519 lines
20 KiB
C++
Executable file
519 lines
20 KiB
C++
Executable file
// tacan.cxx - Tactical Navigation Beacon.
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// Written by Vivian Meazaa, started 2005.
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//
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// This file is in the Public Domain and comes with no warranty.
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <simgear/compiler.h>
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#include <simgear/math/sg_geodesy.hxx>
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#include <simgear/math/sg_random.h>
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#include <Main/fg_props.hxx>
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#include <Navaids/navlist.hxx>
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#include <vector>
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#include "tacan.hxx"
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SG_USING_STD(vector);
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/**
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* Adjust the range.
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*
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* Start by calculating the radar horizon based on the elevation
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* difference, then clamp to the maximum, then add a fudge for
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* borderline reception.
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*/
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static double
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adjust_range (double transmitter_elevation_ft, double aircraft_altitude_ft,
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double max_range_nm)
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{
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max_range_nm = 150;
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double delta_elevation_ft =
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fabs(aircraft_altitude_ft - transmitter_elevation_ft);
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double range_nm = 1.23 * sqrt(delta_elevation_ft);
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if (range_nm > max_range_nm)
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range_nm = max_range_nm;
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else if (range_nm < 20.0)
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range_nm = 20.0;
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double rand = sg_random();
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SG_LOG( SG_INSTR, SG_DEBUG, " tacan range " << range_nm << " max range " << max_range_nm);
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return range_nm + (range_nm * rand * rand);
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}
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TACAN::TACAN ( SGPropertyNode *node )
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: _last_distance_nm(0),
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_last_frequency_mhz(-1),
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_time_before_search_sec(0),
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_mobile_valid(false),
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_transmitter_valid(false),
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_transmitter_pos(SGGeod::fromDeg(0, 0)),
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_transmitter_range_nm(0),
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_transmitter_bias(0.0),
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name("tacan"),
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num(0)
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{
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int i;
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for ( i = 0; i < node->nChildren(); ++i ) {
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SGPropertyNode *child = node->getChild(i);
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string cname = child->getName();
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string cval = child->getStringValue();
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if ( cname == "name" ) {
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name = cval;
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} else if ( cname == "number" ) {
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num = child->getIntValue();
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} else {
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SG_LOG( SG_INSTR, SG_DEBUG, "Error in TACAN config logic" );
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if ( name.length() ) {
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SG_LOG( SG_INSTR, SG_DEBUG, "Section = " << name );
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}
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}
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}
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}
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TACAN::TACAN ()
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: _last_distance_nm(0),
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_last_frequency_mhz(-1),
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_time_before_search_sec(0),
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_mobile_valid(false),
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_transmitter_valid(false),
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_transmitter_pos(SGGeod::fromDeg(0, 0)),
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_transmitter_range_nm(0),
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_transmitter_bearing_deg(0),
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_transmitter_bias(0.0),
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_transmitter_name(""),
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name("tacan")
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{
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}
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TACAN::~TACAN ()
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{
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}
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void
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TACAN::init ()
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{
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string branch;
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branch = "/instrumentation/" + name;
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SGPropertyNode *node = fgGetNode(branch.c_str(), num, true );
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_longitude_node = fgGetNode("/position/longitude-deg", true);
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_latitude_node = fgGetNode("/position/latitude-deg", true);
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_altitude_node = fgGetNode("/position/altitude-ft", true);
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_heading_node = fgGetNode("/orientation/heading-deg", true);
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_yaw_node = fgGetNode("/orientation/side-slip-deg", true);
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_serviceable_node = node->getChild("serviceable", 0, true);
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_electrical_node = fgGetNode("/systems/electrical/outputs/tacan", true);
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_ident_node = node->getChild("ident", 0, true);
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SGPropertyNode *fnode = node->getChild("frequencies", 0, true);
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_source_node = fnode->getChild("source", 0, true);
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_frequency_node = fnode->getChild("selected-mhz", 0, true);
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_channel_node = fnode->getChild("selected-channel", 1, true);
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_channel_node = fnode->getChild("selected-channel", 2, true);
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_channel_node = fnode->getChild("selected-channel", 3, true);
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_channel_node = fnode->getChild("selected-channel", 4, true);
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_in_range_node = node->getChild("in-range", 0, true);
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_distance_node = node->getChild("indicated-distance-nm", 0, true);
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_speed_node = node->getChild("indicated-ground-speed-kt", 0, true);
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_time_node = node->getChild("indicated-time-min", 0, true);
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_name_node = node->getChild("name", 0, true);
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_bearing_node = node->getChild("indicated-bearing-true-deg", 0, true);
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SGPropertyNode *dnode = node->getChild("display", 0, true);
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_x_shift_node = dnode->getChild("x-shift", 0, true);
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_y_shift_node = dnode->getChild("y-shift", 0, true);
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_rotation_node = dnode->getChild("rotation", 0, true);
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_channel_node = dnode->getChild("channel", 0, true);
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SGPropertyNode *cnode = fgGetNode("/ai/models/carrier", num, false );
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if (cnode)
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_carrier_name_node = cnode->getChild("name", 0, false);
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SGPropertyNode *tnode = fgGetNode("/ai/models/aircraft", num, false);
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if (tnode)
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_tanker_callsign_node = tnode->getChild("callsign", 0, false);
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SGPropertyNode *mnode = fgGetNode("/ai/models/multiplayer", num, false);
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if (mnode)
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_mp_callsign_node = mnode->getChild("callsign", 0, false);
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}
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void
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TACAN::update (double delta_time_sec)
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{
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double az2 = 0;
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double bearing = 0;
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double distance = 0;
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double mobile_az2 = 0;
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double mobile_bearing = 0;
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double mobile_distance = 0;
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double frequency_mhz = 0;
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string _channel, _last_channel, _channel_1, _channel_2,_channel_3, _channel_4;
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// If it's off, don't waste any time.
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if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
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_last_distance_nm = 0;
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_in_range_node->setBoolValue(false);
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_distance_node->setDoubleValue(0);
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_speed_node->setDoubleValue(0);
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_time_node->setDoubleValue(0);
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SG_LOG( SG_INSTR, SG_DEBUG, "skip tacan" );
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return;
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}
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// Figure out the source
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const char * source = _source_node->getStringValue();
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if (source[0] == '\0') {
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string branch;
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branch = "/instrumentation/" + name + "/frequencies/selected-channel";
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_source_node->setStringValue(branch.c_str());
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source = _source_node->getStringValue();
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SG_LOG( SG_INSTR, SG_DEBUG, "source " << source );
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}
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// Get the channel
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_channel_1 = fgGetString("/instrumentation/tacan/frequencies/selected-channel[1]");
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_channel_2 = fgGetString("/instrumentation/tacan/frequencies/selected-channel[2]");
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_channel_3 = fgGetString("/instrumentation/tacan/frequencies/selected-channel[3]");
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_channel_4 = fgGetString("/instrumentation/tacan/frequencies/selected-channel[4]");
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SG_LOG( SG_INSTR, SG_DEBUG, "channels " << _channel_1 << _channel_2 << _channel_3 << _channel_4);
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_channel = _channel_1 + _channel_2 + _channel_3 + _channel_4;
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// Get the frequency
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if (_channel != _last_channel) {
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_time_before_search_sec = 0;
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_last_channel = _channel;
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frequency_mhz = searchChannel(_channel);
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SG_LOG( SG_INSTR, SG_DEBUG, "frequency " << frequency_mhz );
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_frequency_node->setDoubleValue(frequency_mhz);
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}
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SG_LOG( SG_INSTR, SG_DEBUG, "channel " << _channel );
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// Get the aircraft position
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double longitude_deg = _longitude_node->getDoubleValue();
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double latitude_deg = _latitude_node->getDoubleValue();
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double altitude_m = _altitude_node->getDoubleValue() * SG_FEET_TO_METER;
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double heading = _heading_node->getDoubleValue() ;
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double yaw = _yaw_node->getDoubleValue() ;
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double longitude_rad = longitude_deg * SGD_DEGREES_TO_RADIANS;
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double latitude_rad = latitude_deg * SGD_DEGREES_TO_RADIANS;
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// On timeout, scan again
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_time_before_search_sec -= delta_time_sec;
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if (_time_before_search_sec < 0 && frequency_mhz >= 0)
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search(frequency_mhz, longitude_rad, latitude_rad, altitude_m);
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// Calculate the distance to the transmitter
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//calculate the bearing and range of the mobile from the aircraft
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SG_LOG( SG_INSTR, SG_DEBUG, "carrier_lat " << _mobile_lat);
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SG_LOG( SG_INSTR, SG_DEBUG, "carrier_lon " << _mobile_lon);
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SG_LOG( SG_INSTR, SG_DEBUG, "carrier_name " << _mobile_name);
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SG_LOG( SG_INSTR, SG_DEBUG, "carrier_valid " << _mobile_valid);
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geo_inverse_wgs_84(altitude_m,
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latitude_deg,
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longitude_deg,
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_mobile_lat,
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_mobile_lon,
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&mobile_bearing, &mobile_az2, &mobile_distance);
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//calculate the bearing and range of the station from the aircraft
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SGGeod pos = SGGeod::fromDegM(longitude_deg, latitude_deg, altitude_m);
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geo_inverse_wgs_84(pos, _transmitter_pos,
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&bearing, &az2, &distance);
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//select the nearer
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if ( mobile_distance <= distance && _mobile_valid) {
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SG_LOG( SG_INSTR, SG_DEBUG, "mobile_distance_m " << mobile_distance);
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SG_LOG( SG_INSTR, SG_DEBUG, "distance_m " << distance);
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bearing = mobile_bearing;
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distance = mobile_distance;
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_transmitter_pos.setElevationFt(_mobile_elevation_ft);
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_transmitter_range_nm = _mobile_range_nm;
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_transmitter_bias = _mobile_bias;
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_transmitter_name = _mobile_name;
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_name_node->setStringValue(_transmitter_name.c_str());
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_transmitter_ident = _mobile_ident;
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_ident_node->setStringValue(_transmitter_ident.c_str());
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_channel_node->setStringValue(_channel.c_str());
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}
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//// calculate some values for boresight display
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double distance_nm = distance * SG_METER_TO_NM;
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//// calculate look left/right to target, without yaw correction
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// double horiz_offset = bearing - heading;
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//
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// if (horiz_offset > 180.0) horiz_offset -= 360.0;
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// if (horiz_offset < -180.0) horiz_offset += 360.0;
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//// now correct look left/right for yaw
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// horiz_offset += yaw;
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// use the bearing for a plan position indicator display
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double horiz_offset = bearing;
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SG_LOG( SG_INSTR, SG_DEBUG, "distance_nm " << distance_nm << " bearing "
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<< bearing << " horiz_offset " << horiz_offset);
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// calculate values for radar display
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double y_shift = distance_nm * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
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double x_shift = distance_nm * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
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SG_LOG( SG_INSTR, SG_DEBUG, "y_shift " << y_shift << " x_shift " << x_shift);
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double rotation = 0;
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double range_nm = adjust_range(_transmitter_pos.getElevationFt(),
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altitude_m * SG_METER_TO_FEET,
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_transmitter_range_nm);
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if (distance_nm <= range_nm) {
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double speed_kt = (fabs(distance_nm - _last_distance_nm) *
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((1 / delta_time_sec) * 3600.0));
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_last_distance_nm = distance_nm;
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_in_range_node->setBoolValue(true);
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double tmp_dist = distance_nm - _transmitter_bias;
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if ( tmp_dist < 0.0 ) {
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tmp_dist = 0.0;
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}
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_distance_node->setDoubleValue( tmp_dist );
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_speed_node->setDoubleValue(speed_kt);
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_time_node->setDoubleValue(distance_nm/speed_kt*60.0);
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_bearing_node->setDoubleValue(bearing);
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_x_shift_node->setDoubleValue(x_shift);
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_y_shift_node->setDoubleValue(y_shift);
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_rotation_node->setDoubleValue(rotation);
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} else {
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_last_distance_nm = 0;
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_in_range_node->setBoolValue(false);
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_distance_node->setDoubleValue(0);
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_speed_node->setDoubleValue(0);
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_time_node->setDoubleValue(0);
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_bearing_node->setDoubleValue(0);
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_x_shift_node->setDoubleValue(0);
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_y_shift_node->setDoubleValue(0);
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_rotation_node->setDoubleValue(0);
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}
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// If we can't find a valid station set everything to zero
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if (!_transmitter_valid && !_mobile_valid ) {
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_in_range_node->setBoolValue(false);
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_distance_node->setDoubleValue(0);
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_speed_node->setDoubleValue(0);
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_time_node->setDoubleValue(0);
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_bearing_node->setDoubleValue(0);
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_x_shift_node->setDoubleValue(0);
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_y_shift_node->setDoubleValue(0);
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_rotation_node->setDoubleValue(0);
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_transmitter_name = "";
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_name_node->setStringValue(_transmitter_name.c_str());
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_transmitter_ident = "";
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_ident_node->setStringValue(_transmitter_ident.c_str());
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_channel_node->setStringValue(_channel.c_str());
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return;
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}
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} // end function update
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void
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TACAN::search (double frequency_mhz, double longitude_rad,
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double latitude_rad, double altitude_m)
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{
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int number, i;
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bool freq_valid = false;
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SG_LOG( SG_INSTR, SG_DEBUG, "tacan freq " << frequency_mhz );
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// reset search time
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_time_before_search_sec = 1.0;
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//try any carriers first
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FGNavRecord *mobile_tacan
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= globals->get_carrierlist()->findStationByFreq( frequency_mhz );
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freq_valid = (mobile_tacan != NULL);
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SG_LOG( SG_INSTR, SG_DEBUG, "mobile freqency valid " << freq_valid );
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if ( freq_valid ) {
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string str1( mobile_tacan->get_name() );
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SGPropertyNode * branch = fgGetNode("ai/models", true);
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vector<SGPropertyNode_ptr> carrier = branch->getChildren("carrier");
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number = carrier.size();
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SG_LOG( SG_INSTR, SG_DEBUG, "carrier " << number );
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for ( i = 0; i < number; ++i ) {
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string str2 ( carrier[i]->getStringValue("name", ""));
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SG_LOG( SG_INSTR, SG_DEBUG, "carrier name " << str2 );
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SG_LOG( SG_INSTR, SG_DEBUG, "strings 1 " << str1 << " 2 " << str2 );
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unsigned int loc1= str1.find( str2, 0 );
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if ( loc1 != string::npos && str2 != "" ) {
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SG_LOG( SG_INSTR, SG_DEBUG, " string found" );
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_mobile_lat = carrier[i]->getDoubleValue("position/latitude-deg");
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_mobile_lon = carrier[i]->getDoubleValue("position/longitude-deg");
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_mobile_elevation_ft = mobile_tacan->get_elev_ft();
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_mobile_range_nm = mobile_tacan->get_range();
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_mobile_bias = mobile_tacan->get_multiuse();
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_mobile_name = mobile_tacan->get_name();
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_mobile_ident = mobile_tacan->get_trans_ident();
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_mobile_valid = true;
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SG_LOG( SG_INSTR, SG_DEBUG, " carrier transmitter valid " << _mobile_valid );
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break;
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} else {
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_mobile_valid = false;
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SG_LOG( SG_INSTR, SG_DEBUG, " carrier transmitter invalid " << _mobile_valid );
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}
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}
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SG_LOG( SG_INSTR, SG_DEBUG, "name " << _mobile_name);
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SG_LOG( SG_INSTR, SG_DEBUG, "lat " << _mobile_lat << "lon " << _mobile_lon);
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SG_LOG( SG_INSTR, SG_DEBUG, "elev " << _mobile_elevation_ft);
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//try any AI tankers second
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if ( !_mobile_valid) {
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SG_LOG( SG_INSTR, SG_DEBUG, "tanker transmitter valid start " << _mobile_valid );
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SGPropertyNode * branch = fgGetNode("ai/models", true);
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vector<SGPropertyNode_ptr> tanker = branch->getChildren("aircraft");
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number = tanker.size();
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SG_LOG( SG_INSTR, SG_DEBUG, "tanker number " << number );
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for ( i = 0; i < number; ++i ) {
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string str4 ( tanker[i]->getStringValue("callsign", ""));
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SG_LOG( SG_INSTR, SG_DEBUG, "tanker callsign " << str4 );
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SG_LOG( SG_INSTR, SG_DEBUG, "strings 1 " << str1 << " 4 " << str4 );
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unsigned int loc1= str1.find( str4, 0 );
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if ( loc1 != string::npos && str4 != "" ) {
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SG_LOG( SG_INSTR, SG_DEBUG, " string found" );
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_mobile_lat = tanker[i]->getDoubleValue("position/latitude-deg");
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_mobile_lon = tanker[i]->getDoubleValue("position/longitude-deg");
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_mobile_elevation_ft = tanker[i]->getDoubleValue("position/altitude-ft");
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_mobile_range_nm = mobile_tacan->get_range();
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_mobile_bias = mobile_tacan->get_multiuse();
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_mobile_name = mobile_tacan->get_name();
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_mobile_ident = mobile_tacan->get_trans_ident();
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_mobile_valid = true;
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SG_LOG( SG_INSTR, SG_DEBUG, " tanker transmitter valid " << _mobile_valid );
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break;
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} else {
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_mobile_valid = false;
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SG_LOG( SG_INSTR, SG_DEBUG, " tanker transmitter invalid " << _mobile_valid );
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}
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}
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SG_LOG( SG_INSTR, SG_DEBUG, "tanker name " << _mobile_name);
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SG_LOG( SG_INSTR, SG_DEBUG, "lat " << _mobile_lat << "lon " << _mobile_lon);
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SG_LOG( SG_INSTR, SG_DEBUG, "elev " << _mobile_elevation_ft);
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SG_LOG( SG_INSTR, SG_DEBUG, "range " << _mobile_range_nm);
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}
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//try any mp tankers third, if we haven't found the tanker in the ai aircraft
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if ( !_mobile_valid ) {
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SG_LOG( SG_INSTR, SG_DEBUG, " mp tanker transmitter valid start " << _mobile_valid );
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SGPropertyNode * branch = fgGetNode("ai/models", true);
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vector<SGPropertyNode_ptr> mp_tanker = branch->getChildren("multiplayer");
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number = mp_tanker.size();
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SG_LOG( SG_INSTR, SG_DEBUG, " mp tanker number " << number );
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for ( i = 0; i < number; ++i ) {
|
|
string str6 ( mp_tanker[i]->getStringValue("callsign", ""));
|
|
SG_LOG( SG_INSTR, SG_DEBUG, "mp tanker callsign " << str6 );
|
|
|
|
SG_LOG( SG_INSTR, SG_DEBUG, "strings 1 " << str1 << " 5 " << str6 );
|
|
unsigned int loc1= str1.find( str6, 0 );
|
|
if ( loc1 != string::npos && str6 != "" ) {
|
|
SG_LOG( SG_INSTR, SG_DEBUG, " string found" );
|
|
_mobile_lat = mp_tanker[i]->getDoubleValue("position/latitude-deg");
|
|
_mobile_lon = mp_tanker[i]->getDoubleValue("position/longitude-deg");
|
|
_mobile_elevation_ft = mp_tanker[i]->getDoubleValue("position/altitude-ft");
|
|
_mobile_range_nm = mobile_tacan->get_range();
|
|
_mobile_bias = mobile_tacan->get_multiuse();
|
|
_mobile_name = mobile_tacan->get_name();
|
|
_mobile_ident = mobile_tacan->get_trans_ident();
|
|
_mobile_valid = true;
|
|
|
|
SG_LOG( SG_INSTR, SG_DEBUG, " mp tanker transmitter valid " << _mobile_valid );
|
|
SG_LOG( SG_INSTR, SG_DEBUG, " mp_tanker name " << _mobile_name);
|
|
SG_LOG( SG_INSTR, SG_DEBUG, " mp lat " << _mobile_lat << "lon " << _mobile_lon);
|
|
SG_LOG( SG_INSTR, SG_DEBUG, " mp elev " << _mobile_elevation_ft);
|
|
SG_LOG( SG_INSTR, SG_DEBUG, " mp range " << _mobile_range_nm);
|
|
break;
|
|
} else {
|
|
_mobile_valid = false;
|
|
SG_LOG( SG_INSTR, SG_DEBUG, " mp tanker transmitter invalid " << _mobile_valid );
|
|
}
|
|
}
|
|
}
|
|
} else {
|
|
_mobile_valid = false;
|
|
SG_LOG( SG_INSTR, SG_DEBUG, " mobile transmitter invalid " << _mobile_valid );
|
|
}
|
|
|
|
// try the TACAN/VORTAC list next
|
|
FGNavRecord *tacan
|
|
= globals->get_tacanlist()->findByFreq( frequency_mhz, longitude_rad,
|
|
latitude_rad, altitude_m);
|
|
|
|
_transmitter_valid = (tacan != NULL);
|
|
|
|
if ( _transmitter_valid ) {
|
|
SG_LOG( SG_INSTR, SG_DEBUG, "transmitter valid " << _transmitter_valid );
|
|
|
|
_transmitter_pos = tacan->get_pos();
|
|
_transmitter_range_nm = tacan->get_range();
|
|
_transmitter_bias = tacan->get_multiuse();
|
|
_transmitter_name = tacan->get_name();
|
|
_name_node->setStringValue(_transmitter_name.c_str());
|
|
_transmitter_ident = tacan->get_trans_ident();
|
|
_ident_node->setStringValue(_transmitter_ident.c_str());
|
|
|
|
SG_LOG( SG_INSTR, SG_DEBUG, "name " << _transmitter_name);
|
|
SG_LOG( SG_INSTR, SG_DEBUG, _transmitter_pos);
|
|
|
|
} else {
|
|
SG_LOG( SG_INSTR, SG_DEBUG, "transmitter invalid " << _transmitter_valid );
|
|
}
|
|
}
|
|
|
|
double
|
|
TACAN::searchChannel (const string& _channel){
|
|
|
|
double frequency_khz = 0;
|
|
|
|
FGTACANRecord *freq
|
|
= globals->get_channellist()->findByChannel( _channel );
|
|
double _freq_valid = (freq != NULL);
|
|
SG_LOG( SG_INSTR, SG_DEBUG, "freq valid " << _freq_valid );
|
|
if ( _freq_valid ) {
|
|
frequency_khz = freq->get_freq();
|
|
SG_LOG( SG_INSTR, SG_DEBUG, "freq output " << frequency_khz );
|
|
//check sanity
|
|
if (frequency_khz >=9620 && frequency_khz <= 121300)
|
|
return frequency_khz/100;
|
|
}
|
|
return frequency_khz = 0;
|
|
} // end TACAN::searchChannel
|
|
|
|
// end of TACAN.cxx
|