# include <config.h>
#endif
-#include <simgear/compiler.h>
-#include <Aircraft/aircraft.hxx>
+#include "gps.hxx"
+
+#include <memory>
+#include <set>
+
+#include "Main/fg_props.hxx"
+#include "Main/globals.hxx" // for get_subsystem
+#include "Main/util.hxx" // for fgLowPass
+#include "Navaids/positioned.hxx"
+#include "Navaids/navrecord.hxx"
+#include "Airports/simple.hxx"
+#include "Airports/runways.hxx"
+#include "Autopilot/route_mgr.hxx"
-#include <simgear/route/route.hxx>
#include <simgear/math/sg_random.h>
#include <simgear/sg_inlines.h>
#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/structure/exception.hxx>
-#include <Airports/simple.hxx>
+using std::auto_ptr;
+using std::string;
-#include <Main/fg_init.hxx>
-#include <Main/globals.hxx>
-#include <Main/fg_props.hxx>
-#include <Main/util.hxx>
-#include <Navaids/fixlist.hxx>
-#include <Navaids/navlist.hxx>
+///////////////////////////////////////////////////////////////////
-#include "gps.hxx"
+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);
+ }
+}
-using std::string;
+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 (_alt) {
+ return SGGeod::fromDegFt(lon, lat, _alt->getDoubleValue());
+ } else {
+ return SGGeod::fromDeg(lon,lat);
+ }
+}
+
+static void tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
+ const char* lonStr, const char* latStr, const char* altStr)
+{
+ aNode->tie(lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg));
+ aNode->tie(latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg));
+
+ if (altStr) {
+ aNode->tie(altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, &SGGeod::setElevationFt));
+ }
+}
+
+static void tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
+ const char* lonStr, const char* latStr, const char* altStr)
+{
+ aNode->tie(lonStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLongitudeDeg, NULL));
+ aNode->tie(latStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getLatitudeDeg, NULL));
+
+ if (altStr) {
+ aNode->tie(altStr, SGRawValueMethods<SGGeod, double>(aRef, &SGGeod::getElevationFt, NULL));
+ }
+}
-GPS::GPS ( SGPropertyNode *node)
- : _last_valid(false),
- _last_longitude_deg(0),
- _last_latitude_deg(0),
- _last_altitude_m(0),
- _last_speed_kts(0),
- _wp0_latitude_deg(0),
- _wp0_longitude_deg(0),
- _wp0_altitude_m(0),
- _wp1_latitude_deg(0),
- _wp1_longitude_deg(0),
- _wp1_altitude_m(0),
- _alt_dist_ratio(0),
- _distance_m(0),
- _course_deg(0),
- _name(node->getStringValue("name", "gps")),
- _num(node->getIntValue("number", 0)),
- route(0)
+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");
+ _parents.insert(wp);
+ _parents.insert(wp->getChild("wp", 0));
+ _parents.insert(wp->getChild("wp", 1));
+
+ 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(0.5),
+ _waypointAlertTime(30.0),
+ _tuneRadio1ToRefVor(false),
+ _minRunwayLengthFt(0.0),
+ _requireHardSurface(true),
+ _cdiMaxDeflectionNm(-1), // default to angular mode
+ _driveAutopilot(true)
+{
+ _enableTurnAnticipation = false;
+ _extCourseSource = fgGetNode("/instrumentation/nav[0]/radials/selected-deg", true);
+}
+
+void GPS::Config::init(SGPropertyNode* aCfgNode)
+{
+ aCfgNode->tie("turn-rate-deg-sec", SGRawValuePointer<double>(&_turnRate));
+ aCfgNode->tie("turn-anticipation", SGRawValuePointer<bool>(&_enableTurnAnticipation));
+ aCfgNode->tie("wpt-alert-time", SGRawValuePointer<double>(&_waypointAlertTime));
+ aCfgNode->tie("tune-nav-radio-to-ref-vor", SGRawValuePointer<bool>(&_tuneRadio1ToRefVor));
+ aCfgNode->tie("min-runway-length-ft", SGRawValuePointer<double>(&_minRunwayLengthFt));
+ aCfgNode->tie("hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
+
+ aCfgNode->tie("course-source", SGRawValueMethods<GPS::Config, const char*>
+ (*this, &GPS::Config::getCourseSource, &GPS::Config::setCourseSource));
+
+ aCfgNode->tie("cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
+ aCfgNode->tie("drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
+}
+
+const char*
+GPS::Config::getCourseSource() const
+{
+ if (!_extCourseSource) {
+ return "";
+ }
+
+ return _extCourseSource->getPath(true);
+}
+
+void
+GPS::Config::setCourseSource(const char* aPath)
+{
+ SGPropertyNode* nd = fgGetNode(aPath, false);
+ if (!nd) {
+ SG_LOG(SG_INSTR, SG_WARN, "couldn't find course source at:" << aPath);
+ _extCourseSource = NULL;
+ }
+
+ _extCourseSource = nd;
+}
+
+double
+GPS::Config::getExternalCourse() const
+{
+ if (!_extCourseSource) {
+ return 0.0;
+ }
+
+ return _extCourseSource->getDoubleValue();
+}
+
+void
+GPS::Config::setExternalCourse(double aCourseDeg)
+{
+ if (!_extCourseSource) {
+ return;
+ }
+
+ _extCourseSource->setDoubleValue(aCourseDeg);
+}
+
+////////////////////////////////////////////////////////////////////////////
+
+GPS::GPS ( SGPropertyNode *node) :
+ _selectedCourse(0.0),
+ _dataValid(false),
+ _lastPosValid(false),
+ _mode("init"),
+ _name(node->getStringValue("name", "gps")),
+ _num(node->getIntValue("number", 0)),
+ _computeTurnData(false),
+ _anticipateTurn(false),
+ _inTurn(false)
{
}
GPS::~GPS ()
{
- delete route;
}
void
GPS::init ()
{
- delete route; // in case init is called twice
- route = new SGRoute;
- route->clear();
-
+ _routeMgr = (FGRouteMgr*) globals->get_subsystem("route-manager");
+ assert(_routeMgr);
+
string branch;
branch = "/instrumentation/" + _name;
- SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
-
- _longitude_node = fgGetNode("/position/longitude-deg", true);
- _latitude_node = fgGetNode("/position/latitude-deg", true);
- _altitude_node = fgGetNode("/position/altitude-ft", true);
- _magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
- _serviceable_node = node->getChild("serviceable", 0, true);
- _electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
-
- SGPropertyNode *wp_node = node->getChild("wp", 0, true);
- SGPropertyNode *wp0_node = wp_node->getChild("wp", 0, true);
- SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
- addWp = wp1_node->getChild("Add-to-route", 0, true);
-
- _wp0_longitude_node = wp0_node->getChild("longitude-deg", 0, true);
- _wp0_latitude_node = wp0_node->getChild("latitude-deg", 0, true);
- _wp0_altitude_node = wp0_node->getChild("altitude-ft", 0, true);
- _wp0_ID_node = wp0_node->getChild("ID", 0, true);
- _wp0_name_node = wp0_node->getChild("name", 0, true);
- _wp0_course_node = wp0_node->getChild("desired-course-deg", 0, true);
- _wp0_waypoint_type_node = wp0_node->getChild("waypoint-type", 0, true);
- _wp0_distance_node = wp0_node->getChild("distance-nm", 0, true);
- _wp0_ttw_node = wp0_node->getChild("TTW", 0, true);
- _wp0_bearing_node = wp0_node->getChild("bearing-true-deg", 0, true);
- _wp0_mag_bearing_node = wp0_node->getChild("bearing-mag-deg", 0, true);
- _wp0_course_deviation_node =
- wp0_node->getChild("course-deviation-deg", 0, true);
- _wp0_course_error_nm_node = wp0_node->getChild("course-error-nm", 0, true);
- _wp0_to_flag_node = wp0_node->getChild("to-flag", 0, true);
- _true_wp0_bearing_error_node =
- wp0_node->getChild("true-bearing-error-deg", 0, true);
- _magnetic_wp0_bearing_error_node =
- wp0_node->getChild("magnetic-bearing-error-deg", 0, true);
-
- _wp1_longitude_node = wp1_node->getChild("longitude-deg", 0, true);
- _wp1_latitude_node = wp1_node->getChild("latitude-deg", 0, true);
- _wp1_altitude_node = wp1_node->getChild("altitude-ft", 0, true);
- _wp1_ID_node = wp1_node->getChild("ID", 0, true);
- _wp1_name_node = wp1_node->getChild("name", 0, true);
- _wp1_course_node = wp1_node->getChild("desired-course-deg", 0, true);
- _wp1_waypoint_type_node = wp1_node->getChild("waypoint-type", 0, true);
- _wp1_distance_node = wp1_node->getChild("distance-nm", 0, true);
- _wp1_ttw_node = wp1_node->getChild("TTW", 0, true);
- _wp1_bearing_node = wp1_node->getChild("bearing-true-deg", 0, true);
- _wp1_mag_bearing_node = wp1_node->getChild("bearing-mag-deg", 0, true);
- _wp1_course_deviation_node =
- wp1_node->getChild("course-deviation-deg", 0, true);
- _wp1_course_error_nm_node = wp1_node->getChild("course-error-nm", 0, true);
- _wp1_to_flag_node = wp1_node->getChild("to-flag", 0, true);
- _true_wp1_bearing_error_node =
- wp1_node->getChild("true-bearing-error-deg", 0, true);
- _magnetic_wp1_bearing_error_node =
- wp1_node->getChild("magnetic-bearing-error-deg", 0, true);
- _get_nearest_airport_node =
- wp1_node->getChild("get-nearest-airport", 0, true);
-
- _tracking_bug_node = node->getChild("tracking-bug", 0, true);
- _raim_node = node->getChild("raim", 0, true);
-
- _indicated_longitude_node =
- node->getChild("indicated-longitude-deg", 0, true);
- _indicated_latitude_node =
- node->getChild("indicated-latitude-deg", 0, true);
- _indicated_altitude_node =
- node->getChild("indicated-altitude-ft", 0, true);
- _indicated_vertical_speed_node =
- node->getChild("indicated-vertical-speed", 0, true);
- _true_track_node =
- node->getChild("indicated-track-true-deg", 0, true);
- _magnetic_track_node =
- node->getChild("indicated-track-magnetic-deg", 0, true);
- _speed_node =
- node->getChild("indicated-ground-speed-kt", 0, true);
- _odometer_node =
- node->getChild("odometer", 0, true);
- _trip_odometer_node =
- node->getChild("trip-odometer", 0, true);
- _true_bug_error_node =
- node->getChild("true-bug-error-deg", 0, true);
- _magnetic_bug_error_node =
- node->getChild("magnetic-bug-error-deg", 0, true);
-
- _leg_distance_node =
- wp_node->getChild("leg-distance-nm", 0, true);
- _leg_course_node =
- wp_node->getChild("leg-true-course-deg", 0, true);
- _leg_magnetic_course_node =
- wp_node->getChild("leg-mag-course-deg", 0, true);
- _alt_dist_ratio_node =
- wp_node->getChild("alt-dist-ratio", 0, true);
- _leg_course_deviation_node =
- wp_node->getChild("leg-course-deviation-deg", 0, true);
- _leg_course_error_nm_node =
- wp_node->getChild("leg-course-error-nm", 0, true);
- _leg_to_flag_node =
- wp_node->getChild("leg-to-flag", 0, true);
- _alt_deviation_node =
- wp_node->getChild("alt-deviation-ft", 0, true);
-
- _route = node->getChild("route", 0, true);
- popWp = _route->getChild("Pop-WP", 0, true);
-
- addWp->setBoolValue(false);
- popWp->setBoolValue(false);
-
- _serviceable_node->setBoolValue(true);
+ SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
+ _config.init(node->getChild("config", 0, true));
+
+ _position.init("/position/longitude-deg", "/position/latitude-deg", "/position/altitude-ft");
+ _magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
+ _serviceable_node = node->getChild("serviceable", 0, true);
+ _serviceable_node->setBoolValue(true);
+ _electrical_node = fgGetNode("/systems/electrical/outputs/gps", true);
+
+// basic GPS outputs
+ node->tie("selected-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getSelectedCourse, NULL));
+
+ _raim_node = node->getChild("raim", 0, true);
+
+ tieSGGeodReadOnly(node, _indicated_pos, "indicated-longitude-deg",
+ "indicated-latitude-deg", "indicated-altitude-ft");
+
+ node->tie("indicated-vertical-speed", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getVerticalSpeed, NULL));
+ node->tie("indicated-track-true-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getTrueTrack, NULL));
+ node->tie("indicated-track-magnetic-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getMagTrack, NULL));
+ node->tie("indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getGroundspeedKts, NULL));
+
+ _odometer_node = node->getChild("odometer", 0, true);
+ _trip_odometer_node = node->getChild("trip-odometer", 0, true);
+ _true_bug_error_node = node->getChild("true-bug-error-deg", 0, true);
+ _magnetic_bug_error_node = node->getChild("magnetic-bug-error-deg", 0, true);
+
+// command system
+ node->tie("mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
+ node->tie("command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
+
+ _scratchNode = node->getChild("scratch", 0, true);
+ tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
+ _scratchNode->tie("valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
+ _scratchNode->tie("distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
+ _scratchNode->tie("true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
+ _scratchNode->tie("mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
+ _scratchNode->tie("has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
+ _scratchValid = false;
+
+// waypoint data (including various historical things)
+ SGPropertyNode *wp_node = node->getChild("wp", 0, true);
+ SGPropertyNode *wp0_node = wp_node->getChild("wp", 0, true);
+ SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
+
+ tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
+ wp0_node->tie("ID", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP0Ident, NULL));
+ wp0_node->tie("name", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP0Name, NULL));
+
+ tieSGGeodReadOnly(wp1_node, _wp1_position, "longitude-deg", "latitude-deg", "altitude-ft");
+ wp1_node->tie("ID", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP1Ident, NULL));
+ wp1_node->tie("name", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP1Name, NULL));
+
+ // for compatability, alias selected course down to wp/wp[1]/desired-course-deg
+ SGPropertyNode* wp1Crs = wp1_node->getChild("desired-course-deg", 0, true);
+ wp1Crs->alias(node->getChild("selected-course-deg"));
+
+// _true_wp1_bearing_error_node =
+// wp1_node->getChild("true-bearing-error-deg", 0, true);
+// _magnetic_wp1_bearing_error_node =
+ // wp1_node->getChild("magnetic-bearing-error-deg", 0, true);
+
+ wp1_node->tie("distance-nm", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1Distance, NULL));
+ wp1_node->tie("bearing-true-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1Bearing, NULL));
+ wp1_node->tie("bearing-mag-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1MagBearing, NULL));
+ wp1_node->tie("TTW-sec", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1TTW, NULL));
+ wp1_node->tie("TTW", SGRawValueMethods<GPS, const char*>
+ (*this, &GPS::getWP1TTWString, NULL));
+
+ wp1_node->tie("course-deviation-deg", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1CourseDeviation, NULL));
+ wp1_node->tie("course-error-nm", SGRawValueMethods<GPS, double>
+ (*this, &GPS::getWP1CourseErrorNm, NULL));
+ wp1_node->tie("to-flag", SGRawValueMethods<GPS, bool>
+ (*this, &GPS::getWP1ToFlag, NULL));
+ wp1_node->tie("from-flag", SGRawValueMethods<GPS, bool>
+ (*this, &GPS::getWP1FromFlag, NULL));
+
+ _tracking_bug_node = node->getChild("tracking-bug", 0, true);
+
+// leg properties (only valid in DTO/LEG modes, not OBS)
+ wp_node->tie("leg-distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getLegDistance, NULL));
+ wp_node->tie("leg-true-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegCourse, NULL));
+ wp_node->tie("leg-mag-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegMagCourse, NULL));
+ wp_node->tie("alt-dist-ratio", SGRawValueMethods<GPS, double>(*this, &GPS::getAltDistanceRatio, NULL));
+
+// reference navid
+ SGPropertyNode_ptr ref_navaid = node->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 = node->getChild("route-distance-nm", 0, true);
+ _routeETE = node->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
+ node->tie("cdi-deflection", SGRawValueMethods<GPS,double>
+ (*this, &GPS::getCDIDeflection));
+
+ SGPropertyNode* toFlag = node->getChild("to-flag", 0, true);
+ toFlag->alias(wp1_node->getChild("to-flag"));
+
+ SGPropertyNode* fromFlag = node->getChild("from-flag", 0, true);
+ fromFlag->alias(wp1_node->getChild("from-flag"));
+
+
+// autopilot drive properties
+ _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(node);
+
+ clearOutput();
+}
+
+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;
+
+ _raim_node->setDoubleValue(0.0);
+ _indicated_pos = SGGeod();
+ _wp1DistanceM = 0.0;
+ _wp1TrueBearing = 0.0;
+ _wp1_position = 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);
}
void
GPS::update (double delta_time_sec)
{
- // If it's off, don't bother.
- if (!_serviceable_node->getBoolValue() ||
- !_electrical_node->getBoolValue()) {
- _last_valid = false;
- _last_longitude_deg = 0;
- _last_latitude_deg = 0;
- _last_altitude_m = 0;
- _last_speed_kts = 0;
- _raim_node->setDoubleValue(false);
- _indicated_longitude_node->setDoubleValue(0);
- _indicated_latitude_node->setDoubleValue(0);
- _indicated_altitude_node->setDoubleValue(0);
- _indicated_vertical_speed_node->setDoubleValue(0);
- _true_track_node->setDoubleValue(0);
- _magnetic_track_node->setDoubleValue(0);
- _speed_node->setDoubleValue(0);
- _wp1_distance_node->setDoubleValue(0);
- _wp1_bearing_node->setDoubleValue(0);
- _wp1_longitude_node->setDoubleValue(0);
- _wp1_latitude_node->setDoubleValue(0);
- _wp1_course_node->setDoubleValue(0);
- _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);
- _true_wp1_bearing_error_node->setDoubleValue(0);
- _magnetic_wp1_bearing_error_node->setDoubleValue(0);
- return;
+ if (!_realismSimpleGps->getBoolValue()) {
+ // If it's off, don't bother.
+ if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
+ clearOutput();
+ return;
}
-
- // Get the aircraft position
+ }
+
+ if (delta_time_sec <= 0.0) {
+ return; // paused, don't bother
+ }
// TODO: Add noise and other errors.
- double longitude_deg = _longitude_node->getDoubleValue();
- double latitude_deg = _latitude_node->getDoubleValue();
- double altitude_m = _altitude_node->getDoubleValue() * SG_FEET_TO_METER;
- double magvar_deg = _magvar_node->getDoubleValue();
-
/*
// Bias and random error
printf("%f %f \n", error_length, error_angle);
*/
+ _raim_node->setDoubleValue(1.0);
+ _indicated_pos = _position.get();
+ updateBasicData(delta_time_sec);
+ if (_dataValid) {
+ if (_mode == "obs") {
+ _selectedCourse = _config.getExternalCourse();
+ } else {
+ updateTurn();
+ }
+
+ updateWaypoints();
+ updateTrackingBug();
+ updateReferenceNavaid(delta_time_sec);
+ updateRouteData();
+ driveAutopilot();
+ }
+
+ if (_dataValid && (_mode == "init")) {
+ // allow a realistic delay in the future, here
+ SG_LOG(SG_INSTR, SG_INFO, "GPS initialisation complete");
+
+ _selectedCourse = _config.getExternalCourse();
+
+ 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();
+ }
+ }
+ } // of init mode check
+
+ _last_pos = _indicated_pos;
+ _lastPosValid = true;
+}
+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/20.0);
+ _last_speed_kts = speed_kt;
+
+ 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;
+ }
+}
- double speed_kt, vertical_speed_mpm;
-
- _raim_node->setBoolValue(true);
- _indicated_longitude_node->setDoubleValue(longitude_deg);
- _indicated_latitude_node->setDoubleValue(latitude_deg);
- _indicated_altitude_node->setDoubleValue(altitude_m * SG_METER_TO_FEET);
-
- if (_last_valid) {
- double track1_deg, track2_deg, distance_m, odometer, mag_track_bearing;
- geo_inverse_wgs_84(altitude_m,
- _last_latitude_deg, _last_longitude_deg,
- latitude_deg, longitude_deg,
- &track1_deg, &track2_deg, &distance_m);
- speed_kt = ((distance_m * SG_METER_TO_NM) *
- ((1 / delta_time_sec) * 3600.0));
- vertical_speed_mpm = ((altitude_m - _last_altitude_m) * 60 /
- delta_time_sec);
- _indicated_vertical_speed_node->setDoubleValue
- (vertical_speed_mpm * SG_METER_TO_FEET);
- _true_track_node->setDoubleValue(track1_deg);
- mag_track_bearing = track1_deg - magvar_deg;
- SG_NORMALIZE_RANGE(mag_track_bearing, 0.0, 360.0);
- _magnetic_track_node->setDoubleValue(mag_track_bearing);
- speed_kt = fgGetLowPass(_last_speed_kts, speed_kt, delta_time_sec/20.0);
- _last_speed_kts = speed_kt;
- _speed_node->setDoubleValue(speed_kt);
-
- 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);
-
- // Get waypoint 0 position
- double wp0_longitude_deg = _wp0_longitude_node->getDoubleValue();
- double wp0_latitude_deg = _wp0_latitude_node->getDoubleValue();
- double wp0_altitude_m = _wp0_altitude_node->getDoubleValue()
- * SG_FEET_TO_METER;
- double wp0_course_deg = _wp0_course_node->getDoubleValue();
- double wp0_distance, wp0_bearing_deg, wp0_course_deviation_deg,
- wp0_course_error_m, wp0_TTW, wp0_bearing_error_deg;
- string wp0_ID = _wp0_ID_node->getStringValue();
-
- // Get waypoint 1 position
- double wp1_longitude_deg = _wp1_longitude_node->getDoubleValue();
- double wp1_latitude_deg = _wp1_latitude_node->getDoubleValue();
- double wp1_altitude_m = _wp1_altitude_node->getDoubleValue()
- * SG_FEET_TO_METER;
- double wp1_course_deg = _wp1_course_node->getDoubleValue();
- double wp1_distance, wp1_bearing_deg, wp1_course_deviation_deg,
- wp1_course_error_m, wp1_TTW, wp1_bearing_error_deg;
- string wp1_ID = _wp1_ID_node->getStringValue();
-
- // If the get-nearest-airport-node is true.
- // Get the nearest airport, and set it as waypoint 1.
- if (_get_nearest_airport_node->getBoolValue()) {
- const FGAirport* a = globals->get_airports()->search(longitude_deg, latitude_deg, 360.0);
- if(a) {
- _wp1_ID_node->setStringValue(a->getId().c_str());
- wp1_longitude_deg = a->getLongitude();
- wp1_latitude_deg = a->getLatitude();
- _wp1_name_node->setStringValue(a->getName().c_str());
- _get_nearest_airport_node->setBoolValue(false);
- _last_wp1_ID = wp1_ID = a->getId().c_str();
- }
- }
-
- // If the waypoint 0 ID has changed, try to find the new ID
- // in the airport-, fix-, nav-database.
- if ( !(_last_wp0_ID == wp0_ID) ) {
- string waypont_type =
- _wp0_waypoint_type_node->getStringValue();
- if (waypont_type == "airport") {
- const FGAirport* a = globals->get_airports()->search( wp0_ID );
- if ( a ) {
- wp0_longitude_deg = a->getLongitude();
- wp0_latitude_deg = a->getLatitude();
- _wp0_name_node->setStringValue(a->getName().c_str());
- }
- }
- else if (waypont_type == "nav") {
- FGNavRecord *n
- = globals->get_navlist()->findByIdent(wp0_ID.c_str(),
- longitude_deg,
- latitude_deg);
- if ( n != NULL ) {
- //cout << "Nav found" << endl;
- wp0_longitude_deg = n->get_lon();
- wp0_latitude_deg = n->get_lat();
- _wp0_name_node->setStringValue(n->get_name().c_str());
- }
- }
- else if (waypont_type == "fix") {
- FGFix f;
- if ( globals->get_fixlist()->query(wp0_ID, &f) ) {
- //cout << "Fix found" << endl;
- wp0_longitude_deg = f.get_lon();
- wp0_latitude_deg = f.get_lat();
- _wp0_name_node->setStringValue(wp0_ID.c_str());
- }
- }
- _last_wp0_ID = wp0_ID;
- }
-
- // If the waypoint 1 ID has changed, try to find the new ID
- // in the airport-, fix-, nav-database.
- if ( !(_last_wp1_ID == wp1_ID) ) {
- string waypont_type =
- _wp1_waypoint_type_node->getStringValue();
- if (waypont_type == "airport") {
- const FGAirport* a = globals->get_airports()->search( wp1_ID );
- if ( a ) {
- wp1_longitude_deg = a->getLongitude();
- wp1_latitude_deg = a->getLatitude();
- _wp1_name_node->setStringValue(a->getName().c_str());
- }
- }
- else if (waypont_type == "nav") {
- FGNavRecord *n
- = globals->get_navlist()->findByIdent(wp1_ID.c_str(),
- longitude_deg,
- latitude_deg);
- if ( n != NULL ) {
- //cout << "Nav found" << endl;
- wp1_longitude_deg = n->get_lon();
- wp1_latitude_deg = n->get_lat();
- _wp1_name_node->setStringValue(n->get_name().c_str());
- }
- }
- else if (waypont_type == "fix") {
- FGFix f;
- if ( globals->get_fixlist()->query(wp1_ID, &f) ) {
- //cout << "Fix found" << endl;
- wp1_longitude_deg = f.get_lon();
- wp1_latitude_deg = f.get_lat();
- _wp1_name_node->setStringValue(wp1_ID.c_str());
- }
- }
- _last_wp1_ID = wp1_ID;
- }
-
-
-
- // If any of the two waypoints have changed
- // we need to calculate a new course between them,
- // and values for vertical navigation.
- if ( wp0_longitude_deg != _wp0_longitude_deg ||
- wp0_latitude_deg != _wp0_latitude_deg ||
- wp0_altitude_m != _wp0_altitude_m ||
- wp1_longitude_deg != _wp1_longitude_deg ||
- wp1_latitude_deg != _wp1_latitude_deg ||
- wp1_altitude_m != _wp1_altitude_m )
- {
- // Update the global variables
- _wp0_longitude_deg = wp0_longitude_deg;
- _wp0_latitude_deg = wp0_latitude_deg;
- _wp0_altitude_m = wp0_altitude_m;
- _wp1_longitude_deg = wp1_longitude_deg;
- _wp1_latitude_deg = wp1_latitude_deg;
- _wp1_altitude_m = wp1_altitude_m;
-
- // Get the course and distance from wp0 to wp1
- SGWayPoint wp0(wp0_longitude_deg,
- wp0_latitude_deg, wp0_altitude_m);
- SGWayPoint wp1(wp1_longitude_deg,
- wp1_latitude_deg, wp1_altitude_m);
-
- wp1.CourseAndDistance(wp0, &_course_deg, &_distance_m);
- double leg_mag_course = _course_deg - magvar_deg;
- SG_NORMALIZE_RANGE(leg_mag_course, 0.0, 360.0);
-
- // Get the altitude / distance ratio
- if ( distance_m > 0.0 ) {
- double alt_difference_m = wp0_altitude_m - wp1_altitude_m;
- _alt_dist_ratio = alt_difference_m / _distance_m;
- }
-
- _leg_distance_node->setDoubleValue(_distance_m * SG_METER_TO_NM);
- _leg_course_node->setDoubleValue(_course_deg);
- _leg_magnetic_course_node->setDoubleValue(leg_mag_course);
- _alt_dist_ratio_node->setDoubleValue(_alt_dist_ratio);
-
- _wp0_longitude_node->setDoubleValue(wp0_longitude_deg);
- _wp0_latitude_node->setDoubleValue(wp0_latitude_deg);
- _wp1_longitude_node->setDoubleValue(wp1_longitude_deg);
- _wp1_latitude_node->setDoubleValue(wp1_latitude_deg);
- }
-
-
- // Find the bearing and distance to waypoint 0.
- SGWayPoint wp0(wp0_longitude_deg, wp0_latitude_deg, wp0_altitude_m);
- wp0.CourseAndDistance(longitude_deg, latitude_deg, altitude_m,
- &wp0_bearing_deg, &wp0_distance);
- _wp0_distance_node->setDoubleValue(wp0_distance * SG_METER_TO_NM);
- _wp0_bearing_node->setDoubleValue(wp0_bearing_deg);
- double wp0_mag_bearing_deg = wp0_bearing_deg - magvar_deg;
- SG_NORMALIZE_RANGE(wp0_mag_bearing_deg, 0.0, 360.0);
- _wp0_mag_bearing_node->setDoubleValue(wp0_mag_bearing_deg);
- wp0_bearing_error_deg = track1_deg - wp0_bearing_deg;
- SG_NORMALIZE_RANGE(wp0_bearing_error_deg, -180.0, 180.0);
- _true_wp0_bearing_error_node->setDoubleValue(wp0_bearing_error_deg);
-
- // Estimate time to waypoint 0.
- // The estimation does not take track into consideration,
- // so if you are going away from the waypoint the TTW will
- // increase. Makes most sense when travelling directly towards
- // the waypoint.
- if (speed_kt > 0.0 && wp0_distance > 0.0) {
- wp0_TTW = (wp0_distance * SG_METER_TO_NM) / (speed_kt / 3600);
- }
- else {
- wp0_TTW = 0.0;
- }
- unsigned int wp0_TTW_seconds = (int) (wp0_TTW + 0.5);
- if (wp0_TTW_seconds < 356400) { // That's 99 hours
- unsigned int wp0_TTW_minutes = 0;
- unsigned int wp0_TTW_hours = 0;
- char wp0_TTW_str[9];
- while (wp0_TTW_seconds >= 3600) {
- wp0_TTW_seconds -= 3600;
- wp0_TTW_hours++;
- }
- while (wp0_TTW_seconds >= 60) {
- wp0_TTW_seconds -= 60;
- wp0_TTW_minutes++;
- }
- snprintf(wp0_TTW_str, 9, "%02d:%02d:%02d",
- wp0_TTW_hours, wp0_TTW_minutes, wp0_TTW_seconds);
- _wp0_ttw_node->setStringValue(wp0_TTW_str);
- }
- else
- _wp0_ttw_node->setStringValue("--:--:--");
-
- // Course deviation is the diffenrence between the bearing
- // and the course.
- wp0_course_deviation_deg = wp0_bearing_deg -
- wp0_course_deg;
- SG_NORMALIZE_RANGE(wp0_course_deviation_deg, -180.0, 180.0);
-
- // If the course deviation is less than 90 degrees to either side,
- // our desired course is towards the waypoint.
- // It does not matter if we are actually moving
- // towards or from the waypoint.
- if (fabs(wp0_course_deviation_deg) < 90.0) {
- _wp0_to_flag_node->setBoolValue(true); }
- // If it's more than 90 degrees the desired
- // course is from the waypoint.
- else if (fabs(wp0_course_deviation_deg) > 90.0) {
- _wp0_to_flag_node->setBoolValue(false);
- // When the course is away from the waypoint,
- // it makes sense to change the sign of the deviation.
- wp0_course_deviation_deg *= -1.0;
- SG_NORMALIZE_RANGE(wp0_course_deviation_deg, -90.0, 90.0);
- }
-
- _wp0_course_deviation_node->setDoubleValue(wp0_course_deviation_deg);
-
- // Cross track error.
- wp0_course_error_m = sin(wp0_course_deviation_deg * SG_PI / 180.0)
- * (wp0_distance);
- _wp0_course_error_nm_node->setDoubleValue(wp0_course_error_m
- * SG_METER_TO_NM);
-
-
-
- // Find the bearing and distance to waypoint 1.
- SGWayPoint wp1(wp1_longitude_deg, wp1_latitude_deg, wp1_altitude_m);
- wp1.CourseAndDistance(longitude_deg, latitude_deg, altitude_m,
- &wp1_bearing_deg, &wp1_distance);
- _wp1_distance_node->setDoubleValue(wp1_distance * SG_METER_TO_NM);
- _wp1_bearing_node->setDoubleValue(wp1_bearing_deg);
- double wp1_mag_bearing_deg = wp1_bearing_deg - magvar_deg;
- SG_NORMALIZE_RANGE(wp1_mag_bearing_deg, 0.0, 360.0);
- _wp1_mag_bearing_node->setDoubleValue(wp1_mag_bearing_deg);
- wp1_bearing_error_deg = track1_deg - wp1_bearing_deg;
- SG_NORMALIZE_RANGE(wp1_bearing_error_deg, -180.0, 180.0);
- _true_wp1_bearing_error_node->setDoubleValue(wp1_bearing_error_deg);
-
- // Estimate time to waypoint 1.
- // The estimation does not take track into consideration,
- // so if you are going away from the waypoint the TTW will
- // increase. Makes most sense when travelling directly towards
- // the waypoint.
- if (speed_kt > 0.0 && wp1_distance > 0.0) {
- wp1_TTW = (wp1_distance * SG_METER_TO_NM) / (speed_kt / 3600);
- }
- else {
- wp1_TTW = 0.0;
- }
- unsigned int wp1_TTW_seconds = (int) (wp1_TTW + 0.5);
- if (wp1_TTW_seconds < 356400) { // That's 99 hours
- unsigned int wp1_TTW_minutes = 0;
- unsigned int wp1_TTW_hours = 0;
- char wp1_TTW_str[9];
- while (wp1_TTW_seconds >= 3600) {
- wp1_TTW_seconds -= 3600;
- wp1_TTW_hours++;
- }
- while (wp1_TTW_seconds >= 60) {
- wp1_TTW_seconds -= 60;
- wp1_TTW_minutes++;
- }
- snprintf(wp1_TTW_str, 9, "%02d:%02d:%02d",
- wp1_TTW_hours, wp1_TTW_minutes, wp1_TTW_seconds);
- _wp1_ttw_node->setStringValue(wp1_TTW_str);
- }
- else
- _wp1_ttw_node->setStringValue("--:--:--");
-
- // Course deviation is the diffenrence between the bearing
- // and the course.
- wp1_course_deviation_deg = wp1_bearing_deg - wp1_course_deg;
- SG_NORMALIZE_RANGE(wp1_course_deviation_deg, -180.0, 180.0);
-
- // If the course deviation is less than 90 degrees to either side,
- // our desired course is towards the waypoint.
- // It does not matter if we are actually moving
- // towards or from the waypoint.
- if (fabs(wp1_course_deviation_deg) < 90.0) {
- _wp1_to_flag_node->setBoolValue(true); }
- // If it's more than 90 degrees the desired
- // course is from the waypoint.
- else if (fabs(wp1_course_deviation_deg) > 90.0) {
- _wp1_to_flag_node->setBoolValue(false);
- // When the course is away from the waypoint,
- // it makes sense to change the sign of the deviation.
- wp1_course_deviation_deg *= -1.0;
- SG_NORMALIZE_RANGE(wp1_course_deviation_deg, -90.0, 90.0);
- }
-
- _wp1_course_deviation_node->setDoubleValue(wp1_course_deviation_deg);
-
- // Cross track error.
- wp1_course_error_m = sin(wp1_course_deviation_deg * SG_PI / 180.0)
- * (wp1_distance);
- _wp1_course_error_nm_node->setDoubleValue(wp1_course_error_m
- * SG_METER_TO_NM);
-
-
- // Leg course deviation is the diffenrence between the bearing
- // and the course.
- double course_deviation_deg = wp1_bearing_deg - _course_deg;
- SG_NORMALIZE_RANGE(course_deviation_deg, -180.0, 180.0);
-
- // If the course deviation is less than 90 degrees to either side,
- // our desired course is towards the waypoint.
- // It does not matter if we are actually moving
- // towards or from the waypoint.
- if (fabs(course_deviation_deg) < 90.0) {
- _leg_to_flag_node->setBoolValue(true); }
- // If it's more than 90 degrees the desired
- // course is from the waypoint.
- else if (fabs(course_deviation_deg) > 90.0) {
- _leg_to_flag_node->setBoolValue(false);
- // When the course is away from the waypoint,
- // it makes sense to change the sign of the deviation.
- course_deviation_deg *= -1.0;
- SG_NORMALIZE_RANGE(course_deviation_deg, -90.0, 90.0);
- }
-
- _leg_course_deviation_node->setDoubleValue(course_deviation_deg);
-
- // Cross track error.
- double course_error_m = sin(course_deviation_deg * SG_PI / 180.0)
- * (_distance_m);
- _leg_course_error_nm_node->setDoubleValue(course_error_m * SG_METER_TO_NM);
-
- // Altitude deviation
- double desired_altitude_m = wp1_altitude_m
- + wp1_distance * _alt_dist_ratio;
- double altitude_deviation_m = altitude_m - desired_altitude_m;
- _alt_deviation_node->setDoubleValue(altitude_deviation_m * SG_METER_TO_FEET);
-
-
-
- // Tracking bug.
- double tracking_bug = _tracking_bug_node->getDoubleValue();
- double true_bug_error = tracking_bug - track1_deg;
- double magnetic_bug_error = tracking_bug - mag_track_bearing;
-
- // 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);
-
-
- // Add WP 1 to the route.
- if ( addWp->getBoolValue() )
- {
- addWp->setBoolValue(false);
-
- SGWayPoint tempWp( _wp1_longitude_node->getDoubleValue(),
- _wp1_latitude_node->getDoubleValue(),
- _wp1_altitude_node->getDoubleValue(),
- SGWayPoint::WGS84,
- _wp1_ID_node->getStringValue(),
- _wp1_name_node->getStringValue() );
-
- route->add_waypoint(tempWp);
-
- SGPropertyNode *wp =
- _route->getChild("Waypoint", route->size()-1, true);
- SGPropertyNode *id = wp->getChild("ID", 0, true);
- SGPropertyNode *name = wp->getChild("Name", 0, true);
- SGPropertyNode *lat = wp->getChild("Latitude", 0, true);
- SGPropertyNode *lon = wp->getChild("Longitude", 0, true);
- SGPropertyNode *alt = wp->getChild("Altitude", 0, true);
-
- id->setStringValue( tempWp.get_id().c_str() );
- name->setStringValue( tempWp.get_name().c_str() );
- lat->setDoubleValue( tempWp.get_target_lat() );
- lon->setDoubleValue( tempWp.get_target_lon() );
- alt->setDoubleValue( tempWp.get_target_alt() );
- }
-
- if ( popWp->getBoolValue() )
- {
- popWp->setBoolValue(false);
-
- route->delete_first();
- _route->removeChild("Waypoint", 0, false);
- }
+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::updateWaypoints()
+{
+ double az2;
+ SGGeodesy::inverse(_indicated_pos, _wp1_position, _wp1TrueBearing, az2,_wp1DistanceM);
+}
+
+void GPS::updateReferenceNavaid(double dt)
+{
+ if (!_ref_navaid_set) {
+ _ref_navaid_elapsed += dt;
+ if (_ref_navaid_elapsed > 5.0) {
+ _ref_navaid_elapsed = 0.0;
+
+ 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 navid");
+ _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);
+ tuneNavRadios();
+ } else {
+ // SG_LOG(SG_INSTR, SG_ALERT, "matched existing");
+ }
+
+ _ref_navaid = nav;
+ }
+ }
+
+ 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);
+ tuneNavRadios();
+ } else {
+ _ref_navaid_set = false;
+ _ref_navaid_elapsed = 9999.0; // update next tick
+ }
+}
+
+void GPS::tuneNavRadios()
+{
+ if (!_ref_navaid || !_config.tuneNavRadioToRefVor()) {
+ return;
+ }
+
+ SGPropertyNode_ptr navRadio1 = fgGetNode("/instrumentation/nav", false);
+ if (!navRadio1) {
+ return;
+ }
+
+ FGNavRecord* vor = (FGNavRecord*) _ref_navaid.ptr();
+ SGPropertyNode_ptr freqs = navRadio1->getChild("frequencies");
+ freqs->setDoubleValue("selected-mhz", vor->get_freq() / 100.0);
+}
+
+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");
+ selectOBSMode();
+ }
+}
+
+void GPS::routeManagerSequenced()
+{
+ if (_mode != "leg") {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS ignoring route sequencing, not in LEG mode");
+ return;
+ }
+
+ int index = _routeMgr->currentWaypoint(),
+ count = _routeMgr->size();
+ if ((index < 0) || (index >= count)) {
+ 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) {
+ SGWayPoint wp0(_routeMgr->get_waypoint(index - 1));
+ _wp0Ident = wp0.get_id();
+ _wp0Name = wp0.get_name();
+ _wp0_position = wp0.get_target();
+
+ }
+
+ SGWayPoint wp1(_routeMgr->get_waypoint(index));
+ _wp1Ident = wp1.get_id();
+ _wp1Name = wp1.get_name();
+ _wp1_position = wp1.get_target();
+
+ _selectedCourse = getLegMagCourse();
+ 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");
+ _mode = "obs";
+ _wp0_position = _indicated_pos;
+ 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);
+ // FXIME
+ //_wp1_course_deviation_node->setDoubleValue(deviationDeg);
+ //_wp1_course_error_nm_node->setDoubleValue(deviationNm);
+ //_cdiDeflectionNode->setDoubleValue(deviationDeg);
+ }
+}
+
+void GPS::updateOverflight()
+{
+ if ((_wp1DistanceM * SG_METER_TO_NM) > _config.overflightArmDistanceNm()) {
+ return;
+ }
+
+ if (getWP1ToFlag()) {
+ return; // still heading towards the WP
+ }
+
+ 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->findWaypoint(_wp1_position);
+ if (index >= 0) {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
+ _mode = "leg";
+ _routeMgr->jumpToIndex(index);
+ }
+ }
+ } 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;
+ }
+
+ int curIndex = _routeMgr->currentWaypoint();
+ if ((curIndex + 1) >= _routeMgr->size()) {
+ _anticipateTurn = false;
+ return;
+ }
+
+ if (!_config.turnAnticipationEnabled()) {
+ _anticipateTurn = false;
+ return;
+ }
+
+ _turnStartBearing = _selectedCourse;
+// compute next leg course
+ SGWayPoint wp1(_routeMgr->get_waypoint(curIndex)),
+ wp2(_routeMgr->get_waypoint(curIndex + 1));
+ double crs, dist;
+ wp2.CourseAndDistance(wp1, &crs, &dist);
+
+
+// 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:" << wp1.get_id() << "->" << wp2.get_id());
+
+ _turnPt = _wp1_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 = _wp1DistanceM * SG_METER_TO_NM;
+ // walk all waypoints from wp2 to route end, and sum
+ for (int i=_routeMgr->currentWaypoint()+1; i<_routeMgr->size(); ++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()) {
+ return;
+ }
+
+ // FIXME: we want to set desired track, not heading, here
+ _apTrueHeading->setDoubleValue(getWP1Bearing());
+}
+
+void GPS::wp1Changed()
+{
+ // update external HSI/CDI/NavDisplay/PFD/etc
+ _config.setExternalCourse(getLegMagCourse());
+
+ if (!_config.driveAutopilot()) {
+ return;
+ }
+
+ double altFt = _wp1_position.getElevationFt();
+ if (altFt < -9990.0) {
+ _apTargetAltitudeFt->setDoubleValue(0.0);
+ } else {
+ _apTargetAltitudeFt->setDoubleValue(altFt);
+ }
+}
+
+/////////////////////////////////////////////////////////////////////////////
+// property getter/setters
+
+double GPS::getLegDistance() const
+{
+ if (!_dataValid || (_mode == "obs")) {
+ return -1;
+ }
+
+ return SGGeodesy::distanceNm(_wp0_position, _wp1_position);
+}
+
+double GPS::getLegCourse() const
+{
+ if (!_dataValid) {
+ return -9999.0;
+ }
+
+ return SGGeodesy::courseDeg(_wp0_position, _wp1_position);
+}
+
+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::getAltDistanceRatio() const
+{
+ if (!_dataValid || (_mode == "obs")) {
+ return 0.0;
+ }
+
+ double dist = SGGeodesy::distanceM(_wp0_position, _wp1_position);
+ if ( dist <= 0.0 ) {
+ return 0.0;
+ }
+
+ double alt_difference_m = _wp0_position.getElevationM() - _wp1_position.getElevationM();
+ return alt_difference_m / dist;
+}
+
+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")) {
+ return "";
+ }
+
+ return _wp0Ident.c_str();
+}
+
+const char* GPS::getWP0Name() const
+{
+ if (!_dataValid || (_mode != "leg")) {
+ return "";
+ }
+
+ return _wp0Name.c_str();
+}
+
+const char* GPS::getWP1Ident() const
+{
+ if (!_dataValid) {
+ return "";
+ }
+
+ return _wp1Ident.c_str();
+}
+const char* GPS::getWP1Name() const
+{
+ if (!_dataValid) {
+ return "";
+ }
+
+ return _wp1Name.c_str();
+}
+
+double GPS::getWP1Distance() const
+{
+ if (!_dataValid) {
+ return -1.0;
+ }
+
+ return _wp1DistanceM * SG_METER_TO_NM;
+}
+
+double GPS::getWP1TTW() const
+{
+ if (!_dataValid) {
+ return -1.0;
+ }
+
+ if (_last_speed_kts < 1.0) {
+ return -1.0;
+ }
+
+ return (getWP1Distance() / _last_speed_kts) * 3600.0;
+}
+
+const char* GPS::getWP1TTWString() const
+{
+ if (!_dataValid) {
+ return "";
+ }
+
+ return makeTTWString(getWP1TTW());
+}
+
+double GPS::getWP1Bearing() const
+{
+ if (!_dataValid) {
+ return -9999.0;
+ }
+
+ return _wp1TrueBearing;
+}
+
+double GPS::getWP1MagBearing() const
+{
+ if (!_dataValid) {
+ return -9999.0;
+ }
+
+ return _wp1TrueBearing - _magvar_node->getDoubleValue();
+}
+
+double GPS::getWP1CourseDeviation() const
+{
+ if (!_dataValid) {
+ return 0.0;
+ }
+
+ double dev = getWP1MagBearing() - _selectedCourse;
+ SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
+
+ if (fabs(dev) > 90.0) {
+ // When the course is away from the waypoint,
+ // it makes sense to change the sign of the deviation.
+ dev *= -1.0;
+ SG_NORMALIZE_RANGE(dev, -90.0, 90.0);
+ }
+
+ return dev;
+}
+
+double GPS::getWP1CourseErrorNm() const
+{
+ if (!_dataValid) {
+ return 0.0;
+ }
+
+ double radDev = getWP1CourseDeviation() * SG_DEGREES_TO_RADIANS;
+ double course_error_m = sin(radDev) * _wp1DistanceM;
+ return course_error_m * SG_METER_TO_NM;
+}
+
+bool GPS::getWP1ToFlag() const
+{
+ if (!_dataValid) {
+ return false;
+ }
+
+ double dev = getWP1MagBearing() - _selectedCourse;
+ SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
+
+ return (fabs(dev) < 90.0);
+}
+
+bool GPS::getWP1FromFlag() const
+{
+ if (!_dataValid) {
+ 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->size() == 0)) {
+ index = _routeMgr->size();
+ } else if (index >= _routeMgr->size()) {
+ 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->size() == 0)) {
+ index = _routeMgr->size();
+ } else if (index >= _routeMgr->size()) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:route-insert-after, bad index:" << index);
+ return;
} else {
- _true_track_node->setDoubleValue(0.0);
- _magnetic_track_node->setDoubleValue(0.0);
- _speed_node->setDoubleValue(0.0);
+ ++index;
+ }
+
+ insertWaypointAtIndex(index);
+ } else if (!strcmp(aCmd, "route-delete")) {
+ int index = _scratchNode->getIntValue("index");
+ if (index < 0) {
+ index = _routeMgr->size();
+ } else if (index >= _routeMgr->size()) {
+ 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()) {
+ SG_LOG(SG_INSTR, SG_WARN, "invalid DTO lat/lon");
+ return;
+ }
+
+ _wp0_position = _indicated_pos;
+ _wp1Ident = _scratchNode->getStringValue("ident");
+ _wp1Name = _scratchNode->getStringValue("name");
+ _wp1_position = _scratchPos;
+
+ _mode = "dto";
+ _selectedCourse = getLegMagCourse();
+ 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 == -9999) { // no index supplied, use current wp
+ index = _routeMgr->currentWaypoint();
+ }
+
+ _searchIsRoute = true;
+ setScratchFromRouteWaypoint(index);
+}
+
+void GPS::setScratchFromRouteWaypoint(int aIndex)
+{
+ assert(_searchIsRoute);
+ if ((aIndex < 0) || (aIndex >= _routeMgr->size())) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
+ return;
+ }
+
+ _searchResultIndex = aIndex;
+ SGWayPoint wp(_routeMgr->get_waypoint(aIndex));
+ _scratchNode->setStringValue("name", wp.get_name());
+ _scratchNode->setStringValue("ident", wp.get_id());
+ _scratchPos = wp.get_target();
+ _scratchValid = true;
+ _scratchNode->setDoubleValue("course", wp.get_track());
+ _scratchNode->setIntValue("index", aIndex);
+
+ int lastResult = _routeMgr->size() - 1;
+ _searchHasNext = (_searchResultIndex < lastResult);
+}
+
+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);
+
+ clearScratch(); // clear now, regardless of whether we find a match or not
+
+ _searchResults =
+ FGPositioned::findClosestN(_indicated_pos, limitCount, cutoffDistance, f.get());
+ _searchResultsCached = true;
+ _searchResultIndex = 0;
+ _searchIsRoute = false;
+ _searchHasNext = false;
+
+ if (_searchResults.empty()) {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS:loadNearest: no matches at all");
+ return;
+ }
+
+ _searchHasNext = (_searchResults.size() > 1);
+ 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(_config.minRunwayLengthFt());
+ }
+
+ // 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);
+ _searchOrderByRange = _scratchNode->getBoolValue("order-by-distance", true);
+ _searchResultIndex = 0;
+ _searchIsRoute = false;
+ _searchHasNext = false;
+
+ if (_searchExact && _searchOrderByRange) {
+ // immediate mode search, get all the results now and cache them
+ auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
+ if (_searchNames) {
+ _searchResults = FGPositioned::findAllWithNameSortedByRange(_searchQuery, _indicated_pos, f.get());
+ } else {
+ _searchResults = FGPositioned::findAllWithIdentSortedByRange(_searchQuery, _indicated_pos, f.get());
+ }
+
+ _searchResultsCached = true;
+
+ if (_searchResults.empty()) {
+ clearScratch();
+ return;
+ }
+
+ _searchHasNext = (_searchResults.size() > 1);
+ setScratchFromCachedSearchResult();
+ } else {
+ // iterative search, look up result zero
+ _searchResultsCached = false;
+ performSearch();
+ }
+}
- _last_valid = true;
- _last_longitude_deg = longitude_deg;
- _last_latitude_deg = latitude_deg;
- _last_altitude_m = altitude_m;
+void GPS::performSearch()
+{
+ auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
+ clearScratch();
+
+ FGPositionedRef r;
+ if (_searchNames) {
+ if (_searchOrderByRange) {
+ r = FGPositioned::findClosestWithPartialName(_indicated_pos, _searchQuery, f.get(), _searchResultIndex, _searchHasNext);
+ } else {
+ r = FGPositioned::findWithPartialName(_searchQuery, f.get(), _searchResultIndex, _searchHasNext);
+ }
+ } else {
+ if (_searchOrderByRange) {
+ r = FGPositioned::findClosestWithPartialId(_indicated_pos, _searchQuery, f.get(), _searchResultIndex, _searchHasNext);
+ } else {
+ r = FGPositioned::findWithPartialId(_searchQuery, f.get(), _searchResultIndex, _searchHasNext);
+ }
+ }
+
+ if (!r) {
+ return;
+ }
+
+ setScratchFromPositioned(r.get(), _searchResultIndex);
+}
+
+void GPS::setScratchFromCachedSearchResult()
+{
+ assert(_searchResultsCached);
+ 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);
+
+ int lastResult = (int) _searchResults.size() - 1;
+ _searchHasNext = (_searchResultIndex < lastResult);
+}
+
+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;
+ if (_searchResultsCached) {
+ _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()) {
+ SG_LOG(SG_INSTR, SG_WARN, "invalid OBS lat/lon");
+ return;
+ }
+
+ SG_LOG(SG_INSTR, SG_INFO, "GPS switching to OBS mode");
+ _mode = "obs";
+
+ _wp1Ident = _scratchNode->getStringValue("ident");
+ _wp1Name = _scratchNode->getStringValue("name");
+ _wp1_position = _scratchPos;
+ _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 (!_searchHasNext) {
+ return;
+ }
+
+ clearScratch();
+ if (_searchIsRoute) {
+ setScratchFromRouteWaypoint(++_searchResultIndex);
+ } else if (_searchResultsCached) {
+ ++_searchResultIndex;
+ setScratchFromCachedSearchResult();
+ } else {
+ ++_searchResultIndex;
+ performSearch();
+ } // of iterative search case
+}
+
+void GPS::previousResult()
+{
+ if (_searchResultIndex <= 0) {
+ return;
+ }
+
+ clearScratch();
+ --_searchResultIndex;
+
+ if (_searchIsRoute) {
+ setScratchFromRouteWaypoint(_searchResultIndex);
+ } else if (_searchResultsCached) {
+ setScratchFromCachedSearchResult();
+ } else {
+ performSearch();
+ }
+}
+
+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::findAllWithIdentSortedByRange(ident, _indicated_pos, &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);
+ _searchResultsCached = false;
+ 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->size())) {
+ 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");
+ string name = _scratchNode->getStringValue("name");
+
+ _routeMgr->add_waypoint(SGWayPoint(_scratchPos, ident, name), aIndex);
+}
+
+void GPS::removeWaypointAtIndex(int aIndex)
+{
+ if ((aIndex < 0) || (aIndex >= _routeMgr->size())) {
+ throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
+ }
+
+ _routeMgr->pop_waypoint(aIndex);
}
// end of gps.cxx
projects / flightgear.git / blobdiff