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flightgear/src/Instrumentation/agradar.cxx
ThorstenB 9effb06047 Fix scenery reload issues. 
Aircraft could fall through the ground on scenery reload. Properly reset
the "sceneryloaded" flag to pause FDM processing while scenery is being
reloaded. Also stop processing some instruments while scenery is reloaded.
2012-04-07 16:20:22 +02:00

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// Air Ground Radar
//
// Written by Vivian MEAZZA, started Feb 2008.
//
//
// Copyright (C) 2008 Vivian Meazza
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
//
#ifdef HAVE_CONFIG_H
# include "config.h"
#endif
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
#include "agradar.hxx"
agRadar::agRadar(SGPropertyNode *node) : wxRadarBg(node)
{
_name = node->getStringValue("name", "air-ground-radar");
_num = node->getIntValue("number", 0);
}
agRadar::~agRadar ()
{
}
void
agRadar::init ()
{
_user_hdg_deg_node = fgGetNode("/orientation/heading-deg", true);
_user_pitch_deg_node = fgGetNode("/orientation/pitch-deg", true);
_user_roll_deg_node = fgGetNode("/orientation/roll-deg", true);
_terrain_warning_node = fgGetNode("/sim/alarms/terrain-warning", true);
_terrain_warning_node->setBoolValue(false);
wxRadarBg::init();
// those properties are used by a radar instrument of a MFD
// input switch = OFF | TST | STBY | ON
// input mode = WX | WXA | MAP | TW
// output status = STBY | TEST | WX | WXA | MAP | blank
// input lightning = true | false
// input TRK = +/- n degrees
// input TILT = +/- n degree
// input autotilt = true | false
// input range = n nm (20/40/80)
// input display-mode = arc | rose | map | plan
_Instrument->setFloatValue("trk", 0.0);
_Instrument->setFloatValue("tilt",-2.5);
_Instrument->setStringValue("status","");
_Instrument->setIntValue("mode-control", 5);
_Instrument->setBoolValue("stabilisation/roll", false);
_Instrument->setBoolValue("stabilisation/pitch", false);
_xOffsetMNode = getInstrumentNode("antenna/x-offset-m", 0.0);
_yOffsetMNode = getInstrumentNode("antenna/y-offset-m", 0.0);
_zOffsetMNode = getInstrumentNode("antenna/z-offset-m", 0.0);
_elevLimitDegNode = getInstrumentNode("terrain-warning/elev-limit-deg", 2.0);
_elevStepDegNode = getInstrumentNode("terrain-warning/elev-step-deg", 1.0);
_azLimitDegNode = getInstrumentNode("terrain-warning/az-limit-deg", 1.0);
_azStepDegNode = getInstrumentNode("terrain-warning/az-step-deg", 1.5);
_maxRangeMNode = getInstrumentNode("terrain-warning/max-range-m", 4000.0);
_minRangeMNode = getInstrumentNode("terrain-warning/min-range-m", 250.0);
_tiltNode = getInstrumentNode("terrain-warning/tilt", -2.0);
_brgDegNode = getInstrumentNode("terrain-warning/hit/brg-deg", 0.0);
_rangeMNode = getInstrumentNode("terrain-warning/hit/range-m", 0.0);
_elevationMNode = getInstrumentNode("terrain-warning/hit/elevation-m", 0.0);
_materialNode = getInstrumentNode("terrain-warning/hit/material", "");
_bumpinessNode = getInstrumentNode("terrain-warning/hit/bumpiness", 0.0);
_rollStabNode = getInstrumentNode("terrain-warning/stabilisation/roll",
true);
_pitchStabNode = getInstrumentNode("terrain-warning/stabilisation/pitch",
false);
// cout << "init done" << endl;
}
void
agRadar::update (double delta_time_sec)
{
if (!_sceneryLoaded->getBoolValue())
return;
if ( !_odg || ! _serviceable_node->getBoolValue() ) {
_Instrument->setStringValue("status","");
return;
}
_time += delta_time_sec;
if (_time < _interval)
return;
_time = 0.0;
update_terrain();
// wxRadarBg::update(delta_time_sec);
}
void
agRadar::setUserPos()
{
userpos.setLatitudeDeg(_user_lat_node->getDoubleValue());
userpos.setLongitudeDeg(_user_lon_node->getDoubleValue());
userpos.setElevationM(_user_alt_node->getDoubleValue() * SG_FEET_TO_METER);
}
SGVec3d
agRadar::getCartUserPos() const {
SGVec3d cartUserPos = SGVec3d::fromGeod(userpos);
return cartUserPos;
}
SGVec3d
agRadar::getCartAntennaPos() const {
float yaw = _user_hdg_deg_node->getDoubleValue();
float pitch = _user_pitch_deg_node->getDoubleValue();
float roll = _user_roll_deg_node->getDoubleValue();
double x_offset_m =_xOffsetMNode->getDoubleValue();
double y_offset_m =_yOffsetMNode->getDoubleValue();
double z_offset_m =_zOffsetMNode->getDoubleValue();
// convert geodetic positions to geocentered
SGVec3d cartuserPos = getCartUserPos();
// Transform to the right coordinate frame, configuration is done in
// the x-forward, y-right, z-up coordinates (feet), computation
// in the simulation usual body x-forward, y-right, z-down coordinates
// (meters) )
SGVec3d _off(x_offset_m, y_offset_m, -z_offset_m);
// Transform the user position to the horizontal local coordinate system.
SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
// and postrotate the orientation of the user model wrt the horizontal
// local frame
hlTrans *= SGQuatd::fromYawPitchRollDeg(yaw,pitch,roll);
// The offset converted to the usual body fixed coordinate system
// rotated to the earth-fixed coordinates axis
SGVec3d off = hlTrans.backTransform(_off);
// Add the position offset of the user model to get the geocentered position
SGVec3d offsetPos = cartuserPos + off;
return offsetPos;
}
void
agRadar::setAntennaPos() {
SGGeodesy::SGCartToGeod(getCartAntennaPos(), antennapos);
}
void
agRadar::setUserVec(double az, double el)
{
float yaw = _user_hdg_deg_node->getDoubleValue();
float pitch = _user_pitch_deg_node->getDoubleValue();
float roll = _user_roll_deg_node->getDoubleValue();
double tilt = _Instrument->getDoubleValue("tilt");
double trk = _Instrument->getDoubleValue("trk");
bool roll_stab = _Instrument->getBoolValue("stabilisation/roll");
bool pitch_stab = _Instrument->getBoolValue("stabilisation/pitch");
SGQuatd offset = SGQuatd::fromYawPitchRollDeg(az + trk, el + tilt, 0);
// Transform the antenna position to the horizontal local coordinate system.
SGQuatd hlTrans = SGQuatd::fromLonLat(antennapos);
// and postrotate the orientation of the radar wrt the horizontal
// local frame
hlTrans *= SGQuatd::fromYawPitchRollDeg(yaw,
pitch_stab ? 0 :pitch,
roll_stab ? 0 : roll);
hlTrans *= offset;
// now rotate the rotation vector back into the
// earth centered frames coordinates
SGVec3d angleaxis(1,0,0);
uservec = hlTrans.backTransform(angleaxis);
}
bool
agRadar::getMaterial(){
if (globals->get_scenery()->get_elevation_m(hitpos, _elevation_m, &_material)){
//_ht_agl_ft = pos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
if (_material) {
const vector<string>& names = _material->get_names();
_solid = _material->get_solid();
_load_resistance = _material->get_load_resistance();
_frictionFactor =_material->get_friction_factor();
_bumpinessFactor = _material->get_bumpiness();
if (!names.empty())
_mat_name = names[0].c_str();
else
_mat_name = "";
}
/*cout << "material " << mat_name
<< " solid " << _solid
<< " load " << _load_resistance
<< " frictionFactor " << frictionFactor
<< " _bumpinessFactor " << _bumpinessFactor
<< endl;*/
return true;
} else {
return false;
}
}
void
agRadar::update_terrain()
{
int mode = _radar_mode_control_node->getIntValue();
double el_limit = 1;
double el_step = 1;
double az_limit = 50;
double az_step = 10;
double max_range = 40000;
double min_range = 250;
double tilt = -2.5;
bool roll_stab = _rollStabNode->getBoolValue();
bool pitch_stab = _pitchStabNode->getBoolValue();
const char* status = "";
bool hdg_mkr = true;
if (mode == 5){
status = "TW";
hdg_mkr = false;
tilt = _tiltNode->getDoubleValue();
el_limit = _elevLimitDegNode->getDoubleValue();
el_step = _elevStepDegNode->getDoubleValue();
az_limit = _azLimitDegNode->getDoubleValue();
az_step = _azStepDegNode->getDoubleValue();
max_range = _maxRangeMNode->getDoubleValue();
min_range = _minRangeMNode->getDoubleValue();
}
_Instrument->setDoubleValue("tilt", tilt);
_Instrument->setBoolValue("stabilisation/roll", roll_stab);
_Instrument->setBoolValue("stabilisation/pitch", pitch_stab);
_Instrument->setStringValue("status", status);
_Instrument->setDoubleValue("limit-deg", az_limit);
_Instrument->setBoolValue("heading-marker", hdg_mkr);
setUserPos();
setAntennaPos();
SGVec3d cartantennapos = getCartAntennaPos();
for(double brg = -az_limit; brg <= az_limit; brg += az_step){
for(double elev = el_limit; elev >= - el_limit; elev -= el_step){
setUserVec(brg, elev);
SGVec3d nearestHit;
globals->get_scenery()->get_cart_ground_intersection(cartantennapos, uservec, nearestHit);
SGGeodesy::SGCartToGeod(nearestHit, hitpos);
double course1, course2, distance;
SGGeodesy::inverse(hitpos, antennapos, course1, course2, distance);
if (distance >= min_range && distance <= max_range) {
_terrain_warning_node->setBoolValue(true);
getMaterial();
_brgDegNode->setDoubleValue(course2);
_rangeMNode->setDoubleValue(distance);
_materialNode->setStringValue(_mat_name.c_str());
_bumpinessNode->setDoubleValue(_bumpinessFactor);
_elevationMNode->setDoubleValue(_elevation_m);
} else {
_terrain_warning_node->setBoolValue(false);
_brgDegNode->setDoubleValue(0);
_rangeMNode->setDoubleValue(0);
_materialNode->setStringValue("");
_bumpinessNode->setDoubleValue(0);
_elevationMNode->setDoubleValue(0);
}
//cout << "usr hdg " << _user_hdg_deg_node->getDoubleValue()
// << " ant brg " << course2
// << " elev " << _Instrument->getDoubleValue("tilt")
// << " gnd rng nm " << distance * SG_METER_TO_NM
// << " ht " << hitpos.getElevationFt()
// << " mat " << _mat_name
// << " solid " << _solid
// << " bumpiness " << _bumpinessFactor
// << endl;
}
}
}
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