flightgear/src/Instrumentation/adf.cxx

// adf.cxx - distance-measuring equipment.
// Written by David Megginson, started 2003.
//
// This file is in the Public Domain and comes with no warranty.

#include <simgear/compiler.h>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/math/sg_random.h>

#include <Main/fg_props.hxx>
#include <Main/util.hxx>
#include <Navaids/navlist.hxx>

#include "adf.hxx"

#include <iostream>
#include <string>
#include <sstream>


// Use a bigger number to be more responsive, or a smaller number
// to be more sluggish.
#define RESPONSIVENESS 0.5


/**
 * Fiddle with the reception range a bit.
 *
 * TODO: better reception at night (??).
 */
static double
adjust_range (double transmitter_elevation_ft, double aircraft_altitude_ft,
              double max_range_nm)
{
    double delta_elevation_ft =
        aircraft_altitude_ft - transmitter_elevation_ft;
    double range_nm = max_range_nm;

                                // kludge slightly better reception at
                                // altitude
    if (delta_elevation_ft < 0)
        delta_elevation_ft = 200;
    if (delta_elevation_ft <= 1000)
        range_nm *= sqrt(delta_elevation_ft / 1000);
    else if (delta_elevation_ft >= 5000)
        range_nm *= sqrt(delta_elevation_ft / 5000);
    if (range_nm >= max_range_nm * 3)
        range_nm = max_range_nm * 3;

    double rand = sg_random();
    return range_nm + (range_nm * rand * rand);
}


ADF::ADF (SGPropertyNode *node )
    :
    _time_before_search_sec(0),
    _last_frequency_khz(-1),
    _transmitter_valid(false),
    _transmitter_elevation_ft(0),
    _transmitter_range_nm(0),
    _ident_count(0),
    _last_ident_time(0),
    _last_volume(-1),
    name("adf"),
    num(0)
{
    int i;
    for ( i = 0; i < node->nChildren(); ++i ) {
        SGPropertyNode *child = node->getChild(i);
        string cname = child->getName();
        string cval = child->getStringValue();
        if ( cname == "name" ) {
            name = cval;
        } else if ( cname == "number" ) {
            num = child->getIntValue();
        } else {
            SG_LOG( SG_AUTOPILOT, SG_WARN, "Error in adf config logic" );
            if ( name.length() ) {
                SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << name );
            }
        }
    }
}


ADF::ADF ()
    : _time_before_search_sec(0),
      _last_frequency_khz(-1),
      _transmitter_valid(false),
      _transmitter_elevation_ft(0),
      _transmitter_range_nm(0),
      _ident_count(0),
      _last_ident_time(0),
      _last_volume(-1),
      name("adf"),
      num(0)
{
}

ADF::~ADF ()
{
}

void
ADF::init ()
{
    string branch;
    branch = "/instrumentation/" + name;

    SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
    _longitude_node = fgGetNode("/position/longitude-deg", true);
    _latitude_node = fgGetNode("/position/latitude-deg", true);
    _altitude_node = fgGetNode("/position/altitude-ft", true);
    _heading_node = fgGetNode("/orientation/heading-deg", true);
    _serviceable_node = node->getChild("serviceable", 0, true);
    _error_node = node->getChild("error-deg", 0, true);
    _electrical_node = fgGetNode("/systems/electrical/outputs/adf", true);
    branch = branch + "/frequencies";
    SGPropertyNode *fnode = node->getChild("frequencies", 0, true);
    _frequency_node = fnode->getChild("selected-khz", 0, true);
    _mode_node = node->getChild("mode", 0, true);
    _volume_node = node->getChild("volume-norm", 0, true);
    _in_range_node = node->getChild("in-range", 0, true);
    _bearing_node = node->getChild("indicated-bearing-deg", 0, true);
    _ident_node = node->getChild("ident", 0, true);
    _ident_audible_node = node->getChild("ident-audible", 0, true);

    morse.init();

    std::ostringstream temp;
    temp << name << num;
    adf_ident = temp.str();

    _serviceable_node->setBoolValue(true);
}

void
ADF::update (double delta_time_sec)
{
                                // If it's off, don't waste any time.
    if (!_electrical_node->getBoolValue() ||
        !_serviceable_node->getBoolValue()) {
        set_bearing(delta_time_sec, 90);
        _ident_node->setStringValue("");
        return;
    }

                                // Get the frequency
    int frequency_khz = _frequency_node->getIntValue();
    if (frequency_khz != _last_frequency_khz) {
        _time_before_search_sec = 0;
        _last_frequency_khz = frequency_khz;
    }

                                // Get the aircraft position
    double longitude_deg = _longitude_node->getDoubleValue();
    double latitude_deg = _latitude_node->getDoubleValue();
    double altitude_m = _altitude_node->getDoubleValue();

    double longitude_rad = longitude_deg * SGD_DEGREES_TO_RADIANS;
    double latitude_rad = latitude_deg * SGD_DEGREES_TO_RADIANS;

                                // On timeout, scan again
    _time_before_search_sec -= delta_time_sec;
    if (_time_before_search_sec < 0)
        search(frequency_khz, longitude_rad, latitude_rad, altitude_m);

                                // If it's off, don't bother.
    string mode = _mode_node->getStringValue();
    if (!_transmitter_valid || (mode != "bfo" && mode != "adf"))
    {
        set_bearing(delta_time_sec, 90);
        _ident_node->setStringValue("");
        return;
    }

                                // Calculate the bearing to the transmitter
    Point3D location =
        sgGeodToCart(Point3D(longitude_rad, latitude_rad, altitude_m));

    double distance_nm = _transmitter.distance3D(location) * SG_METER_TO_NM;
    double range_nm = adjust_range(_transmitter_elevation_ft,
                                   altitude_m * SG_METER_TO_FEET,
                                   _transmitter_range_nm);
    if (distance_nm <= range_nm) {

        double bearing, az2, s;
        double heading = _heading_node->getDoubleValue();

        geo_inverse_wgs_84(altitude_m,
                           latitude_deg,
                           longitude_deg,
                           _transmitter_lat_deg,
                           _transmitter_lon_deg,
                           &bearing, &az2, &s);
        _in_range_node->setBoolValue(true);

        bearing -= heading;
        if (bearing < 0)
            bearing += 360;
        set_bearing(delta_time_sec, bearing);

        // adf ident sound
        double volume;
        if ( _ident_audible_node->getBoolValue() )
            volume = _volume_node->getDoubleValue();
        else
            volume = 0.0;

        if ( volume != _last_volume ) {
            _last_volume = volume;

            SGSoundSample *sound;
            sound = globals->get_soundmgr()->find( adf_ident );
            if ( sound != NULL )
                sound->set_volume( volume );
            else
                SG_LOG( SG_GENERAL, SG_ALERT, "Can't find adf-ident sound" );
        }

        time_t cur_time = globals->get_time_params()->get_cur_time();
        if ( _last_ident_time < cur_time - 30 ) {
            _last_ident_time = cur_time;
            _ident_count = 0;
        }

        if ( _ident_count < 4 ) {
            if ( !globals->get_soundmgr()->is_playing(adf_ident) ) {
                globals->get_soundmgr()->play_once( adf_ident );
                ++_ident_count;
            }
        }
    } else {
        _in_range_node->setBoolValue(false);
        set_bearing(delta_time_sec, 90);
        _ident_node->setStringValue("");
        globals->get_soundmgr()->stop( adf_ident );
    }
}

void
ADF::search (double frequency_khz, double longitude_rad,
             double latitude_rad, double altitude_m)
{
    string ident = "";
                                // reset search time
    _time_before_search_sec = 1.0;

                                // try the ILS list first
    FGNavRecord *nav =
        globals->get_navlist()->findByFreq(frequency_khz, longitude_rad,
                                           latitude_rad, altitude_m);

    _transmitter_valid = (nav != NULL);
    if ( _transmitter_valid ) {
        ident = nav->get_trans_ident();
        if ( ident != _last_ident ) {
            _transmitter_lon_deg = nav->get_lon();
            _transmitter_lat_deg = nav->get_lat();
            _transmitter = Point3D(nav->get_x(), nav->get_y(), nav->get_z());
            _transmitter_elevation_ft = nav->get_elev_ft();
            _transmitter_range_nm = nav->get_range();
        }
    }

    if ( _last_ident != ident ) {
        _last_ident = ident;
        _ident_node->setStringValue(ident.c_str());

        if ( globals->get_soundmgr()->exists( adf_ident ) ) {
	    // stop is required! -- remove alone wouldn't stop immediately
            globals->get_soundmgr()->stop( adf_ident );
            globals->get_soundmgr()->remove( adf_ident );
        }

        SGSoundSample *sound;
        sound = morse.make_ident( ident, LO_FREQUENCY );
        sound->set_volume(_last_volume = 0);
        globals->get_soundmgr()->add( sound, adf_ident );

        int offset = (int)(sg_random() * 30.0);
        _ident_count = offset / 4;
        _last_ident_time = globals->get_time_params()->get_cur_time() -
            offset;
    }
}

void
ADF::set_bearing (double dt, double bearing_deg)
{
    double old_bearing_deg = _bearing_node->getDoubleValue();

    bearing_deg += _error_node->getDoubleValue();

    while ((bearing_deg - old_bearing_deg) >= 180)
        old_bearing_deg += 360;
    while ((bearing_deg - old_bearing_deg) <= -180)
        old_bearing_deg -= 360;

    bearing_deg =
        fgGetLowPass(old_bearing_deg, bearing_deg, dt * RESPONSIVENESS);

    _bearing_node->setDoubleValue(bearing_deg);
}


// end of adf.cxx