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 string GetAprId(); // Returns the id with i, f, m or h added if appropriate. (Initial approach fix, final approach fix, etc)
100 GPSAppWpType appType; // only used for waypoints that are part of an approach sequence
103 typedef vector < GPSWaypoint* > gps_waypoint_array;
104 typedef gps_waypoint_array::iterator gps_waypoint_array_iterator;
105 typedef map < string, gps_waypoint_array > gps_waypoint_map;
106 typedef gps_waypoint_map::iterator gps_waypoint_map_iterator;
107 typedef gps_waypoint_map::const_iterator gps_waypoint_map_const_iterator;
109 class GPSFlightPlan {
111 vector<GPSWaypoint*> waypoints;
112 inline bool IsEmpty() { return(waypoints.size() == 0); }
115 // TODO - probably de-public the internals of the next 2 classes and add some methods!
116 // Instrument approach procedure base class
120 virtual ~FGIAP() = 0;
123 string _id; // The ID of the airport this approach is for
124 string _name; // The approach name, eg "VOR/DME OR GPS-B"
125 string _abbrev; // The abbreviation the GPS unit uses - eg "VOR/D" in this instance. Possibly GPS model specific.
126 string _rwyStr; // The string used to specify the rwy - eg "B" in this instance.
127 bool _precision; // True for precision approach, false for non-precision.
130 // Non-precision instrument approach procedure
131 class FGNPIAP : public FGIAP {
137 vector<GPSWaypoint*> _IAF; // The initial approach fix(es)
138 vector<GPSWaypoint*> _IAP; // The compulsory waypoints of the approach procedure (may duplicate one of the above).
139 // _IAP includes the FAF and MAF.
140 vector<GPSWaypoint*> _MAP; // The missed approach procedure (doesn't include the MAF).
143 typedef vector < FGIAP* > iap_list_type;
144 typedef map < string, iap_list_type > iap_map_type;
145 typedef iap_map_type::iterator iap_map_iterator;
147 // A class to encapsulate hr:min representation of time.
152 ClockTime(int hr, int min);
154 inline void set_hr(int hr) { _hr = hr; }
155 inline int hr() const { return(_hr); }
156 inline void set_min(int min) { _min = min; }
157 inline int min() const { return(_min); }
159 ClockTime operator+ (const ClockTime& t) {
160 int cumMin = _hr * 60 + _min + t.hr() * 60 + t.min();
161 ClockTime t2(cumMin / 60, cumMin % 60);
164 // Operator - has a max difference of 23:59,
165 // and assumes the day has wrapped if the second operand
166 // is larger that the first.
167 // eg. 2:59 - 3:00 = 23:59
168 ClockTime operator- (const ClockTime& t) {
169 int diff = (_hr * 60 + _min) - (t.hr() * 60 + t.min());
170 if(diff < 0) { diff += 24 * 60; }
171 ClockTime t2(diff / 60, diff % 60);
174 friend ostream& operator<< (ostream& out, const ClockTime& t);
181 // ------------------------------------------------------------------------------
188 GPSPage(DCLGPS* parent);
189 virtual ~GPSPage() = 0;
190 virtual void Update(double dt);
191 virtual void Knob1Left1();
192 virtual void Knob1Right1();
193 virtual void Knob2Left1();
194 virtual void Knob2Right1();
195 virtual void CrsrPressed();
196 virtual void EntPressed();
197 virtual void ClrPressed();
198 virtual void DtoPressed();
199 virtual void NrstPressed();
200 virtual void AltPressed();
201 virtual void OBSPressed();
202 virtual void MsgPressed();
204 // Sometimes a page needs to maintain state for some return paths,
205 // but change it for others. The CleanUp function can be used for
206 // changing state for non-ENT return paths in conjunction with
208 virtual void CleanUp();
210 // The LooseFocus function is called when a page or subpage looses focus
211 // and allows pages to clean up state that is maintained whilst focus is
212 // retained, but lost on return.
213 virtual void LooseFocus();
215 // Allows pages that display info for a given ID to have it set/get if they implement these functions.
216 virtual void SetId(const string& s);
217 virtual const string& GetId()=0;
219 inline int GetSubPage() { return(_subPage); }
221 inline int GetNSubPages() { return(_nSubPages); }
223 inline const string& GetName() { return(_name); }
227 string _name; // eg. "APT", "NAV" etc
229 // _subpage is zero based
230 int _subPage; // The subpage gets remembered when other pages are displayed
231 string GPSitoa(int n);
234 /*-----------------------------------------------------------------------*/
236 typedef vector<GPSPage*> gps_page_list_type;
237 typedef gps_page_list_type::iterator gps_page_list_itr;
239 // TODO - merge generic GPS functions instead and split out KLN specific stuff.
240 class DCLGPS : public SGSubsystem {
242 friend class GPSPage;
245 DCLGPS(RenderArea2D* instrument);
246 virtual ~DCLGPS() = 0;
252 virtual void unbind();
253 virtual void update(double dt);
255 // Render string s in display field field at position x, y
256 // WHERE POSITION IS IN CHARACTER UNITS!
258 virtual void DrawText(const string& s, int field, int px, int py, bool bold = false);
260 // Render a char at a given position as above
261 virtual void DrawChar(char c, int field, int px, int py, bool bold = false);
263 virtual void Knob1Right1();
264 virtual void Knob1Left1();
265 virtual void Knob2Right1();
266 virtual void Knob2Left1();
267 virtual void CrsrPressed();
268 virtual void EntPressed();
269 virtual void ClrPressed();
270 virtual void DtoPressed();
271 virtual void NrstPressed();
272 virtual void AltPressed();
273 virtual void OBSPressed();
274 virtual void MsgPressed();
276 // Set the number of fields
277 inline void SetNumFields(int n) { _nFields = (n > _maxFields ? _maxFields : (n < 1 ? 1 : n)); }
280 // m if true, ft if false
281 inline void SetAltUnitsSI(bool b) { _altUnits = (b ? GPS_ALT_UNITS_M : GPS_ALT_UNITS_FT); }
282 // Returns true if alt units are SI (m), false if ft
283 inline bool GetAltUnitsSI() { return(_altUnits == GPS_ALT_UNITS_M ? true : false); }
284 // km and k/h if true, nm and kt if false
285 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); }
286 // Returns true if dist/vel units are SI
287 inline bool GetDistVelUnitsSI() { return(_distUnits == GPS_DIST_UNITS_KM && _velUnits == GPS_VEL_UNITS_KPH ? true : false); }
288 // Set baro units - 1 = in, 2 = mB, 3 = hP Wrapping if for the convienience of the GPS setter.
289 void SetBaroUnits(int n, bool wrap = false);
290 // Get baro units: 1 = in, 2 = mB, 3 = hP
291 inline int GetBaroUnits() { return((int)_baroUnits); }
293 // It is expected that specific GPS units will override these functions.
294 // Increase the CDI full-scale deflection (ie. increase the nm per dot) one (GPS unit dependent) increment. Wraps if necessary (GPS unit dependent).
295 virtual void CDIFSDIncrease();
296 // Ditto for decrease the distance per dot
297 virtual void CDIFSDDecrease();
300 ////inline void SetOverlays(Overlays* overlays) { _overlays = overlays; }
302 virtual void CreateDefaultFlightPlans();
304 void SetOBSFromWaypoint();
306 inline GPSWaypoint* GetActiveWaypoint() { return &_activeWaypoint; }
307 // Get the (zero-based) position of the active waypoint in the active flightplan
308 // Returns -1 if no active waypoint.
309 int GetActiveWaypointIndex();
310 // Ditto for an arbitrary waypoint id
311 int GetWaypointIndex(const string& id);
314 inline float GetDistToActiveWaypoint() { return _dist2Act; }
315 // Returns degrees (magnetic)
316 float GetHeadingToActiveWaypoint();
317 // Returns degrees (magnetic)
318 float GetHeadingFromActiveWaypoint();
319 // Get the time to the active waypoint in seconds.
320 // Returns -1 if groundspeed < 30 kts
321 double GetTimeToActiveWaypoint();
322 // Get the time to the final waypoint in seconds.
323 // Returns -1 if groundspeed < 30 kts
325 // Get the time to a given waypoint (spec'd by ID) in seconds.
326 // returns -1 if groundspeed is less than 30kts.
327 // If the waypoint is an unreached part of the active flight plan the time will be via each leg.
328 // otherwise it will be a direct-to time.
329 double GetTimeToWaypoint(const string& id);
331 // Return true if waypoint alerting is occuring
332 inline bool GetWaypointAlert() const { return(_waypointAlert); }
333 // Return true if in OBS mode
334 inline bool GetOBSMode() const { return(_obsMode); }
335 // Return true if in Leg mode
336 inline bool GetLegMode() const { return(!_obsMode); }
338 // Clear a flightplan
339 void ClearFlightPlan(int n);
340 void ClearFlightPlan(GPSFlightPlan* fp);
342 // Returns true if an approach is loaded/armed/active in the active flight plan
343 inline bool ApproachLoaded() const { return(_approachLoaded); }
344 inline bool GetApproachArm() const { return(_approachArm); }
345 inline bool GetApproachActive() const { return(_approachActive); }
346 double GetCDIDeflection() const;
347 inline bool GetToFlag() const { return(_headingBugTo); }
349 // Initiate Direct To operation to the supplied ID.
350 void DtoInitiate(const string& id);
351 // Cancel Direct To operation
355 // Maximum number of display fields for this device
357 // Current number of on-screen fields
363 // Lower (y) border per field
364 int _yFieldBorder[4];
365 // Left (x) border per field
366 int _xFieldBorder[4];
367 // Field start in x dir (border is part of field since it is the normal char border - sometimes map mode etc draws in it)
369 // Field start in y dir (for completeness - KLN89 only has vertical divider.
372 // The number of pages on the cyclic knob control
373 unsigned int _nPages;
374 // The current page we're on (Not sure how this ties in with extra pages such as direct or nearest).
375 unsigned int _curPage;
378 RenderArea2D* _instrument;
381 gps_page_list_type _pages;
383 // The currently active page
384 GPSPage* _activePage;
385 // And a facility to save the immediately preceeding active page
386 GPSPage* _lastActivePage;
389 GPSSpeedUnits _velUnits;
390 GPSDistanceUnits _distUnits;
391 GPSPressureUnits _baroUnits;
392 GPSAltitudeUnits _altUnits;
394 // CDI full-scale deflection, specified either as an index into a vector of values (standard values) or as a double precision float (intermediate values).
395 // This will influence how an externally driven CDI will display as well as the NAV1 page.
396 // Hence the variables are located here, not in the nav page class.
397 vector<float> _cdiScales;
398 unsigned int _currentCdiScaleIndex;
399 bool _cdiScaleTransition; // Set true when the floating CDI value is used during transitions
400 double _currentCdiScale; // The floating value to use.
401 unsigned int _targetCdiScaleIndex; // The target indexed value to attain during a transition.
402 unsigned int _sourceCdiScaleIndex; // The source indexed value during a transition - so we know which way we're heading!
403 // Timers to handle the transitions - not sure if we need these.
404 double _apprArmTimer;
405 double _apprActvTimer;
406 double _cdiTransitionTime; // Time for transition to occur in - normally 30sec but may be quicker if time to FAF < 30sec?
409 // Data and lookup functions
410 // All waypoints mapped by id.
411 gps_waypoint_map _waypoints;
413 // Worker function for the below.
414 const GPSWaypoint* ActualFindFirstById(const string& id, bool exact = false);
416 // Find first of any type of waypoint by id. (TODO - Possibly we should return multiple waypoints here).
417 const GPSWaypoint* FindFirstById(const string& id, bool &multi, bool exact = false);
418 FGNavRecord* FindFirstVorById(const string& id, bool &multi, bool exact = false);
419 FGNavRecord* FindFirstNDBById(const string& id, bool &multi, bool exact = false);
420 const FGAirport* FindFirstAptById(const string& id, bool &multi, bool exact = false);
421 const FGFix* FindFirstIntById(const string& id, bool &multi, bool exact = false);
422 // Find the closest VOR to a position in RADIANS.
423 FGNavRecord* FindClosestVor(double lat_rad, double lon_rad);
425 // Position, orientation and velocity.
426 // These should be read from FG's built-in GPS logic if possible.
427 // Use the property node pointers below to do this.
428 SGPropertyNode_ptr _lon_node;
429 SGPropertyNode_ptr _lat_node;
430 SGPropertyNode_ptr _alt_node;
431 SGPropertyNode_ptr _grnd_speed_node;
432 SGPropertyNode_ptr _true_track_node;
433 SGPropertyNode_ptr _mag_track_node;
434 // Present position. (Radians)
436 // Present altitude (ft). (Yuk! but it saves converting ft->m->ft every update).
438 // Reported position as measured by GPS. For now this is the same
439 // as present position, but in the future we might want to model
440 // GPS lat and lon errors.
441 // Note - we can depriciate _gpsLat and _gpsLon if we implement error handling in FG
442 // gps code and not our own.
443 double _gpsLat, _gpsLon; //(Radians)
444 // Hack - it seems that the GPS gets initialised before FG's initial position is properly set.
445 // By checking for abnormal slew in the position we can force a re-initialisation of active flight
446 // plan leg and anything else that might be affected.
447 // TODO - sort FlightGear's initialisation order properly!!!
448 double _checkLat, _checkLon; // (Radians)
449 double _groundSpeed_ms; // filtered groundspeed (m/s)
450 double _groundSpeed_kts; // ditto in knots
451 double _track; // filtered true track (degrees)
452 double _magTrackDeg; // magnetic track in degrees calculated from true track above
454 // _navFlagged is set true when GPS navigation is either not possible or not logical.
455 // This includes not receiving adequate signals, and not having an active flightplan entered.
458 // Positional functions copied from ATCutils that might get replaced
459 // INPUT in RADIANS, returns DEGREES!
461 double GetMagHeadingFromTo(double latA, double lonA, double latB, double lonB);
463 //double GetHeadingFromTo(double latA, double lonA, double latB, double lonB);
465 // Given two positions (lat & lon in RADIANS), get the HORIZONTAL separation (in meters)
466 //double GetHorizontalSeparation(double lat1, double lon1, double lat2, double lon2);
468 // Proper great circle positional functions from The Aviation Formulary
469 // Returns distance in Nm, input in RADIANS.
470 double GetGreatCircleDistance(double lat1, double lon1, double lat2, double lon2) const;
472 // Input in RADIANS, output in DEGREES.
474 double GetGreatCircleCourse(double lat1, double lon1, double lat2, double lon2) const;
476 // Return a position on a radial from wp1 given distance d (nm) and magnetic heading h (degrees)
477 // Note that d should be less that 1/4 Earth diameter!
478 GPSWaypoint GetPositionOnMagRadial(const GPSWaypoint& wp1, double d, double h);
480 // Return a position on a radial from wp1 given distance d (nm) and TRUE heading h (degrees)
481 // Note that d should be less that 1/4 Earth diameter!
482 GPSWaypoint GetPositionOnRadial(const GPSWaypoint& wp1, double d, double h);
484 // Calculate the current cross-track deviation in nm.
485 // Returns zero if a sensible value cannot be calculated.
486 double CalcCrossTrackDeviation() const;
488 // Calculate the cross-track deviation between 2 arbitrary waypoints in nm.
489 // Returns zero if a sensible value cannot be calculated.
490 double CalcCrossTrackDeviation(const GPSWaypoint& wp1, const GPSWaypoint& wp2) const;
493 // GPS can have up to _maxFlightPlans flightplans stored, PLUS an active FP which may or my not be one of the stored ones.
494 // This is from KLN89, but is probably not far off the mark for most if not all GPS.
495 vector<GPSFlightPlan*> _flightPlans;
496 unsigned int _maxFlightPlans;
497 GPSFlightPlan* _activeFP;
499 // Modes of operation.
500 // This is currently somewhat Bendix-King specific, but probably applies fundamentally to other units as well
501 // Mode defaults to leg, but is OBS if _obsMode is true.
503 // _dto is set true for DTO operation
505 // 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).
507 // In OBS mode we need to know the set OBS heading
510 // Operational variables
511 GPSWaypoint _activeWaypoint;
512 GPSWaypoint _fromWaypoint;
514 float _crosstrackDist; // UNITS ??????????
515 double _eta; // ETA in SECONDS to active waypoint.
516 // Desired track for active leg, true and magnetic, in degrees
517 double _dtkTrue, _dtkMag;
518 bool _headingBugTo; // Set true when the heading bug is TO, false when FROM.
519 bool _waypointAlert; // Set true when waypoint alerting is happening. (This is a variable NOT a user-setting).
520 bool _departed; // Set when groundspeed first exceeds 30kts.
521 string _departureTimeString; // Ditto.
522 double _elapsedTime; // Elapsed time in seconds since departure
523 ClockTime _powerOnTime; // Time (hr:min) of unit power-up.
524 bool _powerOnTimerSet; // Indicates that we have set the above following power-up.
525 void SetPowerOnTimer();
527 void ResetPowerOnTimer();
528 // Set the alarm to go off at a given time.
529 inline void SetAlarm(int hr, int min) {
530 _alarmTime.set_hr(hr);
531 _alarmTime.set_min(min);
535 ClockTime _alarmTime;
538 // Configuration that affects flightplan operation
539 bool _turnAnticipationEnabled;
541 // Configuration that affects general operation
542 bool _suaAlertEnabled; // Alert user to potential SUA entry
543 bool _altAlertEnabled; // Alert user to min safe alt violation
545 // Magvar stuff. Might get some of this stuff (such as time) from FG in future.
548 list<string> _messageStack;
550 virtual void CreateFlightPlan(GPSFlightPlan* fp, vector<string> ids, vector<GPSWpType> wps);
552 // Orientate the GPS unit to a flightplan - ie. figure out from current position
553 // and possibly orientation which leg of the FP we are on.
554 virtual void OrientateToFlightPlan(GPSFlightPlan* fp);
556 // Ditto for active fp. Probably all we need really!
557 virtual void OrientateToActiveFlightPlan();
559 int _cleanUpPage; // -1 => no cleanup required.
562 iap_map_type _np_iap; // Non-precision approaches
563 iap_map_type _pr_iap; // Precision approaches
564 bool _approachLoaded; // Set true when an approach is loaded in the active flightplan
565 bool _approachArm; // Set true when in approach-arm mode
566 bool _approachReallyArmed; // Apparently, approach-arm mode can be set from an external GPS-APR switch outside 30nm from airport,
567 // but the CDI scale change doesn't happen until 30nm from airport. Bizarre that it can be armed without
568 // the scale change, but it's in the manual...
569 bool _approachActive; // Set true when in approach-active mode
570 GPSFlightPlan* _approachFP; // Current approach - not necessarily loaded.
571 string _approachID; // ID of the airport we have an approach loaded for - bit of a hack that can hopefully be removed in future.
572 // More hackery since we aren't actually storing an approach class... Doh!
573 string _approachAbbrev;
574 string _approachRwyStr;
577 #endif // _DCLGPS_HXX