62a359cc4a
* Use "const string&" rather than "string" in function calls when appropriate. * Use "const Point3D&" instead of "Pint3D" in function calls when appropriate. * Improved course calculation in calc_gc_course_dist() * Safer thread handling code. Vassilii Khachaturov: Dont use "const Point3D&" for return types unless you're absolutely sure. Erik Hofman: * Use SGD_(2)PI(_[24]) as defined in simgear/constants.h rather than calculating it by hand every time.
229 lines
7.7 KiB
C++
229 lines
7.7 KiB
C++
// approach.hxx -- Approach class
|
|
//
|
|
// Written by Alexander Kappes, started March 2002.
|
|
//
|
|
// Copyright (C) 2002 Alexander Kappes
|
|
//
|
|
// 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., 675 Mass Ave, Cambridge, MA 02139, USA.
|
|
|
|
|
|
#ifndef _FG_APPROACH_HXX
|
|
#define _FG_APPROACH_HXX
|
|
|
|
#include <stdio.h>
|
|
|
|
#include <simgear/compiler.h>
|
|
#include <simgear/math/sg_geodesy.hxx>
|
|
#include <simgear/misc/sgstream.hxx>
|
|
#include <simgear/magvar/magvar.hxx>
|
|
#include <simgear/timing/sg_time.hxx>
|
|
#include <simgear/bucket/newbucket.hxx>
|
|
|
|
#include <Main/fg_props.hxx>
|
|
|
|
#ifdef SG_HAVE_STD_INCLUDES
|
|
# include <istream>
|
|
#include <iomanip>
|
|
#elif defined( SG_HAVE_NATIVE_SGI_COMPILERS )
|
|
# include <iostream.h>
|
|
#elif defined( __BORLANDC__ )
|
|
# include <iostream>
|
|
#else
|
|
# include <istream.h>
|
|
#include <iomanip.h>
|
|
#endif
|
|
|
|
#if ! defined( SG_HAVE_NATIVE_SGI_COMPILERS )
|
|
SG_USING_STD(istream);
|
|
#endif
|
|
|
|
SG_USING_STD(string);
|
|
|
|
#include "ATC.hxx"
|
|
#include "transmission.hxx"
|
|
|
|
//DCL - a complete guess for now.
|
|
#define FG_APPROACH_DEFAULT_RANGE 100
|
|
|
|
// Contains all the information about a plane that the approach control needs
|
|
const int max_planes = 20; // max number of planes on the stack
|
|
const int max_wp = 10; // max number of waypoints for approach phase
|
|
const double max_ta = 130; // max turning angle for plane during approach
|
|
const double tbm = 2.0; // min time (in sec) between two messages
|
|
const double lfl = 10.0; // length of final leg
|
|
|
|
struct PlaneApp {
|
|
|
|
// variables for plane if it's on the radar
|
|
string ident; // indentification of plane
|
|
double lon; // longitude in degrees
|
|
double lat; // latitude in degrees
|
|
double alt; // Altitute above sea level in feet
|
|
double hdg; // heading of plane in degrees
|
|
double dist; // distance to airport in miles
|
|
double brg; // bearing relative to airport in degrees
|
|
double spd; // speed above ground
|
|
int contact; // contact with approach established?
|
|
// 0 = no contact yet
|
|
// 1 = in contact
|
|
// 2 = handed off to tower
|
|
double turn_rate; // standard turning rate of the plane in seconds per degree
|
|
double desc_rate; // standard descent rate of the plane in feets per minute
|
|
double clmb_rate; // standard climb rate of the plane in feets per minute
|
|
|
|
// additional variables if contact has been established
|
|
int wpn; // number of waypoints
|
|
double wpts[max_wp][6]; // assigned waypoints for approach phase
|
|
// first wp in list is airport
|
|
// last waypoint point at which contact was established
|
|
// second index: 0 = bearing to airport
|
|
// second index: 1 = distance to airport
|
|
// second index: 2 = alt
|
|
// second index: 3 = ETA
|
|
// second index: 4 = heading to next waypoint
|
|
// second index: 5 = distance to next waypoint
|
|
|
|
double dnwp; // distance to next waypoint
|
|
double dcc; // closest distance to current assigned course
|
|
double dnc; // closest distance to course from next to next to next wp
|
|
double aalt; // assigned altitude
|
|
double ahdg; // assigned heading
|
|
bool on_crs; // is the plane on course?
|
|
bool wp_change; // way point has changed
|
|
double tlm; // time when last message was sent
|
|
TransCode lmc; // code of last message
|
|
};
|
|
|
|
|
|
class FGApproach : public FGATC {
|
|
|
|
int bucket;
|
|
|
|
string active_runway;
|
|
double active_rw_hdg;
|
|
double active_rw_lon;
|
|
double active_rw_lat;
|
|
double active_rw_len;
|
|
|
|
int num_planes; // number of planes on the stack
|
|
PlaneApp planes[max_planes]; // Array of planes
|
|
string transmission;
|
|
bool first;
|
|
|
|
SGPropertyNode *comm1_node;
|
|
SGPropertyNode *comm2_node;
|
|
|
|
SGPropertyNode *atcmenu_node;
|
|
SGPropertyNode *atcopt0_node;
|
|
SGPropertyNode *atcopt1_node;
|
|
SGPropertyNode *atcopt2_node;
|
|
SGPropertyNode *atcopt3_node;
|
|
SGPropertyNode *atcopt4_node;
|
|
SGPropertyNode *atcopt5_node;
|
|
SGPropertyNode *atcopt6_node;
|
|
SGPropertyNode *atcopt7_node;
|
|
SGPropertyNode *atcopt8_node;
|
|
SGPropertyNode *atcopt9_node;
|
|
|
|
// for failure modeling
|
|
string trans_ident; // transmitted ident
|
|
bool approach_failed; // approach failed?
|
|
|
|
public:
|
|
|
|
FGApproach(void);
|
|
~FGApproach(void);
|
|
|
|
void Init();
|
|
|
|
void Update(double dt);
|
|
|
|
// Add new plane to stack if not already registered
|
|
// Input: pid - id of plane (name)
|
|
// Output: "true" if added; "false" if already existend
|
|
void AddPlane(const string& pid);
|
|
|
|
// Remove plane from stack if out of range
|
|
int RemovePlane();
|
|
|
|
inline double get_bucket() const { return bucket; }
|
|
inline int get_pnum() const { return num_planes; }
|
|
inline const string& get_trans_ident() { return trans_ident; }
|
|
|
|
private:
|
|
|
|
void calc_wp( const int &i);
|
|
|
|
void update_plane_dat();
|
|
|
|
void get_active_runway();
|
|
|
|
void update_param(const int &i);
|
|
|
|
double round_alt( bool hl, double alt );
|
|
|
|
double angle_diff_deg( const double &a1, const double &a2);
|
|
|
|
// ========================================================================
|
|
// get point2 given starting point1 and course and distance
|
|
// input: point1 = heading in degrees, distance
|
|
// input: course in degrees, distance
|
|
// output: point2 = heading in degrees, distance
|
|
// ========================================================================
|
|
void calc_cd_head_dist(const double &h1, const double &d1,
|
|
const double &course, const double &dist,
|
|
double *h2, double *d2);
|
|
|
|
|
|
// ========================================================================
|
|
// get heading and distance between two points; point2 ---> point1
|
|
// input: point1 = heading in degrees, distance
|
|
// input: point2 = heading in degrees, distance
|
|
// output: course in degrees, distance
|
|
// ========================================================================
|
|
void calc_hd_course_dist(const double &h1, const double &d1,
|
|
const double &h2, const double &d2,
|
|
double *course, double *dist);
|
|
|
|
|
|
|
|
// ========================================================================
|
|
// closest distance between a point and a straigt line in 2 dim.
|
|
// the input variables are given in (heading, distance)
|
|
// relative to a common point
|
|
// input: point = heading in degrees, distance
|
|
// input: straigt line = anker vector (heading in degrees, distance),
|
|
// heading of direction vector
|
|
// output: distance
|
|
// ========================================================================
|
|
double calc_psl_dist(const double &h1, const double &d1,
|
|
const double &h2, const double &d2,
|
|
const double &h3);
|
|
|
|
// Pointers to current users position
|
|
SGPropertyNode *lon_node;
|
|
SGPropertyNode *lat_node;
|
|
SGPropertyNode *elev_node;
|
|
SGPropertyNode *hdg_node;
|
|
SGPropertyNode *speed_node;
|
|
SGPropertyNode *etime_node;
|
|
|
|
//Update the transmission string
|
|
void UpdateTransmission(void);
|
|
|
|
friend istream& operator>> ( istream&, FGApproach& );
|
|
};
|
|
|
|
#endif // _FG_APPROACH_HXX
|