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 - david.luff@nottingham.ac.uk
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>
43 enum GPSDistanceUnits {
44 GPS_DIST_UNITS_NM = 0,
53 enum GPSAltitudeUnits {
58 enum GPSPressureUnits {
59 GPS_PRES_UNITS_IN = 1,
64 // --------------------- Waypoint / Flightplan stuff -----------------------------
65 // This should be merged with other similar stuff in FG at some point.
67 // NOTE - ORDERING IS IMPORTANT HERE - it matches the Bendix-King page ordering!
74 GPS_WP_VIRT // Used for virtual waypoints, such as the start of DTO operation.
78 GPS_IAF, // Initial approach fix
79 GPS_IAP, // Waypoint on approach sequence that isn't any of the others.
80 GPS_FAF, // Final approach fix
81 GPS_MAP, // Missed approach point
82 GPS_MAHP, // Initial missed approach holding point.
83 GPS_HDR, // A virtual 'waypoint' to represent the approach header in the fpl page
84 GPS_FENCE, // A virtual 'waypoint' to represent the NO WPT SEQ fence.
85 GPS_APP_NONE // Not part of the approach sequence - the default.
88 ostream& operator << (ostream& os, GPSAppWpType type);
93 string GetAprId(); // Returns the id with i, f, m or h added if appropriate. (Initial approach fix, final approach fix, etc)
98 GPSAppWpType appType; // only used for waypoints that are part of an approach sequence
101 typedef vector < GPSWaypoint* > gps_waypoint_array;
102 typedef gps_waypoint_array::iterator gps_waypoint_array_iterator;
103 typedef map < string, gps_waypoint_array > gps_waypoint_map;
104 typedef gps_waypoint_map::iterator gps_waypoint_map_iterator;
105 typedef gps_waypoint_map::const_iterator gps_waypoint_map_const_iterator;
107 class GPSFlightPlan {
109 vector<GPSWaypoint*> waypoints;
110 inline bool IsEmpty() { return(waypoints.size() == 0); }
113 // TODO - probably de-public the internals of the next 2 classes and add some methods!
114 // Instrument approach procedure base class
118 virtual ~FGIAP() = 0;
121 string _id; // The ID of the airport this approach is for
122 string _name; // The approach name, eg "VOR/DME OR GPS-B"
123 string _abbrev; // The abbreviation the GPS unit uses - eg "VOR/D" in this instance. Possibly GPS model specific.
124 string _rwyStr; // The string used to specify the rwy - eg "B" in this instance.
125 bool _precision; // True for precision approach, false for non-precision.
128 // Non-precision instrument approach procedure
129 class FGNPIAP : public FGIAP {
135 vector<GPSWaypoint*> _IAF; // The initial approach fix(es)
136 vector<GPSWaypoint*> _IAP; // The compulsory waypoints of the approach procedure (may duplicate one of the above).
137 // _IAP includes the FAF and MAF.
138 vector<GPSWaypoint*> _MAP; // The missed approach procedure (doesn't include the MAF).
141 typedef vector < FGIAP* > iap_list_type;
142 typedef map < string, iap_list_type > iap_map_type;
143 typedef iap_map_type::iterator iap_map_iterator;
145 // ------------------------------------------------------------------------------
152 GPSPage(DCLGPS* parent);
153 virtual ~GPSPage() = 0;
154 virtual void Update(double dt);
155 virtual void Knob1Left1();
156 virtual void Knob1Right1();
157 virtual void Knob2Left1();
158 virtual void Knob2Right1();
159 virtual void CrsrPressed();
160 virtual void EntPressed();
161 virtual void ClrPressed();
162 virtual void DtoPressed();
163 virtual void NrstPressed();
164 virtual void AltPressed();
165 virtual void OBSPressed();
166 virtual void MsgPressed();
168 // Sometimes a page needs to maintain state for some return paths,
169 // but change it for others. The CleanUp function can be used for
170 // changing state for non-ENT return paths in conjunction with
172 virtual void CleanUp();
174 // The LooseFocus function is called when a page or subpage looses focus
175 // and allow pages to clean up state that is maintained whilst focus is
176 // retained, but lost on return.
177 virtual void LooseFocus();
179 // Allows pages that display info for a given ID to have it set/get if they implement these functions.
180 virtual void SetId(const string& s);
181 virtual const string& GetId()=0;
183 inline int GetSubPage() { return(_subPage); }
185 inline int GetNSubPages() { return(_nSubPages); }
187 inline const string& GetName() { return(_name); }
191 string _name; // eg. "APT", "NAV" etc
193 // _subpage is zero based
194 int _subPage; // The subpage gets remembered when other pages are displayed
195 string GPSitoa(int n);
198 /*-----------------------------------------------------------------------*/
200 typedef vector<GPSPage*> gps_page_list_type;
201 typedef gps_page_list_type::iterator gps_page_list_itr;
203 // TODO - merge generic GPS functions instead and split out KLN specific stuff.
204 class DCLGPS : public SGSubsystem {
206 friend class GPSPage;
209 DCLGPS(RenderArea2D* instrument);
210 virtual ~DCLGPS() = 0;
216 virtual void unbind();
217 virtual void update(double dt);
219 // Render string s in display field field at position x, y
220 // WHERE POSITION IS IN CHARACTER UNITS!
222 virtual void DrawText(const string& s, int field, int px, int py, bool bold = false);
224 // Render a char at a given position as above
225 virtual void DrawChar(char c, int field, int px, int py, bool bold = false);
227 virtual void Knob1Right1();
228 virtual void Knob1Left1();
229 virtual void Knob2Right1();
230 virtual void Knob2Left1();
231 virtual void CrsrPressed();
232 virtual void EntPressed();
233 virtual void ClrPressed();
234 virtual void DtoPressed();
235 virtual void NrstPressed();
236 virtual void AltPressed();
237 virtual void OBSPressed();
238 virtual void MsgPressed();
240 // Set the number of fields
241 inline void SetNumFields(int n) { _nFields = (n > _maxFields ? _maxFields : (n < 1 ? 1 : n)); }
244 // m if true, ft if false
245 inline void SetAltUnitsSI(bool b) { _altUnits = (b ? GPS_ALT_UNITS_M : GPS_ALT_UNITS_FT); }
246 // Returns true if alt units are SI (m), false if ft
247 inline bool GetAltUnitsSI() { return(_altUnits == GPS_ALT_UNITS_M ? true : false); }
248 // km and k/h if true, nm and kt if false
249 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); }
250 // Returns true if dist/vel units are SI
251 inline bool GetDistVelUnitsSI() { return(_distUnits == GPS_DIST_UNITS_KM && _velUnits == GPS_VEL_UNITS_KPH ? true : false); }
252 // Set baro units - 1 = in, 2 = mB, 3 = hP Wrapping if for the convienience of the GPS setter.
253 void SetBaroUnits(int n, bool wrap = false);
254 // Get baro units: 1 = in, 2 = mB, 3 = hP
255 inline int GetBaroUnits() { return((int)_baroUnits); }
257 // It is expected that specific GPS units will override these functions.
258 // Increase the CDI full-scale deflection (ie. increase the nm per dot) one (GPS unit dependent) increment. Wraps if necessary (GPS unit dependent).
259 virtual void CDIFSDIncrease();
260 // Ditto for decrease the distance per dot
261 virtual void CDIFSDDecrease();
264 ////inline void SetOverlays(Overlays* overlays) { _overlays = overlays; }
266 virtual void CreateDefaultFlightPlans();
268 void SetOBSFromWaypoint();
270 inline GPSWaypoint* GetActiveWaypoint() { return &_activeWaypoint; }
271 // Get the (zero-based) position of the active waypoint in the active flightplan
272 // Returns -1 if no active waypoint.
273 int GetActiveWaypointIndex();
274 // Ditto for an arbitrary waypoint id
275 int GetWaypointIndex(const string& id);
278 inline float GetDistToActiveWaypoint() { return _dist2Act; }
279 // Returns degrees (magnetic)
280 float GetHeadingToActiveWaypoint();
281 // Returns degrees (magnetic)
282 float GetHeadingFromActiveWaypoint();
283 // Get the time to the active waypoint in seconds.
284 // Returns -1 if groundspeed < 30 kts
285 double GetTimeToActiveWaypoint();
286 // Get the time to the final waypoint in seconds.
287 // Returns -1 if groundspeed < 30 kts
289 // Get the time to a given waypoint (spec'd by ID) in seconds.
290 // returns -1 if groundspeed is less than 30kts.
291 // If the waypoint is an unreached part of the active flight plan the time will be via each leg.
292 // otherwise it will be a direct-to time.
293 double GetTimeToWaypoint(const string& id);
295 // Return true if waypoint alerting is occuring
296 inline bool GetWaypointAlert() const { return(_waypointAlert); }
297 // Return true if in OBS mode
298 inline bool GetOBSMode() const { return(_obsMode); }
299 // Return true if in Leg mode
300 inline bool GetLegMode() const { return(!_obsMode); }
302 // Clear a flightplan
303 void ClearFlightPlan(int n);
304 void ClearFlightPlan(GPSFlightPlan* fp);
306 // Returns true if an approach is loaded/armed/active in the active flight plan
307 inline bool ApproachLoaded() const { return(_approachLoaded); }
308 inline bool GetApproachArm() const { return(_approachArm); }
309 inline bool GetApproachActive() const { return(_approachActive); }
310 double GetCDIDeflection() const;
311 inline bool GetToFlag() const { return(_headingBugTo); }
313 // Initiate Direct To operation to the supplied ID.
314 void DtoInitiate(const string& id);
315 // Cancel Direct To operation
319 // Maximum number of display fields for this device
321 // Current number of on-screen fields
327 // Lower (y) border per field
328 int _yFieldBorder[4];
329 // Left (x) border per field
330 int _xFieldBorder[4];
331 // Field start in x dir (border is part of field since it is the normal char border - sometimes map mode etc draws in it)
333 // Field start in y dir (for completeness - KLN89 only has vertical divider.
336 // The number of pages on the cyclic knob control
337 unsigned int _nPages;
338 // The current page we're on (Not sure how this ties in with extra pages such as direct or nearest).
339 unsigned int _curPage;
342 RenderArea2D* _instrument;
345 gps_page_list_type _pages;
347 // The currently active page
348 GPSPage* _activePage;
349 // And a facility to save the immediately preceeding active page
350 GPSPage* _lastActivePage;
353 GPSSpeedUnits _velUnits;
354 GPSDistanceUnits _distUnits;
355 GPSPressureUnits _baroUnits;
356 GPSAltitudeUnits _altUnits;
358 // CDI full-scale deflection, specified either as an index into a vector of values (standard values) or as a double precision float (intermediate values).
359 // This will influence how an externally driven CDI will display as well as the NAV1 page.
360 // Hence the variables are located here, not in the nav page class.
361 vector<float> _cdiScales;
362 unsigned int _currentCdiScaleIndex;
363 bool _cdiScaleTransition; // Set true when the floating CDI value is used during transitions
364 double _currentCdiScale; // The floating value to use.
365 unsigned int _targetCdiScaleIndex; // The target indexed value to attain during a transition.
366 unsigned int _sourceCdiScaleIndex; // The source indexed value during a transition - so we know which way we're heading!
367 // Timers to handle the transitions - not sure if we need these.
368 double _apprArmTimer;
369 double _apprActvTimer;
370 double _cdiTransitionTime; // Time for transition to occur in - normally 30sec but may be quicker if time to FAF < 30sec?
373 // Data and lookup functions
374 // All waypoints mapped by id.
375 gps_waypoint_map _waypoints;
377 // Worker function for the below.
378 const GPSWaypoint* ActualFindFirstById(const string& id, bool exact = false);
380 // Find first of any type of waypoint by id. (TODO - Possibly we should return multiple waypoints here).
381 const GPSWaypoint* FindFirstById(const string& id, bool &multi, bool exact = false);
382 FGNavRecord* FindFirstVorById(const string& id, bool &multi, bool exact = false);
383 FGNavRecord* FindFirstNDBById(const string& id, bool &multi, bool exact = false);
384 const FGAirport* FindFirstAptById(const string& id, bool &multi, bool exact = false);
385 const FGFix* FindFirstIntById(const string& id, bool &multi, bool exact = false);
386 // Find the closest VOR to a position in RADIANS.
387 FGNavRecord* FindClosestVor(double lat_rad, double lon_rad);
389 // Position, orientation and velocity.
390 // These should be read from FG's built-in GPS logic if possible.
391 // Use the property node pointers below to do this.
392 SGPropertyNode_ptr _lon_node;
393 SGPropertyNode_ptr _lat_node;
394 SGPropertyNode_ptr _alt_node;
395 SGPropertyNode_ptr _grnd_speed_node;
396 SGPropertyNode_ptr _true_track_node;
397 SGPropertyNode_ptr _mag_track_node;
398 // Present position. (Radians)
400 // Present altitude (ft). (Yuk! but it saves converting ft->m->ft every update).
402 // Reported position as measured by GPS. For now this is the same
403 // as present position, but in the future we might want to model
404 // GPS lat and lon errors.
405 // Note - we can depriciate _gpsLat and _gpsLon if we implement error handling in FG
406 // gps code and not our own.
407 double _gpsLat, _gpsLon; //(Radians)
408 // Hack - it seems that the GPS gets initialised before FG's initial position is properly set.
409 // By checking for abnormal slew in the position we can force a re-initialisation of active flight
410 // plan leg and anything else that might be affected.
411 // TODO - sort FlightGear's initialisation order properly!!!
412 double _checkLat, _checkLon; // (Radians)
413 double _groundSpeed_ms; // filtered groundspeed (m/s)
414 double _groundSpeed_kts; // ditto in knots
415 double _track; // filtered true track (degrees)
416 double _magTrackDeg; // magnetic track in degrees calculated from true track above
418 // _navFlagged is set true when GPS navigation is either not possible or not logical.
419 // This includes not receiving adequate signals, and not having an active flightplan entered.
422 // Positional functions copied from ATCutils that might get replaced
423 // INPUT in RADIANS, returns DEGREES!
425 double GetMagHeadingFromTo(double latA, double lonA, double latB, double lonB);
427 //double GetHeadingFromTo(double latA, double lonA, double latB, double lonB);
429 // Given two positions (lat & lon in RADIANS), get the HORIZONTAL separation (in meters)
430 //double GetHorizontalSeparation(double lat1, double lon1, double lat2, double lon2);
432 // Proper great circle positional functions from The Aviation Formulary
433 // Returns distance in Nm, input in RADIANS.
434 double GetGreatCircleDistance(double lat1, double lon1, double lat2, double lon2) const;
436 // Input in RADIANS, output in DEGREES.
438 double GetGreatCircleCourse(double lat1, double lon1, double lat2, double lon2) const;
440 // Return a position on a radial from wp1 given distance d (nm) and magnetic heading h (degrees)
441 // Note that d should be less that 1/4 Earth diameter!
442 GPSWaypoint GetPositionOnMagRadial(const GPSWaypoint& wp1, double d, double h);
444 // Return a position on a radial from wp1 given distance d (nm) and TRUE heading h (degrees)
445 // Note that d should be less that 1/4 Earth diameter!
446 GPSWaypoint GetPositionOnRadial(const GPSWaypoint& wp1, double d, double h);
448 // Calculate the current cross-track deviation in nm.
449 // Returns zero if a sensible value cannot be calculated.
450 double CalcCrossTrackDeviation() const;
452 // Calculate the cross-track deviation between 2 arbitrary waypoints in nm.
453 // Returns zero if a sensible value cannot be calculated.
454 double CalcCrossTrackDeviation(const GPSWaypoint& wp1, const GPSWaypoint& wp2) const;
457 // GPS can have up to _maxFlightPlans flightplans stored, PLUS an active FP which may or my not be one of the stored ones.
458 // This is from KLN89, but is probably not far off the mark for most if not all GPS.
459 vector<GPSFlightPlan*> _flightPlans;
460 unsigned int _maxFlightPlans;
461 GPSFlightPlan* _activeFP;
463 // Modes of operation.
464 // This is currently somewhat Bendix-King specific, but probably applies fundamentally to other units as well
465 // Mode defaults to leg, but is OBS if _obsMode is true.
467 // _dto is set true for DTO operation
469 // 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).
471 // In OBS mode we need to know the set OBS heading
474 // Operational variables
475 GPSWaypoint _activeWaypoint;
476 GPSWaypoint _fromWaypoint;
478 float _crosstrackDist; // UNITS ??????????
479 double _eta; // ETA in SECONDS to active waypoint.
480 // Desired track for active leg, true and magnetic, in degrees
481 double _dtkTrue, _dtkMag;
482 bool _headingBugTo; // Set true when the heading bug is TO, false when FROM.
483 bool _waypointAlert; // Set true when waypoint alerting is happening. (This is a variable NOT a user-setting).
484 bool _departed; // Set when groundspeed first exceeds 30kts.
485 string _departureTimeString; // Ditto.
486 double _elapsedTime; // Elapsed time in seconds since departure
488 // Configuration that affects flightplan operation
489 bool _turnAnticipationEnabled;
491 // Configuration that affects general operation
492 bool _suaAlertEnabled; // Alert user to potential SUA entry
493 bool _altAlertEnabled; // Alert user to min safe alt violation
495 // Magvar stuff. Might get some of this stuff (such as time) from FG in future.
498 list<string> _messageStack;
500 virtual void CreateFlightPlan(GPSFlightPlan* fp, vector<string> ids, vector<GPSWpType> wps);
502 // Orientate the GPS unit to a flightplan - ie. figure out from current position
503 // and possibly orientation which leg of the FP we are on.
504 virtual void OrientateToFlightPlan(GPSFlightPlan* fp);
506 // Ditto for active fp. Probably all we need really!
507 virtual void OrientateToActiveFlightPlan();
509 int _cleanUpPage; // -1 => no cleanup required.
512 iap_map_type _np_iap; // Non-precision approaches
513 iap_map_type _pr_iap; // Precision approaches
514 bool _approachLoaded; // Set true when an approach is loaded in the active flightplan
515 bool _approachArm; // Set true when in approach-arm mode
516 bool _approachReallyArmed; // Apparently, approach-arm mode can be set from an external GPS-APR switch outside 30nm from airport,
517 // but the CDI scale change doesn't happen until 30nm from airport. Bizarre that it can be armed without
518 // the scale change, but it's in the manual...
519 bool _approachActive; // Set true when in approach-active mode
520 GPSFlightPlan* _approachFP; // Current approach - not necessarily loaded.
521 string _approachID; // ID of the airport we have an approach loaded for - bit of a hack that can hopefully be removed in future.
522 // More hackery since we aren't actually storing an approach class... Doh!
523 string _approachAbbrev;
524 string _approachRwyStr;
527 #endif // _DCLGPS_HXX