1 // dclgps.hxx - a class to extend the operation of FG's current GPS
2 // code, and provide support for a KLN89-specific instrument. It
3 // is envisioned that eventually this file and class will be split
4 // up between current FG code and new KLN89-specific code and removed.
6 // Written by David Luff, started 2005.
8 // Copyright (C) 2005 - David C Luff: daveluff --AT-- ntlworld --D0T-- com
10 // This program is free software; you can redistribute it and/or
11 // modify it under the terms of the GNU General Public License as
12 // published by the Free Software Foundation; either version 2 of the
13 // License, or (at your option) any later version.
15 // This program is distributed in the hope that it will be useful, but
16 // WITHOUT ANY WARRANTY; without even the implied warranty of
17 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
18 // General Public License for more details.
20 // You should have received a copy of the GNU General Public License
21 // along with this program; if not, write to the Free Software
22 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
29 #include "render_area_2d.hxx"
35 #include <Navaids/navrecord.hxx>
36 #include <Navaids/navlist.hxx>
37 #include <Navaids/fixlist.hxx>
38 #include <Airports/simple.hxx>
39 #include <simgear/structure/subsystem_mgr.hxx>
45 enum GPSDistanceUnits {
46 GPS_DIST_UNITS_NM = 0,
55 enum GPSAltitudeUnits {
60 enum GPSPressureUnits {
61 GPS_PRES_UNITS_IN = 1,
66 // --------------------- Waypoint / Flightplan stuff -----------------------------
67 // This should be merged with other similar stuff in FG at some point.
69 // NOTE - ORDERING IS IMPORTANT HERE - it matches the Bendix-King page ordering!
76 GPS_WP_VIRT // Used for virtual waypoints, such as the start of DTO operation.
80 GPS_IAF, // Initial approach fix
81 GPS_IAP, // Waypoint on approach sequence that isn't any of the others.
82 GPS_FAF, // Final approach fix
83 GPS_MAP, // Missed approach point
84 GPS_MAHP, // Initial missed approach holding point.
85 GPS_HDR, // A virtual 'waypoint' to represent the approach header in the fpl page
86 GPS_FENCE, // A virtual 'waypoint' to represent the NO WPT SEQ fence.
87 GPS_APP_NONE // Not part of the approach sequence - the default.
90 ostream& operator << (ostream& os, GPSAppWpType type);
95 GPSWaypoint(const std::string& aIdent, float lat, float lon, GPSWpType aType);
97 static GPSWaypoint* createFromFix(const FGFix* aFix);
98 static GPSWaypoint* createFromNav(const FGNavRecord* aNav);
99 static GPSWaypoint* createFromAirport(const FGAirport* aApt);
102 string GetAprId(); // Returns the id with i, f, m or h added if appropriate. (Initial approach fix, final approach fix, etc)
104 float lat; // Radians
105 float lon; // Radians
107 GPSAppWpType appType; // only used for waypoints that are part of an approach sequence
110 typedef vector < GPSWaypoint* > gps_waypoint_array;
111 typedef gps_waypoint_array::iterator gps_waypoint_array_iterator;
112 typedef map < string, gps_waypoint_array > gps_waypoint_map;
113 typedef gps_waypoint_map::iterator gps_waypoint_map_iterator;
114 typedef gps_waypoint_map::const_iterator gps_waypoint_map_const_iterator;
116 class GPSFlightPlan {
118 vector<GPSWaypoint*> waypoints;
119 inline bool IsEmpty() { return(waypoints.size() == 0); }
122 // TODO - probably de-public the internals of the next 2 classes and add some methods!
123 // Instrument approach procedure base class
127 virtual ~FGIAP() = 0;
130 string _id; // The ID of the airport this approach is for
131 string _name; // The approach name, eg "VOR/DME OR GPS-B"
132 string _abbrev; // The abbreviation the GPS unit uses - eg "VOR/D" in this instance. Possibly GPS model specific.
133 string _rwyStr; // The string used to specify the rwy - eg "B" in this instance.
134 bool _precision; // True for precision approach, false for non-precision.
137 // Non-precision instrument approach procedure
138 class FGNPIAP : public FGIAP {
144 vector<GPSWaypoint*> _IAF; // The initial approach fix(es)
145 vector<GPSWaypoint*> _IAP; // The compulsory waypoints of the approach procedure (may duplicate one of the above).
146 // _IAP includes the FAF and MAF.
147 vector<GPSWaypoint*> _MAP; // The missed approach procedure (doesn't include the MAF).
150 typedef vector < FGIAP* > iap_list_type;
151 typedef map < string, iap_list_type > iap_map_type;
152 typedef iap_map_type::iterator iap_map_iterator;
154 // A class to encapsulate hr:min representation of time.
159 ClockTime(int hr, int min);
161 inline void set_hr(int hr) { _hr = hr; }
162 inline int hr() const { return(_hr); }
163 inline void set_min(int min) { _min = min; }
164 inline int min() const { return(_min); }
166 ClockTime operator+ (const ClockTime& t) {
167 int cumMin = _hr * 60 + _min + t.hr() * 60 + t.min();
168 ClockTime t2(cumMin / 60, cumMin % 60);
171 // Operator - has a max difference of 23:59,
172 // and assumes the day has wrapped if the second operand
173 // is larger that the first.
174 // eg. 2:59 - 3:00 = 23:59
175 ClockTime operator- (const ClockTime& t) {
176 int diff = (_hr * 60 + _min) - (t.hr() * 60 + t.min());
177 if(diff < 0) { diff += 24 * 60; }
178 ClockTime t2(diff / 60, diff % 60);
181 friend ostream& operator<< (ostream& out, const ClockTime& t);
188 // ------------------------------------------------------------------------------
195 GPSPage(DCLGPS* parent);
196 virtual ~GPSPage() = 0;
197 virtual void Update(double dt);
198 virtual void Knob1Left1();
199 virtual void Knob1Right1();
200 virtual void Knob2Left1();
201 virtual void Knob2Right1();
202 virtual void CrsrPressed();
203 virtual void EntPressed();
204 virtual void ClrPressed();
205 virtual void DtoPressed();
206 virtual void NrstPressed();
207 virtual void AltPressed();
208 virtual void OBSPressed();
209 virtual void MsgPressed();
211 // Sometimes a page needs to maintain state for some return paths,
212 // but change it for others. The CleanUp function can be used for
213 // changing state for non-ENT return paths in conjunction with
215 virtual void CleanUp();
217 // The LooseFocus function is called when a page or subpage looses focus
218 // and allows pages to clean up state that is maintained whilst focus is
219 // retained, but lost on return.
220 virtual void LooseFocus();
222 // Allows pages that display info for a given ID to have it set/get if they implement these functions.
223 virtual void SetId(const string& s);
224 virtual const string& GetId()=0;
226 inline int GetSubPage() { return(_subPage); }
228 inline int GetNSubPages() { return(_nSubPages); }
230 inline const string& GetName() { return(_name); }
234 string _name; // eg. "APT", "NAV" etc
236 // _subpage is zero based
237 int _subPage; // The subpage gets remembered when other pages are displayed
238 string GPSitoa(int n);
241 /*-----------------------------------------------------------------------*/
243 typedef vector<GPSPage*> gps_page_list_type;
244 typedef gps_page_list_type::iterator gps_page_list_itr;
246 // TODO - merge generic GPS functions instead and split out KLN specific stuff.
247 class DCLGPS : public SGSubsystem {
249 friend class GPSPage;
252 DCLGPS(RenderArea2D* instrument);
253 virtual ~DCLGPS() = 0;
259 virtual void unbind();
260 virtual void update(double dt);
262 // Render string s in display field field at position x, y
263 // WHERE POSITION IS IN CHARACTER UNITS!
265 virtual void DrawText(const string& s, int field, int px, int py, bool bold = false);
267 // Render a char at a given position as above
268 virtual void DrawChar(char c, int field, int px, int py, bool bold = false);
270 virtual void Knob1Right1();
271 virtual void Knob1Left1();
272 virtual void Knob2Right1();
273 virtual void Knob2Left1();
274 virtual void CrsrPressed();
275 virtual void EntPressed();
276 virtual void ClrPressed();
277 virtual void DtoPressed();
278 virtual void NrstPressed();
279 virtual void AltPressed();
280 virtual void OBSPressed();
281 virtual void MsgPressed();
283 // Set the number of fields
284 inline void SetNumFields(int n) { _nFields = (n > _maxFields ? _maxFields : (n < 1 ? 1 : n)); }
287 // m if true, ft if false
288 inline void SetAltUnitsSI(bool b) { _altUnits = (b ? GPS_ALT_UNITS_M : GPS_ALT_UNITS_FT); }
289 // Returns true if alt units are SI (m), false if ft
290 inline bool GetAltUnitsSI() { return(_altUnits == GPS_ALT_UNITS_M ? true : false); }
291 // km and k/h if true, nm and kt if false
292 inline void SetDistVelUnitsSI(bool b) { _distUnits = (b ? GPS_DIST_UNITS_KM : GPS_DIST_UNITS_NM); _velUnits = (b ? GPS_VEL_UNITS_KPH : GPS_VEL_UNITS_KT); }
293 // Returns true if dist/vel units are SI
294 inline bool GetDistVelUnitsSI() { return(_distUnits == GPS_DIST_UNITS_KM && _velUnits == GPS_VEL_UNITS_KPH ? true : false); }
295 // Set baro units - 1 = in, 2 = mB, 3 = hP Wrapping if for the convienience of the GPS setter.
296 void SetBaroUnits(int n, bool wrap = false);
297 // Get baro units: 1 = in, 2 = mB, 3 = hP
298 inline int GetBaroUnits() { return((int)_baroUnits); }
300 // It is expected that specific GPS units will override these functions.
301 // Increase the CDI full-scale deflection (ie. increase the nm per dot) one (GPS unit dependent) increment. Wraps if necessary (GPS unit dependent).
302 virtual void CDIFSDIncrease();
303 // Ditto for decrease the distance per dot
304 virtual void CDIFSDDecrease();
307 ////inline void SetOverlays(Overlays* overlays) { _overlays = overlays; }
309 virtual void CreateDefaultFlightPlans();
311 void SetOBSFromWaypoint();
313 inline GPSWaypoint* GetActiveWaypoint() { return &_activeWaypoint; }
314 // Get the (zero-based) position of the active waypoint in the active flightplan
315 // Returns -1 if no active waypoint.
316 int GetActiveWaypointIndex();
317 // Ditto for an arbitrary waypoint id
318 int GetWaypointIndex(const string& id);
321 inline float GetDistToActiveWaypoint() { return _dist2Act; }
322 // Returns degrees (magnetic)
323 float GetHeadingToActiveWaypoint();
324 // Returns degrees (magnetic)
325 float GetHeadingFromActiveWaypoint();
326 // Get the time to the active waypoint in seconds.
327 // Returns -1 if groundspeed < 30 kts
328 double GetTimeToActiveWaypoint();
329 // Get the time to the final waypoint in seconds.
330 // Returns -1 if groundspeed < 30 kts
332 // Get the time to a given waypoint (spec'd by ID) in seconds.
333 // returns -1 if groundspeed is less than 30kts.
334 // If the waypoint is an unreached part of the active flight plan the time will be via each leg.
335 // otherwise it will be a direct-to time.
336 double GetTimeToWaypoint(const string& id);
338 // Return true if waypoint alerting is occuring
339 inline bool GetWaypointAlert() const { return(_waypointAlert); }
340 // Return true if in OBS mode
341 inline bool GetOBSMode() const { return(_obsMode); }
342 // Return true if in Leg mode
343 inline bool GetLegMode() const { return(!_obsMode); }
345 // Clear a flightplan
346 void ClearFlightPlan(int n);
347 void ClearFlightPlan(GPSFlightPlan* fp);
349 // Returns true if an approach is loaded/armed/active in the active flight plan
350 inline bool ApproachLoaded() const { return(_approachLoaded); }
351 inline bool GetApproachArm() const { return(_approachArm); }
352 inline bool GetApproachActive() const { return(_approachActive); }
353 double GetCDIDeflection() const;
354 inline bool GetToFlag() const { return(_headingBugTo); }
356 // Initiate Direct To operation to the supplied ID.
357 void DtoInitiate(const string& id);
358 // Cancel Direct To operation
362 // Maximum number of display fields for this device
364 // Current number of on-screen fields
370 // Lower (y) border per field
371 int _yFieldBorder[4];
372 // Left (x) border per field
373 int _xFieldBorder[4];
374 // Field start in x dir (border is part of field since it is the normal char border - sometimes map mode etc draws in it)
376 // Field start in y dir (for completeness - KLN89 only has vertical divider.
379 // The number of pages on the cyclic knob control
380 unsigned int _nPages;
381 // The current page we're on (Not sure how this ties in with extra pages such as direct or nearest).
382 unsigned int _curPage;
385 RenderArea2D* _instrument;
388 gps_page_list_type _pages;
390 // The currently active page
391 GPSPage* _activePage;
392 // And a facility to save the immediately preceeding active page
393 GPSPage* _lastActivePage;
396 GPSSpeedUnits _velUnits;
397 GPSDistanceUnits _distUnits;
398 GPSPressureUnits _baroUnits;
399 GPSAltitudeUnits _altUnits;
401 // CDI full-scale deflection, specified either as an index into a vector of values (standard values) or as a double precision float (intermediate values).
402 // This will influence how an externally driven CDI will display as well as the NAV1 page.
403 // Hence the variables are located here, not in the nav page class.
404 vector<float> _cdiScales;
405 unsigned int _currentCdiScaleIndex;
406 bool _cdiScaleTransition; // Set true when the floating CDI value is used during transitions
407 double _currentCdiScale; // The floating value to use.
408 unsigned int _targetCdiScaleIndex; // The target indexed value to attain during a transition.
409 unsigned int _sourceCdiScaleIndex; // The source indexed value during a transition - so we know which way we're heading!
410 // Timers to handle the transitions - not sure if we need these.
411 double _apprArmTimer;
412 double _apprActvTimer;
413 double _cdiTransitionTime; // Time for transition to occur in - normally 30sec but may be quicker if time to FAF < 30sec?
416 // Data and lookup functions
420 // Find first of any type of waypoint by id. (TODO - Possibly we should return multiple waypoints here).
421 GPSWaypoint* FindFirstById(const string& id) const;
422 GPSWaypoint* FindFirstByExactId(const string& id) const;
424 FGNavRecord* FindFirstVorById(const string& id, bool &multi, bool exact = false);
425 FGNavRecord* FindFirstNDBById(const string& id, bool &multi, bool exact = false);
426 const FGAirport* FindFirstAptById(const string& id, bool &multi, bool exact = false);
427 const FGFix* FindFirstIntById(const string& id, bool &multi, bool exact = false);
428 // Find the closest VOR to a position in RADIANS.
429 FGNavRecord* FindClosestVor(double lat_rad, double lon_rad);
431 // Position, orientation and velocity.
432 // These should be read from FG's built-in GPS logic if possible.
433 // Use the property node pointers below to do this.
434 SGPropertyNode_ptr _lon_node;
435 SGPropertyNode_ptr _lat_node;
436 SGPropertyNode_ptr _alt_node;
437 SGPropertyNode_ptr _grnd_speed_node;
438 SGPropertyNode_ptr _true_track_node;
439 SGPropertyNode_ptr _mag_track_node;
440 // Present position. (Radians)
442 // Present altitude (ft). (Yuk! but it saves converting ft->m->ft every update).
444 // Reported position as measured by GPS. For now this is the same
445 // as present position, but in the future we might want to model
446 // GPS lat and lon errors.
447 // Note - we can depriciate _gpsLat and _gpsLon if we implement error handling in FG
448 // gps code and not our own.
449 double _gpsLat, _gpsLon; //(Radians)
450 // Hack - it seems that the GPS gets initialised before FG's initial position is properly set.
451 // By checking for abnormal slew in the position we can force a re-initialisation of active flight
452 // plan leg and anything else that might be affected.
453 // TODO - sort FlightGear's initialisation order properly!!!
454 double _checkLat, _checkLon; // (Radians)
455 double _groundSpeed_ms; // filtered groundspeed (m/s)
456 double _groundSpeed_kts; // ditto in knots
457 double _track; // filtered true track (degrees)
458 double _magTrackDeg; // magnetic track in degrees calculated from true track above
460 // _navFlagged is set true when GPS navigation is either not possible or not logical.
461 // This includes not receiving adequate signals, and not having an active flightplan entered.
464 // Positional functions copied from ATCutils that might get replaced
465 // INPUT in RADIANS, returns DEGREES!
467 double GetMagHeadingFromTo(double latA, double lonA, double latB, double lonB);
469 //double GetHeadingFromTo(double latA, double lonA, double latB, double lonB);
471 // Given two positions (lat & lon in RADIANS), get the HORIZONTAL separation (in meters)
472 //double GetHorizontalSeparation(double lat1, double lon1, double lat2, double lon2);
474 // Proper great circle positional functions from The Aviation Formulary
475 // Returns distance in Nm, input in RADIANS.
476 double GetGreatCircleDistance(double lat1, double lon1, double lat2, double lon2) const;
478 // Input in RADIANS, output in DEGREES.
480 double GetGreatCircleCourse(double lat1, double lon1, double lat2, double lon2) const;
482 // Return a position on a radial from wp1 given distance d (nm) and magnetic heading h (degrees)
483 // Note that d should be less that 1/4 Earth diameter!
484 GPSWaypoint GetPositionOnMagRadial(const GPSWaypoint& wp1, double d, double h);
486 // Return a position on a radial from wp1 given distance d (nm) and TRUE heading h (degrees)
487 // Note that d should be less that 1/4 Earth diameter!
488 GPSWaypoint GetPositionOnRadial(const GPSWaypoint& wp1, double d, double h);
490 // Calculate the current cross-track deviation in nm.
491 // Returns zero if a sensible value cannot be calculated.
492 double CalcCrossTrackDeviation() const;
494 // Calculate the cross-track deviation between 2 arbitrary waypoints in nm.
495 // Returns zero if a sensible value cannot be calculated.
496 double CalcCrossTrackDeviation(const GPSWaypoint& wp1, const GPSWaypoint& wp2) const;
499 // GPS can have up to _maxFlightPlans flightplans stored, PLUS an active FP which may or my not be one of the stored ones.
500 // This is from KLN89, but is probably not far off the mark for most if not all GPS.
501 vector<GPSFlightPlan*> _flightPlans;
502 unsigned int _maxFlightPlans;
503 GPSFlightPlan* _activeFP;
505 // Modes of operation.
506 // This is currently somewhat Bendix-King specific, but probably applies fundamentally to other units as well
507 // Mode defaults to leg, but is OBS if _obsMode is true.
509 // _dto is set true for DTO operation
511 // In leg mode, we need to know if we are displaying a from and to waypoint, or just the to waypoint (eg. when OBS mode is cancelled).
513 // In OBS mode we need to know the set OBS heading
516 // Operational variables
517 GPSWaypoint _activeWaypoint;
518 GPSWaypoint _fromWaypoint;
520 float _crosstrackDist; // UNITS ??????????
521 double _eta; // ETA in SECONDS to active waypoint.
522 // Desired track for active leg, true and magnetic, in degrees
523 double _dtkTrue, _dtkMag;
524 bool _headingBugTo; // Set true when the heading bug is TO, false when FROM.
525 bool _waypointAlert; // Set true when waypoint alerting is happening. (This is a variable NOT a user-setting).
526 bool _departed; // Set when groundspeed first exceeds 30kts.
527 string _departureTimeString; // Ditto.
528 double _elapsedTime; // Elapsed time in seconds since departure
529 ClockTime _powerOnTime; // Time (hr:min) of unit power-up.
530 bool _powerOnTimerSet; // Indicates that we have set the above following power-up.
531 void SetPowerOnTimer();
533 void ResetPowerOnTimer();
534 // Set the alarm to go off at a given time.
535 inline void SetAlarm(int hr, int min) {
536 _alarmTime.set_hr(hr);
537 _alarmTime.set_min(min);
541 ClockTime _alarmTime;
544 // Configuration that affects flightplan operation
545 bool _turnAnticipationEnabled;
547 // Configuration that affects general operation
548 bool _suaAlertEnabled; // Alert user to potential SUA entry
549 bool _altAlertEnabled; // Alert user to min safe alt violation
551 // Magvar stuff. Might get some of this stuff (such as time) from FG in future.
554 list<string> _messageStack;
556 virtual void CreateFlightPlan(GPSFlightPlan* fp, vector<string> ids, vector<GPSWpType> wps);
558 // Orientate the GPS unit to a flightplan - ie. figure out from current position
559 // and possibly orientation which leg of the FP we are on.
560 virtual void OrientateToFlightPlan(GPSFlightPlan* fp);
562 // Ditto for active fp. Probably all we need really!
563 virtual void OrientateToActiveFlightPlan();
565 int _cleanUpPage; // -1 => no cleanup required.
568 iap_map_type _np_iap; // Non-precision approaches
569 iap_map_type _pr_iap; // Precision approaches
570 bool _approachLoaded; // Set true when an approach is loaded in the active flightplan
571 bool _approachArm; // Set true when in approach-arm mode
572 bool _approachReallyArmed; // Apparently, approach-arm mode can be set from an external GPS-APR switch outside 30nm from airport,
573 // but the CDI scale change doesn't happen until 30nm from airport. Bizarre that it can be armed without
574 // the scale change, but it's in the manual...
575 bool _approachActive; // Set true when in approach-active mode
576 GPSFlightPlan* _approachFP; // Current approach - not necessarily loaded.
577 string _approachID; // ID of the airport we have an approach loaded for - bit of a hack that can hopefully be removed in future.
578 // More hackery since we aren't actually storing an approach class... Doh!
579 string _approachAbbrev;
580 string _approachRwyStr;
583 #endif // _DCLGPS_HXX