 pub use airport_database::*;
 pub use constraint::*;
 pub use constraint_enforcement::*;

From cca0a5b3bc161d9f68823ec38d636594d276a3fe Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Mon, 5 Sep 2022 00:21:29 +0200
Subject: [PATCH 30/73] fix(taws_minimal): Refactor Constraint and
 AircraftStateConstraints

---
 taws_minimal/tests/cucumber.rs                |  30 +--
 .../constraints/aircraft_state_constraint.rs  | 214 ------------------
 .../constraints/aircraft_state_constraints.rs | 126 +++++++++++
 .../tests/util/constraints/constraint.rs      | 122 ++++++++--
 taws_minimal/tests/util/constraints/mod.rs    |   4 +-
 taws_minimal/tests/util/parameters.rs         |  12 +-
 6 files changed, 250 insertions(+), 258 deletions(-)
 delete mode 100644 taws_minimal/tests/util/constraints/aircraft_state_constraint.rs
 create mode 100644 taws_minimal/tests/util/constraints/aircraft_state_constraints.rs

diff --git a/taws_minimal/tests/cucumber.rs b/taws_minimal/tests/cucumber.rs
index ee31744..6358226 100644
--- a/taws_minimal/tests/cucumber.rs
+++ b/taws_minimal/tests/cucumber.rs
@@ -70,11 +70,11 @@ fn given_height_above_terrain(world: &mut MyWorld, height_above_terrain: Constra
 
     let unit = Length::new::<length::foot>(1.0);
     let height_above_terrain = match height_above_terrain {
-        Constraint::AtLeast(p, a) => Constraint::AtLeast(p, a * unit),
-        Constraint::AtMost(p, a) => Constraint::AtMost(p, a * unit),
-        Constraint::Equal(p, a) => Constraint::Equal(p, a * unit),
-        Constraint::InRange(p, a, b) => Constraint::InRange(p, a * unit, b * unit),
-        Constraint::NotInRange(p, a, b) => Constraint::NotInRange(p, a * unit, b * unit),
+        Constraint::AtLeast(a) => Constraint::AtLeast(a * unit),
+        Constraint::AtMost(a) => Constraint::AtMost(a * unit),
+        Constraint::Equal(a) => Constraint::Equal(a * unit),
+        Constraint::InRange(a, b) => Constraint::InRange(a * unit, b * unit),
+        Constraint::NotInRange(a, b) => Constraint::NotInRange(a * unit, b * unit),
     };
 
     world.constraints[world.phase].add_altitude_ground_constraint(height_above_terrain);
@@ -86,11 +86,11 @@ fn when_rate_of_descent(world: &mut MyWorld, rate_of_descent: ConstraintParamete
 
     let unit = Velocity::new::<velocity::foot_per_minute>(-1.0);
     let climb_rate = match rate_of_descent {
-        Constraint::AtLeast(p, a) => Constraint::AtMost(p, a * unit),
-        Constraint::AtMost(p, a) => Constraint::AtLeast(p, a * unit),
-        Constraint::Equal(p, a) => Constraint::Equal(p, a * unit),
-        Constraint::InRange(p, a, b) => Constraint::InRange(p, b * unit, a * unit),
-        Constraint::NotInRange(p, a, b) => Constraint::NotInRange(p, b * unit, a * unit),
+        Constraint::AtLeast(a) => Constraint::AtMost(a * unit),
+        Constraint::AtMost(a) => Constraint::AtLeast(a * unit),
+        Constraint::Equal(a) => Constraint::Equal(a * unit),
+        Constraint::InRange(a, b) => Constraint::InRange(b * unit, a * unit),
+        Constraint::NotInRange(a, b) => Constraint::NotInRange(b * unit, a * unit),
     };
 
     world.constraints[world.phase].add_climb_rate_constraint(climb_rate);
@@ -102,11 +102,11 @@ fn when_height_above_terrain(world: &mut MyWorld, height_above_ground: Constrain
 
     let unit = Length::new::<length::foot>(1.0);
     let height_above_ground = match height_above_ground {
-        Constraint::AtLeast(p, a) => Constraint::AtLeast(p, a * unit),
-        Constraint::AtMost(p, a) => Constraint::AtMost(p, a * unit),
-        Constraint::Equal(p, a) => Constraint::Equal(p, a * unit),
-        Constraint::InRange(p, a, b) => Constraint::InRange(p, a * unit, b * unit),
-        Constraint::NotInRange(p, a, b) => Constraint::NotInRange(p, a * unit, b * unit),
+        Constraint::AtLeast(a) => Constraint::AtLeast(a * unit),
+        Constraint::AtMost(a) => Constraint::AtMost(a * unit),
+        Constraint::Equal(a) => Constraint::Equal(a * unit),
+        Constraint::InRange(a, b) => Constraint::InRange(a * unit, b * unit),
+        Constraint::NotInRange(a, b) => Constraint::NotInRange(a * unit, b * unit),
     };
 
     world.constraints[world.phase].add_altitude_ground_constraint(height_above_ground);
diff --git a/taws_minimal/tests/util/constraints/aircraft_state_constraint.rs b/taws_minimal/tests/util/constraints/aircraft_state_constraint.rs
deleted file mode 100644
index 64e57a7..0000000
--- a/taws_minimal/tests/util/constraints/aircraft_state_constraint.rs
+++ /dev/null
@@ -1,214 +0,0 @@
-use opentaws::prelude::*;
-use uom::si::f64::{Angle, Length, Velocity};
-
-use super::{constraint_enforcement, Constraint, ConstraintEnforcer};
-
-#[derive(Clone, Default, PartialEq)]
-pub struct AircraftStateConstraints {
-    altitude: Vec<Constraint<Length>>,
-    altitude_ground: Vec<Constraint<Length>>,
-    climb_rate: Vec<Constraint<Velocity>>,
-    speed_air: Vec<Constraint<Velocity>>,
-    heading: Vec<Constraint<Angle>>,
-    pitch: Vec<Constraint<Angle>>,
-    roll: Vec<Constraint<Angle>>,
-    //TODO use vector with bool and phase
-    steep_approach: bool,
-    precision_approach: bool,
-    go_around: bool,
-    take_of: bool,
-}
-
-impl AircraftStateConstraints {
-    //Retains constraints from the current phase
-    fn filter_phase<Q>(constraints: &mut Vec<Constraint<Q>>, current_phase: usize)
-    where
-        Q: Copy
-            + PartialOrd
-            + PartialEq<Q>
-            + std::ops::Add<Output = Q>
-            + std::ops::Rem<Output = Q>
-            + std::ops::Sub<Output = Q>
-            + constraint_enforcement::Abs
-            + std::fmt::Debug,
-    {
-        let mut i = 0;
-        while i < constraints.len() {
-            if constraints[i].phase() != current_phase {
-                constraints.remove(i);
-            } else {
-                i += 1;
-            }
-        }
-    }
-
-    //Merges constraints
-    //Especially important for merging < and > constraints into one InRange constraint
-    fn merge<Q>(constraints: &[Constraint<Q>]) -> Vec<Constraint<Q>>
-    where
-        Q: Copy
-            + PartialOrd
-            + PartialEq<Q>
-            + std::ops::Add<Output = Q>
-            + std::ops::Rem<Output = Q>
-            + std::ops::Sub<Output = Q>
-            + constraint_enforcement::Abs
-            + std::fmt::Debug,
-    {
-        let mut cs = Vec::new();
-        let mut at_least = None;
-        let mut at_most = None;
-
-        for c in constraints {
-            match c {
-                Constraint::AtLeast(_, q) => {
-                    if at_least.map_or(true, |a| q > a) {
-                        at_least = Some(q);
-                    }
-                }
-                Constraint::AtMost(_, q) => {
-                    if at_most.map_or(true, |a| q < a) {
-                        at_most = Some(q);
-                    }
-                }
-                Constraint::InRange(_, l, r) => {
-                    if at_least.map_or(true, |a| l > a) {
-                        at_least = Some(l);
-                    }
-                    if at_most.map_or(true, |a| r < a) {
-                        at_most = Some(r);
-                    }
-                }
-                _ => cs.push(c.clone()),
-            }
-        }
-
-        match (at_least, at_most) {
-            (Some(at_least), Some(at_most)) => {
-                assert!(
-                    at_least <= at_most,
-                    "Left bound ({:?}) is greater than right bound ({:?})",
-                    at_least,
-                    at_most
-                );
-                cs.push(Constraint::InRange(
-                    constraints.first().unwrap().phase(),
-                    *at_least,
-                    *at_most,
-                ));
-            }
-            (Some(at_least), None) => cs.push(Constraint::AtLeast(
-                constraints.first().unwrap().phase(),
-                *at_least,
-            )),
-            (None, Some(at_most)) => cs.push(Constraint::AtMost(
-                constraints.first().unwrap().phase(),
-                *at_most,
-            )),
-            _ => {}
-        }
-
-        cs
-    }
-
-    fn apply<Q, TEnforcer>(constraints: &[Constraint<Q>], state: &mut Q)
-    where
-        Q: Copy
-            + PartialOrd
-            + PartialEq<Q>
-            + std::ops::Add<Output = Q>
-            + std::ops::Rem<Output = Q>
-            + std::ops::Sub<Output = Q>
-            + constraint_enforcement::Abs
-            + std::fmt::Debug,
-        TEnforcer: ConstraintEnforcer<Q> + Default,
-    {
-        let merged = Self::merge(constraints);
-        for c in &merged {
-            c.apply_to::<TEnforcer>(state)
-        }
-        for c in constraints {
-            c.check(*state)
-        }
-    }
-
-    pub fn apply_to<TEnforcer>(&self, state: &mut AircraftState)
-    where
-        TEnforcer: ConstraintEnforcer<Length>
-            + ConstraintEnforcer<Velocity>
-            + ConstraintEnforcer<Angle>
-            + Default,
-    {
-        Self::apply::<Length, TEnforcer>(&self.altitude, &mut state.altitude);
-        Self::apply::<Length, TEnforcer>(&self.altitude_ground, &mut state.altitude_ground);
-        Self::apply::<Velocity, TEnforcer>(&self.climb_rate, &mut state.climb_rate);
-        Self::apply::<Velocity, TEnforcer>(&self.speed_air, &mut state.speed_air);
-        Self::apply::<Angle, TEnforcer>(&self.heading, &mut state.heading);
-        Self::apply::<Angle, TEnforcer>(&self.pitch, &mut state.pitch);
-        Self::apply::<Angle, TEnforcer>(&self.roll, &mut state.roll);
-
-        //TODO Change when bools get vec
-        state.steep_approach = self.steep_approach;
-        state.precision_approach = self.precision_approach;
-        state.go_around = self.go_around;
-        state.take_off = self.take_of;
-    }
-
-    pub fn add_altitude_constraint(&mut self, c: Constraint<Length>) {
-        let phase = c.phase();
-        self.altitude.push(c);
-        Self::filter_phase(self.altitude.as_mut(), phase)
-    }
-
-    pub fn add_altitude_ground_constraint(&mut self, c: Constraint<Length>) {
-        let phase = c.phase();
-        self.altitude_ground.push(c);
-        Self::filter_phase(self.altitude_ground.as_mut(), phase)
-    }
-
-    pub fn add_climb_rate_constraint(&mut self, c: Constraint<Velocity>) {
-        let phase = c.phase();
-        self.climb_rate.push(c);
-        Self::filter_phase(self.climb_rate.as_mut(), phase)
-    }
-
-    pub fn add_speed_air_constraint(&mut self, c: Constraint<Velocity>) {
-        let phase = c.phase();
-        self.speed_air.push(c);
-        Self::filter_phase(self.speed_air.as_mut(), phase)
-    }
-
-    pub fn add_heading_constraint(&mut self, c: Constraint<Angle>) {
-        let phase = c.phase();
-        self.heading.push(c);
-        Self::filter_phase(self.heading.as_mut(), phase)
-    }
-
-    pub fn add_pitch_constraint(&mut self, c: Constraint<Angle>) {
-        let phase = c.phase();
-        self.pitch.push(c);
-        Self::filter_phase(self.pitch.as_mut(), phase)
-    }
-
-    pub fn add_roll_constraint(&mut self, c: Constraint<Angle>) {
-        let phase = c.phase();
-        self.roll.push(c);
-        Self::filter_phase(self.roll.as_mut(), phase)
-    }
-
-    pub fn add_steep_approach_constraint(&mut self, c: bool) {
-        self.steep_approach = c;
-    }
-
-    pub fn add_precision_approach_constraint(&mut self, c: bool) {
-        self.precision_approach = c;
-    }
-
-    pub fn add_go_around_constraint(&mut self, c: bool) {
-        self.go_around = c;
-    }
-
-    pub fn add_take_off_constraint(&mut self, c: bool) {
-        self.take_of = c;
-    }
-}
diff --git a/taws_minimal/tests/util/constraints/aircraft_state_constraints.rs b/taws_minimal/tests/util/constraints/aircraft_state_constraints.rs
new file mode 100644
index 0000000..67c841e
--- /dev/null
+++ b/taws_minimal/tests/util/constraints/aircraft_state_constraints.rs
@@ -0,0 +1,126 @@
+use opentaws::prelude::*;
+use uom::si::f64::{Angle, Length, Velocity};
+
+use super::{constraint_enforcement, Constraint, ConstraintEnforcer};
+
+#[derive(Clone, Default, PartialEq)]
+pub struct AircraftStateConstraints {
+    altitude: Option<Constraint<Length>>,
+    altitude_ground: Option<Constraint<Length>>,
+    climb_rate: Option<Constraint<Velocity>>,
+    speed_air: Option<Constraint<Velocity>>,
+    heading: Option<Constraint<Angle>>,
+    pitch: Option<Constraint<Angle>>,
+    roll: Option<Constraint<Angle>>,
+
+    steep_approach: bool,
+    precision_approach: bool,
+    go_around: bool,
+    take_off: bool,
+}
+
+impl AircraftStateConstraints {
+    fn apply<Q, TEnforcer>(constraint: &Option<Constraint<Q>>, state: &mut Q)
+    where
+        Q: Copy
+            + PartialOrd
+            + PartialEq<Q>
+            + std::ops::Add<Output = Q>
+            + std::ops::Rem<Output = Q>
+            + std::ops::Sub<Output = Q>
+            + constraint_enforcement::Abs
+            + std::fmt::Debug,
+        TEnforcer: ConstraintEnforcer<Q> + Default,
+    {
+        if let Some(constraint) = constraint {
+            constraint.apply_to::<TEnforcer>(state);
+            constraint.check(*state);
+        }
+    }
+
+    pub fn apply_to<TEnforcer>(&self, state: &mut AircraftState)
+    where
+        TEnforcer: ConstraintEnforcer<Length>
+            + ConstraintEnforcer<Velocity>
+            + ConstraintEnforcer<Angle>
+            + Default,
+    {
+        Self::apply::<Length, TEnforcer>(&self.altitude, &mut state.altitude);
+        Self::apply::<Length, TEnforcer>(&self.altitude_ground, &mut state.altitude_ground);
+        Self::apply::<Velocity, TEnforcer>(&self.climb_rate, &mut state.climb_rate);
+        Self::apply::<Velocity, TEnforcer>(&self.speed_air, &mut state.speed_air);
+        Self::apply::<Angle, TEnforcer>(&self.heading, &mut state.heading);
+        Self::apply::<Angle, TEnforcer>(&self.pitch, &mut state.pitch);
+        Self::apply::<Angle, TEnforcer>(&self.roll, &mut state.roll);
+
+        state.steep_approach = self.steep_approach;
+        state.precision_approach = self.precision_approach;
+        state.go_around = self.go_around;
+        state.take_off = self.take_off;
+    }
+
+    pub fn add_altitude_constraint(&mut self, c: Constraint<Length>) {
+        self.altitude = match &self.altitude {
+            Some(altitude) => Some(altitude.merge(&c).unwrap()),
+            None => Some(c),
+        }
+    }
+
+    pub fn add_altitude_ground_constraint(&mut self, c: Constraint<Length>) {
+        self.altitude_ground = match &self.altitude_ground {
+            Some(altitude_gnd) => Some(altitude_gnd.merge(&c).unwrap()),
+            None => Some(c),
+        }
+    }
+
+    pub fn add_climb_rate_constraint(&mut self, c: Constraint<Velocity>) {
+        self.climb_rate = match &self.climb_rate {
+            Some(climb_rate) => Some(climb_rate.merge(&c).unwrap()),
+            None => Some(c),
+        }
+    }
+
+    pub fn add_speed_air_constraint(&mut self, c: Constraint<Velocity>) {
+        self.speed_air = match &self.speed_air {
+            Some(speed_air) => Some(speed_air.merge(&c).unwrap()),
+            None => Some(c),
+        }
+    }
+
+    pub fn add_heading_constraint(&mut self, c: Constraint<Angle>) {
+        self.heading = match &self.heading {
+            Some(heading) => Some(heading.merge(&c).unwrap()),
+            None => Some(c),
+        }
+    }
+
+    pub fn add_pitch_constraint(&mut self, c: Constraint<Angle>) {
+        self.pitch = match &self.pitch {
+            Some(pitch) => Some(pitch.merge(&c).unwrap()),
+            None => Some(c),
+        }
+    }
+
+    pub fn add_roll_constraint(&mut self, c: Constraint<Angle>) {
+        self.roll = match &self.roll {
+            Some(roll) => Some(roll.merge(&c).unwrap()),
+            None => Some(c),
+        }
+    }
+
+    pub fn add_steep_approach_constraint(&mut self, c: bool) {
+        self.steep_approach = c;
+    }
+
+    pub fn add_precision_approach_constraint(&mut self, c: bool) {
+        self.precision_approach = c;
+    }
+
+    pub fn add_go_around_constraint(&mut self, c: bool) {
+        self.go_around = c;
+    }
+
+    pub fn add_take_off_constraint(&mut self, c: bool) {
+        self.take_off = c;
+    }
+}
diff --git a/taws_minimal/tests/util/constraints/constraint.rs b/taws_minimal/tests/util/constraints/constraint.rs
index 2adb97a..fe593e5 100644
--- a/taws_minimal/tests/util/constraints/constraint.rs
+++ b/taws_minimal/tests/util/constraints/constraint.rs
@@ -16,11 +16,11 @@ where
         + constraint_enforcement::Abs
         + std::fmt::Debug,
 {
-    AtLeast(usize, Q),
-    AtMost(usize, Q),
-    Equal(usize, Q),
-    InRange(usize, Q, Q),
-    NotInRange(usize, Q, Q),
+    AtLeast(Q),
+    AtMost(Q),
+    Equal(Q),
+    InRange(Q, Q),
+    NotInRange(Q, Q),
 }
 
 impl<Q> Constraint<Q>
@@ -34,13 +34,93 @@ where
         + constraint_enforcement::Abs
         + std::fmt::Debug,
 {
-    pub fn phase(&self) -> usize {
+    fn normalize(&self) -> Constraint<Q> {
         match self {
-            Constraint::AtLeast(i, _) => *i,
-            Constraint::AtMost(i, _) => *i,
-            Constraint::Equal(i, _) => *i,
-            Constraint::InRange(i, _, _) => *i,
-            Constraint::NotInRange(i, _, _) => *i,
+            Constraint::AtLeast(l) => Constraint::AtLeast(*l),
+            Constraint::AtMost(r) => Constraint::AtMost(*r),
+            Constraint::Equal(x) => Constraint::Equal(*x),
+            Constraint::InRange(l, r) => {
+                let (l, r) = if l <= r { (l, r) } else { (r, l) };
+                Constraint::InRange(*l, *r)
+            }
+            Constraint::NotInRange(l, r) => {
+                let (l, r) = if r <= l { (l, r) } else { (r, l) };
+                Constraint::NotInRange(*l, *r)
+            }
+        }
+    }
+
+    pub fn merge(&self, other: &Constraint<Q>) -> Result<Constraint<Q>, String> {
+        let c1 = self.normalize();
+        let c2 = other.normalize();
+        match (c1, c2) {
+            (Constraint::AtLeast(l1), Constraint::AtLeast(l2)) => {
+                let l = if l1 >= l2 { l1 } else { l2 };
+                Ok(Constraint::AtLeast(l))
+            }
+
+            (Constraint::AtMost(r1), Constraint::AtMost(r2)) => {
+                let r = if r1 <= r2 { r1 } else { r2 };
+                Ok(Constraint::AtMost(r))
+            }
+
+            (Constraint::AtLeast(l), Constraint::AtMost(r))
+            | (Constraint::AtMost(r), Constraint::AtLeast(l)) => match (l, r) {
+                (l, r) if l > r => Err(format!("unsatisfiable")),
+                (l, r) => Ok(Constraint::InRange(l, r)),
+            },
+
+            (Constraint::Equal(x), Constraint::AtLeast(l))
+            | (Constraint::AtLeast(l), Constraint::Equal(x)) => match (x, l) {
+                (x, l) if x >= l => Ok(Constraint::Equal(x)),
+                _ => Err(format!("unsatisfiable")),
+            },
+
+            (Constraint::Equal(x), Constraint::AtMost(r))
+            | (Constraint::AtMost(r), Constraint::Equal(x)) => match (x, r) {
+                (x, r) if x <= r => Ok(Constraint::Equal(x)),
+                _ => Err(format!("unsatisfiable")),
+            },
+
+            (Constraint::Equal(x), Constraint::Equal(y)) => match (x, y) {
+                (x, y) if x == y => Ok(Constraint::Equal(x)),
+                _ => Err(format!("unsatisfiable")),
+            },
+
+            (Constraint::AtLeast(l1), Constraint::InRange(l, r))
+            | (Constraint::InRange(l, r), Constraint::AtLeast(l1)) => {
+                let at_least = Constraint::AtLeast(l1);
+                let range_least = Constraint::AtLeast(l);
+                let range_most = Constraint::AtMost(r);
+                at_least.merge(&range_least)?.merge(&range_most)
+            }
+
+            (Constraint::AtMost(r1), Constraint::InRange(l, r))
+            | (Constraint::InRange(l, r), Constraint::AtMost(r1)) => {
+                let at_most = Constraint::AtMost(r1);
+                let range_least = Constraint::AtLeast(l);
+                let range_most = Constraint::AtMost(r);
+                at_most.merge(&range_most)?.merge(&range_least)
+            }
+
+            (Constraint::Equal(x), Constraint::InRange(l, r))
+            | (Constraint::InRange(l, r), Constraint::Equal(x)) => {
+                let equal = Constraint::Equal(x);
+                let range = (Constraint::AtLeast(l), Constraint::AtMost(r));
+                let x1 = equal.merge(&range.0)?;
+                let x2 = equal.merge(&range.1)?;
+                x1.merge(&x2)
+            }
+
+            (Constraint::InRange(l1, r1), Constraint::InRange(l2, r2)) => {
+                let range1 = (Constraint::AtLeast(l1), Constraint::AtMost(r1));
+                let range2 = (Constraint::AtLeast(l2), Constraint::AtMost(r2));
+                let at_least = range1.0.merge(&range2.0)?;
+                let at_most = range1.1.merge(&range2.1)?;
+                at_least.merge(&at_most)
+            }
+
+            _ => Err(format!("not supported")),
         }
     }
 
@@ -51,41 +131,41 @@ where
         let mut bouncer = TEnforcer::default();
 
         match self {
-            Constraint::AtLeast(_, l) => bouncer.at_least(quantity, *l),
-            Constraint::AtMost(_, l) => bouncer.at_most(quantity, *l),
-            Constraint::Equal(_, l) => *quantity = *l,
-            Constraint::InRange(_, l, r) => bouncer.in_range(quantity, *l, *r),
-            Constraint::NotInRange(_, l, r) => bouncer.not_in_range(quantity, *l, *r),
+            Constraint::AtLeast(l) => bouncer.at_least(quantity, *l),
+            Constraint::AtMost(l) => bouncer.at_most(quantity, *l),
+            Constraint::Equal(l) => *quantity = *l,
+            Constraint::InRange(l, r) => bouncer.in_range(quantity, *l, *r),
+            Constraint::NotInRange(l, r) => bouncer.not_in_range(quantity, *l, *r),
         }
     }
 
     pub fn check(&self, to_check: Q) {
         match self {
-            Constraint::AtLeast(_, l) => assert!(
+            Constraint::AtLeast(l) => assert!(
                 to_check >= *l,
                 "Checked Number {:?} failed constraint: at least {:?}",
                 to_check,
                 l
             ),
-            Constraint::AtMost(_, l) => assert!(
+            Constraint::AtMost(l) => assert!(
                 to_check <= *l,
                 "Checked Number {:?} failed constraint: at most {:?}",
                 to_check,
                 l
             ),
-            Constraint::Equal(_, l) => assert_eq!(
+            Constraint::Equal(l) => assert_eq!(
                 &to_check, l,
                 "Checked Number {:?} failed constraint: equal to {:?}",
                 to_check, l
             ),
-            Constraint::InRange(_, l, r) => assert!(
+            Constraint::InRange(l, r) => assert!(
                 to_check >= *l && to_check <= *r,
                 "Checked Number {:?} failed constraint: in range {:?} - {:?}",
                 to_check,
                 l,
                 r
             ),
-            Constraint::NotInRange(_, l, r) => assert!(
+            Constraint::NotInRange(l, r) => assert!(
                 *l < to_check || to_check < *r,
                 "Checked Number {:?} failed constraint: not in range {:?} - {:?}",
                 to_check,
diff --git a/taws_minimal/tests/util/constraints/mod.rs b/taws_minimal/tests/util/constraints/mod.rs
index 7ffb39b..0f87fe7 100644
--- a/taws_minimal/tests/util/constraints/mod.rs
+++ b/taws_minimal/tests/util/constraints/mod.rs
@@ -1,9 +1,9 @@
-mod aircraft_state_constraint;
+mod aircraft_state_constraints;
 mod airport_database;
 mod constraint;
 mod constraint_enforcement;
 
-pub use aircraft_state_constraint::*;
+pub use aircraft_state_constraints::*;
 pub use airport_database::*;
 pub use constraint::*;
 pub use constraint_enforcement::*;
diff --git a/taws_minimal/tests/util/parameters.rs b/taws_minimal/tests/util/parameters.rs
index 547c39b..c6ba4af 100644
--- a/taws_minimal/tests/util/parameters.rs
+++ b/taws_minimal/tests/util/parameters.rs
@@ -130,20 +130,20 @@ impl FromStr for ConstraintParameter {
         match typ {
             "at least" => match q2 {
                 Some(_) => Err(format!("unexpected: {}", s)),
-                None => Ok(Self(Constraint::AtLeast(0, q1))),
+                None => Ok(Self(Constraint::AtLeast(q1))),
             },
             "at most" | "within" => match q2 {
                 Some(_) => Err(format!("unexpected: {}", s)),
-                None => Ok(Self(Constraint::AtMost(0, q1))),
+                None => Ok(Self(Constraint::AtMost(q1))),
             },
             "between" => match q2 {
-                Some(q2) if q1 <= q2 => Ok(Self(Constraint::InRange(0, q1, q2))),
-                Some(q2) => Ok(Self(Constraint::InRange(0, q2, q1))),
+                Some(q2) if q1 <= q2 => Ok(Self(Constraint::InRange(q1, q2))),
+                Some(q2) => Ok(Self(Constraint::InRange(q2, q1))),
                 None => Err(format!("missing second bound: {}", s)),
             },
             "not between" => match q2 {
-                Some(q2) if q1 <= q2 => Ok(Self(Constraint::NotInRange(0, q1, q2))),
-                Some(q2) => Ok(Self(Constraint::NotInRange(0, q2, q1))),
+                Some(q2) if q1 <= q2 => Ok(Self(Constraint::NotInRange(q1, q2))),
+                Some(q2) => Ok(Self(Constraint::NotInRange(q2, q1))),
                 None => Err(format!("missing second bound: {}", s)),
             },
             _ => Err(format!("invalid constraint type: {}", s)),

From ee60b851990c7b9c04f1bf6a9b4b1018f0d82676 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Mon, 5 Sep 2022 14:39:05 +0200
Subject: [PATCH 31/73] fix(integration tests): implement phases

---
 taws_minimal/features/ffac.feature |  2 +
 taws_minimal/tests/cucumber.rs     | 71 ++++++++++++++----------------
 taws_minimal/tests/util/world.rs   | 13 ++++--
 3 files changed, 44 insertions(+), 42 deletions(-)

diff --git a/taws_minimal/features/ffac.feature b/taws_minimal/features/ffac.feature
index 3f0f25d..e54b490 100644
--- a/taws_minimal/features/ffac.feature
+++ b/taws_minimal/features/ffac.feature
@@ -15,6 +15,7 @@ Each of these additional categories of callouts is not required.
     And FFAC is not inhibited
     And non-precision approach is selected
     And the height above terrain is at least 500 foot
+    Given in the next phase
     When the height above terrain is at most 500 foot
     Then a FFAC annunciation alert is emitted within 1.3 seconds
 
@@ -24,5 +25,6 @@ Each of these additional categories of callouts is not required.
     And FFAC is not inhibited
     And non-precision approach is selected
     And the nearest runway elevation is at least 500 foot
+    Given in the next phase
     When the nearest runway elevation is at most 500 foot
     Then a FFAC annunciation alert is emitted within 1.3 seconds
diff --git a/taws_minimal/tests/cucumber.rs b/taws_minimal/tests/cucumber.rs
index 6358226..1b546f8 100644
--- a/taws_minimal/tests/cucumber.rs
+++ b/taws_minimal/tests/cucumber.rs
@@ -21,6 +21,11 @@ fn main() {
 // TODO allow for statefull tests
 // TODO evaluate merge possibilities re parser functions for similar sentences
 
+#[given(expr = "in the next phase")]
+fn given_new_phase(world: &mut MyWorld) {
+    world.next_phase();
+}
+
 #[given(expr = "the plane {maybe} flying")]
 fn given_flying(_world: &mut MyWorld, _maybe: MaybeParameter) {}
 
@@ -44,23 +49,23 @@ fn given_alert_inhibited(world: &mut MyWorld, alert: AlertParameter, maybe: Mayb
 
 #[given(expr = "steep approach {maybe} selected")]
 fn given_steep_approach_selected(world: &mut MyWorld, maybe: MaybeParameter) {
-    world.constraints[world.phase].add_steep_approach_constraint(maybe.into());
+    world.phases[world.phase].add_steep_approach_constraint(maybe.into());
 }
 
 #[given(expr = "non-precision approach {maybe} selected")]
 fn given_precision_approach_selected(world: &mut MyWorld, maybe: MaybeParameter) {
     let maybe: bool = maybe.into();
-    world.constraints[world.phase].add_precision_approach_constraint(!maybe);
+    world.phases[world.phase].add_precision_approach_constraint(!maybe);
 }
 
 #[given(expr = "take-off {maybe} selected")]
 fn given_take_off(world: &mut MyWorld, maybe: MaybeParameter) {
-    world.constraints[world.phase].add_take_off_constraint(maybe.into());
+    world.phases[world.phase].add_take_off_constraint(maybe.into());
 }
 
 #[given(expr = "go around {maybe} selected")]
 fn given_go_around(world: &mut MyWorld, maybe: MaybeParameter) {
-    world.constraints[world.phase].add_go_around_constraint(maybe.into());
+    world.phases[world.phase].add_go_around_constraint(maybe.into());
 }
 
 #[given(expr = "the height above terrain is {constraint} foot")]
@@ -77,7 +82,7 @@ fn given_height_above_terrain(world: &mut MyWorld, height_above_terrain: Constra
         Constraint::NotInRange(a, b) => Constraint::NotInRange(a * unit, b * unit),
     };
 
-    world.constraints[world.phase].add_altitude_ground_constraint(height_above_terrain);
+    world.phases[world.phase].add_altitude_ground_constraint(height_above_terrain);
 }
 
 #[when(expr = "the rate of descent is {constraint} feet per minute")]
@@ -93,7 +98,7 @@ fn when_rate_of_descent(world: &mut MyWorld, rate_of_descent: ConstraintParamete
         Constraint::NotInRange(a, b) => Constraint::NotInRange(b * unit, a * unit),
     };
 
-    world.constraints[world.phase].add_climb_rate_constraint(climb_rate);
+    world.phases[world.phase].add_climb_rate_constraint(climb_rate);
 }
 
 #[when(expr = "the height above terrain is {constraint} feet")]
@@ -109,7 +114,7 @@ fn when_height_above_terrain(world: &mut MyWorld, height_above_ground: Constrain
         Constraint::NotInRange(a, b) => Constraint::NotInRange(a * unit, b * unit),
     };
 
-    world.constraints[world.phase].add_altitude_ground_constraint(height_above_ground);
+    world.phases[world.phase].add_altitude_ground_constraint(height_above_ground);
 }
 
 #[then(expr = "{alert} {maybe} be armed")]
@@ -117,55 +122,43 @@ fn then_alert_armed(world: &mut MyWorld, alert: AlertParameter, maybe: MaybePara
     assert_eq!(world.taws.is_armed(alert.into()), maybe.into())
 }
 
-#[then(expr = "a {alert} {alert_level} alert {maybe} emitted( at all)")]
-fn then_alert_emitted(
+#[then(expr = "a {alert} {alert_level} alert {maybe} emitted {constraint} seconds")]
+fn then_alert_emitted_within(
     world: &mut MyWorld,
     alert: AlertParameter,
     level: AlertLevelParameter,
     should_emit: MaybeParameter,
+    _time: ConstraintParameter,
 ) {
-    let alert: Alert = alert.into();
-    let level: AlertLevel = level.into();
-    let should_emit: bool = should_emit.into();
-
-    let n_constraints = world.constraints.len();
-    let aircraft_states = AircraftStateGenerator::default().take(world.test_length * n_constraints);
-
-    for (c, mut frame) in aircraft_states
-        .enumerate()
-        .map(|(c, f)| (c % n_constraints, f))
-    {
-        world.constraints[c].apply_to::<BouncingClamp>(&mut frame);
-
-        let alert_state = world.taws.process(&frame);
-        let emitted = alert_state.iter().any(|(a, l)| a == alert && l <= level);
-        assert_eq!(emitted, should_emit);
-    }
+    then_alert_emitted(world, alert, level, should_emit)
 }
 
-#[then(expr = "a {alert} {alert_level} alert {maybe} emitted {constraint} seconds")]
-fn then_alert_emitted_within(
+#[then(expr = "a {alert} {alert_level} alert {maybe} emitted( at all)")]
+fn then_alert_emitted(
     world: &mut MyWorld,
     alert: AlertParameter,
     level: AlertLevelParameter,
     should_emit: MaybeParameter,
-    _time: ConstraintParameter,
 ) {
     let alert: Alert = alert.into();
     let level: AlertLevel = level.into();
     let should_emit: bool = should_emit.into();
 
-    let n_constraints = world.constraints.len();
-    let aircraft_states = AircraftStateGenerator::default().take(world.test_length * n_constraints);
+    let mut aircraft_states: Vec<AircraftState> = AircraftStateGenerator::default()
+        .take(world.test_length)
+        .collect();
+
+    for (i, phase) in world.phases.iter().enumerate() {
+        for state in aircraft_states.iter_mut() {
+            phase.apply_to::<BouncingClamp>(state);
+            let alert_state = world.taws.process(state);
 
-    for (c, mut frame) in aircraft_states
-        .enumerate()
-        .map(|(c, f)| (c % n_constraints, f))
-    {
-        world.constraints[c].apply_to::<BouncingClamp>(&mut frame);
+            if i < world.phases.len() - 1 {
+                continue;
+            }
 
-        let alert_state = world.taws.process(&frame);
-        let emitted = alert_state.iter().any(|(a, l)| a == alert && l <= level);
-        assert_eq!(emitted, should_emit);
+            let emitted = alert_state.iter().any(|(a, l)| a == alert && l <= level);
+            assert_eq!(emitted, should_emit);
+        }
     }
 }
diff --git a/taws_minimal/tests/util/world.rs b/taws_minimal/tests/util/world.rs
index 145d65d..99ab22e 100644
--- a/taws_minimal/tests/util/world.rs
+++ b/taws_minimal/tests/util/world.rs
@@ -20,7 +20,7 @@ lazy_static::lazy_static! {
 #[derive(WorldInit)]
 pub struct MyWorld {
     pub taws: MinimalTaws<'static>,
-    pub constraints: Vec<AircraftStateConstraints>,
+    pub phases: Vec<AircraftStateConstraints>,
     pub test_length: usize,
     pub phase: usize,
 }
@@ -32,8 +32,8 @@ impl cucumber::World for MyWorld {
     async fn new() -> Result<Self, Infallible> {
         Ok(Self {
             taws: MinimalTaws::new(&TAWS_CONFIG),
-            constraints: vec![AircraftStateConstraints::default()],
-            test_length: 10,
+            phases: vec![AircraftStateConstraints::default()],
+            test_length: 1,
             phase: 0,
         })
     }
@@ -45,4 +45,11 @@ impl std::fmt::Debug for MyWorld {
     }
 }
 
+impl MyWorld {
+    pub fn next_phase(&mut self) {
+        self.phases.push(AircraftStateConstraints::default());
+        self.phase += 1;
+    }
+}
+
 impl std::panic::UnwindSafe for MyWorld {} // This is a lie, but what they gonna do, panic?

From 5ae6da55931e01c613d74f1824b0896a8a297e8c Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Mon, 5 Sep 2022 16:48:20 +0200
Subject: [PATCH 32/73] fix(Mode3): invalid envelope

---
 opentaws/src/alerts/mode_3.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opentaws/src/alerts/mode_3.rs b/opentaws/src/alerts/mode_3.rs
index 587104b..ee390dc 100644
--- a/opentaws/src/alerts/mode_3.rs
+++ b/opentaws/src/alerts/mode_3.rs
@@ -67,7 +67,7 @@ lazy_static::lazy_static! {
     static ref CAUTION_ENVELOPE_METHODE_2: Envelope<3> = Envelope::new([
         (11.0, 35.0),
         (104.0, 1100.0),
-        (104.0, 1100.0),
+        (104.0001, 1100.0),
     ])
     .unwrap();
 }

From e47a7dcb3058b2fcf0a9285bee094cfdb240e502 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Mon, 5 Sep 2022 16:50:24 +0200
Subject: [PATCH 33/73] fix(AircraftStateConstraints): make boolean constraints
 optional

---
 .../constraints/aircraft_state_constraints.rs | 24 +++++++++----------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/taws_minimal/tests/util/constraints/aircraft_state_constraints.rs b/taws_minimal/tests/util/constraints/aircraft_state_constraints.rs
index 67c841e..704a8bf 100644
--- a/taws_minimal/tests/util/constraints/aircraft_state_constraints.rs
+++ b/taws_minimal/tests/util/constraints/aircraft_state_constraints.rs
@@ -13,10 +13,10 @@ pub struct AircraftStateConstraints {
     pitch: Option<Constraint<Angle>>,
     roll: Option<Constraint<Angle>>,
 
-    steep_approach: bool,
-    precision_approach: bool,
-    go_around: bool,
-    take_off: bool,
+    steep_approach: Option<bool>,
+    precision_approach: Option<bool>,
+    go_around: Option<bool>,
+    take_off: Option<bool>,
 }
 
 impl AircraftStateConstraints {
@@ -53,10 +53,10 @@ impl AircraftStateConstraints {
         Self::apply::<Angle, TEnforcer>(&self.pitch, &mut state.pitch);
         Self::apply::<Angle, TEnforcer>(&self.roll, &mut state.roll);
 
-        state.steep_approach = self.steep_approach;
-        state.precision_approach = self.precision_approach;
-        state.go_around = self.go_around;
-        state.take_off = self.take_off;
+        state.steep_approach = self.steep_approach.unwrap_or(state.steep_approach);
+        state.precision_approach = self.precision_approach.unwrap_or(state.precision_approach);
+        state.go_around = self.go_around.unwrap_or(state.go_around);
+        state.take_off = self.take_off.unwrap_or(state.take_off);
     }
 
     pub fn add_altitude_constraint(&mut self, c: Constraint<Length>) {
@@ -109,18 +109,18 @@ impl AircraftStateConstraints {
     }
 
     pub fn add_steep_approach_constraint(&mut self, c: bool) {
-        self.steep_approach = c;
+        self.steep_approach = Some(c);
     }
 
     pub fn add_precision_approach_constraint(&mut self, c: bool) {
-        self.precision_approach = c;
+        self.precision_approach = Some(c);
     }
 
     pub fn add_go_around_constraint(&mut self, c: bool) {
-        self.go_around = c;
+        self.go_around = Some(c);
     }
 
     pub fn add_take_off_constraint(&mut self, c: bool) {
-        self.take_off = c;
+        self.take_off = Some(c);
     }
 }

From b907d5b6da9abeb2fc081de924cbdb1cb3f06bd9 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Mon, 5 Sep 2022 16:51:00 +0200
Subject: [PATCH 34/73] fix(integration tests): impl then_alert_armed

---
 taws_minimal/tests/cucumber.rs | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/taws_minimal/tests/cucumber.rs b/taws_minimal/tests/cucumber.rs
index 1b546f8..f78734e 100644
--- a/taws_minimal/tests/cucumber.rs
+++ b/taws_minimal/tests/cucumber.rs
@@ -119,7 +119,14 @@ fn when_height_above_terrain(world: &mut MyWorld, height_above_ground: Constrain
 
 #[then(expr = "{alert} {maybe} be armed")]
 fn then_alert_armed(world: &mut MyWorld, alert: AlertParameter, maybe: MaybeParameter) {
-    assert_eq!(world.taws.is_armed(alert.into()), maybe.into())
+    let mut state = AircraftStateGenerator::default().next().unwrap();
+    for phase in world.phases.iter() {
+        phase.apply_to::<BouncingClamp>(&mut state);
+        let _alerts = world.taws.process(&state);
+    }
+
+    let is_armed = world.taws.is_armed(alert.into());
+    assert_eq!(is_armed, maybe.into())
 }
 
 #[then(expr = "a {alert} {alert_level} alert {maybe} emitted {constraint} seconds")]

From ee6fed96477cd39e66d186ef793680aa5e8833ca Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Tue, 6 Sep 2022 10:46:41 +0200
Subject: [PATCH 35/73] cleanup

---
 taws_minimal/tests/util/aircraft_state.rs     |  2 +-
 .../tests/util/constraints/constraint.rs      | 18 ++++++-------
 taws_minimal/tests/util/parameters.rs         | 26 +++++++++----------
 3 files changed, 21 insertions(+), 25 deletions(-)

diff --git a/taws_minimal/tests/util/aircraft_state.rs b/taws_minimal/tests/util/aircraft_state.rs
index c1176db..e40d610 100644
--- a/taws_minimal/tests/util/aircraft_state.rs
+++ b/taws_minimal/tests/util/aircraft_state.rs
@@ -50,7 +50,7 @@ impl Iterator for AircraftStateGenerator {
         while buf.len() < bytes_needed {
             buf.extend_from_slice(&self.0.next_u64().to_le_bytes());
         }
-        let mut u = Unstructured::new(&mut buf);
+        let mut u = Unstructured::new(&buf);
 
         Some(AircraftStateWrapper::arbitrary(&mut u).unwrap().0) // the unwrap is safe, we guarantee that enough bytes are available
     }
diff --git a/taws_minimal/tests/util/constraints/constraint.rs b/taws_minimal/tests/util/constraints/constraint.rs
index fe593e5..094881b 100644
--- a/taws_minimal/tests/util/constraints/constraint.rs
+++ b/taws_minimal/tests/util/constraints/constraint.rs
@@ -1,10 +1,6 @@
-use std::any::Any;
-
-use uom::num_traits::{Signed, Zero};
-
 use super::constraint_enforcement::{self, ConstraintEnforcer};
 
-#[derive(Clone, PartialEq, Debug)]
+#[derive(Clone, PartialEq, Eq, Debug)]
 pub enum Constraint<Q>
 where
     Q: Copy
@@ -66,25 +62,25 @@ where
 
             (Constraint::AtLeast(l), Constraint::AtMost(r))
             | (Constraint::AtMost(r), Constraint::AtLeast(l)) => match (l, r) {
-                (l, r) if l > r => Err(format!("unsatisfiable")),
+                (l, r) if l > r => Err("unsatisfiable".to_string()),
                 (l, r) => Ok(Constraint::InRange(l, r)),
             },
 
             (Constraint::Equal(x), Constraint::AtLeast(l))
             | (Constraint::AtLeast(l), Constraint::Equal(x)) => match (x, l) {
                 (x, l) if x >= l => Ok(Constraint::Equal(x)),
-                _ => Err(format!("unsatisfiable")),
+                _ => Err("unsatisfiable".to_string()),
             },
 
             (Constraint::Equal(x), Constraint::AtMost(r))
             | (Constraint::AtMost(r), Constraint::Equal(x)) => match (x, r) {
                 (x, r) if x <= r => Ok(Constraint::Equal(x)),
-                _ => Err(format!("unsatisfiable")),
+                _ => Err("unsatisfiable".to_string()),
             },
 
             (Constraint::Equal(x), Constraint::Equal(y)) => match (x, y) {
                 (x, y) if x == y => Ok(Constraint::Equal(x)),
-                _ => Err(format!("unsatisfiable")),
+                _ => Err("unsatisfiable".to_string()),
             },
 
             (Constraint::AtLeast(l1), Constraint::InRange(l, r))
@@ -120,7 +116,9 @@ where
                 at_least.merge(&at_most)
             }
 
-            _ => Err(format!("not supported")),
+            // Merging NotInRange could lead to non convex constraints or constraints containing `Greater Than` or `Less Than` comparisons.
+            // Could be implemented, but maybe not worth it.
+            _ => Err("not supported".to_string()),
         }
     }
 
diff --git a/taws_minimal/tests/util/parameters.rs b/taws_minimal/tests/util/parameters.rs
index c6ba4af..2db10e8 100644
--- a/taws_minimal/tests/util/parameters.rs
+++ b/taws_minimal/tests/util/parameters.rs
@@ -4,16 +4,14 @@ use cucumber::Parameter;
 use lazy_static::lazy_static;
 use opentaws::{Alert, AlertLevel};
 use regex::Regex;
-use uom::si::f64::Length;
-use uom::si::length;
 
 use super::constraints::Constraint;
 
 pub struct MaybeParameter(bool);
 
-impl Into<bool> for MaybeParameter {
-    fn into(self) -> bool {
-        self.0
+impl From<MaybeParameter> for bool {
+    fn from(maybe_param: MaybeParameter) -> Self {
+        maybe_param.0
     }
 }
 
@@ -58,9 +56,9 @@ impl FromStr for AlertParameter {
     }
 }
 
-impl Into<Alert> for AlertParameter {
-    fn into(self) -> Alert {
-        self.0
+impl From<AlertParameter> for Alert {
+    fn from(alert_param: AlertParameter) -> Self {
+        alert_param.0
     }
 }
 
@@ -71,9 +69,9 @@ impl Parameter for AlertParameter {
 
 pub struct AlertLevelParameter(AlertLevel);
 
-impl Into<AlertLevel> for AlertLevelParameter {
-    fn into(self) -> AlertLevel {
-        self.0
+impl From<AlertLevelParameter> for AlertLevel {
+    fn from(alert_level_param: AlertLevelParameter) -> Self {
+        alert_level_param.0
     }
 }
 
@@ -151,9 +149,9 @@ impl FromStr for ConstraintParameter {
     }
 }
 
-impl Into<Constraint<f64>> for ConstraintParameter {
-    fn into(self) -> Constraint<f64> {
-        self.0
+impl From<ConstraintParameter> for Constraint<f64> {
+    fn from(constraint_param: ConstraintParameter) -> Self {
+        constraint_param.0
     }
 }
 

From 7b5d66cac514ffac36326bdee9646af7a6771bba Mon Sep 17 00:00:00 2001
From: wucke13 <wucke13@gmail.com>
Date: Mon, 28 Nov 2022 14:09:05 +0100
Subject: [PATCH 36/73] fix staging build

This primarily updates the lock files and moves the uom override to the
workspace Cargo.toml --- where it belongs.
---
 Cargo.lock                   |  4 ++--
 Cargo.toml                   |  5 +++++
 aviation_database/Cargo.toml |  4 ++--
 flake.lock                   | 41 ++++++++++++++++++------------------
 opentaws/Cargo.toml          |  3 +--
 taws_minimal/Cargo.toml      |  8 ++-----
 6 files changed, 33 insertions(+), 32 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 883585d..873fd26 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2009,8 +2009,8 @@ checksum = "a156c684c91ea7d62626509bce3cb4e1d9ed5c4d978f7b4352658f96a4c26b4a"
 
 [[package]]
 name = "uom"
-version = "0.32.0"
-source = "git+https://github.com/wucke13/uom.git?branch=fix-missing-libm#d87446532affa55eecb697a227fcf09d0b02f55b"
+version = "0.33.0"
+source = "git+https://github.com/wucke13/uom?branch=fix-missing-libm#80c05d4848c29f5d356477f2a0636c6ad15160b8"
 dependencies = [
  "num-traits",
  "serde",
diff --git a/Cargo.toml b/Cargo.toml
index c3f5b95..af319cb 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -6,3 +6,8 @@ members = [
 	"kd_tree",
 	"kd_tree_sort"
 ]
+
+
+[patch.crates-io]
+# TODO jump to normal uom once https://github.com/iliekturtles/uom/pull/309 lands
+uom = { git = "https://github.com/wucke13/uom", branch = "fix-missing-libm" }
\ No newline at end of file
diff --git a/aviation_database/Cargo.toml b/aviation_database/Cargo.toml
index a5dff6c..3cec418 100644
--- a/aviation_database/Cargo.toml
+++ b/aviation_database/Cargo.toml
@@ -7,7 +7,7 @@ edition = "2021"
 
 [dependencies]
 ordered-float = { version = "2.0", default-features = false }
-uom = { git = "https://github.com/wucke13/uom.git", branch = "fix-missing-libm", default-features = false, features = [ "f64", "si", "libm" ] }
+uom = { version = "0", default-features = false, features = ["f64", "si", "libm"] }
 kd_tree = { path = "../kd_tree" }
 
 
@@ -21,6 +21,6 @@ regex = "1.5"
 serde = { version = "1.0", features = ["derive"] }
 serde_json = "1.0"
 uneval = "0.2"
-uom = { git = "https://github.com/wucke13/uom.git", branch = "fix-missing-libm", default-features = false, features = [ "f64", "si", "libm" ] }
+uom = { version = "0", default-features = false, features = [ "f64", "si", "libm" ] }
 ureq = "2"
 kd_tree_sort = { path = "../kd_tree_sort" }
diff --git a/flake.lock b/flake.lock
index 55fba69..9312f71 100644
--- a/flake.lock
+++ b/flake.lock
@@ -8,11 +8,11 @@
         "rust-analyzer-src": "rust-analyzer-src"
       },
       "locked": {
-        "lastModified": 1654756015,
-        "narHash": "sha256-yTDkAPSUjcy8ADa6U9gP7IAVaZpEvtQt+BGHQ0v4KMA=",
+        "lastModified": 1669616799,
+        "narHash": "sha256-cTe0E41+4h3LS7NtYd+LdE2ngvIBZ5VIQflT4qu+z9I=",
         "ref": "main",
-        "rev": "fcf7d9029dab1c4a13aaee009feba7658f415add",
-        "revCount": 1062,
+        "rev": "864fe18d688b0c8c0730bb179b6686eac951f613",
+        "revCount": 1269,
         "type": "git",
         "url": "https://github.com/nix-community/fenix.git"
       },
@@ -29,11 +29,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1654608517,
-        "narHash": "sha256-KIxHjDDJYhoiLanLjpeAk5AuZsfip8M62JhkuloEGb0=",
-        "ref": "master",
-        "rev": "14997a79cd78fe34ad6390f18a327ee0593e5eec",
-        "revCount": 300,
+        "lastModified": 1662220400,
+        "narHash": "sha256-9o2OGQqu4xyLZP9K6kNe1pTHnyPz0Wr3raGYnr9AIgY=",
+        "ref": "refs/heads/master",
+        "rev": "6944160c19cb591eb85bbf9b2f2768a935623ed3",
+        "revCount": 305,
         "type": "git",
         "url": "https://github.com/nix-community/naersk.git"
       },
@@ -44,9 +44,10 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 0,
-        "narHash": "sha256-Uvka0V5MTGbeOfWte25+tfRL3moECDh1VwokWSZUdoY=",
-        "path": "/nix/store/ny7x54058ki7k1d3ny0jx5h6kw926mxv-source",
+        "lastModified": 1669289248,
+        "narHash": "sha256-+ErmUe0ph4nJL2C+xwuIt2TR95fvGDy64jEtism5wps=",
+        "path": "/nix/store/fiapm3lr62f4fyyxhy45qzcz8flxcvf0-source",
+        "rev": "73463c394af9fed20f3ce8cd491bf7c8271d20d8",
         "type": "path"
       },
       "original": {
@@ -65,11 +66,11 @@
     "rust-analyzer-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1654700117,
-        "narHash": "sha256-x3rF4IMwZUYnwF3JUnJvtIJmixrYkrl74K9EjhJMSr8=",
+        "lastModified": 1669551522,
+        "narHash": "sha256-ScH3I2/5+tCN23U8mUUj/HoZXDF11fo1z93X9imAfOo=",
         "owner": "rust-lang",
         "repo": "rust-analyzer",
-        "rev": "79a4a464b07d626de17bd4b5f2382b5634644f7d",
+        "rev": "6d61be8e65ac0fd45eaf178e1f7a1ec6b582de1f",
         "type": "github"
       },
       "original": {
@@ -81,11 +82,11 @@
     },
     "utils": {
       "locked": {
-        "lastModified": 1653893745,
-        "narHash": "sha256-0jntwV3Z8//YwuOjzhV2sgJJPt+HY6KhU7VZUL0fKZQ=",
-        "ref": "master",
-        "rev": "1ed9fb1935d260de5fe1c2f7ee0ebaae17ed2fa1",
-        "revCount": 58,
+        "lastModified": 1667395993,
+        "narHash": "sha256-nuEHfE/LcWyuSWnS8t12N1wc105Qtau+/OdUAjtQ0rA=",
+        "ref": "refs/heads/master",
+        "rev": "5aed5285a952e0b949eb3ba02c12fa4fcfef535f",
+        "revCount": 66,
         "type": "git",
         "url": "https://github.com/numtide/flake-utils.git"
       },
diff --git a/opentaws/Cargo.toml b/opentaws/Cargo.toml
index 553c97e..bd0bfa2 100644
--- a/opentaws/Cargo.toml
+++ b/opentaws/Cargo.toml
@@ -29,8 +29,7 @@ use-serde = ["uom/use_serde"]
 aviation_database = { path = "../aviation_database"}
 lazy_static = { version = "1", features = [ "spin_no_std" ] }
 
-# TODO jump to normal uom once https://github.com/iliekturtles/uom/pull/309 lands
-uom = { git = "https://github.com/wucke13/uom.git", branch = "fix-missing-libm", default-features = false, features = [ "f64", "si", "libm" ] }
+uom = { version = "0", default-features = false, features = ["f64", "si", "libm"] }
 ringbuffer = "0.8"
 serde = { version = "1.0", default-features = false, features = [ "derive" ] }
 serde_arrays = "*" # Serde const generic "workaround"
diff --git a/taws_minimal/Cargo.toml b/taws_minimal/Cargo.toml
index 27948d9..b1810f8 100644
--- a/taws_minimal/Cargo.toml
+++ b/taws_minimal/Cargo.toml
@@ -26,12 +26,8 @@ opentaws = { path = "../opentaws" }
 aviation_database = { path = "../aviation_database" }
 
 
-# TODO jump to normal uom once https://github.com/iliekturtles/uom/pull/309 lands
-uom = { git = "https://github.com/wucke13/uom.git", branch = "fix-missing-libm", default-features = false, features = [
-	"f64",
-	"si",
-	"libm",
-] }
+
+uom = { version = "0", default-features = false, features = ["f64", "si", "libm"] }
 casey = "0.3"
 serde = { version = "1.0", default-features = false, features = ["derive"] }
 

From 0fbd15754be4fdbe2e9bf730d7ef1f55a26ff43e Mon Sep 17 00:00:00 2001
From: wucke13 <wucke13@gmail.com>
Date: Mon, 28 Nov 2022 14:37:03 +0100
Subject: [PATCH 37/73] update github actions workflow

---
 .github/workflows/rust.yml | 53 +++++++++++++++++++-------------------
 1 file changed, 27 insertions(+), 26 deletions(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 6ca219d..2d9fb43 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -10,17 +10,12 @@ jobs:
   format:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - uses: actions-rs/toolchain@v1
         with:
             toolchain: stable
             components: rustfmt
             override: true
-      - uses: actions-rs/toolchain@v1
-        with:
-          toolchain: stable 
-          target: x86_64-unknown-linux-gnu
-          override: true
       - name: Run tests
         run: cargo fmt -- --check
 
@@ -28,33 +23,37 @@ jobs:
     runs-on: ubuntu-latest
     continue-on-error: ${{ github.ref_type == 'branch' && github.ref_name == 'staging' }}
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions/cache@v2
+      - uses: actions/checkout@v3
+      - uses: actions/cache@v3
         with:
           path: |
-            ~/.cargo/registry
-            ~/.cargo/git
-            target
-          key: ${{ runner.os }}-cargo-test-${{ hashFiles('**/Cargo.lock') }}
+            ~/.cargo/bin/
+            ~/.cargo/registry/index/
+            ~/.cargo/registry/cache/
+            ~/.cargo/git/db/
+            target/
+          key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
       - uses: actions-rs/toolchain@v1
         with:
-          toolchain: stable 
+          toolchain: stable
           target: x86_64-unknown-linux-gnu
           override: true
       - name: Run tests
-        run: cargo test --all-features --verbose 
+        run: cargo test --all-features --verbose
 
   clippy_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions/cache@v2
+      - uses: actions/checkout@v1
+      - uses: actions/cache@v3
         with:
           path: |
-            ~/.cargo/registry
-            ~/.cargo/git
-            target
-          key: ${{ runner.os }}-cargo-clippy-${{ hashFiles('**/Cargo.lock') }}
+            ~/.cargo/bin/
+            ~/.cargo/registry/index/
+            ~/.cargo/registry/cache/
+            ~/.cargo/git/db/
+            target/
+          key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
       - uses: actions-rs/toolchain@v1
         with:
             toolchain: nightly
@@ -73,14 +72,16 @@ jobs:
       image: xd009642/tarpaulin:latest
       options: --security-opt seccomp=unconfined
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions/cache@v2
+      - uses: actions/checkout@v3
+      - uses: actions/cache@v3
         with:
           path: |
-            ~/.cargo/registry
-            ~/.cargo/git
-            target
-          key: ${{ runner.os }}-cargo-tarpaulin-${{ hashFiles('**/Cargo.lock') }}
+            ~/.cargo/bin/
+            ~/.cargo/registry/index/
+            ~/.cargo/registry/cache/
+            ~/.cargo/git/db/
+            target/
+          key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
       - uses: actions-rs/toolchain@v1
         with:
             toolchain: nightly

From a61ab97be157009297b9217946b596bc44408823 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Mon, 12 Sep 2022 15:13:48 +0200
Subject: [PATCH 38/73] fix

---
 taws_minimal/tests/cucumber.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/taws_minimal/tests/cucumber.rs b/taws_minimal/tests/cucumber.rs
index f78734e..bc080ec 100644
--- a/taws_minimal/tests/cucumber.rs
+++ b/taws_minimal/tests/cucumber.rs
@@ -155,8 +155,8 @@ fn then_alert_emitted(
         .take(world.test_length)
         .collect();
 
-    for (i, phase) in world.phases.iter().enumerate() {
-        for state in aircraft_states.iter_mut() {
+    for state in aircraft_states.iter_mut() {
+        for (i, phase) in world.phases.iter().enumerate() {
             phase.apply_to::<BouncingClamp>(state);
             let alert_state = world.taws.process(state);
 

From 6908266af628fd3fba067cf31480ed184735b659 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Tue, 13 Sep 2022 19:21:29 +0200
Subject: [PATCH 39/73] fix

---
 taws_minimal/tests/util/world.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/taws_minimal/tests/util/world.rs b/taws_minimal/tests/util/world.rs
index 99ab22e..85545e6 100644
--- a/taws_minimal/tests/util/world.rs
+++ b/taws_minimal/tests/util/world.rs
@@ -33,7 +33,7 @@ impl cucumber::World for MyWorld {
         Ok(Self {
             taws: MinimalTaws::new(&TAWS_CONFIG),
             phases: vec![AircraftStateConstraints::default()],
-            test_length: 1,
+            test_length: 10,
             phase: 0,
         })
     }

From d22ac891ef4b254a9bc3dbb0cd0a38eb383dd155 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Thu, 22 Sep 2022 04:11:59 +0200
Subject: [PATCH 40/73] revises PDA cucumber feature

---
 taws_minimal/features/pda.feature | 94 +++++++++++++++++++++----------
 1 file changed, 65 insertions(+), 29 deletions(-)

diff --git a/taws_minimal/features/pda.feature b/taws_minimal/features/pda.feature
index 2cebcaa..750aa09 100644
--- a/taws_minimal/features/pda.feature
+++ b/taws_minimal/features/pda.feature
@@ -1,38 +1,74 @@
-#noinspection CucumberUndefinedStep
-Feature: PDA: Premature Decent Alerting
-  # TODO: Description
+@DO_367 @CLASS_C @PDA
+Feature: Premature Descent Alerting (PDA)
+	The PDA functionality monitors the final approach and
+	alerts the crew if the aircraft is about to crash into the ground short of the runway.
+	Detection of these conditions is based upon height above runway elevation or
+	height above terrain/obstacles and distance to runway.
 
-  @MOPS_263
-  Scenario: Mode Arming/Disarming
-    Given the plane is within 5 NM of an airport
+  Background:
+    Given the aircraft is in the landing flight segment
+
+  @ARMING_DISARMING @MOPS_263
+  Scenario: Class C Equipment shall arm PDA within 5 NM of an airport.
+    Given the distance to the nearest airport is less than 5 NM
     Then PDA shall be armed
 
-  # TODO Add Criteria for PDA to be disarmed beyond 5 NM due to the risk of nuisance alerts (2.2.3.1.7.2)
+  Rule: PDA is armed and not inhibited
+
+    Background:
+      Given PDA is not inhibited
+
+    @ALERT_CRITERIA
+    Scenario: Class C Equipment should not generate PDA alerts for normal visual flight rules (VFR) operations in the airport area.
+      Given the distance to the nearest airport is less than 5 NM
+      When the height above terrain is at least 800 feet
+      Then a PDA alert is no emitted
+
+    @ALERT_CRITERIA
+    Scenario: Airplanes routinely operate in VFR conditions ... within 10-15 NM of the nearest airport, ... should not generate alerts ...
+      Given the distance to the nearest airport is less than 10 NM
+      When the height above terrain is at least 1000 feet
+      Then a PDA alert is no emitted
+
+    @ALERT_CRITERIA
+    Scenario: Airplanes routinely operate in the visual segment of a circling approach ... should not generate PDA alerts ...
+      Given the distance to the nearest airport is less than 2 NM
+      And circling approach is selected
+      When the height above terrain is at least 300 feet
+      Then a PDA alert is no emitted
+
+    @ALERT_CRITERIA @CAUTION @MOPS_264
+    Scenario Outline: Class C Equipment shall provide a caution alert when ...
+      When the distance to runway is between <min_distance_runway> and <max_distance_runway> NM
+      And the height above terrain is between 10.0 and <max_height_ground> feet
+      Then a PDA caution alert is emitted within 1.3 seconds
+
+      Examples:
+        | min_distance_runway | max_distance_runway | max_height_ground |
+        |                 1.0 |                 1.8 |              80.0 |
+        |                1.81 |                 2.3 |             150.0 |
+        |                2.31 |                 5.0 |             170.0 |
 
-  @MOPS_264
-  Scenario Outline: Must Alert
-    Given PDA is armed
-    And PDA is not inhibited
-    When the distance to the nearest airport is between 1.0 and <distance_to_airport> NM
-    And the height above terrain is between 10 and <height> feet
-    Then a PDA caution alert is emitted within 1.3 seconds
+  Rule: PDA is not-armed or inhibited
 
-    Examples:
-      | distance_to_airport | height |
-      | 1.0                 | 80     |
-      | 1.8                 | 150    |
-      | 2.3                 | 170    |
+    @ALERT_CRITERIA @CAUTION @MOPS_265
+    Scenario: Class C Equipment shall not provide a PDA caution alert when ... PDA is not armed.
+      When the distance to the nearest airport is at least 5.1 NM
+      And the height above terrain is between 10.0 and 170.0 feet
+      Then PDA is not armed
+      And a PDA caution is not emitted
 
-  @MOPS_265
-  Scenario: Must Not Alert when not Armed
-    Given PDA is not armed
-    Then a PDA caution alert is not emitted at all
+    @ALERT_CRITERIA @CAUTION @MOPS_265
+    Scenario: Class C Equipment shall not provide a PDA caution alert when ... PDA is inhibited.
+      Given PDA is inhibited
+      When the distance to runway is 1.0 NM
+      And the height above terrain is 10.0 feet
+      Then a PDA caution is no emitted
 
-  @MOPS_265
-  Scenario: Must Not Alert when Inhibited
-    Given PDA is inhibited
-    Then a PDA caution alert is not emitted at all
+  Rule: PDA is armed and not-inhibited and an alert is active
 
-  # MOPS_266 and MOPS_267 are not testable
+    @AURAL_ALERT @CAUTION @MOPS_266
+    Scenario: Class C Equipment shall be capable of generating or triggering an aural message of at least one of “Too Low” and “Too Low Terrain”.
 
-# vim: set ts=2 sw=2 expandtab: retab: expandtab #
+    @VISUAL_ALERT @CAUTION @MOPS_267
+    Scenario: Class C Equipment shall be capable of providing an output to trigger a yellow or amber indication.

From ba562e73f7e8c4a7e059beb9d3d3e9d4fd4d8132 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Thu, 22 Sep 2022 13:22:17 +0200
Subject: [PATCH 41/73] revises Mode1 cucumber feature

---
 taws_minimal/features/mode_1.feature | 422 +++++++++++++--------------
 1 file changed, 202 insertions(+), 220 deletions(-)

diff --git a/taws_minimal/features/mode_1.feature b/taws_minimal/features/mode_1.feature
index 3899bce..105bf97 100644
--- a/taws_minimal/features/mode_1.feature
+++ b/taws_minimal/features/mode_1.feature
@@ -1,222 +1,204 @@
-#noinspection CucumberUndefinedStep
-Feature: Mode 1: Excessive Rate of Descent
-  The Mode 1 alert is intended to generate caution alerts and time-critical
-  warning alerts when the aircraft has a high rate of descent relative to its
-  height above terrain. Mode 1 is active during all segments of flight. In
-  order to reduce nuisance alerts during steep approaches, an optional set of
-  alerting curves may be employed when the aircraft is performing a steep
-  approach. The determination if a steep approach is in progress can either be
-  based on an input to the Equipment (such as a pilot-activated steep approach
-  switch) or it can be based on internal logic (such as comparison of aircraft
-  position to approach profiles in a database).
-
-  @MOPS_268
-  Scenario: Mode Arming/Disarming
-    Given the plane is flying
+@DO_367 @CLASS_C @MODE_1
+Feature: Excessive Rate of Descent (Mode 1)
+	The Mode 1 alert is intended to generate caution alerts and time-critical warning alerts
+	when the aircraft has a high rate of descent relative to its height above terrain. Mode 1 is
+	active during all segments of flight.
+
+  @ARMING_DISARMING @MOPS_268
+  Scenario: Class C Equipment shall arm Mode 1 during the entire flight.
     Then Mode 1 shall be armed
 
-  #Rule: Standard Caution Envelope (MOPS_269, MOPS_270)
-
-  @MOPS_269
-  Scenario Outline: Must Alert
-    Given Mode 1 is armed
-    And Mode 1 is not inhibited
-    And steep approach is not selected
-    When the rate of descent is at least <rate_of_descent> feet per minute
-    And the height above terrain is between 100 and <height> feet
-    Then a Mode 1 caution alert is emitted within 2 seconds
-
-    Examples:
-      | rate_of_descent | height |
-      | 1560            | 100    |
-      | 2200            | 630    |
-      | 5700            | 2200   |
-
-  @MOPS_270
-  Scenario: Must Not Alert when not Armed
-    Given Mode 1 is not armed
-    Then a Mode 1 caution alert is not emitted at all
-
-  @MOPS_270
-  Scenario: Must Not Alert when Inhibited
-    Given Mode 1 is inhibited
-    Then a Mode 1 caution alert is not emitted at all
-
-  @MOPS_270
-  Scenario Outline: Must Not Alert
-    Given steep approach is not selected
-    When the rate of descent is at most <rate_of_descent> feet per minute
-    But the height above terrain is not between 10 and <height> feet
-    Then a Mode 1 caution alert is not emitted at all
-
-    Examples:
-      | rate_of_descent | height |
-      | 964             | 10     |
-      | 2300            | 1550   |
-      | 4400            | 2900   |
-      | 5000            | 3200   |
-      | 8000            | 4600   |
-      | 12000           | 6467   |
-
-  #Rule: Steep Approach Caution Envelope (MOPS_271, MOPS_272)
-
-  @MOPS_271
-  Scenario Outline: Must Alert
-    Given Mode 1 is armed
-    And Mode 1 is not inhibited
-    And steep approach is selected
-    When the rate of descent is at least <rate_of_descent> feet per minute
-    And the height above terrain is between 150 and <height> feet
-    Then a Mode 1 caution alert is emitted within 2 seconds
-
-    Examples:
-      | rate_of_descent | height |
-      | 1798            | 150    |
-      | 1944            | 300    |
-      | 3233            | 1078   |
-      | 6225            | 2075   |
-
-  @MOPS_272
-  Scenario:  Must Not Alert when not Armed
-    Given Mode 1 is not armed
-    Then a Mode 1 caution alert is not emitted at all
-
-  @MOPS_272
-  Scenario: Must Not Alert when Inhibited
-    Given Mode 1 is inhibited
-    Then a Mode 1 caution alert is not emitted at all
-
-  @MOPS_272
-  Scenario Outline: Must Not Alert
-    Given steep approach is selected
-    When the rate of descent is at most <rate_of_descent> feet per minute
-    But the height above terrain is not between 10 and <height> feet
-    Then a Mode 1 caution alert is not emitted at all
-
-    Examples:
-      | rate_of_descent | height |
-      | 964             | 10     |
-      | 2300            | 1550   |
-      | 4400            | 2900   |
-      | 5000            | 3200   |
-      | 8000            | 4600   |
-      | 12000           | 6467   |
-
-  #Rule: Warning Envelope (MOPS_273, MOPS_274)
-
-  @MOPS_273
-  Scenario Outline: Must Alert
-    Given Mode 1 is armed
-    And Mode 1 is not inhibited
-    And steep approach is not selected
-    When the rate of descent is at least <rate_of_descent> feet per minute
-    And the height above terrain is between 100 and <height> feet
-    Then a Mode 1 warning alert is emitted within 2 seconds
-
-    Examples:
-      | rate_of_descent | height |
-      | 1600            | 100    |
-      | 1850            | 300    |
-      | 10100           | 1958   |
-
-  @MOPS_274
-  Scenario: Must Not Alert when not Armed
-    Given Mode 1 is not armed
-    Then a Mode 1 warning alert is not emitted at all
-
-  @MOPS_274
-  Scenario: Must Not Alert when Inhibited
-    Given Mode 1 is inhibited
-    Then a Mode 1 warning alert is not emitted at all
-
-  @MOPS_274
-  Scenario Outline: Must Not Alert
-    Given steep approach is not selected
-    When the rate of descent is at most <rate_of_descent> feet per minute
-    But the height above terrain is not between 10 and <height> feet
-    Then a Mode 1 warning alert is not emitted at all
-
-    Examples:
-      | rate_of_descent | height |
-      | 1217            | 10     |
-      | 2300            | 1300   |
-      | 4400            | 2500   |
-      | 8000            | 3500   |
-      | 12000           | 4611   |
-
-  #Rule: Steep Approach Warning Envelope (MOPS_275, MOPS_276)
-
-  @MOPS_275
-  Scenario Outline: Must Alert
-    Given Mode 1 is armed
-    And Mode 1 is not inhibited
-    And steep approach is selected
-    When the rate of descent is at least <rate_of_descent> feet per minute
-    And the height above terrain is between 150 and <height> feet
-    Then a Mode 1 warning alert is emitted within 2 seconds
-
-    Examples:
-      | rate_of_descent | height |
-      | 1908            | 150    |
-      | 2050            | 300    |
-      | 10300           | 1958   |
-
-  @MOPS_276
-  Scenario: Must Not Alert when not Armed
-    Given Mode 1 is not armed
-    Then a Mode 1 warning alert is not emitted at all
-
-  @MOPS_276
-  Scenario: Must Not Alert when Inhibited
-    Given Mode 1 is inhibited
-    Then a Mode 1 warning alert is not emitted at all
-
-  @MOPS_276
-  Scenario Outline: Must Not Alert
-    Given steep approach is selected
-    When the rate of descent is at most <rate_of_descent> feet per minute
-    But the height above terrain is not between 10 and <height> feet
-    Then a Mode 1 warning alert is not emitted at all
-
-    Examples:
-      | rate_of_descent | height |
-      | 1217            | 10     |
-      | 2300            | 1300   |
-      | 4400            | 2500   |
-      | 8000            | 3500   |
-      | 12000           | 4611   |
-
-  #Rule: Aural Alert (MOPS_277, MOPS_278, MOPS_279, MOPS_280)
-
-  @MOPS_277
-  Scenario: Caution Alert
-    Given a caution level Mode 1 alert arises
-    Then an aural message "Sink Rate" shall be emitted
-
-  @MOPS_278
-  Scenario: Warning Alert
-    Given a warning level Mode 1 alert arises
-    Then an aural message "Pull Up" shall be emitted
-
-  @MOPS_279
-  Scenario: Repeating Warning Alert
-    Given the warning level Mode 1 alert condition persists
-    And the pilot didn't silence the alert
-    And no higher priority alert is triggered
-    Then the aural message shall be repeated periodically
- 
-  # Whoop-Whoop (MOPS_280) ain't gonna be testable
-
-  #Rule: Visual Alert (MOPS_281, MOPS_282)
-
-  @MOPS_281
-  Scenario: Caution
-    Given a Mode 1 caution alert is active
-    Then the TAWS shall trigger a yellow or amber indicator
-
-  @MOPS_282
-  Scenario: Warning
-    Given a Mode 1 warning alert is active
-    Then the TAWS shall trigger a red indicator
-
-# vim: set ts=2 sw=2 expandtab: retab: expandtab #
+  Rule: Standard Caution Envelope
+
+    Background:
+      Given steep approach is not selected
+
+    @ALERT_CRITERIA @CAUTION @MOPS_269
+    Scenario Outline: Class C Equipment shall provide a caution alert when ...
+      Given Mode 1 is not inhibited
+      When the rate of descent is at least <min_rate_descent> feet per minute
+      When the height above terrain is between 100.0 and <max_height_terrain> feet
+      Then a Mode 1 caution shall be emitted within 2.0 seconds
+
+      Examples:
+        | min_rate_descent | max_height_terrain |
+        |           1560.0 |              100.0 |
+        |           2200.0 |              630.0 |
+        |           5700.0 |             2200.0 |
+
+    @ALERT_CRITERIA @CAUTION @MOPS_270
+    Scenario: Class C Equipment shall not provide a Mode 1 caution alert when ... Mode 1 is not armed.
+
+    @ALERT_CRITERIA @CAUTION @MOPS_270
+    Scenario: Class C Equipment shall not provide a Mode 1 caution alert when ... Mode 1 is inhibited.
+      Given Mode 1 is inhibited
+      When the rate of descent is 1560.0 feet per minute
+      When the height above terrain is 100.0 feet
+      Then a Mode 1 caution shall not be emitted
+
+    @ALERT_CRITERIA @CAUTION @MOPS_270
+    Scenario Outline: Class C Equipment shall not provide a Mode 1 caution alert when ... within the Must Not Alert envelope ...
+      Given Mode 1 is not inhibited
+      When the rate of descent is at most <max_rate_descent> feet per minute
+      When the height above terrain is at least <min_height_terrain> feet
+      Then a Mode 1 caution shall not be emitted
+
+      Examples:
+        | max_rate_descent | min_height_terrain |
+        |            963.9 |               10.0 |
+        |           2299.9 |             1550.0 |
+        |           4399.9 |             2900.0 |
+        |           4999.9 |             3200.0 |
+        |           7999.9 |             4600.0 |
+        |          11999.9 |             6467.0 |
+
+  Rule: Steep Approach Caution Envelope
+
+    Background:
+      Given steep approach is selected
+
+    @ALERT_CRITERIA @CAUTION @MOPS_271
+    Scenario Outline: Class C Equipment shall provide a caution alert when ...
+      Given Mode 1 is not inhibited
+      When the rate of descent is at least <min_rate_descent> feet per minute
+      When the height above terrain is between 150.0 and <max_height_terrain> feet
+      Then a Mode 1 caution shall be emitted within 2.0 seconds
+
+      Examples:
+        | min_rate_descent | max_height_terrain |
+        |           1798.0 |              150.0 |
+        |           1944.0 |              300.0 |
+        |           3233.0 |             1078.0 |
+        |           6225.0 |             2075.0 |
+
+    @ALERT_CRITERIA @CAUTION @MOPS_272
+    Scenario: Class C Equipment shall not provide a Mode 1 caution alert when ... Mode 1 is not armed.
+
+    @ALERT_CRITERIA @CAUTION @MOPS_272
+    Scenario: Class C Equipment shall not provide a Mode 1 caution alert when ... Mode 1 is inhibited.
+      Given Mode 1 is inhibited
+      When the rate of descent is 1798.0 feet per minute
+      When the height above terrain 150.0 feet
+      Then a Mode 1 caution shall not be emitted
+
+    @ALERT_CRITERIA @CAUTION @MOPS_272
+    Scenario Outline: Class C Equipment shall not provide a Mode 1 caution alert when ... within the Must Not Alert envelope ...
+      Given Mode 1 is not inhibited
+      When the rate of descent is at most <max_rate_descent> feet per minute
+      When the height above terrain is at least <min_height_terrain> feet
+      Then a Mode 1 caution shall not be emitted
+
+      Examples:
+        | max_rate_descent | min_height_terrain |
+        |            963.9 |               10.0 |
+        |           2299.9 |             1550.0 |
+        |           4399.9 |             2900.0 |
+        |           4999.9 |             3200.0 |
+        |           7999.9 |             4600.0 |
+        |          11999.9 |             6467.0 |
+
+  Rule: Standard Warning Envelope
+
+    Background:
+      Given steep approach is not selected
+
+    @ALERT_CRITERIA @WARNING @MOPS_273
+    Scenario Outline: Class C Equipment shall provide a warning alert when ...
+      Given Mode 1 is not inhibited
+      When the rate of descent is at least <min_rate_descent> feet per minute
+      When the height above terrain is between 100.0 and <max_height_terrain> feet
+      Then a Mode 1 warning shall be emitted within 2.0 seconds
+
+      Examples:
+        | min_rate_descent | max_height_terrain |
+        |           1600.0 |              100.0 |
+        |           1850.0 |              300.0 |
+        |          10100.0 |             1958.0 |
+
+    @ALERT_CRITERIA @WARNING @MOPS_274
+    Scenario: Class C Equipment shall not provide a Mode 1 warning alert when ... Mode 1 is not armed.
+
+    @ALERT_CRITERIA @WARNING @MOPS_274
+    Scenario: Class C Equipment shall not provide a Mode 1 warning alert when ... Mode 1 is inhibited.
+      Given Mode 1 is inhibited
+      When the rate of descent is 1600.0 feet per minute
+      When the height above terrain is 100.0 feet
+      Then a Mode 1 warning shall not be emitted
+
+    @ALERT_CRITERIA @WARNING @MOPS_274
+    Scenario Outline: Class C Equipment shall not provide a Mode 1 warning alert when ... within the Must Not Alert envelope ...
+      Given Mode 1 is not inhibited
+      When the rate of descent is at most <max_rate_descent> feet per minute
+      When the height above terrain is at least <min_height_terrain> feet
+      Then a Mode 1 warning shall not be emitted
+
+      Examples:
+        | max_rate_descent | min_height_terrain |
+        |           1216.9 |               10.0 |
+        |           2299.9 |             1300.0 |
+        |           4399.9 |             2500.0 |
+        |           7999.9 |             3500.0 |
+        |          11999.9 |             4611.0 |
+
+  Rule: Steep Approach Warning Envelope
+
+    Background:
+      Given steep approach is selected
+
+    @ALERT_CRITERIA @WARNING @MOPS_275
+    Scenario Outline: Class C Equipment shall provide a warning alert when ...
+      Given Mode 1 is not inhibited
+      When the rate of descent is at least <min_rate_descent> feet per minute
+      When the height above terrain is between 150.0 and <max_height_terrain> feet
+      Then a Mode 1 warning shall be emitted within 2.0 seconds
+
+      Examples:
+        | min_rate_descent | max_height_terrain |
+        |           1908.0 |              150.0 |
+        |           2050.0 |              300.0 |
+        |          10300.0 |             1958.0 |
+
+    @ALERT_CRITERIA @WARNING @MOPS_276
+    Scenario: Class C Equipment shall not provide a Mode 1 warning alert when ... Mode 1 is not armed.
+
+    @ALERT_CRITERIA @WARNING @MOPS_276
+    Scenario: Class C Equipment shall not provide a Mode 1 warning alert when ... Mode 1 is inhibited.
+      Given Mode 1 is inhibited
+      When the rate of descent is 1908.0 feet per minute
+      When the height above terrain is 150.0 feet
+      Then a Mode 1 warning shall not be emitted
+
+    @ALERT_CRITERIA @WARNING @MOPS_276
+    Scenario Outline: Class C Equipment shall not provide a Mode 1 warning alert when ... within the Must Not Alert envelope ...
+      Given Mode 1 is not inhibited
+      When the rate of descent is at most <max_rate_descent> feet per minute
+      When the height above terrain is at least <min_height_terrain> feet
+      Then a Mode 1 warning shall not be emitted
+
+      Examples:
+        | max_rate_descent | min_height_terrain |
+        |           1216.9 |               10.0 |
+        |           2299.9 |             1300.0 |
+        |           4399.9 |             2500.0 |
+        |           7999.9 |             3500.0 |
+        |          11999.9 |             4611.0 |
+
+  Rule: Mode 1 is armed and not-inhibited and an alert is active
+
+    @AURAL_ALERT @CAUTION @MOPS_277
+    Scenario: Class C Equipment shall be capable of generating or triggering an aural message of “Sink Rate”.
+
+    @AURAL_ALERT @WARNING @MOPS_278
+    Scenario: Class C Equipment shall be capable of generating or triggering an aural message of “Pull up”.
+
+    @AURAL_ALERT @WARNING @MOPS_279
+    Scenario: Class C Equipment shall repeat the aural message periodically for the duration of the Mode 1 warning alert condition, or until silenced by the pilot or a higher priority alert.
+
+    @AURAL_ALERT @WARNING @MOPS_280
+    Scenario: Class C Equipment shall generate a tone sweep ...
+
+    @VISUAL_ALERT @CAUTION @MOPS_281
+    Scenario: Class C Equipment shall be capable of providing an output to trigger a yellow or amber indication.
+
+    @VISUAL_ALERT @WARNING @MOPS_282
+    Scenario: Class C Equipment shall be capable of providing an output to trigger a red indication.

From 35698afd7ed0f7267c2bbb04df27a7cee90942b9 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Thu, 22 Sep 2022 19:51:25 +0200
Subject: [PATCH 42/73] fix

---
 taws_minimal/features/mode_1.feature | 10 ++++++++++
 taws_minimal/features/pda.feature    |  2 ++
 2 files changed, 12 insertions(+)

diff --git a/taws_minimal/features/mode_1.feature b/taws_minimal/features/mode_1.feature
index 105bf97..a5b4a78 100644
--- a/taws_minimal/features/mode_1.feature
+++ b/taws_minimal/features/mode_1.feature
@@ -28,6 +28,7 @@ Feature: Excessive Rate of Descent (Mode 1)
 
     @ALERT_CRITERIA @CAUTION @MOPS_270
     Scenario: Class C Equipment shall not provide a Mode 1 caution alert when ... Mode 1 is not armed.
+      Given not implemented
 
     @ALERT_CRITERIA @CAUTION @MOPS_270
     Scenario: Class C Equipment shall not provide a Mode 1 caution alert when ... Mode 1 is inhibited.
@@ -73,6 +74,7 @@ Feature: Excessive Rate of Descent (Mode 1)
 
     @ALERT_CRITERIA @CAUTION @MOPS_272
     Scenario: Class C Equipment shall not provide a Mode 1 caution alert when ... Mode 1 is not armed.
+      Given not implemented
 
     @ALERT_CRITERIA @CAUTION @MOPS_272
     Scenario: Class C Equipment shall not provide a Mode 1 caution alert when ... Mode 1 is inhibited.
@@ -117,6 +119,7 @@ Feature: Excessive Rate of Descent (Mode 1)
 
     @ALERT_CRITERIA @WARNING @MOPS_274
     Scenario: Class C Equipment shall not provide a Mode 1 warning alert when ... Mode 1 is not armed.
+      Given not implemented
 
     @ALERT_CRITERIA @WARNING @MOPS_274
     Scenario: Class C Equipment shall not provide a Mode 1 warning alert when ... Mode 1 is inhibited.
@@ -160,6 +163,7 @@ Feature: Excessive Rate of Descent (Mode 1)
 
     @ALERT_CRITERIA @WARNING @MOPS_276
     Scenario: Class C Equipment shall not provide a Mode 1 warning alert when ... Mode 1 is not armed.
+      Given not implemented
 
     @ALERT_CRITERIA @WARNING @MOPS_276
     Scenario: Class C Equipment shall not provide a Mode 1 warning alert when ... Mode 1 is inhibited.
@@ -187,18 +191,24 @@ Feature: Excessive Rate of Descent (Mode 1)
 
     @AURAL_ALERT @CAUTION @MOPS_277
     Scenario: Class C Equipment shall be capable of generating or triggering an aural message of “Sink Rate”.
+      Given not implemented
 
     @AURAL_ALERT @WARNING @MOPS_278
     Scenario: Class C Equipment shall be capable of generating or triggering an aural message of “Pull up”.
+      Given not implemented
 
     @AURAL_ALERT @WARNING @MOPS_279
     Scenario: Class C Equipment shall repeat the aural message periodically for the duration of the Mode 1 warning alert condition, or until silenced by the pilot or a higher priority alert.
+      Given not implemented
 
     @AURAL_ALERT @WARNING @MOPS_280
     Scenario: Class C Equipment shall generate a tone sweep ...
+      Given not implemented
 
     @VISUAL_ALERT @CAUTION @MOPS_281
     Scenario: Class C Equipment shall be capable of providing an output to trigger a yellow or amber indication.
+      Given not implemented
 
     @VISUAL_ALERT @WARNING @MOPS_282
     Scenario: Class C Equipment shall be capable of providing an output to trigger a red indication.
+      Given not implemented
diff --git a/taws_minimal/features/pda.feature b/taws_minimal/features/pda.feature
index 750aa09..647f3b0 100644
--- a/taws_minimal/features/pda.feature
+++ b/taws_minimal/features/pda.feature
@@ -69,6 +69,8 @@ Feature: Premature Descent Alerting (PDA)
 
     @AURAL_ALERT @CAUTION @MOPS_266
     Scenario: Class C Equipment shall be capable of generating or triggering an aural message of at least one of “Too Low” and “Too Low Terrain”.
+      Given not implemented
 
     @VISUAL_ALERT @CAUTION @MOPS_267
     Scenario: Class C Equipment shall be capable of providing an output to trigger a yellow or amber indication.
+      Given not implemented

From 4e606b02903d86b079d1da72da81ee0a52d5f330 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Thu, 22 Sep 2022 20:15:46 +0200
Subject: [PATCH 43/73] fix

---
 taws_minimal/features/pda.feature | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/taws_minimal/features/pda.feature b/taws_minimal/features/pda.feature
index 647f3b0..83d0a45 100644
--- a/taws_minimal/features/pda.feature
+++ b/taws_minimal/features/pda.feature
@@ -6,7 +6,7 @@ Feature: Premature Descent Alerting (PDA)
 	height above terrain/obstacles and distance to runway.
 
   Background:
-    Given the aircraft is in the landing flight segment
+    Given the aircraft is in a landing situation
 
   @ARMING_DISARMING @MOPS_263
   Scenario: Class C Equipment shall arm PDA within 5 NM of an airport.

From b7d070b3519e5711a7e293c6e7da2cb393bfebb5 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Thu, 22 Sep 2022 21:39:02 +0200
Subject: [PATCH 44/73] fix

---
 taws_minimal/features/pda.feature | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/taws_minimal/features/pda.feature b/taws_minimal/features/pda.feature
index 83d0a45..bf45d8b 100644
--- a/taws_minimal/features/pda.feature
+++ b/taws_minimal/features/pda.feature
@@ -6,7 +6,7 @@ Feature: Premature Descent Alerting (PDA)
 	height above terrain/obstacles and distance to runway.
 
   Background:
-    Given the aircraft is in a landing situation
+    Given the aircraft is on a landing segment
 
   @ARMING_DISARMING @MOPS_263
   Scenario: Class C Equipment shall arm PDA within 5 NM of an airport.

From a81a6576da39879f96b142e9a3a6ee543e0a85c0 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Fri, 23 Sep 2022 13:04:43 +0200
Subject: [PATCH 45/73] revises Mode3 cucumber feature

---
 taws_minimal/features/mode_3.feature | 181 +++++++++++++++++++--------
 1 file changed, 131 insertions(+), 50 deletions(-)

diff --git a/taws_minimal/features/mode_3.feature b/taws_minimal/features/mode_3.feature
index 4af3c86..e82114e 100644
--- a/taws_minimal/features/mode_3.feature
+++ b/taws_minimal/features/mode_3.feature
@@ -1,58 +1,139 @@
-#noinspection CucumberUndefinedStep
-Feature: Mode 3: Negative Climb Rate or Altitude Loss
-  The Mode 3 alert is intended to generate caution alerts when the aircraft
-  loses altitude during take-off or go around. The loss of altitude can either
-  be based on a negative altitude rate or it can be based on a measured loss of
-  altitude.
-
-  @MOPS_283
-  Scenario: Mode Arming/Disarming
-    Given take-off is selected
+@DO_367 @CLASS_C @MODE_3
+Feature: Negative Climb Rate or Altitude Loss (Mode 3)
+	The Mode 3 alert is intended to generate caution alerts when the aircraft loses altitude
+	during take-off or go around. The loss of altitude can either be based on a negative altitude
+	rate or it can be based on a measured loss of altitude.
+
+  @ARMING_DISARMING @MOPS_283
+  Scenario: Class C Equipment shall arm Mode 3 on take-off or go around.
+    Given the aircraft is on a take-off segment
     Then Mode 3 shall be armed
 
-  @MOPS_283
-  Scenario: Mode Arming/Disarming
-    Given go around is selected
+  @ARMING_DISARMING @MOPS_283
+  Scenario: Class C Equipment shall arm Mode 3 on take-off or go around.
+    Given the aircraft is on a go-around segment
     Then Mode 3 shall be armed
 
-  @MOPS_284
-  Scenario: Mode Arming/Disarming
-    Given take-off is not selected
-    And go around is not selected
+  @ARMING_DISARMING @MOPS_284
+  Scenario: Class C Equipment shall disarm Mode 3 when not in take-off and not in go around.
+    Given the aircraft is not on a take-off segment
+    Then Mode 3 shall not be armed
+
+  @ARMING_DISARMING @MOPS_284
+  Scenario: Class C Equipment shall disarm Mode 3 when not in take-off and not in go around.
+    Given the aircraft is not on a go-around segment
     Then Mode 3 shall not be armed
 
-  # MOPS_285: either alerting on Mode 1 or Mode 2 is sufficient, if both are
-  # used again only one is sufficient
-
-  #Rule: Method 1
-  @MOPS_286
-  Scenario Outline: Must Alert
-    Given Mode 3 is armed
-    And Mode 3 is not inhibited
-    When the rate of descent is at least <rate_of_descent> feet per minute
-    And the height above terrain is between 100 and <height> feet
-    Then a Mode 3 caution alert is emitted within 1.3 seconds
-
-    Examples:
-      | rate_of_descent | height |
-      | 207             | 60     |
-      | 533             | 600    |
-      | 534             | 600    |
-
-  @MOPS_287
-  Scenario: Must Not Alert when not Armed
-    Given Mode 3 is not armed
-    Then a Mode 3 caution alert is not emitted at all
-
-  @MOPS_287
-  Scenario: Must Not Alert when Inhibited
-    Given Mode 3 is inhibited
-    Then a Mode 3 caution alert is not emitted at all
-
-  @MOPS_287
-  Scenario Outline: Must Not Alert
-    When the rate of descent is at most <rate_of_descent> feet per minute
-    But the height above terrain is not between 10 and <height> feet
-    Then a Mode 3 caution alert is not emitted at all
+  @ALERT_CRITERIA @MOPS_285
+  Scenario: Class C Equipment shall generate a caution alert when either the Method 1 alert criteria are satisfied or the Method 2 alert criteria are satisfied ...
+    Given not implemented
+
+  Rule: Based on height above terrain/runway (Method 1)
+
+    @ALERT_CRITERIA @CAUTION @MOPS_286
+    Scenario Outline: Class C Equipment shall provide a caution alert when ...
+      Given the aircraft is on a take-off segment
+      Given Mode 3 is not inhibited
+      When the rate of descent is at least <min_rate_descent> feet per minute
+      When the height above terrain is between 60.0 and <max_height_terrain> feet
+      Then Mode 3 is armed
+      Then a Mode 3 caution shall be emitted
+
+      Examples:
+        | min_rate_descent | max_height_terrain |
+        |            207.0 |               60.0 |
+        |            533.0 |              600.0 |
+
+    @ALERT_CRITERIA @CAUTION @MOPS_287
+    Scenario: Class C Equipment shall not provide a Mode 3 caution alert when ... Mode 3 is not armed.
+      Given the aircraft is not on a take-off segment
+      Given Mode 3 is not inhibited
+      When the rate of descent is at least 207.0 feet per minute
+      When the height above terrain is 60.0 feet
+      Then Mode 3 is not armed
+      Then a Mode 3 caution shall not be emitted
+
+    @ALERT_CRITERIA @CAUTION @MOPS_287
+    Scenario: Class C Equipment shall not provide a Mode 3 caution alert when ... Mode 3 is inhibited.
+      Given the aircraft is on a take-off segment
+      Given Mode 3 is inhibited
+      When the rate of descent is at least 207.0 feet per minute
+      When the height above terrain is 60.0 feet
+      Then Mode 3 is armed
+      Then a Mode 3 caution shall not be emitted
+
+    @ALERT_CRITERIA @CAUTION @MOPS_287
+    Scenario Outline: Class C Equipment shall not provide a Mode 3 caution alert when ... within the Must Not Alert envelope ...
+      Given the aircraft is on a take-off segment
+      Given Mode 3 is not inhibited
+      When the rate of descent is at most <max_rate_descent> feet per minute
+      When the height above terrain is at least <min_height_terrain> feet
+      Then Mode 3 is armed
+      Then a Mode 3 caution should not be emitted
+
+      Examples:
+        | max_rate_descent | min_height_terrain |
+        |             49.9 |               40.0 |
+        |             49.9 |              175.0 |
+        |            446.9 |              770.0 |
+
+  Rule: Based on the combination of height above terrain/runway and altitude loss (Method 2)
+
+    @ALERT_CRITERIA @CAUTION @MOPS_288
+    Scenario Outline: Class C Equipment shall provide a caution alert when ...
+      Given the aircraft is on a take-off segment
+      Given Mode 3 is not inhibited
+      When the height above terrain is between 60.0 <init_max_height_terrain> feet
+      Given in the next phase
+      When the height above terrain is at most <next_max_height_terrain> feet
+      Then Mode 3 is armed
+      Then a Mode 3 caution shall be emitted
+
+      Examples:
+        | init_max_height_terrain | next_max_height_terrain |
+        |                    60.0 |                    34.0 |
+        |                   600.0 |                   520.0 |
+
+    @ALERT_CRITERIA @CAUTION @MOPS_289
+    Scenario: Class C Equipment shall not provide a Mode 3 caution alert when ... Mode 3 is not armed.
+      Given the aircraft is not on a take-off segment
+      Given Mode 3 is not inhibited
+      When the height above terrain is 60.0 feet
+      Given in the next phase
+      When the height above terrain is at 34.0 feet
+      Then Mode 3 is not armed
+      Then a Mode 3 caution shall not be emitted
+
+    @ALERT_CRITERIA @CAUTION @MOPS_289
+    Scenario: Class C Equipment shall not provide a Mode 3 caution alert when ... Mode 3 is inhibited.
+      Given the aircraft is on a take-off segment
+      Given Mode 3 is inhibited
+      When the height above terrain is 60.0 feet
+      Given in the next phase
+      When the height above terrain is at 34.0 feet
+      Then Mode 3 is armed
+      Then a Mode 3 caution shall not be emitted
+
+    @ALERT_CRITERIA @CAUTION @MOPS_289
+    Scenario: Class C Equipment shall not provide a Mode 3 caution alert when ...  within the Must Not Alert envelope ...
+      Given the aircraft is on a take-off segment
+      Given Mode 3 is not inhibited
+      When the height above terrain is at least <init_min_height_terrain> feet
+      Given in the next phase
+      When the height above terrain is at least <next_min_height_terrain> feet
+      Then Mode 3 is armed
+      Then a Mode 3 caution shall not be emitted
+
+      Examples:
+        | init_min_height_terrain | next_min_height_terrain |
+        |                    10.0 |                     7.1 |
+        |                    60.0 |                    57.1 |
+        |                  1600.0 |                  1472.1 |
 
+    @AURAL_ALERT @CAUTION @MOPS_290
+    Scenario: Class C Equipment shall be capable of generating or triggering an aural message of at least one of “Don’t Sink” and “Too Low Terrain”.
+      Given not implemented
 
+    @VISUAL_ALERT @CAUTION @MOPS_291
+    Scenario: Class C Equipment shall be capable of providing an output to trigger a yellow or amber indication.
+      Given not implemented

From b730e909025dff62fc4b96f038cea7ba53e4d944 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Fri, 23 Sep 2022 13:23:28 +0200
Subject: [PATCH 46/73] revises FFAC cucumber feature

---
 taws_minimal/features/ffac.feature | 72 ++++++++++++++++++++++--------
 1 file changed, 53 insertions(+), 19 deletions(-)

diff --git a/taws_minimal/features/ffac.feature b/taws_minimal/features/ffac.feature
index e54b490..ae5f8a3 100644
--- a/taws_minimal/features/ffac.feature
+++ b/taws_minimal/features/ffac.feature
@@ -1,3 +1,4 @@
+@DO_367 @CLASS_C @FFAC
 Feature: Five Hundred Foot Altitude Callout
 Altitude callouts are a category of aural annunciation occurring at a
 descending aircraft crossover of a particular height above terrain or height
@@ -9,22 +10,55 @@ other specific altitude thresholds. Examples include “four hundred”, “fift
 specific approach-related callouts such as “minimums” or “decision height”.
 Each of these additional categories of callouts is not required.
 
-  @MOPS_292
-  Scenario: Five hundred foot above terrain
-    Given FFAC is armed
-    And FFAC is not inhibited
-    And non-precision approach is selected
-    And the height above terrain is at least 500 foot
-    Given in the next phase
-    When the height above terrain is at most 500 foot
-    Then a FFAC annunciation alert is emitted within 1.3 seconds
-
-  @MOPS_292
-  Scenario: Five hundred foot above nearest runway elevation
-    Given FFAC is armed
-    And FFAC is not inhibited
-    And non-precision approach is selected
-    And the nearest runway elevation is at least 500 foot
-    Given in the next phase
-    When the nearest runway elevation is at most 500 foot
-    Then a FFAC annunciation alert is emitted within 1.3 seconds
+  @ARMING_DISARMING
+  Scenario: Class C Equipment should disarm altitude callouts when in take-off ...
+    Given the aircraft is on a take-off segment
+    Then FFAC shall not be armed
+
+  @ARMING_DISARMING
+  Scenario: Class C Equipment should disarm altitude callouts when ... in a go around.
+    Given the aircraft is on a go-around segment
+    Then FFAC shall not be armed
+
+  @ARMING_DISARMING
+  Scenario: Class C Equipment should arm altitude callouts when not in take-off ...
+    Given the aircraft is not on a take-off segment
+    Then FFAC shall be armed
+
+  @ARMING_DISARMING
+  Scenario: Class C Equipment should arm altitude callouts when not in ... go around.
+    Given the aircraft is not on a go-around segment
+    Then FFAC shall be armed
+
+  @ARMING_DISARMING
+  Scenario: Altitude callouts should be rearmed during the subsequent approach.
+    Given the aircraft is on an approach segment
+    Then FFAC shall be armed
+
+  @AURAL_ALERT @ANNUNCIATION @MOPS_293
+  Scenario: Class C Equipment shall (TAWS_MOPS_293) be capable of providing or triggering a voice callout of “five hundred” ...
+    Given not implemented
+
+  Rule: Five Hundred Foot Altitude Callout above terrain
+
+    @CALLOUT_CRITERIA @ANNUNCIATION @MOPS_292
+    Scenario: Class C Equipment shall be capable of generating ... altitude callouts when ...
+      Given the aircraft is on an approach segment
+      Given non-precision approach is selected
+      Given FFAC is not inhibited
+      Given the height above terrain is at least 500 feet
+      Given in the next phase
+      When the height above terrain is at most 500 feet
+      Then a FFAC annunciation is emitted within 1.3 seconds
+
+  Rule: Five Hundred Foot Altitude Callout above runway
+
+    @CALLOUT_CRITERIA @ANNUNCIATION @MOPS_292
+    Scenario: Class C Equipment shall be capable of generating ... altitude callouts when ...
+      Given the aircraft is on an approach segment
+      Given non-precision approach is selected
+      Given FFAC is not inhibited
+      Given the height above runway is at least 500 feet
+      Given in the next phase
+      When the height above runway is at most 500 feet
+      Then a FFAC annunciation is emitted within 1.3 seconds

From 561d5648baf15fef9e50a2388cadd24c10928992 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Mon, 10 Oct 2022 17:36:43 +0200
Subject: [PATCH 47/73] rework opentaws implementation

---
 Cargo.lock                     | 1269 +++-----------------------------
 Cargo.toml                     |    8 +-
 opentaws/Cargo.toml            |   12 +-
 opentaws/src/aircraft_state.rs |  532 +++++++++++++
 opentaws/src/alerts.rs         |  356 +++++----
 opentaws/src/alerts/ffac.rs    |   42 --
 opentaws/src/alerts/flta.rs    |   22 -
 opentaws/src/alerts/mode_1.rs  |   96 ---
 opentaws/src/alerts/mode_2.rs  |   22 -
 opentaws/src/alerts/mode_3.rs  |   73 --
 opentaws/src/alerts/mode_4.rs  |   22 -
 opentaws/src/alerts/mode_5.rs  |   22 -
 opentaws/src/alerts/pda.rs     |   61 --
 opentaws/src/envelope.rs       |  479 +++++++++---
 opentaws/src/lib.rs            |   80 +-
 opentaws/src/macros.rs         |   38 -
 opentaws/src/prelude.rs        |   22 -
 opentaws/src/signal_test.rs    |   67 --
 opentaws/src/terrain_server.rs |   32 -
 opentaws/src/types.rs          |  222 ------
 20 files changed, 1246 insertions(+), 2231 deletions(-)
 create mode 100644 opentaws/src/aircraft_state.rs
 delete mode 100644 opentaws/src/alerts/ffac.rs
 delete mode 100644 opentaws/src/alerts/flta.rs
 delete mode 100644 opentaws/src/alerts/mode_1.rs
 delete mode 100644 opentaws/src/alerts/mode_2.rs
 delete mode 100644 opentaws/src/alerts/mode_3.rs
 delete mode 100644 opentaws/src/alerts/mode_4.rs
 delete mode 100644 opentaws/src/alerts/mode_5.rs
 delete mode 100644 opentaws/src/alerts/pda.rs
 delete mode 100644 opentaws/src/macros.rs
 delete mode 100644 opentaws/src/prelude.rs
 delete mode 100644 opentaws/src/signal_test.rs
 delete mode 100644 opentaws/src/terrain_server.rs
 delete mode 100644 opentaws/src/types.rs

diff --git a/Cargo.lock b/Cargo.lock
index 873fd26..dc6c912 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -24,12 +24,12 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1485d4d2cc45e7b201ee3767015c96faa5904387c9d87c6efdd0fb511f12d305"
 
 [[package]]
-name = "arbitrary"
-version = "1.1.3"
+name = "approx"
+version = "0.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5a7924531f38b1970ff630f03eb20a2fde69db5c590c93b0f3482e95dcc5fd60"
+checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
 dependencies = [
- "derive_arbitrary",
+ "num-traits",
 ]
 
 [[package]]
@@ -38,177 +38,6 @@ version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bfb6d71005dc22a708c7496eee5c8dc0300ee47355de6256c3b35b12b5fef596"
 
-[[package]]
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-source = "registry+https://github.com/rust-lang/crates.io-index"
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-dependencies = [
- "concurrent-queue",
- "event-listener",
- "futures-core",
-]
-
-[[package]]
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "871f9bb5e0a22eeb7e8cf16641feb87c9dc67032ccf8ff49e772eb9941d3a965"
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- "concurrent-queue",
- "fastrand",
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- "once_cell",
- "slab",
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- "libc",
- "log",
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- "winapi",
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-dependencies = [
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- "cfg-if",
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- "winapi",
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-
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- "pin-utils",
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-checksum = "065374052e7df7ee4047b1160cca5e1467a12351a40b3da123c870ba0b8eda2a"
-
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@@ -258,29 +87,6 @@ version = "1.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0bf7fe51849ea569fd452f37822f606a5cabb684dc918707a0193fd4664ff324"
-dependencies = [
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-
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-checksum = "c6ccb65d468978a086b69884437ded69a90faab3bbe6e67f242173ea728acccc"
-dependencies = [
- "async-channel",
- "async-task",
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- "fastrand",
- "futures-lite",
- "once_cell",
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-
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@@ -300,37 +106,10 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "37ccbd214614c6783386c1af30caf03192f17891059cecc394b4fb119e363de3"
 
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-
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-checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
-
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-
-[[package]]
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-version = "0.3.3"
+name = "bytemuck"
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-checksum = "fabe85130dda9cf267715582ce6cf1ab581c8dfe3cb33f7065fee0f14e3fea14"
-dependencies = [
- "syn",
-]
+checksum = "2f5715e491b5a1598fc2bef5a606847b5dc1d48ea625bd3c02c00de8285591da"
 
 [[package]]
 name = "cast"
@@ -363,81 +142,10 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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 dependencies = [
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- "textwrap 0.11.0",
+ "textwrap",
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-dependencies = [
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- "bitflags",
- "clap_derive",
- "clap_lex",
- "indexmap",
- "once_cell",
- "strsim",
- "termcolor",
- "textwrap 0.15.0",
-]
-
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-version = "3.2.17"
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-dependencies = [
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-dependencies = [
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-dependencies = [
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-dependencies = [
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- "libc",
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@@ -455,7 +163,7 @@ checksum = "b01d6de93b2b6c65e17c634a26653a29d107b3c98c607c765bf38d041531cd8f"
 dependencies = [
  "atty",
  "cast",
- "clap 2.34.0",
+ "clap",
  "criterion-plot",
  "csv",
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@@ -528,16 +236,6 @@ dependencies = [
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 ]
 
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@@ -561,129 +259,31 @@ dependencies = [
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-checksum = "c9a577516173adb681466d517d39bd468293bc2c2a16439375ef0f35bba45f3d"
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 dependencies = [
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- "quote",
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+ "enum-map-derive",
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+name = "enum-map-derive"
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+checksum = "a9045e2676cd5af83c3b167d917b0a5c90a4d8e266e2683d6631b235c457fc27"
 dependencies = [
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-
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-dependencies = [
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@@ -694,12 +294,6 @@ dependencies = [
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@@ -710,120 +304,6 @@ dependencies = [
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-checksum = "e51e73328dc4ac0c7ccbda3a494dfa03df1de2f46018127f60c693f2648455b0"
-dependencies = [
- "libc",
-]
-
-[[package]]
-name = "slab"
-version = "0.4.7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4614a76b2a8be0058caa9dbbaf66d988527d86d003c11a94fbd335d7661edcef"
-dependencies = [
- "autocfg",
-]
-
-[[package]]
-name = "smallvec"
-version = "1.9.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2fd0db749597d91ff862fd1d55ea87f7855a744a8425a64695b6fca237d1dad1"
-
-[[package]]
-name = "smol"
-version = "1.2.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "85cf3b5351f3e783c1d79ab5fc604eeed8b8ae9abd36b166e8b87a089efd85e4"
-dependencies = [
- "async-channel",
- "async-executor",
- "async-fs",
- "async-io",
- "async-lock",
- "async-net",
- "async-process",
- "blocking",
- "futures-lite",
- "once_cell",
-]
-
-[[package]]
-name = "socket2"
-version = "0.4.4"
+name = "simba"
+version = "0.7.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "66d72b759436ae32898a2af0a14218dbf55efde3feeb170eb623637db85ee1e0"
+checksum = "c48e45e5961033db030b56ad67aef22e9c908c493a6e8348c0a0f6b93433cd77"
 dependencies = [
- "libc",
- "winapi",
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+ "wide",
 ]
 
 [[package]]
@@ -1752,12 +896,6 @@ version = "0.5.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6e63cff320ae2c57904679ba7cb63280a3dc4613885beafb148ee7bf9aa9042d"
 
-[[package]]
-name = "strsim"
-version = "0.10.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "73473c0e59e6d5812c5dfe2a064a6444949f089e20eec9a2e5506596494e4623"
-
 [[package]]
 name = "syn"
 version = "1.0.99"
@@ -1769,81 +907,6 @@ dependencies = [
  "unicode-ident",
 ]
 
-[[package]]
-name = "synthez"
-version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "033178d0acccffc5490021657006e6a8dd586ee9dc6f7c24e7608b125e568cb1"
-dependencies = [
- "syn",
- "synthez-codegen",
- "synthez-core",
-]
-
-[[package]]
-name = "synthez-codegen"
-version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "69263462a40e46960f070618e20094ce69e783a41f86e54bc75545136afd597a"
-dependencies = [
- "syn",
- "synthez-core",
-]
-
-[[package]]
-name = "synthez-core"
-version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bb8b5a4089fe1723279f06302afda64a5dacaa11a82bcbb4d08759590d4389d9"
-dependencies = [
- "proc-macro2",
- "quote",
- "sealed 0.3.0",
- "syn",
-]
-
-[[package]]
-name = "taws_minimal"
-version = "0.1.0"
-dependencies = [
- "arbitrary",
- "async-trait",
- "async-tungstenite",
- "aviation_database",
- "casey",
- "cucumber",
- "futures",
- "lazy_static",
- "opentaws",
- "rand",
- "rand_pcg",
- "rayon",
- "regex",
- "serde",
- "serde_json",
- "smol",
- "uom",
-]
-
-[[package]]
-name = "termcolor"
-version = "1.1.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bab24d30b911b2376f3a13cc2cd443142f0c81dda04c118693e35b3835757755"
-dependencies = [
- "winapi-util",
-]
-
-[[package]]
-name = "terminal_size"
-version = "0.1.17"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "633c1a546cee861a1a6d0dc69ebeca693bf4296661ba7852b9d21d159e0506df"
-dependencies = [
- "libc",
- "winapi",
-]
-
 [[package]]
 name = "textwrap"
 version = "0.11.0"
@@ -1853,50 +916,26 @@ dependencies = [
  "unicode-width",
 ]
 
-[[package]]
-name = "textwrap"
-version = "0.12.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "203008d98caf094106cfaba70acfed15e18ed3ddb7d94e49baec153a2b462789"
-dependencies = [
- "unicode-width",
-]
-
-[[package]]
-name = "textwrap"
-version = "0.15.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b1141d4d61095b28419e22cb0bbf02755f5e54e0526f97f1e3d1d160e60885fb"
-
 [[package]]
 name = "thiserror"
-version = "1.0.32"
+version = "1.0.37"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f5f6586b7f764adc0231f4c79be7b920e766bb2f3e51b3661cdb263828f19994"
+checksum = "10deb33631e3c9018b9baf9dcbbc4f737320d2b576bac10f6aefa048fa407e3e"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.32"
+version = "1.0.37"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12bafc5b54507e0149cdf1b145a5d80ab80a90bcd9275df43d4fff68460f6c21"
+checksum = "982d17546b47146b28f7c22e3d08465f6b8903d0ea13c1660d9d84a6e7adcdbb"
 dependencies = [
  "proc-macro2",
  "quote",
  "syn",
 ]
 
-[[package]]
-name = "thread_local"
-version = "1.1.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5516c27b78311c50bf42c071425c560ac799b11c30b31f87e3081965fe5e0180"
-dependencies = [
- "once_cell",
-]
-
 [[package]]
 name = "tinytemplate"
 version = "1.2.1"
@@ -1922,36 +961,6 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cda74da7e1a664f795bb1f8a87ec406fb89a02522cf6e50620d016add6dbbf5c"
 
-[[package]]
-name = "tungstenite"
-version = "0.17.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e27992fd6a8c29ee7eef28fc78349aa244134e10ad447ce3b9f0ac0ed0fa4ce0"
-dependencies = [
- "base64",
- "byteorder",
- "bytes",
- "http",
- "httparse",
- "log",
- "rand",
- "sha-1",
- "thiserror",
- "url",
- "utf-8",
-]
-
-[[package]]
-name = "typed-builder"
-version = "0.7.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f85f4270f4f449a3f2c0cf2aecc8415e388a597aeacc7d55fc749c5c968c8533"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn",
-]
-
 [[package]]
 name = "typenum"
 version = "1.15.0"
@@ -1989,12 +998,6 @@ dependencies = [
  "tinyvec",
 ]
 
-[[package]]
-name = "unicode-segmentation"
-version = "1.9.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7e8820f5d777f6224dc4be3632222971ac30164d4a258d595640799554ebfd99"
-
 [[package]]
 name = "unicode-width"
 version = "0.1.9"
@@ -2046,34 +1049,6 @@ dependencies = [
  "percent-encoding",
 ]
 
-[[package]]
-name = "utf-8"
-version = "0.7.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "09cc8ee72d2a9becf2f2febe0205bbed8fc6615b7cb429ad062dc7b7ddd036a9"
-
-[[package]]
-name = "value-bag"
-version = "1.0.0-alpha.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2209b78d1249f7e6f3293657c9779fe31ced465df091bbd433a1cf88e916ec55"
-dependencies = [
- "ctor",
- "version_check",
-]
-
-[[package]]
-name = "version_check"
-version = "0.9.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
-
-[[package]]
-name = "waker-fn"
-version = "1.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9d5b2c62b4012a3e1eca5a7e077d13b3bf498c4073e33ccd58626607748ceeca"
-
 [[package]]
 name = "walkdir"
 version = "2.3.2"
@@ -2116,18 +1091,6 @@ dependencies = [
  "wasm-bindgen-shared",
 ]
 
-[[package]]
-name = "wasm-bindgen-futures"
-version = "0.4.32"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fa76fb221a1f8acddf5b54ace85912606980ad661ac7a503b4570ffd3a624dad"
-dependencies = [
- "cfg-if",
- "js-sys",
- "wasm-bindgen",
- "web-sys",
-]
-
 [[package]]
 name = "wasm-bindgen-macro"
 version = "0.2.82"
@@ -2187,12 +1150,13 @@ dependencies = [
 ]
 
 [[package]]
-name = "wepoll-ffi"
-version = "0.1.2"
+name = "wide"
+version = "0.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d743fdedc5c64377b5fc2bc036b01c7fd642205a0d96356034ae3404d49eb7fb"
+checksum = "b3aba2d1dac31ac7cae82847ac5b8be822aee8f99a4e100f279605016b185c5f"
 dependencies = [
- "cc",
+ "bytemuck",
+ "safe_arch",
 ]
 
 [[package]]
@@ -2225,46 +1189,3 @@ name = "winapi-x86_64-pc-windows-gnu"
 version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
-
-[[package]]
-name = "windows-sys"
-version = "0.36.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ea04155a16a59f9eab786fe12a4a450e75cdb175f9e0d80da1e17db09f55b8d2"
-dependencies = [
- "windows_aarch64_msvc",
- "windows_i686_gnu",
- "windows_i686_msvc",
- "windows_x86_64_gnu",
- "windows_x86_64_msvc",
-]
-
-[[package]]
-name = "windows_aarch64_msvc"
-version = "0.36.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9bb8c3fd39ade2d67e9874ac4f3db21f0d710bee00fe7cab16949ec184eeaa47"
-
-[[package]]
-name = "windows_i686_gnu"
-version = "0.36.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "180e6ccf01daf4c426b846dfc66db1fc518f074baa793aa7d9b9aaeffad6a3b6"
-
-[[package]]
-name = "windows_i686_msvc"
-version = "0.36.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2e7917148b2812d1eeafaeb22a97e4813dfa60a3f8f78ebe204bcc88f12f024"
-
-[[package]]
-name = "windows_x86_64_gnu"
-version = "0.36.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4dcd171b8776c41b97521e5da127a2d86ad280114807d0b2ab1e462bc764d9e1"
-
-[[package]]
-name = "windows_x86_64_msvc"
-version = "0.36.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c811ca4a8c853ef420abd8592ba53ddbbac90410fab6903b3e79972a631f7680"
diff --git a/Cargo.toml b/Cargo.toml
index af319cb..2af263d 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,10 +1,10 @@
 [workspace]
 members = [
 	"opentaws",
-	"taws_minimal",
-	"aviation_database",
-	"kd_tree",
-	"kd_tree_sort"
+	#"taws_minimal",
+	#"aviation_database",
+	#"kd_tree",
+	#"kd_tree_sort",
 ]
 
 
diff --git a/opentaws/Cargo.toml b/opentaws/Cargo.toml
index bd0bfa2..7e85f9b 100644
--- a/opentaws/Cargo.toml
+++ b/opentaws/Cargo.toml
@@ -5,8 +5,8 @@ authors = [
 	"Wanja Zaeske <wanja.zaeske@tu-clausthal.de>",
 	"Janick Beck <janick.beck@tu-clausthal.de>",
 	"Umut Durak <umut.durak@tu-clausthal.de>",
-	]
-edition = "2018"
+]
+edition = "2021"
 license = "MIT OR Apache-2.0"
 description = "An open source TAWS"
 documentation = "https://aeronautical-informatics.github.io/openTAWS/"
@@ -26,10 +26,12 @@ default = ["use-serde"]
 use-serde = ["uom/use_serde"]
 
 [dependencies]
-aviation_database = { path = "../aviation_database"}
-lazy_static = { version = "1", features = [ "spin_no_std" ] }
+aviation_database = { path = "../aviation_database" }
+lazy_static = { version = "1", features = ["spin_no_std"] }
+enum-map = "2.4.1"
+nalgebra = { version = "0.31.1", features = ["libm"] }
 
 uom = { version = "0", default-features = false, features = ["f64", "si", "libm"] }
 ringbuffer = "0.8"
-serde = { version = "1.0", default-features = false, features = [ "derive" ] }
+serde = { version = "1.0", default-features = false, features = ["derive"] }
 serde_arrays = "*" # Serde const generic "workaround"
diff --git a/opentaws/src/aircraft_state.rs b/opentaws/src/aircraft_state.rs
new file mode 100644
index 0000000..0f218ee
--- /dev/null
+++ b/opentaws/src/aircraft_state.rs
@@ -0,0 +1,532 @@
+use core::{
+    fmt::Display,
+    marker::PhantomData,
+    ops::{Add, Rem},
+};
+
+use lazy_static::lazy_static;
+use uom::{
+    fmt::DisplayStyle,
+    si::{
+        angle::{degree, revolution},
+        f64::*,
+        length::foot,
+        ratio::ratio,
+        time::second,
+        velocity::{foot_per_minute, knot},
+    },
+};
+
+// ToDo: turn into consts when uom supports const new
+lazy_static! {
+    static ref ZERO_REVOLUTION: Angle = Angle::new::<revolution>(0.0);
+    static ref QUARTER_REVOLUTION: Angle = Angle::new::<revolution>(0.25);
+    static ref HALF_REVOLUTION: Angle = Angle::new::<revolution>(0.5);
+    static ref ONE_REVOLUTION: Angle = Angle::new::<revolution>(1.0);
+    static ref ZERO_LENGTH: Length = Length::new::<foot>(0.0);
+}
+
+/// Marker for normalized AircraftStates
+pub struct Normalized;
+
+/// Represents a normalized AircraftState.
+/// A normalized AircraftState satisfies various constraints:
+/// * Latitude is in [[-90 .. 90]] deg
+/// * Longitude is in [[-180 ... 180]] deg
+/// * Altitude above ground >= 0 foot
+/// * heading is in [0 .. 360) deg
+/// * track is in [0 .. 360) deg
+pub type NormalizedAircraftState = AircraftState<Normalized>;
+
+/// Represents the current state of an aircraft
+#[derive(Clone, Debug, Default)]
+#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
+pub struct AircraftState<T = ()> {
+    /// Time when this aircraft state was emitted
+    timestamp: Time,
+
+    /// Geographic Latitude, specifying the north-south position, WGS84
+    position_lat: Angle,
+
+    /// Geographic Longitude, specifying the east-west position, WGS84
+    position_lon: Angle,
+
+    /// Height above sea level in foot
+    altitude: Length,
+
+    /// Height above current terrain in foot
+    altitude_ground: Length,
+
+    ///  Aircraft speed as measured by GPS
+    speed_ground: Velocity,
+
+    /// Airspeed as measured by pressure sensors
+    speed_air: Velocity,
+
+    /// Rate of descent
+    climb_rate: Velocity,
+
+    /// Angle in degrees (clockwise) between true north and the direction where the
+    /// aircrafts nose is pointing
+    heading: Angle,
+
+    /// Angle in degrees (clockwise) between true north and the direction of movement
+    track: Angle,
+
+    /// ToDo: Use Quaternions instead of Euler angles
+    /// The angle on the pitch axis.
+    /// The pitch axis has its origin at the center of gravity and is directed to the right, parallel to a line drawn from wingtip to wingtip.
+    /// A positive angle points the nose up above the horizon and lowers the tail. (clockwise in direction of the axis)
+    /// https://en.wikipedia.org/wiki/Aircraft_principal_axes#Transverse_axis_(pitch)
+    /// pitch: Angle,
+
+    /// The angle on the roll axis.
+    /// The roll axis has its origin at the center of gravity and is directed forward, parallel to the fuselage reference line.
+    /// A positive angle raises the left wing and lowers the right wing. (clockwise in direction of the axis)
+    /// https://en.wikipedia.org/wiki/Aircraft_principal_axes#Longitudinal_axis_(roll)
+    /// roll: Angle,
+
+    /// The angle on the yaw axis.
+    /// The yaw axis has its origin at the center of gravity and is directed towards the bottom of the aircraft, perpendicular to the wings and to the fuselage reference line.
+    /// A positive angle points the nose to the right. (clockwise in direction of the axis)
+    /// https://en.wikipedia.org/wiki/Aircraft_principal_axes#Vertical_axis_(yaw)
+    /// yaw: Angle,
+
+    /// The current situation (flight segment) of the aircraft (take-off, cruise, landing, ...)
+    situation: Option<FlightSegment>,
+
+    _phantom: PhantomData<T>,
+}
+
+impl AircraftState {
+    pub fn new() -> Self {
+        AircraftState::default()
+    }
+
+    // Setterss
+    pub fn timestamp_mut(&mut self) -> &mut Time {
+        &mut self.timestamp
+    }
+
+    pub fn position_latitude_mut(&mut self) -> &mut Angle {
+        &mut self.position_lat
+    }
+
+    pub fn position_longitude_mut(&mut self) -> &mut Angle {
+        &mut self.position_lon
+    }
+
+    pub fn altitude_mut(&mut self) -> &mut Length {
+        &mut self.altitude
+    }
+
+    pub fn altitude_ground_mut(&mut self) -> &mut Length {
+        &mut self.altitude_ground
+    }
+
+    pub fn speed_ground_mut(&mut self) -> &mut Velocity {
+        &mut self.speed_ground
+    }
+
+    pub fn speed_air_mut(&mut self) -> &mut Velocity {
+        &mut self.speed_air
+    }
+
+    pub fn climb_rate_mut(&mut self) -> &mut Velocity {
+        &mut self.climb_rate
+    }
+
+    pub fn heading_mut(&mut self) -> &mut Angle {
+        &mut self.heading
+    }
+
+    pub fn track_mut(&mut self) -> &mut Angle {
+        &mut self.track
+    }
+
+    /* pub fn pitch_mut(&mut self) -> &mut Angle {
+        &mut self.pitch
+    }
+
+    pub fn roll_mut(&mut self) -> &mut Angle {
+        &mut self.roll
+    }
+
+    pub fn yaw_mut(&mut self) -> &mut Angle {
+        &mut self.yaw
+    } */
+
+    pub fn situation_mut(&mut self) -> &mut Option<FlightSegment> {
+        &mut self.situation
+    }
+}
+
+impl<T> AircraftState<T> {
+    // Getters
+    pub fn timestamp(&self) -> Time {
+        self.timestamp
+    }
+
+    pub fn position_latitude(&self) -> Angle {
+        self.position_lat
+    }
+
+    pub fn position_longitude(&self) -> Angle {
+        self.position_lon
+    }
+
+    pub fn altitude(&self) -> Length {
+        self.altitude
+    }
+
+    pub fn altitude_ground(&self) -> Length {
+        self.altitude_ground
+    }
+
+    pub fn speed_ground(&self) -> Velocity {
+        self.speed_ground
+    }
+
+    pub fn speed_air(&self) -> Velocity {
+        self.speed_air
+    }
+
+    pub fn climb_rate(&self) -> Velocity {
+        self.climb_rate
+    }
+
+    pub fn heading(&self) -> Angle {
+        self.heading
+    }
+
+    pub fn track(&self) -> Angle {
+        self.track
+    }
+
+    /* pub fn pitch(&self) -> Angle {
+        self.pitch
+    }
+
+    pub fn roll(&self) -> Angle {
+        self.roll
+    }
+
+    pub fn yaw(&self) -> Angle {
+        self.yaw
+    } */
+
+    pub fn situation(&self) -> Option<&FlightSegment> {
+        self.situation.as_ref()
+    }
+
+    /// Normalizes the [AircraftState] into a [NormalizedAircraftState]
+    pub(crate) fn normalize(&self) -> NormalizedAircraftState {
+        let (lat, lon) = Self::wrap_position(self.position_lat, self.position_lon);
+
+        NormalizedAircraftState {
+            timestamp: self.timestamp,
+
+            position_lat: lat,
+            position_lon: lon,
+
+            altitude: self.altitude,
+            altitude_ground: Self::clamp_altitude_ground(self.altitude_ground),
+
+            speed_ground: self.speed_ground,
+            speed_air: self.speed_air,
+
+            climb_rate: self.climb_rate,
+
+            heading: Self::wrap_compass_direction(self.heading),
+            track: Self::wrap_compass_direction(self.track),
+
+            // pitch: Angle::new::<degree>(0.0),
+            // roll: Angle::new::<degree>(0.0),
+            // yaw: Angle::new::<degree>(0.0),
+            situation: self.situation.clone(),
+
+            _phantom: PhantomData,
+        }
+    }
+
+    fn wrap_position(lat: Angle, lon: Angle) -> (Angle, Angle) {
+        let quadrant = ((lat.abs() / *QUARTER_REVOLUTION).get::<ratio>().floor() as i64) % 4;
+
+        let pole = if lat > *ZERO_REVOLUTION {
+            *QUARTER_REVOLUTION
+        } else {
+            -(*QUARTER_REVOLUTION)
+        };
+
+        let offset = lat % *QUARTER_REVOLUTION;
+
+        let (lat, lon) = match quadrant {
+            0 => (offset, lon),
+            1 => (pole - offset, lon + *HALF_REVOLUTION),
+            2 => (-offset, lon + *HALF_REVOLUTION),
+            3 => (-pole + offset, lon),
+            _ => panic!("cannot happen"),
+        };
+
+        let lon = Self::modulo(lon + *HALF_REVOLUTION, *ONE_REVOLUTION) - *HALF_REVOLUTION;
+        (lat, lon)
+    }
+
+    fn clamp_altitude_ground(alt_gnd: Length) -> Length {
+        Length::max(*ZERO_LENGTH, alt_gnd)
+    }
+
+    fn wrap_compass_direction(dir: Angle) -> Angle {
+        Self::modulo(dir, *ONE_REVOLUTION)
+    }
+
+    fn modulo<U: Copy + Add<Output = U> + Rem<Output = U>>(a: U, b: U) -> U {
+        ((a % b) + b) % b
+    }
+}
+
+impl From<NormalizedAircraftState> for AircraftState {
+    fn from(state: NormalizedAircraftState) -> Self {
+        AircraftState {
+            timestamp: state.timestamp,
+            position_lat: state.position_lat,
+            position_lon: state.position_lon,
+            altitude: state.altitude,
+            altitude_ground: state.altitude_ground,
+            speed_ground: state.speed_ground,
+            speed_air: state.speed_air,
+            climb_rate: state.climb_rate,
+            heading: state.heading,
+            track: state.track,
+            // pitch: state.pitch,
+            // roll: state.roll,
+            // yaw: state.yaw,
+            situation: state.situation.clone(),
+            _phantom: PhantomData,
+        }
+    }
+}
+
+impl<T> Display for AircraftState<T> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        let s = Time::format_args(second, DisplayStyle::Abbreviation);
+        let ft = Length::format_args(foot, DisplayStyle::Abbreviation);
+        let deg = Angle::format_args(degree, DisplayStyle::Abbreviation);
+        let fpm = Velocity::format_args(foot_per_minute, DisplayStyle::Abbreviation);
+        let kt = Velocity::format_args(knot, DisplayStyle::Abbreviation);
+
+        write!(
+            f,
+            "
+AircrafState: {{
+  timestamp: {timestamp:.4},
+  altitude_sea: {altitude_sea:.2},
+  altitude_ground: {altitude_ground:.2},
+  climb_rate: {climb_rate:.2},
+  position_lat: {position_lat:.7},
+  position_lon: {position_lon:.7},
+  heading: {heading:.2},
+  speed: {speed:.2},
+  situation: {situation}
+}}",
+            timestamp = s.with(self.timestamp),
+            altitude_sea = ft.with(self.altitude),
+            altitude_ground = ft.with(self.altitude_ground),
+            climb_rate = fpm.with(self.climb_rate),
+            position_lat = deg.with(self.position_lat),
+            position_lon = deg.with(self.position_lon),
+            heading = deg.with(self.heading),
+            speed = kt.with(self.speed_ground),
+            situation = format_args!("{:?}", self.situation)
+        )
+    }
+}
+
+/// Represents a flight segment
+#[derive(Clone, Debug)]
+#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
+pub enum FlightSegment {
+    /// The aircraft is in cruise flight situation
+    Cruise,
+
+    /// The aircraft is in a take-off situation
+    TakeOff,
+
+    // ToDo: Climb and Approach necessary?
+    // Climb ???,
+    // Approach ???,
+    /// The aircraft is in a landing situation
+    Landing {
+        /// Determines whether a circling approach is flown
+        circling_approach: bool, // Must be part of Approach
+
+        /// Determines whether a precision approach (ILS) is flown
+        precision_approach: bool, // Must be part of Approach and Landing
+
+        /// Determines wheather a steep approach is flown
+        steep_approach: bool, // Must be part of Approach and Landing
+    },
+
+    /// The aircraft is in a go around situation
+    GoAround,
+}
+
+impl Display for FlightSegment {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        match self {
+			FlightSegment::TakeOff => write!(f, "Take-Off {{ }}"),
+			FlightSegment::Cruise => write!(f, "Cruise {{ }}"),
+			FlightSegment::Landing { circling_approach, precision_approach, steep_approach } =>
+                write!(f, "Landing {{ circling: {circling_approach}, precision: {precision_approach}, steep: {steep_approach} }}"),
+			FlightSegment::GoAround => write!(f, "Go Around {{ }}")
+		}
+    }
+}
+
+#[cfg(test)]
+mod test {
+    use super::*;
+
+    const EPS: f64 = 1e-10;
+
+    macro_rules! wrap_position_tests {
+        ($($name:ident: $pos:expr => $expected:expr),*) => {$(
+            #[test]
+            fn $name() {
+                let mut state = AircraftState::new();
+                *state.position_latitude_mut() = Angle::new::<degree>($pos.0);
+                *state.position_longitude_mut() = Angle::new::<degree>($pos.1);
+
+                let norm_state = state.normalize();
+
+				assert!(angle_approx_eq(norm_state.position_latitude(), Angle::new::<degree>($expected.0)));
+				assert!(angle_approx_eq(norm_state.position_longitude(), Angle::new::<degree>($expected.1)));
+            })*
+        };
+    }
+
+    wrap_position_tests! {
+        test_wrap_zero_pos: (0.0, 0.0) => (0.0, 0.0),
+
+        test_wrap_lat_1: (10.0, 0.0) => (10.0, 0.0),
+        test_wrap_lat_2: (90.0, 0.0) => (90.0, -180.0),
+        test_wrap_lat_3: (100.0, 0.0) => (80.0, -180.0),
+        test_wrap_lat_4: (180.0, 0.0) => (0.0, -180.0),
+        test_wrap_lat_5: (190.0, 0.0) => (-10.0, -180.0),
+        test_wrap_lat_6: (270.0, 0.0) => (-90.0, 0.0),
+        test_wrap_lat_7: (280.0, 0.0) => (-80.0, 0.0),
+        test_wrap_lat_8: (360.0, 0.0) => (0.0, 0.0),
+        test_wrap_lat_9: (370.0, 0.0) => (10.0, 0.0),
+        test_wrap_lat_10: (450.0, 0.0) => (90.0, -180.0),
+
+        test_wrap_lon_1: (0.0, 10.0) => (0.0, 10.0),
+        test_wrap_lon_2: (0.0, 180.0) => (0.0, -180.0),
+        test_wrap_lon_3: (0.0, 190.0) => (0.0, -170.0),
+        test_wrap_lon_4: (0.0, 350.0) => (0.0, -10.0),
+        test_wrap_lon_5: (0.0, 360.0) => (0.0, 0.0),
+        test_wrap_lon_6: (0.0, 370.0) => (0.0, 10.0),
+        test_wrap_lon_7: (0.0, 540.0) => (0.0, -180.0),
+
+        test_wrap_lat_lon_1: (45.0, 45.0) => (45.0, 45.0),
+        test_wrap_lat_lon_2: (90.0, 90.0) => (90.0, -90.0),
+        test_wrap_lat_lon_3: (135.0, 135.0) => (45.0, -45.0),
+        test_wrap_lat_lon_4: (180.0, 180.0) => (0.0, 0.0),
+        test_wrap_lat_lon_5: (225.0, 225.0) => (-45.0, 45.0),
+        test_wrap_lat_lon_6: (270.0, 270.0) => (-90.0, -90.0),
+        test_wrap_lat_lon_7: (360.0, 360.0) => (0.0, 0.0),
+        test_wrap_lat_lon_8: (405.0, 405.0) => (45.0, 45.0),
+        test_wrap_lat_lon_9: (450.0, 450.0) => (90.0, -90.0)
+    }
+
+    #[test]
+    fn test_clamp_pos_alt_gnd() {
+        let mut state = AircraftState::new();
+        *state.altitude_ground_mut() = Length::new::<foot>(1000.0);
+
+        let norm_state = state.normalize();
+
+        assert!(length_approx_eq(
+            norm_state.altitude_ground(),
+            Length::new::<foot>(1000.0)
+        ))
+    }
+
+    #[test]
+    fn test_clamp_neg_alt_gnd() {
+        let mut state = AircraftState::new();
+        *state.altitude_ground_mut() = Length::new::<foot>(-1000.0);
+
+        let norm_state = state.normalize();
+
+        assert!(length_approx_eq(
+            norm_state.altitude_ground(),
+            Length::new::<foot>(0.0)
+        ))
+    }
+
+    macro_rules! wrap_heading_tests {
+        ($($name:ident: $hdg:expr => $expected:expr),*) => {$(
+            #[test]
+            fn $name() {
+                let mut state = AircraftState::new();
+                *state.heading_mut() = Angle::new::<degree>($hdg);
+
+                let norm_state = state.normalize();
+
+				assert!(angle_approx_eq(norm_state.heading(), Angle::new::<degree>($expected)));
+            })*
+        };
+    }
+
+    wrap_heading_tests! {
+        test_wrap_heading_1: 0.0 => 0.0,
+        test_wrap_heading_2: 10.0 => 10.0,
+        test_wrap_heading_3: 90.0 => 90.0,
+        test_wrap_heading_4: 180.0 => 180.0,
+        test_wrap_heading_5: 270.0 => 270.0,
+        test_wrap_heading_6: 360.0 => 0.0,
+
+        test_wrap_heading_7: -10.0 => 350.0,
+        test_wrap_heading_8: -90.0 => 270.0,
+        test_wrap_heading_9: -180.0 => 180.0,
+        test_wrap_heading_10: -270.0 => 90.0,
+        test_wrap_heading_11: -360.0 => 0.0
+    }
+
+    macro_rules! wrap_track_tests {
+        ($($name:ident: $trk:expr => $expected:expr),*) => {$(
+            #[test]
+            fn $name() {
+                let mut state = AircraftState::new();
+                *state.track_mut() = Angle::new::<degree>($trk);
+
+                let norm_state = state.normalize();
+
+				assert!(angle_approx_eq(norm_state.track(), Angle::new::<degree>($expected)));
+            })*
+        };
+    }
+
+    wrap_track_tests! {
+        test_wrap_track_1: 0.0 => 0.0,
+        test_wrap_track_2: 10.0 => 10.0,
+        test_wrap_track_3: 90.0 => 90.0,
+        test_wrap_track_4: 180.0 => 180.0,
+        test_wrap_track_5: 270.0 => 270.0,
+        test_wrap_track_6: 360.0 => 0.0,
+
+        test_wrap_track_7: -10.0 => 350.0,
+        test_wrap_track_8: -90.0 => 270.0,
+        test_wrap_track_9: -180.0 => 180.0,
+        test_wrap_track_10: -270.0 => 90.0,
+        test_wrap_track_11: -360.0 => 0.0
+    }
+
+    fn angle_approx_eq(value: Angle, target: Angle) -> bool {
+        (target - value).abs() < Angle::new::<degree>(EPS)
+    }
+
+    fn length_approx_eq(value: Length, target: Length) -> bool {
+        (target - value).abs() < Length::new::<foot>(EPS)
+    }
+}
diff --git a/opentaws/src/alerts.rs b/opentaws/src/alerts.rs
index 5051060..b4d88df 100644
--- a/opentaws/src/alerts.rs
+++ b/opentaws/src/alerts.rs
@@ -1,33 +1,9 @@
-use core::fmt;
+use crate::{TawsAlert, TawsAlerts};
+use enum_map::{Enum, EnumMap};
 
-use crate::types::{AircraftState, TawsConfig};
-
-mod ffac;
-mod flta;
-mod mode_1;
-mod mode_2;
-mod mode_3;
-mod mode_4;
-mod mode_5;
-mod pda;
-
-pub mod functionalities {
-    use super::*;
-
-    pub use ffac::*;
-    pub use flta::*;
-    pub use mode_1::*;
-    pub use mode_2::*;
-    pub use mode_3::*;
-    pub use mode_4::*;
-    pub use mode_5::*;
-    pub use pda::*;
-}
-
-/// Available alerts from the TAWS.
-#[derive(Clone, Copy, Debug, PartialEq, Hash)]
-#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
-pub enum Alert {
+/// Alert Source (TAWS functionallities)
+#[derive(Copy, Clone, Debug, PartialEq, Eq, Enum)]
+pub enum AlertSource {
     /// Forward Lookig Terrain Avoidance
     Flta,
 
@@ -53,224 +29,224 @@ pub enum Alert {
     Mode5,
     // TODO add more
 }
-impl Eq for Alert {}
 
-/// Importance level of an alert
-///
-/// Orderd by high priority to low priority (top to bottom)
-#[derive(Clone, Copy, Debug, PartialEq, PartialOrd, Hash)]
-#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
+/// TAWS Alert levels
+#[derive(Copy, Clone, Debug, PartialEq, Eq, PartialOrd, Ord)]
 pub enum AlertLevel {
     /// The level or category of alert for conditions that require immediate flight crew awareness
     /// and immediate flight crew response.
     Warning,
 
     /// The level or category of alert for conditions that require immediate flight crew awareness
-    /// and a less urgent subsequent flight crew response than a warning alert.  
+    /// and a less urgent subsequent flight crew response than a warning alert.
     Caution,
 
     /// The level or category of an annunciation which does not represent a threat but still
     /// requires awareness by the crew
     Annunciation,
 }
-impl Eq for AlertLevel {}
-
-/// Get the priority of a n (Alert, AlertLevel) tupel
-///
-/// A low value means a high priority.
-/// TODO move to every alert file
-pub fn priority(alert: Alert, alert_level: AlertLevel) -> u8 {
-    use Alert::*;
-    use AlertLevel::*;
-
-    match (alert, alert_level) {
-        (Mode1, Warning) => 2,
-        (Mode2, Warning) => 3,
-        (Flta, Warning) => 6,
-        (Mode2, Caution) => 9,
-        (Flta, Caution) => 11,
-        (Mode4, Caution) => 13, // Terrain caution
-        (Pda, Caution) => 14,
-        //(Mode4, Caution)=>16 // Gear caution
-        //(Mode4, Caution)=>17 // Flaps caution
-        (Mode1, Caution) => 18,
-        (Mode3, Caution) => 19,
-        (Mode5, Caution) => 20,
-        _ => u8::MAX, // TODO is this a safe assumption
-    }
-}
 
-/// Collection of a all alerts which are currently present in the TAWS
-#[derive(Debug, PartialEq)]
-#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
-pub struct AlertState<const N: usize> {
-    /// Alerts which are not to be disclosed to the crew to avoid nuisance, but still where triggered
-    // Workaround until generic arrays are allowed in serde
-    // https://github.com/serde-rs/serde/issues/1937
-    #[serde(with = "serde_arrays")]
-    all_alerts: [Option<(Alert, AlertLevel)>; N],
-}
+/// Represents a TAWS alert
+#[derive(Copy, Clone, Debug, PartialEq, Eq)]
+pub struct Alert {
+    /// The source resp. the TAWS functionallity which emitted this alert
+    pub source: AlertSource,
 
-impl<const N: usize> AlertState<N> {
-    pub fn alerts_total_count(&self) -> usize {
-        self.all_alerts.iter().filter(|e| e.is_some()).count()
-    }
+    /// The alert level of this alert
+    pub level: AlertLevel,
+}
 
-    pub fn priority_alert(&self) -> Option<(Alert, AlertLevel)> {
-        self.all_alerts
-            .iter()
-            .filter_map(|o| {
-                o.map(|(alert, alert_level)| (priority(alert, alert_level), (alert, alert_level)))
-            })
-            .min_by_key(|(p, _)| *p)
-            .map(|(_, alert_stuff)| alert_stuff)
+impl TawsAlert for Alert {
+    fn source(&self) -> AlertSource {
+        self.source
     }
 
-    /// Get an iterator to the alerts
-    pub fn iter(&self) -> impl Iterator<Item = (Alert, AlertLevel)> {
-        self.into_iter()
+    fn level(&self) -> AlertLevel {
+        self.level
     }
+}
 
-    /// updates internal alerts with new alerts, removing all old alerts. Prioritizes as well.
-    pub fn insert(&mut self, new_alert: Alert, new_alert_level: AlertLevel) {
-        let mut already_present = false;
-
-        for (existing_alert, ref mut existing_alert_level) in
-            self.all_alerts.iter_mut().filter_map(|e| *e)
-        {
-            // check if alert is already present
-            if existing_alert == new_alert {
-                // promote alerts of lower priority to higher priority
-                if new_alert_level < *existing_alert_level {
-                    *existing_alert_level = new_alert_level;
-                }
-                already_present = true;
-            }
+impl From<(AlertSource, AlertLevel)> for Alert {
+    fn from(alert: (AlertSource, AlertLevel)) -> Self {
+        Alert {
+            source: alert.0,
+            level: alert.1,
         }
+    }
+}
 
-        // lets find a free spot
-        if !already_present {
-            if let Some(option) = self.all_alerts.iter_mut().find(|e| e.is_none()) {
-                *option = Some((new_alert, new_alert_level));
-            }
-        }
+impl From<Alert> for (AlertSource, AlertLevel) {
+    fn from(alert: Alert) -> Self {
+        (alert.source, alert.level)
     }
 }
 
-impl<const N: usize> Default for AlertState<N> {
-    fn default() -> Self {
-        Self {
-            all_alerts: [None; N],
+/// Represents a set of [Alerts](Alert)
+#[derive(Default, Debug)]
+pub struct Alerts {
+    alerts: EnumMap<AlertSource, Option<Alert>>,
+}
+
+impl Alerts {
+    /// Inserts the specified alert into the set.
+    /// Already existing alerts are replaced if the [new_alert] has a higher alert level.
+    /// # Arguments
+    /// * `new_alert` - the new alert which is added to the set of alerts
+    ///
+    /// # Examples
+    /// ```
+    ///
+    /// use opentaws::{*, alerts::*};
+    /// let mut alerts = Alerts::default();
+    /// alerts.insert((AlertSource::Mode1, AlertLevel::Caution).into());
+    /// assert!(alerts.is_alert_active(AlertSource::Mode1, AlertLevel::Annunciation));
+    /// assert!(alerts.is_alert_active(AlertSource::Mode1, AlertLevel::Caution));
+    ///
+    /// ```
+    pub fn insert(&mut self, new_alert: Alert) {
+        let current_alert = &self.alerts[new_alert.source];
+
+        if current_alert
+            .as_ref()
+            .map_or(true, |alert| new_alert.level < alert.level)
+        {
+            self.alerts[new_alert.source].replace(new_alert);
         }
     }
 }
 
-/// An iterator over an `AlertState`
-pub struct AlertStateIter<const N: usize> {
-    sorted_alerts: [Option<(Alert, AlertLevel)>; N],
-    index: usize,
-}
+impl TawsAlerts for Alerts {
+    type Alert = Alert;
 
-impl<const N: usize> Iterator for AlertStateIter<N> {
-    type Item = (Alert, AlertLevel);
+    fn is_alert_active(&self, alert_src: AlertSource, min_level: AlertLevel) -> bool {
+        let current_alert = &self.alerts[alert_src];
 
-    fn next(&mut self) -> Option<Self::Item> {
-        let maybe_item = self.sorted_alerts.get(self.index).cloned().flatten();
-        self.index += 1;
-        maybe_item
+        match current_alert {
+            Some(alert) => alert.level <= min_level,
+            None => false,
+        }
     }
 }
 
-impl<const N: usize> IntoIterator for &AlertState<N> {
-    type Item = (Alert, AlertLevel);
-    type IntoIter = AlertStateIter<N>;
+impl<'a> IntoIterator for &'a Alerts {
+    type Item = &'a Alert;
+    type IntoIter = AlertsIter<'a>;
+
     fn into_iter(self) -> Self::IntoIter {
-        let mut alerts = self.all_alerts;
-        //TODO where do we do prioritisation
-        //alerts.sort_by_key(|option| option.map(|(a, l)| priority(a, l)).unwrap_or(u8::MAX));
-        // does not work on no_std.
-        // TODO implement a small sorting algorithm
-
-        AlertStateIter {
-            sorted_alerts: alerts,
+        AlertsIter {
+            alerts: self.alerts.as_slice(),
             index: 0,
         }
     }
 }
 
-/// Trait which is to be fulfilled by all functionalities
-pub trait AlertSystem<'a>: fmt::Debug + Send {
-    /// Allows this system to be instantiated
-    fn new(config: &'a TawsConfig<'a>) -> Self
-    where
-        Self: Sized;
-
-    /// Returns whether this alarm is armed.
-    ///
-    /// Arming refers to the automatic switching on of a function by
-    /// the Equipment (DO-367 Chapter 1.9).
-    fn is_armed(&self) -> bool;
-
-    /// Arm this alert
-    fn arm(&mut self);
+/// Represents an iterator over all possible [Alerts](Alert) from all [AlertSources](AlertSource).
+pub struct AlertsIter<'a> {
+    alerts: &'a [Option<Alert>],
+    index: usize,
+}
 
-    /// Disarm this alert
-    fn disarm(&mut self);
+impl<'a> Iterator for AlertsIter<'a> {
+    type Item = &'a Alert;
 
-    /// Dismiss this alert
-    fn inhibit(&mut self);
+    fn next(&mut self) -> Option<Self::Item> {
+        loop {
+            if self.index >= self.alerts.len() {
+                return None;
+            }
 
-    /// Enable this alert
-    fn uninhibit(&mut self);
+            let alert = &self.alerts[self.index];
+            self.index += 1;
 
-    /// Returns whether this alarm is inhibited
-    fn is_inhibited(&self) -> bool;
+            if alert.is_none() {
+                continue;
+            }
 
-    /// Process a new AircraftState, emit alerts if appropiate
-    ///
-    /// The `u8` refers to the Priority of this AlertFunctionality
-    fn process(&mut self, state: &AircraftState) -> Option<(AlertLevel, u8)>;
+            return alert.as_ref();
+        }
+    }
 }
 
-#[cfg(test)]
-mod test {
+mod tests {
+    #![allow(unused_imports)] //ToDo: just to satisfy clippy
     use super::*;
 
-    /// This is the maximum number of different alerts in an alert_state
-    const ALERT_STATE_SIZE: usize = 8;
+    #[test]
+    fn alert_source_equality() {
+        let a = AlertSource::Mode1;
+        let b = AlertSource::Mode1;
+        let c = AlertSource::Mode2;
+
+        assert!(a == b);
+        assert!(a != c);
+    }
 
     #[test]
-    pub fn alert_state_propagates_alerts() {
-        let mut alert_state = AlertState::<ALERT_STATE_SIZE>::default();
-        let test_alerts = [(Alert::Mode3, AlertLevel::Caution)];
-        for (new_alert, new_alert_level) in &test_alerts {
-            alert_state.insert(*new_alert, *new_alert_level);
-        }
+    fn alert_level_ord() {
+        assert!(AlertLevel::Warning < AlertLevel::Caution);
+        assert!(AlertLevel::Caution < AlertLevel::Annunciation);
+    }
 
-        assert_eq!(test_alerts.len(), alert_state.alerts_total_count())
+    #[test]
+    fn alert_from_tuple() {
+        let alert: Alert = (AlertSource::Mode1, AlertLevel::Warning).into();
+        assert!(alert.source == AlertSource::Mode1);
+        assert!(alert.level == AlertLevel::Warning);
     }
 
     #[test]
-    pub fn alert_state_usage() {
-        let alts = AlertState::<ALERT_STATE_SIZE>::default();
+    fn alert_to_tuple() {
+        let alert_tuple = (AlertSource::Mode1, AlertLevel::Warning);
+        let alert: Alert = alert_tuple.into();
+        assert!(<Alert as Into<(AlertSource, AlertLevel)>>::into(alert) == alert_tuple);
+    }
 
-        // using match
-        for x in &alts {
-            match x {
-                (Alert::Mode1, AlertLevel::Caution) if 1 > 0 => {}
+    #[test]
+    fn alert_source() {
+        let a: Alert = (AlertSource::Mode1, AlertLevel::Warning).into();
+        assert!(a.source() == AlertSource::Mode1);
+    }
 
-                (Alert::Mode1, AlertLevel::Caution) => {}
-                (Alert::Mode1, AlertLevel::Warning) => {}
-                _ => {}
-            }
-        }
+    #[test]
+    fn alert_level() {
+        let a: Alert = (AlertSource::Mode1, AlertLevel::Warning).into();
+        assert!(a.level() == AlertLevel::Warning);
+    }
 
-        // using match lazily
-        for x in &alts {
-            match x {
-                (_, AlertLevel::Caution) if 1 > 0 => {}
-                _ => {}
-            }
-        }
+    #[test]
+    fn alert_eq() {
+        let a: Alert = (AlertSource::Mode1, AlertLevel::Warning).into();
+        let b: Alert = (AlertSource::Mode1, AlertLevel::Warning).into();
+        let c: Alert = (AlertSource::Mode3, AlertLevel::Warning).into();
+        let d: Alert = (AlertSource::Mode1, AlertLevel::Caution).into();
+
+        assert!(a == b);
+        assert!(a != c);
+        assert!(a != d);
+        assert!(c != d);
+    }
+
+    #[test]
+    fn alerts_default() {
+        let alerts: Alerts = Alerts::default();
+        assert!(alerts.alerts[AlertSource::Mode1] == None)
+    }
+
+    #[test]
+    fn alerts_insert() {
+        let mut alerts: Alerts = Alerts::default();
+        let alert: Alert = (AlertSource::Mode1, AlertLevel::Caution).into();
+        alerts.insert(alert);
+        assert!(alerts.alerts[AlertSource::Mode1] == Some(alert));
+    }
+
+    #[test]
+    fn alerts_is_active() {
+        let mut alerts: Alerts = Alerts::default();
+        let alert: Alert = (AlertSource::Mode1, AlertLevel::Caution).into();
+        alerts.insert(alert);
+        assert!(alerts.is_alert_active(AlertSource::Mode1, AlertLevel::Annunciation));
+        assert!(alerts.is_alert_active(AlertSource::Mode1, AlertLevel::Caution));
+        assert!(!alerts.is_alert_active(AlertSource::Mode1, AlertLevel::Warning));
     }
 }
diff --git a/opentaws/src/alerts/ffac.rs b/opentaws/src/alerts/ffac.rs
deleted file mode 100644
index 9fc2687..0000000
--- a/opentaws/src/alerts/ffac.rs
+++ /dev/null
@@ -1,42 +0,0 @@
-use super::*;
-use crate::prelude::*;
-
-#[derive(Debug)]
-pub struct Ffac {
-    armed: bool,
-    inhibited: bool,
-    last_height: Length,
-}
-
-impl<'a> AlertSystem<'a> for Ffac {
-    fn new(_config: &TawsConfig) -> Self {
-        Self {
-            armed: true,
-            inhibited: false,
-            last_height: Length::new::<foot>(0.0),
-        }
-    }
-
-    arm_inhibit!();
-
-    /// __Notes__:
-    /// + Per the text in chapter 2.2.1.1.13.2 only "one of the following altitude callouts" must
-    ///   be generated
-    /// + MOPS_125 speaks of  non-precision approaches. However, per Note 3 of chapter
-    ///   2.2.1.1.13.2, emitation of FFAC "is recommended for all approaches"
-    fn process(&mut self, state: &AircraftState) -> Option<(AlertLevel, u8)> {
-        let fivehundred = Length::new::<foot>(500.0);
-        let mut result = None;
-
-        // TODO Do we have to check against nearest runway?
-        // TODO Is it possible to disarm the FFAC?
-
-        if self.last_height >= fivehundred && state.altitude_ground < fivehundred {
-            result = Some((AlertLevel::Annunciation, u8::default()));
-        }
-
-        self.last_height = state.altitude_ground;
-
-        armed_return!(self, result)
-    }
-}
diff --git a/opentaws/src/alerts/flta.rs b/opentaws/src/alerts/flta.rs
deleted file mode 100644
index c5739e1..0000000
--- a/opentaws/src/alerts/flta.rs
+++ /dev/null
@@ -1,22 +0,0 @@
-use super::*;
-
-#[derive(Debug)]
-pub struct Flta {
-    armed: bool,
-    inhibited: bool,
-}
-
-impl<'a> AlertSystem<'a> for Flta {
-    fn new(_config: &'a TawsConfig) -> Self {
-        Self {
-            armed: false,
-            inhibited: false,
-        }
-    }
-
-    arm_inhibit!();
-
-    fn process(&mut self, _state: &AircraftState) -> Option<(AlertLevel, u8)> {
-        armed_return!(self, None)
-    }
-}
diff --git a/opentaws/src/alerts/mode_1.rs b/opentaws/src/alerts/mode_1.rs
deleted file mode 100644
index b4cffe0..0000000
--- a/opentaws/src/alerts/mode_1.rs
+++ /dev/null
@@ -1,96 +0,0 @@
-use uom::si::{length::foot, velocity::foot_per_minute};
-
-use crate::envelope::Envelope;
-use crate::types::*;
-
-use super::*;
-
-#[derive(Clone, Debug)]
-pub struct Mode1 {
-    armed: bool,
-    inhibited: bool,
-}
-
-impl Default for Mode1 {
-    fn default() -> Self {
-        Self {
-            armed: true,
-            inhibited: false,
-        }
-    }
-}
-
-impl<'a> AlertSystem<'a> for Mode1 {
-    fn new(_config: &TawsConfig) -> Self {
-        Self {
-            armed: true,
-            inhibited: false,
-        }
-    }
-
-    //TODO add real priority
-    fn process(&mut self, state: &AircraftState) -> Option<(AlertLevel, u8)> {
-        let altitude = state.altitude_ground.get::<foot>();
-        let rod = -state.climb_rate.get::<foot_per_minute>();
-
-        let result = match state.steep_approach {
-            true if WARNING_ENVELOPE_STEEP_APPROACH.contains(rod, altitude) => {
-                Some((AlertLevel::Warning, u8::default()))
-            }
-            true if CAUTION_ENVELOPE_STEEP_APPROACH.contains(rod, altitude) => {
-                Some((AlertLevel::Caution, u8::default()))
-            }
-            false if WARNING_ENVELOPE.contains(rod, altitude) => {
-                Some((AlertLevel::Warning, u8::default()))
-            }
-            false if CAUTION_ENVELOPE.contains(rod, altitude) => {
-                Some((AlertLevel::Caution, u8::default()))
-            }
-
-            //self.caution_envelope
-            _ => None,
-        };
-
-        armed_return!(self, result)
-    }
-
-    arm_inhibit!();
-}
-
-lazy_static::lazy_static! {
-    static ref CAUTION_ENVELOPE: Envelope<5> = Envelope::new([
-        (1200.0, 11.0),
-        (2550.0, 1550.0),
-        (4800.0, 2900.0),
-        (10000.0, 4000.0),
-        (10001.0, 4000.0),
-    ])
-    .unwrap();
-
-        static ref CAUTION_ENVELOPE_STEEP_APPROACH: Envelope<5> = Envelope::new([
-        (1350.0, 11.0),
-        (2700.0, 1550.0),
-        (5300.0, 2900.0),
-        (10000.0, 4000.0),
-        (10001.0, 4000.0),
-    ])
-    .unwrap();
-
-    static ref WARNING_ENVELOPE: Envelope<5> = Envelope::new([
-        (1400.0, 11.0),
-        (2500.0, 1300.0),
-        (7500.0, 2500.0),
-        (11000.0, 3000.0),
-        (11001.0, 3000.0),
-    ])
-    .unwrap();
-
-    static ref WARNING_ENVELOPE_STEEP_APPROACH: Envelope<5> = Envelope::new([
-        (1550.0, 11.0),
-        (2650.0, 1300.0),
-        (8000.0, 2500.0),
-        (11000.0, 3000.0),
-        (11001.0, 3000.0),
-    ])
-    .unwrap();
-}
diff --git a/opentaws/src/alerts/mode_2.rs b/opentaws/src/alerts/mode_2.rs
deleted file mode 100644
index 2c0a714..0000000
--- a/opentaws/src/alerts/mode_2.rs
+++ /dev/null
@@ -1,22 +0,0 @@
-use super::*;
-
-#[derive(Debug)]
-pub struct Mode2 {
-    armed: bool,
-    inhibited: bool,
-}
-
-impl<'a> AlertSystem<'a> for Mode2 {
-    fn new(_config: &TawsConfig) -> Self {
-        Self {
-            armed: false,
-            inhibited: false,
-        }
-    }
-
-    arm_inhibit!();
-
-    fn process(&mut self, _state: &AircraftState) -> Option<(AlertLevel, u8)> {
-        armed_return!(self, None)
-    }
-}
diff --git a/opentaws/src/alerts/mode_3.rs b/opentaws/src/alerts/mode_3.rs
deleted file mode 100644
index ee390dc..0000000
--- a/opentaws/src/alerts/mode_3.rs
+++ /dev/null
@@ -1,73 +0,0 @@
-use super::*;
-use uom::num::Zero;
-use uom::si::f64::Length;
-
-use crate::envelope::Envelope;
-use crate::prelude::*;
-
-#[derive(Debug)]
-pub struct Mode3 {
-    armed: bool,
-    inhibited: bool,
-    max_altitude_ground: Length,
-}
-
-impl<'a> AlertSystem<'a> for Mode3 {
-    fn new(_config: &TawsConfig) -> Self {
-        Self {
-            armed: false,
-            inhibited: false,
-            max_altitude_ground: Length::zero(),
-        }
-    }
-
-    arm_inhibit!();
-
-    fn process(&mut self, state: &AircraftState) -> Option<(AlertLevel, u8)> {
-        let armed = state.go_around || state.take_off;
-        if let (false, true) = (self.armed, armed) {
-            self.max_altitude_ground = state.altitude_ground
-        }
-        self.armed = armed;
-
-        let mut result = None;
-        if armed {
-            if self.max_altitude_ground < state.altitude_ground {
-                self.max_altitude_ground = state.altitude_ground;
-            }
-            let alt_loss = (self.max_altitude_ground - state.altitude_ground).get::<foot>();
-            let altitude = state.altitude_ground.get::<foot>();
-            let rod = -state.climb_rate.get::<foot_per_minute>();
-
-            if CAUTION_ENVELOPE_METHODE_1.contains(rod, altitude)
-                || CAUTION_ENVELOPE_METHODE_2.contains(alt_loss, altitude)
-            {
-                result = Some((AlertLevel::Caution, u8::default()));
-            }
-        };
-
-        armed_return!(self, result)
-    }
-}
-
-lazy_static::lazy_static! {
-    /// CAUTION Envelope for Methode 1
-    /// X-Axis is Rate of Decent in foot per minute
-    /// Y-Axis is Height above Terrain in foot
-    static ref CAUTION_ENVELOPE_METHODE_1: Envelope<3> = Envelope::new([
-        (125.0, 50.0),
-        (480.0, 680.0),
-        (481.0, 680.0),
-    ])
-    .unwrap();
-
-    /// CAUTION Envelope for Methode 2
-    /// X-Axis is Altitude Loss in foot
-    /// Y-Axis is Height above Terrain in foot
-    static ref CAUTION_ENVELOPE_METHODE_2: Envelope<3> = Envelope::new([
-        (11.0, 35.0),
-        (104.0, 1100.0),
-        (104.0001, 1100.0),
-    ])
-    .unwrap();
-}
diff --git a/opentaws/src/alerts/mode_4.rs b/opentaws/src/alerts/mode_4.rs
deleted file mode 100644
index 7f7dd1a..0000000
--- a/opentaws/src/alerts/mode_4.rs
+++ /dev/null
@@ -1,22 +0,0 @@
-use super::*;
-
-#[derive(Debug)]
-pub struct Mode4 {
-    armed: bool,
-    inhibited: bool,
-}
-
-impl<'a> AlertSystem<'a> for Mode4 {
-    fn new(_config: &TawsConfig) -> Self {
-        Self {
-            armed: false,
-            inhibited: false,
-        }
-    }
-
-    arm_inhibit!();
-
-    fn process(&mut self, _state: &AircraftState) -> Option<(AlertLevel, u8)> {
-        armed_return!(self, None)
-    }
-}
diff --git a/opentaws/src/alerts/mode_5.rs b/opentaws/src/alerts/mode_5.rs
deleted file mode 100644
index a396a6e..0000000
--- a/opentaws/src/alerts/mode_5.rs
+++ /dev/null
@@ -1,22 +0,0 @@
-use super::*;
-
-#[derive(Debug)]
-pub struct Mode5 {
-    armed: bool,
-    inhibited: bool,
-}
-
-impl<'a> AlertSystem<'a> for Mode5 {
-    fn new(_config: &TawsConfig) -> Self {
-        Self {
-            armed: false,
-            inhibited: false,
-        }
-    }
-
-    arm_inhibit!();
-
-    fn process(&mut self, _state: &AircraftState) -> Option<(AlertLevel, u8)> {
-        armed_return!(self, None)
-    }
-}
diff --git a/opentaws/src/alerts/pda.rs b/opentaws/src/alerts/pda.rs
deleted file mode 100644
index 8d64f66..0000000
--- a/opentaws/src/alerts/pda.rs
+++ /dev/null
@@ -1,61 +0,0 @@
-use super::*;
-use crate::envelope::Envelope;
-use crate::prelude::*;
-use uom::si::length::nautical_mile;
-
-#[derive(Debug)]
-pub struct Pda<'a> {
-    armed: bool,
-    inhibited: bool,
-    taws_config: &'a TawsConfig<'a>,
-}
-
-impl<'a> AlertSystem<'a> for Pda<'a> {
-    fn new(config: &'a TawsConfig<'a>) -> Self {
-        Self {
-            armed: false,
-            inhibited: false,
-            taws_config: config,
-        }
-    }
-
-    arm_inhibit!();
-
-    fn process(&mut self, state: &AircraftState) -> Option<(AlertLevel, u8)> {
-        let position = state.position();
-        let nearest_airport = self.taws_config.terrain_server.nearest_airport(&position);
-        let distance = position.great_circle(&nearest_airport.pos);
-        let distance_nm = distance.get::<nautical_mile>();
-
-        // MOPS_263 requires PDA to be armed within 5NM of an airport
-        // But since it may be armed beyond that, we arm/disarm it with a
-        // distance of 8NM
-        self.armed = distance_nm <= 8.0;
-
-        // In 2.2.3.1.7.2 some considerations are presented for reducing nuisance alerts
-        // All of them are satisfied by our CAUTION_ENVELOPE
-        let result = if self.armed
-            && CAUTION_ENVELOPE.contains(distance_nm, state.altitude_ground.get::<foot>())
-        {
-            Some((AlertLevel::Caution, u8::default()))
-        } else {
-            None
-        };
-
-        armed_return!(self, result)
-    }
-}
-
-lazy_static::lazy_static! {
-    /// CAUTION Envelope for PDA
-    /// X-Axis is Distance to Airport in nautical miles
-    /// Y-Axis is Height above Terrain in foot
-    static ref CAUTION_ENVELOPE: Envelope<5> = Envelope::new([
-        (0.9, 5.0),
-        (0.90001, 85.0),
-        (1.8, 155.0),
-        (2.3, 175.0),
-        (2.4, 175.0),
-    ])
-    .unwrap();
-}
diff --git a/opentaws/src/envelope.rs b/opentaws/src/envelope.rs
index c2ad0db..f21f66e 100644
--- a/opentaws/src/envelope.rs
+++ b/opentaws/src/envelope.rs
@@ -1,139 +1,416 @@
-/// `Envelope` helps checking whether a 2D point is inside of a 2D Envelope - that is a polygon without vertical lines.
+type Vector2 = nalgebra::Vector2<f64>;
+
+/// Represents a TAWS Envelope which defines under what conditions an alert should and should not be emitted.
 pub struct Envelope<const N: usize> {
-    points: [(f64, f64); N],
-    derivatives: [f64; N], // TODO make this N-1
+    /// Defines the operating limits of this envelope. <br/>
+    /// For states outside these limits the envelope is not defined.
+    limits: Rect,
+    /// Defines the conditions under which an alert should or should not be emitted. <br/>
+    /// The start and end point must coincide with the envelope limits.
+    /// The other points must be inside of the envelope limits.
+    polygon: Polygon<N>,
 }
 
 impl<const N: usize> Envelope<N> {
-    /// Creates an envelope from point pairs
-    ///
-    /// The point pairs must be orderd by x values in ascending order. There must be no two points
-    /// with the same x value. The lower left bound is is the first point.
-    ///
-    /// Each section between two successive x points is interpolated by a linear function. The
-    /// interpolation function of the last section is extendend to +∞. Use an additional point with
-    /// the same y value as the prior point to cause an extrapolation parallel to the x axis for
-    /// the slope after the last point.
-    //
-    // # Example
-    //
-    // ```
-    // use opentaws::envelope::Envelope;
-    // // The last point ensure that the slope is extended with a function parallel to the x axis
-    // let points = vec![(1908, 150), (2050, 300), (10300, 1958), (10301, 1958)];
-    // let envelope = Envelope::new(&points).expect("invalid points given to envelope");
-    // ```
-    pub fn new<T, U>(points: [(T, U); N]) -> Option<Self>
-    where
-        T: Into<f64> + Copy,
-        U: Into<f64> + Copy,
-    {
-        if N < 2 {
-            // List is too small!
-            return None;
+    /// Creates a new Envelope from the given envelope limits and polygon points.
+    /// # Arguments
+    /// * `limits` - the limits of the envelope in which the envelope is defined. Must be finite.
+    /// * `points` - the polygon points which define the envelope. At least 3 points are nessecary. All points must be finite.
+    /// ToDO (maybe): Augment the polygon to the envelope limits by adding a new start point and new end points to close the polygon with the envelope limits.
+    pub fn try_new(limits: Rect, points: [Vector2; N]) -> Result<Self, ()> {
+        if !Self::are_valid_limits(&limits) {
+            return Err(());
         }
-        let points_raw = points;
 
-        let mut points: [(f64, f64); N] = [(points_raw[0].0.into(), points_raw[0].1.into()); N];
-        for i in 1..N {
-            points[i] = (points_raw[i].0.into(), points_raw[i].1.into());
-            if points[i - 1].0 >= points[i].0 {
-                // This means either the list is not sorted or two values are identical
-                return None;
-            }
+        if !Self::are_points_valid(&limits, &points) {
+            return Err(());
         }
 
-        // TODO port this to iter code once libcore allows to collect into arrays
-        /*
-        let derivatives = (0..(N - 1))
-            .map(|i| {
-                let (x, y) = points[i];
-                let (x_, y_) = points[i + 1];
-                (y_ - y) / (x_ - x)
-            })
-            .collect();
-         */
+        Ok(Self {
+            limits,
+            polygon: Polygon::try_new(points)?,
+        })
+    }
+
+    /// checks wether the given limits are sufficent for an envelope.
+    fn are_valid_limits(limits: &Rect) -> bool {
+        limits.min.x.is_finite()
+            && limits.min.y.is_finite()
+            && limits.max.x.is_finite()
+            && limits.max.y.is_finite()
+    }
 
-        let mut derivatives = [0f64; N];
-        for i in 0..(N - 1) {
-            let (x, y) = points[i];
-            let (x_, y_) = points[i + 1];
-            derivatives[i] = (y_ - y) / (x_ - x)
+    /// checks whether the given polygon points are sufficent for an envelope.
+    /// the polygon must start and end on the envelope limits. all in-between points must be within the envelope limit.
+    fn are_points_valid(limits: &Rect, points: &[Vector2; N]) -> bool {
+        if N < 3 {
+            return false;
         }
 
-        Some(Self {
-            points,
-            derivatives,
-        })
-    }
+        let first_point = points.first().unwrap();
+        let last_point = points.last().unwrap();
+        if !limits.is_point_on_boundary(*first_point) || !limits.is_point_on_boundary(*last_point) {
+            return false;
+        }
 
-    /// Checks wether a point is in the envelope
-    pub fn contains<T, U>(&self, x: T, y: U) -> bool
-    where
-        T: Into<f64> + Copy,
-        U: Into<f64> + Copy,
-    {
-        let (x, y) = (x.into(), y.into());
-        let minimum = self.points[0];
-        if x < minimum.0 || y < minimum.1 {
+        let mid_points = &points[1..N - 1];
+        if !mid_points.iter().all(|point| limits.contains(*point)) {
             return false;
         }
 
-        let mut interval_index = (N - 1) - 1; // TODO make this `derivatives.len() - 1`
-        for (i, p) in self.points[0..self.derivatives.len() - 1]
+        true
+    }
+
+    /// Returns whether the envelope is defined for the specified point.
+    /// # Arguments
+    /// * `point` - The point which is tested
+    /// # Returns
+    /// * `true` if the given point is within the envelope limits; otherwise `false`.
+    pub fn is_within_limits(&self, point: Vector2) -> bool {
+        self.limits.contains(point)
+    }
+
+    /// Determines whether the specified state is within the envelope.
+    /// # Arguments
+    /// * `point` - The state which is tested against the envelope.
+    /// # Returns
+    /// * `Ok(bool)` - Indicates whether the given point is within the envelope.
+    /// * `Err()` - The given point is not within the envelope limits.
+    pub fn contains(&self, point: Vector2) -> Result<bool, ()> {
+        if !self.is_within_limits(point) {
+            return Err(());
+        }
+
+        Ok(self.polygon.contains(point))
+    }
+}
+
+/// Represents an Polygon.
+struct Polygon<const N: usize> {
+    /// Points which define the polygon.
+    /// the last segement from point[-1] to point[0] is implied.
+    points: [Vector2; N],
+}
+
+impl<const N: usize> Polygon<N> {
+    /// tries to create a new polygon from the given points.
+    /// at least 2 points are nessecary. all points must be finite.
+    fn try_new(points: [Vector2; N]) -> Result<Self, ()> {
+        if N < 2 {
+            return Err(());
+        }
+
+        if !Self::are_points_valid(&points) {
+            return Err(());
+        }
+
+        Ok(Self { points })
+    }
+
+    /// check given points.
+    fn are_points_valid(points: &[Vector2; N]) -> bool {
+        points
             .iter()
-            .enumerate()
-        {
-            // TODO remove the -1
-            let p_ = self.points[i + 1];
-            if p.0 <= x && x <= p_.0 {
-                interval_index = i;
-                break;
+            .all(|point| point.x.is_finite() && point.y.is_finite())
+    }
+
+    /// returns the points of the polygon.
+    fn points(&self) -> &[Vector2; N] {
+        &self.points
+    }
+
+    /// returns the axis-aligned bounding-box for the polygon.
+    fn bounding_box(&self) -> Rect {
+        let mut min = Vector2::new(f64::INFINITY, f64::INFINITY);
+        let mut max = Vector2::new(f64::NEG_INFINITY, f64::NEG_INFINITY);
+
+        for p in self.points {
+            if p.x < min.x {
+                min.x = p.x;
+            } else if p.x > max.x {
+                max.x = p.x;
+            }
+
+            if p.y < min.y {
+                min.y = p.y;
+            } else if p.y > max.y {
+                max.y = p.y;
             }
         }
 
-        let fx = self.points[interval_index].1
-            + self.derivatives[interval_index] * (x - self.points[interval_index].0);
-        y <= fx
+        Rect::new(min, max)
+    }
+
+    /// returns an iterator over
+    fn segments(&self) -> impl Iterator<Item = LineSegment> + '_ {
+        (0..N).map(|i| (self.points[i], self.points[(i + 1) % N]).into())
+    }
+
+    /// determines whether the specfied point is within or on the polygon boundary.
+    /// works for all kind of polygons: simple, non-convex and non-simple (self-intersecting).
+    /// https://www.engr.colostate.edu/~dga/documents/papers/point_in_polygon.pdf
+    fn contains(&self, point: Vector2) -> bool {
+        let mut winding_num = 0.0;
+
+        for segment in self.segments() {
+            if segment.contains(point) {
+                return true;
+            }
+
+            let (p1, p2) = segment.translate(-point).into();
+
+            if p1.y * p2.y < 0.0 {
+                let r = p1.x + (p1.y * (p2.x - p1.x)) / (p1.y - p2.y);
+
+                if r > 0.0 {
+                    if p1.y < 0.0 {
+                        winding_num += 1.0;
+                    } else {
+                        winding_num -= 1.0;
+                    }
+                }
+            } else if p1.y == 0.0 && p1.x > 0.0 {
+                if p2.y > 0.0 {
+                    winding_num += 0.5;
+                } else {
+                    winding_num -= 0.5;
+                }
+            } else if p2.y == 0.0 && p2.x > 0.0 {
+                if p1.y < 0.0 {
+                    winding_num += 0.5;
+                } else {
+                    winding_num -= 0.5;
+                }
+            }
+        }
+
+        winding_num != 0.0
     }
 }
 
-#[cfg(test)]
-mod test {
-    use super::*;
+/// Represents an axis-aligned rectangle.
+#[derive(Copy, Clone, Default, Debug, PartialEq)]
+pub struct Rect {
+    /// lower left corner
+    min: Vector2,
+    /// upper right corner
+    max: Vector2,
+}
 
-    fn init_envelope() -> Envelope<4> {
-        let points = [(1600, 100), (1850, 300), (10100, 1958), (10101, 1958)];
-        Envelope::new(points).unwrap()
+impl Rect {
+    /// Creates a rectanlge from two points.
+    fn new(p1: Vector2, p2: Vector2) -> Rect {
+        let min = Vector2::new(f64::min(p1.x, p2.x), f64::min(p1.y, p2.y));
+        let max = Vector2::new(f64::max(p1.x, p2.x), f64::max(p1.y, p2.y));
+
+        Rect { min, max }
     }
 
-    #[test]
-    fn left_lower_bound() {
-        let evp = init_envelope();
-        assert!(evp.contains(1600, 100));
+    /// Returns the four corner points starting from the lower left point going in clockwise direction.
+    fn points(&self) -> [Vector2; 4] {
+        let dy = Vector2::new(0.0, self.max.y - self.min.y);
+        [self.min, self.min + dy, self.max, self.max - dy]
     }
 
-    #[test]
-    fn y_below_envelope() {
-        let evp = init_envelope();
-        assert!(!evp.contains(1600, 99.9));
+    /// Iterates over the four sides of the rectangle starting from the left vertical segment in clockwise direction.
+    fn segments(&self) -> impl Iterator<Item = LineSegment> + '_ {
+        let points = self.points();
+        (0..4).map(move |i| (points[i], points[(i + 1) % 4]).into())
     }
 
+    /// Determines whether the specified point is within or on the reactangle.
+    fn contains(&self, point: Vector2) -> bool {
+        (self.min.x <= point.x && point.x <= self.max.x)
+            && (self.min.y <= point.y && point.y <= self.max.y)
+    }
+
+    /// Determines whether the specified point is on the rectangle boundary.
+    fn is_point_on_boundary(&self, point: Vector2) -> bool {
+        if !self.contains(point) {
+            return false;
+        }
+
+        point.x == self.min.x
+            || point.x == self.max.y
+            || point.y == self.min.y
+            || point.y == self.max.y
+    }
+}
+
+/// Represents a line segment.
+#[derive(Copy, Clone, Default, Debug, PartialEq)]
+pub struct LineSegment {
+    /// First point which defines the line segment.
+    point1: Vector2,
+    /// Second point which defines the line segment.
+    point2: Vector2,
+}
+
+impl LineSegment {
+    /// Create a new line segment.
+    fn new(p1: Vector2, p2: Vector2) -> Self {
+        Self {
+            point1: p1,
+            point2: p2,
+        }
+    }
+
+    /// Returns the mid point of the line segment.
+    fn mid(&self) -> Vector2 {
+        self.point1 + 0.5 * (self.point2 - self.point1)
+    }
+
+    /// Determines whether the specified point is on the line segment.
+    fn contains(&self, point: Vector2) -> bool {
+        let ab = self.point2 - self.point1;
+        let ac = point - self.point1;
+
+        if ab.magnitude() == 0.0 {
+            return point == self.point1;
+        }
+
+        let cross_prod = (ab.x * ac.y) - (ac.x * ab.y);
+        if cross_prod != 0.0 {
+            return false;
+        }
+
+        let ab_dot_ac = (ab.x * ac.x) + (ab.y * ac.y);
+        if ab_dot_ac < 0.0 {
+            return false;
+        } else if ab_dot_ac == 0.0 {
+            return true;
+        }
+
+        let ab_dot_ab = (ab.x * ab.x) + (ab.y * ab.y);
+        if ab_dot_ac > ab_dot_ab {
+            return false;
+        } else if ab_dot_ac == ab_dot_ab {
+            return true;
+        }
+
+        true
+    }
+
+    /// Translates the line segment by the specified offset.
+    fn translate(&self, offset: Vector2) -> LineSegment {
+        (self.point1 + offset, self.point2 + offset).into()
+    }
+}
+
+impl From<(Vector2, Vector2)> for LineSegment {
+    fn from(segment: (Vector2, Vector2)) -> Self {
+        Self::new(segment.0, segment.1)
+    }
+}
+
+impl From<LineSegment> for (Vector2, Vector2) {
+    fn from(segment: LineSegment) -> Self {
+        (segment.point1, segment.point2)
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use nalgebra::Vector2;
+
+    use super::*;
+
     #[test]
-    fn high_x_in_envelope() {
-        let evp = init_envelope();
-        assert!(evp.contains(1e100, 100));
+    fn test_segment_contains() {
+        let l: LineSegment = (Vector2::zeros(), Vector2::new(100.0, 100.0)).into();
+        assert!(l.contains(Vector2::zeros()));
+        assert!(l.contains(Vector2::new(50.0, 50.0)));
+        assert!(!l.contains(Vector2::new(101.0, 101.0)));
+
+        let l: LineSegment = (Vector2::new(10.0, 10.0), Vector2::new(10.0, 10.0)).into();
+        assert!(l.contains(Vector2::new(10.0, 10.0)));
+        assert!(!l.contains(Vector2::new(9.0, 9.0)));
+        assert!(!l.contains(Vector2::zeros()))
     }
 
     #[test]
-    fn y_above_envelope() {
-        let evp = init_envelope();
-        assert!(!evp.contains(10100, 1959));
+    fn test_polygon_contains() {
+        let points = [
+            Vector2::zeros(),
+            Vector2::new(0.0, 100.0),
+            Vector2::new(100.0, 100.0),
+            Vector2::new(100.0, 0.0),
+        ];
+        let poly = Polygon::try_new(points).unwrap();
+
+        assert!(points.iter().all(|point| poly.contains(*point)));
+        assert!(poly
+            .segments()
+            .map(|segment| segment.mid())
+            .all(|point| poly.contains(point)));
+
+        assert!(!poly.contains(Vector2::new(-0.01, -0.01)));
+        assert!(!poly.contains(Vector2::new(-0.01, 100.01)));
+        assert!(!poly.contains(Vector2::new(100.01, 100.01)));
+        assert!(!poly.contains(Vector2::new(100.01, -0.01)));
+
+        let points = [
+            Vector2::new(100.0, 100.0),
+            Vector2::new(100.0, 200.0),
+            Vector2::new(150.0, 200.0),
+            Vector2::new(200.0, 50.0),
+            Vector2::new(250.0, 200.0),
+            Vector2::new(300.0, 200.0),
+            Vector2::new(300.0, 100.0),
+        ];
+        let poly = Polygon::try_new(points).unwrap();
+
+        assert!(points.iter().all(|point| poly.contains(*point)));
+        assert!(poly
+            .segments()
+            .map(|seg| seg.mid())
+            .all(|point| poly.contains(point)));
+
+        assert!(!poly.contains(Vector2::new(200.0, 150.0)));
+        assert!(poly.contains(Vector2::new(200.0, 75.0)));
+
+        let points = [
+            Vector2::new(10.0, 10.0),
+            Vector2::new(10.0, 10.0),
+            Vector2::new(10.0, 10.0),
+            Vector2::new(10.0, 10.0),
+        ];
+
+        let poly = Polygon::try_new(points).unwrap();
+        assert!(points.iter().all(|point| poly.contains(*point)));
+        assert!(poly
+            .segments()
+            .map(|seg| seg.mid())
+            .all(|point| poly.contains(point)));
+
+        assert!(!poly.contains(Vector2::new(9.0, 9.0)));
+        assert!(!poly.contains(Vector2::zeros()));
     }
 
     #[test]
-    #[should_panic(expected = "called `Option::unwrap()` on a `None` value")]
-    fn input_list_too_small() {
-        let evp = Envelope::<1>::new([(0, 0)]).unwrap();
+    fn test_envelope() {
+        let limits = Rect {
+            min: Vector2::zeros(),
+            max: Vector2::new(100.0, 100.0),
+        };
+
+        let points = [
+            Vector2::new(10.0, 0.0),
+            Vector2::new(10.0, 75.0),
+            Vector2::new(100.0, 75.0),
+        ];
+
+        let envelope = Envelope::try_new(limits, points).unwrap();
+
+        assert!(envelope.is_within_limits(Vector2::zeros()));
+        assert!(envelope.is_within_limits(Vector2::new(100.0, 100.0)));
+        assert!(envelope.is_within_limits(Vector2::new(0.0, 100.0)));
+        assert!(envelope.is_within_limits(Vector2::new(100.0, 0.0)));
+        assert!(!envelope.is_within_limits(Vector2::new(150.0, 150.0)));
+
+        assert!(!envelope.contains(Vector2::zeros()).unwrap());
+        assert!(!envelope.contains(Vector2::new(100.0, 100.0)).unwrap());
+        assert!(envelope.contains(Vector2::new(50.0, 50.0)).unwrap());
+        assert!(envelope.contains(Vector2::new(150.0, 150.0)) == Err(()));
     }
 }
diff --git a/opentaws/src/lib.rs b/opentaws/src/lib.rs
index cb4f90e..b8045b9 100644
--- a/opentaws/src/lib.rs
+++ b/opentaws/src/lib.rs
@@ -10,25 +10,73 @@
 
 #![no_std]
 #![deny(unsafe_code)]
+#![allow(dead_code)]
 
-pub use alerts::{functionalities, Alert, AlertLevel, AlertState};
-use prelude::*;
-pub use types::*;
+extern crate enum_map;
 
+#[cfg(test)]
 #[macro_use]
-pub mod macros;
+extern crate std;
 
-mod alerts;
+pub mod aircraft_state;
+pub mod alerts;
 mod envelope;
-pub mod prelude;
-mod types;
-
-pub trait Taws<const N: usize> {
-    fn is_armed(&self, alert_system: Alert) -> bool;
-    fn arm(&mut self, alert_system: Alert);
-    fn disarm(&mut self, alert_system: Alert);
-    fn is_inhibited(&self, alert_system: Alert) -> bool;
-    fn inhibit(&mut self, alert_system: Alert);
-    fn uninhibit(&mut self, alert_system: Alert);
-    fn process(&mut self, state: &AircraftState) -> AlertState<N>;
+
+pub use aircraft_state::{AircraftState, NormalizedAircraftState};
+pub use alerts::{Alert, AlertLevel, AlertSource};
+
+/// Abstraction for a TAWS system
+pub trait Taws {
+    /// Alert set type
+    type Alerts: TawsAlerts + Default;
+
+    //fn arm(&mut self, alert_src: AlertSource);
+    //fn disarm(&mut self, alert_src: AlertSource);
+
+    /// Returns whether the specified alert source (TAWS functionallity) is currently armed.
+    /// # Arguments
+    /// * `alert_src` - The alert source of which the armed state is returned.
+    fn is_armed(&self, alert_src: AlertSource) -> bool;
+
+    /// Inhibits the output of the specified alert source.
+    /// # Arguements
+    /// * `alert_src` - The alert source to inhibit.
+    fn inhibit(&mut self, alert_src: AlertSource);
+
+    /// Un-inhibits the output of the specified alert source.
+    /// # Arguements
+    /// * `alert_src` - The alert source to un-inhibit.
+    fn uninhibit(&mut self, alert_src: AlertSource);
+
+    /// Returns whether the specified alert source is currently inhibited.
+    /// # Arguments
+    /// * `alert_src` - The alert source of which the inhibit state is returned.
+    fn is_inhibited(&self, alert_src: AlertSource) -> bool;
+
+    /// Processes an normalized [AircraftState] and
+    /// returns an alert for each alert source if the related conditions for this TAWS functionallity are given.
+    /// # Arguments
+    /// * `state` - The normalized [AircraftState] to process.
+    fn process(&mut self, state: NormalizedAircraftState) -> Self::Alerts;
+}
+
+/// Abstraction for a TAWS alert
+pub trait TawsAlert: Into<(AlertSource, AlertLevel)> + Eq {
+    /// Returns the TAWS functionallity which emitted this alert
+    fn source(&self) -> AlertSource;
+
+    /// Returns the alert level of this alert
+    fn level(&self) -> AlertLevel;
+}
+
+/// Abstraction for a set of TAWS alerts
+pub trait TawsAlerts {
+    /// Alert type
+    type Alert: TawsAlert;
+
+    /// Returns whether an alert from the given source with at least the specified alert level is active.
+    /// # Arguments
+    /// * `alert_src` - The alert source (TAWS functionallity) to check for
+    /// * `min_level` - The inclusive min level to check for
+    fn is_alert_active(&self, alert_src: AlertSource, min_level: AlertLevel) -> bool;
 }
diff --git a/opentaws/src/macros.rs b/opentaws/src/macros.rs
deleted file mode 100644
index d918b95..0000000
--- a/opentaws/src/macros.rs
+++ /dev/null
@@ -1,38 +0,0 @@
-// A helper macro to implement the boring part of all AlertSystems
-macro_rules! arm_inhibit {
-    () => {
-        fn is_armed(&self) -> bool {
-            self.armed
-        }
-
-        fn arm(&mut self) {
-            self.armed = true;
-        }
-
-        fn disarm(&mut self) {
-            self.armed = false;
-        }
-
-        fn is_inhibited(&self) -> bool {
-            self.inhibited
-        }
-
-        fn inhibit(&mut self) {
-            self.inhibited = true;
-        }
-
-        fn uninhibit(&mut self) {
-            self.inhibited = false;
-        }
-    };
-}
-
-macro_rules! armed_return {
-    ($self:expr, $result:expr) => {
-        if $self.is_armed() {
-            $result
-        } else {
-            None
-        }
-    };
-}
diff --git a/opentaws/src/prelude.rs b/opentaws/src/prelude.rs
deleted file mode 100644
index 62a8d45..0000000
--- a/opentaws/src/prelude.rs
+++ /dev/null
@@ -1,22 +0,0 @@
-//! The prelude is a collection of all traits and commonly used types in this crate
-//!
-//! For normal use of this crate it is sufficient to glob import only this moduel, e.g. `use
-//! opentaws::prelude::*`.
-
-pub use crate::{
-    alerts::{functionalities, Alert, Alert::*, AlertLevel, AlertState, AlertSystem},
-    types::{AircraftState, TawsConfig},
-    Taws,
-};
-
-#[macro_use]
-pub use crate::macros::*;
-
-pub use uom::si::{
-    acceleration::foot_per_second_squared,
-    angle::degree,
-    f64::*,
-    length::foot,
-    time::second,
-    velocity::{foot_per_minute, knot},
-};
diff --git a/opentaws/src/signal_test.rs b/opentaws/src/signal_test.rs
deleted file mode 100644
index e8ddef9..0000000
--- a/opentaws/src/signal_test.rs
+++ /dev/null
@@ -1,67 +0,0 @@
-//! This file shall provide filtering
-
-use crate::prelude::*;
-use ringbuffer::{AllocRingBuffer, RingBuffer};
-use uom::si::ratio::{ratio, Ratio};
-
-// TODO: What is wrong, if two values do not fit together?
-#[derive(Copy, Clone, Debug, PartialEq)]
-pub enum UnplausibleSignal {
-    AltitudeGround,
-    AltitudeSea,
-    SpeedAir,
-    SpeedGround,
-    NotEnoughData,
-    //InternalError,
-    /// Time stamp is either equally aged or older than the last
-    Anachronistic,
-}
-
-#[derive(Debug)]
-pub struct SignalTest {
-    states: AllocRingBuffer<AircraftState>,
-}
-
-impl SignalTest {
-    pub fn new(config: &TAWSConfig) -> Self {
-        Self {
-            states: AllocRingBuffer::with_capacity(16),
-        }
-    }
-
-    pub fn check(
-        &mut self,
-        aircraft_state: AircraftState,
-    ) -> Result<AircraftState, UnplausibleSignal> {
-        // push new aircraft states
-        self.states.push(aircraft_state);
-
-        // check if enough aircraft states where gathered
-        if self.states.len() < self.states.capacity() {
-            return Err(UnplausibleSignal::NotEnoughData);
-        }
-
-        // check if the new aircraft state goes forward in time
-        let dt = self.states.get(-2).unwrap().timestamp - self.states.get(-1).unwrap().timestamp;
-        if Time::new::<second>(0.0) >= dt {
-            return Err(UnplausibleSignal::Anachronistic);
-        }
-
-        let last_state = self.states.get(-2).unwrap();
-        let current_state = self.states.get(-1).unwrap();
-
-        // check if altitude ground is negative
-        if current_state.altitude_ground < Length::new::<foot>(0.0) {
-            return Err(UnplausibleSignal::AltitudeGround);
-        }
-
-        // check if height change is plausible
-        let max_speed = last_state.speed_ground.max(current_state.speed_ground);
-        let d_altitude = current_state.altitude - last_state.altitude;
-        //if d_altitude > Ratio::new::<ratio>(1.5) * dt * max_speed  {
-        //    return Err(UnplausibleSignal::AltitudeSea);
-        //}
-
-        Ok(self.states.get(-1).unwrap().clone())
-    }
-}
diff --git a/opentaws/src/terrain_server.rs b/opentaws/src/terrain_server.rs
deleted file mode 100644
index 0f583a0..0000000
--- a/opentaws/src/terrain_server.rs
+++ /dev/null
@@ -1,32 +0,0 @@
-use core::convert::{From,Into};
-
-use crate::prelude::*;
-
-
-pub trait TerrainServer {
-    fn elevation<T: Into<Position>>(&self, position:T)->Length;
-    fn nearest_runway<T: Into<Position>>(&self, position:T)->Runway;
-}
-
-pub struct Position {
-    latitude: Angle,
-    longitude: Angle,
-    altitude_sea: Length,
-}
-
-impl From<&AircraftState> for Position {
-    fn from(aircraft_state: AircraftState)->Self{
-        Position{
-            longitude: aircraft_state.longitude,
-            latitude: aircraft_state.latitude,
-            altitude_sea: aircraft_state.altitude_sea,
-        }
-    }
-}
-
-pub struct Runway {
-    location: Position,
-    length: Length,
-    name: String,
-    azimuth: Angle,
-}
\ No newline at end of file
diff --git a/opentaws/src/types.rs b/opentaws/src/types.rs
deleted file mode 100644
index 7c10399..0000000
--- a/opentaws/src/types.rs
+++ /dev/null
@@ -1,222 +0,0 @@
-use core::{
-    fmt,
-    iter::Empty,
-    ops::{Add, Rem},
-};
-
-use uom::{
-    fmt::DisplayStyle::Abbreviation,
-    si::f64::*,
-    si::{
-        acceleration::foot_per_second_squared,
-        angle::{degree, revolution},
-        length::foot,
-        time::second,
-        velocity::{foot_per_minute, knot},
-    },
-};
-
-use aviation_database::{reference::AirportDatabaseImpl, AirportDatabase, Position, Runway};
-
-/// Represents the current state of an aircraft
-#[derive(Clone, Debug, Default)]
-#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
-pub struct AircraftState {
-    /// Time when this aircraft state was emitted
-    pub timestamp: Time,
-
-    /// Height above sea level in foot
-    pub altitude: Length,
-
-    /// Height above current terrain in foot
-    pub altitude_ground: Length,
-
-    /// Rate of descent
-    pub climb_rate: Velocity,
-
-    /// Geographic Latitude, specifying the north-south position
-    pub position_lat: Angle,
-
-    /// Geographic Longitude, specifying the east-west position
-    pub position_lon: Angle,
-
-    /// Angle in degrees (clockwise) between north and the direction to the
-    /// destination or nav aid
-    //pub bearing: degree,
-
-    ///  Aircraft speed as measured by GPS
-    pub speed_ground: Velocity,
-
-    /// Airspeed as measured by pressure sensors
-    pub speed_air: Velocity,
-
-    /// Angle in degrees (clockwise) between north and the direction where the
-    /// aircrafts nose is pointing
-    pub heading: Angle,
-
-    /// The angle on the pitch axis. A positive value means the aircraft's nose points upwards
-    /// compared to the horizon.
-    pub pitch: Angle,
-
-    /// The angle on the roll axis. A positive value means the aircraft's left wing points upwards
-    /// while the right wing points downwards compared to the horizon. Another way of phrasing it:
-    /// a positive value means the aircraft is rotated clockwise (as seen from behind).
-    pub roll: Angle,
-
-    /// Whether steep approach is selected
-    pub steep_approach: bool,
-
-    /// Whether precision approach is selected
-    pub precision_approach: bool,
-
-    /// Whether go around is selected
-    pub go_around: bool,
-
-    /// Whether take-off is selected
-    pub take_off: bool,
-}
-
-/// This configuration holds various details about the aircraft in use. These are necessary for
-/// example when estimating path trajectories for FLTA.
-///
-/// TODO adjust doc string to reflect the existence of terrainserver
-#[derive(Clone, Debug)]
-pub struct TawsConfig<'a> {
-    pub terrain_server: &'a dyn AirportDatabase<RunwayIterator = core::iter::Empty<Runway>>,
-
-    pub max_climbrate: Velocity,
-    pub max_climbrate_change: Acceleration,
-}
-
-impl AircraftState {
-    /// Normalizes an `AircraftState`. Only normalized `AircraftStates` should be fed to the TAWS.
-    pub(crate) fn normalize(&mut self) {
-        let one_revolution = Angle::new::<revolution>(1.0);
-        let half_revolution = Angle::new::<revolution>(0.5);
-        let quarter_revolution = Angle::new::<revolution>(0.25);
-
-        self.heading = Self::modulo(self.heading, one_revolution);
-
-        self.roll = Self::modulo(self.roll + half_revolution, one_revolution) - half_revolution;
-        self.pitch = Self::modulo(self.pitch + half_revolution, one_revolution) - half_revolution;
-
-        self.position_lat = Self::modulo(self.position_lat + quarter_revolution, half_revolution)
-            - quarter_revolution;
-        self.position_lon =
-            Self::modulo(self.position_lon + half_revolution, one_revolution) - half_revolution;
-    }
-
-    pub(crate) fn check(&self) {
-        let zero = Angle::new::<revolution>(0.0);
-        let one_revolution = Angle::new::<revolution>(1.0);
-        let half_revolution = Angle::new::<revolution>(0.5);
-        let quarter_revolution = Angle::new::<revolution>(0.25);
-
-        (zero..=one_revolution).contains(&self.heading);
-
-        (-half_revolution..=half_revolution).contains(&self.roll);
-        (-half_revolution..=half_revolution).contains(&self.pitch);
-
-        (-quarter_revolution..=quarter_revolution).contains(&self.position_lat);
-        (-half_revolution..=half_revolution).contains(&self.position_lon);
-    }
-
-    fn modulo<T: Copy + Add<Output = T> + Rem<Output = T>>(a: T, b: T) -> T {
-        ((a % b) + b) % b
-    }
-
-    pub fn position(&self) -> Position {
-        Position {
-            lat: self.position_lat,
-            lon: self.position_lon,
-            alt: self.altitude_ground,
-        }
-    }
-}
-
-impl fmt::Display for AircraftState {
-    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
-        let s = Time::format_args(second, Abbreviation);
-        let ft = Length::format_args(foot, Abbreviation);
-        let dg = Angle::format_args(degree, Abbreviation);
-        let fpm = Velocity::format_args(foot_per_minute, Abbreviation);
-        let kt = Velocity::format_args(knot, Abbreviation);
-
-        write!(
-            f,
-            "AircrafState:
-  timestamp: {timestamp:.4}
-  altitude_sea: {altitude_sea:.2}
-  altitude_ground: {altitude_ground:.2}
-  climb_rate: {climb_rate:.2}
-  position_lat: {position_lat:.7}
-  position_lon: {position_lon:.7}
-  heading: {heading:.2}
-  speed: {speed:.2}
-  pitch_angle: {pitch_angle:.2}
-  roll_angle: {roll_angle:.2}
-  steep_approach: {steep_approach}\n",
-            timestamp = s.with(self.timestamp),
-            altitude_sea = ft.with(self.altitude),
-            altitude_ground = ft.with(self.altitude_ground),
-            climb_rate = fpm.with(self.climb_rate),
-            position_lat = dg.with(self.position_lat),
-            position_lon = dg.with(self.position_lon),
-            heading = dg.with(self.heading),
-            speed = kt.with(self.speed_ground),
-            pitch_angle = dg.with(self.pitch),
-            roll_angle = dg.with(self.roll),
-            steep_approach = self.steep_approach,
-        )
-    }
-}
-
-impl<'a> Default for TawsConfig<'a> {
-    fn default() -> Self {
-        static AIRPORT_DATABASE: AirportDatabaseImpl = AirportDatabaseImpl {};
-        Self {
-            terrain_server: &AIRPORT_DATABASE,
-            max_climbrate: Velocity::new::<foot_per_minute>(700.0),
-            max_climbrate_change: Acceleration::new::<foot_per_second_squared>(100.0),
-        }
-    }
-}
-
-#[cfg(test)]
-mod test {
-    use super::*;
-
-    use uom::si::length::foot;
-
-    const EPS: f64 = 1e-10;
-
-    #[test]
-    fn negative_altitude() {
-        let mut state = AircraftState::default();
-        state.altitude_ground = Length::new::<foot>(-12.0);
-    }
-
-    #[test]
-    fn normalize_angle_below_zero() {
-        let mut aircraft_state = AircraftState::default();
-        aircraft_state.heading = Angle::new::<degree>(-1.0);
-        aircraft_state.normalize();
-        assert_eq!(aircraft_state.heading, Angle::new::<degree>(359.0));
-    }
-
-    #[test]
-    fn normalize_angle_far_below_zero() {
-        let mut aircraft_state = AircraftState::default();
-        aircraft_state.heading = Angle::new::<degree>(-1024.0);
-        aircraft_state.normalize();
-        assert!((aircraft_state.heading - Angle::new::<degree>(56.0)).get::<degree>() < EPS);
-    }
-
-    #[test]
-    fn normalize_angle_far_above_zero() {
-        let mut aircraft_state = AircraftState::default();
-        aircraft_state.heading = Angle::new::<degree>(1024.0);
-        aircraft_state.normalize();
-        assert!((aircraft_state.heading - Angle::new::<degree>(304.0)).get::<degree>() < EPS);
-    }
-}

From ca3932ae087c5175bc2e1baad27459d869be778c Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Tue, 11 Oct 2022 13:38:00 +0200
Subject: [PATCH 48/73] rework opentaws implementation

---
 opentaws/src/alerts.rs       |  16 +++--
 opentaws/src/alerts/ffac.rs  |  78 ++++++++++++++++++++++
 opentaws/src/alerts/mode1.rs | 122 +++++++++++++++++++++++++++++++++++
 opentaws/src/alerts/mode3.rs | 111 +++++++++++++++++++++++++++++++
 opentaws/src/alerts/pda.rs   |  86 ++++++++++++++++++++++++
 opentaws/src/envelope.rs     |  87 ++++++++++++-------------
 opentaws/src/lib.rs          |  43 ++++++++++--
 7 files changed, 489 insertions(+), 54 deletions(-)
 create mode 100644 opentaws/src/alerts/ffac.rs
 create mode 100644 opentaws/src/alerts/mode1.rs
 create mode 100644 opentaws/src/alerts/mode3.rs
 create mode 100644 opentaws/src/alerts/pda.rs

diff --git a/opentaws/src/alerts.rs b/opentaws/src/alerts.rs
index b4d88df..4ed9083 100644
--- a/opentaws/src/alerts.rs
+++ b/opentaws/src/alerts.rs
@@ -1,3 +1,8 @@
+pub mod ffac;
+pub mod mode1;
+pub mod mode3;
+pub mod pda;
+
 use crate::{TawsAlert, TawsAlerts};
 use enum_map::{Enum, EnumMap};
 
@@ -56,6 +61,12 @@ pub struct Alert {
     pub level: AlertLevel,
 }
 
+impl Alert {
+    pub fn new(source: AlertSource, level: AlertLevel) -> Self {
+        Alert { source, level }
+    }
+}
+
 impl TawsAlert for Alert {
     fn source(&self) -> AlertSource {
         self.source
@@ -68,10 +79,7 @@ impl TawsAlert for Alert {
 
 impl From<(AlertSource, AlertLevel)> for Alert {
     fn from(alert: (AlertSource, AlertLevel)) -> Self {
-        Alert {
-            source: alert.0,
-            level: alert.1,
-        }
+        Self::new(alert.0, alert.1)
     }
 }
 
diff --git a/opentaws/src/alerts/ffac.rs b/opentaws/src/alerts/ffac.rs
new file mode 100644
index 0000000..739817d
--- /dev/null
+++ b/opentaws/src/alerts/ffac.rs
@@ -0,0 +1,78 @@
+use crate::{aircraft_state::FlightSegment, Alert, AlertLevel, AlertSource, TawsFunctionality};
+
+use uom::{
+    num_traits::Zero,
+    si::{f64::Length, length::foot},
+};
+
+pub struct Ffac {
+    alert_src: AlertSource,
+    armed: bool,
+    inhibited: bool,
+
+    last_altitude: Length,
+}
+
+impl Default for Ffac {
+    fn default() -> Self {
+        Self {
+            alert_src: AlertSource::Ffac,
+            armed: true,
+            inhibited: false,
+            last_altitude: Length::zero(),
+        }
+    }
+}
+
+impl TawsFunctionality for Ffac {
+    type Alert = Alert;
+
+    fn alert_source(&self) -> AlertSource {
+        self.alert_src
+    }
+
+    fn is_armed(&self) -> bool {
+        self.armed
+    }
+
+    fn inhibit(&mut self) {
+        self.inhibited = true;
+    }
+
+    fn uninhibit(&mut self) {
+        self.inhibited = false;
+    }
+
+    fn is_inhibited(&self) -> bool {
+        self.inhibited
+    }
+
+    fn process(
+        &mut self,
+        state: crate::NormalizedAircraftState,
+    ) -> Result<Option<Self::Alert>, ()> {
+        let armed = state
+            .situation()
+            .map(|s| !matches!(s, FlightSegment::TakeOff | FlightSegment::GoAround))
+            .ok_or(())?;
+
+        self.armed = armed;
+        if !self.armed {
+            return Ok(None);
+        }
+
+        let fivehundred = Length::new::<foot>(500.0);
+        let result: Result<Option<Alert>, ()> =
+            if self.last_altitude >= fivehundred && state.altitude_ground() < fivehundred {
+                Ok(Some(Alert::new(self.alert_src, AlertLevel::Annunciation)))
+            } else {
+                Ok(None)
+            };
+
+        if !self.inhibited {
+            result
+        } else {
+            Ok(None)
+        }
+    }
+}
diff --git a/opentaws/src/alerts/mode1.rs b/opentaws/src/alerts/mode1.rs
new file mode 100644
index 0000000..093e7ce
--- /dev/null
+++ b/opentaws/src/alerts/mode1.rs
@@ -0,0 +1,122 @@
+use crate::{
+    aircraft_state::FlightSegment,
+    envelope::{Envelope, INVALID_ENVELOPE},
+    Alert, AlertLevel, AlertSource, TawsFunctionality,
+};
+use lazy_static::lazy_static;
+use nalgebra::Vector2;
+use uom::si::{length::foot, velocity::foot_per_minute};
+
+#[derive(Clone, Debug)]
+pub struct Mode1 {
+    alert_src: AlertSource,
+    armed: bool,
+    inhibited: bool,
+}
+
+impl Default for Mode1 {
+    fn default() -> Self {
+        Self {
+            alert_src: AlertSource::Mode1,
+            armed: true,
+            inhibited: false,
+        }
+    }
+}
+
+impl TawsFunctionality for Mode1 {
+    type Alert = Alert;
+
+    fn alert_source(&self) -> AlertSource {
+        self.alert_src
+    }
+
+    fn is_armed(&self) -> bool {
+        self.armed
+    }
+
+    fn inhibit(&mut self) {
+        self.inhibited = true;
+    }
+
+    fn uninhibit(&mut self) {
+        self.inhibited = false;
+    }
+
+    fn is_inhibited(&self) -> bool {
+        self.inhibited
+    }
+
+    fn process(
+        &mut self,
+        state: crate::NormalizedAircraftState,
+    ) -> Result<Option<Self::Alert>, ()> {
+        let altitude = state.altitude_ground().get::<foot>();
+        let rod = -state.climb_rate().get::<foot_per_minute>();
+        let steep_approach = state
+            .situation()
+            .map(|s| match s {
+                FlightSegment::Landing { steep_approach, .. } => *steep_approach,
+                _ => false,
+            })
+            .ok_or(())?;
+
+        let result = match steep_approach {
+            true if STEEP_WARNING_ENVELOPE.contains(rod, altitude)? => {
+                Ok(Some(Alert::new(self.alert_src, AlertLevel::Warning)))
+            }
+            true if STEEP_CAUTION_ENVELOPE.contains(rod, altitude)? => {
+                Ok(Some(Alert::new(self.alert_src, AlertLevel::Caution)))
+            }
+            false if WARNING_ENVELOPE.contains(rod, altitude)? => {
+                Ok(Some(Alert::new(self.alert_src, AlertLevel::Warning)))
+            }
+            false if CAUTION_ENVELOPE.contains(rod, altitude)? => {
+                Ok(Some(Alert::new(self.alert_src, AlertLevel::Caution)))
+            }
+            _ => Err(()),
+        };
+
+        if !self.inhibited {
+            result
+        } else {
+            Ok(None)
+        }
+    }
+}
+
+lazy_static! {
+    static ref CAUTION_ENVELOPE: Envelope<5> = Envelope::try_new([
+        Vector2::new(100_000.0, 100.0),
+        Vector2::new(1560.0, 100.0),
+        Vector2::new(2200.0, 630.0),
+        Vector2::new(5700.0, 2200.0),
+        Vector2::new(100_000.0, 2200.0)
+    ])
+    .expect(INVALID_ENVELOPE);
+    static ref STEEP_CAUTION_ENVELOPE: Envelope<6> = Envelope::try_new([
+        Vector2::new(100_000.0, 150.0),
+        Vector2::new(1798.0, 150.0),
+        Vector2::new(1944.0, 300.0),
+        Vector2::new(3233.0, 1078.0),
+        Vector2::new(6225.0, 2075.0),
+        Vector2::new(100_000.0, 2075.0)
+    ])
+    .expect(INVALID_ENVELOPE);
+    static ref WARNING_ENVELOPE: Envelope<5> = Envelope::try_new([
+        Vector2::new(100_000.0, 100.0),
+        Vector2::new(1600.0, 100.0),
+        Vector2::new(1850.0, 300.0),
+        Vector2::new(10100.0, 1958.0),
+        Vector2::new(100_000.0, 1958.0)
+    ])
+    .expect(INVALID_ENVELOPE);
+    static ref STEEP_WARNING_ENVELOPE: Envelope<5> = Envelope::try_new([
+        Vector2::new(100_000.0, 150.0),
+        Vector2::new(1908.0, 150.0),
+        Vector2::new(2050.0, 300.0),
+        Vector2::new(10300.0, 1958.0),
+        Vector2::new(100_000.0, 1958.0)
+    ])
+    .expect(INVALID_ENVELOPE);
+}
diff --git a/opentaws/src/alerts/mode3.rs b/opentaws/src/alerts/mode3.rs
new file mode 100644
index 0000000..d5d5578
--- /dev/null
+++ b/opentaws/src/alerts/mode3.rs
@@ -0,0 +1,111 @@
+use crate::{
+    aircraft_state::FlightSegment,
+    envelope::{Envelope, INVALID_ENVELOPE},
+    Alert, AlertLevel, AlertSource, TawsFunctionality,
+};
+use lazy_static::lazy_static;
+use nalgebra::Vector2;
+use uom::{
+    num_traits::Zero,
+    si::{f64::Length, length::foot, velocity::foot_per_minute},
+};
+
+pub struct Mode3 {
+    alert_src: AlertSource,
+    armed: bool,
+    inhibited: bool,
+
+    max_altitude_ground: Length,
+}
+
+impl Default for Mode3 {
+    fn default() -> Self {
+        Self {
+            alert_src: AlertSource::Mode3,
+            armed: false,
+            inhibited: false,
+
+            max_altitude_ground: Length::zero(),
+        }
+    }
+}
+
+impl TawsFunctionality for Mode3 {
+    type Alert = Alert;
+
+    fn alert_source(&self) -> AlertSource {
+        self.alert_src
+    }
+
+    fn is_armed(&self) -> bool {
+        self.armed
+    }
+
+    fn inhibit(&mut self) {
+        self.inhibited = true;
+    }
+
+    fn uninhibit(&mut self) {
+        self.inhibited = false;
+    }
+
+    fn is_inhibited(&self) -> bool {
+        self.inhibited
+    }
+
+    fn process(
+        &mut self,
+        state: crate::NormalizedAircraftState,
+    ) -> Result<Option<Self::Alert>, ()> {
+        let armed = state
+            .situation()
+            .map(|s| matches!(s, FlightSegment::TakeOff | FlightSegment::GoAround))
+            .ok_or(())?;
+
+        if let (false, true) = (self.armed, armed) {
+            self.max_altitude_ground = state.altitude_ground()
+        }
+
+        self.armed = armed;
+        if !self.armed {
+            return Ok(None);
+        }
+
+        self.max_altitude_ground = Length::max(self.max_altitude_ground, state.altitude_ground());
+
+        let alt_loss = (self.max_altitude_ground - state.altitude_ground()).get::<foot>();
+        let altitude = state.altitude_ground().get::<foot>();
+        let rod = -state.climb_rate().get::<foot_per_minute>();
+
+        let result = if METHODE_1_CAUTION_ENVELOPE.contains(rod, altitude)?
+            || METHODE_2_CAUTION_ENVELOPE.contains(alt_loss, altitude)?
+        {
+            Ok(Some(Alert::new(self.alert_src, AlertLevel::Caution)))
+        } else {
+            Ok(None)
+        };
+
+        if !self.inhibited {
+            result
+        } else {
+            Ok(None)
+        }
+    }
+}
+
+lazy_static! {
+    static ref METHODE_1_CAUTION_ENVELOPE: Envelope::<4> = Envelope::try_new([
+        Vector2::new(100_000.0, 60.0),
+        Vector2::new(207.0, 60.0),
+        Vector2::new(533.0, 600.0),
+        Vector2::new(100_000.0, 600.0)
+    ])
+    .expect(INVALID_ENVELOPE);
+    static ref METHODE_2_CAUTION_ENVELOPE: Envelope::<4> = Envelope::try_new([
+        Vector2::new(100_000.0, 60.0),
+        Vector2::new(26.0, 60.0),
+        Vector2::new(80.0, 600.0),
+        Vector2::new(100_000.0, 600.0)
+    ])
+    .expect(INVALID_ENVELOPE);
+}
diff --git a/opentaws/src/alerts/pda.rs b/opentaws/src/alerts/pda.rs
new file mode 100644
index 0000000..775e495
--- /dev/null
+++ b/opentaws/src/alerts/pda.rs
@@ -0,0 +1,86 @@
+use crate::{
+    envelope::{Envelope, INVALID_ENVELOPE},
+    Alert, AlertLevel, AlertSource, TawsFunctionality,
+};
+use lazy_static::lazy_static;
+use nalgebra::Vector2;
+use uom::si::length::foot;
+
+pub struct PDA {
+    alert_src: AlertSource,
+    armed: bool,
+    inhibited: bool,
+}
+
+impl Default for PDA {
+    fn default() -> Self {
+        Self {
+            alert_src: AlertSource::Pda,
+            armed: false,
+            inhibited: false,
+        }
+    }
+}
+
+impl TawsFunctionality for PDA {
+    type Alert = Alert;
+
+    fn alert_source(&self) -> AlertSource {
+        self.alert_src
+    }
+
+    fn is_armed(&self) -> bool {
+        self.armed
+    }
+
+    fn inhibit(&mut self) {
+        self.inhibited = true;
+    }
+
+    fn uninhibit(&mut self) {
+        self.inhibited = false;
+    }
+
+    fn is_inhibited(&self) -> bool {
+        self.inhibited
+    }
+
+    fn process(
+        &mut self,
+        state: crate::NormalizedAircraftState,
+    ) -> Result<Option<Self::Alert>, ()> {
+        // ToDo
+        let altitude_gnd_foot = state.altitude_ground().get::<foot>();
+        let distance_to_nearest_airport_nm = 3.0;
+
+        self.armed = distance_to_nearest_airport_nm <= 5.0;
+        if !self.armed {
+            return Ok(None);
+        }
+
+        let result: Result<Option<Alert>, ()> =
+            if CAUTION_ENVELOPE.contains(distance_to_nearest_airport_nm, altitude_gnd_foot)? {
+                Ok(Some(Alert::new(self.alert_src, AlertLevel::Caution)))
+            } else {
+                Ok(None)
+            };
+
+        if !self.inhibited {
+            result
+        } else {
+            Ok(None)
+        }
+    }
+}
+
+lazy_static! {
+    static ref CAUTION_ENVELOPE: Envelope::<6> = Envelope::try_new([
+        Vector2::new(5.0, 10.0),
+        Vector2::new(1.0, 10.0),
+        Vector2::new(1.0, 80.0),
+        Vector2::new(1.8, 150.0),
+        Vector2::new(2.3, 170.0),
+        Vector2::new(5.0, 170.0)
+    ])
+    .expect(INVALID_ENVELOPE);
+}
diff --git a/opentaws/src/envelope.rs b/opentaws/src/envelope.rs
index f21f66e..1f862bb 100644
--- a/opentaws/src/envelope.rs
+++ b/opentaws/src/envelope.rs
@@ -1,53 +1,52 @@
 type Vector2 = nalgebra::Vector2<f64>;
 
+pub const INVALID_ENVELOPE: &str = "Invalid Envelope!";
+
 /// Represents a TAWS Envelope which defines under what conditions an alert should and should not be emitted.
 pub struct Envelope<const N: usize> {
-    /// Defines the operating limits of this envelope. <br/>
+    /*/// Defines the operating limits of this envelope. <br/>
     /// For states outside these limits the envelope is not defined.
-    limits: Rect,
-    /// Defines the conditions under which an alert should or should not be emitted. <br/>
-    /// The start and end point must coincide with the envelope limits.
-    /// The other points must be inside of the envelope limits.
+    limits: Rect, */
+    /// Defines the conditions under which an alert should or should not be emitted.
     polygon: Polygon<N>,
 }
 
 impl<const N: usize> Envelope<N> {
     /// Creates a new Envelope from the given envelope limits and polygon points.
     /// # Arguments
-    /// * `limits` - the limits of the envelope in which the envelope is defined. Must be finite.
     /// * `points` - the polygon points which define the envelope. At least 3 points are nessecary. All points must be finite.
     /// ToDO (maybe): Augment the polygon to the envelope limits by adding a new start point and new end points to close the polygon with the envelope limits.
-    pub fn try_new(limits: Rect, points: [Vector2; N]) -> Result<Self, ()> {
-        if !Self::are_valid_limits(&limits) {
+    pub fn try_new(/* limits: Rect, */ points: [Vector2; N]) -> Result<Self, ()> {
+        /*if !Self::are_valid_limits(&limits) {
             return Err(());
-        }
+        }*/
 
-        if !Self::are_points_valid(&limits, &points) {
+        if !Self::are_points_valid(/* &limits, */ &points) {
             return Err(());
         }
 
         Ok(Self {
-            limits,
+            //limits,
             polygon: Polygon::try_new(points)?,
         })
     }
 
-    /// checks wether the given limits are sufficent for an envelope.
+    /* /// checks wether the given limits are sufficent for an envelope.
     fn are_valid_limits(limits: &Rect) -> bool {
         limits.min.x.is_finite()
             && limits.min.y.is_finite()
             && limits.max.x.is_finite()
             && limits.max.y.is_finite()
-    }
+    } */
 
     /// checks whether the given polygon points are sufficent for an envelope.
     /// the polygon must start and end on the envelope limits. all in-between points must be within the envelope limit.
-    fn are_points_valid(limits: &Rect, points: &[Vector2; N]) -> bool {
+    fn are_points_valid(/* limits: &Rect, */ _points: &[Vector2; N]) -> bool {
         if N < 3 {
             return false;
         }
 
-        let first_point = points.first().unwrap();
+        /* let first_point = points.first().unwrap();
         let last_point = points.last().unwrap();
         if !limits.is_point_on_boundary(*first_point) || !limits.is_point_on_boundary(*last_point) {
             return false;
@@ -56,32 +55,32 @@ impl<const N: usize> Envelope<N> {
         let mid_points = &points[1..N - 1];
         if !mid_points.iter().all(|point| limits.contains(*point)) {
             return false;
-        }
+        } */
 
         true
     }
 
-    /// Returns whether the envelope is defined for the specified point.
+    /* /// Returns whether the envelope is defined for the specified point.
     /// # Arguments
     /// * `point` - The point which is tested
     /// # Returns
     /// * `true` if the given point is within the envelope limits; otherwise `false`.
     pub fn is_within_limits(&self, point: Vector2) -> bool {
         self.limits.contains(point)
-    }
+    } */
 
-    /// Determines whether the specified state is within the envelope.
+    /// Determines whether the specified (x, y) state is within the envelope.
     /// # Arguments
-    /// * `point` - The state which is tested against the envelope.
+    /// * `x` - The first state component.
+    /// * `y` - The second state compoenent.
     /// # Returns
-    /// * `Ok(bool)` - Indicates whether the given point is within the envelope.
-    /// * `Err()` - The given point is not within the envelope limits.
-    pub fn contains(&self, point: Vector2) -> Result<bool, ()> {
-        if !self.is_within_limits(point) {
+    /// * `Ok(bool)` - Indicates whether the given state is within the envelope.
+    pub fn contains(&self, x: f64, y: f64) -> Result<bool, ()> {
+        /* if !self.is_within_limits(point) {
             return Err(());
-        }
+        } */
 
-        Ok(self.polygon.contains(point))
+        Ok(self.polygon.contains(Vector2::new(x, y)))
     }
 }
 
@@ -119,7 +118,7 @@ impl<const N: usize> Polygon<N> {
         &self.points
     }
 
-    /// returns the axis-aligned bounding-box for the polygon.
+    /* /// returns the axis-aligned bounding-box for the polygon.
     fn bounding_box(&self) -> Rect {
         let mut min = Vector2::new(f64::INFINITY, f64::INFINITY);
         let mut max = Vector2::new(f64::NEG_INFINITY, f64::NEG_INFINITY);
@@ -139,7 +138,7 @@ impl<const N: usize> Polygon<N> {
         }
 
         Rect::new(min, max)
-    }
+    } */
 
     /// returns an iterator over
     fn segments(&self) -> impl Iterator<Item = LineSegment> + '_ {
@@ -188,9 +187,9 @@ impl<const N: usize> Polygon<N> {
     }
 }
 
-/// Represents an axis-aligned rectangle.
+/* /// Represents an axis-aligned rectangle.
 #[derive(Copy, Clone, Default, Debug, PartialEq)]
-pub struct Rect {
+struct Rect {
     /// lower left corner
     min: Vector2,
     /// upper right corner
@@ -235,7 +234,7 @@ impl Rect {
             || point.y == self.min.y
             || point.y == self.max.y
     }
-}
+} */
 
 /// Represents a line segment.
 #[derive(Copy, Clone, Default, Debug, PartialEq)]
@@ -248,7 +247,7 @@ pub struct LineSegment {
 
 impl LineSegment {
     /// Create a new line segment.
-    fn new(p1: Vector2, p2: Vector2) -> Self {
+    pub fn new(p1: Vector2, p2: Vector2) -> Self {
         Self {
             point1: p1,
             point2: p2,
@@ -256,12 +255,12 @@ impl LineSegment {
     }
 
     /// Returns the mid point of the line segment.
-    fn mid(&self) -> Vector2 {
+    pub fn mid(&self) -> Vector2 {
         self.point1 + 0.5 * (self.point2 - self.point1)
     }
 
     /// Determines whether the specified point is on the line segment.
-    fn contains(&self, point: Vector2) -> bool {
+    pub fn contains(&self, point: Vector2) -> bool {
         let ab = self.point2 - self.point1;
         let ac = point - self.point1;
 
@@ -292,7 +291,7 @@ impl LineSegment {
     }
 
     /// Translates the line segment by the specified offset.
-    fn translate(&self, offset: Vector2) -> LineSegment {
+    pub fn translate(&self, offset: Vector2) -> LineSegment {
         (self.point1 + offset, self.point2 + offset).into()
     }
 }
@@ -389,10 +388,10 @@ mod tests {
 
     #[test]
     fn test_envelope() {
-        let limits = Rect {
+        /* let limits = Rect {
             min: Vector2::zeros(),
             max: Vector2::new(100.0, 100.0),
-        };
+        }; */
 
         let points = [
             Vector2::new(10.0, 0.0),
@@ -400,17 +399,17 @@ mod tests {
             Vector2::new(100.0, 75.0),
         ];
 
-        let envelope = Envelope::try_new(limits, points).unwrap();
+        let envelope = Envelope::try_new(/* limits, */ points).unwrap();
 
-        assert!(envelope.is_within_limits(Vector2::zeros()));
+        /* assert!(envelope.is_within_limits(Vector2::zeros()));
         assert!(envelope.is_within_limits(Vector2::new(100.0, 100.0)));
         assert!(envelope.is_within_limits(Vector2::new(0.0, 100.0)));
         assert!(envelope.is_within_limits(Vector2::new(100.0, 0.0)));
-        assert!(!envelope.is_within_limits(Vector2::new(150.0, 150.0)));
+        assert!(!envelope.is_within_limits(Vector2::new(150.0, 150.0))); */
 
-        assert!(!envelope.contains(Vector2::zeros()).unwrap());
-        assert!(!envelope.contains(Vector2::new(100.0, 100.0)).unwrap());
-        assert!(envelope.contains(Vector2::new(50.0, 50.0)).unwrap());
-        assert!(envelope.contains(Vector2::new(150.0, 150.0)) == Err(()));
+        assert!(!envelope.contains(0.0, 0.0).unwrap());
+        assert!(!envelope.contains(100.0, 100.0).unwrap());
+        assert!(envelope.contains(50.0, 50.0).unwrap());
+        assert!(envelope.contains(150.0, 150.0) == Err(()));
     }
 }
diff --git a/opentaws/src/lib.rs b/opentaws/src/lib.rs
index b8045b9..4d0872f 100644
--- a/opentaws/src/lib.rs
+++ b/opentaws/src/lib.rs
@@ -20,20 +20,25 @@ extern crate std;
 
 pub mod aircraft_state;
 pub mod alerts;
-mod envelope;
+pub(crate) mod envelope;
 
 pub use aircraft_state::{AircraftState, NormalizedAircraftState};
 pub use alerts::{Alert, AlertLevel, AlertSource};
 
 /// Abstraction for a TAWS system
 pub trait Taws {
+    type Alert: TawsAlert + Sized;
     /// Alert set type
-    type Alerts: TawsAlerts + Default;
+    type Alerts: TawsAlerts<Alert = Self::Alert> + Default;
 
     //fn arm(&mut self, alert_src: AlertSource);
     //fn disarm(&mut self, alert_src: AlertSource);
 
-    /// Returns whether the specified alert source (TAWS functionallity) is currently armed.
+    // ToDo:
+    //fn functionality(&self) -> Option<dyn TawsFunctionallity>;
+    //fn functionalities(&self) -> iterator, array, slice ???;
+
+    /// Returns whether the specified alert source (TAWS functionality) is currently armed.
     /// # Arguments
     /// * `alert_src` - The alert source of which the armed state is returned.
     fn is_armed(&self, alert_src: AlertSource) -> bool;
@@ -53,11 +58,37 @@ pub trait Taws {
     /// * `alert_src` - The alert source of which the inhibit state is returned.
     fn is_inhibited(&self, alert_src: AlertSource) -> bool;
 
-    /// Processes an normalized [AircraftState] and
-    /// returns an alert for each alert source if the related conditions for this TAWS functionallity are given.
+    /// Processes a normalized [AircraftState] and
+    /// returns an alert for each alert source if the related conditions for this TAWS functionality are given.
+    /// # Arguments
+    /// * `state` - The normalized [AircraftState] to process.
+    fn process(&mut self, state: NormalizedAircraftState) -> Self::Alerts; //ToDo: Result ?
+}
+
+/// Represents a TAWS functionality
+pub trait TawsFunctionality {
+    /// Alert type
+    type Alert: TawsAlert;
+
+    /// Returns the alert source which is controlled by this functionality.
+    fn alert_source(&self) -> AlertSource;
+
+    /// Returns whether the functionality is armed.
+    fn is_armed(&self) -> bool;
+
+    /// Inhibits the functionality.
+    fn inhibit(&mut self);
+
+    /// Un-inhibits the functionality.
+    fn uninhibit(&mut self);
+
+    /// Returns whether the functionality is currently inhibited.
+    fn is_inhibited(&self) -> bool;
+
+    /// Processes a normalized [AircraftState] and returns an alert result or an error.
     /// # Arguments
     /// * `state` - The normalized [AircraftState] to process.
-    fn process(&mut self, state: NormalizedAircraftState) -> Self::Alerts;
+    fn process(&mut self, state: NormalizedAircraftState) -> Result<Option<Self::Alert>, ()>; // Todo Error type? anyhow, thiserror, snafu, ...?; Return multiple alerts?
 }
 
 /// Abstraction for a TAWS alert

From 3f2de8bfc1b241b6f7e9adc9db991ce54c10fca4 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Tue, 1 Nov 2022 10:57:08 +0100
Subject: [PATCH 49/73] wip

---
 Cargo.lock                                    | 1032 ++++++++++++++++-
 Cargo.toml                                    |    8 +-
 opentaws/Cargo.toml                           |    3 +-
 opentaws/src/aircraft_state.rs                |   25 +-
 opentaws/src/alerts.rs                        |  304 +++--
 opentaws/src/alerts/ffac.rs                   |   78 --
 opentaws/src/alerts/mode1.rs                  |  122 --
 opentaws/src/alerts/mode3.rs                  |  111 --
 opentaws/src/alerts/pda.rs                    |   86 --
 opentaws/src/class_c.rs                       |  146 +++
 opentaws/src/class_c/ffac.rs                  |   87 ++
 opentaws/src/class_c/mode1.rs                 |  151 +++
 opentaws/src/class_c/mode3.rs                 |  131 +++
 opentaws/src/class_c/offset_envelope.ipynb    |  161 +++
 opentaws/src/class_c/pda.rs                   |   87 ++
 opentaws/src/envelope.rs                      |  447 ++++---
 opentaws/src/lib.rs                           |  186 ++-
 opentaws/src/prelude.rs                       |   16 +
 rust-toolchain.toml                           |    3 +
 taws_minimal/Cargo.toml                       |   28 +-
 taws_minimal/examples/flightgear.rs           |  132 ---
 .../features/alert_prioritization.feature     |   18 -
 taws_minimal/features/ffac.feature            |    2 +-
 taws_minimal/features/mode_1.feature          |   16 +-
 taws_minimal/features/mode_3.feature          |   18 +-
 taws_minimal/features/pda.feature             |    2 +-
 taws_minimal/features/self_test.feature       |   38 -
 taws_minimal/src/lib.rs                       |  332 +-----
 taws_minimal/src/macros.rs                    |   36 -
 taws_minimal/tests/cucumber.rs                |   96 +-
 taws_minimal/tests/util/aircraft_state.rs     |   50 +-
 .../constraints/aircraft_state_constraints.rs |   74 +-
 .../util/constraints/airport_database.rs      |    8 -
 taws_minimal/tests/util/constraints/mod.rs    |    2 -
 taws_minimal/tests/util/parameters.rs         |   67 +-
 taws_minimal/tests/util/world.rs              |   67 +-
 36 files changed, 2619 insertions(+), 1551 deletions(-)
 delete mode 100644 opentaws/src/alerts/ffac.rs
 delete mode 100644 opentaws/src/alerts/mode1.rs
 delete mode 100644 opentaws/src/alerts/mode3.rs
 delete mode 100644 opentaws/src/alerts/pda.rs
 create mode 100644 opentaws/src/class_c.rs
 create mode 100644 opentaws/src/class_c/ffac.rs
 create mode 100644 opentaws/src/class_c/mode1.rs
 create mode 100644 opentaws/src/class_c/mode3.rs
 create mode 100644 opentaws/src/class_c/offset_envelope.ipynb
 create mode 100644 opentaws/src/class_c/pda.rs
 create mode 100644 opentaws/src/prelude.rs
 create mode 100644 rust-toolchain.toml
 delete mode 100644 taws_minimal/examples/flightgear.rs
 delete mode 100644 taws_minimal/features/alert_prioritization.feature
 delete mode 100644 taws_minimal/features/self_test.feature
 delete mode 100644 taws_minimal/src/macros.rs
 delete mode 100644 taws_minimal/tests/util/constraints/airport_database.rs

diff --git a/Cargo.lock b/Cargo.lock
index dc6c912..6b9e2ba 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -8,6 +8,17 @@ version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f26201604c87b1e01bd3d98f8d5d9a8fcbb815e8cedb41ffccbeb4bf593a35fe"
 
+[[package]]
+name = "ahash"
+version = "0.7.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fcb51a0695d8f838b1ee009b3fbf66bda078cd64590202a864a8f3e8c4315c47"
+dependencies = [
+ "getrandom",
+ "once_cell",
+ "version_check",
+]
+
 [[package]]
 name = "aho-corasick"
 version = "0.7.18"
@@ -32,12 +43,41 @@ dependencies = [
  "num-traits",
 ]
 
+[[package]]
+name = "arbitrary"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "29d47fbf90d5149a107494b15a7dc8d69b351be2db3bb9691740e88ec17fd880"
+dependencies = [
+ "derive_arbitrary",
+]
+
 [[package]]
 name = "array-init"
 version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bfb6d71005dc22a708c7496eee5c8dc0300ee47355de6256c3b35b12b5fef596"
 
+[[package]]
+name = "async-trait"
+version = "0.1.58"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1e805d94e6b5001b651426cf4cd446b1ab5f319d27bab5c644f61de0a804360c"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "atomic-polyfill"
+version = "0.1.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9c041a8d9751a520ee19656232a18971f18946a7900f1520ee4400002244dd89"
+dependencies = [
+ "critical-section",
+]
+
 [[package]]
 name = "atty"
 version = "0.2.14"
@@ -75,12 +115,39 @@ dependencies = [
  "ureq",
 ]
 
+[[package]]
+name = "bare-metal"
+version = "0.2.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
+dependencies = [
+ "rustc_version 0.2.3",
+]
+
+[[package]]
+name = "bare-metal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f8fe8f5a8a398345e52358e18ff07cc17a568fbca5c6f73873d3a62056309603"
+
 [[package]]
 name = "base64"
 version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "904dfeac50f3cdaba28fc6f57fdcddb75f49ed61346676a78c4ffe55877802fd"
 
+[[package]]
+name = "bit_field"
+version = "0.10.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dcb6dd1c2376d2e096796e234a70e17e94cc2d5d54ff8ce42b28cef1d0d359a4"
+
+[[package]]
+name = "bitfield"
+version = "0.13.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46afbd2983a5d5a7bd740ccb198caf5b82f45c40c09c0eed36052d91cb92e719"
+
 [[package]]
 name = "bitflags"
 version = "1.3.2"
@@ -105,12 +172,24 @@ version = "3.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "37ccbd214614c6783386c1af30caf03192f17891059cecc394b4fb119e363de3"
 
+[[package]]
+name = "bytecount"
+version = "0.6.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2c676a478f63e9fa2dd5368a42f28bba0d6c560b775f38583c8bbaa7fcd67c9c"
+
 [[package]]
 name = "bytemuck"
 version = "1.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2f5715e491b5a1598fc2bef5a606847b5dc1d48ea625bd3c02c00de8285591da"
 
+[[package]]
+name = "byteorder"
+version = "1.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
+
 [[package]]
 name = "cast"
 version = "0.3.0"
@@ -142,10 +221,74 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a0610544180c38b88101fecf2dd634b174a62eef6946f84dfc6a7127512b381c"
 dependencies = [
  "bitflags",
- "textwrap",
+ "textwrap 0.11.0",
  "unicode-width",
 ]
 
+[[package]]
+name = "clap"
+version = "4.0.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "335867764ed2de42325fafe6d18b8af74ba97ee0c590fa016f157535b42ab04b"
+dependencies = [
+ "atty",
+ "bitflags",
+ "clap_derive",
+ "clap_lex",
+ "once_cell",
+ "strsim",
+ "termcolor",
+ "terminal_size 0.2.1",
+]
+
+[[package]]
+name = "clap_derive"
+version = "4.0.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "16a1b0f6422af32d5da0c58e2703320f379216ee70198241c84173a8c5ac28f3"
+dependencies = [
+ "heck 0.4.0",
+ "proc-macro-error",
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "clap_lex"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0d4198f73e42b4936b35b5bb248d81d2b595ecb170da0bac7655c54eedfa8da8"
+dependencies = [
+ "os_str_bytes",
+]
+
+[[package]]
+name = "console"
+version = "0.15.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c050367d967ced717c04b65d8c619d863ef9292ce0c5760028655a2fb298718c"
+dependencies = [
+ "encode_unicode",
+ "lazy_static",
+ "libc",
+ "terminal_size 0.1.17",
+ "unicode-width",
+ "winapi",
+]
+
+[[package]]
+name = "cortex-m"
+version = "0.7.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "70858629a458fdfd39f9675c4dc309411f2a3f83bede76988d81bf1a0ecee9e0"
+dependencies = [
+ "bare-metal 0.2.5",
+ "bitfield",
+ "embedded-hal",
+ "volatile-register",
+]
+
 [[package]]
 name = "crc32fast"
 version = "1.3.2"
@@ -163,7 +306,7 @@ checksum = "b01d6de93b2b6c65e17c634a26653a29d107b3c98c607c765bf38d041531cd8f"
 dependencies = [
  "atty",
  "cast",
- "clap",
+ "clap 2.34.0",
  "criterion-plot",
  "csv",
  "itertools",
@@ -191,6 +334,18 @@ dependencies = [
  "itertools",
 ]
 
+[[package]]
+name = "critical-section"
+version = "0.2.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "95da181745b56d4bd339530ec393508910c909c784e8962d15d722bacf0bcbcd"
+dependencies = [
+ "bare-metal 1.0.0",
+ "cfg-if",
+ "cortex-m",
+ "riscv",
+]
+
 [[package]]
 name = "crossbeam-channel"
 version = "0.5.6"
@@ -259,31 +414,144 @@ dependencies = [
 ]
 
 [[package]]
-name = "either"
-version = "1.7.0"
+name = "ctor"
+version = "0.1.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f107b87b6afc2a64fd13cac55fe06d6c8859f12d4b14cbcdd2c67d0976781be"
+checksum = "6d2301688392eb071b0bf1a37be05c469d3cc4dbbd95df672fe28ab021e6a096"
+dependencies = [
+ "quote",
+ "syn",
+]
 
 [[package]]
-name = "enum-map"
-version = "2.4.1"
+name = "cucumber"
+version = "0.15.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f5a56d54c8dd9b3ad34752ed197a4eb2a6601bc010808eb097a04a58ae4c43e1"
+checksum = "56264a57a9b7207418f64e09dec7805cd4264b98c762150d3769171fb8a6fee5"
 dependencies = [
- "enum-map-derive",
+ "anyhow",
+ "async-trait",
+ "atty",
+ "clap 4.0.18",
+ "console",
+ "cucumber-codegen",
+ "cucumber-expressions",
+ "derive_more",
+ "drain_filter_polyfill",
+ "either",
+ "futures",
+ "gherkin",
+ "globwalk",
+ "humantime",
+ "inventory",
+ "itertools",
+ "linked-hash-map",
+ "once_cell",
+ "regex",
+ "sealed 0.4.0",
 ]
 
 [[package]]
-name = "enum-map-derive"
-version = "0.10.0"
+name = "cucumber-codegen"
+version = "0.15.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f965514ac959efa875c8b17de1510d521aed75346ced61af1307968aea6f0f92"
+dependencies = [
+ "cucumber-expressions",
+ "inflections",
+ "itertools",
+ "proc-macro2",
+ "quote",
+ "regex",
+ "syn",
+ "synthez",
+]
+
+[[package]]
+name = "cucumber-expressions"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d40d2fdf5e1bb4ae7e6b25c97bf9b9d249a02243fc0fbd91075592b5f00a3bc1"
+dependencies = [
+ "derive_more",
+ "either",
+ "nom",
+ "nom_locate",
+ "regex",
+ "regex-syntax",
+]
+
+[[package]]
+name = "derive_arbitrary"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4903dff04948f22033ca30232ab8eca2c3fc4c913a8b6a34ee5199699814817f"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "derive_more"
+version = "0.99.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a9045e2676cd5af83c3b167d917b0a5c90a4d8e266e2683d6631b235c457fc27"
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+ "bytecount",
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+version = "0.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d34f1408f55294453790c48b2f1ebbb1c5b4b7563eb1f418bcfcfdbb06ebb4e7"
+checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
 dependencies = [
  "getrandom",
 ]
@@ -760,7 +1401,7 @@ dependencies = [
  "cc",
  "libc",
  "once_cell",
- "spin",
+ "spin 0.5.2",
  "untrusted",
  "web-sys",
  "winapi",
@@ -775,6 +1416,59 @@ dependencies = [
  "array-init",
 ]
 
+[[package]]
+name = "riscv"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6907ccdd7a31012b70faf2af85cd9e5ba97657cc3987c4f13f8e4d2c2a088aba"
+dependencies = [
+ "bare-metal 1.0.0",
+ "bit_field",
+ "riscv-target",
+]
+
+[[package]]
+name = "riscv-target"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "88aa938cda42a0cf62a20cfe8d139ff1af20c2e681212b5b34adb5a58333f222"
+dependencies = [
+ "lazy_static",
+ "regex",
+]
+
+[[package]]
+name = "rustc_version"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
+dependencies = [
+ "semver 0.9.0",
+]
+
+[[package]]
+name = "rustc_version"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
+dependencies = [
+ "semver 1.0.14",
+]
+
+[[package]]
+name = "rustix"
+version = "0.35.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "72c825b8aa8010eb9ee99b75f05e10180b9278d161583034d7574c9d617aeada"
+dependencies = [
+ "bitflags",
+ "errno",
+ "io-lifetimes",
+ "libc",
+ "linux-raw-sys",
+ "windows-sys",
+]
+
 [[package]]
 name = "rustls"
 version = "0.20.6"
@@ -827,6 +1521,51 @@ dependencies = [
  "untrusted",
 ]
 
+[[package]]
+name = "sealed"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "636b9882a0f4cc2039488df89a10eb4b7976d4b6c1917fc0518f3f0f5e2c72ca"
+dependencies = [
+ "heck 0.3.3",
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "sealed"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6b5e421024b5e5edfbaa8e60ecf90bda9dbffc602dbb230e6028763f85f0c68c"
+dependencies = [
+ "heck 0.3.3",
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "semver"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
+dependencies = [
+ "semver-parser",
+]
+
+[[package]]
+name = "semver"
+version = "1.0.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e25dfac463d778e353db5be2449d1cce89bd6fd23c9f1ea21310ce6e5a1b29c4"
+
+[[package]]
+name = "semver-parser"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
+
 [[package]]
 name = "serde"
 version = "1.0.143"
@@ -890,12 +1629,48 @@ dependencies = [
  "wide",
 ]
 
+[[package]]
+name = "slab"
+version = "0.4.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4614a76b2a8be0058caa9dbbaf66d988527d86d003c11a94fbd335d7661edcef"
+dependencies = [
+ "autocfg",
+]
+
+[[package]]
+name = "smawk"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f67ad224767faa3c7d8b6d91985b78e70a1324408abcb1cfcc2be4c06bc06043"
+
 [[package]]
 name = "spin"
 version = "0.5.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6e63cff320ae2c57904679ba7cb63280a3dc4613885beafb148ee7bf9aa9042d"
 
+[[package]]
+name = "spin"
+version = "0.9.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7f6002a767bff9e83f8eeecf883ecb8011875a21ae8da43bffb817a57e78cc09"
+dependencies = [
+ "lock_api",
+]
+
+[[package]]
+name = "stable_deref_trait"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
+
+[[package]]
+name = "strsim"
+version = "0.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73473c0e59e6d5812c5dfe2a064a6444949f089e20eec9a2e5506596494e4623"
+
 [[package]]
 name = "syn"
 version = "1.0.99"
@@ -907,6 +1682,84 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "synthez"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "033178d0acccffc5490021657006e6a8dd586ee9dc6f7c24e7608b125e568cb1"
+dependencies = [
+ "syn",
+ "synthez-codegen",
+ "synthez-core",
+]
+
+[[package]]
+name = "synthez-codegen"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "69263462a40e46960f070618e20094ce69e783a41f86e54bc75545136afd597a"
+dependencies = [
+ "syn",
+ "synthez-core",
+]
+
+[[package]]
+name = "synthez-core"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bb8b5a4089fe1723279f06302afda64a5dacaa11a82bcbb4d08759590d4389d9"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "sealed 0.3.0",
+ "syn",
+]
+
+[[package]]
+name = "taws_minimal"
+version = "0.1.0"
+dependencies = [
+ "arbitrary",
+ "aviation_database",
+ "cucumber",
+ "futures",
+ "lazy_static",
+ "opentaws",
+ "rand",
+ "rand_pcg",
+ "regex",
+ "uom",
+]
+
+[[package]]
+name = "termcolor"
+version = "1.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bab24d30b911b2376f3a13cc2cd443142f0c81dda04c118693e35b3835757755"
+dependencies = [
+ "winapi-util",
+]
+
+[[package]]
+name = "terminal_size"
+version = "0.1.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "633c1a546cee861a1a6d0dc69ebeca693bf4296661ba7852b9d21d159e0506df"
+dependencies = [
+ "libc",
+ "winapi",
+]
+
+[[package]]
+name = "terminal_size"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8440c860cf79def6164e4a0a983bcc2305d82419177a0e0c71930d049e3ac5a1"
+dependencies = [
+ "rustix",
+ "windows-sys",
+]
+
 [[package]]
 name = "textwrap"
 version = "0.11.0"
@@ -916,6 +1769,17 @@ dependencies = [
  "unicode-width",
 ]
 
+[[package]]
+name = "textwrap"
+version = "0.16.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "222a222a5bfe1bba4a77b45ec488a741b3cb8872e5e499451fd7d0129c9c7c3d"
+dependencies = [
+ "smawk",
+ "unicode-linebreak",
+ "unicode-width",
+]
+
 [[package]]
 name = "thiserror"
 version = "1.0.37"
@@ -936,6 +1800,15 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "thread_local"
+version = "1.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5516c27b78311c50bf42c071425c560ac799b11c30b31f87e3081965fe5e0180"
+dependencies = [
+ "once_cell",
+]
+
 [[package]]
 name = "tinytemplate"
 version = "1.2.1"
@@ -961,6 +1834,17 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cda74da7e1a664f795bb1f8a87ec406fb89a02522cf6e50620d016add6dbbf5c"
 
+[[package]]
+name = "typed-builder"
+version = "0.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "89851716b67b937e393b3daa8423e67ddfc4bbbf1654bcf05488e95e0828db0c"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "typenum"
 version = "1.15.0"
@@ -989,6 +1873,16 @@ version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c4f5b37a154999a8f3f98cc23a628d850e154479cd94decf3414696e12e31aaf"
 
+[[package]]
+name = "unicode-linebreak"
+version = "0.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c5faade31a542b8b35855fff6e8def199853b2da8da256da52f52f1316ee3137"
+dependencies = [
+ "hashbrown",
+ "regex",
+]
+
 [[package]]
 name = "unicode-normalization"
 version = "0.1.21"
@@ -998,11 +1892,17 @@ dependencies = [
  "tinyvec",
 ]
 
+[[package]]
+name = "unicode-segmentation"
+version = "1.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0fdbf052a0783de01e944a6ce7a8cb939e295b1e7be835a1112c3b9a7f047a5a"
+
 [[package]]
 name = "unicode-width"
-version = "0.1.9"
+version = "0.1.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3ed742d4ea2bd1176e236172c8429aaf54486e7ac098db29ffe6529e0ce50973"
+checksum = "c0edd1e5b14653f783770bce4a4dabb4a5108a5370a5f5d8cfe8710c361f6c8b"
 
 [[package]]
 name = "untrusted"
@@ -1049,6 +1949,33 @@ dependencies = [
  "percent-encoding",
 ]
 
+[[package]]
+name = "vcell"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
+
+[[package]]
+name = "version_check"
+version = "0.9.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
+
+[[package]]
+name = "void"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
+
+[[package]]
+name = "volatile-register"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9ee8f19f9d74293faf70901bc20ad067dc1ad390d2cbf1e3f75f721ffee908b6"
+dependencies = [
+ "vcell",
+]
+
 [[package]]
 name = "walkdir"
 version = "2.3.2"
@@ -1189,3 +2116,46 @@ name = "winapi-x86_64-pc-windows-gnu"
 version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
+
+[[package]]
+name = "windows-sys"
+version = "0.36.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ea04155a16a59f9eab786fe12a4a450e75cdb175f9e0d80da1e17db09f55b8d2"
+dependencies = [
+ "windows_aarch64_msvc",
+ "windows_i686_gnu",
+ "windows_i686_msvc",
+ "windows_x86_64_gnu",
+ "windows_x86_64_msvc",
+]
+
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.36.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9bb8c3fd39ade2d67e9874ac4f3db21f0d710bee00fe7cab16949ec184eeaa47"
+
+[[package]]
+name = "windows_i686_gnu"
+version = "0.36.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "180e6ccf01daf4c426b846dfc66db1fc518f074baa793aa7d9b9aaeffad6a3b6"
+
+[[package]]
+name = "windows_i686_msvc"
+version = "0.36.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e2e7917148b2812d1eeafaeb22a97e4813dfa60a3f8f78ebe204bcc88f12f024"
+
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.36.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4dcd171b8776c41b97521e5da127a2d86ad280114807d0b2ab1e462bc764d9e1"
+
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.36.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c811ca4a8c853ef420abd8592ba53ddbbac90410fab6903b3e79972a631f7680"
diff --git a/Cargo.toml b/Cargo.toml
index 2af263d..19aa074 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,10 +1,10 @@
 [workspace]
 members = [
 	"opentaws",
-	#"taws_minimal",
-	#"aviation_database",
-	#"kd_tree",
-	#"kd_tree_sort",
+	"taws_minimal",
+	"aviation_database",
+	"kd_tree",
+	"kd_tree_sort",
 ]
 
 
diff --git a/opentaws/Cargo.toml b/opentaws/Cargo.toml
index 7e85f9b..508f6c4 100644
--- a/opentaws/Cargo.toml
+++ b/opentaws/Cargo.toml
@@ -28,7 +28,8 @@ use-serde = ["uom/use_serde"]
 [dependencies]
 aviation_database = { path = "../aviation_database" }
 lazy_static = { version = "1", features = ["spin_no_std"] }
-enum-map = "2.4.1"
+heapless = "0.7.16"
+hash32 = "0.2.1"
 nalgebra = { version = "0.31.1", features = ["libm"] }
 
 uom = { version = "0", default-features = false, features = ["f64", "si", "libm"] }
diff --git a/opentaws/src/aircraft_state.rs b/opentaws/src/aircraft_state.rs
index 0f218ee..4885658 100644
--- a/opentaws/src/aircraft_state.rs
+++ b/opentaws/src/aircraft_state.rs
@@ -5,17 +5,10 @@ use core::{
 };
 
 use lazy_static::lazy_static;
-use uom::{
-    fmt::DisplayStyle,
-    si::{
-        angle::{degree, revolution},
-        f64::*,
-        length::foot,
-        ratio::ratio,
-        time::second,
-        velocity::{foot_per_minute, knot},
-    },
-};
+
+use crate::prelude::*;
+use ::uom::fmt::DisplayStyle;
+use ::uom::si::ratio::ratio;
 
 // ToDo: turn into consts when uom supports const new
 lazy_static! {
@@ -215,12 +208,12 @@ impl<T> AircraftState<T> {
         self.yaw
     } */
 
-    pub fn situation(&self) -> Option<&FlightSegment> {
-        self.situation.as_ref()
+    pub fn situation(&self) -> &Option<FlightSegment> {
+        &self.situation
     }
 
     /// Normalizes the [AircraftState] into a [NormalizedAircraftState]
-    pub(crate) fn normalize(&self) -> NormalizedAircraftState {
+    pub fn normalize(&self) -> NormalizedAircraftState {
         let (lat, lon) = Self::wrap_position(self.position_lat, self.position_lon);
 
         NormalizedAircraftState {
@@ -309,7 +302,7 @@ impl From<NormalizedAircraftState> for AircraftState {
 
 impl<T> Display for AircraftState<T> {
     fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
-        let s = Time::format_args(second, DisplayStyle::Abbreviation);
+        let s = Time::format_args(time_second, DisplayStyle::Abbreviation);
         let ft = Length::format_args(foot, DisplayStyle::Abbreviation);
         let deg = Angle::format_args(degree, DisplayStyle::Abbreviation);
         let fpm = Velocity::format_args(foot_per_minute, DisplayStyle::Abbreviation);
@@ -343,7 +336,7 @@ AircrafState: {{
 }
 
 /// Represents a flight segment
-#[derive(Clone, Debug)]
+#[derive(Copy, Clone, Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
 pub enum FlightSegment {
     /// The aircraft is in cruise flight situation
diff --git a/opentaws/src/alerts.rs b/opentaws/src/alerts.rs
index 4ed9083..0293ca7 100644
--- a/opentaws/src/alerts.rs
+++ b/opentaws/src/alerts.rs
@@ -1,39 +1,7 @@
-pub mod ffac;
-pub mod mode1;
-pub mod mode3;
-pub mod pda;
+use crate::prelude::*;
 
-use crate::{TawsAlert, TawsAlerts};
-use enum_map::{Enum, EnumMap};
-
-/// Alert Source (TAWS functionallities)
-#[derive(Copy, Clone, Debug, PartialEq, Eq, Enum)]
-pub enum AlertSource {
-    /// Forward Lookig Terrain Avoidance
-    Flta,
-
-    /// Five Hundred foot altitude Callout
-    Ffac,
-
-    /// Premature Descent Alerting
-    Pda,
-
-    /// Excessive Rate of Descent
-    Mode1,
-
-    /// Excessive ClosureRate to Terrain
-    Mode2,
-
-    /// Negative Climb Rate or Altitude Loss after Take-off or Go Around
-    Mode3,
-
-    /// Flight Near Terrain when Not in Landing Configuration
-    Mode4,
-
-    /// Excessive Downward Deviation from an ILS Glideslope or LPV/GLS Glidepath
-    Mode5,
-    // TODO add more
-}
+pub use hash32::{Hash, Hasher};
+use heapless::FnvIndexMap;
 
 /// TAWS Alert levels
 #[derive(Copy, Clone, Debug, PartialEq, Eq, PartialOrd, Ord)]
@@ -53,7 +21,7 @@ pub enum AlertLevel {
 
 /// Represents a TAWS alert
 #[derive(Copy, Clone, Debug, PartialEq, Eq)]
-pub struct Alert {
+pub struct Alert<AlertSource: TawsAlertSource> {
     /// The source resp. the TAWS functionallity which emitted this alert
     pub source: AlertSource,
 
@@ -61,13 +29,19 @@ pub struct Alert {
     pub level: AlertLevel,
 }
 
-impl Alert {
-    pub fn new(source: AlertSource, level: AlertLevel) -> Self {
+impl<AlertSource: TawsAlertSource> Alert<AlertSource> {
+    /// Creates a new alert with the specified source and level.
+    /// # Arguments
+    /// `source` - The source of the alert.
+    /// `level` - The level of the alert.
+    pub const fn new(source: AlertSource, level: AlertLevel) -> Self {
         Alert { source, level }
     }
 }
 
-impl TawsAlert for Alert {
+impl<AlertSource: TawsAlertSource> TawsAlert for Alert<AlertSource> {
+    type AlertSource = AlertSource;
+
     fn source(&self) -> AlertSource {
         self.source
     }
@@ -77,184 +51,188 @@ impl TawsAlert for Alert {
     }
 }
 
-impl From<(AlertSource, AlertLevel)> for Alert {
+impl<AlertSource: TawsAlertSource> From<(AlertSource, AlertLevel)> for Alert<AlertSource> {
     fn from(alert: (AlertSource, AlertLevel)) -> Self {
         Self::new(alert.0, alert.1)
     }
 }
 
-impl From<Alert> for (AlertSource, AlertLevel) {
-    fn from(alert: Alert) -> Self {
+impl<AlertSource: TawsAlertSource> From<Alert<AlertSource>> for (AlertSource, AlertLevel) {
+    fn from(alert: Alert<AlertSource>) -> Self {
         (alert.source, alert.level)
     }
 }
 
-/// Represents a set of [Alerts](Alert)
-#[derive(Default, Debug)]
-pub struct Alerts {
-    alerts: EnumMap<AlertSource, Option<Alert>>,
+/// Represents a set of [Alerts](Alert) by their [AlertSource](Alert::AlertSource)
+#[derive(Debug)]
+pub struct Alerts<Alert: TawsAlert>
+where
+    Alert::AlertSource: Hash,
+{
+    alerts: FnvIndexMap<
+        Alert::AlertSource,
+        Alert,
+        64, /*ToDo: use <Alert::AlertSource>::NUM_ALERT_SOURCES or count the available alert sources with a macro*/
+    >,
 }
 
-impl Alerts {
-    /// Inserts the specified alert into the set.
-    /// Already existing alerts are replaced if the [new_alert] has a higher alert level.
-    /// # Arguments
-    /// * `new_alert` - the new alert which is added to the set of alerts
-    ///
-    /// # Examples
-    /// ```
-    ///
-    /// use opentaws::{*, alerts::*};
-    /// let mut alerts = Alerts::default();
-    /// alerts.insert((AlertSource::Mode1, AlertLevel::Caution).into());
-    /// assert!(alerts.is_alert_active(AlertSource::Mode1, AlertLevel::Annunciation));
-    /// assert!(alerts.is_alert_active(AlertSource::Mode1, AlertLevel::Caution));
-    ///
-    /// ```
-    pub fn insert(&mut self, new_alert: Alert) {
-        let current_alert = &self.alerts[new_alert.source];
-
-        if current_alert
-            .as_ref()
-            .map_or(true, |alert| new_alert.level < alert.level)
-        {
-            self.alerts[new_alert.source].replace(new_alert);
+impl<Alert: TawsAlert> Default for Alerts<Alert>
+where
+    Alert::AlertSource: Hash,
+{
+    fn default() -> Self {
+        Self {
+            alerts: Default::default(),
         }
     }
 }
 
-impl TawsAlerts for Alerts {
+impl<Alert: TawsAlert> Alerts<Alert>
+where
+    Alert::AlertSource: Hash,
+{
+    /// Returns an iterator over all active alerts.
+    pub fn alerts(&self) -> impl Iterator<Item = &Alert> + '_ {
+        self.alerts.values()
+    }
+}
+
+impl<Alert: TawsAlert> TawsAlerts for Alerts<Alert>
+where
+    Alert::AlertSource: Hash,
+{
     type Alert = Alert;
+    type AlertSource = Alert::AlertSource;
 
-    fn is_alert_active(&self, alert_src: AlertSource, min_level: AlertLevel) -> bool {
-        let current_alert = &self.alerts[alert_src];
+    fn insert(&mut self, new_alert: Alert) {
+        let current_alert = self.alerts.get(&new_alert.source());
 
-        match current_alert {
-            Some(alert) => alert.level <= min_level,
-            None => false,
+        if current_alert.map_or(true, |alert| new_alert.level() < alert.level()) {
+            self.alerts
+                .insert(new_alert.source(), new_alert)
+                .map_err(|_| ())
+                .unwrap(); //ToDo
         }
     }
-}
 
-impl<'a> IntoIterator for &'a Alerts {
-    type Item = &'a Alert;
-    type IntoIter = AlertsIter<'a>;
+    fn is_alert_active(&self, alert_src: Self::AlertSource, min_level: AlertLevel) -> bool {
+        self.alerts.contains_key(&alert_src);
 
-    fn into_iter(self) -> Self::IntoIter {
-        AlertsIter {
-            alerts: self.alerts.as_slice(),
-            index: 0,
+        match self.alerts.get(&alert_src) {
+            Some(alert) => alert.level() <= min_level,
+            None => false,
         }
     }
 }
 
-/// Represents an iterator over all possible [Alerts](Alert) from all [AlertSources](AlertSource).
-pub struct AlertsIter<'a> {
-    alerts: &'a [Option<Alert>],
-    index: usize,
-}
+#[cfg(test)]
+mod tests {
+    use core::slice::Iter;
 
-impl<'a> Iterator for AlertsIter<'a> {
-    type Item = &'a Alert;
+    use super::*;
+    use hash32::{Hash, Hasher};
+
+    #[derive(Copy, Clone, Debug, PartialEq, Eq)]
+    enum TestClass {
+        A,
+        B,
+        C,
+    }
 
-    fn next(&mut self) -> Option<Self::Item> {
-        loop {
-            if self.index >= self.alerts.len() {
-                return None;
-            }
+    impl TawsAlertSource for TestClass {
+        const NUM_ALERT_SOURCES: usize = 3;
+        const ALERT_SOURCES: &'static [Self] = &[];
+    }
 
-            let alert = &self.alerts[self.index];
-            self.index += 1;
+    impl IntoIterator for TestClass {
+        type Item = &'static TestClass;
 
-            if alert.is_none() {
-                continue;
-            }
+        type IntoIter = Iter<'static, TestClass>;
 
-            return alert.as_ref();
+        fn into_iter(self) -> Self::IntoIter {
+            [Self::A, Self::B, Self::C].iter()
         }
     }
-}
-
-mod tests {
-    #![allow(unused_imports)] //ToDo: just to satisfy clippy
-    use super::*;
-
-    #[test]
-    fn alert_source_equality() {
-        let a = AlertSource::Mode1;
-        let b = AlertSource::Mode1;
-        let c = AlertSource::Mode2;
 
-        assert!(a == b);
-        assert!(a != c);
+    impl Hash for TestClass {
+        fn hash<H>(&self, state: &mut H)
+        where
+            H: Hasher,
+        {
+            state.write(&(*self as usize).to_le_bytes());
+        }
     }
 
+    type TestAlert = Alert<TestClass>;
+    type TestAlerts = Alerts<TestAlert>;
+
     #[test]
-    fn alert_level_ord() {
+    fn alert_level_eq() {
+        assert!(AlertLevel::Warning == AlertLevel::Warning);
+        assert!(AlertLevel::Warning != AlertLevel::Caution);
         assert!(AlertLevel::Warning < AlertLevel::Caution);
         assert!(AlertLevel::Caution < AlertLevel::Annunciation);
     }
 
     #[test]
-    fn alert_from_tuple() {
-        let alert: Alert = (AlertSource::Mode1, AlertLevel::Warning).into();
-        assert!(alert.source == AlertSource::Mode1);
-        assert!(alert.level == AlertLevel::Warning);
-    }
+    fn alert_eq() {
+        let alert1: TestAlert = (TestClass::A, AlertLevel::Warning).into();
+        let alert2: TestAlert = (TestClass::A, AlertLevel::Warning).into();
+        let alert3: TestAlert = (TestClass::B, AlertLevel::Warning).into();
+        let alert4: TestAlert = (TestClass::A, AlertLevel::Annunciation).into();
 
-    #[test]
-    fn alert_to_tuple() {
-        let alert_tuple = (AlertSource::Mode1, AlertLevel::Warning);
-        let alert: Alert = alert_tuple.into();
-        assert!(<Alert as Into<(AlertSource, AlertLevel)>>::into(alert) == alert_tuple);
+        assert!(alert1 == alert1);
+        assert!(alert1 == alert2);
+        assert!(alert1 != alert3);
+        assert!(alert1 != alert4);
     }
 
     #[test]
-    fn alert_source() {
-        let a: Alert = (AlertSource::Mode1, AlertLevel::Warning).into();
-        assert!(a.source() == AlertSource::Mode1);
-    }
+    fn alerts_insert() {
+        let mut alerts = TestAlerts::default();
+        assert!(!alerts.alerts.contains_key(&TestClass::A));
 
-    #[test]
-    fn alert_level() {
-        let a: Alert = (AlertSource::Mode1, AlertLevel::Warning).into();
-        assert!(a.level() == AlertLevel::Warning);
-    }
+        let alert1: TestAlert = (TestClass::A, AlertLevel::Warning).into();
+        let alert2: TestAlert = (TestClass::A, AlertLevel::Caution).into();
 
-    #[test]
-    fn alert_eq() {
-        let a: Alert = (AlertSource::Mode1, AlertLevel::Warning).into();
-        let b: Alert = (AlertSource::Mode1, AlertLevel::Warning).into();
-        let c: Alert = (AlertSource::Mode3, AlertLevel::Warning).into();
-        let d: Alert = (AlertSource::Mode1, AlertLevel::Caution).into();
-
-        assert!(a == b);
-        assert!(a != c);
-        assert!(a != d);
-        assert!(c != d);
-    }
+        alerts.insert(alert1);
+        assert!(alerts.alerts.contains_key(&TestClass::A));
 
-    #[test]
-    fn alerts_default() {
-        let alerts: Alerts = Alerts::default();
-        assert!(alerts.alerts[AlertSource::Mode1] == None)
+        alerts.insert(alert2);
+        assert!(alerts.alerts.contains_key(&TestClass::A));
     }
 
     #[test]
-    fn alerts_insert() {
-        let mut alerts: Alerts = Alerts::default();
-        let alert: Alert = (AlertSource::Mode1, AlertLevel::Caution).into();
-        alerts.insert(alert);
-        assert!(alerts.alerts[AlertSource::Mode1] == Some(alert));
+    fn alerts_is_active() {
+        let mut alerts = TestAlerts::default();
+        let alert1: TestAlert = (TestClass::A, AlertLevel::Caution).into();
+
+        alerts.insert(alert1);
+
+        assert!(alerts.is_alert_active(TestClass::A, AlertLevel::Annunciation));
+        assert!(alerts.is_alert_active(TestClass::A, AlertLevel::Caution));
+        assert!(!alerts.is_alert_active(TestClass::A, AlertLevel::Warning));
+
+        let alert2: TestAlert = (TestClass::A, AlertLevel::Annunciation).into();
+        alerts.insert(alert2);
+        assert!(alerts.is_alert_active(TestClass::A, AlertLevel::Caution));
+
+        let alert3: TestAlert = (TestClass::A, AlertLevel::Warning).into();
+        alerts.insert(alert3);
+        assert!(alerts.is_alert_active(TestClass::A, AlertLevel::Warning));
     }
 
     #[test]
-    fn alerts_is_active() {
-        let mut alerts: Alerts = Alerts::default();
-        let alert: Alert = (AlertSource::Mode1, AlertLevel::Caution).into();
-        alerts.insert(alert);
-        assert!(alerts.is_alert_active(AlertSource::Mode1, AlertLevel::Annunciation));
-        assert!(alerts.is_alert_active(AlertSource::Mode1, AlertLevel::Caution));
-        assert!(!alerts.is_alert_active(AlertSource::Mode1, AlertLevel::Warning));
+    fn alerts_get() {
+        let mut alerts = TestAlerts::default();
+        let alert1: TestAlert = (TestClass::A, AlertLevel::Annunciation).into();
+        let alert2: TestAlert = (TestClass::B, AlertLevel::Caution).into();
+        let alert3: TestAlert = (TestClass::C, AlertLevel::Warning).into();
+
+        alerts.insert(alert1);
+        alerts.insert(alert2);
+        alerts.insert(alert3);
+
+        assert!(alerts.alerts().count() == 3)
     }
 }
diff --git a/opentaws/src/alerts/ffac.rs b/opentaws/src/alerts/ffac.rs
deleted file mode 100644
index 739817d..0000000
--- a/opentaws/src/alerts/ffac.rs
+++ /dev/null
@@ -1,78 +0,0 @@
-use crate::{aircraft_state::FlightSegment, Alert, AlertLevel, AlertSource, TawsFunctionality};
-
-use uom::{
-    num_traits::Zero,
-    si::{f64::Length, length::foot},
-};
-
-pub struct Ffac {
-    alert_src: AlertSource,
-    armed: bool,
-    inhibited: bool,
-
-    last_altitude: Length,
-}
-
-impl Default for Ffac {
-    fn default() -> Self {
-        Self {
-            alert_src: AlertSource::Ffac,
-            armed: true,
-            inhibited: false,
-            last_altitude: Length::zero(),
-        }
-    }
-}
-
-impl TawsFunctionality for Ffac {
-    type Alert = Alert;
-
-    fn alert_source(&self) -> AlertSource {
-        self.alert_src
-    }
-
-    fn is_armed(&self) -> bool {
-        self.armed
-    }
-
-    fn inhibit(&mut self) {
-        self.inhibited = true;
-    }
-
-    fn uninhibit(&mut self) {
-        self.inhibited = false;
-    }
-
-    fn is_inhibited(&self) -> bool {
-        self.inhibited
-    }
-
-    fn process(
-        &mut self,
-        state: crate::NormalizedAircraftState,
-    ) -> Result<Option<Self::Alert>, ()> {
-        let armed = state
-            .situation()
-            .map(|s| !matches!(s, FlightSegment::TakeOff | FlightSegment::GoAround))
-            .ok_or(())?;
-
-        self.armed = armed;
-        if !self.armed {
-            return Ok(None);
-        }
-
-        let fivehundred = Length::new::<foot>(500.0);
-        let result: Result<Option<Alert>, ()> =
-            if self.last_altitude >= fivehundred && state.altitude_ground() < fivehundred {
-                Ok(Some(Alert::new(self.alert_src, AlertLevel::Annunciation)))
-            } else {
-                Ok(None)
-            };
-
-        if !self.inhibited {
-            result
-        } else {
-            Ok(None)
-        }
-    }
-}
diff --git a/opentaws/src/alerts/mode1.rs b/opentaws/src/alerts/mode1.rs
deleted file mode 100644
index 093e7ce..0000000
--- a/opentaws/src/alerts/mode1.rs
+++ /dev/null
@@ -1,122 +0,0 @@
-use crate::{
-    aircraft_state::FlightSegment,
-    envelope::{Envelope, INVALID_ENVELOPE},
-    Alert, AlertLevel, AlertSource, TawsFunctionality,
-};
-use lazy_static::lazy_static;
-use nalgebra::Vector2;
-use uom::si::{length::foot, velocity::foot_per_minute};
-
-#[derive(Clone, Debug)]
-pub struct Mode1 {
-    alert_src: AlertSource,
-    armed: bool,
-    inhibited: bool,
-}
-
-impl Default for Mode1 {
-    fn default() -> Self {
-        Self {
-            alert_src: AlertSource::Mode1,
-            armed: true,
-            inhibited: false,
-        }
-    }
-}
-
-impl TawsFunctionality for Mode1 {
-    type Alert = Alert;
-
-    fn alert_source(&self) -> AlertSource {
-        self.alert_src
-    }
-
-    fn is_armed(&self) -> bool {
-        self.armed
-    }
-
-    fn inhibit(&mut self) {
-        self.inhibited = true;
-    }
-
-    fn uninhibit(&mut self) {
-        self.inhibited = false;
-    }
-
-    fn is_inhibited(&self) -> bool {
-        self.inhibited
-    }
-
-    fn process(
-        &mut self,
-        state: crate::NormalizedAircraftState,
-    ) -> Result<Option<Self::Alert>, ()> {
-        let altitude = state.altitude_ground().get::<foot>();
-        let rod = -state.climb_rate().get::<foot_per_minute>();
-        let steep_approach = state
-            .situation()
-            .map(|s| match s {
-                FlightSegment::Landing { steep_approach, .. } => *steep_approach,
-                _ => false,
-            })
-            .ok_or(())?;
-
-        let result = match steep_approach {
-            true if STEEP_WARNING_ENVELOPE.contains(rod, altitude)? => {
-                Ok(Some(Alert::new(self.alert_src, AlertLevel::Warning)))
-            }
-            true if STEEP_CAUTION_ENVELOPE.contains(rod, altitude)? => {
-                Ok(Some(Alert::new(self.alert_src, AlertLevel::Caution)))
-            }
-            false if WARNING_ENVELOPE.contains(rod, altitude)? => {
-                Ok(Some(Alert::new(self.alert_src, AlertLevel::Warning)))
-            }
-            false if CAUTION_ENVELOPE.contains(rod, altitude)? => {
-                Ok(Some(Alert::new(self.alert_src, AlertLevel::Caution)))
-            }
-            _ => Err(()),
-        };
-
-        if !self.inhibited {
-            result
-        } else {
-            Ok(None)
-        }
-    }
-}
-
-lazy_static! {
-    static ref CAUTION_ENVELOPE: Envelope<5> = Envelope::try_new([
-        Vector2::new(100_000.0, 100.0),
-        Vector2::new(1560.0, 100.0),
-        Vector2::new(2200.0, 630.0),
-        Vector2::new(5700.0, 2200.0),
-        Vector2::new(100_000.0, 2200.0)
-    ])
-    .expect(INVALID_ENVELOPE);
-    static ref STEEP_CAUTION_ENVELOPE: Envelope<6> = Envelope::try_new([
-        Vector2::new(100_000.0, 150.0),
-        Vector2::new(1798.0, 150.0),
-        Vector2::new(1944.0, 300.0),
-        Vector2::new(3233.0, 1078.0),
-        Vector2::new(6225.0, 2075.0),
-        Vector2::new(100_000.0, 2075.0)
-    ])
-    .expect(INVALID_ENVELOPE);
-    static ref WARNING_ENVELOPE: Envelope<5> = Envelope::try_new([
-        Vector2::new(100_000.0, 100.0),
-        Vector2::new(1600.0, 100.0),
-        Vector2::new(1850.0, 300.0),
-        Vector2::new(10100.0, 1958.0),
-        Vector2::new(100_000.0, 1958.0)
-    ])
-    .expect(INVALID_ENVELOPE);
-    static ref STEEP_WARNING_ENVELOPE: Envelope<5> = Envelope::try_new([
-        Vector2::new(100_000.0, 150.0),
-        Vector2::new(1908.0, 150.0),
-        Vector2::new(2050.0, 300.0),
-        Vector2::new(10300.0, 1958.0),
-        Vector2::new(100_000.0, 1958.0)
-    ])
-    .expect(INVALID_ENVELOPE);
-}
diff --git a/opentaws/src/alerts/mode3.rs b/opentaws/src/alerts/mode3.rs
deleted file mode 100644
index d5d5578..0000000
--- a/opentaws/src/alerts/mode3.rs
+++ /dev/null
@@ -1,111 +0,0 @@
-use crate::{
-    aircraft_state::FlightSegment,
-    envelope::{Envelope, INVALID_ENVELOPE},
-    Alert, AlertLevel, AlertSource, TawsFunctionality,
-};
-use lazy_static::lazy_static;
-use nalgebra::Vector2;
-use uom::{
-    num_traits::Zero,
-    si::{f64::Length, length::foot, velocity::foot_per_minute},
-};
-
-pub struct Mode3 {
-    alert_src: AlertSource,
-    armed: bool,
-    inhibited: bool,
-
-    max_altitude_ground: Length,
-}
-
-impl Default for Mode3 {
-    fn default() -> Self {
-        Self {
-            alert_src: AlertSource::Mode3,
-            armed: false,
-            inhibited: false,
-
-            max_altitude_ground: Length::zero(),
-        }
-    }
-}
-
-impl TawsFunctionality for Mode3 {
-    type Alert = Alert;
-
-    fn alert_source(&self) -> AlertSource {
-        self.alert_src
-    }
-
-    fn is_armed(&self) -> bool {
-        self.armed
-    }
-
-    fn inhibit(&mut self) {
-        self.inhibited = true;
-    }
-
-    fn uninhibit(&mut self) {
-        self.inhibited = false;
-    }
-
-    fn is_inhibited(&self) -> bool {
-        self.inhibited
-    }
-
-    fn process(
-        &mut self,
-        state: crate::NormalizedAircraftState,
-    ) -> Result<Option<Self::Alert>, ()> {
-        let armed = state
-            .situation()
-            .map(|s| matches!(s, FlightSegment::TakeOff | FlightSegment::GoAround))
-            .ok_or(())?;
-
-        if let (false, true) = (self.armed, armed) {
-            self.max_altitude_ground = state.altitude_ground()
-        }
-
-        self.armed = armed;
-        if !self.armed {
-            return Ok(None);
-        }
-
-        self.max_altitude_ground = Length::max(self.max_altitude_ground, state.altitude_ground());
-
-        let alt_loss = (self.max_altitude_ground - state.altitude_ground()).get::<foot>();
-        let altitude = state.altitude_ground().get::<foot>();
-        let rod = -state.climb_rate().get::<foot_per_minute>();
-
-        let result = if METHODE_1_CAUTION_ENVELOPE.contains(rod, altitude)?
-            || METHODE_2_CAUTION_ENVELOPE.contains(alt_loss, altitude)?
-        {
-            Ok(Some(Alert::new(self.alert_src, AlertLevel::Caution)))
-        } else {
-            Ok(None)
-        };
-
-        if !self.inhibited {
-            result
-        } else {
-            Ok(None)
-        }
-    }
-}
-
-lazy_static! {
-    static ref METHODE_1_CAUTION_ENVELOPE: Envelope::<4> = Envelope::try_new([
-        Vector2::new(100_000.0, 60.0),
-        Vector2::new(207.0, 60.0),
-        Vector2::new(533.0, 600.0),
-        Vector2::new(100_000.0, 600.0)
-    ])
-    .expect(INVALID_ENVELOPE);
-    static ref METHODE_2_CAUTION_ENVELOPE: Envelope::<4> = Envelope::try_new([
-        Vector2::new(100_000.0, 60.0),
-        Vector2::new(26.0, 60.0),
-        Vector2::new(80.0, 600.0),
-        Vector2::new(100_000.0, 600.0)
-    ])
-    .expect(INVALID_ENVELOPE);
-}
diff --git a/opentaws/src/alerts/pda.rs b/opentaws/src/alerts/pda.rs
deleted file mode 100644
index 775e495..0000000
--- a/opentaws/src/alerts/pda.rs
+++ /dev/null
@@ -1,86 +0,0 @@
-use crate::{
-    envelope::{Envelope, INVALID_ENVELOPE},
-    Alert, AlertLevel, AlertSource, TawsFunctionality,
-};
-use lazy_static::lazy_static;
-use nalgebra::Vector2;
-use uom::si::length::foot;
-
-pub struct PDA {
-    alert_src: AlertSource,
-    armed: bool,
-    inhibited: bool,
-}
-
-impl Default for PDA {
-    fn default() -> Self {
-        Self {
-            alert_src: AlertSource::Pda,
-            armed: false,
-            inhibited: false,
-        }
-    }
-}
-
-impl TawsFunctionality for PDA {
-    type Alert = Alert;
-
-    fn alert_source(&self) -> AlertSource {
-        self.alert_src
-    }
-
-    fn is_armed(&self) -> bool {
-        self.armed
-    }
-
-    fn inhibit(&mut self) {
-        self.inhibited = true;
-    }
-
-    fn uninhibit(&mut self) {
-        self.inhibited = false;
-    }
-
-    fn is_inhibited(&self) -> bool {
-        self.inhibited
-    }
-
-    fn process(
-        &mut self,
-        state: crate::NormalizedAircraftState,
-    ) -> Result<Option<Self::Alert>, ()> {
-        // ToDo
-        let altitude_gnd_foot = state.altitude_ground().get::<foot>();
-        let distance_to_nearest_airport_nm = 3.0;
-
-        self.armed = distance_to_nearest_airport_nm <= 5.0;
-        if !self.armed {
-            return Ok(None);
-        }
-
-        let result: Result<Option<Alert>, ()> =
-            if CAUTION_ENVELOPE.contains(distance_to_nearest_airport_nm, altitude_gnd_foot)? {
-                Ok(Some(Alert::new(self.alert_src, AlertLevel::Caution)))
-            } else {
-                Ok(None)
-            };
-
-        if !self.inhibited {
-            result
-        } else {
-            Ok(None)
-        }
-    }
-}
-
-lazy_static! {
-    static ref CAUTION_ENVELOPE: Envelope::<6> = Envelope::try_new([
-        Vector2::new(5.0, 10.0),
-        Vector2::new(1.0, 10.0),
-        Vector2::new(1.0, 80.0),
-        Vector2::new(1.8, 150.0),
-        Vector2::new(2.3, 170.0),
-        Vector2::new(5.0, 170.0)
-    ])
-    .expect(INVALID_ENVELOPE);
-}
diff --git a/opentaws/src/class_c.rs b/opentaws/src/class_c.rs
new file mode 100644
index 0000000..438f4dc
--- /dev/null
+++ b/opentaws/src/class_c.rs
@@ -0,0 +1,146 @@
+mod ffac;
+//mod flta;
+mod mode1;
+mod mode3;
+mod pda;
+
+use core::{fmt::Display, slice::Iter};
+use hash32::{Hash, Hasher};
+
+use crate::alerts::Alert;
+use crate::prelude::*;
+
+pub use {ffac::*, /*flta::*,*/ mode1::*, mode3::*, pda::*};
+
+#[derive(Copy, Clone, Debug, PartialEq, Eq)]
+#[allow(non_camel_case_types)]
+pub enum ClassC_Source {
+    Ffac,
+    //Flta,
+    Mode1,
+    Mode3,
+    Pda,
+}
+
+impl Display for ClassC_Source {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        match self {
+            ClassC_Source::Ffac => f.write_fmt(format_args!("Ffac")),
+            //SourceClassC::Flta => f.write_fmt(format_args!("Flta")),
+            ClassC_Source::Mode1 => f.write_fmt(format_args!("Mode1")),
+            ClassC_Source::Mode3 => f.write_fmt(format_args!("Mode3")),
+            ClassC_Source::Pda => f.write_fmt(format_args!("Pda")),
+        }
+    }
+}
+
+impl TawsAlertSource for ClassC_Source {
+    const NUM_ALERT_SOURCES: usize = 5;
+    const ALERT_SOURCES: &'static [Self] = &[
+        ClassC_Source::Ffac,
+		//ClassC_Source::Flta,
+        ClassC_Source::Mode1,
+        ClassC_Source::Mode3,
+        ClassC_Source::Pda,
+    ];
+}
+
+impl IntoIterator for ClassC_Source {
+    type Item = &'static ClassC_Source;
+
+    type IntoIter = Iter<'static, ClassC_Source>;
+
+    fn into_iter(self) -> Self::IntoIter {
+        [Self::Ffac, Self::Mode1, Self::Mode3, Self::Pda].iter()
+    }
+}
+
+impl Hash for ClassC_Source {
+    fn hash<H>(&self, state: &mut H)
+    where
+        H: Hasher,
+    {
+        state.write(&(*self as usize).to_le_bytes())
+    }
+}
+
+pub struct ClassC {
+    ffac: Ffac,
+    //flta: flta::Flta,
+    mode1: Mode1,
+    mode3: Mode3,
+    pda: Pda,
+}
+
+impl ClassC {
+    pub fn new() -> Self {
+        ClassC {
+            ffac: Ffac::default(),
+            //flta: flta:::Flta::default(),
+            mode1: Mode1::default(),
+            mode3: Mode3::default(),
+            pda: Pda::default(),
+        }
+    }
+}
+
+impl TawsFunctionalities for ClassC {
+    type AlertSource = ClassC_Source;
+    type Alert = Alert<Self::AlertSource>;
+
+    fn functionality(
+        &self,
+        alert_src: Self::AlertSource,
+    ) -> &dyn TawsFunctionality<AlertSource = Self::AlertSource, Alert = Self::Alert> {
+        match alert_src {
+            ClassC_Source::Ffac => &self.ffac,
+			//ClassC_Source::Flta => &self.flta,
+            ClassC_Source::Mode1 => &self.mode1,
+            ClassC_Source::Mode3 => &self.mode3,
+            ClassC_Source::Pda => &self.pda,
+        }
+    }
+
+    fn functionality_mut(
+        &mut self,
+        alert_src: Self::AlertSource,
+    ) -> &mut dyn TawsFunctionality<AlertSource = Self::AlertSource, Alert = Self::Alert> {
+        match alert_src {
+            ClassC_Source::Ffac => &mut self.ffac,
+			//ClassC_Source::Flta => &mut self.flta,
+            ClassC_Source::Mode1 => &mut self.mode1,
+            ClassC_Source::Mode3 => &mut self.mode3,
+            ClassC_Source::Pda => &mut self.pda,
+        }
+    }
+}
+
+#[derive(Debug)]
+pub enum ClassCError {
+    //AlertSourceNotImplemented,
+    InvalidAircraftState,
+}
+
+impl Display for ClassCError {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        match self {
+            /*ClassCError::AlertSourceNotImplemented => {
+                f.write_fmt(format_args!("Alert source is not implemented."))
+            }*/
+            ClassCError::InvalidAircraftState => {
+                f.write_fmt(format_args!("Invalid aircraft state.",))
+            }
+        }
+    }
+}
+
+impl TawsError for ClassCError {}
+
+impl From<ClassCError> for &dyn TawsError {
+    fn from(err: ClassCError) -> Self {
+        match err {
+
+            ClassCError::InvalidAircraftState => &ClassCError::InvalidAircraftState,
+        }
+    }
+}
diff --git a/opentaws/src/class_c/ffac.rs b/opentaws/src/class_c/ffac.rs
new file mode 100644
index 0000000..ec5196d
--- /dev/null
+++ b/opentaws/src/class_c/ffac.rs
@@ -0,0 +1,87 @@
+use crate::{alerts::*, prelude::*};
+
+use super::{ClassCError, ClassC_Source};
+
+use ::uom::num_traits::Zero;
+use lazy_static::lazy_static;
+
+#[derive(Clone, Debug)]
+pub struct Ffac {
+    armed: bool,
+    inhibited: bool,
+
+    last_altitude: Length,
+}
+
+impl Default for Ffac {
+    fn default() -> Self {
+        Self {
+            armed: true,
+            inhibited: false,
+            last_altitude: Length::zero(),
+        }
+    }
+}
+
+impl Ffac {
+    const ALERT_SOURCE: ClassC_Source = ClassC_Source::Ffac;
+    const ALERT: <Self as TawsFunctionality>::Alert =
+        <Self as TawsFunctionality>::Alert::new(Self::ALERT_SOURCE, AlertLevel::Annunciation);
+}
+
+impl TawsFunctionality for Ffac {
+    type AlertSource = ClassC_Source;
+    type Alert = Alert<Self::AlertSource>;
+    //const ALERT_SOURCE: <Self::Alert as TawsAlert>::AlertSource = ClassC_Source::Ffac;
+
+    fn alert_source(&self) -> Self::AlertSource {
+        Self::ALERT_SOURCE
+    }
+
+    fn is_armed(&self) -> bool {
+        self.armed
+    }
+
+    fn inhibit(&mut self) {
+        self.inhibited = true;
+    }
+
+    fn uninhibit(&mut self) {
+        self.inhibited = false;
+    }
+
+    fn is_inhibited(&self) -> bool {
+        self.inhibited
+    }
+
+    fn process(
+        &mut self,
+        state: &NormalizedAircraftState,
+    ) -> Result<Option<Alert<ClassC_Source>>, &'static dyn TawsError> {
+        let armed = state
+            .situation()
+            .map(|s| !matches!(s, FlightSegment::TakeOff | FlightSegment::GoAround))
+            .ok_or(ClassCError::InvalidAircraftState)?;
+
+        self.armed = armed;
+        if !self.armed {
+            return Ok(None);
+        }
+
+        let result = (self.last_altitude >= *FIVE_HUNDRED
+            && state.altitude_ground() < *FIVE_HUNDRED)
+            .then_some(Self::ALERT);
+
+        self.last_altitude = state.altitude_ground();
+
+        if self.inhibited {
+            return Ok(None);
+        }
+
+        Ok(result)
+    }
+}
+
+lazy_static! {
+    static ref FIVE_HUNDRED: Length = Length::new::<foot>(500.0); //ToDo make const
+}
diff --git a/opentaws/src/class_c/mode1.rs b/opentaws/src/class_c/mode1.rs
new file mode 100644
index 0000000..bcb2b2f
--- /dev/null
+++ b/opentaws/src/class_c/mode1.rs
@@ -0,0 +1,151 @@
+use crate::{alerts::*, envelope::*, prelude::*};
+
+use super::ClassC_Source;
+
+use lazy_static::lazy_static;
+use nalgebra::{Vector, Vector2};
+
+#[derive(Clone, Debug)]
+pub struct Mode1 {
+    armed: bool,
+    inhibited: bool,
+}
+
+impl Default for Mode1 {
+    fn default() -> Self {
+        Self {
+            armed: true,
+            inhibited: false,
+        }
+    }
+}
+
+impl Mode1 {
+    const ALERT_SOURCE: ClassC_Source = ClassC_Source::Mode1;
+    const ALERT_WARNING: <Self as TawsFunctionality>::Alert =
+        <Self as TawsFunctionality>::Alert::new(Self::ALERT_SOURCE, AlertLevel::Warning);
+
+    const ALERT_CAUTION: <Self as TawsFunctionality>::Alert =
+        <Self as TawsFunctionality>::Alert::new(Self::ALERT_SOURCE, AlertLevel::Caution);
+}
+
+impl TawsFunctionality for Mode1 {
+    type AlertSource = ClassC_Source;
+    type Alert = Alert<Self::AlertSource>;
+
+    fn alert_source(&self) -> Self::AlertSource {
+        Self::ALERT_SOURCE
+    }
+
+    fn is_armed(&self) -> bool {
+        self.armed
+    }
+
+    fn inhibit(&mut self) {
+        self.inhibited = true;
+    }
+
+    fn uninhibit(&mut self) {
+        self.inhibited = false;
+    }
+
+    fn is_inhibited(&self) -> bool {
+        self.inhibited
+    }
+
+    fn process(
+        &mut self,
+        state: &NormalizedAircraftState,
+    ) -> Result<Option<Self::Alert>, &'static dyn TawsError> {
+        let rod = -state.climb_rate().get::<foot_per_minute>();
+        let altitude_gnd = state.altitude_ground().get::<foot>();
+
+        if !LIMITS.contains(Vector2::new(rod, altitude_gnd)) {
+            let _x = 437;
+        }
+
+        let steep_approach = match state.situation() {
+            Some(FlightSegment::Landing { steep_approach, .. }) => *steep_approach,
+            _ => false, //Steep envelopes are more relaxed; assume steep envelope is not selected.
+        };
+
+        let result = if steep_approach {
+            let caution = STEEP_CAUTION_ENVELOPE
+                .contains(rod, altitude_gnd)?
+                .then_some(Self::ALERT_CAUTION);
+            let warning = STEEP_WARNING_ENVELOPE
+                .contains(rod, altitude_gnd)?
+                .then_some(Self::ALERT_WARNING);
+            warning.or(caution)
+        } else {
+            let caution = CAUTION_ENVELOPE
+                .contains(rod, altitude_gnd)?
+                .then_some(Self::ALERT_CAUTION);
+            let warning = WARNING_ENVELOPE
+                .contains(rod, altitude_gnd)?
+                .then_some(Self::ALERT_WARNING);
+            warning.or(caution)
+        };
+
+        if self.inhibited {
+            return Ok(None);
+        }
+
+        Ok(result)
+    }
+}
+
+lazy_static! {
+    static ref LIMITS: Rect = Rect::new(
+        // Min/Max climb/descent rate: Mach 10 = +-675197.0 ft/min
+        // Max altitude above terrain: 100km = 328084 ft
+        Vector2::new(-680_000.0, 0.0),
+        Vector2::new(680_000.0, 330000.0)
+    );
+
+    // Envelopes enlarged by d=10, to prevent floating pointing problems.
+    static ref CAUTION_ENVELOPE: Envelope<5> = Envelope::new(
+        *LIMITS,
+        &[
+            Vector2::new(680000.000,   90.000),
+            Vector2::new(  1550.592,   96.610),
+            Vector2::new(  2194.716,  638.490),
+            Vector2::new(  5697.907, 2209.779),
+            Vector2::new(680000.000, 2210.000)
+        ]
+    ).unwrap();
+
+    static ref STEEP_CAUTION_ENVELOPE: Envelope<6> = Envelope::new(
+        *LIMITS,
+        &[
+            Vector2::new(680000.000,  140.000),
+            Vector2::new(  1788.787,  146.111),
+            Vector2::new(  1937.782,  307.832),
+            Vector2::new(  3228.810, 1087.080),
+            Vector2::new(  6223.399, 2084.871),
+            Vector2::new(680000.000, 2085.000)
+        ]
+    ).unwrap();
+
+    static ref WARNING_ENVELOPE: Envelope<5> = Envelope::new(
+        *LIMITS,
+        &[
+            Vector2::new(680000.000,   90.000),
+            Vector2::new(  1590.564,   96.690),
+            Vector2::new(  1845.772,  309.062),
+            Vector2::new( 10099.010, 1967.951),
+            Vector2::new(680000.000, 1968.000)
+        ]
+    ).unwrap();
+
+    static ref STEEP_WARNING_ENVELOPE: Envelope<5> = Envelope::new(
+        *LIMITS,
+        &[
+            Vector2::new(680000.000,  140.000),
+            Vector2::new(  1898.814,  146.047),
+            Vector2::new(  2045.157,  308.749),
+            Vector2::new( 10299.010, 1967.951),
+            Vector2::new(680000.000, 1968.000)
+        ]
+    ).unwrap();
+}
diff --git a/opentaws/src/class_c/mode3.rs b/opentaws/src/class_c/mode3.rs
new file mode 100644
index 0000000..663f8a9
--- /dev/null
+++ b/opentaws/src/class_c/mode3.rs
@@ -0,0 +1,131 @@
+use crate::{alerts::*, envelope::*, prelude::*};
+
+use super::ClassC_Source;
+
+use ::uom::num_traits::Zero;
+use lazy_static::lazy_static;
+use nalgebra::Vector2;
+
+use super::ClassCError;
+
+#[derive(Clone, Debug)]
+pub struct Mode3 {
+    armed: bool,
+    inhibited: bool,
+
+    max_altitude_ground: Length,
+}
+
+impl Default for Mode3 {
+    fn default() -> Self {
+        Self {
+            armed: false,
+            inhibited: false,
+
+            max_altitude_ground: Length::zero(),
+        }
+    }
+}
+
+impl Mode3 {
+    const ALERT_SOURCE: ClassC_Source = ClassC_Source::Mode3;
+    const ALERT: <Self as TawsFunctionality>::Alert =
+        <Self as TawsFunctionality>::Alert::new(Self::ALERT_SOURCE, AlertLevel::Caution);
+}
+
+impl TawsFunctionality for Mode3 {
+    type AlertSource = ClassC_Source;
+    type Alert = Alert<Self::AlertSource>;
+
+    fn alert_source(&self) -> Self::AlertSource {
+        Self::ALERT_SOURCE
+    }
+
+    fn is_armed(&self) -> bool {
+        self.armed
+    }
+
+    fn inhibit(&mut self) {
+        self.inhibited = true;
+    }
+
+    fn uninhibit(&mut self) {
+        self.inhibited = false;
+    }
+
+    fn is_inhibited(&self) -> bool {
+        self.inhibited
+    }
+
+    fn process(
+        &mut self,
+        state: &NormalizedAircraftState,
+    ) -> Result<Option<Alert<ClassC_Source>>, &'static dyn TawsError> {
+        let armed = state
+            .situation()
+            .map(|sit| matches!(sit, FlightSegment::TakeOff | FlightSegment::GoAround))
+            .ok_or(ClassCError::InvalidAircraftState)?;
+
+        if let (false, true) = (self.armed, armed) {
+            self.max_altitude_ground = state.altitude_ground()
+        }
+
+        self.armed = armed;
+        if !self.armed {
+            return Ok(None);
+        }
+
+        self.max_altitude_ground = Length::max(self.max_altitude_ground, state.altitude_ground());
+
+        let altitude_loss = (self.max_altitude_ground - state.altitude_ground()).get::<foot>();
+        let rod = -state.climb_rate().get::<foot_per_minute>();
+        let altitude_gnd = state.altitude_ground().get::<foot>();
+
+        let method1_res = METHODE_1_CAUTION_ENVELOPE.contains(rod, altitude_gnd)?;
+        let method2_res = METHODE_2_CAUTION_ENVELOPE.contains(altitude_loss, altitude_gnd)?;
+        let result = (method1_res || method2_res).then_some(Self::ALERT);
+
+        if self.inhibited {
+            return Ok(None);
+        }
+
+        Ok(result)
+    }
+}
+
+lazy_static! {
+    static ref METHOD1_LIMITS: Rect = Rect::new(
+        // Min/Max climb/descent rate: +-Mach 10 = +-675197.0 ft/min
+        // Max altitude above terrain: 100km = 328084 ft
+        Vector2::new(-680_000.0, 0.0),
+        Vector2::new(680_000.0, 330_000.0)
+    );
+
+    static ref METHOD2_LIMITS: Rect = Rect::new(
+        // Min/Max alitude loss: +-100km = +-328084 ft
+        // Max altitude above terrain: 100km = 328084 ft
+        Vector2::new(-330_000.0, 0.0),
+        Vector2::new(330_000.0, 330_000.0)
+    );
+
+	// Envelopes enlarged by d=10, to prevent floating pointing problems.
+    static ref METHODE_1_CAUTION_ENVELOPE: Envelope::<4> = Envelope::new(
+        *METHOD1_LIMITS,
+        &[
+            Vector2::new(680000.000,  50.000),
+            Vector2::new(   198.291,  55.085),
+            Vector2::new(   528.085, 608.709),
+            Vector2::new(680000.000, 610.000)
+        ]
+    ).unwrap();
+
+    static ref METHODE_2_CAUTION_ENVELOPE: Envelope::<4> = Envelope::new(
+        *METHOD2_LIMITS,
+        &[
+            Vector2::new(330000.000,  50.000),
+            Vector2::new(    18.585,  53.290),
+            Vector2::new(    73.290, 607.415),
+            Vector2::new(330000.000, 610.000)
+        ]
+    ).unwrap();
+}
diff --git a/opentaws/src/class_c/offset_envelope.ipynb b/opentaws/src/class_c/offset_envelope.ipynb
new file mode 100644
index 0000000..7ff4d02
--- /dev/null
+++ b/opentaws/src/class_c/offset_envelope.ipynb
@@ -0,0 +1,161 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import numpy as np"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "array([[680000,    100],\n",
+       "       [  1560,    100],\n",
+       "       [  2200,    630],\n",
+       "       [  5700,   2200],\n",
+       "       [680000,   2200]])"
+      ]
+     },
+     "execution_count": 2,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "#mode1 caution:\n",
+    "points = np.array([[680000, 100], [1560, 100], [2200, 630], [5700, 2200], [680000, 2200]])\n",
+    "\n",
+    "#mode1 caution steep:\n",
+    "#points = np.array([[680000, 150], [1798, 150], [1944, 300], [3233, 1078], [6225, 2075], [680000, 2075]])\n",
+    "\n",
+    "#mode1 warning:\n",
+    "#points = np.array([[680000, 100], [1600, 100], [1850, 300], [10100, 1958], [680000, 1958]])\n",
+    "\n",
+    "#mode1 warning steep:\n",
+    "#points = np.array([[680000, 150], [1908, 150], [2050, 300], [10300, 1958], [680000, 1958]])\n",
+    "\n",
+    "#mode3 method1:\n",
+    "#points = np.array([[680000, 60], [207, 60], [533, 600], [680000, 600]])\n",
+    "\n",
+    "#mode3 method2:\n",
+    "#points = np.array([[330000, 60], [26, 60], [80, 600], [330000, 600]])\n",
+    "\n",
+    "#pda:\n",
+    "#points = np.array([[5, 10], [1, 10], [1, 80], [1.8, 150], [2.3, 170], [5, 170]])\n",
+    "\n",
+    "points"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "array([[ 0.        , -1.        ],\n",
+       "       [-0.63781397,  0.77019046],\n",
+       "       [-0.40928044,  0.91240864],\n",
+       "       [ 0.        ,  1.        ]])"
+      ]
+     },
+     "execution_count": 3,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "def normal(p1, p2):\n",
+    "\tn = (-(p2[1] - p1[1]), p2[0] - p1[0])\n",
+    "\treturn n / np.linalg.norm(n)\n",
+    "\n",
+    "normals = np.array([ normal(p1, p2) for (p1, p2) in zip(points, points[1:])])\n",
+    "normals"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "|----x---|---y---|\n",
+      "(680000.000,     90.000),\n",
+      "(  1550.592,     96.610),\n",
+      "(  2194.716,    638.490),\n",
+      "(  5697.907,   2209.779),\n",
+      "(680000.000,   2210.000),\n"
+     ]
+    }
+   ],
+   "source": [
+    "d = 10\n",
+    "dist_points = []\n",
+    "for i in range(len(points)):\n",
+    "  if i == 0:\n",
+    "    p = points[i] + d * normals[0]\n",
+    "  elif i > 0 and i < len(points)-1:\n",
+    "    n = normals[i-1] + normals[i]\n",
+    "    n = n / np.linalg.norm(n)\n",
+    "    p = points[i] + d * n\n",
+    "  elif i == len(points)-1:\n",
+    "     p = points[i] + d * normals[len(points)-2]\n",
+    "\n",
+    "  dist_points.append(p)\n",
+    "\n",
+    "dist_points = np.asarray(dist_points)\n",
+    "dist_points\n",
+    "\n",
+    "print(\"|----x---|---y---|\")\n",
+    "for p in dist_points:\n",
+    "  print(f\"({p[0]:10.3f}, {p[1]:10.3f}),\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3.11.0 64-bit",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.11.0"
+  },
+  "orig_nbformat": 4,
+  "vscode": {
+   "interpreter": {
+    "hash": "268e6c34cdb850135cada27548192fd7b18e94d41da1a388422292a2eaee9ad8"
+   }
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/opentaws/src/class_c/pda.rs b/opentaws/src/class_c/pda.rs
new file mode 100644
index 0000000..5b34e00
--- /dev/null
+++ b/opentaws/src/class_c/pda.rs
@@ -0,0 +1,87 @@
+use crate::{alerts::*, envelope::*, prelude::*};
+
+use super::ClassC_Source;
+
+use lazy_static::lazy_static;
+
+#[derive(Clone, Debug, Default)]
+pub struct Pda {
+    armed: bool,
+    inhibited: bool,
+}
+
+impl Pda {
+    const ALERT_SOURCE: ClassC_Source = ClassC_Source::Pda;
+    const ALERT: <Self as TawsFunctionality>::Alert =
+        <Self as TawsFunctionality>::Alert::new(Self::ALERT_SOURCE, AlertLevel::Caution);
+}
+
+impl TawsFunctionality for Pda {
+    type AlertSource = ClassC_Source;
+    type Alert = Alert<Self::AlertSource>;
+
+    fn alert_source(&self) -> Self::AlertSource {
+        Self::ALERT_SOURCE
+    }
+
+    fn is_armed(&self) -> bool {
+        self.armed
+    }
+
+    fn inhibit(&mut self) {
+        self.inhibited = true;
+    }
+
+    fn uninhibit(&mut self) {
+        self.inhibited = false;
+    }
+
+    fn is_inhibited(&self) -> bool {
+        self.inhibited
+    }
+
+    fn process(
+        &mut self,
+        state: &NormalizedAircraftState,
+    ) -> Result<Option<Alert<ClassC_Source>>, &'static dyn TawsError> {
+        let altitude_gnd_foot = state.altitude_ground().get::<foot>();
+        let distance_to_nearest_airport_nm = 3.0; //ToDo
+
+        self.armed = distance_to_nearest_airport_nm <= 5.0;
+        if !self.armed {
+            return Ok(None);
+        }
+
+        let result = CAUTION_ENVELOPE
+            .contains(distance_to_nearest_airport_nm, altitude_gnd_foot)?
+            .then_some(Self::ALERT);
+
+        if self.inhibited {
+            return Ok(None);
+        }
+
+        Ok(result)
+    }
+}
+
+lazy_static! {
+    static ref LIMITS: Rect = Rect::new(
+        Vector2::zeros(),
+        // Max. distance to runway: Great circle distance (0, 0) deg to (0, 180) deg = 10819.33045 nm
+        // Max altitude: 100km = 328084 ft
+        Vector2::new(11_000.0, 330_000.0)
+    );
+
+	// Envelopes enlarged by d=0.1, to prevent floating pointing problems.
+    static ref CAUTION_ENVELOPE: Envelope::<6> = Envelope::new(
+        *LIMITS,
+        &[
+            Vector2::new(5.000,   9.900),
+            Vector2::new(0.929,   9.929),
+            Vector2::new(0.900,  80.001),
+            Vector2::new(1.700, 150.002),
+            Vector2::new(2.230, 170.072),
+            Vector2::new(5.000, 170.100)
+        ]
+    ).unwrap();
+}
diff --git a/opentaws/src/envelope.rs b/opentaws/src/envelope.rs
index 1f862bb..f48c2b6 100644
--- a/opentaws/src/envelope.rs
+++ b/opentaws/src/envelope.rs
@@ -1,147 +1,136 @@
-type Vector2 = nalgebra::Vector2<f64>;
+use core::fmt::Display;
 
-pub const INVALID_ENVELOPE: &str = "Invalid Envelope!";
+use crate::prelude::*;
+
+pub type Vector2 = nalgebra::Vector2<f64>;
+
+#[derive(Debug)]
+pub enum EnvelopeError {
+    InvalidPolygon,
+    InvalidLimits,
+    PolygonNotWithinLimits,
+    LimitViolation,
+}
+
+impl Display for EnvelopeError {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        match self {
+            EnvelopeError::InvalidPolygon => f.write_fmt(format_args!("Invalid polygon.")),
+            EnvelopeError::InvalidLimits => {
+                f.write_fmt(format_args!("Envelope limits must be finite."))
+            }
+            EnvelopeError::PolygonNotWithinLimits => f.write_fmt(format_args!(
+                "Polygon points must be within envelope limits."
+            )),
+            EnvelopeError::LimitViolation => {
+                f.write_fmt(format_args!("Envelope is not defined for the given point."))
+            }
+        }
+    }
+}
+
+impl TawsError for EnvelopeError {}
+
+impl From<EnvelopeError> for &dyn TawsError {
+    fn from(err: EnvelopeError) -> Self {
+        match err {
+            EnvelopeError::InvalidPolygon => &EnvelopeError::InvalidPolygon,
+            EnvelopeError::InvalidLimits => &EnvelopeError::InvalidLimits,
+            EnvelopeError::PolygonNotWithinLimits => &EnvelopeError::PolygonNotWithinLimits,
+            EnvelopeError::LimitViolation => &EnvelopeError::LimitViolation,
+        }
+    }
+}
 
-/// Represents a TAWS Envelope which defines under what conditions an alert should and should not be emitted.
 pub struct Envelope<const N: usize> {
-    /*/// Defines the operating limits of this envelope. <br/>
-    /// For states outside these limits the envelope is not defined.
-    limits: Rect, */
-    /// Defines the conditions under which an alert should or should not be emitted.
+    limits: Rect, //ToDo: make const generic
     polygon: Polygon<N>,
 }
 
-impl<const N: usize> Envelope<N> {
-    /// Creates a new Envelope from the given envelope limits and polygon points.
-    /// # Arguments
-    /// * `points` - the polygon points which define the envelope. At least 3 points are nessecary. All points must be finite.
-    /// ToDO (maybe): Augment the polygon to the envelope limits by adding a new start point and new end points to close the polygon with the envelope limits.
-    pub fn try_new(/* limits: Rect, */ points: [Vector2; N]) -> Result<Self, ()> {
-        /*if !Self::are_valid_limits(&limits) {
-            return Err(());
-        }*/
-
-        if !Self::are_points_valid(/* &limits, */ &points) {
-            return Err(());
+impl<'a, const N: usize> Envelope<N> {
+    pub fn new(limits: Rect, points: &'a [Vector2; N]) -> Result<Self, EnvelopeError> {
+        let polygon = Polygon::new(points).map_err(|_| EnvelopeError::InvalidPolygon)?;
+
+        if !Self::are_valid_limits(&limits) {
+            return Err(EnvelopeError::InvalidLimits);
+        }
+
+        if !Self::is_polygon_within_limits(&limits, &polygon) {
+            return Err(EnvelopeError::PolygonNotWithinLimits);
         }
 
-        Ok(Self {
-            //limits,
-            polygon: Polygon::try_new(points)?,
-        })
+        Ok(Self { limits, polygon })
     }
 
-    /* /// checks wether the given limits are sufficent for an envelope.
     fn are_valid_limits(limits: &Rect) -> bool {
         limits.min.x.is_finite()
             && limits.min.y.is_finite()
             && limits.max.x.is_finite()
             && limits.max.y.is_finite()
-    } */
+    }
 
-    /// checks whether the given polygon points are sufficent for an envelope.
-    /// the polygon must start and end on the envelope limits. all in-between points must be within the envelope limit.
-    fn are_points_valid(/* limits: &Rect, */ _points: &[Vector2; N]) -> bool {
-        if N < 3 {
-            return false;
-        }
+    fn is_polygon_within_limits(limits: &Rect, polygon: &Polygon<N>) -> bool {
+        polygon.points.iter().all(|point| limits.contains(*point))
+    }
 
-        /* let first_point = points.first().unwrap();
-        let last_point = points.last().unwrap();
-        if !limits.is_point_on_boundary(*first_point) || !limits.is_point_on_boundary(*last_point) {
-            return false;
-        }
+    pub fn contains(&self, x: f64, y: f64) -> Result<bool, EnvelopeError> {
+        let point = Vector2::new(x, y);
 
-        let mid_points = &points[1..N - 1];
-        if !mid_points.iter().all(|point| limits.contains(*point)) {
-            return false;
-        } */
+        if !self.limits.contains(point) {
+            return Err(EnvelopeError::LimitViolation);
+        }
 
-        true
+        Ok(self.polygon.contains(Vector2::new(x, y)))
     }
+}
 
-    /* /// Returns whether the envelope is defined for the specified point.
-    /// # Arguments
-    /// * `point` - The point which is tested
-    /// # Returns
-    /// * `true` if the given point is within the envelope limits; otherwise `false`.
-    pub fn is_within_limits(&self, point: Vector2) -> bool {
-        self.limits.contains(point)
-    } */
-
-    /// Determines whether the specified (x, y) state is within the envelope.
-    /// # Arguments
-    /// * `x` - The first state component.
-    /// * `y` - The second state compoenent.
-    /// # Returns
-    /// * `Ok(bool)` - Indicates whether the given state is within the envelope.
-    pub fn contains(&self, x: f64, y: f64) -> Result<bool, ()> {
-        /* if !self.is_within_limits(point) {
-            return Err(());
-        } */
+#[derive(Debug)]
+pub enum PolygonError<'a> {
+    TooFewPoints(usize),
+    InvalidPoints(&'a [Vector2]),
+}
 
-        Ok(self.polygon.contains(Vector2::new(x, y)))
+impl<'a> Display for PolygonError<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        match self {
+            PolygonError::TooFewPoints(n) => f.write_fmt(format_args!(
+                "At least two points are needed to form a valid polygon. {n} were given."
+            )),
+            PolygonError::InvalidPoints(points) => f.write_fmt(format_args!(
+                "Polygon points must be finite. Points: {points:?}"
+            )),
+        }
     }
 }
 
-/// Represents an Polygon.
-struct Polygon<const N: usize> {
-    /// Points which define the polygon.
-    /// the last segement from point[-1] to point[0] is implied.
+pub struct Polygon<const N: usize> {
     points: [Vector2; N],
 }
 
-impl<const N: usize> Polygon<N> {
-    /// tries to create a new polygon from the given points.
-    /// at least 2 points are nessecary. all points must be finite.
-    fn try_new(points: [Vector2; N]) -> Result<Self, ()> {
+impl<'a, const N: usize> Polygon<N> {
+    pub fn new(points: &'a [Vector2; N]) -> Result<Self, PolygonError> {
         if N < 2 {
-            return Err(());
+            return Err(PolygonError::TooFewPoints(N));
         }
 
-        if !Self::are_points_valid(&points) {
-            return Err(());
+        if !Self::are_points_valid(points) {
+            return Err(PolygonError::InvalidPoints(points));
         }
 
-        Ok(Self { points })
+        Ok(Self { points: *points })
     }
 
-    /// check given points.
-    fn are_points_valid(points: &[Vector2; N]) -> bool {
+    fn are_points_valid(points: &[Vector2]) -> bool {
         points
             .iter()
             .all(|point| point.x.is_finite() && point.y.is_finite())
     }
 
-    /// returns the points of the polygon.
-    fn points(&self) -> &[Vector2; N] {
+    pub fn points(&self) -> &[Vector2] {
         &self.points
     }
 
-    /* /// returns the axis-aligned bounding-box for the polygon.
-    fn bounding_box(&self) -> Rect {
-        let mut min = Vector2::new(f64::INFINITY, f64::INFINITY);
-        let mut max = Vector2::new(f64::NEG_INFINITY, f64::NEG_INFINITY);
-
-        for p in self.points {
-            if p.x < min.x {
-                min.x = p.x;
-            } else if p.x > max.x {
-                max.x = p.x;
-            }
-
-            if p.y < min.y {
-                min.y = p.y;
-            } else if p.y > max.y {
-                max.y = p.y;
-            }
-        }
-
-        Rect::new(min, max)
-    } */
-
-    /// returns an iterator over
-    fn segments(&self) -> impl Iterator<Item = LineSegment> + '_ {
+    pub fn segments(&self) -> impl Iterator<Item = LineSegment> + '_ {
         (0..N).map(|i| (self.points[i], self.points[(i + 1) % N]).into())
     }
 
@@ -187,9 +176,9 @@ impl<const N: usize> Polygon<N> {
     }
 }
 
-/* /// Represents an axis-aligned rectangle.
+/// Represents an axis-aligned rectangle.
 #[derive(Copy, Clone, Default, Debug, PartialEq)]
-struct Rect {
+pub struct Rect {
     /// lower left corner
     min: Vector2,
     /// upper right corner
@@ -198,68 +187,47 @@ struct Rect {
 
 impl Rect {
     /// Creates a rectanlge from two points.
-    fn new(p1: Vector2, p2: Vector2) -> Rect {
-        let min = Vector2::new(f64::min(p1.x, p2.x), f64::min(p1.y, p2.y));
-        let max = Vector2::new(f64::max(p1.x, p2.x), f64::max(p1.y, p2.y));
+    pub fn new(point1: Vector2, point2: Vector2) -> Rect {
+        let min = Vector2::new(f64::min(point1.x, point2.x), f64::min(point1.y, point2.y));
+        let max = Vector2::new(f64::max(point1.x, point2.x), f64::max(point1.y, point2.y));
 
         Rect { min, max }
     }
 
     /// Returns the four corner points starting from the lower left point going in clockwise direction.
-    fn points(&self) -> [Vector2; 4] {
+    pub fn points(&self) -> [Vector2; 4] {
         let dy = Vector2::new(0.0, self.max.y - self.min.y);
         [self.min, self.min + dy, self.max, self.max - dy]
     }
 
     /// Iterates over the four sides of the rectangle starting from the left vertical segment in clockwise direction.
-    fn segments(&self) -> impl Iterator<Item = LineSegment> + '_ {
+    pub fn segments(&self) -> impl Iterator<Item = LineSegment> + '_ {
         let points = self.points();
         (0..4).map(move |i| (points[i], points[(i + 1) % 4]).into())
     }
 
     /// Determines whether the specified point is within or on the reactangle.
-    fn contains(&self, point: Vector2) -> bool {
+    pub fn contains(&self, point: Vector2) -> bool {
         (self.min.x <= point.x && point.x <= self.max.x)
             && (self.min.y <= point.y && point.y <= self.max.y)
     }
+}
 
-    /// Determines whether the specified point is on the rectangle boundary.
-    fn is_point_on_boundary(&self, point: Vector2) -> bool {
-        if !self.contains(point) {
-            return false;
-        }
-
-        point.x == self.min.x
-            || point.x == self.max.y
-            || point.y == self.min.y
-            || point.y == self.max.y
-    }
-} */
-
-/// Represents a line segment.
 #[derive(Copy, Clone, Default, Debug, PartialEq)]
 pub struct LineSegment {
-    /// First point which defines the line segment.
     point1: Vector2,
-    /// Second point which defines the line segment.
     point2: Vector2,
 }
 
 impl LineSegment {
-    /// Create a new line segment.
-    pub fn new(p1: Vector2, p2: Vector2) -> Self {
-        Self {
-            point1: p1,
-            point2: p2,
-        }
+    pub fn new(point1: Vector2, point2: Vector2) -> Self {
+        Self { point1, point2 }
     }
 
-    /// Returns the mid point of the line segment.
     pub fn mid(&self) -> Vector2 {
         self.point1 + 0.5 * (self.point2 - self.point1)
     }
 
-    /// Determines whether the specified point is on the line segment.
     pub fn contains(&self, point: Vector2) -> bool {
         let ab = self.point2 - self.point1;
         let ac = point - self.point1;
@@ -290,7 +258,6 @@ impl LineSegment {
         true
     }
 
-    /// Translates the line segment by the specified offset.
     pub fn translate(&self, offset: Vector2) -> LineSegment {
         (self.point1 + offset, self.point2 + offset).into()
     }
@@ -314,6 +281,18 @@ mod tests {
 
     use super::*;
 
+    #[test]
+    fn test_segment_mid() {
+        let l: LineSegment = (Vector2::zeros(), Vector2::zeros()).into();
+        assert!(l.mid() == Vector2::zeros());
+
+        let l: LineSegment = (Vector2::new(100.0, 100.0), Vector2::new(100.0, 100.0)).into();
+        assert!(l.mid() == Vector2::new(100.0, 100.0));
+
+        let l: LineSegment = (Vector2::zeros(), Vector2::new(100.0, 100.0)).into();
+        assert!(l.mid() == Vector2::new(50.0, 50.0));
+    }
+
     #[test]
     fn test_segment_contains() {
         let l: LineSegment = (Vector2::zeros(), Vector2::new(100.0, 100.0)).into();
@@ -327,6 +306,105 @@ mod tests {
         assert!(!l.contains(Vector2::zeros()))
     }
 
+    #[test]
+    fn test_segment_translate() {
+        let l: LineSegment = (Vector2::zeros(), Vector2::zeros()).into();
+        let l = l.translate(Vector2::new(100.0, -100.0));
+        assert!(l.point1 == Vector2::new(100.0, -100.0) && l.point2 == Vector2::new(100.0, -100.0));
+
+        let l: LineSegment = (Vector2::zeros(), Vector2::new(100.0, 100.0)).into();
+        let l = l.translate(Vector2::new(100.0, -100.0));
+        assert!(l.point1 == Vector2::new(100.0, -100.0) && l.point2 == Vector2::new(200.0, 0.0));
+    }
+
+    #[test]
+    fn test_rect_points() {
+        let r = Rect::new(Vector2::zeros(), Vector2::zeros());
+        assert!(r.points().iter().all(|&p| p == Vector2::zeros()));
+
+        let r = Rect::new(Vector2::zeros(), Vector2::new(100.0, 100.0));
+        assert!(r.points().iter().enumerate().all(|(i, &p)| match i {
+            0 => p == Vector2::zeros(),
+            1 => p == Vector2::new(0.0, 100.0),
+            2 => p == Vector2::new(100.0, 100.0),
+            3 => p == Vector2::new(100.0, 0.0),
+            _ => false,
+        }));
+    }
+
+    #[test]
+    fn test_rect_segments() {
+        let r = Rect::new(Vector2::zeros(), Vector2::zeros());
+        assert!(r
+            .segments()
+            .all(|seg| seg == LineSegment::new(Vector2::zeros(), Vector2::zeros())));
+
+        let r = Rect::new(Vector2::zeros(), Vector2::new(100.0, 100.0));
+        assert!(r.segments().enumerate().all(|(i, seg)| match i {
+            0 => seg == LineSegment::new(Vector2::zeros(), Vector2::new(0.0, 100.0)),
+            1 => seg == LineSegment::new(Vector2::new(0.0, 100.0), Vector2::new(100.0, 100.0)),
+            2 => seg == LineSegment::new(Vector2::new(100.0, 100.0), Vector2::new(100.0, 0.0)),
+            3 => seg == LineSegment::new(Vector2::new(100.0, 0.0), Vector2::new(0.0, 0.0)),
+            _ => false,
+        }));
+    }
+
+    #[test]
+    fn test_rect_contains() {
+        let r = Rect::new(Vector2::zeros(), Vector2::zeros());
+        assert!(r.contains(Vector2::zeros()));
+        assert!(!r.contains(Vector2::new(1.0, 1.0)));
+
+        let r = Rect::new(Vector2::zeros(), Vector2::new(100.0, 100.0));
+        assert!(r.points().iter().all(|&p| r.contains(p)));
+        assert!(r.contains(Vector2::new(50.0, 50.0)));
+        assert!(!r.contains(Vector2::new(101.0, 101.0)));
+    }
+
+    #[test]
+    fn test_polygon_new() {
+        assert!(matches!(
+            Polygon::new(&[Vector2::zeros()]),
+            Err(PolygonError::TooFewPoints(1))
+        ));
+
+        assert!(matches!(
+            Polygon::new(&[
+                Vector2::new(100.0, 100.0),
+                Vector2::new(f64::INFINITY, 150.0),
+            ]),
+            Err(PolygonError::InvalidPoints(_))
+        ));
+
+        assert!(matches!(
+            Polygon::new(&[Vector2::new(100.0, 100.0), Vector2::new(f64::NAN, 150.0),]),
+            Err(PolygonError::InvalidPoints(_))
+        ))
+    }
+
+    #[test]
+    fn test_polygon_points() {
+        let r = Rect::new(Vector2::zeros(), Vector2::new(100.0, 100.0));
+        let p = Polygon::new(&r.points()).unwrap();
+
+        assert!(p
+            .points()
+            .iter()
+            .zip(r.points().iter())
+            .all(|(p1, p2)| p1 == p2))
+    }
+
+    #[test]
+    fn test_polygon_segments() {
+        let r = Rect::new(Vector2::zeros(), Vector2::new(100.0, 100.0));
+        let p = Polygon::new(&r.points()).unwrap();
+
+        assert!(p
+            .segments()
+            .zip(r.segments())
+            .all(|(seg1, seg2)| seg1 == seg2))
+    }
+
     #[test]
     fn test_polygon_contains() {
         let points = [
@@ -335,7 +413,7 @@ mod tests {
             Vector2::new(100.0, 100.0),
             Vector2::new(100.0, 0.0),
         ];
-        let poly = Polygon::try_new(points).unwrap();
+        let poly = Polygon::new(&points).unwrap();
 
         assert!(points.iter().all(|point| poly.contains(*point)));
         assert!(poly
@@ -357,7 +435,7 @@ mod tests {
             Vector2::new(300.0, 200.0),
             Vector2::new(300.0, 100.0),
         ];
-        let poly = Polygon::try_new(points).unwrap();
+        let poly = Polygon::new(&points).unwrap();
 
         assert!(points.iter().all(|point| poly.contains(*point)));
         assert!(poly
@@ -375,7 +453,7 @@ mod tests {
             Vector2::new(10.0, 10.0),
         ];
 
-        let poly = Polygon::try_new(points).unwrap();
+        let poly = Polygon::new(&points).unwrap();
         assert!(points.iter().all(|point| poly.contains(*point)));
         assert!(poly
             .segments()
@@ -387,29 +465,84 @@ mod tests {
     }
 
     #[test]
-    fn test_envelope() {
-        /* let limits = Rect {
-            min: Vector2::zeros(),
-            max: Vector2::new(100.0, 100.0),
-        }; */
-
-        let points = [
-            Vector2::new(10.0, 0.0),
-            Vector2::new(10.0, 75.0),
-            Vector2::new(100.0, 75.0),
+    fn test_envelope_new() {
+        let r = Rect::new(Vector2::zeros(), Vector2::new(100.0, 100.0));
+        let p = [Vector2::zeros()];
+        let e = Envelope::new(r, &p);
+        assert!(matches!(e, Err(EnvelopeError::InvalidPolygon)));
+
+        let r = Rect::new(Vector2::zeros(), Vector2::new(f64::INFINITY, 100.0));
+        let p = [
+            Vector2::zeros(),
+            Vector2::new(0.0, 100.0),
+            Vector2::new(100.0, 100.0),
+            Vector2::new(0.0, 100.0),
         ];
+        let e = Envelope::new(r, &p);
+        assert!(matches!(e, Err(EnvelopeError::InvalidLimits)));
 
-        let envelope = Envelope::try_new(/* limits, */ points).unwrap();
+        let r = Rect::new(Vector2::zeros(), Vector2::new(100.0, 100.0));
+        let p = [
+            Vector2::zeros(),
+            Vector2::new(0.0, 100.0),
+            Vector2::new(101.0, 101.0),
+            Vector2::new(0.0, 100.0),
+        ];
+        let e = Envelope::new(r, &p);
+        assert!(matches!(e, Err(EnvelopeError::PolygonNotWithinLimits)));
 
-        /* assert!(envelope.is_within_limits(Vector2::zeros()));
-        assert!(envelope.is_within_limits(Vector2::new(100.0, 100.0)));
-        assert!(envelope.is_within_limits(Vector2::new(0.0, 100.0)));
-        assert!(envelope.is_within_limits(Vector2::new(100.0, 0.0)));
-        assert!(!envelope.is_within_limits(Vector2::new(150.0, 150.0))); */
+        let r = Rect::new(Vector2::zeros(), Vector2::new(100.0, 100.0));
+        let p = [
+            Vector2::zeros(),
+            Vector2::new(100.0, 0.0),
+            Vector2::new(100.0, 100.0),
+        ];
+        let e = Envelope::new(r, &p);
+        assert!(matches!(e, Ok(_)));
+    }
 
-        assert!(!envelope.contains(0.0, 0.0).unwrap());
-        assert!(!envelope.contains(100.0, 100.0).unwrap());
-        assert!(envelope.contains(50.0, 50.0).unwrap());
-        assert!(envelope.contains(150.0, 150.0) == Err(()));
+    #[test]
+    fn test_envelope_contains() {
+        let r = Rect::new(Vector2::zeros(), Vector2::new(100.0, 100.0));
+        let e = Envelope::new(
+            r,
+            &[
+                Vector2::new(100.0, 100.0),
+                Vector2::new(100.0, 0.0),
+                Vector2::new(0.0, 0.0),
+            ],
+        )
+        .unwrap();
+
+        assert!(matches!(e.contains(0.0, 0.0), Ok(true)));
+        assert!(matches!(e.contains(100.0, 0.0), Ok(true)));
+        assert!(matches!(e.contains(100.0, 100.0), Ok(true)));
+        assert!(matches!(e.contains(50.0, 50.0), Ok(true)));
+        assert!(matches!(e.contains(50.0, 50.0), Ok(true)));
+        assert!(matches!(e.contains(75.0, 50.0), Ok(true)));
+
+        assert!(matches!(e.contains(0.0, 100.0), Ok(false)));
+        assert!(matches!(e.contains(0.0, 50.0), Ok(false)));
+        assert!(matches!(e.contains(25.0, 50.0), Ok(false)));
+
+        assert!(matches!(
+            e.contains(-1.0, 50.0),
+            Err(EnvelopeError::LimitViolation)
+        ));
+
+        assert!(matches!(
+            e.contains(101.0, 50.0),
+            Err(EnvelopeError::LimitViolation)
+        ));
+
+        assert!(matches!(
+            e.contains(50.0, -1.0),
+            Err(EnvelopeError::LimitViolation)
+        ));
+
+        assert!(matches!(
+            e.contains(50.0, 101.0),
+            Err(EnvelopeError::LimitViolation)
+        ));
     }
 }
diff --git a/opentaws/src/lib.rs b/opentaws/src/lib.rs
index 4d0872f..6220b21 100644
--- a/opentaws/src/lib.rs
+++ b/opentaws/src/lib.rs
@@ -8,70 +8,163 @@
 //! and C ABI as addiotional targets, but this did not lead anywehre usable _so far_. We are very
 //! open to suggestions, so please open an issue if you have some feedback.
 
+//#![feature(return_position_impl_trait_in_trait)]
 #![no_std]
 #![deny(unsafe_code)]
 #![allow(dead_code)]
 
-extern crate enum_map;
-
 #[cfg(test)]
 #[macro_use]
 extern crate std;
 
-pub mod aircraft_state;
+mod aircraft_state;
 pub mod alerts;
-pub(crate) mod envelope;
+pub mod class_c;
+pub mod envelope;
+pub mod prelude;
+
+use prelude::*;
 
-pub use aircraft_state::{AircraftState, NormalizedAircraftState};
-pub use alerts::{Alert, AlertLevel, AlertSource};
+use core::fmt::Display;
 
 /// Abstraction for a TAWS system
 pub trait Taws {
-    type Alert: TawsAlert + Sized;
-    /// Alert set type
+    /// Alert source type
+    type AlertSource: TawsAlertSource;
+
+    /// Alert type
+    type Alert: TawsAlert<AlertSource = Self::AlertSource>;
+
+    /// Alert-set type
     type Alerts: TawsAlerts<Alert = Self::Alert> + Default;
 
-    //fn arm(&mut self, alert_src: AlertSource);
-    //fn disarm(&mut self, alert_src: AlertSource);
+    type Functionalities: TawsFunctionalities;
+
+    fn functionalities(
+        &self,
+    ) -> &dyn TawsFunctionalities<AlertSource = Self::AlertSource, Alert = Self::Alert>;
 
-    // ToDo:
-    //fn functionality(&self) -> Option<dyn TawsFunctionallity>;
-    //fn functionalities(&self) -> iterator, array, slice ???;
+    fn functionalities_mut(
+        &mut self,
+    ) -> &mut dyn TawsFunctionalities<AlertSource = Self::AlertSource, Alert = Self::Alert>;
 
     /// Returns whether the specified alert source (TAWS functionality) is currently armed.
     /// # Arguments
     /// * `alert_src` - The alert source of which the armed state is returned.
-    fn is_armed(&self, alert_src: AlertSource) -> bool;
+    fn is_armed(&self, alert_src: Self::AlertSource) -> bool {
+        self.functionalities().is_armed(alert_src)
+    }
 
     /// Inhibits the output of the specified alert source.
     /// # Arguements
     /// * `alert_src` - The alert source to inhibit.
-    fn inhibit(&mut self, alert_src: AlertSource);
+    fn inhibit(&mut self, alert_src: Self::AlertSource) {
+        self.functionalities_mut().inhibit(alert_src)
+    }
 
     /// Un-inhibits the output of the specified alert source.
     /// # Arguements
     /// * `alert_src` - The alert source to un-inhibit.
-    fn uninhibit(&mut self, alert_src: AlertSource);
+    fn uninhibit(&mut self, alert_src: Self::AlertSource) {
+        self.functionalities_mut().uninhibit(alert_src)
+    }
 
     /// Returns whether the specified alert source is currently inhibited.
     /// # Arguments
     /// * `alert_src` - The alert source of which the inhibit state is returned.
-    fn is_inhibited(&self, alert_src: AlertSource) -> bool;
+    fn is_inhibited(&self, alert_src: Self::AlertSource) -> bool {
+        self.functionalities().is_inhibited(alert_src)
+    }
 
     /// Processes a normalized [AircraftState] and
     /// returns an alert for each alert source if the related conditions for this TAWS functionality are given.
     /// # Arguments
     /// * `state` - The normalized [AircraftState] to process.
-    fn process(&mut self, state: NormalizedAircraftState) -> Self::Alerts; //ToDo: Result ?
+    fn process(
+        &mut self,
+        state: &NormalizedAircraftState,
+    ) -> Result<Self::Alerts, &'static dyn TawsError> {
+        let mut alerts = Self::Alerts::default();
+        let funcs = self.functionalities_mut();
+        for alert_src in <Self::AlertSource as TawsAlertSource>::ALERT_SOURCES {
+            let alert = funcs.functionality_mut(*alert_src).process(state)?;
+            if let Some(alert) = alert {
+                alerts.insert(alert);
+            }
+        }
+
+        Ok(alerts)
+    }
+}
+
+pub trait TawsFunctionalities {
+    type AlertSource: TawsAlertSource;
+    type Alert: TawsAlert<AlertSource = Self::AlertSource>;
+
+    fn functionality(
+        &self,
+        alert_src: Self::AlertSource,
+    ) -> &dyn TawsFunctionality<AlertSource = Self::AlertSource, Alert = Self::Alert>;
+
+    fn functionality_mut(
+        &mut self,
+        alert_src: Self::AlertSource,
+    ) -> &mut dyn TawsFunctionality<AlertSource = Self::AlertSource, Alert = Self::Alert>;
+
+    /// Returns whether the specified alert source (TAWS functionality) is currently armed.
+    /// # Arguments
+    /// * `alert_src` - The alert source of which the armed state is returned.
+    //	ToDo: return -> Result<bool, impl TawsError> when feature(return_position_impl_trait_in_trait) is stable.
+    fn is_armed(&self, alert_src: Self::AlertSource) -> bool {
+        self.functionality(alert_src).is_armed()
+    }
+
+    /// Inhibits the output of the specified alert source.
+    /// # Arguements
+    /// * `alert_src` - The alert source to inhibit.
+    fn inhibit(&mut self, alert_src: Self::AlertSource) {
+        self.functionality_mut(alert_src).inhibit();
+    }
+
+    /// Un-inhibits the output of the specified alert source.
+    /// # Arguements
+    /// * `alert_src` - The alert source to un-inhibit.
+    fn uninhibit(&mut self, alert_src: Self::AlertSource) {
+        self.functionality_mut(alert_src).uninhibit();
+    }
+
+    /// Returns whether the specified alert source is currently inhibited.
+    /// # Arguments
+    /// * `alert_src` - The alert source of which the inhibit state is returned.
+    fn is_inhibited(&self, alert_src: Self::AlertSource) -> bool {
+        self.functionality(alert_src).is_inhibited()
+    }
+
+    /// Processes a normalized [AircraftState] and
+    /// returns an alert for each alert source if the related conditions for this TAWS functionality are given.
+    /// # Arguments
+    /// * `alert_src` - The alert source to process.
+    /// * `state` - The normalized [AircraftState] to process.
+    fn process(
+        &mut self,
+        alert_src: Self::AlertSource,
+        state: &NormalizedAircraftState,
+    ) -> Result<Option<Self::Alert>, &'static dyn TawsError> {
+        self.functionality_mut(alert_src).process(state)
+    }
 }
 
 /// Represents a TAWS functionality
 pub trait TawsFunctionality {
+    type AlertSource: TawsAlertSource;
+
     /// Alert type
-    type Alert: TawsAlert;
+    type Alert: TawsAlert<AlertSource = Self::AlertSource>;
+
+    /// The associated alert source of this functionality.
+    //const ALERT_SOURCE: <Self::Alert as TawsAlert>::AlertSource;
 
-    /// Returns the alert source which is controlled by this functionality.
-    fn alert_source(&self) -> AlertSource;
+    fn alert_source(&self) -> Self::AlertSource;
 
     /// Returns whether the functionality is armed.
     fn is_armed(&self) -> bool;
@@ -88,26 +181,49 @@ pub trait TawsFunctionality {
     /// Processes a normalized [AircraftState] and returns an alert result or an error.
     /// # Arguments
     /// * `state` - The normalized [AircraftState] to process.
-    fn process(&mut self, state: NormalizedAircraftState) -> Result<Option<Self::Alert>, ()>; // Todo Error type? anyhow, thiserror, snafu, ...?; Return multiple alerts?
-}
-
-/// Abstraction for a TAWS alert
-pub trait TawsAlert: Into<(AlertSource, AlertLevel)> + Eq {
-    /// Returns the TAWS functionallity which emitted this alert
-    fn source(&self) -> AlertSource;
-
-    /// Returns the alert level of this alert
-    fn level(&self) -> AlertLevel;
+    fn process(
+        &mut self,
+        state: &NormalizedAircraftState,
+    ) -> Result<Option<Self::Alert>, &'static dyn TawsError>; // Result ?
 }
 
 /// Abstraction for a set of TAWS alerts
 pub trait TawsAlerts {
+    type AlertSource: TawsAlertSource;
+
     /// Alert type
-    type Alert: TawsAlert;
+    type Alert: TawsAlert<AlertSource = Self::AlertSource>;
+
+    /// Inserts the specified alert into the set.
+    /// Already existing alerts are replaced if the [new_alert] has a higher alert level.
+    /// # Arguments
+    /// * `new_alert` - the new alert which is added to the set of alerts
+    fn insert(&mut self, new_alert: Self::Alert);
 
     /// Returns whether an alert from the given source with at least the specified alert level is active.
     /// # Arguments
-    /// * `alert_src` - The alert source (TAWS functionallity) to check for
-    /// * `min_level` - The inclusive min level to check for
-    fn is_alert_active(&self, alert_src: AlertSource, min_level: AlertLevel) -> bool;
+    /// * `alert_src` - The alert source to check for.
+    /// * `min_level` - The inclusive min level to check for.
+    fn is_alert_active(&self, alert_src: Self::AlertSource, min_level: AlertLevel) -> bool;
+}
+
+/// Abstraction for a TAWS alert
+pub trait TawsAlert {
+    /// Alert source
+    type AlertSource: TawsAlertSource;
+
+    /// Returns the alert source to which this alert belongs.
+    fn source(&self) -> Self::AlertSource;
+
+    /// Returns the alert level of this alert.
+    fn level(&self) -> AlertLevel;
+}
+
+/// Abstraction for an alert source
+pub trait TawsAlertSource: Clone + Copy + Eq + 'static {
+    const NUM_ALERT_SOURCES: usize;
+
+    const ALERT_SOURCES: &'static [Self];
 }
+
+pub trait TawsError: core::fmt::Debug + Display {}
diff --git a/opentaws/src/prelude.rs b/opentaws/src/prelude.rs
new file mode 100644
index 0000000..f6006e9
--- /dev/null
+++ b/opentaws/src/prelude.rs
@@ -0,0 +1,16 @@
+pub use self::uom::*;
+pub use crate::aircraft_state::{AircraftState, FlightSegment, NormalizedAircraftState};
+pub use crate::alerts::AlertLevel;
+pub use crate::{
+    Taws, TawsAlert, TawsAlertSource, TawsAlerts, TawsError, TawsFunctionalities, TawsFunctionality,
+};
+
+mod uom {
+    pub use uom::si::f64::{Angle, Length, Time, Velocity};
+    pub use uom::si::{
+        angle::{degree, minute as angular_minute, revolution, second as angular_second},
+        length::{foot, kilometer, meter, nautical_mile},
+        time::second as time_second,
+        velocity::{foot_per_minute, kilometer_per_hour, knot, meter_per_second},
+    };
+}
diff --git a/rust-toolchain.toml b/rust-toolchain.toml
new file mode 100644
index 0000000..2f47d05
--- /dev/null
+++ b/rust-toolchain.toml
@@ -0,0 +1,3 @@
+[toolchain]
+channel = "stable-x86_64-pc-windows-msvc"
+#channel = "nightly-x86_64-pc-windows-msvc"
diff --git a/taws_minimal/Cargo.toml b/taws_minimal/Cargo.toml
index b1810f8..25e86dc 100644
--- a/taws_minimal/Cargo.toml
+++ b/taws_minimal/Cargo.toml
@@ -6,7 +6,7 @@ authors = [
 	"Janick Beck <janick.beck@tu-clausthal.de>",
 	"Umut Durak <umut.durak@tu-clausthal.de>",
 ]
-edition = "2018"
+edition = "2021"
 license = "MIT OR Apache-2.0"
 description = "A minimal implementation of openTAWS"
 documentation = "https://aeronautical-informatics.github.io/openTAWS/"
@@ -33,18 +33,18 @@ serde = { version = "1.0", default-features = false, features = ["derive"] }
 
 # testing and examples
 arbitrary = { version = "1", features = ["derive"], optional = true }
-async-tungstenite = { version = "*", features = [
-	"async-std-runtime",
-], optional = true }
-async-trait = { version = "0.1", optional = true }
+#async-tungstenite = { version = "*", features = [
+#	"async-std-runtime",
+#], optional = true }
+#async-trait = { version = "0.1", optional = true }
 cucumber = { version = "0", optional = true }
 futures = { version = "0", optional = true }
 lazy_static = { version = "1.4", optional = true }
 rand = { version = "*", optional = true }
 rand_pcg = { version = "*", optional = true }
-rayon = { version = "1.5", optional = true }
-serde_json = { version = "1.0", optional = true }
-smol = { version = "1", optional = true }
+#rayon = { version = "1.5", optional = true }
+#serde_json = { version = "1.0", optional = true }
+#smol = { version = "1", optional = true }
 regex = "1"
 
 
@@ -54,17 +54,13 @@ harness = false # Allows Cucumber to print output instead of libtest
 path = "tests/cucumber.rs"
 required-features = [
 	"arbitrary",
-	"async-trait",
+	#"async-trait",
 	"cucumber",
 	"futures",
 	"lazy_static",
 	"rand",
 	"rand_pcg",
-	"rayon",
-	"serde_json",
-	"smol",
+	#"rayon",
+	#"serde_json",
+	#"smol",
 ]
-
-[[example]]
-name = "flightgear"
-required-features = ["async-tungstenite", "futures", "serde_json", "smol"]
diff --git a/taws_minimal/examples/flightgear.rs b/taws_minimal/examples/flightgear.rs
deleted file mode 100644
index 3f49d11..0000000
--- a/taws_minimal/examples/flightgear.rs
+++ /dev/null
@@ -1,132 +0,0 @@
-//! This demo illustrates how the openTAWS system can be integrated with Flightgear
-
-use std::{env, error::Error, time::Instant};
-
-use futures::prelude::*;
-
-use async_tungstenite::tungstenite::Message;
-use aviation_database::reference::AirportDatabaseImpl;
-use serde::{Deserialize, Serialize};
-use uom::si::velocity::foot_per_second;
-
-use opentaws::prelude::*;
-use taws_minimal::MinimalTaws;
-
-#[derive(Serialize)]
-struct FlightgearCommand {
-    command: String,
-    node: String,
-}
-
-/// Yields AircraftStates from a Flightgear http/json connection
-///
-/// # Arguments
-/// `base_uri` - The base URI of the Flightgear http interface. Something like `localhost:5400`.
-async fn new_flightgear_stream(
-    base_uri: &str,
-) -> Result<impl Stream<Item = Result<PropertyTreeLeaf, Box<dyn Error>>>, Box<dyn Error>> {
-    let url = format!("ws://{}/PropertyListener", base_uri);
-    let (mut stream, _) = async_tungstenite::async_std::connect_async(url).await?;
-
-    for node in KEYS {
-        let sub = FlightgearCommand {
-            command: "addListener".to_string(),
-            node: node.to_string(),
-        };
-        stream
-            .send(Message::Binary(serde_json::to_vec(&sub)?))
-            .await?;
-    }
-
-    Ok(stream
-        .map(|msg| -> Result<_, Box<dyn Error>> { Ok(serde_json::from_slice(&msg?.into_data())?) }))
-}
-
-#[derive(Deserialize)]
-struct PropertyTreeLeaf {
-    pub path: String,
-    pub ts: f64,
-    pub value: f64,
-}
-
-const KEYS: &'static [&'static str] = &[
-    "/velocities/groundspeed-kt",
-    "/velocities/vertical-speed-fps",
-    "/position/longitude-deg",
-    "/position/latitude-deg",
-    "/position/altitude-ft",
-    "/position/altitude-agl-ft",
-    "/orientation/pitch-deg",
-    "/orientation/roll-deg",
-    "/orientation/heading-deg",
-];
-
-const USAGE: &'static str = "usage: <Flightgear base url>";
-
-// http://localhost:5400/json/velocities?i=y&t=y&d=3
-
-fn main() -> Result<(), Box<dyn Error>> {
-    smol::block_on(async {
-        let args: Vec<String> = env::args().collect();
-        let base_uri = args.get(1).expect(USAGE);
-
-        let airport_database = AirportDatabaseImpl::default();
-        let config = TawsConfig {
-            terrain_server: &airport_database,
-            max_climbrate: Velocity::new::<foot_per_minute>(700.0),
-            max_climbrate_change: Acceleration::new::<foot_per_second_squared>(100.0),
-        };
-        let mut taws = MinimalTaws::new(&config);
-        let mut fg_stream = new_flightgear_stream(base_uri.as_str()).await?;
-        let mut frames: u128 = 0;
-
-        let mut aircraft_state = AircraftState::default();
-
-        loop {
-            let leaf = fg_stream.next().await.unwrap()?;
-            let now = Instant::now();
-            let ts = Time::new::<second>(leaf.ts);
-
-            // Next frame begins
-            if ts > aircraft_state.timestamp {
-                let alert_state = taws.process(&aircraft_state);
-                print!("{esc}[2J{esc}[1;1H", esc = 27 as char);
-                frames += 1;
-                println!(
-                    "Processed frame: {}, time consumed: {:?}",
-                    frames,
-                    now.elapsed(),
-                );
-                println!("{}\n{:#?}", aircraft_state, alert_state);
-            }
-            aircraft_state.timestamp = ts;
-
-            match leaf.path.as_str() {
-                "/velocities/groundspeed-kt" => {
-                    aircraft_state.speed_ground = Velocity::new::<knot>(leaf.value)
-                }
-                "/velocities/vertical-speed-fps" => {
-                    aircraft_state.climb_rate = Velocity::new::<foot_per_second>(leaf.value)
-                }
-                "/position/longitude-deg" => {
-                    aircraft_state.position_lon = Angle::new::<degree>(leaf.value)
-                }
-                "/position/latitude-deg" => {
-                    aircraft_state.position_lat = Angle::new::<degree>(leaf.value)
-                }
-                "/position/altitude-ft" => {
-                    aircraft_state.altitude = Length::new::<foot>(leaf.value)
-                }
-                "/position/altitude-agl-ft" => {
-                    aircraft_state.altitude_ground = Length::new::<foot>(leaf.value)
-                }
-                "/orientation/pitch-deg" => aircraft_state.pitch = Angle::new::<degree>(leaf.value),
-                "/orientation/roll-deg" => aircraft_state.roll = Angle::new::<degree>(leaf.value),
-                "/orientation/heading-deg" => {
-                    aircraft_state.heading = Angle::new::<degree>(leaf.value)
-                }
-                _ => {}
-            }
-        }
-    })
-}
diff --git a/taws_minimal/features/alert_prioritization.feature b/taws_minimal/features/alert_prioritization.feature
deleted file mode 100644
index ab73fc9..0000000
--- a/taws_minimal/features/alert_prioritization.feature
+++ /dev/null
@@ -1,18 +0,0 @@
-Feature: Alert Priorization
-  Class C Equipment shall (TAWS_MOPS_300) include an alert prioritization scheme to
-  handle concurrent alert conditions. Note: Class C Equipment does not require prioritization with external systems such as
-  TCAS, RWS, and PWS. In many of the situations that trigger a given alert in the must alert figures above, 
-  multiple alerts may be triggered concurrently. It is acceptable for the TAWS to issue only the highest
-  priority alert in these situations. For example, an FLTA warning may occur in a Mode 3
-  caution must alert region. In this case, Class C Equipment needs to only issue the FLTA
-  warning response.
-
-  @MOPS_300
-  Scenario: Alert Priorization
-    When concurrent alert conditions trigger
-    Then the priorization of the alerts handles the concurrency
-
-  @MOPS_300
-  Scenario: Alert Priority
-    Given an alert can occur concurrently
-    Then that alert has a priority
\ No newline at end of file
diff --git a/taws_minimal/features/ffac.feature b/taws_minimal/features/ffac.feature
index ae5f8a3..79985b8 100644
--- a/taws_minimal/features/ffac.feature
+++ b/taws_minimal/features/ffac.feature
@@ -36,7 +36,7 @@ Each of these additional categories of callouts is not required.
     Then FFAC shall be armed
 
   @AURAL_ALERT @ANNUNCIATION @MOPS_293
-  Scenario: Class C Equipment shall (TAWS_MOPS_293) be capable of providing or triggering a voice callout of “five hundred” ...
+  Scenario: Class C Equipment shall be capable of providing or triggering a voice callout of “five hundred” ...
     Given not implemented
 
   Rule: Five Hundred Foot Altitude Callout above terrain
diff --git a/taws_minimal/features/mode_1.feature b/taws_minimal/features/mode_1.feature
index a5b4a78..bc461c5 100644
--- a/taws_minimal/features/mode_1.feature
+++ b/taws_minimal/features/mode_1.feature
@@ -33,8 +33,8 @@ Feature: Excessive Rate of Descent (Mode 1)
     @ALERT_CRITERIA @CAUTION @MOPS_270
     Scenario: Class C Equipment shall not provide a Mode 1 caution alert when ... Mode 1 is inhibited.
       Given Mode 1 is inhibited
-      When the rate of descent is 1560.0 feet per minute
-      When the height above terrain is 100.0 feet
+      When the rate of descent is equal 1560.0 feet per minute
+      When the height above terrain is equal 100.0 feet
       Then a Mode 1 caution shall not be emitted
 
     @ALERT_CRITERIA @CAUTION @MOPS_270
@@ -79,8 +79,8 @@ Feature: Excessive Rate of Descent (Mode 1)
     @ALERT_CRITERIA @CAUTION @MOPS_272
     Scenario: Class C Equipment shall not provide a Mode 1 caution alert when ... Mode 1 is inhibited.
       Given Mode 1 is inhibited
-      When the rate of descent is 1798.0 feet per minute
-      When the height above terrain 150.0 feet
+      When the rate of descent is equal 1798.0 feet per minute
+      When the height above terrain is equal 150.0 feet
       Then a Mode 1 caution shall not be emitted
 
     @ALERT_CRITERIA @CAUTION @MOPS_272
@@ -124,8 +124,8 @@ Feature: Excessive Rate of Descent (Mode 1)
     @ALERT_CRITERIA @WARNING @MOPS_274
     Scenario: Class C Equipment shall not provide a Mode 1 warning alert when ... Mode 1 is inhibited.
       Given Mode 1 is inhibited
-      When the rate of descent is 1600.0 feet per minute
-      When the height above terrain is 100.0 feet
+      When the rate of descent is equal 1600.0 feet per minute
+      When the height above terrain is equal 100.0 feet
       Then a Mode 1 warning shall not be emitted
 
     @ALERT_CRITERIA @WARNING @MOPS_274
@@ -168,8 +168,8 @@ Feature: Excessive Rate of Descent (Mode 1)
     @ALERT_CRITERIA @WARNING @MOPS_276
     Scenario: Class C Equipment shall not provide a Mode 1 warning alert when ... Mode 1 is inhibited.
       Given Mode 1 is inhibited
-      When the rate of descent is 1908.0 feet per minute
-      When the height above terrain is 150.0 feet
+      When the rate of descent is equal 1908.0 feet per minute
+      When the height above terrain is equal 150.0 feet
       Then a Mode 1 warning shall not be emitted
 
     @ALERT_CRITERIA @WARNING @MOPS_276
diff --git a/taws_minimal/features/mode_3.feature b/taws_minimal/features/mode_3.feature
index e82114e..8a106e7 100644
--- a/taws_minimal/features/mode_3.feature
+++ b/taws_minimal/features/mode_3.feature
@@ -49,7 +49,7 @@ Feature: Negative Climb Rate or Altitude Loss (Mode 3)
       Given the aircraft is not on a take-off segment
       Given Mode 3 is not inhibited
       When the rate of descent is at least 207.0 feet per minute
-      When the height above terrain is 60.0 feet
+      When the height above terrain is equal 60.0 feet
       Then Mode 3 is not armed
       Then a Mode 3 caution shall not be emitted
 
@@ -58,7 +58,7 @@ Feature: Negative Climb Rate or Altitude Loss (Mode 3)
       Given the aircraft is on a take-off segment
       Given Mode 3 is inhibited
       When the rate of descent is at least 207.0 feet per minute
-      When the height above terrain is 60.0 feet
+      When the height above terrain is equal 60.0 feet
       Then Mode 3 is armed
       Then a Mode 3 caution shall not be emitted
 
@@ -83,24 +83,24 @@ Feature: Negative Climb Rate or Altitude Loss (Mode 3)
     Scenario Outline: Class C Equipment shall provide a caution alert when ...
       Given the aircraft is on a take-off segment
       Given Mode 3 is not inhibited
-      When the height above terrain is between 60.0 <init_max_height_terrain> feet
+      When the height above terrain is between 86.0 and <init_max_height_terrain> feet
       Given in the next phase
-      When the height above terrain is at most <next_max_height_terrain> feet
+      When the height above terrain is between 60.0 and <next_max_height_terrain> feet
       Then Mode 3 is armed
       Then a Mode 3 caution shall be emitted
 
       Examples:
         | init_max_height_terrain | next_max_height_terrain |
-        |                    60.0 |                    34.0 |
+        |                    86.0 |                    60.0 |
         |                   600.0 |                   520.0 |
 
     @ALERT_CRITERIA @CAUTION @MOPS_289
     Scenario: Class C Equipment shall not provide a Mode 3 caution alert when ... Mode 3 is not armed.
       Given the aircraft is not on a take-off segment
       Given Mode 3 is not inhibited
-      When the height above terrain is 60.0 feet
+      When the height above terrain is equal 60.0 feet
       Given in the next phase
-      When the height above terrain is at 34.0 feet
+      When the height above terrain is equal 34.0 feet
       Then Mode 3 is not armed
       Then a Mode 3 caution shall not be emitted
 
@@ -108,9 +108,9 @@ Feature: Negative Climb Rate or Altitude Loss (Mode 3)
     Scenario: Class C Equipment shall not provide a Mode 3 caution alert when ... Mode 3 is inhibited.
       Given the aircraft is on a take-off segment
       Given Mode 3 is inhibited
-      When the height above terrain is 60.0 feet
+      When the height above terrain is equal 60.0 feet
       Given in the next phase
-      When the height above terrain is at 34.0 feet
+      When the height above terrain is equal 34.0 feet
       Then Mode 3 is armed
       Then a Mode 3 caution shall not be emitted
 
diff --git a/taws_minimal/features/pda.feature b/taws_minimal/features/pda.feature
index bf45d8b..f67416a 100644
--- a/taws_minimal/features/pda.feature
+++ b/taws_minimal/features/pda.feature
@@ -62,7 +62,7 @@ Feature: Premature Descent Alerting (PDA)
     Scenario: Class C Equipment shall not provide a PDA caution alert when ... PDA is inhibited.
       Given PDA is inhibited
       When the distance to runway is 1.0 NM
-      And the height above terrain is 10.0 feet
+      And the height above terrain is equal 10.0 feet
       Then a PDA caution is no emitted
 
   Rule: PDA is armed and not-inhibited and an alert is active
diff --git a/taws_minimal/features/self_test.feature b/taws_minimal/features/self_test.feature
deleted file mode 100644
index c76cf99..0000000
--- a/taws_minimal/features/self_test.feature
+++ /dev/null
@@ -1,38 +0,0 @@
-Feature: Self-Test (MOPS_001)
-  TAWS Equipment shall (TAWS_MOPS_001) include a self-test function that
-  provides indications of equipment condition during operation. This self-test
-  function consists of continuous and initiated tests.
-
-  @MOPS_002 @MOPS_003 @MOPS_004
-  Scenario: Continuos Self-Test
-    When a failure is detected by the continuos monitoring
-    Then the TAWS reports the failure
-    And disarms all affected functions
-
-  # can be done using interaction with the crew
-  @MOPS_005
-  Scenario Outline: Initiated Self-Test
-    When the self-test is initiated
-    Then the TAWS must verify system operation and integrity of <capability>
-
-    Examples:
-      | capability              |
-      | aural alerting          |
-      | visual alerting         |
-      | altitude callouts       |
-      | terrain display outputs |
-      | fault reporting         |
-
-  @MOPS_006
-  Scenario: Initiated Self-Test
-    Given the self-test is initiated
-    When the initiated self-test detects a failure
-    Then the failure must be reported
-
-  #Scenario: Automatic Arming (MOPS_007)
-
-  Scenario: Input Data Smoothing
-    When the rate of input data reduces or stagnates
-    Then the delays to alert onset do not 
-
-# vim: set ts=2 sw=2 expandtab: retab: expandtab #
diff --git a/taws_minimal/src/lib.rs b/taws_minimal/src/lib.rs
index 116fe42..846314c 100644
--- a/taws_minimal/src/lib.rs
+++ b/taws_minimal/src/lib.rs
@@ -1,328 +1,40 @@
+use opentaws::class_c::*;
 use opentaws::prelude::*;
 
-#[macro_use]
-mod macros;
+pub type AlertSource = opentaws::class_c::ClassC_Source;
+pub type Alert = opentaws::alerts::Alert<ClassC_Source>;
+pub type Alerts = opentaws::alerts::Alerts<Alert>;
 
-/// This is the number of different alerts in an alert_state for MinimalTAWS
-const ALERT_STATE_SIZE: usize = 8;
-
-/// Represents one instance of a TAWS
-#[derive(Debug)]
-pub struct MinimalTaws<'a> {
-    /// `true` if the TAWS is armed
-    ///
-    /// There is no specific condition for changing this to `false`.
-    pub armed: bool,
-    config: &'a TawsConfig<'a>,
-    ffac: functionalities::Ffac,
-    flta: functionalities::Flta,
-    mode1: functionalities::Mode1,
-    mode2: functionalities::Mode2,
-    mode3: functionalities::Mode3,
-    mode4: functionalities::Mode4,
-    mode5: functionalities::Mode5,
-    pda: functionalities::Pda<'a>,
+pub struct MinimalTaws {
+    functionalities: ClassC,
 }
 
-impl<'a> MinimalTaws<'a> {
-    functionalities![Ffac, Flta, Mode1, Mode2, Mode3, Mode4, Mode5, Pda];
-
-    /// Create a new instance of `Taws`
-    ///
-    /// # Arguments
-    ///
-    /// * `config` - The configuration which this TAWS instance shall use
-    ///
-    /// # Example
-    ///
-    /// ```
-    /// use opentaws::prelude::*;
-    /// use taws_minimal::MinimalTaws;
-    ///
-    /// let config = TawsConfig::default();
-    /// let taws = MinimalTaws::new(&config);
-    /// ```
-    pub fn new(config: &'a TawsConfig) -> Self {
-        let ffac = functionalities::Ffac::new(config);
-        let flta = functionalities::Flta::new(config);
-        let mode1 = functionalities::Mode1::new(config);
-        let mode2 = functionalities::Mode2::new(config);
-        let mode3 = functionalities::Mode3::new(config);
-        let mode4 = functionalities::Mode4::new(config);
-        let mode5 = functionalities::Mode5::new(config);
-        let pda = functionalities::Pda::new(config);
-
+impl MinimalTaws {
+    pub fn new() -> Self {
         Self {
-            armed: true,
-            config,
-            ffac,
-            flta,
-            mode1,
-            mode2,
-            mode3,
-            mode4,
-            mode5,
-            pda,
+            functionalities: ClassC::new(),
         }
     }
 }
 
-impl<'a> Taws<ALERT_STATE_SIZE> for MinimalTaws<'a> {
-    /// Returns `true` if the alert system is armed
-    ///
-    /// # Arguments
-    ///
-    /// * `alert_system` - The alert system whiches armed state shall be checked
-    ///
-    /// # Example
-    ///
-    /// ```
-    /// # use opentaws::prelude::*;
-    /// # use taws_minimal::MinimalTaws;
-    /// # let config = TawsConfig::default();
-    /// # let taws = MinimalTaws::new(&config);
-    /// if taws.is_armed(Alert::Mode1) {
-    ///     // ...
-    /// }
-    /// ```
-    fn is_armed(&self, alert_system: Alert) -> bool {
-        self.get_functionality(alert_system).is_armed()
-    }
+impl Taws for MinimalTaws {
+    type AlertSource = AlertSource;
 
-    /// Arms a specific alert system
-    ///
-    /// # Arguments
-    ///
-    /// * `alert_system` - The alert system which shall be inhibited
-    ///
-    /// # Example
-    ///
-    /// ```
-    /// # use opentaws::prelude::*;
-    /// # use taws_minimal::MinimalTaws;
-    /// # let config = TawsConfig::default();
-    /// # let mut taws = MinimalTaws::new(&config);
-    /// taws.arm(Alert::Mode1);
-    ///
-    /// assert!(taws.is_armed(Alert::Mode1));
-    /// ```
-    fn arm(&mut self, alert_system: Alert) {
-        self.get_mut_functionality(alert_system).arm();
-    }
+    type Alert = Alert;
 
-    /// Disarms a specific alert system
-    ///
-    /// # Arguments
-    ///
-    /// * `alert_system` - The alert system which shall be inhibited
-    ///
-    /// # Example
-    ///
-    /// ```
-    /// # use opentaws::prelude::*;
-    /// # use taws_minimal::MinimalTaws;
-    /// # let config = TawsConfig::default();
-    /// # let mut taws = MinimalTaws::new(&config);
-    /// taws.disarm(Alert::Mode1);
-    ///
-    /// assert_eq!(taws.is_armed(Alert::Mode1), false);
-    /// ```
-    fn disarm(&mut self, alert_system: Alert) {
-        self.get_mut_functionality(alert_system).disarm()
-    }
+    type Alerts = Alerts;
 
-    /// Returns `true` if the alert system is inhibited
-    ///
-    /// # Arguments
-    ///
-    /// * `alert_system` - The alert system whiches inhibited state shall be checked
-    ///
-    /// # Example
-    ///
-    /// ```
-    /// # use opentaws::prelude::*;
-    /// # use taws_minimal::MinimalTaws;
-    /// # let config = TawsConfig::default();
-    /// # let taws = MinimalTaws::new(&config);
-    /// if taws.is_inhibited(Alert::Mode1) {
-    ///     // ...
-    /// }
-    /// ```
-    fn is_inhibited(&self, alert_system: Alert) -> bool {
-        self.get_functionality(alert_system).is_inhibited()
-    }
-
-    /// Inhibit a specific alert system
-    ///
-    /// # Arguments
-    ///
-    /// * `alert_system` - The alert system which shall be inhibited
-    ///
-    /// # Example
-    ///
-    /// ```
-    /// # use opentaws::prelude::*;
-    /// # use taws_minimal::MinimalTaws;
-    /// # let config = TawsConfig::default();
-    /// # let mut taws = MinimalTaws::new(&config);
-    /// taws.inhibit(Alert::Mode1);
-    ///
-    /// assert!(taws.is_inhibited(Alert::Mode1));
-    /// ```
-    fn inhibit(&mut self, alert_system: Alert) {
-        self.get_mut_functionality(alert_system).inhibit()
-    }
+    type Functionalities = ClassC;
 
-    /// Uninhibit a specific alert system
-    ///
-    /// # Arguments
-    ///
-    /// * `alert_system` - The alert system which shall be uninhibited
-    ///
-    /// # Example
-    ///
-    /// ```
-    /// # use opentaws::prelude::*;
-    /// # use taws_minimal::MinimalTaws;
-    /// # let config = TawsConfig::default();
-    /// # let mut taws = MinimalTaws::new(&config);
-    /// taws.uninhibit(Alert::Mode1);
-    ///
-    /// assert_eq!(taws.is_inhibited(Alert::Mode1), false);
-    /// ```
-    fn uninhibit(&mut self, alert_system: Alert) {
-        self.get_mut_functionality(alert_system).uninhibit()
+    fn functionalities(
+        &self,
+    ) -> &dyn TawsFunctionalities<AlertSource = Self::AlertSource, Alert = Self::Alert> {
+        &self.functionalities
     }
 
-    /// Process a new aircraft state
-    ///
-    /// This method must be called regularly for the TAWS to function properly!
-    /// No warnings will be emitted without calling this function.
-    ///
-    /// # Arguments
-    ///
-    /// * `alert_system` - The alert system which shall be uninhibited
-    ///
-    /// # Example
-    ///
-    /// ```
-    /// # use opentaws::prelude::*;
-    /// # use taws_minimal::MinimalTaws;
-    /// # let config = TawsConfig::default();
-    /// # let mut taws = MinimalTaws::new(&config);
-    /// let aicraft_state = AircraftState::default();
-    ///
-    /// let alert_state = taws.process(&aicraft_state);
-    /// println!("Received AlertState: {:?}", alert_state);
-    /// ```
-    fn process(&mut self, state: &AircraftState) -> AlertState<ALERT_STATE_SIZE> {
-        let mut alert_state = AlertState::default();
-
-        for (alert, alert_system) in self
-            .functionality_mut_array()
-            .iter_mut()
-            .filter(|(_, alert_system)| !alert_system.is_inhibited())
-        {
-            if let Some((alert_level, _priority)) = alert_system.process(state) {
-                alert_state.insert(*alert, alert_level);
-            }
-        }
-
-        alert_state
-    }
-}
-
-#[cfg(test)]
-mod test {
-    use super::*;
-    use aviation_database::reference::AirportDatabaseImpl;
-
-    #[test]
-    fn check_all_alert_systems() {
-        let airport_database = AirportDatabaseImpl::default();
-        let config = TawsConfig {
-            terrain_server: &airport_database,
-            max_climbrate: Velocity::new::<foot_per_minute>(700.0),
-            max_climbrate_change: Acceleration::new::<foot_per_second_squared>(100.0),
-        };
-        let taws = MinimalTaws::new(&config);
-        let _ = taws.is_armed(Alert::Ffac);
-        let _ = taws.is_armed(Alert::Flta);
-        let _ = taws.is_armed(Alert::Mode1);
-        let _ = taws.is_armed(Alert::Mode2);
-        let _ = taws.is_armed(Alert::Mode3);
-        let _ = taws.is_armed(Alert::Mode4);
-        let _ = taws.is_armed(Alert::Mode5);
-        let _ = taws.is_armed(Alert::Pda);
-    }
-
-    #[test]
-    fn check_edge_case_1() {
-        use uom::si::{
-            angle::{degree, revolution},
-            length::meter,
-            time::second,
-            velocity::meter_per_second,
-        };
-
-        let airport_database = AirportDatabaseImpl::default();
-        let config = TawsConfig {
-            terrain_server: &airport_database,
-            max_climbrate: Velocity::new::<foot_per_minute>(700.0),
-            max_climbrate_change: Acceleration::new::<foot_per_second_squared>(100.0),
-        };
-        let mut taws = MinimalTaws::new(&config);
-        //Angle::new::<revolution>(1.0)
-
-        let input = AircraftState {
-            timestamp: Time::new::<second>(-1192551353.0),
-            altitude: Length::new::<meter>(4608227.6136),
-            altitude_ground: Length::new::<meter>(45.72),
-            climb_rate: Velocity::new::<meter_per_second>(-3533302.6819200004),
-            position_lat: Angle::new::<revolution>(-24748089.039895818),
-            position_lon: Angle::new::<revolution>(-19226236.894961454),
-            speed_ground: Velocity::new::<meter_per_second>(1060688081.2833334),
-            speed_air: Velocity::new::<meter_per_second>(-87219196.62777779),
-            heading: Angle::new::<degree>(-31215539.612156395),
-            pitch: Angle::new::<revolution>(-15680644.065499812),
-            roll: Angle::new::<revolution>(10762607.494661978),
-            steep_approach: true,
-            precision_approach: false,
-            go_around: false,
-            take_off: false,
-        };
-        let output = taws.process(&input);
-
-        assert_eq!(
-            output.priority_alert(),
-            Some((Alert::Mode1, AlertLevel::Warning))
-        );
+    fn functionalities_mut(
+        &mut self,
+    ) -> &mut dyn TawsFunctionalities<AlertSource = Self::AlertSource, Alert = Self::Alert> {
+        &mut self.functionalities
     }
-    // ———— [!] Step failed: ——————————————————————————  p_tester/src/tester.rs:220:25
-    //  Aicraft state that violated the scenario: AircraftState {
-    //      timestamp: -1192551353.0 s^1,
-    //      altitude: 4608227.6136 m^1,
-    //      altitude_ground: 45.72 m^1,
-    //      climb_rate: -3533302.6819200004 m^1 s^-1,
-    //      position_lat: -24748089.039895818,
-    //      position_lon: -19226236.894961454,
-    //      speed_ground: 1060688081.2833334 m^1 s^-1,
-    //      speed_air: -87219196.62777779 m^1 s^-1,
-    //      heading: -31215539.612156395,
-    //      pitch: -15680644.065499812,
-    //      roll: 10762607.494661978,
-    //      steep_approach: true,
-    //  }
-    //  alerts emitted: AlertState {
-    //      all_alerts: [
-    //          None,
-    //          None,
-    //          None,
-    //          None,
-    //          None,
-    //          None,
-    //          None,
-    //          None,
-    //      ],
-    //  }
 }
diff --git a/taws_minimal/src/macros.rs b/taws_minimal/src/macros.rs
deleted file mode 100644
index 5b5e39a..0000000
--- a/taws_minimal/src/macros.rs
+++ /dev/null
@@ -1,36 +0,0 @@
-// Allow us to iterate over the functionalities for a lack of inline comptime loop unrolling
-macro_rules! functionalities {
-    [$( $functionality_name:tt ),+] => {
-        ///
-        fn get_functionality(&self, alert_system: Alert) -> &dyn AlertSystem<'a> {
-            match alert_system {
-            $(
-                $functionality_name => casey::lower!(&self.$functionality_name),
-            )+
-            }
-        }
-
-        fn get_mut_functionality(&mut self, alert_system: Alert) -> &mut dyn AlertSystem<'a> {
-            match alert_system {
-            $(
-                $functionality_name => casey::lower!(&mut self.$functionality_name),
-            )+
-            }
-        }
-
-        fn functionality_mut_array(&mut self)->[(Alert, &mut dyn AlertSystem<'a>); count!($($functionality_name)+)]{
-            [ $(
-                (
-                    $functionality_name,
-                    casey::lower!(&mut self.$functionality_name) as &mut dyn AlertSystem
-                ),
-            )+ ]
-        }
-    };
-}
-
-// Count stuff, for a lack of advanced const generics
-macro_rules! count {
-    () => (0usize);
-    ( $x:tt $($xs:tt)* ) => (1usize + count!($($xs)*));
-}
diff --git a/taws_minimal/tests/cucumber.rs b/taws_minimal/tests/cucumber.rs
index bc080ec..281762b 100644
--- a/taws_minimal/tests/cucumber.rs
+++ b/taws_minimal/tests/cucumber.rs
@@ -1,9 +1,10 @@
 //mod constraints;
 mod util;
 
-use cucumber::{given, then, when, WorldInit};
+use cucumber::{given, then, when, World};
 
 use opentaws::prelude::*;
+use taws_minimal::{Alert, AlertSource};
 use uom::si::f64::{Length, Velocity};
 use uom::si::{length, velocity};
 use util::aircraft_state::AircraftStateGenerator;
@@ -14,7 +15,7 @@ use util::world::MyWorld;
 use crate::util::constraints::BouncingClamp;
 
 fn main() {
-    smol::block_on(MyWorld::run("features"));
+    futures::executor::block_on(MyWorld::run("features"));
 }
 
 // TODO check for parallel testing
@@ -26,21 +27,24 @@ fn given_new_phase(world: &mut MyWorld) {
     world.next_phase();
 }
 
-#[given(expr = "the plane {maybe} flying")]
-fn given_flying(_world: &mut MyWorld, _maybe: MaybeParameter) {}
-
-#[given(expr = "{alert} {maybe} armed")]
-fn given_alert_armed(world: &mut MyWorld, alert: AlertParameter, maybe: MaybeParameter) {
-    let alert: Alert = alert.into();
-    match maybe.into() {
-        true => world.taws.arm(alert),
-        false => world.taws.disarm(alert),
+#[given(expr = "the aircraft {maybe} on a(n) {flight-segment} segment")]
+fn given_segment(world: &mut MyWorld, maybe: MaybeParameter, segment: FlightSegmentParameter) {
+    let maybe: bool = maybe.into();
+    let mut segment: FlightSegment = segment.into();
+    // use cruise as default flight segment => "not on a take-off segment" means "on a cruise segment".
+    if !maybe {
+        assert!(
+            segment != FlightSegment::Cruise,
+            "Constaint: \"the aircraft is not on a cruise segment\" is not supported."
+        );
+        segment = FlightSegment::Cruise;
     }
-}
 
+    world.phases[world.phase].add_situation_constraint(segment);
+}
 #[given(expr = "{alert} {maybe} inhibited")]
-fn given_alert_inhibited(world: &mut MyWorld, alert: AlertParameter, maybe: MaybeParameter) {
-    let alert: Alert = alert.into();
+fn given_alert_inhibited(world: &mut MyWorld, alert: AlertSourceParameter, maybe: MaybeParameter) {
+    let alert: AlertSource = alert.into();
     match maybe.into() {
         true => world.taws.inhibit(alert),
         false => world.taws.uninhibit(alert),
@@ -58,18 +62,14 @@ fn given_precision_approach_selected(world: &mut MyWorld, maybe: MaybeParameter)
     world.phases[world.phase].add_precision_approach_constraint(!maybe);
 }
 
-#[given(expr = "take-off {maybe} selected")]
-fn given_take_off(world: &mut MyWorld, maybe: MaybeParameter) {
-    world.phases[world.phase].add_take_off_constraint(maybe.into());
-}
-
-#[given(expr = "go around {maybe} selected")]
-fn given_go_around(world: &mut MyWorld, maybe: MaybeParameter) {
-    world.phases[world.phase].add_go_around_constraint(maybe.into());
+#[given(expr = "circling approach {maybe} selected")]
+fn given_circling_approach_selected(world: &mut MyWorld, maybe: MaybeParameter) {
+    let maybe: bool = maybe.into();
+    world.phases[world.phase].add_circling_approach_constraint(!maybe);
 }
 
-#[given(expr = "the height above terrain is {constraint} foot")]
-#[when(expr = "the height above terrain is {constraint} foot")]
+#[given(expr = "the height above terrain is {constraint} feet")]
+#[when(expr = "the height above terrain is {constraint} feet")]
 fn given_height_above_terrain(world: &mut MyWorld, height_above_terrain: ConstraintParameter) {
     let height_above_terrain: Constraint<f64> = height_above_terrain.into();
 
@@ -101,38 +101,23 @@ fn when_rate_of_descent(world: &mut MyWorld, rate_of_descent: ConstraintParamete
     world.phases[world.phase].add_climb_rate_constraint(climb_rate);
 }
 
-#[when(expr = "the height above terrain is {constraint} feet")]
-fn when_height_above_terrain(world: &mut MyWorld, height_above_ground: ConstraintParameter) {
-    let height_above_ground: Constraint<f64> = height_above_ground.into();
-
-    let unit = Length::new::<length::foot>(1.0);
-    let height_above_ground = match height_above_ground {
-        Constraint::AtLeast(a) => Constraint::AtLeast(a * unit),
-        Constraint::AtMost(a) => Constraint::AtMost(a * unit),
-        Constraint::Equal(a) => Constraint::Equal(a * unit),
-        Constraint::InRange(a, b) => Constraint::InRange(a * unit, b * unit),
-        Constraint::NotInRange(a, b) => Constraint::NotInRange(a * unit, b * unit),
-    };
-
-    world.phases[world.phase].add_altitude_ground_constraint(height_above_ground);
-}
-
-#[then(expr = "{alert} {maybe} be armed")]
-fn then_alert_armed(world: &mut MyWorld, alert: AlertParameter, maybe: MaybeParameter) {
-    let mut state = AircraftStateGenerator::default().next().unwrap();
+#[then(expr = "{alert} {maybe}( be) armed")]
+fn then_alert_armed(world: &mut MyWorld, alert: AlertSourceParameter, maybe: MaybeParameter) {
+    let mut state = world.next_aircraft_state();
     for phase in world.phases.iter() {
         phase.apply_to::<BouncingClamp>(&mut state);
-        let _alerts = world.taws.process(&state);
+        let _alerts = world.taws.process(&state.normalize());
+        _alerts.unwrap();
     }
 
     let is_armed = world.taws.is_armed(alert.into());
     assert_eq!(is_armed, maybe.into())
 }
 
-#[then(expr = "a {alert} {alert_level} alert {maybe} emitted {constraint} seconds")]
+#[then(expr = "a {alert} {alert_level} {maybe}( be) emitted {constraint} seconds")]
 fn then_alert_emitted_within(
     world: &mut MyWorld,
-    alert: AlertParameter,
+    alert: AlertSourceParameter,
     level: AlertLevelParameter,
     should_emit: MaybeParameter,
     _time: ConstraintParameter,
@@ -140,31 +125,30 @@ fn then_alert_emitted_within(
     then_alert_emitted(world, alert, level, should_emit)
 }
 
-#[then(expr = "a {alert} {alert_level} alert {maybe} emitted( at all)")]
+#[then(expr = "a {alert} {alert_level} {maybe}( be) emitted( at all)")]
 fn then_alert_emitted(
     world: &mut MyWorld,
-    alert: AlertParameter,
-    level: AlertLevelParameter,
+    alert_src: AlertSourceParameter,
+    min_level: AlertLevelParameter,
     should_emit: MaybeParameter,
 ) {
-    let alert: Alert = alert.into();
-    let level: AlertLevel = level.into();
+    let alert_src: AlertSource = alert_src.into();
+    let min_level: AlertLevel = min_level.into();
     let should_emit: bool = should_emit.into();
 
-    let mut aircraft_states: Vec<AircraftState> = AircraftStateGenerator::default()
-        .take(world.test_length)
-        .collect();
+    let mut aircraft_states: Vec<AircraftState> = world.next_aircraft_states(world.test_length);
 
     for state in aircraft_states.iter_mut() {
         for (i, phase) in world.phases.iter().enumerate() {
             phase.apply_to::<BouncingClamp>(state);
-            let alert_state = world.taws.process(state);
+            let alerts = world.taws.process(&state.normalize()).unwrap();
 
             if i < world.phases.len() - 1 {
                 continue;
             }
 
-            let emitted = alert_state.iter().any(|(a, l)| a == alert && l <= level);
+            let emitted = alerts.is_alert_active(alert_src, min_level);
+
             assert_eq!(emitted, should_emit);
         }
     }
diff --git a/taws_minimal/tests/util/aircraft_state.rs b/taws_minimal/tests/util/aircraft_state.rs
index e40d610..ff8e489 100644
--- a/taws_minimal/tests/util/aircraft_state.rs
+++ b/taws_minimal/tests/util/aircraft_state.rs
@@ -1,29 +1,35 @@
+use std::marker::PhantomData;
+
 use arbitrary::{Arbitrary, Unstructured};
 use opentaws::prelude::*;
 use rand::RngCore;
 
+use super::constraints::{AircraftStateConstraints, BouncingClamp};
+
 #[derive(Debug, Clone)]
 struct AircraftStateWrapper(AircraftState);
 
 impl<'a> Arbitrary<'a> for AircraftStateWrapper {
     fn arbitrary(u: &mut Unstructured<'a>) -> arbitrary::Result<Self> {
-        Ok(AircraftStateWrapper(AircraftState {
-            timestamp: Time::new::<second>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            altitude: Length::new::<foot>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            altitude_ground: Length::new::<foot>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            climb_rate: Velocity::new::<foot_per_minute>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            position_lat: Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            position_lon: Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            speed_ground: Velocity::new::<knot>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            speed_air: Velocity::new::<knot>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            heading: Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            pitch: Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            roll: Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64),
-            steep_approach: u.arbitrary()?,
-            precision_approach: u.arbitrary()?,
-            go_around: u.arbitrary()?,
-            take_off: u.arbitrary()?,
-        }))
+        let mut state = AircraftState::default();
+
+        *state.timestamp_mut() = Time::new::<time_second>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+        *state.position_latitude_mut() =
+            Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+        *state.position_longitude_mut() =
+            Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+        *state.altitude_mut() = Length::new::<foot>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+        *state.altitude_ground_mut() =
+            Length::new::<foot>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+        *state.speed_ground_mut() = Velocity::new::<knot>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+        *state.speed_air_mut() = Velocity::new::<knot>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+        *state.climb_rate_mut() =
+            Velocity::new::<foot_per_minute>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+        *state.heading_mut() = Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+        *state.track_mut() = Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+        *state.situation_mut() = Some(FlightSegment::Cruise);
+
+        Ok(AircraftStateWrapper(state))
     }
 
     fn size_hint(_depth: usize) -> (usize, Option<usize>) {
@@ -35,10 +41,11 @@ impl<'a> Arbitrary<'a> for AircraftStateWrapper {
 type Prng = rand_pcg::Mcg128Xsl64;
 pub struct AircraftStateGenerator(pub Prng);
 
+
 impl Default for AircraftStateGenerator {
-    fn default() -> Self {
-        Self(Prng::new(0xcafef00dd15ea5e5))
-    }
+	fn default() -> Self {
+		Self(Prng::new(0xcafef00dd15ea5e5))
+	}
 }
 
 impl Iterator for AircraftStateGenerator {
@@ -52,6 +59,7 @@ impl Iterator for AircraftStateGenerator {
         }
         let mut u = Unstructured::new(&buf);
 
-        Some(AircraftStateWrapper::arbitrary(&mut u).unwrap().0) // the unwrap is safe, we guarantee that enough bytes are available
+		let mut state = AircraftStateWrapper::arbitrary(&mut u).unwrap().0; // the unwrap is safe, we guarantee that enough bytes are available
+        Some(state)
     }
 }
diff --git a/taws_minimal/tests/util/constraints/aircraft_state_constraints.rs b/taws_minimal/tests/util/constraints/aircraft_state_constraints.rs
index 704a8bf..f44a7f2 100644
--- a/taws_minimal/tests/util/constraints/aircraft_state_constraints.rs
+++ b/taws_minimal/tests/util/constraints/aircraft_state_constraints.rs
@@ -10,13 +10,9 @@ pub struct AircraftStateConstraints {
     climb_rate: Option<Constraint<Velocity>>,
     speed_air: Option<Constraint<Velocity>>,
     heading: Option<Constraint<Angle>>,
-    pitch: Option<Constraint<Angle>>,
-    roll: Option<Constraint<Angle>>,
+    track: Option<Constraint<Angle>>,
 
-    steep_approach: Option<bool>,
-    precision_approach: Option<bool>,
-    go_around: Option<bool>,
-    take_off: Option<bool>,
+    situation: Option<FlightSegment>,
 }
 
 impl AircraftStateConstraints {
@@ -45,18 +41,14 @@ impl AircraftStateConstraints {
             + ConstraintEnforcer<Angle>
             + Default,
     {
-        Self::apply::<Length, TEnforcer>(&self.altitude, &mut state.altitude);
-        Self::apply::<Length, TEnforcer>(&self.altitude_ground, &mut state.altitude_ground);
-        Self::apply::<Velocity, TEnforcer>(&self.climb_rate, &mut state.climb_rate);
-        Self::apply::<Velocity, TEnforcer>(&self.speed_air, &mut state.speed_air);
-        Self::apply::<Angle, TEnforcer>(&self.heading, &mut state.heading);
-        Self::apply::<Angle, TEnforcer>(&self.pitch, &mut state.pitch);
-        Self::apply::<Angle, TEnforcer>(&self.roll, &mut state.roll);
-
-        state.steep_approach = self.steep_approach.unwrap_or(state.steep_approach);
-        state.precision_approach = self.precision_approach.unwrap_or(state.precision_approach);
-        state.go_around = self.go_around.unwrap_or(state.go_around);
-        state.take_off = self.take_off.unwrap_or(state.take_off);
+        Self::apply::<Length, TEnforcer>(&self.altitude, state.altitude_mut());
+        Self::apply::<Length, TEnforcer>(&self.altitude_ground, state.altitude_ground_mut());
+        Self::apply::<Velocity, TEnforcer>(&self.climb_rate, state.climb_rate_mut());
+        Self::apply::<Velocity, TEnforcer>(&self.speed_air, state.speed_air_mut());
+        Self::apply::<Angle, TEnforcer>(&self.heading, state.heading_mut());
+        Self::apply::<Angle, TEnforcer>(&self.track, state.track_mut());
+
+        *state.situation_mut() = self.situation.or(*state.situation());
     }
 
     pub fn add_altitude_constraint(&mut self, c: Constraint<Length>) {
@@ -94,33 +86,25 @@ impl AircraftStateConstraints {
         }
     }
 
-    pub fn add_pitch_constraint(&mut self, c: Constraint<Angle>) {
-        self.pitch = match &self.pitch {
-            Some(pitch) => Some(pitch.merge(&c).unwrap()),
-            None => Some(c),
-        }
-    }
-
-    pub fn add_roll_constraint(&mut self, c: Constraint<Angle>) {
-        self.roll = match &self.roll {
-            Some(roll) => Some(roll.merge(&c).unwrap()),
-            None => Some(c),
-        }
-    }
-
-    pub fn add_steep_approach_constraint(&mut self, c: bool) {
-        self.steep_approach = Some(c);
-    }
-
-    pub fn add_precision_approach_constraint(&mut self, c: bool) {
-        self.precision_approach = Some(c);
+    pub fn add_situation_constraint(&mut self, situation: FlightSegment) {
+        self.situation = Some(situation);
     }
 
-    pub fn add_go_around_constraint(&mut self, c: bool) {
-        self.go_around = Some(c);
-    }
-
-    pub fn add_take_off_constraint(&mut self, c: bool) {
-        self.take_off = Some(c);
-    }
+	pub fn add_steep_approach_constraint(&mut self, is_steep: bool) {
+		if let Some(FlightSegment::Landing { ref mut steep_approach, .. }) = self.situation {
+			*steep_approach = is_steep;
+		}
+	}
+
+	pub fn add_precision_approach_constraint(&mut self, is_precision: bool) {
+		if let Some(FlightSegment::Landing { ref mut precision_approach, .. }) = self.situation {
+			*precision_approach = is_precision;
+		}
+	}
+
+	pub fn add_circling_approach_constraint(&mut self, is_circling: bool) {
+		if let Some(FlightSegment::Landing { ref mut circling_approach, .. }) = self.situation {
+			*circling_approach = is_circling;
+		}
+	}
 }
diff --git a/taws_minimal/tests/util/constraints/airport_database.rs b/taws_minimal/tests/util/constraints/airport_database.rs
deleted file mode 100644
index 14faee0..0000000
--- a/taws_minimal/tests/util/constraints/airport_database.rs
+++ /dev/null
@@ -1,8 +0,0 @@
-use aviation_database::{AirportDatabase, Runway};
-
-#[derive(Debug, Default)]
-pub struct ConstraintAirportDatabase;
-
-impl AirportDatabase for ConstraintAirportDatabase {
-    type RunwayIterator = core::iter::Empty<Runway>;
-}
diff --git a/taws_minimal/tests/util/constraints/mod.rs b/taws_minimal/tests/util/constraints/mod.rs
index 0f87fe7..2f388d4 100644
--- a/taws_minimal/tests/util/constraints/mod.rs
+++ b/taws_minimal/tests/util/constraints/mod.rs
@@ -1,9 +1,7 @@
 mod aircraft_state_constraints;
-mod airport_database;
 mod constraint;
 mod constraint_enforcement;
 
 pub use aircraft_state_constraints::*;
-pub use airport_database::*;
 pub use constraint::*;
 pub use constraint_enforcement::*;
diff --git a/taws_minimal/tests/util/parameters.rs b/taws_minimal/tests/util/parameters.rs
index 2db10e8..0a969fa 100644
--- a/taws_minimal/tests/util/parameters.rs
+++ b/taws_minimal/tests/util/parameters.rs
@@ -1,10 +1,12 @@
 use std::str::FromStr;
 
-use cucumber::Parameter;
+use cucumber::{Parameter};
 use lazy_static::lazy_static;
-use opentaws::{Alert, AlertLevel};
 use regex::Regex;
 
+use opentaws::prelude::*;
+use taws_minimal::AlertSource;
+
 use super::constraints::Constraint;
 
 pub struct MaybeParameter(bool);
@@ -34,35 +36,32 @@ impl Parameter for MaybeParameter {
     const REGEX: &'static str = r"(?:is|should|shall)\s*(?:not)?";
 }
 
-pub struct AlertParameter(Alert);
+pub struct AlertSourceParameter(AlertSource);
 
-impl FromStr for AlertParameter {
+impl FromStr for AlertSourceParameter {
     type Err = String;
 
     fn from_str(s: &str) -> Result<Self, Self::Err> {
         let mut alert = s.trim().to_lowercase();
         alert.retain(|c| !c.is_whitespace());
         match alert.as_str() {
-            "ffac" => Ok(Self(Alert::Ffac)),
-            "flta" => Ok(Self(Alert::Flta)),
-            "mode1" => Ok(Self(Alert::Mode1)),
-            "mode2" => Ok(Self(Alert::Mode2)),
-            "mode3" => Ok(Self(Alert::Mode3)),
-            "mode4" => Ok(Self(Alert::Mode4)),
-            "mode5" => Ok(Self(Alert::Mode5)),
-            "pda" => Ok(Self(Alert::Pda)),
+            "ffac" => Ok(Self(AlertSource::Ffac)),
+            //"flta" => Ok(Self(Alert::Flta)),
+            "mode1" => Ok(Self(AlertSource::Mode1)),
+            "mode3" => Ok(Self(AlertSource::Mode3)),
+            "pda" => Ok(Self(AlertSource::Pda)),
             _ => Err(format!("unknown alert: {s}")),
         }
     }
 }
 
-impl From<AlertParameter> for Alert {
-    fn from(alert_param: AlertParameter) -> Self {
+impl From<AlertSourceParameter> for AlertSource {
+    fn from(alert_param: AlertSourceParameter) -> Self {
         alert_param.0
     }
 }
 
-impl Parameter for AlertParameter {
+impl Parameter for AlertSourceParameter {
     const NAME: &'static str = "alert";
     const REGEX: &'static str = r"(?:[a-zA-Z]+\s*[0-9]*)";
 }
@@ -102,7 +101,7 @@ impl FromStr for ConstraintParameter {
 
     fn from_str(s: &str) -> Result<Self, Self::Err> {
         const PATTERN: &str = concat!(
-            r"(?P<type>at least|at most|within|between|not between)",
+            r"(?P<type>equal|at least|at most|within|between|not between)",
             r"\s*(?P<q1>[+-]?(?:[0-9]*[.])?[0-9]+)",
             r"(?:\s*and\s*(?P<q2>[+-]?(?:[0-9]*[.])?[0-9]+))?"
         );
@@ -126,6 +125,10 @@ impl FromStr for ConstraintParameter {
             .map_err(|_| "invalid quantity format")?;
 
         match typ {
+			"equal" => match q2 {
+				Some(_) => Err(format!("unexpected: {}", s)),
+				None => Ok(Self(Constraint::Equal(q1)))
+			},
             "at least" => match q2 {
                 Some(_) => Err(format!("unexpected: {}", s)),
                 None => Ok(Self(Constraint::AtLeast(q1))),
@@ -159,8 +162,38 @@ impl Parameter for ConstraintParameter {
     const NAME: &'static str = "constraint";
 
     const REGEX: &'static str = concat!(
-        r"(?:at least|at most|within|between|not between)\s*",
+        r"(?:equal|at least|at most|within|between|not between)\s*",
         r"[+-]?(?:[0-9]*[.])?[0-9]+",
         r"(?:\s*and\s*[+-]?(?:[0-9]*[.])?[0-9]+)?"
     );
 }
+
+pub struct FlightSegmentParameter(FlightSegment);
+
+impl From<FlightSegmentParameter> for FlightSegment {
+    fn from(segment: FlightSegmentParameter) -> Self {
+		segment.0
+    }
+}
+
+impl FromStr for FlightSegmentParameter {
+    type Err = String;
+
+    fn from_str(s: &str) -> Result<Self, Self::Err> {
+		let mut segment = s.trim().to_lowercase();
+        segment.retain(|c| !c.is_whitespace());
+        match segment.as_str() {
+			"cruise" => Ok(Self(FlightSegment::Cruise)),
+			"take-off" => Ok(Self(FlightSegment::TakeOff)),
+			"approach" | "landing" => Ok(Self(FlightSegment::Landing { circling_approach: false, precision_approach: false, steep_approach: false })),
+			"go-around" => Ok(Self(FlightSegment::GoAround)),
+			_ => Err(format!("invalid flight segment: {}", s)),
+		}
+    }
+}
+
+impl Parameter for FlightSegmentParameter {
+	const NAME: &'static str = "flight-segment";
+
+    const REGEX: &'static str = r"(?:cruise|take-off|landing|go-around|approach)";
+}
diff --git a/taws_minimal/tests/util/world.rs b/taws_minimal/tests/util/world.rs
index 85545e6..092c5f0 100644
--- a/taws_minimal/tests/util/world.rs
+++ b/taws_minimal/tests/util/world.rs
@@ -1,41 +1,44 @@
-use std::convert::Infallible;
-
-use async_trait::async_trait;
-use cucumber::WorldInit;
+use cucumber::World;
 use opentaws::prelude::*;
 use taws_minimal::MinimalTaws;
 
-use super::constraints::{AircraftStateConstraints, ConstraintAirportDatabase};
-
-static AIRPORT_DATABASE: ConstraintAirportDatabase = ConstraintAirportDatabase {};
-
-lazy_static::lazy_static! {
-    static ref TAWS_CONFIG: TawsConfig<'static> = TawsConfig{
-            terrain_server: &AIRPORT_DATABASE,
-            max_climbrate: Velocity::new::<foot_per_minute>(700.0),
-            max_climbrate_change: Acceleration::new::<foot_per_second_squared>(100.0),
-    };
-}
+use super::{aircraft_state::AircraftStateGenerator, constraints::AircraftStateConstraints};
 
-#[derive(WorldInit)]
+#[derive(World)]
 pub struct MyWorld {
-    pub taws: MinimalTaws<'static>,
+    pub taws: MinimalTaws,
     pub phases: Vec<AircraftStateConstraints>,
     pub test_length: usize,
     pub phase: usize,
+
+	pub taws_constraints: AircraftStateConstraints,
+    pub state_gen: AircraftStateGenerator,
 }
 
-#[async_trait(?Send)]
-impl cucumber::World for MyWorld {
-    type Error = Infallible;
+impl Default for MyWorld {
+    fn default() -> Self {
+        let mut taws_constraints = AircraftStateConstraints::default();
+
+        let max_altitude_gnd = Length::new::<foot>(330_000.0);
+        taws_constraints.add_altitude_ground_constraint(super::constraints::Constraint::InRange(
+            Length::new::<foot>(0.0),
+            max_altitude_gnd,
+        ));
 
-    async fn new() -> Result<Self, Infallible> {
-        Ok(Self {
-            taws: MinimalTaws::new(&TAWS_CONFIG),
-            phases: vec![AircraftStateConstraints::default()],
-            test_length: 10,
+        let min_max_climb_rate = Velocity::new::<foot_per_minute>(680_000.0);
+        taws_constraints.add_climb_rate_constraint(super::constraints::Constraint::InRange(
+            -min_max_climb_rate,
+            min_max_climb_rate,
+        ));
+
+       Self {
+            taws: MinimalTaws::new(),
+            phases: vec![taws_constraints.clone()],
+            test_length: 100,
             phase: 0,
-        })
+			taws_constraints: taws_constraints.clone(),
+            state_gen: AircraftStateGenerator::default(),
+        }
     }
 }
 
@@ -47,9 +50,15 @@ impl std::fmt::Debug for MyWorld {
 
 impl MyWorld {
     pub fn next_phase(&mut self) {
-        self.phases.push(AircraftStateConstraints::default());
+        self.phases.push(self.taws_constraints.clone());
         self.phase += 1;
     }
-}
 
-impl std::panic::UnwindSafe for MyWorld {} // This is a lie, but what they gonna do, panic?
+    pub fn next_aircraft_state(&mut self) -> AircraftState {
+        self.state_gen.next().unwrap()
+    }
+
+    pub fn next_aircraft_states(&mut self, n: usize) -> Vec<AircraftState> {
+        (0..n).map(|_| self.next_aircraft_state()).collect()
+    }
+}

From 35fe6fe3ba10a8e59b2c93b743e8568c00ae2a02 Mon Sep 17 00:00:00 2001
From: Moritz Meier <mam14@tu-clausthal.de>
Date: Tue, 1 Nov 2022 15:07:08 +0100
Subject: [PATCH 50/73] wip

---
 rust-toolchain.toml | 3 ---
 1 file changed, 3 deletions(-)
 delete mode 100644 rust-toolchain.toml

diff --git a/rust-toolchain.toml b/rust-toolchain.toml
deleted file mode 100644
index 2f47d05..0000000
--- a/rust-toolchain.toml
+++ /dev/null
@@ -1,3 +0,0 @@
-[toolchain]
-channel = "stable-x86_64-pc-windows-msvc"
-#channel = "nightly-x86_64-pc-windows-msvc"

From 9d6ffc2587041a90098fe35faf8f0ed6d6c7442b Mon Sep 17 00:00:00 2001
From: Moritz Meier <moritz.meier@dlr.de>
Date: Mon, 15 May 2023 15:42:41 +0200
Subject: [PATCH 51/73] fix

---
 Cargo.lock                                    | 1453 +++++------------
 Cargo.toml                                    |   13 +-
 aviation_database/Cargo.lock                  |  247 ---
 aviation_database/Cargo.toml                  |   26 -
 aviation_database/README.md                   |    7 -
 aviation_database/build.rs                    |  152 --
 aviation_database/src/consts.rs               |    5 -
 aviation_database/src/lib.rs                  |  216 ---
 aviation_database/src/reference.rs            |    8 -
 kd_tree/Cargo.toml                            |   12 -
 kd_tree/README.md                             |    8 -
 kd_tree/src/lib.rs                            |  252 ---
 kd_tree_sort/Cargo.toml                       |   23 -
 kd_tree_sort/README.md                        |   19 -
 kd_tree_sort/benches/search.rs                |   65 -
 kd_tree_sort/fuzz/.gitignore                  |    3 -
 kd_tree_sort/fuzz/Cargo.lock                  |  303 ----
 kd_tree_sort/fuzz/Cargo.toml                  |   28 -
 .../fuzz/fuzz_targets/kd_tree_search.rs       |   55 -
 kd_tree_sort/src/lib.rs                       |  205 ---
 opentaws/Cargo.toml                           |   18 +-
 opentaws/src/aircraft_state.rs                |   60 +-
 opentaws/src/alerts.rs                        |    6 +-
 opentaws/src/class_c.rs                       |    9 +-
 opentaws/src/class_c/ffac.rs                  |   10 +-
 opentaws/src/class_c/mode1.rs                 |    9 +-
 opentaws/src/class_c/mode3.rs                 |   19 +-
 opentaws/src/class_c/pda.rs                   |    7 +-
 opentaws/src/lib.rs                           |    5 +-
 opentaws/src/prelude.rs                       |   19 +-
 taws_minimal/Cargo.toml                       |   48 +-
 taws_minimal/src/lib.rs                       |    6 +
 taws_minimal/tests/cucumber.rs                |    6 +-
 taws_minimal/tests/util/aircraft_state.rs     |   37 +-
 .../constraints/aircraft_state_constraints.rs |   43 +-
 taws_minimal/tests/util/world.rs              |   12 +-
 36 files changed, 546 insertions(+), 2868 deletions(-)
 delete mode 100644 aviation_database/Cargo.lock
 delete mode 100644 aviation_database/Cargo.toml
 delete mode 100644 aviation_database/README.md
 delete mode 100644 aviation_database/build.rs
 delete mode 100644 aviation_database/src/consts.rs
 delete mode 100644 aviation_database/src/lib.rs
 delete mode 100644 aviation_database/src/reference.rs
 delete mode 100644 kd_tree/Cargo.toml
 delete mode 100644 kd_tree/README.md
 delete mode 100644 kd_tree/src/lib.rs
 delete mode 100644 kd_tree_sort/Cargo.toml
 delete mode 100644 kd_tree_sort/README.md
 delete mode 100644 kd_tree_sort/benches/search.rs
 delete mode 100644 kd_tree_sort/fuzz/.gitignore
 delete mode 100644 kd_tree_sort/fuzz/Cargo.lock
 delete mode 100644 kd_tree_sort/fuzz/Cargo.toml
 delete mode 100644 kd_tree_sort/fuzz/fuzz_targets/kd_tree_search.rs
 delete mode 100644 kd_tree_sort/src/lib.rs

diff --git a/Cargo.lock b/Cargo.lock
index 6b9e2ba..d28399a 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2,12 +2,6 @@
 # It is not intended for manual editing.
 version = 3
 
-[[package]]
-name = "adler"
-version = "1.0.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
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+ "libc",
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+ "clap_builder",
+ "clap_derive",
+ "once_cell",
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+ "anstream",
+ "anstyle",
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- "termcolor",
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+checksum = "8a2dd5a6fe8c6e3502f568a6353e5273bbb15193ad9a89e457b9970798efbea1"
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+ "windows-sys 0.42.0",
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+checksum = "dd4056f63fce3b82d852c3da92b08ea59959890813a7f4ce9c0ff85b10cf301b"
 dependencies = [
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+ "syn 2.0.16",
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 [[package]]
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 dependencies = [
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  "async-trait",
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- "clap 4.0.18",
+ "clap",
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  "cucumber-expressions",
@@ -449,13 +285,14 @@ dependencies = [
  "once_cell",
  "regex",
  "sealed 0.4.0",
+ "smart-default",
 ]
 
 [[package]]
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 dependencies = [
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@@ -463,7 +300,7 @@ dependencies = [
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+ "syn 1.0.109",
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@@ -478,18 +315,18 @@ dependencies = [
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+ "regex-syntax 0.6.29",
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 [[package]]
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+ "syn 1.0.109",
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 [[package]]
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 [[package]]
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-version = "0.1.2"
+version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ca9f76bdd86dfc8d64eecb0484d02ad4cf0e6767d4682f686d1b0580b6c27f82"
+checksum = "669a445ee724c5c69b1b06fe0b63e70a1c84bc9bb7d9696cd4f4e3ec45050408"
 
 [[package]]
 name = "either"
-version = "1.7.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f107b87b6afc2a64fd13cac55fe06d6c8859f12d4b14cbcdd2c67d0976781be"
-
-[[package]]
-name = "embedded-hal"
-version = "0.2.7"
+version = "1.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "35949884794ad573cf46071e41c9b60efb0cb311e3ca01f7af807af1debc66ff"
-dependencies = [
- "nb 0.1.3",
- "void",
-]
+checksum = "7fcaabb2fef8c910e7f4c7ce9f67a1283a1715879a7c230ca9d6d1ae31f16d91"
 
 [[package]]
 name = "encode_unicode"
@@ -533,13 +360,13 @@ checksum = "a357d28ed41a50f9c765dbfe56cbc04a64e53e5fc58ba79fbc34c10ef3df831f"
 
 [[package]]
 name = "errno"
-version = "0.2.8"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f639046355ee4f37944e44f60642c6f3a7efa3cf6b78c78a0d989a8ce6c396a1"
+checksum = "4bcfec3a70f97c962c307b2d2c56e358cf1d00b558d74262b5f929ee8cc7e73a"
 dependencies = [
  "errno-dragonfly",
  "libc",
- "winapi",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -552,37 +379,17 @@ dependencies = [
  "libc",
 ]
 
-[[package]]
-name = "flate2"
-version = "1.0.24"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f82b0f4c27ad9f8bfd1f3208d882da2b09c301bc1c828fd3a00d0216d2fbbff6"
-dependencies = [
- "crc32fast",
- "miniz_oxide",
-]
-
 [[package]]
 name = "fnv"
 version = "1.0.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
-[[package]]
-name = "form_urlencoded"
-version = "1.0.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5fc25a87fa4fd2094bffb06925852034d90a17f0d1e05197d4956d3555752191"
-dependencies = [
- "matches",
- "percent-encoding",
-]
-
 [[package]]
 name = "futures"
-version = "0.3.25"
+version = "0.3.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38390104763dc37a5145a53c29c63c1290b5d316d6086ec32c293f6736051bb0"
+checksum = "23342abe12aba583913b2e62f22225ff9c950774065e4bfb61a19cd9770fec40"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -595,9 +402,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.25"
+version = "0.3.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "52ba265a92256105f45b719605a571ffe2d1f0fea3807304b522c1d778f79eed"
+checksum = "955518d47e09b25bbebc7a18df10b81f0c766eaf4c4f1cccef2fca5f2a4fb5f2"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -605,15 +412,15 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.25"
+version = "0.3.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "04909a7a7e4633ae6c4a9ab280aeb86da1236243a77b694a49eacd659a4bd3ac"
+checksum = "4bca583b7e26f571124fe5b7561d49cb2868d79116cfa0eefce955557c6fee8c"
 
 [[package]]
 name = "futures-executor"
-version = "0.3.25"
+version = "0.3.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7acc85df6714c176ab5edf386123fafe217be88c0840ec11f199441134a074e2"
+checksum = "ccecee823288125bd88b4d7f565c9e58e41858e47ab72e8ea2d64e93624386e0"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -622,38 +429,38 @@ dependencies = [
 
 [[package]]
 name = "futures-io"
-version = "0.3.25"
+version = "0.3.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "00f5fb52a06bdcadeb54e8d3671f8888a39697dcb0b81b23b55174030427f4eb"
+checksum = "4fff74096e71ed47f8e023204cfd0aa1289cd54ae5430a9523be060cdb849964"
 
 [[package]]
 name = "futures-macro"
-version = "0.3.25"
+version = "0.3.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bdfb8ce053d86b91919aad980c220b1fb8401a9394410e1c289ed7e66b61835d"
+checksum = "89ca545a94061b6365f2c7355b4b32bd20df3ff95f02da9329b34ccc3bd6ee72"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.16",
 ]
 
 [[package]]
 name = "futures-sink"
-version = "0.3.25"
+version = "0.3.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "39c15cf1a4aa79df40f1bb462fb39676d0ad9e366c2a33b590d7c66f4f81fcf9"
+checksum = "f43be4fe21a13b9781a69afa4985b0f6ee0e1afab2c6f454a8cf30e2b2237b6e"
 
 [[package]]
 name = "futures-task"
-version = "0.3.25"
+version = "0.3.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2ffb393ac5d9a6eaa9d3fdf37ae2776656b706e200c8e16b1bdb227f5198e6ea"
+checksum = "76d3d132be6c0e6aa1534069c705a74a5997a356c0dc2f86a47765e5617c5b65"
 
 [[package]]
 name = "futures-util"
-version = "0.3.25"
+version = "0.3.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "197676987abd2f9cadff84926f410af1c183608d36641465df73ae8211dc65d6"
+checksum = "26b01e40b772d54cf6c6d721c1d1abd0647a0106a12ecaa1c186273392a69533"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -669,9 +476,9 @@ dependencies = [
 
 [[package]]
 name = "getrandom"
-version = "0.2.8"
+version = "0.2.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c05aeb6a22b8f62540c194aac980f2115af067bfe15a0734d7277a768d396b31"
+checksum = "c85e1d9ab2eadba7e5040d4e09cbd6d072b76a557ad64e797c2cb9d4da21d7e4"
 dependencies = [
  "cfg-if",
  "libc",
@@ -684,35 +491,35 @@ version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9e8f8f49b2b547ec22cc4d99f3bf30d4889ef0dbaa231c0736eeaf20efb5a38e"
 dependencies = [
- "heck 0.4.0",
+ "heck 0.4.1",
  "peg",
  "quote",
  "serde",
  "serde_json",
- "syn",
- "textwrap 0.16.0",
+ "syn 1.0.109",
+ "textwrap",
  "thiserror",
  "typed-builder",
 ]
 
 [[package]]
 name = "ghost"
-version = "0.1.6"
+version = "0.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eb19fe8de3ea0920d282f7b77dd4227aea6b8b999b42cdf0ca41b2472b14443a"
+checksum = "e77ac7b51b8e6313251737fcef4b1c01a2ea102bde68415b62c0ee9268fec357"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.16",
 ]
 
 [[package]]
 name = "globset"
-version = "0.4.9"
+version = "0.4.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0a1e17342619edbc21a964c2afbeb6c820c6a2560032872f397bb97ea127bd0a"
+checksum = "029d74589adefde59de1a0c4f4732695c32805624aec7b68d91503d4dba79afc"
 dependencies = [
- "aho-corasick",
+ "aho-corasick 0.7.20",
  "bstr",
  "fnv",
  "log",
@@ -730,12 +537,6 @@ dependencies = [
  "walkdir",
 ]
 
-[[package]]
-name = "half"
-version = "1.8.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eabb4a44450da02c90444cf74558da904edde8fb4e9035a9a6a4e15445af0bd7"
-
 [[package]]
 name = "hash32"
 version = "0.2.1"
@@ -762,8 +563,8 @@ checksum = "db04bc24a18b9ea980628ecf00e6c0264f3c1426dac36c00cb49b6fbad8b0743"
 dependencies = [
  "atomic-polyfill",
  "hash32",
- "rustc_version 0.4.0",
- "spin 0.9.4",
+ "rustc_version",
+ "spin 0.9.8",
  "stable_deref_trait",
 ]
 
@@ -778,9 +579,9 @@ dependencies = [
 
 [[package]]
 name = "heck"
-version = "0.4.0"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2540771e65fc8cb83cd6e8a237f70c319bd5c29f78ed1084ba5d50eeac86f7f9"
+checksum = "95505c38b4572b2d910cecb0281560f54b440a19336cbbcb27bf6ce6adc6f5a8"
 
 [[package]]
 name = "hermit-abi"
@@ -792,29 +593,23 @@ dependencies = [
 ]
 
 [[package]]
-name = "humantime"
-version = "2.1.0"
+name = "hermit-abi"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9a3a5bfb195931eeb336b2a7b4d761daec841b97f947d34394601737a7bba5e4"
+checksum = "fed44880c466736ef9a5c5b5facefb5ed0785676d0c02d612db14e54f0d84286"
 
 [[package]]
-name = "idna"
-version = "0.2.3"
+name = "humantime"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "418a0a6fab821475f634efe3ccc45c013f742efe03d853e8d3355d5cb850ecf8"
-dependencies = [
- "matches",
- "unicode-bidi",
- "unicode-normalization",
-]
+checksum = "9a3a5bfb195931eeb336b2a7b4d761daec841b97f947d34394601737a7bba5e4"
 
 [[package]]
 name = "ignore"
-version = "0.4.18"
+version = "0.4.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "713f1b139373f96a2e0ce3ac931cd01ee973c3c5dd7c40c0c2efe96ad2b6751d"
+checksum = "dbe7873dab538a9a44ad79ede1faf5f30d49f9a5c883ddbab48bce81b64b7492"
 dependencies = [
- "crossbeam-utils",
  "globset",
  "lazy_static",
  "log",
@@ -834,9 +629,9 @@ checksum = "a257582fdcde896fd96463bf2d40eefea0580021c0712a0e2b028b60b47a837a"
 
 [[package]]
 name = "inventory"
-version = "0.3.2"
+version = "0.3.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e21e0a36a4dc4b469422ee17f715e8313f4a637675656d6a13637954278c6f55"
+checksum = "7741301a6d6a9b28ce77c0fb77a4eb116b6bc8f3bef09923f7743d059c4157d3"
 dependencies = [
  "ctor",
  "ghost",
@@ -844,9 +639,26 @@ dependencies = [
 
 [[package]]
 name = "io-lifetimes"
-version = "0.7.4"
+version = "1.0.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9c66c74d2ae7e79a5a8f7ac924adbe38ee42a859c6539ad869eb51f0b52dc220"
+dependencies = [
+ "hermit-abi 0.3.1",
+ "libc",
+ "windows-sys 0.48.0",
+]
+
+[[package]]
+name = "is-terminal"
+version = "0.4.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e6e481ccbe3dea62107216d0d1138bb8ad8e5e5c43009a098bd1990272c497b0"
+checksum = "adcf93614601c8129ddf72e2d5633df827ba6551541c6d8c59520a371475be1f"
+dependencies = [
+ "hermit-abi 0.3.1",
+ "io-lifetimes",
+ "rustix",
+ "windows-sys 0.48.0",
+]
 
 [[package]]
 name = "itertools"
@@ -859,64 +671,30 @@ dependencies = [
 
 [[package]]
 name = "itoa"
-version = "0.4.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b71991ff56294aa922b450139ee08b3bfc70982c6b2c7562771375cf73542dd4"
-
-[[package]]
-name = "itoa"
-version = "1.0.3"
+version = "1.0.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6c8af84674fe1f223a982c933a0ee1086ac4d4052aa0fb8060c12c6ad838e754"
+checksum = "453ad9f582a441959e5f0d088b02ce04cfe8d51a8eaf077f12ac6d3e94164ca6"
 
 [[package]]
-name = "js-sys"
-version = "0.3.59"
+name = "lazy_static"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "258451ab10b34f8af53416d1fdab72c22e805f0c92a1136d59470ec0b11138b2"
+checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
 dependencies = [
- "wasm-bindgen",
+ "spin 0.5.2",
 ]
 
 [[package]]
-name = "kd_tree"
-version = "0.1.0"
-dependencies = [
- "num",
-]
-
-[[package]]
-name = "kd_tree_sort"
-version = "0.1.0"
-dependencies = [
- "criterion",
- "itertools",
- "kd_tree",
- "rand",
- "rand_pcg",
- "rayon",
-]
-
-[[package]]
-name = "lazy_static"
-version = "1.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
-dependencies = [
- "spin 0.5.2",
-]
-
-[[package]]
-name = "libc"
-version = "0.2.132"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8371e4e5341c3a96db127eb2465ac681ced4c433e01dd0e938adbef26ba93ba5"
+name = "libc"
+version = "0.2.144"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2b00cc1c228a6782d0f076e7b232802e0c5689d41bb5df366f2a6b6621cfdfe1"
 
 [[package]]
 name = "libm"
-version = "0.2.5"
+version = "0.2.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "292a948cd991e376cf75541fe5b97a1081d713c618b4f1b9500f8844e49eb565"
+checksum = "348108ab3fba42ec82ff6e9564fc4ca0247bdccdc68dd8af9764bbc79c3c8ffb"
 
 [[package]]
 name = "linked-hash-map"
@@ -926,9 +704,9 @@ checksum = "0717cef1bc8b636c6e1c1bbdefc09e6322da8a9321966e8928ef80d20f7f770f"
 
 [[package]]
 name = "linux-raw-sys"
-version = "0.0.46"
+version = "0.3.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d4d2456c373231a208ad294c33dc5bff30051eafd954cd4caae83a712b12854d"
+checksum = "ece97ea872ece730aed82664c424eb4c8291e1ff2480247ccf7409044bc6479f"
 
 [[package]]
 name = "lock_api"
@@ -949,60 +727,25 @@ dependencies = [
  "cfg-if",
 ]
 
-[[package]]
-name = "matches"
-version = "0.1.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a3e378b66a060d48947b590737b30a1be76706c8dd7b8ba0f2fe3989c68a853f"
-
-[[package]]
-name = "matrixmultiply"
-version = "0.3.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "add85d4dd35074e6fedc608f8c8f513a3548619a9024b751949ef0e8e45a4d84"
-dependencies = [
- "rawpointer",
-]
-
 [[package]]
 name = "memchr"
 version = "2.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2dffe52ecf27772e601905b7522cb4ef790d2cc203488bbd0e2fe85fcb74566d"
 
-[[package]]
-name = "memoffset"
-version = "0.6.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5aa361d4faea93603064a027415f07bd8e1d5c88c9fbf68bf56a285428fd79ce"
-dependencies = [
- "autocfg",
-]
-
 [[package]]
 name = "minimal-lexical"
 version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
 
-[[package]]
-name = "miniz_oxide"
-version = "0.5.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6f5c75688da582b8ffc1f1799e9db273f32133c49e048f614d22ec3256773ccc"
-dependencies = [
- "adler",
-]
-
 [[package]]
 name = "nalgebra"
-version = "0.31.1"
+version = "0.32.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e9e0a04ce089f9401aac565c740ed30c46291260f27d4911fdbaa6ca65fa3044"
+checksum = "d68d47bba83f9e2006d117a9a33af1524e655516b8919caac694427a6fb1e511"
 dependencies = [
  "approx",
- "matrixmultiply",
- "nalgebra-macros",
  "num-complex",
  "num-rational",
  "num-traits",
@@ -1010,37 +753,11 @@ dependencies = [
  "typenum",
 ]
 
-[[package]]
-name = "nalgebra-macros"
-version = "0.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "01fcc0b8149b4632adc89ac3b7b31a12fb6099a0317a4eb2ebff574ef7de7218"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn",
-]
-
-[[package]]
-name = "nb"
-version = "0.1.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "801d31da0513b6ec5214e9bf433a77966320625a37860f910be265be6e18d06f"
-dependencies = [
- "nb 1.0.0",
-]
-
-[[package]]
-name = "nb"
-version = "1.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "546c37ac5d9e56f55e73b677106873d9d9f5190605e41a856503623648488cae"
-
 [[package]]
 name = "nom"
-version = "7.1.1"
+version = "7.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a8903e5a29a317527874d0402f867152a3d21c908bb0b933e416c65e301d4c36"
+checksum = "d273983c5a657a70a3e8f2a01329822f3b8c8172b73826411a55751e404a0a4a"
 dependencies = [
  "memchr",
  "minimal-lexical",
@@ -1048,33 +765,20 @@ dependencies = [
 
 [[package]]
 name = "nom_locate"
-version = "4.0.0"
+version = "4.1.0"
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-checksum = "37794436ca3029a3089e0b95d42da1f0b565ad271e4d3bb4bad0c7bb70b10605"
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- "num-iter",
- "num-rational",
- "num-traits",
-]
-
 [[package]]
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+checksum = "02e0d21255c828d6f128a1e41534206671e8c3ea0c62f32291e808dc82cff17d"
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@@ -1089,17 +793,6 @@ dependencies = [
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@@ -1121,63 +814,28 @@ dependencies = [
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- "libc",
-]
-
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+checksum = "9f746c4065a8fa3fe23974dd82f15431cc8d40779821001404d10d2e79ca7d79"
 
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@@ -1206,12 +864,6 @@ version = "0.6.3"
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-
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@@ -1224,78 +876,26 @@ version = "0.1.0"
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-
 [[package]]
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+checksum = "5b40af805b3121feab8a3c29f04d8ad262fa8e0561883e7653e024ae4479e6de"
 
 [[package]]
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@@ -1339,112 +939,28 @@ dependencies = [
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-dependencies = [
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- "regex",
-]
-
-[[package]]
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+name = "regex-syntax"
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+checksum = "a5996294f19bd3aae0453a862ad728f60e6600695733dd5df01da90c54363a3c"
 
 [[package]]
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 checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
 dependencies = [
- "semver 1.0.14",
+ "semver",
 ]
 
 [[package]]
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-dependencies = [
- "log",
- "ring",
- "sct",
- "webpki",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
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-
-[[package]]
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-dependencies = [
- "bytemuck",
-]
+checksum = "f91339c0467de62360649f8d3e185ca8de4224ff281f66000de5eb2a77a79041"
 
 [[package]]
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@@ -1511,16 +1006,6 @@ version = "1.1.0"
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 checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
 
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-dependencies = [
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-
 [[package]]
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@@ -1530,7 +1015,7 @@ dependencies = [
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- "syn",
+ "syn 1.0.109",
 ]
 
 [[package]]
@@ -1542,102 +1027,78 @@ dependencies = [
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- "syn",
+ "syn 1.0.109",
 ]
 
 [[package]]
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 dependencies = [
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- "syn",
+ "syn 2.0.16",
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 [[package]]
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 dependencies = [
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+ "itoa",
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 dependencies = [
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+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "133659a15339456eeeb07572eb02a91c91e9815e9cbc89566944d2c8d3efdbf6"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
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@@ -1652,9 +1113,9 @@ checksum = "6e63cff320ae2c57904679ba7cb63280a3dc4613885beafb148ee7bf9aa9042d"
 
 [[package]]
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@@ -1673,9 +1134,20 @@ checksum = "73473c0e59e6d5812c5dfe2a064a6444949f089e20eec9a2e5506596494e4623"
 
 [[package]]
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+checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "syn"
+version = "2.0.16"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a6f671d4b5ffdb8eadec19c0ae67fe2639df8684bd7bc4b83d986b8db549cf01"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1688,7 +1160,7 @@ version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "033178d0acccffc5490021657006e6a8dd586ee9dc6f7c24e7608b125e568cb1"
 dependencies = [
- "syn",
+ "syn 1.0.109",
  "synthez-codegen",
  "synthez-core",
 ]
@@ -1699,7 +1171,7 @@ version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "69263462a40e46960f070618e20094ce69e783a41f86e54bc75545136afd597a"
 dependencies = [
- "syn",
+ "syn 1.0.109",
  "synthez-core",
 ]
 
@@ -1712,7 +1184,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "sealed 0.3.0",
- "syn",
+ "syn 1.0.109",
 ]
 
 [[package]]
@@ -1720,7 +1192,6 @@ name = "taws_minimal"
 version = "0.1.0"
 dependencies = [
  "arbitrary",
- "aviation_database",
  "cucumber",
  "futures",
  "lazy_static",
@@ -1731,42 +1202,14 @@ dependencies = [
  "uom",
 ]
 
-[[package]]
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bab24d30b911b2376f3a13cc2cd443142f0c81dda04c118693e35b3835757755"
-dependencies = [
- "winapi-util",
-]
-
-[[package]]
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "633c1a546cee861a1a6d0dc69ebeca693bf4296661ba7852b9d21d159e0506df"
-dependencies = [
- "libc",
- "winapi",
-]
-
 [[package]]
 name = "terminal_size"
-version = "0.2.1"
+version = "0.2.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8440c860cf79def6164e4a0a983bcc2305d82419177a0e0c71930d049e3ac5a1"
+checksum = "8e6bf6f19e9f8ed8d4048dc22981458ebcf406d67e94cd422e5ecd73d63b3237"
 dependencies = [
  "rustix",
- "windows-sys",
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-
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d326610f408c7a4eb6f51c37c330e496b08506c9457c9d34287ecc38809fb060"
-dependencies = [
- "unicode-width",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -1782,58 +1225,34 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.37"
+version = "1.0.40"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "10deb33631e3c9018b9baf9dcbbc4f737320d2b576bac10f6aefa048fa407e3e"
+checksum = "978c9a314bd8dc99be594bc3c175faaa9794be04a5a5e153caba6915336cebac"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
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-version = "1.0.37"
+version = "1.0.40"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "982d17546b47146b28f7c22e3d08465f6b8903d0ea13c1660d9d84a6e7adcdbb"
+checksum = "f9456a42c5b0d803c8cd86e73dd7cc9edd429499f37a3550d286d5e86720569f"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.16",
 ]
 
 [[package]]
 name = "thread_local"
-version = "1.1.4"
+version = "1.1.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5516c27b78311c50bf42c071425c560ac799b11c30b31f87e3081965fe5e0180"
+checksum = "3fdd6f064ccff2d6567adcb3873ca630700f00b5ad3f060c25b5dcfd9a4ce152"
 dependencies = [
+ "cfg-if",
  "once_cell",
 ]
 
-[[package]]
-name = "tinytemplate"
-version = "1.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "be4d6b5f19ff7664e8c98d03e2139cb510db9b0a60b55f8e8709b689d939b6bc"
-dependencies = [
- "serde",
- "serde_json",
-]
-
-[[package]]
-name = "tinyvec"
-version = "1.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "87cc5ceb3875bb20c2890005a4e226a4651264a5c75edb2421b52861a0a0cb50"
-dependencies = [
- "tinyvec_macros",
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-
-[[package]]
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-checksum = "cda74da7e1a664f795bb1f8a87ec406fb89a02522cf6e50620d016add6dbbf5c"
-
 [[package]]
 name = "typed-builder"
 version = "0.10.0"
@@ -1842,36 +1261,20 @@ checksum = "89851716b67b937e393b3daa8423e67ddfc4bbbf1654bcf05488e95e0828db0c"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 1.0.109",
 ]
 
 [[package]]
 name = "typenum"
-version = "1.15.0"
+version = "1.16.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dcf81ac59edc17cc8697ff311e8f5ef2d99fcbd9817b34cec66f90b6c3dfd987"
-
-[[package]]
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "63cc5d2fd8648d7e2be86098f60c9ece7045cc710b3c1e226910e2f37d11dc73"
-dependencies = [
- "serde",
- "thiserror",
-]
-
-[[package]]
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "099b7128301d285f79ddd55b9a83d5e6b9e97c92e0ea0daebee7263e932de992"
+checksum = "497961ef93d974e23eb6f433eb5fe1b7930b659f06d12dec6fc44a8f554c0bba"
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.3"
+version = "1.0.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c4f5b37a154999a8f3f98cc23a628d850e154479cd94decf3414696e12e31aaf"
+checksum = "e5464a87b239f13a63a501f2701565754bae92d243d4bb7eb12f6d57d2269bf4"
 
 [[package]]
 name = "unicode-linebreak"
@@ -1883,20 +1286,11 @@ dependencies = [
  "regex",
 ]
 
-[[package]]
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-version = "0.1.21"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "854cbdc4f7bc6ae19c820d44abdc3277ac3e1b2b93db20a636825d9322fb60e6"
-dependencies = [
- "tinyvec",
-]
-
 [[package]]
 name = "unicode-segmentation"
-version = "1.10.0"
+version = "1.10.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fdbf052a0783de01e944a6ce7a8cb939e295b1e7be835a1112c3b9a7f047a5a"
+checksum = "1dd624098567895118886609431a7c3b8f516e41d30e0643f03d94592a147e36"
 
 [[package]]
 name = "unicode-width"
@@ -1904,56 +1298,20 @@ version = "0.1.10"
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 checksum = "c0edd1e5b14653f783770bce4a4dabb4a5108a5370a5f5d8cfe8710c361f6c8b"
 
-[[package]]
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a156c684c91ea7d62626509bce3cb4e1d9ed5c4d978f7b4352658f96a4c26b4a"
-
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-source = "git+https://github.com/wucke13/uom?branch=fix-missing-libm#80c05d4848c29f5d356477f2a0636c6ad15160b8"
+version = "0.34.0"
+source = "git+https://github.com/moritz-meier/uom.git?branch=fix-missing-libm#4ddb11b11b11b333a98185c19336d16c85e22c9c"
 dependencies = [
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- "serde",
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 [[package]]
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-checksum = "b97acb4c28a254fd7a4aeec976c46a7fa404eac4d7c134b30c75144846d7cb8f"
-dependencies = [
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- "chunked_transfer",
- "flate2",
- "log",
- "once_cell",
- "rustls",
- "url",
- "webpki",
- "webpki-roots",
-]
-
-[[package]]
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a507c383b2d33b5fc35d1861e77e6b383d158b2da5e14fe51b83dfedf6fd578c"
-dependencies = [
- "form_urlencoded",
- "idna",
- "matches",
- "percent-encoding",
-]
-
-[[package]]
-name = "vcell"
-version = "0.1.3"
+name = "utf8parse"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
+checksum = "711b9620af191e0cdc7468a8d14e709c3dcdb115b36f838e601583af800a370a"
 
 [[package]]
 name = "version_check"
@@ -1961,29 +1319,13 @@ version = "0.9.4"
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 checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
 
-[[package]]
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
-
-[[package]]
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-checksum = "9ee8f19f9d74293faf70901bc20ad067dc1ad390d2cbf1e3f75f721ffee908b6"
-dependencies = [
- "vcell",
-]
-
 [[package]]
 name = "walkdir"
-version = "2.3.2"
+version = "2.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "808cf2735cd4b6866113f648b791c6adc5714537bc222d9347bb203386ffda56"
+checksum = "36df944cda56c7d8d8b7496af378e6b16de9284591917d307c9b4d313c44e698"
 dependencies = [
  "same-file",
- "winapi",
  "winapi-util",
 ]
 
@@ -1994,168 +1336,155 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
 
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-dependencies = [
- "cfg-if",
- "wasm-bindgen-macro",
-]
-
-[[package]]
-name = "wasm-bindgen-backend"
-version = "0.2.82"
+name = "winapi"
+version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "662cd44805586bd52971b9586b1df85cdbbd9112e4ef4d8f41559c334dc6ac3f"
+checksum = "5c839a674fcd7a98952e593242ea400abe93992746761e38641405d28b00f419"
 dependencies = [
- "bumpalo",
- "log",
- "once_cell",
- "proc-macro2",
- "quote",
- "syn",
- "wasm-bindgen-shared",
+ "winapi-i686-pc-windows-gnu",
+ "winapi-x86_64-pc-windows-gnu",
 ]
 
 [[package]]
-name = "wasm-bindgen-macro"
-version = "0.2.82"
+name = "winapi-i686-pc-windows-gnu"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b260f13d3012071dfb1512849c033b1925038373aea48ced3012c09df952c602"
-dependencies = [
- "quote",
- "wasm-bindgen-macro-support",
-]
+checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
 
 [[package]]
-name = "wasm-bindgen-macro-support"
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+version = "0.1.5"
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-checksum = "5be8e654bdd9b79216c2929ab90721aa82faf65c48cdf08bdc4e7f51357b80da"
+checksum = "70ec6ce85bb158151cae5e5c87f95a8e97d2c0c4b001223f33a334e3ce5de178"
 dependencies = [
- "proc-macro2",
- "quote",
- "syn",
- "wasm-bindgen-backend",
- "wasm-bindgen-shared",
+ "winapi",
 ]
 
 [[package]]
-name = "wasm-bindgen-shared"
-version = "0.2.82"
+name = "winapi-x86_64-pc-windows-gnu"
+version = "0.4.0"
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-checksum = "6598dd0bd3c7d51095ff6531a5b23e02acdc81804e30d8f07afb77b7215a140a"
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 [[package]]
-name = "web-sys"
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-checksum = "ed055ab27f941423197eb86b2035720b1a3ce40504df082cac2ecc6ed73335a1"
+checksum = "5a3e1820f08b8513f676f7ab6c1f99ff312fb97b553d30ff4dd86f9f15728aa7"
 dependencies = [
- "js-sys",
- "wasm-bindgen",
+ "windows_aarch64_gnullvm 0.42.2",
+ "windows_aarch64_msvc 0.42.2",
+ "windows_i686_gnu 0.42.2",
+ "windows_i686_msvc 0.42.2",
+ "windows_x86_64_gnu 0.42.2",
+ "windows_x86_64_gnullvm 0.42.2",
+ "windows_x86_64_msvc 0.42.2",
 ]
 
 [[package]]
-name = "webpki"
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+name = "windows-sys"
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-checksum = "f095d78192e208183081cc07bc5515ef55216397af48b873e5edcd72637fa1bd"
+checksum = "677d2418bec65e3338edb076e806bc1ec15693c5d0104683f2efe857f61056a9"
 dependencies = [
- "ring",
- "untrusted",
+ "windows-targets",
 ]
 
 [[package]]
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+name = "windows-targets"
+version = "0.48.0"
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-checksum = "f1c760f0d366a6c24a02ed7816e23e691f5d92291f94d15e836006fd11b04daf"
+checksum = "7b1eb6f0cd7c80c79759c929114ef071b87354ce476d9d94271031c0497adfd5"
 dependencies = [
- "webpki",
+ "windows_aarch64_gnullvm 0.48.0",
+ "windows_aarch64_msvc 0.48.0",
+ "windows_i686_gnu 0.48.0",
+ "windows_i686_msvc 0.48.0",
+ "windows_x86_64_gnu 0.48.0",
+ "windows_x86_64_gnullvm 0.48.0",
+ "windows_x86_64_msvc 0.48.0",
 ]
 
 [[package]]
-name = "wide"
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-dependencies = [
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+checksum = "597a5118570b68bc08d8d59125332c54f1ba9d9adeedeef5b99b02ba2b0698f8"
 
 [[package]]
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-dependencies = [
- "winapi-i686-pc-windows-gnu",
- "winapi-x86_64-pc-windows-gnu",
-]
+checksum = "91ae572e1b79dba883e0d315474df7305d12f569b400fcf90581b06062f7e1bc"
 
 [[package]]
-name = "winapi-i686-pc-windows-gnu"
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 [[package]]
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-dependencies = [
- "winapi",
-]
+checksum = "b2ef27e0d7bdfcfc7b868b317c1d32c641a6fe4629c171b8928c7b08d98d7cf3"
 
 [[package]]
-name = "winapi-x86_64-pc-windows-gnu"
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-checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
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- "windows_i686_gnu",
- "windows_i686_msvc",
- "windows_x86_64_gnu",
- "windows_x86_64_msvc",
-]
+checksum = "622a1962a7db830d6fd0a69683c80a18fda201879f0f447f065a3b7467daa241"
 
 [[package]]
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 [[package]]
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+name = "windows_x86_64_gnu"
+version = "0.42.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2e7917148b2812d1eeafaeb22a97e4813dfa60a3f8f78ebe204bcc88f12f024"
+checksum = "8de912b8b8feb55c064867cf047dda097f92d51efad5b491dfb98f6bbb70cb36"
 
 [[package]]
 name = "windows_x86_64_gnu"
-version = "0.36.1"
+version = "0.48.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ca2b8a661f7628cbd23440e50b05d705db3686f894fc9580820623656af974b1"
+
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.42.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "26d41b46a36d453748aedef1486d5c7a85db22e56aff34643984ea85514e94a3"
+
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.48.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7896dbc1f41e08872e9d5e8f8baa8fdd2677f29468c4e156210174edc7f7b953"
+
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.42.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4dcd171b8776c41b97521e5da127a2d86ad280114807d0b2ab1e462bc764d9e1"
+checksum = "9aec5da331524158c6d1a4ac0ab1541149c0b9505fde06423b02f5ef0106b9f0"
 
 [[package]]
 name = "windows_x86_64_msvc"
-version = "0.36.1"
+version = "0.48.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c811ca4a8c853ef420abd8592ba53ddbbac90410fab6903b3e79972a631f7680"
+checksum = "1a515f5799fe4961cb532f983ce2b23082366b898e52ffbce459c86f67c8378a"
diff --git a/Cargo.toml b/Cargo.toml
index 19aa074..8180e92 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,13 +1,2 @@
 [workspace]
-members = [
-	"opentaws",
-	"taws_minimal",
-	"aviation_database",
-	"kd_tree",
-	"kd_tree_sort",
-]
-
-
-[patch.crates-io]
-# TODO jump to normal uom once https://github.com/iliekturtles/uom/pull/309 lands
-uom = { git = "https://github.com/wucke13/uom", branch = "fix-missing-libm" }
\ No newline at end of file
+members = ["opentaws", "taws_minimal"]
diff --git a/aviation_database/Cargo.lock b/aviation_database/Cargo.lock
deleted file mode 100644
index 4554032..0000000
--- a/aviation_database/Cargo.lock
+++ /dev/null
@@ -1,247 +0,0 @@
-# This file is automatically @generated by Cargo.
-# It is not intended for manual editing.
-version = 3
-
-[[package]]
-name = "anyhow"
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-
-[[package]]
-name = "aviation_database"
-version = "0.1.0"
-dependencies = [
- "anyhow",
- "csv",
- "opentaws",
- "serde",
- "uneval",
- "uom",
-]
-
-[[package]]
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- "lazy_static",
- "memchr",
- "regex-automata",
- "serde",
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-
-[[package]]
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-dependencies = [
- "syn",
-]
-
-[[package]]
-name = "csv"
-version = "1.1.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "22813a6dc45b335f9bade10bf7271dc477e81113e89eb251a0bc2a8a81c536e1"
-dependencies = [
- "bstr",
- "csv-core",
- "itoa",
- "ryu",
- "serde",
-]
-
-[[package]]
-name = "csv-core"
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-checksum = "2b2466559f260f48ad25fe6317b3c8dac77b5bdb5763ac7d9d6103530663bc90"
-dependencies = [
- "memchr",
-]
-
-[[package]]
-name = "itoa"
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-source = "registry+https://github.com/rust-lang/crates.io-index"
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-
-[[package]]
-name = "lazy_static"
-version = "1.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
-dependencies = [
- "spin",
-]
-
-[[package]]
-name = "memchr"
-version = "2.4.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "308cc39be01b73d0d18f82a0e7b2a3df85245f84af96fdddc5d202d27e47b86a"
-
-[[package]]
-name = "num-traits"
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- "autocfg",
-]
-
-[[package]]
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-source = "git+https://github.com/aeronautical-informatics/opentaws#d84201785d41fb734e931f143ee0f42c10706a0c"
-dependencies = [
- "casey",
- "lazy_static",
- "ringbuffer",
- "serde",
- "uom",
-]
-
-[[package]]
-name = "proc-macro2"
-version = "1.0.32"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ba508cc11742c0dc5c1659771673afbab7a0efab23aa17e854cbab0837ed0b43"
-dependencies = [
- "unicode-xid",
-]
-
-[[package]]
-name = "quote"
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38bc8cc6a5f2e3655e0899c1b848643b2562f853f114bfec7be120678e3ace05"
-dependencies = [
- "proc-macro2",
-]
-
-[[package]]
-name = "regex-automata"
-version = "0.1.10"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6c230d73fb8d8c1b9c0b3135c5142a8acee3a0558fb8db5cf1cb65f8d7862132"
-
-[[package]]
-name = "ringbuffer"
-version = "0.8.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "20e49d3a791d79aa7683f8798b274073140865ffb9d65767ace44229d34299e3"
-dependencies = [
- "array-init",
-]
-
-[[package]]
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-checksum = "71d301d4193d031abdd79ff7e3dd721168a9572ef3fe51a1517aba235bd8f86e"
-
-[[package]]
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- "serde_derive",
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-
-[[package]]
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-version = "1.0.130"
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-checksum = "d7bc1a1ab1961464eae040d96713baa5a724a8152c1222492465b54322ec508b"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn",
-]
-
-[[package]]
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-checksum = "6e63cff320ae2c57904679ba7cb63280a3dc4613885beafb148ee7bf9aa9042d"
-
-[[package]]
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f2afee18b8beb5a596ecb4a2dce128c719b4ba399d34126b9e4396e3f9860966"
-dependencies = [
- "proc-macro2",
- "quote",
- "unicode-xid",
-]
-
-[[package]]
-name = "thiserror"
-version = "1.0.30"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "854babe52e4df1653706b98fcfc05843010039b406875930a70e4d9644e5c417"
-dependencies = [
- "thiserror-impl",
-]
-
-[[package]]
-name = "thiserror-impl"
-version = "1.0.30"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa32fd3f627f367fe16f893e2597ae3c05020f8bba2666a4e6ea73d377e5714b"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn",
-]
-
-[[package]]
-name = "typenum"
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-
-[[package]]
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "df3b95ceb1224b9d137ee19530b0d6f39c66d73098b50d41a4de4ccbf5e4f122"
-dependencies = [
- "serde",
- "thiserror",
-]
-
-[[package]]
-name = "unicode-xid"
-version = "0.2.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ccb82d61f80a663efe1f787a51b16b5a51e3314d6ac365b08639f52387b33f3"
-
-[[package]]
-name = "uom"
-version = "0.31.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b1ee6bfd0a27bf614353809a035cf6880b74239ec6c5e39a7b2860ca16809137"
-dependencies = [
- "num-traits",
- "serde",
- "typenum",
-]
diff --git a/aviation_database/Cargo.toml b/aviation_database/Cargo.toml
deleted file mode 100644
index 3cec418..0000000
--- a/aviation_database/Cargo.toml
+++ /dev/null
@@ -1,26 +0,0 @@
-[package]
-name = "aviation_database"
-version = "0.1.0"
-edition = "2021"
-
-# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
-
-[dependencies]
-ordered-float = { version = "2.0", default-features = false }
-uom = { version = "0", default-features = false, features = ["f64", "si", "libm"] }
-kd_tree = { path = "../kd_tree" }
-
-
-[build-dependencies]
-anyhow = "1.0"
-csv = "1.1"
-proc-macro2 = "1.0"
-quote = "1.0"
-rayon = "1.5"
-regex = "1.5"
-serde = { version = "1.0", features = ["derive"] }
-serde_json = "1.0"
-uneval = "0.2"
-uom = { version = "0", default-features = false, features = [ "f64", "si", "libm" ] }
-ureq = "2"
-kd_tree_sort = { path = "../kd_tree_sort" }
diff --git a/aviation_database/README.md b/aviation_database/README.md
deleted file mode 100644
index 135f08b..0000000
--- a/aviation_database/README.md
+++ /dev/null
@@ -1,7 +0,0 @@
-# Todo
-
-In order for this to work, you need to download the airport database. Download
-[this file](https://datahub.io/core/airport-codes/r/airport-codes.json) from
-[datahub.io](https://datahub.io/core/airport-codes#data), and store it with the
-name `airports.json` root of the `aviation_database` crate (where the
-`build.rs` resides).
diff --git a/aviation_database/build.rs b/aviation_database/build.rs
deleted file mode 100644
index 7acf772..0000000
--- a/aviation_database/build.rs
+++ /dev/null
@@ -1,152 +0,0 @@
-use proc_macro2::{Literal, TokenStream};
-use quote::{quote, ToTokens};
-use rayon::prelude::*;
-use serde::Deserialize;
-use std::env;
-use std::fs;
-use std::io::BufRead;
-use std::path::Path;
-use std::process::Command;
-
-#[derive(Default, Debug, Clone, PartialEq, Deserialize)]
-#[serde(rename_all = "snake_case")]
-pub struct Airport {
-    pub continent: String,
-    pub coordinates: String,
-    pub elevation_ft: Option<String>,
-    pub gps_code: Option<String>,
-    pub iata_code: Option<String>,
-    pub ident: String,
-    pub iso_country: String,
-    pub iso_region: String,
-    pub local_code: Option<String>,
-    pub municipality: Option<String>,
-    pub name: String,
-    #[serde(rename = "type")]
-    pub type_field: String,
-}
-
-fn parse_airport_kd(airport: Airport) -> ([f64; 3], Airport) {
-    let mut coord = airport.coordinates.split(", ");
-    let lon: f64 = coord.next().map(|l| l.parse().ok()).flatten().unwrap();
-    let lat: f64 = coord.next().map(|l| l.parse().ok()).flatten().unwrap();
-    let alt: f64 = airport
-        .elevation_ft
-        .as_ref()
-        .map_or_else(|| Some(0.0), |e| e.parse().ok())
-        .unwrap();
-
-    let x = alt * lat.cos() * lon.cos();
-    let y = alt * lat.cos() * lon.sin();
-    let z = alt * lat.sin();
-    ([x, y, z], airport)
-}
-
-impl ToTokens for Airport {
-    fn to_tokens(&self, tokens: &mut TokenStream) {
-        let mut coord = self.coordinates.split(", ");
-        let long: Option<f64> = coord.next().map(|l| l.parse().ok()).flatten();
-        let lat: Option<f64> = coord.next().map(|l| l.parse().ok()).flatten();
-        let alt: Option<f64> = self
-            .elevation_ft
-            .as_ref()
-            .map_or_else(|| Some(0.0), |e| e.parse().ok());
-        let icao = format!(
-            "b\"{}\"",
-            self.ident
-                .chars()
-                .chain(std::iter::repeat('\0'))
-                .take(4)
-                .collect::<String>()
-        )
-        .parse::<Literal>()
-        .unwrap();
-        if long.is_none() || lat.is_none() || alt.is_none() {
-            return;
-        }
-
-        tokens.extend(quote! {
-        AirportEntry {
-            icao: *#icao,
-            lat: #lat,
-            lon: #long,
-            alt: #alt,
-            }
-        });
-    }
-}
-
-fn main() {
-    let file_env = "AIRPORTS_JSON_FILE";
-    let url_env = "AIRPORTS_JSON_URL";
-
-    let reader: Box<dyn BufRead> = if let Ok(airports_file) = std::env::var(file_env) {
-        let f = std::fs::File::open(&airports_file)
-            .expect(&format!("file {} does not exist", airports_file));
-        Box::new(std::io::BufReader::new(f))
-    } else {
-        let airports_url = std::env::var(url_env)
-            .unwrap_or("https://datahub.io/core/airport-codes/r/airport-codes.json".into());
-        let r = ureq::get(&airports_url)
-            .call()
-            .expect(&format!(
-                "unable to automatically download from {}",
-                airports_url
-            ))
-            .into_reader();
-        Box::new(std::io::BufReader::new(r))
-    };
-
-    let mut airports: Vec<Airport> = serde_json::from_reader(reader).unwrap();
-
-    let num_airports = airports.len();
-    let out_dir = env::var_os("OUT_DIR").unwrap();
-    let dest_path = Path::new(&out_dir).join("airports.rs");
-    let airports: Vec<([f64; 3], Airport)> = airports.par_drain(..).map(parse_airport_kd).collect();
-    let airports = kd_tree_sort::sort(airports);
-    let airports: String = airports
-        .iter()
-        .fold(String::new(), |mut s, ([x, y, z], a)| {
-            //s.push_str(&quote!(#a).to_string());
-            // Node<T, V, DIM>
-            // new(val: [T; DIM], v: V)
-            s.push_str(
-                &quote! {
-                    Node::new(
-                         [ #x, #y, #z ],
-                        #a
-                    )
-                }
-                .to_string(),
-            );
-            s.push(',');
-            s
-        });
-    let max_level = (num_airports as f64).log2() as usize + 2;
-    fs::write(
-        &dest_path,
-        format!(
-            "pub const NODES: [Node<f64, AirportEntry, 3>; {}] = [ {} ];\
-            pub const AIRPORTS: Tree::<f64, AirportEntry, 3, {}> = Tree::new( &NODES );",
-            num_airports, airports, max_level
-        ),
-    )
-    .unwrap();
-
-    // format code
-    if let Err(e) = Command::new("rustfmt")
-        .arg(dest_path.as_os_str())
-        .current_dir(&out_dir)
-        .status()
-    {
-        eprintln!("{}", e)
-    }
-
-    println!(
-        "cargo:rerun-if-changed=build.rs
-    cargo:rerun-if-env-changed={}
-    cargo:rerun-if-env-changed={}
-    ",
-        url_env, file_env
-    );
-}
diff --git a/aviation_database/src/consts.rs b/aviation_database/src/consts.rs
deleted file mode 100644
index e14a0bf..0000000
--- a/aviation_database/src/consts.rs
+++ /dev/null
@@ -1,5 +0,0 @@
-use crate::AirportEntry;
-use kd_tree::{Node, Tree};
-
-// Provides const AIRPORTS: &[AirportImpl] = ...
-include!(concat!(env!("OUT_DIR"), "/airports.rs"));
diff --git a/aviation_database/src/lib.rs b/aviation_database/src/lib.rs
deleted file mode 100644
index 2f009ad..0000000
--- a/aviation_database/src/lib.rs
+++ /dev/null
@@ -1,216 +0,0 @@
-mod consts;
-/// Contains a reference implementation from the
-pub mod reference;
-
-// use opentaws::prelude::*;
-use core::{
-    fmt::Debug,
-    iter::{self, Iterator},
-};
-use ordered_float::OrderedFloat;
-use uom::{
-    num_traits::Pow,
-    si::{angle::degree, f64::*, length::foot, length::kilometer},
-};
-
-use crate::consts::AIRPORTS;
-
-/// Describes the interface to a TerrainDatabase
-///
-/// Each implementation of this type can be use as TerrainDatabase, providing elevation data for a
-/// given `Position`.
-pub trait TerrainDatabase {
-    /// Estimate elevation at a specific position
-    fn elevation_at(&self, position: Position) -> Length;
-}
-
-/// Describes the interface of a AirportDatabase
-///
-/// Each implementation of this type can be used as AirportDatabase, providing information about
-/// `Airports` and `Runways`
-pub trait AirportDatabase: Send + Sync + Debug {
-    type RunwayIterator: core::iter::Iterator<Item = Runway>
-        + From<core::iter::Empty<Runway>>
-        + Send
-        + Sync;
-
-    /// Find the airport nearest to a given `Position`
-    fn nearest_airport(&self, position: &Position) -> Airport {
-        // For ~50000 Airports
-        // Linear Search took 7ms
-        // KD-Tree Search took 29µs
-        // CPU: Ryzen 5 5600X
-
-        // Old slow Linear Search
-        //AIRPORTS.nodes
-        //    .iter()
-        //    .map(|n| Airport::from(n.payload()))
-        //    .map(|a| (a.clone(), a.pos.relative_distance(position)))
-        //    .reduce(|(c_a, c_d), (n_a, n_d)| match c_d.cmp(&n_d) {
-        //        Ordering::Greater => (n_a, n_d),
-        //        _ => (c_a, c_d),
-        //    })
-        //    .unwrap()
-        //    .0;
-
-        // New fast KD-Tree Search
-        Airport::from(AIRPORTS.search(&position.cartesian_f64()).payload())
-    }
-
-    fn runways(&self, airport: &Airport) -> Self::RunwayIterator {
-        iter::empty().into()
-    }
-    /*
-    /// Find all Airports in a given perimeter
-    fn airports_in_perimeter<P:Position>(&self, position: P, perimeter: Length)->
-    */
-}
-
-/// Describes a positon in three dimensional room
-#[derive(Debug, Clone, PartialEq)]
-pub struct Position {
-    pub lat: Angle,
-    pub lon: Angle,
-    pub alt: Length,
-}
-
-#[derive(Debug, Clone, PartialEq)]
-pub struct Airport {
-    pub icao: [u8; 4],
-    pub pos: Position,
-}
-
-impl Position {
-    const MEAN_EARTH_RADIUS_KILOMETER: f64 = 6371.001;
-    /// Converts the `Position` to cartesian coordinates. Nothing orientation is guaranteed, thus
-    /// this may only be used for relative distances etc.
-    fn cartesian(&self) -> [Length; 3] {
-        let x = self.alt * self.lat.cos() * self.lon.cos();
-        let y = self.alt * self.lat.cos() * self.lon.sin();
-        let z = self.alt * self.lat.sin();
-        [x, y, z]
-    }
-
-    /// Converts the `Position` to cartesian coordinates. Nothing orientation is guaranteed, thus
-    /// this may only be used for relative distances etc.
-    fn cartesian_f64(&self) -> [f64; 3] {
-        let x = self.alt.get::<foot>()
-            * self.lat.get::<degree>().cos()
-            * self.lon.get::<degree>().cos();
-        let y = self.alt.get::<foot>()
-            * self.lat.get::<degree>().cos()
-            * self.lon.get::<degree>().sin();
-        let z = self.alt.get::<foot>() * self.lat.get::<degree>().sin();
-        [x, y, z]
-    }
-
-    /// Get the relative distance of two points
-    ///
-    /// This can be used for comparing distances
-    fn relative_distance(&self, other: &Position) -> RelativeDistance {
-        RelativeDistance(
-            self.cartesian()
-                .iter()
-                .zip(&other.cartesian())
-                .fold(OrderedFloat(0.0), |r, (a, b)| {
-                    r + (a.value - b.value).pow(2)
-                }),
-        )
-    }
-
-    /// As we have two different altitudes, this function ignores the altitude of `other` and
-    /// calculates the great circle distance from `self` at the altitude of `self` to lat/lon of
-    /// `other`
-    ///
-    /// This implies, that this operation __is not commutatitve__. E.g. the following code will
-    /// panic:
-    ///
-    /// ```
-    /// use aviation_database::Position;
-    /// use uom::si::{
-    ///     f64::{Angle, Length},
-    ///     angle::degree,
-    ///     length::meter,
-    /// };
-    ///
-    /// let p1 = Position{
-    ///     lat: Angle::new::<uom::si::angle::degree>(54.0),
-    ///     lon: Angle::new::<uom::si::angle::degree>(10.0),
-    ///     alt: Length::new::<uom::si::length::foot>(1000.0),
-    /// };
-    /// let p2 = Position{
-    ///     lat: Angle::new::<uom::si::angle::degree>(52.0),
-    ///     lon: Angle::new::<uom::si::angle::degree>(8.0),
-    ///     alt: Length::new::<uom::si::length::foot>(1000.0),
-    /// };
-    ///
-    /// let distance_delta = p1.great_circle(&p2) - p2.great_circle(&p1);
-    /// assert!(distance_delta.abs() < Length::new::<uom::si::length::millimeter>(1.0));
-    /// ```
-    #[allow(non_snake_case)]
-    pub fn great_circle(&self, other: &Position) -> Length {
-        // borrows formula from https://en.wikipedia.org/wiki/Great-circle_distance
-        let λ1 = self.lon;
-        let λ2 = other.lon;
-        let Δλ = λ1 - λ2;
-        let Φ1 = self.lat;
-        let Φ2 = other.lat;
-
-        let a = Φ2.cos() * Δλ.sin();
-        let b = Φ1.cos() * Φ2.sin() - Φ1.sin() * Φ2.cos() * Δλ.cos();
-        let c = Φ1.sin() * Φ2.sin() + Φ1.cos() * Φ2.cos() * Δλ.cos();
-
-        let radius = Length::new::<kilometer>(Self::MEAN_EARTH_RADIUS_KILOMETER) + self.alt;
-
-        radius * ((a * a + b * b) / c).sqrt().atan()
-    }
-}
-
-/// Distance between two points
-#[derive(Copy, Clone, Debug, PartialOrd, Ord, PartialEq, Eq)]
-pub struct RelativeDistance(OrderedFloat<f64>);
-
-pub struct AirportEntry {
-    pub icao: [u8; 4],
-    pub lat: f64,
-    pub lon: f64,
-    pub alt: f64,
-}
-
-impl From<&AirportEntry> for Position {
-    fn from(entry: &AirportEntry) -> Self {
-        Self {
-            lat: Angle::new::<degree>(entry.lat),
-            lon: Angle::new::<degree>(entry.lon),
-            alt: Length::new::<foot>(entry.alt),
-        }
-    }
-}
-
-impl From<&AirportEntry> for Airport {
-    fn from(a: &AirportEntry) -> Self {
-        Airport {
-            icao: a.icao,
-            pos: a.into(),
-        }
-    }
-}
-
-impl AsRef<Position> for Airport {
-    fn as_ref(&self) -> &Position {
-        &self.pos
-    }
-}
-
-impl From<AirportEntry> for Position {
-    fn from(entry: AirportEntry) -> Self {
-        Self {
-            lat: Angle::new::<degree>(entry.lat),
-            lon: Angle::new::<degree>(entry.lon),
-            alt: Length::new::<foot>(entry.alt),
-        }
-    }
-}
-
-#[derive(Clone, Debug)]
-pub struct Runway();
diff --git a/aviation_database/src/reference.rs b/aviation_database/src/reference.rs
deleted file mode 100644
index d518e47..0000000
--- a/aviation_database/src/reference.rs
+++ /dev/null
@@ -1,8 +0,0 @@
-use crate::{AirportDatabase, Runway};
-
-#[derive(Debug, Default)]
-pub struct AirportDatabaseImpl;
-
-impl AirportDatabase for AirportDatabaseImpl {
-    type RunwayIterator = core::iter::Empty<Runway>;
-}
diff --git a/kd_tree/Cargo.toml b/kd_tree/Cargo.toml
deleted file mode 100644
index d5ebf61..0000000
--- a/kd_tree/Cargo.toml
+++ /dev/null
@@ -1,12 +0,0 @@
-[package]
-name = "kd_tree"
-version = "0.1.0"
-edition = "2021"
-
-# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
-
-[dependencies]
-
-[dependencies.num]
-version = "0.4"
-default-features = false
\ No newline at end of file
diff --git a/kd_tree/README.md b/kd_tree/README.md
deleted file mode 100644
index 40d6dc6..0000000
--- a/kd_tree/README.md
+++ /dev/null
@@ -1,8 +0,0 @@
-# KD-Tree implementation
-
-Implements only functions required for searching an already initialized KD-Tree.  
-Because of this, this crate is no_std compatible  
-
-Code for building the KD-Tree can be found in `kd_tree_sort`.  
-`kd_tree_sort` is not no_std compatible which is why these two crates were seperated.  
-A fuzzy tester as well as a benchmark verifying this implementation can be found in `kd_tree_sort`.
\ No newline at end of file
diff --git a/kd_tree/src/lib.rs b/kd_tree/src/lib.rs
deleted file mode 100644
index 28c402a..0000000
--- a/kd_tree/src/lib.rs
+++ /dev/null
@@ -1,252 +0,0 @@
-#![no_std]
-#![allow(clippy::too_many_arguments)]
-use core::cmp::Ordering;
-use core::fmt::Debug;
-use num::traits::Num;
-
-pub struct Tree<'a, T, V, const DIM: usize, const MAX_LEVEL: usize> {
-    pub nodes: &'a [Node<T, V, DIM>],
-}
-
-impl<T, V, const DIM: usize, const MAX_LEVEL: usize> Tree<'static, T, V, DIM, MAX_LEVEL> {
-    pub const fn new(nodes: &'static [Node<T, V, DIM>]) -> Tree<'static, T, V, DIM, MAX_LEVEL> {
-        Tree { nodes }
-    }
-}
-
-impl<'a, T: PartialOrd + Num + Copy + Debug, V, const DIM: usize, const MAX_LEVEL: usize>
-    Tree<'a, T, V, DIM, MAX_LEVEL>
-{
-    pub fn search(&self, point: &[T; DIM]) -> &Node<T, V, DIM> {
-        let mut node: &Node<T, V, DIM> = self
-            .nodes
-            .first()
-            .expect("This can not fail, expect if the Tree got no nodes: SIZE == 0");
-        let mut index = 0usize;
-        let mut level = 0usize;
-        // Store which child nodes where visited for the Node on the index/level and if it was
-        // already compared
-        let mut visited: [(Visited, bool); MAX_LEVEL] = [(Visited::None, false); MAX_LEVEL];
-        //Initialise best node/distance with root node
-        let mut best_distance: T = euclid(&node.val, point);
-        let mut best_node: &Node<T, V, DIM> = node;
-
-        loop {
-            // Get to leaf based on comparison of only a single dimension per level
-            self.search_down(point, &mut node, &mut index, &mut level, &mut visited);
-
-            // Go up until we either reach the top or we go down by one
-            // Should we go down by one, we will need to go to the best fit leaf of the current
-            // subtree
-            self.search_up(
-                point,
-                &mut node,
-                &mut index,
-                &mut level,
-                &mut visited,
-                &mut best_distance,
-                &mut best_node,
-            );
-
-            // Should we have reached level 0, we are finished
-            // as search_up should go down by one should we still need to search a subtree
-            if level == 0 {
-                break;
-            }
-        }
-
-        best_node
-    }
-
-    fn search_down(
-        &'a self,
-        point: &[T; DIM],
-        node: &mut &'a Node<T, V, DIM>,
-        index: &mut usize,
-        level: &mut usize,
-        visited: &mut [(Visited, bool); MAX_LEVEL],
-    ) {
-        //Get to leaf node
-        loop {
-            //Reset Visited and calculated distance for current level
-            visited[*level] = (Visited::None, false);
-
-            let dim = *level % DIM;
-
-            //If the left node is not reachable we are at a leaf node
-            if left(index) >= self.nodes.len() {
-                //Set visited for this level to ALL because there are no more child nodes
-                visited[*level].0 = Visited::All;
-                return;
-            }
-            //Decide where to go
-            *index = match point[dim].partial_cmp(&node.val[dim]) {
-                Some(Ordering::Equal) | Some(Ordering::Less) => left(index),
-                Some(Ordering::Greater) => right(index),
-                _ => panic!(),
-            };
-
-            // If the index is to big we choose the right node
-            // Make sure it exists, if not go to the left node instead
-            if *index >= self.nodes.len() {
-                *index -= 1;
-            }
-
-            // Set next node
-            *node = self.nodes.get(*index).unwrap();
-
-            // Increase level for next node
-            *level += 1;
-        }
-    }
-
-    fn search_up(
-        &'a self,
-        point: &[T; DIM],
-        node: &mut &'a Node<T, V, DIM>,
-        index: &mut usize,
-        level: &mut usize,
-        visited: &mut [(Visited, bool); MAX_LEVEL],
-        best_distance: &mut T,
-        best_node: &mut &'a Node<T, V, DIM>,
-    ) {
-        loop {
-            let dim = *level % DIM;
-
-            // Check if current node is a closer node
-            if !visited[*level].1 {
-                let candidate: T = euclid(&node.val, point);
-                if candidate < *best_distance {
-                    *best_distance = candidate;
-                    *best_node = node;
-                }
-                visited[*level].1 = true;
-            }
-
-            // Determine where to go? Up, BottomLeft or BottomRight
-            let dir: Direction = match visited[*level].0 {
-                Visited::All => Direction::Up,
-                Visited::Left => {
-                    // Check if we even can go right
-                    // and if its even possible for the right side to be nearer
-                    let single_distance = point[dim] - node.val[dim];
-                    let single_distance = single_distance * single_distance;
-                    if right(index) < self.nodes.len() && single_distance < *best_distance {
-                        Direction::Right
-                    } else {
-                        Direction::Up
-                    }
-                }
-                Visited::Right => {
-                    // Check if we even can go left
-                    // and if its even possible for the left side to be nearer
-                    let single_distance = point[dim] - node.val[dim];
-                    let single_distance = single_distance * single_distance;
-                    if left(index) < self.nodes.len() && single_distance < *best_distance {
-                        Direction::Left
-                    } else {
-                        Direction::Up
-                    }
-                }
-                _ => panic!("Unexpected state"),
-            };
-
-            match dir {
-                Direction::Up => {
-                    //Stop if we are at level 0
-                    if *level == 0 {
-                        return;
-                    }
-
-                    // Move up
-                    let parent_index = parent(index);
-                    *level -= 1;
-                    // But update the visited status of the parent first
-                    // This way we know which children were already visited
-                    match visited[*level].0 {
-                        Visited::Left | Visited::Right => visited[*level].0 = Visited::All,
-                        _ => {
-                            if left(&parent_index) == *index {
-                                visited[*level].0 = Visited::Left;
-                            } else {
-                                visited[*level].0 = Visited::Right;
-                            }
-                        }
-                    }
-                    *index = parent_index;
-                    *node = self.nodes.get(*index).unwrap();
-                }
-                Direction::Left => {
-                    *level += 1;
-                    visited[*level].0 = Visited::None;
-                    *index = left(index);
-                    *node = self.nodes.get(*index).unwrap();
-                    return;
-                }
-                Direction::Right => {
-                    *level += 1;
-                    visited[*level].0 = Visited::None;
-                    *index = right(index);
-                    *node = self.nodes.get(*index).unwrap();
-                    return;
-                }
-            }
-        }
-    }
-}
-
-#[derive(Copy, Clone, Debug)]
-enum Visited {
-    None,
-    Left,
-    Right,
-    All,
-}
-
-enum Direction {
-    Up,
-    Left,
-    Right,
-}
-
-pub fn parent(cur_index: &usize) -> usize {
-    (cur_index + 1) / 2 - 1
-}
-
-pub fn left(cur_index: &usize) -> usize {
-    (cur_index + 1) * 2 - 1
-}
-
-pub fn right(cur_index: &usize) -> usize {
-    (cur_index + 1) * 2
-}
-
-#[derive(Debug)]
-pub struct Node<T: Sized, V: Sized, const DIM: usize> {
-    val: [T; DIM],
-    v: V,
-}
-
-impl<T, V, const DIM: usize> Node<T, V, DIM> {
-    pub fn val(&self) -> &[T; DIM] {
-        &self.val
-    }
-
-    pub const fn new(val: [T; DIM], v: V) -> Node<T, V, DIM> {
-        Node { val, v }
-    }
-
-    pub fn payload(&self) -> &V {
-        &self.v
-    }
-}
-
-pub fn euclid<T, const SIZE: usize>(left: &[T; SIZE], right: &[T; SIZE]) -> T
-where
-    T: Num + Copy + Debug,
-{
-    left.iter()
-        .zip(right.iter())
-        .map(|(x, y)| ((*x) - (*y)) * ((*x) - (*y)))
-        .fold(T::zero(), ::core::ops::Add::add)
-}
diff --git a/kd_tree_sort/Cargo.toml b/kd_tree_sort/Cargo.toml
deleted file mode 100644
index 9dbb41c..0000000
--- a/kd_tree_sort/Cargo.toml
+++ /dev/null
@@ -1,23 +0,0 @@
-[package]
-name = "kd_tree_sort"
-version = "0.1.0"
-edition = "2021"
-
-# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
-
-[dependencies]
-kd_tree = { path = "../kd_tree" }
-rayon = "1.5"
-
-[dev-dependencies]
-rand = "0.8"
-rand_pcg = "*"
-itertools = "0.10"
-criterion = "0.3"
-
-[lib]
-bench = false
-
-[[bench]]
-name = "search"
-harness = false
diff --git a/kd_tree_sort/README.md b/kd_tree_sort/README.md
deleted file mode 100644
index 8c28be9..0000000
--- a/kd_tree_sort/README.md
+++ /dev/null
@@ -1,19 +0,0 @@
-# KD-Tree sort implemention
-
-Implements a non-no_std compatible sort function for usage with the `kd_tree` crate.
-
-## Benchmark
-For benchmarking purposed, criterion.rs was used, comparing our kd-tree against a basic linear_search.
-
-Run: `cargo bench` in this directory.
-
-## Fuzzy Test
-The implemented fuzzy test uses `cargo fuzz`  
-Install it before running the fuzzy test (a nightly toolchain may be required).  
-
-It compares the result of the linear search algorithm against the result of the kd-tree search.  
-The fuzzy test input is filtering out `Inf` and `NaN` values since our kd-tree is 
-supposed to find the nearest-neighbor on valid input data only.
-
-For starting the fuzzy test run: `cargo fuzz run kd_tree_search --sanitizer=leak` in this directory.  
-*Note: the fuzzy test will run until it finds an error*
\ No newline at end of file
diff --git a/kd_tree_sort/benches/search.rs b/kd_tree_sort/benches/search.rs
deleted file mode 100644
index 68f8883..0000000
--- a/kd_tree_sort/benches/search.rs
+++ /dev/null
@@ -1,65 +0,0 @@
-use criterion::{criterion_group, criterion_main, BatchSize, BenchmarkId, Criterion};
-use kd_tree::{euclid, Node, Tree};
-use kd_tree_sort::sort;
-use rand::Rng;
-use std::time::Duration;
-
-type Prng = rand_pcg::Mcg128Xsl64;
-
-fn linear_search(nodes: &[Node<f64, i32, 3>], point: &[f64; 3]) -> f64 {
-    nodes
-        .iter()
-        .map(|a| euclid(point, a.val()))
-        .min_by(|a, b| a.partial_cmp(b).unwrap())
-        .unwrap()
-}
-
-fn generate_values(len: usize, rng: &mut Prng) -> Vec<([f64; 3], i32)> {
-    (0..len).map(|_| (generate_point(rng), 0)).collect()
-}
-
-fn generate_sorted(len: usize, rng: &mut Prng) -> Vec<Node<f64, i32, 3>> {
-    let sorted = sort(generate_values(len, rng));
-    sorted.iter().map(|(p, v)| Node::new(*p, *v)).collect()
-}
-
-fn generate_point(rng: &mut Prng) -> [f64; 3] {
-    [rng.gen(), rng.gen(), rng.gen()]
-}
-
-pub fn search(c: &mut Criterion) {
-    let mut rng = Prng::new(0xcafef00dd15ea5e5);
-
-    const START_LEN: usize = 1000;
-    const END_LEN: usize = 64001;
-
-    const MAX_LEVEL: usize = 16;
-
-    let mut group = c.benchmark_group("Search");
-    group.warm_up_time(Duration::from_millis(50));
-    group.measurement_time(Duration::from_secs(1));
-
-    for len in (START_LEN..END_LEN).step_by(1000) {
-        let nodes = generate_sorted(len, &mut rng);
-        let tree = Tree::<f64, i32, 3, MAX_LEVEL> {
-            nodes: nodes.as_slice(),
-        };
-        group.bench_with_input(BenchmarkId::new("KD Tree", len), &tree, |b, t| {
-            b.iter_batched(
-                || generate_point(&mut rng),
-                |p| t.search(&p),
-                BatchSize::SmallInput,
-            )
-        });
-        group.bench_with_input(BenchmarkId::new("Linear", len), &nodes, |b, n| {
-            b.iter_batched(
-                || generate_point(&mut rng),
-                |p| linear_search(n, &p),
-                BatchSize::SmallInput,
-            )
-        });
-    }
-}
-
-criterion_group!(benches, search);
-criterion_main!(benches);
diff --git a/kd_tree_sort/fuzz/.gitignore b/kd_tree_sort/fuzz/.gitignore
deleted file mode 100644
index a092511..0000000
--- a/kd_tree_sort/fuzz/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-target
-corpus
-artifacts
diff --git a/kd_tree_sort/fuzz/Cargo.lock b/kd_tree_sort/fuzz/Cargo.lock
deleted file mode 100644
index 1ed5d69..0000000
--- a/kd_tree_sort/fuzz/Cargo.lock
+++ /dev/null
@@ -1,303 +0,0 @@
-# This file is automatically @generated by Cargo.
-# It is not intended for manual editing.
-version = 3
-
-[[package]]
-name = "arbitrary"
-version = "1.0.3"
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-checksum = "510c76ecefdceada737ea728f4f9a84bd2e1ef29f1ba555e560940fe279954de"
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- "derive_arbitrary",
-]
-
-[[package]]
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- "crossbeam-utils",
-]
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-dependencies = [
- "cfg-if",
- "crossbeam-epoch",
- "crossbeam-utils",
-]
-
-[[package]]
-name = "crossbeam-epoch"
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4ec02e091aa634e2c3ada4a392989e7c3116673ef0ac5b72232439094d73b7fd"
-dependencies = [
- "cfg-if",
- "crossbeam-utils",
- "lazy_static",
- "memoffset",
- "scopeguard",
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-
-[[package]]
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-version = "0.8.5"
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- "lazy_static",
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- "syn",
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-
-[[package]]
-name = "either"
-version = "1.6.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e78d4f1cc4ae33bbfc157ed5d5a5ef3bc29227303d595861deb238fcec4e9457"
-
-[[package]]
-name = "hermit-abi"
-version = "0.1.19"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "62b467343b94ba476dcb2500d242dadbb39557df889310ac77c5d99100aaac33"
-dependencies = [
- "libc",
-]
-
-[[package]]
-name = "kd_tree"
-version = "0.1.0"
-dependencies = [
- "num",
-]
-
-[[package]]
-name = "kd_tree_sort"
-version = "0.1.0"
-dependencies = [
- "kd_tree",
- "rayon",
-]
-
-[[package]]
-name = "kd_tree_sort-fuzz"
-version = "0.0.0"
-dependencies = [
- "arbitrary",
- "kd_tree",
- "kd_tree_sort",
- "libfuzzer-sys",
- "rayon",
-]
-
-[[package]]
-name = "lazy_static"
-version = "1.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
-
-[[package]]
-name = "libc"
-version = "0.2.108"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8521a1b57e76b1ec69af7599e75e38e7b7fad6610f037db8c79b127201b5d119"
-
-[[package]]
-name = "libfuzzer-sys"
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- "arbitrary",
- "cc",
- "once_cell",
-]
-
-[[package]]
-name = "memoffset"
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-]
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- "num-complex",
- "num-integer",
- "num-iter",
- "num-rational",
- "num-traits",
-]
-
-[[package]]
-name = "num-complex"
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- "num-traits",
-]
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- "autocfg",
- "num-traits",
-]
-
-[[package]]
-name = "num-iter"
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- "autocfg",
- "num-integer",
- "num-traits",
-]
-
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-name = "num-rational"
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- "autocfg",
- "num-integer",
- "num-traits",
-]
-
-[[package]]
-name = "num-traits"
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9a64b1ec5cda2586e284722486d802acf1f7dbdc623e2bfc57e65ca1cd099290"
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- "autocfg",
-]
-
-[[package]]
-name = "num_cpus"
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "05499f3756671c15885fee9034446956fff3f243d6077b91e5767df161f766b3"
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- "hermit-abi",
- "libc",
-]
-
-[[package]]
-name = "once_cell"
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-source = "registry+https://github.com/rust-lang/crates.io-index"
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-
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- "unicode-xid",
-]
-
-[[package]]
-name = "quote"
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-checksum = "38bc8cc6a5f2e3655e0899c1b848643b2562f853f114bfec7be120678e3ace05"
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- "proc-macro2",
-]
-
-[[package]]
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-source = "registry+https://github.com/rust-lang/crates.io-index"
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-dependencies = [
- "autocfg",
- "crossbeam-deque",
- "either",
- "rayon-core",
-]
-
-[[package]]
-name = "rayon-core"
-version = "1.9.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d78120e2c850279833f1dd3582f730c4ab53ed95aeaaaa862a2a5c71b1656d8e"
-dependencies = [
- "crossbeam-channel",
- "crossbeam-deque",
- "crossbeam-utils",
- "lazy_static",
- "num_cpus",
-]
-
-[[package]]
-name = "scopeguard"
-version = "1.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
-
-[[package]]
-name = "syn"
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8daf5dd0bb60cbd4137b1b587d2fc0ae729bc07cf01cd70b36a1ed5ade3b9d59"
-dependencies = [
- "proc-macro2",
- "quote",
- "unicode-xid",
-]
-
-[[package]]
-name = "unicode-xid"
-version = "0.2.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ccb82d61f80a663efe1f787a51b16b5a51e3314d6ac365b08639f52387b33f3"
diff --git a/kd_tree_sort/fuzz/Cargo.toml b/kd_tree_sort/fuzz/Cargo.toml
deleted file mode 100644
index 4f84664..0000000
--- a/kd_tree_sort/fuzz/Cargo.toml
+++ /dev/null
@@ -1,28 +0,0 @@
-[package]
-name = "kd_tree_sort-fuzz"
-version = "0.0.0"
-publish = false
-edition = "2018"
-
-[package.metadata]
-cargo-fuzz = true
-
-[dependencies]
-libfuzzer-sys = "0.4"
-arbitrary = { version = "1", features = ["derive"] }
-rayon = "1.5"
-
-[dependencies.kd_tree_sort]
-path = ".."
-[dependencies.kd_tree]
-path = "../../kd_tree"
-
-# Prevent this from interfering with workspaces
-[workspace]
-members = ["."]
-
-[[bin]]
-name = "kd_tree_search"
-path = "fuzz_targets/kd_tree_search.rs"
-test = false
-doc = false
diff --git a/kd_tree_sort/fuzz/fuzz_targets/kd_tree_search.rs b/kd_tree_sort/fuzz/fuzz_targets/kd_tree_search.rs
deleted file mode 100644
index 9fc928b..0000000
--- a/kd_tree_sort/fuzz/fuzz_targets/kd_tree_search.rs
+++ /dev/null
@@ -1,55 +0,0 @@
-#![no_main]
-use kd_tree::{euclid, Node, Tree};
-use kd_tree_sort::sort;
-use libfuzzer_sys::fuzz_target;
-use rayon::prelude::*;
-
-#[derive(Clone, Debug, arbitrary::Arbitrary)]
-struct ArbitraryPoint {
-    pos: [f64; 3],
-    p: i32,
-}
-
-unsafe impl Sync for ArbitraryPoint{}
-unsafe impl Send for ArbitraryPoint{}
-
-fn linear_search(nodes: &[Node<f64, i32, 3>], point: &[f64; 3]) -> f64 {
-    nodes
-        .iter()
-        .map(|a| euclid(point, a.val()))
-        .min_by(|a, b| a.partial_cmp(b).unwrap())
-        .unwrap()
-}
-
-const MAX_LEVEL: usize = 16;
-
-fuzz_target!(|data: Vec<ArbitraryPoint>| {
-    let mut data = data;
-    let mut data: Vec<_> = data
-        .drain(..)
-        .filter(|p| p.pos[0].is_finite() && p.pos[1].is_finite() && p.pos[2].is_finite())
-        .take((2usize.pow(MAX_LEVEL as u32) - 1) * 2)
-        .par_bridge()
-        .map(|p| (p.pos, p.p))
-        .collect();
-
-    if data.len() < 2 {
-        // Dont fuzzy test less than two elements
-        return;
-    }
-
-    let search_data: Vec<_> = data.split_off(data.len() / 2);
-
-    let sorted = sort(data);
-    let sorted: Vec<_> = sorted.iter().map(|(p, v)| Node::new(*p, *v)).collect();
-    let tree = Tree::<f64, i32, 3, MAX_LEVEL> {
-        nodes: sorted.as_slice(),
-    };
-
-    search_data.par_iter().for_each(|(p, _)| {
-        assert_eq!(
-            euclid(tree.search(&p).val(), &p),
-            linear_search(&sorted, &p)
-        )
-    });
-});
diff --git a/kd_tree_sort/src/lib.rs b/kd_tree_sort/src/lib.rs
deleted file mode 100644
index 50a553e..0000000
--- a/kd_tree_sort/src/lib.rs
+++ /dev/null
@@ -1,205 +0,0 @@
-use kd_tree::{left, right};
-use rayon::prelude::*;
-
-pub fn sort<
-    T: Sized + PartialOrd + PartialEq + core::fmt::Debug + Send,
-    V: Sized + Send,
-    const DIM: usize,
->(
-    mut values: Vec<([T; DIM], V)>,
-) -> Vec<([T; DIM], V)> {
-    //Add variable for final index
-    let mut values: Vec<_> = values.par_drain(..).map(|(a, b)| (a, b, 0usize)).collect();
-    //Call Recursive Sort function
-    rec_sort(&mut values, 0, 0);
-
-    //Apply final index by sorting by this index
-    values.par_sort_by(|(_, _, a), (_, _, b)| {
-        // Verify inequality of indices
-        assert_ne!(a, b);
-        a.cmp(b)
-    });
-
-    //Remove index and return
-    values.par_drain(..).map(|(a, b, _)| (a, b)).collect()
-}
-
-fn rec_sort<T: Sized + PartialOrd + PartialEq + Send, V: Sized + Send, const DIM: usize>(
-    values: &mut [([T; DIM], V, usize)],
-    dim: usize,
-    index: usize,
-) {
-    //Check dimension
-    let dim = dim % DIM;
-
-    // Sort by current dimension
-    values.par_sort_by(|(a, _, _), (b, _, _)| a[dim].partial_cmp(&b[dim]).unwrap());
-
-    if values.len() == 1 {
-        values[0].2 = index;
-        return;
-    } else if values.len() == 2 {
-        values[1].2 = index;
-        rec_sort(&mut values[..1], dim + 1, left(&index));
-        return;
-    }
-    let len = values.len();
-    let lv = (len as f64).log2() as usize;
-    let last_line_len = len - 2usize.pow(lv as u32) + 1;
-    let mid = 2usize.pow(lv as u32) / 2 - 1;
-    let mid = if last_line_len < 2usize.pow(lv as u32) / 2 {
-        mid + last_line_len
-    } else {
-        mid + 2usize.pow(lv as u32) / 2
-    };
-
-    let (left_slice, rest) = values.split_at_mut(mid);
-    let (mid, right_slice) = rest.split_at_mut(1);
-
-    mid.get_mut(0).unwrap().2 = index;
-    // 3 times faster for 50000 elements
-    [(left_slice, left(&index)), (right_slice, right(&index))]
-        .into_par_iter()
-        .for_each(|(s, i)| rec_sort(s, dim + 1, i));
-}
-
-#[cfg(test)]
-mod tests {
-    #![allow(clippy::float_cmp)]
-    #![allow(deprecated)]
-    use crate::sort;
-    use kd_tree::{euclid, Node, Tree};
-    use rand::Rng;
-    use std::ops::AddAssign;
-    use std::time::{Duration, Instant};
-    type Prng = rand_pcg::Mcg128Xsl64;
-
-    #[test]
-    fn fixed_test() {
-        let test = sort(vec![
-            ([5, 4], 0),
-            ([2, 3], 1),
-            ([8, 1], 2),
-            ([9, 6], 3),
-            ([7, 2], 4),
-            ([4, 7], 5),
-        ]);
-        let correct = [
-            ([7, 2], 4),
-            ([5, 4], 0),
-            ([9, 6], 3),
-            ([2, 3], 1),
-            ([4, 7], 5),
-            ([8, 1], 2),
-        ];
-
-        assert_eq!(test, correct)
-    }
-
-    #[test]
-    fn search() {
-        let sorted = sort(vec![
-            ([5, 4], 0),
-            ([2, 3], 1),
-            ([8, 1], 2),
-            ([9, 6], 3),
-            ([7, 2], 4),
-            ([4, 7], 5),
-        ]);
-
-        let nodes = sorted
-            .iter()
-            .map(|(p, v)| Node::new(*p, *v))
-            .collect::<Vec<_>>();
-        //T, V, SIZE, DIM, MAX_LEVEL
-        let tree = Tree::<i32, i32, 2, 3> {
-            nodes: nodes.as_slice(),
-        };
-
-        assert_eq!(tree.search(&[5, 3]).val(), &[5, 4]);
-        assert_eq!(tree.search(&[9, 7]).val(), &[9, 6]);
-        assert_eq!(tree.search(&[3, 9]).val(), &[4, 7]);
-        assert_eq!(tree.search(&[3, 0]).val(), &[2, 3]);
-    }
-
-    #[test]
-    fn random_search() {
-        let mut rng = Prng::new(0xcafef00dd15ea5e5);
-        let mut duration_linear_min = Duration::from_secs(9999);
-        let mut duration_linear = Duration::from_secs(0);
-        let mut duration_linear_max = Duration::from_secs(0);
-        let mut duration_tree_min = Duration::from_secs(9999);
-        let mut duration_tree = Duration::from_secs(0);
-        let mut duration_tree_max = Duration::from_secs(0);
-
-        let (iterations, searches) = if cfg!(debug_assertions) {
-            (10, 500)
-        } else {
-            (100, 500)
-        };
-
-        #[cfg(debug_assertions)]
-        const TREE_SIZE: usize = 5000;
-        #[cfg(not(debug_assertions))]
-        const TREE_SIZE: usize = 60000;
-
-        #[cfg(debug_assertions)]
-        const MAX_LEVEL: usize = 13;
-        #[cfg(not(debug_assertions))]
-        const MAX_LEVEL: usize = 16;
-
-        for _ in 0..iterations {
-            let values: Vec<([f64; 3], i32)> = (0..TREE_SIZE)
-                .map(|_| ([rng.gen(), rng.gen(), rng.gen()], 0))
-                .collect();
-            let sorted = sort(values.clone());
-            let nodes: Vec<_> = sorted.iter().map(|(p, v)| Node::new(*p, *v)).collect();
-            let tree = Tree::<f64, i32, 3, MAX_LEVEL> {
-                nodes: nodes.as_slice(),
-            };
-
-            let search_points: Vec<[f64; 3]> =
-                std::iter::repeat_with(|| [rng.gen(), rng.gen(), rng.gen()])
-                    .take(searches)
-                    .collect();
-            for point in search_points {
-                let now = Instant::now();
-                let closest: f64 = values
-                    .iter()
-                    .map(|a| euclid(&point, &a.0))
-                    .min_by(|a, b| a.partial_cmp(b).unwrap())
-                    .unwrap();
-                let lin_dur = now.elapsed();
-                let now = Instant::now();
-                let closest_node = tree.search(&point);
-                let tree_dur = now.elapsed();
-                assert_eq!(closest, euclid(closest_node.val(), &point),);
-
-                duration_linear.add_assign(lin_dur);
-                if lin_dur < duration_linear_min {
-                    duration_linear_min = lin_dur
-                } else if lin_dur > duration_linear_max {
-                    duration_linear_max = lin_dur
-                }
-
-                duration_tree.add_assign(tree_dur);
-                if tree_dur < duration_tree_min {
-                    duration_tree_min = tree_dur
-                } else if tree_dur > duration_tree_max {
-                    duration_tree_max = tree_dur
-                }
-            }
-        }
-
-        println!("Duration Linear Search: {:?}", duration_linear);
-        println!("Duration KD Tree Search: {:?}", duration_tree);
-        println!(
-            "{:.2}x increase in performance",
-            duration_linear.as_micros() as f64 / duration_tree.as_micros() as f64
-        );
-        println!("\nFastest KD Tree Search: {:?}", duration_tree_min);
-        println!("Slowest KD Tree Search: {:?}", duration_tree_max);
-        println!("Fastest Linear Search: {:?}", duration_linear_min);
-        println!("Slowest Linear Search: {:?}", duration_linear_max);
-    }
-}
diff --git a/opentaws/Cargo.toml b/opentaws/Cargo.toml
index 508f6c4..daa51c5 100644
--- a/opentaws/Cargo.toml
+++ b/opentaws/Cargo.toml
@@ -22,17 +22,15 @@ is-it-maintained-open-issues = { repository = "aeronautical-informatics/openTAWS
 maintenance = { status = "actively-developed" }
 
 [features]
-default = ["use-serde"]
-use-serde = ["uom/use_serde"]
 
 [dependencies]
-aviation_database = { path = "../aviation_database" }
-lazy_static = { version = "1", features = ["spin_no_std"] }
+lazy_static = { version = "1", default-features = false, features = [
+	"spin_no_std",
+] }
 heapless = "0.7.16"
 hash32 = "0.2.1"
-nalgebra = { version = "0.31.1", features = ["libm"] }
-
-uom = { version = "0", default-features = false, features = ["f64", "si", "libm"] }
-ringbuffer = "0.8"
-serde = { version = "1.0", default-features = false, features = ["derive"] }
-serde_arrays = "*" # Serde const generic "workaround"
+nalgebra = { version = "0.32.2", default-features = false, features = ["libm"] }
+uom = { git = "https://github.com/moritz-meier/uom.git", branch = "fix-missing-libm", default-features = false, features = [
+	"f64",
+	"si",
+] }
diff --git a/opentaws/src/aircraft_state.rs b/opentaws/src/aircraft_state.rs
index 4885658..02267ac 100644
--- a/opentaws/src/aircraft_state.rs
+++ b/opentaws/src/aircraft_state.rs
@@ -6,17 +6,15 @@ use core::{
 
 use lazy_static::lazy_static;
 
-use crate::prelude::*;
-use ::uom::fmt::DisplayStyle;
-use ::uom::si::ratio::ratio;
+use crate::prelude::{uom::fmt::DisplayStyle, *};
 
 // ToDo: turn into consts when uom supports const new
 lazy_static! {
-    static ref ZERO_REVOLUTION: Angle = Angle::new::<revolution>(0.0);
-    static ref QUARTER_REVOLUTION: Angle = Angle::new::<revolution>(0.25);
-    static ref HALF_REVOLUTION: Angle = Angle::new::<revolution>(0.5);
-    static ref ONE_REVOLUTION: Angle = Angle::new::<revolution>(1.0);
-    static ref ZERO_LENGTH: Length = Length::new::<foot>(0.0);
+    static ref ZERO_REVOLUTION: Angle = Angle::new::<angle::revolution>(0.0);
+    static ref QUARTER_REVOLUTION: Angle = Angle::new::<angle::revolution>(0.25);
+    static ref HALF_REVOLUTION: Angle = Angle::new::<angle::revolution>(0.5);
+    static ref ONE_REVOLUTION: Angle = Angle::new::<angle::revolution>(1.0);
+    static ref ZERO_LENGTH: Length = Length::new::<length::foot>(0.0);
 }
 
 /// Marker for normalized AircraftStates
@@ -33,7 +31,6 @@ pub type NormalizedAircraftState = AircraftState<Normalized>;
 
 /// Represents the current state of an aircraft
 #[derive(Clone, Debug, Default)]
-#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct AircraftState<T = ()> {
     /// Time when this aircraft state was emitted
     timestamp: Time,
@@ -243,7 +240,11 @@ impl<T> AircraftState<T> {
     }
 
     fn wrap_position(lat: Angle, lon: Angle) -> (Angle, Angle) {
-        let quadrant = ((lat.abs() / *QUARTER_REVOLUTION).get::<ratio>().floor() as i64) % 4;
+        use ::uom::num_traits::Float;
+        let quadrant = ((lat.abs() / *QUARTER_REVOLUTION)
+            .get::<ratio::ratio>()
+            .floor() as i64)
+            % 4;
 
         let pole = if lat > *ZERO_REVOLUTION {
             *QUARTER_REVOLUTION
@@ -302,11 +303,11 @@ impl From<NormalizedAircraftState> for AircraftState {
 
 impl<T> Display for AircraftState<T> {
     fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
-        let s = Time::format_args(time_second, DisplayStyle::Abbreviation);
-        let ft = Length::format_args(foot, DisplayStyle::Abbreviation);
-        let deg = Angle::format_args(degree, DisplayStyle::Abbreviation);
-        let fpm = Velocity::format_args(foot_per_minute, DisplayStyle::Abbreviation);
-        let kt = Velocity::format_args(knot, DisplayStyle::Abbreviation);
+        let s = Time::format_args(time::second, DisplayStyle::Abbreviation);
+        let ft = Length::format_args(length::foot, DisplayStyle::Abbreviation);
+        let deg = Angle::format_args(angle::degree, DisplayStyle::Abbreviation);
+        let fpm = Velocity::format_args(velocity::foot_per_minute, DisplayStyle::Abbreviation);
+        let kt = Velocity::format_args(velocity::knot, DisplayStyle::Abbreviation);
 
         write!(
             f,
@@ -337,7 +338,6 @@ AircrafState: {{
 
 /// Represents a flight segment
 #[derive(Copy, Clone, Debug, PartialEq, Eq)]
-#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
 pub enum FlightSegment {
     /// The aircraft is in cruise flight situation
     Cruise,
@@ -387,13 +387,13 @@ mod test {
             #[test]
             fn $name() {
                 let mut state = AircraftState::new();
-                *state.position_latitude_mut() = Angle::new::<degree>($pos.0);
-                *state.position_longitude_mut() = Angle::new::<degree>($pos.1);
+                *state.position_latitude_mut() = Angle::new::<angle::degree>($pos.0);
+                *state.position_longitude_mut() = Angle::new::<angle::degree>($pos.1);
 
                 let norm_state = state.normalize();
 
-				assert!(angle_approx_eq(norm_state.position_latitude(), Angle::new::<degree>($expected.0)));
-				assert!(angle_approx_eq(norm_state.position_longitude(), Angle::new::<degree>($expected.1)));
+				assert!(angle_approx_eq(norm_state.position_latitude(), Angle::new::<angle::degree>($expected.0)));
+				assert!(angle_approx_eq(norm_state.position_longitude(), Angle::new::<angle::degree>($expected.1)));
             })*
         };
     }
@@ -434,26 +434,26 @@ mod test {
     #[test]
     fn test_clamp_pos_alt_gnd() {
         let mut state = AircraftState::new();
-        *state.altitude_ground_mut() = Length::new::<foot>(1000.0);
+        *state.altitude_ground_mut() = Length::new::<length::foot>(1000.0);
 
         let norm_state = state.normalize();
 
         assert!(length_approx_eq(
             norm_state.altitude_ground(),
-            Length::new::<foot>(1000.0)
+            Length::new::<length::foot>(1000.0)
         ))
     }
 
     #[test]
     fn test_clamp_neg_alt_gnd() {
         let mut state = AircraftState::new();
-        *state.altitude_ground_mut() = Length::new::<foot>(-1000.0);
+        *state.altitude_ground_mut() = Length::new::<length::foot>(-1000.0);
 
         let norm_state = state.normalize();
 
         assert!(length_approx_eq(
             norm_state.altitude_ground(),
-            Length::new::<foot>(0.0)
+            Length::new::<length::foot>(0.0)
         ))
     }
 
@@ -462,11 +462,11 @@ mod test {
             #[test]
             fn $name() {
                 let mut state = AircraftState::new();
-                *state.heading_mut() = Angle::new::<degree>($hdg);
+                *state.heading_mut() = Angle::new::<angle::degree>($hdg);
 
                 let norm_state = state.normalize();
 
-				assert!(angle_approx_eq(norm_state.heading(), Angle::new::<degree>($expected)));
+				assert!(angle_approx_eq(norm_state.heading(), Angle::new::<angle::degree>($expected)));
             })*
         };
     }
@@ -491,11 +491,11 @@ mod test {
             #[test]
             fn $name() {
                 let mut state = AircraftState::new();
-                *state.track_mut() = Angle::new::<degree>($trk);
+                *state.track_mut() = Angle::new::<angle::degree>($trk);
 
                 let norm_state = state.normalize();
 
-				assert!(angle_approx_eq(norm_state.track(), Angle::new::<degree>($expected)));
+				assert!(angle_approx_eq(norm_state.track(), Angle::new::<angle::degree>($expected)));
             })*
         };
     }
@@ -516,10 +516,10 @@ mod test {
     }
 
     fn angle_approx_eq(value: Angle, target: Angle) -> bool {
-        (target - value).abs() < Angle::new::<degree>(EPS)
+        (target - value).abs() < Angle::new::<angle::degree>(EPS)
     }
 
     fn length_approx_eq(value: Length, target: Length) -> bool {
-        (target - value).abs() < Length::new::<foot>(EPS)
+        (target - value).abs() < Length::new::<length::foot>(EPS)
     }
 }
diff --git a/opentaws/src/alerts.rs b/opentaws/src/alerts.rs
index 0293ca7..19e86d2 100644
--- a/opentaws/src/alerts.rs
+++ b/opentaws/src/alerts.rs
@@ -1,8 +1,8 @@
-use crate::prelude::*;
-
-pub use hash32::{Hash, Hasher};
+use hash32::Hash;
 use heapless::FnvIndexMap;
 
+use crate::prelude::*;
+
 /// TAWS Alert levels
 #[derive(Copy, Clone, Debug, PartialEq, Eq, PartialOrd, Ord)]
 pub enum AlertLevel {
diff --git a/opentaws/src/class_c.rs b/opentaws/src/class_c.rs
index 438f4dc..65da407 100644
--- a/opentaws/src/class_c.rs
+++ b/opentaws/src/class_c.rs
@@ -8,8 +8,8 @@ use core::{fmt::Display, slice::Iter};
 use hash32::{Hash, Hasher};
 
 use crate::alerts::Alert;
-use crate::prelude::*;
 
+use crate::prelude::*;
 pub use {ffac::*, /*flta::*,*/ mode1::*, mode3::*, pda::*};
 
 #[derive(Copy, Clone, Debug, PartialEq, Eq)]
@@ -38,7 +38,7 @@ impl TawsAlertSource for ClassC_Source {
     const NUM_ALERT_SOURCES: usize = 5;
     const ALERT_SOURCES: &'static [Self] = &[
         ClassC_Source::Ffac,
-		//ClassC_Source::Flta,
+        //ClassC_Source::Flta,
         ClassC_Source::Mode1,
         ClassC_Source::Mode3,
         ClassC_Source::Pda,
@@ -94,7 +94,7 @@ impl TawsFunctionalities for ClassC {
     ) -> &dyn TawsFunctionality<AlertSource = Self::AlertSource, Alert = Self::Alert> {
         match alert_src {
             ClassC_Source::Ffac => &self.ffac,
-			//ClassC_Source::Flta => &self.flta,
+            //ClassC_Source::Flta => &self.flta,
             ClassC_Source::Mode1 => &self.mode1,
             ClassC_Source::Mode3 => &self.mode3,
             ClassC_Source::Pda => &self.pda,
@@ -107,7 +107,7 @@ impl TawsFunctionalities for ClassC {
     ) -> &mut dyn TawsFunctionality<AlertSource = Self::AlertSource, Alert = Self::Alert> {
         match alert_src {
             ClassC_Source::Ffac => &mut self.ffac,
-			//ClassC_Source::Flta => &mut self.flta,
+            //ClassC_Source::Flta => &mut self.flta,
             ClassC_Source::Mode1 => &mut self.mode1,
             ClassC_Source::Mode3 => &mut self.mode3,
             ClassC_Source::Pda => &mut self.pda,
@@ -139,7 +139,6 @@ impl TawsError for ClassCError {}
 impl From<ClassCError> for &dyn TawsError {
     fn from(err: ClassCError) -> Self {
         match err {
-
             ClassCError::InvalidAircraftState => &ClassCError::InvalidAircraftState,
         }
     }
diff --git a/opentaws/src/class_c/ffac.rs b/opentaws/src/class_c/ffac.rs
index ec5196d..e7d1e2a 100644
--- a/opentaws/src/class_c/ffac.rs
+++ b/opentaws/src/class_c/ffac.rs
@@ -1,9 +1,9 @@
-use crate::{alerts::*, prelude::*};
+use lazy_static::lazy_static;
 
-use super::{ClassCError, ClassC_Source};
+use crate::alerts::*;
+use crate::prelude::{num_traits::Zero, *};
 
-use ::uom::num_traits::Zero;
-use lazy_static::lazy_static;
+use super::{ClassCError, ClassC_Source};
 
 #[derive(Clone, Debug)]
 pub struct Ffac {
@@ -83,5 +83,5 @@ impl TawsFunctionality for Ffac {
 }
 
 lazy_static! {
-    static ref FIVE_HUNDRED: Length = Length::new::<foot>(500.0); //ToDo make const
+    static ref FIVE_HUNDRED: Length = Length::new::<length::foot>(500.0); //ToDo make const
 }
diff --git a/opentaws/src/class_c/mode1.rs b/opentaws/src/class_c/mode1.rs
index bcb2b2f..a2fa582 100644
--- a/opentaws/src/class_c/mode1.rs
+++ b/opentaws/src/class_c/mode1.rs
@@ -1,9 +1,10 @@
-use crate::{alerts::*, envelope::*, prelude::*};
+use crate::prelude::*;
+use crate::{alerts::*, envelope::*};
 
 use super::ClassC_Source;
 
 use lazy_static::lazy_static;
-use nalgebra::{Vector, Vector2};
+use nalgebra::Vector2;
 
 #[derive(Clone, Debug)]
 pub struct Mode1 {
@@ -57,8 +58,8 @@ impl TawsFunctionality for Mode1 {
         &mut self,
         state: &NormalizedAircraftState,
     ) -> Result<Option<Self::Alert>, &'static dyn TawsError> {
-        let rod = -state.climb_rate().get::<foot_per_minute>();
-        let altitude_gnd = state.altitude_ground().get::<foot>();
+        let rod = -state.climb_rate().get::<velocity::foot_per_minute>();
+        let altitude_gnd = state.altitude_ground().get::<length::foot>();
 
         if !LIMITS.contains(Vector2::new(rod, altitude_gnd)) {
             let _x = 437;
diff --git a/opentaws/src/class_c/mode3.rs b/opentaws/src/class_c/mode3.rs
index 663f8a9..0b3606d 100644
--- a/opentaws/src/class_c/mode3.rs
+++ b/opentaws/src/class_c/mode3.rs
@@ -1,12 +1,10 @@
-use crate::{alerts::*, envelope::*, prelude::*};
-
-use super::ClassC_Source;
-
-use ::uom::num_traits::Zero;
 use lazy_static::lazy_static;
 use nalgebra::Vector2;
 
-use super::ClassCError;
+use crate::prelude::{num_traits::Zero, *};
+use crate::{alerts::*, envelope::*};
+
+use super::{ClassCError, ClassC_Source};
 
 #[derive(Clone, Debug)]
 pub struct Mode3 {
@@ -77,9 +75,10 @@ impl TawsFunctionality for Mode3 {
 
         self.max_altitude_ground = Length::max(self.max_altitude_ground, state.altitude_ground());
 
-        let altitude_loss = (self.max_altitude_ground - state.altitude_ground()).get::<foot>();
-        let rod = -state.climb_rate().get::<foot_per_minute>();
-        let altitude_gnd = state.altitude_ground().get::<foot>();
+        let altitude_loss =
+            (self.max_altitude_ground - state.altitude_ground()).get::<length::foot>();
+        let rod = -state.climb_rate().get::<velocity::foot_per_minute>();
+        let altitude_gnd = state.altitude_ground().get::<length::foot>();
 
         let method1_res = METHODE_1_CAUTION_ENVELOPE.contains(rod, altitude_gnd)?;
         let method2_res = METHODE_2_CAUTION_ENVELOPE.contains(altitude_loss, altitude_gnd)?;
@@ -108,7 +107,7 @@ lazy_static! {
         Vector2::new(330_000.0, 330_000.0)
     );
 
-	// Envelopes enlarged by d=10, to prevent floating pointing problems.
+    // Envelopes enlarged by d=10, to prevent floating pointing problems.
     static ref METHODE_1_CAUTION_ENVELOPE: Envelope::<4> = Envelope::new(
         *METHOD1_LIMITS,
         &[
diff --git a/opentaws/src/class_c/pda.rs b/opentaws/src/class_c/pda.rs
index 5b34e00..ad660fc 100644
--- a/opentaws/src/class_c/pda.rs
+++ b/opentaws/src/class_c/pda.rs
@@ -1,4 +1,5 @@
-use crate::{alerts::*, envelope::*, prelude::*};
+use crate::prelude::*;
+use crate::{alerts::*, envelope::*};
 
 use super::ClassC_Source;
 
@@ -44,7 +45,7 @@ impl TawsFunctionality for Pda {
         &mut self,
         state: &NormalizedAircraftState,
     ) -> Result<Option<Alert<ClassC_Source>>, &'static dyn TawsError> {
-        let altitude_gnd_foot = state.altitude_ground().get::<foot>();
+        let altitude_gnd_foot = state.altitude_ground().get::<length::foot>();
         let distance_to_nearest_airport_nm = 3.0; //ToDo
 
         self.armed = distance_to_nearest_airport_nm <= 5.0;
@@ -72,7 +73,7 @@ lazy_static! {
         Vector2::new(11_000.0, 330_000.0)
     );
 
-	// Envelopes enlarged by d=0.1, to prevent floating pointing problems.
+    // Envelopes enlarged by d=0.1, to prevent floating pointing problems.
     static ref CAUTION_ENVELOPE: Envelope::<6> = Envelope::new(
         *LIMITS,
         &[
diff --git a/opentaws/src/lib.rs b/opentaws/src/lib.rs
index 6220b21..8790920 100644
--- a/opentaws/src/lib.rs
+++ b/opentaws/src/lib.rs
@@ -8,7 +8,6 @@
 //! and C ABI as addiotional targets, but this did not lead anywehre usable _so far_. We are very
 //! open to suggestions, so please open an issue if you have some feedback.
 
-//#![feature(return_position_impl_trait_in_trait)]
 #![no_std]
 #![deny(unsafe_code)]
 #![allow(dead_code)]
@@ -23,10 +22,10 @@ pub mod class_c;
 pub mod envelope;
 pub mod prelude;
 
-use prelude::*;
-
 use core::fmt::Display;
 
+use crate::prelude::*;
+
 /// Abstraction for a TAWS system
 pub trait Taws {
     /// Alert source type
diff --git a/opentaws/src/prelude.rs b/opentaws/src/prelude.rs
index f6006e9..cd3b5ed 100644
--- a/opentaws/src/prelude.rs
+++ b/opentaws/src/prelude.rs
@@ -1,16 +1,15 @@
 pub use self::uom::*;
 pub use crate::aircraft_state::{AircraftState, FlightSegment, NormalizedAircraftState};
-pub use crate::alerts::AlertLevel;
 pub use crate::{
-    Taws, TawsAlert, TawsAlertSource, TawsAlerts, TawsError, TawsFunctionalities, TawsFunctionality,
+    alerts::AlertLevel, Taws, TawsAlert, TawsAlertSource, TawsAlerts, TawsError,
+    TawsFunctionalities, TawsFunctionality,
 };
 
-mod uom {
-    pub use uom::si::f64::{Angle, Length, Time, Velocity};
-    pub use uom::si::{
-        angle::{degree, minute as angular_minute, revolution, second as angular_second},
-        length::{foot, kilometer, meter, nautical_mile},
-        time::second as time_second,
-        velocity::{foot_per_minute, kilometer_per_hour, knot, meter_per_second},
-    };
+pub mod uom {
+    pub use uom::fmt;
+    pub use uom::num_traits;
+    pub use uom::si;
+    pub use uom::si::f64;
+    pub use uom::si::f64::{Acceleration, Angle, Length, Ratio, Time, Velocity};
+    pub use uom::si::{acceleration, angle, length, ratio, time, velocity};
 }
diff --git a/taws_minimal/Cargo.toml b/taws_minimal/Cargo.toml
index 25e86dc..9623718 100644
--- a/taws_minimal/Cargo.toml
+++ b/taws_minimal/Cargo.toml
@@ -23,44 +23,22 @@ maintenance = { status = "actively-developed" }
 
 [dependencies]
 opentaws = { path = "../opentaws" }
-aviation_database = { path = "../aviation_database" }
 
-
-
-uom = { version = "0", default-features = false, features = ["f64", "si", "libm"] }
-casey = "0.3"
-serde = { version = "1.0", default-features = false, features = ["derive"] }
-
-# testing and examples
-arbitrary = { version = "1", features = ["derive"], optional = true }
-#async-tungstenite = { version = "*", features = [
-#	"async-std-runtime",
-#], optional = true }
-#async-trait = { version = "0.1", optional = true }
-cucumber = { version = "0", optional = true }
-futures = { version = "0", optional = true }
-lazy_static = { version = "1.4", optional = true }
-rand = { version = "*", optional = true }
-rand_pcg = { version = "*", optional = true }
-#rayon = { version = "1.5", optional = true }
-#serde_json = { version = "1.0", optional = true }
-#smol = { version = "1", optional = true }
-regex = "1"
+[dev-dependencies]
+arbitrary = { version = "1", default-features = false, features = ["derive"] }
+cucumber = "0.19.1"
+futures = "0.3.28"
+lazy_static = "1.4"
+rand = "0.8.5"
+rand_pcg = "0.3.1"
+regex = "1.8.1"
+uom = { git = "https://github.com/moritz-meier/uom.git", branch = "fix-missing-libm", default-features = false, features = [
+	"f64",
+	"si",
+] }
 
 
 [[test]]
 name = "cucumber"
-harness = false # Allows Cucumber to print output instead of libtest
+harness = false            # Allows Cucumber to print output instead of libtest
 path = "tests/cucumber.rs"
-required-features = [
-	"arbitrary",
-	#"async-trait",
-	"cucumber",
-	"futures",
-	"lazy_static",
-	"rand",
-	"rand_pcg",
-	#"rayon",
-	#"serde_json",
-	#"smol",
-]
diff --git a/taws_minimal/src/lib.rs b/taws_minimal/src/lib.rs
index 846314c..c5a72df 100644
--- a/taws_minimal/src/lib.rs
+++ b/taws_minimal/src/lib.rs
@@ -1,3 +1,9 @@
+#![no_std]
+
+#[cfg(test)]
+#[macro_use]
+extern crate std;
+
 use opentaws::class_c::*;
 use opentaws::prelude::*;
 
diff --git a/taws_minimal/tests/cucumber.rs b/taws_minimal/tests/cucumber.rs
index 281762b..5f46794 100644
--- a/taws_minimal/tests/cucumber.rs
+++ b/taws_minimal/tests/cucumber.rs
@@ -4,10 +4,8 @@ mod util;
 use cucumber::{given, then, when, World};
 
 use opentaws::prelude::*;
-use taws_minimal::{Alert, AlertSource};
-use uom::si::f64::{Length, Velocity};
-use uom::si::{length, velocity};
-use util::aircraft_state::AircraftStateGenerator;
+use taws_minimal::AlertSource;
+
 use util::constraints::Constraint;
 use util::parameters::*;
 use util::world::MyWorld;
diff --git a/taws_minimal/tests/util/aircraft_state.rs b/taws_minimal/tests/util/aircraft_state.rs
index ff8e489..5d7e452 100644
--- a/taws_minimal/tests/util/aircraft_state.rs
+++ b/taws_minimal/tests/util/aircraft_state.rs
@@ -1,9 +1,10 @@
 use std::marker::PhantomData;
 
 use arbitrary::{Arbitrary, Unstructured};
-use opentaws::prelude::*;
 use rand::RngCore;
 
+use opentaws::prelude::*;
+
 use super::constraints::{AircraftStateConstraints, BouncingClamp};
 
 #[derive(Debug, Clone)]
@@ -13,20 +14,25 @@ impl<'a> Arbitrary<'a> for AircraftStateWrapper {
     fn arbitrary(u: &mut Unstructured<'a>) -> arbitrary::Result<Self> {
         let mut state = AircraftState::default();
 
-        *state.timestamp_mut() = Time::new::<time_second>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+        *state.timestamp_mut() =
+            Time::new::<time::second>(<i32 as Arbitrary>::arbitrary(u)? as f64);
         *state.position_latitude_mut() =
-            Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+            Angle::new::<angle::degree>(<i32 as Arbitrary>::arbitrary(u)? as f64);
         *state.position_longitude_mut() =
-            Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64);
-        *state.altitude_mut() = Length::new::<foot>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+            Angle::new::<angle::degree>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+        *state.altitude_mut() =
+            Length::new::<length::foot>(<i32 as Arbitrary>::arbitrary(u)? as f64);
         *state.altitude_ground_mut() =
-            Length::new::<foot>(<i32 as Arbitrary>::arbitrary(u)? as f64);
-        *state.speed_ground_mut() = Velocity::new::<knot>(<i32 as Arbitrary>::arbitrary(u)? as f64);
-        *state.speed_air_mut() = Velocity::new::<knot>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+            Length::new::<length::foot>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+        *state.speed_ground_mut() =
+            Velocity::new::<velocity::knot>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+        *state.speed_air_mut() =
+            Velocity::new::<velocity::knot>(<i32 as Arbitrary>::arbitrary(u)? as f64);
         *state.climb_rate_mut() =
-            Velocity::new::<foot_per_minute>(<i32 as Arbitrary>::arbitrary(u)? as f64);
-        *state.heading_mut() = Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64);
-        *state.track_mut() = Angle::new::<degree>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+            Velocity::new::<velocity::foot_per_minute>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+        *state.heading_mut() =
+            Angle::new::<angle::degree>(<i32 as Arbitrary>::arbitrary(u)? as f64);
+        *state.track_mut() = Angle::new::<angle::degree>(<i32 as Arbitrary>::arbitrary(u)? as f64);
         *state.situation_mut() = Some(FlightSegment::Cruise);
 
         Ok(AircraftStateWrapper(state))
@@ -41,11 +47,10 @@ impl<'a> Arbitrary<'a> for AircraftStateWrapper {
 type Prng = rand_pcg::Mcg128Xsl64;
 pub struct AircraftStateGenerator(pub Prng);
 
-
 impl Default for AircraftStateGenerator {
-	fn default() -> Self {
-		Self(Prng::new(0xcafef00dd15ea5e5))
-	}
+    fn default() -> Self {
+        Self(Prng::new(0xcafef00dd15ea5e5))
+    }
 }
 
 impl Iterator for AircraftStateGenerator {
@@ -59,7 +64,7 @@ impl Iterator for AircraftStateGenerator {
         }
         let mut u = Unstructured::new(&buf);
 
-		let mut state = AircraftStateWrapper::arbitrary(&mut u).unwrap().0; // the unwrap is safe, we guarantee that enough bytes are available
+        let mut state = AircraftStateWrapper::arbitrary(&mut u).unwrap().0; // the unwrap is safe, we guarantee that enough bytes are available
         Some(state)
     }
 }
diff --git a/taws_minimal/tests/util/constraints/aircraft_state_constraints.rs b/taws_minimal/tests/util/constraints/aircraft_state_constraints.rs
index f44a7f2..ea93097 100644
--- a/taws_minimal/tests/util/constraints/aircraft_state_constraints.rs
+++ b/taws_minimal/tests/util/constraints/aircraft_state_constraints.rs
@@ -1,5 +1,4 @@
 use opentaws::prelude::*;
-use uom::si::f64::{Angle, Length, Velocity};
 
 use super::{constraint_enforcement, Constraint, ConstraintEnforcer};
 
@@ -90,21 +89,33 @@ impl AircraftStateConstraints {
         self.situation = Some(situation);
     }
 
-	pub fn add_steep_approach_constraint(&mut self, is_steep: bool) {
-		if let Some(FlightSegment::Landing { ref mut steep_approach, .. }) = self.situation {
-			*steep_approach = is_steep;
-		}
-	}
+    pub fn add_steep_approach_constraint(&mut self, is_steep: bool) {
+        if let Some(FlightSegment::Landing {
+            ref mut steep_approach,
+            ..
+        }) = self.situation
+        {
+            *steep_approach = is_steep;
+        }
+    }
 
-	pub fn add_precision_approach_constraint(&mut self, is_precision: bool) {
-		if let Some(FlightSegment::Landing { ref mut precision_approach, .. }) = self.situation {
-			*precision_approach = is_precision;
-		}
-	}
+    pub fn add_precision_approach_constraint(&mut self, is_precision: bool) {
+        if let Some(FlightSegment::Landing {
+            ref mut precision_approach,
+            ..
+        }) = self.situation
+        {
+            *precision_approach = is_precision;
+        }
+    }
 
-	pub fn add_circling_approach_constraint(&mut self, is_circling: bool) {
-		if let Some(FlightSegment::Landing { ref mut circling_approach, .. }) = self.situation {
-			*circling_approach = is_circling;
-		}
-	}
+    pub fn add_circling_approach_constraint(&mut self, is_circling: bool) {
+        if let Some(FlightSegment::Landing {
+            ref mut circling_approach,
+            ..
+        }) = self.situation
+        {
+            *circling_approach = is_circling;
+        }
+    }
 }
diff --git a/taws_minimal/tests/util/world.rs b/taws_minimal/tests/util/world.rs
index 092c5f0..1a6a846 100644
--- a/taws_minimal/tests/util/world.rs
+++ b/taws_minimal/tests/util/world.rs
@@ -11,7 +11,7 @@ pub struct MyWorld {
     pub test_length: usize,
     pub phase: usize,
 
-	pub taws_constraints: AircraftStateConstraints,
+    pub taws_constraints: AircraftStateConstraints,
     pub state_gen: AircraftStateGenerator,
 }
 
@@ -19,24 +19,24 @@ impl Default for MyWorld {
     fn default() -> Self {
         let mut taws_constraints = AircraftStateConstraints::default();
 
-        let max_altitude_gnd = Length::new::<foot>(330_000.0);
+        let max_altitude_gnd = Length::new::<length::foot>(330_000.0);
         taws_constraints.add_altitude_ground_constraint(super::constraints::Constraint::InRange(
-            Length::new::<foot>(0.0),
+            Length::new::<length::foot>(0.0),
             max_altitude_gnd,
         ));
 
-        let min_max_climb_rate = Velocity::new::<foot_per_minute>(680_000.0);
+        let min_max_climb_rate = Velocity::new::<velocity::foot_per_minute>(680_000.0);
         taws_constraints.add_climb_rate_constraint(super::constraints::Constraint::InRange(
             -min_max_climb_rate,
             min_max_climb_rate,
         ));
 
-       Self {
+        Self {
             taws: MinimalTaws::new(),
             phases: vec![taws_constraints.clone()],
             test_length: 100,
             phase: 0,
-			taws_constraints: taws_constraints.clone(),
+            taws_constraints: taws_constraints.clone(),
             state_gen: AircraftStateGenerator::default(),
         }
     }

From 16bab21f9cec8f2c2ca7314f074a2a1ffbda06f9 Mon Sep 17 00:00:00 2001
From: Moritz Meier <moritz.meier@dlr.de>
Date: Fri, 2 Jun 2023 13:02:14 +0200
Subject: [PATCH 52/73] fix

---
 taws_minimal/tests/util/parameters.rs | 32 +++++++++++++++------------
 1 file changed, 18 insertions(+), 14 deletions(-)

diff --git a/taws_minimal/tests/util/parameters.rs b/taws_minimal/tests/util/parameters.rs
index 0a969fa..3bf3835 100644
--- a/taws_minimal/tests/util/parameters.rs
+++ b/taws_minimal/tests/util/parameters.rs
@@ -1,6 +1,6 @@
 use std::str::FromStr;
 
-use cucumber::{Parameter};
+use cucumber::Parameter;
 use lazy_static::lazy_static;
 use regex::Regex;
 
@@ -125,10 +125,10 @@ impl FromStr for ConstraintParameter {
             .map_err(|_| "invalid quantity format")?;
 
         match typ {
-			"equal" => match q2 {
-				Some(_) => Err(format!("unexpected: {}", s)),
-				None => Ok(Self(Constraint::Equal(q1)))
-			},
+            "equal" => match q2 {
+                Some(_) => Err(format!("unexpected: {}", s)),
+                None => Ok(Self(Constraint::Equal(q1))),
+            },
             "at least" => match q2 {
                 Some(_) => Err(format!("unexpected: {}", s)),
                 None => Ok(Self(Constraint::AtLeast(q1))),
@@ -172,7 +172,7 @@ pub struct FlightSegmentParameter(FlightSegment);
 
 impl From<FlightSegmentParameter> for FlightSegment {
     fn from(segment: FlightSegmentParameter) -> Self {
-		segment.0
+        segment.0
     }
 }
 
@@ -180,20 +180,24 @@ impl FromStr for FlightSegmentParameter {
     type Err = String;
 
     fn from_str(s: &str) -> Result<Self, Self::Err> {
-		let mut segment = s.trim().to_lowercase();
+        let mut segment = s.trim().to_lowercase();
         segment.retain(|c| !c.is_whitespace());
         match segment.as_str() {
-			"cruise" => Ok(Self(FlightSegment::Cruise)),
-			"take-off" => Ok(Self(FlightSegment::TakeOff)),
-			"approach" | "landing" => Ok(Self(FlightSegment::Landing { circling_approach: false, precision_approach: false, steep_approach: false })),
-			"go-around" => Ok(Self(FlightSegment::GoAround)),
-			_ => Err(format!("invalid flight segment: {}", s)),
-		}
+            "cruise" => Ok(Self(FlightSegment::Cruise)),
+            "take-off" => Ok(Self(FlightSegment::TakeOff)),
+            "approach" | "landing" => Ok(Self(FlightSegment::Landing {
+                circling_approach: false,
+                precision_approach: false,
+                steep_approach: false,
+            })),
+            "go-around" => Ok(Self(FlightSegment::GoAround)),
+            _ => Err(format!("invalid flight segment: {}", s)),
+        }
     }
 }
 
 impl Parameter for FlightSegmentParameter {
-	const NAME: &'static str = "flight-segment";
+    const NAME: &'static str = "flight-segment";
 
     const REGEX: &'static str = r"(?:cruise|take-off|landing|go-around|approach)";
 }

From ff4e7ed0f42cfdf59a823edb27bd4e5f11640dca Mon Sep 17 00:00:00 2001
From: Moritz Meier <moritz.meier@dlr.de>
Date: Fri, 2 Jun 2023 13:25:44 +0200
Subject: [PATCH 53/73] fix

---
 .github/workflows/rust.yml | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 2d9fb43..8c22299 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -2,9 +2,9 @@ name: main
 
 on:
   push:
-    branches: [ main, staging ]
+    branches: [main, staging]
   pull_request:
-    branches: [ main, staging ]
+    branches: [main, staging]
 
 jobs:
   format:
@@ -13,9 +13,9 @@ jobs:
       - uses: actions/checkout@v3
       - uses: actions-rs/toolchain@v1
         with:
-            toolchain: stable
-            components: rustfmt
-            override: true
+          toolchain: stable
+          components: rustfmt
+          override: true
       - name: Run tests
         run: cargo fmt -- --check
 
@@ -56,9 +56,9 @@ jobs:
           key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
       - uses: actions-rs/toolchain@v1
         with:
-            toolchain: nightly
-            components: clippy
-            override: true
+          toolchain: nightly
+          components: clippy
+          override: true
       - uses: actions-rs/clippy-check@v1
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
@@ -84,12 +84,12 @@ jobs:
           key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
       - uses: actions-rs/toolchain@v1
         with:
-            toolchain: nightly
-            components: clippy
-            override: true
+          toolchain: nightly
+          components: clippy
+          override: true
       - name: Generate code coverage
         run: |
-          cargo +nightly tarpaulin --verbose --all-features --workspace --timeout 120 --out Xml
+          cargo +nightly tarpaulin --verbose --all-features --workspace --implicit-test-threads --timeout 120 --out Xml
       - name: Upload to codecov.io
         uses: codecov/codecov-action@v1
         with:

From c5a119f4dfe8861e072ac0c945b25486c65b404e Mon Sep 17 00:00:00 2001
From: Tim Schubert <Tim Schubert tim.schubert@dlr.de>
Date: Wed, 7 Jun 2023 11:04:18 +0200
Subject: [PATCH 54/73] Add armv7a-none-eabi target

---
 flake.nix | 1 +
 1 file changed, 1 insertion(+)

diff --git a/flake.nix b/flake.nix
index f7b0001..79a7e3b 100644
--- a/flake.nix
+++ b/flake.nix
@@ -21,6 +21,7 @@
             stable.cargo
             stable.rustc
             stable.rustfmt
+            targets.armv7a-none-eabi.stable.rust-std
           ];
           naersk-lib = (naersk.lib."${system}".override {
             cargo = rust-toolchain;

From fc5e4c53fe7568c81e84e6a73855aa68e0262984 Mon Sep 17 00:00:00 2001
From: Tim Schubert <Tim Schubert tim.schubert@dlr.de>
Date: Wed, 7 Jun 2023 11:24:08 +0200
Subject: [PATCH 55/73] Readd serde support

Add rust-analyzer in correct version
---
 Cargo.lock                     | 2 ++
 flake.nix                      | 2 +-
 opentaws/Cargo.toml            | 3 +++
 opentaws/src/aircraft_state.rs | 3 ++-
 opentaws/src/alerts.rs         | 2 ++
 5 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index d28399a..9a89504 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -828,6 +828,7 @@ dependencies = [
  "heapless",
  "lazy_static",
  "nalgebra",
+ "serde",
  "uom",
 ]
 
@@ -1304,6 +1305,7 @@ version = "0.34.0"
 source = "git+https://github.com/moritz-meier/uom.git?branch=fix-missing-libm#4ddb11b11b11b333a98185c19336d16c85e22c9c"
 dependencies = [
  "num-traits",
+ "serde",
  "typenum",
 ]
 
diff --git a/flake.nix b/flake.nix
index 79a7e3b..e866ee4 100644
--- a/flake.nix
+++ b/flake.nix
@@ -17,7 +17,7 @@
         let
           pkgs = import nixpkgs { inherit system; };
           rust-toolchain = with fenix.packages.${system}; combine [
-            rust-analyzer
+            stable.rust-analyzer
             stable.cargo
             stable.rustc
             stable.rustfmt
diff --git a/opentaws/Cargo.toml b/opentaws/Cargo.toml
index daa51c5..c9d2fcd 100644
--- a/opentaws/Cargo.toml
+++ b/opentaws/Cargo.toml
@@ -22,8 +22,11 @@ is-it-maintained-open-issues = { repository = "aeronautical-informatics/openTAWS
 maintenance = { status = "actively-developed" }
 
 [features]
+default = ["use-serde"]
+use-serde = ["serde", "uom/use_serde"]
 
 [dependencies]
+serde = { version = "1.0", default-features = false, optional = true, features = ["derive"] }
 lazy_static = { version = "1", default-features = false, features = [
 	"spin_no_std",
 ] }
diff --git a/opentaws/src/aircraft_state.rs b/opentaws/src/aircraft_state.rs
index 02267ac..55e8cd2 100644
--- a/opentaws/src/aircraft_state.rs
+++ b/opentaws/src/aircraft_state.rs
@@ -30,6 +30,7 @@ pub struct Normalized;
 pub type NormalizedAircraftState = AircraftState<Normalized>;
 
 /// Represents the current state of an aircraft
+#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
 #[derive(Clone, Debug, Default)]
 pub struct AircraftState<T = ()> {
     /// Time when this aircraft state was emitted
@@ -240,7 +241,6 @@ impl<T> AircraftState<T> {
     }
 
     fn wrap_position(lat: Angle, lon: Angle) -> (Angle, Angle) {
-        use ::uom::num_traits::Float;
         let quadrant = ((lat.abs() / *QUARTER_REVOLUTION)
             .get::<ratio::ratio>()
             .floor() as i64)
@@ -337,6 +337,7 @@ AircrafState: {{
 }
 
 /// Represents a flight segment
+#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
 #[derive(Copy, Clone, Debug, PartialEq, Eq)]
 pub enum FlightSegment {
     /// The aircraft is in cruise flight situation
diff --git a/opentaws/src/alerts.rs b/opentaws/src/alerts.rs
index 19e86d2..92255af 100644
--- a/opentaws/src/alerts.rs
+++ b/opentaws/src/alerts.rs
@@ -4,6 +4,7 @@ use heapless::FnvIndexMap;
 use crate::prelude::*;
 
 /// TAWS Alert levels
+#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
 #[derive(Copy, Clone, Debug, PartialEq, Eq, PartialOrd, Ord)]
 pub enum AlertLevel {
     /// The level or category of alert for conditions that require immediate flight crew awareness
@@ -20,6 +21,7 @@ pub enum AlertLevel {
 }
 
 /// Represents a TAWS alert
+#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
 #[derive(Copy, Clone, Debug, PartialEq, Eq)]
 pub struct Alert<AlertSource: TawsAlertSource> {
     /// The source resp. the TAWS functionallity which emitted this alert

From f711303dd3abe281963523846e7845021a93fc49 Mon Sep 17 00:00:00 2001
From: Tim Schubert <Tim Schubert tim.schubert@dlr.de>
Date: Wed, 7 Jun 2023 13:53:29 +0200
Subject: [PATCH 56/73] Readd import because it is needed when using the
 opentaws crate

---
 opentaws/src/aircraft_state.rs | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/opentaws/src/aircraft_state.rs b/opentaws/src/aircraft_state.rs
index 55e8cd2..20826fa 100644
--- a/opentaws/src/aircraft_state.rs
+++ b/opentaws/src/aircraft_state.rs
@@ -241,6 +241,9 @@ impl<T> AircraftState<T> {
     }
 
     fn wrap_position(lat: Angle, lon: Angle) -> (Angle, Angle) {
+        #[allow(unused_imports)]
+        use crate::prelude::uom::num_traits::Float;
+
         let quadrant = ((lat.abs() / *QUARTER_REVOLUTION)
             .get::<ratio::ratio>()
             .floor() as i64)

From 569f06d8dd9e2c55f337607755d4f8a381064613 Mon Sep 17 00:00:00 2001
From: Moritz Meier <moritz.meier@dlr.de>
Date: Wed, 20 Sep 2023 15:35:12 +0200
Subject: [PATCH 57/73] feat: update heapless

update heapless dependency to current main branch. last release on crates.io is over a year old.
---
 Cargo.lock              | 468 +++++++++++++++++-----------------------
 opentaws/Cargo.toml     |   3 +-
 opentaws/src/alerts.rs  |  14 +-
 opentaws/src/class_c.rs |  12 +-
 4 files changed, 202 insertions(+), 295 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 9a89504..f47c360 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2,61 +2,40 @@
 # It is not intended for manual editing.
 version = 3
 
-[[package]]
-name = "ahash"
-version = "0.7.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fcb51a0695d8f838b1ee009b3fbf66bda078cd64590202a864a8f3e8c4315c47"
-dependencies = [
- "getrandom",
- "once_cell",
- "version_check",
-]
-
-[[package]]
-name = "aho-corasick"
-version = "0.7.20"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cc936419f96fa211c1b9166887b38e5e40b19958e5b895be7c1f93adec7071ac"
-dependencies = [
- "memchr",
-]
-
 [[package]]
 name = "aho-corasick"
-version = "1.0.1"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "67fc08ce920c31afb70f013dcce1bfc3a3195de6a228474e45e1f145b36f8d04"
+checksum = "0f2135563fb5c609d2b2b87c1e8ce7bc41b0b45430fa9661f457981503dd5bf0"
 dependencies = [
  "memchr",
 ]
 
 [[package]]
 name = "anstream"
-version = "0.3.2"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0ca84f3628370c59db74ee214b3263d58f9aadd9b4fe7e711fd87dc452b7f163"
+checksum = "b1f58811cfac344940f1a400b6e6231ce35171f614f26439e80f8c1465c5cc0c"
 dependencies = [
  "anstyle",
  "anstyle-parse",
  "anstyle-query",
  "anstyle-wincon",
  "colorchoice",
- "is-terminal",
  "utf8parse",
 ]
 
 [[package]]
 name = "anstyle"
-version = "1.0.0"
+version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "41ed9a86bf92ae6580e0a31281f65a1b1d867c0cc68d5346e2ae128dddfa6a7d"
+checksum = "b84bf0a05bbb2a83e5eb6fa36bb6e87baa08193c35ff52bbf6b38d8af2890e46"
 
 [[package]]
 name = "anstyle-parse"
-version = "0.2.0"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e765fd216e48e067936442276d1d57399e37bce53c264d6fefbe298080cb57ee"
+checksum = "938874ff5980b03a87c5524b3ae5b59cf99b1d6bc836848df7bc5ada9643c333"
 dependencies = [
  "utf8parse",
 ]
@@ -72,9 +51,9 @@ dependencies = [
 
 [[package]]
 name = "anstyle-wincon"
-version = "1.0.1"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "180abfa45703aebe0093f79badacc01b8fd4ea2e35118747e5811127f926e188"
+checksum = "58f54d10c6dfa51283a066ceab3ec1ab78d13fae00aa49243a45e4571fb79dfd"
 dependencies = [
  "anstyle",
  "windows-sys 0.48.0",
@@ -82,9 +61,9 @@ dependencies = [
 
 [[package]]
 name = "anyhow"
-version = "1.0.71"
+version = "1.0.75"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c7d0618f0e0b7e8ff11427422b64564d5fb0be1940354bfe2e0529b18a9d9b8"
+checksum = "a4668cab20f66d8d020e1fbc0ebe47217433c1b6c8f2040faf858554e394ace6"
 
 [[package]]
 name = "approx"
@@ -106,20 +85,20 @@ dependencies = [
 
 [[package]]
 name = "async-trait"
-version = "0.1.68"
+version = "0.1.73"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b9ccdd8f2a161be9bd5c023df56f1b2a0bd1d83872ae53b71a84a12c9bf6e842"
+checksum = "bc00ceb34980c03614e35a3a4e218276a0a824e911d07651cd0d858a51e8c0f0"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.37",
 ]
 
 [[package]]
 name = "atomic-polyfill"
-version = "0.1.11"
+version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3ff7eb3f316534d83a8a2c3d1674ace8a5a71198eba31e2e2b597833f699b28"
+checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
 dependencies = [
  "critical-section",
 ]
@@ -130,7 +109,7 @@ version = "0.2.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d9b39be18770d11421cdb1b9947a45dd3f37e93092cbf377614828a319d5fee8"
 dependencies = [
- "hermit-abi 0.1.19",
+ "hermit-abi",
  "libc",
  "winapi",
 ]
@@ -147,11 +126,17 @@ version = "1.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
+[[package]]
+name = "bitflags"
+version = "2.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b4682ae6287fcf752ecaabbfcc7b6f9b72aa33933dc23a554d853aea8eea8635"
+
 [[package]]
 name = "bstr"
-version = "1.4.0"
+version = "1.6.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c3d4260bcc2e8fc9df1eac4919a720effeb63a3f0952f5bf4944adfa18897f09"
+checksum = "4c2f7349907b712260e64b0afe2f84692af14a454be26187d9df565c7f69266a"
 dependencies = [
  "memchr",
  "serde",
@@ -171,9 +156,12 @@ checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
 
 [[package]]
 name = "cc"
-version = "1.0.79"
+version = "1.0.83"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "50d30906286121d95be3d479533b458f87493b30a4b5f79a607db8f5d11aa91f"
+checksum = "f1174fb0b6ec23863f8b971027804a42614e347eafb0a95bf0b12cdae21fc4d0"
+dependencies = [
+ "libc",
+]
 
 [[package]]
 name = "cfg-if"
@@ -183,24 +171,22 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
 [[package]]
 name = "clap"
-version = "4.2.7"
+version = "4.4.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "34d21f9bf1b425d2968943631ec91202fe5e837264063503708b83013f8fc938"
+checksum = "b1d7b8d5ec32af0fadc644bf1fd509a688c2103b185644bb1e29d164e0703136"
 dependencies = [
  "clap_builder",
  "clap_derive",
- "once_cell",
 ]
 
 [[package]]
 name = "clap_builder"
-version = "4.2.7"
+version = "4.4.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "914c8c79fb560f238ef6429439a30023c862f7a28e688c58f7203f12b29970bd"
+checksum = "5179bb514e4d7c2051749d8fcefa2ed6d06a9f4e6d69faf3805f5d80b8cf8d56"
 dependencies = [
  "anstream",
  "anstyle",
- "bitflags",
  "clap_lex",
  "strsim",
  "terminal_size",
@@ -208,21 +194,21 @@ dependencies = [
 
 [[package]]
 name = "clap_derive"
-version = "4.2.0"
+version = "4.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f9644cd56d6b87dbe899ef8b053e331c0637664e9e21a33dfcdc36093f5c5c4"
+checksum = "0862016ff20d69b84ef8247369fabf5c008a7417002411897d40ee1f4532b873"
 dependencies = [
  "heck 0.4.1",
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.37",
 ]
 
 [[package]]
 name = "clap_lex"
-version = "0.4.1"
+version = "0.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a2dd5a6fe8c6e3502f568a6353e5273bbb15193ad9a89e457b9970798efbea1"
+checksum = "cd7cc57abe963c6d3b9d8be5b06ba7c8957a930305ca90304f24ef040aa6f961"
 
 [[package]]
 name = "colorchoice"
@@ -232,32 +218,22 @@ checksum = "acbf1af155f9b9ef647e42cdc158db4b64a1b61f743629225fde6f3e0be2a7c7"
 
 [[package]]
 name = "console"
-version = "0.15.5"
+version = "0.15.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c3d79fbe8970a77e3e34151cc13d3b3e248aa0faaecb9f6091fa07ebefe5ad60"
+checksum = "c926e00cc70edefdc64d3a5ff31cc65bb97a3460097762bd23afb4d8145fccf8"
 dependencies = [
  "encode_unicode",
  "lazy_static",
  "libc",
  "unicode-width",
- "windows-sys 0.42.0",
+ "windows-sys 0.45.0",
 ]
 
 [[package]]
 name = "critical-section"
-version = "1.1.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52"
-
-[[package]]
-name = "ctor"
-version = "0.2.0"
+version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dd4056f63fce3b82d852c3da92b08ea59959890813a7f4ce9c0ff85b10cf301b"
-dependencies = [
- "quote",
- "syn 2.0.16",
-]
+checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
 
 [[package]]
 name = "cucumber"
@@ -320,13 +296,13 @@ dependencies = [
 
 [[package]]
 name = "derive_arbitrary"
-version = "1.3.0"
+version = "1.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f3cdeb9ec472d588e539a818b2dee436825730da08ad0017c4b1a17676bdc8b7"
+checksum = "53e0efad4403bfc52dc201159c4b842a246a14b98c64b55dfd0f2d89729dfeb8"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.37",
 ]
 
 [[package]]
@@ -348,9 +324,9 @@ checksum = "669a445ee724c5c69b1b06fe0b63e70a1c84bc9bb7d9696cd4f4e3ec45050408"
 
 [[package]]
 name = "either"
-version = "1.8.1"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7fcaabb2fef8c910e7f4c7ce9f67a1283a1715879a7c230ca9d6d1ae31f16d91"
+checksum = "a26ae43d7bcc3b814de94796a5e736d4029efb0ee900c12e2d54c993ad1a1e07"
 
 [[package]]
 name = "encode_unicode"
@@ -360,9 +336,9 @@ checksum = "a357d28ed41a50f9c765dbfe56cbc04a64e53e5fc58ba79fbc34c10ef3df831f"
 
 [[package]]
 name = "errno"
-version = "0.3.1"
+version = "0.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4bcfec3a70f97c962c307b2d2c56e358cf1d00b558d74262b5f929ee8cc7e73a"
+checksum = "136526188508e25c6fef639d7927dfb3e0e3084488bf202267829cf7fc23dbdd"
 dependencies = [
  "errno-dragonfly",
  "libc",
@@ -441,7 +417,7 @@ checksum = "89ca545a94061b6365f2c7355b4b32bd20df3ff95f02da9329b34ccc3bd6ee72"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.37",
 ]
 
 [[package]]
@@ -476,9 +452,9 @@ dependencies = [
 
 [[package]]
 name = "getrandom"
-version = "0.2.9"
+version = "0.2.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c85e1d9ab2eadba7e5040d4e09cbd6d072b76a557ad64e797c2cb9d4da21d7e4"
+checksum = "be4136b2a15dd319360be1c07d9933517ccf0be8f16bf62a3bee4f0d618df427"
 dependencies = [
  "cfg-if",
  "libc",
@@ -502,24 +478,13 @@ dependencies = [
  "typed-builder",
 ]
 
-[[package]]
-name = "ghost"
-version = "0.1.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e77ac7b51b8e6313251737fcef4b1c01a2ea102bde68415b62c0ee9268fec357"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.16",
-]
-
 [[package]]
 name = "globset"
-version = "0.4.10"
+version = "0.4.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "029d74589adefde59de1a0c4f4732695c32805624aec7b68d91503d4dba79afc"
+checksum = "759c97c1e17c55525b57192c06a267cda0ac5210b222d6b82189a2338fa1c13d"
 dependencies = [
- "aho-corasick 0.7.20",
+ "aho-corasick",
  "bstr",
  "fnv",
  "log",
@@ -532,34 +497,24 @@ version = "0.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "93e3af942408868f6934a7b85134a3230832b9977cf66125df2f9edcfce4ddcc"
 dependencies = [
- "bitflags",
+ "bitflags 1.3.2",
  "ignore",
  "walkdir",
 ]
 
 [[package]]
 name = "hash32"
-version = "0.2.1"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
 dependencies = [
  "byteorder",
 ]
 
-[[package]]
-name = "hashbrown"
-version = "0.12.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
-dependencies = [
- "ahash",
-]
-
 [[package]]
 name = "heapless"
-version = "0.7.16"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "db04bc24a18b9ea980628ecf00e6c0264f3c1426dac36c00cb49b6fbad8b0743"
+version = "0.8.0"
+source = "git+https://github.com/japaric/heapless.git#644653bf3b831c6bb4963be2de24804acf5e5001"
 dependencies = [
  "atomic-polyfill",
  "hash32",
@@ -592,12 +547,6 @@ dependencies = [
  "libc",
 ]
 
-[[package]]
-name = "hermit-abi"
-version = "0.3.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fed44880c466736ef9a5c5b5facefb5ed0785676d0c02d612db14e54f0d84286"
-
 [[package]]
 name = "humantime"
 version = "2.1.0"
@@ -629,36 +578,9 @@ checksum = "a257582fdcde896fd96463bf2d40eefea0580021c0712a0e2b028b60b47a837a"
 
 [[package]]
 name = "inventory"
-version = "0.3.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7741301a6d6a9b28ce77c0fb77a4eb116b6bc8f3bef09923f7743d059c4157d3"
-dependencies = [
- "ctor",
- "ghost",
-]
-
-[[package]]
-name = "io-lifetimes"
-version = "1.0.10"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c66c74d2ae7e79a5a8f7ac924adbe38ee42a859c6539ad869eb51f0b52dc220"
-dependencies = [
- "hermit-abi 0.3.1",
- "libc",
- "windows-sys 0.48.0",
-]
-
-[[package]]
-name = "is-terminal"
-version = "0.4.7"
+version = "0.3.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "adcf93614601c8129ddf72e2d5633df827ba6551541c6d8c59520a371475be1f"
-dependencies = [
- "hermit-abi 0.3.1",
- "io-lifetimes",
- "rustix",
- "windows-sys 0.48.0",
-]
+checksum = "e1be380c410bf0595e94992a648ea89db4dd3f3354ba54af206fd2a68cf5ac8e"
 
 [[package]]
 name = "itertools"
@@ -671,9 +593,9 @@ dependencies = [
 
 [[package]]
 name = "itoa"
-version = "1.0.6"
+version = "1.0.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "453ad9f582a441959e5f0d088b02ce04cfe8d51a8eaf077f12ac6d3e94164ca6"
+checksum = "af150ab688ff2122fcef229be89cb50dd66af9e01a4ff320cc137eecc9bacc38"
 
 [[package]]
 name = "lazy_static"
@@ -686,15 +608,15 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.144"
+version = "0.2.148"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2b00cc1c228a6782d0f076e7b232802e0c5689d41bb5df366f2a6b6621cfdfe1"
+checksum = "9cdc71e17332e86d2e1d38c1f99edcb6288ee11b815fb1a4b049eaa2114d369b"
 
 [[package]]
 name = "libm"
-version = "0.2.6"
+version = "0.2.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "348108ab3fba42ec82ff6e9564fc4ca0247bdccdc68dd8af9764bbc79c3c8ffb"
+checksum = "f7012b1bbb0719e1097c47611d3898568c546d597c2e74d66f6087edd5233ff4"
 
 [[package]]
 name = "linked-hash-map"
@@ -704,15 +626,15 @@ checksum = "0717cef1bc8b636c6e1c1bbdefc09e6322da8a9321966e8928ef80d20f7f770f"
 
 [[package]]
 name = "linux-raw-sys"
-version = "0.3.7"
+version = "0.4.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ece97ea872ece730aed82664c424eb4c8291e1ff2480247ccf7409044bc6479f"
+checksum = "1a9bad9f94746442c783ca431b22403b519cd7fbeed0533fdd6328b2f2212128"
 
 [[package]]
 name = "lock_api"
-version = "0.4.9"
+version = "0.4.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "435011366fe56583b16cf956f9df0095b405b82d76425bc8981c0e22e60ec4df"
+checksum = "c1cc9717a20b1bb222f333e6a92fd32f7d8a18ddc5a3191a11af45dcbf4dcd16"
 dependencies = [
  "autocfg",
  "scopeguard",
@@ -720,18 +642,15 @@ dependencies = [
 
 [[package]]
 name = "log"
-version = "0.4.17"
+version = "0.4.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "abb12e687cfb44aa40f41fc3978ef76448f9b6038cad6aef4259d3c095a2382e"
-dependencies = [
- "cfg-if",
-]
+checksum = "b5e6163cb8c49088c2c36f57875e58ccd8c87c7427f7fbd50ea6710b2f3f2e8f"
 
 [[package]]
 name = "memchr"
-version = "2.5.0"
+version = "2.6.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2dffe52ecf27772e601905b7522cb4ef790d2cc203488bbd0e2fe85fcb74566d"
+checksum = "8f232d6ef707e1956a43342693d2a31e72989554d58299d7a88738cc95b0d35c"
 
 [[package]]
 name = "minimal-lexical"
@@ -741,9 +660,9 @@ checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
 
 [[package]]
 name = "nalgebra"
-version = "0.32.2"
+version = "0.32.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d68d47bba83f9e2006d117a9a33af1524e655516b8919caac694427a6fb1e511"
+checksum = "307ed9b18cc2423f29e83f84fd23a8e73628727990181f18641a8b5dc2ab1caa"
 dependencies = [
  "approx",
  "num-complex",
@@ -765,9 +684,9 @@ dependencies = [
 
 [[package]]
 name = "nom_locate"
-version = "4.1.0"
+version = "4.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b1e299bf5ea7b212e811e71174c5d1a5d065c4c0ad0c8691ecb1f97e3e66025e"
+checksum = "1e3c83c053b0713da60c5b8de47fe8e494fe3ece5267b2f23090a07a053ba8f3"
 dependencies = [
  "bytecount",
  "memchr",
@@ -776,9 +695,9 @@ dependencies = [
 
 [[package]]
 name = "num-complex"
-version = "0.4.3"
+version = "0.4.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "02e0d21255c828d6f128a1e41534206671e8c3ea0c62f32291e808dc82cff17d"
+checksum = "1ba157ca0885411de85d6ca030ba7e2a83a28636056c7c699b07c8b6f7383214"
 dependencies = [
  "num-traits",
 ]
@@ -806,9 +725,9 @@ dependencies = [
 
 [[package]]
 name = "num-traits"
-version = "0.2.15"
+version = "0.2.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "578ede34cf02f8924ab9447f50c28075b4d3e5b269972345e7e0372b38c6cdcd"
+checksum = "f30b0abd723be7e2ffca1272140fac1a2f084c77ec3e123c192b66af1ee9e6c2"
 dependencies = [
  "autocfg",
  "libm",
@@ -816,15 +735,14 @@ dependencies = [
 
 [[package]]
 name = "once_cell"
-version = "1.17.1"
+version = "1.18.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b7e5500299e16ebb147ae15a00a942af264cf3688f47923b8fc2cd5858f23ad3"
+checksum = "dd8b5dd2ae5ed71462c540258bedcb51965123ad7e7ccf4b9a8cafaa4a63576d"
 
 [[package]]
 name = "opentaws"
 version = "0.1.0"
 dependencies = [
- "hash32",
  "heapless",
  "lazy_static",
  "nalgebra",
@@ -834,9 +752,9 @@ dependencies = [
 
 [[package]]
 name = "paste"
-version = "1.0.12"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f746c4065a8fa3fe23974dd82f15431cc8d40779821001404d10d2e79ca7d79"
+checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
 
 [[package]]
 name = "peg"
@@ -867,9 +785,9 @@ checksum = "9555b1514d2d99d78150d3c799d4c357a3e2c2a8062cd108e93a06d9057629c5"
 
 [[package]]
 name = "pin-project-lite"
-version = "0.2.9"
+version = "0.2.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e0a7ae3ac2f1173085d398531c705756c94a4c56843785df85a60c1a0afac116"
+checksum = "8afb450f006bf6385ca15ef45d71d2288452bc3683ce2e2cacc0d18e4be60b58"
 
 [[package]]
 name = "pin-utils"
@@ -885,18 +803,18 @@ checksum = "5b40af805b3121feab8a3c29f04d8ad262fa8e0561883e7653e024ae4479e6de"
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.57"
+version = "1.0.67"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c4ec6d5fe0b140acb27c9a0444118cf55bfbb4e0b259739429abb4521dd67c16"
+checksum = "3d433d9f1a3e8c1263d9456598b16fec66f4acc9a74dacffd35c7bb09b3a1328"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.27"
+version = "1.0.33"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f4f29d145265ec1c483c7c654450edde0bfe043d3938d6972630663356d9500"
+checksum = "5267fca4496028628a95160fc423a33e8b2e6af8a5302579e322e4b520293cae"
 dependencies = [
  "proc-macro2",
 ]
@@ -942,13 +860,25 @@ dependencies = [
 
 [[package]]
 name = "regex"
-version = "1.8.1"
+version = "1.9.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "697061221ea1b4a94a624f67d0ae2bfe4e22b8a17b6a192afb11046542cc8c47"
+dependencies = [
+ "aho-corasick",
+ "memchr",
+ "regex-automata",
+ "regex-syntax 0.7.5",
+]
+
+[[package]]
+name = "regex-automata"
+version = "0.3.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "af83e617f331cc6ae2da5443c602dfa5af81e517212d9d611a5b3ba1777b5370"
+checksum = "c2f401f4955220693b56f8ec66ee9c78abffd8d1c4f23dc41a23839eb88f0795"
 dependencies = [
- "aho-corasick 1.0.1",
+ "aho-corasick",
  "memchr",
- "regex-syntax 0.7.1",
+ "regex-syntax 0.7.5",
 ]
 
 [[package]]
@@ -959,9 +889,9 @@ checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
 
 [[package]]
 name = "regex-syntax"
-version = "0.7.1"
+version = "0.7.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a5996294f19bd3aae0453a862ad728f60e6600695733dd5df01da90c54363a3c"
+checksum = "dbb5fb1acd8a1a18b3dd5be62d25485eb770e05afb408a9627d14d451bae12da"
 
 [[package]]
 name = "rustc_version"
@@ -974,13 +904,12 @@ dependencies = [
 
 [[package]]
 name = "rustix"
-version = "0.37.19"
+version = "0.38.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "acf8729d8542766f1b2cf77eb034d52f40d375bb8b615d0b147089946e16613d"
+checksum = "d7db8590df6dfcd144d22afd1b83b36c21a18d7cbc1dc4bb5295a8712e9eb662"
 dependencies = [
- "bitflags",
+ "bitflags 2.4.0",
  "errno",
- "io-lifetimes",
  "libc",
  "linux-raw-sys",
  "windows-sys 0.48.0",
@@ -988,9 +917,9 @@ dependencies = [
 
 [[package]]
 name = "ryu"
-version = "1.0.13"
+version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f91339c0467de62360649f8d3e185ca8de4224ff281f66000de5eb2a77a79041"
+checksum = "1ad4cc8da4ef723ed60bced201181d83791ad433213d8c24efffda1eec85d741"
 
 [[package]]
 name = "same-file"
@@ -1003,9 +932,9 @@ dependencies = [
 
 [[package]]
 name = "scopeguard"
-version = "1.1.0"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
+checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
 
 [[package]]
 name = "sealed"
@@ -1033,35 +962,35 @@ dependencies = [
 
 [[package]]
 name = "semver"
-version = "1.0.17"
+version = "1.0.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bebd363326d05ec3e2f532ab7660680f3b02130d780c299bca73469d521bc0ed"
+checksum = "b0293b4b29daaf487284529cc2f5675b8e57c61f70167ba415a463651fd6a918"
 
 [[package]]
 name = "serde"
-version = "1.0.163"
+version = "1.0.188"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2113ab51b87a539ae008b5c6c02dc020ffa39afd2d83cffcb3f4eb2722cebec2"
+checksum = "cf9e0fcba69a370eed61bcf2b728575f726b50b55cba78064753d708ddc7549e"
 dependencies = [
  "serde_derive",
 ]
 
 [[package]]
 name = "serde_derive"
-version = "1.0.163"
+version = "1.0.188"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8c805777e3930c8883389c602315a24224bcc738b63905ef87cd1420353ea93e"
+checksum = "4eca7ac642d82aa35b60049a6eccb4be6be75e599bd2e9adb5f875a737654af2"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.37",
 ]
 
 [[package]]
 name = "serde_json"
-version = "1.0.96"
+version = "1.0.107"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "057d394a50403bcac12672b2b18fb387ab6d289d957dab67dd201875391e52f1"
+checksum = "6b420ce6e3d8bd882e9b243c6eed35dbc9a6110c9769e74b584e0d68d1f20c65"
 dependencies = [
  "itoa",
  "ryu",
@@ -1082,9 +1011,9 @@ dependencies = [
 
 [[package]]
 name = "slab"
-version = "0.4.8"
+version = "0.4.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6528351c9bc8ab22353f9d776db39a20288e8d6c37ef8cfe3317cf875eecfc2d"
+checksum = "8f92a496fb766b417c996b9c5e57daf2f7ad3b0bebe1ccfca4856390e3d3bb67"
 dependencies = [
  "autocfg",
 ]
@@ -1102,9 +1031,9 @@ dependencies = [
 
 [[package]]
 name = "smawk"
-version = "0.3.1"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f67ad224767faa3c7d8b6d91985b78e70a1324408abcb1cfcc2be4c06bc06043"
+checksum = "b7c388c1b5e93756d0c740965c41e8822f866621d41acbdf6336a6a168f8840c"
 
 [[package]]
 name = "spin"
@@ -1146,9 +1075,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.16"
+version = "2.0.37"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a6f671d4b5ffdb8eadec19c0ae67fe2639df8684bd7bc4b83d986b8db549cf01"
+checksum = "7303ef2c05cd654186cb250d29049a24840ca25d2747c25c0381c8d9e2f582e8"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1205,9 +1134,9 @@ dependencies = [
 
 [[package]]
 name = "terminal_size"
-version = "0.2.6"
+version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e6bf6f19e9f8ed8d4048dc22981458ebcf406d67e94cd422e5ecd73d63b3237"
+checksum = "21bebf2b7c9e0a515f6e0f8c51dc0f8e4696391e6f1ff30379559f8365fb0df7"
 dependencies = [
  "rustix",
  "windows-sys 0.48.0",
@@ -1226,22 +1155,22 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.40"
+version = "1.0.48"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "978c9a314bd8dc99be594bc3c175faaa9794be04a5a5e153caba6915336cebac"
+checksum = "9d6d7a740b8a666a7e828dd00da9c0dc290dff53154ea77ac109281de90589b7"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.40"
+version = "1.0.48"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f9456a42c5b0d803c8cd86e73dd7cc9edd429499f37a3550d286d5e86720569f"
+checksum = "49922ecae66cc8a249b77e68d1d0623c1b2c514f0060c27cdc68bd62a1219d35"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.16",
+ "syn 2.0.37",
 ]
 
 [[package]]
@@ -1267,25 +1196,21 @@ dependencies = [
 
 [[package]]
 name = "typenum"
-version = "1.16.0"
+version = "1.17.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "497961ef93d974e23eb6f433eb5fe1b7930b659f06d12dec6fc44a8f554c0bba"
+checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.8"
+version = "1.0.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e5464a87b239f13a63a501f2701565754bae92d243d4bb7eb12f6d57d2269bf4"
+checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
 
 [[package]]
 name = "unicode-linebreak"
-version = "0.1.4"
+version = "0.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c5faade31a542b8b35855fff6e8def199853b2da8da256da52f52f1316ee3137"
-dependencies = [
- "hashbrown",
- "regex",
-]
+checksum = "3b09c83c3c29d37506a3e260c08c03743a6bb66a9cd432c6934ab501a190571f"
 
 [[package]]
 name = "unicode-segmentation"
@@ -1295,14 +1220,14 @@ checksum = "1dd624098567895118886609431a7c3b8f516e41d30e0643f03d94592a147e36"
 
 [[package]]
 name = "unicode-width"
-version = "0.1.10"
+version = "0.1.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c0edd1e5b14653f783770bce4a4dabb4a5108a5370a5f5d8cfe8710c361f6c8b"
+checksum = "e51733f11c9c4f72aa0c160008246859e340b00807569a0da0e7a1079b27ba85"
 
 [[package]]
 name = "uom"
-version = "0.34.0"
-source = "git+https://github.com/moritz-meier/uom.git?branch=fix-missing-libm#4ddb11b11b11b333a98185c19336d16c85e22c9c"
+version = "0.35.0"
+source = "git+https://github.com/moritz-meier/uom.git?branch=fix-missing-libm#4afd75d1a46b7256db04e9551897a1e0219df2ef"
 dependencies = [
  "num-traits",
  "serde",
@@ -1315,17 +1240,11 @@ version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "711b9620af191e0cdc7468a8d14e709c3dcdb115b36f838e601583af800a370a"
 
-[[package]]
-name = "version_check"
-version = "0.9.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
-
 [[package]]
 name = "walkdir"
-version = "2.3.3"
+version = "2.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "36df944cda56c7d8d8b7496af378e6b16de9284591917d307c9b4d313c44e698"
+checksum = "d71d857dc86794ca4c280d616f7da00d2dbfd8cd788846559a6813e6aa4b54ee"
 dependencies = [
  "same-file",
  "winapi-util",
@@ -1370,17 +1289,11 @@ checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
 
 [[package]]
 name = "windows-sys"
-version = "0.42.0"
+version = "0.45.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5a3e1820f08b8513f676f7ab6c1f99ff312fb97b553d30ff4dd86f9f15728aa7"
+checksum = "75283be5efb2831d37ea142365f009c02ec203cd29a3ebecbc093d52315b66d0"
 dependencies = [
- "windows_aarch64_gnullvm 0.42.2",
- "windows_aarch64_msvc 0.42.2",
- "windows_i686_gnu 0.42.2",
- "windows_i686_msvc 0.42.2",
- "windows_x86_64_gnu 0.42.2",
- "windows_x86_64_gnullvm 0.42.2",
- "windows_x86_64_msvc 0.42.2",
+ "windows-targets 0.42.2",
 ]
 
 [[package]]
@@ -1389,22 +1302,37 @@ version = "0.48.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "677d2418bec65e3338edb076e806bc1ec15693c5d0104683f2efe857f61056a9"
 dependencies = [
- "windows-targets",
+ "windows-targets 0.48.5",
 ]
 
 [[package]]
 name = "windows-targets"
-version = "0.48.0"
+version = "0.42.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8e5180c00cd44c9b1c88adb3693291f1cd93605ded80c250a75d472756b4d071"
+dependencies = [
+ "windows_aarch64_gnullvm 0.42.2",
+ "windows_aarch64_msvc 0.42.2",
+ "windows_i686_gnu 0.42.2",
+ "windows_i686_msvc 0.42.2",
+ "windows_x86_64_gnu 0.42.2",
+ "windows_x86_64_gnullvm 0.42.2",
+ "windows_x86_64_msvc 0.42.2",
+]
+
+[[package]]
+name = "windows-targets"
+version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7b1eb6f0cd7c80c79759c929114ef071b87354ce476d9d94271031c0497adfd5"
+checksum = "9a2fa6e2155d7247be68c096456083145c183cbbbc2764150dda45a87197940c"
 dependencies = [
- "windows_aarch64_gnullvm 0.48.0",
- "windows_aarch64_msvc 0.48.0",
- "windows_i686_gnu 0.48.0",
- "windows_i686_msvc 0.48.0",
- "windows_x86_64_gnu 0.48.0",
- "windows_x86_64_gnullvm 0.48.0",
- "windows_x86_64_msvc 0.48.0",
+ "windows_aarch64_gnullvm 0.48.5",
+ "windows_aarch64_msvc 0.48.5",
+ "windows_i686_gnu 0.48.5",
+ "windows_i686_msvc 0.48.5",
+ "windows_x86_64_gnu 0.48.5",
+ "windows_x86_64_gnullvm 0.48.5",
+ "windows_x86_64_msvc 0.48.5",
 ]
 
 [[package]]
@@ -1415,9 +1343,9 @@ checksum = "597a5118570b68bc08d8d59125332c54f1ba9d9adeedeef5b99b02ba2b0698f8"
 
 [[package]]
 name = "windows_aarch64_gnullvm"
-version = "0.48.0"
+version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "91ae572e1b79dba883e0d315474df7305d12f569b400fcf90581b06062f7e1bc"
+checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8"
 
 [[package]]
 name = "windows_aarch64_msvc"
@@ -1427,9 +1355,9 @@ checksum = "e08e8864a60f06ef0d0ff4ba04124db8b0fb3be5776a5cd47641e942e58c4d43"
 
 [[package]]
 name = "windows_aarch64_msvc"
-version = "0.48.0"
+version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b2ef27e0d7bdfcfc7b868b317c1d32c641a6fe4629c171b8928c7b08d98d7cf3"
+checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc"
 
 [[package]]
 name = "windows_i686_gnu"
@@ -1439,9 +1367,9 @@ checksum = "c61d927d8da41da96a81f029489353e68739737d3beca43145c8afec9a31a84f"
 
 [[package]]
 name = "windows_i686_gnu"
-version = "0.48.0"
+version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "622a1962a7db830d6fd0a69683c80a18fda201879f0f447f065a3b7467daa241"
+checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
 
 [[package]]
 name = "windows_i686_msvc"
@@ -1451,9 +1379,9 @@ checksum = "44d840b6ec649f480a41c8d80f9c65108b92d89345dd94027bfe06ac444d1060"
 
 [[package]]
 name = "windows_i686_msvc"
-version = "0.48.0"
+version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4542c6e364ce21bf45d69fdd2a8e455fa38d316158cfd43b3ac1c5b1b19f8e00"
+checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406"
 
 [[package]]
 name = "windows_x86_64_gnu"
@@ -1463,9 +1391,9 @@ checksum = "8de912b8b8feb55c064867cf047dda097f92d51efad5b491dfb98f6bbb70cb36"
 
 [[package]]
 name = "windows_x86_64_gnu"
-version = "0.48.0"
+version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ca2b8a661f7628cbd23440e50b05d705db3686f894fc9580820623656af974b1"
+checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e"
 
 [[package]]
 name = "windows_x86_64_gnullvm"
@@ -1475,9 +1403,9 @@ checksum = "26d41b46a36d453748aedef1486d5c7a85db22e56aff34643984ea85514e94a3"
 
 [[package]]
 name = "windows_x86_64_gnullvm"
-version = "0.48.0"
+version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7896dbc1f41e08872e9d5e8f8baa8fdd2677f29468c4e156210174edc7f7b953"
+checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc"
 
 [[package]]
 name = "windows_x86_64_msvc"
@@ -1487,6 +1415,6 @@ checksum = "9aec5da331524158c6d1a4ac0ab1541149c0b9505fde06423b02f5ef0106b9f0"
 
 [[package]]
 name = "windows_x86_64_msvc"
-version = "0.48.0"
+version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1a515f5799fe4961cb532f983ce2b23082366b898e52ffbce459c86f67c8378a"
+checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538"
diff --git a/opentaws/Cargo.toml b/opentaws/Cargo.toml
index c9d2fcd..042328a 100644
--- a/opentaws/Cargo.toml
+++ b/opentaws/Cargo.toml
@@ -30,8 +30,7 @@ serde = { version = "1.0", default-features = false, optional = true, features =
 lazy_static = { version = "1", default-features = false, features = [
 	"spin_no_std",
 ] }
-heapless = "0.7.16"
-hash32 = "0.2.1"
+heapless = { git = "https://github.com/japaric/heapless.git" }
 nalgebra = { version = "0.32.2", default-features = false, features = ["libm"] }
 uom = { git = "https://github.com/moritz-meier/uom.git", branch = "fix-missing-libm", default-features = false, features = [
 	"f64",
diff --git a/opentaws/src/alerts.rs b/opentaws/src/alerts.rs
index 92255af..398d618 100644
--- a/opentaws/src/alerts.rs
+++ b/opentaws/src/alerts.rs
@@ -1,4 +1,4 @@
-use hash32::Hash;
+use core::hash::Hash;
 use heapless::FnvIndexMap;
 
 use crate::prelude::*;
@@ -132,9 +132,8 @@ mod tests {
     use core::slice::Iter;
 
     use super::*;
-    use hash32::{Hash, Hasher};
 
-    #[derive(Copy, Clone, Debug, PartialEq, Eq)]
+    #[derive(Copy, Clone, Debug, Hash, PartialEq, Eq)]
     enum TestClass {
         A,
         B,
@@ -156,15 +155,6 @@ mod tests {
         }
     }
 
-    impl Hash for TestClass {
-        fn hash<H>(&self, state: &mut H)
-        where
-            H: Hasher,
-        {
-            state.write(&(*self as usize).to_le_bytes());
-        }
-    }
-
     type TestAlert = Alert<TestClass>;
     type TestAlerts = Alerts<TestAlert>;
 
diff --git a/opentaws/src/class_c.rs b/opentaws/src/class_c.rs
index 65da407..f5a7c11 100644
--- a/opentaws/src/class_c.rs
+++ b/opentaws/src/class_c.rs
@@ -5,14 +5,13 @@ mod mode3;
 mod pda;
 
 use core::{fmt::Display, slice::Iter};
-use hash32::{Hash, Hasher};
 
 use crate::alerts::Alert;
 
 use crate::prelude::*;
 pub use {ffac::*, /*flta::*,*/ mode1::*, mode3::*, pda::*};
 
-#[derive(Copy, Clone, Debug, PartialEq, Eq)]
+#[derive(Copy, Clone, Debug, Hash, PartialEq, Eq)]
 #[allow(non_camel_case_types)]
 pub enum ClassC_Source {
     Ffac,
@@ -55,15 +54,6 @@ impl IntoIterator for ClassC_Source {
     }
 }
 
-impl Hash for ClassC_Source {
-    fn hash<H>(&self, state: &mut H)
-    where
-        H: Hasher,
-    {
-        state.write(&(*self as usize).to_le_bytes())
-    }
-}
-
 pub struct ClassC {
     ffac: Ffac,
     //flta: flta::Flta,

From 1b22715e4315f2432500096e16c39ce7f0e8f625 Mon Sep 17 00:00:00 2001
From: Moritz Meier <moritz.meier@dlr.de>
Date: Wed, 20 Sep 2023 19:31:03 +0200
Subject: [PATCH 58/73] feat: impl IntoIterator for TawsAlerts

---
 Cargo.lock             | 12 ++++----
 opentaws/src/alerts.rs | 62 ++++++++++++++++++++++++++++++++++++------
 opentaws/src/lib.rs    | 10 +++++--
 3 files changed, 68 insertions(+), 16 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index f47c360..957f0a8 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -4,9 +4,9 @@ version = 3
 
 [[package]]
 name = "aho-corasick"
-version = "1.1.0"
+version = "1.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0f2135563fb5c609d2b2b87c1e8ce7bc41b0b45430fa9661f457981503dd5bf0"
+checksum = "ea5d730647d4fadd988536d06fecce94b7b4f2a7efdae548f1cf4b63205518ab"
 dependencies = [
  "memchr",
 ]
@@ -904,9 +904,9 @@ dependencies = [
 
 [[package]]
 name = "rustix"
-version = "0.38.13"
+version = "0.38.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d7db8590df6dfcd144d22afd1b83b36c21a18d7cbc1dc4bb5295a8712e9eb662"
+checksum = "747c788e9ce8e92b12cd485c49ddf90723550b654b32508f979b71a7b1ecda4f"
 dependencies = [
  "bitflags 2.4.0",
  "errno",
@@ -1274,9 +1274,9 @@ checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
 
 [[package]]
 name = "winapi-util"
-version = "0.1.5"
+version = "0.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "70ec6ce85bb158151cae5e5c87f95a8e97d2c0c4b001223f33a334e3ce5de178"
+checksum = "f29e6f9198ba0d26b4c9f07dbe6f9ed633e1f3d5b8b414090084349e46a52596"
 dependencies = [
  "winapi",
 ]
diff --git a/opentaws/src/alerts.rs b/opentaws/src/alerts.rs
index 398d618..4382c1a 100644
--- a/opentaws/src/alerts.rs
+++ b/opentaws/src/alerts.rs
@@ -89,13 +89,49 @@ where
     }
 }
 
-impl<Alert: TawsAlert> Alerts<Alert>
+impl<'a, Alert: TawsAlert> IntoIterator for &'a Alerts<Alert>
 where
     Alert::AlertSource: Hash,
 {
-    /// Returns an iterator over all active alerts.
-    pub fn alerts(&self) -> impl Iterator<Item = &Alert> + '_ {
-        self.alerts.values()
+    type Item = &'a Alert;
+    type IntoIter = AlertsIter<'a, Alert>;
+
+    fn into_iter(self) -> Self::IntoIter {
+        AlertsIter::new(self.alerts.iter())
+    }
+}
+
+type AlertsIterInner<'a, Alert> = core::iter::Map<
+    heapless::IndexMapIter<'a, <Alert as TawsAlert>::AlertSource, Alert>,
+    fn((&'a <Alert as TawsAlert>::AlertSource, &'a Alert)) -> &'a Alert,
+>;
+
+pub struct AlertsIter<'a, Alert: TawsAlert>
+where
+    Alert::AlertSource: Hash,
+{
+    iter: AlertsIterInner<'a, Alert>,
+}
+
+impl<'a, Alert: TawsAlert> AlertsIter<'a, Alert>
+where
+    Alert::AlertSource: Hash,
+{
+    fn new(iter: heapless::IndexMapIter<'a, Alert::AlertSource, Alert>) -> Self {
+        Self {
+            iter: iter.map(|(_, alert)| alert),
+        }
+    }
+}
+
+impl<'a, Alert: TawsAlert> Iterator for AlertsIter<'a, Alert>
+where
+    Alert::AlertSource: Hash,
+{
+    type Item = &'a Alert;
+
+    fn next(&mut self) -> Option<Self::Item> {
+        self.iter.next()
     }
 }
 
@@ -118,8 +154,6 @@ where
     }
 
     fn is_alert_active(&self, alert_src: Self::AlertSource, min_level: AlertLevel) -> bool {
-        self.alerts.contains_key(&alert_src);
-
         match self.alerts.get(&alert_src) {
             Some(alert) => alert.level() <= min_level,
             None => false,
@@ -215,7 +249,7 @@ mod tests {
     }
 
     #[test]
-    fn alerts_get() {
+    fn alerts_into_iter() {
         let mut alerts = TestAlerts::default();
         let alert1: TestAlert = (TestClass::A, AlertLevel::Annunciation).into();
         let alert2: TestAlert = (TestClass::B, AlertLevel::Caution).into();
@@ -225,6 +259,18 @@ mod tests {
         alerts.insert(alert2);
         alerts.insert(alert3);
 
-        assert!(alerts.alerts().count() == 3)
+        assert!(alerts.into_iter().count() == 3);
+
+        alerts
+            .into_iter()
+            .any(|alert| *alert == (TestClass::A, AlertLevel::Annunciation).into());
+
+        alerts
+            .into_iter()
+            .any(|alert| *alert == (TestClass::B, AlertLevel::Caution).into());
+
+        alerts
+            .into_iter()
+            .any(|alert| *alert == (TestClass::C, AlertLevel::Warning).into());
     }
 }
diff --git a/opentaws/src/lib.rs b/opentaws/src/lib.rs
index 8790920..58112ec 100644
--- a/opentaws/src/lib.rs
+++ b/opentaws/src/lib.rs
@@ -27,7 +27,10 @@ use core::fmt::Display;
 use crate::prelude::*;
 
 /// Abstraction for a TAWS system
-pub trait Taws {
+pub trait Taws
+where
+    for<'a> &'a Self::Alerts: IntoIterator<Item = &'a Self::Alert>,
+{
     /// Alert source type
     type AlertSource: TawsAlertSource;
 
@@ -187,7 +190,10 @@ pub trait TawsFunctionality {
 }
 
 /// Abstraction for a set of TAWS alerts
-pub trait TawsAlerts {
+pub trait TawsAlerts
+where
+    for<'a> &'a Self: IntoIterator<Item = &'a Self::Alert>,
+{
     type AlertSource: TawsAlertSource;
 
     /// Alert type

From 0744334f1f312bccedde285701d9177cc776f50e Mon Sep 17 00:00:00 2001
From: Moritz Meier <moritz.meier@dlr.de>
Date: Wed, 20 Sep 2023 21:15:07 +0200
Subject: [PATCH 59/73] fix: ClassC_Source::into_iter

---
 opentaws/src/class_c.rs | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/opentaws/src/class_c.rs b/opentaws/src/class_c.rs
index f5a7c11..ebba2b7 100644
--- a/opentaws/src/class_c.rs
+++ b/opentaws/src/class_c.rs
@@ -46,11 +46,10 @@ impl TawsAlertSource for ClassC_Source {
 
 impl IntoIterator for ClassC_Source {
     type Item = &'static ClassC_Source;
-
     type IntoIter = Iter<'static, ClassC_Source>;
 
     fn into_iter(self) -> Self::IntoIter {
-        [Self::Ffac, Self::Mode1, Self::Mode3, Self::Pda].iter()
+        ClassC_Source::ALERT_SOURCES.iter()
     }
 }
 

From 867980a0735b4854dcf43115ab732a0554d26058 Mon Sep 17 00:00:00 2001
From: Moritz Meier <moritz.meier@dlr.de>
Date: Wed, 20 Sep 2023 21:41:41 +0200
Subject: [PATCH 60/73] fix: TawsAlertSources::NUM_ALERT_SOURCES

replaced by const MAX_NUM_ALERT_SOURCES

maybe one day we will get const generic expr in stable rust
---
 opentaws/src/alerts.rs  | 9 ++-------
 opentaws/src/class_c.rs | 1 -
 opentaws/src/lib.rs     | 4 ++--
 opentaws/src/prelude.rs | 2 +-
 4 files changed, 5 insertions(+), 11 deletions(-)

diff --git a/opentaws/src/alerts.rs b/opentaws/src/alerts.rs
index 4382c1a..754cf1d 100644
--- a/opentaws/src/alerts.rs
+++ b/opentaws/src/alerts.rs
@@ -71,11 +71,7 @@ pub struct Alerts<Alert: TawsAlert>
 where
     Alert::AlertSource: Hash,
 {
-    alerts: FnvIndexMap<
-        Alert::AlertSource,
-        Alert,
-        64, /*ToDo: use <Alert::AlertSource>::NUM_ALERT_SOURCES or count the available alert sources with a macro*/
-    >,
+    alerts: FnvIndexMap<Alert::AlertSource, Alert, { MAX_NUM_ALERT_SOURCES }>,
 }
 
 impl<Alert: TawsAlert> Default for Alerts<Alert>
@@ -175,8 +171,7 @@ mod tests {
     }
 
     impl TawsAlertSource for TestClass {
-        const NUM_ALERT_SOURCES: usize = 3;
-        const ALERT_SOURCES: &'static [Self] = &[];
+        const ALERT_SOURCES: &'static [Self] = &[TestClass::A, TestClass::B, TestClass::C];
     }
 
     impl IntoIterator for TestClass {
diff --git a/opentaws/src/class_c.rs b/opentaws/src/class_c.rs
index ebba2b7..aa10e02 100644
--- a/opentaws/src/class_c.rs
+++ b/opentaws/src/class_c.rs
@@ -34,7 +34,6 @@ impl Display for ClassC_Source {
 }
 
 impl TawsAlertSource for ClassC_Source {
-    const NUM_ALERT_SOURCES: usize = 5;
     const ALERT_SOURCES: &'static [Self] = &[
         ClassC_Source::Ffac,
         //ClassC_Source::Flta,
diff --git a/opentaws/src/lib.rs b/opentaws/src/lib.rs
index 58112ec..171ad7b 100644
--- a/opentaws/src/lib.rs
+++ b/opentaws/src/lib.rs
@@ -224,10 +224,10 @@ pub trait TawsAlert {
     fn level(&self) -> AlertLevel;
 }
 
+pub const MAX_NUM_ALERT_SOURCES: usize = 64;
+
 /// Abstraction for an alert source
 pub trait TawsAlertSource: Clone + Copy + Eq + 'static {
-    const NUM_ALERT_SOURCES: usize;
-
     const ALERT_SOURCES: &'static [Self];
 }
 
diff --git a/opentaws/src/prelude.rs b/opentaws/src/prelude.rs
index cd3b5ed..7c64298 100644
--- a/opentaws/src/prelude.rs
+++ b/opentaws/src/prelude.rs
@@ -2,7 +2,7 @@ pub use self::uom::*;
 pub use crate::aircraft_state::{AircraftState, FlightSegment, NormalizedAircraftState};
 pub use crate::{
     alerts::AlertLevel, Taws, TawsAlert, TawsAlertSource, TawsAlerts, TawsError,
-    TawsFunctionalities, TawsFunctionality,
+    TawsFunctionalities, TawsFunctionality, MAX_NUM_ALERT_SOURCES,
 };
 
 pub mod uom {

From bea17e922f5c03c9f1440dbf4bc6137cfa8a2f1a Mon Sep 17 00:00:00 2001
From: Moritz Meier <moritz.meier@dlr.de>
Date: Thu, 21 Sep 2023 02:07:43 +0200
Subject: [PATCH 61/73] feat: alert prioritization

---
 opentaws/src/alerts.rs  | 102 ++++++++++++++++++++++++++++++++++++++--
 opentaws/src/class_c.rs |  16 ++++++-
 opentaws/src/lib.rs     |  36 ++++++++++++--
 3 files changed, 143 insertions(+), 11 deletions(-)

diff --git a/opentaws/src/alerts.rs b/opentaws/src/alerts.rs
index 754cf1d..8b3ea64 100644
--- a/opentaws/src/alerts.rs
+++ b/opentaws/src/alerts.rs
@@ -1,7 +1,9 @@
 use core::hash::Hash;
 use heapless::FnvIndexMap;
 
-use crate::prelude::*;
+use crate::{
+    prelude::*, TawsAlertSourcePrioritization, TawsAlertsPrioritizationExt, TawsPrioritizedAlerts,
+};
 
 /// TAWS Alert levels
 #[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
@@ -138,6 +140,10 @@ where
     type Alert = Alert;
     type AlertSource = Alert::AlertSource;
 
+    fn get(&self, alert_src: Self::AlertSource) -> Option<&Self::Alert> {
+        self.alerts.get(&alert_src)
+    }
+
     fn insert(&mut self, new_alert: Alert) {
         let current_alert = self.alerts.get(&new_alert.source());
 
@@ -148,12 +154,42 @@ where
                 .unwrap(); //ToDo
         }
     }
+}
+
+impl<T: TawsAlerts> TawsAlertsPrioritizationExt for T
+where
+    T::AlertSource: TawsAlertSourcePrioritization,
+    for<'a> &'a Self: IntoIterator<Item = &'a Self::Alert>,
+{
+    type PrioritizedAlerts<'a> = PrioritizedAlerts<'a, Self::Alert> where Self: 'a;
+
+    fn prioritize(&self) -> Self::PrioritizedAlerts<'_> {
+        let mut prioritized: [Option<&T::Alert>; MAX_NUM_ALERT_SOURCES] =
+            [None; MAX_NUM_ALERT_SOURCES];
+
+        <T::AlertSource as TawsAlertSourcePrioritization>::PRIORITIZATION
+            .iter()
+            .filter_map(|(src, level)| self.get_min(*src, *level))
+            .enumerate()
+            .for_each(|(i, alert)| prioritized[i] = Some(alert));
+
+        Self::PrioritizedAlerts { prioritized }
+    }
+}
+
+pub struct PrioritizedAlerts<'a, Alert: TawsAlert> {
+    prioritized: [Option<&'a Alert>; MAX_NUM_ALERT_SOURCES],
+}
+
+impl<'a, Alert: TawsAlert> TawsPrioritizedAlerts<'a> for PrioritizedAlerts<'a, Alert> {
+    type Alert = Alert;
 
-    fn is_alert_active(&self, alert_src: Self::AlertSource, min_level: AlertLevel) -> bool {
-        match self.alerts.get(&alert_src) {
-            Some(alert) => alert.level() <= min_level,
-            None => false,
+    fn index(&self, idx: usize) -> Option<&'a Self::Alert> {
+        if !(0..MAX_NUM_ALERT_SOURCES).contains(&idx) {
+            return None;
         }
+
+        self.prioritized[idx]
     }
 }
 
@@ -174,6 +210,14 @@ mod tests {
         const ALERT_SOURCES: &'static [Self] = &[TestClass::A, TestClass::B, TestClass::C];
     }
 
+    impl TawsAlertSourcePrioritization for TestClass {
+        const PRIORITIZATION: &'static [(Self, AlertLevel)] = &[
+            (TestClass::A, AlertLevel::Caution),
+            (TestClass::B, AlertLevel::Warning),
+            (TestClass::C, AlertLevel::Annunciation),
+        ];
+    }
+
     impl IntoIterator for TestClass {
         type Item = &'static TestClass;
 
@@ -268,4 +312,52 @@ mod tests {
             .into_iter()
             .any(|alert| *alert == (TestClass::C, AlertLevel::Warning).into());
     }
+
+    #[test]
+    fn alert_prioritization() {
+        let mut alerts = TestAlerts::default();
+        let alert1: TestAlert = (TestClass::B, AlertLevel::Warning).into();
+
+        alerts.insert(alert1);
+
+        {
+            let prioritzed = alerts.prioritize();
+            assert!(*prioritzed.index(0).unwrap() == (TestClass::B, AlertLevel::Warning).into());
+            assert!(prioritzed.index(1).is_none());
+        }
+
+        let alert2: TestAlert = (TestClass::C, AlertLevel::Caution).into();
+        alerts.insert(alert2);
+
+        {
+            let prioritzed = alerts.prioritize();
+            assert!(*prioritzed.index(0).unwrap() == (TestClass::B, AlertLevel::Warning).into());
+            assert!(*prioritzed.index(1).unwrap() == (TestClass::C, AlertLevel::Caution).into());
+            assert!(prioritzed.index(2).is_none());
+        }
+
+        let alert3: TestAlert = (TestClass::A, AlertLevel::Caution).into();
+        alerts.insert(alert3);
+
+        {
+            let prioritzed = alerts.prioritize();
+
+            assert!(*prioritzed.index(0).unwrap() == (TestClass::A, AlertLevel::Caution).into());
+            assert!(*prioritzed.index(1).unwrap() == (TestClass::B, AlertLevel::Warning).into());
+            assert!(*prioritzed.index(2).unwrap() == (TestClass::C, AlertLevel::Caution).into());
+            assert!(prioritzed.index(3).is_none());
+        }
+
+        let alert4: TestAlert = (TestClass::A, AlertLevel::Annunciation).into();
+        alerts.insert(alert4);
+
+        {
+            let prioritzed = alerts.prioritize();
+
+            assert!(*prioritzed.index(0).unwrap() == (TestClass::A, AlertLevel::Caution).into());
+            assert!(*prioritzed.index(1).unwrap() == (TestClass::B, AlertLevel::Warning).into());
+            assert!(*prioritzed.index(2).unwrap() == (TestClass::C, AlertLevel::Caution).into());
+            assert!(prioritzed.index(3).is_none());
+        }
+    }
 }
diff --git a/opentaws/src/class_c.rs b/opentaws/src/class_c.rs
index aa10e02..f283af9 100644
--- a/opentaws/src/class_c.rs
+++ b/opentaws/src/class_c.rs
@@ -6,7 +6,7 @@ mod pda;
 
 use core::{fmt::Display, slice::Iter};
 
-use crate::alerts::Alert;
+use crate::{alerts::Alert, TawsAlertSourcePrioritization};
 
 use crate::prelude::*;
 pub use {ffac::*, /*flta::*,*/ mode1::*, mode3::*, pda::*};
@@ -43,6 +43,18 @@ impl TawsAlertSource for ClassC_Source {
     ];
 }
 
+impl TawsAlertSourcePrioritization for ClassC_Source {
+    const PRIORITIZATION: &'static [(Self, AlertLevel)] = &[
+        (ClassC_Source::Mode1, AlertLevel::Warning),
+        //(ClassC_Source::Flta, AlertLevel::Warning),
+        //(ClassC_Source::Flta, AlertLevel::Caution),
+        (ClassC_Source::Pda, AlertLevel::Caution),
+        (ClassC_Source::Ffac, AlertLevel::Annunciation),
+        (ClassC_Source::Mode1, AlertLevel::Caution),
+        (ClassC_Source::Mode3, AlertLevel::Caution),
+    ];
+}
+
 impl IntoIterator for ClassC_Source {
     type Item = &'static ClassC_Source;
     type IntoIter = Iter<'static, ClassC_Source>;
@@ -61,6 +73,8 @@ pub struct ClassC {
 }
 
 impl ClassC {
+    // ::default() does not work here, we may need params in the future
+    #[allow(clippy::new_without_default)]
     pub fn new() -> Self {
         ClassC {
             ffac: Ffac::default(),
diff --git a/opentaws/src/lib.rs b/opentaws/src/lib.rs
index 171ad7b..4ec4f34 100644
--- a/opentaws/src/lib.rs
+++ b/opentaws/src/lib.rs
@@ -199,17 +199,39 @@ where
     /// Alert type
     type Alert: TawsAlert<AlertSource = Self::AlertSource>;
 
+    fn get(&self, alert_src: Self::AlertSource) -> Option<&Self::Alert>;
+
+    fn get_min(&self, alert_src: Self::AlertSource, min_level: AlertLevel) -> Option<&Self::Alert> {
+        self.get(alert_src)
+            .and_then(|alert| (alert.level() <= min_level).then_some(alert))
+    }
+
+    fn is_alert_active(&self, alert_src: Self::AlertSource, min_level: AlertLevel) -> bool {
+        self.get_min(alert_src, min_level).is_some()
+    }
+
     /// Inserts the specified alert into the set.
     /// Already existing alerts are replaced if the [new_alert] has a higher alert level.
     /// # Arguments
     /// * `new_alert` - the new alert which is added to the set of alerts
     fn insert(&mut self, new_alert: Self::Alert);
+}
 
-    /// Returns whether an alert from the given source with at least the specified alert level is active.
-    /// # Arguments
-    /// * `alert_src` - The alert source to check for.
-    /// * `min_level` - The inclusive min level to check for.
-    fn is_alert_active(&self, alert_src: Self::AlertSource, min_level: AlertLevel) -> bool;
+pub trait TawsAlertsPrioritizationExt: TawsAlerts
+where
+    for<'a> &'a Self: IntoIterator<Item = &'a Self::Alert>,
+{
+    type PrioritizedAlerts<'a>: TawsPrioritizedAlerts<'a, Alert = Self::Alert>
+    where
+        Self: 'a;
+
+    fn prioritize(&self) -> Self::PrioritizedAlerts<'_>;
+}
+
+pub trait TawsPrioritizedAlerts<'a> {
+    type Alert: TawsAlert;
+
+    fn index(&self, idx: usize) -> Option<&'a Self::Alert>;
 }
 
 /// Abstraction for a TAWS alert
@@ -231,4 +253,8 @@ pub trait TawsAlertSource: Clone + Copy + Eq + 'static {
     const ALERT_SOURCES: &'static [Self];
 }
 
+pub trait TawsAlertSourcePrioritization: TawsAlertSource {
+    const PRIORITIZATION: &'static [(Self, AlertLevel)];
+}
+
 pub trait TawsError: core::fmt::Debug + Display {}

From 3acfcb1e96e91c035029ded8b3afff173c01c5d7 Mon Sep 17 00:00:00 2001
From: Moritz Meier <moritz.meier@dlr.de>
Date: Thu, 21 Sep 2023 15:01:37 +0200
Subject: [PATCH 62/73] docs

docs
---
 opentaws/src/alerts.rs  |  3 ++
 opentaws/src/class_c.rs |  2 ++
 opentaws/src/lib.rs     | 61 ++++++++++++++++++++++++++++++++++++++++-
 3 files changed, 65 insertions(+), 1 deletion(-)

diff --git a/opentaws/src/alerts.rs b/opentaws/src/alerts.rs
index 8b3ea64..f2d44ca 100644
--- a/opentaws/src/alerts.rs
+++ b/opentaws/src/alerts.rs
@@ -156,6 +156,8 @@ where
     }
 }
 
+// Implements the alert prioritization for all `TawsAlerts` implementing types,
+// if the associated `TawsAlerts::AlertSource` type implements `TawsAlertSourcePrioritization`.
 impl<T: TawsAlerts> TawsAlertsPrioritizationExt for T
 where
     T::AlertSource: TawsAlertSourcePrioritization,
@@ -177,6 +179,7 @@ where
     }
 }
 
+/// Sorted set of prioritized alerts.
 pub struct PrioritizedAlerts<'a, Alert: TawsAlert> {
     prioritized: [Option<&'a Alert>; MAX_NUM_ALERT_SOURCES],
 }
diff --git a/opentaws/src/class_c.rs b/opentaws/src/class_c.rs
index f283af9..f40a835 100644
--- a/opentaws/src/class_c.rs
+++ b/opentaws/src/class_c.rs
@@ -43,6 +43,8 @@ impl TawsAlertSource for ClassC_Source {
     ];
 }
 
+// Class C alert prioritization.
+// DO-367 Section 2.2.3.2.4 Alert Prioritization.
 impl TawsAlertSourcePrioritization for ClassC_Source {
     const PRIORITIZATION: &'static [(Self, AlertLevel)] = &[
         (ClassC_Source::Mode1, AlertLevel::Warning),
diff --git a/opentaws/src/lib.rs b/opentaws/src/lib.rs
index 4ec4f34..12ea2fb 100644
--- a/opentaws/src/lib.rs
+++ b/opentaws/src/lib.rs
@@ -189,7 +189,7 @@ pub trait TawsFunctionality {
     ) -> Result<Option<Self::Alert>, &'static dyn TawsError>; // Result ?
 }
 
-/// Abstraction for a set of TAWS alerts
+/// Abstraction for a set of `TawsAlert`s.
 pub trait TawsAlerts
 where
     for<'a> &'a Self: IntoIterator<Item = &'a Self::Alert>,
@@ -199,13 +199,25 @@ where
     /// Alert type
     type Alert: TawsAlert<AlertSource = Self::AlertSource>;
 
+    /// Returns the alert with the specified `alert_src`, if one exists; otherwise `None`.
+    /// # Arguments
+    /// * `alert_src` - The `Self::AlertSource` to look for.
     fn get(&self, alert_src: Self::AlertSource) -> Option<&Self::Alert>;
 
+    /// Returns the alert with the specified `alert_src` if one exists and if the alert has an `AlertLevel`
+    /// greater than or equal to `min_level`; otherwise `None`.
+    /// # Arguments
+    /// * `alert_src` - The `Self::AlertSource` to look for.
+    /// * `min_level`- Minimum `AlertLevel` to look for.
     fn get_min(&self, alert_src: Self::AlertSource, min_level: AlertLevel) -> Option<&Self::Alert> {
         self.get(alert_src)
             .and_then(|alert| (alert.level() <= min_level).then_some(alert))
     }
 
+    /// Checks whether an alert with the specified `alert_src` exists that has a minimum `AlertLevel` of `min_level`.
+    /// # Arguments
+    /// * `alert_src` - The `Self::AlertSource` to check.
+    /// * `min_level` - The minimum `AlertLevel`.
     fn is_alert_active(&self, alert_src: Self::AlertSource, min_level: AlertLevel) -> bool {
         self.get_min(alert_src, min_level).is_some()
     }
@@ -217,6 +229,8 @@ where
     fn insert(&mut self, new_alert: Self::Alert);
 }
 
+/// Extension trait for `TawsAlerts` that implements alert prioritization
+/// if the associated `TawsAlertSource` implements `TawsAlertSourcePrioritization`.
 pub trait TawsAlertsPrioritizationExt: TawsAlerts
 where
     for<'a> &'a Self: IntoIterator<Item = &'a Self::Alert>,
@@ -225,12 +239,22 @@ where
     where
         Self: 'a;
 
+    /// Prioritize alerts by the associated `TawsAlertSourcePrioritization` implementation.
     fn prioritize(&self) -> Self::PrioritizedAlerts<'_>;
 }
 
+/// Abstraction for a sorted set of `TawsAlert`s.
 pub trait TawsPrioritizedAlerts<'a> {
     type Alert: TawsAlert;
 
+    /// Gets the alert at index `idx` from the prioritized (sorted) set of alerts,
+    /// if one exists at the given `idx`; otherwise `None`.<br/>
+    /// Low indices describe high priority. Index 0 contains the alert with the highest priority
+    /// or `None` if no alert matches any of the rules in `TawsAlertSourcePrioritization`.<br/>
+    /// It is important to note that an empty set here does not imply absent of alerts in general.
+    /// It only mean that no alert matched any of the prioritization rules.
+    /// # Arguments
+    /// * `idx` - The index at which the prioritized (sorted) set of alerts is accessed.
     fn index(&self, idx: usize) -> Option<&'a Self::Alert>;
 }
 
@@ -246,6 +270,7 @@ pub trait TawsAlert {
     fn level(&self) -> AlertLevel;
 }
 
+/// Maximum number of supported alert sources.
 pub const MAX_NUM_ALERT_SOURCES: usize = 64;
 
 /// Abstraction for an alert source
@@ -253,7 +278,41 @@ pub trait TawsAlertSource: Clone + Copy + Eq + 'static {
     const ALERT_SOURCES: &'static [Self];
 }
 
+/// Alert prioritization trait. Describes how `TawsAlert`s should be prioritized.
 pub trait TawsAlertSourcePrioritization: TawsAlertSource {
+    /// Prioritization rules that assign priorities to `TawsAlert`s.
+    /// # Example
+    /// ```
+    /// # use opentaws::prelude::*;
+    /// # enum AlertSource { Mode1, Mode3, Flta, Pda, Ffac }
+    /// &[
+    ///     (AlertSource::Mode1, AlertLevel::Warning),
+    ///     (AlertSource::Flta, AlertLevel::Warning),
+    ///     (AlertSource::Flta, AlertLevel::Caution),
+    ///     (AlertSource::Pda, AlertLevel::Caution),
+    ///     (AlertSource::Ffac, AlertLevel::Annunciation),
+    ///     (AlertSource::Mode1, AlertLevel::Caution),
+    ///     (AlertSource::Mode3, AlertLevel::Caution),
+    /// ];
+    /// ```
+    ///
+    /// * All Mode1 alerts with level Warning or higher will be assigned priority 0 (highest priority).
+    /// * All Flta alerts with level Warning or higher will be assigned priority 1.
+    /// * All Mode1 alerts with level Caution or higher will be assigned priority 5.
+    ///
+    /// For example these alerts: <br/>
+    /// `{(Mode3, Annunciation), (Mode1, Caution), (Flta, Warning)}`<br/>
+    /// will be sorted into this order: <br/>
+    /// `[(Flta, Warning), (Mode1, Caution)]`
+    ///
+    /// * `(Flta, Warning)` has a higher priority than the other alerts because of rule 2.
+    /// * `(Mode1, Caution)` has a lower priority than the Flta alert because of rule 6 but a higher priority than `(Mode3, Annunciation)`.
+    /// * `(Mode3, Annunciation)` has no priotity because it does not match any rule and is therefore ignored.
+    ///
+    /// Alerts that do not fit into any rule cannot be prioritized, because the prioritization would be arbitrary and thus not reliable.<br/>
+    /// If all alerts should be present in the sorted collection,
+    /// consider adding a catch-all rules for all alert sources at the end with the lowest possible alert level (Annunciation).<br/>
+    /// By doing this all alert sources get a priority assigned and the arbitrariness is prevented.
     const PRIORITIZATION: &'static [(Self, AlertLevel)];
 }
 

From a79427637bbbb76004475a77309446bf08df8c7f Mon Sep 17 00:00:00 2001
From: Moritz Meier <moritzmeier.mail@gmail.com>
Date: Tue, 10 Oct 2023 15:52:13 +0200
Subject: [PATCH 63/73] Update rust.yml

fix: code coverage typo
---
 .github/workflows/rust.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 8c22299..9761287 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -89,7 +89,7 @@ jobs:
           override: true
       - name: Generate code coverage
         run: |
-          cargo +nightly tarpaulin --verbose --all-features --workspace --implicit-test-threads --timeout 120 --out Xml
+          cargo +nightly tarpaulin --verbose --all-features --workspace --implicit-test-threads --timeout 120 --out xml
       - name: Upload to codecov.io
         uses: codecov/codecov-action@v1
         with:

From a0ec3b0577d1338555df299ba6d073caf1a4bb6a Mon Sep 17 00:00:00 2001
From: Tim Schubert <Tim Schubert tim.schubert@dlr.de>
Date: Wed, 7 Jun 2023 13:53:29 +0200
Subject: [PATCH 64/73] Revert "Readd import because it is needed when using
 the opentaws crate"

This reverts commit f711303dd3abe281963523846e7845021a93fc49.
---
 opentaws/src/aircraft_state.rs | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/opentaws/src/aircraft_state.rs b/opentaws/src/aircraft_state.rs
index 20826fa..55e8cd2 100644
--- a/opentaws/src/aircraft_state.rs
+++ b/opentaws/src/aircraft_state.rs
@@ -241,9 +241,6 @@ impl<T> AircraftState<T> {
     }
 
     fn wrap_position(lat: Angle, lon: Angle) -> (Angle, Angle) {
-        #[allow(unused_imports)]
-        use crate::prelude::uom::num_traits::Float;
-
         let quadrant = ((lat.abs() / *QUARTER_REVOLUTION)
             .get::<ratio::ratio>()
             .floor() as i64)

From d0c236dfe37e0373bce1501d57b04127c4bc9f40 Mon Sep 17 00:00:00 2001
From: Tim Schubert <Tim Schubert tim.schubert@dlr.de>
Date: Wed, 7 Jun 2023 11:24:08 +0200
Subject: [PATCH 65/73] Revert "Readd serde support"

This reverts commit fc5e4c53fe7568c81e84e6a73855aa68e0262984.
---
 Cargo.lock                     | 2 --
 flake.nix                      | 2 +-
 opentaws/Cargo.toml            | 3 ---
 opentaws/src/aircraft_state.rs | 3 +--
 opentaws/src/alerts.rs         | 2 --
 5 files changed, 2 insertions(+), 10 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 957f0a8..2471655 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -746,7 +746,6 @@ dependencies = [
  "heapless",
  "lazy_static",
  "nalgebra",
- "serde",
  "uom",
 ]
 
@@ -1230,7 +1229,6 @@ version = "0.35.0"
 source = "git+https://github.com/moritz-meier/uom.git?branch=fix-missing-libm#4afd75d1a46b7256db04e9551897a1e0219df2ef"
 dependencies = [
  "num-traits",
- "serde",
  "typenum",
 ]
 
diff --git a/flake.nix b/flake.nix
index e866ee4..79a7e3b 100644
--- a/flake.nix
+++ b/flake.nix
@@ -17,7 +17,7 @@
         let
           pkgs = import nixpkgs { inherit system; };
           rust-toolchain = with fenix.packages.${system}; combine [
-            stable.rust-analyzer
+            rust-analyzer
             stable.cargo
             stable.rustc
             stable.rustfmt
diff --git a/opentaws/Cargo.toml b/opentaws/Cargo.toml
index 042328a..4c02e69 100644
--- a/opentaws/Cargo.toml
+++ b/opentaws/Cargo.toml
@@ -22,11 +22,8 @@ is-it-maintained-open-issues = { repository = "aeronautical-informatics/openTAWS
 maintenance = { status = "actively-developed" }
 
 [features]
-default = ["use-serde"]
-use-serde = ["serde", "uom/use_serde"]
 
 [dependencies]
-serde = { version = "1.0", default-features = false, optional = true, features = ["derive"] }
 lazy_static = { version = "1", default-features = false, features = [
 	"spin_no_std",
 ] }
diff --git a/opentaws/src/aircraft_state.rs b/opentaws/src/aircraft_state.rs
index 55e8cd2..02267ac 100644
--- a/opentaws/src/aircraft_state.rs
+++ b/opentaws/src/aircraft_state.rs
@@ -30,7 +30,6 @@ pub struct Normalized;
 pub type NormalizedAircraftState = AircraftState<Normalized>;
 
 /// Represents the current state of an aircraft
-#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
 #[derive(Clone, Debug, Default)]
 pub struct AircraftState<T = ()> {
     /// Time when this aircraft state was emitted
@@ -241,6 +240,7 @@ impl<T> AircraftState<T> {
     }
 
     fn wrap_position(lat: Angle, lon: Angle) -> (Angle, Angle) {
+        use ::uom::num_traits::Float;
         let quadrant = ((lat.abs() / *QUARTER_REVOLUTION)
             .get::<ratio::ratio>()
             .floor() as i64)
@@ -337,7 +337,6 @@ AircrafState: {{
 }
 
 /// Represents a flight segment
-#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
 #[derive(Copy, Clone, Debug, PartialEq, Eq)]
 pub enum FlightSegment {
     /// The aircraft is in cruise flight situation
diff --git a/opentaws/src/alerts.rs b/opentaws/src/alerts.rs
index f2d44ca..28e60aa 100644
--- a/opentaws/src/alerts.rs
+++ b/opentaws/src/alerts.rs
@@ -6,7 +6,6 @@ use crate::{
 };
 
 /// TAWS Alert levels
-#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
 #[derive(Copy, Clone, Debug, PartialEq, Eq, PartialOrd, Ord)]
 pub enum AlertLevel {
     /// The level or category of alert for conditions that require immediate flight crew awareness
@@ -23,7 +22,6 @@ pub enum AlertLevel {
 }
 
 /// Represents a TAWS alert
-#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
 #[derive(Copy, Clone, Debug, PartialEq, Eq)]
 pub struct Alert<AlertSource: TawsAlertSource> {
     /// The source resp. the TAWS functionallity which emitted this alert

From fcf8b4db406d15757e83f9cb72d7dccde6f39eae Mon Sep 17 00:00:00 2001
From: Tim Schubert <Tim Schubert tim.schubert@dlr.de>
Date: Wed, 7 Jun 2023 11:04:18 +0200
Subject: [PATCH 66/73] Revert "Add armv7a-none-eabi target"

This reverts commit c5a119f4dfe8861e072ac0c945b25486c65b404e.
---
 flake.nix | 1 -
 1 file changed, 1 deletion(-)

diff --git a/flake.nix b/flake.nix
index 79a7e3b..f7b0001 100644
--- a/flake.nix
+++ b/flake.nix
@@ -21,7 +21,6 @@
             stable.cargo
             stable.rustc
             stable.rustfmt
-            targets.armv7a-none-eabi.stable.rust-std
           ];
           naersk-lib = (naersk.lib."${system}".override {
             cargo = rust-toolchain;

From 19e029f896016fd54e9320f28cc50ef667a5fd3e Mon Sep 17 00:00:00 2001
From: Moritz Meier <moritz.meier@dlr.de>
Date: Fri, 22 Sep 2023 13:14:55 +0200
Subject: [PATCH 67/73] Add armv7a-none-eabi to nix flake

---
 flake.nix | 1 +
 1 file changed, 1 insertion(+)

diff --git a/flake.nix b/flake.nix
index f7b0001..79a7e3b 100644
--- a/flake.nix
+++ b/flake.nix
@@ -21,6 +21,7 @@
             stable.cargo
             stable.rustc
             stable.rustfmt
+            targets.armv7a-none-eabi.stable.rust-std
           ];
           naersk-lib = (naersk.lib."${system}".override {
             cargo = rust-toolchain;

From 6a2b9f8b1034d9c5cef388a049b3cdfce01e0214 Mon Sep 17 00:00:00 2001
From: Moritz Meier <moritz.meier@dlr.de>
Date: Fri, 22 Sep 2023 13:15:25 +0200
Subject: [PATCH 68/73] fix nix flake

---
 flake.nix | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flake.nix b/flake.nix
index 79a7e3b..e866ee4 100644
--- a/flake.nix
+++ b/flake.nix
@@ -17,7 +17,7 @@
         let
           pkgs = import nixpkgs { inherit system; };
           rust-toolchain = with fenix.packages.${system}; combine [
-            rust-analyzer
+            stable.rust-analyzer
             stable.cargo
             stable.rustc
             stable.rustfmt

From 09cd7c979523de28266e0d8ea53f37d53a6b5ee6 Mon Sep 17 00:00:00 2001
From: Moritz Meier <moritz.meier@dlr.de>
Date: Fri, 22 Sep 2023 13:18:14 +0200
Subject: [PATCH 69/73] fix unused import

---
 opentaws/src/aircraft_state.rs | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/opentaws/src/aircraft_state.rs b/opentaws/src/aircraft_state.rs
index 02267ac..386c899 100644
--- a/opentaws/src/aircraft_state.rs
+++ b/opentaws/src/aircraft_state.rs
@@ -240,7 +240,9 @@ impl<T> AircraftState<T> {
     }
 
     fn wrap_position(lat: Angle, lon: Angle) -> (Angle, Angle) {
+        #[allow(unused_imports)]
         use ::uom::num_traits::Float;
+
         let quadrant = ((lat.abs() / *QUARTER_REVOLUTION)
             .get::<ratio::ratio>()
             .floor() as i64)

From d4880143841886a2e7788c96925fed11d91accff Mon Sep 17 00:00:00 2001
From: Moritz Meier <moritz.meier@dlr.de>
Date: Fri, 22 Sep 2023 13:19:34 +0200
Subject: [PATCH 70/73] fix cargo resolver warning

---
 Cargo.toml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Cargo.toml b/Cargo.toml
index 8180e92..ad84fbf 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,2 +1,3 @@
 [workspace]
+resolver = "2"
 members = ["opentaws", "taws_minimal"]

From 7cb3206343ea336337047f49594f969fc4179a22 Mon Sep 17 00:00:00 2001
From: Moritz Meier <moritz.meier@dlr.de>
Date: Fri, 22 Sep 2023 14:32:03 +0200
Subject: [PATCH 71/73] feat: serde support for AircraftState and Alert

---
 Cargo.lock                     |  5 +++++
 opentaws/Cargo.toml            | 10 ++++++++++
 opentaws/src/aircraft_state.rs |  2 ++
 opentaws/src/alerts.rs         |  7 +++++++
 opentaws/src/class_c.rs        |  4 ++--
 5 files changed, 26 insertions(+), 2 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 2471655..c077fbb 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -519,6 +519,7 @@ dependencies = [
  "atomic-polyfill",
  "hash32",
  "rustc_version",
+ "serde",
  "spin 0.9.8",
  "stable_deref_trait",
 ]
@@ -668,6 +669,7 @@ dependencies = [
  "num-complex",
  "num-rational",
  "num-traits",
+ "serde",
  "simba",
  "typenum",
 ]
@@ -700,6 +702,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1ba157ca0885411de85d6ca030ba7e2a83a28636056c7c699b07c8b6f7383214"
 dependencies = [
  "num-traits",
+ "serde",
 ]
 
 [[package]]
@@ -746,6 +749,7 @@ dependencies = [
  "heapless",
  "lazy_static",
  "nalgebra",
+ "serde",
  "uom",
 ]
 
@@ -1229,6 +1233,7 @@ version = "0.35.0"
 source = "git+https://github.com/moritz-meier/uom.git?branch=fix-missing-libm#4afd75d1a46b7256db04e9551897a1e0219df2ef"
 dependencies = [
  "num-traits",
+ "serde",
  "typenum",
 ]
 
diff --git a/opentaws/Cargo.toml b/opentaws/Cargo.toml
index 4c02e69..7b6565d 100644
--- a/opentaws/Cargo.toml
+++ b/opentaws/Cargo.toml
@@ -22,6 +22,13 @@ is-it-maintained-open-issues = { repository = "aeronautical-informatics/openTAWS
 maintenance = { status = "actively-developed" }
 
 [features]
+default = ["use-serde"]
+use-serde = [
+	"dep:serde",
+	"heapless/serde",
+	"nalgebra/serde-serialize-no-std",
+	"uom/use_serde",
+]
 
 [dependencies]
 lazy_static = { version = "1", default-features = false, features = [
@@ -29,6 +36,9 @@ lazy_static = { version = "1", default-features = false, features = [
 ] }
 heapless = { git = "https://github.com/japaric/heapless.git" }
 nalgebra = { version = "0.32.2", default-features = false, features = ["libm"] }
+serde = { version = "*", optional = true, default-features = false, features = [
+	"derive",
+] }
 uom = { git = "https://github.com/moritz-meier/uom.git", branch = "fix-missing-libm", default-features = false, features = [
 	"f64",
 	"si",
diff --git a/opentaws/src/aircraft_state.rs b/opentaws/src/aircraft_state.rs
index 386c899..3d0a88d 100644
--- a/opentaws/src/aircraft_state.rs
+++ b/opentaws/src/aircraft_state.rs
@@ -31,6 +31,7 @@ pub type NormalizedAircraftState = AircraftState<Normalized>;
 
 /// Represents the current state of an aircraft
 #[derive(Clone, Debug, Default)]
+#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct AircraftState<T = ()> {
     /// Time when this aircraft state was emitted
     timestamp: Time,
@@ -340,6 +341,7 @@ AircrafState: {{
 
 /// Represents a flight segment
 #[derive(Copy, Clone, Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
 pub enum FlightSegment {
     /// The aircraft is in cruise flight situation
     Cruise,
diff --git a/opentaws/src/alerts.rs b/opentaws/src/alerts.rs
index 28e60aa..f3eefb3 100644
--- a/opentaws/src/alerts.rs
+++ b/opentaws/src/alerts.rs
@@ -1,12 +1,16 @@
 use core::hash::Hash;
 use heapless::FnvIndexMap;
 
+#[cfg(feature = "use-serde")]
+use serde::{Deserialize, Serialize};
+
 use crate::{
     prelude::*, TawsAlertSourcePrioritization, TawsAlertsPrioritizationExt, TawsPrioritizedAlerts,
 };
 
 /// TAWS Alert levels
 #[derive(Copy, Clone, Debug, PartialEq, Eq, PartialOrd, Ord)]
+#[cfg_attr(feature = "use-serde", derive(Serialize, Deserialize))]
 pub enum AlertLevel {
     /// The level or category of alert for conditions that require immediate flight crew awareness
     /// and immediate flight crew response.
@@ -23,6 +27,7 @@ pub enum AlertLevel {
 
 /// Represents a TAWS alert
 #[derive(Copy, Clone, Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "use-serde", derive(Serialize, Deserialize))]
 pub struct Alert<AlertSource: TawsAlertSource> {
     /// The source resp. the TAWS functionallity which emitted this alert
     pub source: AlertSource,
@@ -67,6 +72,7 @@ impl<AlertSource: TawsAlertSource> From<Alert<AlertSource>> for (AlertSource, Al
 
 /// Represents a set of [Alerts](Alert) by their [AlertSource](Alert::AlertSource)
 #[derive(Debug)]
+//#[cfg_attr(feature = "use-serde", derive(Serialize, Deserialize))]
 pub struct Alerts<Alert: TawsAlert>
 where
     Alert::AlertSource: Hash,
@@ -201,6 +207,7 @@ mod tests {
     use super::*;
 
     #[derive(Copy, Clone, Debug, Hash, PartialEq, Eq)]
+    #[cfg_attr(feature = "use-serde", derive(Serialize, Deserialize))]
     enum TestClass {
         A,
         B,
diff --git a/opentaws/src/class_c.rs b/opentaws/src/class_c.rs
index f40a835..d007e05 100644
--- a/opentaws/src/class_c.rs
+++ b/opentaws/src/class_c.rs
@@ -6,12 +6,12 @@ mod pda;
 
 use core::{fmt::Display, slice::Iter};
 
-use crate::{alerts::Alert, TawsAlertSourcePrioritization};
+use crate::{alerts::Alert, prelude::*, TawsAlertSourcePrioritization};
 
-use crate::prelude::*;
 pub use {ffac::*, /*flta::*,*/ mode1::*, mode3::*, pda::*};
 
 #[derive(Copy, Clone, Debug, Hash, PartialEq, Eq)]
+#[cfg_attr(feature = "use-serde", derive(serde::Serialize, serde::Deserialize))]
 #[allow(non_camel_case_types)]
 pub enum ClassC_Source {
     Ffac,

From 540e5dff20c23ceb523fa18607a3d143c63c9e2e Mon Sep 17 00:00:00 2001
From: Moritz Meier <moritz.meier@dlr.de>
Date: Fri, 22 Sep 2023 14:42:58 +0200
Subject: [PATCH 72/73] remove use-serde from default features

---
 opentaws/Cargo.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opentaws/Cargo.toml b/opentaws/Cargo.toml
index 7b6565d..82f0245 100644
--- a/opentaws/Cargo.toml
+++ b/opentaws/Cargo.toml
@@ -22,7 +22,7 @@ is-it-maintained-open-issues = { repository = "aeronautical-informatics/openTAWS
 maintenance = { status = "actively-developed" }
 
 [features]
-default = ["use-serde"]
+default = []
 use-serde = [
 	"dep:serde",
 	"heapless/serde",

From cb9006085d68a4deaafdcf9d617beb4626ff91b3 Mon Sep 17 00:00:00 2001
From: Moritz Meier <moritz.meier@dlr.de>
Date: Fri, 27 Oct 2023 10:31:42 +0200
Subject: [PATCH 73/73] fix: update cargo.lock

---
 Cargo.lock | 242 ++++++++++++++++++++---------------------------------
 1 file changed, 90 insertions(+), 152 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index c077fbb..8a6c17c 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -4,18 +4,18 @@ version = 3
 
 [[package]]
 name = "aho-corasick"
-version = "1.1.1"
+version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ea5d730647d4fadd988536d06fecce94b7b4f2a7efdae548f1cf4b63205518ab"
+checksum = "b2969dcb958b36655471fc61f7e416fa76033bdd4bfed0678d8fee1e2d07a1f0"
 dependencies = [
  "memchr",
 ]
 
 [[package]]
 name = "anstream"
-version = "0.5.0"
+version = "0.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b1f58811cfac344940f1a400b6e6231ce35171f614f26439e80f8c1465c5cc0c"
+checksum = "2ab91ebe16eb252986481c5b62f6098f3b698a45e34b5b98200cf20dd2484a44"
 dependencies = [
  "anstyle",
  "anstyle-parse",
@@ -27,15 +27,15 @@ dependencies = [
 
 [[package]]
 name = "anstyle"
-version = "1.0.3"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b84bf0a05bbb2a83e5eb6fa36bb6e87baa08193c35ff52bbf6b38d8af2890e46"
+checksum = "7079075b41f533b8c61d2a4d073c4676e1f8b249ff94a393b0595db304e0dd87"
 
 [[package]]
 name = "anstyle-parse"
-version = "0.2.1"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "938874ff5980b03a87c5524b3ae5b59cf99b1d6bc836848df7bc5ada9643c333"
+checksum = "317b9a89c1868f5ea6ff1d9539a69f45dffc21ce321ac1fd1160dfa48c8e2140"
 dependencies = [
  "utf8parse",
 ]
@@ -51,9 +51,9 @@ dependencies = [
 
 [[package]]
 name = "anstyle-wincon"
-version = "2.1.0"
+version = "3.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "58f54d10c6dfa51283a066ceab3ec1ab78d13fae00aa49243a45e4571fb79dfd"
+checksum = "f0699d10d2f4d628a98ee7b57b289abbc98ff3bad977cb3152709d4bf2330628"
 dependencies = [
  "anstyle",
  "windows-sys 0.48.0",
@@ -76,22 +76,22 @@ dependencies = [
 
 [[package]]
 name = "arbitrary"
-version = "1.3.0"
+version = "1.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2d098ff73c1ca148721f37baad5ea6a465a13f9573aba8641fbbbae8164a54e"
+checksum = "a2e1373abdaa212b704512ec2bd8b26bd0b7d5c3f70117411a5d9a451383c859"
 dependencies = [
  "derive_arbitrary",
 ]
 
 [[package]]
 name = "async-trait"
-version = "0.1.73"
+version = "0.1.74"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bc00ceb34980c03614e35a3a4e218276a0a824e911d07651cd0d858a51e8c0f0"
+checksum = "a66537f1bb974b254c98ed142ff995236e81b9d0fe4db0575f46612cb15eb0f9"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.38",
 ]
 
 [[package]]
@@ -128,15 +128,15 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "bitflags"
-version = "2.4.0"
+version = "2.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b4682ae6287fcf752ecaabbfcc7b6f9b72aa33933dc23a554d853aea8eea8635"
+checksum = "327762f6e5a765692301e5bb513e0d9fef63be86bbc14528052b1cd3e6f03e07"
 
 [[package]]
 name = "bstr"
-version = "1.6.2"
+version = "1.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4c2f7349907b712260e64b0afe2f84692af14a454be26187d9df565c7f69266a"
+checksum = "c79ad7fb2dd38f3dabd76b09c6a5a20c038fc0213ef1e9afd30eb777f120f019"
 dependencies = [
  "memchr",
  "serde",
@@ -144,24 +144,15 @@ dependencies = [
 
 [[package]]
 name = "bytecount"
-version = "0.6.3"
+version = "0.6.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2c676a478f63e9fa2dd5368a42f28bba0d6c560b775f38583c8bbaa7fcd67c9c"
+checksum = "e1e5f035d16fc623ae5f74981db80a439803888314e3a555fd6f04acd51a3205"
 
 [[package]]
 name = "byteorder"
-version = "1.4.3"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
-
-[[package]]
-name = "cc"
-version = "1.0.83"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1174fb0b6ec23863f8b971027804a42614e347eafb0a95bf0b12cdae21fc4d0"
-dependencies = [
- "libc",
-]
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "cfg-if"
@@ -171,9 +162,9 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
 [[package]]
 name = "clap"
-version = "4.4.4"
+version = "4.4.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b1d7b8d5ec32af0fadc644bf1fd509a688c2103b185644bb1e29d164e0703136"
+checksum = "ac495e00dcec98c83465d5ad66c5c4fabd652fd6686e7c6269b117e729a6f17b"
 dependencies = [
  "clap_builder",
  "clap_derive",
@@ -181,9 +172,9 @@ dependencies = [
 
 [[package]]
 name = "clap_builder"
-version = "4.4.4"
+version = "4.4.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5179bb514e4d7c2051749d8fcefa2ed6d06a9f4e6d69faf3805f5d80b8cf8d56"
+checksum = "c77ed9a32a62e6ca27175d00d29d05ca32e396ea1eb5fb01d8256b669cec7663"
 dependencies = [
  "anstream",
  "anstyle",
@@ -194,21 +185,21 @@ dependencies = [
 
 [[package]]
 name = "clap_derive"
-version = "4.4.2"
+version = "4.4.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0862016ff20d69b84ef8247369fabf5c008a7417002411897d40ee1f4532b873"
+checksum = "cf9804afaaf59a91e75b022a30fb7229a7901f60c755489cc61c9b423b836442"
 dependencies = [
  "heck 0.4.1",
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.38",
 ]
 
 [[package]]
 name = "clap_lex"
-version = "0.5.1"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cd7cc57abe963c6d3b9d8be5b06ba7c8957a930305ca90304f24ef040aa6f961"
+checksum = "702fc72eb24e5a1e48ce58027a675bc24edd52096d5397d4aea7c6dd9eca0bd1"
 
 [[package]]
 name = "colorchoice"
@@ -302,7 +293,7 @@ checksum = "53e0efad4403bfc52dc201159c4b842a246a14b98c64b55dfd0f2d89729dfeb8"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.38",
 ]
 
 [[package]]
@@ -336,25 +327,14 @@ checksum = "a357d28ed41a50f9c765dbfe56cbc04a64e53e5fc58ba79fbc34c10ef3df831f"
 
 [[package]]
 name = "errno"
-version = "0.3.3"
+version = "0.3.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "136526188508e25c6fef639d7927dfb3e0e3084488bf202267829cf7fc23dbdd"
+checksum = "ac3e13f66a2f95e32a39eaa81f6b95d42878ca0e1db0c7543723dfe12557e860"
 dependencies = [
- "errno-dragonfly",
  "libc",
  "windows-sys 0.48.0",
 ]
 
-[[package]]
-name = "errno-dragonfly"
-version = "0.1.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa68f1b12764fab894d2755d2518754e71b4fd80ecfb822714a1206c2aab39bf"
-dependencies = [
- "cc",
- "libc",
-]
-
 [[package]]
 name = "fnv"
 version = "1.0.7"
@@ -363,9 +343,9 @@ checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
 [[package]]
 name = "futures"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23342abe12aba583913b2e62f22225ff9c950774065e4bfb61a19cd9770fec40"
+checksum = "da0290714b38af9b4a7b094b8a37086d1b4e61f2df9122c3cad2577669145335"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -378,9 +358,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "955518d47e09b25bbebc7a18df10b81f0c766eaf4c4f1cccef2fca5f2a4fb5f2"
+checksum = "ff4dd66668b557604244583e3e1e1eada8c5c2e96a6d0d6653ede395b78bbacb"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -388,15 +368,15 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4bca583b7e26f571124fe5b7561d49cb2868d79116cfa0eefce955557c6fee8c"
+checksum = "eb1d22c66e66d9d72e1758f0bd7d4fd0bee04cad842ee34587d68c07e45d088c"
 
 [[package]]
 name = "futures-executor"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ccecee823288125bd88b4d7f565c9e58e41858e47ab72e8ea2d64e93624386e0"
+checksum = "0f4fb8693db0cf099eadcca0efe2a5a22e4550f98ed16aba6c48700da29597bc"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -405,38 +385,38 @@ dependencies = [
 
 [[package]]
 name = "futures-io"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4fff74096e71ed47f8e023204cfd0aa1289cd54ae5430a9523be060cdb849964"
+checksum = "8bf34a163b5c4c52d0478a4d757da8fb65cabef42ba90515efee0f6f9fa45aaa"
 
 [[package]]
 name = "futures-macro"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "89ca545a94061b6365f2c7355b4b32bd20df3ff95f02da9329b34ccc3bd6ee72"
+checksum = "53b153fd91e4b0147f4aced87be237c98248656bb01050b96bf3ee89220a8ddb"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.38",
 ]
 
 [[package]]
 name = "futures-sink"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f43be4fe21a13b9781a69afa4985b0f6ee0e1afab2c6f454a8cf30e2b2237b6e"
+checksum = "e36d3378ee38c2a36ad710c5d30c2911d752cb941c00c72dbabfb786a7970817"
 
 [[package]]
 name = "futures-task"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76d3d132be6c0e6aa1534069c705a74a5997a356c0dc2f86a47765e5617c5b65"
+checksum = "efd193069b0ddadc69c46389b740bbccdd97203899b48d09c5f7969591d6bae2"
 
 [[package]]
 name = "futures-util"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "26b01e40b772d54cf6c6d721c1d1abd0647a0106a12ecaa1c186273392a69533"
+checksum = "a19526d624e703a3179b3d322efec918b6246ea0fa51d41124525f00f1cc8104"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -514,13 +494,11 @@ dependencies = [
 [[package]]
 name = "heapless"
 version = "0.8.0"
-source = "git+https://github.com/japaric/heapless.git#644653bf3b831c6bb4963be2de24804acf5e5001"
+source = "git+https://github.com/japaric/heapless.git#90942787f787b1716608f21afd9d61b5023ee2ca"
 dependencies = [
  "atomic-polyfill",
  "hash32",
- "rustc_version",
  "serde",
- "spin 0.9.8",
  "stable_deref_trait",
 ]
 
@@ -604,20 +582,20 @@ version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
 dependencies = [
- "spin 0.5.2",
+ "spin",
 ]
 
 [[package]]
 name = "libc"
-version = "0.2.148"
+version = "0.2.149"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9cdc71e17332e86d2e1d38c1f99edcb6288ee11b815fb1a4b049eaa2114d369b"
+checksum = "a08173bc88b7955d1b3145aa561539096c421ac8debde8cbc3612ec635fee29b"
 
 [[package]]
 name = "libm"
-version = "0.2.7"
+version = "0.2.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f7012b1bbb0719e1097c47611d3898568c546d597c2e74d66f6087edd5233ff4"
+checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058"
 
 [[package]]
 name = "linked-hash-map"
@@ -627,19 +605,9 @@ checksum = "0717cef1bc8b636c6e1c1bbdefc09e6322da8a9321966e8928ef80d20f7f770f"
 
 [[package]]
 name = "linux-raw-sys"
-version = "0.4.7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1a9bad9f94746442c783ca431b22403b519cd7fbeed0533fdd6328b2f2212128"
-
-[[package]]
-name = "lock_api"
 version = "0.4.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c1cc9717a20b1bb222f333e6a92fd32f7d8a18ddc5a3191a11af45dcbf4dcd16"
-dependencies = [
- "autocfg",
- "scopeguard",
-]
+checksum = "da2479e8c062e40bf0066ffa0bc823de0a9368974af99c9f6df941d2c231e03f"
 
 [[package]]
 name = "log"
@@ -649,9 +617,9 @@ checksum = "b5e6163cb8c49088c2c36f57875e58ccd8c87c7427f7fbd50ea6710b2f3f2e8f"
 
 [[package]]
 name = "memchr"
-version = "2.6.3"
+version = "2.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f232d6ef707e1956a43342693d2a31e72989554d58299d7a88738cc95b0d35c"
+checksum = "f665ee40bc4a3c5590afb1e9677db74a508659dfd71e126420da8274909a0167"
 
 [[package]]
 name = "minimal-lexical"
@@ -728,9 +696,9 @@ dependencies = [
 
 [[package]]
 name = "num-traits"
-version = "0.2.16"
+version = "0.2.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f30b0abd723be7e2ffca1272140fac1a2f084c77ec3e123c192b66af1ee9e6c2"
+checksum = "39e3200413f237f41ab11ad6d161bc7239c84dcb631773ccd7de3dfe4b5c267c"
 dependencies = [
  "autocfg",
  "libm",
@@ -806,9 +774,9 @@ checksum = "5b40af805b3121feab8a3c29f04d8ad262fa8e0561883e7653e024ae4479e6de"
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.67"
+version = "1.0.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d433d9f1a3e8c1263d9456598b16fec66f4acc9a74dacffd35c7bb09b3a1328"
+checksum = "134c189feb4956b20f6f547d2cf727d4c0fe06722b20a0eec87ed445a97f92da"
 dependencies = [
  "unicode-ident",
 ]
@@ -863,25 +831,25 @@ dependencies = [
 
 [[package]]
 name = "regex"
-version = "1.9.5"
+version = "1.10.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "697061221ea1b4a94a624f67d0ae2bfe4e22b8a17b6a192afb11046542cc8c47"
+checksum = "380b951a9c5e80ddfd6136919eef32310721aa4aacd4889a8d39124b026ab343"
 dependencies = [
  "aho-corasick",
  "memchr",
  "regex-automata",
- "regex-syntax 0.7.5",
+ "regex-syntax 0.8.2",
 ]
 
 [[package]]
 name = "regex-automata"
-version = "0.3.8"
+version = "0.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c2f401f4955220693b56f8ec66ee9c78abffd8d1c4f23dc41a23839eb88f0795"
+checksum = "5f804c7828047e88b2d32e2d7fe5a105da8ee3264f01902f796c8e067dc2483f"
 dependencies = [
  "aho-corasick",
  "memchr",
- "regex-syntax 0.7.5",
+ "regex-syntax 0.8.2",
 ]
 
 [[package]]
@@ -892,26 +860,17 @@ checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
 
 [[package]]
 name = "regex-syntax"
-version = "0.7.5"
+version = "0.8.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dbb5fb1acd8a1a18b3dd5be62d25485eb770e05afb408a9627d14d451bae12da"
-
-[[package]]
-name = "rustc_version"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
-dependencies = [
- "semver",
-]
+checksum = "c08c74e62047bb2de4ff487b251e4a92e24f48745648451635cec7d591162d9f"
 
 [[package]]
 name = "rustix"
-version = "0.38.14"
+version = "0.38.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "747c788e9ce8e92b12cd485c49ddf90723550b654b32508f979b71a7b1ecda4f"
+checksum = "2b426b0506e5d50a7d8dafcf2e81471400deb602392c7dd110815afb4eaf02a3"
 dependencies = [
- "bitflags 2.4.0",
+ "bitflags 2.4.1",
  "errno",
  "libc",
  "linux-raw-sys",
@@ -933,12 +892,6 @@ dependencies = [
  "winapi-util",
 ]
 
-[[package]]
-name = "scopeguard"
-version = "1.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
-
 [[package]]
 name = "sealed"
 version = "0.3.0"
@@ -963,30 +916,24 @@ dependencies = [
  "syn 1.0.109",
 ]
 
-[[package]]
-name = "semver"
-version = "1.0.18"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0293b4b29daaf487284529cc2f5675b8e57c61f70167ba415a463651fd6a918"
-
 [[package]]
 name = "serde"
-version = "1.0.188"
+version = "1.0.190"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cf9e0fcba69a370eed61bcf2b728575f726b50b55cba78064753d708ddc7549e"
+checksum = "91d3c334ca1ee894a2c6f6ad698fe8c435b76d504b13d436f0685d648d6d96f7"
 dependencies = [
  "serde_derive",
 ]
 
 [[package]]
 name = "serde_derive"
-version = "1.0.188"
+version = "1.0.190"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4eca7ac642d82aa35b60049a6eccb4be6be75e599bd2e9adb5f875a737654af2"
+checksum = "67c5609f394e5c2bd7fc51efda478004ea80ef42fee983d5c67a65e34f32c0e3"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.38",
 ]
 
 [[package]]
@@ -1044,15 +991,6 @@ version = "0.5.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6e63cff320ae2c57904679ba7cb63280a3dc4613885beafb148ee7bf9aa9042d"
 
-[[package]]
-name = "spin"
-version = "0.9.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
-dependencies = [
- "lock_api",
-]
-
 [[package]]
 name = "stable_deref_trait"
 version = "1.2.0"
@@ -1078,9 +1016,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.37"
+version = "2.0.38"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7303ef2c05cd654186cb250d29049a24840ca25d2747c25c0381c8d9e2f582e8"
+checksum = "e96b79aaa137db8f61e26363a0c9b47d8b4ec75da28b7d1d614c2303e232408b"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1158,22 +1096,22 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.48"
+version = "1.0.50"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9d6d7a740b8a666a7e828dd00da9c0dc290dff53154ea77ac109281de90589b7"
+checksum = "f9a7210f5c9a7156bb50aa36aed4c95afb51df0df00713949448cf9e97d382d2"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.48"
+version = "1.0.50"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49922ecae66cc8a249b77e68d1d0623c1b2c514f0060c27cdc68bd62a1219d35"
+checksum = "266b2e40bc00e5a6c09c3584011e08b06f123c00362c92b975ba9843aaaa14b8"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.38",
 ]
 
 [[package]]