// kr-87.cxx -- class to impliment the King KR 87 Digital ADF
//
// Written by Curtis Olson, started April 2002.
//
// Copyright (C) 2002 Curtis L. Olson - http://www.flightgear.org/~curt
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <stdio.h> // snprintf
#include <simgear/compiler.h>
#include <simgear/math/sg_random.h>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/timing/sg_time.hxx>
#include <simgear/sound/sample_group.hxx>
#include <Navaids/navlist.hxx>
#include "kr_87.hxx"
#include <Sound/morse.hxx>
#include <string>
using std::string;
static int play_count = 0;
static time_t last_time = 0;
/**
* Boy, this is ugly! Make the VOR range vary by altitude difference.
*/
static double kludgeRange ( double stationElev, double aircraftElev,
double nominalRange)
{
// Assume that the nominal range (usually
// 50nm) applies at a 5,000 ft difference.
// Just a wild guess!
double factor = (aircraftElev - stationElev)*SG_METER_TO_FEET / 5000.0;
double range = fabs(nominalRange * factor);
// Clamp the range to keep it sane; for
// now, never less than 50% or more than
// 500% of nominal range.
if (range < nominalRange/2.0) {
range = nominalRange/2.0;
} else if (range > nominalRange*5.0) {
range = nominalRange*5.0;
}
return range;
}
// Constructor
FGKR_87::FGKR_87( SGPropertyNode *node ) :
bus_power(fgGetNode("/systems/electrical/outputs/adf", true)),
serviceable(fgGetNode("/instrumentation/adf/serviceable", true)),
need_update(true),
valid(false),
inrange(false),
dist(0.0),
heading(0.0),
goal_needle_deg(0.0),
et_flash_time(0.0),
ant_mode(0),
stby_mode(0),
timer_mode(0),
count_mode(0),
rotation(0),
power_btn(true),
audio_btn(true),
vol_btn(0.5),
adf_btn(true),
bfo_btn(false),
frq_btn(false),
last_frq_btn(false),
flt_et_btn(false),
last_flt_et_btn(false),
set_rst_btn(false),
last_set_rst_btn(false),
freq(0),
stby_freq(0),
needle_deg(0.0),
flight_timer(0.0),
elapsed_timer(0.0),
tmp_timer(0.0),
_time_before_search_sec(0),
_sgr(NULL)
{
}
// Destructor
FGKR_87::~FGKR_87() {
}
void FGKR_87::init () {
SGSoundMgr *smgr = globals->get_soundmgr();
_sgr = smgr->find("avionics", true);
_sgr->tie_to_listener();
}
void FGKR_87::reinit () {
_time_before_search_sec = 0;
}
void FGKR_87::bind () {
_tiedProperties.setRoot(fgGetNode("/instrumentation/kr-87", true));
// internal values
_tiedProperties.Tie("internal/valid", this, &FGKR_87::get_valid);
_tiedProperties.Tie("internal/inrange", this,
&FGKR_87::get_inrange);
_tiedProperties.Tie("internal/dist", this,
&FGKR_87::get_dist);
_tiedProperties.Tie("internal/heading", this,
&FGKR_87::get_heading);
// modes
_tiedProperties.Tie("modes/ant", this,
&FGKR_87::get_ant_mode);
_tiedProperties.Tie("modes/stby", this,
&FGKR_87::get_stby_mode);
_tiedProperties.Tie("modes/timer", this,
&FGKR_87::get_timer_mode);
_tiedProperties.Tie("modes/count", this,
&FGKR_87::get_count_mode);
// input and buttons
_tiedProperties.Tie("inputs/rotation-deg", this,
&FGKR_87::get_rotation, &FGKR_87::set_rotation);
fgSetArchivable("/instrumentation/kr-87/inputs/rotation-deg");
_tiedProperties.Tie("inputs/power-btn", this,
&FGKR_87::get_power_btn,
&FGKR_87::set_power_btn);
fgSetArchivable("/instrumentation/kr-87/inputs/power-btn");
_tiedProperties.Tie("inputs/audio-btn", this,
&FGKR_87::get_audio_btn,
&FGKR_87::set_audio_btn);
fgSetArchivable("/instrumentation/kr-87/inputs/audio-btn");
_tiedProperties.Tie("inputs/volume", this,
&FGKR_87::get_vol_btn,
&FGKR_87::set_vol_btn);
fgSetArchivable("/instrumentation/kr-87/inputs/volume");
_tiedProperties.Tie("inputs/adf-btn", this,
&FGKR_87::get_adf_btn,
&FGKR_87::set_adf_btn);
_tiedProperties.Tie("inputs/bfo-btn", this,
&FGKR_87::get_bfo_btn,
&FGKR_87::set_bfo_btn);
_tiedProperties.Tie("inputs/frq-btn", this,
&FGKR_87::get_frq_btn,
&FGKR_87::set_frq_btn);
_tiedProperties.Tie("inputs/flt-et-btn", this,
&FGKR_87::get_flt_et_btn,
&FGKR_87::set_flt_et_btn);
_tiedProperties.Tie("inputs/set-rst-btn", this,
&FGKR_87::get_set_rst_btn,
&FGKR_87::set_set_rst_btn);
// outputs
_tiedProperties.Tie("outputs/selected-khz", this,
&FGKR_87::get_freq, &FGKR_87::set_freq);
fgSetArchivable("/instrumentation/kr-87/outputs/selected-khz");
_tiedProperties.Tie("outputs/standby-khz", this,
&FGKR_87::get_stby_freq, &FGKR_87::set_stby_freq);
fgSetArchivable("/instrumentation/kr-87/outputs/standby-khz");
_tiedProperties.Tie("outputs/needle-deg", this,
&FGKR_87::get_needle_deg);
_tiedProperties.Tie("outputs/flight-timer", this,
&FGKR_87::get_flight_timer);
_tiedProperties.Tie("outputs/elapsed-timer", this,
&FGKR_87::get_elapsed_timer,
&FGKR_87::set_elapsed_timer);
// annunciators
_tiedProperties.Tie("annunciators/ant", this,
&FGKR_87::get_ant_ann );
_tiedProperties.Tie("annunciators/adf", this,
&FGKR_87::get_adf_ann );
_tiedProperties.Tie("annunciators/bfo", this,
&FGKR_87::get_bfo_ann );
_tiedProperties.Tie("annunciators/frq", this,
&FGKR_87::get_frq_ann );
_tiedProperties.Tie("annunciators/flt", this,
&FGKR_87::get_flt_ann );
_tiedProperties.Tie("annunciators/et", this,
&FGKR_87::get_et_ann );
}
void FGKR_87::unbind () {
_tiedProperties.Untie();
}
// Update the various nav values based on position and valid tuned in navs
void FGKR_87::update( double dt_sec ) {
SGGeod acft = globals->get_aircraft_position();
need_update = false;
double az1, az2, s;
// On timeout, scan again
_time_before_search_sec -= dt_sec;
if ( _time_before_search_sec < 0 ) {
search();
}
////////////////////////////////////////////////////////////////////////
// Radio
////////////////////////////////////////////////////////////////////////
if ( has_power() && serviceable->getBoolValue() ) {
// buttons
if ( adf_btn == 0 ) {
ant_mode = 1;
} else {
ant_mode = 0;
}
// cout << "ant_mode = " << ant_mode << endl;
if ( frq_btn && frq_btn != last_frq_btn && stby_mode == 0 ) {
int tmp = freq;
freq = stby_freq;
stby_freq = tmp;
} else if ( frq_btn ) {
stby_mode = 0;
count_mode = 0;
}
last_frq_btn = frq_btn;
if ( flt_et_btn && flt_et_btn != last_flt_et_btn ) {
if ( stby_mode == 0 ) {
timer_mode = 0;
} else {
timer_mode = !timer_mode;
}
stby_mode = 1;
}
last_flt_et_btn = flt_et_btn;
if ( set_rst_btn == 1 && set_rst_btn != last_set_rst_btn ) {
// button depressed
tmp_timer = 0.0;
}
if ( set_rst_btn == 1 && set_rst_btn == last_set_rst_btn ) {
// button depressed and was last iteration too
tmp_timer += dt_sec;
// cout << "tmp_timer = " << tmp_timer << endl;
if ( tmp_timer > 2.0 ) {
// button held depressed for 2 seconds
// cout << "entering elapsed count down mode" << endl;
timer_mode = 1;
count_mode = 2;
elapsed_timer = 0.0;
}
}
if ( set_rst_btn == 0 && set_rst_btn != last_set_rst_btn ) {
// button released
if ( tmp_timer > 2.0 ) {
// button held depressed for 2 seconds, don't adjust
// mode, just exit
} else if ( count_mode == 2 ) {
count_mode = 1;
} else {
count_mode = 0;
elapsed_timer = 0.0;
}
}
last_set_rst_btn = set_rst_btn;
// timers
flight_timer += dt_sec;
if ( set_rst_btn == 0 ) {
// only count if set/rst button not depressed
if ( count_mode == 0 ) {
elapsed_timer += dt_sec;
} else if ( count_mode == 1 ) {
elapsed_timer -= dt_sec;
if ( elapsed_timer < 1.0 ) {
count_mode = 0;
elapsed_timer = 0.0;
}
}
}
// annunciators
ant_ann = !adf_btn;
adf_ann = adf_btn;
bfo_ann = bfo_btn;
frq_ann = !stby_mode;
flt_ann = stby_mode && !timer_mode;
if ( count_mode < 2 ) {
et_ann = stby_mode && timer_mode;
} else {
et_flash_time += dt_sec;
if ( et_ann && et_flash_time > 0.5 ) {
et_ann = false;
et_flash_time -= 0.5;
} else if ( !et_ann && et_flash_time > 0.2 ) {
et_ann = true;
et_flash_time -= 0.2;
}
}
if ( valid ) {
// cout << "adf is valid" << endl;
// staightline distance
// What a hack, dist is a class local variable
dist = sqrt(distSqr(SGVec3d::fromGeod(acft), xyz));
// wgs84 heading
geo_inverse_wgs_84( acft, SGGeod::fromDeg(stn_lon, stn_lat),
&az1, &az2, &s );
heading = az1;
// cout << " heading = " << heading
// << " dist = " << dist << endl;
effective_range = kludgeRange(stn_elev, acft.getElevationFt(), range);
if ( dist < effective_range * SG_NM_TO_METER ) {
inrange = true;
} else if ( dist < 2 * effective_range * SG_NM_TO_METER ) {
inrange = sg_random() <
( 2 * effective_range * SG_NM_TO_METER - dist ) /
(effective_range * SG_NM_TO_METER);
} else {
inrange = false;
}
// cout << "inrange = " << inrange << endl;
if ( inrange ) {
goal_needle_deg = heading
- fgGetDouble("/orientation/heading-deg");
}
} else {
inrange = false;
}
if ( ant_mode ) {
goal_needle_deg = 90.0;
}
} else {
// unit turned off
goal_needle_deg = 0.0;
flight_timer = 0.0;
elapsed_timer = 0.0;
ant_ann = false;
adf_ann = false;
bfo_ann = false;
frq_ann = false;
flt_ann = false;
et_ann = false;
}
// formatted timer
double time;
int hours, min, sec;
if ( timer_mode == 0 ) {
time = flight_timer;
} else {
time = elapsed_timer;
}
// cout << time << endl;
hours = (int)(time / 3600.0);
time -= hours * 3600.00;
min = (int)(time / 60.0);
time -= min * 60.0;
sec = (int)time;
int big, little;
if ( hours > 0 ) {
big = hours;
if ( big > 99 ) {
big = 99;
}
little = min;
} else {
big = min;
little = sec;
}
if ( big > 99 ) {
big = 99;
}
char formatted_timer[128];
// cout << big << ":" << little << endl;
snprintf(formatted_timer, 6, "%02d:%02d", big, little);
fgSetString( "/instrumentation/kr-87/outputs/timer-string",
formatted_timer );
while ( goal_needle_deg < 0.0 ) { goal_needle_deg += 360.0; }
while ( goal_needle_deg >= 360.0 ) { goal_needle_deg -= 360.0; }
double diff = goal_needle_deg - needle_deg;
while ( diff < -180.0 ) { diff += 360.0; }
while ( diff > 180.0 ) { diff -= 360.0; }
needle_deg += diff * dt_sec * 4;
while ( needle_deg < 0.0 ) { needle_deg += 360.0; }
while ( needle_deg >= 360.0 ) { needle_deg -= 360.0; }
// cout << "goal = " << goal_needle_deg << " actual = " << needle_deg
// << endl;
// cout << "flt = " << flight_timer << " et = " << elapsed_timer
// << " needle = " << needle_deg << endl;
if ( valid && inrange && serviceable->getBoolValue() ) {
// play station ident via audio system if on + ant mode,
// otherwise turn it off
if ( vol_btn >= 0.01 && audio_btn ) {
SGSoundSample *sound;
sound = _sgr->find( "adf-ident" );
if ( sound != NULL ) {
if ( !adf_btn ) {
sound->set_volume( vol_btn );
} else {
sound->set_volume( vol_btn / 4.0 );
}
} else {
SG_LOG( SG_COCKPIT, SG_ALERT, "Can't find adf-ident sound" );
}
if ( last_time <
globals->get_time_params()->get_cur_time() - 30 ) {
last_time = globals->get_time_params()->get_cur_time();
play_count = 0;
}
if ( play_count < 4 ) {
// play ADF ident
if ( !_sgr->is_playing("adf-ident") && (vol_btn > 0.05) ) {
_sgr->play_once( "adf-ident" );
++play_count;
}
}
} else {
_sgr->stop( "adf-ident" );
}
}
}
// Update current nav/adf radio stations based on current postition
void FGKR_87::search() {
SGGeod pos = globals->get_aircraft_position();
// FIXME: the panel should handle this
static string last_ident = "";
// reset search time
_time_before_search_sec = 1.0;
////////////////////////////////////////////////////////////////////////
// ADF.
////////////////////////////////////////////////////////////////////////
FGNavList::TypeFilter filter(FGPositioned::NDB);
FGNavRecord *adf = FGNavList::findByFreq( freq, pos, &filter);
if ( adf != NULL ) {
char sfreq[128];
snprintf( sfreq, 10, "%d", freq );
ident = sfreq;
ident += adf->get_ident();
// cout << "adf ident = " << ident << endl;
valid = true;
if ( last_ident != ident ) {
last_ident = ident;
trans_ident = adf->get_trans_ident();
stn_lon = adf->get_lon();
stn_lat = adf->get_lat();
stn_elev = adf->get_elev_ft();
range = adf->get_range();
effective_range = kludgeRange(stn_elev, pos.getElevationM(), range);
xyz = adf->cart();
if ( _sgr->exists( "adf-ident" ) ) {
// stop is required! -- remove alone wouldn't stop immediately
_sgr->stop( "adf-ident" );
_sgr->remove( "adf-ident" );
}
SGSoundSample *sound;
sound = FGMorse::instance()->make_ident( trans_ident, FGMorse::LO_FREQUENCY );
sound->set_volume( 0.3 );
_sgr->add( sound, "adf-ident" );
int offset = (int)(sg_random() * 30.0);
play_count = offset / 4;
last_time = globals->get_time_params()->get_cur_time() -
offset;
// cout << "offset = " << offset << " play_count = "
// << play_count << " last_time = "
// << last_time << " current time = "
// << globals->get_time_params()->get_cur_time() << endl;
// cout << "Found an adf station in range" << endl;
// cout << " id = " << nav->get_ident() << endl;
}
} else {
valid = false;
ident = "";
trans_ident = "";
_sgr->remove( "adf-ident" );
last_ident = "";
// cout << "not picking up adf. :-(" << endl;
}
}
int FGKR_87::get_stby_freq() const {
if ( stby_mode == 0 ) {
return stby_freq;
} else {
if ( timer_mode == 0 ) {
return (int)flight_timer;
} else {
return (int)elapsed_timer;
}
}
}