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>
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 // A class to encapsulate hr:min representation of time.
150 ClockTime(int hr, int min);
152 inline void set_hr(int hr) { _hr = hr; }
153 inline int hr() const { return(_hr); }
154 inline void set_min(int min) { _min = min; }
155 inline int min() const { return(_min); }
157 ClockTime operator+ (const ClockTime& t) {
158 int cumMin = _hr * 60 + _min + t.hr() * 60 + t.min();
159 ClockTime t2(cumMin / 60, cumMin % 60);
162 // Operator - has a max difference of 23:59,
163 // and assumes the day has wrapped if the second operand
164 // is larger that the first.
165 // eg. 2:59 - 3:00 = 23:59
166 ClockTime operator- (const ClockTime& t) {
167 int diff = (_hr * 60 + _min) - (t.hr() * 60 + t.min());
168 if(diff < 0) { diff += 24 * 60; }
169 ClockTime t2(diff / 60, diff % 60);
172 friend ostream& operator<< (ostream& out, const ClockTime& t);
179 // ------------------------------------------------------------------------------
186 GPSPage(DCLGPS* parent);
187 virtual ~GPSPage() = 0;
188 virtual void Update(double dt);
189 virtual void Knob1Left1();
190 virtual void Knob1Right1();
191 virtual void Knob2Left1();
192 virtual void Knob2Right1();
193 virtual void CrsrPressed();
194 virtual void EntPressed();
195 virtual void ClrPressed();
196 virtual void DtoPressed();
197 virtual void NrstPressed();
198 virtual void AltPressed();
199 virtual void OBSPressed();
200 virtual void MsgPressed();
202 // Sometimes a page needs to maintain state for some return paths,
203 // but change it for others. The CleanUp function can be used for
204 // changing state for non-ENT return paths in conjunction with
206 virtual void CleanUp();
208 // The LooseFocus function is called when a page or subpage looses focus
209 // and allows pages to clean up state that is maintained whilst focus is
210 // retained, but lost on return.
211 virtual void LooseFocus();
213 // Allows pages that display info for a given ID to have it set/get if they implement these functions.
214 virtual void SetId(const string& s);
215 virtual const string& GetId()=0;
217 inline int GetSubPage() { return(_subPage); }
219 inline int GetNSubPages() { return(_nSubPages); }
221 inline const string& GetName() { return(_name); }
225 string _name; // eg. "APT", "NAV" etc
227 // _subpage is zero based
228 int _subPage; // The subpage gets remembered when other pages are displayed
229 string GPSitoa(int n);
232 /*-----------------------------------------------------------------------*/
234 typedef vector<GPSPage*> gps_page_list_type;
235 typedef gps_page_list_type::iterator gps_page_list_itr;
237 // TODO - merge generic GPS functions instead and split out KLN specific stuff.
238 class DCLGPS : public SGSubsystem {
240 friend class GPSPage;
243 DCLGPS(RenderArea2D* instrument);
244 virtual ~DCLGPS() = 0;
250 virtual void unbind();
251 virtual void update(double dt);
253 // Render string s in display field field at position x, y
254 // WHERE POSITION IS IN CHARACTER UNITS!
256 virtual void DrawText(const string& s, int field, int px, int py, bool bold = false);
258 // Render a char at a given position as above
259 virtual void DrawChar(char c, int field, int px, int py, bool bold = false);
261 virtual void Knob1Right1();
262 virtual void Knob1Left1();
263 virtual void Knob2Right1();
264 virtual void Knob2Left1();
265 virtual void CrsrPressed();
266 virtual void EntPressed();
267 virtual void ClrPressed();
268 virtual void DtoPressed();
269 virtual void NrstPressed();
270 virtual void AltPressed();
271 virtual void OBSPressed();
272 virtual void MsgPressed();
274 // Set the number of fields
275 inline void SetNumFields(int n) { _nFields = (n > _maxFields ? _maxFields : (n < 1 ? 1 : n)); }
278 // m if true, ft if false
279 inline void SetAltUnitsSI(bool b) { _altUnits = (b ? GPS_ALT_UNITS_M : GPS_ALT_UNITS_FT); }
280 // Returns true if alt units are SI (m), false if ft
281 inline bool GetAltUnitsSI() { return(_altUnits == GPS_ALT_UNITS_M ? true : false); }
282 // km and k/h if true, nm and kt if false
283 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); }
284 // Returns true if dist/vel units are SI
285 inline bool GetDistVelUnitsSI() { return(_distUnits == GPS_DIST_UNITS_KM && _velUnits == GPS_VEL_UNITS_KPH ? true : false); }
286 // Set baro units - 1 = in, 2 = mB, 3 = hP Wrapping if for the convienience of the GPS setter.
287 void SetBaroUnits(int n, bool wrap = false);
288 // Get baro units: 1 = in, 2 = mB, 3 = hP
289 inline int GetBaroUnits() { return((int)_baroUnits); }
291 // It is expected that specific GPS units will override these functions.
292 // Increase the CDI full-scale deflection (ie. increase the nm per dot) one (GPS unit dependent) increment. Wraps if necessary (GPS unit dependent).
293 virtual void CDIFSDIncrease();
294 // Ditto for decrease the distance per dot
295 virtual void CDIFSDDecrease();
298 ////inline void SetOverlays(Overlays* overlays) { _overlays = overlays; }
300 virtual void CreateDefaultFlightPlans();
302 void SetOBSFromWaypoint();
304 inline GPSWaypoint* GetActiveWaypoint() { return &_activeWaypoint; }
305 // Get the (zero-based) position of the active waypoint in the active flightplan
306 // Returns -1 if no active waypoint.
307 int GetActiveWaypointIndex();
308 // Ditto for an arbitrary waypoint id
309 int GetWaypointIndex(const string& id);
312 inline float GetDistToActiveWaypoint() { return _dist2Act; }
313 // Returns degrees (magnetic)
314 float GetHeadingToActiveWaypoint();
315 // Returns degrees (magnetic)
316 float GetHeadingFromActiveWaypoint();
317 // Get the time to the active waypoint in seconds.
318 // Returns -1 if groundspeed < 30 kts
319 double GetTimeToActiveWaypoint();
320 // Get the time to the final waypoint in seconds.
321 // Returns -1 if groundspeed < 30 kts
323 // Get the time to a given waypoint (spec'd by ID) in seconds.
324 // returns -1 if groundspeed is less than 30kts.
325 // If the waypoint is an unreached part of the active flight plan the time will be via each leg.
326 // otherwise it will be a direct-to time.
327 double GetTimeToWaypoint(const string& id);
329 // Return true if waypoint alerting is occuring
330 inline bool GetWaypointAlert() const { return(_waypointAlert); }
331 // Return true if in OBS mode
332 inline bool GetOBSMode() const { return(_obsMode); }
333 // Return true if in Leg mode
334 inline bool GetLegMode() const { return(!_obsMode); }
336 // Clear a flightplan
337 void ClearFlightPlan(int n);
338 void ClearFlightPlan(GPSFlightPlan* fp);
340 // Returns true if an approach is loaded/armed/active in the active flight plan
341 inline bool ApproachLoaded() const { return(_approachLoaded); }
342 inline bool GetApproachArm() const { return(_approachArm); }
343 inline bool GetApproachActive() const { return(_approachActive); }
344 double GetCDIDeflection() const;
345 inline bool GetToFlag() const { return(_headingBugTo); }
347 // Initiate Direct To operation to the supplied ID.
348 void DtoInitiate(const string& id);
349 // Cancel Direct To operation
353 // Maximum number of display fields for this device
355 // Current number of on-screen fields
361 // Lower (y) border per field
362 int _yFieldBorder[4];
363 // Left (x) border per field
364 int _xFieldBorder[4];
365 // Field start in x dir (border is part of field since it is the normal char border - sometimes map mode etc draws in it)
367 // Field start in y dir (for completeness - KLN89 only has vertical divider.
370 // The number of pages on the cyclic knob control
371 unsigned int _nPages;
372 // The current page we're on (Not sure how this ties in with extra pages such as direct or nearest).
373 unsigned int _curPage;
376 RenderArea2D* _instrument;
379 gps_page_list_type _pages;
381 // The currently active page
382 GPSPage* _activePage;
383 // And a facility to save the immediately preceeding active page
384 GPSPage* _lastActivePage;
387 GPSSpeedUnits _velUnits;
388 GPSDistanceUnits _distUnits;
389 GPSPressureUnits _baroUnits;
390 GPSAltitudeUnits _altUnits;
392 // CDI full-scale deflection, specified either as an index into a vector of values (standard values) or as a double precision float (intermediate values).
393 // This will influence how an externally driven CDI will display as well as the NAV1 page.
394 // Hence the variables are located here, not in the nav page class.
395 vector<float> _cdiScales;
396 unsigned int _currentCdiScaleIndex;
397 bool _cdiScaleTransition; // Set true when the floating CDI value is used during transitions
398 double _currentCdiScale; // The floating value to use.
399 unsigned int _targetCdiScaleIndex; // The target indexed value to attain during a transition.
400 unsigned int _sourceCdiScaleIndex; // The source indexed value during a transition - so we know which way we're heading!
401 // Timers to handle the transitions - not sure if we need these.
402 double _apprArmTimer;
403 double _apprActvTimer;
404 double _cdiTransitionTime; // Time for transition to occur in - normally 30sec but may be quicker if time to FAF < 30sec?
407 // Data and lookup functions
408 // All waypoints mapped by id.
409 gps_waypoint_map _waypoints;
411 // Worker function for the below.
412 const GPSWaypoint* ActualFindFirstById(const string& id, bool exact = false);
414 // Find first of any type of waypoint by id. (TODO - Possibly we should return multiple waypoints here).
415 const GPSWaypoint* FindFirstById(const string& id, bool &multi, bool exact = false);
416 FGNavRecord* FindFirstVorById(const string& id, bool &multi, bool exact = false);
417 FGNavRecord* FindFirstNDBById(const string& id, bool &multi, bool exact = false);
418 const FGAirport* FindFirstAptById(const string& id, bool &multi, bool exact = false);
419 const FGFix* FindFirstIntById(const string& id, bool &multi, bool exact = false);
420 // Find the closest VOR to a position in RADIANS.
421 FGNavRecord* FindClosestVor(double lat_rad, double lon_rad);
423 // Position, orientation and velocity.
424 // These should be read from FG's built-in GPS logic if possible.
425 // Use the property node pointers below to do this.
426 SGPropertyNode_ptr _lon_node;
427 SGPropertyNode_ptr _lat_node;
428 SGPropertyNode_ptr _alt_node;
429 SGPropertyNode_ptr _grnd_speed_node;
430 SGPropertyNode_ptr _true_track_node;
431 SGPropertyNode_ptr _mag_track_node;
432 // Present position. (Radians)
434 // Present altitude (ft). (Yuk! but it saves converting ft->m->ft every update).
436 // Reported position as measured by GPS. For now this is the same
437 // as present position, but in the future we might want to model
438 // GPS lat and lon errors.
439 // Note - we can depriciate _gpsLat and _gpsLon if we implement error handling in FG
440 // gps code and not our own.
441 double _gpsLat, _gpsLon; //(Radians)
442 // Hack - it seems that the GPS gets initialised before FG's initial position is properly set.
443 // By checking for abnormal slew in the position we can force a re-initialisation of active flight
444 // plan leg and anything else that might be affected.
445 // TODO - sort FlightGear's initialisation order properly!!!
446 double _checkLat, _checkLon; // (Radians)
447 double _groundSpeed_ms; // filtered groundspeed (m/s)
448 double _groundSpeed_kts; // ditto in knots
449 double _track; // filtered true track (degrees)
450 double _magTrackDeg; // magnetic track in degrees calculated from true track above
452 // _navFlagged is set true when GPS navigation is either not possible or not logical.
453 // This includes not receiving adequate signals, and not having an active flightplan entered.
456 // Positional functions copied from ATCutils that might get replaced
457 // INPUT in RADIANS, returns DEGREES!
459 double GetMagHeadingFromTo(double latA, double lonA, double latB, double lonB);
461 //double GetHeadingFromTo(double latA, double lonA, double latB, double lonB);
463 // Given two positions (lat & lon in RADIANS), get the HORIZONTAL separation (in meters)
464 //double GetHorizontalSeparation(double lat1, double lon1, double lat2, double lon2);
466 // Proper great circle positional functions from The Aviation Formulary
467 // Returns distance in Nm, input in RADIANS.
468 double GetGreatCircleDistance(double lat1, double lon1, double lat2, double lon2) const;
470 // Input in RADIANS, output in DEGREES.
472 double GetGreatCircleCourse(double lat1, double lon1, double lat2, double lon2) const;
474 // Return a position on a radial from wp1 given distance d (nm) and magnetic heading h (degrees)
475 // Note that d should be less that 1/4 Earth diameter!
476 GPSWaypoint GetPositionOnMagRadial(const GPSWaypoint& wp1, double d, double h);
478 // Return a position on a radial from wp1 given distance d (nm) and TRUE heading h (degrees)
479 // Note that d should be less that 1/4 Earth diameter!
480 GPSWaypoint GetPositionOnRadial(const GPSWaypoint& wp1, double d, double h);
482 // Calculate the current cross-track deviation in nm.
483 // Returns zero if a sensible value cannot be calculated.
484 double CalcCrossTrackDeviation() const;
486 // Calculate the cross-track deviation between 2 arbitrary waypoints in nm.
487 // Returns zero if a sensible value cannot be calculated.
488 double CalcCrossTrackDeviation(const GPSWaypoint& wp1, const GPSWaypoint& wp2) const;
491 // GPS can have up to _maxFlightPlans flightplans stored, PLUS an active FP which may or my not be one of the stored ones.
492 // This is from KLN89, but is probably not far off the mark for most if not all GPS.
493 vector<GPSFlightPlan*> _flightPlans;
494 unsigned int _maxFlightPlans;
495 GPSFlightPlan* _activeFP;
497 // Modes of operation.
498 // This is currently somewhat Bendix-King specific, but probably applies fundamentally to other units as well
499 // Mode defaults to leg, but is OBS if _obsMode is true.
501 // _dto is set true for DTO operation
503 // 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).
505 // In OBS mode we need to know the set OBS heading
508 // Operational variables
509 GPSWaypoint _activeWaypoint;
510 GPSWaypoint _fromWaypoint;
512 float _crosstrackDist; // UNITS ??????????
513 double _eta; // ETA in SECONDS to active waypoint.
514 // Desired track for active leg, true and magnetic, in degrees
515 double _dtkTrue, _dtkMag;
516 bool _headingBugTo; // Set true when the heading bug is TO, false when FROM.
517 bool _waypointAlert; // Set true when waypoint alerting is happening. (This is a variable NOT a user-setting).
518 bool _departed; // Set when groundspeed first exceeds 30kts.
519 string _departureTimeString; // Ditto.
520 double _elapsedTime; // Elapsed time in seconds since departure
521 ClockTime _powerOnTime; // Time (hr:min) of unit power-up.
522 bool _powerOnTimerSet; // Indicates that we have set the above following power-up.
523 void SetPowerOnTimer();
525 void ResetPowerOnTimer();
526 // Set the alarm to go off at a given time.
527 inline void SetAlarm(int hr, int min) {
528 _alarmTime.set_hr(hr);
529 _alarmTime.set_min(min);
533 ClockTime _alarmTime;
536 // Configuration that affects flightplan operation
537 bool _turnAnticipationEnabled;
539 // Configuration that affects general operation
540 bool _suaAlertEnabled; // Alert user to potential SUA entry
541 bool _altAlertEnabled; // Alert user to min safe alt violation
543 // Magvar stuff. Might get some of this stuff (such as time) from FG in future.
546 list<string> _messageStack;
548 virtual void CreateFlightPlan(GPSFlightPlan* fp, vector<string> ids, vector<GPSWpType> wps);
550 // Orientate the GPS unit to a flightplan - ie. figure out from current position
551 // and possibly orientation which leg of the FP we are on.
552 virtual void OrientateToFlightPlan(GPSFlightPlan* fp);
554 // Ditto for active fp. Probably all we need really!
555 virtual void OrientateToActiveFlightPlan();
557 int _cleanUpPage; // -1 => no cleanup required.
560 iap_map_type _np_iap; // Non-precision approaches
561 iap_map_type _pr_iap; // Precision approaches
562 bool _approachLoaded; // Set true when an approach is loaded in the active flightplan
563 bool _approachArm; // Set true when in approach-arm mode
564 bool _approachReallyArmed; // Apparently, approach-arm mode can be set from an external GPS-APR switch outside 30nm from airport,
565 // but the CDI scale change doesn't happen until 30nm from airport. Bizarre that it can be armed without
566 // the scale change, but it's in the manual...
567 bool _approachActive; // Set true when in approach-active mode
568 GPSFlightPlan* _approachFP; // Current approach - not necessarily loaded.
569 string _approachID; // ID of the airport we have an approach loaded for - bit of a hack that can hopefully be removed in future.
570 // More hackery since we aren't actually storing an approach class... Doh!
571 string _approachAbbrev;
572 string _approachRwyStr;
575 #endif // _DCLGPS_HXX