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flightgear/src/Instrumentation/dclgps.cxx
ehofman 8141bfe2da Prevent a warning.
2006-02-02 09:40:27 +00:00

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// dclgps.cxx - a class to extend the operation of FG's current GPS
// code, and provide support for a KLN89-specific instrument. It
// is envisioned that eventually this file and class will be split
// up between current FG code and new KLN89-specific code and removed.
//
// Written by David Luff, started 2005.
//
// Copyright (C) 2005 - David C Luff - david.luff@nottingham.ac.uk
//
// 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.
//
// $Id$
#include "dclgps.hxx"
#include <simgear/sg_inlines.h>
#include <simgear/structure/commands.hxx>
#include <Main/fg_props.hxx>
#include <iostream>
SG_USING_STD(cout);
//using namespace std;
// Command callbacks for FlightGear
static bool do_kln89_msg_pressed(const SGPropertyNode* arg) {
//cout << "do_kln89_msg_pressed called!\n";
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->MsgPressed();
return(true);
}
static bool do_kln89_obs_pressed(const SGPropertyNode* arg) {
//cout << "do_kln89_obs_pressed called!\n";
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->OBSPressed();
return(true);
}
static bool do_kln89_alt_pressed(const SGPropertyNode* arg) {
//cout << "do_kln89_alt_pressed called!\n";
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->AltPressed();
return(true);
}
static bool do_kln89_nrst_pressed(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->NrstPressed();
return(true);
}
static bool do_kln89_dto_pressed(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->DtoPressed();
return(true);
}
static bool do_kln89_clr_pressed(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->ClrPressed();
return(true);
}
static bool do_kln89_ent_pressed(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->EntPressed();
return(true);
}
static bool do_kln89_crsr_pressed(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->CrsrPressed();
return(true);
}
static bool do_kln89_knob1left1(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->Knob1Left1();
return(true);
}
static bool do_kln89_knob1right1(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->Knob1Right1();
return(true);
}
static bool do_kln89_knob2left1(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->Knob2Left1();
return(true);
}
static bool do_kln89_knob2right1(const SGPropertyNode* arg) {
DCLGPS* gps = (DCLGPS*)globals->get_subsystem("kln89");
gps->Knob2Right1();
return(true);
}
// End command callbacks
GPSWaypoint::GPSWaypoint() {
appType = GPS_APP_NONE;
}
GPSWaypoint::~GPSWaypoint() {}
string GPSWaypoint::GetAprId() {
if(appType == GPS_IAF) return(id + 'i');
else if(appType == GPS_FAF) return(id + 'f');
else if(appType == GPS_MAP) return(id + 'm');
else if(appType == GPS_MAHP) return(id + 'h');
else return(id);
}
ostream& operator << (ostream& os, GPSAppWpType type) {
switch(type) {
case(GPS_IAF): return(os << "IAF");
case(GPS_IAP): return(os << "IAP");
case(GPS_FAF): return(os << "FAF");
case(GPS_MAP): return(os << "MAP");
case(GPS_MAHP): return(os << "MAHP");
case(GPS_HDR): return(os << "HEADER");
case(GPS_FENCE): return(os << "FENCE");
case(GPS_APP_NONE): return(os << "NONE");
}
return(os << "ERROR - Unknown switch in GPSAppWpType operator << ");
}
FGIAP::FGIAP() {
}
FGIAP::~FGIAP() {
}
FGNPIAP::FGNPIAP() {
}
FGNPIAP::~FGNPIAP() {
}
GPSPage::GPSPage(DCLGPS* parent) {
_parent = parent;
_subPage = 0;
}
GPSPage::~GPSPage() {
}
void GPSPage::Update(double dt) {}
void GPSPage::Knob1Left1() {}
void GPSPage::Knob1Right1() {}
void GPSPage::Knob2Left1() {
_parent->_activePage->LooseFocus();
_subPage--;
if(_subPage < 0) _subPage = _nSubPages - 1;
}
void GPSPage::Knob2Right1() {
_parent->_activePage->LooseFocus();
_subPage++;
if(_subPage >= _nSubPages) _subPage = 0;
}
void GPSPage::CrsrPressed() {}
void GPSPage::EntPressed() {}
void GPSPage::ClrPressed() {}
void GPSPage::DtoPressed() {}
void GPSPage::NrstPressed() {}
void GPSPage::AltPressed() {}
void GPSPage::OBSPressed() {}
void GPSPage::MsgPressed() {}
string GPSPage::GPSitoa(int n) {
char buf[4];
// TODO - sanity check n!
sprintf(buf, "%i", n);
string s = buf;
return(s);
}
void GPSPage::CleanUp() {}
void GPSPage::LooseFocus() {}
void GPSPage::SetId(const string& s) {}
// ------------------------------------------------------------------------------------- //
DCLGPS::DCLGPS(RenderArea2D* instrument) {
_instrument = instrument;
_nFields = 1;
_maxFields = 2;
_pages.clear();
// Units - lets default to US units - FG can set them to other units from config during startup if desired.
_altUnits = GPS_ALT_UNITS_FT;
_baroUnits = GPS_PRES_UNITS_IN;
_velUnits = GPS_VEL_UNITS_KT;
_distUnits = GPS_DIST_UNITS_NM;
_lon_node = fgGetNode("/instrumentation/gps/indicated-longitude-deg", true);
_lat_node = fgGetNode("/instrumentation/gps/indicated-latitude-deg", true);
_alt_node = fgGetNode("/instrumentation/gps/indicated-altitude-ft", true);
_grnd_speed_node = fgGetNode("/instrumentation/gps/indicated-ground-speed-kt", true);
_true_track_node = fgGetNode("/instrumentation/gps/indicated-track-true-deg", true);
_mag_track_node = fgGetNode("/instrumentation/gps/indicated-track-magnetic-deg", true);
// Use FG's position values at construction in case FG's gps has not run first update yet.
_lon = fgGetDouble("/position/longitude-deg") * SG_DEGREES_TO_RADIANS;
_lat = fgGetDouble("/position/latitude-deg") * SG_DEGREES_TO_RADIANS;
_alt = fgGetDouble("/position/altitude-ft");
// Note - we can depriciate _gpsLat and _gpsLon if we implement error handling in FG
// gps code and not our own.
_gpsLon = _lon;
_gpsLat = _lat;
_checkLon = _gpsLon;
_checkLat = _gpsLat;
_groundSpeed_ms = 0.0;
_groundSpeed_kts = 0.0;
_track = 0.0;
_magTrackDeg = 0.0;
// Sensible defaults. These can be overriden by derived classes if desired.
_cdiScales.clear();
_cdiScales.push_back(5.0);
_cdiScales.push_back(1.0);
_cdiScales.push_back(0.3);
_currentCdiScaleIndex = 0;
_targetCdiScaleIndex = 0;
_sourceCdiScaleIndex = 0;
_cdiScaleTransition = false;
_currentCdiScale = 5.0;
_cleanUpPage = -1;
_activeWaypoint.id.clear();
_dist2Act = 0.0;
_crosstrackDist = 0.0;
_headingBugTo = true;
_navFlagged = true;
_waypointAlert = false;
_departed = false;
_departureTimeString = "----";
_elapsedTime = 0.0;
// Configuration Initialisation
// Should this be in kln89.cxx ?
_turnAnticipationEnabled = false;
_suaAlertEnabled = false;
_altAlertEnabled = false;
_time = new SGTime;
_messageStack.clear();
_dto = false;
_approachLoaded = false;
_approachArm = false;
_approachReallyArmed = false;
_approachActive = false;
_approachFP = new GPSFlightPlan;
}
DCLGPS::~DCLGPS() {
delete _time;
for(gps_waypoint_map_iterator itr = _waypoints.begin(); itr != _waypoints.end(); ++itr) {
for(unsigned int i = 0; i < (*itr).second.size(); ++i) {
delete(((*itr).second)[i]);
}
}
delete _approachFP; // Don't need to delete the waypoints inside since they point to
// the waypoints in the approach database.
// TODO - may need to delete the approach database!!
}
void DCLGPS::draw() {
//cout << "draw called!\n";
_instrument->draw();
}
void DCLGPS::init() {
globals->get_commands()->addCommand("kln89_msg_pressed", do_kln89_msg_pressed);
globals->get_commands()->addCommand("kln89_obs_pressed", do_kln89_obs_pressed);
globals->get_commands()->addCommand("kln89_alt_pressed", do_kln89_alt_pressed);
globals->get_commands()->addCommand("kln89_nrst_pressed", do_kln89_nrst_pressed);
globals->get_commands()->addCommand("kln89_dto_pressed", do_kln89_dto_pressed);
globals->get_commands()->addCommand("kln89_clr_pressed", do_kln89_clr_pressed);
globals->get_commands()->addCommand("kln89_ent_pressed", do_kln89_ent_pressed);
globals->get_commands()->addCommand("kln89_crsr_pressed", do_kln89_crsr_pressed);
globals->get_commands()->addCommand("kln89_knob1left1", do_kln89_knob1left1);
globals->get_commands()->addCommand("kln89_knob1right1", do_kln89_knob1right1);
globals->get_commands()->addCommand("kln89_knob2left1", do_kln89_knob2left1);
globals->get_commands()->addCommand("kln89_knob2right1", do_kln89_knob2right1);
// Build the GPS-specific databases.
// TODO - consider splitting into real life GPS database regions - eg Americas, Europe etc.
// Note that this needs to run after FG's airport and nav databases are up and running
_waypoints.clear();
const airport_list* apts = globals->get_airports()->getAirportList();
for(unsigned int i = 0; i < apts->size(); ++i) {
FGAirport* a = (*apts)[i];
GPSWaypoint* w = new GPSWaypoint;
w->id = a->getId();
w->lat = a->getLatitude() * SG_DEGREES_TO_RADIANS;
w->lon = a->getLongitude() * SG_DEGREES_TO_RADIANS;
w->type = GPS_WP_APT;
gps_waypoint_map_iterator wtr = _waypoints.find(a->getId());
if(wtr == _waypoints.end()) {
gps_waypoint_array arr;
arr.push_back(w);
_waypoints[w->id] = arr;
} else {
wtr->second.push_back(w);
}
}
nav_map_type navs = globals->get_navlist()->get_navaids();
for(nav_map_iterator itr = navs.begin(); itr != navs.end(); ++itr) {
nav_list_type nlst = itr->second;
for(unsigned int i = 0; i < nlst.size(); ++i) {
FGNavRecord* n = nlst[i];
if(n->get_fg_type() == FG_NAV_VOR || n->get_fg_type() == FG_NAV_NDB) { // We don't bother with ILS etc.
GPSWaypoint* w = new GPSWaypoint;
w->id = n->get_ident();
w->lat = n->get_lat() * SG_DEGREES_TO_RADIANS;
w->lon = n->get_lon() * SG_DEGREES_TO_RADIANS;
w->type = (n->get_fg_type() == FG_NAV_VOR ? GPS_WP_VOR : GPS_WP_NDB);
gps_waypoint_map_iterator wtr = _waypoints.find(n->get_ident());
if(wtr == _waypoints.end()) {
gps_waypoint_array arr;
arr.push_back(w);
_waypoints[w->id] = arr;
} else {
wtr->second.push_back(w);
}
}
}
}
const fix_map_type* fixes = globals->get_fixlist()->getFixList();
for(fix_map_const_iterator itr = fixes->begin(); itr != fixes->end(); ++itr) {
FGFix f = itr->second;
GPSWaypoint* w = new GPSWaypoint;
w->id = f.get_ident();
w->lat = f.get_lat() * SG_DEGREES_TO_RADIANS;
w->lon = f.get_lon() * SG_DEGREES_TO_RADIANS;
w->type = GPS_WP_INT;
gps_waypoint_map_iterator wtr = _waypoints.find(f.get_ident());
if(wtr == _waypoints.end()) {
gps_waypoint_array arr;
arr.push_back(w);
_waypoints[w->id] = arr;
} else {
wtr->second.push_back(w);
}
}
// TODO - add USR waypoints as well.
// Not sure if this should be here, but OK for now.
CreateDefaultFlightPlans();
// Hack - hardwire some instrument approaches for testing.
// TODO - read these from file - either all at startup or as needed.
FGNPIAP* iap = new FGNPIAP;
iap->_id = "KHWD";
iap->_name = "VOR/DME OR GPS-B";
iap->_abbrev = "VOR/D";
iap->_rwyStr = "B";
iap->_IAF.clear();
iap->_IAP.clear();
iap->_MAP.clear();
// -------
GPSWaypoint* wp = new GPSWaypoint;
wp->id = "SUNOL";
bool multi;
// Nasty using the find any function here, but it saves converting data from FGFix etc.
const GPSWaypoint* fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_IAF;
iap->_IAF.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "MABRY";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_IAF;
iap->_IAF.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "IMPLY";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_IAP;
iap->_IAP.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "DECOT";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_FAF;
iap->_IAP.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "MAPVV";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_MAP;
iap->_IAP.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "OAK";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_MAHP;
iap->_MAP.push_back(wp);
// -------
_np_iap[iap->_id].push_back(iap);
// -----------------------
// -----------------------
iap = new FGNPIAP;
iap->_id = "KHWD";
iap->_name = "VOR OR GPS-A";
iap->_abbrev = "VOR-";
iap->_rwyStr = "A";
iap->_IAF.clear();
iap->_IAP.clear();
iap->_MAP.clear();
// -------
wp = new GPSWaypoint;
wp->id = "SUNOL";
// Nasty using the find any function here, but it saves converting data from FGFix etc.
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_IAF;
iap->_IAF.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "MABRY";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_IAF;
iap->_IAF.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "IMPLY";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_IAP;
iap->_IAP.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "DECOT";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_FAF;
iap->_IAP.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "MAPVV";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_MAP;
iap->_IAP.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "OAK";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_MAHP;
iap->_MAP.push_back(wp);
// -------
_np_iap[iap->_id].push_back(iap);
// ------------------
// ------------------
/*
// Ugh - don't load this one - the waypoints required aren't in fix.dat.gz - result: program crash!
// TODO - make the IAP loader robust to absent waypoints.
iap = new FGNPIAP;
iap->_id = "KHWD";
iap->_name = "GPS RWY 28L";
iap->_abbrev = "GPS";
iap->_rwyStr = "28L";
iap->_IAF.clear();
iap->_IAP.clear();
iap->_MAP.clear();
// -------
wp = new GPSWaypoint;
wp->id = "SUNOL";
// Nasty using the find any function here, but it saves converting data from FGFix etc.
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_IAF;
iap->_IAF.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "SJC";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_IAF;
iap->_IAF.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "JOCPI";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_IAP;
iap->_IAP.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "SUDGE";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_FAF;
iap->_IAP.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "RW28L";
wp->appType = GPS_MAP;
if(wp->id.substr(0, 2) == "RW" && wp->appType == GPS_MAP) {
// Assume that this is a missed-approach point based on the runway number
// Get the runway threshold location etc
} else {
fp = FindFirstById(wp->id, multi, true);
if(fp == NULL) {
cout << "Failed to find waypoint " << wp->id << " in database...\n";
} else {
*wp = *fp;
}
}
iap->_IAP.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "OAK";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_MAHP;
iap->_MAP.push_back(wp);
// -------
_np_iap[iap->_id].push_back(iap);
*/
iap = new FGNPIAP;
iap->_id = "C83";
iap->_name = "GPS RWY 30";
iap->_abbrev = "GPS";
iap->_rwyStr = "30";
iap->_IAF.clear();
iap->_IAP.clear();
iap->_MAP.clear();
// -------
wp = new GPSWaypoint;
wp->id = "PATYY";
// Nasty using the find any function here, but it saves converting data from FGFix etc.
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_IAF;
iap->_IAF.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "TRACY";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_IAF;
iap->_IAF.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "TRACY";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_IAP;
iap->_IAP.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "BABPI";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_FAF;
iap->_IAP.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "AMOSY";
wp->appType = GPS_MAP;
if(wp->id.substr(0, 2) == "RW" && wp->appType == GPS_MAP) {
// Assume that this is a missed-approach point based on the runway number
// TODO: Get the runway threshold location etc
cout << "TODO - implement missed-approach point based on rwy no.\n";
} else {
fp = FindFirstById(wp->id, multi, true);
if(fp == NULL) {
cout << "Failed to find waypoint " << wp->id << " in database...\n";
} else {
*wp = *fp;
wp->appType = GPS_MAP;
}
}
iap->_IAP.push_back(wp);
// -------
wp = new GPSWaypoint;
wp->id = "HAIRE";
fp = FindFirstById(wp->id, multi, true);
*wp = *fp;
wp->appType = GPS_MAHP;
iap->_MAP.push_back(wp);
// -------
_np_iap[iap->_id].push_back(iap);
}
void DCLGPS::bind() {
fgTie("/instrumentation/gps/waypoint-alert", this, &DCLGPS::GetWaypointAlert);
fgTie("/instrumentation/gps/leg-mode", this, &DCLGPS::GetLegMode);
fgTie("/instrumentation/gps/obs-mode", this, &DCLGPS::GetOBSMode);
fgTie("/instrumentation/gps/approach-arm", this, &DCLGPS::GetApproachArm);
fgTie("/instrumentation/gps/approach-active", this, &DCLGPS::GetApproachActive);
fgTie("/instrumentation/gps/cdi-deflection", this, &DCLGPS::GetCDIDeflection);
fgTie("/instrumentation/gps/to-flag", this, &DCLGPS::GetToFlag);
}
void DCLGPS::unbind() {
fgUntie("/instrumentation/gps/waypoint-alert");
fgUntie("/instrumentation/gps/leg-mode");
fgUntie("/instrumentation/gps/obs-mode");
fgUntie("/instrumentation/gps/approach-arm");
fgUntie("/instrumentation/gps/approach-active");
fgUntie("/instrumentation/gps/cdi-deflection");
}
void DCLGPS::update(double dt) {
//cout << "update called!\n";
_lon = _lon_node->getDoubleValue() * SG_DEGREES_TO_RADIANS;
_lat = _lat_node->getDoubleValue() * SG_DEGREES_TO_RADIANS;
_alt = _alt_node->getDoubleValue();
_groundSpeed_kts = _grnd_speed_node->getDoubleValue();
_groundSpeed_ms = _groundSpeed_kts * 0.5144444444;
_track = _true_track_node->getDoubleValue();
_magTrackDeg = _mag_track_node->getDoubleValue();
// Note - we can depriciate _gpsLat and _gpsLon if we implement error handling in FG
// gps code and not our own.
_gpsLon = _lon;
_gpsLat = _lat;
// Check for abnormal position slew
if(GetGreatCircleDistance(_gpsLat, _gpsLon, _checkLat, _checkLon) > 1.0) {
OrientateToActiveFlightPlan();
}
_checkLon = _gpsLon;
_checkLat = _gpsLat;
if(!_departed) {
if(_groundSpeed_kts > 30.0) {
_departed = true;
string th = fgGetString("/instrumentation/clock/indicated-hour");
string tm = fgGetString("/instrumentation/clock/indicated-min");
if(th.size() == 1) th = "0" + th;
if(tm.size() == 1) tm = "0" + tm;
_departureTimeString = th + tm;
}
} else {
// TODO - check - is this prone to drift error over time?
// Should we difference the departure and current times?
// What about when the user resets the time of day from the menu?
_elapsedTime += dt;
}
_time->update(_gpsLon * SG_DEGREES_TO_RADIANS, _gpsLat * SG_DEGREES_TO_RADIANS, 0, 0);
// FIXME - currently all the below assumes leg mode and no DTO or OBS cancelled.
if(_activeFP->IsEmpty()) {
// Not sure if we need to reset these each update or only when fp altered
_activeWaypoint.id.clear();
_navFlagged = true;
} else if(_activeFP->waypoints.size() == 1) {
_activeWaypoint.id.clear();
} else {
_navFlagged = false;
if(_activeWaypoint.id.empty() || _fromWaypoint.id.empty()) {
//cout << "Error, in leg mode with flightplan of 2 or more waypoints, but either active or from wp is NULL!\n";
OrientateToActiveFlightPlan();
}
// Approach stuff
if(_approachLoaded) {
if(!_approachReallyArmed && !_approachActive) {
// arm if within 30nm of airport.
// TODO - let user cancel approach arm using external GPS-APR switch
bool multi;
const FGAirport* ap = FindFirstAptById(_approachID, multi, true);
if(ap != NULL) {
double d = GetGreatCircleDistance(_gpsLat, _gpsLon, ap->getLatitude() * SG_DEGREES_TO_RADIANS, ap->getLongitude() * SG_DEGREES_TO_RADIANS);
if(d <= 30) {
_approachArm = true;
_approachReallyArmed = true;
_messageStack.push_back("*Press ALT To Set Baro");
// Not sure what we do if the user has already set CDI to 0.3 nm?
_targetCdiScaleIndex = 1;
if(_currentCdiScaleIndex == 1) {
// No problem!
} else if(_currentCdiScaleIndex == 0) {
_sourceCdiScaleIndex = 0;
_cdiScaleTransition = true;
_cdiTransitionTime = 30.0;
_currentCdiScale = _cdiScales[_currentCdiScaleIndex];
}
}
}
} else {
// Check for approach active - we can only activate approach if it is really armed.
if(_activeWaypoint.appType == GPS_FAF) {
//cout << "Active waypoint is FAF, id is " << _activeWaypoint.id << '\n';
if(GetGreatCircleDistance(_gpsLat, _gpsLon, _activeWaypoint.lat, _activeWaypoint.lon) <= 2.0 && !_obsMode) {
// Assume heading is OK for now
_approachArm = false; // TODO - check - maybe arm is left on when actv comes on?
_approachReallyArmed = false;
_approachActive = true;
_targetCdiScaleIndex = 2;
if(_currentCdiScaleIndex == 2) {
// No problem!
} else if(_currentCdiScaleIndex == 1) {
_sourceCdiScaleIndex = 1;
_cdiScaleTransition = true;
_cdiTransitionTime = 30.0; // TODO - compress it if time to FAF < 30sec
_currentCdiScale = _cdiScales[_currentCdiScaleIndex];
} else {
// Abort going active?
_approachActive = false;
}
}
}
}
}
// CDI scale transition stuff
if(_cdiScaleTransition) {
if(fabs(_currentCdiScale - _cdiScales[_targetCdiScaleIndex]) < 0.001) {
_currentCdiScale = _cdiScales[_targetCdiScaleIndex];
_currentCdiScaleIndex = _targetCdiScaleIndex;
_cdiScaleTransition = false;
} else {
double scaleDiff = (_targetCdiScaleIndex > _sourceCdiScaleIndex
? _cdiScales[_sourceCdiScaleIndex] - _cdiScales[_targetCdiScaleIndex]
: _cdiScales[_targetCdiScaleIndex] - _cdiScales[_sourceCdiScaleIndex]);
//cout << "ScaleDiff = " << scaleDiff << '\n';
if(_targetCdiScaleIndex > _sourceCdiScaleIndex) {
// Scaling down eg. 5nm -> 1nm
_currentCdiScale -= (scaleDiff * dt / _cdiTransitionTime);
if(_currentCdiScale < _cdiScales[_targetCdiScaleIndex]) {
_currentCdiScale = _cdiScales[_targetCdiScaleIndex];
_currentCdiScaleIndex = _targetCdiScaleIndex;
_cdiScaleTransition = false;
}
} else {
_currentCdiScale += (scaleDiff * dt / _cdiTransitionTime);
if(_currentCdiScale > _cdiScales[_targetCdiScaleIndex]) {
_currentCdiScale = _cdiScales[_targetCdiScaleIndex];
_currentCdiScaleIndex = _targetCdiScaleIndex;
_cdiScaleTransition = false;
}
}
//cout << "_currentCdiScale = " << _currentCdiScale << '\n';
}
} else {
_currentCdiScale = _cdiScales[_currentCdiScaleIndex];
}
// Urgh - I've been setting the heading bug based on DTK,
// bug I think it should be based on heading re. active waypoint
// based on what the sim does after the final waypoint is passed.
// (DTK remains the same, but if track is held == DTK heading bug
// reverses to from once wp is passed).
/*
if(_fromWaypoint != NULL) {
// TODO - how do we handle the change of track with distance over long legs?
_dtkTrue = GetGreatCircleCourse(_fromWaypoint->lat, _fromWaypoint->lon, _activeWaypoint->lat, _activeWaypoint->lon) * SG_RADIANS_TO_DEGREES;
_dtkMag = GetMagHeadingFromTo(_fromWaypoint->lat, _fromWaypoint->lon, _activeWaypoint->lat, _activeWaypoint->lon);
// Don't change the heading bug if speed is too low otherwise it flickers to/from at rest
if(_groundSpeed_ms > 5) {
//cout << "track = " << _track << ", dtk = " << _dtkTrue << '\n';
double courseDev = _track - _dtkTrue;
//cout << "courseDev = " << courseDev << ", normalized = ";
SG_NORMALIZE_RANGE(courseDev, -180.0, 180.0);
//cout << courseDev << '\n';
_headingBugTo = (fabs(courseDev) > 90.0 ? false : true);
}
} else {
_dtkTrue = 0.0;
_dtkMag = 0.0;
// TODO - in DTO operation the position of initiation of DTO defines the "from waypoint".
}
*/
if(!_activeWaypoint.id.empty()) {
double hdgTrue = GetGreatCircleCourse(_gpsLat, _gpsLon, _activeWaypoint.lat, _activeWaypoint.lon) * SG_RADIANS_TO_DEGREES;
if(_groundSpeed_ms > 5) {
//cout << "track = " << _track << ", hdgTrue = " << hdgTrue << '\n';
double courseDev = _track - hdgTrue;
//cout << "courseDev = " << courseDev << ", normalized = ";
SG_NORMALIZE_RANGE(courseDev, -180.0, 180.0);
//cout << courseDev << '\n';
_headingBugTo = (fabs(courseDev) > 90.0 ? false : true);
}
if(!_fromWaypoint.id.empty()) {
_dtkTrue = GetGreatCircleCourse(_fromWaypoint.lat, _fromWaypoint.lon, _activeWaypoint.lat, _activeWaypoint.lon) * SG_RADIANS_TO_DEGREES;
_dtkMag = GetMagHeadingFromTo(_fromWaypoint.lat, _fromWaypoint.lon, _activeWaypoint.lat, _activeWaypoint.lon);
} else {
_dtkTrue = 0.0;
_dtkMag = 0.0;
}
}
_dist2Act = GetGreatCircleDistance(_gpsLat, _gpsLon, _activeWaypoint.lat, _activeWaypoint.lon) * SG_NM_TO_METER;
if(_groundSpeed_ms > 10.0) {
_eta = _dist2Act / _groundSpeed_ms;
if(_eta <= 36) { // TODO - this is slightly different if turn anticipation is enabled.
if(_headingBugTo) {
_waypointAlert = true; // TODO - not if the from flag is set.
}
}
if(_eta < 60) {
// Check if we should sequence to next leg.
// Perhaps this should be done on distance instead, but 60s time (about 1 - 2 nm) seems reasonable for now.
//double reverseHeading = GetGreatCircleCourse(_activeWaypoint->lat, _activeWaypoint->lon, _fromWaypoint->lat, _fromWaypoint->lon);
// Hack - let's cheat and do it on heading bug for now. TODO - that stops us 'cutting the corner'
// when we happen to approach the inside turn of a waypoint - we should probably sequence at the midpoint
// of the heading difference between legs in this instance.
int idx = GetActiveWaypointIndex();
bool finalLeg = (idx == (int)(_activeFP->waypoints.size()) - 1 ? true : false);
bool finalDto = (_dto && idx == -1); // Dto operation to a waypoint not in the flightplan - we don't sequence in this instance
if(!_headingBugTo) {
if(finalLeg) {
// Do nothing - not sure if Dto should switch off when arriving at the final waypoint of a flightplan
} else if(finalDto) {
// Do nothing
} else if(_activeWaypoint.appType == GPS_MAP) {
// Don't sequence beyond the missed approach point
cout << "ACTIVE WAYPOINT is MAP - not sequencing!!!!!\n";
} else {
cout << "Sequencing...\n";
_fromWaypoint = _activeWaypoint;
_activeWaypoint = *_activeFP->waypoints[idx + 1];
_dto = false;
// TODO - course alteration message format is dependent on whether we are slaved HSI/CDI indicator or not.
// For now assume we are not.
string s;
if(fgGetBool("/instrumentation/nav[0]/slaved-to-gps")) {
// TODO - avoid the hardwiring on nav[0]
s = "Adj Nav Crs to ";
} else {
string s = "GPS Course is ";
}
double d = GetMagHeadingFromTo(_fromWaypoint.lat, _fromWaypoint.lon, _activeWaypoint.lat, _activeWaypoint.lon);
while(d < 0.0) d += 360.0;
while(d >= 360.0) d -= 360.0;
char buf[4];
snprintf(buf, 4, "%03i", (int)(d + 0.5));
s += buf;
_messageStack.push_back(s);
}
_waypointAlert = false;
}
}
} else {
_eta = 0.0;
}
/*
// First attempt at a sensible cross-track correction calculation
// Uh? - I think this is implemented further down the file!
if(_fromWaypoint != NULL) {
} else {
_crosstrackDist = 0.0;
}
*/
}
}
double DCLGPS::GetCDIDeflection() const {
double xtd = CalcCrossTrackDeviation(); //nm
return((xtd / _currentCdiScale) * 5.0 * 2.5 * -1.0);
}
void DCLGPS::DtoInitiate(const string& s) {
cout << "DtoInitiate, s = " << s << '\n';
bool multi;
const GPSWaypoint* wp = FindFirstById(s, multi, true);
if(wp) {
cout << "Waypoint found, starting dto operation!\n";
_dto = true;
_activeWaypoint = *wp;
_fromWaypoint.lat = _gpsLat;
_fromWaypoint.lon = _gpsLon;
_fromWaypoint.type = GPS_WP_VIRT;
_fromWaypoint.id = "DTOWP";
} else {
cout << "Waypoint not found, ignoring dto request\n";
// Should bring up the user waypoint page, but we're not implementing that yet.
_dto = false; // TODO - implement this some day.
}
}
void DCLGPS::DtoCancel() {
if(_dto) {
// i.e. don't bother reorientating if we're just cancelling a DTO button press
// without having previously initiated DTO.
OrientateToActiveFlightPlan();
}
_dto = false;
}
void DCLGPS::Knob1Left1() {}
void DCLGPS::Knob1Right1() {}
void DCLGPS::Knob2Left1() {}
void DCLGPS::Knob2Right1() {}
void DCLGPS::CrsrPressed() { _activePage->CrsrPressed(); }
void DCLGPS::EntPressed() { _activePage->EntPressed(); }
void DCLGPS::ClrPressed() { _activePage->ClrPressed(); }
void DCLGPS::DtoPressed() {}
void DCLGPS::NrstPressed() {}
void DCLGPS::AltPressed() {}
void DCLGPS::OBSPressed() {
_obsMode = !_obsMode;
if(_obsMode) {
if(!_activeWaypoint.id.empty()) {
_obsHeading = static_cast<int>(_dtkMag);
}
// TODO - the _fromWaypoint location will change as the OBS heading changes.
// Might need to store the OBS initiation position somewhere in case it is needed again.
SetOBSFromWaypoint();
}
}
// Set the _fromWaypoint position based on the active waypoint and OBS radial.
void DCLGPS::SetOBSFromWaypoint() {
if(!_obsMode) return;
if(_activeWaypoint.id.empty()) return;
// TODO - base the 180 deg correction on the to/from flag.
_fromWaypoint = GetPositionOnMagRadial(_activeWaypoint, 10, _obsHeading + 180.0);
_fromWaypoint.id = "OBSWP";
}
void DCLGPS::MsgPressed() {}
void DCLGPS::CDIFSDIncrease() {
if(_currentCdiScaleIndex == 0) {
_currentCdiScaleIndex = _cdiScales.size() - 1;
} else {
_currentCdiScaleIndex--;
}
}
void DCLGPS::CDIFSDDecrease() {
_currentCdiScaleIndex++;
if(_currentCdiScaleIndex == _cdiScales.size()) {
_currentCdiScaleIndex = 0;
}
}
void DCLGPS::DrawChar(char c, int field, int px, int py, bool bold) {
}
void DCLGPS::DrawText(const string& s, int field, int px, int py, bool bold) {
}
void DCLGPS::SetBaroUnits(int n, bool wrap) {
if(n < 1) {
_baroUnits = (GPSPressureUnits)(wrap ? 3 : 1);
} else if(n > 3) {
_baroUnits = (GPSPressureUnits)(wrap ? 1 : 3);
} else {
_baroUnits = (GPSPressureUnits)n;
}
}
void DCLGPS::CreateDefaultFlightPlans() {}
// Get the time to the active waypoint in seconds.
// Returns -1 if groundspeed < 30 kts
double DCLGPS::GetTimeToActiveWaypoint() {
if(_groundSpeed_kts < 30.0) {
return(-1.0);
} else {
return(_eta);
}
}
// Get the time to the final waypoint in seconds.
// Returns -1 if groundspeed < 30 kts
double DCLGPS::GetETE() {
if(_groundSpeed_kts < 30.0) {
return(-1.0);
} else {
// TODO - handle OBS / DTO operation appropriately
if(_activeFP->waypoints.empty()) {
return(-1.0);
} else {
return(GetTimeToWaypoint(_activeFP->waypoints[_activeFP->waypoints.size() - 1]->id));
}
}
}
// Get the time to a given waypoint (spec'd by ID) in seconds.
// returns -1 if groundspeed is less than 30kts.
// If the waypoint is an unreached part of the active flight plan the time will be via each leg.
// otherwise it will be a direct-to time.
double DCLGPS::GetTimeToWaypoint(const string& id) {
if(_groundSpeed_kts < 30.0) {
return(-1.0);
}
double eta = 0.0;
int n1 = GetActiveWaypointIndex();
int n2 = GetWaypointIndex(id);
if(n2 > n1) {
eta = _eta;
for(unsigned int i=n1+1; i<_activeFP->waypoints.size(); ++i) {
GPSWaypoint* wp1 = _activeFP->waypoints[i-1];
GPSWaypoint* wp2 = _activeFP->waypoints[i];
double distm = GetGreatCircleDistance(wp1->lat, wp1->lon, wp2->lat, wp2->lon) * SG_NM_TO_METER;
eta += (distm / _groundSpeed_ms);
}
return(eta);
} else if(id == _activeWaypoint.id) {
return(_eta);
} else {
bool multi;
const GPSWaypoint* wp = FindFirstById(id, multi, true);
if(wp == NULL) return(-1.0);
double distm = GetGreatCircleDistance(_gpsLat, _gpsLon, wp->lat, wp->lon);
return(distm / _groundSpeed_ms);
}
return(-1.0); // Hopefully we never get here!
}
// Returns magnetic great-circle heading
// TODO - document units.
float DCLGPS::GetHeadingToActiveWaypoint() {
if(_activeWaypoint.id.empty()) {
return(-888);
} else {
double h = GetMagHeadingFromTo(_gpsLat, _gpsLon, _activeWaypoint.lat, _activeWaypoint.lon);
while(h <= 0.0) h += 360.0;
while(h > 360.0) h -= 360.0;
return((float)h);
}
}
// Returns magnetic great-circle heading
// TODO - what units?
float DCLGPS::GetHeadingFromActiveWaypoint() {
if(_activeWaypoint.id.empty()) {
return(-888);
} else {
double h = GetMagHeadingFromTo(_activeWaypoint.lat, _activeWaypoint.lon, _gpsLat, _gpsLon);
while(h <= 0.0) h += 360.0;
while(h > 360.0) h -= 360.0;
return(h);
}
}
void DCLGPS::ClearFlightPlan(int n) {
for(unsigned int i=0; i<_flightPlans[n]->waypoints.size(); ++i) {
delete _flightPlans[n]->waypoints[i];
}
_flightPlans[n]->waypoints.clear();
}
void DCLGPS::ClearFlightPlan(GPSFlightPlan* fp) {
for(unsigned int i=0; i<fp->waypoints.size(); ++i) {
delete fp->waypoints[i];
}
fp->waypoints.clear();
}
int DCLGPS::GetActiveWaypointIndex() {
for(unsigned int i=0; i<_flightPlans[0]->waypoints.size(); ++i) {
if(_flightPlans[0]->waypoints[i]->id == _activeWaypoint.id) return((int)i);
}
return(-1);
}
int DCLGPS::GetWaypointIndex(const string& id) {
for(unsigned int i=0; i<_flightPlans[0]->waypoints.size(); ++i) {
if(_flightPlans[0]->waypoints[i]->id == id) return((int)i);
}
return(-1);
}
void DCLGPS::OrientateToFlightPlan(GPSFlightPlan* fp) {
//cout << "Orientating...\n";
//cout << "_lat = " << _lat << ", _lon = " << _lon << ", _gpsLat = " << _gpsLat << ", gpsLon = " << _gpsLon << '\n';
if(fp->IsEmpty()) {
_activeWaypoint.id.clear();
_navFlagged = true;
} else {
_navFlagged = false;
if(fp->waypoints.size() == 1) {
// TODO - may need to flag nav here if not dto or obs, or possibly handle it somewhere else.
_activeWaypoint = *fp->waypoints[0];
_fromWaypoint.id.clear();
} else {
// FIXME FIXME FIXME
_fromWaypoint = *fp->waypoints[0];
_activeWaypoint = *fp->waypoints[1];
double dmin = 1000000; // nm!!
// For now we will simply start on the leg closest to our current position.
// It's possible that more fancy algorithms may take either heading or track
// into account when setting inital leg - I'm not sure.
// This method should handle most cases perfectly OK though.
for(unsigned int i = 1; i < fp->waypoints.size(); ++i) {
//cout << "Pass " << i << ", dmin = " << dmin << ", leg is " << fp->waypoints[i-1]->id << " to " << fp->waypoints[i]->id << '\n';
// First get the cross track correction.
double d0 = fabs(CalcCrossTrackDeviation(*fp->waypoints[i-1], *fp->waypoints[i]));
// That is the shortest distance away we could be though - check for
// longer distances if we are 'off the end' of the leg.
double ht1 = GetGreatCircleCourse(fp->waypoints[i-1]->lat, fp->waypoints[i-1]->lon,
fp->waypoints[i]->lat, fp->waypoints[i]->lon)
* SG_RADIANS_TO_DEGREES;
// not simply the reverse of the above due to great circle navigation.
double ht2 = GetGreatCircleCourse(fp->waypoints[i]->lat, fp->waypoints[i]->lon,
fp->waypoints[i-1]->lat, fp->waypoints[i-1]->lon)
* SG_RADIANS_TO_DEGREES;
double hw1 = GetGreatCircleCourse(_gpsLat, _gpsLon,
fp->waypoints[i]->lat, fp->waypoints[i]->lon)
* SG_RADIANS_TO_DEGREES;
double hw2 = GetGreatCircleCourse(_gpsLat, _gpsLon,
fp->waypoints[i-1]->lat, fp->waypoints[i-1]->lon)
* SG_RADIANS_TO_DEGREES;
double h1 = ht1 - hw1;
double h2 = ht2 - hw2;
//cout << "d0, h1, h2 = " << d0 << ", " << h1 << ", " << h2 << '\n';
//cout << "Normalizing...\n";
SG_NORMALIZE_RANGE(h1, -180.0, 180.0);
SG_NORMALIZE_RANGE(h2, -180.0, 180.0);
//cout << "d0, h1, h2 = " << d0 << ", " << h1 << ", " << h2 << '\n';
if(fabs(h1) > 90.0) {
// We are past the end of the to waypoint
double d = GetGreatCircleDistance(_gpsLat, _gpsLon, fp->waypoints[i]->lat, fp->waypoints[i]->lon);
if(d > d0) d0 = d;
//cout << "h1 triggered, d0 now = " << d0 << '\n';
} else if(fabs(h2) > 90.0) {
// We are past the end (not yet at!) the from waypoint
double d = GetGreatCircleDistance(_gpsLat, _gpsLon, fp->waypoints[i-1]->lat, fp->waypoints[i-1]->lon);
if(d > d0) d0 = d;
//cout << "h2 triggered, d0 now = " << d0 << '\n';
}
if(d0 < dmin) {
//cout << "THIS LEG NOW ACTIVE!\n";
dmin = d0;
_fromWaypoint = *fp->waypoints[i-1];
_activeWaypoint = *fp->waypoints[i];
}
}
}
}
}
void DCLGPS::OrientateToActiveFlightPlan() {
OrientateToFlightPlan(_activeFP);
}
/***************************************/
// Utility function - create a flightplan from a list of waypoint ids and types
void DCLGPS::CreateFlightPlan(GPSFlightPlan* fp, vector<string> ids, vector<GPSWpType> wps) {
if(fp == NULL) fp = new GPSFlightPlan;
unsigned int i;
if(!fp->waypoints.empty()) {
for(i=0; i<fp->waypoints.size(); ++i) {
delete fp->waypoints[i];
}
fp->waypoints.clear();
}
if(ids.size() != wps.size()) {
cout << "ID and Waypoint types list size mismatch in GPS::CreateFlightPlan - no flightplan created!\n";
return;
}
for(i=0; i<ids.size(); ++i) {
bool multi;
const FGAirport* ap;
FGNavRecord* np;
GPSWaypoint* wp = new GPSWaypoint;
wp->type = wps[i];
switch(wp->type) {
case GPS_WP_APT:
ap = FindFirstAptById(ids[i], multi, true);
if(ap == NULL) {
// error
delete wp;
} else {
wp->lat = ap->getLatitude() * SG_DEGREES_TO_RADIANS;
wp->lon = ap->getLongitude() * SG_DEGREES_TO_RADIANS;
wp->id = ids[i];
fp->waypoints.push_back(wp);
}
break;
case GPS_WP_VOR:
np = FindFirstVorById(ids[i], multi, true);
if(np == NULL) {
// error
delete wp;
} else {
wp->lat = np->get_lat() * SG_DEGREES_TO_RADIANS;
wp->lon = np->get_lon() * SG_DEGREES_TO_RADIANS;
wp->id = ids[i];
fp->waypoints.push_back(wp);
}
break;
case GPS_WP_NDB:
np = FindFirstNDBById(ids[i], multi, true);
if(np == NULL) {
// error
delete wp;
} else {
wp->lat = np->get_lat() * SG_DEGREES_TO_RADIANS;
wp->lon = np->get_lon() * SG_DEGREES_TO_RADIANS;
wp->id = ids[i];
fp->waypoints.push_back(wp);
}
break;
case GPS_WP_INT:
// TODO TODO
break;
case GPS_WP_USR:
// TODO
break;
}
}
}
/***************************************/
const GPSWaypoint* DCLGPS::ActualFindFirstById(const string& id, bool exact) {
gps_waypoint_map_const_iterator itr;
if(exact) {
itr = _waypoints.find(id);
} else {
itr = _waypoints.lower_bound(id);
}
if(itr == _waypoints.end()) {
return(NULL);
} else {
// TODO - don't just return the first one - either return all or the nearest one.
return((itr->second)[0]);
}
}
const GPSWaypoint* DCLGPS::FindFirstById(const string& id, bool &multi, bool exact) {
multi = false;
if(exact) return(ActualFindFirstById(id, exact));
// OK, that was the easy case, now the fuzzy case
const GPSWaypoint* w1 = ActualFindFirstById(id);
if(w1 == NULL) return(w1);
// The non-trivial code from here to the end of the function is all to deal with the fact that
// the KLN89 alphabetical order (numbers AFTER letters) differs from ASCII order (numbers BEFORE letters).
string id2 = id;
//string id3 = id+'0';
string id4 = id+'A';
// Increment the last char to provide the boundary. Note that 'Z' -> '[' but we also need to check '0' for all since GPS has numbers after letters
//bool alfa = isalpha(id2[id2.size() - 1]);
id2[id2.size() - 1] = id2[id2.size() - 1] + 1;
const GPSWaypoint* w2 = ActualFindFirstById(id2);
//FGAirport* a3 = globals->get_airports()->findFirstById(id3);
const GPSWaypoint* w4 = ActualFindFirstById(id4);
//cout << "Strings sent were " << id << ", " << id2 << " and " << id4 << '\n';
//cout << "Airports returned were (a1, a2, a4): " << a1->getId() << ", " << a2->getId() << ", " << a4->getId() << '\n';
//cout << "Pointers were " << a1 << ", " << a2 << ", " << a4 << '\n';
// TODO - the below handles the imediately following char OK
// eg id = "KD" returns "KDAA" instead of "KD5"
// but it doesn't handle numbers / letters further down the string,
// eg - id = "I" returns "IA01" instead of "IAN"
// We either need to provide a custom comparison operator, or recurse this function if !isalpha further down the string.
// (Currenly fixed with recursion).
if(w4 != w2) { // A-Z match - preferred
//cout << "A-Z match!\n";
if(w4->id.size() - id.size() > 2) {
// Check for numbers further on
for(unsigned int i=id.size(); i<w4->id.size(); ++i) {
if(!isalpha(w4->id[i])) {
//cout << "SUBSTR is " << (a4->getId()).substr(0, i) << '\n';
return(FindFirstById(w4->id.substr(0, i), multi, exact));
}
}
}
return(w4);
} else if(w1 != w2) { // 0-9 match
//cout << "0-9 match!\n";
if(w1->id.size() - id.size() > 2) {
// Check for numbers further on
for(unsigned int i=id.size(); i<w1->id.size(); ++i) {
if(!isalpha(w1->id[i])) {
//cout << "SUBSTR2 is " << (a4->getId()).substr(0, i) << '\n';
return(FindFirstById(w1->id.substr(0, i), multi, exact));
}
}
}
return(w1);
} else { // No match
return(NULL);
}
return NULL;
}
// Host specific lookup functions
// TODO - add the ASCII / alphabetical stuff from the Atlas version
FGNavRecord* DCLGPS::FindFirstVorById(const string& id, bool &multi, bool exact) {
// NOTE - at the moment multi is never set.
multi = false;
//if(exact) return(_overlays->FindFirstVorById(id, exact));
nav_list_type nav = globals->get_navlist()->findFirstByIdent(id, FG_NAV_VOR, exact);
if(nav.size() > 1) multi = true;
//return(nav.empty() ? NULL : *(nav.begin()));
// The above is sort of what we want - unfortunately we can't guarantee no NDB/ILS at the moment
if(nav.empty()) return(NULL);
for(nav_list_iterator it = nav.begin(); it != nav.end(); ++it) {
if((*it)->get_type() == 3) return(*it);
}
return(NULL); // Shouldn't get here!
}
#if 0
Overlays::NAV* DCLGPS::FindFirstVorById(const string& id, bool &multi, bool exact) {
// NOTE - at the moment multi is never set.
multi = false;
if(exact) return(_overlays->FindFirstVorById(id, exact));
// OK, that was the easy case, now the fuzzy case
Overlays::NAV* n1 = _overlays->FindFirstVorById(id);
if(n1 == NULL) return(n1);
string id2 = id;
string id3 = id+'0';
string id4 = id+'A';
// Increment the last char to provide the boundary. Note that 'Z' -> '[' but we also need to check '0' for all since GPS has numbers after letters
bool alfa = isalpha(id2[id2.size() - 1]);
id2[id2.size() - 1] = id2[id2.size() - 1] + 1;
Overlays::NAV* n2 = _overlays->FindFirstVorById(id2);
//Overlays::NAV* n3 = _overlays->FindFirstVorById(id3);
//Overlays::NAV* n4 = _overlays->FindFirstVorById(id4);
//cout << "Strings sent were " << id << ", " << id2 << ", " << id3 << ", " << id4 << '\n';
if(alfa) {
if(n1 != n2) { // match
return(n1);
} else {
return(NULL);
}
}
/*
if(n1 != n2) {
// Something matches - the problem is the number/letter preference order is reversed between the GPS and the STL
if(n4 != n2) {
// There's a letter match - return that
return(n4);
} else {
// By definition we must have a number match
if(n3 == n2) cout << "HELP - LOGIC FLAW in find VOR!\n";
return(n3);
}
} else {
// No match
return(NULL);
}
*/
return NULL;
}
#endif //0
// TODO - add the ASCII / alphabetical stuff from the Atlas version
FGNavRecord* DCLGPS::FindFirstNDBById(const string& id, bool &multi, bool exact) {
// NOTE - at the moment multi is never set.
multi = false;
//if(exact) return(_overlays->FindFirstVorById(id, exact));
nav_list_type nav = globals->get_navlist()->findFirstByIdent(id, FG_NAV_NDB, exact);
if(nav.size() > 1) multi = true;
//return(nav.empty() ? NULL : *(nav.begin()));
// The above is sort of what we want - unfortunately we can't guarantee no NDB/ILS at the moment
if(nav.empty()) return(NULL);
for(nav_list_iterator it = nav.begin(); it != nav.end(); ++it) {
if((*it)->get_type() == 2) return(*it);
}
return(NULL); // Shouldn't get here!
}
#if 0
Overlays::NAV* DCLGPS::FindFirstNDBById(const string& id, bool &multi, bool exact) {
// NOTE - at the moment multi is never set.
multi = false;
if(exact) return(_overlays->FindFirstNDBById(id, exact));
// OK, that was the easy case, now the fuzzy case
Overlays::NAV* n1 = _overlays->FindFirstNDBById(id);
if(n1 == NULL) return(n1);
string id2 = id;
string id3 = id+'0';
string id4 = id+'A';
// Increment the last char to provide the boundary. Note that 'Z' -> '[' but we also need to check '0' for all since GPS has numbers after letters
bool alfa = isalpha(id2[id2.size() - 1]);
id2[id2.size() - 1] = id2[id2.size() - 1] + 1;
Overlays::NAV* n2 = _overlays->FindFirstNDBById(id2);
//Overlays::NAV* n3 = _overlays->FindFirstNDBById(id3);
//Overlays::NAV* n4 = _overlays->FindFirstNDBById(id4);
//cout << "Strings sent were " << id << ", " << id2 << ", " << id3 << ", " << id4 << '\n';
if(alfa) {
if(n1 != n2) { // match
return(n1);
} else {
return(NULL);
}
}
/*
if(n1 != n2) {
// Something matches - the problem is the number/letter preference order is reversed between the GPS and the STL
if(n4 != n2) {
// There's a letter match - return that
return(n4);
} else {
// By definition we must have a number match
if(n3 == n2) cout << "HELP - LOGIC FLAW in find VOR!\n";
return(n3);
}
} else {
// No match
return(NULL);
}
*/
return NULL;
}
#endif //0
// TODO - add the ASCII / alphabetical stuff from the Atlas version
const FGFix* DCLGPS::FindFirstIntById(const string& id, bool &multi, bool exact) {
// NOTE - at the moment multi is never set, and indeed can't be
// since FG can only map one Fix per ID at the moment.
multi = false;
if(exact) return(globals->get_fixlist()->findFirstByIdent(id, exact));
const FGFix* f1 = globals->get_fixlist()->findFirstByIdent(id, exact);
if(f1 == NULL) return(f1);
// The non-trivial code from here to the end of the function is all to deal with the fact that
// the KLN89 alphabetical order (numbers AFTER letters) differs from ASCII order (numbers BEFORE letters).
// It is copied from the airport version which is definately needed, but at present I'm not actually
// sure if any fixes in FG or real-life have numbers in them!
string id2 = id;
//string id3 = id+'0';
string id4 = id+'A';
// Increment the last char to provide the boundary. Note that 'Z' -> '[' but we also need to check '0' for all since GPS has numbers after letters
//bool alfa = isalpha(id2[id2.size() - 1]);
id2[id2.size() - 1] = id2[id2.size() - 1] + 1;
const FGFix* f2 = globals->get_fixlist()->findFirstByIdent(id2);
//const FGFix* a3 = globals->get_fixlist()->findFirstByIdent(id3);
const FGFix* f4 = globals->get_fixlist()->findFirstByIdent(id4);
// TODO - the below handles the imediately following char OK
// eg id = "KD" returns "KDAA" instead of "KD5"
// but it doesn't handle numbers / letters further down the string,
// eg - id = "I" returns "IA01" instead of "IAN"
// We either need to provide a custom comparison operator, or recurse this function if !isalpha further down the string.
// (Currenly fixed with recursion).
if(f4 != f2) { // A-Z match - preferred
//cout << "A-Z match!\n";
if(f4->get_ident().size() - id.size() > 2) {
// Check for numbers further on
for(unsigned int i=id.size(); i<f4->get_ident().size(); ++i) {
if(!isalpha(f4->get_ident()[i])) {
//cout << "SUBSTR is " << (a4->getId()).substr(0, i) << '\n';
return(FindFirstIntById(f4->get_ident().substr(0, i), multi, exact));
}
}
}
return(f4);
} else if(f1 != f2) { // 0-9 match
//cout << "0-9 match!\n";
if(f1->get_ident().size() - id.size() > 2) {
// Check for numbers further on
for(unsigned int i=id.size(); i<f1->get_ident().size(); ++i) {
if(!isalpha(f1->get_ident()[i])) {
//cout << "SUBSTR2 is " << (a4->getId()).substr(0, i) << '\n';
return(FindFirstIntById(f1->get_ident().substr(0, i), multi, exact));
}
}
}
return(f1);
} else { // No match
return(NULL);
}
return NULL; // Don't think we can ever get here.
}
const FGAirport* DCLGPS::FindFirstAptById(const string& id, bool &multi, bool exact) {
// NOTE - at the moment multi is never set.
//cout << "FindFirstAptById, id = " << id << '\n';
multi = false;
if(exact) return(globals->get_airports()->findFirstById(id, exact));
// OK, that was the easy case, now the fuzzy case
const FGAirport* a1 = globals->get_airports()->findFirstById(id);
if(a1 == NULL) return(a1);
// The non-trivial code from here to the end of the function is all to deal with the fact that
// the KLN89 alphabetical order (numbers AFTER letters) differs from ASCII order (numbers BEFORE letters).
string id2 = id;
//string id3 = id+'0';
string id4 = id+'A';
// Increment the last char to provide the boundary. Note that 'Z' -> '[' but we also need to check '0' for all since GPS has numbers after letters
//bool alfa = isalpha(id2[id2.size() - 1]);
id2[id2.size() - 1] = id2[id2.size() - 1] + 1;
const FGAirport* a2 = globals->get_airports()->findFirstById(id2);
//FGAirport* a3 = globals->get_airports()->findFirstById(id3);
const FGAirport* a4 = globals->get_airports()->findFirstById(id4);
//cout << "Strings sent were " << id << ", " << id2 << " and " << id4 << '\n';
//cout << "Airports returned were (a1, a2, a4): " << a1->getId() << ", " << a2->getId() << ", " << a4->getId() << '\n';
//cout << "Pointers were " << a1 << ", " << a2 << ", " << a4 << '\n';
// TODO - the below handles the imediately following char OK
// eg id = "KD" returns "KDAA" instead of "KD5"
// but it doesn't handle numbers / letters further down the string,
// eg - id = "I" returns "IA01" instead of "IAN"
// We either need to provide a custom comparison operator, or recurse this function if !isalpha further down the string.
// (Currenly fixed with recursion).
if(a4 != a2) { // A-Z match - preferred
//cout << "A-Z match!\n";
if(a4->getId().size() - id.size() > 2) {
// Check for numbers further on
for(unsigned int i=id.size(); i<a4->getId().size(); ++i) {
if(!isalpha(a4->getId()[i])) {
//cout << "SUBSTR is " << (a4->getId()).substr(0, i) << '\n';
return(FindFirstAptById(a4->getId().substr(0, i), multi, exact));
}
}
}
return(a4);
} else if(a1 != a2) { // 0-9 match
//cout << "0-9 match!\n";
if(a1->getId().size() - id.size() > 2) {
// Check for numbers further on
for(unsigned int i=id.size(); i<a1->getId().size(); ++i) {
if(!isalpha(a1->getId()[i])) {
//cout << "SUBSTR2 is " << (a4->getId()).substr(0, i) << '\n';
return(FindFirstAptById(a1->getId().substr(0, i), multi, exact));
}
}
}
return(a1);
} else { // No match
return(NULL);
}
return NULL;
}
FGNavRecord* DCLGPS::FindClosestVor(double lat_rad, double lon_rad) {
return(globals->get_navlist()->findClosest(lon_rad, lat_rad, 0.0, FG_NAV_VOR));
}
//----------------------------------------------------------------------------------------------------------
// Takes lat and lon in RADIANS!!!!!!!
double DCLGPS::GetMagHeadingFromTo(double latA, double lonA, double latB, double lonB) {
double h = GetGreatCircleCourse(latA, lonA, latB, lonB);
h *= SG_RADIANS_TO_DEGREES;
// TODO - use the real altitude below instead of 0.0!
//cout << "MagVar = " << sgGetMagVar(_gpsLon, _gpsLat, 0.0, _time->getJD()) * SG_RADIANS_TO_DEGREES << '\n';
h -= sgGetMagVar(_gpsLon, _gpsLat, 0.0, _time->getJD()) * SG_RADIANS_TO_DEGREES;
while(h >= 360.0) h -= 360.0;
while(h < 0.0) h += 360.0;
return(h);
}
// ---------------- Great Circle formulae from "The Aviation Formulary" -------------
// Note that all of these assume that the world is spherical.
double Rad2Nm(double theta) {
return(((180.0*60.0)/SG_PI)*theta);
}
double Nm2Rad(double d) {
return((SG_PI/(180.0*60.0))*d);
}
/* QUOTE:
The great circle distance d between two points with coordinates {lat1,lon1} and {lat2,lon2} is given by:
d=acos(sin(lat1)*sin(lat2)+cos(lat1)*cos(lat2)*cos(lon1-lon2))
A mathematically equivalent formula, which is less subject to rounding error for short distances is:
d=2*asin(sqrt((sin((lat1-lat2)/2))^2 +
cos(lat1)*cos(lat2)*(sin((lon1-lon2)/2))^2))
*/
// Returns distance in nm, takes lat & lon in RADIANS
double DCLGPS::GetGreatCircleDistance(double lat1, double lon1, double lat2, double lon2) const {
double d = 2.0 * asin(sqrt(((sin((lat1-lat2)/2.0))*(sin((lat1-lat2)/2.0))) +
cos(lat1)*cos(lat2)*(sin((lon1-lon2)/2.0))*(sin((lon1-lon2)/2.0))));
return(Rad2Nm(d));
}
// fmod dosen't do what we want :-(
static double mod(double d1, double d2) {
return(d1 - d2*floor(d1/d2));
}
// Returns great circle course from point 1 to point 2
// Input and output in RADIANS.
double DCLGPS::GetGreatCircleCourse (double lat1, double lon1, double lat2, double lon2) const {
//double h = 0.0;
/*
// Special case the poles
if(cos(lat1) < SG_EPSILON) {
if(lat1 > 0) {
// Starting from North Pole
h = SG_PI;
} else {
// Starting from South Pole
h = 2.0 * SG_PI;
}
} else {
// Urgh - the formula below is for negative lon +ve !!!???
double d = GetGreatCircleDistance(lat1, lon1, lat2, lon2);
cout << "d = " << d;
d = Nm2Rad(d);
//cout << ", d_theta = " << d;
//cout << ", and d = " << Rad2Nm(d) << ' ';
if(sin(lon2 - lon1) < 0) {
cout << " A ";
h = acos((sin(lat2)-sin(lat1)*cos(d))/(sin(d)*cos(lat1)));
} else {
cout << " B ";
h = 2.0 * SG_PI - acos((sin(lat2)-sin(lat1)*cos(d))/(sin(d)*cos(lat1)));
}
}
cout << h * SG_RADIANS_TO_DEGREES << '\n';
*/
return( mod(atan2(sin(lon2-lon1)*cos(lat2),
cos(lat1)*sin(lat2)-sin(lat1)*cos(lat2)*cos(lon2-lon1)),
2.0*SG_PI) );
}
// Return a position on a radial from wp1 given distance d (nm) and magnetic heading h (degrees)
// Note that d should be less that 1/4 Earth diameter!
GPSWaypoint DCLGPS::GetPositionOnMagRadial(const GPSWaypoint& wp1, double d, double h) {
h += sgGetMagVar(wp1.lon, wp1.lat, 0.0, _time->getJD()) * SG_RADIANS_TO_DEGREES;
return(GetPositionOnRadial(wp1, d, h));
}
// Return a position on a radial from wp1 given distance d (nm) and TRUE heading h (degrees)
// Note that d should be less that 1/4 Earth diameter!
GPSWaypoint DCLGPS::GetPositionOnRadial(const GPSWaypoint& wp1, double d, double h) {
while(h < 0.0) h += 360.0;
while(h > 360.0) h -= 360.0;
h *= SG_DEGREES_TO_RADIANS;
d *= (SG_PI / (180.0 * 60.0));
double lat=asin(sin(wp1.lat)*cos(d)+cos(wp1.lat)*sin(d)*cos(h));
double lon;
if(cos(lat)==0) {
lon=wp1.lon; // endpoint a pole
} else {
lon=mod(wp1.lon+asin(sin(h)*sin(d)/cos(lat))+SG_PI,2*SG_PI)-SG_PI;
}
GPSWaypoint wp;
wp.lat = lat;
wp.lon = lon;
wp.type = GPS_WP_VIRT;
return(wp);
}
// Returns cross-track deviation in Nm.
double DCLGPS::CalcCrossTrackDeviation() const {
return(CalcCrossTrackDeviation(_fromWaypoint, _activeWaypoint));
}
// Returns cross-track deviation of the current position between two arbitary waypoints in nm.
double DCLGPS::CalcCrossTrackDeviation(const GPSWaypoint& wp1, const GPSWaypoint& wp2) const {
//if(wp1 == NULL || wp2 == NULL) return(0.0);
if(wp1.id.empty() || wp2.id.empty()) return(0.0);
double xtd = asin(sin(Nm2Rad(GetGreatCircleDistance(wp1.lat, wp1.lon, _gpsLat, _gpsLon)))
* sin(GetGreatCircleCourse(wp1.lat, wp1.lon, _gpsLat, _gpsLon) - GetGreatCircleCourse(wp1.lat, wp1.lon, wp2.lat, wp2.lon)));
return(Rad2Nm(xtd));
}
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