#include <simgear/math/sg_random.h>
#include <simgear/sg_inlines.h>
#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/structure/exception.hxx>
using std::auto_ptr;
using std::string;
////////////////////////////////////////////////////////////////////////////
GPS::GPS ( SGPropertyNode *node) :
- _last_valid(false),
+ _selectedCourse(0.0),
+ _dataValid(false),
+ _lastPosValid(false),
+ _mode("init"),
_name(node->getStringValue("name", "gps")),
_num(node->getIntValue("number", 0)),
_computeTurnData(false),
_magnetic_bug_error_node = node->getChild("magnetic-bug-error-deg", 0, true);
// command system
- _mode = "obs";
node->tie("mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
node->tie("command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
// last thing, add the deprecated prop watcher
new DeprecatedPropListener(node);
- // initialise in OBS mode, with waypt set to the nearest airport.
- // keep in mind at this point, _last_valid 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();
- }
+ clearOutput();
}
void
GPS::clearOutput()
{
- _last_valid = false;
+ _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;
printf("%f %f \n", error_length, error_angle);
*/
- _raim_node->setDoubleValue(1.0);
- _indicated_pos = _position.get();
+ _raim_node->setDoubleValue(1.0);
+ _indicated_pos = _position.get();
+ updateBasicData(delta_time_sec);
- if (_last_valid) {
- updateWithValid(delta_time_sec);
+ if (_dataValid) {
+ if (_mode == "obs") {
+ _selectedCourse = _config.getExternalCourse();
} else {
- _last_valid = true;
-
- if (_route_active_node->getBoolValue()) {
- // GPS init with active route
- SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
- _listener->setGuard(true);
- routeActivated();
- routeManagerSequenced();
- _listener->setGuard(false);
- }
+ updateTurn();
}
-
- _last_pos = _indicated_pos;
-}
-
-void
-GPS::updateWithValid(double dt)
-{
- assert(_last_valid);
-
- updateBasicData(dt);
+
+ updateWaypoints();
+ updateTrackingBug();
+ updateReferenceNavaid(delta_time_sec);
+ updateRouteData();
+ driveAutopilot();
+ }
- if (_mode == "obs") {
+ if (_dataValid && (_mode == "init")) {
+ // allow a realistic delay in the future, here
+ SG_LOG(SG_INSTR, SG_INFO, "GPS initialisation complete");
+
_selectedCourse = _config.getExternalCourse();
- } else {
- updateTurn();
- }
- updateWaypoints();
- updateTrackingBug();
- updateReferenceNavaid(dt);
- updateRouteData();
- driveAutopilot();
+ 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 );
_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;
+ }
}
void
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();
int index = _routeMgr->currentWaypoint(),
count = _routeMgr->size();
- if ((index < 1) || (index >= count)) {
+ 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);
- SGWayPoint wp0(_routeMgr->get_waypoint(index - 1));
- SGWayPoint wp1(_routeMgr->get_waypoint(index));
-
- _wp0Ident = wp0.get_id();
- _wp0Name = wp0.get_name();
- _wp0_position = wp0.get_target();
+
+ 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();
double GPS::getLegDistance() const
{
- if (!_last_valid || (_mode == "obs")) {
+ if (!_dataValid || (_mode == "obs")) {
return -1;
}
double GPS::getLegCourse() const
{
- if (!_last_valid || (_mode == "obs")) {
+ if (!_dataValid) {
return -9999.0;
}
double GPS::getLegMagCourse() const
{
- if (!_last_valid || (_mode == "obs")) {
+ if (!_dataValid) {
return 0.0;
}
double GPS::getAltDistanceRatio() const
{
- if (!_last_valid || (_mode == "obs")) {
+ if (!_dataValid || (_mode == "obs")) {
return 0.0;
}
double GPS::getMagTrack() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return 0.0;
}
double GPS::getCDIDeflection() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return 0.0;
}
const char* GPS::getWP0Ident() const
{
- if (!_last_valid || (_mode != "leg")) {
+ if (!_dataValid || (_mode != "leg")) {
return "";
}
const char* GPS::getWP0Name() const
{
- if (!_last_valid || (_mode != "leg")) {
+ if (!_dataValid || (_mode != "leg")) {
return "";
}
const char* GPS::getWP1Ident() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return "";
}
const char* GPS::getWP1Name() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return "";
}
double GPS::getWP1Distance() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return -1.0;
}
double GPS::getWP1TTW() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return -1.0;
}
const char* GPS::getWP1TTWString() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return "";
}
double GPS::getWP1Bearing() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return -9999.0;
}
double GPS::getWP1MagBearing() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return -9999.0;
}
double GPS::getWP1CourseDeviation() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return 0.0;
}
double GPS::getWP1CourseErrorNm() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return 0.0;
}
bool GPS::getWP1ToFlag() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return false;
}
bool GPS::getWP1FromFlag() const
{
- if (!_last_valid) {
+ if (!_dataValid) {
return false;
}
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 {
+ ++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:unrecognzied command:" << aCmd);
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:unrecognized command:" << aCmd);
}
}
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;
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();
}
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