#ifndef __INSTRUMENTS_GPS_HXX
#define __INSTRUMENTS_GPS_HXX 1
+#include <cassert>
+#include <memory>
+
#include <simgear/props/props.hxx>
#include <simgear/structure/subsystem_mgr.hxx>
-#include <simgear/math/SGMath.hxx>
+#include <simgear/props/tiedpropertylist.hxx>
-#include "Navaids/positioned.hxx"
+#include <Navaids/positioned.hxx>
+#include <Navaids/FlightPlan.hxx>
+#include <Instrumentation/rnav_waypt_controller.hxx>
-// forward decls
-class SGRoute;
-class FGRouteMgr;
-class FGAirport;
-class GPSListener;
-
-class SGGeodProperty
-{
-public:
- SGGeodProperty()
- {
- }
-
- void init(SGPropertyNode* base, const char* lonStr, const char* latStr, const char* altStr = NULL);
- void init(const char* lonStr, const char* latStr, const char* altStr = NULL);
- void clear();
- void operator=(const SGGeod& geod);
- SGGeod get() const;
-private:
- SGPropertyNode_ptr _lon, _lat, _alt;
-};
+#define FG_210_COMPAT 1
/**
* Model a GPS radio.
* /instrumentation/gps/trip-odometer
* /instrumentation/gps/true-bug-error-deg
* /instrumentation/gps/magnetic-bug-error-deg
-
*/
-class GPS : public SGSubsystem
+class GPS : public SGSubsystem,
+ public flightgear::RNAV,
+ public flightgear::FlightPlan::Delegate
{
-
public:
-
- GPS (SGPropertyNode *node);
+ GPS (SGPropertyNode *node, bool defaultGPSMode = false);
GPS ();
virtual ~GPS ();
+ // SGSubsystem interface
virtual void init ();
+ virtual void reinit ();
virtual void update (double delta_time_sec);
-
+
virtual void bind();
virtual void unbind();
+
+ // RNAV interface
+ virtual SGGeod position();
+ virtual double trackDeg();
+ virtual double groundSpeedKts();
+ virtual double vspeedFPM();
+ virtual double magvarDeg();
+ virtual double selectedMagCourse();
+ virtual double overflightDistanceM();
+ virtual double overflightArmDistanceM();
+ virtual double overflightArmAngleDeg();
+ virtual SGGeod previousLegWaypointPosition(bool& isValid);
+
private:
- friend class GPSListener;
friend class SearchFilter;
-
+
/**
* Configuration manager, track data relating to aircraft installation
*/
{
public:
Config();
-
+
void bind(GPS* aOwner, SGPropertyNode* aCfg);
-
- bool turnAnticipationEnabled() const
- { return _enableTurnAnticipation; }
-
+
+ bool turnAnticipationEnabled() const { return _enableTurnAnticipation; }
+
/**
* Desired turn rate in degrees/second. From this we derive the turn
* radius and hence how early we need to anticipate it.
*/
- double turnRateDegSec() const
- { return _turnRate; }
-
+ double turnRateDegSec() const { return _turnRate; }
+
+ /**
+ * Distance at which we switch to next waypoint.
+ */
+ double overflightDistanceNm() const { return _overflightDistance; }
/**
* Distance at which we arm overflight sequencing. Once inside this
* distance, a change of the wp1 'TO' flag to false will be considered
* overlight of the wp.
*/
- double overflightArmDistanceNm() const
- { return _overflightArmDistance; }
-
+ double overflightArmDistanceNm() const { return _overflightArmDistance; }
+ /**
+ * abs angle at which we arm overflight sequencing.
+ */
+ double overflightArmAngleDeg() const { return _overflightArmAngle; }
+
/**
* Time before the next WP to activate an external annunciator
*/
- double waypointAlertTime() const
- { return _waypointAlertTime; }
-
- bool tuneNavRadioToRefVor() const
- { return _tuneRadio1ToRefVor; }
-
- bool requireHardSurface() const
- { return _requireHardSurface; }
-
- double minRunwayLengthFt() const
- { return _minRunwayLengthFt; }
-
- double getExternalCourse() const;
-
- void setExternalCourse(double aCourseDeg);
-
- bool cdiDeflectionIsAngular() const
- { return (_cdiMaxDeflectionNm <= 0.0); }
-
+ double waypointAlertTime() const { return _waypointAlertTime; }
+
+ bool requireHardSurface() const { return _requireHardSurface; }
+
+ bool cdiDeflectionIsAngular() const { return (_cdiMaxDeflectionNm <= 0.0); }
+
double cdiDeflectionLinearPeg() const
{
assert(_cdiMaxDeflectionNm > 0.0);
return _cdiMaxDeflectionNm;
}
-
- bool driveAutopilot() const
- { return _driveAutopilot; }
+
+ bool driveAutopilot() const { return _driveAutopilot; }
+
+ bool courseSelectable() const { return _courseSelectable; }
+
private:
bool _enableTurnAnticipation;
-
+
// desired turn rate in degrees per second
double _turnRate;
-
+
+ // distance from waypoint to arm overflight sequencing (in nm)
+ double _overflightDistance;
+
// distance from waypoint to arm overflight sequencing (in nm)
double _overflightArmDistance;
-
- // time before reaching a waypoint to trigger annunicator light/sound
+
+ //abs angle from course to waypoint to arm overflight sequencing (in deg)
+ double _overflightArmAngle;
+
+ // time before reaching a waypoint to trigger annunciator light/sound
// (in seconds)
double _waypointAlertTime;
-
- // should GPS automatically tune NAV1 to the reference VOR?
- bool _tuneRadio1ToRefVor;
-
- // minimum runway length to require when filtering
- double _minRunwayLengthFt;
-
+
// should we require a hard-surfaced runway when filtering?
bool _requireHardSurface;
-
- // helpers to tie course-source property
- const char* getCourseSource() const;
- void setCourseSource(const char* aPropPath);
-
- // property to retrieve the external course from
- SGPropertyNode_ptr _extCourseSource;
-
+
double _cdiMaxDeflectionNm;
-
+
+ // should we drive the autopilot directly or not?
bool _driveAutopilot;
+
+ // is selected-course-deg read to set desired-course or not?
+ bool _courseSelectable;
};
-
+
class SearchFilter : public FGPositioned::Filter
{
- public:
+ public:
virtual bool pass(FGPositioned* aPos) const;
-
+
virtual FGPositioned::Type minType() const;
virtual FGPositioned::Type maxType() const;
};
-
- /**
- * reset all output properties to default / non-service values
- */
+
+ /** reset all output properties to default / non-service values */
void clearOutput();
void updateBasicData(double dt);
- void updateWaypoints();
void updateTrackingBug();
- void updateReferenceNavaid(double dt);
- void referenceNavaidSet(const std::string& aNavaid);
- void tuneNavRadios();
void updateRouteData();
void driveAutopilot();
-
- void routeActivated();
- void routeManagerSequenced();
- void routeEdited();
- void routeFinished();
-
- void updateTurn();
- void updateOverflight();
+
+ void updateTurn();
+ void updateOverflight();
void beginTurn();
void endTurn();
-
+
double computeTurnProgress(double aBearing) const;
void computeTurnData();
void updateTurnData();
double computeTurnRadiusNm(double aGroundSpeedKts) const;
-
- /**
- * Update one-shot things when WP1 / leg data change
- */
- void wp1Changed();
-
-// scratch maintenence utilities
- void setScratchFromPositioned(FGPositioned* aPos, int aIndex);
- void setScratchFromCachedSearchResult();
- void setScratchFromRouteWaypoint(int aIndex);
-
- /**
- * Add airport-specific information to a scratch result
- */
- void addAirportToScratch(FGAirport* aAirport);
-
- void clearScratch();
-
- /**
- * Predicate, determine if the lon/lat position in the scratch is
- * valid or not.
- */
- bool isScratchPositionValid() const;
-
- FGPositioned::Filter* createFilter(FGPositioned::Type aTy);
-
- /**
- * Search kernel - called each time we step through a result
- */
- void performSearch();
-
+
+ /** Update one-shot things when WP1 / leg data change */
+ void wp1Changed();
+
+ void clearScratch();
+
+ /** Predicate, determine if the lon/lat position in the scratch is
+ * valid or not. */
+ bool isScratchPositionValid() const;
+
+#if FG_210_COMPAT
+ void setScratchFromPositioned(FGPositioned* aPos, int aIndex);
+ void setScratchFromCachedSearchResult();
+ void setScratchFromRouteWaypoint(int aIndex);
+
+ /** Add airport-specific information to a scratch result */
+ void addAirportToScratch(FGAirport* aAirport);
+
+ FGPositioned::Filter* createFilter(FGPositioned::Type aTy);
+
+ /** Search kernel - called each time we step through a result */
+ void performSearch();
+
+ // command handlers
+ void loadRouteWaypoint();
+ void loadNearest();
+ void search();
+ void nextResult();
+ void previousResult();
+ void defineWaypoint();
+ void insertWaypointAtIndex(int aIndex);
+ void removeWaypointAtIndex(int aIndex);
+
+ // tied-property getter/setters
+ double getScratchDistance() const;
+ double getScratchMagBearing() const;
+ double getScratchTrueBearing() const;
+ bool getScratchHasNext() const;
+
+#endif
+
// command handlers
- void selectLegMode();
- void selectOBSMode();
- void directTo();
- void loadRouteWaypoint();
- void loadNearest();
- void search();
- void nextResult();
- void previousResult();
- void defineWaypoint();
- void insertWaypointAtIndex(int aIndex);
- void removeWaypointAtIndex(int aIndex);
-
+ void selectLegMode();
+ void selectOBSMode(flightgear::Waypt* waypt);
+ void directTo();
+
// tied-property getter/setters
- void setCommand(const char* aCmd);
- const char* getCommand() const { return ""; }
-
- const char* getMode() const { return _mode.c_str(); }
-
- bool getScratchValid() const { return _scratchValid; }
- double getScratchDistance() const;
- double getScratchMagBearing() const;
- double getScratchTrueBearing() const;
- bool getScratchHasNext() const { return _searchHasNext; }
-
- double getSelectedCourse() const { return _selectedCourse; }
- double getCDIDeflection() const;
-
- double getLegDistance() const;
- double getLegCourse() const;
- double getLegMagCourse() const;
- double getAltDistanceRatio() const;
-
- double getTrueTrack() const { return _last_true_track; }
- double getMagTrack() const;
- double getGroundspeedKts() const { return _last_speed_kts; }
- double getVerticalSpeed() const { return _last_vertical_speed; }
-
- //bool getLegMode() const { return _mode == "leg"; }
- //bool getObsMode() const { return _mode == "obs"; }
-
- const char* getWP0Ident() const;
- const char* getWP0Name() const;
-
- const char* getWP1Ident() const;
- const char* getWP1Name() const;
-
- double getWP1Distance() const;
- double getWP1TTW() const;
- const char* getWP1TTWString() const;
- double getWP1Bearing() const;
- double getWP1MagBearing() const;
- double getWP1CourseDeviation() const;
- double getWP1CourseErrorNm() const;
- bool getWP1ToFlag() const;
- bool getWP1FromFlag() const;
-
- // true-bearing-error and mag-bearing-error
-
+ void setCommand(const char* aCmd);
+ const char* getCommand() const { return ""; }
+
+ const char* getMode() const { return _mode.c_str(); }
+ bool getScratchValid() const { return _scratchValid; }
+
+ double getSelectedCourse() const { return _selectedCourse; }
+ void setSelectedCourse(double crs);
+ double getDesiredCourse() const { return _desiredCourse; }
+
+ double getCDIDeflection() const;
+
+ double getLegDistance() const;
+ double getLegCourse() const;
+ double getLegMagCourse() const;
+
+ double getTrueTrack() const { return _last_true_track; }
+ double getMagTrack() const;
+ double getGroundspeedKts() const { return _last_speed_kts; }
+ double getVerticalSpeed() const { return _last_vertical_speed; }
- /**
- * Tied-properties helper, record nodes which are tied for easy un-tie-ing
- */
- template <typename T>
- void tie(SGPropertyNode* aNode, const char* aRelPath, const SGRawValue<T>& aRawValue)
- {
- SGPropertyNode* nd = aNode->getNode(aRelPath, true);
- _tiedNodes.push_back(nd);
- nd->tie(aRawValue);
- }
-
- /// helper, tie the lat/lon/elev of a SGGeod to the named children of aNode
- void tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
- const char* lonStr, const char* latStr, const char* altStr);
+ const char* getWP0Ident() const;
+ const char* getWP0Name() const;
+
+ bool getWP1IValid() const;
+ const char* getWP1Ident() const;
+ const char* getWP1Name() const;
+
+ double getWP1Distance() const;
+ double getWP1TTW() const;
+ const char* getWP1TTWString() const;
+ double getWP1Bearing() const;
+ double getWP1MagBearing() const;
+ double getWP1CourseDeviation() const;
+ double getWP1CourseErrorNm() const;
+ bool getWP1ToFlag() const;
+ bool getWP1FromFlag() const;
+
+ // true-bearing-error and mag-bearing-error
+
+
+ /**
+ * Tied-properties helper, record nodes which are tied for easy un-tie-ing
+ */
+ template <typename T>
+ void tie(SGPropertyNode* aNode, const char* aRelPath, const SGRawValue<T>& aRawValue)
+ {
+ _tiedProperties.Tie(aNode->getNode(aRelPath, true), aRawValue);
+ }
+
+ /** helper, tie the lat/lon/elev of a SGGeod to the named children of aNode */
+ void tieSGGeod(SGPropertyNode* aNode, SGGeod& aRef,
+ const char* lonStr, const char* latStr, const char* altStr);
- /// helper, tie a SGGeod to proeprties, but read-only
- void tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
- const char* lonStr, const char* latStr, const char* altStr);
+ /** helper, tie a SGGeod to proeprties, but read-only */
+ void tieSGGeodReadOnly(SGPropertyNode* aNode, SGGeod& aRef,
+ const char* lonStr, const char* latStr, const char* altStr);
+// FlightPlan::Delegate
+ virtual void currentWaypointChanged();
+ virtual void waypointsChanged();
+ virtual void cleared();
+ virtual void endOfFlightPlan();
+
+ void sequence();
+ void routeManagerFlightPlanChanged(SGPropertyNode*);
+ void routeActivated(SGPropertyNode*);
+
// members
- SGPropertyNode_ptr _gpsNode;
- SGPropertyNode_ptr _magvar_node;
- SGPropertyNode_ptr _serviceable_node;
- SGPropertyNode_ptr _electrical_node;
- SGPropertyNode_ptr _tracking_bug_node;
- SGPropertyNode_ptr _raim_node;
-
- SGPropertyNode_ptr _odometer_node;
+ SGPropertyNode_ptr _gpsNode;
+ SGPropertyNode_ptr _currentWayptNode;
+ SGPropertyNode_ptr _magvar_node;
+ SGPropertyNode_ptr _serviceable_node;
+ SGPropertyNode_ptr _electrical_node;
+ SGPropertyNode_ptr _tracking_bug_node;
+ SGPropertyNode_ptr _raim_node;
+
+ SGPropertyNode_ptr _odometer_node;
SGPropertyNode_ptr _trip_odometer_node;
SGPropertyNode_ptr _true_bug_error_node;
SGPropertyNode_ptr _magnetic_bug_error_node;
+ SGPropertyNode_ptr _eastWestVelocity;
+ SGPropertyNode_ptr _northSouthVelocity;
- SGPropertyNode_ptr _ref_navaid_id_node;
- SGPropertyNode_ptr _ref_navaid_bearing_node;
- SGPropertyNode_ptr _ref_navaid_distance_node;
- SGPropertyNode_ptr _ref_navaid_mag_bearing_node;
- SGPropertyNode_ptr _ref_navaid_frequency_node;
- SGPropertyNode_ptr _ref_navaid_name_node;
-
- SGPropertyNode_ptr _route_active_node;
+ // SGPropertyNode_ptr _route_active_node;
SGPropertyNode_ptr _route_current_wp_node;
SGPropertyNode_ptr _routeDistanceNm;
SGPropertyNode_ptr _routeETE;
- SGPropertyNode_ptr _routeEditedSignal;
- SGPropertyNode_ptr _routeFinishedSignal;
-
- double _selectedCourse;
+ SGPropertyNode_ptr _desiredCourseNode;
+ double _selectedCourse;
+ double _desiredCourse;
+
bool _dataValid;
SGGeod _last_pos;
bool _lastPosValid;
double _last_speed_kts;
double _last_true_track;
double _last_vertical_speed;
+ double _lastEWVelocity;
+ double _lastNSVelocity;
+
+ /**
+ * the instrument manager creates a default instance of us,
+ * if no explicit GPS is specific in the aircraft's instruments.xml file.
+ * This allows default route-following to work with the generic autopilot.
+ * This flat is set in that case, to inform us we're a 'fake' installation,
+ * and not to worry about electrical power or similar.
+ */
+ bool _defaultGPSMode;
std::string _mode;
- GPSListener* _listener;
Config _config;
- FGRouteMgr* _routeMgr;
-
- bool _ref_navaid_set;
- double _ref_navaid_elapsed;
- FGPositionedRef _ref_navaid;
-
std::string _name;
int _num;
-
- SGGeodProperty _position;
- SGGeod _wp0_position;
- SGGeod _wp1_position;
- SGGeod _indicated_pos;
- std::string _wp0Ident, _wp0Name, _wp1Ident, _wp1Name;
- double _wp1DistanceM, _wp1TrueBearing;
-
+
+ SGGeod _wp0_position;
+ SGGeod _indicated_pos;
+ double _legDistanceNm;
+
// scratch data
- SGGeod _scratchPos;
- SGPropertyNode_ptr _scratchNode;
- bool _scratchValid;
-
+ SGGeod _scratchPos;
+ SGPropertyNode_ptr _scratchNode;
+ bool _scratchValid;
+#if FG_210_COMPAT
// search data
- int _searchResultIndex;
- std::string _searchQuery;
- FGPositioned::Type _searchType;
- bool _searchExact;
- bool _searchOrderByRange;
- bool _searchResultsCached;
- FGPositioned::List _searchResults;
- bool _searchIsRoute; ///< set if 'search' is actually the current route
- bool _searchHasNext; ///< is there a result after this one?
- bool _searchNames; ///< set if we're searching names instead of idents
-
- // turn data
+ int _searchResultIndex;
+ std::string _searchQuery;
+ FGPositioned::Type _searchType;
+ bool _searchExact;
+ FGPositionedList _searchResults;
+ bool _searchIsRoute; ///< set if 'search' is actually the current route
+ bool _searchHasNext; ///< is there a result after this one?
+ bool _searchNames; ///< set if we're searching names instead of idents
+#endif
+
+// turn data
bool _computeTurnData; ///< do we need to update the turn data?
bool _anticipateTurn; ///< are we anticipating the next turn or not?
bool _inTurn; // is a turn in progress?
double _turnRadius; // radius of turn in nm
SGGeod _turnPt;
SGGeod _turnCentre;
-
- SGPropertyNode_ptr _realismSimpleGps; ///< should the GPS be simple or realistic?
-
+
+ std::auto_ptr<flightgear::WayptController> _wayptController;
+
+ flightgear::WayptRef _prevWaypt;
+ flightgear::WayptRef _currentWaypt;
+
// autopilot drive properties
- SGPropertyNode_ptr _apTrueHeading;
- SGPropertyNode_ptr _apTargetAltitudeFt;
- SGPropertyNode_ptr _apAltitudeLock;
-
- std::vector<SGPropertyNode*> _tiedNodes;
-};
+ SGPropertyNode_ptr _apDrivingFlag;
+ SGPropertyNode_ptr _apTrueHeading;
+
+ simgear::TiedPropertyList _tiedProperties;
+ flightgear::FlightPlanRef _route;
+
+ SGPropertyChangeCallback<GPS> _callbackFlightPlanChanged;
+ SGPropertyChangeCallback<GPS> _callbackRouteActivated;
+};
#endif // __INSTRUMENTS_GPS_HXX
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