# include "config.h"
#endif
-#include <simgear/compiler.h>
-
-#include STL_STRING
+#include "navdb.hxx"
+#include <simgear/compiler.h>
#include <simgear/debug/logstream.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/misc/strutils.hxx>
+#include <simgear/misc/sg_path.hxx>
+#include <simgear/structure/exception.hxx>
+#include <simgear/misc/sgstream.hxx>
+#include <simgear/props/props_io.hxx>
+#include <simgear/sg_inlines.h>
-#include <Airports/runways.hxx>
-#include <Airports/simple.hxx>
+#include "navrecord.hxx"
+#include "navlist.hxx"
#include <Main/globals.hxx>
+#include <Navaids/markerbeacon.hxx>
+#include <Airports/airport.hxx>
+#include <Airports/runways.hxx>
+#include <Airports/xmlloader.hxx>
+#include <Main/fg_props.hxx>
+#include <Navaids/NavDataCache.hxx>
-#include "navrecord.hxx"
-#include "navdb.hxx"
+using std::string;
+using std::vector;
-SG_USING_STD( string );
+static FGPositioned::Type
+mapRobinTypeToFGPType(int aTy)
+{
+ switch (aTy) {
+ // case 1:
+ case 2: return FGPositioned::NDB;
+ case 3: return FGPositioned::VOR;
+ case 4: return FGPositioned::ILS;
+ case 5: return FGPositioned::LOC;
+ case 6: return FGPositioned::GS;
+ case 7: return FGPositioned::OM;
+ case 8: return FGPositioned::MM;
+ case 9: return FGPositioned::IM;
+ case 12:
+ case 13: return FGPositioned::DME;
+ case 99: return FGPositioned::INVALID; // end-of-file code
+ default:
+ throw sg_range_exception("Got a nav.dat type we don't recognize", "FGNavRecord::createFromStream");
+ }
+}
+static bool autoAlignLocalizers = false;
+static double autoAlignThreshold = 0.0;
+
+/**
+ * Given a runway, and proposed localizer data (ident, positioned and heading),
+ * precisely align the localizer with the actual runway heading, providing the
+ * difference between the localizer course and runway heading is less than a
+ * threshold. (To allow for localizers such as Kai-Tak requiring a turn on final).
+ *
+ * The positioned and heading argument are modified if changes are made.
+ */
+void alignLocaliserWithRunway(FGRunway* rwy, const string& ident, SGGeod& pos, double& heading)
+{
+ assert(rwy);
+ // find the distance from the threshold to the localizer
+ double dist = SGGeodesy::distanceM(pos, rwy->threshold());
+
+ // back project that distance along the runway center line
+ SGGeod newPos = rwy->pointOnCenterline(dist);
+
+ double hdg_diff = heading - rwy->headingDeg();
+ SG_NORMALIZE_RANGE(hdg_diff, -180.0, 180.0);
+
+ if ( fabs(hdg_diff) <= autoAlignThreshold ) {
+ pos = SGGeod::fromGeodFt(newPos, pos.getElevationFt());
+ heading = rwy->headingDeg();
+ } else {
+ SG_LOG(SG_NAVAID, SG_DEBUG, "localizer:" << ident << ", aligning with runway "
+ << rwy->ident() << " exceeded heading threshold");
+ }
+}
-// load and initialize the navigational databases
-bool fgNavDBInit( FGAirportList *airports,
- FGNavList *navlist, FGNavList *loclist, FGNavList *gslist,
- FGNavList *dmelist, FGNavList *mkrlist,
- FGNavList *tacanlist, FGNavList *carrierlist,
- FGTACANList *channellist)
+static double defaultNavRange(const string& ident, FGPositioned::Type type)
{
- SG_LOG(SG_GENERAL, SG_INFO, "Loading Navaid Databases");
- // SG_LOG(SG_GENERAL, SG_INFO, " VOR/NDB");
- // SGPath p_nav( globals->get_fg_root() );
- // p_nav.append( "Navaids/default.nav" );
- // navlist->init( p_nav );
+ // Ranges are included with the latest data format, no need to
+ // assign our own defaults, unless the range is not set for some
+ // reason.
+ SG_LOG(SG_NAVAID, SG_DEBUG, "navaid " << ident << " has no range set, using defaults");
+ switch (type) {
+ case FGPositioned::NDB:
+ case FGPositioned::VOR:
+ return FG_NAV_DEFAULT_RANGE;
+
+ case FGPositioned::LOC:
+ case FGPositioned::ILS:
+ case FGPositioned::GS:
+ return FG_LOC_DEFAULT_RANGE;
+
+ case FGPositioned::DME: return FG_DME_DEFAULT_RANGE;
+ default: return FG_LOC_DEFAULT_RANGE;
+ }
+}
- // SG_LOG(SG_GENERAL, SG_INFO, " ILS and Marker Beacons");
- // beacons->init();
- // SGPath p_ils( globals->get_fg_root() );
- // p_ils.append( "Navaids/default.ils" );
- // ilslist->init( p_ils );
+namespace flightgear
+{
- SGPath path( globals->get_fg_root() );
- path.append( "Navaids/nav.dat" );
+static PositionedID readNavFromStream(std::istream& aStream,
+ FGPositioned::Type type = FGPositioned::INVALID)
+{
+ NavDataCache* cache = NavDataCache::instance();
+
+ int rawType;
+ aStream >> rawType;
+ if (aStream.eof() || (rawType == 99)) {
+ return 0; // happens with, eg, carrier_nav.dat
+ }
+
+ double lat, lon, elev_ft, multiuse;
+ int freq, range;
+ std::string name, ident;
+ aStream >> lat >> lon >> elev_ft >> freq >> range >> multiuse >> ident;
+ getline(aStream, name);
+
+ SGGeod pos(SGGeod::fromDegFt(lon, lat, elev_ft));
+ name = simgear::strutils::strip(name);
+
+// the type can be forced by our caller, but normally we use th value
+// supplied in the .dat file
+ if (type == FGPositioned::INVALID) {
+ type = mapRobinTypeToFGPType(rawType);
+ }
+ if (type == FGPositioned::INVALID) {
+ return 0;
+ }
+
+ if ((type >= FGPositioned::OM) && (type <= FGPositioned::IM)) {
+ AirportRunwayPair arp(cache->findAirportRunway(name));
+ if (arp.second && (elev_ft < 0.01)) {
+ // snap to runway elevation
+ FGPositioned* runway = cache->loadById(arp.second);
+ assert(runway);
+ pos.setElevationFt(runway->geod().getElevationFt());
+ }
+
+ return cache->insertNavaid(type, string(), name, pos, 0, 0, 0,
+ arp.first, arp.second);
+ }
+
+ if (range < 0.01) {
+ range = defaultNavRange(ident, type);
+ }
+
+ AirportRunwayPair arp;
+ FGRunway* runway = NULL;
+ PositionedID navaid_dme = 0;
+
+ if (type == FGPositioned::DME) {
+ FGPositioned::TypeFilter f(FGPositioned::INVALID);
+ if ( name.find("VOR-DME") != std::string::npos ) {
+ f.addType(FGPositioned::VOR);
+ } else if ( name.find("DME-ILS") != std::string::npos ) {
+ f.addType(FGPositioned::ILS);
+ f.addType(FGPositioned::LOC);
+ } else if ( name.find("VORTAC") != std::string::npos ) {
+ f.addType(FGPositioned::VOR);
+ } else if ( name.find("NDB-DME") != std::string::npos ) {
+ f.addType(FGPositioned::NDB);
+ } else if ( name.find("TACAN") != std::string::npos ) {
+ f.addType(FGPositioned::VOR);
+ }
+ if (f.maxType() > 0) {
+ FGPositionedRef ref = FGPositioned::findClosestWithIdent(ident, pos, &f);
+ if (ref.valid()) {
+ string_list dme_part = simgear::strutils::split(name , 0 ,1);
+ string_list navaid_part = simgear::strutils::split(ref.get()->name(), 0 ,1);
+
+ if ( simgear::strutils::uppercase(navaid_part[0]) == simgear::strutils::uppercase(dme_part[0]) ) {
+ navaid_dme = ref.get()->guid();
+ }
+ }
+ }
+ }
+
+ if ((type >= FGPositioned::ILS) && (type <= FGPositioned::GS)) {
+ arp = cache->findAirportRunway(name);
+ if (arp.second) {
+ runway = FGPositioned::loadById<FGRunway>(arp.second);
+ assert(runway);
+#if 0
+ // code is disabled since it's causing some problems, see
+ // http://code.google.com/p/flightgear-bugs/issues/detail?id=926
+ if (elev_ft < 0.01) {
+ // snap to runway elevation
+ pos.setElevationFt(runway->geod().getElevationFt());
+ }
+#endif
+ } // of found runway in the DB
+ } // of type is runway-related
+
+ bool isLoc = (type == FGPositioned::ILS) || (type == FGPositioned::LOC);
+ if (runway && autoAlignLocalizers && isLoc) {
+ alignLocaliserWithRunway(runway, ident, pos, multiuse);
+ }
+
+ // silently multiply adf frequencies by 100 so that adf
+ // vs. nav/loc frequency lookups can use the same code.
+ if (type == FGPositioned::NDB) {
+ freq *= 100;
+ }
+
+ PositionedID r = cache->insertNavaid(type, ident, name, pos, freq, range, multiuse,
+ arp.first, arp.second);
+
+ if (isLoc) {
+ cache->setRunwayILS(arp.second, r);
+ }
+
+ if (navaid_dme) {
+ cache->setNavaidColocated(navaid_dme, r);
+ }
+
+ return r;
+}
+
+// load and initialize the navigational databases
+bool navDBInit(const SGPath& path)
+{
sg_gzifstream in( path.str() );
if ( !in.is_open() ) {
- SG_LOG( SG_GENERAL, SG_ALERT, "Cannot open file: " << path.str() );
- exit(-1);
+ SG_LOG( SG_NAVAID, SG_ALERT, "Cannot open file: " << path.str() );
+ return false;
}
+
+ autoAlignLocalizers = fgGetBool("/sim/navdb/localizers/auto-align", true);
+ autoAlignThreshold = fgGetDouble( "/sim/navdb/localizers/auto-align-threshold-deg", 5.0 );
// skip first two lines
in >> skipeol;
in >> skipeol;
-
-#ifdef __MWERKS__
- char c = 0;
- while ( in.get(c) && c != '\0' ) {
- in.putback(c);
-#else
- while ( ! in.eof() ) {
-#endif
-
- FGNavRecord *r = new FGNavRecord;
- in >> (*r);
- if ( r->get_type() > 95 ) {
- delete r;
- break;
- }
-
- /*cout << "id = " << r->get_ident() << endl;
- cout << " type = " << r->get_type() << endl;
- cout << " lon = " << r->get_lon() << endl;
- cout << " lat = " << r->get_lat() << endl;
- cout << " elev = " <<r->get_elev_ft() << endl;
- cout << " freq = " << r->get_freq() << endl;
- cout << " range = " << r->get_range() << endl;
- cout << " name = " << r->get_name() << endl << endl; */
-
- // fudge elevation to the field elevation if it's not specified
- if ( fabs(r->get_elev_ft()) < 0.01 && r->get_apt_id().length() ) {
- // cout << r->get_type() << " " << r->get_apt_id() << " zero elev"
- // << endl;
- const FGAirport* a = airports->search( r->get_apt_id() );
- if ( a ) {
- r->set_elev_ft( a->getElevation() );
- // cout << " setting to " << a.elevation << endl;
- }
- }
-
- if ( r->get_type() == 2 || r->get_type() == 3 ) {
- // NDB=2, VOR=3
- navlist->add( r );
- } else if ( r->get_type() == 4 || r->get_type() == 5 ) {
- // ILS=4, LOC(only)=5
- loclist->add( r );
- } else if ( r->get_type() == 6 ) {
- // GS=6
- gslist->add( r );
- } else if ( r->get_type() == 7 || r->get_type() == 8
- || r->get_type() == 9 )
- {
- // Marker Beacon = 7,8,9
- mkrlist->add( r );
- } else if ( r->get_type() == 12 || r->get_type() == 13) {
- // DME with ILS=12; standalone DME=13
- string str1( r->get_name() );
- string::size_type loc1= str1.find( "TACAN", 0 );
- string::size_type loc2 = str1.find( "VORTAC", 0 );
-
- if( loc1 != string::npos || loc2 != string::npos ){
- //cout << " name = " << r->get_name() ;
- //cout << " freq = " << r->get_freq() ;
- tacanlist->add( r );
- }
-
- dmelist->add( r );
-
- }
-
- in >> skipcomment;
- }
-
-// load the carrier navaids file
-
- string file, name;
- path = "";
- path = globals->get_fg_root() ;
- path.append( "Navaids/carrier_nav.dat" );
-
- file = path.str();
- SG_LOG( SG_GENERAL, SG_INFO, "opening file: " << path.str() );
-
+ while (!in.eof()) {
+ readNavFromStream(in);
+ in >> skipcomment;
+ } // of stream data loop
+
+ return true;
+}
+
+
+bool loadCarrierNav(const SGPath& path)
+{
+ SG_LOG( SG_NAVAID, SG_INFO, "opening file: " << path.str() );
sg_gzifstream incarrier( path.str() );
if ( !incarrier.is_open() ) {
- SG_LOG( SG_GENERAL, SG_ALERT, "Cannot open file: " << path.str() );
- exit(-1);
+ SG_LOG( SG_NAVAID, SG_ALERT, "Cannot open file: " << path.str() );
+ return false;
}
- // skip first two lines
- //incarrier >> skipeol;
- //incarrier >> skipeol;
-
-#ifdef __MWERKS__
- char c = 0;
- while ( incarrier.get(c) && c != '\0' ) {
- incarrier.putback(c);
-#else
while ( ! incarrier.eof() ) {
-#endif
-
- FGNavRecord *r = new FGNavRecord;
- incarrier >> (*r);
- carrierlist->add ( r );
- /*cout << " carrier lon: "<< r->get_lon() ;
- cout << " carrier lat: "<< r->get_lat() ;
- cout << " freq: " << r->get_freq() ;
- cout << " carrier name: "<< r->get_name() << endl;*/
-
- //if ( r->get_type() > 95 ) {
- // break;}
+ // force the type to be MOBILE_TACAN
+ readNavFromStream(incarrier, FGPositioned::MOBILE_TACAN);
} // end while
-// end loading the carrier navaids file
-
-// load the channel/freqency file
- string channel, freq;
- path="";
- path = globals->get_fg_root();
- path.append( "Navaids/TACAN_freq.dat" );
-
- SG_LOG( SG_GENERAL, SG_INFO, "opening file: " << path.str() );
-
+ return true;
+}
+
+bool loadTacan(const SGPath& path, FGTACANList *channellist)
+{
+ SG_LOG( SG_NAVAID, SG_INFO, "opening file: " << path.str() );
sg_gzifstream inchannel( path.str() );
if ( !inchannel.is_open() ) {
- SG_LOG( SG_GENERAL, SG_ALERT, "Cannot open file: " << path.str() );
- exit(-1);
+ SG_LOG( SG_NAVAID, SG_ALERT, "Cannot open file: " << path.str() );
+ return false;
}
// skip first line
inchannel >> skipeol;
-
-#ifdef __MWERKS__
- char c = 0;
- while ( inchannel.get(c) && c != '\0' ) {
- in.putback(c);
-#else
while ( ! inchannel.eof() ) {
-#endif
-
FGTACANRecord *r = new FGTACANRecord;
inchannel >> (*r);
channellist->add ( r );
- //cout << "channel = " << r->get_channel() ;
- //cout << " freq = " << r->get_freq() << endl;
} // end while
-
- // end ReadChanFile
-
-
return true;
}
-
-
-// Given a localizer record and it's corresponding runway record,
-// adjust the localizer position so it is in perfect alignment with
-// the runway.
-static void update_loc_position( FGNavRecord *loc, FGRunway *rwy,
- double threshold )
-{
- double hdg = rwy->_heading;
- hdg += 180.0;
- if ( hdg > 360.0 ) {
- hdg -= 360.0;
- }
-
- // calculate runway threshold point
- double thresh_lat, thresh_lon, return_az;
- geo_direct_wgs_84 ( 0.0, rwy->_lat, rwy->_lon, hdg,
- rwy->_length/2.0 * SG_FEET_TO_METER,
- &thresh_lat, &thresh_lon, &return_az );
- // cout << "Threshold = " << thresh_lat << "," << thresh_lon << endl;
-
- // calculate distance from threshold to localizer
- double az1, az2, dist_m;
- geo_inverse_wgs_84( 0.0, loc->get_lat(), loc->get_lon(),
- thresh_lat, thresh_lon,
- &az1, &az2, &dist_m );
- // cout << "Distance = " << dist_m << endl;
-
- // back project that distance along the runway center line
- double nloc_lat, nloc_lon;
- geo_direct_wgs_84 ( 0.0, thresh_lat, thresh_lon, hdg + 180.0,
- dist_m, &nloc_lat, &nloc_lon, &return_az );
- // printf("New localizer = %.6f %.6f\n", nloc_lat, nloc_lon );
-
- // sanity check, how far have we moved the localizer?
- geo_inverse_wgs_84( 0.0, loc->get_lat(), loc->get_lon(),
- nloc_lat, nloc_lon,
- &az1, &az2, &dist_m );
- // cout << "Distance moved = " << dist_m << endl;
-
- // cout << "orig heading = " << loc->get_multiuse() << endl;
- // cout << "new heading = " << rwy->_heading << endl;
-
- double hdg_diff = loc->get_multiuse() - rwy->_heading;
-
- // clamp to [-180.0 ... 180.0]
- if ( hdg_diff < -180.0 ) {
- hdg_diff += 360.0;
- } else if ( hdg_diff > 180.0 ) {
- hdg_diff -= 360.0;
- }
-
- if ( fabs(hdg_diff) <= threshold ) {
- loc->set_lat( nloc_lat );
- loc->set_lon( nloc_lon );
- loc->set_multiuse( rwy->_heading );
- }
-}
-
-
-// This routines traverses the localizer list and attempts to match
-// each entry with it's corresponding runway. When it is successful,
-// it then "moves" the localizer and updates it's heading so it
-// *perfectly* aligns with the runway, but is still the same distance
-// from the runway threshold.
-void fgNavDBAlignLOCwithRunway( FGRunwayList *runways, FGNavList *loclist,
- double threshold ) {
- nav_map_type navmap = loclist->get_navaids();
-
- nav_map_const_iterator freq = navmap.begin();
- while ( freq != navmap.end() ) {
- nav_list_type locs = freq->second;
- nav_list_const_iterator loc = locs.begin();
- while ( loc != locs.end() ) {
- string name = (*loc)->get_name();
- string::size_type pos1 = name.find(" ");
- string id = name.substr(0, pos1);
- name = name.substr(pos1+1);
- string::size_type pos2 = name.find(" ");
- string rwy = name.substr(0, pos2);
-
- FGRunway r;
- if ( runways->search(id, rwy, &r) ) {
- update_loc_position( (*loc), &r, threshold );
- }
- ++loc;
- }
- ++freq;
- }
-}
-
+
+} // of namespace flightgear
projects / flightgear.git / blobdiff