#include "gps.hxx"
+#include <boost/tuple/tuple.hpp>
+
#include <memory>
#include <set>
+#include <cstring>
+#include <cstdio>
#include "Main/fg_props.hxx"
#include "Main/globals.hxx" // for get_subsystem
#include "Main/util.hxx" // for fgLowPass
#include "Navaids/positioned.hxx"
+#include <Navaids/waypoint.hxx>
#include "Navaids/navrecord.hxx"
-#include "Airports/simple.hxx"
+#include "Navaids/FlightPlan.hxx"
+#include "Airports/airport.hxx"
#include "Airports/runways.hxx"
#include "Autopilot/route_mgr.hxx"
using std::auto_ptr;
using std::string;
+using namespace flightgear;
-///////////////////////////////////////////////////////////////////
-
-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);
- }
-}
-
-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 const char* makeTTWString(double TTW)
{
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
_turnRate(3.0), // degrees-per-second, so 180 degree turn takes 60 seconds
_overflightArmDistance(1.0),
_waypointAlertTime(30.0),
- _minRunwayLengthFt(0.0),
_requireHardSurface(true),
_cdiMaxDeflectionNm(3.0), // linear mode, 3nm at the peg
_driveAutopilot(true),
aOwner->tie(aCfg, "turn-rate-deg-sec", SGRawValuePointer<double>(&_turnRate));
aOwner->tie(aCfg, "turn-anticipation", SGRawValuePointer<bool>(&_enableTurnAnticipation));
aOwner->tie(aCfg, "wpt-alert-time", SGRawValuePointer<double>(&_waypointAlertTime));
- aOwner->tie(aCfg, "min-runway-length-ft", SGRawValuePointer<double>(&_minRunwayLengthFt));
aOwner->tie(aCfg, "hard-surface-runways-only", SGRawValuePointer<bool>(&_requireHardSurface));
aOwner->tie(aCfg, "cdi-max-deflection-nm", SGRawValuePointer<double>(&_cdiMaxDeflectionNm));
aOwner->tie(aCfg, "drive-autopilot", SGRawValuePointer<bool>(&_driveAutopilot));
////////////////////////////////////////////////////////////////////////////
-GPS::GPS ( SGPropertyNode *node) :
+GPS::GPS ( SGPropertyNode *node, bool defaultGPSMode) :
_selectedCourse(0.0),
+ _desiredCourse(0.0),
_dataValid(false),
_lastPosValid(false),
+ _defaultGPSMode(defaultGPSMode),
_mode("init"),
_name(node->getStringValue("name", "gps")),
_num(node->getIntValue("number", 0)),
_computeTurnData(false),
_anticipateTurn(false),
- _inTurn(false)
+ _inTurn(false),
+ _callbackFlightPlanChanged(SGPropertyChangeCallback<GPS>(this,&GPS::routeManagerFlightPlanChanged,
+ fgGetNode("/autopilot/route-manager/signals/flightplan-changed", true))),
+ _callbackRouteActivated(SGPropertyChangeCallback<GPS>(this,&GPS::routeActivated,
+ fgGetNode("/autopilot/route-manager/active", true)))
{
string branch = "/instrumentation/" + _name;
_gpsNode = fgGetNode(branch.c_str(), _num, true );
_scratchNode = _gpsNode->getChild("scratch", 0, true);
+
+ SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
+ _currentWayptNode = wp_node->getChild("wp", 1, true);
+
+#if FG_210_COMPAT
+ _searchIsRoute = false;
+ _searchHasNext = false;
+ _searchType = FGPositioned::INVALID;
+#endif
}
GPS::~GPS ()
void
GPS::init ()
{
- _routeMgr = (FGRouteMgr*) globals->get_subsystem("route-manager");
- assert(_routeMgr);
-
- _position.init("/position/longitude-deg", "/position/latitude-deg", "/position/altitude-ft");
_magvar_node = fgGetNode("/environment/magnetic-variation-deg", true);
_serviceable_node = _gpsNode->getChild("serviceable", 0, true);
_serviceable_node->setBoolValue(true);
_northSouthVelocity = _gpsNode->getChild("ns-velocity-msec", 0, true);
// waypoints
- SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
- SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
-
// for compatability, alias selected course down to wp/wp[1]/desired-course-deg
- SGPropertyNode* wp1Crs = wp1_node->getChild("desired-course-deg", 0, true);
+ SGPropertyNode* wp1Crs = _currentWayptNode->getChild("desired-course-deg", 0, true);
wp1Crs->alias(_gpsNode->getChild("desired-course-deg", 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);
_tracking_bug_node = _gpsNode->getChild("tracking-bug", 0, true);
-
-// reference navid
- SGPropertyNode_ptr ref_navaid = _gpsNode->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
+// route properties
// should these move to the route manager?
_routeDistanceNm = _gpsNode->getChild("route-distance-nm", 0, true);
_routeETE = _gpsNode->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
+
+
+// navradio slaving properties
SGPropertyNode* toFlag = _gpsNode->getChild("to-flag", 0, true);
- toFlag->alias(wp1_node->getChild("to-flag"));
+ toFlag->alias(_currentWayptNode->getChild("to-flag"));
SGPropertyNode* fromFlag = _gpsNode->getChild("from-flag", 0, true);
- fromFlag->alias(wp1_node->getChild("from-flag"));
+ fromFlag->alias(_currentWayptNode->getChild("from-flag"));
// autopilot drive properties
+ _apDrivingFlag = fgGetNode("/autopilot/settings/gps-driving-true-heading", true);
_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(_gpsNode);
-
+
+ clearOutput();
+}
+
+void
+GPS::reinit ()
+{
clearOutput();
}
GPS::bind()
{
_config.bind(this, _gpsNode->getChild("config", 0, true));
+
// basic GPS outputs
tie(_gpsNode, "selected-course-deg", SGRawValueMethods<GPS, double>
(*this, &GPS::getSelectedCourse, &GPS::setSelectedCourse));
-
+
tie(_gpsNode, "desired-course-deg", SGRawValueMethods<GPS, double>
(*this, &GPS::getDesiredCourse, NULL));
- _desiredCourseNode = _gpsNode->getChild("desired-course-deg");
+ _desiredCourseNode = _gpsNode->getChild("desired-course-deg", 0, true);
tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg",
"indicated-latitude-deg", "indicated-altitude-ft");
tie(_gpsNode, "indicated-ground-speed-kt", SGRawValueMethods<GPS, double>
(*this, &GPS::getGroundspeedKts, NULL));
-// command system
+// command system
tie(_gpsNode, "mode", SGRawValueMethods<GPS, const char*>(*this, &GPS::getMode, NULL));
tie(_gpsNode, "command", SGRawValueMethods<GPS, const char*>(*this, &GPS::getCommand, &GPS::setCommand));
-
tieSGGeod(_scratchNode, _scratchPos, "longitude-deg", "latitude-deg", "altitude-ft");
- tie(_scratchNode, "valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
- tie(_scratchNode, "distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
- tie(_scratchNode, "true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
- tie(_scratchNode, "mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
- tie(_scratchNode, "has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
- _scratchValid = false;
-
-// waypoint data (including various historical things)
+
+#if FG_210_COMPAT
+ tie(_scratchNode, "valid", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchValid, NULL));
+ tie(_scratchNode, "distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchDistance, NULL));
+ tie(_scratchNode, "true-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchTrueBearing, NULL));
+ tie(_scratchNode, "mag-bearing-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getScratchMagBearing, NULL));
+ tie(_scratchNode, "has-next", SGRawValueMethods<GPS, bool>(*this, &GPS::getScratchHasNext, NULL));
+ _scratchValid = false;
+
+ _scratchNode->setStringValue("type", "");
+ _scratchNode->setStringValue("query", "");
+#endif
+
SGPropertyNode *wp_node = _gpsNode->getChild("wp", 0, true);
- SGPropertyNode *wp0_node = wp_node->getChild("wp", 0, true);
- SGPropertyNode *wp1_node = wp_node->getChild("wp", 1, true);
-
+ SGPropertyNode* wp0_node = wp_node->getChild("wp", 0, true);
tieSGGeodReadOnly(wp0_node, _wp0_position, "longitude-deg", "latitude-deg", "altitude-ft");
tie(wp0_node, "ID", SGRawValueMethods<GPS, const char*>
- (*this, &GPS::getWP0Ident, NULL));
- tie(wp0_node, "name", SGRawValueMethods<GPS, const char*>
- (*this, &GPS::getWP0Name, NULL));
+ (*this, &GPS::getWP0Ident, NULL));
- tieSGGeodReadOnly(wp1_node, _wp1_position, "longitude-deg", "latitude-deg", "altitude-ft");
- tie(wp1_node, "ID", SGRawValueMethods<GPS, const char*>
+
+ tie(_currentWayptNode, "ID", SGRawValueMethods<GPS, const char*>
(*this, &GPS::getWP1Ident, NULL));
- tie(wp1_node, "name", SGRawValueMethods<GPS, const char*>
- (*this, &GPS::getWP1Name, NULL));
- tie(wp1_node, "distance-nm", SGRawValueMethods<GPS, double>
+ tie(_currentWayptNode, "distance-nm", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1Distance, NULL));
- tie(wp1_node, "bearing-true-deg", SGRawValueMethods<GPS, double>
+ tie(_currentWayptNode, "bearing-true-deg", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1Bearing, NULL));
- tie(wp1_node, "bearing-mag-deg", SGRawValueMethods<GPS, double>
+ tie(_currentWayptNode, "bearing-mag-deg", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1MagBearing, NULL));
- tie(wp1_node, "TTW-sec", SGRawValueMethods<GPS, double>
+ tie(_currentWayptNode, "TTW-sec", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1TTW, NULL));
- tie(wp1_node, "TTW", SGRawValueMethods<GPS, const char*>
+ tie(_currentWayptNode, "TTW", SGRawValueMethods<GPS, const char*>
(*this, &GPS::getWP1TTWString, NULL));
- tie(wp1_node, "course-deviation-deg", SGRawValueMethods<GPS, double>
+ tie(_currentWayptNode, "course-deviation-deg", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1CourseDeviation, NULL));
- tie(wp1_node, "course-error-nm", SGRawValueMethods<GPS, double>
+ tie(_currentWayptNode, "course-error-nm", SGRawValueMethods<GPS, double>
(*this, &GPS::getWP1CourseErrorNm, NULL));
- tie(wp1_node, "to-flag", SGRawValueMethods<GPS, bool>
+ tie(_currentWayptNode, "to-flag", SGRawValueMethods<GPS, bool>
(*this, &GPS::getWP1ToFlag, NULL));
- tie(wp1_node, "from-flag", SGRawValueMethods<GPS, bool>
+ tie(_currentWayptNode, "from-flag", SGRawValueMethods<GPS, bool>
(*this, &GPS::getWP1FromFlag, NULL));
// leg properties (only valid in DTO/LEG modes, not OBS)
tie(wp_node, "leg-distance-nm", SGRawValueMethods<GPS, double>(*this, &GPS::getLegDistance, NULL));
tie(wp_node, "leg-true-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegCourse, NULL));
tie(wp_node, "leg-mag-course-deg", SGRawValueMethods<GPS, double>(*this, &GPS::getLegMagCourse, NULL));
- tie(wp_node, "alt-dist-ratio", SGRawValueMethods<GPS, double>(*this, &GPS::getAltDistanceRatio, NULL));
// navradio slaving properties
tie(_gpsNode, "cdi-deflection", SGRawValueMethods<GPS,double>
void
GPS::unbind()
{
- for (unsigned int t=0; t<_tiedNodes.size(); ++t) {
- _tiedNodes[t]->untie();
- }
- _tiedNodes.clear();
+ _tiedProperties.Untie();
}
void
_last_vertical_speed = 0.0;
_last_true_track = 0.0;
_lastEWVelocity = _lastNSVelocity = 0.0;
+ _currentWaypt = _prevWaypt = NULL;
+ _legDistanceNm = -1.0;
_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);
void
GPS::update (double delta_time_sec)
{
- if (!_realismSimpleGps->getBoolValue()) {
+ if (!_defaultGPSMode) {
// If it's off, don't bother.
- if (!_serviceable_node->getBoolValue() || !_electrical_node->getBoolValue()) {
+ // check if value is defined, since many aircraft don't define an output
+ // for the GPS, but expect the default one to work.
+ bool elecOn = !_electrical_node->hasValue() || _electrical_node->getBoolValue();
+ if (!_serviceable_node->getBoolValue() || !elecOn) {
clearOutput();
return;
}
if (delta_time_sec <= 0.0) {
return; // paused, don't bother
}
- // TODO: Add noise and other errors.
-/*
-
- // Bias and random error
- double random_factor = sg_random();
- double random_error = 1.4;
- double error_radius = 5.1;
- double bias_max_radius = 5.1;
- double random_max_radius = 1.4;
-
- bias_length += (random_factor-0.5) * 1.0e-3;
- if (bias_length <= 0.0) bias_length = 0.0;
- else if (bias_length >= bias_max_radius) bias_length = bias_max_radius;
- bias_angle += (random_factor-0.5) * 1.0e-3;
- if (bias_angle <= 0.0) bias_angle = 0.0;
- else if (bias_angle >= 360.0) bias_angle = 360.0;
-
- double random_length = random_factor * random_max_radius;
- double random_angle = random_factor * 360.0;
-
- double bias_x = bias_length * cos(bias_angle * SG_PI / 180.0);
- double bias_y = bias_length * sin(bias_angle * SG_PI / 180.0);
- double random_x = random_length * cos(random_angle * SG_PI / 180.0);
- double random_y = random_length * sin(random_angle * SG_PI / 180.0);
- double error_x = bias_x + random_x;
- double error_y = bias_y + random_y;
- double error_length = sqrt(error_x*error_x + error_y*error_y);
- double error_angle = atan(error_y / error_x) * 180.0 / SG_PI;
-
- double lat2;
- double lon2;
- double az2;
- geo_direct_wgs_84 ( altitude_m, latitude_deg,
- longitude_deg, error_angle,
- error_length, &lat2, &lon2,
- &az2 );
- //cout << lat2 << " " << lon2 << endl;
- printf("%f %f \n", bias_length, bias_angle);
- printf("%3.7f %3.7f \n", lat2, lon2);
- printf("%f %f \n", error_length, error_angle);
-
-*/
+
_raim_node->setDoubleValue(1.0);
- _indicated_pos = _position.get();
+ _indicated_pos = globals->get_aircraft_position();
updateBasicData(delta_time_sec);
if (_dataValid) {
- if (_mode != "obs") {
+ if (_wayptController.get()) {
+ _wayptController->update();
+ SGGeod p(_wayptController->position());
+ _currentWayptNode->setDoubleValue("longitude-deg", p.getLongitudeDeg());
+ _currentWayptNode->setDoubleValue("latitude-deg", p.getLatitudeDeg());
+ _currentWayptNode->setDoubleValue("altitude-ft", p.getElevationFt());
+
+ _desiredCourse = getLegMagCourse();
+
updateTurn();
+ updateRouteData();
}
-
- 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");
-
- if (_route_active_node->getBoolValue()) {
- // GPS init with active route
- SG_LOG(SG_INSTR, SG_INFO, "GPS init with active route");
- selectLegMode();
- } else {
+ // will select LEG mode if the route is active
+ routeManagerFlightPlanChanged(NULL);
+
+ FGRouteMgr* routeMgr = static_cast<FGRouteMgr*>(globals->get_subsystem("route-manager"));
+ if (!routeMgr->isRouteActive()) {
// 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());
+ auto_ptr<FGPositioned::Filter> f(new FGAirport::HardSurfaceFilter());
+ FGPositionedRef apt = FGPositioned::findClosest(_indicated_pos, 20.0, f.get());
if (apt) {
- setScratchFromPositioned(apt, 0);
- selectOBSMode();
+ selectOBSMode(new flightgear::NavaidWaypoint(apt, NULL));
}
}
+
+ if (_mode != "init")
+ {
+ // allow a realistic delay in the future, here
+ }
} // of init mode check
_last_pos = _indicated_pos;
- _lastPosValid = true;
+ _lastPosValid = !(_last_pos == SGGeod());
+}
+
+void GPS::routeManagerFlightPlanChanged(SGPropertyNode*)
+{
+ if (_route) {
+ _route->removeDelegate(this);
+ }
+
+ SG_LOG(SG_INSTR, SG_INFO, "GPS saw route-manager flight-plan replaced.");
+ FGRouteMgr* routeMgr = static_cast<FGRouteMgr*>(globals->get_subsystem("route-manager"));
+ _route = routeMgr->flightPlan();
+ if (_route) {
+ _route->addDelegate(this);
+ }
+
+ if (routeMgr->isRouteActive()) {
+ selectLegMode();
+ } else {
+ selectOBSMode(_currentWaypt); // revert to OBS on current waypoint
+ }
+}
+
+void GPS::routeActivated(SGPropertyNode* aNode)
+{
+ bool isActive = aNode->getBoolValue();
+ if (isActive) {
+ 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");
+ sequence();
+ }
+ } else if (_mode == "leg") {
+ SG_LOG(SG_INSTR, SG_INFO, "GPS::route deactivated, switching to OBS mode");
+ selectOBSMode(_currentWaypt);
+ }
+}
+
+///////////////////////////////////////////////////////////////////////////
+// implement the RNAV interface
+SGGeod GPS::position()
+{
+ if (!_dataValid) {
+ return SGGeod();
+ }
+
+ return _indicated_pos;
+}
+
+double GPS::trackDeg()
+{
+ return _last_true_track;
+}
+
+double GPS::groundSpeedKts()
+{
+ return _last_speed_kts;
+}
+
+double GPS::vspeedFPM()
+{
+ return _last_vertical_speed;
+}
+
+double GPS::magvarDeg()
+{
+ return _magvar_node->getDoubleValue();
}
+double GPS::overflightArmDistanceM()
+{
+ return _config.overflightArmDistanceNm() * SG_NM_TO_METER;
+}
+
+double GPS::selectedMagCourse()
+{
+ return _selectedCourse;
+}
+
+///////////////////////////////////////////////////////////////////////////
+
void
GPS::updateBasicData(double dt)
{
_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;
}
}
_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);
- } 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);
- } else {
- _ref_navaid_set = false;
- _ref_navaid_elapsed = 9999.0; // update next tick
- }
-}
-
-void GPS::routeActivated()
+void GPS::endOfFlightPlan()
{
- 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();
- }
+ selectOBSMode(_currentWaypt);
}
-void GPS::routeManagerSequenced()
+void GPS::currentWaypointChanged()
{
- if (_mode != "leg") {
- SG_LOG(SG_INSTR, SG_INFO, "GPS ignoring route sequencing, not in LEG mode");
+ if (!_route) {
return;
}
- int index = _routeMgr->currentWaypoint(),
- count = _routeMgr->size();
+ int index = _route->currentIndex(),
+ count = _route->numLegs();
if ((index < 0) || (index >= count)) {
- SG_LOG(SG_INSTR, SG_ALERT, "GPS: malformed route, index=" << index);
+ _currentWaypt=NULL;
+ _prevWaypt=NULL;
+ // no active leg on the route
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();
-
+ _prevWaypt = _route->previousLeg()->waypoint();
+ if (_prevWaypt->flag(WPT_DYNAMIC)) {
+ _wp0_position = _indicated_pos;
+ } else {
+ _wp0_position = _prevWaypt->position();
+ }
}
- SGWayPoint wp1(_routeMgr->get_waypoint(index));
- _wp1Ident = wp1.get_id();
- _wp1Name = wp1.get_name();
- _wp1_position = wp1.get_target();
-
+ _currentWaypt = _route->currentLeg()->waypoint();
_desiredCourse = getLegMagCourse();
_desiredCourseNode->fireValueChanged();
wp1Changed();
}
-void GPS::routeEdited()
+
+void GPS::waypointsChanged()
{
if (_mode != "leg") {
return;
}
SG_LOG(SG_INSTR, SG_INFO, "GPS route edited while in LEG mode, updating waypoints");
- routeManagerSequenced();
+ currentWaypointChanged();
}
-void GPS::routeFinished()
+void GPS::cleared()
{
- if (_mode != "leg") {
- return;
- }
+ if (_mode != "leg") {
+ return;
+ }
+
+ selectOBSMode(_currentWaypt);
+}
+
+void GPS::sequence()
+{
+ if (!_route) {
+ return;
+ }
- SG_LOG(SG_INSTR, SG_INFO, "GPS route finished, reverting to OBS");
- _mode = "obs";
- _wp0_position = _indicated_pos;
- wp1Changed();
+ int nextIndex = _route->currentIndex() + 1;
+ if (nextIndex >= _route->numLegs()) {
+ SG_LOG(SG_INSTR, SG_INFO, "sequenced final leg, end of route");
+ _route->finish();
+ selectOBSMode(_currentWaypt);
+ return;
+ }
+
+ // will callback into currentWaypointChanged
+ _route->setCurrentIndex(nextIndex);
}
void GPS::updateTurn()
bool printProgress = false;
if (_computeTurnData) {
- if (_last_speed_kts < 60) {
+ if (_last_speed_kts < 10) {
// need valid leg course and sensible ground speed to compute the turn
return;
}
if (_inTurn && !_turnSequenced && (progress > 0.5)) {
_turnSequenced = true;
SG_LOG(SG_INSTR, SG_INFO, "turn passed midpoint, sequencing");
- _routeMgr->sequence();
+ sequence();
}
if (_inTurn && (progress >= 1.0)) {
double deviationNm = (distanceM * SG_METER_TO_NM) - _turnRadius;
double deviationDeg = desiredCourse - getMagTrack();
deviationNm = copysign(deviationNm, deviationDeg);
- // FXIME
+ // FIXME
//_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()) {
+ if (!_wayptController->isDone()) {
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 (_route) {
+ int index = _route->findWayptIndex(_currentWaypt->position());
if (index >= 0) {
SG_LOG(SG_INSTR, SG_INFO, "GPS DTO, resuming LEG mode at wp:" << index);
_mode = "leg";
- _routeMgr->jumpToIndex(index);
+ _route->setCurrentIndex(index);
+ sequence(); // and sequence to the next point
}
}
+
+ if (_mode == "dto") {
+ // if we didn't enter leg mode, drop back to OBS mode
+ // select OBS mode, but keep current waypoint-as is
+ _mode = "obs";
+ wp1Changed();
+ }
} else if (_mode == "leg") {
- SG_LOG(SG_INSTR, SG_INFO, "GPS doing overflight sequencing");
- _routeMgr->sequence();
+ SG_LOG(SG_INSTR, SG_DEBUG, "GPS doing overflight sequencing");
+ sequence();
} else if (_mode == "obs") {
// nothing to do here, TO/FROM will update but that's fine
}
{
_inTurn = true;
_turnSequenced = false;
- SG_LOG(SG_INSTR, SG_INFO, "begining turn");
+ SG_LOG(SG_INSTR, SG_INFO, "beginning turn");
}
void GPS::endTurn()
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()) {
+ if ((_mode != "leg") || !_route->nextLeg()) {
_anticipateTurn = false;
return;
}
- if (!_config.turnAnticipationEnabled()) {
+ WayptRef next = _route->nextLeg()->waypoint();
+ if (next->flag(WPT_DYNAMIC) || !_config.turnAnticipationEnabled()) {
_anticipateTurn = false;
return;
}
_turnStartBearing = _desiredCourse;
// compute next leg course
- SGWayPoint wp1(_routeMgr->get_waypoint(curIndex)),
- wp2(_routeMgr->get_waypoint(curIndex + 1));
double crs, dist;
- wp2.CourseAndDistance(wp1, &crs, &dist);
-
+ boost::tie(crs, dist) = next->courseAndDistanceFrom(_currentWaypt->position());
+
// compute offset bearing
_turnAngle = crs - _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());
+ SG_LOG(SG_INSTR, SG_INFO, "next leg is now:" << _currentWaypt->ident() << "->" << next->ident());
- _turnPt = _wp1_position;
+ _turnPt = _currentWaypt->position();
_anticipateTurn = true;
}
void GPS::updateRouteData()
{
- double totalDistance = _wp1DistanceM * SG_METER_TO_NM;
+ double totalDistance = _wayptController->distanceToWayptM() * 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();
- }
+ // for (int i=_routeMgr->currentIndex()+1; i<_routeMgr->numWaypts(); ++i) {
+ //totalDistance += _routeMgr->get_waypoint(i).get_distance();
+ //}
_routeDistanceNm->setDoubleValue(totalDistance * SG_METER_TO_NM);
if (_last_speed_kts > 1.0) {
void GPS::driveAutopilot()
{
- if (!_config.driveAutopilot() || !_realismSimpleGps->getBoolValue()) {
+ if (!_config.driveAutopilot() || !_defaultGPSMode) {
+ _apDrivingFlag->setBoolValue(false);
return;
}
// compatability feature - allow the route-manager / GPS to drive the
// generic autopilot heading hold *in leg mode only*
- if (_mode == "leg") {
+
+ bool drive = _mode == "leg";
+ _apDrivingFlag->setBoolValue(drive);
+
+ if (drive) {
// FIXME: we want to set desired track, not heading, here
_apTrueHeading->setDoubleValue(getWP1Bearing());
}
void GPS::wp1Changed()
{
- if (!_config.driveAutopilot()) {
+ if (!_currentWaypt)
return;
+ if (_mode == "leg") {
+ _wayptController.reset(WayptController::createForWaypt(this, _currentWaypt));
+ } else if (_mode == "obs") {
+ _wayptController.reset(new OBSController(this, _currentWaypt));
+ } else if (_mode == "dto") {
+ _wayptController.reset(new DirectToController(this, _currentWaypt, _wp0_position));
}
-
- double altFt = _wp1_position.getElevationFt();
- if (altFt > -9990.0) {
- _apTargetAltitudeFt->setDoubleValue(altFt);
+
+ _wayptController->init();
+
+ if (_mode == "obs") {
+ _legDistanceNm = -1.0;
+ } else {
+ _wayptController->update();
+ _legDistanceNm = _wayptController->distanceToWayptM() * SG_METER_TO_NM;
}
}
return -1;
}
- return SGGeodesy::distanceNm(_wp0_position, _wp1_position);
+ return _legDistanceNm;
}
double GPS::getLegCourse() const
{
- if (!_dataValid) {
+ if (!_dataValid || !_wayptController.get()) {
return -9999.0;
}
- return SGGeodesy::courseDeg(_wp0_position, _wp1_position);
+ return _wayptController->targetTrackDeg();
}
double GPS::getLegMagCourse() const
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) {
const char* GPS::getWP0Ident() const
{
- if (!_dataValid || (_mode != "leg")) {
+ if (!_dataValid || (_mode != "leg") || (!_prevWaypt)) {
return "";
}
- return _wp0Ident.c_str();
+ return _prevWaypt->ident().c_str();
}
const char* GPS::getWP0Name() const
{
- if (!_dataValid || (_mode != "leg")) {
- return "";
- }
-
- return _wp0Name.c_str();
+ return "";
}
const char* GPS::getWP1Ident() const
{
- if (!_dataValid) {
+ if ((!_dataValid)||(!_currentWaypt)) {
return "";
}
- return _wp1Ident.c_str();
+ return _currentWaypt->ident().c_str();
}
const char* GPS::getWP1Name() const
{
- if (!_dataValid) {
- return "";
- }
-
- return _wp1Name.c_str();
+ return "";
}
double GPS::getWP1Distance() const
{
- if (!_dataValid) {
+ if (!_dataValid || !_wayptController.get()) {
return -1.0;
}
- return _wp1DistanceM * SG_METER_TO_NM;
+ return _wayptController->distanceToWayptM() * SG_METER_TO_NM;
}
double GPS::getWP1TTW() const
{
- if (!_dataValid) {
+ if (!_dataValid || !_wayptController.get()) {
return -1.0;
}
- if (_last_speed_kts < 1.0) {
- return -1.0;
- }
-
- return (getWP1Distance() / _last_speed_kts) * 3600.0;
+ return _wayptController->timeToWaypt();
}
const char* GPS::getWP1TTWString() const
{
- if (!_dataValid) {
+ double t = getWP1TTW();
+ if (t <= 0.0) {
return "";
}
- return makeTTWString(getWP1TTW());
+ return makeTTWString(t);
}
double GPS::getWP1Bearing() const
{
- if (!_dataValid) {
+ if (!_dataValid || !_wayptController.get()) {
return -9999.0;
}
- return _wp1TrueBearing;
+ return _wayptController->trueBearingDeg();
}
double GPS::getWP1MagBearing() const
{
- if (!_dataValid) {
+ if (!_dataValid || !_wayptController.get()) {
return -9999.0;
}
- double magBearing = _wp1TrueBearing - _magvar_node->getDoubleValue();
+ double magBearing = _wayptController->trueBearingDeg() - _magvar_node->getDoubleValue();
SG_NORMALIZE_RANGE(magBearing, 0.0, 360.0);
return magBearing;
}
double GPS::getWP1CourseDeviation() const
{
- if (!_dataValid) {
+ if (!_dataValid || !_wayptController.get()) {
return 0.0;
}
-
- double dev = getWP1MagBearing() - _desiredCourse;
- 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;
+
+ return _wayptController->courseDeviationDeg();
}
double GPS::getWP1CourseErrorNm() const
{
- if (!_dataValid) {
+ if (!_dataValid || !_wayptController.get()) {
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;
+ return _wayptController->xtrackErrorNm();
}
bool GPS::getWP1ToFlag() const
{
- if (!_dataValid) {
+ if (!_dataValid || !_wayptController.get()) {
return false;
}
- double dev = getWP1MagBearing() - _desiredCourse;
- SG_NORMALIZE_RANGE(dev, -180.0, 180.0);
-
- return (fabs(dev) < 90.0);
+ return _wayptController->toFlag();
}
bool GPS::getWP1FromFlag() const
{
- if (!_dataValid) {
+ if (!_dataValid || !_wayptController.get()) {
return false;
}
return !getWP1ToFlag();
}
+#if FG_210_COMPAT
double GPS::getScratchDistance() const
{
- if (!_scratchValid) {
- return 0.0;
- }
-
- return SGGeodesy::distanceNm(_indicated_pos, _scratchPos);
+ 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);
+ 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;
+ if (!_scratchValid) {
+ return 0.0;
+ }
+
+ double crs = getScratchTrueBearing() - _magvar_node->getDoubleValue();
+ SG_NORMALIZE_RANGE(crs, 0.0, 360.0);
+ return crs;
}
+#endif
+
/////////////////////////////////////////////////////////////////////////////
-// command / scratch / search system
+// scratch system
void GPS::setCommand(const char* aCmd)
{
- SG_LOG(SG_INSTR, SG_INFO, "GPS command:" << aCmd);
+ SG_LOG(SG_INSTR, SG_DEBUG, "GPS command:" << aCmd);
if (!strcmp(aCmd, "direct")) {
directTo();
} else if (!strcmp(aCmd, "obs")) {
- selectOBSMode();
+ selectOBSMode(NULL);
} else if (!strcmp(aCmd, "leg")) {
selectLegMode();
+#if FG_210_COMPAT
} else if (!strcmp(aCmd, "load-route-wpt")) {
- loadRouteWaypoint();
+ loadRouteWaypoint();
} else if (!strcmp(aCmd, "nearest")) {
- loadNearest();
+ loadNearest();
} else if (!strcmp(aCmd, "search")) {
- _searchNames = false;
- search();
+ _searchNames = false;
+ search();
} else if (!strcmp(aCmd, "search-names")) {
- _searchNames = true;
- search();
+ _searchNames = true;
+ search();
} else if (!strcmp(aCmd, "next")) {
- nextResult();
+ nextResult();
} else if (!strcmp(aCmd, "previous")) {
- previousResult();
+ previousResult();
} else if (!strcmp(aCmd, "define-user-wpt")) {
- defineWaypoint();
+ 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);
+ int index = _scratchNode->getIntValue("index");
+ if (index < 0 || (_route->numLegs() == 0)) {
+ index = _route->numLegs();
+ } else if (index >= _route->numLegs()) {
+ 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);
+ int index = _scratchNode->getIntValue("index");
+ if (index < 0 || (_route->numLegs() == 0)) {
+ index = _route->numLegs();
+ } else if (index >= _route->numLegs()) {
+ 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);
+ int index = _scratchNode->getIntValue("index");
+ if (index < 0) {
+ index = _route->numLegs();
+ } else if (index >= _route->numLegs()) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:route-delete, bad index:" << index);
+ return;
+ }
+
+ removeWaypointAtIndex(index);
+#endif
} 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", "");
+ _scratchNode->setBoolValue("valid", false);
+#if FG_210_COMPAT
+ _scratchNode->setStringValue("type", "");
+ _scratchNode->setStringValue("query", "");
+#endif
}
bool GPS::isScratchPositionValid() const
}
void GPS::directTo()
-{
- _wp0_position = _indicated_pos;
-
- if (isScratchPositionValid()) {
- _wp1Ident = _scratchNode->getStringValue("ident");
- _wp1Name = _scratchNode->getStringValue("name");
- _wp1_position = _scratchPos;
+{
+ if (!isScratchPositionValid()) {
+ return;
}
+ _prevWaypt = NULL;
+ _wp0_position = _indicated_pos;
+ _currentWaypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
_mode = "dto";
- _desiredCourse = getLegMagCourse();
- _desiredCourseNode->fireValueChanged();
+
clearScratch();
wp1Changed();
}
-void GPS::loadRouteWaypoint()
+void GPS::selectOBSMode(flightgear::Waypt* waypt)
{
- _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 < 0) || (index >= _routeMgr->size())) { // no index supplied, use current wp
- index = _routeMgr->currentWaypoint();
+ if (!waypt) {
+ // initialise from scratch
+ if (!isScratchPositionValid()) {
+ return;
+ }
+
+ waypt = new BasicWaypt(_scratchPos, _scratchNode->getStringValue("ident"), NULL);
}
- _searchIsRoute = true;
- setScratchFromRouteWaypoint(index);
+ _mode = "obs";
+ _currentWaypt = waypt;
+ _wp0_position = _indicated_pos;
+ wp1Changed();
}
-void GPS::setScratchFromRouteWaypoint(int aIndex)
+void GPS::selectLegMode()
{
- assert(_searchIsRoute);
- if ((aIndex < 0) || (aIndex >= _routeMgr->size())) {
- SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
+ if (_mode == "leg") {
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);
+ if (!_route) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:selectLegMode: no active route");
+ return;
+ }
+
+ _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
+ currentWaypointChanged();
+}
+
+#if FG_210_COMPAT
+
+void GPS::loadRouteWaypoint()
+{
+ _scratchValid = false;
+ int index = _scratchNode->getIntValue("index", -9999);
+ clearScratch();
+
+ if ((index < 0) || (index >= _route->numLegs())) { // no index supplied, use current wp
+ index = _route->currentIndex();
+ }
+
+ _searchIsRoute = true;
+ setScratchFromRouteWaypoint(index);
+}
+
+void GPS::setScratchFromRouteWaypoint(int aIndex)
+{
+ assert(_searchIsRoute);
+ if ((aIndex < 0) || (aIndex >= _route->numLegs())) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:setScratchFromRouteWaypoint: route-index out of bounds");
+ return;
+ }
+
+ _searchResultIndex = aIndex;
+ WayptRef wp = _route->legAtIndex(aIndex)->waypoint();
+ _scratchNode->setStringValue("ident", wp->ident());
+ _scratchPos = wp->position();
+ _scratchValid = true;
+ _scratchNode->setIntValue("index", aIndex);
}
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);
-
- SGGeod searchPos = _indicated_pos;
- if (isScratchPositionValid()) {
- searchPos = _scratchPos;
- }
-
- clearScratch(); // clear now, regardless of whether we find a match or not
+ 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);
+
+ SGGeod searchPos = _indicated_pos;
+ if (isScratchPositionValid()) {
+ searchPos = _scratchPos;
+ }
+
+ clearScratch(); // clear now, regardless of whether we find a match or not
- _searchResults =
+ _searchResults =
FGPositioned::findClosestN(searchPos, 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();
+ _searchResultIndex = 0;
+ _searchIsRoute = false;
+
+ if (_searchResults.empty()) {
+ return;
+ }
+
+ 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;
- }
+ 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;
+ return FGPositioned::AIRPORT;
}
FGPositioned::Type GPS::SearchFilter::maxType() const
{
- return FGPositioned::WAYPOINT;
+ return FGPositioned::VOR;
}
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);
+ if (aTy == FGPositioned::AIRPORT) {
+ return new FGAirport::HardSurfaceFilter();
+ }
+
+ // 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
+ // 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);
+ _searchResultIndex = 0;
+ _searchIsRoute = false;
+
auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
if (_searchNames) {
- _searchResults = FGPositioned::findAllWithNameSortedByRange(_searchQuery, _indicated_pos, f.get());
+ _searchResults = FGPositioned::findAllWithName(_searchQuery, f.get(), _searchExact);
} else {
- _searchResults = FGPositioned::findAllWithIdentSortedByRange(_searchQuery, _indicated_pos, f.get());
+ _searchResults = FGPositioned::findAllWithIdent(_searchQuery, f.get(), _searchExact);
}
- _searchResultsCached = true;
+ bool orderByRange = _scratchNode->getBoolValue("order-by-distance", true);
+ if (orderByRange) {
+ FGPositioned::sortByRange(_searchResults, _indicated_pos);
+ }
if (_searchResults.empty()) {
- clearScratch();
- return;
+ clearScratch();
+ return;
}
- _searchHasNext = (_searchResults.size() > 1);
setScratchFromCachedSearchResult();
- } else {
- // iterative search, look up result zero
- _searchResultsCached = false;
- performSearch();
- }
}
-void GPS::performSearch()
+bool GPS::getScratchHasNext() const
{
- auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
- clearScratch();
-
- FGPositionedRef r;
- if (_searchNames) {
- if (_searchOrderByRange) {
- r = FGPositioned::findClosestWithPartialName(_indicated_pos, _searchQuery, f.get(), _searchResultIndex, _searchHasNext);
+ int lastResult;
+ if (_searchIsRoute) {
+ lastResult = _route->numLegs() - 1;
} else {
- r = FGPositioned::findWithPartialName(_searchQuery, f.get(), _searchResultIndex, _searchHasNext);
+ lastResult = (int) _searchResults.size() - 1;
}
- } else {
- if (_searchOrderByRange) {
- r = FGPositioned::findClosestWithPartialId(_indicated_pos, _searchQuery, f.get(), _searchResultIndex, _searchHasNext);
- } else {
- r = FGPositioned::findWithPartialId(_searchQuery, f.get(), _searchResultIndex, _searchHasNext);
+
+ if (lastResult < 0) { // search array might be empty
+ return false;
}
- }
-
- if (!r) {
- return;
- }
-
- setScratchFromPositioned(r.get(), _searchResultIndex);
+
+ return (_searchResultIndex < lastResult);
}
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);
+ 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);
}
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()));
+ clearScratch();
+ assert(aPos);
- 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
+ _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);
+ }
- 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
+ _scratchValid = true;
+ _scratchNode->setIntValue("result-count", _searchResults.size());
- if (rwy->ILS()) {
- rwyNd->setDoubleValue("ils-frequency-mhz", rwy->ILS()->get_freq() / 100.0);
+ 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;
}
- } // of runways iteration
-}
-
-
-void GPS::selectOBSMode()
-{
- if (isScratchPositionValid()) {
- _wp1Ident = _scratchNode->getStringValue("ident");
- _wp1Name = _scratchNode->getStringValue("name");
- _wp1_position = _scratchPos;
- }
-
- SG_LOG(SG_INSTR, SG_INFO, "GPS switching to OBS mode");
- _mode = "obs";
- _wp0_position = _indicated_pos;
- wp1Changed();
+
+ // look for being on the route and set?
}
-void GPS::selectLegMode()
+void GPS::addAirportToScratch(FGAirport* aAirport)
{
- 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();
+ 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::nextResult()
{
- if (!_searchHasNext) {
- return;
- }
-
- clearScratch();
- if (_searchIsRoute) {
- setScratchFromRouteWaypoint(++_searchResultIndex);
- } else if (_searchResultsCached) {
- ++_searchResultIndex;
- setScratchFromCachedSearchResult();
- } else {
- ++_searchResultIndex;
- performSearch();
- } // of iterative search case
+ if (!getScratchHasNext()) {
+ return;
+ }
+
+ clearScratch();
+ if (_searchIsRoute) {
+ setScratchFromRouteWaypoint(++_searchResultIndex);
+ } else {
+ ++_searchResultIndex;
+ setScratchFromCachedSearchResult();
+ }
}
void GPS::previousResult()
{
- if (_searchResultIndex <= 0) {
- return;
- }
-
- clearScratch();
- --_searchResultIndex;
-
- if (_searchIsRoute) {
- setScratchFromRouteWaypoint(_searchResultIndex);
- } else if (_searchResultsCached) {
- setScratchFromCachedSearchResult();
- } else {
- performSearch();
- }
+ if (_searchResultIndex <= 0) {
+ return;
+ }
+
+ clearScratch();
+ --_searchResultIndex;
+
+ if (_searchIsRoute) {
+ setScratchFromRouteWaypoint(_searchResultIndex);
+ } else {
+ setScratchFromCachedSearchResult();
+ }
}
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;
- }
+ if (!isScratchPositionValid()) {
+ SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: invalid lat/lon");
+ 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);
+ 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);
+ FGPositionedList dups = FGPositioned::findAllWithIdent(ident, &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);
+ _searchResults.clear();
+ _searchResults.push_back(wpt);
+ 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);
+ // note we do allow index = routeMgr->size(), that's an append
+ if ((aIndex < 0) || (aIndex > _route->numLegs())) {
+ 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");
+
+ WayptRef wpt = new BasicWaypt(_scratchPos, ident, NULL);
+ _route->insertWayptAtIndex(wpt, 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);
+ if ((aIndex < 0) || (aIndex >= _route->numLegs())) {
+ throw sg_range_exception("GPS::removeWaypointAtIndex: index out of bounds");
+ }
+
+ _route->deleteIndex(aIndex);
}
+
+#endif // of FG_210_COMPAT
+
void GPS::tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
const char* lonStr, const char* latStr, const char* altStr)
{
projects / flightgear.git / blobdiff