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flightgear/src/Instrumentation/gps.cxx
James Turner ffac5ff889 Standard property to ignore unusably short runways in NavDB. 
Default values should match existing behaviour. Set
/sim/navdb/min-runway-length-ft to skip short runways
in GPS / Map / ND / Nasal queries.
2012-05-16 16:51:39 +01:00

1719 lines
49 KiB
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// gps.cxx - distance-measuring equipment.
// Written by David Megginson, started 2003.
//
// This file is in the Public Domain and comes with no warranty.
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include "gps.hxx"
#include <boost/tuple/tuple.hpp>
#include <memory>
#include <set>
#include <cstring>
#include "Main/fg_props.hxx"
#include "Main/globals.hxx" // for get_subsystem
#include "Main/util.hxx" // for fgLowPass
#include "Navaids/positioned.hxx"
#include <Navaids/waypoint.hxx>
#include "Navaids/navrecord.hxx"
#include "Airports/simple.hxx"
#include "Airports/runways.hxx"
#include "Autopilot/route_mgr.hxx"
#include <simgear/math/sg_random.h>
#include <simgear/sg_inlines.h>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/structure/exception.hxx>
#include <simgear/scene/util/OsgMath.hxx>
using std::auto_ptr;
using std::string;
using namespace flightgear;
///////////////////////////////////////////////////////////////////
void SGGeodProperty::init(SGPropertyNode* base, const char* lonStr, const char* latStr, const char* altStr)
{
_lon = base->getChild(lonStr, 0, true);
_lat = base->getChild(latStr, 0, true);
if (altStr) {
_alt = base->getChild(altStr, 0, true);
}
}
void SGGeodProperty::init(const char* lonStr, const char* latStr, const char* altStr)
{
_lon = fgGetNode(lonStr, true);
_lat = fgGetNode(latStr, true);
if (altStr) {
_alt = fgGetNode(altStr, true);
}
}
void SGGeodProperty::clear()
{
_lon = _lat = _alt = NULL;
}
void SGGeodProperty::operator=(const SGGeod& geod)
{
_lon->setDoubleValue(geod.getLongitudeDeg());
_lat->setDoubleValue(geod.getLatitudeDeg());
if (_alt) {
_alt->setDoubleValue(geod.getElevationFt());
}
}
SGGeod SGGeodProperty::get() const
{
double lon = _lon->getDoubleValue(),
lat = _lat->getDoubleValue();
if (osg::isNaN(lon) || osg::isNaN(lat)) {
SG_LOG(SG_INSTR, SG_WARN, "read NaN for lon/lat:" << _lon->getPath()
<< ", " << _lat->getPath());
return SGGeod();
}
if (_alt) {
return SGGeod::fromDegFt(lon, lat, _alt->getDoubleValue());
} else {
return SGGeod::fromDeg(lon,lat);
}
}
static const char* makeTTWString(double TTW)
{
if ((TTW <= 0.0) || (TTW >= 356400.5)) { // 99 hours
return "--:--:--";
}
unsigned int TTW_seconds = (int) (TTW + 0.5);
unsigned int TTW_minutes = 0;
unsigned int TTW_hours = 0;
static char TTW_str[9];
TTW_hours = TTW_seconds / 3600;
TTW_minutes = (TTW_seconds / 60) % 60;
TTW_seconds = TTW_seconds % 60;
snprintf(TTW_str, 9, "%02d:%02d:%02d",
TTW_hours, TTW_minutes, TTW_seconds);
return TTW_str;
}
/////////////////////////////////////////////////////////////////////////////
class GPSListener : public SGPropertyChangeListener
{
public:
GPSListener(GPS *m) :
_gps(m),
_guard(false) {}
virtual void valueChanged (SGPropertyNode * prop)
{
if (_guard) {
return;
}
_guard = true;
if (prop == _gps->_route_current_wp_node) {
_gps->routeManagerSequenced();
} else if (prop == _gps->_route_active_node) {
_gps->routeActivated();
} else if (prop == _gps->_ref_navaid_id_node) {
_gps->referenceNavaidSet(prop->getStringValue(""));
} else if (prop == _gps->_routeEditedSignal) {
_gps->routeEdited();
} else if (prop == _gps->_routeFinishedSignal) {
_gps->routeFinished();
}
_guard = false;
}
void setGuard(bool g) {
_guard = g;
}
private:
GPS* _gps;
bool _guard; // re-entrancy guard
};
////////////////////////////////////////////////////////////////////////////
/**
* Helper to monitor for Nasal or other code accessing properties we haven't
* defined. For the moment we complain about all such activites, since various
* users assume all kinds of weird, wonderful and non-existent interfaces.
*/
class DeprecatedPropListener : public SGPropertyChangeListener
{
public:
DeprecatedPropListener(SGPropertyNode* gps)
{
_parents.insert(gps);
SGPropertyNode* wp = gps->getChild("wp", 0, true);
_parents.insert(wp);
_parents.insert(wp->getChild("wp", 0, true));
_parents.insert(wp->getChild("wp", 1, true));
std::set<SGPropertyNode*>::iterator it;
for (it = _parents.begin(); it != _parents.end(); ++it) {
(*it)->addChangeListener(this);
}
}
virtual void valueChanged (SGPropertyNode * prop)
{
}
virtual void childAdded (SGPropertyNode * parent, SGPropertyNode * child)
{
if (isDeprecated(parent, child)) {
SG_LOG(SG_INSTR, SG_WARN, "GPS: someone accessed a deprecated property:"
<< child->getPath(true));
}
}
private:
bool isDeprecated(SGPropertyNode * parent, SGPropertyNode * child) const
{
if (_parents.count(parent) < 1) {
return false;
}
// no child exclusions yet
return true;
}
std::set<SGPropertyNode*> _parents;
};
////////////////////////////////////////////////////////////////////////////
// configuration helper object
GPS::Config::Config() :
_enableTurnAnticipation(true),
_turnRate(3.0), // degrees-per-second, so 180 degree turn takes 60 seconds
_overflightArmDistance(1.0),
_waypointAlertTime(30.0),
_requireHardSurface(true),
_cdiMaxDeflectionNm(3.0), // linear mode, 3nm at the peg
_driveAutopilot(true),
_courseSelectable(false)
{
_enableTurnAnticipation = false;
}
void GPS::Config::bind(GPS* aOwner, SGPropertyNode* aCfg)
{
aOwner->tie(aCfg, "turn-rate-deg-sec", SGRawValuePointer<double>(&_turnRate));
aOwner->tie(aCfg, "turn-anticipation", SGRawValuePointer<bool>(&_enableTurnAnticipation));
aOwner->tie(aCfg, "wpt-alert-time", SGRawValuePointer<double>(&_waypointAlertTime));
aOwner->tie(aCfg, "hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
aOwner->tie(aCfg, "cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
aOwner->tie(aCfg, "drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
aOwner->tie(aCfg, "course-selectable", SGRawValuePointer<bool>(&_courseSelectable));
}
////////////////////////////////////////////////////////////////////////////
GPS::GPS ( SGPropertyNode *node) :
_selectedCourse(0.0),
_desiredCourse(0.0),
_dataValid(false),
_lastPosValid(false),
_mode("init"),
_name(node->getStringValue("name", "gps")),
_num(node->getIntValue("number", 0)),
_searchResultIndex(0),
_searchExact(true),
_searchIsRoute(false),
_searchHasNext(false),
_searchNames(false),
_computeTurnData(false),
_anticipateTurn(false),
_inTurn(false)
{
string branch = "/instrumentation/" + _name;
_gpsNode = fgGetNode(branch.c_str(), _num, true );
_scratchNode = _gpsNode->getChild("scratch", 0, true);
SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
_currentWayptNode = wp_node->getChild("wp", 1, true);
}
GPS::~GPS ()
{
}
void
GPS::init ()
{
_routeMgr = (FGRouteMgr*) globals->get_subsystem("route-manager");
assert(_routeMgr);
_position.init("/position/longitude-deg", "/position/latitude-deg", "/position/altitude-ft");
_magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
_serviceable_node = _gpsNode->getChild("serviceable", 0, true);
_serviceable_node->setBoolValue(true);
_electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
// basic GPS outputs
_raim_node = _gpsNode->getChild("raim", 0, true);
_odometer_node = _gpsNode->getChild("odometer", 0, true);
_trip_odometer_node = _gpsNode->getChild("trip-odometer", 0, true);
_true_bug_error_node = _gpsNode->getChild("true-bug-error-deg", 0, true);
_magnetic_bug_error_node = _gpsNode->getChild("magnetic-bug-error-deg", 0, true);
_eastWestVelocity = _gpsNode->getChild("ew-velocity-msec", 0, true);
_northSouthVelocity = _gpsNode->getChild("ns-velocity-msec", 0, true);
// waypoints
// for compatability, alias selected course down to wp/wp[1]/desired-course-deg
SGPropertyNode* wp1Crs = _currentWayptNode->getChild("desired-course-deg", 0, true);
wp1Crs->alias(_gpsNode->getChild("desired-course-deg", 0, true));
_tracking_bug_node = _gpsNode->getChild("tracking-bug", 0, true);
// reference navid
SGPropertyNode_ptr ref_navaid = _gpsNode->getChild("ref-navaid", 0, true);
_ref_navaid_id_node = ref_navaid->getChild("id", 0, true);
_ref_navaid_name_node = ref_navaid->getChild("name", 0, true);
_ref_navaid_bearing_node = ref_navaid->getChild("bearing-deg", 0, true);
_ref_navaid_frequency_node = ref_navaid->getChild("frequency-mhz", 0, true);
_ref_navaid_distance_node = ref_navaid->getChild("distance-nm", 0, true);
_ref_navaid_mag_bearing_node = ref_navaid->getChild("mag-bearing-deg", 0, true);
_ref_navaid_elapsed = 0.0;
_ref_navaid_set = false;
// route properties
// should these move to the route manager?
_routeDistanceNm = _gpsNode->getChild("route-distance-nm", 0, true);
_routeETE = _gpsNode->getChild("ETE", 0, true);
_routeEditedSignal = fgGetNode("/autopilot/route-manager/signals/edited", true);
_routeFinishedSignal = fgGetNode("/autopilot/route-manager/signals/finished", true);
// add listener to various things
_listener = new GPSListener(this);
_route_current_wp_node = fgGetNode("/autopilot/route-manager/current-wp", true);
_route_current_wp_node->addChangeListener(_listener);
_route_active_node = fgGetNode("/autopilot/route-manager/active", true);
_route_active_node->addChangeListener(_listener);
_ref_navaid_id_node->addChangeListener(_listener);
_routeEditedSignal->addChangeListener(_listener);
_routeFinishedSignal->addChangeListener(_listener);
// navradio slaving properties
SGPropertyNode* toFlag = _gpsNode->getChild("to-flag", 0, true);
toFlag->alias(_currentWayptNode->getChild("to-flag"));
SGPropertyNode* fromFlag = _gpsNode->getChild("from-flag", 0, true);
fromFlag->alias(_currentWayptNode->getChild("from-flag"));
// autopilot drive properties
_apDrivingFlag = fgGetNode("/autopilot/settings/gps-driving-true-heading", true);
_apTrueHeading = fgGetNode("/autopilot/settings/true-heading-deg",true);
_apTargetAltitudeFt = fgGetNode("/autopilot/settings/target-altitude-ft", true);
_apAltitudeLock = fgGetNode("/autopilot/locks/altitude", true);
// realism prop[s]
_realismSimpleGps = fgGetNode("/sim/realism/simple-gps", true);
if (!_realismSimpleGps->hasValue()) {
_realismSimpleGps->setBoolValue(true);
}
// last thing, add the deprecated prop watcher
new DeprecatedPropListener(_gpsNode);
clearOutput();
}
void
GPS::bind()
{
_config.bind(this, _gpsNode->getChild("config", 0, true));
// basic GPS outputs
tie(_gpsNode, "selected-course-deg", SGRawValueMethods<GPS, double>
(*this, &GPS::getSelectedCourse, &GPS::setSelectedCourse));
tie(_gpsNode, "desired-course-deg", SGRawValueMethods<GPS, double>
(*this, &GPS::getDesiredCourse, NULL));
_desiredCourseNode = _gpsNode->getChild("desired-course-deg", 0, true);
tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
"indicated-latitude-deg", "indicated-altitude-ft");
tie(_gpsNode, "indicated-vertical-speed", SGRawValueMethods<GPS, double>
(*this, &GPS::getVerticalSpeed, NULL));
tie(_gpsNode, "indicated-track-true-deg", SGRawValueMethods<GPS, double>
(*this, &GPS::getTrueTrack, NULL));
tie(_gpsNode, "indicated-track-magnetic-deg", SGRawValueMethods<GPS, double>
(*this, &GPS::getMagTrack, NULL));
tie(_gpsNode, "indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
(*this, &GPS::getGroundspeedKts, NULL));
// command system
tie(_gpsNode, "mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
tie(_gpsNode, "command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
tie(_scratchNode, "valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
tie(_scratchNode, "distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
tie(_scratchNode, "true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
tie(_scratchNode, "mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
tie(_scratchNode, "has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
_scratchValid = false;
SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
SGPropertyNode* wp0_node = wp_node->getChild("wp", 0, true);
tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
tie(_currentWayptNode, "ID", SGRawValueMethods<GPS, const char*>
(*this, &GPS::getWP1Ident, NULL));
tie(_currentWayptNode, "distance-nm", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1Distance, NULL));
tie(_currentWayptNode, "bearing-true-deg", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1Bearing, NULL));
tie(_currentWayptNode, "bearing-mag-deg", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1MagBearing, NULL));
tie(_currentWayptNode, "TTW-sec", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1TTW, NULL));
tie(_currentWayptNode, "TTW", SGRawValueMethods<GPS, const char*>
(*this, &GPS::getWP1TTWString, NULL));
tie(_currentWayptNode, "course-deviation-deg", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1CourseDeviation, NULL));
tie(_currentWayptNode, "course-error-nm", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1CourseErrorNm, NULL));
tie(_currentWayptNode, "to-flag", SGRawValueMethods<GPS, bool>
(*this, &GPS::getWP1ToFlag, NULL));
tie(_currentWayptNode, "from-flag", SGRawValueMethods<GPS, bool>
(*this, &GPS::getWP1FromFlag, NULL));
// leg properties (only valid in DTO/LEG modes, not OBS)
tie(wp_node, "leg-distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getLegDistance, NULL));
tie(wp_node, "leg-true-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegCourse, NULL));
tie(wp_node, "leg-mag-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegMagCourse, NULL));
// navradio slaving properties
tie(_gpsNode, "cdi-deflection", SGRawValueMethods<GPS,double>
(*this, &GPS::getCDIDeflection));
}
void
GPS::unbind()
{
_tiedProperties.Untie();
}
void
GPS::clearOutput()
{
_dataValid = false;
_last_speed_kts = 0.0;
_last_pos = SGGeod();
_lastPosValid = false;
_indicated_pos = SGGeod();
_last_vertical_speed = 0.0;
_last_true_track = 0.0;
_lastEWVelocity = _lastNSVelocity = 0.0;
_currentWaypt = _prevWaypt = NULL;
_legDistanceNm = -1.0;
_raim_node->setDoubleValue(0.0);
_indicated_pos = SGGeod();
_odometer_node->setDoubleValue(0);
_trip_odometer_node->setDoubleValue(0);
_tracking_bug_node->setDoubleValue(0);
_true_bug_error_node->setDoubleValue(0);
_magnetic_bug_error_node->setDoubleValue(0);
_northSouthVelocity->setDoubleValue(0.0);
_eastWestVelocity->setDoubleValue(0.0);
}
void
GPS::update (double delta_time_sec)
{
if (!_realismSimpleGps->getBoolValue()) {
// If it's off, don't bother.
if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
clearOutput();
return;
}
}
if (delta_time_sec <= 0.0) {
return; // paused, don't bother
}
_raim_node->setDoubleValue(1.0);
_indicated_pos = _position.get();
updateBasicData(delta_time_sec);
if (_dataValid) {
if (_wayptController.get()) {
_wayptController->update();
SGGeod p(_wayptController->position());
_currentWayptNode->setDoubleValue("longitude-deg", p.getLongitudeDeg());
_currentWayptNode->setDoubleValue("latitude-deg", p.getLatitudeDeg());
_currentWayptNode->setDoubleValue("altitude-ft", p.getElevationFt());
_desiredCourse = getLegMagCourse();
updateTurn();
updateRouteData();
}
updateTrackingBug();
updateReferenceNavaid(delta_time_sec);
driveAutopilot();
}
if (_dataValid && (_mode == "init")) {
if (_route_active_node->getBoolValue()) {
// GPS init with active route
SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
selectLegMode();
} else {
// initialise in OBS mode, with waypt set to the nearest airport.
// keep in mind at this point, _dataValid is not set
auto_ptr<FGPositioned::Filter> f(createFilter(FGPositioned::AIRPORT));
FGPositionedRef apt = FGPositioned::findClosest(_position.get(), 20.0, f.get());
if (apt) {
setScratchFromPositioned(apt, 0);
selectOBSMode();
}
}
if (_mode != "init")
{
// allow a realistic delay in the future, here
SG_LOG(SG_INSTR, SG_INFO, "GPS initialisation complete");
}
} // of init mode check
_last_pos = _indicated_pos;
_lastPosValid = !(_last_pos == SGGeod());
}
///////////////////////////////////////////////////////////////////////////
// implement the RNAV interface
SGGeod GPS::position()
{
if (!_dataValid) {
return SGGeod();
}
return _indicated_pos;
}
double GPS::trackDeg()
{
return _last_true_track;
}
double GPS::groundSpeedKts()
{
return _last_speed_kts;
}
double GPS::vspeedFPM()
{
return _last_vertical_speed;
}
double GPS::magvarDeg()
{
return _magvar_node->getDoubleValue();
}
double GPS::overflightArmDistanceM()
{
return _config.overflightArmDistanceNm() * SG_NM_TO_METER;
}
double GPS::selectedMagCourse()
{
return _selectedCourse;
}
///////////////////////////////////////////////////////////////////////////
void
GPS::updateBasicData(double dt)
{
if (!_lastPosValid) {
return;
}
double distance_m;
double track2_deg;
SGGeodesy::inverse(_last_pos, _indicated_pos, _last_true_track, track2_deg, distance_m );
double speed_kt = ((distance_m * SG_METER_TO_NM) * ((1 / dt) * 3600.0));
double vertical_speed_mpm = ((_indicated_pos.getElevationM() - _last_pos.getElevationM()) * 60 / dt);
_last_vertical_speed = vertical_speed_mpm * SG_METER_TO_FEET;
speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, dt/10.0);
_last_speed_kts = speed_kt;
SGGeod g = _indicated_pos;
g.setLongitudeDeg(_last_pos.getLongitudeDeg());
double northSouthM = SGGeodesy::distanceM(_last_pos, g);
northSouthM = copysign(northSouthM, _indicated_pos.getLatitudeDeg() - _last_pos.getLatitudeDeg());
double nsMSec = fgGetLowPass(_lastNSVelocity, northSouthM / dt, dt/2.0);
_lastNSVelocity = nsMSec;
_northSouthVelocity->setDoubleValue(nsMSec);
g = _indicated_pos;
g.setLatitudeDeg(_last_pos.getLatitudeDeg());
double eastWestM = SGGeodesy::distanceM(_last_pos, g);
eastWestM = copysign(eastWestM, _indicated_pos.getLongitudeDeg() - _last_pos.getLongitudeDeg());
double ewMSec = fgGetLowPass(_lastEWVelocity, eastWestM / dt, dt/2.0);
_lastEWVelocity = ewMSec;
_eastWestVelocity->setDoubleValue(ewMSec);
double odometer = _odometer_node->getDoubleValue();
_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
odometer = _trip_odometer_node->getDoubleValue();
_trip_odometer_node->setDoubleValue(odometer + distance_m * SG_METER_TO_NM);
if (!_dataValid) {
SG_LOG(SG_INSTR, SG_INFO, "GPS setting data valid");
_dataValid = true;
}
}
void
GPS::updateTrackingBug()
{
double tracking_bug = _tracking_bug_node->getDoubleValue();
double true_bug_error = tracking_bug - getTrueTrack();
double magnetic_bug_error = tracking_bug - getMagTrack();
// Get the errors into the (-180,180) range.
SG_NORMALIZE_RANGE(true_bug_error, -180.0, 180.0);
SG_NORMALIZE_RANGE(magnetic_bug_error, -180.0, 180.0);
_true_bug_error_node->setDoubleValue(true_bug_error);
_magnetic_bug_error_node->setDoubleValue(magnetic_bug_error);
}
void GPS::updateReferenceNavaid(double dt)
{
if (!_ref_navaid_set) {
_ref_navaid_elapsed += dt;
if (_ref_navaid_elapsed > 5.0) {
FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
FGPositionedRef nav = FGPositioned::findClosest(_indicated_pos, 400.0, &vorFilter);
if (!nav) {
SG_LOG(SG_INSTR, SG_INFO, "GPS couldn't find a reference navaid");
_ref_navaid_id_node->setStringValue("");
_ref_navaid_name_node->setStringValue("");
_ref_navaid_bearing_node->setDoubleValue(0.0);
_ref_navaid_mag_bearing_node->setDoubleValue(0.0);
_ref_navaid_distance_node->setDoubleValue(0.0);
_ref_navaid_frequency_node->setStringValue("");
} else if (nav != _ref_navaid) {
SG_LOG(SG_INSTR, SG_INFO, "GPS code selected new ref-navaid:" << nav->ident());
_listener->setGuard(true);
_ref_navaid_id_node->setStringValue(nav->ident().c_str());
_ref_navaid_name_node->setStringValue(nav->name().c_str());
FGNavRecord* vor = (FGNavRecord*) nav.ptr();
_ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
_listener->setGuard(false);
} else {
// SG_LOG(SG_INSTR, SG_ALERT, "matched existing");
}
_ref_navaid = nav;
// reset elapsed time (do not do that before updating the properties above, since their
// listeners may request another update (_ref_navaid_elapsed = 9999), which results in
// excessive load (FGPositioned::findClosest called in every update loop...)
_ref_navaid_elapsed = 0.0;
}
}
if (_ref_navaid) {
double trueCourse, distanceM, az2;
SGGeodesy::inverse(_indicated_pos, _ref_navaid->geod(), trueCourse, az2, distanceM);
_ref_navaid_distance_node->setDoubleValue(distanceM * SG_METER_TO_NM);
_ref_navaid_bearing_node->setDoubleValue(trueCourse);
_ref_navaid_mag_bearing_node->setDoubleValue(trueCourse - _magvar_node->getDoubleValue());
}
}
void GPS::referenceNavaidSet(const std::string& aNavaid)
{
_ref_navaid = NULL;
// allow setting an empty string to restore normal nearest-vor selection
if (aNavaid.size() > 0) {
FGPositioned::TypeFilter vorFilter(FGPositioned::VOR);
_ref_navaid = FGPositioned::findClosestWithIdent(aNavaid,
_position.get(), &vorFilter);
if (!_ref_navaid) {
SG_LOG(SG_INSTR, SG_ALERT, "GPS: unknown ref navaid:" << aNavaid);
}
}
if (_ref_navaid) {
_ref_navaid_set = true;
SG_LOG(SG_INSTR, SG_INFO, "GPS code set explict ref-navaid:" << _ref_navaid->ident());
_ref_navaid_id_node->setStringValue(_ref_navaid->ident().c_str());
_ref_navaid_name_node->setStringValue(_ref_navaid->name().c_str());
FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
_ref_navaid_frequency_node->setDoubleValue(vor->get_freq() / 100.0);
} else {
_ref_navaid_set = false;
_ref_navaid_elapsed = 9999.0; // update next tick
}
}
void GPS::routeActivated()
{
if (_route_active_node->getBoolValue()) {
SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, switching to LEG mode");
selectLegMode();
// if we've already passed the current waypoint, sequence.
if (_dataValid && getWP1FromFlag()) {
SG_LOG(SG_INSTR, SG_INFO, "GPS::route activated, FROM wp1, sequencing");
_routeMgr->sequence();
}
} else if (_mode == "leg") {
SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
// select OBS mode, but keep current waypoint-as is
_mode = "obs";
wp1Changed();
}
}
void GPS::routeManagerSequenced()
{
if (_mode != "leg") {
SG_LOG(SG_INSTR, SG_INFO, "GPS ignoring route sequencing, not in LEG mode");
return;
}
int index = _routeMgr->currentIndex(),
count = _routeMgr->numWaypts();
if ((index < 0) || (index >= count)) {
_currentWaypt=NULL;
_prevWaypt=NULL;
SG_LOG(SG_INSTR, SG_ALERT, "GPS: malformed route, index=" << index);
return;
}
SG_LOG(SG_INSTR, SG_INFO, "GPS waypoint index is now " << index);
if (index > 0) {
_prevWaypt = _routeMgr->wayptAtIndex(index - 1);
if (_prevWaypt->flag(WPT_DYNAMIC)) {
_wp0_position = _indicated_pos;
} else {
_wp0_position = _prevWaypt->position();
}
}
_currentWaypt = _routeMgr->currentWaypt();
_desiredCourse = getLegMagCourse();
_desiredCourseNode->fireValueChanged();
wp1Changed();
}
void GPS::routeEdited()
{
if (_mode != "leg") {
return;
}
SG_LOG(SG_INSTR, SG_INFO, "GPS route edited while in LEG mode, updating waypoints");
routeManagerSequenced();
}
void GPS::routeFinished()
{
if (_mode != "leg") {
return;
}
SG_LOG(SG_INSTR, SG_INFO, "GPS route finished, reverting to OBS");
// select OBS mode, but keep current waypoint-as is
_mode = "obs";
wp1Changed();
}
void GPS::updateTurn()
{
bool printProgress = false;
if (_computeTurnData) {
if (_last_speed_kts < 60) {
// need valid leg course and sensible ground speed to compute the turn
return;
}
computeTurnData();
printProgress = true;
}
if (!_anticipateTurn) {
updateOverflight();
return;
}
updateTurnData();
// find bearing to turn centre
double bearing, az2, distanceM;
SGGeodesy::inverse(_indicated_pos, _turnCentre, bearing, az2, distanceM);
double progress = computeTurnProgress(bearing);
if (printProgress) {
SG_LOG(SG_INSTR, SG_INFO,"turn progress=" << progress);
}
if (!_inTurn && (progress > 0.0)) {
beginTurn();
}
if (_inTurn && !_turnSequenced && (progress > 0.5)) {
_turnSequenced = true;
SG_LOG(SG_INSTR, SG_INFO, "turn passed midpoint, sequencing");
_routeMgr->sequence();
}
if (_inTurn && (progress >= 1.0)) {
endTurn();
}
if (_inTurn) {
// drive deviation and desired course
double desiredCourse = bearing - copysign(90, _turnAngle);
SG_NORMALIZE_RANGE(desiredCourse, 0.0, 360.0);
double deviationNm = (distanceM * SG_METER_TO_NM) - _turnRadius;
double deviationDeg = desiredCourse - getMagTrack();
deviationNm = copysign(deviationNm, deviationDeg);
// FIXME
//_wp1_course_deviation_node->setDoubleValue(deviationDeg);
//_wp1_course_error_nm_node->setDoubleValue(deviationNm);
//_cdiDeflectionNode->setDoubleValue(deviationDeg);
}
}
void GPS::updateOverflight()
{
if (!_wayptController->isDone()) {
return;
}
if (_mode == "dto") {
SG_LOG(SG_INSTR, SG_INFO, "GPS DTO reached destination point");
// check for wp1 being on active route - resume leg mode
if (_routeMgr->isRouteActive()) {
int index = _routeMgr->flightPlan()->findWayptIndex(_currentWaypt->position());
if (index >= 0) {
SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
_mode = "leg";
_routeMgr->jumpToIndex(index);
}
}
if (_mode == "dto") {
// if we didn't enter leg mode, drop back to OBS mode
// select OBS mode, but keep current waypoint-as is
_mode = "obs";
wp1Changed();
}
} else if (_mode == "leg") {
SG_LOG(SG_INSTR, SG_INFO, "GPS doing overflight sequencing");
_routeMgr->sequence();
} else if (_mode == "obs") {
// nothing to do here, TO/FROM will update but that's fine
}
_computeTurnData = true;
}
void GPS::beginTurn()
{
_inTurn = true;
_turnSequenced = false;
SG_LOG(SG_INSTR, SG_INFO, "begining turn");
}
void GPS::endTurn()
{
_inTurn = false;
SG_LOG(SG_INSTR, SG_INFO, "ending turn");
_computeTurnData = true;
}
double GPS::computeTurnProgress(double aBearing) const
{
double startBearing = _turnStartBearing + copysign(90, _turnAngle);
return (aBearing - startBearing) / _turnAngle;
}
void GPS::computeTurnData()
{
_computeTurnData = false;
if (_mode != "leg") { // and approach modes in the future
_anticipateTurn = false;
return;
}
WayptRef next = _routeMgr->wayptAtIndex(_routeMgr->currentIndex() + 1);
if (!next || next->flag(WPT_DYNAMIC)) {
_anticipateTurn = false;
return;
}
if (!_config.turnAnticipationEnabled()) {
_anticipateTurn = false;
return;
}
_turnStartBearing = _desiredCourse;
// compute next leg course
double crs, dist;
boost::tie(crs, dist) = next->courseAndDistanceFrom(_currentWaypt->position());
// compute offset bearing
_turnAngle = crs - _turnStartBearing;
SG_NORMALIZE_RANGE(_turnAngle, -180.0, 180.0);
double median = _turnStartBearing + (_turnAngle * 0.5);
double offsetBearing = median + copysign(90, _turnAngle);
SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
SG_LOG(SG_INSTR, SG_INFO, "GPS computeTurnData: in=" << _turnStartBearing <<
", out=" << crs << "; turnAngle=" << _turnAngle << ", median=" << median
<< ", offset=" << offsetBearing);
SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << _currentWaypt->ident() << "->" << next->ident());
_turnPt = _currentWaypt->position();
_anticipateTurn = true;
}
void GPS::updateTurnData()
{
// depends on ground speed, so needs to be updated per-frame
_turnRadius = computeTurnRadiusNm(_last_speed_kts);
// compute the turn centre, based on the turn radius.
// key thing is to understand that we're working a right-angle triangle,
// where the right-angle is the point we start the turn. From that point,
// one side is the inbound course to the turn pt, and the other is the
// perpendicular line, of length 'r', to the turn centre.
// the triangle's hypotenuse, which we need to find, is the distance from the
// turn pt to the turn center (in the direction of the offset bearing)
// note that d - _turnRadius tell us how much we're 'cutting' the corner.
double halfTurnAngle = fabs(_turnAngle * 0.5) * SG_DEGREES_TO_RADIANS;
double d = _turnRadius / cos(halfTurnAngle);
// SG_LOG(SG_INSTR, SG_INFO, "turnRadius=" << _turnRadius << ", d=" << d
// << " (cut distance=" << d - _turnRadius << ")");
double median = _turnStartBearing + (_turnAngle * 0.5);
double offsetBearing = median + copysign(90, _turnAngle);
SG_NORMALIZE_RANGE(offsetBearing, 0.0, 360.0);
double az2;
SGGeodesy::direct(_turnPt, offsetBearing, d * SG_NM_TO_METER, _turnCentre, az2);
}
double GPS::computeTurnRadiusNm(double aGroundSpeedKts) const
{
// turn time is seconds to execute a 360 turn.
double turnTime = 360.0 / _config.turnRateDegSec();
// c is ground distance covered in that time (circumference of the circle)
double c = turnTime * (aGroundSpeedKts / 3600.0); // convert knts to nm/sec
// divide by 2PI to go from circumference -> radius
return c / (2 * M_PI);
}
void GPS::updateRouteData()
{
double totalDistance = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
// walk all waypoints from wp2 to route end, and sum
for (int i=_routeMgr->currentIndex()+1; i<_routeMgr->numWaypts(); ++i) {
//totalDistance += _routeMgr->get_waypoint(i).get_distance();
}
_routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
if (_last_speed_kts > 1.0) {
double TTW = ((totalDistance * SG_METER_TO_NM) / _last_speed_kts) * 3600.0;
_routeETE->setStringValue(makeTTWString(TTW));
}
}
void GPS::driveAutopilot()
{
if (!_config.driveAutopilot() || !_realismSimpleGps->getBoolValue()) {
_apDrivingFlag->setBoolValue(false);
return;
}
// compatability feature - allow the route-manager / GPS to drive the
// generic autopilot heading hold *in leg mode only*
bool drive = _mode == "leg";
_apDrivingFlag->setBoolValue(drive);
if (drive) {
// FIXME: we want to set desired track, not heading, here
_apTrueHeading->setDoubleValue(getWP1Bearing());
}
}
void GPS::wp1Changed()
{
if (!_currentWaypt)
return;
if (_mode == "leg") {
_wayptController.reset(WayptController::createForWaypt(this, _currentWaypt));
} else if (_mode == "obs") {
_wayptController.reset(new OBSController(this, _currentWaypt));
} else if (_mode == "dto") {
_wayptController.reset(new DirectToController(this, _currentWaypt, _wp0_position));
}
_wayptController->init();
if (_mode == "obs") {
_legDistanceNm = -1.0;
} else {
_wayptController->update();
_legDistanceNm = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
}
if (!_config.driveAutopilot()) {
return;
}
RouteRestriction ar = _currentWaypt->altitudeRestriction();
double restrictAlt = _currentWaypt->altitudeFt();
double alt = _indicated_pos.getElevationFt();
if ((ar == RESTRICT_AT) ||
((ar == RESTRICT_ABOVE) && (alt < restrictAlt)) ||
((ar == RESTRICT_BELOW) && (alt > restrictAlt)))
{
SG_LOG(SG_AUTOPILOT, SG_INFO, "current waypt has altitude set, setting on AP");
_apTargetAltitudeFt->setDoubleValue(restrictAlt);
}
}
/////////////////////////////////////////////////////////////////////////////
// property getter/setters
void GPS::setSelectedCourse(double crs)
{
if (_selectedCourse == crs) {
return;
}
_selectedCourse = crs;
if ((_mode == "obs") || _config.courseSelectable()) {
_desiredCourse = _selectedCourse;
_desiredCourseNode->fireValueChanged();
}
}
double GPS::getLegDistance() const
{
if (!_dataValid || (_mode == "obs")) {
return -1;
}
return _legDistanceNm;
}
double GPS::getLegCourse() const
{
if (!_dataValid || !_wayptController.get()) {
return -9999.0;
}
return _wayptController->targetTrackDeg();
}
double GPS::getLegMagCourse() const
{
if (!_dataValid) {
return 0.0;
}
double m = getLegCourse() - _magvar_node->getDoubleValue();
SG_NORMALIZE_RANGE(m, 0.0, 360.0);
return m;
}
double GPS::getMagTrack() const
{
if (!_dataValid) {
return 0.0;
}
double m = getTrueTrack() - _magvar_node->getDoubleValue();
SG_NORMALIZE_RANGE(m, 0.0, 360.0);
return m;
}
double GPS::getCDIDeflection() const
{
if (!_dataValid) {
return 0.0;
}
double defl;
if (_config.cdiDeflectionIsAngular()) {
defl = getWP1CourseDeviation();
SG_CLAMP_RANGE(defl, -10.0, 10.0); // as in navradio.cxx
} else {
double fullScale = _config.cdiDeflectionLinearPeg();
double normError = getWP1CourseErrorNm() / fullScale;
SG_CLAMP_RANGE(normError, -1.0, 1.0);
defl = normError * 10.0; // re-scale to navradio limits, i.e [-10.0 .. 10.0]
}
return defl;
}
const char* GPS::getWP0Ident() const
{
if (!_dataValid || (_mode != "leg") || (!_prevWaypt)) {
return "";
}
return _prevWaypt->ident().c_str();
}
const char* GPS::getWP0Name() const
{
return "";
}
const char* GPS::getWP1Ident() const
{
if ((!_dataValid)||(!_currentWaypt)) {
return "";
}
return _currentWaypt->ident().c_str();
}
const char* GPS::getWP1Name() const
{
return "";
}
double GPS::getWP1Distance() const
{
if (!_dataValid || !_wayptController.get()) {
return -1.0;
}
return _wayptController->distanceToWayptM() * SG_METER_TO_NM;
}
double GPS::getWP1TTW() const
{
if (!_dataValid || !_wayptController.get()) {
return -1.0;
}
return _wayptController->timeToWaypt();
}
const char* GPS::getWP1TTWString() const
{
double t = getWP1TTW();
if (t <= 0.0) {
return "";
}
return makeTTWString(t);
}
double GPS::getWP1Bearing() const
{
if (!_dataValid || !_wayptController.get()) {
return -9999.0;
}
return _wayptController->trueBearingDeg();
}
double GPS::getWP1MagBearing() const
{
if (!_dataValid || !_wayptController.get()) {
return -9999.0;
}
double magBearing = _wayptController->trueBearingDeg() - _magvar_node->getDoubleValue();
SG_NORMALIZE_RANGE(magBearing, 0.0, 360.0);
return magBearing;
}
double GPS::getWP1CourseDeviation() const
{
if (!_dataValid || !_wayptController.get()) {
return 0.0;
}
return _wayptController->courseDeviationDeg();
}
double GPS::getWP1CourseErrorNm() const
{
if (!_dataValid || !_wayptController.get()) {
return 0.0;
}
return _wayptController->xtrackErrorNm();
}
bool GPS::getWP1ToFlag() const
{
if (!_dataValid || !_wayptController.get()) {
return false;
}
return _wayptController->toFlag();
}
bool GPS::getWP1FromFlag() const
{
if (!_dataValid || !_wayptController.get()) {
return false;
}
return !getWP1ToFlag();
}
double GPS::getScratchDistance() const
{
if (!_scratchValid) {
return 0.0;
}
return SGGeodesy::distanceNm(_indicated_pos, _scratchPos);
}
double GPS::getScratchTrueBearing() const
{
if (!_scratchValid) {
return 0.0;
}
return SGGeodesy::courseDeg(_indicated_pos, _scratchPos);
}
double GPS::getScratchMagBearing() const
{
if (!_scratchValid) {
return 0.0;
}
double crs = getScratchTrueBearing() - _magvar_node->getDoubleValue();
SG_NORMALIZE_RANGE(crs, 0.0, 360.0);
return crs;
}
/////////////////////////////////////////////////////////////////////////////
// command / scratch / search system
void GPS::setCommand(const char* aCmd)
{
SG_LOG(SG_INSTR, SG_INFO, "GPS command:" << aCmd);
if (!strcmp(aCmd, "direct")) {
directTo();
} else if (!strcmp(aCmd, "obs")) {
selectOBSMode();
} else if (!strcmp(aCmd, "leg")) {
selectLegMode();
} else if (!strcmp(aCmd, "load-route-wpt")) {
loadRouteWaypoint();
} else if (!strcmp(aCmd, "nearest")) {
loadNearest();
} else if (!strcmp(aCmd, "search")) {
_searchNames = false;
search();
} else if (!strcmp(aCmd, "search-names")) {
_searchNames = true;
search();
} else if (!strcmp(aCmd, "next")) {
nextResult();
} else if (!strcmp(aCmd, "previous")) {
previousResult();
} else if (!strcmp(aCmd, "define-user-wpt")) {
defineWaypoint();
} else if (!strcmp(aCmd, "route-insert-before")) {
int index = _scratchNode->getIntValue("index");
if (index < 0 || (_routeMgr->numWaypts() == 0)) {
index = _routeMgr->numWaypts();
} else if (index >= _routeMgr->numWaypts()) {
SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-before, bad index:" << index);
return;
}
insertWaypointAtIndex(index);
} else if (!strcmp(aCmd, "route-insert-after")) {
int index = _scratchNode->getIntValue("index");
if (index < 0 || (_routeMgr->numWaypts() == 0)) {
index = _routeMgr->numWaypts();
} else if (index >= _routeMgr->numWaypts()) {
SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-after, bad index:" << index);
return;
} else {
++index;
}
insertWaypointAtIndex(index);
} else if (!strcmp(aCmd, "route-delete")) {
int index = _scratchNode->getIntValue("index");
if (index < 0) {
index = _routeMgr->numWaypts();
} else if (index >= _routeMgr->numWaypts()) {
SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
return;
}
removeWaypointAtIndex(index);
} else {
SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognized command:" << aCmd);
}
}
void GPS::clearScratch()
{
_scratchPos = SGGeod::fromDegFt(-9999.0, -9999.0, -9999.0);
_scratchValid = false;
_scratchNode->setStringValue("type", "");
_scratchNode->setStringValue("query", "");
}
bool GPS::isScratchPositionValid() const
{
if ((_scratchPos.getLongitudeDeg() < -9990.0) ||
(_scratchPos.getLatitudeDeg() < -9990.0)) {
return false;
}
return true;
}
void GPS::directTo()
{
if (!isScratchPositionValid()) {
return;
}
_prevWaypt = NULL;
_wp0_position = _indicated_pos;
_currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
_mode = "dto";
clearScratch();
wp1Changed();
}
void GPS::loadRouteWaypoint()
{
_scratchValid = false;
// if (!_routeMgr->isRouteActive()) {
// SG_LOG(SG_INSTR, SG_WARN, "GPS:loadWaypoint: no active route");
// return;
// }
int index = _scratchNode->getIntValue("index", -9999);
clearScratch();
if ((index < 0) || (index >= _routeMgr->numWaypts())) { // no index supplied, use current wp
index = _routeMgr->currentIndex();
}
_searchIsRoute = true;
setScratchFromRouteWaypoint(index);
}
void GPS::setScratchFromRouteWaypoint(int aIndex)
{
assert(_searchIsRoute);
if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
return;
}
_searchResultIndex = aIndex;
WayptRef wp = _routeMgr->wayptAtIndex(aIndex);
_scratchNode->setStringValue("ident", wp->ident());
_scratchPos = wp->position();
_scratchValid = true;
_scratchNode->setIntValue("index", aIndex);
}
void GPS::loadNearest()
{
string sty(_scratchNode->getStringValue("type"));
FGPositioned::Type ty = FGPositioned::typeFromName(sty);
if (ty == FGPositioned::INVALID) {
SG_LOG(SG_INSTR, SG_WARN, "GPS:loadNearest: request type is invalid:" << sty);
return;
}
auto_ptr<FGPositioned::Filter> f(createFilter(ty));
int limitCount = _scratchNode->getIntValue("max-results", 1);
double cutoffDistance = _scratchNode->getDoubleValue("cutoff-nm", 400.0);
SGGeod searchPos = _indicated_pos;
if (isScratchPositionValid()) {
searchPos = _scratchPos;
}
clearScratch(); // clear now, regardless of whether we find a match or not
_searchResults =
FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
_searchResultIndex = 0;
_searchIsRoute = false;
if (_searchResults.empty()) {
SG_LOG(SG_INSTR, SG_INFO, "GPS:loadNearest: no matches at all");
return;
}
setScratchFromCachedSearchResult();
}
bool GPS::SearchFilter::pass(FGPositioned* aPos) const
{
switch (aPos->type()) {
case FGPositioned::AIRPORT:
// heliport and seaport too?
case FGPositioned::VOR:
case FGPositioned::NDB:
case FGPositioned::FIX:
case FGPositioned::TACAN:
case FGPositioned::WAYPOINT:
return true;
default:
return false;
}
}
FGPositioned::Type GPS::SearchFilter::minType() const
{
return FGPositioned::AIRPORT;
}
FGPositioned::Type GPS::SearchFilter::maxType() const
{
return FGPositioned::WAYPOINT;
}
FGPositioned::Filter* GPS::createFilter(FGPositioned::Type aTy)
{
if (aTy == FGPositioned::AIRPORT) {
return new FGAirport::HardSurfaceFilter();
}
// if we were passed INVALID, assume it means 'all types interesting to a GPS'
if (aTy == FGPositioned::INVALID) {
return new SearchFilter;
}
return new FGPositioned::TypeFilter(aTy);
}
void GPS::search()
{
// parse search terms into local members, and exec the first search
string sty(_scratchNode->getStringValue("type"));
_searchType = FGPositioned::typeFromName(sty);
_searchQuery = _scratchNode->getStringValue("query");
if (_searchQuery.empty()) {
SG_LOG(SG_INSTR, SG_WARN, "empty GPS search query");
clearScratch();
return;
}
_searchExact = _scratchNode->getBoolValue("exact", true);
_searchResultIndex = 0;
_searchIsRoute = false;
auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
if (_searchNames) {
_searchResults = FGPositioned::findAllWithName(_searchQuery, f.get(), _searchExact);
} else {
_searchResults = FGPositioned::findAllWithIdent(_searchQuery, f.get(), _searchExact);
}
bool orderByRange = _scratchNode->getBoolValue("order-by-distance", true);
if (orderByRange) {
FGPositioned::sortByRange(_searchResults, _indicated_pos);
}
if (_searchResults.empty()) {
clearScratch();
return;
}
setScratchFromCachedSearchResult();
}
bool GPS::getScratchHasNext() const
{
int lastResult;
if (_searchIsRoute) {
lastResult = _routeMgr->numWaypts() - 1;
} else {
lastResult = (int) _searchResults.size() - 1;
}
if (lastResult < 0) { // search array might be empty
return false;
}
return (_searchResultIndex < lastResult);
}
void GPS::setScratchFromCachedSearchResult()
{
int index = _searchResultIndex;
if ((index < 0) || (index >= (int) _searchResults.size())) {
SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromCachedSearchResult: index out of bounds:" << index);
return;
}
setScratchFromPositioned(_searchResults[index], index);
}
void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
{
clearScratch();
assert(aPos);
_scratchPos = aPos->geod();
_scratchNode->setStringValue("name", aPos->name());
_scratchNode->setStringValue("ident", aPos->ident());
_scratchNode->setStringValue("type", FGPositioned::nameForType(aPos->type()));
if (aIndex >= 0) {
_scratchNode->setIntValue("index", aIndex);
}
_scratchValid = true;
_scratchNode->setIntValue("result-count", _searchResults.size());
switch (aPos->type()) {
case FGPositioned::VOR:
_scratchNode->setDoubleValue("frequency-mhz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
break;
case FGPositioned::NDB:
_scratchNode->setDoubleValue("frequency-khz", static_cast<FGNavRecord*>(aPos)->get_freq() / 100.0);
break;
case FGPositioned::AIRPORT:
addAirportToScratch((FGAirport*)aPos);
break;
default:
// no-op
break;
}
// look for being on the route and set?
}
void GPS::addAirportToScratch(FGAirport* aAirport)
{
for (unsigned int r=0; r<aAirport->numRunways(); ++r) {
SGPropertyNode* rwyNd = _scratchNode->getChild("runways", r, true);
FGRunway* rwy = aAirport->getRunwayByIndex(r);
// TODO - filter out unsuitable runways in the future
// based on config again
rwyNd->setStringValue("id", rwy->ident().c_str());
rwyNd->setIntValue("length-ft", rwy->lengthFt());
rwyNd->setIntValue("width-ft", rwy->widthFt());
rwyNd->setIntValue("heading-deg", rwy->headingDeg());
// map surface code to a string
// TODO - lighting information
if (rwy->ILS()) {
rwyNd->setDoubleValue("ils-frequency-mhz", rwy->ILS()->get_freq() / 100.0);
}
} // of runways iteration
}
void GPS::selectOBSMode()
{
if (!isScratchPositionValid()) {
return;
}
SG_LOG(SG_INSTR, SG_INFO, "GPS switching to OBS mode");
_mode = "obs";
_currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
_wp0_position = _indicated_pos;
wp1Changed();
}
void GPS::selectLegMode()
{
if (_mode == "leg") {
return;
}
if (!_routeMgr->isRouteActive()) {
SG_LOG(SG_INSTR, SG_WARN, "GPS:selectLegMode: no active route");
return;
}
SG_LOG(SG_INSTR, SG_INFO, "GPS switching to LEG mode");
_mode = "leg";
// depending on the situation, this will either get over-written
// in routeManagerSequenced or not; either way it does no harm to
// set it here.
_wp0_position = _indicated_pos;
// not really sequenced, but does all the work of updating wp0/1
routeManagerSequenced();
}
void GPS::nextResult()
{
if (!getScratchHasNext()) {
return;
}
clearScratch();
if (_searchIsRoute) {
setScratchFromRouteWaypoint(++_searchResultIndex);
} else {
++_searchResultIndex;
setScratchFromCachedSearchResult();
}
}
void GPS::previousResult()
{
if (_searchResultIndex <= 0) {
return;
}
clearScratch();
--_searchResultIndex;
if (_searchIsRoute) {
setScratchFromRouteWaypoint(_searchResultIndex);
} else {
setScratchFromCachedSearchResult();
}
}
void GPS::defineWaypoint()
{
if (!isScratchPositionValid()) {
SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: invalid lat/lon");
return;
}
string ident = _scratchNode->getStringValue("ident");
if (ident.size() < 2) {
SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: waypoint identifier must be at least two characters");
return;
}
// check for duplicate idents
FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
FGPositioned::List dups = FGPositioned::findAllWithIdent(ident, &f);
if (!dups.empty()) {
SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: non-unique waypoint identifier, ho-hum");
}
SG_LOG(SG_INSTR, SG_INFO, "GPS:defineWaypoint: creating waypoint:" << ident);
FGPositionedRef wpt = FGPositioned::createUserWaypoint(ident, _scratchPos);
_searchResults.clear();
_searchResults.push_back(wpt);
setScratchFromPositioned(wpt.get(), -1);
}
void GPS::insertWaypointAtIndex(int aIndex)
{
// note we do allow index = routeMgr->size(), that's an append
if ((aIndex < 0) || (aIndex > _routeMgr->numWaypts())) {
throw sg_range_exception("GPS::insertWaypointAtIndex: index out of bounds");
}
if (!isScratchPositionValid()) {
SG_LOG(SG_INSTR, SG_WARN, "GPS:insertWaypointAtIndex: invalid lat/lon");
return;
}
string ident = _scratchNode->getStringValue("ident");
WayptRef wpt = new BasicWaypt(_scratchPos, ident, NULL);
_routeMgr->flightPlan()->insertWayptAtIndex(wpt, aIndex);
}
void GPS::removeWaypointAtIndex(int aIndex)
{
if ((aIndex < 0) || (aIndex >= _routeMgr->numWaypts())) {
throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
}
_routeMgr->removeLegAtIndex(aIndex);
}
void GPS::tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
const char* lonStr, const char* latStr, const char* altStr)
{
tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg));
tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg));
if (altStr) {
tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, &SGGeod::setElevationFt));
}
}
void GPS::tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
const char* lonStr, const char* latStr, const char* altStr)
{
tie(aNode, lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, NULL));
tie(aNode, latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, NULL));
if (altStr) {
tie(aNode, altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, NULL));
}
}
// end of gps.cxx
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