#ifndef __INSTRUMENTS_GPS_HXX
#define __INSTRUMENTS_GPS_HXX 1
-#ifndef __cplusplus
-# error This library requires C++
-#endif
+#include <cassert>
+#include <memory>
#include <simgear/props/props.hxx>
+#include <simgear/structure/subsystem_mgr.hxx>
+#include <simgear/props/tiedpropertylist.hxx>
-#include <Main/fgfs.hxx>
+#include <Navaids/positioned.hxx>
+#include <Navaids/FlightPlan.hxx>
+#include <Instrumentation/rnav_waypt_controller.hxx>
+#define FG_210_COMPAT 1
/**
* Model a GPS radio.
* /environment/magnetic-variation-deg
* /systems/electrical/outputs/gps
* /instrumentation/gps/serviceable
+ *
*
* Output properties:
*
* /instrumentation/gps/indicated-longitude-deg
* /instrumentation/gps/indicated-latitude-deg
* /instrumentation/gps/indicated-altitude-ft
+ * /instrumentation/gps/indicated-vertical-speed-fpm
* /instrumentation/gps/indicated-track-true-deg
* /instrumentation/gps/indicated-track-magnetic-deg
* /instrumentation/gps/indicated-ground-speed-kt
+ *
+ * /instrumentation/gps/wp-distance-nm
+ * /instrumentation/gps/wp-bearing-deg
+ * /instrumentation/gps/wp-bearing-mag-deg
+ * /instrumentation/gps/TTW
+ * /instrumentation/gps/course-deviation-deg
+ * /instrumentation/gps/course-error-nm
+ * /instrumentation/gps/to-flag
+ * /instrumentation/gps/odometer
+ * /instrumentation/gps/trip-odometer
+ * /instrumentation/gps/true-bug-error-deg
+ * /instrumentation/gps/magnetic-bug-error-deg
*/
-class GPS : public FGSubsystem
+class GPS : public SGSubsystem,
+ public flightgear::RNAV,
+ public flightgear::FlightPlan::Delegate
{
-
public:
-
+ 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 SearchFilter;
+
+ /**
+ * Configuration manager, track data relating to aircraft installation
+ */
+ class Config
+ {
+ public:
+ Config();
+
+ void bind(GPS* aOwner, SGPropertyNode* aCfg);
+
+ 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; }
+
+ /**
+ * 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; }
+ /**
+ * 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 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 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;
+
+ //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 we require a hard-surfaced runway when filtering?
+ bool _requireHardSurface;
+
+ 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:
+ 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 */
+ void clearOutput();
+
+ void updateBasicData(double dt);
+
+ void updateTrackingBug();
+ void updateRouteData();
+ void driveAutopilot();
- void search (double frequency, double longitude_rad,
- double latitude_rad, double altitude_m);
+ void updateTurn();
+ void updateOverflight();
+ void beginTurn();
+ void endTurn();
- SGPropertyNode_ptr _longitude_node;
- SGPropertyNode_ptr _latitude_node;
- SGPropertyNode_ptr _altitude_node;
+ 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();
+
+ 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(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 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; }
+
+ 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);
+
+// 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 _currentWayptNode;
SGPropertyNode_ptr _magvar_node;
SGPropertyNode_ptr _serviceable_node;
SGPropertyNode_ptr _electrical_node;
-
+ SGPropertyNode_ptr _tracking_bug_node;
SGPropertyNode_ptr _raim_node;
- SGPropertyNode_ptr _indicated_longitude_node;
- SGPropertyNode_ptr _indicated_latitude_node;
- SGPropertyNode_ptr _indicated_altitude_node;
- SGPropertyNode_ptr _true_track_node;
- SGPropertyNode_ptr _magnetic_track_node;
- SGPropertyNode_ptr _speed_node;
-
- bool _last_valid;
- double _last_longitude_deg;
- double _last_latitude_deg;
- double _last_altitude_m;
-};
+ 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 _route_active_node;
+ SGPropertyNode_ptr _route_current_wp_node;
+ SGPropertyNode_ptr _routeDistanceNm;
+ SGPropertyNode_ptr _routeETE;
+ 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;
+ Config _config;
+ std::string _name;
+ int _num;
+ SGGeod _wp0_position;
+ SGGeod _indicated_pos;
+ double _legDistanceNm;
+
+// scratch data
+ SGGeod _scratchPos;
+ SGPropertyNode_ptr _scratchNode;
+ bool _scratchValid;
+#if FG_210_COMPAT
+// search 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?
+ bool _turnSequenced; // have we sequenced the new leg?
+ double _turnAngle; // angle to turn through, in degrees
+ double _turnStartBearing; // bearing of inbound leg
+ double _turnRadius; // radius of turn in nm
+ SGGeod _turnPt;
+ SGGeod _turnCentre;
+
+ std::auto_ptr<flightgear::WayptController> _wayptController;
+
+ flightgear::WayptRef _prevWaypt;
+ flightgear::WayptRef _currentWaypt;
+
+// autopilot drive properties
+ SGPropertyNode_ptr _apDrivingFlag;
+ SGPropertyNode_ptr _apTrueHeading;
+
+ simgear::TiedPropertyList _tiedProperties;
+
+ flightgear::FlightPlanRef _route;
+
+ SGPropertyChangeCallback<GPS> _callbackFlightPlanChanged;
+ SGPropertyChangeCallback<GPS> _callbackRouteActivated;
+};
#endif // __INSTRUMENTS_GPS_HXX
projects / flightgear.git / blobdiff