#ifndef __INSTRUMENTS_GPS_HXX
#define __INSTRUMENTS_GPS_HXX 1
-#ifndef __cplusplus
-# error This library requires C++
-#endif
-
#include <simgear/props/props.hxx>
-#include <simgear/route/route.hxx>
#include <simgear/structure/subsystem_mgr.hxx>
+#include <simgear/math/SGMath.hxx>
+
+#include "Navaids/positioned.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;
+};
/**
* Model a GPS radio.
* /systems/electrical/outputs/gps
* /instrumentation/gps/serviceable
*
- * /instrumentation/gps/wp-longitude-deg
- * /instrumentation/gps/wp-latitude-deg
- * /instrumentation/gps/wp-altitude-ft
- * /instrumentation/gps/wp-ID
- * /instrumentation/gps/wp-name
- * /instrumentation/gps/desired-course-deg
- * /instrumentation/gps/get-nearest-airport
- * /instrumentation/gps/waypoint-type
- * /instrumentation/gps/tracking-bug
*
* Output properties:
*
* /instrumentation/gps/trip-odometer
* /instrumentation/gps/true-bug-error-deg
* /instrumentation/gps/magnetic-bug-error-deg
- * /instrumentation/gps/true-bearing-error-deg
- * /instrumentation/gps/magnetic-bearing-error-deg
+
*/
class GPS : public SGSubsystem
{
virtual void init ();
virtual void update (double delta_time_sec);
-
+
+ virtual void bind();
+ virtual void unbind();
private:
+ friend class GPSListener;
+ 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 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; }
+
+ /**
+ * Time before the next WP to activate an external annunciator
+ */
+ double waypointAlertTime() const
+ { return _waypointAlertTime; }
+
+ bool requireHardSurface() const
+ { return _requireHardSurface; }
+
+ double minRunwayLengthFt() const
+ { return _minRunwayLengthFt; }
+
+ 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 _overflightArmDistance;
+
+ // time before reaching a waypoint to trigger annunicator light/sound
+ // (in seconds)
+ double _waypointAlertTime;
+
+ // minimum runway length to require when filtering
+ double _minRunwayLengthFt;
+
+ // 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 search (double frequency, double longitude_rad,
- double latitude_rad, double altitude_m);
-
- SGPropertyNode_ptr _longitude_node;
- SGPropertyNode_ptr _latitude_node;
- SGPropertyNode_ptr _altitude_node;
- SGPropertyNode_ptr _magvar_node;
- SGPropertyNode_ptr _serviceable_node;
- SGPropertyNode_ptr _electrical_node;
- SGPropertyNode_ptr _wp0_longitude_node;
- SGPropertyNode_ptr _wp0_latitude_node;
- SGPropertyNode_ptr _wp0_altitude_node;
- SGPropertyNode_ptr _wp0_ID_node;
- SGPropertyNode_ptr _wp0_name_node;
- SGPropertyNode_ptr _wp0_course_node;
- SGPropertyNode_ptr _get_nearest_airport_node;
- SGPropertyNode_ptr _wp0_waypoint_type_node;
- SGPropertyNode_ptr _wp1_longitude_node;
- SGPropertyNode_ptr _wp1_latitude_node;
- SGPropertyNode_ptr _wp1_altitude_node;
- SGPropertyNode_ptr _wp1_ID_node;
- SGPropertyNode_ptr _wp1_name_node;
- SGPropertyNode_ptr _wp1_course_node;
- SGPropertyNode_ptr _wp1_waypoint_type_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 _indicated_vertical_speed_node;
- SGPropertyNode_ptr _true_track_node;
- SGPropertyNode_ptr _magnetic_track_node;
- SGPropertyNode_ptr _speed_node;
- SGPropertyNode_ptr _wp0_distance_node;
- SGPropertyNode_ptr _wp0_ttw_node;
- SGPropertyNode_ptr _wp0_bearing_node;
- SGPropertyNode_ptr _wp0_mag_bearing_node;
- SGPropertyNode_ptr _wp0_course_deviation_node;
- SGPropertyNode_ptr _wp0_course_error_nm_node;
- SGPropertyNode_ptr _wp0_to_flag_node;
- SGPropertyNode_ptr _wp1_distance_node;
- SGPropertyNode_ptr _wp1_ttw_node;
- SGPropertyNode_ptr _wp1_bearing_node;
- SGPropertyNode_ptr _wp1_mag_bearing_node;
- SGPropertyNode_ptr _wp1_course_deviation_node;
- SGPropertyNode_ptr _wp1_course_error_nm_node;
- SGPropertyNode_ptr _wp1_to_flag_node;
- SGPropertyNode_ptr _odometer_node;
- SGPropertyNode_ptr _trip_odometer_node;
- SGPropertyNode_ptr _true_bug_error_node;
- SGPropertyNode_ptr _magnetic_bug_error_node;
- SGPropertyNode_ptr _true_wp0_bearing_error_node;
- SGPropertyNode_ptr _magnetic_wp0_bearing_error_node;
- SGPropertyNode_ptr _true_wp1_bearing_error_node;
- SGPropertyNode_ptr _magnetic_wp1_bearing_error_node;
- SGPropertyNode_ptr _leg_distance_node;
- SGPropertyNode_ptr _leg_course_node;
- SGPropertyNode_ptr _leg_magnetic_course_node;
- SGPropertyNode_ptr _alt_dist_ratio_node;
- SGPropertyNode_ptr _leg_course_deviation_node;
- SGPropertyNode_ptr _leg_course_error_nm_node;
- SGPropertyNode_ptr _leg_to_flag_node;
- SGPropertyNode_ptr _alt_deviation_node;
-
- SGPropertyNode_ptr _route;
- SGPropertyNode_ptr addWp;
- SGPropertyNode_ptr popWp;
-
- SGRoute *route;
-
- bool _last_valid;
- double _last_longitude_deg;
- double _last_latitude_deg;
- double _last_altitude_m;
- double _last_speed_kts;
+ void updateBasicData(double dt);
+ void updateWaypoints();
- double _wp0_latitude_deg;
- double _wp0_longitude_deg;
- double _wp0_altitude_m;
- double _wp1_latitude_deg;
- double _wp1_longitude_deg;
- double _wp1_altitude_m;
- string _last_wp0_ID;
- string _last_wp1_ID;
+ void updateTrackingBug();
+ void updateReferenceNavaid(double dt);
+ void referenceNavaidSet(const std::string& aNavaid);
+ void updateRouteData();
+ void driveAutopilot();
+
+ void routeActivated();
+ void routeManagerSequenced();
+ void routeEdited();
+ void routeFinished();
+
+ 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();
+
+// 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);
+
+// 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; }
+ void setSelectedCourse(double crs);
+ double getDesiredCourse() const { return _desiredCourse; }
+
+ 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
+
- double _alt_dist_ratio;
- double _distance_m;
- double _course_deg;
+ /**
+ * 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);
+ }
- double bias_length;
- double bias_angle;
- double azimuth_error;
- double range_error;
- double elapsed_time;
+ /// 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);
- string name;
- int num;
+// 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 _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_current_wp_node;
+ SGPropertyNode_ptr _routeDistanceNm;
+ SGPropertyNode_ptr _routeETE;
+ SGPropertyNode_ptr _routeEditedSignal;
+ SGPropertyNode_ptr _routeFinishedSignal;
+ 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;
+
+ 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;
+
+// scratch data
+ SGGeod _scratchPos;
+ SGPropertyNode_ptr _scratchNode;
+ bool _scratchValid;
+
+// 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
+ 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;
+
+ SGPropertyNode_ptr _realismSimpleGps; ///< should the GPS be simple or realistic?
+
+// autopilot drive properties
+ SGPropertyNode_ptr _apDrivingFlag;
+ SGPropertyNode_ptr _apTrueHeading;
+ SGPropertyNode_ptr _apTargetAltitudeFt;
+ SGPropertyNode_ptr _apAltitudeLock;
+
+ std::vector<SGPropertyNode_ptr> _tiedNodes;
};
projects / flightgear.git / blobdiff